Merge #1056

1056: embassy-nrf: Add TWIS module r=Dirbaio a=kalkyl

Verified to be working on nrf9160

Co-authored-by: kalkyl <[email protected]>
Co-authored-by: Henrik Alsér <[email protected]>

13 files changed, 835 insertions, 0 deletions

diff --git a/embassy-nrf/src/chips/nrf52805.rs b/embassy-nrf/src/chips/nrf52805.rs
index 11a6840c8..bf4019c13 100644
--- a/embassy-nrf/src/chips/nrf52805.rs
+++ b/embassy-nrf/src/chips/nrf52805.rs
@@ -135,6 +135,8 @@ impl_spis!(SPI0, SPIS0, SPIM0_SPIS0_SPI0);
 
 impl_twim!(TWI0, TWIM0, TWIM0_TWIS0_TWI0);
 
+impl_twis!(TWI0, TWIS0, TWIM0_TWIS0_TWI0);
+
 impl_timer!(TIMER0, TIMER0, TIMER0);
 impl_timer!(TIMER1, TIMER1, TIMER1);
 impl_timer!(TIMER2, TIMER2, TIMER2);
diff --git a/embassy-nrf/src/chips/nrf52810.rs b/embassy-nrf/src/chips/nrf52810.rs
index 3614cd229..6c28a3bea 100644
--- a/embassy-nrf/src/chips/nrf52810.rs
+++ b/embassy-nrf/src/chips/nrf52810.rs
@@ -141,6 +141,8 @@ impl_spis!(SPI0, SPIS0, SPIM0_SPIS0_SPI0);
 
 impl_twim!(TWI0, TWIM0, TWIM0_TWIS0_TWI0);
 
+impl_twis!(TWI0, TWIS0, TWIM0_TWIS0_TWI0);
+
 impl_pwm!(PWM0, PWM0, PWM0);
 
 impl_timer!(TIMER0, TIMER0, TIMER0);
diff --git a/embassy-nrf/src/chips/nrf52811.rs b/embassy-nrf/src/chips/nrf52811.rs
index dc4a8660e..e7214cf5c 100644
--- a/embassy-nrf/src/chips/nrf52811.rs
+++ b/embassy-nrf/src/chips/nrf52811.rs
@@ -143,6 +143,8 @@ impl_spis!(SPI1, SPIS1, SPIM1_SPIS1_SPI1);
 
 impl_twim!(TWISPI0, TWIM0, TWIM0_TWIS0_TWI0_SPIM0_SPIS0_SPI0);
 
+impl_twis!(TWISPI0, TWIS0, TWIM0_TWIS0_TWI0_SPIM0_SPIS0_SPI0);
+
 impl_pwm!(PWM0, PWM0, PWM0);
 
 impl_timer!(TIMER0, TIMER0, TIMER0);
diff --git a/embassy-nrf/src/chips/nrf52820.rs b/embassy-nrf/src/chips/nrf52820.rs
index 7668920bd..21d1d16cc 100644
--- a/embassy-nrf/src/chips/nrf52820.rs
+++ b/embassy-nrf/src/chips/nrf52820.rs
@@ -142,6 +142,9 @@ impl_spis!(TWISPI1, SPIS1, SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1);
 impl_twim!(TWISPI0, TWIM0, SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
 impl_twim!(TWISPI1, TWIM1, SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1);
 
+impl_twis!(TWISPI0, TWIS0, SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
+impl_twis!(TWISPI1, TWIS1, SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1);
+
 impl_timer!(TIMER0, TIMER0, TIMER0);
 impl_timer!(TIMER1, TIMER1, TIMER1);
 impl_timer!(TIMER2, TIMER2, TIMER2);
diff --git a/embassy-nrf/src/chips/nrf52832.rs b/embassy-nrf/src/chips/nrf52832.rs
index 851643b55..879600adb 100644
--- a/embassy-nrf/src/chips/nrf52832.rs
+++ b/embassy-nrf/src/chips/nrf52832.rs
@@ -153,6 +153,9 @@ impl_spis!(SPI2, SPIS2, SPIM2_SPIS2_SPI2);
 impl_twim!(TWISPI0, TWIM0, SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
 impl_twim!(TWISPI1, TWIM1, SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1);
 
+impl_twis!(TWISPI0, TWIS0, SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
+impl_twis!(TWISPI1, TWIS1, SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1);
+
 impl_pwm!(PWM0, PWM0, PWM0);
 impl_pwm!(PWM1, PWM1, PWM1);
 impl_pwm!(PWM2, PWM2, PWM2);
diff --git a/embassy-nrf/src/chips/nrf52833.rs b/embassy-nrf/src/chips/nrf52833.rs
index 5342ba8c2..d406c32c2 100644
--- a/embassy-nrf/src/chips/nrf52833.rs
+++ b/embassy-nrf/src/chips/nrf52833.rs
@@ -181,6 +181,9 @@ impl_spis!(SPI2, SPIS2, SPIM2_SPIS2_SPI2);
 impl_twim!(TWISPI0, TWIM0, SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
 impl_twim!(TWISPI1, TWIM1, SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1);
 
+impl_twis!(TWISPI0, TWIS0, SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
+impl_twis!(TWISPI1, TWIS1, SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1);
+
 impl_pwm!(PWM0, PWM0, PWM0);
 impl_pwm!(PWM1, PWM1, PWM1);
 impl_pwm!(PWM2, PWM2, PWM2);
diff --git a/embassy-nrf/src/chips/nrf52840.rs b/embassy-nrf/src/chips/nrf52840.rs
index a330aef8b..f9e271c97 100644
--- a/embassy-nrf/src/chips/nrf52840.rs
+++ b/embassy-nrf/src/chips/nrf52840.rs
@@ -184,6 +184,9 @@ impl_spis!(SPI2, SPIS2, SPIM2_SPIS2_SPI2);
 impl_twim!(TWISPI0, TWIM0, SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
 impl_twim!(TWISPI1, TWIM1, SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1);
 
+impl_twis!(TWISPI0, TWIS0, SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
+impl_twis!(TWISPI1, TWIS1, SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1);
+
 impl_pwm!(PWM0, PWM0, PWM0);
 impl_pwm!(PWM1, PWM1, PWM1);
 impl_pwm!(PWM2, PWM2, PWM2);
diff --git a/embassy-nrf/src/chips/nrf5340_app.rs b/embassy-nrf/src/chips/nrf5340_app.rs
index 1c027ec02..39fb9a9bf 100644
--- a/embassy-nrf/src/chips/nrf5340_app.rs
+++ b/embassy-nrf/src/chips/nrf5340_app.rs
@@ -371,6 +371,11 @@ impl_twim!(UARTETWISPI1, TWIM1, SERIAL1);
 impl_twim!(UARTETWISPI2, TWIM2, SERIAL2);
 impl_twim!(UARTETWISPI3, TWIM3, SERIAL3);
 
+impl_twis!(UARTETWISPI0, TWIS0, SERIAL0);
+impl_twis!(UARTETWISPI1, TWIS1, SERIAL1);
+impl_twis!(UARTETWISPI2, TWIS2, SERIAL2);
+impl_twis!(UARTETWISPI3, TWIS3, SERIAL3);
+
 impl_pwm!(PWM0, PWM0, PWM0);
 impl_pwm!(PWM1, PWM1, PWM1);
 impl_pwm!(PWM2, PWM2, PWM2);
diff --git a/embassy-nrf/src/chips/nrf5340_net.rs b/embassy-nrf/src/chips/nrf5340_net.rs
index 3bcd44fcb..b8ee7745b 100644
--- a/embassy-nrf/src/chips/nrf5340_net.rs
+++ b/embassy-nrf/src/chips/nrf5340_net.rs
@@ -240,6 +240,7 @@ impl_uarte!(UARTETWISPI0, UARTE0, SERIAL0);
 impl_spim!(UARTETWISPI0, SPIM0, SERIAL0);
 impl_spis!(UARTETWISPI0, SPIS0, SERIAL0);
 impl_twim!(UARTETWISPI0, TWIM0, SERIAL0);
+impl_twis!(UARTETWISPI0, TWIS0, SERIAL0);
 
 impl_timer!(TIMER0, TIMER0, TIMER0);
 impl_timer!(TIMER1, TIMER1, TIMER1);
diff --git a/embassy-nrf/src/chips/nrf9160.rs b/embassy-nrf/src/chips/nrf9160.rs
index 0dfa112fe..a47c0a397 100644
--- a/embassy-nrf/src/chips/nrf9160.rs
+++ b/embassy-nrf/src/chips/nrf9160.rs
@@ -285,6 +285,11 @@ impl_twim!(UARTETWISPI1, TWIM1, UARTE1_SPIM1_SPIS1_TWIM1_TWIS1);
 impl_twim!(UARTETWISPI2, TWIM2, UARTE2_SPIM2_SPIS2_TWIM2_TWIS2);
 impl_twim!(UARTETWISPI3, TWIM3, UARTE3_SPIM3_SPIS3_TWIM3_TWIS3);
 
+impl_twis!(UARTETWISPI0, TWIS0, UARTE0_SPIM0_SPIS0_TWIM0_TWIS0);
+impl_twis!(UARTETWISPI1, TWIS1, UARTE1_SPIM1_SPIS1_TWIM1_TWIS1);
+impl_twis!(UARTETWISPI2, TWIS2, UARTE2_SPIM2_SPIS2_TWIM2_TWIS2);
+impl_twis!(UARTETWISPI3, TWIS3, UARTE3_SPIM3_SPIS3_TWIM3_TWIS3);
+
 impl_pwm!(PWM0, PWM0, PWM0);
 impl_pwm!(PWM1, PWM1, PWM1);
 impl_pwm!(PWM2, PWM2, PWM2);
diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs
index 5726f1181..dc6f16867 100644
--- a/embassy-nrf/src/lib.rs
+++ b/embassy-nrf/src/lib.rs
@@ -101,6 +101,7 @@ pub mod spis;
 pub mod temp;
 pub mod timer;
 pub mod twim;
+pub mod twis;
 pub mod uarte;
 #[cfg(any(
     feature = "_nrf5340-app",
diff --git a/embassy-nrf/src/twis.rs b/embassy-nrf/src/twis.rs
new file mode 100644
index 000000000..4091b017e
--- /dev/null
+++ b/embassy-nrf/src/twis.rs
@@ -0,0 +1,759 @@
+#![macro_use]
+
+//! HAL interface to the TWIS peripheral.
+//!
+//! See product specification:
+//!
+//! - nRF52832: Section 33
+//! - nRF52840: Section 6.31
+use core::future::{poll_fn, Future};
+use core::sync::atomic::compiler_fence;
+use core::sync::atomic::Ordering::SeqCst;
+use core::task::Poll;
+
+use embassy_hal_common::{into_ref, PeripheralRef};
+use embassy_sync::waitqueue::AtomicWaker;
+#[cfg(feature = "time")]
+use embassy_time::{Duration, Instant};
+
+use crate::chip::{EASY_DMA_SIZE, FORCE_COPY_BUFFER_SIZE};
+use crate::gpio::Pin as GpioPin;
+use crate::interrupt::{Interrupt, InterruptExt};
+use crate::util::slice_in_ram_or;
+use crate::{gpio, pac, Peripheral};
+
+#[non_exhaustive]
+pub struct Config {
+    pub address0: u8,
+    pub address1: Option<u8>,
+    pub orc: u8,
+    pub sda_high_drive: bool,
+    pub sda_pullup: bool,
+    pub scl_high_drive: bool,
+    pub scl_pullup: bool,
+}
+
+impl Default for Config {
+    fn default() -> Self {
+        Self {
+            address0: 0x55,
+            address1: None,
+            orc: 0x00,
+            scl_high_drive: false,
+            sda_pullup: false,
+            sda_high_drive: false,
+            scl_pullup: false,
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone, Eq, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+enum Status {
+    Read,
+    Write,
+}
+
+#[derive(Debug, Copy, Clone, Eq, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[non_exhaustive]
+pub enum Error {
+    TxBufferTooLong,
+    RxBufferTooLong,
+    DataNack,
+    Bus,
+    DMABufferNotInDataMemory,
+    Overflow,
+    OverRead,
+    Timeout,
+}
+
+#[derive(Debug, Copy, Clone, Eq, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum Command {
+    Read,
+    WriteRead(usize),
+    Write(usize),
+}
+
+/// Interface to a TWIS instance using EasyDMA to offload the transmission and reception workload.
+///
+/// For more details about EasyDMA, consult the module documentation.
+pub struct Twis<'d, T: Instance> {
+    _p: PeripheralRef<'d, T>,
+}
+
+impl<'d, T: Instance> Twis<'d, T> {
+    pub fn new(
+        twis: impl Peripheral<P = T> + 'd,
+        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        sda: impl Peripheral<P = impl GpioPin> + 'd,
+        scl: impl Peripheral<P = impl GpioPin> + 'd,
+        config: Config,
+    ) -> Self {
+        into_ref!(twis, irq, sda, scl);
+
+        let r = T::regs();
+
+        // Configure pins
+        sda.conf().write(|w| {
+            w.dir().input();
+            w.input().connect();
+            if config.sda_high_drive {
+                w.drive().h0d1();
+            } else {
+                w.drive().s0d1();
+            }
+            if config.sda_pullup {
+                w.pull().pullup();
+            }
+            w
+        });
+        scl.conf().write(|w| {
+            w.dir().input();
+            w.input().connect();
+            if config.scl_high_drive {
+                w.drive().h0d1();
+            } else {
+                w.drive().s0d1();
+            }
+            if config.scl_pullup {
+                w.pull().pullup();
+            }
+            w
+        });
+
+        // Select pins.
+        r.psel.sda.write(|w| unsafe { w.bits(sda.psel_bits()) });
+        r.psel.scl.write(|w| unsafe { w.bits(scl.psel_bits()) });
+
+        // Enable TWIS instance.
+        r.enable.write(|w| w.enable().enabled());
+
+        // Disable all events interrupts
+        r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
+
+        // Set address
+        r.address[0].write(|w| unsafe { w.address().bits(config.address0) });
+        r.config.write(|w| w.address0().enabled());
+        if let Some(address1) = config.address1 {
+            r.address[1].write(|w| unsafe { w.address().bits(address1) });
+            r.config.modify(|_r, w| w.address1().enabled());
+        }
+
+        // Set over-read character
+        r.orc.write(|w| unsafe { w.orc().bits(config.orc) });
+
+        // Generate suspend on read event
+        r.shorts.write(|w| w.read_suspend().enabled());
+
+        irq.set_handler(Self::on_interrupt);
+        irq.unpend();
+        irq.enable();
+
+        Self { _p: twis }
+    }
+
+    fn on_interrupt(_: *mut ()) {
+        let r = T::regs();
+        let s = T::state();
+
+        if r.events_read.read().bits() != 0 || r.events_write.read().bits() != 0 {
+            s.waker.wake();
+            r.intenclr.modify(|_r, w| w.read().clear().write().clear());
+        }
+        if r.events_stopped.read().bits() != 0 {
+            s.waker.wake();
+            r.intenclr.modify(|_r, w| w.stopped().clear());
+        }
+        if r.events_error.read().bits() != 0 {
+            s.waker.wake();
+            r.intenclr.modify(|_r, w| w.error().clear());
+        }
+    }
+
+    /// Set TX buffer, checking that it is in RAM and has suitable length.
+    unsafe fn set_tx_buffer(&mut self, buffer: &[u8]) -> Result<(), Error> {
+        slice_in_ram_or(buffer, Error::DMABufferNotInDataMemory)?;
+
+        if buffer.len() > EASY_DMA_SIZE {
+            return Err(Error::TxBufferTooLong);
+        }
+
+        let r = T::regs();
+
+        r.txd.ptr.write(|w|
+            // We're giving the register a pointer to the stack. Since we're
+            // waiting for the I2C transaction to end before this stack pointer
+            // becomes invalid, there's nothing wrong here.
+            //
+            // The PTR field is a full 32 bits wide and accepts the full range
+            // of values.
+            w.ptr().bits(buffer.as_ptr() as u32));
+        r.txd.maxcnt.write(|w|
+            // We're giving it the length of the buffer, so no danger of
+            // accessing invalid memory. We have verified that the length of the
+            // buffer fits in an `u8`, so the cast to `u8` is also fine.
+            //
+            // The MAXCNT field is 8 bits wide and accepts the full range of
+            // values.
+            w.maxcnt().bits(buffer.len() as _));
+
+        Ok(())
+    }
+
+    /// Set RX buffer, checking that it has suitable length.
+    unsafe fn set_rx_buffer(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
+        // NOTE: RAM slice check is not necessary, as a mutable
+        // slice can only be built from data located in RAM.
+
+        if buffer.len() > EASY_DMA_SIZE {
+            return Err(Error::RxBufferTooLong);
+        }
+
+        let r = T::regs();
+
+        r.rxd.ptr.write(|w|
+            // We're giving the register a pointer to the stack. Since we're
+            // waiting for the I2C transaction to end before this stack pointer
+            // becomes invalid, there's nothing wrong here.
+            //
+            // The PTR field is a full 32 bits wide and accepts the full range
+            // of values.
+            w.ptr().bits(buffer.as_mut_ptr() as u32));
+        r.rxd.maxcnt.write(|w|
+            // We're giving it the length of the buffer, so no danger of
+            // accessing invalid memory. We have verified that the length of the
+            // buffer fits in an `u8`, so the cast to the type of maxcnt
+            // is also fine.
+            //
+            // Note that that nrf52840 maxcnt is a wider
+            // type than a u8, so we use a `_` cast rather than a `u8` cast.
+            // The MAXCNT field is thus at least 8 bits wide and accepts the
+            // full range of values that fit in a `u8`.
+            w.maxcnt().bits(buffer.len() as _));
+
+        Ok(())
+    }
+
+    fn clear_errorsrc(&mut self) {
+        let r = T::regs();
+        r.errorsrc
+            .write(|w| w.overflow().bit(true).overread().bit(true).dnack().bit(true));
+    }
+
+    /// Returns matched address for latest command.
+    pub fn address_match(&self) -> u8 {
+        let r = T::regs();
+        r.address[r.match_.read().bits() as usize].read().address().bits()
+    }
+
+    /// Returns the index of the address matched in the latest command.
+    pub fn address_match_index(&self) -> usize {
+        T::regs().match_.read().bits() as _
+    }
+
+    /// Wait for read, write, stop or error
+    fn blocking_listen_wait(&mut self) -> Result<Status, Error> {
+        let r = T::regs();
+        loop {
+            if r.events_error.read().bits() != 0 {
+                r.events_error.reset();
+                r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                while r.events_stopped.read().bits() == 0 {}
+                return Err(Error::Overflow);
+            }
+            if r.events_stopped.read().bits() != 0 {
+                r.events_stopped.reset();
+                return Err(Error::Bus);
+            }
+            if r.events_read.read().bits() != 0 {
+                r.events_read.reset();
+                return Ok(Status::Read);
+            }
+            if r.events_write.read().bits() != 0 {
+                r.events_write.reset();
+                return Ok(Status::Write);
+            }
+        }
+    }
+
+    /// Wait for stop, repeated start or error
+    fn blocking_listen_wait_end(&mut self, status: Status) -> Result<Command, Error> {
+        let r = T::regs();
+        loop {
+            // stop if an error occured
+            if r.events_error.read().bits() != 0 {
+                r.events_error.reset();
+                r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                return Err(Error::Overflow);
+            } else if r.events_stopped.read().bits() != 0 {
+                r.events_stopped.reset();
+                return match status {
+                    Status::Read => Ok(Command::Read),
+                    Status::Write => {
+                        let n = r.rxd.amount.read().bits() as usize;
+                        Ok(Command::Write(n))
+                    }
+                };
+            } else if r.events_read.read().bits() != 0 {
+                r.events_read.reset();
+                let n = r.rxd.amount.read().bits() as usize;
+                return Ok(Command::WriteRead(n));
+            }
+        }
+    }
+
+    /// Wait for stop or error
+    fn blocking_wait(&mut self) -> Result<usize, Error> {
+        let r = T::regs();
+        loop {
+            // stop if an error occured
+            if r.events_error.read().bits() != 0 {
+                r.events_error.reset();
+                r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                let errorsrc = r.errorsrc.read();
+                if errorsrc.overread().is_detected() {
+                    return Err(Error::OverRead);
+                } else if errorsrc.dnack().is_received() {
+                    return Err(Error::DataNack);
+                } else {
+                    return Err(Error::Bus);
+                }
+            } else if r.events_stopped.read().bits() != 0 {
+                r.events_stopped.reset();
+                let n = r.txd.amount.read().bits() as usize;
+                return Ok(n);
+            }
+        }
+    }
+
+    /// Wait for stop or error with timeout
+    #[cfg(feature = "time")]
+    fn blocking_wait_timeout(&mut self, timeout: Duration) -> Result<usize, Error> {
+        let r = T::regs();
+        let deadline = Instant::now() + timeout;
+        loop {
+            // stop if an error occured
+            if r.events_error.read().bits() != 0 {
+                r.events_error.reset();
+                r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                let errorsrc = r.errorsrc.read();
+                if errorsrc.overread().is_detected() {
+                    return Err(Error::OverRead);
+                } else if errorsrc.dnack().is_received() {
+                    return Err(Error::DataNack);
+                } else {
+                    return Err(Error::Bus);
+                }
+            } else if r.events_stopped.read().bits() != 0 {
+                r.events_stopped.reset();
+                let n = r.txd.amount.read().bits() as usize;
+                return Ok(n);
+            } else if Instant::now() > deadline {
+                r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                return Err(Error::Timeout);
+            }
+        }
+    }
+
+    /// Wait for read, write, stop or error with timeout
+    #[cfg(feature = "time")]
+    fn blocking_listen_wait_timeout(&mut self, timeout: Duration) -> Result<Status, Error> {
+        let r = T::regs();
+        let deadline = Instant::now() + timeout;
+        loop {
+            if r.events_error.read().bits() != 0 {
+                r.events_error.reset();
+                r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                while r.events_stopped.read().bits() == 0 {}
+                return Err(Error::Overflow);
+            }
+            if r.events_stopped.read().bits() != 0 {
+                r.events_stopped.reset();
+                return Err(Error::Bus);
+            }
+            if r.events_read.read().bits() != 0 {
+                r.events_read.reset();
+                return Ok(Status::Read);
+            }
+            if r.events_write.read().bits() != 0 {
+                r.events_write.reset();
+                return Ok(Status::Write);
+            }
+            if Instant::now() > deadline {
+                r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                return Err(Error::Timeout);
+            }
+        }
+    }
+
+    /// Wait for stop, repeated start or error with timeout
+    #[cfg(feature = "time")]
+    fn blocking_listen_wait_end_timeout(&mut self, status: Status, timeout: Duration) -> Result<Command, Error> {
+        let r = T::regs();
+        let deadline = Instant::now() + timeout;
+        loop {
+            // stop if an error occured
+            if r.events_error.read().bits() != 0 {
+                r.events_error.reset();
+                r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                return Err(Error::Overflow);
+            } else if r.events_stopped.read().bits() != 0 {
+                r.events_stopped.reset();
+                return match status {
+                    Status::Read => Ok(Command::Read),
+                    Status::Write => {
+                        let n = r.rxd.amount.read().bits() as usize;
+                        Ok(Command::Write(n))
+                    }
+                };
+            } else if r.events_read.read().bits() != 0 {
+                r.events_read.reset();
+                let n = r.rxd.amount.read().bits() as usize;
+                return Ok(Command::WriteRead(n));
+            } else if Instant::now() > deadline {
+                r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                return Err(Error::Timeout);
+            }
+        }
+    }
+
+    /// Wait for stop or error
+    fn async_wait(&mut self) -> impl Future<Output = Result<usize, Error>> {
+        poll_fn(move |cx| {
+            let r = T::regs();
+            let s = T::state();
+
+            s.waker.register(cx.waker());
+
+            // stop if an error occured
+            if r.events_error.read().bits() != 0 {
+                r.events_error.reset();
+                r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                let errorsrc = r.errorsrc.read();
+                if errorsrc.overread().is_detected() {
+                    return Poll::Ready(Err(Error::OverRead));
+                } else if errorsrc.dnack().is_received() {
+                    return Poll::Ready(Err(Error::DataNack));
+                } else {
+                    return Poll::Ready(Err(Error::Bus));
+                }
+            } else if r.events_stopped.read().bits() != 0 {
+                r.events_stopped.reset();
+                let n = r.txd.amount.read().bits() as usize;
+                return Poll::Ready(Ok(n));
+            }
+
+            Poll::Pending
+        })
+    }
+
+    /// Wait for read or write
+    fn async_listen_wait(&mut self) -> impl Future<Output = Result<Status, Error>> {
+        poll_fn(move |cx| {
+            let r = T::regs();
+            let s = T::state();
+
+            s.waker.register(cx.waker());
+
+            // stop if an error occured
+            if r.events_error.read().bits() != 0 {
+                r.events_error.reset();
+                r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                return Poll::Ready(Err(Error::Overflow));
+            } else if r.events_read.read().bits() != 0 {
+                r.events_read.reset();
+                return Poll::Ready(Ok(Status::Read));
+            } else if r.events_write.read().bits() != 0 {
+                r.events_write.reset();
+                return Poll::Ready(Ok(Status::Write));
+            } else if r.events_stopped.read().bits() != 0 {
+                r.events_stopped.reset();
+                return Poll::Ready(Err(Error::Bus));
+            }
+            Poll::Pending
+        })
+    }
+
+    /// Wait for stop, repeated start or error
+    fn async_listen_wait_end(&mut self, status: Status) -> impl Future<Output = Result<Command, Error>> {
+        poll_fn(move |cx| {
+            let r = T::regs();
+            let s = T::state();
+
+            s.waker.register(cx.waker());
+
+            // stop if an error occured
+            if r.events_error.read().bits() != 0 {
+                r.events_error.reset();
+                r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                return Poll::Ready(Err(Error::Overflow));
+            } else if r.events_stopped.read().bits() != 0 {
+                r.events_stopped.reset();
+                return match status {
+                    Status::Read => Poll::Ready(Ok(Command::Read)),
+                    Status::Write => {
+                        let n = r.rxd.amount.read().bits() as usize;
+                        Poll::Ready(Ok(Command::Write(n)))
+                    }
+                };
+            } else if r.events_read.read().bits() != 0 {
+                r.events_read.reset();
+                let n = r.rxd.amount.read().bits() as usize;
+                return Poll::Ready(Ok(Command::WriteRead(n)));
+            }
+            Poll::Pending
+        })
+    }
+
+    fn setup_respond_from_ram(&mut self, buffer: &[u8], inten: bool) -> Result<(), Error> {
+        let r = T::regs();
+
+        compiler_fence(SeqCst);
+
+        // Set up the DMA write.
+        unsafe { self.set_tx_buffer(buffer)? };
+
+        // Clear events
+        r.events_stopped.reset();
+        r.events_error.reset();
+        self.clear_errorsrc();
+
+        if inten {
+            r.intenset.write(|w| w.stopped().set().error().set());
+        } else {
+            r.intenclr.write(|w| w.stopped().clear().error().clear());
+        }
+
+        // Start write operation.
+        r.tasks_preparetx.write(|w| unsafe { w.bits(1) });
+        r.tasks_resume.write(|w| unsafe { w.bits(1) });
+        Ok(())
+    }
+
+    fn setup_respond(&mut self, wr_buffer: &[u8], inten: bool) -> Result<(), Error> {
+        match self.setup_respond_from_ram(wr_buffer, inten) {
+            Ok(_) => Ok(()),
+            Err(Error::DMABufferNotInDataMemory) => {
+                trace!("Copying TWIS tx buffer into RAM for DMA");
+                let tx_ram_buf = &mut [0; FORCE_COPY_BUFFER_SIZE][..wr_buffer.len()];
+                tx_ram_buf.copy_from_slice(wr_buffer);
+                self.setup_respond_from_ram(&tx_ram_buf, inten)
+            }
+            Err(error) => Err(error),
+        }
+    }
+
+    fn setup_listen(&mut self, buffer: &mut [u8], inten: bool) -> Result<(), Error> {
+        let r = T::regs();
+        compiler_fence(SeqCst);
+
+        // Set up the DMA read.
+        unsafe { self.set_rx_buffer(buffer)? };
+
+        // Clear events
+        r.events_read.reset();
+        r.events_write.reset();
+        r.events_stopped.reset();
+        r.events_error.reset();
+        self.clear_errorsrc();
+
+        if inten {
+            r.intenset
+                .write(|w| w.stopped().set().error().set().read().set().write().set());
+        } else {
+            r.intenclr
+                .write(|w| w.stopped().clear().error().clear().read().clear().write().clear());
+        }
+
+        // Start read operation.
+        r.tasks_preparerx.write(|w| unsafe { w.bits(1) });
+
+        Ok(())
+    }
+
+    fn setup_listen_end(&mut self, inten: bool) -> Result<(), Error> {
+        let r = T::regs();
+        compiler_fence(SeqCst);
+
+        // Clear events
+        r.events_read.reset();
+        r.events_write.reset();
+        r.events_stopped.reset();
+        r.events_error.reset();
+        self.clear_errorsrc();
+
+        if inten {
+            r.intenset.write(|w| w.stopped().set().error().set().read().set());
+        } else {
+            r.intenclr.write(|w| w.stopped().clear().error().clear().read().clear());
+        }
+
+        Ok(())
+    }
+
+    /// Wait for commands from an I2C master.
+    /// `buffer` is provided in case master does a 'write' and is unused for 'read'.
+    /// The buffer must have a length of at most 255 bytes on the nRF52832
+    /// and at most 65535 bytes on the nRF52840.
+    /// To know which one of the addresses were matched, call `address_match` or `address_match_index`
+    pub fn blocking_listen(&mut self, buffer: &mut [u8]) -> Result<Command, Error> {
+        self.setup_listen(buffer, false)?;
+        let status = self.blocking_listen_wait()?;
+        if status == Status::Write {
+            self.setup_listen_end(false)?;
+            let command = self.blocking_listen_wait_end(status)?;
+            return Ok(command);
+        }
+        Ok(Command::Read)
+    }
+
+    /// Respond to an I2C master READ command.
+    /// Returns the number of bytes written.
+    /// The buffer must have a length of at most 255 bytes on the nRF52832
+    /// and at most 65535 bytes on the nRF52840.
+    pub fn blocking_respond_to_read(&mut self, buffer: &[u8]) -> Result<usize, Error> {
+        self.setup_respond(buffer, false)?;
+        self.blocking_wait()
+    }
+
+    /// Same as [`blocking_respond_to_read`](Twis::blocking_respond_to_read) but will fail instead of copying data into RAM.
+    /// Consult the module level documentation to learn more.
+    pub fn blocking_respond_to_read_from_ram(&mut self, buffer: &[u8]) -> Result<usize, Error> {
+        self.setup_respond_from_ram(buffer, false)?;
+        self.blocking_wait()
+    }
+
+    // ===========================================
+
+    /// Wait for commands from an I2C master, with timeout.
+    /// `buffer` is provided in case master does a 'write' and is unused for 'read'.
+    /// The buffer must have a length of at most 255 bytes on the nRF52832
+    /// and at most 65535 bytes on the nRF52840.
+    /// To know which one of the addresses were matched, call `address_match` or `address_match_index`
+    #[cfg(feature = "time")]
+    pub fn blocking_listen_timeout(&mut self, buffer: &mut [u8], timeout: Duration) -> Result<Command, Error> {
+        self.setup_listen(buffer, false)?;
+        let status = self.blocking_listen_wait_timeout(timeout)?;
+        if status == Status::Write {
+            self.setup_listen_end(false)?;
+            let command = self.blocking_listen_wait_end_timeout(status, timeout)?;
+            return Ok(command);
+        }
+        Ok(Command::Read)
+    }
+
+    /// Respond to an I2C master READ command with timeout.
+    /// Returns the number of bytes written.
+    /// See [`blocking_respond_to_read`].
+    #[cfg(feature = "time")]
+    pub fn blocking_respond_to_read_timeout(&mut self, buffer: &[u8], timeout: Duration) -> Result<usize, Error> {
+        self.setup_respond(buffer, false)?;
+        self.blocking_wait_timeout(timeout)
+    }
+
+    /// Same as [`blocking_respond_to_read_timeout`](Twis::blocking_respond_to_read_timeout) but will fail instead of copying data into RAM.
+    /// Consult the module level documentation to learn more.
+    #[cfg(feature = "time")]
+    pub fn blocking_respond_to_read_from_ram_timeout(
+        &mut self,
+        buffer: &[u8],
+        timeout: Duration,
+    ) -> Result<usize, Error> {
+        self.setup_respond_from_ram(buffer, false)?;
+        self.blocking_wait_timeout(timeout)
+    }
+
+    // ===========================================
+
+    /// Wait asynchronously for commands from an I2C master.
+    /// `buffer` is provided in case master does a 'write' and is unused for 'read'.
+    /// The buffer must have a length of at most 255 bytes on the nRF52832
+    /// and at most 65535 bytes on the nRF52840.
+    /// To know which one of the addresses were matched, call `address_match` or `address_match_index`
+    pub async fn listen(&mut self, buffer: &mut [u8]) -> Result<Command, Error> {
+        self.setup_listen(buffer, true)?;
+        let status = self.async_listen_wait().await?;
+        if status == Status::Write {
+            self.setup_listen_end(true)?;
+            let command = self.async_listen_wait_end(status).await?;
+            return Ok(command);
+        }
+        Ok(Command::Read)
+    }
+
+    /// Respond to an I2C master READ command, asynchronously.
+    /// Returns the number of bytes written.
+    /// The buffer must have a length of at most 255 bytes on the nRF52832
+    /// and at most 65535 bytes on the nRF52840.
+    pub async fn respond_to_read(&mut self, buffer: &[u8]) -> Result<usize, Error> {
+        self.setup_respond(buffer, true)?;
+        self.async_wait().await
+    }
+
+    /// Same as [`respond_to_read`](Twis::respond_to_read) but will fail instead of copying data into RAM. Consult the module level documentation to learn more.
+    pub async fn respond_to_read_from_ram(&mut self, buffer: &[u8]) -> Result<usize, Error> {
+        self.setup_respond_from_ram(buffer, true)?;
+        self.async_wait().await
+    }
+}
+
+impl<'a, T: Instance> Drop for Twis<'a, T> {
+    fn drop(&mut self) {
+        trace!("twis drop");
+
+        // TODO: check for abort
+
+        // disable!
+        let r = T::regs();
+        r.enable.write(|w| w.enable().disabled());
+
+        gpio::deconfigure_pin(r.psel.sda.read().bits());
+        gpio::deconfigure_pin(r.psel.scl.read().bits());
+
+        trace!("twis drop: done");
+    }
+}
+
+pub(crate) mod sealed {
+    use super::*;
+
+    pub struct State {
+        pub waker: AtomicWaker,
+    }
+
+    impl State {
+        pub const fn new() -> Self {
+            Self {
+                waker: AtomicWaker::new(),
+            }
+        }
+    }
+
+    pub trait Instance {
+        fn regs() -> &'static pac::twis0::RegisterBlock;
+        fn state() -> &'static State;
+    }
+}
+
+pub trait Instance: Peripheral<P = Self> + sealed::Instance + 'static {
+    type Interrupt: Interrupt;
+}
+
+macro_rules! impl_twis {
+    ($type:ident, $pac_type:ident, $irq:ident) => {
+        impl crate::twis::sealed::Instance for peripherals::$type {
+            fn regs() -> &'static pac::twis0::RegisterBlock {
+                unsafe { &*pac::$pac_type::ptr() }
+            }
+            fn state() -> &'static crate::twis::sealed::State {
+                static STATE: crate::twis::sealed::State = crate::twis::sealed::State::new();
+                &STATE
+            }
+        }
+        impl crate::twis::Instance for peripherals::$type {
+            type Interrupt = crate::interrupt::$irq;
+        }
+    };
+}
diff --git a/examples/nrf/src/bin/twis.rs b/examples/nrf/src/bin/twis.rs
new file mode 100644
index 000000000..54cba9494
--- /dev/null
+++ b/examples/nrf/src/bin/twis.rs
@@ -0,0 +1,46 @@
+//! TWIS example
+
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_nrf::interrupt;
+use embassy_nrf::twis::{self, Command, Twis};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_nrf::init(Default::default());
+
+    let irq = interrupt::take!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
+    let mut config = twis::Config::default();
+    // Set i2c address
+    config.address0 = 0x55;
+    let mut i2c = Twis::new(p.TWISPI0, irq, p.P0_03, p.P0_04, config);
+
+    info!("Listening...");
+    loop {
+        let response = [1, 2, 3, 4, 5, 6, 7, 8];
+        // This buffer is used if the i2c master performs a Write or WriteRead
+        let mut buf = [0u8; 16];
+        match i2c.listen(&mut buf).await {
+            Ok(Command::Read) => {
+                info!("Got READ command. Respond with data:\n{:?}\n", response);
+                if let Err(e) = i2c.respond_to_read(&response).await {
+                    error!("{:?}", e);
+                }
+            }
+            Ok(Command::Write(n)) => info!("Got WRITE command with data:\n{:?}\n", buf[..n]),
+            Ok(Command::WriteRead(n)) => {
+                info!("Got WRITE/READ command with data:\n{:?}", buf[..n]);
+                info!("Respond with data:\n{:?}\n", response);
+                if let Err(e) = i2c.respond_to_read(&response).await {
+                    error!("{:?}", e);
+                }
+            }
+            Err(e) => error!("{:?}", e),
+        }
+    }
+}