Implements continuous sampling for the nRF SAADC

Implements continuous sampling for the nRF SAADC and also renames `OneShot` to `Saadc`. The one-shot behaviour is retained with the `sample` method and a new `run_sampler` method is provided for efficiently (i.e. zero copying) sampler processing. A double buffer is used for continuously sampling, which wlll be swapped once sampling has taken place.

A sample frequency is provided and will set the internal timer of the SAADC when there is just the one channel being sampled. Otherwise, PPI will be used to hook up the TIMER peripheral to drive the sampling task.

embassy-nrf/src/saadc.rs

@@ -10,6 +10,7 @@ use embassy_hal_common::unborrow;
 use futures::future::poll_fn;
 
 use crate::interrupt;
+use crate::ppi::Task;
 use crate::{pac, peripherals};
 
 use pac::{saadc, SAADC};
@@ -29,7 +30,7 @@ pub use saadc::{
 pub enum Error {}
 
 /// One-shot saadc. Continuous sample mode TODO.
-pub struct OneShot<'d, const N: usize> {
+pub struct Saadc<'d, const N: usize> {
     phantom: PhantomData<&'d mut peripherals::SAADC>,
 }
 
@@ -50,7 +51,7 @@ impl Default for Config {
     /// Default configuration for single channel sampling.
     fn default() -> Self {
         Self {
-            resolution: Resolution::_14BIT,
+            resolution: Resolution::_12BIT,
             oversample: Oversample::BYPASS,
         }
     }
@@ -109,7 +110,31 @@ impl<'d> ChannelConfig<'d> {
     }
 }
 
-impl<'d, const N: usize> OneShot<'d, N> {
+/// A sample rate can be provided for the internal clock of the SAADC when
+/// one channel is to be continuously sampled. When there are multiple channels
+/// to be continuously sampled then an external source is used to generate
+/// TASK_SAMPLE tasks.
+pub enum Mode {
+    /// The internal clock is to be used with a sample rate expressed as a divisor of
+    /// 16MHz, ranging from 80..2047. For example, 1600 represnts a sample rate of 10KHz
+    /// given 16_000_000 / 10_000_000 = 1600.
+    Timers(u16),
+    /// TASK_SAMPLE tasks are generated outside of the SAADC e.g. via PPI on a
+    /// timer.
+    Task,
+}
+
+/// The state of a continuously running sampler. While it reflects
+/// the progress of a sampler, it also signals what should be done
+/// next. For example, if the sampler has stopped then the Saadc implementation
+/// can then tear down its infrastructure.
+#[derive(PartialEq)]
+pub enum SamplerState {
+    Sampled,
+    Stopped,
+}
+
+impl<'d, const N: usize> Saadc<'d, N> {
     pub fn new(
         _saadc: impl Unborrow<Target = peripherals::SAADC> + 'd,
         irq: impl Unborrow<Target = interrupt::SAADC> + 'd,
@@ -176,12 +201,18 @@ impl<'d, const N: usize> OneShot<'d, N> {
             r.intenclr.write(|w| w.end().clear());
             WAKER.wake();
         }
+
+        if r.events_started.read().bits() != 0 {
+            r.intenclr.write(|w| w.started().clear());
+            WAKER.wake();
+        }
     }
 
     fn regs() -> &'static saadc::RegisterBlock {
         unsafe { &*SAADC::ptr() }
     }
 
+    /// One shot sampling. The buffer must be the same size as the number of channels configured.
     pub async fn sample(&mut self, buf: &mut [i16; N]) {
         let r = Self::regs();
 
@@ -219,9 +250,115 @@ impl<'d, const N: usize> OneShot<'d, N> {
         })
         .await;
     }
+
+    /// Continuous sampling with double buffers. The sample buffers generally
+    /// should be a multiple of the number of channels configured.
+    ///
+    /// A sampler closure is provided that receives the buffer of samples, noting
+    /// that the size of this buffer can be less than the original buffer's size.
+    /// A command is return from the closure that indicates whether the sampling
+    /// should continue or stop.
+    pub async fn run_sampler<S, const N0: usize>(
+        &mut self,
+        bufs: &mut [[i16; N0]; 2],
+        mode: Mode,
+        sampler: S,
+    ) where
+        S: Fn(&[i16]) -> SamplerState,
+    {
+        let r = Self::regs();
+
+        // Establish mode and sample rate
+        match mode {
+            Mode::Timers(sample_rate) => r.samplerate.write(|w| {
+                unsafe {
+                    w.cc().bits(sample_rate);
+                    w.mode().timers();
+                }
+                w
+            }),
+            Mode::Task => r.samplerate.write(|w| {
+                unsafe {
+                    w.cc().bits(0);
+                    w.mode().task();
+                }
+                w
+            }),
         }
 
-impl<'d, const N: usize> Drop for OneShot<'d, N> {
+        // Set up the initial DMA
+        r.result
+            .ptr
+            .write(|w| unsafe { w.ptr().bits(bufs[0].as_mut_ptr() as u32) });
+        r.result
+            .maxcnt
+            .write(|w| unsafe { w.maxcnt().bits(N0 as _) });
+
+        // Reset and enable the events
+        r.events_end.reset();
+        r.intenset.write(|w| w.end().set());
+        r.events_started.reset();
+        r.intenset.write(|w| w.started().set());
+
+        // Don't reorder the ADC start event before the previous writes. Hopefully self
+        // wouldn't happen anyway.
+        compiler_fence(Ordering::SeqCst);
+
+        r.tasks_start.write(|w| unsafe { w.bits(1) });
+
+        let mut current_buffer = 0;
+
+        // Wait for events and complete when the sampler indicates it has had enough.
+        poll_fn(|cx| {
+            let r = Self::regs();
+
+            WAKER.register(cx.waker());
+
+            if r.events_end.read().bits() != 0 {
+                r.events_end.reset();
+                r.intenset.write(|w| w.end().set());
+                info!("Ended");
+
+                if sampler(&bufs[current_buffer][0..r.result.amount.read().bits() as usize])
+                    == SamplerState::Sampled
+                {
+                    let next_buffer = 1 - current_buffer;
+                    current_buffer = next_buffer;
+                    r.tasks_start.write(|w| unsafe { w.bits(1) });
+                } else {
+                    r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                    return Poll::Ready(());
+                };
+            }
+
+            if r.events_started.read().bits() != 0 {
+                r.events_started.reset();
+                r.intenset.write(|w| w.started().set());
+                info!("Started");
+
+                if let Mode::Timers(_) = mode {
+                    r.tasks_sample.write(|w| unsafe { w.bits(1) });
+                }
+
+                let next_buffer = 1 - current_buffer;
+                r.result
+                    .ptr
+                    .write(|w| unsafe { w.ptr().bits(bufs[next_buffer].as_mut_ptr() as u32) });
+            }
+
+            Poll::Pending
+        })
+        .await;
+    }
+
+    /// Return the sample task for use with PPI
+    pub fn task_sample(&self) -> Task {
+        let r = Self::regs();
+        Task::from_reg(&r.tasks_sample)
+    }
+}
+
+impl<'d, const N: usize> Drop for Saadc<'d, N> {
     fn drop(&mut self) {
         let r = Self::regs();
         r.enable.write(|w| w.enable().disabled());

examples/nrf/src/bin/saadc.rs

@@ -7,7 +7,7 @@ mod example_common;
 use defmt::panic;
 use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
-use embassy_nrf::saadc::{ChannelConfig, Config, OneShot};
+use embassy_nrf::saadc::{ChannelConfig, Config, Saadc};
 use embassy_nrf::{interrupt, Peripherals};
 use example_common::*;
 
@@ -15,7 +15,7 @@ use example_common::*;
 async fn main(_spawner: Spawner, mut p: Peripherals) {
     let config = Config::default();
     let channel_config = ChannelConfig::single_ended(&mut p.P0_02);
-    let mut saadc = OneShot::new(p.SAADC, interrupt::take!(SAADC), config, [channel_config]);
+    let mut saadc = Saadc::new(p.SAADC, interrupt::take!(SAADC), config, [channel_config]);
 
     loop {
         let mut buf = [0; 1];

examples/nrf/src/bin/saadc_continuous.rs

@@ -0,0 +1,49 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+#[path = "../example_common.rs"]
+mod example_common;
+use defmt::panic;
+use embassy::executor::Spawner;
+use embassy_nrf::ppi::Ppi;
+use embassy_nrf::saadc::{ChannelConfig, Config, Mode, Saadc, SamplerState};
+use embassy_nrf::timer::{Frequency, Timer};
+use embassy_nrf::{interrupt, Peripherals};
+use example_common::*;
+
+// Demonstrates both continuous sampling and scanning multiple channels driven by a PPI linked timer
+
+#[embassy::main]
+async fn main(_spawner: Spawner, mut p: Peripherals) {
+    let config = Config::default();
+    let channel_1_config = ChannelConfig::single_ended(&mut p.P0_02);
+    let channel_2_config = ChannelConfig::single_ended(&mut p.P0_03);
+    let channel_3_config = ChannelConfig::single_ended(&mut p.P0_04);
+    let mut saadc = Saadc::new(
+        p.SAADC,
+        interrupt::take!(SAADC),
+        config,
+        [channel_1_config, channel_2_config, channel_3_config],
+    );
+
+    let mut timer = Timer::new(p.TIMER0);
+    timer.set_frequency(Frequency::F1MHz);
+    timer.cc(0).write(100); // We want to sample at 10KHz
+    timer.cc(0).short_compare_clear();
+
+    let mut ppi = Ppi::new(p.PPI_CH0);
+    ppi.set_event(timer.cc(0).event_compare());
+    ppi.set_task(saadc.task_sample());
+    ppi.enable();
+
+    timer.start();
+
+    let mut bufs = [[0; 3 * 500]; 2]; // Each buffer of the double buffer has to be large enough for all channels.
+    saadc
+        .run_sampler(&mut bufs, Mode::Task, |buf| {
+            info!("sample len={}", buf.len());
+            SamplerState::Sampled
+        })
+        .await;
+}