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esp-idf/components/esp_driver_i2c/i2c_slave_v2.c

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/*
* SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include "sdkconfig.h"
#include "soc/soc_caps.h"
#include "esp_attr.h"
#include "esp_rom_gpio.h"
#include "driver/gpio.h"
#include "hal/gpio_ll.h"
#include "esp_err.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "freertos/ringbuf.h"
#include "esp_intr_alloc.h"
#include "hal/i2c_ll.h"
#include "i2c_private.h"
#include "driver/i2c_slave.h"
#include "esp_memory_utils.h"
#if CONFIG_I2C_ENABLE_DEBUG_LOG
// The local log level must be defined before including esp_log.h
// Set the maximum log level for this source file
#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG
#endif
#include "esp_log.h"
#include "esp_check.h"
static const char *TAG = "i2c.slave";
IRAM_ATTR static bool i2c_slave_read_rx(i2c_slave_dev_t *i2c_slave, uint8_t *data, size_t len, size_t *read_len)
{
BaseType_t xTaskWoken = pdFALSE;
size_t read_size = len;
size_t actual_size = 0;
size_t available_size = 0;
size_t get_size = 0;
uint8_t *rx_data = NULL;
vRingbufferGetInfo(i2c_slave->rx_ring_buf, NULL, NULL, NULL, NULL, &available_size);
if (available_size < read_size) {
read_size = available_size;
}
while (read_size) {
actual_size = 0;
rx_data = (uint8_t *)xRingbufferReceiveUpToFromISR(i2c_slave->rx_ring_buf, &actual_size, read_size);
if (rx_data != NULL && actual_size != 0) {
memcpy(data + get_size, rx_data, actual_size);
vRingbufferReturnItemFromISR(i2c_slave->rx_ring_buf, rx_data, &xTaskWoken);
get_size += actual_size;
read_size -= actual_size;
} else {
break;
}
}
*read_len = get_size;
return xTaskWoken;
}
IRAM_ATTR static bool i2c_slave_handle_tx_fifo(i2c_slave_dev_t *i2c_slave)
{
BaseType_t xTaskWoken = pdFALSE;
i2c_hal_context_t *hal = &i2c_slave->base->hal;
uint8_t *data;
uint32_t fifo_len = 0;
xSemaphoreTakeFromISR(i2c_slave->operation_mux, &xTaskWoken);
i2c_ll_get_txfifo_len(hal->dev, &fifo_len);
size_t actual_get_len = 0;
while (fifo_len > 0) {
data = xRingbufferReceiveUpToFromISR(i2c_slave->tx_ring_buf, &actual_get_len, fifo_len);
if (data) {
portENTER_CRITICAL_ISR(&i2c_slave->base->spinlock);
i2c_ll_write_txfifo(hal->dev, data, actual_get_len);
fifo_len -= actual_get_len;
portEXIT_CRITICAL_ISR(&i2c_slave->base->spinlock);
vRingbufferReturnItemFromISR(i2c_slave->tx_ring_buf, data, &xTaskWoken);
} else {
// No data in ringbuffer, so disable the tx interrupt.
i2c_ll_slave_disable_tx_it(hal->dev);
break;
}
}
xSemaphoreGiveFromISR(i2c_slave->operation_mux, &xTaskWoken);
return xTaskWoken;
}
IRAM_ATTR static bool i2c_slave_handle_rx_fifo(i2c_slave_dev_t *i2c_slave, uint32_t len)
{
i2c_hal_context_t *hal = &i2c_slave->base->hal;
uint8_t data[SOC_I2C_FIFO_LEN];
BaseType_t xTaskWoken = pdFALSE;
xSemaphoreTakeFromISR(i2c_slave->operation_mux, &xTaskWoken);
if (len) {
portENTER_CRITICAL_ISR(&i2c_slave->base->spinlock);
i2c_ll_read_rxfifo(hal->dev, data, len);
portEXIT_CRITICAL_ISR(&i2c_slave->base->spinlock);
BaseType_t res = xRingbufferSendFromISR(i2c_slave->rx_ring_buf, (void *)data, len, &xTaskWoken);
if (res == pdTRUE) {
i2c_slave->rx_data_count += len;
}
}
xSemaphoreGiveFromISR(i2c_slave->operation_mux, &xTaskWoken);
return xTaskWoken;
}
#if SOC_I2C_SLAVE_CAN_GET_STRETCH_CAUSE
IRAM_ATTR static bool i2c_slave_handle_stretch_event(i2c_slave_dev_t *i2c_slave, uint32_t rx_fifo_exist_len)
{
i2c_slave_stretch_cause_t cause;
BaseType_t xTaskWoken = pdFALSE;
i2c_hal_context_t *hal = &i2c_slave->base->hal;
i2c_ll_slave_get_stretch_cause(hal->dev, &cause);
if (cause == I2C_SLAVE_STRETCH_CAUSE_ADDRESS_MATCH) {
if (rx_fifo_exist_len) {
xTaskWoken |= i2c_slave_handle_rx_fifo(i2c_slave, rx_fifo_exist_len);
}
if (i2c_slave->rx_data_count) {
uint32_t len = i2c_slave->rx_data_count;
size_t read_len;
xTaskWoken |= i2c_slave_read_rx(i2c_slave, i2c_slave->receive_desc.buffer, len, &read_len);
i2c_slave_rx_done_event_data_t edata = {};
edata.buffer = i2c_slave->receive_desc.buffer;
edata.length = read_len;
if (i2c_slave->receive_callback) {
xTaskWoken |= i2c_slave->receive_callback(i2c_slave, &edata, i2c_slave->user_ctx);
}
i2c_slave->rx_data_count = 0;
}
i2c_slave_request_event_data_t evt_data = {};
if (i2c_slave->request_callback) {
xTaskWoken |= i2c_slave->request_callback(i2c_slave, &evt_data, i2c_slave->user_ctx);
}
//will clear after request callback
} else if (cause == I2C_SLAVE_STRETCH_CAUSE_TX_EMPTY) {
xTaskWoken |= i2c_slave_handle_tx_fifo(i2c_slave);
i2c_ll_slave_clear_stretch(hal->dev);
} else if (cause == I2C_SLAVE_STRETCH_CAUSE_RX_FULL) {
xTaskWoken |= i2c_slave_handle_rx_fifo(i2c_slave, rx_fifo_exist_len);
i2c_ll_slave_clear_stretch(hal->dev);
}
return xTaskWoken;
}
#endif
IRAM_ATTR static void i2c_slave_isr_handler(void *arg)
{
BaseType_t pxHigherPriorityTaskWoken = false;
i2c_slave_dev_t *i2c_slave = (i2c_slave_dev_t *)arg;
i2c_hal_context_t *hal = &i2c_slave->base->hal;
uint32_t int_mask = 0;
i2c_ll_get_intr_mask(hal->dev, &int_mask);
i2c_ll_clear_intr_mask(hal->dev, int_mask);
uint32_t rx_fifo_exist_len = 0;
i2c_ll_get_rxfifo_cnt(hal->dev, &rx_fifo_exist_len);
i2c_slave_read_write_status_t slave_rw = i2c_ll_slave_get_read_write_status(hal->dev);
if (int_mask & I2C_INTR_SLV_RXFIFO_WM) {
pxHigherPriorityTaskWoken |= i2c_slave_handle_rx_fifo(i2c_slave, rx_fifo_exist_len);
}
if (int_mask & I2C_INTR_SLV_COMPLETE) {
if (rx_fifo_exist_len) {
pxHigherPriorityTaskWoken |= i2c_slave_handle_rx_fifo(i2c_slave, rx_fifo_exist_len);
}
if (i2c_slave->rx_data_count) {
uint32_t len = i2c_slave->rx_data_count;
size_t read_len;
pxHigherPriorityTaskWoken |= i2c_slave_read_rx(i2c_slave, i2c_slave->receive_desc.buffer, len, &read_len);
i2c_slave_rx_done_event_data_t edata = {};
edata.buffer = i2c_slave->receive_desc.buffer;
edata.length = read_len;
if (i2c_slave->receive_callback) {
pxHigherPriorityTaskWoken |= i2c_slave->receive_callback(i2c_slave, &edata, i2c_slave->user_ctx);
}
i2c_slave->rx_data_count = 0;
}
if (slave_rw == I2C_SLAVE_READ_BY_MASTER) {
#if !SOC_I2C_SLAVE_CAN_GET_STRETCH_CAUSE
i2c_slave_request_event_data_t evt_data = {};
if (i2c_slave->request_callback) {
pxHigherPriorityTaskWoken |= i2c_slave->request_callback(i2c_slave, &evt_data, i2c_slave->user_ctx);
}
#endif
}
}
#if SOC_I2C_SLAVE_CAN_GET_STRETCH_CAUSE
if (int_mask & I2C_INTR_STRETCH) { // STRETCH
pxHigherPriorityTaskWoken |= i2c_slave_handle_stretch_event(i2c_slave, rx_fifo_exist_len);
}
#endif
if (int_mask & I2C_INTR_SLV_TXFIFO_WM) { // TX FiFo Empty
pxHigherPriorityTaskWoken |= i2c_slave_handle_tx_fifo(i2c_slave);
}
if (pxHigherPriorityTaskWoken) {
portYIELD_FROM_ISR();
}
}
static esp_err_t i2c_slave_device_destroy(i2c_slave_dev_handle_t i2c_slave)
{
esp_err_t ret = ESP_OK;
if (i2c_slave->base) {
i2c_ll_disable_intr_mask(i2c_slave->base->hal.dev, I2C_LL_SLAVE_EVENT_INTR);
i2c_common_deinit_pins(i2c_slave->base);
ret = i2c_release_bus_handle(i2c_slave->base);
}
if (i2c_slave->rx_ring_buf) {
vRingbufferDeleteWithCaps(i2c_slave->rx_ring_buf);
i2c_slave->rx_ring_buf = NULL;
}
if (i2c_slave->tx_ring_buf) {
vRingbufferDeleteWithCaps(i2c_slave->tx_ring_buf);
i2c_slave->tx_ring_buf = NULL;
}
if (i2c_slave->operation_mux) {
vSemaphoreDeleteWithCaps(i2c_slave->operation_mux);
i2c_slave->operation_mux = NULL;
}
if (i2c_slave->receive_desc.buffer) {
free(i2c_slave->receive_desc.buffer);
}
free(i2c_slave);
return ret;
}
esp_err_t i2c_new_slave_device(const i2c_slave_config_t *slave_config, i2c_slave_dev_handle_t *ret_handle)
{
#if CONFIG_I2C_ENABLE_DEBUG_LOG
esp_log_level_set(TAG, ESP_LOG_DEBUG);
#endif
esp_err_t ret = ESP_OK;
i2c_slave_dev_t *i2c_slave = NULL;
ESP_RETURN_ON_FALSE(slave_config && ret_handle, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
ESP_RETURN_ON_FALSE(GPIO_IS_VALID_GPIO(slave_config->sda_io_num) && GPIO_IS_VALID_GPIO(slave_config->scl_io_num), ESP_ERR_INVALID_ARG, TAG, "invalid SDA/SCL pin number");
#if SOC_LP_I2C_SUPPORTED
ESP_RETURN_ON_FALSE(slave_config->i2c_port != (SOC_I2C_NUM - 1), ESP_ERR_NOT_SUPPORTED, TAG, "LP i2c is not supported in I2C slave");
#endif
ESP_RETURN_ON_FALSE(slave_config->i2c_port < SOC_HP_I2C_NUM || slave_config->i2c_port == -1, ESP_ERR_INVALID_ARG, TAG, "invalid i2c port number");
#if SOC_I2C_SLAVE_SUPPORT_BROADCAST
ESP_RETURN_ON_FALSE(((slave_config->addr_bit_len != I2C_ADDR_BIT_LEN_10) || (!slave_config->flags.broadcast_en)), ESP_ERR_INVALID_STATE, TAG, "10bits address cannot used together with broadcast");
#endif
i2c_slave = heap_caps_calloc(1, sizeof(i2c_slave_dev_t), I2C_MEM_ALLOC_CAPS);
ESP_RETURN_ON_FALSE(i2c_slave, ESP_ERR_NO_MEM, TAG, "no memory for i2c slave bus");
ESP_GOTO_ON_ERROR(i2c_acquire_bus_handle(slave_config->i2c_port, &i2c_slave->base, I2C_BUS_MODE_SLAVE), err, TAG, "I2C bus acquire failed");
i2c_hal_context_t *hal = &i2c_slave->base->hal;
i2c_slave->base->scl_num = slave_config->scl_io_num;
i2c_slave->base->sda_num = slave_config->sda_io_num;
i2c_slave->base->pull_up_enable = slave_config->flags.enable_internal_pullup;
i2c_slave->rx_data_count = 0;
i2c_port_num_t i2c_port_num = i2c_slave->base->port_num;
ESP_GOTO_ON_ERROR(i2c_common_set_pins(i2c_slave->base), err, TAG, "i2c slave set pins failed");
i2c_slave->rx_ring_buf = xRingbufferCreateWithCaps(slave_config->receive_buf_depth, RINGBUF_TYPE_BYTEBUF, I2C_MEM_ALLOC_CAPS);
ESP_GOTO_ON_FALSE(i2c_slave->rx_ring_buf != NULL, ESP_ERR_INVALID_STATE, err, TAG, "ringbuffer create failed");
i2c_slave->operation_mux = xSemaphoreCreateBinaryWithCaps(I2C_MEM_ALLOC_CAPS);
ESP_GOTO_ON_FALSE(i2c_slave->operation_mux, ESP_ERR_NO_MEM, err, TAG, "No memory for binary semaphore");
xSemaphoreGive(i2c_slave->operation_mux);
uint8_t *rcv_buffer = heap_caps_calloc(1, slave_config->receive_buf_depth, I2C_MEM_ALLOC_CAPS);
ESP_RETURN_ON_FALSE(rcv_buffer, ESP_ERR_NO_MEM, TAG, "no memory for i2c slave receive internal buffer");
i2c_slave->receive_desc.buffer = rcv_buffer;
i2c_slave->receive_desc.rcv_fifo_cnt = slave_config->receive_buf_depth;
i2c_slave->tx_ring_buf = xRingbufferCreateWithCaps(slave_config->send_buf_depth, RINGBUF_TYPE_BYTEBUF, I2C_MEM_ALLOC_CAPS);
ESP_RETURN_ON_FALSE(i2c_slave->tx_ring_buf, ESP_ERR_NO_MEM, TAG, "no memory for i2c slave transmit ringbuffer");
#if I2C_USE_RETENTION_LINK
if (slave_config->flags.allow_pd != 0) {
i2c_create_retention_module(i2c_slave->base);
}
#endif // I2C_USE_RETENTION_LINK
int isr_flags = I2C_INTR_ALLOC_FLAG;
if (slave_config->intr_priority) {
isr_flags |= 1 << (slave_config->intr_priority);
}
ret = esp_intr_alloc_intrstatus(i2c_periph_signal[i2c_port_num].irq, isr_flags, (uint32_t)i2c_ll_get_interrupt_status_reg(hal->dev), I2C_LL_SLAVE_EVENT_INTR, i2c_slave_isr_handler, i2c_slave, &i2c_slave->base->intr_handle);
ESP_GOTO_ON_ERROR(ret, err, TAG, "install i2c slave interrupt failed");
portENTER_CRITICAL(&i2c_slave->base->spinlock);
i2c_hal_slave_init(hal);
i2c_ll_enable_fifo_mode(hal->dev, true);
i2c_ll_set_slave_addr(hal->dev, slave_config->slave_addr, false);
i2c_ll_set_tout(hal->dev, I2C_LL_MAX_TIMEOUT);
I2C_CLOCK_SRC_ATOMIC() {
i2c_ll_set_source_clk(hal->dev, slave_config->clk_source);
}
bool addr_10bit_en = slave_config->addr_bit_len != I2C_ADDR_BIT_LEN_7;
i2c_ll_set_slave_addr(hal->dev, slave_config->slave_addr, addr_10bit_en);
#if SOC_I2C_SLAVE_SUPPORT_BROADCAST
i2c_ll_slave_broadcast_enable(hal->dev, slave_config->flags.broadcast_en);
#endif
i2c_ll_set_txfifo_empty_thr(hal->dev, SOC_I2C_FIFO_LEN / 2);
i2c_ll_set_rxfifo_full_thr(hal->dev, SOC_I2C_FIFO_LEN / 2);
i2c_ll_set_sda_timing(hal->dev, 10, 10);
i2c_ll_disable_intr_mask(hal->dev, I2C_LL_INTR_MASK);
i2c_ll_clear_intr_mask(hal->dev, I2C_LL_INTR_MASK);
i2c_ll_enable_intr_mask(hal->dev, I2C_LL_SLAVE_RX_EVENT_INTR);
// Configure stretch
i2c_ll_slave_set_stretch_protect_num(hal->dev, I2C_LL_STRETCH_PROTECT_TIME);
i2c_ll_slave_enable_scl_stretch(hal->dev, true);
i2c_ll_slave_clear_stretch(hal->dev);
i2c_ll_update(hal->dev);
portEXIT_CRITICAL(&i2c_slave->base->spinlock);
*ret_handle = i2c_slave;
return ret;
err:
if (i2c_slave) {
i2c_slave_device_destroy(i2c_slave);
}
return ret;
}
esp_err_t i2c_del_slave_device(i2c_slave_dev_handle_t i2c_slave)
{
ESP_RETURN_ON_FALSE(i2c_slave, ESP_ERR_INVALID_ARG, TAG, "i2c slave not initialized");
int port_id = i2c_slave->base->port_num;
ESP_LOGD(TAG, "del i2c bus(%d)", port_id);
ESP_RETURN_ON_ERROR(i2c_slave_device_destroy(i2c_slave), TAG, "destroy i2c bus failed");
return ESP_OK;
}
esp_err_t i2c_slave_write(i2c_slave_dev_handle_t i2c_slave, const uint8_t *data, uint32_t len, uint32_t *write_len, int timeout_ms)
{
ESP_RETURN_ON_FALSE(i2c_slave, ESP_ERR_INVALID_ARG, TAG, "i2c slave not initialized");
ESP_RETURN_ON_FALSE(data, ESP_ERR_INVALID_ARG, TAG, "invalid data buffer");
ESP_RETURN_ON_FALSE(write_len, ESP_ERR_INVALID_ARG, TAG, "invalid write length pointer");
uint32_t free_fifo_len = 0;
uint32_t write_ringbuffer_len = 0;
uint32_t actual_write_fifo_size = 0;
uint8_t *existing_data = NULL;
size_t existing_size = 0;
i2c_hal_context_t *hal = &i2c_slave->base->hal;
TickType_t wait_ticks = (timeout_ms == -1) ? portMAX_DELAY : pdMS_TO_TICKS(timeout_ms);
xSemaphoreTake(i2c_slave->operation_mux, wait_ticks);
portENTER_CRITICAL(&i2c_slave->base->spinlock);
#if !SOC_I2C_SLAVE_CAN_GET_STRETCH_CAUSE
i2c_ll_slave_disable_tx_it(hal->dev);
uint32_t txfifo_len = 0;
i2c_ll_get_txfifo_len(hal->dev, &txfifo_len);
if (txfifo_len < SOC_I2C_FIFO_LEN) {
// For the target (esp32) cannot stretch, reset the fifo when there is any dirty data in fifo.
i2c_ll_txfifo_rst(hal->dev);
}
#endif
i2c_ll_get_txfifo_len(hal->dev, &free_fifo_len);
portEXIT_CRITICAL(&i2c_slave->base->spinlock);
// Check if there is any data in the ringbuffer in last transaction
existing_data = xRingbufferReceiveUpTo(i2c_slave->tx_ring_buf, &existing_size, 0, free_fifo_len);
if (existing_data) {
// has data, fill to the fifo
i2c_ll_write_txfifo(hal->dev, existing_data, existing_size);
free_fifo_len -= existing_size;
vRingbufferReturnItem(i2c_slave->tx_ring_buf, existing_data);
}
// Write data.
if (free_fifo_len) {
portENTER_CRITICAL(&i2c_slave->base->spinlock);
if (len < free_fifo_len) {
actual_write_fifo_size = len;
}
i2c_ll_write_txfifo(hal->dev, (uint8_t *)data, actual_write_fifo_size);
data += actual_write_fifo_size;
len -= actual_write_fifo_size;
portEXIT_CRITICAL(&i2c_slave->base->spinlock);
//write the rest of the bytes to the ringbuffer
}
if (len) {
write_ringbuffer_len = xRingbufferGetCurFreeSize(i2c_slave->tx_ring_buf);
if (len < write_ringbuffer_len) {
write_ringbuffer_len = len;
}
if (xRingbufferSend(i2c_slave->tx_ring_buf, data, write_ringbuffer_len, wait_ticks) != pdTRUE) {
write_ringbuffer_len = 0;
}
}
*write_len = write_ringbuffer_len + actual_write_fifo_size;
i2c_ll_slave_enable_tx_it(hal->dev);
i2c_ll_slave_clear_stretch(hal->dev);
xSemaphoreGive(i2c_slave->operation_mux);
return ESP_OK;
}
esp_err_t i2c_slave_register_event_callbacks(i2c_slave_dev_handle_t i2c_slave, const i2c_slave_event_callbacks_t *cbs, void *user_data)
{
ESP_RETURN_ON_FALSE(i2c_slave != NULL, ESP_ERR_INVALID_ARG, TAG, "i2c slave handle not initialized");
ESP_RETURN_ON_FALSE(cbs, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
#if CONFIG_I2C_ISR_IRAM_SAFE
if (cbs->on_request) {
ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_request), ESP_ERR_INVALID_ARG, TAG, "i2c request occur callback not in IRAM");
}
if (cbs->on_receive) {
ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_receive), ESP_ERR_INVALID_ARG, TAG, "i2c receive occur callback not in IRAM");
}
if (user_data) {
ESP_RETURN_ON_FALSE(esp_ptr_internal(user_data), ESP_ERR_INVALID_ARG, TAG, "user context not in internal RAM");
}
#endif
i2c_slave->user_ctx = user_data;
i2c_slave->request_callback = cbs->on_request;
i2c_slave->receive_callback = cbs->on_receive;
return ESP_OK;
}
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