diff --git a/embassy-nrf/src/twim.rs b/embassy-nrf/src/twim.rs index d0518807c..4a239e8b5 100644 --- a/embassy-nrf/src/twim.rs +++ b/embassy-nrf/src/twim.rs @@ -105,14 +105,6 @@ impl interrupt::typelevel::Handler for InterruptHandl let r = T::regs(); let s = T::state(); - // Workaround for lack of LASTRX_SUSPEND short in some nRF chips - // Do this first to minimize latency - #[cfg(any(feature = "nrf52832", feature = "_nrf5340", feature = "_nrf9120"))] - if r.events_lastrx.read().bits() != 0 { - r.tasks_suspend.write(|w| unsafe { w.bits(1) }); - r.events_lastrx.reset(); - } - if r.events_suspended.read().bits() != 0 { s.end_waker.wake(); r.intenclr.write(|w| w.suspended().clear()); @@ -381,7 +373,6 @@ impl<'d, T: Instance> Twim<'d, T> { operations: &mut [Operation<'_>], tx_ram_buffer: Option<&mut [MaybeUninit; FORCE_COPY_BUFFER_SIZE]>, inten: bool, - stop: bool, ) -> Result<(), Error> { let r = T::regs(); @@ -401,14 +392,12 @@ impl<'d, T: Instance> Twim<'d, T> { r.intenclr .write(|w| w.suspended().clear().stopped().clear().error().clear()); } - #[cfg(any(feature = "nrf52832", feature = "_nrf5340", feature = "_nrf9120"))] - r.intenclr.write(|w| w.lastrx().clear()); match operations { [Operation::Read(rd_buffer), Operation::Write(wr_buffer), rest @ ..] if !rd_buffer.is_empty() && !wr_buffer.is_empty() => { - let stop = stop && rest.is_empty(); + let stop = rest.is_empty(); // Set up DMA buffers. unsafe { @@ -433,11 +422,9 @@ impl<'d, T: Instance> Twim<'d, T> { r.tasks_resume.write(|w| unsafe { w.bits(1) }); } } - [Operation::Write(wr_buffer), Operation::Read(rd_buffer), rest @ ..] + [Operation::Write(wr_buffer), Operation::Read(rd_buffer)] if !wr_buffer.is_empty() && !rd_buffer.is_empty() => { - let stop = stop && rest.is_empty(); - // Set up DMA buffers. unsafe { self.set_tx_buffer(wr_buffer, tx_ram_buffer)?; @@ -447,18 +434,9 @@ impl<'d, T: Instance> Twim<'d, T> { // Start write+read operation. r.shorts.write(|w| { w.lasttx_startrx().enabled(); - if stop { - w.lastrx_stop().enabled(); - } else { - #[cfg(not(any(feature = "nrf52832", feature = "_nrf5340", feature = "_nrf9120")))] - w.lastrx_suspend().enabled(); - } + w.lastrx_stop().enabled(); w }); - #[cfg(any(feature = "nrf52832", feature = "_nrf5340", feature = "_nrf9120"))] - if !stop { - r.intenset.write(|w| w.lastrx().set()); - } r.tasks_starttx.write(|w| unsafe { w.bits(1) }); @@ -466,9 +444,7 @@ impl<'d, T: Instance> Twim<'d, T> { r.tasks_resume.write(|w| unsafe { w.bits(1) }); } } - [Operation::Read(buffer), rest @ ..] => { - let stop = stop && rest.is_empty(); - + [Operation::Read(buffer)] => { // Set up DMA buffers. unsafe { self.set_rx_buffer(buffer)?; @@ -476,18 +452,9 @@ impl<'d, T: Instance> Twim<'d, T> { // Start read operation. r.shorts.write(|w| { - if stop { - w.lastrx_stop().enabled(); - } else { - #[cfg(not(any(feature = "nrf52832", feature = "_nrf5340", feature = "_nrf9120")))] - w.lastrx_suspend().enabled(); - } + w.lastrx_stop().enabled(); w }); - #[cfg(any(feature = "nrf52832", feature = "_nrf5340", feature = "_nrf9120"))] - if !stop { - r.intenset.write(|w| w.lastrx().set()); - } r.tasks_startrx.write(|w| unsafe { w.bits(1) }); @@ -496,16 +463,15 @@ impl<'d, T: Instance> Twim<'d, T> { } if buffer.is_empty() { - // With a zero-length buffer, LASTRX doesn't fire (because there's no last byte!), so do the STOP/SUSPEND ourselves. - if stop { - r.tasks_stop.write(|w| unsafe { w.bits(1) }); - } else { - r.tasks_suspend.write(|w| unsafe { w.bits(1) }); - } + // With a zero-length buffer, LASTRX doesn't fire (because there's no last byte!), so do the STOP ourselves. + r.tasks_stop.write(|w| unsafe { w.bits(1) }); } } + [Operation::Read(_), ..] => { + panic!("Suspending after a read is not supported!"); + } [Operation::Write(buffer), rest @ ..] => { - let stop = stop && rest.is_empty(); + let stop = rest.is_empty(); // Set up DMA buffers. unsafe { @@ -538,13 +504,11 @@ impl<'d, T: Instance> Twim<'d, T> { } } [] => { - if stop { - if was_suspended { - r.tasks_resume.write(|w| unsafe { w.bits(1) }); - } - - r.tasks_stop.write(|w| unsafe { w.bits(1) }); + if was_suspended { + r.tasks_resume.write(|w| unsafe { w.bits(1) }); } + + r.tasks_stop.write(|w| unsafe { w.bits(1) }); } } @@ -557,17 +521,18 @@ impl<'d, T: Instance> Twim<'d, T> { match operations { [Operation::Read(rd_buffer), Operation::Write(wr_buffer), ..] - | [Operation::Write(wr_buffer), Operation::Read(rd_buffer), ..] + | [Operation::Write(wr_buffer), Operation::Read(rd_buffer)] if !rd_buffer.is_empty() && !wr_buffer.is_empty() => { self.check_tx(wr_buffer.len())?; self.check_rx(rd_buffer.len())?; Ok(2) } - [Operation::Read(buffer), ..] => { + [Operation::Read(buffer)] => { self.check_rx(buffer.len())?; Ok(1) } + [Operation::Read(_), ..] => unreachable!(), [Operation::Write(buffer), ..] => { self.check_tx(buffer.len())?; Ok(1) @@ -583,26 +548,17 @@ impl<'d, T: Instance> Twim<'d, T> { /// Each buffer must have a length of at most 255 bytes on the nRF52832 /// and at most 65535 bytes on the nRF52840. /// - /// If `stop` is set, the transaction will be terminated with a STOP - /// condition and the Twim will be stopped. Otherwise, the bus will be - /// left busy via clock stretching and Twim will be suspended. - /// - /// The nrf52832, nrf5340, and nrf9120 do not have hardware support for - /// suspending following a read operation therefore it is emulated by the - /// interrupt handler. If the latency of servicing that interrupt is - /// longer than a byte worth of clocks on the bus, the SCL clock will - /// continue to run for one or more additional bytes. This applies to - /// consecutive read operations, certain write-read-write sequences, or - /// any sequence of operations ending in a read when `stop == false`. - pub fn blocking_transaction( - &mut self, - address: u8, - mut operations: &mut [Operation<'_>], - stop: bool, - ) -> Result<(), Error> { + /// Consecutive `Read` operations are not supported because the Twim + /// hardware does not support suspending after a read operation. (Setting + /// the SUSPEND task in response to a LASTRX event causes the final byte of + /// the operation to be ACKed instead of NAKed. When the TWIM is resumed, + /// one more byte will be read before the new operation is started, leading + /// to an Overrun error if the RXD has not been updated, or an extraneous + /// byte read into the new buffer if the RXD has been updated.) + pub fn blocking_transaction(&mut self, address: u8, mut operations: &mut [Operation<'_>]) -> Result<(), Error> { let mut tx_ram_buffer = [MaybeUninit::uninit(); FORCE_COPY_BUFFER_SIZE]; while !operations.is_empty() { - self.setup_operations(address, operations, Some(&mut tx_ram_buffer), false, stop)?; + self.setup_operations(address, operations, Some(&mut tx_ram_buffer), false)?; self.blocking_wait(); let consumed = self.check_operations(operations)?; operations = &mut operations[consumed..]; @@ -615,10 +571,9 @@ impl<'d, T: Instance> Twim<'d, T> { &mut self, address: u8, mut operations: &mut [Operation<'_>], - stop: bool, ) -> Result<(), Error> { while !operations.is_empty() { - self.setup_operations(address, operations, None, false, stop)?; + self.setup_operations(address, operations, None, false)?; self.blocking_wait(); let consumed = self.check_operations(operations)?; operations = &mut operations[consumed..]; @@ -634,12 +589,11 @@ impl<'d, T: Instance> Twim<'d, T> { &mut self, address: u8, mut operations: &mut [Operation<'_>], - stop: bool, timeout: Duration, ) -> Result<(), Error> { let mut tx_ram_buffer = [MaybeUninit::uninit(); FORCE_COPY_BUFFER_SIZE]; while !operations.is_empty() { - self.setup_operations(address, operations, Some(&mut tx_ram_buffer), false, stop)?; + self.setup_operations(address, operations, Some(&mut tx_ram_buffer), false)?; self.blocking_wait_timeout(timeout)?; let consumed = self.check_operations(operations)?; operations = &mut operations[consumed..]; @@ -653,11 +607,10 @@ impl<'d, T: Instance> Twim<'d, T> { &mut self, address: u8, mut operations: &mut [Operation<'_>], - stop: bool, timeout: Duration, ) -> Result<(), Error> { while !operations.is_empty() { - self.setup_operations(address, operations, None, false, stop)?; + self.setup_operations(address, operations, None, false)?; self.blocking_wait_timeout(timeout)?; let consumed = self.check_operations(operations)?; operations = &mut operations[consumed..]; @@ -670,26 +623,17 @@ impl<'d, T: Instance> Twim<'d, T> { /// Each buffer must have a length of at most 255 bytes on the nRF52832 /// and at most 65535 bytes on the nRF52840. /// - /// If `stop` is set, the transaction will be terminated with a STOP - /// condition and the Twim will be stopped. Otherwise, the bus will be - /// left busy via clock stretching and Twim will be suspended. - /// - /// The nrf52832, nrf5340, and nrf9120 do not have hardware support for - /// suspending following a read operation therefore it is emulated by the - /// interrupt handler. If the latency of servicing that interrupt is - /// longer than a byte worth of clocks on the bus, the SCL clock will - /// continue to run for one or more additional bytes. This applies to - /// consecutive read operations, certain write-read-write sequences, or - /// any sequence of operations ending in a read when `stop == false`. - pub async fn transaction( - &mut self, - address: u8, - mut operations: &mut [Operation<'_>], - stop: bool, - ) -> Result<(), Error> { + /// Consecutive `Read` operations are not supported because the Twim + /// hardware does not support suspending after a read operation. (Setting + /// the SUSPEND task in response to a LASTRX event causes the final byte of + /// the operation to be ACKed instead of NAKed. When the TWIM is resumed, + /// one more byte will be read before the new operation is started, leading + /// to an Overrun error if the RXD has not been updated, or an extraneous + /// byte read into the new buffer if the RXD has been updated.) + pub async fn transaction(&mut self, address: u8, mut operations: &mut [Operation<'_>]) -> Result<(), Error> { let mut tx_ram_buffer = [MaybeUninit::uninit(); FORCE_COPY_BUFFER_SIZE]; while !operations.is_empty() { - self.setup_operations(address, operations, Some(&mut tx_ram_buffer), true, stop)?; + self.setup_operations(address, operations, Some(&mut tx_ram_buffer), true)?; self.async_wait().await; let consumed = self.check_operations(operations)?; operations = &mut operations[consumed..]; @@ -702,10 +646,9 @@ impl<'d, T: Instance> Twim<'d, T> { &mut self, address: u8, mut operations: &mut [Operation<'_>], - stop: bool, ) -> Result<(), Error> { while !operations.is_empty() { - self.setup_operations(address, operations, None, true, stop)?; + self.setup_operations(address, operations, None, true)?; self.async_wait().await; let consumed = self.check_operations(operations)?; operations = &mut operations[consumed..]; @@ -720,12 +663,12 @@ impl<'d, T: Instance> Twim<'d, T> { /// The buffer must have a length of at most 255 bytes on the nRF52832 /// and at most 65535 bytes on the nRF52840. pub fn blocking_write(&mut self, address: u8, buffer: &[u8]) -> Result<(), Error> { - self.blocking_transaction(address, &mut [Operation::Write(buffer)], true) + self.blocking_transaction(address, &mut [Operation::Write(buffer)]) } /// Same as [`blocking_write`](Twim::blocking_write) but will fail instead of copying data into RAM. Consult the module level documentation to learn more. pub fn blocking_write_from_ram(&mut self, address: u8, buffer: &[u8]) -> Result<(), Error> { - self.blocking_transaction_from_ram(address, &mut [Operation::Write(buffer)], true) + self.blocking_transaction_from_ram(address, &mut [Operation::Write(buffer)]) } /// Read from an I2C slave. @@ -733,7 +676,7 @@ impl<'d, T: Instance> Twim<'d, T> { /// The buffer must have a length of at most 255 bytes on the nRF52832 /// and at most 65535 bytes on the nRF52840. pub fn blocking_read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error> { - self.blocking_transaction(address, &mut [Operation::Read(buffer)], true) + self.blocking_transaction(address, &mut [Operation::Read(buffer)]) } /// Write data to an I2C slave, then read data from the slave without @@ -742,11 +685,7 @@ impl<'d, T: Instance> Twim<'d, T> { /// The buffers must have a length of at most 255 bytes on the nRF52832 /// and at most 65535 bytes on the nRF52840. pub fn blocking_write_read(&mut self, address: u8, wr_buffer: &[u8], rd_buffer: &mut [u8]) -> Result<(), Error> { - self.blocking_transaction( - address, - &mut [Operation::Write(wr_buffer), Operation::Read(rd_buffer)], - true, - ) + self.blocking_transaction(address, &mut [Operation::Write(wr_buffer), Operation::Read(rd_buffer)]) } /// Same as [`blocking_write_read`](Twim::blocking_write_read) but will fail instead of copying data into RAM. Consult the module level documentation to learn more. @@ -756,11 +695,7 @@ impl<'d, T: Instance> Twim<'d, T> { wr_buffer: &[u8], rd_buffer: &mut [u8], ) -> Result<(), Error> { - self.blocking_transaction_from_ram( - address, - &mut [Operation::Write(wr_buffer), Operation::Read(rd_buffer)], - true, - ) + self.blocking_transaction_from_ram(address, &mut [Operation::Write(wr_buffer), Operation::Read(rd_buffer)]) } // =========================================== @@ -770,7 +705,7 @@ impl<'d, T: Instance> Twim<'d, T> { /// See [`blocking_write`]. #[cfg(feature = "time")] pub fn blocking_write_timeout(&mut self, address: u8, buffer: &[u8], timeout: Duration) -> Result<(), Error> { - self.blocking_transaction_timeout(address, &mut [Operation::Write(buffer)], true, timeout) + self.blocking_transaction_timeout(address, &mut [Operation::Write(buffer)], timeout) } /// Same as [`blocking_write`](Twim::blocking_write) but will fail instead of copying data into RAM. Consult the module level documentation to learn more. @@ -781,7 +716,7 @@ impl<'d, T: Instance> Twim<'d, T> { buffer: &[u8], timeout: Duration, ) -> Result<(), Error> { - self.blocking_transaction_from_ram_timeout(address, &mut [Operation::Write(buffer)], true, timeout) + self.blocking_transaction_from_ram_timeout(address, &mut [Operation::Write(buffer)], timeout) } /// Read from an I2C slave. @@ -790,7 +725,7 @@ impl<'d, T: Instance> Twim<'d, T> { /// and at most 65535 bytes on the nRF52840. #[cfg(feature = "time")] pub fn blocking_read_timeout(&mut self, address: u8, buffer: &mut [u8], timeout: Duration) -> Result<(), Error> { - self.blocking_transaction_timeout(address, &mut [Operation::Read(buffer)], true, timeout) + self.blocking_transaction_timeout(address, &mut [Operation::Read(buffer)], timeout) } /// Write data to an I2C slave, then read data from the slave without @@ -809,7 +744,6 @@ impl<'d, T: Instance> Twim<'d, T> { self.blocking_transaction_timeout( address, &mut [Operation::Write(wr_buffer), Operation::Read(rd_buffer)], - true, timeout, ) } @@ -826,7 +760,6 @@ impl<'d, T: Instance> Twim<'d, T> { self.blocking_transaction_from_ram_timeout( address, &mut [Operation::Write(wr_buffer), Operation::Read(rd_buffer)], - true, timeout, ) } @@ -838,7 +771,7 @@ impl<'d, T: Instance> Twim<'d, T> { /// The buffer must have a length of at most 255 bytes on the nRF52832 /// and at most 65535 bytes on the nRF52840. pub async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error> { - self.transaction(address, &mut [Operation::Read(buffer)], true).await + self.transaction(address, &mut [Operation::Read(buffer)]).await } /// Write to an I2C slave. @@ -846,12 +779,12 @@ impl<'d, T: Instance> Twim<'d, T> { /// The buffer must have a length of at most 255 bytes on the nRF52832 /// and at most 65535 bytes on the nRF52840. pub async fn write(&mut self, address: u8, buffer: &[u8]) -> Result<(), Error> { - self.transaction(address, &mut [Operation::Write(buffer)], true).await + self.transaction(address, &mut [Operation::Write(buffer)]).await } /// Same as [`write`](Twim::write) but will fail instead of copying data into RAM. Consult the module level documentation to learn more. pub async fn write_from_ram(&mut self, address: u8, buffer: &[u8]) -> Result<(), Error> { - self.transaction_from_ram(address, &mut [Operation::Write(buffer)], true) + self.transaction_from_ram(address, &mut [Operation::Write(buffer)]) .await } @@ -861,12 +794,8 @@ impl<'d, T: Instance> Twim<'d, T> { /// The buffers must have a length of at most 255 bytes on the nRF52832 /// and at most 65535 bytes on the nRF52840. pub async fn write_read(&mut self, address: u8, wr_buffer: &[u8], rd_buffer: &mut [u8]) -> Result<(), Error> { - self.transaction( - address, - &mut [Operation::Write(wr_buffer), Operation::Read(rd_buffer)], - true, - ) - .await + self.transaction(address, &mut [Operation::Write(wr_buffer), Operation::Read(rd_buffer)]) + .await } /// Same as [`write_read`](Twim::write_read) but will fail instead of copying data into RAM. Consult the module level documentation to learn more. @@ -876,12 +805,8 @@ impl<'d, T: Instance> Twim<'d, T> { wr_buffer: &[u8], rd_buffer: &mut [u8], ) -> Result<(), Error> { - self.transaction_from_ram( - address, - &mut [Operation::Write(wr_buffer), Operation::Read(rd_buffer)], - true, - ) - .await + self.transaction_from_ram(address, &mut [Operation::Write(wr_buffer), Operation::Read(rd_buffer)]) + .await } } @@ -999,13 +924,13 @@ impl<'d, T: Instance> embedded_hal_1::i2c::ErrorType for Twim<'d, T> { impl<'d, T: Instance> embedded_hal_1::i2c::I2c for Twim<'d, T> { fn transaction(&mut self, address: u8, operations: &mut [Operation<'_>]) -> Result<(), Self::Error> { - self.blocking_transaction(address, operations, true) + self.blocking_transaction(address, operations) } } impl<'d, T: Instance> embedded_hal_async::i2c::I2c for Twim<'d, T> { async fn transaction(&mut self, address: u8, operations: &mut [Operation<'_>]) -> Result<(), Self::Error> { - self.transaction(address, operations, true).await + self.transaction(address, operations).await } }