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Merge pull request #1675 from pennae/rp-adc

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rp: add dma-from-adc
This commit is contained in:
Dario Nieuwenhuis 2023-08-03 11:25:51 +00:00 committed by GitHub
commit 2c96fe917d
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 222 additions and 73 deletions
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194
embassy-rp/src/adc.rs
View File

@ -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::{interrupt, pac, peripherals, Peripheral};
use crate::peripherals::{ADC, ADC_TEMP_SENSOR};
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> {
pin: PeripheralRef<'p, AnyPin>,
enum Source<'p> {
Pin(PeripheralRef<'p, AnyPin>),
TempSensor(PeripheralRef<'p, ADC_TEMP_SENSOR>),
}
impl<'p> Pin<'p> {
pub fn new(pin: impl Peripheral<P = impl AdcPin + 'p> + 'p, pull: Pull) -> Self {
pub struct Channel<'p>(Source<'p>);
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> {
Self::sample_async(pin.channel()).await
async fn read_many_inner<W: dma::Word>(
&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> {
let r = Self::regs();
r.cs().modify(|w| w.set_ts_en(true));
if !r.cs().read().ready() {
Self::wait_for_ready().await;
// set up fifo for dma
r.fcs().write(|w| {
w.set_thresh(1);
w.set_dreq_en(true);
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));
result
}
let auto_reset = ResetDmaConfig;
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 {
fn channel(&mut self) -> u8;
}
pub trait AdcSample: crate::dma::Word {}
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 {
fn channel(&mut self) -> u8 {
$channel
}
}
impl sealed::AdcChannel for peripherals::$pin {}
impl AdcChannel for peripherals::$pin {}
impl AdcPin for peripherals::$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 {}

1
embassy-rp/src/lib.rs
View File

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

11
examples/rp/src/bin/adc.rs
View File

@ -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 p27 = Pin::new(p.PIN_27, Pull::None);
let mut p28 = Pin::new(p.PIN_28, Pull::None);
let mut p26 = Channel::new_pin(p.PIN_26, Pull::None);
let mut p27 = Channel::new_pin(p.PIN_27, 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;
}

71
tests/rp/src/bin/adc.rs
View File

@ -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();