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Merge branch 'fix/bootloader-async-updater' into feature/embassy-at-cmux

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This commit is contained in:
Mathias 2024-11-06 09:28:52 +01:00
commit 1097197a4e
89 changed files with 3059 additions and 2662 deletions
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2
embassy-boot/src/firmware_updater/asynch.rs
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@ -304,7 +304,7 @@ impl<'d, STATE: NorFlash> FirmwareState<'d, STATE> {
/// `mark_booted`.
pub async fn get_state(&mut self) -> Result<State, FirmwareUpdaterError> {
self.state.read(0, &mut self.aligned).await?;
Ok(State::from(&self.aligned))
Ok(State::from(&self.aligned[..STATE::WRITE_SIZE]))
}
/// Mark to trigger firmware swap on next boot.

17
embassy-executor-macros/src/macros/task.rs
View File

@ -1,3 +1,5 @@
use std::str::FromStr;
use darling::export::NestedMeta;
use darling::FromMeta;
use proc_macro2::{Span, TokenStream};
@ -11,6 +13,9 @@ use crate::util::*;
struct Args {
#[darling(default)]
pool_size: Option<syn::Expr>,
/// Use this to override the `embassy_executor` crate path. Defaults to `::embassy_executor`.
#[darling(default)]
embassy_executor: Option<syn::Expr>,
}
pub fn run(args: TokenStream, item: TokenStream) -> TokenStream {
@ -42,6 +47,10 @@ pub fn run(args: TokenStream, item: TokenStream) -> TokenStream {
lit: Lit::Int(LitInt::new("1", Span::call_site())),
}));
let embassy_executor = args
.embassy_executor
.unwrap_or(Expr::Verbatim(TokenStream::from_str("::embassy_executor").unwrap()));
if f.sig.asyncness.is_none() {
error(&mut errors, &f.sig, "task functions must be async");
}
@ -131,13 +140,13 @@ pub fn run(args: TokenStream, item: TokenStream) -> TokenStream {
}
const POOL_SIZE: usize = #pool_size;
static POOL: ::embassy_executor::raw::TaskPool<<() as _EmbassyInternalTaskTrait>::Fut, POOL_SIZE> = ::embassy_executor::raw::TaskPool::new();
static POOL: #embassy_executor::raw::TaskPool<<() as _EmbassyInternalTaskTrait>::Fut, POOL_SIZE> = #embassy_executor::raw::TaskPool::new();
unsafe { POOL._spawn_async_fn(move || <() as _EmbassyInternalTaskTrait>::construct(#(#full_args,)*)) }
};
#[cfg(not(feature = "nightly"))]
let mut task_outer_body = quote! {
const POOL_SIZE: usize = #pool_size;
static POOL: ::embassy_executor::_export::TaskPoolRef = ::embassy_executor::_export::TaskPoolRef::new();
static POOL: #embassy_executor::_export::TaskPoolRef = #embassy_executor::_export::TaskPoolRef::new();
unsafe { POOL.get::<_, POOL_SIZE>()._spawn_async_fn(move || #task_inner_ident(#(#full_args,)*)) }
};
@ -146,7 +155,7 @@ pub fn run(args: TokenStream, item: TokenStream) -> TokenStream {
if !errors.is_empty() {
task_outer_body = quote! {
#![allow(unused_variables, unreachable_code)]
let _x: ::embassy_executor::SpawnToken<()> = ::core::todo!();
let _x: #embassy_executor::SpawnToken<()> = ::core::todo!();
_x
};
}
@ -164,7 +173,7 @@ pub fn run(args: TokenStream, item: TokenStream) -> TokenStream {
#task_inner
#(#task_outer_attrs)*
#visibility fn #task_ident #generics (#fargs) -> ::embassy_executor::SpawnToken<impl Sized> #where_clause{
#visibility fn #task_ident #generics (#fargs) -> #embassy_executor::SpawnToken<impl Sized> #where_clause{
#task_outer_body
}

3
embassy-net-nrf91/Cargo.toml
View File

@ -17,7 +17,8 @@ log = [ "dep:log" ]
defmt = { version = "0.3", optional = true }
log = { version = "0.4.14", optional = true }
nrf9160-pac = { version = "0.12.0" }
nrf-pac = { git = "https://github.com/embassy-rs/nrf-pac", rev = "875a29629cc1c87aae00cfea647a956b3807d8be" }
cortex-m = "0.7.7"
embassy-time = { version = "0.3.1", path = "../embassy-time" }
embassy-sync = { version = "0.6.0", path = "../embassy-sync"}

78
embassy-net-nrf91/src/lib.rs
View File

@ -17,12 +17,12 @@ use core::slice;
use core::sync::atomic::{compiler_fence, fence, Ordering};
use core::task::{Poll, Waker};
use cortex_m::peripheral::NVIC;
use embassy_sync::blocking_mutex::raw::NoopRawMutex;
use embassy_sync::pipe;
use embassy_sync::waitqueue::{AtomicWaker, WakerRegistration};
use heapless::Vec;
use pac::NVIC;
use {embassy_net_driver_channel as ch, nrf9160_pac as pac};
use {embassy_net_driver_channel as ch, nrf_pac as pac};
const RX_SIZE: usize = 8 * 1024;
const TRACE_SIZE: usize = 16 * 1024;
@ -38,11 +38,9 @@ static WAKER: AtomicWaker = AtomicWaker::new();
/// Call this function on IPC IRQ
pub fn on_ipc_irq() {
let ipc = unsafe { &*pac::IPC_NS::ptr() };
trace!("irq");
ipc.inten.write(|w| w);
pac::IPC_NS.inten().write(|_| ());
WAKER.wake();
}
@ -135,22 +133,21 @@ async fn new_internal<'a>(
"shmem must be in the lower 128kb of RAM"
);
let spu = unsafe { &*pac::SPU_S::ptr() };
let spu = pac::SPU_S;
debug!("Setting IPC RAM as nonsecure...");
let region_start = (shmem_ptr as usize - 0x2000_0000) / SPU_REGION_SIZE;
let region_end = region_start + shmem_len / SPU_REGION_SIZE;
for i in region_start..region_end {
spu.ramregion[i].perm.write(|w| {
w.execute().set_bit();
w.write().set_bit();
w.read().set_bit();
w.secattr().clear_bit();
w.lock().clear_bit();
w
spu.ramregion(i).perm().write(|w| {
w.set_execute(true);
w.set_write(true);
w.set_read(true);
w.set_secattr(false);
w.set_lock(false);
})
}
spu.periphid[42].perm.write(|w| w.secattr().non_secure());
spu.periphid(42).perm().write(|w| w.set_secattr(false));
let mut alloc = Allocator {
start: shmem_ptr,
@ -158,8 +155,8 @@ async fn new_internal<'a>(
_phantom: PhantomData,
};
let ipc = unsafe { &*pac::IPC_NS::ptr() };
let power = unsafe { &*pac::POWER_S::ptr() };
let ipc = pac::IPC_NS;
let power = pac::POWER_S;
let cb: &mut ControlBlock = alloc.alloc().write(unsafe { mem::zeroed() });
let rx = alloc.alloc_bytes(RX_SIZE);
@ -177,20 +174,20 @@ async fn new_internal<'a>(
cb.trace.base = trace.as_mut_ptr() as _;
cb.trace.size = TRACE_SIZE;
ipc.gpmem[0].write(|w| unsafe { w.bits(cb as *mut _ as u32) });
ipc.gpmem[1].write(|w| unsafe { w.bits(0) });
ipc.gpmem(0).write_value(cb as *mut _ as u32);
ipc.gpmem(1).write_value(0);
// connect task/event i to channel i
for i in 0..8 {
ipc.send_cnf[i].write(|w| unsafe { w.bits(1 << i) });
ipc.receive_cnf[i].write(|w| unsafe { w.bits(1 << i) });
ipc.send_cnf(i).write(|w| w.0 = 1 << i);
ipc.receive_cnf(i).write(|w| w.0 = 1 << i);
}
compiler_fence(Ordering::SeqCst);
// POWER.LTEMODEM.STARTN = 0
// The reg is missing in the PAC??
let startn = unsafe { (power as *const _ as *mut u32).add(0x610 / 4) };
let startn = unsafe { (power.as_ptr() as *mut u32).add(0x610 / 4) };
unsafe { startn.write_volatile(0) }
unsafe { NVIC::unmask(pac::Interrupt::IPC) };
@ -322,15 +319,15 @@ struct StateInner {
impl StateInner {
fn poll(&mut self, trace_writer: &mut Option<TraceWriter<'_>>, ch: &mut ch::Runner<MTU>) {
trace!("poll!");
let ipc = unsafe { &*pac::IPC_NS::ptr() };
let ipc = pac::IPC_NS;
if ipc.events_receive[0].read().bits() != 0 {
ipc.events_receive[0].reset();
if ipc.events_receive(0).read() != 0 {
ipc.events_receive(0).write_value(0);
trace!("ipc 0");
}
if ipc.events_receive[2].read().bits() != 0 {
ipc.events_receive[2].reset();
if ipc.events_receive(2).read() != 0 {
ipc.events_receive(2).write_value(0);
trace!("ipc 2");
if !self.init {
@ -353,8 +350,8 @@ impl StateInner {
}
}
if ipc.events_receive[4].read().bits() != 0 {
ipc.events_receive[4].reset();
if ipc.events_receive(4).read() != 0 {
ipc.events_receive(4).write_value(0);
trace!("ipc 4");
loop {
@ -368,13 +365,13 @@ impl StateInner {
}
}
if ipc.events_receive[6].read().bits() != 0 {
ipc.events_receive[6].reset();
if ipc.events_receive(6).read() != 0 {
ipc.events_receive(6).write_value(0);
trace!("ipc 6");
}
if ipc.events_receive[7].read().bits() != 0 {
ipc.events_receive[7].reset();
if ipc.events_receive(7).read() != 0 {
ipc.events_receive(7).write_value(0);
trace!("ipc 7: trace");
let msg = unsafe { addr_of!((*self.cb).trace.rx_state).read_volatile() };
@ -437,13 +434,12 @@ impl StateInner {
}
}
ipc.intenset.write(|w| {
w.receive0().set_bit();
w.receive2().set_bit();
w.receive4().set_bit();
w.receive6().set_bit();
w.receive7().set_bit();
w
ipc.intenset().write(|w| {
w.set_receive0(true);
w.set_receive2(true);
w.set_receive4(true);
w.set_receive6(true);
w.set_receive7(true);
});
}
@ -546,8 +542,8 @@ impl StateInner {
unsafe { addr_of_mut!((*list_item).state).write_volatile((self.tx_seq_no as u32) << 16 | 0x01) }
self.tx_seq_no = self.tx_seq_no.wrapping_add(1);
let ipc = unsafe { &*pac::IPC_NS::ptr() };
ipc.tasks_send[ipc_ch].write(|w| unsafe { w.bits(1) });
let ipc = pac::IPC_NS;
ipc.tasks_send(ipc_ch).write_value(1);
Ok(())
}

4
embassy-net/src/driver_util.rs
View File

@ -84,7 +84,7 @@ where
{
self.0.consume(|buf| {
#[cfg(feature = "packet-trace")]
trace!("rx: {:?}", buf);
trace!("embassy device rx: {:02x}", buf);
f(buf)
})
}
@ -105,7 +105,7 @@ where
self.0.consume(len, |buf| {
let r = f(buf);
#[cfg(feature = "packet-trace")]
trace!("tx: {:?}", buf);
trace!("embassy device tx: {:02x}", buf);
r
})
}

40
embassy-net/src/lib.rs
View File

@ -33,14 +33,14 @@ pub use embassy_net_driver as driver;
use embassy_net_driver::{Driver, LinkState};
use embassy_sync::waitqueue::WakerRegistration;
use embassy_time::{Instant, Timer};
#[allow(unused_imports)]
use heapless::Vec;
#[cfg(feature = "dns")]
pub use smoltcp::config::DNS_MAX_SERVER_COUNT;
#[cfg(feature = "multicast")]
pub use smoltcp::iface::MulticastError;
#[allow(unused_imports)]
use smoltcp::iface::{Interface, SocketHandle, SocketSet, SocketStorage};
#[cfg(any(feature = "dns", feature = "dhcpv4"))]
use smoltcp::iface::SocketHandle;
use smoltcp::iface::{Interface, SocketSet, SocketStorage};
use smoltcp::phy::Medium;
#[cfg(feature = "dhcpv4")]
use smoltcp::socket::dhcpv4::{self, RetryConfig};
@ -379,11 +379,11 @@ fn to_smoltcp_hardware_address(addr: driver::HardwareAddress) -> (HardwareAddres
impl<'d> Stack<'d> {
fn with<R>(&self, f: impl FnOnce(&Inner) -> R) -> R {
f(&*self.inner.borrow())
f(&self.inner.borrow())
}
fn with_mut<R>(&self, f: impl FnOnce(&mut Inner) -> R) -> R {
f(&mut *self.inner.borrow_mut())
f(&mut self.inner.borrow_mut())
}
/// Get the hardware address of the network interface.
@ -391,12 +391,12 @@ impl<'d> Stack<'d> {
self.with(|i| i.hardware_address)
}
/// Get whether the link is up.
/// Check whether the link is up.
pub fn is_link_up(&self) -> bool {
self.with(|i| i.link_up)
}
/// Get whether the network stack has a valid IP configuration.
/// Check whether the network stack has a valid IP configuration.
/// This is true if the network stack has a static IP configuration or if DHCP has completed
pub fn is_config_up(&self) -> bool {
let v4_up;
@ -642,7 +642,7 @@ impl<'d> Stack<'d> {
}
impl Inner {
#[allow(clippy::absurd_extreme_comparisons, dead_code)]
#[allow(clippy::absurd_extreme_comparisons)]
pub fn get_local_port(&mut self) -> u16 {
let res = self.next_local_port;
self.next_local_port = if res >= LOCAL_PORT_MAX { LOCAL_PORT_MIN } else { res + 1 };
@ -732,7 +732,7 @@ impl Inner {
debug!(" Default gateway: {:?}", config.gateway);
unwrap!(addrs.push(IpCidr::Ipv4(config.address)).ok());
gateway_v4 = config.gateway.into();
gateway_v4 = config.gateway;
#[cfg(feature = "dns")]
for s in &config.dns_servers {
debug!(" DNS server: {:?}", s);
@ -831,22 +831,19 @@ impl Inner {
self.state_waker.wake();
}
#[allow(unused_mut)]
let mut apply_config = false;
#[cfg(feature = "dhcpv4")]
if let Some(dhcp_handle) = self.dhcp_socket {
let socket = self.sockets.get_mut::<dhcpv4::Socket>(dhcp_handle);
if self.link_up {
let configure = if self.link_up {
if old_link_up != self.link_up {
socket.reset();
}
match socket.poll() {
None => {}
None => false,
Some(dhcpv4::Event::Deconfigured) => {
self.static_v4 = None;
apply_config = true;
true
}
Some(dhcpv4::Event::Configured(config)) => {
self.static_v4 = Some(StaticConfigV4 {
@ -854,20 +851,21 @@ impl Inner {
gateway: config.router,
dns_servers: config.dns_servers,
});
apply_config = true;
true
}
}
} else if old_link_up {
socket.reset();
self.static_v4 = None;
apply_config = true;
true
} else {
false
};
if configure {
self.apply_static_config()
}
}
if apply_config {
self.apply_static_config();
}
if let Some(poll_at) = self.iface.poll_at(timestamp, &mut self.sockets) {
let t = pin!(Timer::at(instant_from_smoltcp(poll_at)));
if t.poll(cx).is_ready() {

55
embassy-net/src/raw.rs
View File

@ -8,7 +8,7 @@ use embassy_net_driver::Driver;
use smoltcp::iface::{Interface, SocketHandle};
use smoltcp::socket::raw;
pub use smoltcp::socket::raw::PacketMetadata;
use smoltcp::wire::{IpProtocol, IpVersion};
pub use smoltcp::wire::{IpProtocol, IpVersion};
use crate::Stack;
@ -62,6 +62,14 @@ impl<'a> RawSocket<'a> {
})
}
/// Wait until the socket becomes readable.
///
/// A socket is readable when a packet has been received, or when there are queued packets in
/// the buffer.
pub async fn wait_recv_ready(&self) {
poll_fn(move |cx| self.poll_recv_ready(cx)).await
}
/// Receive a datagram.
///
/// This method will wait until a datagram is received.
@ -69,6 +77,24 @@ impl<'a> RawSocket<'a> {
poll_fn(move |cx| self.poll_recv(buf, cx)).await
}
/// Wait until a datagram can be read.
///
/// When no datagram is readable, this method will return `Poll::Pending` and
/// register the current task to be notified when a datagram is received.
///
/// When a datagram is received, this method will return `Poll::Ready`.
pub fn poll_recv_ready(&self, cx: &mut Context<'_>) -> Poll<()> {
self.with_mut(|s, _| {
if s.can_recv() {
Poll::Ready(())
} else {
// socket buffer is empty wait until at least one byte has arrived
s.register_recv_waker(cx.waker());
Poll::Pending
}
})
}
/// Receive a datagram.
///
/// When no datagram is available, this method will return `Poll::Pending` and
@ -85,6 +111,33 @@ impl<'a> RawSocket<'a> {
})
}
/// Wait until the socket becomes writable.
///
/// A socket becomes writable when there is space in the buffer, from initial memory or after
/// dispatching datagrams on a full buffer.
pub async fn wait_send_ready(&self) {
poll_fn(move |cx| self.poll_send_ready(cx)).await
}
/// Wait until a datagram can be sent.
///
/// When no datagram can be sent (i.e. the buffer is full), this method will return
/// `Poll::Pending` and register the current task to be notified when
/// space is freed in the buffer after a datagram has been dispatched.
///
/// When a datagram can be sent, this method will return `Poll::Ready`.
pub fn poll_send_ready(&self, cx: &mut Context<'_>) -> Poll<()> {
self.with_mut(|s, _| {
if s.can_send() {
Poll::Ready(())
} else {
// socket buffer is full wait until a datagram has been dispatched
s.register_send_waker(cx.waker());
Poll::Pending
}
})
}
/// Send a datagram.
///
/// This method will wait until the datagram has been sent.`

24
embassy-net/src/tcp.rs
View File

@ -73,6 +73,16 @@ pub struct TcpWriter<'a> {
}
impl<'a> TcpReader<'a> {
/// Wait until the socket becomes readable.
///
/// A socket becomes readable when the receive half of the full-duplex connection is open
/// (see [`may_recv()`](TcpSocket::may_recv)), and there is some pending data in the receive buffer.
///
/// This is the equivalent of [read](#method.read), without buffering any data.
pub async fn wait_read_ready(&self) {
poll_fn(move |cx| self.io.poll_read_ready(cx)).await
}
/// Read data from the socket.
///
/// Returns how many bytes were read, or an error. If no data is available, it waits
@ -115,6 +125,16 @@ impl<'a> TcpReader<'a> {
}
impl<'a> TcpWriter<'a> {
/// Wait until the socket becomes writable.
///
/// A socket becomes writable when the transmit half of the full-duplex connection is open
/// (see [`may_send()`](TcpSocket::may_send)), and the transmit buffer is not full.
///
/// This is the equivalent of [write](#method.write), without sending any data.
pub async fn wait_write_ready(&self) {
poll_fn(move |cx| self.io.poll_write_ready(cx)).await
}
/// Write data to the socket.
///
/// Returns how many bytes were written, or an error. If the socket is not ready to
@ -166,7 +186,7 @@ impl<'a> TcpSocket<'a> {
});
Self {
io: TcpIo { stack: stack, handle },
io: TcpIo { stack, handle },
}
}
@ -786,7 +806,7 @@ pub mod client {
};
let remote_endpoint = (addr, remote.port());
let mut socket = TcpConnection::new(self.stack, self.state)?;
socket.socket.set_timeout(self.socket_timeout.clone());
socket.socket.set_timeout(self.socket_timeout);
socket
.socket
.connect(remote_endpoint)

54
embassy-nrf/Cargo.toml
View File

@ -28,20 +28,7 @@ rustdoc-args = ["--cfg", "docsrs"]
[features]
default = ["rt"]
## Cortex-M runtime (enabled by default)
rt = [
"nrf51-pac?/rt",
"nrf52805-pac?/rt",
"nrf52810-pac?/rt",
"nrf52811-pac?/rt",
"nrf52820-pac?/rt",
"nrf52832-pac?/rt",
"nrf52833-pac?/rt",
"nrf52840-pac?/rt",
"nrf5340-app-pac?/rt",
"nrf5340-net-pac?/rt",
"nrf9160-pac?/rt",
"nrf9120-pac?/rt",
]
rt = ["nrf-pac/rt"]
## Enable features requiring `embassy-time`
time = ["dep:embassy-time"]
@ -75,21 +62,21 @@ qspi-multiwrite-flash = []
#! ### Chip selection features
## nRF51
nrf51 = ["nrf51-pac", "_nrf51"]
nrf51 = ["nrf-pac/nrf51", "_nrf51"]
## nRF52805
nrf52805 = ["nrf52805-pac", "_nrf52"]
nrf52805 = ["nrf-pac/nrf52805", "_nrf52"]
## nRF52810
nrf52810 = ["nrf52810-pac", "_nrf52"]
nrf52810 = ["nrf-pac/nrf52810", "_nrf52"]
## nRF52811
nrf52811 = ["nrf52811-pac", "_nrf52"]
nrf52811 = ["nrf-pac/nrf52811", "_nrf52"]
## nRF52820
nrf52820 = ["nrf52820-pac", "_nrf52"]
nrf52820 = ["nrf-pac/nrf52820", "_nrf52"]
## nRF52832
nrf52832 = ["nrf52832-pac", "_nrf52", "_nrf52832_anomaly_109"]
nrf52832 = ["nrf-pac/nrf52832", "_nrf52", "_nrf52832_anomaly_109"]
## nRF52833
nrf52833 = ["nrf52833-pac", "_nrf52", "_gpio-p1"]
nrf52833 = ["nrf-pac/nrf52833", "_nrf52", "_gpio-p1"]
## nRF52840
nrf52840 = ["nrf52840-pac", "_nrf52", "_gpio-p1"]
nrf52840 = ["nrf-pac/nrf52840", "_nrf52", "_gpio-p1"]
## nRF5340 application core in Secure mode
nrf5340-app-s = ["_nrf5340-app", "_s"]
## nRF5340 application core in Non-Secure mode
@ -113,11 +100,11 @@ nrf9161-ns = ["nrf9120-ns"]
# Features starting with `_` are for internal use only. They're not intended
# to be enabled by other crates, and are not covered by semver guarantees.
_nrf5340-app = ["_nrf5340", "nrf5340-app-pac"]
_nrf5340-net = ["_nrf5340", "nrf5340-net-pac"]
_nrf5340-app = ["_nrf5340", "nrf-pac/nrf5340-app"]
_nrf5340-net = ["_nrf5340", "nrf-pac/nrf5340-net"]
_nrf5340 = ["_gpio-p1", "_dppi"]
_nrf9160 = ["nrf9160-pac", "_dppi"]
_nrf9120 = ["nrf9120-pac", "_dppi"]
_nrf9160 = ["nrf-pac/nrf9160", "_dppi"]
_nrf9120 = ["nrf-pac/nrf9120", "_dppi"]
_nrf52 = ["_ppi"]
_nrf51 = ["_ppi"]
_nrf91 = []
@ -149,6 +136,8 @@ embedded-hal-async = { version = "1.0" }
embedded-io = { version = "0.6.0" }
embedded-io-async = { version = "0.6.1" }
nrf-pac = { git = "https://github.com/embassy-rs/nrf-pac", rev = "875a29629cc1c87aae00cfea647a956b3807d8be" }
defmt = { version = "0.3", optional = true }
bitflags = "2.4.2"
log = { version = "0.4.14", optional = true }
@ -161,16 +150,3 @@ embedded-storage = "0.3.1"
embedded-storage-async = "0.4.1"
cfg-if = "1.0.0"
document-features = "0.2.7"
nrf51-pac = { version = "0.12.0", optional = true }
nrf52805-pac = { version = "0.12.0", optional = true }
nrf52810-pac = { version = "0.12.0", optional = true }
nrf52811-pac = { version = "0.12.0", optional = true }
nrf52820-pac = { version = "0.12.0", optional = true }
nrf52832-pac = { version = "0.12.0", optional = true }
nrf52833-pac = { version = "0.12.0", optional = true }
nrf52840-pac = { version = "0.12.0", optional = true }
nrf5340-app-pac = { version = "0.12.0", optional = true }
nrf5340-net-pac = { version = "0.12.0", optional = true }
nrf9160-pac = { version = "0.12.0", optional = true }
nrf9120-pac = { version = "0.12.0", optional = true }

157
embassy-nrf/src/buffered_uarte.rs
View File

@ -17,16 +17,17 @@ use core::task::Poll;
use embassy_hal_internal::atomic_ring_buffer::RingBuffer;
use embassy_hal_internal::{into_ref, PeripheralRef};
use pac::uarte::vals;
// Re-export SVD variants to allow user to directly set values
pub use pac::uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity};
pub use pac::uarte::vals::{Baudrate, ConfigParity as Parity};
use crate::gpio::{AnyPin, Pin as GpioPin, PselBits, SealedPin};
use crate::gpio::{AnyPin, Pin as GpioPin};
use crate::interrupt::typelevel::Interrupt;
use crate::ppi::{
self, AnyConfigurableChannel, AnyGroup, Channel, ConfigurableChannel, Event, Group, Ppi, PpiGroup, Task,
};
use crate::timer::{Instance as TimerInstance, Timer};
use crate::uarte::{configure, drop_tx_rx, Config, Instance as UarteInstance};
use crate::uarte::{configure, configure_rx_pins, configure_tx_pins, drop_tx_rx, Config, Instance as UarteInstance};
use crate::{interrupt, pac, Peripheral, EASY_DMA_SIZE};
pub(crate) struct State {
@ -79,57 +80,57 @@ impl<U: UarteInstance> interrupt::typelevel::Handler<U::Interrupt> for Interrupt
let buf_len = s.rx_buf.len();
let half_len = buf_len / 2;
if r.events_error.read().bits() != 0 {
r.events_error.reset();
let errs = r.errorsrc.read();
r.errorsrc.write(|w| unsafe { w.bits(errs.bits()) });
if r.events_error().read() != 0 {
r.events_error().write_value(0);
let errs = r.errorsrc().read();
r.errorsrc().write_value(errs);
if errs.overrun().bit() {
if errs.overrun() {
panic!("BufferedUarte overrun");
}
}
// Received some bytes, wake task.
if r.inten.read().rxdrdy().bit_is_set() && r.events_rxdrdy.read().bits() != 0 {
r.intenclr.write(|w| w.rxdrdy().clear());
r.events_rxdrdy.reset();
if r.inten().read().rxdrdy() && r.events_rxdrdy().read() != 0 {
r.intenclr().write(|w| w.set_rxdrdy(true));
r.events_rxdrdy().write_value(0);
ss.rx_waker.wake();
}
if r.events_endrx.read().bits() != 0 {
if r.events_endrx().read() != 0 {
//trace!(" irq_rx: endrx");
r.events_endrx.reset();
r.events_endrx().write_value(0);
let val = s.rx_ended_count.load(Ordering::Relaxed);
s.rx_ended_count.store(val.wrapping_add(1), Ordering::Relaxed);
}
if r.events_rxstarted.read().bits() != 0 || !s.rx_started.load(Ordering::Relaxed) {
if r.events_rxstarted().read() != 0 || !s.rx_started.load(Ordering::Relaxed) {
//trace!(" irq_rx: rxstarted");
let (ptr, len) = rx.push_buf();
if len >= half_len {
r.events_rxstarted.reset();
r.events_rxstarted().write_value(0);
//trace!(" irq_rx: starting second {:?}", half_len);
// Set up the DMA read
r.rxd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
r.rxd.maxcnt.write(|w| unsafe { w.maxcnt().bits(half_len as _) });
r.rxd().ptr().write_value(ptr as u32);
r.rxd().maxcnt().write(|w| w.set_maxcnt(half_len as _));
let chn = s.rx_ppi_ch.load(Ordering::Relaxed);
// Enable endrx -> startrx PPI channel.
// From this point on, if endrx happens, startrx is automatically fired.
ppi::regs().chenset.write(|w| unsafe { w.bits(1 << chn) });
ppi::regs().chenset().write(|w| w.0 = 1 << chn);
// It is possible that endrx happened BEFORE enabling the PPI. In this case
// the PPI channel doesn't trigger, and we'd hang. We have to detect this
// and manually start.
// check again in case endrx has happened between the last check and now.
if r.events_endrx.read().bits() != 0 {
if r.events_endrx().read() != 0 {
//trace!(" irq_rx: endrx");
r.events_endrx.reset();
r.events_endrx().write_value(0);
let val = s.rx_ended_count.load(Ordering::Relaxed);
s.rx_ended_count.store(val.wrapping_add(1), Ordering::Relaxed);
@ -144,7 +145,7 @@ impl<U: UarteInstance> interrupt::typelevel::Handler<U::Interrupt> for Interrupt
// Check if the PPI channel is still enabled. The PPI channel disables itself
// when it fires, so if it's still enabled it hasn't fired.
let ppi_ch_enabled = ppi::regs().chen.read().bits() & (1 << chn) != 0;
let ppi_ch_enabled = ppi::regs().chen().read().ch(chn as _);
// if rxend happened, and the ppi channel hasn't fired yet, the rxend got missed.
// this condition also naturally matches if `!started`, needed to kickstart the DMA.
@ -152,10 +153,10 @@ impl<U: UarteInstance> interrupt::typelevel::Handler<U::Interrupt> for Interrupt
//trace!("manually starting.");
// disable the ppi ch, it's of no use anymore.
ppi::regs().chenclr.write(|w| unsafe { w.bits(1 << chn) });
ppi::regs().chenclr().write(|w| w.set_ch(chn as _, true));
// manually start
r.tasks_startrx.write(|w| unsafe { w.bits(1) });
r.tasks_startrx().write_value(1);
}
rx.push_done(half_len);
@ -164,7 +165,7 @@ impl<U: UarteInstance> interrupt::typelevel::Handler<U::Interrupt> for Interrupt
s.rx_started.store(true, Ordering::Relaxed);
} else {
//trace!(" irq_rx: rxstarted no buf");
r.intenclr.write(|w| w.rxstarted().clear());
r.intenclr().write(|w| w.set_rxstarted(true));
}
}
}
@ -173,8 +174,8 @@ impl<U: UarteInstance> interrupt::typelevel::Handler<U::Interrupt> for Interrupt
if let Some(mut tx) = unsafe { s.tx_buf.try_reader() } {
// TX end
if r.events_endtx.read().bits() != 0 {
r.events_endtx.reset();
if r.events_endtx().read() != 0 {
r.events_endtx().write_value(0);
let n = s.tx_count.load(Ordering::Relaxed);
//trace!(" irq_tx: endtx {:?}", n);
@ -192,11 +193,11 @@ impl<U: UarteInstance> interrupt::typelevel::Handler<U::Interrupt> for Interrupt
s.tx_count.store(len, Ordering::Relaxed);
// Set up the DMA write
r.txd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
r.txd.maxcnt.write(|w| unsafe { w.maxcnt().bits(len as _) });
r.txd().ptr().write_value(ptr as u32);
r.txd().maxcnt().write(|w| w.set_maxcnt(len as _));
// Start UARTE Transmit transaction
r.tasks_starttx.write(|w| unsafe { w.bits(1) });
r.tasks_starttx().write_value(1);
}
}
}
@ -308,7 +309,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarte<'d, U, T> {
let tx = BufferedUarteTx::new_innerer(unsafe { peri.clone_unchecked() }, txd, cts, tx_buffer);
let rx = BufferedUarteRx::new_innerer(peri, timer, ppi_ch1, ppi_ch2, ppi_group, rxd, rts, rx_buffer);
U::regs().enable.write(|w| w.enable().enabled());
U::regs().enable().write(|w| w.set_enable(vals::Enable::ENABLED));
U::Interrupt::pend();
unsafe { U::Interrupt::enable() };
@ -320,7 +321,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarte<'d, U, T> {
/// Adjust the baud rate to the provided value.
pub fn set_baudrate(&mut self, baudrate: Baudrate) {
let r = U::regs();
r.baudrate.write(|w| w.baudrate().variant(baudrate));
r.baudrate().write(|w| w.set_baudrate(baudrate));
}
/// Split the UART in reader and writer parts.
@ -415,7 +416,7 @@ impl<'d, U: UarteInstance> BufferedUarteTx<'d, U> {
let this = Self::new_innerer(peri, txd, cts, tx_buffer);
U::regs().enable.write(|w| w.enable().enabled());
U::regs().enable().write(|w| w.set_enable(vals::Enable::ENABLED));
U::Interrupt::pend();
unsafe { U::Interrupt::enable() };
@ -432,14 +433,7 @@ impl<'d, U: UarteInstance> BufferedUarteTx<'d, U> {
) -> Self {
let r = U::regs();
txd.set_high();
txd.conf().write(|w| w.dir().output().drive().h0h1());
r.psel.txd.write(|w| unsafe { w.bits(txd.psel_bits()) });
if let Some(pin) = &cts {
pin.conf().write(|w| w.input().connect().drive().h0h1());
}
r.psel.cts.write(|w| unsafe { w.bits(cts.psel_bits()) });
configure_tx_pins(r, txd, cts);
// Initialize state
let s = U::buffered_state();
@ -447,12 +441,11 @@ impl<'d, U: UarteInstance> BufferedUarteTx<'d, U> {
let len = tx_buffer.len();
unsafe { s.tx_buf.init(tx_buffer.as_mut_ptr(), len) };
r.events_txstarted.reset();
r.events_txstarted().write_value(0);
// Enable interrupts
r.intenset.write(|w| {
w.endtx().set();
w
r.intenset().write(|w| {
w.set_endtx(true);
});
Self { _peri: peri }
@ -532,15 +525,14 @@ impl<'a, U: UarteInstance> Drop for BufferedUarteTx<'a, U> {
fn drop(&mut self) {
let r = U::regs();
r.intenclr.write(|w| {
w.txdrdy().set_bit();
w.txstarted().set_bit();
w.txstopped().set_bit();
w
r.intenclr().write(|w| {
w.set_txdrdy(true);
w.set_txstarted(true);
w.set_txstopped(true);
});
r.events_txstopped.reset();
r.tasks_stoptx.write(|w| unsafe { w.bits(1) });
while r.events_txstopped.read().bits() == 0 {}
r.events_txstopped().write_value(0);
r.tasks_stoptx().write_value(1);
while r.events_txstopped().read() == 0 {}
let s = U::buffered_state();
unsafe { s.tx_buf.deinit() }
@ -639,7 +631,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarteRx<'d, U, T> {
let this = Self::new_innerer(peri, timer, ppi_ch1, ppi_ch2, ppi_group, rxd, rts, rx_buffer);
U::regs().enable.write(|w| w.enable().enabled());
U::regs().enable().write(|w| w.set_enable(vals::Enable::ENABLED));
U::Interrupt::pend();
unsafe { U::Interrupt::enable() };
@ -663,14 +655,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarteRx<'d, U, T> {
let r = U::regs();
rxd.conf().write(|w| w.input().connect().drive().h0h1());
r.psel.rxd.write(|w| unsafe { w.bits(rxd.psel_bits()) });
if let Some(pin) = &rts {
pin.set_high();
pin.conf().write(|w| w.dir().output().drive().h0h1());
}
r.psel.rts.write(|w| unsafe { w.bits(rts.psel_bits()) });
configure_rx_pins(r, rxd, rts);
// Initialize state
let s = U::buffered_state();
@ -681,20 +666,19 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarteRx<'d, U, T> {
unsafe { s.rx_buf.init(rx_buffer.as_mut_ptr(), rx_len) };
// clear errors
let errors = r.errorsrc.read().bits();
r.errorsrc.write(|w| unsafe { w.bits(errors) });
let errors = r.errorsrc().read();
r.errorsrc().write_value(errors);
r.events_rxstarted.reset();
r.events_error.reset();
r.events_endrx.reset();
r.events_rxstarted().write_value(0);
r.events_error().write_value(0);
r.events_endrx().write_value(0);
// Enable interrupts
r.intenset.write(|w| {
w.endtx().set();
w.rxstarted().set();
w.error().set();
w.endrx().set();
w
r.intenset().write(|w| {
w.set_endtx(true);
w.set_rxstarted(true);
w.set_error(true);
w.set_endrx(true);
});
// Configure byte counter.
@ -704,15 +688,15 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarteRx<'d, U, T> {
timer.clear();
timer.start();
let mut ppi_ch1 = Ppi::new_one_to_one(ppi_ch1, Event::from_reg(&r.events_rxdrdy), timer.task_count());
let mut ppi_ch1 = Ppi::new_one_to_one(ppi_ch1, Event::from_reg(r.events_rxdrdy()), timer.task_count());
ppi_ch1.enable();
s.rx_ppi_ch.store(ppi_ch2.number() as u8, Ordering::Relaxed);
let mut ppi_group = PpiGroup::new(ppi_group);
let mut ppi_ch2 = Ppi::new_one_to_two(
ppi_ch2,
Event::from_reg(&r.events_endrx),
Task::from_reg(&r.tasks_startrx),
Event::from_reg(r.events_endrx()),
Task::from_reg(r.tasks_startrx()),
ppi_group.task_disable_all(),
);
ppi_ch2.disable();
@ -747,8 +731,8 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarteRx<'d, U, T> {
let ss = U::state();
// Read the RXDRDY counter.
T::regs().tasks_capture[0].write(|w| unsafe { w.bits(1) });
let mut end = T::regs().cc[0].read().bits() as usize;
T::regs().tasks_capture(0).write_value(1);
let mut end = T::regs().cc(0).read() as usize;
//trace!(" rxdrdy count = {:?}", end);
// We've set a compare channel that resets the counter to 0 when it reaches `len*2`.
@ -769,7 +753,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarteRx<'d, U, T> {
if start == end {
//trace!(" empty");
ss.rx_waker.register(cx.waker());
r.intenset.write(|w| w.rxdrdy().set_bit());
r.intenset().write(|w| w.set_rxdrdy(true));
return Poll::Pending;
}
@ -799,7 +783,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarteRx<'d, U, T> {
let s = U::buffered_state();
let mut rx = unsafe { s.rx_buf.reader() };
rx.pop_done(amt);
U::regs().intenset.write(|w| w.rxstarted().set());
U::regs().intenset().write(|w| w.set_rxstarted(true));
}
/// we are ready to read if there is data in the buffer
@ -817,15 +801,14 @@ impl<'a, U: UarteInstance, T: TimerInstance> Drop for BufferedUarteRx<'a, U, T>
self.timer.stop();
r.intenclr.write(|w| {
w.rxdrdy().set_bit();
w.rxstarted().set_bit();
w.rxto().set_bit();
w
r.intenclr().write(|w| {
w.set_rxdrdy(true);
w.set_rxstarted(true);
w.set_rxto(true);
});
r.events_rxto.reset();
r.tasks_stoprx.write(|w| unsafe { w.bits(1) });
while r.events_rxto.read().bits() == 0 {}
r.events_rxto().write_value(0);
r.tasks_stoprx().write_value(1);
while r.events_rxto().read() == 0 {}
let s = U::buffered_state();
unsafe { s.rx_buf.deinit() }

2
embassy-nrf/src/chips/nrf51.rs
View File

@ -1,4 +1,4 @@
pub use nrf51_pac as pac;
pub use nrf_pac as pac;
/// The maximum buffer size that the EasyDMA can send/recv in one operation.
pub const EASY_DMA_SIZE: usize = (1 << 14) - 1;

2
embassy-nrf/src/chips/nrf52805.rs
View File

@ -1,4 +1,4 @@
pub use nrf52805_pac as pac;
pub use nrf_pac as pac;
/// The maximum buffer size that the EasyDMA can send/recv in one operation.
pub const EASY_DMA_SIZE: usize = (1 << 14) - 1;

2
embassy-nrf/src/chips/nrf52810.rs
View File

@ -1,4 +1,4 @@
pub use nrf52810_pac as pac;
pub use nrf_pac as pac;
/// The maximum buffer size that the EasyDMA can send/recv in one operation.
pub const EASY_DMA_SIZE: usize = (1 << 10) - 1;

2
embassy-nrf/src/chips/nrf52811.rs
View File

@ -1,4 +1,4 @@
pub use nrf52811_pac as pac;
pub use nrf_pac as pac;
/// The maximum buffer size that the EasyDMA can send/recv in one operation.
pub const EASY_DMA_SIZE: usize = (1 << 14) - 1;

2
embassy-nrf/src/chips/nrf52820.rs
View File

@ -1,4 +1,4 @@
pub use nrf52820_pac as pac;
pub use nrf_pac as pac;
/// The maximum buffer size that the EasyDMA can send/recv in one operation.
pub const EASY_DMA_SIZE: usize = (1 << 15) - 1;

2
embassy-nrf/src/chips/nrf52832.rs
View File

@ -1,4 +1,4 @@
pub use nrf52832_pac as pac;
pub use nrf_pac as pac;
/// The maximum buffer size that the EasyDMA can send/recv in one operation.
pub const EASY_DMA_SIZE: usize = (1 << 8) - 1;

2
embassy-nrf/src/chips/nrf52833.rs
View File

@ -1,4 +1,4 @@
pub use nrf52833_pac as pac;
pub use nrf_pac as pac;
/// The maximum buffer size that the EasyDMA can send/recv in one operation.
pub const EASY_DMA_SIZE: usize = (1 << 16) - 1;

2
embassy-nrf/src/chips/nrf52840.rs
View File

@ -1,4 +1,4 @@
pub use nrf52840_pac as pac;
pub use nrf_pac as pac;
/// The maximum buffer size that the EasyDMA can send/recv in one operation.
pub const EASY_DMA_SIZE: usize = (1 << 16) - 1;

43
embassy-nrf/src/chips/nrf5340_app.rs
View File

@ -5,16 +5,17 @@ pub mod pac {
// The nRF5340 has a secure and non-secure (NS) mode.
// To avoid cfg spam, we remove _ns or _s suffixes here.
pub use nrf5340_app_pac::NVIC_PRIO_BITS;
#[cfg(feature="rt")]
pub use nrf_pac::NVIC_PRIO_BITS;
pub use nrf_pac::{common, shared};
#[cfg(feature="rt")]
#[doc(no_inline)]
pub use nrf5340_app_pac::interrupt;
pub use nrf_pac::interrupt;
#[doc(no_inline)]
pub use nrf5340_app_pac::{
pub use nrf_pac::{
Interrupt,
Peripherals,
cache_s as cache,
cachedata_s as cachedata,
@ -26,11 +27,11 @@ pub mod pac {
ctrlap_ns as ctrlap,
dcnf_ns as dcnf,
dppic_ns as dppic,
egu0_ns as egu0,
egu_ns as egu,
ficr_s as ficr,
fpu_ns as fpu,
gpiote0_s as gpiote,
i2s0_ns as i2s0,
gpiote_s as gpiote,
i2s_ns as i2s,
ipc_ns as ipc,
kmu_ns as kmu,
lpcomp_ns as lpcomp,
@ -38,36 +39,36 @@ pub mod pac {
nfct_ns as nfct,
nvmc_ns as nvmc,
oscillators_ns as oscillators,
p0_ns as p0,
pdm0_ns as pdm,
gpio_ns as gpio,
pdm_ns as pdm,
power_ns as power,
pwm0_ns as pwm0,
qdec0_ns as qdec,
pwm_ns as pwm,
qdec_ns as qdec,
qspi_ns as qspi,
regulators_ns as regulators,
reset_ns as reset,
rtc0_ns as rtc0,
rtc_ns as rtc,
saadc_ns as saadc,
spim0_ns as spim0,
spis0_ns as spis0,
spim_ns as spim,
spis_ns as spis,
spu_s as spu,
tad_s as tad,
timer0_ns as timer0,
twim0_ns as twim0,
twis0_ns as twis0,
uarte0_ns as uarte0,
timer_ns as timer,
twim_ns as twim,
twis_ns as twis,
uarte_ns as uarte,
uicr_s as uicr,
usbd_ns as usbd,
usbregulator_ns as usbregulator,
vmc_ns as vmc,
wdt0_ns as wdt0,
wdt_ns as wdt,
};
/// Non-Secure mode (NS) peripherals
pub mod ns {
#[cfg(feature = "nrf5340-app-ns")]
#[doc(no_inline)]
pub use nrf5340_app_pac::{
pub use nrf_pac::{
CLOCK_NS as CLOCK,
COMP_NS as COMP,
CTRLAP_NS as CTRLAP,
@ -141,7 +142,7 @@ pub mod pac {
pub mod s {
#[cfg(feature = "nrf5340-app-s")]
#[doc(no_inline)]
pub use nrf5340_app_pac::{
pub use nrf_pac::{
CACHEDATA_S as CACHEDATA,
CACHEINFO_S as CACHEINFO,
CACHE_S as CACHE,

40
embassy-nrf/src/chips/nrf5340_net.rs
View File

@ -5,16 +5,17 @@ pub mod pac {
// The nRF5340 has a secure and non-secure (NS) mode.
// To avoid cfg spam, we remove _ns or _s suffixes here.
pub use nrf5340_net_pac::NVIC_PRIO_BITS;
#[cfg(feature="rt")]
pub use nrf_pac::NVIC_PRIO_BITS;
pub use nrf_pac::{common, shared};
#[cfg(feature="rt")]
#[doc(no_inline)]
pub use nrf5340_net_pac::interrupt;
pub use nrf_pac::interrupt;
#[doc(no_inline)]
pub use nrf5340_net_pac::{
pub use nrf_pac::{
Interrupt,
Peripherals,
aar_ns as aar,
acl_ns as acl,
@ -26,25 +27,25 @@ pub mod pac {
dcnf_ns as dcnf,
dppic_ns as dppic,
ecb_ns as ecb,
egu0_ns as egu0,
egu_ns as egu,
ficr_ns as ficr,
gpiote_ns as gpiote,
ipc_ns as ipc,
nvmc_ns as nvmc,
p0_ns as p0,
gpio_ns as gpio,
power_ns as power,
radio_ns as radio,
reset_ns as reset,
rng_ns as rng,
rtc0_ns as rtc0,
spim0_ns as spim0,
spis0_ns as spis0,
swi0_ns as swi0,
rtc_ns as rtc,
spim_ns as spim,
spis_ns as spis,
swi_ns as swi,
temp_ns as temp,
timer0_ns as timer0,
twim0_ns as twim0,
twis0_ns as twis0,
uarte0_ns as uarte0,
timer_ns as timer,
twim_ns as twim,
twis_ns as twis,
uarte_ns as uarte,
uicr_ns as uicr,
vmc_ns as vmc,
vreqctrl_ns as vreqctrl,
@ -54,25 +55,17 @@ pub mod pac {
ACL_NS as ACL,
APPMUTEX_NS as APPMUTEX,
APPMUTEX_S as APPMUTEX_S,
CBP as CBP,
CCM_NS as CCM,
CLOCK_NS as CLOCK,
CPUID as CPUID,
CTI_NS as CTI,
CTRLAP_NS as CTRLAP,
DCB as DCB,
DCNF_NS as DCNF,
DPPIC_NS as DPPIC,
DWT as DWT,
ECB_NS as ECB,
EGU0_NS as EGU0,
FICR_NS as FICR,
FPB as FPB,
GPIOTE_NS as GPIOTE,
IPC_NS as IPC,
ITM as ITM,
MPU as MPU,
NVIC as NVIC,
NVMC_NS as NVMC,
P0_NS as P0,
P1_NS as P1,
@ -82,19 +75,16 @@ pub mod pac {
RNG_NS as RNG,
RTC0_NS as RTC0,
RTC1_NS as RTC1,
SCB as SCB,
SPIM0_NS as SPIM0,
SPIS0_NS as SPIS0,
SWI0_NS as SWI0,
SWI1_NS as SWI1,
SWI2_NS as SWI2,
SWI3_NS as SWI3,
SYST as SYST,
TEMP_NS as TEMP,
TIMER0_NS as TIMER0,
TIMER1_NS as TIMER1,
TIMER2_NS as TIMER2,
TPIU as TPIU,
TWIM0_NS as TWIM0,
TWIS0_NS as TWIS0,
UARTE0_NS as UARTE0,

36
embassy-nrf/src/chips/nrf9120.rs
View File

@ -5,14 +5,16 @@ pub mod pac {
// The nRF9120 has a secure and non-secure (NS) mode.
// To avoid cfg spam, we remove _ns or _s suffixes here.
pub use nrf9120_pac::NVIC_PRIO_BITS;
#[cfg(feature="rt")]
pub use nrf_pac::NVIC_PRIO_BITS;
pub use nrf_pac::{common, shared};
#[cfg(feature="rt")]
#[doc(no_inline)]
pub use nrf9120_pac::interrupt;
pub use nrf_pac::interrupt;
#[doc(no_inline)]
pub use nrf9120_pac::{
pub use nrf_pac::{
Interrupt,
cc_host_rgf_s as cc_host_rgf,
@ -20,29 +22,29 @@ pub mod pac {
cryptocell_s as cryptocell,
ctrl_ap_peri_s as ctrl_ap_peri,
dppic_ns as dppic,
egu0_ns as egu0,
egu_ns as egu,
ficr_s as ficr,
fpu_ns as fpu,
gpiote0_s as gpiote,
gpiote_s as gpiote,
i2s_ns as i2s,
ipc_ns as ipc,
kmu_ns as kmu,
nvmc_ns as nvmc,
p0_ns as p0,
gpio_ns as gpio,
pdm_ns as pdm,
power_ns as power,
pwm0_ns as pwm0,
pwm_ns as pwm,
regulators_ns as regulators,
rtc0_ns as rtc0,
rtc_ns as rtc,
saadc_ns as saadc,
spim0_ns as spim0,
spis0_ns as spis0,
spim_ns as spim,
spis_ns as spis,
spu_s as spu,
tad_s as tad,
timer0_ns as timer0,
twim0_ns as twim0,
twis0_ns as twis0,
uarte0_ns as uarte0,
timer_ns as timer,
twim_ns as twim,
twis_ns as twis,
uarte_ns as uarte,
uicr_s as uicr,
vmc_ns as vmc,
wdt_ns as wdt,
@ -51,7 +53,7 @@ pub mod pac {
/// Non-Secure mode (NS) peripherals
pub mod ns {
#[doc(no_inline)]
pub use nrf9120_pac::{
pub use nrf_pac::{
CLOCK_NS as CLOCK,
DPPIC_NS as DPPIC,
EGU0_NS as EGU0,
@ -108,7 +110,7 @@ pub mod pac {
/// Secure mode (S) peripherals
pub mod s {
#[doc(no_inline)]
pub use nrf9120_pac::{
pub use nrf_pac::{
CC_HOST_RGF_S as CC_HOST_RGF,
CLOCK_S as CLOCK,
CRYPTOCELL_S as CRYPTOCELL,
@ -121,7 +123,7 @@ pub mod pac {
EGU4_S as EGU4,
EGU5_S as EGU5,
FICR_S as FICR,
FPU as FPU,
FPU_NS as FPU,
GPIOTE0_S as GPIOTE0,
I2S_S as I2S,
IPC_S as IPC,

34
embassy-nrf/src/chips/nrf9160.rs
View File

@ -5,14 +5,16 @@ pub mod pac {
// The nRF9160 has a secure and non-secure (NS) mode.
// To avoid cfg spam, we remove _ns or _s suffixes here.
pub use nrf9160_pac::NVIC_PRIO_BITS;
#[cfg(feature="rt")]
pub use nrf_pac::NVIC_PRIO_BITS;
pub use nrf_pac::{common, shared};
#[cfg(feature="rt")]
#[doc(no_inline)]
pub use nrf9160_pac::interrupt;
pub use nrf_pac::interrupt;
#[doc(no_inline)]
pub use nrf9160_pac::{
pub use nrf_pac::{
Interrupt,
cc_host_rgf_s as cc_host_rgf,
@ -20,29 +22,29 @@ pub mod pac {
cryptocell_s as cryptocell,
ctrl_ap_peri_s as ctrl_ap_peri,
dppic_ns as dppic,
egu0_ns as egu0,
egu_ns as egu,
ficr_s as ficr,
fpu_ns as fpu,
gpiote0_s as gpiote,
gpiote_s as gpiote,
i2s_ns as i2s,
ipc_ns as ipc,
kmu_ns as kmu,
nvmc_ns as nvmc,
p0_ns as p0,
gpio_ns as gpio,
pdm_ns as pdm,
power_ns as power,
pwm0_ns as pwm0,
pwm_ns as pwm,
regulators_ns as regulators,
rtc0_ns as rtc0,
rtc_ns as rtc,
saadc_ns as saadc,
spim0_ns as spim0,
spis0_ns as spis0,
spim_ns as spim,
spis_ns as spis,
spu_s as spu,
tad_s as tad,
timer0_ns as timer0,
twim0_ns as twim0,
twis0_ns as twis0,
uarte0_ns as uarte0,
timer_ns as timer,
twim_ns as twim,
twis_ns as twis,
uarte_ns as uarte,
uicr_s as uicr,
vmc_ns as vmc,
wdt_ns as wdt,
@ -51,7 +53,7 @@ pub mod pac {
/// Non-Secure mode (NS) peripherals
pub mod ns {
#[doc(no_inline)]
pub use nrf9160_pac::{
pub use nrf_pac::{
CLOCK_NS as CLOCK,
DPPIC_NS as DPPIC,
EGU0_NS as EGU0,
@ -108,7 +110,7 @@ pub mod pac {
/// Secure mode (S) peripherals
pub mod s {
#[doc(no_inline)]
pub use nrf9160_pac::{
pub use nrf_pac::{
CC_HOST_RGF_S as CC_HOST_RGF,
CLOCK_S as CLOCK,
CRYPTOCELL_S as CRYPTOCELL,

20
embassy-nrf/src/egu.rs
View File

@ -34,7 +34,7 @@ impl<'d, T: Instance> Egu<'d, T> {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static pac::egu0::RegisterBlock;
fn regs() -> pac::egu::Egu;
}
/// Basic Egu instance.
@ -47,8 +47,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static + Send {
macro_rules! impl_egu {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::egu::SealedInstance for peripherals::$type {
fn regs() -> &'static pac::egu0::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> pac::egu::Egu {
pac::$pac_type
}
}
impl crate::egu::Instance for peripherals::$type {
@ -68,32 +68,26 @@ impl<'d, T: Instance> Trigger<'d, T> {
pub fn task(&self) -> Task<'d> {
let nr = self.number as usize;
let regs = T::regs();
Task::from_reg(&regs.tasks_trigger[nr])
Task::from_reg(regs.tasks_trigger(nr))
}
/// Get event for this trigger to use with PPI.
pub fn event(&self) -> Event<'d> {
let nr = self.number as usize;
let regs = T::regs();
Event::from_reg(&regs.events_triggered[nr])
Event::from_reg(regs.events_triggered(nr))
}
/// Enable interrupts for this trigger
pub fn enable_interrupt(&mut self) {
let regs = T::regs();
unsafe {
regs.intenset
.modify(|r, w| w.bits(r.bits() | (1 << self.number as usize)))
};
regs.intenset().modify(|w| w.set_triggered(self.number as usize, true));
}
/// Enable interrupts for this trigger
pub fn disable_interrupt(&mut self) {
let regs = T::regs();
unsafe {
regs.intenclr
.modify(|r, w| w.bits(r.bits() | (1 << self.number as usize)))
};
regs.intenset().modify(|w| w.set_triggered(self.number as usize, false));
}
}

133
embassy-nrf/src/gpio.rs
View File

@ -7,14 +7,11 @@ use core::hint::unreachable_unchecked;
use cfg_if::cfg_if;
use embassy_hal_internal::{impl_peripheral, into_ref, PeripheralRef};
#[cfg(feature = "nrf51")]
use crate::pac::common::{Reg, RW};
use crate::pac::gpio;
#[cfg(feature = "nrf51")]
use crate::pac::gpio::pin_cnf::{DRIVE_A, PULL_A};
#[cfg(not(feature = "nrf51"))]
use crate::pac::p0 as gpio;
#[cfg(not(feature = "nrf51"))]
use crate::pac::p0::pin_cnf::{DRIVE_A, PULL_A};
use crate::pac::gpio::vals;
#[cfg(not(feature = "_nrf51"))]
use crate::pac::shared::{regs::Psel, vals::Connect};
use crate::{pac, Peripheral};
/// A GPIO port with up to 32 pins.
@ -103,7 +100,7 @@ impl From<Level> for bool {
}
/// Drive strength settings for an output pin.
// These numbers match DRIVE_A exactly so hopefully the compiler will unify them.
// These numbers match vals::Drive exactly so hopefully the compiler will unify them.
#[derive(Clone, Copy, Debug, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[repr(u8)]
@ -188,24 +185,24 @@ impl<'d> Output<'d> {
}
}
pub(crate) fn convert_drive(drive: OutputDrive) -> DRIVE_A {
pub(crate) fn convert_drive(drive: OutputDrive) -> vals::Drive {
match drive {
OutputDrive::Standard => DRIVE_A::S0S1,
OutputDrive::HighDrive0Standard1 => DRIVE_A::H0S1,
OutputDrive::Standard0HighDrive1 => DRIVE_A::S0H1,
OutputDrive::HighDrive => DRIVE_A::H0H1,
OutputDrive::Disconnect0Standard1 => DRIVE_A::D0S1,
OutputDrive::Disconnect0HighDrive1 => DRIVE_A::D0H1,
OutputDrive::Standard0Disconnect1 => DRIVE_A::S0D1,
OutputDrive::HighDrive0Disconnect1 => DRIVE_A::H0D1,
OutputDrive::Standard => vals::Drive::S0S1,
OutputDrive::HighDrive0Standard1 => vals::Drive::H0S1,
OutputDrive::Standard0HighDrive1 => vals::Drive::S0H1,
OutputDrive::HighDrive => vals::Drive::H0H1,
OutputDrive::Disconnect0Standard1 => vals::Drive::D0S1,
OutputDrive::Disconnect0HighDrive1 => vals::Drive::D0H1,
OutputDrive::Standard0Disconnect1 => vals::Drive::S0D1,
OutputDrive::HighDrive0Disconnect1 => vals::Drive::H0D1,
}
}
fn convert_pull(pull: Pull) -> PULL_A {
fn convert_pull(pull: Pull) -> vals::Pull {
match pull {
Pull::None => PULL_A::DISABLED,
Pull::Up => PULL_A::PULLUP,
Pull::Down => PULL_A::PULLDOWN,
Pull::None => vals::Pull::DISABLED,
Pull::Up => vals::Pull::PULLUP,
Pull::Down => vals::Pull::PULLDOWN,
}
}
@ -234,12 +231,11 @@ impl<'d> Flex<'d> {
#[inline]
pub fn set_as_input(&mut self, pull: Pull) {
self.pin.conf().write(|w| {
w.dir().input();
w.input().connect();
w.pull().variant(convert_pull(pull));
w.drive().s0s1();
w.sense().disabled();
w
w.set_dir(vals::Dir::INPUT);
w.set_input(vals::Input::CONNECT);
w.set_pull(convert_pull(pull));
w.set_drive(vals::Drive::S0S1);
w.set_sense(vals::Sense::DISABLED);
});
}
@ -250,12 +246,11 @@ impl<'d> Flex<'d> {
#[inline]
pub fn set_as_output(&mut self, drive: OutputDrive) {
self.pin.conf().write(|w| {
w.dir().output();
w.input().disconnect();
w.pull().disabled();
w.drive().variant(convert_drive(drive));
w.sense().disabled();
w
w.set_dir(vals::Dir::OUTPUT);
w.set_input(vals::Input::DISCONNECT);
w.set_pull(vals::Pull::DISABLED);
w.set_drive(convert_drive(drive));
w.set_sense(vals::Sense::DISABLED);
});
}
@ -271,31 +266,30 @@ impl<'d> Flex<'d> {
#[inline]
pub fn set_as_input_output(&mut self, pull: Pull, drive: OutputDrive) {
self.pin.conf().write(|w| {
w.dir().output();
w.input().connect();
w.pull().variant(convert_pull(pull));
w.drive().variant(convert_drive(drive));
w.sense().disabled();
w
w.set_dir(vals::Dir::OUTPUT);
w.set_input(vals::Input::CONNECT);
w.set_pull(convert_pull(pull));
w.set_drive(convert_drive(drive));
w.set_sense(vals::Sense::DISABLED);
});
}
/// Put the pin into disconnected mode.
#[inline]
pub fn set_as_disconnected(&mut self) {
self.pin.conf().reset();
self.pin.conf().write(|_| ());
}
/// Get whether the pin input level is high.
#[inline]
pub fn is_high(&self) -> bool {
!self.is_low()
self.pin.block().in_().read().pin(self.pin.pin() as _)
}
/// Get whether the pin input level is low.
#[inline]
pub fn is_low(&self) -> bool {
self.pin.block().in_.read().bits() & (1 << self.pin.pin()) == 0
!self.is_high()
}
/// Get the pin input level.
@ -338,13 +332,13 @@ impl<'d> Flex<'d> {
/// Get whether the output level is set to high.
#[inline]
pub fn is_set_high(&self) -> bool {
!self.is_set_low()
self.pin.block().out().read().pin(self.pin.pin() as _)
}
/// Get whether the output level is set to low.
#[inline]
pub fn is_set_low(&self) -> bool {
self.pin.block().out.read().bits() & (1 << self.pin.pin()) == 0
!self.is_set_high()
}
/// Get the current output level.
@ -356,7 +350,7 @@ impl<'d> Flex<'d> {
impl<'d> Drop for Flex<'d> {
fn drop(&mut self) {
self.pin.conf().reset();
self.pin.conf().write(|_| ())
}
}
@ -375,35 +369,33 @@ pub(crate) trait SealedPin {
}
#[inline]
fn block(&self) -> &gpio::RegisterBlock {
unsafe {
match self.pin_port() / 32 {
#[cfg(feature = "nrf51")]
0 => &*pac::GPIO::ptr(),
#[cfg(not(feature = "nrf51"))]
0 => &*pac::P0::ptr(),
#[cfg(feature = "_gpio-p1")]
1 => &*pac::P1::ptr(),
_ => unreachable_unchecked(),
}
fn block(&self) -> gpio::Gpio {
match self.pin_port() / 32 {
#[cfg(feature = "_nrf51")]
0 => pac::GPIO,
#[cfg(not(feature = "_nrf51"))]
0 => pac::P0,
#[cfg(feature = "_gpio-p1")]
1 => pac::P1,
_ => unsafe { unreachable_unchecked() },
}
}
#[inline]
fn conf(&self) -> &gpio::PIN_CNF {
&self.block().pin_cnf[self._pin() as usize]
fn conf(&self) -> Reg<gpio::regs::PinCnf, RW> {
self.block().pin_cnf(self._pin() as usize)
}
/// Set the output as high.
#[inline]
fn set_high(&self) {
unsafe { self.block().outset.write(|w| w.bits(1u32 << self._pin())) }
self.block().outset().write(|w| w.set_pin(self._pin() as _, true))
}
/// Set the output as low.
#[inline]
fn set_low(&self) {
unsafe { self.block().outclr.write(|w| w.bits(1u32 << self._pin())) }
self.block().outclr().write(|w| w.set_pin(self._pin() as _, true))
}
}
@ -429,8 +421,9 @@ pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + SealedPin + Sized + 'static
/// Peripheral port register value
#[inline]
fn psel_bits(&self) -> u32 {
self.pin_port() as u32
#[cfg(not(feature = "_nrf51"))]
fn psel_bits(&self) -> pac::shared::regs::Psel {
pac::shared::regs::Psel(self.pin_port() as u32)
}
/// Convert from concrete pin type PX_XX to type erased `AnyPin`.
@ -471,26 +464,30 @@ impl SealedPin for AnyPin {
#[cfg(not(feature = "_nrf51"))]
pub(crate) trait PselBits {
fn psel_bits(&self) -> u32;
fn psel_bits(&self) -> pac::shared::regs::Psel;
}
#[cfg(not(feature = "_nrf51"))]
impl<'a, P: Pin> PselBits for Option<PeripheralRef<'a, P>> {
#[inline]
fn psel_bits(&self) -> u32 {
fn psel_bits(&self) -> pac::shared::regs::Psel {
match self {
Some(pin) => pin.psel_bits(),
None => 1u32 << 31,
None => DISCONNECTED,
}
}
}
#[cfg(not(feature = "_nrf51"))]
pub(crate) const DISCONNECTED: Psel = Psel(1 << 31);
#[cfg(not(feature = "_nrf51"))]
#[allow(dead_code)]
pub(crate) fn deconfigure_pin(psel_bits: u32) {
if psel_bits & 0x8000_0000 != 0 {
pub(crate) fn deconfigure_pin(psel: Psel) {
if psel.connect() == Connect::DISCONNECTED {
return;
}
unsafe { AnyPin::steal(psel_bits as _).conf().reset() }
unsafe { AnyPin::steal(psel.0 as _).conf().write(|_| ()) }
}
// ====================

145
embassy-nrf/src/gpiote.rs
View File

@ -9,10 +9,14 @@ use embassy_sync::waitqueue::AtomicWaker;
use crate::gpio::{AnyPin, Flex, Input, Output, Pin as GpioPin, SealedPin as _};
use crate::interrupt::InterruptExt;
#[cfg(not(feature = "_nrf51"))]
use crate::pac::gpio::vals::Detectmode;
use crate::pac::gpio::vals::Sense;
use crate::pac::gpiote::vals::{Mode, Outinit, Polarity};
use crate::ppi::{Event, Task};
use crate::{interrupt, pac, peripherals};
#[cfg(feature = "nrf51")]
#[cfg(feature = "_nrf51")]
/// Amount of GPIOTE channels in the chip.
const CHANNEL_COUNT: usize = 4;
#[cfg(not(feature = "_nrf51"))]
@ -51,14 +55,14 @@ pub enum OutputChannelPolarity {
Toggle,
}
fn regs() -> &'static pac::gpiote::RegisterBlock {
fn regs() -> pac::gpiote::Gpiote {
cfg_if::cfg_if! {
if #[cfg(any(feature="nrf5340-app-s", feature="nrf9160-s", feature="nrf9120-s"))] {
unsafe { &*pac::GPIOTE0::ptr() }
pac::GPIOTE0
} else if #[cfg(any(feature="nrf5340-app-ns", feature="nrf9160-ns", feature="nrf9120-ns"))] {
unsafe { &*pac::GPIOTE1::ptr() }
pac::GPIOTE1
} else {
unsafe { &*pac::GPIOTE::ptr() }
pac::GPIOTE
}
}
}
@ -68,15 +72,15 @@ pub(crate) fn init(irq_prio: crate::interrupt::Priority) {
#[cfg(not(feature = "_nrf51"))]
{
#[cfg(any(feature = "nrf52833", feature = "nrf52840", feature = "_nrf5340"))]
let ports = unsafe { &[&*pac::P0::ptr(), &*pac::P1::ptr()] };
let ports = &[pac::P0, pac::P1];
#[cfg(not(any(feature = "_nrf51", feature = "nrf52833", feature = "nrf52840", feature = "_nrf5340")))]
let ports = unsafe { &[&*pac::P0::ptr()] };
let ports = &[pac::P0];
for &p in ports {
// Enable latched detection
p.detectmode.write(|w| w.detectmode().ldetect());
p.detectmode().write(|w| w.set_detectmode(Detectmode::LDETECT));
// Clear latch
p.latch.write(|w| unsafe { w.bits(0xFFFFFFFF) })
p.latch().write(|w| w.0 = 0xFFFFFFFF)
}
}
@ -93,7 +97,7 @@ pub(crate) fn init(irq_prio: crate::interrupt::Priority) {
unsafe { irq.enable() };
let g = regs();
g.intenset.write(|w| w.port().set());
g.intenset().write(|w| w.set_port(true));
}
#[cfg(any(feature = "nrf5340-app-s", feature = "nrf9160-s", feature = "nrf9120-s"))]
@ -121,47 +125,47 @@ unsafe fn handle_gpiote_interrupt() {
let g = regs();
for i in 0..CHANNEL_COUNT {
if g.events_in[i].read().bits() != 0 {
g.intenclr.write(|w| w.bits(1 << i));
if g.events_in(i).read() != 0 {
g.intenclr().write(|w| w.0 = 1 << i);
CHANNEL_WAKERS[i].wake();
}
}
if g.events_port.read().bits() != 0 {
g.events_port.write(|w| w);
if g.events_port().read() != 0 {
g.events_port().write_value(0);
#[cfg(any(feature = "nrf52833", feature = "nrf52840", feature = "_nrf5340"))]
let ports = &[&*pac::P0::ptr(), &*pac::P1::ptr()];
let ports = &[pac::P0, pac::P1];
#[cfg(not(any(feature = "_nrf51", feature = "nrf52833", feature = "nrf52840", feature = "_nrf5340")))]
let ports = &[&*pac::P0::ptr()];
let ports = &[pac::P0];
#[cfg(feature = "_nrf51")]
let ports = unsafe { &[&*pac::GPIO::ptr()] };
let ports = &[pac::GPIO];
#[cfg(feature = "_nrf51")]
for (port, &p) in ports.iter().enumerate() {
let inp = p.in_.read().bits();
let inp = p.in_().read();
for pin in 0..32 {
let fired = match p.pin_cnf[pin as usize].read().sense().variant() {
Some(pac::gpio::pin_cnf::SENSE_A::HIGH) => inp & (1 << pin) != 0,
Some(pac::gpio::pin_cnf::SENSE_A::LOW) => inp & (1 << pin) == 0,
let fired = match p.pin_cnf(pin as usize).read().sense() {
Sense::HIGH => inp.pin(pin),
Sense::LOW => !inp.pin(pin),
_ => false,
};
if fired {
PORT_WAKERS[port * 32 + pin as usize].wake();
p.pin_cnf[pin as usize].modify(|_, w| w.sense().disabled());
p.pin_cnf(pin as usize).modify(|w| w.set_sense(Sense::DISABLED));
}
}
}
#[cfg(not(feature = "_nrf51"))]
for (port, &p) in ports.iter().enumerate() {
let bits = p.latch.read().bits();
let bits = p.latch().read().0;
for pin in BitIter(bits) {
p.pin_cnf[pin as usize].modify(|_, w| w.sense().disabled());
p.pin_cnf(pin as usize).modify(|w| w.set_sense(Sense::DISABLED));
PORT_WAKERS[port * 32 + pin as usize].wake();
}
p.latch.write(|w| w.bits(bits));
p.latch().write(|w| w.0 = bits);
}
}
}
@ -194,8 +198,8 @@ impl<'d> Drop for InputChannel<'d> {
fn drop(&mut self) {
let g = regs();
let num = self.ch.number();
g.config[num].write(|w| w.mode().disabled());
g.intenclr.write(|w| unsafe { w.bits(1 << num) });
g.config(num).write(|w| w.set_mode(Mode::DISABLED));
g.intenclr().write(|w| w.0 = 1 << num);
}
}
@ -207,22 +211,23 @@ impl<'d> InputChannel<'d> {
let g = regs();
let num = ch.number();
g.config[num].write(|w| {
g.config(num).write(|w| {
w.set_mode(Mode::EVENT);
match polarity {
InputChannelPolarity::HiToLo => w.mode().event().polarity().hi_to_lo(),
InputChannelPolarity::LoToHi => w.mode().event().polarity().lo_to_hi(),
InputChannelPolarity::None => w.mode().event().polarity().none(),
InputChannelPolarity::Toggle => w.mode().event().polarity().toggle(),
InputChannelPolarity::HiToLo => w.set_polarity(Polarity::HI_TO_LO),
InputChannelPolarity::LoToHi => w.set_polarity(Polarity::LO_TO_HI),
InputChannelPolarity::None => w.set_polarity(Polarity::NONE),
InputChannelPolarity::Toggle => w.set_polarity(Polarity::TOGGLE),
};
#[cfg(any(feature = "nrf52833", feature = "nrf52840", feature = "_nrf5340"))]
w.port().bit(match pin.pin.pin.port() {
w.set_port(match pin.pin.pin.port() {
crate::gpio::Port::Port0 => false,
crate::gpio::Port::Port1 => true,
});
unsafe { w.psel().bits(pin.pin.pin.pin()) }
w.set_psel(pin.pin.pin.pin());
});
g.events_in[num].reset();
g.events_in(num).write_value(0);
InputChannel { ch: ch.map_into(), pin }
}
@ -233,13 +238,13 @@ impl<'d> InputChannel<'d> {
let num = self.ch.number();
// Enable interrupt
g.events_in[num].reset();
g.intenset.write(|w| unsafe { w.bits(1 << num) });
g.events_in(num).write_value(0);
g.intenset().write(|w| w.0 = 1 << num);
poll_fn(|cx| {
CHANNEL_WAKERS[num].register(cx.waker());
if g.events_in[num].read().bits() != 0 {
if g.events_in(num).read() != 0 {
Poll::Ready(())
} else {
Poll::Pending
@ -251,7 +256,7 @@ impl<'d> InputChannel<'d> {
/// Returns the IN event, for use with PPI.
pub fn event_in(&self) -> Event<'d> {
let g = regs();
Event::from_reg(&g.events_in[self.ch.number()])
Event::from_reg(g.events_in(self.ch.number()))
}
}
@ -265,8 +270,8 @@ impl<'d> Drop for OutputChannel<'d> {
fn drop(&mut self) {
let g = regs();
let num = self.ch.number();
g.config[num].write(|w| w.mode().disabled());
g.intenclr.write(|w| unsafe { w.bits(1 << num) });
g.config(num).write(|w| w.set_mode(Mode::DISABLED));
g.intenclr().write(|w| w.0 = 1 << num);
}
}
@ -277,23 +282,23 @@ impl<'d> OutputChannel<'d> {
let g = regs();
let num = ch.number();
g.config[num].write(|w| {
w.mode().task();
g.config(num).write(|w| {
w.set_mode(Mode::TASK);
match pin.is_set_high() {
true => w.outinit().high(),
false => w.outinit().low(),
true => w.set_outinit(Outinit::HIGH),
false => w.set_outinit(Outinit::LOW),
};
match polarity {
OutputChannelPolarity::Set => w.polarity().lo_to_hi(),
OutputChannelPolarity::Clear => w.polarity().hi_to_lo(),
OutputChannelPolarity::Toggle => w.polarity().toggle(),
OutputChannelPolarity::Set => w.set_polarity(Polarity::HI_TO_LO),
OutputChannelPolarity::Clear => w.set_polarity(Polarity::LO_TO_HI),
OutputChannelPolarity::Toggle => w.set_polarity(Polarity::TOGGLE),
};
#[cfg(any(feature = "nrf52833", feature = "nrf52840", feature = "_nrf5340"))]
w.port().bit(match pin.pin.pin.port() {
w.set_port(match pin.pin.pin.port() {
crate::gpio::Port::Port0 => false,
crate::gpio::Port::Port1 => true,
});
unsafe { w.psel().bits(pin.pin.pin.pin()) }
w.set_psel(pin.pin.pin.pin());
});
OutputChannel {
@ -305,41 +310,41 @@ impl<'d> OutputChannel<'d> {
/// Triggers the OUT task (does the action as configured with task_out_polarity, defaults to Toggle).
pub fn out(&self) {
let g = regs();
g.tasks_out[self.ch.number()].write(|w| unsafe { w.bits(1) });
g.tasks_out(self.ch.number()).write_value(1);
}
/// Triggers the SET task (set associated pin high).
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
pub fn set(&self) {
let g = regs();
g.tasks_set[self.ch.number()].write(|w| unsafe { w.bits(1) });
g.tasks_set(self.ch.number()).write_value(1);
}
/// Triggers the CLEAR task (set associated pin low).
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
pub fn clear(&self) {
let g = regs();
g.tasks_clr[self.ch.number()].write(|w| unsafe { w.bits(1) });
g.tasks_clr(self.ch.number()).write_value(1);
}
/// Returns the OUT task, for use with PPI.
pub fn task_out(&self) -> Task<'d> {
let g = regs();
Task::from_reg(&g.tasks_out[self.ch.number()])
Task::from_reg(g.tasks_out(self.ch.number()))
}
/// Returns the CLR task, for use with PPI.
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
pub fn task_clr(&self) -> Task<'d> {
let g = regs();
Task::from_reg(&g.tasks_clr[self.ch.number()])
Task::from_reg(g.tasks_clr(self.ch.number()))
}
/// Returns the SET task, for use with PPI.
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
pub fn task_set(&self) -> Task<'d> {
let g = regs();
Task::from_reg(&g.tasks_set[self.ch.number()])
Task::from_reg(g.tasks_set(self.ch.number()))
}
}
@ -362,7 +367,7 @@ impl<'a> Unpin for PortInputFuture<'a> {}
impl<'a> Drop for PortInputFuture<'a> {
fn drop(&mut self) {
self.pin.conf().modify(|_, w| w.sense().disabled());
self.pin.conf().modify(|w| w.set_sense(Sense::DISABLED));
}
}
@ -372,7 +377,7 @@ impl<'a> Future for PortInputFuture<'a> {
fn poll(self: core::pin::Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
PORT_WAKERS[self.pin.pin_port() as usize].register(cx.waker());
if self.pin.conf().read().sense().is_disabled() {
if self.pin.conf().read().sense() == Sense::DISABLED {
Poll::Ready(())
} else {
Poll::Pending
@ -410,13 +415,13 @@ impl<'d> Input<'d> {
impl<'d> Flex<'d> {
/// Wait until the pin is high. If it is already high, return immediately.
pub async fn wait_for_high(&mut self) {
self.pin.conf().modify(|_, w| w.sense().high());
self.pin.conf().modify(|w| w.set_sense(Sense::HIGH));
PortInputFuture::new(&mut self.pin).await
}
/// Wait until the pin is low. If it is already low, return immediately.
pub async fn wait_for_low(&mut self) {
self.pin.conf().modify(|_, w| w.sense().low());
self.pin.conf().modify(|w| w.set_sense(Sense::LOW));
PortInputFuture::new(&mut self.pin).await
}
@ -435,9 +440,9 @@ impl<'d> Flex<'d> {
/// Wait for the pin to undergo any transition, i.e low to high OR high to low.
pub async fn wait_for_any_edge(&mut self) {
if self.is_high() {
self.pin.conf().modify(|_, w| w.sense().low());
self.pin.conf().modify(|w| w.set_sense(Sense::LOW));
} else {
self.pin.conf().modify(|_, w| w.sense().high());
self.pin.conf().modify(|w| w.set_sense(Sense::HIGH));
}
PortInputFuture::new(&mut self.pin).await
}
@ -504,13 +509,13 @@ impl_channel!(GPIOTE_CH0, 0);
impl_channel!(GPIOTE_CH1, 1);
impl_channel!(GPIOTE_CH2, 2);
impl_channel!(GPIOTE_CH3, 3);
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
impl_channel!(GPIOTE_CH4, 4);
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
impl_channel!(GPIOTE_CH5, 5);
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
impl_channel!(GPIOTE_CH6, 6);
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
impl_channel!(GPIOTE_CH7, 7);
// ====================

166
embassy-nrf/src/i2s.rs
View File

@ -13,11 +13,11 @@ use embassy_hal_internal::drop::OnDrop;
use embassy_hal_internal::{into_ref, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
use crate::gpio::{AnyPin, Pin as GpioPin};
use crate::gpio::{AnyPin, Pin as GpioPin, PselBits};
use crate::interrupt::typelevel::Interrupt;
use crate::pac::i2s::RegisterBlock;
use crate::pac::i2s::vals;
use crate::util::slice_in_ram_or;
use crate::{interrupt, Peripheral, EASY_DMA_SIZE};
use crate::{interrupt, pac, Peripheral, EASY_DMA_SIZE};
/// Type alias for `MultiBuffering` with 2 buffers.
pub type DoubleBuffering<S, const NS: usize> = MultiBuffering<S, 2, NS>;
@ -117,9 +117,20 @@ pub enum MckFreq {
}
impl MckFreq {
const REGISTER_VALUES: &'static [u32] = &[
0x20000000, 0x18000000, 0x16000000, 0x11000000, 0x10000000, 0x0C000000, 0x0B000000, 0x08800000, 0x08400000,
0x08000000, 0x06000000, 0x04100000, 0x020C0000,
const REGISTER_VALUES: &'static [vals::Mckfreq] = &[
vals::Mckfreq::_32MDIV8,
vals::Mckfreq::_32MDIV10,
vals::Mckfreq::_32MDIV11,
vals::Mckfreq::_32MDIV15,
vals::Mckfreq::_32MDIV16,
vals::Mckfreq::_32MDIV21,
vals::Mckfreq::_32MDIV23,
vals::Mckfreq::_32MDIV30,
vals::Mckfreq::_32MDIV31,
vals::Mckfreq::_32MDIV32,
vals::Mckfreq::_32MDIV42,
vals::Mckfreq::_32MDIV63,
vals::Mckfreq::_32MDIV125,
];
const FREQUENCIES: &'static [u32] = &[
@ -128,7 +139,7 @@ impl MckFreq {
];
/// Return the value that needs to be written to the register.
pub fn to_register_value(&self) -> u32 {
pub fn to_register_value(&self) -> vals::Mckfreq {
Self::REGISTER_VALUES[usize::from(*self)]
}
@ -174,8 +185,8 @@ impl Ratio {
const RATIOS: &'static [u32] = &[32, 48, 64, 96, 128, 192, 256, 384, 512];
/// Return the value that needs to be written to the register.
pub fn to_register_value(&self) -> u8 {
usize::from(*self) as u8
pub fn to_register_value(&self) -> vals::Ratio {
vals::Ratio::from_bits(*self as u8)
}
/// Return the divisor for this ratio
@ -304,9 +315,9 @@ pub enum SampleWidth {
_24bit,
}
impl From<SampleWidth> for u8 {
impl From<SampleWidth> for vals::Swidth {
fn from(variant: SampleWidth) -> Self {
variant as _
vals::Swidth::from_bits(variant as u8)
}
}
@ -319,11 +330,11 @@ pub enum Align {
Right,
}
impl From<Align> for bool {
impl From<Align> for vals::Align {
fn from(variant: Align) -> Self {
match variant {
Align::Left => false,
Align::Right => true,
Align::Left => vals::Align::LEFT,
Align::Right => vals::Align::RIGHT,
}
}
}
@ -337,11 +348,11 @@ pub enum Format {
Aligned,
}
impl From<Format> for bool {
impl From<Format> for vals::Format {
fn from(variant: Format) -> Self {
match variant {
Format::I2S => false,
Format::Aligned => true,
Format::I2S => vals::Format::I2S,
Format::Aligned => vals::Format::ALIGNED,
}
}
}
@ -357,9 +368,9 @@ pub enum Channels {
MonoRight,
}
impl From<Channels> for u8 {
impl From<Channels> for vals::Channels {
fn from(variant: Channels) -> Self {
variant as _
vals::Channels::from_bits(variant as u8)
}
}
@ -506,61 +517,32 @@ impl<'d, T: Instance> I2S<'d, T> {
}
fn apply_config(&self) {
let c = &T::regs().config;
let c = T::regs().config();
match &self.master_clock {
Some(MasterClock { freq, ratio }) => {
c.mode.write(|w| w.mode().master());
c.mcken.write(|w| w.mcken().enabled());
c.mckfreq
.write(|w| unsafe { w.mckfreq().bits(freq.to_register_value()) });
c.ratio.write(|w| unsafe { w.ratio().bits(ratio.to_register_value()) });
c.mode().write(|w| w.set_mode(vals::Mode::MASTER));
c.mcken().write(|w| w.set_mcken(true));
c.mckfreq().write(|w| w.set_mckfreq(freq.to_register_value()));
c.ratio().write(|w| w.set_ratio(ratio.to_register_value()));
}
None => {
c.mode.write(|w| w.mode().slave());
c.mode().write(|w| w.set_mode(vals::Mode::SLAVE));
}
};
c.swidth
.write(|w| unsafe { w.swidth().bits(self.config.sample_width.into()) });
c.align.write(|w| w.align().bit(self.config.align.into()));
c.format.write(|w| w.format().bit(self.config.format.into()));
c.channels
.write(|w| unsafe { w.channels().bits(self.config.channels.into()) });
c.swidth().write(|w| w.set_swidth(self.config.sample_width.into()));
c.align().write(|w| w.set_align(self.config.align.into()));
c.format().write(|w| w.set_format(self.config.format.into()));
c.channels().write(|w| w.set_channels(self.config.channels.into()));
}
fn select_pins(&self) {
let psel = &T::regs().psel;
if let Some(mck) = &self.mck {
psel.mck.write(|w| {
unsafe { w.bits(mck.psel_bits()) };
w.connect().connected()
});
}
psel.sck.write(|w| {
unsafe { w.bits(self.sck.psel_bits()) };
w.connect().connected()
});
psel.lrck.write(|w| {
unsafe { w.bits(self.lrck.psel_bits()) };
w.connect().connected()
});
if let Some(sdin) = &self.sdin {
psel.sdin.write(|w| {
unsafe { w.bits(sdin.psel_bits()) };
w.connect().connected()
});
}
if let Some(sdout) = &self.sdout {
psel.sdout.write(|w| {
unsafe { w.bits(sdout.psel_bits()) };
w.connect().connected()
});
}
let psel = T::regs().psel();
psel.mck().write_value(self.mck.psel_bits());
psel.sck().write_value(self.sck.psel_bits());
psel.lrck().write_value(self.lrck.psel_bits());
psel.sdin().write_value(self.sdin.psel_bits());
psel.sdout().write_value(self.sdout.psel_bits());
}
fn setup_interrupt(&self) {
@ -888,7 +870,7 @@ impl<'d, T: Instance, S: Sample, const NB: usize, const NS: usize> FullDuplexStr
}
/// Helper encapsulating common I2S device operations.
struct Device<T>(&'static RegisterBlock, PhantomData<T>);
struct Device<T>(pac::i2s::I2s, PhantomData<T>);
impl<T: Instance> Device<T> {
fn new() -> Self {
@ -898,132 +880,132 @@ impl<T: Instance> Device<T> {
#[inline(always)]
pub fn enable(&self) {
trace!("ENABLED");
self.0.enable.write(|w| w.enable().enabled());
self.0.enable().write(|w| w.set_enable(true));
}
#[inline(always)]
pub fn disable(&self) {
trace!("DISABLED");
self.0.enable.write(|w| w.enable().disabled());
self.0.enable().write(|w| w.set_enable(false));
}
#[inline(always)]
fn enable_tx(&self) {
trace!("TX ENABLED");
self.0.config.txen.write(|w| w.txen().enabled());
self.0.config().txen().write(|w| w.set_txen(true));
}
#[inline(always)]
fn disable_tx(&self) {
trace!("TX DISABLED");
self.0.config.txen.write(|w| w.txen().disabled());
self.0.config().txen().write(|w| w.set_txen(false));
}
#[inline(always)]
fn enable_rx(&self) {
trace!("RX ENABLED");
self.0.config.rxen.write(|w| w.rxen().enabled());
self.0.config().rxen().write(|w| w.set_rxen(true));
}
#[inline(always)]
fn disable_rx(&self) {
trace!("RX DISABLED");
self.0.config.rxen.write(|w| w.rxen().disabled());
self.0.config().rxen().write(|w| w.set_rxen(false));
}
#[inline(always)]
fn start(&self) {
trace!("START");
self.0.tasks_start.write(|w| unsafe { w.bits(1) });
self.0.tasks_start().write_value(1);
}
#[inline(always)]
fn stop(&self) {
self.0.tasks_stop.write(|w| unsafe { w.bits(1) });
self.0.tasks_stop().write_value(1);
}
#[inline(always)]
fn is_stopped(&self) -> bool {
self.0.events_stopped.read().bits() != 0
self.0.events_stopped().read() != 0
}
#[inline(always)]
fn reset_stopped_event(&self) {
trace!("STOPPED EVENT: Reset");
self.0.events_stopped.reset();
self.0.events_stopped().write_value(0);
}
#[inline(always)]
fn disable_stopped_interrupt(&self) {
trace!("STOPPED INTERRUPT: Disabled");
self.0.intenclr.write(|w| w.stopped().clear());
self.0.intenclr().write(|w| w.set_stopped(true));
}
#[inline(always)]
fn enable_stopped_interrupt(&self) {
trace!("STOPPED INTERRUPT: Enabled");
self.0.intenset.write(|w| w.stopped().set());
self.0.intenset().write(|w| w.set_stopped(true));
}
#[inline(always)]
fn reset_tx_ptr_event(&self) {
trace!("TX PTR EVENT: Reset");
self.0.events_txptrupd.reset();
self.0.events_txptrupd().write_value(0);
}
#[inline(always)]
fn reset_rx_ptr_event(&self) {
trace!("RX PTR EVENT: Reset");
self.0.events_rxptrupd.reset();
self.0.events_rxptrupd().write_value(0);
}
#[inline(always)]
fn disable_tx_ptr_interrupt(&self) {
trace!("TX PTR INTERRUPT: Disabled");
self.0.intenclr.write(|w| w.txptrupd().clear());
self.0.intenclr().write(|w| w.set_txptrupd(true));
}
#[inline(always)]
fn disable_rx_ptr_interrupt(&self) {
trace!("RX PTR INTERRUPT: Disabled");
self.0.intenclr.write(|w| w.rxptrupd().clear());
self.0.intenclr().write(|w| w.set_rxptrupd(true));
}
#[inline(always)]
fn enable_tx_ptr_interrupt(&self) {
trace!("TX PTR INTERRUPT: Enabled");
self.0.intenset.write(|w| w.txptrupd().set());
self.0.intenset().write(|w| w.set_txptrupd(true));
}
#[inline(always)]
fn enable_rx_ptr_interrupt(&self) {
trace!("RX PTR INTERRUPT: Enabled");
self.0.intenset.write(|w| w.rxptrupd().set());
self.0.intenset().write(|w| w.set_rxptrupd(true));
}
#[inline(always)]
fn is_tx_ptr_updated(&self) -> bool {
self.0.events_txptrupd.read().bits() != 0
self.0.events_txptrupd().read() != 0
}
#[inline(always)]
fn is_rx_ptr_updated(&self) -> bool {
self.0.events_rxptrupd.read().bits() != 0
self.0.events_rxptrupd().read() != 0
}
#[inline]
fn update_tx<S>(&self, buffer_ptr: *const [S]) -> Result<(), Error> {
let (ptr, maxcnt) = Self::validated_dma_parts(buffer_ptr)?;
self.0.rxtxd.maxcnt.write(|w| unsafe { w.bits(maxcnt) });
self.0.txd.ptr.write(|w| unsafe { w.ptr().bits(ptr) });
self.0.rxtxd().maxcnt().write(|w| w.0 = maxcnt);
self.0.txd().ptr().write_value(ptr);
Ok(())
}
#[inline]
fn update_rx<S>(&self, buffer_ptr: *const [S]) -> Result<(), Error> {
let (ptr, maxcnt) = Self::validated_dma_parts(buffer_ptr)?;
self.0.rxtxd.maxcnt.write(|w| unsafe { w.bits(maxcnt) });
self.0.rxd.ptr.write(|w| unsafe { w.ptr().bits(ptr) });
self.0.rxtxd().maxcnt().write(|w| w.0 = maxcnt);
self.0.rxd().ptr().write_value(ptr);
Ok(())
}
@ -1160,7 +1142,7 @@ impl State {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static crate::pac::i2s::RegisterBlock;
fn regs() -> pac::i2s::I2s;
fn state() -> &'static State;
}
@ -1174,8 +1156,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static + Send {
macro_rules! impl_i2s {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::i2s::SealedInstance for peripherals::$type {
fn regs() -> &'static crate::pac::i2s::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> pac::i2s::I2s {
pac::$pac_type
}
fn state() -> &'static crate::i2s::State {
static STATE: crate::i2s::State = crate::i2s::State::new();

120
embassy-nrf/src/lib.rs
View File

@ -11,7 +11,7 @@
#![doc = document_features::document_features!(feature_label = r#"<span class="stab portability"><code>{feature}</code></span>"#)]
#[cfg(not(any(
feature = "nrf51",
feature = "_nrf51",
feature = "nrf52805",
feature = "nrf52810",
feature = "nrf52811",
@ -68,7 +68,7 @@ pub(crate) mod util;
#[cfg(feature = "_time-driver")]
mod time_driver;
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
pub mod buffered_uarte;
pub mod gpio;
#[cfg(feature = "gpiote")]
@ -78,7 +78,7 @@ pub mod gpiote;
#[cfg(not(any(feature = "_nrf91", feature = "_nrf5340-app")))]
pub mod radio;
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
pub mod egu;
#[cfg(any(feature = "nrf52832", feature = "nrf52833", feature = "nrf52840"))]
pub mod i2s;
@ -95,32 +95,32 @@ pub mod nvmc;
pub mod pdm;
pub mod ppi;
#[cfg(not(any(
feature = "nrf51",
feature = "_nrf51",
feature = "nrf52805",
feature = "nrf52820",
feature = "_nrf5340-net"
)))]
pub mod pwm;
#[cfg(not(any(feature = "nrf51", feature = "_nrf91", feature = "_nrf5340-net")))]
#[cfg(not(any(feature = "_nrf51", feature = "_nrf91", feature = "_nrf5340-net")))]
pub mod qdec;
#[cfg(any(feature = "nrf52840", feature = "_nrf5340-app"))]
pub mod qspi;
#[cfg(not(any(feature = "_nrf5340-app", feature = "_nrf91")))]
pub mod rng;
#[cfg(not(any(feature = "nrf51", feature = "nrf52820", feature = "_nrf5340-net")))]
#[cfg(not(any(feature = "_nrf51", feature = "nrf52820", feature = "_nrf5340-net")))]
pub mod saadc;
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
pub mod spim;
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
pub mod spis;
#[cfg(not(any(feature = "_nrf5340", feature = "_nrf91")))]
pub mod temp;
pub mod timer;
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
pub mod twim;
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
pub mod twis;
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
pub mod uarte;
#[cfg(any(
feature = "_nrf5340-app",
@ -133,7 +133,7 @@ pub mod usb;
pub mod wdt;
// This mod MUST go last, so that it sees all the `impl_foo!` macros
#[cfg_attr(feature = "nrf51", path = "chips/nrf51.rs")]
#[cfg_attr(feature = "_nrf51", path = "chips/nrf51.rs")]
#[cfg_attr(feature = "nrf52805", path = "chips/nrf52805.rs")]
#[cfg_attr(feature = "nrf52810", path = "chips/nrf52810.rs")]
#[cfg_attr(feature = "nrf52811", path = "chips/nrf52811.rs")]
@ -216,6 +216,7 @@ pub use chip::{peripherals, Peripherals, EASY_DMA_SIZE};
pub use embassy_hal_internal::{into_ref, Peripheral, PeripheralRef};
pub use crate::chip::interrupt;
#[cfg(feature = "rt")]
pub use crate::pac::NVIC_PRIO_BITS;
pub mod config {
@ -405,7 +406,7 @@ mod consts {
pub const APPROTECT_DISABLED: u32 = 0x0000_005a;
}
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
enum WriteResult {
@ -417,12 +418,12 @@ enum WriteResult {
Failed,
}
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
unsafe fn uicr_write(address: *mut u32, value: u32) -> WriteResult {
uicr_write_masked(address, value, 0xFFFF_FFFF)
}
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
unsafe fn uicr_write_masked(address: *mut u32, value: u32, mask: u32) -> WriteResult {
let curr_val = address.read_volatile();
if curr_val & mask == value & mask {
@ -434,13 +435,13 @@ unsafe fn uicr_write_masked(address: *mut u32, value: u32, mask: u32) -> WriteRe
return WriteResult::Failed;
}
let nvmc = &*pac::NVMC::ptr();
nvmc.config.write(|w| w.wen().wen());
while nvmc.ready.read().ready().is_busy() {}
let nvmc = pac::NVMC;
nvmc.config().write(|w| w.set_wen(pac::nvmc::vals::Wen::WEN));
while !nvmc.ready().read().ready() {}
address.write_volatile(value | !mask);
while nvmc.ready.read().ready().is_busy() {}
nvmc.config.reset();
while nvmc.ready.read().ready().is_busy() {}
while !nvmc.ready().read().ready() {}
nvmc.config().write(|_| {});
while !nvmc.ready().read().ready() {}
WriteResult::Written
}
@ -459,7 +460,7 @@ pub fn init(config: config::Config) -> Peripherals {
let mut needs_reset = false;
// Setup debug protection.
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
match config.debug {
config::Debug::Allowed => {
#[cfg(feature = "_nrf52")]
@ -486,17 +487,17 @@ pub fn init(config: config::Config) -> Peripherals {
#[cfg(feature = "_nrf5340")]
unsafe {
let p = &*pac::CTRLAP::ptr();
let p = pac::CTRLAP;
let res = uicr_write(consts::UICR_APPROTECT, consts::APPROTECT_DISABLED);
needs_reset |= res == WriteResult::Written;
p.approtect.disable.write(|w| w.bits(consts::APPROTECT_DISABLED));
p.approtect().disable().write_value(consts::APPROTECT_DISABLED);
#[cfg(feature = "_nrf5340-app")]
{
let res = uicr_write(consts::UICR_SECUREAPPROTECT, consts::APPROTECT_DISABLED);
needs_reset |= res == WriteResult::Written;
p.secureapprotect.disable.write(|w| w.bits(consts::APPROTECT_DISABLED));
p.secureapprotect().disable().write_value(consts::APPROTECT_DISABLED);
}
}
@ -576,85 +577,79 @@ pub fn init(config: config::Config) -> Peripherals {
cortex_m::peripheral::SCB::sys_reset();
}
let r = unsafe { &*pac::CLOCK::ptr() };
let r = pac::CLOCK;
// Start HFCLK.
match config.hfclk_source {
config::HfclkSource::Internal => {}
config::HfclkSource::ExternalXtal => {
// Datasheet says this is likely to take 0.36ms
r.events_hfclkstarted.write(|w| unsafe { w.bits(0) });
r.tasks_hfclkstart.write(|w| unsafe { w.bits(1) });
while r.events_hfclkstarted.read().bits() == 0 {}
r.events_hfclkstarted().write_value(0);
r.tasks_hfclkstart().write_value(1);
while r.events_hfclkstarted().read() == 0 {}
}
}
// Configure LFCLK.
#[cfg(not(any(feature = "nrf51", feature = "_nrf5340", feature = "_nrf91")))]
#[cfg(not(any(feature = "_nrf51", feature = "_nrf5340", feature = "_nrf91")))]
match config.lfclk_source {
config::LfclkSource::InternalRC => r.lfclksrc.write(|w| w.src().rc()),
config::LfclkSource::Synthesized => r.lfclksrc.write(|w| w.src().synth()),
config::LfclkSource::ExternalXtal => r.lfclksrc.write(|w| w.src().xtal()),
config::LfclkSource::ExternalLowSwing => r.lfclksrc.write(|w| {
w.src().xtal();
w.external().enabled();
w.bypass().disabled();
w
config::LfclkSource::InternalRC => r.lfclksrc().write(|w| w.set_src(pac::clock::vals::Lfclksrc::RC)),
config::LfclkSource::Synthesized => r.lfclksrc().write(|w| w.set_src(pac::clock::vals::Lfclksrc::SYNTH)),
config::LfclkSource::ExternalXtal => r.lfclksrc().write(|w| w.set_src(pac::clock::vals::Lfclksrc::XTAL)),
config::LfclkSource::ExternalLowSwing => r.lfclksrc().write(|w| {
w.set_src(pac::clock::vals::Lfclksrc::XTAL);
w.set_external(true);
w.set_bypass(false);
}),
config::LfclkSource::ExternalFullSwing => r.lfclksrc.write(|w| {
w.src().xtal();
w.external().enabled();
w.bypass().enabled();
w
config::LfclkSource::ExternalFullSwing => r.lfclksrc().write(|w| {
w.set_src(pac::clock::vals::Lfclksrc::XTAL);
w.set_external(true);
w.set_bypass(true);
}),
}
#[cfg(feature = "_nrf91")]
match config.lfclk_source {
config::LfclkSource::InternalRC => r.lfclksrc.write(|w| w.src().lfrc()),
config::LfclkSource::ExternalXtal => r.lfclksrc.write(|w| w.src().lfxo()),
config::LfclkSource::InternalRC => r.lfclksrc().write(|w| w.set_src(pac::clock::vals::Lfclksrc::LFRC)),
config::LfclkSource::ExternalXtal => r.lfclksrc().write(|w| w.set_src(pac::clock::vals::Lfclksrc::LFXO)),
}
// Start LFCLK.
// Datasheet says this could take 100us from synth source
// 600us from rc source, 0.25s from an external source.
r.events_lfclkstarted.write(|w| unsafe { w.bits(0) });
r.tasks_lfclkstart.write(|w| unsafe { w.bits(1) });
while r.events_lfclkstarted.read().bits() == 0 {}
r.events_lfclkstarted().write_value(0);
r.tasks_lfclkstart().write_value(1);
while r.events_lfclkstarted().read() == 0 {}
#[cfg(not(any(feature = "_nrf5340", feature = "_nrf91")))]
{
// Setup DCDCs.
let pwr = unsafe { &*pac::POWER::ptr() };
#[cfg(feature = "nrf52840")]
if config.dcdc.reg0 {
pwr.dcdcen0.write(|w| w.dcdcen().set_bit());
pac::POWER.dcdcen0().write(|w| w.set_dcdcen(true));
}
if config.dcdc.reg1 {
pwr.dcdcen.write(|w| w.dcdcen().set_bit());
pac::POWER.dcdcen().write(|w| w.set_dcdcen(true));
}
}
#[cfg(feature = "_nrf91")]
{
// Setup DCDC.
let reg = unsafe { &*pac::REGULATORS::ptr() };
if config.dcdc.regmain {
reg.dcdcen.write(|w| w.dcdcen().set_bit());
pac::REGULATORS.dcdcen().write(|w| w.set_dcdcen(true));
}
}
#[cfg(feature = "_nrf5340-app")]
{
// Setup DCDC.
let reg = unsafe { &*pac::REGULATORS::ptr() };
let reg = pac::REGULATORS;
if config.dcdc.regh {
reg.vregh.dcdcen.write(|w| w.dcdcen().set_bit());
reg.vregh().dcdcen().write(|w| w.set_dcdcen(true));
}
if config.dcdc.regmain {
reg.vregmain.dcdcen.write(|w| w.dcdcen().set_bit());
reg.vregmain().dcdcen().write(|w| w.set_dcdcen(true));
}
if config.dcdc.regradio {
reg.vregradio.dcdcen.write(|w| w.dcdcen().set_bit());
reg.vregradio().dcdcen().write(|w| w.set_dcdcen(true));
}
}
@ -668,9 +663,10 @@ pub fn init(config: config::Config) -> Peripherals {
// Disable UARTE (enabled by default for some reason)
#[cfg(feature = "_nrf91")]
unsafe {
(*pac::UARTE0::ptr()).enable.write(|w| w.enable().disabled());
(*pac::UARTE1::ptr()).enable.write(|w| w.enable().disabled());
{
use pac::uarte::vals::Enable;
pac::UARTE0.enable().write(|w| w.set_enable(Enable::DISABLED));
pac::UARTE1.enable().write(|w| w.set_enable(Enable::DISABLED));
}
peripherals

23
embassy-nrf/src/nvmc.rs
View File

@ -7,6 +7,7 @@ use embedded_storage::nor_flash::{
ErrorType, MultiwriteNorFlash, NorFlash, NorFlashError, NorFlashErrorKind, ReadNorFlash,
};
use crate::pac::nvmc::vals;
use crate::peripherals::NVMC;
use crate::{pac, Peripheral};
@ -51,13 +52,13 @@ impl<'d> Nvmc<'d> {
Self { _p }
}
fn regs() -> &'static pac::nvmc::RegisterBlock {
unsafe { &*pac::NVMC::ptr() }
fn regs() -> pac::nvmc::Nvmc {
pac::NVMC
}
fn wait_ready(&mut self) {
let p = Self::regs();
while p.ready.read().ready().is_busy() {}
while !p.ready().read().ready() {}
}
#[cfg(not(any(feature = "_nrf91", feature = "_nrf5340")))]
@ -68,12 +69,12 @@ impl<'d> Nvmc<'d> {
#[cfg(any(feature = "_nrf91", feature = "_nrf5340"))]
fn wait_ready_write(&mut self) {
let p = Self::regs();
while p.readynext.read().readynext().is_busy() {}
while !p.readynext().read().readynext() {}
}
#[cfg(not(any(feature = "_nrf91", feature = "_nrf5340")))]
fn erase_page(&mut self, page_addr: u32) {
Self::regs().erasepage().write(|w| unsafe { w.bits(page_addr) });
Self::regs().erasepage().write_value(page_addr);
}
#[cfg(any(feature = "_nrf91", feature = "_nrf5340"))]
@ -86,23 +87,23 @@ impl<'d> Nvmc<'d> {
fn enable_erase(&self) {
#[cfg(not(feature = "_ns"))]
Self::regs().config.write(|w| w.wen().een());
Self::regs().config().write(|w| w.set_wen(vals::Wen::EEN));
#[cfg(feature = "_ns")]
Self::regs().configns.write(|w| w.wen().een());
Self::regs().configns().write(|w| w.set_wen(vals::ConfignsWen::EEN));
}
fn enable_read(&self) {
#[cfg(not(feature = "_ns"))]
Self::regs().config.write(|w| w.wen().ren());
Self::regs().config().write(|w| w.set_wen(vals::Wen::REN));
#[cfg(feature = "_ns")]
Self::regs().configns.write(|w| w.wen().ren());
Self::regs().configns().write(|w| w.set_wen(vals::ConfignsWen::REN));
}
fn enable_write(&self) {
#[cfg(not(feature = "_ns"))]
Self::regs().config.write(|w| w.wen().wen());
Self::regs().config().write(|w| w.set_wen(vals::Wen::WEN));
#[cfg(feature = "_ns")]
Self::regs().configns.write(|w| w.wen().wen());
Self::regs().configns().write(|w| w.set_wen(vals::ConfignsWen::WEN));
}
}

183
embassy-nrf/src/pdm.rs
View File

@ -13,18 +13,19 @@ use embassy_sync::waitqueue::AtomicWaker;
use fixed::types::I7F1;
use crate::chip::EASY_DMA_SIZE;
use crate::gpio::{AnyPin, Pin as GpioPin, SealedPin};
use crate::gpio::{AnyPin, Pin as GpioPin, SealedPin, DISCONNECTED};
use crate::interrupt::typelevel::Interrupt;
use crate::pac::pdm::mode::{EDGE_A, OPERATION_A};
pub use crate::pac::pdm::pdmclkctrl::FREQ_A as Frequency;
use crate::pac::gpio::vals as gpiovals;
use crate::pac::pdm::vals;
pub use crate::pac::pdm::vals::Freq as Frequency;
#[cfg(any(
feature = "nrf52840",
feature = "nrf52833",
feature = "_nrf5340-app",
feature = "_nrf91",
))]
pub use crate::pac::pdm::ratio::RATIO_A as Ratio;
use crate::{interrupt, Peripheral};
pub use crate::pac::pdm::vals::Ratio;
use crate::{interrupt, pac, Peripheral};
/// Interrupt handler
pub struct InterruptHandler<T: Instance> {
@ -35,16 +36,16 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
unsafe fn on_interrupt() {
let r = T::regs();
if r.events_end.read().bits() != 0 {
r.intenclr.write(|w| w.end().clear());
if r.events_end().read() != 0 {
r.intenclr().write(|w| w.set_end(true));
}
if r.events_started.read().bits() != 0 {
r.intenclr.write(|w| w.started().clear());
if r.events_started().read() != 0 {
r.intenclr().write(|w| w.set_started(true));
}
if r.events_stopped.read().bits() != 0 {
r.intenclr.write(|w| w.stopped().clear());
if r.events_stopped().read() != 0 {
r.intenclr().write(|w| w.set_stopped(true));
}
T::state().waker.wake();
@ -109,50 +110,47 @@ impl<'d, T: Instance> Pdm<'d, T> {
let r = T::regs();
// setup gpio pins
din.conf().write(|w| w.input().set_bit());
r.psel.din.write(|w| unsafe { w.bits(din.psel_bits()) });
din.conf().write(|w| w.set_input(gpiovals::Input::CONNECT));
r.psel().din().write_value(din.psel_bits());
clk.set_low();
clk.conf().write(|w| w.dir().output());
r.psel.clk.write(|w| unsafe { w.bits(clk.psel_bits()) });
clk.conf().write(|w| w.set_dir(gpiovals::Dir::OUTPUT));
r.psel().clk().write_value(clk.psel_bits());
// configure
r.pdmclkctrl.write(|w| w.freq().variant(config.frequency));
r.pdmclkctrl().write(|w| w.set_freq(config.frequency));
#[cfg(any(
feature = "nrf52840",
feature = "nrf52833",
feature = "_nrf5340-app",
feature = "_nrf91",
))]
r.ratio.write(|w| w.ratio().variant(config.ratio));
r.mode.write(|w| {
w.operation().variant(config.operation_mode.into());
w.edge().variant(config.edge.into());
w
r.ratio().write(|w| w.set_ratio(config.ratio));
r.mode().write(|w| {
w.set_operation(config.operation_mode.into());
w.set_edge(config.edge.into());
});
Self::_set_gain(r, config.gain_left, config.gain_right);
// Disable all events interrupts
r.intenclr.write(|w| unsafe { w.bits(0x003F_FFFF) });
r.intenclr().write(|w| w.0 = 0x003F_FFFF);
// IRQ
T::Interrupt::unpend();
unsafe { T::Interrupt::enable() };
r.enable.write(|w| w.enable().set_bit());
r.enable().write(|w| w.set_enable(true));
Self { _peri: pdm }
}
fn _set_gain(r: &crate::pac::pdm::RegisterBlock, gain_left: I7F1, gain_right: I7F1) {
let gain_to_bits = |gain: I7F1| -> u8 {
let gain = gain.saturating_add(I7F1::from_bits(0x28)).to_bits().clamp(0, 0x50);
unsafe { core::mem::transmute(gain) }
fn _set_gain(r: pac::pdm::Pdm, gain_left: I7F1, gain_right: I7F1) {
let gain_to_bits = |gain: I7F1| -> vals::Gain {
let gain: i8 = gain.saturating_add(I7F1::from_bits(0x28)).to_bits().clamp(0, 0x50);
vals::Gain::from_bits(gain as u8)
};
let gain_left = gain_to_bits(gain_left);
let gain_right = gain_to_bits(gain_right);
r.gainl.write(|w| unsafe { w.gainl().bits(gain_left) });
r.gainr.write(|w| unsafe { w.gainr().bits(gain_right) });
r.gainl().write(|w| w.set_gainl(gain_to_bits(gain_left)));
r.gainr().write(|w| w.set_gainr(gain_to_bits(gain_right)));
}
/// Adjust the gain of the PDM microphone on the fly
@ -166,21 +164,17 @@ impl<'d, T: Instance> Pdm<'d, T> {
let r = T::regs();
// start dummy sampling because microphone needs some setup time
r.sample
.ptr
.write(|w| unsafe { w.sampleptr().bits(DUMMY_BUFFER.as_ptr() as u32) });
r.sample
.maxcnt
.write(|w| unsafe { w.buffsize().bits(DUMMY_BUFFER.len() as _) });
r.sample().ptr().write_value(DUMMY_BUFFER.as_ptr() as u32);
r.sample().maxcnt().write(|w| w.set_buffsize(DUMMY_BUFFER.len() as _));
r.tasks_start.write(|w| unsafe { w.bits(1) });
r.tasks_start().write_value(1);
}
/// Stop sampling microphone data inta a dummy buffer
pub async fn stop(&mut self) {
let r = T::regs();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
r.events_started.reset();
r.tasks_stop().write_value(1);
r.events_started().write_value(0);
}
/// Sample data into the given buffer
@ -194,41 +188,33 @@ impl<'d, T: Instance> Pdm<'d, T> {
let r = T::regs();
if r.events_started.read().bits() == 0 {
if r.events_started().read() == 0 {
return Err(Error::NotRunning);
}
let drop = OnDrop::new(move || {
r.intenclr.write(|w| w.end().clear());
r.events_stopped.reset();
r.intenclr().write(|w| w.set_end(true));
r.events_stopped().write_value(0);
// reset to dummy buffer
r.sample
.ptr
.write(|w| unsafe { w.sampleptr().bits(DUMMY_BUFFER.as_ptr() as u32) });
r.sample
.maxcnt
.write(|w| unsafe { w.buffsize().bits(DUMMY_BUFFER.len() as _) });
r.sample().ptr().write_value(DUMMY_BUFFER.as_ptr() as u32);
r.sample().maxcnt().write(|w| w.set_buffsize(DUMMY_BUFFER.len() as _));
while r.events_stopped.read().bits() == 0 {}
while r.events_stopped().read() == 0 {}
});
// setup user buffer
let ptr = buffer.as_ptr();
let len = buffer.len();
r.sample.ptr.write(|w| unsafe { w.sampleptr().bits(ptr as u32) });
r.sample.maxcnt.write(|w| unsafe { w.buffsize().bits(len as _) });
r.sample().ptr().write_value(ptr as u32);
r.sample().maxcnt().write(|w| w.set_buffsize(len as _));
// wait till the current sample is finished and the user buffer sample is started
Self::wait_for_sample().await;
// reset the buffer back to the dummy buffer
r.sample
.ptr
.write(|w| unsafe { w.sampleptr().bits(DUMMY_BUFFER.as_ptr() as u32) });
r.sample
.maxcnt
.write(|w| unsafe { w.buffsize().bits(DUMMY_BUFFER.len() as _) });
r.sample().ptr().write_value(DUMMY_BUFFER.as_ptr() as u32);
r.sample().maxcnt().write(|w| w.set_buffsize(DUMMY_BUFFER.len() as _));
// wait till the user buffer is sampled
Self::wait_for_sample().await;
@ -241,14 +227,14 @@ impl<'d, T: Instance> Pdm<'d, T> {
async fn wait_for_sample() {
let r = T::regs();
r.events_end.reset();
r.intenset.write(|w| w.end().set());
r.events_end().write_value(0);
r.intenset().write(|w| w.set_end(true));
compiler_fence(Ordering::SeqCst);
poll_fn(|cx| {
T::state().waker.register(cx.waker());
if r.events_end.read().bits() != 0 {
if r.events_end().read() != 0 {
return Poll::Ready(());
}
Poll::Pending
@ -279,40 +265,37 @@ impl<'d, T: Instance> Pdm<'d, T> {
{
let r = T::regs();
if r.events_started.read().bits() != 0 {
if r.events_started().read() != 0 {
return Err(Error::AlreadyRunning);
}
r.sample
.ptr
.write(|w| unsafe { w.sampleptr().bits(bufs[0].as_mut_ptr() as u32) });
r.sample.maxcnt.write(|w| unsafe { w.buffsize().bits(N as _) });
r.sample().ptr().write_value(bufs[0].as_mut_ptr() as u32);
r.sample().maxcnt().write(|w| w.set_buffsize(N as _));
// Reset and enable the events
r.events_end.reset();
r.events_started.reset();
r.events_stopped.reset();
r.intenset.write(|w| {
w.end().set();
w.started().set();
w.stopped().set();
w
r.events_end().write_value(0);
r.events_started().write_value(0);
r.events_stopped().write_value(0);
r.intenset().write(|w| {
w.set_end(true);
w.set_started(true);
w.set_stopped(true);
});
// Don't reorder the start event before the previous writes. Hopefully self
// wouldn't happen anyway
compiler_fence(Ordering::SeqCst);
r.tasks_start.write(|w| unsafe { w.bits(1) });
r.tasks_start().write_value(1);
let mut current_buffer = 0;
let mut done = false;
let drop = OnDrop::new(|| {
r.tasks_stop.write(|w| unsafe { w.bits(1) });
r.tasks_stop().write_value(1);
// N.B. It would be better if this were async, but Drop only support sync code
while r.events_stopped.read().bits() != 0 {}
while r.events_stopped().read() != 0 {}
});
// Wait for events and complete when the sampler indicates it has had enough
@ -321,11 +304,11 @@ impl<'d, T: Instance> Pdm<'d, T> {
T::state().waker.register(cx.waker());
if r.events_end.read().bits() != 0 {
if r.events_end().read() != 0 {
compiler_fence(Ordering::SeqCst);
r.events_end.reset();
r.intenset.write(|w| w.end().set());
r.events_end().write_value(0);
r.intenset().write(|w| w.set_end(true));
if !done {
// Discard the last buffer after the user requested a stop
@ -333,23 +316,21 @@ impl<'d, T: Instance> Pdm<'d, T> {
let next_buffer = 1 - current_buffer;
current_buffer = next_buffer;
} else {
r.tasks_stop.write(|w| unsafe { w.bits(1) });
r.tasks_stop().write_value(1);
done = true;
};
};
}
if r.events_started.read().bits() != 0 {
r.events_started.reset();
r.intenset.write(|w| w.started().set());
if r.events_started().read() != 0 {
r.events_started().write_value(0);
r.intenset().write(|w| w.set_started(true));
let next_buffer = 1 - current_buffer;
r.sample
.ptr
.write(|w| unsafe { w.sampleptr().bits(bufs[next_buffer].as_mut_ptr() as u32) });
r.sample().ptr().write_value(bufs[next_buffer].as_mut_ptr() as u32);
}
if r.events_stopped.read().bits() != 0 {
if r.events_stopped().read() != 0 {
return Poll::Ready(());
}
@ -411,11 +392,11 @@ pub enum OperationMode {
Stereo,
}
impl From<OperationMode> for OPERATION_A {
impl From<OperationMode> for vals::Operation {
fn from(mode: OperationMode) -> Self {
match mode {
OperationMode::Mono => OPERATION_A::MONO,
OperationMode::Stereo => OPERATION_A::STEREO,
OperationMode::Mono => vals::Operation::MONO,
OperationMode::Stereo => vals::Operation::STEREO,
}
}
}
@ -429,11 +410,11 @@ pub enum Edge {
LeftFalling,
}
impl From<Edge> for EDGE_A {
impl From<Edge> for vals::Edge {
fn from(edge: Edge) -> Self {
match edge {
Edge::LeftRising => EDGE_A::LEFT_RISING,
Edge::LeftFalling => EDGE_A::LEFT_FALLING,
Edge::LeftRising => vals::Edge::LEFT_RISING,
Edge::LeftFalling => vals::Edge::LEFT_FALLING,
}
}
}
@ -442,12 +423,12 @@ impl<'d, T: Instance> Drop for Pdm<'d, T> {
fn drop(&mut self) {
let r = T::regs();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
r.tasks_stop().write_value(1);
r.enable.write(|w| w.enable().disabled());
r.enable().write(|w| w.set_enable(false));
r.psel.din.reset();
r.psel.clk.reset();
r.psel().din().write_value(DISCONNECTED);
r.psel().clk().write_value(DISCONNECTED);
}
}
@ -465,7 +446,7 @@ impl State {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static crate::pac::pdm::RegisterBlock;
fn regs() -> crate::pac::pdm::Pdm;
fn state() -> &'static State;
}
@ -479,8 +460,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static + Send {
macro_rules! impl_pdm {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::pdm::SealedInstance for peripherals::$type {
fn regs() -> &'static crate::pac::pdm::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> crate::pac::pdm::Pdm {
pac::$pac_type
}
fn state() -> &'static crate::pdm::State {
static STATE: crate::pdm::State = crate::pdm::State::new();

8
embassy-nrf/src/ppi/dppi.rs
View File

@ -6,8 +6,8 @@ use crate::{pac, Peripheral};
const DPPI_ENABLE_BIT: u32 = 0x8000_0000;
const DPPI_CHANNEL_MASK: u32 = 0x0000_00FF;
pub(crate) fn regs() -> &'static pac::dppic::RegisterBlock {
unsafe { &*pac::DPPIC::ptr() }
pub(crate) fn regs() -> pac::dppic::Dppic {
pac::DPPIC
}
impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 1> {
@ -57,13 +57,13 @@ impl<'d, C: Channel, const EVENT_COUNT: usize, const TASK_COUNT: usize> Ppi<'d,
/// Enables the channel.
pub fn enable(&mut self) {
let n = self.ch.number();
regs().chenset.write(|w| unsafe { w.bits(1 << n) });
regs().chenset().write(|w| w.0 = 1 << n);
}
/// Disables the channel.
pub fn disable(&mut self) {
let n = self.ch.number();
regs().chenclr.write(|w| unsafe { w.bits(1 << n) });
regs().chenclr().write(|w| w.0 = 1 << n);
}
}

37
embassy-nrf/src/ppi/mod.rs
View File

@ -20,6 +20,7 @@ use core::ptr::NonNull;
use embassy_hal_internal::{impl_peripheral, into_ref, PeripheralRef};
use crate::pac::common::{Reg, RW, W};
use crate::{peripherals, Peripheral};
#[cfg_attr(feature = "_dppi", path = "dppi.rs")]
@ -50,7 +51,7 @@ impl<'d, G: Group> PpiGroup<'d, G> {
let r = regs();
let n = g.number();
r.chg[n].write(|w| unsafe { w.bits(0) });
r.chg(n).write(|_| ());
Self { g }
}
@ -65,7 +66,7 @@ impl<'d, G: Group> PpiGroup<'d, G> {
let r = regs();
let ng = self.g.number();
let nc = ch.ch.number();
r.chg[ng].modify(|r, w| unsafe { w.bits(r.bits() | 1 << nc) });
r.chg(ng).modify(|w| w.set_ch(nc, true));
}
/// Remove a PPI channel from this group.
@ -78,19 +79,19 @@ impl<'d, G: Group> PpiGroup<'d, G> {
let r = regs();
let ng = self.g.number();
let nc = ch.ch.number();
r.chg[ng].modify(|r, w| unsafe { w.bits(r.bits() & !(1 << nc)) });
r.chg(ng).modify(|w| w.set_ch(nc, false));
}
/// Enable all the channels in this group.
pub fn enable_all(&mut self) {
let n = self.g.number();
regs().tasks_chg[n].en.write(|w| unsafe { w.bits(1) });
regs().tasks_chg(n).en().write_value(1);
}
/// Disable all the channels in this group.
pub fn disable_all(&mut self) {
let n = self.g.number();
regs().tasks_chg[n].dis.write(|w| unsafe { w.bits(1) });
regs().tasks_chg(n).dis().write_value(1);
}
/// Get a reference to the "enable all" task.
@ -98,7 +99,7 @@ impl<'d, G: Group> PpiGroup<'d, G> {
/// When triggered, it will enable all the channels in this group.
pub fn task_enable_all(&self) -> Task<'d> {
let n = self.g.number();
Task::from_reg(&regs().tasks_chg[n].en)
Task::from_reg(regs().tasks_chg(n).en())
}
/// Get a reference to the "disable all" task.
@ -106,7 +107,7 @@ impl<'d, G: Group> PpiGroup<'d, G> {
/// When triggered, it will disable all the channels in this group.
pub fn task_disable_all(&self) -> Task<'d> {
let n = self.g.number();
Task::from_reg(&regs().tasks_chg[n].dis)
Task::from_reg(regs().tasks_chg(n).dis())
}
}
@ -114,7 +115,7 @@ impl<'d, G: Group> Drop for PpiGroup<'d, G> {
fn drop(&mut self) {
let r = regs();
let n = self.g.number();
r.chg[n].write(|w| unsafe { w.bits(0) });
r.chg(n).write(|_| ());
}
}
@ -143,11 +144,8 @@ impl<'d> Task<'d> {
unsafe { self.0.as_ptr().write_volatile(1) };
}
pub(crate) fn from_reg<T>(reg: &T) -> Self {
Self(
unsafe { NonNull::new_unchecked(reg as *const _ as *mut _) },
PhantomData,
)
pub(crate) fn from_reg(reg: Reg<u32, W>) -> Self {
Self(unsafe { NonNull::new_unchecked(reg.as_ptr()) }, PhantomData)
}
/// Address of subscription register for this task.
@ -178,11 +176,8 @@ impl<'d> Event<'d> {
Self(ptr, PhantomData)
}
pub(crate) fn from_reg<T>(reg: &'d T) -> Self {
Self(
unsafe { NonNull::new_unchecked(reg as *const _ as *mut _) },
PhantomData,
)
pub(crate) fn from_reg(reg: Reg<u32, RW>) -> Self {
Self(unsafe { NonNull::new_unchecked(reg.as_ptr()) }, PhantomData)
}
/// Describes whether this Event is currently in a triggered state.
@ -284,7 +279,7 @@ impl ConfigurableChannel for AnyConfigurableChannel {
}
}
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
macro_rules! impl_ppi_channel {
($type:ident, $number:expr) => {
impl crate::ppi::SealedChannel for peripherals::$type {}
@ -366,7 +361,7 @@ impl_group!(PPI_GROUP0, 0);
impl_group!(PPI_GROUP1, 1);
impl_group!(PPI_GROUP2, 2);
impl_group!(PPI_GROUP3, 3);
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
impl_group!(PPI_GROUP4, 4);
#[cfg(not(feature = "nrf51"))]
#[cfg(not(feature = "_nrf51"))]
impl_group!(PPI_GROUP5, 5);

32
embassy-nrf/src/ppi/ppi.rs
View File

@ -14,11 +14,11 @@ impl<'d> Event<'d> {
}
}
pub(crate) fn regs() -> &'static pac::ppi::RegisterBlock {
unsafe { &*pac::PPI::ptr() }
pub(crate) fn regs() -> pac::ppi::Ppi {
pac::PPI
}
#[cfg(not(feature = "nrf51"))] // Not for nrf51 because of the fork task
#[cfg(not(feature = "_nrf51"))] // Not for nrf51 because of the fork task
impl<'d, C: super::StaticChannel> Ppi<'d, C, 0, 1> {
/// Configure PPI channel to trigger `task`.
pub fn new_zero_to_one(ch: impl Peripheral<P = C> + 'd, task: Task) -> Self {
@ -26,7 +26,7 @@ impl<'d, C: super::StaticChannel> Ppi<'d, C, 0, 1> {
let r = regs();
let n = ch.number();
r.fork[n].tep.write(|w| unsafe { w.bits(task.reg_val()) });
r.fork(n).tep().write_value(task.reg_val());
Self { ch }
}
@ -39,14 +39,14 @@ impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 1> {
let r = regs();
let n = ch.number();
r.ch[n].eep.write(|w| unsafe { w.bits(event.reg_val()) });
r.ch[n].tep.write(|w| unsafe { w.bits(task.reg_val()) });
r.ch(n).eep().write_value(event.reg_val());
r.ch(n).tep().write_value(task.reg_val());
Self { ch }
}
}
#[cfg(not(feature = "nrf51"))] // Not for nrf51 because of the fork task
#[cfg(not(feature = "_nrf51"))] // Not for nrf51 because of the fork task
impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 2> {
/// Configure PPI channel to trigger both `task1` and `task2` on `event`.
pub fn new_one_to_two(ch: impl Peripheral<P = C> + 'd, event: Event<'d>, task1: Task<'d>, task2: Task<'d>) -> Self {
@ -54,9 +54,9 @@ impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 2> {
let r = regs();
let n = ch.number();
r.ch[n].eep.write(|w| unsafe { w.bits(event.reg_val()) });
r.ch[n].tep.write(|w| unsafe { w.bits(task1.reg_val()) });
r.fork[n].tep.write(|w| unsafe { w.bits(task2.reg_val()) });
r.ch(n).eep().write_value(event.reg_val());
r.ch(n).tep().write_value(task1.reg_val());
r.fork(n).tep().write_value(task2.reg_val());
Self { ch }
}
@ -66,13 +66,13 @@ impl<'d, C: Channel, const EVENT_COUNT: usize, const TASK_COUNT: usize> Ppi<'d,
/// Enables the channel.
pub fn enable(&mut self) {
let n = self.ch.number();
regs().chenset.write(|w| unsafe { w.bits(1 << n) });
regs().chenset().write(|w| w.set_ch(n, true));
}
/// Disables the channel.
pub fn disable(&mut self) {
let n = self.ch.number();
regs().chenclr.write(|w| unsafe { w.bits(1 << n) });
regs().chenclr().write(|w| w.set_ch(n, true));
}
}
@ -82,9 +82,9 @@ impl<'d, C: Channel, const EVENT_COUNT: usize, const TASK_COUNT: usize> Drop for
let r = regs();
let n = self.ch.number();
r.ch[n].eep.write(|w| unsafe { w.bits(0) });
r.ch[n].tep.write(|w| unsafe { w.bits(0) });
#[cfg(not(feature = "nrf51"))]
r.fork[n].tep.write(|w| unsafe { w.bits(0) });
r.ch(n).eep().write_value(0);
r.ch(n).tep().write_value(0);
#[cfg(not(feature = "_nrf51"))]
r.fork(n).tep().write_value(0);
}
}

272
embassy-nrf/src/pwm.rs
View File

@ -6,7 +6,9 @@ use core::sync::atomic::{compiler_fence, Ordering};
use embassy_hal_internal::{into_ref, PeripheralRef};
use crate::gpio::{convert_drive, AnyPin, OutputDrive, Pin as GpioPin, PselBits, SealedPin as _};
use crate::gpio::{convert_drive, AnyPin, OutputDrive, Pin as GpioPin, PselBits, SealedPin as _, DISCONNECTED};
use crate::pac::gpio::vals as gpiovals;
use crate::pac::pwm::vals;
use crate::ppi::{Event, Task};
use crate::util::slice_in_ram_or;
use crate::{interrupt, pac, Peripheral};
@ -128,52 +130,65 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
if let Some(pin) = &ch0 {
pin.set_low();
pin.conf()
.write(|w| w.dir().output().drive().variant(convert_drive(config.ch0_drive)));
pin.conf().write(|w| {
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_input(gpiovals::Input::DISCONNECT);
w.set_drive(convert_drive(config.ch0_drive));
});
}
if let Some(pin) = &ch1 {
pin.set_low();
pin.conf()
.write(|w| w.dir().output().drive().variant(convert_drive(config.ch1_drive)));
pin.conf().write(|w| {
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_input(gpiovals::Input::DISCONNECT);
w.set_drive(convert_drive(config.ch1_drive));
});
}
if let Some(pin) = &ch2 {
pin.set_low();
pin.conf()
.write(|w| w.dir().output().drive().variant(convert_drive(config.ch2_drive)));
pin.conf().write(|w| {
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_input(gpiovals::Input::DISCONNECT);
w.set_drive(convert_drive(config.ch2_drive));
});
}
if let Some(pin) = &ch3 {
pin.set_low();
pin.conf()
.write(|w| w.dir().output().drive().variant(convert_drive(config.ch3_drive)));
pin.conf().write(|w| {
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_input(gpiovals::Input::DISCONNECT);
w.set_drive(convert_drive(config.ch3_drive));
});
}
r.psel.out[0].write(|w| unsafe { w.bits(ch0.psel_bits()) });
r.psel.out[1].write(|w| unsafe { w.bits(ch1.psel_bits()) });
r.psel.out[2].write(|w| unsafe { w.bits(ch2.psel_bits()) });
r.psel.out[3].write(|w| unsafe { w.bits(ch3.psel_bits()) });
r.psel().out(0).write_value(ch0.psel_bits());
r.psel().out(1).write_value(ch1.psel_bits());
r.psel().out(2).write_value(ch2.psel_bits());
r.psel().out(3).write_value(ch3.psel_bits());
// Disable all interrupts
r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
r.shorts.reset();
r.events_stopped.reset();
r.events_loopsdone.reset();
r.events_seqend[0].reset();
r.events_seqend[1].reset();
r.events_pwmperiodend.reset();
r.events_seqstarted[0].reset();
r.events_seqstarted[1].reset();
r.intenclr().write(|w| w.0 = 0xFFFF_FFFF);
r.shorts().write(|_| ());
r.events_stopped().write_value(0);
r.events_loopsdone().write_value(0);
r.events_seqend(0).write_value(0);
r.events_seqend(1).write_value(0);
r.events_pwmperiodend().write_value(0);
r.events_seqstarted(0).write_value(0);
r.events_seqstarted(1).write_value(0);
r.decoder.write(|w| {
w.load().bits(config.sequence_load as u8);
w.mode().refresh_count()
r.decoder().write(|w| {
w.set_load(vals::Load::from_bits(config.sequence_load as u8));
w.set_mode(vals::Mode::REFRESH_COUNT);
});
r.mode.write(|w| match config.counter_mode {
CounterMode::UpAndDown => w.updown().up_and_down(),
CounterMode::Up => w.updown().up(),
r.mode().write(|w| match config.counter_mode {
CounterMode::UpAndDown => w.set_updown(vals::Updown::UP_AND_DOWN),
CounterMode::Up => w.set_updown(vals::Updown::UP),
});
r.prescaler.write(|w| w.prescaler().bits(config.prescaler as u8));
r.countertop.write(|w| unsafe { w.countertop().bits(config.max_duty) });
r.prescaler()
.write(|w| w.set_prescaler(vals::Prescaler::from_bits(config.prescaler as u8)));
r.countertop().write(|w| w.set_countertop(config.max_duty));
Ok(Self {
_peri: _pwm,
@ -189,7 +204,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
pub fn event_stopped(&self) -> Event<'d> {
let r = T::regs();
Event::from_reg(&r.events_stopped)
Event::from_reg(r.events_stopped())
}
/// Returns reference to `LoopsDone` event endpoint for PPI.
@ -197,7 +212,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
pub fn event_loops_done(&self) -> Event<'d> {
let r = T::regs();
Event::from_reg(&r.events_loopsdone)
Event::from_reg(r.events_loopsdone())
}
/// Returns reference to `PwmPeriodEnd` event endpoint for PPI.
@ -205,7 +220,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
pub fn event_pwm_period_end(&self) -> Event<'d> {
let r = T::regs();
Event::from_reg(&r.events_pwmperiodend)
Event::from_reg(r.events_pwmperiodend())
}
/// Returns reference to `Seq0 End` event endpoint for PPI.
@ -213,7 +228,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
pub fn event_seq_end(&self) -> Event<'d> {
let r = T::regs();
Event::from_reg(&r.events_seqend[0])
Event::from_reg(r.events_seqend(0))
}
/// Returns reference to `Seq1 End` event endpoint for PPI.
@ -221,7 +236,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
pub fn event_seq1_end(&self) -> Event<'d> {
let r = T::regs();
Event::from_reg(&r.events_seqend[1])
Event::from_reg(r.events_seqend(1))
}
/// Returns reference to `Seq0 Started` event endpoint for PPI.
@ -229,7 +244,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
pub fn event_seq0_started(&self) -> Event<'d> {
let r = T::regs();
Event::from_reg(&r.events_seqstarted[0])
Event::from_reg(r.events_seqstarted(0))
}
/// Returns reference to `Seq1 Started` event endpoint for PPI.
@ -237,7 +252,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
pub fn event_seq1_started(&self) -> Event<'d> {
let r = T::regs();
Event::from_reg(&r.events_seqstarted[1])
Event::from_reg(r.events_seqstarted(1))
}
/// Returns reference to `Seq0 Start` task endpoint for PPI.
@ -248,7 +263,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
pub unsafe fn task_start_seq0(&self) -> Task<'d> {
let r = T::regs();
Task::from_reg(&r.tasks_seqstart[0])
Task::from_reg(r.tasks_seqstart(0))
}
/// Returns reference to `Seq1 Started` task endpoint for PPI.
@ -259,7 +274,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
pub unsafe fn task_start_seq1(&self) -> Task<'d> {
let r = T::regs();
Task::from_reg(&r.tasks_seqstart[1])
Task::from_reg(r.tasks_seqstart(1))
}
/// Returns reference to `NextStep` task endpoint for PPI.
@ -270,7 +285,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
pub unsafe fn task_next_step(&self) -> Task<'d> {
let r = T::regs();
Task::from_reg(&r.tasks_nextstep)
Task::from_reg(r.tasks_nextstep())
}
/// Returns reference to `Stop` task endpoint for PPI.
@ -281,7 +296,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
pub unsafe fn task_stop(&self) -> Task<'d> {
let r = T::regs();
Task::from_reg(&r.tasks_stop)
Task::from_reg(r.tasks_stop())
}
}
@ -291,23 +306,23 @@ impl<'a, T: Instance> Drop for SequencePwm<'a, T> {
if let Some(pin) = &self.ch0 {
pin.set_low();
pin.conf().reset();
r.psel.out[0].reset();
pin.conf().write(|_| ());
r.psel().out(0).write_value(DISCONNECTED);
}
if let Some(pin) = &self.ch1 {
pin.set_low();
pin.conf().reset();
r.psel.out[1].reset();
pin.conf().write(|_| ());
r.psel().out(1).write_value(DISCONNECTED);
}
if let Some(pin) = &self.ch2 {
pin.set_low();
pin.conf().reset();
r.psel.out[2].reset();
pin.conf().write(|_| ());
r.psel().out(2).write_value(DISCONNECTED);
}
if let Some(pin) = &self.ch3 {
pin.set_low();
pin.conf().reset();
r.psel.out[3].reset();
pin.conf().write(|_| ());
r.psel().out(3).write_value(DISCONNECTED);
}
}
}
@ -463,21 +478,17 @@ impl<'d, 's, T: Instance> Sequencer<'d, 's, T> {
let r = T::regs();
r.seq0.refresh.write(|w| unsafe { w.bits(sequence0.config.refresh) });
r.seq0.enddelay.write(|w| unsafe { w.bits(sequence0.config.end_delay) });
r.seq0.ptr.write(|w| unsafe { w.bits(sequence0.words.as_ptr() as u32) });
r.seq0.cnt.write(|w| unsafe { w.bits(sequence0.words.len() as u32) });
r.seq(0).refresh().write(|w| w.0 = sequence0.config.refresh);
r.seq(0).enddelay().write(|w| w.0 = sequence0.config.end_delay);
r.seq(0).ptr().write_value(sequence0.words.as_ptr() as u32);
r.seq(0).cnt().write(|w| w.0 = sequence0.words.len() as u32);
r.seq1.refresh.write(|w| unsafe { w.bits(alt_sequence.config.refresh) });
r.seq1
.enddelay
.write(|w| unsafe { w.bits(alt_sequence.config.end_delay) });
r.seq1
.ptr
.write(|w| unsafe { w.bits(alt_sequence.words.as_ptr() as u32) });
r.seq1.cnt.write(|w| unsafe { w.bits(alt_sequence.words.len() as u32) });
r.seq(1).refresh().write(|w| w.0 = alt_sequence.config.refresh);
r.seq(1).enddelay().write(|w| w.0 = alt_sequence.config.end_delay);
r.seq(1).ptr().write_value(alt_sequence.words.as_ptr() as u32);
r.seq(1).cnt().write(|w| w.0 = alt_sequence.words.len() as u32);
r.enable.write(|w| w.enable().enabled());
r.enable().write(|w| w.set_enable(true));
// defensive before seqstart
compiler_fence(Ordering::SeqCst);
@ -486,18 +497,17 @@ impl<'d, 's, T: Instance> Sequencer<'d, 's, T> {
match times {
// just the one time, no loop count
SequenceMode::Loop(n) => {
r.loop_.write(|w| unsafe { w.cnt().bits(n) });
SequenceMode::Loop(_) => {
r.loop_().write(|w| w.set_cnt(vals::LoopCnt::DISABLED));
}
// to play infinitely, repeat the sequence one time, then have loops done self trigger seq0 again
SequenceMode::Infinite => {
r.loop_.write(|w| unsafe { w.cnt().bits(0x1) });
r.shorts.write(|w| w.loopsdone_seqstart0().enabled());
r.loop_().write(|w| w.set_cnt(vals::LoopCnt::from_bits(1)));
r.shorts().write(|w| w.set_loopsdone_seqstart0(true));
}
}
// tasks_seqstart() doesn't exist in all svds so write its bit instead
r.tasks_seqstart[seqstart_index].write(|w| unsafe { w.bits(0x01) });
r.tasks_seqstart(seqstart_index).write_value(1);
Ok(())
}
@ -509,14 +519,12 @@ impl<'d, 's, T: Instance> Sequencer<'d, 's, T> {
pub fn stop(&self) {
let r = T::regs();
r.shorts.reset();
r.shorts().write(|_| ());
compiler_fence(Ordering::SeqCst);
// tasks_stop() doesn't exist in all svds so write its bit instead
r.tasks_stop.write(|w| unsafe { w.bits(0x01) });
r.enable.write(|w| w.enable().disabled());
r.tasks_stop().write_value(1);
r.enable().write(|w| w.set_enable(false));
}
}
@ -672,29 +680,18 @@ impl<'d, T: Instance> SimplePwm<'d, T> {
let r = T::regs();
if let Some(pin) = &ch0 {
pin.set_low();
pin.conf().write(|w| w.dir().output());
}
if let Some(pin) = &ch1 {
pin.set_low();
pin.conf().write(|w| w.dir().output());
}
if let Some(pin) = &ch2 {
pin.set_low();
pin.conf().write(|w| w.dir().output());
}
if let Some(pin) = &ch3 {
pin.set_low();
pin.conf().write(|w| w.dir().output());
}
for (i, ch) in [&ch0, &ch1, &ch2, &ch3].into_iter().enumerate() {
if let Some(pin) = ch {
pin.set_low();
// if NoPin provided writes disconnected (top bit 1) 0x80000000 else
// writes pin number ex 13 (0x0D) which is connected (top bit 0)
r.psel.out[0].write(|w| unsafe { w.bits(ch0.psel_bits()) });
r.psel.out[1].write(|w| unsafe { w.bits(ch1.psel_bits()) });
r.psel.out[2].write(|w| unsafe { w.bits(ch2.psel_bits()) });
r.psel.out[3].write(|w| unsafe { w.bits(ch3.psel_bits()) });
pin.conf().write(|w| {
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_input(gpiovals::Input::DISCONNECT);
w.set_drive(gpiovals::Drive::S0S1);
});
}
r.psel().out(i).write_value(ch.psel_bits());
}
let pwm = Self {
_peri: _pwm,
@ -706,26 +703,25 @@ impl<'d, T: Instance> SimplePwm<'d, T> {
};
// Disable all interrupts
r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
r.shorts.reset();
r.intenclr().write(|w| w.0 = 0xFFFF_FFFF);
r.shorts().write(|_| ());
// Enable
r.enable.write(|w| w.enable().enabled());
r.enable().write(|w| w.set_enable(true));
r.seq0.ptr.write(|w| unsafe { w.bits((pwm.duty).as_ptr() as u32) });
r.seq(0).ptr().write_value((pwm.duty).as_ptr() as u32);
r.seq(0).cnt().write(|w| w.0 = 4);
r.seq(0).refresh().write(|w| w.0 = 0);
r.seq(0).enddelay().write(|w| w.0 = 0);
r.seq0.cnt.write(|w| unsafe { w.bits(4) });
r.seq0.refresh.write(|w| unsafe { w.bits(0) });
r.seq0.enddelay.write(|w| unsafe { w.bits(0) });
r.decoder.write(|w| {
w.load().individual();
w.mode().refresh_count()
r.decoder().write(|w| {
w.set_load(vals::Load::INDIVIDUAL);
w.set_mode(vals::Mode::REFRESH_COUNT);
});
r.mode.write(|w| w.updown().up());
r.prescaler.write(|w| w.prescaler().div_16());
r.countertop.write(|w| unsafe { w.countertop().bits(1000) });
r.loop_.write(|w| w.cnt().disabled());
r.mode().write(|w| w.set_updown(vals::Updown::UP));
r.prescaler().write(|w| w.set_prescaler(vals::Prescaler::DIV_16));
r.countertop().write(|w| w.set_countertop(1000));
r.loop_().write(|w| w.set_cnt(vals::LoopCnt::DISABLED));
pwm
}
@ -734,21 +730,21 @@ impl<'d, T: Instance> SimplePwm<'d, T> {
#[inline(always)]
pub fn is_enabled(&self) -> bool {
let r = T::regs();
r.enable.read().enable().bit_is_set()
r.enable().read().enable()
}
/// Enables the PWM generator.
#[inline(always)]
pub fn enable(&self) {
let r = T::regs();
r.enable.write(|w| w.enable().enabled());
r.enable().write(|w| w.set_enable(true));
}
/// Disables the PWM generator. Does NOT clear the last duty cycle from the pin.
#[inline(always)]
pub fn disable(&self) {
let r = T::regs();
r.enable.write(|w| w.enable().disabled());
r.enable().write(|w| w.set_enable(false));
}
/// Returns the current duty of the channel
@ -763,33 +759,35 @@ impl<'d, T: Instance> SimplePwm<'d, T> {
self.duty[channel] = duty & 0x7FFF;
// reload ptr in case self was moved
r.seq0.ptr.write(|w| unsafe { w.bits((self.duty).as_ptr() as u32) });
r.seq(0).ptr().write_value((self.duty).as_ptr() as u32);
// defensive before seqstart
compiler_fence(Ordering::SeqCst);
r.events_seqend[0].reset();
r.events_seqend(0).write_value(0);
// tasks_seqstart() doesn't exist in all svds so write its bit instead
r.tasks_seqstart[0].write(|w| unsafe { w.bits(1) });
r.tasks_seqstart(0).write_value(1);
// defensive wait until waveform is loaded after seqstart so set_duty
// can't be called again while dma is still reading
if self.is_enabled() {
while r.events_seqend[0].read().bits() == 0 {}
while r.events_seqend(0).read() == 0 {}
}
}
/// Sets the PWM clock prescaler.
#[inline(always)]
pub fn set_prescaler(&self, div: Prescaler) {
T::regs().prescaler.write(|w| w.prescaler().bits(div as u8));
T::regs()
.prescaler()
.write(|w| w.set_prescaler(vals::Prescaler::from_bits(div as u8)));
}
/// Gets the PWM clock prescaler.
#[inline(always)]
pub fn prescaler(&self) -> Prescaler {
match T::regs().prescaler.read().prescaler().bits() {
match T::regs().prescaler().read().prescaler().to_bits() {
0 => Prescaler::Div1,
1 => Prescaler::Div2,
2 => Prescaler::Div4,
@ -805,15 +803,13 @@ impl<'d, T: Instance> SimplePwm<'d, T> {
/// Sets the maximum duty cycle value.
#[inline(always)]
pub fn set_max_duty(&self, duty: u16) {
T::regs()
.countertop
.write(|w| unsafe { w.countertop().bits(duty.min(32767u16)) });
T::regs().countertop().write(|w| w.set_countertop(duty.min(32767u16)));
}
/// Returns the maximum duty cycle value.
#[inline(always)]
pub fn max_duty(&self) -> u16 {
T::regs().countertop.read().countertop().bits()
T::regs().countertop().read().countertop()
}
/// Sets the PWM output frequency.
@ -836,7 +832,7 @@ impl<'d, T: Instance> SimplePwm<'d, T> {
#[inline(always)]
pub fn set_ch0_drive(&self, drive: OutputDrive) {
if let Some(pin) = &self.ch0 {
pin.conf().modify(|_, w| w.drive().variant(convert_drive(drive)));
pin.conf().modify(|w| w.set_drive(convert_drive(drive)));
}
}
@ -844,7 +840,7 @@ impl<'d, T: Instance> SimplePwm<'d, T> {
#[inline(always)]
pub fn set_ch1_drive(&self, drive: OutputDrive) {
if let Some(pin) = &self.ch1 {
pin.conf().modify(|_, w| w.drive().variant(convert_drive(drive)));
pin.conf().modify(|w| w.set_drive(convert_drive(drive)));
}
}
@ -852,7 +848,7 @@ impl<'d, T: Instance> SimplePwm<'d, T> {
#[inline(always)]
pub fn set_ch2_drive(&self, drive: OutputDrive) {
if let Some(pin) = &self.ch2 {
pin.conf().modify(|_, w| w.drive().variant(convert_drive(drive)));
pin.conf().modify(|w| w.set_drive(convert_drive(drive)));
}
}
@ -860,7 +856,7 @@ impl<'d, T: Instance> SimplePwm<'d, T> {
#[inline(always)]
pub fn set_ch3_drive(&self, drive: OutputDrive) {
if let Some(pin) = &self.ch3 {
pin.conf().modify(|_, w| w.drive().variant(convert_drive(drive)));
pin.conf().modify(|w| w.set_drive(convert_drive(drive)));
}
}
}
@ -873,29 +869,29 @@ impl<'a, T: Instance> Drop for SimplePwm<'a, T> {
if let Some(pin) = &self.ch0 {
pin.set_low();
pin.conf().reset();
r.psel.out[0].reset();
pin.conf().write(|_| ());
r.psel().out(0).write_value(DISCONNECTED);
}
if let Some(pin) = &self.ch1 {
pin.set_low();
pin.conf().reset();
r.psel.out[1].reset();
pin.conf().write(|_| ());
r.psel().out(1).write_value(DISCONNECTED);
}
if let Some(pin) = &self.ch2 {
pin.set_low();
pin.conf().reset();
r.psel.out[2].reset();
pin.conf().write(|_| ());
r.psel().out(2).write_value(DISCONNECTED);
}
if let Some(pin) = &self.ch3 {
pin.set_low();
pin.conf().reset();
r.psel.out[3].reset();
pin.conf().write(|_| ());
r.psel().out(3).write_value(DISCONNECTED);
}
}
}
pub(crate) trait SealedInstance {
fn regs() -> &'static pac::pwm0::RegisterBlock;
fn regs() -> pac::pwm::Pwm;
}
/// PWM peripheral instance.
@ -908,8 +904,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static {
macro_rules! impl_pwm {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::pwm::SealedInstance for peripherals::$type {
fn regs() -> &'static pac::pwm0::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> pac::pwm::Pwm {
pac::$pac_type
}
}
impl crate::pwm::Instance for peripherals::$type {

83
embassy-nrf/src/qdec.rs
View File

@ -11,7 +11,9 @@ use embassy_sync::waitqueue::AtomicWaker;
use crate::gpio::{AnyPin, Pin as GpioPin, SealedPin as _};
use crate::interrupt::typelevel::Interrupt;
use crate::{interrupt, Peripheral};
use crate::pac::gpio::vals as gpiovals;
use crate::pac::qdec::vals;
use crate::{interrupt, pac, Peripheral};
/// Quadrature decoder driver.
pub struct Qdec<'d, T: Instance> {
@ -52,7 +54,7 @@ pub struct InterruptHandler<T: Instance> {
impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
unsafe fn on_interrupt() {
T::regs().intenclr.write(|w| w.reportrdy().clear());
T::regs().intenclr().write(|w| w.set_reportrdy(true));
T::state().waker.wake();
}
}
@ -93,54 +95,59 @@ impl<'d, T: Instance> Qdec<'d, T> {
let r = T::regs();
// Select pins.
a.conf().write(|w| w.input().connect().pull().pullup());
b.conf().write(|w| w.input().connect().pull().pullup());
r.psel.a.write(|w| unsafe { w.bits(a.psel_bits()) });
r.psel.b.write(|w| unsafe { w.bits(b.psel_bits()) });
a.conf().write(|w| {
w.set_input(gpiovals::Input::CONNECT);
w.set_pull(gpiovals::Pull::PULLUP);
});
b.conf().write(|w| {
w.set_input(gpiovals::Input::CONNECT);
w.set_pull(gpiovals::Pull::PULLUP);
});
r.psel().a().write_value(a.psel_bits());
r.psel().b().write_value(b.psel_bits());
if let Some(led_pin) = &led {
led_pin.conf().write(|w| w.dir().output());
r.psel.led.write(|w| unsafe { w.bits(led_pin.psel_bits()) });
led_pin.conf().write(|w| w.set_dir(gpiovals::Dir::OUTPUT));
r.psel().led().write_value(led_pin.psel_bits());
}
// Enables/disable input debounce filters
r.dbfen.write(|w| match config.debounce {
true => w.dbfen().enabled(),
false => w.dbfen().disabled(),
r.dbfen().write(|w| match config.debounce {
true => w.set_dbfen(true),
false => w.set_dbfen(false),
});
// Set LED output pin polarity
r.ledpol.write(|w| match config.led_polarity {
LedPolarity::ActiveHigh => w.ledpol().active_high(),
LedPolarity::ActiveLow => w.ledpol().active_low(),
r.ledpol().write(|w| match config.led_polarity {
LedPolarity::ActiveHigh => w.set_ledpol(vals::Ledpol::ACTIVE_HIGH),
LedPolarity::ActiveLow => w.set_ledpol(vals::Ledpol::ACTIVE_LOW),
});
// Set time period the LED is switched ON prior to sampling (0..511 us).
r.ledpre
.write(|w| unsafe { w.ledpre().bits(config.led_pre_usecs.min(511)) });
r.ledpre().write(|w| w.set_ledpre(config.led_pre_usecs.min(511)));
// Set sample period
r.sampleper.write(|w| match config.period {
SamplePeriod::_128us => w.sampleper()._128us(),
SamplePeriod::_256us => w.sampleper()._256us(),
SamplePeriod::_512us => w.sampleper()._512us(),
SamplePeriod::_1024us => w.sampleper()._1024us(),
SamplePeriod::_2048us => w.sampleper()._2048us(),
SamplePeriod::_4096us => w.sampleper()._4096us(),
SamplePeriod::_8192us => w.sampleper()._8192us(),
SamplePeriod::_16384us => w.sampleper()._16384us(),
SamplePeriod::_32ms => w.sampleper()._32ms(),
SamplePeriod::_65ms => w.sampleper()._65ms(),
SamplePeriod::_131ms => w.sampleper()._131ms(),
r.sampleper().write(|w| match config.period {
SamplePeriod::_128us => w.set_sampleper(vals::Sampleper::_128US),
SamplePeriod::_256us => w.set_sampleper(vals::Sampleper::_256US),
SamplePeriod::_512us => w.set_sampleper(vals::Sampleper::_512US),
SamplePeriod::_1024us => w.set_sampleper(vals::Sampleper::_1024US),
SamplePeriod::_2048us => w.set_sampleper(vals::Sampleper::_2048US),
SamplePeriod::_4096us => w.set_sampleper(vals::Sampleper::_4096US),
SamplePeriod::_8192us => w.set_sampleper(vals::Sampleper::_8192US),
SamplePeriod::_16384us => w.set_sampleper(vals::Sampleper::_16384US),
SamplePeriod::_32ms => w.set_sampleper(vals::Sampleper::_32MS),
SamplePeriod::_65ms => w.set_sampleper(vals::Sampleper::_65MS),
SamplePeriod::_131ms => w.set_sampleper(vals::Sampleper::_131MS),
});
T::Interrupt::unpend();
unsafe { T::Interrupt::enable() };
// Enable peripheral
r.enable.write(|w| w.enable().set_bit());
r.enable().write(|w| w.set_enable(true));
// Start sampling
unsafe { r.tasks_start.write(|w| w.bits(1)) };
r.tasks_start().write_value(1);
Self { _p: p }
}
@ -169,16 +176,16 @@ impl<'d, T: Instance> Qdec<'d, T> {
/// ```
pub async fn read(&mut self) -> i16 {
let t = T::regs();
t.intenset.write(|w| w.reportrdy().set());
unsafe { t.tasks_readclracc.write(|w| w.bits(1)) };
t.intenset().write(|w| w.set_reportrdy(true));
t.tasks_readclracc().write_value(1);
poll_fn(|cx| {
T::state().waker.register(cx.waker());
if t.events_reportrdy.read().bits() == 0 {
if t.events_reportrdy().read() == 0 {
Poll::Pending
} else {
t.events_reportrdy.reset();
let acc = t.accread.read().bits();
t.events_reportrdy().write_value(0);
let acc = t.accread().read();
Poll::Ready(acc as i16)
}
})
@ -259,7 +266,7 @@ impl State {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static crate::pac::qdec::RegisterBlock;
fn regs() -> pac::qdec::Qdec;
fn state() -> &'static State;
}
@ -273,8 +280,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static + Send {
macro_rules! impl_qdec {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::qdec::SealedInstance for peripherals::$type {
fn regs() -> &'static crate::pac::qdec::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> pac::qdec::Qdec {
pac::$pac_type
}
fn state() -> &'static crate::qdec::State {
static STATE: crate::qdec::State = crate::qdec::State::new();

164
embassy-nrf/src/qspi.rs
View File

@ -14,11 +14,12 @@ use embedded_storage::nor_flash::{ErrorType, NorFlash, NorFlashError, NorFlashEr
use crate::gpio::{self, Pin as GpioPin};
use crate::interrupt::typelevel::Interrupt;
pub use crate::pac::qspi::ifconfig0::{
ADDRMODE_A as AddressMode, PPSIZE_A as WritePageSize, READOC_A as ReadOpcode, WRITEOC_A as WriteOpcode,
use crate::pac::gpio::vals as gpiovals;
use crate::pac::qspi::vals;
pub use crate::pac::qspi::vals::{
Addrmode as AddressMode, Ppsize as WritePageSize, Readoc as ReadOpcode, Spimode as SpiMode, Writeoc as WriteOpcode,
};
pub use crate::pac::qspi::ifconfig1::SPIMODE_A as SpiMode;
use crate::{interrupt, Peripheral};
use crate::{interrupt, pac, Peripheral};
/// Deep power-down config.
pub struct DeepPowerDownConfig {
@ -129,9 +130,9 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
let r = T::regs();
let s = T::state();
if r.events_ready.read().bits() != 0 {
if r.events_ready().read() != 0 {
s.waker.wake();
r.intenclr.write(|w| w.ready().clear());
r.intenclr().write(|w| w.set_ready(true));
}
}
}
@ -164,13 +165,12 @@ impl<'d, T: Instance> Qspi<'d, T> {
($pin:ident) => {
$pin.set_high();
$pin.conf().write(|w| {
w.dir().output();
w.drive().h0h1();
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_drive(gpiovals::Drive::H0H1);
#[cfg(all(feature = "_nrf5340", feature = "_s"))]
w.mcusel().peripheral();
w
w.set_mcusel(gpiovals::Mcusel::PERIPHERAL);
});
r.psel.$pin.write(|w| unsafe { w.bits($pin.psel_bits()) });
r.psel().$pin().write_value($pin.psel_bits());
};
}
@ -181,46 +181,39 @@ impl<'d, T: Instance> Qspi<'d, T> {
config_pin!(io2);
config_pin!(io3);
r.ifconfig0.write(|w| {
w.addrmode().variant(config.address_mode);
w.dpmenable().bit(config.deep_power_down.is_some());
w.ppsize().variant(config.write_page_size);
w.readoc().variant(config.read_opcode);
w.writeoc().variant(config.write_opcode);
w
r.ifconfig0().write(|w| {
w.set_addrmode(config.address_mode);
w.set_dpmenable(config.deep_power_down.is_some());
w.set_ppsize(config.write_page_size);
w.set_readoc(config.read_opcode);
w.set_writeoc(config.write_opcode);
});
if let Some(dpd) = &config.deep_power_down {
r.dpmdur.write(|w| unsafe {
w.enter().bits(dpd.enter_time);
w.exit().bits(dpd.exit_time);
w
r.dpmdur().write(|w| {
w.set_enter(dpd.enter_time);
w.set_exit(dpd.exit_time);
})
}
r.ifconfig1.write(|w| unsafe {
w.sckdelay().bits(config.sck_delay);
w.dpmen().exit();
w.spimode().variant(config.spi_mode);
w.sckfreq().bits(config.frequency as u8);
w
r.ifconfig1().write(|w| {
w.set_sckdelay(config.sck_delay);
w.set_dpmen(false);
w.set_spimode(config.spi_mode);
w.set_sckfreq(config.frequency as u8);
});
r.iftiming.write(|w| unsafe {
w.rxdelay().bits(config.rx_delay & 0b111);
w
r.iftiming().write(|w| {
w.set_rxdelay(config.rx_delay & 0b111);
});
r.xipoffset.write(|w| unsafe {
w.xipoffset().bits(config.xip_offset);
w
});
r.xipoffset().write_value(config.xip_offset);
T::Interrupt::unpend();
unsafe { T::Interrupt::enable() };
// Enable it
r.enable.write(|w| w.enable().enabled());
r.enable().write(|w| w.set_enable(true));
let res = Self {
_peri: qspi,
@ -228,10 +221,10 @@ impl<'d, T: Instance> Qspi<'d, T> {
capacity: config.capacity,
};
r.events_ready.reset();
r.intenset.write(|w| w.ready().set());
r.events_ready().write_value(0);
r.intenset().write(|w| w.set_ready(true));
r.tasks_activate.write(|w| w.tasks_activate().bit(true));
r.tasks_activate().write_value(1);
Self::blocking_wait_ready();
@ -284,22 +277,21 @@ impl<'d, T: Instance> Qspi<'d, T> {
}
let r = T::regs();
r.cinstrdat0.write(|w| unsafe { w.bits(dat0) });
r.cinstrdat1.write(|w| unsafe { w.bits(dat1) });
r.cinstrdat0().write(|w| w.0 = dat0);
r.cinstrdat1().write(|w| w.0 = dat1);
r.events_ready.reset();
r.intenset.write(|w| w.ready().set());
r.events_ready().write_value(0);
r.intenset().write(|w| w.set_ready(true));
r.cinstrconf.write(|w| {
let w = unsafe { w.opcode().bits(opcode) };
let w = unsafe { w.length().bits(len + 1) };
let w = w.lio2().bit(true);
let w = w.lio3().bit(true);
let w = w.wipwait().bit(true);
let w = w.wren().bit(true);
let w = w.lfen().bit(false);
let w = w.lfstop().bit(false);
w
r.cinstrconf().write(|w| {
w.set_opcode(opcode);
w.set_length(vals::Length::from_bits(len + 1));
w.set_lio2(true);
w.set_lio3(true);
w.set_wipwait(true);
w.set_wren(true);
w.set_lfen(false);
w.set_lfstop(false);
});
Ok(())
}
@ -307,8 +299,8 @@ impl<'d, T: Instance> Qspi<'d, T> {
fn custom_instruction_finish(&mut self, resp: &mut [u8]) -> Result<(), Error> {
let r = T::regs();
let dat0 = r.cinstrdat0.read().bits();
let dat1 = r.cinstrdat1.read().bits();
let dat0 = r.cinstrdat0().read().0;
let dat1 = r.cinstrdat1().read().0;
for i in 0..4 {
if i < resp.len() {
resp[i] = (dat0 >> (i * 8)) as u8;
@ -327,7 +319,7 @@ impl<'d, T: Instance> Qspi<'d, T> {
let r = T::regs();
let s = T::state();
s.waker.register(cx.waker());
if r.events_ready.read().bits() != 0 {
if r.events_ready().read() != 0 {
return Poll::Ready(());
}
Poll::Pending
@ -338,7 +330,7 @@ impl<'d, T: Instance> Qspi<'d, T> {
fn blocking_wait_ready() {
loop {
let r = T::regs();
if r.events_ready.read().bits() != 0 {
if r.events_ready().read() != 0 {
break;
}
}
@ -352,13 +344,13 @@ impl<'d, T: Instance> Qspi<'d, T> {
let r = T::regs();
r.read.src.write(|w| unsafe { w.src().bits(address) });
r.read.dst.write(|w| unsafe { w.dst().bits(data.as_ptr() as u32) });
r.read.cnt.write(|w| unsafe { w.cnt().bits(data.len() as u32) });
r.read().src().write_value(address);
r.read().dst().write_value(data.as_ptr() as u32);
r.read().cnt().write(|w| w.set_cnt(data.len() as u32));
r.events_ready.reset();
r.intenset.write(|w| w.ready().set());
r.tasks_readstart.write(|w| w.tasks_readstart().bit(true));
r.events_ready().write_value(0);
r.intenset().write(|w| w.set_ready(true));
r.tasks_readstart().write_value(1);
Ok(())
}
@ -370,13 +362,13 @@ impl<'d, T: Instance> Qspi<'d, T> {
assert_eq!(address % 4, 0);
let r = T::regs();
r.write.src.write(|w| unsafe { w.src().bits(data.as_ptr() as u32) });
r.write.dst.write(|w| unsafe { w.dst().bits(address) });
r.write.cnt.write(|w| unsafe { w.cnt().bits(data.len() as u32) });
r.write().src().write_value(data.as_ptr() as u32);
r.write().dst().write_value(address);
r.write().cnt().write(|w| w.set_cnt(data.len() as u32));
r.events_ready.reset();
r.intenset.write(|w| w.ready().set());
r.tasks_writestart.write(|w| w.tasks_writestart().bit(true));
r.events_ready().write_value(0);
r.intenset().write(|w| w.set_ready(true));
r.tasks_writestart().write_value(1);
Ok(())
}
@ -386,12 +378,12 @@ impl<'d, T: Instance> Qspi<'d, T> {
assert_eq!(address % 4096, 0);
let r = T::regs();
r.erase.ptr.write(|w| unsafe { w.ptr().bits(address) });
r.erase.len.write(|w| w.len()._4kb());
r.erase().ptr().write_value(address);
r.erase().len().write(|w| w.set_len(vals::Len::_4KB));
r.events_ready.reset();
r.intenset.write(|w| w.ready().set());
r.tasks_erasestart.write(|w| w.tasks_erasestart().bit(true));
r.events_ready().write_value(0);
r.intenset().write(|w| w.set_ready(true));
r.tasks_erasestart().write_value(1);
Ok(())
}
@ -538,12 +530,12 @@ impl<'d, T: Instance> Drop for Qspi<'d, T> {
if self.dpm_enabled {
trace!("qspi: doing deep powerdown...");
r.ifconfig1.modify(|_, w| w.dpmen().enter());
r.ifconfig1().modify(|w| w.set_dpmen(true));
// Wait for DPM enter.
// Unfortunately we must spin. There's no way to do this interrupt-driven.
// The READY event does NOT fire on DPM enter (but it does fire on DPM exit :shrug:)
while r.status.read().dpm().is_disabled() {}
while !r.status().read().dpm() {}
// Wait MORE for DPM enter.
// I have absolutely no idea why, but the wait above is not enough :'(
@ -552,23 +544,23 @@ impl<'d, T: Instance> Drop for Qspi<'d, T> {
}
// it seems events_ready is not generated in response to deactivate. nrfx doesn't wait for it.
r.tasks_deactivate.write(|w| w.tasks_deactivate().set_bit());
r.tasks_deactivate().write_value(1);
// Workaround https://infocenter.nordicsemi.com/topic/errata_nRF52840_Rev1/ERR/nRF52840/Rev1/latest/anomaly_840_122.html?cp=4_0_1_2_1_7
// Note that the doc has 2 register writes, but the first one is really the write to tasks_deactivate,
// so we only do the second one here.
unsafe { ptr::write_volatile(0x40029054 as *mut u32, 1) }
r.enable.write(|w| w.enable().disabled());
r.enable().write(|w| w.set_enable(false));
// Note: we do NOT deconfigure CSN here. If DPM is in use and we disconnect CSN,
// leaving it floating, the flash chip might read it as zero which would cause it to
// spuriously exit DPM.
gpio::deconfigure_pin(r.psel.sck.read().bits());
gpio::deconfigure_pin(r.psel.io0.read().bits());
gpio::deconfigure_pin(r.psel.io1.read().bits());
gpio::deconfigure_pin(r.psel.io2.read().bits());
gpio::deconfigure_pin(r.psel.io3.read().bits());
gpio::deconfigure_pin(r.psel().sck().read());
gpio::deconfigure_pin(r.psel().io0().read());
gpio::deconfigure_pin(r.psel().io1().read());
gpio::deconfigure_pin(r.psel().io2().read());
gpio::deconfigure_pin(r.psel().io3().read());
trace!("qspi: dropped");
}
@ -667,7 +659,7 @@ impl State {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static crate::pac::qspi::RegisterBlock;
fn regs() -> pac::qspi::Qspi;
fn state() -> &'static State;
}
@ -681,8 +673,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static + Send {
macro_rules! impl_qspi {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::qspi::SealedInstance for peripherals::$type {
fn regs() -> &'static crate::pac::qspi::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> pac::qspi::Qspi {
pac::$pac_type
}
fn state() -> &'static crate::qspi::State {
static STATE: crate::qspi::State = crate::qspi::State::new();

188
embassy-nrf/src/radio/ble.rs
View File

@ -6,11 +6,12 @@ use core::task::Poll;
use embassy_hal_internal::drop::OnDrop;
use embassy_hal_internal::{into_ref, PeripheralRef};
pub use pac::radio::mode::MODE_A as Mode;
#[cfg(not(feature = "nrf51"))]
use pac::radio::pcnf0::PLEN_A as PreambleLength;
pub use pac::radio::vals::Mode;
#[cfg(not(feature = "_nrf51"))]
use pac::radio::vals::Plen as PreambleLength;
use crate::interrupt::typelevel::Interrupt;
use crate::pac::radio::vals;
use crate::radio::*;
pub use crate::radio::{Error, TxPower};
use crate::util::slice_in_ram_or;
@ -30,69 +31,63 @@ impl<'d, T: Instance> Radio<'d, T> {
let r = T::regs();
r.pcnf1.write(|w| unsafe {
r.pcnf1().write(|w| {
// It is 0 bytes long in a standard BLE packet
w.statlen()
.bits(0)
// MaxLen configures the maximum packet payload plus add-on size in
// number of bytes that can be transmitted or received by the RADIO. This feature can be used to ensure
// that the RADIO does not overwrite, or read beyond, the RAM assigned to the packet payload. This means
// that if the packet payload length defined by PCNF1.STATLEN and the LENGTH field in the packet specifies a
// packet larger than MAXLEN, the payload will be truncated at MAXLEN
//
// To simplify the implementation, It is setted as the maximum value
// and the length of the packet is controlled only by the LENGTH field in the packet
.maxlen()
.bits(255)
// Configure the length of the address field in the packet
// The prefix after the address fields is always appended, so is always 1 byte less than the size of the address
// The base address is truncated from the least significant byte if the BALEN is less than 4
//
// BLE address is always 4 bytes long
.balen()
.bits(3) // 3 bytes base address (+ 1 prefix);
// Configure the endianess
// For BLE is always little endian (LSB first)
.endian()
.little()
// Data whitening is used to avoid long sequences of zeros or
// ones, e.g., 0b0000000 or 0b1111111, in the data bit stream.
// The whitener and de-whitener are defined the same way,
// using a 7-bit linear feedback shift register with the
// polynomial x7 + x4 + 1.
//
// In BLE Whitening shall be applied on the PDU and CRC of all
// Link Layer packets and is performed after the CRC generation
// in the transmitter. No other parts of the packets are whitened.
// De-whitening is performed before the CRC checking in the receiver
// Before whitening or de-whitening, the shift register should be
// initialized based on the channel index.
.whiteen()
.set_bit()
w.set_statlen(0);
// MaxLen configures the maximum packet payload plus add-on size in
// number of bytes that can be transmitted or received by the RADIO. This feature can be used to ensure
// that the RADIO does not overwrite, or read beyond, the RAM assigned to the packet payload. This means
// that if the packet payload length defined by PCNF1.STATLEN and the LENGTH field in the packet specifies a
// packet larger than MAXLEN, the payload will be truncated at MAXLEN
//
// To simplify the implementation, It is setted as the maximum value
// and the length of the packet is controlled only by the LENGTH field in the packet
w.set_maxlen(255);
// Configure the length of the address field in the packet
// The prefix after the address fields is always appended, so is always 1 byte less than the size of the address
// The base address is truncated from the least significant byte if the BALEN is less than 4
//
// BLE address is always 4 bytes long
w.set_balen(3); // 3 bytes base address (+ 1 prefix);
// Configure the endianess
// For BLE is always little endian (LSB first)
w.set_endian(vals::Endian::LITTLE);
// Data whitening is used to avoid long sequences of zeros or
// ones, e.g., 0b0000000 or 0b1111111, in the data bit stream.
// The whitener and de-whitener are defined the same way,
// using a 7-bit linear feedback shift register with the
// polynomial x7 + x4 + 1.
//
// In BLE Whitening shall be applied on the PDU and CRC of all
// Link Layer packets and is performed after the CRC generation
// in the transmitter. No other parts of the packets are whitened.
// De-whitening is performed before the CRC checking in the receiver
// Before whitening or de-whitening, the shift register should be
// initialized based on the channel index.
w.set_whiteen(true);
});
// Configure CRC
r.crccnf.write(|w| {
r.crccnf().write(|w| {
// In BLE the CRC shall be calculated on the PDU of all Link Layer
// packets (even if the packet is encrypted).
// It skips the address field
w.skipaddr()
.skip()
// In BLE 24-bit CRC = 3 bytes
.len()
.three()
w.set_skipaddr(vals::Skipaddr::SKIP);
// In BLE 24-bit CRC = 3 bytes
w.set_len(vals::Len::THREE);
});
// Ch map between 2400 MHZ .. 2500 MHz
// All modes use this range
#[cfg(not(feature = "nrf51"))]
r.frequency.write(|w| w.map().default());
#[cfg(not(feature = "_nrf51"))]
r.frequency().write(|w| w.set_map(vals::Map::DEFAULT));
// Configure shortcuts to simplify and speed up sending and receiving packets.
r.shorts.write(|w| {
r.shorts().write(|w| {
// start transmission/recv immediately after ramp-up
// disable radio when transmission/recv is done
w.ready_start().enabled().end_disable().enabled()
w.set_ready_start(true);
w.set_end_disable(true);
});
// Enable NVIC interrupt
@ -113,11 +108,11 @@ impl<'d, T: Instance> Radio<'d, T> {
assert!(self.state() == RadioState::DISABLED);
let r = T::regs();
r.mode.write(|w| w.mode().variant(mode));
r.mode().write(|w| w.set_mode(mode));
#[cfg(not(feature = "nrf51"))]
r.pcnf0.write(|w| {
w.plen().variant(match mode {
#[cfg(not(feature = "_nrf51"))]
r.pcnf0().write(|w| {
w.set_plen(match mode {
Mode::BLE_1MBIT => PreambleLength::_8BIT,
Mode::BLE_2MBIT => PreambleLength::_16BIT,
#[cfg(any(
@ -147,18 +142,14 @@ impl<'d, T: Instance> Radio<'d, T> {
true => 8,
};
r.pcnf0.write(|w| unsafe {
w
// Configure S0 to 1 byte length, this will represent the Data/Adv header flags
.s0len()
.set_bit()
// Configure the length (in bits) field to 1 byte length, this will represent the length of the payload
// and also be used to know how many bytes to read/write from/to the buffer
.lflen()
.bits(8)
// Configure the lengh (in bits) of bits in the S1 field. It could be used to represent the CTEInfo for data packages in BLE.
.s1len()
.bits(s1len)
r.pcnf0().write(|w| {
// Configure S0 to 1 byte length, this will represent the Data/Adv header flags
w.set_s0len(true);
// Configure the length (in bits) field to 1 byte length, this will represent the length of the payload
// and also be used to know how many bytes to read/write from/to the buffer
w.set_lflen(0);
// Configure the lengh (in bits) of bits in the S1 field. It could be used to represent the CTEInfo for data packages in BLE.
w.set_s1len(s1len);
});
}
@ -172,7 +163,7 @@ impl<'d, T: Instance> Radio<'d, T> {
let r = T::regs();
r.datawhiteiv.write(|w| unsafe { w.datawhiteiv().bits(whitening_init) });
r.datawhiteiv().write(|w| w.set_datawhiteiv(whitening_init));
}
/// Set the central frequency to be used
@ -185,8 +176,7 @@ impl<'d, T: Instance> Radio<'d, T> {
let r = T::regs();
r.frequency
.write(|w| unsafe { w.frequency().bits((frequency - 2400) as u8) });
r.frequency().write(|w| w.set_frequency((frequency - 2400) as u8));
}
/// Set the acess address
@ -204,31 +194,25 @@ impl<'d, T: Instance> Radio<'d, T> {
// The byte ordering on air is always least significant byte first for the address
// So for the address 0xAA_BB_CC_DD, the address on air will be DD CC BB AA
// The package order is BASE, PREFIX so BASE=0xBB_CC_DD and PREFIX=0xAA
r.prefix0
.write(|w| unsafe { w.ap0().bits((access_address >> 24) as u8) });
r.prefix0().write(|w| w.set_ap0((access_address >> 24) as u8));
// The base address is truncated from the least significant byte (because the BALEN is less than 4)
// So it shifts the address to the right
r.base0.write(|w| unsafe { w.bits(access_address << 8) });
r.base0().write_value(access_address << 8);
// Don't match tx address
r.txaddress.write(|w| unsafe { w.txaddress().bits(0) });
r.txaddress().write(|w| w.set_txaddress(0));
// Match on logical address
// This config only filter the packets by the address,
// so only packages send to the previous address
// will finish the reception (TODO: check the explanation)
r.rxaddresses.write(|w| {
w.addr0()
.enabled()
.addr1()
.enabled()
.addr2()
.enabled()
.addr3()
.enabled()
.addr4()
.enabled()
r.rxaddresses().write(|w| {
w.set_addr0(true);
w.set_addr1(true);
w.set_addr2(true);
w.set_addr3(true);
w.set_addr4(true);
});
}
@ -241,7 +225,7 @@ impl<'d, T: Instance> Radio<'d, T> {
let r = T::regs();
r.crcpoly.write(|w| unsafe {
r.crcpoly().write(|w| {
// Configure the CRC polynomial
// Each term in the CRC polynomial is mapped to a bit in this
// register which index corresponds to the term's exponent.
@ -249,7 +233,7 @@ impl<'d, T: Instance> Radio<'d, T> {
// 1, and bit number 0 of the register content is ignored by
// the hardware. The following example is for an 8 bit CRC
// polynomial: x8 + x7 + x3 + x2 + 1 = 1 1000 1101 .
w.crcpoly().bits(crc_poly & 0xFFFFFF)
w.set_crcpoly(crc_poly & 0xFFFFFF)
});
}
@ -263,7 +247,7 @@ impl<'d, T: Instance> Radio<'d, T> {
let r = T::regs();
r.crcinit.write(|w| unsafe { w.crcinit().bits(crc_init & 0xFFFFFF) });
r.crcinit().write(|w| w.set_crcinit(crc_init & 0xFFFFFF));
}
/// Set the radio tx power
@ -274,7 +258,7 @@ impl<'d, T: Instance> Radio<'d, T> {
let r = T::regs();
r.txpower.write(|w| w.txpower().variant(tx_power));
r.txpower().write(|w| w.set_txpower(tx_power));
}
/// Set buffer to read/write
@ -294,7 +278,7 @@ impl<'d, T: Instance> Radio<'d, T> {
let ptr = buffer.as_ptr();
// Configure the payload
r.packetptr.write(|w| unsafe { w.bits(ptr as u32) });
r.packetptr().write_value(ptr as u32);
Ok(())
}
@ -310,7 +294,7 @@ impl<'d, T: Instance> Radio<'d, T> {
// Initialize the transmission
// trace!("txen");
r.tasks_txen.write(|w| unsafe { w.bits(1) });
r.tasks_txen().write_value(1);
})
.await;
@ -327,7 +311,7 @@ impl<'d, T: Instance> Radio<'d, T> {
self.trigger_and_wait_end(move || {
// Initialize the transmission
// trace!("rxen");
r.tasks_rxen.write(|w| unsafe { w.bits(1) });
r.tasks_rxen().write_value(1);
})
.await;
@ -344,21 +328,21 @@ impl<'d, T: Instance> Radio<'d, T> {
let drop = OnDrop::new(|| {
trace!("radio drop: stopping");
r.intenclr.write(|w| w.end().clear());
r.intenclr().write(|w| w.set_end(true));
r.tasks_stop.write(|w| unsafe { w.bits(1) });
r.tasks_stop().write_value(1);
r.events_end.reset();
r.events_end().write_value(0);
trace!("radio drop: stopped");
});
// trace!("radio:enable interrupt");
// Clear some remnant side-effects (TODO: check if this is necessary)
r.events_end.reset();
r.events_end().write_value(0);
// Enable interrupt
r.intenset.write(|w| w.end().set());
r.intenset().write(|w| w.set_end(true));
compiler_fence(Ordering::SeqCst);
@ -368,7 +352,7 @@ impl<'d, T: Instance> Radio<'d, T> {
// On poll check if interrupt happen
poll_fn(|cx| {
s.event_waker.register(cx.waker());
if r.events_end.read().bits() == 1 {
if r.events_end().read() == 1 {
// trace!("radio:end");
return core::task::Poll::Ready(());
}
@ -377,7 +361,7 @@ impl<'d, T: Instance> Radio<'d, T> {
.await;
compiler_fence(Ordering::SeqCst);
r.events_end.reset(); // ACK
r.events_end().write_value(0); // ACK
// Everthing ends fine, so it disable the drop
drop.defuse();
@ -392,15 +376,15 @@ impl<'d, T: Instance> Radio<'d, T> {
if self.state() != RadioState::DISABLED {
trace!("radio:disable");
// Trigger the disable task
r.tasks_disable.write(|w| unsafe { w.bits(1) });
r.tasks_disable().write_value(1);
// Wait until the radio is disabled
while r.events_disabled.read().bits() == 0 {}
while r.events_disabled().read() == 0 {}
compiler_fence(Ordering::SeqCst);
// Acknowledge it
r.events_disabled.reset();
r.events_disabled().write_value(0);
}
}
}

223
embassy-nrf/src/radio/ieee802154.rs
View File

@ -9,6 +9,7 @@ use embassy_hal_internal::{into_ref, PeripheralRef};
use super::{state, Error, Instance, InterruptHandler, RadioState, TxPower};
use crate::interrupt::typelevel::Interrupt;
use crate::interrupt::{self};
use crate::pac::radio::vals;
use crate::Peripheral;
/// Default (IEEE compliant) Start of Frame Delimiter
@ -47,58 +48,47 @@ impl<'d, T: Instance> Radio<'d, T> {
let r = T::regs();
// Disable and enable to reset peripheral
r.power.write(|w| w.power().disabled());
r.power.write(|w| w.power().enabled());
r.power().write(|w| w.set_power(false));
r.power().write(|w| w.set_power(true));
// Enable 802.15.4 mode
r.mode.write(|w| w.mode().ieee802154_250kbit());
r.mode().write(|w| w.set_mode(vals::Mode::IEEE802154_250KBIT));
// Configure CRC skip address
r.crccnf.write(|w| w.len().two().skipaddr().ieee802154());
unsafe {
// Configure CRC polynomial and init
r.crcpoly.write(|w| w.crcpoly().bits(0x0001_1021));
r.crcinit.write(|w| w.crcinit().bits(0));
r.pcnf0.write(|w| {
// 8-bit on air length
w.lflen()
.bits(8)
// Zero bytes S0 field length
.s0len()
.clear_bit()
// Zero bytes S1 field length
.s1len()
.bits(0)
// Do not include S1 field in RAM if S1 length > 0
.s1incl()
.clear_bit()
// Zero code Indicator length
.cilen()
.bits(0)
// 32-bit zero preamble
.plen()
._32bit_zero()
// Include CRC in length
.crcinc()
.include()
});
r.pcnf1.write(|w| {
// Maximum packet length
w.maxlen()
.bits(Packet::MAX_PSDU_LEN)
// Zero static length
.statlen()
.bits(0)
// Zero base address length
.balen()
.bits(0)
// Little-endian
.endian()
.clear_bit()
// Disable packet whitening
.whiteen()
.clear_bit()
});
}
r.crccnf().write(|w| {
w.set_len(vals::Len::TWO);
w.set_skipaddr(vals::Skipaddr::IEEE802154);
});
// Configure CRC polynomial and init
r.crcpoly().write(|w| w.set_crcpoly(0x0001_1021));
r.crcinit().write(|w| w.set_crcinit(0));
r.pcnf0().write(|w| {
// 8-bit on air length
w.set_lflen(8);
// Zero bytes S0 field length
w.set_s0len(false);
// Zero bytes S1 field length
w.set_s1len(0);
// Do not include S1 field in RAM if S1 length > 0
w.set_s1incl(vals::S1incl::AUTOMATIC);
// Zero code Indicator length
w.set_cilen(0);
// 32-bit zero preamble
w.set_plen(vals::Plen::_32BIT_ZERO);
// Include CRC in length
w.set_crcinc(vals::Crcinc::INCLUDE);
});
r.pcnf1().write(|w| {
// Maximum packet length
w.set_maxlen(Packet::MAX_PSDU_LEN);
// Zero static length
w.set_statlen(0);
// Zero base address length
w.set_balen(0);
// Little-endian
w.set_endian(vals::Endian::LITTLE);
// Disable packet whitening
w.set_whiteen(false);
});
// Enable NVIC interrupt
T::Interrupt::unpend();
@ -125,8 +115,10 @@ impl<'d, T: Instance> Radio<'d, T> {
}
let frequency_offset = (channel - 10) * 5;
self.needs_enable = true;
r.frequency
.write(|w| unsafe { w.frequency().bits(frequency_offset).map().default() });
r.frequency().write(|w| {
w.set_frequency(frequency_offset);
w.set_map(vals::Map::DEFAULT);
});
}
/// Changes the Clear Channel Assessment method
@ -134,12 +126,14 @@ impl<'d, T: Instance> Radio<'d, T> {
let r = T::regs();
self.needs_enable = true;
match cca {
Cca::CarrierSense => r.ccactrl.write(|w| w.ccamode().carrier_mode()),
Cca::CarrierSense => r.ccactrl().write(|w| w.set_ccamode(vals::Ccamode::CARRIER_MODE)),
Cca::EnergyDetection { ed_threshold } => {
// "[ED] is enabled by first configuring the field CCAMODE=EdMode in CCACTRL
// and writing the CCAEDTHRES field to a chosen value."
r.ccactrl
.write(|w| unsafe { w.ccamode().ed_mode().ccaedthres().bits(ed_threshold) });
r.ccactrl().write(|w| {
w.set_ccamode(vals::Ccamode::ED_MODE);
w.set_ccaedthres(ed_threshold);
});
}
}
}
@ -147,13 +141,13 @@ impl<'d, T: Instance> Radio<'d, T> {
/// Changes the Start of Frame Delimiter (SFD)
pub fn set_sfd(&mut self, sfd: u8) {
let r = T::regs();
r.sfd.write(|w| unsafe { w.sfd().bits(sfd) });
r.sfd().write(|w| w.set_sfd(sfd));
}
/// Clear interrupts
pub fn clear_all_interrupts(&mut self) {
let r = T::regs();
r.intenclr.write(|w| unsafe { w.bits(0xffff_ffff) });
r.intenclr().write(|w| w.0 = 0xffff_ffff);
}
/// Changes the radio transmission power
@ -163,43 +157,43 @@ impl<'d, T: Instance> Radio<'d, T> {
let tx_power: TxPower = match power {
#[cfg(not(any(feature = "nrf52811", feature = "_nrf5340-net")))]
8 => TxPower::POS8D_BM,
8 => TxPower::POS8_DBM,
#[cfg(not(any(feature = "nrf52811", feature = "_nrf5340-net")))]
7 => TxPower::POS7D_BM,
7 => TxPower::POS7_DBM,
#[cfg(not(any(feature = "nrf52811", feature = "_nrf5340-net")))]
6 => TxPower::POS6D_BM,
6 => TxPower::POS6_DBM,
#[cfg(not(any(feature = "nrf52811", feature = "_nrf5340-net")))]
5 => TxPower::POS5D_BM,
5 => TxPower::POS5_DBM,
#[cfg(not(feature = "_nrf5340-net"))]
4 => TxPower::POS4D_BM,
4 => TxPower::POS4_DBM,
#[cfg(not(feature = "_nrf5340-net"))]
3 => TxPower::POS3D_BM,
3 => TxPower::POS3_DBM,
#[cfg(not(any(feature = "nrf52811", feature = "_nrf5340-net")))]
2 => TxPower::POS2D_BM,
0 => TxPower::_0D_BM,
2 => TxPower::POS2_DBM,
0 => TxPower::_0_DBM,
#[cfg(feature = "_nrf5340-net")]
-1 => TxPower::NEG1D_BM,
-1 => TxPower::NEG1_DBM,
#[cfg(feature = "_nrf5340-net")]
-2 => TxPower::NEG2D_BM,
-2 => TxPower::NEG2_DBM,
#[cfg(feature = "_nrf5340-net")]
-3 => TxPower::NEG3D_BM,
-4 => TxPower::NEG4D_BM,
-3 => TxPower::NEG3_DBM,
-4 => TxPower::NEG4_DBM,
#[cfg(feature = "_nrf5340-net")]
-5 => TxPower::NEG5D_BM,
-5 => TxPower::NEG5_DBM,
#[cfg(feature = "_nrf5340-net")]
-6 => TxPower::NEG6D_BM,
-6 => TxPower::NEG6_DBM,
#[cfg(feature = "_nrf5340-net")]
-7 => TxPower::NEG7D_BM,
-8 => TxPower::NEG8D_BM,
-12 => TxPower::NEG12D_BM,
-16 => TxPower::NEG16D_BM,
-20 => TxPower::NEG20D_BM,
-30 => TxPower::NEG30D_BM,
-40 => TxPower::NEG40D_BM,
-7 => TxPower::NEG7_DBM,
-8 => TxPower::NEG8_DBM,
-12 => TxPower::NEG12_DBM,
-16 => TxPower::NEG16_DBM,
-20 => TxPower::NEG20_DBM,
-30 => TxPower::NEG30_DBM,
-40 => TxPower::NEG40_DBM,
_ => panic!("Invalid transmission power value"),
};
r.txpower.write(|w| w.txpower().variant(tx_power));
r.txpower().write(|w| w.set_txpower(tx_power));
}
/// Waits until the radio state matches the given `state`
@ -221,7 +215,7 @@ impl<'d, T: Instance> Radio<'d, T> {
RadioState::DISABLED => return,
// idle or ramping up
RadioState::RX_RU | RadioState::RX_IDLE | RadioState::TX_RU | RadioState::TX_IDLE => {
r.tasks_disable.write(|w| w.tasks_disable().set_bit());
r.tasks_disable().write_value(1);
self.wait_for_radio_state(RadioState::DISABLED);
return;
}
@ -232,29 +226,30 @@ impl<'d, T: Instance> Radio<'d, T> {
}
// cancel ongoing transfer or ongoing CCA
RadioState::RX => {
r.tasks_ccastop.write(|w| w.tasks_ccastop().set_bit());
r.tasks_stop.write(|w| w.tasks_stop().set_bit());
r.tasks_ccastop().write_value(1);
r.tasks_stop().write_value(1);
self.wait_for_radio_state(RadioState::RX_IDLE);
}
RadioState::TX => {
r.tasks_stop.write(|w| w.tasks_stop().set_bit());
r.tasks_stop().write_value(1);
self.wait_for_radio_state(RadioState::TX_IDLE);
}
_ => unreachable!(),
}
}
}
fn set_buffer(&mut self, buffer: &[u8]) {
let r = T::regs();
r.packetptr.write(|w| unsafe { w.bits(buffer.as_ptr() as u32) });
r.packetptr().write_value(buffer.as_ptr() as u32);
}
/// Moves the radio to the RXIDLE state
fn receive_prepare(&mut self) {
// clear related events
T::regs().events_ccabusy.reset();
T::regs().events_phyend.reset();
// NOTE to avoid errata 204 (see rev1 v1.4) we do TX_IDLE -> DISABLED -> RX_IDLE
T::regs().events_ccabusy().write_value(0);
T::regs().events_phyend().write_value(0);
// NOTE to avoid errata 204 (see rev1 v1.4) we do TX_IDLE -> DISABLED -> RXIDLE
let disable = match self.state() {
RadioState::DISABLED => false,
RadioState::RX_IDLE => self.needs_enable,
@ -279,7 +274,7 @@ impl<'d, T: Instance> Radio<'d, T> {
// The radio goes through following states when receiving a 802.15.4 packet
//
// enable RX → ramp up RX → RX idle → Receive → end (PHYEND)
r.shorts.write(|w| w.rxready_start().enabled());
r.shorts().write(|w| w.set_rxready_start(true));
// set up RX buffer
self.set_buffer(packet.buffer.as_mut());
@ -289,17 +284,17 @@ impl<'d, T: Instance> Radio<'d, T> {
match self.state() {
// Re-start receiver
RadioState::RX_IDLE => r.tasks_start.write(|w| w.tasks_start().set_bit()),
RadioState::RX_IDLE => r.tasks_start().write_value(1),
// Enable receiver
_ => r.tasks_rxen.write(|w| w.tasks_rxen().set_bit()),
_ => r.tasks_rxen().write_value(1),
}
}
/// Cancel receiving packet
fn receive_cancel() {
let r = T::regs();
r.shorts.reset();
r.tasks_stop.write(|w| w.tasks_stop().set_bit());
r.shorts().write(|_| {});
r.tasks_stop().write_value(1);
loop {
match state(r) {
RadioState::DISABLED | RadioState::RX_IDLE => break,
@ -329,12 +324,12 @@ impl<'d, T: Instance> Radio<'d, T> {
core::future::poll_fn(|cx| {
s.event_waker.register(cx.waker());
if r.events_phyend.read().events_phyend().bit_is_set() {
r.events_phyend.reset();
if r.events_phyend().read() != 0 {
r.events_phyend().write_value(0);
trace!("RX done poll");
return Poll::Ready(());
} else {
r.intenset.write(|w| w.phyend().set());
r.intenset().write(|w| w.set_phyend(true));
};
Poll::Pending
@ -344,8 +339,8 @@ impl<'d, T: Instance> Radio<'d, T> {
dma_end_fence();
dropper.defuse();
let crc = r.rxcrc.read().rxcrc().bits() as u16;
if r.crcstatus.read().crcstatus().bit_is_set() {
let crc = r.rxcrc().read().rxcrc() as u16;
if r.crcstatus().read().crcstatus() == vals::Crcstatus::CRCOK {
Ok(())
} else {
Err(Error::CrcFailed(crc))
@ -387,17 +382,12 @@ impl<'d, T: Instance> Radio<'d, T> {
// CCA idle → enable TX → start TX → TX → end (PHYEND) → disabled
//
// CCA might end up in the event CCABUSY in which there will be no transmission
r.shorts.write(|w| {
w.rxready_ccastart()
.enabled()
.ccaidle_txen()
.enabled()
.txready_start()
.enabled()
.ccabusy_disable()
.enabled()
.phyend_disable()
.enabled()
r.shorts().write(|w| {
w.set_rxready_ccastart(true);
w.set_ccaidle_txen(true);
w.set_txready_start(true);
w.set_ccabusy_disable(true);
w.set_phyend_disable(true);
});
// Set transmission buffer
@ -410,27 +400,30 @@ impl<'d, T: Instance> Radio<'d, T> {
match self.state() {
// Re-start receiver
RadioState::RX_IDLE => r.tasks_ccastart.write(|w| w.tasks_ccastart().set_bit()),
RadioState::RX_IDLE => r.tasks_ccastart().write_value(1),
// Enable receiver
_ => r.tasks_rxen.write(|w| w.tasks_rxen().set_bit()),
_ => r.tasks_rxen().write_value(1),
}
self.clear_all_interrupts();
let result = core::future::poll_fn(|cx| {
s.event_waker.register(cx.waker());
if r.events_phyend.read().events_phyend().bit_is_set() {
r.events_phyend.reset();
r.events_ccabusy.reset();
if r.events_phyend().read() != 0 {
r.events_phyend().write_value(0);
r.events_ccabusy().write_value(0);
trace!("TX done poll");
return Poll::Ready(TransmitResult::Success);
} else if r.events_ccabusy.read().events_ccabusy().bit_is_set() {
r.events_ccabusy.reset();
} else if r.events_ccabusy().read() != 0 {
r.events_ccabusy().write_value(0);
trace!("TX no CCA");
return Poll::Ready(TransmitResult::ChannelInUse);
}
r.intenset.write(|w| w.phyend().set().ccabusy().set());
r.intenset().write(|w| {
w.set_phyend(true);
w.set_ccabusy(true);
});
Poll::Pending
})

19
embassy-nrf/src/radio/mod.rs
View File

@ -20,8 +20,8 @@ pub mod ieee802154;
use core::marker::PhantomData;
use embassy_sync::waitqueue::AtomicWaker;
use pac::radio::state::STATE_A as RadioState;
pub use pac::radio::txpower::TXPOWER_A as TxPower;
use pac::radio::vals::State as RadioState;
pub use pac::radio::vals::Txpower as TxPower;
use crate::{interrupt, pac, Peripheral};
@ -52,7 +52,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
let r = T::regs();
let s = T::state();
// clear all interrupts
r.intenclr.write(|w| w.bits(0xffff_ffff));
r.intenclr().write(|w| w.0 = 0xffff_ffff);
s.event_waker.wake();
}
}
@ -70,15 +70,15 @@ impl State {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static crate::pac::radio::RegisterBlock;
fn regs() -> crate::pac::radio::Radio;
fn state() -> &'static State;
}
macro_rules! impl_radio {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::radio::SealedInstance for peripherals::$type {
fn regs() -> &'static pac::radio::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> crate::pac::radio::Radio {
pac::$pac_type
}
fn state() -> &'static crate::radio::State {
@ -100,9 +100,6 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static + Send {
}
/// Get the state of the radio
pub(crate) fn state(radio: &pac::radio::RegisterBlock) -> RadioState {
match radio.state.read().state().variant() {
Some(state) => state,
None => unreachable!(),
}
pub(crate) fn state(radio: pac::radio::Radio) -> RadioState {
radio.state().read().state()
}

28
embassy-nrf/src/rng.rs
View File

@ -14,7 +14,7 @@ use embassy_hal_internal::{into_ref, PeripheralRef};
use embassy_sync::waitqueue::WakerRegistration;
use crate::interrupt::typelevel::Interrupt;
use crate::{interrupt, Peripheral};
use crate::{interrupt, pac, Peripheral};
/// Interrupt handler.
pub struct InterruptHandler<T: Instance> {
@ -26,7 +26,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
let r = T::regs();
// Clear the event.
r.events_valrdy.reset();
r.events_valrdy().write_value(0);
// Mutate the slice within a critical section,
// so that the future isn't dropped in between us loading the pointer and actually dereferencing it.
@ -40,7 +40,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
// The safety contract of `Rng::new` means that the future can't have been dropped
// without calling its destructor.
unsafe {
*state.ptr = r.value.read().value().bits();
*state.ptr = r.value().read().value();
state.ptr = state.ptr.add(1);
}
@ -84,19 +84,19 @@ impl<'d, T: Instance> Rng<'d, T> {
}
fn stop(&self) {
T::regs().tasks_stop.write(|w| unsafe { w.bits(1) })
T::regs().tasks_stop().write_value(1)
}
fn start(&self) {
T::regs().tasks_start.write(|w| unsafe { w.bits(1) })
T::regs().tasks_start().write_value(1)
}
fn enable_irq(&self) {
T::regs().intenset.write(|w| w.valrdy().set());
T::regs().intenset().write(|w| w.set_valrdy(true));
}
fn disable_irq(&self) {
T::regs().intenclr.write(|w| w.valrdy().clear());
T::regs().intenclr().write(|w| w.set_valrdy(true));
}
/// Enable or disable the RNG's bias correction.
@ -106,7 +106,7 @@ impl<'d, T: Instance> Rng<'d, T> {
///
/// Defaults to disabled.
pub fn set_bias_correction(&self, enable: bool) {
T::regs().config.write(|w| w.dercen().bit(enable))
T::regs().config().write(|w| w.set_dercen(enable))
}
/// Fill the buffer with random bytes.
@ -162,9 +162,9 @@ impl<'d, T: Instance> Rng<'d, T> {
for byte in dest.iter_mut() {
let regs = T::regs();
while regs.events_valrdy.read().bits() == 0 {}
regs.events_valrdy.reset();
*byte = regs.value.read().value().bits();
while regs.events_valrdy().read() == 0 {}
regs.events_valrdy().write_value(0);
*byte = regs.value().read().value();
}
self.stop();
@ -244,7 +244,7 @@ impl InnerState {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static crate::pac::rng::RegisterBlock;
fn regs() -> pac::rng::Rng;
fn state() -> &'static State;
}
@ -258,8 +258,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static + Send {
macro_rules! impl_rng {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::rng::SealedInstance for peripherals::$type {
fn regs() -> &'static crate::pac::rng::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> crate::pac::rng::Rng {
pac::$pac_type
}
fn state() -> &'static crate::rng::State {
static STATE: crate::rng::State = crate::rng::State::new();

247
embassy-nrf/src/saadc.rs
View File

@ -9,14 +9,10 @@ use core::task::Poll;
use embassy_hal_internal::drop::OnDrop;
use embassy_hal_internal::{impl_peripheral, into_ref, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
use pac::{saadc, SAADC};
use saadc::ch::config::{GAIN_A, REFSEL_A, RESP_A, TACQ_A};
// We treat the positive and negative channels with the same enum values to keep our type tidy and given they are the same
pub(crate) use saadc::ch::pselp::PSELP_A as InputChannel;
use saadc::oversample::OVERSAMPLE_A;
use saadc::resolution::VAL_A;
pub(crate) use vals::Psel as InputChannel;
use crate::interrupt::InterruptExt;
use crate::pac::saadc::vals;
use crate::ppi::{ConfigurableChannel, Event, Ppi, Task};
use crate::timer::{Frequency, Instance as TimerInstance, Timer};
use crate::{interrupt, pac, peripherals, Peripheral};
@ -34,20 +30,20 @@ pub struct InterruptHandler {
impl interrupt::typelevel::Handler<interrupt::typelevel::SAADC> for InterruptHandler {
unsafe fn on_interrupt() {
let r = unsafe { &*SAADC::ptr() };
let r = pac::SAADC;
if r.events_calibratedone.read().bits() != 0 {
r.intenclr.write(|w| w.calibratedone().clear());
if r.events_calibratedone().read() != 0 {
r.intenclr().write(|w| w.set_calibratedone(true));
WAKER.wake();
}
if r.events_end.read().bits() != 0 {
r.intenclr.write(|w| w.end().clear());
if r.events_end().read() != 0 {
r.intenclr().write(|w| w.set_end(true));
WAKER.wake();
}
if r.events_started.read().bits() != 0 {
r.intenclr.write(|w| w.started().clear());
if r.events_started().read() != 0 {
r.intenclr().write(|w| w.set_started(true));
WAKER.wake();
}
}
@ -150,44 +146,36 @@ impl<'d, const N: usize> Saadc<'d, N> {
) -> Self {
into_ref!(saadc);
let r = unsafe { &*SAADC::ptr() };
let r = pac::SAADC;
let Config { resolution, oversample } = config;
// Configure channels
r.enable.write(|w| w.enable().enabled());
r.resolution.write(|w| w.val().variant(resolution.into()));
r.oversample.write(|w| w.oversample().variant(oversample.into()));
r.enable().write(|w| w.set_enable(true));
r.resolution().write(|w| w.set_val(resolution.into()));
r.oversample().write(|w| w.set_oversample(oversample.into()));
for (i, cc) in channel_configs.iter().enumerate() {
r.ch[i].pselp.write(|w| w.pselp().variant(cc.p_channel.channel()));
r.ch(i).pselp().write(|w| w.set_pselp(cc.p_channel.channel()));
if let Some(n_channel) = &cc.n_channel {
r.ch[i]
.pseln
.write(|w| unsafe { w.pseln().bits(n_channel.channel() as u8) });
r.ch(i).pseln().write(|w| w.set_pseln(n_channel.channel()));
}
r.ch[i].config.write(|w| {
w.refsel().variant(cc.reference.into());
w.gain().variant(cc.gain.into());
w.tacq().variant(cc.time.into());
if cc.n_channel.is_none() {
w.mode().se();
} else {
w.mode().diff();
}
w.resp().variant(cc.resistor.into());
w.resn().bypass();
if !matches!(oversample, Oversample::BYPASS) {
w.burst().enabled();
} else {
w.burst().disabled();
}
w
r.ch(i).config().write(|w| {
w.set_refsel(cc.reference.into());
w.set_gain(cc.gain.into());
w.set_tacq(cc.time.into());
w.set_mode(match cc.n_channel {
None => vals::ConfigMode::SE,
Some(_) => vals::ConfigMode::DIFF,
});
w.set_resp(cc.resistor.into());
w.set_resn(vals::Resn::BYPASS);
w.set_burst(!matches!(oversample, Oversample::BYPASS));
});
}
// Disable all events interrupts
r.intenclr.write(|w| unsafe { w.bits(0x003F_FFFF) });
r.intenclr().write(|w| w.0 = 0x003F_FFFF);
interrupt::SAADC.unpend();
unsafe { interrupt::SAADC.enable() };
@ -195,8 +183,8 @@ impl<'d, const N: usize> Saadc<'d, N> {
Self { _p: saadc }
}
fn regs() -> &'static saadc::RegisterBlock {
unsafe { &*SAADC::ptr() }
fn regs() -> pac::saadc::Saadc {
pac::SAADC
}
/// Perform SAADC calibration. Completes when done.
@ -204,13 +192,13 @@ impl<'d, const N: usize> Saadc<'d, N> {
let r = Self::regs();
// Reset and enable the end event
r.events_calibratedone.reset();
r.intenset.write(|w| w.calibratedone().set());
r.events_calibratedone().write_value(0);
r.intenset().write(|w| w.set_calibratedone(true));
// Order is important
compiler_fence(Ordering::SeqCst);
r.tasks_calibrateoffset.write(|w| unsafe { w.bits(1) });
r.tasks_calibrateoffset().write_value(1);
// Wait for 'calibratedone' event.
poll_fn(|cx| {
@ -218,8 +206,8 @@ impl<'d, const N: usize> Saadc<'d, N> {
WAKER.register(cx.waker());
if r.events_calibratedone.read().bits() != 0 {
r.events_calibratedone.reset();
if r.events_calibratedone().read() != 0 {
r.events_calibratedone().write_value(0);
return Poll::Ready(());
}
@ -239,19 +227,19 @@ impl<'d, const N: usize> Saadc<'d, N> {
let r = Self::regs();
// Set up the DMA
r.result.ptr.write(|w| unsafe { w.ptr().bits(buf.as_mut_ptr() as u32) });
r.result.maxcnt.write(|w| unsafe { w.maxcnt().bits(N as _) });
r.result().ptr().write_value(buf.as_mut_ptr() as u32);
r.result().maxcnt().write(|w| w.set_maxcnt(N as _));
// Reset and enable the end event
r.events_end.reset();
r.intenset.write(|w| w.end().set());
r.events_end().write_value(0);
r.intenset().write(|w| w.set_end(true));
// Don't reorder the ADC start event before the previous writes. Hopefully self
// wouldn't happen anyway.
compiler_fence(Ordering::SeqCst);
r.tasks_start.write(|w| unsafe { w.bits(1) });
r.tasks_sample.write(|w| unsafe { w.bits(1) });
r.tasks_start().write_value(1);
r.tasks_sample().write_value(1);
// Wait for 'end' event.
poll_fn(|cx| {
@ -259,8 +247,8 @@ impl<'d, const N: usize> Saadc<'d, N> {
WAKER.register(cx.waker());
if r.events_end.read().bits() != 0 {
r.events_end.reset();
if r.events_end().read() != 0 {
r.events_end().write_value(0);
return Poll::Ready(());
}
@ -311,8 +299,11 @@ impl<'d, const N: usize> Saadc<'d, N> {
// We want the task start to effectively short with the last one ending so
// we don't miss any samples. It'd be great for the SAADC to offer a SHORTS
// register instead, but it doesn't, so we must use PPI.
let mut start_ppi =
Ppi::new_one_to_one(ppi_ch1, Event::from_reg(&r.events_end), Task::from_reg(&r.tasks_start));
let mut start_ppi = Ppi::new_one_to_one(
ppi_ch1,
Event::from_reg(r.events_end()),
Task::from_reg(r.tasks_start()),
);
start_ppi.enable();
let timer = Timer::new(timer);
@ -322,7 +313,7 @@ impl<'d, const N: usize> Saadc<'d, N> {
let timer_cc = timer.cc(0);
let mut sample_ppi = Ppi::new_one_to_one(ppi_ch2, timer_cc.event_compare(), Task::from_reg(&r.tasks_sample));
let mut sample_ppi = Ppi::new_one_to_one(ppi_ch2, timer_cc.event_compare(), Task::from_reg(r.tasks_sample()));
timer.start();
@ -355,43 +346,37 @@ impl<'d, const N: usize> Saadc<'d, N> {
// Establish mode and sample rate
match sample_rate_divisor {
Some(sr) => {
r.samplerate.write(|w| unsafe {
w.cc().bits(sr);
w.mode().timers();
w
r.samplerate().write(|w| {
w.set_cc(sr);
w.set_mode(vals::SamplerateMode::TIMERS);
});
r.tasks_sample.write(|w| unsafe { w.bits(1) }); // Need to kick-start the internal timer
r.tasks_sample().write_value(1); // Need to kick-start the internal timer
}
None => r.samplerate.write(|w| unsafe {
w.cc().bits(0);
w.mode().task();
w
None => r.samplerate().write(|w| {
w.set_cc(0);
w.set_mode(vals::SamplerateMode::TASK);
}),
}
// Set up the initial DMA
r.result
.ptr
.write(|w| unsafe { w.ptr().bits(bufs[0].as_mut_ptr() as u32) });
r.result.maxcnt.write(|w| unsafe { w.maxcnt().bits((N0 * N) as _) });
r.result().ptr().write_value(bufs[0].as_mut_ptr() as u32);
r.result().maxcnt().write(|w| w.set_maxcnt((N0 * N) as _));
// Reset and enable the events
r.events_end.reset();
r.events_started.reset();
r.intenset.write(|w| {
w.end().set();
w.started().set();
w
r.events_end().write_value(0);
r.events_started().write_value(0);
r.intenset().write(|w| {
w.set_end(true);
w.set_started(true);
});
// Don't reorder the ADC start event before the previous writes. Hopefully self
// wouldn't happen anyway.
compiler_fence(Ordering::SeqCst);
r.tasks_start.write(|w| unsafe { w.bits(1) });
r.tasks_start().write_value(1);
let mut inited = false;
let mut current_buffer = 0;
// Wait for events and complete when the sampler indicates it has had enough.
@ -400,11 +385,11 @@ impl<'d, const N: usize> Saadc<'d, N> {
WAKER.register(cx.waker());
if r.events_end.read().bits() != 0 {
if r.events_end().read() != 0 {
compiler_fence(Ordering::SeqCst);
r.events_end.reset();
r.intenset.write(|w| w.end().set());
r.events_end().write_value(0);
r.intenset().write(|w| w.set_end(true));
match callback(&bufs[current_buffer]) {
CallbackResult::Continue => {
@ -417,9 +402,9 @@ impl<'d, const N: usize> Saadc<'d, N> {
}
}
if r.events_started.read().bits() != 0 {
r.events_started.reset();
r.intenset.write(|w| w.started().set());
if r.events_started().read() != 0 {
r.events_started().write_value(0);
r.intenset().write(|w| w.set_started(true));
if !inited {
init();
@ -427,9 +412,7 @@ impl<'d, const N: usize> Saadc<'d, N> {
}
let next_buffer = 1 - current_buffer;
r.result
.ptr
.write(|w| unsafe { w.ptr().bits(bufs[next_buffer].as_mut_ptr() as u32) });
r.result().ptr().write_value(bufs[next_buffer].as_mut_ptr() as u32);
}
Poll::Pending
@ -447,11 +430,11 @@ impl<'d, const N: usize> Saadc<'d, N> {
compiler_fence(Ordering::SeqCst);
r.events_stopped.reset();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
r.events_stopped().write_value(0);
r.tasks_stop().write_value(1);
while r.events_stopped.read().bits() == 0 {}
r.events_stopped.reset();
while r.events_stopped().read() == 0 {}
r.events_stopped().write_value(0);
}
}
@ -481,21 +464,21 @@ impl<'d> Saadc<'d, 1> {
impl<'d, const N: usize> Drop for Saadc<'d, N> {
fn drop(&mut self) {
let r = Self::regs();
r.enable.write(|w| w.enable().disabled());
r.enable().write(|w| w.set_enable(false));
}
}
impl From<Gain> for GAIN_A {
impl From<Gain> for vals::Gain {
fn from(gain: Gain) -> Self {
match gain {
Gain::GAIN1_6 => GAIN_A::GAIN1_6,
Gain::GAIN1_5 => GAIN_A::GAIN1_5,
Gain::GAIN1_4 => GAIN_A::GAIN1_4,
Gain::GAIN1_3 => GAIN_A::GAIN1_3,
Gain::GAIN1_2 => GAIN_A::GAIN1_2,
Gain::GAIN1 => GAIN_A::GAIN1,
Gain::GAIN2 => GAIN_A::GAIN2,
Gain::GAIN4 => GAIN_A::GAIN4,
Gain::GAIN1_6 => vals::Gain::GAIN1_6,
Gain::GAIN1_5 => vals::Gain::GAIN1_5,
Gain::GAIN1_4 => vals::Gain::GAIN1_4,
Gain::GAIN1_3 => vals::Gain::GAIN1_3,
Gain::GAIN1_2 => vals::Gain::GAIN1_2,
Gain::GAIN1 => vals::Gain::GAIN1,
Gain::GAIN2 => vals::Gain::GAIN2,
Gain::GAIN4 => vals::Gain::GAIN4,
}
}
}
@ -522,11 +505,11 @@ pub enum Gain {
GAIN4 = 7,
}
impl From<Reference> for REFSEL_A {
impl From<Reference> for vals::Refsel {
fn from(reference: Reference) -> Self {
match reference {
Reference::INTERNAL => REFSEL_A::INTERNAL,
Reference::VDD1_4 => REFSEL_A::VDD1_4,
Reference::INTERNAL => vals::Refsel::INTERNAL,
Reference::VDD1_4 => vals::Refsel::VDD1_4,
}
}
}
@ -541,13 +524,13 @@ pub enum Reference {
VDD1_4 = 1,
}
impl From<Resistor> for RESP_A {
impl From<Resistor> for vals::Resp {
fn from(resistor: Resistor) -> Self {
match resistor {
Resistor::BYPASS => RESP_A::BYPASS,
Resistor::PULLDOWN => RESP_A::PULLDOWN,
Resistor::PULLUP => RESP_A::PULLUP,
Resistor::VDD1_2 => RESP_A::VDD1_2,
Resistor::BYPASS => vals::Resp::BYPASS,
Resistor::PULLDOWN => vals::Resp::PULLDOWN,
Resistor::PULLUP => vals::Resp::PULLUP,
Resistor::VDD1_2 => vals::Resp::VDD1_2,
}
}
}
@ -566,15 +549,15 @@ pub enum Resistor {
VDD1_2 = 3,
}
impl From<Time> for TACQ_A {
impl From<Time> for vals::Tacq {
fn from(time: Time) -> Self {
match time {
Time::_3US => TACQ_A::_3US,
Time::_5US => TACQ_A::_5US,
Time::_10US => TACQ_A::_10US,
Time::_15US => TACQ_A::_15US,
Time::_20US => TACQ_A::_20US,
Time::_40US => TACQ_A::_40US,
Time::_3US => vals::Tacq::_3US,
Time::_5US => vals::Tacq::_5US,
Time::_10US => vals::Tacq::_10US,
Time::_15US => vals::Tacq::_15US,
Time::_20US => vals::Tacq::_20US,
Time::_40US => vals::Tacq::_40US,
}
}
}
@ -597,18 +580,18 @@ pub enum Time {
_40US = 5,
}
impl From<Oversample> for OVERSAMPLE_A {
impl From<Oversample> for vals::Oversample {
fn from(oversample: Oversample) -> Self {
match oversample {
Oversample::BYPASS => OVERSAMPLE_A::BYPASS,
Oversample::OVER2X => OVERSAMPLE_A::OVER2X,
Oversample::OVER4X => OVERSAMPLE_A::OVER4X,
Oversample::OVER8X => OVERSAMPLE_A::OVER8X,
Oversample::OVER16X => OVERSAMPLE_A::OVER16X,
Oversample::OVER32X => OVERSAMPLE_A::OVER32X,
Oversample::OVER64X => OVERSAMPLE_A::OVER64X,
Oversample::OVER128X => OVERSAMPLE_A::OVER128X,
Oversample::OVER256X => OVERSAMPLE_A::OVER256X,
Oversample::BYPASS => vals::Oversample::BYPASS,
Oversample::OVER2X => vals::Oversample::OVER2X,
Oversample::OVER4X => vals::Oversample::OVER4X,
Oversample::OVER8X => vals::Oversample::OVER8X,
Oversample::OVER16X => vals::Oversample::OVER16X,
Oversample::OVER32X => vals::Oversample::OVER32X,
Oversample::OVER64X => vals::Oversample::OVER64X,
Oversample::OVER128X => vals::Oversample::OVER128X,
Oversample::OVER256X => vals::Oversample::OVER256X,
}
}
}
@ -637,13 +620,13 @@ pub enum Oversample {
OVER256X = 8,
}
impl From<Resolution> for VAL_A {
impl From<Resolution> for vals::Val {
fn from(resolution: Resolution) -> Self {
match resolution {
Resolution::_8BIT => VAL_A::_8BIT,
Resolution::_10BIT => VAL_A::_10BIT,
Resolution::_12BIT => VAL_A::_12BIT,
Resolution::_14BIT => VAL_A::_14BIT,
Resolution::_8BIT => vals::Val::_8BIT,
Resolution::_10BIT => vals::Val::_10BIT,
Resolution::_12BIT => vals::Val::_12BIT,
Resolution::_14BIT => vals::Val::_14BIT,
}
}
}
@ -726,7 +709,7 @@ impl_peripheral!(VddInput);
#[cfg(not(feature = "_nrf91"))]
impl_saadc_input!(@local, VddInput, VDD);
#[cfg(feature = "_nrf91")]
impl_saadc_input!(@local, VddInput, VDDGPIO);
impl_saadc_input!(@local, VddInput, VDD_GPIO);
/// A dummy `Input` pin implementation for SAADC peripheral sampling from the
/// VDDH / 5 voltage.

130
embassy-nrf/src/spim.rs
View File

@ -13,12 +13,13 @@ use embassy_embedded_hal::SetConfig;
use embassy_hal_internal::{into_ref, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
pub use embedded_hal_02::spi::{Mode, Phase, Polarity, MODE_0, MODE_1, MODE_2, MODE_3};
pub use pac::spim0::config::ORDER_A as BitOrder;
pub use pac::spim0::frequency::FREQUENCY_A as Frequency;
pub use pac::spim::vals::{Frequency, Order as BitOrder};
use crate::chip::{EASY_DMA_SIZE, FORCE_COPY_BUFFER_SIZE};
use crate::gpio::{self, convert_drive, AnyPin, OutputDrive, Pin as GpioPin, PselBits, SealedPin as _};
use crate::interrupt::typelevel::Interrupt;
use crate::pac::gpio::vals as gpiovals;
use crate::pac::spim::vals;
use crate::util::slice_in_ram_or;
use crate::{interrupt, pac, Peripheral};
@ -33,6 +34,7 @@ pub enum Error {
/// SPIM configuration.
#[non_exhaustive]
#[derive(Clone)]
pub struct Config {
/// Frequency
pub frequency: Frequency,
@ -54,9 +56,6 @@ pub struct Config {
/// Drive strength for the MOSI line.
pub mosi_drive: OutputDrive,
/// Drive strength for the MISO line.
pub miso_drive: OutputDrive,
}
impl Default for Config {
@ -68,7 +67,6 @@ impl Default for Config {
orc: 0x00,
sck_drive: OutputDrive::HighDrive,
mosi_drive: OutputDrive::HighDrive,
miso_drive: OutputDrive::HighDrive,
}
}
}
@ -87,15 +85,15 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
{
// Ideally we should call this only during the first chunk transfer,
// but so far calling this every time doesn't seem to be causing any issues.
if r.events_started.read().bits() != 0 {
if r.events_started().read() != 0 {
s.waker.wake();
r.intenclr.write(|w| w.started().clear());
r.intenclr().write(|w| w.set_started(true));
}
}
if r.events_end.read().bits() != 0 {
if r.events_end().read() != 0 {
s.waker.wake();
r.intenclr.write(|w| w.end().clear());
r.intenclr().write(|w| w.set_end(true));
}
}
}
@ -173,16 +171,19 @@ impl<'d, T: Instance> Spim<'d, T> {
// Configure pins
if let Some(sck) = &sck {
sck.conf()
.write(|w| w.dir().output().drive().variant(convert_drive(config.sck_drive)));
sck.conf().write(|w| {
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_drive(convert_drive(config.sck_drive))
});
}
if let Some(mosi) = &mosi {
mosi.conf()
.write(|w| w.dir().output().drive().variant(convert_drive(config.mosi_drive)));
mosi.conf().write(|w| {
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_drive(convert_drive(config.mosi_drive))
});
}
if let Some(miso) = &miso {
miso.conf()
.write(|w| w.input().connect().drive().variant(convert_drive(config.miso_drive)));
miso.conf().write(|w| w.set_input(gpiovals::Input::CONNECT));
}
match config.mode.polarity {
@ -205,12 +206,12 @@ impl<'d, T: Instance> Spim<'d, T> {
}
// Select pins.
r.psel.sck.write(|w| unsafe { w.bits(sck.psel_bits()) });
r.psel.mosi.write(|w| unsafe { w.bits(mosi.psel_bits()) });
r.psel.miso.write(|w| unsafe { w.bits(miso.psel_bits()) });
r.psel().sck().write_value(sck.psel_bits());
r.psel().mosi().write_value(mosi.psel_bits());
r.psel().miso().write_value(miso.psel_bits());
// Enable SPIM instance.
r.enable.write(|w| w.enable().enabled());
r.enable().write(|w| w.set_enable(vals::Enable::ENABLED));
let mut spim = Self { _p: spim };
@ -218,7 +219,7 @@ impl<'d, T: Instance> Spim<'d, T> {
Self::set_config(&mut spim, &config).unwrap();
// Disable all events interrupts
r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
r.intenclr().write(|w| w.0 = 0xFFFF_FFFF);
T::Interrupt::unpend();
unsafe { T::Interrupt::enable() };
@ -241,13 +242,13 @@ impl<'d, T: Instance> Spim<'d, T> {
// Set up the DMA read.
let (rx_ptr, rx_len) = xfer_params(rx as *mut u8 as _, rx.len() as _, offset, length);
r.rxd.ptr.write(|w| unsafe { w.ptr().bits(rx_ptr) });
r.rxd.maxcnt.write(|w| unsafe { w.maxcnt().bits(rx_len as _) });
r.rxd().ptr().write_value(rx_ptr);
r.rxd().maxcnt().write(|w| w.set_maxcnt(rx_len as _));
// Set up the DMA write.
let (tx_ptr, tx_len) = xfer_params(tx as *const u8 as _, tx.len() as _, offset, length);
r.txd.ptr.write(|w| unsafe { w.ptr().bits(tx_ptr) });
r.txd.maxcnt.write(|w| unsafe { w.maxcnt().bits(tx_len as _) });
r.txd().ptr().write_value(tx_ptr);
r.txd().maxcnt().write(|w| w.set_maxcnt(tx_len as _));
/*
trace!("XFER: offset: {}, length: {}", offset, length);
@ -259,26 +260,26 @@ impl<'d, T: Instance> Spim<'d, T> {
if offset == 0 {
let s = T::state();
r.events_started.reset();
r.events_started().write_value(0);
// Set rx/tx buffer lengths to 0...
r.txd.maxcnt.reset();
r.rxd.maxcnt.reset();
r.txd().maxcnt().write(|_| ());
r.rxd().maxcnt().write(|_| ());
// ...and keep track of original buffer lengths...
s.tx.store(tx_len as _, Ordering::Relaxed);
s.rx.store(rx_len as _, Ordering::Relaxed);
// ...signalling the start of the fake transfer.
r.intenset.write(|w| w.started().bit(true));
r.intenset().write(|w| w.set_started(true));
}
// Reset and enable the event
r.events_end.reset();
r.intenset.write(|w| w.end().set());
r.events_end().write_value(0);
r.intenset().write(|w| w.set_end(true));
// Start SPI transaction.
r.tasks_start.write(|w| unsafe { w.bits(1) });
r.tasks_start().write_value(1);
}
fn blocking_inner_from_ram_chunk(&mut self, rx: *mut [u8], tx: *const [u8], offset: usize, length: usize) {
@ -290,7 +291,7 @@ impl<'d, T: Instance> Spim<'d, T> {
}
// Wait for 'end' event.
while T::regs().events_end.read().bits() == 0 {}
while T::regs().events_end().read() == 0 {}
compiler_fence(Ordering::SeqCst);
}
@ -338,7 +339,7 @@ impl<'d, T: Instance> Spim<'d, T> {
// Wait for 'end' event.
poll_fn(|cx| {
T::state().waker.register(cx.waker());
if T::regs().events_end.read().bits() != 0 {
if T::regs().events_end().read() != 0 {
return Poll::Ready(());
}
@ -442,24 +443,20 @@ impl<'d, T: Instance> Spim<'d, T> {
#[cfg(feature = "_nrf52832_anomaly_109")]
fn nrf52832_dma_workaround_status(&mut self) -> Poll<()> {
let r = T::regs();
if r.events_started.read().bits() != 0 {
if r.events_started().read() != 0 {
let s = T::state();
// Handle the first "fake" transmission
r.events_started.reset();
r.events_end.reset();
r.events_started().write_value(0);
r.events_end().write_value(0);
// Update DMA registers with correct rx/tx buffer sizes
r.rxd
.maxcnt
.write(|w| unsafe { w.maxcnt().bits(s.rx.load(Ordering::Relaxed)) });
r.txd
.maxcnt
.write(|w| unsafe { w.maxcnt().bits(s.tx.load(Ordering::Relaxed)) });
r.rxd().maxcnt().write(|w| w.set_maxcnt(s.rx.load(Ordering::Relaxed)));
r.txd().maxcnt().write(|w| w.set_maxcnt(s.tx.load(Ordering::Relaxed)));
r.intenset.write(|w| w.end().set());
r.intenset().write(|w| w.set_end(true));
// ... and start actual, hopefully glitch-free transmission
r.tasks_start.write(|w| unsafe { w.bits(1) });
r.tasks_start().write_value(1);
return Poll::Ready(());
}
Poll::Pending
@ -474,11 +471,11 @@ impl<'d, T: Instance> Drop for Spim<'d, T> {
// disable!
let r = T::regs();
r.enable.write(|w| w.enable().disabled());
r.enable().write(|w| w.set_enable(vals::Enable::DISABLED));
gpio::deconfigure_pin(r.psel.sck.read().bits());
gpio::deconfigure_pin(r.psel.miso.read().bits());
gpio::deconfigure_pin(r.psel.mosi.read().bits());
gpio::deconfigure_pin(r.psel().sck().read());
gpio::deconfigure_pin(r.psel().miso().read());
gpio::deconfigure_pin(r.psel().mosi().read());
// Disable all events interrupts
T::Interrupt::disable();
@ -508,7 +505,7 @@ impl State {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static pac::spim0::RegisterBlock;
fn regs() -> pac::spim::Spim;
fn state() -> &'static State;
}
@ -522,8 +519,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static {
macro_rules! impl_spim {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::spim::SealedInstance for peripherals::$type {
fn regs() -> &'static pac::spim0::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> pac::spim::Spim {
pac::$pac_type
}
fn state() -> &'static crate::spim::State {
static STATE: crate::spim::State = crate::spim::State::new();
@ -621,40 +618,35 @@ impl<'d, T: Instance> SetConfig for Spim<'d, T> {
let r = T::regs();
// Configure mode.
let mode = config.mode;
r.config.write(|w| {
r.config().write(|w| {
w.set_order(config.bit_order);
match mode {
MODE_0 => {
w.order().variant(config.bit_order);
w.cpol().active_high();
w.cpha().leading();
w.set_cpol(vals::Cpol::ACTIVE_HIGH);
w.set_cpha(vals::Cpha::LEADING);
}
MODE_1 => {
w.order().variant(config.bit_order);
w.cpol().active_high();
w.cpha().trailing();
w.set_cpol(vals::Cpol::ACTIVE_HIGH);
w.set_cpha(vals::Cpha::TRAILING);
}
MODE_2 => {
w.order().variant(config.bit_order);
w.cpol().active_low();
w.cpha().leading();
w.set_cpol(vals::Cpol::ACTIVE_LOW);
w.set_cpha(vals::Cpha::LEADING);
}
MODE_3 => {
w.order().variant(config.bit_order);
w.cpol().active_low();
w.cpha().trailing();
w.set_cpol(vals::Cpol::ACTIVE_LOW);
w.set_cpha(vals::Cpha::TRAILING);
}
}
w
});
// Configure frequency.
let frequency = config.frequency;
r.frequency.write(|w| w.frequency().variant(frequency));
r.frequency().write(|w| w.set_frequency(frequency));
// Set over-read character
let orc = config.orc;
r.orc.write(|w| unsafe { w.orc().bits(orc) });
r.orc().write(|w| w.set_orc(orc));
Ok(())
}

145
embassy-nrf/src/spis.rs
View File

@ -10,11 +10,13 @@ use embassy_embedded_hal::SetConfig;
use embassy_hal_internal::{into_ref, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
pub use embedded_hal_02::spi::{Mode, Phase, Polarity, MODE_0, MODE_1, MODE_2, MODE_3};
pub use pac::spis0::config::ORDER_A as BitOrder;
pub use pac::spis::vals::Order as BitOrder;
use crate::chip::{EASY_DMA_SIZE, FORCE_COPY_BUFFER_SIZE};
use crate::gpio::{self, AnyPin, Pin as GpioPin, SealedPin as _};
use crate::gpio::{self, convert_drive, AnyPin, OutputDrive, Pin as GpioPin, SealedPin as _};
use crate::interrupt::typelevel::Interrupt;
use crate::pac::gpio::vals as gpiovals;
use crate::pac::spis::vals;
use crate::util::slice_in_ram_or;
use crate::{interrupt, pac, Peripheral};
@ -54,6 +56,9 @@ pub struct Config {
/// Automatically make the firmware side acquire the semaphore on transfer end.
pub auto_acquire: bool,
/// Drive strength for the MISO line.
pub miso_drive: OutputDrive,
}
impl Default for Config {
@ -64,6 +69,7 @@ impl Default for Config {
orc: 0x00,
def: 0x00,
auto_acquire: true,
miso_drive: OutputDrive::HighDrive,
}
}
}
@ -78,14 +84,14 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
let r = T::regs();
let s = T::state();
if r.events_end.read().bits() != 0 {
if r.events_end().read() != 0 {
s.waker.wake();
r.intenclr.write(|w| w.end().clear());
r.intenclr().write(|w| w.set_end(true));
}
if r.events_acquired.read().bits() != 0 {
if r.events_acquired().read() != 0 {
s.waker.wake();
r.intenclr.write(|w| w.acquired().clear());
r.intenclr().write(|w| w.set_acquired(true));
}
}
}
@ -184,23 +190,26 @@ impl<'d, T: Instance> Spis<'d, T> {
let r = T::regs();
// Configure pins.
cs.conf().write(|w| w.input().connect().drive().h0h1());
r.psel.csn.write(|w| unsafe { w.bits(cs.psel_bits()) });
cs.conf().write(|w| w.set_input(gpiovals::Input::CONNECT));
r.psel().csn().write_value(cs.psel_bits());
if let Some(sck) = &sck {
sck.conf().write(|w| w.input().connect().drive().h0h1());
r.psel.sck.write(|w| unsafe { w.bits(sck.psel_bits()) });
sck.conf().write(|w| w.set_input(gpiovals::Input::CONNECT));
r.psel().sck().write_value(sck.psel_bits());
}
if let Some(mosi) = &mosi {
mosi.conf().write(|w| w.input().connect().drive().h0h1());
r.psel.mosi.write(|w| unsafe { w.bits(mosi.psel_bits()) });
mosi.conf().write(|w| w.set_input(gpiovals::Input::CONNECT));
r.psel().mosi().write_value(mosi.psel_bits());
}
if let Some(miso) = &miso {
miso.conf().write(|w| w.dir().output().drive().h0h1());
r.psel.miso.write(|w| unsafe { w.bits(miso.psel_bits()) });
miso.conf().write(|w| {
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_drive(convert_drive(config.miso_drive))
});
r.psel().miso().write_value(miso.psel_bits());
}
// Enable SPIS instance.
r.enable.write(|w| w.enable().enabled());
r.enable().write(|w| w.set_enable(vals::Enable::ENABLED));
let mut spis = Self { _p: spis };
@ -208,7 +217,7 @@ impl<'d, T: Instance> Spis<'d, T> {
Self::set_config(&mut spis, &config).unwrap();
// Disable all events interrupts.
r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
r.intenclr().write(|w| w.0 = 0xFFFF_FFFF);
T::Interrupt::unpend();
unsafe { T::Interrupt::enable() };
@ -229,21 +238,21 @@ impl<'d, T: Instance> Spis<'d, T> {
if tx.len() > EASY_DMA_SIZE {
return Err(Error::TxBufferTooLong);
}
r.txd.ptr.write(|w| unsafe { w.ptr().bits(tx as *const u8 as _) });
r.txd.maxcnt.write(|w| unsafe { w.maxcnt().bits(tx.len() as _) });
r.txd().ptr().write_value(tx as *const u8 as _);
r.txd().maxcnt().write(|w| w.set_maxcnt(tx.len() as _));
// Set up the DMA read.
if rx.len() > EASY_DMA_SIZE {
return Err(Error::RxBufferTooLong);
}
r.rxd.ptr.write(|w| unsafe { w.ptr().bits(rx as *mut u8 as _) });
r.rxd.maxcnt.write(|w| unsafe { w.maxcnt().bits(rx.len() as _) });
r.rxd().ptr().write_value(rx as *mut u8 as _);
r.rxd().maxcnt().write(|w| w.set_maxcnt(rx.len() as _));
// Reset end event.
r.events_end.reset();
r.events_end().write_value(0);
// Release the semaphore.
r.tasks_release.write(|w| unsafe { w.bits(1) });
r.tasks_release().write_value(1);
Ok(())
}
@ -253,20 +262,20 @@ impl<'d, T: Instance> Spis<'d, T> {
let r = T::regs();
// Acquire semaphore.
if r.semstat.read().bits() != 1 {
r.events_acquired.reset();
r.tasks_acquire.write(|w| unsafe { w.bits(1) });
if r.semstat().read().0 != 1 {
r.events_acquired().write_value(0);
r.tasks_acquire().write_value(1);
// Wait until CPU has acquired the semaphore.
while r.semstat.read().bits() != 1 {}
while r.semstat().read().0 != 1 {}
}
self.prepare(rx, tx)?;
// Wait for 'end' event.
while r.events_end.read().bits() == 0 {}
while r.events_end().read() == 0 {}
let n_rx = r.rxd.amount.read().bits() as usize;
let n_tx = r.txd.amount.read().bits() as usize;
let n_rx = r.rxd().amount().read().0 as usize;
let n_tx = r.txd().amount().read().0 as usize;
compiler_fence(Ordering::SeqCst);
@ -291,22 +300,25 @@ impl<'d, T: Instance> Spis<'d, T> {
let s = T::state();
// Clear status register.
r.status.write(|w| w.overflow().clear().overread().clear());
r.status().write(|w| {
w.set_overflow(true);
w.set_overread(true);
});
// Acquire semaphore.
if r.semstat.read().bits() != 1 {
if r.semstat().read().0 != 1 {
// Reset and enable the acquire event.
r.events_acquired.reset();
r.intenset.write(|w| w.acquired().set());
r.events_acquired().write_value(0);
r.intenset().write(|w| w.set_acquired(true));
// Request acquiring the SPIS semaphore.
r.tasks_acquire.write(|w| unsafe { w.bits(1) });
r.tasks_acquire().write_value(1);
// Wait until CPU has acquired the semaphore.
poll_fn(|cx| {
s.waker.register(cx.waker());
if r.events_acquired.read().bits() == 1 {
r.events_acquired.reset();
if r.events_acquired().read() == 1 {
r.events_acquired().write_value(0);
return Poll::Ready(());
}
Poll::Pending
@ -317,19 +329,19 @@ impl<'d, T: Instance> Spis<'d, T> {
self.prepare(rx, tx)?;
// Wait for 'end' event.
r.intenset.write(|w| w.end().set());
r.intenset().write(|w| w.set_end(true));
poll_fn(|cx| {
s.waker.register(cx.waker());
if r.events_end.read().bits() != 0 {
r.events_end.reset();
if r.events_end().read() != 0 {
r.events_end().write_value(0);
return Poll::Ready(());
}
Poll::Pending
})
.await;
let n_rx = r.rxd.amount.read().bits() as usize;
let n_tx = r.txd.amount.read().bits() as usize;
let n_rx = r.rxd().amount().read().0 as usize;
let n_tx = r.txd().amount().read().0 as usize;
compiler_fence(Ordering::SeqCst);
@ -428,12 +440,12 @@ impl<'d, T: Instance> Spis<'d, T> {
/// Checks if last transaction overread.
pub fn is_overread(&mut self) -> bool {
T::regs().status.read().overread().is_present()
T::regs().status().read().overread()
}
/// Checks if last transaction overflowed.
pub fn is_overflow(&mut self) -> bool {
T::regs().status.read().overflow().is_present()
T::regs().status().read().overflow()
}
}
@ -443,12 +455,12 @@ impl<'d, T: Instance> Drop for Spis<'d, T> {
// Disable
let r = T::regs();
r.enable.write(|w| w.enable().disabled());
r.enable().write(|w| w.set_enable(vals::Enable::DISABLED));
gpio::deconfigure_pin(r.psel.sck.read().bits());
gpio::deconfigure_pin(r.psel.csn.read().bits());
gpio::deconfigure_pin(r.psel.miso.read().bits());
gpio::deconfigure_pin(r.psel.mosi.read().bits());
gpio::deconfigure_pin(r.psel().sck().read());
gpio::deconfigure_pin(r.psel().csn().read());
gpio::deconfigure_pin(r.psel().miso().read());
gpio::deconfigure_pin(r.psel().mosi().read());
trace!("spis drop: done");
}
@ -467,7 +479,7 @@ impl State {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static pac::spis0::RegisterBlock;
fn regs() -> pac::spis::Spis;
fn state() -> &'static State;
}
@ -481,8 +493,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static {
macro_rules! impl_spis {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::spis::SealedInstance for peripherals::$type {
fn regs() -> &'static pac::spis0::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> pac::spis::Spis {
pac::$pac_type
}
fn state() -> &'static crate::spis::State {
static STATE: crate::spis::State = crate::spis::State::new();
@ -504,44 +516,39 @@ impl<'d, T: Instance> SetConfig for Spis<'d, T> {
let r = T::regs();
// Configure mode.
let mode = config.mode;
r.config.write(|w| {
r.config().write(|w| {
w.set_order(config.bit_order);
match mode {
MODE_0 => {
w.order().variant(config.bit_order);
w.cpol().active_high();
w.cpha().leading();
w.set_cpol(vals::Cpol::ACTIVE_HIGH);
w.set_cpha(vals::Cpha::LEADING);
}
MODE_1 => {
w.order().variant(config.bit_order);
w.cpol().active_high();
w.cpha().trailing();
w.set_cpol(vals::Cpol::ACTIVE_HIGH);
w.set_cpha(vals::Cpha::TRAILING);
}
MODE_2 => {
w.order().variant(config.bit_order);
w.cpol().active_low();
w.cpha().leading();
w.set_cpol(vals::Cpol::ACTIVE_LOW);
w.set_cpha(vals::Cpha::LEADING);
}
MODE_3 => {
w.order().variant(config.bit_order);
w.cpol().active_low();
w.cpha().trailing();
w.set_cpol(vals::Cpol::ACTIVE_LOW);
w.set_cpha(vals::Cpha::TRAILING);
}
}
w
});
// Set over-read character.
let orc = config.orc;
r.orc.write(|w| unsafe { w.orc().bits(orc) });
r.orc().write(|w| w.set_orc(orc));
// Set default character.
let def = config.def;
r.def.write(|w| unsafe { w.def().bits(def) });
r.def().write(|w| w.set_def(def));
// Configure auto-acquire on 'transfer end' event.
let auto_acquire = config.auto_acquire;
r.shorts.write(|w| w.end_acquire().bit(auto_acquire));
r.shorts().write(|w| w.set_end_acquire(auto_acquire));
Ok(())
}

22
embassy-nrf/src/temp.rs
View File

@ -19,8 +19,8 @@ pub struct InterruptHandler {
impl interrupt::typelevel::Handler<interrupt::typelevel::TEMP> for InterruptHandler {
unsafe fn on_interrupt() {
let r = unsafe { &*pac::TEMP::PTR };
r.intenclr.write(|w| w.datardy().clear());
let r = pac::TEMP;
r.intenclr().write(|w| w.set_datardy(true));
WAKER.wake();
}
}
@ -72,21 +72,21 @@ impl<'d> Temp<'d> {
// In case the future is dropped, stop the task and reset events.
let on_drop = OnDrop::new(|| {
let t = Self::regs();
t.tasks_stop.write(|w| unsafe { w.bits(1) });
t.events_datardy.reset();
t.tasks_stop().write_value(1);
t.events_datardy().write_value(0);
});
let t = Self::regs();
t.intenset.write(|w| w.datardy().set());
unsafe { t.tasks_start.write(|w| w.bits(1)) };
t.intenset().write(|w| w.set_datardy(true));
t.tasks_start().write_value(1);
let value = poll_fn(|cx| {
WAKER.register(cx.waker());
if t.events_datardy.read().bits() == 0 {
if t.events_datardy().read() == 0 {
Poll::Pending
} else {
t.events_datardy.reset();
let raw = t.temp.read().bits();
t.events_datardy().write_value(0);
let raw = t.temp().read();
Poll::Ready(I30F2::from_bits(raw as i32))
}
})
@ -95,7 +95,7 @@ impl<'d> Temp<'d> {
value
}
fn regs() -> &'static pac::temp::RegisterBlock {
unsafe { &*pac::TEMP::ptr() }
fn regs() -> pac::temp::Temp {
pac::TEMP
}
}

45
embassy-nrf/src/time_driver.rs
View File

@ -10,8 +10,8 @@ use embassy_time_driver::{AlarmHandle, Driver};
use crate::interrupt::InterruptExt;
use crate::{interrupt, pac};
fn rtc() -> &'static pac::rtc0::RegisterBlock {
unsafe { &*pac::RTC1::ptr() }
fn rtc() -> pac::rtc::Rtc {
pac::RTC1
}
/// Calculate the timestamp from the period count and the tick count.
@ -128,19 +128,18 @@ embassy_time_driver::time_driver_impl!(static DRIVER: RtcDriver = RtcDriver {
impl RtcDriver {
fn init(&'static self, irq_prio: crate::interrupt::Priority) {
let r = rtc();
r.cc[3].write(|w| unsafe { w.bits(0x800000) });
r.cc(3).write(|w| w.set_compare(0x800000));
r.intenset.write(|w| {
let w = w.ovrflw().set();
let w = w.compare3().set();
w
r.intenset().write(|w| {
w.set_ovrflw(true);
w.set_compare3(true);
});
r.tasks_clear.write(|w| unsafe { w.bits(1) });
r.tasks_start.write(|w| unsafe { w.bits(1) });
r.tasks_clear().write_value(1);
r.tasks_start().write_value(1);
// Wait for clear
while r.counter.read().bits() != 0 {}
while r.counter().read().0 != 0 {}
interrupt::RTC1.set_priority(irq_prio);
unsafe { interrupt::RTC1.enable() };
@ -148,19 +147,19 @@ impl RtcDriver {
fn on_interrupt(&self) {
let r = rtc();
if r.events_ovrflw.read().bits() == 1 {
r.events_ovrflw.write(|w| w);
if r.events_ovrflw().read() == 1 {
r.events_ovrflw().write_value(0);
self.next_period();
}
if r.events_compare[3].read().bits() == 1 {
r.events_compare[3].write(|w| w);
if r.events_compare(3).read() == 1 {
r.events_compare(3).write_value(0);
self.next_period();
}
for n in 0..ALARM_COUNT {
if r.events_compare[n].read().bits() == 1 {
r.events_compare[n].write(|w| w);
if r.events_compare(n).read() == 1 {
r.events_compare(n).write_value(0);
critical_section::with(|cs| {
self.trigger_alarm(n, cs);
})
@ -181,7 +180,7 @@ impl RtcDriver {
if at < t + 0xc00000 {
// just enable it. `set_alarm` has already set the correct CC val.
r.intenset.write(|w| unsafe { w.bits(compare_n(n)) });
r.intenset().write(|w| w.0 = compare_n(n));
}
}
})
@ -195,7 +194,7 @@ impl RtcDriver {
fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
let r = rtc();
r.intenclr.write(|w| unsafe { w.bits(compare_n(n)) });
r.intenclr().write(|w| w.0 = compare_n(n));
let alarm = &self.alarms.borrow(cs)[n];
alarm.timestamp.set(u64::MAX);
@ -215,7 +214,7 @@ impl Driver for RtcDriver {
// `period` MUST be read before `counter`, see comment at the top for details.
let period = self.period.load(Ordering::Relaxed);
compiler_fence(Ordering::Acquire);
let counter = rtc().counter.read().bits();
let counter = rtc().counter().read().0;
calc_now(period, counter)
}
@ -252,7 +251,7 @@ impl Driver for RtcDriver {
if timestamp <= t {
// If alarm timestamp has passed the alarm will not fire.
// Disarm the alarm and return `false` to indicate that.
r.intenclr.write(|w| unsafe { w.bits(compare_n(n)) });
r.intenclr().write(|w| w.0 = compare_n(n));
alarm.timestamp.set(u64::MAX);
@ -277,15 +276,15 @@ impl Driver for RtcDriver {
// by the Alarm trait contract. What's not allowed is triggering alarms *before* their scheduled time,
// and we don't do that here.
let safe_timestamp = timestamp.max(t + 3);
r.cc[n].write(|w| unsafe { w.bits(safe_timestamp as u32 & 0xFFFFFF) });
r.cc(n).write(|w| w.set_compare(safe_timestamp as u32 & 0xFFFFFF));
let diff = timestamp - t;
if diff < 0xc00000 {
r.intenset.write(|w| unsafe { w.bits(compare_n(n)) });
r.intenset().write(|w| w.0 = compare_n(n));
} else {
// If it's too far in the future, don't setup the compare channel yet.
// It will be setup later by `next_period`.
r.intenclr.write(|w| unsafe { w.bits(compare_n(n)) });
r.intenclr().write(|w| w.0 = compare_n(n));
}
true

80
embassy-nrf/src/timer.rs
View File

@ -8,13 +8,14 @@
use embassy_hal_internal::{into_ref, PeripheralRef};
use crate::pac::timer::vals;
use crate::ppi::{Event, Task};
use crate::{pac, Peripheral};
pub(crate) trait SealedInstance {
/// The number of CC registers this instance has.
const CCS: usize;
fn regs() -> &'static pac::timer0::RegisterBlock;
fn regs() -> pac::timer::Timer;
}
/// Basic Timer instance.
@ -31,8 +32,8 @@ macro_rules! impl_timer {
($type:ident, $pac_type:ident, $irq:ident, $ccs:literal) => {
impl crate::timer::SealedInstance for peripherals::$type {
const CCS: usize = $ccs;
fn regs() -> &'static pac::timer0::RegisterBlock {
unsafe { &*(pac::$pac_type::ptr() as *const pac::timer0::RegisterBlock) }
fn regs() -> pac::timer::Timer {
unsafe { pac::timer::Timer::from_ptr(pac::$pac_type.as_ptr()) }
}
}
impl crate::timer::Instance for peripherals::$type {
@ -114,19 +115,19 @@ impl<'d, T: Instance> Timer<'d, T> {
// since changing BITMODE while running can cause 'unpredictable behaviour' according to the specification.
this.stop();
#[cfg(not(feature = "nrf51"))]
if _is_counter {
regs.mode.write(|w| w.mode().low_power_counter());
} else {
regs.mode.write(|w| w.mode().timer());
}
#[cfg(feature = "nrf51")]
regs.mode.write(|w| w.mode().timer());
regs.mode().write(|w| {
w.set_mode(match _is_counter {
#[cfg(not(feature = "_nrf51"))]
true => vals::Mode::LOW_POWER_COUNTER,
#[cfg(feature = "_nrf51")]
true => vals::Mode::COUNTER,
false => vals::Mode::TIMER,
})
});
// Make the counter's max value as high as possible.
// TODO: is there a reason someone would want to set this lower?
regs.bitmode.write(|w| w.bitmode()._32bit());
regs.bitmode().write(|w| w.set_bitmode(vals::Bitmode::_32BIT));
// Initialize the counter at 0.
this.clear();
@ -148,38 +149,38 @@ impl<'d, T: Instance> Timer<'d, T> {
/// Starts the timer.
pub fn start(&self) {
T::regs().tasks_start.write(|w| unsafe { w.bits(1) })
T::regs().tasks_start().write_value(1)
}
/// Stops the timer.
pub fn stop(&self) {
T::regs().tasks_stop.write(|w| unsafe { w.bits(1) })
T::regs().tasks_stop().write_value(1)
}
/// Reset the timer's counter to 0.
pub fn clear(&self) {
T::regs().tasks_clear.write(|w| unsafe { w.bits(1) })
T::regs().tasks_clear().write_value(1)
}
/// Returns the START task, for use with PPI.
///
/// When triggered, this task starts the timer.
pub fn task_start(&self) -> Task<'d> {
Task::from_reg(&T::regs().tasks_start)
Task::from_reg(T::regs().tasks_start())
}
/// Returns the STOP task, for use with PPI.
///
/// When triggered, this task stops the timer.
pub fn task_stop(&self) -> Task<'d> {
Task::from_reg(&T::regs().tasks_stop)
Task::from_reg(T::regs().tasks_stop())
}
/// Returns the CLEAR task, for use with PPI.
///
/// When triggered, this task resets the timer's counter to 0.
pub fn task_clear(&self) -> Task<'d> {
Task::from_reg(&T::regs().tasks_clear)
Task::from_reg(T::regs().tasks_clear())
}
/// Returns the COUNT task, for use with PPI.
@ -187,7 +188,7 @@ impl<'d, T: Instance> Timer<'d, T> {
/// When triggered, this task increments the timer's counter by 1.
/// Only works in counter mode.
pub fn task_count(&self) -> Task<'d> {
Task::from_reg(&T::regs().tasks_count)
Task::from_reg(T::regs().tasks_count())
}
/// Change the timer's frequency.
@ -198,10 +199,10 @@ impl<'d, T: Instance> Timer<'d, T> {
self.stop();
T::regs()
.prescaler
.prescaler()
// SAFETY: `frequency` is a variant of `Frequency`,
// whose values are all in the range of 0-9 (the valid range of `prescaler`).
.write(|w| unsafe { w.prescaler().bits(frequency as u8) })
.write(|w| w.set_prescaler(frequency as u8))
}
/// Returns this timer's `n`th CC register.
@ -234,28 +235,19 @@ pub struct Cc<'d, T: Instance> {
impl<'d, T: Instance> Cc<'d, T> {
/// Get the current value stored in the register.
pub fn read(&self) -> u32 {
#[cfg(not(feature = "nrf51"))]
return T::regs().cc[self.n].read().cc().bits();
#[cfg(feature = "nrf51")]
return T::regs().cc[self.n].read().bits();
return T::regs().cc(self.n).read();
}
/// Set the value stored in the register.
///
/// `event_compare` will fire when the timer's counter reaches this value.
pub fn write(&self, value: u32) {
// SAFETY: there are no invalid values for the CC register.
#[cfg(not(feature = "nrf51"))]
T::regs().cc[self.n].write(|w| unsafe { w.cc().bits(value) });
#[cfg(feature = "nrf51")]
T::regs().cc[self.n].write(|w| unsafe { w.bits(value) });
T::regs().cc(self.n).write_value(value);
}
/// Capture the current value of the timer's counter in this register, and return it.
pub fn capture(&self) -> u32 {
T::regs().tasks_capture[self.n].write(|w| unsafe { w.bits(1) });
T::regs().tasks_capture(self.n).write_value(1);
self.read()
}
@ -263,14 +255,14 @@ impl<'d, T: Instance> Cc<'d, T> {
///
/// When triggered, this task will capture the current value of the timer's counter in this register.
pub fn task_capture(&self) -> Task<'d> {
Task::from_reg(&T::regs().tasks_capture)
Task::from_reg(T::regs().tasks_capture(self.n))
}
/// Returns this CC register's COMPARE event, for use with PPI.
///
/// This event will fire when the timer's counter reaches the value in this CC register.
pub fn event_compare(&self) -> Event<'d> {
Event::from_reg(&T::regs().events_compare[self.n])
Event::from_reg(T::regs().events_compare(self.n))
}
/// Enable the shortcut between this CC register's COMPARE event and the timer's CLEAR task.
@ -279,16 +271,12 @@ impl<'d, T: Instance> Cc<'d, T> {
///
/// So, when the timer's counter reaches the value stored in this register, the timer's counter will be reset to 0.
pub fn short_compare_clear(&self) {
T::regs()
.shorts
.modify(|r, w| unsafe { w.bits(r.bits() | (1 << self.n)) })
T::regs().shorts().modify(|w| w.set_compare_clear(self.n, true))
}
/// Disable the shortcut between this CC register's COMPARE event and the timer's CLEAR task.
pub fn unshort_compare_clear(&self) {
T::regs()
.shorts
.modify(|r, w| unsafe { w.bits(r.bits() & !(1 << self.n)) })
T::regs().shorts().modify(|w| w.set_compare_clear(self.n, false))
}
/// Enable the shortcut between this CC register's COMPARE event and the timer's STOP task.
@ -297,15 +285,11 @@ impl<'d, T: Instance> Cc<'d, T> {
///
/// So, when the timer's counter reaches the value stored in this register, the timer will stop counting up.
pub fn short_compare_stop(&self) {
T::regs()
.shorts
.modify(|r, w| unsafe { w.bits(r.bits() | (1 << (8 + self.n))) })
T::regs().shorts().modify(|w| w.set_compare_stop(self.n, true))
}
/// Disable the shortcut between this CC register's COMPARE event and the timer's STOP task.
pub fn unshort_compare_stop(&self) {
T::regs()
.shorts
.modify(|r, w| unsafe { w.bits(r.bits() & !(1 << (8 + self.n))) })
T::regs().shorts().modify(|w| w.set_compare_stop(self.n, false))
}
}

238
embassy-nrf/src/twim.rs
View File

@ -15,24 +15,16 @@ use embassy_sync::waitqueue::AtomicWaker;
#[cfg(feature = "time")]
use embassy_time::{Duration, Instant};
use embedded_hal_1::i2c::Operation;
pub use pac::twim::vals::Frequency;
use crate::chip::{EASY_DMA_SIZE, FORCE_COPY_BUFFER_SIZE};
use crate::gpio::Pin as GpioPin;
use crate::interrupt::typelevel::Interrupt;
use crate::pac::gpio::vals as gpiovals;
use crate::pac::twim::vals;
use crate::util::slice_in_ram;
use crate::{gpio, interrupt, pac, Peripheral};
/// TWI frequency
#[derive(Clone, Copy)]
pub enum Frequency {
/// 100 kbps
K100 = 26738688,
/// 250 kbps
K250 = 67108864,
/// 400 kbps
K400 = 104857600,
}
/// TWIM config.
#[non_exhaustive]
pub struct Config {
@ -105,17 +97,17 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
let r = T::regs();
let s = T::state();
if r.events_suspended.read().bits() != 0 {
if r.events_suspended().read() != 0 {
s.end_waker.wake();
r.intenclr.write(|w| w.suspended().clear());
r.intenclr().write(|w| w.set_suspended(true));
}
if r.events_stopped.read().bits() != 0 {
if r.events_stopped().read() != 0 {
s.end_waker.wake();
r.intenclr.write(|w| w.stopped().clear());
r.intenclr().write(|w| w.set_stopped(true));
}
if r.events_error.read().bits() != 0 {
if r.events_error().read() != 0 {
s.end_waker.wake();
r.intenclr.write(|w| w.error().clear());
r.intenclr().write(|w| w.set_error(true));
}
}
}
@ -140,38 +132,34 @@ impl<'d, T: Instance> Twim<'d, T> {
// Configure pins
sda.conf().write(|w| {
w.dir().input();
w.input().connect();
if config.sda_high_drive {
w.drive().h0d1();
} else {
w.drive().s0d1();
}
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_input(gpiovals::Input::CONNECT);
w.set_drive(match config.sda_high_drive {
true => gpiovals::Drive::H0D1,
false => gpiovals::Drive::S0D1,
});
if config.sda_pullup {
w.pull().pullup();
w.set_pull(gpiovals::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();
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_input(gpiovals::Input::CONNECT);
w.set_drive(match config.scl_high_drive {
true => gpiovals::Drive::H0D1,
false => gpiovals::Drive::S0D1,
});
if config.sda_pullup {
w.set_pull(gpiovals::Pull::PULLUP);
}
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()) });
r.psel().sda().write_value(sda.psel_bits());
r.psel().scl().write_value(scl.psel_bits());
// Enable TWIM instance.
r.enable.write(|w| w.enable().enabled());
r.enable().write(|w| w.set_enable(vals::Enable::ENABLED));
let mut twim = Self { _p: twim };
@ -179,7 +167,7 @@ impl<'d, T: Instance> Twim<'d, T> {
Self::set_config(&mut twim, &config).unwrap();
// Disable all events interrupts
r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
r.intenclr().write(|w| w.0 = 0xFFFF_FFFF);
T::Interrupt::unpend();
unsafe { T::Interrupt::enable() };
@ -211,22 +199,18 @@ impl<'d, T: Instance> Twim<'d, T> {
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 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.
r.txd().ptr().write_value(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 _));
w.set_maxcnt(buffer.len() as _));
Ok(())
}
@ -242,15 +226,11 @@ impl<'d, T: Instance> Twim<'d, T> {
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 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.
r.rxd().ptr().write_value(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
@ -260,29 +240,32 @@ impl<'d, T: Instance> Twim<'d, T> {
// 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 _));
w.set_maxcnt(buffer.len() as _));
Ok(())
}
fn clear_errorsrc(&mut self) {
let r = T::regs();
r.errorsrc
.write(|w| w.anack().bit(true).dnack().bit(true).overrun().bit(true));
r.errorsrc().write(|w| {
w.set_anack(true);
w.set_dnack(true);
w.set_overrun(true);
});
}
/// Get Error instance, if any occurred.
fn check_errorsrc(&self) -> Result<(), Error> {
let r = T::regs();
let err = r.errorsrc.read();
if err.anack().is_received() {
let err = r.errorsrc().read();
if err.anack() {
return Err(Error::AddressNack);
}
if err.dnack().is_received() {
if err.dnack() {
return Err(Error::DataNack);
}
if err.overrun().is_received() {
if err.overrun() {
return Err(Error::Overrun);
}
Ok(())
@ -290,7 +273,7 @@ impl<'d, T: Instance> Twim<'d, T> {
fn check_rx(&self, len: usize) -> Result<(), Error> {
let r = T::regs();
if r.rxd.amount.read().bits() != len as u32 {
if r.rxd().amount().read().0 != len as u32 {
Err(Error::Receive)
} else {
Ok(())
@ -299,7 +282,7 @@ impl<'d, T: Instance> Twim<'d, T> {
fn check_tx(&self, len: usize) -> Result<(), Error> {
let r = T::regs();
if r.txd.amount.read().bits() != len as u32 {
if r.txd().amount().read().0 != len as u32 {
Err(Error::Transmit)
} else {
Ok(())
@ -310,14 +293,14 @@ impl<'d, T: Instance> Twim<'d, T> {
fn blocking_wait(&mut self) {
let r = T::regs();
loop {
if r.events_suspended.read().bits() != 0 || r.events_stopped.read().bits() != 0 {
r.events_suspended.reset();
r.events_stopped.reset();
if r.events_suspended().read() != 0 || r.events_stopped().read() != 0 {
r.events_suspended().write_value(0);
r.events_stopped().write_value(0);
break;
}
if r.events_error.read().bits() != 0 {
r.events_error.reset();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
if r.events_error().read() != 0 {
r.events_error().write_value(0);
r.tasks_stop().write_value(1);
}
}
}
@ -328,16 +311,16 @@ impl<'d, T: Instance> Twim<'d, T> {
let r = T::regs();
let deadline = Instant::now() + timeout;
loop {
if r.events_suspended.read().bits() != 0 || r.events_stopped.read().bits() != 0 {
r.events_stopped.reset();
if r.events_suspended().read() != 0 || r.events_stopped().read() != 0 {
r.events_stopped().write_value(0);
break;
}
if r.events_error.read().bits() != 0 {
r.events_error.reset();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
if r.events_error().read() != 0 {
r.events_error().write_value(0);
r.tasks_stop().write_value(1);
}
if Instant::now() > deadline {
r.tasks_stop.write(|w| unsafe { w.bits(1) });
r.tasks_stop().write_value(1);
return Err(Error::Timeout);
}
}
@ -352,16 +335,16 @@ impl<'d, T: Instance> Twim<'d, T> {
let s = T::state();
s.end_waker.register(cx.waker());
if r.events_suspended.read().bits() != 0 || r.events_stopped.read().bits() != 0 {
r.events_stopped.reset();
if r.events_suspended().read() != 0 || r.events_stopped().read() != 0 {
r.events_stopped().write_value(0);
return Poll::Ready(());
}
// stop if an error occurred
if r.events_error.read().bits() != 0 {
r.events_error.reset();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
if r.events_error().read() != 0 {
r.events_error().write_value(0);
r.tasks_stop().write_value(1);
}
Poll::Pending
@ -380,18 +363,25 @@ impl<'d, T: Instance> Twim<'d, T> {
compiler_fence(SeqCst);
r.address.write(|w| unsafe { w.address().bits(address) });
r.address().write(|w| w.set_address(address));
r.events_suspended.reset();
r.events_stopped.reset();
r.events_error.reset();
r.events_suspended().write_value(0);
r.events_stopped().write_value(0);
r.events_error().write_value(0);
self.clear_errorsrc();
if inten {
r.intenset.write(|w| w.suspended().set().stopped().set().error().set());
r.intenset().write(|w| {
w.set_suspended(true);
w.set_stopped(true);
w.set_error(true);
});
} else {
r.intenclr
.write(|w| w.suspended().clear().stopped().clear().error().clear());
r.intenclr().write(|w| {
w.set_suspended(true);
w.set_stopped(true);
w.set_error(true);
});
}
assert!(!operations.is_empty());
@ -408,26 +398,25 @@ impl<'d, T: Instance> Twim<'d, T> {
self.set_rx_buffer(rd_buffer)?;
}
r.shorts.write(|w| {
w.lastrx_starttx().enabled();
r.shorts().write(|w| {
w.set_lastrx_starttx(true);
if stop {
w.lasttx_stop().enabled();
w.set_lasttx_stop(true);
} else {
w.lasttx_suspend().enabled();
w.set_lasttx_suspend(true);
}
w
});
// Start read+write operation.
r.tasks_startrx.write(|w| unsafe { w.bits(1) });
r.tasks_startrx().write_value(1);
if last_op.is_some() {
r.tasks_resume.write(|w| unsafe { w.bits(1) });
r.tasks_resume().write_value(1);
}
// TODO: Handle empty write buffer
if rd_buffer.is_empty() {
// With a zero-length buffer, LASTRX doesn't fire (because there's no last byte!), so do the STARTTX ourselves.
r.tasks_starttx.write(|w| unsafe { w.bits(1) });
r.tasks_starttx().write_value(1);
}
Ok(2)
@ -438,17 +427,17 @@ impl<'d, T: Instance> Twim<'d, T> {
self.set_rx_buffer(buffer)?;
}
r.shorts.write(|w| w.lastrx_stop().enabled());
r.shorts().write(|w| w.set_lastrx_stop(true));
// Start read operation.
r.tasks_startrx.write(|w| unsafe { w.bits(1) });
r.tasks_startrx().write_value(1);
if last_op.is_some() {
r.tasks_resume.write(|w| unsafe { w.bits(1) });
r.tasks_resume().write_value(1);
}
if buffer.is_empty() {
// With a zero-length buffer, LASTRX doesn't fire (because there's no last byte!), so do the STOP ourselves.
r.tasks_stop.write(|w| unsafe { w.bits(1) });
r.tasks_stop().write_value(1);
}
Ok(1)
@ -463,15 +452,14 @@ impl<'d, T: Instance> Twim<'d, T> {
}
// Start write+read operation.
r.shorts.write(|w| {
w.lasttx_startrx().enabled();
w.lastrx_stop().enabled();
w
r.shorts().write(|w| {
w.set_lasttx_startrx(true);
w.set_lastrx_stop(true);
});
r.tasks_starttx.write(|w| unsafe { w.bits(1) });
r.tasks_starttx().write_value(1);
if last_op.is_some() {
r.tasks_resume.write(|w| unsafe { w.bits(1) });
r.tasks_resume().write_value(1);
}
Ok(2)
@ -485,26 +473,25 @@ impl<'d, T: Instance> Twim<'d, T> {
}
// Start write operation.
r.shorts.write(|w| {
r.shorts().write(|w| {
if stop {
w.lasttx_stop().enabled();
w.set_lasttx_stop(true);
} else {
w.lasttx_suspend().enabled();
w.set_lasttx_suspend(true);
}
w
});
r.tasks_starttx.write(|w| unsafe { w.bits(1) });
r.tasks_starttx().write_value(1);
if last_op.is_some() {
r.tasks_resume.write(|w| unsafe { w.bits(1) });
r.tasks_resume().write_value(1);
}
if buffer.is_empty() {
// With a zero-length buffer, LASTTX doesn't fire (because there's no last byte!), so do the STOP/SUSPEND ourselves.
if stop {
r.tasks_stop.write(|w| unsafe { w.bits(1) });
r.tasks_stop().write_value(1);
} else {
r.tasks_suspend.write(|w| unsafe { w.bits(1) });
r.tasks_suspend().write_value(1);
}
}
@ -827,10 +814,10 @@ impl<'a, T: Instance> Drop for Twim<'a, T> {
// disable!
let r = T::regs();
r.enable.write(|w| w.enable().disabled());
r.enable().write(|w| w.set_enable(vals::Enable::DISABLED));
gpio::deconfigure_pin(r.psel.sda.read().bits());
gpio::deconfigure_pin(r.psel.scl.read().bits());
gpio::deconfigure_pin(r.psel().sda().read());
gpio::deconfigure_pin(r.psel().scl().read());
trace!("twim drop: done");
}
@ -849,7 +836,7 @@ impl State {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static pac::twim0::RegisterBlock;
fn regs() -> pac::twim::Twim;
fn state() -> &'static State;
}
@ -863,8 +850,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static {
macro_rules! impl_twim {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::twim::SealedInstance for peripherals::$type {
fn regs() -> &'static pac::twim0::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> pac::twim::Twim {
pac::$pac_type
}
fn state() -> &'static crate::twim::State {
static STATE: crate::twim::State = crate::twim::State::new();
@ -948,8 +935,7 @@ impl<'d, T: Instance> SetConfig for Twim<'d, T> {
type ConfigError = ();
fn set_config(&mut self, config: &Self::Config) -> Result<(), Self::ConfigError> {
let r = T::regs();
r.frequency
.write(|w| unsafe { w.frequency().bits(config.frequency as u32) });
r.frequency().write(|w| w.set_frequency(config.frequency));
Ok(())
}

362
embassy-nrf/src/twis.rs
View File

@ -16,6 +16,8 @@ use embassy_time::{Duration, Instant};
use crate::chip::{EASY_DMA_SIZE, FORCE_COPY_BUFFER_SIZE};
use crate::gpio::Pin as GpioPin;
use crate::interrupt::typelevel::Interrupt;
use crate::pac::gpio::vals as gpiovals;
use crate::pac::twis::vals;
use crate::util::slice_in_ram_or;
use crate::{gpio, interrupt, pac, Peripheral};
@ -119,17 +121,20 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
let r = T::regs();
let s = T::state();
if r.events_read.read().bits() != 0 || r.events_write.read().bits() != 0 {
if r.events_read().read() != 0 || r.events_write().read() != 0 {
s.waker.wake();
r.intenclr.modify(|_r, w| w.read().clear().write().clear());
r.intenclr().write(|w| {
w.set_read(true);
w.set_write(true);
});
}
if r.events_stopped.read().bits() != 0 {
if r.events_stopped().read() != 0 {
s.waker.wake();
r.intenclr.modify(|_r, w| w.stopped().clear());
r.intenclr().write(|w| w.set_stopped(true));
}
if r.events_error.read().bits() != 0 {
if r.events_error().read() != 0 {
s.waker.wake();
r.intenclr.modify(|_r, w| w.error().clear());
r.intenclr().write(|w| w.set_error(true));
}
}
}
@ -154,55 +159,51 @@ impl<'d, T: Instance> Twis<'d, T> {
// Configure pins
sda.conf().write(|w| {
w.dir().input();
w.input().connect();
if config.sda_high_drive {
w.drive().h0d1();
} else {
w.drive().s0d1();
}
w.set_dir(gpiovals::Dir::INPUT);
w.set_input(gpiovals::Input::CONNECT);
w.set_drive(match config.sda_high_drive {
true => gpiovals::Drive::H0D1,
false => gpiovals::Drive::S0D1,
});
if config.sda_pullup {
w.pull().pullup();
w.set_pull(gpiovals::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();
w.set_dir(gpiovals::Dir::INPUT);
w.set_input(gpiovals::Input::CONNECT);
w.set_drive(match config.scl_high_drive {
true => gpiovals::Drive::H0D1,
false => gpiovals::Drive::S0D1,
});
if config.sda_pullup {
w.set_pull(gpiovals::Pull::PULLUP);
}
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()) });
r.psel().sda().write_value(sda.psel_bits());
r.psel().scl().write_value(scl.psel_bits());
// Enable TWIS instance.
r.enable.write(|w| w.enable().enabled());
r.enable().write(|w| w.set_enable(vals::Enable::ENABLED));
// Disable all events interrupts
r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
r.intenclr().write(|w| w.0 = 0xFFFF_FFFF);
// Set address
r.address[0].write(|w| unsafe { w.address().bits(config.address0) });
r.config.write(|w| w.address0().enabled());
r.address(0).write(|w| w.set_address(config.address0));
r.config().write(|w| w.set_address0(true));
if let Some(address1) = config.address1 {
r.address[1].write(|w| unsafe { w.address().bits(address1) });
r.config.modify(|_r, w| w.address1().enabled());
r.address(1).write(|w| w.set_address(address1));
r.config().modify(|w| w.set_address1(true));
}
// Set over-read character
r.orc.write(|w| unsafe { w.orc().bits(config.orc) });
r.orc().write(|w| w.set_orc(config.orc));
// Generate suspend on read event
r.shorts.write(|w| w.read_suspend().enabled());
r.shorts().write(|w| w.set_read_suspend(true));
T::Interrupt::unpend();
unsafe { T::Interrupt::enable() };
@ -220,22 +221,18 @@ impl<'d, T: Instance> Twis<'d, T> {
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 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.
r.txd().ptr().write_value(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 _));
w.set_maxcnt(buffer.len() as _));
Ok(())
}
@ -251,15 +248,11 @@ impl<'d, T: Instance> Twis<'d, T> {
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 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.
r.rxd().ptr().write_value(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
@ -269,48 +262,51 @@ impl<'d, T: Instance> Twis<'d, T> {
// 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 _));
w.set_maxcnt(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));
r.errorsrc().write(|w| {
w.set_overflow(true);
w.set_overread(true);
w.set_dnack(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()
r.address(r.match_().read().0 as usize).read().address()
}
/// Returns the index of the address matched in the latest command.
pub fn address_match_index(&self) -> usize {
T::regs().match_.read().bits() as _
T::regs().match_().read().0 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 {}
if r.events_error().read() != 0 {
r.events_error().write_value(0);
r.tasks_stop().write_value(1);
while r.events_stopped().read() == 0 {}
return Err(Error::Overflow);
}
if r.events_stopped.read().bits() != 0 {
r.events_stopped.reset();
if r.events_stopped().read() != 0 {
r.events_stopped().write_value(0);
return Err(Error::Bus);
}
if r.events_read.read().bits() != 0 {
r.events_read.reset();
if r.events_read().read() != 0 {
r.events_read().write_value(0);
return Ok(Status::Read);
}
if r.events_write.read().bits() != 0 {
r.events_write.reset();
if r.events_write().read() != 0 {
r.events_write().write_value(0);
return Ok(Status::Write);
}
}
@ -321,22 +317,22 @@ impl<'d, T: Instance> Twis<'d, T> {
let r = T::regs();
loop {
// stop if an error occurred
if r.events_error.read().bits() != 0 {
r.events_error.reset();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
if r.events_error().read() != 0 {
r.events_error().write_value(0);
r.tasks_stop().write_value(1);
return Err(Error::Overflow);
} else if r.events_stopped.read().bits() != 0 {
r.events_stopped.reset();
} else if r.events_stopped().read() != 0 {
r.events_stopped().write_value(0);
return match status {
Status::Read => Ok(Command::Read),
Status::Write => {
let n = r.rxd.amount.read().bits() as usize;
let n = r.rxd().amount().read().0 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;
} else if r.events_read().read() != 0 {
r.events_read().write_value(0);
let n = r.rxd().amount().read().0 as usize;
return Ok(Command::WriteRead(n));
}
}
@ -347,20 +343,20 @@ impl<'d, T: Instance> Twis<'d, T> {
let r = T::regs();
loop {
// stop if an error occurred
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() {
if r.events_error().read() != 0 {
r.events_error().write_value(0);
r.tasks_stop().write_value(1);
let errorsrc = r.errorsrc().read();
if errorsrc.overread() {
return Err(Error::OverRead);
} else if errorsrc.dnack().is_received() {
} else if errorsrc.dnack() {
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;
} else if r.events_stopped().read() != 0 {
r.events_stopped().write_value(0);
let n = r.txd().amount().read().0 as usize;
return Ok(n);
}
}
@ -373,23 +369,23 @@ impl<'d, T: Instance> Twis<'d, T> {
let deadline = Instant::now() + timeout;
loop {
// stop if an error occurred
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() {
if r.events_error().read() != 0 {
r.events_error().write_value(0);
r.tasks_stop().write_value(1);
let errorsrc = r.errorsrc().read();
if errorsrc.overread() {
return Err(Error::OverRead);
} else if errorsrc.dnack().is_received() {
} else if errorsrc.dnack() {
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;
} else if r.events_stopped().read() != 0 {
r.events_stopped().write_value(0);
let n = r.txd().amount().read().0 as usize;
return Ok(n);
} else if Instant::now() > deadline {
r.tasks_stop.write(|w| unsafe { w.bits(1) });
r.tasks_stop().write_value(1);
return Err(Error::Timeout);
}
}
@ -401,26 +397,26 @@ impl<'d, T: Instance> Twis<'d, T> {
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 {}
if r.events_error().read() != 0 {
r.events_error().write_value(0);
r.tasks_stop().write_value(1);
while r.events_stopped().read() == 0 {}
return Err(Error::Overflow);
}
if r.events_stopped.read().bits() != 0 {
r.events_stopped.reset();
if r.events_stopped().read() != 0 {
r.events_stopped().write_value(0);
return Err(Error::Bus);
}
if r.events_read.read().bits() != 0 {
r.events_read.reset();
if r.events_read().read() != 0 {
r.events_read().write_value(0);
return Ok(Status::Read);
}
if r.events_write.read().bits() != 0 {
r.events_write.reset();
if r.events_write().read() != 0 {
r.events_write().write_value(0);
return Ok(Status::Write);
}
if Instant::now() > deadline {
r.tasks_stop.write(|w| unsafe { w.bits(1) });
r.tasks_stop().write_value(1);
return Err(Error::Timeout);
}
}
@ -433,25 +429,25 @@ impl<'d, T: Instance> Twis<'d, T> {
let deadline = Instant::now() + timeout;
loop {
// stop if an error occurred
if r.events_error.read().bits() != 0 {
r.events_error.reset();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
if r.events_error().read() != 0 {
r.events_error().write_value(0);
r.tasks_stop().write_value(1);
return Err(Error::Overflow);
} else if r.events_stopped.read().bits() != 0 {
r.events_stopped.reset();
} else if r.events_stopped().read() != 0 {
r.events_stopped().write_value(0);
return match status {
Status::Read => Ok(Command::Read),
Status::Write => {
let n = r.rxd.amount.read().bits() as usize;
let n = r.rxd().amount().read().0 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;
} else if r.events_read().read() != 0 {
r.events_read().write_value(0);
let n = r.rxd().amount().read().0 as usize;
return Ok(Command::WriteRead(n));
} else if Instant::now() > deadline {
r.tasks_stop.write(|w| unsafe { w.bits(1) });
r.tasks_stop().write_value(1);
return Err(Error::Timeout);
}
}
@ -466,20 +462,20 @@ impl<'d, T: Instance> Twis<'d, T> {
s.waker.register(cx.waker());
// stop if an error occurred
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() {
if r.events_error().read() != 0 {
r.events_error().write_value(0);
r.tasks_stop().write_value(1);
let errorsrc = r.errorsrc().read();
if errorsrc.overread() {
return Poll::Ready(Err(Error::OverRead));
} else if errorsrc.dnack().is_received() {
} else if errorsrc.dnack() {
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;
} else if r.events_stopped().read() != 0 {
r.events_stopped().write_value(0);
let n = r.txd().amount().read().0 as usize;
return Poll::Ready(Ok(n));
}
@ -496,18 +492,18 @@ impl<'d, T: Instance> Twis<'d, T> {
s.waker.register(cx.waker());
// stop if an error occurred
if r.events_error.read().bits() != 0 {
r.events_error.reset();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
if r.events_error().read() != 0 {
r.events_error().write_value(0);
r.tasks_stop().write_value(1);
return Poll::Ready(Err(Error::Overflow));
} else if r.events_read.read().bits() != 0 {
r.events_read.reset();
} else if r.events_read().read() != 0 {
r.events_read().write_value(0);
return Poll::Ready(Ok(Status::Read));
} else if r.events_write.read().bits() != 0 {
r.events_write.reset();
} else if r.events_write().read() != 0 {
r.events_write().write_value(0);
return Poll::Ready(Ok(Status::Write));
} else if r.events_stopped.read().bits() != 0 {
r.events_stopped.reset();
} else if r.events_stopped().read() != 0 {
r.events_stopped().write_value(0);
return Poll::Ready(Err(Error::Bus));
}
Poll::Pending
@ -523,22 +519,22 @@ impl<'d, T: Instance> Twis<'d, T> {
s.waker.register(cx.waker());
// stop if an error occurred
if r.events_error.read().bits() != 0 {
r.events_error.reset();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
if r.events_error().read() != 0 {
r.events_error().write_value(0);
r.tasks_stop().write_value(1);
return Poll::Ready(Err(Error::Overflow));
} else if r.events_stopped.read().bits() != 0 {
r.events_stopped.reset();
} else if r.events_stopped().read() != 0 {
r.events_stopped().write_value(0);
return match status {
Status::Read => Poll::Ready(Ok(Command::Read)),
Status::Write => {
let n = r.rxd.amount.read().bits() as usize;
let n = r.rxd().amount().read().0 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;
} else if r.events_read().read() != 0 {
r.events_read().write_value(0);
let n = r.rxd().amount().read().0 as usize;
return Poll::Ready(Ok(Command::WriteRead(n)));
}
Poll::Pending
@ -554,19 +550,25 @@ impl<'d, T: Instance> Twis<'d, T> {
unsafe { self.set_tx_buffer(buffer)? };
// Clear events
r.events_stopped.reset();
r.events_error.reset();
r.events_stopped().write_value(0);
r.events_error().write_value(0);
self.clear_errorsrc();
if inten {
r.intenset.write(|w| w.stopped().set().error().set());
r.intenset().write(|w| {
w.set_stopped(true);
w.set_error(true);
});
} else {
r.intenclr.write(|w| w.stopped().clear().error().clear());
r.intenclr().write(|w| {
w.set_stopped(true);
w.set_error(true);
});
}
// Start write operation.
r.tasks_preparetx.write(|w| unsafe { w.bits(1) });
r.tasks_resume.write(|w| unsafe { w.bits(1) });
r.tasks_preparetx().write_value(1);
r.tasks_resume().write_value(1);
Ok(())
}
@ -591,22 +593,30 @@ impl<'d, T: Instance> Twis<'d, T> {
unsafe { self.set_rx_buffer(buffer)? };
// Clear events
r.events_read.reset();
r.events_write.reset();
r.events_stopped.reset();
r.events_error.reset();
r.events_read().write_value(0);
r.events_write().write_value(0);
r.events_stopped().write_value(0);
r.events_error().write_value(0);
self.clear_errorsrc();
if inten {
r.intenset
.write(|w| w.stopped().set().error().set().read().set().write().set());
r.intenset().write(|w| {
w.set_stopped(true);
w.set_error(true);
w.set_read(true);
w.set_write(true);
});
} else {
r.intenclr
.write(|w| w.stopped().clear().error().clear().read().clear().write().clear());
r.intenclr().write(|w| {
w.set_stopped(true);
w.set_error(true);
w.set_read(true);
w.set_write(true);
});
}
// Start read operation.
r.tasks_preparerx.write(|w| unsafe { w.bits(1) });
r.tasks_preparerx().write_value(1);
Ok(())
}
@ -616,16 +626,24 @@ impl<'d, T: Instance> Twis<'d, T> {
compiler_fence(SeqCst);
// Clear events
r.events_read.reset();
r.events_write.reset();
r.events_stopped.reset();
r.events_error.reset();
r.events_read().write_value(0);
r.events_write().write_value(0);
r.events_stopped().write_value(0);
r.events_error().write_value(0);
self.clear_errorsrc();
if inten {
r.intenset.write(|w| w.stopped().set().error().set().read().set());
r.intenset().write(|w| {
w.set_stopped(true);
w.set_error(true);
w.set_read(true);
});
} else {
r.intenclr.write(|w| w.stopped().clear().error().clear().read().clear());
r.intenclr().write(|w| {
w.set_stopped(true);
w.set_error(true);
w.set_read(true);
});
}
Ok(())
@ -745,10 +763,10 @@ impl<'a, T: Instance> Drop for Twis<'a, T> {
// disable!
let r = T::regs();
r.enable.write(|w| w.enable().disabled());
r.enable().write(|w| w.set_enable(vals::Enable::DISABLED));
gpio::deconfigure_pin(r.psel.sda.read().bits());
gpio::deconfigure_pin(r.psel.scl.read().bits());
gpio::deconfigure_pin(r.psel().sda().read());
gpio::deconfigure_pin(r.psel().scl().read());
trace!("twis drop: done");
}
@ -767,7 +785,7 @@ impl State {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static pac::twis0::RegisterBlock;
fn regs() -> pac::twis::Twis;
fn state() -> &'static State;
}
@ -781,8 +799,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static {
macro_rules! impl_twis {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::twis::SealedInstance for peripherals::$type {
fn regs() -> &'static pac::twis0::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> pac::twis::Twis {
pac::$pac_type
}
fn state() -> &'static crate::twis::State {
static STATE: crate::twis::State = crate::twis::State::new();

356
embassy-nrf/src/uarte.rs
View File

@ -21,13 +21,14 @@ use core::task::Poll;
use embassy_hal_internal::drop::OnDrop;
use embassy_hal_internal::{into_ref, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
use pac::uarte0::RegisterBlock;
// Re-export SVD variants to allow user to directly set values.
pub use pac::uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity};
pub use pac::uarte::vals::{Baudrate, ConfigParity as Parity};
use crate::chip::{EASY_DMA_SIZE, FORCE_COPY_BUFFER_SIZE};
use crate::gpio::{self, AnyPin, Pin as GpioPin, PselBits, SealedPin as _};
use crate::gpio::{self, AnyPin, Pin as GpioPin, PselBits, SealedPin as _, DISCONNECTED};
use crate::interrupt::typelevel::Interrupt;
use crate::pac::gpio::vals as gpiovals;
use crate::pac::uarte::vals;
use crate::ppi::{AnyConfigurableChannel, ConfigurableChannel, Event, Ppi, Task};
use crate::timer::{Frequency, Instance as TimerInstance, Timer};
use crate::util::slice_in_ram_or;
@ -54,7 +55,7 @@ impl Default for Config {
bitflags::bitflags! {
/// Error source flags
pub struct ErrorSource: u32 {
pub(crate) struct ErrorSource: u32 {
/// Buffer overrun
const OVERRUN = 0x01;
/// Parity error
@ -112,20 +113,20 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
let r = T::regs();
let s = T::state();
let endrx = r.events_endrx.read().bits();
let error = r.events_error.read().bits();
let endrx = r.events_endrx().read();
let error = r.events_error().read();
if endrx != 0 || error != 0 {
s.rx_waker.wake();
if endrx != 0 {
r.intenclr.write(|w| w.endrx().clear());
r.intenclr().write(|w| w.set_endrx(true));
}
if error != 0 {
r.intenclr.write(|w| w.error().clear());
r.intenclr().write(|w| w.set_error(true));
}
}
if r.events_endtx.read().bits() != 0 {
if r.events_endtx().read() != 0 {
s.tx_waker.wake();
r.intenclr.write(|w| w.endtx().clear());
r.intenclr().write(|w| w.set_endtx(true));
}
}
}
@ -200,28 +201,12 @@ impl<'d, T: Instance> Uarte<'d, T> {
_ => panic!("RTS and CTS pins must be either both set or none set."),
};
configure(r, config, hardware_flow_control);
rxd.conf().write(|w| w.input().connect().drive().h0h1());
r.psel.rxd.write(|w| unsafe { w.bits(rxd.psel_bits()) });
txd.set_high();
txd.conf().write(|w| w.dir().output().drive().h0h1());
r.psel.txd.write(|w| unsafe { w.bits(txd.psel_bits()) });
if let Some(pin) = &cts {
pin.conf().write(|w| w.input().connect().drive().h0h1());
}
r.psel.cts.write(|w| unsafe { w.bits(cts.psel_bits()) });
if let Some(pin) = &rts {
pin.set_high();
pin.conf().write(|w| w.dir().output().drive().h0h1());
}
r.psel.rts.write(|w| unsafe { w.bits(rts.psel_bits()) });
configure_rx_pins(r, rxd, rts);
configure_tx_pins(r, txd, cts);
T::Interrupt::unpend();
unsafe { T::Interrupt::enable() };
r.enable.write(|w| w.enable().enabled());
r.enable().write(|w| w.set_enable(vals::Enable::ENABLED));
let s = T::state();
s.tx_rx_refcount.store(2, Ordering::Relaxed);
@ -264,7 +249,7 @@ impl<'d, T: Instance> Uarte<'d, T> {
/// Return the endtx event for use with PPI
pub fn event_endtx(&self) -> Event {
let r = T::regs();
Event::from_reg(&r.events_endtx)
Event::from_reg(r.events_endtx())
}
/// Read bytes until the buffer is filled.
@ -298,27 +283,72 @@ impl<'d, T: Instance> Uarte<'d, T> {
}
}
pub(crate) fn configure(r: &RegisterBlock, config: Config, hardware_flow_control: bool) {
r.config.write(|w| {
w.hwfc().bit(hardware_flow_control);
w.parity().variant(config.parity);
w
pub(crate) fn configure_tx_pins(
r: pac::uarte::Uarte,
txd: PeripheralRef<'_, AnyPin>,
cts: Option<PeripheralRef<'_, AnyPin>>,
) {
txd.set_high();
txd.conf().write(|w| {
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_input(gpiovals::Input::DISCONNECT);
w.set_drive(gpiovals::Drive::H0H1);
});
r.baudrate.write(|w| w.baudrate().variant(config.baudrate));
r.psel().txd().write_value(txd.psel_bits());
if let Some(pin) = &cts {
pin.conf().write(|w| {
w.set_dir(gpiovals::Dir::INPUT);
w.set_input(gpiovals::Input::CONNECT);
w.set_drive(gpiovals::Drive::H0H1);
});
}
r.psel().cts().write_value(cts.psel_bits());
}
pub(crate) fn configure_rx_pins(
r: pac::uarte::Uarte,
rxd: PeripheralRef<'_, AnyPin>,
rts: Option<PeripheralRef<'_, AnyPin>>,
) {
rxd.conf().write(|w| {
w.set_dir(gpiovals::Dir::INPUT);
w.set_input(gpiovals::Input::CONNECT);
w.set_drive(gpiovals::Drive::H0H1);
});
r.psel().rxd().write_value(rxd.psel_bits());
if let Some(pin) = &rts {
pin.set_high();
pin.conf().write(|w| {
w.set_dir(gpiovals::Dir::OUTPUT);
w.set_input(gpiovals::Input::DISCONNECT);
w.set_drive(gpiovals::Drive::H0H1);
});
}
r.psel().rts().write_value(rts.psel_bits());
}
pub(crate) fn configure(r: pac::uarte::Uarte, config: Config, hardware_flow_control: bool) {
r.config().write(|w| {
w.set_hwfc(hardware_flow_control);
w.set_parity(config.parity);
});
r.baudrate().write(|w| w.set_baudrate(config.baudrate));
// Disable all interrupts
r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
r.intenclr().write(|w| w.0 = 0xFFFF_FFFF);
// Reset rxstarted, txstarted. These are used by drop to know whether a transfer was
// stopped midway or not.
r.events_rxstarted.reset();
r.events_txstarted.reset();
r.events_rxstarted().write_value(0);
r.events_txstarted().write_value(0);
// reset all pins
r.psel.txd.write(|w| w.connect().disconnected());
r.psel.rxd.write(|w| w.connect().disconnected());
r.psel.cts.write(|w| w.connect().disconnected());
r.psel.rts.write(|w| w.connect().disconnected());
r.psel().txd().write_value(DISCONNECTED);
r.psel().rxd().write_value(DISCONNECTED);
r.psel().cts().write_value(DISCONNECTED);
r.psel().rts().write_value(DISCONNECTED);
apply_workaround_for_enable_anomaly(r);
}
@ -356,19 +386,11 @@ impl<'d, T: Instance> UarteTx<'d, T> {
let r = T::regs();
configure(r, config, cts.is_some());
txd.set_high();
txd.conf().write(|w| w.dir().output().drive().s0s1());
r.psel.txd.write(|w| unsafe { w.bits(txd.psel_bits()) });
if let Some(pin) = &cts {
pin.conf().write(|w| w.input().connect().drive().h0h1());
}
r.psel.cts.write(|w| unsafe { w.bits(cts.psel_bits()) });
configure_tx_pins(r, txd, cts);
T::Interrupt::unpend();
unsafe { T::Interrupt::enable() };
r.enable.write(|w| w.enable().enabled());
r.enable().write(|w| w.set_enable(vals::Enable::ENABLED));
let s = T::state();
s.tx_rx_refcount.store(1, Ordering::Relaxed);
@ -410,29 +432,29 @@ impl<'d, T: Instance> UarteTx<'d, T> {
let drop = OnDrop::new(move || {
trace!("write drop: stopping");
r.intenclr.write(|w| w.endtx().clear());
r.events_txstopped.reset();
r.tasks_stoptx.write(|w| unsafe { w.bits(1) });
r.intenclr().write(|w| w.set_endtx(true));
r.events_txstopped().write_value(0);
r.tasks_stoptx().write_value(1);
// TX is stopped almost instantly, spinning is fine.
while r.events_endtx.read().bits() == 0 {}
while r.events_endtx().read() == 0 {}
trace!("write drop: stopped");
});
r.txd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
r.txd.maxcnt.write(|w| unsafe { w.maxcnt().bits(len as _) });
r.txd().ptr().write_value(ptr as u32);
r.txd().maxcnt().write(|w| w.set_maxcnt(len as _));
r.events_endtx.reset();
r.intenset.write(|w| w.endtx().set());
r.events_endtx().write_value(0);
r.intenset().write(|w| w.set_endtx(true));
compiler_fence(Ordering::SeqCst);
trace!("starttx");
r.tasks_starttx.write(|w| unsafe { w.bits(1) });
r.tasks_starttx().write_value(1);
poll_fn(|cx| {
s.tx_waker.register(cx.waker());
if r.events_endtx.read().bits() != 0 {
if r.events_endtx().read() != 0 {
return Poll::Ready(());
}
Poll::Pending
@ -440,7 +462,7 @@ impl<'d, T: Instance> UarteTx<'d, T> {
.await;
compiler_fence(Ordering::SeqCst);
r.events_txstarted.reset();
r.events_txstarted().write_value(0);
drop.defuse();
Ok(())
@ -476,21 +498,21 @@ impl<'d, T: Instance> UarteTx<'d, T> {
let r = T::regs();
r.txd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
r.txd.maxcnt.write(|w| unsafe { w.maxcnt().bits(len as _) });
r.txd().ptr().write_value(ptr as u32);
r.txd().maxcnt().write(|w| w.set_maxcnt(len as _));
r.events_endtx.reset();
r.intenclr.write(|w| w.endtx().clear());
r.events_endtx().write_value(0);
r.intenclr().write(|w| w.set_endtx(true));
compiler_fence(Ordering::SeqCst);
trace!("starttx");
r.tasks_starttx.write(|w| unsafe { w.bits(1) });
r.tasks_starttx().write_value(1);
while r.events_endtx.read().bits() == 0 {}
while r.events_endtx().read() == 0 {}
compiler_fence(Ordering::SeqCst);
r.events_txstarted.reset();
r.events_txstarted().write_value(0);
Ok(())
}
@ -502,11 +524,11 @@ impl<'a, T: Instance> Drop for UarteTx<'a, T> {
let r = T::regs();
let did_stoptx = r.events_txstarted.read().bits() != 0;
let did_stoptx = r.events_txstarted().read() != 0;
trace!("did_stoptx {}", did_stoptx);
// Wait for txstopped, if needed.
while did_stoptx && r.events_txstopped.read().bits() == 0 {}
while did_stoptx && r.events_txstopped().read() == 0 {}
let s = T::state();
@ -541,9 +563,9 @@ impl<'d, T: Instance> UarteRx<'d, T> {
/// Check for errors and clear the error register if an error occured.
fn check_and_clear_errors(&mut self) -> Result<(), Error> {
let r = T::regs();
let err_bits = r.errorsrc.read().bits();
r.errorsrc.write(|w| unsafe { w.bits(err_bits) });
ErrorSource::from_bits_truncate(err_bits).check()
let err_bits = r.errorsrc().read();
r.errorsrc().write_value(err_bits);
ErrorSource::from_bits_truncate(err_bits.0).check()
}
fn new_inner(
@ -555,19 +577,11 @@ impl<'d, T: Instance> UarteRx<'d, T> {
let r = T::regs();
configure(r, config, rts.is_some());
rxd.conf().write(|w| w.input().connect().drive().h0h1());
r.psel.rxd.write(|w| unsafe { w.bits(rxd.psel_bits()) });
if let Some(pin) = &rts {
pin.set_high();
pin.conf().write(|w| w.dir().output().drive().h0h1());
}
r.psel.rts.write(|w| unsafe { w.bits(rts.psel_bits()) });
configure_rx_pins(r, rxd, rts);
T::Interrupt::unpend();
unsafe { T::Interrupt::enable() };
r.enable.write(|w| w.enable().enabled());
r.enable().write(|w| w.set_enable(vals::Enable::ENABLED));
let s = T::state();
s.tx_rx_refcount.store(1, Ordering::Relaxed);
@ -594,8 +608,8 @@ impl<'d, T: Instance> UarteRx<'d, T> {
// We want to stop RX if line is idle for 2 bytes worth of time
// That is 20 bits (each byte is 1 start bit + 8 data bits + 1 stop bit)
// This gives us the amount of 16M ticks for 20 bits.
let baudrate = r.baudrate.read().baudrate().variant().unwrap();
let timeout = 0x8000_0000 / (baudrate as u32 / 40);
let baudrate = r.baudrate().read().baudrate();
let timeout = 0x8000_0000 / (baudrate.to_bits() / 40);
timer.set_frequency(Frequency::F16MHz);
timer.cc(0).write(timeout);
@ -604,7 +618,7 @@ impl<'d, T: Instance> UarteRx<'d, T> {
let mut ppi_ch1 = Ppi::new_one_to_two(
ppi_ch1.map_into(),
Event::from_reg(&r.events_rxdrdy),
Event::from_reg(r.events_rxdrdy()),
timer.task_clear(),
timer.task_start(),
);
@ -613,7 +627,7 @@ impl<'d, T: Instance> UarteRx<'d, T> {
let mut ppi_ch2 = Ppi::new_one_to_one(
ppi_ch2.map_into(),
timer.cc(0).event_compare(),
Task::from_reg(&r.tasks_stoprx),
Task::from_reg(r.tasks_stoprx()),
);
ppi_ch2.enable();
@ -643,43 +657,42 @@ impl<'d, T: Instance> UarteRx<'d, T> {
let drop = OnDrop::new(move || {
trace!("read drop: stopping");
r.intenclr.write(|w| {
w.endrx().clear();
w.error().clear()
r.intenclr().write(|w| {
w.set_endrx(true);
w.set_error(true);
});
r.events_rxto.reset();
r.events_error.reset();
r.errorsrc.reset();
r.tasks_stoprx.write(|w| unsafe { w.bits(1) });
r.events_rxto().write_value(0);
r.events_error().write_value(0);
r.tasks_stoprx().write_value(1);
while r.events_endrx.read().bits() == 0 {}
while r.events_endrx().read() == 0 {}
trace!("read drop: stopped");
});
r.rxd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
r.rxd.maxcnt.write(|w| unsafe { w.maxcnt().bits(len as _) });
r.rxd().ptr().write_value(ptr as u32);
r.rxd().maxcnt().write(|w| w.set_maxcnt(len as _));
r.events_endrx.reset();
r.events_error.reset();
r.intenset.write(|w| {
w.endrx().set();
w.error().set()
r.events_endrx().write_value(0);
r.events_error().write_value(0);
r.intenset().write(|w| {
w.set_endrx(true);
w.set_error(true);
});
compiler_fence(Ordering::SeqCst);
trace!("startrx");
r.tasks_startrx.write(|w| unsafe { w.bits(1) });
r.tasks_startrx().write_value(1);
let result = poll_fn(|cx| {
s.rx_waker.register(cx.waker());
if let Err(e) = self.check_and_clear_errors() {
r.tasks_stoprx.write(|w| unsafe { w.bits(1) });
r.tasks_stoprx().write_value(1);
return Poll::Ready(Err(e));
}
if r.events_endrx.read().bits() != 0 {
if r.events_endrx().read() != 0 {
return Poll::Ready(Ok(()));
}
Poll::Pending
@ -687,7 +700,7 @@ impl<'d, T: Instance> UarteRx<'d, T> {
.await;
compiler_fence(Ordering::SeqCst);
r.events_rxstarted.reset();
r.events_rxstarted().write_value(0);
drop.defuse();
result
@ -707,25 +720,25 @@ impl<'d, T: Instance> UarteRx<'d, T> {
let r = T::regs();
r.rxd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
r.rxd.maxcnt.write(|w| unsafe { w.maxcnt().bits(len as _) });
r.rxd().ptr().write_value(ptr as u32);
r.rxd().maxcnt().write(|w| w.set_maxcnt(len as _));
r.events_endrx.reset();
r.events_error.reset();
r.intenclr.write(|w| {
w.endrx().clear();
w.error().clear()
r.events_endrx().write_value(0);
r.events_error().write_value(0);
r.intenclr().write(|w| {
w.set_endrx(true);
w.set_error(true);
});
compiler_fence(Ordering::SeqCst);
trace!("startrx");
r.tasks_startrx.write(|w| unsafe { w.bits(1) });
r.tasks_startrx().write_value(1);
while r.events_endrx.read().bits() == 0 && r.events_error.read().bits() == 0 {}
while r.events_endrx().read() == 0 && r.events_error().read() == 0 {}
compiler_fence(Ordering::SeqCst);
r.events_rxstarted.reset();
r.events_rxstarted().write_value(0);
self.check_and_clear_errors()
}
@ -737,11 +750,11 @@ impl<'a, T: Instance> Drop for UarteRx<'a, T> {
let r = T::regs();
let did_stoprx = r.events_rxstarted.read().bits() != 0;
let did_stoprx = r.events_rxstarted().read() != 0;
trace!("did_stoprx {}", did_stoprx);
// Wait for rxto, if needed.
while did_stoprx && r.events_rxto.read().bits() == 0 {}
while did_stoprx && r.events_rxto().read() == 0 {}
let s = T::state();
@ -794,39 +807,39 @@ impl<'d, T: Instance, U: TimerInstance> UarteRxWithIdle<'d, T, U> {
let drop = OnDrop::new(|| {
self.timer.stop();
r.intenclr.write(|w| {
w.endrx().clear();
w.error().clear()
r.intenclr().write(|w| {
w.set_endrx(true);
w.set_error(true);
});
r.events_rxto.reset();
r.events_error.reset();
r.tasks_stoprx.write(|w| unsafe { w.bits(1) });
r.events_rxto().write_value(0);
r.events_error().write_value(0);
r.tasks_stoprx().write_value(1);
while r.events_endrx.read().bits() == 0 {}
while r.events_endrx().read() == 0 {}
});
r.rxd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
r.rxd.maxcnt.write(|w| unsafe { w.maxcnt().bits(len as _) });
r.rxd().ptr().write_value(ptr as u32);
r.rxd().maxcnt().write(|w| w.set_maxcnt(len as _));
r.events_endrx.reset();
r.events_error.reset();
r.intenset.write(|w| {
w.endrx().set();
w.error().set()
r.events_endrx().write_value(0);
r.events_error().write_value(0);
r.intenset().write(|w| {
w.set_endrx(true);
w.set_error(true);
});
compiler_fence(Ordering::SeqCst);
r.tasks_startrx.write(|w| unsafe { w.bits(1) });
r.tasks_startrx().write_value(1);
let result = poll_fn(|cx| {
s.rx_waker.register(cx.waker());
if let Err(e) = self.rx.check_and_clear_errors() {
r.tasks_stoprx.write(|w| unsafe { w.bits(1) });
r.tasks_stoprx().write_value(1);
return Poll::Ready(Err(e));
}
if r.events_endrx.read().bits() != 0 {
if r.events_endrx().read() != 0 {
return Poll::Ready(Ok(()));
}
@ -835,10 +848,10 @@ impl<'d, T: Instance, U: TimerInstance> UarteRxWithIdle<'d, T, U> {
.await;
compiler_fence(Ordering::SeqCst);
let n = r.rxd.amount.read().amount().bits() as usize;
let n = r.rxd().amount().read().0 as usize;
self.timer.stop();
r.events_rxstarted.reset();
r.events_rxstarted().write_value(0);
drop.defuse();
@ -863,56 +876,57 @@ impl<'d, T: Instance, U: TimerInstance> UarteRxWithIdle<'d, T, U> {
self.ppi_ch1.enable();
r.rxd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
r.rxd.maxcnt.write(|w| unsafe { w.maxcnt().bits(len as _) });
r.rxd().ptr().write_value(ptr as u32);
r.rxd().maxcnt().write(|w| w.set_maxcnt(len as _));
r.events_endrx.reset();
r.events_error.reset();
r.intenclr.write(|w| {
w.endrx().clear();
w.error().clear()
r.events_endrx().write_value(0);
r.events_error().write_value(0);
r.intenclr().write(|w| {
w.set_endrx(true);
w.set_error(true);
});
compiler_fence(Ordering::SeqCst);
r.tasks_startrx.write(|w| unsafe { w.bits(1) });
r.tasks_startrx().write_value(1);
while r.events_endrx.read().bits() == 0 && r.events_error.read().bits() == 0 {}
while r.events_endrx().read() == 0 && r.events_error().read() == 0 {}
compiler_fence(Ordering::SeqCst);
let n = r.rxd.amount.read().amount().bits() as usize;
let n = r.rxd().amount().read().0 as usize;
self.timer.stop();
r.events_rxstarted.reset();
r.events_rxstarted().write_value(0);
self.rx.check_and_clear_errors().map(|_| n)
}
}
#[cfg(not(any(feature = "_nrf9160", feature = "_nrf5340")))]
pub(crate) fn apply_workaround_for_enable_anomaly(_r: &crate::pac::uarte0::RegisterBlock) {
pub(crate) fn apply_workaround_for_enable_anomaly(_r: pac::uarte::Uarte) {
// Do nothing
}
#[cfg(any(feature = "_nrf9160", feature = "_nrf5340"))]
pub(crate) fn apply_workaround_for_enable_anomaly(r: &crate::pac::uarte0::RegisterBlock) {
pub(crate) fn apply_workaround_for_enable_anomaly(r: pac::uarte::Uarte) {
// Apply workaround for anomalies:
// - nRF9160 - anomaly 23
// - nRF5340 - anomaly 44
let rxenable_reg: *const u32 = ((r as *const _ as usize) + 0x564) as *const u32;
let txenable_reg: *const u32 = ((r as *const _ as usize) + 0x568) as *const u32;
let rp = r.as_ptr() as *mut u32;
let rxenable_reg = unsafe { rp.add(0x564 / 4) };
let txenable_reg = unsafe { rp.add(0x568 / 4) };
// NB Safety: This is taken from Nordic's driver -
// https://github.com/NordicSemiconductor/nrfx/blob/master/drivers/src/nrfx_uarte.c#L197
if unsafe { core::ptr::read_volatile(txenable_reg) } == 1 {
r.tasks_stoptx.write(|w| unsafe { w.bits(1) });
r.tasks_stoptx().write_value(1);
}
// NB Safety: This is taken from Nordic's driver -
// https://github.com/NordicSemiconductor/nrfx/blob/master/drivers/src/nrfx_uarte.c#L197
if unsafe { core::ptr::read_volatile(rxenable_reg) } == 1 {
r.enable.write(|w| w.enable().enabled());
r.tasks_stoprx.write(|w| unsafe { w.bits(1) });
r.enable().write(|w| w.set_enable(vals::Enable::ENABLED));
r.tasks_stoprx().write_value(1);
let mut workaround_succeded = false;
// The UARTE is able to receive up to four bytes after the STOPRX task has been triggered.
@ -933,23 +947,23 @@ pub(crate) fn apply_workaround_for_enable_anomaly(r: &crate::pac::uarte0::Regist
panic!("Failed to apply workaround for UART");
}
let errors = r.errorsrc.read().bits();
// NB Safety: safe to write back the bits we just read to clear them
r.errorsrc.write(|w| unsafe { w.bits(errors) });
r.enable.write(|w| w.enable().disabled());
// write back the bits we just read to clear them
let errors = r.errorsrc().read();
r.errorsrc().write_value(errors);
r.enable().write(|w| w.set_enable(vals::Enable::DISABLED));
}
}
pub(crate) fn drop_tx_rx(r: &pac::uarte0::RegisterBlock, s: &State) {
pub(crate) fn drop_tx_rx(r: pac::uarte::Uarte, s: &State) {
if s.tx_rx_refcount.fetch_sub(1, Ordering::Relaxed) == 1 {
// Finally we can disable, and we do so for the peripheral
// i.e. not just rx concerns.
r.enable.write(|w| w.enable().disabled());
r.enable().write(|w| w.set_enable(vals::Enable::DISABLED));
gpio::deconfigure_pin(r.psel.rxd.read().bits());
gpio::deconfigure_pin(r.psel.txd.read().bits());
gpio::deconfigure_pin(r.psel.rts.read().bits());
gpio::deconfigure_pin(r.psel.cts.read().bits());
gpio::deconfigure_pin(r.psel().rxd().read());
gpio::deconfigure_pin(r.psel().txd().read());
gpio::deconfigure_pin(r.psel().rts().read());
gpio::deconfigure_pin(r.psel().cts().read());
trace!("uarte tx and rx drop: done");
}
@ -971,7 +985,7 @@ impl State {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static pac::uarte0::RegisterBlock;
fn regs() -> pac::uarte::Uarte;
fn state() -> &'static State;
fn buffered_state() -> &'static crate::buffered_uarte::State;
}
@ -986,8 +1000,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static + Send {
macro_rules! impl_uarte {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::uarte::SealedInstance for peripherals::$type {
fn regs() -> &'static pac::uarte0::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> pac::uarte::Uarte {
pac::$pac_type
}
fn state() -> &'static crate::uarte::State {
static STATE: crate::uarte::State = crate::uarte::State::new();

281
embassy-nrf/src/usb/mod.rs
View File

@ -15,10 +15,10 @@ use embassy_hal_internal::{into_ref, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
use embassy_usb_driver as driver;
use embassy_usb_driver::{Direction, EndpointAddress, EndpointError, EndpointInfo, EndpointType, Event, Unsupported};
use pac::usbd::RegisterBlock;
use self::vbus_detect::VbusDetect;
use crate::interrupt::typelevel::Interrupt;
use crate::pac::usbd::vals;
use crate::util::slice_in_ram;
use crate::{interrupt, pac, Peripheral};
@ -38,19 +38,19 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
unsafe fn on_interrupt() {
let regs = T::regs();
if regs.events_usbreset.read().bits() != 0 {
regs.intenclr.write(|w| w.usbreset().clear());
if regs.events_usbreset().read() != 0 {
regs.intenclr().write(|w| w.set_usbreset(true));
BUS_WAKER.wake();
EP0_WAKER.wake();
}
if regs.events_ep0setup.read().bits() != 0 {
regs.intenclr.write(|w| w.ep0setup().clear());
if regs.events_ep0setup().read() != 0 {
regs.intenclr().write(|w| w.set_ep0setup(true));
EP0_WAKER.wake();
}
if regs.events_ep0datadone.read().bits() != 0 {
regs.intenclr.write(|w| w.ep0datadone().clear());
if regs.events_ep0datadone().read() != 0 {
regs.intenclr().write(|w| w.set_ep0datadone(true));
EP0_WAKER.wake();
}
@ -63,22 +63,22 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
// Therefore, it's fine to clear just the event, and let main thread
// check the individual bits in EVENTCAUSE and EPDATASTATUS. It
// doesn't cause an infinite irq loop.
if regs.events_usbevent.read().bits() != 0 {
regs.events_usbevent.reset();
if regs.events_usbevent().read() != 0 {
regs.events_usbevent().write_value(0);
BUS_WAKER.wake();
}
if regs.events_epdata.read().bits() != 0 {
regs.events_epdata.reset();
if regs.events_epdata().read() != 0 {
regs.events_epdata().write_value(0);
let r = regs.epdatastatus.read().bits();
regs.epdatastatus.write(|w| unsafe { w.bits(r) });
READY_ENDPOINTS.fetch_or(r, Ordering::AcqRel);
let r = regs.epdatastatus().read();
regs.epdatastatus().write_value(r);
READY_ENDPOINTS.fetch_or(r.0, Ordering::AcqRel);
for i in 1..=7 {
if r & In::mask(i) != 0 {
if r.0 & In::mask(i) != 0 {
In::waker(i).wake();
}
if r & Out::mask(i) != 0 {
if r.0 & Out::mask(i) != 0 {
Out::waker(i).wake();
}
}
@ -181,35 +181,34 @@ impl<'d, T: Instance, V: VbusDetect> driver::Bus for Bus<'d, T, V> {
errata::pre_enable();
regs.enable.write(|w| w.enable().enabled());
regs.enable().write(|w| w.set_enable(true));
// Wait until the peripheral is ready.
regs.intenset.write(|w| w.usbevent().set_bit());
regs.intenset().write(|w| w.set_usbevent(true));
poll_fn(|cx| {
BUS_WAKER.register(cx.waker());
if regs.eventcause.read().ready().is_ready() {
if regs.eventcause().read().ready() {
Poll::Ready(())
} else {
Poll::Pending
}
})
.await;
regs.eventcause.write(|w| w.ready().clear_bit_by_one());
regs.eventcause().write(|w| w.set_ready(true));
errata::post_enable();
unsafe { NVIC::unmask(pac::Interrupt::USBD) };
regs.intenset.write(|w| {
w.usbreset().set_bit();
w.usbevent().set_bit();
w.epdata().set_bit();
w
regs.intenset().write(|w| {
w.set_usbreset(true);
w.set_usbevent(true);
w.set_epdata(true);
});
if self.vbus_detect.wait_power_ready().await.is_ok() {
// Enable the USB pullup, allowing enumeration.
regs.usbpullup.write(|w| w.connect().enabled());
regs.usbpullup().write(|w| w.set_connect(true));
trace!("enabled");
} else {
trace!("usb power not ready due to usb removal");
@ -218,7 +217,7 @@ impl<'d, T: Instance, V: VbusDetect> driver::Bus for Bus<'d, T, V> {
async fn disable(&mut self) {
let regs = T::regs();
regs.enable.write(|x| x.enable().disabled());
regs.enable().write(|x| x.set_enable(false));
}
async fn poll(&mut self) -> Event {
@ -226,13 +225,13 @@ impl<'d, T: Instance, V: VbusDetect> driver::Bus for Bus<'d, T, V> {
BUS_WAKER.register(cx.waker());
let regs = T::regs();
if regs.events_usbreset.read().bits() != 0 {
regs.events_usbreset.reset();
regs.intenset.write(|w| w.usbreset().set());
if regs.events_usbreset().read() != 0 {
regs.events_usbreset().write_value(0);
regs.intenset().write(|w| w.set_usbreset(true));
// Disable all endpoints except EP0
regs.epinen.write(|w| unsafe { w.bits(0x01) });
regs.epouten.write(|w| unsafe { w.bits(0x01) });
regs.epinen().write(|w| w.0 = 0x01);
regs.epouten().write(|w| w.0 = 0x01);
READY_ENDPOINTS.store(In::mask(0), Ordering::Release);
for i in 1..=7 {
In::waker(i).wake();
@ -242,27 +241,27 @@ impl<'d, T: Instance, V: VbusDetect> driver::Bus for Bus<'d, T, V> {
return Poll::Ready(Event::Reset);
}
let r = regs.eventcause.read();
let r = regs.eventcause().read();
if r.isooutcrc().bit() {
regs.eventcause.write(|w| w.isooutcrc().detected());
if r.isooutcrc() {
regs.eventcause().write(|w| w.set_isooutcrc(true));
trace!("USB event: isooutcrc");
}
if r.usbwuallowed().bit() {
regs.eventcause.write(|w| w.usbwuallowed().allowed());
if r.usbwuallowed() {
regs.eventcause().write(|w| w.set_usbwuallowed(true));
trace!("USB event: usbwuallowed");
}
if r.suspend().bit() {
regs.eventcause.write(|w| w.suspend().detected());
regs.lowpower.write(|w| w.lowpower().low_power());
if r.suspend() {
regs.eventcause().write(|w| w.set_suspend(true));
regs.lowpower().write(|w| w.set_lowpower(vals::Lowpower::LOW_POWER));
return Poll::Ready(Event::Suspend);
}
if r.resume().bit() {
regs.eventcause.write(|w| w.resume().detected());
if r.resume() {
regs.eventcause().write(|w| w.set_resume(true));
return Poll::Ready(Event::Resume);
}
if r.ready().bit() {
regs.eventcause.write(|w| w.ready().ready());
if r.ready() {
regs.eventcause().write(|w| w.set_ready(true));
trace!("USB event: ready");
}
@ -284,16 +283,19 @@ impl<'d, T: Instance, V: VbusDetect> driver::Bus for Bus<'d, T, V> {
fn endpoint_set_stalled(&mut self, ep_addr: EndpointAddress, stalled: bool) {
let regs = T::regs();
unsafe {
if ep_addr.index() == 0 {
regs.tasks_ep0stall.write(|w| w.tasks_ep0stall().bit(stalled));
} else {
regs.epstall.write(|w| {
w.ep().bits(ep_addr.index() as u8 & 0b111);
w.io().bit(ep_addr.is_in());
w.stall().bit(stalled)
});
if ep_addr.index() == 0 {
if stalled {
regs.tasks_ep0stall().write_value(1);
}
} else {
regs.epstall().write(|w| {
w.set_ep(ep_addr.index() as u8 & 0b111);
w.set_io(match ep_addr.direction() {
Direction::In => vals::Io::IN,
Direction::Out => vals::Io::OUT,
});
w.set_stall(stalled);
});
}
}
@ -301,8 +303,8 @@ impl<'d, T: Instance, V: VbusDetect> driver::Bus for Bus<'d, T, V> {
let regs = T::regs();
let i = ep_addr.index();
match ep_addr.direction() {
Direction::Out => regs.halted.epout[i].read().getstatus().is_halted(),
Direction::In => regs.halted.epin[i].read().getstatus().is_halted(),
Direction::Out => regs.halted().epout(i).read().getstatus() == vals::Getstatus::HALTED,
Direction::In => regs.halted().epin(i).read().getstatus() == vals::Getstatus::HALTED,
}
}
@ -317,15 +319,13 @@ impl<'d, T: Instance, V: VbusDetect> driver::Bus for Bus<'d, T, V> {
match ep_addr.direction() {
Direction::In => {
let mut was_enabled = false;
regs.epinen.modify(|r, w| {
let mut bits = r.bits();
was_enabled = (bits & mask) != 0;
regs.epinen().modify(|w| {
was_enabled = (w.0 & mask) != 0;
if enabled {
bits |= mask
w.0 |= mask
} else {
bits &= !mask
w.0 &= !mask
}
unsafe { w.bits(bits) }
});
let ready_mask = In::mask(i);
@ -340,15 +340,8 @@ impl<'d, T: Instance, V: VbusDetect> driver::Bus for Bus<'d, T, V> {
In::waker(i).wake();
}
Direction::Out => {
regs.epouten.modify(|r, w| {
let mut bits = r.bits();
if enabled {
bits |= mask
} else {
bits &= !mask
}
unsafe { w.bits(bits) }
});
regs.epouten()
.modify(|w| if enabled { w.0 |= mask } else { w.0 &= !mask });
let ready_mask = Out::mask(i);
if enabled {
@ -356,7 +349,7 @@ impl<'d, T: Instance, V: VbusDetect> driver::Bus for Bus<'d, T, V> {
// peripheral will NAK all incoming packets) until we write a zero to the SIZE
// register (see figure 203 of the 52840 manual). To avoid that we write a 0 to the
// SIZE register
regs.size.epout[i].reset();
regs.size().epout(i).write(|_| ());
} else {
READY_ENDPOINTS.fetch_and(!ready_mask, Ordering::AcqRel);
}
@ -370,25 +363,24 @@ impl<'d, T: Instance, V: VbusDetect> driver::Bus for Bus<'d, T, V> {
async fn remote_wakeup(&mut self) -> Result<(), Unsupported> {
let regs = T::regs();
if regs.lowpower.read().lowpower().is_low_power() {
if regs.lowpower().read().lowpower() == vals::Lowpower::LOW_POWER {
errata::pre_wakeup();
regs.lowpower.write(|w| w.lowpower().force_normal());
regs.lowpower().write(|w| w.set_lowpower(vals::Lowpower::FORCE_NORMAL));
poll_fn(|cx| {
BUS_WAKER.register(cx.waker());
let regs = T::regs();
let r = regs.eventcause.read();
let r = regs.eventcause().read();
if regs.events_usbreset.read().bits() != 0 {
if regs.events_usbreset().read() != 0 {
Poll::Ready(())
} else if r.resume().bit() {
} else if r.resume() {
Poll::Ready(())
} else if r.usbwuallowed().bit() {
regs.eventcause.write(|w| w.usbwuallowed().allowed());
regs.dpdmvalue.write(|w| w.state().resume());
regs.tasks_dpdmdrive.write(|w| w.tasks_dpdmdrive().set_bit());
} else if r.usbwuallowed() {
regs.eventcause().write(|w| w.set_usbwuallowed(true));
regs.dpdmvalue().write(|w| w.set_state(vals::State::RESUME));
regs.tasks_dpdmdrive().write_value(1);
Poll::Ready(())
} else {
@ -413,7 +405,7 @@ pub enum In {}
trait EndpointDir {
fn waker(i: usize) -> &'static AtomicWaker;
fn mask(i: usize) -> u32;
fn is_enabled(regs: &RegisterBlock, i: usize) -> bool;
fn is_enabled(regs: pac::usbd::Usbd, i: usize) -> bool;
}
impl EndpointDir for In {
@ -428,8 +420,8 @@ impl EndpointDir for In {
}
#[inline]
fn is_enabled(regs: &RegisterBlock, i: usize) -> bool {
(regs.epinen.read().bits() & (1 << i)) != 0
fn is_enabled(regs: pac::usbd::Usbd, i: usize) -> bool {
regs.epinen().read().in_(i)
}
}
@ -445,8 +437,8 @@ impl EndpointDir for Out {
}
#[inline]
fn is_enabled(regs: &RegisterBlock, i: usize) -> bool {
(regs.epouten.read().bits() & (1 << i)) != 0
fn is_enabled(regs: pac::usbd::Usbd, i: usize) -> bool {
regs.epouten().read().out(i)
}
}
@ -529,33 +521,23 @@ unsafe fn read_dma<T: Instance>(i: usize, buf: &mut [u8]) -> Result<usize, Endpo
let regs = T::regs();
// Check that the packet fits into the buffer
let size = regs.size.epout[i].read().bits() as usize;
let size = regs.size().epout(i).read().0 as usize;
if size > buf.len() {
return Err(EndpointError::BufferOverflow);
}
let epout = [
&regs.epout0,
&regs.epout1,
&regs.epout2,
&regs.epout3,
&regs.epout4,
&regs.epout5,
&regs.epout6,
&regs.epout7,
];
epout[i].ptr.write(|w| w.bits(buf.as_ptr() as u32));
regs.epout(i).ptr().write_value(buf.as_ptr() as u32);
// MAXCNT must match SIZE
epout[i].maxcnt.write(|w| w.bits(size as u32));
regs.epout(i).maxcnt().write(|w| w.set_maxcnt(size as _));
dma_start();
regs.events_endepout[i].reset();
regs.tasks_startepout[i].write(|w| w.tasks_startepout().set_bit());
while regs.events_endepout[i].read().events_endepout().bit_is_clear() {}
regs.events_endepout[i].reset();
regs.events_endepout(i).write_value(0);
regs.tasks_startepout(i).write_value(1);
while regs.events_endepout(i).read() == 0 {}
regs.events_endepout(i).write_value(0);
dma_end();
regs.size.epout[i].reset();
regs.size().epout(i).write(|_| ());
Ok(size)
}
@ -574,27 +556,16 @@ unsafe fn write_dma<T: Instance>(i: usize, buf: &[u8]) {
buf.as_ptr()
};
let epin = [
&regs.epin0,
&regs.epin1,
&regs.epin2,
&regs.epin3,
&regs.epin4,
&regs.epin5,
&regs.epin6,
&regs.epin7,
];
// Set the buffer length so the right number of bytes are transmitted.
// Safety: `buf.len()` has been checked to be <= the max buffer length.
epin[i].ptr.write(|w| w.bits(ptr as u32));
epin[i].maxcnt.write(|w| w.maxcnt().bits(buf.len() as u8));
regs.epin(i).ptr().write_value(ptr as u32);
regs.epin(i).maxcnt().write(|w| w.set_maxcnt(buf.len() as u8));
regs.events_endepin[i].reset();
regs.events_endepin(i).write_value(0);
dma_start();
regs.tasks_startepin[i].write(|w| w.bits(1));
while regs.events_endepin[i].read().bits() == 0 {}
regs.tasks_startepin(i).write_value(1);
while regs.events_endepin(i).read() == 0 {}
dma_end();
}
@ -637,14 +608,14 @@ impl<'d, T: Instance> driver::ControlPipe for ControlPipe<'d, T> {
let regs = T::regs();
// Reset shorts
regs.shorts.write(|w| w);
regs.shorts().write(|_| ());
// Wait for SETUP packet
regs.intenset.write(|w| w.ep0setup().set());
regs.intenset().write(|w| w.set_ep0setup(true));
poll_fn(|cx| {
EP0_WAKER.register(cx.waker());
let regs = T::regs();
if regs.events_ep0setup.read().bits() != 0 {
if regs.events_ep0setup().read() != 0 {
Poll::Ready(())
} else {
Poll::Pending
@ -652,17 +623,17 @@ impl<'d, T: Instance> driver::ControlPipe for ControlPipe<'d, T> {
})
.await;
regs.events_ep0setup.reset();
regs.events_ep0setup().write_value(0);
let mut buf = [0; 8];
buf[0] = regs.bmrequesttype.read().bits() as u8;
buf[1] = regs.brequest.read().brequest().bits();
buf[2] = regs.wvaluel.read().wvaluel().bits();
buf[3] = regs.wvalueh.read().wvalueh().bits();
buf[4] = regs.windexl.read().windexl().bits();
buf[5] = regs.windexh.read().windexh().bits();
buf[6] = regs.wlengthl.read().wlengthl().bits();
buf[7] = regs.wlengthh.read().wlengthh().bits();
buf[0] = regs.bmrequesttype().read().0 as u8;
buf[1] = regs.brequest().read().0 as u8;
buf[2] = regs.wvaluel().read().0 as u8;
buf[3] = regs.wvalueh().read().0 as u8;
buf[4] = regs.windexl().read().0 as u8;
buf[5] = regs.windexh().read().0 as u8;
buf[6] = regs.wlengthl().read().0 as u8;
buf[7] = regs.wlengthh().read().0 as u8;
buf
}
@ -670,26 +641,26 @@ impl<'d, T: Instance> driver::ControlPipe for ControlPipe<'d, T> {
async fn data_out(&mut self, buf: &mut [u8], _first: bool, _last: bool) -> Result<usize, EndpointError> {
let regs = T::regs();
regs.events_ep0datadone.reset();
regs.events_ep0datadone().write_value(0);
// This starts a RX on EP0. events_ep0datadone notifies when done.
regs.tasks_ep0rcvout.write(|w| w.tasks_ep0rcvout().set_bit());
regs.tasks_ep0rcvout().write_value(1);
// Wait until ready
regs.intenset.write(|w| {
w.usbreset().set();
w.ep0setup().set();
w.ep0datadone().set()
regs.intenset().write(|w| {
w.set_usbreset(true);
w.set_ep0setup(true);
w.set_ep0datadone(true);
});
poll_fn(|cx| {
EP0_WAKER.register(cx.waker());
let regs = T::regs();
if regs.events_ep0datadone.read().bits() != 0 {
if regs.events_ep0datadone().read() != 0 {
Poll::Ready(Ok(()))
} else if regs.events_usbreset.read().bits() != 0 {
} else if regs.events_usbreset().read() != 0 {
trace!("aborted control data_out: usb reset");
Poll::Ready(Err(EndpointError::Disabled))
} else if regs.events_ep0setup.read().bits() != 0 {
} else if regs.events_ep0setup().read() != 0 {
trace!("aborted control data_out: received another SETUP");
Poll::Ready(Err(EndpointError::Disabled))
} else {
@ -703,29 +674,29 @@ impl<'d, T: Instance> driver::ControlPipe for ControlPipe<'d, T> {
async fn data_in(&mut self, buf: &[u8], _first: bool, last: bool) -> Result<(), EndpointError> {
let regs = T::regs();
regs.events_ep0datadone.reset();
regs.events_ep0datadone().write_value(0);
regs.shorts.write(|w| w.ep0datadone_ep0status().bit(last));
regs.shorts().write(|w| w.set_ep0datadone_ep0status(last));
// This starts a TX on EP0. events_ep0datadone notifies when done.
unsafe { write_dma::<T>(0, buf) }
regs.intenset.write(|w| {
w.usbreset().set();
w.ep0setup().set();
w.ep0datadone().set()
regs.intenset().write(|w| {
w.set_usbreset(true);
w.set_ep0setup(true);
w.set_ep0datadone(true);
});
poll_fn(|cx| {
cx.waker().wake_by_ref();
EP0_WAKER.register(cx.waker());
let regs = T::regs();
if regs.events_ep0datadone.read().bits() != 0 {
if regs.events_ep0datadone().read() != 0 {
Poll::Ready(Ok(()))
} else if regs.events_usbreset.read().bits() != 0 {
} else if regs.events_usbreset().read() != 0 {
trace!("aborted control data_in: usb reset");
Poll::Ready(Err(EndpointError::Disabled))
} else if regs.events_ep0setup.read().bits() != 0 {
} else if regs.events_ep0setup().read() != 0 {
trace!("aborted control data_in: received another SETUP");
Poll::Ready(Err(EndpointError::Disabled))
} else {
@ -737,12 +708,12 @@ impl<'d, T: Instance> driver::ControlPipe for ControlPipe<'d, T> {
async fn accept(&mut self) {
let regs = T::regs();
regs.tasks_ep0status.write(|w| w.tasks_ep0status().bit(true));
regs.tasks_ep0status().write_value(1);
}
async fn reject(&mut self) {
let regs = T::regs();
regs.tasks_ep0stall.write(|w| w.tasks_ep0stall().bit(true));
regs.tasks_ep0stall().write_value(1);
}
async fn accept_set_address(&mut self, _addr: u8) {
@ -806,7 +777,7 @@ impl Allocator {
}
pub(crate) trait SealedInstance {
fn regs() -> &'static pac::usbd::RegisterBlock;
fn regs() -> pac::usbd::Usbd;
}
/// USB peripheral instance.
@ -819,8 +790,8 @@ pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static + Send {
macro_rules! impl_usb {
($type:ident, $pac_type:ident, $irq:ident) => {
impl crate::usb::SealedInstance for peripherals::$type {
fn regs() -> &'static pac::usbd::RegisterBlock {
unsafe { &*pac::$pac_type::ptr() }
fn regs() -> pac::usbd::Usbd {
pac::$pac_type
}
}
impl crate::usb::Instance for peripherals::$type {

35
embassy-nrf/src/usb/vbus_detect.rs
View File

@ -34,9 +34,9 @@ type UsbRegIrq = interrupt::typelevel::POWER_CLOCK;
type UsbRegIrq = interrupt::typelevel::USBREGULATOR;
#[cfg(not(feature = "_nrf5340"))]
type UsbRegPeri = pac::POWER;
const USB_REG_PERI: pac::power::Power = pac::POWER;
#[cfg(feature = "_nrf5340")]
type UsbRegPeri = pac::USBREGULATOR;
const USB_REG_PERI: pac::usbregulator::Usbregulator = pac::USBREGULATOR;
/// Interrupt handler.
pub struct InterruptHandler {
@ -45,21 +45,21 @@ pub struct InterruptHandler {
impl interrupt::typelevel::Handler<UsbRegIrq> for InterruptHandler {
unsafe fn on_interrupt() {
let regs = unsafe { &*UsbRegPeri::ptr() };
let regs = USB_REG_PERI;
if regs.events_usbdetected.read().bits() != 0 {
regs.events_usbdetected.reset();
if regs.events_usbdetected().read() != 0 {
regs.events_usbdetected().write_value(0);
BUS_WAKER.wake();
}
if regs.events_usbremoved.read().bits() != 0 {
regs.events_usbremoved.reset();
if regs.events_usbremoved().read() != 0 {
regs.events_usbremoved().write_value(0);
BUS_WAKER.wake();
POWER_WAKER.wake();
}
if regs.events_usbpwrrdy.read().bits() != 0 {
regs.events_usbpwrrdy.reset();
if regs.events_usbpwrrdy().read() != 0 {
regs.events_usbpwrrdy().write_value(0);
POWER_WAKER.wake();
}
}
@ -78,13 +78,16 @@ static POWER_WAKER: AtomicWaker = AtomicWaker::new();
impl HardwareVbusDetect {
/// Create a new `VbusDetectNative`.
pub fn new(_irq: impl interrupt::typelevel::Binding<UsbRegIrq, InterruptHandler> + 'static) -> Self {
let regs = unsafe { &*UsbRegPeri::ptr() };
let regs = USB_REG_PERI;
UsbRegIrq::unpend();
unsafe { UsbRegIrq::enable() };
regs.intenset
.write(|w| w.usbdetected().set().usbremoved().set().usbpwrrdy().set());
regs.intenset().write(|w| {
w.set_usbdetected(true);
w.set_usbremoved(true);
w.set_usbpwrrdy(true);
});
Self { _private: () }
}
@ -92,16 +95,16 @@ impl HardwareVbusDetect {
impl VbusDetect for HardwareVbusDetect {
fn is_usb_detected(&self) -> bool {
let regs = unsafe { &*UsbRegPeri::ptr() };
regs.usbregstatus.read().vbusdetect().is_vbus_present()
let regs = USB_REG_PERI;
regs.usbregstatus().read().vbusdetect()
}
async fn wait_power_ready(&mut self) -> Result<(), ()> {
poll_fn(move |cx| {
POWER_WAKER.register(cx.waker());
let regs = unsafe { &*UsbRegPeri::ptr() };
let regs = USB_REG_PERI;
if regs.usbregstatus.read().outputrdy().is_ready() {
if regs.usbregstatus().read().outputrdy() {
Poll::Ready(Ok(()))
} else if !self.is_usb_detected() {
Poll::Ready(Err(()))

80
embassy-nrf/src/wdt.rs
View File

@ -3,7 +3,8 @@
//! This HAL implements a basic watchdog timer with 1..=8 handles.
//! Once the watchdog has been started, it cannot be stopped.
use crate::pac::WDT;
use crate::pac::wdt::vals;
pub use crate::pac::wdt::vals::{Halt as HaltConfig, Sleep as SleepConfig};
use crate::peripherals;
const MIN_TICKS: u32 = 15;
@ -18,29 +19,29 @@ pub struct Config {
pub timeout_ticks: u32,
/// Should the watchdog continue to count during sleep modes?
pub run_during_sleep: bool,
pub action_during_sleep: SleepConfig,
/// Should the watchdog continue to count when the CPU is halted for debug?
pub run_during_debug_halt: bool,
pub action_during_debug_halt: HaltConfig,
}
impl Config {
/// Create a config structure from the current configuration of the WDT
/// peripheral.
pub fn try_new(_wdt: &peripherals::WDT) -> Option<Self> {
let r = unsafe { &*WDT::ptr() };
let r = crate::pac::WDT;
#[cfg(not(feature = "_nrf91"))]
let runstatus = r.runstatus.read().runstatus().bit();
let runstatus = r.runstatus().read().runstatus();
#[cfg(feature = "_nrf91")]
let runstatus = r.runstatus.read().runstatuswdt().bit();
let runstatus = r.runstatus().read().runstatuswdt();
if runstatus {
let config = r.config.read();
let config = r.config().read();
Some(Self {
timeout_ticks: r.crv.read().bits(),
run_during_sleep: config.sleep().bit(),
run_during_debug_halt: config.halt().bit(),
timeout_ticks: r.crv().read(),
action_during_sleep: config.sleep(),
action_during_debug_halt: config.halt(),
})
} else {
None
@ -52,8 +53,8 @@ impl Default for Config {
fn default() -> Self {
Self {
timeout_ticks: 32768, // 1 second
run_during_debug_halt: true,
run_during_sleep: true,
action_during_debug_halt: HaltConfig::RUN,
action_during_sleep: SleepConfig::RUN,
}
}
}
@ -78,36 +79,35 @@ impl Watchdog {
) -> Result<(Self, [WatchdogHandle; N]), peripherals::WDT> {
assert!(N >= 1 && N <= 8);
let r = unsafe { &*WDT::ptr() };
let r = crate::pac::WDT;
let crv = config.timeout_ticks.max(MIN_TICKS);
let rren = (1u32 << N) - 1;
let rren = crate::pac::wdt::regs::Rren((1u32 << N) - 1);
#[cfg(not(feature = "_nrf91"))]
let runstatus = r.runstatus.read().runstatus().bit();
let runstatus = r.runstatus().read().runstatus();
#[cfg(feature = "_nrf91")]
let runstatus = r.runstatus.read().runstatuswdt().bit();
let runstatus = r.runstatus().read().runstatuswdt();
if runstatus {
let curr_config = r.config.read();
if curr_config.halt().bit() != config.run_during_debug_halt
|| curr_config.sleep().bit() != config.run_during_sleep
|| r.crv.read().bits() != crv
|| r.rren.read().bits() != rren
let curr_config = r.config().read();
if curr_config.halt() != config.action_during_debug_halt
|| curr_config.sleep() != config.action_during_sleep
|| r.crv().read() != crv
|| r.rren().read() != rren
{
return Err(wdt);
}
} else {
r.config.write(|w| {
w.sleep().bit(config.run_during_sleep);
w.halt().bit(config.run_during_debug_halt);
w
r.config().write(|w| {
w.set_sleep(config.action_during_sleep);
w.set_halt(config.action_during_debug_halt);
});
r.intenset.write(|w| w.timeout().set_bit());
r.intenset().write(|w| w.set_timeout(true));
r.crv.write(|w| unsafe { w.bits(crv) });
r.rren.write(|w| unsafe { w.bits(rren) });
r.tasks_start.write(|w| unsafe { w.bits(1) });
r.crv().write_value(crv);
r.rren().write_value(rren);
r.tasks_start().write_value(1);
}
let this = Self { _private: () };
@ -130,8 +130,7 @@ impl Watchdog {
/// interrupt has been enabled.
#[inline(always)]
pub fn enable_interrupt(&mut self) {
let r = unsafe { &*WDT::ptr() };
r.intenset.write(|w| w.timeout().set_bit());
crate::pac::WDT.intenset().write(|w| w.set_timeout(true));
}
/// Disable the watchdog interrupt.
@ -139,8 +138,7 @@ impl Watchdog {
/// NOTE: This has no effect on the reset caused by the Watchdog.
#[inline(always)]
pub fn disable_interrupt(&mut self) {
let r = unsafe { &*WDT::ptr() };
r.intenclr.write(|w| w.timeout().set_bit());
crate::pac::WDT.intenclr().write(|w| w.set_timeout(true));
}
/// Is the watchdog still awaiting pets from any handle?
@ -149,9 +147,9 @@ impl Watchdog {
/// handles to prevent a reset this time period.
#[inline(always)]
pub fn awaiting_pets(&self) -> bool {
let r = unsafe { &*WDT::ptr() };
let enabled = r.rren.read().bits();
let status = r.reqstatus.read().bits();
let r = crate::pac::WDT;
let enabled = r.rren().read().0;
let status = r.reqstatus().read().0;
(status & enabled) == 0
}
}
@ -170,16 +168,14 @@ impl WatchdogHandle {
/// prevent a reset from occurring.
#[inline]
pub fn pet(&mut self) {
let r = unsafe { &*WDT::ptr() };
r.rr[self.index as usize].write(|w| w.rr().reload());
let r = crate::pac::WDT;
r.rr(self.index as usize).write(|w| w.set_rr(vals::Rr::RELOAD));
}
/// Has this handle been pet within the current window?
pub fn is_pet(&self) -> bool {
let r = unsafe { &*WDT::ptr() };
let rd = r.reqstatus.read().bits();
let idx = self.index as usize;
((rd >> idx) & 0x1) == 0
let r = crate::pac::WDT;
!r.reqstatus().read().rr(self.index as usize)
}
/// Steal a watchdog handle by index.

12
embassy-rp/src/pio/mod.rs
View File

@ -1054,9 +1054,17 @@ impl<'d, PIO: Instance> Common<'d, PIO> {
pub fn make_pio_pin(&mut self, pin: impl Peripheral<P = impl PioPin + 'd> + 'd) -> Pin<'d, PIO> {
into_ref!(pin);
pin.gpio().ctrl().write(|w| w.set_funcsel(PIO::FUNCSEL as _));
#[cfg(feature = "_rp235x")]
pin.pad_ctrl().modify(|w| {
pin.pad_ctrl().write(|w| {
#[cfg(feature = "_rp235x")]
w.set_iso(false);
w.set_schmitt(true);
w.set_slewfast(false);
// TODO rp235x errata E9 recommends to not enable IE if we're not
// going to use input. Maybe add an API for the user to enable/disable this?
w.set_ie(true);
w.set_od(false);
w.set_pue(false);
w.set_pde(false);
});
// we can be relaxed about this because we're &mut here and nothing is cached
PIO::state().used_pins.fetch_or(1 << pin.pin_bank(), Ordering::Relaxed);

28
embassy-rp/src/uart/mod.rs
View File

@ -1248,6 +1248,20 @@ impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Write for UartTx<'d, T,
}
}
impl<'d, T: Instance> embedded_io::ErrorType for UartTx<'d, T, Blocking> {
type Error = Error;
}
impl<'d, T: Instance> embedded_io::Write for UartTx<'d, T, Blocking> {
fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
self.blocking_write(buf).map(|_| buf.len())
}
fn flush(&mut self) -> Result<(), Self::Error> {
self.blocking_flush()
}
}
impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Read for Uart<'d, T, M> {
fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
embedded_hal_02::serial::Read::read(&mut self.rx)
@ -1264,6 +1278,20 @@ impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Write for Uart<'d, T, M>
}
}
impl<'d, T: Instance> embedded_io::ErrorType for Uart<'d, T, Blocking> {
type Error = Error;
}
impl<'d, T: Instance> embedded_io::Write for Uart<'d, T, Blocking> {
fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
self.blocking_write(buf).map(|_| buf.len())
}
fn flush(&mut self) -> Result<(), Self::Error> {
self.blocking_flush()
}
}
trait SealedMode {}
trait SealedInstance {

4
embassy-stm32/src/dma/ringbuffer/mod.rs
View File

@ -21,6 +21,10 @@ pub trait DmaCtrl {
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Error {
Overrun,
/// the newly read DMA positions don't make sense compared to the previous
/// ones. This can usually only occur due to wrong Driver implementation, if
/// the driver author (or the user using raw metapac code) directly resets
/// the channel for instance.
DmaUnsynced,
}

3
embassy-stm32/src/eth/v2/mod.rs
View File

@ -192,6 +192,9 @@ impl<'d, T: Instance, P: PHY> Ethernet<'d, T, P> {
// TODO: Carrier sense ? ECRSFD
});
// Disable multicast filter
mac.macpfr().modify(|w| w.set_pm(true));
// Note: Writing to LR triggers synchronisation of both LR and HR into the MAC core,
// so the LR write must happen after the HR write.
mac.maca0hr()

6
embassy-stm32/src/low_power.rs
View File

@ -112,10 +112,10 @@ pub enum StopMode {
Stop2,
}
#[cfg(any(stm32l4, stm32l5))]
#[cfg(any(stm32l4, stm32l5, stm32u5))]
use stm32_metapac::pwr::vals::Lpms;
#[cfg(any(stm32l4, stm32l5))]
#[cfg(any(stm32l4, stm32l5, stm32u5))]
impl Into<Lpms> for StopMode {
fn into(self) -> Lpms {
match self {
@ -184,7 +184,7 @@ impl Executor {
#[allow(unused_variables)]
fn configure_stop(&mut self, stop_mode: StopMode) {
#[cfg(any(stm32l4, stm32l5))]
#[cfg(any(stm32l4, stm32l5, stm32u5))]
crate::pac::PWR.cr1().modify(|m| m.set_lpms(stop_mode.into()));
#[cfg(stm32h5)]
crate::pac::PWR.pmcr().modify(|v| {

3
embassy-stm32/src/ltdc.rs
View File

@ -395,7 +395,10 @@ impl<'d, T: Instance> Ltdc<'d, T> {
// framebuffer pitch and line length
layer.cfblr().modify(|w| {
w.set_cfbp(width * bytes_per_pixel);
#[cfg(not(stm32u5))]
w.set_cfbll(width * bytes_per_pixel + 7);
#[cfg(stm32u5)]
w.set_cfbll(width * bytes_per_pixel + 3);
});
// framebuffer line number

47
embassy-stm32/src/qspi/mod.rs
View File

@ -202,6 +202,21 @@ impl<'d, T: Instance, M: PeriMode> Qspi<'d, T, M> {
}
fn setup_transaction(&mut self, fmode: QspiMode, transaction: &TransferConfig, data_len: Option<usize>) {
match (transaction.address, transaction.awidth) {
(Some(_), QspiWidth::NONE) => panic!("QSPI address can't be sent with an address width of NONE"),
(Some(_), _) => {}
(None, QspiWidth::NONE) => {}
(None, _) => panic!("QSPI address is not set, so the address width should be NONE"),
}
match (data_len, transaction.dwidth) {
(Some(0), _) => panic!("QSPI data must be at least one byte"),
(Some(_), QspiWidth::NONE) => panic!("QSPI data can't be sent with a data width of NONE"),
(Some(_), _) => {}
(None, QspiWidth::NONE) => {}
(None, _) => panic!("QSPI data is empty, so the data width should be NONE"),
}
T::REGS.fcr().modify(|v| {
v.set_csmf(true);
v.set_ctcf(true);
@ -353,6 +368,21 @@ impl<'d, T: Instance> Qspi<'d, T, Async> {
/// Blocking read data, using DMA.
pub fn blocking_read_dma(&mut self, buf: &mut [u8], transaction: TransferConfig) {
let transfer = self.start_read_transfer(transaction, buf);
transfer.blocking_wait();
}
/// Async read data, using DMA.
pub async fn read_dma(&mut self, buf: &mut [u8], transaction: TransferConfig) {
let transfer = self.start_read_transfer(transaction, buf);
transfer.await;
}
fn start_read_transfer<'a>(
&'a mut self,
transaction: TransferConfig,
buf: &'a mut [u8],
) -> crate::dma::Transfer<'a> {
self.setup_transaction(QspiMode::IndirectWrite, &transaction, Some(buf.len()));
T::REGS.ccr().modify(|v| {
@ -373,12 +403,22 @@ impl<'d, T: Instance> Qspi<'d, T, Async> {
// STM32H7 does not have dmaen
#[cfg(not(stm32h7))]
T::REGS.cr().modify(|v| v.set_dmaen(true));
transfer.blocking_wait();
transfer
}
/// Blocking write data, using DMA.
pub fn blocking_write_dma(&mut self, buf: &[u8], transaction: TransferConfig) {
let transfer = self.start_write_transfer(transaction, buf);
transfer.blocking_wait();
}
/// Async write data, using DMA.
pub async fn write_dma(&mut self, buf: &[u8], transaction: TransferConfig) {
let transfer = self.start_write_transfer(transaction, buf);
transfer.await;
}
fn start_write_transfer<'a>(&'a mut self, transaction: TransferConfig, buf: &'a [u8]) -> crate::dma::Transfer<'a> {
self.setup_transaction(QspiMode::IndirectWrite, &transaction, Some(buf.len()));
T::REGS.ccr().modify(|v| {
@ -395,8 +435,7 @@ impl<'d, T: Instance> Qspi<'d, T, Async> {
// STM32H7 does not have dmaen
#[cfg(not(stm32h7))]
T::REGS.cr().modify(|v| v.set_dmaen(true));
transfer.blocking_wait();
transfer
}
}

19
embassy-stm32/src/rtc/low_power.rs
View File

@ -65,7 +65,7 @@ pub(crate) enum WakeupPrescaler {
Div16 = 16,
}
#[cfg(any(stm32f4, stm32l0, stm32g4, stm32l4, stm32l5, stm32wb, stm32h5, stm32g0))]
#[cfg(any(stm32f4, stm32l0, stm32g4, stm32l4, stm32l5, stm32wb, stm32h5, stm32g0, stm32u5))]
impl From<WakeupPrescaler> for crate::pac::rtc::vals::Wucksel {
fn from(val: WakeupPrescaler) -> Self {
use crate::pac::rtc::vals::Wucksel;
@ -79,7 +79,7 @@ impl From<WakeupPrescaler> for crate::pac::rtc::vals::Wucksel {
}
}
#[cfg(any(stm32f4, stm32l0, stm32g4, stm32l4, stm32l5, stm32wb, stm32h5, stm32g0))]
#[cfg(any(stm32f4, stm32l0, stm32g4, stm32l4, stm32l5, stm32wb, stm32h5, stm32g0, stm32u5))]
impl From<crate::pac::rtc::vals::Wucksel> for WakeupPrescaler {
fn from(val: crate::pac::rtc::vals::Wucksel) -> Self {
use crate::pac::rtc::vals::Wucksel;
@ -219,12 +219,21 @@ impl Rtc {
pub(crate) fn enable_wakeup_line(&self) {
use crate::interrupt::typelevel::Interrupt;
use crate::pac::EXTI;
<RTC as crate::rtc::SealedInstance>::WakeupInterrupt::unpend();
unsafe { <RTC as crate::rtc::SealedInstance>::WakeupInterrupt::enable() };
EXTI.rtsr(0).modify(|w| w.set_line(RTC::EXTI_WAKEUP_LINE, true));
EXTI.imr(0).modify(|w| w.set_line(RTC::EXTI_WAKEUP_LINE, true));
#[cfg(not(stm32u5))]
{
use crate::pac::EXTI;
EXTI.rtsr(0).modify(|w| w.set_line(RTC::EXTI_WAKEUP_LINE, true));
EXTI.imr(0).modify(|w| w.set_line(RTC::EXTI_WAKEUP_LINE, true));
}
#[cfg(stm32u5)]
{
use crate::pac::RCC;
RCC.srdamr().modify(|w| w.set_rtcapbamen(true));
RCC.apb3smenr().modify(|w| w.set_rtcapbsmen(true));
}
}
}

1
embassy-stm32/src/rtc/mod.rs
View File

@ -285,6 +285,7 @@ trait SealedInstance {
const BACKUP_REGISTER_COUNT: usize;
#[cfg(feature = "low-power")]
#[cfg(not(stm32u5))]
const EXTI_WAKEUP_LINE: usize;
#[cfg(feature = "low-power")]

2
embassy-stm32/src/rtc/v3.rs
View File

@ -140,6 +140,8 @@ impl SealedInstance for crate::peripherals::RTC {
} else if #[cfg(any(stm32l5, stm32h5))] {
const EXTI_WAKEUP_LINE: usize = 17;
type WakeupInterrupt = crate::interrupt::typelevel::RTC;
} else if #[cfg(stm32u5)] {
type WakeupInterrupt = crate::interrupt::typelevel::RTC;
}
);

18
embassy-stm32/src/usart/ringbuffered.rs
View File

@ -5,6 +5,7 @@ use core::task::Poll;
use embassy_embedded_hal::SetConfig;
use embassy_hal_internal::PeripheralRef;
use embedded_io_async::ReadReady;
use futures_util::future::{select, Either};
use super::{clear_interrupt_flags, rdr, reconfigure, sr, Config, ConfigError, Error, Info, State, UartRx};
@ -262,3 +263,20 @@ impl embedded_io_async::Read for RingBufferedUartRx<'_> {
self.read(buf).await
}
}
impl ReadReady for RingBufferedUartRx<'_> {
fn read_ready(&mut self) -> Result<bool, Self::Error> {
let len = self.ring_buf.len().map_err(|e| match e {
crate::dma::ringbuffer::Error::Overrun => Self::Error::Overrun,
crate::dma::ringbuffer::Error::DmaUnsynced => {
error!(
"Ringbuffer error: DmaUNsynced, driver implementation is
probably bugged please open an issue"
);
// we report this as overrun since its recoverable in the same way
Self::Error::Overrun
}
})?;
Ok(len > 0)
}
}

8
embassy-time-driver/src/lib.rs
View File

@ -109,12 +109,20 @@ pub trait Driver: Send + Sync + 'static {
/// Try allocating an alarm handle. Returns None if no alarms left.
/// Initially the alarm has no callback set, and a null `ctx` pointer.
///
/// The allocated alarm is a reusable resource and can be used multiple times.
/// Once the alarm has fired, it remains allocated and can be set again without needing
/// to be reallocated.
///
/// # Safety
/// It is UB to make the alarm fire before setting a callback.
unsafe fn allocate_alarm(&self) -> Option<AlarmHandle>;
/// Set the callback function to be called when the alarm triggers.
/// The callback may be called from any context (interrupt or thread mode).
///
/// The callback is maintained after the alarm has fired. Callers do not need
/// to set a callback again before setting another alarm, unless they want to
/// change the callback function or context.
fn set_alarm_callback(&self, alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ());
/// Set an alarm at the given timestamp.

92
embassy-usb-logger/src/lib.rs
View File

@ -3,6 +3,7 @@
#![warn(missing_docs)]
use core::fmt::Write as _;
use core::future::Future;
use embassy_futures::join::join;
use embassy_sync::pipe::Pipe;
@ -13,6 +14,25 @@ use log::{Metadata, Record};
type CS = embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
/// A trait that can be implemented and then passed to the
pub trait ReceiverHandler {
/// Data comes in from the serial port with each command and runs this function
fn handle_data(&self, data: &[u8]) -> impl Future<Output = ()> + Send;
/// Create a new instance of the Handler
fn new() -> Self;
}
/// Use this Handler if you don't wish to use any handler
pub struct DummyHandler;
impl ReceiverHandler for DummyHandler {
async fn handle_data(&self, _data: &[u8]) {}
fn new() -> Self {
Self {}
}
}
/// The logger state containing buffers that must live as long as the USB peripheral.
pub struct LoggerState<'d> {
state: State<'d>,
@ -39,17 +59,19 @@ impl<'d> LoggerState<'d> {
pub const MAX_PACKET_SIZE: u8 = 64;
/// The logger handle, which contains a pipe with configurable size for buffering log messages.
pub struct UsbLogger<const N: usize> {
pub struct UsbLogger<const N: usize, T: ReceiverHandler + Send + Sync> {
buffer: Pipe<CS, N>,
custom_style: Option<fn(&Record, &mut Writer<'_, N>) -> ()>,
recieve_handler: Option<T>,
}
impl<const N: usize> UsbLogger<N> {
impl<const N: usize, T: ReceiverHandler + Send + Sync> UsbLogger<N, T> {
/// Create a new logger instance.
pub const fn new() -> Self {
Self {
buffer: Pipe::new(),
custom_style: None,
recieve_handler: None,
}
}
@ -58,9 +80,15 @@ impl<const N: usize> UsbLogger<N> {
Self {
buffer: Pipe::new(),
custom_style: Some(custom_style),
recieve_handler: None,
}
}
/// Add a command handler to the logger
pub fn with_handler(&mut self, handler: T) {
self.recieve_handler = Some(handler);
}
/// Run the USB logger using the state and USB driver. Never returns.
pub async fn run<'d, D>(&'d self, state: &'d mut LoggerState<'d>, driver: D) -> !
where
@ -118,15 +146,22 @@ impl<const N: usize> UsbLogger<N> {
}
}
};
let discard_fut = async {
let mut discard_buf: [u8; MAX_PACKET_SIZE as usize] = [0; MAX_PACKET_SIZE as usize];
let reciever_fut = async {
let mut reciever_buf: [u8; MAX_PACKET_SIZE as usize] = [0; MAX_PACKET_SIZE as usize];
receiver.wait_connection().await;
loop {
let _ = receiver.read_packet(&mut discard_buf).await;
let n = receiver.read_packet(&mut reciever_buf).await.unwrap();
match &self.recieve_handler {
Some(handler) => {
let data = &reciever_buf[..n];
handler.handle_data(data).await;
}
None => (),
}
}
};
join(log_fut, discard_fut).await;
join(log_fut, reciever_fut).await;
}
/// Creates the futures needed for the logger from a given class
@ -142,7 +177,7 @@ impl<const N: usize> UsbLogger<N> {
}
}
impl<const N: usize> log::Log for UsbLogger<N> {
impl<const N: usize, T: ReceiverHandler + Send + Sync> log::Log for UsbLogger<N, T> {
fn enabled(&self, _metadata: &Metadata) -> bool {
true
}
@ -182,7 +217,7 @@ impl<'d, const N: usize> core::fmt::Write for Writer<'d, N> {
/// Initialize and run the USB serial logger, never returns.
///
/// Arguments specify the buffer size, log level and the USB driver, respectively.
/// Arguments specify the buffer size, log level and the USB driver, respectively. You can optionally add a RecieverHandler.
///
/// # Usage
///
@ -196,17 +231,27 @@ impl<'d, const N: usize> core::fmt::Write for Writer<'d, N> {
#[macro_export]
macro_rules! run {
( $x:expr, $l:expr, $p:ident ) => {
static LOGGER: ::embassy_usb_logger::UsbLogger<$x> = ::embassy_usb_logger::UsbLogger::new();
static LOGGER: ::embassy_usb_logger::UsbLogger<$x, ::embassy_usb_logger::DummyHandler> =
::embassy_usb_logger::UsbLogger::new();
unsafe {
let _ = ::log::set_logger_racy(&LOGGER).map(|()| log::set_max_level_racy($l));
}
let _ = LOGGER.run(&mut ::embassy_usb_logger::LoggerState::new(), $p).await;
};
( $x:expr, $l:expr, $p:ident, $h:ty ) => {
unsafe {
static mut LOGGER: ::embassy_usb_logger::UsbLogger<$x, $h> = ::embassy_usb_logger::UsbLogger::new();
LOGGER.with_handler(<$h>::new());
let _ = ::log::set_logger_racy(&LOGGER).map(|()| log::set_max_level_racy($l));
let _ = LOGGER.run(&mut ::embassy_usb_logger::LoggerState::new(), $p).await;
}
};
}
/// Initialize the USB serial logger from a serial class and return the future to run it.
///
/// Arguments specify the buffer size, log level and the serial class, respectively.
/// Arguments specify the buffer size, log level and the serial class, respectively. You can optionally add a RecieverHandler.
///
/// # Usage
///
@ -220,19 +265,29 @@ macro_rules! run {
#[macro_export]
macro_rules! with_class {
( $x:expr, $l:expr, $p:ident ) => {{
static LOGGER: ::embassy_usb_logger::UsbLogger<$x> = ::embassy_usb_logger::UsbLogger::new();
static LOGGER: ::embassy_usb_logger::UsbLogger<$x, ::embassy_usb_logger::DummyHandler> =
::embassy_usb_logger::UsbLogger::new();
unsafe {
let _ = ::log::set_logger_racy(&LOGGER).map(|()| log::set_max_level_racy($l));
}
LOGGER.create_future_from_class($p)
}};
( $x:expr, $l:expr, $p:ident, $h:ty ) => {{
unsafe {
static mut LOGGER: ::embassy_usb_logger::UsbLogger<$x, $h> = ::embassy_usb_logger::UsbLogger::new();
LOGGER.with_handler(<$h>::new());
let _ = ::log::set_logger_racy(&LOGGER).map(|()| log::set_max_level_racy($l));
LOGGER.create_future_from_class($p)
}
}};
}
/// Initialize the USB serial logger from a serial class and return the future to run it.
/// This version of the macro allows for a custom style function to be passed in.
/// The custom style function will be called for each log record and is responsible for writing the log message to the buffer.
///
/// Arguments specify the buffer size, log level, the serial class and the custom style function, respectively.
/// Arguments specify the buffer size, log level, the serial class and the custom style function, respectively. You can optionally add a RecieverHandler.
///
/// # Usage
///
@ -250,10 +305,21 @@ macro_rules! with_class {
#[macro_export]
macro_rules! with_custom_style {
( $x:expr, $l:expr, $p:ident, $s:expr ) => {{
static LOGGER: ::embassy_usb_logger::UsbLogger<$x> = ::embassy_usb_logger::UsbLogger::with_custom_style($s);
static LOGGER: ::embassy_usb_logger::UsbLogger<$x, ::embassy_usb_logger::DummyHandler> =
::embassy_usb_logger::UsbLogger::with_custom_style($s);
unsafe {
let _ = ::log::set_logger_racy(&LOGGER).map(|()| log::set_max_level_racy($l));
}
LOGGER.create_future_from_class($p)
}};
( $x:expr, $l:expr, $p:ident, $s:expr, $h:ty ) => {{
unsafe {
static mut LOGGER: ::embassy_usb_logger::UsbLogger<$x, $h> =
::embassy_usb_logger::UsbLogger::with_custom_style($s);
LOGGER.with_handler(<$h>::new());
let _ = ::log::set_logger_racy(&LOGGER).map(|()| log::set_max_level_racy($l));
LOGGER.create_future_from_class($p)
}
}};
}

6
examples/boot/bootloader/nrf/src/main.rs
View File

@ -8,7 +8,7 @@ use cortex_m_rt::{entry, exception};
use defmt_rtt as _;
use embassy_boot_nrf::*;
use embassy_nrf::nvmc::Nvmc;
use embassy_nrf::wdt;
use embassy_nrf::wdt::{self, HaltConfig, SleepConfig};
use embassy_sync::blocking_mutex::Mutex;
#[entry]
@ -25,8 +25,8 @@ fn main() -> ! {
let mut wdt_config = wdt::Config::default();
wdt_config.timeout_ticks = 32768 * 5; // timeout seconds
wdt_config.run_during_sleep = true;
wdt_config.run_during_debug_halt = false;
wdt_config.action_during_sleep = SleepConfig::RUN;
wdt_config.action_during_debug_halt = HaltConfig::PAUSE;
let flash = WatchdogFlash::start(Nvmc::new(p.NVMC), p.WDT, wdt_config);
let flash = Mutex::new(RefCell::new(flash));

7
examples/nrf52840/src/bin/usb_ethernet.rs
View File

@ -1,8 +1,6 @@
#![no_std]
#![no_main]
use core::mem;
use defmt::*;
use embassy_executor::Spawner;
use embassy_net::tcp::TcpSocket;
@ -46,11 +44,10 @@ async fn net_task(mut runner: embassy_net::Runner<'static, Device<'static, MTU>>
#[embassy_executor::main]
async fn main(spawner: Spawner) {
let p = embassy_nrf::init(Default::default());
let clock: pac::CLOCK = unsafe { mem::transmute(()) };
info!("Enabling ext hfosc...");
clock.tasks_hfclkstart.write(|w| unsafe { w.bits(1) });
while clock.events_hfclkstarted.read().bits() != 1 {}
pac::CLOCK.tasks_hfclkstart().write_value(1);
while pac::CLOCK.events_hfclkstarted().read() != 1 {}
// Create the driver, from the HAL.
let driver = Driver::new(p.USBD, Irqs, HardwareVbusDetect::new(Irqs));

6
examples/nrf52840/src/bin/usb_hid_keyboard.rs
View File

@ -1,7 +1,6 @@
#![no_std]
#![no_main]
use core::mem;
use core::sync::atomic::{AtomicBool, Ordering};
use defmt::*;
@ -30,11 +29,10 @@ static SUSPENDED: AtomicBool = AtomicBool::new(false);
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
let p = embassy_nrf::init(Default::default());
let clock: pac::CLOCK = unsafe { mem::transmute(()) };
info!("Enabling ext hfosc...");
clock.tasks_hfclkstart.write(|w| unsafe { w.bits(1) });
while clock.events_hfclkstarted.read().bits() != 1 {}
pac::CLOCK.tasks_hfclkstart().write_value(1);
while pac::CLOCK.events_hfclkstarted().read() != 1 {}
// Create the driver, from the HAL.
let driver = Driver::new(p.USBD, Irqs, HardwareVbusDetect::new(Irqs));

7
examples/nrf52840/src/bin/usb_hid_mouse.rs
View File

@ -1,8 +1,6 @@
#![no_std]
#![no_main]
use core::mem;
use defmt::*;
use embassy_executor::Spawner;
use embassy_futures::join::join;
@ -24,11 +22,10 @@ bind_interrupts!(struct Irqs {
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
let p = embassy_nrf::init(Default::default());
let clock: pac::CLOCK = unsafe { mem::transmute(()) };
info!("Enabling ext hfosc...");
clock.tasks_hfclkstart.write(|w| unsafe { w.bits(1) });
while clock.events_hfclkstarted.read().bits() != 1 {}
pac::CLOCK.tasks_hfclkstart().write_value(1);
while pac::CLOCK.events_hfclkstarted().read() != 1 {}
// Create the driver, from the HAL.
let driver = Driver::new(p.USBD, Irqs, HardwareVbusDetect::new(Irqs));

7
examples/nrf52840/src/bin/usb_serial.rs
View File

@ -1,8 +1,6 @@
#![no_std]
#![no_main]
use core::mem;
use defmt::{info, panic};
use embassy_executor::Spawner;
use embassy_futures::join::join;
@ -22,11 +20,10 @@ bind_interrupts!(struct Irqs {
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
let p = embassy_nrf::init(Default::default());
let clock: pac::CLOCK = unsafe { mem::transmute(()) };
info!("Enabling ext hfosc...");
clock.tasks_hfclkstart.write(|w| unsafe { w.bits(1) });
while clock.events_hfclkstarted.read().bits() != 1 {}
pac::CLOCK.tasks_hfclkstart().write_value(1);
while pac::CLOCK.events_hfclkstarted().read() != 1 {}
// Create the driver, from the HAL.
let driver = Driver::new(p.USBD, Irqs, HardwareVbusDetect::new(Irqs));

7
examples/nrf52840/src/bin/usb_serial_multitask.rs
View File

@ -1,8 +1,6 @@
#![no_std]
#![no_main]
use core::mem;
use defmt::{info, panic, unwrap};
use embassy_executor::Spawner;
use embassy_nrf::usb::vbus_detect::HardwareVbusDetect;
@ -39,11 +37,10 @@ async fn echo_task(mut class: CdcAcmClass<'static, MyDriver>) {
#[embassy_executor::main]
async fn main(spawner: Spawner) {
let p = embassy_nrf::init(Default::default());
let clock: pac::CLOCK = unsafe { mem::transmute(()) };
info!("Enabling ext hfosc...");
clock.tasks_hfclkstart.write(|w| unsafe { w.bits(1) });
while clock.events_hfclkstarted.read().bits() != 1 {}
pac::CLOCK.tasks_hfclkstart().write_value(1);
while pac::CLOCK.events_hfclkstarted().read() != 1 {}
// Create the driver, from the HAL.
let driver = Driver::new(p.USBD, Irqs, HardwareVbusDetect::new(Irqs));

7
examples/nrf52840/src/bin/usb_serial_winusb.rs
View File

@ -1,8 +1,6 @@
#![no_std]
#![no_main]
use core::mem;
use defmt::{info, panic};
use embassy_executor::Spawner;
use embassy_futures::join::join;
@ -27,11 +25,10 @@ const DEVICE_INTERFACE_GUIDS: &[&str] = &["{EAA9A5DC-30BA-44BC-9232-606CDC875321
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
let p = embassy_nrf::init(Default::default());
let clock: pac::CLOCK = unsafe { mem::transmute(()) };
info!("Enabling ext hfosc...");
clock.tasks_hfclkstart.write(|w| unsafe { w.bits(1) });
while clock.events_hfclkstarted.read().bits() != 1 {}
pac::CLOCK.tasks_hfclkstart().write_value(1);
while pac::CLOCK.events_hfclkstarted().read() != 1 {}
// Create the driver, from the HAL.
let driver = Driver::new(p.USBD, Irqs, HardwareVbusDetect::new(Irqs));

4
examples/nrf52840/src/bin/wdt.rs
View File

@ -4,7 +4,7 @@
use defmt::*;
use embassy_executor::Spawner;
use embassy_nrf::gpio::{Input, Pull};
use embassy_nrf::wdt::{Config, Watchdog};
use embassy_nrf::wdt::{Config, HaltConfig, Watchdog};
use {defmt_rtt as _, panic_probe as _};
#[embassy_executor::main]
@ -17,7 +17,7 @@ async fn main(_spawner: Spawner) {
// This is needed for `probe-rs run` to be able to catch the panic message
// in the WDT interrupt. The core resets 2 ticks after firing the interrupt.
config.run_during_debug_halt = false;
config.action_during_debug_halt = HaltConfig::PAUSE;
let (_wdt, [mut handle]) = match Watchdog::try_new(p.WDT, config) {
Ok(x) => x,

8
examples/rp/Cargo.toml
View File

@ -37,10 +37,10 @@ cortex-m = { version = "0.7.6", features = ["inline-asm"] }
cortex-m-rt = "0.7.0"
critical-section = "1.1"
panic-probe = { version = "0.3", features = ["print-defmt"] }
display-interface-spi = "0.4.1"
embedded-graphics = "0.7.1"
st7789 = "0.6.1"
display-interface = "0.4.1"
display-interface-spi = "0.5.0"
embedded-graphics = "0.8.1"
mipidsi = "0.8.0"
display-interface = "0.5.0"
byte-slice-cast = { version = "1.2.0", default-features = false }
smart-leds = "0.4.0"
heapless = "0.8"

163
examples/rp/src/bin/spi_display.rs
View File

@ -9,11 +9,12 @@
use core::cell::RefCell;
use defmt::*;
use display_interface_spi::SPIInterface;
use embassy_embedded_hal::shared_bus::blocking::spi::SpiDeviceWithConfig;
use embassy_executor::Spawner;
use embassy_rp::gpio::{Level, Output};
use embassy_rp::spi;
use embassy_rp::spi::{Blocking, Spi};
use embassy_rp::spi::Spi;
use embassy_sync::blocking_mutex::raw::NoopRawMutex;
use embassy_sync::blocking_mutex::Mutex;
use embassy_time::Delay;
@ -24,10 +25,11 @@ use embedded_graphics::pixelcolor::Rgb565;
use embedded_graphics::prelude::*;
use embedded_graphics::primitives::{PrimitiveStyleBuilder, Rectangle};
use embedded_graphics::text::Text;
use st7789::{Orientation, ST7789};
use mipidsi::models::ST7789;
use mipidsi::options::{Orientation, Rotation};
use mipidsi::Builder;
use {defmt_rtt as _, panic_probe as _};
use crate::my_display_interface::SPIDeviceInterface;
use crate::touch::Touch;
const DISPLAY_FREQ: u32 = 64_000_000;
@ -58,7 +60,7 @@ async fn main(_spawner: Spawner) {
touch_config.phase = spi::Phase::CaptureOnSecondTransition;
touch_config.polarity = spi::Polarity::IdleHigh;
let spi: Spi<'_, _, Blocking> = Spi::new_blocking(p.SPI1, clk, mosi, miso, touch_config.clone());
let spi = Spi::new_blocking(p.SPI1, clk, mosi, miso, touch_config.clone());
let spi_bus: Mutex<NoopRawMutex, _> = Mutex::new(RefCell::new(spi));
let display_spi = SpiDeviceWithConfig::new(&spi_bus, Output::new(display_cs, Level::High), display_config);
@ -74,17 +76,15 @@ async fn main(_spawner: Spawner) {
let _bl = Output::new(bl, Level::High);
// display interface abstraction from SPI and DC
let di = SPIDeviceInterface::new(display_spi, dcx);
// create driver
let mut display = ST7789::new(di, rst, 240, 320);
// initialize
display.init(&mut Delay).unwrap();
// set default orientation
display.set_orientation(Orientation::Landscape).unwrap();
let di = SPIInterface::new(display_spi, dcx);
// Define the display from the display interface and initialize it
let mut display = Builder::new(ST7789, di)
.display_size(240, 320)
.reset_pin(rst)
.orientation(Orientation::new().rotate(Rotation::Deg90))
.init(&mut Delay)
.unwrap();
display.clear(Rgb565::BLACK).unwrap();
let raw_image_data = ImageRawLE::new(include_bytes!("../../assets/ferris.raw"), 86);
@ -175,138 +175,3 @@ mod touch {
}
}
}
mod my_display_interface {
use display_interface::{DataFormat, DisplayError, WriteOnlyDataCommand};
use embedded_hal_1::digital::OutputPin;
use embedded_hal_1::spi::SpiDevice;
/// SPI display interface.
///
/// This combines the SPI peripheral and a data/command pin
pub struct SPIDeviceInterface<SPI, DC> {
spi: SPI,
dc: DC,
}
impl<SPI, DC> SPIDeviceInterface<SPI, DC>
where
SPI: SpiDevice,
DC: OutputPin,
{
/// Create new SPI interface for communciation with a display driver
pub fn new(spi: SPI, dc: DC) -> Self {
Self { spi, dc }
}
}
impl<SPI, DC> WriteOnlyDataCommand for SPIDeviceInterface<SPI, DC>
where
SPI: SpiDevice,
DC: OutputPin,
{
fn send_commands(&mut self, cmds: DataFormat<'_>) -> Result<(), DisplayError> {
// 1 = data, 0 = command
self.dc.set_low().map_err(|_| DisplayError::DCError)?;
send_u8(&mut self.spi, cmds).map_err(|_| DisplayError::BusWriteError)?;
Ok(())
}
fn send_data(&mut self, buf: DataFormat<'_>) -> Result<(), DisplayError> {
// 1 = data, 0 = command
self.dc.set_high().map_err(|_| DisplayError::DCError)?;
send_u8(&mut self.spi, buf).map_err(|_| DisplayError::BusWriteError)?;
Ok(())
}
}
fn send_u8<T: SpiDevice>(spi: &mut T, words: DataFormat<'_>) -> Result<(), T::Error> {
match words {
DataFormat::U8(slice) => spi.write(slice),
DataFormat::U16(slice) => {
use byte_slice_cast::*;
spi.write(slice.as_byte_slice())
}
DataFormat::U16LE(slice) => {
use byte_slice_cast::*;
for v in slice.as_mut() {
*v = v.to_le();
}
spi.write(slice.as_byte_slice())
}
DataFormat::U16BE(slice) => {
use byte_slice_cast::*;
for v in slice.as_mut() {
*v = v.to_be();
}
spi.write(slice.as_byte_slice())
}
DataFormat::U8Iter(iter) => {
let mut buf = [0; 32];
let mut i = 0;
for v in iter.into_iter() {
buf[i] = v;
i += 1;
if i == buf.len() {
spi.write(&buf)?;
i = 0;
}
}
if i > 0 {
spi.write(&buf[..i])?;
}
Ok(())
}
DataFormat::U16LEIter(iter) => {
use byte_slice_cast::*;
let mut buf = [0; 32];
let mut i = 0;
for v in iter.map(u16::to_le) {
buf[i] = v;
i += 1;
if i == buf.len() {
spi.write(&buf.as_byte_slice())?;
i = 0;
}
}
if i > 0 {
spi.write(&buf[..i].as_byte_slice())?;
}
Ok(())
}
DataFormat::U16BEIter(iter) => {
use byte_slice_cast::*;
let mut buf = [0; 64];
let mut i = 0;
let len = buf.len();
for v in iter.map(u16::to_be) {
buf[i] = v;
i += 1;
if i == len {
spi.write(&buf.as_byte_slice())?;
i = 0;
}
}
if i > 0 {
spi.write(&buf[..i].as_byte_slice())?;
}
Ok(())
}
_ => unimplemented!(),
}
}
}

64
examples/rp/src/bin/usb_serial_with_handler.rs Normal file
View File

@ -0,0 +1,64 @@
//! This example shows how to use USB (Universal Serial Bus) in the RP2040 chip.
//!
//! This creates the possibility to send log::info/warn/error/debug! to USB serial port.
#![no_std]
#![no_main]
use core::str;
use embassy_executor::Spawner;
use embassy_rp::bind_interrupts;
use embassy_rp::peripherals::USB;
use embassy_rp::rom_data::reset_to_usb_boot;
use embassy_rp::usb::{Driver, InterruptHandler};
use embassy_time::Timer;
use embassy_usb_logger::ReceiverHandler;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
USBCTRL_IRQ => InterruptHandler<USB>;
});
struct Handler;
impl ReceiverHandler for Handler {
async fn handle_data(&self, data: &[u8]) {
if let Ok(data) = str::from_utf8(data) {
let data = data.trim();
// If you are using elf2uf2-term with the '-t' flag, then when closing the serial monitor,
// this will automatically put the pico into boot mode
if data == "q" || data == "elf2uf2-term" {
reset_to_usb_boot(0, 0); // Restart the chip
} else if data.eq_ignore_ascii_case("hello") {
log::info!("World!");
} else {
log::info!("Recieved: {:?}", data);
}
}
}
fn new() -> Self {
Self
}
}
#[embassy_executor::task]
async fn logger_task(driver: Driver<'static, USB>) {
embassy_usb_logger::run!(1024, log::LevelFilter::Info, driver, Handler);
}
#[embassy_executor::main]
async fn main(spawner: Spawner) {
let p = embassy_rp::init(Default::default());
let driver = Driver::new(p.USB, Irqs);
spawner.spawn(logger_task(driver)).unwrap();
let mut counter = 0;
loop {
counter += 1;
log::info!("Tick {}", counter);
Timer::after_secs(1).await;
}
}

8
examples/rp23/Cargo.toml
View File

@ -38,10 +38,10 @@ cortex-m = { version = "0.7.6", features = ["inline-asm"] }
cortex-m-rt = "0.7.0"
critical-section = "1.1"
panic-probe = { version = "0.3", features = ["print-defmt"] }
display-interface-spi = "0.4.1"
embedded-graphics = "0.7.1"
st7789 = "0.6.1"
display-interface = "0.4.1"
display-interface-spi = "0.5.0"
embedded-graphics = "0.8.1"
mipidsi = "0.8.0"
display-interface = "0.5.0"
byte-slice-cast = { version = "1.2.0", default-features = false }
smart-leds = "0.3.0"
heapless = "0.8"

161
examples/rp23/src/bin/spi_display.rs
View File

@ -1,4 +1,4 @@
//! This example shows how to use SPI (Serial Peripheral Interface) in the RP2040 chip.
//! This example shows how to use SPI (Serial Peripheral Interface) in the RP2350 chip.
//!
//! Example written for a display using the ST7789 chip. Possibly the Waveshare Pico-ResTouch
//! (https://www.waveshare.com/wiki/Pico-ResTouch-LCD-2.8)
@ -9,6 +9,7 @@
use core::cell::RefCell;
use defmt::*;
use display_interface_spi::SPIInterface;
use embassy_embedded_hal::shared_bus::blocking::spi::SpiDeviceWithConfig;
use embassy_executor::Spawner;
use embassy_rp::block::ImageDef;
@ -25,14 +26,15 @@ use embedded_graphics::pixelcolor::Rgb565;
use embedded_graphics::prelude::*;
use embedded_graphics::primitives::{PrimitiveStyleBuilder, Rectangle};
use embedded_graphics::text::Text;
use st7789::{Orientation, ST7789};
use mipidsi::models::ST7789;
use mipidsi::options::{Orientation, Rotation};
use mipidsi::Builder;
use {defmt_rtt as _, panic_probe as _};
#[link_section = ".start_block"]
#[used]
pub static IMAGE_DEF: ImageDef = ImageDef::secure_exe();
use crate::my_display_interface::SPIDeviceInterface;
use crate::touch::Touch;
const DISPLAY_FREQ: u32 = 64_000_000;
@ -79,17 +81,15 @@ async fn main(_spawner: Spawner) {
let _bl = Output::new(bl, Level::High);
// display interface abstraction from SPI and DC
let di = SPIDeviceInterface::new(display_spi, dcx);
// create driver
let mut display = ST7789::new(di, rst, 240, 320);
// initialize
display.init(&mut Delay).unwrap();
// set default orientation
display.set_orientation(Orientation::Landscape).unwrap();
let di = SPIInterface::new(display_spi, dcx);
// Define the display from the display interface and initialize it
let mut display = Builder::new(ST7789, di)
.display_size(240, 320)
.reset_pin(rst)
.orientation(Orientation::new().rotate(Rotation::Deg90))
.init(&mut Delay)
.unwrap();
display.clear(Rgb565::BLACK).unwrap();
let raw_image_data = ImageRawLE::new(include_bytes!("../../assets/ferris.raw"), 86);
@ -180,138 +180,3 @@ mod touch {
}
}
}
mod my_display_interface {
use display_interface::{DataFormat, DisplayError, WriteOnlyDataCommand};
use embedded_hal_1::digital::OutputPin;
use embedded_hal_1::spi::SpiDevice;
/// SPI display interface.
///
/// This combines the SPI peripheral and a data/command pin
pub struct SPIDeviceInterface<SPI, DC> {
spi: SPI,
dc: DC,
}
impl<SPI, DC> SPIDeviceInterface<SPI, DC>
where
SPI: SpiDevice,
DC: OutputPin,
{
/// Create new SPI interface for communciation with a display driver
pub fn new(spi: SPI, dc: DC) -> Self {
Self { spi, dc }
}
}
impl<SPI, DC> WriteOnlyDataCommand for SPIDeviceInterface<SPI, DC>
where
SPI: SpiDevice,
DC: OutputPin,
{
fn send_commands(&mut self, cmds: DataFormat<'_>) -> Result<(), DisplayError> {
// 1 = data, 0 = command
self.dc.set_low().map_err(|_| DisplayError::DCError)?;
send_u8(&mut self.spi, cmds).map_err(|_| DisplayError::BusWriteError)?;
Ok(())
}
fn send_data(&mut self, buf: DataFormat<'_>) -> Result<(), DisplayError> {
// 1 = data, 0 = command
self.dc.set_high().map_err(|_| DisplayError::DCError)?;
send_u8(&mut self.spi, buf).map_err(|_| DisplayError::BusWriteError)?;
Ok(())
}
}
fn send_u8<T: SpiDevice>(spi: &mut T, words: DataFormat<'_>) -> Result<(), T::Error> {
match words {
DataFormat::U8(slice) => spi.write(slice),
DataFormat::U16(slice) => {
use byte_slice_cast::*;
spi.write(slice.as_byte_slice())
}
DataFormat::U16LE(slice) => {
use byte_slice_cast::*;
for v in slice.as_mut() {
*v = v.to_le();
}
spi.write(slice.as_byte_slice())
}
DataFormat::U16BE(slice) => {
use byte_slice_cast::*;
for v in slice.as_mut() {
*v = v.to_be();
}
spi.write(slice.as_byte_slice())
}
DataFormat::U8Iter(iter) => {
let mut buf = [0; 32];
let mut i = 0;
for v in iter.into_iter() {
buf[i] = v;
i += 1;
if i == buf.len() {
spi.write(&buf)?;
i = 0;
}
}
if i > 0 {
spi.write(&buf[..i])?;
}
Ok(())
}
DataFormat::U16LEIter(iter) => {
use byte_slice_cast::*;
let mut buf = [0; 32];
let mut i = 0;
for v in iter.map(u16::to_le) {
buf[i] = v;
i += 1;
if i == buf.len() {
spi.write(&buf.as_byte_slice())?;
i = 0;
}
}
if i > 0 {
spi.write(&buf[..i].as_byte_slice())?;
}
Ok(())
}
DataFormat::U16BEIter(iter) => {
use byte_slice_cast::*;
let mut buf = [0; 64];
let mut i = 0;
let len = buf.len();
for v in iter.map(u16::to_be) {
buf[i] = v;
i += 1;
if i == len {
spi.write(&buf.as_byte_slice())?;
i = 0;
}
}
if i > 0 {
spi.write(&buf[..i].as_byte_slice())?;
}
Ok(())
}
_ => unimplemented!(),
}
}
}

4
examples/stm32u5/.cargo/config.toml
View File

@ -1,6 +1,6 @@
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
# replace STM32U585AIIx with your chip as listed in `probe-rs chip list`
runner = "probe-rs run --chip STM32U585AIIx"
# replace STM32U5G9ZJTxQ with your chip as listed in `probe-rs chip list`
runner = "probe-rs run --chip STM32U5G9ZJTxQ"
[build]
target = "thumbv8m.main-none-eabihf"

6
examples/stm32u5/Cargo.toml
View File

@ -5,8 +5,8 @@ version = "0.1.0"
license = "MIT OR Apache-2.0"
[dependencies]
# Change stm32u585ai to your chip name, if necessary.
embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "unstable-pac", "stm32u585ai", "time-driver-any", "memory-x" ] }
# Change stm32u5g9zj to your chip name, if necessary.
embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "unstable-pac", "stm32u5g9zj", "time-driver-any", "memory-x" ] }
embassy-sync = { version = "0.6.0", path = "../../embassy-sync", features = ["defmt"] }
embassy-executor = { version = "0.6.1", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
@ -21,6 +21,8 @@ cortex-m-rt = "0.7.0"
embedded-hal = "0.2.6"
panic-probe = { version = "0.3", features = ["print-defmt"] }
heapless = { version = "0.8", default-features = false }
embedded-graphics = { version = "0.8.1" }
tinybmp = { version = "0.6.0" }
micromath = "2.0.0"

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examples/stm32u5/src/bin/ferris.bmp Normal file
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2
examples/stm32u5/src/bin/i2c.rs
View File

@ -13,7 +13,7 @@ const WHOAMI: u8 = 0x0F;
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
let p = embassy_stm32::init(Default::default());
let mut i2c = I2c::new_blocking(p.I2C2, p.PH4, p.PH5, Hertz(100_000), Default::default());
let mut i2c = I2c::new_blocking(p.I2C2, p.PF1, p.PF0, Hertz(100_000), Default::default());
let mut data = [0u8; 1];
unwrap!(i2c.blocking_write_read(HTS221_ADDRESS, &[WHOAMI], &mut data));

461
examples/stm32u5/src/bin/ltdc.rs Normal file
View File

@ -0,0 +1,461 @@
#![no_std]
#![no_main]
#![macro_use]
#![allow(static_mut_refs)]
/// This example was derived from examples\stm32h735\src\bin\ltdc.rs
/// It demonstrates the LTDC lcd display peripheral and was tested on an STM32U5G9J-DK2 demo board (embassy-stm32 feature "stm32u5g9zj" and probe-rs chip "STM32U5G9ZJTxQ")
///
use bouncy_box::BouncyBox;
use defmt::{info, unwrap};
use embassy_executor::Spawner;
use embassy_stm32::gpio::{Level, Output, Speed};
use embassy_stm32::ltdc::{self, Ltdc, LtdcConfiguration, LtdcLayer, LtdcLayerConfig, PolarityActive, PolarityEdge};
use embassy_stm32::{bind_interrupts, peripherals};
use embassy_time::{Duration, Timer};
use embedded_graphics::draw_target::DrawTarget;
use embedded_graphics::geometry::{OriginDimensions, Point, Size};
use embedded_graphics::image::Image;
use embedded_graphics::pixelcolor::raw::RawU24;
use embedded_graphics::pixelcolor::Rgb888;
use embedded_graphics::prelude::*;
use embedded_graphics::primitives::Rectangle;
use embedded_graphics::Pixel;
use heapless::{Entry, FnvIndexMap};
use tinybmp::Bmp;
use {defmt_rtt as _, panic_probe as _};
const DISPLAY_WIDTH: usize = 800;
const DISPLAY_HEIGHT: usize = 480;
const MY_TASK_POOL_SIZE: usize = 2;
// the following two display buffers consume 261120 bytes that just about fits into axis ram found on the mcu
pub static mut FB1: [TargetPixelType; DISPLAY_WIDTH * DISPLAY_HEIGHT] = [0; DISPLAY_WIDTH * DISPLAY_HEIGHT];
pub static mut FB2: [TargetPixelType; DISPLAY_WIDTH * DISPLAY_HEIGHT] = [0; DISPLAY_WIDTH * DISPLAY_HEIGHT];
bind_interrupts!(struct Irqs {
LTDC => ltdc::InterruptHandler<peripherals::LTDC>;
});
const NUM_COLORS: usize = 256;
#[embassy_executor::main]
async fn main(spawner: Spawner) {
let p = rcc_setup::stm32u5g9zj_init();
// enable ICACHE
embassy_stm32::pac::ICACHE.cr().write(|w| {
w.set_en(true);
});
// blink the led on another task
let led = Output::new(p.PD2, Level::High, Speed::Low);
unwrap!(spawner.spawn(led_task(led)));
// numbers from STM32U5G9J-DK2.ioc
const RK050HR18H_HSYNC: u16 = 5; // Horizontal synchronization
const RK050HR18H_HBP: u16 = 8; // Horizontal back porch
const RK050HR18H_HFP: u16 = 8; // Horizontal front porch
const RK050HR18H_VSYNC: u16 = 5; // Vertical synchronization
const RK050HR18H_VBP: u16 = 8; // Vertical back porch
const RK050HR18H_VFP: u16 = 8; // Vertical front porch
// NOTE: all polarities have to be reversed with respect to the STM32U5G9J-DK2 CubeMX parametrization
let ltdc_config = LtdcConfiguration {
active_width: DISPLAY_WIDTH as _,
active_height: DISPLAY_HEIGHT as _,
h_back_porch: RK050HR18H_HBP,
h_front_porch: RK050HR18H_HFP,
v_back_porch: RK050HR18H_VBP,
v_front_porch: RK050HR18H_VFP,
h_sync: RK050HR18H_HSYNC,
v_sync: RK050HR18H_VSYNC,
h_sync_polarity: PolarityActive::ActiveHigh,
v_sync_polarity: PolarityActive::ActiveHigh,
data_enable_polarity: PolarityActive::ActiveHigh,
pixel_clock_polarity: PolarityEdge::RisingEdge,
};
info!("init ltdc");
let mut ltdc_de = Output::new(p.PD6, Level::Low, Speed::High);
let mut ltdc_disp_ctrl = Output::new(p.PE4, Level::Low, Speed::High);
let mut ltdc_bl_ctrl = Output::new(p.PE6, Level::Low, Speed::High);
let mut ltdc = Ltdc::new_with_pins(
p.LTDC, // PERIPHERAL
Irqs, // IRQS
p.PD3, // CLK
p.PE0, // HSYNC
p.PD13, // VSYNC
p.PB9, // B0
p.PB2, // B1
p.PD14, // B2
p.PD15, // B3
p.PD0, // B4
p.PD1, // B5
p.PE7, // B6
p.PE8, // B7
p.PC8, // G0
p.PC9, // G1
p.PE9, // G2
p.PE10, // G3
p.PE11, // G4
p.PE12, // G5
p.PE13, // G6
p.PE14, // G7
p.PC6, // R0
p.PC7, // R1
p.PE15, // R2
p.PD8, // R3
p.PD9, // R4
p.PD10, // R5
p.PD11, // R6
p.PD12, // R7
);
ltdc.init(&ltdc_config);
ltdc_de.set_low();
ltdc_bl_ctrl.set_high();
ltdc_disp_ctrl.set_high();
// we only need to draw on one layer for this example (not to be confused with the double buffer)
info!("enable bottom layer");
let layer_config = LtdcLayerConfig {
pixel_format: ltdc::PixelFormat::L8, // 1 byte per pixel
layer: LtdcLayer::Layer1,
window_x0: 0,
window_x1: DISPLAY_WIDTH as _,
window_y0: 0,
window_y1: DISPLAY_HEIGHT as _,
};
let ferris_bmp: Bmp<Rgb888> = Bmp::from_slice(include_bytes!("./ferris.bmp")).unwrap();
let color_map = build_color_lookup_map(&ferris_bmp);
let clut = build_clut(&color_map);
// enable the bottom layer with a 256 color lookup table
ltdc.init_layer(&layer_config, Some(&clut));
// Safety: the DoubleBuffer controls access to the statically allocated frame buffers
// and it is the only thing that mutates their content
let mut double_buffer = DoubleBuffer::new(
unsafe { FB1.as_mut() },
unsafe { FB2.as_mut() },
layer_config,
color_map,
);
// this allows us to perform some simple animation for every frame
let mut bouncy_box = BouncyBox::new(
ferris_bmp.bounding_box(),
Rectangle::new(Point::zero(), Size::new(DISPLAY_WIDTH as u32, DISPLAY_HEIGHT as u32)),
2,
);
loop {
// cpu intensive drawing to the buffer that is NOT currently being copied to the LCD screen
double_buffer.clear();
let position = bouncy_box.next_point();
let ferris = Image::new(&ferris_bmp, position);
unwrap!(ferris.draw(&mut double_buffer));
// perform async dma data transfer to the lcd screen
unwrap!(double_buffer.swap(&mut ltdc).await);
}
}
/// builds the color look-up table from all unique colors found in the bitmap. This should be a 256 color indexed bitmap to work.
fn build_color_lookup_map(bmp: &Bmp<Rgb888>) -> FnvIndexMap<u32, u8, NUM_COLORS> {
let mut color_map: FnvIndexMap<u32, u8, NUM_COLORS> = heapless::FnvIndexMap::new();
let mut counter: u8 = 0;
// add black to position 0
color_map.insert(Rgb888::new(0, 0, 0).into_storage(), counter).unwrap();
counter += 1;
for Pixel(_point, color) in bmp.pixels() {
let raw = color.into_storage();
if let Entry::Vacant(v) = color_map.entry(raw) {
v.insert(counter).expect("more than 256 colors detected");
counter += 1;
}
}
color_map
}
/// builds the color look-up table from the color map provided
fn build_clut(color_map: &FnvIndexMap<u32, u8, NUM_COLORS>) -> [ltdc::RgbColor; NUM_COLORS] {
let mut clut = [ltdc::RgbColor::default(); NUM_COLORS];
for (color, index) in color_map.iter() {
let color = Rgb888::from(RawU24::new(*color));
clut[*index as usize] = ltdc::RgbColor {
red: color.r(),
green: color.g(),
blue: color.b(),
};
}
clut
}
#[embassy_executor::task(pool_size = MY_TASK_POOL_SIZE)]
async fn led_task(mut led: Output<'static>) {
let mut counter = 0;
loop {
info!("blink: {}", counter);
counter += 1;
// on
led.set_low();
Timer::after(Duration::from_millis(50)).await;
// off
led.set_high();
Timer::after(Duration::from_millis(450)).await;
}
}
pub type TargetPixelType = u8;
// A simple double buffer
pub struct DoubleBuffer {
buf0: &'static mut [TargetPixelType],
buf1: &'static mut [TargetPixelType],
is_buf0: bool,
layer_config: LtdcLayerConfig,
color_map: FnvIndexMap<u32, u8, NUM_COLORS>,
}
impl DoubleBuffer {
pub fn new(
buf0: &'static mut [TargetPixelType],
buf1: &'static mut [TargetPixelType],
layer_config: LtdcLayerConfig,
color_map: FnvIndexMap<u32, u8, NUM_COLORS>,
) -> Self {
Self {
buf0,
buf1,
is_buf0: true,
layer_config,
color_map,
}
}
pub fn current(&mut self) -> (&FnvIndexMap<u32, u8, NUM_COLORS>, &mut [TargetPixelType]) {
if self.is_buf0 {
(&self.color_map, self.buf0)
} else {
(&self.color_map, self.buf1)
}
}
pub async fn swap<T: ltdc::Instance>(&mut self, ltdc: &mut Ltdc<'_, T>) -> Result<(), ltdc::Error> {
let (_, buf) = self.current();
let frame_buffer = buf.as_ptr();
self.is_buf0 = !self.is_buf0;
ltdc.set_buffer(self.layer_config.layer, frame_buffer as *const _).await
}
/// Clears the buffer
pub fn clear(&mut self) {
let (color_map, buf) = self.current();
let black = Rgb888::new(0, 0, 0).into_storage();
let color_index = color_map.get(&black).expect("no black found in the color map");
for a in buf.iter_mut() {
*a = *color_index; // solid black
}
}
}
// Implement DrawTarget for
impl DrawTarget for DoubleBuffer {
type Color = Rgb888;
type Error = ();
/// Draw a pixel
fn draw_iter<I>(&mut self, pixels: I) -> Result<(), Self::Error>
where
I: IntoIterator<Item = Pixel<Self::Color>>,
{
let size = self.size();
let width = size.width as i32;
let height = size.height as i32;
let (color_map, buf) = self.current();
for pixel in pixels {
let Pixel(point, color) = pixel;
if point.x >= 0 && point.y >= 0 && point.x < width && point.y < height {
let index = point.y * width + point.x;
let raw_color = color.into_storage();
match color_map.get(&raw_color) {
Some(x) => {
buf[index as usize] = *x;
}
None => panic!("color not found in color map: {}", raw_color),
};
} else {
// Ignore invalid points
}
}
Ok(())
}
}
impl OriginDimensions for DoubleBuffer {
/// Return the size of the display
fn size(&self) -> Size {
Size::new(
(self.layer_config.window_x1 - self.layer_config.window_x0) as _,
(self.layer_config.window_y1 - self.layer_config.window_y0) as _,
)
}
}
mod rcc_setup {
use embassy_stm32::time::Hertz;
use embassy_stm32::{rcc, Config, Peripherals};
/// Sets up clocks for the stm32u5g9zj mcu
/// change this if you plan to use a different microcontroller
pub fn stm32u5g9zj_init() -> Peripherals {
// setup power and clocks for an STM32U5G9J-DK2 run from an external 16 Mhz external oscillator
let mut config = Config::default();
config.rcc.hse = Some(rcc::Hse {
freq: Hertz(16_000_000),
mode: rcc::HseMode::Oscillator,
});
config.rcc.pll1 = Some(rcc::Pll {
source: rcc::PllSource::HSE,
prediv: rcc::PllPreDiv::DIV1,
mul: rcc::PllMul::MUL10,
divp: None,
divq: None,
divr: Some(rcc::PllDiv::DIV1),
});
config.rcc.sys = rcc::Sysclk::PLL1_R; // 160 Mhz
config.rcc.pll3 = Some(rcc::Pll {
source: rcc::PllSource::HSE,
prediv: rcc::PllPreDiv::DIV4, // PLL_M
mul: rcc::PllMul::MUL125, // PLL_N
divp: None,
divq: None,
divr: Some(rcc::PllDiv::DIV20),
});
config.rcc.mux.ltdcsel = rcc::mux::Ltdcsel::PLL3_R; // 25 MHz
embassy_stm32::init(config)
}
}
mod bouncy_box {
use embedded_graphics::geometry::Point;
use embedded_graphics::primitives::Rectangle;
enum Direction {
DownLeft,
DownRight,
UpLeft,
UpRight,
}
pub struct BouncyBox {
direction: Direction,
child_rect: Rectangle,
parent_rect: Rectangle,
current_point: Point,
move_by: usize,
}
// This calculates the coordinates of a chile rectangle bounced around inside a parent bounded box
impl BouncyBox {
pub fn new(child_rect: Rectangle, parent_rect: Rectangle, move_by: usize) -> Self {
let center_box = parent_rect.center();
let center_img = child_rect.center();
let current_point = Point::new(center_box.x - center_img.x / 2, center_box.y - center_img.y / 2);
Self {
direction: Direction::DownRight,
child_rect,
parent_rect,
current_point,
move_by,
}
}
pub fn next_point(&mut self) -> Point {
let direction = &self.direction;
let img_height = self.child_rect.size.height as i32;
let box_height = self.parent_rect.size.height as i32;
let img_width = self.child_rect.size.width as i32;
let box_width = self.parent_rect.size.width as i32;
let move_by = self.move_by as i32;
match direction {
Direction::DownLeft => {
self.current_point.x -= move_by;
self.current_point.y += move_by;
let x_out_of_bounds = self.current_point.x < 0;
let y_out_of_bounds = (self.current_point.y + img_height) > box_height;
if x_out_of_bounds && y_out_of_bounds {
self.direction = Direction::UpRight
} else if x_out_of_bounds && !y_out_of_bounds {
self.direction = Direction::DownRight
} else if !x_out_of_bounds && y_out_of_bounds {
self.direction = Direction::UpLeft
}
}
Direction::DownRight => {
self.current_point.x += move_by;
self.current_point.y += move_by;
let x_out_of_bounds = (self.current_point.x + img_width) > box_width;
let y_out_of_bounds = (self.current_point.y + img_height) > box_height;
if x_out_of_bounds && y_out_of_bounds {
self.direction = Direction::UpLeft
} else if x_out_of_bounds && !y_out_of_bounds {
self.direction = Direction::DownLeft
} else if !x_out_of_bounds && y_out_of_bounds {
self.direction = Direction::UpRight
}
}
Direction::UpLeft => {
self.current_point.x -= move_by;
self.current_point.y -= move_by;
let x_out_of_bounds = self.current_point.x < 0;
let y_out_of_bounds = self.current_point.y < 0;
if x_out_of_bounds && y_out_of_bounds {
self.direction = Direction::DownRight
} else if x_out_of_bounds && !y_out_of_bounds {
self.direction = Direction::UpRight
} else if !x_out_of_bounds && y_out_of_bounds {
self.direction = Direction::DownLeft
}
}
Direction::UpRight => {
self.current_point.x += move_by;
self.current_point.y -= move_by;
let x_out_of_bounds = (self.current_point.x + img_width) > box_width;
let y_out_of_bounds = self.current_point.y < 0;
if x_out_of_bounds && y_out_of_bounds {
self.direction = Direction::DownLeft
} else if x_out_of_bounds && !y_out_of_bounds {
self.direction = Direction::UpLeft
} else if !x_out_of_bounds && y_out_of_bounds {
self.direction = Direction::DownRight
}
}
}
self.current_point
}
}
}

4
examples/stm32u5/src/bin/usb_serial.rs
View File

@ -13,7 +13,7 @@ use embassy_usb::Builder;
use panic_probe as _;
bind_interrupts!(struct Irqs {
OTG_FS => usb::InterruptHandler<peripherals::USB_OTG_FS>;
OTG_HS => usb::InterruptHandler<peripherals::USB_OTG_HS>;
});
#[embassy_executor::main]
@ -48,7 +48,7 @@ async fn main(_spawner: Spawner) {
// to enable vbus_detection to comply with the USB spec. If you enable it, the board
// has to support it or USB won't work at all. See docs on `vbus_detection` for details.
config.vbus_detection = false;
let driver = Driver::new_fs(p.USB_OTG_FS, Irqs, p.PA12, p.PA11, &mut ep_out_buffer, config);
let driver = Driver::new_hs(p.USB_OTG_HS, Irqs, p.PA12, p.PA11, &mut ep_out_buffer, config);
// Create embassy-usb Config
let mut config = embassy_usb::Config::new(0xc0de, 0xcafe);

2
rust-toolchain-nightly.toml
View File

@ -1,5 +1,5 @@
[toolchain]
channel = "nightly-2024-10-13"
channel = "nightly-2024-11-04"
components = [ "rust-src", "rustfmt", "llvm-tools", "miri" ]
targets = [
"thumbv7em-none-eabi",

5
tests/nrf/Cargo.toml
View File

@ -86,6 +86,11 @@ name = "gpiote"
path = "src/bin/gpiote.rs"
required-features = []
[[bin]]
name = "spim"
path = "src/bin/spim.rs"
required-features = [ "easydma",]
[[bin]]
name = "timer"
path = "src/bin/timer.rs"

12
tests/nrf/src/bin/buffered_uart_spam.rs
View File

@ -50,15 +50,15 @@ async fn main(_spawner: Spawner) {
const NSPAM: usize = 17;
static mut TX_BUF: [u8; NSPAM] = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16];
let _spam = UarteTx::new(peri!(p, UART1), irqs!(UART1), peri!(p, PIN_A), config.clone());
let spam_peri: pac::UARTE1 = unsafe { mem::transmute(()) };
let event = unsafe { Event::new_unchecked(NonNull::new_unchecked(&spam_peri.events_endtx as *const _ as _)) };
let task = unsafe { Task::new_unchecked(NonNull::new_unchecked(&spam_peri.tasks_starttx as *const _ as _)) };
let spam_peri = pac::UARTE1;
let event = unsafe { Event::new_unchecked(NonNull::new_unchecked(spam_peri.events_endtx().as_ptr())) };
let task = unsafe { Task::new_unchecked(NonNull::new_unchecked(spam_peri.tasks_starttx().as_ptr())) };
let mut spam_ppi = Ppi::new_one_to_one(p.PPI_CH2, event, task);
spam_ppi.enable();
let p = (&raw mut TX_BUF) as *mut u8;
spam_peri.txd.ptr.write(|w| unsafe { w.ptr().bits(p as u32) });
spam_peri.txd.maxcnt.write(|w| unsafe { w.maxcnt().bits(NSPAM as _) });
spam_peri.tasks_starttx.write(|w| unsafe { w.bits(1) });
spam_peri.txd().ptr().write_value(p as u32);
spam_peri.txd().maxcnt().write(|w| w.set_maxcnt(NSPAM as _));
spam_peri.tasks_starttx().write_value(1);
let mut i = 0;
let mut total = 0;

2
tests/nrf/src/bin/gpio.rs
View File

@ -17,10 +17,12 @@ async fn main(_spawner: Spawner) {
let mut output = Output::new(peri!(p, PIN_B), Level::Low, OutputDrive::Standard);
output.set_low();
assert!(output.is_set_low());
Timer::after_millis(10).await;
assert!(input.is_low());
output.set_high();
assert!(output.is_set_high());
Timer::after_millis(10).await;
assert!(input.is_high());

42
tests/nrf/src/bin/spim.rs Normal file
View File

@ -0,0 +1,42 @@
// required-features: easydma
#![no_std]
#![no_main]
#[path = "../common.rs"]
mod common;
use defmt::{assert_eq, *};
use embassy_executor::Spawner;
use embassy_nrf::spim::Spim;
use embassy_nrf::{peripherals, spim};
use {defmt_rtt as _, panic_probe as _};
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
let mut p = embassy_nrf::init(Default::default());
let mut config = spim::Config::default();
config.frequency = spim::Frequency::M1;
let mut spim = Spim::new(
&mut peri!(p, SPIM0),
irqs!(SPIM0),
&mut peri!(p, PIN_X),
&mut peri!(p, PIN_A), // MISO
&mut peri!(p, PIN_B), // MOSI
config.clone(),
);
let data = [
0x42, 0x43, 0x44, 0x45, 0x66, 0x12, 0x23, 0x34, 0x45, 0x19, 0x91, 0xaa, 0xff, 0xa5, 0x5a, 0x77,
];
let mut buf = [0u8; 16];
buf.fill(0);
spim.blocking_transfer(&mut buf, &data).unwrap();
assert_eq!(data, buf);
buf.fill(0);
spim.transfer(&mut buf, &data).await.unwrap();
assert_eq!(data, buf);
info!("Test OK");
cortex_m::asm::bkpt();
}

15
tests/nrf/src/common.rs
View File

@ -52,51 +52,66 @@ define_peris!(PIN_A = P0_13, PIN_B = P0_14,);
#[cfg(feature = "nrf52832")]
define_peris!(
PIN_A = P0_11, PIN_B = P0_12,
PIN_X = P0_13,
UART0 = UARTE0,
SPIM0 = TWISPI0,
@irq UART0 = {UARTE0_UART0 => uarte::InterruptHandler<peripherals::UARTE0>;},
@irq UART0_BUFFERED = {UARTE0_UART0 => buffered_uarte::InterruptHandler<peripherals::UARTE0>;},
@irq SPIM0 = {SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0 => spim::InterruptHandler<peripherals::TWISPI0>;},
);
#[cfg(feature = "nrf52833")]
define_peris!(
PIN_A = P1_01, PIN_B = P1_02,
PIN_X = P1_03,
UART0 = UARTE0,
UART1 = UARTE1,
SPIM0 = TWISPI0,
@irq UART0 = {UARTE0_UART0 => uarte::InterruptHandler<peripherals::UARTE0>;},
@irq UART1 = {UARTE1 => uarte::InterruptHandler<peripherals::UARTE1>;},
@irq UART0_BUFFERED = {UARTE0_UART0 => buffered_uarte::InterruptHandler<peripherals::UARTE0>;},
@irq UART1_BUFFERED = {UARTE1 => buffered_uarte::InterruptHandler<peripherals::UARTE1>;},
@irq SPIM0 = {SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0 => spim::InterruptHandler<peripherals::TWISPI0>;},
);
#[cfg(feature = "nrf52840")]
define_peris!(
PIN_A = P1_02, PIN_B = P1_03,
PIN_X = P1_04,
UART0 = UARTE0,
UART1 = UARTE1,
SPIM0 = TWISPI0,
@irq UART0 = {UARTE0_UART0 => uarte::InterruptHandler<peripherals::UARTE0>;},
@irq UART1 = {UARTE1 => uarte::InterruptHandler<peripherals::UARTE1>;},
@irq UART0_BUFFERED = {UARTE0_UART0 => buffered_uarte::InterruptHandler<peripherals::UARTE0>;},
@irq UART1_BUFFERED = {UARTE1 => buffered_uarte::InterruptHandler<peripherals::UARTE1>;},
@irq SPIM0 = {SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0 => spim::InterruptHandler<peripherals::TWISPI0>;},
);
#[cfg(feature = "nrf5340")]
define_peris!(
PIN_A = P1_08, PIN_B = P1_09,
PIN_X = P1_10,
UART0 = SERIAL0,
UART1 = SERIAL1,
SPIM0 = SERIAL0,
@irq UART0 = {SERIAL0 => uarte::InterruptHandler<peripherals::SERIAL0>;},
@irq UART1 = {SERIAL1 => uarte::InterruptHandler<peripherals::SERIAL1>;},
@irq UART0_BUFFERED = {SERIAL0 => buffered_uarte::InterruptHandler<peripherals::SERIAL0>;},
@irq UART1_BUFFERED = {SERIAL1 => buffered_uarte::InterruptHandler<peripherals::SERIAL1>;},
@irq SPIM0 = {SERIAL0 => spim::InterruptHandler<peripherals::SERIAL0>;},
);
#[cfg(feature = "nrf9160")]
define_peris!(
PIN_A = P0_00, PIN_B = P0_01,
PIN_X = P0_02,
UART0 = SERIAL0,
UART1 = SERIAL1,
SPIM0 = SERIAL0,
@irq UART0 = {UARTE0_SPIM0_SPIS0_TWIM0_TWIS0 => uarte::InterruptHandler<peripherals::SERIAL0>;},
@irq UART1 = {UARTE1_SPIM1_SPIS1_TWIM1_TWIS1 => uarte::InterruptHandler<peripherals::SERIAL1>;},
@irq UART0_BUFFERED = {UARTE0_SPIM0_SPIS0_TWIM0_TWIS0 => buffered_uarte::InterruptHandler<peripherals::SERIAL0>;},
@irq UART1_BUFFERED = {UARTE1_SPIM1_SPIS1_TWIM1_TWIS1 => buffered_uarte::InterruptHandler<peripherals::SERIAL1>;},
@irq SPIM0 = {UARTE0_SPIM0_SPIS0_TWIM0_TWIS0 => spim::InterruptHandler<peripherals::SERIAL0>;},
);