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Fixed eeprom commit error and I2C slave iterrupt handling error. #134

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Fixed eeprom commit error and I2C slave iterrupt handling error. #134

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5d380ec
Fix eeprom commit error.
Lance0724 Mar 27, 2025
c477fbf
Fixed I2C slave interrupt handling anomalies.
Lance0724 Mar 27, 2025
e774be9
临时解决AT32 inav适配问题
Lance0724 Jan 3, 2026
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7 changes: 7 additions & 0 deletions libraries/FlashStorage/src/FlashStorage.h
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ class FlashStorage
for (uint32_t i = 0; i < _storage_size; i++) {
buffer_[i] = src[i];
}
fmc_lock();
}

uint32_t length()
Expand Down Expand Up @@ -98,12 +99,16 @@ class FlashStorage

void commit()
{
fmc_unlock();
uint32_t address = data_area_start;
uint32_t *ptrs = (uint32_t *)buffer_;

do {
uint16_t page_size = pageSizeForAddress(address);
/* clear all pending flags */
fmc_flag_clear(FMC_FLAG_END | FMC_FLAG_WPERR | FMC_FLAG_PGERR);
fmc_page_erase(address);
fmc_flag_clear(FMC_FLAG_END | FMC_FLAG_WPERR | FMC_FLAG_PGERR);

uint32_t word_count = page_size / 4;
uint32_t i = 0;
Expand All @@ -113,5 +118,7 @@ class FlashStorage
address += 4U;
} while (++i < word_count);
} while (address < fmc_end_address);
fmc_flag_clear(FMC_FLAG_END | FMC_FLAG_WPERR | FMC_FLAG_PGERR);
fmc_lock();
}
};
5 changes: 1 addition & 4 deletions libraries/Wire/src/Wire.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -305,14 +305,11 @@ void TwoWire::onRequestService(void* pWireObj)
pWire->_tx_buffer.tail = 0;

// reset slave tx buffer iterator vars
pWire->_i2c.tx_buffer_ptr = pWire->_tx_buffer.buffer;
// pWire->_i2c.tx_buffer_ptr = pWire->_tx_buffer.buffer;
pWire->_i2c.tx_count = 0;

// alert user program
pWire->user_onRequest();

// reset slave tx buffer iterator to let interrupt transmit the buffer
pWire->_i2c.tx_buffer_ptr = pWire->_tx_buffer.buffer;
}
}

Expand Down
168 changes: 136 additions & 32 deletions libraries/Wire/src/utility/twi.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ typedef enum {
I2C_NUM
} internal_i2c_index_t;

static struct i2c_s *obj_s_buf[I2C_NUM] = {NULL};
static i2c_t* obj_s_buf[I2C_NUM] = {NULL};

#ifndef WIRE_I2C_FLAG_TIMEOUT
#define WIRE_I2C_FLAG_TIMEOUT (0xF0000U)
Expand Down Expand Up @@ -161,8 +161,8 @@ void i2c_slaves_interrupt_enable(i2c_t *obj)
nvic_irq_enable(I2C0_EV_IRQn, 1, 3);
nvic_irq_enable(I2C0_ER_IRQn, 1, 2);
#else
nvic_irq_enable(I2C0_EV_IRQn, 1);
nvic_irq_enable(I2C0_ER_IRQn, 1);
nvic_irq_enable(I2C0_EV_IRQn, 0);
nvic_irq_enable(I2C0_ER_IRQn, 0);
#endif
break;
case I2C1:
Expand All @@ -171,8 +171,8 @@ void i2c_slaves_interrupt_enable(i2c_t *obj)
nvic_irq_enable(I2C1_EV_IRQn, 1, 3);
nvic_irq_enable(I2C1_ER_IRQn, 1, 2);
#else
nvic_irq_enable(I2C1_EV_IRQn, 1);
nvic_irq_enable(I2C1_ER_IRQn, 1);
nvic_irq_enable(I2C1_EV_IRQn, 0);
nvic_irq_enable(I2C1_ER_IRQn, 0);
#endif
break;
#ifdef I2C2
Expand Down Expand Up @@ -543,12 +543,13 @@ void i2c_attach_slave_tx_callback(i2c_t *obj, void (*function)(void*), void* pWi
*/
i2c_status_enum i2c_slave_write_buffer(i2c_t *obj, uint8_t *data, uint16_t length){
struct i2c_s *obj_s = I2C_S(obj);
if ( (obj_s->tx_count + length) > obj->tx_rx_buffer_size)
if ((obj_s->tx_count + length) > obj->tx_rx_buffer_size){
return I2C_DATA_TOO_LONG;
}

for (uint8_t i = 0; i < length; i++)
*obj_s->tx_buffer_ptr++ = *(data + i);
obj_s->tx_count += length;
for (uint8_t i = 0; i < length; i++){
*(obj_s->tx_buffer_ptr + obj_s->tx_count++) = *(data + i);
}
return I2C_OK;
}

Expand Down Expand Up @@ -613,7 +614,10 @@ void i2c_err_handler(uint32_t i2c)
i2c_interrupt_flag_clear(i2c, I2C_INT_FLAG_PECERR);
}
}

// extern volatile uint8_t data[4];
volatile uint8_t snd_count;
volatile uint8_t rx_count;
volatile bool is_transmitter = false;

/** This function handles I2C interrupt handler
*
Expand All @@ -629,34 +633,133 @@ static void i2c_irq(struct i2c_s *obj_s)
if (i2c_interrupt_flag_get(i2c, I2C_INT_FLAG_ADDSEND)) {
/* clear the ADDSEND bit */
i2c_interrupt_flag_clear(i2c, I2C_INT_FLAG_ADDSEND);
//memset(_rx_Buffer, _rx_count, 0);
obj_s->rx_count = 0;

if (i2c_flag_get(i2c, GD32_I2C_FLAG_IS_TRANSMTR_OR_RECVR)) {
obj_s->slave_transmit_callback(obj_s->pWireObj);
is_transmitter = true;
obj_s->slave_transmit_callback(obj_s->pWireObj); // onRequestService
snd_count = 0;
}
} else if ((i2c_interrupt_flag_get(i2c, I2C_INT_FLAG_TBE)) &&
(!i2c_interrupt_flag_get(i2c, I2C_INT_FLAG_AERR))) {
/* Send a data byte */
if (obj_s->tx_count > 0) {
i2c_data_transmit(i2c, *obj_s->tx_buffer_ptr++);
obj_s->tx_count--;
else {
is_transmitter = false;
rx_count = 0;
}
} else if (i2c_interrupt_flag_get(i2c, I2C_INT_FLAG_RBNE)) {
/* if reception data register is not empty, I2C1 will read a data from I2C_DATA */
/* also check that our RX buffer has enough space for it */
if(obj_s->rx_count < obj_s->tx_rx_buffer_size) {
*obj_s->rx_buffer_ptr++ = i2c_data_receive(i2c);
obj_s->rx_count++;
} else {
/* indicate RX buffer too small */
}

// if (i2c_interrupt_flag_get(i2c, I2C_INT_FLAG_RBNE)) {
// /* if reception data register is not empty, I2C1 will read a data from I2C_DATA */
// /* also check that our RX buffer has enough space for it */
// if (rx_count < obj_s->tx_rx_buffer_size)
// {
// *(obj_s->rx_buffer_ptr + rx_count++) = i2c_data_receive(i2c);
// }
// }

if (is_transmitter)
{
if (i2c_interrupt_flag_get(i2c, I2C_INT_FLAG_TBE))
{
/* Send a data byte */
// if (snd_count < obj_s->tx_count)
// {
// i2c_data_transmit(i2c, *(obj_s->tx_buffer_ptr + snd_count++));
// }
// i2c_data_transmit(i2c, *(data + snd_count++));
// i2c_data_transmit(i2c, 0xaa + snd_count++);
i2c_data_transmit(i2c, 0xaa + snd_count++);
}

if (i2c_interrupt_flag_get(i2c, I2C_INT_FLAG_TBE))
{
i2c_data_transmit(i2c, 0xaa + snd_count++);
}
} else if (i2c_interrupt_flag_get(i2c, I2C_INT_FLAG_STPDET)) {
}
else {
if (i2c_interrupt_flag_get(i2c, I2C_INT_FLAG_RBNE)) {
/* if reception data register is not empty, I2C1 will read a data from I2C_DATA */
/* also check that our RX buffer has enough space for it */
if(rx_count < obj_s->tx_rx_buffer_size) {
*(obj_s->rx_buffer_ptr + rx_count++) = i2c_data_receive(i2c);
} else {
/* indicate RX buffer too small */
}
}
}

if (i2c_interrupt_flag_get(i2c, I2C_INT_FLAG_STPDET)) {
/* clear the STPDET bit */
i2c_enable(i2c);
if (!i2c_flag_get(i2c, GD32_I2C_FLAG_IS_TRANSMTR_OR_RECVR)) {
obj_s->rx_buffer_ptr = obj_s->rx_buffer_ptr - obj_s->rx_count ;
obj_s->slave_receive_callback(obj_s->pWireObj, obj_s->rx_buffer_ptr, obj_s->rx_count);

if (!is_transmitter) {
obj_s->slave_receive_callback(obj_s->pWireObj, (uint8_t*)obj_s->rx_buffer_ptr, rx_count); // onReceiveService
}
is_transmitter = false;

}
}

volatile uint8_t tx_idx = 0;
volatile bool bUseCmd = false;
volatile uint8_t data[4];
extern volatile uint8_t reg_status;
extern volatile uint8_t* read_ptr;
extern volatile uint8_t new_data_ready;

void I2C0_IRQHandler(void) {
/* 1. 地址匹配中断 (Address Matched) */
if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_ADDSEND)) {
/* 清除 ADDSEND 位 (通过读 STAT0 和 STAT1) */
i2c_interrupt_flag_clear(I2C0, I2C_INT_FLAG_ADDSEND);

/* 检查当前是从机接收(主机写)还是从机发送(主机读) */
if (i2c_flag_get(I2C0, GD32_I2C_FLAG_IS_TRANSMTR_OR_RECVR)) {
// 从机发送模式 (主机要读数据)
tx_idx = 0; // 重置发送索引
// 可以在这里根据 current_cmd 决定准备什么数据到 i2c_tx_buffer
if(new_data_ready) {
memcpy((uint8_t*)data, (uint8_t*)read_ptr, 4);
new_data_ready = 0;
}
}
}

/* 2. 接收中断 (Receive Buffer Not Empty) - 主机写数据给从机 */
if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_RBNE)) {
bUseCmd = true;
uint8_t cmd = i2c_data_receive(I2C0);
if (cmd == 0x00) {
// 接收到度量指令后，重新标识为新鲜
reg_status = 0b00;
data[0] = (data[0] & 0x3F); // status = OK
}
}

/* 3. 发送中断 (Transmit Buffer Empty) - 主机读从机数据 */
if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_TBE)) {
do {
if(tx_idx < 4) {
i2c_data_transmit(I2C0, data[tx_idx++]);
}
else {
// 无数据可发送时，发送0xff，适配PX4
i2c_data_transmit(I2C0, 0xFF);
}
} while (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_TBE));

// if (bUseCmd && tx_idx == 4) { // 读取一次后数据标识为不新鲜
// // status = STALE = 0b10
// // 0x80 = 0b10xx xxxx
// data[0] = 0x80 | (data[0] & 0x3F);
// }
data[0] = 0x80 | (data[0] & 0x3F);
}

/* 4. 停止位检测 (Stop Condition Detected) */
if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_STPDET)) {
/* 清除 STPDET (写 STAT0 后读 CTL0) */
i2c_enable(I2C0); // 简单处理：重新使能以清除标志位并释放总线

// 此处可以设置一个全局标志，通知 main 函数：一个完整的包收到了/发完了
tx_idx = 0;
}
}

Expand All @@ -666,7 +769,8 @@ static void i2c_irq(struct i2c_s *obj_s)
*/
extern "C" void I2C0_EV_IRQHandler(void)
{
i2c_irq(obj_s_buf[I2C0_INDEX]);
// i2c_irq(obj_s_buf[I2C0_INDEX]);
I2C0_IRQHandler();
}

/** handle I2C0 error interrupt request
Expand Down
8 changes: 4 additions & 4 deletions libraries/Wire/src/utility/twi.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,10 +47,10 @@ struct i2c_s {
PinName sda;
PinName scl;
/* operating parameters */
uint8_t *tx_buffer_ptr;
uint8_t *rx_buffer_ptr;
uint16_t tx_count;
uint16_t rx_count;
volatile uint8_t *tx_buffer_ptr;
volatile uint8_t *rx_buffer_ptr;
volatile uint16_t tx_count;
volatile uint16_t rx_count;
/* TX and RX buffer are expected to be of this size */
uint16_t tx_rx_buffer_size;

Expand Down
4 changes: 2 additions & 2 deletions system/GD32E23x_firmware/CMSIS/GD/GD32E23x/Source/system_gd32e23x.c
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Expand Up @@ -44,8 +44,8 @@

/* select a system clock by uncommenting the following line */
//#define __SYSTEM_CLOCK_8M_HXTAL (__HXTAL)
//#define __SYSTEM_CLOCK_8M_IRC8M (__IRC8M)
#define __SYSTEM_CLOCK_72M_PLL_HXTAL (uint32_t)(72000000)
#define __SYSTEM_CLOCK_8M_IRC8M (__IRC8M)
//#define __SYSTEM_CLOCK_72M_PLL_HXTAL (uint32_t)(72000000)
//#define __SYSTEM_CLOCK_72M_PLL_IRC8M_DIV2 (uint32_t)(72000000)

#define SEL_IRC8M 0x00
Expand Down