embassy/embassy-nrf/src/twim.rs

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#![macro_use]
//! HAL interface to the TWIM peripheral.
//!
//! See product specification:
//!
//! - nRF52832: Section 33
//! - nRF52840: Section 6.31
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use core::future::Future;
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use core::marker::PhantomData;
use core::sync::atomic::{compiler_fence, Ordering::SeqCst};
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use core::task::Poll;
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use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::util::Unborrow;
use embassy::waitqueue::AtomicWaker;
use embassy_hal_common::unborrow;
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use futures::future::poll_fn;
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use crate::chip::{EASY_DMA_SIZE, FORCE_COPY_BUFFER_SIZE};
use crate::gpio;
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use crate::gpio::Pin as GpioPin;
use crate::pac;
use crate::util::{slice_in_ram, slice_in_ram_or};
pub enum Frequency {
#[doc = "26738688: 100 kbps"]
K100 = 26738688,
#[doc = "67108864: 250 kbps"]
K250 = 67108864,
#[doc = "104857600: 400 kbps"]
K400 = 104857600,
}
#[non_exhaustive]
pub struct Config {
pub frequency: Frequency,
pub sda_pullup: bool,
pub scl_pullup: bool,
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}
impl Default for Config {
fn default() -> Self {
Self {
frequency: Frequency::K100,
sda_pullup: false,
scl_pullup: false,
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}
}
}
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[non_exhaustive]
pub enum Error {
TxBufferTooLong,
RxBufferTooLong,
TxBufferZeroLength,
RxBufferZeroLength,
Transmit,
Receive,
DMABufferNotInDataMemory,
AddressNack,
DataNack,
Overrun,
}
/// Interface to a TWIM instance using EasyDMA to offload the transmission and reception workload.
///
/// For more details about EasyDMA, consult the module documentation.
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pub struct Twim<'d, T: Instance> {
phantom: PhantomData<&'d mut T>,
}
impl<'d, T: Instance> Twim<'d, T> {
pub fn new(
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_twim: impl Unborrow<Target = T> + 'd,
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irq: impl Unborrow<Target = T::Interrupt> + 'd,
sda: impl Unborrow<Target = impl GpioPin> + 'd,
scl: impl Unborrow<Target = impl GpioPin> + 'd,
config: Config,
) -> Self {
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unborrow!(irq, sda, scl);
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let r = T::regs();
// Configure pins
sda.conf().write(|w| {
w.dir().input();
w.input().connect();
w.drive().s0d1();
if config.sda_pullup {
w.pull().pullup();
}
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w
});
scl.conf().write(|w| {
w.dir().input();
w.input().connect();
w.drive().s0d1();
if config.scl_pullup {
w.pull().pullup();
}
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w
});
// Select pins.
r.psel.sda.write(|w| unsafe { w.bits(sda.psel_bits()) });
r.psel.scl.write(|w| unsafe { w.bits(scl.psel_bits()) });
// Enable TWIM instance.
r.enable.write(|w| w.enable().enabled());
// Configure frequency.
r.frequency
.write(|w| unsafe { w.frequency().bits(config.frequency as u32) });
// Disable all events interrupts
r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
irq.set_handler(Self::on_interrupt);
irq.unpend();
irq.enable();
Self {
phantom: PhantomData,
}
}
fn on_interrupt(_: *mut ()) {
let r = T::regs();
let s = T::state();
if r.events_stopped.read().bits() != 0 {
s.end_waker.wake();
r.intenclr.write(|w| w.stopped().clear());
}
if r.events_error.read().bits() != 0 {
s.end_waker.wake();
r.intenclr.write(|w| w.error().clear());
}
}
/// Set TX buffer, checking that it is in RAM and has suitable length.
unsafe fn set_tx_buffer(&mut self, buffer: &[u8]) -> Result<(), Error> {
slice_in_ram_or(buffer, Error::DMABufferNotInDataMemory)?;
if buffer.len() == 0 {
return Err(Error::TxBufferZeroLength);
}
if buffer.len() > EASY_DMA_SIZE {
return Err(Error::TxBufferTooLong);
}
let r = T::regs();
r.txd.ptr.write(|w|
// We're giving the register a pointer to the stack. Since we're
// waiting for the I2C transaction to end before this stack pointer
// becomes invalid, there's nothing wrong here.
//
// The PTR field is a full 32 bits wide and accepts the full range
// of values.
w.ptr().bits(buffer.as_ptr() as u32));
r.txd.maxcnt.write(|w|
// We're giving it the length of the buffer, so no danger of
// accessing invalid memory. We have verified that the length of the
// buffer fits in an `u8`, so the cast to `u8` is also fine.
//
// The MAXCNT field is 8 bits wide and accepts the full range of
// values.
w.maxcnt().bits(buffer.len() as _));
Ok(())
}
/// Set RX buffer, checking that it has suitable length.
unsafe fn set_rx_buffer(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
// NOTE: RAM slice check is not necessary, as a mutable
// slice can only be built from data located in RAM.
if buffer.len() == 0 {
return Err(Error::RxBufferZeroLength);
}
if buffer.len() > EASY_DMA_SIZE {
return Err(Error::RxBufferTooLong);
}
let r = T::regs();
r.rxd.ptr.write(|w|
// We're giving the register a pointer to the stack. Since we're
// waiting for the I2C transaction to end before this stack pointer
// becomes invalid, there's nothing wrong here.
//
// The PTR field is a full 32 bits wide and accepts the full range
// of values.
w.ptr().bits(buffer.as_mut_ptr() as u32));
r.rxd.maxcnt.write(|w|
// We're giving it the length of the buffer, so no danger of
// accessing invalid memory. We have verified that the length of the
// buffer fits in an `u8`, so the cast to the type of maxcnt
// is also fine.
//
// Note that that nrf52840 maxcnt is a wider
// type than a u8, so we use a `_` cast rather than a `u8` cast.
// The MAXCNT field is thus at least 8 bits wide and accepts the
// full range of values that fit in a `u8`.
w.maxcnt().bits(buffer.len() as _));
Ok(())
}
fn clear_errorsrc(&mut self) {
let r = T::regs();
r.errorsrc
.write(|w| w.anack().bit(true).dnack().bit(true).overrun().bit(true));
}
/// Get Error instance, if any occurred.
fn check_errorsrc(&self) -> Result<(), Error> {
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let r = T::regs();
let err = r.errorsrc.read();
if err.anack().is_received() {
return Err(Error::AddressNack);
}
if err.dnack().is_received() {
return Err(Error::DataNack);
}
if err.overrun().is_received() {
return Err(Error::DataNack);
}
Ok(())
}
fn check_rx(&self, len: usize) -> Result<(), Error> {
let r = T::regs();
if r.rxd.amount.read().bits() != len as u32 {
Err(Error::Receive)
} else {
Ok(())
}
}
fn check_tx(&self, len: usize) -> Result<(), Error> {
let r = T::regs();
if r.txd.amount.read().bits() != len as u32 {
Err(Error::Transmit)
} else {
Ok(())
}
}
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/// Wait for stop or error
fn blocking_wait(&mut self) {
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let r = T::regs();
loop {
if r.events_stopped.read().bits() != 0 {
r.events_stopped.reset();
break;
}
if r.events_error.read().bits() != 0 {
r.events_error.reset();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
}
}
}
/// Wait for stop or error
fn async_wait(&mut self) -> impl Future<Output = ()> {
poll_fn(move |cx| {
let r = T::regs();
let s = T::state();
s.end_waker.register(cx.waker());
if r.events_stopped.read().bits() != 0 {
r.events_stopped.reset();
return Poll::Ready(());
}
// stop if an error occured
if r.events_error.read().bits() != 0 {
r.events_error.reset();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
}
Poll::Pending
})
}
fn setup_write_from_ram(
&mut self,
address: u8,
buffer: &[u8],
inten: bool,
) -> Result<(), Error> {
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let r = T::regs();
compiler_fence(SeqCst);
r.address.write(|w| unsafe { w.address().bits(address) });
// Set up the DMA write.
unsafe { self.set_tx_buffer(buffer)? };
// Clear events
r.events_stopped.reset();
r.events_error.reset();
r.events_lasttx.reset();
self.clear_errorsrc();
if inten {
r.intenset.write(|w| w.stopped().set().error().set());
} else {
r.intenclr.write(|w| w.stopped().clear().error().clear());
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}
// Start write operation.
r.shorts.write(|w| w.lasttx_stop().enabled());
r.tasks_starttx.write(|w| unsafe { w.bits(1) });
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Ok(())
}
fn setup_read(&mut self, address: u8, buffer: &mut [u8], inten: bool) -> Result<(), Error> {
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let r = T::regs();
compiler_fence(SeqCst);
r.address.write(|w| unsafe { w.address().bits(address) });
// Set up the DMA read.
unsafe { self.set_rx_buffer(buffer)? };
// Clear events
r.events_stopped.reset();
r.events_error.reset();
self.clear_errorsrc();
if inten {
r.intenset.write(|w| w.stopped().set().error().set());
} else {
r.intenclr.write(|w| w.stopped().clear().error().clear());
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}
// Start read operation.
r.shorts.write(|w| w.lastrx_stop().enabled());
r.tasks_startrx.write(|w| unsafe { w.bits(1) });
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Ok(())
}
fn setup_write_read_from_ram(
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&mut self,
address: u8,
wr_buffer: &[u8],
rd_buffer: &mut [u8],
inten: bool,
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) -> Result<(), Error> {
let r = T::regs();
compiler_fence(SeqCst);
r.address.write(|w| unsafe { w.address().bits(address) });
// Set up DMA buffers.
unsafe {
self.set_tx_buffer(wr_buffer)?;
self.set_rx_buffer(rd_buffer)?;
}
// Clear events
r.events_stopped.reset();
r.events_error.reset();
self.clear_errorsrc();
if inten {
r.intenset.write(|w| w.stopped().set().error().set());
} else {
r.intenclr.write(|w| w.stopped().clear().error().clear());
}
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// Start write+read operation.
r.shorts.write(|w| {
w.lasttx_startrx().enabled();
w.lastrx_stop().enabled();
w
});
r.tasks_starttx.write(|w| unsafe { w.bits(1) });
Ok(())
}
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fn setup_write_read(
&mut self,
address: u8,
wr_buffer: &[u8],
rd_buffer: &mut [u8],
inten: bool,
) -> Result<(), Error> {
match self.setup_write_read_from_ram(address, wr_buffer, rd_buffer, inten) {
Ok(_) => Ok(()),
Err(Error::DMABufferNotInDataMemory) => {
trace!("Copying TWIM tx buffer into RAM for DMA");
let tx_ram_buf = &mut [0; FORCE_COPY_BUFFER_SIZE][..wr_buffer.len()];
tx_ram_buf.copy_from_slice(wr_buffer);
self.setup_write_read_from_ram(address, &tx_ram_buf, rd_buffer, inten)
}
Err(error) => Err(error),
}
}
fn setup_write(&mut self, address: u8, wr_buffer: &[u8], inten: bool) -> Result<(), Error> {
match self.setup_write_from_ram(address, wr_buffer, inten) {
Ok(_) => Ok(()),
Err(Error::DMABufferNotInDataMemory) => {
trace!("Copying TWIM tx buffer into RAM for DMA");
let tx_ram_buf = &mut [0; FORCE_COPY_BUFFER_SIZE][..wr_buffer.len()];
tx_ram_buf.copy_from_slice(wr_buffer);
self.setup_write_from_ram(address, &tx_ram_buf, inten)
}
Err(error) => Err(error),
}
}
/// Write to an I2C slave.
///
/// The buffer must have a length of at most 255 bytes on the nRF52832
/// and at most 65535 bytes on the nRF52840.
pub fn blocking_write(&mut self, address: u8, buffer: &[u8]) -> Result<(), Error> {
self.setup_write(address, buffer, false)?;
self.blocking_wait();
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compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_tx(buffer.len())?;
Ok(())
}
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/// Same as [`blocking_write`](Twim::blocking_write) but will fail instead of copying data into RAM. Consult the module level documentation to learn more.
pub fn blocking_write_from_ram(&mut self, address: u8, buffer: &[u8]) -> Result<(), Error> {
self.setup_write_from_ram(address, buffer, false)?;
self.blocking_wait();
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_tx(buffer.len())?;
Ok(())
}
/// Read from an I2C slave.
///
/// The buffer must have a length of at most 255 bytes on the nRF52832
/// and at most 65535 bytes on the nRF52840.
pub fn blocking_read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error> {
self.setup_read(address, buffer, false)?;
self.blocking_wait();
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_rx(buffer.len())?;
Ok(())
}
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/// Write data to an I2C slave, then read data from the slave without
/// triggering a stop condition between the two.
///
/// The buffers must have a length of at most 255 bytes on the nRF52832
/// and at most 65535 bytes on the nRF52840.
pub fn blocking_write_read(
&mut self,
address: u8,
wr_buffer: &[u8],
rd_buffer: &mut [u8],
) -> Result<(), Error> {
self.setup_write_read(address, wr_buffer, rd_buffer, false)?;
self.blocking_wait();
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_tx(wr_buffer.len())?;
self.check_rx(rd_buffer.len())?;
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Ok(())
}
/// Same as [`blocking_write_read`](Twim::blocking_write_read) but will fail instead of copying data into RAM. Consult the module level documentation to learn more.
pub fn blocking_write_read_from_ram(
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&mut self,
address: u8,
wr_buffer: &[u8],
rd_buffer: &mut [u8],
) -> Result<(), Error> {
self.setup_write_read_from_ram(address, wr_buffer, rd_buffer, false)?;
self.blocking_wait();
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_tx(wr_buffer.len())?;
self.check_rx(rd_buffer.len())?;
Ok(())
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}
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pub async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error> {
self.setup_read(address, buffer, true)?;
self.async_wait().await;
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_rx(buffer.len())?;
Ok(())
}
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pub async fn write(&mut self, address: u8, buffer: &[u8]) -> Result<(), Error> {
self.setup_write(address, buffer, true)?;
self.async_wait().await;
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_tx(buffer.len())?;
Ok(())
}
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/// Same as [`write`](Twim::write) but will fail instead of copying data into RAM. Consult the module level documentation to learn more.
pub async fn write_from_ram(&mut self, address: u8, buffer: &[u8]) -> Result<(), Error> {
self.setup_write_from_ram(address, buffer, true)?;
self.async_wait().await;
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_tx(buffer.len())?;
Ok(())
}
pub async fn write_read(
&mut self,
address: u8,
wr_buffer: &[u8],
rd_buffer: &mut [u8],
) -> Result<(), Error> {
self.setup_write_read(address, wr_buffer, rd_buffer, true)?;
self.async_wait().await;
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_tx(wr_buffer.len())?;
self.check_rx(rd_buffer.len())?;
Ok(())
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}
/// Same as [`write_read`](Twim::write_read) but will fail instead of copying data into RAM. Consult the module level documentation to learn more.
pub async fn write_read_from_ram(
&mut self,
address: u8,
wr_buffer: &[u8],
rd_buffer: &mut [u8],
) -> Result<(), Error> {
self.setup_write_read_from_ram(address, wr_buffer, rd_buffer, true)?;
self.async_wait().await;
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_tx(wr_buffer.len())?;
self.check_rx(rd_buffer.len())?;
Ok(())
}
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}
impl<'a, T: Instance> Drop for Twim<'a, T> {
fn drop(&mut self) {
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trace!("twim drop");
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// TODO: check for abort
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// disable!
let r = T::regs();
r.enable.write(|w| w.enable().disabled());
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gpio::deconfigure_pin(r.psel.sda.read().bits());
gpio::deconfigure_pin(r.psel.scl.read().bits());
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trace!("twim drop: done");
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}
}
pub(crate) mod sealed {
use super::*;
pub struct State {
pub end_waker: AtomicWaker,
}
impl State {
pub const fn new() -> Self {
Self {
end_waker: AtomicWaker::new(),
}
}
}
pub trait Instance {
fn regs() -> &'static pac::twim0::RegisterBlock;
fn state() -> &'static State;
}
}
pub trait Instance: Unborrow<Target = Self> + sealed::Instance + 'static {
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type Interrupt: Interrupt;
}
macro_rules! impl_twim {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::twim::sealed::Instance for peripherals::$type {
fn regs() -> &'static pac::twim0::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
}
fn state() -> &'static crate::twim::sealed::State {
static STATE: crate::twim::sealed::State = crate::twim::sealed::State::new();
&STATE
}
}
impl crate::twim::Instance for peripherals::$type {
type Interrupt = crate::interrupt::$irq;
}
};
}
// ====================
mod eh02 {
use super::*;
impl<'a, T: Instance> embedded_hal_02::blocking::i2c::Write for Twim<'a, T> {
type Error = Error;
fn write<'w>(&mut self, addr: u8, bytes: &'w [u8]) -> Result<(), Error> {
if slice_in_ram(bytes) {
self.blocking_write(addr, bytes)
} else {
let buf = &mut [0; FORCE_COPY_BUFFER_SIZE][..];
for chunk in bytes.chunks(FORCE_COPY_BUFFER_SIZE) {
buf[..chunk.len()].copy_from_slice(chunk);
self.blocking_write(addr, &buf[..chunk.len()])?;
}
Ok(())
}
}
}
impl<'a, T: Instance> embedded_hal_02::blocking::i2c::Read for Twim<'a, T> {
type Error = Error;
fn read<'w>(&mut self, addr: u8, bytes: &'w mut [u8]) -> Result<(), Error> {
self.blocking_read(addr, bytes)
}
}
impl<'a, T: Instance> embedded_hal_02::blocking::i2c::WriteRead for Twim<'a, T> {
type Error = Error;
fn write_read<'w>(
&mut self,
addr: u8,
bytes: &'w [u8],
buffer: &'w mut [u8],
) -> Result<(), Error> {
self.blocking_write_read(addr, bytes, buffer)
}
}
}
#[cfg(feature = "unstable-traits")]
mod eh1 {
use super::*;
impl embedded_hal_1::i2c::Error for Error {
fn kind(&self) -> embedded_hal_1::i2c::ErrorKind {
match *self {
Self::TxBufferTooLong => embedded_hal_1::i2c::ErrorKind::Other,
Self::RxBufferTooLong => embedded_hal_1::i2c::ErrorKind::Other,
Self::TxBufferZeroLength => embedded_hal_1::i2c::ErrorKind::Other,
Self::RxBufferZeroLength => embedded_hal_1::i2c::ErrorKind::Other,
Self::Transmit => embedded_hal_1::i2c::ErrorKind::Other,
Self::Receive => embedded_hal_1::i2c::ErrorKind::Other,
Self::DMABufferNotInDataMemory => embedded_hal_1::i2c::ErrorKind::Other,
Self::AddressNack => embedded_hal_1::i2c::ErrorKind::NoAcknowledge(
embedded_hal_1::i2c::NoAcknowledgeSource::Address,
),
Self::DataNack => embedded_hal_1::i2c::ErrorKind::NoAcknowledge(
embedded_hal_1::i2c::NoAcknowledgeSource::Data,
),
Self::Overrun => embedded_hal_1::i2c::ErrorKind::Overrun,
}
}
}
impl<'d, T: Instance> embedded_hal_1::i2c::ErrorType for Twim<'d, T> {
type Error = Error;
}
impl<'d, T: Instance> embedded_hal_1::i2c::blocking::I2c for Twim<'d, T> {
fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
self.blocking_read(address, buffer)
}
fn write(&mut self, address: u8, buffer: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(address, buffer)
}
fn write_iter<B>(&mut self, _address: u8, _bytes: B) -> Result<(), Self::Error>
where
B: IntoIterator<Item = u8>,
{
todo!();
}
fn write_iter_read<B>(
&mut self,
_address: u8,
_bytes: B,
_buffer: &mut [u8],
) -> Result<(), Self::Error>
where
B: IntoIterator<Item = u8>,
{
todo!();
}
fn write_read(
&mut self,
address: u8,
wr_buffer: &[u8],
rd_buffer: &mut [u8],
) -> Result<(), Self::Error> {
self.blocking_write_read(address, wr_buffer, rd_buffer)
}
fn transaction<'a>(
&mut self,
_address: u8,
_operations: &mut [embedded_hal_1::i2c::blocking::Operation<'a>],
) -> Result<(), Self::Error> {
todo!();
}
fn transaction_iter<'a, O>(
&mut self,
_address: u8,
_operations: O,
) -> Result<(), Self::Error>
where
O: IntoIterator<Item = embedded_hal_1::i2c::blocking::Operation<'a>>,
{
todo!();
}
}
}
cfg_if::cfg_if! {
if #[cfg(all(feature = "unstable-traits", feature = "nightly"))] {
impl<'d, T: Instance> embedded_hal_async::i2c::I2c for Twim<'d, T> {
type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
fn read<'a>(&'a mut self, address: u8, buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
self.read(address, buffer)
}
type WriteFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
fn write<'a>(&'a mut self, address: u8, bytes: &'a [u8]) -> Self::WriteFuture<'a> {
self.write(address, bytes)
}
type WriteReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
fn write_read<'a>(
&'a mut self,
address: u8,
wr_buffer: &'a [u8],
rd_buffer: &'a mut [u8],
) -> Self::WriteReadFuture<'a> {
self.write_read(address, wr_buffer, rd_buffer)
}
type TransactionFuture<'a, 'b> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a, 'b: 'a;
fn transaction<'a, 'b>(
&'a mut self,
address: u8,
operations: &'a mut [embedded_hal_async::i2c::Operation<'b>],
) -> Self::TransactionFuture<'a, 'b> {
let _ = address;
let _ = operations;
async move { todo!() }
}
}
}
}