diff --git a/embassy-stm32/src/tsc/mod.rs b/embassy-stm32/src/tsc/mod.rs
index 8ba208ce7..5cb58e918 100644
--- a/embassy-stm32/src/tsc/mod.rs
+++ b/embassy-stm32/src/tsc/mod.rs
@@ -65,15 +65,19 @@
/// Enums defined for peripheral parameters
pub mod enums;
+use core::future::poll_fn;
use core::marker::PhantomData;
+use core::task::Poll;
use embassy_hal_internal::{into_ref, PeripheralRef};
+use embassy_sync::waitqueue::AtomicWaker;
pub use enums::*;
use crate::gpio::{AfType, AnyPin, OutputType, Speed};
-use crate::pac::tsc::Tsc as Regs;
+use crate::interrupt::typelevel::Interrupt;
+use crate::mode::{Async, Blocking, Mode as PeriMode};
use crate::rcc::{self, RccPeripheral};
-use crate::{peripherals, Peripheral};
+use crate::{interrupt, peripherals, Peripheral};
#[cfg(tsc_v1)]
const TSC_NUM_GROUPS: u32 = 6;
@@ -90,6 +94,18 @@ pub enum Error {
Test,
}
+/// TSC interrupt handler.
+pub struct InterruptHandler<T: Instance> {
+ _phantom: PhantomData<T>,
+}
+
+impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
+ unsafe fn on_interrupt() {
+ T::regs().ier().write(|w| w.set_eoaie(false));
+ T::waker().wake();
+ }
+}
+
/// Pin type definition to control IO parameters
pub enum PinType {
/// Sensing channel pin connected to an electrode
@@ -490,7 +506,7 @@ pub enum G7 {}
pub enum G8 {}
/// TSC driver
-pub struct Tsc<'d, T: Instance> {
+pub struct Tsc<'d, T: Instance, K: PeriMode> {
_peri: PeripheralRef<'d, T>,
_g1: Option<PinGroup<'d, T, G1>>,
_g2: Option<PinGroup<'d, T, G2>>,
@@ -504,11 +520,102 @@ pub struct Tsc<'d, T: Instance> {
_g8: Option<PinGroup<'d, T, G8>>,
state: State,
config: Config,
+ _kind: PhantomData<K>,
}
-impl<'d, T: Instance> Tsc<'d, T> {
- /// Create new TSC driver
- pub fn new(
+impl<'d, T: Instance> Tsc<'d, T, Async> {
+ /// Create a Tsc instance that can be awaited for completion
+ pub fn new_async(
+ peri: impl Peripheral<P = T> + 'd,
+ g1: Option<PinGroup<'d, T, G1>>,
+ g2: Option<PinGroup<'d, T, G2>>,
+ g3: Option<PinGroup<'d, T, G3>>,
+ g4: Option<PinGroup<'d, T, G4>>,
+ g5: Option<PinGroup<'d, T, G5>>,
+ g6: Option<PinGroup<'d, T, G6>>,
+ #[cfg(any(tsc_v2, tsc_v3))] g7: Option<PinGroup<'d, T, G7>>,
+ #[cfg(tsc_v3)] g8: Option<PinGroup<'d, T, G8>>,
+ config: Config,
+ _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
+ ) -> Self {
+ // Need to check valid pin configuration input
+ let g1 = g1.filter(|b| b.check_group().is_ok());
+ let g2 = g2.filter(|b| b.check_group().is_ok());
+ let g3 = g3.filter(|b| b.check_group().is_ok());
+ let g4 = g4.filter(|b| b.check_group().is_ok());
+ let g5 = g5.filter(|b| b.check_group().is_ok());
+ let g6 = g6.filter(|b| b.check_group().is_ok());
+ #[cfg(any(tsc_v2, tsc_v3))]
+ let g7 = g7.filter(|b| b.check_group().is_ok());
+ #[cfg(tsc_v3)]
+ let g8 = g8.filter(|b| b.check_group().is_ok());
+
+ match Self::check_shields(
+ &g1,
+ &g2,
+ &g3,
+ &g4,
+ &g5,
+ &g6,
+ #[cfg(any(tsc_v2, tsc_v3))]
+ &g7,
+ #[cfg(tsc_v3)]
+ &g8,
+ ) {
+ Ok(()) => Self::new_inner(
+ peri,
+ g1,
+ g2,
+ g3,
+ g4,
+ g5,
+ g6,
+ #[cfg(any(tsc_v2, tsc_v3))]
+ g7,
+ #[cfg(tsc_v3)]
+ g8,
+ config,
+ ),
+ Err(_) => Self::new_inner(
+ peri,
+ None,
+ None,
+ None,
+ None,
+ None,
+ None,
+ #[cfg(any(tsc_v2, tsc_v3))]
+ None,
+ #[cfg(tsc_v3)]
+ None,
+ config,
+ ),
+ }
+ }
+ /// Asyncronously wait for the end of an acquisition
+ pub async fn pend_for_acquisition(&mut self) {
+ poll_fn(|cx| match self.get_state() {
+ State::Busy => {
+ T::waker().register(cx.waker());
+ T::regs().ier().write(|w| w.set_eoaie(true));
+ if self.get_state() != State::Busy {
+ T::regs().ier().write(|w| w.set_eoaie(false));
+ return Poll::Ready(());
+ }
+ Poll::Pending
+ }
+ _ => {
+ T::regs().ier().write(|w| w.set_eoaie(false));
+ Poll::Ready(())
+ }
+ })
+ .await;
+ }
+}
+
+impl<'d, T: Instance> Tsc<'d, T, Blocking> {
+ /// Create a Tsc instance that must be polled for completion
+ pub fn new_blocking(
peri: impl Peripheral<P = T> + 'd,
g1: Option<PinGroup<'d, T, G1>>,
g2: Option<PinGroup<'d, T, G2>>,
@@ -574,7 +681,14 @@ impl<'d, T: Instance> Tsc<'d, T> {
),
}
}
+ /// Wait for end of acquisition
+ pub fn poll_for_acquisition(&mut self) {
+ while self.get_state() == State::Busy {}
+ }
+}
+impl<'d, T: Instance, K: PeriMode> Tsc<'d, T, K> {
+ /// Create new TSC driver
fn check_shields(
g1: &Option<PinGroup<'d, T, G1>>,
g2: &Option<PinGroup<'d, T, G2>>,
@@ -663,7 +777,7 @@ impl<'d, T: Instance> Tsc<'d, T> {
rcc::enable_and_reset::<T>();
- T::REGS.cr().modify(|w| {
+ T::regs().cr().modify(|w| {
w.set_tsce(true);
w.set_ctph(config.ct_pulse_high_length.into());
w.set_ctpl(config.ct_pulse_low_length.into());
@@ -691,33 +805,39 @@ impl<'d, T: Instance> Tsc<'d, T> {
// Set IO configuration
// Disable Schmitt trigger hysteresis on all used TSC IOs
- T::REGS
+ T::regs()
.iohcr()
.write(|w| w.0 = !(config.channel_ios | config.shield_ios | config.sampling_ios));
// Set channel and shield IOs
- T::REGS.ioccr().write(|w| w.0 = config.channel_ios | config.shield_ios);
+ T::regs()
+ .ioccr()
+ .write(|w| w.0 = config.channel_ios | config.shield_ios);
// Set sampling IOs
- T::REGS.ioscr().write(|w| w.0 = config.sampling_ios);
+ T::regs().ioscr().write(|w| w.0 = config.sampling_ios);
// Set the groups to be acquired
- T::REGS
+ T::regs()
.iogcsr()
.write(|w| w.0 = Self::extract_groups(config.channel_ios));
// Disable interrupts
- T::REGS.ier().modify(|w| {
+ T::regs().ier().modify(|w| {
w.set_eoaie(false);
w.set_mceie(false);
});
// Clear flags
- T::REGS.icr().modify(|w| {
+ T::regs().icr().modify(|w| {
w.set_eoaic(true);
w.set_mceic(true);
});
+ unsafe {
+ T::Interrupt::enable();
+ }
+
Self {
_peri: peri,
_g1: g1,
@@ -732,6 +852,7 @@ impl<'d, T: Instance> Tsc<'d, T> {
_g8: g8,
state: State::Ready,
config,
+ _kind: PhantomData,
}
}
@@ -740,68 +861,41 @@ impl<'d, T: Instance> Tsc<'d, T> {
self.state = State::Busy;
// Disable interrupts
- T::REGS.ier().modify(|w| {
+ T::regs().ier().modify(|w| {
w.set_eoaie(false);
w.set_mceie(false);
});
// Clear flags
- T::REGS.icr().modify(|w| {
+ T::regs().icr().modify(|w| {
w.set_eoaic(true);
w.set_mceic(true);
});
// Set the touch sensing IOs not acquired to the default mode
- T::REGS.cr().modify(|w| {
+ T::regs().cr().modify(|w| {
w.set_iodef(self.config.io_default_mode);
});
// Start the acquisition
- T::REGS.cr().modify(|w| {
- w.set_start(true);
- });
- }
-
- /// Start charge transfer acquisition with interrupts enabled
- pub fn start_it(&mut self) {
- self.state = State::Busy;
-
- // Enable interrupts
- T::REGS.ier().modify(|w| {
- w.set_eoaie(true);
- w.set_mceie(self.config.max_count_interrupt);
- });
-
- // Clear flags
- T::REGS.icr().modify(|w| {
- w.set_eoaic(true);
- w.set_mceic(true);
- });
-
- // Set the touch sensing IOs not acquired to the default mode
- T::REGS.cr().modify(|w| {
- w.set_iodef(self.config.io_default_mode);
- });
-
- // Start the acquisition
- T::REGS.cr().modify(|w| {
+ T::regs().cr().modify(|w| {
w.set_start(true);
});
}
/// Stop charge transfer acquisition
pub fn stop(&mut self) {
- T::REGS.cr().modify(|w| {
+ T::regs().cr().modify(|w| {
w.set_start(false);
});
// Set the touch sensing IOs in low power mode
- T::REGS.cr().modify(|w| {
+ T::regs().cr().modify(|w| {
w.set_iodef(false);
});
// Clear flags
- T::REGS.icr().modify(|w| {
+ T::regs().icr().modify(|w| {
w.set_eoaic(true);
w.set_mceic(true);
});
@@ -809,42 +903,11 @@ impl<'d, T: Instance> Tsc<'d, T> {
self.state = State::Ready;
}
- /// Stop charge transfer acquisition and clear interrupts
- pub fn stop_it(&mut self) {
- T::REGS.cr().modify(|w| {
- w.set_start(false);
- });
-
- // Set the touch sensing IOs in low power mode
- T::REGS.cr().modify(|w| {
- w.set_iodef(false);
- });
-
- // Disable interrupts
- T::REGS.ier().modify(|w| {
- w.set_eoaie(false);
- w.set_mceie(false);
- });
-
- // Clear flags
- T::REGS.icr().modify(|w| {
- w.set_eoaic(true);
- w.set_mceic(true);
- });
-
- self.state = State::Ready;
- }
-
- /// Wait for end of acquisition
- pub fn poll_for_acquisition(&mut self) {
- while self.get_state() == State::Busy {}
- }
-
/// Get current state of acquisition
pub fn get_state(&mut self) -> State {
if self.state == State::Busy {
- if T::REGS.isr().read().eoaf() {
- if T::REGS.isr().read().mcef() {
+ if T::regs().isr().read().eoaf() {
+ if T::regs().isr().read().mcef() {
self.state = State::Error
} else {
self.state = State::Ready
@@ -859,16 +922,16 @@ impl<'d, T: Instance> Tsc<'d, T> {
// Status bits are set by hardware when the acquisition on the corresponding
// enabled analog IO group is complete, cleared when new acquisition is started
let status = match index {
- Group::One => T::REGS.iogcsr().read().g1s(),
- Group::Two => T::REGS.iogcsr().read().g2s(),
- Group::Three => T::REGS.iogcsr().read().g3s(),
- Group::Four => T::REGS.iogcsr().read().g4s(),
- Group::Five => T::REGS.iogcsr().read().g5s(),
- Group::Six => T::REGS.iogcsr().read().g6s(),
+ Group::One => T::regs().iogcsr().read().g1s(),
+ Group::Two => T::regs().iogcsr().read().g2s(),
+ Group::Three => T::regs().iogcsr().read().g3s(),
+ Group::Four => T::regs().iogcsr().read().g4s(),
+ Group::Five => T::regs().iogcsr().read().g5s(),
+ Group::Six => T::regs().iogcsr().read().g6s(),
#[cfg(any(tsc_v2, tsc_v3))]
- Group::Seven => T::REGS.iogcsr().read().g7s(),
+ Group::Seven => T::regs().iogcsr().read().g7s(),
#[cfg(tsc_v3)]
- Group::Eight => T::REGS.iogcsr().read().g8s(),
+ Group::Eight => T::regs().iogcsr().read().g8s(),
};
match status {
true => GroupStatus::Complete,
@@ -878,39 +941,51 @@ impl<'d, T: Instance> Tsc<'d, T> {
/// Get the count for the acquisiton, valid once group status is set
pub fn group_get_value(&mut self, index: Group) -> u16 {
- T::REGS.iogcr(index.into()).read().cnt()
+ T::regs().iogcr(index.into()).read().cnt()
}
/// Discharge the IOs for subsequent acquisition
pub fn discharge_io(&mut self, status: bool) {
// Set the touch sensing IOs in low power mode
- T::REGS.cr().modify(|w| {
+ T::regs().cr().modify(|w| {
w.set_iodef(!status);
});
}
}
-impl<'d, T: Instance> Drop for Tsc<'d, T> {
+impl<'d, T: Instance, K: PeriMode> Drop for Tsc<'d, T, K> {
fn drop(&mut self) {
rcc::disable::<T>();
}
}
pub(crate) trait SealedInstance {
- const REGS: Regs;
+ fn regs() -> crate::pac::tsc::Tsc;
+ fn waker() -> &'static AtomicWaker;
}
/// TSC instance trait
#[allow(private_bounds)]
-pub trait Instance: Peripheral<P = Self> + SealedInstance + RccPeripheral {}
+pub trait Instance: Peripheral<P = Self> + SealedInstance + RccPeripheral {
+ /// Interrupt for this TSC instance
+ type Interrupt: interrupt::typelevel::Interrupt;
+}
-foreach_peripheral!(
- (tsc, $inst:ident) => {
- impl SealedInstance for peripherals::$inst {
- const REGS: Regs = crate::pac::$inst;
+foreach_interrupt!(
+ ($inst:ident, tsc, TSC, GLOBAL, $irq:ident) => {
+ impl Instance for peripherals::$inst {
+ type Interrupt = crate::interrupt::typelevel::$irq;
}
- impl Instance for peripherals::$inst {}
+ impl SealedInstance for peripherals::$inst {
+ fn regs() -> crate::pac::tsc::Tsc {
+ crate::pac::$inst
+ }
+ fn waker() -> &'static AtomicWaker {
+ static WAKER: AtomicWaker = AtomicWaker::new();
+ &WAKER
+ }
+ }
};
);
diff --git a/examples/stm32u5/src/bin/tsc.rs b/examples/stm32u5/src/bin/tsc.rs
index f5593d1c4..eb15d275a 100644
--- a/examples/stm32u5/src/bin/tsc.rs
+++ b/examples/stm32u5/src/bin/tsc.rs
@@ -2,10 +2,15 @@
#![no_main]
use defmt::*;
+use embassy_stm32::bind_interrupts;
use embassy_stm32::tsc::{self, *};
use embassy_time::Timer;
use {defmt_rtt as _, panic_probe as _};
+bind_interrupts!(struct Irqs {
+ TSC => InterruptHandler<embassy_stm32::peripherals::TSC>;
+});
+
#[cortex_m_rt::exception]
unsafe fn HardFault(_: &cortex_m_rt::ExceptionFrame) -> ! {
cortex_m::peripheral::SCB::sys_reset();
@@ -45,7 +50,7 @@ async fn main(_spawner: embassy_executor::Spawner) {
g7.set_io2(context.PE3, PinType::Sample);
g7.set_io3(context.PE4, PinType::Channel);
- let mut touch_controller = tsc::Tsc::new(
+ let mut touch_controller = tsc::Tsc::new_async(
context.TSC,
Some(g1),
Some(g2),
@@ -56,6 +61,7 @@ async fn main(_spawner: embassy_executor::Spawner) {
Some(g7),
None,
config,
+ Irqs,
);
touch_controller.discharge_io(true);
@@ -67,7 +73,7 @@ async fn main(_spawner: embassy_executor::Spawner) {
let mut group_seven_val = 0;
info!("Starting touch_controller interface");
loop {
- touch_controller.poll_for_acquisition();
+ touch_controller.pend_for_acquisition().await;
touch_controller.discharge_io(true);
Timer::after_millis(1).await;