Add async wait to TSC
This commit is contained in:
parent
d5badb94d2
commit
2655426cd8
2 changed files with 107 additions and 44 deletions
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@ -71,9 +71,13 @@ use embassy_hal_internal::{into_ref, PeripheralRef};
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pub use enums::*;
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pub use enums::*;
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use crate::gpio::{AfType, AnyPin, OutputType, Speed};
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use crate::gpio::{AfType, AnyPin, OutputType, Speed};
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use crate::pac::tsc::Tsc as Regs;
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use crate::interrupt;
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use crate::interrupt::typelevel::Interrupt;
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use crate::rcc::{self, RccPeripheral};
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use crate::rcc::{self, RccPeripheral};
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use crate::{peripherals, Peripheral};
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use crate::{peripherals, Peripheral};
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use core::future::poll_fn;
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use core::task::Poll;
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use embassy_sync::waitqueue::AtomicWaker;
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#[cfg(tsc_v1)]
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#[cfg(tsc_v1)]
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const TSC_NUM_GROUPS: u32 = 6;
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const TSC_NUM_GROUPS: u32 = 6;
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@ -90,6 +94,18 @@ pub enum Error {
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Test,
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Test,
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}
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}
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/// TSC interrupt handler.
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pub struct InterruptHandler<T: Instance> {
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_phantom: PhantomData<T>,
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}
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impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
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unsafe fn on_interrupt() {
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T::regs().ier().write(|w| w.set_eoaie(false));
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T::waker().wake();
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}
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}
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/// Pin type definition to control IO parameters
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/// Pin type definition to control IO parameters
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pub enum PinType {
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pub enum PinType {
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/// Sensing channel pin connected to an electrode
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/// Sensing channel pin connected to an electrode
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@ -510,6 +526,7 @@ impl<'d, T: Instance> Tsc<'d, T> {
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/// Create new TSC driver
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/// Create new TSC driver
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pub fn new(
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pub fn new(
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peri: impl Peripheral<P = T> + 'd,
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peri: impl Peripheral<P = T> + 'd,
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_irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
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g1: Option<PinGroup<'d, T, G1>>,
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g1: Option<PinGroup<'d, T, G1>>,
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g2: Option<PinGroup<'d, T, G2>>,
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g2: Option<PinGroup<'d, T, G2>>,
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g3: Option<PinGroup<'d, T, G3>>,
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g3: Option<PinGroup<'d, T, G3>>,
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@ -663,7 +680,7 @@ impl<'d, T: Instance> Tsc<'d, T> {
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rcc::enable_and_reset::<T>();
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rcc::enable_and_reset::<T>();
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T::REGS.cr().modify(|w| {
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T::regs().cr().modify(|w| {
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w.set_tsce(true);
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w.set_tsce(true);
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w.set_ctph(config.ct_pulse_high_length.into());
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w.set_ctph(config.ct_pulse_high_length.into());
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w.set_ctpl(config.ct_pulse_low_length.into());
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w.set_ctpl(config.ct_pulse_low_length.into());
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@ -691,33 +708,39 @@ impl<'d, T: Instance> Tsc<'d, T> {
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// Set IO configuration
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// Set IO configuration
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// Disable Schmitt trigger hysteresis on all used TSC IOs
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// Disable Schmitt trigger hysteresis on all used TSC IOs
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T::REGS
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T::regs()
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.iohcr()
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.iohcr()
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.write(|w| w.0 = !(config.channel_ios | config.shield_ios | config.sampling_ios));
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.write(|w| w.0 = !(config.channel_ios | config.shield_ios | config.sampling_ios));
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// Set channel and shield IOs
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// Set channel and shield IOs
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T::REGS.ioccr().write(|w| w.0 = config.channel_ios | config.shield_ios);
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T::regs()
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.ioccr()
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.write(|w| w.0 = config.channel_ios | config.shield_ios);
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// Set sampling IOs
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// Set sampling IOs
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T::REGS.ioscr().write(|w| w.0 = config.sampling_ios);
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T::regs().ioscr().write(|w| w.0 = config.sampling_ios);
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// Set the groups to be acquired
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// Set the groups to be acquired
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T::REGS
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T::regs()
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.iogcsr()
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.iogcsr()
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.write(|w| w.0 = Self::extract_groups(config.channel_ios));
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.write(|w| w.0 = Self::extract_groups(config.channel_ios));
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// Disable interrupts
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// Disable interrupts
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T::REGS.ier().modify(|w| {
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T::regs().ier().modify(|w| {
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w.set_eoaie(false);
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w.set_eoaie(false);
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w.set_mceie(false);
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w.set_mceie(false);
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});
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});
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// Clear flags
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// Clear flags
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T::REGS.icr().modify(|w| {
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T::regs().icr().modify(|w| {
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w.set_eoaic(true);
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w.set_eoaic(true);
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w.set_mceic(true);
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w.set_mceic(true);
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});
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});
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unsafe {
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T::Interrupt::enable();
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}
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Self {
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Self {
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_peri: peri,
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_peri: peri,
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_g1: g1,
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_g1: g1,
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@ -740,24 +763,24 @@ impl<'d, T: Instance> Tsc<'d, T> {
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self.state = State::Busy;
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self.state = State::Busy;
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// Disable interrupts
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// Disable interrupts
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T::REGS.ier().modify(|w| {
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T::regs().ier().modify(|w| {
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w.set_eoaie(false);
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w.set_eoaie(false);
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w.set_mceie(false);
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w.set_mceie(false);
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});
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});
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// Clear flags
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// Clear flags
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T::REGS.icr().modify(|w| {
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T::regs().icr().modify(|w| {
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w.set_eoaic(true);
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w.set_eoaic(true);
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w.set_mceic(true);
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w.set_mceic(true);
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});
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});
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// Set the touch sensing IOs not acquired to the default mode
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// Set the touch sensing IOs not acquired to the default mode
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T::REGS.cr().modify(|w| {
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T::regs().cr().modify(|w| {
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w.set_iodef(self.config.io_default_mode);
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w.set_iodef(self.config.io_default_mode);
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});
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});
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// Start the acquisition
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// Start the acquisition
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T::REGS.cr().modify(|w| {
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T::regs().cr().modify(|w| {
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w.set_start(true);
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w.set_start(true);
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});
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});
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}
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}
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@ -767,41 +790,41 @@ impl<'d, T: Instance> Tsc<'d, T> {
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self.state = State::Busy;
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self.state = State::Busy;
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// Enable interrupts
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// Enable interrupts
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T::REGS.ier().modify(|w| {
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T::regs().ier().modify(|w| {
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w.set_eoaie(true);
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w.set_eoaie(true);
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w.set_mceie(self.config.max_count_interrupt);
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w.set_mceie(self.config.max_count_interrupt);
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});
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});
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// Clear flags
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// Clear flags
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T::REGS.icr().modify(|w| {
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T::regs().icr().modify(|w| {
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w.set_eoaic(true);
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w.set_eoaic(true);
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w.set_mceic(true);
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w.set_mceic(true);
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});
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});
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// Set the touch sensing IOs not acquired to the default mode
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// Set the touch sensing IOs not acquired to the default mode
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T::REGS.cr().modify(|w| {
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T::regs().cr().modify(|w| {
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w.set_iodef(self.config.io_default_mode);
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w.set_iodef(self.config.io_default_mode);
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});
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});
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// Start the acquisition
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// Start the acquisition
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T::REGS.cr().modify(|w| {
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T::regs().cr().modify(|w| {
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w.set_start(true);
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w.set_start(true);
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});
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});
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}
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}
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/// Stop charge transfer acquisition
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/// Stop charge transfer acquisition
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pub fn stop(&mut self) {
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pub fn stop(&mut self) {
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T::REGS.cr().modify(|w| {
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T::regs().cr().modify(|w| {
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w.set_start(false);
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w.set_start(false);
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});
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});
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// Set the touch sensing IOs in low power mode
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// Set the touch sensing IOs in low power mode
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T::REGS.cr().modify(|w| {
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T::regs().cr().modify(|w| {
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w.set_iodef(false);
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w.set_iodef(false);
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});
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});
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// Clear flags
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// Clear flags
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T::REGS.icr().modify(|w| {
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T::regs().icr().modify(|w| {
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w.set_eoaic(true);
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w.set_eoaic(true);
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w.set_mceic(true);
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w.set_mceic(true);
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});
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});
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@ -811,23 +834,23 @@ impl<'d, T: Instance> Tsc<'d, T> {
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/// Stop charge transfer acquisition and clear interrupts
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/// Stop charge transfer acquisition and clear interrupts
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pub fn stop_it(&mut self) {
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pub fn stop_it(&mut self) {
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T::REGS.cr().modify(|w| {
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T::regs().cr().modify(|w| {
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w.set_start(false);
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w.set_start(false);
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});
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});
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// Set the touch sensing IOs in low power mode
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// Set the touch sensing IOs in low power mode
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T::REGS.cr().modify(|w| {
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T::regs().cr().modify(|w| {
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w.set_iodef(false);
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w.set_iodef(false);
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});
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});
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// Disable interrupts
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// Disable interrupts
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T::REGS.ier().modify(|w| {
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T::regs().ier().modify(|w| {
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w.set_eoaie(false);
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w.set_eoaie(false);
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w.set_mceie(false);
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w.set_mceie(false);
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});
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});
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// Clear flags
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// Clear flags
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T::REGS.icr().modify(|w| {
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T::regs().icr().modify(|w| {
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w.set_eoaic(true);
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w.set_eoaic(true);
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w.set_mceic(true);
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w.set_mceic(true);
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});
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});
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@ -840,11 +863,31 @@ impl<'d, T: Instance> Tsc<'d, T> {
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while self.get_state() == State::Busy {}
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while self.get_state() == State::Busy {}
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}
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}
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/// Asyncronously wait for the end of an acquisition
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pub async fn pend_for_acquisition(&mut self) {
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poll_fn(|cx| match self.get_state() {
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State::Busy => {
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T::waker().register(cx.waker());
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T::regs().ier().write(|w| w.set_eoaie(true));
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if self.get_state() != State::Busy {
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T::regs().ier().write(|w| w.set_eoaie(false));
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return Poll::Ready(());
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}
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Poll::Pending
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}
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_ => {
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T::regs().ier().write(|w| w.set_eoaie(false));
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Poll::Ready(())
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}
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})
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.await;
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}
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/// Get current state of acquisition
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/// Get current state of acquisition
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pub fn get_state(&mut self) -> State {
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pub fn get_state(&mut self) -> State {
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if self.state == State::Busy {
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if self.state == State::Busy {
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if T::REGS.isr().read().eoaf() {
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if T::regs().isr().read().eoaf() {
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if T::REGS.isr().read().mcef() {
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if T::regs().isr().read().mcef() {
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self.state = State::Error
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self.state = State::Error
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} else {
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} else {
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self.state = State::Ready
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self.state = State::Ready
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@ -859,16 +902,16 @@ impl<'d, T: Instance> Tsc<'d, T> {
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// Status bits are set by hardware when the acquisition on the corresponding
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// Status bits are set by hardware when the acquisition on the corresponding
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// enabled analog IO group is complete, cleared when new acquisition is started
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// enabled analog IO group is complete, cleared when new acquisition is started
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let status = match index {
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let status = match index {
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Group::One => T::REGS.iogcsr().read().g1s(),
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Group::One => T::regs().iogcsr().read().g1s(),
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Group::Two => T::REGS.iogcsr().read().g2s(),
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Group::Two => T::regs().iogcsr().read().g2s(),
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Group::Three => T::REGS.iogcsr().read().g3s(),
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Group::Three => T::regs().iogcsr().read().g3s(),
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Group::Four => T::REGS.iogcsr().read().g4s(),
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Group::Four => T::regs().iogcsr().read().g4s(),
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Group::Five => T::REGS.iogcsr().read().g5s(),
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Group::Five => T::regs().iogcsr().read().g5s(),
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Group::Six => T::REGS.iogcsr().read().g6s(),
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Group::Six => T::regs().iogcsr().read().g6s(),
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#[cfg(any(tsc_v2, tsc_v3))]
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#[cfg(any(tsc_v2, tsc_v3))]
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Group::Seven => T::REGS.iogcsr().read().g7s(),
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Group::Seven => T::regs().iogcsr().read().g7s(),
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#[cfg(tsc_v3)]
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#[cfg(tsc_v3)]
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Group::Eight => T::REGS.iogcsr().read().g8s(),
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Group::Eight => T::regs().iogcsr().read().g8s(),
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};
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};
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match status {
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match status {
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true => GroupStatus::Complete,
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true => GroupStatus::Complete,
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@ -878,13 +921,13 @@ impl<'d, T: Instance> Tsc<'d, T> {
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/// Get the count for the acquisiton, valid once group status is set
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/// Get the count for the acquisiton, valid once group status is set
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pub fn group_get_value(&mut self, index: Group) -> u16 {
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pub fn group_get_value(&mut self, index: Group) -> u16 {
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T::REGS.iogcr(index.into()).read().cnt()
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T::regs().iogcr(index.into()).read().cnt()
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}
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}
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/// Discharge the IOs for subsequent acquisition
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/// Discharge the IOs for subsequent acquisition
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pub fn discharge_io(&mut self, status: bool) {
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pub fn discharge_io(&mut self, status: bool) {
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// Set the touch sensing IOs in low power mode
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// Set the touch sensing IOs in low power mode
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T::REGS.cr().modify(|w| {
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T::regs().cr().modify(|w| {
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w.set_iodef(!status);
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w.set_iodef(!status);
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});
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});
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}
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}
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@ -897,20 +940,32 @@ impl<'d, T: Instance> Drop for Tsc<'d, T> {
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}
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}
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pub(crate) trait SealedInstance {
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pub(crate) trait SealedInstance {
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const REGS: Regs;
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fn regs() -> crate::pac::tsc::Tsc;
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fn waker() -> &'static AtomicWaker;
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}
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}
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/// TSC instance trait
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/// TSC instance trait
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#[allow(private_bounds)]
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#[allow(private_bounds)]
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pub trait Instance: Peripheral<P = Self> + SealedInstance + RccPeripheral {}
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pub trait Instance: Peripheral<P = Self> + SealedInstance + RccPeripheral {
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/// Interrupt for this TSC instance
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type Interrupt: interrupt::typelevel::Interrupt;
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}
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foreach_peripheral!(
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foreach_interrupt!(
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(tsc, $inst:ident) => {
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($inst:ident, tsc, TSC, GLOBAL, $irq:ident) => {
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impl SealedInstance for peripherals::$inst {
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impl Instance for peripherals::$inst {
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const REGS: Regs = crate::pac::$inst;
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type Interrupt = crate::interrupt::typelevel::$irq;
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}
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}
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impl Instance for peripherals::$inst {}
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impl SealedInstance for peripherals::$inst {
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fn regs() -> crate::pac::tsc::Tsc {
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crate::pac::$inst
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}
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fn waker() -> &'static AtomicWaker {
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static WAKER: AtomicWaker = AtomicWaker::new();
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&WAKER
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}
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}
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};
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};
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);
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);
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@ -2,10 +2,17 @@
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#![no_main]
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#![no_main]
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use defmt::*;
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use defmt::*;
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use embassy_stm32::tsc::{self, *};
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use embassy_stm32::{
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bind_interrupts,
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tsc::{self, *},
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};
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use embassy_time::Timer;
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use embassy_time::Timer;
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use {defmt_rtt as _, panic_probe as _};
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use {defmt_rtt as _, panic_probe as _};
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bind_interrupts!(struct Irqs {
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TSC => InterruptHandler<embassy_stm32::peripherals::TSC>;
|
||||||
|
});
|
||||||
|
|
||||||
#[cortex_m_rt::exception]
|
#[cortex_m_rt::exception]
|
||||||
unsafe fn HardFault(_: &cortex_m_rt::ExceptionFrame) -> ! {
|
unsafe fn HardFault(_: &cortex_m_rt::ExceptionFrame) -> ! {
|
||||||
cortex_m::peripheral::SCB::sys_reset();
|
cortex_m::peripheral::SCB::sys_reset();
|
||||||
|
@ -47,6 +54,7 @@ async fn main(_spawner: embassy_executor::Spawner) {
|
||||||
|
|
||||||
let mut touch_controller = tsc::Tsc::new(
|
let mut touch_controller = tsc::Tsc::new(
|
||||||
context.TSC,
|
context.TSC,
|
||||||
|
Irqs,
|
||||||
Some(g1),
|
Some(g1),
|
||||||
Some(g2),
|
Some(g2),
|
||||||
None,
|
None,
|
||||||
|
@ -67,7 +75,7 @@ async fn main(_spawner: embassy_executor::Spawner) {
|
||||||
let mut group_seven_val = 0;
|
let mut group_seven_val = 0;
|
||||||
info!("Starting touch_controller interface");
|
info!("Starting touch_controller interface");
|
||||||
loop {
|
loop {
|
||||||
touch_controller.poll_for_acquisition();
|
touch_controller.pend_for_acquisition().await;
|
||||||
touch_controller.discharge_io(true);
|
touch_controller.discharge_io(true);
|
||||||
Timer::after_millis(1).await;
|
Timer::after_millis(1).await;
|
||||||
|
|
||||||
|
|
Loading…
Add table
Add a link
Reference in a new issue