cherry-pick nRF TWIS driver and TWIM RTIO patches

drivers/i2c/i2c_nrfx_twim_rtio.c

@@ -15,6 +15,7 @@
 #include <zephyr/drivers/pinctrl.h>
 #include <soc.h>
 #include <nrfx_twim.h>
+#include <zephyr/linker/devicetree_regions.h>
 
 #include "i2c_nrfx_twim_common.h"
 
@@ -25,6 +26,11 @@ struct i2c_nrfx_twim_rtio_config {
 	struct i2c_rtio *ctx;
 };
 
+struct i2c_nrfx_twim_rtio_data {
+	uint8_t *user_rx_buf;
+	uint16_t user_rx_buf_size;
+};
+
 static bool i2c_nrfx_twim_rtio_msg_start(const struct device *dev, uint8_t flags, uint8_t *buf,
 					 size_t buf_len, uint16_t i2c_addr)
 {
@@ -43,12 +49,28 @@ static bool i2c_nrfx_twim_rtio_msg_start(const struct device *dev, uint8_t flags
 static bool i2c_nrfx_twim_rtio_start(const struct device *dev)
 {
 	const struct i2c_nrfx_twim_rtio_config *config = dev->config;
+	struct i2c_nrfx_twim_rtio_data *data = dev->data;
 	struct i2c_rtio *ctx = config->ctx;
 	struct rtio_sqe *sqe = &ctx->txn_curr->sqe;
 	struct i2c_dt_spec *dt_spec = sqe->iodev->data;
 
 	switch (sqe->op) {
 	case RTIO_OP_RX:
+		if (!nrf_dma_accessible_check(&config->common.twim, sqe->rx.buf)) {
+			if (sqe->rx.buf_len > config->common.msg_buf_size) {
+				return i2c_rtio_complete(ctx, -ENOSPC);
+			}
+
+			data->user_rx_buf = sqe->rx.buf;
+			data->user_rx_buf_size = sqe->rx.buf_len;
+			return i2c_nrfx_twim_rtio_msg_start(dev,
+							    I2C_MSG_READ | sqe->iodev_flags,
+							    config->common.msg_buf,
+							    data->user_rx_buf_size,
+							    dt_spec->addr);
+		}
+
+		data->user_rx_buf = NULL;
 		return i2c_nrfx_twim_rtio_msg_start(dev, I2C_MSG_READ | sqe->iodev_flags,
 						    sqe->rx.buf, sqe->rx.buf_len, dt_spec->addr);
 	case RTIO_OP_TINY_TX:
@@ -74,7 +96,8 @@ static bool i2c_nrfx_twim_rtio_start(const struct device *dev)
 			sqe->tx.buf = config->common.msg_buf;
 		}
 		return i2c_nrfx_twim_rtio_msg_start(dev, I2C_MSG_WRITE | sqe->iodev_flags,
-						    sqe->tx.buf, sqe->tx.buf_len, dt_spec->addr);
+						    (uint8_t *)sqe->tx.buf, sqe->tx.buf_len,
+						    dt_spec->addr);
 	case RTIO_OP_I2C_CONFIGURE:
 		(void)i2c_nrfx_twim_configure(dev, sqe->i2c_config);
 		return false;
@@ -143,8 +166,14 @@ static void i2c_nrfx_twim_rtio_submit(const struct device *dev, struct rtio_iode
 static void event_handler(nrfx_twim_evt_t const *p_event, void *p_context)
 {
 	const struct device *dev = p_context;
+	const struct i2c_nrfx_twim_rtio_config *config = dev->config;
+	struct i2c_nrfx_twim_rtio_data *data = dev->data;
 	int status = p_event->type == NRFX_TWIM_EVT_DONE ? 0 : -EIO;
 
+	if (data->user_rx_buf) {
+		memcpy(data->user_rx_buf, config->common.msg_buf, data->user_rx_buf_size);
+	}
+
 	i2c_nrfx_twim_rtio_complete(dev, status);
 }
 
@@ -174,6 +203,31 @@ int i2c_nrfx_twim_rtio_init(const struct device *dev)
 	COND_CODE_0(CONCAT_BUF_SIZE(idx), (COND_CODE_0(FLASH_BUF_MAX_SIZE(idx), (0), (1))), (1))
 #define MSG_BUF_SIZE(idx) MAX(CONCAT_BUF_SIZE(idx), FLASH_BUF_MAX_SIZE(idx))
 
+#define MSG_BUF_HAS_MEMORY_REGIONS(idx) \
+	DT_NODE_HAS_PROP(I2C(idx), memory_regions)
+
+#define MSG_BUF_LINKER_REGION_NAME(idx) \
+	LINKER_DT_NODE_REGION_NAME(DT_PHANDLE(I2C(idx), memory_regions))
+
+#define MSG_BUF_ATTR_SECTION(idx) \
+	__attribute__((__section__(MSG_BUF_LINKER_REGION_NAME(idx))))
+
+#define MSG_BUF_ATTR(idx)                                                                          \
+	COND_CODE_1(                                                                               \
+		MSG_BUF_HAS_MEMORY_REGIONS(idx),                                                   \
+		(MSG_BUF_ATTR_SECTION(idx)),                                                       \
+		()                                                                                 \
+	)
+
+#define MSG_BUF_SYM(idx) \
+	_CONCAT_3(twim_, idx, _msg_buf)
+
+#define MSG_BUF_DEFINE(idx) \
+	static uint8_t MSG_BUF_SYM(idx)[MSG_BUF_SIZE(idx)] MSG_BUF_ATTR(idx)
+
+#define MAX_TRANSFER_SIZE(idx) \
+	BIT_MASK(DT_PROP(I2C(idx), easydma_maxcnt_bits))
+
 #define I2C_NRFX_TWIM_RTIO_DEVICE(idx)                                                             \
 	NRF_DT_CHECK_NODE_HAS_PINCTRL_SLEEP(I2C(idx));                                             \
 	BUILD_ASSERT(I2C_FREQUENCY(idx) != I2C_NRFX_TWIM_INVALID_FREQUENCY,                        \
@@ -183,13 +237,12 @@ int i2c_nrfx_twim_rtio_init(const struct device *dev)
 		IRQ_CONNECT(DT_IRQN(I2C(idx)), DT_IRQ(I2C(idx), priority), nrfx_isr,               \
 			    nrfx_twim_##idx##_irq_handler, 0);                                     \
 	}                                                                                          \
-	IF_ENABLED(                                                                                \
-		USES_MSG_BUF(idx),                                                                 \
-		(static uint8_t twim_##idx##_msg_buf[MSG_BUF_SIZE(idx)] I2C_MEMORY_SECTION(idx);)) \
+	IF_ENABLED(USES_MSG_BUF(idx), (MSG_BUF_DEFINE(idx);))                                      \
 	I2C_RTIO_DEFINE(_i2c##idx##_twim_rtio,                                                     \
 			DT_INST_PROP_OR(n, sq_size, CONFIG_I2C_RTIO_SQ_SIZE),                      \
 			DT_INST_PROP_OR(n, cq_size, CONFIG_I2C_RTIO_CQ_SIZE));                     \
 	PINCTRL_DT_DEFINE(I2C(idx));                                                               \
+	static struct i2c_nrfx_twim_rtio_data twim_##idx##z_data;                                  \
 	static const struct i2c_nrfx_twim_rtio_config twim_##idx##z_config = {                     \
 		.common =                                                                          \
 			{                                                                          \
@@ -204,22 +257,15 @@ int i2c_nrfx_twim_rtio_init(const struct device *dev)
 				.msg_buf_size = MSG_BUF_SIZE(idx),                                 \
 				.irq_connect = irq_connect##idx,                                   \
 				.pcfg = PINCTRL_DT_DEV_CONFIG_GET(I2C(idx)),                       \
-				IF_ENABLED(USES_MSG_BUF(idx), (.msg_buf = twim_##idx##_msg_buf,))  \
-					.max_transfer_size =                                       \
-					BIT_MASK(DT_PROP(I2C(idx), easydma_maxcnt_bits)),          \
+				IF_ENABLED(USES_MSG_BUF(idx), (.msg_buf = MSG_BUF_SYM(idx),))      \
+				.max_transfer_size = MAX_TRANSFER_SIZE(idx),                       \
 			},                                                                         \
 		.ctx = &_i2c##idx##_twim_rtio,                                                     \
 	};                                                                                         \
 	PM_DEVICE_DT_DEFINE(I2C(idx), twim_nrfx_pm_action, PM_DEVICE_ISR_SAFE);                    \
-	I2C_DEVICE_DT_DEFINE(I2C(idx), i2c_nrfx_twim_rtio_init, PM_DEVICE_DT_GET(I2C(idx)), NULL,  \
-			     &twim_##idx##z_config, POST_KERNEL, CONFIG_I2C_INIT_PRIORITY,         \
-			     &i2c_nrfx_twim_driver_api)
-
-#define I2C_MEMORY_SECTION(idx)                                                                    \
-	COND_CODE_1(I2C_HAS_PROP(idx, memory_regions),                                             \
-		    (__attribute__((__section__(                                                   \
-			    LINKER_DT_NODE_REGION_NAME(DT_PHANDLE(I2C(idx), memory_regions)))))),  \
-		    ())
+	I2C_DEVICE_DT_DEFINE(I2C(idx), i2c_nrfx_twim_rtio_init, PM_DEVICE_DT_GET(I2C(idx)),        \
+			     &twim_##idx##z_data, &twim_##idx##z_config, POST_KERNEL,              \
+			     CONFIG_I2C_INIT_PRIORITY, &i2c_nrfx_twim_driver_api);
 
 #ifdef CONFIG_HAS_HW_NRF_TWIM0
 I2C_NRFX_TWIM_RTIO_DEVICE(0);

drivers/i2c/i2c_nrfx_twis.c

@@ -32,13 +32,13 @@
 	DT_IRQ(SHIM_NRF_TWIS_NODE(id), priority)
 
 #define SHIM_NRF_TWIS_HAS_MEMORY_REGIONS(id) \
-	DT_NODE_HAS_PROP(id, memory_regions)
+	DT_NODE_HAS_PROP(SHIM_NRF_TWIS_NODE(id), memory_regions)
 
 #define SHIM_NRF_TWIS_LINKER_REGION_NAME(id) \
 	LINKER_DT_NODE_REGION_NAME(DT_PHANDLE(SHIM_NRF_TWIS_NODE(id), memory_regions))
 
 #define SHIM_NRF_TWIS_BUF_ATTR_SECTION(id) \
-	__attribute__((__section__(SHIM_NRF_TWIS_LINKER_REGION_NAME, ())))
+	__attribute__((__section__(SHIM_NRF_TWIS_LINKER_REGION_NAME(id))))
 
 #define SHIM_NRF_TWIS_BUF_ATTR(id)								\
 	COND_CODE_1(										\

samples/drivers/i2c/rtio_loopback/boards/nrf5340dk_nrf5340_cpuapp.conf

@@ -0,0 +1,4 @@
+# Copyright (c) 2024 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_I2C_TARGET_BUFFER_MODE=y

samples/drivers/i2c/rtio_loopback/boards/nrf5340dk_nrf5340_cpuapp.overlay

@@ -0,0 +1,43 @@
+/*
+ * Copyright (c) 2024 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ * SDA = P0.26 and P1.2
+ * SCL = P0.25 and P1.3
+ */
+
+/ {
+	aliases {
+		i2c-controller = &i2c1;
+		i2c-controller-target = &i2c2;
+	};
+};
+
+&pinctrl {
+	i2c2_default: i2c2_default {
+		group1 {
+			psels = <NRF_PSEL(TWIS_SDA, 0, 26)>,
+				<NRF_PSEL(TWIS_SCL, 0, 25)>;
+			bias-pull-up;
+		};
+	};
+
+	i2c2_sleep: i2c2_sleep {
+		group1 {
+			psels = <NRF_PSEL(TWIS_SDA, 0, 26)>,
+				<NRF_PSEL(TWIS_SCL, 0, 25)>;
+			low-power-enable;
+		};
+	};
+};
+
+&i2c2 {
+	compatible = "nordic,nrf-twis";
+	pinctrl-0 = <&i2c2_default>;
+	pinctrl-1 = <&i2c2_sleep>;
+	pinctrl-names = "default", "sleep";
+	status = "okay";
+};

samples/drivers/i2c/rtio_loopback/boards/nrf54h20dk_nrf54h20_cpuapp.conf

@@ -0,0 +1,4 @@
+# Copyright (c) 2024 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_I2C_NRFX_TWIS_BUF_SIZE=256

samples/drivers/i2c/rtio_loopback/boards/nrf54h20dk_nrf54h20_cpuapp.overlay

@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) 2024 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ * SDA = P2.8 and P2.9
+ * SCL = P1.2 and P1.3
+ */
+
+/ {
+	aliases {
+		i2c-controller = &i2c130;
+		i2c-controller-target = &i2c131;
+	};
+};
+
+&pinctrl {
+	i2c130_default: i2c130_default {
+		group1 {
+			psels = <NRF_PSEL(TWIM_SDA, 2, 8)>,
+				<NRF_PSEL(TWIM_SCL, 1, 2)>;
+			bias-pull-up;
+		};
+	};
+
+	i2c130_sleep: i2c130_sleep {
+		group1 {
+			psels = <NRF_PSEL(TWIM_SDA, 2, 8)>,
+				<NRF_PSEL(TWIM_SCL, 1, 2)>;
+			low-power-enable;
+		};
+	};
+
+	i2c131_default: i2c131_default {
+		group1 {
+			psels = <NRF_PSEL(TWIM_SDA, 2, 9)>,
+				<NRF_PSEL(TWIM_SCL, 1, 3)>;
+			bias-pull-up;
+		};
+	};
+
+	i2c131_sleep: i2c131_sleep {
+		group1 {
+			psels = <NRF_PSEL(TWIM_SDA, 2, 9)>,
+				<NRF_PSEL(TWIM_SCL, 1, 3)>;
+			low-power-enable;
+		};
+	};
+};
+
+&i2c130 {
+	clock-frequency = <I2C_BITRATE_STANDARD>;
+	pinctrl-0 = <&i2c130_default>;
+	pinctrl-1 = <&i2c130_sleep>;
+	pinctrl-names = "default", "sleep";
+	zephyr,concat-buf-size = <256>;
+	memory-regions = <&cpuapp_dma_region>;
+	status = "okay";
+};
+
+&i2c131 {
+	compatible = "nordic,nrf-twis";
+	clock-frequency = <I2C_BITRATE_STANDARD>;
+	pinctrl-0 = <&i2c131_default>;
+	pinctrl-1 = <&i2c131_sleep>;
+	pinctrl-names = "default", "sleep";
+	memory-regions = <&cpuapp_dma_region>;
+	status = "okay";
+};

samples/drivers/i2c/rtio_loopback/boards/nrf54l15dk_nrf54l15_cpuapp.conf

@@ -0,0 +1,4 @@
+# Copyright (c) 2024 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_I2C_NRFX_TWIS_BUF_SIZE=256

samples/drivers/i2c/rtio_loopback/boards/nrf54l15dk_nrf54l15_cpuapp.overlay

@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) 2024 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ * SDA = P1.8 and P1.9
+ * SCL = P1.10 and P1.11
+ */
+
+/ {
+	aliases {
+		i2c-controller = &i2c21;
+		i2c-controller-target = &i2c22;
+	};
+};
+
+&pinctrl {
+	i2c21_default: i2c21_default {
+		group1 {
+			psels = <NRF_PSEL(TWIS_SDA, 1, 8)>,
+				<NRF_PSEL(TWIS_SCL, 1, 10)>;
+			bias-pull-up;
+		};
+	};
+
+	i2c21_sleep: i2c21_sleep {
+		group1 {
+			psels = <NRF_PSEL(TWIS_SDA, 1, 8)>,
+				<NRF_PSEL(TWIS_SCL, 1, 10)>;
+			low-power-enable;
+		};
+	};
+
+	i2c22_default: i2c22_default {
+		group1 {
+			psels = <NRF_PSEL(TWIS_SDA, 1, 9)>,
+				<NRF_PSEL(TWIS_SCL, 1, 11)>;
+			bias-pull-up;
+		};
+	};
+
+	i2c22_sleep: i2c22_sleep {
+		group1 {
+			psels = <NRF_PSEL(TWIS_SDA, 1, 9)>,
+				<NRF_PSEL(TWIS_SCL, 1, 11)>;
+			low-power-enable;
+		};
+	};
+};
+
+&i2c21 {
+	pinctrl-0 = <&i2c21_default>;
+	pinctrl-1 = <&i2c21_sleep>;
+	pinctrl-names = "default", "sleep";
+	zephyr,concat-buf-size = <256>;
+	status = "okay";
+};
+
+&i2c22 {
+	compatible = "nordic,nrf-twis";
+	pinctrl-0 = <&i2c22_default>;
+	pinctrl-1 = <&i2c22_sleep>;
+	pinctrl-names = "default", "sleep";
+	status = "okay";
+};

samples/drivers/i2c/rtio_loopback/sample.yaml

@@ -5,5 +5,14 @@ tests:
     tags:
       - rtio
       - i2c_target
+    harness: console
+    harness_config:
+      fixture: i2c_bus_short
+      type: one_line
+      regex:
+        - "sample complete"
     platform_allow:
       - b_u585i_iot02a
+      - nrf5340dk/nrf5340/cpuapp
+      - nrf54l15dk/nrf54l15/cpuapp
+      - nrf54h20dk/nrf54h20/cpuapp

tests/drivers/i2c/i2c_target_api/boards/nrf54h20dk_nrf54h20_cpuapp.conf

@@ -0,0 +1,4 @@
+# Copyright (c) 2025 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_I2C_NRFX_TWIS_BUF_SIZE=256