embassy/embassy-nrf/src/gpio.rs

#![macro_use]

use core::convert::Infallible;
use core::hint::unreachable_unchecked;
use core::marker::PhantomData;

use cfg_if::cfg_if;
use embassy_hal_common::{unborrow, unsafe_impl_unborrow};

use self::sealed::Pin as _;
use crate::pac::p0 as gpio;
use crate::pac::p0::pin_cnf::{DRIVE_A, PULL_A};
use crate::{pac, Unborrow};

/// A GPIO port with up to 32 pins.
#[derive(Debug, Eq, PartialEq)]
pub enum Port {
    /// Port 0, available on nRF9160 and all nRF52 and nRF51 MCUs.
    Port0,

    /// Port 1, only available on some MCUs.
    #[cfg(feature = "_gpio-p1")]
    Port1,
}

/// Pull setting for an input.
#[derive(Debug, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Pull {
    None,
    Up,
    Down,
}

/// GPIO input driver.
pub struct Input<'d, T: Pin> {
    pub(crate) pin: Flex<'d, T>,
}

impl<'d, T: Pin> Input<'d, T> {
    #[inline]
    pub fn new(pin: impl Unborrow<Target = T> + 'd, pull: Pull) -> Self {
        let mut pin = Flex::new(pin);
        pin.set_as_input(pull);

        Self { pin }
    }

    #[inline]
    pub fn is_high(&self) -> bool {
        self.pin.is_high()
    }

    #[inline]
    pub fn is_low(&self) -> bool {
        self.pin.is_low()
    }

    /// Returns current pin level
    #[inline]
    pub fn get_level(&self) -> Level {
        self.pin.is_high().into()
    }
}

/// Digital input or output level.
#[derive(Debug, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Level {
    Low,
    High,
}

impl From<bool> for Level {
    fn from(val: bool) -> Self {
        match val {
            true => Self::High,
            false => Self::Low,
        }
    }
}

impl Into<bool> for Level {
    fn into(self) -> bool {
        match self {
            Level::Low => false,
            Level::High => true,
        }
    }
}

// These numbers match DRIVE_A exactly so hopefully the compiler will unify them.
#[derive(Clone, Copy, Debug, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[repr(u8)]
pub enum OutputDrive {
    /// Standard '0', standard '1'
    Standard = 0,
    /// High drive '0', standard '1'
    HighDrive0Standard1 = 1,
    /// Standard '0', high drive '1'
    Standard0HighDrive1 = 2,
    /// High drive '0', high 'drive '1'
    HighDrive = 3,
    /// Disconnect '0' standard '1' (normally used for wired-or connections)
    Disconnect0Standard1 = 4,
    /// Disconnect '0', high drive '1' (normally used for wired-or connections)
    Disconnect0HighDrive1 = 5,
    /// Standard '0'. disconnect '1' (also known as "open drain", normally used for wired-and connections)
    Standard0Disconnect1 = 6,
    /// High drive '0', disconnect '1' (also known as "open drain", normally used for wired-and connections)
    HighDrive0Disconnect1 = 7,
}

/// GPIO output driver.
pub struct Output<'d, T: Pin> {
    pub(crate) pin: Flex<'d, T>,
}

impl<'d, T: Pin> Output<'d, T> {
    #[inline]
    pub fn new(pin: impl Unborrow<Target = T> + 'd, initial_output: Level, drive: OutputDrive) -> Self {
        let mut pin = Flex::new(pin);
        match initial_output {
            Level::High => pin.set_high(),
            Level::Low => pin.set_low(),
        }
        pin.set_as_output(drive);

        Self { pin }
    }

    /// Set the output as high.
    #[inline]
    pub fn set_high(&mut self) {
        self.pin.set_high()
    }

    /// Set the output as low.
    #[inline]
    pub fn set_low(&mut self) {
        self.pin.set_low()
    }

    /// Set the output level.
    #[inline]
    pub fn set_level(&mut self, level: Level) {
        match level {
            Level::Low => self.pin.set_low(),
            Level::High => self.pin.set_high(),
        }
    }

    /// Is the output pin set as high?
    #[inline]
    pub fn is_set_high(&self) -> bool {
        self.pin.is_set_high()
    }

    /// Is the output pin set as low?
    #[inline]
    pub fn is_set_low(&self) -> bool {
        self.pin.is_set_low()
    }

    /// What level output is set to
    #[inline]
    pub fn get_output_level(&self) -> Level {
        self.pin.is_set_high().into()
    }
}

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, 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> {
    pub(crate) pin: T,
    phantom: PhantomData<&'d mut T>,
}

impl<'d, T: Pin> Flex<'d, T> {
    /// Wrap the pin in a `Flex`.
    ///
    /// The pin remains disconnected. The initial output level is unspecified, but can be changed
    /// before the pin is put into output mode.
    #[inline]
    pub fn new(pin: impl Unborrow<Target = T> + 'd) -> Self {
        unborrow!(pin);
        // Pin will be in disconnected state.
        Self {
            pin,
            phantom: PhantomData,
        }
    }

    /// Put the pin into input mode.
    #[inline]
    pub fn set_as_input(&mut self, pull: Pull) {
        self.pin.conf().write(|w| {
            w.dir().input();
            w.input().connect();
            w.pull().variant(convert_pull(pull));
            w.drive().s0s1();
            w.sense().disabled();
            w
        });
    }

    /// Put the pin into output mode.
    ///
    /// 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.
    #[inline]
    pub fn set_as_output(&mut self, drive: OutputDrive) {
        self.pin.conf().write(|w| {
            w.dir().output();
            w.input().disconnect();
            w.pull().disabled();
            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.
    #[inline]
    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
        });
    }

    /// Put the pin into disconnected mode.
    #[inline]
    pub fn set_as_disconnected(&mut self) {
        self.pin.conf().reset();
    }

    #[inline]
    pub fn is_high(&self) -> bool {
        !self.is_low()
    }

    #[inline]
    pub fn is_low(&self) -> bool {
        self.pin.block().in_.read().bits() & (1 << self.pin.pin()) == 0
    }

    /// Returns current pin level
    #[inline]
    pub fn get_level(&self) -> Level {
        self.is_high().into()
    }

    /// Set the output as high.
    #[inline]
    pub fn set_high(&mut self) {
        self.pin.set_high()
    }

    /// Set the output as low.
    #[inline]
    pub fn set_low(&mut self) {
        self.pin.set_low()
    }

    /// Set the output level.
    #[inline]
    pub fn set_level(&mut self, level: Level) {
        match level {
            Level::Low => self.pin.set_low(),
            Level::High => self.pin.set_high(),
        }
    }

    /// Is the output pin set as high?
    #[inline]
    pub fn is_set_high(&self) -> bool {
        !self.is_set_low()
    }

    /// Is the output pin set as low?
    #[inline]
    pub fn is_set_low(&self) -> bool {
        self.pin.block().out.read().bits() & (1 << self.pin.pin()) == 0
    }

    /// What level output is set to
    #[inline]
    pub fn get_output_level(&self) -> Level {
        self.is_set_high().into()
    }
}

impl<'d, T: Pin> Drop for Flex<'d, T> {
    fn drop(&mut self) {
        self.pin.conf().reset();
    }
}

pub(crate) mod sealed {
    use super::*;

    pub trait Pin {
        fn pin_port(&self) -> u8;

        #[inline]
        fn _pin(&self) -> u8 {
            cfg_if! {
                if #[cfg(feature = "_gpio-p1")] {
                    self.pin_port() % 32
                } else {
                    self.pin_port()
                }
            }
        }

        #[inline]
        fn block(&self) -> &gpio::RegisterBlock {
            unsafe {
                match self.pin_port() / 32 {
                    0 => &*pac::P0::ptr(),
                    #[cfg(feature = "_gpio-p1")]
                    1 => &*pac::P1::ptr(),
                    _ => unreachable_unchecked(),
                }
            }
        }

        #[inline]
        fn conf(&self) -> &gpio::PIN_CNF {
            &self.block().pin_cnf[self._pin() as usize]
        }

        /// Set the output as high.
        #[inline]
        fn set_high(&self) {
            unsafe { self.block().outset.write(|w| w.bits(1u32 << self._pin())) }
        }

        /// Set the output as low.
        #[inline]
        fn set_low(&self) {
            unsafe { self.block().outclr.write(|w| w.bits(1u32 << self._pin())) }
        }
    }
}

pub trait Pin: Unborrow<Target = Self> + sealed::Pin + Sized + 'static {
    /// Number of the pin within the port (0..31)
    #[inline]
    fn pin(&self) -> u8 {
        self._pin()
    }

    /// Port of the pin
    #[inline]
    fn port(&self) -> Port {
        match self.pin_port() / 32 {
            0 => Port::Port0,
            #[cfg(feature = "_gpio-p1")]
            1 => Port::Port1,
            _ => unsafe { unreachable_unchecked() },
        }
    }

    #[inline]
    fn psel_bits(&self) -> u32 {
        self.pin_port() as u32
    }

    /// Convert from concrete pin type PX_XX to type erased `AnyPin`.
    #[inline]
    fn degrade(self) -> AnyPin {
        AnyPin {
            pin_port: self.pin_port(),
        }
    }
}

// Type-erased GPIO pin
pub struct AnyPin {
    pin_port: u8,
}

impl AnyPin {
    #[inline]
    pub unsafe fn steal(pin_port: u8) -> Self {
        Self { pin_port }
    }
}

unsafe_impl_unborrow!(AnyPin);
impl Pin for AnyPin {}
impl sealed::Pin for AnyPin {
    #[inline]
    fn pin_port(&self) -> u8 {
        self.pin_port
    }
}

// ====================

pub(crate) trait PselBits {
    fn psel_bits(&self) -> u32;
}

impl PselBits for Option<AnyPin> {
    #[inline]
    fn psel_bits(&self) -> u32 {
        self.as_ref().map_or(1u32 << 31, Pin::psel_bits)
    }
}

pub(crate) fn deconfigure_pin(psel_bits: u32) {
    if psel_bits & 0x8000_0000 != 0 {
        return;
    }
    unsafe { AnyPin::steal(psel_bits as _).conf().reset() }
}

// ====================

macro_rules! impl_pin {
    ($type:ident, $port_num:expr, $pin_num:expr) => {
        impl crate::gpio::Pin for peripherals::$type {}
        impl crate::gpio::sealed::Pin for peripherals::$type {
            #[inline]
            fn pin_port(&self) -> u8 {
                $port_num * 32 + $pin_num
            }
        }
    };
}

// ====================

mod eh02 {
    use super::*;

    impl<'d, T: Pin> embedded_hal_02::digital::v2::InputPin for Input<'d, T> {
        type Error = Infallible;

        fn is_high(&self) -> Result<bool, Self::Error> {
            Ok(self.is_high())
        }

        fn is_low(&self) -> Result<bool, Self::Error> {
            Ok(self.is_low())
        }
    }

    impl<'d, T: Pin> embedded_hal_02::digital::v2::OutputPin for Output<'d, T> {
        type Error = Infallible;

        fn set_high(&mut self) -> Result<(), Self::Error> {
            Ok(self.set_high())
        }

        fn set_low(&mut self) -> Result<(), Self::Error> {
            Ok(self.set_low())
        }
    }

    impl<'d, T: Pin> embedded_hal_02::digital::v2::StatefulOutputPin for Output<'d, T> {
        fn is_set_high(&self) -> Result<bool, Self::Error> {
            Ok(self.is_set_high())
        }

        fn is_set_low(&self) -> Result<bool, Self::Error> {
            Ok(self.is_set_low())
        }
    }

    /// Implement [`embedded_hal_02::digital::v2::InputPin`] for [`Flex`];
    ///
    /// If the pin is not in input mode the result is unspecified.
    impl<'d, T: Pin> embedded_hal_02::digital::v2::InputPin for Flex<'d, T> {
        type Error = Infallible;

        fn is_high(&self) -> Result<bool, Self::Error> {
            Ok(self.is_high())
        }

        fn is_low(&self) -> Result<bool, Self::Error> {
            Ok(self.is_low())
        }
    }

    impl<'d, T: Pin> embedded_hal_02::digital::v2::OutputPin for Flex<'d, T> {
        type Error = Infallible;

        fn set_high(&mut self) -> Result<(), Self::Error> {
            Ok(self.set_high())
        }

        fn set_low(&mut self) -> Result<(), Self::Error> {
            Ok(self.set_low())
        }
    }

    impl<'d, T: Pin> embedded_hal_02::digital::v2::StatefulOutputPin for Flex<'d, T> {
        fn is_set_high(&self) -> Result<bool, Self::Error> {
            Ok(self.is_set_high())
        }

        fn is_set_low(&self) -> Result<bool, Self::Error> {
            Ok(self.is_set_low())
        }
    }
}

#[cfg(feature = "unstable-traits")]
mod eh1 {
    use super::*;

    impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Input<'d, T> {
        type Error = Infallible;
    }

    impl<'d, T: Pin> embedded_hal_1::digital::blocking::InputPin for Input<'d, T> {
        fn is_high(&self) -> Result<bool, Self::Error> {
            Ok(self.is_high())
        }

        fn is_low(&self) -> Result<bool, Self::Error> {
            Ok(self.is_low())
        }
    }

    impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Output<'d, T> {
        type Error = Infallible;
    }

    impl<'d, T: Pin> embedded_hal_1::digital::blocking::OutputPin for Output<'d, T> {
        fn set_high(&mut self) -> Result<(), Self::Error> {
            Ok(self.set_high())
        }

        fn set_low(&mut self) -> Result<(), Self::Error> {
            Ok(self.set_low())
        }
    }

    impl<'d, T: Pin> embedded_hal_1::digital::blocking::StatefulOutputPin for Output<'d, T> {
        fn is_set_high(&self) -> Result<bool, Self::Error> {
            Ok(self.is_set_high())
        }

        fn is_set_low(&self) -> Result<bool, Self::Error> {
            Ok(self.is_set_low())
        }
    }

    impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Flex<'d, T> {
        type Error = Infallible;
    }

    /// Implement [`InputPin`] for [`Flex`];
    ///
    /// If the pin is not in input mode the result is unspecified.
    impl<'d, T: Pin> embedded_hal_1::digital::blocking::InputPin for Flex<'d, T> {
        fn is_high(&self) -> Result<bool, Self::Error> {
            Ok(self.is_high())
        }

        fn is_low(&self) -> Result<bool, Self::Error> {
            Ok(self.is_low())
        }
    }

    impl<'d, T: Pin> embedded_hal_1::digital::blocking::OutputPin for Flex<'d, T> {
        fn set_high(&mut self) -> Result<(), Self::Error> {
            Ok(self.set_high())
        }

        fn set_low(&mut self) -> Result<(), Self::Error> {
            Ok(self.set_low())
        }
    }

    impl<'d, T: Pin> embedded_hal_1::digital::blocking::StatefulOutputPin for Flex<'d, T> {
        fn is_set_high(&self) -> Result<bool, Self::Error> {
            Ok(self.is_set_high())
        }

        fn is_set_low(&self) -> Result<bool, Self::Error> {
            Ok(self.is_set_low())
        }
    }
}