diff --git a/firmware/rust1/src/bin/heizung.rs b/firmware/rust1/src/bin/heizung.rs
index 0c1d7674d38c6cf4bd2597d5be3d96ade55b0071..42947b74ccb2401ba07e207926a395dacfaa3b27 100644
--- a/firmware/rust1/src/bin/heizung.rs
+++ b/firmware/rust1/src/bin/heizung.rs
@@ -83,9 +83,9 @@ async fn i2c_task(mut i2c: i2c::I2c<'static, I2C0, i2c::Async>) {
//NOTE It looks like the blocking implementation doesn't accept an empty buffer
// but the async one does. Lucky for us because we need that here!
// -> Actually, it doesn't. It just hangs.
- //info!("I2C testing: {}", i);
+ info!("I2C testing: {}", i);
//FIXME Don't test with buffer size 1 because that will actually write, which can cause all kinds of issues!
- match i2c.write_async(i.into(), [0; 1]).await {
+ match i2c.write_async(i.into(), [0; 0]).await {
Result::Ok(()) => {
//info!("I2C ok: {}", i);
scan_result[i as usize] = ScanResult::Ack
diff --git a/firmware/rust1/src/rp/i2c.rs b/firmware/rust1/src/rp/i2c.rs
index 780470107ccc5e80a54521877cadd70b88f6229e..48c3e325b3846c6850dd2cbd3b2bd610b3addf33 100644
--- a/firmware/rust1/src/rp/i2c.rs
+++ b/firmware/rust1/src/rp/i2c.rs
@@ -172,7 +172,7 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
.wait_on(
|me| {
let rxfifo = Self::rx_fifo_len();
- if let Err(abort_reason) = me.read_and_clear_abort_reason() {
+ if let Err(abort_reason) = me.read_and_clear_abort_reason(false) {
Poll::Ready(Err(abort_reason))
} else if rxfifo >= batch {
Poll::Ready(Ok(rxfifo))
@@ -211,7 +211,7 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
};
}
- self.wait_stop_det(abort_reason, send_stop).await
+ self.wait_stop_det(abort_reason, send_stop, false).await
}
async fn write_async_internal(
@@ -222,6 +222,10 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
let p = T::regs();
let mut bytes = bytes.into_iter().peekable();
+ let mut empty_transfer = true;
+
+ let status = unsafe { p.ic_status().read() };
+ defmt::info!("ic_status: {:?}, {}", status.0, status.mst_activity());
let res = 'xmit: loop {
let tx_fifo_space = Self::tx_fifo_capacity();
@@ -229,6 +233,7 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
for _ in 0..tx_fifo_space {
if let Some(byte) = bytes.next() {
let last = bytes.peek().is_none();
+ empty_transfer = false;
unsafe {
p.ic_data_cmd().write(|w| {
@@ -237,6 +242,24 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
w.set_dat(byte);
});
}
+ } else if empty_transfer && send_stop {
+ // This is no good because it will still send one byte before stopping.
+ //p.ic_data_cmd().write(|w| {
+ // w.set_stop(send_stop);
+ //});
+
+ // The Arduino code that we used before resorts to bitbanging in this case:
+ // https://github.com/earlephilhower/arduino-pico/blob/6e52b72523b11470b2ad2b0578ca1500be238108/libraries/Wire/src/Wire.cpp#L257
+
+ // We can abort the transfer to send a STOP but we have to wait for the address
+ // to be sent. If we set TX_EMPTY_CTRL=1, it should wait until the address has
+ // been sent.
+ //FIXME I think we set this in any case.
+ unsafe {
+ p.ic_con().modify(|w| {
+ w.set_tx_empty_ctrl(true);
+ });
+ }
} else {
break 'xmit Ok(());
}
@@ -245,7 +268,7 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
let res = self
.wait_on(
|me| {
- if let abort_reason @ Err(_) = me.read_and_clear_abort_reason() {
+ if let abort_reason @ Err(_) = me.read_and_clear_abort_reason(false) {
Poll::Ready(abort_reason)
} else if !Self::tx_fifo_full() {
// resume if there's any space free in the tx fifo
@@ -267,12 +290,35 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
},
)
.await;
+ //defmt::info!("got tx empty: {:?}", res);
if res.is_err() {
break res;
}
+
+ if empty_transfer && send_stop {
+ let status = unsafe { p.ic_status().read() };
+ let abort_reason = unsafe { p.ic_tx_abrt_source().read() };
+ defmt::info!("ic_status: {:?}, {}, {:?}", status.0, status.mst_activity(), abort_reason.0);
+ unsafe {
+ p.ic_enable().modify(|w| {
+ w.set_abort(true);
+ })
+ }
+ let status = unsafe { p.ic_status().read() };
+ let abort_reason = unsafe { p.ic_tx_abrt_source().read() };
+ defmt::info!("ic_status: {:?}, {}, {:?}", status.0, status.mst_activity(), abort_reason.0);
+
+ defmt::info!("wait_stop_det");
+ let x = self.wait_stop_det(res, send_stop, empty_transfer && send_stop && false).await;
+ return match x {
+ Ok(()) => Ok(()),
+ Err(Error::Abort(AbortReason::Other(65536))) => Ok(()), // user abort is expected
+ Err(e) => Err(e),
+ }
+ }
};
- self.wait_stop_det(res, send_stop).await
+ self.wait_stop_det(res, send_stop, empty_transfer && send_stop && false).await
}
/// Helper to wait for a stop bit, for both tx and rx. If we had an abort,
@@ -280,7 +326,7 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
/// we're expecting it.
///
/// Also handles an abort which arises while processing the tx fifo.
- async fn wait_stop_det(&mut self, had_abort: Result<(), Error>, do_stop: bool) -> Result<(), Error> {
+ async fn wait_stop_det(&mut self, had_abort: Result<(), Error>, do_stop: bool, user_abort_is_ok: bool) -> Result<(), Error> {
if had_abort.is_err() || do_stop {
let p = T::regs();
@@ -289,7 +335,7 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
|me| unsafe {
// We could see an abort while processing fifo backlog,
// so handle it here.
- let abort = me.read_and_clear_abort_reason();
+ let abort = me.read_and_clear_abort_reason(user_abort_is_ok);
if had_abort.is_ok() && abort.is_err() {
Poll::Ready(abort)
} else if p.ic_raw_intr_stat().read().stop_det() {
@@ -502,7 +548,7 @@ impl<'d, T: Instance + 'd, M: Mode> I2c<'d, T, M> {
unsafe { p.ic_rxflr().read().rxflr() }
}
- fn read_and_clear_abort_reason(&mut self) -> Result<(), Error> {
+ fn read_and_clear_abort_reason(&mut self, user_abort_is_ok: bool) -> Result<(), Error> {
let p = T::regs();
unsafe {
let abort_reason = p.ic_tx_abrt_source().read();
@@ -519,6 +565,8 @@ impl<'d, T: Instance + 'd, M: Mode> I2c<'d, T, M> {
AbortReason::NoAcknowledge
} else if abort_reason.arb_lost() {
AbortReason::ArbitrationLoss
+ } else if user_abort_is_ok && abort_reason.abrt_user_abrt() {
+ return Ok(())
} else {
AbortReason::Other(abort_reason.0)
};
@@ -554,7 +602,7 @@ impl<'d, T: Instance + 'd, M: Mode> I2c<'d, T, M> {
});
while Self::rx_fifo_len() == 0 {
- self.read_and_clear_abort_reason()?;
+ self.read_and_clear_abort_reason(false)?;
}
*byte = p.ic_data_cmd().read().dat();
@@ -587,7 +635,7 @@ impl<'d, T: Instance + 'd, M: Mode> I2c<'d, T, M> {
// TX_EMPTY_CTRL flag was set in i2c_init.
while !p.ic_raw_intr_stat().read().tx_empty() {}
- let abort_reason = self.read_and_clear_abort_reason();
+ let abort_reason = self.read_and_clear_abort_reason(false);
if abort_reason.is_err() || (send_stop && last) {
// If the transaction was aborted or if it completed