421 lines
13 KiB
C
421 lines
13 KiB
C
|
/*
|
||
|
Copyright (C) 2018 andru
|
||
|
|
||
|
Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
you may not use this file except in compliance with the License.
|
||
|
You may obtain a copy of the License at
|
||
|
|
||
|
http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
||
|
Unless required by applicable law or agreed to in writing, software
|
||
|
distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
See the License for the specific language governing permissions and
|
||
|
limitations under the License.
|
||
|
*/
|
||
|
|
||
|
/**
|
||
|
* @file NRF5/NRF52832/hal_i2c_lld.c
|
||
|
* @brief NRF52 I2C subsystem low level driver source.
|
||
|
*
|
||
|
* @addtogroup I2C
|
||
|
* @{
|
||
|
*/
|
||
|
|
||
|
#include "osal.h"
|
||
|
#include "hal.h"
|
||
|
#include "nrf_delay.h"
|
||
|
|
||
|
#if HAL_USE_I2C || defined(__DOXYGEN__)
|
||
|
|
||
|
/*===========================================================================*/
|
||
|
/* Driver local definitions. */
|
||
|
/*===========================================================================*/
|
||
|
|
||
|
/* These macros are needed to see if the slave is stuck and we as master send dummy clock cycles to end its wait */
|
||
|
#define I2C_HIGH(p) do { IOPORT1->OUTSET = (1UL << (p)); } while(0) /*!< Pulls I2C line high */
|
||
|
#define I2C_LOW(p) do { IOPORT1->OUTCLR = (1UL << (p)); } while(0) /*!< Pulls I2C line low */
|
||
|
#define I2C_INPUT(p) do { IOPORT1->DIRCLR = (1UL << (p)); } while(0) /*!< Configures I2C pin as input */
|
||
|
#define I2C_OUTPUT(p) do { IOPORT1->DIRSET = (1UL << (p)); } while(0) /*!< Configures I2C pin as output */
|
||
|
|
||
|
#define I2C_PIN_CNF(internal_pullup) \
|
||
|
((GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos) \
|
||
|
| (GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos) \
|
||
|
| (((internal_pullup) ? GPIO_PIN_CNF_PULL_Pullup : GPIO_PIN_CNF_PULL_Disabled) << GPIO_PIN_CNF_PULL_Pos) \
|
||
|
| (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) \
|
||
|
| (GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos))
|
||
|
|
||
|
#define I2C_PIN_CNF_CLR(internal_pullup) \
|
||
|
((GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos) \
|
||
|
| (GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos) \
|
||
|
| (((internal_pullup) ? GPIO_PIN_CNF_PULL_Pullup : GPIO_PIN_CNF_PULL_Disabled) << GPIO_PIN_CNF_PULL_Pos) \
|
||
|
| (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) \
|
||
|
| (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos))
|
||
|
|
||
|
#if NRF5_I2C_USE_I2C0
|
||
|
#define I2C0_IRQ_NUM SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0_IRQn
|
||
|
#define I2C0_IRQ_PRI NRF5_I2C_I2C0_IRQ_PRIORITY
|
||
|
#endif
|
||
|
#if NRF5_I2C_USE_I2C1
|
||
|
#define I2C1_IRQ_NUM SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1_IRQn
|
||
|
#define I2C1_IRQ_PRI NRF5_I2C_I2C1_IRQ_PRIORITY
|
||
|
#endif
|
||
|
|
||
|
/*===========================================================================*/
|
||
|
/* Driver exported variables. */
|
||
|
/*===========================================================================*/
|
||
|
|
||
|
/**
|
||
|
* @brief I2C0 driver identifier.
|
||
|
*/
|
||
|
#if NRF5_I2C_USE_I2C0 || defined(__DOXYGEN__)
|
||
|
I2CDriver I2CD1;
|
||
|
#endif
|
||
|
|
||
|
/**
|
||
|
* @brief I2C1 driver identifier.
|
||
|
*/
|
||
|
#if NRF5_I2C_USE_I2C1 || defined(__DOXYGEN__)
|
||
|
I2CDriver I2CD2;
|
||
|
#endif
|
||
|
|
||
|
/*===========================================================================*/
|
||
|
/* Driver local variables and types. */
|
||
|
/*===========================================================================*/
|
||
|
|
||
|
/*===========================================================================*/
|
||
|
/* Driver local functions. */
|
||
|
/*===========================================================================*/
|
||
|
/**
|
||
|
* @brief Function for detecting stuck slaves (SDA = 0 and SCL = 1) and tries to clear the bus.
|
||
|
*
|
||
|
* @return
|
||
|
* @retval false Bus is stuck.
|
||
|
* @retval true Bus is clear.
|
||
|
*/
|
||
|
static void i2c_clear_bus(I2CDriver *i2cp) {
|
||
|
const I2CConfig *cfg = i2cp->config;
|
||
|
uint8_t i;
|
||
|
|
||
|
IOPORT1->PIN_CNF[cfg->scl_pad] = I2C_PIN_CNF(cfg->scl_pullup);
|
||
|
IOPORT1->PIN_CNF[cfg->sda_pad] = I2C_PIN_CNF(cfg->sda_pullup);
|
||
|
|
||
|
I2C_HIGH(cfg->sda_pad);
|
||
|
I2C_HIGH(cfg->scl_pad);
|
||
|
|
||
|
IOPORT1->PIN_CNF[cfg->scl_pad] = I2C_PIN_CNF_CLR(cfg->scl_pullup);
|
||
|
IOPORT1->PIN_CNF[cfg->sda_pad] = I2C_PIN_CNF_CLR(cfg->sda_pullup);
|
||
|
|
||
|
nrf_delay_us(4);
|
||
|
|
||
|
for(i = 0; i < 9; i++) {
|
||
|
if (palReadPad(IOPORT1, cfg->sda_pad)) {
|
||
|
if(i > 0)
|
||
|
break;
|
||
|
else
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
I2C_LOW(cfg->scl_pad);
|
||
|
nrf_delay_us(4);
|
||
|
I2C_HIGH(cfg->scl_pad);
|
||
|
nrf_delay_us(4);
|
||
|
}
|
||
|
|
||
|
I2C_LOW(cfg->sda_pad);
|
||
|
nrf_delay_us(4);
|
||
|
I2C_HIGH(cfg->sda_pad);
|
||
|
}
|
||
|
|
||
|
#if defined(__GNUC__)
|
||
|
__attribute__((noinline))
|
||
|
#endif
|
||
|
/**
|
||
|
* @brief Common IRQ handler.
|
||
|
* @note Tries hard to clear all the pending interrupt sources, we don't
|
||
|
* want to go through the whole ISR and have another interrupt soon
|
||
|
* after.
|
||
|
*
|
||
|
* @param[in] i2cp pointer to an I2CDriver
|
||
|
*/
|
||
|
static void i2c_serve_interrupt(I2CDriver *i2cp) {
|
||
|
NRF_TWIM_Type *i2c = i2cp->i2c;
|
||
|
|
||
|
if (i2c->EVENTS_ERROR) {
|
||
|
uint32_t err = i2c->ERRORSRC;
|
||
|
i2c->EVENTS_ERROR = 0;
|
||
|
(void)i2c->EVENTS_ERROR;
|
||
|
|
||
|
if (err & 0x01) // nRF52832 Product Specification v1.3 p.314 TWIM_ERRORSRC OVERRUN bit = 0x01
|
||
|
i2cp->errors |= I2C_OVERRUN;
|
||
|
if (err & (TWIM_ERRORSRC_ANACK_Msk | TWIM_ERRORSRC_DNACK_Msk))
|
||
|
i2cp->errors |= I2C_ACK_FAILURE;
|
||
|
|
||
|
i2c->TASKS_STOP = 1;
|
||
|
|
||
|
_i2c_wakeup_error_isr(i2cp);
|
||
|
} else if(i2c->EVENTS_STOPPED) {
|
||
|
|
||
|
i2c->EVENTS_STOPPED = 0;
|
||
|
(void)i2c->EVENTS_STOPPED;
|
||
|
|
||
|
_i2c_wakeup_isr(i2cp);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
/*===========================================================================*/
|
||
|
/* Driver interrupt handlers. */
|
||
|
/*===========================================================================*/
|
||
|
|
||
|
#if NRF5_I2C_USE_I2C0 || defined(__DOXYGEN__)
|
||
|
|
||
|
OSAL_IRQ_HANDLER(Vector4C) {
|
||
|
|
||
|
OSAL_IRQ_PROLOGUE();
|
||
|
i2c_serve_interrupt(&I2CD1);
|
||
|
OSAL_IRQ_EPILOGUE();
|
||
|
}
|
||
|
|
||
|
#endif
|
||
|
|
||
|
#if NRF5_I2C_USE_I2C1 || defined(__DOXYGEN__)
|
||
|
|
||
|
OSAL_IRQ_HANDLER(Vector50) {
|
||
|
|
||
|
OSAL_IRQ_PROLOGUE();
|
||
|
i2c_serve_interrupt(&I2CD2);
|
||
|
OSAL_IRQ_EPILOGUE();
|
||
|
}
|
||
|
|
||
|
#endif
|
||
|
|
||
|
/*===========================================================================*/
|
||
|
/* Driver exported functions. */
|
||
|
/*===========================================================================*/
|
||
|
|
||
|
/**
|
||
|
* @brief Low level I2C driver initialization.
|
||
|
*
|
||
|
* @notapi
|
||
|
*/
|
||
|
void i2c_lld_init(void) {
|
||
|
|
||
|
#if NRF5_I2C_USE_I2C0
|
||
|
i2cObjectInit(&I2CD1);
|
||
|
I2CD1.thread = NULL;
|
||
|
I2CD1.i2c = NRF_TWIM0;
|
||
|
#endif
|
||
|
|
||
|
#if NRF5_I2C_USE_I2C1
|
||
|
i2cObjectInit(&I2CD2);
|
||
|
I2CD2.thread = NULL;
|
||
|
I2CD2.i2c = NRF_TWIM1;
|
||
|
#endif
|
||
|
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Configures and activates the I2C peripheral.
|
||
|
*
|
||
|
* @param[in] i2cp pointer to the @p I2CDriver object
|
||
|
*
|
||
|
* @notapi
|
||
|
*/
|
||
|
void i2c_lld_start(I2CDriver *i2cp) {
|
||
|
NRF_TWIM_Type *i2c = i2cp->i2c;
|
||
|
|
||
|
const I2CConfig *cfg = i2cp->config;
|
||
|
|
||
|
if (i2cp->state != I2C_STOP)
|
||
|
return;
|
||
|
|
||
|
osalDbgAssert(i2c->ENABLE == 0, "already in use");
|
||
|
|
||
|
i2c_clear_bus(i2cp);
|
||
|
|
||
|
IOPORT1->PIN_CNF[cfg->scl_pad] = I2C_PIN_CNF(cfg->scl_pullup);
|
||
|
IOPORT1->PIN_CNF[cfg->sda_pad] = I2C_PIN_CNF(cfg->sda_pullup);
|
||
|
|
||
|
i2c->SHORTS = 0;
|
||
|
|
||
|
i2c->EVENTS_STOPPED = 0;
|
||
|
i2c->EVENTS_ERROR = 0;
|
||
|
(void)i2c->EVENTS_STOPPED;
|
||
|
(void)i2c->EVENTS_ERROR;
|
||
|
|
||
|
i2c->PSEL.SCL = cfg->scl_pad;
|
||
|
i2c->PSEL.SDA = cfg->sda_pad;
|
||
|
|
||
|
switch (cfg->clock) {
|
||
|
case 100000:
|
||
|
i2c->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K100 << TWIM_FREQUENCY_FREQUENCY_Pos;
|
||
|
break;
|
||
|
case 250000:
|
||
|
i2c->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K250 << TWIM_FREQUENCY_FREQUENCY_Pos;
|
||
|
break;
|
||
|
case 400000:
|
||
|
i2c->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K400 << TWIM_FREQUENCY_FREQUENCY_Pos;
|
||
|
break;
|
||
|
default:
|
||
|
osalDbgAssert(0, "invalid I2C frequency");
|
||
|
break;
|
||
|
};
|
||
|
|
||
|
#if NRF5_I2C_USE_I2C0
|
||
|
nvicEnableVector(I2C0_IRQ_NUM, I2C0_IRQ_PRI);
|
||
|
#endif
|
||
|
|
||
|
#if NRF5_I2C_USE_I2C1
|
||
|
nvicEnableVector(I2C1_IRQ_NUM, I2C1_IRQ_PRI);
|
||
|
#endif
|
||
|
|
||
|
i2c->INTENSET = TWIM_INTENSET_STOPPED_Msk | TWIM_INTENSET_ERROR_Msk;
|
||
|
|
||
|
i2c->ENABLE = TWIM_ENABLE_ENABLE_Enabled << TWIM_ENABLE_ENABLE_Pos;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Deactivates the I2C peripheral.
|
||
|
*
|
||
|
* @param[in] i2cp pointer to the @p I2CDriver object
|
||
|
*
|
||
|
* @notapi
|
||
|
*/
|
||
|
void i2c_lld_stop(I2CDriver *i2cp) {
|
||
|
NRF_TWIM_Type *i2c = i2cp->i2c;
|
||
|
const I2CConfig *cfg = i2cp->config;
|
||
|
|
||
|
if (i2cp->state != I2C_STOP) {
|
||
|
i2c->SHORTS = 0;
|
||
|
|
||
|
i2c->INTENCLR = TWIM_INTENCLR_STOPPED_Msk | TWIM_INTENCLR_ERROR_Msk;
|
||
|
|
||
|
#if NRF5_I2C_USE_I2C0
|
||
|
nvicDisableVector(I2C0_IRQ_NUM);
|
||
|
#endif
|
||
|
|
||
|
#if NRF5_I2C_USE_I2C1
|
||
|
nvicDisableVector(I2C1_IRQ_NUM);
|
||
|
#endif
|
||
|
|
||
|
i2c->ENABLE = TWIM_ENABLE_ENABLE_Disabled << TWIM_ENABLE_ENABLE_Pos;
|
||
|
|
||
|
IOPORT1->PIN_CNF[cfg->scl_pad] = I2C_PIN_CNF_CLR(cfg->scl_pullup);
|
||
|
IOPORT1->PIN_CNF[cfg->sda_pad] = I2C_PIN_CNF_CLR(cfg->sda_pullup);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
static inline msg_t _i2c_txrx_timeout(I2CDriver *i2cp, i2caddr_t addr,
|
||
|
const uint8_t *txbuf, size_t txbytes,
|
||
|
uint8_t *rxbuf, size_t rxbytes,
|
||
|
systime_t timeout) {
|
||
|
|
||
|
NRF_TWIM_Type *i2c = i2cp->i2c;
|
||
|
msg_t msg;
|
||
|
|
||
|
i2cp->errors = I2C_NO_ERROR;
|
||
|
i2cp->addr = addr;
|
||
|
|
||
|
uint8_t tx_bytes = txbytes;
|
||
|
uint8_t rx_bytes = rxbytes;
|
||
|
|
||
|
i2cp->i2c->SHORTS = 0;
|
||
|
i2c->ADDRESS = addr;
|
||
|
|
||
|
if (tx_bytes && rx_bytes) {
|
||
|
i2c->TXD.PTR = (uint32_t)txbuf;
|
||
|
i2c->TXD.MAXCNT = tx_bytes;
|
||
|
i2c->TXD.LIST = TWIM_TXD_LIST_LIST_ArrayList << TWIM_TXD_LIST_LIST_Pos;
|
||
|
i2c->RXD.PTR = (uint32_t)rxbuf;
|
||
|
i2c->RXD.MAXCNT = rx_bytes;
|
||
|
i2c->RXD.LIST = TWIM_RXD_LIST_LIST_ArrayList << TWIM_RXD_LIST_LIST_Pos;
|
||
|
i2cp->i2c->SHORTS = TWIM_SHORTS_LASTTX_STARTRX_Enabled << TWIM_SHORTS_LASTTX_STARTRX_Pos |
|
||
|
TWIM_SHORTS_LASTRX_STOP_Enabled << TWIM_SHORTS_LASTRX_STOP_Pos;
|
||
|
i2c->TASKS_STARTTX = 1;
|
||
|
} else if (tx_bytes && !rx_bytes) {
|
||
|
i2c->TXD.PTR = (uint32_t)txbuf;
|
||
|
i2c->TXD.MAXCNT = tx_bytes;
|
||
|
i2c->TXD.LIST = TWIM_TXD_LIST_LIST_ArrayList << TWIM_TXD_LIST_LIST_Pos;
|
||
|
i2cp->i2c->SHORTS = TWIM_SHORTS_LASTTX_STOP_Enabled << TWIM_SHORTS_LASTTX_STOP_Pos;
|
||
|
i2c->TASKS_STARTTX = 1;
|
||
|
} else if (!tx_bytes && rx_bytes) {
|
||
|
i2c->RXD.PTR = (uint32_t)rxbuf;
|
||
|
i2c->RXD.MAXCNT = rx_bytes;
|
||
|
i2c->RXD.LIST = TWIM_RXD_LIST_LIST_ArrayList << TWIM_RXD_LIST_LIST_Pos;
|
||
|
i2cp->i2c->SHORTS = TWIM_SHORTS_LASTRX_STOP_Enabled << TWIM_SHORTS_LASTRX_STOP_Pos;
|
||
|
i2c->TASKS_STARTRX = 1;
|
||
|
} else {
|
||
|
osalDbgAssert(0, "no bytes to transfer");
|
||
|
}
|
||
|
|
||
|
msg = osalThreadSuspendTimeoutS(&i2cp->thread, timeout);
|
||
|
|
||
|
if (msg == MSG_TIMEOUT)
|
||
|
i2c->TASKS_STOP = 1;
|
||
|
|
||
|
return msg;
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Receives data via the I2C bus as master.
|
||
|
*
|
||
|
* @param[in] i2cp pointer to the @p I2CDriver object
|
||
|
* @param[in] addr slave device address
|
||
|
* @param[out] rxbuf pointer to the receive buffer
|
||
|
* @param[in] rxbytes number of bytes to be received
|
||
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
* the following special values are allowed:
|
||
|
* - @a TIME_INFINITE no timeout.
|
||
|
* .
|
||
|
* @return The operation status.
|
||
|
* @retval MSG_OK if the function succeeded.
|
||
|
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
|
||
|
* be retrieved using @p i2cGetErrors().
|
||
|
* @retval MSG_TIMEOUT if a timeout occurred before operation end. <b>After a
|
||
|
* timeout the driver must be stopped and restarted
|
||
|
* because the bus is in an uncertain state</b>.
|
||
|
*
|
||
|
* @notapi
|
||
|
*/
|
||
|
msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
|
||
|
uint8_t *rxbuf, size_t rxbytes,
|
||
|
systime_t timeout) {
|
||
|
|
||
|
return _i2c_txrx_timeout(i2cp, addr, NULL, 0, rxbuf, rxbytes, timeout);
|
||
|
}
|
||
|
|
||
|
/**
|
||
|
* @brief Transmits data via the I2C bus as master.
|
||
|
*
|
||
|
* @param[in] i2cp pointer to the @p I2CDriver object
|
||
|
* @param[in] addr slave device address
|
||
|
* @param[in] txbuf pointer to the transmit buffer
|
||
|
* @param[in] txbytes number of bytes to be transmitted
|
||
|
* @param[out] rxbuf pointer to the receive buffer
|
||
|
* @param[in] rxbytes number of bytes to be received
|
||
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
* the following special values are allowed:
|
||
|
* - @a TIME_INFINITE no timeout.
|
||
|
* .
|
||
|
* @return The operation status.
|
||
|
* @retval MSG_OK if the function succeeded.
|
||
|
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
|
||
|
* be retrieved using @p i2cGetErrors().
|
||
|
* @retval MSG_TIMEOUT if a timeout occurred before operation end. <b>After a
|
||
|
* timeout the driver must be stopped and restarted
|
||
|
* because the bus is in an uncertain state</b>.
|
||
|
*
|
||
|
* @notapi
|
||
|
*/
|
||
|
msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
|
||
|
const uint8_t *txbuf, size_t txbytes,
|
||
|
uint8_t *rxbuf, size_t rxbytes,
|
||
|
systime_t timeout) {
|
||
|
|
||
|
return _i2c_txrx_timeout(i2cp, addr, txbuf, txbytes, rxbuf, rxbytes, timeout);
|
||
|
}
|
||
|
|
||
|
#endif /* HAL_USE_I2C */
|
||
|
|
||
|
/** @} */
|