diff --git a/embassy-macros/src/lib.rs b/embassy-macros/src/lib.rs index b11fc4ae..091e08cf 100644 --- a/embassy-macros/src/lib.rs +++ b/embassy-macros/src/lib.rs @@ -98,3 +98,65 @@ pub fn task(args: TokenStream, item: TokenStream) -> TokenStream { }; result.into() } + +#[proc_macro] +pub fn interrupt_declare(item: TokenStream) -> TokenStream { + let name = syn::parse_macro_input!(item as syn::Ident); + let name = format_ident!("{}", name); + let name_interrupt = format_ident!("{}Interrupt", name); + let name_handler = format!("__EMBASSY_{}_HANDLER", name); + + let result = quote! { + #[allow(non_camel_case_types)] + pub struct #name_interrupt(()); + unsafe impl OwnedInterrupt for #name_interrupt { + type Priority = Priority; + fn number(&self) -> u8 { + Interrupt::#name as u8 + } + unsafe fn __handler(&self) -> &'static ::core::sync::atomic::AtomicPtr { + #[export_name = #name_handler] + static HANDLER: ::core::sync::atomic::AtomicPtr = ::core::sync::atomic::AtomicPtr::new(::core::ptr::null_mut()); + &HANDLER + } + } + }; + result.into() +} + +#[proc_macro] +pub fn interrupt_take(item: TokenStream) -> TokenStream { + let name = syn::parse_macro_input!(item as syn::Ident); + let name = format!("{}", name); + let name_interrupt = format_ident!("{}Interrupt", name); + let name_handler = format!("__EMBASSY_{}_HANDLER", name); + + let result = quote! { + { + #[allow(non_snake_case)] + #[export_name = #name] + pub unsafe extern "C" fn trampoline() { + extern "C" { + #[link_name = #name_handler] + static HANDLER: ::core::sync::atomic::AtomicPtr; + } + + let p = HANDLER.load(::core::sync::atomic::Ordering::Acquire); + if !p.is_null() { + let f: fn() = ::core::mem::transmute(p); + f() + } + } + + static TAKEN: ::core::sync::atomic::AtomicBool = ::core::sync::atomic::AtomicBool::new(false); + + if TAKEN.compare_and_swap(false, true, ::core::sync::atomic::Ordering::AcqRel) { + panic!("IRQ Already taken"); + } + + let irq: interrupt::#name_interrupt = unsafe { ::core::mem::transmute(()) }; + irq + } + }; + result.into() +} diff --git a/embassy-nrf/src/buffered_uarte.rs b/embassy-nrf/src/buffered_uarte.rs index 9e138ad4..db6a83fb 100644 --- a/embassy-nrf/src/buffered_uarte.rs +++ b/embassy-nrf/src/buffered_uarte.rs @@ -17,10 +17,10 @@ use embedded_hal::digital::v2::OutputPin; use crate::hal::gpio::{Floating, Input, Output, Pin as GpioPin, Port as GpioPort, PushPull}; use crate::interrupt; -use crate::interrupt::CriticalSection; +use crate::interrupt::{CriticalSection, OwnedInterrupt}; #[cfg(any(feature = "52833", feature = "52840", feature = "9160"))] use crate::pac::UARTE1; -use crate::pac::{uarte0, Interrupt, UARTE0}; +use crate::pac::{uarte0, UARTE0}; // Re-export SVD variants to allow user to directly set values pub use uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity}; @@ -141,8 +141,9 @@ pub struct BufferedUarte { // public because it needs to be used in Instance::{get_state, set_state}, but // should not be used outside the module #[doc(hidden)] -pub struct UarteState { +pub struct UarteState { inner: T, + irq: T::Interrupt, rx: RingBuf, rx_state: RxState, @@ -164,7 +165,13 @@ fn port_bit(port: GpioPort) -> bool { } impl BufferedUarte { - pub fn new(uarte: T, mut pins: Pins, parity: Parity, baudrate: Baudrate) -> Self { + pub fn new( + uarte: T, + irq: T::Interrupt, + mut pins: Pins, + parity: Parity, + baudrate: Baudrate, + ) -> Self { // Select pins uarte.psel.rxd.write(|w| { let w = unsafe { w.pin().bits(pins.rxd.pin()) }; @@ -222,6 +229,7 @@ impl BufferedUarte { started: false, state: UnsafeCell::new(UarteState { inner: uarte, + irq, rx: RingBuf::new(), rx_state: RxState::Idle, @@ -287,9 +295,12 @@ impl AsyncWrite for BufferedUarte { impl UarteState { pub fn start(self: Pin<&mut Self>) { - interrupt::set_priority(T::interrupt(), interrupt::Priority::Level7); - interrupt::enable(T::interrupt()); - interrupt::pend(T::interrupt()); + self.irq.set_handler(|| unsafe { + interrupt::free(|cs| T::get_state(cs).as_mut().unwrap().on_interrupt()); + }); + + self.irq.pend(); + self.irq.enable(); } fn poll_fill_buf(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll> { @@ -324,7 +335,7 @@ impl UarteState { let this = unsafe { self.get_unchecked_mut() }; trace!("consume {:?}", amt); this.rx.pop(amt); - interrupt::pend(T::interrupt()); + this.irq.pend(); } fn poll_write(self: Pin<&mut Self>, cx: &mut Context<'_>, buf: &[u8]) -> Poll> { @@ -350,7 +361,7 @@ impl UarteState { // before any DMA action has started compiler_fence(Ordering::SeqCst); - interrupt::pend(T::interrupt()); + this.irq.pend(); Poll::Ready(Ok(n)) } @@ -509,7 +520,7 @@ mod private { } pub trait Instance: Deref + Sized + private::Sealed { - fn interrupt() -> Interrupt; + type Interrupt: OwnedInterrupt; #[doc(hidden)] fn get_state(_cs: &CriticalSection) -> *mut UarteState; @@ -518,25 +529,12 @@ pub trait Instance: Deref + Sized + private::Sea fn set_state(_cs: &CriticalSection, state: *mut UarteState); } -#[interrupt] -unsafe fn UARTE0_UART0() { - interrupt::free(|cs| UARTE0::get_state(cs).as_mut().unwrap().on_interrupt()); -} - -#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))] -#[interrupt] -unsafe fn UARTE1() { - interrupt::free(|cs| UARTE1::get_state(cs).as_mut().unwrap().on_interrupt()); -} - static mut UARTE0_STATE: *mut UarteState = ptr::null_mut(); #[cfg(any(feature = "52833", feature = "52840", feature = "9160"))] static mut UARTE1_STATE: *mut UarteState = ptr::null_mut(); impl Instance for UARTE0 { - fn interrupt() -> Interrupt { - Interrupt::UARTE0_UART0 - } + type Interrupt = interrupt::UARTE0_UART0Interrupt; fn get_state(_cs: &CriticalSection) -> *mut UarteState { unsafe { UARTE0_STATE } // Safe because of CriticalSection @@ -548,9 +546,7 @@ impl Instance for UARTE0 { #[cfg(any(feature = "52833", feature = "52840", feature = "9160"))] impl Instance for UARTE1 { - fn interrupt() -> Interrupt { - Interrupt::UARTE1 - } + type Interrupt = interrupt::UARTE1Interrupt; fn get_state(_cs: &CriticalSection) -> *mut UarteState { unsafe { UARTE1_STATE } // Safe because of CriticalSection diff --git a/embassy-nrf/src/gpiote.rs b/embassy-nrf/src/gpiote.rs index 069e9140..353f6a94 100644 --- a/embassy-nrf/src/gpiote.rs +++ b/embassy-nrf/src/gpiote.rs @@ -7,6 +7,7 @@ use embassy::util::Signal; use crate::hal::gpio::{Input, Level, Output, Pin, Port}; use crate::interrupt; +use crate::interrupt::OwnedInterrupt; use crate::pac::generic::Reg; use crate::pac::gpiote::_TASKS_OUT; #[cfg(any(feature = "52833", feature = "52840"))] @@ -58,7 +59,7 @@ pub enum NewChannelError { } impl Gpiote { - pub fn new(gpiote: GPIOTE) -> Self { + pub fn new(gpiote: GPIOTE, irq: interrupt::GPIOTEInterrupt) -> Self { #[cfg(any(feature = "52833", feature = "52840"))] let ports = unsafe { &[&*P0::ptr(), &*P1::ptr()] }; #[cfg(not(any(feature = "52833", feature = "52840")))] @@ -74,8 +75,9 @@ impl Gpiote { // Enable interrupts gpiote.events_port.write(|w| w); gpiote.intenset.write(|w| w.port().set()); - interrupt::unpend(interrupt::GPIOTE); - interrupt::enable(interrupt::GPIOTE); + irq.set_handler(Self::on_irq); + irq.unpend(); + irq.enable(); Self { inner: gpiote, @@ -293,6 +295,39 @@ impl Gpiote { }) }) } + + unsafe fn on_irq() { + let s = &(*INSTANCE); + + for i in 0..8 { + if s.inner.events_in[i].read().bits() != 0 { + s.inner.events_in[i].write(|w| w); + s.channel_signals[i].signal(()); + } + } + + if s.inner.events_port.read().bits() != 0 { + s.inner.events_port.write(|w| w); + + #[cfg(any(feature = "52833", feature = "52840"))] + let ports = &[&*P0::ptr(), &*P1::ptr()]; + #[cfg(not(any(feature = "52833", feature = "52840")))] + let ports = &[&*P0::ptr()]; + + let mut work = true; + while work { + work = false; + for (port, &p) in ports.iter().enumerate() { + for pin in BitIter(p.latch.read().bits()) { + work = true; + p.pin_cnf[pin as usize].modify(|_, w| w.sense().disabled()); + p.latch.write(|w| w.bits(1 << pin)); + s.port_signals[port * 32 + pin as usize].signal(()); + } + } + } + } + } } pub struct PortInputFuture<'a, T> { @@ -413,40 +448,6 @@ impl<'a> OutputChannel<'a> { } } -#[interrupt] -unsafe fn GPIOTE() { - let s = &(*INSTANCE); - - for i in 0..8 { - if s.inner.events_in[i].read().bits() != 0 { - s.inner.events_in[i].write(|w| w); - s.channel_signals[i].signal(()); - } - } - - if s.inner.events_port.read().bits() != 0 { - s.inner.events_port.write(|w| w); - - #[cfg(any(feature = "52833", feature = "52840"))] - let ports = &[&*P0::ptr(), &*P1::ptr()]; - #[cfg(not(any(feature = "52833", feature = "52840")))] - let ports = &[&*P0::ptr()]; - - let mut work = true; - while work { - work = false; - for (port, &p) in ports.iter().enumerate() { - for pin in BitIter(p.latch.read().bits()) { - work = true; - p.pin_cnf[pin as usize].modify(|_, w| w.sense().disabled()); - p.latch.write(|w| w.bits(1 << pin)); - s.port_signals[port * 32 + pin as usize].signal(()); - } - } - } - } -} - struct BitIter(u32); impl Iterator for BitIter { diff --git a/embassy-nrf/src/interrupt.rs b/embassy-nrf/src/interrupt.rs index 17fc9ab3..90b56857 100644 --- a/embassy-nrf/src/interrupt.rs +++ b/embassy-nrf/src/interrupt.rs @@ -5,12 +5,13 @@ use core::sync::atomic::{compiler_fence, Ordering}; -use crate::pac::{NVIC, NVIC_PRIO_BITS}; +use crate::pac::NVIC_PRIO_BITS; // Re-exports pub use crate::pac::Interrupt; pub use crate::pac::Interrupt::*; // needed for cortex-m-rt #[interrupt] pub use cortex_m::interrupt::{CriticalSection, Mutex}; +pub use embassy::interrupt::{declare, take, OwnedInterrupt}; #[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)] #[cfg_attr(feature = "defmt", derive(defmt::Format))] @@ -26,14 +27,8 @@ pub enum Priority { Level7 = 7, } -impl Priority { - #[inline] - fn to_nvic(self) -> u8 { - (self as u8) << (8 - NVIC_PRIO_BITS) - } - - #[inline] - fn from_nvic(priority: u8) -> Self { +impl From for Priority { + fn from(priority: u8) -> Self { match priority >> (8 - NVIC_PRIO_BITS) { 0 => Self::Level0, 1 => Self::Level1, @@ -48,6 +43,12 @@ impl Priority { } } +impl From for u8 { + fn from(p: Priority) -> Self { + (p as u8) << (8 - NVIC_PRIO_BITS) + } +} + #[inline] pub fn free(f: F) -> R where @@ -77,53 +78,204 @@ where } } -#[inline] -pub fn enable(irq: Interrupt) { - unsafe { - NVIC::unmask(irq); - } +#[cfg(feature = "52810")] +mod irqs { + use super::*; + declare!(POWER_CLOCK); + declare!(RADIO); + declare!(UARTE0_UART0); + declare!(TWIM0_TWIS0_TWI0); + declare!(SPIM0_SPIS0_SPI0); + declare!(GPIOTE); + declare!(SAADC); + declare!(TIMER0); + declare!(TIMER1); + declare!(TIMER2); + declare!(RTC0); + declare!(TEMP); + declare!(RNG); + declare!(ECB); + declare!(CCM_AAR); + declare!(WDT); + declare!(RTC1); + declare!(QDEC); + declare!(COMP); + declare!(SWI0_EGU0); + declare!(SWI1_EGU1); + declare!(SWI2); + declare!(SWI3); + declare!(SWI4); + declare!(SWI5); + declare!(PWM0); + declare!(PDM); } -#[inline] -pub fn disable(irq: Interrupt) { - NVIC::mask(irq); +#[cfg(feature = "52811")] +mod irqs { + use super::*; + declare!(POWER_CLOCK); + declare!(RADIO); + declare!(UARTE0_UART0); + declare!(TWIM0_TWIS0_TWI0_SPIM1_SPIS1_SPI1); + declare!(SPIM0_SPIS0_SPI0); + declare!(GPIOTE); + declare!(SAADC); + declare!(TIMER0); + declare!(TIMER1); + declare!(TIMER2); + declare!(RTC0); + declare!(TEMP); + declare!(RNG); + declare!(ECB); + declare!(CCM_AAR); + declare!(WDT); + declare!(RTC1); + declare!(QDEC); + declare!(COMP); + declare!(SWI0_EGU0); + declare!(SWI1_EGU1); + declare!(SWI2); + declare!(SWI3); + declare!(SWI4); + declare!(SWI5); + declare!(PWM0); + declare!(PDM); } -#[inline] -pub fn is_active(irq: Interrupt) -> bool { - NVIC::is_active(irq) +#[cfg(feature = "52832")] +mod irqs { + use super::*; + declare!(POWER_CLOCK); + declare!(RADIO); + declare!(UARTE0_UART0); + declare!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0); + declare!(SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1); + declare!(NFCT); + declare!(GPIOTE); + declare!(SAADC); + declare!(TIMER0); + declare!(TIMER1); + declare!(TIMER2); + declare!(RTC0); + declare!(TEMP); + declare!(RNG); + declare!(ECB); + declare!(CCM_AAR); + declare!(WDT); + declare!(RTC1); + declare!(QDEC); + declare!(COMP_LPCOMP); + declare!(SWI0_EGU0); + declare!(SWI1_EGU1); + declare!(SWI2_EGU2); + declare!(SWI3_EGU3); + declare!(SWI4_EGU4); + declare!(SWI5_EGU5); + declare!(TIMER3); + declare!(TIMER4); + declare!(PWM0); + declare!(PDM); + declare!(MWU); + declare!(PWM1); + declare!(PWM2); + declare!(SPIM2_SPIS2_SPI2); + declare!(RTC2); + declare!(I2S); + declare!(FPU); } -#[inline] -pub fn is_enabled(irq: Interrupt) -> bool { - NVIC::is_enabled(irq) +#[cfg(feature = "52833")] +mod irqs { + use super::*; + declare!(POWER_CLOCK); + declare!(RADIO); + declare!(UARTE0_UART0); + declare!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0); + declare!(SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1); + declare!(NFCT); + declare!(GPIOTE); + declare!(SAADC); + declare!(TIMER0); + declare!(TIMER1); + declare!(TIMER2); + declare!(RTC0); + declare!(TEMP); + declare!(RNG); + declare!(ECB); + declare!(CCM_AAR); + declare!(WDT); + declare!(RTC1); + declare!(QDEC); + declare!(COMP_LPCOMP); + declare!(SWI0_EGU0); + declare!(SWI1_EGU1); + declare!(SWI2_EGU2); + declare!(SWI3_EGU3); + declare!(SWI4_EGU4); + declare!(SWI5_EGU5); + declare!(TIMER3); + declare!(TIMER4); + declare!(PWM0); + declare!(PDM); + declare!(MWU); + declare!(PWM1); + declare!(PWM2); + declare!(SPIM2_SPIS2_SPI2); + declare!(RTC2); + declare!(I2S); + declare!(FPU); + declare!(USBD); + declare!(UARTE1); + declare!(PWM3); + declare!(SPIM3); } -#[inline] -pub fn is_pending(irq: Interrupt) -> bool { - NVIC::is_pending(irq) +#[cfg(feature = "52840")] +mod irqs { + use super::*; + declare!(POWER_CLOCK); + declare!(RADIO); + declare!(UARTE0_UART0); + declare!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0); + declare!(SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1); + declare!(NFCT); + declare!(GPIOTE); + declare!(SAADC); + declare!(TIMER0); + declare!(TIMER1); + declare!(TIMER2); + declare!(RTC0); + declare!(TEMP); + declare!(RNG); + declare!(ECB); + declare!(CCM_AAR); + declare!(WDT); + declare!(RTC1); + declare!(QDEC); + declare!(COMP_LPCOMP); + declare!(SWI0_EGU0); + declare!(SWI1_EGU1); + declare!(SWI2_EGU2); + declare!(SWI3_EGU3); + declare!(SWI4_EGU4); + declare!(SWI5_EGU5); + declare!(TIMER3); + declare!(TIMER4); + declare!(PWM0); + declare!(PDM); + declare!(MWU); + declare!(PWM1); + declare!(PWM2); + declare!(SPIM2_SPIS2_SPI2); + declare!(RTC2); + declare!(I2S); + declare!(FPU); + declare!(USBD); + declare!(UARTE1); + declare!(QSPI); + declare!(CRYPTOCELL); + declare!(PWM3); + declare!(SPIM3); } -#[inline] -pub fn pend(irq: Interrupt) { - NVIC::pend(irq) -} - -#[inline] -pub fn unpend(irq: Interrupt) { - NVIC::unpend(irq) -} - -#[inline] -pub fn get_priority(irq: Interrupt) -> Priority { - Priority::from_nvic(NVIC::get_priority(irq)) -} - -#[inline] -pub fn set_priority(irq: Interrupt, prio: Priority) { - unsafe { - cortex_m::peripheral::Peripherals::steal() - .NVIC - .set_priority(irq, prio.to_nvic()) - } -} +pub use irqs::*; diff --git a/embassy-nrf/src/qspi.rs b/embassy-nrf/src/qspi.rs index 79fc7029..c9c907cd 100644 --- a/embassy-nrf/src/qspi.rs +++ b/embassy-nrf/src/qspi.rs @@ -2,6 +2,7 @@ use crate::fmt::{assert, assert_eq, panic, *}; use core::future::Future; use crate::hal::gpio::{Output, Pin as GpioPin, Port as GpioPort, PushPull}; +use crate::interrupt::{OwnedInterrupt, QSPIInterrupt}; use crate::pac::{Interrupt, QSPI}; pub use crate::pac::qspi::ifconfig0::ADDRMODE_A as AddressMode; @@ -22,8 +23,6 @@ pub use crate::pac::qspi::ifconfig0::WRITEOC_A as WriteOpcode; use embassy::flash::{Error, Flash}; use embassy::util::{DropBomb, Signal}; -use crate::interrupt; - pub struct Pins { pub sck: GpioPin>, pub csn: GpioPin>, @@ -59,7 +58,7 @@ fn port_bit(port: GpioPort) -> bool { } impl Qspi { - pub fn new(qspi: QSPI, config: Config) -> Self { + pub fn new(qspi: QSPI, irq: QSPIInterrupt, config: Config) -> Self { qspi.psel.sck.write(|w| { let pin = &config.pins.sck; let w = unsafe { w.pin().bits(pin.pin()) }; @@ -146,9 +145,10 @@ impl Qspi { // Enable READY interrupt SIGNAL.reset(); qspi.intenset.write(|w| w.ready().set()); - interrupt::set_priority(Interrupt::QSPI, interrupt::Priority::Level7); - interrupt::unpend(Interrupt::QSPI); - interrupt::enable(Interrupt::QSPI); + + irq.set_handler(irq_handler); + irq.unpend(); + irq.enable(); Self { inner: qspi } } @@ -347,8 +347,7 @@ impl Flash for Qspi { static SIGNAL: Signal<()> = Signal::new(); -#[interrupt] -unsafe fn QSPI() { +unsafe fn irq_handler() { let p = crate::pac::Peripherals::steal().QSPI; if p.events_ready.read().events_ready().bit_is_set() { p.events_ready.reset(); diff --git a/embassy-nrf/src/rtc.rs b/embassy-nrf/src/rtc.rs index 66e2f552..d65b8d47 100644 --- a/embassy-nrf/src/rtc.rs +++ b/embassy-nrf/src/rtc.rs @@ -2,10 +2,10 @@ use core::cell::Cell; use core::ops::Deref; use core::sync::atomic::{AtomicU32, Ordering}; -use embassy::time::Clock; +use embassy::time::{Clock, Instant}; use crate::interrupt; -use crate::interrupt::{CriticalSection, Mutex}; +use crate::interrupt::{CriticalSection, Mutex, OwnedInterrupt}; use crate::pac::{rtc0, Interrupt, RTC0, RTC1}; #[cfg(any(feature = "52832", feature = "52833", feature = "52840"))] @@ -56,8 +56,9 @@ impl AlarmState { const ALARM_COUNT: usize = 3; -pub struct RTC { +pub struct RTC { rtc: T, + irq: T::Interrupt, /// Number of 2^23 periods elapsed since boot. /// @@ -75,13 +76,14 @@ pub struct RTC { alarms: Mutex<[AlarmState; ALARM_COUNT]>, } -unsafe impl Send for RTC {} -unsafe impl Sync for RTC {} +unsafe impl Send for RTC {} +unsafe impl Sync for RTC {} impl RTC { - pub fn new(rtc: T) -> Self { + pub fn new(rtc: T, irq: T::Interrupt) -> Self { Self { rtc, + irq, period: AtomicU32::new(0), alarms: Mutex::new([AlarmState::new(), AlarmState::new(), AlarmState::new()]), } @@ -103,7 +105,10 @@ impl RTC { while self.rtc.counter.read().bits() != 0 {} T::set_rtc_instance(self); - interrupt::enable(T::INTERRUPT); + self.irq + .set_handler(|| T::get_rtc_instance().on_interrupt()); + self.irq.unpend(); + self.irq.enable(); } fn on_interrupt(&self) { @@ -234,18 +239,18 @@ impl embassy::time::Alarm for Alarm { /// Implemented by all RTC instances. pub trait Instance: Deref + Sized + 'static { /// The interrupt associated with this RTC instance. - const INTERRUPT: Interrupt; + type Interrupt: OwnedInterrupt; fn set_rtc_instance(rtc: &'static RTC); fn get_rtc_instance() -> &'static RTC; } macro_rules! impl_instance { - ($name:ident, $static_name:ident) => { + ($name:ident, $irq_name:path, $static_name:ident) => { static mut $static_name: Option<&'static RTC<$name>> = None; impl Instance for $name { - const INTERRUPT: Interrupt = Interrupt::$name; + type Interrupt = $irq_name; fn set_rtc_instance(rtc: &'static RTC) { unsafe { $static_name = Some(rtc) } } @@ -253,16 +258,11 @@ macro_rules! impl_instance { unsafe { $static_name.unwrap() } } } - - #[interrupt] - fn $name() { - $name::get_rtc_instance().on_interrupt(); - } }; } -impl_instance!(RTC0, RTC0_INSTANCE); -impl_instance!(RTC1, RTC1_INSTANCE); +impl_instance!(RTC0, interrupt::RTC0Interrupt, RTC0_INSTANCE); +impl_instance!(RTC1, interrupt::RTC1Interrupt, RTC1_INSTANCE); #[cfg(any(feature = "52832", feature = "52833", feature = "52840"))] -impl_instance!(RTC2, RTC2_INSTANCE); +impl_instance!(RTC2, interrupt::RTC2Interrupt, RTC2_INSTANCE); diff --git a/embassy/src/interrupt.rs b/embassy/src/interrupt.rs new file mode 100644 index 00000000..fee52b32 --- /dev/null +++ b/embassy/src/interrupt.rs @@ -0,0 +1,76 @@ +use core::mem; +use core::ptr; +use core::sync::atomic::{AtomicBool, AtomicPtr, Ordering}; +use cortex_m::peripheral::NVIC; + +pub use embassy_macros::interrupt_declare as declare; +pub use embassy_macros::interrupt_take as take; + +struct NrWrap(u8); +unsafe impl cortex_m::interrupt::Nr for NrWrap { + fn nr(&self) -> u8 { + self.0 + } +} + +pub unsafe trait OwnedInterrupt { + type Priority: From + Into + Copy; + fn number(&self) -> u8; + #[doc(hidden)] + unsafe fn __handler(&self) -> &'static AtomicPtr; + + fn set_handler(&self, handler: unsafe fn()) { + unsafe { self.__handler() }.store(handler as *mut u32, Ordering::Release); + } + + #[inline] + fn enable(&self) { + unsafe { + NVIC::unmask(NrWrap(self.number())); + } + } + + #[inline] + fn disable(&self) { + NVIC::mask(NrWrap(self.number())); + } + + #[inline] + fn is_active(&self) -> bool { + NVIC::is_active(NrWrap(self.number())) + } + + #[inline] + fn is_enabled(&self) -> bool { + NVIC::is_enabled(NrWrap(self.number())) + } + + #[inline] + fn is_pending(&self) -> bool { + NVIC::is_pending(NrWrap(self.number())) + } + + #[inline] + fn pend(&self) { + NVIC::pend(NrWrap(self.number())) + } + + #[inline] + fn unpend(&self) { + NVIC::unpend(NrWrap(self.number())) + } + + #[inline] + fn get_priority(&self) -> Self::Priority { + Self::Priority::from(NVIC::get_priority(NrWrap(self.number()))) + } + + #[inline] + fn set_priority(&self, prio: Self::Priority) { + unsafe { + cortex_m::peripheral::Peripherals::steal() + .NVIC + .set_priority(NrWrap(self.number()), prio.into()) + } + } +} diff --git a/embassy/src/lib.rs b/embassy/src/lib.rs index 49ba8eea..bc06ebd1 100644 --- a/embassy/src/lib.rs +++ b/embassy/src/lib.rs @@ -9,6 +9,7 @@ pub(crate) mod fmt; pub mod executor; pub mod flash; +pub mod interrupt; pub mod io; pub mod rand; pub mod time; diff --git a/examples/src/bin/gpiote.rs b/examples/src/bin/gpiote.rs index edc3f5ef..afa1b85d 100644 --- a/examples/src/bin/gpiote.rs +++ b/examples/src/bin/gpiote.rs @@ -7,18 +7,20 @@ mod example_common; use example_common::*; use cortex_m_rt::entry; +use defmt::panic; use nrf52840_hal::gpio; use embassy::executor::{task, Executor}; use embassy::util::Forever; use embassy_nrf::gpiote; +use embassy_nrf::interrupt; #[task] async fn run() { let p = unwrap!(embassy_nrf::pac::Peripherals::take()); let port0 = gpio::p0::Parts::new(p.P0); - let g = gpiote::Gpiote::new(p.GPIOTE); + let g = gpiote::Gpiote::new(p.GPIOTE, interrupt::take!(GPIOTE)); info!("Starting!"); diff --git a/examples/src/bin/gpiote_port.rs b/examples/src/bin/gpiote_port.rs index 58531764..f5aa8132 100644 --- a/examples/src/bin/gpiote_port.rs +++ b/examples/src/bin/gpiote_port.rs @@ -8,11 +8,13 @@ use example_common::*; use core::mem; use cortex_m_rt::entry; +use defmt::panic; use nrf52840_hal::gpio; use embassy::executor::{task, Executor}; use embassy::util::Forever; use embassy_nrf::gpiote::{Gpiote, PortInputPolarity}; +use embassy_nrf::interrupt; async fn button(g: &Gpiote, n: usize, pin: gpio::Pin>) { loop { @@ -28,7 +30,7 @@ async fn run() { let p = unwrap!(embassy_nrf::pac::Peripherals::take()); let port0 = gpio::p0::Parts::new(p.P0); - let g = Gpiote::new(p.GPIOTE); + let g = Gpiote::new(p.GPIOTE, interrupt::take!(GPIOTE)); info!( "sizeof Signal<()> = {:usize}", mem::size_of::>() diff --git a/examples/src/bin/multiprio.rs b/examples/src/bin/multiprio.rs index be7e91a9..c821e3db 100644 --- a/examples/src/bin/multiprio.rs +++ b/examples/src/bin/multiprio.rs @@ -61,7 +61,9 @@ mod example_common; use example_common::*; +use cortex_m::peripheral::NVIC; use cortex_m_rt::entry; +use defmt::panic; use nrf52840_hal::clocks; use embassy::executor::{task, Executor}; @@ -130,7 +132,7 @@ fn main() -> ! { .set_lfclk_src_external(clocks::LfOscConfiguration::NoExternalNoBypass) .start_lfclk(); - let rtc = RTC.put(rtc::RTC::new(p.RTC1)); + let rtc = RTC.put(rtc::RTC::new(p.RTC1, interrupt::take!(RTC1))); rtc.start(); unsafe { embassy::time::set_clock(rtc) }; @@ -138,17 +140,20 @@ fn main() -> ! { let executor_low = EXECUTOR_LOW.put(Executor::new_with_alarm(alarm_low, cortex_m::asm::sev)); let alarm_med = ALARM_MED.put(rtc.alarm1()); let executor_med = EXECUTOR_MED.put(Executor::new_with_alarm(alarm_med, || { - interrupt::pend(interrupt::SWI0_EGU0) + NVIC::pend(interrupt::SWI0_EGU0) })); let alarm_high = ALARM_HIGH.put(rtc.alarm2()); let executor_high = EXECUTOR_HIGH.put(Executor::new_with_alarm(alarm_high, || { - interrupt::pend(interrupt::SWI1_EGU1) + NVIC::pend(interrupt::SWI1_EGU1) })); - interrupt::set_priority(interrupt::SWI0_EGU0, interrupt::Priority::Level7); - interrupt::set_priority(interrupt::SWI1_EGU1, interrupt::Priority::Level6); - interrupt::enable(interrupt::SWI0_EGU0); - interrupt::enable(interrupt::SWI1_EGU1); + unsafe { + let mut nvic: NVIC = core::mem::transmute(()); + nvic.set_priority(interrupt::SWI0_EGU0, 7 << 5); + nvic.set_priority(interrupt::SWI1_EGU1, 6 << 5); + NVIC::unmask(interrupt::SWI0_EGU0); + NVIC::unmask(interrupt::SWI1_EGU1); + } unwrap!(executor_low.spawn(run_low())); unwrap!(executor_med.spawn(run_med())); diff --git a/examples/src/bin/qspi.rs b/examples/src/bin/qspi.rs index 644018e2..a7d47f79 100644 --- a/examples/src/bin/qspi.rs +++ b/examples/src/bin/qspi.rs @@ -13,7 +13,7 @@ use nrf52840_hal::gpio; use embassy::executor::{task, Executor}; use embassy::flash::Flash; use embassy::util::Forever; -use embassy_nrf::qspi; +use embassy_nrf::{interrupt, qspi}; const PAGE_SIZE: usize = 4096; @@ -68,7 +68,8 @@ async fn run() { deep_power_down: None, }; - let mut q = qspi::Qspi::new(p.QSPI, config); + let irq = interrupt::take!(QSPI); + let mut q = qspi::Qspi::new(p.QSPI, irq, config); let mut id = [1; 3]; q.custom_instruction(0x9F, &[], &mut id).await.unwrap(); diff --git a/examples/src/bin/rtc_async.rs b/examples/src/bin/rtc_async.rs index aec70a07..dcdeb704 100644 --- a/examples/src/bin/rtc_async.rs +++ b/examples/src/bin/rtc_async.rs @@ -8,13 +8,13 @@ use example_common::*; use core::mem::MaybeUninit; use cortex_m_rt::entry; -use nrf52840_hal::clocks; - +use defmt::panic; use embassy::executor::{task, Executor}; use embassy::time::{Clock, Duration, Timer}; use embassy::util::Forever; use embassy_nrf::pac; -use embassy_nrf::rtc; +use embassy_nrf::{interrupt, rtc}; +use nrf52840_hal::clocks; #[task] async fn run1() { @@ -47,7 +47,7 @@ fn main() -> ! { .set_lfclk_src_external(clocks::LfOscConfiguration::NoExternalNoBypass) .start_lfclk(); - let rtc = RTC.put(rtc::RTC::new(p.RTC1)); + let rtc = RTC.put(rtc::RTC::new(p.RTC1, interrupt::take!(RTC1))); rtc.start(); unsafe { embassy::time::set_clock(rtc) }; diff --git a/examples/src/bin/rtc_raw.rs b/examples/src/bin/rtc_raw.rs index ad5fab24..43858546 100644 --- a/examples/src/bin/rtc_raw.rs +++ b/examples/src/bin/rtc_raw.rs @@ -8,8 +8,9 @@ use example_common::*; use core::mem::MaybeUninit; use cortex_m_rt::entry; +use defmt::panic; use embassy::time::{Alarm, Clock}; -use embassy_nrf::rtc; +use embassy_nrf::{interrupt, rtc}; use nrf52840_hal::clocks; static mut RTC: MaybeUninit> = MaybeUninit::uninit(); @@ -25,9 +26,11 @@ fn main() -> ! { .set_lfclk_src_external(clocks::LfOscConfiguration::NoExternalNoBypass) .start_lfclk(); + let irq = interrupt::take!(RTC1); + let rtc: &'static _ = unsafe { let ptr = RTC.as_mut_ptr(); - ptr.write(rtc::RTC::new(p.RTC1)); + ptr.write(rtc::RTC::new(p.RTC1, irq)); &*ptr }; diff --git a/examples/src/bin/uart.rs b/examples/src/bin/uart.rs index e664fcef..6e15fbcf 100644 --- a/examples/src/bin/uart.rs +++ b/examples/src/bin/uart.rs @@ -7,6 +7,7 @@ mod example_common; use example_common::*; use cortex_m_rt::entry; +use defmt::panic; use futures::pin_mut; use nrf52840_hal::gpio; @@ -14,6 +15,7 @@ use embassy::executor::{task, Executor}; use embassy::io::{AsyncBufRead, AsyncBufReadExt, AsyncWrite, AsyncWriteExt}; use embassy::util::Forever; use embassy_nrf::buffered_uarte; +use embassy_nrf::interrupt; #[task] async fn run() { @@ -31,8 +33,10 @@ async fn run() { rts: None, }; + let irq = interrupt::take!(UARTE0_UART0); let u = buffered_uarte::BufferedUarte::new( p.UARTE0, + irq, pins, buffered_uarte::Parity::EXCLUDED, buffered_uarte::Baudrate::BAUD115200,