embassy_stm32/i2c/

v2.rs

use core::cmp;
use core::future::poll_fn;
use core::task::Poll;

use embassy_embedded_hal::SetConfig;
use embassy_hal_internal::drop::OnDrop;
use embedded_hal_1::i2c::Operation;

use super::*;
use crate::pac::i2c;

pub(crate) unsafe fn on_interrupt<T: Instance>() {
    let regs = T::info().regs;
    let isr = regs.isr().read();

    if isr.tcr() || isr.tc() {
        T::state().waker.wake();
    }
    // The flag can only be cleared by writting to nbytes, we won't do that here, so disable
    // the interrupt
    critical_section::with(|_| {
        regs.cr1().modify(|w| w.set_tcie(false));
    });
}

impl<'d, M: Mode> I2c<'d, M> {
    pub(crate) fn init(&mut self, freq: Hertz, _config: Config) {
        self.info.regs.cr1().modify(|reg| {
            reg.set_pe(false);
            reg.set_anfoff(false);
        });

        let timings = Timings::new(self.kernel_clock, freq.into());

        self.info.regs.timingr().write(|reg| {
            reg.set_presc(timings.prescale);
            reg.set_scll(timings.scll);
            reg.set_sclh(timings.sclh);
            reg.set_sdadel(timings.sdadel);
            reg.set_scldel(timings.scldel);
        });

        self.info.regs.cr1().modify(|reg| {
            reg.set_pe(true);
        });
    }

    fn master_stop(&mut self) {
        self.info.regs.cr2().write(|w| w.set_stop(true));
    }

    fn master_read(
        info: &'static Info,
        address: u8,
        length: usize,
        stop: Stop,
        reload: bool,
        restart: bool,
        timeout: Timeout,
    ) -> Result<(), Error> {
        assert!(length < 256);

        if !restart {
            // Wait for any previous address sequence to end
            // automatically. This could be up to 50% of a bus
            // cycle (ie. up to 0.5/freq)
            while info.regs.cr2().read().start() {
                timeout.check()?;
            }
        }

        // Set START and prepare to receive bytes into
        // `buffer`. The START bit can be set even if the bus
        // is BUSY or I2C is in slave mode.

        let reload = if reload {
            i2c::vals::Reload::NOT_COMPLETED
        } else {
            i2c::vals::Reload::COMPLETED
        };

        info.regs.cr2().modify(|w| {
            w.set_sadd((address << 1 | 0) as u16);
            w.set_add10(i2c::vals::Addmode::BIT7);
            w.set_dir(i2c::vals::Dir::READ);
            w.set_nbytes(length as u8);
            w.set_start(true);
            w.set_autoend(stop.autoend());
            w.set_reload(reload);
        });

        Ok(())
    }

    fn master_write(
        info: &'static Info,
        address: u8,
        length: usize,
        stop: Stop,
        reload: bool,
        timeout: Timeout,
    ) -> Result<(), Error> {
        assert!(length < 256);

        // Wait for any previous address sequence to end
        // automatically. This could be up to 50% of a bus
        // cycle (ie. up to 0.5/freq)
        while info.regs.cr2().read().start() {
            timeout.check()?;
        }

        // Wait for the bus to be free
        while info.regs.isr().read().busy() {
            timeout.check()?;
        }

        let reload = if reload {
            i2c::vals::Reload::NOT_COMPLETED
        } else {
            i2c::vals::Reload::COMPLETED
        };

        // Set START and prepare to send `bytes`. The
        // START bit can be set even if the bus is BUSY or
        // I2C is in slave mode.
        info.regs.cr2().modify(|w| {
            w.set_sadd((address << 1 | 0) as u16);
            w.set_add10(i2c::vals::Addmode::BIT7);
            w.set_dir(i2c::vals::Dir::WRITE);
            w.set_nbytes(length as u8);
            w.set_start(true);
            w.set_autoend(stop.autoend());
            w.set_reload(reload);
        });

        Ok(())
    }

    fn master_continue(info: &'static Info, length: usize, reload: bool, timeout: Timeout) -> Result<(), Error> {
        assert!(length < 256 && length > 0);

        while !info.regs.isr().read().tcr() {
            timeout.check()?;
        }

        let reload = if reload {
            i2c::vals::Reload::NOT_COMPLETED
        } else {
            i2c::vals::Reload::COMPLETED
        };

        info.regs.cr2().modify(|w| {
            w.set_nbytes(length as u8);
            w.set_reload(reload);
        });

        Ok(())
    }

    fn flush_txdr(&self) {
        if self.info.regs.isr().read().txis() {
            self.info.regs.txdr().write(|w| w.set_txdata(0));
        }
        if !self.info.regs.isr().read().txe() {
            self.info.regs.isr().modify(|w| w.set_txe(true))
        }
    }

    fn wait_txe(&self, timeout: Timeout) -> Result<(), Error> {
        loop {
            let isr = self.info.regs.isr().read();
            if isr.txe() {
                return Ok(());
            } else if isr.berr() {
                self.info.regs.icr().write(|reg| reg.set_berrcf(true));
                return Err(Error::Bus);
            } else if isr.arlo() {
                self.info.regs.icr().write(|reg| reg.set_arlocf(true));
                return Err(Error::Arbitration);
            } else if isr.nackf() {
                self.info.regs.icr().write(|reg| reg.set_nackcf(true));
                self.flush_txdr();
                return Err(Error::Nack);
            }

            timeout.check()?;
        }
    }

    fn wait_rxne(&self, timeout: Timeout) -> Result<(), Error> {
        loop {
            let isr = self.info.regs.isr().read();
            if isr.rxne() {
                return Ok(());
            } else if isr.berr() {
                self.info.regs.icr().write(|reg| reg.set_berrcf(true));
                return Err(Error::Bus);
            } else if isr.arlo() {
                self.info.regs.icr().write(|reg| reg.set_arlocf(true));
                return Err(Error::Arbitration);
            } else if isr.nackf() {
                self.info.regs.icr().write(|reg| reg.set_nackcf(true));
                self.flush_txdr();
                return Err(Error::Nack);
            }

            timeout.check()?;
        }
    }

    fn wait_tc(&self, timeout: Timeout) -> Result<(), Error> {
        loop {
            let isr = self.info.regs.isr().read();
            if isr.tc() {
                return Ok(());
            } else if isr.berr() {
                self.info.regs.icr().write(|reg| reg.set_berrcf(true));
                return Err(Error::Bus);
            } else if isr.arlo() {
                self.info.regs.icr().write(|reg| reg.set_arlocf(true));
                return Err(Error::Arbitration);
            } else if isr.nackf() {
                self.info.regs.icr().write(|reg| reg.set_nackcf(true));
                self.flush_txdr();
                return Err(Error::Nack);
            }

            timeout.check()?;
        }
    }

    fn read_internal(&mut self, address: u8, read: &mut [u8], restart: bool, timeout: Timeout) -> Result<(), Error> {
        let completed_chunks = read.len() / 255;
        let total_chunks = if completed_chunks * 255 == read.len() {
            completed_chunks
        } else {
            completed_chunks + 1
        };
        let last_chunk_idx = total_chunks.saturating_sub(1);

        Self::master_read(
            self.info,
            address,
            read.len().min(255),
            Stop::Automatic,
            last_chunk_idx != 0,
            restart,
            timeout,
        )?;

        for (number, chunk) in read.chunks_mut(255).enumerate() {
            if number != 0 {
                Self::master_continue(self.info, chunk.len(), number != last_chunk_idx, timeout)?;
            }

            for byte in chunk {
                // Wait until we have received something
                self.wait_rxne(timeout)?;

                *byte = self.info.regs.rxdr().read().rxdata();
            }
        }
        Ok(())
    }

    fn write_internal(&mut self, address: u8, write: &[u8], send_stop: bool, timeout: Timeout) -> Result<(), Error> {
        let completed_chunks = write.len() / 255;
        let total_chunks = if completed_chunks * 255 == write.len() {
            completed_chunks
        } else {
            completed_chunks + 1
        };
        let last_chunk_idx = total_chunks.saturating_sub(1);

        // I2C start
        //
        // ST SAD+W
        if let Err(err) = Self::master_write(
            self.info,
            address,
            write.len().min(255),
            Stop::Software,
            last_chunk_idx != 0,
            timeout,
        ) {
            if send_stop {
                self.master_stop();
            }
            return Err(err);
        }

        for (number, chunk) in write.chunks(255).enumerate() {
            if number != 0 {
                Self::master_continue(self.info, chunk.len(), number != last_chunk_idx, timeout)?;
            }

            for byte in chunk {
                // Wait until we are allowed to send data
                // (START has been ACKed or last byte when
                // through)
                if let Err(err) = self.wait_txe(timeout) {
                    if send_stop {
                        self.master_stop();
                    }
                    return Err(err);
                }

                self.info.regs.txdr().write(|w| w.set_txdata(*byte));
            }
        }
        // Wait until the write finishes
        let result = self.wait_tc(timeout);
        if send_stop {
            self.master_stop();
        }
        result
    }

    // =========================
    //  Blocking public API

    /// Blocking read.
    pub fn blocking_read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Error> {
        self.read_internal(address, read, false, self.timeout())
        // Automatic Stop
    }

    /// Blocking write.
    pub fn blocking_write(&mut self, address: u8, write: &[u8]) -> Result<(), Error> {
        self.write_internal(address, write, true, self.timeout())
    }

    /// Blocking write, restart, read.
    pub fn blocking_write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error> {
        let timeout = self.timeout();
        self.write_internal(address, write, false, timeout)?;
        self.read_internal(address, read, true, timeout)
        // Automatic Stop
    }

    /// Blocking transaction with operations.
    ///
    /// Consecutive operations of same type are merged. See [transaction contract] for details.
    ///
    /// [transaction contract]: embedded_hal_1::i2c::I2c::transaction
    pub fn blocking_transaction(&mut self, addr: u8, operations: &mut [Operation<'_>]) -> Result<(), Error> {
        let _ = addr;
        let _ = operations;
        todo!()
    }

    /// Blocking write multiple buffers.
    ///
    /// The buffers are concatenated in a single write transaction.
    pub fn blocking_write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error> {
        if write.is_empty() {
            return Err(Error::ZeroLengthTransfer);
        }

        let timeout = self.timeout();

        let first_length = write[0].len();
        let last_slice_index = write.len() - 1;

        if let Err(err) = Self::master_write(
            self.info,
            address,
            first_length.min(255),
            Stop::Software,
            (first_length > 255) || (last_slice_index != 0),
            timeout,
        ) {
            self.master_stop();
            return Err(err);
        }

        for (idx, slice) in write.iter().enumerate() {
            let slice_len = slice.len();
            let completed_chunks = slice_len / 255;
            let total_chunks = if completed_chunks * 255 == slice_len {
                completed_chunks
            } else {
                completed_chunks + 1
            };
            let last_chunk_idx = total_chunks.saturating_sub(1);

            if idx != 0 {
                if let Err(err) = Self::master_continue(
                    self.info,
                    slice_len.min(255),
                    (idx != last_slice_index) || (slice_len > 255),
                    timeout,
                ) {
                    self.master_stop();
                    return Err(err);
                }
            }

            for (number, chunk) in slice.chunks(255).enumerate() {
                if number != 0 {
                    if let Err(err) = Self::master_continue(
                        self.info,
                        chunk.len(),
                        (number != last_chunk_idx) || (idx != last_slice_index),
                        timeout,
                    ) {
                        self.master_stop();
                        return Err(err);
                    }
                }

                for byte in chunk {
                    // Wait until we are allowed to send data
                    // (START has been ACKed or last byte when
                    // through)
                    if let Err(err) = self.wait_txe(timeout) {
                        self.master_stop();
                        return Err(err);
                    }

                    // Put byte on the wire
                    //self.i2c.txdr.write(|w| w.txdata().bits(*byte));
                    self.info.regs.txdr().write(|w| w.set_txdata(*byte));
                }
            }
        }
        // Wait until the write finishes
        let result = self.wait_tc(timeout);
        self.master_stop();
        result
    }
}

impl<'d> I2c<'d, Async> {
    async fn write_dma_internal(
        &mut self,
        address: u8,
        write: &[u8],
        first_slice: bool,
        last_slice: bool,
        timeout: Timeout,
    ) -> Result<(), Error> {
        let total_len = write.len();

        let dma_transfer = unsafe {
            let regs = self.info.regs;
            regs.cr1().modify(|w| {
                w.set_txdmaen(true);
                if first_slice {
                    w.set_tcie(true);
                }
            });
            let dst = regs.txdr().as_ptr() as *mut u8;

            self.tx_dma.as_mut().unwrap().write(write, dst, Default::default())
        };

        let mut remaining_len = total_len;

        let on_drop = OnDrop::new(|| {
            let regs = self.info.regs;
            regs.cr1().modify(|w| {
                if last_slice {
                    w.set_txdmaen(false);
                }
                w.set_tcie(false);
            })
        });

        poll_fn(|cx| {
            self.state.waker.register(cx.waker());

            let isr = self.info.regs.isr().read();
            if remaining_len == total_len {
                if first_slice {
                    Self::master_write(
                        self.info,
                        address,
                        total_len.min(255),
                        Stop::Software,
                        (total_len > 255) || !last_slice,
                        timeout,
                    )?;
                } else {
                    Self::master_continue(self.info, total_len.min(255), (total_len > 255) || !last_slice, timeout)?;
                    self.info.regs.cr1().modify(|w| w.set_tcie(true));
                }
            } else if !(isr.tcr() || isr.tc()) {
                // poll_fn was woken without an interrupt present
                return Poll::Pending;
            } else if remaining_len == 0 {
                return Poll::Ready(Ok(()));
            } else {
                let last_piece = (remaining_len <= 255) && last_slice;

                if let Err(e) = Self::master_continue(self.info, remaining_len.min(255), !last_piece, timeout) {
                    return Poll::Ready(Err(e));
                }
                self.info.regs.cr1().modify(|w| w.set_tcie(true));
            }

            remaining_len = remaining_len.saturating_sub(255);
            Poll::Pending
        })
        .await?;

        dma_transfer.await;

        if last_slice {
            // This should be done already
            self.wait_tc(timeout)?;
            self.master_stop();
        }

        drop(on_drop);

        Ok(())
    }

    async fn read_dma_internal(
        &mut self,
        address: u8,
        buffer: &mut [u8],
        restart: bool,
        timeout: Timeout,
    ) -> Result<(), Error> {
        let total_len = buffer.len();

        let dma_transfer = unsafe {
            let regs = self.info.regs;
            regs.cr1().modify(|w| {
                w.set_rxdmaen(true);
                w.set_tcie(true);
            });
            let src = regs.rxdr().as_ptr() as *mut u8;

            self.rx_dma.as_mut().unwrap().read(src, buffer, Default::default())
        };

        let mut remaining_len = total_len;

        let on_drop = OnDrop::new(|| {
            let regs = self.info.regs;
            regs.cr1().modify(|w| {
                w.set_rxdmaen(false);
                w.set_tcie(false);
            })
        });

        poll_fn(|cx| {
            self.state.waker.register(cx.waker());

            let isr = self.info.regs.isr().read();
            if remaining_len == total_len {
                Self::master_read(
                    self.info,
                    address,
                    total_len.min(255),
                    Stop::Software,
                    total_len > 255,
                    restart,
                    timeout,
                )?;
            } else if !(isr.tcr() || isr.tc()) {
                // poll_fn was woken without an interrupt present
                return Poll::Pending;
            } else if remaining_len == 0 {
                return Poll::Ready(Ok(()));
            } else {
                let last_piece = remaining_len <= 255;

                if let Err(e) = Self::master_continue(self.info, remaining_len.min(255), !last_piece, timeout) {
                    return Poll::Ready(Err(e));
                }
                self.info.regs.cr1().modify(|w| w.set_tcie(true));
            }

            remaining_len = remaining_len.saturating_sub(255);
            Poll::Pending
        })
        .await?;

        dma_transfer.await;

        // This should be done already
        self.wait_tc(timeout)?;
        self.master_stop();

        drop(on_drop);

        Ok(())
    }

    // =========================
    //  Async public API

    /// Write.
    pub async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Error> {
        let timeout = self.timeout();
        if write.is_empty() {
            self.write_internal(address, write, true, timeout)
        } else {
            timeout
                .with(self.write_dma_internal(address, write, true, true, timeout))
                .await
        }
    }

    /// Write multiple buffers.
    ///
    /// The buffers are concatenated in a single write transaction.
    pub async fn write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error> {
        let timeout = self.timeout();

        if write.is_empty() {
            return Err(Error::ZeroLengthTransfer);
        }
        let mut iter = write.iter();

        let mut first = true;
        let mut current = iter.next();
        while let Some(c) = current {
            let next = iter.next();
            let is_last = next.is_none();

            let fut = self.write_dma_internal(address, c, first, is_last, timeout);
            timeout.with(fut).await?;
            first = false;
            current = next;
        }
        Ok(())
    }

    /// Read.
    pub async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error> {
        let timeout = self.timeout();

        if buffer.is_empty() {
            self.read_internal(address, buffer, false, timeout)
        } else {
            let fut = self.read_dma_internal(address, buffer, false, timeout);
            timeout.with(fut).await
        }
    }

    /// Write, restart, read.
    pub async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error> {
        let timeout = self.timeout();

        if write.is_empty() {
            self.write_internal(address, write, false, timeout)?;
        } else {
            let fut = self.write_dma_internal(address, write, true, true, timeout);
            timeout.with(fut).await?;
        }

        if read.is_empty() {
            self.read_internal(address, read, true, timeout)?;
        } else {
            let fut = self.read_dma_internal(address, read, true, timeout);
            timeout.with(fut).await?;
        }

        Ok(())
    }

    /// Transaction with operations.
    ///
    /// Consecutive operations of same type are merged. See [transaction contract] for details.
    ///
    /// [transaction contract]: embedded_hal_1::i2c::I2c::transaction
    pub async fn transaction(&mut self, addr: u8, operations: &mut [Operation<'_>]) -> Result<(), Error> {
        let _ = addr;
        let _ = operations;
        todo!()
    }
}

/// I2C Stop Configuration
///
/// Peripheral options for generating the STOP condition
#[derive(Copy, Clone, PartialEq)]
enum Stop {
    /// Software end mode: Must write register to generate STOP condition
    Software,
    /// Automatic end mode: A STOP condition is automatically generated once the
    /// configured number of bytes have been transferred
    Automatic,
}

impl Stop {
    fn autoend(&self) -> i2c::vals::Autoend {
        match self {
            Stop::Software => i2c::vals::Autoend::SOFTWARE,
            Stop::Automatic => i2c::vals::Autoend::AUTOMATIC,
        }
    }
}

struct Timings {
    prescale: u8,
    scll: u8,
    sclh: u8,
    sdadel: u8,
    scldel: u8,
}

impl Timings {
    fn new(i2cclk: Hertz, freq: Hertz) -> Self {
        let i2cclk = i2cclk.0;
        let freq = freq.0;
        // Refer to RM0433 Rev 7 Figure 539 for setup and hold timing:
        //
        // t_I2CCLK = 1 / PCLK1
        // t_PRESC  = (PRESC + 1) * t_I2CCLK
        // t_SCLL   = (SCLL + 1) * t_PRESC
        // t_SCLH   = (SCLH + 1) * t_PRESC
        //
        // t_SYNC1 + t_SYNC2 > 4 * t_I2CCLK
        // t_SCL ~= t_SYNC1 + t_SYNC2 + t_SCLL + t_SCLH
        let ratio = i2cclk / freq;

        // For the standard-mode configuration method, we must have a ratio of 4
        // or higher
        assert!(ratio >= 4, "The I2C PCLK must be at least 4 times the bus frequency!");

        let (presc_reg, scll, sclh, sdadel, scldel) = if freq > 100_000 {
            // Fast-mode (Fm) or Fast-mode Plus (Fm+)
            // here we pick SCLL + 1 = 2 * (SCLH + 1)

            // Prescaler, 384 ticks for sclh/scll. Round up then subtract 1
            let presc_reg = ((ratio - 1) / 384) as u8;
            // ratio < 1200 by pclk 120MHz max., therefore presc < 16

            // Actual precale value selected
            let presc = (presc_reg + 1) as u32;

            let sclh = ((ratio / presc) - 3) / 3;
            let scll = (2 * (sclh + 1)) - 1;

            let (sdadel, scldel) = if freq > 400_000 {
                // Fast-mode Plus (Fm+)
                assert!(i2cclk >= 17_000_000); // See table in datsheet

                let sdadel = i2cclk / 8_000_000 / presc;
                let scldel = i2cclk / 4_000_000 / presc - 1;

                (sdadel, scldel)
            } else {
                // Fast-mode (Fm)
                assert!(i2cclk >= 8_000_000); // See table in datsheet

                let sdadel = i2cclk / 4_000_000 / presc;
                let scldel = i2cclk / 2_000_000 / presc - 1;

                (sdadel, scldel)
            };

            (presc_reg, scll as u8, sclh as u8, sdadel as u8, scldel as u8)
        } else {
            // Standard-mode (Sm)
            // here we pick SCLL = SCLH
            assert!(i2cclk >= 2_000_000); // See table in datsheet

            // Prescaler, 512 ticks for sclh/scll. Round up then
            // subtract 1
            let presc = (ratio - 1) / 512;
            let presc_reg = cmp::min(presc, 15) as u8;

            // Actual prescale value selected
            let presc = (presc_reg + 1) as u32;

            let sclh = ((ratio / presc) - 2) / 2;
            let scll = sclh;

            // Speed check
            assert!(sclh < 256, "The I2C PCLK is too fast for this bus frequency!");

            let sdadel = i2cclk / 2_000_000 / presc;
            let scldel = i2cclk / 500_000 / presc - 1;

            (presc_reg, scll as u8, sclh as u8, sdadel as u8, scldel as u8)
        };

        // Sanity check
        assert!(presc_reg < 16);

        // Keep values within reasonable limits for fast per_ck
        let sdadel = cmp::max(sdadel, 2);
        let scldel = cmp::max(scldel, 4);

        //(presc_reg, scll, sclh, sdadel, scldel)
        Self {
            prescale: presc_reg,
            scll,
            sclh,
            sdadel,
            scldel,
        }
    }
}

impl<'d, M: Mode> SetConfig for I2c<'d, M> {
    type Config = Hertz;
    type ConfigError = ();
    fn set_config(&mut self, config: &Self::Config) -> Result<(), ()> {
        let timings = Timings::new(self.kernel_clock, *config);
        self.info.regs.timingr().write(|reg| {
            reg.set_presc(timings.prescale);
            reg.set_scll(timings.scll);
            reg.set_sclh(timings.sclh);
            reg.set_sdadel(timings.sdadel);
            reg.set_scldel(timings.scldel);
        });

        Ok(())
    }
}