Implement embedded-hal 1.0 I2c trait for Twi and Twim

nrf-hal-common/src/twi.rs

@@ -1,11 +1,11 @@
 //! HAL interface to the TWI peripheral.
 
-use core::ops::Deref;
-
 use crate::{
     gpio::{Floating, Input, Pin},
     pac::{twi0, GPIO, TWI0, TWI1},
 };
+use core::ops::Deref;
+use embedded_hal::i2c::{self, ErrorKind, ErrorType, I2c, Operation};
 
 pub use twi0::frequency::FREQUENCY_A as Frequency;
 
@@ -250,6 +250,92 @@ where
     }
 }
 
+impl<T> ErrorType for Twi<T> {
+    type Error = Error;
+}
+
+impl<T: Instance> I2c for Twi<T> {
+    fn transaction(
+        &mut self,
+        address: u8,
+        operations: &mut [Operation],
+    ) -> Result<(), Self::Error> {
+        // Make sure all previously used shortcuts are disabled.
+        self.0
+            .shorts
+            .write(|w| w.bb_stop().disabled().bb_suspend().disabled());
+
+        // Set Slave I2C address.
+        self.0
+            .address
+            .write(|w| unsafe { w.address().bits(address.into()) });
+
+        // `Some(true)` if the last operation was a read, `Some(false)` if it was a write.
+        let mut last_operation_read = None;
+        let operations_count = operations.len();
+        for (i, operation) in operations.into_iter().enumerate() {
+            match operation {
+                Operation::Read(buffer) => {
+                    // Clear reception event.
+                    self.0.events_rxdready.write(|w| unsafe { w.bits(0) });
+
+                    if last_operation_read != Some(true) {
+                        // Start data reception.
+                        self.0.tasks_startrx.write(|w| unsafe { w.bits(1) });
+                    }
+
+                    if let Some((last, before)) = buffer.split_last_mut() {
+                        for byte in before {
+                            *byte = self.recv_byte()?;
+                        }
+
+                        if i == operations_count - 1 {
+                            // Send stop after receiving the last byte.
+                            self.0.events_stopped.write(|w| unsafe { w.bits(0) });
+                            self.0.tasks_stop.write(|w| unsafe { w.bits(1) });
+
+                            *last = self.recv_byte()?;
+
+                            // Wait until stop was sent.
+                            while self.0.events_stopped.read().bits() == 0 {
+                                // Bail out if we get an error instead.
+                                if self.0.events_error.read().bits() != 0 {
+                                    self.0.events_error.write(|w| unsafe { w.bits(0) });
+                                    return Err(Error::Transmit);
+                                }
+                            }
+                        } else {
+                            *last = self.recv_byte()?;
+                        }
+                    } else {
+                        self.send_stop()?;
+                    }
+                    last_operation_read = Some(true);
+                }
+                Operation::Write(buffer) => {
+                    if last_operation_read != Some(false) {
+                        // Start data transmission.
+                        self.0.tasks_starttx.write(|w| unsafe { w.bits(1) });
+                    }
+
+                    // Clock out all bytes.
+                    for byte in *buffer {
+                        self.send_byte(*byte)?;
+                    }
+
+                    if i == operations_count - 1 {
+                        // Send stop.
+                        self.send_stop()?;
+                    }
+                    last_operation_read = Some(false);
+                }
+            }
+        }
+
+        Ok(())
+    }
+}
+
 #[cfg(feature = "embedded-hal-02")]
 impl<T> embedded_hal_02::blocking::i2c::Write for Twi<T>
 where
@@ -308,6 +394,13 @@ pub enum Error {
     Receive,
 }
 
+impl i2c::Error for Error {
+    fn kind(&self) -> ErrorKind {
+        // TODO
+        ErrorKind::Other
+    }
+}
+
 /// Implemented by all TWIM instances.
 pub trait Instance: Deref<Target = twi0::RegisterBlock> + sealed::Sealed {}
 

nrf-hal-common/src/twim.rs

@@ -6,6 +6,7 @@
 //! - nRF52840: Section 6.31
 use core::ops::Deref;
 use core::sync::atomic::{compiler_fence, Ordering::SeqCst};
+use embedded_hal::i2c::{self, ErrorKind, ErrorType, I2c, NoAcknowledgeSource, Operation};
 
 #[cfg(any(feature = "9160", feature = "5340-app", feature = "5340-net"))]
 use crate::pac::{twim0_ns as twim0, TWIM0_NS as TWIM0};
@@ -194,6 +195,10 @@ where
                 self.0.events_stopped.reset();
                 break;
             }
+            if self.0.events_suspended.read().bits() != 0 {
+                self.0.events_suspended.reset();
+                break;
+            }
             if self.0.events_error.read().bits() != 0 {
                 self.0.events_error.reset();
                 self.0.tasks_stop.write(|w| unsafe { w.bits(1) });
@@ -392,6 +397,196 @@ where
             },
         )
     }
+
+    fn write_part(&mut self, buffer: &[u8], final_operation: bool) -> Result<(), Error> {
+        compiler_fence(SeqCst);
+        unsafe { self.set_tx_buffer(buffer)? };
+
+        // Set appropriate lasttx shortcut.
+        if final_operation {
+            self.0.shorts.write(|w| w.lasttx_stop().enabled());
+        } else {
+            self.0.shorts.write(|w| w.lasttx_suspend().enabled());
+        }
+
+        // Start write.
+        self.0.tasks_starttx.write(|w| unsafe { w.bits(1) });
+        self.0.tasks_resume.write(|w| unsafe { w.bits(1) });
+
+        self.wait();
+        compiler_fence(SeqCst);
+        self.read_errorsrc()?;
+        if self.0.txd.amount.read().bits() != buffer.len() as u32 {
+            return Err(Error::Transmit);
+        }
+
+        Ok(())
+    }
+
+    fn read_part(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
+        compiler_fence(SeqCst);
+        unsafe { self.set_rx_buffer(buffer)? };
+
+        // TODO: We should suspend rather than stopping if there are more operations to
+        // follow, but for some reason that results in an overrun error and reading bad
+        // data in the next read.
+        self.0.shorts.write(|w| w.lastrx_stop().enabled());
+
+        // Start read.
+        self.0.tasks_startrx.write(|w| unsafe { w.bits(1) });
+        self.0.tasks_resume.write(|w| unsafe { w.bits(1) });
+
+        self.wait();
+        compiler_fence(SeqCst);
+        self.read_errorsrc()?;
+        if self.0.rxd.amount.read().bits() != buffer.len() as u32 {
+            return Err(Error::Receive);
+        }
+
+        Ok(())
+    }
+}
+
+impl<T> ErrorType for Twim<T> {
+    type Error = Error;
+}
+
+#[derive(Copy, Clone, Debug, Eq, PartialEq)]
+enum OperationType {
+    Read,
+    Write,
+}
+
+impl<T: Instance> I2c for Twim<T> {
+    fn transaction(
+        &mut self,
+        address: u8,
+        operations: &mut [Operation],
+    ) -> Result<(), Self::Error> {
+        compiler_fence(SeqCst);
+
+        // Buffer used when writing data from flash, or combining multiple consecutive write operations.
+        let mut tx_copy = [0; FORCE_COPY_BUFFER_SIZE];
+        // Number of bytes waiting in `tx_copy` to be sent.
+        let mut pending_tx_bytes = 0;
+        // Buffer used when combining multiple consecutive read operations.
+        let mut rx_copy = [0; FORCE_COPY_BUFFER_SIZE];
+        // Number of bytes from earlier read operations not yet actually read.
+        let mut pending_rx_bytes = 0;
+
+        self.0
+            .address
+            .write(|w| unsafe { w.address().bits(address) });
+
+        for i in 0..operations.len() {
+            let next_operation_type = match operations.get(i + 1) {
+                None => None,
+                Some(Operation::Write(_)) => Some(OperationType::Write),
+                Some(Operation::Read(_)) => Some(OperationType::Read),
+            };
+            let operation = &mut operations[i];
+
+            // Clear events
+            self.0.events_stopped.reset();
+            self.0.events_error.reset();
+            self.0.events_lasttx.reset();
+            self.0.events_lastrx.reset();
+            self.clear_errorsrc();
+
+            match operation {
+                Operation::Read(buffer) => {
+                    if buffer.len() > FORCE_COPY_BUFFER_SIZE - pending_rx_bytes {
+                        // Splitting into multiple reads isn't going to work, so just return an
+                        // error.
+                        return Err(Error::RxBufferTooLong);
+                    } else if pending_rx_bytes == 0
+                        && next_operation_type != Some(OperationType::Read)
+                    {
+                        // Simple case: there are no consecutive read operations, so receive
+                        // directly.
+                        self.read_part(buffer)?;
+                    } else {
+                        pending_rx_bytes += buffer.len();
+
+                        // If the next operation is not a read (or these is no next operation),
+                        // receive into `rx_copy` now.
+                        if next_operation_type != Some(OperationType::Read) {
+                            self.read_part(&mut rx_copy[..pending_rx_bytes])?;
+
+                            // Copy the resulting data back to the various buffers.
+                            for j in (0..=i).rev() {
+                                if let Operation::Read(buffer) = &mut operations[j] {
+                                    buffer.copy_from_slice(
+                                        &rx_copy[pending_rx_bytes - buffer.len()..pending_rx_bytes],
+                                    );
+                                    pending_rx_bytes -= buffer.len();
+                                } else {
+                                    break;
+                                }
+                            }
+
+                            assert_eq!(pending_rx_bytes, 0);
+                        }
+                    }
+                }
+                Operation::Write(buffer) => {
+                    // Will the current buffer fit in the remaining space in `tx_copy`? If not,
+                    // send `tx_copy` immediately.
+                    if buffer.len() > FORCE_COPY_BUFFER_SIZE - pending_tx_bytes
+                        && pending_tx_bytes > 0
+                    {
+                        self.write_part(&tx_copy[..pending_tx_bytes], false)?;
+                        pending_tx_bytes = 0;
+                    }
+
+                    if crate::slice_in_ram(buffer)
+                        && pending_tx_bytes == 0
+                        && next_operation_type != Some(OperationType::Write)
+                    {
+                        // Simple case: the buffer is in RAM, and there are no consecutive write
+                        // operations, so send it directly.
+                        self.write_part(buffer, next_operation_type.is_none())?;
+                    } else if buffer.len() > FORCE_COPY_BUFFER_SIZE {
+                        // This must be true because if it wasn't we must have hit the case above to send
+                        // `tx_copy` immediately and reset `pending_tx_bytes` to 0.
+                        assert!(pending_tx_bytes == 0);
+
+                        // Send the buffer in chunks immediately.
+                        let num_chunks = buffer.len().div_ceil(FORCE_COPY_BUFFER_SIZE);
+                        for (chunk_index, chunk) in buffer
+                            .chunks(FORCE_COPY_BUFFER_SIZE)
+                            .into_iter()
+                            .enumerate()
+                        {
+                            tx_copy[..chunk.len()].copy_from_slice(chunk);
+                            self.write_part(
+                                &tx_copy[..chunk.len()],
+                                next_operation_type.is_none() && chunk_index == num_chunks - 1,
+                            )?;
+                        }
+                    } else {
+                        // Copy the current buffer to `tx_copy`. It must fit, as otherwise we
+                        // would have hit one of the cases above.
+                        tx_copy[pending_tx_bytes..pending_tx_bytes + buffer.len()]
+                            .copy_from_slice(&buffer);
+                        pending_tx_bytes += buffer.len();
+
+                        // If the next operation is not a write (or there is no next operation),
+                        // send `tx_copy` now.
+                        if next_operation_type != Some(OperationType::Write) {
+                            self.write_part(
+                                &tx_copy[..pending_tx_bytes],
+                                next_operation_type.is_none(),
+                            )?;
+                            pending_tx_bytes = 0;
+                        }
+                    }
+                }
+            }
+        }
+
+        Ok(())
+    }
 }
 
 #[cfg(feature = "embedded-hal-02")]
@@ -473,6 +668,23 @@ pub enum Error {
     Overrun,
 }
 
+impl i2c::Error for Error {
+    fn kind(&self) -> ErrorKind {
+        match self {
+            Self::TxBufferTooLong
+            | Self::RxBufferTooLong
+            | Self::TxBufferZeroLength
+            | Self::RxBufferZeroLength
+            | Self::Transmit
+            | Self::Receive
+            | Self::DMABufferNotInDataMemory => ErrorKind::Other,
+            Self::AddressNack => ErrorKind::NoAcknowledge(NoAcknowledgeSource::Address),
+            Self::DataNack => ErrorKind::NoAcknowledge(NoAcknowledgeSource::Data),
+            Self::Overrun => ErrorKind::Overrun,
+        }
+    }
+}
+
 /// Implemented by all TWIM instances
 pub trait Instance: Deref<Target = twim0::RegisterBlock> + sealed::Sealed {}