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Rebase on master

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This commit is contained in:
Mathias
2022-10-27 07:12:34 +02:00
parent 3c6c382465 61560e740d
commit c871fe0848
76 changed files with 1899 additions and 469 deletions
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2
embassy-embedded-hal/Cargo.toml
View File

@@ -20,7 +20,7 @@ nightly = ["embedded-hal-async", "embedded-storage-async"]
embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.9" }
embedded-hal-async = { version = "=0.1.0-alpha.2", optional = true }
embedded-hal-async = { version = "=0.1.0-alpha.3", optional = true }
embedded-storage = "0.3.0"
embedded-storage-async = { version = "0.3.0", optional = true }
nb = "1.0.0"

97
embassy-executor/src/raw/mod.rs
View File

@@ -354,46 +354,54 @@ impl Executor {
/// somehow schedule for `poll()` to be called later, at a time you know for sure there's
/// no `poll()` already running.
pub unsafe fn poll(&'static self) {
#[cfg(feature = "integrated-timers")]
self.timer_queue.dequeue_expired(Instant::now(), |task| wake_task(task));
loop {
#[cfg(feature = "integrated-timers")]
self.timer_queue.dequeue_expired(Instant::now(), |task| wake_task(task));
self.run_queue.dequeue_all(|p| {
let task = p.as_ref();
self.run_queue.dequeue_all(|p| {
let task = p.as_ref();
#[cfg(feature = "integrated-timers")]
task.expires_at.set(Instant::MAX);
let state = task.state.fetch_and(!STATE_RUN_QUEUED, Ordering::AcqRel);
if state & STATE_SPAWNED == 0 {
// If task is not running, ignore it. This can happen in the following scenario:
// - Task gets dequeued, poll starts
// - While task is being polled, it gets woken. It gets placed in the queue.
// - Task poll finishes, returning done=true
// - RUNNING bit is cleared, but the task is already in the queue.
return;
}
#[cfg(feature = "rtos-trace")]
trace::task_exec_begin(p.as_ptr() as u32);
// Run the task
task.poll_fn.read()(p as _);
#[cfg(feature = "rtos-trace")]
trace::task_exec_end();
// Enqueue or update into timer_queue
#[cfg(feature = "integrated-timers")]
self.timer_queue.update(p);
});
#[cfg(feature = "integrated-timers")]
task.expires_at.set(Instant::MAX);
let state = task.state.fetch_and(!STATE_RUN_QUEUED, Ordering::AcqRel);
if state & STATE_SPAWNED == 0 {
// If task is not running, ignore it. This can happen in the following scenario:
// - Task gets dequeued, poll starts
// - While task is being polled, it gets woken. It gets placed in the queue.
// - Task poll finishes, returning done=true
// - RUNNING bit is cleared, but the task is already in the queue.
return;
{
// If this is already in the past, set_alarm might return false
// In that case do another poll loop iteration.
let next_expiration = self.timer_queue.next_expiration();
if driver::set_alarm(self.alarm, next_expiration.as_ticks()) {
break;
}
}
#[cfg(feature = "rtos-trace")]
trace::task_exec_begin(p.as_ptr() as u32);
// Run the task
task.poll_fn.read()(p as _);
#[cfg(feature = "rtos-trace")]
trace::task_exec_end();
// Enqueue or update into timer_queue
#[cfg(feature = "integrated-timers")]
self.timer_queue.update(p);
});
#[cfg(feature = "integrated-timers")]
{
// If this is already in the past, set_alarm will immediately trigger the alarm.
// This will cause `signal_fn` to be called, which will cause `poll()` to be called again,
// so we immediately do another poll loop iteration.
let next_expiration = self.timer_queue.next_expiration();
driver::set_alarm(self.alarm, next_expiration.as_ticks());
#[cfg(not(feature = "integrated-timers"))]
{
break;
}
}
#[cfg(feature = "rtos-trace")]
@@ -436,14 +444,21 @@ pub unsafe fn wake_task(task: NonNull<TaskHeader>) {
}
#[cfg(feature = "integrated-timers")]
#[no_mangle]
unsafe fn _embassy_time_schedule_wake(at: Instant, waker: &core::task::Waker) {
let task = waker::task_from_waker(waker);
let task = task.as_ref();
let expires_at = task.expires_at.get();
task.expires_at.set(expires_at.min(at));
struct TimerQueue;
#[cfg(feature = "integrated-timers")]
impl embassy_time::queue::TimerQueue for TimerQueue {
fn schedule_wake(&'static self, at: Instant, waker: &core::task::Waker) {
let task = waker::task_from_waker(waker);
let task = unsafe { task.as_ref() };
let expires_at = task.expires_at.get();
task.expires_at.set(expires_at.min(at));
}
}
#[cfg(feature = "integrated-timers")]
embassy_time::timer_queue_impl!(static TIMER_QUEUE: TimerQueue = TimerQueue);
#[cfg(feature = "rtos-trace")]
impl rtos_trace::RtosTraceOSCallbacks for Executor {
fn task_list() {

2
embassy-lora/Cargo.toml
View File

@@ -32,7 +32,7 @@ embassy-time = { version = "0.1.0", path = "../embassy-time" }
embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
embassy-stm32 = { version = "0.1.0", path = "../embassy-stm32", default-features = false, optional = true }
embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.9" }
embedded-hal-async = { version = "=0.1.0-alpha.2" }
embedded-hal-async = { version = "=0.1.0-alpha.3" }
embassy-hal-common = { version = "0.1.0", path = "../embassy-hal-common", default-features = false }
futures = { version = "0.3.17", default-features = false, features = [ "async-await" ] }
embedded-hal = { version = "0.2", features = ["unproven"] }

2
embassy-net/Cargo.toml
View File

@@ -42,7 +42,7 @@ log = { version = "0.4.14", optional = true }
embassy-time = { version = "0.1.0", path = "../embassy-time" }
embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
embedded-io = { version = "0.3.0", optional = true }
embedded-io = { version = "0.3.1", optional = true }
managed = { version = "0.8.0", default-features = false, features = [ "map" ] }
heapless = { version = "0.7.5", default-features = false }

18
embassy-net/src/tcp.rs
View File

@@ -292,7 +292,7 @@ mod embedded_io_impls {
}
impl<'d> embedded_io::asynch::Read for TcpSocket<'d> {
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -302,7 +302,7 @@ mod embedded_io_impls {
}
impl<'d> embedded_io::asynch::Write for TcpSocket<'d> {
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -310,7 +310,7 @@ mod embedded_io_impls {
self.io.write(buf)
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a;
@@ -324,7 +324,7 @@ mod embedded_io_impls {
}
impl<'d> embedded_io::asynch::Read for TcpReader<'d> {
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -338,7 +338,7 @@ mod embedded_io_impls {
}
impl<'d> embedded_io::asynch::Write for TcpWriter<'d> {
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -346,7 +346,7 @@ mod embedded_io_impls {
self.io.write(buf)
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a;
@@ -445,7 +445,7 @@ pub mod client {
impl<'d, const N: usize, const TX_SZ: usize, const RX_SZ: usize> embedded_io::asynch::Read
for TcpConnection<'d, N, TX_SZ, RX_SZ>
{
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -457,7 +457,7 @@ pub mod client {
impl<'d, const N: usize, const TX_SZ: usize, const RX_SZ: usize> embedded_io::asynch::Write
for TcpConnection<'d, N, TX_SZ, RX_SZ>
{
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -465,7 +465,7 @@ pub mod client {
self.socket.write(buf)
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a;

24
embassy-nrf/Cargo.toml
View File

@@ -75,8 +75,8 @@ embassy-usb-driver = {version = "0.1.0", path = "../embassy-usb-driver", optiona
embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.9", optional = true}
embedded-hal-async = { version = "=0.1.0-alpha.2", optional = true}
embedded-io = { version = "0.3.0", features = ["async"], optional = true }
embedded-hal-async = { version = "=0.1.0-alpha.3", optional = true}
embedded-io = { version = "0.3.1", features = ["async"], optional = true }
defmt = { version = "0.3", optional = true }
log = { version = "0.4.14", optional = true }
@@ -90,13 +90,13 @@ embedded-storage = "0.3.0"
embedded-storage-async = { version = "0.3.0", optional = true }
cfg-if = "1.0.0"
nrf52805-pac = { version = "0.11.0", optional = true, features = [ "rt" ] }
nrf52810-pac = { version = "0.11.0", optional = true, features = [ "rt" ] }
nrf52811-pac = { version = "0.11.0", optional = true, features = [ "rt" ] }
nrf52820-pac = { version = "0.11.0", optional = true, features = [ "rt" ] }
nrf52832-pac = { version = "0.11.0", optional = true, features = [ "rt" ] }
nrf52833-pac = { version = "0.11.0", optional = true, features = [ "rt" ] }
nrf52840-pac = { version = "0.11.0", optional = true, features = [ "rt" ] }
nrf5340-app-pac = { version = "0.11.0", optional = true, features = [ "rt" ] }
nrf5340-net-pac = { version = "0.11.0", optional = true, features = [ "rt" ] }
nrf9160-pac = { version = "0.11.0", optional = true, features = [ "rt" ] }
nrf52805-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }
nrf52810-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }
nrf52811-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }
nrf52820-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }
nrf52832-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }
nrf52833-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }
nrf52840-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }
nrf5340-app-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }
nrf5340-net-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }
nrf9160-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }

16
embassy-nrf/src/buffered_uarte.rs
View File

@@ -341,7 +341,7 @@ impl<'u, 'd, U: UarteInstance, T: TimerInstance> embedded_io::Io for BufferedUar
}
impl<'d, U: UarteInstance, T: TimerInstance> embedded_io::asynch::Read for BufferedUarte<'d, U, T> {
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -351,7 +351,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> embedded_io::asynch::Read for Buffe
}
impl<'u, 'd: 'u, U: UarteInstance, T: TimerInstance> embedded_io::asynch::Read for BufferedUarteRx<'u, 'd, U, T> {
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -361,7 +361,7 @@ impl<'u, 'd: 'u, U: UarteInstance, T: TimerInstance> embedded_io::asynch::Read f
}
impl<'d, U: UarteInstance, T: TimerInstance> embedded_io::asynch::BufRead for BufferedUarte<'d, U, T> {
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>>
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>> + 'a
where
Self: 'a;
@@ -375,7 +375,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> embedded_io::asynch::BufRead for Bu
}
impl<'u, 'd: 'u, U: UarteInstance, T: TimerInstance> embedded_io::asynch::BufRead for BufferedUarteRx<'u, 'd, U, T> {
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>>
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>> + 'a
where
Self: 'a;
@@ -389,7 +389,7 @@ impl<'u, 'd: 'u, U: UarteInstance, T: TimerInstance> embedded_io::asynch::BufRea
}
impl<'d, U: UarteInstance, T: TimerInstance> embedded_io::asynch::Write for BufferedUarte<'d, U, T> {
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -397,7 +397,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> embedded_io::asynch::Write for Buff
self.inner_write(buf)
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a;
@@ -407,7 +407,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> embedded_io::asynch::Write for Buff
}
impl<'u, 'd: 'u, U: UarteInstance, T: TimerInstance> embedded_io::asynch::Write for BufferedUarteTx<'u, 'd, U, T> {
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -415,7 +415,7 @@ impl<'u, 'd: 'u, U: UarteInstance, T: TimerInstance> embedded_io::asynch::Write
self.inner.inner_write(buf)
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a;

4
embassy-nrf/src/chips/nrf52805.rs
View File

@@ -193,8 +193,8 @@ impl_ppi_channel!(PPI_CH29, 29 => static);
impl_ppi_channel!(PPI_CH30, 30 => static);
impl_ppi_channel!(PPI_CH31, 31 => static);
impl_saadc_input!(P0_04, ANALOGINPUT2);
impl_saadc_input!(P0_05, ANALOGINPUT3);
impl_saadc_input!(P0_04, ANALOG_INPUT2);
impl_saadc_input!(P0_05, ANALOG_INPUT3);
pub mod irqs {
use embassy_cortex_m::interrupt::_export::declare;

16
embassy-nrf/src/chips/nrf52810.rs
View File

@@ -211,14 +211,14 @@ impl_ppi_channel!(PPI_CH29, 29 => static);
impl_ppi_channel!(PPI_CH30, 30 => static);
impl_ppi_channel!(PPI_CH31, 31 => static);
impl_saadc_input!(P0_02, ANALOGINPUT0);
impl_saadc_input!(P0_03, ANALOGINPUT1);
impl_saadc_input!(P0_04, ANALOGINPUT2);
impl_saadc_input!(P0_05, ANALOGINPUT3);
impl_saadc_input!(P0_28, ANALOGINPUT4);
impl_saadc_input!(P0_29, ANALOGINPUT5);
impl_saadc_input!(P0_30, ANALOGINPUT6);
impl_saadc_input!(P0_31, ANALOGINPUT7);
impl_saadc_input!(P0_02, ANALOG_INPUT0);
impl_saadc_input!(P0_03, ANALOG_INPUT1);
impl_saadc_input!(P0_04, ANALOG_INPUT2);
impl_saadc_input!(P0_05, ANALOG_INPUT3);
impl_saadc_input!(P0_28, ANALOG_INPUT4);
impl_saadc_input!(P0_29, ANALOG_INPUT5);
impl_saadc_input!(P0_30, ANALOG_INPUT6);
impl_saadc_input!(P0_31, ANALOG_INPUT7);
pub mod irqs {
use embassy_cortex_m::interrupt::_export::declare;

16
embassy-nrf/src/chips/nrf52811.rs
View File

@@ -212,14 +212,14 @@ impl_ppi_channel!(PPI_CH29, 29 => static);
impl_ppi_channel!(PPI_CH30, 30 => static);
impl_ppi_channel!(PPI_CH31, 31 => static);
impl_saadc_input!(P0_02, ANALOGINPUT0);
impl_saadc_input!(P0_03, ANALOGINPUT1);
impl_saadc_input!(P0_04, ANALOGINPUT2);
impl_saadc_input!(P0_05, ANALOGINPUT3);
impl_saadc_input!(P0_28, ANALOGINPUT4);
impl_saadc_input!(P0_29, ANALOGINPUT5);
impl_saadc_input!(P0_30, ANALOGINPUT6);
impl_saadc_input!(P0_31, ANALOGINPUT7);
impl_saadc_input!(P0_02, ANALOG_INPUT0);
impl_saadc_input!(P0_03, ANALOG_INPUT1);
impl_saadc_input!(P0_04, ANALOG_INPUT2);
impl_saadc_input!(P0_05, ANALOG_INPUT3);
impl_saadc_input!(P0_28, ANALOG_INPUT4);
impl_saadc_input!(P0_29, ANALOG_INPUT5);
impl_saadc_input!(P0_30, ANALOG_INPUT6);
impl_saadc_input!(P0_31, ANALOG_INPUT7);
pub mod irqs {
use embassy_cortex_m::interrupt::_export::declare;

16
embassy-nrf/src/chips/nrf52832.rs
View File

@@ -225,14 +225,14 @@ impl_ppi_channel!(PPI_CH29, 29 => static);
impl_ppi_channel!(PPI_CH30, 30 => static);
impl_ppi_channel!(PPI_CH31, 31 => static);
impl_saadc_input!(P0_02, ANALOGINPUT0);
impl_saadc_input!(P0_03, ANALOGINPUT1);
impl_saadc_input!(P0_04, ANALOGINPUT2);
impl_saadc_input!(P0_05, ANALOGINPUT3);
impl_saadc_input!(P0_28, ANALOGINPUT4);
impl_saadc_input!(P0_29, ANALOGINPUT5);
impl_saadc_input!(P0_30, ANALOGINPUT6);
impl_saadc_input!(P0_31, ANALOGINPUT7);
impl_saadc_input!(P0_02, ANALOG_INPUT0);
impl_saadc_input!(P0_03, ANALOG_INPUT1);
impl_saadc_input!(P0_04, ANALOG_INPUT2);
impl_saadc_input!(P0_05, ANALOG_INPUT3);
impl_saadc_input!(P0_28, ANALOG_INPUT4);
impl_saadc_input!(P0_29, ANALOG_INPUT5);
impl_saadc_input!(P0_30, ANALOG_INPUT6);
impl_saadc_input!(P0_31, ANALOG_INPUT7);
pub mod irqs {
use embassy_cortex_m::interrupt::_export::declare;

16
embassy-nrf/src/chips/nrf52833.rs
View File

@@ -271,14 +271,14 @@ impl_ppi_channel!(PPI_CH29, 29 => static);
impl_ppi_channel!(PPI_CH30, 30 => static);
impl_ppi_channel!(PPI_CH31, 31 => static);
impl_saadc_input!(P0_02, ANALOGINPUT0);
impl_saadc_input!(P0_03, ANALOGINPUT1);
impl_saadc_input!(P0_04, ANALOGINPUT2);
impl_saadc_input!(P0_05, ANALOGINPUT3);
impl_saadc_input!(P0_28, ANALOGINPUT4);
impl_saadc_input!(P0_29, ANALOGINPUT5);
impl_saadc_input!(P0_30, ANALOGINPUT6);
impl_saadc_input!(P0_31, ANALOGINPUT7);
impl_saadc_input!(P0_02, ANALOG_INPUT0);
impl_saadc_input!(P0_03, ANALOG_INPUT1);
impl_saadc_input!(P0_04, ANALOG_INPUT2);
impl_saadc_input!(P0_05, ANALOG_INPUT3);
impl_saadc_input!(P0_28, ANALOG_INPUT4);
impl_saadc_input!(P0_29, ANALOG_INPUT5);
impl_saadc_input!(P0_30, ANALOG_INPUT6);
impl_saadc_input!(P0_31, ANALOG_INPUT7);
pub mod irqs {
use embassy_cortex_m::interrupt::_export::declare;

16
embassy-nrf/src/chips/nrf52840.rs
View File

@@ -276,14 +276,14 @@ impl_ppi_channel!(PPI_CH29, 29 => static);
impl_ppi_channel!(PPI_CH30, 30 => static);
impl_ppi_channel!(PPI_CH31, 31 => static);
impl_saadc_input!(P0_02, ANALOGINPUT0);
impl_saadc_input!(P0_03, ANALOGINPUT1);
impl_saadc_input!(P0_04, ANALOGINPUT2);
impl_saadc_input!(P0_05, ANALOGINPUT3);
impl_saadc_input!(P0_28, ANALOGINPUT4);
impl_saadc_input!(P0_29, ANALOGINPUT5);
impl_saadc_input!(P0_30, ANALOGINPUT6);
impl_saadc_input!(P0_31, ANALOGINPUT7);
impl_saadc_input!(P0_02, ANALOG_INPUT0);
impl_saadc_input!(P0_03, ANALOG_INPUT1);
impl_saadc_input!(P0_04, ANALOG_INPUT2);
impl_saadc_input!(P0_05, ANALOG_INPUT3);
impl_saadc_input!(P0_28, ANALOG_INPUT4);
impl_saadc_input!(P0_29, ANALOG_INPUT5);
impl_saadc_input!(P0_30, ANALOG_INPUT6);
impl_saadc_input!(P0_31, ANALOG_INPUT7);
pub mod irqs {
use embassy_cortex_m::interrupt::_export::declare;

16
embassy-nrf/src/chips/nrf5340_app.rs
View File

@@ -458,14 +458,14 @@ impl_ppi_channel!(PPI_CH29, 29 => configurable);
impl_ppi_channel!(PPI_CH30, 30 => configurable);
impl_ppi_channel!(PPI_CH31, 31 => configurable);
impl_saadc_input!(P0_13, ANALOGINPUT0);
impl_saadc_input!(P0_14, ANALOGINPUT1);
impl_saadc_input!(P0_15, ANALOGINPUT2);
impl_saadc_input!(P0_16, ANALOGINPUT3);
impl_saadc_input!(P0_17, ANALOGINPUT4);
impl_saadc_input!(P0_18, ANALOGINPUT5);
impl_saadc_input!(P0_19, ANALOGINPUT6);
impl_saadc_input!(P0_20, ANALOGINPUT7);
impl_saadc_input!(P0_13, ANALOG_INPUT0);
impl_saadc_input!(P0_14, ANALOG_INPUT1);
impl_saadc_input!(P0_15, ANALOG_INPUT2);
impl_saadc_input!(P0_16, ANALOG_INPUT3);
impl_saadc_input!(P0_17, ANALOG_INPUT4);
impl_saadc_input!(P0_18, ANALOG_INPUT5);
impl_saadc_input!(P0_19, ANALOG_INPUT6);
impl_saadc_input!(P0_20, ANALOG_INPUT7);
pub mod irqs {
use embassy_cortex_m::interrupt::_export::declare;

16
embassy-nrf/src/chips/nrf9160.rs
View File

@@ -339,14 +339,14 @@ impl_ppi_channel!(PPI_CH13, 13 => configurable);
impl_ppi_channel!(PPI_CH14, 14 => configurable);
impl_ppi_channel!(PPI_CH15, 15 => configurable);
impl_saadc_input!(P0_13, ANALOGINPUT0);
impl_saadc_input!(P0_14, ANALOGINPUT1);
impl_saadc_input!(P0_15, ANALOGINPUT2);
impl_saadc_input!(P0_16, ANALOGINPUT3);
impl_saadc_input!(P0_17, ANALOGINPUT4);
impl_saadc_input!(P0_18, ANALOGINPUT5);
impl_saadc_input!(P0_19, ANALOGINPUT6);
impl_saadc_input!(P0_20, ANALOGINPUT7);
impl_saadc_input!(P0_13, ANALOG_INPUT0);
impl_saadc_input!(P0_14, ANALOG_INPUT1);
impl_saadc_input!(P0_15, ANALOG_INPUT2);
impl_saadc_input!(P0_16, ANALOG_INPUT3);
impl_saadc_input!(P0_17, ANALOG_INPUT4);
impl_saadc_input!(P0_18, ANALOG_INPUT5);
impl_saadc_input!(P0_19, ANALOG_INPUT6);
impl_saadc_input!(P0_20, ANALOG_INPUT7);
pub mod irqs {
use embassy_cortex_m::interrupt::_export::declare;

23
embassy-nrf/src/time_driver.rs
View File

@@ -243,22 +243,25 @@ impl Driver for RtcDriver {
})
}
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) {
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool {
critical_section::with(|cs| {
let n = alarm.id() as _;
let alarm = self.get_alarm(cs, alarm);
alarm.timestamp.set(timestamp);
let t = self.now();
// If alarm timestamp has passed, trigger it instantly.
if timestamp <= t {
self.trigger_alarm(n, cs);
return;
}
let r = rtc();
let t = self.now();
if timestamp <= t {
// If alarm timestamp has passed the alarm will not fire.
// Disarm the alarm and return `false` to indicate that.
r.intenclr.write(|w| unsafe { w.bits(compare_n(n)) });
alarm.timestamp.set(u64::MAX);
return false;
}
// If it hasn't triggered yet, setup it in the compare channel.
// Write the CC value regardless of whether we're going to enable it now or not.
@@ -287,6 +290,8 @@ impl Driver for RtcDriver {
// It will be setup later by `next_period`.
r.intenclr.write(|w| unsafe { w.bits(compare_n(n)) });
}
true
})
}
}

14
embassy-nrf/src/usb.rs
View File

@@ -313,7 +313,7 @@ impl<'d, T: Instance, P: UsbSupply> driver::Bus for Bus<'d, T, P> {
}
})
.await;
regs.eventcause.write(|w| w.ready().set_bit()); // Write 1 to clear.
regs.eventcause.write(|w| w.ready().clear_bit_by_one());
errata::post_enable();
@@ -367,24 +367,24 @@ impl<'d, T: Instance, P: UsbSupply> driver::Bus for Bus<'d, T, P> {
let r = regs.eventcause.read();
if r.isooutcrc().bit() {
regs.eventcause.write(|w| w.isooutcrc().set_bit());
regs.eventcause.write(|w| w.isooutcrc().detected());
trace!("USB event: isooutcrc");
}
if r.usbwuallowed().bit() {
regs.eventcause.write(|w| w.usbwuallowed().set_bit());
regs.eventcause.write(|w| w.usbwuallowed().allowed());
trace!("USB event: usbwuallowed");
}
if r.suspend().bit() {
regs.eventcause.write(|w| w.suspend().set_bit());
regs.eventcause.write(|w| w.suspend().detected());
regs.lowpower.write(|w| w.lowpower().low_power());
return Poll::Ready(Event::Suspend);
}
if r.resume().bit() {
regs.eventcause.write(|w| w.resume().set_bit());
regs.eventcause.write(|w| w.resume().detected());
return Poll::Ready(Event::Resume);
}
if r.ready().bit() {
regs.eventcause.write(|w| w.ready().set_bit());
regs.eventcause.write(|w| w.ready().ready());
trace!("USB event: ready");
}
@@ -512,7 +512,7 @@ impl<'d, T: Instance, P: UsbSupply> driver::Bus for Bus<'d, T, P> {
} else if r.resume().bit() {
Poll::Ready(())
} else if r.usbwuallowed().bit() {
regs.eventcause.write(|w| w.usbwuallowed().set_bit());
regs.eventcause.write(|w| w.usbwuallowed().allowed());
regs.dpdmvalue.write(|w| w.state().resume());
regs.tasks_dpdmdrive.write(|w| w.tasks_dpdmdrive().set_bit());

4
embassy-rp/Cargo.toml
View File

@@ -53,13 +53,13 @@ cortex-m = "0.7.6"
critical-section = "1.1"
futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
chrono = { version = "0.4", default-features = false, optional = true }
embedded-io = { version = "0.3.1", features = ["async"], optional = true }
embedded-storage = { version = "0.3" }
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 = { 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.9", optional = true}
embedded-hal-async = { version = "=0.1.0-alpha.2", optional = true}
embedded-hal-async = { version = "=0.1.0-alpha.3", optional = true}
embedded-hal-nb = { version = "=1.0.0-alpha.1", optional = true}

15
embassy-rp/src/timer.rs
View File

@@ -68,7 +68,7 @@ impl Driver for TimerDriver {
})
}
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) {
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool {
let n = alarm.id() as usize;
critical_section::with(|cs| {
let alarm = &self.alarms.borrow(cs)[n];
@@ -81,11 +81,16 @@ impl Driver for TimerDriver {
unsafe { pac::TIMER.alarm(n).write_value(timestamp as u32) };
let now = self.now();
// If alarm timestamp has passed, trigger it instantly.
// This disarms it.
if timestamp <= now {
self.trigger_alarm(n, cs);
// If alarm timestamp has passed the alarm will not fire.
// Disarm the alarm and return `false` to indicate that.
unsafe { pac::TIMER.armed().write(|w| w.set_armed(1 << n)) }
alarm.timestamp.set(u64::MAX);
false
} else {
true
}
})
}

16
embassy-rp/src/uart/buffered.rs
View File

@@ -355,7 +355,7 @@ impl<'d, T: Instance> embedded_io::Io for BufferedUartTx<'d, T> {
}
impl<'d, T: Instance + 'd> embedded_io::asynch::Read for BufferedUart<'d, T> {
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -376,7 +376,7 @@ impl<'d, T: Instance + 'd> embedded_io::asynch::Read for BufferedUart<'d, T> {
}
impl<'d, T: Instance + 'd> embedded_io::asynch::Read for BufferedUartRx<'d, T> {
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -397,7 +397,7 @@ impl<'d, T: Instance + 'd> embedded_io::asynch::Read for BufferedUartRx<'d, T> {
}
impl<'d, T: Instance + 'd> embedded_io::asynch::BufRead for BufferedUart<'d, T> {
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>>
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>> + 'a
where
Self: 'a;
@@ -419,7 +419,7 @@ impl<'d, T: Instance + 'd> embedded_io::asynch::BufRead for BufferedUart<'d, T>
}
impl<'d, T: Instance + 'd> embedded_io::asynch::BufRead for BufferedUartRx<'d, T> {
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>>
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>> + 'a
where
Self: 'a;
@@ -441,7 +441,7 @@ impl<'d, T: Instance + 'd> embedded_io::asynch::BufRead for BufferedUartRx<'d, T
}
impl<'d, T: Instance + 'd> embedded_io::asynch::Write for BufferedUart<'d, T> {
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -455,7 +455,7 @@ impl<'d, T: Instance + 'd> embedded_io::asynch::Write for BufferedUart<'d, T> {
})
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a;
@@ -465,7 +465,7 @@ impl<'d, T: Instance + 'd> embedded_io::asynch::Write for BufferedUart<'d, T> {
}
impl<'d, T: Instance + 'd> embedded_io::asynch::Write for BufferedUartTx<'d, T> {
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -479,7 +479,7 @@ impl<'d, T: Instance + 'd> embedded_io::asynch::Write for BufferedUartTx<'d, T>
})
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a;

9
embassy-stm32/Cargo.toml
View File

@@ -44,7 +44,7 @@ embassy-usb-driver = {version = "0.1.0", path = "../embassy-usb-driver", optiona
embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.9", optional = true}
embedded-hal-async = { version = "=0.1.0-alpha.2", optional = true}
embedded-hal-async = { version = "=0.1.0-alpha.3", optional = true}
embedded-hal-nb = { version = "=1.0.0-alpha.1", optional = true}
embedded-storage = "0.3.0"
@@ -67,7 +67,7 @@ nb = "1.0.0"
stm32-fmc = "0.2.4"
seq-macro = "0.3.0"
cfg-if = "1.0.0"
embedded-io = { version = "0.3.0", features = ["async"], optional = true }
embedded-io = { version = "0.3.1", features = ["async"], optional = true }
[build-dependencies]
proc-macro2 = "1.0.36"
@@ -82,9 +82,12 @@ memory-x = ["stm32-metapac/memory-x"]
subghz = []
exti = []
# Enables additional driver features that depend on embassy-time
time = ["dep:embassy-time"]
# Features starting with `_` are for internal use only. They're not intended
# to be enabled by other crates, and are not covered by semver guarantees.
_time-driver = ["dep:embassy-time"]
_time-driver = ["time"]
time-driver-any = ["_time-driver"]
time-driver-tim2 = ["_time-driver"]
time-driver-tim3 = ["_time-driver"]

21
embassy-stm32/src/adc/f1.rs
View File

@@ -86,7 +86,6 @@ pub use sample_time::SampleTime;
pub struct Adc<'d, T: Instance> {
sample_time: SampleTime,
calibrated_vdda: u32,
phantom: PhantomData<&'d mut T>,
}
@@ -122,7 +121,6 @@ impl<'d, T: Instance> Adc<'d, T> {
Self {
sample_time: Default::default(),
calibrated_vdda: VDDA_CALIB_MV,
phantom: PhantomData,
}
}
@@ -162,29 +160,10 @@ impl<'d, T: Instance> Adc<'d, T> {
Temperature {}
}
/// Calculates the system VDDA by sampling the internal VREF channel and comparing
/// to the expected value. If the chip's VDDA is not stable, run this before each ADC
/// conversion.
pub fn calibrate(&mut self, vref: &mut Vref) -> u32 {
let old_sample_time = self.sample_time;
self.sample_time = SampleTime::Cycles239_5;
let vref_samp = self.read(vref);
self.sample_time = old_sample_time;
self.calibrated_vdda = (ADC_MAX * VREF_INT) / u32::from(vref_samp);
self.calibrated_vdda
}
pub fn set_sample_time(&mut self, sample_time: SampleTime) {
self.sample_time = sample_time;
}
/// Convert a measurement to millivolts
pub fn to_millivolts(&self, sample: u16) -> u16 {
((u32::from(sample) * self.calibrated_vdda) / ADC_MAX) as u16
}
/// Perform a single conversion.
fn convert(&mut self) -> u16 {
unsafe {

23
embassy-stm32/src/adc/v2.rs
View File

@@ -80,15 +80,6 @@ impl super::sealed::InternalChannel<ADC1> for Temperature {
}
impl Temperature {
/// Converts temperature sensor reading in millivolts to degrees celcius
pub fn to_celcius(sample_mv: u16) -> f32 {
// From 6.3.22 Temperature sensor characteristics
const V25: i32 = 760; // mV
const AVG_SLOPE: f32 = 2.5; // mV/C
(sample_mv as i32 - V25) as f32 / AVG_SLOPE + 25.0
}
/// Time needed for temperature sensor readings to stabilize
pub fn start_time_us() -> u32 {
10
@@ -172,7 +163,6 @@ impl Prescaler {
pub struct Adc<'d, T: Instance> {
sample_time: SampleTime,
vref_mv: u32,
resolution: Resolution,
phantom: PhantomData<&'d mut T>,
}
@@ -200,7 +190,6 @@ where
Self {
sample_time: Default::default(),
resolution: Resolution::default(),
vref_mv: VREF_DEFAULT_MV,
phantom: PhantomData,
}
}
@@ -213,18 +202,6 @@ where
self.resolution = resolution;
}
/// Set VREF value in millivolts. This value is used for [to_millivolts()] sample conversion.
///
/// Use this if you have a known precise VREF (VDDA) pin reference voltage.
pub fn set_vref_mv(&mut self, vref_mv: u32) {
self.vref_mv = vref_mv;
}
/// Convert a measurement to millivolts
pub fn to_millivolts(&self, sample: u16) -> u16 {
((u32::from(sample) * self.vref_mv) / self.resolution.to_max_count()) as u16
}
/// Enables internal voltage reference and returns [VrefInt], which can be used in
/// [Adc::read_internal()] to perform conversion.
pub fn enable_vrefint(&self) -> VrefInt {

39
embassy-stm32/src/adc/v3.rs
View File

@@ -205,7 +205,6 @@ pub use sample_time::SampleTime;
pub struct Adc<'d, T: Instance> {
sample_time: SampleTime,
vref_mv: u32,
resolution: Resolution,
phantom: PhantomData<&'d mut T>,
}
@@ -244,7 +243,6 @@ impl<'d, T: Instance> Adc<'d, T> {
Self {
sample_time: Default::default(),
resolution: Resolution::default(),
vref_mv: VREF_DEFAULT_MV,
phantom: PhantomData,
}
}
@@ -285,31 +283,6 @@ impl<'d, T: Instance> Adc<'d, T> {
Vbat {}
}
/// Calculates the system VDDA by sampling the internal VREFINT channel and comparing
/// the result with the value stored at the factory. If the chip's VDDA is not stable, run
/// this before each ADC conversion.
#[cfg(not(stm32g0))] // TODO is this supposed to be public?
#[allow(unused)] // TODO is this supposed to be public?
fn calibrate(&mut self, vrefint: &mut VrefInt) {
#[cfg(stm32l5)]
let vrefint_cal: u32 = todo!();
#[cfg(not(stm32l5))]
let vrefint_cal = unsafe { crate::pac::VREFINTCAL.data().read().value() };
let old_sample_time = self.sample_time;
// "Table 24. Embedded internal voltage reference" states that the sample time needs to be
// at a minimum 4 us. With 640.5 ADC cycles we have a minimum of 8 us at 80 MHz, leaving
// some headroom.
self.sample_time = SampleTime::Cycles640_5;
// This can't actually fail, it's just in a result to satisfy hal trait
let vrefint_samp = self.read(vrefint);
self.sample_time = old_sample_time;
self.vref_mv = (VREF_CALIB_MV * u32::from(vrefint_cal)) / u32::from(vrefint_samp);
}
pub fn set_sample_time(&mut self, sample_time: SampleTime) {
self.sample_time = sample_time;
}
@@ -318,18 +291,6 @@ impl<'d, T: Instance> Adc<'d, T> {
self.resolution = resolution;
}
/// Set VREF value in millivolts. This value is used for [to_millivolts()] sample conversion.
///
/// Use this if you have a known precise VREF (VDDA) pin reference voltage.
pub fn set_vref_mv(&mut self, vref_mv: u32) {
self.vref_mv = vref_mv;
}
/// Convert a measurement to millivolts
pub fn to_millivolts(&self, sample: u16) -> u16 {
((u32::from(sample) * self.vref_mv) / self.resolution.to_max_count()) as u16
}
/*
/// Convert a raw sample from the `Temperature` to deg C
pub fn to_degrees_centigrade(sample: u16) -> f32 {

14
embassy-stm32/src/adc/v4.rs
View File

@@ -314,7 +314,6 @@ impl Prescaler {
pub struct Adc<'d, T: Instance> {
sample_time: SampleTime,
vref_mv: u32,
resolution: Resolution,
phantom: PhantomData<&'d mut T>,
}
@@ -352,7 +351,6 @@ impl<'d, T: Instance + crate::rcc::RccPeripheral> Adc<'d, T> {
let mut s = Self {
sample_time: Default::default(),
vref_mv: VREF_DEFAULT_MV,
resolution: Resolution::default(),
phantom: PhantomData,
};
@@ -459,18 +457,6 @@ impl<'d, T: Instance + crate::rcc::RccPeripheral> Adc<'d, T> {
self.resolution = resolution;
}
/// Set VREF value in millivolts. This value is used for [to_millivolts()] sample conversion.
///
/// Use this if you have a known precise VREF (VDDA) pin reference voltage.
pub fn set_vref_mv(&mut self, vref_mv: u32) {
self.vref_mv = vref_mv;
}
/// Convert a measurement to millivolts
pub fn to_millivolts(&self, sample: u16) -> u16 {
((u32::from(sample) * self.vref_mv) / self.resolution.to_max_count()) as u16
}
/// Perform a single conversion.
fn convert(&mut self) -> u16 {
unsafe {

5
embassy-stm32/src/i2c/mod.rs
View File

@@ -7,6 +7,11 @@ use crate::interrupt::Interrupt;
mod _version;
pub use _version::*;
#[cfg(feature = "time")]
mod timeout;
#[cfg(feature = "time")]
pub use timeout::*;
use crate::peripherals;
#[derive(Debug)]

142
embassy-stm32/src/i2c/timeout.rs Normal file
View File

@@ -0,0 +1,142 @@
use embassy_time::{Duration, Instant};
use super::{Error, I2c, Instance};
/// An I2C wrapper, which provides `embassy-time` based timeouts for all `embedded-hal` trait methods.
///
/// This is useful for recovering from a shorted bus or a device stuck in a clock stretching state.
/// A regular [I2c] would freeze until condition is removed.
pub struct TimeoutI2c<'d, T: Instance, TXDMA, RXDMA> {
i2c: &'d mut I2c<'d, T, TXDMA, RXDMA>,
timeout: Duration,
}
fn timeout_fn(timeout: Duration) -> impl Fn() -> Result<(), Error> {
let deadline = Instant::now() + timeout;
move || {
if Instant::now() > deadline {
Err(Error::Timeout)
} else {
Ok(())
}
}
}
impl<'d, T: Instance, TXDMA, RXDMA> TimeoutI2c<'d, T, TXDMA, RXDMA> {
pub fn new(i2c: &'d mut I2c<'d, T, TXDMA, RXDMA>, timeout: Duration) -> Self {
Self { i2c, timeout }
}
/// Blocking read with a custom timeout
pub fn blocking_read_timeout(&mut self, addr: u8, buffer: &mut [u8], timeout: Duration) -> Result<(), Error> {
self.i2c.blocking_read_timeout(addr, buffer, timeout_fn(timeout))
}
/// Blocking read with default timeout, provided in [`TimeoutI2c::new()`]
pub fn blocking_read(&mut self, addr: u8, buffer: &mut [u8]) -> Result<(), Error> {
self.blocking_read_timeout(addr, buffer, self.timeout)
}
/// Blocking write with a custom timeout
pub fn blocking_write_timeout(&mut self, addr: u8, bytes: &[u8], timeout: Duration) -> Result<(), Error> {
self.i2c.blocking_write_timeout(addr, bytes, timeout_fn(timeout))
}
/// Blocking write with default timeout, provided in [`TimeoutI2c::new()`]
pub fn blocking_write(&mut self, addr: u8, bytes: &[u8]) -> Result<(), Error> {
self.blocking_write_timeout(addr, bytes, self.timeout)
}
/// Blocking write-read with a custom timeout
pub fn blocking_write_read_timeout(
&mut self,
addr: u8,
bytes: &[u8],
buffer: &mut [u8],
timeout: Duration,
) -> Result<(), Error> {
self.i2c
.blocking_write_read_timeout(addr, bytes, buffer, timeout_fn(timeout))
}
/// Blocking write-read with default timeout, provided in [`TimeoutI2c::new()`]
pub fn blocking_write_read(&mut self, addr: u8, bytes: &[u8], buffer: &mut [u8]) -> Result<(), Error> {
self.blocking_write_read_timeout(addr, bytes, buffer, self.timeout)
}
}
impl<'d, T: Instance, TXDMA, RXDMA> embedded_hal_02::blocking::i2c::Read for TimeoutI2c<'d, T, TXDMA, RXDMA> {
type Error = Error;
fn read(&mut self, addr: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
self.blocking_read(addr, buffer)
}
}
impl<'d, T: Instance, TXDMA, RXDMA> embedded_hal_02::blocking::i2c::Write for TimeoutI2c<'d, T, TXDMA, RXDMA> {
type Error = Error;
fn write(&mut self, addr: u8, bytes: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(addr, bytes)
}
}
impl<'d, T: Instance, TXDMA, RXDMA> embedded_hal_02::blocking::i2c::WriteRead for TimeoutI2c<'d, T, TXDMA, RXDMA> {
type Error = Error;
fn write_read(&mut self, addr: u8, bytes: &[u8], buffer: &mut [u8]) -> Result<(), Self::Error> {
self.blocking_write_read(addr, bytes, buffer)
}
}
#[cfg(feature = "unstable-traits")]
mod eh1 {
use super::*;
impl<'d, T: Instance, TXDMA, RXDMA> embedded_hal_1::i2c::ErrorType for TimeoutI2c<'d, T, TXDMA, RXDMA> {
type Error = Error;
}
impl<'d, T: Instance, TXDMA, RXDMA> embedded_hal_1::i2c::I2c for TimeoutI2c<'d, T, TXDMA, RXDMA> {
fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
self.blocking_read(address, buffer)
}
fn write(&mut self, address: u8, buffer: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(address, buffer)
}
fn write_iter<B>(&mut self, _address: u8, _bytes: B) -> Result<(), Self::Error>
where
B: IntoIterator<Item = u8>,
{
todo!();
}
fn write_iter_read<B>(&mut self, _address: u8, _bytes: B, _buffer: &mut [u8]) -> Result<(), Self::Error>
where
B: IntoIterator<Item = u8>,
{
todo!();
}
fn write_read(&mut self, address: u8, wr_buffer: &[u8], rd_buffer: &mut [u8]) -> Result<(), Self::Error> {
self.blocking_write_read(address, wr_buffer, rd_buffer)
}
fn transaction<'a>(
&mut self,
_address: u8,
_operations: &mut [embedded_hal_1::i2c::Operation<'a>],
) -> Result<(), Self::Error> {
todo!();
}
fn transaction_iter<'a, O>(&mut self, _address: u8, _operations: O) -> Result<(), Self::Error>
where
O: IntoIterator<Item = embedded_hal_1::i2c::Operation<'a>>,
{
todo!();
}
}
}

123
embassy-stm32/src/i2c/v1.rs
View File

@@ -1,8 +1,9 @@
use core::marker::PhantomData;
use embassy_embedded_hal::SetConfig;
use embassy_hal_common::into_ref;
use embassy_hal_common::{into_ref, PeripheralRef};
use crate::dma::NoDma;
use crate::gpio::sealed::AFType;
use crate::gpio::Pull;
use crate::i2c::{Error, Instance, SclPin, SdaPin};
@@ -34,19 +35,26 @@ impl State {
}
}
pub struct I2c<'d, T: Instance> {
pub struct I2c<'d, T: Instance, TXDMA = NoDma, RXDMA = NoDma> {
phantom: PhantomData<&'d mut T>,
#[allow(dead_code)]
tx_dma: PeripheralRef<'d, TXDMA>,
#[allow(dead_code)]
rx_dma: PeripheralRef<'d, RXDMA>,
}
impl<'d, T: Instance> I2c<'d, T> {
impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
pub fn new(
_peri: impl Peripheral<P = T> + 'd,
scl: impl Peripheral<P = impl SclPin<T>> + 'd,
sda: impl Peripheral<P = impl SdaPin<T>> + 'd,
_irq: impl Peripheral<P = T::Interrupt> + 'd,
tx_dma: impl Peripheral<P = TXDMA> + 'd,
rx_dma: impl Peripheral<P = RXDMA> + 'd,
freq: Hertz,
config: Config,
) -> Self {
into_ref!(scl, sda);
into_ref!(scl, sda, tx_dma, rx_dma);
T::enable();
T::reset();
@@ -99,7 +107,11 @@ impl<'d, T: Instance> I2c<'d, T> {
});
}
Self { phantom: PhantomData }
Self {
phantom: PhantomData,
tx_dma,
rx_dma,
}
}
unsafe fn check_and_clear_error_flags(&self) -> Result<i2c::regs::Sr1, Error> {
@@ -141,7 +153,12 @@ impl<'d, T: Instance> I2c<'d, T> {
Ok(sr1)
}
unsafe fn write_bytes(&mut self, addr: u8, bytes: &[u8]) -> Result<(), Error> {
unsafe fn write_bytes(
&mut self,
addr: u8,
bytes: &[u8],
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
// Send a START condition
T::regs().cr1().modify(|reg| {
@@ -149,7 +166,9 @@ impl<'d, T: Instance> I2c<'d, T> {
});
// Wait until START condition was generated
while !self.check_and_clear_error_flags()?.start() {}
while !self.check_and_clear_error_flags()?.start() {
check_timeout()?;
}
// Also wait until signalled we're master and everything is waiting for us
while {
@@ -157,7 +176,9 @@ impl<'d, T: Instance> I2c<'d, T> {
let sr2 = T::regs().sr2().read();
!sr2.msl() && !sr2.busy()
} {}
} {
check_timeout()?;
}
// Set up current address, we're trying to talk to
T::regs().dr().write(|reg| reg.set_dr(addr << 1));
@@ -165,26 +186,30 @@ impl<'d, T: Instance> I2c<'d, T> {
// Wait until address was sent
// Wait for the address to be acknowledged
// Check for any I2C errors. If a NACK occurs, the ADDR bit will never be set.
while !self.check_and_clear_error_flags()?.addr() {}
while !self.check_and_clear_error_flags()?.addr() {
check_timeout()?;
}
// Clear condition by reading SR2
let _ = T::regs().sr2().read();
// Send bytes
for c in bytes {
self.send_byte(*c)?;
self.send_byte(*c, &check_timeout)?;
}
// Fallthrough is success
Ok(())
}
unsafe fn send_byte(&self, byte: u8) -> Result<(), Error> {
unsafe fn send_byte(&self, byte: u8, check_timeout: impl Fn() -> Result<(), Error>) -> Result<(), Error> {
// Wait until we're ready for sending
while {
// Check for any I2C errors. If a NACK occurs, the ADDR bit will never be set.
!self.check_and_clear_error_flags()?.txe()
} {}
} {
check_timeout()?;
}
// Push out a byte of data
T::regs().dr().write(|reg| reg.set_dr(byte));
@@ -193,24 +218,33 @@ impl<'d, T: Instance> I2c<'d, T> {
while {
// Check for any potential error conditions.
!self.check_and_clear_error_flags()?.btf()
} {}
} {
check_timeout()?;
}
Ok(())
}
unsafe fn recv_byte(&self) -> Result<u8, Error> {
unsafe fn recv_byte(&self, check_timeout: impl Fn() -> Result<(), Error>) -> Result<u8, Error> {
while {
// Check for any potential error conditions.
self.check_and_clear_error_flags()?;
!T::regs().sr1().read().rxne()
} {}
} {
check_timeout()?;
}
let value = T::regs().dr().read().dr();
Ok(value)
}
pub fn blocking_read(&mut self, addr: u8, buffer: &mut [u8]) -> Result<(), Error> {
pub fn blocking_read_timeout(
&mut self,
addr: u8,
buffer: &mut [u8],
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
if let Some((last, buffer)) = buffer.split_last_mut() {
// Send a START condition and set ACK bit
unsafe {
@@ -221,27 +255,33 @@ impl<'d, T: Instance> I2c<'d, T> {
}
// Wait until START condition was generated
while unsafe { !T::regs().sr1().read().start() } {}
while unsafe { !self.check_and_clear_error_flags()?.start() } {
check_timeout()?;
}
// Also wait until signalled we're master and everything is waiting for us
while {
let sr2 = unsafe { T::regs().sr2().read() };
!sr2.msl() && !sr2.busy()
} {}
} {
check_timeout()?;
}
// Set up current address, we're trying to talk to
unsafe { T::regs().dr().write(|reg| reg.set_dr((addr << 1) + 1)) }
// Wait until address was sent
// Wait for the address to be acknowledged
while unsafe { !self.check_and_clear_error_flags()?.addr() } {}
while unsafe { !self.check_and_clear_error_flags()?.addr() } {
check_timeout()?;
}
// Clear condition by reading SR2
let _ = unsafe { T::regs().sr2().read() };
// Receive bytes into buffer
for c in buffer {
*c = unsafe { self.recv_byte()? };
*c = unsafe { self.recv_byte(&check_timeout)? };
}
// Prepare to send NACK then STOP after next byte
@@ -253,10 +293,12 @@ impl<'d, T: Instance> I2c<'d, T> {
}
// Receive last byte
*last = unsafe { self.recv_byte()? };
*last = unsafe { self.recv_byte(&check_timeout)? };
// Wait for the STOP to be sent.
while unsafe { T::regs().cr1().read().stop() } {}
while unsafe { T::regs().cr1().read().stop() } {
check_timeout()?;
}
// Fallthrough is success
Ok(())
@@ -265,25 +307,50 @@ impl<'d, T: Instance> I2c<'d, T> {
}
}
pub fn blocking_write(&mut self, addr: u8, bytes: &[u8]) -> Result<(), Error> {
pub fn blocking_read(&mut self, addr: u8, buffer: &mut [u8]) -> Result<(), Error> {
self.blocking_read_timeout(addr, buffer, || Ok(()))
}
pub fn blocking_write_timeout(
&mut self,
addr: u8,
bytes: &[u8],
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
unsafe {
self.write_bytes(addr, bytes)?;
self.write_bytes(addr, bytes, &check_timeout)?;
// Send a STOP condition
T::regs().cr1().modify(|reg| reg.set_stop(true));
// Wait for STOP condition to transmit.
while T::regs().cr1().read().stop() {}
while T::regs().cr1().read().stop() {
check_timeout()?;
}
};
// Fallthrough is success
Ok(())
}
pub fn blocking_write_read(&mut self, addr: u8, bytes: &[u8], buffer: &mut [u8]) -> Result<(), Error> {
unsafe { self.write_bytes(addr, bytes)? };
self.blocking_read(addr, buffer)?;
pub fn blocking_write(&mut self, addr: u8, bytes: &[u8]) -> Result<(), Error> {
self.blocking_write_timeout(addr, bytes, || Ok(()))
}
pub fn blocking_write_read_timeout(
&mut self,
addr: u8,
bytes: &[u8],
buffer: &mut [u8],
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
unsafe { self.write_bytes(addr, bytes, &check_timeout)? };
self.blocking_read_timeout(addr, buffer, &check_timeout)?;
Ok(())
}
pub fn blocking_write_read(&mut self, addr: u8, bytes: &[u8], buffer: &mut [u8]) -> Result<(), Error> {
self.blocking_write_read_timeout(addr, bytes, buffer, || Ok(()))
}
}
impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Read for I2c<'d, T> {

221
embassy-stm32/src/i2c/v2.rs
View File

@@ -147,14 +147,23 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
}
}
unsafe fn master_read(address: u8, length: usize, stop: Stop, reload: bool, restart: bool) {
unsafe fn master_read(
address: u8,
length: usize,
stop: Stop,
reload: bool,
restart: bool,
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
assert!(length < 256);
if !restart {
// Wait for any previous address sequence to end
// automatically. This could be up to 50% of a bus
// cycle (ie. up to 0.5/freq)
while T::regs().cr2().read().start() {}
while T::regs().cr2().read().start() {
check_timeout()?;
}
}
// Set START and prepare to receive bytes into
@@ -176,15 +185,25 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
w.set_autoend(stop.autoend());
w.set_reload(reload);
});
Ok(())
}
unsafe fn master_write(address: u8, length: usize, stop: Stop, reload: bool) {
unsafe fn master_write(
address: u8,
length: usize,
stop: Stop,
reload: bool,
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
assert!(length < 256);
// Wait for any previous address sequence to end
// automatically. This could be up to 50% of a bus
// cycle (ie. up to 0.5/freq)
while T::regs().cr2().read().start() {}
while T::regs().cr2().read().start() {
check_timeout()?;
}
let reload = if reload {
i2c::vals::Reload::NOTCOMPLETED
@@ -204,12 +223,20 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
w.set_autoend(stop.autoend());
w.set_reload(reload);
});
Ok(())
}
unsafe fn master_continue(length: usize, reload: bool) {
unsafe fn master_continue(
length: usize,
reload: bool,
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
assert!(length < 256 && length > 0);
while !T::regs().isr().read().tcr() {}
while !T::regs().isr().read().tcr() {
check_timeout()?;
}
let reload = if reload {
i2c::vals::Reload::NOTCOMPLETED
@@ -221,6 +248,8 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
w.set_nbytes(length as u8);
w.set_reload(reload);
});
Ok(())
}
fn flush_txdr(&self) {
@@ -243,7 +272,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
//}
}
fn wait_txe(&self) -> Result<(), Error> {
fn wait_txe(&self, check_timeout: impl Fn() -> Result<(), Error>) -> Result<(), Error> {
loop {
unsafe {
let isr = T::regs().isr().read();
@@ -261,10 +290,12 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
return Err(Error::Nack);
}
}
check_timeout()?;
}
}
fn wait_rxne(&self) -> Result<(), Error> {
fn wait_rxne(&self, check_timeout: impl Fn() -> Result<(), Error>) -> Result<(), Error> {
loop {
unsafe {
let isr = T::regs().isr().read();
@@ -282,10 +313,12 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
return Err(Error::Nack);
}
}
check_timeout()?;
}
}
fn wait_tc(&self) -> Result<(), Error> {
fn wait_tc(&self, check_timeout: impl Fn() -> Result<(), Error>) -> Result<(), Error> {
loop {
unsafe {
let isr = T::regs().isr().read();
@@ -303,10 +336,18 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
return Err(Error::Nack);
}
}
check_timeout()?;
}
}
fn read_internal(&mut self, address: u8, buffer: &mut [u8], restart: bool) -> Result<(), Error> {
fn read_internal(
&mut self,
address: u8,
buffer: &mut [u8],
restart: bool,
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
let completed_chunks = buffer.len() / 255;
let total_chunks = if completed_chunks * 255 == buffer.len() {
completed_chunks
@@ -322,20 +363,21 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
Stop::Automatic,
last_chunk_idx != 0,
restart,
);
&check_timeout,
)?;
}
for (number, chunk) in buffer.chunks_mut(255).enumerate() {
if number != 0 {
// NOTE(unsafe) We have &mut self
unsafe {
Self::master_continue(chunk.len(), number != last_chunk_idx);
Self::master_continue(chunk.len(), number != last_chunk_idx, &check_timeout)?;
}
}
for byte in chunk {
// Wait until we have received something
self.wait_rxne()?;
self.wait_rxne(&check_timeout)?;
unsafe {
*byte = T::regs().rxdr().read().rxdata();
@@ -345,7 +387,13 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
Ok(())
}
fn write_internal(&mut self, address: u8, bytes: &[u8], send_stop: bool) -> Result<(), Error> {
fn write_internal(
&mut self,
address: u8,
bytes: &[u8],
send_stop: bool,
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
let completed_chunks = bytes.len() / 255;
let total_chunks = if completed_chunks * 255 == bytes.len() {
completed_chunks
@@ -359,14 +407,20 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
// ST SAD+W
// NOTE(unsafe) We have &mut self
unsafe {
Self::master_write(address, bytes.len().min(255), Stop::Software, last_chunk_idx != 0);
Self::master_write(
address,
bytes.len().min(255),
Stop::Software,
last_chunk_idx != 0,
&check_timeout,
)?;
}
for (number, chunk) in bytes.chunks(255).enumerate() {
if number != 0 {
// NOTE(unsafe) We have &mut self
unsafe {
Self::master_continue(chunk.len(), number != last_chunk_idx);
Self::master_continue(chunk.len(), number != last_chunk_idx, &check_timeout)?;
}
}
@@ -374,7 +428,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
// Wait until we are allowed to send data
// (START has been ACKed or last byte when
// through)
self.wait_txe()?;
self.wait_txe(&check_timeout)?;
unsafe {
T::regs().txdr().write(|w| w.set_txdata(*byte));
@@ -382,7 +436,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
}
}
// Wait until the write finishes
self.wait_tc()?;
self.wait_tc(&check_timeout)?;
if send_stop {
self.master_stop();
@@ -396,6 +450,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
bytes: &[u8],
first_slice: bool,
last_slice: bool,
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error>
where
TXDMA: crate::i2c::TxDma<T>,
@@ -447,11 +502,12 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
total_len.min(255),
Stop::Software,
(total_chunks != 1) || !last_slice,
);
&check_timeout,
)?;
}
} else {
unsafe {
Self::master_continue(total_len.min(255), (total_chunks != 1) || !last_slice);
Self::master_continue(total_len.min(255), (total_chunks != 1) || !last_slice, &check_timeout)?;
T::regs().cr1().modify(|w| w.set_tcie(true));
}
}
@@ -461,32 +517,40 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
let chunks_transferred = state.chunks_transferred.load(Ordering::Relaxed);
if chunks_transferred == total_chunks {
return Poll::Ready(());
return Poll::Ready(Ok(()));
} else if chunks_transferred != 0 {
remaining_len = remaining_len.saturating_sub(255);
let last_piece = (chunks_transferred + 1 == total_chunks) && last_slice;
// NOTE(unsafe) self.tx_dma does not fiddle with the i2c registers
unsafe {
Self::master_continue(remaining_len.min(255), !last_piece);
if let Err(e) = Self::master_continue(remaining_len.min(255), !last_piece, &check_timeout) {
return Poll::Ready(Err(e));
}
T::regs().cr1().modify(|w| w.set_tcie(true));
}
}
Poll::Pending
})
.await;
.await?;
dma_transfer.await;
if last_slice {
// This should be done already
self.wait_tc()?;
self.wait_tc(&check_timeout)?;
self.master_stop();
}
Ok(())
}
async fn read_dma_internal(&mut self, address: u8, buffer: &mut [u8], restart: bool) -> Result<(), Error>
async fn read_dma_internal(
&mut self,
address: u8,
buffer: &mut [u8],
restart: bool,
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error>
where
RXDMA: crate::i2c::RxDma<T>,
{
@@ -527,7 +591,14 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
// NOTE(unsafe) self.rx_dma does not fiddle with the i2c registers
unsafe {
Self::master_read(address, total_len.min(255), Stop::Software, total_chunks != 1, restart);
Self::master_read(
address,
total_len.min(255),
Stop::Software,
total_chunks != 1,
restart,
&check_timeout,
)?;
}
poll_fn(|cx| {
@@ -535,25 +606,27 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
let chunks_transferred = state.chunks_transferred.load(Ordering::Relaxed);
if chunks_transferred == total_chunks {
return Poll::Ready(());
return Poll::Ready(Ok(()));
} else if chunks_transferred != 0 {
remaining_len = remaining_len.saturating_sub(255);
let last_piece = chunks_transferred + 1 == total_chunks;
// NOTE(unsafe) self.rx_dma does not fiddle with the i2c registers
unsafe {
Self::master_continue(remaining_len.min(255), !last_piece);
if let Err(e) = Self::master_continue(remaining_len.min(255), !last_piece, &check_timeout) {
return Poll::Ready(Err(e));
}
T::regs().cr1().modify(|w| w.set_tcie(true));
}
}
Poll::Pending
})
.await;
.await?;
dma_transfer.await;
// This should be done already
self.wait_tc()?;
self.wait_tc(&check_timeout)?;
self.master_stop();
Ok(())
}
@@ -566,9 +639,9 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
TXDMA: crate::i2c::TxDma<T>,
{
if bytes.is_empty() {
self.write_internal(address, bytes, true)
self.write_internal(address, bytes, true, || Ok(()))
} else {
self.write_dma_internal(address, bytes, true, true).await
self.write_dma_internal(address, bytes, true, true, || Ok(())).await
}
}
@@ -587,7 +660,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
let next = iter.next();
let is_last = next.is_none();
self.write_dma_internal(address, c, first, is_last).await?;
self.write_dma_internal(address, c, first, is_last, || Ok(())).await?;
first = false;
current = next;
}
@@ -599,9 +672,9 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
RXDMA: crate::i2c::RxDma<T>,
{
if buffer.is_empty() {
self.read_internal(address, buffer, false)
self.read_internal(address, buffer, false, || Ok(()))
} else {
self.read_dma_internal(address, buffer, false).await
self.read_dma_internal(address, buffer, false, || Ok(())).await
}
}
@@ -611,15 +684,15 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
RXDMA: super::RxDma<T>,
{
if bytes.is_empty() {
self.write_internal(address, bytes, false)?;
self.write_internal(address, bytes, false, || Ok(()))?;
} else {
self.write_dma_internal(address, bytes, true, true).await?;
self.write_dma_internal(address, bytes, true, true, || Ok(())).await?;
}
if buffer.is_empty() {
self.read_internal(address, buffer, true)?;
self.read_internal(address, buffer, true, || Ok(()))?;
} else {
self.read_dma_internal(address, buffer, true).await?;
self.read_dma_internal(address, buffer, true, || Ok(())).await?;
}
Ok(())
@@ -628,22 +701,55 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
// =========================
// Blocking public API
pub fn blocking_read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error> {
self.read_internal(address, buffer, false)
pub fn blocking_read_timeout(
&mut self,
address: u8,
buffer: &mut [u8],
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
self.read_internal(address, buffer, false, &check_timeout)
// Automatic Stop
}
pub fn blocking_read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error> {
self.blocking_read_timeout(address, buffer, || Ok(()))
}
pub fn blocking_write_timeout(
&mut self,
address: u8,
bytes: &[u8],
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
self.write_internal(address, bytes, true, &check_timeout)
}
pub fn blocking_write(&mut self, address: u8, bytes: &[u8]) -> Result<(), Error> {
self.write_internal(address, bytes, true)
self.blocking_write_timeout(address, bytes, || Ok(()))
}
pub fn blocking_write_read(&mut self, address: u8, bytes: &[u8], buffer: &mut [u8]) -> Result<(), Error> {
self.write_internal(address, bytes, false)?;
self.read_internal(address, buffer, true)
pub fn blocking_write_read_timeout(
&mut self,
address: u8,
bytes: &[u8],
buffer: &mut [u8],
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
self.write_internal(address, bytes, false, &check_timeout)?;
self.read_internal(address, buffer, true, &check_timeout)
// Automatic Stop
}
pub fn blocking_write_vectored(&mut self, address: u8, bytes: &[&[u8]]) -> Result<(), Error> {
pub fn blocking_write_read(&mut self, address: u8, bytes: &[u8], buffer: &mut [u8]) -> Result<(), Error> {
self.blocking_write_read_timeout(address, bytes, buffer, || Ok(()))
}
pub fn blocking_write_vectored_timeout(
&mut self,
address: u8,
bytes: &[&[u8]],
check_timeout: impl Fn() -> Result<(), Error>,
) -> Result<(), Error> {
if bytes.is_empty() {
return Err(Error::ZeroLengthTransfer);
}
@@ -657,7 +763,8 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
first_length.min(255),
Stop::Software,
(first_length > 255) || (last_slice_index != 0),
);
&check_timeout,
)?;
}
for (idx, slice) in bytes.iter().enumerate() {
@@ -673,7 +780,11 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
if idx != 0 {
// NOTE(unsafe) We have &mut self
unsafe {
Self::master_continue(slice_len.min(255), (idx != last_slice_index) || (slice_len > 255));
Self::master_continue(
slice_len.min(255),
(idx != last_slice_index) || (slice_len > 255),
&check_timeout,
)?;
}
}
@@ -681,7 +792,11 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
if number != 0 {
// NOTE(unsafe) We have &mut self
unsafe {
Self::master_continue(chunk.len(), (number != last_chunk_idx) || (idx != last_slice_index));
Self::master_continue(
chunk.len(),
(number != last_chunk_idx) || (idx != last_slice_index),
&check_timeout,
)?;
}
}
@@ -689,7 +804,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
// Wait until we are allowed to send data
// (START has been ACKed or last byte when
// through)
self.wait_txe()?;
self.wait_txe(&check_timeout)?;
// Put byte on the wire
//self.i2c.txdr.write(|w| w.txdata().bits(*byte));
@@ -700,11 +815,15 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
}
}
// Wait until the write finishes
self.wait_tc()?;
self.wait_tc(&check_timeout)?;
self.master_stop();
Ok(())
}
pub fn blocking_write_vectored(&mut self, address: u8, bytes: &[&[u8]]) -> Result<(), Error> {
self.blocking_write_vectored_timeout(address, bytes, || Ok(()))
}
}
mod eh02 {

2
embassy-stm32/src/lib.rs
View File

@@ -52,7 +52,7 @@ pub mod sdmmc;
pub mod spi;
#[cfg(usart)]
pub mod usart;
#[cfg(usb)]
#[cfg(all(usb, feature = "time"))]
pub mod usb;
#[cfg(any(otgfs, otghs))]
pub mod usb_otg;

12
embassy-stm32/src/sdmmc/mod.rs
View File

@@ -1534,14 +1534,14 @@ mod sdmmc_rs {
impl<'d, T: Instance, P: Pins<T>> BlockDevice for Sdmmc<'d, T, P> {
type Error = Error;
type ReadFuture<'a>
type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
type WriteFuture<'a>
Self: 'a;
type WriteFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
Self: 'a;
fn read<'a>(
&'a mut self,

1
embassy-stm32/src/subghz/timeout.rs
View File

@@ -439,6 +439,7 @@ impl From<Timeout> for [u8; 3] {
}
}
#[cfg(feature = "time")]
impl From<Timeout> for embassy_time::Duration {
fn from(to: Timeout) -> Self {
embassy_time::Duration::from_micros(to.as_micros().into())

1
embassy-stm32/src/subghz/tx_params.rs
View File

@@ -44,6 +44,7 @@ impl From<RampTime> for core::time::Duration {
}
}
#[cfg(feature = "time")]
impl From<RampTime> for embassy_time::Duration {
fn from(rt: RampTime) -> Self {
match rt {

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

@@ -292,19 +292,23 @@ impl Driver for RtcDriver {
})
}
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) {
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool {
critical_section::with(|cs| {
let r = T::regs_gp16();
let n = alarm.id() as _;
let n = alarm.id() as usize;
let alarm = self.get_alarm(cs, alarm);
alarm.timestamp.set(timestamp);
let t = self.now();
if timestamp <= t {
// If alarm timestamp has passed the alarm will not fire.
// Disarm the alarm and return `false` to indicate that.
unsafe { r.dier().modify(|w| w.set_ccie(n + 1, false)) };
self.trigger_alarm(n, cs);
return;
alarm.timestamp.set(u64::MAX);
return false;
}
let safe_timestamp = timestamp.max(t + 3);
@@ -317,6 +321,8 @@ impl Driver for RtcDriver {
let diff = timestamp - t;
// NOTE(unsafe) We're in a critical section
unsafe { r.dier().modify(|w| w.set_ccie(n + 1, diff < 0xc000)) };
true
})
}
}

50
embassy-stm32/src/usart/buffered.rs
View File

@@ -46,16 +46,44 @@ impl<'d, T: BasicInstance> Unpin for BufferedUart<'d, T> {}
impl<'d, T: BasicInstance> BufferedUart<'d, T> {
pub fn new(
state: &'d mut State<'d, T>,
_uart: Uart<'d, T, NoDma, NoDma>,
_peri: impl Peripheral<P = T> + 'd,
rx: impl Peripheral<P = impl RxPin<T>> + 'd,
tx: impl Peripheral<P = impl TxPin<T>> + 'd,
irq: impl Peripheral<P = T::Interrupt> + 'd,
tx_buffer: &'d mut [u8],
rx_buffer: &'d mut [u8],
config: Config,
) -> BufferedUart<'d, T> {
into_ref!(irq);
into_ref!(_peri, rx, tx, irq);
T::enable();
T::reset();
let r = T::regs();
configure(r, &config, T::frequency(), T::MULTIPLIER);
unsafe {
r.cr1().modify(|w| {
rx.set_as_af(rx.af_num(), AFType::Input);
tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
r.cr2().write(|_w| {});
r.cr3().write(|_w| {});
r.cr1().write(|w| {
w.set_ue(true);
w.set_te(true);
w.set_re(true);
w.set_m0(if config.parity != Parity::ParityNone {
vals::M0::BIT9
} else {
vals::M0::BIT8
});
w.set_pce(config.parity != Parity::ParityNone);
w.set_ps(match config.parity {
Parity::ParityOdd => vals::Ps::ODD,
Parity::ParityEven => vals::Ps::EVEN,
_ => vals::Ps::EVEN,
});
w.set_rxneie(true);
w.set_idleie(true);
});
@@ -283,7 +311,7 @@ impl<'u, 'd, T: BasicInstance> embedded_io::Io for BufferedUartTx<'u, 'd, T> {
}
impl<'d, T: BasicInstance> embedded_io::asynch::Read for BufferedUart<'d, T> {
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -293,7 +321,7 @@ impl<'d, T: BasicInstance> embedded_io::asynch::Read for BufferedUart<'d, T> {
}
impl<'u, 'd, T: BasicInstance> embedded_io::asynch::Read for BufferedUartRx<'u, 'd, T> {
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -303,7 +331,7 @@ impl<'u, 'd, T: BasicInstance> embedded_io::asynch::Read for BufferedUartRx<'u,
}
impl<'d, T: BasicInstance> embedded_io::asynch::BufRead for BufferedUart<'d, T> {
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>>
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>> + 'a
where
Self: 'a;
@@ -317,7 +345,7 @@ impl<'d, T: BasicInstance> embedded_io::asynch::BufRead for BufferedUart<'d, T>
}
impl<'u, 'd, T: BasicInstance> embedded_io::asynch::BufRead for BufferedUartRx<'u, 'd, T> {
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>>
type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>> + 'a
where
Self: 'a;
@@ -331,7 +359,7 @@ impl<'u, 'd, T: BasicInstance> embedded_io::asynch::BufRead for BufferedUartRx<'
}
impl<'d, T: BasicInstance> embedded_io::asynch::Write for BufferedUart<'d, T> {
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -339,7 +367,7 @@ impl<'d, T: BasicInstance> embedded_io::asynch::Write for BufferedUart<'d, T> {
self.inner_write(buf)
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a;
@@ -349,7 +377,7 @@ impl<'d, T: BasicInstance> embedded_io::asynch::Write for BufferedUart<'d, T> {
}
impl<'u, 'd, T: BasicInstance> embedded_io::asynch::Write for BufferedUartTx<'u, 'd, T> {
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -357,7 +385,7 @@ impl<'u, 'd, T: BasicInstance> embedded_io::asynch::Write for BufferedUartTx<'u,
self.inner.inner_write(buf)
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a;

429
embassy-stm32/src/usart/mod.rs
View File

@@ -1,7 +1,11 @@
#![macro_use]
use core::future::poll_fn;
use core::marker::PhantomData;
use core::task::Poll;
use atomic_polyfill::{compiler_fence, Ordering};
use embassy_cortex_m::interrupt::InterruptExt;
use embassy_hal_common::{into_ref, PeripheralRef};
use crate::dma::NoDma;
@@ -10,6 +14,7 @@ use crate::gpio::sealed::AFType;
use crate::pac::lpuart::{regs, vals, Lpuart as Regs};
#[cfg(not(any(lpuart_v1, lpuart_v2)))]
use crate::pac::usart::{regs, vals, Usart as Regs};
use crate::time::Hertz;
use crate::{peripherals, Peripheral};
#[derive(Clone, Copy, PartialEq, Eq, Debug)]
@@ -44,6 +49,10 @@ pub struct Config {
pub data_bits: DataBits,
pub stop_bits: StopBits,
pub parity: Parity,
/// if true, on read-like method, if there is a latent error pending,
/// read will abort, the error reported and cleared
/// if false, the error is ignored and cleared
pub detect_previous_overrun: bool,
}
impl Default for Config {
@@ -53,6 +62,8 @@ impl Default for Config {
data_bits: DataBits::DataBits8,
stop_bits: StopBits::STOP1,
parity: Parity::ParityNone,
// historical behavior
detect_previous_overrun: false,
}
}
}
@@ -70,10 +81,11 @@ pub enum Error {
Overrun,
/// Parity check error
Parity,
/// Buffer too large for DMA
BufferTooLong,
}
pub struct Uart<'d, T: BasicInstance, TxDma = NoDma, RxDma = NoDma> {
phantom: PhantomData<&'d mut T>,
tx: UartTx<'d, T, TxDma>,
rx: UartRx<'d, T, RxDma>,
}
@@ -84,8 +96,9 @@ pub struct UartTx<'d, T: BasicInstance, TxDma = NoDma> {
}
pub struct UartRx<'d, T: BasicInstance, RxDma = NoDma> {
phantom: PhantomData<&'d mut T>,
_peri: PeripheralRef<'d, T>,
rx_dma: PeripheralRef<'d, RxDma>,
detect_previous_overrun: bool,
}
impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
@@ -135,10 +148,112 @@ impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
}
impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
fn new(rx_dma: PeripheralRef<'d, RxDma>) -> Self {
/// usefull if you only want Uart Rx. It saves 1 pin and consumes a little less power
pub fn new(
peri: impl Peripheral<P = T> + 'd,
irq: impl Peripheral<P = T::Interrupt> + 'd,
rx: impl Peripheral<P = impl RxPin<T>> + 'd,
rx_dma: impl Peripheral<P = RxDma> + 'd,
config: Config,
) -> Self {
into_ref!(peri, irq, rx, rx_dma);
T::enable();
T::reset();
let r = T::regs();
configure(r, &config, T::frequency(), T::MULTIPLIER);
unsafe {
rx.set_as_af(rx.af_num(), AFType::Input);
r.cr2().write(|_w| {});
r.cr3().write(|w| {
// enable Error Interrupt: (Frame error, Noise error, Overrun error)
w.set_eie(true);
});
r.cr1().write(|w| {
// enable uart
w.set_ue(true);
// enable receiver
w.set_re(true);
// configure word size
w.set_m0(if config.parity != Parity::ParityNone {
vals::M0::BIT9
} else {
vals::M0::BIT8
});
// configure parity
w.set_pce(config.parity != Parity::ParityNone);
w.set_ps(match config.parity {
Parity::ParityOdd => vals::Ps::ODD,
Parity::ParityEven => vals::Ps::EVEN,
_ => vals::Ps::EVEN,
});
});
}
irq.set_handler(Self::on_interrupt);
irq.unpend();
irq.enable();
// create state once!
let _s = T::state();
Self {
_peri: peri,
rx_dma,
phantom: PhantomData,
detect_previous_overrun: config.detect_previous_overrun,
}
}
fn on_interrupt(_: *mut ()) {
let r = T::regs();
let s = T::state();
let (sr, cr1, cr3) = unsafe { (sr(r).read(), r.cr1().read(), r.cr3().read()) };
let has_errors = (sr.pe() && cr1.peie()) || ((sr.fe() || sr.ne() || sr.ore()) && cr3.eie());
if has_errors {
// clear all interrupts and DMA Rx Request
unsafe {
r.cr1().modify(|w| {
// disable RXNE interrupt
w.set_rxneie(false);
// disable parity interrupt
w.set_peie(false);
// disable idle line interrupt
w.set_idleie(false);
});
r.cr3().modify(|w| {
// disable Error Interrupt: (Frame error, Noise error, Overrun error)
w.set_eie(false);
// disable DMA Rx Request
w.set_dmar(false);
});
}
compiler_fence(Ordering::SeqCst);
s.rx_waker.wake();
} else if cr1.idleie() && sr.idle() {
// IDLE detected: no more data will come
unsafe {
r.cr1().modify(|w| {
// disable idle line detection
w.set_idleie(false);
});
r.cr3().modify(|w| {
// disable DMA Rx Request
w.set_dmar(false);
});
}
compiler_fence(Ordering::SeqCst);
s.rx_waker.wake();
}
}
@@ -146,17 +261,8 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
where
RxDma: crate::usart::RxDma<T>,
{
let ch = &mut self.rx_dma;
let request = ch.request();
unsafe {
T::regs().cr3().modify(|reg| {
reg.set_dmar(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.
let transfer = crate::dma::read(ch, request, rdr(T::regs()), buffer);
transfer.await;
self.inner_read(buffer, false).await?;
Ok(())
}
@@ -211,35 +317,259 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
}
Ok(())
}
pub async fn read_until_idle(&mut self, buffer: &mut [u8]) -> Result<usize, Error>
where
RxDma: crate::usart::RxDma<T>,
{
self.inner_read(buffer, true).await
}
async fn inner_read(&mut self, buffer: &mut [u8], enable_idle_line_detection: bool) -> Result<usize, Error>
where
RxDma: crate::usart::RxDma<T>,
{
if buffer.is_empty() {
return Ok(0);
} else if buffer.len() > 0xFFFF {
return Err(Error::BufferTooLong);
}
let r = T::regs();
let buffer_len = buffer.len();
let ch = &mut self.rx_dma;
let request = ch.request();
// SAFETY: The only way we might have a problem is using split rx and tx
// here we only modify or read Rx related flags, interrupts and DMA channel
unsafe {
// Start USART DMA
// will not do anything yet because DMAR is not yet set
ch.start_read(request, rdr(r), buffer, Default::default());
// clear ORE flag just before enabling DMA Rx Request: can be mandatory for the second transfer
if !self.detect_previous_overrun {
let sr = sr(r).read();
// This read also clears the error and idle interrupt flags on v1.
rdr(r).read_volatile();
clear_interrupt_flags(r, sr);
}
r.cr1().modify(|w| {
// disable RXNE interrupt
w.set_rxneie(false);
// enable parity interrupt if not ParityNone
w.set_peie(w.pce());
});
r.cr3().modify(|w| {
// enable Error Interrupt: (Frame error, Noise error, Overrun error)
w.set_eie(true);
// enable DMA Rx Request
w.set_dmar(true);
});
compiler_fence(Ordering::SeqCst);
// In case of errors already pending when reception started, interrupts may have already been raised
// and lead to reception abortion (Overrun error for instance). In such a case, all interrupts
// have been disabled in interrupt handler and DMA Rx Request has been disabled.
let cr3 = r.cr3().read();
if !cr3.dmar() {
// something went wrong
// because the only way to get this flag cleared is to have an interrupt
// abort DMA transfer
ch.request_stop();
while ch.is_running() {}
let sr = sr(r).read();
// This read also clears the error and idle interrupt flags on v1.
rdr(r).read_volatile();
clear_interrupt_flags(r, sr);
if sr.pe() {
return Err(Error::Parity);
}
if sr.fe() {
return Err(Error::Framing);
}
if sr.ne() {
return Err(Error::Noise);
}
if sr.ore() {
return Err(Error::Overrun);
}
unreachable!();
}
// clear idle flag
if enable_idle_line_detection {
let sr = sr(r).read();
// This read also clears the error and idle interrupt flags on v1.
rdr(r).read_volatile();
clear_interrupt_flags(r, sr);
// enable idle interrupt
r.cr1().modify(|w| {
w.set_idleie(true);
});
}
}
compiler_fence(Ordering::SeqCst);
let res = poll_fn(move |cx| {
let s = T::state();
ch.set_waker(cx.waker());
s.rx_waker.register(cx.waker());
// SAFETY: read only and we only use Rx related flags
let sr = unsafe { sr(r).read() };
// SAFETY: only clears Rx related flags
unsafe {
// This read also clears the error and idle interrupt flags on v1.
rdr(r).read_volatile();
clear_interrupt_flags(r, sr);
}
compiler_fence(Ordering::SeqCst);
let has_errors = sr.pe() || sr.fe() || sr.ne() || sr.ore();
if has_errors {
// all Rx interrupts and Rx DMA Request have already been cleared in interrupt handler
// stop dma transfer
ch.request_stop();
while ch.is_running() {}
if sr.pe() {
return Poll::Ready(Err(Error::Parity));
}
if sr.fe() {
return Poll::Ready(Err(Error::Framing));
}
if sr.ne() {
return Poll::Ready(Err(Error::Noise));
}
if sr.ore() {
return Poll::Ready(Err(Error::Overrun));
}
}
if sr.idle() {
// Idle line
// stop dma transfer
ch.request_stop();
while ch.is_running() {}
let n = buffer_len - (ch.remaining_transfers() as usize);
return Poll::Ready(Ok(n));
} else if !ch.is_running() {
// DMA complete
return Poll::Ready(Ok(buffer_len));
}
Poll::Pending
})
.await;
// clear all interrupts and DMA Rx Request
// SAFETY: only clears Rx related flags
unsafe {
r.cr1().modify(|w| {
// disable RXNE interrupt
w.set_rxneie(false);
// disable parity interrupt
w.set_peie(false);
// disable idle line interrupt
w.set_idleie(false);
});
r.cr3().modify(|w| {
// disable Error Interrupt: (Frame error, Noise error, Overrun error)
w.set_eie(false);
// disable DMA Rx Request
w.set_dmar(false);
});
}
res
}
}
impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
pub fn new(
_inner: impl Peripheral<P = T> + 'd,
peri: impl Peripheral<P = T> + 'd,
rx: impl Peripheral<P = impl RxPin<T>> + 'd,
tx: impl Peripheral<P = impl TxPin<T>> + 'd,
irq: impl Peripheral<P = T::Interrupt> + 'd,
tx_dma: impl Peripheral<P = TxDma> + 'd,
rx_dma: impl Peripheral<P = RxDma> + 'd,
config: Config,
) -> Self {
into_ref!(_inner, rx, tx, tx_dma, rx_dma);
T::enable();
T::reset();
Self::new_inner(peri, rx, tx, irq, tx_dma, rx_dma, config)
}
pub fn new_with_rtscts(
peri: impl Peripheral<P = T> + 'd,
rx: impl Peripheral<P = impl RxPin<T>> + 'd,
tx: impl Peripheral<P = impl TxPin<T>> + 'd,
irq: impl Peripheral<P = T::Interrupt> + 'd,
rts: impl Peripheral<P = impl RtsPin<T>> + 'd,
cts: impl Peripheral<P = impl CtsPin<T>> + 'd,
tx_dma: impl Peripheral<P = TxDma> + 'd,
rx_dma: impl Peripheral<P = RxDma> + 'd,
config: Config,
) -> Self {
into_ref!(cts, rts);
T::enable();
T::reset();
let pclk_freq = T::frequency();
// TODO: better calculation, including error checking and OVER8 if possible.
let div = (pclk_freq.0 + (config.baudrate / 2)) / config.baudrate * T::MULTIPLIER;
unsafe {
rts.set_as_af(rts.af_num(), AFType::OutputPushPull);
cts.set_as_af(cts.af_num(), AFType::Input);
T::regs().cr3().write(|w| {
w.set_rtse(true);
w.set_ctse(true);
});
}
Self::new_inner(peri, rx, tx, irq, tx_dma, rx_dma, config)
}
fn new_inner(
peri: impl Peripheral<P = T> + 'd,
rx: impl Peripheral<P = impl RxPin<T>> + 'd,
tx: impl Peripheral<P = impl TxPin<T>> + 'd,
irq: impl Peripheral<P = T::Interrupt> + 'd,
tx_dma: impl Peripheral<P = TxDma> + 'd,
rx_dma: impl Peripheral<P = RxDma> + 'd,
config: Config,
) -> Self {
into_ref!(peri, rx, tx, irq, tx_dma, rx_dma);
let r = T::regs();
configure(r, &config, T::frequency(), T::MULTIPLIER);
unsafe {
rx.set_as_af(rx.af_num(), AFType::Input);
tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
r.cr2().write(|_w| {});
r.cr3().write(|_w| {});
r.brr().write_value(regs::Brr(div));
r.cr1().write(|w| {
w.set_ue(true);
w.set_te(true);
@@ -258,10 +588,20 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
});
}
irq.set_handler(UartRx::<T, RxDma>::on_interrupt);
irq.unpend();
irq.enable();
// create state once!
let _s = T::state();
Self {
tx: UartTx::new(tx_dma),
rx: UartRx::new(rx_dma),
phantom: PhantomData {},
rx: UartRx {
_peri: peri,
rx_dma,
detect_previous_overrun: config.detect_previous_overrun,
},
}
}
@@ -295,6 +635,13 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
self.rx.blocking_read(buffer)
}
pub async fn read_until_idle(&mut self, buffer: &mut [u8]) -> Result<usize, Error>
where
RxDma: crate::usart::RxDma<T>,
{
self.rx.read_until_idle(buffer).await
}
/// Split the Uart into a transmitter and receiver, which is
/// particuarly useful when having two tasks correlating to
/// transmitting and receiving.
@@ -303,6 +650,15 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
}
}
fn configure(r: Regs, config: &Config, pclk_freq: Hertz, multiplier: u32) {
// TODO: better calculation, including error checking and OVER8 if possible.
let div = (pclk_freq.0 + (config.baudrate / 2)) / config.baudrate * multiplier;
unsafe {
r.brr().write_value(regs::Brr(div));
}
}
mod eh02 {
use super::*;
@@ -352,6 +708,7 @@ mod eh1 {
Self::Noise => embedded_hal_1::serial::ErrorKind::Noise,
Self::Overrun => embedded_hal_1::serial::ErrorKind::Overrun,
Self::Parity => embedded_hal_1::serial::ErrorKind::Parity,
Self::BufferTooLong => embedded_hal_1::serial::ErrorKind::Other,
}
}
}
@@ -536,13 +893,30 @@ unsafe fn clear_interrupt_flags(r: Regs, sr: regs::Isr) {
}
pub(crate) mod sealed {
use embassy_sync::waitqueue::AtomicWaker;
use super::*;
pub struct State {
pub rx_waker: AtomicWaker,
pub tx_waker: AtomicWaker,
}
impl State {
pub const fn new() -> Self {
Self {
rx_waker: AtomicWaker::new(),
tx_waker: AtomicWaker::new(),
}
}
}
pub trait BasicInstance: crate::rcc::RccPeripheral {
const MULTIPLIER: u32;
type Interrupt: crate::interrupt::Interrupt;
fn regs() -> Regs;
fn state() -> &'static State;
}
pub trait FullInstance: BasicInstance {
@@ -550,7 +924,7 @@ pub(crate) mod sealed {
}
}
pub trait BasicInstance: sealed::BasicInstance {}
pub trait BasicInstance: Peripheral<P = Self> + sealed::BasicInstance + 'static + Send {}
pub trait FullInstance: sealed::FullInstance {}
@@ -572,6 +946,11 @@ macro_rules! impl_lpuart {
fn regs() -> Regs {
Regs(crate::pac::$inst.0)
}
fn state() -> &'static crate::usart::sealed::State {
static STATE: crate::usart::sealed::State = crate::usart::sealed::State::new();
&STATE
}
}
impl BasicInstance for peripherals::$inst {}

5
embassy-sync/Cargo.toml
View File

@@ -19,6 +19,9 @@ src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-sync/
features = ["nightly"]
target = "thumbv7em-none-eabi"
[package.metadata.docs.rs]
features = ["nightly"]
[features]
nightly = ["embedded-io/async"]
std = []
@@ -32,7 +35,7 @@ atomic-polyfill = "1.0.1"
critical-section = "1.1"
heapless = "0.7.5"
cfg-if = "1.0.0"
embedded-io = "0.3.0"
embedded-io = "0.3.1"
[dev-dependencies]
futures-executor = { version = "0.3.17", features = [ "thread-pool" ] }

18
embassy-sync/src/pipe.rs
View File

@@ -361,7 +361,7 @@ mod io_impls {
}
impl<M: RawMutex, const N: usize> embedded_io::asynch::Read for Pipe<M, N> {
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -371,7 +371,7 @@ mod io_impls {
}
impl<M: RawMutex, const N: usize> embedded_io::asynch::Write for Pipe<M, N> {
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -379,7 +379,7 @@ mod io_impls {
Pipe::write(self, buf).map(Ok)
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a;
@@ -393,7 +393,7 @@ mod io_impls {
}
impl<M: RawMutex, const N: usize> embedded_io::asynch::Read for &Pipe<M, N> {
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -403,7 +403,7 @@ mod io_impls {
}
impl<M: RawMutex, const N: usize> embedded_io::asynch::Write for &Pipe<M, N> {
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -411,7 +411,7 @@ mod io_impls {
Pipe::write(self, buf).map(Ok)
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a;
@@ -425,7 +425,7 @@ mod io_impls {
}
impl<M: RawMutex, const N: usize> embedded_io::asynch::Read for Reader<'_, M, N> {
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -439,7 +439,7 @@ mod io_impls {
}
impl<M: RawMutex, const N: usize> embedded_io::asynch::Write for Writer<'_, M, N> {
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
where
Self: 'a;
@@ -447,7 +447,7 @@ mod io_impls {
Writer::write(self, buf).map(Ok)
}
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
where
Self: 'a;

39
embassy-time/Cargo.toml
View File

@@ -2,8 +2,16 @@
name = "embassy-time"
version = "0.1.0"
edition = "2021"
description = "Instant and Duration for embedded no-std systems, with async timer support"
repository = "https://github.com/embassy-rs/embassy"
readme = "README.md"
license = "MIT OR Apache-2.0"
categories = [
"embedded",
"no-std",
"concurrency",
"asynchronous",
]
[package.metadata.embassy_docs]
src_base = "https://github.com/embassy-rs/embassy/blob/embassy-time-v$VERSION/embassy-time/src/"
@@ -11,6 +19,9 @@ src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-time/
features = ["nightly", "defmt", "unstable-traits", "std"]
target = "x86_64-unknown-linux-gnu"
[package.metadata.docs.rs]
features = ["nightly", "defmt", "unstable-traits", "std"]
[features]
std = ["tick-hz-1_000_000"]
wasm = ["dep:wasm-bindgen", "dep:js-sys", "dep:wasm-timer", "tick-hz-1_000_000"]
@@ -26,6 +37,22 @@ unstable-traits = ["embedded-hal-1"]
# To use this you must have a time driver provided.
defmt-timestamp-uptime = ["defmt"]
# Create a global, generic queue that can be used with any executor
# To use this you must have a time driver provided.
generic-queue = []
# Set the number of timers for the generic queue.
#
# At most 1 `generic-queue-*` feature can be enabled. If none is enabled, a default of 64 timers is used.
#
# When using embassy-time from libraries, you should *not* enable any `generic-queue-*` feature, to allow the
# end user to pick.
generic-queue-8 = ["generic-queue"]
generic-queue-16 = ["generic-queue"]
generic-queue-32 = ["generic-queue"]
generic-queue-64 = ["generic-queue"]
generic-queue-128 = ["generic-queue"]
# Set the `embassy_time` tick rate.
#
# At most 1 `tick-*` feature can be enabled. If none is enabled, a default of 1MHz is used.
@@ -107,15 +134,21 @@ log = { version = "0.4.14", optional = true }
embedded-hal-02 = { package = "embedded-hal", version = "0.2.6" }
embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.9", optional = true}
embedded-hal-async = { version = "=0.1.0-alpha.2", optional = true}
embedded-hal-async = { version = "=0.1.0-alpha.3", optional = true}
futures-util = { version = "0.3.17", default-features = false }
embassy-macros = { version = "0.1.0", path = "../embassy-macros"}
embassy-sync = { version = "0.1", path = "../embassy-sync" }
atomic-polyfill = "1.0.1"
critical-section = "1.1"
cfg-if = "1.0.0"
heapless = "0.7"
# WASM dependencies
wasm-bindgen = { version = "0.2.81", optional = true }
js-sys = { version = "0.3", optional = true }
wasm-timer = { version = "0.2.5", optional = true }
[dev-dependencies]
serial_test = "0.9"
critical-section = { version = "1.1", features = ["std"] }

13
embassy-time/src/driver.rs
View File

@@ -105,20 +105,21 @@ pub trait Driver: Send + Sync + 'static {
/// Sets an alarm at the given timestamp. When the current timestamp reaches the alarm
/// timestamp, the provided callback function will be called.
///
/// If `timestamp` is already in the past, the alarm callback must be immediately fired.
/// In this case, it is allowed (but not mandatory) to call the alarm callback synchronously from `set_alarm`.
/// The `Driver` implementation should guarantee that the alarm callback is never called synchronously from `set_alarm`.
/// Rather - if `timestamp` is already in the past - `false` should be returned and alarm should not be set,
/// or alternatively, the driver should return `true` and arrange to call the alarm callback as soon as possible, but not synchronously.
///
/// When callback is called, it is guaranteed that now() will return a value greater or equal than timestamp.
///
/// Only one alarm can be active at a time for each AlarmHandle. This overwrites any previously-set alarm if any.
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64);
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool;
}
extern "Rust" {
fn _embassy_time_now() -> u64;
fn _embassy_time_allocate_alarm() -> Option<AlarmHandle>;
fn _embassy_time_set_alarm_callback(alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ());
fn _embassy_time_set_alarm(alarm: AlarmHandle, timestamp: u64);
fn _embassy_time_set_alarm(alarm: AlarmHandle, timestamp: u64) -> bool;
}
/// See [`Driver::now`]
@@ -139,7 +140,7 @@ pub fn set_alarm_callback(alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut (
}
/// See [`Driver::set_alarm`]
pub fn set_alarm(alarm: AlarmHandle, timestamp: u64) {
pub fn set_alarm(alarm: AlarmHandle, timestamp: u64) -> bool {
unsafe { _embassy_time_set_alarm(alarm, timestamp) }
}
@@ -167,7 +168,7 @@ macro_rules! time_driver_impl {
}
#[no_mangle]
fn _embassy_time_set_alarm(alarm: $crate::driver::AlarmHandle, timestamp: u64) {
fn _embassy_time_set_alarm(alarm: $crate::driver::AlarmHandle, timestamp: u64) -> bool {
<$t as $crate::driver::Driver>::set_alarm(&$name, alarm, timestamp)
}
};

4
embassy-time/src/driver_std.rs
View File

@@ -127,12 +127,14 @@ impl Driver for TimeDriver {
alarm.ctx = ctx;
}
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) {
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool {
self.init();
let mut alarms = unsafe { self.alarms.as_ref() }.lock().unwrap();
let alarm = &mut alarms[alarm.id() as usize];
alarm.timestamp = timestamp;
unsafe { self.signaler.as_ref() }.signal();
true
}
}

14
embassy-time/src/driver_wasm.rs
View File

@@ -90,15 +90,23 @@ impl Driver for TimeDriver {
}));
}
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) {
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool {
self.init();
let mut alarms = unsafe { self.alarms.as_ref() }.lock().unwrap();
let alarm = &mut alarms[alarm.id() as usize];
let timeout = (timestamp - self.now()) as u32;
if let Some(token) = alarm.token {
clearTimeout(token);
}
alarm.token = Some(setTimeout(alarm.closure.as_ref().unwrap(), timeout / 1000));
let now = self.now();
if timestamp <= now {
false
} else {
let timeout = (timestamp - now) as u32;
alarm.token = Some(setTimeout(alarm.closure.as_ref().unwrap(), timeout / 1000));
true
}
}
}

5
embassy-time/src/lib.rs
View File

@@ -1,4 +1,4 @@
#![cfg_attr(not(any(feature = "std", feature = "wasm")), no_std)]
#![cfg_attr(not(any(feature = "std", feature = "wasm", test)), no_std)]
#![cfg_attr(feature = "nightly", feature(type_alias_impl_trait))]
#![doc = include_str!("../README.md")]
#![allow(clippy::new_without_default)]
@@ -11,6 +11,7 @@ mod delay;
pub mod driver;
mod duration;
mod instant;
pub mod queue;
mod tick;
mod timer;
@@ -18,6 +19,8 @@ mod timer;
mod driver_std;
#[cfg(feature = "wasm")]
mod driver_wasm;
#[cfg(feature = "generic-queue")]
mod queue_generic;
pub use delay::{block_for, Delay};
pub use duration::Duration;

58
embassy-time/src/queue.rs Normal file
View File

@@ -0,0 +1,58 @@
//! Timer queue implementation
//!
//! This module defines the interface a timer queue needs to implement to power the `embassy_time` module.
//!
//! # Implementing a timer queue
//!
//! - Define a struct `MyTimerQueue`
//! - Implement [`TimerQueue`] for it
//! - Register it as the global timer queue with [`timer_queue_impl`](crate::timer_queue_impl).
//!
//! # Linkage details
//!
//! Check the documentation of the [`driver`](crate::driver) module for more information.
//!
//! Similarly to driver, if there is none or multiple timer queues in the crate tree, linking will fail.
//!
//! # Example
//!
//! ```
//! use core::task::Waker;
//!
//! use embassy_time::Instant;
//! use embassy_time::queue::{TimerQueue};
//!
//! struct MyTimerQueue{}; // not public!
//! embassy_time::timer_queue_impl!(static QUEUE: MyTimerQueue = MyTimerQueue{});
//!
//! impl TimerQueue for MyTimerQueue {
//! fn schedule_wake(&'static self, at: Instant, waker: &Waker) {
//! todo!()
//! }
//! }
//! ```
use core::task::Waker;
use crate::Instant;
/// Timer queue
pub trait TimerQueue {
/// Schedules a waker in the queue to be awoken at moment `at`.
/// If this moment is in the past, the waker might be awoken immediately.
fn schedule_wake(&'static self, at: Instant, waker: &Waker);
}
/// Set the TimerQueue implementation.
///
/// See the module documentation for an example.
#[macro_export]
macro_rules! timer_queue_impl {
(static $name:ident: $t: ty = $val:expr) => {
static $name: $t = $val;
#[no_mangle]
fn _embassy_time_schedule_wake(at: $crate::Instant, waker: &core::task::Waker) {
<$t as $crate::queue::TimerQueue>::schedule_wake(&$name, at, waker);
}
};
}

449
embassy-time/src/queue_generic.rs Normal file
View File

@@ -0,0 +1,449 @@
use core::cell::RefCell;
use core::cmp::{min, Ordering};
use core::task::Waker;
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::blocking_mutex::Mutex;
use heapless::Vec;
use crate::driver::{allocate_alarm, set_alarm, set_alarm_callback, AlarmHandle};
use crate::queue::TimerQueue;
use crate::Instant;
#[cfg(feature = "generic-queue-8")]
const QUEUE_SIZE: usize = 8;
#[cfg(feature = "generic-queue-16")]
const QUEUE_SIZE: usize = 16;
#[cfg(feature = "generic-queue-32")]
const QUEUE_SIZE: usize = 32;
#[cfg(feature = "generic-queue-64")]
const QUEUE_SIZE: usize = 32;
#[cfg(feature = "generic-queue-128")]
const QUEUE_SIZE: usize = 128;
#[cfg(not(any(
feature = "generic-queue-8",
feature = "generic-queue-16",
feature = "generic-queue-32",
feature = "generic-queue-64",
feature = "generic-queue-128"
)))]
const QUEUE_SIZE: usize = 64;
#[derive(Debug)]
struct Timer {
at: Instant,
waker: Waker,
}
impl PartialEq for Timer {
fn eq(&self, other: &Self) -> bool {
self.at == other.at
}
}
impl Eq for Timer {}
impl PartialOrd for Timer {
fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
self.at.partial_cmp(&other.at)
}
}
impl Ord for Timer {
fn cmp(&self, other: &Self) -> Ordering {
self.at.cmp(&other.at)
}
}
struct InnerQueue {
queue: Vec<Timer, QUEUE_SIZE>,
alarm: AlarmHandle,
}
impl InnerQueue {
fn schedule_wake(&mut self, at: Instant, waker: &Waker) {
self.queue
.iter_mut()
.find(|timer| timer.waker.will_wake(waker))
.map(|mut timer| {
timer.at = min(timer.at, at);
})
.unwrap_or_else(|| {
let mut timer = Timer {
waker: waker.clone(),
at,
};
loop {
match self.queue.push(timer) {
Ok(()) => break,
Err(e) => timer = e,
}
self.queue.pop().unwrap().waker.wake();
}
});
// Don't wait for the alarm callback to trigger and directly
// dispatch all timers that are already due
//
// Then update the alarm if necessary
self.dispatch();
}
fn dispatch(&mut self) {
loop {
let now = Instant::now();
let mut next_alarm = Instant::MAX;
let mut i = 0;
while i < self.queue.len() {
let timer = &self.queue[i];
if timer.at <= now {
let timer = self.queue.swap_remove(i);
timer.waker.wake();
} else {
next_alarm = min(next_alarm, timer.at);
i += 1;
}
}
if self.update_alarm(next_alarm) {
break;
}
}
}
fn update_alarm(&mut self, next_alarm: Instant) -> bool {
if next_alarm == Instant::MAX {
true
} else {
set_alarm(self.alarm, next_alarm.as_ticks())
}
}
fn handle_alarm(&mut self) {
self.dispatch();
}
}
struct Queue {
inner: Mutex<CriticalSectionRawMutex, RefCell<Option<InnerQueue>>>,
}
impl Queue {
const fn new() -> Self {
Self {
inner: Mutex::new(RefCell::new(None)),
}
}
fn schedule_wake(&'static self, at: Instant, waker: &Waker) {
self.inner.lock(|inner| {
let mut inner = inner.borrow_mut();
if inner.is_none() {}
inner
.get_or_insert_with(|| {
let handle = unsafe { allocate_alarm() }.unwrap();
set_alarm_callback(handle, Self::handle_alarm_callback, self as *const _ as _);
InnerQueue {
queue: Vec::new(),
alarm: handle,
}
})
.schedule_wake(at, waker)
});
}
fn handle_alarm(&self) {
self.inner
.lock(|inner| inner.borrow_mut().as_mut().unwrap().handle_alarm());
}
fn handle_alarm_callback(ctx: *mut ()) {
unsafe { (ctx as *const Self).as_ref().unwrap() }.handle_alarm();
}
}
impl TimerQueue for Queue {
fn schedule_wake(&'static self, at: Instant, waker: &Waker) {
Queue::schedule_wake(self, at, waker);
}
}
crate::timer_queue_impl!(static QUEUE: Queue = Queue::new());
#[cfg(test)]
mod tests {
use core::cell::Cell;
use core::task::{RawWaker, RawWakerVTable, Waker};
use std::rc::Rc;
use std::sync::Mutex;
use serial_test::serial;
use super::InnerQueue;
use crate::driver::{AlarmHandle, Driver};
use crate::queue_generic::QUEUE;
use crate::Instant;
struct InnerTestDriver {
now: u64,
alarm: u64,
callback: fn(*mut ()),
ctx: *mut (),
}
impl InnerTestDriver {
const fn new() -> Self {
Self {
now: 0,
alarm: u64::MAX,
callback: Self::noop,
ctx: core::ptr::null_mut(),
}
}
fn noop(_ctx: *mut ()) {}
}
unsafe impl Send for InnerTestDriver {}
struct TestDriver(Mutex<InnerTestDriver>);
impl TestDriver {
const fn new() -> Self {
Self(Mutex::new(InnerTestDriver::new()))
}
fn reset(&self) {
*self.0.lock().unwrap() = InnerTestDriver::new();
}
fn set_now(&self, now: u64) {
let notify = {
let mut inner = self.0.lock().unwrap();
if inner.now < now {
inner.now = now;
if inner.alarm <= now {
inner.alarm = u64::MAX;
Some((inner.callback, inner.ctx))
} else {
None
}
} else {
panic!("Going back in time?");
}
};
if let Some((callback, ctx)) = notify {
(callback)(ctx);
}
}
}
impl Driver for TestDriver {
fn now(&self) -> u64 {
self.0.lock().unwrap().now
}
unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
Some(AlarmHandle::new(0))
}
fn set_alarm_callback(&self, _alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
let mut inner = self.0.lock().unwrap();
inner.callback = callback;
inner.ctx = ctx;
}
fn set_alarm(&self, _alarm: AlarmHandle, timestamp: u64) -> bool {
let mut inner = self.0.lock().unwrap();
if timestamp <= inner.now {
false
} else {
inner.alarm = timestamp;
true
}
}
}
struct TestWaker {
pub awoken: Rc<Cell<bool>>,
pub waker: Waker,
}
impl TestWaker {
fn new() -> Self {
let flag = Rc::new(Cell::new(false));
const VTABLE: RawWakerVTable = RawWakerVTable::new(
|data: *const ()| {
unsafe {
Rc::increment_strong_count(data as *const Cell<bool>);
}
RawWaker::new(data as _, &VTABLE)
},
|data: *const ()| unsafe {
let data = data as *const Cell<bool>;
data.as_ref().unwrap().set(true);
Rc::decrement_strong_count(data);
},
|data: *const ()| unsafe {
(data as *const Cell<bool>).as_ref().unwrap().set(true);
},
|data: *const ()| unsafe {
Rc::decrement_strong_count(data);
},
);
let raw = RawWaker::new(Rc::into_raw(flag.clone()) as _, &VTABLE);
Self {
awoken: flag.clone(),
waker: unsafe { Waker::from_raw(raw) },
}
}
}
crate::time_driver_impl!(static DRIVER: TestDriver = TestDriver::new());
fn setup() {
DRIVER.reset();
QUEUE.inner.lock(|inner| {
*inner.borrow_mut() = InnerQueue::new();
});
}
fn queue_len() -> usize {
QUEUE.inner.lock(|inner| inner.borrow().queue.iter().count())
}
#[test]
#[serial]
fn test_schedule() {
setup();
assert_eq!(queue_len(), 0);
let waker = TestWaker::new();
QUEUE.schedule_wake(Instant::from_secs(1), &waker.waker);
assert!(!waker.awoken.get());
assert_eq!(queue_len(), 1);
}
#[test]
#[serial]
fn test_schedule_same() {
setup();
let waker = TestWaker::new();
QUEUE.schedule_wake(Instant::from_secs(1), &waker.waker);
assert_eq!(queue_len(), 1);
QUEUE.schedule_wake(Instant::from_secs(1), &waker.waker);
assert_eq!(queue_len(), 1);
QUEUE.schedule_wake(Instant::from_secs(100), &waker.waker);
assert_eq!(queue_len(), 1);
let waker2 = TestWaker::new();
QUEUE.schedule_wake(Instant::from_secs(100), &waker2.waker);
assert_eq!(queue_len(), 2);
}
#[test]
#[serial]
fn test_trigger() {
setup();
let waker = TestWaker::new();
QUEUE.schedule_wake(Instant::from_secs(100), &waker.waker);
assert!(!waker.awoken.get());
DRIVER.set_now(Instant::from_secs(99).as_ticks());
assert!(!waker.awoken.get());
assert_eq!(queue_len(), 1);
DRIVER.set_now(Instant::from_secs(100).as_ticks());
assert!(waker.awoken.get());
assert_eq!(queue_len(), 0);
}
#[test]
#[serial]
fn test_immediate_trigger() {
setup();
let waker = TestWaker::new();
QUEUE.schedule_wake(Instant::from_secs(100), &waker.waker);
DRIVER.set_now(Instant::from_secs(50).as_ticks());
let waker2 = TestWaker::new();
QUEUE.schedule_wake(Instant::from_secs(40), &waker2.waker);
assert!(!waker.awoken.get());
assert!(waker2.awoken.get());
assert_eq!(queue_len(), 1);
}
#[test]
#[serial]
fn test_queue_overflow() {
setup();
for i in 1..super::QUEUE_SIZE {
let waker = TestWaker::new();
QUEUE.schedule_wake(Instant::from_secs(310), &waker.waker);
assert_eq!(queue_len(), i);
assert!(!waker.awoken.get());
}
let first_waker = TestWaker::new();
QUEUE.schedule_wake(Instant::from_secs(300), &first_waker.waker);
assert_eq!(queue_len(), super::QUEUE_SIZE);
assert!(!first_waker.awoken.get());
let second_waker = TestWaker::new();
QUEUE.schedule_wake(Instant::from_secs(305), &second_waker.waker);
assert_eq!(queue_len(), super::QUEUE_SIZE);
assert!(first_waker.awoken.get());
QUEUE.schedule_wake(Instant::from_secs(320), &TestWaker::new().waker);
assert_eq!(queue_len(), super::QUEUE_SIZE);
assert!(second_waker.awoken.get());
}
}

2
examples/nrf/Cargo.toml
View File

@@ -17,7 +17,7 @@ embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["de
embassy-nrf = { version = "0.1.0", path = "../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac"] }
embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "pool-16"], optional = true }
embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"], optional = true }
embedded-io = "0.3.0"
embedded-io = "0.3.1"
embassy-lora = { version = "0.1.0", path = "../../embassy-lora", features = ["sx126x", "time", "defmt"], optional = true }
lorawan-device = { version = "0.8.0", default-features = false, features = ["async"], optional = true }

4
examples/rp/Cargo.toml
View File

@@ -28,8 +28,8 @@ display-interface = "0.4.1"
byte-slice-cast = { version = "1.2.0", default-features = false }
embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.9" }
embedded-hal-async = { version = "0.1.0-alpha.1" }
embedded-io = { version = "0.3.0", features = ["async", "defmt"] }
embedded-hal-async = { version = "0.1.0-alpha.3" }
embedded-io = { version = "0.3.1", features = ["async", "defmt"] }
embedded-storage = { version = "0.3" }
static_cell = "1.0.0"

2
examples/std/Cargo.toml
View File

@@ -9,7 +9,7 @@ embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = ["lo
embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["log", "std", "nightly", "integrated-timers"] }
embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["log", "std", "nightly"] }
embassy-net = { version = "0.1.0", path = "../../embassy-net", features=[ "std", "nightly", "log", "medium-ethernet", "tcp", "udp", "dhcpv4", "pool-16"] }
embedded-io = { version = "0.3.0", features = ["async", "std", "futures"] }
embedded-io = { version = "0.3.1", features = ["async", "std", "futures"] }
critical-section = { version = "1.1", features = ["std"] }
async-io = "1.6.0"

14
examples/stm32f1/src/bin/adc.rs
View File

@@ -16,11 +16,19 @@ async fn main(_spawner: Spawner) {
let mut adc = Adc::new(p.ADC1, &mut Delay);
let mut pin = p.PB1;
let mut vref = adc.enable_vref(&mut Delay);
adc.calibrate(&mut vref);
let mut vrefint = adc.enable_vref(&mut Delay);
let vrefint_sample = adc.read(&mut vrefint);
let convert_to_millivolts = |sample| {
// From http://www.st.com/resource/en/datasheet/CD00161566.pdf
// 5.3.4 Embedded reference voltage
const VREFINT_MV: u32 = 1200; // mV
(u32::from(sample) * VREFINT_MV / u32::from(vrefint_sample)) as u16
};
loop {
let v = adc.read(&mut pin);
info!("--> {} - {} mV", v, adc.to_millivolts(v));
info!("--> {} - {} mV", v, convert_to_millivolts(v));
Timer::after(Duration::from_millis(100)).await;
}
}

4
examples/stm32f3/src/bin/usart_dma.rs
View File

@@ -7,6 +7,7 @@ use core::fmt::Write;
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::dma::NoDma;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{Config, Uart};
use heapless::String;
use {defmt_rtt as _, panic_probe as _};
@@ -17,7 +18,8 @@ async fn main(_spawner: Spawner) {
info!("Hello World!");
let config = Config::default();
let mut usart = Uart::new(p.USART1, p.PE1, p.PE0, p.DMA1_CH4, NoDma, config);
let irq = interrupt::take!(USART1);
let mut usart = Uart::new(p.USART1, p.PE1, p.PE0, irq, p.DMA1_CH4, NoDma, config);
for n in 0u32.. {
let mut s: String<128> = String::new();

2
examples/stm32f4/Cargo.toml
View File

@@ -17,7 +17,7 @@ defmt-rtt = "0.3"
cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7.0"
embedded-hal = "0.2.6"
embedded-io = "0.3.0"
embedded-io = "0.3.1"
panic-probe = { version = "0.3", features = ["print-defmt"] }
futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
heapless = { version = "0.7.5", default-features = false }

31
examples/stm32f4/src/bin/adc.rs
View File

@@ -24,19 +24,44 @@ async fn main(_spawner: Spawner) {
// Startup delay can be combined to the maximum of either
delay.delay_us(Temperature::start_time_us().max(VrefInt::start_time_us()));
let vrefint_sample = adc.read_internal(&mut vrefint);
let convert_to_millivolts = |sample| {
// From http://www.st.com/resource/en/datasheet/DM00071990.pdf
// 6.3.24 Reference voltage
const VREFINT_MV: u32 = 1210; // mV
(u32::from(sample) * VREFINT_MV / u32::from(vrefint_sample)) as u16
};
let convert_to_celcius = |sample| {
// From http://www.st.com/resource/en/datasheet/DM00071990.pdf
// 6.3.22 Temperature sensor characteristics
const V25: i32 = 760; // mV
const AVG_SLOPE: f32 = 2.5; // mV/C
let sample_mv = convert_to_millivolts(sample) as i32;
(sample_mv - V25) as f32 / AVG_SLOPE + 25.0
};
info!("VrefInt: {}", vrefint_sample);
const MAX_ADC_SAMPLE: u16 = (1 << 12) - 1;
info!("VCCA: {} mV", convert_to_millivolts(MAX_ADC_SAMPLE));
loop {
// Read pin
let v = adc.read(&mut pin);
info!("PC1: {} ({} mV)", v, adc.to_millivolts(v));
info!("PC1: {} ({} mV)", v, convert_to_millivolts(v));
// Read internal temperature
let v = adc.read_internal(&mut temp);
let celcius = Temperature::to_celcius(adc.to_millivolts(v));
let celcius = convert_to_celcius(v);
info!("Internal temp: {} ({} C)", v, celcius);
// Read internal voltage reference
let v = adc.read_internal(&mut vrefint);
info!("VrefInt: {} ({} mV)", v, adc.to_millivolts(v));
info!("VrefInt: {}", v);
Timer::after(Duration::from_millis(100)).await;
}

45
examples/stm32f4/src/bin/i2c.rs Normal file
View File

@@ -0,0 +1,45 @@
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::dma::NoDma;
use embassy_stm32::i2c::{Error, I2c, TimeoutI2c};
use embassy_stm32::interrupt;
use embassy_stm32::time::Hertz;
use embassy_time::Duration;
use {defmt_rtt as _, panic_probe as _};
const ADDRESS: u8 = 0x5F;
const WHOAMI: u8 = 0x0F;
#[embassy_executor::main]
async fn main(_spawner: Spawner) -> ! {
info!("Hello world!");
let p = embassy_stm32::init(Default::default());
let irq = interrupt::take!(I2C2_EV);
let mut i2c = I2c::new(
p.I2C2,
p.PB10,
p.PB11,
irq,
NoDma,
NoDma,
Hertz(100_000),
Default::default(),
);
// I2C bus can freeze if SCL line is shorted or due to a broken device that clock stretches for too long.
// TimeoutI2c allows recovering from such errors by throwing `Error::Timeout` after a given delay.
let mut timeout_i2c = TimeoutI2c::new(&mut i2c, Duration::from_millis(1000));
let mut data = [0u8; 1];
match timeout_i2c.blocking_write_read(ADDRESS, &[WHOAMI], &mut data) {
Ok(()) => info!("Whoami: {}", data[0]),
Err(Error::Timeout) => error!("Operation timed out"),
Err(e) => error!("I2c Error: {:?}", e),
}
}

4
examples/stm32f4/src/bin/usart.rs
View File

@@ -5,6 +5,7 @@
use cortex_m_rt::entry;
use defmt::*;
use embassy_stm32::dma::NoDma;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{Config, Uart};
use {defmt_rtt as _, panic_probe as _};
@@ -15,7 +16,8 @@ fn main() -> ! {
let p = embassy_stm32::init(Default::default());
let config = Config::default();
let mut usart = Uart::new(p.USART3, p.PD9, p.PD8, NoDma, NoDma, config);
let irq = interrupt::take!(USART3);
let mut usart = Uart::new(p.USART3, p.PD9, p.PD8, irq, NoDma, NoDma, config);
unwrap!(usart.blocking_write(b"Hello Embassy World!\r\n"));
info!("wrote Hello, starting echo");

15
examples/stm32f4/src/bin/usart_buffered.rs
View File

@@ -4,9 +4,8 @@
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::dma::NoDma;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{BufferedUart, Config, State, Uart};
use embassy_stm32::usart::{BufferedUart, Config, State};
use embedded_io::asynch::BufRead;
use {defmt_rtt as _, panic_probe as _};
@@ -16,13 +15,21 @@ async fn main(_spawner: Spawner) {
info!("Hello World!");
let config = Config::default();
let usart = Uart::new(p.USART3, p.PD9, p.PD8, NoDma, NoDma, config);
let mut state = State::new();
let irq = interrupt::take!(USART3);
let mut tx_buf = [0u8; 32];
let mut rx_buf = [0u8; 32];
let mut buf_usart = BufferedUart::new(&mut state, usart, irq, &mut tx_buf, &mut rx_buf);
let mut buf_usart = BufferedUart::new(
&mut state,
p.USART3,
p.PD9,
p.PD8,
irq,
&mut tx_buf,
&mut rx_buf,
config,
);
loop {
let buf = buf_usart.fill_buf().await.unwrap();

4
examples/stm32f4/src/bin/usart_dma.rs
View File

@@ -7,6 +7,7 @@ use core::fmt::Write;
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::dma::NoDma;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{Config, Uart};
use heapless::String;
use {defmt_rtt as _, panic_probe as _};
@@ -17,7 +18,8 @@ async fn main(_spawner: Spawner) {
info!("Hello World!");
let config = Config::default();
let mut usart = Uart::new(p.USART3, p.PD9, p.PD8, p.DMA1_CH3, NoDma, config);
let irq = interrupt::take!(USART3);
let mut usart = Uart::new(p.USART3, p.PD9, p.PD8, irq, p.DMA1_CH3, NoDma, config);
for n in 0u32.. {
let mut s: String<128> = String::new();

2
examples/stm32f7/Cargo.toml
View File

@@ -10,7 +10,7 @@ embassy-executor = { version = "0.1.0", path = "../../embassy-executor", feature
embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "net", "stm32f767zi", "unstable-pac", "time-driver-any", "exti"] }
embassy-net = { path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet", "pool-16"] }
embedded-io = { version = "0.3.0", features = ["async"] }
embedded-io = { version = "0.3.1", features = ["async"] }
defmt = "0.3"
defmt-rtt = "0.3"

12
examples/stm32f7/src/bin/adc.rs
View File

@@ -16,9 +16,19 @@ async fn main(_spawner: Spawner) {
let mut adc = Adc::new(p.ADC1, &mut Delay);
let mut pin = p.PA3;
let mut vrefint = adc.enable_vrefint();
let vrefint_sample = adc.read_internal(&mut vrefint);
let convert_to_millivolts = |sample| {
// From http://www.st.com/resource/en/datasheet/DM00273119.pdf
// 6.3.27 Reference voltage
const VREFINT_MV: u32 = 1210; // mV
(u32::from(sample) * VREFINT_MV / u32::from(vrefint_sample)) as u16
};
loop {
let v = adc.read(&mut pin);
info!("--> {} - {} mV", v, adc.to_millivolts(v));
info!("--> {} - {} mV", v, convert_to_millivolts(v));
Timer::after(Duration::from_millis(100)).await;
}
}

4
examples/stm32f7/src/bin/usart_dma.rs
View File

@@ -7,6 +7,7 @@ use core::fmt::Write;
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::dma::NoDma;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{Config, Uart};
use heapless::String;
use {defmt_rtt as _, panic_probe as _};
@@ -15,7 +16,8 @@ use {defmt_rtt as _, panic_probe as _};
async fn main(_spawner: Spawner) {
let p = embassy_stm32::init(Default::default());
let config = Config::default();
let mut usart = Uart::new(p.UART7, p.PA8, p.PA15, p.DMA1_CH1, NoDma, config);
let irq = interrupt::take!(UART7);
let mut usart = Uart::new(p.UART7, p.PA8, p.PA15, irq, p.DMA1_CH1, NoDma, config);
for n in 0u32.. {
let mut s: String<128> = String::new();

4
examples/stm32h7/Cargo.toml
View File

@@ -10,7 +10,7 @@ embassy-executor = { version = "0.1.0", path = "../../embassy-executor", feature
embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "unstable-traits", "tick-hz-32_768"] }
embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32h743bi", "net", "time-driver-any", "exti", "unstable-pac", "unstable-traits"] }
embassy-net = { path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet", "pool-16", "unstable-traits"] }
embedded-io = { version = "0.3.0", features = ["async"] }
embedded-io = { version = "0.3.1", features = ["async"] }
defmt = "0.3"
defmt-rtt = "0.3"
@@ -19,7 +19,7 @@ cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7.0"
embedded-hal = "0.2.6"
embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.9" }
embedded-hal-async = { version = "=0.1.0-alpha.2" }
embedded-hal-async = { version = "=0.1.0-alpha.3" }
embedded-nal-async = "0.2.0"
panic-probe = { version = "0.3", features = ["print-defmt"] }
futures = { version = "0.3.17", default-features = false, features = ["async-await"] }

44
examples/stm32h7/src/bin/i2c.rs Normal file
View File

@@ -0,0 +1,44 @@
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::i2c::{Error, I2c, TimeoutI2c};
use embassy_stm32::interrupt;
use embassy_stm32::time::Hertz;
use embassy_time::Duration;
use {defmt_rtt as _, panic_probe as _};
const ADDRESS: u8 = 0x5F;
const WHOAMI: u8 = 0x0F;
#[embassy_executor::main]
async fn main(_spawner: Spawner) -> ! {
info!("Hello world!");
let p = embassy_stm32::init(Default::default());
let irq = interrupt::take!(I2C2_EV);
let mut i2c = I2c::new(
p.I2C2,
p.PB10,
p.PB11,
irq,
p.DMA1_CH4,
p.DMA1_CH5,
Hertz(100_000),
Default::default(),
);
// I2C bus can freeze if SCL line is shorted or due to a broken device that clock stretches for too long.
// TimeoutI2c allows recovering from such errors by throwing `Error::Timeout` after a given delay.
let mut timeout_i2c = TimeoutI2c::new(&mut i2c, Duration::from_millis(1000));
let mut data = [0u8; 1];
match timeout_i2c.blocking_write_read(ADDRESS, &[WHOAMI], &mut data) {
Ok(()) => info!("Whoami: {}", data[0]),
Err(Error::Timeout) => error!("Operation timed out"),
Err(e) => error!("I2c Error: {:?}", e),
}
}

4
examples/stm32h7/src/bin/usart.rs
View File

@@ -6,6 +6,7 @@ use cortex_m_rt::entry;
use defmt::*;
use embassy_executor::Executor;
use embassy_stm32::dma::NoDma;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{Config, Uart};
use static_cell::StaticCell;
use {defmt_rtt as _, panic_probe as _};
@@ -15,7 +16,8 @@ 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, NoDma, NoDma, config);
let irq = interrupt::take!(UART7);
let mut usart = Uart::new(p.UART7, p.PF6, p.PF7, irq, NoDma, NoDma, config);
unwrap!(usart.blocking_write(b"Hello Embassy World!\r\n"));
info!("wrote Hello, starting echo");

4
examples/stm32h7/src/bin/usart_dma.rs
View File

@@ -8,6 +8,7 @@ use cortex_m_rt::entry;
use defmt::*;
use embassy_executor::Executor;
use embassy_stm32::dma::NoDma;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{Config, Uart};
use heapless::String;
use static_cell::StaticCell;
@@ -18,7 +19,8 @@ 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);
let irq = interrupt::take!(UART7);
let mut usart = Uart::new(p.UART7, p.PF6, p.PF7, irq, p.DMA1_CH0, NoDma, config);
for n in 0u32.. {
let mut s: String<128> = String::new();

4
examples/stm32h7/src/bin/usart_split.rs
View File

@@ -5,6 +5,7 @@
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::dma::NoDma;
use embassy_stm32::interrupt;
use embassy_stm32::peripherals::{DMA1_CH1, UART7};
use embassy_stm32::usart::{Config, Uart, UartRx};
use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
@@ -31,7 +32,8 @@ async fn main(spawner: Spawner) -> ! {
info!("Hello World!");
let config = Config::default();
let mut usart = Uart::new(p.UART7, p.PF6, p.PF7, p.DMA1_CH0, p.DMA1_CH1, config);
let irq = interrupt::take!(UART7);
let mut usart = Uart::new(p.UART7, p.PF6, p.PF7, irq, p.DMA1_CH0, p.DMA1_CH1, config);
unwrap!(usart.blocking_write(b"Type 8 chars to echo!\r\n"));
let (mut tx, rx) = usart.split();

2
examples/stm32l0/Cargo.toml
View File

@@ -22,7 +22,7 @@ defmt = "0.3"
defmt-rtt = "0.3"
embedded-storage = "0.3.0"
embedded-io = "0.3.0"
embedded-io = "0.3.1"
cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7.0"

4
examples/stm32l0/src/bin/usart_dma.rs
View File

@@ -4,13 +4,15 @@
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{Config, Uart};
use {defmt_rtt as _, panic_probe as _};
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
let p = embassy_stm32::init(Default::default());
let mut usart = Uart::new(p.USART1, p.PB7, p.PB6, p.DMA1_CH2, p.DMA1_CH3, Config::default());
let irq = interrupt::take!(USART1);
let mut usart = Uart::new(p.USART1, p.PB7, p.PB6, irq, p.DMA1_CH2, p.DMA1_CH3, Config::default());
usart.write(b"Hello Embassy World!\r\n").await.unwrap();
info!("wrote Hello, starting echo");

12
examples/stm32l0/src/bin/usart_irq.rs
View File

@@ -4,9 +4,8 @@
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::dma::NoDma;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{BufferedUart, Config, State, Uart};
use embassy_stm32::usart::{BufferedUart, Config, State};
use embedded_io::asynch::{Read, Write};
use {defmt_rtt as _, panic_probe as _};
@@ -21,15 +20,18 @@ async fn main(_spawner: Spawner) {
let mut config = Config::default();
config.baudrate = 9600;
let usart = Uart::new(p.USART2, p.PA3, p.PA2, NoDma, NoDma, config);
let mut state = State::new();
let irq = interrupt::take!(USART2);
let mut usart = unsafe {
BufferedUart::new(
&mut state,
usart,
interrupt::take!(USART2),
p.USART2,
p.PA3,
p.PA2,
irq,
&mut TX_BUFFER,
&mut RX_BUFFER,
config,
)
};

2
examples/stm32l4/Cargo.toml
View File

@@ -20,7 +20,7 @@ cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7.0"
embedded-hal = "0.2.6"
embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.9" }
embedded-hal-async = { version = "=0.1.0-alpha.2" }
embedded-hal-async = { version = "=0.1.0-alpha.3" }
panic-probe = { version = "0.3", features = ["print-defmt"] }
futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
heapless = { version = "0.7.5", default-features = false }

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

@@ -4,6 +4,7 @@
use defmt::*;
use embassy_stm32::dma::NoDma;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{Config, Uart};
use {defmt_rtt as _, panic_probe as _};
@@ -14,7 +15,8 @@ fn main() -> ! {
let p = embassy_stm32::init(Default::default());
let config = Config::default();
let mut usart = Uart::new(p.UART4, p.PA1, p.PA0, NoDma, NoDma, config);
let irq = interrupt::take!(UART4);
let mut usart = Uart::new(p.UART4, p.PA1, p.PA0, irq, NoDma, NoDma, config);
unwrap!(usart.blocking_write(b"Hello Embassy World!\r\n"));
info!("wrote Hello, starting echo");

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

@@ -7,6 +7,7 @@ use core::fmt::Write;
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::dma::NoDma;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{Config, Uart};
use heapless::String;
use {defmt_rtt as _, panic_probe as _};
@@ -17,7 +18,8 @@ async fn main(_spawner: Spawner) {
info!("Hello World!");
let config = Config::default();
let mut usart = Uart::new(p.UART4, p.PA1, p.PA0, p.DMA1_CH3, NoDma, config);
let irq = interrupt::take!(UART4);
let mut usart = Uart::new(p.UART4, p.PA1, p.PA0, irq, p.DMA1_CH3, NoDma, config);
for n in 0u32.. {
let mut s: String<128> = String::new();

2
examples/stm32l5/Cargo.toml
View File

@@ -26,5 +26,5 @@ embedded-hal = "0.2.6"
futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
heapless = { version = "0.7.5", default-features = false }
rand_core = { version = "0.6.3", default-features = false }
embedded-io = { version = "0.3.0", features = ["async"] }
embedded-io = { version = "0.3.1", features = ["async"] }
static_cell = "1.0"

2
rust-toolchain.toml
View File

@@ -1,7 +1,7 @@
# Before upgrading check that everything is available on all tier1 targets here:
# https://rust-lang.github.io/rustup-components-history
[toolchain]
channel = "nightly-2022-09-22"
channel = "nightly-2022-10-25"
components = [ "rust-src", "rustfmt" ]
targets = [
"thumbv7em-none-eabi",

4
tests/rp/Cargo.toml
View File

@@ -18,10 +18,10 @@ cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7.0"
embedded-hal = "0.2.6"
embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.9" }
embedded-hal-async = { version = "=0.1.0-alpha.2" }
embedded-hal-async = { version = "=0.1.0-alpha.3" }
panic-probe = { version = "0.3.0", features = ["print-defmt"] }
futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
embedded-io = { version = "0.3.0", features = ["async"] }
embedded-io = { version = "0.3.1", features = ["async"] }
embedded-storage = { version = "0.3" }
[profile.dev]

2
tests/stm32/Cargo.toml
View File

@@ -26,7 +26,7 @@ cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7.0"
embedded-hal = "0.2.6"
embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.9" }
embedded-hal-async = { version = "=0.1.0-alpha.2" }
embedded-hal-async = { version = "=0.1.0-alpha.3" }
panic-probe = { version = "0.3.0", features = ["print-defmt"] }
[profile.dev]

17
tests/stm32/src/bin/usart.rs
View File

@@ -7,6 +7,7 @@ mod example_common;
use defmt::assert_eq;
use embassy_executor::Spawner;
use embassy_stm32::dma::NoDma;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{Config, Uart};
use example_common::*;
@@ -18,22 +19,22 @@ async fn main(_spawner: Spawner) {
// Arduino pins D0 and D1
// They're connected together with a 1K resistor.
#[cfg(feature = "stm32f103c8")]
let (tx, rx, usart) = (p.PA9, p.PA10, p.USART1);
let (tx, rx, usart, irq) = (p.PA9, p.PA10, p.USART1, interrupt::take!(USART1));
#[cfg(feature = "stm32g491re")]
let (tx, rx, usart) = (p.PC4, p.PC5, p.USART1);
let (tx, rx, usart, irq) = (p.PC4, p.PC5, p.USART1, interrupt::take!(USART1));
#[cfg(feature = "stm32g071rb")]
let (tx, rx, usart) = (p.PC4, p.PC5, p.USART1);
let (tx, rx, usart, irq) = (p.PC4, p.PC5, p.USART1, interrupt::take!(USART1));
#[cfg(feature = "stm32f429zi")]
let (tx, rx, usart) = (p.PG14, p.PG9, p.USART6);
let (tx, rx, usart, irq) = (p.PG14, p.PG9, p.USART6, interrupt::take!(USART6));
#[cfg(feature = "stm32wb55rg")]
let (tx, rx, usart) = (p.PA2, p.PA3, p.LPUART1);
let (tx, rx, usart, irq) = (p.PA2, p.PA3, p.LPUART1, interrupt::take!(LPUART1));
#[cfg(feature = "stm32h755zi")]
let (tx, rx, usart) = (p.PB6, p.PB7, p.USART1);
let (tx, rx, usart, irq) = (p.PB6, p.PB7, p.USART1, interrupt::take!(USART1));
#[cfg(feature = "stm32u585ai")]
let (tx, rx, usart) = (p.PD8, p.PD9, p.USART3);
let (tx, rx, usart, irq) = (p.PD8, p.PD9, p.USART3, interrupt::take!(USART3));
let config = Config::default();
let mut usart = Uart::new(usart, rx, tx, NoDma, NoDma, config);
let mut usart = Uart::new(usart, rx, tx, irq, NoDma, NoDma, config);
// We can't send too many bytes, they have to fit in the FIFO.
// This is because we aren't sending+receiving at the same time.

48
tests/stm32/src/bin/usart_dma.rs
View File

@@ -6,6 +6,7 @@
mod example_common;
use defmt::assert_eq;
use embassy_executor::Spawner;
use embassy_stm32::interrupt;
use embassy_stm32::usart::{Config, Uart};
use example_common::*;
@@ -17,22 +18,53 @@ async fn main(_spawner: Spawner) {
// Arduino pins D0 and D1
// They're connected together with a 1K resistor.
#[cfg(feature = "stm32f103c8")]
let (tx, rx, usart, tx_dma, rx_dma) = (p.PA9, p.PA10, p.USART1, p.DMA1_CH4, p.DMA1_CH5);
let (tx, rx, usart, irq, tx_dma, rx_dma) = (
p.PA9,
p.PA10,
p.USART1,
interrupt::take!(USART1),
p.DMA1_CH4,
p.DMA1_CH5,
);
#[cfg(feature = "stm32g491re")]
let (tx, rx, usart, tx_dma, rx_dma) = (p.PC4, p.PC5, p.USART1, p.DMA1_CH1, p.DMA1_CH2);
let (tx, rx, usart, irq, tx_dma, rx_dma) =
(p.PC4, p.PC5, p.USART1, interrupt::take!(USART1), p.DMA1_CH1, p.DMA1_CH2);
#[cfg(feature = "stm32g071rb")]
let (tx, rx, usart, tx_dma, rx_dma) = (p.PC4, p.PC5, p.USART1, p.DMA1_CH1, p.DMA1_CH2);
let (tx, rx, usart, irq, tx_dma, rx_dma) =
(p.PC4, p.PC5, p.USART1, interrupt::take!(USART1), p.DMA1_CH1, p.DMA1_CH2);
#[cfg(feature = "stm32f429zi")]
let (tx, rx, usart, tx_dma, rx_dma) = (p.PG14, p.PG9, p.USART6, p.DMA2_CH6, p.DMA2_CH1);
let (tx, rx, usart, irq, tx_dma, rx_dma) = (
p.PG14,
p.PG9,
p.USART6,
interrupt::take!(USART6),
p.DMA2_CH6,
p.DMA2_CH1,
);
#[cfg(feature = "stm32wb55rg")]
let (tx, rx, usart, tx_dma, rx_dma) = (p.PA2, p.PA3, p.LPUART1, p.DMA1_CH1, p.DMA1_CH2);
let (tx, rx, usart, irq, tx_dma, rx_dma) = (
p.PA2,
p.PA3,
p.LPUART1,
interrupt::take!(LPUART1),
p.DMA1_CH1,
p.DMA1_CH2,
);
#[cfg(feature = "stm32h755zi")]
let (tx, rx, usart, tx_dma, rx_dma) = (p.PB6, p.PB7, p.USART1, p.DMA1_CH0, p.DMA1_CH1);
let (tx, rx, usart, irq, tx_dma, rx_dma) =
(p.PB6, p.PB7, p.USART1, interrupt::take!(USART1), p.DMA1_CH0, p.DMA1_CH1);
#[cfg(feature = "stm32u585ai")]
let (tx, rx, usart, tx_dma, rx_dma) = (p.PD8, p.PD9, p.USART3, p.GPDMA1_CH0, p.GPDMA1_CH1);
let (tx, rx, usart, irq, tx_dma, rx_dma) = (
p.PD8,
p.PD9,
p.USART3,
interrupt::take!(USART3),
p.GPDMA1_CH0,
p.GPDMA1_CH1,
);
let config = Config::default();
let mut usart = Uart::new(usart, rx, tx, tx_dma, rx_dma, config);
let mut usart = Uart::new(usart, rx, tx, irq, tx_dma, rx_dma, config);
// We can't send too many bytes, they have to fit in the FIFO.
// This is because we aren't sending+receiving at the same time.