Bus and External Device Drivers

Betaflight makes a distinction between external devices and the bus on which they reside. For example each type of gyro will have a device driver which understands the register map of the gyro, and accesses to those registers will be made via a bus driver, either I2C or SPI. A device instance is represented by a extDevice_t structure which references a busDevice_t structure corresponding to the bus instance via which the device is accesses.

Bus Agnostic Device Access Routines

There are a common set of device access functions which are bus agnostic. In each case the device instance handle dev is passed to indicate the device to access, and from this the appropriate bus instance is selected.

Access routines where the register is accessed directly

These write routines do not mask the value in reg.

bool busRawWriteRegister(const extDevice_t *dev, uint8_t reg, uint8_t data);

Write the value data to the register offset reg.

bool busRawWriteRegisterStart(const extDevice_t *dev, uint8_t reg, uint8_t data);

Write the value data to the register offset reg. If the device is on an I2C bus this call is non-blocking and merely starts the access, hence the name suffix, but care should be taken not to call this a second time before the first access has completed.

bool busRawReadRegisterBuffer(const extDevice_t *dev, uint8_t reg, uint8_t *data, uint8_t length);

Read length bytes into the buffer at *data from the register offset reg.

bool busRawReadRegisterBufferStart(const extDevice_t *dev, uint8_t reg, uint8_t *data, uint8_t length);

Read length bytes into the buffer at *data from the register offset reg. If the device is on an I2C bus this call is non-blocking and merely starts the access, hence the name suffix.

Write routines where the register number is masked with 0x7f

It is common to indicate a read from an SPI register by setting but 7 (0x80) of the register number. There are therefore a number of routines which clear this bit to indicate a write. I2C register addresses are only 7 bits with an explicit read/write bit.

bool busWriteRegister(const extDevice_t *dev, uint8_t reg, uint8_t data);

Write the value data to the register offset reg logically anded with 0x7f.

bool busWriteRegisterStart(const extDevice_t *dev, uint8_t reg, uint8_t data);

Write the value data to the register offset reg logically anded with 0x7f. If the device is on an I2C bus this call is non-blocking and merely starts the access, hence the name suffix.

Read routines where the register is ORed with 0x80

It is common to indicate a read from an SPI register by setting but 7 (0x80) of the register number. There are therefore a number of routines which set this bit to indicate a read. I2C register addresses are only 7 bits with an explicit read/write bit.

uint8_t busReadRegister(const extDevice_t *dev, uint8_t reg);

Read a single byte from the register offset reg logically anded with 0x80.

bool busReadRegisterBuffer(const extDevice_t *dev, uint8_t reg, uint8_t *data, uint8_t length);

Read length bytes into the buffer at *data from the register offset reg logically anded with 0x80.

bool busReadRegisterBufferStart(const extDevice_t *dev, uint8_t reg, uint8_t *data, uint8_t length);

Read length bytes into the buffer at *data from the register offset reg logically anded with 0x80. If the device is on an I2C bus this call is non-blocking and merely starts the access, hence the name suffix.

I2C Specific Access

I2C bus accesses are slow and therefore, except during startup device initialisation, the use of blocking accesses should be avoided. Therefore the bus...Start() routines should be used which use interrupts to handle the transfer in the background. The barometer driver is a good example of how I2C devices accesses should be performed, with a state machine used so that accesses are started in one state, and the processing of the result of a read, or launching the next write waits until the next state.

It is necessary to register a device as being on an I2C bus in order that it can be accessed.

bool i2cBusSetInstance(const extDevice_t *dev, uint32_t device);

This registers the external device dev with an I2C bus device instance device.

void i2cBusDeviceRegister(const extDevice_t *dev);

A call to i2cBusDeviceRegister simply increments a count of the number of I2C devices in use.

SPI Specific Access

SPI attached devices are accessed at higher speed and therefore may be accessed using blocking read/writes, however longer transfers or accesses requiring multiple transfers are better performed using DMA transfers under interrupt control.

There are a number of SPI specific bus access routines to facilitate such optimisation.

As with I2C it is possible to have multiple devices share a common SPI bus.

It is necessary to register a device as being on an SPI bus in order that it can be accessed.

bool spiSetBusInstance(extDevice_t *dev, uint32_t device);

This registers the external device dev with an SPI bus device instance device.

void spiSetClkDivisor(const extDevice_t *dev, uint16_t divider);

Each device on an SPI bus can use a different SPI bus clock speed and this sets the clock divisor to be used for accesses by the given device.

Two utility routines are provided to determine the divider value to use in order to achieve a max SPI clock speed, and to return the actual clock speed corresponding to that divisor.

// Determine the divisor to use for a given bus frequency
uint16_t spiCalculateDivider(uint32_t freq);
// Return the SPI clock based on the given divisor
uint32_t spiCalculateClock(uint16_t spiClkDivisor);

Access to SPI devices requires that the clock phase/polarity be set appropriately. See https://en.wikipedia.org/wiki/Serial_Peripheral_Interface.

void spiSetClkPhasePolarity(const extDevice_t *dev, bool leadingEdge);

If leadingEdge is set to true, the default, then data will be clocked on the first rising edge of the clock, or if false, on the second falling edge.

void spiDmaEnable(const extDevice_t *dev, bool enable);

Certain devices, such as the CC2500 cannot handle the timing of sequential accesses which are being DMAed, so this enables DMA to be enabled (default) or disabled on a per device basis.

In order to support efficient use of SPI it is possible to perform not only single accesses as described above, but also to define a sequence of transfers using an array of busSegment_t elements which then comprise a complete transaction. These may be complex, support polling bus status for example before performing a write.

Each busSegment_t element passes a union of either a pair of buffer pointers for write/read respectively, a null link structure used to terminate the list. Following is the number of bytes in the transfer, a boolean, negateCS, indicating if the SPI CS line should be negated at the end of the segment, and an optional callback routine.

A good example of this is in m25p16_readBytes() where a segment list is defined thus:

    busSegment_t segments[] = {
            {.u.buffers = {readStatus, readyStatus}, sizeof(readStatus), true, m25p16_callbackReady},
            {.u.buffers = {readBytes, NULL}, fdevice->isLargeFlash ? 5 : 4, false, NULL},
            {.u.buffers = {NULL, buffer}, length, true, NULL},
            {.u.link = {NULL, NULL}, 0, true, NULL},
    };

In the above example the busy status of the FLASH memory is polled in the first element and then m25p16_callbackReady() is called which checks the read status. If the device is busy the value BUS_BUSY is returned and the element will be repeated under interrupt/DMA control. If the device is ready to accept a new command then BUS_READY is returned and the next element is processed. BUS_ABORT may also be returned in abort the whole transaction, although this is not currently used.

It can be faster to perform short transfers using polled access rather than setting up DMAs and the rules are as follows to determine if DMA should be use.

1. DMA is enabled on the bus and device
2. All transmit/receive buffers are in memory supporting DMAs
3. One of the following:
   1. There are are at least SPI_DMA_THRESHOLD bytes to transfer
   2. There is more than a single element in the segment list
   3. The negateCS boolean is set to false in the terminating entry of the list.

The ELRS driver in rx_sx1280.c is an example of 3.3 where the terminating link has negateCS set to false. This then ensures that all accesses run in the background without blocking.

void spiSequence(const extDevice_t *dev, busSegment_t *segments);

This routine queues the given segment list for processing. If the device's bus is already busy then this segment list will be linked to the preceeding one in the queue so that the accesses will automatically proceed one after the other as quickly as possible.

void spiWait(const extDevice_t *dev);

Block, waiting for completion of the indicated device's bus activity.

bool spiIsBusy(const extDevice_t *dev);

Return true if the device's bus is busy.