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Merge branch 'master' into flash-regions

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Rasmus Melchior Jacobsen 2023-03-29 13:59:17 +02:00 committed by GitHub
commit 0bbc3a3d81
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15 changed files with 451 additions and 131 deletions
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175
embassy-executor/src/raw/mod.rs
View file

@ -13,11 +13,12 @@ mod timer_queue;
pub(crate) mod util;
mod waker;
use core::cell::Cell;
use core::future::Future;
use core::marker::PhantomData;
use core::mem;
use core::pin::Pin;
use core::ptr::NonNull;
use core::sync::atomic::AtomicPtr;
use core::task::{Context, Poll};
use atomic_polyfill::{AtomicU32, Ordering};
@ -30,7 +31,7 @@ use embassy_time::Instant;
use rtos_trace::trace;
use self::run_queue::{RunQueue, RunQueueItem};
use self::util::UninitCell;
use self::util::{SyncUnsafeCell, UninitCell};
pub use self::waker::task_from_waker;
use super::SpawnToken;
@ -46,11 +47,11 @@ pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2;
pub(crate) struct TaskHeader {
pub(crate) state: AtomicU32,
pub(crate) run_queue_item: RunQueueItem,
pub(crate) executor: Cell<Option<&'static Executor>>,
poll_fn: Cell<Option<unsafe fn(TaskRef)>>,
pub(crate) executor: SyncUnsafeCell<Option<&'static SyncExecutor>>,
poll_fn: SyncUnsafeCell<Option<unsafe fn(TaskRef)>>,
#[cfg(feature = "integrated-timers")]
pub(crate) expires_at: Cell<Instant>,
pub(crate) expires_at: SyncUnsafeCell<Instant>,
#[cfg(feature = "integrated-timers")]
pub(crate) timer_queue_item: timer_queue::TimerQueueItem,
}
@ -61,6 +62,9 @@ pub struct TaskRef {
ptr: NonNull<TaskHeader>,
}
unsafe impl Send for TaskRef where &'static TaskHeader: Send {}
unsafe impl Sync for TaskRef where &'static TaskHeader: Sync {}
impl TaskRef {
fn new<F: Future + 'static>(task: &'static TaskStorage<F>) -> Self {
Self {
@ -115,12 +119,12 @@ impl<F: Future + 'static> TaskStorage<F> {
raw: TaskHeader {
state: AtomicU32::new(0),
run_queue_item: RunQueueItem::new(),
executor: Cell::new(None),
executor: SyncUnsafeCell::new(None),
// Note: this is lazily initialized so that a static `TaskStorage` will go in `.bss`
poll_fn: Cell::new(None),
poll_fn: SyncUnsafeCell::new(None),
#[cfg(feature = "integrated-timers")]
expires_at: Cell::new(Instant::from_ticks(0)),
expires_at: SyncUnsafeCell::new(Instant::from_ticks(0)),
#[cfg(feature = "integrated-timers")]
timer_queue_item: timer_queue::TimerQueueItem::new(),
},
@ -170,9 +174,15 @@ impl<F: Future + 'static> TaskStorage<F> {
// it's a noop for our waker.
mem::forget(waker);
}
}
unsafe impl<F: Future + 'static> Sync for TaskStorage<F> {}
#[doc(hidden)]
#[allow(dead_code)]
fn _assert_sync(self) {
fn assert_sync<T: Sync>(_: T) {}
assert_sync(self)
}
}
struct AvailableTask<F: Future + 'static> {
task: &'static TaskStorage<F>,
@ -279,29 +289,10 @@ impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
}
}
/// Raw executor.
///
/// This is the core of the Embassy executor. It is low-level, requiring manual
/// handling of wakeups and task polling. If you can, prefer using one of the
/// [higher level executors](crate::Executor).
///
/// The raw executor leaves it up to you to handle wakeups and scheduling:
///
/// - To get the executor to do work, call `poll()`. This will poll all queued tasks (all tasks
/// that "want to run").
/// - You must supply a `signal_fn`. The executor will call it to notify you it has work
/// to do. You must arrange for `poll()` to be called as soon as possible.
///
/// `signal_fn` can be called from *any* context: any thread, any interrupt priority
/// level, etc. It may be called synchronously from any `Executor` method call as well.
/// You must deal with this correctly.
///
/// In particular, you must NOT call `poll` directly from `signal_fn`, as this violates
/// the requirement for `poll` to not be called reentrantly.
pub struct Executor {
pub(crate) struct SyncExecutor {
run_queue: RunQueue,
signal_fn: fn(*mut ()),
signal_ctx: *mut (),
signal_ctx: AtomicPtr<()>,
#[cfg(feature = "integrated-timers")]
pub(crate) timer_queue: timer_queue::TimerQueue,
@ -309,14 +300,8 @@ pub struct Executor {
alarm: AlarmHandle,
}
impl Executor {
/// Create a new executor.
///
/// When the executor has work to do, it will call `signal_fn` with
/// `signal_ctx` as argument.
///
/// See [`Executor`] docs for details on `signal_fn`.
pub fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self {
impl SyncExecutor {
pub(crate) fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self {
#[cfg(feature = "integrated-timers")]
let alarm = unsafe { unwrap!(driver::allocate_alarm()) };
#[cfg(feature = "integrated-timers")]
@ -325,7 +310,7 @@ impl Executor {
Self {
run_queue: RunQueue::new(),
signal_fn,
signal_ctx,
signal_ctx: AtomicPtr::new(signal_ctx),
#[cfg(feature = "integrated-timers")]
timer_queue: timer_queue::TimerQueue::new(),
@ -346,19 +331,10 @@ impl Executor {
trace::task_ready_begin(task.as_ptr() as u32);
if self.run_queue.enqueue(cs, task) {
(self.signal_fn)(self.signal_ctx)
(self.signal_fn)(self.signal_ctx.load(Ordering::Relaxed))
}
}
/// Spawn a task in this executor.
///
/// # Safety
///
/// `task` must be a valid pointer to an initialized but not-already-spawned task.
///
/// It is OK to use `unsafe` to call this from a thread that's not the executor thread.
/// In this case, the task's Future must be Send. This is because this is effectively
/// sending the task to the executor thread.
pub(super) unsafe fn spawn(&'static self, task: TaskRef) {
task.header().executor.set(Some(self));
@ -370,24 +346,11 @@ impl Executor {
})
}
/// Poll all queued tasks in this executor.
///
/// This loops over all tasks that are queued to be polled (i.e. they're
/// freshly spawned or they've been woken). Other tasks are not polled.
///
/// You must call `poll` after receiving a call to `signal_fn`. It is OK
/// to call `poll` even when not requested by `signal_fn`, but it wastes
/// energy.
///
/// # Safety
///
/// You must NOT call `poll` reentrantly on the same executor.
///
/// In particular, note that `poll` may call `signal_fn` synchronously. Therefore, you
/// must NOT directly call `poll()` from your `signal_fn`. Instead, `signal_fn` has to
/// somehow schedule for `poll()` to be called later, at a time you know for sure there's
/// no `poll()` already running.
pub unsafe fn poll(&'static self) {
/// Same as [`Executor::poll`], plus you must only call this on the thread this executor was created.
pub(crate) unsafe fn poll(&'static self) {
#[allow(clippy::never_loop)]
loop {
#[cfg(feature = "integrated-timers")]
self.timer_queue.dequeue_expired(Instant::now(), |task| wake_task(task));
@ -441,6 +404,84 @@ impl Executor {
#[cfg(feature = "rtos-trace")]
trace::system_idle();
}
}
/// Raw executor.
///
/// This is the core of the Embassy executor. It is low-level, requiring manual
/// handling of wakeups and task polling. If you can, prefer using one of the
/// [higher level executors](crate::Executor).
///
/// The raw executor leaves it up to you to handle wakeups and scheduling:
///
/// - To get the executor to do work, call `poll()`. This will poll all queued tasks (all tasks
/// that "want to run").
/// - You must supply a `signal_fn`. The executor will call it to notify you it has work
/// to do. You must arrange for `poll()` to be called as soon as possible.
///
/// `signal_fn` can be called from *any* context: any thread, any interrupt priority
/// level, etc. It may be called synchronously from any `Executor` method call as well.
/// You must deal with this correctly.
///
/// In particular, you must NOT call `poll` directly from `signal_fn`, as this violates
/// the requirement for `poll` to not be called reentrantly.
#[repr(transparent)]
pub struct Executor {
pub(crate) inner: SyncExecutor,
_not_sync: PhantomData<*mut ()>,
}
impl Executor {
pub(crate) unsafe fn wrap(inner: &SyncExecutor) -> &Self {
mem::transmute(inner)
}
/// Create a new executor.
///
/// When the executor has work to do, it will call `signal_fn` with
/// `signal_ctx` as argument.
///
/// See [`Executor`] docs for details on `signal_fn`.
pub fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self {
Self {
inner: SyncExecutor::new(signal_fn, signal_ctx),
_not_sync: PhantomData,
}
}
/// Spawn a task in this executor.
///
/// # Safety
///
/// `task` must be a valid pointer to an initialized but not-already-spawned task.
///
/// It is OK to use `unsafe` to call this from a thread that's not the executor thread.
/// In this case, the task's Future must be Send. This is because this is effectively
/// sending the task to the executor thread.
pub(super) unsafe fn spawn(&'static self, task: TaskRef) {
self.inner.spawn(task)
}
/// Poll all queued tasks in this executor.
///
/// This loops over all tasks that are queued to be polled (i.e. they're
/// freshly spawned or they've been woken). Other tasks are not polled.
///
/// You must call `poll` after receiving a call to `signal_fn`. It is OK
/// to call `poll` even when not requested by `signal_fn`, but it wastes
/// energy.
///
/// # Safety
///
/// You must NOT call `poll` reentrantly on the same executor.
///
/// In particular, note that `poll` may call `signal_fn` synchronously. Therefore, you
/// must NOT directly call `poll()` from your `signal_fn`. Instead, `signal_fn` has to
/// somehow schedule for `poll()` to be called later, at a time you know for sure there's
/// no `poll()` already running.
pub unsafe fn poll(&'static self) {
self.inner.poll()
}
/// Get a spawner that spawns tasks in this executor.
///
@ -483,9 +524,11 @@ impl embassy_time::queue::TimerQueue for TimerQueue {
fn schedule_wake(&'static self, at: Instant, waker: &core::task::Waker) {
let task = waker::task_from_waker(waker);
let task = task.header();
unsafe {
let expires_at = task.expires_at.get();
task.expires_at.set(expires_at.min(at));
}
}
}
#[cfg(feature = "integrated-timers")]

14
embassy-executor/src/raw/timer_queue.rs
View file

@ -1,28 +1,32 @@
use core::cell::Cell;
use core::cmp::min;
use atomic_polyfill::Ordering;
use embassy_time::Instant;
use super::{TaskRef, STATE_TIMER_QUEUED};
use crate::raw::util::SyncUnsafeCell;
pub(crate) struct TimerQueueItem {
next: Cell<Option<TaskRef>>,
next: SyncUnsafeCell<Option<TaskRef>>,
}
impl TimerQueueItem {
pub const fn new() -> Self {
Self { next: Cell::new(None) }
Self {
next: SyncUnsafeCell::new(None),
}
}
}
pub(crate) struct TimerQueue {
head: Cell<Option<TaskRef>>,
head: SyncUnsafeCell<Option<TaskRef>>,
}
impl TimerQueue {
pub const fn new() -> Self {
Self { head: Cell::new(None) }
Self {
head: SyncUnsafeCell::new(None),
}
}
pub(crate) unsafe fn update(&self, p: TaskRef) {

29
embassy-executor/src/raw/util.rs
View file

@ -25,3 +25,32 @@ impl<T> UninitCell<T> {
ptr::drop_in_place(self.as_mut_ptr())
}
}
unsafe impl<T> Sync for UninitCell<T> {}
#[repr(transparent)]
pub struct SyncUnsafeCell<T> {
value: UnsafeCell<T>,
}
unsafe impl<T: Sync> Sync for SyncUnsafeCell<T> {}
impl<T> SyncUnsafeCell<T> {
#[inline]
pub const fn new(value: T) -> Self {
Self {
value: UnsafeCell::new(value),
}
}
pub unsafe fn set(&self, value: T) {
*self.value.get() = value;
}
pub unsafe fn get(&self) -> T
where
T: Copy,
{
*self.value.get()
}
}

12
embassy-executor/src/spawner.rs
View file

@ -92,6 +92,7 @@ impl Spawner {
poll_fn(|cx| {
let task = raw::task_from_waker(cx.waker());
let executor = unsafe { task.header().executor.get().unwrap_unchecked() };
let executor = unsafe { raw::Executor::wrap(executor) };
Poll::Ready(Self::new(executor))
})
.await
@ -130,9 +131,7 @@ impl Spawner {
/// spawner to other threads, but the spawner loses the ability to spawn
/// non-Send tasks.
pub fn make_send(&self) -> SendSpawner {
SendSpawner {
executor: self.executor,
}
SendSpawner::new(&self.executor.inner)
}
}
@ -145,14 +144,11 @@ impl Spawner {
/// If you want to spawn non-Send tasks, use [Spawner].
#[derive(Copy, Clone)]
pub struct SendSpawner {
executor: &'static raw::Executor,
executor: &'static raw::SyncExecutor,
}
unsafe impl Send for SendSpawner {}
unsafe impl Sync for SendSpawner {}
impl SendSpawner {
pub(crate) fn new(executor: &'static raw::Executor) -> Self {
pub(crate) fn new(executor: &'static raw::SyncExecutor) -> Self {
Self { executor }
}

1
embassy-rp/src/dma.rs
View file

@ -1,3 +1,4 @@
//! Direct Memory Access (DMA)
use core::future::Future;
use core::pin::Pin;
use core::sync::atomic::{compiler_fence, Ordering};

41
embassy-rp/src/spi.rs
View file

@ -1,3 +1,4 @@
//! Serial Peripheral Interface
use core::marker::PhantomData;
use embassy_embedded_hal::SetConfig;
@ -383,21 +384,33 @@ impl<'d, T: Instance> Spi<'d, T, Async> {
}
async fn transfer_inner(&mut self, rx_ptr: *mut [u8], tx_ptr: *const [u8]) -> Result<(), Error> {
let (_, from_len) = crate::dma::slice_ptr_parts(tx_ptr);
let (_, to_len) = crate::dma::slice_ptr_parts_mut(rx_ptr);
assert_eq!(from_len, to_len);
let (_, tx_len) = crate::dma::slice_ptr_parts(tx_ptr);
let (_, rx_len) = crate::dma::slice_ptr_parts_mut(rx_ptr);
unsafe {
self.inner.regs().dmacr().write(|reg| {
reg.set_rxdmae(true);
reg.set_txdmae(true);
})
};
let tx_ch = self.tx_dma.as_mut().unwrap();
let tx_transfer = unsafe {
let mut tx_ch = self.tx_dma.as_mut().unwrap();
// If we don't assign future to a variable, the data register pointer
// is held across an await and makes the future non-Send.
crate::dma::write(tx_ch, tx_ptr, self.inner.regs().dr().ptr() as *mut _, T::TX_DREQ)
let tx_transfer = async {
let p = self.inner.regs();
unsafe {
crate::dma::write(&mut tx_ch, tx_ptr, p.dr().ptr() as *mut _, T::TX_DREQ).await;
if rx_len > tx_len {
let write_bytes_len = rx_len - tx_len;
// write dummy data
// this will disable incrementation of the buffers
crate::dma::write_repeated(tx_ch, p.dr().ptr() as *mut u8, write_bytes_len, T::TX_DREQ).await
}
}
};
let rx_ch = self.rx_dma.as_mut().unwrap();
let rx_transfer = unsafe {
// If we don't assign future to a variable, the data register pointer
@ -405,6 +418,22 @@ impl<'d, T: Instance> Spi<'d, T, Async> {
crate::dma::read(rx_ch, self.inner.regs().dr().ptr() as *const _, rx_ptr, T::RX_DREQ)
};
join(tx_transfer, rx_transfer).await;
// if tx > rx we should clear any overflow of the FIFO SPI buffer
if tx_len > rx_len {
let p = self.inner.regs();
unsafe {
while p.sr().read().bsy() {}
// clear RX FIFO contents to prevent stale reads
while p.sr().read().rne() {
let _: u16 = p.dr().read().data();
}
// clear RX overrun interrupt
p.icr().write(|w| w.set_roric(true));
}
}
Ok(())
}
}

2
embassy-stm32/Cargo.toml
View file

@ -75,7 +75,7 @@ critical-section = { version = "1.1", features = ["std"] }
[build-dependencies]
proc-macro2 = "1.0.36"
quote = "1.0.15"
stm32-metapac = { version = "1", default-features = false, features = ["metadata"]}
stm32-metapac = { version = "2", default-features = false, features = ["metadata"]}
[features]
default = ["stm32-metapac/rt"]

13
embassy-stm32/src/adc/sample_time.rs
View file

@ -1,5 +1,5 @@
macro_rules! impl_sample_time {
($default_doc:expr, $default:ident, $pac:ty, ($(($doc:expr, $variant:ident, $pac_variant:ident)),*)) => {
($default_doc:expr, $default:ident, ($(($doc:expr, $variant:ident, $pac_variant:ident)),*)) => {
#[doc = concat!("ADC sample time\n\nThe default setting is ", $default_doc, " ADC clock cycles.")]
#[derive(Clone, Copy, Debug, Eq, PartialEq, Ord, PartialOrd)]
pub enum SampleTime {
@ -9,10 +9,10 @@ macro_rules! impl_sample_time {
)*
}
impl From<SampleTime> for $pac {
fn from(sample_time: SampleTime) -> $pac {
impl From<SampleTime> for crate::pac::adc::vals::SampleTime {
fn from(sample_time: SampleTime) -> crate::pac::adc::vals::SampleTime {
match sample_time {
$(SampleTime::$variant => <$pac>::$pac_variant),*
$(SampleTime::$variant => crate::pac::adc::vals::SampleTime::$pac_variant),*
}
}
}
@ -29,7 +29,6 @@ macro_rules! impl_sample_time {
impl_sample_time!(
"1.5",
Cycles1_5,
crate::pac::adc::vals::SampleTime,
(
("1.5", Cycles1_5, CYCLES1_5),
("7.5", Cycles7_5, CYCLES7_5),
@ -46,7 +45,6 @@ impl_sample_time!(
impl_sample_time!(
"3",
Cycles3,
crate::pac::adc::vals::Smp,
(
("3", Cycles3, CYCLES3),
("15", Cycles15, CYCLES15),
@ -63,7 +61,6 @@ impl_sample_time!(
impl_sample_time!(
"2.5",
Cycles2_5,
crate::pac::adc::vals::SampleTime,
(
("2.5", Cycles2_5, CYCLES2_5),
("6.5", Cycles6_5, CYCLES6_5),
@ -80,7 +77,6 @@ impl_sample_time!(
impl_sample_time!(
"1.5",
Cycles1_5,
crate::pac::adc::vals::SampleTime,
(
("1.5", Cycles1_5, CYCLES1_5),
("3.5", Cycles3_5, CYCLES3_5),
@ -97,7 +93,6 @@ impl_sample_time!(
impl_sample_time!(
"1.5",
Cycles1_5,
crate::pac::adc::vals::Smp,
(
("1.5", Cycles1_5, CYCLES1_5),
("2.5", Cycles2_5, CYCLES2_5),

99
embassy-stm32/src/usart/buffered.rs
View file

@ -197,6 +197,40 @@ impl<'d, T: BasicInstance> BufferedUart<'d, T> {
.await
}
fn inner_blocking_read(&self, buf: &mut [u8]) -> Result<usize, Error> {
loop {
let mut do_pend = false;
let mut inner = self.inner.borrow_mut();
let n = inner.with(|state| {
compiler_fence(Ordering::SeqCst);
// We have data ready in buffer? Return it.
let data = state.rx.pop_buf();
if !data.is_empty() {
let len = data.len().min(buf.len());
buf[..len].copy_from_slice(&data[..len]);
if state.rx.is_full() {
do_pend = true;
}
state.rx.pop(len);
return len;
}
0
});
if do_pend {
inner.pend();
}
if n > 0 {
return Ok(n);
}
}
}
async fn inner_write<'a>(&'a self, buf: &'a [u8]) -> Result<usize, Error> {
poll_fn(move |cx| {
let mut inner = self.inner.borrow_mut();
@ -236,6 +270,39 @@ impl<'d, T: BasicInstance> BufferedUart<'d, T> {
.await
}
fn inner_blocking_write(&self, buf: &[u8]) -> Result<usize, Error> {
loop {
let mut inner = self.inner.borrow_mut();
let (n, empty) = inner.with(|state| {
let empty = state.tx.is_empty();
let tx_buf = state.tx.push_buf();
if tx_buf.is_empty() {
return (0, empty);
}
let n = core::cmp::min(tx_buf.len(), buf.len());
tx_buf[..n].copy_from_slice(&buf[..n]);
state.tx.push(n);
(n, empty)
});
if empty {
inner.pend();
}
if n != 0 {
return Ok(n);
}
}
}
fn inner_blocking_flush(&self) -> Result<(), Error> {
loop {
if !self.inner.borrow_mut().with(|state| state.tx.is_empty()) {
return Ok(());
}
}
}
async fn inner_fill_buf<'a>(&'a self) -> Result<&'a [u8], Error> {
poll_fn(move |cx| {
self.inner.borrow_mut().with(|state| {
@ -419,3 +486,35 @@ impl<'u, 'd, T: BasicInstance> embedded_io::asynch::Write for BufferedUartTx<'u,
self.inner.inner_flush().await
}
}
impl<'d, T: BasicInstance> embedded_io::blocking::Read for BufferedUart<'d, T> {
fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
self.inner_blocking_read(buf)
}
}
impl<'u, 'd, T: BasicInstance> embedded_io::blocking::Read for BufferedUartRx<'u, 'd, T> {
fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
self.inner.inner_blocking_read(buf)
}
}
impl<'d, T: BasicInstance> embedded_io::blocking::Write for BufferedUart<'d, T> {
fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
self.inner_blocking_write(buf)
}
fn flush(&mut self) -> Result<(), Self::Error> {
self.inner_blocking_flush()
}
}
impl<'u, 'd, T: BasicInstance> embedded_io::blocking::Write for BufferedUartTx<'u, 'd, T> {
fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
self.inner.inner_blocking_write(buf)
}
fn flush(&mut self) -> Result<(), Self::Error> {
self.inner.inner_blocking_flush()
}
}

71
embassy-sync/src/pipe.rs
View file

@ -32,16 +32,16 @@ impl<'p, M, const N: usize> Writer<'p, M, N>
where
M: RawMutex,
{
/// Writes a value.
/// Write some bytes to the pipe.
///
/// See [`Pipe::write()`]
pub fn write<'a>(&'a self, buf: &'a [u8]) -> WriteFuture<'a, M, N> {
self.pipe.write(buf)
}
/// Attempt to immediately write a message.
/// Attempt to immediately write some bytes to the pipe.
///
/// See [`Pipe::write()`]
/// See [`Pipe::try_write()`]
pub fn try_write(&self, buf: &[u8]) -> Result<usize, TryWriteError> {
self.pipe.try_write(buf)
}
@ -95,16 +95,16 @@ impl<'p, M, const N: usize> Reader<'p, M, N>
where
M: RawMutex,
{
/// Reads a value.
/// Read some bytes from the pipe.
///
/// See [`Pipe::read()`]
pub fn read<'a>(&'a self, buf: &'a mut [u8]) -> ReadFuture<'a, M, N> {
self.pipe.read(buf)
}
/// Attempt to immediately read a message.
/// Attempt to immediately read some bytes from the pipe.
///
/// See [`Pipe::read()`]
/// See [`Pipe::try_read()`]
pub fn try_read(&self, buf: &mut [u8]) -> Result<usize, TryReadError> {
self.pipe.try_read(buf)
}
@ -221,12 +221,11 @@ impl<const N: usize> PipeState<N> {
}
}
/// A bounded pipe for communicating between asynchronous tasks
/// A bounded byte-oriented pipe for communicating between asynchronous tasks
/// with backpressure.
///
/// The pipe will buffer up to the provided number of messages. Once the
/// buffer is full, attempts to `write` new messages will wait until a message is
/// read from the pipe.
/// The pipe will buffer up to the provided number of bytes. Once the
/// buffer is full, attempts to `write` new bytes will wait until buffer space is freed up.
///
/// All data written will become available in the same order as it was written.
pub struct Pipe<M, const N: usize>
@ -277,40 +276,56 @@ where
Reader { pipe: self }
}
/// Write a value, waiting until there is capacity.
/// Write some bytes to the pipe.
///
/// Writeing completes when the value has been pushed to the pipe's queue.
/// This doesn't mean the value has been read yet.
/// This method writes a nonzero amount of bytes from `buf` into the pipe, and
/// returns the amount of bytes written.
///
/// If it is not possible to write a nonzero amount of bytes because the pipe's buffer is full,
/// this method will wait until it is. See [`try_write`](Self::try_write) for a variant that
/// returns an error instead of waiting.
///
/// It is not guaranteed that all bytes in the buffer are written, even if there's enough
/// free space in the pipe buffer for all. In other words, it is possible for `write` to return
/// without writing all of `buf` (returning a number less than `buf.len()`) and still leave
/// free space in the pipe buffer. You should always `write` in a loop, or use helpers like
/// `write_all` from the `embedded-io` crate.
pub fn write<'a>(&'a self, buf: &'a [u8]) -> WriteFuture<'a, M, N> {
WriteFuture { pipe: self, buf }
}
/// Attempt to immediately write a message.
/// Attempt to immediately write some bytes to the pipe.
///
/// This method differs from [`write`](Pipe::write) by returning immediately if the pipe's
/// buffer is full, instead of waiting.
///
/// # Errors
///
/// If the pipe capacity has been reached, i.e., the pipe has `n`
/// buffered values where `n` is the argument passed to [`Pipe`], then an
/// error is returned.
/// This method will either write a nonzero amount of bytes to the pipe immediately,
/// or return an error if the pipe is empty. See [`write`](Self::write) for a variant
/// that waits instead of returning an error.
pub fn try_write(&self, buf: &[u8]) -> Result<usize, TryWriteError> {
self.lock(|c| c.try_write(buf))
}
/// Receive the next value.
/// Read some bytes from the pipe.
///
/// If there are no messages in the pipe's buffer, this method will
/// wait until a message is written.
/// This method reads a nonzero amount of bytes from the pipe into `buf` and
/// returns the amount of bytes read.
///
/// If it is not possible to read a nonzero amount of bytes because the pipe's buffer is empty,
/// this method will wait until it is. See [`try_read`](Self::try_read) for a variant that
/// returns an error instead of waiting.
///
/// It is not guaranteed that all bytes in the buffer are read, even if there's enough
/// space in `buf` for all. In other words, it is possible for `read` to return
/// without filling `buf` (returning a number less than `buf.len()`) and still leave bytes
/// in the pipe buffer. You should always `read` in a loop, or use helpers like
/// `read_exact` from the `embedded-io` crate.
pub fn read<'a>(&'a self, buf: &'a mut [u8]) -> ReadFuture<'a, M, N> {
ReadFuture { pipe: self, buf }
}
/// Attempt to immediately read a message.
/// Attempt to immediately read some bytes from the pipe.
///
/// This method will either read a message from the pipe immediately or return an error
/// if the pipe is empty.
/// This method will either read a nonzero amount of bytes from the pipe immediately,
/// or return an error if the pipe is empty. See [`read`](Self::read) for a variant
/// that waits instead of returning an error.
pub fn try_read(&self, buf: &mut [u8]) -> Result<usize, TryReadError> {
self.lock(|c| c.try_read(buf))
}

8
embassy-usb/src/builder.rs
View file

@ -201,6 +201,14 @@ impl<'d, D: Driver<'d>> Builder<'d, D> {
self.config_descriptor.end_configuration();
self.bos_descriptor.end_bos();
// Log the number of allocator bytes actually used in descriptor buffers
info!("USB: device_descriptor used: {}", self.device_descriptor.position());
info!("USB: config_descriptor used: {}", self.config_descriptor.position());
info!("USB: bos_descriptor used: {}", self.bos_descriptor.writer.position());
#[cfg(feature = "msos-descriptor")]
info!("USB: msos_descriptor used: {}", msos_descriptor.len());
info!("USB: control_buf size: {}", self.control_buf.len());
UsbDevice::build(
self.driver,
self.config,

3
embassy-usb/src/class/hid.rs
View file

@ -458,6 +458,9 @@ impl<'d> Handler for Control<'d> {
return None;
}
// This uses a defmt-specific formatter that causes use of the `log`
// feature to fail to build, so leave it defmt-specific for now.
#[cfg(feature = "defmt")]
trace!("HID control_out {:?} {=[u8]:x}", req, data);
match req.request {
HID_REQ_SET_IDLE => {

37
embassy-usb/src/lib.rs
View file

@ -165,6 +165,25 @@ struct Interface {
num_alt_settings: u8,
}
/// A report of the used size of the runtime allocated buffers
#[derive(PartialEq, Eq, Copy, Clone, Debug)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct UsbBufferReport {
/// Number of device descriptor bytes used
pub device_descriptor_used: usize,
/// Number of config descriptor bytes used
pub config_descriptor_used: usize,
/// Number of bos descriptor bytes used
pub bos_descriptor_used: usize,
/// Number of msos descriptor bytes used
///
/// Will be `None` if the "msos-descriptor" feature is not active.
/// Otherwise will return Some(bytes).
pub msos_descriptor_used: Option<usize>,
/// Size of the control buffer
pub control_buffer_size: usize,
}
/// Main struct for the USB device stack.
pub struct UsbDevice<'d, D: Driver<'d>> {
control_buf: &'d mut [u8],
@ -239,6 +258,24 @@ impl<'d, D: Driver<'d>> UsbDevice<'d, D> {
}
}
/// Returns a report of the consumed buffers
///
/// Useful for tuning buffer sizes for actual usage
pub fn buffer_usage(&self) -> UsbBufferReport {
#[cfg(not(feature = "msos-descriptor"))]
let mdu = None;
#[cfg(feature = "msos-descriptor")]
let mdu = Some(self.inner.msos_descriptor.len());
UsbBufferReport {
device_descriptor_used: self.inner.device_descriptor.len(),
config_descriptor_used: self.inner.config_descriptor.len(),
bos_descriptor_used: self.inner.bos_descriptor.len(),
msos_descriptor_used: mdu,
control_buffer_size: self.control_buf.len(),
}
}
/// Runs the `UsbDevice` forever.
///
/// This future may leave the bus in an invalid state if it is dropped.

5
embassy-usb/src/msos.rs
View file

@ -32,6 +32,11 @@ impl<'d> MsOsDescriptorSet<'d> {
pub fn is_empty(&self) -> bool {
self.descriptor.is_empty()
}
/// Returns the length of the descriptor field
pub fn len(&self) -> usize {
self.descriptor.len()
}
}
/// Writes a Microsoft OS 2.0 Descriptor set into a buffer.

56
tests/rp/src/bin/spi_async.rs
View file

@ -1,3 +1,6 @@
//! Make sure to connect GPIO pins 3 (`PIN_3`) and 4 (`PIN_4`) together
//! to run this test.
//!
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
@ -18,10 +21,63 @@ async fn main(_spawner: Spawner) {
let mut spi = Spi::new(p.SPI0, clk, mosi, miso, p.DMA_CH0, p.DMA_CH1, Config::default());
// equal rx & tx buffers
{
let tx_buf = [1_u8, 2, 3, 4, 5, 6];
let mut rx_buf = [0_u8; 6];
spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
assert_eq!(rx_buf, tx_buf);
}
// tx > rx buffer
{
let tx_buf = [7_u8, 8, 9, 10, 11, 12];
let mut rx_buf = [0_u8; 3];
spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
assert_eq!(rx_buf, tx_buf[..3]);
defmt::info!("tx > rx buffer - OK");
}
// we make sure to that clearing FIFO works after the uneven buffers
// equal rx & tx buffers
{
let tx_buf = [13_u8, 14, 15, 16, 17, 18];
let mut rx_buf = [0_u8; 6];
spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
assert_eq!(rx_buf, tx_buf);
defmt::info!("buffer rx length == tx length - OK");
}
// rx > tx buffer
{
let tx_buf = [19_u8, 20, 21];
let mut rx_buf = [0_u8; 6];
// we should have written dummy data to tx buffer to sync clock.
spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
assert_eq!(
rx_buf[..3],
tx_buf,
"only the first 3 TX bytes should have been received in the RX buffer"
);
assert_eq!(rx_buf[3..], [0, 0, 0], "the rest of the RX bytes should be empty");
defmt::info!("buffer rx length > tx length - OK");
}
// equal rx & tx buffers
{
let tx_buf = [22_u8, 23, 24, 25, 26, 27];
let mut rx_buf = [0_u8; 6];
spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
assert_eq!(rx_buf, tx_buf);
defmt::info!("buffer rx length = tx length - OK");
}
info!("Test OK");
cortex_m::asm::bkpt();