esp-idf-hal/src/i2c.rs

use core::marker::PhantomData;
use core::time::Duration;

use embedded_hal::i2c::{ErrorKind, NoAcknowledgeSource};

use esp_idf_sys::*;

use crate::delay::*;
use crate::gpio::*;
use crate::interrupt::InterruptType;
use crate::units::*;

pub use embedded_hal::i2c::Operation;

crate::embedded_hal_error!(
    I2cError,
    embedded_hal::i2c::Error,
    embedded_hal::i2c::ErrorKind
);

#[cfg(any(esp32, esp32s2))]
const APB_TICK_PERIOD_NS: u32 = 1_000_000_000 / 80_000_000;

#[cfg(all(esp32c2, esp_idf_xtal_freq_40))]
const XTAL_TICK_PERIOD_NS: u32 = 1_000_000_000 / 40_000_000;
#[cfg(all(esp32c2, esp_idf_xtal_freq_26))]
const XTAL_TICK_PERIOD_NS: u32 = 1_000_000_000 / 26_000_000;
#[cfg(not(esp_idf_version_at_least_6_0_0))]
#[cfg(not(any(esp32, esp32s2, esp32c2)))]
const XTAL_TICK_PERIOD_NS: u32 = 1_000_000_000 / XTAL_CLK_FREQ;
// TODO: Below is probably not correct
#[cfg(esp_idf_version_at_least_6_0_0)]
#[cfg(not(any(esp32, esp32s2, esp32c2)))]
const XTAL_TICK_PERIOD_NS: u32 = 1_000_000_000 / 40_000_000;

#[derive(Copy, Clone, Debug)]
pub struct APBTickType(::core::ffi::c_int);
impl From<Duration> for APBTickType {
    #[cfg(any(esp32, esp32s2))]
    #[allow(clippy::manual_div_ceil)]
    fn from(duration: Duration) -> Self {
        APBTickType(
            ((duration.as_nanos() + APB_TICK_PERIOD_NS as u128 - 1) / APB_TICK_PERIOD_NS as u128)
                as ::core::ffi::c_int,
        )
    }
    #[cfg(not(any(esp32, esp32s2)))]
    /// Conversion for newer esp models, be aware, that the hardware can only represent 22 different values, values will be rounded to the next larger valid one. Calculation only valid for 40mhz clock source
    fn from(duration: Duration) -> Self {
        let target_ns = duration.as_nanos() as u64;
        let timeout_in_xtal_clock_cycles = target_ns / (XTAL_TICK_PERIOD_NS as u64);
        //ilog2 but with ceiling logic
        let register_value = timeout_in_xtal_clock_cycles.ilog2()
            + (if timeout_in_xtal_clock_cycles.leading_zeros()
                + timeout_in_xtal_clock_cycles.trailing_zeros()
                + 1
                < 64
            {
                1
            } else {
                0
            });
        if register_value <= 22 {
            return APBTickType(register_value as ::core::ffi::c_int);
        }
        //produce an error in the lower set_i2c_timeout, so the user is informed that the requested timeout is larger than the next valid one.
        APBTickType(32 as ::core::ffi::c_int)
    }
}

pub type I2cConfig = config::Config;
#[cfg(not(esp32c2))]
pub type I2cSlaveConfig = config::SlaveConfig;

/// I2C configuration
pub mod config {
    use enumset::EnumSet;

    use super::APBTickType;
    use crate::{interrupt::InterruptType, units::*};

    /// I2C Master configuration
    #[derive(Debug, Clone)]
    pub struct Config {
        pub baudrate: Hertz,
        pub sda_pullup_enabled: bool,
        pub scl_pullup_enabled: bool,
        pub timeout: Option<APBTickType>,
        pub intr_flags: EnumSet<InterruptType>,
    }

    impl Config {
        pub fn new() -> Self {
            Default::default()
        }

        #[must_use]
        pub fn baudrate(mut self, baudrate: Hertz) -> Self {
            self.baudrate = baudrate;
            self
        }

        #[must_use]
        pub fn sda_enable_pullup(mut self, enable: bool) -> Self {
            self.sda_pullup_enabled = enable;
            self
        }

        #[must_use]
        pub fn scl_enable_pullup(mut self, enable: bool) -> Self {
            self.scl_pullup_enabled = enable;
            self
        }

        #[must_use]
        pub fn timeout(mut self, timeout: APBTickType) -> Self {
            self.timeout = Some(timeout);
            self
        }

        #[must_use]
        pub fn intr_flags(mut self, flags: EnumSet<InterruptType>) -> Self {
            self.intr_flags = flags;
            self
        }
    }

    impl Default for Config {
        fn default() -> Self {
            Self {
                baudrate: Hertz(1_000_000),
                sda_pullup_enabled: true,
                scl_pullup_enabled: true,
                timeout: None,
                intr_flags: EnumSet::<InterruptType>::empty(),
            }
        }
    }

    /// I2C Slave configuration
    #[cfg(not(esp32c2))]
    #[derive(Debug, Clone)]
    pub struct SlaveConfig {
        pub sda_pullup_enabled: bool,
        pub scl_pullup_enabled: bool,
        pub rx_buf_len: usize,
        pub tx_buf_len: usize,
        pub intr_flags: EnumSet<InterruptType>,
    }

    #[cfg(not(esp32c2))]
    impl SlaveConfig {
        pub fn new() -> Self {
            Default::default()
        }

        #[must_use]
        pub fn sda_enable_pullup(mut self, enable: bool) -> Self {
            self.sda_pullup_enabled = enable;
            self
        }

        #[must_use]
        pub fn scl_enable_pullup(mut self, enable: bool) -> Self {
            self.scl_pullup_enabled = enable;
            self
        }

        #[must_use]
        pub fn rx_buffer_length(mut self, len: usize) -> Self {
            self.rx_buf_len = len;
            self
        }

        #[must_use]
        pub fn tx_buffer_length(mut self, len: usize) -> Self {
            self.tx_buf_len = len;
            self
        }

        #[must_use]
        pub fn intr_flags(mut self, flags: EnumSet<InterruptType>) -> Self {
            self.intr_flags = flags;
            self
        }
    }

    #[cfg(not(esp32c2))]
    impl Default for SlaveConfig {
        fn default() -> Self {
            Self {
                sda_pullup_enabled: true,
                scl_pullup_enabled: true,
                rx_buf_len: 0,
                tx_buf_len: 0,
                intr_flags: EnumSet::<InterruptType>::empty(),
            }
        }
    }
}

pub trait I2c: Send {
    fn port() -> i2c_port_t;
}

pub struct I2cDriver<'d> {
    i2c: u8,
    _p: PhantomData<&'d mut ()>,
}

impl<'d> I2cDriver<'d> {
    pub fn new<I2C: I2c + 'd>(
        _i2c: I2C,
        sda: impl InputPin + OutputPin + 'd,
        scl: impl InputPin + OutputPin + 'd,
        config: &config::Config,
    ) -> Result<Self, EspError> {
        // i2c_config_t documentation says that clock speed must be no higher than 1 MHz
        if config.baudrate > 1.MHz().into() {
            return Err(EspError::from_infallible::<ESP_ERR_INVALID_ARG>());
        }

        let sys_config = i2c_config_t {
            mode: i2c_mode_t_I2C_MODE_MASTER,
            sda_io_num: sda.pin() as _,
            sda_pullup_en: config.sda_pullup_enabled,
            scl_io_num: scl.pin() as _,
            scl_pullup_en: config.scl_pullup_enabled,
            __bindgen_anon_1: i2c_config_t__bindgen_ty_1 {
                master: i2c_config_t__bindgen_ty_1__bindgen_ty_1 {
                    clk_speed: config.baudrate.into(),
                },
            },
            ..Default::default()
        };

        esp!(unsafe { i2c_param_config(I2C::port(), &sys_config) })?;

        esp!(unsafe {
            i2c_driver_install(
                I2C::port(),
                i2c_mode_t_I2C_MODE_MASTER,
                0, // Not used in master mode
                0, // Not used in master mode
                InterruptType::to_native(config.intr_flags) as _,
            )
        })?;

        if let Some(timeout) = config.timeout {
            esp!(unsafe { i2c_set_timeout(I2C::port(), timeout.0) })?;
        }

        Ok(I2cDriver {
            i2c: I2C::port() as _,
            _p: PhantomData,
        })
    }

    pub fn read(
        &mut self,
        addr: u8,
        buffer: &mut [u8],
        timeout: TickType_t,
    ) -> Result<(), EspError> {
        let mut command_link = CommandLink::new()?;

        command_link.master_start()?;
        command_link.master_write_byte((addr << 1) | (i2c_rw_t_I2C_MASTER_READ as u8), true)?;

        if !buffer.is_empty() {
            command_link.master_read(buffer, AckType::LastNack)?;
        }

        command_link.master_stop()?;

        self.cmd_begin(&command_link, timeout)
    }

    pub fn write(&mut self, addr: u8, bytes: &[u8], timeout: TickType_t) -> Result<(), EspError> {
        let mut command_link = CommandLink::new()?;

        command_link.master_start()?;
        command_link.master_write_byte((addr << 1) | (i2c_rw_t_I2C_MASTER_WRITE as u8), true)?;

        if !bytes.is_empty() {
            command_link.master_write(bytes, true)?;
        }

        command_link.master_stop()?;

        self.cmd_begin(&command_link, timeout)
    }

    pub fn write_read(
        &mut self,
        addr: u8,
        bytes: &[u8],
        buffer: &mut [u8],
        timeout: TickType_t,
    ) -> Result<(), EspError> {
        let mut command_link = CommandLink::new()?;

        command_link.master_start()?;
        command_link.master_write_byte((addr << 1) | (i2c_rw_t_I2C_MASTER_WRITE as u8), true)?;

        if !bytes.is_empty() {
            command_link.master_write(bytes, true)?;
        }

        command_link.master_start()?;
        command_link.master_write_byte((addr << 1) | (i2c_rw_t_I2C_MASTER_READ as u8), true)?;

        if !buffer.is_empty() {
            command_link.master_read(buffer, AckType::LastNack)?;
        }

        command_link.master_stop()?;

        self.cmd_begin(&command_link, timeout)
    }

    pub fn transaction(
        &mut self,
        address: u8,
        operations: &mut [Operation<'_>],
        timeout: TickType_t,
    ) -> Result<(), EspError> {
        let mut command_link = CommandLink::new()?;

        let last_op_index = operations.len() - 1;
        let mut prev_was_read = None;

        for (i, operation) in operations.iter_mut().enumerate() {
            match operation {
                Operation::Read(buf) => {
                    if Some(true) != prev_was_read {
                        command_link.master_start()?;
                        command_link.master_write_byte(
                            (address << 1) | (i2c_rw_t_I2C_MASTER_READ as u8),
                            true,
                        )?;
                    }
                    prev_was_read = Some(true);

                    if !buf.is_empty() {
                        let ack = if i == last_op_index {
                            AckType::LastNack
                        } else {
                            AckType::Ack
                        };

                        command_link.master_read(buf, ack)?;
                    }
                }
                Operation::Write(buf) => {
                    if Some(false) != prev_was_read {
                        command_link.master_start()?;
                        command_link.master_write_byte(
                            (address << 1) | (i2c_rw_t_I2C_MASTER_WRITE as u8),
                            true,
                        )?;
                    }
                    prev_was_read = Some(false);

                    if !buf.is_empty() {
                        command_link.master_write(buf, true)?;
                    }
                }
            }
        }

        command_link.master_stop()?;

        self.cmd_begin(&command_link, timeout)
    }

    fn cmd_begin(
        &mut self,
        command_link: &CommandLink,
        timeout: TickType_t,
    ) -> Result<(), EspError> {
        esp!(unsafe { i2c_master_cmd_begin(self.port(), command_link.0, timeout) })
    }

    pub fn port(&self) -> i2c_port_t {
        self.i2c as _
    }
}

impl Drop for I2cDriver<'_> {
    fn drop(&mut self) {
        esp!(unsafe { i2c_driver_delete(self.port()) }).unwrap();
    }
}

unsafe impl Send for I2cDriver<'_> {}

impl embedded_hal_0_2::blocking::i2c::Read for I2cDriver<'_> {
    type Error = I2cError;

    fn read(&mut self, addr: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
        I2cDriver::read(self, addr, buffer, BLOCK).map_err(to_i2c_err)
    }
}

impl embedded_hal_0_2::blocking::i2c::Write for I2cDriver<'_> {
    type Error = I2cError;

    fn write(&mut self, addr: u8, bytes: &[u8]) -> Result<(), Self::Error> {
        I2cDriver::write(self, addr, bytes, BLOCK).map_err(to_i2c_err)
    }
}

impl embedded_hal_0_2::blocking::i2c::WriteRead for I2cDriver<'_> {
    type Error = I2cError;

    fn write_read(&mut self, addr: u8, bytes: &[u8], buffer: &mut [u8]) -> Result<(), Self::Error> {
        I2cDriver::write_read(self, addr, bytes, buffer, BLOCK).map_err(to_i2c_err)
    }
}

impl embedded_hal::i2c::ErrorType for I2cDriver<'_> {
    type Error = I2cError;
}

impl embedded_hal::i2c::I2c<embedded_hal::i2c::SevenBitAddress> for I2cDriver<'_> {
    fn read(&mut self, addr: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
        I2cDriver::read(self, addr, buffer, BLOCK).map_err(to_i2c_err)
    }

    fn write(&mut self, addr: u8, bytes: &[u8]) -> Result<(), Self::Error> {
        I2cDriver::write(self, addr, bytes, BLOCK).map_err(to_i2c_err)
    }

    fn write_read(&mut self, addr: u8, bytes: &[u8], buffer: &mut [u8]) -> Result<(), Self::Error> {
        I2cDriver::write_read(self, addr, bytes, buffer, BLOCK).map_err(to_i2c_err)
    }

    fn transaction(
        &mut self,
        address: u8,
        operations: &mut [embedded_hal::i2c::Operation<'_>],
    ) -> Result<(), Self::Error> {
        I2cDriver::transaction(self, address, operations, BLOCK).map_err(to_i2c_err)
    }
}

fn to_i2c_err(err: EspError) -> I2cError {
    if err.code() == ESP_FAIL {
        I2cError::new(ErrorKind::NoAcknowledge(NoAcknowledgeSource::Unknown), err)
    } else {
        I2cError::other(err)
    }
}

#[cfg(not(esp32c2))]
pub struct I2cSlaveDriver<'d> {
    i2c: u8,
    _p: PhantomData<&'d mut ()>,
}

#[cfg(not(esp32c2))]
unsafe impl Send for I2cSlaveDriver<'_> {}

#[cfg(not(esp32c2))]
impl<'d> I2cSlaveDriver<'d> {
    pub fn new<I2C: I2c + 'd>(
        _i2c: I2C,
        sda: impl InputPin + OutputPin + 'd,
        scl: impl InputPin + OutputPin + 'd,
        slave_addr: u8,
        config: &config::SlaveConfig,
    ) -> Result<Self, EspError> {
        let sys_config = i2c_config_t {
            mode: i2c_mode_t_I2C_MODE_SLAVE,
            sda_io_num: sda.pin() as _,
            sda_pullup_en: config.sda_pullup_enabled,
            scl_io_num: scl.pin() as _,
            scl_pullup_en: config.scl_pullup_enabled,
            __bindgen_anon_1: i2c_config_t__bindgen_ty_1 {
                slave: i2c_config_t__bindgen_ty_1__bindgen_ty_2 {
                    slave_addr: slave_addr as u16,
                    addr_10bit_en: 0, // For now; to become configurable with embedded-hal V1.0
                    maximum_speed: 0,
                },
            },
            ..Default::default()
        };

        esp!(unsafe { i2c_param_config(I2C::port(), &sys_config) })?;

        esp!(unsafe {
            i2c_driver_install(
                I2C::port(),
                i2c_mode_t_I2C_MODE_SLAVE,
                config.rx_buf_len,
                config.tx_buf_len,
                InterruptType::to_native(config.intr_flags) as _,
            )
        })?;

        Ok(Self {
            i2c: I2C::port() as _,
            _p: PhantomData,
        })
    }

    pub fn read(&mut self, buffer: &mut [u8], timeout: TickType_t) -> Result<usize, EspError> {
        let n = unsafe {
            i2c_slave_read_buffer(self.port(), buffer.as_mut_ptr(), buffer.len(), timeout)
        };

        if n > 0 {
            Ok(n as usize)
        } else {
            Err(EspError::from_infallible::<ESP_ERR_TIMEOUT>())
        }
    }

    pub fn write(&mut self, bytes: &[u8], timeout: TickType_t) -> Result<usize, EspError> {
        let n = unsafe {
            i2c_slave_write_buffer(self.port(), bytes.as_ptr(), bytes.len() as i32, timeout)
        };

        if n > 0 {
            Ok(n as usize)
        } else {
            Err(EspError::from_infallible::<ESP_ERR_TIMEOUT>())
        }
    }

    pub fn port(&self) -> i2c_port_t {
        self.i2c as _
    }
}

#[cfg(not(esp32c2))]
impl Drop for I2cSlaveDriver<'_> {
    fn drop(&mut self) {
        esp!(unsafe { i2c_driver_delete(self.port()) }).unwrap();
    }
}

#[repr(u32)]
enum AckType {
    Ack = i2c_ack_type_t_I2C_MASTER_ACK,
    #[allow(dead_code)]
    Nack = i2c_ack_type_t_I2C_MASTER_NACK,
    LastNack = i2c_ack_type_t_I2C_MASTER_LAST_NACK,
}

struct CommandLink<'buffers>(i2c_cmd_handle_t, PhantomData<&'buffers u8>);

impl<'buffers> CommandLink<'buffers> {
    fn new() -> Result<Self, EspError> {
        let handle = unsafe { i2c_cmd_link_create() };

        if handle.is_null() {
            return Err(EspError::from_infallible::<ESP_ERR_NO_MEM>());
        }

        Ok(CommandLink(handle, PhantomData))
    }

    fn master_start(&mut self) -> Result<(), EspError> {
        esp!(unsafe { i2c_master_start(self.0) })
    }

    fn master_stop(&mut self) -> Result<(), EspError> {
        esp!(unsafe { i2c_master_stop(self.0) })
    }

    fn master_write_byte(&mut self, data: u8, ack_en: bool) -> Result<(), EspError> {
        esp!(unsafe { i2c_master_write_byte(self.0, data, ack_en) })
    }

    fn master_write(&mut self, buf: &'buffers [u8], ack_en: bool) -> Result<(), EspError> {
        esp!(unsafe { i2c_master_write(self.0, buf.as_ptr(), buf.len(), ack_en,) })
    }

    fn master_read(&mut self, buf: &'buffers mut [u8], ack: AckType) -> Result<(), EspError> {
        esp!(unsafe { i2c_master_read(self.0, buf.as_mut_ptr().cast(), buf.len(), ack as u32,) })
    }
}

impl Drop for CommandLink<'_> {
    fn drop(&mut self) {
        unsafe {
            i2c_cmd_link_delete(self.0);
        }
    }
}

macro_rules! impl_i2c {
    ($i2c:ident: $port:expr) => {
        crate::impl_peripheral!($i2c);

        impl I2c for $i2c<'_> {
            #[inline(always)]
            fn port() -> i2c_port_t {
                $port
            }
        }
    };
}

impl_i2c!(I2C0: 0);
#[cfg(not(any(esp32c3, esp32c2, esp32c6)))]
impl_i2c!(I2C1: 1);