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nrf: impl embedded-hal 1.0 and embedded-hal-async traits.

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This commit is contained in:
Dario Nieuwenhuis 2022-01-13 23:56:25 +01:00
parent 6eec3d8acc
commit 7997687f3b
8 changed files with 910 additions and 253 deletions
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8
embassy-nrf/Cargo.toml
View file

@ -12,6 +12,9 @@ edition = "2018"
# There are no plans to make this stable.
unstable-pac = []
# Implement embedded-hal 1.0 alpha and embedded-hal-async traits.
unstable-traits = ["embedded-hal-1", "embedded-hal-async"]
nrf52805 = ["nrf52805-pac", "_ppi"]
nrf52810 = ["nrf52810-pac", "_ppi"]
nrf52811 = ["nrf52811-pac", "_ppi"]
@ -47,11 +50,14 @@ embassy = { version = "0.1.0", path = "../embassy" }
embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["nrf"]}
embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
embedded-hal-02 = { package = "embedded-hal", version = "0.2.6" }
embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.6", git = "https://github.com/embassy-rs/embedded-hal", branch = "embassy", optional = true}
embedded-hal-async = { version = "0.0.1", git = "https://github.com/embassy-rs/embedded-hal", branch = "embassy", optional = true}
defmt = { version = "0.3", optional = true }
log = { version = "0.4.14", optional = true }
cortex-m-rt = ">=0.6.15,<0.8"
cortex-m = "0.7.3"
embedded-hal = "0.2.6"
embedded-dma = "0.1.2"
futures = { version = "0.3.17", default-features = false }
critical-section = "0.2.5"

14
embassy-nrf/src/buffered_uarte.rs
View file

@ -213,9 +213,6 @@ impl<'d, U: UarteInstance, T: TimerInstance> AsyncBufRead for BufferedUarte<'d,
cx: &mut Context<'_>,
) -> Poll<embassy::io::Result<&[u8]>> {
self.inner.with(|state| {
// Conservative compiler fence to prevent optimizations that do not
// take in to account actions by DMA. The fence has been placed here,
// before any DMA action has started
compiler_fence(Ordering::SeqCst);
trace!("poll_read");
@ -265,9 +262,6 @@ impl<'d, U: UarteInstance, T: TimerInstance> AsyncWrite for BufferedUarte<'d, U,
trace!("poll_write: queued {:?}", n);
// Conservative compiler fence to prevent optimizations that do not
// take in to account actions by DMA. The fence has been placed here,
// before any DMA action has started
compiler_fence(Ordering::SeqCst);
Poll::Ready(Ok(n))
@ -347,9 +341,7 @@ impl<'a, U: UarteInstance, T: TimerInstance> PeripheralState for StateInner<'a,
trace!(" irq_rx: buf {:?} {:?}", buf.as_ptr() as u32, buf.len());
// Start UARTE Receive transaction
r.tasks_startrx.write(|w|
// `1` is a valid value to write to task registers.
unsafe { w.bits(1) });
r.tasks_startrx.write(|w| unsafe { w.bits(1) });
}
break;
}
@ -397,9 +389,7 @@ impl<'a, U: UarteInstance, T: TimerInstance> PeripheralState for StateInner<'a,
unsafe { w.maxcnt().bits(buf.len() as _) });
// Start UARTE Transmit transaction
r.tasks_starttx.write(|w|
// `1` is a valid value to write to task registers.
unsafe { w.bits(1) });
r.tasks_starttx.write(|w| unsafe { w.bits(1) });
}
break;
}

229
embassy-nrf/src/gpio.rs
View file

@ -7,7 +7,6 @@ use core::marker::PhantomData;
use cfg_if::cfg_if;
use embassy::util::Unborrow;
use embassy_hal_common::{unborrow, unsafe_impl_unborrow};
use embedded_hal::digital::v2::{InputPin, OutputPin, StatefulOutputPin};
use gpio::pin_cnf::DRIVE_A;
use crate::pac;
@ -57,18 +56,6 @@ impl<'d, T: Pin> Input<'d, T> {
}
}
impl<'d, T: Pin> InputPin for Input<'d, T> {
type Error = Infallible;
fn is_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_high())
}
fn is_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_low())
}
}
/// Digital input or output level.
#[derive(Debug, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
@ -142,28 +129,6 @@ impl<'d, T: Pin> Output<'d, T> {
}
}
impl<'d, T: Pin> OutputPin for Output<'d, T> {
type Error = Infallible;
fn set_high(&mut self) -> Result<(), Self::Error> {
Ok(self.set_high())
}
fn set_low(&mut self) -> Result<(), Self::Error> {
Ok(self.set_low())
}
}
impl<'d, T: Pin> StatefulOutputPin for Output<'d, T> {
fn is_set_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_high())
}
fn is_set_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_low())
}
}
/// GPIO flexible pin.
///
/// This pin can either be a disconnected, input, or output pin. The level register bit will remain
@ -276,43 +241,6 @@ impl<'d, T: Pin> Drop for Flex<'d, T> {
}
}
/// Implement [`InputPin`] for [`Flex`];
///
/// If the pin is not in input mode the result is unspecified.
impl<'d, T: Pin> InputPin for Flex<'d, T> {
type Error = Infallible;
fn is_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_high())
}
fn is_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_low())
}
}
impl<'d, T: Pin> OutputPin for Flex<'d, T> {
type Error = Infallible;
fn set_high(&mut self) -> Result<(), Self::Error> {
Ok(self.set_high())
}
fn set_low(&mut self) -> Result<(), Self::Error> {
Ok(self.set_low())
}
}
impl<'d, T: Pin> StatefulOutputPin for Flex<'d, T> {
fn is_set_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_high())
}
fn is_set_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_low())
}
}
pub(crate) mod sealed {
use super::*;
@ -491,3 +419,160 @@ macro_rules! impl_pin {
}
};
}
// ====================
mod eh02 {
use super::*;
impl<'d, T: Pin> embedded_hal_02::digital::v2::InputPin for Input<'d, T> {
type Error = Infallible;
fn is_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_high())
}
fn is_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_low())
}
}
impl<'d, T: Pin> embedded_hal_02::digital::v2::OutputPin for Output<'d, T> {
type Error = Infallible;
fn set_high(&mut self) -> Result<(), Self::Error> {
Ok(self.set_high())
}
fn set_low(&mut self) -> Result<(), Self::Error> {
Ok(self.set_low())
}
}
impl<'d, T: Pin> embedded_hal_02::digital::v2::StatefulOutputPin for Output<'d, T> {
fn is_set_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_high())
}
fn is_set_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_low())
}
}
/// Implement [`InputPin`] for [`Flex`];
///
/// If the pin is not in input mode the result is unspecified.
impl<'d, T: Pin> embedded_hal_02::digital::v2::InputPin for Flex<'d, T> {
type Error = Infallible;
fn is_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_high())
}
fn is_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_low())
}
}
impl<'d, T: Pin> embedded_hal_02::digital::v2::OutputPin for Flex<'d, T> {
type Error = Infallible;
fn set_high(&mut self) -> Result<(), Self::Error> {
Ok(self.set_high())
}
fn set_low(&mut self) -> Result<(), Self::Error> {
Ok(self.set_low())
}
}
impl<'d, T: Pin> embedded_hal_02::digital::v2::StatefulOutputPin for Flex<'d, T> {
fn is_set_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_high())
}
fn is_set_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_low())
}
}
}
#[cfg(feature = "unstable-traits")]
mod eh1 {
use super::*;
impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Input<'d, T> {
type Error = Infallible;
}
impl<'d, T: Pin> embedded_hal_1::digital::blocking::InputPin for Input<'d, T> {
fn is_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_high())
}
fn is_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_low())
}
}
impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Output<'d, T> {
type Error = Infallible;
}
impl<'d, T: Pin> embedded_hal_1::digital::blocking::OutputPin for Output<'d, T> {
fn set_high(&mut self) -> Result<(), Self::Error> {
Ok(self.set_high())
}
fn set_low(&mut self) -> Result<(), Self::Error> {
Ok(self.set_low())
}
}
impl<'d, T: Pin> embedded_hal_1::digital::blocking::StatefulOutputPin for Output<'d, T> {
fn is_set_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_high())
}
fn is_set_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_low())
}
}
impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Flex<'d, T> {
type Error = Infallible;
}
/// Implement [`InputPin`] for [`Flex`];
///
/// If the pin is not in input mode the result is unspecified.
impl<'d, T: Pin> embedded_hal_1::digital::blocking::InputPin for Flex<'d, T> {
fn is_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_high())
}
fn is_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_low())
}
}
impl<'d, T: Pin> embedded_hal_1::digital::blocking::OutputPin for Flex<'d, T> {
fn set_high(&mut self) -> Result<(), Self::Error> {
Ok(self.set_high())
}
fn set_low(&mut self) -> Result<(), Self::Error> {
Ok(self.set_low())
}
}
impl<'d, T: Pin> embedded_hal_1::digital::blocking::StatefulOutputPin for Flex<'d, T> {
fn is_set_high(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_high())
}
fn is_set_low(&self) -> Result<bool, Self::Error> {
Ok(self.is_set_low())
}
}
}

147
embassy-nrf/src/gpiote.rs
View file

@ -5,7 +5,6 @@ use core::task::{Context, Poll};
use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::waitqueue::AtomicWaker;
use embassy_hal_common::unsafe_impl_unborrow;
use embedded_hal::digital::v2::InputPin;
use futures::future::poll_fn;
use crate::gpio::sealed::Pin as _;
@ -216,18 +215,6 @@ impl<'d, C: Channel, T: GpioPin> InputChannel<'d, C, T> {
}
}
impl<'d, C: Channel, T: GpioPin> InputPin for InputChannel<'d, C, T> {
type Error = Infallible;
fn is_high(&self) -> Result<bool, Self::Error> {
self.pin.is_high()
}
fn is_low(&self) -> Result<bool, Self::Error> {
self.pin.is_low()
}
}
/// GPIOTE channel driver in output mode
pub struct OutputChannel<'d, C: Channel, T: GpioPin> {
ch: C,
@ -454,3 +441,137 @@ impl_channel!(GPIOTE_CH4, 4);
impl_channel!(GPIOTE_CH5, 5);
impl_channel!(GPIOTE_CH6, 6);
impl_channel!(GPIOTE_CH7, 7);
// ====================
mod eh02 {
use super::*;
impl<'d, C: Channel, T: GpioPin> embedded_hal_02::digital::v2::InputPin for InputChannel<'d, C, T> {
type Error = Infallible;
fn is_high(&self) -> Result<bool, Self::Error> {
self.pin.is_high()
}
fn is_low(&self) -> Result<bool, Self::Error> {
self.pin.is_low()
}
}
}
#[cfg(feature = "unstable-traits")]
mod eh1 {
use super::*;
use futures::FutureExt;
impl<'d, C: Channel, T: GpioPin> embedded_hal_1::digital::ErrorType for InputChannel<'d, C, T> {
type Error = Infallible;
}
impl<'d, C: Channel, T: GpioPin> embedded_hal_1::digital::blocking::InputPin
for InputChannel<'d, C, T>
{
fn is_high(&self) -> Result<bool, Self::Error> {
self.pin.is_high()
}
fn is_low(&self) -> Result<bool, Self::Error> {
self.pin.is_low()
}
}
impl<'d, T: GpioPin> embedded_hal_async::digital::Wait for Input<'d, T> {
type WaitForHighFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn wait_for_high<'a>(&'a mut self) -> Self::WaitForHighFuture<'a> {
self.wait_for_high().map(Ok)
}
type WaitForLowFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn wait_for_low<'a>(&'a mut self) -> Self::WaitForLowFuture<'a> {
self.wait_for_low().map(Ok)
}
type WaitForRisingEdgeFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn wait_for_rising_edge<'a>(&'a mut self) -> Self::WaitForRisingEdgeFuture<'a> {
self.wait_for_rising_edge().map(Ok)
}
type WaitForFallingEdgeFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn wait_for_falling_edge<'a>(&'a mut self) -> Self::WaitForFallingEdgeFuture<'a> {
self.wait_for_falling_edge().map(Ok)
}
type WaitForAnyEdgeFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn wait_for_any_edge<'a>(&'a mut self) -> Self::WaitForAnyEdgeFuture<'a> {
self.wait_for_any_edge().map(Ok)
}
}
impl<'d, T: GpioPin> embedded_hal_async::digital::Wait for Flex<'d, T> {
type WaitForHighFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn wait_for_high<'a>(&'a mut self) -> Self::WaitForHighFuture<'a> {
self.wait_for_high().map(Ok)
}
type WaitForLowFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn wait_for_low<'a>(&'a mut self) -> Self::WaitForLowFuture<'a> {
self.wait_for_low().map(Ok)
}
type WaitForRisingEdgeFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn wait_for_rising_edge<'a>(&'a mut self) -> Self::WaitForRisingEdgeFuture<'a> {
self.wait_for_rising_edge().map(Ok)
}
type WaitForFallingEdgeFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn wait_for_falling_edge<'a>(&'a mut self) -> Self::WaitForFallingEdgeFuture<'a> {
self.wait_for_falling_edge().map(Ok)
}
type WaitForAnyEdgeFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn wait_for_any_edge<'a>(&'a mut self) -> Self::WaitForAnyEdgeFuture<'a> {
self.wait_for_any_edge().map(Ok)
}
}
}

264
embassy-nrf/src/spim.rs
View file

@ -1,15 +1,12 @@
#![macro_use]
use core::future::Future;
use core::marker::PhantomData;
use core::sync::atomic::{compiler_fence, Ordering};
use core::task::Poll;
use embassy::interrupt::InterruptExt;
use embassy::traits;
use embassy::util::Unborrow;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;
use traits::spi::{FullDuplex, Read, Spi, Write};
use crate::gpio;
use crate::gpio::sealed::Pin as _;
@ -18,7 +15,7 @@ use crate::interrupt::Interrupt;
use crate::util::{slice_ptr_parts, slice_ptr_parts_mut};
use crate::{pac, util::slice_in_ram_or};
pub use embedded_hal::spi::{Mode, Phase, Polarity, MODE_0, MODE_1, MODE_2, MODE_3};
pub use embedded_hal_02::spi::{Mode, Phase, Polarity, MODE_0, MODE_1, MODE_2, MODE_3};
pub use pac::spim0::frequency::FREQUENCY_A as Frequency;
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
@ -267,59 +264,6 @@ impl<'d, T: Instance> Drop for Spim<'d, T> {
}
}
impl<'d, T: Instance> Spi<u8> for Spim<'d, T> {
type Error = Error;
}
impl<'d, T: Instance> Read<u8> for Spim<'d, T> {
type ReadFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn read<'a>(&'a mut self, data: &'a mut [u8]) -> Self::ReadFuture<'a> {
self.read(data)
}
}
impl<'d, T: Instance> Write<u8> for Spim<'d, T> {
type WriteFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn write<'a>(&'a mut self, data: &'a [u8]) -> Self::WriteFuture<'a> {
self.write(data)
}
}
impl<'d, T: Instance> FullDuplex<u8> for Spim<'d, T> {
type WriteReadFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn read_write<'a>(&'a mut self, rx: &'a mut [u8], tx: &'a [u8]) -> Self::WriteReadFuture<'a> {
self.transfer(rx, tx)
}
}
impl<'d, T: Instance> embedded_hal::blocking::spi::Transfer<u8> for Spim<'d, T> {
type Error = Error;
fn transfer<'w>(&mut self, words: &'w mut [u8]) -> Result<&'w [u8], Self::Error> {
self.blocking_transfer_in_place(words)?;
Ok(words)
}
}
impl<'d, T: Instance> embedded_hal::blocking::spi::Write<u8> for Spim<'d, T> {
type Error = Error;
fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(words)
}
}
pub(crate) mod sealed {
use embassy::waitqueue::AtomicWaker;
@ -363,3 +307,209 @@ macro_rules! impl_spim {
}
};
}
// ====================
mod eh02 {
use super::*;
impl<'d, T: Instance> embedded_hal_02::blocking::spi::Transfer<u8> for Spim<'d, T> {
type Error = Error;
fn transfer<'w>(&mut self, words: &'w mut [u8]) -> Result<&'w [u8], Self::Error> {
self.blocking_transfer_in_place(words)?;
Ok(words)
}
}
impl<'d, T: Instance> embedded_hal_02::blocking::spi::Write<u8> for Spim<'d, T> {
type Error = Error;
fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(words)
}
}
}
#[cfg(feature = "unstable-traits")]
mod eh1 {
use super::*;
use core::future::Future;
impl embedded_hal_1::spi::Error for Error {
fn kind(&self) -> embedded_hal_1::spi::ErrorKind {
match *self {
Self::TxBufferTooLong => embedded_hal_1::spi::ErrorKind::Other,
Self::RxBufferTooLong => embedded_hal_1::spi::ErrorKind::Other,
Self::DMABufferNotInDataMemory => embedded_hal_1::spi::ErrorKind::Other,
}
}
}
impl<'d, T: Instance> embedded_hal_1::spi::ErrorType for Spim<'d, T> {
type Error = Error;
}
impl<'d, T: Instance> embedded_hal_1::spi::blocking::Read<u8> for Spim<'d, T> {
fn read(&mut self, words: &mut [u8]) -> Result<(), Self::Error> {
self.blocking_transfer(words, &[])
}
fn read_transaction(&mut self, words: &mut [&mut [u8]]) -> Result<(), Self::Error> {
for buf in words {
self.blocking_read(buf)?
}
Ok(())
}
}
impl<'d, T: Instance> embedded_hal_1::spi::blocking::Write<u8> for Spim<'d, T> {
fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(words)
}
fn write_transaction(&mut self, words: &[&[u8]]) -> Result<(), Self::Error> {
for buf in words {
self.blocking_write(buf)?
}
Ok(())
}
fn write_iter<WI>(&mut self, words: WI) -> Result<(), Self::Error>
where
WI: IntoIterator<Item = u8>,
{
for w in words {
self.blocking_write(&[w])?;
}
Ok(())
}
}
impl<'d, T: Instance> embedded_hal_1::spi::blocking::ReadWrite<u8> for Spim<'d, T> {
fn transfer(&mut self, read: &mut [u8], write: &[u8]) -> Result<(), Self::Error> {
self.blocking_transfer(read, write)
}
fn transfer_in_place(&mut self, words: &mut [u8]) -> Result<(), Self::Error> {
self.blocking_transfer_in_place(words)
}
fn transaction<'a>(
&mut self,
operations: &mut [embedded_hal_async::spi::Operation<'a, u8>],
) -> Result<(), Self::Error> {
use embedded_hal_1::spi::blocking::Operation;
for o in operations {
match o {
Operation::Read(b) => self.blocking_read(b)?,
Operation::Write(b) => self.blocking_write(b)?,
Operation::Transfer(r, w) => self.blocking_transfer(r, w)?,
Operation::TransferInPlace(b) => self.blocking_transfer_in_place(b)?,
}
}
Ok(())
}
}
impl<'d, T: Instance> embedded_hal_async::spi::Read<u8> for Spim<'d, T> {
type ReadFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn read<'a>(&'a mut self, words: &'a mut [u8]) -> Self::ReadFuture<'a> {
self.read(words)
}
type ReadTransactionFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn read_transaction<'a>(
&'a mut self,
words: &'a mut [&'a mut [u8]],
) -> Self::ReadTransactionFuture<'a> {
async move {
for buf in words {
self.read(buf).await?
}
Ok(())
}
}
}
impl<'d, T: Instance> embedded_hal_async::spi::Write<u8> for Spim<'d, T> {
type WriteFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn write<'a>(&'a mut self, data: &'a [u8]) -> Self::WriteFuture<'a> {
self.write(data)
}
type WriteTransactionFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn write_transaction<'a>(
&'a mut self,
words: &'a [&'a [u8]],
) -> Self::WriteTransactionFuture<'a> {
async move {
for buf in words {
self.write(buf).await?
}
Ok(())
}
}
}
impl<'d, T: Instance> embedded_hal_async::spi::ReadWrite<u8> for Spim<'d, T> {
type TransferFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn transfer<'a>(&'a mut self, rx: &'a mut [u8], tx: &'a [u8]) -> Self::TransferFuture<'a> {
self.transfer(rx, tx)
}
type TransferInPlaceFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn transfer_in_place<'a>(
&'a mut self,
words: &'a mut [u8],
) -> Self::TransferInPlaceFuture<'a> {
self.transfer_in_place(words)
}
type TransactionFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn transaction<'a>(
&'a mut self,
operations: &'a mut [embedded_hal_async::spi::Operation<'a, u8>],
) -> Self::TransactionFuture<'a> {
use embedded_hal_1::spi::blocking::Operation;
async move {
for o in operations {
match o {
Operation::Read(b) => self.read(b).await?,
Operation::Write(b) => self.write(b).await?,
Operation::Transfer(r, w) => self.transfer(r, w).await?,
Operation::TransferInPlace(b) => self.transfer_in_place(b).await?,
}
}
Ok(())
}
}
}
}

297
embassy-nrf/src/twim.rs
View file

@ -11,12 +11,10 @@ use core::marker::PhantomData;
use core::sync::atomic::{compiler_fence, Ordering::SeqCst};
use core::task::Poll;
use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::traits;
use embassy::util::Unborrow;
use embassy::waitqueue::AtomicWaker;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;
use traits::i2c::I2c;
use crate::chip::{EASY_DMA_SIZE, FORCE_COPY_BUFFER_SIZE};
use crate::gpio;
@ -50,6 +48,22 @@ impl Default for Config {
}
}
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[non_exhaustive]
pub enum Error {
TxBufferTooLong,
RxBufferTooLong,
TxBufferZeroLength,
RxBufferZeroLength,
Transmit,
Receive,
DMABufferNotInDataMemory,
AddressNack,
DataNack,
Overrun,
}
/// Interface to a TWIM instance.
pub struct Twim<'d, T: Instance> {
phantom: PhantomData<&'d mut T>,
@ -506,101 +520,6 @@ impl<'a, T: Instance> Drop for Twim<'a, T> {
}
}
impl<'d, T> I2c for Twim<'d, T>
where
T: Instance,
{
type Error = Error;
type WriteFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
type ReadFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
type WriteReadFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn read<'a>(&'a mut self, address: u8, buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
self.read(address, buffer)
}
fn write<'a>(&'a mut self, address: u8, buffer: &'a [u8]) -> Self::WriteFuture<'a> {
self.write(address, buffer)
}
fn write_read<'a>(
&'a mut self,
address: u8,
wr_buffer: &'a [u8],
rd_buffer: &'a mut [u8],
) -> Self::WriteReadFuture<'a> {
self.write_read(address, wr_buffer, rd_buffer)
}
}
impl<'a, T: Instance> embedded_hal::blocking::i2c::Write for Twim<'a, T> {
type Error = Error;
fn write<'w>(&mut self, addr: u8, bytes: &'w [u8]) -> Result<(), Error> {
if slice_in_ram(bytes) {
self.blocking_write(addr, bytes)
} else {
let buf = &mut [0; FORCE_COPY_BUFFER_SIZE][..];
for chunk in bytes.chunks(FORCE_COPY_BUFFER_SIZE) {
buf[..chunk.len()].copy_from_slice(chunk);
self.blocking_write(addr, &buf[..chunk.len()])?;
}
Ok(())
}
}
}
impl<'a, T: Instance> embedded_hal::blocking::i2c::Read for Twim<'a, T> {
type Error = Error;
fn read<'w>(&mut self, addr: u8, bytes: &'w mut [u8]) -> Result<(), Error> {
self.blocking_read(addr, bytes)
}
}
impl<'a, T: Instance> embedded_hal::blocking::i2c::WriteRead for Twim<'a, T> {
type Error = Error;
fn write_read<'w>(
&mut self,
addr: u8,
bytes: &'w [u8],
buffer: &'w mut [u8],
) -> Result<(), Error> {
if slice_in_ram(bytes) {
self.blocking_write_read(addr, bytes, buffer)
} else {
self.blocking_copy_write_read(addr, bytes, buffer)
}
}
}
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[non_exhaustive]
pub enum Error {
TxBufferTooLong,
RxBufferTooLong,
TxBufferZeroLength,
RxBufferZeroLength,
Transmit,
Receive,
DMABufferNotInDataMemory,
AddressNack,
DataNack,
Overrun,
}
pub(crate) mod sealed {
use super::*;
@ -642,3 +561,187 @@ macro_rules! impl_twim {
}
};
}
// ====================
mod eh02 {
use super::*;
impl<'a, T: Instance> embedded_hal_02::blocking::i2c::Write for Twim<'a, T> {
type Error = Error;
fn write<'w>(&mut self, addr: u8, bytes: &'w [u8]) -> Result<(), Error> {
if slice_in_ram(bytes) {
self.blocking_write(addr, bytes)
} else {
let buf = &mut [0; FORCE_COPY_BUFFER_SIZE][..];
for chunk in bytes.chunks(FORCE_COPY_BUFFER_SIZE) {
buf[..chunk.len()].copy_from_slice(chunk);
self.blocking_write(addr, &buf[..chunk.len()])?;
}
Ok(())
}
}
}
impl<'a, T: Instance> embedded_hal_02::blocking::i2c::Read for Twim<'a, T> {
type Error = Error;
fn read<'w>(&mut self, addr: u8, bytes: &'w mut [u8]) -> Result<(), Error> {
self.blocking_read(addr, bytes)
}
}
impl<'a, T: Instance> embedded_hal_02::blocking::i2c::WriteRead for Twim<'a, T> {
type Error = Error;
fn write_read<'w>(
&mut self,
addr: u8,
bytes: &'w [u8],
buffer: &'w mut [u8],
) -> Result<(), Error> {
if slice_in_ram(bytes) {
self.blocking_write_read(addr, bytes, buffer)
} else {
self.blocking_copy_write_read(addr, bytes, buffer)
}
}
}
}
#[cfg(feature = "unstable-traits")]
mod eh1 {
use super::*;
impl embedded_hal_1::i2c::Error for Error {
fn kind(&self) -> embedded_hal_1::i2c::ErrorKind {
match *self {
Self::TxBufferTooLong => embedded_hal_1::i2c::ErrorKind::Other,
Self::RxBufferTooLong => embedded_hal_1::i2c::ErrorKind::Other,
Self::TxBufferZeroLength => embedded_hal_1::i2c::ErrorKind::Other,
Self::RxBufferZeroLength => embedded_hal_1::i2c::ErrorKind::Other,
Self::Transmit => embedded_hal_1::i2c::ErrorKind::Other,
Self::Receive => embedded_hal_1::i2c::ErrorKind::Other,
Self::DMABufferNotInDataMemory => embedded_hal_1::i2c::ErrorKind::Other,
Self::AddressNack => embedded_hal_1::i2c::ErrorKind::NoAcknowledge(
embedded_hal_1::i2c::NoAcknowledgeSource::Address,
),
Self::DataNack => embedded_hal_1::i2c::ErrorKind::NoAcknowledge(
embedded_hal_1::i2c::NoAcknowledgeSource::Data,
),
Self::Overrun => embedded_hal_1::i2c::ErrorKind::Overrun,
}
}
}
impl<'d, T: Instance> embedded_hal_1::i2c::ErrorType for Twim<'d, T> {
type Error = Error;
}
impl<'d, T: Instance> embedded_hal_1::i2c::blocking::I2c for Twim<'d, T> {
fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
self.blocking_read(address, buffer)
}
fn write(&mut self, address: u8, buffer: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(address, buffer)
}
fn write_iter<B>(&mut self, _address: u8, _bytes: B) -> Result<(), Self::Error>
where
B: IntoIterator<Item = u8>,
{
todo!();
}
fn write_iter_read<B>(
&mut self,
_address: u8,
_bytes: B,
_buffer: &mut [u8],
) -> Result<(), Self::Error>
where
B: IntoIterator<Item = u8>,
{
todo!();
}
fn write_read(
&mut self,
address: u8,
wr_buffer: &[u8],
rd_buffer: &mut [u8],
) -> Result<(), Self::Error> {
self.blocking_write_read(address, wr_buffer, rd_buffer)
}
fn transaction<'a>(
&mut self,
_address: u8,
_operations: &mut [embedded_hal_async::i2c::Operation<'a>],
) -> Result<(), Self::Error> {
todo!();
}
fn transaction_iter<'a, O>(
&mut self,
_address: u8,
_operations: O,
) -> Result<(), Self::Error>
where
O: IntoIterator<Item = embedded_hal_async::i2c::Operation<'a>>,
{
todo!();
}
}
impl<'d, T: Instance> embedded_hal_async::i2c::I2c for Twim<'d, T> {
type ReadFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn read<'a>(&'a mut self, address: u8, buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
self.read(address, buffer)
}
type WriteFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn write<'a>(&'a mut self, address: u8, bytes: &'a [u8]) -> Self::WriteFuture<'a> {
self.write(address, bytes)
}
type WriteReadFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn write_read<'a>(
&'a mut self,
address: u8,
wr_buffer: &'a [u8],
rd_buffer: &'a mut [u8],
) -> Self::WriteReadFuture<'a> {
self.write_read(address, wr_buffer, rd_buffer)
}
type TransactionFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn transaction<'a>(
&'a mut self,
address: u8,
operations: &mut [embedded_hal_async::i2c::Operation<'a>],
) -> Self::TransactionFuture<'a> {
let _ = address;
let _ = operations;
async move { todo!() }
}
}
}

203
embassy-nrf/src/uarte.rs
View file

@ -712,3 +712,206 @@ macro_rules! impl_uarte {
}
};
}
// ====================
mod eh02 {
use super::*;
impl<'d, T: Instance> embedded_hal_02::blocking::serial::Write<u8> for Uarte<'d, T> {
type Error = Error;
fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(buffer)
}
fn bflush(&mut self) -> Result<(), Self::Error> {
Ok(())
}
}
impl<'d, T: Instance> embedded_hal_02::blocking::serial::Write<u8> for UarteTx<'d, T> {
type Error = Error;
fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(buffer)
}
fn bflush(&mut self) -> Result<(), Self::Error> {
Ok(())
}
}
impl<'d, U: Instance, T: TimerInstance> embedded_hal_02::blocking::serial::Write<u8>
for UarteWithIdle<'d, U, T>
{
type Error = Error;
fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(buffer)
}
fn bflush(&mut self) -> Result<(), Self::Error> {
Ok(())
}
}
}
#[cfg(feature = "unstable-traits")]
mod eh1 {
use super::*;
use core::future::Future;
impl embedded_hal_1::serial::Error for Error {
fn kind(&self) -> embedded_hal_1::serial::ErrorKind {
match *self {
Self::BufferTooLong => embedded_hal_1::serial::ErrorKind::Other,
Self::BufferZeroLength => embedded_hal_1::serial::ErrorKind::Other,
Self::DMABufferNotInDataMemory => embedded_hal_1::serial::ErrorKind::Other,
}
}
}
// =====================
impl<'d, T: Instance> embedded_hal_1::serial::ErrorType for Uarte<'d, T> {
type Error = Error;
}
impl<'d, T: Instance> embedded_hal_1::serial::blocking::Write for Uarte<'d, T> {
fn write(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(buffer)
}
fn flush(&mut self) -> Result<(), Self::Error> {
Ok(())
}
}
impl<'d, T: Instance> embedded_hal_async::serial::Read for Uarte<'d, T> {
type ReadFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn read<'a>(&'a mut self, buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
self.read(buffer)
}
}
impl<'d, T: Instance> embedded_hal_async::serial::Write for Uarte<'d, T> {
type WriteFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn write<'a>(&'a mut self, buffer: &'a [u8]) -> Self::WriteFuture<'a> {
self.write(buffer)
}
type FlushFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
async move { Ok(()) }
}
}
// =====================
impl<'d, T: Instance> embedded_hal_1::serial::ErrorType for UarteTx<'d, T> {
type Error = Error;
}
impl<'d, T: Instance> embedded_hal_1::serial::blocking::Write for UarteTx<'d, T> {
fn write(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
self.blocking_write(buffer)
}
fn flush(&mut self) -> Result<(), Self::Error> {
Ok(())
}
}
impl<'d, T: Instance> embedded_hal_async::serial::Write for UarteTx<'d, T> {
type WriteFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn write<'a>(&'a mut self, buffer: &'a [u8]) -> Self::WriteFuture<'a> {
self.write(buffer)
}
type FlushFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
async move { Ok(()) }
}
}
// =====================
impl<'d, T: Instance> embedded_hal_1::serial::ErrorType for UarteRx<'d, T> {
type Error = Error;
}
impl<'d, T: Instance> embedded_hal_async::serial::Read for UarteRx<'d, T> {
type ReadFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn read<'a>(&'a mut self, buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
self.read(buffer)
}
}
// =====================
impl<'d, U: Instance, T: TimerInstance> embedded_hal_1::serial::ErrorType
for UarteWithIdle<'d, U, T>
{
type Error = Error;
}
impl<'d, U: Instance, T: TimerInstance> embedded_hal_async::serial::Read
for UarteWithIdle<'d, U, T>
{
type ReadFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn read<'a>(&'a mut self, buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
self.read(buffer)
}
}
impl<'d, U: Instance, T: TimerInstance> embedded_hal_async::serial::Write
for UarteWithIdle<'d, U, T>
{
type WriteFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn write<'a>(&'a mut self, buffer: &'a [u8]) -> Self::WriteFuture<'a> {
self.write(buffer)
}
type FlushFuture<'a>
where
Self: 'a,
= impl Future<Output = Result<(), Self::Error>> + 'a;
fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
async move { Ok(()) }
}
}
}

1
examples/nrf/Cargo.toml
View file

@ -15,7 +15,6 @@ defmt-rtt = "0.3"
cortex-m = "0.7.3"
cortex-m-rt = "0.7.0"
embedded-hal = "0.2.6"
panic-probe = { version = "0.3", features = ["print-defmt"] }
futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
rand = { version = "0.8.4", default-features = false }