drivers/i2c/i2c_esp32.c

/*
 * Copyright (c) 2017 Intel Corporation
 * Copyright (c) 2021 Espressif Systems (Shanghai) Co., Ltd.
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#define DT_DRV_COMPAT espressif_esp32_i2c

/* Include esp-idf headers first to avoid redefining BIT() macro */
#include <esp32/rom/gpio.h>
#include <soc/gpio_sig_map.h>
#include <hal/i2c_ll.h>
#include <hal/i2c_hal.h>
#include <hal/gpio_hal.h>
#include <clk_ctrl_os.h>

#include <soc.h>
#include <errno.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/drivers/pinctrl.h>
#include <zephyr/drivers/i2c.h>
#include <zephyr/drivers/interrupt_controller/intc_esp32.h>
#include <zephyr/drivers/clock_control.h>
#include <zephyr/sys/util.h>
#include <string.h>

#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(i2c_esp32, CONFIG_I2C_LOG_LEVEL);

#include "i2c-priv.h"

#define I2C_FILTER_CYC_NUM_DEF 7	/* Number of apb cycles filtered by default */
#define I2C_CLR_BUS_SCL_NUM 9		/* Number of SCL clocks to restore SDA signal */
#define I2C_CLR_BUS_HALF_PERIOD_US 5	/* Period of SCL clock to restore SDA signal */
#define I2C_TRANSFER_TIMEOUT_MSEC 500	/* Transfer timeout period */

/* Freq limitation when using different clock sources */
#define I2C_CLK_LIMIT_REF_TICK (1 * 1000 * 1000 / 20)	/* REF_TICK, no more than REF_TICK/20*/
#define I2C_CLK_LIMIT_APB (80 * 1000 * 1000 / 20)	/* Limited by APB, no more than APB/20 */
#define I2C_CLK_LIMIT_RTC (20 * 1000 * 1000 / 20)	/* Limited by RTC, no more than RTC/20 */
#define I2C_CLK_LIMIT_XTAL (40 * 1000 * 1000 / 20)	/* Limited by RTC, no more than XTAL/20 */

#define I2C_CLOCK_INVALID                 (-1)

enum i2c_status_t {
	I2C_STATUS_READ,	/* read status for current master command */
	I2C_STATUS_WRITE,	/* write status for current master command */
	I2C_STATUS_IDLE,	/* idle status for current master command */
	I2C_STATUS_ACK_ERROR,	/* ack error status for current master command */
	I2C_STATUS_DONE,	/* I2C command done */
	I2C_STATUS_TIMEOUT,	/* I2C bus status error, and operation timeout */
};

#ifndef SOC_I2C_SUPPORT_HW_CLR_BUS
struct i2c_esp32_pin {
	struct gpio_dt_spec gpio;
	int sig_out;
	int sig_in;
};
#endif

struct i2c_esp32_data {
	i2c_hal_context_t hal;
	struct k_sem cmd_sem;
	struct k_sem transfer_sem;
	volatile enum i2c_status_t status;
	uint32_t dev_config;
	int cmd_idx;
	int irq_line;
};

typedef void (*irq_connect_cb)(void);

struct i2c_esp32_config {
	int index;

	const struct device *clock_dev;
#ifndef SOC_I2C_SUPPORT_HW_CLR_BUS
	const struct i2c_esp32_pin scl;
	const struct i2c_esp32_pin sda;
#endif
	const struct pinctrl_dev_config *pcfg;

	const clock_control_subsys_t clock_subsys;

	const struct {
		bool tx_lsb_first;
		bool rx_lsb_first;
	} mode;

	int irq_source;
	int irq_priority;
	int irq_flags;

	const uint32_t bitrate;
	const uint32_t scl_timeout;
};

static uint32_t i2c_get_src_clk_freq(i2c_clock_source_t clk_src)
{
	uint32_t periph_src_clk_hz = 0;

	switch (clk_src) {
#if SOC_I2C_SUPPORT_APB
	case I2C_CLK_SRC_APB:
		periph_src_clk_hz = esp_clk_apb_freq();
		break;
#endif
#if SOC_I2C_SUPPORT_XTAL
	case I2C_CLK_SRC_XTAL:
		periph_src_clk_hz = esp_clk_xtal_freq();
		break;
#endif
#if SOC_I2C_SUPPORT_RTC
	case I2C_CLK_SRC_RC_FAST:
		periph_rtc_dig_clk8m_enable();
		periph_src_clk_hz = periph_rtc_dig_clk8m_get_freq();
		break;
#endif
#if SOC_I2C_SUPPORT_REF_TICK
	case RMT_CLK_SRC_REF_TICK:
		periph_src_clk_hz = REF_CLK_FREQ;
		break;
#endif
	default:
		LOG_ERR("clock source %d is not supported", clk_src);
		break;
	}

	return periph_src_clk_hz;
}

static i2c_clock_source_t i2c_get_clk_src(uint32_t clk_freq)
{
	i2c_clock_source_t clk_srcs[] = SOC_I2C_CLKS;

	for (size_t i = 0; i < ARRAY_SIZE(clk_srcs); i++) {
		/* I2C SCL clock frequency should not larger than clock source frequency/20 */
		if (clk_freq <= (i2c_get_src_clk_freq(clk_srcs[i]) / 20)) {
			return clk_srcs[i];
		}
	}

	return I2C_CLOCK_INVALID;
}

#ifndef SOC_I2C_SUPPORT_HW_CLR_BUS
static int i2c_esp32_config_pin(const struct device *dev)
{
	const struct i2c_esp32_config *config = dev->config;
	int ret = 0;

	if (config->index >= SOC_I2C_NUM) {
		LOG_ERR("Invalid I2C peripheral number");
		return -EINVAL;
	}

	gpio_pin_set_dt(&config->sda.gpio, 1);
	ret = gpio_pin_configure_dt(&config->sda.gpio, GPIO_PULL_UP | GPIO_OUTPUT | GPIO_INPUT);
	esp_rom_gpio_matrix_out(config->sda.gpio.pin, config->sda.sig_out, 0, 0);
	esp_rom_gpio_matrix_in(config->sda.gpio.pin, config->sda.sig_in, 0);

	gpio_pin_set_dt(&config->scl.gpio, 1);
	ret |= gpio_pin_configure_dt(&config->scl.gpio, GPIO_PULL_UP | GPIO_OUTPUT | GPIO_INPUT);
	esp_rom_gpio_matrix_out(config->scl.gpio.pin, config->scl.sig_out, 0, 0);
	esp_rom_gpio_matrix_in(config->scl.gpio.pin, config->scl.sig_in, 0);

	return ret;
}
#endif

/* Some slave device will die by accident and keep the SDA in low level,
 * in this case, master should send several clock to make the slave release the bus.
 * Slave mode of ESP32 might also get in wrong state that held the SDA low,
 * in this case, master device could send a stop signal to make esp32 slave release the bus.
 **/
static void IRAM_ATTR i2c_master_clear_bus(const struct device *dev)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;

#ifndef SOC_I2C_SUPPORT_HW_CLR_BUS
	const struct i2c_esp32_config *config = dev->config;
	const int scl_half_period = I2C_CLR_BUS_HALF_PERIOD_US; /* use standard 100kHz data rate */
	int i = 0;

	gpio_pin_configure_dt(&config->scl.gpio, GPIO_OUTPUT);
	gpio_pin_configure_dt(&config->sda.gpio, GPIO_OUTPUT | GPIO_INPUT);
	/* If a SLAVE device was in a read operation when the bus was interrupted, */
	/* the SLAVE device is controlling SDA. If the slave is sending a stream of ZERO bytes, */
	/* it will only release SDA during the  ACK bit period. So, this reset code needs */
	/* to synchronize the bit stream with either the ACK bit, or a 1 bit to correctly */
	/* generate a STOP condition. */
	gpio_pin_set_dt(&config->sda.gpio, 1);
	esp_rom_delay_us(scl_half_period);
	while (!gpio_pin_get_dt(&config->sda.gpio) && (i++ < I2C_CLR_BUS_SCL_NUM)) {
		gpio_pin_set_dt(&config->scl.gpio, 1);
		esp_rom_delay_us(scl_half_period);
		gpio_pin_set_dt(&config->scl.gpio, 0);
		esp_rom_delay_us(scl_half_period);
	}
	gpio_pin_set_dt(&config->sda.gpio, 0); /* setup for STOP */
	gpio_pin_set_dt(&config->scl.gpio, 1);
	esp_rom_delay_us(scl_half_period);
	gpio_pin_set_dt(&config->sda.gpio, 1); /* STOP, SDA low -> high while SCL is HIGH */
	i2c_esp32_config_pin(dev);
#else
	i2c_ll_master_clr_bus(data->hal.dev);
#endif
	i2c_ll_update(data->hal.dev);
}

static void IRAM_ATTR i2c_hw_fsm_reset(const struct device *dev)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;

#ifndef SOC_I2C_SUPPORT_HW_FSM_RST
	const struct i2c_esp32_config *config = dev->config;
	int scl_low_period, scl_high_period;
	int scl_start_hold, scl_rstart_setup;
	int scl_stop_hold, scl_stop_setup;
	int sda_hold, sda_sample;
	int timeout;
	uint8_t filter_cfg;

	i2c_ll_get_scl_timing(data->hal.dev, &scl_high_period, &scl_low_period);
	i2c_ll_get_start_timing(data->hal.dev, &scl_rstart_setup, &scl_start_hold);
	i2c_ll_get_stop_timing(data->hal.dev, &scl_stop_setup, &scl_stop_hold);
	i2c_ll_get_sda_timing(data->hal.dev, &sda_sample, &sda_hold);
	i2c_ll_get_tout(data->hal.dev, &timeout);
	i2c_ll_get_filter(data->hal.dev, &filter_cfg);

	/* to reset the I2C hw module, we need re-enable the hw */
	clock_control_off(config->clock_dev, config->clock_subsys);
	i2c_master_clear_bus(dev);
	clock_control_on(config->clock_dev, config->clock_subsys);

	i2c_hal_master_init(&data->hal);
	i2c_ll_disable_intr_mask(data->hal.dev, I2C_LL_INTR_MASK);
	i2c_ll_clear_intr_mask(data->hal.dev, I2C_LL_INTR_MASK);
	i2c_ll_set_scl_timing(data->hal.dev, scl_high_period, scl_low_period);
	i2c_ll_set_start_timing(data->hal.dev, scl_rstart_setup, scl_start_hold);
	i2c_ll_set_stop_timing(data->hal.dev, scl_stop_setup, scl_stop_hold);
	i2c_ll_set_sda_timing(data->hal.dev, sda_sample, sda_hold);
	i2c_ll_set_tout(data->hal.dev, timeout);
	i2c_ll_set_filter(data->hal.dev, filter_cfg);
#else
	i2c_ll_master_fsm_rst(data->hal.dev);
	i2c_master_clear_bus(dev);
#endif
	i2c_ll_update(data->hal.dev);
}

static int i2c_esp32_recover(const struct device *dev)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;

	k_sem_take(&data->transfer_sem, K_FOREVER);
	i2c_hw_fsm_reset(dev);
	k_sem_give(&data->transfer_sem);

	return 0;
}

static void IRAM_ATTR i2c_esp32_configure_bitrate(const struct device *dev, uint32_t bitrate)
{
	const struct i2c_esp32_config *config = dev->config;
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;

	i2c_clock_source_t sclk = i2c_get_clk_src(bitrate);
	uint32_t clk_freq_mhz = i2c_get_src_clk_freq(sclk);

	i2c_hal_set_bus_timing(&data->hal, bitrate, sclk, clk_freq_mhz);

	if (config->scl_timeout > 0) {
		uint32_t timeout_cycles = MIN(I2C_LL_MAX_TIMEOUT,
					      clk_freq_mhz / MHZ(1) * config->scl_timeout);
		i2c_ll_set_tout(data->hal.dev, timeout_cycles);
		LOG_DBG("SCL timeout: %d us, value: %d", config->scl_timeout, timeout_cycles);
	} else {
		/* Disabling the timeout by clearing the I2C_TIME_OUT_EN bit does not seem to work,
		 * at least for ESP32-C3 (tested with communication to bq76952 chip). So we set the
		 * timeout to maximum supported value instead.
		 */
		i2c_ll_set_tout(data->hal.dev, I2C_LL_MAX_TIMEOUT);
	}

	i2c_ll_update(data->hal.dev);
}

static void i2c_esp32_configure_data_mode(const struct device *dev)
{
	const struct i2c_esp32_config *config = dev->config;
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;

	i2c_trans_mode_t tx_mode = I2C_DATA_MODE_MSB_FIRST;
	i2c_trans_mode_t rx_mode = I2C_DATA_MODE_MSB_FIRST;

	if (config->mode.tx_lsb_first) {
		tx_mode = I2C_DATA_MODE_LSB_FIRST;
	}

	if (config->mode.rx_lsb_first) {
		rx_mode = I2C_DATA_MODE_LSB_FIRST;
	}

	i2c_ll_set_data_mode(data->hal.dev, tx_mode, rx_mode);
	i2c_ll_set_filter(data->hal.dev, I2C_FILTER_CYC_NUM_DEF);
	i2c_ll_update(data->hal.dev);

}

static int i2c_esp32_configure(const struct device *dev, uint32_t dev_config)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;
	uint32_t bitrate;

	if (!(dev_config & I2C_MODE_CONTROLLER)) {
		LOG_ERR("Only I2C Master mode supported.");
		return -ENOTSUP;
	}

	switch (I2C_SPEED_GET(dev_config)) {
	case I2C_SPEED_STANDARD:
		bitrate = KHZ(100);
		break;
	case I2C_SPEED_FAST:
		bitrate = KHZ(400);
		break;
	case I2C_SPEED_FAST_PLUS:
		bitrate = MHZ(1);
		break;
	default:
		LOG_ERR("Error configuring I2C speed.");
		return -ENOTSUP;
	}

	k_sem_take(&data->transfer_sem, K_FOREVER);

	data->dev_config = dev_config;

	i2c_esp32_configure_bitrate(dev, bitrate);

	k_sem_give(&data->transfer_sem);

	return 0;
}

static int i2c_esp32_get_config(const struct device *dev, uint32_t *config)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;

	if (data->dev_config == 0) {
		LOG_ERR("I2C controller not configured");
		return -EIO;
	}

	*config = data->dev_config;

	return 0;
}

static void IRAM_ATTR i2c_esp32_reset_fifo(const struct device *dev)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;

	/* reset fifo buffers */
	i2c_ll_txfifo_rst(data->hal.dev);
	i2c_ll_rxfifo_rst(data->hal.dev);
}

static int IRAM_ATTR i2c_esp32_transmit(const struct device *dev)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;
	int ret = 0;

	/* Start transmission*/
	i2c_ll_update(data->hal.dev);
	i2c_ll_trans_start(data->hal.dev);
	data->cmd_idx = 0;

	ret = k_sem_take(&data->cmd_sem, K_MSEC(I2C_TRANSFER_TIMEOUT_MSEC));
	if (ret != 0) {
		/* If the I2C slave is powered off or the SDA/SCL is */
		/* connected to ground, for example, I2C hw FSM would get */
		/* stuck in wrong state, we have to reset the I2C module in this case. */
		i2c_hw_fsm_reset(dev);
		return -ETIMEDOUT;
	}

	if (data->status == I2C_STATUS_TIMEOUT) {
		i2c_hw_fsm_reset(dev);
		ret = -ETIMEDOUT;
	} else if (data->status == I2C_STATUS_ACK_ERROR) {
		ret = -EFAULT;
	}

	return ret;
}

static void IRAM_ATTR i2c_esp32_master_start(const struct device *dev)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;

	i2c_ll_hw_cmd_t cmd = {
		.op_code = I2C_LL_CMD_RESTART
	};

	i2c_ll_write_cmd_reg(data->hal.dev, cmd, data->cmd_idx++);
}

static void IRAM_ATTR i2c_esp32_master_stop(const struct device *dev)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;

	i2c_ll_hw_cmd_t cmd = {
		.op_code = I2C_LL_CMD_STOP
	};

	i2c_ll_write_cmd_reg(data->hal.dev, cmd, data->cmd_idx++);
}

static int IRAM_ATTR i2c_esp32_write_addr(const struct device *dev, uint16_t addr)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;
	uint8_t addr_len = 1;
	uint8_t addr_byte = addr & 0xFF;

	data->status = I2C_STATUS_WRITE;

	/* write address value in tx buffer */
	i2c_ll_write_txfifo(data->hal.dev, &addr_byte, 1);
	if (data->dev_config & I2C_ADDR_10_BITS) {
		addr_byte = (addr >> 8) & 0xFF;
		i2c_ll_write_txfifo(data->hal.dev, &addr_byte, 1);
		addr_len++;
	}

	const i2c_ll_hw_cmd_t cmd_end = {
		.op_code = I2C_LL_CMD_END,
	};

	i2c_ll_hw_cmd_t cmd = {
		.op_code = I2C_LL_CMD_WRITE,
		.ack_en = true,
		.byte_num = addr_len,
	};

	i2c_ll_write_cmd_reg(data->hal.dev, cmd, data->cmd_idx++);
	i2c_ll_write_cmd_reg(data->hal.dev, cmd_end, data->cmd_idx++);
	i2c_ll_master_enable_tx_it(data->hal.dev);

	return i2c_esp32_transmit(dev);
}

static int IRAM_ATTR i2c_esp32_master_read(const struct device *dev, struct i2c_msg *msg)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;

	uint32_t msg_len = msg->len;
	uint8_t *msg_buf = msg->buf;
	uint8_t rd_filled = 0;
	int ret = 0;

	data->status = I2C_STATUS_READ;

	i2c_ll_hw_cmd_t cmd = {
		.op_code = I2C_LL_CMD_READ,
	};
	const i2c_ll_hw_cmd_t cmd_end = {
		.op_code = I2C_LL_CMD_END,
	};

	while (msg_len) {
		rd_filled = (msg_len > SOC_I2C_FIFO_LEN) ? SOC_I2C_FIFO_LEN : (msg_len - 1);

		/* I2C master won't acknowledge the last byte read from the
		 * slave device. Divide the read command in two segments as
		 * recommended by the ESP32 Technical Reference Manual.
		 */
		if (msg_len == 1) {
			rd_filled = 1;
			cmd.ack_val = 1;
		} else {
			cmd.ack_val = 0;
		}
		cmd.byte_num = rd_filled;

		i2c_ll_write_cmd_reg(data->hal.dev, cmd, data->cmd_idx++);
		i2c_ll_write_cmd_reg(data->hal.dev, cmd_end, data->cmd_idx++);
		i2c_ll_master_enable_tx_it(data->hal.dev);
		ret = i2c_esp32_transmit(dev);
		if (ret < 0) {
			return ret;
		}

		i2c_ll_read_rxfifo(data->hal.dev, msg_buf, rd_filled);
		msg_buf += rd_filled;
		msg_len -= rd_filled;
	}

	return 0;
}

static int IRAM_ATTR i2c_esp32_read_msg(const struct device *dev,
					struct i2c_msg *msg, uint16_t addr)
{
	int ret = 0;

	/* Set the R/W bit to R */
	addr |= BIT(0);

	if (msg->flags & I2C_MSG_RESTART) {
		i2c_esp32_master_start(dev);
		ret = i2c_esp32_write_addr(dev, addr);
		if (ret < 0) {
			LOG_ERR("I2C transfer error: %d", ret);
			return ret;
		}
	}

	ret = i2c_esp32_master_read(dev, msg);
	if (ret < 0) {
		LOG_ERR("I2C transfer error: %d", ret);
		return ret;
	}

	if (msg->flags & I2C_MSG_STOP) {
		i2c_esp32_master_stop(dev);
		ret = i2c_esp32_transmit(dev);
		if (ret < 0) {
			LOG_ERR("I2C transfer error: %d", ret);
			return ret;
		}
	}

	return 0;
}

static int IRAM_ATTR i2c_esp32_master_write(const struct device *dev, struct i2c_msg *msg)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;
	uint8_t wr_filled = 0;
	uint32_t msg_len = msg->len;
	uint8_t *msg_buf = msg->buf;
	int ret = 0;

	data->status = I2C_STATUS_WRITE;

	i2c_ll_hw_cmd_t cmd = {
		.op_code = I2C_LL_CMD_WRITE,
		.ack_en = true,
	};

	const i2c_ll_hw_cmd_t cmd_end = {
		.op_code = I2C_LL_CMD_END,
	};

	while (msg_len) {
		wr_filled = (msg_len > SOC_I2C_FIFO_LEN) ? SOC_I2C_FIFO_LEN : msg_len;
		cmd.byte_num = wr_filled;

		if (wr_filled > 0) {
			i2c_ll_write_txfifo(data->hal.dev, msg_buf, wr_filled);
			i2c_ll_write_cmd_reg(data->hal.dev, cmd, data->cmd_idx++);
			i2c_ll_write_cmd_reg(data->hal.dev, cmd_end, data->cmd_idx++);
			i2c_ll_master_enable_tx_it(data->hal.dev);
			ret = i2c_esp32_transmit(dev);
			if (ret < 0) {
				return ret;
			}
		}

		msg_buf += wr_filled;
		msg_len -= wr_filled;
	}

	return 0;
}

static int IRAM_ATTR i2c_esp32_write_msg(const struct device *dev,
					 struct i2c_msg *msg, uint16_t addr)
{
	int ret = 0;

	if (msg->flags & I2C_MSG_RESTART) {
		i2c_esp32_master_start(dev);
		ret = i2c_esp32_write_addr(dev, addr);
		if (ret < 0) {
			LOG_ERR("I2C transfer error: %d", ret);
			return ret;
		}
	}

	ret = i2c_esp32_master_write(dev, msg);
	if (ret < 0) {
		LOG_ERR("I2C transfer error: %d", ret);
		return ret;
	}

	if (msg->flags & I2C_MSG_STOP) {
		i2c_esp32_master_stop(dev);
		ret = i2c_esp32_transmit(dev);
		if (ret < 0) {
			LOG_ERR("I2C transfer error: %d", ret);
			return ret;
		}
	}

	return 0;
}

static int IRAM_ATTR i2c_esp32_transfer(const struct device *dev, struct i2c_msg *msgs,
					uint8_t num_msgs, uint16_t addr)
{
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;
	struct i2c_msg *current, *next;
	uint32_t timeout = I2C_TRANSFER_TIMEOUT_MSEC * USEC_PER_MSEC;
	int ret = 0;

	if (!num_msgs) {
		return 0;
	}

	while (i2c_ll_is_bus_busy(data->hal.dev)) {
		k_busy_wait(1);
		if (timeout-- == 0) {
			return -EBUSY;
		}
	}

	/* Check for validity of all messages before transfer */
	current = msgs;

	/* Add restart flag on first message to send start event */
	current->flags |= I2C_MSG_RESTART;

	for (int k = 1; k <= num_msgs; k++) {
		if (k < num_msgs) {
			next = current + 1;

			/* messages of different direction require restart event */
			if ((current->flags & I2C_MSG_RW_MASK) != (next->flags & I2C_MSG_RW_MASK)) {
				if (!(next->flags & I2C_MSG_RESTART)) {
					ret = -EINVAL;
					break;
				}
			}

			/* check if there is any stop event in the middle of the transaction */
			if (current->flags & I2C_MSG_STOP) {
				ret = -EINVAL;
				break;
			}
		}

		current++;
	}

	if (ret) {
		return ret;
	}

	k_sem_take(&data->transfer_sem, K_FOREVER);

	/* Mask out unused address bits, and make room for R/W bit */
	addr &= BIT_MASK(data->dev_config & I2C_ADDR_10_BITS ? 10 : 7);
	addr <<= 1;

	for (; num_msgs > 0; num_msgs--, msgs++) {

		if (data->status == I2C_STATUS_TIMEOUT || i2c_ll_is_bus_busy(data->hal.dev)) {
			i2c_hw_fsm_reset(dev);
		}

		/* reset all fifo buffer before start */
		i2c_esp32_reset_fifo(dev);

		/* These two interrupts some times can not be cleared when the FSM gets stuck. */
		/* So we disable them when these two interrupt occurs and re-enable them here. */
		i2c_ll_disable_intr_mask(data->hal.dev, I2C_LL_INTR_MASK);
		i2c_ll_clear_intr_mask(data->hal.dev, I2C_LL_INTR_MASK);

		if ((msgs->flags & I2C_MSG_RW_MASK) == I2C_MSG_READ) {
			ret = i2c_esp32_read_msg(dev, msgs, addr);
		} else {
			ret = i2c_esp32_write_msg(dev, msgs, addr);
		}

		if (ret < 0) {
			break;
		}
	}

	k_sem_give(&data->transfer_sem);

	return ret;
}

static void IRAM_ATTR i2c_esp32_isr(void *arg)
{
	const struct device *dev = (const struct device *)arg;
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;
	i2c_intr_event_t evt_type = I2C_INTR_EVENT_ERR;

	if (data->status == I2C_STATUS_WRITE) {
		i2c_hal_master_handle_tx_event(&data->hal, &evt_type);
	} else if (data->status == I2C_STATUS_READ) {
		i2c_hal_master_handle_rx_event(&data->hal, &evt_type);
	}

	if (evt_type == I2C_INTR_EVENT_NACK) {
		data->status = I2C_STATUS_ACK_ERROR;
	} else if (evt_type == I2C_INTR_EVENT_TOUT) {
		data->status = I2C_STATUS_TIMEOUT;
	} else if (evt_type == I2C_INTR_EVENT_ARBIT_LOST) {
		data->status = I2C_STATUS_TIMEOUT;
	} else if (evt_type == I2C_INTR_EVENT_TRANS_DONE) {
		data->status = I2C_STATUS_DONE;
	}

	k_sem_give(&data->cmd_sem);
}

static const struct i2c_driver_api i2c_esp32_driver_api = {
	.configure = i2c_esp32_configure,
	.get_config = i2c_esp32_get_config,
	.transfer = i2c_esp32_transfer,
	.recover_bus = i2c_esp32_recover,
#ifdef CONFIG_I2C_RTIO
	.iodev_submit = i2c_iodev_submit_fallback,
#endif
};

static int IRAM_ATTR i2c_esp32_init(const struct device *dev)
{
	const struct i2c_esp32_config *config = dev->config;
	struct i2c_esp32_data *data = (struct i2c_esp32_data *const)(dev)->data;

#ifndef SOC_I2C_SUPPORT_HW_CLR_BUS
	if (!gpio_is_ready_dt(&config->scl.gpio)) {
		LOG_ERR("SCL GPIO device is not ready");
		return -EINVAL;
	}

	if (!gpio_is_ready_dt(&config->sda.gpio)) {
		LOG_ERR("SDA GPIO device is not ready");
		return -EINVAL;
	}
#endif
	int ret = pinctrl_apply_state(config->pcfg, PINCTRL_STATE_DEFAULT);

	if (ret < 0) {
		LOG_ERR("Failed to configure I2C pins");
		return -EINVAL;
	}

	if (!device_is_ready(config->clock_dev)) {
		LOG_ERR("clock control device not ready");
		return -ENODEV;
	}

	clock_control_on(config->clock_dev, config->clock_subsys);

	ret = esp_intr_alloc(config->irq_source,
			ESP_PRIO_TO_FLAGS(config->irq_priority) |
			ESP_INT_FLAGS_CHECK(config->irq_flags) | ESP_INTR_FLAG_IRAM,
			i2c_esp32_isr,
			(void *)dev,
			NULL);

	if (ret != 0) {
		LOG_ERR("could not allocate interrupt (err %d)", ret);
		return ret;
	}

	i2c_hal_master_init(&data->hal);

	i2c_esp32_configure_data_mode(dev);

	return i2c_esp32_configure(dev, I2C_MODE_CONTROLLER | i2c_map_dt_bitrate(config->bitrate));
}

#define I2C(idx) DT_NODELABEL(i2c##idx)

#ifndef SOC_I2C_SUPPORT_HW_CLR_BUS
#define I2C_ESP32_GET_PIN_INFO(idx)					\
	.scl = {							\
		.gpio = GPIO_DT_SPEC_GET(I2C(idx), scl_gpios),		\
		.sig_out = I2CEXT##idx##_SCL_OUT_IDX,			\
		.sig_in = I2CEXT##idx##_SCL_IN_IDX,			\
	},								\
	.sda = {							\
		.gpio = GPIO_DT_SPEC_GET(I2C(idx), sda_gpios),		\
		.sig_out = I2CEXT##idx##_SDA_OUT_IDX,			\
		.sig_in = I2CEXT##idx##_SDA_IN_IDX,			\
	},
#else
#define I2C_ESP32_GET_PIN_INFO(idx)
#endif /* SOC_I2C_SUPPORT_HW_CLR_BUS */

#define I2C_ESP32_TIMEOUT(inst)						\
	COND_CODE_1(DT_NODE_HAS_PROP(I2C(inst), scl_timeout_us),	\
		    (DT_PROP(I2C(inst), scl_timeout_us)), (0))

#define I2C_ESP32_FREQUENCY(bitrate)					\
	 (bitrate == I2C_BITRATE_STANDARD ? KHZ(100)			\
	: bitrate == I2C_BITRATE_FAST     ? KHZ(400)			\
	: bitrate == I2C_BITRATE_FAST_PLUS  ? MHZ(1) : 0)

#define I2C_FREQUENCY(idx)						\
	I2C_ESP32_FREQUENCY(DT_PROP(I2C(idx), clock_frequency))

#define ESP32_I2C_INIT(idx)									   \
												   \
	PINCTRL_DT_DEFINE(I2C(idx));								   \
												   \
	static struct i2c_esp32_data i2c_esp32_data_##idx = {					   \
		.hal = {									   \
			.dev = (i2c_dev_t *) DT_REG_ADDR(I2C(idx)),				   \
		},										   \
		.cmd_sem = Z_SEM_INITIALIZER(i2c_esp32_data_##idx.cmd_sem, 0, 1),		   \
		.transfer_sem = Z_SEM_INITIALIZER(i2c_esp32_data_##idx.transfer_sem, 1, 1),	   \
	};											   \
												   \
	static const struct i2c_esp32_config i2c_esp32_config_##idx = {				   \
		.index = idx,									   \
		.clock_dev = DEVICE_DT_GET(DT_CLOCKS_CTLR(I2C(idx))),				   \
		.pcfg = PINCTRL_DT_DEV_CONFIG_GET(I2C(idx)),					   \
		.clock_subsys = (clock_control_subsys_t)DT_CLOCKS_CELL(I2C(idx), offset),	   \
		I2C_ESP32_GET_PIN_INFO(idx)							   \
		.mode = {									   \
			.tx_lsb_first = DT_PROP(I2C(idx), tx_lsb),				   \
			.rx_lsb_first = DT_PROP(I2C(idx), rx_lsb),				   \
		},										   \
		.irq_source = DT_IRQ_BY_IDX(I2C(idx), 0, irq),				   \
		.irq_priority = DT_IRQ_BY_IDX(I2C(idx), 0, priority),		   \
		.irq_flags = DT_IRQ_BY_IDX(I2C(idx), 0, flags),				   \
		.bitrate = I2C_FREQUENCY(idx),							   \
		.scl_timeout = I2C_ESP32_TIMEOUT(idx),						   \
	};											   \
	I2C_DEVICE_DT_DEFINE(I2C(idx), i2c_esp32_init, NULL, &i2c_esp32_data_##idx,		   \
			     &i2c_esp32_config_##idx, POST_KERNEL, CONFIG_I2C_INIT_PRIORITY,	   \
			     &i2c_esp32_driver_api);

#if DT_NODE_HAS_STATUS_OKAY(I2C(0))
#ifndef SOC_I2C_SUPPORT_HW_CLR_BUS
#if !DT_NODE_HAS_PROP(I2C(0), sda_gpios) || !DT_NODE_HAS_PROP(I2C(0), scl_gpios)
#error "Missing <sda-gpios> and <scl-gpios> properties to build for this target."
#endif
#else
#if DT_NODE_HAS_PROP(I2C(0), sda_gpios) || DT_NODE_HAS_PROP(I2C(0), scl_gpios)
#error "Properties <sda-gpios> and <scl-gpios> are not required for this target."
#endif
#endif /* !SOC_I2C_SUPPORT_HW_CLR_BUS */
ESP32_I2C_INIT(0);
#endif /* DT_NODE_HAS_STATUS_OKAY(I2C(0)) */

#if DT_NODE_HAS_STATUS_OKAY(I2C(1))
#ifndef SOC_I2C_SUPPORT_HW_CLR_BUS
#if !DT_NODE_HAS_PROP(I2C(1), sda_gpios) || !DT_NODE_HAS_PROP(I2C(1), scl_gpios)
#error "Missing <sda-gpios> and <scl-gpios> properties to build for this target."
#endif
#else
#if DT_NODE_HAS_PROP(I2C(1), sda_gpios) || DT_NODE_HAS_PROP(I2C(1), scl_gpios)
#error "Properties <sda-gpios> and <scl-gpios> are not required for this target."
#endif
#endif /* !SOC_I2C_SUPPORT_HW_CLR_BUS */
ESP32_I2C_INIT(1);
#endif /* DT_NODE_HAS_STATUS_OKAY(I2C(1)) */