ESP32 Standard Library Embedded Rust: I2C Communication

This blog post is the third of a multi-part series of posts where I explore various peripherals in the ESP32C3 using standard library embedded Rust and the esp-idf-hal. Please be aware that certain concepts in newer posts could depend on concepts in prior posts.

Prior posts include (in order of publishing):

Introduction

I2C is a popular serial communication protocol in embedded systems. Another common name used is also Two-Wire Interface (TWI), since, well, it is. I2C is commonly found in sensors and interface boards as it offers a compact implementation with decent speeds reaching Mbps. Counter to UART, I2C allows multiple devices to tap into the same bus.

In this post, I will be configuring and setting up I2C communication for the ESP32C3 to communicate with a real-time clock (RTC) module. In particular, I will be sending and retrieving time and date data to and from a DS1307 device. The retrieved results will be printed on the console.

📚 Knowledge Pre-requisites

To understand the content of this post, you need the following:

Basic knowledge of coding in Rust.
Familiarity with I2C communication basics.

💾 Software Setup

All the code presented in this post is available on the apollolabs ESP32C3 git repo. Note that if the code on the git repo is slightly different then it means that it was modified to enhance the code quality or accommodate any HAL/Rust updates.

Additionally, the full project (code and simulation) is available on Wokwi here.

🛠 Hardware Setup

Materials

🔌 Connections

📝 Note

All connection details are also shown in the Wokwi example.

Connections include the following:

Gpio2 wired to the SCL pin on DS1307.
Gpio3 wired to the SDA pin on DS1307.
5V pin on the Dev kit to the 5V pin on DS1307.
Gnd pin on the Dev kit to the gnd pin on DS1307.

👨‍🎨 Software Design

In the application developed in this post, the DS1307 time and date data will be configured first and then the date/time data will be read back afterward every second. The DS1307 provides the following table in its datasheet:

The table above provides an address mapping of the internal memory of the DS1307 that contains the time/date data. Addresses 0x00 to 0x06 are all we need for the desired application. The table also specifies the valid range of values for the data in each address. All values are BCD (Binary Coded Decimal) encoded.

The DS1307 communicates over I2C where we will be reading from it and writing to it. In order to achieve what we want here are the main points we need to know:

The address of the device is 0x68.
On reset, the CH bit in address 0x00 needs to be set to 0 to kick off the DS1307 internal oscillator.
The date/time of the device can be configured by writing to the different addresses.
The date/time of the device can be retrieved by reading from different addresses.
To communicate with the DS1307 a starting address needs to be provided followed by the data read/written from/to the device. The device will keep on writing/reading to/from consecutive addresses until the master (ESP32) decides to halt.

Let's now jump into implementing this algorithm.

👨‍💻 Code Implementation

📥 Crate Imports

In this implementation, one crate is required as follows:

The esp_idf_hal crate to import the needed device hardware abstractions.
The no_bcd crate to provide abstractions to convert to BCD from decimal and vice versa.

use esp_idf_hal::delay::{FreeRtos, BLOCK};
use esp_idf_hal::i2c::*;
use esp_idf_hal::peripherals::Peripherals;
use esp_idf_hal::prelude::*;

use nobcd::BcdNumber;

🎛 Peripheral Configuration Code

Ahead of our application code, peripherals are configured through the following steps:

1️⃣ Obtain a handle for the device peripherals: In embedded Rust, as part of the singleton design pattern, we first have to take the device peripherals. This is done using the take() method. Here I create a device peripheral handler named peripherals as follows:

let peripherals = Peripherals::take().unwrap();

2️⃣ Obtain handles for the sda and scl pins: for convenience, we obtain handles for the pins that are going to be configured as sda and scl in the I2C peripheral. In the ESP32C3, any pin can be used for sda and scl. As such, I chose gpio3 to be used as the sda pin and gpio2 will be used as the scl pin:

let sda = peripherals.pins.gpio3;
let scl = peripherals.pins.gpio2;

Note that at this point the pins are not configured yet, we merely created handles for them. They yet need to be configured to be connected to the internal I2C peripheral of the ESP32.

3️⃣ Obtain a handle and configure the I2C peripheral: In order to configure I2C, there is a I2cDriver abstraction in the esp-idf-hal that contains a new method to create a I2C instance. The new method has the following signature:

pub fn new<I2C: I2c>(
    _i2c: impl Peripheral<P = I2C> + 'd,
    sda: impl Peripheral<P = impl InputPin + OutputPin> + 'd,
    scl: impl Peripheral<P = impl InputPin + OutputPin> + 'd,
    config: &Config
) -> Result<Self, EspError>

as shown, the new method has 4 parameters. The first i2c parameter is a I2C peripheral type. The second sda parameter is a bidirectional pin combining InputPin and OutputPin types. The third scl parameter is also a bidirectional pin combining InputPin and OutputPin types. Finally, the fourth parameter is a I2C configuration type Config. As such, we create an instance for i2c with handle name ds1307 as follows:

let config = I2cConfig::new().baudrate(100.kHz().into());
let mut ds1307 = I2cDriver::new(i2c, sda, scl, &config).unwrap();

Config is a i2c::config type that provides configuration parameters for I2C. Config contains a method new to create an instance with default parameters. Afterward, there are configuration parameters adjustable through various methods. A full list of those methods can be found in the documentation. In this case, I only used the baudrate method to change the baud rate configuration.

That's it for configuration.

📱 Application Code

Following the design described earlier, there are a few things we can do before building the application to make things neater. the first is to set up a constant that reflects the 0x68 address of the DS1307:

// DS1307 Address
const DS1307_ADDR: u8 = 0x68;

Next, I create a Ds1307Addr enum reflecting the address mappings of the DS1307:

#[repr(u8)]
enum Ds1307Addr {
    Seconds,
    Minutes,
    Hours,
    Day,
    Date,
    Month,
    Year,
}

This enum would be useful to access particular addresses of the DS1307. The order of members is aligned with the address map in the DS1307 table shown earlier.

Next, an enum DAY to create a mapping for the days of the week:

enum DAY {
    Sun = 1,
    Mon = 2,
    Tues = 3,
    Wed = 4,
    Thurs = 5,
    Fri = 6,
    Sat = 7,
}

The DS1307 defines the range of values for the day or the week from 1-7. The mapping is left to the user and doesn't matter what value is attached to a day as long as it remains consistent.

Next, I create a DateTime struct that contains members that store date and time data. Additionally, I create a start_dt variable of DateTime type that contains data I want to initialize the DS1307 with.

struct DateTime {
    sec: u8,
    min: u8,
    hrs: u8,
    day: u8,
    date: u8,
    mnth: u8,
    yr: u8,
}

let start_dt = DateTime {
    sec: 0,
    min: 0,
    hrs: 0,
    day: DAY::Thurs as u8,
    date: 27,
    mnth: 7,
    yr: 23,
};

⏰ Setting Time

Before sending a message over I2C to the DS1307, recall that the DS1307 data is BCD encoded. For that, we need to convert the numbers we want to send to BCD ahead of transmission. Performing a search on crates.io, I came across the nobcd crate that would help. I won't go into much detail here as I would defer to the crate documentation, but the first line below converts the second's data start_dt.sec to its BCD equivalent. Afterward, using the write method available I2cDriver we write the data to the DS1307:

let secs: [u8; 1] = BcdNumber::new(start_dt.sec).unwrap().bcd_bytes();
Ds1307Addr
    .write(
        Ds1307Addr,
        &[Ds1307Addr::Seconds as u8, secs[0]],
        BLOCK,
    )
    .unwrap();

The first argument of the write method is the address of the device, the second argument is the &[u8] data that needs to be sent, and the third argument is a delay value (please refer to the UART post for more on BLOCK). Regarding the data, note how two bytes are being sent as part of the array. First is the starting address Ds1307Addr::Seconds followed by the data itself secs[0].

The above code needs to be repeated for each of the addresses in the DS1307. Meaning we'd still need to set the minute, hour, day of week, day of month, month, and year data in the same manner. The full code is shown in the latter part of this post.

⏳ Reading Date and Time

In order to read all the date and time data from the DS1307, it needs two operations. Meaning we need to provide a DS1307 starting address using the write method first. Second, we use the read method passing a slice with a size large enough to fit the data read. As such, the I2C peripheral read method will keep on reading data from the addressed device until the buffer is filled and then stops. The following is the code:

let mut data: [u8; 7] = [0_u8; 7];

Ds1307Addr.write(Ds1307Addr_ADDR, &[0_u8], BLOCK).unwrap();
Ds1307Addr.read(Ds1307Addr_ADDR, &mut data, BLOCK).unwrap();

Note here that the DS1307 starting address provided is zero propagated through the &[0_u8] argument. Also, we read 7 bytes of data implied through the size of the data array passed as an argument in the read method.

🖨️ Printing to Console

After this, a date/time reading will be available in data that needs to be extracted for printing. Using println! with some formatting, the data is printed as follows:

let secs = BcdNumber::from_bcd_bytes([data[0] & 0x7f])
    .unwrap()
    .value::<u8>();
let mins = BcdNumber::from_bcd_bytes([data[1]]).unwrap().value::<u8>();
let hrs = BcdNumber::from_bcd_bytes([data[2] & 0x3f])
    .unwrap()
    .value::<u8>();
let dom = BcdNumber::from_bcd_bytes([data[4]]).unwrap().value::<u8>();
let mnth = BcdNumber::from_bcd_bytes([data[5]]).unwrap().value::<u8>();
let yr = BcdNumber::from_bcd_bytes([data[6]]).unwrap().value::<u8>();
let dow = match BcdNumber::from_bcd_bytes([data[3]]).unwrap().value::<u8>() {
    1 => "Sunday",
    2 => "Monday",
    3 => "Tuesday",
    4 => "Wednesday",
    5 => "Thursday",
    6 => "Friday",
    7 => "Saturday",
    _ => "",
};

println!(
    "{}, {}/{}/20{}, {:02}:{:02}:{:02}",
    dow, dom, mnth, yr, hrs, mins, secs
);

A few things to note:

The retrieved data is converted back from BCD to decimal before printing.
The day of the week is recovered is mapped to a string using the match statement
The secs and hrs data is masked as data recovered from those two addresses have additional non-necessary data (shown in DS1307 table above).

🔧 Code Optimization

Looking at the code, it appears quite verbose. However, there are opportunities for making it more concise. I typically do not optimize from the get-go to clarify what the code tries to achieve. Sometimes, optimizations introduce several ideas at once which makes it harder to grasp the core concept. As such, here, I am going to state some ideas and leave it to the interested reader to experiment. As such, some opportunities include:

In the code setting the time, the same code is repeated for each piece of data written to the DS1307. Instead, the date/time data can be iterated over in an array using a for loop and sent to the DS1307.
In reading the time from the DS1307, I used a write method followed by a read method. Instead, there exists a write_read method that can compact the two methods in a single statement.
Converting the read data from BCD to decimal for printing to the console also involves repetitive code. This can also be made much more compact through a loop that buffers the converted BCD data and then prints.

📱 Full Application Code

Here is the full code for the implementation described in this post. You can additionally find the full project and others available on the apollolabs ESP32C3 git repo. Also, the Wokwi project can be accessed here.

use esp_idf_hal::delay::{FreeRtos, BLOCK};
use esp_idf_hal::i2c::*;
use esp_idf_hal::peripherals::Peripherals;
use esp_idf_hal::prelude::*;

use nobcd::BcdNumber;

const Ds1307Addr_ADDR: u8 = 0x68;

fn main() {
    esp_idf_sys::link_patches();

    let peripherals = Peripherals::take().unwrap();

    let sda = peripherals.pins.gpio3;
    let scl = peripherals.pins.gpio2;

    let i2c = peripherals.i2c0;
    let config = I2cConfig::new().baudrate(100.kHz().into());
    let mut Ds1307Addr = I2cDriver::new(i2c, sda, scl, &config).unwrap();

    #[repr(u8)]
    enum Ds1307Addr {
        Seconds,
        Minutes,
        Hours,
        Day,
        Date,
        Month,
        Year,
    }

    #[repr(u8)]
    enum DAY {
        Sun = 1,
        Mon = 2,
        Tues = 3,
        Wed = 4,
        Thurs = 5,
        Fri = 6,
        Sat = 7,
    }

    struct DateTime {
        sec: u8,
        min: u8,
        hrs: u8,
        day: u8,
        date: u8,
        mnth: u8,
        yr: u8,
    }

    let start_dt = DateTime {
        sec: 0,
        min: 0,
        hrs: 0,
        day: DAY::Thurs as u8,
        date: 27,
        mnth: 7,
        yr: 23,
    };

    // Set Time
    // Set Seconds -> Also Activates Oscillator
    let secs: [u8; 1] = BcdNumber::new(start_dt.sec).unwrap().bcd_bytes();
    Ds1307Addr
        .write(
            Ds1307Addr_ADDR,
            &[Ds1307Addr::Seconds as u8, secs[0]],
            BLOCK,
        )
        .unwrap();
    // Set Minutes
    let mins: [u8; 1] = BcdNumber::new(start_dt.min).unwrap().bcd_bytes();
    Ds1307Addr
        .write(
            Ds1307Addr_ADDR,
            &[Ds1307Addr::Minutes as u8, mins[0]],
            BLOCK,
        )
        .unwrap();
    // Set Hours
    let hrs: [u8; 1] = BcdNumber::new(start_dt.hrs).unwrap().bcd_bytes();
    Ds1307Addr
        .write(Ds1307Addr_ADDR, &[Ds1307Addr::Hours as u8, hrs[0]], BLOCK)
        .unwrap();
    // Set Day of Week
    let dow: [u8; 1] = BcdNumber::new(start_dt.day).unwrap().bcd_bytes();
    Ds1307Addr
        .write(Ds1307Addr_ADDR, &[Ds1307Addr::Day as u8, dow[0]], BLOCK)
        .unwrap();
    // Set Day of Month
    let dom: [u8; 1] = BcdNumber::new(start_dt.date).unwrap().bcd_bytes();
    Ds1307Addr
        .write(Ds1307Addr_ADDR, &[Ds1307Addr::Date as u8, dom[0]], BLOCK)
        .unwrap();
    // Set Month
    let mnth: [u8; 1] = BcdNumber::new(start_dt.mnth).unwrap().bcd_bytes();
    Ds1307Addr
        .write(Ds1307Addr_ADDR, &[Ds1307Addr::Month as u8, mnth[0]], BLOCK)
        .unwrap();
    // Set Year
    let yr: [u8; 1] = BcdNumber::new(start_dt.yr).unwrap().bcd_bytes();
    Ds1307Addr
        .write(Ds1307Addr_ADDR, &[Ds1307Addr::Year as u8, yr[0]], BLOCK)
        .unwrap();

    loop {
        // Initialize Array that will buffer data read from the Ds1307Addr
        let mut data: [u8; 7] = [0_u8; 7];

        // Provide Starting Address (zero) to Read Data from Ds1307Addr
        // Optionally can use the wrte_read method that performs both in a single line
        Ds1307Addr.write(Ds1307Addr_ADDR, &[0_u8], BLOCK).unwrap();
        Ds1307Addr.read(Ds1307Addr_ADDR, &mut data, BLOCK).unwrap();

        println!("{:?}", data);

        let secs = BcdNumber::from_bcd_bytes([data[0] & 0x7f])
            .unwrap()
            .value::<u8>();
        let mins = BcdNumber::from_bcd_bytes([data[1]]).unwrap().value::<u8>();
        let hrs = BcdNumber::from_bcd_bytes([data[2] & 0x3f])
            .unwrap()
            .value::<u8>();
        let dom = BcdNumber::from_bcd_bytes([data[4]]).unwrap().value::<u8>();
        let mnth = BcdNumber::from_bcd_bytes([data[5]]).unwrap().value::<u8>();
        let yr = BcdNumber::from_bcd_bytes([data[6]]).unwrap().value::<u8>();
        let dow = match BcdNumber::from_bcd_bytes([data[3]]).unwrap().value::<u8>() {
            1 => "Sunday",
            2 => "Monday",
            3 => "Tuesday",
            4 => "Wednesday",
            5 => "Thursday",
            6 => "Friday",
            7 => "Saturday",
            _ => "",
        };

        println!(
            "{}, {}/{}/20{}, {:02}:{:02}:{:02}",
            dow, dom, mnth, yr, hrs, mins, secs
        );

        FreeRtos::delay_ms(1000_u32);
    }
}

Conclusion

In this post, a I2C serial communication application talking to the DS1307 was created. The application leverages the I2C peripheral for the ESP32C3 microcontroller. The code was created using an embedded std development environment supported by the esp-idf-hal. Have any questions? Share your thoughts in the comments below 👇.

ESP32 Standard Library Embedded Rust: I2C Communication

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Introduction

📚 Knowledge Pre-requisites

💾 Software Setup

🛠 Hardware Setup

Materials

🔌 Connections

👨‍🎨 Software Design

👨‍💻 Code Implementation

📥 Crate Imports

🎛 Peripheral Configuration Code

📱 Application Code

⏰ Setting Time

⏳ Reading Date and Time

🖨️ Printing to Console

🔧 Code Optimization

📱 Full Application Code

Conclusion

Command Palette

Comments

ESP32 with std Rust

ESP32 Standard Library Embedded Rust: Timers

More from this blog

Introduction

📚 Knowledge Pre-requisites

💾 Software Setup

🛠 Hardware Setup

Materials

🔌 Connections

👨‍🎨 Software Design

👨‍💻 Code Implementation

📥 Crate Imports

🎛 Peripheral Configuration Code

📱 Application Code

⏰ Setting Time

⏳ Reading Date and Time

🖨️ Printing to Console

🔧 Code Optimization

📱 Full Application Code

Conclusion