From c97d5262f56814639fa995c8426384efdf379c55 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Timo=20Kr=C3=B6ger?= Date: Wed, 30 Dec 2020 12:15:49 +0100 Subject: [PATCH 1/2] Blocking wait method for signals --- embassy/src/util/signal.rs | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/embassy/src/util/signal.rs b/embassy/src/util/signal.rs index bde10c56..cb641061 100644 --- a/embassy/src/util/signal.rs +++ b/embassy/src/util/signal.rs @@ -62,4 +62,13 @@ impl Signal { pub fn wait(&self) -> impl Future + '_ { futures::future::poll_fn(move |cx| self.poll_wait(cx)) } + + /// Blocks until the signal has been received. + /// + /// Returns immediately when [`poll_wait()`] has not been called before. + pub fn blocking_wait(&self) { + while cortex_m::interrupt::free(|_| { + matches!(unsafe { &*self.state.get() }, State::Waiting(_)) + }) {} + } } From 6695bf0f21065960d6e83f2248fc6ad9a8ffa528 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Timo=20Kr=C3=B6ger?= Date: Wed, 23 Dec 2020 16:18:29 +0100 Subject: [PATCH 2/2] Low power UART driver --- embassy-nrf/Cargo.toml | 1 + embassy-nrf/src/lib.rs | 1 + embassy-nrf/src/uarte.rs | 418 ++++++++++++++++++++++++++++++ examples/src/bin/buffered_uart.rs | 84 ++++++ examples/src/bin/uart.rs | 125 +++++---- 5 files changed, 578 insertions(+), 51 deletions(-) create mode 100644 embassy-nrf/src/uarte.rs create mode 100644 examples/src/bin/buffered_uart.rs diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml index 7fe285c6..eb5370ea 100644 --- a/embassy-nrf/Cargo.toml +++ b/embassy-nrf/Cargo.toml @@ -26,6 +26,7 @@ log = { version = "0.4.11", optional = true } cortex-m-rt = "0.6.13" cortex-m = { version = "0.6.4" } embedded-hal = { version = "0.2.4" } +embedded-dma = { version = "0.1.2" } nrf52810-pac = { version = "0.9.0", optional = true } nrf52811-pac = { version = "0.9.1", optional = true } diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs index 0ca32813..e97002a2 100644 --- a/embassy-nrf/src/lib.rs +++ b/embassy-nrf/src/lib.rs @@ -57,5 +57,6 @@ pub mod interrupt; #[cfg(feature = "52840")] pub mod qspi; pub mod rtc; +pub mod uarte; pub use cortex_m_rt::interrupt; diff --git a/embassy-nrf/src/uarte.rs b/embassy-nrf/src/uarte.rs new file mode 100644 index 00000000..f0337be8 --- /dev/null +++ b/embassy-nrf/src/uarte.rs @@ -0,0 +1,418 @@ +//! Async low power UARTE. +//! +//! The peripheral is automatically enabled and disabled as required to save power. +//! Lowest power consumption can only be guaranteed if the send receive futures +//! are dropped correctly (e.g. not using `mem::forget()`). + +use core::future::Future; +use core::ops::Deref; +use core::sync::atomic::{compiler_fence, Ordering}; +use core::task::{Context, Poll}; + +use embassy::util::Signal; +use embedded_dma::{ReadBuffer, WriteBuffer}; + +use crate::fmt::{assert, *}; +#[cfg(any(feature = "52833", feature = "52840"))] +use crate::hal::gpio::Port as GpioPort; +use crate::hal::pac; +use crate::hal::prelude::*; +use crate::hal::target_constants::EASY_DMA_SIZE; +use crate::interrupt; +use crate::interrupt::OwnedInterrupt; + +pub use crate::hal::uarte::Pins; +// Re-export SVD variants to allow user to directly set values. +pub use pac::uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity}; + +/// Interface to the UARTE peripheral +pub struct Uarte +where + T: Instance, +{ + instance: T, + irq: T::Interrupt, + pins: Pins, +} + +pub struct State { + tx_done: Signal<()>, + rx_done: Signal, +} + +// TODO: Remove when https://github.com/nrf-rs/nrf-hal/pull/276 has landed +#[cfg(any(feature = "52833", feature = "52840"))] +fn port_bit(port: GpioPort) -> bool { + match port { + GpioPort::Port0 => false, + GpioPort::Port1 => true, + } +} + +impl Uarte +where + T: Instance, +{ + /// Creates the interface to a UARTE instance. + /// Sets the baud rate, parity and assigns the pins to the UARTE peripheral. + /// + /// # Unsafe + /// + /// The returned API is safe unless you use `mem::forget` (or similar safe mechanisms) + /// on stack allocated buffers which which have been passed to [`send()`](Uarte::send) + /// or [`receive`](Uarte::receive). + #[allow(unused_unsafe)] + pub unsafe fn new( + uarte: T, + irq: T::Interrupt, + mut pins: Pins, + parity: Parity, + baudrate: Baudrate, + ) -> Self { + assert!(uarte.enable.read().enable().is_disabled()); + + uarte.psel.rxd.write(|w| { + let w = unsafe { w.pin().bits(pins.rxd.pin()) }; + #[cfg(any(feature = "52833", feature = "52840"))] + let w = w.port().bit(port_bit(pins.rxd.port())); + w.connect().connected() + }); + + pins.txd.set_high().unwrap(); + uarte.psel.txd.write(|w| { + let w = unsafe { w.pin().bits(pins.txd.pin()) }; + #[cfg(any(feature = "52833", feature = "52840"))] + let w = w.port().bit(port_bit(pins.txd.port())); + w.connect().connected() + }); + + // Optional pins + uarte.psel.cts.write(|w| { + if let Some(ref pin) = pins.cts { + let w = unsafe { w.pin().bits(pin.pin()) }; + #[cfg(any(feature = "52833", feature = "52840"))] + let w = w.port().bit(port_bit(pin.port())); + w.connect().connected() + } else { + w.connect().disconnected() + } + }); + + uarte.psel.rts.write(|w| { + if let Some(ref pin) = pins.rts { + let w = unsafe { w.pin().bits(pin.pin()) }; + #[cfg(any(feature = "52833", feature = "52840"))] + let w = w.port().bit(port_bit(pin.port())); + w.connect().connected() + } else { + w.connect().disconnected() + } + }); + + uarte.baudrate.write(|w| w.baudrate().variant(baudrate)); + uarte.config.write(|w| w.parity().variant(parity)); + + // Enable interrupts + uarte.events_endtx.reset(); + uarte.events_endrx.reset(); + uarte + .intenset + .write(|w| w.endtx().set().txstopped().set().endrx().set().rxto().set()); + + // Register ISR + irq.set_handler(Self::on_irq); + irq.unpend(); + irq.enable(); + + Uarte { + instance: uarte, + irq, + pins, + } + } + + pub fn free(self) -> (T, T::Interrupt, Pins) { + (self.instance, self.irq, self.pins) + } + + fn enable(&mut self) { + trace!("enable"); + self.instance.enable.write(|w| w.enable().enabled()); + } + + /// Sends serial data. + /// + /// `tx_buffer` is marked as static as per `embedded-dma` requirements. + /// It it safe to use a buffer with a non static lifetime if memory is not + /// reused until the future has finished. + pub fn send<'a, B>(&'a mut self, tx_buffer: B) -> SendFuture<'a, T, B> + where + B: ReadBuffer, + { + // Panic if TX is running which can happen if the user has called + // `mem::forget()` on a previous future after polling it once. + assert!(!self.tx_started()); + + self.enable(); + + SendFuture { + uarte: self, + buf: tx_buffer, + } + } + + fn tx_started(&self) -> bool { + self.instance.events_txstarted.read().bits() != 0 + } + + /// Receives serial data. + /// + /// The future is pending until the buffer is completely filled. + /// A common pattern is to use [`stop()`](ReceiveFuture::stop) to cancel + /// unfinished transfers after a timeout to prevent lockup when no more data + /// is incoming. + /// + /// `rx_buffer` is marked as static as per `embedded-dma` requirements. + /// It it safe to use a buffer with a non static lifetime if memory is not + /// reused until the future has finished. + pub fn receive<'a, B>(&'a mut self, rx_buffer: B) -> ReceiveFuture<'a, T, B> + where + B: WriteBuffer, + { + // Panic if RX is running which can happen if the user has called + // `mem::forget()` on a previous future after polling it once. + assert!(!self.rx_started()); + + self.enable(); + + ReceiveFuture { + uarte: self, + buf: Some(rx_buffer), + } + } + + fn rx_started(&self) -> bool { + self.instance.events_rxstarted.read().bits() != 0 + } + + unsafe fn on_irq() { + let uarte = &*pac::UARTE0::ptr(); + + let mut try_disable = false; + + if uarte.events_endtx.read().bits() != 0 { + uarte.events_endtx.reset(); + trace!("endtx"); + compiler_fence(Ordering::SeqCst); + T::state().tx_done.signal(()); + } + + if uarte.events_txstopped.read().bits() != 0 { + uarte.events_txstopped.reset(); + trace!("txstopped"); + try_disable = true; + } + + if uarte.events_endrx.read().bits() != 0 { + uarte.events_endrx.reset(); + trace!("endrx"); + let len = uarte.rxd.amount.read().bits(); + compiler_fence(Ordering::SeqCst); + T::state().rx_done.signal(len); + } + + if uarte.events_rxto.read().bits() != 0 { + uarte.events_rxto.reset(); + trace!("rxto"); + try_disable = true; + } + + // Disable the peripheral if not active. + if try_disable + && uarte.events_txstarted.read().bits() == 0 + && uarte.events_rxstarted.read().bits() == 0 + { + trace!("disable"); + uarte.enable.write(|w| w.enable().disabled()); + } + } +} + +/// Future for the [`Uarte::send()`] method. +pub struct SendFuture<'a, T, B> +where + T: Instance, +{ + uarte: &'a Uarte, + buf: B, +} + +impl<'a, T, B> Drop for SendFuture<'a, T, B> +where + T: Instance, +{ + fn drop(self: &mut Self) { + if self.uarte.tx_started() { + trace!("stoptx"); + + // Stop the transmitter to minimize the current consumption. + self.uarte.instance.events_txstarted.reset(); + self.uarte + .instance + .tasks_stoptx + .write(|w| unsafe { w.bits(1) }); + T::state().tx_done.blocking_wait(); + } + } +} + +impl<'a, T, B> Future for SendFuture<'a, T, B> +where + T: Instance, + B: ReadBuffer, +{ + type Output = (); + + fn poll(self: core::pin::Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<()> { + let Self { uarte, buf } = unsafe { self.get_unchecked_mut() }; + + if !uarte.tx_started() { + let uarte = &uarte.instance; + + T::state().tx_done.reset(); + + let (ptr, len) = unsafe { buf.read_buffer() }; + assert!(len <= EASY_DMA_SIZE); + // TODO: panic if buffer is not in SRAM + + compiler_fence(Ordering::SeqCst); + uarte.txd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) }); + uarte + .txd + .maxcnt + .write(|w| unsafe { w.maxcnt().bits(len as _) }); + + trace!("starttx"); + uarte.tasks_starttx.write(|w| unsafe { w.bits(1) }); + } + + T::state().tx_done.poll_wait(cx) + } +} + +/// Future for the [`Uarte::receive()`] method. +pub struct ReceiveFuture<'a, T, B> +where + T: Instance, +{ + uarte: &'a Uarte, + buf: Option, +} + +impl<'a, T, B> Drop for ReceiveFuture<'a, T, B> +where + T: Instance, +{ + fn drop(self: &mut Self) { + if self.uarte.rx_started() { + trace!("stoprx"); + + self.uarte.instance.events_rxstarted.reset(); + self.uarte + .instance + .tasks_stoprx + .write(|w| unsafe { w.bits(1) }); + T::state().rx_done.blocking_wait(); + } + } +} + +impl<'a, T, B> Future for ReceiveFuture<'a, T, B> +where + T: Instance, + B: WriteBuffer, +{ + type Output = B; + + fn poll(self: core::pin::Pin<&mut Self>, cx: &mut Context<'_>) -> Poll { + let Self { uarte, buf } = unsafe { self.get_unchecked_mut() }; + + if !uarte.rx_started() { + let uarte = &uarte.instance; + + T::state().rx_done.reset(); + + let (ptr, len) = unsafe { buf.as_mut().unwrap().write_buffer() }; + assert!(len <= EASY_DMA_SIZE); + + compiler_fence(Ordering::SeqCst); + uarte.rxd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) }); + uarte + .rxd + .maxcnt + .write(|w| unsafe { w.maxcnt().bits(len as _) }); + + trace!("startrx"); + uarte.tasks_startrx.write(|w| unsafe { w.bits(1) }); + } + + T::state() + .rx_done + .poll_wait(cx) + .map(|_| buf.take().unwrap()) + } +} + +/// Future for the [`receive()`] method. +impl<'a, T, B> ReceiveFuture<'a, T, B> +where + T: Instance, +{ + /// Stops the ongoing reception and returns the number of bytes received. + pub async fn stop(mut self) -> (B, usize) { + let buf = self.buf.take().unwrap(); + drop(self); + let len = T::state().rx_done.wait().await; + (buf, len as _) + } +} + +mod private { + pub trait Sealed {} +} + +pub trait Instance: Deref + Sized + private::Sealed { + type Interrupt: OwnedInterrupt; + + #[doc(hidden)] + fn state() -> &'static State; +} + +static UARTE0_STATE: State = State { + tx_done: Signal::new(), + rx_done: Signal::new(), +}; +impl private::Sealed for pac::UARTE0 {} +impl Instance for pac::UARTE0 { + type Interrupt = interrupt::UARTE0_UART0Interrupt; + + fn state() -> &'static State { + &UARTE0_STATE + } +} + +#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))] +static UARTE1_STATE: State = State { + tx_done: Signal::new(), + rx_done: Signal::new(), +}; +#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))] +impl private::Sealed for pac::UARTE1 {} +#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))] +impl Instance for pac::UARTE1 { + type Interrupt = interrupt::UARTE1Interrupt; + + fn state() -> &'static State { + &UARTE1_STATE + } +} diff --git a/examples/src/bin/buffered_uart.rs b/examples/src/bin/buffered_uart.rs new file mode 100644 index 00000000..6e15fbcf --- /dev/null +++ b/examples/src/bin/buffered_uart.rs @@ -0,0 +1,84 @@ +#![no_std] +#![no_main] +#![feature(type_alias_impl_trait)] + +#[path = "../example_common.rs"] +mod example_common; +use example_common::*; + +use cortex_m_rt::entry; +use defmt::panic; +use futures::pin_mut; +use nrf52840_hal::gpio; + +use embassy::executor::{task, Executor}; +use embassy::io::{AsyncBufRead, AsyncBufReadExt, AsyncWrite, AsyncWriteExt}; +use embassy::util::Forever; +use embassy_nrf::buffered_uarte; +use embassy_nrf::interrupt; + +#[task] +async fn run() { + let p = unwrap!(embassy_nrf::pac::Peripherals::take()); + + let port0 = gpio::p0::Parts::new(p.P0); + + let pins = buffered_uarte::Pins { + rxd: port0.p0_08.into_floating_input().degrade(), + txd: port0 + .p0_06 + .into_push_pull_output(gpio::Level::Low) + .degrade(), + cts: None, + rts: None, + }; + + let irq = interrupt::take!(UARTE0_UART0); + let u = buffered_uarte::BufferedUarte::new( + p.UARTE0, + irq, + pins, + buffered_uarte::Parity::EXCLUDED, + buffered_uarte::Baudrate::BAUD115200, + ); + pin_mut!(u); + + info!("uarte initialized!"); + + unwrap!(u.write_all(b"Hello!\r\n").await); + info!("wrote hello in uart!"); + + // Simple demo, reading 8-char chunks and echoing them back reversed. + loop { + info!("reading..."); + let mut buf = [0u8; 8]; + unwrap!(u.read_exact(&mut buf).await); + info!("read done, got {:[u8]}", buf); + + // Reverse buf + for i in 0..4 { + let tmp = buf[i]; + buf[i] = buf[7 - i]; + buf[7 - i] = tmp; + } + + info!("writing..."); + unwrap!(u.write_all(&buf).await); + info!("write done"); + } +} + +static EXECUTOR: Forever = Forever::new(); + +#[entry] +fn main() -> ! { + info!("Hello World!"); + + let executor = EXECUTOR.put(Executor::new(cortex_m::asm::sev)); + unwrap!(executor.spawn(run())); + + loop { + executor.run(); + cortex_m::asm::wfe(); + } +} diff --git a/examples/src/bin/uart.rs b/examples/src/bin/uart.rs index 6e15fbcf..10793668 100644 --- a/examples/src/bin/uart.rs +++ b/examples/src/bin/uart.rs @@ -8,22 +8,76 @@ use example_common::*; use cortex_m_rt::entry; use defmt::panic; -use futures::pin_mut; +use embassy::executor::{task, Executor}; +use embassy::time::{Duration, Timer}; +use embassy::util::Forever; +use embassy_nrf::{interrupt, pac, rtc, uarte}; +use futures::future::{select, Either}; +use nrf52840_hal::clocks; use nrf52840_hal::gpio; -use embassy::executor::{task, Executor}; -use embassy::io::{AsyncBufRead, AsyncBufReadExt, AsyncWrite, AsyncWriteExt}; -use embassy::util::Forever; -use embassy_nrf::buffered_uarte; -use embassy_nrf::interrupt; - #[task] -async fn run() { +async fn run(mut uart: uarte::Uarte) { + info!("uarte initialized!"); + + // Message must be in SRAM + let mut buf = [0; 8]; + buf.copy_from_slice(b"Hello!\r\n"); + + uart.send(&buf).await; + info!("wrote hello in uart!"); + + info!("reading..."); + loop { + let received = match select( + uart.receive(&mut buf), + Timer::after(Duration::from_millis(10)), + ) + .await + { + Either::Left((buf, _)) => buf, + Either::Right((_, read)) => { + let (buf, n) = read.stop().await; + &buf[..n] + } + }; + + if received.len() > 0 { + info!("read done, got {:[u8]}", received); + + // Echo back received data + uart.send(received).await; + } + } +} + +static RTC: Forever> = Forever::new(); +static ALARM: Forever> = Forever::new(); +static EXECUTOR: Forever = Forever::new(); + +#[entry] +fn main() -> ! { + info!("Hello World!"); + let p = unwrap!(embassy_nrf::pac::Peripherals::take()); + clocks::Clocks::new(p.CLOCK) + .enable_ext_hfosc() + .set_lfclk_src_external(clocks::LfOscConfiguration::NoExternalNoBypass) + .start_lfclk(); + + let rtc = RTC.put(rtc::RTC::new(p.RTC1, interrupt::take!(RTC1))); + rtc.start(); + + unsafe { embassy::time::set_clock(rtc) }; + + let alarm = ALARM.put(rtc.alarm0()); + let executor = EXECUTOR.put(Executor::new_with_alarm(alarm, cortex_m::asm::sev)); + + // Init UART let port0 = gpio::p0::Parts::new(p.P0); - let pins = buffered_uarte::Pins { + let pins = uarte::Pins { rxd: port0.p0_08.into_floating_input().degrade(), txd: port0 .p0_06 @@ -33,49 +87,18 @@ async fn run() { rts: None, }; - let irq = interrupt::take!(UARTE0_UART0); - let u = buffered_uarte::BufferedUarte::new( - p.UARTE0, - irq, - pins, - buffered_uarte::Parity::EXCLUDED, - buffered_uarte::Baudrate::BAUD115200, - ); - pin_mut!(u); + // NOTE(unsafe): Safe becasue we do not use `mem::forget` anywhere. + let uart = unsafe { + uarte::Uarte::new( + p.UARTE0, + interrupt::take!(UARTE0_UART0), + pins, + uarte::Parity::EXCLUDED, + uarte::Baudrate::BAUD115200, + ) + }; - info!("uarte initialized!"); - - unwrap!(u.write_all(b"Hello!\r\n").await); - info!("wrote hello in uart!"); - - // Simple demo, reading 8-char chunks and echoing them back reversed. - loop { - info!("reading..."); - let mut buf = [0u8; 8]; - unwrap!(u.read_exact(&mut buf).await); - info!("read done, got {:[u8]}", buf); - - // Reverse buf - for i in 0..4 { - let tmp = buf[i]; - buf[i] = buf[7 - i]; - buf[7 - i] = tmp; - } - - info!("writing..."); - unwrap!(u.write_all(&buf).await); - info!("write done"); - } -} - -static EXECUTOR: Forever = Forever::new(); - -#[entry] -fn main() -> ! { - info!("Hello World!"); - - let executor = EXECUTOR.put(Executor::new(cortex_m::asm::sev)); - unwrap!(executor.spawn(run())); + unwrap!(executor.spawn(run(uart))); loop { executor.run();