diff options
| -rw-r--r-- | src/DuetNG/DueXn.cpp | 8 | ||||
| -rw-r--r-- | src/DuetNG/SX1509.cpp | 2 | ||||
| -rw-r--r-- | src/Hardware/I2C.cpp | 11 | ||||
| -rw-r--r-- | src/Hardware/I2C.h | 2 |
4 files changed, 12 insertions, 11 deletions
diff --git a/src/DuetNG/DueXn.cpp b/src/DuetNG/DueXn.cpp index c73cdb24..fd902e8f 100644 --- a/src/DuetNG/DueXn.cpp +++ b/src/DuetNG/DueXn.cpp @@ -33,7 +33,6 @@ namespace DuetExpansion static volatile uint32_t dueXnReadCount = 0; static uint32_t dueXnReadCountResetMillis = 0; static volatile bool taskWaiting = false; - static volatile bool inputsChanged = false; Task<DueXTaskStackWords> *dueXTask = nullptr; @@ -71,7 +70,6 @@ namespace DuetExpansion // Otherwise we might wake it prematurely when it is waiting for an I2C transaction to be completed. static void DueXIrq(CallbackParameter p) noexcept { - inputsChanged = true; if (taskWaiting) { taskWaiting = false; @@ -84,14 +82,12 @@ namespace DuetExpansion { for (;;) { - inputsChanged = false; - taskWaiting = false; + taskWaiting = false; // make sure we are not notified while we do the I2C transaction TaskBase::ClearNotifyCount(); dueXnInputBits = dueXnExpander.digitalReadAll(); taskWaiting = true; ++dueXnReadCount; - __DSB(); - if (!inputsChanged) + if (digitalRead(DueX_INT)) { (void)TaskBase::Take(); } diff --git a/src/DuetNG/SX1509.cpp b/src/DuetNG/SX1509.cpp index ffbd8744..208cf35b 100644 --- a/src/DuetNG/SX1509.cpp +++ b/src/DuetNG/SX1509.cpp @@ -55,7 +55,7 @@ bool SX1509::begin(uint8_t address) noexcept { clock(DefaultOscDivider); writeWord(REG_HIGH_INPUT_B, 0xFFFF); // set all inputs to be 5V-tolerant - writeByte(REG_DEBOUNCE_CONFIG, 0); // debounce time set to minimum (0.5ms) + writeByte(REG_DEBOUNCE_CONFIG, 1); // debounce time set to 1ms } return ok; diff --git a/src/Hardware/I2C.cpp b/src/Hardware/I2C.cpp index c62db5e7..50db157b 100644 --- a/src/Hardware/I2C.cpp +++ b/src/Hardware/I2C.cpp @@ -21,6 +21,7 @@ void I2C::Init() noexcept MutexLocker lock(Tasks::GetI2CMutex()); if (!i2cInitialised) // test it again, now that we own the mutex { + NVIC_SetPriority(I2C_IRQn, NvicPriorityTwi); // we use I2C to talk to the DueX before Platform::InitialiseInterrupts is called, so need to do this here I2C_IFACE.BeginMaster(I2cClockFreq); i2cInitialised = true; } @@ -43,15 +44,19 @@ extern "C" void WIRE_ISR_HANDLER() noexcept uint32_t I2C::statusWaitFunc(Twi *twi, uint32_t bitsToWaitFor) noexcept { + bool ok = true; uint32_t sr = twi->TWI_SR; - if ((sr & bitsToWaitFor) == 0) + while (ok && (sr & bitsToWaitFor) == 0) { // Suspend this task until we get an interrupt indicating that a status bit that we are interested in has been set twiTask = TaskBase::GetCallerTaskHandle(); + twi->TWI_IDR = 0xFFFFFFFF; twi->TWI_IER = bitsToWaitFor; - (void)TaskBase::Take(2); - sr = twi->TWI_SR; + NVIC_EnableIRQ(I2C_IRQn); + ok = TaskBase::Take(2); + twiTask = nullptr; twi->TWI_IDR = 0xFFFFFFFF; + sr = twi->TWI_SR; } return sr; } diff --git a/src/Hardware/I2C.h b/src/Hardware/I2C.h index 414a403c..12a57799 100644 --- a/src/Hardware/I2C.h +++ b/src/Hardware/I2C.h @@ -25,7 +25,7 @@ namespace I2C // Transfer data to/from an I2C peripheral. // If the caller needs to do multiple I2C transactions without being interrupted, it should own the i2C mutex before calling this. - // Otherwise the caller need nort own the mutex because it will be acquired here. + // Otherwise the caller need not own the mutex because it will be acquired here. inline size_t Transfer(uint16_t address, uint8_t *buffer, size_t numToWrite, size_t numToRead) noexcept { MutexLocker Lock(Tasks::GetI2CMutex()); |