Merge pull request #1675 from pennae/rp-adc

rp: add dma-from-adc

embassy-rp/src/adc.rs

@@ -1,5 +1,6 @@
 use core::future::poll_fn;
 use core::marker::PhantomData;
+use core::mem;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
@@ -10,8 +11,8 @@ use crate::gpio::sealed::Pin as GpioPin;
 use crate::gpio::{self, AnyPin, Pull};
 use crate::interrupt::typelevel::Binding;
 use crate::interrupt::InterruptExt;
-use crate::peripherals::ADC;
+use crate::peripherals::{ADC, ADC_TEMP_SENSOR};
-use crate::{interrupt, pac, peripherals, Peripheral};
+use crate::{dma, interrupt, pac, peripherals, Peripheral, RegExt};
 
 static WAKER: AtomicWaker = AtomicWaker::new();
 
@@ -24,12 +25,15 @@ impl Default for Config {
     }
 }
 
-pub struct Pin<'p> {
+enum Source<'p> {
-    pin: PeripheralRef<'p, AnyPin>,
+    Pin(PeripheralRef<'p, AnyPin>),
+    TempSensor(PeripheralRef<'p, ADC_TEMP_SENSOR>),
 }
 
-impl<'p> Pin<'p> {
+pub struct Channel<'p>(Source<'p>);
-    pub fn new(pin: impl Peripheral<P = impl AdcPin + 'p> + 'p, pull: Pull) -> Self {
+
+impl<'p> Channel<'p> {
+    pub fn new_pin(pin: impl Peripheral<P = impl AdcPin + 'p> + 'p, pull: Pull) -> Self {
         into_ref!(pin);
         pin.pad_ctrl().modify(|w| {
             // manual says:
@@ -42,25 +46,56 @@ impl<'p> Pin<'p> {
             w.set_pue(pull == Pull::Up);
             w.set_pde(pull == Pull::Down);
         });
-        Self { pin: pin.map_into() }
+        Self(Source::Pin(pin.map_into()))
+    }
+
+    pub fn new_temp_sensor(s: impl Peripheral<P = ADC_TEMP_SENSOR> + 'p) -> Self {
+        let r = pac::ADC;
+        r.cs().write_set(|w| w.set_ts_en(true));
+        Self(Source::TempSensor(s.into_ref()))
     }
 
     fn channel(&self) -> u8 {
+        match &self.0 {
             // this requires adc pins to be sequential and matching the adc channels,
             // which is the case for rp2040
-        self.pin._pin() - 26
+            Source::Pin(p) => p._pin() - 26,
+            Source::TempSensor(_) => 4,
+        }
     }
 }
 
-impl<'d> Drop for Pin<'d> {
+impl<'p> Drop for Source<'p> {
     fn drop(&mut self) {
-        self.pin.pad_ctrl().modify(|w| {
+        match self {
+            Source::Pin(p) => {
+                p.pad_ctrl().modify(|w| {
                     w.set_ie(true);
                     w.set_od(false);
                     w.set_pue(false);
                     w.set_pde(true);
                 });
             }
+            Source::TempSensor(_) => {
+                pac::ADC.cs().write_clear(|w| w.set_ts_en(true));
+            }
+        }
+    }
+}
+
+#[derive(Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Debug, Default)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(transparent)]
+pub struct Sample(u16);
+
+impl Sample {
+    pub fn good(&self) -> bool {
+        self.0 < 0x8000
+    }
+
+    pub fn value(&self) -> u16 {
+        self.0 & !0x8000
+    }
 }
 
 #[derive(Debug, Eq, PartialEq, Copy, Clone)]
@@ -115,10 +150,10 @@ impl<'d, M: Mode> Adc<'d, M> {
         while !r.cs().read().ready() {}
     }
 
-    fn sample_blocking(channel: u8) -> Result<u16, Error> {
+    pub fn blocking_read(&mut self, ch: &mut Channel) -> Result<u16, Error> {
         let r = Self::regs();
         r.cs().modify(|w| {
-            w.set_ainsel(channel);
+            w.set_ainsel(ch.channel());
             w.set_start_once(true);
             w.set_err(true);
         });
@@ -128,19 +163,6 @@ impl<'d, M: Mode> Adc<'d, M> {
             false => Ok(r.result().read().result().into()),
         }
     }
-
-    pub fn blocking_read(&mut self, pin: &mut Pin) -> Result<u16, Error> {
-        Self::sample_blocking(pin.channel())
-    }
-
-    pub fn blocking_read_temperature(&mut self) -> Result<u16, Error> {
-        let r = Self::regs();
-        r.cs().modify(|w| w.set_ts_en(true));
-        while !r.cs().read().ready() {}
-        let result = Self::sample_blocking(4);
-        r.cs().modify(|w| w.set_ts_en(false));
-        result
-    }
 }
 
 impl<'d> Adc<'d, Async> {
@@ -172,10 +194,10 @@ impl<'d> Adc<'d, Async> {
         .await;
     }
 
-    async fn sample_async(channel: u8) -> Result<u16, Error> {
+    pub async fn read(&mut self, ch: &mut Channel<'_>) -> Result<u16, Error> {
         let r = Self::regs();
         r.cs().modify(|w| {
-            w.set_ainsel(channel);
+            w.set_ainsel(ch.channel());
             w.set_start_once(true);
             w.set_err(true);
         });
@@ -186,19 +208,89 @@ impl<'d> Adc<'d, Async> {
         }
     }
 
-    pub async fn read(&mut self, pin: &mut Pin<'_>) -> Result<u16, Error> {
+    async fn read_many_inner<W: dma::Word>(
-        Self::sample_async(pin.channel()).await
+        &mut self,
+        ch: &mut Channel<'_>,
+        buf: &mut [W],
+        fcs_err: bool,
+        dma: impl Peripheral<P = impl dma::Channel>,
+    ) -> Result<(), Error> {
+        let r = Self::regs();
+        // clear previous errors and set channel
+        r.cs().modify(|w| {
+            w.set_ainsel(ch.channel());
+            w.set_err_sticky(true); // clear previous errors
+            w.set_start_many(false);
+        });
+        // wait for previous conversions and drain fifo. an earlier batch read may have
+        // been cancelled, leaving the adc running.
+        while !r.cs().read().ready() {}
+        while !r.fcs().read().empty() {
+            r.fifo().read();
         }
 
-    pub async fn read_temperature(&mut self) -> Result<u16, Error> {
+        // set up fifo for dma
-        let r = Self::regs();
+        r.fcs().write(|w| {
-        r.cs().modify(|w| w.set_ts_en(true));
+            w.set_thresh(1);
-        if !r.cs().read().ready() {
+            w.set_dreq_en(true);
-            Self::wait_for_ready().await;
+            w.set_shift(mem::size_of::<W>() == 1);
+            w.set_en(true);
+            w.set_err(fcs_err);
+        });
+
+        // reset dma config on drop, regardless of whether it was a future being cancelled
+        // or the method returning normally.
+        struct ResetDmaConfig;
+        impl Drop for ResetDmaConfig {
+            fn drop(&mut self) {
+                pac::ADC.cs().write_clear(|w| w.set_start_many(true));
+                while !pac::ADC.cs().read().ready() {}
+                pac::ADC.fcs().write_clear(|w| {
+                    w.set_dreq_en(true);
+                    w.set_shift(true);
+                    w.set_en(true);
+                });
             }
-        let result = Self::sample_async(4).await;
+        }
-        r.cs().modify(|w| w.set_ts_en(false));
+        let auto_reset = ResetDmaConfig;
-        result
+
+        let dma = unsafe { dma::read(dma, r.fifo().as_ptr() as *const W, buf as *mut [W], 36) };
+        // start conversions and wait for dma to finish. we can't report errors early
+        // because there's no interrupt to signal them, and inspecting every element
+        // of the fifo is too costly to do here.
+        r.cs().write_set(|w| w.set_start_many(true));
+        dma.await;
+        mem::drop(auto_reset);
+        // we can't report errors before the conversions have ended since no interrupt
+        // exists to report them early, and since they're exceedingly rare we probably don't
+        // want to anyway.
+        match r.cs().read().err_sticky() {
+            false => Ok(()),
+            true => Err(Error::ConversionFailed),
+        }
+    }
+
+    #[inline]
+    pub async fn read_many<S: AdcSample>(
+        &mut self,
+        ch: &mut Channel<'_>,
+        buf: &mut [S],
+        dma: impl Peripheral<P = impl dma::Channel>,
+    ) -> Result<(), Error> {
+        self.read_many_inner(ch, buf, false, dma).await
+    }
+
+    #[inline]
+    pub async fn read_many_raw(
+        &mut self,
+        ch: &mut Channel<'_>,
+        buf: &mut [Sample],
+        dma: impl Peripheral<P = impl dma::Channel>,
+    ) {
+        // errors are reported in individual samples
+        let _ = self
+            .read_many_inner(ch, unsafe { mem::transmute::<_, &mut [u16]>(buf) }, true, dma)
+            .await;
     }
 }
 
@@ -223,21 +315,26 @@ impl interrupt::typelevel::Handler<interrupt::typelevel::ADC_IRQ_FIFO> for Inter
 }
 
 mod sealed {
-    pub trait AdcPin: crate::gpio::sealed::Pin {
+    pub trait AdcSample: crate::dma::Word {}
-        fn channel(&mut self) -> u8;
+
-    }
+    pub trait AdcChannel {}
 }
 
-pub trait AdcPin: sealed::AdcPin + gpio::Pin {}
+pub trait AdcSample: sealed::AdcSample {}
+
+impl sealed::AdcSample for u16 {}
+impl AdcSample for u16 {}
+
+impl sealed::AdcSample for u8 {}
+impl AdcSample for u8 {}
+
+pub trait AdcChannel: sealed::AdcChannel {}
+pub trait AdcPin: AdcChannel + gpio::Pin {}
 
 macro_rules! impl_pin {
     ($pin:ident, $channel:expr) => {
-        impl sealed::AdcPin for peripherals::$pin {
+        impl sealed::AdcChannel for peripherals::$pin {}
-            fn channel(&mut self) -> u8 {
+        impl AdcChannel for peripherals::$pin {}
-                $channel
-            }
-        }
-
         impl AdcPin for peripherals::$pin {}
     };
 }
@@ -246,3 +343,6 @@ impl_pin!(PIN_26, 0);
 impl_pin!(PIN_27, 1);
 impl_pin!(PIN_28, 2);
 impl_pin!(PIN_29, 3);
+
+impl sealed::AdcChannel for peripherals::ADC_TEMP_SENSOR {}
+impl AdcChannel for peripherals::ADC_TEMP_SENSOR {}

embassy-rp/src/lib.rs

@@ -183,6 +183,7 @@ embassy_hal_internal::peripherals! {
     FLASH,
 
     ADC,
+    ADC_TEMP_SENSOR,
 
     CORE1,
 

examples/rp/src/bin/adc.rs

@@ -7,7 +7,7 @@
 
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_rp::adc::{Adc, Config, InterruptHandler, Pin};
+use embassy_rp::adc::{Adc, Channel, Config, InterruptHandler};
 use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::Pull;
 use embassy_time::{Duration, Timer};
@@ -22,9 +22,10 @@ async fn main(_spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
     let mut adc = Adc::new(p.ADC, Irqs, Config::default());
 
-    let mut p26 = Pin::new(p.PIN_26, Pull::None);
+    let mut p26 = Channel::new_pin(p.PIN_26, Pull::None);
-    let mut p27 = Pin::new(p.PIN_27, Pull::None);
+    let mut p27 = Channel::new_pin(p.PIN_27, Pull::None);
-    let mut p28 = Pin::new(p.PIN_28, Pull::None);
+    let mut p28 = Channel::new_pin(p.PIN_28, Pull::None);
+    let mut ts = Channel::new_temp_sensor(p.ADC_TEMP_SENSOR);
 
     loop {
         let level = adc.read(&mut p26).await.unwrap();
@@ -33,7 +34,7 @@ async fn main(_spawner: Spawner) {
         info!("Pin 27 ADC: {}", level);
         let level = adc.read(&mut p28).await.unwrap();
         info!("Pin 28 ADC: {}", level);
-        let temp = adc.read_temperature().await.unwrap();
+        let temp = adc.read(&mut ts).await.unwrap();
         info!("Temp: {} degrees", convert_to_celsius(temp));
         Timer::after(Duration::from_secs(1)).await;
     }

tests/rp/src/bin/adc.rs

@@ -6,7 +6,7 @@ mod common;
 
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_rp::adc::{Adc, Config, InterruptHandler, Pin};
+use embassy_rp::adc::{Adc, Channel, Config, InterruptHandler, Sample};
 use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::Pull;
 use {defmt_rtt as _, panic_probe as _};
@@ -22,12 +22,12 @@ async fn main(_spawner: Spawner) {
 
     {
         {
-            let mut p = Pin::new(&mut p.PIN_26, Pull::Down);
+            let mut p = Channel::new_pin(&mut p.PIN_26, Pull::Down);
             defmt::assert!(adc.blocking_read(&mut p).unwrap() < 0b01_0000_0000);
             defmt::assert!(adc.read(&mut p).await.unwrap() < 0b01_0000_0000);
         }
         {
-            let mut p = Pin::new(&mut p.PIN_26, Pull::Up);
+            let mut p = Channel::new_pin(&mut p.PIN_26, Pull::Up);
             defmt::assert!(adc.blocking_read(&mut p).unwrap() > 0b11_0000_0000);
             defmt::assert!(adc.read(&mut p).await.unwrap() > 0b11_0000_0000);
         }
@@ -35,21 +35,21 @@ async fn main(_spawner: Spawner) {
     // not bothering with async reads from now on
     {
         {
-            let mut p = Pin::new(&mut p.PIN_27, Pull::Down);
+            let mut p = Channel::new_pin(&mut p.PIN_27, Pull::Down);
             defmt::assert!(adc.blocking_read(&mut p).unwrap() < 0b01_0000_0000);
         }
         {
-            let mut p = Pin::new(&mut p.PIN_27, Pull::Up);
+            let mut p = Channel::new_pin(&mut p.PIN_27, Pull::Up);
             defmt::assert!(adc.blocking_read(&mut p).unwrap() > 0b11_0000_0000);
         }
     }
     {
         {
-            let mut p = Pin::new(&mut p.PIN_28, Pull::Down);
+            let mut p = Channel::new_pin(&mut p.PIN_28, Pull::Down);
             defmt::assert!(adc.blocking_read(&mut p).unwrap() < 0b01_0000_0000);
         }
         {
-            let mut p = Pin::new(&mut p.PIN_28, Pull::Up);
+            let mut p = Channel::new_pin(&mut p.PIN_28, Pull::Up);
             defmt::assert!(adc.blocking_read(&mut p).unwrap() > 0b11_0000_0000);
         }
     }
@@ -57,24 +57,71 @@ async fn main(_spawner: Spawner) {
         // gp29 is connected to vsys through a 200k/100k divider,
         // adding pulls should change the value
         let low = {
-            let mut p = Pin::new(&mut p.PIN_29, Pull::Down);
+            let mut p = Channel::new_pin(&mut p.PIN_29, Pull::Down);
             adc.blocking_read(&mut p).unwrap()
         };
         let none = {
-            let mut p = Pin::new(&mut p.PIN_29, Pull::None);
+            let mut p = Channel::new_pin(&mut p.PIN_29, Pull::None);
             adc.blocking_read(&mut p).unwrap()
         };
         let up = {
-            let mut p = Pin::new(&mut p.PIN_29, Pull::Up);
+            let mut p = Channel::new_pin(&mut p.PIN_29, Pull::Up);
             adc.blocking_read(&mut p).unwrap()
         };
         defmt::assert!(low < none);
         defmt::assert!(none < up);
     }
-
+    {
-    let temp = convert_to_celsius(adc.read_temperature().await.unwrap());
+        let temp = convert_to_celsius(
+            adc.read(&mut Channel::new_temp_sensor(&mut p.ADC_TEMP_SENSOR))
+                .await
+                .unwrap(),
+        );
         defmt::assert!(temp > 0.0);
         defmt::assert!(temp < 60.0);
+    }
+
+    // run a bunch of conversions. we'll only check gp29 and the temp
+    // sensor here for brevity, if those two work the rest will too.
+    {
+        // gp29 is connected to vsys through a 200k/100k divider,
+        // adding pulls should change the value
+        let mut low = [0u16; 16];
+        let mut none = [0u8; 16];
+        let mut up = [Sample::default(); 16];
+        adc.read_many(
+            &mut Channel::new_pin(&mut p.PIN_29, Pull::Down),
+            &mut low,
+            &mut p.DMA_CH0,
+        )
+        .await
+        .unwrap();
+        adc.read_many(
+            &mut Channel::new_pin(&mut p.PIN_29, Pull::None),
+            &mut none,
+            &mut p.DMA_CH0,
+        )
+        .await
+        .unwrap();
+        adc.read_many_raw(&mut Channel::new_pin(&mut p.PIN_29, Pull::Up), &mut up, &mut p.DMA_CH0)
+            .await;
+        defmt::assert!(low.iter().zip(none.iter()).all(|(l, n)| *l >> 4 < *n as u16));
+        defmt::assert!(up.iter().all(|s| s.good()));
+        defmt::assert!(none.iter().zip(up.iter()).all(|(n, u)| (*n as u16) < u.value()));
+    }
+    {
+        let mut temp = [0u16; 16];
+        adc.read_many(
+            &mut Channel::new_temp_sensor(&mut p.ADC_TEMP_SENSOR),
+            &mut temp,
+            &mut p.DMA_CH0,
+        )
+        .await
+        .unwrap();
+        let temp = temp.map(convert_to_celsius);
+        defmt::assert!(temp.iter().all(|t| *t > 0.0));
+        defmt::assert!(temp.iter().all(|t| *t < 60.0));
+    }
 
     info!("Test OK");
     cortex_m::asm::bkpt();