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Merge pull request #295 from embassy-rs/all_dma

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stm32: impl dma for all chips
This commit is contained in:
Dario Nieuwenhuis 2021-07-17 08:32:31 +02:00 committed by GitHub
commit 59953b5b5e
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24 changed files with 820 additions and 1048 deletions
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7
.vscode/settings.json vendored
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@ -1,12 +1,17 @@
{
"editor.formatOnSave": true,
"rust-analyzer.assist.importEnforceGranularity": true,
"rust-analyzer.assist.importGranularity": "module",
"rust-analyzer.checkOnSave.allFeatures": false,
"rust-analyzer.checkOnSave.allTargets": false,
"rust-analyzer.cargo.noDefaultFeatures": true,
"rust-analyzer.checkOnSave.noDefaultFeatures": true,
"rust-analyzer.cargo.target": "thumbv7em-none-eabi",
"rust-analyzer.cargo.features": [
// These are needed to prevent embassy-net from failing to build
"embassy-net/medium-ethernet",
"embassy-net/tcp"
"embassy-net/tcp",
"embassy-net/pool-16",
],
"rust-analyzer.procMacro.enable": true,
"rust-analyzer.cargo.runBuildScripts": true,

413
embassy-stm32/src/bdma/mod.rs
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@ -1,413 +0,0 @@
#![macro_use]
use core::future::Future;
use core::task::Poll;
use atomic_polyfill::{AtomicU8, Ordering};
use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::util::{AtomicWaker, OnDrop};
use futures::future::poll_fn;
use crate::dma_traits::{ReadDma, WriteDma};
use crate::interrupt;
use crate::pac;
use crate::pac::bdma::vals;
const CH_COUNT: usize = pac::peripheral_count!(bdma) * 8;
const CH_STATUS_NONE: u8 = 0;
const CH_STATUS_COMPLETED: u8 = 1;
const CH_STATUS_ERROR: u8 = 2;
struct State {
ch_wakers: [AtomicWaker; CH_COUNT],
ch_status: [AtomicU8; CH_COUNT],
}
impl State {
const fn new() -> Self {
const AW: AtomicWaker = AtomicWaker::new();
const AU: AtomicU8 = AtomicU8::new(CH_STATUS_NONE);
Self {
ch_wakers: [AW; CH_COUNT],
ch_status: [AU; CH_COUNT],
}
}
}
static STATE: State = State::new();
#[allow(unused)]
pub(crate) async unsafe fn transfer_p2m(
regs: pac::bdma::Ch,
state_number: u8,
src: *const u8,
dst: &mut [u8],
#[cfg(dmamux)] dmamux_regs: pac::dmamux::Dmamux,
#[cfg(dmamux)] dmamux_ch_num: u8,
#[cfg(dmamux)] request: u8,
) {
// ndtr is max 16 bits.
assert!(dst.len() <= 0xFFFF);
// Reset status
// Generate a DMB here to flush the store buffer (M7) before enabling the DMA
STATE.ch_status[state_number as usize].store(CH_STATUS_NONE, Ordering::Release);
let on_drop = OnDrop::new(|| unsafe {
regs.cr().modify(|w| {
w.set_tcie(false);
w.set_teie(false);
w.set_en(false);
});
while regs.cr().read().en() {}
});
#[cfg(dmamux)]
crate::dmamux::configure_dmamux(dmamux_regs, dmamux_ch_num, request);
regs.par().write_value(src as u32);
regs.mar().write_value(dst.as_mut_ptr() as u32);
regs.ndtr().write(|w| w.set_ndt(dst.len() as u16));
regs.cr().write(|w| {
w.set_psize(vals::Size::BITS8);
w.set_msize(vals::Size::BITS8);
w.set_minc(vals::Inc::ENABLED);
w.set_teie(true);
w.set_tcie(true);
w.set_en(true);
});
let res = poll_fn(|cx| {
STATE.ch_wakers[state_number as usize].register(cx.waker());
match STATE.ch_status[state_number as usize].load(Ordering::Acquire) {
CH_STATUS_NONE => Poll::Pending,
x => Poll::Ready(x),
}
})
.await;
// TODO handle error
assert!(res == CH_STATUS_COMPLETED);
}
#[allow(unused)]
pub(crate) async unsafe fn transfer_m2p(
regs: pac::bdma::Ch,
state_number: u8,
src: &[u8],
dst: *mut u8,
#[cfg(dmamux)] dmamux_regs: pac::dmamux::Dmamux,
#[cfg(dmamux)] dmamux_ch_num: u8,
#[cfg(dmamux)] request: u8,
) {
// ndtr is max 16 bits.
assert!(src.len() <= 0xFFFF);
// Reset status
// Generate a DMB here to flush the store buffer (M7) before enabling the DMA
STATE.ch_status[state_number as usize].store(CH_STATUS_NONE, Ordering::Release);
let on_drop = OnDrop::new(|| unsafe {
regs.cr().modify(|w| {
w.set_tcie(false);
w.set_teie(false);
w.set_en(false);
});
while regs.cr().read().en() {}
});
#[cfg(dmamux)]
crate::dmamux::configure_dmamux(dmamux_regs, dmamux_ch_num, request);
regs.par().write_value(dst as u32);
regs.mar().write_value(src.as_ptr() as u32);
regs.ndtr().write(|w| w.set_ndt(src.len() as u16));
regs.cr().write(|w| {
w.set_psize(vals::Size::BITS8);
w.set_msize(vals::Size::BITS8);
w.set_minc(vals::Inc::ENABLED);
w.set_dir(vals::Dir::FROMMEMORY);
w.set_teie(true);
w.set_tcie(true);
w.set_en(true);
});
let res = poll_fn(|cx| {
STATE.ch_wakers[state_number as usize].register(cx.waker());
match STATE.ch_status[state_number as usize].load(Ordering::Acquire) {
CH_STATUS_NONE => Poll::Pending,
x => Poll::Ready(x),
}
})
.await;
// TODO handle error
assert!(res == CH_STATUS_COMPLETED);
}
unsafe fn on_irq() {
pac::peripherals! {
(bdma, $dma:ident) => {
let isr = pac::$dma.isr().read();
pac::$dma.ifcr().write_value(isr);
let dman = <crate::peripherals::$dma as sealed::Dma>::NUM as usize;
for chn in 0..crate::pac::dma_channels_count!($dma) {
let n = dman * 8 + chn;
if isr.teif(chn) {
STATE.ch_status[n].store(CH_STATUS_ERROR, Ordering::Relaxed);
STATE.ch_wakers[n].wake();
} else if isr.tcif(chn) {
STATE.ch_status[n].store(CH_STATUS_COMPLETED, Ordering::Relaxed);
STATE.ch_wakers[n].wake();
}
}
};
}
}
use crate::rcc::sealed::RccPeripheral;
/// safety: must be called only once
pub(crate) unsafe fn init() {
pac::interrupts! {
(DMA, $irq:ident) => {
crate::interrupt::$irq::steal().enable();
};
}
pac::peripherals! {
(bdma, $peri:ident) => {
<crate::peripherals::$peri as RccPeripheral>::enable();
};
}
}
pub(crate) mod sealed {
use super::*;
pub trait Dma {
const NUM: u8;
}
pub trait Channel {
const CH_NUM: u8;
const STATE_NUM: u8;
const DMA_REGS: pac::bdma::Dma;
fn regs(&self) -> pac::bdma::Ch {
Self::DMA_REGS.ch(Self::CH_NUM as usize)
}
}
}
pub trait Dma: sealed::Dma + Sized {}
pub trait Channel: sealed::Channel + Sized {}
macro_rules! impl_dma {
($peri:ident) => {
impl Dma for crate::peripherals::$peri {}
impl sealed::Dma for crate::peripherals::$peri {
const NUM: u8 = dma_num!($peri);
}
};
}
macro_rules! impl_dma_channel {
($channel_peri:ident, $dma_peri:ident, $ch_num:expr) => {
impl Channel for crate::peripherals::$channel_peri {}
impl sealed::Channel for crate::peripherals::$channel_peri {
const CH_NUM: u8 = $ch_num;
const STATE_NUM: u8 = (dma_num!($dma_peri) * 8) + $ch_num;
const DMA_REGS: pac::bdma::Dma = crate::pac::$dma_peri;
//#[inline]
//fn dma_regs() -> pac::bdma::Dma {
//crate::pac::$dma_peri
//}
//fn state_num(&self) -> usize {
//(dma_num!($dma_peri) * 8) + $ch_num
//}
}
#[cfg(not(dmamux))]
impl<T> WriteDma<T> for crate::peripherals::$channel_peri
where
T: 'static,
{
type WriteDmaFuture<'a> = impl Future<Output = ()>;
fn transfer<'a>(&'a mut self, buf: &'a [u8], dst: *mut u8) -> Self::WriteDmaFuture<'a>
where
T: 'a,
{
use sealed::Channel as _Channel;
let state_num = Self::STATE_NUM;
let regs = self.regs();
unsafe { transfer_m2p(regs, state_num, buf, dst) }
}
}
#[cfg(dmamux)]
impl<T> WriteDma<T> for crate::peripherals::$channel_peri
where
Self: crate::dmamux::sealed::PeripheralChannel<T, crate::dmamux::M2P>,
T: 'static,
{
type WriteDmaFuture<'a> = impl Future<Output = ()>;
fn transfer<'a>(&'a mut self, buf: &'a [u8], dst: *mut u8) -> Self::WriteDmaFuture<'a>
where
T: 'a,
{
use sealed::Channel as _Channel;
let state_num = Self::STATE_NUM;
let regs = self.regs();
use crate::dmamux::sealed::Channel as MuxChannel;
use crate::dmamux::sealed::PeripheralChannel;
let dmamux_regs = <crate::peripherals::$channel_peri as MuxChannel>::DMAMUX_REGS;
let dmamux_ch_num =
<crate::peripherals::$channel_peri as MuxChannel>::DMAMUX_CH_NUM;
let request = <crate::peripherals::$channel_peri as PeripheralChannel<
T,
crate::dmamux::M2P,
>>::REQUEST;
unsafe {
transfer_m2p(
regs,
state_num,
buf,
dst,
dmamux_regs,
dmamux_ch_num,
request,
)
}
}
}
#[cfg(not(dmamux))]
impl<T> ReadDma<T> for crate::peripherals::$channel_peri
where
T: 'static,
{
type ReadDmaFuture<'a> = impl Future<Output = ()>;
fn transfer<'a>(
&'a mut self,
src: *const u8,
buf: &'a mut [u8],
) -> Self::ReadDmaFuture<'a>
where
T: 'a,
{
use sealed::Channel as _Channel;
let state_num = Self::STATE_NUM;
let regs = self.regs();
unsafe { transfer_p2m(regs, state_num, src, buf) }
}
}
#[cfg(dmamux)]
impl<T> ReadDma<T> for crate::peripherals::$channel_peri
where
Self: crate::dmamux::sealed::PeripheralChannel<T, crate::dmamux::P2M>,
T: 'static,
{
type ReadDmaFuture<'a> = impl Future<Output = ()>;
fn transfer<'a>(
&'a mut self,
src: *const u8,
buf: &'a mut [u8],
) -> Self::ReadDmaFuture<'a>
where
T: 'a,
{
use sealed::Channel as _Channel;
let state_num = Self::STATE_NUM;
let regs = self.regs();
use crate::dmamux::sealed::Channel as MuxChannel;
use crate::dmamux::sealed::PeripheralChannel;
let dmamux_regs = <crate::peripherals::$channel_peri as MuxChannel>::DMAMUX_REGS;
let dmamux_ch_num =
<crate::peripherals::$channel_peri as MuxChannel>::DMAMUX_CH_NUM;
let request = <crate::peripherals::$channel_peri as PeripheralChannel<
T,
crate::dmamux::P2M,
>>::REQUEST;
unsafe {
transfer_p2m(
regs,
state_num,
src,
buf,
dmamux_regs,
dmamux_ch_num,
request,
)
}
}
}
};
}
macro_rules! dma_num {
(DMA1) => {
0
};
(DMA2) => {
1
};
(BDMA) => {
0
};
}
pac::peripherals! {
(bdma, $peri:ident) => {
impl_dma!($peri);
};
}
pac::bdma_channels! {
($channel_peri:ident, $dma_peri:ident, $channel_num:expr) => {
impl_dma_channel!($channel_peri, $dma_peri, $channel_num);
};
}
pac::interrupts! {
(DMA, $irq:ident) => {
#[crate::interrupt]
unsafe fn $irq () {
on_irq()
}
};
}
#[cfg(usart)]
use crate::usart;
pac::peripherals! {
(usart, $peri:ident) => {
impl<T:Channel + crate::dma_traits::WriteDma<crate::peripherals::$peri>> usart::TxDma<crate::peripherals::$peri> for T {}
impl<T:Channel + crate::dma_traits::WriteDma<crate::peripherals::$peri>> usart::sealed::TxDma<crate::peripherals::$peri> for T {}
impl<T:Channel + crate::dma_traits::ReadDma<crate::peripherals::$peri>> usart::RxDma<crate::peripherals::$peri> for T {}
impl<T:Channel + crate::dma_traits::ReadDma<crate::peripherals::$peri>> usart::sealed::RxDma<crate::peripherals::$peri> for T {}
};
(uart, $peri:ident) => {
impl<T:Channel + crate::dma_traits::WriteDma<crate::peripherals::$peri>> usart::TxDma<crate::peripherals::$peri> for T {}
impl<T:Channel + crate::dma_traits::WriteDma<crate::peripherals::$peri>> usart::sealed::TxDma<crate::peripherals::$peri> for T {}
impl<T:Channel + crate::dma_traits::ReadDma<crate::peripherals::$peri>> usart::RxDma<crate::peripherals::$peri> for T {}
impl<T:Channel + crate::dma_traits::ReadDma<crate::peripherals::$peri>> usart::sealed::RxDma<crate::peripherals::$peri> for T {}
};
}

219
embassy-stm32/src/dma/bdma.rs Normal file
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#![macro_use]
use core::future::Future;
use core::task::Poll;
use atomic_polyfill::{AtomicU8, Ordering};
use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::util::{AtomicWaker, OnDrop};
use futures::future::poll_fn;
use crate::dma::{Channel, Request};
use crate::interrupt;
use crate::pac;
use crate::pac::bdma::vals;
use crate::rcc::sealed::RccPeripheral;
const CH_COUNT: usize = pac::peripheral_count!(bdma) * 8;
const CH_STATUS_NONE: u8 = 0;
const CH_STATUS_COMPLETED: u8 = 1;
const CH_STATUS_ERROR: u8 = 2;
struct State {
ch_wakers: [AtomicWaker; CH_COUNT],
ch_status: [AtomicU8; CH_COUNT],
}
impl State {
const fn new() -> Self {
const AW: AtomicWaker = AtomicWaker::new();
const AU: AtomicU8 = AtomicU8::new(CH_STATUS_NONE);
Self {
ch_wakers: [AW; CH_COUNT],
ch_status: [AU; CH_COUNT],
}
}
}
static STATE: State = State::new();
#[allow(unused)]
pub(crate) async unsafe fn do_transfer(
dma: pac::bdma::Dma,
channel_number: u8,
state_number: u8,
request: Request,
dir: vals::Dir,
peri_addr: *const u8,
mem_addr: *mut u8,
mem_len: usize,
#[cfg(dmamux)] dmamux_regs: pac::dmamux::Dmamux,
#[cfg(dmamux)] dmamux_ch_num: u8,
) {
// ndtr is max 16 bits.
assert!(mem_len <= 0xFFFF);
let ch = dma.ch(channel_number as _);
// Reset status
// Generate a DMB here to flush the store buffer (M7) before enabling the DMA
STATE.ch_status[state_number as usize].store(CH_STATUS_NONE, Ordering::Release);
let on_drop = OnDrop::new(|| unsafe {
ch.cr().modify(|w| {
w.set_tcie(false);
w.set_teie(false);
w.set_en(false);
});
while ch.cr().read().en() {}
});
#[cfg(dmamux)]
super::dmamux::configure_dmamux(dmamux_regs, dmamux_ch_num, request);
#[cfg(bdma_v2)]
critical_section::with(|_| {
dma.cselr()
.modify(|w| w.set_cs(channel_number as _, request))
});
ch.par().write_value(peri_addr as u32);
ch.mar().write_value(mem_addr as u32);
ch.ndtr().write(|w| w.set_ndt(mem_len as u16));
ch.cr().write(|w| {
w.set_psize(vals::Size::BITS8);
w.set_msize(vals::Size::BITS8);
w.set_minc(vals::Inc::ENABLED);
w.set_dir(dir);
w.set_teie(true);
w.set_tcie(true);
w.set_en(true);
});
let res = poll_fn(|cx| {
STATE.ch_wakers[state_number as usize].register(cx.waker());
match STATE.ch_status[state_number as usize].load(Ordering::Acquire) {
CH_STATUS_NONE => Poll::Pending,
x => Poll::Ready(x),
}
})
.await;
// TODO handle error
assert!(res == CH_STATUS_COMPLETED);
}
macro_rules! dma_num {
(DMA1) => {
0
};
(DMA2) => {
1
};
(BDMA) => {
0
};
}
unsafe fn on_irq() {
pac::peripherals! {
(bdma, $dma:ident) => {
let isr = pac::$dma.isr().read();
pac::$dma.ifcr().write_value(isr);
let dman = dma_num!($dma);
for chn in 0..crate::pac::dma_channels_count!($dma) {
let n = dman * 8 + chn;
if isr.teif(chn) {
STATE.ch_status[n].store(CH_STATUS_ERROR, Ordering::Relaxed);
STATE.ch_wakers[n].wake();
} else if isr.tcif(chn) {
STATE.ch_status[n].store(CH_STATUS_COMPLETED, Ordering::Relaxed);
STATE.ch_wakers[n].wake();
}
}
};
}
}
/// safety: must be called only once
pub(crate) unsafe fn init() {
pac::interrupts! {
(BDMA, $irq:ident) => {
crate::interrupt::$irq::steal().enable();
};
}
pac::peripherals! {
(bdma, $peri:ident) => {
crate::peripherals::$peri::enable();
};
}
}
pac::dma_channels! {
($channel_peri:ident, $dma_peri:ident, bdma, $channel_num:expr, $dmamux:tt) => {
impl crate::dma::sealed::Channel for crate::peripherals::$channel_peri {}
impl Channel for crate::peripherals::$channel_peri
{
type ReadFuture<'a> = impl Future<Output = ()>;
type WriteFuture<'a> = impl Future<Output = ()>;
fn read<'a>(
&'a mut self,
request: Request,
src: *mut u8,
buf: &'a mut [u8],
) -> Self::ReadFuture<'a> {
unsafe {
do_transfer(
crate::pac::$dma_peri,
$channel_num,
(dma_num!($dma_peri) * 8) + $channel_num,
request,
vals::Dir::FROMPERIPHERAL,
src,
buf.as_mut_ptr(),
buf.len(),
#[cfg(dmamux)]
<Self as super::dmamux::sealed::MuxChannel>::DMAMUX_REGS,
#[cfg(dmamux)]
<Self as super::dmamux::sealed::MuxChannel>::DMAMUX_CH_NUM,
)
}
}
fn write<'a>(
&'a mut self,
request: Request,
buf: &'a [u8],
dst: *mut u8,
) -> Self::WriteFuture<'a> {
unsafe {
do_transfer(
crate::pac::$dma_peri,
$channel_num,
(dma_num!($dma_peri) * 8) + $channel_num,
request,
vals::Dir::FROMMEMORY,
dst,
buf.as_ptr() as *mut u8,
buf.len(),
#[cfg(dmamux)]
<Self as super::dmamux::sealed::MuxChannel>::DMAMUX_REGS,
#[cfg(dmamux)]
<Self as super::dmamux::sealed::MuxChannel>::DMAMUX_CH_NUM,
)
}
}
}
};
}
pac::interrupts! {
(BDMA, $irq:ident) => {
#[crate::interrupt]
unsafe fn $irq () {
on_irq()
}
};
}

222
embassy-stm32/src/dma/dma.rs Normal file
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use core::task::Poll;
use atomic_polyfill::{AtomicU8, Ordering};
use core::future::Future;
use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::util::{AtomicWaker, OnDrop};
use futures::future::poll_fn;
use crate::interrupt;
use crate::pac;
use crate::pac::dma::{regs, vals};
use crate::rcc::sealed::RccPeripheral;
use super::{Channel, Request};
const CH_COUNT: usize = pac::peripheral_count!(DMA) * 8;
const CH_STATUS_NONE: u8 = 0;
const CH_STATUS_COMPLETED: u8 = 1;
const CH_STATUS_ERROR: u8 = 2;
struct State {
ch_wakers: [AtomicWaker; CH_COUNT],
ch_status: [AtomicU8; CH_COUNT],
}
impl State {
const fn new() -> Self {
const AW: AtomicWaker = AtomicWaker::new();
const AU: AtomicU8 = AtomicU8::new(CH_STATUS_NONE);
Self {
ch_wakers: [AW; CH_COUNT],
ch_status: [AU; CH_COUNT],
}
}
}
static STATE: State = State::new();
//async unsafe fn do_transfer(ch: &mut impl Channel, ch_func: u8, src: *const u8, dst: &mut [u8]) {
#[allow(unused)]
pub(crate) async unsafe fn do_transfer(
dma: pac::dma::Dma,
channel_number: u8,
state_number: u8,
request: Request,
dir: vals::Dir,
peri_addr: *const u8,
mem_addr: *mut u8,
mem_len: usize,
#[cfg(dmamux)] dmamux_regs: pac::dmamux::Dmamux,
#[cfg(dmamux)] dmamux_ch_num: u8,
) {
// ndtr is max 16 bits.
assert!(mem_len <= 0xFFFF);
// Reset status
// Generate a DMB here to flush the store buffer (M7) before enabling the DMA
STATE.ch_status[state_number as usize].store(CH_STATUS_NONE, Ordering::Release);
let ch = dma.st(channel_number as _);
let on_drop = OnDrop::new(|| unsafe {
ch.cr().modify(|w| {
w.set_tcie(false);
w.set_teie(false);
w.set_en(false);
});
while ch.cr().read().en() {}
});
#[cfg(dmamux)]
super::dmamux::configure_dmamux(dmamux_regs, dmamux_ch_num, request);
unsafe {
ch.par().write_value(peri_addr as u32);
ch.m0ar().write_value(mem_addr as u32);
ch.ndtr().write_value(regs::Ndtr(mem_len as _));
ch.cr().write(|w| {
w.set_dir(dir);
w.set_msize(vals::Size::BITS8);
w.set_psize(vals::Size::BITS8);
w.set_minc(vals::Inc::INCREMENTED);
w.set_pinc(vals::Inc::FIXED);
w.set_teie(true);
w.set_tcie(true);
#[cfg(dma_v1)]
w.set_trbuff(true);
w.set_en(true);
#[cfg(dma_v2)]
w.set_chsel(request);
});
}
let res = poll_fn(|cx| {
let n = channel_number as usize;
STATE.ch_wakers[n].register(cx.waker());
match STATE.ch_status[n].load(Ordering::Acquire) {
CH_STATUS_NONE => Poll::Pending,
x => Poll::Ready(x),
}
})
.await;
// TODO handle error
assert!(res == CH_STATUS_COMPLETED);
}
macro_rules! dma_num {
(DMA1) => {
0
};
(DMA2) => {
1
};
}
unsafe fn on_irq() {
pac::peripherals! {
(dma, $dma:ident) => {
for isrn in 0..2 {
let isr = pac::$dma.isr(isrn).read();
pac::$dma.ifcr(isrn).write_value(isr);
let dman = dma_num!($dma);
for chn in 0..4 {
let n = dman * 8 + isrn * 4 + chn;
if isr.teif(chn) {
STATE.ch_status[n].store(CH_STATUS_ERROR, Ordering::Relaxed);
STATE.ch_wakers[n].wake();
} else if isr.tcif(chn) {
STATE.ch_status[n].store(CH_STATUS_COMPLETED, Ordering::Relaxed);
STATE.ch_wakers[n].wake();
}
}
}
};
}
}
/// safety: must be called only once
pub(crate) unsafe fn init() {
pac::interrupts! {
(DMA, $irq:ident) => {
interrupt::$irq::steal().enable();
};
}
pac::peripherals! {
(dma, $peri:ident) => {
crate::peripherals::$peri::enable();
};
}
}
pac::dma_channels! {
($channel_peri:ident, $dma_peri:ident, dma, $channel_num:expr, $dmamux:tt) => {
impl crate::dma::sealed::Channel for crate::peripherals::$channel_peri {}
impl Channel for crate::peripherals::$channel_peri
{
type ReadFuture<'a> = impl Future<Output = ()>;
type WriteFuture<'a> = impl Future<Output = ()>;
fn read<'a>(
&'a mut self,
request: Request,
src: *mut u8,
buf: &'a mut [u8],
) -> Self::ReadFuture<'a> {
unsafe {
do_transfer(
crate::pac::$dma_peri,
$channel_num,
(dma_num!($dma_peri) * 8) + $channel_num,
request,
vals::Dir::PERIPHERALTOMEMORY,
src,
buf.as_mut_ptr(),
buf.len(),
#[cfg(dmamux)]
<Self as super::dmamux::sealed::MuxChannel>::DMAMUX_REGS,
#[cfg(dmamux)]
<Self as super::dmamux::sealed::MuxChannel>::DMAMUX_CH_NUM,
)
}
}
fn write<'a>(
&'a mut self,
request: Request,
buf: &'a [u8],
dst: *mut u8,
) -> Self::WriteFuture<'a> {
unsafe {
do_transfer(
crate::pac::$dma_peri,
$channel_num,
(dma_num!($dma_peri) * 8) + $channel_num,
request,
vals::Dir::MEMORYTOPERIPHERAL,
dst,
buf.as_ptr() as *mut u8,
buf.len(),
#[cfg(dmamux)]
<Self as super::dmamux::sealed::MuxChannel>::DMAMUX_REGS,
#[cfg(dmamux)]
<Self as super::dmamux::sealed::MuxChannel>::DMAMUX_CH_NUM,
)
}
}
}
};
}
pac::interrupts! {
(DMA, $irq:ident) => {
#[crate::interrupt]
unsafe fn $irq () {
on_irq()
}
};
}

51
embassy-stm32/src/dma/dmamux.rs Normal file
View File

@ -0,0 +1,51 @@
#![macro_use]
use crate::pac;
use crate::peripherals;
pub(crate) unsafe fn configure_dmamux(
dmamux_regs: pac::dmamux::Dmamux,
dmamux_ch_num: u8,
request: u8,
) {
let ch_mux_regs = dmamux_regs.ccr(dmamux_ch_num as _);
ch_mux_regs.write(|reg| {
reg.set_nbreq(0);
reg.set_dmareq_id(request);
});
ch_mux_regs.modify(|reg| {
reg.set_ege(true);
});
}
pub(crate) mod sealed {
use super::*;
pub trait MuxChannel {
const DMAMUX_CH_NUM: u8;
const DMAMUX_REGS: pac::dmamux::Dmamux;
}
}
pub struct DMAMUX1;
#[cfg(rcc_h7)]
pub struct DMAMUX2;
pub trait MuxChannel: sealed::MuxChannel + super::Channel {
type Mux;
}
pac::dma_channels! {
($channel_peri:ident, $dma_peri:ident, $version:ident, $channel_num:expr, {dmamux: $dmamux:ident, dmamux_channel: $dmamux_channel:expr}) => {
impl sealed::MuxChannel for peripherals::$channel_peri {
const DMAMUX_CH_NUM: u8 = $dmamux_channel;
const DMAMUX_REGS: pac::dmamux::Dmamux = pac::$dmamux;
}
impl MuxChannel for peripherals::$channel_peri {
type Mux = $dmamux;
}
};
}
/// safety: must be called only once
pub(crate) unsafe fn init() {}

72
embassy-stm32/src/dma/mod.rs
View File

@ -1,9 +1,65 @@
#![macro_use]
#[cfg_attr(dma_v1, path = "v1.rs")]
#[cfg_attr(dma_v2, path = "v2.rs")]
mod _version;
#[cfg(bdma)]
mod bdma;
#[cfg(dma)]
#[allow(unused)]
pub use _version::*;
mod dma;
#[cfg(dmamux)]
mod dmamux;
#[cfg(dmamux)]
pub use dmamux::*;
use core::future::Future;
use embassy::util::Unborrow;
#[cfg(any(bdma_v2, dma_v2, dmamux))]
pub type Request = u8;
#[cfg(not(any(bdma_v2, dma_v2, dmamux)))]
pub type Request = ();
pub(crate) mod sealed {
pub trait Channel {}
}
pub trait Channel: sealed::Channel {
type ReadFuture<'a>: Future<Output = ()> + 'a
where
Self: 'a;
type WriteFuture<'a>: Future<Output = ()> + 'a
where
Self: 'a;
fn read<'a>(
&'a mut self,
request: Request,
src: *mut u8,
buf: &'a mut [u8],
) -> Self::ReadFuture<'a>;
fn write<'a>(
&'a mut self,
request: Request,
buf: &'a [u8],
dst: *mut u8,
) -> Self::WriteFuture<'a>;
}
pub struct NoDma;
unsafe impl Unborrow for NoDma {
type Target = NoDma;
unsafe fn unborrow(self) -> Self::Target {
self
}
}
// safety: must be called only once at startup
pub(crate) unsafe fn init() {
#[cfg(bdma)]
bdma::init();
#[cfg(dma)]
dma::init();
#[cfg(dmamux)]
dmamux::init();
}

2
embassy-stm32/src/dma/v1.rs
View File

@ -1,2 +0,0 @@
/// safety: must be called only once
pub(crate) unsafe fn init() {}

331
embassy-stm32/src/dma/v2.rs
View File

@ -1,331 +0,0 @@
use core::task::Poll;
use crate::dma_traits::{ReadDma, WriteDma};
use atomic_polyfill::{AtomicU8, Ordering};
use core::future::Future;
use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::util::AtomicWaker;
use futures::future::poll_fn;
use crate::interrupt;
use crate::pac;
use crate::pac::dma::{regs, vals};
use crate::pac::dma_channels;
use crate::pac::interrupts;
use crate::pac::peripheral_count;
use crate::pac::peripheral_dma_channels;
use crate::pac::peripherals;
use crate::peripherals;
const CH_COUNT: usize = peripheral_count!(DMA) * 8;
const CH_STATUS_NONE: u8 = 0;
const CH_STATUS_COMPLETED: u8 = 1;
const CH_STATUS_ERROR: u8 = 2;
struct State {
ch_wakers: [AtomicWaker; CH_COUNT],
ch_status: [AtomicU8; CH_COUNT],
}
impl State {
const fn new() -> Self {
const AW: AtomicWaker = AtomicWaker::new();
const AU: AtomicU8 = AtomicU8::new(CH_STATUS_NONE);
Self {
ch_wakers: [AW; CH_COUNT],
ch_status: [AU; CH_COUNT],
}
}
}
static STATE: State = State::new();
#[allow(unused)] // Used by usart/v1.rs which may or may not be enabled
pub(crate) async unsafe fn transfer_p2m(
ch: &mut impl Channel,
ch_func: u8,
src: *const u8,
dst: &mut [u8],
) {
let n = ch.num();
let c = ch.regs();
// ndtr is max 16 bits.
assert!(dst.len() <= 0xFFFF);
// Reset status
// Generate a DMB here to flush the store buffer (M7) before enabling the DMA
STATE.ch_status[n].store(CH_STATUS_NONE, Ordering::Release);
unsafe {
c.par().write_value(src as _);
c.m0ar().write_value(dst.as_ptr() as _);
c.ndtr().write_value(regs::Ndtr(dst.len() as _));
c.cr().write(|w| {
w.set_dir(vals::Dir::PERIPHERALTOMEMORY);
w.set_msize(vals::Size::BITS8);
w.set_psize(vals::Size::BITS8);
w.set_minc(vals::Inc::INCREMENTED);
w.set_pinc(vals::Inc::FIXED);
w.set_chsel(ch_func);
w.set_teie(true);
w.set_tcie(true);
w.set_en(true);
});
}
let res = poll_fn(|cx| {
STATE.ch_wakers[n].register(cx.waker());
match STATE.ch_status[n].load(Ordering::Acquire) {
CH_STATUS_NONE => Poll::Pending,
x => Poll::Ready(x),
}
})
.await;
// TODO handle error
assert!(res == CH_STATUS_COMPLETED);
}
#[allow(unused)] // Used by usart/v1.rs which may or may not be enabled
pub(crate) async unsafe fn transfer_m2p(
ch: &mut impl Channel,
ch_func: u8,
src: &[u8],
dst: *mut u8,
) {
let n = ch.num();
let c = ch.regs();
// ndtr is max 16 bits.
assert!(src.len() <= 0xFFFF);
// Reset status
// Generate a DMB here to flush the store buffer (M7) before enabling the DMA
STATE.ch_status[n].store(CH_STATUS_NONE, Ordering::Release);
unsafe {
c.par().write_value(dst as _);
c.m0ar().write_value(src.as_ptr() as _);
c.ndtr().write_value(regs::Ndtr(src.len() as _));
c.cr().write(|w| {
w.set_dir(vals::Dir::MEMORYTOPERIPHERAL);
w.set_msize(vals::Size::BITS8);
w.set_psize(vals::Size::BITS8);
w.set_minc(vals::Inc::INCREMENTED);
w.set_pinc(vals::Inc::FIXED);
w.set_chsel(ch_func);
w.set_teie(true);
w.set_tcie(true);
w.set_en(true);
});
}
let res = poll_fn(|cx| {
STATE.ch_wakers[n].register(cx.waker());
match STATE.ch_status[n].load(Ordering::Acquire) {
CH_STATUS_NONE => {
let left = c.ndtr().read().ndt();
Poll::Pending
}
x => Poll::Ready(x),
}
})
.await;
// TODO handle error
assert!(res == CH_STATUS_COMPLETED);
}
unsafe fn on_irq() {
peripherals! {
(dma, $dma:ident) => {
for isrn in 0..2 {
let isr = pac::$dma.isr(isrn).read();
pac::$dma.ifcr(isrn).write_value(isr);
let dman = <peripherals::$dma as sealed::Dma>::num() as usize;
for chn in 0..4 {
let n = dman * 8 + isrn * 4 + chn;
if isr.teif(chn) {
STATE.ch_status[n].store(CH_STATUS_ERROR, Ordering::Relaxed);
STATE.ch_wakers[n].wake();
} else if isr.tcif(chn) {
STATE.ch_status[n].store(CH_STATUS_COMPLETED, Ordering::Relaxed);
STATE.ch_wakers[n].wake();
}
}
}
};
}
}
/// safety: must be called only once
pub(crate) unsafe fn init() {
interrupts! {
(DMA, $irq:ident) => {
interrupt::$irq::steal().enable();
};
}
}
pub(crate) mod sealed {
use super::*;
pub trait Dma {
fn num() -> u8;
fn regs() -> &'static pac::dma::Dma;
}
pub trait Channel {
fn dma_regs() -> &'static pac::dma::Dma;
fn num(&self) -> usize;
fn ch_num(&self) -> u8;
fn regs(&self) -> pac::dma::St {
Self::dma_regs().st(self.ch_num() as _)
}
}
pub trait PeripheralChannel<PERI, OP>: Channel {
fn request(&self) -> u8;
}
}
pub trait Dma: sealed::Dma + Sized {}
pub trait Channel: sealed::Channel + Sized {}
pub trait PeripheralChannel<PERI, OP>: sealed::PeripheralChannel<PERI, OP> + Sized {}
macro_rules! impl_dma {
($peri:ident, $num:expr) => {
impl Dma for peripherals::$peri {}
impl sealed::Dma for peripherals::$peri {
fn num() -> u8 {
$num
}
fn regs() -> &'static pac::dma::Dma {
&pac::$peri
}
}
};
}
macro_rules! impl_dma_channel {
($channel_peri:ident, $dma_peri:ident, $dma_num:expr, $ch_num:expr) => {
impl Channel for peripherals::$channel_peri {}
impl sealed::Channel for peripherals::$channel_peri {
#[inline]
fn dma_regs() -> &'static pac::dma::Dma {
&crate::pac::$dma_peri
}
fn num(&self) -> usize {
($dma_num * 8) + $ch_num
}
fn ch_num(&self) -> u8 {
$ch_num
}
}
impl<T> WriteDma<T> for peripherals::$channel_peri
where
Self: sealed::PeripheralChannel<T, M2P>,
T: 'static,
{
type WriteDmaFuture<'a> = impl Future<Output = ()>;
fn transfer<'a>(&'a mut self, buf: &'a [u8], dst: *mut u8) -> Self::WriteDmaFuture<'a>
where
T: 'a,
{
let request = sealed::PeripheralChannel::<T, M2P>::request(self);
unsafe { transfer_m2p(self, request, buf, dst) }
}
}
impl<T> ReadDma<T> for peripherals::$channel_peri
where
Self: sealed::PeripheralChannel<T, P2M>,
T: 'static,
{
type ReadDmaFuture<'a> = impl Future<Output = ()>;
fn transfer<'a>(
&'a mut self,
src: *const u8,
buf: &'a mut [u8],
) -> Self::ReadDmaFuture<'a>
where
T: 'a,
{
let request = sealed::PeripheralChannel::<T, P2M>::request(self);
unsafe { transfer_p2m(self, request, src, buf) }
}
}
};
}
peripherals! {
(dma, DMA1) => {
impl_dma!(DMA1, 0);
dma_channels! {
($channel_peri:ident, DMA1, $channel_num:expr) => {
impl_dma_channel!($channel_peri, DMA1, 0, $channel_num);
};
}
};
(dma, DMA2) => {
impl_dma!(DMA2, 1);
dma_channels! {
($channel_peri:ident, DMA2, $channel_num:expr) => {
impl_dma_channel!($channel_peri, DMA2, 1, $channel_num);
};
}
};
}
interrupts! {
(DMA, $irq:ident) => {
#[crate::interrupt]
unsafe fn $irq () {
on_irq()
}
};
}
pub struct P2M;
pub struct M2P;
#[cfg(usart)]
use crate::usart;
peripheral_dma_channels! {
($peri:ident, usart, $kind:ident, RX, $channel_peri:ident, $dma_peri:ident, $channel_num:expr, $event_num:expr) => {
impl usart::RxDma<peripherals::$peri> for peripherals::$channel_peri { }
impl usart::sealed::RxDma<peripherals::$peri> for peripherals::$channel_peri { }
impl sealed::PeripheralChannel<peripherals::$peri, P2M> for peripherals::$channel_peri {
fn request(&self) -> u8 {
$event_num
}
}
impl PeripheralChannel<peripherals::$peri, P2M> for peripherals::$channel_peri { }
};
($peri:ident, usart, $kind:ident, TX, $channel_peri:ident, $dma_peri:ident, $channel_num:expr, $event_num:expr) => {
impl usart::TxDma<peripherals::$peri> for peripherals::$channel_peri { }
impl usart::sealed::TxDma<peripherals::$peri> for peripherals::$channel_peri { }
impl sealed::PeripheralChannel<peripherals::$peri, M2P> for peripherals::$channel_peri {
fn request(&self) -> u8 {
$event_num
}
}
impl PeripheralChannel<peripherals::$peri, M2P> for peripherals::$channel_peri { }
};
}

32
embassy-stm32/src/dma_traits.rs
View File

@ -1,32 +0,0 @@
use core::future::Future;
use embassy::util::Unborrow;
pub trait WriteDma<T> {
type WriteDmaFuture<'a>: Future<Output = ()> + 'a
where
Self: 'a;
fn transfer<'a>(&'a mut self, buf: &'a [u8], dst: *mut u8) -> Self::WriteDmaFuture<'a>
where
T: 'a;
}
pub trait ReadDma<T> {
type ReadDmaFuture<'a>: Future<Output = ()> + 'a
where
Self: 'a;
fn transfer<'a>(&'a mut self, src: *const u8, buf: &'a mut [u8]) -> Self::ReadDmaFuture<'a>
where
T: 'a;
}
pub struct NoDma;
unsafe impl Unborrow for NoDma {
type Target = NoDma;
unsafe fn unborrow(self) -> Self::Target {
self
}
}

137
embassy-stm32/src/dmamux/mod.rs
View File

@ -1,137 +0,0 @@
#![macro_use]
use crate::pac;
use crate::pac::bdma_channels;
use crate::pac::dma_requests;
use crate::pac::peripherals;
use crate::peripherals;
pub(crate) unsafe fn configure_dmamux(
dmamux_regs: pac::dmamux::Dmamux,
dmamux_ch_num: u8,
request: u8,
) {
let ch_mux_regs = dmamux_regs.ccr(dmamux_ch_num as _);
ch_mux_regs.write(|reg| {
reg.set_nbreq(0);
reg.set_dmareq_id(request);
});
ch_mux_regs.modify(|reg| {
reg.set_ege(true);
});
}
pub(crate) mod sealed {
use super::*;
pub trait Channel {
const DMAMUX_CH_NUM: u8;
const DMAMUX_REGS: pac::dmamux::Dmamux;
}
pub trait PeripheralChannel<PERI, OP>: Channel {
const REQUEST: u8;
}
}
pub trait Channel: sealed::Channel {}
pub trait PeripheralChannel<PERI, OP>: sealed::Channel {}
pub struct P2M;
pub struct M2P;
macro_rules! dma_num {
(DMA1) => {
0
};
(DMA2) => {
1
};
(BDMA) => {
0
};
}
macro_rules! dmamux_peri {
(DMA1) => {
crate::pac::DMAMUX1
};
(DMA2) => {
crate::pac::DMAMUX1
};
(BDMA) => {
crate::pac::DMAMUX1
};
}
#[allow(unused)]
macro_rules! impl_dma_channel {
($channel_peri:ident, $channel_num:expr, $dma_peri: ident) => {
impl Channel for peripherals::$channel_peri {}
impl sealed::Channel for peripherals::$channel_peri {
const DMAMUX_CH_NUM: u8 = (dma_num!($dma_peri) * 8) + $channel_num;
const DMAMUX_REGS: pac::dmamux::Dmamux = dmamux_peri!($dma_peri);
}
};
}
peripherals! {
(bdma, $peri:ident) => {
bdma_channels! {
($channel_peri:ident, $peri, $channel_num:expr) => {
impl_dma_channel!($channel_peri, $channel_num, $peri);
};
}
};
}
#[allow(unused)]
macro_rules! impl_peripheral_channel {
($channel_peri:ident, $direction:ident, $peri:ident, $request:expr) => {
impl sealed::PeripheralChannel<peripherals::$peri, $direction>
for peripherals::$channel_peri
{
const REQUEST: u8 = $request;
}
impl PeripheralChannel<peripherals::$peri, $direction> for peripherals::$channel_peri {}
};
}
#[allow(unused)]
macro_rules! impl_usart_dma_requests {
($channel_peri:ident, $dma_peri:ident, $channel_num:expr) => {
dma_requests! {
(usart, $peri:ident, RX, $request:expr) => {
impl_peripheral_channel!($channel_peri, P2M, $peri, $request);
};
(usart, $peri:ident, TX, $request:expr) => {
impl_peripheral_channel!($channel_peri, M2P, $peri, $request);
};
(uart, $peri:ident, RX, $request:expr) => {
impl_peripheral_channel!($channel_peri, P2M, $peri, $request);
};
(uart, $peri:ident, TX, $request:expr) => {
impl_peripheral_channel!($channel_peri, M2P, $peri, $request);
};
}
};
}
#[allow(unused)]
#[cfg(usart)]
use crate::usart;
bdma_channels! {
($channel_peri:ident, $dma_peri:ident, $channel_num:expr) => {
#[cfg(usart)]
impl_usart_dma_requests!($channel_peri, $dma_peri, $channel_num);
};
}
/// safety: must be called only once
pub(crate) unsafe fn init() {}

14
embassy-stm32/src/lib.rs
View File

@ -19,25 +19,18 @@ pub mod interrupt;
pub mod time;
// Always-present hardware
pub mod dma;
pub mod gpio;
pub mod rcc;
// Sometimes-present hardware
#[cfg(any(dma, bdma, dmamux))]
pub mod dma_traits;
#[cfg(adc)]
pub mod adc;
#[cfg(bdma)]
pub mod bdma;
#[cfg(timer)]
pub mod clock;
#[cfg(dac)]
pub mod dac;
#[cfg(dma)]
pub mod dma;
#[cfg(dmamux)]
pub mod dmamux;
#[cfg(all(eth, feature = "net"))]
pub mod eth;
#[cfg(exti)]
@ -94,12 +87,7 @@ pub fn init(config: Config) -> Peripherals {
let p = Peripherals::take();
unsafe {
#[cfg(dma)]
dma::init();
#[cfg(bdma)]
bdma::init();
#[cfg(dmamux)]
dmamux::init();
#[cfg(exti)]
exti::init();

75
embassy-stm32/src/usart/mod.rs
View File

@ -3,7 +3,7 @@
#[cfg_attr(usart_v1, path = "v1.rs")]
#[cfg_attr(usart_v2, path = "v2.rs")]
mod _version;
use crate::peripherals;
use crate::{dma, peripherals};
pub use _version::*;
use crate::gpio::Pin;
@ -72,9 +72,6 @@ pub enum Error {
pub(crate) mod sealed {
use super::*;
#[cfg(any(dma, bdma, dmamux))]
use crate::dma_traits::WriteDma;
pub trait Instance {
fn regs(&self) -> crate::pac::usart::Usart;
}
@ -94,11 +91,13 @@ pub(crate) mod sealed {
fn af_num(&self) -> u8;
}
#[cfg(any(bdma, dma, dmamux))]
pub trait RxDma<T: Instance> {}
pub trait RxDma<T: Instance> {
fn request(&self) -> dma::Request;
}
#[cfg(any(bdma, dma, dmamux))]
pub trait TxDma<T: Instance>: WriteDma<T> {}
pub trait TxDma<T: Instance> {
fn request(&self) -> dma::Request;
}
}
pub trait Instance: sealed::Instance + RccPeripheral {}
@ -107,12 +106,8 @@ pub trait TxPin<T: Instance>: sealed::TxPin<T> {}
pub trait CtsPin<T: Instance>: sealed::CtsPin<T> {}
pub trait RtsPin<T: Instance>: sealed::RtsPin<T> {}
pub trait CkPin<T: Instance>: sealed::CkPin<T> {}
#[cfg(any(bdma, dma, dmamux))]
pub trait RxDma<T: Instance>: sealed::RxDma<T> {}
#[cfg(any(bdma, dma, dmamux))]
pub trait TxDma<T: Instance>: sealed::TxDma<T> {}
pub trait RxDma<T: Instance>: sealed::RxDma<T> + dma::Channel {}
pub trait TxDma<T: Instance>: sealed::TxDma<T> + dma::Channel {}
crate::pac::peripherals!(
(usart, $inst:ident) => {
@ -141,46 +136,78 @@ macro_rules! impl_pin {
crate::pac::peripheral_pins!(
// USART
($inst:ident, usart, USART, $pin:ident, TX, $af:expr) => {
impl_pin!($inst, $pin, TxPin, $af);
};
($inst:ident, usart, USART, $pin:ident, RX, $af:expr) => {
impl_pin!($inst, $pin, RxPin, $af);
};
($inst:ident, usart, USART, $pin:ident, CTS, $af:expr) => {
impl_pin!($inst, $pin, CtsPin, $af);
};
($inst:ident, usart, USART, $pin:ident, RTS, $af:expr) => {
impl_pin!($inst, $pin, RtsPin, $af);
};
($inst:ident, usart, USART, $pin:ident, CK, $af:expr) => {
impl_pin!($inst, $pin, CkPin, $af);
};
// UART
($inst:ident, uart, UART, $pin:ident, TX, $af:expr) => {
impl_pin!($inst, $pin, TxPin, $af);
};
($inst:ident, uart, UART, $pin:ident, RX, $af:expr) => {
impl_pin!($inst, $pin, RxPin, $af);
};
($inst:ident, uart, UART, $pin:ident, CTS, $af:expr) => {
impl_pin!($inst, $pin, CtsPin, $af);
};
($inst:ident, uart, UART, $pin:ident, RTS, $af:expr) => {
impl_pin!($inst, $pin, RtsPin, $af);
};
($inst:ident, uart, UART, $pin:ident, CK, $af:expr) => {
impl_pin!($inst, $pin, CkPin, $af);
};
);
macro_rules! impl_dma {
($inst:ident, {dmamux: $dmamux:ident}, $signal:ident, $request:expr) => {
impl<T> sealed::$signal<peripherals::$inst> for T
where
T: crate::dma::MuxChannel<Mux = crate::dma::$dmamux>,
{
fn request(&self) -> dma::Request {
$request
}
}
impl<T> $signal<peripherals::$inst> for T where
T: crate::dma::MuxChannel<Mux = crate::dma::$dmamux>
{
}
};
($inst:ident, {channel: $channel:ident}, $signal:ident, $request:expr) => {
impl sealed::$signal<peripherals::$inst> for peripherals::$channel {
fn request(&self) -> dma::Request {
$request
}
}
impl $signal<peripherals::$inst> for peripherals::$channel {}
};
}
crate::pac::peripheral_dma_channels! {
($peri:ident, usart, $kind:ident, RX, $channel:tt, $request:expr) => {
impl_dma!($peri, $channel, RxDma, $request);
};
($peri:ident, usart, $kind:ident, TX, $channel:tt, $request:expr) => {
impl_dma!($peri, $channel, TxDma, $request);
};
($peri:ident, uart, $kind:ident, RX, $channel:tt, $request:expr) => {
impl_dma!($peri, $channel, RxDma, $request);
};
($peri:ident, uart, $kind:ident, TX, $channel:tt, $request:expr) => {
impl_dma!($peri, $channel, TxDma, $request);
};
}

45
embassy-stm32/src/usart/v1.rs
View File

@ -1,25 +1,31 @@
use core::future::Future;
use core::marker::PhantomData;
use embassy::util::Unborrow;
use embassy_extras::unborrow;
use crate::pac::usart::{regs, vals};
use futures::TryFutureExt;
use super::*;
use crate::dma::NoDma;
use crate::pac::usart::{regs, vals};
pub struct Uart<'d, T: Instance> {
pub struct Uart<'d, T: Instance, TxDma = NoDma, RxDma = NoDma> {
inner: T,
phantom: PhantomData<&'d mut T>,
tx_dma: TxDma,
#[allow(dead_code)]
rx_dma: RxDma,
}
impl<'d, T: Instance> Uart<'d, T> {
impl<'d, T: Instance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
pub fn new(
inner: impl Unborrow<Target = T>,
rx: impl Unborrow<Target = impl RxPin<T>>,
tx: impl Unborrow<Target = impl TxPin<T>>,
tx_dma: impl Unborrow<Target = TxDma>,
rx_dma: impl Unborrow<Target = RxDma>,
config: Config,
) -> Self {
unborrow!(inner, rx, tx);
unborrow!(inner, rx, tx, tx_dma, rx_dma);
T::enable();
let pclk_freq = T::frequency();
@ -53,11 +59,16 @@ impl<'d, T: Instance> Uart<'d, T> {
Self {
inner,
phantom: PhantomData,
tx_dma,
rx_dma,
}
}
#[cfg(dma)]
pub async fn write_dma(&mut self, ch: &mut impl TxDma<T>, buffer: &[u8]) -> Result<(), Error> {
async fn write_dma(&mut self, buffer: &[u8]) -> Result<(), Error>
where
TxDma: crate::usart::TxDma<T>,
{
let ch = &mut self.tx_dma;
unsafe {
self.inner.regs().cr3().modify(|reg| {
reg.set_dmat(true);
@ -65,7 +76,7 @@ impl<'d, T: Instance> Uart<'d, T> {
}
let r = self.inner.regs();
let dst = r.dr().ptr() as *mut u8;
ch.transfer(buffer, dst).await;
ch.write(ch.request(), buffer, dst).await;
Ok(())
}
@ -98,7 +109,9 @@ impl<'d, T: Instance> Uart<'d, T> {
}
}
impl<'d, T: Instance> embedded_hal::blocking::serial::Write<u8> for Uart<'d, T> {
impl<'d, T: Instance, RxDma> embedded_hal::blocking::serial::Write<u8>
for Uart<'d, T, NoDma, RxDma>
{
type Error = Error;
fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
unsafe {
@ -118,3 +131,15 @@ impl<'d, T: Instance> embedded_hal::blocking::serial::Write<u8> for Uart<'d, T>
Ok(())
}
}
// rustfmt::skip because intellij removes the 'where' claus on the associated type.
#[rustfmt::skip]
impl<'d, T: Instance, TxDma, RxDma> embassy_traits::uart::Write for Uart<'d, T, TxDma, RxDma>
where TxDma: crate::usart::TxDma<T>
{
type WriteFuture<'a> where Self: 'a = impl Future<Output = Result<(), embassy_traits::uart::Error>>;
fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
self.write_dma(buf).map_err(|_| embassy_traits::uart::Error::Other)
}
}

15
embassy-stm32/src/usart/v2.rs
View File

@ -1,21 +1,18 @@
use core::future::Future;
use core::marker::PhantomData;
use embassy::util::Unborrow;
use embassy_extras::unborrow;
use crate::pac::usart::{regs, vals};
use super::*;
use core::future::Future;
use futures::TryFutureExt;
use crate::dma_traits::NoDma;
use super::*;
use crate::dma::NoDma;
use crate::pac::usart::{regs, vals};
#[allow(dead_code)]
pub struct Uart<'d, T: Instance, TxDma = NoDma, RxDma = NoDma> {
inner: T,
phantom: PhantomData<&'d mut T>,
tx_dma: TxDma,
#[allow(dead_code)]
rx_dma: RxDma,
}
@ -83,7 +80,7 @@ impl<'d, T: Instance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
}
let r = self.inner.regs();
let dst = r.tdr().ptr() as *mut u8;
ch.transfer(buffer, dst).await;
ch.write(ch.request(), buffer, dst).await;
Ok(())
}

2
examples/stm32f4/src/bin/spi.rs
View File

@ -61,7 +61,7 @@ fn main() -> ! {
let mut cs = Output::new(p.PE0, Level::High, Speed::VeryHigh);
loop {
let mut buf = [0x0A; 4];
let mut buf = [0x0Au8; 4];
unwrap!(cs.set_low());
unwrap!(spi.transfer(&mut buf));
unwrap!(cs.set_high());

3
examples/stm32f4/src/bin/usart.rs
View File

@ -12,6 +12,7 @@ use cortex_m::prelude::_embedded_hal_blocking_serial_Write;
use embassy::executor::Executor;
use embassy::time::Clock;
use embassy::util::Forever;
use embassy_stm32::dma::NoDma;
use embassy_stm32::usart::{Config, Uart};
use example_common::*;
@ -23,7 +24,7 @@ async fn main_task() {
let p = embassy_stm32::init(Default::default());
let config = Config::default();
let mut usart = Uart::new(p.USART3, p.PD9, p.PD8, config);
let mut usart = Uart::new(p.USART3, p.PD9, p.PD8, NoDma, NoDma, config);
usart.bwrite_all(b"Hello Embassy World!\r\n").unwrap();
info!("wrote Hello, starting echo");

11
examples/stm32f4/src/bin/usart_dma.rs
View File

@ -13,26 +13,25 @@ use cortex_m_rt::entry;
use embassy::executor::Executor;
use embassy::time::Clock;
use embassy::util::Forever;
use embassy_stm32::dma::NoDma;
use embassy_stm32::usart::{Config, Uart};
use embassy_traits::uart::Write as _;
use example_common::*;
use heapless::String;
use stm32f4::stm32f429 as pac;
#[embassy::task]
async fn main_task() {
let mut p = embassy_stm32::init(Default::default());
let p = embassy_stm32::init(Default::default());
let config = Config::default();
let mut usart = Uart::new(p.USART3, p.PD9, p.PD8, config);
let mut usart = Uart::new(p.USART3, p.PD9, p.PD8, p.DMA1_CH3, NoDma, config);
for n in 0u32.. {
let mut s: String<128> = String::new();
core::write!(&mut s, "Hello DMA World {}!\r\n", n).unwrap();
usart
.write_dma(&mut p.DMA1_3, s.as_bytes())
.await
.unwrap();
usart.write(s.as_bytes()).await.unwrap();
info!("wrote DMA");
}
}

9
examples/stm32h7/src/bin/usart.rs
View File

@ -1,4 +1,3 @@
#![no_std]
#![no_main]
#![feature(trait_alias)]
@ -13,12 +12,12 @@ use cortex_m::prelude::_embedded_hal_blocking_serial_Write;
use embassy::executor::Executor;
use embassy::time::Clock;
use embassy::util::Forever;
use embassy_stm32::dma::NoDma;
use embassy_stm32::usart::{Config, Uart};
use embassy_stm32::dma_traits::NoDma;
use example_common::*;
use stm32h7xx_hal as hal;
use hal::prelude::*;
use stm32h7xx_hal as hal;
use cortex_m_rt::entry;
use stm32h7::stm32h743 as pac;
@ -60,8 +59,7 @@ fn main() -> ! {
let rcc = pp.RCC.constrain();
rcc
.sys_ck(96.mhz())
rcc.sys_ck(96.mhz())
.pclk1(48.mhz())
.pclk2(48.mhz())
.pclk3(48.mhz())
@ -89,7 +87,6 @@ fn main() -> ! {
w
});
unsafe { embassy::time::set_clock(&ZeroClock) };
let executor = EXECUTOR.put(Executor::new());

100
examples/stm32h7/src/bin/usart_dma.rs Normal file
View File

@ -0,0 +1,100 @@
#![no_std]
#![no_main]
#![feature(trait_alias)]
#![feature(min_type_alias_impl_trait)]
#![feature(impl_trait_in_bindings)]
#![feature(type_alias_impl_trait)]
#![allow(incomplete_features)]
#[path = "../example_common.rs"]
mod example_common;
use core::fmt::Write;
use embassy::executor::Executor;
use embassy::time::Clock;
use embassy::util::Forever;
use embassy_stm32::dma::NoDma;
use embassy_stm32::usart::{Config, Uart};
use example_common::*;
use embassy_traits::uart::Write as _Write;
use hal::prelude::*;
use stm32h7xx_hal as hal;
use cortex_m_rt::entry;
use stm32h7::stm32h743 as pac;
use heapless::String;
#[embassy::task]
async fn main_task() {
let p = embassy_stm32::init(Default::default());
let config = Config::default();
let mut usart = Uart::new(p.UART7, p.PF6, p.PF7, p.DMA1_CH0, NoDma, config);
for n in 0u32.. {
let mut s: String<128> = String::new();
core::write!(&mut s, "Hello DMA World {}!\r\n", n).unwrap();
usart.write(s.as_bytes()).await.ok();
info!("wrote DMA");
}
}
struct ZeroClock;
impl Clock for ZeroClock {
fn now(&self) -> u64 {
0
}
}
static EXECUTOR: Forever<Executor> = Forever::new();
#[entry]
fn main() -> ! {
info!("Hello World!");
let pp = pac::Peripherals::take().unwrap();
let pwrcfg = pp.PWR.constrain().freeze();
let rcc = pp.RCC.constrain();
rcc.sys_ck(96.mhz())
.pclk1(48.mhz())
.pclk2(48.mhz())
.pclk3(48.mhz())
.pclk4(48.mhz())
.pll1_q_ck(48.mhz())
.freeze(pwrcfg, &pp.SYSCFG);
let pp = unsafe { pac::Peripherals::steal() };
pp.DBGMCU.cr.modify(|_, w| {
w.dbgsleep_d1().set_bit();
w.dbgstby_d1().set_bit();
w.dbgstop_d1().set_bit();
w.d1dbgcken().set_bit();
w
});
pp.RCC.ahb4enr.modify(|_, w| {
w.gpioaen().set_bit();
w.gpioben().set_bit();
w.gpiocen().set_bit();
w.gpioden().set_bit();
w.gpioeen().set_bit();
w.gpiofen().set_bit();
w
});
unsafe { embassy::time::set_clock(&ZeroClock) };
let executor = EXECUTOR.put(Executor::new());
executor.run(|spawner| {
unwrap!(spawner.spawn(main_task()));
})
}

2
examples/stm32l4/src/bin/spi.rs
View File

@ -57,7 +57,7 @@ fn main() -> ! {
let mut cs = Output::new(p.PE0, Level::High, Speed::VeryHigh);
loop {
let mut buf = [0x0A; 4];
let mut buf = [0x0Au8; 4];
unwrap!(cs.set_low());
unwrap!(spi.transfer(&mut buf));
unwrap!(cs.set_high());

2
examples/stm32l4/src/bin/usart.rs
View File

@ -13,7 +13,7 @@ use cortex_m_rt::entry;
use embassy::executor::Executor;
use embassy::time::Clock;
use embassy::util::Forever;
use embassy_stm32::dma_traits::NoDma;
use embassy_stm32::dma::NoDma;
use embassy_stm32::pac;
use embassy_stm32::usart::{Config, Uart};
use example_common::*;

4
examples/stm32l4/src/bin/usart_dma.rs
View File

@ -13,7 +13,7 @@ use cortex_m_rt::entry;
use embassy::executor::Executor;
use embassy::time::Clock;
use embassy::util::Forever;
use embassy_stm32::dma_traits::NoDma;
use embassy_stm32::dma::NoDma;
use embassy_stm32::pac;
use embassy_stm32::usart::{Config, Uart};
use embassy_traits::uart::Write as _;
@ -25,7 +25,7 @@ async fn main_task() {
let p = embassy_stm32::init(Default::default());
let config = Config::default();
let mut usart = Uart::new(p.UART4, p.PA1, p.PA0, p.DMA1_3, NoDma, config);
let mut usart = Uart::new(p.UART4, p.PA1, p.PA0, p.DMA1_CH3, NoDma, config);
for n in 0u32.. {
let mut s: String<128> = String::new();

2
stm32-data

@ -1 +1 @@
Subproject commit 32ca79020ec7523fe4c3fcfc02006cb1ea637a19
Subproject commit 8702a3a3bb83a59515dab2cf9f75952fa6edae8a

98
stm32-metapac-gen/src/lib.rs
View File

@ -49,8 +49,6 @@ pub struct Peripheral {
pub pins: Vec<Pin>,
#[serde(default)]
pub dma_channels: HashMap<String, Vec<PeripheralDmaChannel>>,
#[serde(default)]
pub dma_requests: HashMap<String, u32>,
}
#[derive(Debug, Eq, PartialEq, Clone, Deserialize)]
@ -64,11 +62,14 @@ pub struct Pin {
pub struct DmaChannel {
pub dma: String,
pub channel: u32,
pub dmamux: Option<String>,
pub dmamux_channel: Option<u32>,
}
#[derive(Debug, Eq, PartialEq, Clone, Deserialize, Hash)]
pub struct PeripheralDmaChannel {
pub channel: String,
pub channel: Option<String>,
pub dmamux: Option<String>,
pub request: Option<u32>,
}
@ -266,24 +267,18 @@ pub fn gen(options: Options) {
let mut peripheral_pins_table: Vec<Vec<String>> = Vec::new();
let mut peripheral_rcc_table: Vec<Vec<String>> = Vec::new();
let mut dma_channels_table: Vec<Vec<String>> = Vec::new();
let mut bdma_channels_table: Vec<Vec<String>> = Vec::new();
let mut dma_requests_table: Vec<Vec<String>> = Vec::new();
let mut peripheral_dma_channels_table: Vec<Vec<String>> = Vec::new();
let mut peripheral_counts: HashMap<String, u8> = HashMap::new();
let mut dma_channel_counts: HashMap<String, u8> = HashMap::new();
let dma_base = core
.peripherals
.get(&"DMA".to_string())
.unwrap_or_else(|| core.peripherals.get(&"DMA1".to_string()).unwrap())
.address;
let dma_stride = 0x400;
let gpio_base = core.peripherals.get(&"GPIOA".to_string()).unwrap().address;
let gpio_stride = 0x400;
let number_suffix_re = Regex::new("^(.*?)[0-9]*$").unwrap();
let mut has_bdma = false;
let mut has_dma = false;
for (name, p) in &core.peripherals {
let captures = number_suffix_re.captures(&name).unwrap();
let root_peri_name = captures.get(1).unwrap().as_str().to_string();
@ -303,6 +298,12 @@ pub fn gen(options: Options) {
if let Some(block) = &p.block {
let bi = BlockInfo::parse(block);
if bi.module == "bdma" {
has_bdma = true
} else if bi.module == "dma" {
has_dma = true
}
peripheral_counts.insert(
bi.module.clone(),
peripheral_counts.get(&bi.module).map_or(1, |v| v + 1),
@ -321,27 +322,24 @@ pub fn gen(options: Options) {
peripheral_pins_table.push(row);
}
for dma_request in &p.dma_requests {
let mut row = Vec::new();
row.push(bi.module.clone());
row.push(name.clone());
row.push(dma_request.0.clone());
row.push(dma_request.1.to_string());
dma_requests_table.push(row);
}
for (event, dma_channels) in &p.dma_channels {
for (request, dma_channels) in &p.dma_channels {
for channel in dma_channels.iter() {
let mut row = Vec::new();
row.push(name.clone());
row.push(bi.module.clone());
row.push(bi.block.clone());
row.push(event.clone());
row.push(channel.channel.clone());
row.push(core.dma_channels[&channel.channel].dma.clone());
row.push(core.dma_channels[&channel.channel].channel.to_string());
row.push(request.clone());
if let Some(channel) = &channel.channel {
row.push(format!("{{channel: {}}}", channel));
} else if let Some(dmamux) = &channel.dmamux {
row.push(format!("{{dmamux: {}}}", dmamux));
} else {
unreachable!();
}
if let Some(request) = channel.request {
row.push(request.to_string());
} else {
row.push("()".to_string());
}
peripheral_dma_channels_table.push(row);
}
@ -381,15 +379,6 @@ pub fn gen(options: Options) {
]);
}
}
"dma" => {
let dma_num = if name == "DMA" {
0
} else {
let dma_letter = name.chars().skip(3).next().unwrap();
dma_letter as u32 - '1' as u32
};
assert_eq!(p.address, dma_base + dma_stride * dma_num);
}
_ => {}
}
@ -489,21 +478,25 @@ pub fn gen(options: Options) {
for (id, channel_info) in &core.dma_channels {
let mut row = Vec::new();
let dma_peri = core.peripherals.get(&channel_info.dma);
let dma_peri = core.peripherals.get(&channel_info.dma).unwrap();
let bi = BlockInfo::parse(dma_peri.block.as_ref().unwrap());
row.push(id.clone());
row.push(channel_info.dma.clone());
row.push(bi.module.clone());
row.push(channel_info.channel.to_string());
if let Some(dma_peri) = dma_peri {
if let Some(ref block) = dma_peri.block {
let bi = BlockInfo::parse(block);
if bi.module == "bdma" {
bdma_channels_table.push(row);
} else {
dma_channels_table.push(row);
}
}
if let Some(dmamux) = &channel_info.dmamux {
let dmamux_channel = channel_info.dmamux_channel.unwrap();
row.push(format!(
"{{dmamux: {}, dmamux_channel: {}}}",
dmamux, dmamux_channel
));
} else {
row.push("{}".to_string());
}
dma_channels_table.push(row);
let dma_peri_name = channel_info.dma.clone();
dma_channel_counts.insert(
dma_peri_name.clone(),
@ -522,8 +515,17 @@ pub fn gen(options: Options) {
interrupt_table.push(vec![name.clone()]);
if name.starts_with("DMA") || name.contains("_DMA") {
interrupt_table.push(vec!["DMA".to_string(), name.clone()]);
if name.starts_with("DMA1_") || name.starts_with("DMA2_") || name.contains("_DMA") {
if has_dma {
interrupt_table.push(vec!["DMA".to_string(), name.clone()]);
} else if has_bdma {
interrupt_table.push(vec!["BDMA".to_string(), name.clone()]);
}
}
if name.starts_with("BDMA_") || name.starts_with("BDMA1_") || name.starts_with("BDMA2_")
{
interrupt_table.push(vec!["BDMA".to_string(), name.clone()]);
}
if name.contains("EXTI") {
@ -557,8 +559,6 @@ pub fn gen(options: Options) {
);
make_table(&mut extra, "peripheral_rcc", &peripheral_rcc_table);
make_table(&mut extra, "dma_channels", &dma_channels_table);
make_table(&mut extra, "bdma_channels", &bdma_channels_table);
make_table(&mut extra, "dma_requests", &dma_requests_table);
make_peripheral_counts(&mut extra, &peripheral_counts);
make_dma_channel_counts(&mut extra, &dma_channel_counts);