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rp: fix async SPI read and write

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This commit is contained in:
Alex Martens 2022-09-18 12:02:05 -07:00
parent 336ebe54c0
commit ab1a6889a6
2 changed files with 79 additions and 18 deletions
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38
embassy-rp/src/dma.rs
View File

@ -56,6 +56,25 @@ pub unsafe fn read<'a, C: Channel, W: Word>(
)
}
pub unsafe fn read_repeated<'a, C: Channel, W: Word>(
ch: impl Peripheral<P = C> + 'a,
from: *const W,
len: usize,
dreq: u8,
) -> Transfer<'a, C> {
let mut dummy: u32 = 0;
copy_inner(
ch,
from as *const u32,
&mut dummy as *mut u32,
len,
W::size(),
false,
false,
dreq,
)
}
pub unsafe fn write<'a, C: Channel, W: Word>(
ch: impl Peripheral<P = C> + 'a,
from: *const [W],
@ -75,6 +94,25 @@ pub unsafe fn write<'a, C: Channel, W: Word>(
)
}
pub unsafe fn write_repeated<'a, C: Channel, W: Word>(
ch: impl Peripheral<P = C> + 'a,
to: *mut W,
len: usize,
dreq: u8,
) -> Transfer<'a, C> {
let dummy: u32 = 0;
copy_inner(
ch,
&dummy as *const u32,
to as *mut u32,
len,
W::size(),
false,
false,
dreq,
)
}
pub unsafe fn copy<'a, C: Channel, W: Word>(
ch: impl Peripheral<P = C> + 'a,
from: &[W],

59
embassy-rp/src/spi.rs
View File

@ -325,30 +325,53 @@ impl<'d, T: Instance> Spi<'d, T, Async> {
}
pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error> {
let ch = self.tx_dma.as_mut().unwrap();
let transfer = unsafe {
self.inner.regs().dmacr().modify(|reg| {
unsafe {
self.inner.regs().dmacr().write(|reg| {
reg.set_rxdmae(true);
reg.set_txdmae(true);
});
})
};
let tx_ch = self.tx_dma.as_mut().unwrap();
let tx_transfer = unsafe {
// If we don't assign future to a variable, the data register pointer
// is held across an await and makes the future non-Send.
crate::dma::write(ch, buffer, self.inner.regs().dr().ptr() as *mut _, T::TX_DREQ)
crate::dma::write(tx_ch, buffer, self.inner.regs().dr().ptr() as *mut _, T::TX_DREQ)
};
transfer.await;
let rx_ch = self.rx_dma.as_mut().unwrap();
let rx_transfer = unsafe {
// If we don't assign future to a variable, the data register pointer
// is held across an await and makes the future non-Send.
crate::dma::read_repeated(
rx_ch,
self.inner.regs().dr().ptr() as *const u8,
buffer.len(),
T::RX_DREQ,
)
};
join(tx_transfer, rx_transfer).await;
Ok(())
}
pub async fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
let ch = self.rx_dma.as_mut().unwrap();
let transfer = unsafe {
self.inner.regs().dmacr().modify(|reg| {
unsafe {
self.inner.regs().dmacr().write(|reg| {
reg.set_rxdmae(true);
});
reg.set_txdmae(true);
})
};
let tx_ch = self.tx_dma.as_mut().unwrap();
let tx_transfer = unsafe {
// If we don't assign future to a variable, the data register pointer
// is held across an await and makes the future non-Send.
crate::dma::read(ch, self.inner.regs().dr().ptr() as *const _, buffer, T::RX_DREQ)
crate::dma::write_repeated(tx_ch, self.inner.regs().dr().ptr() as *mut u8, buffer.len(), T::TX_DREQ)
};
transfer.await;
let rx_ch = self.rx_dma.as_mut().unwrap();
let rx_transfer = unsafe {
// If we don't assign future to a variable, the data register pointer
// is held across an await and makes the future non-Send.
crate::dma::read(rx_ch, self.inner.regs().dr().ptr() as *const _, buffer, T::RX_DREQ)
};
join(tx_transfer, rx_transfer).await;
Ok(())
}
@ -364,20 +387,20 @@ impl<'d, T: Instance> Spi<'d, T, Async> {
let (_, from_len) = crate::dma::slice_ptr_parts(tx_ptr);
let (_, to_len) = crate::dma::slice_ptr_parts_mut(rx_ptr);
assert_eq!(from_len, to_len);
unsafe {
self.inner.regs().dmacr().write(|reg| {
reg.set_rxdmae(true);
reg.set_txdmae(true);
})
};
let tx_ch = self.tx_dma.as_mut().unwrap();
let tx_transfer = unsafe {
self.inner.regs().dmacr().modify(|reg| {
reg.set_txdmae(true);
});
// If we don't assign future to a variable, the data register pointer
// is held across an await and makes the future non-Send.
crate::dma::write(tx_ch, tx_ptr, self.inner.regs().dr().ptr() as *mut _, T::TX_DREQ)
};
let rx_ch = self.rx_dma.as_mut().unwrap();
let rx_transfer = unsafe {
self.inner.regs().dmacr().modify(|reg| {
reg.set_rxdmae(true);
});
// If we don't assign future to a variable, the data register pointer
// is held across an await and makes the future non-Send.
crate::dma::read(rx_ch, self.inner.regs().dr().ptr() as *const _, rx_ptr, T::RX_DREQ)