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Merge pull request #3111 from Eekle/feature/async_tsc

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Add async API to TSC
This commit is contained in:
Ulf Lilleengen 2024-07-02 18:51:50 +00:00 committed by GitHub
commit 5223923bd2
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GPG Key ID: B5690EEEBB952194
2 changed files with 181 additions and 100 deletions
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273
embassy-stm32/src/tsc/mod.rs
View File

@ -65,15 +65,19 @@
/// Enums defined for peripheral parameters
pub mod enums;
use core::future::poll_fn;
use core::marker::PhantomData;
use core::task::Poll;
use embassy_hal_internal::{into_ref, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
pub use enums::*;
use crate::gpio::{AfType, AnyPin, OutputType, Speed};
use crate::pac::tsc::Tsc as Regs;
use crate::interrupt::typelevel::Interrupt;
use crate::mode::{Async, Blocking, Mode as PeriMode};
use crate::rcc::{self, RccPeripheral};
use crate::{peripherals, Peripheral};
use crate::{interrupt, peripherals, Peripheral};
#[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
@ -490,7 +506,7 @@ pub enum G7 {}
pub enum G8 {}
/// TSC driver
pub struct Tsc<'d, T: Instance> {
pub struct Tsc<'d, T: Instance, K: PeriMode> {
_peri: PeripheralRef<'d, T>,
_g1: Option<PinGroup<'d, T, G1>>,
_g2: Option<PinGroup<'d, T, G2>>,
@ -504,11 +520,102 @@ pub struct Tsc<'d, T: Instance> {
_g8: Option<PinGroup<'d, T, G8>>,
state: State,
config: Config,
_kind: PhantomData<K>,
}
impl<'d, T: Instance> Tsc<'d, T> {
/// Create new TSC driver
pub fn new(
impl<'d, T: Instance> Tsc<'d, T, Async> {
/// Create a Tsc instance that can be awaited for completion
pub fn new_async(
peri: impl Peripheral<P = T> + 'd,
g1: Option<PinGroup<'d, T, G1>>,
g2: Option<PinGroup<'d, T, G2>>,
g3: Option<PinGroup<'d, T, G3>>,
g4: Option<PinGroup<'d, T, G4>>,
g5: Option<PinGroup<'d, T, G5>>,
g6: Option<PinGroup<'d, T, G6>>,
#[cfg(any(tsc_v2, tsc_v3))] g7: Option<PinGroup<'d, T, G7>>,
#[cfg(tsc_v3)] g8: Option<PinGroup<'d, T, G8>>,
config: Config,
_irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
) -> Self {
// Need to check valid pin configuration input
let g1 = g1.filter(|b| b.check_group().is_ok());
let g2 = g2.filter(|b| b.check_group().is_ok());
let g3 = g3.filter(|b| b.check_group().is_ok());
let g4 = g4.filter(|b| b.check_group().is_ok());
let g5 = g5.filter(|b| b.check_group().is_ok());
let g6 = g6.filter(|b| b.check_group().is_ok());
#[cfg(any(tsc_v2, tsc_v3))]
let g7 = g7.filter(|b| b.check_group().is_ok());
#[cfg(tsc_v3)]
let g8 = g8.filter(|b| b.check_group().is_ok());
match Self::check_shields(
&g1,
&g2,
&g3,
&g4,
&g5,
&g6,
#[cfg(any(tsc_v2, tsc_v3))]
&g7,
#[cfg(tsc_v3)]
&g8,
) {
Ok(()) => Self::new_inner(
peri,
g1,
g2,
g3,
g4,
g5,
g6,
#[cfg(any(tsc_v2, tsc_v3))]
g7,
#[cfg(tsc_v3)]
g8,
config,
),
Err(_) => Self::new_inner(
peri,
None,
None,
None,
None,
None,
None,
#[cfg(any(tsc_v2, tsc_v3))]
None,
#[cfg(tsc_v3)]
None,
config,
),
}
}
/// 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;
}
}
impl<'d, T: Instance> Tsc<'d, T, Blocking> {
/// Create a Tsc instance that must be polled for completion
pub fn new_blocking(
peri: impl Peripheral<P = T> + 'd,
g1: Option<PinGroup<'d, T, G1>>,
g2: Option<PinGroup<'d, T, G2>>,
@ -574,7 +681,14 @@ impl<'d, T: Instance> Tsc<'d, T> {
),
}
}
/// Wait for end of acquisition
pub fn poll_for_acquisition(&mut self) {
while self.get_state() == State::Busy {}
}
}
impl<'d, T: Instance, K: PeriMode> Tsc<'d, T, K> {
/// Create new TSC driver
fn check_shields(
g1: &Option<PinGroup<'d, T, G1>>,
g2: &Option<PinGroup<'d, T, G2>>,
@ -663,7 +777,7 @@ 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 +805,39 @@ 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,
@ -732,6 +852,7 @@ impl<'d, T: Instance> Tsc<'d, T> {
_g8: g8,
state: State::Ready,
config,
_kind: PhantomData,
}
}
@ -740,68 +861,41 @@ 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| {
w.set_start(true);
});
}
/// Start charge transfer acquisition with interrupts enabled
pub fn start_it(&mut self) {
self.state = State::Busy;
// Enable interrupts
T::REGS.ier().modify(|w| {
w.set_eoaie(true);
w.set_mceie(self.config.max_count_interrupt);
});
// Clear flags
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| {
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);
});
@ -809,42 +903,11 @@ impl<'d, T: Instance> Tsc<'d, T> {
self.state = State::Ready;
}
/// Stop charge transfer acquisition and clear interrupts
pub fn stop_it(&mut self) {
T::REGS.cr().modify(|w| {
w.set_start(false);
});
// Set the touch sensing IOs in low power mode
T::REGS.cr().modify(|w| {
w.set_iodef(false);
});
// Disable interrupts
T::REGS.ier().modify(|w| {
w.set_eoaie(false);
w.set_mceie(false);
});
// Clear flags
T::REGS.icr().modify(|w| {
w.set_eoaic(true);
w.set_mceic(true);
});
self.state = State::Ready;
}
/// Wait for end of acquisition
pub fn poll_for_acquisition(&mut self) {
while self.get_state() == State::Busy {}
}
/// 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 +922,16 @@ 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,
@ -878,39 +941,51 @@ 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);
});
}
}
impl<'d, T: Instance> Drop for Tsc<'d, T> {
impl<'d, T: Instance, K: PeriMode> Drop for Tsc<'d, T, K> {
fn drop(&mut self) {
rcc::disable::<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 {}
foreach_peripheral!(
(tsc, $inst:ident) => {
impl SealedInstance for peripherals::$inst {
const REGS: Regs = crate::pac::$inst;
pub trait Instance: Peripheral<P = Self> + SealedInstance + RccPeripheral {
/// Interrupt for this TSC instance
type Interrupt: interrupt::typelevel::Interrupt;
}
impl Instance for peripherals::$inst {}
foreach_interrupt!(
($inst:ident, tsc, TSC, GLOBAL, $irq:ident) => {
impl Instance for peripherals::$inst {
type Interrupt = crate::interrupt::typelevel::$irq;
}
impl SealedInstance for peripherals::$inst {
fn regs() -> crate::pac::tsc::Tsc {
crate::pac::$inst
}
fn waker() -> &'static AtomicWaker {
static WAKER: AtomicWaker = AtomicWaker::new();
&WAKER
}
}
};
);

10
examples/stm32u5/src/bin/tsc.rs
View File

@ -2,10 +2,15 @@
#![no_main]
use defmt::*;
use embassy_stm32::bind_interrupts;
use embassy_stm32::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();
@ -45,7 +50,7 @@ async fn main(_spawner: embassy_executor::Spawner) {
g7.set_io2(context.PE3, PinType::Sample);
g7.set_io3(context.PE4, PinType::Channel);
let mut touch_controller = tsc::Tsc::new(
let mut touch_controller = tsc::Tsc::new_async(
context.TSC,
Some(g1),
Some(g2),
@ -56,6 +61,7 @@ async fn main(_spawner: embassy_executor::Spawner) {
Some(g7),
None,
config,
Irqs,
);
touch_controller.discharge_io(true);
@ -67,7 +73,7 @@ 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;