rt-thread/bsp/k230/drivers/interdrv/i2c/drv_i2c.c

/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd
 *
 * 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.
 *
 * 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.
 */
/*
 * Copyright (c) 2006-2025 RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <rtthread.h>
#include <rthw.h>
#include <rtdevice.h>
#include <riscv_io.h>
#include <ioremap.h>
#include <mmu.h>
#include "board.h"
#include "drv_i2c.h"
#include "sysctl_clk.h"
#include "drv_pdma.h"

#undef DBG_TAG
#undef DBG_LVL
#define DBG_TAG     "drv_i2c"
#define DBG_LVL     DBG_INFO
#include <rtdbg.h>

/*
 * Note:
 * - When DMA is enabled, the PDMA driver requires both the address and
 *   data to be 4-byte aligned.(Address alignment is handled internally
 *   by this driver, so application developers do not need to worry about
 *   address alignment.) Therefore, when using DMA for read/write operations,
 *   if the data size is not 4-byte aligned, even with DMA enabled, the driver
 *   will actually use CPU polling for read/write. Application code should be
 *   aware of this and handle it accordingly. For example, if the data length
 *   to be read or written is not 4-byte aligned, you can split the data into
 *   an aligned part and an unaligned part, use DMA for the aligned part, and
 *   use CPU polling for the unaligned part.
 */

#ifdef BSP_USING_I2C_DMA

#define K230_I2C_PDMA_CH_INVALID        0xFF
#define K230_I2C_PDMA_CACHE_LINE_SIZE   64

struct _i2c_pdma_cfg
{
    rt_event_t event;
    rt_uint8_t ch;
    usr_pdma_cfg_t cfg;
    device_sel_e tx_dev;
    device_sel_e rx_dev;
};

typedef enum
{
    K230_I2C_PDMA_EVENT_NONE = 0x00,
    K230_I2C_PDMA_EVENT_COMPLETE = 0x01,
    K230_I2C_PDMA_EVENT_TIMEOUT = 0x02,
} k230_i2c_pdma_event_t;
#endif

struct _i2c_speed_cfg
{
    rt_uint16_t hcnt;
    rt_uint16_t lcnt;
    rt_uint16_t spklen;
};

struct k230_i2c_dev
{
    struct rt_i2c_bus_device dev;
    const char *name;
    rt_ubase_t base;
    rt_ubase_t base_pa;
    size_t size;
    int vector;
    rt_uint32_t clock;
    struct rt_i2c_msg *msg;
    struct _i2c_speed_cfg speed_cfg;
#ifdef BSP_USING_I2C_DMA
    struct _i2c_pdma_cfg pdma_cfg;
#endif
};

#ifdef BSP_USING_I2C_DMA
static rt_err_t k230_i2c_pdma_read(struct k230_i2c_dev *dev);
static rt_err_t k230_i2c_pdma_write(struct k230_i2c_dev *dev);
#endif

static rt_size_t k230_i2c_get_timer(rt_size_t base)
{
    return rt_tick_get() - base ;
}

static void k230_i2c_enable(struct k230_i2c_dev *dev, rt_bool_t enable)
{
    volatile i2c_t *i2c = (i2c_t *)dev->base;
    rt_uint32_t en_value = enable ? 1 : 0;
    int timeout = 100;

    do
    {
        i2c->enable.enable = en_value;
        if (i2c->enable_status.en == en_value)
        {
            return;
        }

        /*
         * Wait 10 times the signaling period of the highest I2C
         * transfer supported by the driver (for 400KHz this is
         * 25us) as described in the DesignWare I2C databook.
         */
        rt_hw_us_delay(25);
    } while(timeout--);

    LOG_E("timeout in %s i2c\n", enable ? "enable" : "disable");
}

static void k230_i2c_set_bus_timeout(struct k230_i2c_dev *dev, rt_uint32_t timeout)
{
    float tick = 0;

    tick = RT_TICK_PER_SECOND / 1000.0f; /* ms to tick */
    dev->dev.timeout = (rt_uint32_t)(timeout * tick);
}

static int k230_i2c_set_bus_speed(struct k230_i2c_dev *dev, rt_uint32_t speed)
{
    volatile i2c_t *i2c = (i2c_t *)dev->base;
    rt_uint32_t i2c_spd, period, spklen, ft;

    /*
     * Calculate clock counts for I2C speed
     * hcnt + lcnt + spklen + 7 + 1 + fall_time * clk = clk / speed
     * fall_time = 10ns
     * spklen = 0~50ns
     */

    spklen = dev->clock * 10 / 1e9;
    ft = dev->clock * 10 / 1e9;
    period = dev->clock / speed;
    period = period - spklen - 7 - 1 - ft;
    dev->speed_cfg.lcnt = period / 2;
    dev->speed_cfg.hcnt = period - dev->speed_cfg.lcnt;
    dev->speed_cfg.spklen = spklen;

    if (speed <= I2C_STANDARD_SPEED_UP)
    {
        i2c_spd = I2C_SPEED_MODE_STANDARD;
    }
    else if (speed <= I2C_FAST_SPEED_UP)
    {
        i2c_spd = I2C_SPEED_MODE_FAST;
    }
    else if (speed <= I2C_MAX_SPEED_UP)
    {
        i2c_spd = I2C_SPEED_MODE_MAX;
    }
    else
    {
        return -RT_EINVAL;
    }

    /* to set speed cltr must be disabled */
    k230_i2c_enable(dev, RT_FALSE);

    switch (i2c_spd)
    {
        case I2C_SPEED_MODE_STANDARD:
            i2c->ss_ufm_scl_hcnt.cnt = dev->speed_cfg.hcnt;
            i2c->ss_ufm_scl_lcnt.cnt = dev->speed_cfg.lcnt;
            i2c->fs_ufm_spklen.spklen = dev->speed_cfg.spklen;
            break;

        case I2C_SPEED_MODE_FAST:
            i2c->fs_scl_hcnt_ufm_tbuf_cnt.cnt = dev->speed_cfg.hcnt;
            i2c->fs_scl_lcnt.cnt = dev->speed_cfg.lcnt;
            i2c->fs_ufm_spklen.spklen = dev->speed_cfg.spklen;
            break;

        case I2C_SPEED_MODE_MAX:
            i2c->hs_scl_hcnt.cnt = dev->speed_cfg.hcnt;
            i2c->hs_scl_lcnt.cnt = dev->speed_cfg.lcnt;
            i2c->hs_spklen.spklen = dev->speed_cfg.spklen;
            break;

        default: break;
    }

    i2c->con.speed = i2c_spd;

    /* Enable back i2c now speed set */
    k230_i2c_enable(dev, RT_TRUE);

    return RT_EOK;
}

static void k230_i2c_set_addr(struct k230_i2c_dev *dev)
{
    volatile i2c_t *i2c = (i2c_t *)dev->base;
    rt_uint16_t i2c_addr = dev->msg->addr;

    /* Disable i2c */
    k230_i2c_enable(dev, RT_FALSE);

    if (dev->msg->flags & RT_I2C_ADDR_10BIT || dev->dev.flags & RT_I2C_ADDR_10BIT)
    {
        i2c->tar.master_10bit_addr = 1;
        i2c_addr &= 0x3FF;
    }
    else
    {
        i2c->tar.master_10bit_addr = 0;
        i2c_addr &= 0x7F;
    }

    i2c->tar.tar = i2c_addr;

    /* Enable i2c */
    k230_i2c_enable(dev, RT_TRUE);
}

static void k230_i2c_flush_rxfifo(struct k230_i2c_dev *dev)
{
    volatile i2c_t *i2c = (i2c_t *)dev->base;

    while (i2c->status.rfne)
    {
        readl(&i2c->data_cmd);
    }
}

static int k230_i2c_wait_for_bus_busy(struct k230_i2c_dev *dev)
{
    rt_size_t start_time = k230_i2c_get_timer(0);
    volatile i2c_t *i2c = (i2c_t *)dev->base;

    while ((i2c->status.mst_activity) || !(i2c->status.tfe))
    {
        /* Evaluate timeout */
        if (k230_i2c_get_timer(start_time) > (rt_size_t)dev->dev.timeout * I2C_TX_FIFO_SIZE)
        {
            return -RT_ETIMEOUT;
        }
    }

    return RT_EOK;
}

static int k230_i2c_xfer_init(struct k230_i2c_dev *dev)
{
    volatile i2c_t *i2c = (i2c_t *)dev->base;

    if (k230_i2c_wait_for_bus_busy(dev) != RT_EOK)
    {
        return -RT_EBUSY;
    }

    k230_i2c_set_addr(dev);

    return RT_EOK;
}

static int k230_i2c_xfer_finish(struct k230_i2c_dev *dev)
{
    volatile i2c_t *i2c = (i2c_t *)dev->base;
    rt_uint32_t start_stop_det = k230_i2c_get_timer(0);

    while (1)
    {
        if (i2c->raw_intr_stat.stop_det)
        {
            readl(&i2c->clr_stop_det);
            break;
        }

        else if (k230_i2c_get_timer(start_stop_det) > dev->dev.timeout)
        {
            break;
        }
    }

    if (k230_i2c_wait_for_bus_busy(dev) != RT_EOK)
    {
        return -RT_EBUSY;
    }

    k230_i2c_flush_rxfifo(dev);

    return RT_EOK;
}

static int k230_i2c_read(struct k230_i2c_dev *dev)
{
#ifdef BSP_USING_I2C_DMA
    if (dev->msg->len % 4 == 0)
    {
        return k230_i2c_pdma_read(dev);
    }
#endif

    volatile i2c_t *i2c = (i2c_t *)dev->base;
    rt_size_t start_time_rx = 0;
    rt_uint32_t recv_len = dev->msg->len;
    rt_uint32_t tran_len = dev->msg->len;
    rt_uint8_t *buffer = dev->msg->buf;
    rt_uint32_t cmd = 0;

    /* If no start condition is sent before reading, then send a repeated start. */
    if (dev->msg->flags & RT_I2C_NO_START)
    {
        cmd |= I2C_DATA_CMD_RESTART;
    }
    else
    {
        if (k230_i2c_xfer_init(dev) != RT_EOK)
        {
            return -RT_EBUSY;
        }
    }

    start_time_rx = k230_i2c_get_timer(0);
    while (recv_len || tran_len)
    {
        if (tran_len)
        {
            while (i2c->status.tfnf == 0);
            /* Write stop when the last byte */
            cmd = tran_len == 1 ? cmd | I2C_DATA_CMD_STOP : cmd;
            /* Write to data cmd register to trigger i2c */
            writel(cmd | I2C_DATA_CMD_READ, &i2c->data_cmd);
            cmd = 0;
            tran_len--;
        }

        if (i2c->status.rfne)
        {
            *buffer++ = i2c->data_cmd.dat;
            recv_len--;
            start_time_rx = k230_i2c_get_timer(0);
        }
        else if (k230_i2c_get_timer(start_time_rx) > dev->dev.timeout)
        {
            return -RT_ETIMEOUT;
        }
    }
    return k230_i2c_xfer_finish(dev);
}

static int k230_i2c_write(struct k230_i2c_dev *dev)
{
#ifdef BSP_USING_I2C_DMA
    if (dev->msg->len % 4 == 0)
    {
        return k230_i2c_pdma_write(dev);
    }
#endif

    volatile i2c_t *i2c = (i2c_t *)dev->base;
    rt_size_t start_time_tx = 0;
    rt_uint32_t tran_len = dev->msg->len;
    rt_uint8_t *buffer = dev->msg->buf;
    rt_uint32_t cmd = 0;

    if (k230_i2c_xfer_init(dev) != RT_EOK)
    {
        return -RT_EBUSY;
    }

    start_time_tx = k230_i2c_get_timer(0);
    while (tran_len)
    {
        if (i2c->status.tfnf)
        {
            /* If there is no stop flag, the stop condition will not be sent at the last byte. */
            if (tran_len == 1 && !(dev->msg->flags & RT_I2C_NO_STOP))
            {
                cmd |= I2C_DATA_CMD_STOP;
            }
            else
            {
                cmd &= ~I2C_DATA_CMD_STOP;
            }
            cmd |= *buffer++;
            writel(cmd, &i2c->data_cmd);
            cmd = 0;
            tran_len--;
            start_time_tx = k230_i2c_get_timer(0);
        }
        else if (k230_i2c_get_timer(start_time_tx) > dev->dev.timeout)
        {
            return -RT_ETIMEOUT;
        }
    }

    if (dev->msg->flags & RT_I2C_NO_STOP)
    {
        return RT_EOK;
    }

    if (k230_i2c_wait_for_bus_busy(dev) != RT_EOK)
    {
        return -RT_EBUSY;
    }

    return RT_EOK;
}

static rt_ssize_t k230_i2c_xfer(struct rt_i2c_bus_device *bus, struct rt_i2c_msg msgs[], rt_uint32_t num)
{
    struct k230_i2c_dev *i2c_dev = rt_container_of(bus, struct k230_i2c_dev, dev);
    volatile i2c_t *i2c = (i2c_t *)i2c_dev->base;
    int ret;
    rt_ssize_t send_mesgs = num;

    for (; num > 0; num--, msgs++)
    {
        i2c_dev->msg = msgs;

        if (msgs->flags & RT_I2C_RD)
        {
            ret = k230_i2c_read(i2c_dev);
        }
        else
        {
            ret = k230_i2c_write(i2c_dev);
        }

        if (ret != RT_EOK)
        {
            return -RT_EIO;
        }
    }

    return send_mesgs;
}

static rt_err_t k230_i2c_control(struct rt_i2c_bus_device *bus, int cmd, void *args)
{
    struct k230_i2c_dev *i2c_dev = rt_container_of(bus, struct k230_i2c_dev, dev);
    rt_uint32_t arg = *(rt_uint32_t *)args;
    rt_err_t ret;

    RT_ASSERT(bus != RT_NULL);

    switch (cmd)
    {
        /* set 10-bit addr mode */
        case RT_I2C_DEV_CTRL_10BIT:
            if (arg & RT_I2C_ADDR_10BIT)
            {
                i2c_dev->dev.flags |= RT_I2C_ADDR_10BIT;
            }
            else
            {
                i2c_dev->dev.flags &= ~RT_I2C_ADDR_10BIT;
            }
            break;

        case RT_I2C_DEV_CTRL_TIMEOUT:
            k230_i2c_set_bus_timeout(i2c_dev, arg);
            break;

        case RT_I2C_DEV_CTRL_CLK:
            ret = k230_i2c_set_bus_speed(i2c_dev, arg);
            if (ret != RT_EOK)
            {
                return -RT_EIO;
            }
            break;

        default: break;
    }

    return RT_EOK;
}

static void k230_i2c_master_init(struct k230_i2c_dev *dev)
{
    volatile i2c_t *i2c = (i2c_t *)dev->base;

    /* Disable i2c */
    k230_i2c_enable(dev, RT_FALSE);

    i2c->con.slave_disable = 1;
    i2c->con.restart_en = 1;
    i2c->con.master_mode = 1;
    i2c->tx_tl.tl = I2C_TX_TL;
    i2c->rx_tl.tl = I2C_RX_TL;
    i2c->intr_mask.m_stop_det = 1;

    /* Enable i2c */
    k230_i2c_enable(dev, RT_TRUE);
}

static const struct rt_i2c_bus_device_ops k230_i2c_ops =
{
    .master_xfer = k230_i2c_xfer,
    .i2c_bus_control = k230_i2c_control,
};

static struct k230_i2c_dev k230_i2c_devs[] =
{
#ifdef BSP_USING_I2C0
    {
        .name = "i2c0",
        .base_pa = I2C0_BASE_ADDR,
        .size = I2C0_IO_SIZE,
        .vector = K230_IRQ_I2C0,
#ifdef BSP_USING_I2C_DMA
        .pdma_cfg.tx_dev = I2C0_TX,
        .pdma_cfg.rx_dev = I2C0_RX,
#endif
    },
#endif
#ifdef BSP_USING_I2C1
    {
        .name = "i2c1",
        .base_pa = I2C1_BASE_ADDR,
        .size = I2C1_IO_SIZE,
        .vector = K230_IRQ_I2C1,
#ifdef BSP_USING_I2C_DMA
        .pdma_cfg.tx_dev = I2C1_TX,
        .pdma_cfg.rx_dev = I2C1_RX,
#endif
    },
#endif
#ifdef BSP_USING_I2C2
    {
        .name = "i2c2",
        .base_pa = I2C2_BASE_ADDR,
        .size = I2C2_IO_SIZE,
        .vector = K230_IRQ_I2C2,
#ifdef BSP_USING_I2C_DMA
        .pdma_cfg.tx_dev = I2C2_TX,
        .pdma_cfg.rx_dev = I2C2_RX,
#endif
    },
#endif
#ifdef BSP_USING_I2C3
    {
        .name = "i2c3",
        .base_pa = I2C3_BASE_ADDR,
        .size = I2C3_IO_SIZE,
        .vector = K230_IRQ_I2C3,
#ifdef BSP_USING_I2C_DMA
        .pdma_cfg.tx_dev = I2C3_TX,
        .pdma_cfg.rx_dev = I2C3_RX,
#endif
    },
#endif
#ifdef BSP_USING_I2C4
    {
        .name = "i2c4",
        .base_pa = I2C4_BASE_ADDR,
        .size = I2C4_IO_SIZE,
        .vector = K230_IRQ_I2C4,
#ifdef BSP_USING_I2C_DMA
        .pdma_cfg.tx_dev = I2C4_TX,
        .pdma_cfg.rx_dev = I2C4_RX,
#endif
    },
#endif
};

#ifdef BSP_USING_I2C_DMA
static void k230_i2c_pdma_call_back(rt_uint8_t ch, rt_bool_t is_done)
{
    k230_i2c_pdma_event_t event_type = is_done ? K230_I2C_PDMA_EVENT_COMPLETE : K230_I2C_PDMA_EVENT_TIMEOUT;
    for (rt_uint8_t i = 0; i < sizeof(k230_i2c_devs)/sizeof(k230_i2c_devs[0]); i++)
    {
        struct k230_i2c_dev *dev = &k230_i2c_devs[i];
        if (dev->pdma_cfg.event != RT_NULL && dev->pdma_cfg.ch == ch && dev->pdma_cfg.ch != K230_I2C_PDMA_CH_INVALID)
        {
            rt_event_send(dev->pdma_cfg.event, event_type);
            return;
        }
    }
}

static void k230_i2c_pdma_cleanup(struct k230_i2c_dev *dev)
{
    rt_uint8_t ch = dev->pdma_cfg.ch;

    if (ch == K230_I2C_PDMA_CH_INVALID)
    {
        return;
    }

    dev->pdma_cfg.ch = K230_I2C_PDMA_CH_INVALID;
    k230_pdma_release_channel(ch);
}

static rt_err_t k230_i2c_pdma_read(struct k230_i2c_dev *dev)
{
    volatile i2c_t *i2c = (i2c_t *)dev->base;
    rt_uint8_t *buffer = dev->msg->buf;
    rt_uint8_t *buf;
    void *buf_pa;
    rt_err_t err;
    rt_uint8_t ch;
    rt_uint32_t recv_event, read_len;
    rt_size_t start_time_tx = 0;
    rt_uint32_t cmd = 0;

    err = k230_pdma_request_channel(&ch);
    if (err != RT_EOK)
    {
        LOG_E("i2c pdma request channel failed");
        return err;
    }
    dev->pdma_cfg.ch = ch;

    err = k230_pdma_set_callback(ch, k230_i2c_pdma_call_back);
    if (err != RT_EOK)
    {
        LOG_E("i2c pdma set callback failed");
        k230_i2c_pdma_cleanup(dev);
        return err;
    }

    read_len = dev->msg->len;

    buf = (rt_uint8_t *)rt_malloc_align(read_len, K230_I2C_PDMA_CACHE_LINE_SIZE);
    if (buf == RT_NULL)
    {
        LOG_E("i2c pdma malloc buffer failed");
        k230_i2c_pdma_cleanup(dev);
        return -RT_ENOMEM;
    }
    buf_pa = rt_kmem_v2p(buf);
    if (buf_pa == RT_NULL)
    {
        LOG_E("i2c pdma get phy addr failed");
        k230_i2c_pdma_cleanup(dev);
        rt_free_align(buf);
        return -RT_ERROR;
    }

    rt_event_control(dev->pdma_cfg.event, RT_IPC_CMD_RESET, NULL);

    dev->pdma_cfg.cfg.device = dev->pdma_cfg.rx_dev;
    dev->pdma_cfg.cfg.src_addr = (rt_uint8_t *)(dev->base_pa + 0x10);
    dev->pdma_cfg.cfg.dst_addr = (rt_uint8_t *)buf_pa;
    dev->pdma_cfg.cfg.line_size = read_len;
    dev->pdma_cfg.cfg.pdma_ch_cfg.ch_src_type = FIXED;
    dev->pdma_cfg.cfg.pdma_ch_cfg.ch_dev_hsize = PSBYTE1;
    dev->pdma_cfg.cfg.pdma_ch_cfg.ch_dat_endian = PDEFAULT;
    dev->pdma_cfg.cfg.pdma_ch_cfg.ch_dev_blen = PBURST_LEN_4;
    dev->pdma_cfg.cfg.pdma_ch_cfg.ch_priority = 7;
    dev->pdma_cfg.cfg.pdma_ch_cfg.ch_dev_tout = 0xFFF;

    err = k230_pdma_config(ch, &dev->pdma_cfg.cfg);
    if (err != RT_EOK)
    {
        LOG_E("i2c pdma config failed");
        k230_i2c_pdma_cleanup(dev);
        rt_free_align(buf);
        return err;
    }

    /* If no start condition is sent before reading, then send a repeated start. */
    if (dev->msg->flags & RT_I2C_NO_START)
    {
        cmd |= I2C_DATA_CMD_RESTART;
    }
    else
    {
        if (k230_i2c_xfer_init(dev) != RT_EOK)
        {
            LOG_E("i2c pdma xfer init failed");
            k230_i2c_pdma_cleanup(dev);
            rt_free_align(buf);
            return -RT_EBUSY;
        }
    }

    start_time_tx = k230_i2c_get_timer(0);
    err = k230_pdma_start(ch);
    if (err != RT_EOK)
    {
        LOG_E("i2c pdma start failed");
        k230_i2c_pdma_cleanup(dev);
        rt_free_align(buf);
        return err;
    }

    for (rt_uint32_t i = 0; i < read_len; i++)
    {
        while (i2c->status.tfnf == 0);
        /* Write stop when the last byte */
        cmd = i == (read_len - 1) ? I2C_DATA_CMD_STOP : 0;
        /* Write to data cmd register to trigger i2c */
        writel(cmd | I2C_DATA_CMD_READ, &i2c->data_cmd);
        cmd = 0;
    }

    err = rt_event_recv(dev->pdma_cfg.event,
                        K230_I2C_PDMA_EVENT_COMPLETE | K230_I2C_PDMA_EVENT_TIMEOUT,
                        RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
                        RT_WAITING_FOREVER,
                        &recv_event);

    if (err != RT_EOK || (recv_event & K230_I2C_PDMA_EVENT_TIMEOUT))
    {
        LOG_E("i2c pdma read timeout");
        k230_pdma_stop(ch);
        k230_i2c_pdma_cleanup(dev);
        rt_free_align(buf);
        return -RT_ETIMEOUT;
    }

    rt_memcpy(buffer, buf, read_len);

    k230_pdma_stop(ch);
    k230_i2c_pdma_cleanup(dev);
    rt_free_align(buf);

    if (k230_i2c_get_timer(start_time_tx) > dev->dev.timeout)
    {
        return -RT_ETIMEOUT;
    }

    return k230_i2c_xfer_finish(dev);
}

static inline rt_uint32_t k230_i2c_make_data_cmd(rt_uint8_t data, rt_uint32_t flags)
{
    return (rt_uint32_t)data | flags;
}

static rt_err_t k230_i2c_pdma_write(struct k230_i2c_dev *dev)
{
    volatile i2c_t *i2c = (i2c_t *)dev->base;
    rt_uint8_t *buffer = dev->msg->buf;
    rt_uint32_t *buf;
    void *buf_pa;
    rt_err_t err;
    rt_uint8_t ch;
    rt_uint32_t recv_event, tran_len, flags;
    rt_size_t start_time_tx = 0;

    err = k230_pdma_request_channel(&ch);
    if (err != RT_EOK)
    {
        LOG_E("i2c pdma request channel failed");
        return err;
    }
    dev->pdma_cfg.ch = ch;

    err = k230_pdma_set_callback(ch, k230_i2c_pdma_call_back);
    if (err != RT_EOK)
    {
        LOG_E("i2c pdma set callback failed");
        k230_i2c_pdma_cleanup(dev);
        return err;
    }

    tran_len = dev->msg->len;

    buf = (rt_uint32_t *)rt_malloc_align(tran_len * sizeof(rt_uint32_t), K230_I2C_PDMA_CACHE_LINE_SIZE);
    if (buf == RT_NULL)
    {
        LOG_E("i2c pdma malloc buffer failed");
        k230_i2c_pdma_cleanup(dev);
        return -RT_ENOMEM;
    }
    for (rt_uint32_t i = 0; i < tran_len; i++)
    {
        flags = 0;

        if (i == (tran_len - 1) && !(dev->msg->flags & RT_I2C_NO_STOP))
        {
            flags |= I2C_DATA_CMD_STOP;
        }

        buf[i] = k230_i2c_make_data_cmd(buffer[i], flags);
    }

    buf_pa = rt_kmem_v2p(buf);
    if (buf_pa == RT_NULL)
    {
        LOG_E("i2c pdma get phy addr failed");
        k230_i2c_pdma_cleanup(dev);
        rt_free_align(buf);
        return -RT_ERROR;
    }

    rt_event_control(dev->pdma_cfg.event, RT_IPC_CMD_RESET, NULL);

    dev->pdma_cfg.cfg.device = dev->pdma_cfg.tx_dev;
    dev->pdma_cfg.cfg.src_addr = (rt_uint8_t *)buf_pa;
    dev->pdma_cfg.cfg.dst_addr = (rt_uint8_t *)(dev->base_pa + 0x10);
    dev->pdma_cfg.cfg.line_size = tran_len * sizeof(rt_uint32_t);
    dev->pdma_cfg.cfg.pdma_ch_cfg.ch_src_type = CONTINUE;
    dev->pdma_cfg.cfg.pdma_ch_cfg.ch_dev_hsize = PSBYTE4;
    dev->pdma_cfg.cfg.pdma_ch_cfg.ch_dat_endian = PDEFAULT;
    dev->pdma_cfg.cfg.pdma_ch_cfg.ch_dev_blen = PBURST_LEN_4;
    dev->pdma_cfg.cfg.pdma_ch_cfg.ch_priority = 7;
    dev->pdma_cfg.cfg.pdma_ch_cfg.ch_dev_tout = 0xFFF;

    err = k230_pdma_config(ch, &dev->pdma_cfg.cfg);
    if (err != RT_EOK)
    {
        LOG_E("i2c pdma config failed");
        k230_i2c_pdma_cleanup(dev);
        rt_free_align(buf);
        return err;
    }

    if (k230_i2c_xfer_init(dev) != RT_EOK)
    {
        k230_i2c_pdma_cleanup(dev);
        rt_free_align(buf);
        return -RT_EBUSY;
    }

    start_time_tx = k230_i2c_get_timer(0);
    err = k230_pdma_start(ch);
    if (err != RT_EOK)
    {
        LOG_E("i2c pdma start failed");
        k230_i2c_pdma_cleanup(dev);
        rt_free_align(buf);
        return err;
    }

    err = rt_event_recv(dev->pdma_cfg.event,
                        K230_I2C_PDMA_EVENT_COMPLETE | K230_I2C_PDMA_EVENT_TIMEOUT,
                        RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
                        RT_WAITING_FOREVER,
                        &recv_event);

    if (err != RT_EOK || (recv_event & K230_I2C_PDMA_EVENT_TIMEOUT))
    {
        LOG_E("i2c pdma write timeout");
        k230_pdma_stop(ch);
        k230_i2c_pdma_cleanup(dev);
        rt_free_align(buf);
        return -RT_ETIMEOUT;
    }

    k230_pdma_stop(ch);
    k230_i2c_pdma_cleanup(dev);
    rt_free_align(buf);

    if (k230_i2c_get_timer(start_time_tx) > dev->dev.timeout)
    {
        return -RT_ETIMEOUT;
    }

    return RT_EOK;
}

static void k230_i2c_pdma_init(struct k230_i2c_dev *dev)
{
    volatile i2c_t *i2c = (i2c_t *)dev->base;

    i2c->dma_cr.tdmae = 1;
    i2c->dma_cr.rdmae = 1;
    i2c->dma_tdlr.dmatdl = 15;
    i2c->dma_rdlr.dmardl = 3;
}
#endif

int rt_hw_i2c_init(void)
{
    int i;

    for (i = 0; i < sizeof(k230_i2c_devs) / sizeof(k230_i2c_devs[0]); i++)
    {
        k230_i2c_devs[i].base = (rt_ubase_t)rt_ioremap((void *)k230_i2c_devs[i].base_pa, k230_i2c_devs[i].size);
        k230_i2c_devs[i].dev.ops = &k230_i2c_ops;
        k230_i2c_devs[i].clock = sysctl_clk_get_leaf_freq(SYSCTL_CLK_I2C0_CORE + i);

        k230_i2c_master_init(&k230_i2c_devs[i]);
        k230_i2c_set_bus_timeout(&k230_i2c_devs[i], I2C_DEFAULT_TIMEOUT);
        k230_i2c_set_bus_speed(&k230_i2c_devs[i], I2C_DEFAULT_SPEED);
        rt_i2c_bus_device_register(&k230_i2c_devs[i].dev, k230_i2c_devs[i].name);
        LOG_I("i2c%d master mode, i2c%d clock=%dHz\n", i, i, k230_i2c_devs[i].clock);

#ifdef BSP_USING_I2C_DMA
        k230_i2c_pdma_init(&k230_i2c_devs[i]);
        k230_i2c_devs[i].pdma_cfg.ch = K230_I2C_PDMA_CH_INVALID;
        k230_i2c_devs[i].pdma_cfg.event = rt_event_create(k230_i2c_devs[i].name, RT_IPC_FLAG_FIFO);
        if (k230_i2c_devs[i].pdma_cfg.event == RT_NULL)
        {
            LOG_E("i2c pdma event(%s) create failed", k230_i2c_devs[i].name);
            for (int j = 0; j < i; j++)
            {
                rt_event_delete(k230_i2c_devs[j].pdma_cfg.event);
            }
            return -RT_ENOMEM;
        }
#endif
    }

    return RT_EOK;
}
INIT_DEVICE_EXPORT(rt_hw_i2c_init);