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i2c.rs
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i2c.rs
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//! Inter-Integrated Circuit (I2C) bus
use crate::{
gpio::{gpioa, gpiob, gpiof, AF4},
hal::blocking::i2c::{Read, Write, WriteRead},
pac::{I2C1, I2C2},
rcc::{Clocks, APB1},
time::Hertz,
};
use cast::u8;
/// I2C error
#[derive(Debug)]
#[non_exhaustive]
pub enum Error {
/// Arbitration loss
Arbitration,
/// Bus error
Bus,
/// Bus busy
Busy,
/// Not Acknowledge received
Nack,
// Overrun, // slave mode only
// Pec, // SMBUS mode only
// Timeout, // SMBUS mode only
// Alert, // SMBUS mode only
}
// FIXME these should be "closed" traits
/// SCL pin -- DO NOT IMPLEMENT THIS TRAIT
pub unsafe trait SclPin<I2C> {}
/// SDA pin -- DO NOT IMPLEMENT THIS TRAIT
pub unsafe trait SdaPin<I2C> {}
// unsafe impl SclPin<I2C1> for PA15<AF4> {}
unsafe impl SclPin<I2C1> for gpiob::PB6<AF4> {}
unsafe impl SclPin<I2C1> for gpiob::PB8<AF4> {}
unsafe impl SclPin<I2C2> for gpioa::PA9<AF4> {}
unsafe impl SclPin<I2C2> for gpiof::PF1<AF4> {}
#[cfg(any(feature = "gpio-f303", feature = "gpio-f303e", feature = "gpio-f373"))]
unsafe impl SclPin<I2C2> for gpiof::PF6<AF4> {}
// unsafe impl SdaPin<I2C1> for PA14<AF4> {}
unsafe impl SdaPin<I2C1> for gpiob::PB7<AF4> {}
unsafe impl SdaPin<I2C1> for gpiob::PB9<AF4> {}
unsafe impl SdaPin<I2C2> for gpioa::PA10<AF4> {}
unsafe impl SdaPin<I2C2> for gpiof::PF0<AF4> {}
/// I2C peripheral operating in master mode
pub struct I2c<I2C, PINS> {
i2c: I2C,
pins: PINS,
}
macro_rules! busy_wait {
($i2c:expr, $flag:ident, $variant:ident) => {
loop {
let isr = $i2c.isr.read();
let icr = &$i2c.icr;
if isr.arlo().is_lost() {
icr.write(|w| w.arlocf().clear());
return Err(Error::Arbitration);
} else if isr.berr().is_error() {
icr.write(|w| w.berrcf().clear());
return Err(Error::Bus);
} else if isr.nackf().is_nack() {
while $i2c.isr.read().stopf().is_no_stop() {}
icr.write(|w| w.nackcf().clear());
icr.write(|w| w.stopcf().clear());
return Err(Error::Nack);
} else if isr.$flag().$variant() {
break;
}
}
};
}
macro_rules! hal {
($($I2CX:ident: ($i2cX:ident, $i2cXen:ident, $i2cXrst:ident),)+) => {
$(
impl<SCL, SDA> I2c<$I2CX, (SCL, SDA)> {
/// Configures the I2C peripheral to work in master mode
pub fn $i2cX<F>(
i2c: $I2CX,
pins: (SCL, SDA),
freq: F,
clocks: Clocks,
apb1: &mut APB1,
) -> Self where
F: Into<Hertz>,
SCL: SclPin<$I2CX>,
SDA: SdaPin<$I2CX>,
{
apb1.enr().modify(|_, w| w.$i2cXen().enabled());
apb1.rstr().modify(|_, w| w.$i2cXrst().reset());
apb1.rstr().modify(|_, w| w.$i2cXrst().clear_bit());
let freq = freq.into().0;
assert!(freq <= 1_000_000);
// TODO review compliance with the timing requirements of I2C
// 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 i2cclk = clocks.pclk1().0;
let ratio = i2cclk / freq - 4;
let (presc, scll, sclh, sdadel, scldel) = if freq >= 100_000 {
// fast-mode or fast-mode plus
// here we pick SCLL + 1 = 2 * (SCLH + 1)
let presc = ratio / 387;
let sclh = ((ratio / (presc + 1)) - 3) / 3;
let scll = 2 * (sclh + 1) - 1;
let (sdadel, scldel) = if freq > 400_000 {
// fast-mode plus
let sdadel = 0;
let scldel = i2cclk / 4_000_000 / (presc + 1) - 1;
(sdadel, scldel)
} else {
// fast-mode
let sdadel = i2cclk / 8_000_000 / (presc + 1);
let scldel = i2cclk / 2_000_000 / (presc + 1) - 1;
(sdadel, scldel)
};
(presc, scll, sclh, sdadel, scldel)
} else {
// standard-mode
// here we pick SCLL = SCLH
let presc = ratio / 514;
let sclh = ((ratio / (presc + 1)) - 2) / 2;
let scll = sclh;
let sdadel = i2cclk / 2_000_000 / (presc + 1);
let scldel = i2cclk / 800_000 / (presc + 1) - 1;
(presc, scll, sclh, sdadel, scldel)
};
let presc = u8(presc).unwrap();
assert!(presc < 16);
let scldel = u8(scldel).unwrap();
assert!(scldel < 16);
let sdadel = u8(sdadel).unwrap();
assert!(sdadel < 16);
let sclh = u8(sclh).unwrap();
let scll = u8(scll).unwrap();
// Configure for "fast mode" (400 KHz)
// NOTE(write): writes all non-reserved bits.
i2c.timingr.write(|w| {
w.presc()
.bits(presc)
.scll()
.bits(scll)
.sclh()
.bits(sclh)
.sdadel()
.bits(sdadel)
.scldel()
.bits(scldel)
});
// Enable the peripheral
i2c.cr1.modify(|_, w| w.pe().set_bit());
I2c { i2c, pins }
}
/// Releases the I2C peripheral and associated pins
pub fn free(self) -> ($I2CX, (SCL, SDA)) {
(self.i2c, self.pins)
}
}
impl<PINS> Read for I2c<$I2CX, PINS> {
type Error = Error;
fn read(&mut self, addr: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
assert!(buffer.len() > 0);
// Detect Bus busy
if self.i2c.isr.read().busy().is_busy() {
return Err(Error::Busy);
}
let end = buffer.len() / 0xFF;
// Process 255 bytes at a time
for (i, buffer) in buffer.chunks_mut(0xFF).enumerate() {
// Prepare to receive `bytes`
self.i2c.cr2.modify(|_, w| {
if i == 0 {
w
.add10().bit7()
.sadd().bits((addr << 1) as u16)
.rd_wrn().read()
.start().start();
}
w.nbytes().bits(buffer.len() as u8);
if i != end {
w.reload().not_completed()
} else {
w.reload().completed().autoend().automatic()
}
});
for byte in buffer {
// Wait until we have received something
busy_wait!(self.i2c, rxne, is_not_empty);
*byte = self.i2c.rxdr.read().rxdata().bits();
}
if i != end {
// Wait until the last transmission is finished
busy_wait!(self.i2c, tcr, is_complete);
}
}
// automatic STOP
// Wait until the last transmission is finished
busy_wait!(self.i2c, stopf, is_stop);
self.i2c.icr.write(|w| w.stopcf().clear());
Ok(())
}
}
impl<PINS> Write for I2c<$I2CX, PINS> {
type Error = Error;
fn write(&mut self, addr: u8, bytes: &[u8]) -> Result<(), Error> {
// Detect Bus busy
if self.i2c.isr.read().busy().is_busy() {
return Err(Error::Busy);
}
if bytes.len() == 0 {
// 0 byte write
self.i2c.cr2.modify(|_, w| {
w
.add10().bit7()
.sadd().bits((addr << 1) as u16)
.rd_wrn().write()
.nbytes().bits(0)
.reload().completed()
.autoend().automatic()
.start().start()
});
} else {
let end = bytes.len() / 0xFF;
// Process 255 bytes at a time
for (i, bytes) in bytes.chunks(0xFF).enumerate() {
// Prepare to send `bytes`
self.i2c.cr2.modify(|_, w| {
if i == 0 {
w
.add10().bit7()
.sadd().bits((addr << 1) as u16)
.rd_wrn().write()
.start().start();
}
w.nbytes().bits(bytes.len() as u8);
if i != end {
w.reload().not_completed()
} else {
w.reload().completed().autoend().automatic()
}
});
for byte in bytes {
// Wait until we are allowed to send data
// (START has been ACKed or last byte went through)
busy_wait!(self.i2c, txis, is_empty);
// Put byte on the wire
// NOTE(write): Writes all non-reserved bits.
self.i2c.txdr.write(|w| w.txdata().bits(*byte));
}
if i != end {
// Wait until the last transmission is finished
busy_wait!(self.i2c, tcr, is_complete);
}
}
}
// automatic STOP
// Wait until the last transmission is finished
busy_wait!(self.i2c, stopf, is_stop);
self.i2c.icr.write(|w| w.stopcf().clear());
Ok(())
}
}
impl<PINS> WriteRead for I2c<$I2CX, PINS> {
type Error = Error;
fn write_read(
&mut self,
addr: u8,
bytes: &[u8],
buffer: &mut [u8],
) -> Result<(), Error> {
assert!(bytes.len() > 0 && buffer.len() > 0);
// Detect Bus busy
if self.i2c.isr.read().busy().is_busy() {
return Err(Error::Busy);
}
let end = buffer.len() / 0xFF;
// Process 255 bytes at a time
for (i, bytes) in bytes.chunks(0xFF).enumerate() {
// Prepare to send `bytes`
self.i2c.cr2.modify(|_, w| {
if i == 0 {
w
.add10().bit7()
.sadd().bits((addr << 1) as u16)
.rd_wrn().write()
.start().start();
}
w.nbytes().bits(bytes.len() as u8);
if i != end {
w.reload().not_completed()
} else {
w.reload().completed().autoend().software()
}
});
for byte in bytes {
// Wait until we are allowed to send data
// (START has been ACKed or last byte went through)
busy_wait!(self.i2c, txis, is_empty);
// Put byte on the wire
// NOTE(write): Writes all non-reserved bits.
self.i2c.txdr.write(|w| w.txdata().bits(*byte));
}
if i != end {
// Wait until the last transmission is finished
busy_wait!(self.i2c, tcr, is_complete);
}
}
// Wait until the last transmission is finished
busy_wait!(self.i2c, tc, is_complete);
// restart
let end = buffer.len() / 0xFF;
// Process 255 bytes at a time
for (i, buffer) in buffer.chunks_mut(0xFF).enumerate() {
// Prepare to receive `bytes`
self.i2c.cr2.modify(|_, w| {
if i == 0 {
w
.add10().bit7()
.sadd().bits((addr << 1) as u16)
.rd_wrn().read()
.start().start();
}
w.nbytes().bits(buffer.len() as u8);
if i != end {
w.reload().not_completed()
} else {
w.reload().completed().autoend().automatic()
}
});
for byte in buffer {
// Wait until we have received something
busy_wait!(self.i2c, rxne, is_not_empty);
*byte = self.i2c.rxdr.read().rxdata().bits();
}
if i != end {
// Wait until the last transmission is finished
busy_wait!(self.i2c, tcr, is_complete);
}
}
// automatic STOP
// Wait until the last transmission is finished
busy_wait!(self.i2c, stopf, is_stop);
self.i2c.icr.write(|w| w.stopcf().clear());
Ok(())
}
}
)+
}
}
#[cfg(any(
feature = "stm32f301",
feature = "stm32f302",
feature = "stm32f303",
feature = "stm32f318",
feature = "stm32f328",
feature = "stm32f358",
feature = "stm32f373",
feature = "stm32f378",
feature = "stm32f398",
))]
hal! {
I2C1: (i2c1, i2c1en, i2c1rst),
I2C2: (i2c2, i2c2en, i2c2rst),
}
#[cfg(feature = "stm32f334")]
hal! {
I2C1: (i2c1, i2c1en, i2c1rst),
}