From 2655426cd80b828593c8cd60930da3ebbd60e85c Mon Sep 17 00:00:00 2001 From: Eekle <96976531+Eekle@users.noreply.github.com> Date: Sun, 23 Jun 2024 16:43:12 +0200 Subject: [PATCH] Add async wait to TSC --- embassy-stm32/src/tsc/mod.rs | 139 ++++++++++++++++++++++---------- examples/stm32u5/src/bin/tsc.rs | 12 ++- 2 files changed, 107 insertions(+), 44 deletions(-) diff --git a/embassy-stm32/src/tsc/mod.rs b/embassy-stm32/src/tsc/mod.rs index 8ba208ce7..6497ff0ee 100644 --- a/embassy-stm32/src/tsc/mod.rs +++ b/embassy-stm32/src/tsc/mod.rs @@ -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 { + _phantom: PhantomData, +} + +impl interrupt::typelevel::Handler for InterruptHandler { + 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

+ 'd, + _irq: impl interrupt::typelevel::Binding> + 'd, g1: Option>, g2: Option>, g3: Option>, @@ -663,7 +680,7 @@ impl<'d, T: Instance> Tsc<'d, T> { rcc::enable_and_reset::(); - 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

+ SealedInstance + RccPeripheral {} +pub trait Instance: Peripheral

+ 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 + } + } }; ); diff --git a/examples/stm32u5/src/bin/tsc.rs b/examples/stm32u5/src/bin/tsc.rs index f5593d1c4..642bbeaca 100644 --- a/examples/stm32u5/src/bin/tsc.rs +++ b/examples/stm32u5/src/bin/tsc.rs @@ -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; +}); + #[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;