ref: 0.12.0
src/drivers/TwiMaster.cpp
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#include "TwiMaster.h" #include <cstring> #include <hal/nrf_gpio.h> #include <nrfx_log.h> using namespace Pinetime::Drivers; // TODO use shortcut to automatically send STOP when receive LastTX, for example // TODO use DMA/IRQ TwiMaster::TwiMaster(const Modules module, const Parameters& params) : module{module}, params{params} { mutex = xSemaphoreCreateBinary(); } void TwiMaster::Init() { NRF_GPIO->PIN_CNF[params.pinScl] = ((uint32_t)GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos) | ((uint32_t)GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | ((uint32_t)GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos) | ((uint32_t)GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos) | ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos); NRF_GPIO->PIN_CNF[params.pinSda] = ((uint32_t)GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos) | ((uint32_t)GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | ((uint32_t)GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos) | ((uint32_t)GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos) | ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos); switch(module) { case Modules::TWIM1: twiBaseAddress = NRF_TWIM1; break; default: return; } switch(static_cast<Frequencies>(params.frequency)) { case Frequencies::Khz100 : twiBaseAddress->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K100; break; case Frequencies::Khz250 : twiBaseAddress->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K250; break; case Frequencies::Khz400 : twiBaseAddress->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K400; break; } twiBaseAddress->PSEL.SCL = params.pinScl; twiBaseAddress->PSEL.SDA = params.pinSda; twiBaseAddress->EVENTS_LASTRX = 0; twiBaseAddress->EVENTS_STOPPED = 0; twiBaseAddress->EVENTS_LASTTX = 0; twiBaseAddress->EVENTS_ERROR = 0; twiBaseAddress->EVENTS_RXSTARTED = 0; twiBaseAddress->EVENTS_SUSPENDED = 0; twiBaseAddress->EVENTS_TXSTARTED = 0; twiBaseAddress->ENABLE = (TWIM_ENABLE_ENABLE_Enabled << TWIM_ENABLE_ENABLE_Pos); /* // IRQ NVIC_ClearPendingIRQ(_IRQn); NVIC_SetPriority(_IRQn, 2); NVIC_EnableIRQ(_IRQn); */ xSemaphoreGive(mutex); } TwiMaster::ErrorCodes TwiMaster::Read(uint8_t deviceAddress, uint8_t registerAddress, uint8_t *data, size_t size) { xSemaphoreTake(mutex, portMAX_DELAY); auto ret = ReadWithRetry(deviceAddress, registerAddress, data, size); xSemaphoreGive(mutex); return ret; } TwiMaster::ErrorCodes TwiMaster::Write(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t *data, size_t size) { ASSERT(size <= maxDataSize); xSemaphoreTake(mutex, portMAX_DELAY); auto ret = WriteWithRetry(deviceAddress, registerAddress, data, size); xSemaphoreGive(mutex); return ret; } /* Execute a read transaction (composed of a write and a read operation). If one of these opeartion fails, * it's retried once. If it fails again, an error is returned */ TwiMaster::ErrorCodes TwiMaster::ReadWithRetry(uint8_t deviceAddress, uint8_t registerAddress, uint8_t *data, size_t size) { TwiMaster::ErrorCodes ret; ret = Write(deviceAddress, ®isterAddress, 1, false); if(ret != ErrorCodes::NoError) ret = Write(deviceAddress, ®isterAddress, 1, false); if(ret != ErrorCodes::NoError) return ret; ret = Read(deviceAddress, data, size, true); if(ret != ErrorCodes::NoError) ret = Read(deviceAddress, data, size, true); return ret; } /* Execute a write transaction. If it fails, it is retried once. If it fails again, an error is returned. */ TwiMaster::ErrorCodes TwiMaster::WriteWithRetry(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t *data, size_t size) { internalBuffer[0] = registerAddress; std::memcpy(internalBuffer+1, data, size); auto ret = Write(deviceAddress, internalBuffer, size+1, true); if(ret != ErrorCodes::NoError) ret = Write(deviceAddress, internalBuffer, size+1, true); return ret; } TwiMaster::ErrorCodes TwiMaster::Read(uint8_t deviceAddress, uint8_t *buffer, size_t size, bool stop) { twiBaseAddress->ADDRESS = deviceAddress; twiBaseAddress->TASKS_RESUME = 0x1UL; twiBaseAddress->RXD.PTR = (uint32_t)buffer; twiBaseAddress->RXD.MAXCNT = size; twiBaseAddress->TASKS_STARTRX = 1; while(!twiBaseAddress->EVENTS_RXSTARTED && !twiBaseAddress->EVENTS_ERROR); twiBaseAddress->EVENTS_RXSTARTED = 0x0UL; txStartedCycleCount = DWT->CYCCNT; uint32_t currentCycleCount; while(!twiBaseAddress->EVENTS_LASTRX && !twiBaseAddress->EVENTS_ERROR) { currentCycleCount = DWT->CYCCNT; if ((currentCycleCount-txStartedCycleCount) > HwFreezedDelay) { FixHwFreezed(); return ErrorCodes::TransactionFailed; } } twiBaseAddress->EVENTS_LASTRX = 0x0UL; if (stop || twiBaseAddress->EVENTS_ERROR) { twiBaseAddress->TASKS_STOP = 0x1UL; while(!twiBaseAddress->EVENTS_STOPPED); twiBaseAddress->EVENTS_STOPPED = 0x0UL; } else { twiBaseAddress->TASKS_SUSPEND = 0x1UL; while(!twiBaseAddress->EVENTS_SUSPENDED); twiBaseAddress->EVENTS_SUSPENDED = 0x0UL; } if (twiBaseAddress->EVENTS_ERROR) { twiBaseAddress->EVENTS_ERROR = 0x0UL; } return ErrorCodes::NoError; } TwiMaster::ErrorCodes TwiMaster::Write(uint8_t deviceAddress, const uint8_t *data, size_t size, bool stop) { twiBaseAddress->ADDRESS = deviceAddress; twiBaseAddress->TASKS_RESUME = 0x1UL; twiBaseAddress->TXD.PTR = (uint32_t)data; twiBaseAddress->TXD.MAXCNT = size; twiBaseAddress->TASKS_STARTTX = 1; while(!twiBaseAddress->EVENTS_TXSTARTED && !twiBaseAddress->EVENTS_ERROR); twiBaseAddress->EVENTS_TXSTARTED = 0x0UL; txStartedCycleCount = DWT->CYCCNT; uint32_t currentCycleCount; while(!twiBaseAddress->EVENTS_LASTTX && !twiBaseAddress->EVENTS_ERROR) { currentCycleCount = DWT->CYCCNT; if ((currentCycleCount-txStartedCycleCount) > HwFreezedDelay) { FixHwFreezed(); return ErrorCodes::TransactionFailed; } } twiBaseAddress->EVENTS_LASTTX = 0x0UL; if (stop || twiBaseAddress->EVENTS_ERROR) { twiBaseAddress->TASKS_STOP = 0x1UL; while(!twiBaseAddress->EVENTS_STOPPED); twiBaseAddress->EVENTS_STOPPED = 0x0UL; } else { twiBaseAddress->TASKS_SUSPEND = 0x1UL; while(!twiBaseAddress->EVENTS_SUSPENDED); twiBaseAddress->EVENTS_SUSPENDED = 0x0UL; } if (twiBaseAddress->EVENTS_ERROR) { twiBaseAddress->EVENTS_ERROR = 0x0UL; uint32_t error = twiBaseAddress->ERRORSRC; twiBaseAddress->ERRORSRC = error; } return ErrorCodes::NoError; } void TwiMaster::Sleep() { while(twiBaseAddress->ENABLE != 0) { twiBaseAddress->ENABLE = (TWIM_ENABLE_ENABLE_Disabled << TWIM_ENABLE_ENABLE_Pos); } nrf_gpio_cfg_default(6); nrf_gpio_cfg_default(7); NRF_LOG_INFO("[TWIMASTER] Sleep"); } void TwiMaster::Wakeup() { Init(); NRF_LOG_INFO("[TWIMASTER] Wakeup"); } /* Sometimes, the TWIM device just freeze and never set the event EVENTS_LASTTX. * This method disable and re-enable the peripheral so that it works again. * This is just a workaround, and it would be better if we could find a way to prevent * this issue from happening. * */ void TwiMaster::FixHwFreezed() { NRF_LOG_INFO("I2C device frozen, reinitializing it!"); // Disable I²C uint32_t twi_state = NRF_TWI1->ENABLE; twiBaseAddress->ENABLE = TWIM_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos; NRF_GPIO->PIN_CNF[params.pinScl] = ((uint32_t)GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos) | ((uint32_t)GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | ((uint32_t)GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos) | ((uint32_t)GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos) | ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos); NRF_GPIO->PIN_CNF[params.pinSda] = ((uint32_t)GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos) | ((uint32_t)GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | ((uint32_t)GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos) | ((uint32_t)GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos) | ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos); // Re-enable I²C twiBaseAddress->ENABLE = twi_state; } |