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Merge pull request #748 from embassy-rs/nrf-i2c-timeout

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Misc HAL improvements.
This commit is contained in:
Dario Nieuwenhuis 2022-05-03 01:25:05 +02:00 committed by GitHub
commit 49ae26f384
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 288 additions and 29 deletions
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4
embassy-nrf/Cargo.toml
View File

@ -17,6 +17,8 @@ flavors = [
[features]
time = ["embassy/time"]
defmt = ["dep:defmt", "embassy/defmt", "embassy-usb?/defmt"]
# Enable nightly-only features
@ -56,7 +58,7 @@ _nrf5340-net = ["_nrf5340", "nrf5340-net-pac"]
_nrf5340 = ["_gpio-p1", "_dppi"]
_nrf9160 = ["nrf9160-pac", "_dppi"]
_time-driver = ["embassy/time-tick-32768hz"]
_time-driver = ["embassy/time-tick-32768hz", "time"]
_ppi = []
_dppi = []

70
embassy-nrf/src/gpio.rs
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@ -7,10 +7,10 @@ use core::marker::PhantomData;
use cfg_if::cfg_if;
use embassy::util::Unborrow;
use embassy_hal_common::{unborrow, unsafe_impl_unborrow};
use gpio::pin_cnf::DRIVE_A;
use crate::pac;
use crate::pac::p0 as gpio;
use crate::pac::p0::pin_cnf::{DRIVE_A, PULL_A};
use self::sealed::Pin as _;
@ -129,9 +129,30 @@ impl<'d, T: Pin> Output<'d, T> {
}
}
fn convert_drive(drive: OutputDrive) -> DRIVE_A {
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,
}
}
fn convert_pull(pull: Pull) -> PULL_A {
match pull {
Pull::None => PULL_A::DISABLED,
Pull::Up => PULL_A::PULLUP,
Pull::Down => PULL_A::PULLDOWN,
}
}
/// GPIO flexible pin.
///
/// This pin can either be a disconnected, input, or output pin. The level register bit will remain
/// This pin can either be a disconnected, input, or output pin, or both. The level register bit will remain
/// set while not in output mode, so the pin's level will be 'remembered' when it is not in output
/// mode.
pub struct Flex<'d, T: Pin> {
@ -158,17 +179,7 @@ impl<'d, T: Pin> Flex<'d, T> {
self.pin.conf().write(|w| {
w.dir().input();
w.input().connect();
match pull {
Pull::None => {
w.pull().disabled();
}
Pull::Up => {
w.pull().pullup();
}
Pull::Down => {
w.pull().pulldown();
}
}
w.pull().variant(convert_pull(pull));
w.drive().s0s1();
w.sense().disabled();
w
@ -180,22 +191,31 @@ impl<'d, T: Pin> Flex<'d, T> {
/// The pin level will be whatever was set before (or low by default). If you want it to begin
/// at a specific level, call `set_high`/`set_low` on the pin first.
pub fn set_as_output(&mut self, drive: OutputDrive) {
let 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,
};
self.pin.conf().write(|w| {
w.dir().output();
w.input().disconnect();
w.pull().disabled();
w.drive().variant(drive);
w.drive().variant(convert_drive(drive));
w.sense().disabled();
w
});
}
/// Put the pin into input + output mode.
///
/// This is commonly used for "open drain" mode. If you set `drive = Standard0Disconnect1`,
/// the hardware will drive the line low if you set it to low, and will leave it floating if you set
/// it to high, in which case you can read the input to figure out whether another device
/// is driving the line low.
///
/// The pin level will be whatever was set before (or low by default). If you want it to begin
/// at a specific level, call `set_high`/`set_low` on the pin first.
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
});

140
embassy-nrf/src/twim.rs
View File

@ -11,6 +11,8 @@ use core::marker::PhantomData;
use core::sync::atomic::{compiler_fence, Ordering::SeqCst};
use core::task::Poll;
use embassy::interrupt::{Interrupt, InterruptExt};
#[cfg(feature = "time")]
use embassy::time::{Duration, Instant};
use embassy::util::Unborrow;
use embassy::waitqueue::AtomicWaker;
use embassy_hal_common::unborrow;
@ -34,7 +36,9 @@ pub enum Frequency {
#[non_exhaustive]
pub struct Config {
pub frequency: Frequency,
pub sda_high_drive: bool,
pub sda_pullup: bool,
pub scl_high_drive: bool,
pub scl_pullup: bool,
}
@ -42,7 +46,9 @@ impl Default for Config {
fn default() -> Self {
Self {
frequency: Frequency::K100,
scl_high_drive: false,
sda_pullup: false,
sda_high_drive: false,
scl_pullup: false,
}
}
@ -62,6 +68,7 @@ pub enum Error {
AddressNack,
DataNack,
Overrun,
Timeout,
}
/// Interface to a TWIM instance using EasyDMA to offload the transmission and reception workload.
@ -87,7 +94,11 @@ impl<'d, T: Instance> Twim<'d, T> {
sda.conf().write(|w| {
w.dir().input();
w.input().connect();
w.drive().s0d1();
if config.sda_high_drive {
w.drive().h0d1();
} else {
w.drive().s0d1();
}
if config.sda_pullup {
w.pull().pullup();
}
@ -96,7 +107,11 @@ impl<'d, T: Instance> Twim<'d, T> {
scl.conf().write(|w| {
w.dir().input();
w.input().connect();
w.drive().s0d1();
if config.scl_high_drive {
w.drive().h0d1();
} else {
w.drive().s0d1();
}
if config.scl_pullup {
w.pull().pullup();
}
@ -266,6 +281,29 @@ impl<'d, T: Instance> Twim<'d, T> {
}
}
/// Wait for stop or error
#[cfg(feature = "time")]
fn blocking_wait_timeout(&mut self, timeout: Duration) -> Result<(), Error> {
let r = T::regs();
let deadline = Instant::now() + timeout;
loop {
if r.events_stopped.read().bits() != 0 {
r.events_stopped.reset();
break;
}
if r.events_error.read().bits() != 0 {
r.events_error.reset();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
}
if Instant::now() > deadline {
r.tasks_stop.write(|w| unsafe { w.bits(1) });
return Err(Error::Timeout);
}
}
Ok(())
}
/// Wait for stop or error
fn async_wait(&mut self) -> impl Future<Output = ()> {
poll_fn(move |cx| {
@ -493,6 +531,103 @@ impl<'d, T: Instance> Twim<'d, T> {
Ok(())
}
// ===========================================
/// Write to an I2C slave with timeout.
///
/// See [`blocking_write`].
#[cfg(feature = "time")]
pub fn blocking_write_timeout(
&mut self,
address: u8,
buffer: &[u8],
timeout: Duration,
) -> Result<(), Error> {
self.setup_write(address, buffer, false)?;
self.blocking_wait_timeout(timeout)?;
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_tx(buffer.len())?;
Ok(())
}
/// Same as [`blocking_write`](Twim::blocking_write) but will fail instead of copying data into RAM. Consult the module level documentation to learn more.
#[cfg(feature = "time")]
pub fn blocking_write_from_ram_timeout(
&mut self,
address: u8,
buffer: &[u8],
timeout: Duration,
) -> Result<(), Error> {
self.setup_write_from_ram(address, buffer, false)?;
self.blocking_wait_timeout(timeout)?;
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_tx(buffer.len())?;
Ok(())
}
/// Read from an I2C slave.
///
/// The buffer must have a length of at most 255 bytes on the nRF52832
/// and at most 65535 bytes on the nRF52840.
#[cfg(feature = "time")]
pub fn blocking_read_timeout(
&mut self,
address: u8,
buffer: &mut [u8],
timeout: Duration,
) -> Result<(), Error> {
self.setup_read(address, buffer, false)?;
self.blocking_wait_timeout(timeout)?;
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_rx(buffer.len())?;
Ok(())
}
/// Write data to an I2C slave, then read data from the slave without
/// triggering a stop condition between the two.
///
/// The buffers must have a length of at most 255 bytes on the nRF52832
/// and at most 65535 bytes on the nRF52840.
#[cfg(feature = "time")]
pub fn blocking_write_read_timeout(
&mut self,
address: u8,
wr_buffer: &[u8],
rd_buffer: &mut [u8],
timeout: Duration,
) -> Result<(), Error> {
self.setup_write_read(address, wr_buffer, rd_buffer, false)?;
self.blocking_wait_timeout(timeout)?;
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_tx(wr_buffer.len())?;
self.check_rx(rd_buffer.len())?;
Ok(())
}
/// Same as [`blocking_write_read`](Twim::blocking_write_read) but will fail instead of copying data into RAM. Consult the module level documentation to learn more.
#[cfg(feature = "time")]
pub fn blocking_write_read_from_ram_timeout(
&mut self,
address: u8,
wr_buffer: &[u8],
rd_buffer: &mut [u8],
timeout: Duration,
) -> Result<(), Error> {
self.setup_write_read_from_ram(address, wr_buffer, rd_buffer, false)?;
self.blocking_wait_timeout(timeout)?;
compiler_fence(SeqCst);
self.check_errorsrc()?;
self.check_tx(wr_buffer.len())?;
self.check_rx(rd_buffer.len())?;
Ok(())
}
// ===========================================
pub async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error> {
self.setup_read(address, buffer, true)?;
self.async_wait().await;
@ -677,6 +812,7 @@ mod eh1 {
embedded_hal_1::i2c::NoAcknowledgeSource::Data,
),
Self::Overrun => embedded_hal_1::i2c::ErrorKind::Overrun,
Self::Timeout => embedded_hal_1::i2c::ErrorKind::Other,
}
}
}

101
embassy-stm32/src/gpio.rs
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@ -3,7 +3,6 @@ use core::convert::Infallible;
use core::marker::PhantomData;
use embassy::util::Unborrow;
use embassy_hal_common::{unborrow, unsafe_impl_unborrow};
use embedded_hal_02::digital::v2::{InputPin, OutputPin, StatefulOutputPin, ToggleableOutputPin};
use crate::pac;
use crate::pac::gpio::{self, vals};
@ -605,6 +604,9 @@ pub(crate) unsafe fn init() {
mod eh02 {
use super::*;
use embedded_hal_02::digital::v2::{
InputPin, OutputPin, StatefulOutputPin, ToggleableOutputPin,
};
impl<'d, T: Pin> InputPin for Input<'d, T> {
type Error = Infallible;
@ -691,6 +693,103 @@ mod eh02 {
}
}
#[cfg(feature = "unstable-traits")]
mod eh1 {
use super::*;
use embedded_hal_1::digital::blocking::{
InputPin, OutputPin, StatefulOutputPin, ToggleableOutputPin,
};
use embedded_hal_1::digital::ErrorType;
impl<'d, T: Pin> ErrorType for Input<'d, T> {
type Error = Infallible;
}
impl<'d, T: Pin> InputPin for Input<'d, T> {
#[inline]
fn is_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_high())
}
#[inline]
fn is_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_low())
}
}
impl<'d, T: Pin> ErrorType for Output<'d, T> {
type Error = Infallible;
}
impl<'d, T: Pin> OutputPin for Output<'d, T> {
#[inline]
fn set_high(&mut self) -> Result<(), Self::Error> {
Ok(self.set_high())
}
#[inline]
fn set_low(&mut self) -> Result<(), Self::Error> {
Ok(self.set_low())
}
}
impl<'d, T: Pin> StatefulOutputPin for Output<'d, T> {
#[inline]
fn is_set_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_high())
}
/// Is the output pin set as low?
#[inline]
fn is_set_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_low())
}
}
impl<'d, T: Pin> ToggleableOutputPin for Output<'d, T> {
#[inline]
fn toggle(&mut self) -> Result<(), Self::Error> {
Ok(self.toggle())
}
}
impl<'d, T: Pin> ErrorType for OutputOpenDrain<'d, T> {
type Error = Infallible;
}
impl<'d, T: Pin> OutputPin for OutputOpenDrain<'d, T> {
#[inline]
fn set_high(&mut self) -> Result<(), Self::Error> {
Ok(self.set_high())
}
#[inline]
fn set_low(&mut self) -> Result<(), Self::Error> {
Ok(self.set_low())
}
}
impl<'d, T: Pin> StatefulOutputPin for OutputOpenDrain<'d, T> {
#[inline]
fn is_set_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_high())
}
/// Is the output pin set as low?
#[inline]
fn is_set_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_low())
}
}
impl<'d, T: Pin> ToggleableOutputPin for OutputOpenDrain<'d, T> {
#[inline]
fn toggle(&mut self) -> Result<(), Self::Error> {
Ok(self.toggle())
}
}
}
#[cfg(feature = "unstable-pac")]
pub mod low_level {
pub use super::sealed::*;

2
embassy/src/time/timer.rs
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@ -7,6 +7,8 @@ use crate::executor::raw;
use crate::time::{Duration, Instant};
/// Error returned by [`with_timeout`] on timeout.
#[derive(Debug, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct TimeoutError;
/// Runs a given future with a timeout.