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Merge pull request #3812 from anangl/rework_i2c 

TARGET_NRF5: reworked i2c_api.c
pull/3732/merge
Sam Grove 2017-02-21 11:03:27 -06:00 committed by GitHub
parent d14aa74b8c da73716092
commit 14bc2338eb
3 changed files with 504 additions and 1571 deletions
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649
targets/TARGET_NORDIC/TARGET_NRF5/i2c_api.c
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@ -1,5 +1,5 @@
/*
* Copyright (c) 2013 Nordic Semiconductor ASA
* Copyright (c) 2017 Nordic Semiconductor ASA
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
@ -43,8 +43,17 @@
#include "mbed_assert.h"
#include "mbed_error.h"
#include "nrf_drv_twi.h"
#include "nrf_twi.h"
#include "nrf_drv_common.h"
#include "nrf_drv_config.h"
#include "app_util_platform.h"
#include "nrf_gpio.h"
#include "nrf_delay.h"
// An arbitrary value used as the counter in loops waiting for given event
// (e.g. STOPPED), needed to avoid infinite loops (and not involve any timers
// or tickers).
#define TIMEOUT_VALUE 1000
#if DEVICE_I2C_ASYNCH
#define TWI_IDX(obj) ((obj)->i2c.twi_idx)
@ -54,59 +63,36 @@
#define TWI_INFO(obj) (&m_twi_info[TWI_IDX(obj)])
typedef struct {
bool initialized;
nrf_drv_twi_config_t config;
volatile bool transfer_finished;
bool initialized;
uint32_t pselsda;
uint32_t pselscl;
nrf_twi_frequency_t frequency;
bool start_twi;
#if DEVICE_I2C_ASYNCH
volatile uint32_t events;
void (*handler)(void);
uint32_t event_mask;
#endif
#if DEVICE_I2C_ASYNCH
volatile bool active;
uint8_t const *tx;
size_t tx_length;
uint8_t *rx;
size_t rx_length;
bool stop;
volatile uint32_t events;
void (*handler)(void);
uint32_t evt_mask;
#endif // DEVICE_I2C_ASYNCH
} twi_info_t;
static twi_info_t m_twi_info[TWI_COUNT];
static nrf_drv_twi_t const m_twi_instances[TWI_COUNT] = {
static NRF_TWI_Type * const m_twi_instances[TWI_COUNT] = {
#if TWI0_ENABLED
NRF_DRV_TWI_INSTANCE(0),
NRF_TWI0,
#endif
#if TWI1_ENABLED
NRF_DRV_TWI_INSTANCE(1),
NRF_TWI1,
#endif
};
static void twi_event_handler(nrf_drv_twi_evt_t const *event, void *context)
{
twi_info_t * twi_info = TWI_INFO((i2c_t *)context);
twi_info->transfer_finished = true;
#if DEVICE_I2C_ASYNCH
switch (event->type) {
case NRF_DRV_TWI_EVT_DONE:
twi_info->events |= I2C_EVENT_TRANSFER_COMPLETE;
break;
case NRF_DRV_TWI_EVT_ADDRESS_NACK:
twi_info->events |= I2C_EVENT_ERROR_NO_SLAVE;
break;
case NRF_DRV_TWI_EVT_DATA_NACK:
twi_info->events |= I2C_EVENT_ERROR;
break;
}
if (twi_info->handler) {
twi_info->handler();
}
#endif // DEVICE_I2C_ASYNCH
}
static uint8_t twi_address(int i2c_address)
{
// The TWI driver requires 7-bit slave address (without R/W bit).
return (i2c_address >> 1);
}
void SPI0_TWI0_IRQHandler(void);
void SPI1_TWI1_IRQHandler(void);
@ -123,207 +109,580 @@ static const peripheral_handler_desc_t twi_handlers[TWI_COUNT] =
SPI1_TWI1_IRQn,
(uint32_t) SPI1_TWI1_IRQHandler
}
#endif
#endif
};
#ifdef NRF51
#define TWI_IRQ_PRIORITY APP_IRQ_PRIORITY_LOW
#elif defined(NRF52)
#define TWI_IRQ_PRIORITY APP_IRQ_PRIORITY_LOWEST
#endif
#if DEVICE_I2C_ASYNCH
static void start_asynch_rx(twi_info_t *twi_info, NRF_TWI_Type *twi)
{
if (twi_info->rx_length == 1 && twi_info->stop) {
nrf_twi_shorts_set(twi, NRF_TWI_SHORT_BB_STOP_MASK);
} else {
nrf_twi_shorts_set(twi, NRF_TWI_SHORT_BB_SUSPEND_MASK);
}
nrf_twi_task_trigger(twi, NRF_TWI_TASK_STARTRX);
}
static void twi_irq_handler(uint8_t instance_idx)
{
twi_info_t *twi_info = &m_twi_info[instance_idx];
NRF_TWI_Type *twi = m_twi_instances[instance_idx];
if (nrf_twi_event_check(twi, NRF_TWI_EVENT_ERROR)) {
nrf_twi_event_clear(twi, NRF_TWI_EVENT_ERROR);
// In case of an error, force STOP.
// The current transfer may be suspended (if it is RX), so it must be
// resumed before the STOP task is triggered.
nrf_twi_task_trigger(twi, NRF_TWI_TASK_RESUME);
nrf_twi_task_trigger(twi, NRF_TWI_TASK_STOP);
uint32_t errorsrc = nrf_twi_errorsrc_get_and_clear(twi);
twi_info->events |= I2C_EVENT_ERROR;
if (errorsrc & NRF_TWI_ERROR_ADDRESS_NACK) {
twi_info->events |= I2C_EVENT_ERROR_NO_SLAVE;
}
if (errorsrc & NRF_TWI_ERROR_DATA_NACK) {
twi_info->events |= I2C_EVENT_TRANSFER_EARLY_NACK;
}
}
bool finished = false;
if (nrf_twi_event_check(twi, NRF_TWI_EVENT_TXDSENT)) {
nrf_twi_event_clear(twi, NRF_TWI_EVENT_TXDSENT);
MBED_ASSERT(twi_info->tx_length > 0);
--(twi_info->tx_length);
// Send next byte if there is still something to be sent.
if (twi_info->tx_length > 0) {
nrf_twi_txd_set(twi, *(twi_info->tx));
++(twi_info->tx);
// It TX is done, start RX if requested.
} else if (twi_info->rx_length > 0) {
start_asynch_rx(twi_info, twi);
// If there is nothing more to do, finalize the transfer.
} else {
if (twi_info->stop) {
nrf_twi_task_trigger(twi, NRF_TWI_TASK_STOP);
} else {
nrf_twi_task_trigger(twi, NRF_TWI_TASK_SUSPEND);
finished = true;
}
twi_info->events |= I2C_EVENT_TRANSFER_COMPLETE;
}
}
if (nrf_twi_event_check(twi, NRF_TWI_EVENT_RXDREADY)) {
nrf_twi_event_clear(twi, NRF_TWI_EVENT_RXDREADY);
MBED_ASSERT(twi_info->rx_length > 0);
*(twi_info->rx) = nrf_twi_rxd_get(twi);
++(twi_info->rx);
--(twi_info->rx_length);
if (twi_info->rx_length > 0) {
// If more bytes should be received, resume the transfer
// (in case the stop condition should be generated after the next
// byte, change the shortcuts configuration first).
if (twi_info->rx_length == 1 && twi_info->stop) {
nrf_twi_shorts_set(twi, NRF_TWI_SHORT_BB_STOP_MASK);
}
nrf_twi_task_trigger(twi, NRF_TWI_TASK_RESUME);
} else {
// If all requested bytes were received, finalize the transfer.
finished = true;
twi_info->events |= I2C_EVENT_TRANSFER_COMPLETE;
}
}
if (finished ||
nrf_twi_event_check(twi, NRF_TWI_EVENT_STOPPED) ||
(nrf_twi_int_enable_check(twi, NRF_TWI_INT_SUSPENDED_MASK) &&
nrf_twi_event_check(twi, NRF_TWI_EVENT_SUSPENDED))) {
// There is no need to clear the STOPPED and SUSPENDED events here,
// they will no longer generate the interrupt - see below.
nrf_twi_shorts_set(twi, 0);
// Disable all interrupt sources.
nrf_twi_int_disable(twi, UINT32_MAX);
twi_info->active = false;
if (twi_info->handler) {
twi_info->handler();
}
}
}
#if TWI0_ENABLED
static void irq_handler_twi0(void)
{
twi_irq_handler(TWI0_INSTANCE_INDEX);
}
#endif
#if TWI1_ENABLED
static void irq_handler_twi1(void)
{
twi_irq_handler(TWI1_INSTANCE_INDEX);
}
#endif
static nrf_drv_irq_handler_t const m_twi_irq_handlers[TWI_COUNT] =
{
#if TWI0_ENABLED
irq_handler_twi0,
#endif
#if TWI1_ENABLED
irq_handler_twi1,
#endif
};
#endif // DEVICE_I2C_ASYNCH
static void configure_twi_pin(uint32_t pin, nrf_gpio_pin_dir_t dir)
{
nrf_gpio_cfg(pin,
dir,
NRF_GPIO_PIN_INPUT_CONNECT,
NRF_GPIO_PIN_PULLUP,
NRF_GPIO_PIN_S0D1,
NRF_GPIO_PIN_NOSENSE);
}
static void twi_clear_bus(twi_info_t *twi_info)
{
// Try to set SDA high, and check if no slave tries to drive it low.
nrf_gpio_pin_set(twi_info->pselsda);
configure_twi_pin(twi_info->pselsda, NRF_GPIO_PIN_DIR_OUTPUT);
// In case SDA is low, make up to 9 cycles on SCL line to help the slave
// that pulls SDA low release it.
if (!nrf_gpio_pin_read(twi_info->pselsda)) {
nrf_gpio_pin_set(twi_info->pselscl);
configure_twi_pin(twi_info->pselscl, NRF_GPIO_PIN_DIR_OUTPUT);
nrf_delay_us(4);
for (int i = 0; i < 9; i++) {
if (nrf_gpio_pin_read(twi_info->pselsda)) {
break;
}
nrf_gpio_pin_clear(twi_info->pselscl);
nrf_delay_us(4);
nrf_gpio_pin_set(twi_info->pselscl);
nrf_delay_us(4);
}
// Finally, generate STOP condition to put the bus into initial state.
nrf_gpio_pin_clear(twi_info->pselsda);
nrf_delay_us(4);
nrf_gpio_pin_set(twi_info->pselsda);
}
}
void i2c_init(i2c_t *obj, PinName sda, PinName scl)
{
int i;
for (i = 0; i < TWI_COUNT; ++i) {
if (m_twi_info[i].initialized &&
m_twi_info[i].config.sda == (uint32_t)sda &&
m_twi_info[i].config.scl == (uint32_t)scl) {
m_twi_info[i].pselsda == (uint32_t)sda &&
m_twi_info[i].pselscl == (uint32_t)scl) {
TWI_IDX(obj) = i;
TWI_INFO(obj)->config.frequency = NRF_TWI_FREQ_100K;
TWI_INFO(obj)->frequency = NRF_TWI_FREQ_100K;
i2c_reset(obj);
return;
}
}
nrf_drv_twi_config_t const config = {
.scl = scl,
.sda = sda,
.frequency = NRF_TWI_FREQ_100K,
#ifdef NRF51
.interrupt_priority = APP_IRQ_PRIORITY_LOW
#elif defined(NRF52)
.interrupt_priority = APP_IRQ_PRIORITY_LOWEST
#endif
};
for (i = 0; i < TWI_COUNT; ++i) {
if (!m_twi_info[i].initialized) {
TWI_IDX(obj) = i;
twi_info_t *twi_info = TWI_INFO(obj);
twi_info->initialized = true;
twi_info->pselsda = (uint32_t)sda;
twi_info->pselscl = (uint32_t)scl;
twi_info->frequency = NRF_TWI_FREQ_100K;
twi_info->start_twi = false;
#if DEVICE_I2C_ASYNCH
twi_info->active = false;
#endif
twi_clear_bus(twi_info);
configure_twi_pin(twi_info->pselsda, NRF_GPIO_PIN_DIR_INPUT);
configure_twi_pin(twi_info->pselscl, NRF_GPIO_PIN_DIR_INPUT);
i2c_reset(obj);
#if DEVICE_I2C_ASYNCH
nrf_drv_common_per_res_acquire(m_twi_instances[i],
m_twi_irq_handlers[i]);
NVIC_SetVector(twi_handlers[i].IRQn, twi_handlers[i].vector);
nrf_drv_common_irq_enable(twi_handlers[i].IRQn, TWI_IRQ_PRIORITY);
#endif
nrf_drv_twi_t const *twi = &m_twi_instances[i];
ret_code_t ret_code =
nrf_drv_twi_init(twi, &config, twi_event_handler, obj);
if (ret_code == NRF_SUCCESS) {
TWI_IDX(obj) = i;
TWI_INFO(obj)->initialized = true;
TWI_INFO(obj)->config = config;
nrf_drv_twi_enable(twi);
return;
}
return;
}
}
// No available peripheral
error("No available I2C peripheral\r\n");
}
void i2c_reset(i2c_t *obj)
{
twi_info_t *twi_info = TWI_INFO(obj);
nrf_drv_twi_t const *twi = &m_twi_instances[TWI_IDX(obj)];
NRF_TWI_Type *twi = m_twi_instances[TWI_IDX(obj)];
nrf_drv_twi_uninit(twi);
nrf_drv_twi_init(twi, &twi_info->config, twi_event_handler, obj);
nrf_drv_twi_enable(twi);
nrf_twi_disable(twi);
nrf_twi_pins_set(twi, twi_info->pselscl, twi_info->pselsda);
nrf_twi_frequency_set(twi, twi_info->frequency);
nrf_twi_enable(twi);
}
int i2c_start(i2c_t *obj)
{
(void)obj;
twi_info_t *twi_info = TWI_INFO(obj);
#if DEVICE_I2C_ASYNCH
if (twi_info->active) {
return I2C_ERROR_BUS_BUSY;
}
#endif
twi_info->start_twi = true;
return -1; // Not implemented.
return 0;
}
int i2c_stop(i2c_t *obj)
{
(void)obj;
NRF_TWI_Type *twi = m_twi_instances[TWI_IDX(obj)];
return -1; // Not implemented.
// The current transfer may be suspended (if it is RX), so it must be
// resumed before the STOP task is triggered.
nrf_twi_task_trigger(twi, NRF_TWI_TASK_RESUME);
nrf_twi_task_trigger(twi, NRF_TWI_TASK_STOP);
uint32_t remaining_time = TIMEOUT_VALUE;
do {
if (nrf_twi_event_check(twi, NRF_TWI_EVENT_STOPPED)) {
return 0;
}
} while (--remaining_time);
return 1;
}
void i2c_frequency(i2c_t *obj, int hz)
{
twi_info_t *twi_info = TWI_INFO(obj);
nrf_drv_twi_t const *twi = &m_twi_instances[TWI_IDX(obj)];
NRF_TWI_Type *twi = m_twi_instances[TWI_IDX(obj)];
if (hz < 250000) {
twi_info->config.frequency = NRF_TWI_FREQ_100K;
twi_info->frequency = NRF_TWI_FREQ_100K;
} else if (hz < 400000) {
twi_info->config.frequency = NRF_TWI_FREQ_250K;
twi_info->frequency = NRF_TWI_FREQ_250K;
} else {
twi_info->config.frequency = NRF_TWI_FREQ_400K;
twi_info->frequency = NRF_TWI_FREQ_400K;
}
nrf_twi_frequency_set(twi->reg.p_twi, twi_info->config.frequency);
nrf_twi_frequency_set(twi, twi_info->frequency);
}
static uint8_t twi_address(int i2c_address)
{
// The TWI peripheral requires 7-bit slave address (without R/W bit).
return (i2c_address >> 1);
}
static void start_twi_read(NRF_TWI_Type *twi, int address)
{
nrf_twi_event_clear(twi, NRF_TWI_EVENT_STOPPED);
nrf_twi_event_clear(twi, NRF_TWI_EVENT_RXDREADY);
nrf_twi_event_clear(twi, NRF_TWI_EVENT_ERROR);
(void)nrf_twi_errorsrc_get_and_clear(twi);
nrf_twi_shorts_set(twi, NRF_TWI_SHORT_BB_SUSPEND_MASK);
nrf_twi_address_set(twi, twi_address(address));
nrf_twi_task_trigger(twi, NRF_TWI_TASK_RESUME);
nrf_twi_task_trigger(twi, NRF_TWI_TASK_STARTRX);
}
int i2c_read(i2c_t *obj, int address, char *data, int length, int stop)
{
(void)stop;
// Zero-length RX transfers are not supported. Such transfers cannot
// be easily achieved with TWI peripheral (some dirty tricks would be
// required for this), and they are actually useless (TX can be used
// to check if the address is acknowledged by a slave).
MBED_ASSERT(length > 0);
twi_info_t *twi_info = TWI_INFO(obj);
nrf_drv_twi_t const *twi = &m_twi_instances[TWI_IDX(obj)];
twi_info->transfer_finished = false;
ret_code_t ret_code = nrf_drv_twi_rx(twi, twi_address(address),
(uint8_t *)data, length);
if (ret_code != NRF_SUCCESS) {
return 0;
#if DEVICE_I2C_ASYNCH
if (twi_info->active) {
return I2C_ERROR_BUS_BUSY;
}
while (!twi_info->transfer_finished) {}
return nrf_drv_twi_data_count_get(twi);
#endif
twi_info->start_twi = false;
NRF_TWI_Type *twi = m_twi_instances[TWI_IDX(obj)];
start_twi_read(twi, address);
int result = length;
while (length > 0) {
int byte_read_result = i2c_byte_read(obj, (stop && length == 1));
if (byte_read_result < 0) {
// When an error occurs, return the number of bytes that have been
// received successfully.
result -= length;
// Force STOP condition.
stop = 1;
break;
}
*data++ = (uint8_t)byte_read_result;
--length;
}
if (stop) {
(void)i2c_stop(obj);
}
return result;
}
static uint8_t twi_byte_write(NRF_TWI_Type *twi, uint8_t data)
{
nrf_twi_event_clear(twi, NRF_TWI_EVENT_TXDSENT);
nrf_twi_event_clear(twi, NRF_TWI_EVENT_ERROR);
nrf_twi_txd_set(twi, data);
uint32_t remaining_time = TIMEOUT_VALUE;
do {
if (nrf_twi_event_check(twi, NRF_TWI_EVENT_TXDSENT)) {
nrf_twi_event_clear(twi, NRF_TWI_EVENT_TXDSENT);
return 1; // ACK received
}
if (nrf_twi_event_check(twi, NRF_TWI_EVENT_ERROR)) {
nrf_twi_event_clear(twi, NRF_TWI_EVENT_ERROR);
return 0; // some error occurred
}
} while (--remaining_time);
return 2; // timeout;
}
static void start_twi_write(NRF_TWI_Type *twi, int address)
{
nrf_twi_event_clear(twi, NRF_TWI_EVENT_STOPPED);
nrf_twi_event_clear(twi, NRF_TWI_EVENT_TXDSENT);
nrf_twi_event_clear(twi, NRF_TWI_EVENT_ERROR);
(void)nrf_twi_errorsrc_get_and_clear(twi);
nrf_twi_shorts_set(twi, 0);
nrf_twi_address_set(twi, twi_address(address));
nrf_twi_task_trigger(twi, NRF_TWI_TASK_RESUME);
nrf_twi_task_trigger(twi, NRF_TWI_TASK_STARTTX);
}
int i2c_write(i2c_t *obj, int address, const char *data, int length, int stop)
{
twi_info_t *twi_info = TWI_INFO(obj);
nrf_drv_twi_t const *twi = &m_twi_instances[TWI_IDX(obj)];
twi_info->transfer_finished = false;
ret_code_t ret_code = nrf_drv_twi_tx(twi, twi_address(address),
(uint8_t const *)data, length, (stop == 0));
if (ret_code != NRF_SUCCESS) {
return 0;
#if DEVICE_I2C_ASYNCH
if (twi_info->active) {
return I2C_ERROR_BUS_BUSY;
}
while (!twi_info->transfer_finished) {}
return nrf_drv_twi_data_count_get(twi);
#endif
twi_info->start_twi = false;
NRF_TWI_Type *twi = m_twi_instances[TWI_IDX(obj)];
start_twi_write(twi, address);
// Special case - transaction with no data.
// It can be used to check if a slave acknowledges the address.
if (length == 0) {
nrf_twi_event_t event;
if (stop) {
event = NRF_TWI_EVENT_STOPPED;
nrf_twi_task_trigger(twi, NRF_TWI_TASK_STOP);
} else {
event = NRF_TWI_EVENT_SUSPENDED;
nrf_twi_event_clear(twi, event);
nrf_twi_task_trigger(twi, NRF_TWI_TASK_SUSPEND);
}
uint32_t remaining_time = TIMEOUT_VALUE;
do {
if (nrf_twi_event_check(twi, event)) {
break;
}
} while (--remaining_time);
uint32_t errorsrc = nrf_twi_errorsrc_get_and_clear(twi);
if (errorsrc & NRF_TWI_ERROR_ADDRESS_NACK) {
if (!stop) {
i2c_stop(obj);
}
return I2C_ERROR_NO_SLAVE;
}
return (remaining_time ? 0 : I2C_ERROR_BUS_BUSY);
}
int result = length;
do {
uint8_t byte_write_result = twi_byte_write(twi, (uint8_t)*data++);
if (byte_write_result != 1) {
if (byte_write_result == 0) {
// Check what kind of error has been signaled by TWI.
uint32_t errorsrc = nrf_twi_errorsrc_get_and_clear(twi);
if (errorsrc & NRF_TWI_ERROR_ADDRESS_NACK) {
result = I2C_ERROR_NO_SLAVE;
} else {
// Some other error - return the number of bytes that
// have been sent successfully.
result -= length;
}
} else {
result = I2C_ERROR_BUS_BUSY;
}
// Force STOP condition.
stop = 1;
break;
}
--length;
} while (length > 0);
if (stop) {
(void)i2c_stop(obj);
}
return result;
}
int i2c_byte_read(i2c_t *obj, int last)
{
(void)obj;
(void)last;
NRF_TWI_Type *twi = m_twi_instances[TWI_IDX(obj)];
return -1; // Not implemented.
if (last) {
nrf_twi_shorts_set(twi, NRF_TWI_SHORT_BB_STOP_MASK);
}
nrf_twi_task_trigger(twi, NRF_TWI_TASK_RESUME);
uint32_t remaining_time = TIMEOUT_VALUE;
do {
if (nrf_twi_event_check(twi, NRF_TWI_EVENT_RXDREADY)) {
nrf_twi_event_clear(twi, NRF_TWI_EVENT_RXDREADY);
return nrf_twi_rxd_get(twi);
}
if (nrf_twi_event_check(twi, NRF_TWI_EVENT_ERROR)) {
nrf_twi_event_clear(twi, NRF_TWI_EVENT_ERROR);
return I2C_ERROR_NO_SLAVE;
}
} while (--remaining_time);
return I2C_ERROR_BUS_BUSY;
}
int i2c_byte_write(i2c_t *obj, int data)
{
(void)obj;
(void)data;
NRF_TWI_Type *twi = m_twi_instances[TWI_IDX(obj)];
twi_info_t *twi_info = TWI_INFO(obj);
if (twi_info->start_twi) {
twi_info->start_twi = false;
return -1; // Not implemented.
if (data & 1) {
start_twi_read(twi, data);
} else {
start_twi_write(twi, data);
}
return 1;
} else {
nrf_twi_task_trigger(twi, NRF_TWI_TASK_RESUME);
// 0 - TWI signaled error (NAK is the only possibility here)
// 1 - ACK received
// 2 - timeout (clock stretched for too long?)
return twi_byte_write(twi, (uint8_t)data);
}
}
#if DEVICE_I2C_ASYNCH
void i2c_transfer_asynch(i2c_t *obj, const void *tx, size_t tx_length,
void *rx, size_t rx_length, uint32_t address,
uint32_t stop, uint32_t handler,
uint32_t event, DMAUsage hint)
{
(void)stop;
(void)hint;
if (i2c_active(obj)) {
return;
}
if ((tx_length == 0) && (rx_length == 0)) {
return;
}
twi_info_t *twi_info = TWI_INFO(obj);
twi_info->events = 0;
twi_info->handler = (void (*)(void))handler;
twi_info->event_mask = event;
if (twi_info->active) {
return;
}
twi_info->active = true;
twi_info->events = 0;
twi_info->handler = (void (*)(void))handler;
twi_info->evt_mask = event;
twi_info->tx_length = tx_length;
twi_info->tx = tx;
twi_info->rx_length = rx_length;
twi_info->rx = rx;
twi_info->stop = stop;
uint8_t twi_addr = twi_address(address);
nrf_drv_twi_t const *twi = &m_twi_instances[TWI_IDX(obj)];
NRF_TWI_Type *twi = m_twi_instances[TWI_IDX(obj)];
if ((tx_length > 0) && (rx_length == 0)) {
nrf_drv_twi_xfer_desc_t const xfer =
NRF_DRV_TWI_XFER_DESC_TX(twi_addr, (uint8_t *)tx, tx_length);
nrf_drv_twi_xfer(twi, &xfer,
stop ? 0 : NRF_DRV_TWI_FLAG_TX_NO_STOP);
}
else if ((tx_length == 0) && (rx_length > 0)) {
nrf_drv_twi_xfer_desc_t const xfer =
NRF_DRV_TWI_XFER_DESC_RX(twi_addr, rx, rx_length);
nrf_drv_twi_xfer(twi, &xfer, 0);
}
else if ((tx_length > 0) && (rx_length > 0)) {
nrf_drv_twi_xfer_desc_t const xfer =
NRF_DRV_TWI_XFER_DESC_TXRX(twi_addr,
(uint8_t *)tx, tx_length, rx, rx_length);
nrf_drv_twi_xfer(twi, &xfer, 0);
nrf_twi_event_clear(twi, NRF_TWI_EVENT_TXDSENT);
nrf_twi_event_clear(twi, NRF_TWI_EVENT_RXDREADY);
nrf_twi_event_clear(twi, NRF_TWI_EVENT_STOPPED);
nrf_twi_event_clear(twi, NRF_TWI_EVENT_SUSPENDED);
nrf_twi_event_clear(twi, NRF_TWI_EVENT_ERROR);
(void)nrf_twi_errorsrc_get_and_clear(twi);
nrf_twi_address_set(twi, twi_address(address));
nrf_twi_task_trigger(twi, NRF_TWI_TASK_RESUME);
// TX only, or TX + RX (after a repeated start).
if (tx_length > 0) {
nrf_twi_task_trigger(twi, NRF_TWI_TASK_STARTTX);
nrf_twi_txd_set(twi, *(twi_info->tx));
++(twi_info->tx);
// RX only.
} else if (rx_length > 0) {
start_asynch_rx(twi_info, twi);
// Both 'tx_length' and 'rx_length' are 0 - this case may be used
// to test if the slave is presentand ready for transfer (by just
// sending the address and checking if it is acknowledged).
} else {
nrf_twi_task_trigger(twi, NRF_TWI_TASK_STARTTX);
if (stop) {
nrf_twi_task_trigger(twi, NRF_TWI_TASK_STOP);
} else {
nrf_twi_task_trigger(twi, NRF_TWI_TASK_SUSPEND);
nrf_twi_int_enable(twi, NRF_TWI_INT_SUSPENDED_MASK);
}
twi_info->events |= I2C_EVENT_TRANSFER_COMPLETE;
}
nrf_twi_int_enable(twi, NRF_TWI_INT_TXDSENT_MASK |
NRF_TWI_INT_RXDREADY_MASK |
NRF_TWI_INT_STOPPED_MASK |
NRF_TWI_INT_ERROR_MASK);
}
uint32_t i2c_irq_handler_asynch(i2c_t *obj)
{
twi_info_t *twi_info = TWI_INFO(obj);
return (twi_info->events & twi_info->event_mask);
return (twi_info->events & twi_info->evt_mask);
}
uint8_t i2c_active(i2c_t *obj)
{
nrf_drv_twi_t const *twi = &m_twi_instances[TWI_IDX(obj)];
return nrf_drv_twi_is_busy(twi);
twi_info_t *twi_info = TWI_INFO(obj);
return twi_info->active;
}
void i2c_abort_asynch(i2c_t *obj)
{
i2c_reset(obj);
}
#endif // DEVICE_I2C_ASYNCH
#endif // DEVICE_I2C

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targets/TARGET_NORDIC/TARGET_NRF5/sdk/drivers_nrf/twi_master/nrf_drv_twi.c
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targets/TARGET_NORDIC/TARGET_NRF5/sdk/drivers_nrf/twi_master/nrf_drv_twi.h
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/*
* Copyright (c) 2015 Nordic Semiconductor ASA
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* 2. Redistributions in binary form, except as embedded into a Nordic Semiconductor ASA
* integrated circuit in a product or a software update for such product, must reproduce
* the above copyright notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of Nordic Semiconductor ASA nor the names of its contributors may be
* used to endorse or promote products derived from this software without specific prior
* written permission.
*
* 4. This software, with or without modification, must only be used with a
* Nordic Semiconductor ASA integrated circuit.
*
* 5. Any software provided in binary or object form under this license must not be reverse
* engineered, decompiled, modified and/or disassembled.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
* ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
/**
*
* @defgroup nrf_twi Two-wire interface (TWI)
* @ingroup nrf_drivers
* @brief Two-wire interface (TWI) APIs.
*
* @defgroup nrf_twi_master TWI master HAL and driver
* @ingroup nrf_twi
* @brief TWI master APIs.
* @details The TWI and TWIM HALs provide basic APIs for accessing the registers of the TWI and TWIM peripherals, respectively.
*
* The TWI master driver provides APIs on a higher level.
*
*/
#ifndef NRF_DRV_TWI_H__
#define NRF_DRV_TWI_H__
#include "nordic_common.h"
#include "nrf_drv_config.h"
// This set of macros makes it possible to exclude parts of code when one type
// of supported peripherals is not used.
#if ((TWI0_ENABLED == 1 && TWI0_USE_EASY_DMA == 1) || \
(TWI1_ENABLED == 1 && TWI1_USE_EASY_DMA == 1))
#define TWIM_IN_USE
#endif
#if ((TWI0_ENABLED == 1 && TWI0_USE_EASY_DMA != 1) || \
(TWI1_ENABLED == 1 && TWI1_USE_EASY_DMA != 1))
#define TWI_IN_USE
#endif
#include "nrf_twi.h"
#ifdef TWIM_IN_USE
#include "nrf_twim.h"
#endif
#include "sdk_errors.h"
#if defined(NRF52)
#define NRF_DRV_TWI_PERIPHERAL(id) \
(CONCAT_3(TWI, id, _USE_EASY_DMA) == 1 ? \
(void *)CONCAT_2(NRF_TWIM, id) \
: (void *)CONCAT_2(NRF_TWI, id))
#else
#define NRF_DRV_TWI_PERIPHERAL(id) (void *)CONCAT_2(NRF_TWI, id)
#endif
/**
* @defgroup nrf_drv_twi TWI master driver
* @{
* @ingroup nrf_twi_master
* @brief Multi-instance TWI master driver.
*/
/**
* @brief Structure for the TWI master driver instance.
*/
typedef struct
{
union
{
#ifdef TWIM_IN_USE
NRF_TWIM_Type * p_twim; ///< Pointer to a structure with TWIM registers.
#endif
NRF_TWI_Type * p_twi; ///< Pointer to a structure with TWI registers.
} reg;
uint8_t drv_inst_idx; ///< Driver instance index.
bool use_easy_dma; ///< True if the peripheral with EasyDMA (TWIM) shall be used.
} nrf_drv_twi_t;
/**
* @brief Macro for creating a TWI master driver instance.
*/
#define NRF_DRV_TWI_INSTANCE(id) \
{ \
.reg = {NRF_DRV_TWI_PERIPHERAL(id)}, \
.drv_inst_idx = CONCAT_3(TWI, id, _INSTANCE_INDEX), \
.use_easy_dma = CONCAT_3(TWI, id, _USE_EASY_DMA) \
}
/**
* @brief Structure for the TWI master driver instance configuration.
*/
typedef struct
{
uint32_t scl; ///< SCL pin number.
uint32_t sda; ///< SDA pin number.
nrf_twi_frequency_t frequency; ///< TWI frequency.
uint8_t interrupt_priority; ///< Interrupt priority.
} nrf_drv_twi_config_t;
/**
* @brief TWI master driver instance default configuration.
*/
#define NRF_DRV_TWI_DEFAULT_CONFIG(id) \
{ \
.frequency = CONCAT_3(TWI, id, _CONFIG_FREQUENCY), \
.scl = CONCAT_3(TWI, id, _CONFIG_SCL), \
.sda = CONCAT_3(TWI, id, _CONFIG_SDA), \
.interrupt_priority = CONCAT_3(TWI, id, _CONFIG_IRQ_PRIORITY) \
}
#define NRF_DRV_TWI_FLAG_TX_POSTINC (1UL << 0) /**< TX buffer address incremented after transfer. */
#define NRF_DRV_TWI_FLAG_RX_POSTINC (1UL << 1) /**< RX buffer address incremented after transfer. */
#define NRF_DRV_TWI_FLAG_NO_XFER_EVT_HANDLER (1UL << 2) /**< Interrupt after each transfer is suppressed, and the event handler is not called. */
#define NRF_DRV_TWI_FLAG_HOLD_XFER (1UL << 3) /**< Set up the transfer but do not start it. */
#define NRF_DRV_TWI_FLAG_REPEATED_XFER (1UL << 4) /**< Flag indicating that the transfer will be executed multiple times. */
#define NRF_DRV_TWI_FLAG_TX_NO_STOP (1UL << 5) /**< Flag indicating that the TX transfer will not end with a stop condition. */
/**
* @brief TWI master driver event types.
*/
typedef enum
{
NRF_DRV_TWI_EVT_DONE, ///< Transfer completed event.
NRF_DRV_TWI_EVT_ADDRESS_NACK, ///< Error event: NACK received after sending the address.
NRF_DRV_TWI_EVT_DATA_NACK ///< Error event: NACK received after sending a data byte.
} nrf_drv_twi_evt_type_t;
/**
* @brief TWI master driver transfer types.
*/
typedef enum
{
NRF_DRV_TWI_XFER_TX, ///< TX transfer.
NRF_DRV_TWI_XFER_RX, ///< RX transfer.
NRF_DRV_TWI_XFER_TXRX, ///< TX transfer followed by RX transfer with repeated start.
NRF_DRV_TWI_XFER_TXTX ///< TX transfer followed by TX transfer with repeated start.
} nrf_drv_twi_xfer_type_t;
/**
* @brief Structure for a TWI transfer descriptor.
*/
typedef struct
{
nrf_drv_twi_xfer_type_t type; ///< Type of transfer.
uint8_t address; ///< Slave address.
uint8_t primary_length; ///< Number of bytes transferred.
uint8_t secondary_length; ///< Number of bytes transferred.
uint8_t * p_primary_buf; ///< Pointer to transferred data.
uint8_t * p_secondary_buf; ///< Pointer to transferred data.
} nrf_drv_twi_xfer_desc_t;
/**@brief Macro for setting the TX transfer descriptor. */
#define NRF_DRV_TWI_XFER_DESC_TX(addr, p_data, length) \
{ \
.type = NRF_DRV_TWI_XFER_TX, \
.address = addr, \
.primary_length = length, \
.p_primary_buf = p_data, \
}
/**@brief Macro for setting the RX transfer descriptor. */
#define NRF_DRV_TWI_XFER_DESC_RX(addr, p_data, length) \
{ \
.type = NRF_DRV_TWI_XFER_RX, \
.address = addr, \
.primary_length = length, \
.p_primary_buf = p_data, \
}
/**@brief Macro for setting the TXRX transfer descriptor. */
#define NRF_DRV_TWI_XFER_DESC_TXRX(addr, p_tx, tx_len, p_rx, rx_len) \
{ \
.type = NRF_DRV_TWI_XFER_TXRX, \
.address = addr, \
.primary_length = tx_len, \
.secondary_length = rx_len, \
.p_primary_buf = p_tx, \
.p_secondary_buf = p_rx, \
}
/**@brief Macro for setting the TXTX transfer descriptor. */
#define NRF_DRV_TWI_XFER_DESC_TXTX(addr, p_tx, tx_len, p_tx2, tx_len2) \
{ \
.type = NRF_DRV_TWI_XFER_TXTX, \
.address = addr, \
.primary_length = tx_len, \
.secondary_length = tx_len2, \
.p_primary_buf = p_tx, \
.p_secondary_buf = p_tx2, \
}
/**
* @brief Structure for a TWI event.
*/
typedef struct
{
nrf_drv_twi_evt_type_t type; ///< Event type.
nrf_drv_twi_xfer_desc_t xfer_desc; ///< Transfer details.
} nrf_drv_twi_evt_t;
/**
* @brief TWI event handler prototype.
*/
typedef void (* nrf_drv_twi_evt_handler_t)(nrf_drv_twi_evt_t const * p_event,
void * p_context);
/**
* @brief Function for initializing the TWI instance.
*
* @param[in] p_instance TWI instance.
* @param[in] p_config Initial configuration. If NULL, the default configuration is used.
* @param[in] event_handler Event handler provided by the user. If NULL, blocking mode is enabled.
* @param[in] p_context Context passed to event handler.
*
* @retval NRF_SUCCESS If initialization was successful.
* @retval NRF_ERROR_INVALID_STATE If the driver is in invalid state.
* @retval NRF_ERROR_BUSY If some other peripheral with the same
* instance ID is already in use. This is
* possible only if PERIPHERAL_RESOURCE_SHARING_ENABLED
* is set to a value other than zero.
*/
ret_code_t nrf_drv_twi_init(nrf_drv_twi_t const * p_instance,
nrf_drv_twi_config_t const * p_config,
nrf_drv_twi_evt_handler_t event_handler,
void * p_context);
/**
* @brief Function for uninitializing the TWI instance.
*
* @param[in] p_instance TWI instance.
*/
void nrf_drv_twi_uninit(nrf_drv_twi_t const * p_instance);
/**
* @brief Function for enabling the TWI instance.
*
* @param[in] p_instance TWI instance.
*/
void nrf_drv_twi_enable(nrf_drv_twi_t const * p_instance);
/**
* @brief Function for disabling the TWI instance.
*
* @param[in] p_instance TWI instance.
*/
void nrf_drv_twi_disable(nrf_drv_twi_t const * p_instance);
/**
* @brief Function for sending data to a TWI slave.
*
* The transmission will be stopped when an error occurs. If a transfer is ongoing,
* the function returns the error code @ref NRF_ERROR_BUSY.
*
* @param[in] p_instance TWI instance.
* @param[in] address Address of a specific slave device (only 7 LSB).
* @param[in] p_data Pointer to a transmit buffer.
* @param[in] length Number of bytes to send.
* @param[in] no_stop If set, the stop condition is not generated on the bus
* after the transfer has completed successfully (allowing
* for a repeated start in the next transfer).
*
* @retval NRF_SUCCESS If the procedure was successful.
* @retval NRF_ERROR_BUSY If the driver is not ready for a new transfer.
* @retval NRF_ERROR_INTERNAL If an error was detected by hardware.
*/
ret_code_t nrf_drv_twi_tx(nrf_drv_twi_t const * p_instance,
uint8_t address,
uint8_t const * p_data,
uint8_t length,
bool no_stop);
/**
* @brief Function for reading data from a TWI slave.
*
* The transmission will be stopped when an error occurs. If a transfer is ongoing,
* the function returns the error code @ref NRF_ERROR_BUSY.
*
* @param[in] p_instance TWI instance.
* @param[in] address Address of a specific slave device (only 7 LSB).
* @param[in] p_data Pointer to a receive buffer.
* @param[in] length Number of bytes to be received.
*
* @retval NRF_SUCCESS If the procedure was successful.
* @retval NRF_ERROR_BUSY If the driver is not ready for a new transfer.
* @retval NRF_ERROR_INTERNAL If an error was detected by hardware.
*/
ret_code_t nrf_drv_twi_rx(nrf_drv_twi_t const * p_instance,
uint8_t address,
uint8_t * p_data,
uint8_t length);
/**
* @brief Function for preparing a TWI transfer.
*
* The following transfer types can be configured (@ref nrf_drv_twi_xfer_desc_t::type):
* - @ref NRF_DRV_TWI_XFER_TXRX<span></span>: Write operation followed by a read operation (without STOP condition in between).
* - @ref NRF_DRV_TWI_XFER_TXTX<span></span>: Write operation followed by a write operation (without STOP condition in between).
* - @ref NRF_DRV_TWI_XFER_TX<span></span>: Write operation (with or without STOP condition).
* - @ref NRF_DRV_TWI_XFER_RX<span></span>: Read operation (with STOP condition).
*
* Additional options are provided using the flags parameter:
* - @ref NRF_DRV_TWI_FLAG_TX_POSTINC and @ref NRF_DRV_TWI_FLAG_RX_POSTINC<span></span>: Post-incrementation of buffer addresses. Supported only by TWIM.
* - @ref NRF_DRV_TWI_FLAG_NO_XFER_EVT_HANDLER<span></span>: No user event handler after transfer completion. In most cases, this also means no interrupt at the end of the transfer.
* - @ref NRF_DRV_TWI_FLAG_HOLD_XFER<span></span>: Driver is not starting the transfer. Use this flag if the transfer is triggered externally by PPI. Supported only by TWIM.
* Use @ref nrf_drv_twi_start_task_get to get the address of the start task.
* - @ref NRF_DRV_TWI_FLAG_REPEATED_XFER<span></span>: Prepare for repeated transfers. You can set up a number of transfers that will be triggered externally (for example by PPI).
* An example is a TXRX transfer with the options @ref NRF_DRV_TWI_FLAG_RX_POSTINC, @ref NRF_DRV_TWI_FLAG_NO_XFER_EVT_HANDLER, and @ref NRF_DRV_TWI_FLAG_REPEATED_XFER.
* After the transfer is set up, a set of transfers can be triggered by PPI that will read, for example, the same register of an
* external component and put it into a RAM buffer without any interrupts. @ref nrf_drv_twi_stopped_event_get can be used to get the
* address of the STOPPED event, which can be used to count the number of transfers. If @ref NRF_DRV_TWI_FLAG_REPEATED_XFER is used,
* the driver does not set the instance into busy state, so you must ensure that the next transfers are set up
* when TWIM is not active. Supported only by TWIM.
* - @ref NRF_DRV_TWI_FLAG_TX_NO_STOP<span></span>: No stop condition after TX transfer.
*
* @note
* Some flag combinations are invalid:
* - @ref NRF_DRV_TWI_FLAG_TX_NO_STOP with @ref nrf_drv_twi_xfer_desc_t::type different than @ref NRF_DRV_TWI_XFER_TX
* - @ref NRF_DRV_TWI_FLAG_REPEATED_XFER with @ref nrf_drv_twi_xfer_desc_t::type set to @ref NRF_DRV_TWI_XFER_TXTX
*
* If @ref nrf_drv_twi_xfer_desc_t::type is set to @ref NRF_DRV_TWI_XFER_TX and the @ref NRF_DRV_TWI_FLAG_TX_NO_STOP and @ref NRF_DRV_TWI_FLAG_REPEATED_XFER
* flags are set, two tasks must be used to trigger a transfer: TASKS_RESUME followed by TASKS_STARTTX. If no stop condition is generated,
* TWIM is in SUSPENDED state. Therefore, it must be resumed before the transfer can be started.
*
* @note
* This function should be used only if the instance is configured to work in non-blocking mode. If the function is used in blocking mode, the driver asserts.
* @note If you are using this function with TWI, the only supported flag is @ref NRF_DRV_TWI_FLAG_TX_NO_STOP. All other flags require TWIM.
*
* @param[in] p_instance TWI instance.
* @param[in] p_xfer_desc Pointer to the transfer descriptor.
* @param[in] flags Transfer options (0 for default settings).
*
* @retval NRF_SUCCESS If the procedure was successful.
* @retval NRF_ERROR_BUSY If the driver is not ready for a new transfer.
* @retval NRF_ERROR_NOT_SUPPORTED If the provided parameters are not supported.
*/
ret_code_t nrf_drv_twi_xfer(nrf_drv_twi_t const * p_instance,
nrf_drv_twi_xfer_desc_t const * p_xfer_desc,
uint32_t flags);
/**
* @brief Function for checking the TWI driver state.
*
* @param[in] p_instance TWI instance.
*
* @retval true If the TWI driver is currently busy performing a transfer.
* @retval false If the TWI driver is ready for a new transfer.
*/
bool nrf_drv_twi_is_busy(nrf_drv_twi_t const * p_instance);
/**
* @brief Function for getting the transferred data count.
*
* This function provides valid results only in legacy mode.
*
* @param[in] p_instance TWI instance.
*
* @return Data count.
*/
uint32_t nrf_drv_twi_data_count_get(nrf_drv_twi_t const * const p_instance);
/**
* @brief Function for returning the address of a TWI/TWIM start task.
*
* This function should be used if @ref nrf_drv_twi_xfer was called with the flag @ref NRF_DRV_TWI_FLAG_HOLD_XFER.
* In that case, the transfer is not started by the driver, but it must be started externally by PPI.
*
* @param[in] p_instance TWI instance.
* @param[in] xfer_type Transfer type used in the last call of the @ref nrf_drv_twi_xfer function.
*
* @return Start task address (TX or RX) depending on the value of xfer_type.
*/
uint32_t nrf_drv_twi_start_task_get(nrf_drv_twi_t const * p_instance, nrf_drv_twi_xfer_type_t xfer_type);
/**
* @brief Function for returning the address of a STOPPED TWI/TWIM event.
*
* A STOPPED event can be used to detect the end of a transfer if the @ref NRF_DRV_TWI_FLAG_NO_XFER_EVT_HANDLER
* option is used.
*
* @param[in] p_instance TWI instance.
*
* @return STOPPED event address.
*/
uint32_t nrf_drv_twi_stopped_event_get(nrf_drv_twi_t const * p_instance);
/**
*@}
**/
#endif // NRF_DRV_TWI_H__