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slides/lectures/fils_en/05/slides.md
View file @ db831a94
......@@ -27,7 +27,7 @@ Lecture 5
---
# UART & SPI
used by RP2040
used by RP2350
- Direct Memory Access
- Buses
......@@ -35,7 +35,9 @@ used by RP2040
- Serial Peripheral Interface
- Analog and Digital Sensors
<!-- DMA -->
<!--
DMA
-->
---
src: ../../resources/dma/slides.md
......
slides/lectures/fils_en/06/i2c/i2c_10bit_address_format.json deleted 100644 → 0
View file @ c20bc814
{
"reg": [
{
"bits": 8,
"name": "lower address",
"type": 5,
"attr": [
"address"
]
},
{
"bits": 1,
"name": "R/W",
"type": 3,
"attr": [
"1 - Read",
"0 - Write"
]
},
{
"bits": 2,
"name": "upper address",
"type": 5,
"attr": [
"address"
]
},
{
"bits": 5,
"name": 0x1e,
"type": 1,
"attr": [
"signal usage of 10 bit address"
]
}
]
}
slides/lectures/fils_en/06/i2c/i2c_10bit_address_format.svg deleted 100644 → 0
View file @ c20bc814
<svg xmlns="http://www.w3.org/2000/svg" width="800" height="84" viewBox="0 0 800 84" class="WaveDrom"><g transform="translate(0.5,0.5)" text-anchor="middle" font-size="14" font-family="sans-serif" font-weight="normal"><g transform="translate(4,21)"><g stroke="black" stroke-width="1" stroke-linecap="round"><line x2="791"/><line y2="31"/><line x2="791" y1="31" y2="31"/><line x1="791" x2="791" y2="31"/><line x1="742" x2="742" y2="3"/><line x1="742" x2="742" y1="31" y2="28"/><line x1="692" x2="692" y2="3"/><line x1="692" x2="692" y1="31" y2="28"/><line x1="643" x2="643" y2="3"/><line x1="643" x2="643" y1="31" y2="28"/><line x1="593" x2="593" y2="3"/><line x1="593" x2="593" y1="31" y2="28"/><line x1="544" x2="544" y2="3"/><line x1="544" x2="544" y1="31" y2="28"/><line x1="494" x2="494" y2="3"/><line x1="494" x2="494" y1="31" y2="28"/><line x1="445" x2="445" y2="3"/><line x1="445" x2="445" y1="31" y2="28"/><line x1="396" x2="396" y2="31"/><line x1="346" x2="346" y2="31"/><line x1="297" x2="297" y2="3"/><line x1="297" x2="297" y1="31" y2="28"/><line x1="247" x2="247" y2="31"/><line x1="198" x2="198" y2="3"/><line x1="198" x2="198" y1="31" y2="28"/><line x1="148" x2="148" y2="3"/><line x1="148" x2="148" y1="31" y2="28"/><line x1="99" x2="99" y2="3"/><line x1="99" x2="99" y1="31" y2="28"/><line x1="49" x2="49" y2="3"/><line x1="49" x2="49" y1="31" y2="28"/></g><g><g><rect x="396" width="396" height="31" field="lower address" style="fill-opacity:0.1;fill:#ffbf00"/><rect x="346" width="49" height="31" field="R/W" style="fill-opacity:0.1;fill:#aaff00"/><rect x="247" width="99" height="31" field="upper address" style="fill-opacity:0.1;fill:#ffbf00"/><rect width="247" height="31" field="30" style="fill-opacity:0.1"/></g><g transform="translate(25,-11)"><g transform="translate(742)"><text y="6">0</text></g><g transform="translate(396)"><text y="6">7</text></g><g transform="translate(346)"><text y="6">8</text></g><g transform="translate(297)"><text y="6">9</text></g><g transform="translate(247)"><text y="6">10</text></g><g transform="translate(198)"><text y="6">11</text></g><g transform="translate(0)"><text y="6">15</text></g></g><g transform="translate(25,15)"><g transform="translate(569)"><text y="6"><tspan>lower address</tspan></text></g><g transform="translate(346)"><text y="6"><tspan>R/W</tspan></text></g><g transform="translate(272)"><text y="6"><tspan>upper address</tspan></text></g><g><g transform="translate(198)"><text y="6">0</text></g><g transform="translate(148)"><text y="6">1</text></g><g transform="translate(99)"><text y="6">1</text></g><g transform="translate(49)"><text y="6">1</text></g><g transform="translate(0)"><text y="6">1</text></g></g></g><g transform="translate(25,39)"><g><g transform="translate(569)"><text y="6"><tspan>address</tspan></text></g></g><g><g transform="translate(346)"><text y="6"><tspan>1 - Read</tspan></text></g><g transform="translate(346,14)"><text y="6"><tspan>0 - Write</tspan></text></g></g><g><g transform="translate(272)"><text y="6"><tspan>address</tspan></text></g></g><g><g transform="translate(99)"><text y="6"><tspan>signal usage of 10 bit address</tspan></text></g></g></g></g></g></g></svg>
\ No newline at end of file
slides/lectures/fils_en/06/i2c/i2c_10bit_address_transmission.json deleted 100644 → 0
View file @ c20bc814
{
"signal": [
{
"name": "SCL",
"wave": "h..01010101010101010101010101010101010101010101010101."
},
{
"name": "SDA",
"wave": "1..0.1.......0.4.4.7.2.4.4.4.4.4.4.4.4.2.9......|..2.01.",
"data": ["a9", "a8",
"r/w",
"ack",
"a7",
"a6",
"a5",
"a4",
"a3",
"a2",
"a1",
"a0",
"ack",
"byte1 | byte2 ... ",
"ack"
],
"phase": 1.5
},
{
"name": "data",
"wave": "xx3.xxxxxxxxxxx4...7.x.4...............x.9.......|.xx5.x",
"data": [
"start",
"upper addr",
"cmd",
"lower address",
"payload bytes",
"stop"
],
"phase": 1.5
}
],
"config": {
"skin": "narrow"
}
}
slides/lectures/fils_en/06/i2c/i2c_7bit_address_format.json deleted 100644 → 0
View file @ c20bc814
{
"reg": [
{
"bits": 1,
"name": "R/W",
"type": 3,
"attr": [
"1 - Read",
"0 - Write"
]
},
{
"bits": 7,
"name": "7 bit address",
"type": 5,
"attr": [
"Address"
]
}
]
}
slides/lectures/fils_en/06/i2c/i2c_7bit_address_format.svg deleted 100644 → 0
View file @ c20bc814
<svg xmlns="http://www.w3.org/2000/svg" width="800" height="84" viewBox="0 0 800 84" class="WaveDrom"><g transform="translate(0.5,0.5)" text-anchor="middle" font-size="14" font-family="sans-serif" font-weight="normal"><g transform="translate(4,21)"><g stroke="black" stroke-width="1" stroke-linecap="round"><line x2="791"/><line y2="31"/><line x2="791" y1="31" y2="31"/><line x1="791" x2="791" y2="31"/><line x1="692" x2="692" y2="31"/><line x1="593" x2="593" y2="3"/><line x1="593" x2="593" y1="31" y2="28"/><line x1="494" x2="494" y2="3"/><line x1="494" x2="494" y1="31" y2="28"/><line x1="396" x2="396" y2="3"/><line x1="396" x2="396" y1="31" y2="28"/><line x1="297" x2="297" y2="3"/><line x1="297" x2="297" y1="31" y2="28"/><line x1="198" x2="198" y2="3"/><line x1="198" x2="198" y1="31" y2="28"/><line x1="99" x2="99" y2="3"/><line x1="99" x2="99" y1="31" y2="28"/></g><g><g><rect x="692" width="99" height="31" field="R/W" style="fill-opacity:0.1;fill:#aaff00"/><rect width="692" height="31" field="7 bit address" style="fill-opacity:0.1;fill:#ffbf00"/></g><g transform="translate(49,-11)"><g transform="translate(692)"><text y="6">0</text></g><g transform="translate(593)"><text y="6">1</text></g><g transform="translate(0)"><text y="6">7</text></g></g><g transform="translate(49,15)"><g transform="translate(692)"><text y="6"><tspan>R/W</tspan></text></g><g transform="translate(297)"><text y="6"><tspan>7 bit address</tspan></text></g></g><g transform="translate(49,39)"><g><g transform="translate(692)"><text y="6"><tspan>1 - Read</tspan></text></g><g transform="translate(692,14)"><text y="6"><tspan>0 - Write</tspan></text></g></g><g><g transform="translate(297)"><text y="6"><tspan>Address</tspan></text></g></g></g></g></g></g></svg>
\ No newline at end of file
slides/lectures/fils_en/06/i2c/i2c_7bit_address_transmission.json deleted 100644 → 0
View file @ c20bc814
{
"signal": [
{
"name": "SCL",
"wave": "h..01010101010101010101010101010101.."
},
{
"name": "SDA",
"wave": "1..0.4.4.4.4.4.4.4.7.2.9..|2.9..|2.01.",
"data": [
"a6",
"a5",
"a4",
"a3",
"a2",
"a1",
"a0",
"r/w",
"ack",
"byte 1 ",
"ack",
"byte 2 ",
"ack"
],
"phase": 1.5
},
{
"name": "data",
"wave": "xx3.x4.............7.x.9.......|.xx5.x",
"data": [
"start",
"address",
"cmd",
"payload bytes",
"stop"
],
"phase": 1.5
}
],
"config": {
"skin": "narrow"
}
}
slides/lectures/fils_en/06/i2c/i2c_example.json deleted 100644 → 0
View file @ c20bc814
{
"signal": [
{
"name": "SCL",
"wave": "h..0101010|.101010101010|.101."
},
{
"name": "SDA",
"wave": "xx3.x4.....|.7.2.9.......|.2.5.x",
"data": [
"start",
"address ",
"cmd",
"ack",
"payload bytes",
"ack",
"stop"
],
"phase": 1.5
}
],
"config": {
"skin": "narrow"
}
}
\ No newline at end of file
slides/lectures/fils_en/06/i2c/i2c_example.svg deleted 100644 → 0
View file @ c20bc814
This diff is collapsed.
slides/lectures/fils_en/06/i2c/i2c_network.svg deleted 100644 → 0
View file @ c20bc814
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\ No newline at end of file
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View file @ c20bc814
slides/lectures/fils_en/06/i2c/raspberry_pi_pico_pins.jpg

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slides/lectures/fils_en/06/i2c/slides.md deleted 100644 → 0
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---
layout: section
---
# I2C
Inter-Integrated Circuit
---
---
# Bibliography
for this section
1. **Raspberry Pi Ltd**, *[RP2040 Datasheet](https://datasheets.raspberrypi.com/rp2040/rp2040-datasheet.pdf)*
- Chapter 4 - *Peripherals*
- Chapter 4.3 - *I2C*
2. **Paul Denisowski**, *[Understanding I2C](https://www.youtube.com/watch?v=CAvawEcxoPU)*
---
---
# I2C
a.k.a *I square C*
- Used for communication between integrated circuits
- Sensors usually expose an *SPI* and an *I2C* interface
- Two device types:
- *controller* (master) - initiates the communication (usually MCU)
- *target* (slave) - receive and transmit data when the *controller* requests (usually the sensor)
<div align="center">
<img src="/i2c/i2c_network.svg" class="rounded w-120">
</div>
---
---
# Wires & Addresses
- *SDA* - **S**erial **DA**ta line - carries data from the **controller** to the **target** or from the **target** to the **controller**
- *SCL* - **S**erial **CL**ock line - the clock signal generated by the **controller**, **targets**
- *sample* data when the clock is *low*
- *write* data to the bus only when the clock is *high*
- each *target* has a unique address of **7 bits** or **10 bits**
- wires are never driven with `LOW` or `HIGH`
- are always *pull-up*, which is `HIGH`
- devices *pull down* the lines to *write* `LOW`
<div grid="~ cols-2 gap-5">
<div align="center">
<br>
<img src="/i2c/i2c_example.svg" class="rounded w-12f0">
</div>
<div align="center">
<img src="/i2c/i2c_network.svg" class="rounded w-120">
</div>
</div>
---
# Transmission Example
7 bit address
<style>
img {
background: #ffffff;
}
</style>
<div grid="~ cols-2 gap-5">
<v-clicks>
1. **controller** issues a `START` condition
- pulls the `SDA` line `LOW`
- waits for ~ 1/2 clock periods and starts the clock
2. **controller** sends the address of the **target**
3. **controller** sends the command bit (`R/W`)
4. **target** sends `ACK` / `NACK` to **controller**
</v-clicks>
<div>
<v-clicks>
5. **controller** or **target** sends data (depends on `R/W`)
- receives `ACK` / `NACK` after every byte
6. **controller** issues a `STOP` condition
- stops the clock
- pulls the `SDA` line `HIGH` while `CLK` is `HIGH`
</v-clicks>
Address Format
<div align="center">
<img src="/i2c/i2c_7bit_address_format.svg" class="rounded w-100">
</div>
</div>
</div>
Transmission
<div align="center">
<img src="/i2c/i2c_7bit_address_transmission.svg" class="rounded w-155">
</div>
**controller** writes each bit when `CLK` is `LOW`, **target** samples every bit when `CLK` is `HIGH`
---
# Transmission Example
10 bit address
<style>
img {
background: #ffffff;
}
</style>
<div grid="~ cols-2 gap-5">
<v-clicks>
1. **controller** issues a `START` condition
2. **controller** sends `11110` followed by the *upper address* of the **target**
3. **controller** sends the command bit (`R/W`)
4. **target** sends `ACK` / `NACK` to **controller**
5. **controller** sends the *lower address* of the **target**
6. **target** sends `ACK` / `NACK` to **controller**
</v-clicks>
<div>
<v-clicks>
7. **controller** or **target** sends data (depends on `R/W`)
- receives `ACK` / `NACK` after every byte
8. **controller** issues a `STOP` condition
</v-clicks>
Address Format
<div align="center">
<img src="/i2c/i2c_10bit_address_format.svg" class="rounded w-120">
</div>
</div>
</div>
Transmission
<div align="center">
<img src="/i2c/i2c_10bit_address_transmission.svg" class="rounded">
</div>
**controller** writes each bit when `CLK` is `LOW`, **target** samples every bit when `CLK` is `HIGH`
---
---
# I2C Modes
| Mode | Speed | Capacity | Drive | Direction |
|-|-|-|-|-|
| Standard mode (Sm) | 100 kbit/s | 400 pF | Open drain | Bidirectional |
| Fast mode (Fm) |400 kbit/s | 400 pF | Open drain | Bidirectional |
| Fast mode plus (Fm+) | 1 Mbit/s | 550 pF | Open drain | Bidirectional |
| High-speed mode (Hs) | 1.7 Mbit/s | 400 pF | Open drain | Bidirectional |
| High-speed mode (Hs) | 3.4 Mbit/s | 100 pF | Open drain | Bidirectional |
| Ultra-fast mode (UFm) | 5 Mbit/s | ? | Push–pull | Unidirectional |
---
---
# Facts
| | | |
|-|-|-|
| Transmission | *half duplex* | data must be sent in one direction at one time |
| Clock | *synchronized* | the **controller** and **target** use the same clock, there is no need for clock synchronization |
| Wires | *SDA* / *SCL* | the same read and write wire and a clock wire |
| Devices | *1 controller* <br> *several targets* | a receiver and a transmitter |
| Speed | *5 Mbit/s* | usually 100 Kbit/s, 400 Kbit/s and 1 Mbit/s |
---
---
# Usage
- sensors
- small displays
- RP2040 has two I2C devices
<div align="center">
<img src="/i2c/raspberry_pi_pico_pins.jpg" class="rounded m-5 w-120">
</div>
---
---
# Embassy API
for RP2040, synchronous
<div grid="~ cols-3 gap-5">
```rust {*}{lines: false}
pub struct Config {
/// Frequency.
pub frequency: u32,
}
```
```rust {*}{lines: false}
pub enum ConfigError {
/// Max i2c speed is 1MHz
FrequencyTooHigh,
ClockTooSlow,
ClockTooFast,
}
```
```rust {*}{lines: false}
pub enum Error {
Abort(AbortReason),
InvalidReadBufferLength,
InvalidWriteBufferLength,
AddressOutOfRange(u16),
AddressReserved(u16),
}
```
</div>
```rust{all|1|3,4|6|8,9|11,12}
use embassy_rp::i2c::Config as I2cConfig;
let sda = p.PIN_14;
let scl = p.PIN_15;
let mut i2c = i2c::I2c::new_blocking(p.I2C1, scl, sda, I2cConfig::default());
let tx_buf = [0x90];
i2c.write(0x5e, &tx_buf).unwrap();
let mut rx_buf = [0x00u8; 7];
i2c.read(0x5e, &mut rx_buf).unwrap();
```
---
---
# Embassy API
for RP2040, asynchronous
```rust{all|1|3-5|7,8|10|12,13|15,16}
use embassy_rp::i2c::Config as I2cConfig;
bind_interrupts!(struct Irqs {
I2C1_IRQ => InterruptHandler<I2C1>;
});
let sda = p.PIN_14;
let scl = p.PIN_15;
let mut i2c = i2c::I2c::new_async(p.I2C1, scl, sda, Irqs, I2cConfig::default());
let tx_buf = [0x90];
i2c.write(0x5e, &tx_buf).await.unwrap();
let mut rx_buf = [0x00u8; 7];
i2c.read(0x5e, &mut rx_buf).await.unwrap();
```
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---
layout: section
---
# Sensors
Analog and Digital Sensors
---
---
# Bibliography
for this section
**BOSCH**, *[BMP280 Digital Pressure Sensor](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmp280-ds001.pdf)*
- Chapter 3 - *Functional Description*
- Chapter 4 - *Global memory map and register description*
- Chapter 5 - *Digital Interfaces*
- Subchapter 5.2 - *I2C Interface*
---
---
# Sensors
analog and digital
<div grid="~ cols-2 gap-5">
<div>
### Analog
- only the transducer (the analog sensor)
- outputs (usually) voltage
- requires:
- an ADC to be read
- cleaning up the noise
<br>
<img src="/sensors/analog_sensor.svg" class="rounded">
</div>
<div>
### Digital
- consists of:
- a transducer (the analog sensor)
- an ADC
- an MCU for cleaning up the noise
- outputs data using a digital bus
<br>
<img src="/sensors/digital_sensor.svg" class="rounded">
</div>
</div>
---
---
# BMP280 Digital Pressure Sensor
schematics
<div align="center">
<img src="/sensors/bmp280_schematics.png" class="rounded w-150">
</div>
[Datasheet](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmp280-ds001.pdf)
---
---
# BMP280 Digital Pressure Sensor
registers map
<img src="/sensors/bmp280_registers.png" class="rounded">
[Datasheet](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmp280-ds001.pdf)
---
# Reading from a digital sensor
using synchronous/asynchronous I2C to read the `press_lsb` register of BMP280
<!-- <img src="/sensors/spi_read_register.svg" class="rounded w-200"> -->
<div grid="~ cols-2 gap-5">
```rust{all|1|1,2|4|6,7|9,10}
const DEVICE_ADDR: u8 = 0x77;
const REG_ADDR: u8 = 0xf8;
i2c.write(DEVICE_ADDR, &[REG_ADDR]).unwrap();
let mut buf = [0x00u8];
i2c.read(DEVICE_ADDR, &mut buf).unwrap();
// use the value
let pressure_lsb = buf[1];
```
```rust{none|all||1|1,2|4|6,7|9,10}
const DEVICE_ADDR: u8 = 0x77;
const REG_ADDR: u8 = 0xf8;
i2c.write(DEVICE_ADDR, &[REG_ADDR]).await.unwrap();
let mut buf = [0x00u8];
i2c.read(DEVICE_ADDR, &mut buf).await.unwrap();
// use the value
let pressure_lsb = buf[1];
```
</div>
---
---
# Writing to a digital sensor
using synchronous/asynchronous I2C to set up the `ctrl_meas` register of the BMP280 sensor
<!-- <img src="/sensors/spi_write_register.svg" class="rounded w-200"> -->
<div grid="~ cols-2 gap-5">
```rust{all|1|1,2|4,5|7|9,10}
const DEVICE_ADDR: u8 = 0x77;
const REG_ADDR: u8 = 0xf4;
// see subchapters 3.3.2, 3.3.1 and 3.6
let value = 0b100_010_11;
i2c.write(DEVICE_ADDR, &[REG_ADDR]);
let buf = [REG_ADDR, value];
i2c.write(DEVICE_ADDR, &buf).unwrap();
```
```rust{none|all|1|1,2|4,5|7|9,10}
const DEVICE_ADDR: u8 = 0x77;
const REG_ADDR: u8 = 0xf4;
// see subchapters 3.3.2, 3.3.1 and 3.6
let value = 0b100_010_11;
i2c.write(DEVICE_ADDR, &[REG_ADDR]);
let buf = [REG_ADDR, value];
i2c.write(DEVICE_ADDR, &buf).await.unwrap();
```
</div>
slides/lectures/fils_en/06/sensors/spi_read_register.json deleted 100644 → 0
View file @ c20bc814
{
"signal": [
{
"name": "CS",
"wave": "1.0...................................1..",
"period": 1
},
{
"name": "Clock",
"wave": "l.PPPPPPPPl.PPPPPPPPl",
"phase": 1,
"period": 2
},
{
"name": "MOSI",
"wave": "zz6.5.5.5.5.5.5.5.xxxxxxxxxxxxxxxxxxxxz..",
"data": [
"1",
"1",
"1",
"1",
"1",
"0",
"0",
"0"
],
"period": 1
},
{
"name": "MISO",
"wave": "zzxxxxxxxxxxxxxxxxxxxx4.4.4.4.4.4.4.4.zzz",
"data": [
"b7",
"b6",
"b5",
"b4",
"b3",
"b2",
"b1",
"b0"
],
"period": 1
},
{
"name": "data",
"wave": "xx6.5.............xxxx4...............xxx",
"data": [
"r/w",
"register address (press_lsb, 0xf8)",
"register value (press_lsb)"
],
"period": 1
}
],
"config": {
"skin": "narrow"
}
}
\ No newline at end of file