embassy/embassy-nrf/src/pdm.rs

//! Pulse Density Modulation (PDM) mirophone driver.

#![macro_use]

use core::marker::PhantomData;
use core::sync::atomic::{compiler_fence, Ordering};
use core::task::Poll;

use embassy_hal_internal::drop::OnDrop;
use embassy_hal_internal::{into_ref, PeripheralRef};
use fixed::types::I7F1;
use futures::future::poll_fn;

use crate::chip::EASY_DMA_SIZE;
use crate::gpio::sealed::Pin;
use crate::gpio::{AnyPin, Pin as GpioPin};
use crate::interrupt::typelevel::Interrupt;
use crate::pac::pdm::mode::{EDGE_A, OPERATION_A};
pub use crate::pac::pdm::pdmclkctrl::FREQ_A as Frequency;
#[cfg(any(
    feature = "nrf52840",
    feature = "nrf52833",
    feature = "_nrf5340-app",
    feature = "_nrf9160",
))]
pub use crate::pac::pdm::ratio::RATIO_A as Ratio;
use crate::{interrupt, Peripheral};

/// Interrupt handler.
pub struct InterruptHandler<T: Instance> {
    _phantom: PhantomData<T>,
}

impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
    unsafe fn on_interrupt() {
        let r = T::regs();

        if r.events_end.read().bits() != 0 {
            r.intenclr.write(|w| w.end().clear());
        }

        if r.events_started.read().bits() != 0 {
            r.intenclr.write(|w| w.started().clear());
        }

        if r.events_stopped.read().bits() != 0 {
            r.intenclr.write(|w| w.stopped().clear());
        }

        T::state().waker.wake();
    }
}

/// PDM microphone interface
pub struct Pdm<'d, T: Instance> {
    _peri: PeripheralRef<'d, T>,
}

/// PDM error.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[non_exhaustive]
pub enum Error {
    /// Buffer is too long.
    BufferTooLong,
    /// Buffer is empty
    BufferZeroLength,
    /// PDM is not running
    NotRunning,
    /// PDM is already running
    AlreadyRunning,
}

static DUMMY_BUFFER: [i16; 1] = [0; 1];

/// The state of a continuously running sampler. While it reflects
/// the progress of a sampler, it also signals what should be done
/// next. For example, if the sampler has stopped then the Pdm implementation
/// can then tear down its infrastructure.
#[derive(PartialEq)]
pub enum SamplerState {
    /// The sampler processed the samples and is ready for more.
    Sampled,
    /// The sampler is done processing samples.
    Stopped,
}

impl<'d, T: Instance> Pdm<'d, T> {
    /// Create PDM driver
    pub fn new(
        pdm: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
        clk: impl Peripheral<P = impl GpioPin> + 'd,
        din: impl Peripheral<P = impl GpioPin> + 'd,
        config: Config,
    ) -> Self {
        into_ref!(pdm, clk, din);
        Self::new_inner(pdm, clk.map_into(), din.map_into(), config)
    }

    fn new_inner(
        pdm: PeripheralRef<'d, T>,
        clk: PeripheralRef<'d, AnyPin>,
        din: PeripheralRef<'d, AnyPin>,
        config: Config,
    ) -> Self {
        into_ref!(pdm);

        let r = T::regs();

        // setup gpio pins
        din.conf().write(|w| w.input().set_bit());
        r.psel.din.write(|w| unsafe { w.bits(din.psel_bits()) });
        clk.set_low();
        clk.conf().write(|w| w.dir().output());
        r.psel.clk.write(|w| unsafe { w.bits(clk.psel_bits()) });

        // configure
        r.pdmclkctrl.write(|w| w.freq().variant(config.frequency));
        #[cfg(any(
            feature = "nrf52840",
            feature = "nrf52833",
            feature = "_nrf5340-app",
            feature = "_nrf9160",
        ))]
        r.ratio.write(|w| w.ratio().variant(config.ratio));
        r.mode.write(|w| {
            w.operation().variant(config.operation_mode.into());
            w.edge().variant(config.edge.into());
            w
        });

        Self::_set_gain(r, config.gain_left, config.gain_right);

        // Disable all events interrupts
        r.intenclr.write(|w| unsafe { w.bits(0x003F_FFFF) });

        // IRQ
        T::Interrupt::unpend();
        unsafe { T::Interrupt::enable() };

        r.enable.write(|w| w.enable().set_bit());

        Self { _peri: pdm }
    }

    fn _set_gain(r: &crate::pac::pdm::RegisterBlock, gain_left: I7F1, gain_right: I7F1) {
        let gain_left = gain_left
            .saturating_add(I7F1::from_bits(40))
            .saturating_to_num::<u8>()
            .clamp(0, 0x50);
        let gain_right = gain_right
            .saturating_add(I7F1::from_bits(40))
            .saturating_to_num::<u8>()
            .clamp(0, 0x50);

        r.gainl.write(|w| unsafe { w.gainl().bits(gain_left) });
        r.gainr.write(|w| unsafe { w.gainr().bits(gain_right) });
    }

    /// Adjust the gain of the PDM microphone on the fly
    pub fn set_gain(&mut self, gain_left: I7F1, gain_right: I7F1) {
        Self::_set_gain(T::regs(), gain_left, gain_right)
    }

    /// Start sampling microphon data into a dummy buffer
    /// Usefull to start the microphon and keep it active between recording samples
    pub async fn start(&mut self) {
        let r = T::regs();

        // start dummy sampling because microphon needs some setup time
        r.sample
            .ptr
            .write(|w| unsafe { w.sampleptr().bits(DUMMY_BUFFER.as_ptr() as u32) });
        r.sample
            .maxcnt
            .write(|w| unsafe { w.buffsize().bits(DUMMY_BUFFER.len() as _) });

        r.tasks_start.write(|w| unsafe { w.bits(1) });
    }

    /// Stop sampling microphon data inta a dummy buffer
    pub async fn stop(&mut self) {
        let r = T::regs();
        r.tasks_stop.write(|w| unsafe { w.bits(1) });
        r.events_started.reset();
    }

    /// Sample data into the given buffer.
    pub async fn sample(&mut self, buffer: &mut [i16]) -> Result<(), Error> {
        if buffer.len() == 0 {
            return Err(Error::BufferZeroLength);
        }
        if buffer.len() > EASY_DMA_SIZE {
            return Err(Error::BufferTooLong);
        }

        let r = T::regs();

        if r.events_started.read().bits() == 0 {
            return Err(Error::NotRunning);
        }

        let drop = OnDrop::new(move || {
            r.intenclr.write(|w| w.end().clear());
            r.events_stopped.reset();

            // reset to dummy buffer
            r.sample
                .ptr
                .write(|w| unsafe { w.sampleptr().bits(DUMMY_BUFFER.as_ptr() as u32) });
            r.sample
                .maxcnt
                .write(|w| unsafe { w.buffsize().bits(DUMMY_BUFFER.len() as _) });

            while r.events_stopped.read().bits() == 0 {}
        });

        // setup user buffer
        let ptr = buffer.as_ptr();
        let len = buffer.len();
        r.sample.ptr.write(|w| unsafe { w.sampleptr().bits(ptr as u32) });
        r.sample.maxcnt.write(|w| unsafe { w.buffsize().bits(len as _) });

        // wait till the current sample is finished and the user buffer sample is started
        Self::wait_for_sample().await;

        // reset the buffer back to the dummy buffer
        r.sample
            .ptr
            .write(|w| unsafe { w.sampleptr().bits(DUMMY_BUFFER.as_ptr() as u32) });
        r.sample
            .maxcnt
            .write(|w| unsafe { w.buffsize().bits(DUMMY_BUFFER.len() as _) });

        // wait till the user buffer is sampled
        Self::wait_for_sample().await;

        drop.defuse();

        Ok(())
    }

    async fn wait_for_sample() {
        let r = T::regs();

        r.events_end.reset();
        r.intenset.write(|w| w.end().set());

        compiler_fence(Ordering::SeqCst);

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

        compiler_fence(Ordering::SeqCst);
    }

    /// Continuous sampling with double buffers.
    ///
    /// A sampler closure is provided that receives the buffer of samples, noting
    /// that the size of this buffer can be less than the original buffer's size.
    /// A command is return from the closure that indicates whether the sampling
    /// should continue or stop.
    ///
    /// NOTE: The time spent within the callback supplied should not exceed the time
    /// 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.
    pub async fn run_task_sampler<S, const N: usize>(
        &mut self,
        bufs: &mut [[i16; N]; 2],
        mut sampler: S,
    ) -> Result<(), Error>
    where
        S: FnMut(&[i16; N]) -> SamplerState,
    {
        let r = T::regs();

        if r.events_started.read().bits() != 0 {
            return Err(Error::AlreadyRunning);
        }

        r.sample
            .ptr
            .write(|w| unsafe { w.sampleptr().bits(bufs[0].as_mut_ptr() as u32) });
        r.sample.maxcnt.write(|w| unsafe { w.buffsize().bits(N as _) });

        // Reset and enable the events
        r.events_end.reset();
        r.events_started.reset();
        r.events_stopped.reset();
        r.intenset.write(|w| {
            w.end().set();
            w.started().set();
            w.stopped().set();
            w
        });

        // Don't reorder the start event before the previous writes. Hopefully self
        // wouldn't happen anyway.
        compiler_fence(Ordering::SeqCst);

        r.tasks_start.write(|w| unsafe { w.bits(1) });

        let mut current_buffer = 0;

        let mut done = false;

        let drop = OnDrop::new(|| {
            r.tasks_stop.write(|w| unsafe { w.bits(1) });
            // N.B. It would be better if this were async, but Drop only support sync code.
            while r.events_stopped.read().bits() != 0 {}
        });

        // Wait for events and complete when the sampler indicates it has had enough.
        poll_fn(|cx| {
            let r = T::regs();

            T::state().waker.register(cx.waker());

            if r.events_end.read().bits() != 0 {
                compiler_fence(Ordering::SeqCst);

                r.events_end.reset();
                r.intenset.write(|w| w.end().set());

                if !done {
                    // Discard the last buffer after the user requested a stop.
                    if sampler(&bufs[current_buffer]) == SamplerState::Sampled {
                        let next_buffer = 1 - current_buffer;
                        current_buffer = next_buffer;
                    } else {
                        r.tasks_stop.write(|w| unsafe { w.bits(1) });
                        done = true;
                    };
                };
            }

            if r.events_started.read().bits() != 0 {
                r.events_started.reset();
                r.intenset.write(|w| w.started().set());

                let next_buffer = 1 - current_buffer;
                r.sample
                    .ptr
                    .write(|w| unsafe { w.sampleptr().bits(bufs[next_buffer].as_mut_ptr() as u32) });
            }

            if r.events_stopped.read().bits() != 0 {
                return Poll::Ready(());
            }

            Poll::Pending
        })
        .await;
        drop.defuse();
        Ok(())
    }
}

/// PDM microphone driver Config
pub struct Config {
    /// Use stero or mono operation
    pub operation_mode: OperationMode,
    /// On which edge the left channel should be samples
    pub edge: Edge,
    /// Clock frequency
    pub frequency: Frequency,
    /// Clock ratio
    #[cfg(any(
        feature = "nrf52840",
        feature = "nrf52833",
        feature = "_nrf5340-app",
        feature = "_nrf9160",
    ))]
    pub ratio: Ratio,
    /// Gain left in dB
    pub gain_left: I7F1,
    /// Gain right in dB
    pub gain_right: I7F1,
}

impl Default for Config {
    fn default() -> Self {
        Self {
            operation_mode: OperationMode::Mono,
            edge: Edge::LeftFalling,
            frequency: Frequency::DEFAULT,
            #[cfg(any(
                feature = "nrf52840",
                feature = "nrf52833",
                feature = "_nrf5340-app",
                feature = "_nrf9160",
            ))]
            ratio: Ratio::RATIO80,
            gain_left: I7F1::ZERO,
            gain_right: I7F1::ZERO,
        }
    }
}

/// PDM operation mode.
#[derive(PartialEq)]
pub enum OperationMode {
    /// Mono (1 channel)
    Mono,
    /// Stereo (2 channels)
    Stereo,
}

impl From<OperationMode> for OPERATION_A {
    fn from(mode: OperationMode) -> Self {
        match mode {
            OperationMode::Mono => OPERATION_A::MONO,
            OperationMode::Stereo => OPERATION_A::STEREO,
        }
    }
}

/// PDM edge polarity
#[derive(PartialEq)]
pub enum Edge {
    /// Left edge is rising
    LeftRising,
    /// Left edge is falling
    LeftFalling,
}

impl From<Edge> for EDGE_A {
    fn from(edge: Edge) -> Self {
        match edge {
            Edge::LeftRising => EDGE_A::LEFT_RISING,
            Edge::LeftFalling => EDGE_A::LEFT_FALLING,
        }
    }
}

impl<'d, T: Instance> Drop for Pdm<'d, T> {
    fn drop(&mut self) {
        let r = T::regs();

        r.tasks_stop.write(|w| unsafe { w.bits(1) });

        r.enable.write(|w| w.enable().disabled());

        r.psel.din.reset();
        r.psel.clk.reset();
    }
}

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

    /// Peripheral static state
    pub struct State {
        pub waker: AtomicWaker,
    }

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

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

/// PDM peripheral instance.
pub trait Instance: Peripheral<P = Self> + sealed::Instance + 'static + Send {
    /// Interrupt for this peripheral.
    type Interrupt: interrupt::typelevel::Interrupt;
}

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