diff --git a/components/driver/i2c.c b/components/driver/i2c.c index e87623bcc..26ef67370 100644 --- a/components/driver/i2c.c +++ b/components/driver/i2c.c @@ -40,7 +40,6 @@ static portMUX_TYPE i2c_spinlock[I2C_NUM_MAX] = {portMUX_INITIALIZER_UNLOCKED, p /* DRAM_ATTR is required to avoid I2C array placed in flash, due to accessed from ISR */ static DRAM_ATTR i2c_dev_t* const I2C[I2C_NUM_MAX] = { &I2C0, &I2C1 }; - #define I2C_ENTER_CRITICAL_ISR(mux) portENTER_CRITICAL_ISR(mux) #define I2C_EXIT_CRITICAL_ISR(mux) portEXIT_CRITICAL_ISR(mux) #define I2C_ENTER_CRITICAL(mux) portENTER_CRITICAL(mux) @@ -78,6 +77,7 @@ static DRAM_ATTR i2c_dev_t* const I2C[I2C_NUM_MAX] = { &I2C0, &I2C1 }; #define I2C_SLAVE_SDA_SAMPLE_DEFAULT (10) /* I2C slave sample time after scl positive edge default value */ #define I2C_SLAVE_SDA_HOLD_DEFAULT (10) /* I2C slave hold time after scl negative edge default value */ #define I2C_MASTER_TOUT_CNUM_DEFAULT (8) /* I2C master timeout cycle number of I2C clock, after which the timeout interrupt will be triggered */ +#define I2C_ACKERR_CNT_MAX (10) typedef struct { uint8_t byte_num; /*!< cmd byte number */ @@ -367,6 +367,7 @@ static void IRAM_ATTR i2c_isr_handler_default(void* arg) } else if (status & I2C_RX_REC_FULL_INT_ST_M) { I2C[i2c_num]->int_clr.rx_rec_full = 1; } else if (status & I2C_ACK_ERR_INT_ST_M) { + I2C[i2c_num]->int_ena.ack_err = 0; I2C[i2c_num]->int_clr.ack_err = 1; if (p_i2c->mode == I2C_MODE_MASTER) { p_i2c_obj[i2c_num]->status = I2C_STATUS_ACK_ERROR; @@ -377,6 +378,7 @@ static void IRAM_ATTR i2c_isr_handler_default(void* arg) } else if (status & I2C_TRANS_START_INT_ST_M) { I2C[i2c_num]->int_clr.trans_start = 1; } else if (status & I2C_TIME_OUT_INT_ST_M) { + I2C[i2c_num]->int_ena.time_out = 0; I2C[i2c_num]->int_clr.time_out = 1; p_i2c_obj[i2c_num]->status = I2C_STATUS_TIMEOUT; i2c_master_cmd_begin_static(i2c_num); @@ -388,12 +390,10 @@ static void IRAM_ATTR i2c_isr_handler_default(void* arg) p_i2c->data_buf[idx] = I2C[i2c_num]->fifo_data.data; } xRingbufferSendFromISR(p_i2c->rx_ring_buf, p_i2c->data_buf, rx_fifo_cnt, &HPTaskAwoken); - if (HPTaskAwoken == pdTRUE) { - portYIELD_FROM_ISR(); - } I2C[i2c_num]->int_clr.rx_fifo_full = 1; } else { - if (p_i2c->status != I2C_STATUS_ACK_ERROR) { + // add check for unexcepted situations caused by noise. + if (p_i2c->status != I2C_STATUS_ACK_ERROR && p_i2c->status != I2C_STATUS_IDLE) { i2c_master_cmd_begin_static(i2c_num); } } @@ -420,9 +420,6 @@ static void IRAM_ATTR i2c_isr_handler_default(void* arg) WRITE_PERI_REG(I2C_DATA_APB_REG(i2c_num), data[idx]); } vRingbufferReturnItemFromISR(p_i2c->tx_ring_buf, data, &HPTaskAwoken); - if (HPTaskAwoken == pdTRUE) { - portYIELD_FROM_ISR(); - } I2C[i2c_num]->int_ena.tx_fifo_empty = 1; I2C[i2c_num]->int_clr.tx_fifo_empty = 1; } else { @@ -435,9 +432,6 @@ static void IRAM_ATTR i2c_isr_handler_default(void* arg) p_i2c->data_buf[idx] = I2C[i2c_num]->fifo_data.data; } xRingbufferSendFromISR(p_i2c->rx_ring_buf, p_i2c->data_buf, rx_fifo_cnt, &HPTaskAwoken); - if (HPTaskAwoken == pdTRUE) { - portYIELD_FROM_ISR(); - } I2C[i2c_num]->int_clr.rx_fifo_full = 1; } else { I2C[i2c_num]->int_clr.val = status; @@ -447,9 +441,10 @@ static void IRAM_ATTR i2c_isr_handler_default(void* arg) i2c_cmd_evt_t evt; evt.type = I2C_CMD_EVT_ALIVE; xQueueSendFromISR(p_i2c->cmd_evt_queue, &evt, &HPTaskAwoken); - if (HPTaskAwoken == pdTRUE) { - portYIELD_FROM_ISR(); - } + } + //We only need to check here if there is a high-priority task needs to be switched. + if(HPTaskAwoken == pdTRUE) { + portYIELD_FROM_ISR(); } } @@ -497,19 +492,17 @@ static esp_err_t i2c_master_clear_bus(i2c_port_t i2c_num) int sda_io = GPIO.func_in_sel_cfg[sda_in_sig].func_sel; I2C_CHECK((GPIO_IS_VALID_OUTPUT_GPIO(scl_io)), I2C_SCL_IO_ERR_STR, ESP_ERR_INVALID_ARG); I2C_CHECK((GPIO_IS_VALID_GPIO(sda_io)), I2C_SDA_IO_ERR_STR, ESP_ERR_INVALID_ARG); - - if (gpio_get_level(sda_io) == 1) { - return ESP_OK; - } + // We do not check whether the SDA line is low + // because after some serious interference, the bus may keep high all the time and the i2c bus is out of service. gpio_set_direction(scl_io, GPIO_MODE_OUTPUT_OD); gpio_set_direction(sda_io, GPIO_MODE_OUTPUT_OD); - gpio_set_level(scl_io, 0); + gpio_set_level(scl_io, 1); + gpio_set_level(sda_io, 1); gpio_set_level(sda_io, 0); for (int i = 0; i < 9; i++) { - gpio_set_level(scl_io, 1); gpio_set_level(scl_io, 0); + gpio_set_level(scl_io, 1); } - gpio_set_level(scl_io, 1); gpio_set_level(sda_io, 1); i2c_set_pin(i2c_num, sda_io, scl_io, 1, 1, I2C_MODE_MASTER); return ESP_OK; @@ -583,6 +576,8 @@ esp_err_t i2c_param_config(i2c_port_t i2c_num, const i2c_config_t* i2c_conf) if (ret != ESP_OK) { return ret; } + // Reset the I2C hardware in case there is a soft reboot. + i2c_hw_disable(i2c_num); i2c_hw_enable(i2c_num); I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); I2C[i2c_num]->ctr.rx_lsb_first = I2C_DATA_MODE_MSB_FIRST; //set rx data msb first @@ -1047,7 +1042,7 @@ static void IRAM_ATTR i2c_master_cmd_begin_static(i2c_port_t i2c_num) portYIELD_FROM_ISR(); } return; - } else if (p_i2c->status == I2C_STATUS_READ) { + } else if (p_i2c->cmd_link.head != NULL && p_i2c->status == I2C_STATUS_READ) { i2c_cmd_t *cmd = &p_i2c->cmd_link.head->cmd; while (p_i2c->rx_cnt-- > 0) { *cmd->data++ = READ_PERI_REG(I2C_DATA_APB_REG(i2c_num)); @@ -1066,6 +1061,8 @@ static void IRAM_ATTR i2c_master_cmd_begin_static(i2c_port_t i2c_num) if (HPTaskAwoken == pdTRUE) { portYIELD_FROM_ISR(); } + // Return to the IDLE status after cmd_eve_done signal were send out. + p_i2c->status = I2C_STATUS_IDLE; return; } while (p_i2c->cmd_link.head) { @@ -1121,7 +1118,6 @@ static void IRAM_ATTR i2c_master_cmd_begin_static(i2c_port_t i2c_num) if (p_i2c->cmd_link.head == NULL || p_i2c->cmd_idx >= 15) { p_i2c->tx_fifo_remain = I2C_FIFO_LEN; p_i2c->cmd_idx = 0; - p_i2c->status = I2C_STATUS_IDLE; break; } } @@ -1139,6 +1135,8 @@ esp_err_t i2c_master_cmd_begin(i2c_port_t i2c_num, i2c_cmd_handle_t cmd_handle, I2C_CHECK(p_i2c_obj[i2c_num]->mode == I2C_MODE_MASTER, I2C_MASTER_MODE_ERR_STR, ESP_ERR_INVALID_STATE); I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); + // Sometimes when the FSM get stuck, the ACK_ERR interrupt will occur endlessly until we reset the FSM and clear bus. + static uint8_t clear_bus_cnt = 0; esp_err_t ret = ESP_FAIL; i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; portTickType ticks_start = xTaskGetTickCount(); @@ -1150,6 +1148,7 @@ esp_err_t i2c_master_cmd_begin(i2c_port_t i2c_num, i2c_cmd_handle_t cmd_handle, if (p_i2c->status == I2C_STATUS_TIMEOUT || I2C[i2c_num]->status_reg.bus_busy == 1) { i2c_hw_fsm_reset(i2c_num); + clear_bus_cnt = 0; } i2c_reset_tx_fifo(i2c_num); i2c_reset_rx_fifo(i2c_num); @@ -1164,7 +1163,10 @@ esp_err_t i2c_master_cmd_begin(i2c_port_t i2c_num, i2c_cmd_handle_t cmd_handle, p_i2c->rx_fifo_remain = I2C_FIFO_LEN; i2c_reset_tx_fifo(i2c_num); i2c_reset_rx_fifo(i2c_num); - + // These two interrupts some times can not be cleared when the FSM gets stuck. + // so we disable them when these two interrupt occurs and re-enable them here. + I2C[i2c_num]->int_ena.ack_err = 1; + I2C[i2c_num]->int_ena.time_out = 1; //start send commands, at most 32 bytes one time, isr handler will process the remaining commands. i2c_master_cmd_begin_static(i2c_num); @@ -1190,8 +1192,14 @@ esp_err_t i2c_master_cmd_begin(i2c_port_t i2c_num, i2c_cmd_handle_t cmd_handle, // If the I2C slave are powered off or the SDA/SCL are connected to ground, for example, // I2C hw FSM would get stuck in wrong state, we have to reset the I2C module in this case. i2c_hw_fsm_reset(i2c_num); + clear_bus_cnt = 0; ret = ESP_ERR_TIMEOUT; } else if (p_i2c->status == I2C_STATUS_ACK_ERROR) { + clear_bus_cnt++; + if(clear_bus_cnt >= I2C_ACKERR_CNT_MAX) { + i2c_master_clear_bus(i2c_num); + clear_bus_cnt = 0; + } ret = ESP_FAIL; } else { ret = ESP_OK; @@ -1205,6 +1213,7 @@ esp_err_t i2c_master_cmd_begin(i2c_port_t i2c_num, i2c_cmd_handle_t cmd_handle, // If the I2C slave are powered off or the SDA/SCL are connected to ground, for example, // I2C hw FSM would get stuck in wrong state, we have to reset the I2C module in this case. i2c_hw_fsm_reset(i2c_num); + clear_bus_cnt = 0; break; } }