Remove pin from Uart

embassy-nrf-examples/src/bin/uart.rs

@@ -15,7 +15,6 @@ use embassy::traits::uart::{Read, Write};
 use embassy::util::Steal;
 use embassy_nrf::gpio::NoPin;
 use embassy_nrf::{interrupt, uarte, Peripherals};
-use futures::pin_mut;
 
 #[embassy::main]
 async fn main(spawner: Spawner) {
@@ -26,8 +25,8 @@ async fn main(spawner: Spawner) {
     config.baudrate = uarte::Baudrate::BAUD115200;
 
     let irq = interrupt::take!(UARTE0_UART0);
-    let uart = unsafe { uarte::Uarte::new(p.UARTE0, irq, p.P0_08, p.P0_06, NoPin, NoPin, config) };
+    let mut uart =
-    pin_mut!(uart);
+        unsafe { uarte::Uarte::new(p.UARTE0, irq, p.P0_08, p.P0_06, NoPin, NoPin, config) };
 
     info!("uarte initialized!");
 
@@ -35,14 +34,14 @@ async fn main(spawner: Spawner) {
     let mut buf = [0; 8];
     buf.copy_from_slice(b"Hello!\r\n");
 
-    unwrap!(uart.as_mut().write(&buf).await);
+    unwrap!(uart.write(&buf).await);
     info!("wrote hello in uart!");
 
     loop {
         info!("reading...");
-        unwrap!(uart.as_mut().read(&mut buf).await);
+        unwrap!(uart.read(&mut buf).await);
         info!("writing...");
-        unwrap!(uart.as_mut().write(&buf).await);
+        unwrap!(uart.write(&buf).await);
 
         /*
         // `receive()` doesn't return until the buffer has been completely filled with

embassy-nrf/src/buffered_uarte.rs

@@ -78,7 +78,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarte<'d, U, T> {
     ) -> Self {
         unborrow!(uarte, timer, ppi_ch1, ppi_ch2, irq, rxd, txd, cts, rts);
 
-        let r = uarte.regs();
+        let r = U::regs();
         let rt = timer.regs();
 
         rxd.conf().write(|w| w.input().connect().drive().h0h1());
@@ -178,7 +178,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarte<'d, U, T> {
 
     pub fn set_baudrate(self: Pin<&mut Self>, baudrate: Baudrate) {
         self.inner().with(|state, _irq| {
-            let r = state.uarte.regs();
+            let r = U::regs();
             let rt = state.timer.regs();
 
             let timeout = 0x8000_0000 / (baudrate as u32 / 40);
@@ -265,7 +265,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> AsyncWrite for BufferedUarte<'d, U,
 
 impl<'a, U: UarteInstance, T: TimerInstance> Drop for State<'a, U, T> {
     fn drop(&mut self) {
-        let r = self.uarte.regs();
+        let r = U::regs();
         let rt = self.timer.regs();
 
         // TODO this probably deadlocks. do like Uarte instead.
@@ -290,7 +290,7 @@ impl<'a, U: UarteInstance, T: TimerInstance> PeripheralState for State<'a, U, T>
     type Interrupt = U::Interrupt;
     fn on_interrupt(&mut self) {
         trace!("irq: start");
-        let r = self.uarte.regs();
+        let r = U::regs();
         let rt = self.timer.regs();
 
         loop {

embassy-nrf/src/uarte.rs

@@ -2,12 +2,11 @@
 
 use core::future::Future;
 use core::marker::PhantomData;
-use core::pin::Pin;
+use core::sync::atomic::{compiler_fence, Ordering};
-use core::sync::atomic::{compiler_fence, AtomicBool, Ordering};
 use core::task::Poll;
+use embassy::interrupt::InterruptExt;
 use embassy::traits::uart::{Error, Read, Write};
 use embassy::util::{AtomicWaker, OnDrop, PeripheralBorrow};
-use embassy_extras::peripheral_shared::{Peripheral, PeripheralState};
 use embassy_extras::unborrow;
 use futures::future::poll_fn;
 
@@ -38,16 +37,9 @@ impl Default for Config {
     }
 }
 
-struct State<T: Instance> {
-    peri: T,
-
-    endrx_waker: AtomicWaker,
-    endtx_waker: AtomicWaker,
-}
-
 /// Interface to the UARTE peripheral
 pub struct Uarte<'d, T: Instance> {
-    inner: Peripheral<State<T>>,
+    peri: T,
     phantom: PhantomData<&'d mut T>,
 }
 
@@ -72,7 +64,7 @@ impl<'d, T: Instance> Uarte<'d, T> {
     ) -> Self {
         unborrow!(uarte, irq, rxd, txd, cts, rts);
 
-        let r = uarte.regs();
+        let r = T::regs();
 
         assert!(r.enable.read().enable().is_disabled());
 
@@ -115,38 +107,29 @@ impl<'d, T: Instance> Uarte<'d, T> {
         r.events_rxstarted.reset();
         r.events_txstarted.reset();
 
+        irq.set_handler(Self::on_interrupt);
+        irq.unpend();
+        irq.enable();
+
         // Enable
         r.enable.write(|w| w.enable().enabled());
 
         Self {
-            inner: Peripheral::new(
-                irq,
-                State {
             peri: uarte,
-                    endrx_waker: AtomicWaker::new(),
-                    endtx_waker: AtomicWaker::new(),
-                },
-            ),
             phantom: PhantomData,
         }
     }
 
-    fn inner(self: Pin<&mut Self>) -> Pin<&mut Peripheral<State<T>>> {
+    fn on_interrupt(_: *mut ()) {
-        unsafe { Pin::new_unchecked(&mut self.get_unchecked_mut().inner) }
+        let r = T::regs();
-    }
+        let s = T::state();
-}
 
-impl<T: Instance> PeripheralState for State<T> {
-    type Interrupt = T::Interrupt;
-
-    fn on_interrupt(&self) {
-        let r = self.peri.regs();
         if r.events_endrx.read().bits() != 0 {
-            self.endrx_waker.wake();
+            s.endrx_waker.wake();
             r.intenclr.write(|w| w.endrx().clear());
         }
         if r.events_endtx.read().bits() != 0 {
-            self.endtx_waker.wake();
+            s.endtx_waker.wake();
             r.intenclr.write(|w| w.endtx().clear());
         }
 
@@ -163,8 +146,7 @@ impl<'a, T: Instance> Drop for Uarte<'a, T> {
     fn drop(&mut self) {
         info!("uarte drop");
 
-        let s = unsafe { Pin::new_unchecked(&mut self.inner) }.state();
+        let r = T::regs();
-        let r = s.peri.regs();
 
         let did_stoprx = r.events_rxstarted.read().bits() != 0;
         let did_stoptx = r.events_txstarted.read().bits() != 0;
@@ -194,16 +176,14 @@ impl<'d, T: Instance> Read for Uarte<'d, T> {
     #[rustfmt::skip]
     type ReadFuture<'a> where Self: 'a = impl Future<Output = Result<(), Error>> + 'a;
 
-    fn read<'a>(mut self: Pin<&'a mut Self>, rx_buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
+    fn read<'a>(&'a mut self, rx_buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
-        self.as_mut().inner().register_interrupt();
-
         async move {
             let ptr = rx_buffer.as_ptr();
             let len = rx_buffer.len();
             assert!(len <= EASY_DMA_SIZE);
 
-            let s = self.inner().state();
+            let r = T::regs();
-            let r = s.peri.regs();
+            let s = T::state();
 
             let drop = OnDrop::new(move || {
                 info!("read drop: stopping");
@@ -250,17 +230,15 @@ impl<'d, T: Instance> Write for Uarte<'d, T> {
     #[rustfmt::skip]
     type WriteFuture<'a> where Self: 'a = impl Future<Output = Result<(), Error>> + 'a;
 
-    fn write<'a>(mut self: Pin<&'a mut Self>, tx_buffer: &'a [u8]) -> Self::WriteFuture<'a> {
+    fn write<'a>(&'a mut self, tx_buffer: &'a [u8]) -> Self::WriteFuture<'a> {
-        self.as_mut().inner().register_interrupt();
-
         async move {
             let ptr = tx_buffer.as_ptr();
             let len = tx_buffer.len();
             assert!(len <= EASY_DMA_SIZE);
             // TODO: panic if buffer is not in SRAM
 
-            let s = self.inner().state();
+            let r = T::regs();
-            let r = s.peri.regs();
+            let s = T::state();
 
             let drop = OnDrop::new(move || {
                 info!("write drop: stopping");
@@ -306,8 +284,22 @@ impl<'d, T: Instance> Write for Uarte<'d, T> {
 mod sealed {
     use super::*;
 
+    pub struct State {
+        pub endrx_waker: AtomicWaker,
+        pub endtx_waker: AtomicWaker,
+    }
+    impl State {
+        pub const fn new() -> Self {
+            Self {
+                endrx_waker: AtomicWaker::new(),
+                endtx_waker: AtomicWaker::new(),
+            }
+        }
+    }
+
     pub trait Instance {
-        fn regs(&self) -> &pac::uarte0::RegisterBlock;
+        fn regs() -> &'static pac::uarte0::RegisterBlock;
+        fn state() -> &'static State;
     }
 }
 
@@ -318,9 +310,13 @@ pub trait Instance: sealed::Instance + 'static {
 macro_rules! impl_instance {
     ($type:ident, $irq:ident) => {
         impl sealed::Instance for peripherals::$type {
-            fn regs(&self) -> &pac::uarte0::RegisterBlock {
+            fn regs() -> &'static pac::uarte0::RegisterBlock {
                 unsafe { &*pac::$type::ptr() }
             }
+            fn state() -> &'static sealed::State {
+                static STATE: sealed::State = sealed::State::new();
+                &STATE
+            }
         }
         impl Instance for peripherals::$type {
             type Interrupt = interrupt::$irq;

embassy-stm32/src/f4/serial.rs

@@ -2,7 +2,6 @@
 
 use core::future::Future;
 use core::marker::PhantomData;
-use core::pin::Pin;
 use embassy::interrupt::Interrupt;
 use embassy::traits::uart::{Error, Read, ReadUntilIdle, Write};
 use embassy::util::InterruptFuture;
@@ -101,13 +100,12 @@ where
     /// Receives serial data.
     ///
     /// The future is pending until the buffer is completely filled.
-    fn read<'a>(self: Pin<&'a mut Self>, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
+    fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
-        let this = unsafe { self.get_unchecked_mut() };
         let static_buf = unsafe { core::mem::transmute::<&'a mut [u8], &'static mut [u8]>(buf) };
 
         async move {
-            let rx_stream = this.rx_stream.take().unwrap();
+            let rx_stream = self.rx_stream.take().unwrap();
-            let usart = this.usart.take().unwrap();
+            let usart = self.usart.take().unwrap();
 
             let mut rx_transfer = Transfer::init(
                 rx_stream,
@@ -120,13 +118,13 @@ where
                     .double_buffer(false),
             );
 
-            let fut = InterruptFuture::new(&mut this.rx_int);
+            let fut = InterruptFuture::new(&mut self.rx_int);
             rx_transfer.start(|_usart| {});
             fut.await;
 
             let (rx_stream, usart, _, _) = rx_transfer.free();
-            this.rx_stream.replace(rx_stream);
+            self.rx_stream.replace(rx_stream);
-            this.usart.replace(usart);
+            self.usart.replace(usart);
 
             Ok(())
         }
@@ -148,14 +146,13 @@ where
     type WriteFuture<'a> = impl Future<Output = Result<(), Error>> + 'a;
 
     /// Sends serial data.
-    fn write<'a>(self: Pin<&'a mut Self>, buf: &'a [u8]) -> Self::WriteFuture<'a> {
+    fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
-        let this = unsafe { self.get_unchecked_mut() };
         #[allow(mutable_transmutes)]
         let static_buf = unsafe { core::mem::transmute::<&'a [u8], &'static mut [u8]>(buf) };
 
         async move {
-            let tx_stream = this.tx_stream.take().unwrap();
+            let tx_stream = self.tx_stream.take().unwrap();
-            let usart = this.usart.take().unwrap();
+            let usart = self.usart.take().unwrap();
 
             let mut tx_transfer = Transfer::init(
                 tx_stream,
@@ -168,15 +165,15 @@ where
                     .double_buffer(false),
             );
 
-            let fut = InterruptFuture::new(&mut this.tx_int);
+            let fut = InterruptFuture::new(&mut self.tx_int);
 
             tx_transfer.start(|_usart| {});
             fut.await;
 
             let (tx_stream, usart, _buf, _) = tx_transfer.free();
 
-            this.tx_stream.replace(tx_stream);
+            self.tx_stream.replace(tx_stream);
-            this.usart.replace(usart);
+            self.usart.replace(usart);
 
             Ok(())
         }
@@ -202,16 +199,12 @@ where
     /// The future is pending until either the buffer is completely full, or the RX line falls idle after receiving some data.
     ///
     /// Returns the number of bytes read.
-    fn read_until_idle<'a>(
+    fn read_until_idle<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadUntilIdleFuture<'a> {
-        self: Pin<&'a mut Self>,
-        buf: &'a mut [u8],
-    ) -> Self::ReadUntilIdleFuture<'a> {
-        let this = unsafe { self.get_unchecked_mut() };
         let static_buf = unsafe { core::mem::transmute::<&'a mut [u8], &'static mut [u8]>(buf) };
 
         async move {
-            let rx_stream = this.rx_stream.take().unwrap();
+            let rx_stream = self.rx_stream.take().unwrap();
-            let usart = this.usart.take().unwrap();
+            let usart = self.usart.take().unwrap();
 
             unsafe {
                 /*  __HAL_UART_ENABLE_IT(&uart->UartHandle, UART_IT_IDLE); */
@@ -235,8 +228,8 @@ where
 
             let total_bytes = RSTREAM::get_number_of_transfers() as usize;
 
-            let fut = InterruptFuture::new(&mut this.rx_int);
+            let fut = InterruptFuture::new(&mut self.rx_int);
-            let fut_idle = InterruptFuture::new(&mut this.usart_int);
+            let fut_idle = InterruptFuture::new(&mut self.usart_int);
 
             rx_transfer.start(|_usart| {});
 
@@ -249,8 +242,8 @@ where
             unsafe {
                 (*USART::ptr()).cr1.modify(|_, w| w.idleie().clear_bit());
             }
-            this.rx_stream.replace(rx_stream);
+            self.rx_stream.replace(rx_stream);
-            this.usart.replace(usart);
+            self.usart.replace(usart);
 
             Ok(total_bytes - remaining_bytes)
         }

embassy-traits/src/uart.rs

@@ -13,7 +13,7 @@ pub trait Read {
     where
         Self: 'a;
 
-    fn read<'a>(self: Pin<&'a mut Self>, buf: &'a mut [u8]) -> Self::ReadFuture<'a>;
+    fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a>;
 }
 
 pub trait ReadUntilIdle {
@@ -23,10 +23,7 @@ pub trait ReadUntilIdle {
 
     /// Receive into the buffer until the buffer is full or the line is idle after some bytes are received
     /// Return the number of bytes received
-    fn read_until_idle<'a>(
+    fn read_until_idle<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadUntilIdleFuture<'a>;
-        self: Pin<&'a mut Self>,
-        buf: &'a mut [u8],
-    ) -> Self::ReadUntilIdleFuture<'a>;
 }
 
 pub trait Write {
@@ -34,5 +31,5 @@ pub trait Write {
     where
         Self: 'a;
 
-    fn write<'a>(self: Pin<&'a mut Self>, buf: &'a [u8]) -> Self::WriteFuture<'a>;
+    fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a>;
 }