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i2cdev.c
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i2cdev.c
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/**
* @file i2cdev.c
*
* ESP-IDF I2C master thread-safe functions for communication with I2C slave
*
* Copyright (C) 2018 Ruslan V. Uss (https://github.com/UncleRus)
* MIT Licensed as described in the file LICENSE
*/
#include "i2cdev.h"
#include <string.h>
#include <freertos/task.h>
#include <esp_log.h>
static const char *TAG = "I2C_DEV";
static SemaphoreHandle_t locks[I2C_NUM_MAX] = { 0 };
static i2c_config_t configs[I2C_NUM_MAX];
#define SEMAPHORE_TAKE(port) do { \
if (!xSemaphoreTake(locks[port], CONFIG_I2CDEV_TIMEOUT / portTICK_RATE_MS)) \
{ \
ESP_LOGE(TAG, "Could not take port mutex %d", port); \
return ESP_ERR_TIMEOUT; \
} \
} while (0)
#define SEMAPHORE_GIVE(port) do { \
if (!xSemaphoreGive(locks[port])) \
{ \
ESP_LOGE(TAG, "Could not give port mutex %d", port); \
return ESP_FAIL; \
} \
} while (0)
esp_err_t i2cdev_init()
{
for (int i = 0; i < I2C_NUM_MAX; i++)
{
if (locks[i]) continue;
locks[i] = xSemaphoreCreateMutex();
if (!locks[i])
{
ESP_LOGE(TAG, "Could not create port mutex %d", i);
return ESP_FAIL;
}
}
return ESP_OK;
}
esp_err_t i2cdev_done()
{
for (int i = 0; i < I2C_NUM_MAX; i++)
{
if (!locks[i]) continue;
SEMAPHORE_TAKE(i);
i2c_driver_delete(i);
SEMAPHORE_GIVE(i);
vSemaphoreDelete(locks[i]);
locks[i] = NULL;
}
return ESP_OK;
}
esp_err_t i2c_dev_create_mutex(i2c_dev_t *dev)
{
if (!dev) return ESP_ERR_INVALID_ARG;
ESP_LOGV(TAG, "[0x%02x at %d] creating mutex", dev->addr, dev->port);
dev->mutex = xSemaphoreCreateMutex();
if (!dev->mutex)
{
ESP_LOGE(TAG, "[0x%02x at %d] Could not create device mutex", dev->addr, dev->port);
return ESP_FAIL;
}
return ESP_OK;
}
esp_err_t i2c_dev_delete_mutex(i2c_dev_t *dev)
{
if (!dev) return ESP_ERR_INVALID_ARG;
ESP_LOGV(TAG, "[0x%02x at %d] deleting mutex", dev->addr, dev->port);
vSemaphoreDelete(dev->mutex);
return ESP_OK;
}
esp_err_t i2c_dev_take_mutex(i2c_dev_t *dev)
{
if (!dev) return ESP_ERR_INVALID_ARG;
ESP_LOGV(TAG, "[0x%02x at %d] taking mutex", dev->addr, dev->port);
if (!xSemaphoreTake(dev->mutex, CONFIG_I2CDEV_TIMEOUT / portTICK_RATE_MS))
{
ESP_LOGE(TAG, "[0x%02x at %d] Could not take device mutex", dev->addr, dev->port);
return ESP_ERR_TIMEOUT;
}
return ESP_OK;
}
esp_err_t i2c_dev_give_mutex(i2c_dev_t *dev)
{
if (!dev) return ESP_ERR_INVALID_ARG;
ESP_LOGV(TAG, "[0x%02x at %d] giving mutex", dev->addr, dev->port);
if (!xSemaphoreGive(dev->mutex))
{
ESP_LOGE(TAG, "[0x%02x at %d] Could not give device mutex", dev->addr, dev->port);
return ESP_FAIL;
}
return ESP_OK;
}
inline static bool cfg_equal(const i2c_config_t *a, const i2c_config_t *b)
{
return a->scl_io_num == b->scl_io_num
&& a->sda_io_num == b->sda_io_num
&& a->scl_pullup_en == b->scl_pullup_en
&& a->sda_pullup_en == b->sda_pullup_en
&& a->master.clk_speed == b->master.clk_speed;
}
static esp_err_t i2c_setup_port(i2c_port_t port, const i2c_config_t *cfg)
{
if (!cfg) return ESP_ERR_INVALID_ARG;
esp_err_t res;
if (!cfg_equal(cfg, &configs[port]))
{
ESP_LOGD(TAG, "Reconfiguring I2C driver on port %d", port);
i2c_config_t temp;
memcpy(&temp, cfg, sizeof(i2c_config_t));
temp.mode = I2C_MODE_MASTER;
i2c_driver_delete(port);
if ((res = i2c_param_config(port, &temp)) != ESP_OK)
return res;
if ((res = i2c_driver_install(port, temp.mode, 0, 0, 0)) != ESP_OK)
return res;
memcpy(&configs[port], &temp, sizeof(i2c_config_t));
}
return ESP_OK;
}
esp_err_t i2c_dev_read(const i2c_dev_t *dev, const void *out_data, size_t out_size, void *in_data, size_t in_size)
{
if (!dev || !in_data || !in_size) return ESP_ERR_INVALID_ARG;
SEMAPHORE_TAKE(dev->port);
esp_err_t res = i2c_setup_port(dev->port, &dev->cfg);
if (res == ESP_OK)
{
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
if (out_data && out_size)
{
i2c_master_start(cmd);
i2c_master_write_byte(cmd, dev->addr << 1, true);
i2c_master_write(cmd, (void *)out_data, out_size, true);
}
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (dev->addr << 1) | 1, true);
i2c_master_read(cmd, in_data, in_size, I2C_MASTER_LAST_NACK);
i2c_master_stop(cmd);
res = i2c_master_cmd_begin(dev->port, cmd, CONFIG_I2CDEV_TIMEOUT / portTICK_RATE_MS);
if (res != ESP_OK)
ESP_LOGE(TAG, "Could not read from device [0x%02x at %d]: %d", dev->addr, dev->port, res);
i2c_cmd_link_delete(cmd);
}
SEMAPHORE_GIVE(dev->port);
return res;
}
esp_err_t i2c_dev_write(const i2c_dev_t *dev, const void *out_reg, size_t out_reg_size, const void *out_data, size_t out_size)
{
if (!dev || !out_data || !out_size) return ESP_ERR_INVALID_ARG;
SEMAPHORE_TAKE(dev->port);
esp_err_t res = i2c_setup_port(dev->port, &dev->cfg);
if (res == ESP_OK)
{
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, dev->addr << 1, true);
if (out_reg && out_reg_size)
i2c_master_write(cmd, (void *)out_reg, out_reg_size, true);
i2c_master_write(cmd, (void *)out_data, out_size, true);
i2c_master_stop(cmd);
esp_err_t res = i2c_master_cmd_begin(dev->port, cmd, CONFIG_I2CDEV_TIMEOUT / portTICK_RATE_MS);
if (res != ESP_OK)
ESP_LOGE(TAG, "Could not write to device [0x%02x at %d]: %d", dev->addr, dev->port, res);
i2c_cmd_link_delete(cmd);
}
SEMAPHORE_GIVE(dev->port);
return res;
}