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Permits the future to be cancelled

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Includes documentation
This commit is contained in:
huntc 2022-08-30 20:56:56 +10:00
parent c0b7fd910e
commit dcd8c62169
1 changed files with 31 additions and 2 deletions
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33
embassy-nrf/src/saadc.rs
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@ -3,6 +3,7 @@
use core::sync::atomic::{compiler_fence, Ordering};
use core::task::Poll;
use embassy_hal_common::drop::OnDrop;
use embassy_hal_common::{impl_peripheral, into_ref, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
use futures::future::poll_fn;
@ -225,8 +226,12 @@ impl<'d, const N: usize> Saadc<'d, N> {
/// One shot sampling. The buffer must be the same size as the number of channels configured.
/// The sampling is stopped prior to returning in order to reduce power consumption (power
/// consumption remains higher if sampling is not stopped explicitly).
/// consumption remains higher if sampling is not stopped explicitly). Cancellation will
/// also cause the sampling to be stopped.
pub async fn sample(&mut self, buf: &mut [i16; N]) {
// In case the future is dropped, stop the task and wait for it to end.
let on_drop = OnDrop::new(Self::stop_sampling_immediately);
let r = Self::regs();
// Set up the DMA
@ -259,6 +264,7 @@ impl<'d, const N: usize> Saadc<'d, N> {
})
.await;
on_drop.defuse();
Self::stop_sampling().await;
}
@ -279,6 +285,12 @@ impl<'d, const N: usize> Saadc<'d, N> {
/// taken to acquire the samples into a single buffer. You should measure the
/// time taken by the callback and set the sample buffer size accordingly.
/// Exceeding this time can lead to samples becoming dropped.
///
/// The sampling is stopped prior to returning in order to reduce power consumption (power
/// consumption remains higher if sampling is not stopped explicitly), and to
/// free the buffers from being used by the peripheral. Cancellation will
/// also cause the sampling to be stopped.
pub async fn run_task_sampler<S, T: TimerInstance, const N0: usize>(
&mut self,
timer: &mut T,
@ -330,6 +342,9 @@ impl<'d, const N: usize> Saadc<'d, N> {
I: FnMut(),
S: FnMut(&[[i16; N]]) -> SamplerState,
{
// In case the future is dropped, stop the task and wait for it to end.
let on_drop = OnDrop::new(Self::stop_sampling_immediately);
let r = Self::regs();
// Establish mode and sample rate
@ -413,10 +428,24 @@ impl<'d, const N: usize> Saadc<'d, N> {
})
.await;
on_drop.defuse();
Self::stop_sampling().await;
}
// Stop sampling and wait for it to stop
// Stop sampling and wait for it to stop in a blocking fashion
fn stop_sampling_immediately() {
let r = Self::regs();
compiler_fence(Ordering::SeqCst);
r.events_stopped.reset();
r.tasks_stop.write(|w| unsafe { w.bits(1) });
while r.events_stopped.read().bits() == 0 {}
r.events_stopped.reset();
}
// Stop sampling and wait for it to stop in a non-blocking fashino
async fn stop_sampling() {
let r = Self::regs();