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Async shared bus for SPI & I2C + rename embassy-traits (#769)

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* Rename embassy-traits to embassy-embedded-hal

* Rename embassy-traits to embassy-embedded-hal

* Add shared bus for SPI and I2C

* rustfmt

* EHA alpha 1

* Rename embedded-traits in examples

* rustfmt

* rustfmt

Co-authored-by: Henrik Alsér <henrik@mindbite.se>
This commit is contained in:
Henrik Alsér 2022-05-26 18:54:58 +02:00 committed by GitHub
parent 36a1f20364
commit e10fc2bada
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
26 changed files with 262 additions and 26 deletions
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8
.vscode/settings.json vendored
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@ -1,15 +1,11 @@
{
"editor.formatOnSave": true,
"rust-analyzer.assist.importEnforceGranularity": true,
"rust-analyzer.assist.importGranularity": "module",
"rust-analyzer.checkOnSave.allFeatures": false,
"rust-analyzer.checkOnSave.allTargets": false,
"rust-analyzer.checkOnSave.noDefaultFeatures": true,
"rust-analyzer.cargo.allFeatures": false,
"rust-analyzer.cargo.noDefaultFeatures": true,
"rust-analyzer.experimental.procAttrMacros": false,
"rust-analyzer.procMacro.enable": true,
"rust-analyzer.cargo.runBuildScripts": true,
"rust-analyzer.cargo.target": "thumbv7em-none-eabi",
"rust-analyzer.cargo.features": [
// These are needed to prevent embassy-net from failing to build
@ -38,4 +34,8 @@
// "examples/stm32wl55/Cargo.toml",
// "examples/wasm/Cargo.toml",
],
"rust-analyzer.imports.granularity.enforce": true,
"rust-analyzer.imports.granularity.group": "module",
"rust-analyzer.cargo.buildScripts.enable": true,
"rust-analyzer.procMacro.attributes.enable": false,
}

7
embassy-traits/Cargo.toml → embassy-embedded-hal/Cargo.toml
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@ -1,5 +1,5 @@
[package]
name = "embassy-traits"
name = "embassy-embedded-hal"
version = "0.1.0"
authors = ["Dario Nieuwenhuis <dirbaio@dirbaio.net>"]
edition = "2018"
@ -8,9 +8,10 @@ edition = "2018"
std = []
[dependencies]
embassy = { version = "0.1.0", path = "../embassy" }
embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8" }
embedded-hal-async = { version = "0.1.0-alpha.0" }
embedded-hal-async = { version = "0.1.0-alpha.1" }
embedded-storage = "0.3.0"
embedded-storage-async = "0.3.0"
nb = "1.0.0"
nb = "1.0.0"

0
embassy-traits/src/adapter.rs → embassy-embedded-hal/src/adapter.rs
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1
embassy-traits/src/lib.rs → embassy-embedded-hal/src/lib.rs
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@ -3,3 +3,4 @@
#![feature(type_alias_impl_trait)]
pub mod adapter;
pub mod shared_bus;

120
embassy-embedded-hal/src/shared_bus/i2c.rs Normal file
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@ -0,0 +1,120 @@
//! Asynchronous shared I2C bus
//!
//! # Example (nrf52)
//!
//! ```rust
//! use embassy_embedded_hal::shared_bus::i2c::I2cBusDevice;
//! use embassy::mutex::Mutex;
//! use embassy::blocking_mutex::raw::ThreadModeRawMutex;
//!
//! static I2C_BUS: Forever<Mutex::<ThreadModeRawMutex, Twim<TWISPI0>>> = Forever::new();
//! let config = twim::Config::default();
//! let irq = interrupt::take!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
//! let i2c = Twim::new(p.TWISPI0, irq, p.P0_03, p.P0_04, config);
//! let i2c_bus = Mutex::<ThreadModeRawMutex, _>::new(i2c);
//! let i2c_bus = I2C_BUS.put(i2c_bus);
//!
//! // Device 1, using embedded-hal-async compatible driver for QMC5883L compass
//! let i2c_dev1 = I2cBusDevice::new(i2c_bus);
//! let compass = QMC5883L::new(i2c_dev1).await.unwrap();
//!
//! // Device 2, using embedded-hal-async compatible driver for Mpu6050 accelerometer
//! let i2c_dev2 = I2cBusDevice::new(i2c_bus);
//! let mpu = Mpu6050::new(i2c_dev2);
//! ```
use core::{fmt::Debug, future::Future};
use embassy::blocking_mutex::raw::RawMutex;
use embassy::mutex::Mutex;
use embedded_hal_async::i2c;
#[derive(Copy, Clone, Eq, PartialEq, Debug)]
pub enum I2cBusDeviceError<BUS> {
I2c(BUS),
}
impl<BUS> i2c::Error for I2cBusDeviceError<BUS>
where
BUS: i2c::Error + Debug,
{
fn kind(&self) -> i2c::ErrorKind {
match self {
Self::I2c(e) => e.kind(),
}
}
}
pub struct I2cBusDevice<'a, M: RawMutex, BUS> {
bus: &'a Mutex<M, BUS>,
}
impl<'a, M: RawMutex, BUS> I2cBusDevice<'a, M, BUS> {
pub fn new(bus: &'a Mutex<M, BUS>) -> Self {
Self { bus }
}
}
impl<'a, M: RawMutex, BUS> i2c::ErrorType for I2cBusDevice<'a, M, BUS>
where
BUS: i2c::ErrorType,
{
type Error = I2cBusDeviceError<BUS::Error>;
}
impl<M, BUS> i2c::I2c for I2cBusDevice<'_, M, BUS>
where
M: RawMutex + 'static,
BUS: i2c::I2c + 'static,
{
type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
fn read<'a>(&'a mut self, address: u8, buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
async move {
let mut bus = self.bus.lock().await;
bus.read(address, buffer)
.await
.map_err(I2cBusDeviceError::I2c)?;
Ok(())
}
}
type WriteFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
fn write<'a>(&'a mut self, address: u8, bytes: &'a [u8]) -> Self::WriteFuture<'a> {
async move {
let mut bus = self.bus.lock().await;
bus.write(address, bytes)
.await
.map_err(I2cBusDeviceError::I2c)?;
Ok(())
}
}
type WriteReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
fn write_read<'a>(
&'a mut self,
address: u8,
wr_buffer: &'a [u8],
rd_buffer: &'a mut [u8],
) -> Self::WriteReadFuture<'a> {
async move {
let mut bus = self.bus.lock().await;
bus.write_read(address, wr_buffer, rd_buffer)
.await
.map_err(I2cBusDeviceError::I2c)?;
Ok(())
}
}
type TransactionFuture<'a, 'b> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a, 'b: 'a;
fn transaction<'a, 'b>(
&'a mut self,
address: u8,
operations: &'a mut [embedded_hal_async::i2c::Operation<'b>],
) -> Self::TransactionFuture<'a, 'b> {
let _ = address;
let _ = operations;
async move { todo!() }
}
}

4
embassy-embedded-hal/src/shared_bus/mod.rs Normal file
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@ -0,0 +1,4 @@
//! Shared bus implementations for embedded-hal-async
pub mod i2c;
pub mod spi;

110
embassy-embedded-hal/src/shared_bus/spi.rs Normal file
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@ -0,0 +1,110 @@
//! Asynchronous shared SPI bus
//!
//! # Example (nrf52)
//!
//! ```rust
//! use embassy_embedded_hal::shared_bus::spi::SpiBusDevice;
//! use embassy::mutex::Mutex;
//! use embassy::blocking_mutex::raw::ThreadModeRawMutex;
//!
//! static SPI_BUS: Forever<Mutex<ThreadModeRawMutex, spim::Spim<SPI3>>> = Forever::new();
//! let mut config = spim::Config::default();
//! config.frequency = spim::Frequency::M32;
//! let irq = interrupt::take!(SPIM3);
//! let spi = spim::Spim::new_txonly(p.SPI3, irq, p.P0_15, p.P0_18, config);
//! let spi_bus = Mutex::<ThreadModeRawMutex, _>::new(spi);
//! let spi_bus = SPI_BUS.put(spi_bus);
//!
//! // Device 1, using embedded-hal-async compatible driver for ST7735 LCD display
//! let cs_pin1 = Output::new(p.P0_24, Level::Low, OutputDrive::Standard);
//! let spi_dev1 = SpiBusDevice::new(spi_bus, cs_pin1);
//! let display1 = ST7735::new(spi_dev1, dc1, rst1, Default::default(), 160, 128);
//!
//! // Device 2
//! let cs_pin2 = Output::new(p.P0_24, Level::Low, OutputDrive::Standard);
//! let spi_dev2 = SpiBusDevice::new(spi_bus, cs_pin2);
//! let display2 = ST7735::new(spi_dev2, dc2, rst2, Default::default(), 160, 128);
//! ```
use core::{fmt::Debug, future::Future};
use embassy::blocking_mutex::raw::RawMutex;
use embassy::mutex::Mutex;
use embedded_hal_1::digital::blocking::OutputPin;
use embedded_hal_1::spi::ErrorType;
use embedded_hal_async::spi;
#[derive(Copy, Clone, Eq, PartialEq, Debug)]
pub enum SpiBusDeviceError<BUS, CS> {
Spi(BUS),
Cs(CS),
}
impl<BUS, CS> spi::Error for SpiBusDeviceError<BUS, CS>
where
BUS: spi::Error + Debug,
CS: Debug,
{
fn kind(&self) -> spi::ErrorKind {
match self {
Self::Spi(e) => e.kind(),
Self::Cs(_) => spi::ErrorKind::Other,
}
}
}
pub struct SpiBusDevice<'a, M: RawMutex, BUS, CS> {
bus: &'a Mutex<M, BUS>,
cs: CS,
}
impl<'a, M: RawMutex, BUS, CS> SpiBusDevice<'a, M, BUS, CS> {
pub fn new(bus: &'a Mutex<M, BUS>, cs: CS) -> Self {
Self { bus, cs }
}
}
impl<'a, M: RawMutex, BUS, CS> spi::ErrorType for SpiBusDevice<'a, M, BUS, CS>
where
BUS: spi::ErrorType,
CS: OutputPin,
{
type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
}
impl<M, BUS, CS> spi::SpiDevice for SpiBusDevice<'_, M, BUS, CS>
where
M: RawMutex + 'static,
BUS: spi::SpiBusFlush + 'static,
CS: OutputPin,
{
type Bus = BUS;
type TransactionFuture<'a, R, F, Fut> = impl Future<Output = Result<R, Self::Error>> + 'a
where
Self: 'a, R: 'a, F: FnOnce(*mut Self::Bus) -> Fut + 'a,
Fut: Future<Output = Result<R, <Self::Bus as ErrorType>::Error>> + 'a;
fn transaction<'a, R, F, Fut>(&'a mut self, f: F) -> Self::TransactionFuture<'a, R, F, Fut>
where
R: 'a,
F: FnOnce(*mut Self::Bus) -> Fut + 'a,
Fut: Future<Output = Result<R, <Self::Bus as ErrorType>::Error>> + 'a,
{
async move {
let mut bus = self.bus.lock().await;
self.cs.set_low().map_err(SpiBusDeviceError::Cs)?;
let f_res = f(&mut *bus).await;
// On failure, it's important to still flush and deassert CS.
let flush_res = bus.flush().await;
let cs_res = self.cs.set_high();
let f_res = f_res.map_err(SpiBusDeviceError::Spi)?;
flush_res.map_err(SpiBusDeviceError::Spi)?;
cs_res.map_err(SpiBusDeviceError::Cs)?;
Ok(f_res)
}
}
}

2
examples/boot/nrf/Cargo.toml
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@ -8,7 +8,7 @@ version = "0.1.0"
embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
embassy-nrf = { version = "0.1.0", path = "../../../embassy-nrf", features = ["time-driver-rtc1", "gpiote", "nightly", "nrf52840"] }
embassy-boot-nrf = { version = "0.1.0", path = "../../../embassy-boot/nrf" }
embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.3", optional = true }

2
examples/boot/nrf/src/bin/a.rs
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@ -5,13 +5,13 @@
#![feature(type_alias_impl_trait)]
use embassy_boot_nrf::FirmwareUpdater;
use embassy_embedded_hal::adapter::BlockingAsync;
use embassy_nrf::{
gpio::{Input, Pull},
gpio::{Level, Output, OutputDrive},
nvmc::Nvmc,
Peripherals,
};
use embassy_traits::adapter::BlockingAsync;
use panic_reset as _;
static APP_B: &[u8] = include_bytes!("../../b.bin");

2
examples/boot/stm32f3/Cargo.toml
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@ -8,7 +8,7 @@ version = "0.1.0"
embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32f303re", "time-driver-any", "exti"] }
embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32" }
embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.3", optional = true }

2
examples/boot/stm32f3/src/bin/a.rs
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@ -3,11 +3,11 @@
#![feature(type_alias_impl_trait)]
use embassy_boot_stm32::FirmwareUpdater;
use embassy_embedded_hal::adapter::BlockingAsync;
use embassy_stm32::exti::ExtiInput;
use embassy_stm32::flash::Flash;
use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
use embassy_stm32::Peripherals;
use embassy_traits::adapter::BlockingAsync;
use panic_reset as _;
#[cfg(feature = "defmt-rtt")]

2
examples/boot/stm32f7/Cargo.toml
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@ -8,7 +8,7 @@ version = "0.1.0"
embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32f767zi", "time-driver-any", "exti"] }
embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32" }
embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.3", optional = true }

2
examples/boot/stm32f7/src/bin/a.rs
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@ -3,11 +3,11 @@
#![feature(type_alias_impl_trait)]
use embassy_boot_stm32::FirmwareUpdater;
use embassy_embedded_hal::adapter::BlockingAsync;
use embassy_stm32::exti::ExtiInput;
use embassy_stm32::flash::Flash;
use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
use embassy_stm32::Peripherals;
use embassy_traits::adapter::BlockingAsync;
use panic_reset as _;
#[cfg(feature = "defmt-rtt")]

2
examples/boot/stm32h7/Cargo.toml
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@ -8,7 +8,7 @@ version = "0.1.0"
embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32h743zi", "time-driver-any", "exti"] }
embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32" }
embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.3", optional = true }

2
examples/boot/stm32h7/src/bin/a.rs
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@ -3,11 +3,11 @@
#![feature(type_alias_impl_trait)]
use embassy_boot_stm32::FirmwareUpdater;
use embassy_embedded_hal::adapter::BlockingAsync;
use embassy_stm32::exti::ExtiInput;
use embassy_stm32::flash::Flash;
use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
use embassy_stm32::Peripherals;
use embassy_traits::adapter::BlockingAsync;
use panic_reset as _;
#[cfg(feature = "defmt-rtt")]

2
examples/boot/stm32l0/Cargo.toml
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@ -8,7 +8,7 @@ version = "0.1.0"
embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32l072cz", "time-driver-any", "exti", "memory-x"] }
embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32", features = ["thumbv6"] }
embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.3", optional = true }

2
examples/boot/stm32l0/src/bin/a.rs
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@ -4,11 +4,11 @@
use embassy::time::{Duration, Timer};
use embassy_boot_stm32::FirmwareUpdater;
use embassy_embedded_hal::adapter::BlockingAsync;
use embassy_stm32::exti::ExtiInput;
use embassy_stm32::flash::Flash;
use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
use embassy_stm32::Peripherals;
use embassy_traits::adapter::BlockingAsync;
use panic_reset as _;
#[cfg(feature = "defmt-rtt")]

2
examples/boot/stm32l1/Cargo.toml
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@ -8,7 +8,7 @@ version = "0.1.0"
embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32l151cb-a", "time-driver-any", "exti"] }
embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32" }
embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.3", optional = true }

2
examples/boot/stm32l1/src/bin/a.rs
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@ -4,11 +4,11 @@
use embassy::time::{Duration, Timer};
use embassy_boot_stm32::FirmwareUpdater;
use embassy_embedded_hal::adapter::BlockingAsync;
use embassy_stm32::exti::ExtiInput;
use embassy_stm32::flash::Flash;
use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
use embassy_stm32::Peripherals;
use embassy_traits::adapter::BlockingAsync;
use panic_reset as _;
#[cfg(feature = "defmt-rtt")]

2
examples/boot/stm32l4/Cargo.toml
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@ -8,7 +8,7 @@ version = "0.1.0"
embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32l475vg", "time-driver-any", "exti"] }
embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32" }
embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.3", optional = true }

2
examples/boot/stm32l4/src/bin/a.rs
View File

@ -3,11 +3,11 @@
#![feature(type_alias_impl_trait)]
use embassy_boot_stm32::FirmwareUpdater;
use embassy_embedded_hal::adapter::BlockingAsync;
use embassy_stm32::exti::ExtiInput;
use embassy_stm32::flash::Flash;
use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
use embassy_stm32::Peripherals;
use embassy_traits::adapter::BlockingAsync;
use panic_reset as _;
#[cfg(feature = "defmt-rtt")]

2
examples/boot/stm32wl/Cargo.toml
View File

@ -8,7 +8,7 @@ version = "0.1.0"
embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32wl55jc-cm4", "time-driver-any", "exti"] }
embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32" }
embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.3", optional = true }

2
examples/boot/stm32wl/src/bin/a.rs
View File

@ -3,11 +3,11 @@
#![feature(type_alias_impl_trait)]
use embassy_boot_stm32::FirmwareUpdater;
use embassy_embedded_hal::adapter::BlockingAsync;
use embassy_stm32::exti::ExtiInput;
use embassy_stm32::flash::Flash;
use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
use embassy_stm32::Peripherals;
use embassy_traits::adapter::BlockingAsync;
use panic_reset as _;
#[cfg(feature = "defmt-rtt")]

2
examples/stm32l4/Cargo.toml
View File

@ -9,7 +9,7 @@ resolver = "2"
[dependencies]
embassy = { version = "0.1.0", path = "../../embassy", features = ["defmt", "defmt-timestamp-uptime"] }
embassy-traits = { version = "0.1.0", path = "../../embassy-traits" }
embassy-embedded-hal = { version = "0.1.0", path = "../../embassy-embedded-hal" }
embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "unstable-pac", "stm32l4s5vi", "time-driver-any", "exti", "unstable-traits"] }
defmt = "0.3"

2
examples/stm32l4/src/bin/i2c_blocking_async.rs
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@ -7,12 +7,12 @@ use panic_probe as _;
use defmt::*;
use embassy::executor::Spawner;
use embassy_embedded_hal::adapter::BlockingAsync;
use embassy_stm32::dma::NoDma;
use embassy_stm32::i2c::I2c;
use embassy_stm32::interrupt;
use embassy_stm32::time::Hertz;
use embassy_stm32::Peripherals;
use embassy_traits::adapter::BlockingAsync;
use embedded_hal_async::i2c::I2c as I2cTrait;
const ADDRESS: u8 = 0x5F;

2
examples/stm32l4/src/bin/spi_blocking_async.rs
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@ -7,12 +7,12 @@ use panic_probe as _;
use defmt::*;
use embassy::executor::Spawner;
use embassy_embedded_hal::adapter::BlockingAsync;
use embassy_stm32::dma::NoDma;
use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
use embassy_stm32::spi::{Config, Spi};
use embassy_stm32::time::Hertz;
use embassy_stm32::Peripherals;
use embassy_traits::adapter::BlockingAsync;
use embedded_hal_async::spi::SpiBus;
#[embassy::main]