drivers: i2c: Add shims for nrfx TWI and TWIM drivers

Changes add a translation layer to make nrfx TWI and TWIM drivers
work with Zephyr API.

Signed-off-by: Mieszko Mierunski <mieszko.mierunski@nordicsemi.no>

drivers/i2c/CMakeLists.txt

@@ -8,6 +8,8 @@ zephyr_library_sources_ifdef(CONFIG_I2C_ESP32		i2c_esp32.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_GPIO		i2c_gpio.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_MCUX		i2c_mcux.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_NRF5		i2c_nrf5.c)
+zephyr_library_sources_ifdef(CONFIG_NRFX_TWI		i2c_nrfx_twi.c)
+zephyr_library_sources_ifdef(CONFIG_NRFX_TWIM		i2c_nrfx_twim.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_QMSI		i2c_qmsi.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_QMSI_SS		i2c_qmsi_ss.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_SAM_TWI		i2c_sam_twi.c)

drivers/i2c/Kconfig

@@ -231,6 +231,8 @@ source "drivers/i2c/Kconfig.gpio"
 
 source "drivers/i2c/Kconfig.nrf5"
 
+source "drivers/i2c/Kconfig.nrfx"
+
 source "drivers/i2c/Kconfig.qmsi"
 
 source "drivers/i2c/Kconfig.sbcon"

drivers/i2c/Kconfig.nrfx

@@ -0,0 +1,99 @@
+# Kconfig - nrfx I2C support
+#
+# Copyright (c) 2018, Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+menuconfig I2C_NRFX
+	bool "nRF TWI nrfx drivers"
+	depends on SOC_FAMILY_NRF
+	help
+	  Enable support for nrfx TWI drivers for nRF MCU series.
+	  Peripherals with the same instance ID cannot be used together,
+	  e.g. I2C_0 and SPI_0. You may need to disable SPI_0 or SPI_1.
+
+if I2C_NRFX
+
+# Nordic TWIx0 and SPIx0 instances can not be used at the same time.
+if I2C_0 && !SPI_0
+
+choice I2C_0_NRF_TYPE
+	prompt "I2C Port 0 Driver type"
+
+config I2C_0_NRF_TWI
+	bool "nRF TWI 0"
+	depends on SOC_SERIES_NRF52X || SOC_SERIES_NRF51X
+	select NRFX_TWI
+	help
+	  Enable nRF TWI Master without EasyDMA on port 0.
+
+config I2C_0_NRF_TWIM
+	bool "nRF TWIM 0"
+	depends on SOC_SERIES_NRF52X
+	select NRFX_TWIM
+	help
+	  Enable nRF TWI Master with EasyDMA on port 0.
+	  This peripheral accepts transfers from RAM only,
+	  if provided buffer is placed in flash, transfer will fail.
+
+endchoice
+
+config I2C_0_NRF_SDA_PIN
+	int "SDA pin number"
+	range 0 47 if SOC_NRF52840_QIAA
+	range 0 31
+	help
+	  GPIO pin number to use for SDA.
+
+config I2C_0_NRF_SCL_PIN
+	int "SCL pin number"
+	range 0 47 if SOC_NRF52840_QIAA
+	range 0 31
+	help
+	  GPIO pin number to use for SCL.
+
+endif # I2C_0 && !SPI_0
+
+# Nordic TWIx1 and SPIx1 instances can not be used at the same time.
+if I2C_1 && !SPI_1
+
+choice I2C_1_NRF_TYPE
+	prompt "I2C Port 1 Driver type"
+
+config I2C_1_NRF_TWI
+	bool "nRF TWI 1"
+	depends on SOC_SERIES_NRF52X || SOC_SERIES_NRF51X
+	select NRFX_TWI
+	help
+	  Enable nRF TWI Master without EasyDMA on port 1.
+
+config I2C_1_NRF_TWIM
+	bool "nRF TWIM 1"
+	depends on SOC_SERIES_NRF52X
+	select NRFX_TWIM
+	help
+	  Enable nRF TWI Master with EasyDMA on port 1.
+	  This peripheral accepts transfers from RAM only,
+	  if provided buffer is placed in flash, transfer will fail.
+
+endchoice
+
+config I2C_1_NRF_SDA_PIN
+	int "SDA pin number"
+	range 0 47 if SOC_NRF52840_QIAA
+	range 0 31
+	help
+	  GPIO pin number to use for SDA.
+
+config I2C_1_NRF_SCL_PIN
+	int "SCL pin number"
+	range 0 47 if SOC_NRF52840_QIAA
+	range 0 31
+	help
+	  GPIO pin number to use for SCL.
+
+endif # I2C_1 && !SPI_1
+
+endif #I2C_NRFX
+

drivers/i2c/i2c_nrfx_twi.c

@@ -0,0 +1,163 @@
+/*
+ * Copyright (c) 2018, Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+
+#include <i2c.h>
+#include <nrfx_twi.h>
+
+#define SYS_LOG_DOMAIN "i2c_nrfx_twi"
+#define SYS_LOG_LEVEL CONFIG_SYS_LOG_I2C_LEVEL
+#include <logging/sys_log.h>
+
+struct i2c_nrfx_twi_data {
+	struct k_sem sync;
+	volatile nrfx_err_t res;
+};
+
+struct i2c_nrfx_twi_config {
+	nrfx_twi_t twi;
+};
+
+static inline struct i2c_nrfx_twi_data *get_dev_data(struct device *dev)
+{
+	return dev->driver_data;
+}
+
+static inline
+const struct i2c_nrfx_twi_config *get_dev_config(struct device *dev)
+{
+	return dev->config->config_info;
+}
+
+static int i2c_nrfx_twi_transfer(struct device *dev, struct i2c_msg *msgs,
+				 u8_t num_msgs, u16_t addr)
+{
+	for (size_t i = 0; i < num_msgs; i++) {
+		nrfx_twi_xfer_desc_t cur_xfer = {
+			.p_primary_buf  = msgs[i].buf,
+			.primary_length = msgs[i].len,
+			.address	= addr,
+			.type		= (msgs[i].flags & I2C_MSG_READ) ?
+					  NRFX_TWI_XFER_RX : NRFX_TWI_XFER_TX
+		};
+
+		nrfx_err_t res = nrfx_twi_xfer(&get_dev_config(dev)->twi,
+					       &cur_xfer,
+					       (msgs[i].flags & I2C_MSG_STOP) ?
+					       0 : NRFX_TWI_FLAG_TX_NO_STOP);
+		if (res != NRFX_SUCCESS) {
+			return -EIO;
+		}
+
+		k_sem_take(&(get_dev_data(dev)->sync), K_FOREVER);
+		res = get_dev_data(dev)->res;
+		if (res != NRFX_SUCCESS) {
+			SYS_LOG_ERR("Error %d occurred for message %d", res, i);
+			return -EIO;
+		}
+	}
+
+	return 0;
+}
+
+static void event_handler(nrfx_twi_evt_t const *p_event, void *p_context)
+{
+	struct device *dev = p_context;
+	struct i2c_nrfx_twi_data *dev_data = get_dev_data(dev);
+
+	switch (p_event->type) {
+	case NRFX_TWI_EVT_DONE:
+		dev_data->res = NRFX_SUCCESS;
+		break;
+	case NRFX_TWI_EVT_ADDRESS_NACK:
+		dev_data->res = NRFX_ERROR_DRV_TWI_ERR_ANACK;
+		break;
+	case NRFX_TWI_EVT_DATA_NACK:
+		dev_data->res = NRFX_ERROR_DRV_TWI_ERR_DNACK;
+		break;
+	default:
+		dev_data->res = NRFX_ERROR_INTERNAL;
+		break;
+	}
+
+	k_sem_give(&dev_data->sync);
+}
+
+static int i2c_nrfx_twi_configure(struct device *dev, u32_t dev_config)
+{
+	nrfx_twi_t const *inst = &(get_dev_config(dev)->twi);
+
+	if (I2C_ADDR_10_BITS & dev_config) {
+		return -EINVAL;
+	}
+
+	switch (I2C_SPEED_GET(dev_config)) {
+	case I2C_SPEED_STANDARD:
+		nrf_twi_frequency_set(inst->p_twi, NRF_TWI_FREQ_100K);
+		break;
+	case I2C_SPEED_FAST:
+		nrf_twi_frequency_set(inst->p_twi, NRF_TWI_FREQ_400K);
+		break;
+	default:
+		SYS_LOG_ERR("unsupported speed");
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
+static const struct i2c_driver_api i2c_nrfx_twi_driver_api = {
+	.configure = i2c_nrfx_twi_configure,
+	.transfer  = i2c_nrfx_twi_transfer,
+};
+
+static int init_twi(struct device *dev, const nrfx_twi_config_t *config)
+{
+	nrfx_err_t result = nrfx_twi_init(&get_dev_config(dev)->twi, config,
+					  event_handler, dev);
+	if (result != NRFX_SUCCESS) {
+		SYS_LOG_ERR("Failed to initialize device: %s",
+			    dev->config->name);
+		return -EBUSY;
+	}
+
+	nrfx_twi_enable(&get_dev_config(dev)->twi);
+	return 0;
+}
+
+#define I2C_NRFX_TWI_DEVICE(idx)					\
+	static int twi_##idx##_init(struct device *dev)			\
+	{								\
+		IRQ_CONNECT(CONFIG_I2C_##idx##_IRQ,			\
+			    CONFIG_I2C_##idx##_IRQ_PRI,			\
+			    nrfx_isr, nrfx_twi_##idx##_irq_handler, 0);	\
+		const nrfx_twi_config_t config = {			\
+			.scl       = CONFIG_I2C_##idx##_NRF_SCL_PIN,	\
+			.sda       = CONFIG_I2C_##idx##_NRF_SDA_PIN,	\
+			.frequency = NRF_TWI_FREQ_100K,			\
+		};							\
+		return init_twi(dev, &config);				\
+	}								\
+	static struct i2c_nrfx_twi_data twi_##idx##_data = {		\
+		.sync = _K_SEM_INITIALIZER(twi_##idx##_data.sync, 0, 1)	\
+	};								\
+	static const struct i2c_nrfx_twi_config twi_##idx##_config = {	\
+		.twi = NRFX_TWI_INSTANCE(idx)				\
+	};								\
+	DEVICE_AND_API_INIT(twi_##idx, CONFIG_I2C_##idx##_NAME,		\
+			    twi_##idx##_init, &twi_##idx##_data,	\
+			    &twi_##idx##_config, POST_KERNEL,		\
+			    CONFIG_I2C_INIT_PRIORITY,			\
+			    &i2c_nrfx_twi_driver_api)
+
+#ifdef CONFIG_I2C_0_NRF_TWI
+I2C_NRFX_TWI_DEVICE(0);
+#endif
+
+#ifdef CONFIG_I2C_1_NRF_TWI
+I2C_NRFX_TWI_DEVICE(1);
+#endif
+

drivers/i2c/i2c_nrfx_twim.c

@@ -0,0 +1,163 @@
+/*
+ * Copyright (c) 2018, Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+
+#include <i2c.h>
+#include <nrfx_twim.h>
+
+#define SYS_LOG_DOMAIN "i2c_nrfx_twim"
+#define SYS_LOG_LEVEL CONFIG_SYS_LOG_I2C_LEVEL
+#include <logging/sys_log.h>
+
+struct i2c_nrfx_twim_data {
+	struct k_sem sync;
+	volatile nrfx_err_t res;
+};
+
+struct i2c_nrfx_twim_config {
+	nrfx_twim_t twim;
+};
+
+static inline struct i2c_nrfx_twim_data *get_dev_data(struct device *dev)
+{
+	return dev->driver_data;
+}
+
+static inline
+const struct i2c_nrfx_twim_config *get_dev_config(struct device *dev)
+{
+	return dev->config->config_info;
+}
+
+static int i2c_nrfx_twim_transfer(struct device *dev, struct i2c_msg *msgs,
+				  u8_t num_msgs, u16_t addr)
+{
+	for (size_t i = 0; i < num_msgs; i++) {
+		nrfx_twim_xfer_desc_t cur_xfer = {
+			.p_primary_buf  = msgs[i].buf,
+			.primary_length = msgs[i].len,
+			.address	= addr,
+			.type		= (msgs[i].flags & I2C_MSG_READ) ?
+					  NRFX_TWIM_XFER_RX : NRFX_TWIM_XFER_TX
+		};
+
+		nrfx_err_t res = nrfx_twim_xfer(&get_dev_config(dev)->twim,
+					       &cur_xfer,
+					       (msgs[i].flags & I2C_MSG_STOP) ?
+					       0 : NRFX_TWIM_FLAG_TX_NO_STOP);
+		if (res != NRFX_SUCCESS) {
+			return -EIO;
+		}
+
+		k_sem_take(&(get_dev_data(dev)->sync), K_FOREVER);
+		res = get_dev_data(dev)->res;
+		if (res != NRFX_SUCCESS) {
+			SYS_LOG_ERR("Error %d occurred for message %d", res, i);
+			return -EIO;
+		}
+	}
+
+	return 0;
+}
+
+static void event_handler(nrfx_twim_evt_t const *p_event, void *p_context)
+{
+	struct device *dev = p_context;
+	struct i2c_nrfx_twim_data *dev_data = get_dev_data(dev);
+
+	switch (p_event->type) {
+	case NRFX_TWIM_EVT_DONE:
+		dev_data->res = NRFX_SUCCESS;
+		break;
+	case NRFX_TWIM_EVT_ADDRESS_NACK:
+		dev_data->res = NRFX_ERROR_DRV_TWI_ERR_ANACK;
+		break;
+	case NRFX_TWIM_EVT_DATA_NACK:
+		dev_data->res = NRFX_ERROR_DRV_TWI_ERR_DNACK;
+		break;
+	default:
+		dev_data->res = NRFX_ERROR_INTERNAL;
+		break;
+	}
+
+	k_sem_give(&dev_data->sync);
+}
+
+static int i2c_nrfx_twim_configure(struct device *dev, u32_t dev_config)
+{
+	nrfx_twim_t const *inst = &(get_dev_config(dev)->twim);
+
+	if (I2C_ADDR_10_BITS & dev_config) {
+		return -EINVAL;
+	}
+
+	switch (I2C_SPEED_GET(dev_config)) {
+	case I2C_SPEED_STANDARD:
+		nrf_twim_frequency_set(inst->p_twim, NRF_TWIM_FREQ_100K);
+		break;
+	case I2C_SPEED_FAST:
+		nrf_twim_frequency_set(inst->p_twim, NRF_TWIM_FREQ_400K);
+		break;
+	default:
+		SYS_LOG_ERR("unsupported speed");
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
+static const struct i2c_driver_api i2c_nrfx_twim_driver_api = {
+	.configure = i2c_nrfx_twim_configure,
+	.transfer  = i2c_nrfx_twim_transfer,
+};
+
+static int init_twim(struct device *dev, const nrfx_twim_config_t *config)
+{
+	nrfx_err_t result = nrfx_twim_init(&get_dev_config(dev)->twim, config,
+					  event_handler, dev);
+	if (result != NRFX_SUCCESS) {
+		SYS_LOG_ERR("Failed to initialize device: %s",
+			    dev->config->name);
+		return -EBUSY;
+	}
+
+	nrfx_twim_enable(&get_dev_config(dev)->twim);
+	return 0;
+}
+
+#define I2C_NRFX_TWIM_DEVICE(idx)					\
+	static int twim_##idx##_init(struct device *dev)		\
+	{								\
+		IRQ_CONNECT(CONFIG_I2C_##idx##_IRQ,			\
+			    CONFIG_I2C_##idx##_IRQ_PRI,			\
+			    nrfx_isr, nrfx_twim_##idx##_irq_handler, 0);\
+		const nrfx_twim_config_t config = {			\
+			.scl       = CONFIG_I2C_##idx##_NRF_SCL_PIN,	\
+			.sda       = CONFIG_I2C_##idx##_NRF_SDA_PIN,	\
+			.frequency = NRF_TWIM_FREQ_100K,		\
+		};							\
+		return init_twim(dev, &config);				\
+	}								\
+	static struct i2c_nrfx_twim_data twim_##idx##_data = {		\
+		.sync = _K_SEM_INITIALIZER(twim_##idx##_data.sync, 0, 1)\
+	};								\
+	static const struct i2c_nrfx_twim_config twim_##idx##_config = {\
+		.twim = NRFX_TWIM_INSTANCE(idx)				\
+	};								\
+	DEVICE_AND_API_INIT(twim_##idx, CONFIG_I2C_##idx##_NAME,	\
+			    twim_##idx##_init, &twim_##idx##_data,	\
+			    &twim_##idx##_config, POST_KERNEL,		\
+			    CONFIG_I2C_INIT_PRIORITY,			\
+			    &i2c_nrfx_twim_driver_api)
+
+#ifdef CONFIG_I2C_0_NRF_TWIM
+I2C_NRFX_TWIM_DEVICE(0);
+#endif
+
+#ifdef CONFIG_I2C_1_NRF_TWIM
+I2C_NRFX_TWIM_DEVICE(1);
+#endif
+

ext/hal/nordic/Kconfig

@@ -19,5 +19,11 @@ config NRFX_SPIM
 config NRFX_SPIS
 	bool
 
+config NRFX_TWI
+	bool
+
+config NRFX_TWIM
+	bool
+
 config NRFX_WDT
 	bool

ext/hal/nordic/nrfx_config_nrf51.h

@@ -1287,21 +1287,21 @@
 
 // <e> NRFX_TWI_ENABLED - nrfx_twi - TWI peripheral driver
 //==========================================================
-#ifndef NRFX_TWI_ENABLED
+#ifdef CONFIG_NRFX_TWI
-#define NRFX_TWI_ENABLED 0
+#define NRFX_TWI_ENABLED 1
 #endif
 // <q> NRFX_TWI0_ENABLED  - Enable TWI0 instance
 
 
-#ifndef NRFX_TWI0_ENABLED
+#ifdef CONFIG_I2C_0_NRF_TWI
-#define NRFX_TWI0_ENABLED 0
+#define NRFX_TWI0_ENABLED 1
 #endif
 
 // <q> NRFX_TWI1_ENABLED  - Enable TWI1 instance
 
 
-#ifndef NRFX_TWI1_ENABLED
+#ifdef CONFIG_I2C_1_NRF_TWI
-#define NRFX_TWI1_ENABLED 0
+#define NRFX_TWI1_ENABLED 1
 #endif
 
 // <o> NRFX_TWI_DEFAULT_CONFIG_FREQUENCY  - Frequency

ext/hal/nordic/nrfx_config_nrf52832.h

@@ -2210,21 +2210,21 @@
 
 // <e> NRFX_TWIM_ENABLED - nrfx_twim - TWIM peripheral driver
 //==========================================================
-#ifndef NRFX_TWIM_ENABLED
+#ifdef CONFIG_NRFX_TWIM
-#define NRFX_TWIM_ENABLED 0
+#define NRFX_TWIM_ENABLED 1
 #endif
 // <q> NRFX_TWIM0_ENABLED  - Enable TWIM0 instance
 
 
-#ifndef NRFX_TWIM0_ENABLED
+#ifdef CONFIG_I2C_0_NRF_TWIM
-#define NRFX_TWIM0_ENABLED 0
+#define NRFX_TWIM0_ENABLED 1
 #endif
 
 // <q> NRFX_TWIM1_ENABLED  - Enable TWIM1 instance
 
 
-#ifndef NRFX_TWIM1_ENABLED
+#ifdef CONFIG_I2C_1_NRF_TWIM
-#define NRFX_TWIM1_ENABLED 0
+#define NRFX_TWIM1_ENABLED 1
 #endif
 
 // <o> NRFX_TWIM_DEFAULT_CONFIG_FREQUENCY  - Frequency
@@ -2462,21 +2462,20 @@
 
 // <e> NRFX_TWI_ENABLED - nrfx_twi - TWI peripheral driver
 //==========================================================
-#ifndef NRFX_TWI_ENABLED
+#ifdef CONFIG_NRFX_TWI
-#define NRFX_TWI_ENABLED 0
+#define NRFX_TWI_ENABLED 1
 #endif
 // <q> NRFX_TWI0_ENABLED  - Enable TWI0 instance
 
 
-#ifndef NRFX_TWI0_ENABLED
+#ifdef CONFIG_I2C_0_NRF_TWI
-#define NRFX_TWI0_ENABLED 0
+#define NRFX_TWI0_ENABLED 1
 #endif
 
 // <q> NRFX_TWI1_ENABLED  - Enable TWI1 instance
 
-
+#ifdef CONFIG_I2C_1_NRF_TWI
-#ifndef NRFX_TWI1_ENABLED
+#define NRFX_TWI1_ENABLED 1
-#define NRFX_TWI1_ENABLED 0
 #endif
 
 // <o> NRFX_TWI_DEFAULT_CONFIG_FREQUENCY  - Frequency

ext/hal/nordic/nrfx_config_nrf52840.h

@@ -2313,21 +2313,21 @@
 
 // <e> NRFX_TWIM_ENABLED - nrfx_twim - TWIM peripheral driver
 //==========================================================
-#ifndef NRFX_TWIM_ENABLED
+#ifdef CONFIG_NRFX_TWIM
-#define NRFX_TWIM_ENABLED 0
+#define NRFX_TWIM_ENABLED 1
 #endif
 // <q> NRFX_TWIM0_ENABLED  - Enable TWIM0 instance
 
 
-#ifndef NRFX_TWIM0_ENABLED
+#ifdef CONFIG_I2C_0_NRF_TWIM
-#define NRFX_TWIM0_ENABLED 0
+#define NRFX_TWIM0_ENABLED 1
 #endif
 
 // <q> NRFX_TWIM1_ENABLED  - Enable TWIM1 instance
 
 
-#ifndef NRFX_TWIM1_ENABLED
+#ifdef CONFIG_I2C_1_NRF_TWIM
-#define NRFX_TWIM1_ENABLED 0
+#define NRFX_TWIM1_ENABLED 1
 #endif
 
 // <o> NRFX_TWIM_DEFAULT_CONFIG_FREQUENCY  - Frequency
@@ -2552,21 +2552,21 @@
 
 // <e> NRFX_TWI_ENABLED - nrfx_twi - TWI peripheral driver
 //==========================================================
-#ifndef NRFX_TWI_ENABLED
+#ifdef CONFIG_NRFX_TWI
-#define NRFX_TWI_ENABLED 0
+#define NRFX_TWI_ENABLED 1
 #endif
 // <q> NRFX_TWI0_ENABLED  - Enable TWI0 instance
 
 
-#ifndef NRFX_TWI0_ENABLED
+#ifdef CONFIG_I2C_0_NRF_TWI
-#define NRFX_TWI0_ENABLED 0
+#define NRFX_TWI0_ENABLED 1
 #endif
 
 // <q> NRFX_TWI1_ENABLED  - Enable TWI1 instance
 
 
-#ifndef NRFX_TWI1_ENABLED
+#ifdef CONFIG_I2C_1_NRF_TWI
-#define NRFX_TWI1_ENABLED 0
+#define NRFX_TWI1_ENABLED 1
 #endif
 
 // <o> NRFX_TWI_DEFAULT_CONFIG_FREQUENCY  - Frequency