i2c: add on-target-tests & fix discovered issues

on-target-tests/Cargo.toml

@@ -28,10 +28,17 @@ harness = false
 name = "dma_dyn"
 harness = false
 
+[[test]]
+name = "i2c_loopback"
+harness = false
+
 [dependencies]
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
-embedded-hal = { version = "0.2.5", features = ["unproven"] }
+embedded_hal_0_2 = { package = "embedded-hal", version = "0.2.5", features = [
+  "unproven",
+] }
+embedded-hal = "1.0.0"
 
 defmt = "0.3"
 defmt-rtt = "0.4"
@@ -41,9 +48,15 @@ panic-probe = { version = "0.3", features = ["print-defmt"] }
 rp2040-hal = { path = "../rp2040-hal", features = [
     "defmt",
     "critical-section-impl",
+    "rt",
 ] }
 # Needed to set spi frequencies
 fugit = "0.3.6"
 
 rp2040-boot2 = "0.3.0"
 critical-section = "1.0.0"
+heapless = { version = "0.8.0", features = [
+  "portable-atomic-critical-section",
+  "defmt-03",
+] }
+itertools = { version = "0.12.0", default-features = false }

on-target-tests/README.md

@@ -29,6 +29,8 @@ Some of the tests need connections between specific pins.
 Currently, the following connections are required:
 
 - Connect GPIO 4 to GPIO 7 (pins 6 and 10 an a Pico) for the SPI loopback tests
+- Connect GPIO 0 to GPIO 2 (pins 1 and 4 on a Pico) and
+  connect GPIO 1 to GPIO 3 (pins 2 and 5 on a Pico) for the I2C loopback tests
 
 If you add tests that need some hardware setup, make sure that they are
 compatible to the existing on-target tests, so all tests can be run with

on-target-tests/tests/i2c_loopback.rs

@@ -0,0 +1,128 @@
+//! This test needs a connection between:
+//!
+//! | from GPIO (pico Pin) | to GPIO (pico Pin) |
+//! | -------------------- | ------------------ |
+//! |         0 (1)        |       2 (4)        |
+//! |         1 (2)        |       3 (5)        |
+
+#![no_std]
+#![no_main]
+#![cfg(test)]
+
+use defmt_rtt as _; // defmt transport
+use defmt_test as _;
+use panic_probe as _;
+use rp2040_hal as hal; // memory layout // panic handler
+
+use hal::pac::interrupt;
+
+/// The linker will place this boot block at the start of our program image. We
+/// need this to help the ROM bootloader get our code up and running.
+/// Note: This boot block is not necessary when using a rp-hal based BSP
+/// as the BSPs already perform this step.
+#[link_section = ".boot2"]
+#[used]
+pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_GENERIC_03H;
+
+/// External high-speed crystal on the Raspberry Pi Pico board is 12 MHz. Adjust
+/// if your board has a different frequency
+const XTAL_FREQ_HZ: u32 = 12_000_000u32;
+
+pub mod i2c_tests;
+
+#[interrupt]
+unsafe fn I2C1_IRQ() {
+    i2c_tests::blocking::peripheral_handler();
+}
+
+#[defmt_test::tests]
+mod tests {
+    use crate::i2c_tests::{self, blocking::State, ADDR_10BIT, ADDR_7BIT};
+
+    #[init]
+    fn setup() -> State {
+        i2c_tests::blocking::setup(super::XTAL_FREQ_HZ, ADDR_7BIT)
+    }
+
+    #[test]
+    fn write(state: &mut State) {
+        i2c_tests::blocking::write(state, ADDR_7BIT);
+        i2c_tests::blocking::write(state, ADDR_10BIT);
+    }
+
+    #[test]
+    fn write_iter(state: &mut State) {
+        i2c_tests::blocking::write_iter(state, ADDR_7BIT);
+        i2c_tests::blocking::write_iter(state, ADDR_10BIT);
+    }
+
+    #[test]
+    fn write_iter_read(state: &mut State) {
+        i2c_tests::blocking::write_iter_read(state, ADDR_7BIT, 1..=1);
+        i2c_tests::blocking::write_iter_read(state, ADDR_10BIT, 2..=2);
+    }
+
+    #[test]
+    fn write_read(state: &mut State) {
+        i2c_tests::blocking::write_read(state, ADDR_7BIT, 1..=1);
+        i2c_tests::blocking::write_read(state, ADDR_10BIT, 2..=2);
+    }
+
+    #[test]
+    fn read(state: &mut State) {
+        i2c_tests::blocking::read(state, ADDR_7BIT, 0..=0);
+        i2c_tests::blocking::read(state, ADDR_10BIT, 1..=1);
+    }
+
+    #[test]
+    fn transactions_read(state: &mut State) {
+        i2c_tests::blocking::transactions_read(state, ADDR_7BIT, 0..=0);
+        i2c_tests::blocking::transactions_read(state, ADDR_10BIT, 1..=1);
+    }
+
+    #[test]
+    fn transactions_write(state: &mut State) {
+        i2c_tests::blocking::transactions_write(state, ADDR_7BIT);
+        i2c_tests::blocking::transactions_write(state, ADDR_10BIT);
+    }
+
+    #[test]
+    fn transactions_read_write(state: &mut State) {
+        i2c_tests::blocking::transactions_read_write(state, ADDR_7BIT, 1..=1);
+        i2c_tests::blocking::transactions_read_write(state, ADDR_10BIT, 2..=2);
+    }
+
+    #[test]
+    fn transactions_write_read(state: &mut State) {
+        i2c_tests::blocking::transactions_write_read(state, ADDR_7BIT, 1..=1);
+        i2c_tests::blocking::transactions_write_read(state, ADDR_10BIT, 2..=2);
+    }
+
+    #[test]
+    fn transaction(state: &mut State) {
+        i2c_tests::blocking::transaction(state, ADDR_7BIT, 7..=9);
+        i2c_tests::blocking::transaction(state, ADDR_10BIT, 7..=9);
+    }
+
+    #[test]
+    fn transactions_iter(state: &mut State) {
+        i2c_tests::blocking::transactions_iter(state, ADDR_7BIT, 1..=1);
+        i2c_tests::blocking::transactions_iter(state, ADDR_10BIT, 2..=2);
+    }
+
+    #[test]
+    fn embedded_hal(state: &mut State) {
+        i2c_tests::blocking::embedded_hal(state, ADDR_7BIT, 2..=2);
+        i2c_tests::blocking::embedded_hal(state, ADDR_10BIT, 2..=7);
+    }
+
+    // Sad paths:
+    // invalid tx buf on write
+    // invalid rx buf on read
+    //
+    // invalid (rx/tx) buf in transactions
+    //
+    // Peripheral Nack
+    //
+    // Arbritration conflict
+}