embassy/embassy-nrf/src/gpio.rs

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#![macro_use]
use core::convert::Infallible;
use core::hint::unreachable_unchecked;
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use core::marker::PhantomData;
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use cfg_if::cfg_if;
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use embassy::util::Unborrow;
use embassy_hal_common::{unborrow, unsafe_impl_unborrow};
use crate::pac;
use crate::pac::p0 as gpio;
use crate::pac::p0::pin_cnf::{DRIVE_A, PULL_A};
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use self::sealed::Pin as _;
/// A GPIO port with up to 32 pins.
#[derive(Debug, Eq, PartialEq)]
pub enum Port {
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/// Port 0, available on nRF9160 and all nRF52 and nRF51 MCUs.
Port0,
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/// Port 1, only available on some MCUs.
#[cfg(feature = "_gpio-p1")]
Port1,
}
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/// 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.
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pub struct Input<'d, T: Pin> {
pub(crate) pin: Flex<'d, T>,
}
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impl<'d, T: Pin> Input<'d, T> {
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pub fn new(pin: impl Unborrow<Target = T> + 'd, pull: Pull) -> Self {
let mut pin = Flex::new(pin);
pin.set_as_input(pull);
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Self { pin }
}
pub fn is_high(&self) -> bool {
self.pin.is_high()
}
pub fn is_low(&self) -> bool {
self.pin.is_low()
}
}
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/// Digital input or output level.
#[derive(Debug, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Level {
Low,
High,
}
// These numbers match DRIVE_A exactly so hopefully the compiler will unify them.
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#[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.
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pub struct Output<'d, T: Pin> {
pub(crate) pin: Flex<'d, T>,
}
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impl<'d, T: Pin> Output<'d, T> {
pub fn new(
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pin: impl Unborrow<Target = T> + 'd,
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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.
pub fn set_high(&mut self) {
self.pin.set_high()
}
/// Set the output as low.
pub fn set_low(&mut self) {
self.pin.set_low()
}
/// Is the output pin set as high?
pub fn is_set_high(&self) -> bool {
self.pin.is_set_high()
}
/// Is the output pin set as low?
pub fn is_set_low(&self) -> bool {
self.pin.is_set_low()
}
}
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.
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.
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.
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.
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.
pub fn set_as_disconnected(&mut self) {
self.pin.conf().reset();
}
pub fn is_high(&self) -> bool {
!self.is_low()
}
pub fn is_low(&self) -> bool {
self.pin.block().in_.read().bits() & (1 << self.pin.pin()) == 0
}
/// Set the output as high.
pub fn set_high(&mut self) {
self.pin.set_high()
}
/// Set the output as low.
pub fn set_low(&mut self) {
self.pin.set_low()
}
/// Is the output pin set as high?
pub fn is_set_high(&self) -> bool {
!self.is_set_low()
}
/// Is the output pin set as low?
pub fn is_set_low(&self) -> bool {
self.pin.block().out.read().bits() & (1 << self.pin.pin()) == 0
}
}
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 {
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cfg_if! {
if #[cfg(feature = "_gpio-p1")] {
self.pin_port() % 32
} else {
self.pin_port()
}
}
}
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#[inline]
fn block(&self) -> &gpio::RegisterBlock {
unsafe {
match self.pin_port() / 32 {
0 => &*pac::P0::ptr(),
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#[cfg(feature = "_gpio-p1")]
1 => &*pac::P1::ptr(),
_ => unreachable_unchecked(),
}
}
}
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#[inline]
fn conf(&self) -> &gpio::PIN_CNF {
&self.block().pin_cnf[self._pin() as usize]
}
/// Set the output as high.
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#[inline]
fn set_high(&self) {
unsafe { self.block().outset.write(|w| w.bits(1u32 << self._pin())) }
}
/// Set the output as low.
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#[inline]
fn set_low(&self) {
unsafe { self.block().outclr.write(|w| w.bits(1u32 << self._pin())) }
}
}
}
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pub trait Pin: Unborrow<Target = Self> + sealed::Pin + Sized + 'static {
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/// Number of the pin within the port (0..31)
#[inline]
fn pin(&self) -> u8 {
self._pin()
}
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/// Port of the pin
#[inline]
fn port(&self) -> Port {
match self.pin_port() / 32 {
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0 => Port::Port0,
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#[cfg(feature = "_gpio-p1")]
1 => Port::Port1,
_ => unsafe { unreachable_unchecked() },
}
}
#[inline]
fn psel_bits(&self) -> u32 {
self.pin_port() as u32
}
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/// Convert from concrete pin type PX_XX to type erased `AnyPin`.
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#[inline]
fn degrade(self) -> AnyPin {
AnyPin {
pin_port: self.pin_port(),
}
}
}
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// Type-erased GPIO pin
pub struct AnyPin {
pin_port: u8,
}
impl AnyPin {
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#[inline]
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pub unsafe fn steal(pin_port: u8) -> Self {
Self { pin_port }
}
}
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unsafe_impl_unborrow!(AnyPin);
impl Pin for AnyPin {}
impl sealed::Pin for AnyPin {
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#[inline]
fn pin_port(&self) -> u8 {
self.pin_port
}
}
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// ====================
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pub(crate) trait PselBits {
fn psel_bits(&self) -> u32;
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}
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impl PselBits for Option<AnyPin> {
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#[inline]
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fn psel_bits(&self) -> u32 {
self.as_ref().map_or(1u32 << 31, Pin::psel_bits)
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}
}
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pub(crate) fn deconfigure_pin(psel_bits: u32) {
if psel_bits & 0x8000_0000 != 0 {
return;
}
unsafe { AnyPin::steal(psel_bits as _).conf().reset() }
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}
// ====================
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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 {
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#[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 [`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())
}
}
}