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nrf: Fix I2C regression introduced by nrfx v3 update. #19220

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nrf: Fix I2C regression introduced by nrfx v3 update. #19220

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55 changes: 8 additions & 47 deletions ports/nrf/modules/machine/i2c.c
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Original file line number Diff line number Diff line change
Expand Up @@ -55,19 +55,12 @@

#define nrfx_twi_xfer_desc_t nrfx_twim_xfer_desc_t

#define nrfx_twi_evt_handler_t nrfx_twim_evt_handler_t
#define nrfx_twi_evt_t nrfx_twim_evt_t
#define nrfx_twi_evt_type_t nrfx_twim_evt_type_t

#define NRFX_TWI_XFER_DESC_RX NRFX_TWIM_XFER_DESC_RX
#define NRFX_TWI_XFER_DESC_TX NRFX_TWIM_XFER_DESC_TX

#define NRFX_TWI_INSTANCE NRFX_TWIM_INSTANCE

#define NRFX_TWI_EVT_DONE NRFX_TWIM_EVT_DONE
#define NRFX_TWI_EVT_ADDRESS_NACK NRFX_TWIM_EVT_ADDRESS_NACK
#define NRFX_TWI_EVT_DATA_NACK NRFX_TWIM_EVT_DATA_NACK
#define NRFX_TWI_EVT_BUS_ERROR NRFX_TWIM_EVT_BUS_ERROR
#define NRFX_TWI_FLAG_TX_NO_STOP NRFX_TWIM_FLAG_TX_NO_STOP

#define NRF_TWI_FREQ_100K NRF_TWIM_FREQ_100K
#define NRF_TWI_FREQ_250K NRF_TWIM_FREQ_250K
Expand All @@ -79,8 +72,6 @@ typedef struct _machine_hard_i2c_obj_t {
mp_obj_base_t base;
nrfx_twi_t p_twi; // Driver instance
uint32_t timeout;
volatile bool xfer_done;
volatile nrfx_twi_evt_type_t xfer_evt;
} machine_hard_i2c_obj_t;

static machine_hard_i2c_obj_t machine_hard_i2c_obj[] = {
Expand All @@ -91,12 +82,6 @@ static machine_hard_i2c_obj_t machine_hard_i2c_obj[] = {
void i2c_init0(void) {
}

static void twi_event_handler(nrfx_twi_evt_t const *p_event, void *p_context) {
machine_hard_i2c_obj_t *self = (machine_hard_i2c_obj_t *)p_context;
self->xfer_evt = p_event->type;
self->xfer_done = true;
}

static int i2c_find(mp_obj_t id) {
// given an integer id
int i2c_id = mp_obj_get_int(id);
Expand Down Expand Up @@ -161,8 +146,9 @@ mp_obj_t machine_hard_i2c_make_new(const mp_obj_type_t *type, size_t n_args, siz
// First reset the TWI
nrfx_twi_uninit(&self->p_twi);

// Set context to this object, use non-blocking mode with event handler.
nrfx_twi_init(&self->p_twi, &config, twi_event_handler, (void *)self);
// Use blocking mode (NULL handler); nrfx v3 TWIM PRS IRQ routing conflicts
// prevent reliable non-blocking operation when both SPIM and TWIM are enabled.
nrfx_twi_init(&self->p_twi, &config, NULL, NULL);

return MP_OBJ_FROM_PTR(self);
}
Expand All @@ -172,24 +158,21 @@ int machine_hard_i2c_transfer_single(mp_obj_base_t *self_in, uint16_t addr, size

nrfx_twi_enable(&self->p_twi);

self->xfer_done = false;
self->xfer_evt = NRFX_TWI_EVT_DONE;

nrfx_err_t err_code;
int transfer_ret = 0;
if (flags & MP_MACHINE_I2C_FLAG_READ) {
nrfx_twi_xfer_desc_t desc = NRFX_TWI_XFER_DESC_RX(addr, buf, len);
err_code = nrfx_twi_xfer(&self->p_twi, &desc, 0);
} else {
nrfx_twi_xfer_desc_t desc = NRFX_TWI_XFER_DESC_TX(addr, buf, len);
err_code = nrfx_twi_xfer(&self->p_twi, &desc, (flags & MP_MACHINE_I2C_FLAG_STOP) == 0);
uint32_t xfer_flags = (flags & MP_MACHINE_I2C_FLAG_STOP) ? 0 : NRFX_TWI_FLAG_TX_NO_STOP;
err_code = nrfx_twi_xfer(&self->p_twi, &desc, xfer_flags);
transfer_ret = len;
}

// In non-blocking mode, ANACK/DNACK are delivered via the event handler.
// These checks handle transfer start failures (e.g. bus busy).
nrfx_twi_disable(&self->p_twi);

if (err_code != NRFX_SUCCESS) {
nrfx_twi_disable(&self->p_twi);
if (err_code == NRFX_ERROR_DRV_TWI_ERR_ANACK) {
return -MP_ENODEV;
} else if (err_code == NRFX_ERROR_DRV_TWI_ERR_DNACK) {
Expand All @@ -198,28 +181,6 @@ int machine_hard_i2c_transfer_single(mp_obj_base_t *self_in, uint16_t addr, size
return -MP_ETIMEDOUT;
}

// Poll for transfer completion with timeout (timeout=0 means no timeout,
// the loop relies on MICROPY_EVENT_POLL_HOOK for Ctrl-C).
mp_uint_t start = mp_hal_ticks_us();
while (!self->xfer_done) {
if (self->timeout > 0 && (mp_hal_ticks_us() - start) >= self->timeout) {
nrfx_twi_disable(&self->p_twi);
nrfx_twi_enable(&self->p_twi);
return -MP_ETIMEDOUT;
}
MICROPY_EVENT_POLL_HOOK;
}

nrfx_twi_disable(&self->p_twi);

if (self->xfer_evt == NRFX_TWI_EVT_ADDRESS_NACK) {
return -MP_ENODEV;
} else if (self->xfer_evt == NRFX_TWI_EVT_DATA_NACK) {
return -MP_EIO;
} else if (self->xfer_evt != NRFX_TWI_EVT_DONE) {
return -MP_EIO;
}

return transfer_ret;
}

Expand Down
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