Workaround for bug https://github.com/JF002/Pinetime/issues/79 until a better fix is found.
When the driver is stuck in an infinite loop for more than ~2.5ms, the TWI device is re-init and the transaction is retried. Read() and Write() return an error code.
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@ -60,24 +60,53 @@ void TwiMaster::Init() {
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}
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void TwiMaster::Read(uint8_t deviceAddress, uint8_t registerAddress, uint8_t *data, size_t size) {
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TwiMaster::ErrorCodes TwiMaster::Read(uint8_t deviceAddress, uint8_t registerAddress, uint8_t *data, size_t size) {
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xSemaphoreTake(mutex, portMAX_DELAY);
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Write(deviceAddress, ®isterAddress, 1, false);
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Read(deviceAddress, data, size, true);
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auto ret = ReadWithRetry(deviceAddress, registerAddress, data, size);
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xSemaphoreGive(mutex);
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return ret;
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}
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void TwiMaster::Write(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t *data, size_t size) {
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TwiMaster::ErrorCodes TwiMaster::Write(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t *data, size_t size) {
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ASSERT(size <= maxDataSize);
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xSemaphoreTake(mutex, portMAX_DELAY);
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auto ret = WriteWithRetry(deviceAddress, registerAddress, data, size);
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xSemaphoreGive(mutex);
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return ret;
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}
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/* Execute a read transaction (composed of a write and a read operation). If one of these opeartion fails,
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* it's retried once. If it fails again, an error is returned */
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TwiMaster::ErrorCodes TwiMaster::ReadWithRetry(uint8_t deviceAddress, uint8_t registerAddress, uint8_t *data, size_t size) {
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TwiMaster::ErrorCodes ret;
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ret = Write(deviceAddress, ®isterAddress, 1, false);
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if(ret != ErrorCodes::NoError)
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ret = Write(deviceAddress, ®isterAddress, 1, false);
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if(ret != ErrorCodes::NoError) return ret;
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ret = Read(deviceAddress, data, size, true);
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if(ret != ErrorCodes::NoError)
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ret = Read(deviceAddress, data, size, true);
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return ret;
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}
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/* Execute a write transaction. If it fails, it is retried once. If it fails again, an error is returned. */
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TwiMaster::ErrorCodes TwiMaster::WriteWithRetry(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t *data, size_t size) {
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internalBuffer[0] = registerAddress;
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std::memcpy(internalBuffer+1, data, size);
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Write(deviceAddress, internalBuffer, size+1, true);
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xSemaphoreGive(mutex);
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auto ret = Write(deviceAddress, internalBuffer, size+1, true);
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if(ret != ErrorCodes::NoError)
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ret = Write(deviceAddress, internalBuffer, size+1, true);
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return ret;
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}
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void TwiMaster::Read(uint8_t deviceAddress, uint8_t *buffer, size_t size, bool stop) {
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TwiMaster::ErrorCodes TwiMaster::Read(uint8_t deviceAddress, uint8_t *buffer, size_t size, bool stop) {
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twiBaseAddress->ADDRESS = deviceAddress;
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twiBaseAddress->TASKS_RESUME = 0x1UL;
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twiBaseAddress->RXD.PTR = (uint32_t)buffer;
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@ -88,7 +117,15 @@ void TwiMaster::Read(uint8_t deviceAddress, uint8_t *buffer, size_t size, bool s
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while(!twiBaseAddress->EVENTS_RXSTARTED && !twiBaseAddress->EVENTS_ERROR);
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twiBaseAddress->EVENTS_RXSTARTED = 0x0UL;
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while(!twiBaseAddress->EVENTS_LASTRX && !twiBaseAddress->EVENTS_ERROR);
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txStartedCycleCount = DWT->CYCCNT;
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uint32_t currentCycleCount;
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while(!twiBaseAddress->EVENTS_LASTRX && !twiBaseAddress->EVENTS_ERROR) {
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currentCycleCount = DWT->CYCCNT;
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if ((currentCycleCount-txStartedCycleCount) > HwFreezedDelay) {
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FixHwFreezed();
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return ErrorCodes::TransactionFailed;
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}
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}
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twiBaseAddress->EVENTS_LASTRX = 0x0UL;
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if (stop || twiBaseAddress->EVENTS_ERROR) {
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@ -105,9 +142,10 @@ void TwiMaster::Read(uint8_t deviceAddress, uint8_t *buffer, size_t size, bool s
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if (twiBaseAddress->EVENTS_ERROR) {
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twiBaseAddress->EVENTS_ERROR = 0x0UL;
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}
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return ErrorCodes::NoError;
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}
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void TwiMaster::Write(uint8_t deviceAddress, const uint8_t *data, size_t size, bool stop) {
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TwiMaster::ErrorCodes TwiMaster::Write(uint8_t deviceAddress, const uint8_t *data, size_t size, bool stop) {
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twiBaseAddress->ADDRESS = deviceAddress;
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twiBaseAddress->TASKS_RESUME = 0x1UL;
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twiBaseAddress->TXD.PTR = (uint32_t)data;
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@ -118,7 +156,15 @@ void TwiMaster::Write(uint8_t deviceAddress, const uint8_t *data, size_t size, b
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while(!twiBaseAddress->EVENTS_TXSTARTED && !twiBaseAddress->EVENTS_ERROR);
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twiBaseAddress->EVENTS_TXSTARTED = 0x0UL;
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while(!twiBaseAddress->EVENTS_LASTTX && !twiBaseAddress->EVENTS_ERROR);
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txStartedCycleCount = DWT->CYCCNT;
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uint32_t currentCycleCount;
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while(!twiBaseAddress->EVENTS_LASTTX && !twiBaseAddress->EVENTS_ERROR) {
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currentCycleCount = DWT->CYCCNT;
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if ((currentCycleCount-txStartedCycleCount) > HwFreezedDelay) {
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FixHwFreezed();
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return ErrorCodes::TransactionFailed;
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}
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}
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twiBaseAddress->EVENTS_LASTTX = 0x0UL;
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if (stop || twiBaseAddress->EVENTS_ERROR) {
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@ -137,6 +183,8 @@ void TwiMaster::Write(uint8_t deviceAddress, const uint8_t *data, size_t size, b
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uint32_t error = twiBaseAddress->ERRORSRC;
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twiBaseAddress->ERRORSRC = error;
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}
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return ErrorCodes::NoError;
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}
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void TwiMaster::Sleep() {
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@ -152,3 +200,30 @@ void TwiMaster::Wakeup() {
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Init();
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NRF_LOG_INFO("[TWIMASTER] Wakeup");
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}
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/* Sometimes, the TWIM device just freeze and never set the event EVENTS_LASTTX.
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* This method disable and re-enable the peripheral so that it works again.
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* This is just a workaround, and it would be better if we could find a way to prevent
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* this issue from happening.
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* */
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void TwiMaster::FixHwFreezed() {
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NRF_LOG_INFO("I2C device frozen, reinitializing it!");
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// Disable I²C
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uint32_t twi_state = NRF_TWI1->ENABLE;
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twiBaseAddress->ENABLE = TWIM_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos;
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NRF_GPIO->PIN_CNF[params.pinScl] = ((uint32_t)GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos)
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| ((uint32_t)GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
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| ((uint32_t)GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos)
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| ((uint32_t)GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
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| ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos);
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NRF_GPIO->PIN_CNF[params.pinSda] = ((uint32_t)GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos)
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| ((uint32_t)GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos)
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| ((uint32_t)GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos)
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| ((uint32_t)GPIO_PIN_CNF_DRIVE_S0S1 << GPIO_PIN_CNF_DRIVE_Pos)
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| ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos);
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// Re-enable I²C
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twiBaseAddress->ENABLE = twi_state;
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}
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@ -10,6 +10,7 @@ namespace Pinetime {
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public:
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enum class Modules { TWIM1 };
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enum class Frequencies {Khz100, Khz250, Khz400};
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enum class ErrorCodes {NoError, TransactionFailed};
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struct Parameters {
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uint32_t frequency;
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uint8_t pinSda;
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@ -19,15 +20,19 @@ namespace Pinetime {
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TwiMaster(const Modules module, const Parameters& params);
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void Init();
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void Read(uint8_t deviceAddress, uint8_t registerAddress, uint8_t* buffer, size_t size);
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void Write(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t* data, size_t size);
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ErrorCodes Read(uint8_t deviceAddress, uint8_t registerAddress, uint8_t* buffer, size_t size);
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ErrorCodes Write(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t* data, size_t size);
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void Sleep();
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void Wakeup();
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private:
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void Read(uint8_t deviceAddress, uint8_t* buffer, size_t size, bool stop);
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void Write(uint8_t deviceAddress, const uint8_t* data, size_t size, bool stop);
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ErrorCodes ReadWithRetry(uint8_t deviceAddress, uint8_t registerAddress, uint8_t* buffer, size_t size);
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ErrorCodes WriteWithRetry(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t* data, size_t size);
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ErrorCodes Read(uint8_t deviceAddress, uint8_t* buffer, size_t size, bool stop);
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ErrorCodes Write(uint8_t deviceAddress, const uint8_t* data, size_t size, bool stop);
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void FixHwFreezed();
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NRF_TWIM_Type* twiBaseAddress;
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SemaphoreHandle_t mutex;
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const Modules module;
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@ -35,7 +40,8 @@ namespace Pinetime {
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static constexpr uint8_t maxDataSize{8};
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static constexpr uint8_t registerSize{1};
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uint8_t internalBuffer[maxDataSize + registerSize];
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uint32_t txStartedCycleCount = 0;
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static constexpr uint32_t HwFreezedDelay{161000};
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};
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}
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}
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