Initial support for I2C in ESP32-H2

.github/workflows/ci.yml

@@ -222,6 +222,8 @@ jobs:
       # confident that they link.
       - name: check esp32h2-hal (common features)
         run: cd esp32h2-hal/ && cargo +nightly check --examples --features=eh1,ufmt
+      - name: check esp32h2-hal (async, i2c)
+        run: cd esp32h2-hal/ && cargo check --example=embassy_i2c --features=embassy,embassy-time-systick,async
       # - name: check esp32h2-hal (async, systick)
       #   run: cd esp32h2-hal/ && cargo +nightly check --example=embassy_hello_world --features=embassy,embassy-time-systick
       # - name: check esp32h2-hal (async, timg0)

CHANGELOG.md

@@ -19,6 +19,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Add initial support for SHA in ESP32-H2 (#527)
 - Add initial support for AES in ESP32-H2 (#528)
 - Add blinky_erased_pins example for ESP32-H2 (#530)
+- Add initial support for I2C in ESP32-H2 (#538)
 
 ### Fixed
 

esp-hal-common/devices/esp32h2.toml

@@ -15,8 +15,8 @@ peripherals = [
     # "hmac",
     # "hp_apm",
     # "hp_sys",
-    # "i2c0",
-    # "i2c1",
+    "i2c0",
+    "i2c1",
     # "i2s0",
     "interrupt_core0",
     "intpri",

esp-hal-common/src/i2c.rs

@@ -135,7 +135,7 @@ enum Ack {
     Nack,
 }
 
-#[cfg(any(esp32c2, esp32c3, esp32c6, esp32s3))]
+#[cfg(any(esp32c2, esp32c3, esp32c6, esp32h2, esp32s3))]
 enum Opcode {
     RStart = 6,
     Write  = 1,
@@ -648,11 +648,7 @@ pub trait Instance {
         // Configure frequency
         self.set_frequency(clocks.i2c_clock.convert(), frequency);
 
-        // Propagate configuration changes (only necessary with C2, C3, and S3)
-        #[cfg(any(esp32c2, esp32c3, esp32c6, esp32s3))]
-        self.register_block()
-            .ctr
-            .modify(|_, w| w.conf_upgate().set_bit());
+        self.update_config();
 
         // Reset entire peripheral (also resets fifo)
         self.reset();
@@ -850,7 +846,7 @@ pub trait Instance {
         );
     }
 
-    #[cfg(any(esp32c2, esp32c3, esp32c6, esp32s3))]
+    #[cfg(any(esp32c2, esp32c3, esp32c6, esp32h2, esp32s3))]
     /// Sets the frequency of the I2C interface by calculating and applying the
     /// associated timings - corresponds to i2c_ll_cal_bus_clk and
     /// i2c_ll_set_bus_timing in ESP-IDF
@@ -938,7 +934,7 @@ pub trait Instance {
     ) {
         unsafe {
             // divider
-            #[cfg(any(esp32c2, esp32c3, esp32c6, esp32s3))]
+            #[cfg(any(esp32c2, esp32c3, esp32c6, esp32h2, esp32s3))]
             self.register_block().clk_conf.modify(|_, w| {
                 w.sclk_sel()
                     .clear_bit()
@@ -1275,8 +1271,8 @@ pub trait Instance {
 
     fn update_config(&self) {
         // Ensure that the configuration of the peripheral is correctly propagated
-        // (only necessary for C3 and S3 variant)
-        #[cfg(any(esp32c2, esp32c3, esp32c6, esp32s3))]
+        // (only necessary for C2, C3, C6, H2 and S3 variant)
+        #[cfg(any(esp32c2, esp32c3, esp32c6, esp32h2, esp32s3))]
         self.register_block()
             .ctr
             .modify(|_, w| w.conf_upgate().set_bit());

esp-hal-common/src/soc/esp32h2/peripherals.rs

@@ -17,8 +17,8 @@ crate::peripherals! {
     // HMAC => true,
     // HP_APM => true,
     // HP_SYS => true,
-    // I2C0 => true,
-    // I2C1 => true,
+    I2C0 => true,
+    I2C1 => true,
     // I2S0 => true,
     INTERRUPT_CORE0 => true,
     INTPRI => true,

esp-hal-common/src/system.rs

@@ -380,6 +380,14 @@ impl PeripheralClockControl {
                     system.i2c0_conf.modify(|_, w| w.i2c0_rst_en().clear_bit());
                 }
             }
+            #[cfg(i2c1)]
+            Peripheral::I2cExt1 => {
+                #[cfg(esp32h2)]
+                {
+                    system.i2c1_conf.modify(|_, w| w.i2c1_clk_en().set_bit());
+                    system.i2c1_conf.modify(|_, w| w.i2c1_rst_en().clear_bit());
+                }
+            }
             #[cfg(rmt)]
             Peripheral::Rmt => {
                 system.rmt_conf.modify(|_, w| w.rmt_clk_en().set_bit());

esp32h2-hal/Cargo.toml

@@ -38,11 +38,12 @@ esp-hal-common     = { version = "0.9.0",  features = ["esp32h2"], path = "../es
 aes               = "0.8.2"
 critical-section  = "1.1.1"
 crypto-bigint     = { version = "0.5.2", default-features = false }
-embassy-executor  = { version = "0.2.0", features = ["nightly", "integrated-timers"] }
+embassy-executor  = { version = "0.2.0", features = ["nightly", "integrated-timers", "arch-riscv32", "executor-thread"] }
 embedded-graphics = "0.7.1"
 esp-backtrace     = { version = "0.7.0", features = ["esp32h2", "panic-handler", "exception-handler", "print-uart"] }
 # esp-hal-smartled  = { version = "0.1.0", features = ["esp32h2"], path = "../esp-hal-smartled" }
 esp-println       = { version = "0.5.0", features = ["esp32h2"] }
+lis3dh-async      = "0.7.0"
 sha2              = { version = "0.10.6", default-features = false}
 smart-leds        = "0.3.0"
 ssd1306           = "0.7.1"
@@ -59,3 +60,7 @@ async                = ["esp-hal-common/async", "embedded-hal-async"]
 embassy              = ["esp-hal-common/embassy"]
 embassy-time-systick = ["esp-hal-common/embassy-time-systick", "embassy-time/tick-hz-16_000_000"]
 embassy-time-timg0   = ["esp-hal-common/embassy-time-timg0",   "embassy-time/tick-hz-1_000_000"]
+
+[[example]]
+name              = "embassy_i2c"
+required-features = ["embassy", "async", "embassy-time-systick"]

esp32h2-hal/examples/embassy_i2c.rs

@@ -0,0 +1,101 @@
+//! Embassy I2C
+//!
+//! Folowing pins are used:
+//! SDA    GPIO1
+//! SCL    GPIO2
+//!
+//! Depending on your target and the board you are using you have to change the
+//! pins.
+//!
+//! This is an example of running the embassy executor with IC2. It uses an
+//! LIS3DH to get accelerometer data.
+
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use embassy_executor::Executor;
+use embassy_time::{Duration, Timer};
+use esp32h2_hal::{
+    clock::ClockControl,
+    embassy,
+    i2c::I2C,
+    peripherals::{Interrupt, Peripherals, I2C0},
+    prelude::*,
+    timer::TimerGroup,
+    Priority,
+    Rtc,
+    IO,
+};
+use esp_backtrace as _;
+use lis3dh_async::{Lis3dh, Range, SlaveAddr};
+use static_cell::StaticCell;
+
+#[embassy_executor::task]
+async fn run(i2c: I2C<'static, I2C0>) {
+    let mut lis3dh = Lis3dh::new_i2c(i2c, SlaveAddr::Alternate).await.unwrap();
+    lis3dh.set_range(Range::G8).await.unwrap();
+
+    loop {
+        let norm = lis3dh.accel_norm().await.unwrap();
+        esp_println::println!("X: {:+.5}  Y: {:+.5}  Z: {:+.5}", norm.x, norm.y, norm.z);
+
+        Timer::after(Duration::from_millis(100)).await;
+    }
+}
+
+static EXECUTOR: StaticCell<Executor> = StaticCell::new();
+
+#[entry]
+fn main() -> ! {
+    let peripherals = Peripherals::take();
+    let mut system = peripherals.PCR.split();
+    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+    let mut rtc = Rtc::new(peripherals.LP_CLKRST);
+    let timer_group0 = TimerGroup::new(
+        peripherals.TIMG0,
+        &clocks,
+        &mut system.peripheral_clock_control,
+    );
+    let mut wdt0 = timer_group0.wdt;
+    let timer_group1 = TimerGroup::new(
+        peripherals.TIMG1,
+        &clocks,
+        &mut system.peripheral_clock_control,
+    );
+    let mut wdt1 = timer_group1.wdt;
+
+    // Disable watchdog timers
+    rtc.swd.disable();
+    rtc.rwdt.disable();
+    wdt0.disable();
+    wdt1.disable();
+
+    #[cfg(feature = "embassy-time-systick")]
+    embassy::init(
+        &clocks,
+        esp32h2_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
+    );
+
+    #[cfg(feature = "embassy-time-timg0")]
+    embassy::init(&clocks, timer_group0.timer0);
+
+    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
+
+    let i2c0 = I2C::new(
+        peripherals.I2C0,
+        io.pins.gpio1,
+        io.pins.gpio2,
+        400u32.kHz(),
+        &mut system.peripheral_clock_control,
+        &clocks,
+    );
+
+    esp32h2_hal::interrupt::enable(Interrupt::I2C_EXT0, Priority::Priority1).unwrap();
+
+    let executor = EXECUTOR.init(Executor::new());
+    executor.run(|spawner| {
+        spawner.spawn(run(i2c0)).ok();
+    });
+}

esp32h2-hal/examples/i2c_bmp180_calibration_data.rs

@@ -0,0 +1,69 @@
+//! Read calibration data from BMP180 sensor
+//!
+//! This example dumps the calibration data from a BMP180 sensor
+//!
+//! The following wiring is assumed:
+//! - SDA => GPIO1
+//! - SCL => GPIO2
+
+#![no_std]
+#![no_main]
+
+use esp32h2_hal::{
+    clock::ClockControl,
+    gpio::IO,
+    i2c::I2C,
+    peripherals::Peripherals,
+    prelude::*,
+    timer::TimerGroup,
+    Rtc,
+};
+use esp_backtrace as _;
+use esp_println::println;
+
+#[entry]
+fn main() -> ! {
+    let peripherals = Peripherals::take();
+    let mut system = peripherals.PCR.split();
+    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+    let mut rtc = Rtc::new(peripherals.LP_CLKRST);
+    let timer_group0 = TimerGroup::new(
+        peripherals.TIMG0,
+        &clocks,
+        &mut system.peripheral_clock_control,
+    );
+    let mut wdt0 = timer_group0.wdt;
+    let timer_group1 = TimerGroup::new(
+        peripherals.TIMG1,
+        &clocks,
+        &mut system.peripheral_clock_control,
+    );
+    let mut wdt1 = timer_group1.wdt;
+
+    // Disable watchdog timers
+    rtc.swd.disable();
+    rtc.rwdt.disable();
+    wdt0.disable();
+    wdt1.disable();
+
+    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
+
+    // Create a new peripheral object with the described wiring
+    // and standard I2C clock speed
+    let mut i2c = I2C::new(
+        peripherals.I2C0,
+        io.pins.gpio1,
+        io.pins.gpio2,
+        100u32.kHz(),
+        &mut system.peripheral_clock_control,
+        &clocks,
+    );
+
+    loop {
+        let mut data = [0u8; 22];
+        i2c.write_read(0x77, &[0xaa], &mut data).ok();
+
+        println!("{:02x?}", data);
+    }
+}