Merge pull request #16814 from dylad/pr/cpu/nrf9160_add_twi_and_spi_s…

…upport

cpu/nrf9160: add twi and spi support

boards/nrf9160dk/Kconfig

@@ -11,5 +11,7 @@ config BOARD_NRF9160DK
     bool
     default y
     select CPU_MODEL_NRF9160
+    select HAS_PERIPH_I2C
+    select HAS_PERIPH_SPI
     select HAS_PERIPH_TIMER
     select HAS_PERIPH_UART

boards/nrf9160dk/Makefile.features

@@ -2,5 +2,7 @@ CPU_MODEL = nrf9160
 CPU = nrf9160
 
 # Put defined MCU peripherals here (in alphabetical order)
+FEATURES_PROVIDED += periph_i2c
+FEATURES_PROVIDED += periph_spi
 FEATURES_PROVIDED += periph_timer
 FEATURES_PROVIDED += periph_uart

boards/nrf9160dk/include/periph_conf.h

@@ -28,6 +28,37 @@
 extern "C" {
 #endif
 
+/**
+ * @name    I2C configuration
+ * @{
+ */
+static const i2c_conf_t i2c_config[] = {
+    {
+        .dev = NRF_TWIM3_S,
+        .scl = GPIO_PIN(0, 31),
+        .sda = GPIO_PIN(0, 30),
+        .speed = I2C_SPEED_NORMAL
+    }
+};
+#define I2C_NUMOF           ARRAY_SIZE(i2c_config)
+/** @} */
+
+/**
+ * @name    SPI configuration
+ * @{
+ */
+static const spi_conf_t spi_config[] = {
+    {
+        .dev  = NRF_SPIM2_S,
+        .sclk = GPIO_PIN(0, 13),
+        .mosi = GPIO_PIN(0, 11),
+        .miso = GPIO_PIN(0, 12),
+    }
+};
+
+#define SPI_NUMOF           ARRAY_SIZE(spi_config)
+/** @} */
+
 /**
  * @name   Timer configuration
  * @{

cpu/nrf5x_common/periph/Makefile

@@ -1,3 +1,17 @@
 MODULE = nrf5x_common_periph
 
+# Select the specific implementation for `periph_i2c`
+ifneq (,$(filter periph_i2c,$(USEMODULE)))
+  ifneq (,$(filter $(CPU_FAM),nrf52 nrf9160))
+    SRC += i2c_nrf52_nrf9160.c
+  endif
+endif
+
+# Select the specific implementation for `periph_spi`
+ifneq (,$(filter periph_spi,$(USEMODULE)))
+  ifneq (,$(filter $(CPU_FAM),nrf52 nrf9160))
+    SRC += spi_nrf52_nrf9160.c
+  endif
+endif
+
 include $(RIOTMAKE)/periph.mk

cpu/nrf52/periph/i2c.c → cpu/nrf5x_common/periph/i2c_nrf52_nrf9160.c

@@ -9,7 +9,7 @@
  */
 
 /**
- * @ingroup     cpu_nrf52
+ * @ingroup     cpu_nrf5x_common
  * @{
  *
  * @file

cpu/nrf52/periph/spi.c → cpu/nrf5x_common/periph/spi_nrf52_nrf9160.c

@@ -9,7 +9,7 @@
  */
 
 /**
- * @ingroup     cpu_nrf52
+ * @ingroup     cpu_nrf5x_common
  * @ingroup     drivers_periph_spi
  * @{
  *

cpu/nrf9160/include/periph_cpu.h

@@ -81,7 +81,133 @@ typedef struct {
 #define UART_BAUDRATE_BAUDRATE_Baud460800 UARTE_BAUDRATE_BAUDRATE_Baud460800
 #define UART_BAUDRATE_BAUDRATE_Baud921600 UARTE_BAUDRATE_BAUDRATE_Baud921600
 #define UART_BAUDRATE_BAUDRATE_Baud1M UARTE_BAUDRATE_BAUDRATE_Baud1M
+
+/**
+ * @brief   Override I2C speed settings
+ * @{
+ */
+#define HAVE_I2C_SPEED_T
+typedef enum {
+    I2C_SPEED_LOW       = 0xff,                         /**< not supported */
+    I2C_SPEED_NORMAL    = TWIM_FREQUENCY_FREQUENCY_K100,    /**< 100kbit/s */
+    I2C_SPEED_FAST      = TWIM_FREQUENCY_FREQUENCY_K400,    /**< 400kbit/s */
+    I2C_SPEED_FAST_PLUS = 0xfe,                         /**< not supported */
+    I2C_SPEED_HIGH      = 0xfd,                         /**< not supported */
+} i2c_speed_t;
+/** @} */
+
 #endif /* ndef DOXYGEN */
+
+/**
+ * @brief   I2C (TWI) configuration options
+ */
+typedef struct {
+    NRF_TWIM_Type *dev;         /**< TWIM hardware device */
+    gpio_t scl;                 /**< SCL pin */
+    gpio_t sda;                 /**< SDA pin */
+    i2c_speed_t speed;          /**< Bus speed */
+} i2c_conf_t;
+/** @} */
+
+/**
+ * @name   Use shared I2C functions
+ * @{
+ */
+#define PERIPH_I2C_NEED_READ_REG
+#define PERIPH_I2C_NEED_WRITE_REG
+/** @} */
+
+/**
+ * @name    Define macros for sda and scl pin to be able to reinitialize them
+ * @{
+ */
+#define i2c_pin_sda(dev) i2c_config[dev].sda
+#define i2c_pin_scl(dev) i2c_config[dev].scl
+/** @} */
+
+/**
+ * @brief   Defines macros for SPI pins initialization
+ * @{
+ */
+#define SPI_SCKSEL          (dev(bus)->PSEL.SCK)
+#define SPI_MOSISEL         (dev(bus)->PSEL.MOSI)
+#define SPI_MISOSEL         (dev(bus)->PSEL.MISO)
+/** @} */
+
+/**
+ * @brief   SPI temporary buffer size for storing const data in RAM before
+ *          initiating DMA transfer
+ */
+#ifndef CONFIG_SPI_MBUF_SIZE
+#define CONFIG_SPI_MBUF_SIZE    64
+#endif
+
+/**
+ * @brief  SPI configuration values
+ */
+typedef struct {
+    NRF_SPIM_Type *dev; /**< SPI device used */
+    gpio_t sclk;        /**< CLK pin */
+    gpio_t mosi;        /**< MOSI pin */
+    gpio_t miso;        /**< MISO pin */
+} spi_conf_t;
+
+#ifndef DOXYGEN
+/**
+ * @brief   Override SPI mode values
+ * @{
+ */
+#define HAVE_SPI_MODE_T
+typedef enum {
+    SPI_MODE_0 = 0,                                             /**< CPOL=0, CPHA=0 */
+    SPI_MODE_1 = SPIM_CONFIG_CPHA_Msk,                           /**< CPOL=0, CPHA=1 */
+    SPI_MODE_2 = SPIM_CONFIG_CPOL_Msk,                           /**< CPOL=1, CPHA=0 */
+    SPI_MODE_3 = (SPIM_CONFIG_CPOL_Msk | SPIM_CONFIG_CPHA_Msk)    /**< CPOL=1, CPHA=1 */
+} spi_mode_t;
+/** @} */
+
+/**
+ * @brief   Override SPI clock values
+ * @{
+ */
+#define HAVE_SPI_CLK_T
+typedef enum {
+    SPI_CLK_100KHZ = SPIM_FREQUENCY_FREQUENCY_K125,  /**< 100KHz */
+    SPI_CLK_400KHZ = SPIM_FREQUENCY_FREQUENCY_K500,  /**< 400KHz */
+    SPI_CLK_1MHZ   = SPIM_FREQUENCY_FREQUENCY_M1,    /**< 1MHz */
+    SPI_CLK_5MHZ   = SPIM_FREQUENCY_FREQUENCY_M4,    /**< 5MHz */
+    SPI_CLK_10MHZ  = SPIM_FREQUENCY_FREQUENCY_M8     /**< 10MHz */
+} spi_clk_t;
+/** @} */
+#endif /* ndef DOXYGEN */
+
+/**
+ * @brief Common SPI/I2C interrupt callback
+ *
+ * @param   arg     Opaque context pointer
+ */
+typedef void (*spi_twi_irq_cb_t)(void *arg);
+
+/**
+ * @brief Reqister a SPI IRQ handler for a shared I2C/SPI irq vector
+ *
+ * @param   bus bus to register the IRQ handler on
+ * @param   cb  callback to call on IRQ
+ * @param   arg Argument to pass to the handler
+ */
+void spi_twi_irq_register_spi(NRF_SPIM_Type *bus,
+                              spi_twi_irq_cb_t cb, void *arg);
+
+/**
+ * @brief Reqister a I2C IRQ handler for a shared I2C/SPI irq vector
+ *
+ * @param   bus bus to register the IRQ handler on
+ * @param   cb  callback to call on IRQ
+ * @param   arg Argument to pass to the handler
+ */
+void spi_twi_irq_register_i2c(NRF_TWIM_Type *bus,
+                              spi_twi_irq_cb_t cb, void *arg);
+
 #ifdef __cplusplus
 }
 #endif

cpu/nrf9160/spi_twi_irq.c

@@ -0,0 +1,122 @@
+/*
+ * Copyright (C) 2021 Mesotic SAS
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     cpu_nrf9160
+ * @{
+ *
+ * @file
+ * @brief       Shared IRQ handling between SPI and TWI peripherals on the nRF52
+ *              devices
+ *
+ *              I2C is called TWI (Two Wire Interface) in the datasheets from Nordic
+ *
+ * @author      Dylan Laduranty <dylan.laduranty@mesotic.com>
+ *
+ * @}
+ */
+
+#include <assert.h>
+
+#include "cpu.h"
+#include "periph_cpu.h"
+#include "periph_conf.h"
+
+static spi_twi_irq_cb_t _irq[TWIM_COUNT];
+static void *_irq_arg[TWIM_COUNT];
+
+#if TWIM_COUNT != SPIM_COUNT
+#error Possible configuration issue, please update this file
+#endif
+
+/* I2C and SPI share peripheral addresses */
+static size_t _spi_dev2num(void *dev)
+{
+    if (dev == NRF_SPIM0_S) {
+        return 0;
+    }
+    else if (dev == NRF_SPIM1_S) {
+        return 1;
+    }
+    else if (dev == NRF_SPIM2_S) {
+        return 2;
+    }
+    else if (dev == NRF_SPIM3_S) {
+        return 3;
+    }
+    else {
+        assert(false);
+        return 0;
+    }
+}
+
+static inline size_t _i2c_dev2num(void *dev)
+{
+    return _spi_dev2num(dev);
+}
+
+static const IRQn_Type _isr[] = {
+UARTE0_SPIM0_SPIS0_TWIM0_TWIS0_IRQn,
+UARTE1_SPIM1_SPIS1_TWIM1_TWIS1_IRQn,
+UARTE2_SPIM2_SPIS2_TWIM2_TWIS2_IRQn,
+UARTE3_SPIM3_SPIS3_TWIM3_TWIS3_IRQn
+};
+
+void spi_twi_irq_register_spi(NRF_SPIM_Type *bus,
+                              spi_twi_irq_cb_t cb, void *arg)
+{
+    size_t num = _spi_dev2num(bus);
+
+    _irq[num] = cb;
+    _irq_arg[num] = arg;
+    NVIC_EnableIRQ(_isr[num]);
+}
+
+void spi_twi_irq_register_i2c(NRF_TWIM_Type *bus,
+                              spi_twi_irq_cb_t cb, void *arg)
+{
+    size_t num = _i2c_dev2num(bus);
+
+    _irq[num] = cb;
+    _irq_arg[num] = arg;
+
+    NVIC_EnableIRQ(_isr[num]);
+}
+
+/* Check if UART driver doesn't already use the same IRQ */
+#ifndef UART_0_ISR
+void isr_uarte0_spim0_spis0_twim0_twis0(void)
+{
+    _irq[0](_irq_arg[0]);
+    cortexm_isr_end();
+}
+#endif /* ndef UART_0_ISR */
+
+#ifndef UART_1_ISR
+void isr_uarte1_spim1_spis1_twim1_twis1(void)
+{
+    _irq[1](_irq_arg[1]);
+    cortexm_isr_end();
+}
+#endif /* ndef UART_1_ISR */
+
+#ifndef UART_2_ISR
+void isr_uarte2_spim2_spis2_twim2_twis2(void)
+{
+    _irq[2](_irq_arg[2]);
+    cortexm_isr_end();
+}
+#endif /* ndef UART_2_ISR */
+
+#ifndef UART_3_ISR
+void isr_uarte3_spim3_spis3_twim3_twis3(void)
+{
+    _irq[3](_irq_arg[3]);
+    cortexm_isr_end();
+}
+#endif /* ndef UART_3_ISR */

pkg/mynewt-core/contrib/Makefile

@@ -3,7 +3,7 @@ MODULE = mynewt-core
 # exclude submodule sources from *.c wildcard source selection
 SRC := $(filter-out nrf5x_isr.c cputime.c,$(wildcard *.c))
 
-ifneq (,$(filter nrf%,$(CPU)))
+ifneq (,$(filter nrf5%,$(CPU)))
   SRC += nrf5x_isr.c
 else
   SRC += cputime.c

pkg/mynewt-core/mynewt-core_os.mk

@@ -8,7 +8,7 @@ SRC := \
   os_cputime_pwr2.c \
   #
 
-ifneq (,$(filter nrf%,$(CPU)))
+ifneq (,$(filter nrf5%,$(CPU)))
   SRC += os_cputime.c
 endif
 

pkg/uwb-core/Makefile.dep

@@ -25,7 +25,7 @@ endif
 ifneq (,$(filter uwb-core_dpl,$(USEMODULE)))
   USEPKG += mynewt-core
   USEMODULE += mynewt-core_os
-  ifneq (,$(filter nrf%,$(CPU)))
+  ifneq (,$(filter nrf5%,$(CPU)))
     USEMODULE += mynewt-core_nrf5x_hal
   endif
 endif