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Merge #851

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851: Gpio dynamic flex r=Dirbaio a=AntoineMugnier

Add Flex GPIO type for embassy-stm32 as it is the case for  embassy-nrf.


Co-authored-by: amugniere@gmail.com <antoine.mugnier@depixus.com>
This commit is contained in:
bors[bot] 2022-07-10 21:22:46 +00:00 committed by GitHub
commit 93e7d53e39
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 419 additions and 188 deletions
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10
embassy-stm32/src/exti.rs
View File

@ -99,7 +99,7 @@ impl<'d, T: GpioPin> ExtiInput<'d, T> {
}
pub async fn wait_for_high<'a>(&'a mut self) {
let fut = ExtiInputFuture::new(self.pin.pin.pin(), self.pin.pin.port(), true, false);
let fut = ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), true, false);
if self.is_high() {
return;
}
@ -107,7 +107,7 @@ impl<'d, T: GpioPin> ExtiInput<'d, T> {
}
pub async fn wait_for_low<'a>(&'a mut self) {
let fut = ExtiInputFuture::new(self.pin.pin.pin(), self.pin.pin.port(), false, true);
let fut = ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), false, true);
if self.is_low() {
return;
}
@ -115,15 +115,15 @@ impl<'d, T: GpioPin> ExtiInput<'d, T> {
}
pub async fn wait_for_rising_edge<'a>(&'a mut self) {
ExtiInputFuture::new(self.pin.pin.pin(), self.pin.pin.port(), true, false).await
ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), true, false).await
}
pub async fn wait_for_falling_edge<'a>(&'a mut self) {
ExtiInputFuture::new(self.pin.pin.pin(), self.pin.pin.port(), false, true).await
ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), false, true).await
}
pub async fn wait_for_any_edge<'a>(&'a mut self) {
ExtiInputFuture::new(self.pin.pin.pin(), self.pin.pin.port(), true, true).await
ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), true, true).await
}
}

491
embassy-stm32/src/gpio.rs
View File

@ -7,6 +7,197 @@ use embassy_hal_common::{unborrow, unsafe_impl_unborrow};
use crate::pac::gpio::{self, vals};
use crate::{pac, peripherals, Unborrow};
/// GPIO flexible pin.
///
/// This pin can either be a disconnected, input, or output pin, or both. The level register bit will remain
/// set while not in output mode, so the pin's level will be 'remembered' when it is not in output
/// mode.
pub struct Flex<'d, T: Pin> {
pub(crate) pin: T,
phantom: PhantomData<&'d mut T>,
}
impl<'d, T: Pin> Flex<'d, T> {
/// Wrap the pin in a `Flex`.
///
/// The pin remains disconnected. The initial output level is unspecified, but can be changed
/// before the pin is put into output mode.
///
#[inline]
pub fn new(pin: impl Unborrow<Target = T> + 'd) -> Self {
unborrow!(pin);
// Pin will be in disconnected state.
Self {
pin,
phantom: PhantomData,
}
}
/// Put the pin into input mode.
#[inline]
pub fn set_as_input(&mut self, pull: Pull) {
critical_section::with(|_| unsafe {
let r = self.pin.block();
let n = self.pin.pin() as usize;
#[cfg(gpio_v1)]
{
let cnf = match pull {
Pull::Up => {
r.bsrr().write(|w| w.set_bs(n, true));
vals::CnfIn::PULL
}
Pull::Down => {
r.bsrr().write(|w| w.set_br(n, true));
vals::CnfIn::PULL
}
Pull::None => vals::CnfIn::FLOATING,
};
let crlh = if n < 8 { 0 } else { 1 };
r.cr(crlh).modify(|w| {
w.set_mode(n % 8, vals::Mode::INPUT);
w.set_cnf_in(n % 8, cnf);
});
}
#[cfg(gpio_v2)]
{
r.pupdr().modify(|w| w.set_pupdr(n, pull.into()));
r.otyper().modify(|w| w.set_ot(n, vals::Ot::PUSHPULL));
r.moder().modify(|w| w.set_moder(n, vals::Moder::INPUT));
}
});
}
/// Put the pin into output mode.
///
/// The pin level will be whatever was set before (or low by default). If you want it to begin
/// at a specific level, call `set_high`/`set_low` on the pin first.
#[inline]
pub fn set_as_output(&mut self, speed: Speed) {
critical_section::with(|_| unsafe {
let r = self.pin.block();
let n = self.pin.pin() as usize;
#[cfg(gpio_v1)]
{
let crlh = if n < 8 { 0 } else { 1 };
r.cr(crlh).modify(|w| {
w.set_mode(n % 8, speed.into());
w.set_cnf_out(n % 8, vals::CnfOut::PUSHPULL);
});
}
#[cfg(gpio_v2)]
{
r.pupdr().modify(|w| w.set_pupdr(n, vals::Pupdr::FLOATING));
r.otyper().modify(|w| w.set_ot(n, vals::Ot::PUSHPULL));
self.pin.set_speed(speed);
r.moder().modify(|w| w.set_moder(n, vals::Moder::OUTPUT));
}
});
}
/// Put the pin into input + output mode.
///
/// This is commonly used for "open drain" mode.
/// the hardware will drive the line low if you set it to low, and will leave it floating if you set
/// it to high, in which case you can read the input to figure out whether another device
/// is driving the line low.
///
/// The pin level will be whatever was set before (or low by default). If you want it to begin
/// at a specific level, call `set_high`/`set_low` on the pin first.
#[inline]
pub fn set_as_input_output(&mut self, speed: Speed, pull: Pull) {
critical_section::with(|_| unsafe {
let r = self.pin.block();
let n = self.pin.pin() as usize;
#[cfg(gpio_v1)]
{
let crlh = if n < 8 { 0 } else { 1 };
match pull {
Pull::Up => r.bsrr().write(|w| w.set_bs(n, true)),
Pull::Down => r.bsrr().write(|w| w.set_br(n, true)),
Pull::None => {}
}
r.cr(crlh).modify(|w| w.set_mode(n % 8, speed.into()));
r.cr(crlh).modify(|w| w.set_cnf_out(n % 8, vals::CnfOut::OPENDRAIN));
}
#[cfg(gpio_v2)]
{
r.pupdr().modify(|w| w.set_pupdr(n, pull.into()));
r.otyper().modify(|w| w.set_ot(n, vals::Ot::OPENDRAIN));
self.pin.set_speed(speed);
r.moder().modify(|w| w.set_moder(n, vals::Moder::OUTPUT));
}
});
}
#[inline]
pub fn is_high(&self) -> bool {
!self.is_low()
}
#[inline]
pub fn is_low(&self) -> bool {
let state = unsafe { self.pin.block().idr().read().idr(self.pin.pin() as _) };
state == vals::Idr::LOW
}
#[inline]
pub fn is_set_high(&self) -> bool {
!self.is_set_low()
}
/// Is the output pin set as low?
#[inline]
pub fn is_set_low(&self) -> bool {
let state = unsafe { self.pin.block().odr().read().odr(self.pin.pin() as _) };
state == vals::Odr::LOW
}
#[inline]
pub fn set_high(&mut self) {
self.pin.set_high();
}
/// Set the output as low.
#[inline]
pub fn set_low(&mut self) {
self.pin.set_low();
}
/// Toggle pin output
#[inline]
pub fn toggle(&mut self) {
if self.is_set_low() {
self.set_high()
} else {
self.set_low()
}
}
}
impl<'d, T: Pin> Drop for Flex<'d, T> {
#[inline]
fn drop(&mut self) {
critical_section::with(|_| unsafe {
let r = self.pin.block();
let n = self.pin.pin() as usize;
#[cfg(gpio_v1)]
{
let crlh = if n < 8 { 0 } else { 1 };
r.cr(crlh).modify(|w| {
w.set_mode(n % 8, vals::Mode::INPUT);
w.set_cnf_in(n % 8, vals::CnfIn::FLOATING);
});
}
#[cfg(gpio_v2)]
{
r.pupdr().modify(|w| w.set_pupdr(n, vals::Pupdr::FLOATING));
r.moder().modify(|w| w.set_moder(n, vals::Moder::INPUT));
}
});
}
}
/// Pull setting for an input.
#[derive(Debug, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
@ -70,78 +261,25 @@ impl From<Speed> for vals::Ospeedr {
/// GPIO input driver.
pub struct Input<'d, T: Pin> {
pub(crate) pin: T,
phantom: PhantomData<&'d mut T>,
pub(crate) pin: Flex<'d, T>,
}
impl<'d, T: Pin> Input<'d, T> {
#[inline]
pub fn new(pin: impl Unborrow<Target = T> + 'd, pull: Pull) -> Self {
unborrow!(pin);
critical_section::with(|_| unsafe {
let r = pin.block();
let n = pin.pin() as usize;
#[cfg(gpio_v1)]
{
let cnf = match pull {
Pull::Up => {
r.bsrr().write(|w| w.set_bs(n, true));
vals::CnfIn::PULL
}
Pull::Down => {
r.bsrr().write(|w| w.set_br(n, true));
vals::CnfIn::PULL
}
Pull::None => vals::CnfIn::FLOATING,
};
let crlh = if n < 8 { 0 } else { 1 };
r.cr(crlh).modify(|w| {
w.set_mode(n % 8, vals::Mode::INPUT);
w.set_cnf_in(n % 8, cnf);
});
}
#[cfg(gpio_v2)]
{
r.pupdr().modify(|w| w.set_pupdr(n, pull.into()));
r.otyper().modify(|w| w.set_ot(n, vals::Ot::PUSHPULL));
r.moder().modify(|w| w.set_moder(n, vals::Moder::INPUT));
}
});
Self {
pin,
phantom: PhantomData,
}
let mut pin = Flex::new(pin);
pin.set_as_input(pull);
Self { pin }
}
#[inline]
pub fn is_high(&self) -> bool {
!self.is_low()
self.pin.is_high()
}
#[inline]
pub fn is_low(&self) -> bool {
let state = unsafe { self.pin.block().idr().read().idr(self.pin.pin() as _) };
state == vals::Idr::LOW
}
}
impl<'d, T: Pin> Drop for Input<'d, T> {
#[inline]
fn drop(&mut self) {
critical_section::with(|_| unsafe {
let r = self.pin.block();
let n = self.pin.pin() as usize;
#[cfg(gpio_v1)]
{
let crlh = if n < 8 { 0 } else { 1 };
r.cr(crlh).modify(|w| w.set_cnf_in(n % 8, vals::CnfIn::FLOATING));
}
#[cfg(gpio_v2)]
r.pupdr().modify(|w| w.set_pupdr(n, vals::Pupdr::FLOATING));
});
self.pin.is_low()
}
}
@ -155,44 +293,19 @@ pub enum Level {
/// GPIO output driver.
pub struct Output<'d, T: Pin> {
pub(crate) pin: T,
phantom: PhantomData<&'d mut T>,
pub(crate) pin: Flex<'d, T>,
}
impl<'d, T: Pin> Output<'d, T> {
#[inline]
pub fn new(pin: impl Unborrow<Target = T> + 'd, initial_output: Level, speed: Speed) -> Self {
unborrow!(pin);
let mut pin = Flex::new(pin);
match initial_output {
Level::High => pin.set_high(),
Level::Low => pin.set_low(),
}
critical_section::with(|_| unsafe {
let r = pin.block();
let n = pin.pin() as usize;
#[cfg(gpio_v1)]
{
let crlh = if n < 8 { 0 } else { 1 };
r.cr(crlh).modify(|w| {
w.set_mode(n % 8, speed.into());
w.set_cnf_out(n % 8, vals::CnfOut::PUSHPULL);
});
}
#[cfg(gpio_v2)]
{
r.pupdr().modify(|w| w.set_pupdr(n, vals::Pupdr::FLOATING));
r.otyper().modify(|w| w.set_ot(n, vals::Ot::PUSHPULL));
pin.set_speed(speed);
r.moder().modify(|w| w.set_moder(n, vals::Moder::OUTPUT));
}
});
Self {
pin,
phantom: PhantomData,
}
pin.set_as_output(speed);
Self { pin }
}
/// Set the output as high.
@ -210,104 +323,49 @@ impl<'d, T: Pin> Output<'d, T> {
/// Is the output pin set as high?
#[inline]
pub fn is_set_high(&self) -> bool {
!self.is_set_low()
self.pin.is_set_high()
}
/// Is the output pin set as low?
#[inline]
pub fn is_set_low(&self) -> bool {
let state = unsafe { self.pin.block().odr().read().odr(self.pin.pin() as _) };
state == vals::Odr::LOW
self.pin.is_set_low()
}
/// Toggle pin output
#[inline]
pub fn toggle(&mut self) {
if self.is_set_low() {
self.set_high()
} else {
self.set_low()
}
}
}
impl<'d, T: Pin> Drop for Output<'d, T> {
#[inline]
fn drop(&mut self) {
critical_section::with(|_| unsafe {
let r = self.pin.block();
let n = self.pin.pin() as usize;
#[cfg(gpio_v1)]
{
let crlh = if n < 8 { 0 } else { 1 };
r.cr(crlh).modify(|w| {
w.set_mode(n % 8, vals::Mode::INPUT);
w.set_cnf_in(n % 8, vals::CnfIn::FLOATING);
});
}
#[cfg(gpio_v2)]
{
r.pupdr().modify(|w| w.set_pupdr(n, vals::Pupdr::FLOATING));
r.moder().modify(|w| w.set_moder(n, vals::Moder::INPUT));
}
});
self.pin.toggle();
}
}
/// GPIO output open-drain driver.
pub struct OutputOpenDrain<'d, T: Pin> {
pub(crate) pin: T,
phantom: PhantomData<&'d mut T>,
pub(crate) pin: Flex<'d, T>,
}
impl<'d, T: Pin> OutputOpenDrain<'d, T> {
#[inline]
pub fn new(pin: impl Unborrow<Target = T> + 'd, initial_output: Level, speed: Speed, pull: Pull) -> Self {
unborrow!(pin);
let mut pin = Flex::new(pin);
match initial_output {
Level::High => pin.set_high(),
Level::Low => pin.set_low(),
}
critical_section::with(|_| unsafe {
let r = pin.block();
let n = pin.pin() as usize;
#[cfg(gpio_v1)]
{
let crlh = if n < 8 { 0 } else { 1 };
match pull {
Pull::Up => r.bsrr().write(|w| w.set_bs(n, true)),
Pull::Down => r.bsrr().write(|w| w.set_br(n, true)),
Pull::None => {}
}
r.cr(crlh).modify(|w| w.set_mode(n % 8, speed.into()));
r.cr(crlh).modify(|w| w.set_cnf_out(n % 8, vals::CnfOut::OPENDRAIN));
}
#[cfg(gpio_v2)]
{
r.pupdr().modify(|w| w.set_pupdr(n, pull.into()));
r.otyper().modify(|w| w.set_ot(n, vals::Ot::OPENDRAIN));
pin.set_speed(speed);
r.moder().modify(|w| w.set_moder(n, vals::Moder::OUTPUT));
}
});
Self {
pin,
phantom: PhantomData,
}
pin.set_as_input_output(speed, pull);
Self { pin }
}
#[inline]
pub fn is_high(&self) -> bool {
!self.is_low()
!self.pin.is_low()
}
#[inline]
pub fn is_low(&self) -> bool {
let state = unsafe { self.pin.block().idr().read().idr(self.pin.pin() as _) };
state == vals::Idr::LOW
self.pin.is_low()
}
/// Set the output as high.
@ -331,41 +389,13 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
/// Is the output pin set as low?
#[inline]
pub fn is_set_low(&self) -> bool {
let state = unsafe { self.pin.block().odr().read().odr(self.pin.pin() as _) };
state == vals::Odr::LOW
self.pin.is_set_low()
}
/// Toggle pin output
#[inline]
pub fn toggle(&mut self) {
if self.is_set_low() {
self.set_high()
} else {
self.set_low()
}
}
}
impl<'d, T: Pin> Drop for OutputOpenDrain<'d, T> {
#[inline]
fn drop(&mut self) {
critical_section::with(|_| unsafe {
let r = self.pin.block();
let n = self.pin.pin() as usize;
#[cfg(gpio_v1)]
{
let crlh = if n < 8 { 0 } else { 1 };
r.cr(crlh).modify(|w| {
w.set_mode(n % 8, vals::Mode::INPUT);
w.set_cnf_in(n % 8, vals::CnfIn::FLOATING);
});
}
#[cfg(gpio_v2)]
{
r.pupdr().modify(|w| w.set_pupdr(n, vals::Pupdr::FLOATING));
r.moder().modify(|w| w.set_moder(n, vals::Moder::INPUT));
}
});
self.pin.toggle()
}
}
@ -692,6 +722,55 @@ mod eh02 {
Ok(self.toggle())
}
}
impl<'d, T: Pin> InputPin for Flex<'d, T> {
type Error = Infallible;
#[inline]
fn is_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_high())
}
#[inline]
fn is_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_low())
}
}
impl<'d, T: Pin> OutputPin for Flex<'d, T> {
type Error = Infallible;
#[inline]
fn set_high(&mut self) -> Result<(), Self::Error> {
Ok(self.set_high())
}
#[inline]
fn set_low(&mut self) -> Result<(), Self::Error> {
Ok(self.set_low())
}
}
impl<'d, T: Pin> StatefulOutputPin for Flex<'d, T> {
#[inline]
fn is_set_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_high())
}
/// Is the output pin set as low?
#[inline]
fn is_set_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_low())
}
}
impl<'d, T: Pin> ToggleableOutputPin for Flex<'d, T> {
type Error = Infallible;
#[inline]
fn toggle(&mut self) -> Result<(), Self::Error> {
Ok(self.toggle())
}
}
}
#[cfg(feature = "unstable-traits")]
@ -788,6 +867,54 @@ mod eh1 {
Ok(self.toggle())
}
}
impl<'d, T: Pin> InputPin for Flex<'d, T> {
#[inline]
fn is_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_high())
}
#[inline]
fn is_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_low())
}
}
impl<'d, T: Pin> OutputPin for Flex<'d, T> {
#[inline]
fn set_high(&mut self) -> Result<(), Self::Error> {
Ok(self.set_high())
}
#[inline]
fn set_low(&mut self) -> Result<(), Self::Error> {
Ok(self.set_low())
}
}
impl<'d, T: Pin> ToggleableOutputPin for Flex<'d, T> {
#[inline]
fn toggle(&mut self) -> Result<(), Self::Error> {
Ok(self.toggle())
}
}
impl<'d, T: Pin> ErrorType for Flex<'d, T> {
type Error = Infallible;
}
impl<'d, T: Pin> StatefulOutputPin for Flex<'d, T> {
#[inline]
fn is_set_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_high())
}
/// Is the output pin set as low?
#[inline]
fn is_set_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_low())
}
}
}
#[cfg(feature = "unstable-pac")]

106
tests/stm32/src/bin/gpio.rs
View File

@ -6,7 +6,7 @@
mod example_common;
use defmt::assert;
use embassy::executor::Spawner;
use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
use embassy_stm32::gpio::{Flex, Input, Level, Output, OutputOpenDrain, Pull, Speed};
use embassy_stm32::Peripherals;
use example_common::*;
@ -88,6 +88,110 @@ async fn main(_spawner: Spawner, p: Peripherals) {
assert!(b.is_high());
}
// Test output open drain
{
let b = Input::new(&mut b, Pull::Down);
// no pull, the status is undefined
let mut a = OutputOpenDrain::new(&mut a, Level::Low, Speed::Low, Pull::None);
delay();
assert!(b.is_low());
a.set_high(); // High-Z output
delay();
assert!(b.is_low());
}
// FLEX
// Test initial output
{
//Flex pin configured as input
let mut b = Flex::new(&mut b);
b.set_as_input(Pull::None);
{
//Flex pin configured as output
let mut a = Flex::new(&mut a); //Flex pin configured as output
a.set_low(); // Pin state must be set before configuring the pin, thus we avoid unknown state
a.set_as_output(Speed::Low);
delay();
assert!(b.is_low());
}
{
//Flex pin configured as output
let mut a = Flex::new(&mut a);
a.set_high();
a.set_as_output(Speed::Low);
delay();
assert!(b.is_high());
}
}
// Test input no pull
{
let mut b = Flex::new(&mut b);
b.set_as_input(Pull::None); // no pull, the status is undefined
let mut a = Flex::new(&mut a);
a.set_low();
a.set_as_output(Speed::Low);
delay();
assert!(b.is_low());
a.set_high();
delay();
assert!(b.is_high());
}
// Test input pulldown
{
let mut b = Flex::new(&mut b);
b.set_as_input(Pull::Down);
delay();
assert!(b.is_low());
let mut a = Flex::new(&mut a);
a.set_low();
a.set_as_output(Speed::Low);
delay();
assert!(b.is_low());
a.set_high();
delay();
assert!(b.is_high());
}
// Test input pullup
{
let mut b = Flex::new(&mut b);
b.set_as_input(Pull::Up);
delay();
assert!(b.is_high());
let mut a = Flex::new(&mut a);
a.set_high();
a.set_as_output(Speed::Low);
delay();
assert!(b.is_high());
a.set_low();
delay();
assert!(b.is_low());
}
// Test output open drain
{
let mut b = Flex::new(&mut b);
b.set_as_input(Pull::Down);
let mut a = Flex::new(&mut a);
a.set_low();
a.set_as_input_output(Speed::Low, Pull::None);
delay();
assert!(b.is_low());
a.set_high(); // High-Z output
delay();
assert!(b.is_low());
}
info!("Test OK");
cortex_m::asm::bkpt();
}