stm32: i2c implementation for F7, L5 and L4 MCUs

10 files changed, 419 insertions, 7 deletions

diff --git a/src/machine/board_nucleof722ze.go b/src/machine/board_nucleof722ze.go
index eac0348c9..32a6e2564 100644
--- a/src/machine/board_nucleof722ze.go
+++ b/src/machine/board_nucleof722ze.go
@@ -54,6 +54,15 @@ const (
 
 // I2C pins
 const (
-	SCL_PIN = PB6
-	SDA_PIN = PB7
+	I2C0_SCL_PIN = PB8
+	I2C0_SDA_PIN = PB9
+)
+
+var (
+	// I2C1 is documented, alias to I2C0 as well
+	I2C1 = &I2C{
+		Bus:             stm32.I2C1,
+		AltFuncSelector: 4,
+	}
+	I2C0 = I2C1
 )
diff --git a/src/machine/board_nucleol432kc.go b/src/machine/board_nucleol432kc.go
index c9520aac2..a8cc31ac1 100644
--- a/src/machine/board_nucleol432kc.go
+++ b/src/machine/board_nucleol432kc.go
@@ -22,8 +22,9 @@ const (
 
 // I2C pins
 const (
-	// PB6 and PB7 are mapped to CN4 pin 7 and CN4 pin 8 respectively with the
-	// default solder bridge settings
+	// With default solder bridge settings:
+	//    PB6 / Arduino D5 / CN3 Pin 8 is SCL
+	//    PB7 / Arduino D4 / CN3 Pin 7 is SDA
 	I2C0_SCL_PIN = PB6
 	I2C0_SDA_PIN = PB7
 )
@@ -41,6 +42,15 @@ var (
 	UART1 = &UART0
 )
 
+var (
+	// I2C1 is documented, alias to I2C0 as well
+	I2C1 = &I2C{
+		Bus:             stm32.I2C1,
+		AltFuncSelector: 4,
+	}
+	I2C0 = I2C1
+)
+
 func init() {
 	UART0.Interrupt = interrupt.New(stm32.IRQ_USART2, UART0.handleInterrupt)
 }
diff --git a/src/machine/board_nucleol552ze.go b/src/machine/board_nucleol552ze.go
index b97be2725..d7fc67e99 100644
--- a/src/machine/board_nucleol552ze.go
+++ b/src/machine/board_nucleol552ze.go
@@ -41,6 +41,20 @@ var (
 	UART1 = &UART0
 )
 
+const (
+	I2C0_SCL_PIN = PB8
+	I2C0_SDA_PIN = PB9
+)
+
+var (
+	// I2C1 is documented, alias to I2C0 as well
+	I2C1 = &I2C{
+		Bus:             stm32.I2C1,
+		AltFuncSelector: 4,
+	}
+	I2C0 = I2C1
+)
+
 func init() {
 	UART0.Interrupt = interrupt.New(stm32.IRQ_LPUART1, UART0.handleInterrupt)
 }
diff --git a/src/machine/i2c.go b/src/machine/i2c.go
index 93f1e41fe..25cf54c3c 100644
--- a/src/machine/i2c.go
+++ b/src/machine/i2c.go
@@ -1,4 +1,4 @@
-// +build avr nrf sam stm32,!stm32f7x2,!stm32l5x2,!stm32l0,!stm32l4x2 fe310 k210
+// +build avr nrf sam stm32,!stm32l0 fe310 k210
 
 package machine
 
diff --git a/src/machine/machine_stm32_i2c.go b/src/machine/machine_stm32_i2c_reva.go
index c239a7973..fe087c069 100644
--- a/src/machine/machine_stm32_i2c.go
+++ b/src/machine/machine_stm32_i2c_reva.go
@@ -1,8 +1,9 @@
-// +build stm32,!stm32f7x2,!stm32l5x2,!stm32l0,!stm32l4x2
+// +build stm32f4 stm32f1
 
 package machine
 
-// Peripheral abstraction layer for I2C on the stm32 family
+// I2C implementation for 'older' STM32 MCUs, including the F1 and F4 series
+// of MCUs.
 
 import (
 	"device/stm32"
diff --git a/src/machine/machine_stm32_i2c_revb.go b/src/machine/machine_stm32_i2c_revb.go
new file mode 100644
index 000000000..bab69a933
--- /dev/null
+++ b/src/machine/machine_stm32_i2c_revb.go
@@ -0,0 +1,347 @@
+// +build stm32l5 stm32f7 stm32l4
+
+package machine
+
+import (
+	"device/stm32"
+	"unsafe"
+)
+
+//go:linkname ticks runtime.ticks
+func ticks() int64
+
+// I2C implementation for 'newer' STM32 MCUs, including the F7, L5 and L4
+// series of MCUs.
+//
+// Currently, only 100KHz mode is supported
+
+const (
+	flagBUSY  = stm32.I2C_ISR_BUSY
+	flagTCR   = stm32.I2C_ISR_TCR
+	flagRXNE  = stm32.I2C_ISR_RXNE
+	flagSTOPF = stm32.I2C_ISR_STOPF
+	flagAF    = stm32.I2C_ISR_NACKF
+	flagTXIS  = stm32.I2C_ISR_TXIS
+	flagTXE   = stm32.I2C_ISR_TXE
+)
+
+const (
+	MAX_NBYTE_SIZE = 255
+	TIMEOUT_TICKS  = 100 // 100ms
+
+	I2C_NO_STARTSTOP         = 0x0
+	I2C_GENERATE_START_WRITE = 0x80000000 | stm32.I2C_CR2_START
+	I2C_GENERATE_START_READ  = 0x80000000 | stm32.I2C_CR2_START | stm32.I2C_CR2_RD_WRN
+	I2C_GENERATE_STOP        = 0x80000000 | stm32.I2C_CR2_STOP
+)
+
+type I2C struct {
+	Bus             *stm32.I2C_Type
+	AltFuncSelector uint8
+}
+
+// I2CConfig is used to store config info for I2C.
+type I2CConfig struct {
+	SCL Pin
+	SDA Pin
+}
+
+func (i2c I2C) Configure(config I2CConfig) error {
+	// disable I2C interface before any configuration changes
+	i2c.Bus.CR1.ClearBits(stm32.I2C_CR1_PE)
+
+	// enable clock for I2C
+	enableAltFuncClock(unsafe.Pointer(i2c.Bus))
+
+	// init pins
+	if config.SCL == 0 && config.SDA == 0 {
+		config.SCL = I2C0_SCL_PIN
+		config.SDA = I2C0_SDA_PIN
+	}
+	i2c.configurePins(config)
+
+	// Frequency range
+	i2c.Bus.TIMINGR.Set(i2c.getFreqRange())
+
+	// Disable Own Address1 before set the Own Address1 configuration
+	i2c.Bus.OAR1.ClearBits(stm32.I2C_OAR1_OA1EN)
+
+	// 7 bit addressing, no self address
+	i2c.Bus.OAR1.Set(stm32.I2C_OAR1_OA1EN)
+
+	// Enable the AUTOEND by default, and enable NACK (should be disable only during Slave process
+	i2c.Bus.CR2.Set(stm32.I2C_CR2_AUTOEND | stm32.I2C_CR2_NACK)
+
+	// Disable Own Address2 / Dual Addressing
+	i2c.Bus.OAR2.Set(0)
+
+	// Disable Generalcall and NoStretch, Enable peripheral
+	i2c.Bus.CR1.Set(stm32.I2C_CR1_PE)
+
+	return nil
+}
+
+func (i2c I2C) Tx(addr uint16, w, r []byte) error {
+	if len(w) > 0 {
+		if err := i2c.controllerTransmit(addr, w); nil != err {
+			return err
+		}
+	}
+
+	if len(r) > 0 {
+		if err := i2c.controllerReceive(addr, r); nil != err {
+			return err
+		}
+	}
+
+	return nil
+}
+
+func (i2c I2C) configurePins(config I2CConfig) {
+	config.SCL.ConfigureAltFunc(PinConfig{Mode: PinModeI2CSCL}, i2c.AltFuncSelector)
+	config.SDA.ConfigureAltFunc(PinConfig{Mode: PinModeI2CSDA}, i2c.AltFuncSelector)
+}
+
+func (i2c I2C) controllerTransmit(addr uint16, w []byte) error {
+	start := ticks()
+
+	if !i2c.waitOnFlagUntilTimeout(flagBUSY, false, start) {
+		return errI2CBusReadyTimeout
+	}
+
+	pos := 0
+	xferCount := len(w)
+	xferSize := uint8(xferCount)
+	if xferCount > MAX_NBYTE_SIZE {
+		// Large write, indicate reload
+		xferSize = MAX_NBYTE_SIZE
+		i2c.transferConfig(addr, xferSize, stm32.I2C_CR2_RELOAD, I2C_GENERATE_START_WRITE)
+	} else {
+		// Small write, auto-end
+		i2c.transferConfig(addr, xferSize, stm32.I2C_CR2_AUTOEND, I2C_GENERATE_START_WRITE)
+	}
+
+	for xferCount > 0 {
+		if !i2c.waitOnTXISFlagUntilTimeout(start) {
+			return errI2CWriteTimeout
+		}
+
+		i2c.Bus.TXDR.Set(uint32(w[pos]))
+		pos++
+		xferCount--
+		xferSize--
+
+		// If we've written the last byte of this chunk
+		if xferCount != 0 && xferSize == 0 {
+			// Wait for Transfer Complete Reload to be flagged
+			if !i2c.waitOnFlagUntilTimeout(flagTCR, true, start) {
+				return errI2CWriteTimeout
+			}
+
+			if xferCount > MAX_NBYTE_SIZE {
+				// Large write remaining, indicate reload
+				xferSize = MAX_NBYTE_SIZE
+				i2c.transferConfig(addr, xferSize, stm32.I2C_CR2_RELOAD, I2C_NO_STARTSTOP)
+			} else {
+				// Small write, auto-end
+				xferSize = uint8(xferCount)
+				i2c.transferConfig(addr, xferSize, stm32.I2C_CR2_AUTOEND, I2C_NO_STARTSTOP)
+			}
+		}
+	}
+
+	if !i2c.waitOnStopFlagUntilTimeout(start) {
+		return errI2CWriteTimeout
+	}
+
+	i2c.clearFlag(stm32.I2C_ISR_STOPF)
+
+	i2c.resetCR2()
+
+	return nil
+}
+
+func (i2c I2C) controllerReceive(addr uint16, r []byte) error {
+	start := ticks()
+
+	if !i2c.waitOnFlagUntilTimeout(flagBUSY, false, start) {
+		return errI2CBusReadyTimeout
+	}
+
+	pos := 0
+	xferCount := len(r)
+	xferSize := uint8(xferCount)
+	if xferCount > MAX_NBYTE_SIZE {
+		// Large read, indicate reload
+		xferSize = MAX_NBYTE_SIZE
+		i2c.transferConfig(addr, xferSize, stm32.I2C_CR2_RELOAD, I2C_GENERATE_START_READ)
+	} else {
+		// Small read, auto-end
+		i2c.transferConfig(addr, xferSize, stm32.I2C_CR2_AUTOEND, I2C_GENERATE_START_READ)
+	}
+
+	for xferCount > 0 {
+		if !i2c.waitOnRXNEFlagUntilTimeout(start) {
+			return errI2CWriteTimeout
+		}
+
+		r[pos] = uint8(i2c.Bus.RXDR.Get())
+		pos++
+		xferCount--
+		xferSize--
+
+		// If we've read the last byte of this chunk
+		if xferCount != 0 && xferSize == 0 {
+			// Wait for Transfer Complete Reload to be flagged
+			if !i2c.waitOnFlagUntilTimeout(flagTCR, true, start) {
+				return errI2CWriteTimeout
+			}
+
+			if xferCount > MAX_NBYTE_SIZE {
+				// Large read remaining, indicate reload
+				xferSize = MAX_NBYTE_SIZE
+				i2c.transferConfig(addr, xferSize, stm32.I2C_CR2_RELOAD, I2C_NO_STARTSTOP)
+			} else {
+				// Small read, auto-end
+				xferSize = uint8(xferCount)
+				i2c.transferConfig(addr, xferSize, stm32.I2C_CR2_AUTOEND, I2C_NO_STARTSTOP)
+			}
+		}
+	}
+
+	if !i2c.waitOnStopFlagUntilTimeout(start) {
+		return errI2CWriteTimeout
+	}
+
+	i2c.clearFlag(stm32.I2C_ISR_STOPF)
+
+	i2c.resetCR2()
+
+	return nil
+}
+
+func (i2c I2C) waitOnFlagUntilTimeout(flag uint32, set bool, startTicks int64) bool {
+	for i2c.hasFlag(flag) != set {
+		if (ticks() - startTicks) > TIMEOUT_TICKS {
+			return false
+		}
+	}
+	return true
+}
+
+func (i2c I2C) waitOnRXNEFlagUntilTimeout(startTicks int64) bool {
+	for !i2c.hasFlag(flagRXNE) {
+		if i2c.isAcknowledgeFailed(startTicks) {
+			return false
+		}
+
+		if i2c.hasFlag(flagSTOPF) {
+			i2c.clearFlag(flagSTOPF)
+			i2c.resetCR2()
+			return false
+		}
+
+		if (ticks() - startTicks) > TIMEOUT_TICKS {
+			return false
+		}
+	}
+
+	return true
+}
+
+func (i2c I2C) waitOnTXISFlagUntilTimeout(startTicks int64) bool {
+	for !i2c.hasFlag(flagTXIS) {
+		if i2c.isAcknowledgeFailed(startTicks) {
+			return false
+		}
+
+		if (ticks() - startTicks) > TIMEOUT_TICKS {
+			return false
+		}
+	}
+
+	return true
+}
+
+func (i2c I2C) waitOnStopFlagUntilTimeout(startTicks int64) bool {
+	for !i2c.hasFlag(flagSTOPF) {
+		if i2c.isAcknowledgeFailed(startTicks) {
+			return false
+		}
+
+		if (ticks() - startTicks) > TIMEOUT_TICKS {
+			return false
+		}
+	}
+
+	return true
+}
+
+func (i2c I2C) isAcknowledgeFailed(startTicks int64) bool {
+	if i2c.hasFlag(flagAF) {
+		// Wait until STOP Flag is reset
+		// AutoEnd should be initiate after AF
+		for !i2c.hasFlag(flagSTOPF) {
+			if (ticks() - startTicks) > TIMEOUT_TICKS {
+				return true
+			}
+		}
+
+		i2c.clearFlag(flagAF)
+		i2c.clearFlag(flagSTOPF)
+		i2c.flushTXDR()
+		i2c.resetCR2()
+
+		return true
+	}
+
+	return false
+}
+
+func (i2c I2C) flushTXDR() {
+	// If a pending TXIS flag is set, write a dummy data in TXDR to clear it
+	if i2c.hasFlag(flagTXIS) {
+		i2c.Bus.TXDR.Set(0)
+	}
+
+	// Flush TX register if not empty
+	if !i2c.hasFlag(flagTXE) {
+		i2c.clearFlag(flagTXE)
+	}
+}
+
+func (i2c I2C) resetCR2() {
+	i2c.Bus.CR2.ClearBits(stm32.I2C_CR2_SADD_Msk |
+		stm32.I2C_CR2_HEAD10R_Msk |
+		stm32.I2C_CR2_NBYTES_Msk |
+		stm32.I2C_CR2_RELOAD_Msk |
+		stm32.I2C_CR2_RD_WRN_Msk)
+}
+
+func (i2c I2C) transferConfig(addr uint16, size uint8, mode uint32, request uint32) {
+	mask := uint32(stm32.I2C_CR2_SADD_Msk |
+		stm32.I2C_CR2_NBYTES_Msk |
+		stm32.I2C_CR2_RELOAD_Msk |
+		stm32.I2C_CR2_AUTOEND_Msk |
+		(stm32.I2C_CR2_RD_WRN & uint32(request>>(31-stm32.I2C_CR2_RD_WRN_Pos))) |
+		stm32.I2C_CR2_START_Msk |
+		stm32.I2C_CR2_STOP_Msk)
+
+	value := (uint32(addr<<1) & stm32.I2C_CR2_SADD_Msk) |
+		((uint32(size) << stm32.I2C_CR2_NBYTES_Pos) & stm32.I2C_CR2_NBYTES_Msk) |
+		mode | request
+
+	i2c.Bus.CR2.ReplaceBits(value, mask, 0)
+}
+
+func (i2c I2C) hasFlag(flag uint32) bool {
+	return i2c.Bus.ISR.HasBits(flag)
+}
+
+func (i2c I2C) clearFlag(flag uint32) {
+	if flag == stm32.I2C_ISR_TXE {
+		i2c.Bus.ISR.SetBits(flag)
+	} else {
+		i2c.Bus.ICR.SetBits(flag)
+	}
+}
diff --git a/src/machine/machine_stm32f7x2.go b/src/machine/machine_stm32f7x2.go
index 8038fa7a0..f9488d2ff 100644
--- a/src/machine/machine_stm32f7x2.go
+++ b/src/machine/machine_stm32f7x2.go
@@ -41,3 +41,13 @@ func (uart *UART) setRegisters() {
 	uart.statusReg = &uart.Bus.ISR
 	uart.txEmptyFlag = stm32.USART_ISR_TXE
 }
+
+//---------- I2C related code
+
+// Gets the value for TIMINGR register
+func (i2c I2C) getFreqRange() uint32 {
+	// This is a 'magic' value calculated by STM32CubeMX
+	// for 27MHz PCLK1 (216MHz CPU Freq / 8).
+	// TODO: Do calculations based on PCLK1
+	return 0x00606A9B
+}
diff --git a/src/machine/machine_stm32l4x2.go b/src/machine/machine_stm32l4x2.go
index 0320e7648..8baf6e571 100644
--- a/src/machine/machine_stm32l4x2.go
+++ b/src/machine/machine_stm32l4x2.go
@@ -34,3 +34,13 @@ func (uart *UART) setRegisters() {
 	uart.statusReg = &uart.Bus.ISR
 	uart.txEmptyFlag = stm32.USART_ISR_TXE
 }
+
+//---------- I2C related code
+
+// Gets the value for TIMINGR register
+func (i2c I2C) getFreqRange() uint32 {
+	// This is a 'magic' value calculated by STM32CubeMX
+	// for 80MHz PCLK1.
+	// TODO: Do calculations based on PCLK1
+	return 0x10909CEC
+}
diff --git a/src/machine/machine_stm32l5x2.go b/src/machine/machine_stm32l5x2.go
index 7d31396f6..e909de3a7 100644
--- a/src/machine/machine_stm32l5x2.go
+++ b/src/machine/machine_stm32l5x2.go
@@ -39,3 +39,13 @@ func (uart *UART) setRegisters() {
 	uart.statusReg = &uart.Bus.ISR
 	uart.txEmptyFlag = stm32.USART_ISR_TXE
 }
+
+//---------- I2C related code
+
+// Gets the value for TIMINGR register
+func (i2c I2C) getFreqRange() uint32 {
+	// This is a 'magic' value calculated by STM32CubeMX
+	// for 110MHz PCLK1.
+	// TODO: Do calculations based on PCLK1
+	return 0x40505681
+}
diff --git a/src/runtime/runtime_stm32_timers.go b/src/runtime/runtime_stm32_timers.go
index eb0aeedf1..589995d7f 100644
--- a/src/runtime/runtime_stm32_timers.go
+++ b/src/runtime/runtime_stm32_timers.go
@@ -56,6 +56,7 @@ func nanosecondsToTicks(ns int64) timeUnit {
 }
 
 // number of ticks (microseconds) since start.
+//go:linkname ticks runtime.ticks
 func ticks() timeUnit {
 	return timeUnit(tickCount.Get())
 }