diff --git a/components/driver/i2c.c b/components/driver/i2c.c index 6a0e03ab4..ad67b1639 100644 --- a/components/driver/i2c.c +++ b/components/driver/i2c.c @@ -1,1403 +1,1415 @@ -// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD -// -// 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. -#include -#include -#include "esp_types.h" -#include "esp_attr.h" -#include "esp_intr.h" -#include "esp_log.h" -#include "malloc.h" -#include "freertos/FreeRTOS.h" -#include "freertos/semphr.h" -#include "freertos/xtensa_api.h" -#include "freertos/task.h" -#include "freertos/ringbuf.h" -#include "soc/dport_reg.h" -#include "soc/i2c_struct.h" -#include "soc/i2c_reg.h" -#include "driver/i2c.h" -#include "driver/gpio.h" -#include "driver/periph_ctrl.h" - -static const char* I2C_TAG = "i2c"; -#define I2C_CHECK(a, str, ret) if(!(a)) { \ - ESP_LOGE(I2C_TAG,"%s:%d (%s):%s", __FILE__, __LINE__, __FUNCTION__, str); \ - return (ret); \ - } - -static portMUX_TYPE i2c_spinlock[I2C_NUM_MAX] = {portMUX_INITIALIZER_UNLOCKED, portMUX_INITIALIZER_UNLOCKED}; -/* 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) -#define I2C_EXIT_CRITICAL(mux) portEXIT_CRITICAL(mux) - -#define I2C_DRIVER_ERR_STR "i2c driver install error" -#define I2C_DRIVER_MALLOC_ERR_STR "i2c driver malloc error" -#define I2C_NUM_ERROR_STR "i2c number error" -#define I2C_TIMEING_VAL_ERR_STR "i2c timing value error" -#define I2C_ADDR_ERROR_STR "i2c null address error" -#define I2C_DRIVER_NOT_INSTALL_ERR_STR "i2c driver not installed" -#define I2C_SLAVE_BUFFER_LEN_ERR_STR "i2c buffer size too small for slave mode" -#define I2C_EVT_QUEUE_ERR_STR "i2c evt queue error" -#define I2C_SEM_ERR_STR "i2c semaphore error" -#define I2C_BUF_ERR_STR "i2c ringbuffer error" -#define I2C_MASTER_MODE_ERR_STR "Only allowed in master mode" -#define I2C_MODE_SLAVE_ERR_STR "Only allowed in slave mode" -#define I2C_CMD_MALLOC_ERR_STR "i2c command link malloc error" -#define I2C_TRANS_MODE_ERR_STR "i2c trans mode error" -#define I2C_MODE_ERR_STR "i2c mode error" -#define I2C_SDA_IO_ERR_STR "sda gpio number error" -#define I2C_SCL_IO_ERR_STR "scl gpio number error" -#define I2C_CMD_LINK_INIT_ERR_STR "i2c command link error" -#define I2C_GPIO_PULLUP_ERR_STR "this i2c pin does not support internal pull-up" -#define I2C_ACK_TYPE_ERR_STR "i2c ack type error" -#define I2C_DATA_LEN_ERR_STR "i2c data read length error" -#define I2C_PSRAM_BUFFER_WARN_STR "Using buffer allocated from psram" -#define I2C_FIFO_FULL_THRESH_VAL (28) -#define I2C_FIFO_EMPTY_THRESH_VAL (5) -#define I2C_IO_INIT_LEVEL (1) -#define I2C_CMD_ALIVE_INTERVAL_TICK (1000 / portTICK_PERIOD_MS) -#define I2C_CMD_EVT_ALIVE (0) -#define I2C_CMD_EVT_DONE (1) -#define I2C_EVT_QUEUE_LEN (1) -#define I2C_SLAVE_TIMEOUT_DEFAULT (32000) /* I2C slave timeout value, APB clock cycle number */ -#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) -#define I2C_FILTER_CYC_NUM_DEF (7) /* The number of apb cycles filtered by default*/ - -typedef struct { - uint8_t byte_num; /*!< cmd byte number */ - uint8_t ack_en; /*!< ack check enable */ - uint8_t ack_exp; /*!< expected ack level to get */ - uint8_t ack_val; /*!< ack value to send */ - uint8_t* data; /*!< data address */ - uint8_t byte_cmd; /*!< to save cmd for one byte command mode */ - i2c_opmode_t op_code; /*!< haredware cmd type */ -}i2c_cmd_t; - -typedef struct i2c_cmd_link{ - i2c_cmd_t cmd; /*!< command in current cmd link */ - struct i2c_cmd_link *next; /*!< next cmd link */ -} i2c_cmd_link_t; - -typedef struct { - i2c_cmd_link_t* head; /*!< head of the command link */ - i2c_cmd_link_t* cur; /*!< last node of the command link */ - i2c_cmd_link_t* free; /*!< the first node to free of the command link */ -} i2c_cmd_desc_t; - -typedef enum { - I2C_STATUS_READ, /*!< read status for current master command */ - I2C_STATUS_WRITE, /*!< write status for current master command */ - I2C_STATUS_IDLE, /*!< idle status for current master command */ - I2C_STATUS_ACK_ERROR, /*!< ack error status for current master command */ - I2C_STATUS_DONE, /*!< I2C command done */ - I2C_STATUS_TIMEOUT, /*!< I2C bus status error, and operation timeout */ -} i2c_status_t; - -typedef struct { - int type; -} i2c_cmd_evt_t; - -typedef struct { - int i2c_num; /*!< I2C port number */ - int mode; /*!< I2C mode, master or slave */ - intr_handle_t intr_handle; /*!< I2C interrupt handle*/ - int cmd_idx; /*!< record current command index, for master mode */ - int status; /*!< record current command status, for master mode */ - int rx_cnt; /*!< record current read index, for master mode */ - uint8_t data_buf[I2C_FIFO_LEN]; /*!< a buffer to store i2c fifo data */ - - i2c_cmd_desc_t cmd_link; /*!< I2C command link */ - QueueHandle_t cmd_evt_queue; /*!< I2C command event queue */ -#if CONFIG_SPIRAM_USE_MALLOC - uint8_t* evt_queue_storage; /*!< The buffer that will hold the items in the queue */ - int intr_alloc_flags; /*!< Used to allocate the interrupt */ - StaticQueue_t evt_queue_buffer; /*!< The buffer that will hold the queue structure*/ -#endif - xSemaphoreHandle cmd_mux; /*!< semaphore to lock command process */ - size_t tx_fifo_remain; /*!< tx fifo remain length, for master mode */ - size_t rx_fifo_remain; /*!< rx fifo remain length, for master mode */ - - xSemaphoreHandle slv_rx_mux; /*!< slave rx buffer mux */ - xSemaphoreHandle slv_tx_mux; /*!< slave tx buffer mux */ - size_t rx_buf_length; /*!< rx buffer length */ - RingbufHandle_t rx_ring_buf; /*!< rx ringbuffer handler of slave mode */ - size_t tx_buf_length; /*!< tx buffer length */ - RingbufHandle_t tx_ring_buf; /*!< tx ringbuffer handler of slave mode */ -} i2c_obj_t; - -static i2c_obj_t *p_i2c_obj[I2C_NUM_MAX] = {0}; -static void i2c_isr_handler_default(void* arg); -static void IRAM_ATTR i2c_master_cmd_begin_static(i2c_port_t i2c_num); -static esp_err_t IRAM_ATTR i2c_hw_fsm_reset(i2c_port_t i2c_num); - -/* - For i2c master mode, we don't need to use a buffer for the data, the APIs will execute the master commands -and return after all of the commands have been sent out or when error occurs. So when we send master commands, -we should free or modify the source data only after the i2c_master_cmd_begin function returns. - For i2c slave mode, we need a data buffer to stash the sending and receiving data, because the hardware fifo -has only 32 bytes. -*/ -esp_err_t i2c_driver_install(i2c_port_t i2c_num, i2c_mode_t mode, size_t slv_rx_buf_len, size_t slv_tx_buf_len, - int intr_alloc_flags) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(mode == I2C_MODE_MASTER || ( slv_rx_buf_len > 100 || slv_tx_buf_len > 100 ), I2C_SLAVE_BUFFER_LEN_ERR_STR, - ESP_ERR_INVALID_ARG); - uint32_t intr_mask = 0; - if (p_i2c_obj[i2c_num] == NULL) { - -#if !CONFIG_SPIRAM_USE_MALLOC - p_i2c_obj[i2c_num] = (i2c_obj_t*) calloc(1, sizeof(i2c_obj_t)); -#else - if( !(intr_alloc_flags & ESP_INTR_FLAG_IRAM) ) { - p_i2c_obj[i2c_num] = (i2c_obj_t*) calloc(1, sizeof(i2c_obj_t)); - } else { - p_i2c_obj[i2c_num] = (i2c_obj_t*) heap_caps_calloc(1, sizeof(i2c_obj_t), MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT); - } -#endif - if (p_i2c_obj[i2c_num] == NULL) { - ESP_LOGE(I2C_TAG, I2C_DRIVER_MALLOC_ERR_STR); - return ESP_FAIL; - } - i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; - p_i2c->i2c_num = i2c_num; - p_i2c->mode = mode; - p_i2c->cmd_idx = 0; - p_i2c->rx_cnt = 0; - p_i2c->status = I2C_STATUS_IDLE; - -#if CONFIG_SPIRAM_USE_MALLOC - p_i2c->intr_alloc_flags = intr_alloc_flags; -#endif - p_i2c->rx_fifo_remain = I2C_FIFO_LEN; - p_i2c->tx_fifo_remain = I2C_FIFO_LEN; - - if (mode == I2C_MODE_SLAVE) { - //we only use ringbuffer for slave mode. - if (slv_rx_buf_len > 0) { - p_i2c->rx_ring_buf = xRingbufferCreate(slv_rx_buf_len, RINGBUF_TYPE_BYTEBUF); - if (p_i2c->rx_ring_buf == NULL) { - ESP_LOGE(I2C_TAG, I2C_BUF_ERR_STR); - goto err; - } - p_i2c->rx_buf_length = slv_rx_buf_len; - } else { - p_i2c->rx_ring_buf = NULL; - p_i2c->rx_buf_length = 0; - } - if (slv_tx_buf_len > 0) { - p_i2c->tx_ring_buf = xRingbufferCreate(slv_tx_buf_len, RINGBUF_TYPE_BYTEBUF); - if (p_i2c->tx_ring_buf == NULL) { - ESP_LOGE(I2C_TAG, I2C_BUF_ERR_STR); - goto err; - } - p_i2c->tx_buf_length = slv_tx_buf_len; - } else { - p_i2c->tx_ring_buf = NULL; - p_i2c->tx_buf_length = 0; - } - p_i2c->slv_rx_mux = xSemaphoreCreateMutex(); - p_i2c->slv_tx_mux = xSemaphoreCreateMutex(); - if (p_i2c->slv_rx_mux == NULL || p_i2c->slv_tx_mux == NULL) { - ESP_LOGE(I2C_TAG, I2C_SEM_ERR_STR); - goto err; - } - intr_mask |= ( I2C_RXFIFO_FULL_INT_ENA_M | I2C_TRANS_COMPLETE_INT_ENA_M); - } else { - //semaphore to sync sending process, because we only have 32 bytes for hardware fifo. - p_i2c->cmd_mux = xSemaphoreCreateMutex(); -#if !CONFIG_SPIRAM_USE_MALLOC - p_i2c->cmd_evt_queue = xQueueCreate(I2C_EVT_QUEUE_LEN, sizeof(i2c_cmd_evt_t)); -#else - if( !(intr_alloc_flags & ESP_INTR_FLAG_IRAM) ) { - p_i2c->cmd_evt_queue = xQueueCreate(I2C_EVT_QUEUE_LEN, sizeof(i2c_cmd_evt_t)); - } else { - p_i2c->evt_queue_storage = (uint8_t *)heap_caps_calloc(I2C_EVT_QUEUE_LEN, sizeof(i2c_cmd_evt_t), MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT); - if( p_i2c->evt_queue_storage == NULL ) { - ESP_LOGE(I2C_TAG, I2C_DRIVER_MALLOC_ERR_STR); - goto err; - } - memset(&p_i2c->evt_queue_buffer, 0, sizeof(StaticQueue_t)); - p_i2c->cmd_evt_queue = xQueueCreateStatic(I2C_EVT_QUEUE_LEN, sizeof(i2c_cmd_evt_t), p_i2c->evt_queue_storage, &p_i2c->evt_queue_buffer); - } -#endif - if (p_i2c->cmd_mux == NULL || p_i2c->cmd_evt_queue == NULL) { - ESP_LOGE(I2C_TAG, I2C_SEM_ERR_STR); - goto err; - } - //command link - p_i2c->cmd_link.cur = NULL; - p_i2c->cmd_link.head = NULL; - p_i2c->cmd_link.free = NULL; - - p_i2c->tx_ring_buf = NULL; - p_i2c->rx_buf_length = 0; - p_i2c->tx_ring_buf = NULL; - p_i2c->tx_buf_length = 0; - intr_mask |= I2C_ARBITRATION_LOST_INT_ENA_M | I2C_TIME_OUT_INT_ST_M; - } - } else { - ESP_LOGE(I2C_TAG, I2C_DRIVER_ERR_STR); - return ESP_FAIL; - } - //hook isr handler - i2c_isr_register(i2c_num, i2c_isr_handler_default, p_i2c_obj[i2c_num], intr_alloc_flags, &p_i2c_obj[i2c_num]->intr_handle); - intr_mask |= ( I2C_TRANS_COMPLETE_INT_ENA_M | - I2C_TRANS_START_INT_ENA_M | - I2C_ACK_ERR_INT_ENA_M | - I2C_RXFIFO_OVF_INT_ENA_M | - I2C_SLAVE_TRAN_COMP_INT_ENA_M); - I2C[i2c_num]->int_clr.val = intr_mask; - I2C[i2c_num]->int_ena.val = intr_mask; - return ESP_OK; - - err: - //Some error has happened. Free/destroy all allocated things and return ESP_FAIL. - if (p_i2c_obj[i2c_num]) { - if (p_i2c_obj[i2c_num]->rx_ring_buf) { - vRingbufferDelete(p_i2c_obj[i2c_num]->rx_ring_buf); - p_i2c_obj[i2c_num]->rx_ring_buf = NULL; - p_i2c_obj[i2c_num]->rx_buf_length = 0; - } - if (p_i2c_obj[i2c_num]->tx_ring_buf) { - vRingbufferDelete(p_i2c_obj[i2c_num]->tx_ring_buf); - p_i2c_obj[i2c_num]->tx_ring_buf = NULL; - p_i2c_obj[i2c_num]->tx_buf_length = 0; - } - if (p_i2c_obj[i2c_num]->cmd_evt_queue) { - vQueueDelete(p_i2c_obj[i2c_num]->cmd_evt_queue); - p_i2c_obj[i2c_num]->cmd_evt_queue = NULL; - } - if (p_i2c_obj[i2c_num]->cmd_mux) { - vSemaphoreDelete(p_i2c_obj[i2c_num]->cmd_mux); - } - if (p_i2c_obj[i2c_num]->slv_rx_mux) { - vSemaphoreDelete(p_i2c_obj[i2c_num]->slv_rx_mux); - } - if (p_i2c_obj[i2c_num]->slv_tx_mux) { - vSemaphoreDelete(p_i2c_obj[i2c_num]->slv_tx_mux); - } -#if CONFIG_SPIRAM_USE_MALLOC - if (p_i2c_obj[i2c_num]->evt_queue_storage) { - free(p_i2c_obj[i2c_num]->evt_queue_storage); - p_i2c_obj[i2c_num]->evt_queue_storage = NULL; - } -#endif - } - free(p_i2c_obj[i2c_num]); - p_i2c_obj[i2c_num] = NULL; - return ESP_FAIL; -} - -static esp_err_t i2c_hw_enable(i2c_port_t i2c_num) -{ - if (i2c_num == I2C_NUM_0) { - periph_module_enable(PERIPH_I2C0_MODULE); - } else if (i2c_num == I2C_NUM_1) { - periph_module_enable(PERIPH_I2C1_MODULE); - } - return ESP_OK; -} - -static esp_err_t i2c_hw_disable(i2c_port_t i2c_num) -{ - if (i2c_num == I2C_NUM_0) { - periph_module_disable(PERIPH_I2C0_MODULE); - } else if (i2c_num == I2C_NUM_1) { - periph_module_disable(PERIPH_I2C1_MODULE); - } - return ESP_OK; -} - -esp_err_t i2c_driver_delete(i2c_port_t i2c_num) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(p_i2c_obj[i2c_num] != NULL, I2C_DRIVER_ERR_STR, ESP_FAIL); - - i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; - - I2C[i2c_num]->int_ena.val = 0; - esp_intr_free(p_i2c->intr_handle); - p_i2c->intr_handle = NULL; - - if (p_i2c->cmd_mux) { - xSemaphoreTake(p_i2c->cmd_mux, portMAX_DELAY); - vSemaphoreDelete(p_i2c->cmd_mux); - } - if (p_i2c_obj[i2c_num]->cmd_evt_queue) { - vQueueDelete(p_i2c_obj[i2c_num]->cmd_evt_queue); - p_i2c_obj[i2c_num]->cmd_evt_queue = NULL; - } - if (p_i2c->slv_rx_mux) { - vSemaphoreDelete(p_i2c->slv_rx_mux); - } - if (p_i2c->slv_tx_mux) { - vSemaphoreDelete(p_i2c->slv_tx_mux); - } - - if (p_i2c->rx_ring_buf) { - vRingbufferDelete(p_i2c->rx_ring_buf); - p_i2c->rx_ring_buf = NULL; - p_i2c->rx_buf_length = 0; - } - if (p_i2c->tx_ring_buf) { - vRingbufferDelete(p_i2c->tx_ring_buf); - p_i2c->tx_ring_buf = NULL; - p_i2c->tx_buf_length = 0; - } -#if CONFIG_SPIRAM_USE_MALLOC - if (p_i2c_obj[i2c_num]->evt_queue_storage) { - free(p_i2c_obj[i2c_num]->evt_queue_storage); - p_i2c_obj[i2c_num]->evt_queue_storage = NULL; - } -#endif - - free(p_i2c_obj[i2c_num]); - p_i2c_obj[i2c_num] = NULL; - - i2c_hw_disable(i2c_num); - return ESP_OK; -} - -esp_err_t i2c_reset_tx_fifo(i2c_port_t i2c_num) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - I2C[i2c_num]->fifo_conf.tx_fifo_rst = 1; - I2C[i2c_num]->fifo_conf.tx_fifo_rst = 0; - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_reset_rx_fifo(i2c_port_t i2c_num) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - I2C[i2c_num]->fifo_conf.rx_fifo_rst = 1; - I2C[i2c_num]->fifo_conf.rx_fifo_rst = 0; - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -static void IRAM_ATTR i2c_isr_handler_default(void* arg) -{ - i2c_obj_t* p_i2c = (i2c_obj_t*) arg; - int i2c_num = p_i2c->i2c_num; - uint32_t status = I2C[i2c_num]->int_status.val; - int idx = 0; - - portBASE_TYPE HPTaskAwoken = pdFALSE; - while (status != 0) { - status = I2C[i2c_num]->int_status.val; - if (status & I2C_TX_SEND_EMPTY_INT_ST_M) { - I2C[i2c_num]->int_clr.tx_send_empty = 1; - } 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; - I2C[i2c_num]->int_clr.ack_err = 1; - //get error ack value from slave device, stop the commands - i2c_master_cmd_begin_static(i2c_num); - } - } 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); - } else if (status & I2C_TRANS_COMPLETE_INT_ST_M) { - I2C[i2c_num]->int_clr.trans_complete = 1; - if (p_i2c->mode == I2C_MODE_SLAVE) { - int rx_fifo_cnt = I2C[i2c_num]->status_reg.rx_fifo_cnt; - for (idx = 0; idx < rx_fifo_cnt; idx++) { - 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); - I2C[i2c_num]->int_clr.rx_fifo_full = 1; - } else { - // 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); - } - } - } else if (status & I2C_MASTER_TRAN_COMP_INT_ST_M) { - I2C[i2c_num]->int_clr.master_tran_comp = 1; - } else if (status & I2C_ARBITRATION_LOST_INT_ST_M) { - I2C[i2c_num]->int_clr.arbitration_lost = 1; - p_i2c_obj[i2c_num]->status = I2C_STATUS_TIMEOUT; - i2c_master_cmd_begin_static(i2c_num); - } else if (status & I2C_SLAVE_TRAN_COMP_INT_ST_M) { - I2C[i2c_num]->int_clr.slave_tran_comp = 1; - } else if (status & I2C_END_DETECT_INT_ST_M) { - I2C[i2c_num]->int_ena.end_detect = 0; - I2C[i2c_num]->int_clr.end_detect = 1; - i2c_master_cmd_begin_static(i2c_num); - } else if (status & I2C_RXFIFO_OVF_INT_ST_M) { - I2C[i2c_num]->int_clr.rx_fifo_ovf = 1; - } else if (status & I2C_TXFIFO_EMPTY_INT_ST_M) { - int tx_fifo_rem = I2C_FIFO_LEN - I2C[i2c_num]->status_reg.tx_fifo_cnt; - size_t size = 0; - uint8_t *data = (uint8_t*) xRingbufferReceiveUpToFromISR(p_i2c->tx_ring_buf, &size, tx_fifo_rem); - if (data) { - for (idx = 0; idx < size; idx++) { - WRITE_PERI_REG(I2C_DATA_APB_REG(i2c_num), data[idx]); - } - vRingbufferReturnItemFromISR(p_i2c->tx_ring_buf, data, &HPTaskAwoken); - I2C[i2c_num]->int_ena.tx_fifo_empty = 1; - I2C[i2c_num]->int_clr.tx_fifo_empty = 1; - } else { - I2C[i2c_num]->int_ena.tx_fifo_empty = 0; - I2C[i2c_num]->int_clr.tx_fifo_empty = 1; - } - } else if (status & I2C_RXFIFO_FULL_INT_ST_M) { - int rx_fifo_cnt = I2C[i2c_num]->status_reg.rx_fifo_cnt; - for (idx = 0; idx < rx_fifo_cnt; idx++) { - 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); - I2C[i2c_num]->int_clr.rx_fifo_full = 1; - } else { - I2C[i2c_num]->int_clr.val = status; - } - } - if (p_i2c->mode == I2C_MODE_MASTER) { - i2c_cmd_evt_t evt; - evt.type = I2C_CMD_EVT_ALIVE; - xQueueSendFromISR(p_i2c->cmd_evt_queue, &evt, &HPTaskAwoken); - } - //We only need to check here if there is a high-priority task needs to be switched. - if(HPTaskAwoken == pdTRUE) { - portYIELD_FROM_ISR(); - } -} - -esp_err_t i2c_set_data_mode(i2c_port_t i2c_num, i2c_trans_mode_t tx_trans_mode, i2c_trans_mode_t rx_trans_mode) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(tx_trans_mode < I2C_DATA_MODE_MAX, I2C_TRANS_MODE_ERR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(rx_trans_mode < I2C_DATA_MODE_MAX, I2C_TRANS_MODE_ERR_STR, ESP_ERR_INVALID_ARG); - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - I2C[i2c_num]->ctr.rx_lsb_first = rx_trans_mode; //set rx data msb first - I2C[i2c_num]->ctr.tx_lsb_first = tx_trans_mode; //set tx data msb first - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_get_data_mode(i2c_port_t i2c_num, i2c_trans_mode_t *tx_trans_mode, i2c_trans_mode_t *rx_trans_mode) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - if (tx_trans_mode) { - *tx_trans_mode = I2C[i2c_num]->ctr.tx_lsb_first; - } - if (rx_trans_mode) { - *rx_trans_mode = I2C[i2c_num]->ctr.rx_lsb_first; - } - return ESP_OK; -} - -/* Some slave device will die by accident and keep the SDA in low level, - * in this case, master should send several clock to make the slave release the bus. - * Slave mode of ESP32 might also get in wrong state that held the SDA low, - * in this case, master device could send a stop signal to make esp32 slave release the bus. - **/ -static esp_err_t i2c_master_clear_bus(i2c_port_t i2c_num) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - int sda_in_sig = 0, scl_in_sig = 0; - if (i2c_num == I2C_NUM_0) { - sda_in_sig = I2CEXT0_SDA_IN_IDX; - scl_in_sig = I2CEXT0_SCL_IN_IDX; - } else if (i2c_num == I2C_NUM_1) { - sda_in_sig = I2CEXT1_SDA_IN_IDX; - scl_in_sig = I2CEXT1_SCL_IN_IDX; - } - int scl_io = GPIO.func_in_sel_cfg[scl_in_sig].func_sel; - 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); - // 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, 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, 0); - 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; -} - -/**if the power and SDA/SCL wires are in proper condition, everything works find with reading the slave. - * If we remove the power supply for the slave during I2C is reading, or directly connect SDA or SCL to ground, - * this would cause the I2C FSM get stuck in wrong state, all we can do is to reset the I2C hardware in this case. - **/ -static esp_err_t i2c_hw_fsm_reset(i2c_port_t i2c_num) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - uint32_t ctr = I2C[i2c_num]->ctr.val; - uint32_t fifo_conf = I2C[i2c_num]->fifo_conf.val; - uint32_t scl_low_period = I2C[i2c_num]->scl_low_period.val; - uint32_t scl_high_period = I2C[i2c_num]->scl_high_period.val; - uint32_t scl_start_hold = I2C[i2c_num]->scl_start_hold.val; - uint32_t scl_rstart_setup = I2C[i2c_num]->scl_rstart_setup.val; - uint32_t scl_stop_hold = I2C[i2c_num]->scl_stop_hold.val; - uint32_t scl_stop_setup = I2C[i2c_num]->scl_stop_setup.val; - uint32_t sda_hold = I2C[i2c_num]->sda_hold.val; - uint32_t sda_sample = I2C[i2c_num]->sda_sample.val; - uint32_t timeout = I2C[i2c_num]->timeout.val; - uint32_t scl_filter_cfg = I2C[i2c_num]->scl_filter_cfg.val; - uint32_t sda_filter_cfg = I2C[i2c_num]->sda_filter_cfg.val; - uint32_t slave_addr = I2C[i2c_num]->slave_addr.val; - - //to reset the I2C hw module, we need re-enable the hw - i2c_hw_disable(i2c_num); - i2c_master_clear_bus(i2c_num); - i2c_hw_enable(i2c_num); - I2C[i2c_num]->int_ena.val = 0; - I2C[i2c_num]->ctr.val = ctr & (~I2C_TRANS_START_M); - I2C[i2c_num]->fifo_conf.val = fifo_conf; - I2C[i2c_num]->scl_low_period.val = scl_low_period; - I2C[i2c_num]->scl_high_period.val = scl_high_period; - I2C[i2c_num]->scl_start_hold.val = scl_start_hold; - I2C[i2c_num]->scl_rstart_setup.val = scl_rstart_setup; - I2C[i2c_num]->scl_stop_hold.val = scl_stop_hold; - I2C[i2c_num]->scl_stop_setup.val = scl_stop_setup; - I2C[i2c_num]->sda_hold.val = sda_hold; - I2C[i2c_num]->sda_sample.val = sda_sample; - I2C[i2c_num]->timeout.val = timeout; - I2C[i2c_num]->scl_filter_cfg.val = scl_filter_cfg; - I2C[i2c_num]->sda_filter_cfg.val = sda_filter_cfg; - uint32_t intr_mask = ( I2C_TRANS_COMPLETE_INT_ENA_M - | I2C_TRANS_START_INT_ENA_M - | I2C_ACK_ERR_INT_ENA_M - | I2C_RXFIFO_OVF_INT_ENA_M - | I2C_SLAVE_TRAN_COMP_INT_ENA_M - | I2C_TIME_OUT_INT_ENA_M); - if (I2C[i2c_num]->ctr.ms_mode == I2C_MODE_SLAVE) { - I2C[i2c_num]->slave_addr.val = slave_addr; - intr_mask |= ( I2C_RXFIFO_FULL_INT_ENA_M | I2C_TRANS_COMPLETE_INT_ENA_M); - } else { - intr_mask |= I2C_ARBITRATION_LOST_INT_ENA_M; - } - I2C[i2c_num]->int_clr.val = intr_mask; - I2C[i2c_num]->int_ena.val = intr_mask; - return ESP_OK; -} - -esp_err_t i2c_param_config(i2c_port_t i2c_num, const i2c_config_t* i2c_conf) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(i2c_conf != NULL, I2C_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(i2c_conf->mode < I2C_MODE_MAX, I2C_MODE_ERR_STR, ESP_ERR_INVALID_ARG); - - esp_err_t ret = i2c_set_pin(i2c_num, i2c_conf->sda_io_num, i2c_conf->scl_io_num, - i2c_conf->sda_pullup_en, i2c_conf->scl_pullup_en, i2c_conf->mode); - 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 - I2C[i2c_num]->ctr.tx_lsb_first = I2C_DATA_MODE_MSB_FIRST; //set tx data msb first - I2C[i2c_num]->ctr.ms_mode = i2c_conf->mode; //mode for master or slave - I2C[i2c_num]->ctr.sda_force_out = 1; // set open-drain output mode - I2C[i2c_num]->ctr.scl_force_out = 1; // set open-drain output mode - I2C[i2c_num]->ctr.sample_scl_level = 0; //sample at high level of clock - - if (i2c_conf->mode == I2C_MODE_SLAVE) { //slave mode - I2C[i2c_num]->slave_addr.addr = i2c_conf->slave.slave_addr; - I2C[i2c_num]->slave_addr.en_10bit = i2c_conf->slave.addr_10bit_en; - I2C[i2c_num]->fifo_conf.nonfifo_en = 0; - I2C[i2c_num]->fifo_conf.fifo_addr_cfg_en = 0; - I2C[i2c_num]->fifo_conf.rx_fifo_full_thrhd = I2C_FIFO_FULL_THRESH_VAL; - I2C[i2c_num]->fifo_conf.tx_fifo_empty_thrhd = I2C_FIFO_EMPTY_THRESH_VAL; - I2C[i2c_num]->ctr.trans_start = 0; - I2C[i2c_num]->timeout.tout = I2C_SLAVE_TIMEOUT_DEFAULT; - //set timing for data - I2C[i2c_num]->sda_hold.time = I2C_SLAVE_SDA_HOLD_DEFAULT; - I2C[i2c_num]->sda_sample.time = I2C_SLAVE_SDA_SAMPLE_DEFAULT; - } else { - I2C[i2c_num]->fifo_conf.nonfifo_en = 0; - int cycle = (I2C_APB_CLK_FREQ / i2c_conf->master.clk_speed); - int half_cycle = cycle / 2; - I2C[i2c_num]->timeout.tout = cycle * I2C_MASTER_TOUT_CNUM_DEFAULT; - //set timing for data - I2C[i2c_num]->sda_hold.time = half_cycle / 2; - I2C[i2c_num]->sda_sample.time = half_cycle / 2; - - I2C[i2c_num]->scl_low_period.period = half_cycle; - I2C[i2c_num]->scl_high_period.period = half_cycle; - //set timing for start signal - I2C[i2c_num]->scl_start_hold.time = half_cycle; - I2C[i2c_num]->scl_rstart_setup.time = half_cycle; - //set timing for stop signal - I2C[i2c_num]->scl_stop_hold.time = half_cycle; - I2C[i2c_num]->scl_stop_setup.time = half_cycle; - //Default, we enable hardware filter - i2c_filter_enable(i2c_num, I2C_FILTER_CYC_NUM_DEF); - } - - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_set_period(i2c_port_t i2c_num, int high_period, int low_period) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK((high_period <= I2C_SCL_HIGH_PERIOD_V) && (high_period > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK((low_period <= I2C_SCL_LOW_PERIOD_V) && (low_period > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); - - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - I2C[i2c_num]->scl_high_period.period = high_period; - I2C[i2c_num]->scl_low_period.period = low_period; - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_get_period(i2c_port_t i2c_num, int* high_period, int* low_period) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - if (high_period) { - *high_period = I2C[i2c_num]->scl_high_period.period; - } - if (low_period) { - *low_period = I2C[i2c_num]->scl_low_period.period; - } - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_filter_enable(i2c_port_t i2c_num, uint8_t cyc_num) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - I2C[i2c_num]->scl_filter_cfg.thres = cyc_num; - I2C[i2c_num]->sda_filter_cfg.thres = cyc_num; - I2C[i2c_num]->scl_filter_cfg.en = 1; - I2C[i2c_num]->sda_filter_cfg.en = 1; - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_filter_disable(i2c_port_t i2c_num) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - I2C[i2c_num]->scl_filter_cfg.en = 0; - I2C[i2c_num]->sda_filter_cfg.en = 0; - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_set_start_timing(i2c_port_t i2c_num, int setup_time, int hold_time) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK((hold_time <= I2C_SCL_START_HOLD_TIME_V) && (hold_time > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK((setup_time <= I2C_SCL_RSTART_SETUP_TIME_V) && (setup_time > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); - - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - I2C[i2c_num]->scl_start_hold.time = hold_time; - I2C[i2c_num]->scl_rstart_setup.time = setup_time; - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_get_start_timing(i2c_port_t i2c_num, int* setup_time, int* hold_time) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - if (hold_time) { - *hold_time = I2C[i2c_num]->scl_start_hold.time; - } - if (setup_time) { - *setup_time = I2C[i2c_num]->scl_rstart_setup.time; - } - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_set_stop_timing(i2c_port_t i2c_num, int setup_time, int hold_time) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK((setup_time <= I2C_SCL_STOP_SETUP_TIME_V) && (setup_time > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK((hold_time <= I2C_SCL_STOP_HOLD_TIME_V) && (hold_time > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); - - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - I2C[i2c_num]->scl_stop_hold.time = hold_time; - I2C[i2c_num]->scl_stop_setup.time = setup_time; - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_get_stop_timing(i2c_port_t i2c_num, int* setup_time, int* hold_time) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - if (setup_time) { - *setup_time = I2C[i2c_num]->scl_stop_setup.time; - } - if (hold_time) { - *hold_time = I2C[i2c_num]->scl_stop_hold.time; - } - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_set_data_timing(i2c_port_t i2c_num, int sample_time, int hold_time) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK((sample_time <= I2C_SDA_SAMPLE_TIME_V) && (sample_time > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK((hold_time <= I2C_SDA_HOLD_TIME_V) && (hold_time > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); - - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - I2C[i2c_num]->sda_hold.time = hold_time; - I2C[i2c_num]->sda_sample.time = sample_time; - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_get_data_timing(i2c_port_t i2c_num, int* sample_time, int* hold_time) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - if (sample_time) { - *sample_time = I2C[i2c_num]->sda_sample.time; - } - if (hold_time) { - *hold_time = I2C[i2c_num]->sda_hold.time; - } - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_set_timeout(i2c_port_t i2c_num, int timeout) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK((timeout <= I2C_TIME_OUT_REG_V) && (timeout > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); - - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - I2C[i2c_num]->timeout.tout = timeout; - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - return ESP_OK; -} - -esp_err_t i2c_get_timeout(i2c_port_t i2c_num, int* timeout) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - if (timeout) { - *timeout = I2C[i2c_num]->timeout.tout; - } - return ESP_OK; -} - -esp_err_t i2c_isr_register(i2c_port_t i2c_num, void (*fn)(void*), void * arg, int intr_alloc_flags, intr_handle_t *handle) -{ - I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(fn != NULL, I2C_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG); - esp_err_t ret; - switch (i2c_num) { - case I2C_NUM_1: - ret = esp_intr_alloc(ETS_I2C_EXT1_INTR_SOURCE, intr_alloc_flags, fn, arg, handle); - break; - case I2C_NUM_0: - default: - ret = esp_intr_alloc(ETS_I2C_EXT0_INTR_SOURCE, intr_alloc_flags, fn, arg, handle); - break; - } - return ret; -} - -esp_err_t i2c_isr_free(intr_handle_t handle) -{ - return esp_intr_free(handle); -} - -esp_err_t i2c_set_pin(i2c_port_t i2c_num, int sda_io_num, int scl_io_num, gpio_pullup_t sda_pullup_en, gpio_pullup_t scl_pullup_en, i2c_mode_t mode) -{ - I2C_CHECK(( i2c_num < I2C_NUM_MAX ), I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(((sda_io_num < 0) || ((GPIO_IS_VALID_OUTPUT_GPIO(sda_io_num)))), I2C_SDA_IO_ERR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(scl_io_num < 0 || - (GPIO_IS_VALID_OUTPUT_GPIO(scl_io_num)) || - (GPIO_IS_VALID_GPIO(scl_io_num) && mode == I2C_MODE_SLAVE), - I2C_SCL_IO_ERR_STR, - ESP_ERR_INVALID_ARG); - I2C_CHECK(sda_io_num < 0 || - (sda_pullup_en == GPIO_PULLUP_ENABLE && GPIO_IS_VALID_OUTPUT_GPIO(sda_io_num)) || - sda_pullup_en == GPIO_PULLUP_DISABLE, I2C_GPIO_PULLUP_ERR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(scl_io_num < 0 || - (scl_pullup_en == GPIO_PULLUP_ENABLE && GPIO_IS_VALID_OUTPUT_GPIO(scl_io_num)) || - scl_pullup_en == GPIO_PULLUP_DISABLE, I2C_GPIO_PULLUP_ERR_STR, ESP_ERR_INVALID_ARG); - - int sda_in_sig, sda_out_sig, scl_in_sig, scl_out_sig; - switch (i2c_num) { - case I2C_NUM_1: - sda_out_sig = I2CEXT1_SDA_OUT_IDX; - sda_in_sig = I2CEXT1_SDA_IN_IDX; - scl_out_sig = I2CEXT1_SCL_OUT_IDX; - scl_in_sig = I2CEXT1_SCL_IN_IDX; - break; - case I2C_NUM_0: - default: - sda_out_sig = I2CEXT0_SDA_OUT_IDX; - sda_in_sig = I2CEXT0_SDA_IN_IDX; - scl_out_sig = I2CEXT0_SCL_OUT_IDX; - scl_in_sig = I2CEXT0_SCL_IN_IDX; - break; - } - if (sda_io_num >= 0) { - gpio_set_level(sda_io_num, I2C_IO_INIT_LEVEL); - PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[sda_io_num], PIN_FUNC_GPIO); - gpio_set_direction(sda_io_num, GPIO_MODE_INPUT_OUTPUT_OD); - - if (sda_pullup_en == GPIO_PULLUP_ENABLE) { - gpio_set_pull_mode(sda_io_num, GPIO_PULLUP_ONLY); - } else { - gpio_set_pull_mode(sda_io_num, GPIO_FLOATING); - } - gpio_matrix_out(sda_io_num, sda_out_sig, 0, 0); - gpio_matrix_in(sda_io_num, sda_in_sig, 0); - } - - if (scl_io_num >= 0) { - gpio_set_level(scl_io_num, I2C_IO_INIT_LEVEL); - PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[scl_io_num], PIN_FUNC_GPIO); - if (mode == I2C_MODE_MASTER) { - gpio_set_direction(scl_io_num, GPIO_MODE_INPUT_OUTPUT_OD); - gpio_matrix_out(scl_io_num, scl_out_sig, 0, 0); - } else { - gpio_set_direction(scl_io_num, GPIO_MODE_INPUT); - } - if (scl_pullup_en == GPIO_PULLUP_ENABLE) { - gpio_set_pull_mode(scl_io_num, GPIO_PULLUP_ONLY); - } else { - gpio_set_pull_mode(scl_io_num, GPIO_FLOATING); - } - gpio_matrix_in(scl_io_num, scl_in_sig, 0); - } - return ESP_OK; -} - -i2c_cmd_handle_t i2c_cmd_link_create() -{ -#if !CONFIG_SPIRAM_USE_MALLOC - i2c_cmd_desc_t* cmd_desc = (i2c_cmd_desc_t*) calloc(1, sizeof(i2c_cmd_desc_t)); -#else - i2c_cmd_desc_t* cmd_desc = (i2c_cmd_desc_t*) heap_caps_calloc(1, sizeof(i2c_cmd_desc_t), MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT); -#endif - return (i2c_cmd_handle_t) cmd_desc; -} - -void i2c_cmd_link_delete(i2c_cmd_handle_t cmd_handle) -{ - if (cmd_handle == NULL) { - return; - } - i2c_cmd_desc_t* cmd = (i2c_cmd_desc_t*) cmd_handle; - while (cmd->free) { - i2c_cmd_link_t* ptmp = cmd->free; - cmd->free = cmd->free->next; - free(ptmp); - } - cmd->cur = NULL; - cmd->free = NULL; - cmd->head = NULL; - free(cmd_handle); - return; -} - -static esp_err_t i2c_cmd_link_append(i2c_cmd_handle_t cmd_handle, i2c_cmd_t* cmd) -{ - i2c_cmd_desc_t* cmd_desc = (i2c_cmd_desc_t*) cmd_handle; - if (cmd_desc->head == NULL) { -#if !CONFIG_SPIRAM_USE_MALLOC - cmd_desc->head = (i2c_cmd_link_t*) calloc(1, sizeof(i2c_cmd_link_t)); -#else - cmd_desc->head = (i2c_cmd_link_t*) heap_caps_calloc(1, sizeof(i2c_cmd_link_t), MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT); -#endif - if (cmd_desc->head == NULL) { - ESP_LOGE(I2C_TAG, I2C_CMD_MALLOC_ERR_STR); - goto err; - } - cmd_desc->cur = cmd_desc->head; - cmd_desc->free = cmd_desc->head; - } else { -#if !CONFIG_SPIRAM_USE_MALLOC - cmd_desc->cur->next = (i2c_cmd_link_t*) calloc(1, sizeof(i2c_cmd_link_t)); -#else - cmd_desc->cur->next = (i2c_cmd_link_t*) heap_caps_calloc(1, sizeof(i2c_cmd_link_t), MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT); -#endif - if (cmd_desc->cur->next == NULL) { - ESP_LOGE(I2C_TAG, I2C_CMD_MALLOC_ERR_STR); - goto err; - } - cmd_desc->cur = cmd_desc->cur->next; - } - memcpy((uint8_t*) &cmd_desc->cur->cmd, (uint8_t*) cmd, sizeof(i2c_cmd_t)); - cmd_desc->cur->next = NULL; - return ESP_OK; - - err: - return ESP_FAIL; -} - -esp_err_t i2c_master_start(i2c_cmd_handle_t cmd_handle) -{ - I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); - i2c_cmd_t cmd; - cmd.ack_en = 0; - cmd.ack_exp = 0; - cmd.ack_val = 0; - cmd.byte_num = 0; - cmd.data = NULL; - cmd.op_code = I2C_CMD_RESTART; - return i2c_cmd_link_append(cmd_handle, &cmd); -} - -esp_err_t i2c_master_stop(i2c_cmd_handle_t cmd_handle) -{ - I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); - i2c_cmd_t cmd; - cmd.ack_en = 0; - cmd.ack_exp = 0; - cmd.ack_val = 0; - cmd.byte_num = 0; - cmd.data = NULL; - cmd.op_code = I2C_CMD_STOP; - return i2c_cmd_link_append(cmd_handle, &cmd); -} - -esp_err_t i2c_master_write(i2c_cmd_handle_t cmd_handle, uint8_t* data, size_t data_len, bool ack_en) -{ - I2C_CHECK((data != NULL), I2C_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); - - uint8_t len_tmp; - int data_offset = 0; - esp_err_t ret; - while (data_len > 0) { - len_tmp = data_len > 0xff ? 0xff : data_len; - data_len -= len_tmp; - i2c_cmd_t cmd; - cmd.ack_en = ack_en; - cmd.ack_exp = 0; - cmd.ack_val = 0; - cmd.byte_num = len_tmp; - cmd.op_code = I2C_CMD_WRITE; - cmd.data = data + data_offset; - ret = i2c_cmd_link_append(cmd_handle, &cmd); - data_offset += len_tmp; - if (ret != ESP_OK) { - return ret; - } - } - return ESP_OK; -} - -esp_err_t i2c_master_write_byte(i2c_cmd_handle_t cmd_handle, uint8_t data, bool ack_en) -{ - I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); - i2c_cmd_t cmd; - cmd.ack_en = ack_en; - cmd.ack_exp = 0; - cmd.ack_val = 0; - cmd.byte_num = 1; - cmd.op_code = I2C_CMD_WRITE; - cmd.data = NULL; - cmd.byte_cmd = data; - return i2c_cmd_link_append(cmd_handle, &cmd); -} - -static esp_err_t i2c_master_read_static(i2c_cmd_handle_t cmd_handle, uint8_t* data, size_t data_len, i2c_ack_type_t ack) -{ - int len_tmp; - int data_offset = 0; - esp_err_t ret; - while (data_len > 0) { - len_tmp = data_len > 0xff ? 0xff : data_len; - data_len -= len_tmp; - i2c_cmd_t cmd; - cmd.ack_en = 0; - cmd.ack_exp = 0; - cmd.ack_val = ack & 0x1; - cmd.byte_num = len_tmp; - cmd.op_code = I2C_CMD_READ; - cmd.data = data + data_offset; - ret = i2c_cmd_link_append(cmd_handle, &cmd); - data_offset += len_tmp; - if (ret != ESP_OK) { - return ret; - } - } - return ESP_OK; -} - -esp_err_t i2c_master_read_byte(i2c_cmd_handle_t cmd_handle, uint8_t* data, i2c_ack_type_t ack) -{ - I2C_CHECK((data != NULL), I2C_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(ack < I2C_MASTER_ACK_MAX, I2C_ACK_TYPE_ERR_STR, ESP_ERR_INVALID_ARG); - - i2c_cmd_t cmd; - cmd.ack_en = 0; - cmd.ack_exp = 0; - cmd.ack_val = ((ack == I2C_MASTER_LAST_NACK) ? I2C_MASTER_NACK : (ack & 0x1)); - cmd.byte_num = 1; - cmd.op_code = I2C_CMD_READ; - cmd.data = data; - return i2c_cmd_link_append(cmd_handle, &cmd); -} - -esp_err_t i2c_master_read(i2c_cmd_handle_t cmd_handle, uint8_t* data, size_t data_len, i2c_ack_type_t ack) -{ - I2C_CHECK((data != NULL), I2C_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(ack < I2C_MASTER_ACK_MAX, I2C_ACK_TYPE_ERR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(data_len > 0, I2C_DATA_LEN_ERR_STR, ESP_ERR_INVALID_ARG); - - if(ack != I2C_MASTER_LAST_NACK) { - return i2c_master_read_static(cmd_handle, data, data_len, ack); - } else { - if(data_len == 1) { - return i2c_master_read_byte(cmd_handle, data, I2C_MASTER_NACK); - } else { - esp_err_t ret; - if((ret = i2c_master_read_static(cmd_handle, data, data_len - 1, I2C_MASTER_ACK)) != ESP_OK) { - return ret; - } - return i2c_master_read_byte(cmd_handle, data + data_len - 1, I2C_MASTER_NACK); - } - } -} - -static void IRAM_ATTR i2c_master_cmd_begin_static(i2c_port_t i2c_num) -{ - i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; - portBASE_TYPE HPTaskAwoken = pdFALSE; - i2c_cmd_evt_t evt; - //This should never happen - if (p_i2c->mode == I2C_MODE_SLAVE) { - return; - } - if (p_i2c->status == I2C_STATUS_DONE) { - return; - } else if ((p_i2c->status == I2C_STATUS_ACK_ERROR) - || (p_i2c->status == I2C_STATUS_TIMEOUT)) { - I2C[i2c_num]->int_ena.end_detect = 0; - I2C[i2c_num]->int_clr.end_detect = 1; - if(p_i2c->status == I2C_STATUS_TIMEOUT) { - I2C[i2c_num]->int_clr.time_out = 1; - I2C[i2c_num]->int_ena.val = 0; - } - evt.type = I2C_CMD_EVT_DONE; - xQueueOverwriteFromISR(p_i2c->cmd_evt_queue, &evt, &HPTaskAwoken); - if (HPTaskAwoken == pdTRUE) { - portYIELD_FROM_ISR(); - } - return; - } 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)); - } - if (cmd->byte_num > 0) { - p_i2c->rx_fifo_remain = I2C_FIFO_LEN; - p_i2c->cmd_idx = 0; - } else { - p_i2c->cmd_link.head = p_i2c->cmd_link.head->next; - } - } - if (p_i2c->cmd_link.head == NULL) { - p_i2c->cmd_link.cur = NULL; - evt.type = I2C_CMD_EVT_DONE; - xQueueOverwriteFromISR(p_i2c->cmd_evt_queue, &evt, &HPTaskAwoken); - 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) { - i2c_cmd_t *cmd = &p_i2c->cmd_link.head->cmd; - I2C[i2c_num]->command[p_i2c->cmd_idx].val = 0; - I2C[i2c_num]->command[p_i2c->cmd_idx].ack_en = cmd->ack_en; - I2C[i2c_num]->command[p_i2c->cmd_idx].ack_exp = cmd->ack_exp; - I2C[i2c_num]->command[p_i2c->cmd_idx].ack_val = cmd->ack_val; - I2C[i2c_num]->command[p_i2c->cmd_idx].byte_num = cmd->byte_num; - I2C[i2c_num]->command[p_i2c->cmd_idx].op_code = cmd->op_code; - if (cmd->op_code == I2C_CMD_WRITE) { - uint32_t wr_filled = 0; - //TODO: to reduce interrupt number - if (cmd->data) { - while (p_i2c->tx_fifo_remain > 0 && cmd->byte_num > 0) { - WRITE_PERI_REG(I2C_DATA_APB_REG(i2c_num), *cmd->data++); - p_i2c->tx_fifo_remain--; - cmd->byte_num--; - wr_filled++; - } - } else { - WRITE_PERI_REG(I2C_DATA_APB_REG(i2c_num), cmd->byte_cmd); - p_i2c->tx_fifo_remain--; - cmd->byte_num--; - wr_filled ++; - } - //Workaround for register field operation. - I2C[i2c_num]->command[p_i2c->cmd_idx].byte_num = wr_filled; - I2C[i2c_num]->command[p_i2c->cmd_idx + 1].val = 0; - I2C[i2c_num]->command[p_i2c->cmd_idx + 1].op_code = I2C_CMD_END; - p_i2c->tx_fifo_remain = I2C_FIFO_LEN; - p_i2c->cmd_idx = 0; - if (cmd->byte_num > 0) { - } else { - p_i2c->cmd_link.head = p_i2c->cmd_link.head->next; - } - p_i2c->status = I2C_STATUS_WRITE; - break; - } else if(cmd->op_code == I2C_CMD_READ) { - //TODO: to reduce interrupt number - p_i2c->rx_cnt = cmd->byte_num > p_i2c->rx_fifo_remain ? p_i2c->rx_fifo_remain : cmd->byte_num; - cmd->byte_num -= p_i2c->rx_cnt; - I2C[i2c_num]->command[p_i2c->cmd_idx].byte_num = p_i2c->rx_cnt; - I2C[i2c_num]->command[p_i2c->cmd_idx].ack_val = cmd->ack_val; - I2C[i2c_num]->command[p_i2c->cmd_idx + 1].val = 0; - I2C[i2c_num]->command[p_i2c->cmd_idx + 1].op_code = I2C_CMD_END; - p_i2c->status = I2C_STATUS_READ; - break; - } else { - } - p_i2c->cmd_idx++; - p_i2c->cmd_link.head = p_i2c->cmd_link.head->next; - 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; - break; - } - } - I2C[i2c_num]->int_clr.end_detect = 1; - I2C[i2c_num]->int_ena.end_detect = 1; - I2C[i2c_num]->ctr.trans_start = 0; - I2C[i2c_num]->ctr.trans_start = 1; - return; -} - -#if CONFIG_SPIRAM_USE_MALLOC -//Check whether read or write buffer in cmd_link is internal. -static bool is_cmd_link_buffer_internal(i2c_cmd_link_t *link) -{ - i2c_cmd_link_t* cmd_link = link; - while(cmd_link != NULL) { - if (cmd_link->cmd.op_code == I2C_CMD_WRITE || cmd_link->cmd.op_code == I2C_CMD_READ) { - if( cmd_link->cmd.data != NULL && !esp_ptr_internal(cmd_link->cmd.data)) { - return false; - } - } - cmd_link = cmd_link->next; - } - return true; -} -#endif - -esp_err_t i2c_master_cmd_begin(i2c_port_t i2c_num, i2c_cmd_handle_t cmd_handle, TickType_t ticks_to_wait) -{ - I2C_CHECK(( i2c_num < I2C_NUM_MAX ), I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); - I2C_CHECK(p_i2c_obj[i2c_num] != NULL, I2C_DRIVER_NOT_INSTALL_ERR_STR, ESP_ERR_INVALID_STATE); - 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); - -#if CONFIG_SPIRAM_USE_MALLOC - //If the i2c read or write buffer is not in internal RAM, we will return ESP_FAIL - //to avoid the ISR handler function crashing when the cache is disabled. - if( (p_i2c_obj[i2c_num]->intr_alloc_flags & ESP_INTR_FLAG_IRAM) ) { - if( !is_cmd_link_buffer_internal(((i2c_cmd_desc_t*)cmd_handle)->head) ) { - ESP_LOGE(I2C_TAG, I2C_PSRAM_BUFFER_WARN_STR); - return ESP_ERR_INVALID_ARG; - } - } -#endif - // 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(); - portBASE_TYPE res = xSemaphoreTake(p_i2c->cmd_mux, ticks_to_wait); - if (res == pdFALSE) { - return ESP_ERR_TIMEOUT; - } - xQueueReset(p_i2c->cmd_evt_queue); - 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); - i2c_cmd_desc_t* cmd = (i2c_cmd_desc_t*) cmd_handle; - p_i2c->cmd_link.free = cmd->free; - p_i2c->cmd_link.cur = cmd->cur; - p_i2c->cmd_link.head = cmd->head; - p_i2c->status = I2C_STATUS_IDLE; - p_i2c->cmd_idx = 0; - p_i2c->rx_cnt = 0; - p_i2c->tx_fifo_remain = I2C_FIFO_LEN; - 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); - - // Wait event bits - i2c_cmd_evt_t evt; - while (1) { - TickType_t wait_time = xTaskGetTickCount(); - if (wait_time - ticks_start > ticks_to_wait) { // out of time - wait_time = I2C_CMD_ALIVE_INTERVAL_TICK; - } else { - wait_time = ticks_to_wait - (wait_time - ticks_start); - if (wait_time < I2C_CMD_ALIVE_INTERVAL_TICK) { - wait_time = I2C_CMD_ALIVE_INTERVAL_TICK; - } - } - // In master mode, since we don't have an interrupt to detective bus error or FSM state, what we do here is to make - // sure the interrupt mechanism for master mode is still working. - // If the command sending is not finished and there is no interrupt any more, the bus is probably dead caused by external noise. - portBASE_TYPE evt_res = xQueueReceive(p_i2c->cmd_evt_queue, &evt, wait_time); - if (evt_res == pdTRUE) { - if (evt.type == I2C_CMD_EVT_DONE) { - if (p_i2c->status == I2C_STATUS_TIMEOUT) { - // 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; - } - break; - } - if (evt.type == I2C_CMD_EVT_ALIVE) { - } - } else { - ret = ESP_ERR_TIMEOUT; - // 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; - } - } - p_i2c->status = I2C_STATUS_DONE; - xSemaphoreGive(p_i2c->cmd_mux); - return ret; -} - -int i2c_slave_write_buffer(i2c_port_t i2c_num, uint8_t* data, int size, TickType_t ticks_to_wait) -{ - I2C_CHECK(( i2c_num < I2C_NUM_MAX ), I2C_NUM_ERROR_STR, ESP_FAIL); - I2C_CHECK((data != NULL), I2C_ADDR_ERROR_STR, ESP_FAIL); - I2C_CHECK(p_i2c_obj[i2c_num]->mode == I2C_MODE_SLAVE, I2C_MODE_SLAVE_ERR_STR, ESP_FAIL); - i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; - - portBASE_TYPE res; - int cnt = 0; - portTickType ticks_end = xTaskGetTickCount() + ticks_to_wait; - - res = xSemaphoreTake(p_i2c->slv_tx_mux, ticks_to_wait); - if (res == pdFALSE) { - return 0; - } - ticks_to_wait = ticks_end - xTaskGetTickCount(); - res = xRingbufferSend(p_i2c->tx_ring_buf, data, size, ticks_to_wait); - if (res == pdFALSE) { - cnt = 0; - } else { - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - I2C[i2c_num]->int_clr.tx_fifo_empty = 1; - I2C[i2c_num]->int_ena.tx_fifo_empty = 1; - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - cnt = size; - } - xSemaphoreGive(p_i2c->slv_tx_mux); - return cnt; -} - -static int i2c_slave_read(i2c_port_t i2c_num, uint8_t* data, size_t max_size, TickType_t ticks_to_wait) -{ - i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; - size_t size = 0; - uint8_t* pdata = (uint8_t*) xRingbufferReceiveUpTo(p_i2c->rx_ring_buf, &size, ticks_to_wait, max_size); - if (pdata && size > 0) { - memcpy(data, pdata, size); - vRingbufferReturnItem(p_i2c->rx_ring_buf, pdata); - } - return size; -} - -int i2c_slave_read_buffer(i2c_port_t i2c_num, uint8_t* data, size_t max_size, TickType_t ticks_to_wait) -{ - I2C_CHECK(( i2c_num < I2C_NUM_MAX ), I2C_NUM_ERROR_STR, ESP_FAIL); - I2C_CHECK((data != NULL), I2C_ADDR_ERROR_STR, ESP_FAIL); - I2C_CHECK(p_i2c_obj[i2c_num]->mode == I2C_MODE_SLAVE, I2C_MODE_SLAVE_ERR_STR, ESP_FAIL); - - i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; - portBASE_TYPE res; - portTickType ticks_end = xTaskGetTickCount() + ticks_to_wait; - res = xSemaphoreTake(p_i2c->slv_rx_mux, ticks_to_wait); - if (res == pdFALSE) { - return 0; - } - ticks_to_wait = ticks_end - xTaskGetTickCount(); - int cnt = i2c_slave_read(i2c_num, data, max_size, ticks_to_wait); - if (cnt > 0) { - I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); - I2C[i2c_num]->int_ena.rx_fifo_full = 1; - I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); - ticks_to_wait = ticks_end - xTaskGetTickCount(); - if (cnt < max_size && ticks_to_wait > 0) { - cnt += i2c_slave_read(i2c_num, data + cnt, max_size - cnt, ticks_to_wait); - } - } else { - cnt = 0; - } - xSemaphoreGive(p_i2c->slv_rx_mux); - return cnt; -} +// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD +// +// 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. +#include +#include +#include "esp_types.h" +#include "esp_attr.h" +#include "esp_intr.h" +#include "esp_log.h" +#include "malloc.h" +#include "freertos/FreeRTOS.h" +#include "freertos/semphr.h" +#include "freertos/xtensa_api.h" +#include "freertos/task.h" +#include "freertos/ringbuf.h" +#include "soc/dport_reg.h" +#include "soc/i2c_struct.h" +#include "soc/i2c_reg.h" +#include "driver/i2c.h" +#include "driver/gpio.h" +#include "driver/periph_ctrl.h" + +static const char* I2C_TAG = "i2c"; +#define I2C_CHECK(a, str, ret) if(!(a)) { \ + ESP_LOGE(I2C_TAG,"%s:%d (%s):%s", __FILE__, __LINE__, __FUNCTION__, str); \ + return (ret); \ + } + +static portMUX_TYPE i2c_spinlock[I2C_NUM_MAX] = {portMUX_INITIALIZER_UNLOCKED, portMUX_INITIALIZER_UNLOCKED}; +/* 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) +#define I2C_EXIT_CRITICAL(mux) portEXIT_CRITICAL(mux) + +#define I2C_DRIVER_ERR_STR "i2c driver install error" +#define I2C_DRIVER_MALLOC_ERR_STR "i2c driver malloc error" +#define I2C_NUM_ERROR_STR "i2c number error" +#define I2C_TIMEING_VAL_ERR_STR "i2c timing value error" +#define I2C_ADDR_ERROR_STR "i2c null address error" +#define I2C_DRIVER_NOT_INSTALL_ERR_STR "i2c driver not installed" +#define I2C_SLAVE_BUFFER_LEN_ERR_STR "i2c buffer size too small for slave mode" +#define I2C_EVT_QUEUE_ERR_STR "i2c evt queue error" +#define I2C_SEM_ERR_STR "i2c semaphore error" +#define I2C_BUF_ERR_STR "i2c ringbuffer error" +#define I2C_MASTER_MODE_ERR_STR "Only allowed in master mode" +#define I2C_MODE_SLAVE_ERR_STR "Only allowed in slave mode" +#define I2C_CMD_MALLOC_ERR_STR "i2c command link malloc error" +#define I2C_TRANS_MODE_ERR_STR "i2c trans mode error" +#define I2C_MODE_ERR_STR "i2c mode error" +#define I2C_SDA_IO_ERR_STR "sda gpio number error" +#define I2C_SCL_IO_ERR_STR "scl gpio number error" +#define I2C_CMD_LINK_INIT_ERR_STR "i2c command link error" +#define I2C_GPIO_PULLUP_ERR_STR "this i2c pin does not support internal pull-up" +#define I2C_ACK_TYPE_ERR_STR "i2c ack type error" +#define I2C_DATA_LEN_ERR_STR "i2c data read length error" +#define I2C_PSRAM_BUFFER_WARN_STR "Using buffer allocated from psram" +#define I2C_FIFO_FULL_THRESH_VAL (28) +#define I2C_FIFO_EMPTY_THRESH_VAL (5) +#define I2C_IO_INIT_LEVEL (1) +#define I2C_CMD_ALIVE_INTERVAL_TICK (1000 / portTICK_PERIOD_MS) +#define I2C_CMD_EVT_ALIVE (0) +#define I2C_CMD_EVT_DONE (1) +#define I2C_EVT_QUEUE_LEN (1) +#define I2C_SLAVE_TIMEOUT_DEFAULT (32000) /* I2C slave timeout value, APB clock cycle number */ +#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) +#define I2C_FILTER_CYC_NUM_DEF (7) /* The number of apb cycles filtered by default*/ +#define I2C_CLR_BUS_SCL_NUM (9) +#define I2C_CLR_BUS_HALF_PERIOD_US (5) + +typedef struct { + uint8_t byte_num; /*!< cmd byte number */ + uint8_t ack_en; /*!< ack check enable */ + uint8_t ack_exp; /*!< expected ack level to get */ + uint8_t ack_val; /*!< ack value to send */ + uint8_t* data; /*!< data address */ + uint8_t byte_cmd; /*!< to save cmd for one byte command mode */ + i2c_opmode_t op_code; /*!< haredware cmd type */ +}i2c_cmd_t; + +typedef struct i2c_cmd_link{ + i2c_cmd_t cmd; /*!< command in current cmd link */ + struct i2c_cmd_link *next; /*!< next cmd link */ +} i2c_cmd_link_t; + +typedef struct { + i2c_cmd_link_t* head; /*!< head of the command link */ + i2c_cmd_link_t* cur; /*!< last node of the command link */ + i2c_cmd_link_t* free; /*!< the first node to free of the command link */ +} i2c_cmd_desc_t; + +typedef enum { + I2C_STATUS_READ, /*!< read status for current master command */ + I2C_STATUS_WRITE, /*!< write status for current master command */ + I2C_STATUS_IDLE, /*!< idle status for current master command */ + I2C_STATUS_ACK_ERROR, /*!< ack error status for current master command */ + I2C_STATUS_DONE, /*!< I2C command done */ + I2C_STATUS_TIMEOUT, /*!< I2C bus status error, and operation timeout */ +} i2c_status_t; + +typedef struct { + int type; +} i2c_cmd_evt_t; + +typedef struct { + int i2c_num; /*!< I2C port number */ + int mode; /*!< I2C mode, master or slave */ + intr_handle_t intr_handle; /*!< I2C interrupt handle*/ + int cmd_idx; /*!< record current command index, for master mode */ + int status; /*!< record current command status, for master mode */ + int rx_cnt; /*!< record current read index, for master mode */ + uint8_t data_buf[I2C_FIFO_LEN]; /*!< a buffer to store i2c fifo data */ + + i2c_cmd_desc_t cmd_link; /*!< I2C command link */ + QueueHandle_t cmd_evt_queue; /*!< I2C command event queue */ +#if CONFIG_SPIRAM_USE_MALLOC + uint8_t* evt_queue_storage; /*!< The buffer that will hold the items in the queue */ + int intr_alloc_flags; /*!< Used to allocate the interrupt */ + StaticQueue_t evt_queue_buffer; /*!< The buffer that will hold the queue structure*/ +#endif + xSemaphoreHandle cmd_mux; /*!< semaphore to lock command process */ + size_t tx_fifo_remain; /*!< tx fifo remain length, for master mode */ + size_t rx_fifo_remain; /*!< rx fifo remain length, for master mode */ + + xSemaphoreHandle slv_rx_mux; /*!< slave rx buffer mux */ + xSemaphoreHandle slv_tx_mux; /*!< slave tx buffer mux */ + size_t rx_buf_length; /*!< rx buffer length */ + RingbufHandle_t rx_ring_buf; /*!< rx ringbuffer handler of slave mode */ + size_t tx_buf_length; /*!< tx buffer length */ + RingbufHandle_t tx_ring_buf; /*!< tx ringbuffer handler of slave mode */ +} i2c_obj_t; + +static i2c_obj_t *p_i2c_obj[I2C_NUM_MAX] = {0}; +static void i2c_isr_handler_default(void* arg); +static void IRAM_ATTR i2c_master_cmd_begin_static(i2c_port_t i2c_num); +static esp_err_t IRAM_ATTR i2c_hw_fsm_reset(i2c_port_t i2c_num); + +/* + For i2c master mode, we don't need to use a buffer for the data, the APIs will execute the master commands +and return after all of the commands have been sent out or when error occurs. So when we send master commands, +we should free or modify the source data only after the i2c_master_cmd_begin function returns. + For i2c slave mode, we need a data buffer to stash the sending and receiving data, because the hardware fifo +has only 32 bytes. +*/ +esp_err_t i2c_driver_install(i2c_port_t i2c_num, i2c_mode_t mode, size_t slv_rx_buf_len, size_t slv_tx_buf_len, + int intr_alloc_flags) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(mode == I2C_MODE_MASTER || ( slv_rx_buf_len > 100 || slv_tx_buf_len > 100 ), I2C_SLAVE_BUFFER_LEN_ERR_STR, + ESP_ERR_INVALID_ARG); + uint32_t intr_mask = 0; + if (p_i2c_obj[i2c_num] == NULL) { + +#if !CONFIG_SPIRAM_USE_MALLOC + p_i2c_obj[i2c_num] = (i2c_obj_t*) calloc(1, sizeof(i2c_obj_t)); +#else + if( !(intr_alloc_flags & ESP_INTR_FLAG_IRAM) ) { + p_i2c_obj[i2c_num] = (i2c_obj_t*) calloc(1, sizeof(i2c_obj_t)); + } else { + p_i2c_obj[i2c_num] = (i2c_obj_t*) heap_caps_calloc(1, sizeof(i2c_obj_t), MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT); + } +#endif + if (p_i2c_obj[i2c_num] == NULL) { + ESP_LOGE(I2C_TAG, I2C_DRIVER_MALLOC_ERR_STR); + return ESP_FAIL; + } + i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; + p_i2c->i2c_num = i2c_num; + p_i2c->mode = mode; + p_i2c->cmd_idx = 0; + p_i2c->rx_cnt = 0; + p_i2c->status = I2C_STATUS_IDLE; + +#if CONFIG_SPIRAM_USE_MALLOC + p_i2c->intr_alloc_flags = intr_alloc_flags; +#endif + p_i2c->rx_fifo_remain = I2C_FIFO_LEN; + p_i2c->tx_fifo_remain = I2C_FIFO_LEN; + + if (mode == I2C_MODE_SLAVE) { + //we only use ringbuffer for slave mode. + if (slv_rx_buf_len > 0) { + p_i2c->rx_ring_buf = xRingbufferCreate(slv_rx_buf_len, RINGBUF_TYPE_BYTEBUF); + if (p_i2c->rx_ring_buf == NULL) { + ESP_LOGE(I2C_TAG, I2C_BUF_ERR_STR); + goto err; + } + p_i2c->rx_buf_length = slv_rx_buf_len; + } else { + p_i2c->rx_ring_buf = NULL; + p_i2c->rx_buf_length = 0; + } + if (slv_tx_buf_len > 0) { + p_i2c->tx_ring_buf = xRingbufferCreate(slv_tx_buf_len, RINGBUF_TYPE_BYTEBUF); + if (p_i2c->tx_ring_buf == NULL) { + ESP_LOGE(I2C_TAG, I2C_BUF_ERR_STR); + goto err; + } + p_i2c->tx_buf_length = slv_tx_buf_len; + } else { + p_i2c->tx_ring_buf = NULL; + p_i2c->tx_buf_length = 0; + } + p_i2c->slv_rx_mux = xSemaphoreCreateMutex(); + p_i2c->slv_tx_mux = xSemaphoreCreateMutex(); + if (p_i2c->slv_rx_mux == NULL || p_i2c->slv_tx_mux == NULL) { + ESP_LOGE(I2C_TAG, I2C_SEM_ERR_STR); + goto err; + } + intr_mask |= ( I2C_RXFIFO_FULL_INT_ENA_M | I2C_TRANS_COMPLETE_INT_ENA_M); + } else { + //semaphore to sync sending process, because we only have 32 bytes for hardware fifo. + p_i2c->cmd_mux = xSemaphoreCreateMutex(); +#if !CONFIG_SPIRAM_USE_MALLOC + p_i2c->cmd_evt_queue = xQueueCreate(I2C_EVT_QUEUE_LEN, sizeof(i2c_cmd_evt_t)); +#else + if( !(intr_alloc_flags & ESP_INTR_FLAG_IRAM) ) { + p_i2c->cmd_evt_queue = xQueueCreate(I2C_EVT_QUEUE_LEN, sizeof(i2c_cmd_evt_t)); + } else { + p_i2c->evt_queue_storage = (uint8_t *)heap_caps_calloc(I2C_EVT_QUEUE_LEN, sizeof(i2c_cmd_evt_t), MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT); + if( p_i2c->evt_queue_storage == NULL ) { + ESP_LOGE(I2C_TAG, I2C_DRIVER_MALLOC_ERR_STR); + goto err; + } + memset(&p_i2c->evt_queue_buffer, 0, sizeof(StaticQueue_t)); + p_i2c->cmd_evt_queue = xQueueCreateStatic(I2C_EVT_QUEUE_LEN, sizeof(i2c_cmd_evt_t), p_i2c->evt_queue_storage, &p_i2c->evt_queue_buffer); + } +#endif + if (p_i2c->cmd_mux == NULL || p_i2c->cmd_evt_queue == NULL) { + ESP_LOGE(I2C_TAG, I2C_SEM_ERR_STR); + goto err; + } + //command link + p_i2c->cmd_link.cur = NULL; + p_i2c->cmd_link.head = NULL; + p_i2c->cmd_link.free = NULL; + + p_i2c->tx_ring_buf = NULL; + p_i2c->rx_buf_length = 0; + p_i2c->tx_ring_buf = NULL; + p_i2c->tx_buf_length = 0; + intr_mask |= I2C_ARBITRATION_LOST_INT_ENA_M | I2C_TIME_OUT_INT_ST_M; + } + } else { + ESP_LOGE(I2C_TAG, I2C_DRIVER_ERR_STR); + return ESP_FAIL; + } + //hook isr handler + i2c_isr_register(i2c_num, i2c_isr_handler_default, p_i2c_obj[i2c_num], intr_alloc_flags, &p_i2c_obj[i2c_num]->intr_handle); + intr_mask |= ( I2C_TRANS_COMPLETE_INT_ENA_M | + I2C_TRANS_START_INT_ENA_M | + I2C_ACK_ERR_INT_ENA_M | + I2C_RXFIFO_OVF_INT_ENA_M | + I2C_SLAVE_TRAN_COMP_INT_ENA_M); + I2C[i2c_num]->int_clr.val = intr_mask; + I2C[i2c_num]->int_ena.val = intr_mask; + return ESP_OK; + + err: + //Some error has happened. Free/destroy all allocated things and return ESP_FAIL. + if (p_i2c_obj[i2c_num]) { + if (p_i2c_obj[i2c_num]->rx_ring_buf) { + vRingbufferDelete(p_i2c_obj[i2c_num]->rx_ring_buf); + p_i2c_obj[i2c_num]->rx_ring_buf = NULL; + p_i2c_obj[i2c_num]->rx_buf_length = 0; + } + if (p_i2c_obj[i2c_num]->tx_ring_buf) { + vRingbufferDelete(p_i2c_obj[i2c_num]->tx_ring_buf); + p_i2c_obj[i2c_num]->tx_ring_buf = NULL; + p_i2c_obj[i2c_num]->tx_buf_length = 0; + } + if (p_i2c_obj[i2c_num]->cmd_evt_queue) { + vQueueDelete(p_i2c_obj[i2c_num]->cmd_evt_queue); + p_i2c_obj[i2c_num]->cmd_evt_queue = NULL; + } + if (p_i2c_obj[i2c_num]->cmd_mux) { + vSemaphoreDelete(p_i2c_obj[i2c_num]->cmd_mux); + } + if (p_i2c_obj[i2c_num]->slv_rx_mux) { + vSemaphoreDelete(p_i2c_obj[i2c_num]->slv_rx_mux); + } + if (p_i2c_obj[i2c_num]->slv_tx_mux) { + vSemaphoreDelete(p_i2c_obj[i2c_num]->slv_tx_mux); + } +#if CONFIG_SPIRAM_USE_MALLOC + if (p_i2c_obj[i2c_num]->evt_queue_storage) { + free(p_i2c_obj[i2c_num]->evt_queue_storage); + p_i2c_obj[i2c_num]->evt_queue_storage = NULL; + } +#endif + } + free(p_i2c_obj[i2c_num]); + p_i2c_obj[i2c_num] = NULL; + return ESP_FAIL; +} + +static esp_err_t i2c_hw_enable(i2c_port_t i2c_num) +{ + if (i2c_num == I2C_NUM_0) { + periph_module_enable(PERIPH_I2C0_MODULE); + } else if (i2c_num == I2C_NUM_1) { + periph_module_enable(PERIPH_I2C1_MODULE); + } + return ESP_OK; +} + +static esp_err_t i2c_hw_disable(i2c_port_t i2c_num) +{ + if (i2c_num == I2C_NUM_0) { + periph_module_disable(PERIPH_I2C0_MODULE); + } else if (i2c_num == I2C_NUM_1) { + periph_module_disable(PERIPH_I2C1_MODULE); + } + return ESP_OK; +} + +esp_err_t i2c_driver_delete(i2c_port_t i2c_num) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(p_i2c_obj[i2c_num] != NULL, I2C_DRIVER_ERR_STR, ESP_FAIL); + + i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; + + I2C[i2c_num]->int_ena.val = 0; + esp_intr_free(p_i2c->intr_handle); + p_i2c->intr_handle = NULL; + + if (p_i2c->cmd_mux) { + xSemaphoreTake(p_i2c->cmd_mux, portMAX_DELAY); + vSemaphoreDelete(p_i2c->cmd_mux); + } + if (p_i2c_obj[i2c_num]->cmd_evt_queue) { + vQueueDelete(p_i2c_obj[i2c_num]->cmd_evt_queue); + p_i2c_obj[i2c_num]->cmd_evt_queue = NULL; + } + if (p_i2c->slv_rx_mux) { + vSemaphoreDelete(p_i2c->slv_rx_mux); + } + if (p_i2c->slv_tx_mux) { + vSemaphoreDelete(p_i2c->slv_tx_mux); + } + + if (p_i2c->rx_ring_buf) { + vRingbufferDelete(p_i2c->rx_ring_buf); + p_i2c->rx_ring_buf = NULL; + p_i2c->rx_buf_length = 0; + } + if (p_i2c->tx_ring_buf) { + vRingbufferDelete(p_i2c->tx_ring_buf); + p_i2c->tx_ring_buf = NULL; + p_i2c->tx_buf_length = 0; + } +#if CONFIG_SPIRAM_USE_MALLOC + if (p_i2c_obj[i2c_num]->evt_queue_storage) { + free(p_i2c_obj[i2c_num]->evt_queue_storage); + p_i2c_obj[i2c_num]->evt_queue_storage = NULL; + } +#endif + + free(p_i2c_obj[i2c_num]); + p_i2c_obj[i2c_num] = NULL; + + i2c_hw_disable(i2c_num); + return ESP_OK; +} + +esp_err_t i2c_reset_tx_fifo(i2c_port_t i2c_num) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + I2C[i2c_num]->fifo_conf.tx_fifo_rst = 1; + I2C[i2c_num]->fifo_conf.tx_fifo_rst = 0; + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_reset_rx_fifo(i2c_port_t i2c_num) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + I2C[i2c_num]->fifo_conf.rx_fifo_rst = 1; + I2C[i2c_num]->fifo_conf.rx_fifo_rst = 0; + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +static void IRAM_ATTR i2c_isr_handler_default(void* arg) +{ + i2c_obj_t* p_i2c = (i2c_obj_t*) arg; + int i2c_num = p_i2c->i2c_num; + uint32_t status = I2C[i2c_num]->int_status.val; + int idx = 0; + + portBASE_TYPE HPTaskAwoken = pdFALSE; + while (status != 0) { + status = I2C[i2c_num]->int_status.val; + if (status & I2C_TX_SEND_EMPTY_INT_ST_M) { + I2C[i2c_num]->int_clr.tx_send_empty = 1; + } 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; + I2C[i2c_num]->int_clr.ack_err = 1; + //get error ack value from slave device, stop the commands + i2c_master_cmd_begin_static(i2c_num); + } + } 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); + } else if (status & I2C_TRANS_COMPLETE_INT_ST_M) { + I2C[i2c_num]->int_clr.trans_complete = 1; + if (p_i2c->mode == I2C_MODE_SLAVE) { + int rx_fifo_cnt = I2C[i2c_num]->status_reg.rx_fifo_cnt; + for (idx = 0; idx < rx_fifo_cnt; idx++) { + 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); + I2C[i2c_num]->int_clr.rx_fifo_full = 1; + } else { + // 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); + } + } + } else if (status & I2C_MASTER_TRAN_COMP_INT_ST_M) { + I2C[i2c_num]->int_clr.master_tran_comp = 1; + } else if (status & I2C_ARBITRATION_LOST_INT_ST_M) { + I2C[i2c_num]->int_clr.arbitration_lost = 1; + p_i2c_obj[i2c_num]->status = I2C_STATUS_TIMEOUT; + i2c_master_cmd_begin_static(i2c_num); + } else if (status & I2C_SLAVE_TRAN_COMP_INT_ST_M) { + I2C[i2c_num]->int_clr.slave_tran_comp = 1; + } else if (status & I2C_END_DETECT_INT_ST_M) { + I2C[i2c_num]->int_ena.end_detect = 0; + I2C[i2c_num]->int_clr.end_detect = 1; + i2c_master_cmd_begin_static(i2c_num); + } else if (status & I2C_RXFIFO_OVF_INT_ST_M) { + I2C[i2c_num]->int_clr.rx_fifo_ovf = 1; + } else if (status & I2C_TXFIFO_EMPTY_INT_ST_M) { + int tx_fifo_rem = I2C_FIFO_LEN - I2C[i2c_num]->status_reg.tx_fifo_cnt; + size_t size = 0; + uint8_t *data = (uint8_t*) xRingbufferReceiveUpToFromISR(p_i2c->tx_ring_buf, &size, tx_fifo_rem); + if (data) { + for (idx = 0; idx < size; idx++) { + WRITE_PERI_REG(I2C_DATA_APB_REG(i2c_num), data[idx]); + } + vRingbufferReturnItemFromISR(p_i2c->tx_ring_buf, data, &HPTaskAwoken); + I2C[i2c_num]->int_ena.tx_fifo_empty = 1; + I2C[i2c_num]->int_clr.tx_fifo_empty = 1; + } else { + I2C[i2c_num]->int_ena.tx_fifo_empty = 0; + I2C[i2c_num]->int_clr.tx_fifo_empty = 1; + } + } else if (status & I2C_RXFIFO_FULL_INT_ST_M) { + int rx_fifo_cnt = I2C[i2c_num]->status_reg.rx_fifo_cnt; + for (idx = 0; idx < rx_fifo_cnt; idx++) { + 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); + I2C[i2c_num]->int_clr.rx_fifo_full = 1; + } else { + I2C[i2c_num]->int_clr.val = status; + } + } + if (p_i2c->mode == I2C_MODE_MASTER) { + i2c_cmd_evt_t evt; + evt.type = I2C_CMD_EVT_ALIVE; + xQueueSendFromISR(p_i2c->cmd_evt_queue, &evt, &HPTaskAwoken); + } + //We only need to check here if there is a high-priority task needs to be switched. + if(HPTaskAwoken == pdTRUE) { + portYIELD_FROM_ISR(); + } +} + +esp_err_t i2c_set_data_mode(i2c_port_t i2c_num, i2c_trans_mode_t tx_trans_mode, i2c_trans_mode_t rx_trans_mode) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(tx_trans_mode < I2C_DATA_MODE_MAX, I2C_TRANS_MODE_ERR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(rx_trans_mode < I2C_DATA_MODE_MAX, I2C_TRANS_MODE_ERR_STR, ESP_ERR_INVALID_ARG); + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + I2C[i2c_num]->ctr.rx_lsb_first = rx_trans_mode; //set rx data msb first + I2C[i2c_num]->ctr.tx_lsb_first = tx_trans_mode; //set tx data msb first + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_get_data_mode(i2c_port_t i2c_num, i2c_trans_mode_t *tx_trans_mode, i2c_trans_mode_t *rx_trans_mode) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + if (tx_trans_mode) { + *tx_trans_mode = I2C[i2c_num]->ctr.tx_lsb_first; + } + if (rx_trans_mode) { + *rx_trans_mode = I2C[i2c_num]->ctr.rx_lsb_first; + } + return ESP_OK; +} + +/* Some slave device will die by accident and keep the SDA in low level, + * in this case, master should send several clock to make the slave release the bus. + * Slave mode of ESP32 might also get in wrong state that held the SDA low, + * in this case, master device could send a stop signal to make esp32 slave release the bus. + **/ +static esp_err_t i2c_master_clear_bus(i2c_port_t i2c_num) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + const int scl_half_period = I2C_CLR_BUS_HALF_PERIOD_US; // use standard 100kHz data rate + int sda_in_sig = 0, scl_in_sig = 0; + int i = 0; + if (i2c_num == I2C_NUM_0) { + sda_in_sig = I2CEXT0_SDA_IN_IDX; + scl_in_sig = I2CEXT0_SCL_IN_IDX; + } else if (i2c_num == I2C_NUM_1) { + sda_in_sig = I2CEXT1_SDA_IN_IDX; + scl_in_sig = I2CEXT1_SCL_IN_IDX; + } + int scl_io = GPIO.func_in_sel_cfg[scl_in_sig].func_sel; + 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_OUTPUT_GPIO(sda_io)), I2C_SDA_IO_ERR_STR, ESP_ERR_INVALID_ARG); + gpio_set_direction(scl_io, GPIO_MODE_OUTPUT_OD); + gpio_set_direction(sda_io, GPIO_MODE_INPUT_OUTPUT_OD); + // If a SLAVE device was in a read operation when the bus was interrupted, the SLAVE device is controlling SDA. + // The only bit during the 9 clock cycles of a READ byte the MASTER(ESP32) is guaranteed control over is during the ACK bit + // period. If the slave is sending a stream of ZERO bytes, it will only release SDA during the ACK bit period. + // So, this reset code needs to synchronize the bit stream with, Either, the ACK bit, Or a 1 bit to correctly generate + // a STOP condition. + gpio_set_level(scl_io, 0); + gpio_set_level(sda_io, 1); + ets_delay_us(scl_half_period); + while(!gpio_get_level(sda_io) && (i++ < I2C_CLR_BUS_SCL_NUM)) { + gpio_set_level(scl_io, 1); + ets_delay_us(scl_half_period); + gpio_set_level(scl_io, 0); + ets_delay_us(scl_half_period); + } + gpio_set_level(sda_io,0); // setup for STOP + gpio_set_level(scl_io,1); + ets_delay_us(scl_half_period); + gpio_set_level(sda_io, 1); // STOP, SDA low -> high while SCL is HIGH + i2c_set_pin(i2c_num, sda_io, scl_io, 1, 1, I2C_MODE_MASTER); + return ESP_OK; +} + +/**if the power and SDA/SCL wires are in proper condition, everything works find with reading the slave. + * If we remove the power supply for the slave during I2C is reading, or directly connect SDA or SCL to ground, + * this would cause the I2C FSM get stuck in wrong state, all we can do is to reset the I2C hardware in this case. + **/ +static esp_err_t i2c_hw_fsm_reset(i2c_port_t i2c_num) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + uint32_t ctr = I2C[i2c_num]->ctr.val; + uint32_t fifo_conf = I2C[i2c_num]->fifo_conf.val; + uint32_t scl_low_period = I2C[i2c_num]->scl_low_period.val; + uint32_t scl_high_period = I2C[i2c_num]->scl_high_period.val; + uint32_t scl_start_hold = I2C[i2c_num]->scl_start_hold.val; + uint32_t scl_rstart_setup = I2C[i2c_num]->scl_rstart_setup.val; + uint32_t scl_stop_hold = I2C[i2c_num]->scl_stop_hold.val; + uint32_t scl_stop_setup = I2C[i2c_num]->scl_stop_setup.val; + uint32_t sda_hold = I2C[i2c_num]->sda_hold.val; + uint32_t sda_sample = I2C[i2c_num]->sda_sample.val; + uint32_t timeout = I2C[i2c_num]->timeout.val; + uint32_t scl_filter_cfg = I2C[i2c_num]->scl_filter_cfg.val; + uint32_t sda_filter_cfg = I2C[i2c_num]->sda_filter_cfg.val; + uint32_t slave_addr = I2C[i2c_num]->slave_addr.val; + + //to reset the I2C hw module, we need re-enable the hw + i2c_hw_disable(i2c_num); + i2c_master_clear_bus(i2c_num); + i2c_hw_enable(i2c_num); + I2C[i2c_num]->int_ena.val = 0; + I2C[i2c_num]->ctr.val = ctr & (~I2C_TRANS_START_M); + I2C[i2c_num]->fifo_conf.val = fifo_conf; + I2C[i2c_num]->scl_low_period.val = scl_low_period; + I2C[i2c_num]->scl_high_period.val = scl_high_period; + I2C[i2c_num]->scl_start_hold.val = scl_start_hold; + I2C[i2c_num]->scl_rstart_setup.val = scl_rstart_setup; + I2C[i2c_num]->scl_stop_hold.val = scl_stop_hold; + I2C[i2c_num]->scl_stop_setup.val = scl_stop_setup; + I2C[i2c_num]->sda_hold.val = sda_hold; + I2C[i2c_num]->sda_sample.val = sda_sample; + I2C[i2c_num]->timeout.val = timeout; + I2C[i2c_num]->scl_filter_cfg.val = scl_filter_cfg; + I2C[i2c_num]->sda_filter_cfg.val = sda_filter_cfg; + uint32_t intr_mask = ( I2C_TRANS_COMPLETE_INT_ENA_M + | I2C_TRANS_START_INT_ENA_M + | I2C_ACK_ERR_INT_ENA_M + | I2C_RXFIFO_OVF_INT_ENA_M + | I2C_SLAVE_TRAN_COMP_INT_ENA_M + | I2C_TIME_OUT_INT_ENA_M); + if (I2C[i2c_num]->ctr.ms_mode == I2C_MODE_SLAVE) { + I2C[i2c_num]->slave_addr.val = slave_addr; + intr_mask |= ( I2C_RXFIFO_FULL_INT_ENA_M | I2C_TRANS_COMPLETE_INT_ENA_M); + } else { + intr_mask |= I2C_ARBITRATION_LOST_INT_ENA_M; + } + I2C[i2c_num]->int_clr.val = intr_mask; + I2C[i2c_num]->int_ena.val = intr_mask; + return ESP_OK; +} + +esp_err_t i2c_param_config(i2c_port_t i2c_num, const i2c_config_t* i2c_conf) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(i2c_conf != NULL, I2C_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(i2c_conf->mode < I2C_MODE_MAX, I2C_MODE_ERR_STR, ESP_ERR_INVALID_ARG); + + esp_err_t ret = i2c_set_pin(i2c_num, i2c_conf->sda_io_num, i2c_conf->scl_io_num, + i2c_conf->sda_pullup_en, i2c_conf->scl_pullup_en, i2c_conf->mode); + 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 + I2C[i2c_num]->ctr.tx_lsb_first = I2C_DATA_MODE_MSB_FIRST; //set tx data msb first + I2C[i2c_num]->ctr.ms_mode = i2c_conf->mode; //mode for master or slave + I2C[i2c_num]->ctr.sda_force_out = 1; // set open-drain output mode + I2C[i2c_num]->ctr.scl_force_out = 1; // set open-drain output mode + I2C[i2c_num]->ctr.sample_scl_level = 0; //sample at high level of clock + + if (i2c_conf->mode == I2C_MODE_SLAVE) { //slave mode + I2C[i2c_num]->slave_addr.addr = i2c_conf->slave.slave_addr; + I2C[i2c_num]->slave_addr.en_10bit = i2c_conf->slave.addr_10bit_en; + I2C[i2c_num]->fifo_conf.nonfifo_en = 0; + I2C[i2c_num]->fifo_conf.fifo_addr_cfg_en = 0; + I2C[i2c_num]->fifo_conf.rx_fifo_full_thrhd = I2C_FIFO_FULL_THRESH_VAL; + I2C[i2c_num]->fifo_conf.tx_fifo_empty_thrhd = I2C_FIFO_EMPTY_THRESH_VAL; + I2C[i2c_num]->ctr.trans_start = 0; + I2C[i2c_num]->timeout.tout = I2C_SLAVE_TIMEOUT_DEFAULT; + //set timing for data + I2C[i2c_num]->sda_hold.time = I2C_SLAVE_SDA_HOLD_DEFAULT; + I2C[i2c_num]->sda_sample.time = I2C_SLAVE_SDA_SAMPLE_DEFAULT; + } else { + I2C[i2c_num]->fifo_conf.nonfifo_en = 0; + int cycle = (I2C_APB_CLK_FREQ / i2c_conf->master.clk_speed); + int half_cycle = cycle / 2; + I2C[i2c_num]->timeout.tout = cycle * I2C_MASTER_TOUT_CNUM_DEFAULT; + //set timing for data + I2C[i2c_num]->sda_hold.time = half_cycle / 2; + I2C[i2c_num]->sda_sample.time = half_cycle / 2; + + I2C[i2c_num]->scl_low_period.period = half_cycle; + I2C[i2c_num]->scl_high_period.period = half_cycle; + //set timing for start signal + I2C[i2c_num]->scl_start_hold.time = half_cycle; + I2C[i2c_num]->scl_rstart_setup.time = half_cycle; + //set timing for stop signal + I2C[i2c_num]->scl_stop_hold.time = half_cycle; + I2C[i2c_num]->scl_stop_setup.time = half_cycle; + //Default, we enable hardware filter + i2c_filter_enable(i2c_num, I2C_FILTER_CYC_NUM_DEF); + } + + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_set_period(i2c_port_t i2c_num, int high_period, int low_period) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK((high_period <= I2C_SCL_HIGH_PERIOD_V) && (high_period > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK((low_period <= I2C_SCL_LOW_PERIOD_V) && (low_period > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); + + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + I2C[i2c_num]->scl_high_period.period = high_period; + I2C[i2c_num]->scl_low_period.period = low_period; + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_get_period(i2c_port_t i2c_num, int* high_period, int* low_period) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + if (high_period) { + *high_period = I2C[i2c_num]->scl_high_period.period; + } + if (low_period) { + *low_period = I2C[i2c_num]->scl_low_period.period; + } + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_filter_enable(i2c_port_t i2c_num, uint8_t cyc_num) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + I2C[i2c_num]->scl_filter_cfg.thres = cyc_num; + I2C[i2c_num]->sda_filter_cfg.thres = cyc_num; + I2C[i2c_num]->scl_filter_cfg.en = 1; + I2C[i2c_num]->sda_filter_cfg.en = 1; + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_filter_disable(i2c_port_t i2c_num) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + I2C[i2c_num]->scl_filter_cfg.en = 0; + I2C[i2c_num]->sda_filter_cfg.en = 0; + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_set_start_timing(i2c_port_t i2c_num, int setup_time, int hold_time) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK((hold_time <= I2C_SCL_START_HOLD_TIME_V) && (hold_time > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK((setup_time <= I2C_SCL_RSTART_SETUP_TIME_V) && (setup_time > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); + + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + I2C[i2c_num]->scl_start_hold.time = hold_time; + I2C[i2c_num]->scl_rstart_setup.time = setup_time; + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_get_start_timing(i2c_port_t i2c_num, int* setup_time, int* hold_time) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + if (hold_time) { + *hold_time = I2C[i2c_num]->scl_start_hold.time; + } + if (setup_time) { + *setup_time = I2C[i2c_num]->scl_rstart_setup.time; + } + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_set_stop_timing(i2c_port_t i2c_num, int setup_time, int hold_time) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK((setup_time <= I2C_SCL_STOP_SETUP_TIME_V) && (setup_time > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK((hold_time <= I2C_SCL_STOP_HOLD_TIME_V) && (hold_time > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); + + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + I2C[i2c_num]->scl_stop_hold.time = hold_time; + I2C[i2c_num]->scl_stop_setup.time = setup_time; + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_get_stop_timing(i2c_port_t i2c_num, int* setup_time, int* hold_time) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + if (setup_time) { + *setup_time = I2C[i2c_num]->scl_stop_setup.time; + } + if (hold_time) { + *hold_time = I2C[i2c_num]->scl_stop_hold.time; + } + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_set_data_timing(i2c_port_t i2c_num, int sample_time, int hold_time) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK((sample_time <= I2C_SDA_SAMPLE_TIME_V) && (sample_time > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK((hold_time <= I2C_SDA_HOLD_TIME_V) && (hold_time > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); + + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + I2C[i2c_num]->sda_hold.time = hold_time; + I2C[i2c_num]->sda_sample.time = sample_time; + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_get_data_timing(i2c_port_t i2c_num, int* sample_time, int* hold_time) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + if (sample_time) { + *sample_time = I2C[i2c_num]->sda_sample.time; + } + if (hold_time) { + *hold_time = I2C[i2c_num]->sda_hold.time; + } + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_set_timeout(i2c_port_t i2c_num, int timeout) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK((timeout <= I2C_TIME_OUT_REG_V) && (timeout > 0), I2C_TIMEING_VAL_ERR_STR, ESP_ERR_INVALID_ARG); + + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + I2C[i2c_num]->timeout.tout = timeout; + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + return ESP_OK; +} + +esp_err_t i2c_get_timeout(i2c_port_t i2c_num, int* timeout) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + if (timeout) { + *timeout = I2C[i2c_num]->timeout.tout; + } + return ESP_OK; +} + +esp_err_t i2c_isr_register(i2c_port_t i2c_num, void (*fn)(void*), void * arg, int intr_alloc_flags, intr_handle_t *handle) +{ + I2C_CHECK(i2c_num < I2C_NUM_MAX, I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(fn != NULL, I2C_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG); + esp_err_t ret; + switch (i2c_num) { + case I2C_NUM_1: + ret = esp_intr_alloc(ETS_I2C_EXT1_INTR_SOURCE, intr_alloc_flags, fn, arg, handle); + break; + case I2C_NUM_0: + default: + ret = esp_intr_alloc(ETS_I2C_EXT0_INTR_SOURCE, intr_alloc_flags, fn, arg, handle); + break; + } + return ret; +} + +esp_err_t i2c_isr_free(intr_handle_t handle) +{ + return esp_intr_free(handle); +} + +esp_err_t i2c_set_pin(i2c_port_t i2c_num, int sda_io_num, int scl_io_num, gpio_pullup_t sda_pullup_en, gpio_pullup_t scl_pullup_en, i2c_mode_t mode) +{ + I2C_CHECK(( i2c_num < I2C_NUM_MAX ), I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(((sda_io_num < 0) || ((GPIO_IS_VALID_OUTPUT_GPIO(sda_io_num)))), I2C_SDA_IO_ERR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(scl_io_num < 0 || + (GPIO_IS_VALID_OUTPUT_GPIO(scl_io_num)) || + (GPIO_IS_VALID_GPIO(scl_io_num) && mode == I2C_MODE_SLAVE), + I2C_SCL_IO_ERR_STR, + ESP_ERR_INVALID_ARG); + I2C_CHECK(sda_io_num < 0 || + (sda_pullup_en == GPIO_PULLUP_ENABLE && GPIO_IS_VALID_OUTPUT_GPIO(sda_io_num)) || + sda_pullup_en == GPIO_PULLUP_DISABLE, I2C_GPIO_PULLUP_ERR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(scl_io_num < 0 || + (scl_pullup_en == GPIO_PULLUP_ENABLE && GPIO_IS_VALID_OUTPUT_GPIO(scl_io_num)) || + scl_pullup_en == GPIO_PULLUP_DISABLE, I2C_GPIO_PULLUP_ERR_STR, ESP_ERR_INVALID_ARG); + + int sda_in_sig, sda_out_sig, scl_in_sig, scl_out_sig; + switch (i2c_num) { + case I2C_NUM_1: + sda_out_sig = I2CEXT1_SDA_OUT_IDX; + sda_in_sig = I2CEXT1_SDA_IN_IDX; + scl_out_sig = I2CEXT1_SCL_OUT_IDX; + scl_in_sig = I2CEXT1_SCL_IN_IDX; + break; + case I2C_NUM_0: + default: + sda_out_sig = I2CEXT0_SDA_OUT_IDX; + sda_in_sig = I2CEXT0_SDA_IN_IDX; + scl_out_sig = I2CEXT0_SCL_OUT_IDX; + scl_in_sig = I2CEXT0_SCL_IN_IDX; + break; + } + if (sda_io_num >= 0) { + gpio_set_level(sda_io_num, I2C_IO_INIT_LEVEL); + PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[sda_io_num], PIN_FUNC_GPIO); + gpio_set_direction(sda_io_num, GPIO_MODE_INPUT_OUTPUT_OD); + + if (sda_pullup_en == GPIO_PULLUP_ENABLE) { + gpio_set_pull_mode(sda_io_num, GPIO_PULLUP_ONLY); + } else { + gpio_set_pull_mode(sda_io_num, GPIO_FLOATING); + } + gpio_matrix_out(sda_io_num, sda_out_sig, 0, 0); + gpio_matrix_in(sda_io_num, sda_in_sig, 0); + } + + if (scl_io_num >= 0) { + gpio_set_level(scl_io_num, I2C_IO_INIT_LEVEL); + PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[scl_io_num], PIN_FUNC_GPIO); + if (mode == I2C_MODE_MASTER) { + gpio_set_direction(scl_io_num, GPIO_MODE_INPUT_OUTPUT_OD); + gpio_matrix_out(scl_io_num, scl_out_sig, 0, 0); + } else { + gpio_set_direction(scl_io_num, GPIO_MODE_INPUT); + } + if (scl_pullup_en == GPIO_PULLUP_ENABLE) { + gpio_set_pull_mode(scl_io_num, GPIO_PULLUP_ONLY); + } else { + gpio_set_pull_mode(scl_io_num, GPIO_FLOATING); + } + gpio_matrix_in(scl_io_num, scl_in_sig, 0); + } + return ESP_OK; +} + +i2c_cmd_handle_t i2c_cmd_link_create() +{ +#if !CONFIG_SPIRAM_USE_MALLOC + i2c_cmd_desc_t* cmd_desc = (i2c_cmd_desc_t*) calloc(1, sizeof(i2c_cmd_desc_t)); +#else + i2c_cmd_desc_t* cmd_desc = (i2c_cmd_desc_t*) heap_caps_calloc(1, sizeof(i2c_cmd_desc_t), MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT); +#endif + return (i2c_cmd_handle_t) cmd_desc; +} + +void i2c_cmd_link_delete(i2c_cmd_handle_t cmd_handle) +{ + if (cmd_handle == NULL) { + return; + } + i2c_cmd_desc_t* cmd = (i2c_cmd_desc_t*) cmd_handle; + while (cmd->free) { + i2c_cmd_link_t* ptmp = cmd->free; + cmd->free = cmd->free->next; + free(ptmp); + } + cmd->cur = NULL; + cmd->free = NULL; + cmd->head = NULL; + free(cmd_handle); + return; +} + +static esp_err_t i2c_cmd_link_append(i2c_cmd_handle_t cmd_handle, i2c_cmd_t* cmd) +{ + i2c_cmd_desc_t* cmd_desc = (i2c_cmd_desc_t*) cmd_handle; + if (cmd_desc->head == NULL) { +#if !CONFIG_SPIRAM_USE_MALLOC + cmd_desc->head = (i2c_cmd_link_t*) calloc(1, sizeof(i2c_cmd_link_t)); +#else + cmd_desc->head = (i2c_cmd_link_t*) heap_caps_calloc(1, sizeof(i2c_cmd_link_t), MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT); +#endif + if (cmd_desc->head == NULL) { + ESP_LOGE(I2C_TAG, I2C_CMD_MALLOC_ERR_STR); + goto err; + } + cmd_desc->cur = cmd_desc->head; + cmd_desc->free = cmd_desc->head; + } else { +#if !CONFIG_SPIRAM_USE_MALLOC + cmd_desc->cur->next = (i2c_cmd_link_t*) calloc(1, sizeof(i2c_cmd_link_t)); +#else + cmd_desc->cur->next = (i2c_cmd_link_t*) heap_caps_calloc(1, sizeof(i2c_cmd_link_t), MALLOC_CAP_INTERNAL|MALLOC_CAP_8BIT); +#endif + if (cmd_desc->cur->next == NULL) { + ESP_LOGE(I2C_TAG, I2C_CMD_MALLOC_ERR_STR); + goto err; + } + cmd_desc->cur = cmd_desc->cur->next; + } + memcpy((uint8_t*) &cmd_desc->cur->cmd, (uint8_t*) cmd, sizeof(i2c_cmd_t)); + cmd_desc->cur->next = NULL; + return ESP_OK; + + err: + return ESP_FAIL; +} + +esp_err_t i2c_master_start(i2c_cmd_handle_t cmd_handle) +{ + I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); + i2c_cmd_t cmd; + cmd.ack_en = 0; + cmd.ack_exp = 0; + cmd.ack_val = 0; + cmd.byte_num = 0; + cmd.data = NULL; + cmd.op_code = I2C_CMD_RESTART; + return i2c_cmd_link_append(cmd_handle, &cmd); +} + +esp_err_t i2c_master_stop(i2c_cmd_handle_t cmd_handle) +{ + I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); + i2c_cmd_t cmd; + cmd.ack_en = 0; + cmd.ack_exp = 0; + cmd.ack_val = 0; + cmd.byte_num = 0; + cmd.data = NULL; + cmd.op_code = I2C_CMD_STOP; + return i2c_cmd_link_append(cmd_handle, &cmd); +} + +esp_err_t i2c_master_write(i2c_cmd_handle_t cmd_handle, uint8_t* data, size_t data_len, bool ack_en) +{ + I2C_CHECK((data != NULL), I2C_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); + + uint8_t len_tmp; + int data_offset = 0; + esp_err_t ret; + while (data_len > 0) { + len_tmp = data_len > 0xff ? 0xff : data_len; + data_len -= len_tmp; + i2c_cmd_t cmd; + cmd.ack_en = ack_en; + cmd.ack_exp = 0; + cmd.ack_val = 0; + cmd.byte_num = len_tmp; + cmd.op_code = I2C_CMD_WRITE; + cmd.data = data + data_offset; + ret = i2c_cmd_link_append(cmd_handle, &cmd); + data_offset += len_tmp; + if (ret != ESP_OK) { + return ret; + } + } + return ESP_OK; +} + +esp_err_t i2c_master_write_byte(i2c_cmd_handle_t cmd_handle, uint8_t data, bool ack_en) +{ + I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); + i2c_cmd_t cmd; + cmd.ack_en = ack_en; + cmd.ack_exp = 0; + cmd.ack_val = 0; + cmd.byte_num = 1; + cmd.op_code = I2C_CMD_WRITE; + cmd.data = NULL; + cmd.byte_cmd = data; + return i2c_cmd_link_append(cmd_handle, &cmd); +} + +static esp_err_t i2c_master_read_static(i2c_cmd_handle_t cmd_handle, uint8_t* data, size_t data_len, i2c_ack_type_t ack) +{ + int len_tmp; + int data_offset = 0; + esp_err_t ret; + while (data_len > 0) { + len_tmp = data_len > 0xff ? 0xff : data_len; + data_len -= len_tmp; + i2c_cmd_t cmd; + cmd.ack_en = 0; + cmd.ack_exp = 0; + cmd.ack_val = ack & 0x1; + cmd.byte_num = len_tmp; + cmd.op_code = I2C_CMD_READ; + cmd.data = data + data_offset; + ret = i2c_cmd_link_append(cmd_handle, &cmd); + data_offset += len_tmp; + if (ret != ESP_OK) { + return ret; + } + } + return ESP_OK; +} + +esp_err_t i2c_master_read_byte(i2c_cmd_handle_t cmd_handle, uint8_t* data, i2c_ack_type_t ack) +{ + I2C_CHECK((data != NULL), I2C_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(ack < I2C_MASTER_ACK_MAX, I2C_ACK_TYPE_ERR_STR, ESP_ERR_INVALID_ARG); + + i2c_cmd_t cmd; + cmd.ack_en = 0; + cmd.ack_exp = 0; + cmd.ack_val = ((ack == I2C_MASTER_LAST_NACK) ? I2C_MASTER_NACK : (ack & 0x1)); + cmd.byte_num = 1; + cmd.op_code = I2C_CMD_READ; + cmd.data = data; + return i2c_cmd_link_append(cmd_handle, &cmd); +} + +esp_err_t i2c_master_read(i2c_cmd_handle_t cmd_handle, uint8_t* data, size_t data_len, i2c_ack_type_t ack) +{ + I2C_CHECK((data != NULL), I2C_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(ack < I2C_MASTER_ACK_MAX, I2C_ACK_TYPE_ERR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(data_len > 0, I2C_DATA_LEN_ERR_STR, ESP_ERR_INVALID_ARG); + + if(ack != I2C_MASTER_LAST_NACK) { + return i2c_master_read_static(cmd_handle, data, data_len, ack); + } else { + if(data_len == 1) { + return i2c_master_read_byte(cmd_handle, data, I2C_MASTER_NACK); + } else { + esp_err_t ret; + if((ret = i2c_master_read_static(cmd_handle, data, data_len - 1, I2C_MASTER_ACK)) != ESP_OK) { + return ret; + } + return i2c_master_read_byte(cmd_handle, data + data_len - 1, I2C_MASTER_NACK); + } + } +} + +static void IRAM_ATTR i2c_master_cmd_begin_static(i2c_port_t i2c_num) +{ + i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; + portBASE_TYPE HPTaskAwoken = pdFALSE; + i2c_cmd_evt_t evt; + //This should never happen + if (p_i2c->mode == I2C_MODE_SLAVE) { + return; + } + if (p_i2c->status == I2C_STATUS_DONE) { + return; + } else if ((p_i2c->status == I2C_STATUS_ACK_ERROR) + || (p_i2c->status == I2C_STATUS_TIMEOUT)) { + I2C[i2c_num]->int_ena.end_detect = 0; + I2C[i2c_num]->int_clr.end_detect = 1; + if(p_i2c->status == I2C_STATUS_TIMEOUT) { + I2C[i2c_num]->int_clr.time_out = 1; + I2C[i2c_num]->int_ena.val = 0; + } + evt.type = I2C_CMD_EVT_DONE; + xQueueOverwriteFromISR(p_i2c->cmd_evt_queue, &evt, &HPTaskAwoken); + if (HPTaskAwoken == pdTRUE) { + portYIELD_FROM_ISR(); + } + return; + } 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)); + } + if (cmd->byte_num > 0) { + p_i2c->rx_fifo_remain = I2C_FIFO_LEN; + p_i2c->cmd_idx = 0; + } else { + p_i2c->cmd_link.head = p_i2c->cmd_link.head->next; + } + } + if (p_i2c->cmd_link.head == NULL) { + p_i2c->cmd_link.cur = NULL; + evt.type = I2C_CMD_EVT_DONE; + xQueueOverwriteFromISR(p_i2c->cmd_evt_queue, &evt, &HPTaskAwoken); + 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) { + i2c_cmd_t *cmd = &p_i2c->cmd_link.head->cmd; + I2C[i2c_num]->command[p_i2c->cmd_idx].val = 0; + I2C[i2c_num]->command[p_i2c->cmd_idx].ack_en = cmd->ack_en; + I2C[i2c_num]->command[p_i2c->cmd_idx].ack_exp = cmd->ack_exp; + I2C[i2c_num]->command[p_i2c->cmd_idx].ack_val = cmd->ack_val; + I2C[i2c_num]->command[p_i2c->cmd_idx].byte_num = cmd->byte_num; + I2C[i2c_num]->command[p_i2c->cmd_idx].op_code = cmd->op_code; + if (cmd->op_code == I2C_CMD_WRITE) { + uint32_t wr_filled = 0; + //TODO: to reduce interrupt number + if (cmd->data) { + while (p_i2c->tx_fifo_remain > 0 && cmd->byte_num > 0) { + WRITE_PERI_REG(I2C_DATA_APB_REG(i2c_num), *cmd->data++); + p_i2c->tx_fifo_remain--; + cmd->byte_num--; + wr_filled++; + } + } else { + WRITE_PERI_REG(I2C_DATA_APB_REG(i2c_num), cmd->byte_cmd); + p_i2c->tx_fifo_remain--; + cmd->byte_num--; + wr_filled ++; + } + //Workaround for register field operation. + I2C[i2c_num]->command[p_i2c->cmd_idx].byte_num = wr_filled; + I2C[i2c_num]->command[p_i2c->cmd_idx + 1].val = 0; + I2C[i2c_num]->command[p_i2c->cmd_idx + 1].op_code = I2C_CMD_END; + p_i2c->tx_fifo_remain = I2C_FIFO_LEN; + p_i2c->cmd_idx = 0; + if (cmd->byte_num > 0) { + } else { + p_i2c->cmd_link.head = p_i2c->cmd_link.head->next; + } + p_i2c->status = I2C_STATUS_WRITE; + break; + } else if(cmd->op_code == I2C_CMD_READ) { + //TODO: to reduce interrupt number + p_i2c->rx_cnt = cmd->byte_num > p_i2c->rx_fifo_remain ? p_i2c->rx_fifo_remain : cmd->byte_num; + cmd->byte_num -= p_i2c->rx_cnt; + I2C[i2c_num]->command[p_i2c->cmd_idx].byte_num = p_i2c->rx_cnt; + I2C[i2c_num]->command[p_i2c->cmd_idx].ack_val = cmd->ack_val; + I2C[i2c_num]->command[p_i2c->cmd_idx + 1].val = 0; + I2C[i2c_num]->command[p_i2c->cmd_idx + 1].op_code = I2C_CMD_END; + p_i2c->status = I2C_STATUS_READ; + break; + } else { + } + p_i2c->cmd_idx++; + p_i2c->cmd_link.head = p_i2c->cmd_link.head->next; + 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; + break; + } + } + I2C[i2c_num]->int_clr.end_detect = 1; + I2C[i2c_num]->int_ena.end_detect = 1; + I2C[i2c_num]->ctr.trans_start = 0; + I2C[i2c_num]->ctr.trans_start = 1; + return; +} + +#if CONFIG_SPIRAM_USE_MALLOC +//Check whether read or write buffer in cmd_link is internal. +static bool is_cmd_link_buffer_internal(i2c_cmd_link_t *link) +{ + i2c_cmd_link_t* cmd_link = link; + while(cmd_link != NULL) { + if (cmd_link->cmd.op_code == I2C_CMD_WRITE || cmd_link->cmd.op_code == I2C_CMD_READ) { + if( cmd_link->cmd.data != NULL && !esp_ptr_internal(cmd_link->cmd.data)) { + return false; + } + } + cmd_link = cmd_link->next; + } + return true; +} +#endif + +esp_err_t i2c_master_cmd_begin(i2c_port_t i2c_num, i2c_cmd_handle_t cmd_handle, TickType_t ticks_to_wait) +{ + I2C_CHECK(( i2c_num < I2C_NUM_MAX ), I2C_NUM_ERROR_STR, ESP_ERR_INVALID_ARG); + I2C_CHECK(p_i2c_obj[i2c_num] != NULL, I2C_DRIVER_NOT_INSTALL_ERR_STR, ESP_ERR_INVALID_STATE); + 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); + +#if CONFIG_SPIRAM_USE_MALLOC + //If the i2c read or write buffer is not in internal RAM, we will return ESP_FAIL + //to avoid the ISR handler function crashing when the cache is disabled. + if( (p_i2c_obj[i2c_num]->intr_alloc_flags & ESP_INTR_FLAG_IRAM) ) { + if( !is_cmd_link_buffer_internal(((i2c_cmd_desc_t*)cmd_handle)->head) ) { + ESP_LOGE(I2C_TAG, I2C_PSRAM_BUFFER_WARN_STR); + return ESP_ERR_INVALID_ARG; + } + } +#endif + // 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(); + portBASE_TYPE res = xSemaphoreTake(p_i2c->cmd_mux, ticks_to_wait); + if (res == pdFALSE) { + return ESP_ERR_TIMEOUT; + } + xQueueReset(p_i2c->cmd_evt_queue); + 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); + i2c_cmd_desc_t* cmd = (i2c_cmd_desc_t*) cmd_handle; + p_i2c->cmd_link.free = cmd->free; + p_i2c->cmd_link.cur = cmd->cur; + p_i2c->cmd_link.head = cmd->head; + p_i2c->status = I2C_STATUS_IDLE; + p_i2c->cmd_idx = 0; + p_i2c->rx_cnt = 0; + p_i2c->tx_fifo_remain = I2C_FIFO_LEN; + 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); + + // Wait event bits + i2c_cmd_evt_t evt; + while (1) { + TickType_t wait_time = xTaskGetTickCount(); + if (wait_time - ticks_start > ticks_to_wait) { // out of time + wait_time = I2C_CMD_ALIVE_INTERVAL_TICK; + } else { + wait_time = ticks_to_wait - (wait_time - ticks_start); + if (wait_time < I2C_CMD_ALIVE_INTERVAL_TICK) { + wait_time = I2C_CMD_ALIVE_INTERVAL_TICK; + } + } + // In master mode, since we don't have an interrupt to detective bus error or FSM state, what we do here is to make + // sure the interrupt mechanism for master mode is still working. + // If the command sending is not finished and there is no interrupt any more, the bus is probably dead caused by external noise. + portBASE_TYPE evt_res = xQueueReceive(p_i2c->cmd_evt_queue, &evt, wait_time); + if (evt_res == pdTRUE) { + if (evt.type == I2C_CMD_EVT_DONE) { + if (p_i2c->status == I2C_STATUS_TIMEOUT) { + // 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; + } + break; + } + if (evt.type == I2C_CMD_EVT_ALIVE) { + } + } else { + ret = ESP_ERR_TIMEOUT; + // 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; + } + } + p_i2c->status = I2C_STATUS_DONE; + xSemaphoreGive(p_i2c->cmd_mux); + return ret; +} + +int i2c_slave_write_buffer(i2c_port_t i2c_num, uint8_t* data, int size, TickType_t ticks_to_wait) +{ + I2C_CHECK(( i2c_num < I2C_NUM_MAX ), I2C_NUM_ERROR_STR, ESP_FAIL); + I2C_CHECK((data != NULL), I2C_ADDR_ERROR_STR, ESP_FAIL); + I2C_CHECK(p_i2c_obj[i2c_num]->mode == I2C_MODE_SLAVE, I2C_MODE_SLAVE_ERR_STR, ESP_FAIL); + i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; + + portBASE_TYPE res; + int cnt = 0; + portTickType ticks_end = xTaskGetTickCount() + ticks_to_wait; + + res = xSemaphoreTake(p_i2c->slv_tx_mux, ticks_to_wait); + if (res == pdFALSE) { + return 0; + } + ticks_to_wait = ticks_end - xTaskGetTickCount(); + res = xRingbufferSend(p_i2c->tx_ring_buf, data, size, ticks_to_wait); + if (res == pdFALSE) { + cnt = 0; + } else { + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + I2C[i2c_num]->int_clr.tx_fifo_empty = 1; + I2C[i2c_num]->int_ena.tx_fifo_empty = 1; + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + cnt = size; + } + xSemaphoreGive(p_i2c->slv_tx_mux); + return cnt; +} + +static int i2c_slave_read(i2c_port_t i2c_num, uint8_t* data, size_t max_size, TickType_t ticks_to_wait) +{ + i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; + size_t size = 0; + uint8_t* pdata = (uint8_t*) xRingbufferReceiveUpTo(p_i2c->rx_ring_buf, &size, ticks_to_wait, max_size); + if (pdata && size > 0) { + memcpy(data, pdata, size); + vRingbufferReturnItem(p_i2c->rx_ring_buf, pdata); + } + return size; +} + +int i2c_slave_read_buffer(i2c_port_t i2c_num, uint8_t* data, size_t max_size, TickType_t ticks_to_wait) +{ + I2C_CHECK(( i2c_num < I2C_NUM_MAX ), I2C_NUM_ERROR_STR, ESP_FAIL); + I2C_CHECK((data != NULL), I2C_ADDR_ERROR_STR, ESP_FAIL); + I2C_CHECK(p_i2c_obj[i2c_num]->mode == I2C_MODE_SLAVE, I2C_MODE_SLAVE_ERR_STR, ESP_FAIL); + + i2c_obj_t* p_i2c = p_i2c_obj[i2c_num]; + portBASE_TYPE res; + portTickType ticks_end = xTaskGetTickCount() + ticks_to_wait; + res = xSemaphoreTake(p_i2c->slv_rx_mux, ticks_to_wait); + if (res == pdFALSE) { + return 0; + } + ticks_to_wait = ticks_end - xTaskGetTickCount(); + int cnt = i2c_slave_read(i2c_num, data, max_size, ticks_to_wait); + if (cnt > 0) { + I2C_ENTER_CRITICAL(&i2c_spinlock[i2c_num]); + I2C[i2c_num]->int_ena.rx_fifo_full = 1; + I2C_EXIT_CRITICAL(&i2c_spinlock[i2c_num]); + ticks_to_wait = ticks_end - xTaskGetTickCount(); + if (cnt < max_size && ticks_to_wait > 0) { + cnt += i2c_slave_read(i2c_num, data + cnt, max_size - cnt, ticks_to_wait); + } + } else { + cnt = 0; + } + xSemaphoreGive(p_i2c->slv_rx_mux); + return cnt; +}