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@ -2,77 +2,167 @@
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#include <cstring>
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#include <hal/nrf_gpio.h>
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#include <nrfx_log.h>
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#include <nrfx_twim.h>
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#include <nrf_drv_twi.h>
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using namespace Pinetime::Drivers;
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// TODO use shortcut to automatically send STOP when receive LastTX, for example
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// TODO use DMA/IRQ
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TwiMaster::TwiMaster(const Modules module, const Parameters& params) : module{module}, params{params}, mutex{xSemaphoreCreateBinary()} {
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ASSERT(mutex != nullptr);
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switch(module) {
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case Modules::TWIM1:
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default:
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twim = NRFX_TWIM_INSTANCE(1);
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break;
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}
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TwiMaster::TwiMaster(const Modules module, const Parameters& params) : module{module}, params{params} {
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mutex = xSemaphoreCreateBinary();
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}
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void TwiMaster::Init() {
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nrfx_twim_config_t config;
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config.frequency = static_cast<nrf_twim_frequency_t>(params.frequency);
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config.hold_bus_uninit = false;
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config.interrupt_priority = 0;
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config.scl = params.pinScl;
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config.sda = params.pinSda;
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nrfx_twim_init(&twim,
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&config,
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nullptr,
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nullptr);
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nrfx_twim_enable(&twim);
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NRF_GPIO->PIN_CNF[params.pinScl] = ((uint32_t)GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos)
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| ((uint32_t)GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
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| ((uint32_t)GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos)
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| ((uint32_t)GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos)
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| ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos);
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NRF_GPIO->PIN_CNF[params.pinSda] = ((uint32_t)GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos)
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| ((uint32_t)GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
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| ((uint32_t)GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos)
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| ((uint32_t)GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos)
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| ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos);
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switch(module) {
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case Modules::TWIM1: twiBaseAddress = NRF_TWIM1; break;
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default:
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return;
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}
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switch(static_cast<Frequencies>(params.frequency)) {
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case Frequencies::Khz100 : twiBaseAddress->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K100; break;
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case Frequencies::Khz250 : twiBaseAddress->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K250; break;
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case Frequencies::Khz400 : twiBaseAddress->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K400; break;
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}
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twiBaseAddress->PSEL.SCL = params.pinScl;
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twiBaseAddress->PSEL.SDA = params.pinSda;
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twiBaseAddress->EVENTS_LASTRX = 0;
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twiBaseAddress->EVENTS_STOPPED = 0;
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twiBaseAddress->EVENTS_LASTTX = 0;
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twiBaseAddress->EVENTS_ERROR = 0;
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twiBaseAddress->EVENTS_RXSTARTED = 0;
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twiBaseAddress->EVENTS_SUSPENDED = 0;
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twiBaseAddress->EVENTS_TXSTARTED = 0;
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twiBaseAddress->ENABLE = (TWIM_ENABLE_ENABLE_Enabled << TWIM_ENABLE_ENABLE_Pos);
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/* // IRQ
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NVIC_ClearPendingIRQ(_IRQn);
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NVIC_SetPriority(_IRQn, 2);
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NVIC_EnableIRQ(_IRQn);
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*/
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xSemaphoreGive(mutex);
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}
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TwiMaster::ErrorCodes TwiMaster::Read(uint8_t deviceAddress, uint8_t registerAddress, uint8_t *data, size_t size) {
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xSemaphoreTake(mutex, portMAX_DELAY);
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TwiMaster::ErrorCodes ret;
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auto err = nrfx_twim_tx(&twim, deviceAddress, ®isterAddress, 1, false);
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if(err != 0) {
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return TwiMaster::ErrorCodes::TransactionFailed;
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}
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err = nrfx_twim_rx(&twim, deviceAddress, data, size);
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if(err != 0) {
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return TwiMaster::ErrorCodes::TransactionFailed;
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}
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auto ret = Write(deviceAddress, ®isterAddress, 1, false);
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ret = Read(deviceAddress, data, size, true);
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xSemaphoreGive(mutex);
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return TwiMaster::ErrorCodes::NoError;
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return ret;
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}
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TwiMaster::ErrorCodes TwiMaster::Write(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t *data, size_t size) {
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ASSERT(size <= maxDataSize);
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xSemaphoreTake(mutex, portMAX_DELAY);
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TwiMaster::ErrorCodes ret;
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internalBuffer[0] = registerAddress;
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std::memcpy(internalBuffer+1, data, size);
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auto err = nrfx_twim_tx(&twim, deviceAddress, internalBuffer , size+1, false);
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if(err != 0){
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return TwiMaster::ErrorCodes::TransactionFailed;
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std::memcpy(internalBuffer + 1, data, size);
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auto ret = Write(deviceAddress, internalBuffer, size + 1, true);
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xSemaphoreGive(mutex);
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return ret;
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}
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TwiMaster::ErrorCodes TwiMaster::Read(uint8_t deviceAddress, uint8_t *buffer, size_t size, bool stop) {
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twiBaseAddress->ADDRESS = deviceAddress;
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twiBaseAddress->TASKS_RESUME = 0x1UL;
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twiBaseAddress->RXD.PTR = (uint32_t)buffer;
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twiBaseAddress->RXD.MAXCNT = size;
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twiBaseAddress->TASKS_STARTRX = 1;
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while(!twiBaseAddress->EVENTS_RXSTARTED && !twiBaseAddress->EVENTS_ERROR);
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twiBaseAddress->EVENTS_RXSTARTED = 0x0UL;
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txStartedCycleCount = DWT->CYCCNT;
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uint32_t currentCycleCount;
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while(!twiBaseAddress->EVENTS_LASTRX && !twiBaseAddress->EVENTS_ERROR) {
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currentCycleCount = DWT->CYCCNT;
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if ((currentCycleCount-txStartedCycleCount) > HwFreezedDelay) {
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FixHwFreezed();
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return ErrorCodes::TransactionFailed;
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}
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}
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twiBaseAddress->EVENTS_LASTRX = 0x0UL;
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if (stop || twiBaseAddress->EVENTS_ERROR) {
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twiBaseAddress->TASKS_STOP = 0x1UL;
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while(!twiBaseAddress->EVENTS_STOPPED);
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twiBaseAddress->EVENTS_STOPPED = 0x0UL;
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}
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else {
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twiBaseAddress->TASKS_SUSPEND = 0x1UL;
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while(!twiBaseAddress->EVENTS_SUSPENDED);
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twiBaseAddress->EVENTS_SUSPENDED = 0x0UL;
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}
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xSemaphoreGive(mutex);
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return TwiMaster::ErrorCodes::NoError;
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if (twiBaseAddress->EVENTS_ERROR) {
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twiBaseAddress->EVENTS_ERROR = 0x0UL;
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}
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return ErrorCodes::NoError;
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}
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TwiMaster::ErrorCodes TwiMaster::Write(uint8_t deviceAddress, const uint8_t *data, size_t size, bool stop) {
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twiBaseAddress->ADDRESS = deviceAddress;
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twiBaseAddress->TASKS_RESUME = 0x1UL;
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twiBaseAddress->TXD.PTR = (uint32_t)data;
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twiBaseAddress->TXD.MAXCNT = size;
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twiBaseAddress->TASKS_STARTTX = 1;
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while(!twiBaseAddress->EVENTS_TXSTARTED && !twiBaseAddress->EVENTS_ERROR);
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twiBaseAddress->EVENTS_TXSTARTED = 0x0UL;
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txStartedCycleCount = DWT->CYCCNT;
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uint32_t currentCycleCount;
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while(!twiBaseAddress->EVENTS_LASTTX && !twiBaseAddress->EVENTS_ERROR) {
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currentCycleCount = DWT->CYCCNT;
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if ((currentCycleCount-txStartedCycleCount) > HwFreezedDelay) {
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FixHwFreezed();
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return ErrorCodes::TransactionFailed;
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}
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}
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twiBaseAddress->EVENTS_LASTTX = 0x0UL;
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if (stop || twiBaseAddress->EVENTS_ERROR) {
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twiBaseAddress->TASKS_STOP = 0x1UL;
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while(!twiBaseAddress->EVENTS_STOPPED);
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twiBaseAddress->EVENTS_STOPPED = 0x0UL;
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}
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else {
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twiBaseAddress->TASKS_SUSPEND = 0x1UL;
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while(!twiBaseAddress->EVENTS_SUSPENDED);
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twiBaseAddress->EVENTS_SUSPENDED = 0x0UL;
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}
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if (twiBaseAddress->EVENTS_ERROR) {
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twiBaseAddress->EVENTS_ERROR = 0x0UL;
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uint32_t error = twiBaseAddress->ERRORSRC;
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twiBaseAddress->ERRORSRC = error;
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}
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return ErrorCodes::NoError;
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}
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void TwiMaster::Sleep() {
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nrfx_twim_disable(&twim);
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nrfx_twim_uninit(&twim);
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while(twiBaseAddress->ENABLE != 0) {
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twiBaseAddress->ENABLE = (TWIM_ENABLE_ENABLE_Disabled << TWIM_ENABLE_ENABLE_Pos);
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}
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nrf_gpio_cfg_default(6);
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nrf_gpio_cfg_default(7);
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NRF_LOG_INFO("[TWIMASTER] Sleep");
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@ -82,3 +172,30 @@ void TwiMaster::Wakeup() {
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Init();
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NRF_LOG_INFO("[TWIMASTER] Wakeup");
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}
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/* Sometimes, the TWIM device just freeze and never set the event EVENTS_LASTTX.
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* This method disable and re-enable the peripheral so that it works again.
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* This is just a workaround, and it would be better if we could find a way to prevent
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* this issue from happening.
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* */
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void TwiMaster::FixHwFreezed() {
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NRF_LOG_INFO("I2C device frozen, reinitializing it!");
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// Disable I²C
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uint32_t twi_state = NRF_TWI1->ENABLE;
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twiBaseAddress->ENABLE = TWIM_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos;
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NRF_GPIO->PIN_CNF[params.pinScl] = ((uint32_t)GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos)
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| ((uint32_t)GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
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| ((uint32_t)GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos)
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| ((uint32_t)GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
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| ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos);
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NRF_GPIO->PIN_CNF[params.pinSda] = ((uint32_t)GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos)
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| ((uint32_t)GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
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| ((uint32_t)GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos)
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| ((uint32_t)GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
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| ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos);
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// Re-enable I²C
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twiBaseAddress->ENABLE = twi_state;
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}
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