Add BufferedUart implementation, and feature-guard time-driver initialization, to free up TIMER peripheral if not used with embassy executor

This commit is contained in:
Mathias 2022-08-26 09:05:12 +02:00
parent 573c433f64
commit 9611e7c9f2
4 changed files with 401 additions and 16 deletions

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@ -7,9 +7,7 @@ edition = "2021"
src_base = "https://github.com/embassy-rs/embassy/blob/embassy-rp-v$VERSION/embassy-rp/src/"
src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-rp/src/"
features = ["nightly", "defmt", "unstable-pac", "unstable-traits"]
flavors = [
{ name = "rp2040", target = "thumbv6m-none-eabi" },
]
flavors = [{ name = "rp2040", target = "thumbv6m-none-eabi" }]
[features]
defmt = ["dep:defmt", "embassy-usb?/defmt"]
@ -20,8 +18,16 @@ defmt = ["dep:defmt", "embassy-usb?/defmt"]
# There are no plans to make this stable.
unstable-pac = []
time-driver = []
# Enable nightly-only features
nightly = ["embassy-executor/nightly", "embedded-hal-1", "embedded-hal-async", "embassy-embedded-hal/nightly", "dep:embassy-usb"]
nightly = [
"embassy-executor/nightly",
"embedded-hal-1",
"embedded-hal-async",
"embassy-embedded-hal/nightly",
"dep:embassy-usb",
]
# Implement embedded-hal 1.0 alpha traits.
# Implement embedded-hal-async traits if `nightly` is set as well.
@ -30,11 +36,15 @@ unstable-traits = ["embedded-hal-1"]
[dependencies]
embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
embassy-executor = { version = "0.1.0", path = "../embassy-executor" }
embassy-time = { version = "0.1.0", path = "../embassy-time", features = [ "tick-hz-1_000_000" ] }
embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-2"]}
embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
embassy-usb = {version = "0.1.0", path = "../embassy-usb", optional = true }
embassy-time = { version = "0.1.0", path = "../embassy-time", features = [
"tick-hz-1_000_000",
] }
embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = [
"prio-bits-2",
] }
embassy-hal-common = { version = "0.1.0", path = "../embassy-hal-common" }
embassy-embedded-hal = { version = "0.1.0", path = "../embassy-embedded-hal" }
embassy-usb = { version = "0.1.0", path = "../embassy-usb", optional = true }
atomic-polyfill = "1.0.1"
defmt = { version = "0.3", optional = true }
log = { version = "0.4.14", optional = true }
@ -43,11 +53,18 @@ cfg-if = "1.0.0"
cortex-m-rt = ">=0.6.15,<0.8"
cortex-m = "0.7.6"
critical-section = "1.1"
futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
futures = { version = "0.3.17", default-features = false, features = [
"async-await",
] }
embedded-io = { version = "0.3.0", features = ["async"], optional = true }
rp2040-pac2 = { git = "https://github.com/embassy-rs/rp2040-pac2", rev="017e3c9007b2d3b6965f0d85b5bf8ce3fa6d7364", features = ["rt"] }
rp2040-pac2 = { git = "https://github.com/embassy-rs/rp2040-pac2", rev = "017e3c9007b2d3b6965f0d85b5bf8ce3fa6d7364", features = [
"rt",
] }
#rp2040-pac2 = { path = "../../rp2040-pac2", features = ["rt"] }
embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8", optional = true}
embedded-hal-async = { version = "0.1.0-alpha.1", optional = true}
embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = [
"unproven",
] }
embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8", optional = true }
embedded-hal-async = { version = "0.1.0-alpha.1", optional = true }

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@ -8,6 +8,7 @@ pub mod dma;
pub mod gpio;
pub mod interrupt;
pub mod spi;
#[cfg(feature = "time-driver")]
pub mod timer;
pub mod uart;
#[cfg(feature = "nightly")]
@ -108,6 +109,7 @@ pub fn init(_config: config::Config) -> Peripherals {
unsafe {
clocks::init();
#[cfg(feature = "time-driver")]
timer::init();
dma::init();
}

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@ -0,0 +1,286 @@
use core::future::Future;
use core::task::Poll;
use atomic_polyfill::{compiler_fence, Ordering};
use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
use embassy_hal_common::ring_buffer::RingBuffer;
use embassy_sync::waitqueue::WakerRegistration;
use futures::future::poll_fn;
use super::*;
pub struct State<'d, T: Instance>(StateStorage<StateInner<'d, T>>);
impl<'d, T: Instance> State<'d, T> {
pub fn new() -> Self {
Self(StateStorage::new())
}
}
struct StateInner<'d, T: Instance> {
phantom: PhantomData<&'d mut T>,
rx_waker: WakerRegistration,
rx: RingBuffer<'d>,
tx_waker: WakerRegistration,
tx: RingBuffer<'d>,
}
unsafe impl<'d, T: Instance> Send for StateInner<'d, T> {}
unsafe impl<'d, T: Instance> Sync for StateInner<'d, T> {}
pub struct BufferedUart<'d, T: Instance> {
inner: PeripheralMutex<'d, StateInner<'d, T>>,
}
impl<'d, T: Instance> Unpin for BufferedUart<'d, T> {}
impl<'d, T: Instance> BufferedUart<'d, T> {
pub fn new<M: Mode>(
state: &'d mut State<'d, T>,
_uart: Uart<'d, T, M>,
irq: impl Peripheral<P = T::Interrupt> + 'd,
tx_buffer: &'d mut [u8],
rx_buffer: &'d mut [u8],
) -> BufferedUart<'d, T> {
into_ref!(irq);
let r = T::regs();
unsafe {
r.uartimsc().modify(|w| {
// TODO: Should and more or fewer interrupts be enabled?
w.set_rxim(true);
w.set_rtim(true);
});
}
Self {
inner: PeripheralMutex::new(irq, &mut state.0, move || StateInner {
phantom: PhantomData,
tx: RingBuffer::new(tx_buffer),
tx_waker: WakerRegistration::new(),
rx: RingBuffer::new(rx_buffer),
rx_waker: WakerRegistration::new(),
}),
}
}
}
impl<'d, T: Instance> StateInner<'d, T>
where
Self: 'd,
{
fn on_rx(&mut self) {
let r = T::regs();
unsafe {
let ris = r.uartris().read();
// Clear interrupt flags
r.uarticr().write(|w| {
w.set_rxic(true);
w.set_rtic(true);
});
if ris.rxris() {
if ris.peris() {
warn!("Parity error");
}
if ris.feris() {
warn!("Framing error");
}
if ris.beris() {
warn!("Break error");
}
if ris.oeris() {
warn!("Overrun error");
}
let buf = self.rx.push_buf();
if !buf.is_empty() {
buf[0] = r.uartdr().read().data();
self.rx.push(1);
} else {
warn!("RX buffer full, discard received byte");
}
if self.rx.is_full() {
self.rx_waker.wake();
}
}
if ris.rtris() {
self.rx_waker.wake();
};
}
}
fn on_tx(&mut self) {
let r = T::regs();
unsafe {
let ris = r.uartris().read();
// Clear interrupt flags
r.uarticr().write(|w| {
w.set_rtic(true);
});
if ris.txris() {
let buf = self.tx.pop_buf();
if !buf.is_empty() {
r.uartimsc().modify(|w| {
w.set_txim(true);
});
r.uartdr().write(|w| w.set_data(buf[0].into()));
self.tx.pop(1);
self.tx_waker.wake();
} else {
// Disable interrupt until we have something to transmit again
r.uartimsc().modify(|w| {
w.set_txim(false);
});
}
}
}
}
}
impl<'d, T: Instance> PeripheralState for StateInner<'d, T>
where
Self: 'd,
{
type Interrupt = T::Interrupt;
fn on_interrupt(&mut self) {
self.on_rx();
self.on_tx();
}
}
impl embedded_io::Error for Error {
fn kind(&self) -> embedded_io::ErrorKind {
embedded_io::ErrorKind::Other
}
}
impl<'d, T: Instance> embedded_io::Io for BufferedUart<'d, T> {
type Error = Error;
}
impl<'d, T: Instance + 'd> embedded_io::asynch::Read for BufferedUart<'d, T> {
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
where
Self: 'a;
fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
poll_fn(move |cx| {
let mut do_pend = false;
let res = self.inner.with(|state| {
compiler_fence(Ordering::SeqCst);
// We have data ready in buffer? Return it.
let data = state.rx.pop_buf();
if !data.is_empty() {
let len = data.len().min(buf.len());
buf[..len].copy_from_slice(&data[..len]);
if state.rx.is_full() {
do_pend = true;
}
state.rx.pop(len);
return Poll::Ready(Ok(len));
}
state.rx_waker.register(cx.waker());
Poll::Pending
});
if do_pend {
self.inner.pend();
}
res
})
}
}
impl<'d, T: Instance + 'd> embedded_io::asynch::BufRead for BufferedUart<'d, T> {
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>>
where
Self: 'a;
fn fill_buf<'a>(&'a mut self) -> Self::FillBufFuture<'a> {
poll_fn(move |cx| {
self.inner.with(|state| {
compiler_fence(Ordering::SeqCst);
// We have data ready in buffer? Return it.
let buf = state.rx.pop_buf();
if !buf.is_empty() {
let buf: &[u8] = buf;
// Safety: buffer lives as long as uart
let buf: &[u8] = unsafe { core::mem::transmute(buf) };
return Poll::Ready(Ok(buf));
}
state.rx_waker.register(cx.waker());
Poll::<Result<&[u8], Self::Error>>::Pending
})
})
}
fn consume(&mut self, amt: usize) {
let signal = self.inner.with(|state| {
let full = state.rx.is_full();
state.rx.pop(amt);
full
});
if signal {
self.inner.pend();
}
}
}
impl<'d, T: Instance + 'd> embedded_io::asynch::Write for BufferedUart<'d, T> {
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
where
Self: 'a;
fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
poll_fn(move |cx| {
let (poll, empty) = self.inner.with(|state| {
let empty = state.tx.is_empty();
let tx_buf = state.tx.push_buf();
if tx_buf.is_empty() {
state.tx_waker.register(cx.waker());
return (Poll::Pending, empty);
}
let n = core::cmp::min(tx_buf.len(), buf.len());
tx_buf[..n].copy_from_slice(&buf[..n]);
state.tx.push(n);
(Poll::Ready(Ok(n)), empty)
});
if empty {
self.inner.pend();
}
poll
})
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
where
Self: 'a;
fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
poll_fn(move |cx| {
self.inner.with(|state| {
if !state.tx.is_empty() {
state.tx_waker.register(cx.waker());
return Poll::Pending;
}
Poll::Ready(Ok(()))
})
})
}
}

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@ -475,6 +475,76 @@ mod eh1 {
impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::ErrorType for UartRx<'d, T, M> {
type Error = Error;
}
impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::nb::Read for UartRx<'d, T, M> {
fn read(&mut self) -> nb::Result<u8, Self::Error> {
let r = T::regs();
unsafe {
let dr = r.uartdr().read();
if dr.oe() {
Err(nb::Error::Other(Error::Overrun))
} else if dr.be() {
Err(nb::Error::Other(Error::Break))
} else if dr.pe() {
Err(nb::Error::Other(Error::Parity))
} else if dr.fe() {
Err(nb::Error::Other(Error::Framing))
} else if dr.fe() {
Ok(dr.data())
} else {
Err(nb::Error::WouldBlock)
}
}
}
}
impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::blocking::Write for UartTx<'d, T, M> {
fn write(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(buffer)
}
fn flush(&mut self) -> Result<(), Self::Error> {
self.blocking_flush()
}
}
impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::nb::Write for UartTx<'d, T, M> {
fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
self.blocking_write(&[char]).map_err(nb::Error::Other)
}
fn flush(&mut self) -> nb::Result<(), Self::Error> {
self.blocking_flush().map_err(nb::Error::Other)
}
}
impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::nb::Read for Uart<'d, T, M> {
fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
embedded_hal_02::serial::Read::read(&mut self.rx)
}
}
impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::blocking::Write for Uart<'d, T, M> {
fn write(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(buffer)
}
fn flush(&mut self) -> Result<(), Self::Error> {
self.blocking_flush()
}
}
impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::nb::Write for Uart<'d, T, M> {
fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
self.blocking_write(&[char]).map_err(nb::Error::Other)
}
fn flush(&mut self) -> nb::Result<(), Self::Error> {
self.blocking_flush().map_err(nb::Error::Other)
}
}
}
#[cfg(all(
@ -532,6 +602,12 @@ mod eha {
}
}
#[cfg(feature = "nightly")]
mod buffered;
#[cfg(feature = "nightly")]
pub use buffered::*;
mod sealed {
use super::*;
@ -541,6 +617,8 @@ mod sealed {
const TX_DREQ: u8;
const RX_DREQ: u8;
type Interrupt: crate::interrupt::Interrupt;
fn regs() -> pac::uart::Uart;
}
pub trait TxPin<T: Instance> {}
@ -571,6 +649,8 @@ macro_rules! impl_instance {
impl sealed::Instance for peripherals::$inst {
const TX_DREQ: u8 = $tx_dreq;
const RX_DREQ: u8 = $rx_dreq;
type Interrupt = crate::interrupt::$irq;
fn regs() -> pac::uart::Uart {
pac::$inst
@ -580,8 +660,8 @@ macro_rules! impl_instance {
};
}
impl_instance!(UART0, UART0, 20, 21);
impl_instance!(UART1, UART1, 22, 23);
impl_instance!(UART0, UART0_IRQ, 20, 21);
impl_instance!(UART1, UART1_IRQ, 22, 23);
pub trait TxPin<T: Instance>: sealed::TxPin<T> + crate::gpio::Pin {}
pub trait RxPin<T: Instance>: sealed::RxPin<T> + crate::gpio::Pin {}