embassy/embassy-nrf/src/uarte.rs

#![macro_use]

//! Async UART
//!
//! Async UART is provided in two flavors - this one and also [crate::buffered_uarte::BufferedUarte].
//! The [Uarte] here is useful for those use-cases where reading the UARTE peripheral is
//! exclusively awaited on. If the [Uarte] is required to be awaited on with some other future,
//! for example when using `futures_util::future::select`, then you should consider
//! [crate::buffered_uarte::BufferedUarte] so that reads may continue while processing these
//! other futures. If you do not then you may lose data between reads.
//!
//! An advantage of the [Uarte] has over [crate::buffered_uarte::BufferedUarte] is that less
//! memory may be used given that buffers are passed in directly to its read and write
//! methods.

use core::future::Future;
use core::marker::PhantomData;
use core::sync::atomic::{compiler_fence, Ordering};
use core::task::Poll;
use embassy::interrupt::InterruptExt;
use embassy::traits::uart::{Error as TraitError, Read, ReadUntilIdle, Write};
use embassy::util::Unborrow;
use embassy_hal_common::drop::OnDrop;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;

use crate::chip::EASY_DMA_SIZE;
use crate::gpio::sealed::Pin as _;
use crate::gpio::{self, OptionalPin as GpioOptionalPin, Pin as GpioPin};
use crate::interrupt::Interrupt;
use crate::pac;
use crate::ppi::{AnyConfigurableChannel, ConfigurableChannel, Event, Ppi, Task};
use crate::timer::Instance as TimerInstance;
use crate::timer::{Frequency, Timer};

// 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};

#[non_exhaustive]
pub struct Config {
    pub parity: Parity,
    pub baudrate: Baudrate,
}

impl Default for Config {
    fn default() -> Self {
        Self {
            parity: Parity::EXCLUDED,
            baudrate: Baudrate::BAUD115200,
        }
    }
}

/// Interface to the UARTE peripheral
pub struct Uarte<'d, T: Instance> {
    phantom: PhantomData<&'d mut T>,
    tx: UarteTx<'d, T>,
    rx: UarteRx<'d, T>,
}

/// Transmitter interface to the UARTE peripheral obtained
/// via [Uarte]::split.
pub struct UarteTx<'d, T: Instance> {
    phantom: PhantomData<&'d mut T>,
}

/// Receiver interface to the UARTE peripheral obtained
/// via [Uarte]::split.
pub struct UarteRx<'d, T: Instance> {
    phantom: PhantomData<&'d mut T>,
}

impl<'d, T: Instance> Uarte<'d, T> {
    /// Creates the interface to a UARTE instance.
    /// Sets the baud rate, parity and assigns the pins to the UARTE peripheral.
    pub fn new(
        _uarte: impl Unborrow<Target = T> + 'd,
        irq: impl Unborrow<Target = T::Interrupt> + 'd,
        rxd: impl Unborrow<Target = impl GpioPin> + 'd,
        txd: impl Unborrow<Target = impl GpioPin> + 'd,
        cts: impl Unborrow<Target = impl GpioOptionalPin> + 'd,
        rts: impl Unborrow<Target = impl GpioOptionalPin> + 'd,
        config: Config,
    ) -> Self {
        unborrow!(irq, rxd, txd, cts, rts);

        let r = T::regs();

        rxd.conf().write(|w| w.input().connect().drive().h0h1());
        r.psel.rxd.write(|w| unsafe { w.bits(rxd.psel_bits()) });

        txd.set_high();
        txd.conf().write(|w| w.dir().output().drive().h0h1());
        r.psel.txd.write(|w| unsafe { w.bits(txd.psel_bits()) });

        if let Some(pin) = rts.pin_mut() {
            pin.set_high();
            pin.conf().write(|w| w.dir().output().drive().h0h1());
        }
        r.psel.cts.write(|w| unsafe { w.bits(cts.psel_bits()) });

        if let Some(pin) = cts.pin_mut() {
            pin.conf().write(|w| w.input().connect().drive().h0h1());
        }
        r.psel.rts.write(|w| unsafe { w.bits(rts.psel_bits()) });

        // Configure
        let hardware_flow_control = match (rts.pin().is_some(), cts.pin().is_some()) {
            (false, false) => false,
            (true, true) => true,
            _ => panic!("RTS and CTS pins must be either both set or none set."),
        };
        r.config.write(|w| {
            w.hwfc().bit(hardware_flow_control);
            w.parity().variant(config.parity);
            w
        });
        r.baudrate.write(|w| w.baudrate().variant(config.baudrate));

        // Disable all interrupts
        r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });

        // Reset rxstarted, txstarted. These are used by drop to know whether a transfer was
        // stopped midway or not.
        r.events_rxstarted.reset();
        r.events_txstarted.reset();

        irq.set_handler(Self::on_interrupt);
        irq.unpend();
        irq.enable();

        // Enable
        apply_workaround_for_enable_anomaly(&r);
        r.enable.write(|w| w.enable().enabled());

        Self {
            phantom: PhantomData,
            tx: UarteTx::new(),
            rx: UarteRx::new(),
        }
    }

    /// Split the Uarte into a transmitter and receiver, which is
    /// particuarly useful when having two tasks correlating to
    /// transmitting and receiving.
    pub fn split(self) -> (UarteTx<'d, T>, UarteRx<'d, T>) {
        (self.tx, self.rx)
    }

    fn on_interrupt(_: *mut ()) {
        let r = T::regs();
        let s = T::state();

        if r.events_endrx.read().bits() != 0 {
            s.endrx_waker.wake();
            r.intenclr.write(|w| w.endrx().clear());
        }
        if r.events_endtx.read().bits() != 0 {
            s.endtx_waker.wake();
            r.intenclr.write(|w| w.endtx().clear());
        }
    }
}

impl<'d, T: Instance> Read for Uarte<'d, T> {
    #[rustfmt::skip]
    type ReadFuture<'a> where Self: 'a = impl Future<Output = Result<(), TraitError>> + 'a;

    fn read<'a>(&'a mut self, rx_buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
        self.rx.read(rx_buffer)
    }
}

impl<'d, T: Instance> Write for Uarte<'d, T> {
    #[rustfmt::skip]
    type WriteFuture<'a> where Self: 'a = impl Future<Output = Result<(), TraitError>> + 'a;

    fn write<'a>(&'a mut self, tx_buffer: &'a [u8]) -> Self::WriteFuture<'a> {
        self.tx.write(tx_buffer)
    }
}

impl<'d, T: Instance> UarteTx<'d, T> {
    pub fn new() -> Self {
        Self {
            phantom: PhantomData,
        }
    }
}

impl<'d, T: Instance> Read for UarteTx<'d, T> {
    #[rustfmt::skip]
    type ReadFuture<'a> where Self: 'a = impl Future<Output = Result<(), TraitError>> + 'a;

    fn read<'a>(&'a mut self, rx_buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
        async move {
            let ptr = rx_buffer.as_ptr();
            let len = rx_buffer.len();
            assert!(len <= EASY_DMA_SIZE);

            let r = T::regs();
            let s = T::state();

            let drop = OnDrop::new(move || {
                info!("read drop: stopping");

                r.intenclr.write(|w| w.endrx().clear());
                r.events_rxto.reset();
                r.tasks_stoprx.write(|w| unsafe { w.bits(1) });

                while r.events_endrx.read().bits() == 0 {}

                info!("read drop: stopped");
            });

            r.rxd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
            r.rxd.maxcnt.write(|w| unsafe { w.maxcnt().bits(len as _) });

            r.events_endrx.reset();
            r.intenset.write(|w| w.endrx().set());

            compiler_fence(Ordering::SeqCst);

            trace!("startrx");
            r.tasks_startrx.write(|w| unsafe { w.bits(1) });

            poll_fn(|cx| {
                s.endrx_waker.register(cx.waker());
                if r.events_endrx.read().bits() != 0 {
                    return Poll::Ready(());
                }
                Poll::Pending
            })
            .await;

            compiler_fence(Ordering::SeqCst);
            r.events_rxstarted.reset();
            drop.defuse();

            Ok(())
        }
    }
}

impl<'d, T: Instance> Write for UarteTx<'d, T> {
    #[rustfmt::skip]
    type WriteFuture<'a> where Self: 'a = impl Future<Output = Result<(), TraitError>> + 'a;

    fn write<'a>(&'a mut self, tx_buffer: &'a [u8]) -> Self::WriteFuture<'a> {
        async move {
            let ptr = tx_buffer.as_ptr();
            let len = tx_buffer.len();
            assert!(len <= EASY_DMA_SIZE);
            // TODO: panic if buffer is not in SRAM

            let r = T::regs();
            let s = T::state();

            let drop = OnDrop::new(move || {
                info!("write drop: stopping");

                r.intenclr.write(|w| w.endtx().clear());
                r.events_txstopped.reset();
                r.tasks_stoptx.write(|w| unsafe { w.bits(1) });

                // TX is stopped almost instantly, spinning is fine.
                while r.events_endtx.read().bits() == 0 {}
                info!("write drop: stopped");
            });

            r.txd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
            r.txd.maxcnt.write(|w| unsafe { w.maxcnt().bits(len as _) });

            r.events_endtx.reset();
            r.intenset.write(|w| w.endtx().set());

            compiler_fence(Ordering::SeqCst);

            trace!("starttx");
            r.tasks_starttx.write(|w| unsafe { w.bits(1) });

            poll_fn(|cx| {
                s.endtx_waker.register(cx.waker());
                if r.events_endtx.read().bits() != 0 {
                    return Poll::Ready(());
                }
                Poll::Pending
            })
            .await;

            compiler_fence(Ordering::SeqCst);
            r.events_txstarted.reset();
            drop.defuse();

            Ok(())
        }
    }
}

impl<'a, T: Instance> Drop for UarteTx<'a, T> {
    fn drop(&mut self) {
        info!("uarte tx drop");

        let r = T::regs();

        let did_stoptx = r.events_txstarted.read().bits() != 0;
        info!("did_stoptx {}", did_stoptx);

        // Wait for txstopped, if needed.
        while did_stoptx && r.events_txstopped.read().bits() == 0 {}

        info!("uarte txdrop: done");
    }
}

impl<'d, T: Instance> UarteRx<'d, T> {
    pub fn new() -> Self {
        Self {
            phantom: PhantomData,
        }
    }
}

impl<'d, T: Instance> Read for UarteRx<'d, T> {
    #[rustfmt::skip]
    type ReadFuture<'a> where Self: 'a = impl Future<Output = Result<(), TraitError>> + 'a;

    fn read<'a>(&'a mut self, rx_buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
        async move {
            let ptr = rx_buffer.as_ptr();
            let len = rx_buffer.len();
            assert!(len <= EASY_DMA_SIZE);

            let r = T::regs();
            let s = T::state();

            let drop = OnDrop::new(move || {
                info!("read drop: stopping");

                r.intenclr.write(|w| w.endrx().clear());
                r.events_rxto.reset();
                r.tasks_stoprx.write(|w| unsafe { w.bits(1) });

                while r.events_endrx.read().bits() == 0 {}

                info!("read drop: stopped");
            });

            r.rxd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
            r.rxd.maxcnt.write(|w| unsafe { w.maxcnt().bits(len as _) });

            r.events_endrx.reset();
            r.intenset.write(|w| w.endrx().set());

            compiler_fence(Ordering::SeqCst);

            trace!("startrx");
            r.tasks_startrx.write(|w| unsafe { w.bits(1) });

            poll_fn(|cx| {
                s.endrx_waker.register(cx.waker());
                if r.events_endrx.read().bits() != 0 {
                    return Poll::Ready(());
                }
                Poll::Pending
            })
            .await;

            compiler_fence(Ordering::SeqCst);
            r.events_rxstarted.reset();
            drop.defuse();

            Ok(())
        }
    }
}

impl<'d, T: Instance> Write for UarteRx<'d, T> {
    #[rustfmt::skip]
    type WriteFuture<'a> where Self: 'a = impl Future<Output = Result<(), TraitError>> + 'a;

    fn write<'a>(&'a mut self, tx_buffer: &'a [u8]) -> Self::WriteFuture<'a> {
        async move {
            let ptr = tx_buffer.as_ptr();
            let len = tx_buffer.len();
            assert!(len <= EASY_DMA_SIZE);
            // TODO: panic if buffer is not in SRAM

            let r = T::regs();
            let s = T::state();

            let drop = OnDrop::new(move || {
                info!("write drop: stopping");

                r.intenclr.write(|w| w.endtx().clear());
                r.events_txstopped.reset();
                r.tasks_stoptx.write(|w| unsafe { w.bits(1) });

                // TX is stopped almost instantly, spinning is fine.
                while r.events_endtx.read().bits() == 0 {}
                info!("write drop: stopped");
            });

            r.txd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
            r.txd.maxcnt.write(|w| unsafe { w.maxcnt().bits(len as _) });

            r.events_endtx.reset();
            r.intenset.write(|w| w.endtx().set());

            compiler_fence(Ordering::SeqCst);

            trace!("starttx");
            r.tasks_starttx.write(|w| unsafe { w.bits(1) });

            poll_fn(|cx| {
                s.endtx_waker.register(cx.waker());
                if r.events_endtx.read().bits() != 0 {
                    return Poll::Ready(());
                }
                Poll::Pending
            })
            .await;

            compiler_fence(Ordering::SeqCst);
            r.events_txstarted.reset();
            drop.defuse();

            Ok(())
        }
    }
}

impl<'a, T: Instance> Drop for UarteRx<'a, T> {
    fn drop(&mut self) {
        info!("uarte rx drop");

        let r = T::regs();

        let did_stoprx = r.events_rxstarted.read().bits() != 0;
        info!("did_stoprx {}", did_stoprx);

        // Wait for rxto, if needed.
        while did_stoprx && r.events_rxto.read().bits() == 0 {}

        // Finally we can disable, and we do so for the peripheral
        // i.e. not just rx concerns.
        r.enable.write(|w| w.enable().disabled());

        gpio::deconfigure_pin(r.psel.rxd.read().bits());
        gpio::deconfigure_pin(r.psel.txd.read().bits());
        gpio::deconfigure_pin(r.psel.rts.read().bits());
        gpio::deconfigure_pin(r.psel.cts.read().bits());

        info!("uarte drop: done");
    }
}

#[cfg(not(any(feature = "_nrf9160", feature = "nrf5340")))]
pub(in crate) fn apply_workaround_for_enable_anomaly(_r: &crate::pac::uarte0::RegisterBlock) {
    // Do nothing
}

#[cfg(any(feature = "_nrf9160", feature = "nrf5340"))]
pub(in crate) fn apply_workaround_for_enable_anomaly(r: &crate::pac::uarte0::RegisterBlock) {
    use core::ops::Deref;

    // Apply workaround for anomalies:
    // - nRF9160 - anomaly 23
    // - nRF5340 - anomaly 44
    let rxenable_reg: *const u32 = ((r.deref() as *const _ as usize) + 0x564) as *const u32;
    let txenable_reg: *const u32 = ((r.deref() as *const _ as usize) + 0x568) as *const u32;

    // NB Safety: This is taken from Nordic's driver -
    // https://github.com/NordicSemiconductor/nrfx/blob/master/drivers/src/nrfx_uarte.c#L197
    if unsafe { core::ptr::read_volatile(txenable_reg) } == 1 {
        r.tasks_stoptx.write(|w| unsafe { w.bits(1) });
    }

    // NB Safety: This is taken from Nordic's driver -
    // https://github.com/NordicSemiconductor/nrfx/blob/master/drivers/src/nrfx_uarte.c#L197
    if unsafe { core::ptr::read_volatile(rxenable_reg) } == 1 {
        r.enable.write(|w| w.enable().enabled());
        r.tasks_stoprx.write(|w| unsafe { w.bits(1) });

        let mut workaround_succeded = false;
        // The UARTE is able to receive up to four bytes after the STOPRX task has been triggered.
        // On lowest supported baud rate (1200 baud), with parity bit and two stop bits configured
        // (resulting in 12 bits per data byte sent), this may take up to 40 ms.
        for _ in 0..40000 {
            // NB Safety: This is taken from Nordic's driver -
            // https://github.com/NordicSemiconductor/nrfx/blob/master/drivers/src/nrfx_uarte.c#L197
            if unsafe { core::ptr::read_volatile(rxenable_reg) } == 0 {
                workaround_succeded = true;
                break;
            } else {
                // Need to sleep for 1us here
            }
        }

        if !workaround_succeded {
            panic!("Failed to apply workaround for UART");
        }

        let errors = r.errorsrc.read().bits();
        // NB Safety: safe to write back the bits we just read to clear them
        r.errorsrc.write(|w| unsafe { w.bits(errors) });
        r.enable.write(|w| w.enable().disabled());
    }
}

/// Interface to an UARTE peripheral that uses an additional timer and two PPI channels,
/// allowing it to implement the ReadUntilIdle trait.
pub struct UarteWithIdle<'d, U: Instance, T: TimerInstance> {
    uarte: Uarte<'d, U>,
    timer: Timer<'d, T>,
    ppi_ch1: Ppi<'d, AnyConfigurableChannel, 1, 2>,
    _ppi_ch2: Ppi<'d, AnyConfigurableChannel, 1, 1>,
}

impl<'d, U: Instance, T: TimerInstance> UarteWithIdle<'d, U, T> {
    /// Creates the interface to a UARTE instance.
    /// Sets the baud rate, parity and assigns the pins to the UARTE peripheral.
    ///
    /// # Safety
    ///
    /// 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: impl Unborrow<Target = U> + 'd,
        timer: impl Unborrow<Target = T> + 'd,
        ppi_ch1: impl Unborrow<Target = impl ConfigurableChannel + 'd> + 'd,
        ppi_ch2: impl Unborrow<Target = impl ConfigurableChannel + 'd> + 'd,
        irq: impl Unborrow<Target = U::Interrupt> + 'd,
        rxd: impl Unborrow<Target = impl GpioPin> + 'd,
        txd: impl Unborrow<Target = impl GpioPin> + 'd,
        cts: impl Unborrow<Target = impl GpioOptionalPin> + 'd,
        rts: impl Unborrow<Target = impl GpioOptionalPin> + 'd,
        config: Config,
    ) -> Self {
        let baudrate = config.baudrate;
        let uarte = Uarte::new(uarte, irq, rxd, txd, cts, rts, config);
        let mut timer = Timer::new(timer);

        unborrow!(ppi_ch1, ppi_ch2);

        let r = U::regs();

        // BAUDRATE register values are `baudrate * 2^32 / 16000000`
        // source: https://devzone.nordicsemi.com/f/nordic-q-a/391/uart-baudrate-register-values
        //
        // We want to stop RX if line is idle for 2 bytes worth of time
        // That is 20 bits (each byte is 1 start bit + 8 data bits + 1 stop bit)
        // This gives us the amount of 16M ticks for 20 bits.
        let timeout = 0x8000_0000 / (baudrate as u32 / 40);

        timer.set_frequency(Frequency::F16MHz);
        timer.cc(0).write(timeout);
        timer.cc(0).short_compare_clear();
        timer.cc(0).short_compare_stop();

        let mut ppi_ch1 = Ppi::new_one_to_two(
            ppi_ch1.degrade(),
            Event::from_reg(&r.events_rxdrdy),
            timer.task_clear(),
            timer.task_start(),
        );
        ppi_ch1.enable();

        let mut ppi_ch2 = Ppi::new_one_to_one(
            ppi_ch2.degrade(),
            timer.cc(0).event_compare(),
            Task::from_reg(&r.tasks_stoprx),
        );
        ppi_ch2.enable();

        Self {
            uarte,
            timer,
            ppi_ch1: ppi_ch1,
            _ppi_ch2: ppi_ch2,
        }
    }
}

impl<'d, U: Instance, T: TimerInstance> ReadUntilIdle for UarteWithIdle<'d, U, T> {
    #[rustfmt::skip]
    type ReadUntilIdleFuture<'a> where Self: 'a = impl Future<Output = Result<usize, TraitError>> + 'a;
    fn read_until_idle<'a>(&'a mut self, rx_buffer: &'a mut [u8]) -> Self::ReadUntilIdleFuture<'a> {
        async move {
            let ptr = rx_buffer.as_ptr();
            let len = rx_buffer.len();
            assert!(len <= EASY_DMA_SIZE);

            let r = U::regs();
            let s = U::state();

            let drop = OnDrop::new(|| {
                info!("read drop: stopping");

                self.timer.stop();

                r.intenclr.write(|w| w.endrx().clear());
                r.events_rxto.reset();
                r.tasks_stoprx.write(|w| unsafe { w.bits(1) });

                while r.events_endrx.read().bits() == 0 {}

                info!("read drop: stopped");
            });

            r.rxd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
            r.rxd.maxcnt.write(|w| unsafe { w.maxcnt().bits(len as _) });

            r.events_endrx.reset();
            r.intenset.write(|w| w.endrx().set());

            compiler_fence(Ordering::SeqCst);

            trace!("startrx");
            r.tasks_startrx.write(|w| unsafe { w.bits(1) });

            poll_fn(|cx| {
                s.endrx_waker.register(cx.waker());
                if r.events_endrx.read().bits() != 0 {
                    return Poll::Ready(());
                }
                Poll::Pending
            })
            .await;

            compiler_fence(Ordering::SeqCst);
            let n = r.rxd.amount.read().amount().bits() as usize;

            // Stop timer
            self.timer.stop();
            r.events_rxstarted.reset();

            drop.defuse();

            Ok(n)
        }
    }
}

impl<'d, U: Instance, T: TimerInstance> Read for UarteWithIdle<'d, U, T> {
    #[rustfmt::skip]
    type ReadFuture<'a> where Self: 'a = impl Future<Output = Result<(), TraitError>> + 'a;
    fn read<'a>(&'a mut self, rx_buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
        async move {
            self.ppi_ch1.disable();
            let result = self.uarte.read(rx_buffer).await;
            self.ppi_ch1.enable();
            result
        }
    }
}

impl<'d, U: Instance, T: TimerInstance> Write for UarteWithIdle<'d, U, T> {
    #[rustfmt::skip]
    type WriteFuture<'a> where Self: 'a = impl Future<Output = Result<(), TraitError>> + 'a;

    fn write<'a>(&'a mut self, tx_buffer: &'a [u8]) -> Self::WriteFuture<'a> {
        self.uarte.write(tx_buffer)
    }
}

pub(crate) mod sealed {
    use embassy::waitqueue::AtomicWaker;

    use super::*;

    pub struct State {
        pub endrx_waker: AtomicWaker,
        pub endtx_waker: AtomicWaker,
    }
    impl State {
        pub const fn new() -> Self {
            Self {
                endrx_waker: AtomicWaker::new(),
                endtx_waker: AtomicWaker::new(),
            }
        }
    }

    pub trait Instance {
        fn regs() -> &'static pac::uarte0::RegisterBlock;
        fn state() -> &'static State;
    }
}

pub trait Instance: Unborrow<Target = Self> + sealed::Instance + 'static + Send {
    type Interrupt: Interrupt;
}

macro_rules! impl_uarte {
    ($type:ident, $pac_type:ident, $irq:ident) => {
        impl crate::uarte::sealed::Instance for peripherals::$type {
            fn regs() -> &'static pac::uarte0::RegisterBlock {
                unsafe { &*pac::$pac_type::ptr() }
            }
            fn state() -> &'static crate::uarte::sealed::State {
                static STATE: crate::uarte::sealed::State = crate::uarte::sealed::State::new();
                &STATE
            }
        }
        impl crate::uarte::Instance for peripherals::$type {
            type Interrupt = crate::interrupt::$irq;
        }
    };
}