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Add async wait to TSC

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This commit is contained in:
Eekle 2024-06-23 16:43:12 +02:00
parent d5badb94d2
commit 2655426cd8
2 changed files with 107 additions and 44 deletions
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139
embassy-stm32/src/tsc/mod.rs
View File

@ -71,9 +71,13 @@ use embassy_hal_internal::{into_ref, PeripheralRef};
pub use enums::*;
use crate::gpio::{AfType, AnyPin, OutputType, Speed};
use crate::pac::tsc::Tsc as Regs;
use crate::interrupt;
use crate::interrupt::typelevel::Interrupt;
use crate::rcc::{self, RccPeripheral};
use crate::{peripherals, Peripheral};
use core::future::poll_fn;
use core::task::Poll;
use embassy_sync::waitqueue::AtomicWaker;
#[cfg(tsc_v1)]
const TSC_NUM_GROUPS: u32 = 6;
@ -90,6 +94,18 @@ pub enum Error {
Test,
}
/// TSC interrupt handler.
pub struct InterruptHandler<T: Instance> {
_phantom: PhantomData<T>,
}
impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
unsafe fn on_interrupt() {
T::regs().ier().write(|w| w.set_eoaie(false));
T::waker().wake();
}
}
/// Pin type definition to control IO parameters
pub enum PinType {
/// Sensing channel pin connected to an electrode
@ -510,6 +526,7 @@ impl<'d, T: Instance> Tsc<'d, T> {
/// Create new TSC driver
pub fn new(
peri: impl Peripheral<P = T> + 'd,
_irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
g1: Option<PinGroup<'d, T, G1>>,
g2: Option<PinGroup<'d, T, G2>>,
g3: Option<PinGroup<'d, T, G3>>,
@ -663,7 +680,7 @@ impl<'d, T: Instance> Tsc<'d, T> {
rcc::enable_and_reset::<T>();
T::REGS.cr().modify(|w| {
T::regs().cr().modify(|w| {
w.set_tsce(true);
w.set_ctph(config.ct_pulse_high_length.into());
w.set_ctpl(config.ct_pulse_low_length.into());
@ -691,33 +708,39 @@ impl<'d, T: Instance> Tsc<'d, T> {
// Set IO configuration
// Disable Schmitt trigger hysteresis on all used TSC IOs
T::REGS
T::regs()
.iohcr()
.write(|w| w.0 = !(config.channel_ios | config.shield_ios | config.sampling_ios));
// Set channel and shield IOs
T::REGS.ioccr().write(|w| w.0 = config.channel_ios | config.shield_ios);
T::regs()
.ioccr()
.write(|w| w.0 = config.channel_ios | config.shield_ios);
// Set sampling IOs
T::REGS.ioscr().write(|w| w.0 = config.sampling_ios);
T::regs().ioscr().write(|w| w.0 = config.sampling_ios);
// Set the groups to be acquired
T::REGS
T::regs()
.iogcsr()
.write(|w| w.0 = Self::extract_groups(config.channel_ios));
// Disable interrupts
T::REGS.ier().modify(|w| {
T::regs().ier().modify(|w| {
w.set_eoaie(false);
w.set_mceie(false);
});
// Clear flags
T::REGS.icr().modify(|w| {
T::regs().icr().modify(|w| {
w.set_eoaic(true);
w.set_mceic(true);
});
unsafe {
T::Interrupt::enable();
}
Self {
_peri: peri,
_g1: g1,
@ -740,24 +763,24 @@ impl<'d, T: Instance> Tsc<'d, T> {
self.state = State::Busy;
// Disable interrupts
T::REGS.ier().modify(|w| {
T::regs().ier().modify(|w| {
w.set_eoaie(false);
w.set_mceie(false);
});
// Clear flags
T::REGS.icr().modify(|w| {
T::regs().icr().modify(|w| {
w.set_eoaic(true);
w.set_mceic(true);
});
// Set the touch sensing IOs not acquired to the default mode
T::REGS.cr().modify(|w| {
T::regs().cr().modify(|w| {
w.set_iodef(self.config.io_default_mode);
});
// Start the acquisition
T::REGS.cr().modify(|w| {
T::regs().cr().modify(|w| {
w.set_start(true);
});
}
@ -767,41 +790,41 @@ impl<'d, T: Instance> Tsc<'d, T> {
self.state = State::Busy;
// Enable interrupts
T::REGS.ier().modify(|w| {
T::regs().ier().modify(|w| {
w.set_eoaie(true);
w.set_mceie(self.config.max_count_interrupt);
});
// Clear flags
T::REGS.icr().modify(|w| {
T::regs().icr().modify(|w| {
w.set_eoaic(true);
w.set_mceic(true);
});
// Set the touch sensing IOs not acquired to the default mode
T::REGS.cr().modify(|w| {
T::regs().cr().modify(|w| {
w.set_iodef(self.config.io_default_mode);
});
// Start the acquisition
T::REGS.cr().modify(|w| {
T::regs().cr().modify(|w| {
w.set_start(true);
});
}
/// Stop charge transfer acquisition
pub fn stop(&mut self) {
T::REGS.cr().modify(|w| {
T::regs().cr().modify(|w| {
w.set_start(false);
});
// Set the touch sensing IOs in low power mode
T::REGS.cr().modify(|w| {
T::regs().cr().modify(|w| {
w.set_iodef(false);
});
// Clear flags
T::REGS.icr().modify(|w| {
T::regs().icr().modify(|w| {
w.set_eoaic(true);
w.set_mceic(true);
});
@ -811,23 +834,23 @@ impl<'d, T: Instance> Tsc<'d, T> {
/// Stop charge transfer acquisition and clear interrupts
pub fn stop_it(&mut self) {
T::REGS.cr().modify(|w| {
T::regs().cr().modify(|w| {
w.set_start(false);
});
// Set the touch sensing IOs in low power mode
T::REGS.cr().modify(|w| {
T::regs().cr().modify(|w| {
w.set_iodef(false);
});
// Disable interrupts
T::REGS.ier().modify(|w| {
T::regs().ier().modify(|w| {
w.set_eoaie(false);
w.set_mceie(false);
});
// Clear flags
T::REGS.icr().modify(|w| {
T::regs().icr().modify(|w| {
w.set_eoaic(true);
w.set_mceic(true);
});
@ -840,11 +863,31 @@ impl<'d, T: Instance> Tsc<'d, T> {
while self.get_state() == State::Busy {}
}
/// Asyncronously wait for the end of an acquisition
pub async fn pend_for_acquisition(&mut self) {
poll_fn(|cx| match self.get_state() {
State::Busy => {
T::waker().register(cx.waker());
T::regs().ier().write(|w| w.set_eoaie(true));
if self.get_state() != State::Busy {
T::regs().ier().write(|w| w.set_eoaie(false));
return Poll::Ready(());
}
Poll::Pending
}
_ => {
T::regs().ier().write(|w| w.set_eoaie(false));
Poll::Ready(())
}
})
.await;
}
/// Get current state of acquisition
pub fn get_state(&mut self) -> State {
if self.state == State::Busy {
if T::REGS.isr().read().eoaf() {
if T::REGS.isr().read().mcef() {
if T::regs().isr().read().eoaf() {
if T::regs().isr().read().mcef() {
self.state = State::Error
} else {
self.state = State::Ready
@ -859,16 +902,16 @@ impl<'d, T: Instance> Tsc<'d, T> {
// Status bits are set by hardware when the acquisition on the corresponding
// enabled analog IO group is complete, cleared when new acquisition is started
let status = match index {
Group::One => T::REGS.iogcsr().read().g1s(),
Group::Two => T::REGS.iogcsr().read().g2s(),
Group::Three => T::REGS.iogcsr().read().g3s(),
Group::Four => T::REGS.iogcsr().read().g4s(),
Group::Five => T::REGS.iogcsr().read().g5s(),
Group::Six => T::REGS.iogcsr().read().g6s(),
Group::One => T::regs().iogcsr().read().g1s(),
Group::Two => T::regs().iogcsr().read().g2s(),
Group::Three => T::regs().iogcsr().read().g3s(),
Group::Four => T::regs().iogcsr().read().g4s(),
Group::Five => T::regs().iogcsr().read().g5s(),
Group::Six => T::regs().iogcsr().read().g6s(),
#[cfg(any(tsc_v2, tsc_v3))]
Group::Seven => T::REGS.iogcsr().read().g7s(),
Group::Seven => T::regs().iogcsr().read().g7s(),
#[cfg(tsc_v3)]
Group::Eight => T::REGS.iogcsr().read().g8s(),
Group::Eight => T::regs().iogcsr().read().g8s(),
};
match status {
true => GroupStatus::Complete,
@ -878,13 +921,13 @@ impl<'d, T: Instance> Tsc<'d, T> {
/// Get the count for the acquisiton, valid once group status is set
pub fn group_get_value(&mut self, index: Group) -> u16 {
T::REGS.iogcr(index.into()).read().cnt()
T::regs().iogcr(index.into()).read().cnt()
}
/// Discharge the IOs for subsequent acquisition
pub fn discharge_io(&mut self, status: bool) {
// Set the touch sensing IOs in low power mode
T::REGS.cr().modify(|w| {
T::regs().cr().modify(|w| {
w.set_iodef(!status);
});
}
@ -897,20 +940,32 @@ impl<'d, T: Instance> Drop for Tsc<'d, T> {
}
pub(crate) trait SealedInstance {
const REGS: Regs;
fn regs() -> crate::pac::tsc::Tsc;
fn waker() -> &'static AtomicWaker;
}
/// TSC instance trait
#[allow(private_bounds)]
pub trait Instance: Peripheral<P = Self> + SealedInstance + RccPeripheral {}
pub trait Instance: Peripheral<P = Self> + SealedInstance + RccPeripheral {
/// Interrupt for this TSC instance
type Interrupt: interrupt::typelevel::Interrupt;
}
foreach_peripheral!(
(tsc, $inst:ident) => {
impl SealedInstance for peripherals::$inst {
const REGS: Regs = crate::pac::$inst;
foreach_interrupt!(
($inst:ident, tsc, TSC, GLOBAL, $irq:ident) => {
impl Instance for peripherals::$inst {
type Interrupt = crate::interrupt::typelevel::$irq;
}
impl Instance for peripherals::$inst {}
impl SealedInstance for peripherals::$inst {
fn regs() -> crate::pac::tsc::Tsc {
crate::pac::$inst
}
fn waker() -> &'static AtomicWaker {
static WAKER: AtomicWaker = AtomicWaker::new();
&WAKER
}
}
};
);

12
examples/stm32u5/src/bin/tsc.rs
View File

@ -2,10 +2,17 @@
#![no_main]
use defmt::*;
use embassy_stm32::tsc::{self, *};
use embassy_stm32::{
bind_interrupts,
tsc::{self, *},
};
use embassy_time::Timer;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
TSC => InterruptHandler<embassy_stm32::peripherals::TSC>;
});
#[cortex_m_rt::exception]
unsafe fn HardFault(_: &cortex_m_rt::ExceptionFrame) -> ! {
cortex_m::peripheral::SCB::sys_reset();
@ -47,6 +54,7 @@ async fn main(_spawner: embassy_executor::Spawner) {
let mut touch_controller = tsc::Tsc::new(
context.TSC,
Irqs,
Some(g1),
Some(g2),
None,
@ -67,7 +75,7 @@ async fn main(_spawner: embassy_executor::Spawner) {
let mut group_seven_val = 0;
info!("Starting touch_controller interface");
loop {
touch_controller.poll_for_acquisition();
touch_controller.pend_for_acquisition().await;
touch_controller.discharge_io(true);
Timer::after_millis(1).await;