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i2c: nrfx_twim: native RTIO support
Add native support for RTIO to the TWIM hardware IP. Signed-off-by: Jordan Yates <[email protected]>
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‎drivers/i2c/CMakeLists.txt

Lines changed: 11 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -46,10 +46,17 @@ else()
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)
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endif()
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49-
zephyr_library_sources_ifdef(CONFIG_I2C_NRFX_TWIM
50-
i2c_nrfx_twim.c
51-
i2c_nrfx_twim_common.c
52-
)
49+
if(CONFIG_I2C_RTIO)
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zephyr_library_sources_ifdef(CONFIG_I2C_NRFX_TWIM
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i2c_nrfx_twim_rtio.c
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i2c_nrfx_twim_common.c
53+
)
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else()
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zephyr_library_sources_ifdef(CONFIG_I2C_NRFX_TWIM
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i2c_nrfx_twim.c
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i2c_nrfx_twim_common.c
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)
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endif()
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zephyr_library_sources_ifdef(CONFIG_I2C_SAM_TWI i2c_sam_twi.c)
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5562
if(CONFIG_I2C_RTIO)

‎drivers/i2c/i2c_nrfx_twim_rtio.c

Lines changed: 290 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,290 @@
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/*
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* Copyright (c) 2018, Nordic Semiconductor ASA
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* Copyright (c) 2024, Croxel Inc
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* Copyright (c) 2024, Embeint Inc
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/drivers/i2c/rtio.h>
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#include <zephyr/dt-bindings/i2c/i2c.h>
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#include <zephyr/logging/log.h>
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#include <zephyr/pm/device.h>
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#include <zephyr/pm/device_runtime.h>
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#include <zephyr/drivers/pinctrl.h>
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#include <soc.h>
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#include <nrfx_twim.h>
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#include "i2c_nrfx_twim_common.h"
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LOG_MODULE_REGISTER(i2c_nrfx_twim, CONFIG_I2C_LOG_LEVEL);
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struct i2c_nrfx_twim_rtio_config {
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struct i2c_nrfx_twim_common_config common;
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struct i2c_rtio *ctx;
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};
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static bool i2c_nrfx_twim_rtio_msg_start(const struct device *dev, uint8_t flags, uint8_t *buf,
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size_t buf_len, uint16_t i2c_addr)
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{
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const struct i2c_nrfx_twim_rtio_config *config = dev->config;
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struct i2c_rtio *ctx = config->ctx;
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int ret = 0;
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ret = i2c_nrfx_twim_msg_transfer(dev, flags, buf, buf_len, i2c_addr);
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if (ret != 0) {
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return i2c_rtio_complete(ctx, ret);
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}
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return false;
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}
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static bool i2c_nrfx_twim_rtio_start(const struct device *dev)
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{
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const struct i2c_nrfx_twim_rtio_config *config = dev->config;
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struct i2c_rtio *ctx = config->ctx;
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struct rtio_sqe *sqe = &ctx->txn_curr->sqe;
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struct i2c_dt_spec *dt_spec = sqe->iodev->data;
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switch (sqe->op) {
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case RTIO_OP_RX:
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return i2c_nrfx_twim_rtio_msg_start(dev, I2C_MSG_READ | sqe->iodev_flags,
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sqe->rx.buf, sqe->rx.buf_len, dt_spec->addr);
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case RTIO_OP_TINY_TX:
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return i2c_nrfx_twim_rtio_msg_start(dev, I2C_MSG_WRITE | sqe->iodev_flags,
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sqe->tiny_tx.buf, sqe->tiny_tx.buf_len,
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dt_spec->addr);
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case RTIO_OP_TX:
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/* If buffer is not accessible by DMA, copy it into the internal driver buffer */
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if (!nrf_dma_accessible_check(&config->common.twim, sqe->tx.buf)) {
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/* Validate buffer will fit */
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if (sqe->tx.buf_len > config->common.msg_buf_size) {
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LOG_ERR("Need to use the internal driver "
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"buffer but its size is insufficient "
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"(%u > %u). "
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"Adjust the zephyr,concat-buf-size or "
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"zephyr,flash-buf-max-size property "
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"(the one with greater value) in the "
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"\"%s\"' node.",
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sqe->tx.buf_len, config->common.msg_buf_size, dev->name);
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return i2c_rtio_complete(ctx, -ENOSPC);
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}
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memcpy(config->common.msg_buf, sqe->tx.buf, sqe->tx.buf_len);
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sqe->tx.buf = config->common.msg_buf;
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}
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return i2c_nrfx_twim_rtio_msg_start(dev, I2C_MSG_WRITE | sqe->iodev_flags,
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sqe->tx.buf, sqe->tx.buf_len, dt_spec->addr);
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case RTIO_OP_I2C_CONFIGURE:
79+
(void)i2c_nrfx_twim_configure(dev, sqe->i2c_config);
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return false;
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case RTIO_OP_I2C_RECOVER:
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(void)i2c_nrfx_twim_recover_bus(dev);
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return false;
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default:
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LOG_ERR("Invalid op code %d for submission %p\n", sqe->op, (void *)sqe);
86+
return i2c_rtio_complete(ctx, -EINVAL);
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}
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}
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static void i2c_nrfx_twim_rtio_complete(const struct device *dev, int status)
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{
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/** Finalize if there are no more pending xfers */
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const struct i2c_nrfx_twim_rtio_config *config = dev->config;
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struct i2c_rtio *ctx = config->ctx;
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if (i2c_rtio_complete(ctx, status)) {
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(void)i2c_nrfx_twim_rtio_start(dev);
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} else {
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/* Release bus on completion */
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pm_device_runtime_put(dev);
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}
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}
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static int i2c_nrfx_twim_rtio_configure(const struct device *dev, uint32_t i2c_config)
105+
{
106+
const struct i2c_nrfx_twim_rtio_config *config = dev->config;
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struct i2c_rtio *ctx = config->ctx;
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return i2c_rtio_configure(ctx, i2c_config);
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}
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static int i2c_nrfx_twim_rtio_transfer(const struct device *dev, struct i2c_msg *msgs,
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uint8_t num_msgs, uint16_t addr)
114+
{
115+
const struct i2c_nrfx_twim_rtio_config *config = dev->config;
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struct i2c_rtio *ctx = config->ctx;
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return i2c_rtio_transfer(ctx, msgs, num_msgs, addr);
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}
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static int i2c_nrfx_twim_rtio_recover_bus(const struct device *dev)
122+
{
123+
const struct i2c_nrfx_twim_rtio_config *config = dev->config;
124+
struct i2c_rtio *ctx = config->ctx;
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return i2c_rtio_recover(ctx);
127+
}
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static void i2c_nrfx_twim_rtio_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_seq)
130+
{
131+
const struct i2c_nrfx_twim_rtio_config *config = dev->config;
132+
struct i2c_rtio *ctx = config->ctx;
133+
134+
if (i2c_rtio_submit(ctx, iodev_seq)) {
135+
if (pm_device_runtime_get(dev) < 0) {
136+
(void)i2c_rtio_complete(ctx, -EINVAL);
137+
} else {
138+
(void)i2c_nrfx_twim_rtio_start(dev);
139+
}
140+
}
141+
}
142+
143+
static void event_handler(nrfx_twim_evt_t const *p_event, void *p_context)
144+
{
145+
const struct device *dev = p_context;
146+
int status = p_event->type == NRFX_TWIM_EVT_DONE ? 0 : -EIO;
147+
148+
i2c_nrfx_twim_rtio_complete(dev, status);
149+
}
150+
151+
static const struct i2c_driver_api i2c_nrfx_twim_driver_api = {
152+
.configure = i2c_nrfx_twim_rtio_configure,
153+
.transfer = i2c_nrfx_twim_rtio_transfer,
154+
.recover_bus = i2c_nrfx_twim_rtio_recover_bus,
155+
.iodev_submit = i2c_nrfx_twim_rtio_submit,
156+
};
157+
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int i2c_nrfx_twim_rtio_init(const struct device *dev)
159+
{
160+
const struct i2c_nrfx_twim_rtio_config *config = dev->config;
161+
162+
i2c_rtio_init(config->ctx, dev);
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return i2c_nrfx_twim_common_init(dev);
164+
}
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#define CONCAT_BUF_SIZE(idx) \
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COND_CODE_1(DT_NODE_HAS_PROP(I2C(idx), zephyr_concat_buf_size), \
168+
(DT_PROP(I2C(idx), zephyr_concat_buf_size)), (0))
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#define FLASH_BUF_MAX_SIZE(idx) \
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COND_CODE_1(DT_NODE_HAS_PROP(I2C(idx), zephyr_flash_buf_max_size), \
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(DT_PROP(I2C(idx), zephyr_flash_buf_max_size)), (0))
172+
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#define USES_MSG_BUF(idx) \
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COND_CODE_0(CONCAT_BUF_SIZE(idx), (COND_CODE_0(FLASH_BUF_MAX_SIZE(idx), (0), (1))), (1))
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#define MSG_BUF_SIZE(idx) MAX(CONCAT_BUF_SIZE(idx), FLASH_BUF_MAX_SIZE(idx))
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#define I2C_NRFX_TWIM_RTIO_DEVICE(idx) \
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NRF_DT_CHECK_NODE_HAS_PINCTRL_SLEEP(I2C(idx)); \
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BUILD_ASSERT(I2C_FREQUENCY(idx) != I2C_NRFX_TWIM_INVALID_FREQUENCY, \
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"Wrong I2C " #idx " frequency setting in dts"); \
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static void irq_connect##idx(void) \
182+
{ \
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IRQ_CONNECT(DT_IRQN(I2C(idx)), DT_IRQ(I2C(idx), priority), nrfx_isr, \
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nrfx_twim_##idx##_irq_handler, 0); \
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} \
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IF_ENABLED( \
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USES_MSG_BUF(idx), \
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(static uint8_t twim_##idx##_msg_buf[MSG_BUF_SIZE(idx)] I2C_MEMORY_SECTION(idx);)) \
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I2C_RTIO_DEFINE(_i2c##idx##_twim_rtio, \
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DT_INST_PROP_OR(n, sq_size, CONFIG_I2C_RTIO_SQ_SIZE), \
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DT_INST_PROP_OR(n, cq_size, CONFIG_I2C_RTIO_CQ_SIZE)); \
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PINCTRL_DT_DEFINE(I2C(idx)); \
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static const struct i2c_nrfx_twim_rtio_config twim_##idx##z_config = { \
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.common = \
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{ \
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.twim = NRFX_TWIM_INSTANCE(idx), \
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.twim_config = \
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{ \
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.skip_gpio_cfg = true, \
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.skip_psel_cfg = true, \
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.frequency = I2C_FREQUENCY(idx), \
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}, \
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.event_handler = event_handler, \
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.msg_buf_size = MSG_BUF_SIZE(idx), \
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.irq_connect = irq_connect##idx, \
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.pcfg = PINCTRL_DT_DEV_CONFIG_GET(I2C(idx)), \
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IF_ENABLED(USES_MSG_BUF(idx), (.msg_buf = twim_##idx##_msg_buf,)) \
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.max_transfer_size = \
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BIT_MASK(DT_PROP(I2C(idx), easydma_maxcnt_bits)), \
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}, \
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.ctx = &_i2c##idx##_twim_rtio, \
212+
}; \
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PM_DEVICE_DT_DEFINE(I2C(idx), twim_nrfx_pm_action); \
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I2C_DEVICE_DT_DEFINE(I2C(idx), i2c_nrfx_twim_rtio_init, PM_DEVICE_DT_GET(I2C(idx)), NULL, \
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&twim_##idx##z_config, POST_KERNEL, CONFIG_I2C_INIT_PRIORITY, \
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&i2c_nrfx_twim_driver_api)
217+
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#define I2C_MEMORY_SECTION(idx) \
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COND_CODE_1(I2C_HAS_PROP(idx, memory_regions), \
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(__attribute__((__section__( \
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LINKER_DT_NODE_REGION_NAME(DT_PHANDLE(I2C(idx), memory_regions)))))), \
222+
())
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#ifdef CONFIG_HAS_HW_NRF_TWIM0
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I2C_NRFX_TWIM_RTIO_DEVICE(0);
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#endif
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#ifdef CONFIG_HAS_HW_NRF_TWIM1
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I2C_NRFX_TWIM_RTIO_DEVICE(1);
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#endif
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#ifdef CONFIG_HAS_HW_NRF_TWIM2
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I2C_NRFX_TWIM_RTIO_DEVICE(2);
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#endif
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#ifdef CONFIG_HAS_HW_NRF_TWIM3
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I2C_NRFX_TWIM_RTIO_DEVICE(3);
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#endif
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#ifdef CONFIG_HAS_HW_NRF_TWIM20
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I2C_NRFX_TWIM_RTIO_DEVICE(20);
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#endif
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#ifdef CONFIG_HAS_HW_NRF_TWIM21
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I2C_NRFX_TWIM_RTIO_DEVICE(21);
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#endif
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#ifdef CONFIG_HAS_HW_NRF_TWIM22
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I2C_NRFX_TWIM_RTIO_DEVICE(22);
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#endif
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#ifdef CONFIG_HAS_HW_NRF_TWIM30
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I2C_NRFX_TWIM_RTIO_DEVICE(30);
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#endif
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#ifdef CONFIG_HAS_HW_NRF_TWIM120
257+
I2C_NRFX_TWIM_RTIO_DEVICE(120);
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#endif
259+
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#ifdef CONFIG_HAS_HW_NRF_TWIM130
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I2C_NRFX_TWIM_RTIO_DEVICE(130);
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#endif
263+
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#ifdef CONFIG_HAS_HW_NRF_TWIM131
265+
I2C_NRFX_TWIM_RTIO_DEVICE(131);
266+
#endif
267+
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#ifdef CONFIG_HAS_HW_NRF_TWIM132
269+
I2C_NRFX_TWIM_RTIO_DEVICE(132);
270+
#endif
271+
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#ifdef CONFIG_HAS_HW_NRF_TWIM133
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I2C_NRFX_TWIM_RTIO_DEVICE(133);
274+
#endif
275+
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#ifdef CONFIG_HAS_HW_NRF_TWIM134
277+
I2C_NRFX_TWIM_RTIO_DEVICE(134);
278+
#endif
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280+
#ifdef CONFIG_HAS_HW_NRF_TWIM135
281+
I2C_NRFX_TWIM_RTIO_DEVICE(135);
282+
#endif
283+
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#ifdef CONFIG_HAS_HW_NRF_TWIM136
285+
I2C_NRFX_TWIM_RTIO_DEVICE(136);
286+
#endif
287+
288+
#ifdef CONFIG_HAS_HW_NRF_TWIM137
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I2C_NRFX_TWIM_RTIO_DEVICE(137);
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#endif

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