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Implement software I2C driver #2

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Merged
merged 7 commits into from
Aug 7, 2025
Merged

Implement software I2C driver #2

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d1fd2f4
Initialize stack pointer
ArcaneNibble Jul 28, 2025
fb8768c
Re-use control structure header file from pybricks-micropython
ArcaneNibble Aug 6, 2025
aca90c4
Handle GPIO bank 0/1 direction changing on behalf of ARM
ArcaneNibble Aug 6, 2025
f73b35d
Define EV3 hub sensor port GPIOs for I2C
ArcaneNibble Aug 6, 2025
8914097
Define both compiler bug workaround and real address for shared memory
ArcaneNibble Aug 6, 2025
0445fba
Implement software I2C driver
ArcaneNibble Aug 6, 2025
5ef6c58
Trigger a host CPU interrupt on I2C transaction completion
ArcaneNibble Aug 6, 2025
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4 changes: 2 additions & 2 deletions Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -3,15 +3,15 @@ OBJCOPY = pru-objcopy
BUILD_TARGET = pru_ledpwm

ASFLAGS += -g
CFLAGS += -g -Wall -Wno-main -Os
CFLAGS += -g -Wall -Wimplicit-fallthrough -Wno-main -Os
LDFLAGS += -g -nostdlib -mmcu=am1808.pru1.specs

.PHONY: all clean

all: $(BUILD_TARGET).bin

# Manual dependency tracking
main.o: am1808.h
main.o: am1808.h rproc_ev3_pru1.h

$(BUILD_TARGET).bin: $(BUILD_TARGET).elf

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25 changes: 25 additions & 0 deletions am1808.h
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Expand Up @@ -65,7 +65,32 @@
// 30 = Shared RAM 0x80nnnn00
// 31 = mDDR/DDR2 Data 0xC0nnnn00

extern volatile __regio_symbol unsigned int __R30;
extern volatile __regio_symbol unsigned int __R31;

// Timer0 peripheral (only what we need)
static volatile uint32_t * const TIMER0_TIM34 = (volatile uint32_t *)0x01C20014;

// Timer2 peripheral (only what we need)
static volatile uint32_t * const TIMER2_TIM12 = (volatile uint32_t *)0x01F0C010;
static volatile uint32_t * const TIMER2_INTCTLSTAT = (volatile uint32_t *)0x01F0C044;

#define TIMER_INTCTLSTAT_PRDINTSTAT12 (1 << 1)

// GPIO peripheral (only what we need)
typedef struct {
uint32_t dir;
uint32_t out_data;
uint32_t set_data;
uint32_t clr_data;
uint32_t in_data;
uint32_t set_ris_trig;
uint32_t clr_ris_trig;
uint32_t set_fal_trig;
uint32_t clr_fal_trig;
uint32_t intstat;
} gpio_bank_t;

static volatile gpio_bank_t * const GPIO_BANK_01 = (volatile gpio_bank_t *)0x01E26010;

#endif
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