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Implement new I2C driver (#531)

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This commit is contained in:
Ken Van Hoeylandt
2026-06-12 18:46:22 +02:00
committed by GitHub
parent 8dd9bee8d0
commit 8dabda2b5b
18 changed files with 432 additions and 101 deletions
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Platforms/platform-esp32/CMakeLists.txt
+1 -1
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@@ -6,7 +6,7 @@ idf_component_register(
SRCS ${SOURCES}
INCLUDE_DIRS "include/"
PRIV_INCLUDE_DIRS "private/"
REQUIRES TactilityKernel driver vfs fatfs
REQUIRES TactilityKernel driver esp_driver_i2c vfs fatfs
)
idf_component_optional_requires(PRIVATE bt usb espressif__usb_host_hid espressif__usb_host_msc)
Platforms/platform-esp32/bindings/espressif,esp32-i2c-master.yaml
+29
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@@ -0,0 +1,29 @@
description: ESP32 I2C Controller
include: ["i2c-controller.yaml"]
compatible: "espressif,esp32-i2c-master"
properties:
port:
type: int
required: true
description: |
The port number, defined by i2c_port_t.
Depending on the hardware, these values are available: I2C_NUM_0, I2C_NUM_1, LP_I2C_NUM_0
clock-frequency:
type: int
required: true
description: Initial clock frequency in Hz
clock-source:
type: int
default: 0
description: |
Clock source for the I2C peripheral.
If not specified, a default clock source will be used.
pin-sda:
type: phandle-array
required: true
pin-scl:
type: phandle-array
required: true
Platforms/platform-esp32/bindings/espressif,esp32-i2c.yaml
+1 -1
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@@ -10,7 +10,7 @@ properties:
required: true
description: |
The port number, defined by i2c_port_t.
Depending on the hardware, these values are available: I2C_NUM_0, I2C_NUM_1, LP_I2C_NUM_0
Depending on the hardware, these values are available: I2C_NUM_0, I2C_NUM_1
clock-frequency:
type: int
required: true
Platforms/platform-esp32/include/tactility/bindings/esp32_i2c_master.h
+15
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@@ -0,0 +1,15 @@
// SPDX-License-Identifier: Apache-2.0
#pragma once
#include <tactility/bindings/bindings.h>
#include <tactility/drivers/esp32_i2c_master.h>
#ifdef __cplusplus
extern "C" {
#endif
DEFINE_DEVICETREE(esp32_i2c_master, struct Esp32I2cMasterConfig)
#ifdef __cplusplus
}
#endif
Platforms/platform-esp32/include/tactility/drivers/esp32_i2c_master.h
+21
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@@ -0,0 +1,21 @@
// SPDX-License-Identifier: Apache-2.0
#pragma once
#include <tactility/drivers/gpio.h>
#include <driver/i2c_types.h>
#ifdef __cplusplus
extern "C" {
#endif
struct Esp32I2cMasterConfig {
i2c_port_num_t port;
uint32_t clockFrequency;
int32_t clkSource;
struct GpioPinSpec pinSda;
struct GpioPinSpec pinScl;
};
#ifdef __cplusplus
}
#endif
Platforms/platform-esp32/source/drivers/esp32_i2c.cpp
+2 -6
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@@ -175,16 +175,12 @@ static error_t start(Device* device) {
check(gpio_descriptor_get_native_pin_number(sda_descriptor, &sda_pin) == ERROR_NONE);
check(gpio_descriptor_get_native_pin_number(scl_descriptor, &scl_pin) == ERROR_NONE);
gpio_flags_t sda_flags, scl_flags;
check(gpio_descriptor_get_flags(sda_descriptor, &sda_flags) == ERROR_NONE);
check(gpio_descriptor_get_flags(scl_descriptor, &scl_flags) == ERROR_NONE);
i2c_config_t esp_config = {
.mode = I2C_MODE_MASTER,
.sda_io_num = sda_pin,
.scl_io_num = scl_pin,
.sda_pullup_en = (sda_flags & GPIO_FLAG_PULL_UP) != 0,
.scl_pullup_en = (scl_flags & GPIO_FLAG_PULL_UP) != 0,
.sda_pullup_en = (sda_spec.flags & GPIO_FLAG_PULL_UP) != 0,
.scl_pullup_en = (scl_spec.flags & GPIO_FLAG_PULL_UP) != 0,
.master {
.clk_speed = dts_config->clockFrequency
},
Platforms/platform-esp32/source/drivers/esp32_i2c_master.cpp
+311
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@@ -0,0 +1,311 @@
// SPDX-License-Identifier: Apache-2.0
#include <driver/i2c_master.h>
#include <new>
#include <tactility/error_esp32.h>
#include <tactility/driver.h>
#include <tactility/drivers/gpio_controller.h>
#include <tactility/drivers/i2c_controller.h>
#include <tactility/drivers/esp32_i2c_master.h>
#include <tactility/log.h>
#include <tactility/time.h>
#define TAG "esp32_i2c_master"
struct Esp32I2cMasterInternal {
Mutex mutex {};
GpioDescriptor* sda_descriptor = nullptr;
GpioDescriptor* scl_descriptor = nullptr;
i2c_master_bus_handle_t bus_handle = nullptr;
i2c_master_dev_handle_t dev_handle = nullptr;
int current_address = -1;
Esp32I2cMasterInternal(GpioDescriptor* sda_descriptor, GpioDescriptor* scl_descriptor) :
sda_descriptor(sda_descriptor),
scl_descriptor(scl_descriptor)
{
mutex_construct(&mutex);
}
~Esp32I2cMasterInternal() {
mutex_destruct(&mutex);
}
};
#define GET_CONFIG(device) ((Esp32I2cMasterConfig*)device->config)
#define GET_DATA(device) ((Esp32I2cMasterInternal*)device_get_driver_data(device))
#define lock(data) mutex_lock(&data->mutex);
#define unlock(data) mutex_unlock(&data->mutex);
// Switches the device's target address only when it differs from the currently configured one.
static esp_err_t ensure_address(Esp32I2cMasterInternal* driver_data, uint8_t address, int timeout_ms) {
if (driver_data->current_address == address) {
return ESP_OK;
}
esp_err_t esp_error = i2c_master_device_change_address(driver_data->dev_handle, address, timeout_ms);
if (esp_error == ESP_OK) {
driver_data->current_address = address;
}
return esp_error;
}
extern "C" {
static int ticks_to_ms(TickType_t ticks) {
if (ticks == portMAX_DELAY) return -1;
return (int)pdTICKS_TO_MS(ticks);
}
static error_t read(Device* device, uint8_t address, uint8_t* data, size_t data_size, TickType_t timeout) {
if (xPortInIsrContext()) return ERROR_ISR_STATUS;
if (data_size == 0) return ERROR_INVALID_ARGUMENT;
auto* driver_data = GET_DATA(device);
int timeout_ms = ticks_to_ms(timeout);
lock(driver_data);
esp_err_t esp_error = ensure_address(driver_data, address, timeout_ms);
if (esp_error != ESP_OK) {
LOG_E(TAG, "change_address(0x%02X) failed: %s", address, esp_err_to_name(esp_error));
} else {
esp_error = i2c_master_receive(driver_data->dev_handle, data, data_size, timeout_ms);
if (esp_error != ESP_OK) {
LOG_E(TAG, "receive(0x%02X) failed: %s", address, esp_err_to_name(esp_error));
}
}
unlock(driver_data);
return esp_err_to_error(esp_error);
}
static error_t write(Device* device, uint8_t address, const uint8_t* data, uint16_t data_size, TickType_t timeout) {
if (xPortInIsrContext()) return ERROR_ISR_STATUS;
if (data_size == 0) return ERROR_INVALID_ARGUMENT;
auto* driver_data = GET_DATA(device);
int timeout_ms = ticks_to_ms(timeout);
lock(driver_data);
esp_err_t esp_error = ensure_address(driver_data, address, timeout_ms);
if (esp_error != ESP_OK) {
LOG_E(TAG, "change_address(0x%02X) failed: %s", address, esp_err_to_name(esp_error));
} else {
esp_error = i2c_master_transmit(driver_data->dev_handle, data, data_size, timeout_ms);
if (esp_error != ESP_OK) {
LOG_E(TAG, "transmit(0x%02X) failed: %s", address, esp_err_to_name(esp_error));
}
}
unlock(driver_data);
return esp_err_to_error(esp_error);
}
static error_t write_read(Device* device, uint8_t address, const uint8_t* write_data, size_t write_data_size, uint8_t* read_data, size_t read_data_size, TickType_t timeout) {
if (xPortInIsrContext()) return ERROR_ISR_STATUS;
if (write_data_size == 0 || read_data_size == 0) return ERROR_INVALID_ARGUMENT;
auto* driver_data = GET_DATA(device);
int timeout_ms = ticks_to_ms(timeout);
lock(driver_data);
esp_err_t esp_error = ensure_address(driver_data, address, timeout_ms);
if (esp_error != ESP_OK) {
LOG_E(TAG, "change_address(0x%02X) failed: %s", address, esp_err_to_name(esp_error));
} else {
esp_error = i2c_master_transmit_receive(driver_data->dev_handle, write_data, write_data_size, read_data, read_data_size, timeout_ms);
if (esp_error != ESP_OK) {
LOG_E(TAG, "transmit_receive(0x%02X) failed: %s", address, esp_err_to_name(esp_error));
}
}
unlock(driver_data);
return esp_err_to_error(esp_error);
}
static error_t read_register(Device* device, uint8_t address, uint8_t reg, uint8_t* data, size_t data_size, TickType_t timeout) {
if (xPortInIsrContext()) return ERROR_ISR_STATUS;
if (data_size == 0) return ERROR_INVALID_ARGUMENT;
auto* driver_data = GET_DATA(device);
int timeout_ms = ticks_to_ms(timeout);
lock(driver_data);
esp_err_t esp_error = ensure_address(driver_data, address, timeout_ms);
if (esp_error != ESP_OK) {
LOG_E(TAG, "change_address(0x%02X) failed: %s", address, esp_err_to_name(esp_error));
} else {
esp_error = i2c_master_transmit_receive(driver_data->dev_handle, &reg, 1, data, data_size, timeout_ms);
if (esp_error != ESP_OK) {
LOG_E(TAG, "read_register(0x%02X, reg=0x%02X) failed: %s", address, reg, esp_err_to_name(esp_error));
}
}
unlock(driver_data);
return esp_err_to_error(esp_error);
}
static error_t write_register(Device* device, uint8_t address, uint8_t reg, const uint8_t* data, uint16_t data_size, TickType_t timeout) {
if (xPortInIsrContext()) return ERROR_ISR_STATUS;
if (data_size == 0) return ERROR_INVALID_ARGUMENT;
auto* driver_data = GET_DATA(device);
int timeout_ms = ticks_to_ms(timeout);
lock(driver_data);
esp_err_t esp_error = ensure_address(driver_data, address, timeout_ms);
if (esp_error != ESP_OK) {
LOG_E(TAG, "change_address(0x%02X) failed: %s", address, esp_err_to_name(esp_error));
} else {
i2c_master_transmit_multi_buffer_info_t buffers[2] = {
{.write_buffer = &reg, .buffer_size = 1},
{.write_buffer = data, .buffer_size = data_size}
};
esp_error = i2c_master_multi_buffer_transmit(driver_data->dev_handle, buffers, 2, timeout_ms);
if (esp_error != ESP_OK) {
LOG_E(TAG, "write_register(0x%02X, reg=0x%02X) failed: %s", address, reg, esp_err_to_name(esp_error));
}
}
unlock(driver_data);
return esp_err_to_error(esp_error);
}
static error_t probe(Device* device, uint8_t address, TickType_t timeout) {
if (xPortInIsrContext()) return ERROR_ISR_STATUS;
auto* driver_data = GET_DATA(device);
int timeout_ms = ticks_to_ms(timeout);
lock(driver_data);
esp_err_t esp_error = i2c_master_probe(driver_data->bus_handle, address, timeout_ms);
if (esp_error == ESP_ERR_NOT_FOUND) {
// Expected outcome when no device acks - e.g. hot-plug attach polling
LOG_D(TAG, "probe(0x%02X): not found", address);
} else if (esp_error != ESP_OK) {
LOG_E(TAG, "probe(0x%02X) failed: %s", address, esp_err_to_name(esp_error));
}
unlock(driver_data);
return esp_err_to_error(esp_error);
}
static error_t start(Device* device) {
ESP_LOGI(TAG, "start %s", device->name);
auto dts_config = GET_CONFIG(device);
auto& sda_spec = dts_config->pinSda;
auto& scl_spec = dts_config->pinScl;
auto* sda_descriptor = gpio_descriptor_acquire(sda_spec.gpio_controller, sda_spec.pin, GPIO_OWNER_GPIO);
if (!sda_descriptor) {
LOG_E(TAG, "Failed to acquire pin %u", sda_spec.pin);
return ERROR_RESOURCE;
}
auto* scl_descriptor = gpio_descriptor_acquire(scl_spec.gpio_controller, scl_spec.pin, GPIO_OWNER_GPIO);
if (!scl_descriptor) {
LOG_E(TAG, "Failed to acquire pin %u", scl_spec.pin);
gpio_descriptor_release(sda_descriptor);
return ERROR_RESOURCE;
}
gpio_num_t sda_pin, scl_pin;
check(gpio_descriptor_get_native_pin_number(sda_descriptor, &sda_pin) == ERROR_NONE);
check(gpio_descriptor_get_native_pin_number(scl_descriptor, &scl_pin) == ERROR_NONE);
i2c_master_bus_config_t bus_config = {
.i2c_port = dts_config->port,
.sda_io_num = sda_pin,
.scl_io_num = scl_pin,
.clk_source = I2C_CLK_SRC_DEFAULT,
.glitch_ignore_cnt = 7,
.intr_priority = 0,
.trans_queue_depth = 0,
.flags = {
.enable_internal_pullup = ((sda_spec.flags & GPIO_FLAG_PULL_UP) != 0) || ((scl_spec.flags & GPIO_FLAG_PULL_UP) != 0),
.allow_pd = 0,
}
};
#if SOC_LP_I2C_SUPPORTED
if (dts_config->port == LP_I2C_NUM_0) {
bus_config.lp_source_clk = (dts_config->clkSource == 0) ? LP_I2C_SCLK_DEFAULT : static_cast<lp_i2c_clock_source_t>(dts_config->clkSource);
} else {
bus_config.clk_source = (dts_config->clkSource == 0) ? I2C_CLK_SRC_DEFAULT : static_cast<i2c_clock_source_t>(dts_config->clkSource);
}
#else
bus_config.clk_source = (dts_config->clkSource == 0) ? I2C_CLK_SRC_DEFAULT : static_cast<i2c_clock_source_t>(dts_config->clkSource);
#endif
i2c_master_bus_handle_t bus_handle;
esp_err_t error = i2c_new_master_bus(&bus_config, &bus_handle);
if (error != ESP_OK) {
LOG_E(TAG, "Failed to create I2C bus at port %d: %s", (int)dts_config->port, esp_err_to_name(error));
gpio_descriptor_release(sda_descriptor);
gpio_descriptor_release(scl_descriptor);
return ERROR_RESOURCE;
}
i2c_device_config_t dev_config = {
.dev_addr_length = I2C_ADDR_BIT_LEN_7,
.device_address = 0, // Will be changed at runtime
.scl_speed_hz = dts_config->clockFrequency,
.scl_wait_us = 0,
.flags = {
.disable_ack_check = 0,
}
};
i2c_master_dev_handle_t dev_handle;
error = i2c_master_bus_add_device(bus_handle, &dev_config, &dev_handle);
if (error != ESP_OK) {
LOG_E(TAG, "Failed to add I2C device: %s", esp_err_to_name(error));
i2c_del_master_bus(bus_handle);
gpio_descriptor_release(sda_descriptor);
gpio_descriptor_release(scl_descriptor);
return ERROR_RESOURCE;
}
auto* data = new(std::nothrow) Esp32I2cMasterInternal(sda_descriptor, scl_descriptor);
if (data == nullptr) {
i2c_master_bus_rm_device(dev_handle);
i2c_del_master_bus(bus_handle);
gpio_descriptor_release(sda_descriptor);
gpio_descriptor_release(scl_descriptor);
return ERROR_OUT_OF_MEMORY;
}
data->bus_handle = bus_handle;
data->dev_handle = dev_handle;
device_set_driver_data(device, data);
return ERROR_NONE;
}
static error_t stop(Device* device) {
ESP_LOGI(TAG, "stop %s", device->name);
auto* driver_data = GET_DATA(device);
i2c_master_bus_rm_device(driver_data->dev_handle);
i2c_del_master_bus(driver_data->bus_handle);
gpio_descriptor_release(driver_data->sda_descriptor);
gpio_descriptor_release(driver_data->scl_descriptor);
device_set_driver_data(device, nullptr);
delete driver_data;
return ERROR_NONE;
}
static constexpr I2cControllerApi ESP32_I2C_MASTER_API = {
.read = read,
.write = write,
.write_read = write_read,
.read_register = read_register,
.write_register = write_register,
.probe = probe
};
extern Module platform_esp32_module;
Driver esp32_i2c_master_driver = {
.name = "esp32_i2c_master",
.compatible = (const char*[]) { "espressif,esp32-i2c-master", nullptr },
.start_device = start,
.stop_device = stop,
.api = &ESP32_I2C_MASTER_API,
.device_type = &I2C_CONTROLLER_TYPE,
.owner = &platform_esp32_module,
.internal = nullptr
};
} // extern "C"
Platforms/platform-esp32/source/module.cpp
+3
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@@ -13,6 +13,7 @@ extern "C" {
extern Driver esp32_gpio_driver;
extern Driver esp32_i2c_driver;
extern Driver esp32_i2c_master_driver;
extern Driver esp32_i2s_driver;
#if SOC_SDMMC_HOST_SUPPORTED
extern Driver esp32_sdmmc_driver;
@@ -37,6 +38,7 @@ static error_t start() {
* there is no guarantee that the previously constructed drivers can be destroyed */
check(driver_construct_add(&esp32_gpio_driver) == ERROR_NONE);
check(driver_construct_add(&esp32_i2c_driver) == ERROR_NONE);
check(driver_construct_add(&esp32_i2c_master_driver) == ERROR_NONE);
check(driver_construct_add(&esp32_i2s_driver) == ERROR_NONE);
#if SOC_SDMMC_HOST_SUPPORTED
check(driver_construct_add(&esp32_sdmmc_driver) == ERROR_NONE);
@@ -75,6 +77,7 @@ static error_t stop() {
#endif
check(driver_remove_destruct(&esp32_gpio_driver) == ERROR_NONE);
check(driver_remove_destruct(&esp32_i2c_driver) == ERROR_NONE);
check(driver_remove_destruct(&esp32_i2c_master_driver) == ERROR_NONE);
check(driver_remove_destruct(&esp32_i2s_driver) == ERROR_NONE);
#if SOC_SDMMC_HOST_SUPPORTED
check(driver_remove_destruct(&esp32_sdmmc_driver) == ERROR_NONE);