embassy/embassy-stm32/src/i2c/v1.rs

use crate::i2c::{Error, Instance, SclPin, SdaPin};
use crate::time::Hertz;
use core::marker::PhantomData;
use embassy::util::Unborrow;
use embassy_extras::unborrow;
use embedded_hal::blocking::i2c::Read;
use embedded_hal::blocking::i2c::Write;
use embedded_hal::blocking::i2c::WriteRead;

use crate::pac::i2c;

use crate::pac::gpio::vals::{Afr, Moder, Ot};
use crate::pac::gpio::Gpio;

pub struct I2c<'d, T: Instance> {
    phantom: PhantomData<&'d mut T>,
}

impl<'d, T: Instance> I2c<'d, T> {
    pub fn new<F>(
        _peri: impl Unborrow<Target = T> + 'd,
        scl: impl Unborrow<Target = impl SclPin<T>>,
        sda: impl Unborrow<Target = impl SdaPin<T>>,
        freq: F,
    ) -> Self
    where
        F: Into<Hertz>,
    {
        unborrow!(scl, sda);

        T::enable();

        unsafe {
            Self::configure_pin(scl.block(), scl.pin() as _, scl.af_num());
            Self::configure_pin(sda.block(), sda.pin() as _, sda.af_num());
        }

        unsafe {
            T::regs().cr1().modify(|reg| {
                reg.set_pe(false);
                //reg.set_anfoff(false);
            });
        }

        let timings = Timings::new(T::frequency(), freq.into());

        unsafe {
            T::regs().cr2().modify(|reg| {
                reg.set_freq(timings.freq);
            });
            T::regs().ccr().modify(|reg| {
                reg.set_f_s(timings.mode.f_s());
                reg.set_duty(timings.duty.duty());
                reg.set_ccr(timings.ccr);
            });
            T::regs().trise().modify(|reg| {
                reg.set_trise(timings.trise);
            });
        }

        unsafe {
            T::regs().cr1().modify(|reg| {
                reg.set_pe(true);
            });
        }

        Self {
            phantom: PhantomData,
        }
    }

    unsafe fn configure_pin(block: Gpio, pin: usize, af_num: u8) {
        let (afr, n_af) = if pin < 8 { (0, pin) } else { (1, pin - 8) };
        block.moder().modify(|w| w.set_moder(pin, Moder::ALTERNATE));
        block.afr(afr).modify(|w| w.set_afr(n_af, Afr(af_num)));
        block.otyper().modify(|w| w.set_ot(pin, Ot::OPENDRAIN));
    }

    unsafe fn check_and_clear_error_flags(&self) -> Result<i2c::regs::Sr1, Error> {
        // Note that flags should only be cleared once they have been registered. If flags are
        // cleared otherwise, there may be an inherent race condition and flags may be missed.
        let sr1 = T::regs().sr1().read();

        if sr1.timeout() {
            T::regs().sr1().modify(|reg| reg.set_timeout(false));
            return Err(Error::Timeout);
        }

        if sr1.pecerr() {
            T::regs().sr1().modify(|reg| reg.set_pecerr(false));
            return Err(Error::Crc);
        }

        if sr1.ovr() {
            T::regs().sr1().modify(|reg| reg.set_ovr(false));
            return Err(Error::Overrun);
        }

        if sr1.af() {
            T::regs().sr1().modify(|reg| reg.set_af(false));
            return Err(Error::Nack);
        }

        if sr1.arlo() {
            T::regs().sr1().modify(|reg| reg.set_arlo(false));
            return Err(Error::Arbitration);
        }

        // The errata indicates that BERR may be incorrectly detected. It recommends ignoring and
        // clearing the BERR bit instead.
        if sr1.berr() {
            T::regs().sr1().modify(|reg| reg.set_berr(false));
        }

        Ok(sr1)
    }

    unsafe fn write_bytes(&mut self, addr: u8, bytes: &[u8]) -> Result<(), Error> {
        // Send a START condition

        T::regs().cr1().modify(|reg| {
            reg.set_start(i2c::vals::Start::START);
        });

        // Wait until START condition was generated
        while self.check_and_clear_error_flags()?.sb() == i2c::vals::Sb::NOSTART {}

        // Also wait until signalled we're master and everything is waiting for us
        while {
            self.check_and_clear_error_flags()?;

            let sr2 = T::regs().sr2().read();
            !sr2.msl() && !sr2.busy()
        } {}

        // Set up current address, we're trying to talk to
        T::regs().dr().write(|reg| reg.set_dr(addr << 1));

        // Wait until address was sent
        while {
            // Check for any I2C errors. If a NACK occurs, the ADDR bit will never be set.
            let sr1 = self.check_and_clear_error_flags()?;

            // Wait for the address to be acknowledged
            !sr1.addr()
        } {}

        // Clear condition by reading SR2
        let _ = T::regs().sr2().read();

        // Send bytes
        for c in bytes {
            self.send_byte(*c)?;
        }

        // Fallthrough is success
        Ok(())
    }

    unsafe fn send_byte(&self, byte: u8) -> Result<(), Error> {
        // Wait until we're ready for sending
        while {
            // Check for any I2C errors. If a NACK occurs, the ADDR bit will never be set.
            !self.check_and_clear_error_flags()?.tx_e()
        } {}

        // Push out a byte of data
        T::regs().dr().write(|reg| reg.set_dr(byte));

        // Wait until byte is transferred
        while {
            // Check for any potential error conditions.
            !self.check_and_clear_error_flags()?.btf()
        } {}

        Ok(())
    }

    unsafe fn recv_byte(&self) -> Result<u8, Error> {
        while {
            // Check for any potential error conditions.
            self.check_and_clear_error_flags()?;

            !T::regs().sr1().read().rx_ne()
        } {}

        let value = T::regs().dr().read().dr();
        Ok(value)
    }
}

impl<'d, T: Instance> Read for I2c<'d, T> {
    type Error = Error;

    fn read(&mut self, addr: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
        if let Some((last, buffer)) = buffer.split_last_mut() {
            // Send a START condition and set ACK bit
            unsafe {
                T::regs().cr1().modify(|reg| {
                    reg.set_start(i2c::vals::Start::START);
                    reg.set_ack(true);
                });
            }

            // Wait until START condition was generated
            while unsafe { T::regs().sr1().read().sb() } == i2c::vals::Sb::NOSTART {}

            // Also wait until signalled we're master and everything is waiting for us
            while {
                let sr2 = unsafe { T::regs().sr2().read() };
                !sr2.msl() && !sr2.busy()
            } {}

            // Set up current address, we're trying to talk to
            unsafe {
                T::regs().dr().write(|reg| reg.set_dr((addr << 1) + 1));
            }

            // Wait until address was sent
            while {
                unsafe {
                    let sr1 = self.check_and_clear_error_flags()?;

                    // Wait for the address to be acknowledged
                    !sr1.addr()
                }
            } {}

            // Clear condition by reading SR2
            unsafe {
                let _ = T::regs().sr2().read();
            }

            // Receive bytes into buffer
            for c in buffer {
                *c = unsafe { self.recv_byte()? };
            }

            // Prepare to send NACK then STOP after next byte
            unsafe {
                T::regs().cr1().modify(|reg| {
                    reg.set_ack(false);
                    reg.set_stop(i2c::vals::Stop::STOP);
                });
            }

            // Receive last byte
            *last = unsafe { self.recv_byte()? };

            // Wait for the STOP to be sent.
            while unsafe { T::regs().cr1().read().stop() == i2c::vals::Stop::STOP } {}

            // Fallthrough is success
            Ok(())
        } else {
            Err(Error::Overrun)
        }
    }
}

impl<'d, T: Instance> Write for I2c<'d, T> {
    type Error = Error;

    fn write(&mut self, addr: u8, bytes: &[u8]) -> Result<(), Self::Error> {
        unsafe {
            self.write_bytes(addr, bytes)?;
            // Send a STOP condition
            T::regs()
                .cr1()
                .modify(|reg| reg.set_stop(i2c::vals::Stop::STOP));
            // Wait for STOP condition to transmit.
            while T::regs().cr1().read().stop() == i2c::vals::Stop::STOP {}
        };

        // Fallthrough is success
        Ok(())
    }
}

impl<'d, T: Instance> WriteRead for I2c<'d, T> {
    type Error = Error;

    fn write_read(&mut self, addr: u8, bytes: &[u8], buffer: &mut [u8]) -> Result<(), Self::Error> {
        unsafe { self.write_bytes(addr, bytes)? };
        self.read(addr, buffer)?;

        Ok(())
    }
}

enum Mode {
    Fast,
    Standard,
}

impl Mode {
    fn f_s(&self) -> i2c::vals::FS {
        match self {
            Mode::Fast => i2c::vals::FS::FAST,
            Mode::Standard => i2c::vals::FS::STANDARD,
        }
    }
}

enum Duty {
    Duty2_1,
    Duty16_9,
}

impl Duty {
    fn duty(&self) -> i2c::vals::Duty {
        match self {
            Duty::Duty2_1 => i2c::vals::Duty::DUTY2_1,
            Duty::Duty16_9 => i2c::vals::Duty::DUTY16_9,
        }
    }
}

struct Timings {
    freq: u8,
    mode: Mode,
    trise: u8,
    ccr: u16,
    duty: Duty,
}

impl Timings {
    fn new(i2cclk: Hertz, speed: Hertz) -> Self {
        // Calculate settings for I2C speed modes
        let speed = speed.0;
        let clock = i2cclk.0;
        let freq = clock / 1_000_000;
        assert!(freq >= 2 && freq <= 50);

        // Configure bus frequency into I2C peripheral
        //self.i2c.cr2.write(|w| unsafe { w.freq().bits(freq as u8) });

        let trise = if speed <= 100_000 {
            freq + 1
        } else {
            (freq * 300) / 1000 + 1
        };

        let mut ccr;
        let duty;
        let mode;

        // I2C clock control calculation
        if speed <= 100_000 {
            duty = Duty::Duty2_1;
            mode = Mode::Standard;
            ccr = {
                let ccr = clock / (speed * 2);
                if ccr < 4 {
                    4
                } else {
                    ccr
                }
            };
        } else {
            const DUTYCYCLE: u8 = 0;
            mode = Mode::Fast;
            if DUTYCYCLE == 0 {
                duty = Duty::Duty2_1;
                ccr = clock / (speed * 3);
                ccr = if ccr < 1 { 1 } else { ccr };

                // Set clock to fast mode with appropriate parameters for selected speed (2:1 duty cycle)
            } else {
                duty = Duty::Duty16_9;
                ccr = clock / (speed * 25);
                ccr = if ccr < 1 { 1 } else { ccr };

                // Set clock to fast mode with appropriate parameters for selected speed (16:9 duty cycle)
            }
        }

        Self {
            freq: freq as u8,
            trise: trise as u8,
            ccr: ccr as u16,
            duty,
            mode,
            //prescale: presc_reg,
            //scll,
            //sclh,
            //sdadel,
            //scldel,
        }
    }
}