/**
* Detects stuck slaves (SDA = 0 and SCL = 1) and tries to clear the bus.
*
* @return
* @retval false Bus is stuck.
* @retval true Bus is clear.
*/
static bool twi_master_clear_bus(void) {
bool bus_clear;
TWI_SDA_HIGH()
;
TWI_SCL_HIGH()
;
TWI_DELAY();
if (TWI_SDA_READ() == 1 && TWI_SCL_READ() == 1) {
bus_clear = true;
} else {
uint_fast8_t i;
bus_clear = false;
// Clock max 18 pulses worst case scenario(9 for master to send the rest of command and 9 for slave to respond) to SCL line and wait for SDA come high
for (i = 18; i--;) {
TWI_SCL_LOW()
;
TWI_DELAY();
TWI_SCL_HIGH()
;
TWI_DELAY();
if (TWI_SDA_READ() == 1) {
bus_clear = true;
break;
}
}
}
return bus_clear;
}
/**
* @brief Function for pulling SCL high and waits until it is high or timeout occurs.
*
* SCL is expected to be output before entering this function.
* @note If TWI_MASTER_TIMEOUT_COUNTER_LOAD_VALUE is set to zero, timeout functionality is not compiled in.
* @return
* @retval true SCL is now high.
* @retval false Timeout occurred and SCL is still low.
*/
bool twi_master_wait_while_scl_low(void)
{
#if TWI_MASTER_TIMEOUT_COUNTER_LOAD_VALUE != 0
uint32_t volatile timeout_counter = TWI_MASTER_TIMEOUT_COUNTER_LOAD_VALUE;
#endif
// Pull SCL high just in case if something left it low
TWI_SCL_HIGH();
TWI_DELAY();
while (TWI_SCL_READ() == 0)
{
// If SCL is low, one of the slaves is busy and we must wait
// nrf_delay_us(1);
#if TWI_MASTER_TIMEOUT_COUNTER_LOAD_VALUE != 0
if (timeout_counter-- == 0)
{
// If timeout_detected, return false
return false;
}
#endif
}
return true;
}
void db_reset() {
NRF_TWI1->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos;
TWI_SCL_OUTPUT();
TWI_SCL_LOW();
delay_ms(30);
TWI_SCL_HIGH();
TWI_SCL_INPUT();
/* Allow daughterboard time to boot */
delay_ms(5);
}
bool twi_master_init(void)
{
// Configure both pins to output Standard 0, No-drive (open-drain) 1
TWI_SDA_STANDARD0_NODRIVE1(); /*lint !e416 "Creation of out of bounds pointer" */
TWI_SCL_STANDARD0_NODRIVE1(); /*lint !e416 "Creation of out of bounds pointer" */
// Configure SCL as output
TWI_SCL_HIGH();
TWI_SCL_OUTPUT();
// Configure SDA as output
TWI_SDA_HIGH();
TWI_SDA_OUTPUT();
return twi_master_clear_bus();
}
/**
* @brief Function for detecting stuck slaves (SDA = 0 and SCL = 1) and tries to clear the bus.
*
* @return
* @retval false Bus is stuck.
* @retval true Bus is clear.
*/
static bool twi_master_clear_bus(void)
{
uint32_t twi_state;
bool bus_clear;
uint32_t clk_pin_config;
uint32_t data_pin_config;
// Save and disable TWI hardware so software can take control over the pins.
twi_state = NRF_TWI1->ENABLE;
NRF_TWI1->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos;
clk_pin_config = \
NRF_GPIO->PIN_CNF[TWI_MASTER_CONFIG_CLOCK_PIN_NUMBER];
NRF_GPIO->PIN_CNF[TWI_MASTER_CONFIG_CLOCK_PIN_NUMBER] = \
(GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos) \
| (GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos) \
| (GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos) \
| (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) \
| (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
data_pin_config = \
NRF_GPIO->PIN_CNF[TWI_MASTER_CONFIG_DATA_PIN_NUMBER];
NRF_GPIO->PIN_CNF[TWI_MASTER_CONFIG_DATA_PIN_NUMBER] = \
(GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos) \
| (GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos) \
| (GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos) \
| (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) \
| (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
TWI_SDA_HIGH();
TWI_SCL_HIGH();
TWI_DELAY();
if ((TWI_SDA_READ() == 1) && (TWI_SCL_READ() == 1))
{
bus_clear = true;
}
else
{
uint_fast8_t i;
bus_clear = false;
// Clock max 18 pulses worst case scenario(9 for master to send the rest of command and 9
// for slave to respond) to SCL line and wait for SDA come high.
for (i=18; i--;)
{
TWI_SCL_LOW();
TWI_DELAY();
TWI_SCL_HIGH();
TWI_DELAY();
if (TWI_SDA_READ() == 1)
{
bus_clear = true;
break;
}
}
}
NRF_GPIO->PIN_CNF[TWI_MASTER_CONFIG_CLOCK_PIN_NUMBER] = clk_pin_config;
NRF_GPIO->PIN_CNF[TWI_MASTER_CONFIG_DATA_PIN_NUMBER] = data_pin_config;
NRF_TWI1->ENABLE = twi_state;
return bus_clear;
}
