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

//! Inter-Integrated-Circuit (I2C)
#![macro_use]

#[cfg_attr(i2c_v1, path = "v1.rs")]
#[cfg_attr(i2c_v2, path = "v2.rs")]
mod _version;

use core::future::Future;
use core::marker::PhantomData;

use embassy_hal_internal::{into_ref, Peripheral, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
#[cfg(feature = "time")]
use embassy_time::{Duration, Instant};

use crate::dma::NoDma;
use crate::gpio::sealed::AFType;
use crate::gpio::Pull;
use crate::interrupt::typelevel::Interrupt;
use crate::time::Hertz;
use crate::{interrupt, peripherals};

/// I2C error.
#[derive(Debug, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Error {
    /// Bus error
    Bus,
    /// Arbitration lost
    Arbitration,
    /// ACK not received (either to the address or to a data byte)
    Nack,
    /// Timeout
    Timeout,
    /// CRC error
    Crc,
    /// Overrun error
    Overrun,
    /// Zero-length transfers are not allowed.
    ZeroLengthTransfer,
}

/// I2C config
#[non_exhaustive]
#[derive(Copy, Clone)]
pub struct Config {
    /// Enable internal pullup on SDA.
    ///
    /// Using external pullup resistors is recommended for I2C. If you do
    /// have external pullups you should not enable this.
    pub sda_pullup: bool,
    /// Enable internal pullup on SCL.
    ///
    /// Using external pullup resistors is recommended for I2C. If you do
    /// have external pullups you should not enable this.
    pub scl_pullup: bool,
    /// Timeout.
    #[cfg(feature = "time")]
    pub timeout: embassy_time::Duration,
}

impl Default for Config {
    fn default() -> Self {
        Self {
            sda_pullup: false,
            scl_pullup: false,
            #[cfg(feature = "time")]
            timeout: embassy_time::Duration::from_millis(1000),
        }
    }
}

/// I2C driver.
pub struct I2c<'d, T: Instance, TXDMA = NoDma, RXDMA = NoDma> {
    _peri: PeripheralRef<'d, T>,
    #[allow(dead_code)]
    tx_dma: PeripheralRef<'d, TXDMA>,
    #[allow(dead_code)]
    rx_dma: PeripheralRef<'d, RXDMA>,
    #[cfg(feature = "time")]
    timeout: Duration,
}

impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
    /// Create a new I2C driver.
    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 interrupt::typelevel::Binding<T::EventInterrupt, EventInterruptHandler<T>>
            + interrupt::typelevel::Binding<T::ErrorInterrupt, ErrorInterruptHandler<T>>
            + 'd,
        tx_dma: impl Peripheral<P = TXDMA> + 'd,
        rx_dma: impl Peripheral<P = RXDMA> + 'd,
        freq: Hertz,
        config: Config,
    ) -> Self {
        into_ref!(peri, scl, sda, tx_dma, rx_dma);

        T::enable_and_reset();

        scl.set_as_af_pull(
            scl.af_num(),
            AFType::OutputOpenDrain,
            match config.scl_pullup {
                true => Pull::Up,
                false => Pull::None,
            },
        );
        sda.set_as_af_pull(
            sda.af_num(),
            AFType::OutputOpenDrain,
            match config.sda_pullup {
                true => Pull::Up,
                false => Pull::None,
            },
        );

        unsafe { T::EventInterrupt::enable() };
        unsafe { T::ErrorInterrupt::enable() };

        let mut this = Self {
            _peri: peri,
            tx_dma,
            rx_dma,
            #[cfg(feature = "time")]
            timeout: config.timeout,
        };

        this.init(freq, config);

        this
    }

    fn timeout(&self) -> Timeout {
        Timeout {
            #[cfg(feature = "time")]
            deadline: Instant::now() + self.timeout,
        }
    }
}

#[derive(Copy, Clone)]
struct Timeout {
    #[cfg(feature = "time")]
    deadline: Instant,
}

#[allow(dead_code)]
impl Timeout {
    #[cfg(not(feature = "time"))]
    #[inline]
    fn check(self) -> Result<(), Error> {
        Ok(())
    }

    #[cfg(feature = "time")]
    #[inline]
    fn check(self) -> Result<(), Error> {
        if Instant::now() > self.deadline {
            Err(Error::Timeout)
        } else {
            Ok(())
        }
    }

    #[cfg(not(feature = "time"))]
    #[inline]
    fn with<R>(self, fut: impl Future<Output = Result<R, Error>>) -> impl Future<Output = Result<R, Error>> {
        fut
    }

    #[cfg(feature = "time")]
    #[inline]
    fn with<R>(self, fut: impl Future<Output = Result<R, Error>>) -> impl Future<Output = Result<R, Error>> {
        use futures::FutureExt;

        embassy_futures::select::select(embassy_time::Timer::at(self.deadline), fut).map(|r| match r {
            embassy_futures::select::Either::First(_) => Err(Error::Timeout),
            embassy_futures::select::Either::Second(r) => r,
        })
    }
}

pub(crate) mod sealed {
    use super::*;

    pub struct State {
        #[allow(unused)]
        pub waker: AtomicWaker,
    }

    impl State {
        pub const fn new() -> Self {
            Self {
                waker: AtomicWaker::new(),
            }
        }
    }

    pub trait Instance: crate::rcc::RccPeripheral {
        fn regs() -> crate::pac::i2c::I2c;
        fn state() -> &'static State;
    }
}

/// I2C peripheral instance
pub trait Instance: sealed::Instance + 'static {
    /// Event interrupt for this instance
    type EventInterrupt: interrupt::typelevel::Interrupt;
    /// Error interrupt for this instance
    type ErrorInterrupt: interrupt::typelevel::Interrupt;
}

pin_trait!(SclPin, Instance);
pin_trait!(SdaPin, Instance);
dma_trait!(RxDma, Instance);
dma_trait!(TxDma, Instance);

/// Event interrupt handler.
pub struct EventInterruptHandler<T: Instance> {
    _phantom: PhantomData<T>,
}

impl<T: Instance> interrupt::typelevel::Handler<T::EventInterrupt> for EventInterruptHandler<T> {
    unsafe fn on_interrupt() {
        _version::on_interrupt::<T>()
    }
}

/// Error interrupt handler.
pub struct ErrorInterruptHandler<T: Instance> {
    _phantom: PhantomData<T>,
}

impl<T: Instance> interrupt::typelevel::Handler<T::ErrorInterrupt> for ErrorInterruptHandler<T> {
    unsafe fn on_interrupt() {
        _version::on_interrupt::<T>()
    }
}

foreach_peripheral!(
    (i2c, $inst:ident) => {
        impl sealed::Instance for peripherals::$inst {
            fn regs() -> crate::pac::i2c::I2c {
                crate::pac::$inst
            }

            fn state() -> &'static sealed::State {
                static STATE: sealed::State = sealed::State::new();
                &STATE
            }
        }

        impl Instance for peripherals::$inst {
            type EventInterrupt = crate::_generated::peripheral_interrupts::$inst::EV;
            type ErrorInterrupt = crate::_generated::peripheral_interrupts::$inst::ER;
        }
    };
);

impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Read for I2c<'d, T> {
    type Error = Error;

    fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
        self.blocking_read(address, buffer)
    }
}

impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Write for I2c<'d, T> {
    type Error = Error;

    fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
        self.blocking_write(address, write)
    }
}

impl<'d, T: Instance> embedded_hal_02::blocking::i2c::WriteRead for I2c<'d, T> {
    type Error = Error;

    fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
        self.blocking_write_read(address, write, read)
    }
}

impl embedded_hal_1::i2c::Error for Error {
    fn kind(&self) -> embedded_hal_1::i2c::ErrorKind {
        match *self {
            Self::Bus => embedded_hal_1::i2c::ErrorKind::Bus,
            Self::Arbitration => embedded_hal_1::i2c::ErrorKind::ArbitrationLoss,
            Self::Nack => {
                embedded_hal_1::i2c::ErrorKind::NoAcknowledge(embedded_hal_1::i2c::NoAcknowledgeSource::Unknown)
            }
            Self::Timeout => embedded_hal_1::i2c::ErrorKind::Other,
            Self::Crc => embedded_hal_1::i2c::ErrorKind::Other,
            Self::Overrun => embedded_hal_1::i2c::ErrorKind::Overrun,
            Self::ZeroLengthTransfer => embedded_hal_1::i2c::ErrorKind::Other,
        }
    }
}

impl<'d, T: Instance, TXDMA, RXDMA> embedded_hal_1::i2c::ErrorType for I2c<'d, T, TXDMA, RXDMA> {
    type Error = Error;
}

impl<'d, T: Instance> embedded_hal_1::i2c::I2c for I2c<'d, T, NoDma, NoDma> {
    fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
        self.blocking_read(address, read)
    }

    fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
        self.blocking_write(address, write)
    }

    fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
        self.blocking_write_read(address, write, read)
    }

    fn transaction(
        &mut self,
        _address: u8,
        _operations: &mut [embedded_hal_1::i2c::Operation<'_>],
    ) -> Result<(), Self::Error> {
        todo!();
    }
}

impl<'d, T: Instance, TXDMA: TxDma<T>, RXDMA: RxDma<T>> embedded_hal_async::i2c::I2c for I2c<'d, T, TXDMA, RXDMA> {
    async fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
        self.read(address, read).await
    }

    async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
        self.write(address, write).await
    }

    async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
        self.write_read(address, write, read).await
    }

    async fn transaction(
        &mut self,
        address: u8,
        operations: &mut [embedded_hal_1::i2c::Operation<'_>],
    ) -> Result<(), Self::Error> {
        let _ = address;
        let _ = operations;
        todo!()
    }
}