esp32/machine_i2c_target: Implement I2CTarget class.

dpgeorge · dpgeorge · commit 7bc83afee211 · 2025-08-01T23:03:17.000+10:00
Only soft IRQs are supported.

Signed-off-by: Damien George &lt;damien@micropython.org&gt;
diff --git a/ports/esp32/boards/sdkconfig.base b/ports/esp32/boards/sdkconfig.base
@@ -139,3 +139,7 @@ CONFIG_ESP_SYSTEM_PMP_IDRAM_SPLIT=n
 # Further limit total sockets in TIME-WAIT when there are many short-lived
 # connections.
 CONFIG_LWIP_MAX_ACTIVE_TCP=12
+
+# Enable new I2C slave API, and disable conflict check.
+CONFIG_I2C_SKIP_LEGACY_CONFLICT_CHECK=y
+CONFIG_I2C_ENABLE_SLAVE_DRIVER_VERSION_2=y
diff --git a/ports/esp32/machine_i2c_target.c b/ports/esp32/machine_i2c_target.c
@@ -0,0 +1,225 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2025 Damien P. George
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+// This file is never compiled standalone, it's included directly from
+// extmod/machine_i2c_target.c via MICROPY_PY_MACHINE_I2C_TARGET_INCLUDEFILE.
+
+#include "machine_i2c.h"
+#include "driver/i2c_slave.h"
+
+// These headers are needed to call i2c_ll_txfifo_rst().
+#include "hal/i2c_ll.h"
+#include "../i2c_private.h"
+
+typedef struct _machine_i2c_target_obj_t {
+    mp_obj_base_t base;
+    i2c_slave_dev_handle_t handle;
+    i2c_slave_config_t config;
+    uint8_t state;
+    bool stop_pending;
+    bool irq_active;
+    int index;
+    const i2c_slave_rx_done_event_data_t *rx_done_event_data;
+} machine_i2c_target_obj_t;
+
+static machine_i2c_target_obj_t machine_i2c_target_obj[I2C_NUM_MAX];
+
+/******************************************************************************/
+// ESP-IDF hardware bindings
+
+// Called when the controller is about to read from the TX/send buffer.
+static bool i2c_slave_request_cb(i2c_slave_dev_handle_t i2c_slave, const i2c_slave_request_event_data_t *evt_data, void *arg) {
+    machine_i2c_target_obj_t *self = arg;
+    machine_i2c_target_data_t *data = &machine_i2c_target_data[self->config.i2c_port];
+
+    // Flush hardware TX FIFO to get rid of any data from a previous read.
+    i2c_ll_txfifo_rst(self->handle->base->hal.dev);
+
+    // Perform an entire read transaction, including start, read and stop events.
+    // We don't know how much data the controller will read, so write the entire
+    // memory buffer to the TX FIFO.
+    machine_i2c_target_data_addr_match(data, true);
+    for (uint32_t i = 0; i < data->mem_len; ++i) {
+        machine_i2c_target_data_read_request(self, data);
+    }
+    machine_i2c_target_data_restart_or_stop(data);
+
+    // A higher priority task was not woken up.
+    return false;
+}
+
+// Called when the controller has written into the RX/receive buffer.
+static bool i2c_slave_receive_cb(i2c_slave_dev_handle_t i2c_slave, const i2c_slave_rx_done_event_data_t *evt_data, void *arg) {
+    machine_i2c_target_obj_t *self = arg;
+    machine_i2c_target_data_t *data = &machine_i2c_target_data[self->config.i2c_port];
+
+    // Perform an entire write transaction, including start, read and stop events.
+    machine_i2c_target_data_addr_match(data, false);
+    self->index = 0;
+    self->rx_done_event_data = evt_data;
+    while (self->index < self->rx_done_event_data->length) {
+        machine_i2c_target_data_write_request(self, data);
+    }
+    machine_i2c_target_data_restart_or_stop(data);
+
+    // A higher priority task was not woken up.
+    return false;
+}
+
+static void i2c_target_init(machine_i2c_target_obj_t *self, machine_i2c_target_data_t *data, uint32_t addr, uint32_t addrsize, bool first_init) {
+    if (!first_init && self->handle != NULL) {
+        i2c_del_slave_device(self->handle);
+        self->handle = NULL;
+    }
+
+    self->config.clk_source = I2C_CLK_SRC_DEFAULT;
+    self->config.slave_addr = addr;
+    self->config.send_buf_depth = data->mem_len;
+    self->config.receive_buf_depth = data->mem_len;
+    if (addrsize == 7) {
+        self->config.addr_bit_len = I2C_ADDR_BIT_LEN_7;
+    } else {
+        #if SOC_I2C_SUPPORT_10BIT_ADDR
+        self->config.addr_bit_len = I2C_ADDR_BIT_LEN_10;
+        #else
+        mp_raise_ValueError(MP_ERROR_TEXT("10-bit address unsupported"));
+        #endif
+    }
+    self->config.intr_priority = 0; // 0 selects the default
+    self->config.flags.allow_pd = 0;
+    self->config.flags.enable_internal_pullup = 1;
+
+    ESP_ERROR_CHECK(i2c_new_slave_device(&self->config, &self->handle));
+    i2c_slave_event_callbacks_t cbs = {
+        .on_receive = i2c_slave_receive_cb,
+        .on_request = i2c_slave_request_cb,
+    };
+    ESP_ERROR_CHECK(i2c_slave_register_event_callbacks(self->handle, &cbs, self));
+}
+
+/******************************************************************************/
+// I2CTarget port implementation
+
+static inline size_t mp_machine_i2c_target_get_index(machine_i2c_target_obj_t *self) {
+    return self->config.i2c_port;
+}
+
+static void mp_machine_i2c_target_event_callback(machine_i2c_target_irq_obj_t *irq) {
+    mp_irq_handler(&irq->base);
+}
+
+static size_t mp_machine_i2c_target_read_bytes(machine_i2c_target_obj_t *self, size_t len, uint8_t *buf) {
+    size_t i = 0;
+    while (i < len && self->index < self->rx_done_event_data->length) {
+        buf[i++] = self->rx_done_event_data->buffer[self->index++];
+    }
+    return i;
+}
+
+static size_t mp_machine_i2c_target_write_bytes(machine_i2c_target_obj_t *self, size_t len, const uint8_t *buf) {
+    uint32_t write_len;
+    i2c_slave_write(self->handle, buf, len, &write_len, 1000);
+    return write_len;
+}
+
+static void mp_machine_i2c_target_irq_config(machine_i2c_target_obj_t *self, unsigned int trigger) {
+}
+
+static mp_obj_t mp_machine_i2c_target_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
+    enum { ARG_id, ARG_addr, ARG_addrsize, ARG_mem, ARG_mem_addrsize, ARG_scl, ARG_sda };
+    static const mp_arg_t allowed_args[] = {
+        { MP_QSTR_id, MP_ARG_INT, {.u_int = 0} },
+        { MP_QSTR_addr, MP_ARG_REQUIRED | MP_ARG_INT },
+        { MP_QSTR_addrsize, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 7} },
+        { MP_QSTR_mem, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
+        { MP_QSTR_mem_addrsize, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} },
+        { MP_QSTR_scl, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
+        { MP_QSTR_sda, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
+    };
+
+    // Parse args.
+    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
+    mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
+
+    int i2c_id = args[ARG_id].u_int;
+
+    // Check if the I2C bus is valid
+    if (i2c_id < 0 || i2c_id >= MP_ARRAY_SIZE(machine_i2c_target_obj)) {
+        mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("I2CTarget(%d) doesn't exist"), i2c_id);
+    }
+
+    // Get static peripheral object.
+    machine_i2c_target_obj_t *self = &machine_i2c_target_obj[i2c_id];
+
+    bool first_init = false;
+    if (self->base.type == NULL) {
+        // Created for the first time, set default pins
+        self->base.type = &machine_i2c_target_type;
+        self->config.i2c_port = i2c_id;
+        if (self->config.i2c_port == 0) {
+            self->config.scl_io_num = MICROPY_HW_I2C0_SCL;
+            self->config.sda_io_num = MICROPY_HW_I2C0_SDA;
+        } else {
+            self->config.scl_io_num = MICROPY_HW_I2C1_SCL;
+            self->config.sda_io_num = MICROPY_HW_I2C1_SDA;
+        }
+        first_init = true;
+    }
+
+    // Initialise data.
+    self->state = STATE_IDLE;
+    self->stop_pending = false;
+    self->irq_active = false;
+    MP_STATE_PORT(machine_i2c_target_mem_obj)[i2c_id] = args[ARG_mem].u_obj;
+    machine_i2c_target_data_t *data = &machine_i2c_target_data[i2c_id];
+    machine_i2c_target_data_init(data, args[ARG_mem].u_obj, args[ARG_mem_addrsize].u_int);
+
+    // Set SCL/SDA pins if configured.
+    if (args[ARG_scl].u_obj != mp_const_none) {
+        self->config.scl_io_num = mp_hal_get_pin_obj(args[ARG_scl].u_obj);
+    }
+    if (args[ARG_sda].u_obj != mp_const_none) {
+        self->config.sda_io_num = mp_hal_get_pin_obj(args[ARG_sda].u_obj);
+    }
+
+    // Initialise the I2C target.
+    i2c_target_init(self, data, args[ARG_addr].u_int, args[ARG_addrsize].u_int, first_init);
+
+    return MP_OBJ_FROM_PTR(self);
+}
+
+static void mp_machine_i2c_target_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
+    machine_i2c_target_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    mp_printf(print, "I2CTarget(%u, addr=%u, scl=%u, sda=%u)",
+        self->config.i2c_port, self->config.slave_addr, self->config.scl_io_num, self->config.sda_io_num);
+}
+
+static void mp_machine_i2c_target_deinit(machine_i2c_target_obj_t *self) {
+    if (self->handle != NULL) {
+        i2c_del_slave_device(self->handle);
+        self->handle = NULL;
+    }
+}
diff --git a/ports/esp32/main.c b/ports/esp32/main.c
@@ -51,6 +51,7 @@
 #include "py/repl.h"
 #include "py/gc.h"
 #include "py/mphal.h"
+#include "extmod/modmachine.h"
 #include "shared/readline/readline.h"
 #include "shared/runtime/pyexec.h"
 #include "shared/timeutils/timeutils.h"
@@ -199,7 +200,11 @@ void mp_task(void *pvParameter) {
     machine_pwm_deinit_all();
     // TODO: machine_rmt_deinit_all();
     machine_pins_deinit();
+    #if MICROPY_PY_MACHINE_I2C_TARGET
+    mp_machine_i2c_target_deinit_all();
+    #endif
     machine_deinit();
+
     #if MICROPY_PY_SOCKET_EVENTS
     socket_events_deinit();
     #endif
diff --git a/ports/esp32/mpconfigport.h b/ports/esp32/mpconfigport.h
@@ -138,6 +138,10 @@
 #define MICROPY_PY_MACHINE_PWM_INCLUDEFILE  "ports/esp32/machine_pwm.c"
 #define MICROPY_PY_MACHINE_I2C              (1)
 #define MICROPY_PY_MACHINE_I2C_TRANSFER_WRITE1 (1)
+// I2C target hardware is limited on ESP32 (eg read event comes after the read) so we only support newer SoCs.
+#define MICROPY_PY_MACHINE_I2C_TARGET       (SOC_I2C_SUPPORT_SLAVE && !CONFIG_IDF_TARGET_ESP32)
+#define MICROPY_PY_MACHINE_I2C_TARGET_INCLUDEFILE "ports/esp32/machine_i2c_target.c"
+#define MICROPY_PY_MACHINE_I2C_TARGET_MAX   (2)
 #define MICROPY_PY_MACHINE_SOFTI2C          (1)
 #define MICROPY_PY_MACHINE_SPI              (1)
 #define MICROPY_PY_MACHINE_SOFTSPI          (1)
