InfiniTime/src/drivers/TwiMaster.cpp

#include <nrfx_log.h>
#include <hal/nrf_gpio.h>
#include <cstring>
#include "TwiMaster.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, &registerAddress, 1, false);
  if(ret != ErrorCodes::NoError)
    ret = Write(deviceAddress, &registerAddress, 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;
}