Add asynch mod to shared_bus

embassy-embedded-hal/src/shared_bus/asynch/spi.rs

@@ -0,0 +1,168 @@
+//! 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;
+use core::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;
+
+use crate::shared_bus::SpiBusDeviceError;
+use crate::SetConfig;
+
+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<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,
+        }
+    }
+}
+
+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)
+        }
+    }
+}
+
+pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig, CS> {
+    bus: &'a Mutex<M, BUS>,
+    cs: CS,
+    config: BUS::Config,
+}
+
+impl<'a, M: RawMutex, BUS: SetConfig, CS> SpiBusDeviceWithConfig<'a, M, BUS, CS> {
+    pub fn new(bus: &'a Mutex<M, BUS>, cs: CS, config: BUS::Config) -> Self {
+        Self { bus, cs, config }
+    }
+}
+
+impl<'a, M, BUS, CS> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS>
+where
+    BUS: spi::ErrorType + SetConfig,
+    CS: OutputPin,
+    M: RawMutex,
+{
+    type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
+}
+
+impl<M, BUS, CS> spi::SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS>
+where
+    M: RawMutex + 'static,
+    BUS: spi::SpiBusFlush + SetConfig + '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;
+            bus.set_config(&self.config);
+            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)
+        }
+    }
+}