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This commit is contained in:
Henrik Alsér 2022-07-09 00:00:55 +02:00
parent 15384d27bb
commit d637510b44
8 changed files with 128 additions and 141 deletions
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5
embassy-embedded-hal/src/lib.rs
View File

@ -5,6 +5,7 @@
pub mod adapter;
pub mod shared_bus;
pub trait SetConfig<C> {
fn set_config(&mut self, config: &C);
pub trait SetConfig {
type Config;
fn set_config(&mut self, config: &Self::Config);
}

103
embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
View File

@ -101,28 +101,71 @@ where
}
}
pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS, C> {
bus: &'a Mutex<M, RefCell<BUS>>,
config: C,
impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Write for I2cBusDevice<'_, M, BUS>
where
M: RawMutex,
BUS: embedded_hal_02::blocking::i2c::Write<Error = E>,
{
type Error = I2cBusDeviceError<E>;
fn write<'w>(&mut self, addr: u8, bytes: &'w [u8]) -> Result<(), Self::Error> {
self.bus
.lock(|bus| bus.borrow_mut().write(addr, bytes).map_err(I2cBusDeviceError::I2c))
}
}
impl<'a, M: RawMutex, BUS, C> I2cBusDeviceWithConfig<'a, M, BUS, C> {
pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, config: C) -> Self {
impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Read for I2cBusDevice<'_, M, BUS>
where
M: RawMutex,
BUS: embedded_hal_02::blocking::i2c::Read<Error = E>,
{
type Error = I2cBusDeviceError<E>;
fn read<'w>(&mut self, addr: u8, bytes: &'w mut [u8]) -> Result<(), Self::Error> {
self.bus
.lock(|bus| bus.borrow_mut().read(addr, bytes).map_err(I2cBusDeviceError::I2c))
}
}
impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::WriteRead for I2cBusDevice<'_, M, BUS>
where
M: RawMutex,
BUS: embedded_hal_02::blocking::i2c::WriteRead<Error = E>,
{
type Error = I2cBusDeviceError<E>;
fn write_read<'w>(&mut self, addr: u8, bytes: &'w [u8], buffer: &'w mut [u8]) -> Result<(), Self::Error> {
self.bus.lock(|bus| {
bus.borrow_mut()
.write_read(addr, bytes, buffer)
.map_err(I2cBusDeviceError::I2c)
})
}
}
pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig> {
bus: &'a Mutex<M, RefCell<BUS>>,
config: BUS::Config,
}
impl<'a, M: RawMutex, BUS: SetConfig> I2cBusDeviceWithConfig<'a, M, BUS> {
pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, config: BUS::Config) -> Self {
Self { bus, config }
}
}
impl<'a, M: RawMutex, BUS, C> ErrorType for I2cBusDeviceWithConfig<'a, M, BUS, C>
impl<'a, M, BUS> ErrorType for I2cBusDeviceWithConfig<'a, M, BUS>
where
BUS: ErrorType,
M: RawMutex,
BUS: ErrorType + SetConfig,
{
type Error = I2cBusDeviceError<BUS::Error>;
}
impl<M, BUS, C> I2c for I2cBusDeviceWithConfig<'_, M, BUS, C>
impl<M, BUS> I2c for I2cBusDeviceWithConfig<'_, M, BUS>
where
M: RawMutex,
BUS: I2c + SetConfig<C>,
BUS: I2c + SetConfig,
{
fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
self.bus.lock(|bus| {
@ -183,45 +226,3 @@ where
todo!()
}
}
impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Write for I2cBusDevice<'_, M, BUS>
where
M: RawMutex,
BUS: embedded_hal_02::blocking::i2c::Write<Error = E>,
{
type Error = I2cBusDeviceError<E>;
fn write<'w>(&mut self, addr: u8, bytes: &'w [u8]) -> Result<(), Self::Error> {
self.bus
.lock(|bus| bus.borrow_mut().write(addr, bytes).map_err(I2cBusDeviceError::I2c))
}
}
impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Read for I2cBusDevice<'_, M, BUS>
where
M: RawMutex,
BUS: embedded_hal_02::blocking::i2c::Read<Error = E>,
{
type Error = I2cBusDeviceError<E>;
fn read<'w>(&mut self, addr: u8, bytes: &'w mut [u8]) -> Result<(), Self::Error> {
self.bus
.lock(|bus| bus.borrow_mut().read(addr, bytes).map_err(I2cBusDeviceError::I2c))
}
}
impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::WriteRead for I2cBusDevice<'_, M, BUS>
where
M: RawMutex,
BUS: embedded_hal_02::blocking::i2c::WriteRead<Error = E>,
{
type Error = I2cBusDeviceError<E>;
fn write_read<'w>(&mut self, addr: u8, bytes: &'w [u8], buffer: &'w mut [u8]) -> Result<(), Self::Error> {
self.bus.lock(|bus| {
bus.borrow_mut()
.write_read(addr, bytes, buffer)
.map_err(I2cBusDeviceError::I2c)
})
}
}

97
embassy-embedded-hal/src/shared_bus/blocking/spi.rs
View File

@ -76,54 +76,6 @@ where
}
}
pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS, CS, C> {
bus: &'a Mutex<M, RefCell<BUS>>,
cs: CS,
config: C,
}
impl<'a, M: RawMutex, BUS, CS, C> SpiBusDeviceWithConfig<'a, M, BUS, CS, C> {
pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, cs: CS, config: C) -> Self {
Self { bus, cs, config }
}
}
impl<'a, M: RawMutex, BUS, CS, C> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS, C>
where
BUS: spi::ErrorType,
CS: OutputPin,
{
type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
}
impl<BUS, M, CS, C> SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS, C>
where
M: RawMutex,
BUS: SpiBusFlush + SetConfig<C>,
CS: OutputPin,
{
type Bus = BUS;
fn transaction<R>(&mut self, f: impl FnOnce(&mut Self::Bus) -> Result<R, BUS::Error>) -> Result<R, Self::Error> {
self.bus.lock(|bus| {
let mut bus = bus.borrow_mut();
bus.set_config(&self.config);
self.cs.set_low().map_err(SpiBusDeviceError::Cs)?;
let f_res = f(&mut bus);
// On failure, it's important to still flush and deassert CS.
let flush_res = bus.flush();
let cs_res = self.cs.set_high();
let f_res = f_res.map_err(SpiBusDeviceError::Spi)?;
flush_res.map_err(SpiBusDeviceError::Spi)?;
cs_res.map_err(SpiBusDeviceError::Cs)?;
Ok(f_res)
})
}
}
impl<'d, M, BUS, CS, BusErr, CsErr> embedded_hal_02::blocking::spi::Transfer<u8> for SpiBusDevice<'_, M, BUS, CS>
where
M: RawMutex,
@ -164,3 +116,52 @@ where
})
}
}
pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig, CS> {
bus: &'a Mutex<M, RefCell<BUS>>,
cs: CS,
config: BUS::Config,
}
impl<'a, M: RawMutex, BUS: SetConfig, CS> SpiBusDeviceWithConfig<'a, M, BUS, CS> {
pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, cs: CS, config: BUS::Config) -> Self {
Self { bus, cs, config }
}
}
impl<'a, M, BUS, CS> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS>
where
M: RawMutex,
BUS: spi::ErrorType + SetConfig,
CS: OutputPin,
{
type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
}
impl<BUS, M, CS> SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS>
where
M: RawMutex,
BUS: SpiBusFlush + SetConfig,
CS: OutputPin,
{
type Bus = BUS;
fn transaction<R>(&mut self, f: impl FnOnce(&mut Self::Bus) -> Result<R, BUS::Error>) -> Result<R, Self::Error> {
self.bus.lock(|bus| {
let mut bus = bus.borrow_mut();
bus.set_config(&self.config);
self.cs.set_low().map_err(SpiBusDeviceError::Cs)?;
let f_res = f(&mut bus);
// On failure, it's important to still flush and deassert CS.
let flush_res = bus.flush();
let cs_res = self.cs.set_high();
let f_res = f_res.map_err(SpiBusDeviceError::Spi)?;
flush_res.map_err(SpiBusDeviceError::Spi)?;
cs_res.map_err(SpiBusDeviceError::Cs)?;
Ok(f_res)
})
}
}

16
embassy-embedded-hal/src/shared_bus/i2c.rs
View File

@ -119,28 +119,30 @@ where
}
}
pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS, C> {
pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig> {
bus: &'a Mutex<M, BUS>,
config: C,
config: BUS::Config,
}
impl<'a, M: RawMutex, BUS, C> I2cBusDeviceWithConfig<'a, M, BUS, C> {
pub fn new(bus: &'a Mutex<M, BUS>, config: C) -> Self {
impl<'a, M: RawMutex, BUS: SetConfig> I2cBusDeviceWithConfig<'a, M, BUS> {
pub fn new(bus: &'a Mutex<M, BUS>, config: BUS::Config) -> Self {
Self { bus, config }
}
}
impl<'a, M: RawMutex, BUS, C> i2c::ErrorType for I2cBusDeviceWithConfig<'a, M, BUS, C>
impl<'a, M, BUS> i2c::ErrorType for I2cBusDeviceWithConfig<'a, M, BUS>
where
BUS: i2c::ErrorType,
M: RawMutex,
BUS: SetConfig,
{
type Error = I2cBusDeviceError<BUS::Error>;
}
impl<M, BUS, C> i2c::I2c for I2cBusDeviceWithConfig<'_, M, BUS, C>
impl<M, BUS> i2c::I2c for I2cBusDeviceWithConfig<'_, M, BUS>
where
M: RawMutex + 'static,
BUS: i2c::I2c + SetConfig<C> + 'static,
BUS: i2c::I2c + SetConfig + 'static,
{
type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;

17
embassy-embedded-hal/src/shared_bus/spi.rs
View File

@ -112,30 +112,31 @@ where
}
}
pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS, CS, C> {
pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig, CS> {
bus: &'a Mutex<M, BUS>,
cs: CS,
config: C,
config: BUS::Config,
}
impl<'a, M: RawMutex, BUS, CS, C> SpiBusDeviceWithConfig<'a, M, BUS, CS, C> {
pub fn new(bus: &'a Mutex<M, BUS>, cs: CS, config: C) -> Self {
impl<'a, M: RawMutex, BUS: SetConfig, CS> SpiBusDeviceWithConfig<'a, M, BUS, CS> {
pub fn new(bus: &'a Mutex<M, BUS>, cs: CS, config: BUS::Config) -> Self {
Self { bus, cs, config }
}
}
impl<'a, M: RawMutex, BUS, CS, C> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS, C>
impl<'a, M, BUS, CS> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS>
where
BUS: spi::ErrorType,
BUS: spi::ErrorType + SetConfig,
CS: OutputPin,
M: RawMutex,
{
type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
}
impl<M, BUS, CS, C> spi::SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS, C>
impl<M, BUS, CS> spi::SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS>
where
M: RawMutex + 'static,
BUS: spi::SpiBusFlush + SetConfig<C> + 'static,
BUS: spi::SpiBusFlush + SetConfig + 'static,
CS: OutputPin,
{
type Bus = BUS;

5
embassy-nrf/src/spim.rs
View File

@ -523,8 +523,9 @@ cfg_if::cfg_if! {
}
}
impl<'d, T: Instance> SetConfig<Config> for Spim<'d, T> {
fn set_config(&mut self, config: &Config) {
impl<'d, T: Instance> SetConfig for Spim<'d, T> {
type Config = Config;
fn set_config(&mut self, config: &Self::Config) {
let r = T::regs();
// Configure mode.
let mode = config.mode;

5
embassy-nrf/src/twim.rs
View File

@ -880,8 +880,9 @@ cfg_if::cfg_if! {
}
}
impl<'d, T: Instance> SetConfig<Config> for Twim<'d, T> {
fn set_config(&mut self, config: &Config) {
impl<'d, T: Instance> SetConfig for Twim<'d, T> {
type Config = Config;
fn set_config(&mut self, config: &Self::Config) {
let r = T::regs();
r.frequency
.write(|w| unsafe { w.frequency().bits(config.frequency as u32) });

21
examples/nrf/src/bin/shared_bus.rs
View File

@ -1,21 +0,0 @@
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
use embassy::executor::Spawner;
use embassy::time::{Duration, Timer};
use embassy_nrf::gpio::{Level, Output, OutputDrive};
use embassy_nrf::Peripherals;
use {defmt_rtt as _, panic_probe as _};
#[embassy::main]
async fn main(_spawner: Spawner, p: Peripherals) {
let mut led = Output::new(p.P0_13, Level::Low, OutputDrive::Standard);
loop {
led.set_high();
Timer::after(Duration::from_millis(300)).await;
led.set_low();
Timer::after(Duration::from_millis(300)).await;
}
}