add new pcio_I2c_slave library (#1205)

* add (slightly modified) pico_i2c_slave library from https://github.com/vmilea/pico_i2c_slave
* introduce VTABLE_FIRST_IRQ constant
This commit is contained in:
Graham Sanderson 2023-02-07 07:47:01 -06:00 committed by GitHub
parent 66bd4d8aab
commit 18b97fcba0
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12 changed files with 226 additions and 4 deletions

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@ -43,6 +43,7 @@
* @{ * @{
* \defgroup pico_async_context pico_async_context * \defgroup pico_async_context pico_async_context
* \defgroup pico_multicore pico_multicore * \defgroup pico_multicore pico_multicore
* \defgroup pico_i2c_slave pico_i2c_slave
* \defgroup pico_rand pico_rand * \defgroup pico_rand pico_rand
* \defgroup pico_stdlib pico_stdlib * \defgroup pico_stdlib pico_stdlib
* \defgroup pico_sync pico_sync * \defgroup pico_sync pico_sync

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@ -43,6 +43,7 @@
#endif #endif
#define FIRST_USER_IRQ (NUM_IRQS - NUM_USER_IRQS) #define FIRST_USER_IRQ (NUM_IRQS - NUM_USER_IRQS)
#define VTABLE_FIRST_IRQ 16
#endif #endif

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@ -59,6 +59,8 @@ if (NOT PICO_BARE_METAL)
pico_add_subdirectory(tinyusb) pico_add_subdirectory(tinyusb)
pico_add_subdirectory(pico_stdio_usb) pico_add_subdirectory(pico_stdio_usb)
pico_add_subdirectory(pico_i2c_slave)
pico_add_subdirectory(pico_async_context) pico_add_subdirectory(pico_async_context)
pico_add_subdirectory(pico_cyw43_driver) pico_add_subdirectory(pico_cyw43_driver)
pico_add_subdirectory(pico_lwip) pico_add_subdirectory(pico_lwip)

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@ -153,6 +153,12 @@ static inline i2c_hw_t *i2c_get_hw(i2c_inst_t *i2c) {
return i2c->hw; return i2c->hw;
} }
static inline i2c_inst_t *i2c_get_instance(uint instance) {
static_assert(NUM_I2CS == 2, "");
invalid_params_if(I2C, instance >= NUM_I2CS);
return instance ? i2c1 : i2c0;
}
/*! \brief Attempt to write specified number of bytes to address, blocking until the specified absolute time is reached. /*! \brief Attempt to write specified number of bytes to address, blocking until the specified absolute time is reached.
* \ingroup hardware_i2c * \ingroup hardware_i2c
* *
@ -312,6 +318,37 @@ static inline void i2c_read_raw_blocking(i2c_inst_t *i2c, uint8_t *dst, size_t l
} }
} }
/**
* \brief Pop a byte from I2C Rx FIFO.
* \ingroup hardware_i2c
*
* This function is non-blocking and assumes the Rx FIFO isn't empty.
*
* \param i2c I2C instance.
* \return uint8_t Byte value.
*/
static inline uint8_t i2c_read_byte_raw(i2c_inst_t *i2c) {
i2c_hw_t *hw = i2c_get_hw(i2c);
assert(hw->status & I2C_IC_STATUS_RFNE_BITS); // Rx FIFO must not be empty
return (uint8_t)hw->data_cmd;
}
/**
* \brief Push a byte into I2C Tx FIFO.
* \ingroup hardware_i2c
*
* This function is non-blocking and assumes the Tx FIFO isn't full.
*
* \param i2c I2C instance.
* \param value Byte value.
*/
static inline void i2c_write_byte_raw(i2c_inst_t *i2c, uint8_t value) {
i2c_hw_t *hw = i2c_get_hw(i2c);
assert(hw->status & I2C_IC_STATUS_TFNF_BITS); // Tx FIFO must not be full
hw->data_cmd = value;
}
/*! \brief Return the DREQ to use for pacing transfers to/from a particular I2C instance /*! \brief Return the DREQ to use for pacing transfers to/from a particular I2C instance
* \ingroup hardware_i2c * \ingroup hardware_i2c
* *

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@ -41,7 +41,7 @@ static inline void *remove_thumb_bit(void *addr) {
static void set_raw_irq_handler_and_unlock(uint num, irq_handler_t handler, uint32_t save) { static void set_raw_irq_handler_and_unlock(uint num, irq_handler_t handler, uint32_t save) {
// update vtable (vtable_handler may be same or updated depending on cases, but we do it anyway for compactness) // update vtable (vtable_handler may be same or updated depending on cases, but we do it anyway for compactness)
get_vtable()[16 + num] = handler; get_vtable()[VTABLE_FIRST_IRQ + num] = handler;
__dmb(); __dmb();
spin_unlock(spin_lock_instance(PICO_SPINLOCK_ID_IRQ), save); spin_unlock(spin_lock_instance(PICO_SPINLOCK_ID_IRQ), save);
} }
@ -306,7 +306,7 @@ void irq_remove_handler(uint num, irq_handler_t handler) {
// Sadly this is not something we can detect. // Sadly this is not something we can detect.
uint exception = __get_current_exception(); uint exception = __get_current_exception();
hard_assert(!exception || exception == num + 16); hard_assert(!exception || exception == num + VTABLE_FIRST_IRQ);
struct irq_handler_chain_slot *prev_slot = NULL; struct irq_handler_chain_slot *prev_slot = NULL;
struct irq_handler_chain_slot *existing_vtable_slot = remove_thumb_bit(vtable_handler); struct irq_handler_chain_slot *existing_vtable_slot = remove_thumb_bit(vtable_handler);

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@ -112,7 +112,7 @@ static inline uint harware_alarm_irq_number(uint alarm_num) {
static void hardware_alarm_irq_handler(void) { static void hardware_alarm_irq_handler(void) {
// Determine which timer this IRQ is for // Determine which timer this IRQ is for
uint alarm_num = __get_current_exception() - 16 - TIMER_IRQ_0; uint alarm_num = __get_current_exception() - VTABLE_FIRST_IRQ - TIMER_IRQ_0;
check_hardware_alarm_num_param(alarm_num); check_hardware_alarm_num_param(alarm_num);
hardware_alarm_callback_t callback = NULL; hardware_alarm_callback_t callback = NULL;

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@ -280,7 +280,7 @@ static void process_under_lock(async_context_threadsafe_background_t *self) {
// Low priority interrupt handler to perform background processing // Low priority interrupt handler to perform background processing
static void low_priority_irq_handler(void) { static void low_priority_irq_handler(void) {
uint index = __get_current_exception() - 16 - FIRST_USER_IRQ; uint index = __get_current_exception() - VTABLE_FIRST_IRQ - FIRST_USER_IRQ;
assert(index < count_of(async_contexts_by_user_irq)); assert(index < count_of(async_contexts_by_user_irq));
async_context_threadsafe_background_t *self = async_contexts_by_user_irq[index]; async_context_threadsafe_background_t *self = async_contexts_by_user_irq[index];
if (!self) return; if (!self) return;

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@ -0,0 +1,10 @@
if (NOT TARGET pico_i2c_slave)
pico_add_library(pico_i2c_slave)
target_sources(pico_i2c_slave INTERFACE
${CMAKE_CURRENT_LIST_DIR}/i2c_slave.c)
target_include_directories(pico_i2c_slave_headers INTERFACE ${CMAKE_CURRENT_LIST_DIR}/include)
pico_mirrored_target_link_libraries(pico_i2c_slave INTERFACE hardware_i2c hardware_irq)
endif()

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@ -0,0 +1,103 @@
/*
* Copyright (c) 2021 Valentin Milea <valentin.milea@gmail.com>
* Copyright (c) 2023 Raspberry Pi (Trading) Ltd.
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#include "pico/i2c_slave.h"
#include "hardware/irq.h"
typedef struct i2c_slave {
i2c_slave_handler_t handler;
bool transfer_in_progress;
} i2c_slave_t;
static i2c_slave_t i2c_slaves[2];
static inline i2c_inst_t *get_hw_instance(const i2c_slave_t *slave) {
return i2c_get_instance(slave - i2c_slaves);
}
static void __isr __not_in_flash_func(i2c_slave_irq_handler)(void) {
uint i2c_index = __get_current_exception() - VTABLE_FIRST_IRQ - I2C0_IRQ;
i2c_slave_t *slave = &i2c_slaves[i2c_index];
i2c_inst_t *i2c = i2c_get_instance(i2c_index);
i2c_hw_t *hw = i2c_get_hw(i2c);
uint32_t intr_stat = hw->intr_stat;
if (intr_stat == 0) {
return;
}
bool do_finish_transfer = false;
if (intr_stat & I2C_IC_INTR_STAT_R_TX_ABRT_BITS) {
hw->clr_tx_abrt;
do_finish_transfer = true;
}
if (intr_stat & I2C_IC_INTR_STAT_R_START_DET_BITS) {
hw->clr_start_det;
do_finish_transfer = true;
}
if (intr_stat & I2C_IC_INTR_STAT_R_STOP_DET_BITS) {
hw->clr_stop_det;
do_finish_transfer = true;
}
if (do_finish_transfer && slave->transfer_in_progress) {
slave->handler(i2c, I2C_SLAVE_FINISH);
slave->transfer_in_progress = false;
}
if (intr_stat & I2C_IC_INTR_STAT_R_RX_FULL_BITS) {
slave->transfer_in_progress = true;
slave->handler(i2c, I2C_SLAVE_RECEIVE);
}
if (intr_stat & I2C_IC_INTR_STAT_R_RD_REQ_BITS) {
hw->clr_rd_req;
slave->transfer_in_progress = true;
slave->handler(i2c, I2C_SLAVE_REQUEST);
}
}
void i2c_slave_init(i2c_inst_t *i2c, uint8_t address, i2c_slave_handler_t handler) {
assert(i2c == i2c0 || i2c == i2c1);
assert(handler != NULL);
uint i2c_index = i2c_hw_index(i2c);
i2c_slave_t *slave = &i2c_slaves[i2c_index];
slave->handler = handler;
// Note: The I2C slave does clock stretching implicitly after a RD_REQ, while the Tx FIFO is empty.
// There is also an option to enable clock stretching while the Rx FIFO is full, but we leave it
// disabled since the Rx FIFO should never fill up (unless slave->handler() is way too slow).
i2c_set_slave_mode(i2c, true, address);
i2c_hw_t *hw = i2c_get_hw(i2c);
// unmask necessary interrupts
hw->intr_mask =
I2C_IC_INTR_MASK_M_RX_FULL_BITS | I2C_IC_INTR_MASK_M_RD_REQ_BITS | I2C_IC_RAW_INTR_STAT_TX_ABRT_BITS |
I2C_IC_INTR_MASK_M_STOP_DET_BITS | I2C_IC_INTR_MASK_M_START_DET_BITS;
// enable interrupt for current core
uint num = I2C0_IRQ + i2c_index;
irq_set_exclusive_handler(num, i2c_slave_irq_handler);
irq_set_enabled(num, true);
}
void i2c_slave_deinit(i2c_inst_t *i2c) {
assert(i2c == i2c0 || i2c == i2c1);
uint i2c_index = i2c_hw_index(i2c);
i2c_slave_t *slave = &i2c_slaves[i2c_index];
assert(slave->handler); // should be called after i2c_slave_init()
slave->handler = NULL;
slave->transfer_in_progress = false;
uint num = I2C0_IRQ + i2c_index;
irq_set_enabled(num, false);
irq_remove_handler(num, i2c_slave_irq_handler);
i2c_hw_t *hw = i2c_get_hw(i2c);
hw->intr_mask = I2C_IC_INTR_MASK_RESET;
i2c_set_slave_mode(i2c, false, 0);
}

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@ -0,0 +1,66 @@
/*
* Copyright (c) 2021 Valentin Milea <valentin.milea@gmail.com>
* Copyright (c) 2023 Raspberry Pi (Trading) Ltd.
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#ifndef _PICO_I2C_SLAVE_H_
#define _PICO_I2C_SLAVE_H_
#include "hardware/i2c.h"
#ifdef __cplusplus
extern "C" {
#endif
/** \file pico/i2c_slave.h
* \defgrup pico_i2c_slave pico_i2c_slave
* \brief I2C slave helper library, which takes care of hooking the I2C IRQ and calling back the user with I2C events.
*/
/**
* \brief I2C slave event types.
*/
typedef enum i2c_slave_event_t
{
I2C_SLAVE_RECEIVE, /**< Data from master is available for reading. Slave must read from Rx FIFO. */
I2C_SLAVE_REQUEST, /**< Master is requesting data. Slave must write into Tx FIFO. */
I2C_SLAVE_FINISH, /**< Master has sent a Stop or Restart signal. Slave may prepare for the next transfer. */
} i2c_slave_event_t;
/**
* \brief I2C slave event handler
*
* The event handler will run from the I2C ISR, so it should return quickly (under 25 us at 400 kb/s).
* Avoid blocking inside the handler and split large data transfers across multiple calls for best results.
* When sending data to master, up to `i2c_get_write_available()` bytes can be written without blocking.
* When receiving data from master, up to `i2c_get_read_available()` bytes can be read without blocking.
*
* \param i2c Slave I2C instance.
* \param event Event type.
*/
typedef void (*i2c_slave_handler_t)(i2c_inst_t *i2c, i2c_slave_event_t event);
/**
* \brief Configure I2C instance for slave mode.
*
* \param i2c I2C instance.
* \param address 7-bit slave address.
* \param handler Called on events from I2C master. It will run from the I2C ISR, on the CPU core
* where the slave was initialized.
*/
void i2c_slave_init(i2c_inst_t *i2c, uint8_t address, i2c_slave_handler_t handler);
/**
* \brief Restore I2C instance to master mode.
*
* \param i2c I2C instance.
*/
void i2c_slave_deinit(i2c_inst_t *i2c);
#ifdef __cplusplus
}
#endif
#endif // _PICO_I2C_SLAVE_H_

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@ -30,6 +30,7 @@ target_link_libraries(kitchen_sink_libs INTERFACE
pico_double pico_double
pico_fix_rp2040_usb_device_enumeration pico_fix_rp2040_usb_device_enumeration
pico_float pico_float
pico_i2c_slave
pico_int64_ops pico_int64_ops
pico_malloc pico_malloc
pico_mem_ops pico_mem_ops

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@ -41,6 +41,7 @@
#include "pico/fix/rp2040_usb_device_enumeration.h" #include "pico/fix/rp2040_usb_device_enumeration.h"
#include "pico/float.h" #include "pico/float.h"
#include "pico/int64_ops.h" #include "pico/int64_ops.h"
#include "pico/i2c_slave.h"
#include "pico/malloc.h" #include "pico/malloc.h"
#include "pico/multicore.h" #include "pico/multicore.h"
#include "pico/printf.h" #include "pico/printf.h"