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stm32: add draft spi trait (#130)

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xoviat 2021-04-13 16:11:06 -05:00 committed by GitHub
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commit 8e040cc5d2
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3 changed files with 481 additions and 1 deletions
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1
embassy-stm32/src/f4/mod.rs
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@ -1 +1,2 @@
pub mod serial;
pub mod spi;

479
embassy-stm32/src/f4/spi.rs Normal file
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@ -0,0 +1,479 @@
//! Async SPI
use embassy::time;
use core::{future::Future, marker::PhantomData, mem, ops::Deref, pin::Pin, ptr};
use embassy::{interrupt::Interrupt, traits::spi::FullDuplex, util::InterruptFuture};
use nb;
pub use crate::hal::spi::{Mode, Phase, Polarity};
use crate::hal::{
bb, dma,
dma::config::DmaConfig,
dma::traits::{Channel, DMASet, PeriAddress, Stream},
dma::{MemoryToPeripheral, PeripheralToMemory, Transfer},
rcc::Clocks,
spi::Pins,
time::Hertz,
};
use crate::interrupt;
use crate::pac;
use futures::future;
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[non_exhaustive]
pub enum Error {
TxBufferTooLong,
RxBufferTooLong,
Overrun,
ModeFault,
Crc,
}
fn read_sr<T: Instance>(spi: &T) -> nb::Result<u8, Error> {
let sr = spi.sr.read();
Err(if sr.ovr().bit_is_set() {
nb::Error::Other(Error::Overrun)
} else if sr.modf().bit_is_set() {
nb::Error::Other(Error::ModeFault)
} else if sr.crcerr().bit_is_set() {
nb::Error::Other(Error::Crc)
} else if sr.rxne().bit_is_set() {
// NOTE(read_volatile) read only 1 byte (the svd2rust API only allows
// reading a half-word)
return Ok(unsafe { ptr::read_volatile(&spi.dr as *const _ as *const u8) });
} else {
nb::Error::WouldBlock
})
}
fn write_sr<T: Instance>(spi: &T, byte: u8) -> nb::Result<(), Error> {
let sr = spi.sr.read();
Err(if sr.ovr().bit_is_set() {
// Read from the DR to clear the OVR bit
let _ = spi.dr.read();
nb::Error::Other(Error::Overrun)
} else if sr.modf().bit_is_set() {
// Write to CR1 to clear MODF
spi.cr1.modify(|_r, w| w);
nb::Error::Other(Error::ModeFault)
} else if sr.crcerr().bit_is_set() {
// Clear the CRCERR bit
spi.sr.modify(|_r, w| {
w.crcerr().clear_bit();
w
});
nb::Error::Other(Error::Crc)
} else if sr.txe().bit_is_set() {
// NOTE(write_volatile) see note above
unsafe { ptr::write_volatile(&spi.dr as *const _ as *mut u8, byte) }
return Ok(());
} else {
nb::Error::WouldBlock
})
}
/// Interface to the Serial peripheral
pub struct Spi<
SPI: PeriAddress<MemSize = u8> + WithInterrupt,
TSTREAM: Stream + WithInterrupt,
RSTREAM: Stream + WithInterrupt,
CHANNEL: Channel,
> {
tx_stream: Option<TSTREAM>,
rx_stream: Option<RSTREAM>,
spi: Option<SPI>,
tx_int: TSTREAM::Interrupt,
rx_int: RSTREAM::Interrupt,
spi_int: SPI::Interrupt,
channel: PhantomData<CHANNEL>,
}
impl<SPI, TSTREAM, RSTREAM, CHANNEL> Spi<SPI, TSTREAM, RSTREAM, CHANNEL>
where
SPI: Instance
+ PeriAddress<MemSize = u8>
+ DMASet<TSTREAM, CHANNEL, MemoryToPeripheral>
+ DMASet<RSTREAM, CHANNEL, PeripheralToMemory>
+ WithInterrupt,
TSTREAM: Stream + WithInterrupt,
RSTREAM: Stream + WithInterrupt,
CHANNEL: Channel,
{
// Leaking futures is forbidden!
pub unsafe fn new<PINS>(
spi: SPI,
streams: (TSTREAM, RSTREAM),
pins: PINS,
tx_int: TSTREAM::Interrupt,
rx_int: RSTREAM::Interrupt,
spi_int: SPI::Interrupt,
mode: Mode,
freq: Hertz,
clocks: Clocks,
) -> Self
where
PINS: Pins<SPI>,
{
let (tx_stream, rx_stream) = streams;
// let spi1: crate::pac::SPI1 = unsafe { mem::transmute(()) };
// let mut hspi = crate::hal::spi::Spi::spi1(
// spi1,
// (
// crate::hal::spi::NoSck,
// crate::hal::spi::NoMiso,
// crate::hal::spi::NoMosi,
// ),
// mode,
// freq,
// clocks,
// );
unsafe { SPI::enable_clock() };
let clock = SPI::clock_speed(clocks);
// disable SS output
// spi.cr2
// .write(|w| w.ssoe().clear_bit().rxdmaen().set_bit().txdmaen().set_bit());
spi.cr2.write(|w| w.ssoe().clear_bit());
let br = match clock.0 / freq.0 {
0 => unreachable!(),
1..=2 => 0b000,
3..=5 => 0b001,
6..=11 => 0b010,
12..=23 => 0b011,
24..=47 => 0b100,
48..=95 => 0b101,
96..=191 => 0b110,
_ => 0b111,
};
// mstr: master configuration
// lsbfirst: MSB first
// ssm: enable software slave management (NSS pin free for other uses)
// ssi: set nss high = master mode
// dff: 8 bit frames
// bidimode: 2-line unidirectional
// spe: enable the SPI bus
spi.cr1.write(|w| {
w.cpha()
.bit(mode.phase == Phase::CaptureOnSecondTransition)
.cpol()
.bit(mode.polarity == Polarity::IdleHigh)
.mstr()
.set_bit()
.br()
.bits(br)
.lsbfirst()
.clear_bit()
.ssm()
.set_bit()
.ssi()
.set_bit()
.rxonly()
.clear_bit()
.dff()
.clear_bit()
.bidimode()
.clear_bit()
.spe()
.set_bit()
});
Self {
tx_stream: Some(tx_stream),
rx_stream: Some(rx_stream),
spi: Some(spi),
tx_int: tx_int,
rx_int: rx_int,
spi_int: spi_int,
channel: PhantomData,
}
}
}
impl<SPI, TSTREAM, RSTREAM, CHANNEL> FullDuplex<u8> for Spi<SPI, TSTREAM, RSTREAM, CHANNEL>
where
SPI: Instance
+ PeriAddress<MemSize = u8>
+ DMASet<TSTREAM, CHANNEL, MemoryToPeripheral>
+ DMASet<RSTREAM, CHANNEL, PeripheralToMemory>
+ WithInterrupt
+ 'static,
TSTREAM: Stream + WithInterrupt + 'static,
RSTREAM: Stream + WithInterrupt + 'static,
CHANNEL: Channel + 'static,
{
type Error = Error;
type WriteFuture<'a> = impl Future<Output = Result<(), Error>> + 'a;
type ReadFuture<'a> = impl Future<Output = Result<(), Error>> + 'a;
type WriteReadFuture<'a> = impl Future<Output = Result<(), Error>> + 'a;
fn read<'a>(self: Pin<&'a mut Self>, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
let this = unsafe { self.get_unchecked_mut() };
#[allow(mutable_transmutes)]
let static_buf: &'static mut [u8] = unsafe { mem::transmute(buf) };
async move {
let rx_stream = this.rx_stream.take().unwrap();
let spi = this.spi.take().unwrap();
spi.cr2.modify(|_, w| w.errie().set_bit());
let mut rx_transfer = Transfer::init(
rx_stream,
spi,
static_buf,
None,
DmaConfig::default()
.transfer_complete_interrupt(true)
.memory_increment(true)
.double_buffer(false),
);
let fut = InterruptFuture::new(&mut this.rx_int);
let fut_err = InterruptFuture::new(&mut this.spi_int);
rx_transfer.start(|_spi| {});
future::select(fut, fut_err).await;
let (rx_stream, spi, _buf, _) = rx_transfer.free();
spi.cr2.modify(|_, w| w.errie().clear_bit());
this.rx_stream.replace(rx_stream);
this.spi.replace(spi);
Ok(())
}
}
fn write<'a>(self: Pin<&'a mut Self>, buf: &'a [u8]) -> Self::WriteFuture<'a> {
let this = unsafe { self.get_unchecked_mut() };
#[allow(mutable_transmutes)]
let static_buf: &'static mut [u8] = unsafe { mem::transmute(buf) };
async move {
let tx_stream = this.tx_stream.take().unwrap();
let spi = this.spi.take().unwrap();
// let mut tx_transfer = Transfer::init(
// tx_stream,
// spi,
// static_buf,
// None,
// DmaConfig::default()
// .transfer_complete_interrupt(true)
// .memory_increment(true)
// .double_buffer(false),
// );
//
// let fut = InterruptFuture::new(&mut this.tx_int);
//
// tx_transfer.start(|_spi| {});
// fut.await;
// let (tx_stream, spi, _buf, _) = tx_transfer.free();
for i in 0..(static_buf.len() - 1) {
let byte = static_buf[i];
nb::block!(write_sr(&spi, byte));
}
this.tx_stream.replace(tx_stream);
this.spi.replace(spi);
Ok(())
}
}
fn read_write<'a>(
self: Pin<&'a mut Self>,
read_buf: &'a mut [u8],
write_buf: &'a [u8],
) -> Self::WriteReadFuture<'a> {
let this = unsafe { self.get_unchecked_mut() };
#[allow(mutable_transmutes)]
let write_static_buf: &'static mut [u8] = unsafe { mem::transmute(write_buf) };
let read_static_buf: &'static mut [u8] = unsafe { mem::transmute(read_buf) };
async move {
let tx_stream = this.tx_stream.take().unwrap();
let rx_stream = this.rx_stream.take().unwrap();
let spi_tx = this.spi.take().unwrap();
let spi_rx: SPI = unsafe { mem::transmute_copy(&spi_tx) };
spi_rx
.cr2
.modify(|_, w| w.errie().set_bit().txeie().set_bit().rxneie().set_bit());
// let mut tx_transfer = Transfer::init(
// tx_stream,
// spi_tx,
// write_static_buf,
// None,
// DmaConfig::default()
// .transfer_complete_interrupt(true)
// .memory_increment(true)
// .double_buffer(false),
// );
//
// let mut rx_transfer = Transfer::init(
// rx_stream,
// spi_rx,
// read_static_buf,
// None,
// DmaConfig::default()
// .transfer_complete_interrupt(true)
// .memory_increment(true)
// .double_buffer(false),
// );
//
// let tx_fut = InterruptFuture::new(&mut this.tx_int);
// let rx_fut = InterruptFuture::new(&mut this.rx_int);
// let rx_fut_err = InterruptFuture::new(&mut this.spi_int);
//
// rx_transfer.start(|_spi| {});
// tx_transfer.start(|_spi| {});
//
// time::Timer::after(time::Duration::from_millis(500)).await;
//
// // tx_fut.await;
// // future::select(rx_fut, rx_fut_err).await;
//
// let (rx_stream, spi_rx, _buf, _) = rx_transfer.free();
// let (tx_stream, _, _buf, _) = tx_transfer.free();
for i in 0..(read_static_buf.len() - 1) {
let byte = write_static_buf[i];
loop {
let fut = InterruptFuture::new(&mut this.spi_int);
match write_sr(&spi_tx, byte) {
Ok(()) => break,
_ => {}
}
fut.await;
}
loop {
let fut = InterruptFuture::new(&mut this.spi_int);
match read_sr(&spi_tx) {
Ok(byte) => {
read_static_buf[i] = byte;
break;
}
_ => {}
}
fut.await;
}
}
spi_rx.cr2.modify(|_, w| {
w.errie()
.clear_bit()
.txeie()
.clear_bit()
.rxneie()
.clear_bit()
});
this.rx_stream.replace(rx_stream);
this.tx_stream.replace(tx_stream);
this.spi.replace(spi_rx);
Ok(())
}
}
}
mod private {
pub trait Sealed {}
}
pub trait WithInterrupt: private::Sealed {
type Interrupt: Interrupt;
}
pub trait Instance: Deref<Target = pac::spi1::RegisterBlock> + private::Sealed {
unsafe fn enable_clock();
fn clock_speed(clocks: Clocks) -> Hertz;
}
macro_rules! dma {
($($PER:ident => ($dma:ident, $stream:ident),)+) => {
$(
impl private::Sealed for dma::$stream<pac::$dma> {}
impl WithInterrupt for dma::$stream<pac::$dma> {
type Interrupt = interrupt::$PER;
}
)+
}
}
macro_rules! spi {
($($PER:ident => ($SPI:ident, $pclkX:ident, $apbXenr:ident, $en:expr),)+) => {
$(
impl private::Sealed for pac::$SPI {}
impl Instance for pac::$SPI {
unsafe fn enable_clock() {
const EN_BIT: u8 = $en;
// NOTE(unsafe) this reference will only be used for atomic writes with no side effects.
let rcc = &(*pac::RCC::ptr());
// Enable clock.
bb::set(&rcc.$apbXenr, EN_BIT);
// Stall the pipeline to work around erratum 2.1.13 (DM00037591)
cortex_m::asm::dsb();
}
fn clock_speed(clocks: Clocks) -> Hertz {
clocks.$pclkX()
}
}
impl WithInterrupt for pac::$SPI {
type Interrupt = interrupt::$PER;
}
)+
}
}
dma! {
DMA2_STREAM0 => (DMA2, Stream0),
DMA2_STREAM1 => (DMA2, Stream1),
DMA2_STREAM2 => (DMA2, Stream2),
DMA2_STREAM3 => (DMA2, Stream3),
DMA2_STREAM4 => (DMA2, Stream4),
DMA2_STREAM5 => (DMA2, Stream5),
DMA2_STREAM6 => (DMA2, Stream6),
DMA2_STREAM7 => (DMA2, Stream7),
DMA1_STREAM0 => (DMA1, Stream0),
DMA1_STREAM1 => (DMA1, Stream1),
DMA1_STREAM2 => (DMA1, Stream2),
DMA1_STREAM3 => (DMA1, Stream3),
DMA1_STREAM4 => (DMA1, Stream4),
DMA1_STREAM5 => (DMA1, Stream5),
DMA1_STREAM6 => (DMA1, Stream6),
}
#[cfg(any(
feature = "stm32f401",
feature = "stm32f410",
feature = "stm32f411",
feature = "stm32f446",
))]
spi! {
SPI1 => (SPI1, pclk2, apb2enr, 12),
SPI2 => (SPI2, pclk1, apb2enr, 14),
// SPI6 => (SPI6, pclk2, apb2enr, 21),
SPI4 => (SPI3, pclk2, apb2enr, 13),
// SPI5 => (SPI3, pclk2, apb2enr, 20),
}
#[cfg(any(feature = "stm32f405", feature = "stm32f407"))]
spi! {
SPI1 => (SPI1, pclk2, apb2enr, 12),
SPI3 => (SPI3, pclk1, apb2enr, 15),
}

2
embassy-stm32/src/lib.rs
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@ -109,7 +109,7 @@ pub mod rtc;
feature = "stm32f469",
feature = "stm32f479",
))]
pub use f4::serial;
pub use f4::{serial, spi};
#[cfg(any(
feature = "stm32f401",