use core::convert::Infallible; use core::future::Future; use core::marker::PhantomData; use core::task::{Context, Poll}; use embassy::interrupt::{Interrupt, InterruptExt}; use embassy::traits::gpio::{WaitForAnyEdge, WaitForHigh, WaitForLow}; use embassy::util::AtomicWaker; use embassy_extras::unsafe_impl_unborrow; use embedded_hal::digital::v2::{InputPin, StatefulOutputPin}; use futures::future::poll_fn; use crate::gpio::sealed::Pin as _; use crate::gpio::{AnyPin, Input, Output, Pin as GpioPin, Port}; use crate::pac; use crate::ppi::{Event, Task}; use crate::{interrupt, peripherals}; pub const CHANNEL_COUNT: usize = 8; #[cfg(any(feature = "nrf52833", feature = "nrf52840"))] pub const PIN_COUNT: usize = 48; #[cfg(not(any(feature = "nrf52833", feature = "nrf52840")))] pub const PIN_COUNT: usize = 32; const NEW_AW: AtomicWaker = AtomicWaker::new(); static CHANNEL_WAKERS: [AtomicWaker; CHANNEL_COUNT] = [NEW_AW; CHANNEL_COUNT]; static PORT_WAKERS: [AtomicWaker; PIN_COUNT] = [NEW_AW; PIN_COUNT]; pub enum InputChannelPolarity { None, HiToLo, LoToHi, Toggle, } /// Polarity of the `task out` operation. pub enum OutputChannelPolarity { Set, Clear, Toggle, } pub(crate) fn init(irq_prio: crate::interrupt::Priority) { #[cfg(any(feature = "nrf52833", feature = "nrf52840"))] let ports = unsafe { &[&*pac::P0::ptr(), &*pac::P1::ptr()] }; #[cfg(not(any(feature = "nrf52833", feature = "nrf52840")))] let ports = unsafe { &[&*pac::P0::ptr()] }; for &p in ports { // Enable latched detection p.detectmode.write(|w| w.detectmode().ldetect()); // Clear latch p.latch.write(|w| unsafe { w.bits(0xFFFFFFFF) }) } // Enable interrupts let irq = unsafe { interrupt::GPIOTE::steal() }; irq.unpend(); irq.set_priority(irq_prio); irq.enable(); let g = unsafe { &*pac::GPIOTE::ptr() }; g.events_port.write(|w| w); g.intenset.write(|w| w.port().set()); } #[interrupt] unsafe fn GPIOTE() { let g = &*pac::GPIOTE::ptr(); for i in 0..CHANNEL_COUNT { if g.events_in[i].read().bits() != 0 { g.intenclr.write(|w| unsafe { w.bits(1 << i) }); CHANNEL_WAKERS[i].wake(); } } if g.events_port.read().bits() != 0 { g.events_port.write(|w| w); #[cfg(any(feature = "nrf52833", feature = "nrf52840"))] let ports = &[&*pac::P0::ptr(), &*pac::P1::ptr()]; #[cfg(not(any(feature = "nrf52833", feature = "nrf52840")))] let ports = &[&*pac::P0::ptr()]; for (port, &p) in ports.iter().enumerate() { let bits = p.latch.read().bits(); for pin in BitIter(bits) { p.pin_cnf[pin as usize].modify(|_, w| w.sense().disabled()); PORT_WAKERS[port * 32 + pin as usize].wake(); } p.latch.write(|w| w.bits(bits)); } } } struct BitIter(u32); impl Iterator for BitIter { type Item = u32; fn next(&mut self) -> Option { match self.0.trailing_zeros() { 32 => None, b => { self.0 &= !(1 << b); Some(b) } } } } /// GPIOTE channel driver in input mode pub struct InputChannel<'d, C: Channel, T: GpioPin> { ch: C, pin: Input<'d, T>, } impl<'d, C: Channel, T: GpioPin> Drop for InputChannel<'d, C, T> { fn drop(&mut self) { let g = unsafe { &*pac::GPIOTE::ptr() }; let num = self.ch.number(); g.config[num].write(|w| w.mode().disabled()); g.intenclr.write(|w| unsafe { w.bits(1 << num) }); } } impl<'d, C: Channel, T: GpioPin> InputChannel<'d, C, T> { pub fn new(ch: C, pin: Input<'d, T>, polarity: InputChannelPolarity) -> Self { let g = unsafe { &*pac::GPIOTE::ptr() }; let num = ch.number(); g.config[num].write(|w| { match polarity { InputChannelPolarity::HiToLo => w.mode().event().polarity().hi_to_lo(), InputChannelPolarity::LoToHi => w.mode().event().polarity().lo_to_hi(), InputChannelPolarity::None => w.mode().event().polarity().none(), InputChannelPolarity::Toggle => w.mode().event().polarity().toggle(), }; #[cfg(any(feature = "nrf52833", feature = "nrf52840"))] w.port().bit(match pin.pin.port() { Port::Port0 => false, Port::Port1 => true, }); unsafe { w.psel().bits(pin.pin.pin()) } }); g.events_in[num].reset(); InputChannel { ch, pin } } pub async fn wait(&self) { let g = unsafe { &*pac::GPIOTE::ptr() }; let num = self.ch.number(); // Enable interrupt g.events_in[num].reset(); g.intenset.write(|w| unsafe { w.bits(1 << num) }); poll_fn(|cx| { CHANNEL_WAKERS[num].register(cx.waker()); if g.events_in[num].read().bits() != 0 { Poll::Ready(()) } else { Poll::Pending } }) .await; } /// Returns the IN event, for use with PPI. pub fn event_in(&self) -> Event { let g = unsafe { &*pac::GPIOTE::ptr() }; Event::from_reg(&g.events_in[self.ch.number()]) } } impl<'d, C: Channel, T: GpioPin> InputPin for InputChannel<'d, C, T> { type Error = Infallible; fn is_high(&self) -> Result { self.pin.is_high() } fn is_low(&self) -> Result { self.pin.is_low() } } /// GPIOTE channel driver in output mode pub struct OutputChannel<'d, C: Channel, T: GpioPin> { ch: C, _pin: Output<'d, T>, } impl<'d, C: Channel, T: GpioPin> Drop for OutputChannel<'d, C, T> { fn drop(&mut self) { let g = unsafe { &*pac::GPIOTE::ptr() }; let num = self.ch.number(); g.config[num].write(|w| w.mode().disabled()); g.intenclr.write(|w| unsafe { w.bits(1 << num) }); } } impl<'d, C: Channel, T: GpioPin> OutputChannel<'d, C, T> { pub fn new(ch: C, pin: Output<'d, T>, polarity: OutputChannelPolarity) -> Self { let g = unsafe { &*pac::GPIOTE::ptr() }; let num = ch.number(); g.config[num].write(|w| { w.mode().task(); match pin.is_set_high().unwrap() { true => w.outinit().high(), false => w.outinit().low(), }; match polarity { OutputChannelPolarity::Set => w.polarity().lo_to_hi(), OutputChannelPolarity::Clear => w.polarity().hi_to_lo(), OutputChannelPolarity::Toggle => w.polarity().toggle(), }; #[cfg(any(feature = "nrf52833", feature = "nrf52840"))] w.port().bit(match pin.pin.port() { Port::Port0 => false, Port::Port1 => true, }); unsafe { w.psel().bits(pin.pin.pin()) } }); OutputChannel { ch, _pin: pin } } /// Triggers `task out` (as configured with task_out_polarity, defaults to Toggle). pub fn out(&self) { let g = unsafe { &*pac::GPIOTE::ptr() }; g.tasks_out[self.ch.number()].write(|w| unsafe { w.bits(1) }); } /// Triggers `task set` (set associated pin high). #[cfg(not(feature = "51"))] pub fn set(&self) { let g = unsafe { &*pac::GPIOTE::ptr() }; g.tasks_set[self.ch.number()].write(|w| unsafe { w.bits(1) }); } /// Triggers `task clear` (set associated pin low). #[cfg(not(feature = "51"))] pub fn clear(&self) { let g = unsafe { &*pac::GPIOTE::ptr() }; g.tasks_clr[self.ch.number()].write(|w| unsafe { w.bits(1) }); } /// Returns the OUT task, for use with PPI. pub fn task_out(&self) -> Task { let g = unsafe { &*pac::GPIOTE::ptr() }; Task::from_reg(&g.tasks_out[self.ch.number()]) } /// Returns the CLR task, for use with PPI. #[cfg(not(feature = "51"))] pub fn task_clr(&self) -> Task { let g = unsafe { &*pac::GPIOTE::ptr() }; Task::from_reg(&g.tasks_clr[self.ch.number()]) } /// Returns the SET task, for use with PPI. #[cfg(not(feature = "51"))] pub fn task_set(&self) -> Task { let g = unsafe { &*pac::GPIOTE::ptr() }; Task::from_reg(&g.tasks_set[self.ch.number()]) } } /// GPIOTE port input driver pub struct PortInput<'d, T: GpioPin> { pin: Input<'d, T>, } impl<'d, T: GpioPin> Unpin for PortInput<'d, T> {} impl<'d, T: GpioPin> PortInput<'d, T> { pub fn new(pin: Input<'d, T>) -> Self { Self { pin } } } impl<'d, T: GpioPin> InputPin for PortInput<'d, T> { type Error = Infallible; fn is_high(&self) -> Result { self.pin.is_high() } fn is_low(&self) -> Result { self.pin.is_low() } } impl<'d, T: GpioPin> WaitForHigh for PortInput<'d, T> { type Future<'a> = PortInputFuture<'a>; fn wait_for_high<'a>(&'a mut self) -> Self::Future<'a> { self.pin.pin.conf().modify(|_, w| w.sense().high()); PortInputFuture { pin_port: self.pin.pin.pin_port(), phantom: PhantomData, } } } impl<'d, T: GpioPin> WaitForLow for PortInput<'d, T> { type Future<'a> = PortInputFuture<'a>; fn wait_for_low<'a>(&'a mut self) -> Self::Future<'a> { self.pin.pin.conf().modify(|_, w| w.sense().low()); PortInputFuture { pin_port: self.pin.pin.pin_port(), phantom: PhantomData, } } } impl<'d, T: GpioPin> WaitForAnyEdge for PortInput<'d, T> { type Future<'a> = PortInputFuture<'a>; fn wait_for_any_edge<'a>(&'a mut self) -> Self::Future<'a> { if self.is_high().ok().unwrap() { self.pin.pin.conf().modify(|_, w| w.sense().low()); } else { self.pin.pin.conf().modify(|_, w| w.sense().high()); } PortInputFuture { pin_port: self.pin.pin.pin_port(), phantom: PhantomData, } } } pub struct PortInputFuture<'a> { pin_port: u8, phantom: PhantomData<&'a mut AnyPin>, } impl<'a> Drop for PortInputFuture<'a> { fn drop(&mut self) { let pin = unsafe { AnyPin::steal(self.pin_port) }; pin.conf().modify(|_, w| w.sense().disabled()); } } impl<'a> Future for PortInputFuture<'a> { type Output = (); fn poll(self: core::pin::Pin<&mut Self>, cx: &mut Context<'_>) -> Poll { PORT_WAKERS[self.pin_port as usize].register(cx.waker()); let pin = unsafe { AnyPin::steal(self.pin_port) }; if pin.conf().read().sense().is_disabled() { Poll::Ready(()) } else { Poll::Pending } } } mod sealed { pub trait Channel {} } pub trait Channel: sealed::Channel + Sized { fn number(&self) -> usize; fn degrade(self) -> AnyChannel { AnyChannel { number: self.number() as u8, } } } pub struct AnyChannel { number: u8, } unsafe_impl_unborrow!(AnyChannel); impl sealed::Channel for AnyChannel {} impl Channel for AnyChannel { fn number(&self) -> usize { self.number as usize } } macro_rules! impl_channel { ($type:ident, $number:expr) => { impl sealed::Channel for peripherals::$type {} impl Channel for peripherals::$type { fn number(&self) -> usize { $number as usize } } }; } impl_channel!(GPIOTE_CH0, 0); impl_channel!(GPIOTE_CH1, 1); impl_channel!(GPIOTE_CH2, 2); impl_channel!(GPIOTE_CH3, 3); impl_channel!(GPIOTE_CH4, 4); impl_channel!(GPIOTE_CH5, 5); impl_channel!(GPIOTE_CH6, 6); impl_channel!(GPIOTE_CH7, 7);