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rp2040 I2cDevice

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Move i2c to mod, split device and controller

Remove mode generic:
I don't think it's reasonable to use the i2c in device mode while
blocking, so I'm cutting the generic.
This commit is contained in:
Caleb Jamison 2023-08-14 16:50:57 -04:00 committed by Dario Nieuwenhuis
parent ceca8b4336
commit 26e0823c35
4 changed files with 709 additions and 165 deletions
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171
embassy-rp/src/i2c.rs → embassy-rp/src/i2c/i2c.rs
View file

@ -3,45 +3,19 @@ use core::marker::PhantomData;
use core::task::Poll;
use embassy_hal_internal::{into_ref, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
use pac::i2c;
use super::{
i2c_reserved_addr, AbortReason, Async, Blocking, Error, Instance, InterruptHandler, Mode, SclPin, SdaPin, FIFO_SIZE,
};
use crate::gpio::sealed::Pin;
use crate::gpio::AnyPin;
use crate::interrupt::typelevel::{Binding, Interrupt};
use crate::{interrupt, pac, peripherals, Peripheral};
/// I2C error abort reason
#[derive(Debug)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum AbortReason {
/// A bus operation was not acknowledged, e.g. due to the addressed device
/// not being available on the bus or the device not being ready to process
/// requests at the moment
NoAcknowledge,
/// The arbitration was lost, e.g. electrical problems with the clock signal
ArbitrationLoss,
Other(u32),
}
/// I2C error
#[derive(Debug)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Error {
/// I2C abort with error
Abort(AbortReason),
/// User passed in a read buffer that was 0 length
InvalidReadBufferLength,
/// User passed in a write buffer that was 0 length
InvalidWriteBufferLength,
/// Target i2c address is out of range
AddressOutOfRange(u16),
/// Target i2c address is reserved
AddressReserved(u16),
}
use crate::{pac, Peripheral};
#[non_exhaustive]
#[derive(Copy, Clone)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct Config {
pub frequency: u32,
}
@ -52,8 +26,6 @@ impl Default for Config {
}
}
const FIFO_SIZE: u8 = 16;
pub struct I2c<'d, T: Instance, M: Mode> {
phantom: PhantomData<(&'d mut T, M)>,
}
@ -302,20 +274,6 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
}
}
pub struct InterruptHandler<T: Instance> {
_uart: PhantomData<T>,
}
impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
// Mask interrupts and wake any task waiting for this interrupt
unsafe fn on_interrupt() {
let i2c = T::regs();
i2c.ic_intr_mask().write_value(pac::i2c::regs::IcIntrMask::default());
T::waker().wake();
}
}
impl<'d, T: Instance + 'd, M: Mode> I2c<'d, T, M> {
fn new_inner(
_peri: impl Peripheral<P = T> + 'd,
@ -636,6 +594,7 @@ mod eh1 {
Self::Abort(AbortReason::NoAcknowledge) => {
embedded_hal_1::i2c::ErrorKind::NoAcknowledge(embedded_hal_1::i2c::NoAcknowledgeSource::Address)
}
Self::Abort(AbortReason::TxNotEmpty(_)) => embedded_hal_1::i2c::ErrorKind::Other,
Self::Abort(AbortReason::Other(_)) => embedded_hal_1::i2c::ErrorKind::Other,
Self::InvalidReadBufferLength => embedded_hal_1::i2c::ErrorKind::Other,
Self::InvalidWriteBufferLength => embedded_hal_1::i2c::ErrorKind::Other,
@ -737,121 +696,3 @@ mod nightly {
}
}
}
fn i2c_reserved_addr(addr: u16) -> bool {
(addr & 0x78) == 0 || (addr & 0x78) == 0x78
}
mod sealed {
use embassy_sync::waitqueue::AtomicWaker;
use crate::interrupt;
pub trait Instance {
const TX_DREQ: u8;
const RX_DREQ: u8;
type Interrupt: interrupt::typelevel::Interrupt;
fn regs() -> crate::pac::i2c::I2c;
fn reset() -> crate::pac::resets::regs::Peripherals;
fn waker() -> &'static AtomicWaker;
}
pub trait Mode {}
pub trait SdaPin<T: Instance> {}
pub trait SclPin<T: Instance> {}
}
pub trait Mode: sealed::Mode {}
macro_rules! impl_mode {
($name:ident) => {
impl sealed::Mode for $name {}
impl Mode for $name {}
};
}
pub struct Blocking;
pub struct Async;
impl_mode!(Blocking);
impl_mode!(Async);
pub trait Instance: sealed::Instance {}
macro_rules! impl_instance {
($type:ident, $irq:ident, $reset:ident, $tx_dreq:expr, $rx_dreq:expr) => {
impl sealed::Instance for peripherals::$type {
const TX_DREQ: u8 = $tx_dreq;
const RX_DREQ: u8 = $rx_dreq;
type Interrupt = crate::interrupt::typelevel::$irq;
#[inline]
fn regs() -> pac::i2c::I2c {
pac::$type
}
#[inline]
fn reset() -> pac::resets::regs::Peripherals {
let mut ret = pac::resets::regs::Peripherals::default();
ret.$reset(true);
ret
}
#[inline]
fn waker() -> &'static AtomicWaker {
static WAKER: AtomicWaker = AtomicWaker::new();
&WAKER
}
}
impl Instance for peripherals::$type {}
};
}
impl_instance!(I2C0, I2C0_IRQ, set_i2c0, 32, 33);
impl_instance!(I2C1, I2C1_IRQ, set_i2c1, 34, 35);
pub trait SdaPin<T: Instance>: sealed::SdaPin<T> + crate::gpio::Pin {}
pub trait SclPin<T: Instance>: sealed::SclPin<T> + crate::gpio::Pin {}
macro_rules! impl_pin {
($pin:ident, $instance:ident, $function:ident) => {
impl sealed::$function<peripherals::$instance> for peripherals::$pin {}
impl $function<peripherals::$instance> for peripherals::$pin {}
};
}
impl_pin!(PIN_0, I2C0, SdaPin);
impl_pin!(PIN_1, I2C0, SclPin);
impl_pin!(PIN_2, I2C1, SdaPin);
impl_pin!(PIN_3, I2C1, SclPin);
impl_pin!(PIN_4, I2C0, SdaPin);
impl_pin!(PIN_5, I2C0, SclPin);
impl_pin!(PIN_6, I2C1, SdaPin);
impl_pin!(PIN_7, I2C1, SclPin);
impl_pin!(PIN_8, I2C0, SdaPin);
impl_pin!(PIN_9, I2C0, SclPin);
impl_pin!(PIN_10, I2C1, SdaPin);
impl_pin!(PIN_11, I2C1, SclPin);
impl_pin!(PIN_12, I2C0, SdaPin);
impl_pin!(PIN_13, I2C0, SclPin);
impl_pin!(PIN_14, I2C1, SdaPin);
impl_pin!(PIN_15, I2C1, SclPin);
impl_pin!(PIN_16, I2C0, SdaPin);
impl_pin!(PIN_17, I2C0, SclPin);
impl_pin!(PIN_18, I2C1, SdaPin);
impl_pin!(PIN_19, I2C1, SclPin);
impl_pin!(PIN_20, I2C0, SdaPin);
impl_pin!(PIN_21, I2C0, SclPin);
impl_pin!(PIN_22, I2C1, SdaPin);
impl_pin!(PIN_23, I2C1, SclPin);
impl_pin!(PIN_24, I2C0, SdaPin);
impl_pin!(PIN_25, I2C0, SclPin);
impl_pin!(PIN_26, I2C1, SdaPin);
impl_pin!(PIN_27, I2C1, SclPin);
impl_pin!(PIN_28, I2C0, SdaPin);
impl_pin!(PIN_29, I2C0, SclPin);

313
embassy-rp/src/i2c/i2c_device.rs Normal file
View file

@ -0,0 +1,313 @@
use core::future;
use core::marker::PhantomData;
use core::task::Poll;
use embassy_hal_internal::into_ref;
use pac::i2c;
use super::{i2c_reserved_addr, AbortReason, Error, Instance, InterruptHandler, SclPin, SdaPin, FIFO_SIZE};
use crate::interrupt::typelevel::{Binding, Interrupt};
use crate::{pac, Peripheral};
/// Received command
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Command {
/// General Call
GeneralCall(usize),
/// Read
Read,
/// Write+read
WriteRead(usize),
/// Write
Write(usize),
}
/// Possible responses to responding to a read
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum ReadStatus {
/// Transaction Complete, controller naked our last byte
Done,
/// Transaction Incomplete, controller trying to read more bytes than were provided
NeedMoreBytes,
/// Transaction Complere, but controller stopped reading bytes before we ran out
LeftoverBytes(u16),
}
/// Device Configuration
#[non_exhaustive]
#[derive(Copy, Clone)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct DeviceConfig {
/// Target Address
pub addr: u16,
}
impl Default for DeviceConfig {
fn default() -> Self {
Self { addr: 0x55 }
}
}
pub struct I2cDevice<'d, T: Instance> {
phantom: PhantomData<&'d mut T>,
}
impl<'d, T: Instance> I2cDevice<'d, T> {
pub fn new(
_peri: impl Peripheral<P = T> + 'd,
scl: impl Peripheral<P = impl SclPin<T>> + 'd,
sda: impl Peripheral<P = impl SdaPin<T>> + 'd,
_irq: impl Binding<T::Interrupt, InterruptHandler<T>>,
config: DeviceConfig,
) -> Self {
into_ref!(_peri, scl, sda);
assert!(!i2c_reserved_addr(config.addr));
assert!(config.addr != 0);
let p = T::regs();
let reset = T::reset();
crate::reset::reset(reset);
crate::reset::unreset_wait(reset);
p.ic_enable().write(|w| w.set_enable(false));
p.ic_sar().write(|w| w.set_ic_sar(config.addr));
p.ic_con().modify(|w| {
w.set_master_mode(false);
w.set_ic_slave_disable(false);
w.set_tx_empty_ctrl(true);
});
// Set FIFO watermarks to 1 to make things simpler. This is encoded
// by a register value of 0. Rx watermark should never change, but Tx watermark will be
// adjusted in operation.
p.ic_tx_tl().write(|w| w.set_tx_tl(0));
p.ic_rx_tl().write(|w| w.set_rx_tl(0));
// Configure SCL & SDA pins
scl.gpio().ctrl().write(|w| w.set_funcsel(3));
sda.gpio().ctrl().write(|w| w.set_funcsel(3));
scl.pad_ctrl().write(|w| {
w.set_schmitt(true);
w.set_ie(true);
w.set_od(false);
w.set_pue(true);
w.set_pde(false);
});
sda.pad_ctrl().write(|w| {
w.set_schmitt(true);
w.set_ie(true);
w.set_od(false);
w.set_pue(true);
w.set_pde(false);
});
// Clear interrupts
p.ic_clr_intr().read();
// Enable I2C block
p.ic_enable().write(|w| w.set_enable(true));
// mask everything initially
p.ic_intr_mask().write_value(i2c::regs::IcIntrMask(0));
T::Interrupt::unpend();
unsafe { T::Interrupt::enable() };
Self { phantom: PhantomData }
}
/// Calls `f` to check if we are ready or not.
/// If not, `g` is called once the waker is set (to eg enable the required interrupts).
#[inline(always)]
async fn wait_on<F, U, G>(&mut self, mut f: F, mut g: G) -> U
where
F: FnMut(&mut Self) -> Poll<U>,
G: FnMut(&mut Self),
{
future::poll_fn(|cx| {
let r = f(self);
trace!("intr p: {:013b}", T::regs().ic_raw_intr_stat().read().0);
if r.is_pending() {
T::waker().register(cx.waker());
g(self);
}
r
})
.await
}
#[inline(always)]
fn drain_fifo(&mut self, buffer: &mut [u8], offset: usize) -> usize {
let p = T::regs();
let len = p.ic_rxflr().read().rxflr() as usize;
let end = offset + len;
for i in offset..end {
buffer[i] = p.ic_data_cmd().read().dat();
}
end
}
#[inline(always)]
fn write_to_fifo(&mut self, buffer: &[u8]) {
let p = T::regs();
for byte in buffer {
p.ic_data_cmd().write(|w| w.set_dat(*byte));
}
}
/// Wait asynchronously for commands from an I2C master.
/// `buffer` is provided in case master does a 'write' and is unused for 'read'.
pub async fn listen(&mut self, buffer: &mut [u8]) -> Result<Command, Error> {
let p = T::regs();
p.ic_clr_intr().read();
// set rx fifo watermark to 1 byte
p.ic_rx_tl().write(|w| w.set_rx_tl(0));
let mut len = 0;
let ret = self
.wait_on(
|me| {
let stat = p.ic_raw_intr_stat().read();
if p.ic_rxflr().read().rxflr() > 0 {
len = me.drain_fifo(buffer, len);
// we're recieving data, set rx fifo watermark to 12 bytes to reduce interrupt noise
p.ic_rx_tl().write(|w| w.set_rx_tl(11));
}
if stat.restart_det() && stat.rd_req() {
Poll::Ready(Ok(Command::WriteRead(len)))
} else if stat.gen_call() && stat.stop_det() && len > 0 {
Poll::Ready(Ok(Command::GeneralCall(len)))
} else if stat.stop_det() {
Poll::Ready(Ok(Command::Write(len)))
} else if stat.rd_req() {
Poll::Ready(Ok(Command::Read))
} else {
Poll::Pending
}
},
|_me| {
p.ic_intr_mask().modify(|w| {
w.set_m_stop_det(true);
w.set_m_restart_det(true);
w.set_m_gen_call(true);
w.set_m_rd_req(true);
w.set_m_rx_full(true);
});
},
)
.await;
p.ic_clr_intr().read();
ret
}
/// Respond to an I2C master READ command, asynchronously.
pub async fn respond_to_read(&mut self, buffer: &[u8]) -> Result<ReadStatus, Error> {
let p = T::regs();
info!("buff: {}", buffer);
let mut chunks = buffer.chunks(FIFO_SIZE as usize);
let ret = self
.wait_on(
|me| {
if let Err(abort_reason) = me.read_and_clear_abort_reason() {
info!("ar: {}", abort_reason);
if let Error::Abort(AbortReason::TxNotEmpty(bytes)) = abort_reason {
return Poll::Ready(Ok(ReadStatus::LeftoverBytes(bytes)));
} else {
return Poll::Ready(Err(abort_reason));
}
}
if let Some(chunk) = chunks.next() {
me.write_to_fifo(chunk);
Poll::Pending
} else {
let stat = p.ic_raw_intr_stat().read();
if stat.rx_done() && stat.stop_det() {
Poll::Ready(Ok(ReadStatus::Done))
} else if stat.rd_req() {
Poll::Ready(Ok(ReadStatus::NeedMoreBytes))
} else {
Poll::Pending
}
}
},
|_me| {
p.ic_intr_mask().modify(|w| {
w.set_m_stop_det(true);
w.set_m_rx_done(true);
w.set_m_tx_empty(true);
w.set_m_tx_abrt(true);
})
},
)
.await;
p.ic_clr_intr().read();
ret
}
/// Respond to reads with the fill byte until the controller stops asking
pub async fn respond_till_stop(&mut self, fill: u8) -> Result<(), Error> {
loop {
match self.respond_to_read(&[fill]).await {
Ok(ReadStatus::NeedMoreBytes) => (),
Ok(_) => break Ok(()),
Err(e) => break Err(e),
}
}
}
#[inline(always)]
fn read_and_clear_abort_reason(&mut self) -> Result<(), Error> {
let p = T::regs();
let mut abort_reason = p.ic_tx_abrt_source().read();
// Mask off fifo flush count
let tx_flush_cnt = abort_reason.tx_flush_cnt();
abort_reason.set_tx_flush_cnt(0);
// Mask off master_dis
abort_reason.set_abrt_master_dis(false);
if abort_reason.0 != 0 {
// Note clearing the abort flag also clears the reason, and this
// instance of flag is clear-on-read! Note also the
// IC_CLR_TX_ABRT register always reads as 0.
p.ic_clr_tx_abrt().read();
let reason = if abort_reason.abrt_7b_addr_noack()
| abort_reason.abrt_10addr1_noack()
| abort_reason.abrt_10addr2_noack()
{
AbortReason::NoAcknowledge
} else if abort_reason.arb_lost() {
AbortReason::ArbitrationLoss
} else if abort_reason.abrt_slvflush_txfifo() {
AbortReason::TxNotEmpty(tx_flush_cnt)
} else {
AbortReason::Other(abort_reason.0)
};
Err(Error::Abort(reason))
} else {
Ok(())
}
}
}

175
embassy-rp/src/i2c/mod.rs Normal file
View file

@ -0,0 +1,175 @@
mod i2c;
mod i2c_device;
use core::marker::PhantomData;
use embassy_sync::waitqueue::AtomicWaker;
pub use i2c::{Config, I2c};
pub use i2c_device::{Command, DeviceConfig, I2cDevice, ReadStatus};
use crate::{interrupt, pac, peripherals};
const FIFO_SIZE: u8 = 16;
/// I2C error abort reason
#[derive(Debug, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum AbortReason {
/// A bus operation was not acknowledged, e.g. due to the addressed device
/// not being available on the bus or the device not being ready to process
/// requests at the moment
NoAcknowledge,
/// The arbitration was lost, e.g. electrical problems with the clock signal
ArbitrationLoss,
/// Transmit ended with data still in fifo
TxNotEmpty(u16),
Other(u32),
}
/// I2C error
#[derive(Debug, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Error {
/// I2C abort with error
Abort(AbortReason),
/// User passed in a read buffer that was 0 length
InvalidReadBufferLength,
/// User passed in a write buffer that was 0 length
InvalidWriteBufferLength,
/// Target i2c address is out of range
AddressOutOfRange(u16),
/// Target i2c address is reserved
AddressReserved(u16),
}
pub struct InterruptHandler<T: Instance> {
_uart: PhantomData<T>,
}
impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
// Mask interrupts and wake any task waiting for this interrupt
unsafe fn on_interrupt() {
let i2c = T::regs();
i2c.ic_intr_mask().write_value(pac::i2c::regs::IcIntrMask::default());
T::waker().wake();
}
}
fn i2c_reserved_addr(addr: u16) -> bool {
((addr & 0x78) == 0 || (addr & 0x78) == 0x78) && addr != 0
}
mod sealed {
use embassy_sync::waitqueue::AtomicWaker;
use crate::interrupt;
pub trait Instance {
const TX_DREQ: u8;
const RX_DREQ: u8;
type Interrupt: interrupt::typelevel::Interrupt;
fn regs() -> crate::pac::i2c::I2c;
fn reset() -> crate::pac::resets::regs::Peripherals;
fn waker() -> &'static AtomicWaker;
}
pub trait Mode {}
pub trait SdaPin<T: Instance> {}
pub trait SclPin<T: Instance> {}
}
pub trait Mode: sealed::Mode {}
macro_rules! impl_mode {
($name:ident) => {
impl sealed::Mode for $name {}
impl Mode for $name {}
};
}
pub struct Blocking;
pub struct Async;
impl_mode!(Blocking);
impl_mode!(Async);
pub trait Instance: sealed::Instance {}
macro_rules! impl_instance {
($type:ident, $irq:ident, $reset:ident, $tx_dreq:expr, $rx_dreq:expr) => {
impl sealed::Instance for peripherals::$type {
const TX_DREQ: u8 = $tx_dreq;
const RX_DREQ: u8 = $rx_dreq;
type Interrupt = crate::interrupt::typelevel::$irq;
#[inline]
fn regs() -> pac::i2c::I2c {
pac::$type
}
#[inline]
fn reset() -> pac::resets::regs::Peripherals {
let mut ret = pac::resets::regs::Peripherals::default();
ret.$reset(true);
ret
}
#[inline]
fn waker() -> &'static AtomicWaker {
static WAKER: AtomicWaker = AtomicWaker::new();
&WAKER
}
}
impl Instance for peripherals::$type {}
};
}
impl_instance!(I2C0, I2C0_IRQ, set_i2c0, 32, 33);
impl_instance!(I2C1, I2C1_IRQ, set_i2c1, 34, 35);
pub trait SdaPin<T: Instance>: sealed::SdaPin<T> + crate::gpio::Pin {}
pub trait SclPin<T: Instance>: sealed::SclPin<T> + crate::gpio::Pin {}
macro_rules! impl_pin {
($pin:ident, $instance:ident, $function:ident) => {
impl sealed::$function<peripherals::$instance> for peripherals::$pin {}
impl $function<peripherals::$instance> for peripherals::$pin {}
};
}
impl_pin!(PIN_0, I2C0, SdaPin);
impl_pin!(PIN_1, I2C0, SclPin);
impl_pin!(PIN_2, I2C1, SdaPin);
impl_pin!(PIN_3, I2C1, SclPin);
impl_pin!(PIN_4, I2C0, SdaPin);
impl_pin!(PIN_5, I2C0, SclPin);
impl_pin!(PIN_6, I2C1, SdaPin);
impl_pin!(PIN_7, I2C1, SclPin);
impl_pin!(PIN_8, I2C0, SdaPin);
impl_pin!(PIN_9, I2C0, SclPin);
impl_pin!(PIN_10, I2C1, SdaPin);
impl_pin!(PIN_11, I2C1, SclPin);
impl_pin!(PIN_12, I2C0, SdaPin);
impl_pin!(PIN_13, I2C0, SclPin);
impl_pin!(PIN_14, I2C1, SdaPin);
impl_pin!(PIN_15, I2C1, SclPin);
impl_pin!(PIN_16, I2C0, SdaPin);
impl_pin!(PIN_17, I2C0, SclPin);
impl_pin!(PIN_18, I2C1, SdaPin);
impl_pin!(PIN_19, I2C1, SclPin);
impl_pin!(PIN_20, I2C0, SdaPin);
impl_pin!(PIN_21, I2C0, SclPin);
impl_pin!(PIN_22, I2C1, SdaPin);
impl_pin!(PIN_23, I2C1, SclPin);
impl_pin!(PIN_24, I2C0, SdaPin);
impl_pin!(PIN_25, I2C0, SclPin);
impl_pin!(PIN_26, I2C1, SdaPin);
impl_pin!(PIN_27, I2C1, SclPin);
impl_pin!(PIN_28, I2C0, SdaPin);
impl_pin!(PIN_29, I2C0, SclPin);

215
tests/rp/src/bin/i2c.rs Normal file
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@ -0,0 +1,215 @@
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
use defmt::{assert_eq, info, panic, unwrap};
use embassy_executor::Executor;
use embassy_executor::_export::StaticCell;
use embassy_rp::bind_interrupts;
use embassy_rp::i2c::{self, Async, InterruptHandler};
use embassy_rp::multicore::{spawn_core1, Stack};
use embassy_rp::peripherals::{I2C0, I2C1};
use embedded_hal_1::i2c::Operation;
use embedded_hal_async::i2c::I2c;
use {defmt_rtt as _, panic_probe as _, panic_probe as _, panic_probe as _};
static mut CORE1_STACK: Stack<1024> = Stack::new();
static EXECUTOR0: StaticCell<Executor> = StaticCell::new();
static EXECUTOR1: StaticCell<Executor> = StaticCell::new();
use crate::i2c::AbortReason;
bind_interrupts!(struct Irqs {
I2C0_IRQ => InterruptHandler<I2C0>;
I2C1_IRQ => InterruptHandler<I2C1>;
});
const DEV_ADDR: u8 = 0x42;
#[embassy_executor::task]
async fn device_task(mut dev: i2c::I2cDevice<'static, I2C1>) -> ! {
info!("Device start");
let mut count = 0xD0;
loop {
let mut buf = [0u8; 128];
match dev.listen(&mut buf).await {
Ok(i2c::Command::GeneralCall(len)) => {
assert_eq!(buf[..len], [0xCA, 0x11], "recieving the general call failed");
info!("General Call - OK");
}
Ok(i2c::Command::Read) => {
loop {
//info!("Responding to read, count {}", count);
let a = dev.respond_to_read(&[count]).await;
//info!("x {}", a);
match a {
Ok(x) => match x {
i2c::ReadStatus::Done => break,
i2c::ReadStatus::NeedMoreBytes => count += 1,
i2c::ReadStatus::LeftoverBytes(x) => {
info!("tried to write {} extra bytes", x);
break;
}
},
Err(e) => match e {
embassy_rp::i2c::Error::Abort(AbortReason::Other(n)) => panic!("Other {:b}", n),
_ => panic!("{}", e),
},
}
}
count += 1;
}
Ok(i2c::Command::Write(len)) => match len {
1 => {
assert_eq!(buf[..len], [0xAA], "recieving a single byte failed");
info!("Single Byte Write - OK")
}
4 => {
assert_eq!(buf[..len], [0xAA, 0xBB, 0xCC, 0xDD], "recieving 4 bytes failed");
info!("4 Byte Write - OK")
}
32 => {
assert_eq!(
buf[..len],
[
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24,
25, 26, 27, 28, 29, 30, 31
],
"recieving 32 bytes failed"
);
info!("32 Byte Write - OK")
}
_ => panic!("Invalid write length {}", len),
},
Ok(i2c::Command::WriteRead(len)) => {
info!("device recieved write read: {:x}", buf[..len]);
match buf[0] {
0xC2 => {
let resp_buff = [0xD1, 0xD2, 0xD3, 0xD4];
dev.respond_to_read(&resp_buff).await.unwrap();
}
0xC8 => {
let mut resp_buff = [0u8; 32];
for i in 0..32 {
resp_buff[i] = i as u8;
}
dev.respond_to_read(&resp_buff).await.unwrap();
}
x => panic!("Invalid Write Read {:x}", x),
}
}
Err(e) => match e {
embassy_rp::i2c::Error::Abort(AbortReason::Other(n)) => panic!("Other {:b}", n),
_ => panic!("{}", e),
},
}
}
}
#[embassy_executor::task]
async fn controller_task(mut con: i2c::I2c<'static, I2C0, Async>) {
info!("Device start");
{
let buf = [0xCA, 0x11];
con.write(0u16, &buf).await.unwrap();
info!("Controler general call write");
embassy_futures::yield_now().await;
}
{
let mut buf = [0u8];
con.read(DEV_ADDR, &mut buf).await.unwrap();
assert_eq!(buf, [0xD0], "single byte read failed");
info!("single byte read - OK");
embassy_futures::yield_now().await;
}
{
let mut buf = [0u8; 4];
con.read(DEV_ADDR, &mut buf).await.unwrap();
assert_eq!(buf, [0xD1, 0xD2, 0xD3, 0xD4], "single byte read failed");
info!("4 byte read - OK");
embassy_futures::yield_now().await;
}
{
let buf = [0xAA];
con.write(DEV_ADDR, &buf).await.unwrap();
info!("Controler single byte write");
embassy_futures::yield_now().await;
}
{
let buf = [0xAA, 0xBB, 0xCC, 0xDD];
con.write(DEV_ADDR, &buf).await.unwrap();
info!("Controler 4 byte write");
embassy_futures::yield_now().await;
}
{
let mut buf = [0u8; 32];
for i in 0..32 {
buf[i] = i as u8;
}
con.write(DEV_ADDR, &buf).await.unwrap();
info!("Controler 32 byte write");
embassy_futures::yield_now().await;
}
{
let mut buf = [0u8; 4];
let mut ops = [Operation::Write(&[0xC2]), Operation::Read(&mut buf)];
con.transaction(DEV_ADDR, &mut ops).await.unwrap();
assert_eq!(buf, [0xD1, 0xD2, 0xD3, 0xD4], "write_read failed");
info!("write_read - OK");
embassy_futures::yield_now().await;
}
{
let mut buf = [0u8; 32];
let mut ops = [Operation::Write(&[0xC8]), Operation::Read(&mut buf)];
con.transaction(DEV_ADDR, &mut ops).await.unwrap();
assert_eq!(
buf,
[
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27,
28, 29, 30, 31
],
"write_read of 32 bytes failed"
);
info!("large write_read - OK")
}
info!("Test OK");
cortex_m::asm::bkpt();
}
#[cortex_m_rt::entry]
fn main() -> ! {
let p = embassy_rp::init(Default::default());
info!("Hello World!");
let d_sda = p.PIN_19;
let d_scl = p.PIN_18;
let mut config = i2c::DeviceConfig::default();
config.addr = DEV_ADDR as u16;
let device = i2c::I2cDevice::new(p.I2C1, d_sda, d_scl, Irqs, config);
spawn_core1(p.CORE1, unsafe { &mut CORE1_STACK }, move || {
let executor1 = EXECUTOR1.init(Executor::new());
executor1.run(|spawner| unwrap!(spawner.spawn(device_task(device))));
});
let executor0 = EXECUTOR0.init(Executor::new());
let c_sda = p.PIN_21;
let c_scl = p.PIN_20;
let mut config = i2c::Config::default();
config.frequency = 5_000;
let controller = i2c::I2c::new_async(p.I2C0, c_sda, c_scl, Irqs, config);
executor0.run(|spawner| unwrap!(spawner.spawn(controller_task(controller))));
}