/* * Copyright (c) 2022 - 2024, Nordic Semiconductor ASA * All rights reserved. * * SPDX-License-Identifier: BSD-3-Clause * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright notice, this * list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * 3. Neither the name of the copyright holder nor the names of its * contributors may be used to endorse or promote products derived from this * software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #include #include #include #define NRFX_LOG_MODULE EXAMPLE #define NRFX_EXAMPLE_CONFIG_LOG_ENABLED 1 #define NRFX_EXAMPLE_CONFIG_LOG_LEVEL 3 #include /** * @defgroup nrfx_twim_twis_txtx_example TX-TX TWIM with TWIS example * @{ * @ingroup nrfx_twim_twis_examples * * @brief Example showing the functionality of nrfx_twim and nrfx_twis drivers, when TWI transfer is * performed in TX-TX mode. * * @details Application initializes nrfx_twim and nrfx_twis drivers. Main purpose of this example is * to emulate a typical situation, when the user has to write data to the particular register of the * slave (usual controller->sensor communication using two wire interface). The example * works as a simple simulation in which the user can communicate with the drone by * defining X, Y, Z forces and sending some additional data. @ref m_drone_reg is used as * internal register map of the drone. In the first write operation (TX1) user should define * register number to which data from the second write operation (TX2) will be saved. * @ref twim_handler() is executed with relevant log messages. @ref twis_handler() is used * to prepare data for sending and update particular registers of @ref m_drone_reg. */ /** @brief Symbol specifying pin number of master SCL. */ #define MASTER_SCL_PIN LOOPBACK_PIN_1A /** @brief Symbol specifying pin number of master SDA. */ #define MASTER_SDA_PIN LOOPBACK_PIN_2A /** @brief Symbol specifying pin number of slave SCL. */ #define SLAVE_SCL_PIN LOOPBACK_PIN_1B /** @brief Symbol specifying pin number of slave SDA. */ #define SLAVE_SDA_PIN LOOPBACK_PIN_2B #if defined(NRF52_SERIES) || defined(__NRFX_DOXYGEN__) /** @brief Symbol specifying TWIM instance to be used. */ #define TWIM_INST_IDX 0 /** @brief Symbol specifying TWIS instance to be used. */ #define TWIS_INST_IDX 1 #else #define TWIM_INST_IDX 1 #define TWIS_INST_IDX 2 #endif /** @brief Symbol specifying drone (slave) address on TWI bus. */ #define DRONE_IDX 0x01U /** @brief Symbol specifying drone mass [kg], it is used to calculate accelerations. */ #define DRONE_MASS 10U /** @brief Drone registers names. */ typedef enum { DRONE_REG_ID, ///< Drone identifier. DRONE_REG_MASS, ///< Drone mass. DRONE_REG_FORCE_X, ///< Force that acts on the drone along X axis. DRONE_REG_FORCE_Y, ///< Force that acts on the drone along Y axis. DRONE_REG_FORCE_Z, ///< Force that acts on the drone along Z axis. DRONE_REG_ACC_X, ///< Acceleration of the drone along X axis. DRONE_REG_ACC_Y, ///< Acceleration of the drone along Y axis. DRONE_REG_ACC_Z, ///< Acceleration of the drone along Z axis. DRONE_REG_ADDT_DATA0, ///< Additional data 0. DRONE_REG_ADDT_DATA1, ///< Additional data 1. DRONE_REG_ADDT_DATA2, ///< Additional data 2. DRONE_REG_ADDT_DATA3, ///< Additional data 3. } drone_reg_name_t; /** @brief Structure for the drone register map. */ typedef struct { uint8_t drone_idx; ///< Drone identifier. uint8_t mass; ///< Drone mass. uint8_t force[3]; ///< Forces that acts on the drone along X, Y, Z axes. uint8_t acceleration[3]; ///< Accelerations of the drone along X, Y, Z axes. uint8_t additional_data[4]; ///< Additional data. } drone_reg_map_t; /** * @brief Union containing a drone register map structure, used to refer to individual elements * of the structure. */ typedef union { drone_reg_map_t register_map; ///< Drone register map. uint8_t bytes[sizeof(drone_reg_map_t)]; ///< Array for referring to individual structure elements. } drone_regs_t; /** * @brief Macro for creating register map structure with the default configuration. * * This configuration sets up drone registers with the following options: * - forces set to 0 * - accelerations set to 0 * - additional data set to 0 * * @param[in] _id Drone identifier. * @param[in] _mass Drone mass. */ #define DRONE_DEFAULT_CONFIG(_id, _mass) \ { \ .drone_idx = (_id), \ .mass = (_mass), \ .force = {0}, \ .acceleration = {0}, \ .additional_data = {0}, \ } /** @brief Union containing drone register map structure. */ static drone_regs_t m_drone_reg = {.register_map = DRONE_DEFAULT_CONFIG(DRONE_IDX, DRONE_MASS)}; /** @brief Structure containing TWIS driver instance. */ static nrfx_twis_t m_twis_inst = NRFX_TWIS_INSTANCE(TWIS_INST_IDX); /** @brief Structure containing TWIM driver instance. */ static nrfx_twim_t m_twim_inst = NRFX_TWIM_INSTANCE(TWIM_INST_IDX); /** * @brief Function for showing values of all drone registers. * * @param[in] p_drone_regs Pointer to the union with drone register map structure. */ static void drone_reg_print(drone_regs_t * p_drone_regs) { NRFX_LOG_INFO("................................"); NRFX_LOG_INFO("DRONE REGISTERS: DEC\t| HEX"); NRFX_LOG_INFO("drone_idx: %d \t| 0x%X", p_drone_regs->bytes[DRONE_REG_ID], p_drone_regs->bytes[DRONE_REG_ID]); NRFX_LOG_INFO("drone_mass: %d \t| 0x%X", p_drone_regs->bytes[DRONE_REG_MASS], p_drone_regs->bytes[DRONE_REG_MASS]); NRFX_LOG_INFO("x_force: %d \t| 0x%X", p_drone_regs->bytes[DRONE_REG_FORCE_X], p_drone_regs->bytes[DRONE_REG_FORCE_X]); NRFX_LOG_INFO("y_force: %d \t| 0x%X", p_drone_regs->bytes[DRONE_REG_FORCE_Y], p_drone_regs->bytes[DRONE_REG_FORCE_Y]); NRFX_LOG_INFO("z_force: %d \t| 0x%X", p_drone_regs->bytes[DRONE_REG_FORCE_Z], p_drone_regs->bytes[DRONE_REG_FORCE_Z]); NRFX_LOG_INFO("x_acceleration: %d \t| 0x%X", p_drone_regs->bytes[DRONE_REG_ACC_X], p_drone_regs->bytes[DRONE_REG_ACC_X]); NRFX_LOG_INFO("y_acceleration: %d \t| 0x%X", p_drone_regs->bytes[DRONE_REG_ACC_Y], p_drone_regs->bytes[DRONE_REG_ACC_Y]); NRFX_LOG_INFO("z_acceleration: %d \t| 0x%X", p_drone_regs->bytes[DRONE_REG_ACC_Z], p_drone_regs->bytes[DRONE_REG_ACC_Z]); NRFX_LOG_INFO("additional_data[0]: %d \t| 0x%X", p_drone_regs->bytes[DRONE_REG_ADDT_DATA0], p_drone_regs->bytes[DRONE_REG_ADDT_DATA0]); NRFX_LOG_INFO("additional_data[1]: %d \t| 0x%X", p_drone_regs->bytes[DRONE_REG_ADDT_DATA1], p_drone_regs->bytes[DRONE_REG_ADDT_DATA1]); NRFX_LOG_INFO("additional_data[2]: %d \t| 0x%X", p_drone_regs->bytes[DRONE_REG_ADDT_DATA2], p_drone_regs->bytes[DRONE_REG_ADDT_DATA2]); NRFX_LOG_INFO("additional_data[3]: %d \t| 0x%X", p_drone_regs->bytes[DRONE_REG_ADDT_DATA3], p_drone_regs->bytes[DRONE_REG_ADDT_DATA3]); NRFX_EXAMPLE_LOG_PROCESS(); } /** * @brief Function for handling TWIM driver events. * * @param[in] p_event Event information structure. * @param[in] p_context General purpose parameter set during initialization of the TWIM. * This parameter can be used to pass additional information to the * handler function. */ static void twim_handler(nrfx_twim_evt_t const * p_event, void * p_context) { if (p_event->type == NRFX_TWIM_EVT_DONE) { char * p_msg = p_context; NRFX_LOG_INFO("%s", p_msg); } else { NRFX_LOG_INFO("--> Master event: %d.", p_event->type); } } /** * @brief Function for handling TWIS driver events. * * @param[in] p_event Event information structure. */ static void twis_handler(nrfx_twis_evt_t const * p_event) { /* Flag to show if the next transfer will contain register number (TX1) or data (TX2). */ static bool first_tx_flag = true; /* Variable to store register number sent in the most recent TX1. */ static uint8_t reg_buff; if (p_event->type == NRFX_TWIS_EVT_WRITE_REQ) { if (first_tx_flag) { nrfx_err_t status = nrfx_twis_rx_prepare(&m_twis_inst, ®_buff, sizeof(reg_buff)); NRFX_ASSERT(status == NRFX_SUCCESS); first_tx_flag = !first_tx_flag; } else { nrfx_err_t status = nrfx_twis_rx_prepare(&m_twis_inst, &m_drone_reg.bytes[reg_buff], sizeof(m_drone_reg) - reg_buff); NRFX_ASSERT(status == NRFX_SUCCESS); first_tx_flag = !first_tx_flag; } } else if (p_event->type == NRFX_TWIS_EVT_WRITE_DONE) { m_drone_reg.bytes[DRONE_REG_ACC_X] = NRFX_ROUNDED_DIV(m_drone_reg.bytes[DRONE_REG_FORCE_X], m_drone_reg.bytes[DRONE_REG_MASS]); m_drone_reg.bytes[DRONE_REG_ACC_Y] = NRFX_ROUNDED_DIV(m_drone_reg.bytes[DRONE_REG_FORCE_Y], m_drone_reg.bytes[DRONE_REG_MASS]); m_drone_reg.bytes[DRONE_REG_ACC_Z] = NRFX_ROUNDED_DIV(m_drone_reg.bytes[DRONE_REG_FORCE_Z], m_drone_reg.bytes[DRONE_REG_MASS]); } } /** * @brief Function for application main entry. * * @return Nothing. */ int main(void) { nrfx_err_t status; (void)status; #if defined(__ZEPHYR__) IRQ_CONNECT(NRFX_IRQ_NUMBER_GET(NRF_TWIM_INST_GET(TWIM_INST_IDX)), IRQ_PRIO_LOWEST, NRFX_TWIM_INST_HANDLER_GET(TWIM_INST_IDX), 0, 0); IRQ_CONNECT(NRFX_IRQ_NUMBER_GET(NRF_TWIS_INST_GET(TWIS_INST_IDX)), IRQ_PRIO_LOWEST, NRFX_TWIS_INST_HANDLER_GET(TWIS_INST_IDX), 0, 0); #endif NRFX_EXAMPLE_LOG_INIT(); NRFX_LOG_INFO("Starting nrfx_twim_twis txtx example."); NRFX_EXAMPLE_LOG_PROCESS(); /* Variable to store register number. */ drone_reg_name_t register_num; /* Buffer that will be sent from master to slave (controller->drone). */ uint32_t drone_ctrl_buffer; void * p_context = "--> Master event: done - transfer completed"; nrfx_twim_xfer_desc_t twim_xfer_desc = NRFX_TWIM_XFER_DESC_TXTX(DRONE_IDX, (uint8_t *)®ister_num, sizeof(register_num), (uint8_t *)&drone_ctrl_buffer, sizeof(drone_ctrl_buffer)); nrfx_twim_config_t twim_config = NRFX_TWIM_DEFAULT_CONFIG(MASTER_SCL_PIN, MASTER_SDA_PIN); status = nrfx_twim_init(&m_twim_inst, &twim_config, twim_handler, p_context); NRFX_ASSERT(status == NRFX_SUCCESS); nrfx_twis_config_t twis_config = NRFX_TWIS_DEFAULT_CONFIG(SLAVE_SCL_PIN, SLAVE_SDA_PIN, DRONE_IDX); status = nrfx_twis_init(&m_twis_inst, &twis_config, twis_handler); NRFX_ASSERT(status == NRFX_SUCCESS); drone_reg_print(&m_drone_reg); NRFX_LOG_INFO("................................"); NRFX_LOG_INFO("MASTER EVENTS:"); NRFX_EXAMPLE_LOG_PROCESS(); nrfx_twim_enable(&m_twim_inst); nrfx_twis_enable(&m_twis_inst); register_num = DRONE_REG_FORCE_X; drone_ctrl_buffer = 50; status = nrfx_twim_xfer(&m_twim_inst, &twim_xfer_desc, 0); NRFX_ASSERT(status == NRFX_SUCCESS); while (nrfx_twim_is_busy(&m_twim_inst)) {} register_num = DRONE_REG_FORCE_Y; drone_ctrl_buffer = 100; status = nrfx_twim_xfer(&m_twim_inst, &twim_xfer_desc, 0); NRFX_ASSERT(status == NRFX_SUCCESS); while (nrfx_twim_is_busy(&m_twim_inst)) {} register_num = DRONE_REG_FORCE_Z; drone_ctrl_buffer = 150; status = nrfx_twim_xfer(&m_twim_inst, &twim_xfer_desc, 0); NRFX_ASSERT(status == NRFX_SUCCESS); while (nrfx_twim_is_busy(&m_twim_inst)) {} register_num = DRONE_REG_ADDT_DATA0; drone_ctrl_buffer = 0xDEADBEEF; status = nrfx_twim_xfer(&m_twim_inst, &twim_xfer_desc, 0); NRFX_ASSERT(status == NRFX_SUCCESS); while (nrfx_twim_is_busy(&m_twim_inst)) {} NRFX_LOG_INFO("TXTX transfers finished."); drone_reg_print(&m_drone_reg); while (1) { NRFX_EXAMPLE_LOG_PROCESS(); } } /** @} */