summaryrefslogtreecommitdiff
path: root/src/drivers/TwiMaster.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'src/drivers/TwiMaster.cpp')
-rw-r--r--src/drivers/TwiMaster.cpp209
1 files changed, 166 insertions, 43 deletions
diff --git a/src/drivers/TwiMaster.cpp b/src/drivers/TwiMaster.cpp
index 646823d0..7b6582dd 100644
--- a/src/drivers/TwiMaster.cpp
+++ b/src/drivers/TwiMaster.cpp
@@ -2,77 +2,175 @@
#include <cstring>
#include <hal/nrf_gpio.h>
#include <nrfx_log.h>
-#include <nrfx_twim.h>
-#include <nrf_drv_twi.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()} {
- ASSERT(mutex != nullptr);
- switch(module) {
+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:
- twim = NRFX_TWIM_INSTANCE(1);
+ 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;
}
-}
-void TwiMaster::Init() {
- nrfx_twim_config_t config;
- config.frequency = static_cast<nrf_twim_frequency_t>(params.frequency);
- config.hold_bus_uninit = false;
- config.interrupt_priority = 0;
- config.scl = params.pinScl;
- config.sda = params.pinSda;
- nrfx_twim_init(&twim,
- &config,
- nullptr,
- nullptr);
- nrfx_twim_enable(&twim);
+ 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) {
+TwiMaster::ErrorCodes TwiMaster::Read(uint8_t deviceAddress, uint8_t registerAddress, uint8_t* data, size_t size) {
xSemaphoreTake(mutex, portMAX_DELAY);
- TwiMaster::ErrorCodes ret;
+ auto ret = Write(deviceAddress, &registerAddress, 1, false);
+ ret = Read(deviceAddress, data, size, true);
+ 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);
+ internalBuffer[0] = registerAddress;
+ std::memcpy(internalBuffer + 1, data, size);
+ auto ret = Write(deviceAddress, internalBuffer, size + 1, true);
+ xSemaphoreGive(mutex);
+ 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;
- auto err = nrfx_twim_tx(&twim, deviceAddress, &registerAddress, 1, false);
- if(err != 0) {
- return TwiMaster::ErrorCodes::TransactionFailed;
+ 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;
- err = nrfx_twim_rx(&twim, deviceAddress, data, size);
- if(err != 0) {
- return TwiMaster::ErrorCodes::TransactionFailed;
+ 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;
}
- xSemaphoreGive(mutex);
- return TwiMaster::ErrorCodes::NoError;
+ if (twiBaseAddress->EVENTS_ERROR) {
+ twiBaseAddress->EVENTS_ERROR = 0x0UL;
+ }
+ return ErrorCodes::NoError;
}
-TwiMaster::ErrorCodes TwiMaster::Write(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t *data, size_t size) {
- ASSERT(size <= maxDataSize);
- xSemaphoreTake(mutex, portMAX_DELAY);
- TwiMaster::ErrorCodes ret;
+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;
- internalBuffer[0] = registerAddress;
- std::memcpy(internalBuffer+1, data, size);
- auto err = nrfx_twim_tx(&twim, deviceAddress, internalBuffer , size+1, false);
- if(err != 0){
- return TwiMaster::ErrorCodes::TransactionFailed;
+ 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;
- xSemaphoreGive(mutex);
- return TwiMaster::ErrorCodes::NoError;
+ 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() {
- nrfx_twim_disable(&twim);
- nrfx_twim_uninit(&twim);
-
+ 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");
@@ -82,3 +180,28 @@ 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;
+} \ No newline at end of file
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-20 19:15:56 +0000