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Fixes as per PR

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This commit is contained in:
Michael van Niekerk
2023-07-28 12:56:31 +02:00
parent 6b6acc256d
commit 146c744223
1 changed files with 48 additions and 66 deletions
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114
examples/rp/src/bin/pio_uart.rs
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@@ -19,7 +19,7 @@ use embassy_rp::peripherals::{PIO0, USB};
use embassy_rp::pio::InterruptHandler as PioInterruptHandler;
use embassy_rp::usb::{Driver, Instance, InterruptHandler};
use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
use embassy_sync::channel::Channel;
use embassy_sync::pipe::Pipe;
use embassy_usb::class::cdc_acm::{CdcAcmClass, Receiver, Sender, State};
use embassy_usb::driver::EndpointError;
use embassy_usb::{Builder, Config};
@@ -30,11 +30,8 @@ use crate::uart::PioUart;
use crate::uart_rx::PioUartRx;
use crate::uart_tx::PioUartTx;
bind_interrupts!(struct UsbIrqs {
bind_interrupts!(struct Irqs {
USBCTRL_IRQ => InterruptHandler<USB>;
});
bind_interrupts!(struct PioIrqs {
PIO0_IRQ_0 => PioInterruptHandler<PIO0>;
});
@@ -45,7 +42,7 @@ async fn main(_spawner: Spawner) {
let p = embassy_rp::init(Default::default());
// Create the driver, from the HAL.
let driver = Driver::new(p.USB, UsbIrqs);
let driver = Driver::new(p.USB, Irqs);
// Create embassy-usb Config
let mut config = Config::new(0xc0de, 0xcafe);
@@ -90,17 +87,17 @@ async fn main(_spawner: Spawner) {
let usb_fut = usb.run();
// PIO UART setup
let uart = PioUart::new(9600, p.PIO0, p.PIN_4, p.PIN_5).await;
let uart = PioUart::new(9600, p.PIO0, p.PIN_4, p.PIN_5);
let (mut uart_tx, mut uart_rx) = uart.split();
// Channels setup
static USB_CHANNEL_TX: Channel<ThreadModeRawMutex, u8, 20> = Channel::<ThreadModeRawMutex, u8, 20>::new();
let mut usb_channel_tx_send = USB_CHANNEL_TX.sender();
let mut usb_channel_tx_recv = USB_CHANNEL_TX.receiver();
// Pipe setup
static USB_PIPE: Pipe<ThreadModeRawMutex, 20> = Pipe::new();
let mut usb_pipe_writer = USB_PIPE.writer();
let mut usb_pipe_reader = USB_PIPE.reader();
static UART_CHANNEL_TX: Channel<ThreadModeRawMutex, u8, 20> = Channel::<ThreadModeRawMutex, u8, 20>::new();
let mut uart_channel_tx_send = UART_CHANNEL_TX.sender();
let mut uart_channel_tx_recv = UART_CHANNEL_TX.receiver();
static UART_PIPE: Pipe<ThreadModeRawMutex, 20> = Pipe::new();
let mut uart_pipe_writer = UART_PIPE.writer();
let mut uart_pipe_reader = UART_PIPE.reader();
let (mut usb_tx, mut usb_rx) = class.split();
@@ -111,8 +108,8 @@ async fn main(_spawner: Spawner) {
usb_rx.wait_connection().await;
info!("Connected");
let _ = join(
usb_read(&mut usb_rx, &mut uart_channel_tx_send),
usb_write(&mut usb_tx, &mut usb_channel_tx_recv),
usb_read(&mut usb_rx, &mut uart_pipe_writer),
usb_write(&mut usb_tx, &mut usb_pipe_reader),
)
.await;
info!("Disconnected");
@@ -120,15 +117,10 @@ async fn main(_spawner: Spawner) {
};
// Read + write from UART
let uart_future = async {
loop {
let _ = join(
uart_read(&mut uart_rx, &mut usb_channel_tx_send),
uart_write(&mut uart_tx, &mut uart_channel_tx_recv),
)
.await;
}
};
let uart_future = join(
uart_read(&mut uart_rx, &mut usb_pipe_writer),
uart_write(&mut uart_tx, &mut uart_pipe_reader),
);
// Run everything concurrently.
// If we had made everything `'static` above instead, we could do this using separate tasks instead.
@@ -146,75 +138,73 @@ impl From<EndpointError> for Disconnected {
}
}
/// Read from the USB and write it to the UART TX send channel
/// Read from the USB and write it to the UART TX pipe
async fn usb_read<'d, T: Instance + 'd>(
usb_rx: &mut Receiver<'d, Driver<'d, T>>,
uart_tx_send: &mut embassy_sync::channel::Sender<'d, ThreadModeRawMutex, u8, 20>,
uart_pipe_writer: &mut embassy_sync::pipe::Writer<'static, ThreadModeRawMutex, 20>,
) -> Result<(), Disconnected> {
let mut buf = [0; 64];
loop {
let n = usb_rx.read_packet(&mut buf).await?;
let data = &buf[..n];
trace!("USB IN: {:x}", data);
for byte in data {
uart_tx_send.send(*byte).await;
}
uart_pipe_writer.write(data).await;
}
}
/// Read from the USB TX receive channel and write it to the USB
/// Read from the USB TX pipe and write it to the USB
async fn usb_write<'d, T: Instance + 'd>(
usb_tx: &mut Sender<'d, Driver<'d, T>>,
usb_tx_recv: &mut embassy_sync::channel::Receiver<'d, ThreadModeRawMutex, u8, 20>,
usb_pipe_reader: &mut embassy_sync::pipe::Reader<'d, ThreadModeRawMutex, 20>,
) -> Result<(), Disconnected> {
let mut buf = [0; 64];
loop {
let n = usb_tx_recv.recv().await;
let data = [n];
let n = usb_pipe_reader.read(&mut buf).await;
let data = &buf[..n];
trace!("USB OUT: {:x}", data);
usb_tx.write_packet(&data).await?;
}
}
/// Read from the UART and write it to the USB TX send channel
/// Read from the UART and write it to the USB TX pipe
async fn uart_read<'a>(
uart_rx: &mut PioUartRx<'a>,
usb_tx_send: &mut embassy_sync::channel::Sender<'a, ThreadModeRawMutex, u8, 20>,
) -> Result<(), Disconnected> {
let mut buf = [0; 1];
usb_pipe_writer: &mut embassy_sync::pipe::Writer<'static, ThreadModeRawMutex, 20>,
) -> ! {
let mut buf = [0; 64];
loop {
let n = uart_rx.read(&mut buf).await.expect("UART read error");
if n == 0 {
continue;
}
let data = &buf[..n];
trace!("UART IN: {:x}", buf);
usb_tx_send.send(buf[0]).await;
usb_pipe_writer.write(data).await;
}
}
/// Read from the UART TX receive channel and write it to the UART
/// Read from the UART TX pipe and write it to the UART
async fn uart_write<'a>(
uart_tx: &mut PioUartTx<'a>,
uart_rx_recv: &mut embassy_sync::channel::Receiver<'a, ThreadModeRawMutex, u8, 20>,
) -> Result<(), Disconnected> {
uart_pipe_reader: &mut embassy_sync::pipe::Reader<'a, ThreadModeRawMutex, 20>,
) -> ! {
let mut buf = [0; 64];
loop {
let n = uart_rx_recv.recv().await;
let data = [n];
let n = uart_pipe_reader.read(&mut buf).await;
let data = &buf[..n];
trace!("UART OUT: {:x}", data);
let _ = uart_tx.write(&data).await;
}
}
mod uart {
use core::fmt::Debug;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{Pio, PioPin};
use embassy_rp::Peripheral;
use embedded_io::ErrorKind;
use crate::uart_rx::PioUartRx;
use crate::uart_tx::PioUartTx;
use crate::PioIrqs;
use crate::Irqs;
pub struct PioUart<'a> {
tx: PioUartTx<'a>,
@@ -222,7 +212,7 @@ mod uart {
}
impl<'a> PioUart<'a> {
pub async fn new(
pub fn new(
baud: u64,
pio: impl Peripheral<P = PIO0> + 'a,
tx_pin: impl PioPin,
@@ -230,7 +220,7 @@ mod uart {
) -> PioUart<'a> {
let Pio {
mut common, sm0, sm1, ..
} = Pio::new(pio, PioIrqs);
} = Pio::new(pio, Irqs);
let (tx, origin) = PioUartTx::new(&mut common, sm0, tx_pin, baud, None);
let (rx, _) = PioUartRx::new(&mut common, sm1, rx_pin, baud, Some(origin));
@@ -242,17 +232,11 @@ mod uart {
(self.tx, self.rx)
}
}
#[derive(defmt::Format, Debug)]
pub struct PioUartError {}
impl embedded_io::Error for PioUartError {
fn kind(&self) -> ErrorKind {
ErrorKind::Other
}
}
}
mod uart_tx {
use core::convert::Infallible;
use embassy_rp::gpio::Level;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{Common, Config, Direction, FifoJoin, PioPin, ShiftDirection, StateMachine};
@@ -262,8 +246,6 @@ mod uart_tx {
use fixed::traits::ToFixed;
use fixed_macro::types::U56F8;
use crate::uart::PioUartError;
pub struct PioUartTx<'a> {
sm_tx: StateMachine<'a, PIO0, 0>,
}
@@ -328,11 +310,11 @@ mod uart_tx {
}
impl Io for PioUartTx<'_> {
type Error = PioUartError;
type Error = Infallible;
}
impl Write for PioUartTx<'_> {
async fn write(&mut self, buf: &[u8]) -> Result<usize, PioUartError> {
async fn write(&mut self, buf: &[u8]) -> Result<usize, Infallible> {
for byte in buf {
self.write_u8(*byte).await;
}
@@ -342,6 +324,8 @@ mod uart_tx {
}
mod uart_rx {
use core::convert::Infallible;
use embassy_rp::gpio::Level;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{Common, Config, Direction, FifoJoin, PioPin, ShiftDirection, StateMachine};
@@ -351,8 +335,6 @@ mod uart_rx {
use fixed::traits::ToFixed;
use fixed_macro::types::U56F8;
use crate::uart::PioUartError;
pub struct PioUartRx<'a> {
sm_rx: StateMachine<'a, PIO0, 1>,
}
@@ -415,11 +397,11 @@ mod uart_rx {
}
impl Io for PioUartRx<'_> {
type Error = PioUartError;
type Error = Infallible;
}
impl Read for PioUartRx<'_> {
async fn read(&mut self, buf: &mut [u8]) -> Result<usize, PioUartError> {
async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Infallible> {
let mut i = 0;
while i < buf.len() {
buf[i] = self.read_u8().await;