diff --git a/embassy-executor/src/raw/mod.rs b/embassy-executor/src/raw/mod.rs
index 42bd82262..15ff18fc8 100644
--- a/embassy-executor/src/raw/mod.rs
+++ b/embassy-executor/src/raw/mod.rs
@@ -13,11 +13,12 @@ mod timer_queue;
pub(crate) mod util;
mod waker;
-use core::cell::Cell;
use core::future::Future;
+use core::marker::PhantomData;
use core::mem;
use core::pin::Pin;
use core::ptr::NonNull;
+use core::sync::atomic::AtomicPtr;
use core::task::{Context, Poll};
use atomic_polyfill::{AtomicU32, Ordering};
@@ -30,7 +31,7 @@ use embassy_time::Instant;
use rtos_trace::trace;
use self::run_queue::{RunQueue, RunQueueItem};
-use self::util::UninitCell;
+use self::util::{SyncUnsafeCell, UninitCell};
pub use self::waker::task_from_waker;
use super::SpawnToken;
@@ -46,11 +47,11 @@ pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2;
pub(crate) struct TaskHeader {
pub(crate) state: AtomicU32,
pub(crate) run_queue_item: RunQueueItem,
- pub(crate) executor: Cell<Option<&'static Executor>>,
- poll_fn: Cell<Option<unsafe fn(TaskRef)>>,
+ pub(crate) executor: SyncUnsafeCell<Option<&'static SyncExecutor>>,
+ poll_fn: SyncUnsafeCell<Option<unsafe fn(TaskRef)>>,
#[cfg(feature = "integrated-timers")]
- pub(crate) expires_at: Cell<Instant>,
+ pub(crate) expires_at: SyncUnsafeCell<Instant>,
#[cfg(feature = "integrated-timers")]
pub(crate) timer_queue_item: timer_queue::TimerQueueItem,
}
@@ -61,6 +62,9 @@ pub struct TaskRef {
ptr: NonNull<TaskHeader>,
}
+unsafe impl Send for TaskRef where &'static TaskHeader: Send {}
+unsafe impl Sync for TaskRef where &'static TaskHeader: Sync {}
+
impl TaskRef {
fn new<F: Future + 'static>(task: &'static TaskStorage<F>) -> Self {
Self {
@@ -115,12 +119,12 @@ impl<F: Future + 'static> TaskStorage<F> {
raw: TaskHeader {
state: AtomicU32::new(0),
run_queue_item: RunQueueItem::new(),
- executor: Cell::new(None),
+ executor: SyncUnsafeCell::new(None),
// Note: this is lazily initialized so that a static `TaskStorage` will go in `.bss`
- poll_fn: Cell::new(None),
+ poll_fn: SyncUnsafeCell::new(None),
#[cfg(feature = "integrated-timers")]
- expires_at: Cell::new(Instant::from_ticks(0)),
+ expires_at: SyncUnsafeCell::new(Instant::from_ticks(0)),
#[cfg(feature = "integrated-timers")]
timer_queue_item: timer_queue::TimerQueueItem::new(),
},
@@ -170,9 +174,15 @@ impl<F: Future + 'static> TaskStorage<F> {
// it's a noop for our waker.
mem::forget(waker);
}
-}
-unsafe impl<F: Future + 'static> Sync for TaskStorage<F> {}
+ #[doc(hidden)]
+ #[allow(dead_code)]
+ fn _assert_sync(self) {
+ fn assert_sync<T: Sync>(_: T) {}
+
+ assert_sync(self)
+ }
+}
struct AvailableTask<F: Future + 'static> {
task: &'static TaskStorage<F>,
@@ -279,29 +289,10 @@ impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
}
}
-/// Raw executor.
-///
-/// This is the core of the Embassy executor. It is low-level, requiring manual
-/// handling of wakeups and task polling. If you can, prefer using one of the
-/// [higher level executors](crate::Executor).
-///
-/// The raw executor leaves it up to you to handle wakeups and scheduling:
-///
-/// - To get the executor to do work, call `poll()`. This will poll all queued tasks (all tasks
-/// that "want to run").
-/// - You must supply a `signal_fn`. The executor will call it to notify you it has work
-/// to do. You must arrange for `poll()` to be called as soon as possible.
-///
-/// `signal_fn` can be called from *any* context: any thread, any interrupt priority
-/// level, etc. It may be called synchronously from any `Executor` method call as well.
-/// You must deal with this correctly.
-///
-/// In particular, you must NOT call `poll` directly from `signal_fn`, as this violates
-/// the requirement for `poll` to not be called reentrantly.
-pub struct Executor {
+pub(crate) struct SyncExecutor {
run_queue: RunQueue,
signal_fn: fn(*mut ()),
- signal_ctx: *mut (),
+ signal_ctx: AtomicPtr<()>,
#[cfg(feature = "integrated-timers")]
pub(crate) timer_queue: timer_queue::TimerQueue,
@@ -309,14 +300,8 @@ pub struct Executor {
alarm: AlarmHandle,
}
-impl Executor {
- /// Create a new executor.
- ///
- /// When the executor has work to do, it will call `signal_fn` with
- /// `signal_ctx` as argument.
- ///
- /// See [`Executor`] docs for details on `signal_fn`.
- pub fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self {
+impl SyncExecutor {
+ pub(crate) fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self {
#[cfg(feature = "integrated-timers")]
let alarm = unsafe { unwrap!(driver::allocate_alarm()) };
#[cfg(feature = "integrated-timers")]
@@ -325,7 +310,7 @@ impl Executor {
Self {
run_queue: RunQueue::new(),
signal_fn,
- signal_ctx,
+ signal_ctx: AtomicPtr::new(signal_ctx),
#[cfg(feature = "integrated-timers")]
timer_queue: timer_queue::TimerQueue::new(),
@@ -346,19 +331,10 @@ impl Executor {
trace::task_ready_begin(task.as_ptr() as u32);
if self.run_queue.enqueue(cs, task) {
- (self.signal_fn)(self.signal_ctx)
+ (self.signal_fn)(self.signal_ctx.load(Ordering::Relaxed))
}
}
- /// Spawn a task in this executor.
- ///
- /// # Safety
- ///
- /// `task` must be a valid pointer to an initialized but not-already-spawned task.
- ///
- /// It is OK to use `unsafe` to call this from a thread that's not the executor thread.
- /// In this case, the task's Future must be Send. This is because this is effectively
- /// sending the task to the executor thread.
pub(super) unsafe fn spawn(&'static self, task: TaskRef) {
task.header().executor.set(Some(self));
@@ -370,24 +346,11 @@ impl Executor {
})
}
- /// Poll all queued tasks in this executor.
- ///
- /// This loops over all tasks that are queued to be polled (i.e. they're
- /// freshly spawned or they've been woken). Other tasks are not polled.
- ///
- /// You must call `poll` after receiving a call to `signal_fn`. It is OK
- /// to call `poll` even when not requested by `signal_fn`, but it wastes
- /// energy.
- ///
/// # Safety
///
- /// You must NOT call `poll` reentrantly on the same executor.
- ///
- /// In particular, note that `poll` may call `signal_fn` synchronously. Therefore, you
- /// must NOT directly call `poll()` from your `signal_fn`. Instead, `signal_fn` has to
- /// somehow schedule for `poll()` to be called later, at a time you know for sure there's
- /// no `poll()` already running.
- pub unsafe fn poll(&'static self) {
+ /// Same as [`Executor::poll`], plus you must only call this on the thread this executor was created.
+ pub(crate) unsafe fn poll(&'static self) {
+ #[allow(clippy::never_loop)]
loop {
#[cfg(feature = "integrated-timers")]
self.timer_queue.dequeue_expired(Instant::now(), |task| wake_task(task));
@@ -441,6 +404,84 @@ impl Executor {
#[cfg(feature = "rtos-trace")]
trace::system_idle();
}
+}
+
+/// Raw executor.
+///
+/// This is the core of the Embassy executor. It is low-level, requiring manual
+/// handling of wakeups and task polling. If you can, prefer using one of the
+/// [higher level executors](crate::Executor).
+///
+/// The raw executor leaves it up to you to handle wakeups and scheduling:
+///
+/// - To get the executor to do work, call `poll()`. This will poll all queued tasks (all tasks
+/// that "want to run").
+/// - You must supply a `signal_fn`. The executor will call it to notify you it has work
+/// to do. You must arrange for `poll()` to be called as soon as possible.
+///
+/// `signal_fn` can be called from *any* context: any thread, any interrupt priority
+/// level, etc. It may be called synchronously from any `Executor` method call as well.
+/// You must deal with this correctly.
+///
+/// In particular, you must NOT call `poll` directly from `signal_fn`, as this violates
+/// the requirement for `poll` to not be called reentrantly.
+#[repr(transparent)]
+pub struct Executor {
+ pub(crate) inner: SyncExecutor,
+
+ _not_sync: PhantomData<*mut ()>,
+}
+
+impl Executor {
+ pub(crate) unsafe fn wrap(inner: &SyncExecutor) -> &Self {
+ mem::transmute(inner)
+ }
+ /// Create a new executor.
+ ///
+ /// When the executor has work to do, it will call `signal_fn` with
+ /// `signal_ctx` as argument.
+ ///
+ /// See [`Executor`] docs for details on `signal_fn`.
+ pub fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self {
+ Self {
+ inner: SyncExecutor::new(signal_fn, signal_ctx),
+ _not_sync: PhantomData,
+ }
+ }
+
+ /// Spawn a task in this executor.
+ ///
+ /// # Safety
+ ///
+ /// `task` must be a valid pointer to an initialized but not-already-spawned task.
+ ///
+ /// It is OK to use `unsafe` to call this from a thread that's not the executor thread.
+ /// In this case, the task's Future must be Send. This is because this is effectively
+ /// sending the task to the executor thread.
+ pub(super) unsafe fn spawn(&'static self, task: TaskRef) {
+ self.inner.spawn(task)
+ }
+
+ /// Poll all queued tasks in this executor.
+ ///
+ /// This loops over all tasks that are queued to be polled (i.e. they're
+ /// freshly spawned or they've been woken). Other tasks are not polled.
+ ///
+ /// You must call `poll` after receiving a call to `signal_fn`. It is OK
+ /// to call `poll` even when not requested by `signal_fn`, but it wastes
+ /// energy.
+ ///
+ /// # Safety
+ ///
+ /// You must NOT call `poll` reentrantly on the same executor.
+ ///
+ /// In particular, note that `poll` may call `signal_fn` synchronously. Therefore, you
+ /// must NOT directly call `poll()` from your `signal_fn`. Instead, `signal_fn` has to
+ /// somehow schedule for `poll()` to be called later, at a time you know for sure there's
+ /// no `poll()` already running.
+ pub unsafe fn poll(&'static self) {
+ self.inner.poll()
+ }
/// Get a spawner that spawns tasks in this executor.
///
@@ -483,8 +524,10 @@ impl embassy_time::queue::TimerQueue for TimerQueue {
fn schedule_wake(&'static self, at: Instant, waker: &core::task::Waker) {
let task = waker::task_from_waker(waker);
let task = task.header();
- let expires_at = task.expires_at.get();
- task.expires_at.set(expires_at.min(at));
+ unsafe {
+ let expires_at = task.expires_at.get();
+ task.expires_at.set(expires_at.min(at));
+ }
}
}
diff --git a/embassy-executor/src/raw/timer_queue.rs b/embassy-executor/src/raw/timer_queue.rs
index 57d6d3cda..dc71c95b1 100644
--- a/embassy-executor/src/raw/timer_queue.rs
+++ b/embassy-executor/src/raw/timer_queue.rs
@@ -1,28 +1,32 @@
-use core::cell::Cell;
use core::cmp::min;
use atomic_polyfill::Ordering;
use embassy_time::Instant;
use super::{TaskRef, STATE_TIMER_QUEUED};
+use crate::raw::util::SyncUnsafeCell;
pub(crate) struct TimerQueueItem {
- next: Cell<Option<TaskRef>>,
+ next: SyncUnsafeCell<Option<TaskRef>>,
}
impl TimerQueueItem {
pub const fn new() -> Self {
- Self { next: Cell::new(None) }
+ Self {
+ next: SyncUnsafeCell::new(None),
+ }
}
}
pub(crate) struct TimerQueue {
- head: Cell<Option<TaskRef>>,
+ head: SyncUnsafeCell<Option<TaskRef>>,
}
impl TimerQueue {
pub const fn new() -> Self {
- Self { head: Cell::new(None) }
+ Self {
+ head: SyncUnsafeCell::new(None),
+ }
}
pub(crate) unsafe fn update(&self, p: TaskRef) {
diff --git a/embassy-executor/src/raw/util.rs b/embassy-executor/src/raw/util.rs
index 2b1f6b6f3..e2e8f4df8 100644
--- a/embassy-executor/src/raw/util.rs
+++ b/embassy-executor/src/raw/util.rs
@@ -25,3 +25,32 @@ impl<T> UninitCell<T> {
ptr::drop_in_place(self.as_mut_ptr())
}
}
+
+unsafe impl<T> Sync for UninitCell<T> {}
+
+#[repr(transparent)]
+pub struct SyncUnsafeCell<T> {
+ value: UnsafeCell<T>,
+}
+
+unsafe impl<T: Sync> Sync for SyncUnsafeCell<T> {}
+
+impl<T> SyncUnsafeCell<T> {
+ #[inline]
+ pub const fn new(value: T) -> Self {
+ Self {
+ value: UnsafeCell::new(value),
+ }
+ }
+
+ pub unsafe fn set(&self, value: T) {
+ *self.value.get() = value;
+ }
+
+ pub unsafe fn get(&self) -> T
+ where
+ T: Copy,
+ {
+ *self.value.get()
+ }
+}
diff --git a/embassy-executor/src/spawner.rs b/embassy-executor/src/spawner.rs
index 7c0a0183c..2b6224045 100644
--- a/embassy-executor/src/spawner.rs
+++ b/embassy-executor/src/spawner.rs
@@ -92,6 +92,7 @@ impl Spawner {
poll_fn(|cx| {
let task = raw::task_from_waker(cx.waker());
let executor = unsafe { task.header().executor.get().unwrap_unchecked() };
+ let executor = unsafe { raw::Executor::wrap(executor) };
Poll::Ready(Self::new(executor))
})
.await
@@ -130,9 +131,7 @@ impl Spawner {
/// spawner to other threads, but the spawner loses the ability to spawn
/// non-Send tasks.
pub fn make_send(&self) -> SendSpawner {
- SendSpawner {
- executor: self.executor,
- }
+ SendSpawner::new(&self.executor.inner)
}
}
@@ -145,14 +144,11 @@ impl Spawner {
/// If you want to spawn non-Send tasks, use [Spawner].
#[derive(Copy, Clone)]
pub struct SendSpawner {
- executor: &'static raw::Executor,
+ executor: &'static raw::SyncExecutor,
}
-unsafe impl Send for SendSpawner {}
-unsafe impl Sync for SendSpawner {}
-
impl SendSpawner {
- pub(crate) fn new(executor: &'static raw::Executor) -> Self {
+ pub(crate) fn new(executor: &'static raw::SyncExecutor) -> Self {
Self { executor }
}
diff --git a/embassy-rp/src/dma.rs b/embassy-rp/src/dma.rs
index 05adcecdd..ba07a88df 100644
--- a/embassy-rp/src/dma.rs
+++ b/embassy-rp/src/dma.rs
@@ -1,3 +1,4 @@
+//! Direct Memory Access (DMA)
use core::future::Future;
use core::pin::Pin;
use core::sync::atomic::{compiler_fence, Ordering};
diff --git a/embassy-rp/src/spi.rs b/embassy-rp/src/spi.rs
index 584370d56..ebd621ecf 100644
--- a/embassy-rp/src/spi.rs
+++ b/embassy-rp/src/spi.rs
@@ -1,3 +1,4 @@
+//! Serial Peripheral Interface
use core::marker::PhantomData;
use embassy_embedded_hal::SetConfig;
@@ -383,21 +384,33 @@ impl<'d, T: Instance> Spi<'d, T, Async> {
}
async fn transfer_inner(&mut self, rx_ptr: *mut [u8], tx_ptr: *const [u8]) -> Result<(), Error> {
- let (_, from_len) = crate::dma::slice_ptr_parts(tx_ptr);
- let (_, to_len) = crate::dma::slice_ptr_parts_mut(rx_ptr);
- assert_eq!(from_len, to_len);
+ let (_, tx_len) = crate::dma::slice_ptr_parts(tx_ptr);
+ let (_, rx_len) = crate::dma::slice_ptr_parts_mut(rx_ptr);
+
unsafe {
self.inner.regs().dmacr().write(|reg| {
reg.set_rxdmae(true);
reg.set_txdmae(true);
})
};
- let tx_ch = self.tx_dma.as_mut().unwrap();
- let tx_transfer = unsafe {
- // If we don't assign future to a variable, the data register pointer
- // is held across an await and makes the future non-Send.
- crate::dma::write(tx_ch, tx_ptr, self.inner.regs().dr().ptr() as *mut _, T::TX_DREQ)
+
+ let mut tx_ch = self.tx_dma.as_mut().unwrap();
+ // If we don't assign future to a variable, the data register pointer
+ // is held across an await and makes the future non-Send.
+ let tx_transfer = async {
+ let p = self.inner.regs();
+ unsafe {
+ crate::dma::write(&mut tx_ch, tx_ptr, p.dr().ptr() as *mut _, T::TX_DREQ).await;
+
+ if rx_len > tx_len {
+ let write_bytes_len = rx_len - tx_len;
+ // write dummy data
+ // this will disable incrementation of the buffers
+ crate::dma::write_repeated(tx_ch, p.dr().ptr() as *mut u8, write_bytes_len, T::TX_DREQ).await
+ }
+ }
};
+
let rx_ch = self.rx_dma.as_mut().unwrap();
let rx_transfer = unsafe {
// If we don't assign future to a variable, the data register pointer
@@ -405,6 +418,22 @@ impl<'d, T: Instance> Spi<'d, T, Async> {
crate::dma::read(rx_ch, self.inner.regs().dr().ptr() as *const _, rx_ptr, T::RX_DREQ)
};
join(tx_transfer, rx_transfer).await;
+
+ // if tx > rx we should clear any overflow of the FIFO SPI buffer
+ if tx_len > rx_len {
+ let p = self.inner.regs();
+ unsafe {
+ while p.sr().read().bsy() {}
+
+ // clear RX FIFO contents to prevent stale reads
+ while p.sr().read().rne() {
+ let _: u16 = p.dr().read().data();
+ }
+ // clear RX overrun interrupt
+ p.icr().write(|w| w.set_roric(true));
+ }
+ }
+
Ok(())
}
}
diff --git a/embassy-rp/src/uart/buffered.rs b/embassy-rp/src/uart/buffered.rs
index 32e5ddf14..1a573b311 100644
--- a/embassy-rp/src/uart/buffered.rs
+++ b/embassy-rp/src/uart/buffered.rs
@@ -124,7 +124,7 @@ impl<'d, T: Instance> BufferedUart<'d, T> {
}
}
- pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<(), Error> {
+ pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<usize, Error> {
self.tx.blocking_write(buffer)
}
@@ -132,7 +132,7 @@ impl<'d, T: Instance> BufferedUart<'d, T> {
self.tx.blocking_flush()
}
- pub fn blocking_read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
+ pub fn blocking_read(&mut self, buffer: &mut [u8]) -> Result<usize, Error> {
self.rx.blocking_read(buffer)
}
@@ -201,7 +201,7 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
})
}
- pub fn blocking_read(&mut self, buf: &mut [u8]) -> Result<(), Error> {
+ pub fn blocking_read(&mut self, buf: &mut [u8]) -> Result<usize, Error> {
loop {
let state = T::state();
let mut rx_reader = unsafe { state.rx_buf.reader() };
@@ -222,7 +222,7 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
});
}
- return Ok(());
+ return Ok(n);
}
}
}
@@ -326,7 +326,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
})
}
- pub fn blocking_write(&mut self, buf: &[u8]) -> Result<(), Error> {
+ pub fn blocking_write(&mut self, buf: &[u8]) -> Result<usize, Error> {
loop {
let state = T::state();
let mut tx_writer = unsafe { state.tx_buf.writer() };
@@ -342,7 +342,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
// FIFO was empty we have to manually pend the interrupt to shovel
// TX data from the buffer into the FIFO.
unsafe { T::Interrupt::steal() }.pend();
- return Ok(());
+ return Ok(n);
}
}
}
@@ -533,6 +533,38 @@ impl<'d, T: Instance + 'd> embedded_io::asynch::Write for BufferedUartTx<'d, T>
}
}
+impl<'d, T: Instance + 'd> embedded_io::blocking::Read for BufferedUart<'d, T> {
+ fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+ self.rx.blocking_read(buf)
+ }
+}
+
+impl<'d, T: Instance + 'd> embedded_io::blocking::Read for BufferedUartRx<'d, T> {
+ fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+ self.blocking_read(buf)
+ }
+}
+
+impl<'d, T: Instance + 'd> embedded_io::blocking::Write for BufferedUart<'d, T> {
+ fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
+ self.tx.blocking_write(buf)
+ }
+
+ fn flush(&mut self) -> Result<(), Self::Error> {
+ self.tx.blocking_flush()
+ }
+}
+
+impl<'d, T: Instance + 'd> embedded_io::blocking::Write for BufferedUartTx<'d, T> {
+ fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
+ self.blocking_write(buf)
+ }
+
+ fn flush(&mut self) -> Result<(), Self::Error> {
+ self.blocking_flush()
+ }
+}
+
mod eh02 {
use super::*;
@@ -566,8 +598,15 @@ mod eh02 {
impl<'d, T: Instance> embedded_hal_02::blocking::serial::Write<u8> for BufferedUartTx<'d, T> {
type Error = Error;
- fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
- self.blocking_write(buffer)
+ fn bwrite_all(&mut self, mut buffer: &[u8]) -> Result<(), Self::Error> {
+ while !buffer.is_empty() {
+ match self.blocking_write(buffer) {
+ Ok(0) => panic!("zero-length write."),
+ Ok(n) => buffer = &buffer[n..],
+ Err(e) => return Err(e),
+ }
+ }
+ Ok(())
}
fn bflush(&mut self) -> Result<(), Self::Error> {
@@ -586,8 +625,15 @@ mod eh02 {
impl<'d, T: Instance> embedded_hal_02::blocking::serial::Write<u8> for BufferedUart<'d, T> {
type Error = Error;
- fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
- self.blocking_write(buffer)
+ fn bwrite_all(&mut self, mut buffer: &[u8]) -> Result<(), Self::Error> {
+ while !buffer.is_empty() {
+ match self.blocking_write(buffer) {
+ Ok(0) => panic!("zero-length write."),
+ Ok(n) => buffer = &buffer[n..],
+ Err(e) => return Err(e),
+ }
+ }
+ Ok(())
}
fn bflush(&mut self) -> Result<(), Self::Error> {
@@ -620,7 +666,7 @@ mod eh1 {
impl<'d, T: Instance> embedded_hal_1::serial::Write for BufferedUartTx<'d, T> {
fn write(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
- self.blocking_write(buffer)
+ self.blocking_write(buffer).map(drop)
}
fn flush(&mut self) -> Result<(), Self::Error> {
@@ -630,7 +676,7 @@ mod eh1 {
impl<'d, T: Instance> embedded_hal_nb::serial::Write for BufferedUartTx<'d, T> {
fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
- self.blocking_write(&[char]).map_err(nb::Error::Other)
+ self.blocking_write(&[char]).map(drop).map_err(nb::Error::Other)
}
fn flush(&mut self) -> nb::Result<(), Self::Error> {
@@ -646,7 +692,7 @@ mod eh1 {
impl<'d, T: Instance> embedded_hal_1::serial::Write for BufferedUart<'d, T> {
fn write(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
- self.blocking_write(buffer)
+ self.blocking_write(buffer).map(drop)
}
fn flush(&mut self) -> Result<(), Self::Error> {
@@ -656,7 +702,7 @@ mod eh1 {
impl<'d, T: Instance> embedded_hal_nb::serial::Write for BufferedUart<'d, T> {
fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
- self.blocking_write(&[char]).map_err(nb::Error::Other)
+ self.blocking_write(&[char]).map(drop).map_err(nb::Error::Other)
}
fn flush(&mut self) -> nb::Result<(), Self::Error> {
diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index b66d724d5..14ec3d70a 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -60,7 +60,7 @@ sdio-host = "0.5.0"
embedded-sdmmc = { git = "https://github.com/embassy-rs/embedded-sdmmc-rs", rev = "46d1b1c2ff13e31e282ec1e352421721694f126a", optional = true }
critical-section = "1.1"
atomic-polyfill = "1.0.1"
-stm32-metapac = { version = "1", features = ["rt"] }
+stm32-metapac = { version = "2", features = ["rt"] }
vcell = "0.1.3"
bxcan = "0.7.0"
nb = "1.0.0"
@@ -72,7 +72,7 @@ embedded-io = { version = "0.4.0", features = ["async"], optional = true }
[build-dependencies]
proc-macro2 = "1.0.36"
quote = "1.0.15"
-stm32-metapac = { version = "1", default-features = false, features = ["metadata"]}
+stm32-metapac = { version = "2", default-features = false, features = ["metadata"]}
[features]
defmt = ["dep:defmt", "bxcan/unstable-defmt", "embassy-sync/defmt", "embassy-executor/defmt", "embassy-embedded-hal/defmt", "embassy-hal-common/defmt", "embedded-io?/defmt", "embassy-usb-driver?/defmt", "embassy-net-driver/defmt"]
diff --git a/embassy-stm32/build.rs b/embassy-stm32/build.rs
index dbfc1370d..3780c5a40 100644
--- a/embassy-stm32/build.rs
+++ b/embassy-stm32/build.rs
@@ -427,6 +427,12 @@ fn main() {
(("sdmmc", "D6"), quote!(crate::sdmmc::D6Pin)),
(("sdmmc", "D6"), quote!(crate::sdmmc::D7Pin)),
(("sdmmc", "D8"), quote!(crate::sdmmc::D8Pin)),
+ (("quadspi", "BK1_IO0"), quote!(crate::qspi::D0Pin)),
+ (("quadspi", "BK1_IO1"), quote!(crate::qspi::D1Pin)),
+ (("quadspi", "BK1_IO2"), quote!(crate::qspi::D2Pin)),
+ (("quadspi", "BK1_IO3"), quote!(crate::qspi::D3Pin)),
+ (("quadspi", "CLK"), quote!(crate::qspi::SckPin)),
+ (("quadspi", "BK1_NCS"), quote!(crate::qspi::NSSPin)),
].into();
for p in METADATA.peripherals {
@@ -507,6 +513,7 @@ fn main() {
(("dcmi", "PSSI"), quote!(crate::dcmi::FrameDma)),
// SDMMCv1 uses the same channel for both directions, so just implement for RX
(("sdmmc", "RX"), quote!(crate::sdmmc::SdmmcDma)),
+ (("quadspi", "QUADSPI"), quote!(crate::qspi::QuadDma)),
]
.into();
diff --git a/embassy-stm32/src/adc/sample_time.rs b/embassy-stm32/src/adc/sample_time.rs
index 60ba80048..bc5fb1d6f 100644
--- a/embassy-stm32/src/adc/sample_time.rs
+++ b/embassy-stm32/src/adc/sample_time.rs
@@ -1,5 +1,5 @@
macro_rules! impl_sample_time {
- ($default_doc:expr, $default:ident, $pac:ty, ($(($doc:expr, $variant:ident, $pac_variant:ident)),*)) => {
+ ($default_doc:expr, $default:ident, ($(($doc:expr, $variant:ident, $pac_variant:ident)),*)) => {
#[doc = concat!("ADC sample time\n\nThe default setting is ", $default_doc, " ADC clock cycles.")]
#[derive(Clone, Copy, Debug, Eq, PartialEq, Ord, PartialOrd)]
pub enum SampleTime {
@@ -9,10 +9,10 @@ macro_rules! impl_sample_time {
)*
}
- impl From<SampleTime> for $pac {
- fn from(sample_time: SampleTime) -> $pac {
+ impl From<SampleTime> for crate::pac::adc::vals::SampleTime {
+ fn from(sample_time: SampleTime) -> crate::pac::adc::vals::SampleTime {
match sample_time {
- $(SampleTime::$variant => <$pac>::$pac_variant),*
+ $(SampleTime::$variant => crate::pac::adc::vals::SampleTime::$pac_variant),*
}
}
}
@@ -29,7 +29,6 @@ macro_rules! impl_sample_time {
impl_sample_time!(
"1.5",
Cycles1_5,
- crate::pac::adc::vals::SampleTime,
(
("1.5", Cycles1_5, CYCLES1_5),
("7.5", Cycles7_5, CYCLES7_5),
@@ -46,7 +45,6 @@ impl_sample_time!(
impl_sample_time!(
"3",
Cycles3,
- crate::pac::adc::vals::Smp,
(
("3", Cycles3, CYCLES3),
("15", Cycles15, CYCLES15),
@@ -63,7 +61,6 @@ impl_sample_time!(
impl_sample_time!(
"2.5",
Cycles2_5,
- crate::pac::adc::vals::SampleTime,
(
("2.5", Cycles2_5, CYCLES2_5),
("6.5", Cycles6_5, CYCLES6_5),
@@ -80,7 +77,6 @@ impl_sample_time!(
impl_sample_time!(
"1.5",
Cycles1_5,
- crate::pac::adc::vals::SampleTime,
(
("1.5", Cycles1_5, CYCLES1_5),
("3.5", Cycles3_5, CYCLES3_5),
@@ -97,7 +93,6 @@ impl_sample_time!(
impl_sample_time!(
"1.5",
Cycles1_5,
- crate::pac::adc::vals::Smp,
(
("1.5", Cycles1_5, CYCLES1_5),
("2.5", Cycles2_5, CYCLES2_5),
diff --git a/embassy-stm32/src/lib.rs b/embassy-stm32/src/lib.rs
index eeaa04f67..8dc4df2dc 100644
--- a/embassy-stm32/src/lib.rs
+++ b/embassy-stm32/src/lib.rs
@@ -48,6 +48,8 @@ pub mod crc;
))]
pub mod flash;
pub mod pwm;
+#[cfg(quadspi)]
+pub mod qspi;
#[cfg(rng)]
pub mod rng;
#[cfg(sdmmc)]
@@ -60,7 +62,6 @@ pub mod usart;
pub mod usb;
#[cfg(otg)]
pub mod usb_otg;
-
#[cfg(iwdg)]
pub mod wdg;
diff --git a/embassy-stm32/src/qspi/enums.rs b/embassy-stm32/src/qspi/enums.rs
new file mode 100644
index 000000000..2dbe2b061
--- /dev/null
+++ b/embassy-stm32/src/qspi/enums.rs
@@ -0,0 +1,294 @@
+#[allow(dead_code)]
+#[derive(Copy, Clone)]
+pub(crate) enum QspiMode {
+ IndirectWrite,
+ IndirectRead,
+ AutoPolling,
+ MemoryMapped,
+}
+
+impl Into<u8> for QspiMode {
+ fn into(self) -> u8 {
+ match self {
+ QspiMode::IndirectWrite => 0b00,
+ QspiMode::IndirectRead => 0b01,
+ QspiMode::AutoPolling => 0b10,
+ QspiMode::MemoryMapped => 0b11,
+ }
+ }
+}
+
+#[allow(dead_code)]
+#[derive(Copy, Clone)]
+pub enum QspiWidth {
+ NONE,
+ SING,
+ DUAL,
+ QUAD,
+}
+
+impl Into<u8> for QspiWidth {
+ fn into(self) -> u8 {
+ match self {
+ QspiWidth::NONE => 0b00,
+ QspiWidth::SING => 0b01,
+ QspiWidth::DUAL => 0b10,
+ QspiWidth::QUAD => 0b11,
+ }
+ }
+}
+
+#[derive(Copy, Clone)]
+pub enum MemorySize {
+ _1KiB,
+ _2KiB,
+ _4KiB,
+ _8KiB,
+ _16KiB,
+ _32KiB,
+ _64KiB,
+ _128KiB,
+ _256KiB,
+ _512KiB,
+ _1MiB,
+ _2MiB,
+ _4MiB,
+ _8MiB,
+ _16MiB,
+ _32MiB,
+ _64MiB,
+ _128MiB,
+ _256MiB,
+ _512MiB,
+ _1GiB,
+ _2GiB,
+ _4GiB,
+ Other(u8),
+}
+
+impl Into<u8> for MemorySize {
+ fn into(self) -> u8 {
+ match self {
+ MemorySize::_1KiB => 9,
+ MemorySize::_2KiB => 10,
+ MemorySize::_4KiB => 11,
+ MemorySize::_8KiB => 12,
+ MemorySize::_16KiB => 13,
+ MemorySize::_32KiB => 14,
+ MemorySize::_64KiB => 15,
+ MemorySize::_128KiB => 16,
+ MemorySize::_256KiB => 17,
+ MemorySize::_512KiB => 18,
+ MemorySize::_1MiB => 19,
+ MemorySize::_2MiB => 20,
+ MemorySize::_4MiB => 21,
+ MemorySize::_8MiB => 22,
+ MemorySize::_16MiB => 23,
+ MemorySize::_32MiB => 24,
+ MemorySize::_64MiB => 25,
+ MemorySize::_128MiB => 26,
+ MemorySize::_256MiB => 27,
+ MemorySize::_512MiB => 28,
+ MemorySize::_1GiB => 29,
+ MemorySize::_2GiB => 30,
+ MemorySize::_4GiB => 31,
+ MemorySize::Other(val) => val,
+ }
+ }
+}
+
+#[derive(Copy, Clone)]
+pub enum AddressSize {
+ _8Bit,
+ _16Bit,
+ _24bit,
+ _32bit,
+}
+
+impl Into<u8> for AddressSize {
+ fn into(self) -> u8 {
+ match self {
+ AddressSize::_8Bit => 0b00,
+ AddressSize::_16Bit => 0b01,
+ AddressSize::_24bit => 0b10,
+ AddressSize::_32bit => 0b11,
+ }
+ }
+}
+
+#[derive(Copy, Clone)]
+pub enum ChipSelectHightTime {
+ _1Cycle,
+ _2Cycle,
+ _3Cycle,
+ _4Cycle,
+ _5Cycle,
+ _6Cycle,
+ _7Cycle,
+ _8Cycle,
+}
+
+impl Into<u8> for ChipSelectHightTime {
+ fn into(self) -> u8 {
+ match self {
+ ChipSelectHightTime::_1Cycle => 0,
+ ChipSelectHightTime::_2Cycle => 1,
+ ChipSelectHightTime::_3Cycle => 2,
+ ChipSelectHightTime::_4Cycle => 3,
+ ChipSelectHightTime::_5Cycle => 4,
+ ChipSelectHightTime::_6Cycle => 5,
+ ChipSelectHightTime::_7Cycle => 6,
+ ChipSelectHightTime::_8Cycle => 7,
+ }
+ }
+}
+
+#[derive(Copy, Clone)]
+pub enum FIFOThresholdLevel {
+ _1Bytes,
+ _2Bytes,
+ _3Bytes,
+ _4Bytes,
+ _5Bytes,
+ _6Bytes,
+ _7Bytes,
+ _8Bytes,
+ _9Bytes,
+ _10Bytes,
+ _11Bytes,
+ _12Bytes,
+ _13Bytes,
+ _14Bytes,
+ _15Bytes,
+ _16Bytes,
+ _17Bytes,
+ _18Bytes,
+ _19Bytes,
+ _20Bytes,
+ _21Bytes,
+ _22Bytes,
+ _23Bytes,
+ _24Bytes,
+ _25Bytes,
+ _26Bytes,
+ _27Bytes,
+ _28Bytes,
+ _29Bytes,
+ _30Bytes,
+ _31Bytes,
+ _32Bytes,
+}
+
+impl Into<u8> for FIFOThresholdLevel {
+ fn into(self) -> u8 {
+ match self {
+ FIFOThresholdLevel::_1Bytes => 0,
+ FIFOThresholdLevel::_2Bytes => 1,
+ FIFOThresholdLevel::_3Bytes => 2,
+ FIFOThresholdLevel::_4Bytes => 3,
+ FIFOThresholdLevel::_5Bytes => 4,
+ FIFOThresholdLevel::_6Bytes => 5,
+ FIFOThresholdLevel::_7Bytes => 6,
+ FIFOThresholdLevel::_8Bytes => 7,
+ FIFOThresholdLevel::_9Bytes => 8,
+ FIFOThresholdLevel::_10Bytes => 9,
+ FIFOThresholdLevel::_11Bytes => 10,
+ FIFOThresholdLevel::_12Bytes => 11,
+ FIFOThresholdLevel::_13Bytes => 12,
+ FIFOThresholdLevel::_14Bytes => 13,
+ FIFOThresholdLevel::_15Bytes => 14,
+ FIFOThresholdLevel::_16Bytes => 15,
+ FIFOThresholdLevel::_17Bytes => 16,
+ FIFOThresholdLevel::_18Bytes => 17,
+ FIFOThresholdLevel::_19Bytes => 18,
+ FIFOThresholdLevel::_20Bytes => 19,
+ FIFOThresholdLevel::_21Bytes => 20,
+ FIFOThresholdLevel::_22Bytes => 21,
+ FIFOThresholdLevel::_23Bytes => 22,
+ FIFOThresholdLevel::_24Bytes => 23,
+ FIFOThresholdLevel::_25Bytes => 24,
+ FIFOThresholdLevel::_26Bytes => 25,
+ FIFOThresholdLevel::_27Bytes => 26,
+ FIFOThresholdLevel::_28Bytes => 27,
+ FIFOThresholdLevel::_29Bytes => 28,
+ FIFOThresholdLevel::_30Bytes => 29,
+ FIFOThresholdLevel::_31Bytes => 30,
+ FIFOThresholdLevel::_32Bytes => 31,
+ }
+ }
+}
+
+#[derive(Copy, Clone)]
+pub enum DummyCycles {
+ _0,
+ _1,
+ _2,
+ _3,
+ _4,
+ _5,
+ _6,
+ _7,
+ _8,
+ _9,
+ _10,
+ _11,
+ _12,
+ _13,
+ _14,
+ _15,
+ _16,
+ _17,
+ _18,
+ _19,
+ _20,
+ _21,
+ _22,
+ _23,
+ _24,
+ _25,
+ _26,
+ _27,
+ _28,
+ _29,
+ _30,
+ _31,
+}
+
+impl Into<u8> for DummyCycles {
+ fn into(self) -> u8 {
+ match self {
+ DummyCycles::_0 => 0,
+ DummyCycles::_1 => 1,
+ DummyCycles::_2 => 2,
+ DummyCycles::_3 => 3,
+ DummyCycles::_4 => 4,
+ DummyCycles::_5 => 5,
+ DummyCycles::_6 => 6,
+ DummyCycles::_7 => 7,
+ DummyCycles::_8 => 8,
+ DummyCycles::_9 => 9,
+ DummyCycles::_10 => 10,
+ DummyCycles::_11 => 11,
+ DummyCycles::_12 => 12,
+ DummyCycles::_13 => 13,
+ DummyCycles::_14 => 14,
+ DummyCycles::_15 => 15,
+ DummyCycles::_16 => 16,
+ DummyCycles::_17 => 17,
+ DummyCycles::_18 => 18,
+ DummyCycles::_19 => 19,
+ DummyCycles::_20 => 20,
+ DummyCycles::_21 => 21,
+ DummyCycles::_22 => 22,
+ DummyCycles::_23 => 23,
+ DummyCycles::_24 => 24,
+ DummyCycles::_25 => 25,
+ DummyCycles::_26 => 26,
+ DummyCycles::_27 => 27,
+ DummyCycles::_28 => 28,
+ DummyCycles::_29 => 29,
+ DummyCycles::_30 => 30,
+ DummyCycles::_31 => 31,
+ }
+ }
+}
diff --git a/embassy-stm32/src/qspi/mod.rs b/embassy-stm32/src/qspi/mod.rs
new file mode 100644
index 000000000..f33319620
--- /dev/null
+++ b/embassy-stm32/src/qspi/mod.rs
@@ -0,0 +1,338 @@
+#![macro_use]
+
+pub mod enums;
+
+use embassy_hal_common::{into_ref, PeripheralRef};
+use enums::*;
+
+use crate::dma::TransferOptions;
+use crate::gpio::sealed::AFType;
+use crate::gpio::AnyPin;
+use crate::pac::quadspi::Quadspi as Regs;
+use crate::rcc::RccPeripheral;
+use crate::{peripherals, Peripheral};
+
+pub struct TransferConfig {
+ /// Instraction width (IMODE)
+ pub iwidth: QspiWidth,
+ /// Address width (ADMODE)
+ pub awidth: QspiWidth,
+ /// Data width (DMODE)
+ pub dwidth: QspiWidth,
+ /// Instruction Id
+ pub instruction: u8,
+ /// Flash memory address
+ pub address: Option<u32>,
+ /// Number of dummy cycles (DCYC)
+ pub dummy: DummyCycles,
+ /// Length of data
+ pub data_len: Option<usize>,
+}
+
+impl Default for TransferConfig {
+ fn default() -> Self {
+ Self {
+ iwidth: QspiWidth::NONE,
+ awidth: QspiWidth::NONE,
+ dwidth: QspiWidth::NONE,
+ instruction: 0,
+ address: None,
+ dummy: DummyCycles::_0,
+ data_len: None,
+ }
+ }
+}
+
+pub struct Config {
+ /// Flash memory size representend as 2^[0-32], as reasonable minimum 1KiB(9) was chosen.
+ /// If you need other value the whose predefined use `Other` variant.
+ pub memory_size: MemorySize,
+ /// Address size (8/16/24/32-bit)
+ pub address_size: AddressSize,
+ /// Scalar factor for generating CLK [0-255]
+ pub prescaler: u8,
+ /// Number of bytes to trigger FIFO threshold flag.
+ pub fifo_threshold: FIFOThresholdLevel,
+ /// Minimum number of cycles that chip select must be high between issued commands
+ pub cs_high_time: ChipSelectHightTime,
+}
+
+impl Default for Config {
+ fn default() -> Self {
+ Self {
+ memory_size: MemorySize::Other(0),
+ address_size: AddressSize::_24bit,
+ prescaler: 128,
+ fifo_threshold: FIFOThresholdLevel::_17Bytes,
+ cs_high_time: ChipSelectHightTime::_5Cycle,
+ }
+ }
+}
+
+#[allow(dead_code)]
+pub struct Qspi<'d, T: Instance, Dma> {
+ _peri: PeripheralRef<'d, T>,
+ sck: Option<PeripheralRef<'d, AnyPin>>,
+ d0: Option<PeripheralRef<'d, AnyPin>>,
+ d1: Option<PeripheralRef<'d, AnyPin>>,
+ d2: Option<PeripheralRef<'d, AnyPin>>,
+ d3: Option<PeripheralRef<'d, AnyPin>>,
+ nss: Option<PeripheralRef<'d, AnyPin>>,
+ dma: PeripheralRef<'d, Dma>,
+ config: Config,
+}
+
+impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
+ pub fn new(
+ peri: impl Peripheral<P = T> + 'd,
+ d0: impl Peripheral<P = impl D0Pin<T>> + 'd,
+ d1: impl Peripheral<P = impl D1Pin<T>> + 'd,
+ d2: impl Peripheral<P = impl D2Pin<T>> + 'd,
+ d3: impl Peripheral<P = impl D3Pin<T>> + 'd,
+ sck: impl Peripheral<P = impl SckPin<T>> + 'd,
+ nss: impl Peripheral<P = impl NSSPin<T>> + 'd,
+ dma: impl Peripheral<P = Dma> + 'd,
+ config: Config,
+ ) -> Self {
+ into_ref!(peri, d0, d1, d2, d3, sck, nss);
+
+ unsafe {
+ sck.set_as_af(sck.af_num(), AFType::OutputPushPull);
+ sck.set_speed(crate::gpio::Speed::VeryHigh);
+ nss.set_as_af(nss.af_num(), AFType::OutputPushPull);
+ nss.set_speed(crate::gpio::Speed::VeryHigh);
+ d0.set_as_af(d0.af_num(), AFType::OutputPushPull);
+ d0.set_speed(crate::gpio::Speed::VeryHigh);
+ d1.set_as_af(d1.af_num(), AFType::OutputPushPull);
+ d1.set_speed(crate::gpio::Speed::VeryHigh);
+ d2.set_as_af(d2.af_num(), AFType::OutputPushPull);
+ d2.set_speed(crate::gpio::Speed::VeryHigh);
+ d3.set_as_af(d3.af_num(), AFType::OutputPushPull);
+ d3.set_speed(crate::gpio::Speed::VeryHigh);
+ }
+
+ Self::new_inner(
+ peri,
+ Some(d0.map_into()),
+ Some(d1.map_into()),
+ Some(d2.map_into()),
+ Some(d3.map_into()),
+ Some(sck.map_into()),
+ Some(nss.map_into()),
+ dma,
+ config,
+ )
+ }
+
+ fn new_inner(
+ peri: impl Peripheral<P = T> + 'd,
+ d0: Option<PeripheralRef<'d, AnyPin>>,
+ d1: Option<PeripheralRef<'d, AnyPin>>,
+ d2: Option<PeripheralRef<'d, AnyPin>>,
+ d3: Option<PeripheralRef<'d, AnyPin>>,
+ sck: Option<PeripheralRef<'d, AnyPin>>,
+ nss: Option<PeripheralRef<'d, AnyPin>>,
+ dma: impl Peripheral<P = Dma> + 'd,
+ config: Config,
+ ) -> Self {
+ into_ref!(peri, dma);
+
+ T::enable();
+ unsafe {
+ T::REGS.cr().write(|w| w.set_fthres(config.fifo_threshold.into()));
+
+ while T::REGS.sr().read().busy() {}
+
+ T::REGS.cr().write(|w| {
+ w.set_prescaler(config.prescaler);
+ w.set_en(true);
+ });
+ T::REGS.dcr().write(|w| {
+ w.set_fsize(config.memory_size.into());
+ w.set_csht(config.cs_high_time.into());
+ w.set_ckmode(false);
+ });
+ }
+
+ Self {
+ _peri: peri,
+ sck,
+ d0,
+ d1,
+ d2,
+ d3,
+ nss,
+ dma,
+ config,
+ }
+ }
+
+ pub fn command(&mut self, transaction: TransferConfig) {
+ unsafe {
+ T::REGS.cr().modify(|v| v.set_dmaen(false));
+ self.setup_transaction(QspiMode::IndirectWrite, &transaction);
+
+ while !T::REGS.sr().read().tcf() {}
+ T::REGS.fcr().modify(|v| v.set_ctcf(true));
+ }
+ }
+
+ pub fn blocking_read(&mut self, buf: &mut [u8], transaction: TransferConfig) {
+ unsafe {
+ T::REGS.cr().modify(|v| v.set_dmaen(false));
+ self.setup_transaction(QspiMode::IndirectWrite, &transaction);
+
+ if let Some(len) = transaction.data_len {
+ let current_ar = T::REGS.ar().read().address();
+ T::REGS.ccr().modify(|v| {
+ v.set_fmode(QspiMode::IndirectRead.into());
+ });
+ T::REGS.ar().write(|v| {
+ v.set_address(current_ar);
+ });
+
+ for idx in 0..len {
+ while !T::REGS.sr().read().tcf() && !T::REGS.sr().read().ftf() {}
+ buf[idx] = *(T::REGS.dr().ptr() as *mut u8);
+ }
+ }
+
+ while !T::REGS.sr().read().tcf() {}
+ T::REGS.fcr().modify(|v| v.set_ctcf(true));
+ }
+ }
+
+ pub fn blocking_write(&mut self, buf: &[u8], transaction: TransferConfig) {
+ unsafe {
+ T::REGS.cr().modify(|v| v.set_dmaen(false));
+ self.setup_transaction(QspiMode::IndirectWrite, &transaction);
+
+ if let Some(len) = transaction.data_len {
+ T::REGS.ccr().modify(|v| {
+ v.set_fmode(QspiMode::IndirectWrite.into());
+ });
+
+ for idx in 0..len {
+ while !T::REGS.sr().read().ftf() {}
+ *(T::REGS.dr().ptr() as *mut u8) = buf[idx];
+ }
+ }
+
+ while !T::REGS.sr().read().tcf() {}
+ T::REGS.fcr().modify(|v| v.set_ctcf(true));
+ }
+ }
+
+ pub fn blocking_read_dma(&mut self, buf: &mut [u8], transaction: TransferConfig)
+ where
+ Dma: QuadDma<T>,
+ {
+ unsafe {
+ self.setup_transaction(QspiMode::IndirectWrite, &transaction);
+
+ let request = self.dma.request();
+ let options = TransferOptions::default();
+
+ T::REGS.ccr().modify(|v| {
+ v.set_fmode(QspiMode::IndirectRead.into());
+ });
+ let current_ar = T::REGS.ar().read().address();
+ T::REGS.ar().write(|v| {
+ v.set_address(current_ar);
+ });
+
+ self.dma
+ .start_read(request, T::REGS.dr().ptr() as *mut u8, buf, options);
+
+ T::REGS.cr().modify(|v| v.set_dmaen(true));
+
+ while self.dma.is_running() {}
+ }
+ }
+
+ pub fn blocking_write_dma(&mut self, buf: &[u8], transaction: TransferConfig)
+ where
+ Dma: QuadDma<T>,
+ {
+ unsafe {
+ self.setup_transaction(QspiMode::IndirectWrite, &transaction);
+
+ let request = self.dma.request();
+ let options = TransferOptions::default();
+
+ T::REGS.ccr().modify(|v| {
+ v.set_fmode(QspiMode::IndirectWrite.into());
+ });
+
+ self.dma
+ .start_write(request, buf, T::REGS.dr().ptr() as *mut u8, options);
+
+ T::REGS.cr().modify(|v| v.set_dmaen(true));
+
+ while self.dma.is_running() {}
+ }
+ }
+
+ fn setup_transaction(&mut self, fmode: QspiMode, transaction: &TransferConfig) {
+ unsafe {
+ T::REGS.fcr().modify(|v| {
+ v.set_csmf(true);
+ v.set_ctcf(true);
+ v.set_ctef(true);
+ v.set_ctof(true);
+ });
+
+ while T::REGS.sr().read().busy() {}
+
+ if let Some(len) = transaction.data_len {
+ T::REGS.dlr().write(|v| v.set_dl(len as u32 - 1));
+ }
+
+ T::REGS.ccr().write(|v| {
+ v.set_fmode(fmode.into());
+ v.set_imode(transaction.iwidth.into());
+ v.set_instruction(transaction.instruction);
+ v.set_admode(transaction.awidth.into());
+ v.set_adsize(self.config.address_size.into());
+ v.set_dmode(transaction.dwidth.into());
+ v.set_abmode(QspiWidth::NONE.into());
+ v.set_dcyc(transaction.dummy.into());
+ });
+
+ if let Some(addr) = transaction.address {
+ T::REGS.ar().write(|v| {
+ v.set_address(addr);
+ });
+ }
+ }
+ }
+}
+
+pub(crate) mod sealed {
+ use super::*;
+
+ pub trait Instance {
+ const REGS: Regs;
+ }
+}
+
+pub trait Instance: Peripheral<P = Self> + sealed::Instance + RccPeripheral {}
+
+pin_trait!(SckPin, Instance);
+pin_trait!(D0Pin, Instance);
+pin_trait!(D1Pin, Instance);
+pin_trait!(D2Pin, Instance);
+pin_trait!(D3Pin, Instance);
+pin_trait!(NSSPin, Instance);
+
+dma_trait!(QuadDma, Instance);
+
+foreach_peripheral!(
+ (quadspi, $inst:ident) => {
+ impl sealed::Instance for peripherals::$inst {
+ const REGS: Regs = crate::pac::$inst;
+ }
+
+ impl Instance for peripherals::$inst {}
+ };
+);
diff --git a/embassy-stm32/src/usart/buffered.rs b/embassy-stm32/src/usart/buffered.rs
index a27fcc1ca..cd7d72f91 100644
--- a/embassy-stm32/src/usart/buffered.rs
+++ b/embassy-stm32/src/usart/buffered.rs
@@ -197,6 +197,40 @@ impl<'d, T: BasicInstance> BufferedUart<'d, T> {
.await
}
+ fn inner_blocking_read(&self, buf: &mut [u8]) -> Result<usize, Error> {
+ loop {
+ let mut do_pend = false;
+ let mut inner = self.inner.borrow_mut();
+ let n = inner.with(|state| {
+ compiler_fence(Ordering::SeqCst);
+
+ // We have data ready in buffer? Return it.
+ let data = state.rx.pop_buf();
+ if !data.is_empty() {
+ let len = data.len().min(buf.len());
+ buf[..len].copy_from_slice(&data[..len]);
+
+ if state.rx.is_full() {
+ do_pend = true;
+ }
+ state.rx.pop(len);
+
+ return len;
+ }
+
+ 0
+ });
+
+ if do_pend {
+ inner.pend();
+ }
+
+ if n > 0 {
+ return Ok(n);
+ }
+ }
+ }
+
async fn inner_write<'a>(&'a self, buf: &'a [u8]) -> Result<usize, Error> {
poll_fn(move |cx| {
let mut inner = self.inner.borrow_mut();
@@ -236,6 +270,39 @@ impl<'d, T: BasicInstance> BufferedUart<'d, T> {
.await
}
+ fn inner_blocking_write(&self, buf: &[u8]) -> Result<usize, Error> {
+ loop {
+ let mut inner = self.inner.borrow_mut();
+ let (n, empty) = inner.with(|state| {
+ let empty = state.tx.is_empty();
+ let tx_buf = state.tx.push_buf();
+ if tx_buf.is_empty() {
+ return (0, empty);
+ }
+
+ let n = core::cmp::min(tx_buf.len(), buf.len());
+ tx_buf[..n].copy_from_slice(&buf[..n]);
+ state.tx.push(n);
+
+ (n, empty)
+ });
+ if empty {
+ inner.pend();
+ }
+ if n != 0 {
+ return Ok(n);
+ }
+ }
+ }
+
+ fn inner_blocking_flush(&self) -> Result<(), Error> {
+ loop {
+ if !self.inner.borrow_mut().with(|state| state.tx.is_empty()) {
+ return Ok(());
+ }
+ }
+ }
+
async fn inner_fill_buf<'a>(&'a self) -> Result<&'a [u8], Error> {
poll_fn(move |cx| {
self.inner.borrow_mut().with(|state| {
@@ -419,3 +486,35 @@ impl<'u, 'd, T: BasicInstance> embedded_io::asynch::Write for BufferedUartTx<'u,
self.inner.inner_flush().await
}
}
+
+impl<'d, T: BasicInstance> embedded_io::blocking::Read for BufferedUart<'d, T> {
+ fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+ self.inner_blocking_read(buf)
+ }
+}
+
+impl<'u, 'd, T: BasicInstance> embedded_io::blocking::Read for BufferedUartRx<'u, 'd, T> {
+ fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+ self.inner.inner_blocking_read(buf)
+ }
+}
+
+impl<'d, T: BasicInstance> embedded_io::blocking::Write for BufferedUart<'d, T> {
+ fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
+ self.inner_blocking_write(buf)
+ }
+
+ fn flush(&mut self) -> Result<(), Self::Error> {
+ self.inner_blocking_flush()
+ }
+}
+
+impl<'u, 'd, T: BasicInstance> embedded_io::blocking::Write for BufferedUartTx<'u, 'd, T> {
+ fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
+ self.inner.inner_blocking_write(buf)
+ }
+
+ fn flush(&mut self) -> Result<(), Self::Error> {
+ self.inner.inner_blocking_flush()
+ }
+}
diff --git a/embassy-sync/src/pipe.rs b/embassy-sync/src/pipe.rs
index 1977005fb..ee27cdec8 100644
--- a/embassy-sync/src/pipe.rs
+++ b/embassy-sync/src/pipe.rs
@@ -32,16 +32,16 @@ impl<'p, M, const N: usize> Writer<'p, M, N>
where
M: RawMutex,
{
- /// Writes a value.
+ /// Write some bytes to the pipe.
///
/// See [`Pipe::write()`]
pub fn write<'a>(&'a self, buf: &'a [u8]) -> WriteFuture<'a, M, N> {
self.pipe.write(buf)
}
- /// Attempt to immediately write a message.
+ /// Attempt to immediately write some bytes to the pipe.
///
- /// See [`Pipe::write()`]
+ /// See [`Pipe::try_write()`]
pub fn try_write(&self, buf: &[u8]) -> Result<usize, TryWriteError> {
self.pipe.try_write(buf)
}
@@ -95,16 +95,16 @@ impl<'p, M, const N: usize> Reader<'p, M, N>
where
M: RawMutex,
{
- /// Reads a value.
+ /// Read some bytes from the pipe.
///
/// See [`Pipe::read()`]
pub fn read<'a>(&'a self, buf: &'a mut [u8]) -> ReadFuture<'a, M, N> {
self.pipe.read(buf)
}
- /// Attempt to immediately read a message.
+ /// Attempt to immediately read some bytes from the pipe.
///
- /// See [`Pipe::read()`]
+ /// See [`Pipe::try_read()`]
pub fn try_read(&self, buf: &mut [u8]) -> Result<usize, TryReadError> {
self.pipe.try_read(buf)
}
@@ -221,12 +221,11 @@ impl<const N: usize> PipeState<N> {
}
}
-/// A bounded pipe for communicating between asynchronous tasks
+/// A bounded byte-oriented pipe for communicating between asynchronous tasks
/// with backpressure.
///
-/// The pipe will buffer up to the provided number of messages. Once the
-/// buffer is full, attempts to `write` new messages will wait until a message is
-/// read from the pipe.
+/// The pipe will buffer up to the provided number of bytes. Once the
+/// buffer is full, attempts to `write` new bytes will wait until buffer space is freed up.
///
/// All data written will become available in the same order as it was written.
pub struct Pipe<M, const N: usize>
@@ -277,40 +276,56 @@ where
Reader { pipe: self }
}
- /// Write a value, waiting until there is capacity.
+ /// Write some bytes to the pipe.
///
- /// Writeing completes when the value has been pushed to the pipe's queue.
- /// This doesn't mean the value has been read yet.
+ /// This method writes a nonzero amount of bytes from `buf` into the pipe, and
+ /// returns the amount of bytes written.
+ ///
+ /// If it is not possible to write a nonzero amount of bytes because the pipe's buffer is full,
+ /// this method will wait until it is. See [`try_write`](Self::try_write) for a variant that
+ /// returns an error instead of waiting.
+ ///
+ /// It is not guaranteed that all bytes in the buffer are written, even if there's enough
+ /// free space in the pipe buffer for all. In other words, it is possible for `write` to return
+ /// without writing all of `buf` (returning a number less than `buf.len()`) and still leave
+ /// free space in the pipe buffer. You should always `write` in a loop, or use helpers like
+ /// `write_all` from the `embedded-io` crate.
pub fn write<'a>(&'a self, buf: &'a [u8]) -> WriteFuture<'a, M, N> {
WriteFuture { pipe: self, buf }
}
- /// Attempt to immediately write a message.
+ /// Attempt to immediately write some bytes to the pipe.
///
- /// This method differs from [`write`](Pipe::write) by returning immediately if the pipe's
- /// buffer is full, instead of waiting.
- ///
- /// # Errors
- ///
- /// If the pipe capacity has been reached, i.e., the pipe has `n`
- /// buffered values where `n` is the argument passed to [`Pipe`], then an
- /// error is returned.
+ /// This method will either write a nonzero amount of bytes to the pipe immediately,
+ /// or return an error if the pipe is empty. See [`write`](Self::write) for a variant
+ /// that waits instead of returning an error.
pub fn try_write(&self, buf: &[u8]) -> Result<usize, TryWriteError> {
self.lock(|c| c.try_write(buf))
}
- /// Receive the next value.
+ /// Read some bytes from the pipe.
///
- /// If there are no messages in the pipe's buffer, this method will
- /// wait until a message is written.
+ /// This method reads a nonzero amount of bytes from the pipe into `buf` and
+ /// returns the amount of bytes read.
+ ///
+ /// If it is not possible to read a nonzero amount of bytes because the pipe's buffer is empty,
+ /// this method will wait until it is. See [`try_read`](Self::try_read) for a variant that
+ /// returns an error instead of waiting.
+ ///
+ /// It is not guaranteed that all bytes in the buffer are read, even if there's enough
+ /// space in `buf` for all. In other words, it is possible for `read` to return
+ /// without filling `buf` (returning a number less than `buf.len()`) and still leave bytes
+ /// in the pipe buffer. You should always `read` in a loop, or use helpers like
+ /// `read_exact` from the `embedded-io` crate.
pub fn read<'a>(&'a self, buf: &'a mut [u8]) -> ReadFuture<'a, M, N> {
ReadFuture { pipe: self, buf }
}
- /// Attempt to immediately read a message.
+ /// Attempt to immediately read some bytes from the pipe.
///
- /// This method will either read a message from the pipe immediately or return an error
- /// if the pipe is empty.
+ /// This method will either read a nonzero amount of bytes from the pipe immediately,
+ /// or return an error if the pipe is empty. See [`read`](Self::read) for a variant
+ /// that waits instead of returning an error.
pub fn try_read(&self, buf: &mut [u8]) -> Result<usize, TryReadError> {
self.lock(|c| c.try_read(buf))
}
diff --git a/embassy-usb/src/builder.rs b/embassy-usb/src/builder.rs
index 305dfa02e..6b68bcd7b 100644
--- a/embassy-usb/src/builder.rs
+++ b/embassy-usb/src/builder.rs
@@ -201,6 +201,14 @@ impl<'d, D: Driver<'d>> Builder<'d, D> {
self.config_descriptor.end_configuration();
self.bos_descriptor.end_bos();
+ // Log the number of allocator bytes actually used in descriptor buffers
+ info!("USB: device_descriptor used: {}", self.device_descriptor.position());
+ info!("USB: config_descriptor used: {}", self.config_descriptor.position());
+ info!("USB: bos_descriptor used: {}", self.bos_descriptor.writer.position());
+ #[cfg(feature = "msos-descriptor")]
+ info!("USB: msos_descriptor used: {}", msos_descriptor.len());
+ info!("USB: control_buf size: {}", self.control_buf.len());
+
UsbDevice::build(
self.driver,
self.config,
diff --git a/embassy-usb/src/class/hid.rs b/embassy-usb/src/class/hid.rs
index 974268c62..03e4c1dbb 100644
--- a/embassy-usb/src/class/hid.rs
+++ b/embassy-usb/src/class/hid.rs
@@ -458,6 +458,9 @@ impl<'d> Handler for Control<'d> {
return None;
}
+ // This uses a defmt-specific formatter that causes use of the `log`
+ // feature to fail to build, so leave it defmt-specific for now.
+ #[cfg(feature = "defmt")]
trace!("HID control_out {:?} {=[u8]:x}", req, data);
match req.request {
HID_REQ_SET_IDLE => {
diff --git a/embassy-usb/src/lib.rs b/embassy-usb/src/lib.rs
index bfeccd5fe..3016b81cb 100644
--- a/embassy-usb/src/lib.rs
+++ b/embassy-usb/src/lib.rs
@@ -165,6 +165,25 @@ struct Interface {
num_alt_settings: u8,
}
+/// A report of the used size of the runtime allocated buffers
+#[derive(PartialEq, Eq, Copy, Clone, Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct UsbBufferReport {
+ /// Number of device descriptor bytes used
+ pub device_descriptor_used: usize,
+ /// Number of config descriptor bytes used
+ pub config_descriptor_used: usize,
+ /// Number of bos descriptor bytes used
+ pub bos_descriptor_used: usize,
+ /// Number of msos descriptor bytes used
+ ///
+ /// Will be `None` if the "msos-descriptor" feature is not active.
+ /// Otherwise will return Some(bytes).
+ pub msos_descriptor_used: Option<usize>,
+ /// Size of the control buffer
+ pub control_buffer_size: usize,
+}
+
/// Main struct for the USB device stack.
pub struct UsbDevice<'d, D: Driver<'d>> {
control_buf: &'d mut [u8],
@@ -239,6 +258,24 @@ impl<'d, D: Driver<'d>> UsbDevice<'d, D> {
}
}
+ /// Returns a report of the consumed buffers
+ ///
+ /// Useful for tuning buffer sizes for actual usage
+ pub fn buffer_usage(&self) -> UsbBufferReport {
+ #[cfg(not(feature = "msos-descriptor"))]
+ let mdu = None;
+ #[cfg(feature = "msos-descriptor")]
+ let mdu = Some(self.inner.msos_descriptor.len());
+
+ UsbBufferReport {
+ device_descriptor_used: self.inner.device_descriptor.len(),
+ config_descriptor_used: self.inner.config_descriptor.len(),
+ bos_descriptor_used: self.inner.bos_descriptor.len(),
+ msos_descriptor_used: mdu,
+ control_buffer_size: self.control_buf.len(),
+ }
+ }
+
/// Runs the `UsbDevice` forever.
///
/// This future may leave the bus in an invalid state if it is dropped.
diff --git a/embassy-usb/src/msos.rs b/embassy-usb/src/msos.rs
index b1e0335ee..218d9931a 100644
--- a/embassy-usb/src/msos.rs
+++ b/embassy-usb/src/msos.rs
@@ -32,6 +32,11 @@ impl<'d> MsOsDescriptorSet<'d> {
pub fn is_empty(&self) -> bool {
self.descriptor.is_empty()
}
+
+ /// Returns the length of the descriptor field
+ pub fn len(&self) -> usize {
+ self.descriptor.len()
+ }
}
/// Writes a Microsoft OS 2.0 Descriptor set into a buffer.
diff --git a/tests/rp/src/bin/spi_async.rs b/tests/rp/src/bin/spi_async.rs
index 6c85ef60a..2e22c9de7 100644
--- a/tests/rp/src/bin/spi_async.rs
+++ b/tests/rp/src/bin/spi_async.rs
@@ -1,3 +1,6 @@
+//! Make sure to connect GPIO pins 3 (`PIN_3`) and 4 (`PIN_4`) together
+//! to run this test.
+//!
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
@@ -18,10 +21,63 @@ async fn main(_spawner: Spawner) {
let mut spi = Spi::new(p.SPI0, clk, mosi, miso, p.DMA_CH0, p.DMA_CH1, Config::default());
- let tx_buf = [1_u8, 2, 3, 4, 5, 6];
- let mut rx_buf = [0_u8; 6];
- spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
- assert_eq!(rx_buf, tx_buf);
+ // equal rx & tx buffers
+ {
+ let tx_buf = [1_u8, 2, 3, 4, 5, 6];
+ let mut rx_buf = [0_u8; 6];
+ spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
+ assert_eq!(rx_buf, tx_buf);
+ }
+
+ // tx > rx buffer
+ {
+ let tx_buf = [7_u8, 8, 9, 10, 11, 12];
+
+ let mut rx_buf = [0_u8; 3];
+ spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
+ assert_eq!(rx_buf, tx_buf[..3]);
+
+ defmt::info!("tx > rx buffer - OK");
+ }
+
+ // we make sure to that clearing FIFO works after the uneven buffers
+
+ // equal rx & tx buffers
+ {
+ let tx_buf = [13_u8, 14, 15, 16, 17, 18];
+ let mut rx_buf = [0_u8; 6];
+ spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
+ assert_eq!(rx_buf, tx_buf);
+
+ defmt::info!("buffer rx length == tx length - OK");
+ }
+
+ // rx > tx buffer
+ {
+ let tx_buf = [19_u8, 20, 21];
+ let mut rx_buf = [0_u8; 6];
+
+ // we should have written dummy data to tx buffer to sync clock.
+ spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
+
+ assert_eq!(
+ rx_buf[..3],
+ tx_buf,
+ "only the first 3 TX bytes should have been received in the RX buffer"
+ );
+ assert_eq!(rx_buf[3..], [0, 0, 0], "the rest of the RX bytes should be empty");
+ defmt::info!("buffer rx length > tx length - OK");
+ }
+
+ // equal rx & tx buffers
+ {
+ let tx_buf = [22_u8, 23, 24, 25, 26, 27];
+ let mut rx_buf = [0_u8; 6];
+ spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
+
+ assert_eq!(rx_buf, tx_buf);
+ defmt::info!("buffer rx length = tx length - OK");
+ }
info!("Test OK");
cortex_m::asm::bkpt();