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https://github.com/embassy-rs/embassy.git
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Add support for GPIOTE Port event.
This commit is contained in:
Dario Nieuwenhuis
parent
a2735a716c
commit
fc0fe842ee
@ -1,4 +1,4 @@
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use anyfmt::*;
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use anyfmt::{panic, *};
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use core::cell::Cell;
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use core::ptr;
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use embassy::util::Signal;
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@ -7,19 +7,32 @@ use crate::hal::gpio::{Input, Level, Output, Pin, Port};
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use crate::interrupt;
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use crate::pac::generic::Reg;
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use crate::pac::gpiote::_TASKS_OUT;
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use crate::pac::GPIOTE;
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use crate::pac::{p0 as gpio, GPIOTE, P0, P1};
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#[cfg(not(feature = "51"))]
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use crate::pac::gpiote::{_TASKS_CLR, _TASKS_SET};
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pub const CHANNEL_COUNT: usize = 8;
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#[cfg(any(feature = "52833", feature = "52840"))]
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pub const PIN_COUNT: usize = 48;
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#[cfg(not(any(feature = "52833", feature = "52840")))]
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pub const PIN_COUNT: usize = 32;
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pub struct Gpiote {
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inner: GPIOTE,
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free_channels: Cell<u8>, // 0 = used, 1 = free. 8 bits for 8 channelself.
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signals: [Signal<()>; 8],
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channel_signals: [Signal<()>; CHANNEL_COUNT],
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port_signals: [Signal<()>; PIN_COUNT],
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}
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static mut INSTANCE: *const Gpiote = ptr::null_mut();
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pub enum PortInputPolarity {
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High,
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Low,
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}
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pub enum InputChannelPolarity {
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None,
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HiToLo,
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@ -42,13 +55,115 @@ pub enum NewChannelError {
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impl Gpiote {
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pub fn new(gpiote: GPIOTE) -> Self {
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#[cfg(any(feature = "52833", feature = "52840"))]
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let ports = unsafe { &[&*P0::ptr(), &*P1::ptr()] };
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#[cfg(not(any(feature = "52833", feature = "52840")))]
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let ports = unsafe { &[&*P0::ptr()] };
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for &p in ports {
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// Enable latched detection
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p.detectmode.write(|w| w.detectmode().ldetect());
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// Clear latch
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p.latch.write(|w| unsafe { w.bits(0xFFFFFFFF) })
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}
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// Enable interrupts
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gpiote.events_port.write(|w| w);
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gpiote.intenset.write(|w| w.port().set());
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interrupt::unpend(interrupt::GPIOTE);
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interrupt::enable(interrupt::GPIOTE);
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Self {
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inner: gpiote,
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free_channels: Cell::new(0xFF), // all 8 channels free
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signals: [
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channel_signals: [
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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],
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// This is just horrible
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#[cfg(any(feature = "52833", feature = "52840"))]
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port_signals: [
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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],
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#[cfg(not(any(feature = "52833", feature = "52840")))]
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port_signals: [
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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Signal::new(),
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@ -84,6 +199,13 @@ impl Gpiote {
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})
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}
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pub fn new_port_input<'a, T>(&'a self, pin: Pin<Input<T>>) -> PortInput<'a, T> {
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interrupt::free(|_| {
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unsafe { INSTANCE = self };
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PortInput { gpiote: self, pin }
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})
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}
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pub fn new_input_channel<'a, T>(
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&'a self,
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pin: Pin<Input<T>>,
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@ -161,6 +283,56 @@ impl Gpiote {
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}
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}
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pub struct PortInput<'a, T> {
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gpiote: &'a Gpiote,
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pin: Pin<Input<T>>,
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}
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impl<'a, T> Drop for PortInput<'a, T> {
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fn drop(&mut self) {
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pin_conf(&self.pin).modify(|_, w| w.sense().disabled());
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self.gpiote.port_signals[pin_num(&self.pin)].reset();
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}
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}
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impl<'a, T> PortInput<'a, T> {
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pub async fn wait(&self, polarity: PortInputPolarity) {
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pin_conf(&self.pin).modify(|_, w| match polarity {
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PortInputPolarity::Low => w.sense().low(),
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PortInputPolarity::High => w.sense().high(),
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});
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self.gpiote.port_signals[pin_num(&self.pin)].wait().await;
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}
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pub fn pin(&self) -> &Pin<Input<T>> {
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&self.pin
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}
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}
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fn pin_num<T>(pin: &Pin<T>) -> usize {
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let port = match pin.port() {
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Port::Port0 => 0,
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#[cfg(any(feature = "52833", feature = "52840"))]
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Port::Port1 => 32,
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};
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port + pin.pin() as usize
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}
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fn pin_block<T>(pin: &Pin<T>) -> &gpio::RegisterBlock {
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let ptr = match pin.port() {
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Port::Port0 => P0::ptr(),
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#[cfg(any(feature = "52833", feature = "52840"))]
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Port::Port1 => P1::ptr(),
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};
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unsafe { &*ptr }
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}
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fn pin_conf<T>(pin: &Pin<T>) -> &gpio::PIN_CNF {
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&pin_block(pin).pin_cnf[pin.pin() as usize]
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}
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pub struct InputChannel<'a, T> {
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gpiote: &'a Gpiote,
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pin: Pin<Input<T>>,
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@ -174,8 +346,10 @@ impl<'a, T> Drop for InputChannel<'a, T> {
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}
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impl<'a, T> InputChannel<'a, T> {
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pub async fn wait(&self) -> () {
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self.gpiote.signals[self.index as usize].wait().await;
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pub async fn wait(&self) {
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self.gpiote.channel_signals[self.index as usize]
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.wait()
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.await;
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}
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pub fn pin(&self) -> &Pin<Input<T>> {
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@ -235,7 +409,45 @@ unsafe fn GPIOTE() {
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for i in 0..8 {
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if s.inner.events_in[i].read().bits() != 0 {
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s.inner.events_in[i].write(|w| w);
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s.signals[i].signal(());
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s.channel_signals[i].signal(());
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}
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}
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if s.inner.events_port.read().bits() != 0 {
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s.inner.events_port.write(|w| w);
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#[cfg(any(feature = "52833", feature = "52840"))]
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let ports = &[&*P0::ptr(), &*P1::ptr()];
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#[cfg(not(any(feature = "52833", feature = "52840")))]
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let ports = &[&*P0::ptr()];
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let mut work = true;
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while work {
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work = false;
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for (port, &p) in ports.iter().enumerate() {
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for pin in BitIter(p.latch.read().bits()) {
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work = true;
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p.pin_cnf[pin as usize].modify(|_, w| w.sense().disabled());
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p.latch.write(|w| w.bits(1 << pin));
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s.port_signals[port * 32 + pin as usize].signal(());
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}
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}
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}
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}
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}
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struct BitIter(u32);
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impl Iterator for BitIter {
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type Item = u32;
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fn next(&mut self) -> Option<Self::Item> {
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match self.0.trailing_zeros() {
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32 => None,
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b => {
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self.0 &= !(1 << b);
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Some(b)
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}
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}
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}
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}
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