I2C Implementation (#84)

TactilityHeadless/Source/Hal/Configuration.h

@@ -1,36 +1,42 @@
 #pragma once
 
-#include "TactilityCore.h"
-#include "Sdcard.h"
 #include "Power.h"
+#include "Sdcard.h"
+#include "I2c/I2c.h"
+#include "TactilityCore.h"
 
 namespace tt::hal {
 
-typedef bool (*Bootstrap)();
-typedef bool (*InitGraphics)();
+typedef bool (*InitPower)();
+typedef bool (*InitHardware)();
+typedef bool (*InitLvgl)();
 
 typedef void (*SetBacklightDuty)(uint8_t);
 typedef struct {
     /** Set backlight duty */
-    SetBacklightDuty set_backlight_duty;
+    _Nullable SetBacklightDuty setBacklightDuty;
 } Display;
 
 typedef struct {
     /**
-     * Optional bootstrapping method (e.g. to turn peripherals on)
-     * This is called after Tactility core init and before any other inits in the HardwareConfig.
-     * */
-    const Bootstrap _Nullable bootstrap;
-
-    /**
-     * Initializes LVGL with all relevant hardware.
-     * This includes the display and optional pointer devices (such as touch) or a keyboard.
+     * Called before I2C/SPI/etc is initialized.
+     * Used for powering on the peripherals manually.
      */
-    const InitGraphics init_graphics;
+    const InitPower _Nullable initPower = nullptr;
 
     /**
-     * An interface for display features such as setting the backlight.
-     * This does nothing when a display isn't present.
+     * Called after I2C/SPI/etc is initialized.
+     * This can be used to communicate with built-in peripherals such as an I2C keyboard.
+     */
+    const InitHardware _Nullable initHardware = nullptr;
+
+    /**
+     * Create and initialize all LVGL devices. (e.g. display, touch, keyboard)
+     */
+    const InitLvgl initLvgl;
+
+    /**
+     * Display HAL functionality.
      */
     const Display display;
 
@@ -43,6 +49,11 @@ typedef struct {
      * An optional power interface for battery or other power delivery.
      */
     const Power* _Nullable power;
+
+    /**
+     * A list of i2c devices (can be empty, but preferably accurately represents the device capabilities)
+     */
+    const std::vector<i2c::Configuration> i2c;
 } Configuration;
 
 } // namespace

TactilityHeadless/Source/Hal/Hal.cpp

@@ -1,22 +1,31 @@
 #include "Hal/Hal_i.h"
+#include "Hal/I2c/I2c.h"
 
 #define TAG "hardware"
 
 namespace tt::hal {
 
-void init(const Configuration* configuration) {
-    if (configuration->bootstrap != nullptr) {
-        TT_LOG_I(TAG, "Bootstrapping");
-        tt_check(configuration->bootstrap(), "bootstrap failed");
+void init(const Configuration& configuration) {
+    if (configuration.initPower != nullptr) {
+        TT_LOG_I(TAG, "Init power");
+        tt_check(configuration.initPower(), "Init power failed");
     }
 
-    if (configuration->sdcard != nullptr) {
+    tt_check(i2c::init(configuration.i2c), "I2C init failed");
+    if (configuration.initHardware != nullptr) {
+        TT_LOG_I(TAG, "Init hardware");
+        tt_check(configuration.initHardware(), "Hardware init failed");
+    }
+
+    if (configuration.sdcard != nullptr) {
         TT_LOG_I(TAG, "Mounting sdcard");
-        sdcard::mount(configuration->sdcard);
+        if (!sdcard::mount(configuration.sdcard)) {
+            TT_LOG_W(TAG, "SD card mount failed (init can continue)");
+        }
     }
 
-    tt_check(configuration->init_graphics, "Graphics init not set");
-    tt_check(configuration->init_graphics(), "Graphics init failed");
+    tt_check(configuration.initLvgl, "Graphics init not set");
+    tt_check(configuration.initLvgl(), "Graphics init failed");
 }
 
 } // namespace

TactilityHeadless/Source/Hal/I2c/I2c.cpp

@@ -0,0 +1,191 @@
+#ifdef ESP_TARGET
+
+#include "I2c.h"
+#include "Log.h"
+#include "Mutex.h"
+
+#include <esp_check.h>
+
+namespace tt::hal::i2c {
+
+typedef struct Data {
+    Mutex mutex;
+    bool isConfigured = false;
+    bool isStarted = false;
+    Configuration configuration;
+} Data;
+
+static Data dataArray[I2C_NUM_MAX];
+
+#define TAG "i2c"
+
+void printInfo(const Data& data) {
+    TT_LOG_V(TAG, "I2C info for port %d", data.configuration.port);
+    TT_LOG_V(TAG, "  isStarted: %d", data.isStarted);
+    TT_LOG_V(TAG, "  isConfigured: %d", data.isConfigured);
+    TT_LOG_V(TAG, "  initMode: %d", data.configuration.initMode);
+    TT_LOG_V(TAG, "  canReinit: %d", data.configuration.canReinit);
+    TT_LOG_V(TAG, "  hasMutableConfiguration: %d", data.configuration.hasMutableConfiguration);
+    TT_LOG_V(TAG, "  SDA pin: %d", data.configuration.config.sda_io_num);
+    TT_LOG_V(TAG, "  SCL pin: %d", data.configuration.config.scl_io_num);
+}
+
+bool init(const std::vector<i2c::Configuration>& configurations) {
+   TT_LOG_I(TAG, "Init");
+   for (const auto& configuration: configurations) {
+       if (configuration.config.mode != I2C_MODE_MASTER) {
+           TT_LOG_E(TAG, "Currently only master mode is supported");
+           return false;
+       }
+       Data& data = dataArray[configuration.port];
+       data.configuration = configuration;
+       data.isConfigured = true;
+   }
+
+   for (const auto& config: configurations) {
+       printInfo(dataArray[config.port]);
+       if (config.initMode == InitByTactility) {
+           if (!start(config.port)) {
+               return false;
+           }
+       } else if (config.initMode == InitByExternal) {
+           dataArray[config.port].isStarted = true;
+       }
+   }
+
+   return true;
+}
+
+static bool configure_locked(i2c_port_t port, const i2c_config_t& configuration) {
+    Data& data = dataArray[port];
+    if (data.isStarted) {
+        TT_LOG_E(TAG, "(%d) Cannot reconfigure while interface is started", port);
+        return ESP_ERR_INVALID_STATE;
+    } else if (!data.configuration.hasMutableConfiguration) {
+        TT_LOG_E(TAG, "(%d) Mutation not allowed by original configuration", port);
+        return ESP_ERR_NOT_ALLOWED;
+    } else {
+        data.configuration.config = configuration;
+        return ESP_OK;
+    }
+}
+
+bool configure(i2c_port_t port, const i2c_config_t& configuration) {
+    lock(port);
+    bool result = configure_locked(port, configuration);
+    unlock(port);
+    return result;
+}
+
+static bool startLocked(i2c_port_t port) {
+    Data& data = dataArray[port];
+    printInfo(data);
+    Configuration& config = data.configuration;
+
+    if (data.isStarted) {
+        TT_LOG_E(TAG, "(%d) Starting: Already started", port);
+        return false;
+    }
+
+    if (!data.isConfigured) {
+        TT_LOG_E(TAG, "(%d) Starting: Not configured", port);
+        return false;
+    }
+
+    esp_err_t result = i2c_param_config(port, &config.config);
+    if (result != ESP_OK) {
+        TT_LOG_E(TAG, "(%d) Starting: Failed to configure: %s", port, esp_err_to_name(result));
+        return false;
+    }
+
+    result = i2c_driver_install(port, config.config.mode, 0, 0, 0);
+    if (result != ESP_OK) {
+        TT_LOG_E(TAG, "(%d) Starting: Failed to install driver: %s", port, esp_err_to_name(result));
+        return false;
+    } else {
+        data.isStarted = true;
+    }
+
+    TT_LOG_I(TAG, "(%d) Started", port);
+    return true;
+}
+
+bool start(i2c_port_t port) {
+    lock(port);
+    bool result = startLocked(port);
+    unlock(port);
+    return result;
+}
+
+static bool stopLocked(i2c_port_t port) {
+    Data& data = dataArray[port];
+    Configuration& config = data.configuration;
+
+    if (!config.canReinit) {
+        TT_LOG_E(TAG, "(%d) Stopping: Not allowed to re-init", port);
+        return false;
+    }
+
+    if (!data.isStarted) {
+        TT_LOG_E(TAG, "(%d) Stopping: Not started", port);
+        return false;
+    }
+
+    esp_err_t result = i2c_driver_delete(port);
+    if (result != ESP_OK) {
+        TT_LOG_E(TAG, "(%d) Stopping: Failed to delete driver: %s", port, esp_err_to_name(result));
+        return false;
+    } else {
+        data.isStarted = false;
+    }
+
+    TT_LOG_I(TAG, "(%d) Stopped", port);
+    return true;
+}
+
+bool stop(i2c_port_t port) {
+    lock(port);
+    bool result = stopLocked(port);
+    unlock(port);
+    return result;
+}
+
+bool isStarted(i2c_port_t port) {
+    lock(port);
+    bool started = dataArray[port].isStarted;
+    unlock(port);
+    return started;
+}
+
+bool masterRead(i2c_port_t port, uint8_t address, uint8_t* data, size_t dataSize) {
+    lock(port);
+    esp_err_t result = i2c_master_read_from_device(port, address, data, dataSize, dataArray[port].configuration.timeout);
+    unlock(port);
+    return result == ESP_OK;
+}
+
+bool masterWrite(i2c_port_t port, uint16_t address, const uint8_t* data, uint16_t dataSize) {
+    lock(port);
+    esp_err_t result = i2c_master_write_to_device(port, address, data, dataSize, dataArray[port].configuration.timeout);
+    unlock(port);
+    return result == ESP_OK;
+}
+
+bool masterWriteRead(i2c_port_t port, uint8_t address, const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize) {
+    lock(port);
+    esp_err_t result = i2c_master_write_read_device(port, address, writeData, writeDataSize, readData, readDataSize, dataArray[port].configuration.timeout);
+    unlock(port);
+    return result == ESP_OK;
+}
+
+TtStatus lock(i2c_port_t port, uint32_t timeout) {
+    return dataArray[port].mutex.acquire(timeout);
+}
+
+TtStatus unlock(i2c_port_t port) {
+    return dataArray[port].mutex.release();
+}
+
+} // namespace
+
+#endif

TactilityHeadless/Source/Hal/I2c/I2c.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#include "I2cCompat.h"
+#include <CoreTypes.h>
+#include <vector>
+
+namespace tt::hal::i2c {
+
+typedef enum {
+    InitByTactility, // Tactility will initialize it in the correct bootup phase
+    InitByExternal, // The device is already initialized and Tactility should assume it works
+    InitDisabled // Not initialized by default
+} InitMode;
+
+typedef struct {
+    /** The port to operate on */
+    i2c_port_t port;
+    /** Whether this bus should be initialized when device starts up */
+    InitMode initMode;
+    /** Whether this bus can stopped and re-started. */
+    bool canReinit;
+    /** Whether configuration can be changed. */
+    bool hasMutableConfiguration;
+    /** Read/write timeout (not related to mutex locking mechanism) */
+    TickType_t timeout;
+    /** Configuration that must be valid when initAtBoot is set to true. */
+    i2c_config_t config;
+} Configuration;
+
+bool init(const std::vector<i2c::Configuration>& configurations);
+
+bool start(i2c_port_t port);
+bool stop(i2c_port_t port);
+bool isStarted(i2c_port_t port);
+bool masterRead(i2c_port_t port, uint8_t address, uint8_t* data, size_t dataSize);
+bool masterWrite(i2c_port_t port, uint16_t address, const uint8_t* data, uint16_t dataSize);
+bool masterWriteRead(i2c_port_t port, uint8_t address, const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize);
+TtStatus lock(i2c_port_t port, uint32_t timeout = UINT_MAX);
+TtStatus unlock(i2c_port_t port);
+
+} // namespace

TactilityHeadless/Source/Hal/I2c/I2cCompat.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#ifdef ESP_TARGET
+
+#include <driver/i2c.h>
+
+#else
+
+#include <cstdint>
+#include "portmacro.h"
+
+typedef int esp_err_t;
+
+typedef enum {
+    I2C_NUM_0 = 0,
+    I2C_NUM_1,
+    LP_I2C_NUM_0,
+    I2C_NUM_MAX,
+} i2c_port_t;
+
+typedef enum{
+    I2C_MODE_MASTER,
+    I2C_MODE_MAX,
+} i2c_mode_t;
+
+typedef struct {
+    i2c_mode_t mode;
+    int sda_io_num;
+    int scl_io_num;
+    bool sda_pullup_en;
+    bool scl_pullup_en;
+
+    union {
+        struct {
+            uint32_t clk_speed;
+        } master;
+    };
+    uint32_t clk_flags;
+} i2c_config_t;
+
+#endif

TactilityHeadless/Source/Hal/I2c/I2cMock.cpp

@@ -0,0 +1,102 @@
+#ifndef ESP_TARGET
+
+/**
+ * This code is based on i2c_manager from https://github.com/ropg/i2c_manager/blob/master/i2c_manager/i2c_manager.c (original has MIT license)
+ */
+#include "I2c.h"
+#include "Log.h"
+#include "Mutex.h"
+
+namespace tt::hal::i2c {
+
+typedef struct Data {
+    Mutex mutex;
+    bool isConfigured = false;
+    bool isStarted = false;
+    Configuration configuration;
+} Data;
+
+static Data dataArray[I2C_NUM_MAX];
+
+#define TAG "i2c"
+
+bool init(const std::vector<i2c::Configuration>& configurations) {
+   TT_LOG_I(TAG, "Init");
+   for (const auto& configuration: configurations) {
+       Data& data = dataArray[configuration.port];
+       data.configuration = configuration;
+       data.isConfigured = true;
+   }
+
+   for (const auto& config: configurations) {
+       if (config.initMode == InitByTactility && !start(config.port)) {
+           return false;
+       } else if (config.initMode == InitByExternal) {
+           dataArray[config.port].isStarted = true;
+       }
+   }
+
+   return true;
+}
+
+static bool configure_locked(i2c_port_t port, const i2c_config_t& configuration) {
+    Data& data = dataArray[port];
+    if (data.isStarted) {
+        TT_LOG_E(TAG, "(%d) Cannot reconfigure while interface is started", port);
+        return false;
+    } else if (!data.configuration.hasMutableConfiguration) {
+        TT_LOG_E(TAG, "(%d) Mutation not allowed by original configuration", port);
+        return false;
+    } else {
+        data.configuration.config = configuration;
+        return true;
+    }
+}
+
+esp_err_t configure(i2c_port_t port, const i2c_config_t& configuration) {
+    lock(port);
+    bool result = configure_locked(port, configuration);
+    unlock(port);
+    return result;
+}
+
+bool start(i2c_port_t port) {
+    lock(port);
+    dataArray[port].isStarted = true;
+    unlock(port);
+    return false;
+}
+
+bool stop(i2c_port_t port) {
+    lock(port);
+    dataArray[port].isStarted = false;
+    unlock(port);
+    return true;
+}
+
+bool isStarted(i2c_port_t port) {
+    lock(port);
+    bool started = dataArray[port].isStarted;
+    unlock(port);
+    return started;
+}
+
+bool read(i2c_port_t port, uint16_t address, uint32_t reg, uint8_t* buffer, uint16_t size) {
+    return false;
+}
+
+bool write(i2c_port_t port, uint16_t address, uint32_t reg, const uint8_t* buffer, uint16_t size) {
+    return false;
+}
+
+TtStatus lock(i2c_port_t port, uint32_t timeout) {
+    return dataArray[port].mutex.acquire(timeout);
+}
+
+TtStatus unlock(i2c_port_t port) {
+    return dataArray[port].mutex.release();
+}
+
+} // namespace
+
+#endif

TactilityHeadless/Source/Services/Sdcard/Sdcard.cpp

@@ -76,7 +76,7 @@ static int32_t sdcard_task(void* context) {
 }
 
 static void on_start(Service& service) {
-    if (get_hardware_config()->sdcard != nullptr) {
+    if (get_hardware_config().sdcard != nullptr) {
         ServiceData* data = service_data_alloc();
         service.setData(data);
         data->thread->start();

TactilityHeadless/Source/Services/Wifi/WifiMock.cpp

@@ -30,7 +30,7 @@ typedef struct {
 } Wifi;
 
 
-static Wifi* wifi = NULL;
+static Wifi* wifi = nullptr;
 
 // Forward declarations
 static void wifi_lock(Wifi* wifi);

TactilityHeadless/Source/TactilityHeadless.cpp

@@ -31,17 +31,18 @@ static void register_and_start_system_services() {
     }
 }
 
-void headless_init(const hal::Configuration* config) {
+void init(const hal::Configuration& config) {
 #ifdef ESP_PLATFORM
     esp_init();
 #endif
-    hardwareConfig = config;
+    hardwareConfig = &config;
     hal::init(config);
     register_and_start_system_services();
 }
 
-const hal::Configuration* get_hardware_config() {
-    return hardwareConfig;
+const hal::Configuration& get_hardware_config() {
+    tt_assert(hardwareConfig != nullptr);
+    return *hardwareConfig;
 }
 
 } // namespace

TactilityHeadless/Source/TactilityHeadless.h

@@ -5,8 +5,8 @@
 
 namespace tt {
 
-void headless_init(const hal::Configuration* config);
+void init(const hal::Configuration& config);
 
-const hal::Configuration* get_hardware_config();
+const hal::Configuration& get_hardware_config();
 
 } // namespace