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
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@ -43,6 +43,7 @@
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* @{
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* @{
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* \defgroup pico_async_context pico_async_context
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* \defgroup pico_async_context pico_async_context
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* \defgroup pico_multicore pico_multicore
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* \defgroup pico_multicore pico_multicore
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* \defgroup pico_i2c_slave pico_i2c_slave
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* \defgroup pico_rand pico_rand
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* \defgroup pico_rand pico_rand
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* \defgroup pico_stdlib pico_stdlib
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* \defgroup pico_stdlib pico_stdlib
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* \defgroup pico_sync pico_sync
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* \defgroup pico_sync pico_sync
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@ -43,6 +43,7 @@
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#endif
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#endif
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#define FIRST_USER_IRQ (NUM_IRQS - NUM_USER_IRQS)
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#define FIRST_USER_IRQ (NUM_IRQS - NUM_USER_IRQS)
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#define VTABLE_FIRST_IRQ 16
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#endif
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#endif
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@ -59,6 +59,8 @@ if (NOT PICO_BARE_METAL)
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pico_add_subdirectory(tinyusb)
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pico_add_subdirectory(tinyusb)
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pico_add_subdirectory(pico_stdio_usb)
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pico_add_subdirectory(pico_stdio_usb)
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pico_add_subdirectory(pico_i2c_slave)
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pico_add_subdirectory(pico_async_context)
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pico_add_subdirectory(pico_async_context)
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pico_add_subdirectory(pico_cyw43_driver)
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pico_add_subdirectory(pico_cyw43_driver)
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pico_add_subdirectory(pico_lwip)
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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) {
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return i2c->hw;
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return i2c->hw;
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}
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}
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static inline i2c_inst_t *i2c_get_instance(uint instance) {
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static_assert(NUM_I2CS == 2, "");
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invalid_params_if(I2C, instance >= NUM_I2CS);
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return instance ? i2c1 : i2c0;
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}
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/*! \brief Attempt to write specified number of bytes to address, blocking until the specified absolute time is reached.
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/*! \brief Attempt to write specified number of bytes to address, blocking until the specified absolute time is reached.
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* \ingroup hardware_i2c
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* \ingroup hardware_i2c
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*
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*
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@ -312,6 +318,37 @@ static inline void i2c_read_raw_blocking(i2c_inst_t *i2c, uint8_t *dst, size_t l
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}
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}
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}
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}
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/**
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* \brief Pop a byte from I2C Rx FIFO.
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* \ingroup hardware_i2c
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*
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* This function is non-blocking and assumes the Rx FIFO isn't empty.
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*
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* \param i2c I2C instance.
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* \return uint8_t Byte value.
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*/
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static inline uint8_t i2c_read_byte_raw(i2c_inst_t *i2c) {
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i2c_hw_t *hw = i2c_get_hw(i2c);
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assert(hw->status & I2C_IC_STATUS_RFNE_BITS); // Rx FIFO must not be empty
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return (uint8_t)hw->data_cmd;
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}
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/**
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* \brief Push a byte into I2C Tx FIFO.
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* \ingroup hardware_i2c
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*
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* This function is non-blocking and assumes the Tx FIFO isn't full.
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*
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* \param i2c I2C instance.
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* \param value Byte value.
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*/
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static inline void i2c_write_byte_raw(i2c_inst_t *i2c, uint8_t value) {
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i2c_hw_t *hw = i2c_get_hw(i2c);
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assert(hw->status & I2C_IC_STATUS_TFNF_BITS); // Tx FIFO must not be full
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hw->data_cmd = value;
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}
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/*! \brief Return the DREQ to use for pacing transfers to/from a particular I2C instance
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/*! \brief Return the DREQ to use for pacing transfers to/from a particular I2C instance
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* \ingroup hardware_i2c
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* \ingroup hardware_i2c
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*
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*
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@ -41,7 +41,7 @@ static inline void *remove_thumb_bit(void *addr) {
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static void set_raw_irq_handler_and_unlock(uint num, irq_handler_t handler, uint32_t save) {
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static void set_raw_irq_handler_and_unlock(uint num, irq_handler_t handler, uint32_t save) {
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// update vtable (vtable_handler may be same or updated depending on cases, but we do it anyway for compactness)
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// update vtable (vtable_handler may be same or updated depending on cases, but we do it anyway for compactness)
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get_vtable()[16 + num] = handler;
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get_vtable()[VTABLE_FIRST_IRQ + num] = handler;
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__dmb();
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__dmb();
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spin_unlock(spin_lock_instance(PICO_SPINLOCK_ID_IRQ), save);
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spin_unlock(spin_lock_instance(PICO_SPINLOCK_ID_IRQ), save);
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}
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}
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@ -306,7 +306,7 @@ void irq_remove_handler(uint num, irq_handler_t handler) {
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// Sadly this is not something we can detect.
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// Sadly this is not something we can detect.
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uint exception = __get_current_exception();
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uint exception = __get_current_exception();
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hard_assert(!exception || exception == num + 16);
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hard_assert(!exception || exception == num + VTABLE_FIRST_IRQ);
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struct irq_handler_chain_slot *prev_slot = NULL;
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struct irq_handler_chain_slot *prev_slot = NULL;
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struct irq_handler_chain_slot *existing_vtable_slot = remove_thumb_bit(vtable_handler);
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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) {
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static void hardware_alarm_irq_handler(void) {
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static void hardware_alarm_irq_handler(void) {
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// Determine which timer this IRQ is for
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// Determine which timer this IRQ is for
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uint alarm_num = __get_current_exception() - 16 - TIMER_IRQ_0;
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uint alarm_num = __get_current_exception() - VTABLE_FIRST_IRQ - TIMER_IRQ_0;
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check_hardware_alarm_num_param(alarm_num);
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check_hardware_alarm_num_param(alarm_num);
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hardware_alarm_callback_t callback = NULL;
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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) {
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// Low priority interrupt handler to perform background processing
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// Low priority interrupt handler to perform background processing
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static void low_priority_irq_handler(void) {
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static void low_priority_irq_handler(void) {
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uint index = __get_current_exception() - 16 - FIRST_USER_IRQ;
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uint index = __get_current_exception() - VTABLE_FIRST_IRQ - FIRST_USER_IRQ;
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assert(index < count_of(async_contexts_by_user_irq));
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assert(index < count_of(async_contexts_by_user_irq));
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async_context_threadsafe_background_t *self = async_contexts_by_user_irq[index];
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async_context_threadsafe_background_t *self = async_contexts_by_user_irq[index];
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if (!self) return;
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if (!self) return;
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10
src/rp2_common/pico_i2c_slave/CMakeLists.txt
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10
src/rp2_common/pico_i2c_slave/CMakeLists.txt
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@ -0,0 +1,10 @@
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if (NOT TARGET pico_i2c_slave)
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pico_add_library(pico_i2c_slave)
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target_sources(pico_i2c_slave INTERFACE
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${CMAKE_CURRENT_LIST_DIR}/i2c_slave.c)
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target_include_directories(pico_i2c_slave_headers INTERFACE ${CMAKE_CURRENT_LIST_DIR}/include)
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pico_mirrored_target_link_libraries(pico_i2c_slave INTERFACE hardware_i2c hardware_irq)
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endif()
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103
src/rp2_common/pico_i2c_slave/i2c_slave.c
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103
src/rp2_common/pico_i2c_slave/i2c_slave.c
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@ -0,0 +1,103 @@
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/*
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* Copyright (c) 2021 Valentin Milea <valentin.milea@gmail.com>
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* Copyright (c) 2023 Raspberry Pi (Trading) Ltd.
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#include "pico/i2c_slave.h"
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#include "hardware/irq.h"
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typedef struct i2c_slave {
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i2c_slave_handler_t handler;
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bool transfer_in_progress;
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} i2c_slave_t;
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static i2c_slave_t i2c_slaves[2];
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static inline i2c_inst_t *get_hw_instance(const i2c_slave_t *slave) {
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return i2c_get_instance(slave - i2c_slaves);
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}
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static void __isr __not_in_flash_func(i2c_slave_irq_handler)(void) {
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uint i2c_index = __get_current_exception() - VTABLE_FIRST_IRQ - I2C0_IRQ;
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i2c_slave_t *slave = &i2c_slaves[i2c_index];
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i2c_inst_t *i2c = i2c_get_instance(i2c_index);
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i2c_hw_t *hw = i2c_get_hw(i2c);
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uint32_t intr_stat = hw->intr_stat;
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if (intr_stat == 0) {
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return;
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}
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bool do_finish_transfer = false;
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if (intr_stat & I2C_IC_INTR_STAT_R_TX_ABRT_BITS) {
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hw->clr_tx_abrt;
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do_finish_transfer = true;
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}
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if (intr_stat & I2C_IC_INTR_STAT_R_START_DET_BITS) {
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hw->clr_start_det;
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do_finish_transfer = true;
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}
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if (intr_stat & I2C_IC_INTR_STAT_R_STOP_DET_BITS) {
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hw->clr_stop_det;
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do_finish_transfer = true;
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}
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if (do_finish_transfer && slave->transfer_in_progress) {
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slave->handler(i2c, I2C_SLAVE_FINISH);
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slave->transfer_in_progress = false;
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}
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if (intr_stat & I2C_IC_INTR_STAT_R_RX_FULL_BITS) {
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slave->transfer_in_progress = true;
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slave->handler(i2c, I2C_SLAVE_RECEIVE);
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}
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if (intr_stat & I2C_IC_INTR_STAT_R_RD_REQ_BITS) {
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hw->clr_rd_req;
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slave->transfer_in_progress = true;
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slave->handler(i2c, I2C_SLAVE_REQUEST);
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}
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}
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void i2c_slave_init(i2c_inst_t *i2c, uint8_t address, i2c_slave_handler_t handler) {
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assert(i2c == i2c0 || i2c == i2c1);
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assert(handler != NULL);
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uint i2c_index = i2c_hw_index(i2c);
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i2c_slave_t *slave = &i2c_slaves[i2c_index];
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slave->handler = handler;
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// Note: The I2C slave does clock stretching implicitly after a RD_REQ, while the Tx FIFO is empty.
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// There is also an option to enable clock stretching while the Rx FIFO is full, but we leave it
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// disabled since the Rx FIFO should never fill up (unless slave->handler() is way too slow).
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i2c_set_slave_mode(i2c, true, address);
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i2c_hw_t *hw = i2c_get_hw(i2c);
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// unmask necessary interrupts
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hw->intr_mask =
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I2C_IC_INTR_MASK_M_RX_FULL_BITS | I2C_IC_INTR_MASK_M_RD_REQ_BITS | I2C_IC_RAW_INTR_STAT_TX_ABRT_BITS |
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I2C_IC_INTR_MASK_M_STOP_DET_BITS | I2C_IC_INTR_MASK_M_START_DET_BITS;
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// enable interrupt for current core
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uint num = I2C0_IRQ + i2c_index;
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irq_set_exclusive_handler(num, i2c_slave_irq_handler);
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irq_set_enabled(num, true);
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}
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void i2c_slave_deinit(i2c_inst_t *i2c) {
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assert(i2c == i2c0 || i2c == i2c1);
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uint i2c_index = i2c_hw_index(i2c);
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i2c_slave_t *slave = &i2c_slaves[i2c_index];
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assert(slave->handler); // should be called after i2c_slave_init()
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slave->handler = NULL;
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slave->transfer_in_progress = false;
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uint num = I2C0_IRQ + i2c_index;
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irq_set_enabled(num, false);
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irq_remove_handler(num, i2c_slave_irq_handler);
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i2c_hw_t *hw = i2c_get_hw(i2c);
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hw->intr_mask = I2C_IC_INTR_MASK_RESET;
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i2c_set_slave_mode(i2c, false, 0);
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}
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66
src/rp2_common/pico_i2c_slave/include/pico/i2c_slave.h
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66
src/rp2_common/pico_i2c_slave/include/pico/i2c_slave.h
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/*
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* Copyright (c) 2021 Valentin Milea <valentin.milea@gmail.com>
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* Copyright (c) 2023 Raspberry Pi (Trading) Ltd.
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#ifndef _PICO_I2C_SLAVE_H_
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#define _PICO_I2C_SLAVE_H_
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#include "hardware/i2c.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** \file pico/i2c_slave.h
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* \defgrup pico_i2c_slave pico_i2c_slave
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* \brief I2C slave helper library, which takes care of hooking the I2C IRQ and calling back the user with I2C events.
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*/
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/**
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* \brief I2C slave event types.
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*/
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typedef enum i2c_slave_event_t
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{
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I2C_SLAVE_RECEIVE, /**< Data from master is available for reading. Slave must read from Rx FIFO. */
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I2C_SLAVE_REQUEST, /**< Master is requesting data. Slave must write into Tx FIFO. */
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I2C_SLAVE_FINISH, /**< Master has sent a Stop or Restart signal. Slave may prepare for the next transfer. */
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} i2c_slave_event_t;
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/**
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* \brief I2C slave event handler
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*
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* The event handler will run from the I2C ISR, so it should return quickly (under 25 us at 400 kb/s).
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* Avoid blocking inside the handler and split large data transfers across multiple calls for best results.
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* When sending data to master, up to `i2c_get_write_available()` bytes can be written without blocking.
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* When receiving data from master, up to `i2c_get_read_available()` bytes can be read without blocking.
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*
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* \param i2c Slave I2C instance.
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* \param event Event type.
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*/
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typedef void (*i2c_slave_handler_t)(i2c_inst_t *i2c, i2c_slave_event_t event);
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/**
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* \brief Configure I2C instance for slave mode.
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*
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* \param i2c I2C instance.
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* \param address 7-bit slave address.
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* \param handler Called on events from I2C master. It will run from the I2C ISR, on the CPU core
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* where the slave was initialized.
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*/
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void i2c_slave_init(i2c_inst_t *i2c, uint8_t address, i2c_slave_handler_t handler);
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/**
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* \brief Restore I2C instance to master mode.
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*
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* \param i2c I2C instance.
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*/
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void i2c_slave_deinit(i2c_inst_t *i2c);
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#ifdef __cplusplus
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}
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#endif
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#endif // _PICO_I2C_SLAVE_H_
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@ -30,6 +30,7 @@ target_link_libraries(kitchen_sink_libs INTERFACE
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pico_double
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pico_double
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pico_fix_rp2040_usb_device_enumeration
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pico_fix_rp2040_usb_device_enumeration
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pico_float
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pico_float
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pico_i2c_slave
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pico_int64_ops
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pico_int64_ops
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pico_malloc
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pico_malloc
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pico_mem_ops
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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"
|
||||||
|
Loading…
Reference in New Issue
Block a user