Merge #853

853: Add embedded_hal_async support for embassy-rp r=Dirbaio a=danbev

This commit adds support for embedded-hal-async to the Embassy
Raspberry PI crate.

Co-authored-by: Daniel Bevenius <daniel.bevenius@gmail.com>

embassy-rp/Cargo.toml

@@ -38,6 +38,7 @@ log = { version = "0.4.14", optional = true }
 cortex-m-rt = ">=0.6.15,<0.8"
 cortex-m = "0.7.3"
 critical-section = "0.2.5"
+futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 
 rp2040-pac2 = { git = "https://github.com/embassy-rs/rp2040-pac2", rev="9ad7223a48a065e612bc7dc7be5bf5bd0b41cfc4", features = ["rt"] }
 #rp2040-pac2 = { path = "../../rp/rp2040-pac2", features = ["rt"] }

embassy-rp/src/gpio.rs

@@ -1,11 +1,20 @@
 use core::convert::Infallible;
+use core::future::Future;
 use core::marker::PhantomData;
+use core::pin::Pin as FuturePin;
+use core::task::{Context, Poll};
 
+use embassy::waitqueue::AtomicWaker;
+use embassy_cortex_m::interrupt::{Interrupt, InterruptExt};
 use embassy_hal_common::{unborrow, unsafe_impl_unborrow};
 
 use crate::pac::common::{Reg, RW};
 use crate::pac::SIO;
-use crate::{pac, peripherals, Unborrow};
+use crate::{interrupt, pac, peripherals, Unborrow};
+
+const PIN_COUNT: usize = 30;
+const NEW_AW: AtomicWaker = AtomicWaker::new();
+static INTERRUPT_WAKERS: [AtomicWaker; PIN_COUNT] = [NEW_AW; PIN_COUNT];
 
 /// Represents a digital input or output level.
 #[derive(Debug, Eq, PartialEq)]
@@ -75,6 +84,204 @@ impl<'d, T: Pin> Input<'d, T> {
     pub fn get_level(&self) -> Level {
         self.pin.get_level()
     }
+
+    pub async fn wait_for_high<'a>(&mut self) {
+        self.pin.wait_for_high().await;
+    }
+
+    pub async fn wait_for_low<'a>(&mut self) {
+        self.pin.wait_for_low().await;
+    }
+
+    pub async fn wait_for_rising_edge<'a>(&mut self) {
+        self.pin.wait_for_rising_edge().await;
+    }
+
+    pub async fn wait_for_falling_edge<'a>(&mut self) {
+        self.pin.wait_for_falling_edge().await;
+    }
+
+    pub async fn wait_for_any_edge<'a>(&mut self) {
+        self.pin.wait_for_any_edge().await;
+    }
+}
+
+/// Interrupt trigger levels.
+#[derive(Debug, Eq, PartialEq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum InterruptTrigger {
+    LevelLow,
+    LevelHigh,
+    EdgeLow,
+    EdgeHigh,
+    AnyEdge,
+}
+
+impl InterruptTrigger {
+    fn from_u32(value: u32) -> Option<InterruptTrigger> {
+        match value {
+            1 => Some(InterruptTrigger::LevelLow),
+            2 => Some(InterruptTrigger::LevelHigh),
+            3 => Some(InterruptTrigger::EdgeLow),
+            4 => Some(InterruptTrigger::EdgeHigh),
+            _ => None,
+        }
+    }
+}
+
+#[interrupt]
+unsafe fn IO_IRQ_BANK0() {
+    let cpu = SIO.cpuid().read() as usize;
+    // There are two sets of interrupt registers, one for cpu0 and one for cpu1
+    // and here we are selecting the set that belongs to the currently executing
+    // cpu.
+    let proc_intx: pac::io::Int = pac::IO_BANK0.int_proc(cpu);
+    for pin in 0..PIN_COUNT {
+        // There are 4 raw interrupt status registers, PROCx_INTS0, PROCx_INTS1,
+        // PROCx_INTS2, and PROCx_INTS3, and we are selecting the one that the
+        // current pin belongs to.
+        let intsx = proc_intx.ints(pin / 8);
+        // The status register is divided into groups of four, one group for
+        // each pin. Each group consists of four trigger levels LEVEL_LOW,
+        // LEVEL_HIGH, EDGE_LOW, and EDGE_HIGH for each pin.
+        let pin_group = (pin % 8) as usize;
+        let event = (intsx.read().0 >> pin_group * 4) & 0xf as u32;
+
+        if let Some(trigger) = InterruptTrigger::from_u32(event) {
+            proc_intx.inte(pin / 8).write(|w| match trigger {
+                InterruptTrigger::AnyEdge => {
+                    w.set_edge_high(pin_group, false);
+                    w.set_edge_low(pin_group, false);
+                }
+                InterruptTrigger::LevelHigh => {
+                    debug!("IO_IRQ_BANK0 pin {} LevelHigh triggered\n", pin);
+                    w.set_level_high(pin_group, false);
+                }
+                InterruptTrigger::LevelLow => {
+                    w.set_level_low(pin_group, false);
+                }
+                InterruptTrigger::EdgeHigh => {
+                    w.set_edge_high(pin_group, false);
+                }
+                InterruptTrigger::EdgeLow => {
+                    w.set_edge_low(pin_group, false);
+                }
+            });
+            INTERRUPT_WAKERS[pin as usize].wake();
+        }
+    }
+}
+
+struct InputFuture<'a, T: Pin> {
+    pin: &'a mut T,
+    level: InterruptTrigger,
+    phantom: PhantomData<&'a mut AnyPin>,
+}
+
+impl<'d, T: Pin> InputFuture<'d, T> {
+    pub fn new(pin: &'d mut T, level: InterruptTrigger) -> Self {
+        unsafe {
+            let irq = interrupt::IO_IRQ_BANK0::steal();
+            irq.disable();
+            irq.set_priority(interrupt::Priority::P6);
+
+            // Each INTR register is divided into 8 groups, one group for each
+            // pin, and each group consists of LEVEL_LOW, LEVEL_HIGH, EDGE_LOW,
+            // and EGDE_HIGH.
+            let pin_group = (pin.pin() % 8) as usize;
+            pin.int_proc().inte((pin.pin() / 8) as usize).write(|w| match level {
+                InterruptTrigger::LevelHigh => {
+                    debug!("InputFuture::new enable LevelHigh for pin {} \n", pin.pin());
+                    w.set_level_high(pin_group, true);
+                }
+                InterruptTrigger::LevelLow => {
+                    w.set_level_low(pin_group, true);
+                }
+                InterruptTrigger::EdgeHigh => {
+                    w.set_edge_high(pin_group, true);
+                }
+                InterruptTrigger::EdgeLow => {
+                    w.set_edge_low(pin_group, true);
+                }
+                InterruptTrigger::AnyEdge => {
+                    // noop
+                }
+            });
+
+            irq.enable();
+        }
+
+        Self {
+            pin,
+            level,
+            phantom: PhantomData,
+        }
+    }
+}
+
+impl<'d, T: Pin> Future for InputFuture<'d, T> {
+    type Output = ();
+
+    fn poll(self: FuturePin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
+        // We need to register/re-register the waker for each poll because any
+        // calls to wake will deregister the waker.
+        INTERRUPT_WAKERS[self.pin.pin() as usize].register(cx.waker());
+
+        // self.int_proc() will get the register offset for the current cpu,
+        // then we want to access the interrupt enable register for our
+        // pin (there are 4 of these PROC0_INTE0, PROC0_INTE1, PROC0_INTE2, and
+        // PROC0_INTE3 per cpu).
+        let inte: pac::io::regs::Int = unsafe { self.pin.int_proc().inte((self.pin.pin() / 8) as usize).read() };
+        // The register is divided into groups of four, one group for
+        // each pin. Each group consists of four trigger levels LEVEL_LOW,
+        // LEVEL_HIGH, EDGE_LOW, and EDGE_HIGH for each pin.
+        let pin_group = (self.pin.pin() % 8) as usize;
+
+        // This should check the the level of the interrupt trigger level of
+        // the pin and if it has been disabled that means it was done by the
+        // interrupt service routine, so we then know that the event/trigger
+        // happened and Poll::Ready will be returned.
+        debug!("{:?} for pin {}\n", self.level, self.pin.pin());
+        match self.level {
+            InterruptTrigger::AnyEdge => {
+                if !inte.edge_high(pin_group) && !inte.edge_low(pin_group) {
+                    #[rustfmt::skip]
+                    debug!("{:?} for pin {} was cleared, return Poll::Ready\n", self.level, self.pin.pin());
+                    return Poll::Ready(());
+                }
+            }
+            InterruptTrigger::LevelHigh => {
+                if !inte.level_high(pin_group) {
+                    #[rustfmt::skip]
+                    debug!("{:?} for pin {} was cleared, return Poll::Ready\n", self.level, self.pin.pin());
+                    return Poll::Ready(());
+                }
+            }
+            InterruptTrigger::LevelLow => {
+                if !inte.level_low(pin_group) {
+                    #[rustfmt::skip]
+                    debug!("{:?} for pin {} was cleared, return Poll::Ready\n", self.level, self.pin.pin());
+                    return Poll::Ready(());
+                }
+            }
+            InterruptTrigger::EdgeHigh => {
+                if !inte.edge_high(pin_group) {
+                    #[rustfmt::skip]
+                    debug!("{:?} for pin {} was cleared, return Poll::Ready\n", self.level, self.pin.pin());
+                    return Poll::Ready(());
+                }
+            }
+            InterruptTrigger::EdgeLow => {
+                if !inte.edge_low(pin_group) {
+                    #[rustfmt::skip]
+                    debug!("{:?} for pin {} was cleared, return Poll::Ready\n", self.level, self.pin.pin());
+                    return Poll::Ready(());
+                }
+            }
+        }
+        debug!("InputFuture::poll return Poll::Pending\n");
+        Poll::Pending
+    }
 }
 
 pub struct Output<'d, T: Pin> {
@@ -340,6 +547,32 @@ impl<'d, T: Pin> Flex<'d, T> {
     pub fn toggle(&mut self) {
         unsafe { self.pin.sio_out().value_xor().write_value(self.bit()) }
     }
+
+    pub async fn wait_for_high<'a>(&mut self) {
+        InputFuture::new(&mut self.pin, InterruptTrigger::LevelHigh).await;
+    }
+
+    pub async fn wait_for_low<'a>(&mut self) {
+        InputFuture::new(&mut self.pin, InterruptTrigger::LevelLow).await;
+    }
+
+    pub async fn wait_for_rising_edge<'a>(&mut self) {
+        self.wait_for_low().await;
+        self.wait_for_high().await;
+    }
+
+    pub async fn wait_for_falling_edge<'a>(&mut self) {
+        self.wait_for_high().await;
+        self.wait_for_low().await;
+    }
+
+    pub async fn wait_for_any_edge<'a>(&mut self) {
+        if self.is_high() {
+            self.wait_for_low().await;
+        } else {
+            self.wait_for_high().await;
+        }
+    }
 }
 
 impl<'d, T: Pin> Drop for Flex<'d, T> {
@@ -401,6 +634,15 @@ pub(crate) mod sealed {
         fn sio_in(&self) -> Reg<u32, RW> {
             SIO.gpio_in(self.bank() as _)
         }
+
+        fn int_proc(&self) -> pac::io::Int {
+            let io_block = match self.bank() {
+                Bank::Bank0 => crate::pac::IO_BANK0,
+                Bank::Qspi => crate::pac::IO_QSPI,
+            };
+            let proc = unsafe { SIO.cpuid().read() };
+            io_block.int_proc(proc as _)
+        }
     }
 }
 
@@ -478,6 +720,8 @@ impl_pin!(PIN_QSPI_SD3, Bank::Qspi, 5);
 // ====================
 
 mod eh02 {
+    use futures::FutureExt;
+
     use super::*;
 
     impl<'d, T: Pin> embedded_hal_02::digital::v2::InputPin for Input<'d, T> {
@@ -595,6 +839,62 @@ mod eh02 {
             Ok(self.toggle())
         }
     }
+
+    use core::convert::Infallible;
+
+    impl<'d, T: Pin> embedded_hal_async::digital::Wait for Flex<'d, T> {
+        type WaitForHighFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+        fn wait_for_high<'a>(&'a mut self) -> Self::WaitForHighFuture<'a> {
+            self.wait_for_high().map(Ok)
+        }
+
+        type WaitForLowFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+        fn wait_for_low<'a>(&'a mut self) -> Self::WaitForLowFuture<'a> {
+            self.wait_for_low().map(Ok)
+        }
+
+        type WaitForRisingEdgeFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+        fn wait_for_rising_edge<'a>(&'a mut self) -> Self::WaitForRisingEdgeFuture<'a> {
+            self.wait_for_rising_edge().map(Ok)
+        }
+
+        type WaitForFallingEdgeFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+        fn wait_for_falling_edge<'a>(&'a mut self) -> Self::WaitForFallingEdgeFuture<'a> {
+            self.wait_for_falling_edge().map(Ok)
+        }
+
+        type WaitForAnyEdgeFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+        fn wait_for_any_edge<'a>(&'a mut self) -> Self::WaitForAnyEdgeFuture<'a> {
+            self.wait_for_any_edge().map(Ok)
+        }
+    }
+
+    impl<'d, T: Pin> embedded_hal_async::digital::Wait for Input<'d, T> {
+        type WaitForHighFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+        fn wait_for_high<'a>(&'a mut self) -> Self::WaitForHighFuture<'a> {
+            self.wait_for_high().map(Ok)
+        }
+
+        type WaitForLowFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+        fn wait_for_low<'a>(&'a mut self) -> Self::WaitForLowFuture<'a> {
+            self.wait_for_low().map(Ok)
+        }
+
+        type WaitForRisingEdgeFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+        fn wait_for_rising_edge<'a>(&'a mut self) -> Self::WaitForRisingEdgeFuture<'a> {
+            self.wait_for_rising_edge().map(Ok)
+        }
+
+        type WaitForFallingEdgeFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+        fn wait_for_falling_edge<'a>(&'a mut self) -> Self::WaitForFallingEdgeFuture<'a> {
+            self.wait_for_falling_edge().map(Ok)
+        }
+
+        type WaitForAnyEdgeFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+        fn wait_for_any_edge<'a>(&'a mut self) -> Self::WaitForAnyEdgeFuture<'a> {
+            self.wait_for_any_edge().map(Ok)
+        }
+    }
 }
 
 #[cfg(feature = "unstable-traits")]

examples/rp/src/bin/gpio_async.rs

@@ -0,0 +1,38 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy::executor::Spawner;
+use embassy::time::{Duration, Timer};
+use embassy_rp::{gpio, Peripherals};
+use gpio::{Input, Level, Output, Pull};
+use {defmt_rtt as _, panic_probe as _};
+
+/// This example shows how async gpio can be used with a RP2040.
+///
+/// It requires an external signal to be manually triggered on PIN 16. For
+/// example, this could be accomplished using an external power source with a
+/// button so that it is possible to toggle the signal from low to high.
+///
+/// This example will begin with turning on the LED on the board and wait for a
+/// high signal on PIN 16. Once the high event/signal occurs the program will
+/// continue and turn off the LED, and then wait for 2 seconds before completing
+/// the loop and starting over again.
+#[embassy::main]
+async fn main(_spawner: Spawner, p: Peripherals) {
+    let mut led = Output::new(p.PIN_25, Level::Low);
+    let mut async_input = Input::new(p.PIN_16, Pull::None);
+
+    loop {
+        info!("wait_for_high. Turn on LED");
+        led.set_high();
+
+        async_input.wait_for_high().await;
+
+        info!("done wait_for_high. Turn off LED");
+        led.set_low();
+
+        Timer::after(Duration::from_secs(2)).await;
+    }
+}

tests/rp/Cargo.toml

@@ -16,6 +16,7 @@ embedded-hal = "0.2.6"
 embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8" }
 embedded-hal-async = { version = "0.1.0-alpha.1" }
 panic-probe = { version = "0.3.0", features = ["print-defmt"] }
+futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 
 [profile.dev]
 debug = 2

tests/rp/src/bin/gpio_async.rs

@@ -0,0 +1,148 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::{assert, *};
+use embassy::executor::Spawner;
+use embassy::time::{Duration, Instant, Timer};
+use embassy_rp::gpio::{Input, Level, Output, Pull};
+use embassy_rp::Peripherals;
+use futures::future::join;
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy::main]
+async fn main(_spawner: Spawner, p: Peripherals) {
+    info!("embassy-rp gpio_async test");
+
+    // On the CI device the following pins are connected with each other.
+    let (mut output_pin, mut input_pin) = (p.PIN_0, p.PIN_1);
+
+    {
+        info!("test wait_for_high");
+        let mut output = Output::new(&mut output_pin, Level::Low);
+        let mut input = Input::new(&mut input_pin, Pull::None);
+
+        assert!(input.is_low(), "input was expected to be low");
+
+        let set_high_future = async {
+            // Allow time for wait_for_high_future to await wait_for_high().
+            Timer::after(Duration::from_millis(10)).await;
+            output.set_high();
+        };
+        let wait_for_high_future = async {
+            let start = Instant::now();
+            input.wait_for_high().await;
+            assert_duration(start);
+        };
+        join(set_high_future, wait_for_high_future).await;
+        info!("test wait_for_high: OK\n");
+    }
+
+    {
+        info!("test wait_for_low");
+        let mut output = Output::new(&mut output_pin, Level::High);
+        let mut input = Input::new(&mut input_pin, Pull::None);
+
+        assert!(input.is_high(), "input was expected to be high");
+
+        let set_low_future = async {
+            Timer::after(Duration::from_millis(10)).await;
+            output.set_low();
+        };
+        let wait_for_low_future = async {
+            let start = Instant::now();
+            input.wait_for_low().await;
+            assert_duration(start);
+        };
+        join(set_low_future, wait_for_low_future).await;
+        info!("test wait_for_low: OK\n");
+    }
+
+    {
+        info!("test wait_for_rising_edge");
+        let mut output = Output::new(&mut output_pin, Level::Low);
+        let mut input = Input::new(&mut input_pin, Pull::None);
+
+        assert!(input.is_low(), "input was expected to be low");
+
+        let set_high_future = async {
+            Timer::after(Duration::from_millis(10)).await;
+            output.set_high();
+        };
+        let wait_for_rising_edge_future = async {
+            let start = Instant::now();
+            input.wait_for_rising_edge().await;
+            assert_duration(start);
+        };
+        join(set_high_future, wait_for_rising_edge_future).await;
+        info!("test wait_for_rising_edge: OK\n");
+    }
+
+    {
+        info!("test wait_for_falling_edge");
+        let mut output = Output::new(&mut output_pin, Level::High);
+        let mut input = Input::new(&mut input_pin, Pull::None);
+
+        assert!(input.is_high(), "input was expected to be high");
+
+        let set_low_future = async {
+            Timer::after(Duration::from_millis(10)).await;
+            output.set_low();
+        };
+        let wait_for_falling_edge_future = async {
+            let start = Instant::now();
+            input.wait_for_falling_edge().await;
+            assert_duration(start);
+        };
+        join(set_low_future, wait_for_falling_edge_future).await;
+        info!("test wait_for_falling_edge: OK\n");
+    }
+
+    {
+        info!("test wait_for_any_edge (falling)");
+        let mut output = Output::new(&mut output_pin, Level::High);
+        let mut input = Input::new(&mut input_pin, Pull::None);
+
+        assert!(input.is_high(), "input was expected to be high");
+
+        let set_low_future = async {
+            Timer::after(Duration::from_millis(10)).await;
+            output.set_low();
+        };
+        let wait_for_any_edge_future = async {
+            let start = Instant::now();
+            input.wait_for_any_edge().await;
+            assert_duration(start);
+        };
+        join(set_low_future, wait_for_any_edge_future).await;
+        info!("test wait_for_any_edge (falling): OK\n");
+    }
+
+    {
+        info!("test wait_for_any_edge (rising)");
+        let mut output = Output::new(&mut output_pin, Level::Low);
+        let mut input = Input::new(&mut input_pin, Pull::None);
+
+        assert!(input.is_low(), "input was expected to be low");
+
+        let set_high_future = async {
+            Timer::after(Duration::from_millis(10)).await;
+            output.set_high();
+        };
+        let wait_for_any_edge_future = async {
+            let start = Instant::now();
+            input.wait_for_any_edge().await;
+            assert_duration(start);
+        };
+        join(set_high_future, wait_for_any_edge_future).await;
+        info!("test wait_for_any_edge (rising): OK\n");
+    }
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+
+    fn assert_duration(start: Instant) {
+        let dur = Instant::now() - start;
+        assert!(dur >= Duration::from_millis(10) && dur < Duration::from_millis(11));
+    }
+}