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Merge remote-tracking branch 'origin/master' into nrf-pdm

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This commit is contained in:
Quentin Smith
2022-08-23 23:01:51 -04:00
parent 14eae9ca06 529535194d
commit 2900ab79e7
164 changed files with 923 additions and 434 deletions
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4
embassy-nrf/Cargo.toml
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@ -18,7 +18,7 @@ flavors = [
time = ["dep:embassy-time"]
defmt = ["dep:defmt", "embassy-executor/defmt", "embassy-util/defmt", "embassy-usb?/defmt", "embedded-io?/defmt", "embassy-embedded-hal/defmt"]
defmt = ["dep:defmt", "embassy-executor/defmt", "embassy-sync/defmt", "embassy-usb?/defmt", "embedded-io?/defmt", "embassy-embedded-hal/defmt"]
# Enable nightly-only features
nightly = ["embedded-hal-1", "embedded-hal-async", "embassy-usb", "embedded-storage-async", "dep:embedded-io", "embassy-embedded-hal/nightly"]
@ -66,7 +66,7 @@ _gpio-p1 = []
[dependencies]
embassy-executor = { version = "0.1.0", path = "../embassy-executor", optional = true }
embassy-time = { version = "0.1.0", path = "../embassy-time", optional = true }
embassy-util = { version = "0.1.0", path = "../embassy-util" }
embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-3"]}
embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }

11
embassy-nrf/src/buffered_uarte.rs
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@ -21,7 +21,7 @@ use core::task::Poll;
use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
use embassy_hal_common::ring_buffer::RingBuffer;
use embassy_hal_common::{into_ref, PeripheralRef};
use embassy_util::waitqueue::WakerRegistration;
use embassy_sync::waitqueue::WakerRegistration;
use futures::future::poll_fn;
// Re-export SVD variants to allow user to directly set values
pub use pac::uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity};
@ -45,8 +45,10 @@ enum TxState {
Transmitting(usize),
}
/// A type for storing the state of the UARTE peripheral that can be stored in a static.
pub struct State<'d, U: UarteInstance, T: TimerInstance>(StateStorage<StateInner<'d, U, T>>);
impl<'d, U: UarteInstance, T: TimerInstance> State<'d, U, T> {
/// Create an instance for storing UARTE peripheral state.
pub fn new() -> Self {
Self(StateStorage::new())
}
@ -75,6 +77,12 @@ pub struct BufferedUarte<'d, U: UarteInstance, T: TimerInstance> {
impl<'d, U: UarteInstance, T: TimerInstance> Unpin for BufferedUarte<'d, U, T> {}
impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarte<'d, U, T> {
/// Create a new instance of a BufferedUarte.
///
/// See the [module documentation](crate::buffered_uarte) for more details about the intended use.
///
/// The BufferedUarte uses the provided state to store the buffers and peripheral state. The timer and ppi channels are used to 'emulate' idle line detection so that read operations
/// can return early if there is no data to receive.
pub fn new(
state: &'d mut State<'d, U, T>,
peri: impl Peripheral<P = U> + 'd,
@ -178,6 +186,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarte<'d, U, T> {
}
}
/// Adjust the baud rate to the provided value.
pub fn set_baudrate(&mut self, baudrate: Baudrate) {
self.inner.with(|state| {
let r = U::regs();

21
embassy-nrf/src/gpio.rs
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@ -1,3 +1,4 @@
//! General purpose input/output for nRF.
#![macro_use]
use core::convert::Infallible;
@ -26,8 +27,11 @@ pub enum Port {
#[derive(Debug, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Pull {
/// No pull.
None,
/// Internal pull-up resistor.
Up,
/// Internal pull-down resistor.
Down,
}
@ -37,6 +41,7 @@ pub struct Input<'d, T: Pin> {
}
impl<'d, T: Pin> Input<'d, T> {
/// Create GPIO input driver for a [Pin] with the provided [Pull] configuration.
#[inline]
pub fn new(pin: impl Peripheral<P = T> + 'd, pull: Pull) -> Self {
let mut pin = Flex::new(pin);
@ -45,11 +50,13 @@ impl<'d, T: Pin> Input<'d, T> {
Self { pin }
}
/// Test if current pin level is high.
#[inline]
pub fn is_high(&self) -> bool {
self.pin.is_high()
}
/// Test if current pin level is low.
#[inline]
pub fn is_low(&self) -> bool {
self.pin.is_low()
@ -66,7 +73,9 @@ impl<'d, T: Pin> Input<'d, T> {
#[derive(Debug, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Level {
/// Logical low.
Low,
/// Logical high.
High,
}
@ -88,6 +97,7 @@ impl Into<bool> for Level {
}
}
/// Drive strength settings for an output pin.
// 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))]
@ -117,6 +127,7 @@ pub struct Output<'d, T: Pin> {
}
impl<'d, T: Pin> Output<'d, T> {
/// Create GPIO output driver for a [Pin] with the provided [Level] and [OutputDriver] configuration.
#[inline]
pub fn new(pin: impl Peripheral<P = T> + 'd, initial_output: Level, drive: OutputDrive) -> Self {
let mut pin = Flex::new(pin);
@ -264,11 +275,13 @@ impl<'d, T: Pin> Flex<'d, T> {
self.pin.conf().reset();
}
/// Test if current pin level is high.
#[inline]
pub fn is_high(&self) -> bool {
!self.is_low()
}
/// Test if current pin level is low.
#[inline]
pub fn is_low(&self) -> bool {
self.pin.block().in_.read().bits() & (1 << self.pin.pin()) == 0
@ -374,6 +387,7 @@ pub(crate) mod sealed {
}
}
/// Interface for a Pin that can be configured by an [Input] or [Output] driver, or converted to an [AnyPin].
pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'static {
/// Number of the pin within the port (0..31)
#[inline]
@ -392,6 +406,7 @@ pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'stat
}
}
/// Peripheral port register value
#[inline]
fn psel_bits(&self) -> u32 {
self.pin_port() as u32
@ -406,12 +421,16 @@ pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'stat
}
}
// Type-erased GPIO pin
/// Type-erased GPIO pin
pub struct AnyPin {
pin_port: u8,
}
impl AnyPin {
/// Create an [AnyPin] for a specific pin.
///
/// # Safety
/// - `pin_port` should not in use by another driver.
#[inline]
pub unsafe fn steal(pin_port: u8) -> Self {
Self { pin_port }

2
embassy-nrf/src/gpiote.rs
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@ -3,7 +3,7 @@ use core::future::Future;
use core::task::{Context, Poll};
use embassy_hal_common::{impl_peripheral, Peripheral, PeripheralRef};
use embassy_util::waitqueue::AtomicWaker;
use embassy_sync::waitqueue::AtomicWaker;
use futures::future::poll_fn;
use crate::gpio::sealed::Pin as _;

10
embassy-nrf/src/nvmc.rs
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@ -1,4 +1,4 @@
//! Nvmcerature sensor interface.
//! Non-Volatile Memory Controller (NVMC) module.
use core::{ptr, slice};
@ -10,13 +10,19 @@ use embedded_storage::nor_flash::{
use crate::peripherals::NVMC;
use crate::{pac, Peripheral};
/// Erase size of NVMC flash in bytes.
pub const PAGE_SIZE: usize = 4096;
/// Size of NVMC flash in bytes.
pub const FLASH_SIZE: usize = crate::chip::FLASH_SIZE;
/// Error type for NVMC operations.
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Error {
/// Opration using a location not in flash.
OutOfBounds,
/// Unaligned operation or using unaligned buffers.
Unaligned,
}
@ -29,11 +35,13 @@ impl NorFlashError for Error {
}
}
/// Non-Volatile Memory Controller (NVMC) that implements the `embedded-storage` traits.
pub struct Nvmc<'d> {
_p: PeripheralRef<'d, NVMC>,
}
impl<'d> Nvmc<'d> {
/// Create Nvmc driver.
pub fn new(_p: impl Peripheral<P = NVMC> + 'd) -> Self {
into_ref!(_p);
Self { _p }

47
embassy-nrf/src/ppi/mod.rs
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@ -26,6 +26,7 @@ mod dppi;
#[cfg(feature = "_ppi")]
mod ppi;
/// An instance of the Programmable peripheral interconnect on nRF devices.
pub struct Ppi<'d, C: Channel, const EVENT_COUNT: usize, const TASK_COUNT: usize> {
ch: PeripheralRef<'d, C>,
#[cfg(feature = "_dppi")]
@ -34,20 +35,32 @@ pub struct Ppi<'d, C: Channel, const EVENT_COUNT: usize, const TASK_COUNT: usize
tasks: [Task; TASK_COUNT],
}
#[cfg(feature = "_dppi")]
const REGISTER_DPPI_CONFIG_OFFSET: usize = 0x80 / core::mem::size_of::<u32>();
/// Represents a task that a peripheral can do.
/// When a task is subscribed to a PPI channel it will run when the channel is triggered by
/// a published event.
///
/// The pointer is to a task register
/// When a task is subscribed to a PPI channel, it will run when the channel is triggered by
/// a published event.
#[derive(PartialEq, Eq, Clone, Copy)]
pub struct Task(pub NonNull<u32>);
pub struct Task(NonNull<u32>);
impl Task {
/// Create a new `Task` from a task register pointer
///
/// # Safety
///
/// `ptr` must be a pointer to a valid `TASKS_*` register from an nRF peripheral.
pub unsafe fn new_unchecked(ptr: NonNull<u32>) -> Self {
Self(ptr)
}
pub(crate) fn from_reg<T>(reg: &T) -> Self {
Self(unsafe { NonNull::new_unchecked(reg as *const _ as *mut _) })
}
/// Address of subscription register for this task.
#[cfg(feature = "_dppi")]
pub fn subscribe_reg(&self) -> *mut u32 {
unsafe { self.0.as_ptr().add(REGISTER_DPPI_CONFIG_OFFSET) }
}
@ -59,16 +72,27 @@ impl Task {
unsafe impl Send for Task {}
/// Represents an event that a peripheral can publish.
/// An event can be set to publish on a PPI channel when the event happens.
///
/// The pointer is to an event register
/// An event can be set to publish on a PPI channel when the event happens.
#[derive(PartialEq, Eq, Clone, Copy)]
pub struct Event(pub NonNull<u32>);
pub struct Event(NonNull<u32>);
impl Event {
/// Create a new `Event` from an event register pointer
///
/// # Safety
///
/// `ptr` must be a pointer to a valid `EVENTS_*` register from an nRF peripheral.
pub unsafe fn new_unchecked(ptr: NonNull<u32>) -> Self {
Self(ptr)
}
pub(crate) fn from_reg<T>(reg: &T) -> Self {
Self(unsafe { NonNull::new_unchecked(reg as *const _ as *mut _) })
}
/// Address of publish register for this event.
#[cfg(feature = "_dppi")]
pub fn publish_reg(&self) -> *mut u32 {
unsafe { self.0.as_ptr().add(REGISTER_DPPI_CONFIG_OFFSET) }
}
@ -87,21 +111,29 @@ pub(crate) mod sealed {
pub trait Group {}
}
/// Interface for PPI channels.
pub trait Channel: sealed::Channel + Peripheral<P = Self> + Sized {
/// Returns the number of the channel
fn number(&self) -> usize;
}
/// Interface for PPI channels that can be configured.
pub trait ConfigurableChannel: Channel + Into<AnyConfigurableChannel> {
/// Convert into a type erased configurable channel.
fn degrade(self) -> AnyConfigurableChannel;
}
/// Interface for PPI channels that cannot be configured.
pub trait StaticChannel: Channel + Into<AnyStaticChannel> {
/// Convert into a type erased static channel.
fn degrade(self) -> AnyStaticChannel;
}
/// Interface for a group of PPI channels.
pub trait Group: sealed::Group + Sized {
/// Returns the number of the group.
fn number(&self) -> usize;
/// Convert into a type erased group.
fn degrade(self) -> AnyGroup {
AnyGroup {
number: self.number() as u8,
@ -196,6 +228,7 @@ macro_rules! impl_ppi_channel {
// ======================
// groups
/// A type erased PPI group.
pub struct AnyGroup {
number: u8,
}

3
embassy-nrf/src/ppi/ppi.rs
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@ -20,6 +20,7 @@ fn regs() -> &'static pac::ppi::RegisterBlock {
#[cfg(not(feature = "nrf51"))] // Not for nrf51 because of the fork task
impl<'d, C: StaticChannel> Ppi<'d, C, 0, 1> {
/// Configure PPI channel to trigger `task`.
pub fn new_zero_to_one(ch: impl Peripheral<P = C> + 'd, task: Task) -> Self {
into_ref!(ch);
@ -32,6 +33,7 @@ impl<'d, C: StaticChannel> Ppi<'d, C, 0, 1> {
}
impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 1> {
/// Configure PPI channel to trigger `task` on `event`.
pub fn new_one_to_one(ch: impl Peripheral<P = C> + 'd, event: Event, task: Task) -> Self {
into_ref!(ch);
@ -46,6 +48,7 @@ impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 1> {
#[cfg(not(feature = "nrf51"))] // Not for nrf51 because of the fork task
impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 2> {
/// Configure PPI channel to trigger `task1` and `task2` on `event`.
pub fn new_one_to_two(ch: impl Peripheral<P = C> + 'd, event: Event, task1: Task, task2: Task) -> Self {
into_ref!(ch);

2
embassy-nrf/src/qdec.rs
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@ -3,7 +3,7 @@
use core::task::Poll;
use embassy_hal_common::{into_ref, PeripheralRef};
use embassy_util::waitqueue::AtomicWaker;
use embassy_sync::waitqueue::AtomicWaker;
use futures::future::poll_fn;
use crate::gpio::sealed::Pin as _;

2
embassy-nrf/src/qspi.rs
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@ -526,7 +526,7 @@ cfg_if::cfg_if! {
}
pub(crate) mod sealed {
use embassy_util::waitqueue::AtomicWaker;
use embassy_sync::waitqueue::AtomicWaker;
use super::*;

2
embassy-nrf/src/rng.rs
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@ -4,7 +4,7 @@ use core::task::Poll;
use embassy_hal_common::drop::OnDrop;
use embassy_hal_common::{into_ref, PeripheralRef};
use embassy_util::waitqueue::AtomicWaker;
use embassy_sync::waitqueue::AtomicWaker;
use futures::future::poll_fn;
use crate::interrupt::InterruptExt;

2
embassy-nrf/src/saadc.rs
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@ -4,7 +4,7 @@ use core::sync::atomic::{compiler_fence, Ordering};
use core::task::Poll;
use embassy_hal_common::{impl_peripheral, into_ref, PeripheralRef};
use embassy_util::waitqueue::AtomicWaker;
use embassy_sync::waitqueue::AtomicWaker;
use futures::future::poll_fn;
use pac::{saadc, SAADC};
use saadc::ch::config::{GAIN_A, REFSEL_A, RESP_A, TACQ_A};

2
embassy-nrf/src/spim.rs
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@ -363,7 +363,7 @@ impl<'d, T: Instance> Drop for Spim<'d, T> {
}
pub(crate) mod sealed {
use embassy_util::waitqueue::AtomicWaker;
use embassy_sync::waitqueue::AtomicWaker;
use super::*;

2
embassy-nrf/src/temp.rs
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@ -4,7 +4,7 @@ use core::task::Poll;
use embassy_hal_common::drop::OnDrop;
use embassy_hal_common::{into_ref, PeripheralRef};
use embassy_util::waitqueue::AtomicWaker;
use embassy_sync::waitqueue::AtomicWaker;
use fixed::types::I30F2;
use futures::future::poll_fn;

4
embassy-nrf/src/time_driver.rs
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@ -3,9 +3,9 @@ use core::sync::atomic::{compiler_fence, AtomicU32, AtomicU8, Ordering};
use core::{mem, ptr};
use critical_section::CriticalSection;
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::blocking_mutex::CriticalSectionMutex as Mutex;
use embassy_time::driver::{AlarmHandle, Driver};
use embassy_util::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_util::blocking_mutex::CriticalSectionMutex as Mutex;
use crate::interrupt::{Interrupt, InterruptExt};
use crate::{interrupt, pac};

6
embassy-nrf/src/timer.rs
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@ -5,7 +5,7 @@ use core::task::Poll;
use embassy_hal_common::drop::OnDrop;
use embassy_hal_common::{into_ref, PeripheralRef};
use embassy_util::waitqueue::AtomicWaker;
use embassy_sync::waitqueue::AtomicWaker;
use futures::future::poll_fn;
use crate::interrupt::{Interrupt, InterruptExt};
@ -40,8 +40,8 @@ macro_rules! impl_timer {
fn regs() -> &'static pac::timer0::RegisterBlock {
unsafe { &*(pac::$pac_type::ptr() as *const pac::timer0::RegisterBlock) }
}
fn waker(n: usize) -> &'static ::embassy_util::waitqueue::AtomicWaker {
use ::embassy_util::waitqueue::AtomicWaker;
fn waker(n: usize) -> &'static ::embassy_sync::waitqueue::AtomicWaker {
use ::embassy_sync::waitqueue::AtomicWaker;
const NEW_AW: AtomicWaker = AtomicWaker::new();
static WAKERS: [AtomicWaker; $ccs] = [NEW_AW; $ccs];
&WAKERS[n]

2
embassy-nrf/src/twim.rs
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@ -13,9 +13,9 @@ use core::task::Poll;
use embassy_embedded_hal::SetConfig;
use embassy_hal_common::{into_ref, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
#[cfg(feature = "time")]
use embassy_time::{Duration, Instant};
use embassy_util::waitqueue::AtomicWaker;
use futures::future::poll_fn;
use crate::chip::{EASY_DMA_SIZE, FORCE_COPY_BUFFER_SIZE};

2
embassy-nrf/src/uarte.rs
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@ -932,7 +932,7 @@ impl<'d, U: Instance, T: TimerInstance> UarteRxWithIdle<'d, U, T> {
pub(crate) mod sealed {
use core::sync::atomic::AtomicU8;
use embassy_util::waitqueue::AtomicWaker;
use embassy_sync::waitqueue::AtomicWaker;
use super::*;

2
embassy-nrf/src/usb.rs
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@ -7,10 +7,10 @@ use core::task::Poll;
use cortex_m::peripheral::NVIC;
use embassy_hal_common::{into_ref, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
pub use embassy_usb;
use embassy_usb::driver::{self, EndpointError, Event, Unsupported};
use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection};
use embassy_util::waitqueue::AtomicWaker;
use futures::future::poll_fn;
use futures::Future;
use pac::usbd::RegisterBlock;