rp: add initial version
This commit is contained in:
Dario Nieuwenhuis
parent
2bcd1aaebb
commit
2cd3bdc90c
23 changed files with 1277 additions and 7 deletions
4
.vscode/settings.json
vendored
4
.vscode/settings.json
vendored
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@ -5,8 +5,8 @@
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"rust-analyzer.cargo.allFeatures": false,
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"rust-analyzer.cargo.allFeatures": false,
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"rust-analyzer.checkOnSave.allFeatures": false,
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"rust-analyzer.checkOnSave.allFeatures": false,
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"rust-analyzer.checkOnSave.allTargets": false,
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"rust-analyzer.checkOnSave.allTargets": false,
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"rust-analyzer.cargo.target": "thumbv7em-none-eabi",
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"rust-analyzer.cargo.target": "thumbv6m-none-eabi",
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"rust-analyzer.checkOnSave.target": "thumbv7em-none-eabi",
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"rust-analyzer.checkOnSave.target": "thumbv6m-none-eabi",
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"rust-analyzer.procMacro.enable": true,
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"rust-analyzer.procMacro.enable": true,
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"rust-analyzer.cargo.loadOutDirsFromCheck": true,
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"rust-analyzer.cargo.loadOutDirsFromCheck": true,
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"files.watcherExclude": {
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"files.watcherExclude": {
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@ -19,6 +19,8 @@ members = [
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exclude = [
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exclude = [
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"embassy-std",
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"embassy-std",
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"embassy-std-examples",
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"embassy-std-examples",
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"embassy-rp",
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"embassy-rp-examples",
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]
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]
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[profile.dev]
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[profile.dev]
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@ -52,3 +54,5 @@ debug = false
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debug-assertions = false
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debug-assertions = false
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opt-level = 0
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opt-level = 0
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overflow-checks = false
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overflow-checks = false
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[patch.crates-io]
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@ -16,3 +16,4 @@ proc-macro = true
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[features]
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[features]
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stm32 = []
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stm32 = []
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nrf = []
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nrf = []
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rp = []
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@ -58,5 +58,6 @@ pub fn generate(args: Args) -> TokenStream {
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unsafe { embassy::time::set_clock(rtc) };
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unsafe { embassy::time::set_clock(rtc) };
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let alarm = unsafe { make_static(&mut alarm) };
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let alarm = unsafe { make_static(&mut alarm) };
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executor.set_alarm(alarm);
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)
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)
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}
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}
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16
embassy-macros/src/chip/rp.rs
Normal file
16
embassy-macros/src/chip/rp.rs
Normal file
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@ -0,0 +1,16 @@
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use darling::FromMeta;
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use proc_macro2::TokenStream;
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use quote::{format_ident, quote};
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use syn::spanned::Spanned;
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#[derive(Debug, FromMeta)]
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pub struct Args {}
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pub fn generate(args: Args) -> TokenStream {
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quote!(
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use embassy_rp::{interrupt, peripherals};
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let mut config = embassy_rp::system::Config::default();
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unsafe { embassy_rp::system::configure(config) };
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)
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}
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@ -53,5 +53,6 @@ pub fn generate(args: Args) -> TokenStream {
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unsafe { embassy::time::set_clock(rtc) };
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unsafe { embassy::time::set_clock(rtc) };
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let alarm = unsafe { make_static(&mut alarm) };
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let alarm = unsafe { make_static(&mut alarm) };
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executor.set_alarm(alarm);
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)
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)
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}
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}
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@ -125,7 +125,7 @@ pub fn interrupt_declare(item: TokenStream) -> TokenStream {
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type Priority = crate::interrupt::Priority;
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type Priority = crate::interrupt::Priority;
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fn number(&self) -> u16 {
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fn number(&self) -> u16 {
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use cortex_m::interrupt::InterruptNumber;
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use cortex_m::interrupt::InterruptNumber;
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let irq = crate::pac::interrupt::#name;
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let irq = crate::pac::Interrupt::#name;
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irq.number() as u16
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irq.number() as u16
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}
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}
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unsafe fn steal() -> Self {
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unsafe fn steal() -> Self {
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@ -199,7 +199,11 @@ mod chip;
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#[path = "chip/stm32.rs"]
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#[path = "chip/stm32.rs"]
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mod chip;
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mod chip;
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#[cfg(any(feature = "nrf", feature = "stm32"))]
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#[cfg(feature = "rp")]
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#[path = "chip/rp.rs"]
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mod chip;
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#[cfg(any(feature = "nrf", feature = "stm32", feature = "rp"))]
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#[proc_macro_attribute]
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#[proc_macro_attribute]
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pub fn main(args: TokenStream, item: TokenStream) -> TokenStream {
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pub fn main(args: TokenStream, item: TokenStream) -> TokenStream {
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let macro_args = syn::parse_macro_input!(args as syn::AttributeArgs);
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let macro_args = syn::parse_macro_input!(args as syn::AttributeArgs);
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@ -267,11 +271,10 @@ pub fn main(args: TokenStream, item: TokenStream) -> TokenStream {
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::core::mem::transmute(t)
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::core::mem::transmute(t)
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}
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}
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#chip_setup
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let mut executor = ::embassy::executor::Executor::new();
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let mut executor = ::embassy::executor::Executor::new();
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let executor = unsafe { make_static(&mut executor) };
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let executor = unsafe { make_static(&mut executor) };
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executor.set_alarm(alarm);
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#chip_setup
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executor.run(|spawner| {
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executor.run(|spawner| {
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spawner.spawn(__embassy_main(spawner)).unwrap();
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spawner.spawn(__embassy_main(spawner)).unwrap();
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30
embassy-rp-examples/.cargo/config
Normal file
30
embassy-rp-examples/.cargo/config
Normal file
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@ -0,0 +1,30 @@
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[unstable]
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build-std = ["core"]
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build-std-features = ["panic_immediate_abort"]
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[target.'cfg(all(target_arch = "arm", target_os = "none"))']
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runner = "probe-run-rp --chip RP2040"
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rustflags = [
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# LLD (shipped with the Rust toolchain) is used as the default linker
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"-C", "link-arg=--nmagic",
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"-C", "link-arg=-Tlink.x",
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"-C", "link-arg=-Tdefmt.x",
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# if you run into problems with LLD switch to the GNU linker by commenting out
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# this line
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# "-C", "linker=arm-none-eabi-ld",
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# if you need to link to pre-compiled C libraries provided by a C toolchain
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# use GCC as the linker by commenting out both lines above and then
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# uncommenting the three lines below
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# "-C", "linker=arm-none-eabi-gcc",
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# "-C", "link-arg=-Wl,-Tlink.x",
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# "-C", "link-arg=-nostartfiles",
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# Code-size optimizations.
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"-Z", "trap-unreachable=no",
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]
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[build]
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target = "thumbv6m-none-eabi" # Cortex-M0 and Cortex-M0+
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33
embassy-rp-examples/Cargo.toml
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33
embassy-rp-examples/Cargo.toml
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@ -0,0 +1,33 @@
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[package]
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authors = ["Dario Nieuwenhuis <dirbaio@dirbaio.net>"]
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edition = "2018"
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name = "embassy-rp-examples"
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version = "0.1.0"
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[features]
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default = [
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"defmt-default",
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]
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defmt-default = []
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defmt-trace = []
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defmt-debug = []
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defmt-info = []
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defmt-warn = []
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defmt-error = []
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[dependencies]
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embassy = { version = "0.1.0", path = "../embassy", features = ["defmt", "defmt-trace"] }
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embassy-rp = { version = "0.1.0", path = "../embassy-rp", features = ["defmt", "defmt-trace"] }
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rp2040-boot2 = { git = "https://github.com/rp-rs/rp2040-boot2-rs", branch="main" }
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rp2040-pac2 = { git = "https://github.com/Dirbaio/rp2040-pac", rev="254f4677937801155ca3cb17c7bb9d38eb62683e" }
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atomic-polyfill = { version = "0.1.1" }
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defmt = "0.2.0"
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defmt-rtt = "0.2.0"
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cortex-m = { version = "0.7.1", features = ["inline-asm"] }
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cortex-m-rt = "0.6.13"
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embedded-hal = { version = "0.2.4" }
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panic-probe = "0.1.0"
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futures = { version = "0.3.8", default-features = false, features = ["async-await", "cfg-target-has-atomic", "unstable"] }
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31
embassy-rp-examples/build.rs
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31
embassy-rp-examples/build.rs
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//! This build script copies the `memory.x` file from the crate root into
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//! a directory where the linker can always find it at build time.
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//! For many projects this is optional, as the linker always searches the
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//! project root directory -- wherever `Cargo.toml` is. However, if you
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//! are using a workspace or have a more complicated build setup, this
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//! build script becomes required. Additionally, by requesting that
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//! Cargo re-run the build script whenever `memory.x` is changed,
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//! updating `memory.x` ensures a rebuild of the application with the
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//! new memory settings.
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use std::env;
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use std::fs::File;
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use std::io::Write;
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use std::path::PathBuf;
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fn main() {
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// Put `memory.x` in our output directory and ensure it's
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// on the linker search path.
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let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
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File::create(out.join("memory.x"))
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.unwrap()
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.write_all(include_bytes!("memory.x"))
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.unwrap();
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println!("cargo:rustc-link-search={}", out.display());
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// By default, Cargo will re-run a build script whenever
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// any file in the project changes. By specifying `memory.x`
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// here, we ensure the build script is only re-run when
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// `memory.x` is changed.
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println!("cargo:rerun-if-changed=memory.x");
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}
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13
embassy-rp-examples/memory.x
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13
embassy-rp-examples/memory.x
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@ -0,0 +1,13 @@
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MEMORY {
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BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
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FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100
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RAM : ORIGIN = 0x20000000, LENGTH = 256K
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}
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SECTIONS {
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/* ### Boot loader */
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.boot2 ORIGIN(BOOT2) :
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{
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KEEP(*(.boot2));
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} > BOOT2
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} INSERT BEFORE .text;
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72
embassy-rp-examples/src/main.rs
Normal file
72
embassy-rp-examples/src/main.rs
Normal file
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#![no_std]
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#![no_main]
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#![feature(asm)]
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#![feature(min_type_alias_impl_trait)]
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#![feature(impl_trait_in_bindings)]
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#![feature(type_alias_impl_trait)]
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use core::sync::atomic::{AtomicUsize, Ordering};
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use defmt::{panic, *};
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use defmt_rtt as _;
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use embassy::executor::Spawner;
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use embassy::interrupt::InterruptExt;
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use embassy_rp::{dma, gpio, interrupt, uart, Peripherals};
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use embedded_hal::digital::v2::OutputPin;
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use panic_probe as _;
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use rp2040_pac2 as pac;
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#[link_section = ".boot2"]
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#[used]
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pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER;
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defmt::timestamp! {"{=u64}", {
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static COUNT: AtomicUsize = AtomicUsize::new(0);
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// NOTE(no-CAS) `timestamps` runs with interrupts disabled
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let n = COUNT.load(Ordering::Relaxed);
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COUNT.store(n + 1, Ordering::Relaxed);
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n as u64
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}
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}
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#[embassy::main]
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async fn main(spanwer: Spawner) {
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let p = unwrap!(Peripherals::take());
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let mut config = uart::Config::default();
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let mut uart = uart::Uart::new(p.UART0, p.PIN_0, p.PIN_1, p.PIN_2, p.PIN_3, config);
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uart.send("Hello World!\r\n".as_bytes());
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let mut led = gpio::Output::new(p.PIN_25, gpio::Level::Low);
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let irq = interrupt::take!(DMA_IRQ_0);
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unsafe {
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//pac::DMA.inte0().write(|w| w.set_inte0(1 << 0));
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}
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irq.set_handler(dma_irq);
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irq.unpend();
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irq.enable();
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let from: [u32; 4] = [1, 2, 3, 4];
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let mut to: [u32; 4] = [9, 8, 7, 6];
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info!("before dma: from = {:?}, to = {:?}", from, to);
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cortex_m::asm::delay(4_000_000);
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dma::Dma::copy(p.DMA_CH0, &from, &mut to);
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cortex_m::asm::delay(4_000_000);
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info!("after dma: from = {:?}, to = {:?}", from, to);
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loop {
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info!("led on!");
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uart.send("ON!\r".as_bytes());
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led.set_high().unwrap();
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cortex_m::asm::delay(1_000_000);
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info!("led off!");
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uart.send("Off!\r".as_bytes());
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led.set_low().unwrap();
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cortex_m::asm::delay(4_000_000);
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}
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}
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unsafe fn dma_irq(ctx: *mut ()) {
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info!("DMA IRQ!");
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}
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25
embassy-rp/Cargo.toml
Normal file
25
embassy-rp/Cargo.toml
Normal file
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[package]
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name = "embassy-rp"
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version = "0.1.0"
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authors = ["Dario Nieuwenhuis <dirbaio@dirbaio.net>"]
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edition = "2018"
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[features]
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defmt-trace = [ ]
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defmt-debug = [ ]
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defmt-info = [ ]
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defmt-warn = [ ]
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defmt-error = [ ]
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[dependencies]
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embassy = { version = "0.1.0", path = "../embassy" }
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embassy-extras = {version = "0.1.0", path = "../embassy-extras" }
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embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["rp"]}
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defmt = { version = "0.2.0", optional = true }
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log = { version = "0.4.11", optional = true }
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cortex-m-rt = "0.6.13"
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cortex-m = "0.7.1"
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rp2040-pac2 = { git = "https://github.com/Dirbaio/rp2040-pac", rev="254f4677937801155ca3cb17c7bb9d38eb62683e", features = ["rt"] }
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embedded-hal = { version = "0.2.4", features = [ "unproven" ] }
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30
embassy-rp/funcsel.txt
Normal file
30
embassy-rp/funcsel.txt
Normal file
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0 SPI0 RX UART0 TX I2C0 SDA PWM0 A SIO PIO0 PIO1 USB OVCUR DET
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1 SPI0 CSn UART0 RX I2C0 SCL PWM0 B SIO PIO0 PIO1 USB VBUS DET
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2 SPI0 SCK UART0 CTS I2C1 SDA PWM1 A SIO PIO0 PIO1 USB VBUS EN
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3 SPI0 TX UART0 RTS I2C1 SCL PWM1 B SIO PIO0 PIO1 USB OVCUR DET
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||||||
|
4 SPI0 RX UART1 TX I2C0 SDA PWM2 A SIO PIO0 PIO1 USB VBUS DET
|
||||||
|
5 SPI0 CSn UART1 RX I2C0 SCL PWM2 B SIO PIO0 PIO1 USB VBUS EN
|
||||||
|
6 SPI0 SCK UART1 CTS I2C1 SDA PWM3 A SIO PIO0 PIO1 USB OVCUR DET
|
||||||
|
7 SPI0 TX UART1 RTS I2C1 SCL PWM3 B SIO PIO0 PIO1 USB VBUS DET
|
||||||
|
8 SPI1 RX UART1 TX I2C0 SDA PWM4 A SIO PIO0 PIO1 USB VBUS EN
|
||||||
|
9 SPI1 CSn UART1 RX I2C0 SCL PWM4 B SIO PIO0 PIO1 USB OVCUR DET
|
||||||
|
10 SPI1 SCK UART1 CTS I2C1 SDA PWM5 A SIO PIO0 PIO1 USB VBUS DET
|
||||||
|
11 SPI1 TX UART1 RTS I2C1 SCL PWM5 B SIO PIO0 PIO1 USB VBUS EN
|
||||||
|
12 SPI1 RX UART0 TX I2C0 SDA PWM6 A SIO PIO0 PIO1 USB OVCUR DET
|
||||||
|
13 SPI1 CSn UART0 RX I2C0 SCL PWM6 B SIO PIO0 PIO1 USB VBUS DET
|
||||||
|
14 SPI1 SCK UART0 CTS I2C1 SDA PWM7 A SIO PIO0 PIO1 USB VBUS EN
|
||||||
|
15 SPI1 TX UART0 RTS I2C1 SCL PWM7 B SIO PIO0 PIO1 USB OVCUR DET
|
||||||
|
16 SPI0 RX UART0 TX I2C0 SDA PWM0 A SIO PIO0 PIO1 USB VBUS DET
|
||||||
|
17 SPI0 CSn UART0 RX I2C0 SCL PWM0 B SIO PIO0 PIO1 USB VBUS EN
|
||||||
|
18 SPI0 SCK UART0 CTS I2C1 SDA PWM1 A SIO PIO0 PIO1 USB OVCUR DET
|
||||||
|
19 SPI0 TX UART0 RTS I2C1 SCL PWM1 B SIO PIO0 PIO1 USB VBUS DET
|
||||||
|
20 SPI0 RX UART1 TX I2C0 SDA PWM2 A SIO PIO0 PIO1 CLOCK GPIN0 USB VBUS EN
|
||||||
|
21 SPI0 CSn UART1 RX I2C0 SCL PWM2 B SIO PIO0 PIO1 CLOCK GPOUT0 USB OVCUR DET
|
||||||
|
22 SPI0 SCK UART1 CTS I2C1 SDA PWM3 A SIO PIO0 PIO1 CLOCK GPIN1 USB VBUS DET
|
||||||
|
23 SPI0 TX UART1 RTS I2C1 SCL PWM3 B SIO PIO0 PIO1 CLOCK GPOUT1 USB VBUS EN
|
||||||
|
24 SPI1 RX UART1 TX I2C0 SDA PWM4 A SIO PIO0 PIO1 CLOCK GPOUT2 USB OVCUR DET
|
||||||
|
25 SPI1 CSn UART1 RX I2C0 SCL PWM4 B SIO PIO0 PIO1 CLOCK GPOUT3 USB VBUS DET
|
||||||
|
26 SPI1 SCK UART1 CTS I2C1 SDA PWM5 A SIO PIO0 PIO1 USB VBUS EN
|
||||||
|
27 SPI1 TX UART1 RTS I2C1 SCL PWM5 B SIO PIO0 PIO1 USB OVCUR DET
|
||||||
|
28 SPI1 RX UART0 TX I2C0 SDA PWM6 A SIO PIO0 PIO1 USB VBUS DET
|
||||||
|
29 SPI1 CSn UART0 RX I2C0 SCL PWM6 B SIO PIO0 PIO1 USB VBUS EN
|
||||||
87
embassy-rp/src/dma.rs
Normal file
87
embassy-rp/src/dma.rs
Normal file
|
|
@ -0,0 +1,87 @@
|
||||||
|
use core::sync::atomic::{compiler_fence, Ordering};
|
||||||
|
|
||||||
|
use defmt::{assert, *};
|
||||||
|
|
||||||
|
use crate::{pac, peripherals};
|
||||||
|
use pac::dma::vals;
|
||||||
|
|
||||||
|
pub struct Dma<T: Channel> {
|
||||||
|
inner: T,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<T: Channel> Dma<T> {
|
||||||
|
pub fn copy(inner: T, from: &[u32], to: &mut [u32]) {
|
||||||
|
assert!(from.len() == to.len());
|
||||||
|
|
||||||
|
unsafe {
|
||||||
|
let p = inner.regs();
|
||||||
|
|
||||||
|
p.read_addr().write_value(from.as_ptr() as u32);
|
||||||
|
p.write_addr().write_value(to.as_mut_ptr() as u32);
|
||||||
|
p.trans_count().write_value(from.len() as u32);
|
||||||
|
|
||||||
|
compiler_fence(Ordering::SeqCst);
|
||||||
|
|
||||||
|
p.ctrl_trig().write(|w| {
|
||||||
|
w.set_data_size(vals::DataSize::SIZE_WORD);
|
||||||
|
w.set_incr_read(true);
|
||||||
|
w.set_incr_write(true);
|
||||||
|
w.set_chain_to(inner.number());
|
||||||
|
w.set_en(true);
|
||||||
|
});
|
||||||
|
|
||||||
|
while p.ctrl_trig().read().busy() {}
|
||||||
|
|
||||||
|
compiler_fence(Ordering::SeqCst);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
mod sealed {
|
||||||
|
use super::*;
|
||||||
|
|
||||||
|
pub trait Channel {
|
||||||
|
fn number(&self) -> u8;
|
||||||
|
|
||||||
|
fn regs(&self) -> pac::dma::Channel {
|
||||||
|
pac::DMA.ch(self.number() as _)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub trait Channel: sealed::Channel {}
|
||||||
|
|
||||||
|
pub struct AnyChannel {
|
||||||
|
number: u8,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Channel for AnyChannel {}
|
||||||
|
impl sealed::Channel for AnyChannel {
|
||||||
|
fn number(&self) -> u8 {
|
||||||
|
self.number
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
macro_rules! channel {
|
||||||
|
($type:ident, $num:expr) => {
|
||||||
|
impl Channel for peripherals::$type {}
|
||||||
|
impl sealed::Channel for peripherals::$type {
|
||||||
|
fn number(&self) -> u8 {
|
||||||
|
$num
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
channel!(DMA_CH0, 0);
|
||||||
|
channel!(DMA_CH1, 1);
|
||||||
|
channel!(DMA_CH2, 2);
|
||||||
|
channel!(DMA_CH3, 3);
|
||||||
|
channel!(DMA_CH4, 4);
|
||||||
|
channel!(DMA_CH5, 5);
|
||||||
|
channel!(DMA_CH6, 6);
|
||||||
|
channel!(DMA_CH7, 7);
|
||||||
|
channel!(DMA_CH8, 8);
|
||||||
|
channel!(DMA_CH9, 9);
|
||||||
|
channel!(DMA_CH10, 10);
|
||||||
|
channel!(DMA_CH11, 11);
|
||||||
118
embassy-rp/src/fmt.rs
Normal file
118
embassy-rp/src/fmt.rs
Normal file
|
|
@ -0,0 +1,118 @@
|
||||||
|
#![macro_use]
|
||||||
|
|
||||||
|
#[cfg(all(feature = "defmt", feature = "log"))]
|
||||||
|
compile_error!("You may not enable both `defmt` and `log` features.");
|
||||||
|
|
||||||
|
pub use fmt::*;
|
||||||
|
|
||||||
|
#[cfg(feature = "defmt")]
|
||||||
|
mod fmt {
|
||||||
|
pub use defmt::{
|
||||||
|
assert, assert_eq, assert_ne, debug, debug_assert, debug_assert_eq, debug_assert_ne, error,
|
||||||
|
info, panic, todo, trace, unreachable, unwrap, warn,
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "log")]
|
||||||
|
mod fmt {
|
||||||
|
pub use core::{
|
||||||
|
assert, assert_eq, assert_ne, debug_assert, debug_assert_eq, debug_assert_ne, panic, todo,
|
||||||
|
unreachable,
|
||||||
|
};
|
||||||
|
pub use log::{debug, error, info, trace, warn};
|
||||||
|
}
|
||||||
|
|
||||||
|
#[cfg(not(any(feature = "defmt", feature = "log")))]
|
||||||
|
mod fmt {
|
||||||
|
#![macro_use]
|
||||||
|
|
||||||
|
pub use core::{
|
||||||
|
assert, assert_eq, assert_ne, debug_assert, debug_assert_eq, debug_assert_ne, panic, todo,
|
||||||
|
unreachable,
|
||||||
|
};
|
||||||
|
|
||||||
|
#[macro_export]
|
||||||
|
macro_rules! trace {
|
||||||
|
($($msg:expr),+ $(,)?) => {
|
||||||
|
()
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
#[macro_export]
|
||||||
|
macro_rules! debug {
|
||||||
|
($($msg:expr),+ $(,)?) => {
|
||||||
|
()
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
#[macro_export]
|
||||||
|
macro_rules! info {
|
||||||
|
($($msg:expr),+ $(,)?) => {
|
||||||
|
()
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
#[macro_export]
|
||||||
|
macro_rules! warn {
|
||||||
|
($($msg:expr),+ $(,)?) => {
|
||||||
|
()
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
#[macro_export]
|
||||||
|
macro_rules! error {
|
||||||
|
($($msg:expr),+ $(,)?) => {
|
||||||
|
()
|
||||||
|
};
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#[cfg(not(feature = "defmt"))]
|
||||||
|
#[macro_export]
|
||||||
|
macro_rules! unwrap {
|
||||||
|
($arg:expr) => {
|
||||||
|
match $crate::fmt::Try::into_result($arg) {
|
||||||
|
::core::result::Result::Ok(t) => t,
|
||||||
|
::core::result::Result::Err(e) => {
|
||||||
|
::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
($arg:expr, $($msg:expr),+ $(,)? ) => {
|
||||||
|
match $crate::fmt::Try::into_result($arg) {
|
||||||
|
::core::result::Result::Ok(t) => t,
|
||||||
|
::core::result::Result::Err(e) => {
|
||||||
|
::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
|
||||||
|
pub struct NoneError;
|
||||||
|
|
||||||
|
pub trait Try {
|
||||||
|
type Ok;
|
||||||
|
type Error;
|
||||||
|
fn into_result(self) -> Result<Self::Ok, Self::Error>;
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<T> Try for Option<T> {
|
||||||
|
type Ok = T;
|
||||||
|
type Error = NoneError;
|
||||||
|
|
||||||
|
#[inline]
|
||||||
|
fn into_result(self) -> Result<T, NoneError> {
|
||||||
|
self.ok_or(NoneError)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<T, E> Try for Result<T, E> {
|
||||||
|
type Ok = T;
|
||||||
|
type Error = E;
|
||||||
|
|
||||||
|
#[inline]
|
||||||
|
fn into_result(self) -> Self {
|
||||||
|
self
|
||||||
|
}
|
||||||
|
}
|
||||||
250
embassy-rp/src/gpio.rs
Normal file
250
embassy-rp/src/gpio.rs
Normal file
|
|
@ -0,0 +1,250 @@
|
||||||
|
use core::marker::PhantomData;
|
||||||
|
|
||||||
|
use crate::pac;
|
||||||
|
use crate::pac::generic::{Reg, RW};
|
||||||
|
use crate::pac::SIO;
|
||||||
|
use crate::peripherals;
|
||||||
|
|
||||||
|
use embassy::util::PeripheralBorrow;
|
||||||
|
use embassy_extras::{impl_unborrow, unborrow};
|
||||||
|
use embedded_hal::digital::v2::{InputPin, OutputPin, StatefulOutputPin};
|
||||||
|
|
||||||
|
/// Represents a digital input or output level.
|
||||||
|
#[derive(Debug, Eq, PartialEq)]
|
||||||
|
pub enum Level {
|
||||||
|
Low,
|
||||||
|
High,
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Represents a pull setting for an input.
|
||||||
|
#[derive(Debug, Eq, PartialEq)]
|
||||||
|
pub enum Pull {
|
||||||
|
None,
|
||||||
|
Up,
|
||||||
|
Down,
|
||||||
|
}
|
||||||
|
|
||||||
|
/// A GPIO bank with up to 32 pins.
|
||||||
|
#[derive(Debug, Eq, PartialEq)]
|
||||||
|
pub enum Bank {
|
||||||
|
Bank0 = 0,
|
||||||
|
Qspi = 1,
|
||||||
|
}
|
||||||
|
|
||||||
|
pub struct Input<'d, T: Pin> {
|
||||||
|
pin: T,
|
||||||
|
phantom: PhantomData<&'d mut T>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<'d, T: Pin> Input<'d, T> {
|
||||||
|
pub fn new(pin: impl PeripheralBorrow<Target = T> + 'd, pull: Pull) -> Self {
|
||||||
|
unborrow!(pin);
|
||||||
|
|
||||||
|
// todo
|
||||||
|
Self {
|
||||||
|
pin,
|
||||||
|
phantom: PhantomData,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<'d, T: Pin> Drop for Input<'d, T> {
|
||||||
|
fn drop(&mut self) {
|
||||||
|
// todo
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<'d, T: Pin> InputPin for Input<'d, T> {
|
||||||
|
type Error = !;
|
||||||
|
|
||||||
|
fn is_high(&self) -> Result<bool, Self::Error> {
|
||||||
|
self.is_low().map(|v| !v)
|
||||||
|
}
|
||||||
|
|
||||||
|
fn is_low(&self) -> Result<bool, Self::Error> {
|
||||||
|
// todo
|
||||||
|
Ok(true)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub struct Output<'d, T: Pin> {
|
||||||
|
pin: T,
|
||||||
|
phantom: PhantomData<&'d mut T>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<'d, T: Pin> Output<'d, T> {
|
||||||
|
// TODO opendrain
|
||||||
|
pub fn new(pin: impl PeripheralBorrow<Target = T> + 'd, initial_output: Level) -> Self {
|
||||||
|
unborrow!(pin);
|
||||||
|
|
||||||
|
unsafe {
|
||||||
|
match initial_output {
|
||||||
|
Level::High => pin.sio_out().value_set().write_value(1 << pin.pin()),
|
||||||
|
Level::Low => pin.sio_out().value_clr().write_value(1 << pin.pin()),
|
||||||
|
}
|
||||||
|
pin.sio_oe().value_set().write_value(1 << pin.pin());
|
||||||
|
|
||||||
|
pin.io().ctrl().write(|w| {
|
||||||
|
w.set_funcsel(pac::io::vals::Gpio0CtrlFuncsel::SIO_0.0);
|
||||||
|
});
|
||||||
|
}
|
||||||
|
|
||||||
|
Self {
|
||||||
|
pin,
|
||||||
|
phantom: PhantomData,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<'d, T: Pin> Drop for Output<'d, T> {
|
||||||
|
fn drop(&mut self) {
|
||||||
|
// todo
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<'d, T: Pin> OutputPin for Output<'d, T> {
|
||||||
|
type Error = !;
|
||||||
|
|
||||||
|
/// Set the output as high.
|
||||||
|
fn set_high(&mut self) -> Result<(), Self::Error> {
|
||||||
|
let val = 1 << self.pin.pin();
|
||||||
|
unsafe { self.pin.sio_out().value_set().write_value(val) };
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Set the output as low.
|
||||||
|
fn set_low(&mut self) -> Result<(), Self::Error> {
|
||||||
|
let val = 1 << self.pin.pin();
|
||||||
|
unsafe { self.pin.sio_out().value_clr().write_value(val) };
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<'d, T: Pin> StatefulOutputPin for Output<'d, T> {
|
||||||
|
/// Is the output pin set as high?
|
||||||
|
fn is_set_high(&self) -> Result<bool, Self::Error> {
|
||||||
|
self.is_set_low().map(|v| !v)
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Is the output pin set as low?
|
||||||
|
fn is_set_low(&self) -> Result<bool, Self::Error> {
|
||||||
|
// todo
|
||||||
|
Ok(true)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub(crate) mod sealed {
|
||||||
|
use super::*;
|
||||||
|
|
||||||
|
pub trait Pin: Sized {
|
||||||
|
fn pin_bank(&self) -> u8;
|
||||||
|
|
||||||
|
#[inline]
|
||||||
|
fn pin(&self) -> u8 {
|
||||||
|
self.pin_bank() & 0x1f
|
||||||
|
}
|
||||||
|
|
||||||
|
#[inline]
|
||||||
|
fn bank(&self) -> Bank {
|
||||||
|
if self.pin_bank() & 0x20 == 0 {
|
||||||
|
Bank::Bank0
|
||||||
|
} else {
|
||||||
|
Bank::Qspi
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
fn io(&self) -> pac::io::Gpio {
|
||||||
|
let block = match self.bank() {
|
||||||
|
Bank::Bank0 => crate::pac::IO_BANK0,
|
||||||
|
Bank::Qspi => crate::pac::IO_QSPI,
|
||||||
|
};
|
||||||
|
block.gpio(self.pin() as _)
|
||||||
|
}
|
||||||
|
|
||||||
|
fn pad_ctrl(&self) -> Reg<pac::pads::regs::GpioCtrl, RW> {
|
||||||
|
let block = match self.bank() {
|
||||||
|
Bank::Bank0 => crate::pac::PADS_BANK0,
|
||||||
|
Bank::Qspi => crate::pac::PADS_QSPI,
|
||||||
|
};
|
||||||
|
block.gpio(self.pin() as _)
|
||||||
|
}
|
||||||
|
fn sio_out(&self) -> pac::sio::Gpio {
|
||||||
|
SIO.gpio_out(self.bank() as _)
|
||||||
|
}
|
||||||
|
fn sio_oe(&self) -> pac::sio::Gpio {
|
||||||
|
SIO.gpio_oe(self.bank() as _)
|
||||||
|
}
|
||||||
|
fn sio_in(&self) -> Reg<u32, RW> {
|
||||||
|
SIO.gpio_in(self.bank() as _)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub trait Pin: sealed::Pin {
|
||||||
|
/// Degrade to a generic pin struct
|
||||||
|
fn degrade(self) -> AnyPin {
|
||||||
|
AnyPin {
|
||||||
|
pin_bank: self.pin_bank(),
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub struct AnyPin {
|
||||||
|
pin_bank: u8,
|
||||||
|
}
|
||||||
|
impl_unborrow!(AnyPin);
|
||||||
|
impl Pin for AnyPin {}
|
||||||
|
impl sealed::Pin for AnyPin {
|
||||||
|
fn pin_bank(&self) -> u8 {
|
||||||
|
self.pin_bank
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
macro_rules! impl_pin {
|
||||||
|
($name:ident, $bank:expr, $pin_num:expr) => {
|
||||||
|
impl Pin for peripherals::$name {}
|
||||||
|
impl sealed::Pin for peripherals::$name {
|
||||||
|
fn pin_bank(&self) -> u8 {
|
||||||
|
($bank as u8) * 32 + $pin_num
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
impl_pin!(PIN_0, Bank::Bank0, 0);
|
||||||
|
impl_pin!(PIN_1, Bank::Bank0, 1);
|
||||||
|
impl_pin!(PIN_2, Bank::Bank0, 2);
|
||||||
|
impl_pin!(PIN_3, Bank::Bank0, 3);
|
||||||
|
impl_pin!(PIN_4, Bank::Bank0, 4);
|
||||||
|
impl_pin!(PIN_5, Bank::Bank0, 5);
|
||||||
|
impl_pin!(PIN_6, Bank::Bank0, 6);
|
||||||
|
impl_pin!(PIN_7, Bank::Bank0, 7);
|
||||||
|
impl_pin!(PIN_8, Bank::Bank0, 8);
|
||||||
|
impl_pin!(PIN_9, Bank::Bank0, 9);
|
||||||
|
impl_pin!(PIN_10, Bank::Bank0, 10);
|
||||||
|
impl_pin!(PIN_11, Bank::Bank0, 11);
|
||||||
|
impl_pin!(PIN_12, Bank::Bank0, 12);
|
||||||
|
impl_pin!(PIN_13, Bank::Bank0, 13);
|
||||||
|
impl_pin!(PIN_14, Bank::Bank0, 14);
|
||||||
|
impl_pin!(PIN_15, Bank::Bank0, 15);
|
||||||
|
impl_pin!(PIN_16, Bank::Bank0, 16);
|
||||||
|
impl_pin!(PIN_17, Bank::Bank0, 17);
|
||||||
|
impl_pin!(PIN_18, Bank::Bank0, 18);
|
||||||
|
impl_pin!(PIN_19, Bank::Bank0, 19);
|
||||||
|
impl_pin!(PIN_20, Bank::Bank0, 20);
|
||||||
|
impl_pin!(PIN_21, Bank::Bank0, 21);
|
||||||
|
impl_pin!(PIN_22, Bank::Bank0, 22);
|
||||||
|
impl_pin!(PIN_23, Bank::Bank0, 23);
|
||||||
|
impl_pin!(PIN_24, Bank::Bank0, 24);
|
||||||
|
impl_pin!(PIN_25, Bank::Bank0, 25);
|
||||||
|
impl_pin!(PIN_26, Bank::Bank0, 26);
|
||||||
|
impl_pin!(PIN_27, Bank::Bank0, 27);
|
||||||
|
impl_pin!(PIN_28, Bank::Bank0, 28);
|
||||||
|
impl_pin!(PIN_29, Bank::Bank0, 29);
|
||||||
|
|
||||||
|
impl_pin!(PIN_QSPI_SCLK, Bank::Qspi, 0);
|
||||||
|
impl_pin!(PIN_QSPI_SS, Bank::Qspi, 1);
|
||||||
|
impl_pin!(PIN_QSPI_SD0, Bank::Qspi, 2);
|
||||||
|
impl_pin!(PIN_QSPI_SD1, Bank::Qspi, 3);
|
||||||
|
impl_pin!(PIN_QSPI_SD2, Bank::Qspi, 4);
|
||||||
|
impl_pin!(PIN_QSPI_SD3, Bank::Qspi, 5);
|
||||||
110
embassy-rp/src/interrupt.rs
Normal file
110
embassy-rp/src/interrupt.rs
Normal file
|
|
@ -0,0 +1,110 @@
|
||||||
|
//! Interrupt management
|
||||||
|
//!
|
||||||
|
//! This module implements an API for managing interrupts compatible with
|
||||||
|
//! nrf_softdevice::interrupt. Intended for switching between the two at compile-time.
|
||||||
|
|
||||||
|
use core::sync::atomic::{compiler_fence, Ordering};
|
||||||
|
|
||||||
|
use crate::pac::NVIC_PRIO_BITS;
|
||||||
|
|
||||||
|
// Re-exports
|
||||||
|
pub use cortex_m::interrupt::{CriticalSection, Mutex};
|
||||||
|
pub use embassy::interrupt::{declare, take, Interrupt};
|
||||||
|
|
||||||
|
#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
|
||||||
|
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
|
||||||
|
#[repr(u8)]
|
||||||
|
pub enum Priority {
|
||||||
|
Level0 = 0,
|
||||||
|
Level1 = 1,
|
||||||
|
Level2 = 2,
|
||||||
|
Level3 = 3,
|
||||||
|
Level4 = 4,
|
||||||
|
Level5 = 5,
|
||||||
|
Level6 = 6,
|
||||||
|
Level7 = 7,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl From<u8> for Priority {
|
||||||
|
fn from(priority: u8) -> Self {
|
||||||
|
match priority >> (8 - NVIC_PRIO_BITS) {
|
||||||
|
0 => Self::Level0,
|
||||||
|
1 => Self::Level1,
|
||||||
|
2 => Self::Level2,
|
||||||
|
3 => Self::Level3,
|
||||||
|
4 => Self::Level4,
|
||||||
|
5 => Self::Level5,
|
||||||
|
6 => Self::Level6,
|
||||||
|
7 => Self::Level7,
|
||||||
|
_ => unreachable!(),
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl From<Priority> for u8 {
|
||||||
|
fn from(p: Priority) -> Self {
|
||||||
|
(p as u8) << (8 - NVIC_PRIO_BITS)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#[inline]
|
||||||
|
pub fn free<F, R>(f: F) -> R
|
||||||
|
where
|
||||||
|
F: FnOnce(&CriticalSection) -> R,
|
||||||
|
{
|
||||||
|
unsafe {
|
||||||
|
// TODO: assert that we're in privileged level
|
||||||
|
// Needed because disabling irqs in non-privileged level is a noop, which would break safety.
|
||||||
|
|
||||||
|
let primask: u32;
|
||||||
|
asm!("mrs {}, PRIMASK", out(reg) primask);
|
||||||
|
|
||||||
|
asm!("cpsid i");
|
||||||
|
|
||||||
|
// Prevent compiler from reordering operations inside/outside the critical section.
|
||||||
|
compiler_fence(Ordering::SeqCst);
|
||||||
|
|
||||||
|
let r = f(&CriticalSection::new());
|
||||||
|
|
||||||
|
compiler_fence(Ordering::SeqCst);
|
||||||
|
|
||||||
|
if primask & 1 == 0 {
|
||||||
|
asm!("cpsie i");
|
||||||
|
}
|
||||||
|
|
||||||
|
r
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
mod irqs {
|
||||||
|
use super::*;
|
||||||
|
|
||||||
|
declare!(TIMER_IRQ_0);
|
||||||
|
declare!(TIMER_IRQ_1);
|
||||||
|
declare!(TIMER_IRQ_2);
|
||||||
|
declare!(TIMER_IRQ_3);
|
||||||
|
declare!(PWM_IRQ_WRAP);
|
||||||
|
declare!(USBCTRL_IRQ);
|
||||||
|
declare!(XIP_IRQ);
|
||||||
|
declare!(PIO0_IRQ_0);
|
||||||
|
declare!(PIO0_IRQ_1);
|
||||||
|
declare!(PIO1_IRQ_0);
|
||||||
|
declare!(PIO1_IRQ_1);
|
||||||
|
declare!(DMA_IRQ_0);
|
||||||
|
declare!(DMA_IRQ_1);
|
||||||
|
declare!(IO_IRQ_BANK0);
|
||||||
|
declare!(IO_IRQ_QSPI);
|
||||||
|
declare!(SIO_IRQ_PROC0);
|
||||||
|
declare!(SIO_IRQ_PROC1);
|
||||||
|
declare!(CLOCKS_IRQ);
|
||||||
|
declare!(SPI0_IRQ);
|
||||||
|
declare!(SPI1_IRQ);
|
||||||
|
declare!(UART0_IRQ);
|
||||||
|
declare!(UART1_IRQ);
|
||||||
|
declare!(ADC_IRQ_FIFO);
|
||||||
|
declare!(I2C0_IRQ);
|
||||||
|
declare!(I2C1_IRQ);
|
||||||
|
declare!(RTC_IRQ);
|
||||||
|
}
|
||||||
|
|
||||||
|
pub use irqs::*;
|
||||||
74
embassy-rp/src/lib.rs
Normal file
74
embassy-rp/src/lib.rs
Normal file
|
|
@ -0,0 +1,74 @@
|
||||||
|
#![no_std]
|
||||||
|
#![feature(generic_associated_types)]
|
||||||
|
#![feature(asm)]
|
||||||
|
#![feature(type_alias_impl_trait)]
|
||||||
|
#![feature(never_type)]
|
||||||
|
|
||||||
|
pub use rp2040_pac2 as pac;
|
||||||
|
|
||||||
|
// This mod MUST go first, so that the others see its macros.
|
||||||
|
pub(crate) mod fmt;
|
||||||
|
|
||||||
|
pub mod interrupt;
|
||||||
|
|
||||||
|
pub mod dma;
|
||||||
|
pub mod gpio;
|
||||||
|
pub mod pll;
|
||||||
|
pub mod resets;
|
||||||
|
pub mod system;
|
||||||
|
pub mod uart;
|
||||||
|
|
||||||
|
embassy_extras::peripherals! {
|
||||||
|
PIN_0,
|
||||||
|
PIN_1,
|
||||||
|
PIN_2,
|
||||||
|
PIN_3,
|
||||||
|
PIN_4,
|
||||||
|
PIN_5,
|
||||||
|
PIN_6,
|
||||||
|
PIN_7,
|
||||||
|
PIN_8,
|
||||||
|
PIN_9,
|
||||||
|
PIN_10,
|
||||||
|
PIN_11,
|
||||||
|
PIN_12,
|
||||||
|
PIN_13,
|
||||||
|
PIN_14,
|
||||||
|
PIN_15,
|
||||||
|
PIN_16,
|
||||||
|
PIN_17,
|
||||||
|
PIN_18,
|
||||||
|
PIN_19,
|
||||||
|
PIN_20,
|
||||||
|
PIN_21,
|
||||||
|
PIN_22,
|
||||||
|
PIN_23,
|
||||||
|
PIN_24,
|
||||||
|
PIN_25,
|
||||||
|
PIN_26,
|
||||||
|
PIN_27,
|
||||||
|
PIN_28,
|
||||||
|
PIN_29,
|
||||||
|
PIN_QSPI_SCLK,
|
||||||
|
PIN_QSPI_SS,
|
||||||
|
PIN_QSPI_SD0,
|
||||||
|
PIN_QSPI_SD1,
|
||||||
|
PIN_QSPI_SD2,
|
||||||
|
PIN_QSPI_SD3,
|
||||||
|
|
||||||
|
UART0,
|
||||||
|
UART1,
|
||||||
|
|
||||||
|
DMA_CH0,
|
||||||
|
DMA_CH1,
|
||||||
|
DMA_CH2,
|
||||||
|
DMA_CH3,
|
||||||
|
DMA_CH4,
|
||||||
|
DMA_CH5,
|
||||||
|
DMA_CH6,
|
||||||
|
DMA_CH7,
|
||||||
|
DMA_CH8,
|
||||||
|
DMA_CH9,
|
||||||
|
DMA_CH10,
|
||||||
|
DMA_CH11,
|
||||||
|
}
|
||||||
79
embassy-rp/src/pll.rs
Normal file
79
embassy-rp/src/pll.rs
Normal file
|
|
@ -0,0 +1,79 @@
|
||||||
|
use core::ops::Deref;
|
||||||
|
use defmt::{assert, *};
|
||||||
|
|
||||||
|
use crate::pac;
|
||||||
|
|
||||||
|
const XOSC_MHZ: u32 = 12;
|
||||||
|
|
||||||
|
pub struct PLL<T: Instance> {
|
||||||
|
inner: T,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<T: Instance> PLL<T> {
|
||||||
|
pub fn new(inner: T) -> Self {
|
||||||
|
Self { inner }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn configure(&mut self, refdiv: u32, vco_freq: u32, post_div1: u8, post_div2: u8) {
|
||||||
|
unsafe {
|
||||||
|
let p = self.inner.regs();
|
||||||
|
// Power off in case it's already running
|
||||||
|
p.pwr().write(|w| {
|
||||||
|
w.set_vcopd(true);
|
||||||
|
w.set_postdivpd(true);
|
||||||
|
w.set_dsmpd(true);
|
||||||
|
w.set_pd(true);
|
||||||
|
});
|
||||||
|
p.fbdiv_int().write(|w| w.set_fbdiv_int(0));
|
||||||
|
|
||||||
|
let ref_mhz = XOSC_MHZ / refdiv;
|
||||||
|
p.cs().write(|w| w.set_refdiv(ref_mhz as _));
|
||||||
|
|
||||||
|
let fbdiv = vco_freq / (ref_mhz * 1_000_000);
|
||||||
|
assert!(fbdiv >= 16 && fbdiv <= 520);
|
||||||
|
assert!((post_div1 >= 1 && post_div1 <= 7) && (post_div2 >= 1 && post_div2 <= 7));
|
||||||
|
assert!(post_div2 <= post_div1);
|
||||||
|
assert!(ref_mhz <= (vco_freq / 16));
|
||||||
|
|
||||||
|
p.fbdiv_int().write(|w| w.set_fbdiv_int(fbdiv as _));
|
||||||
|
|
||||||
|
p.pwr().modify(|w| {
|
||||||
|
w.set_pd(false);
|
||||||
|
w.set_vcopd(false);
|
||||||
|
});
|
||||||
|
|
||||||
|
while !p.cs().read().lock() {}
|
||||||
|
|
||||||
|
p.prim().write(|w| {
|
||||||
|
w.set_postdiv1(post_div1);
|
||||||
|
w.set_postdiv2(post_div2);
|
||||||
|
});
|
||||||
|
|
||||||
|
p.pwr().modify(|w| w.set_postdivpd(false));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
mod sealed {
|
||||||
|
pub trait Instance {}
|
||||||
|
impl Instance for super::PllSys {}
|
||||||
|
impl Instance for super::PllUsb {}
|
||||||
|
}
|
||||||
|
|
||||||
|
// todo make owned
|
||||||
|
pub struct PllSys;
|
||||||
|
pub struct PllUsb;
|
||||||
|
|
||||||
|
pub trait Instance {
|
||||||
|
fn regs(&self) -> pac::pll::Pll;
|
||||||
|
}
|
||||||
|
impl Instance for PllSys {
|
||||||
|
fn regs(&self) -> pac::pll::Pll {
|
||||||
|
pac::PLL_SYS
|
||||||
|
}
|
||||||
|
}
|
||||||
|
impl Instance for PllUsb {
|
||||||
|
fn regs(&self) -> pac::pll::Pll {
|
||||||
|
pac::PLL_USB
|
||||||
|
}
|
||||||
|
}
|
||||||
29
embassy-rp/src/resets.rs
Normal file
29
embassy-rp/src/resets.rs
Normal file
|
|
@ -0,0 +1,29 @@
|
||||||
|
use crate::pac;
|
||||||
|
|
||||||
|
pub use pac::resets::regs::Peripherals;
|
||||||
|
|
||||||
|
pub const ALL_PERIPHERALS: Peripherals = Peripherals(0x01ffffff);
|
||||||
|
|
||||||
|
pub struct Resets {}
|
||||||
|
|
||||||
|
impl Resets {
|
||||||
|
pub fn new() -> Self {
|
||||||
|
Self {}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn reset(&self, peris: Peripherals) {
|
||||||
|
unsafe {
|
||||||
|
pac::RESETS.reset().write_value(peris);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn unreset_wait(&self, peris: Peripherals) {
|
||||||
|
unsafe {
|
||||||
|
// TODO use the "atomic clear" register version
|
||||||
|
pac::RESETS
|
||||||
|
.reset()
|
||||||
|
.modify(|v| *v = Peripherals(v.0 & !peris.0));
|
||||||
|
while ((!pac::RESETS.reset_done().read().0) & peris.0) != 0 {}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
90
embassy-rp/src/system.rs
Normal file
90
embassy-rp/src/system.rs
Normal file
|
|
@ -0,0 +1,90 @@
|
||||||
|
use crate::{pac, pll, resets};
|
||||||
|
|
||||||
|
#[non_exhaustive]
|
||||||
|
pub struct Config {}
|
||||||
|
|
||||||
|
impl Default for Config {
|
||||||
|
fn default() -> Self {
|
||||||
|
Self {}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// safety: must only call once.
|
||||||
|
pub unsafe fn configure(_config: Config) {
|
||||||
|
// Now reset all the peripherals, except QSPI and XIP (we're using those
|
||||||
|
// to execute from external flash!)
|
||||||
|
|
||||||
|
let resets = resets::Resets::new();
|
||||||
|
|
||||||
|
// Reset everything except:
|
||||||
|
// - QSPI (we're using it to run this code!)
|
||||||
|
// - PLLs (it may be suicide if that's what's clocking us)
|
||||||
|
let mut peris = resets::ALL_PERIPHERALS;
|
||||||
|
peris.set_io_qspi(false);
|
||||||
|
peris.set_pads_qspi(false);
|
||||||
|
peris.set_pll_sys(false);
|
||||||
|
peris.set_pll_usb(false);
|
||||||
|
resets.reset(peris);
|
||||||
|
|
||||||
|
let mut peris = resets::ALL_PERIPHERALS;
|
||||||
|
peris.set_adc(false);
|
||||||
|
peris.set_rtc(false);
|
||||||
|
peris.set_spi0(false);
|
||||||
|
peris.set_spi1(false);
|
||||||
|
peris.set_uart0(false);
|
||||||
|
peris.set_uart1(false);
|
||||||
|
peris.set_usbctrl(false);
|
||||||
|
resets.unreset_wait(peris);
|
||||||
|
|
||||||
|
// xosc 12 mhz
|
||||||
|
pac::WATCHDOG.tick().write(|w| {
|
||||||
|
w.set_cycles(XOSC_MHZ as u16);
|
||||||
|
w.set_enable(true);
|
||||||
|
});
|
||||||
|
|
||||||
|
pac::CLOCKS
|
||||||
|
.clk_sys_resus_ctrl()
|
||||||
|
.write_value(pac::clocks::regs::ClkSysResusCtrl(0));
|
||||||
|
|
||||||
|
// Enable XOSC
|
||||||
|
// TODO extract to HAL module
|
||||||
|
const XOSC_MHZ: u32 = 12;
|
||||||
|
pac::XOSC
|
||||||
|
.ctrl()
|
||||||
|
.write(|w| w.set_freq_range(pac::xosc::vals::CtrlFreqRange::_1_15MHZ));
|
||||||
|
|
||||||
|
let startup_delay = (((XOSC_MHZ * 1_000_000) / 1000) + 128) / 256;
|
||||||
|
pac::XOSC
|
||||||
|
.startup()
|
||||||
|
.write(|w| w.set_delay(startup_delay as u16));
|
||||||
|
pac::XOSC.ctrl().write(|w| {
|
||||||
|
w.set_freq_range(pac::xosc::vals::CtrlFreqRange::_1_15MHZ);
|
||||||
|
w.set_enable(pac::xosc::vals::CtrlEnable::ENABLE);
|
||||||
|
});
|
||||||
|
while !pac::XOSC.status().read().stable() {}
|
||||||
|
|
||||||
|
// Before we touch PLLs, switch sys and ref cleanly away from their aux sources.
|
||||||
|
pac::CLOCKS
|
||||||
|
.clk_sys_ctrl()
|
||||||
|
.modify(|w| w.set_src(pac::clocks::vals::ClkSysCtrlSrc::CLK_REF));
|
||||||
|
while pac::CLOCKS.clk_sys_selected().read() != 1 {}
|
||||||
|
pac::CLOCKS
|
||||||
|
.clk_ref_ctrl()
|
||||||
|
.modify(|w| w.set_src(pac::clocks::vals::ClkRefCtrlSrc::ROSC_CLKSRC_PH));
|
||||||
|
while pac::CLOCKS.clk_ref_selected().read() != 1 {}
|
||||||
|
|
||||||
|
let mut peris = resets::Peripherals(0);
|
||||||
|
peris.set_pll_sys(true);
|
||||||
|
peris.set_pll_usb(true);
|
||||||
|
resets.reset(peris);
|
||||||
|
resets.unreset_wait(peris);
|
||||||
|
|
||||||
|
pll::PLL::new(pll::PllSys).configure(1, 1500_000_000, 6, 2);
|
||||||
|
pll::PLL::new(pll::PllUsb).configure(1, 480_000_000, 5, 2);
|
||||||
|
|
||||||
|
// Activate peripheral clock and take external oscillator as input
|
||||||
|
pac::CLOCKS.clk_peri_ctrl().write(|w| {
|
||||||
|
w.set_enable(true);
|
||||||
|
w.set_auxsrc(pac::clocks::vals::ClkPeriCtrlAuxsrc::XOSC_CLKSRC);
|
||||||
|
});
|
||||||
|
}
|
||||||
173
embassy-rp/src/uart.rs
Normal file
173
embassy-rp/src/uart.rs
Normal file
|
|
@ -0,0 +1,173 @@
|
||||||
|
use core::marker::PhantomData;
|
||||||
|
|
||||||
|
use embassy::util::PeripheralBorrow;
|
||||||
|
use embassy_extras::unborrow;
|
||||||
|
use gpio::Pin;
|
||||||
|
|
||||||
|
use crate::{gpio, pac, peripherals};
|
||||||
|
|
||||||
|
#[non_exhaustive]
|
||||||
|
pub struct Config {
|
||||||
|
pub baudrate: u32,
|
||||||
|
pub data_bits: u8,
|
||||||
|
pub stop_bits: u8,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Default for Config {
|
||||||
|
fn default() -> Self {
|
||||||
|
Self {
|
||||||
|
baudrate: 115200,
|
||||||
|
data_bits: 8,
|
||||||
|
stop_bits: 1,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub struct Uart<'d, T: Instance> {
|
||||||
|
inner: T,
|
||||||
|
phantom: PhantomData<&'d mut T>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl<'d, T: Instance> Uart<'d, T> {
|
||||||
|
pub fn new(
|
||||||
|
inner: impl PeripheralBorrow<Target = T>,
|
||||||
|
tx: impl PeripheralBorrow<Target = impl TxPin<T>>,
|
||||||
|
rx: impl PeripheralBorrow<Target = impl RxPin<T>>,
|
||||||
|
cts: impl PeripheralBorrow<Target = impl CtsPin<T>>,
|
||||||
|
rts: impl PeripheralBorrow<Target = impl RtsPin<T>>,
|
||||||
|
config: Config,
|
||||||
|
) -> Self {
|
||||||
|
unborrow!(inner, tx, rx, cts, rts);
|
||||||
|
|
||||||
|
unsafe {
|
||||||
|
let p = inner.regs();
|
||||||
|
|
||||||
|
// todo get this from somewhere
|
||||||
|
let clk_base = 12_000_000;
|
||||||
|
|
||||||
|
let baud_rate_div = (8 * clk_base) / config.baudrate;
|
||||||
|
let mut baud_ibrd = baud_rate_div >> 7;
|
||||||
|
let mut baud_fbrd = ((baud_rate_div & 0x7f) + 1) / 2;
|
||||||
|
|
||||||
|
if baud_ibrd == 0 {
|
||||||
|
baud_ibrd = 1;
|
||||||
|
baud_fbrd = 0;
|
||||||
|
} else if baud_ibrd >= 65535 {
|
||||||
|
baud_ibrd = 65535;
|
||||||
|
baud_fbrd = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Load PL011's baud divisor registers
|
||||||
|
p.uartibrd()
|
||||||
|
.write_value(pac::uart::regs::Uartibrd(baud_ibrd));
|
||||||
|
p.uartfbrd()
|
||||||
|
.write_value(pac::uart::regs::Uartfbrd(baud_fbrd));
|
||||||
|
|
||||||
|
p.uartlcr_h().write(|w| {
|
||||||
|
w.set_wlen(config.data_bits - 5);
|
||||||
|
w.set_stp2(config.stop_bits == 2);
|
||||||
|
w.set_pen(false);
|
||||||
|
w.set_eps(false);
|
||||||
|
w.set_fen(true);
|
||||||
|
});
|
||||||
|
|
||||||
|
p.uartcr().write(|w| {
|
||||||
|
w.set_uarten(true);
|
||||||
|
w.set_rxe(true);
|
||||||
|
w.set_txe(true);
|
||||||
|
});
|
||||||
|
|
||||||
|
tx.io().ctrl().write(|w| w.set_funcsel(2));
|
||||||
|
rx.io().ctrl().write(|w| w.set_funcsel(2));
|
||||||
|
cts.io().ctrl().write(|w| w.set_funcsel(2));
|
||||||
|
rts.io().ctrl().write(|w| w.set_funcsel(2));
|
||||||
|
}
|
||||||
|
Self {
|
||||||
|
inner,
|
||||||
|
phantom: PhantomData,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn send(&mut self, data: &[u8]) {
|
||||||
|
unsafe {
|
||||||
|
let p = self.inner.regs();
|
||||||
|
|
||||||
|
for &byte in data {
|
||||||
|
if !p.uartfr().read().txff() {
|
||||||
|
p.uartdr().write(|w| w.set_data(byte));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
mod sealed {
|
||||||
|
use super::*;
|
||||||
|
|
||||||
|
pub trait Instance {
|
||||||
|
fn regs(&self) -> pac::uart::Uart;
|
||||||
|
}
|
||||||
|
pub trait TxPin<T: Instance> {}
|
||||||
|
pub trait RxPin<T: Instance> {}
|
||||||
|
pub trait CtsPin<T: Instance> {}
|
||||||
|
pub trait RtsPin<T: Instance> {}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub trait Instance: sealed::Instance {}
|
||||||
|
|
||||||
|
macro_rules! impl_instance {
|
||||||
|
($type:ident, $irq:ident) => {
|
||||||
|
impl sealed::Instance for peripherals::$type {
|
||||||
|
fn regs(&self) -> pac::uart::Uart {
|
||||||
|
pac::$type
|
||||||
|
}
|
||||||
|
}
|
||||||
|
impl Instance for peripherals::$type {}
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
impl_instance!(UART0, UART0);
|
||||||
|
impl_instance!(UART1, UART1);
|
||||||
|
|
||||||
|
pub trait TxPin<T: Instance>: sealed::TxPin<T> + Pin {}
|
||||||
|
pub trait RxPin<T: Instance>: sealed::RxPin<T> + Pin {}
|
||||||
|
pub trait CtsPin<T: Instance>: sealed::CtsPin<T> + Pin {}
|
||||||
|
pub trait RtsPin<T: Instance>: sealed::RtsPin<T> + Pin {}
|
||||||
|
|
||||||
|
macro_rules! impl_pin {
|
||||||
|
($pin:ident, $instance:ident, $function:ident) => {
|
||||||
|
impl sealed::$function<peripherals::$instance> for peripherals::$pin {}
|
||||||
|
impl $function<peripherals::$instance> for peripherals::$pin {}
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
impl_pin!(PIN_0, UART0, TxPin);
|
||||||
|
impl_pin!(PIN_1, UART0, RxPin);
|
||||||
|
impl_pin!(PIN_2, UART0, CtsPin);
|
||||||
|
impl_pin!(PIN_3, UART0, RtsPin);
|
||||||
|
impl_pin!(PIN_4, UART1, TxPin);
|
||||||
|
impl_pin!(PIN_5, UART1, RxPin);
|
||||||
|
impl_pin!(PIN_6, UART1, CtsPin);
|
||||||
|
impl_pin!(PIN_7, UART1, RtsPin);
|
||||||
|
impl_pin!(PIN_8, UART1, TxPin);
|
||||||
|
impl_pin!(PIN_9, UART1, RxPin);
|
||||||
|
impl_pin!(PIN_10, UART1, CtsPin);
|
||||||
|
impl_pin!(PIN_11, UART1, RtsPin);
|
||||||
|
impl_pin!(PIN_12, UART0, TxPin);
|
||||||
|
impl_pin!(PIN_13, UART0, RxPin);
|
||||||
|
impl_pin!(PIN_14, UART0, CtsPin);
|
||||||
|
impl_pin!(PIN_15, UART0, RtsPin);
|
||||||
|
impl_pin!(PIN_16, UART0, TxPin);
|
||||||
|
impl_pin!(PIN_17, UART0, RxPin);
|
||||||
|
impl_pin!(PIN_18, UART0, CtsPin);
|
||||||
|
impl_pin!(PIN_19, UART0, RtsPin);
|
||||||
|
impl_pin!(PIN_20, UART1, TxPin);
|
||||||
|
impl_pin!(PIN_21, UART1, RxPin);
|
||||||
|
impl_pin!(PIN_22, UART1, CtsPin);
|
||||||
|
impl_pin!(PIN_23, UART1, RtsPin);
|
||||||
|
impl_pin!(PIN_24, UART1, TxPin);
|
||||||
|
impl_pin!(PIN_25, UART1, RxPin);
|
||||||
|
impl_pin!(PIN_26, UART1, CtsPin);
|
||||||
|
impl_pin!(PIN_27, UART1, RtsPin);
|
||||||
|
impl_pin!(PIN_28, UART0, TxPin);
|
||||||
|
impl_pin!(PIN_29, UART0, RxPin);
|
||||||
Loading…
Reference in a new issue