diff --git a/ci.sh b/ci.sh index fa24d5268..cd1c0786c 100755 --- a/ci.sh +++ b/ci.sh @@ -58,6 +58,7 @@ cargo batch \ --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,unstable-traits,log \ --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,unstable-traits \ --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly \ + --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,intrinsics \ --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f410tb,defmt,exti,time-driver-any,unstable-traits \ --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f411ce,defmt,exti,time-driver-any,unstable-traits \ --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f429zi,log,exti,time-driver-any,unstable-traits \ diff --git a/embassy-boot/boot/src/lib.rs b/embassy-boot/boot/src/lib.rs index 4a2b112a9..8286601ec 100644 --- a/embassy-boot/boot/src/lib.rs +++ b/embassy-boot/boot/src/lib.rs @@ -1,5 +1,4 @@ #![feature(type_alias_impl_trait)] -#![feature(generic_associated_types)] #![no_std] #![warn(missing_docs)] #![doc = include_str!("../../README.md")] @@ -222,10 +221,7 @@ impl BootLoader { page: &mut [u8], ) -> Result { // Ensure we have enough progress pages to store copy progress - assert_eq!(self.active.len() % page.len(), 0); - assert_eq!(self.dfu.len() % page.len(), 0); - assert!(self.dfu.len() - self.active.len() >= page.len()); - assert!(self.active.len() / page.len() <= (self.state.len() - P::STATE::WRITE_SIZE) / P::STATE::WRITE_SIZE); + assert_partitions(self.active, self.dfu, self.state, page.len(), P::STATE::WRITE_SIZE); assert_eq!(magic.len(), P::STATE::WRITE_SIZE); // Copy contents from partition N to active @@ -409,6 +405,13 @@ impl BootLoader { } } +fn assert_partitions(active: Partition, dfu: Partition, state: Partition, page_size: usize, write_size: usize) { + assert_eq!(active.len() % page_size, 0); + assert_eq!(dfu.len() % page_size, 0); + assert!(dfu.len() - active.len() >= page_size); + assert!(2 * (active.len() / page_size) <= (state.len() - write_size) / write_size); +} + /// Convenience provider that uses a single flash for all partitions. pub struct SingleFlashConfig<'a, F> where @@ -447,24 +450,24 @@ where } /// A flash wrapper implementing the Flash and embedded_storage traits. -pub struct BootFlash<'a, F, const BLOCK_SIZE: usize, const ERASE_VALUE: u8 = 0xFF> +pub struct BootFlash where F: NorFlash + ReadNorFlash, { - flash: &'a mut F, + flash: F, } -impl<'a, F, const BLOCK_SIZE: usize, const ERASE_VALUE: u8> BootFlash<'a, F, BLOCK_SIZE, ERASE_VALUE> +impl BootFlash where F: NorFlash + ReadNorFlash, { /// Create a new instance of a bootable flash - pub fn new(flash: &'a mut F) -> Self { + pub fn new(flash: F) -> Self { Self { flash } } } -impl<'a, F, const BLOCK_SIZE: usize, const ERASE_VALUE: u8> Flash for BootFlash<'a, F, BLOCK_SIZE, ERASE_VALUE> +impl Flash for BootFlash where F: NorFlash + ReadNorFlash, { @@ -472,14 +475,14 @@ where const ERASE_VALUE: u8 = ERASE_VALUE; } -impl<'a, F, const BLOCK_SIZE: usize, const ERASE_VALUE: u8> ErrorType for BootFlash<'a, F, BLOCK_SIZE, ERASE_VALUE> +impl ErrorType for BootFlash where F: ReadNorFlash + NorFlash, { type Error = F::Error; } -impl<'a, F, const BLOCK_SIZE: usize, const ERASE_VALUE: u8> NorFlash for BootFlash<'a, F, BLOCK_SIZE, ERASE_VALUE> +impl NorFlash for BootFlash where F: ReadNorFlash + NorFlash, { @@ -487,26 +490,26 @@ where const ERASE_SIZE: usize = F::ERASE_SIZE; fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> { - F::erase(self.flash, from, to) + F::erase(&mut self.flash, from, to) } fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Self::Error> { - F::write(self.flash, offset, bytes) + F::write(&mut self.flash, offset, bytes) } } -impl<'a, F, const BLOCK_SIZE: usize, const ERASE_VALUE: u8> ReadNorFlash for BootFlash<'a, F, BLOCK_SIZE, ERASE_VALUE> +impl ReadNorFlash for BootFlash where F: ReadNorFlash + NorFlash, { const READ_SIZE: usize = F::READ_SIZE; fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> { - F::read(self.flash, offset, bytes) + F::read(&mut self.flash, offset, bytes) } fn capacity(&self) -> usize { - F::capacity(self.flash) + F::capacity(&self.flash) } } @@ -601,6 +604,21 @@ impl FirmwareUpdater { self.dfu.len() } + /// Obtain the current state. + /// + /// This is useful to check if the bootloader has just done a swap, in order + /// to do verifications and self-tests of the new image before calling + /// `mark_booted`. + pub async fn get_state(&mut self, flash: &mut F, aligned: &mut [u8]) -> Result { + flash.read(self.state.from as u32, aligned).await?; + + if !aligned.iter().any(|&b| b != SWAP_MAGIC) { + Ok(State::Swap) + } else { + Ok(State::Boot) + } + } + /// Mark to trigger firmware swap on next boot. /// /// # Safety @@ -657,12 +675,6 @@ impl FirmwareUpdater { ) -> Result<(), F::Error> { assert!(data.len() >= F::ERASE_SIZE); - trace!( - "Writing firmware at offset 0x{:x} len {}", - self.dfu.from + offset, - data.len() - ); - flash .erase( (self.dfu.from + offset) as u32, @@ -676,7 +688,156 @@ impl FirmwareUpdater { self.dfu.from + offset + data.len() ); - let mut write_offset = self.dfu.from + offset; + FirmwareWriter(self.dfu) + .write_block(offset, data, flash, block_size) + .await?; + + Ok(()) + } + + /// Prepare for an incoming DFU update by erasing the entire DFU area and + /// returning a `FirmwareWriter`. + /// + /// Using this instead of `write_firmware` allows for an optimized API in + /// exchange for added complexity. + pub async fn prepare_update(&mut self, flash: &mut F) -> Result { + flash.erase((self.dfu.from) as u32, (self.dfu.to) as u32).await?; + + trace!("Erased from {} to {}", self.dfu.from, self.dfu.to); + + Ok(FirmwareWriter(self.dfu)) + } + + // + // Blocking API + // + + /// Obtain the current state. + /// + /// This is useful to check if the bootloader has just done a swap, in order + /// to do verifications and self-tests of the new image before calling + /// `mark_booted`. + pub fn get_state_blocking(&mut self, flash: &mut F, aligned: &mut [u8]) -> Result { + flash.read(self.state.from as u32, aligned)?; + + if !aligned.iter().any(|&b| b != SWAP_MAGIC) { + Ok(State::Swap) + } else { + Ok(State::Boot) + } + } + + /// Mark to trigger firmware swap on next boot. + /// + /// # Safety + /// + /// The `aligned` buffer must have a size of F::WRITE_SIZE, and follow the alignment rules for the flash being written to. + pub fn mark_updated_blocking(&mut self, flash: &mut F, aligned: &mut [u8]) -> Result<(), F::Error> { + assert_eq!(aligned.len(), F::WRITE_SIZE); + self.set_magic_blocking(aligned, SWAP_MAGIC, flash) + } + + /// Mark firmware boot successful and stop rollback on reset. + /// + /// # Safety + /// + /// The `aligned` buffer must have a size of F::WRITE_SIZE, and follow the alignment rules for the flash being written to. + pub fn mark_booted_blocking(&mut self, flash: &mut F, aligned: &mut [u8]) -> Result<(), F::Error> { + assert_eq!(aligned.len(), F::WRITE_SIZE); + self.set_magic_blocking(aligned, BOOT_MAGIC, flash) + } + + fn set_magic_blocking( + &mut self, + aligned: &mut [u8], + magic: u8, + flash: &mut F, + ) -> Result<(), F::Error> { + flash.read(self.state.from as u32, aligned)?; + + if aligned.iter().any(|&b| b != magic) { + aligned.fill(0); + + flash.write(self.state.from as u32, aligned)?; + flash.erase(self.state.from as u32, self.state.to as u32)?; + + aligned.fill(magic); + flash.write(self.state.from as u32, aligned)?; + } + Ok(()) + } + + /// Write data to a flash page. + /// + /// The buffer must follow alignment requirements of the target flash and a multiple of page size big. + /// + /// # Safety + /// + /// Failing to meet alignment and size requirements may result in a panic. + pub fn write_firmware_blocking( + &mut self, + offset: usize, + data: &[u8], + flash: &mut F, + block_size: usize, + ) -> Result<(), F::Error> { + assert!(data.len() >= F::ERASE_SIZE); + + flash.erase( + (self.dfu.from + offset) as u32, + (self.dfu.from + offset + data.len()) as u32, + )?; + + trace!( + "Erased from {} to {}", + self.dfu.from + offset, + self.dfu.from + offset + data.len() + ); + + FirmwareWriter(self.dfu).write_block_blocking(offset, data, flash, block_size)?; + + Ok(()) + } + + /// Prepare for an incoming DFU update by erasing the entire DFU area and + /// returning a `FirmwareWriter`. + /// + /// Using this instead of `write_firmware_blocking` allows for an optimized + /// API in exchange for added complexity. + pub fn prepare_update_blocking(&mut self, flash: &mut F) -> Result { + flash.erase((self.dfu.from) as u32, (self.dfu.to) as u32)?; + + trace!("Erased from {} to {}", self.dfu.from, self.dfu.to); + + Ok(FirmwareWriter(self.dfu)) + } +} + +/// FirmwareWriter allows writing blocks to an already erased flash. +pub struct FirmwareWriter(Partition); + +impl FirmwareWriter { + /// Write data to a flash page. + /// + /// The buffer must follow alignment requirements of the target flash and a multiple of page size big. + /// + /// # Safety + /// + /// Failing to meet alignment and size requirements may result in a panic. + pub async fn write_block( + &mut self, + offset: usize, + data: &[u8], + flash: &mut F, + block_size: usize, + ) -> Result<(), F::Error> { + trace!( + "Writing firmware at offset 0x{:x} len {}", + self.0.from + offset, + data.len() + ); + + let mut write_offset = self.0.from + offset; for chunk in data.chunks(block_size) { trace!("Wrote chunk at {}: {:?}", write_offset, chunk); flash.write(write_offset as u32, chunk).await?; @@ -699,6 +860,50 @@ impl FirmwareUpdater { Ok(()) } + + /// Write data to a flash page. + /// + /// The buffer must follow alignment requirements of the target flash and a multiple of page size big. + /// + /// # Safety + /// + /// Failing to meet alignment and size requirements may result in a panic. + pub fn write_block_blocking( + &mut self, + offset: usize, + data: &[u8], + flash: &mut F, + block_size: usize, + ) -> Result<(), F::Error> { + trace!( + "Writing firmware at offset 0x{:x} len {}", + self.0.from + offset, + data.len() + ); + + let mut write_offset = self.0.from + offset; + for chunk in data.chunks(block_size) { + trace!("Wrote chunk at {}: {:?}", write_offset, chunk); + flash.write(write_offset as u32, chunk)?; + write_offset += chunk.len(); + } + /* + trace!("Wrote data, reading back for verification"); + + let mut buf: [u8; 4096] = [0; 4096]; + let mut data_offset = 0; + let mut read_offset = self.dfu.from + offset; + for chunk in buf.chunks_mut(block_size) { + flash.read(read_offset as u32, chunk).await?; + trace!("Read chunk at {}: {:?}", read_offset, chunk); + assert_eq!(&data[data_offset..data_offset + block_size], chunk); + read_offset += chunk.len(); + data_offset += chunk.len(); + } + */ + + Ok(()) + } } #[cfg(test)] @@ -919,6 +1124,15 @@ mod tests { } } + #[test] + #[should_panic] + fn test_range_asserts() { + const ACTIVE: Partition = Partition::new(4096, 4194304); + const DFU: Partition = Partition::new(4194304, 2 * 4194304); + const STATE: Partition = Partition::new(0, 4096); + assert_partitions(ACTIVE, DFU, STATE, 4096, 4); + } + struct MemFlash([u8; SIZE]); impl NorFlash diff --git a/embassy-boot/nrf/src/lib.rs b/embassy-boot/nrf/src/lib.rs index 0c14781a2..385e089fe 100644 --- a/embassy-boot/nrf/src/lib.rs +++ b/embassy-boot/nrf/src/lib.rs @@ -1,5 +1,4 @@ #![no_std] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] #![warn(missing_docs)] #![doc = include_str!("../../README.md")] diff --git a/embassy-boot/stm32/src/lib.rs b/embassy-boot/stm32/src/lib.rs index 39f080517..edba39cca 100644 --- a/embassy-boot/stm32/src/lib.rs +++ b/embassy-boot/stm32/src/lib.rs @@ -1,5 +1,4 @@ #![no_std] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] #![warn(missing_docs)] #![doc = include_str!("../../README.md")] diff --git a/embassy-embedded-hal/src/lib.rs b/embassy-embedded-hal/src/lib.rs index 0c6f2786a..a12a3a3a0 100644 --- a/embassy-embedded-hal/src/lib.rs +++ b/embassy-embedded-hal/src/lib.rs @@ -1,5 +1,5 @@ #![cfg_attr(not(feature = "std"), no_std)] -#![cfg_attr(feature = "nightly", feature(generic_associated_types, type_alias_impl_trait))] +#![cfg_attr(feature = "nightly", feature(type_alias_impl_trait))] #![warn(missing_docs)] //! Utilities to use `embedded-hal` traits with Embassy. diff --git a/embassy-executor/src/spawner.rs b/embassy-executor/src/spawner.rs index 25a0d7dbb..400d973ff 100644 --- a/embassy-executor/src/spawner.rs +++ b/embassy-executor/src/spawner.rs @@ -1,10 +1,9 @@ +use core::future::poll_fn; use core::marker::PhantomData; use core::mem; use core::ptr::NonNull; use core::task::Poll; -use futures_util::future::poll_fn; - use super::raw; /// Token to spawn a newly-created task in an executor. diff --git a/embassy-lora/src/lib.rs b/embassy-lora/src/lib.rs index 2483dcb2e..90ba0d1d4 100644 --- a/embassy-lora/src/lib.rs +++ b/embassy-lora/src/lib.rs @@ -1,6 +1,5 @@ #![no_std] #![feature(type_alias_impl_trait)] -#![feature(generic_associated_types)] //! embassy-lora is a collection of async radio drivers that integrate with the lorawan-device //! crate's async LoRaWAN MAC implementation. diff --git a/embassy-lora/src/stm32wl/mod.rs b/embassy-lora/src/stm32wl/mod.rs index 4d11244b6..e28fa2c1a 100644 --- a/embassy-lora/src/stm32wl/mod.rs +++ b/embassy-lora/src/stm32wl/mod.rs @@ -1,5 +1,5 @@ //! A radio driver integration for the radio found on STM32WL family devices. -use core::future::Future; +use core::future::{poll_fn, Future}; use core::task::Poll; use embassy_hal_common::{into_ref, Peripheral, PeripheralRef}; @@ -11,7 +11,6 @@ use embassy_stm32::subghz::{ Status, SubGhz, TcxoMode, TcxoTrim, Timeout, TxParams, }; use embassy_sync::waitqueue::AtomicWaker; -use futures::future::poll_fn; use lorawan_device::async_device::radio::{Bandwidth, PhyRxTx, RfConfig, RxQuality, SpreadingFactor, TxConfig}; use lorawan_device::async_device::Timings; diff --git a/embassy-net/src/lib.rs b/embassy-net/src/lib.rs index 8eebc798e..4d30550d3 100644 --- a/embassy-net/src/lib.rs +++ b/embassy-net/src/lib.rs @@ -1,5 +1,5 @@ #![cfg_attr(not(feature = "std"), no_std)] -#![cfg_attr(feature = "nightly", feature(generic_associated_types, type_alias_impl_trait))] +#![cfg_attr(feature = "nightly", feature(type_alias_impl_trait))] // This mod MUST go first, so that the others see its macros. pub(crate) mod fmt; diff --git a/embassy-net/src/stack.rs b/embassy-net/src/stack.rs index 8d2dd4bca..3a7610758 100644 --- a/embassy-net/src/stack.rs +++ b/embassy-net/src/stack.rs @@ -1,10 +1,9 @@ use core::cell::UnsafeCell; -use core::future::Future; +use core::future::{poll_fn, Future}; use core::task::{Context, Poll}; use embassy_sync::waitqueue::WakerRegistration; use embassy_time::{Instant, Timer}; -use futures::future::poll_fn; use futures::pin_mut; use heapless::Vec; #[cfg(feature = "dhcpv4")] diff --git a/embassy-net/src/tcp.rs b/embassy-net/src/tcp.rs index 0fa873602..f8fff3e2d 100644 --- a/embassy-net/src/tcp.rs +++ b/embassy-net/src/tcp.rs @@ -1,8 +1,8 @@ use core::cell::UnsafeCell; +use core::future::poll_fn; use core::mem; use core::task::Poll; -use futures::future::poll_fn; use smoltcp::iface::{Interface, SocketHandle}; use smoltcp::socket::tcp; use smoltcp::time::Duration; @@ -103,7 +103,7 @@ impl<'a> TcpSocket<'a> { Err(tcp::ConnectError::Unaddressable) => return Err(ConnectError::NoRoute), } - futures::future::poll_fn(|cx| unsafe { + poll_fn(|cx| unsafe { self.io.with_mut(|s, _| match s.state() { tcp::State::Closed | tcp::State::TimeWait => Poll::Ready(Err(ConnectError::ConnectionReset)), tcp::State::Listen => unreachable!(), @@ -128,7 +128,7 @@ impl<'a> TcpSocket<'a> { Err(tcp::ListenError::Unaddressable) => return Err(AcceptError::InvalidPort), } - futures::future::poll_fn(|cx| unsafe { + poll_fn(|cx| unsafe { self.io.with_mut(|s, _| match s.state() { tcp::State::Listen | tcp::State::SynSent | tcp::State::SynReceived => { s.register_send_waker(cx.waker()); diff --git a/embassy-net/src/udp.rs b/embassy-net/src/udp.rs index 78b09a492..f2e33493c 100644 --- a/embassy-net/src/udp.rs +++ b/embassy-net/src/udp.rs @@ -1,8 +1,8 @@ use core::cell::UnsafeCell; +use core::future::poll_fn; use core::mem; use core::task::Poll; -use futures::future::poll_fn; use smoltcp::iface::{Interface, SocketHandle}; use smoltcp::socket::udp::{self, PacketMetadata}; use smoltcp::wire::{IpEndpoint, IpListenEndpoint}; diff --git a/embassy-nrf/src/buffered_uarte.rs b/embassy-nrf/src/buffered_uarte.rs index c3cba2470..6e85a159f 100644 --- a/embassy-nrf/src/buffered_uarte.rs +++ b/embassy-nrf/src/buffered_uarte.rs @@ -15,7 +15,7 @@ use core::cell::RefCell; use core::cmp::min; -use core::future::Future; +use core::future::{poll_fn, Future}; use core::sync::atomic::{compiler_fence, Ordering}; use core::task::Poll; @@ -23,11 +23,10 @@ use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorag use embassy_hal_common::ring_buffer::RingBuffer; use embassy_hal_common::{into_ref, PeripheralRef}; use embassy_sync::waitqueue::WakerRegistration; -use futures::future::poll_fn; // Re-export SVD variants to allow user to directly set values pub use pac::uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity}; -use crate::gpio::Pin as GpioPin; +use crate::gpio::{self, Pin as GpioPin}; use crate::interrupt::InterruptExt; use crate::ppi::{AnyConfigurableChannel, ConfigurableChannel, Event, Ppi, Task}; use crate::timer::{Frequency, Instance as TimerInstance, Timer}; @@ -429,21 +428,23 @@ impl<'a, U: UarteInstance, T: TimerInstance> Drop for StateInner<'a, U, T> { fn drop(&mut self) { let r = U::regs(); - // TODO this probably deadlocks. do like Uarte instead. - self.timer.stop(); - if let RxState::Receiving = self.rx_state { - r.tasks_stoprx.write(|w| unsafe { w.bits(1) }); - } - if let TxState::Transmitting(_) = self.tx_state { - r.tasks_stoptx.write(|w| unsafe { w.bits(1) }); - } - if let RxState::Receiving = self.rx_state { - low_power_wait_until(|| r.events_endrx.read().bits() == 1); - } - if let TxState::Transmitting(_) = self.tx_state { - low_power_wait_until(|| r.events_endtx.read().bits() == 1); - } + + r.inten.reset(); + r.events_rxto.reset(); + r.tasks_stoprx.write(|w| unsafe { w.bits(1) }); + r.events_txstopped.reset(); + r.tasks_stoptx.write(|w| unsafe { w.bits(1) }); + + while r.events_txstopped.read().bits() == 0 {} + while r.events_rxto.read().bits() == 0 {} + + r.enable.write(|w| w.enable().disabled()); + + gpio::deconfigure_pin(r.psel.rxd.read().bits()); + gpio::deconfigure_pin(r.psel.txd.read().bits()); + gpio::deconfigure_pin(r.psel.rts.read().bits()); + gpio::deconfigure_pin(r.psel.cts.read().bits()); } } @@ -549,13 +550,3 @@ impl<'a, U: UarteInstance, T: TimerInstance> PeripheralState for StateInner<'a, trace!("irq: end"); } } - -/// Low power blocking wait loop using WFE/SEV. -fn low_power_wait_until(mut condition: impl FnMut() -> bool) { - while !condition() { - // WFE might "eat" an event that would have otherwise woken the executor. - cortex_m::asm::wfe(); - } - // Retrigger an event to be transparent to the executor. - cortex_m::asm::sev(); -} diff --git a/embassy-nrf/src/gpiote.rs b/embassy-nrf/src/gpiote.rs index d99f592b0..b418be9d5 100644 --- a/embassy-nrf/src/gpiote.rs +++ b/embassy-nrf/src/gpiote.rs @@ -1,10 +1,9 @@ use core::convert::Infallible; -use core::future::Future; +use core::future::{poll_fn, Future}; use core::task::{Context, Poll}; use embassy_hal_common::{impl_peripheral, Peripheral, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; -use futures::future::poll_fn; use crate::gpio::sealed::Pin as _; use crate::gpio::{AnyPin, Flex, Input, Output, Pin as GpioPin}; diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs index f3b3ca0ca..d7bd21702 100644 --- a/embassy-nrf/src/lib.rs +++ b/embassy-nrf/src/lib.rs @@ -43,7 +43,7 @@ //! mutable slices always reside in RAM. #![no_std] -#![cfg_attr(feature = "nightly", feature(generic_associated_types, type_alias_impl_trait))] +#![cfg_attr(feature = "nightly", feature(type_alias_impl_trait))] #[cfg(not(any( feature = "nrf51", diff --git a/embassy-nrf/src/qdec.rs b/embassy-nrf/src/qdec.rs index 762e09715..253c85c32 100644 --- a/embassy-nrf/src/qdec.rs +++ b/embassy-nrf/src/qdec.rs @@ -1,10 +1,10 @@ //! Quadrature decoder interface +use core::future::poll_fn; use core::task::Poll; use embassy_hal_common::{into_ref, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; -use futures::future::poll_fn; use crate::gpio::sealed::Pin as _; use crate::gpio::{AnyPin, Pin as GpioPin}; diff --git a/embassy-nrf/src/qspi.rs b/embassy-nrf/src/qspi.rs index c97cb1656..ea0a17031 100644 --- a/embassy-nrf/src/qspi.rs +++ b/embassy-nrf/src/qspi.rs @@ -1,11 +1,11 @@ #![macro_use] +use core::future::poll_fn; use core::ptr; use core::task::Poll; use embassy_hal_common::drop::DropBomb; use embassy_hal_common::{into_ref, PeripheralRef}; -use futures::future::poll_fn; use crate::gpio::{self, Pin as GpioPin}; use crate::interrupt::{Interrupt, InterruptExt}; diff --git a/embassy-nrf/src/rng.rs b/embassy-nrf/src/rng.rs index 42da51d0f..e0caeaaee 100644 --- a/embassy-nrf/src/rng.rs +++ b/embassy-nrf/src/rng.rs @@ -1,3 +1,4 @@ +use core::future::poll_fn; use core::ptr; use core::sync::atomic::{AtomicPtr, Ordering}; use core::task::Poll; @@ -5,7 +6,6 @@ use core::task::Poll; use embassy_hal_common::drop::OnDrop; use embassy_hal_common::{into_ref, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; -use futures::future::poll_fn; use crate::interrupt::InterruptExt; use crate::peripherals::RNG; diff --git a/embassy-nrf/src/saadc.rs b/embassy-nrf/src/saadc.rs index 9bc89eb38..d1c82423e 100644 --- a/embassy-nrf/src/saadc.rs +++ b/embassy-nrf/src/saadc.rs @@ -1,12 +1,12 @@ #![macro_use] +use core::future::poll_fn; use core::sync::atomic::{compiler_fence, Ordering}; use core::task::Poll; use embassy_hal_common::drop::OnDrop; use embassy_hal_common::{impl_peripheral, into_ref, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; -use futures::future::poll_fn; use pac::{saadc, SAADC}; use saadc::ch::config::{GAIN_A, REFSEL_A, RESP_A, TACQ_A}; // We treat the positive and negative channels with the same enum values to keep our type tidy and given they are the same diff --git a/embassy-nrf/src/spim.rs b/embassy-nrf/src/spim.rs index 2955182e4..51cd73a47 100644 --- a/embassy-nrf/src/spim.rs +++ b/embassy-nrf/src/spim.rs @@ -1,12 +1,12 @@ #![macro_use] +use core::future::poll_fn; use core::sync::atomic::{compiler_fence, Ordering}; use core::task::Poll; use embassy_embedded_hal::SetConfig; use embassy_hal_common::{into_ref, PeripheralRef}; pub use embedded_hal_02::spi::{Mode, Phase, Polarity, MODE_0, MODE_1, MODE_2, MODE_3}; -use futures::future::poll_fn; pub use pac::spim0::frequency::FREQUENCY_A as Frequency; use crate::chip::FORCE_COPY_BUFFER_SIZE; diff --git a/embassy-nrf/src/temp.rs b/embassy-nrf/src/temp.rs index d520fd686..7a7f61b51 100644 --- a/embassy-nrf/src/temp.rs +++ b/embassy-nrf/src/temp.rs @@ -1,12 +1,12 @@ //! Temperature sensor interface. +use core::future::poll_fn; use core::task::Poll; use embassy_hal_common::drop::OnDrop; use embassy_hal_common::{into_ref, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; use fixed::types::I30F2; -use futures::future::poll_fn; use crate::interrupt::InterruptExt; use crate::peripherals::TEMP; diff --git a/embassy-nrf/src/timer.rs b/embassy-nrf/src/timer.rs index 3de5a8962..bc8710640 100644 --- a/embassy-nrf/src/timer.rs +++ b/embassy-nrf/src/timer.rs @@ -1,12 +1,12 @@ #![macro_use] +use core::future::poll_fn; use core::marker::PhantomData; use core::task::Poll; use embassy_hal_common::drop::OnDrop; use embassy_hal_common::{into_ref, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; -use futures::future::poll_fn; use crate::interrupt::{Interrupt, InterruptExt}; use crate::ppi::{Event, Task}; diff --git a/embassy-nrf/src/twim.rs b/embassy-nrf/src/twim.rs index 3d4af753a..7c6ca1d30 100644 --- a/embassy-nrf/src/twim.rs +++ b/embassy-nrf/src/twim.rs @@ -6,7 +6,7 @@ //! //! - nRF52832: Section 33 //! - nRF52840: Section 6.31 -use core::future::Future; +use core::future::{poll_fn, Future}; use core::sync::atomic::compiler_fence; use core::sync::atomic::Ordering::SeqCst; use core::task::Poll; @@ -16,7 +16,6 @@ use embassy_hal_common::{into_ref, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; #[cfg(feature = "time")] use embassy_time::{Duration, Instant}; -use futures::future::poll_fn; use crate::chip::{EASY_DMA_SIZE, FORCE_COPY_BUFFER_SIZE}; use crate::gpio::Pin as GpioPin; diff --git a/embassy-nrf/src/uarte.rs b/embassy-nrf/src/uarte.rs index c250e24ca..5f9c4f17d 100644 --- a/embassy-nrf/src/uarte.rs +++ b/embassy-nrf/src/uarte.rs @@ -13,12 +13,12 @@ //! memory may be used given that buffers are passed in directly to its read and write //! methods. +use core::future::poll_fn; use core::sync::atomic::{compiler_fence, Ordering}; use core::task::Poll; use embassy_hal_common::drop::OnDrop; use embassy_hal_common::{into_ref, PeripheralRef}; -use futures::future::poll_fn; use pac::uarte0::RegisterBlock; // Re-export SVD variants to allow user to directly set values. pub use pac::uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity}; diff --git a/embassy-nrf/src/usb.rs b/embassy-nrf/src/usb.rs index 688326e9c..20510eb49 100644 --- a/embassy-nrf/src/usb.rs +++ b/embassy-nrf/src/usb.rs @@ -1,5 +1,6 @@ #![macro_use] +use core::future::{poll_fn, Future}; use core::marker::PhantomData; use core::mem::MaybeUninit; use core::sync::atomic::{compiler_fence, AtomicBool, AtomicU32, Ordering}; @@ -9,10 +10,9 @@ use cortex_m::peripheral::NVIC; use embassy_hal_common::{into_ref, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; pub use embassy_usb; -use embassy_usb::driver::{self, EndpointError, Event, Unsupported}; -use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection}; -use futures::future::poll_fn; -use futures::Future; +use embassy_usb::driver::{ + self, Direction, EndpointAddress, EndpointError, EndpointInfo, EndpointType, Event, Unsupported, +}; use pac::usbd::RegisterBlock; use crate::interrupt::{Interrupt, InterruptExt}; @@ -244,7 +244,7 @@ impl<'d, T: Instance, P: UsbSupply + 'd> driver::Driver<'d> for Driver<'d, T, P> interval: u8, ) -> Result { let index = self.alloc_in.allocate(ep_type)?; - let ep_addr = EndpointAddress::from_parts(index, UsbDirection::In); + let ep_addr = EndpointAddress::from_parts(index, Direction::In); Ok(Endpoint::new(EndpointInfo { addr: ep_addr, ep_type, @@ -260,7 +260,7 @@ impl<'d, T: Instance, P: UsbSupply + 'd> driver::Driver<'d> for Driver<'d, T, P> interval: u8, ) -> Result { let index = self.alloc_out.allocate(ep_type)?; - let ep_addr = EndpointAddress::from_parts(index, UsbDirection::Out); + let ep_addr = EndpointAddress::from_parts(index, Direction::Out); Ok(Endpoint::new(EndpointInfo { addr: ep_addr, ep_type, @@ -429,8 +429,8 @@ impl<'d, T: Instance, P: UsbSupply> driver::Bus for Bus<'d, T, P> { let regs = T::regs(); let i = ep_addr.index(); match ep_addr.direction() { - UsbDirection::Out => regs.halted.epout[i].read().getstatus().is_halted(), - UsbDirection::In => regs.halted.epin[i].read().getstatus().is_halted(), + Direction::Out => regs.halted.epout[i].read().getstatus().is_halted(), + Direction::In => regs.halted.epin[i].read().getstatus().is_halted(), } } @@ -443,7 +443,7 @@ impl<'d, T: Instance, P: UsbSupply> driver::Bus for Bus<'d, T, P> { debug!("endpoint_set_enabled {:?} {}", ep_addr, enabled); match ep_addr.direction() { - UsbDirection::In => { + Direction::In => { let mut was_enabled = false; regs.epinen.modify(|r, w| { let mut bits = r.bits(); @@ -467,7 +467,7 @@ impl<'d, T: Instance, P: UsbSupply> driver::Bus for Bus<'d, T, P> { In::waker(i).wake(); } - UsbDirection::Out => { + Direction::Out => { regs.epouten.modify(|r, w| { let mut bits = r.bits(); if enabled { diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml index 3debca710..d0cf8025c 100644 --- a/embassy-rp/Cargo.toml +++ b/embassy-rp/Cargo.toml @@ -6,7 +6,7 @@ edition = "2021" [package.metadata.embassy_docs] src_base = "https://github.com/embassy-rs/embassy/blob/embassy-rp-v$VERSION/embassy-rp/src/" src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-rp/src/" -features = ["nightly", "defmt", "unstable-pac", "unstable-traits"] +features = ["nightly", "defmt", "unstable-pac", "unstable-traits", "time-driver"] flavors = [ { name = "rp2040", target = "thumbv6m-none-eabi" }, ] @@ -20,6 +20,12 @@ defmt = ["dep:defmt", "embassy-usb?/defmt"] # There are no plans to make this stable. unstable-pac = [] +time-driver = [] + +rom-func-cache = [] +intrinsics = [] +rom-v2-intrinsics = [] + # Enable nightly-only features nightly = ["embassy-executor/nightly", "embedded-hal-1", "embedded-hal-async", "embassy-embedded-hal/nightly", "dep:embassy-usb", "dep:embedded-io"] @@ -31,6 +37,7 @@ unstable-traits = ["embedded-hal-1"] embassy-sync = { version = "0.1.0", path = "../embassy-sync" } embassy-executor = { version = "0.1.0", path = "../embassy-executor" } embassy-time = { version = "0.1.0", path = "../embassy-time", features = [ "tick-hz-1_000_000" ] } +embassy-futures = { version = "0.1.0", path = "../embassy-futures" } embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-2"]} embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" } embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" } @@ -44,6 +51,7 @@ cortex-m-rt = ">=0.6.15,<0.8" cortex-m = "0.7.6" critical-section = "1.1" futures = { version = "0.3.17", default-features = false, features = ["async-await"] } +chrono = { version = "0.4", default-features = false, optional = true } embedded-io = { version = "0.3.0", features = ["async"], optional = true } rp2040-pac2 = { git = "https://github.com/embassy-rs/rp2040-pac2", rev="017e3c9007b2d3b6965f0d85b5bf8ce3fa6d7364", features = ["rt"] } diff --git a/embassy-rp/src/clocks.rs b/embassy-rp/src/clocks.rs index 3ad1e5d82..1c446f389 100644 --- a/embassy-rp/src/clocks.rs +++ b/embassy-rp/src/clocks.rs @@ -122,7 +122,7 @@ pub(crate) fn clk_peri_freq() -> u32 { 125_000_000 } -pub(crate) fn _clk_rtc_freq() -> u32 { +pub(crate) fn clk_rtc_freq() -> u32 { 46875 } diff --git a/embassy-rp/src/dma.rs b/embassy-rp/src/dma.rs index acf338225..410c48666 100644 --- a/embassy-rp/src/dma.rs +++ b/embassy-rp/src/dma.rs @@ -1,3 +1,4 @@ +use core::future::Future; use core::pin::Pin; use core::sync::atomic::{compiler_fence, Ordering}; use core::task::{Context, Poll}; @@ -5,7 +6,6 @@ use core::task::{Context, Poll}; use embassy_cortex_m::interrupt::{Interrupt, InterruptExt}; use embassy_hal_common::{impl_peripheral, into_ref, Peripheral, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; -use futures::Future; use pac::dma::vals::DataSize; use crate::pac::dma::vals; @@ -75,6 +75,25 @@ pub unsafe fn write<'a, C: Channel, W: Word>( ) } +pub unsafe fn write_repeated<'a, C: Channel, W: Word>( + ch: impl Peripheral

+ 'a, + to: *mut W, + len: usize, + dreq: u8, +) -> Transfer<'a, C> { + let dummy: u32 = 0; + copy_inner( + ch, + &dummy as *const u32, + to as *mut u32, + len, + W::size(), + false, + false, + dreq, + ) +} + pub unsafe fn copy<'a, C: Channel, W: Word>( ch: impl Peripheral

+ 'a, from: &[W], diff --git a/embassy-rp/src/gpio.rs b/embassy-rp/src/gpio.rs index a0328302a..9b9a08110 100644 --- a/embassy-rp/src/gpio.rs +++ b/embassy-rp/src/gpio.rs @@ -159,7 +159,7 @@ unsafe fn IO_IRQ_BANK0() { w.set_edge_low(pin_group, false); } InterruptTrigger::LevelHigh => { - debug!("IO_IRQ_BANK0 pin {} LevelHigh triggered\n", pin); + debug!("IO_IRQ_BANK0 pin {} LevelHigh triggered", pin); w.set_level_high(pin_group, false); } InterruptTrigger::LevelLow => { @@ -198,7 +198,7 @@ impl<'d, T: Pin> InputFuture<'d, T> { critical_section::with(|_| { pin.int_proc().inte((pin.pin() / 8) as usize).modify(|w| match level { InterruptTrigger::LevelHigh => { - debug!("InputFuture::new enable LevelHigh for pin {} \n", pin.pin()); + debug!("InputFuture::new enable LevelHigh for pin {}", pin.pin()); w.set_level_high(pin_group, true); } InterruptTrigger::LevelLow => { @@ -245,45 +245,45 @@ impl<'d, T: Pin> Future for InputFuture<'d, T> { // the pin and if it has been disabled that means it was done by the // interrupt service routine, so we then know that the event/trigger // happened and Poll::Ready will be returned. - debug!("{:?} for pin {}\n", self.level, self.pin.pin()); + debug!("{:?} for pin {}", self.level, self.pin.pin()); match self.level { InterruptTrigger::AnyEdge => { if !inte.edge_high(pin_group) && !inte.edge_low(pin_group) { #[rustfmt::skip] - debug!("{:?} for pin {} was cleared, return Poll::Ready\n", self.level, self.pin.pin()); + debug!("{:?} for pin {} was cleared, return Poll::Ready", self.level, self.pin.pin()); return Poll::Ready(()); } } InterruptTrigger::LevelHigh => { if !inte.level_high(pin_group) { #[rustfmt::skip] - debug!("{:?} for pin {} was cleared, return Poll::Ready\n", self.level, self.pin.pin()); + debug!("{:?} for pin {} was cleared, return Poll::Ready", self.level, self.pin.pin()); return Poll::Ready(()); } } InterruptTrigger::LevelLow => { if !inte.level_low(pin_group) { #[rustfmt::skip] - debug!("{:?} for pin {} was cleared, return Poll::Ready\n", self.level, self.pin.pin()); + debug!("{:?} for pin {} was cleared, return Poll::Ready", self.level, self.pin.pin()); return Poll::Ready(()); } } InterruptTrigger::EdgeHigh => { if !inte.edge_high(pin_group) { #[rustfmt::skip] - debug!("{:?} for pin {} was cleared, return Poll::Ready\n", self.level, self.pin.pin()); + debug!("{:?} for pin {} was cleared, return Poll::Ready", self.level, self.pin.pin()); return Poll::Ready(()); } } InterruptTrigger::EdgeLow => { if !inte.edge_low(pin_group) { #[rustfmt::skip] - debug!("{:?} for pin {} was cleared, return Poll::Ready\n", self.level, self.pin.pin()); + debug!("{:?} for pin {} was cleared, return Poll::Ready", self.level, self.pin.pin()); return Poll::Ready(()); } } } - debug!("InputFuture::poll return Poll::Pending\n"); + debug!("InputFuture::poll return Poll::Pending"); Poll::Pending } } diff --git a/embassy-rp/src/intrinsics.rs b/embassy-rp/src/intrinsics.rs new file mode 100644 index 000000000..3e75fb7fc --- /dev/null +++ b/embassy-rp/src/intrinsics.rs @@ -0,0 +1,276 @@ +#![macro_use] + +// Credit: taken from `rp-hal` (also licensed Apache+MIT) +// https://github.com/rp-rs/rp-hal/blob/main/rp2040-hal/src/intrinsics.rs + +/// Generate a series of aliases for an intrinsic function. +macro_rules! intrinsics_aliases { + ( + extern $abi:tt fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty, + ) => {}; + ( + unsafe extern $abi:tt fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty, + ) => {}; + + ( + extern $abi:tt fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty, + $alias:ident + $($rest:ident)* + ) => { + #[cfg(all(target_arch = "arm", feature = "intrinsics"))] + intrinsics! { + extern $abi fn $alias( $($argname: $ty),* ) -> $ret { + $name($($argname),*) + } + } + + intrinsics_aliases! { + extern $abi fn $name( $($argname: $ty),* ) -> $ret, + $($rest)* + } + }; + + ( + unsafe extern $abi:tt fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty, + $alias:ident + $($rest:ident)* + ) => { + #[cfg(all(target_arch = "arm", feature = "intrinsics"))] + intrinsics! { + unsafe extern $abi fn $alias( $($argname: $ty),* ) -> $ret { + $name($($argname),*) + } + } + + intrinsics_aliases! { + unsafe extern $abi fn $name( $($argname: $ty),* ) -> $ret, + $($rest)* + } + }; +} + +/// The macro used to define overridden intrinsics. +/// +/// This is heavily inspired by the macro used by compiler-builtins. The idea +/// is to abstract anything special that needs to be done to override an +/// intrinsic function. Intrinsic generation is disabled for non-ARM targets +/// so things like CI and docs generation do not have problems. Additionally +/// they can be disabled by disabling the crate feature `intrinsics` for +/// testing or comparing performance. +/// +/// Like the compiler-builtins macro, it accepts a series of functions that +/// looks like normal Rust code: +/// +/// intrinsics! { +/// extern "C" fn foo(a: i32) -> u32 { +/// // ... +/// } +/// +/// #[nonstandard_attribute] +/// extern "C" fn bar(a: i32) -> u32 { +/// // ... +/// } +/// } +/// +/// Each function can also be decorated with nonstandard attributes to control +/// additional behaviour: +/// +/// * `slower_than_default` - indicates that the override is slower than the +/// default implementation. Currently this just disables the override +/// entirely. +/// * `bootrom_v2` - indicates that the override is only available +/// on a V2 bootrom or higher. Only enabled when the feature +/// `rom-v2-intrinsics` is set. +/// * `alias` - accepts a list of names to alias the intrinsic to. +/// * `aeabi` - accepts a list of ARM EABI names to alias to. +/// +macro_rules! intrinsics { + () => {}; + + ( + #[slower_than_default] + $(#[$($attr:tt)*])* + extern $abi:tt fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty { + $($body:tt)* + } + + $($rest:tt)* + ) => { + // Not exported, but defined so the actual implementation is + // considered used + #[allow(dead_code)] + fn $name( $($argname: $ty),* ) -> $ret { + $($body)* + } + + intrinsics!($($rest)*); + }; + + ( + #[bootrom_v2] + $(#[$($attr:tt)*])* + extern $abi:tt fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty { + $($body:tt)* + } + + $($rest:tt)* + ) => { + // Not exported, but defined so the actual implementation is + // considered used + #[cfg(not(feature = "rom-v2-intrinsics"))] + #[allow(dead_code)] + fn $name( $($argname: $ty),* ) -> $ret { + $($body)* + } + + #[cfg(feature = "rom-v2-intrinsics")] + intrinsics! { + $(#[$($attr)*])* + extern $abi fn $name( $($argname: $ty),* ) -> $ret { + $($body)* + } + } + + intrinsics!($($rest)*); + }; + + ( + #[alias = $($alias:ident),*] + $(#[$($attr:tt)*])* + extern $abi:tt fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty { + $($body:tt)* + } + + $($rest:tt)* + ) => { + intrinsics! { + $(#[$($attr)*])* + extern $abi fn $name( $($argname: $ty),* ) -> $ret { + $($body)* + } + } + + intrinsics_aliases! { + extern $abi fn $name( $($argname: $ty),* ) -> $ret, + $($alias) * + } + + intrinsics!($($rest)*); + }; + + ( + #[alias = $($alias:ident),*] + $(#[$($attr:tt)*])* + unsafe extern $abi:tt fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty { + $($body:tt)* + } + + $($rest:tt)* + ) => { + intrinsics! { + $(#[$($attr)*])* + unsafe extern $abi fn $name( $($argname: $ty),* ) -> $ret { + $($body)* + } + } + + intrinsics_aliases! { + unsafe extern $abi fn $name( $($argname: $ty),* ) -> $ret, + $($alias) * + } + + intrinsics!($($rest)*); + }; + + ( + #[aeabi = $($alias:ident),*] + $(#[$($attr:tt)*])* + extern $abi:tt fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty { + $($body:tt)* + } + + $($rest:tt)* + ) => { + intrinsics! { + $(#[$($attr)*])* + extern $abi fn $name( $($argname: $ty),* ) -> $ret { + $($body)* + } + } + + intrinsics_aliases! { + extern "aapcs" fn $name( $($argname: $ty),* ) -> $ret, + $($alias) * + } + + intrinsics!($($rest)*); + }; + + ( + $(#[$($attr:tt)*])* + extern $abi:tt fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty { + $($body:tt)* + } + + $($rest:tt)* + ) => { + #[cfg(all(target_arch = "arm", feature = "intrinsics"))] + $(#[$($attr)*])* + extern $abi fn $name( $($argname: $ty),* ) -> $ret { + $($body)* + } + + #[cfg(all(target_arch = "arm", feature = "intrinsics"))] + mod $name { + #[no_mangle] + $(#[$($attr)*])* + pub extern $abi fn $name( $($argname: $ty),* ) -> $ret { + super::$name($($argname),*) + } + } + + // Not exported, but defined so the actual implementation is + // considered used + #[cfg(not(all(target_arch = "arm", feature = "intrinsics")))] + #[allow(dead_code)] + fn $name( $($argname: $ty),* ) -> $ret { + $($body)* + } + + intrinsics!($($rest)*); + }; + + ( + $(#[$($attr:tt)*])* + unsafe extern $abi:tt fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty { + $($body:tt)* + } + + $($rest:tt)* + ) => { + #[cfg(all(target_arch = "arm", feature = "intrinsics"))] + $(#[$($attr)*])* + unsafe extern $abi fn $name( $($argname: $ty),* ) -> $ret { + $($body)* + } + + #[cfg(all(target_arch = "arm", feature = "intrinsics"))] + mod $name { + #[no_mangle] + $(#[$($attr)*])* + pub unsafe extern $abi fn $name( $($argname: $ty),* ) -> $ret { + super::$name($($argname),*) + } + } + + // Not exported, but defined so the actual implementation is + // considered used + #[cfg(not(all(target_arch = "arm", feature = "intrinsics")))] + #[allow(dead_code)] + unsafe fn $name( $($argname: $ty),* ) -> $ret { + $($body)* + } + + intrinsics!($($rest)*); + }; +} diff --git a/embassy-rp/src/lib.rs b/embassy-rp/src/lib.rs index aebbbf567..9ac98d226 100644 --- a/embassy-rp/src/lib.rs +++ b/embassy-rp/src/lib.rs @@ -1,13 +1,18 @@ #![no_std] -#![cfg_attr(feature = "nightly", feature(generic_associated_types, type_alias_impl_trait))] +#![cfg_attr(feature = "nightly", feature(type_alias_impl_trait))] // This mod MUST go first, so that the others see its macros. pub(crate) mod fmt; +mod intrinsics; + pub mod dma; pub mod gpio; pub mod interrupt; +pub mod rom_data; +pub mod rtc; pub mod spi; +#[cfg(feature = "time-driver")] pub mod timer; pub mod uart; #[cfg(feature = "nightly")] @@ -84,6 +89,8 @@ embassy_hal_common::peripherals! { DMA_CH11, USB, + + RTC, } #[link_section = ".boot2"] @@ -108,6 +115,7 @@ pub fn init(_config: config::Config) -> Peripherals { unsafe { clocks::init(); + #[cfg(feature = "time-driver")] timer::init(); dma::init(); } diff --git a/embassy-rp/src/rom_data.rs b/embassy-rp/src/rom_data.rs new file mode 100644 index 000000000..757a27114 --- /dev/null +++ b/embassy-rp/src/rom_data.rs @@ -0,0 +1,733 @@ +//! Functions and data from the RPI Bootrom. +//! +//! From the [RP2040 datasheet](https://datasheets.raspberrypi.org/rp2040/rp2040-datasheet.pdf), Section 2.8.2.1: +//! +//! > The Bootrom contains a number of public functions that provide useful +//! > RP2040 functionality that might be needed in the absence of any other code +//! > on the device, as well as highly optimized versions of certain key +//! > functionality that would otherwise have to take up space in most user +//! > binaries. + +// Credit: taken from `rp-hal` (also licensed Apache+MIT) +// https://github.com/rp-rs/rp-hal/blob/main/rp2040-hal/src/rom_data.rs + +/// A bootrom function table code. +pub type RomFnTableCode = [u8; 2]; + +/// This function searches for (table) +type RomTableLookupFn = unsafe extern "C" fn(*const u16, u32) -> T; + +/// The following addresses are described at `2.8.2. Bootrom Contents` +/// Pointer to the lookup table function supplied by the rom. +const ROM_TABLE_LOOKUP_PTR: *const u16 = 0x0000_0018 as _; + +/// Pointer to helper functions lookup table. +const FUNC_TABLE: *const u16 = 0x0000_0014 as _; + +/// Pointer to the public data lookup table. +const DATA_TABLE: *const u16 = 0x0000_0016 as _; + +/// Address of the version number of the ROM. +const VERSION_NUMBER: *const u8 = 0x0000_0013 as _; + +/// Retrive rom content from a table using a code. +fn rom_table_lookup(table: *const u16, tag: RomFnTableCode) -> T { + unsafe { + let rom_table_lookup_ptr: *const u32 = rom_hword_as_ptr(ROM_TABLE_LOOKUP_PTR); + let rom_table_lookup: RomTableLookupFn = core::mem::transmute(rom_table_lookup_ptr); + rom_table_lookup(rom_hword_as_ptr(table) as *const u16, u16::from_le_bytes(tag) as u32) + } +} + +/// To save space, the ROM likes to store memory pointers (which are 32-bit on +/// the Cortex-M0+) using only the bottom 16-bits. The assumption is that the +/// values they point at live in the first 64 KiB of ROM, and the ROM is mapped +/// to address `0x0000_0000` and so 16-bits are always sufficient. +/// +/// This functions grabs a 16-bit value from ROM and expands it out to a full 32-bit pointer. +unsafe fn rom_hword_as_ptr(rom_address: *const u16) -> *const u32 { + let ptr: u16 = *rom_address; + ptr as *const u32 +} + +macro_rules! declare_rom_function { + ( + $(#[$outer:meta])* + fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty + $lookup:block + ) => { + #[doc = r"Additional access for the `"] + #[doc = stringify!($name)] + #[doc = r"` ROM function."] + pub mod $name { + /// Retrieve a function pointer. + #[cfg(not(feature = "rom-func-cache"))] + pub fn ptr() -> extern "C" fn( $($argname: $ty),* ) -> $ret { + let p: *const u32 = $lookup; + unsafe { + let func : extern "C" fn( $($argname: $ty),* ) -> $ret = core::mem::transmute(p); + func + } + } + + /// Retrieve a function pointer. + #[cfg(feature = "rom-func-cache")] + pub fn ptr() -> extern "C" fn( $($argname: $ty),* ) -> $ret { + use core::sync::atomic::{AtomicU16, Ordering}; + + // All pointers in the ROM fit in 16 bits, so we don't need a + // full width word to store the cached value. + static CACHED_PTR: AtomicU16 = AtomicU16::new(0); + // This is safe because the lookup will always resolve + // to the same value. So even if an interrupt or another + // core starts at the same time, it just repeats some + // work and eventually writes back the correct value. + let p: *const u32 = match CACHED_PTR.load(Ordering::Relaxed) { + 0 => { + let raw: *const u32 = $lookup; + CACHED_PTR.store(raw as u16, Ordering::Relaxed); + raw + }, + val => val as *const u32, + }; + unsafe { + let func : extern "C" fn( $($argname: $ty),* ) -> $ret = core::mem::transmute(p); + func + } + } + } + + $(#[$outer])* + pub extern "C" fn $name( $($argname: $ty),* ) -> $ret { + $name::ptr()($($argname),*) + } + }; + + ( + $(#[$outer:meta])* + unsafe fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty + $lookup:block + ) => { + #[doc = r"Additional access for the `"] + #[doc = stringify!($name)] + #[doc = r"` ROM function."] + pub mod $name { + /// Retrieve a function pointer. + #[cfg(not(feature = "rom-func-cache"))] + pub fn ptr() -> unsafe extern "C" fn( $($argname: $ty),* ) -> $ret { + let p: *const u32 = $lookup; + unsafe { + let func : unsafe extern "C" fn( $($argname: $ty),* ) -> $ret = core::mem::transmute(p); + func + } + } + + /// Retrieve a function pointer. + #[cfg(feature = "rom-func-cache")] + pub fn ptr() -> unsafe extern "C" fn( $($argname: $ty),* ) -> $ret { + use core::sync::atomic::{AtomicU16, Ordering}; + + // All pointers in the ROM fit in 16 bits, so we don't need a + // full width word to store the cached value. + static CACHED_PTR: AtomicU16 = AtomicU16::new(0); + // This is safe because the lookup will always resolve + // to the same value. So even if an interrupt or another + // core starts at the same time, it just repeats some + // work and eventually writes back the correct value. + let p: *const u32 = match CACHED_PTR.load(Ordering::Relaxed) { + 0 => { + let raw: *const u32 = $lookup; + CACHED_PTR.store(raw as u16, Ordering::Relaxed); + raw + }, + val => val as *const u32, + }; + unsafe { + let func : unsafe extern "C" fn( $($argname: $ty),* ) -> $ret = core::mem::transmute(p); + func + } + } + } + + $(#[$outer])* + pub unsafe extern "C" fn $name( $($argname: $ty),* ) -> $ret { + $name::ptr()($($argname),*) + } + }; +} + +macro_rules! rom_functions { + () => {}; + + ( + $(#[$outer:meta])* + $c:literal fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty; + + $($rest:tt)* + ) => { + declare_rom_function! { + $(#[$outer])* + fn $name( $($argname: $ty),* ) -> $ret { + $crate::rom_data::rom_table_lookup($crate::rom_data::FUNC_TABLE, *$c) + } + } + + rom_functions!($($rest)*); + }; + + ( + $(#[$outer:meta])* + $c:literal unsafe fn $name:ident( $($argname:ident: $ty:ty),* ) -> $ret:ty; + + $($rest:tt)* + ) => { + declare_rom_function! { + $(#[$outer])* + unsafe fn $name( $($argname: $ty),* ) -> $ret { + $crate::rom_data::rom_table_lookup($crate::rom_data::FUNC_TABLE, *$c) + } + } + + rom_functions!($($rest)*); + }; +} + +rom_functions! { + /// Return a count of the number of 1 bits in value. + b"P3" fn popcount32(value: u32) -> u32; + + /// Return the bits of value in the reverse order. + b"R3" fn reverse32(value: u32) -> u32; + + /// Return the number of consecutive high order 0 bits of value. If value is zero, returns 32. + b"L3" fn clz32(value: u32) -> u32; + + /// Return the number of consecutive low order 0 bits of value. If value is zero, returns 32. + b"T3" fn ctz32(value: u32) -> u32; + + /// Resets the RP2040 and uses the watchdog facility to re-start in BOOTSEL mode: + /// * gpio_activity_pin_mask is provided to enable an 'activity light' via GPIO attached LED + /// for the USB Mass Storage Device: + /// * 0 No pins are used as per cold boot. + /// * Otherwise a single bit set indicating which GPIO pin should be set to output and + /// raised whenever there is mass storage activity from the host. + /// * disable_interface_mask may be used to control the exposed USB interfaces: + /// * 0 To enable both interfaces (as per cold boot). + /// * 1 To disable the USB Mass Storage Interface. + /// * 2 to Disable the USB PICOBOOT Interface. + b"UB" fn reset_to_usb_boot(gpio_activity_pin_mask: u32, disable_interface_mask: u32) -> (); + + /// Sets n bytes start at ptr to the value c and returns ptr + b"MS" unsafe fn memset(ptr: *mut u8, c: u8, n: u32) -> *mut u8; + + /// Sets n bytes start at ptr to the value c and returns ptr. + /// + /// Note this is a slightly more efficient variant of _memset that may only + /// be used if ptr is word aligned. + // Note the datasheet does not match the actual ROM for the code here, see + // https://github.com/raspberrypi/pico-feedback/issues/217 + b"S4" unsafe fn memset4(ptr: *mut u32, c: u8, n: u32) -> *mut u32; + + /// Copies n bytes starting at src to dest and returns dest. The results are undefined if the + /// regions overlap. + b"MC" unsafe fn memcpy(dest: *mut u8, src: *const u8, n: u32) -> *mut u8; + + /// Copies n bytes starting at src to dest and returns dest. The results are undefined if the + /// regions overlap. + /// + /// Note this is a slightly more efficient variant of _memcpy that may only be + /// used if dest and src are word aligned. + b"C4" unsafe fn memcpy44(dest: *mut u32, src: *const u32, n: u32) -> *mut u8; + + /// Restore all QSPI pad controls to their default state, and connect the SSI to the QSPI pads. + b"IF" unsafe fn connect_internal_flash() -> (); + + /// First set up the SSI for serial-mode operations, then issue the fixed XIP exit sequence. + /// + /// Note that the bootrom code uses the IO forcing logic to drive the CS pin, which must be + /// cleared before returning the SSI to XIP mode (e.g. by a call to _flash_flush_cache). This + /// function configures the SSI with a fixed SCK clock divisor of /6. + b"EX" unsafe fn flash_exit_xip() -> (); + + /// Erase a count bytes, starting at addr (offset from start of flash). Optionally, pass a + /// block erase command e.g. D8h block erase, and the size of the block erased by this + /// command — this function will use the larger block erase where possible, for much higher + /// erase speed. addr must be aligned to a 4096-byte sector, and count must be a multiple of + /// 4096 bytes. + b"RE" unsafe fn flash_range_erase(addr: u32, count: usize, block_size: u32, block_cmd: u8) -> (); + + /// Program data to a range of flash addresses starting at `addr` (and + /// offset from the start of flash) and `count` bytes in size. The value + /// `addr` must be aligned to a 256-byte boundary, and `count` must be a + /// multiple of 256. + b"RP" unsafe fn flash_range_program(addr: u32, data: *const u8, count: usize) -> (); + + /// Flush and enable the XIP cache. Also clears the IO forcing on QSPI CSn, so that the SSI can + /// drive the flashchip select as normal. + b"FC" unsafe fn flash_flush_cache() -> (); + + /// Configure the SSI to generate a standard 03h serial read command, with 24 address bits, + /// upon each XIP access. This is a very slow XIP configuration, but is very widely supported. + /// The debugger calls this function after performing a flash erase/programming operation, so + /// that the freshly-programmed code and data is visible to the debug host, without having to + /// know exactly what kind of flash device is connected. + b"CX" unsafe fn flash_enter_cmd_xip() -> (); + + /// This is the method that is entered by core 1 on reset to wait to be launched by core 0. + /// There are few cases where you should call this method (resetting core 1 is much better). + /// This method does not return and should only ever be called on core 1. + b"WV" unsafe fn wait_for_vector() -> !; +} + +// Various C intrinsics in the ROM +intrinsics! { + #[alias = __popcountdi2] + extern "C" fn __popcountsi2(x: u32) -> u32 { + popcount32(x) + } + + #[alias = __clzdi2] + extern "C" fn __clzsi2(x: u32) -> u32 { + clz32(x) + } + + #[alias = __ctzdi2] + extern "C" fn __ctzsi2(x: u32) -> u32 { + ctz32(x) + } + + // __rbit is only unofficial, but it show up in the ARM documentation, + // so may as well hook it up. + #[alias = __rbitl] + extern "C" fn __rbit(x: u32) -> u32 { + reverse32(x) + } + + unsafe extern "aapcs" fn __aeabi_memset(dest: *mut u8, n: usize, c: i32) -> () { + // Different argument order + memset(dest, c as u8, n as u32); + } + + #[alias = __aeabi_memset8] + unsafe extern "aapcs" fn __aeabi_memset4(dest: *mut u8, n: usize, c: i32) -> () { + // Different argument order + memset4(dest as *mut u32, c as u8, n as u32); + } + + unsafe extern "aapcs" fn __aeabi_memclr(dest: *mut u8, n: usize) -> () { + memset(dest, 0, n as u32); + } + + #[alias = __aeabi_memclr8] + unsafe extern "aapcs" fn __aeabi_memclr4(dest: *mut u8, n: usize) -> () { + memset4(dest as *mut u32, 0, n as u32); + } + + unsafe extern "aapcs" fn __aeabi_memcpy(dest: *mut u8, src: *const u8, n: usize) -> () { + memcpy(dest, src, n as u32); + } + + #[alias = __aeabi_memcpy8] + unsafe extern "aapcs" fn __aeabi_memcpy4(dest: *mut u8, src: *const u8, n: usize) -> () { + memcpy44(dest as *mut u32, src as *const u32, n as u32); + } +} + +unsafe fn convert_str(s: *const u8) -> &'static str { + let mut end = s; + while *end != 0 { + end = end.add(1); + } + let s = core::slice::from_raw_parts(s, end.offset_from(s) as usize); + core::str::from_utf8_unchecked(s) +} + +/// The version number of the rom. +pub fn rom_version_number() -> u8 { + unsafe { *VERSION_NUMBER } +} + +/// The Raspberry Pi Trading Ltd copyright string. +pub fn copyright_string() -> &'static str { + let s: *const u8 = rom_table_lookup(DATA_TABLE, *b"CR"); + unsafe { convert_str(s) } +} + +/// The 8 most significant hex digits of the Bootrom git revision. +pub fn git_revision() -> u32 { + let s: *const u32 = rom_table_lookup(DATA_TABLE, *b"GR"); + unsafe { *s } +} + +/// The start address of the floating point library code and data. +/// +/// This and fplib_end along with the individual function pointers in +/// soft_float_table can be used to copy the floating point implementation into +/// RAM if desired. +pub fn fplib_start() -> *const u8 { + rom_table_lookup(DATA_TABLE, *b"FS") +} + +/// See Table 180 in the RP2040 datasheet for the contents of this table. +pub fn soft_float_table() -> *const usize { + rom_table_lookup(DATA_TABLE, *b"SF") +} + +/// The end address of the floating point library code and data. +pub fn fplib_end() -> *const u8 { + rom_table_lookup(DATA_TABLE, *b"FE") +} + +/// This entry is only present in the V2 bootrom. See Table 182 in the RP2040 datasheet for the contents of this table. +pub fn soft_double_table() -> *const usize { + if rom_version_number() < 2 { + panic!( + "Double precision operations require V2 bootrom (found: V{})", + rom_version_number() + ); + } + rom_table_lookup(DATA_TABLE, *b"SD") +} + +/// ROM functions using single-precision arithmetic (i.e. 'f32' in Rust terms) +pub mod float_funcs { + + macro_rules! make_functions { + ( + $( + $(#[$outer:meta])* + $offset:literal $name:ident ( + $( $aname:ident : $aty:ty ),* + ) -> $ret:ty; + )* + ) => { + $( + declare_rom_function! { + $(#[$outer])* + fn $name( $( $aname : $aty ),* ) -> $ret { + let table: *const usize = $crate::rom_data::soft_float_table(); + unsafe { + // This is the entry in the table. Our offset is given as a + // byte offset, but we want the table index (each pointer in + // the table is 4 bytes long) + let entry: *const usize = table.offset($offset / 4); + // Read the pointer from the table + core::ptr::read(entry) as *const u32 + } + } + } + )* + } + } + + make_functions! { + /// Calculates `a + b` + 0x00 fadd(a: f32, b: f32) -> f32; + /// Calculates `a - b` + 0x04 fsub(a: f32, b: f32) -> f32; + /// Calculates `a * b` + 0x08 fmul(a: f32, b: f32) -> f32; + /// Calculates `a / b` + 0x0c fdiv(a: f32, b: f32) -> f32; + + // 0x10 and 0x14 are deprecated + + /// Calculates `sqrt(v)` (or return -Infinity if v is negative) + 0x18 fsqrt(v: f32) -> f32; + /// Converts an f32 to a signed integer, + /// rounding towards -Infinity, and clamping the result to lie within the + /// range `-0x80000000` to `0x7FFFFFFF` + 0x1c float_to_int(v: f32) -> i32; + /// Converts an f32 to an signed fixed point + /// integer representation where n specifies the position of the binary + /// point in the resulting fixed point representation, e.g. + /// `f(0.5f, 16) == 0x8000`. This method rounds towards -Infinity, + /// and clamps the resulting integer to lie within the range `0x00000000` to + /// `0xFFFFFFFF` + 0x20 float_to_fix(v: f32, n: i32) -> i32; + /// Converts an f32 to an unsigned integer, + /// rounding towards -Infinity, and clamping the result to lie within the + /// range `0x00000000` to `0xFFFFFFFF` + 0x24 float_to_uint(v: f32) -> u32; + /// Converts an f32 to an unsigned fixed point + /// integer representation where n specifies the position of the binary + /// point in the resulting fixed point representation, e.g. + /// `f(0.5f, 16) == 0x8000`. This method rounds towards -Infinity, + /// and clamps the resulting integer to lie within the range `0x00000000` to + /// `0xFFFFFFFF` + 0x28 float_to_ufix(v: f32, n: i32) -> u32; + /// Converts a signed integer to the nearest + /// f32 value, rounding to even on tie + 0x2c int_to_float(v: i32) -> f32; + /// Converts a signed fixed point integer + /// representation to the nearest f32 value, rounding to even on tie. `n` + /// specifies the position of the binary point in fixed point, so `f = + /// nearest(v/(2^n))` + 0x30 fix_to_float(v: i32, n: i32) -> f32; + /// Converts an unsigned integer to the nearest + /// f32 value, rounding to even on tie + 0x34 uint_to_float(v: u32) -> f32; + /// Converts an unsigned fixed point integer + /// representation to the nearest f32 value, rounding to even on tie. `n` + /// specifies the position of the binary point in fixed point, so `f = + /// nearest(v/(2^n))` + 0x38 ufix_to_float(v: u32, n: i32) -> f32; + /// Calculates the cosine of `angle`. The value + /// of `angle` is in radians, and must be in the range `-1024` to `1024` + 0x3c fcos(angle: f32) -> f32; + /// Calculates the sine of `angle`. The value of + /// `angle` is in radians, and must be in the range `-1024` to `1024` + 0x40 fsin(angle: f32) -> f32; + /// Calculates the tangent of `angle`. The value + /// of `angle` is in radians, and must be in the range `-1024` to `1024` + 0x44 ftan(angle: f32) -> f32; + + // 0x48 is deprecated + + /// Calculates the exponential value of `v`, + /// i.e. `e ** v` + 0x4c fexp(v: f32) -> f32; + /// Calculates the natural logarithm of `v`. If `v <= 0` return -Infinity + 0x50 fln(v: f32) -> f32; + } + + macro_rules! make_functions_v2 { + ( + $( + $(#[$outer:meta])* + $offset:literal $name:ident ( + $( $aname:ident : $aty:ty ),* + ) -> $ret:ty; + )* + ) => { + $( + declare_rom_function! { + $(#[$outer])* + fn $name( $( $aname : $aty ),* ) -> $ret { + if $crate::rom_data::rom_version_number() < 2 { + panic!( + "Floating point function requires V2 bootrom (found: V{})", + $crate::rom_data::rom_version_number() + ); + } + let table: *const usize = $crate::rom_data::soft_float_table(); + unsafe { + // This is the entry in the table. Our offset is given as a + // byte offset, but we want the table index (each pointer in + // the table is 4 bytes long) + let entry: *const usize = table.offset($offset / 4); + // Read the pointer from the table + core::ptr::read(entry) as *const u32 + } + } + } + )* + } + } + + // These are only on BootROM v2 or higher + make_functions_v2! { + /// Compares two floating point numbers, returning: + /// • 0 if a == b + /// • -1 if a < b + /// • 1 if a > b + 0x54 fcmp(a: f32, b: f32) -> i32; + /// Computes the arc tangent of `y/x` using the + /// signs of arguments to determine the correct quadrant + 0x58 fatan2(y: f32, x: f32) -> f32; + /// Converts a signed 64-bit integer to the + /// nearest f32 value, rounding to even on tie + 0x5c int64_to_float(v: i64) -> f32; + /// Converts a signed fixed point 64-bit integer + /// representation to the nearest f32 value, rounding to even on tie. `n` + /// specifies the position of the binary point in fixed point, so `f = + /// nearest(v/(2^n))` + 0x60 fix64_to_float(v: i64, n: i32) -> f32; + /// Converts an unsigned 64-bit integer to the + /// nearest f32 value, rounding to even on tie + 0x64 uint64_to_float(v: u64) -> f32; + /// Converts an unsigned fixed point 64-bit + /// integer representation to the nearest f32 value, rounding to even on + /// tie. `n` specifies the position of the binary point in fixed point, so + /// `f = nearest(v/(2^n))` + 0x68 ufix64_to_float(v: u64, n: i32) -> f32; + /// Convert an f32 to a signed 64-bit integer, rounding towards -Infinity, + /// and clamping the result to lie within the range `-0x8000000000000000` to + /// `0x7FFFFFFFFFFFFFFF` + 0x6c float_to_int64(v: f32) -> i64; + /// Converts an f32 to a signed fixed point + /// 64-bit integer representation where n specifies the position of the + /// binary point in the resulting fixed point representation - e.g. `f(0.5f, + /// 16) == 0x8000`. This method rounds towards -Infinity, and clamps the + /// resulting integer to lie within the range `-0x8000000000000000` to + /// `0x7FFFFFFFFFFFFFFF` + 0x70 float_to_fix64(v: f32, n: i32) -> f32; + /// Converts an f32 to an unsigned 64-bit + /// integer, rounding towards -Infinity, and clamping the result to lie + /// within the range `0x0000000000000000` to `0xFFFFFFFFFFFFFFFF` + 0x74 float_to_uint64(v: f32) -> u64; + /// Converts an f32 to an unsigned fixed point + /// 64-bit integer representation where n specifies the position of the + /// binary point in the resulting fixed point representation, e.g. `f(0.5f, + /// 16) == 0x8000`. This method rounds towards -Infinity, and clamps the + /// resulting integer to lie within the range `0x0000000000000000` to + /// `0xFFFFFFFFFFFFFFFF` + 0x78 float_to_ufix64(v: f32, n: i32) -> u64; + /// Converts an f32 to an f64. + 0x7c float_to_double(v: f32) -> f64; + } +} + +/// Functions using double-precision arithmetic (i.e. 'f64' in Rust terms) +pub mod double_funcs { + + macro_rules! make_double_funcs { + ( + $( + $(#[$outer:meta])* + $offset:literal $name:ident ( + $( $aname:ident : $aty:ty ),* + ) -> $ret:ty; + )* + ) => { + $( + declare_rom_function! { + $(#[$outer])* + fn $name( $( $aname : $aty ),* ) -> $ret { + let table: *const usize = $crate::rom_data::soft_double_table(); + unsafe { + // This is the entry in the table. Our offset is given as a + // byte offset, but we want the table index (each pointer in + // the table is 4 bytes long) + let entry: *const usize = table.offset($offset / 4); + // Read the pointer from the table + core::ptr::read(entry) as *const u32 + } + } + } + )* + } + } + + make_double_funcs! { + /// Calculates `a + b` + 0x00 dadd(a: f64, b: f64) -> f64; + /// Calculates `a - b` + 0x04 dsub(a: f64, b: f64) -> f64; + /// Calculates `a * b` + 0x08 dmul(a: f64, b: f64) -> f64; + /// Calculates `a / b` + 0x0c ddiv(a: f64, b: f64) -> f64; + + // 0x10 and 0x14 are deprecated + + /// Calculates `sqrt(v)` (or return -Infinity if v is negative) + 0x18 dsqrt(v: f64) -> f64; + /// Converts an f64 to a signed integer, + /// rounding towards -Infinity, and clamping the result to lie within the + /// range `-0x80000000` to `0x7FFFFFFF` + 0x1c double_to_int(v: f64) -> i32; + /// Converts an f64 to an signed fixed point + /// integer representation where n specifies the position of the binary + /// point in the resulting fixed point representation, e.g. + /// `f(0.5f, 16) == 0x8000`. This method rounds towards -Infinity, + /// and clamps the resulting integer to lie within the range `0x00000000` to + /// `0xFFFFFFFF` + 0x20 double_to_fix(v: f64, n: i32) -> i32; + /// Converts an f64 to an unsigned integer, + /// rounding towards -Infinity, and clamping the result to lie within the + /// range `0x00000000` to `0xFFFFFFFF` + 0x24 double_to_uint(v: f64) -> u32; + /// Converts an f64 to an unsigned fixed point + /// integer representation where n specifies the position of the binary + /// point in the resulting fixed point representation, e.g. + /// `f(0.5f, 16) == 0x8000`. This method rounds towards -Infinity, + /// and clamps the resulting integer to lie within the range `0x00000000` to + /// `0xFFFFFFFF` + 0x28 double_to_ufix(v: f64, n: i32) -> u32; + /// Converts a signed integer to the nearest + /// double value, rounding to even on tie + 0x2c int_to_double(v: i32) -> f64; + /// Converts a signed fixed point integer + /// representation to the nearest double value, rounding to even on tie. `n` + /// specifies the position of the binary point in fixed point, so `f = + /// nearest(v/(2^n))` + 0x30 fix_to_double(v: i32, n: i32) -> f64; + /// Converts an unsigned integer to the nearest + /// double value, rounding to even on tie + 0x34 uint_to_double(v: u32) -> f64; + /// Converts an unsigned fixed point integer + /// representation to the nearest double value, rounding to even on tie. `n` + /// specifies the position of the binary point in fixed point, so f = + /// nearest(v/(2^n)) + 0x38 ufix_to_double(v: u32, n: i32) -> f64; + /// Calculates the cosine of `angle`. The value + /// of `angle` is in radians, and must be in the range `-1024` to `1024` + 0x3c dcos(angle: f64) -> f64; + /// Calculates the sine of `angle`. The value of + /// `angle` is in radians, and must be in the range `-1024` to `1024` + 0x40 dsin(angle: f64) -> f64; + /// Calculates the tangent of `angle`. The value + /// of `angle` is in radians, and must be in the range `-1024` to `1024` + 0x44 dtan(angle: f64) -> f64; + + // 0x48 is deprecated + + /// Calculates the exponential value of `v`, + /// i.e. `e ** v` + 0x4c dexp(v: f64) -> f64; + /// Calculates the natural logarithm of v. If v <= 0 return -Infinity + 0x50 dln(v: f64) -> f64; + + // These are only on BootROM v2 or higher + + /// Compares two floating point numbers, returning: + /// • 0 if a == b + /// • -1 if a < b + /// • 1 if a > b + 0x54 dcmp(a: f64, b: f64) -> i32; + /// Computes the arc tangent of `y/x` using the + /// signs of arguments to determine the correct quadrant + 0x58 datan2(y: f64, x: f64) -> f64; + /// Converts a signed 64-bit integer to the + /// nearest double value, rounding to even on tie + 0x5c int64_to_double(v: i64) -> f64; + /// Converts a signed fixed point 64-bit integer + /// representation to the nearest double value, rounding to even on tie. `n` + /// specifies the position of the binary point in fixed point, so `f = + /// nearest(v/(2^n))` + 0x60 fix64_to_doubl(v: i64, n: i32) -> f64; + /// Converts an unsigned 64-bit integer to the + /// nearest double value, rounding to even on tie + 0x64 uint64_to_double(v: u64) -> f64; + /// Converts an unsigned fixed point 64-bit + /// integer representation to the nearest double value, rounding to even on + /// tie. `n` specifies the position of the binary point in fixed point, so + /// `f = nearest(v/(2^n))` + 0x68 ufix64_to_double(v: u64, n: i32) -> f64; + /// Convert an f64 to a signed 64-bit integer, rounding towards -Infinity, + /// and clamping the result to lie within the range `-0x8000000000000000` to + /// `0x7FFFFFFFFFFFFFFF` + 0x6c double_to_int64(v: f64) -> i64; + /// Converts an f64 to a signed fixed point + /// 64-bit integer representation where n specifies the position of the + /// binary point in the resulting fixed point representation - e.g. `f(0.5f, + /// 16) == 0x8000`. This method rounds towards -Infinity, and clamps the + /// resulting integer to lie within the range `-0x8000000000000000` to + /// `0x7FFFFFFFFFFFFFFF` + 0x70 double_to_fix64(v: f64, n: i32) -> i64; + /// Converts an f64 to an unsigned 64-bit + /// integer, rounding towards -Infinity, and clamping the result to lie + /// within the range `0x0000000000000000` to `0xFFFFFFFFFFFFFFFF` + 0x74 double_to_uint64(v: f64) -> u64; + /// Converts an f64 to an unsigned fixed point + /// 64-bit integer representation where n specifies the position of the + /// binary point in the resulting fixed point representation, e.g. `f(0.5f, + /// 16) == 0x8000`. This method rounds towards -Infinity, and clamps the + /// resulting integer to lie within the range `0x0000000000000000` to + /// `0xFFFFFFFFFFFFFFFF` + 0x78 double_to_ufix64(v: f64, n: i32) -> u64; + /// Converts an f64 to an f32 + 0x7c double_to_float(v: f64) -> f32; + } +} diff --git a/embassy-rp/src/rtc/datetime_chrono.rs b/embassy-rp/src/rtc/datetime_chrono.rs new file mode 100644 index 000000000..b3c78dd47 --- /dev/null +++ b/embassy-rp/src/rtc/datetime_chrono.rs @@ -0,0 +1,62 @@ +use chrono::{Datelike, Timelike}; + +use crate::pac::rtc::regs::{Rtc0, Rtc1, Setup0, Setup1}; + +/// Alias for [`chrono::NaiveDateTime`] +pub type DateTime = chrono::NaiveDateTime; +/// Alias for [`chrono::Weekday`] +pub type DayOfWeek = chrono::Weekday; + +/// Errors regarding the [`DateTime`] and [`DateTimeFilter`] structs. +/// +/// [`DateTimeFilter`]: struct.DateTimeFilter.html +#[derive(Clone, Debug, PartialEq, Eq)] +pub enum Error { + /// The [DateTime] has an invalid year. The year must be between 0 and 4095. + InvalidYear, + /// The [DateTime] contains an invalid date. + InvalidDate, + /// The [DateTime] contains an invalid time. + InvalidTime, +} + +pub(super) fn day_of_week_to_u8(dotw: DayOfWeek) -> u8 { + dotw.num_days_from_sunday() as u8 +} + +pub(crate) fn validate_datetime(dt: &DateTime) -> Result<(), Error> { + if dt.year() < 0 || dt.year() > 4095 { + // rp2040 can't hold these years + Err(Error::InvalidYear) + } else { + // The rest of the chrono date is assumed to be valid + Ok(()) + } +} + +pub(super) fn write_setup_0(dt: &DateTime, w: &mut Setup0) { + w.set_year(dt.year() as u16); + w.set_month(dt.month() as u8); + w.set_day(dt.day() as u8); +} + +pub(super) fn write_setup_1(dt: &DateTime, w: &mut Setup1) { + w.set_dotw(dt.weekday().num_days_from_sunday() as u8); + w.set_hour(dt.hour() as u8); + w.set_min(dt.minute() as u8); + w.set_sec(dt.second() as u8); +} + +pub(super) fn datetime_from_registers(rtc_0: Rtc0, rtc_1: Rtc1) -> Result { + let year = rtc_1.year() as i32; + let month = rtc_1.month() as u32; + let day = rtc_1.day() as u32; + + let hour = rtc_0.hour() as u32; + let minute = rtc_0.min() as u32; + let second = rtc_0.sec() as u32; + + let date = chrono::NaiveDate::from_ymd_opt(year, month, day).ok_or(Error::InvalidDate)?; + let time = chrono::NaiveTime::from_hms_opt(hour, minute, second).ok_or(Error::InvalidTime)?; + Ok(DateTime::new(date, time)) +} diff --git a/embassy-rp/src/rtc/datetime_no_deps.rs b/embassy-rp/src/rtc/datetime_no_deps.rs new file mode 100644 index 000000000..92770e984 --- /dev/null +++ b/embassy-rp/src/rtc/datetime_no_deps.rs @@ -0,0 +1,127 @@ +use crate::pac::rtc::regs::{Rtc0, Rtc1, Setup0, Setup1}; + +/// Errors regarding the [`DateTime`] and [`DateTimeFilter`] structs. +/// +/// [`DateTimeFilter`]: struct.DateTimeFilter.html +#[derive(Clone, Debug, PartialEq, Eq)] +pub enum Error { + /// The [DateTime] contains an invalid year value. Must be between `0..=4095`. + InvalidYear, + /// The [DateTime] contains an invalid month value. Must be between `1..=12`. + InvalidMonth, + /// The [DateTime] contains an invalid day value. Must be between `1..=31`. + InvalidDay, + /// The [DateTime] contains an invalid day of week. Must be between `0..=6` where 0 is Sunday. + InvalidDayOfWeek( + /// The value of the DayOfWeek that was given. + u8, + ), + /// The [DateTime] contains an invalid hour value. Must be between `0..=23`. + InvalidHour, + /// The [DateTime] contains an invalid minute value. Must be between `0..=59`. + InvalidMinute, + /// The [DateTime] contains an invalid second value. Must be between `0..=59`. + InvalidSecond, +} + +/// Structure containing date and time information +pub struct DateTime { + /// 0..4095 + pub year: u16, + /// 1..12, 1 is January + pub month: u8, + /// 1..28,29,30,31 depending on month + pub day: u8, + /// + pub day_of_week: DayOfWeek, + /// 0..23 + pub hour: u8, + /// 0..59 + pub minute: u8, + /// 0..59 + pub second: u8, +} + +/// A day of the week +#[repr(u8)] +#[derive(Copy, Clone, Debug, PartialEq, Eq, Ord, PartialOrd, Hash)] +#[allow(missing_docs)] +pub enum DayOfWeek { + Sunday = 0, + Monday = 1, + Tuesday = 2, + Wednesday = 3, + Thursday = 4, + Friday = 5, + Saturday = 6, +} + +fn day_of_week_from_u8(v: u8) -> Result { + Ok(match v { + 0 => DayOfWeek::Sunday, + 1 => DayOfWeek::Monday, + 2 => DayOfWeek::Tuesday, + 3 => DayOfWeek::Wednesday, + 4 => DayOfWeek::Thursday, + 5 => DayOfWeek::Friday, + 6 => DayOfWeek::Saturday, + x => return Err(Error::InvalidDayOfWeek(x)), + }) +} + +pub(super) fn day_of_week_to_u8(dotw: DayOfWeek) -> u8 { + dotw as u8 +} + +pub(super) fn validate_datetime(dt: &DateTime) -> Result<(), Error> { + if dt.year > 4095 { + Err(Error::InvalidYear) + } else if dt.month < 1 || dt.month > 12 { + Err(Error::InvalidMonth) + } else if dt.day < 1 || dt.day > 31 { + Err(Error::InvalidDay) + } else if dt.hour > 23 { + Err(Error::InvalidHour) + } else if dt.minute > 59 { + Err(Error::InvalidMinute) + } else if dt.second > 59 { + Err(Error::InvalidSecond) + } else { + Ok(()) + } +} + +pub(super) fn write_setup_0(dt: &DateTime, w: &mut Setup0) { + w.set_year(dt.year); + w.set_month(dt.month); + w.set_day(dt.day); +} + +pub(super) fn write_setup_1(dt: &DateTime, w: &mut Setup1) { + w.set_dotw(dt.day_of_week as u8); + w.set_hour(dt.hour); + w.set_min(dt.minute); + w.set_sec(dt.second); +} + +pub(super) fn datetime_from_registers(rtc_0: Rtc0, rtc_1: Rtc1) -> Result { + let year = rtc_1.year(); + let month = rtc_1.month(); + let day = rtc_1.day(); + + let day_of_week = rtc_0.dotw(); + let hour = rtc_0.hour(); + let minute = rtc_0.min(); + let second = rtc_0.sec(); + + let day_of_week = day_of_week_from_u8(day_of_week)?; + Ok(DateTime { + year, + month, + day, + day_of_week, + hour, + minute, + second, + }) +} diff --git a/embassy-rp/src/rtc/filter.rs b/embassy-rp/src/rtc/filter.rs new file mode 100644 index 000000000..d4a3bab2f --- /dev/null +++ b/embassy-rp/src/rtc/filter.rs @@ -0,0 +1,100 @@ +use super::DayOfWeek; +use crate::pac::rtc::regs::{IrqSetup0, IrqSetup1}; + +/// A filter used for [`RealTimeClock::schedule_alarm`]. +/// +/// [`RealTimeClock::schedule_alarm`]: struct.RealTimeClock.html#method.schedule_alarm +#[derive(Default)] +pub struct DateTimeFilter { + /// The year that this alarm should trigger on, `None` if the RTC alarm should not trigger on a year value. + pub year: Option, + /// The month that this alarm should trigger on, `None` if the RTC alarm should not trigger on a month value. + pub month: Option, + /// The day that this alarm should trigger on, `None` if the RTC alarm should not trigger on a day value. + pub day: Option, + /// The day of week that this alarm should trigger on, `None` if the RTC alarm should not trigger on a day of week value. + pub day_of_week: Option, + /// The hour that this alarm should trigger on, `None` if the RTC alarm should not trigger on a hour value. + pub hour: Option, + /// The minute that this alarm should trigger on, `None` if the RTC alarm should not trigger on a minute value. + pub minute: Option, + /// The second that this alarm should trigger on, `None` if the RTC alarm should not trigger on a second value. + pub second: Option, +} + +impl DateTimeFilter { + /// Set a filter on the given year + pub fn year(mut self, year: u16) -> Self { + self.year = Some(year); + self + } + /// Set a filter on the given month + pub fn month(mut self, month: u8) -> Self { + self.month = Some(month); + self + } + /// Set a filter on the given day + pub fn day(mut self, day: u8) -> Self { + self.day = Some(day); + self + } + /// Set a filter on the given day of the week + pub fn day_of_week(mut self, day_of_week: DayOfWeek) -> Self { + self.day_of_week = Some(day_of_week); + self + } + /// Set a filter on the given hour + pub fn hour(mut self, hour: u8) -> Self { + self.hour = Some(hour); + self + } + /// Set a filter on the given minute + pub fn minute(mut self, minute: u8) -> Self { + self.minute = Some(minute); + self + } + /// Set a filter on the given second + pub fn second(mut self, second: u8) -> Self { + self.second = Some(second); + self + } +} + +// register helper functions +impl DateTimeFilter { + pub(super) fn write_setup_0(&self, w: &mut IrqSetup0) { + if let Some(year) = self.year { + w.set_year_ena(true); + + w.set_year(year); + } + if let Some(month) = self.month { + w.set_month_ena(true); + w.set_month(month); + } + if let Some(day) = self.day { + w.set_day_ena(true); + w.set_day(day); + } + } + pub(super) fn write_setup_1(&self, w: &mut IrqSetup1) { + if let Some(day_of_week) = self.day_of_week { + w.set_dotw_ena(true); + let bits = super::datetime::day_of_week_to_u8(day_of_week); + + w.set_dotw(bits); + } + if let Some(hour) = self.hour { + w.set_hour_ena(true); + w.set_hour(hour); + } + if let Some(minute) = self.minute { + w.set_min_ena(true); + w.set_min(minute); + } + if let Some(second) = self.second { + w.set_sec_ena(true); + w.set_sec(second); + } + } +} diff --git a/embassy-rp/src/rtc/mod.rs b/embassy-rp/src/rtc/mod.rs new file mode 100644 index 000000000..7f3bbbe73 --- /dev/null +++ b/embassy-rp/src/rtc/mod.rs @@ -0,0 +1,188 @@ +mod filter; + +use embassy_hal_common::{into_ref, Peripheral, PeripheralRef}; + +pub use self::filter::DateTimeFilter; + +#[cfg_attr(feature = "chrono", path = "datetime_chrono.rs")] +#[cfg_attr(not(feature = "chrono"), path = "datetime_no_deps.rs")] +mod datetime; + +pub use self::datetime::{DateTime, DayOfWeek, Error as DateTimeError}; +use crate::clocks::clk_rtc_freq; + +/// A reference to the real time clock of the system +pub struct RealTimeClock<'d, T: Instance> { + inner: PeripheralRef<'d, T>, +} + +impl<'d, T: Instance> RealTimeClock<'d, T> { + /// Create a new instance of the real time clock, with the given date as an initial value. + /// + /// # Errors + /// + /// Will return `RtcError::InvalidDateTime` if the datetime is not a valid range. + pub fn new(inner: impl Peripheral

+ 'd, initial_date: DateTime) -> Result { + into_ref!(inner); + + // Set the RTC divider + unsafe { + inner + .regs() + .clkdiv_m1() + .write(|w| w.set_clkdiv_m1(clk_rtc_freq() as u16 - 1)) + }; + + let mut result = Self { inner }; + result.set_leap_year_check(true); // should be on by default, make sure this is the case. + result.set_datetime(initial_date)?; + Ok(result) + } + + /// Enable or disable the leap year check. The rp2040 chip will always add a Feb 29th on every year that is divisable by 4, but this may be incorrect (e.g. on century years). This function allows you to disable this check. + /// + /// Leap year checking is enabled by default. + pub fn set_leap_year_check(&mut self, leap_year_check_enabled: bool) { + unsafe { + self.inner + .regs() + .ctrl() + .modify(|w| w.set_force_notleapyear(!leap_year_check_enabled)) + }; + } + + /// Checks to see if this RealTimeClock is running + pub fn is_running(&self) -> bool { + unsafe { self.inner.regs().ctrl().read().rtc_active() } + } + + /// Set the datetime to a new value. + /// + /// # Errors + /// + /// Will return `RtcError::InvalidDateTime` if the datetime is not a valid range. + pub fn set_datetime(&mut self, t: DateTime) -> Result<(), RtcError> { + self::datetime::validate_datetime(&t).map_err(RtcError::InvalidDateTime)?; + + // disable RTC while we configure it + unsafe { + self.inner.regs().ctrl().modify(|w| w.set_rtc_enable(false)); + while self.inner.regs().ctrl().read().rtc_active() { + core::hint::spin_loop(); + } + + self.inner.regs().setup_0().write(|w| { + self::datetime::write_setup_0(&t, w); + }); + self.inner.regs().setup_1().write(|w| { + self::datetime::write_setup_1(&t, w); + }); + + // Load the new datetime and re-enable RTC + self.inner.regs().ctrl().write(|w| w.set_load(true)); + self.inner.regs().ctrl().write(|w| w.set_rtc_enable(true)); + while !self.inner.regs().ctrl().read().rtc_active() { + core::hint::spin_loop(); + } + } + Ok(()) + } + + /// Return the current datetime. + /// + /// # Errors + /// + /// Will return an `RtcError::InvalidDateTime` if the stored value in the system is not a valid [`DayOfWeek`]. + pub fn now(&self) -> Result { + if !self.is_running() { + return Err(RtcError::NotRunning); + } + + let rtc_0 = unsafe { self.inner.regs().rtc_0().read() }; + let rtc_1 = unsafe { self.inner.regs().rtc_1().read() }; + + self::datetime::datetime_from_registers(rtc_0, rtc_1).map_err(RtcError::InvalidDateTime) + } + + /// Disable the alarm that was scheduled with [`schedule_alarm`]. + /// + /// [`schedule_alarm`]: #method.schedule_alarm + pub fn disable_alarm(&mut self) { + unsafe { + self.inner.regs().irq_setup_0().modify(|s| s.set_match_ena(false)); + + while self.inner.regs().irq_setup_0().read().match_active() { + core::hint::spin_loop(); + } + } + } + + /// Schedule an alarm. The `filter` determines at which point in time this alarm is set. + /// + /// Keep in mind that the filter only triggers on the specified time. If you want to schedule this alarm every minute, you have to call: + /// ```no_run + /// # #[cfg(feature = "chrono")] + /// # fn main() { } + /// # #[cfg(not(feature = "chrono"))] + /// # fn main() { + /// # use embassy_rp::rtc::{RealTimeClock, DateTimeFilter}; + /// # let mut real_time_clock: RealTimeClock = unsafe { core::mem::zeroed() }; + /// let now = real_time_clock.now().unwrap(); + /// real_time_clock.schedule_alarm( + /// DateTimeFilter::default() + /// .minute(if now.minute == 59 { 0 } else { now.minute + 1 }) + /// ); + /// # } + /// ``` + pub fn schedule_alarm(&mut self, filter: DateTimeFilter) { + self.disable_alarm(); + + unsafe { + self.inner.regs().irq_setup_0().write(|w| { + filter.write_setup_0(w); + }); + self.inner.regs().irq_setup_1().write(|w| { + filter.write_setup_1(w); + }); + + // Set the enable bit and check if it is set + self.inner.regs().irq_setup_0().modify(|w| w.set_match_ena(true)); + while !self.inner.regs().irq_setup_0().read().match_active() { + core::hint::spin_loop(); + } + } + } + + /// Clear the interrupt. This should be called every time the `RTC_IRQ` interrupt is triggered, + /// or the next [`schedule_alarm`] will never fire. + /// + /// [`schedule_alarm`]: #method.schedule_alarm + pub fn clear_interrupt(&mut self) { + self.disable_alarm(); + } +} + +/// Errors that can occur on methods on [RtcClock] +#[derive(Clone, Debug, PartialEq, Eq)] +pub enum RtcError { + /// An invalid DateTime was given or stored on the hardware. + InvalidDateTime(DateTimeError), + + /// The RTC clock is not running + NotRunning, +} + +mod sealed { + pub trait Instance { + fn regs(&self) -> crate::pac::rtc::Rtc; + } +} + +pub trait Instance: sealed::Instance {} + +impl sealed::Instance for crate::peripherals::RTC { + fn regs(&self) -> crate::pac::rtc::Rtc { + crate::pac::RTC + } +} +impl Instance for crate::peripherals::RTC {} diff --git a/embassy-rp/src/spi.rs b/embassy-rp/src/spi.rs index 74f0b04de..03293e064 100644 --- a/embassy-rp/src/spi.rs +++ b/embassy-rp/src/spi.rs @@ -1,9 +1,9 @@ use core::marker::PhantomData; use embassy_embedded_hal::SetConfig; +use embassy_futures::join::join; use embassy_hal_common::{into_ref, PeripheralRef}; pub use embedded_hal_02::spi::{Phase, Polarity}; -use futures::future::join; use crate::dma::{AnyChannel, Channel}; use crate::gpio::sealed::Pin as _; @@ -325,30 +325,52 @@ impl<'d, T: Instance> Spi<'d, T, Async> { } pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error> { - let ch = self.tx_dma.as_mut().unwrap(); - let transfer = unsafe { + let tx_ch = self.tx_dma.as_mut().unwrap(); + let tx_transfer = unsafe { self.inner.regs().dmacr().modify(|reg| { reg.set_txdmae(true); }); // 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(ch, buffer, self.inner.regs().dr().ptr() as *mut _, T::TX_DREQ) + crate::dma::write(tx_ch, buffer, self.inner.regs().dr().ptr() as *mut _, T::TX_DREQ) }; - transfer.await; + tx_transfer.await; + + 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(()) } pub async fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error> { - let ch = self.rx_dma.as_mut().unwrap(); - let transfer = unsafe { - self.inner.regs().dmacr().modify(|reg| { + 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::read(ch, self.inner.regs().dr().ptr() as *const _, buffer, T::RX_DREQ) + crate::dma::write_repeated(tx_ch, self.inner.regs().dr().ptr() as *mut u8, buffer.len(), T::TX_DREQ) }; - transfer.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 + // is held across an await and makes the future non-Send. + crate::dma::read(rx_ch, self.inner.regs().dr().ptr() as *const _, buffer, T::RX_DREQ) + }; + join(tx_transfer, rx_transfer).await; Ok(()) } @@ -364,20 +386,20 @@ impl<'d, T: Instance> Spi<'d, T, Async> { 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); + 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 { - self.inner.regs().dmacr().modify(|reg| { - reg.set_txdmae(true); - }); // 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 rx_ch = self.rx_dma.as_mut().unwrap(); let rx_transfer = unsafe { - self.inner.regs().dmacr().modify(|reg| { - reg.set_rxdmae(true); - }); // 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::read(rx_ch, self.inner.regs().dr().ptr() as *const _, rx_ptr, T::RX_DREQ) diff --git a/embassy-rp/src/usb.rs b/embassy-rp/src/usb.rs index 82eafdefd..ce473b21d 100644 --- a/embassy-rp/src/usb.rs +++ b/embassy-rp/src/usb.rs @@ -1,3 +1,4 @@ +use core::future::{poll_fn, Future}; use core::marker::PhantomData; use core::slice; use core::sync::atomic::Ordering; @@ -6,10 +7,9 @@ use core::task::Poll; use atomic_polyfill::compiler_fence; use embassy_hal_common::into_ref; use embassy_sync::waitqueue::AtomicWaker; -use embassy_usb::driver::{self, EndpointAllocError, EndpointError, Event, Unsupported}; -use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection}; -use futures::future::poll_fn; -use futures::Future; +use embassy_usb::driver::{ + self, Direction, EndpointAddress, EndpointAllocError, EndpointError, EndpointInfo, EndpointType, Event, Unsupported, +}; use crate::interrupt::{Interrupt, InterruptExt}; use crate::{pac, peripherals, Peripheral, RegExt}; @@ -205,8 +205,8 @@ impl<'d, T: Instance> Driver<'d, T> { ); let alloc = match D::dir() { - UsbDirection::Out => &mut self.ep_out, - UsbDirection::In => &mut self.ep_in, + Direction::Out => &mut self.ep_out, + Direction::In => &mut self.ep_in, }; let index = alloc.iter_mut().enumerate().find(|(i, ep)| { @@ -255,7 +255,7 @@ impl<'d, T: Instance> Driver<'d, T> { }; match D::dir() { - UsbDirection::Out => unsafe { + Direction::Out => unsafe { T::dpram().ep_out_control(index - 1).write(|w| { w.set_enable(false); w.set_buffer_address(addr); @@ -263,7 +263,7 @@ impl<'d, T: Instance> Driver<'d, T> { w.set_endpoint_type(ep_type_reg); }) }, - UsbDirection::In => unsafe { + Direction::In => unsafe { T::dpram().ep_in_control(index - 1).write(|w| { w.set_enable(false); w.set_buffer_address(addr); @@ -430,14 +430,14 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> { let n = ep_addr.index(); match ep_addr.direction() { - UsbDirection::In => unsafe { + Direction::In => unsafe { T::dpram().ep_in_control(n - 1).modify(|w| w.set_enable(enabled)); T::dpram().ep_in_buffer_control(ep_addr.index()).write(|w| { w.set_pid(0, true); // first packet is DATA0, but PID is flipped before }); EP_IN_WAKERS[n].wake(); }, - UsbDirection::Out => unsafe { + Direction::Out => unsafe { T::dpram().ep_out_control(n - 1).modify(|w| w.set_enable(enabled)); T::dpram().ep_out_buffer_control(ep_addr.index()).write(|w| { @@ -475,14 +475,14 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> { } trait Dir { - fn dir() -> UsbDirection; + fn dir() -> Direction; fn waker(i: usize) -> &'static AtomicWaker; } pub enum In {} impl Dir for In { - fn dir() -> UsbDirection { - UsbDirection::In + fn dir() -> Direction { + Direction::In } #[inline] @@ -493,8 +493,8 @@ impl Dir for In { pub enum Out {} impl Dir for Out { - fn dir() -> UsbDirection { - UsbDirection::Out + fn dir() -> Direction { + Direction::Out } #[inline] diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml index b4c19f32e..484496f24 100644 --- a/embassy-stm32/Cargo.toml +++ b/embassy-stm32/Cargo.toml @@ -34,6 +34,7 @@ flavors = [ embassy-sync = { version = "0.1.0", path = "../embassy-sync" } embassy-executor = { version = "0.1.0", path = "../embassy-executor" } embassy-time = { version = "0.1.0", path = "../embassy-time", optional = true } +embassy-futures = { version = "0.1.0", path = "../embassy-futures" } embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-4"]} embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" } embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" } diff --git a/embassy-stm32/src/can/bxcan.rs b/embassy-stm32/src/can/bxcan.rs index c0bd44e0f..bd92b35a0 100644 --- a/embassy-stm32/src/can/bxcan.rs +++ b/embassy-stm32/src/can/bxcan.rs @@ -12,6 +12,7 @@ pub struct Can<'d, T: Instance> { } impl<'d, T: Instance> Can<'d, T> { + /// Creates a new Bxcan instance, blocking for 11 recessive bits to sync with the CAN bus. pub fn new( peri: impl Peripheral

+ 'd, rx: impl Peripheral

> + 'd, @@ -31,6 +32,28 @@ impl<'d, T: Instance> Can<'d, T> { can: bxcan::Can::builder(BxcanInstance(peri)).enable(), } } + + /// Creates a new Bxcan instance, keeping the peripheral in sleep mode. + /// You must call [Can::enable_non_blocking] to use the peripheral. + pub fn new_disabled( + peri: impl Peripheral

+ 'd, + rx: impl Peripheral

> + 'd, + tx: impl Peripheral

> + 'd, + ) -> Self { + into_ref!(peri, rx, tx); + + unsafe { + rx.set_as_af(rx.af_num(), AFType::Input); + tx.set_as_af(tx.af_num(), AFType::OutputPushPull); + } + + T::enable(); + T::reset(); + + Self { + can: bxcan::Can::builder(BxcanInstance(peri)).leave_disabled(), + } + } } impl<'d, T: Instance> Drop for Can<'d, T> { diff --git a/embassy-stm32/src/dcmi.rs b/embassy-stm32/src/dcmi.rs index fb9dc9d08..20e1a4070 100644 --- a/embassy-stm32/src/dcmi.rs +++ b/embassy-stm32/src/dcmi.rs @@ -1,8 +1,8 @@ +use core::future::poll_fn; use core::task::Poll; use embassy_hal_common::{into_ref, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; -use futures::future::poll_fn; use crate::gpio::sealed::AFType; use crate::gpio::Speed; @@ -429,7 +429,7 @@ where } }); - let (_, result) = futures::future::join(dma_read, result).await; + let (_, result) = embassy_futures::join::join(dma_read, result).await; unsafe { Self::toggle(false) }; @@ -537,7 +537,7 @@ where unsafe { Self::toggle(true) }; - let (_, result) = futures::future::join(dma_result, result).await; + let (_, result) = embassy_futures::join::join(dma_result, result).await; unsafe { Self::toggle(false) }; diff --git a/embassy-stm32/src/eth/v1/mod.rs b/embassy-stm32/src/eth/v1/mod.rs index 1ab0438ad..38629a932 100644 --- a/embassy-stm32/src/eth/v1/mod.rs +++ b/embassy-stm32/src/eth/v1/mod.rs @@ -29,7 +29,7 @@ use super::*; pub struct State<'d, T: Instance, const TX: usize, const RX: usize>(StateStorage>); impl<'d, T: Instance, const TX: usize, const RX: usize> State<'d, T, TX, RX> { - pub fn new() -> Self { + pub const fn new() -> Self { Self(StateStorage::new()) } } diff --git a/embassy-stm32/src/eth/v2/mod.rs b/embassy-stm32/src/eth/v2/mod.rs index d67c3c5e4..a81ee1183 100644 --- a/embassy-stm32/src/eth/v2/mod.rs +++ b/embassy-stm32/src/eth/v2/mod.rs @@ -19,7 +19,7 @@ use super::*; pub struct State<'d, T: Instance, const TX: usize, const RX: usize>(StateStorage>); impl<'d, T: Instance, const TX: usize, const RX: usize> State<'d, T, TX, RX> { - pub fn new() -> Self { + pub const fn new() -> Self { Self(StateStorage::new()) } } diff --git a/embassy-stm32/src/i2c/v2.rs b/embassy-stm32/src/i2c/v2.rs index db4924461..b7c89931c 100644 --- a/embassy-stm32/src/i2c/v2.rs +++ b/embassy-stm32/src/i2c/v2.rs @@ -1,4 +1,5 @@ use core::cmp; +use core::future::poll_fn; use core::task::Poll; use atomic_polyfill::{AtomicUsize, Ordering}; @@ -6,7 +7,6 @@ use embassy_embedded_hal::SetConfig; use embassy_hal_common::drop::OnDrop; use embassy_hal_common::{into_ref, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; -use futures::future::poll_fn; use crate::dma::NoDma; use crate::gpio::sealed::AFType; diff --git a/embassy-stm32/src/lib.rs b/embassy-stm32/src/lib.rs index 30ff02d56..0392e8086 100644 --- a/embassy-stm32/src/lib.rs +++ b/embassy-stm32/src/lib.rs @@ -1,5 +1,5 @@ #![no_std] -#![cfg_attr(feature = "nightly", feature(generic_associated_types, type_alias_impl_trait))] +#![cfg_attr(feature = "nightly", feature(type_alias_impl_trait))] // This must go FIRST so that all the other modules see its macros. pub mod fmt; diff --git a/embassy-stm32/src/rng.rs b/embassy-stm32/src/rng.rs index 520f2ab9a..10fc4a75e 100644 --- a/embassy-stm32/src/rng.rs +++ b/embassy-stm32/src/rng.rs @@ -1,10 +1,10 @@ #![macro_use] +use core::future::poll_fn; use core::task::Poll; use embassy_hal_common::{into_ref, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; -use futures::future::poll_fn; use rand_core::{CryptoRng, RngCore}; use crate::{pac, peripherals, Peripheral}; diff --git a/embassy-stm32/src/sdmmc/mod.rs b/embassy-stm32/src/sdmmc/mod.rs index 67758c492..a8bc6385f 100644 --- a/embassy-stm32/src/sdmmc/mod.rs +++ b/embassy-stm32/src/sdmmc/mod.rs @@ -1,12 +1,12 @@ #![macro_use] use core::default::Default; +use core::future::poll_fn; use core::task::Poll; use embassy_hal_common::drop::OnDrop; use embassy_hal_common::{into_ref, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; -use futures::future::poll_fn; use sdio_host::{BusWidth, CardCapacity, CardStatus, CurrentState, SDStatus, CID, CSD, OCR, SCR}; use crate::dma::NoDma; diff --git a/embassy-stm32/src/spi/mod.rs b/embassy-stm32/src/spi/mod.rs index 02e6020b0..556d12305 100644 --- a/embassy-stm32/src/spi/mod.rs +++ b/embassy-stm32/src/spi/mod.rs @@ -3,9 +3,9 @@ use core::ptr; use embassy_embedded_hal::SetConfig; +use embassy_futures::join::join; use embassy_hal_common::{into_ref, PeripheralRef}; pub use embedded_hal_02::spi::{Mode, Phase, Polarity, MODE_0, MODE_1, MODE_2, MODE_3}; -use futures::future::join; use self::sealed::WordSize; use crate::dma::{slice_ptr_parts, NoDma, Transfer}; diff --git a/embassy-stm32/src/usart/buffered.rs b/embassy-stm32/src/usart/buffered.rs index a7fa43894..46c49a997 100644 --- a/embassy-stm32/src/usart/buffered.rs +++ b/embassy-stm32/src/usart/buffered.rs @@ -1,17 +1,16 @@ -use core::future::Future; +use core::future::{poll_fn, Future}; use core::task::Poll; use atomic_polyfill::{compiler_fence, Ordering}; use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage}; use embassy_hal_common::ring_buffer::RingBuffer; use embassy_sync::waitqueue::WakerRegistration; -use futures::future::poll_fn; use super::*; pub struct State<'d, T: BasicInstance>(StateStorage>); impl<'d, T: BasicInstance> State<'d, T> { - pub fn new() -> Self { + pub const fn new() -> Self { Self(StateStorage::new()) } } diff --git a/embassy-stm32/src/usb/usb.rs b/embassy-stm32/src/usb/usb.rs index db965824a..39809a3e1 100644 --- a/embassy-stm32/src/usb/usb.rs +++ b/embassy-stm32/src/usb/usb.rs @@ -1,5 +1,6 @@ #![macro_use] +use core::future::{poll_fn, Future}; use core::marker::PhantomData; use core::sync::atomic::Ordering; use core::task::Poll; @@ -8,10 +9,9 @@ use atomic_polyfill::{AtomicBool, AtomicU8}; use embassy_hal_common::into_ref; use embassy_sync::waitqueue::AtomicWaker; use embassy_time::{block_for, Duration}; -use embassy_usb::driver::{self, EndpointAllocError, EndpointError, Event, Unsupported}; -use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection}; -use futures::future::poll_fn; -use futures::Future; +use embassy_usb::driver::{ + self, Direction, EndpointAddress, EndpointAllocError, EndpointError, EndpointInfo, EndpointType, Event, Unsupported, +}; use pac::common::{Reg, RW}; use pac::usb::vals::{EpType, Stat}; @@ -280,8 +280,8 @@ impl<'d, T: Instance> Driver<'d, T> { } let used = ep.used_out || ep.used_in; let used_dir = match D::dir() { - UsbDirection::Out => ep.used_out, - UsbDirection::In => ep.used_in, + Direction::Out => ep.used_out, + Direction::In => ep.used_in, }; !used || (ep.ep_type == ep_type && !used_dir) }); @@ -294,7 +294,7 @@ impl<'d, T: Instance> Driver<'d, T> { ep.ep_type = ep_type; let buf = match D::dir() { - UsbDirection::Out => { + Direction::Out => { assert!(!ep.used_out); ep.used_out = true; @@ -313,7 +313,7 @@ impl<'d, T: Instance> Driver<'d, T> { _phantom: PhantomData, } } - UsbDirection::In => { + Direction::In => { assert!(!ep.used_in); ep.used_in = true; @@ -505,7 +505,7 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> { // This can race, so do a retry loop. let reg = T::regs().epr(ep_addr.index() as _); match ep_addr.direction() { - UsbDirection::In => { + Direction::In => { loop { let r = unsafe { reg.read() }; match r.stat_tx() { @@ -524,7 +524,7 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> { } EP_IN_WAKERS[ep_addr.index()].wake(); } - UsbDirection::Out => { + Direction::Out => { loop { let r = unsafe { reg.read() }; match r.stat_rx() { @@ -550,8 +550,8 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> { let regs = T::regs(); let epr = unsafe { regs.epr(ep_addr.index() as _).read() }; match ep_addr.direction() { - UsbDirection::In => epr.stat_tx() == Stat::STALL, - UsbDirection::Out => epr.stat_rx() == Stat::STALL, + Direction::In => epr.stat_tx() == Stat::STALL, + Direction::Out => epr.stat_rx() == Stat::STALL, } } @@ -561,7 +561,7 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> { let reg = T::regs().epr(ep_addr.index() as _); trace!("EPR before: {:04x}", unsafe { reg.read() }.0); match ep_addr.direction() { - UsbDirection::In => { + Direction::In => { loop { let want_stat = match enabled { false => Stat::DISABLED, @@ -577,7 +577,7 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> { } EP_IN_WAKERS[ep_addr.index()].wake(); } - UsbDirection::Out => { + Direction::Out => { loop { let want_stat = match enabled { false => Stat::DISABLED, @@ -617,14 +617,14 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> { } trait Dir { - fn dir() -> UsbDirection; + fn dir() -> Direction; fn waker(i: usize) -> &'static AtomicWaker; } pub enum In {} impl Dir for In { - fn dir() -> UsbDirection { - UsbDirection::In + fn dir() -> Direction { + Direction::In } #[inline] @@ -635,8 +635,8 @@ impl Dir for In { pub enum Out {} impl Dir for Out { - fn dir() -> UsbDirection { - UsbDirection::Out + fn dir() -> Direction { + Direction::Out } #[inline] diff --git a/embassy-sync/src/lib.rs b/embassy-sync/src/lib.rs index 25150e8aa..80bb907a3 100644 --- a/embassy-sync/src/lib.rs +++ b/embassy-sync/src/lib.rs @@ -1,5 +1,5 @@ #![cfg_attr(not(any(feature = "std", feature = "wasm")), no_std)] -#![cfg_attr(feature = "nightly", feature(generic_associated_types, type_alias_impl_trait))] +#![cfg_attr(feature = "nightly", feature(type_alias_impl_trait))] #![allow(clippy::new_without_default)] #![doc = include_str!("../README.md")] #![warn(missing_docs)] diff --git a/embassy-sync/src/mutex.rs b/embassy-sync/src/mutex.rs index 75a6e8dd3..fcf056d36 100644 --- a/embassy-sync/src/mutex.rs +++ b/embassy-sync/src/mutex.rs @@ -2,11 +2,10 @@ //! //! This module provides a mutex that can be used to synchronize data between asynchronous tasks. use core::cell::{RefCell, UnsafeCell}; +use core::future::poll_fn; use core::ops::{Deref, DerefMut}; use core::task::Poll; -use futures_util::future::poll_fn; - use crate::blocking_mutex::raw::RawMutex; use crate::blocking_mutex::Mutex as BlockingMutex; use crate::waitqueue::WakerRegistration; @@ -111,6 +110,22 @@ where Ok(MutexGuard { mutex: self }) } + + /// Consumes this mutex, returning the underlying data. + pub fn into_inner(self) -> T + where + T: Sized, + { + self.inner.into_inner() + } + + /// Returns a mutable reference to the underlying data. + /// + /// Since this call borrows the Mutex mutably, no actual locking needs to + /// take place -- the mutable borrow statically guarantees no locks exist. + pub fn get_mut(&mut self) -> &mut T { + self.inner.get_mut() + } } /// Async mutex guard. diff --git a/embassy-sync/src/signal.rs b/embassy-sync/src/signal.rs index f6ebeb9b9..c3c10a8af 100644 --- a/embassy-sync/src/signal.rs +++ b/embassy-sync/src/signal.rs @@ -1,9 +1,11 @@ //! A synchronization primitive for passing the latest value to a task. -use core::cell::UnsafeCell; -use core::future::Future; -use core::mem; +use core::cell::Cell; +use core::future::{poll_fn, Future}; use core::task::{Context, Poll, Waker}; +use crate::blocking_mutex::raw::RawMutex; +use crate::blocking_mutex::Mutex; + /// Single-slot signaling primitive. /// /// This is similar to a [`Channel`](crate::channel::Channel) with a buffer size of 1, except @@ -20,16 +22,20 @@ use core::task::{Context, Poll, Waker}; /// /// ``` /// use embassy_sync::signal::Signal; +/// use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; /// /// enum SomeCommand { /// On, /// Off, /// } /// -/// static SOME_SIGNAL: Signal = Signal::new(); +/// static SOME_SIGNAL: Signal = Signal::new(); /// ``` -pub struct Signal { - state: UnsafeCell>, +pub struct Signal +where + M: RawMutex, +{ + state: Mutex>>, } enum State { @@ -38,24 +44,27 @@ enum State { Signaled(T), } -unsafe impl Send for Signal {} -unsafe impl Sync for Signal {} - -impl Signal { +impl Signal +where + M: RawMutex, +{ /// Create a new `Signal`. pub const fn new() -> Self { Self { - state: UnsafeCell::new(State::None), + state: Mutex::new(Cell::new(State::None)), } } } -impl Signal { +impl Signal +where + M: RawMutex, +{ /// Mark this Signal as signaled. pub fn signal(&self, val: T) { - critical_section::with(|_| unsafe { - let state = &mut *self.state.get(); - if let State::Waiting(waker) = mem::replace(state, State::Signaled(val)) { + self.state.lock(|cell| { + let state = cell.replace(State::Signaled(val)); + if let State::Waiting(waker) = state { waker.wake(); } }) @@ -63,38 +72,46 @@ impl Signal { /// Remove the queued value in this `Signal`, if any. pub fn reset(&self) { - critical_section::with(|_| unsafe { - let state = &mut *self.state.get(); - *state = State::None - }) + self.state.lock(|cell| cell.set(State::None)); } - /// Manually poll the Signal future. - pub fn poll_wait(&self, cx: &mut Context<'_>) -> Poll { - critical_section::with(|_| unsafe { - let state = &mut *self.state.get(); + fn poll_wait(&self, cx: &mut Context<'_>) -> Poll { + self.state.lock(|cell| { + let state = cell.replace(State::None); match state { State::None => { - *state = State::Waiting(cx.waker().clone()); + cell.set(State::Waiting(cx.waker().clone())); Poll::Pending } - State::Waiting(w) if w.will_wake(cx.waker()) => Poll::Pending, - State::Waiting(_) => panic!("waker overflow"), - State::Signaled(_) => match mem::replace(state, State::None) { - State::Signaled(res) => Poll::Ready(res), - _ => unreachable!(), - }, + State::Waiting(w) if w.will_wake(cx.waker()) => { + cell.set(State::Waiting(w)); + Poll::Pending + } + State::Waiting(w) => { + cell.set(State::Waiting(cx.waker().clone())); + w.wake(); + Poll::Pending + } + State::Signaled(res) => Poll::Ready(res), } }) } /// Future that completes when this Signal has been signaled. pub fn wait(&self) -> impl Future + '_ { - futures_util::future::poll_fn(move |cx| self.poll_wait(cx)) + poll_fn(move |cx| self.poll_wait(cx)) } /// non-blocking method to check whether this signal has been signaled. pub fn signaled(&self) -> bool { - critical_section::with(|_| matches!(unsafe { &*self.state.get() }, State::Signaled(_))) + self.state.lock(|cell| { + let state = cell.replace(State::None); + + let res = matches!(state, State::Signaled(_)); + + cell.set(state); + + res + }) } } diff --git a/embassy-time/src/lib.rs b/embassy-time/src/lib.rs index 5b2620986..4edc883fe 100644 --- a/embassy-time/src/lib.rs +++ b/embassy-time/src/lib.rs @@ -1,5 +1,5 @@ #![cfg_attr(not(any(feature = "std", feature = "wasm")), no_std)] -#![cfg_attr(feature = "nightly", feature(generic_associated_types, type_alias_impl_trait))] +#![cfg_attr(feature = "nightly", feature(type_alias_impl_trait))] #![doc = include_str!("../README.md")] #![allow(clippy::new_without_default)] #![warn(missing_docs)] diff --git a/embassy-usb-ncm/Cargo.toml b/embassy-usb-driver/Cargo.toml similarity index 55% rename from embassy-usb-ncm/Cargo.toml rename to embassy-usb-driver/Cargo.toml index 15d3db96f..b525df337 100644 --- a/embassy-usb-ncm/Cargo.toml +++ b/embassy-usb-driver/Cargo.toml @@ -1,17 +1,16 @@ [package] -name = "embassy-usb-ncm" +name = "embassy-usb-driver" version = "0.1.0" edition = "2021" +# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html + [package.metadata.embassy_docs] -src_base = "https://github.com/embassy-rs/embassy/blob/embassy-usb-ncm-v$VERSION/embassy-usb-ncm/src/" -src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-usb-ncm/src/" +src_base = "https://github.com/embassy-rs/embassy/blob/embassy-usb-driver-v$VERSION/embassy-usb/src/" +src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-usb-driver/src/" features = ["defmt"] target = "thumbv7em-none-eabi" [dependencies] -embassy-sync = { version = "0.1.0", path = "../embassy-sync" } -embassy-usb = { version = "0.1.0", path = "../embassy-usb" } - defmt = { version = "0.3", optional = true } -log = { version = "0.4.14", optional = true } +log = { version = "0.4.14", optional = true } \ No newline at end of file diff --git a/embassy-usb/src/driver.rs b/embassy-usb-driver/src/lib.rs similarity index 73% rename from embassy-usb/src/driver.rs rename to embassy-usb-driver/src/lib.rs index 7888f1639..fc29786fc 100644 --- a/embassy-usb/src/driver.rs +++ b/embassy-usb-driver/src/lib.rs @@ -1,6 +1,104 @@ +#![no_std] + use core::future::Future; -use super::types::*; +/// Direction of USB traffic. Note that in the USB standard the direction is always indicated from +/// the perspective of the host, which is backward for devices, but the standard directions are used +/// for consistency. +/// +/// The values of the enum also match the direction bit used in endpoint addresses and control +/// request types. +#[derive(Copy, Clone, Eq, PartialEq, Debug)] +#[cfg_attr(feature = "defmt", derive(defmt::Format))] +pub enum Direction { + /// Host to device (OUT) + Out, + /// Device to host (IN) + In, +} + +/// USB endpoint transfer type. The values of this enum can be directly cast into `u8` to get the +/// transfer bmAttributes transfer type bits. +#[repr(u8)] +#[derive(Copy, Clone, Eq, PartialEq, Debug)] +#[cfg_attr(feature = "defmt", derive(defmt::Format))] +pub enum EndpointType { + /// Control endpoint. Used for device management. Only the host can initiate requests. Usually + /// used only endpoint 0. + Control = 0b00, + /// Isochronous endpoint. Used for time-critical unreliable data. Not implemented yet. + Isochronous = 0b01, + /// Bulk endpoint. Used for large amounts of best-effort reliable data. + Bulk = 0b10, + /// Interrupt endpoint. Used for small amounts of time-critical reliable data. + Interrupt = 0b11, +} + +/// Type-safe endpoint address. +#[derive(Debug, Clone, Copy, Eq, PartialEq)] +#[cfg_attr(feature = "defmt", derive(defmt::Format))] +pub struct EndpointAddress(u8); + +impl From for EndpointAddress { + #[inline] + fn from(addr: u8) -> EndpointAddress { + EndpointAddress(addr) + } +} + +impl From for u8 { + #[inline] + fn from(addr: EndpointAddress) -> u8 { + addr.0 + } +} + +impl EndpointAddress { + const INBITS: u8 = Direction::In as u8; + + /// Constructs a new EndpointAddress with the given index and direction. + #[inline] + pub fn from_parts(index: usize, dir: Direction) -> Self { + EndpointAddress(index as u8 | dir as u8) + } + + /// Gets the direction part of the address. + #[inline] + pub fn direction(&self) -> Direction { + if (self.0 & Self::INBITS) != 0 { + Direction::In + } else { + Direction::Out + } + } + + /// Returns true if the direction is IN, otherwise false. + #[inline] + pub fn is_in(&self) -> bool { + (self.0 & Self::INBITS) != 0 + } + + /// Returns true if the direction is OUT, otherwise false. + #[inline] + pub fn is_out(&self) -> bool { + (self.0 & Self::INBITS) == 0 + } + + /// Gets the index part of the endpoint address. + #[inline] + pub fn index(&self) -> usize { + (self.0 & !Self::INBITS) as usize + } +} + +#[derive(Copy, Clone, Eq, PartialEq, Debug)] +#[cfg_attr(feature = "defmt", derive(defmt::Format))] +pub struct EndpointInfo { + pub addr: EndpointAddress, + pub ep_type: EndpointType, + pub max_packet_size: u16, + pub interval: u8, +} /// Driver for a specific USB peripheral. Implement this to add support for a new hardware /// platform. diff --git a/embassy-usb-hid/Cargo.toml b/embassy-usb-hid/Cargo.toml deleted file mode 100644 index 2f7733dc6..000000000 --- a/embassy-usb-hid/Cargo.toml +++ /dev/null @@ -1,24 +0,0 @@ -[package] -name = "embassy-usb-hid" -version = "0.1.0" -edition = "2021" - -[package.metadata.embassy_docs] -src_base = "https://github.com/embassy-rs/embassy/blob/embassy-usb-hid-v$VERSION/embassy-usb-hid/src/" -src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-usb-hid/src/" -features = ["defmt"] -target = "thumbv7em-none-eabi" - -[features] -default = ["usbd-hid"] -usbd-hid = ["dep:usbd-hid", "ssmarshal"] - -[dependencies] -embassy-sync = { version = "0.1.0", path = "../embassy-sync" } -embassy-usb = { version = "0.1.0", path = "../embassy-usb" } - -defmt = { version = "0.3", optional = true } -log = { version = "0.4.14", optional = true } -usbd-hid = { version = "0.6.0", optional = true } -ssmarshal = { version = "1.0", default-features = false, optional = true } -futures-util = { version = "0.3.21", default-features = false } diff --git a/embassy-usb-hid/src/fmt.rs b/embassy-usb-hid/src/fmt.rs deleted file mode 100644 index 066970813..000000000 --- a/embassy-usb-hid/src/fmt.rs +++ /dev/null @@ -1,225 +0,0 @@ -#![macro_use] -#![allow(unused_macros)] - -#[cfg(all(feature = "defmt", feature = "log"))] -compile_error!("You may not enable both `defmt` and `log` features."); - -macro_rules! assert { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::assert!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::assert!($($x)*); - } - }; -} - -macro_rules! assert_eq { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::assert_eq!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::assert_eq!($($x)*); - } - }; -} - -macro_rules! assert_ne { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::assert_ne!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::assert_ne!($($x)*); - } - }; -} - -macro_rules! debug_assert { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::debug_assert!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::debug_assert!($($x)*); - } - }; -} - -macro_rules! debug_assert_eq { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::debug_assert_eq!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::debug_assert_eq!($($x)*); - } - }; -} - -macro_rules! debug_assert_ne { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::debug_assert_ne!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::debug_assert_ne!($($x)*); - } - }; -} - -macro_rules! todo { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::todo!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::todo!($($x)*); - } - }; -} - -macro_rules! unreachable { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::unreachable!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::unreachable!($($x)*); - } - }; -} - -macro_rules! panic { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::panic!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::panic!($($x)*); - } - }; -} - -macro_rules! trace { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::trace!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::trace!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -macro_rules! debug { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::debug!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::debug!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -macro_rules! info { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::info!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::info!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -macro_rules! warn { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::warn!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::warn!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -macro_rules! error { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::error!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::error!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -#[cfg(feature = "defmt")] -macro_rules! unwrap { - ($($x:tt)*) => { - ::defmt::unwrap!($($x)*) - }; -} - -#[cfg(not(feature = "defmt"))] -macro_rules! unwrap { - ($arg:expr) => { - match $crate::fmt::Try::into_result($arg) { - ::core::result::Result::Ok(t) => t, - ::core::result::Result::Err(e) => { - ::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e); - } - } - }; - ($arg:expr, $($msg:expr),+ $(,)? ) => { - match $crate::fmt::Try::into_result($arg) { - ::core::result::Result::Ok(t) => t, - ::core::result::Result::Err(e) => { - ::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e); - } - } - } -} - -#[derive(Debug, Copy, Clone, Eq, PartialEq)] -pub struct NoneError; - -pub trait Try { - type Ok; - type Error; - fn into_result(self) -> Result; -} - -impl Try for Option { - type Ok = T; - type Error = NoneError; - - #[inline] - fn into_result(self) -> Result { - self.ok_or(NoneError) - } -} - -impl Try for Result { - type Ok = T; - type Error = E; - - #[inline] - fn into_result(self) -> Self { - self - } -} diff --git a/embassy-usb-ncm/src/fmt.rs b/embassy-usb-ncm/src/fmt.rs deleted file mode 100644 index 066970813..000000000 --- a/embassy-usb-ncm/src/fmt.rs +++ /dev/null @@ -1,225 +0,0 @@ -#![macro_use] -#![allow(unused_macros)] - -#[cfg(all(feature = "defmt", feature = "log"))] -compile_error!("You may not enable both `defmt` and `log` features."); - -macro_rules! assert { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::assert!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::assert!($($x)*); - } - }; -} - -macro_rules! assert_eq { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::assert_eq!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::assert_eq!($($x)*); - } - }; -} - -macro_rules! assert_ne { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::assert_ne!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::assert_ne!($($x)*); - } - }; -} - -macro_rules! debug_assert { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::debug_assert!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::debug_assert!($($x)*); - } - }; -} - -macro_rules! debug_assert_eq { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::debug_assert_eq!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::debug_assert_eq!($($x)*); - } - }; -} - -macro_rules! debug_assert_ne { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::debug_assert_ne!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::debug_assert_ne!($($x)*); - } - }; -} - -macro_rules! todo { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::todo!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::todo!($($x)*); - } - }; -} - -macro_rules! unreachable { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::unreachable!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::unreachable!($($x)*); - } - }; -} - -macro_rules! panic { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::panic!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::panic!($($x)*); - } - }; -} - -macro_rules! trace { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::trace!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::trace!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -macro_rules! debug { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::debug!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::debug!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -macro_rules! info { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::info!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::info!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -macro_rules! warn { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::warn!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::warn!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -macro_rules! error { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::error!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::error!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -#[cfg(feature = "defmt")] -macro_rules! unwrap { - ($($x:tt)*) => { - ::defmt::unwrap!($($x)*) - }; -} - -#[cfg(not(feature = "defmt"))] -macro_rules! unwrap { - ($arg:expr) => { - match $crate::fmt::Try::into_result($arg) { - ::core::result::Result::Ok(t) => t, - ::core::result::Result::Err(e) => { - ::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e); - } - } - }; - ($arg:expr, $($msg:expr),+ $(,)? ) => { - match $crate::fmt::Try::into_result($arg) { - ::core::result::Result::Ok(t) => t, - ::core::result::Result::Err(e) => { - ::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e); - } - } - } -} - -#[derive(Debug, Copy, Clone, Eq, PartialEq)] -pub struct NoneError; - -pub trait Try { - type Ok; - type Error; - fn into_result(self) -> Result; -} - -impl Try for Option { - type Ok = T; - type Error = NoneError; - - #[inline] - fn into_result(self) -> Result { - self.ok_or(NoneError) - } -} - -impl Try for Result { - type Ok = T; - type Error = E; - - #[inline] - fn into_result(self) -> Self { - self - } -} diff --git a/embassy-usb-serial/Cargo.toml b/embassy-usb-serial/Cargo.toml deleted file mode 100644 index 9788588e9..000000000 --- a/embassy-usb-serial/Cargo.toml +++ /dev/null @@ -1,17 +0,0 @@ -[package] -name = "embassy-usb-serial" -version = "0.1.0" -edition = "2021" - -[package.metadata.embassy_docs] -src_base = "https://github.com/embassy-rs/embassy/blob/embassy-usb-serial-v$VERSION/embassy-usb-serial/src/" -src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-usb-serial/src/" -features = ["defmt"] -target = "thumbv7em-none-eabi" - -[dependencies] -embassy-sync = { version = "0.1.0", path = "../embassy-sync" } -embassy-usb = { version = "0.1.0", path = "../embassy-usb" } - -defmt = { version = "0.3", optional = true } -log = { version = "0.4.14", optional = true } diff --git a/embassy-usb-serial/src/fmt.rs b/embassy-usb-serial/src/fmt.rs deleted file mode 100644 index 066970813..000000000 --- a/embassy-usb-serial/src/fmt.rs +++ /dev/null @@ -1,225 +0,0 @@ -#![macro_use] -#![allow(unused_macros)] - -#[cfg(all(feature = "defmt", feature = "log"))] -compile_error!("You may not enable both `defmt` and `log` features."); - -macro_rules! assert { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::assert!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::assert!($($x)*); - } - }; -} - -macro_rules! assert_eq { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::assert_eq!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::assert_eq!($($x)*); - } - }; -} - -macro_rules! assert_ne { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::assert_ne!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::assert_ne!($($x)*); - } - }; -} - -macro_rules! debug_assert { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::debug_assert!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::debug_assert!($($x)*); - } - }; -} - -macro_rules! debug_assert_eq { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::debug_assert_eq!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::debug_assert_eq!($($x)*); - } - }; -} - -macro_rules! debug_assert_ne { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::debug_assert_ne!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::debug_assert_ne!($($x)*); - } - }; -} - -macro_rules! todo { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::todo!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::todo!($($x)*); - } - }; -} - -macro_rules! unreachable { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::unreachable!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::unreachable!($($x)*); - } - }; -} - -macro_rules! panic { - ($($x:tt)*) => { - { - #[cfg(not(feature = "defmt"))] - ::core::panic!($($x)*); - #[cfg(feature = "defmt")] - ::defmt::panic!($($x)*); - } - }; -} - -macro_rules! trace { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::trace!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::trace!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -macro_rules! debug { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::debug!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::debug!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -macro_rules! info { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::info!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::info!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -macro_rules! warn { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::warn!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::warn!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -macro_rules! error { - ($s:literal $(, $x:expr)* $(,)?) => { - { - #[cfg(feature = "log")] - ::log::error!($s $(, $x)*); - #[cfg(feature = "defmt")] - ::defmt::error!($s $(, $x)*); - #[cfg(not(any(feature = "log", feature="defmt")))] - let _ = ($( & $x ),*); - } - }; -} - -#[cfg(feature = "defmt")] -macro_rules! unwrap { - ($($x:tt)*) => { - ::defmt::unwrap!($($x)*) - }; -} - -#[cfg(not(feature = "defmt"))] -macro_rules! unwrap { - ($arg:expr) => { - match $crate::fmt::Try::into_result($arg) { - ::core::result::Result::Ok(t) => t, - ::core::result::Result::Err(e) => { - ::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e); - } - } - }; - ($arg:expr, $($msg:expr),+ $(,)? ) => { - match $crate::fmt::Try::into_result($arg) { - ::core::result::Result::Ok(t) => t, - ::core::result::Result::Err(e) => { - ::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e); - } - } - } -} - -#[derive(Debug, Copy, Clone, Eq, PartialEq)] -pub struct NoneError; - -pub trait Try { - type Ok; - type Error; - fn into_result(self) -> Result; -} - -impl Try for Option { - type Ok = T; - type Error = NoneError; - - #[inline] - fn into_result(self) -> Result { - self.ok_or(NoneError) - } -} - -impl Try for Result { - type Ok = T; - type Error = E; - - #[inline] - fn into_result(self) -> Self { - self - } -} diff --git a/embassy-usb/Cargo.toml b/embassy-usb/Cargo.toml index 8cad4d314..aad54dbaf 100644 --- a/embassy-usb/Cargo.toml +++ b/embassy-usb/Cargo.toml @@ -9,9 +9,20 @@ src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-usb/s features = ["defmt"] target = "thumbv7em-none-eabi" +[features] +defmt = ["dep:defmt", "embassy-usb-driver/defmt"] +usbd-hid = ["dep:usbd-hid", "dep:ssmarshal"] +default = ["usbd-hid"] + [dependencies] embassy-futures = { version = "0.1.0", path = "../embassy-futures" } +embassy-usb-driver = { version = "0.1.0", path = "../embassy-usb-driver" } +embassy-sync = { version = "0.1.0", path = "../embassy-sync" } defmt = { version = "0.3", optional = true } log = { version = "0.4.14", optional = true } -heapless = "0.7.10" \ No newline at end of file +heapless = "0.7.10" + +# for HID +usbd-hid = { version = "0.6.0", optional = true } +ssmarshal = { version = "1.0", default-features = false, optional = true } diff --git a/embassy-usb/src/builder.rs b/embassy-usb/src/builder.rs index 6be88bc76..87a8333bb 100644 --- a/embassy-usb/src/builder.rs +++ b/embassy-usb/src/builder.rs @@ -1,11 +1,10 @@ use heapless::Vec; -use super::control::ControlHandler; -use super::descriptor::{BosWriter, DescriptorWriter}; -use super::driver::{Driver, Endpoint}; -use super::types::*; -use super::{DeviceStateHandler, UsbDevice, MAX_INTERFACE_COUNT}; -use crate::{Interface, STRING_INDEX_CUSTOM_START}; +use crate::control::ControlHandler; +use crate::descriptor::{BosWriter, DescriptorWriter}; +use crate::driver::{Driver, Endpoint, EndpointType}; +use crate::types::*; +use crate::{DeviceStateHandler, Interface, UsbDevice, MAX_INTERFACE_COUNT, STRING_INDEX_CUSTOM_START}; #[derive(Debug, Copy, Clone)] #[cfg_attr(feature = "defmt", derive(defmt::Format))] diff --git a/embassy-usb-serial/src/lib.rs b/embassy-usb/src/class/cdc_acm.rs similarity index 95% rename from embassy-usb-serial/src/lib.rs rename to embassy-usb/src/class/cdc_acm.rs index f3de2ec1b..09bb1cc8d 100644 --- a/embassy-usb-serial/src/lib.rs +++ b/embassy-usb/src/class/cdc_acm.rs @@ -1,19 +1,13 @@ -#![no_std] -#![feature(generic_associated_types)] -#![feature(type_alias_impl_trait)] - -// This mod MUST go first, so that the others see its macros. -pub(crate) mod fmt; - use core::cell::Cell; use core::mem::{self, MaybeUninit}; use core::sync::atomic::{AtomicBool, Ordering}; use embassy_sync::blocking_mutex::CriticalSectionMutex; -use embassy_usb::control::{self, ControlHandler, InResponse, OutResponse, Request}; -use embassy_usb::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut}; -use embassy_usb::types::*; -use embassy_usb::Builder; + +use crate::control::{self, ControlHandler, InResponse, OutResponse, Request}; +use crate::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut}; +use crate::types::*; +use crate::Builder; /// This should be used as `device_class` when building the `UsbDevice`. pub const USB_CLASS_CDC: u8 = 0x02; @@ -269,7 +263,7 @@ impl<'d, D: Driver<'d>> CdcAcmClass<'d, D> { } /// Number of stop bits for LineCoding -#[derive(Copy, Clone, PartialEq, Eq)] +#[derive(Copy, Clone, Debug, PartialEq, Eq)] #[cfg_attr(feature = "defmt", derive(defmt::Format))] pub enum StopBits { /// 1 stop bit @@ -293,7 +287,7 @@ impl From for StopBits { } /// Parity for LineCoding -#[derive(Copy, Clone, PartialEq, Eq)] +#[derive(Copy, Clone, Debug, PartialEq, Eq)] #[cfg_attr(feature = "defmt", derive(defmt::Format))] pub enum ParityType { None = 0, @@ -317,7 +311,7 @@ impl From for ParityType { /// /// This is provided by the host for specifying the standard UART parameters such as baud rate. Can /// be ignored if you don't plan to interface with a physical UART. -#[derive(Clone, Copy)] +#[derive(Clone, Copy, Debug)] #[cfg_attr(feature = "defmt", derive(defmt::Format))] pub struct LineCoding { stop_bits: StopBits, diff --git a/embassy-usb-ncm/src/lib.rs b/embassy-usb/src/class/cdc_ncm.rs similarity index 97% rename from embassy-usb-ncm/src/lib.rs rename to embassy-usb/src/class/cdc_ncm.rs index e796af28f..a39b87e9b 100644 --- a/embassy-usb-ncm/src/lib.rs +++ b/embassy-usb/src/class/cdc_ncm.rs @@ -1,15 +1,10 @@ -#![no_std] - -// This mod MUST go first, so that the others see its macros. -pub(crate) mod fmt; - use core::intrinsics::copy_nonoverlapping; use core::mem::{size_of, MaybeUninit}; -use embassy_usb::control::{self, ControlHandler, InResponse, OutResponse, Request}; -use embassy_usb::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut}; -use embassy_usb::types::*; -use embassy_usb::Builder; +use crate::control::{self, ControlHandler, InResponse, OutResponse, Request}; +use crate::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut}; +use crate::types::*; +use crate::Builder; /// This should be used as `device_class` when building the `UsbDevice`. pub const USB_CLASS_CDC: u8 = 0x02; diff --git a/embassy-usb-hid/src/lib.rs b/embassy-usb/src/class/hid.rs similarity index 96% rename from embassy-usb-hid/src/lib.rs rename to embassy-usb/src/class/hid.rs index 5fee60bbc..4d1fa995f 100644 --- a/embassy-usb-hid/src/lib.rs +++ b/embassy-usb/src/class/hid.rs @@ -1,24 +1,16 @@ -#![no_std] -#![feature(generic_associated_types)] -#![feature(type_alias_impl_trait)] - -//! Implements HID functionality for a usb-device device. - -// This mod MUST go first, so that the others see its macros. -pub(crate) mod fmt; - use core::mem::MaybeUninit; use core::ops::Range; use core::sync::atomic::{AtomicUsize, Ordering}; -use embassy_usb::control::{ControlHandler, InResponse, OutResponse, Request, RequestType}; -use embassy_usb::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut}; -use embassy_usb::Builder; #[cfg(feature = "usbd-hid")] use ssmarshal::serialize; #[cfg(feature = "usbd-hid")] use usbd_hid::descriptor::AsInputReport; +use crate::control::{ControlHandler, InResponse, OutResponse, Request, RequestType}; +use crate::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut}; +use crate::Builder; + const USB_CLASS_HID: u8 = 0x03; const USB_SUBCLASS_NONE: u8 = 0x00; const USB_PROTOCOL_NONE: u8 = 0x00; @@ -205,9 +197,9 @@ pub enum ReadError { Sync(Range), } -impl From for ReadError { - fn from(val: embassy_usb::driver::EndpointError) -> Self { - use embassy_usb::driver::EndpointError::*; +impl From for ReadError { + fn from(val: EndpointError) -> Self { + use EndpointError::*; match val { BufferOverflow => ReadError::BufferOverflow, Disabled => ReadError::Disabled, @@ -438,7 +430,7 @@ impl<'d> ControlHandler for Control<'d> { } } - fn control_out(&mut self, req: embassy_usb::control::Request, data: &[u8]) -> OutResponse { + fn control_out(&mut self, req: Request, data: &[u8]) -> OutResponse { trace!("HID control_out {:?} {=[u8]:x}", req, data); if let RequestType::Class = req.request_type { match req.request { diff --git a/embassy-usb/src/class/mod.rs b/embassy-usb/src/class/mod.rs new file mode 100644 index 000000000..af27577a6 --- /dev/null +++ b/embassy-usb/src/class/mod.rs @@ -0,0 +1,3 @@ +pub mod cdc_acm; +pub mod cdc_ncm; +pub mod hid; diff --git a/embassy-usb/src/control.rs b/embassy-usb/src/control.rs index 3e5749a01..d6d0c6565 100644 --- a/embassy-usb/src/control.rs +++ b/embassy-usb/src/control.rs @@ -1,7 +1,8 @@ //! USB control data types. use core::mem; -use super::types::*; +use crate::driver::Direction; +use crate::types::StringIndex; /// Control request type. #[repr(u8)] @@ -42,7 +43,7 @@ pub enum Recipient { #[cfg_attr(feature = "defmt", derive(defmt::Format))] pub struct Request { /// Direction of the request. - pub direction: UsbDirection, + pub direction: Direction, /// Type of the request. pub request_type: RequestType, /// Recipient of the request. @@ -105,7 +106,7 @@ impl Request { let recipient = rt & 0b11111; Request { - direction: rt.into(), + direction: if rt & 0x80 == 0 { Direction::Out } else { Direction::In }, request_type: unsafe { mem::transmute((rt >> 5) & 0b11) }, recipient: if recipient <= 3 { unsafe { mem::transmute(recipient) } diff --git a/embassy-usb/src/descriptor.rs b/embassy-usb/src/descriptor.rs index b94a4b161..497f03196 100644 --- a/embassy-usb/src/descriptor.rs +++ b/embassy-usb/src/descriptor.rs @@ -1,6 +1,7 @@ -use super::builder::Config; -use super::types::*; -use super::CONFIGURATION_VALUE; +use crate::builder::Config; +use crate::driver::EndpointInfo; +use crate::types::*; +use crate::CONFIGURATION_VALUE; /// Standard descriptor types #[allow(missing_docs)] diff --git a/embassy-usb/src/descriptor_reader.rs b/embassy-usb/src/descriptor_reader.rs index 0a12b566c..d64bcb73b 100644 --- a/embassy-usb/src/descriptor_reader.rs +++ b/embassy-usb/src/descriptor_reader.rs @@ -1,5 +1,5 @@ use crate::descriptor::descriptor_type; -use crate::types::EndpointAddress; +use crate::driver::EndpointAddress; #[derive(Copy, Clone, PartialEq, Eq, Debug)] #[cfg_attr(feature = "defmt", derive(defmt::Format))] diff --git a/embassy-usb/src/lib.rs b/embassy-usb/src/lib.rs index b165804ef..661b84119 100644 --- a/embassy-usb/src/lib.rs +++ b/embassy-usb/src/lib.rs @@ -1,27 +1,27 @@ #![no_std] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] // This mod MUST go first, so that the others see its macros. pub(crate) mod fmt; +pub use embassy_usb_driver as driver; + mod builder; +pub mod class; pub mod control; pub mod descriptor; mod descriptor_reader; -pub mod driver; pub mod types; use embassy_futures::select::{select, Either}; use heapless::Vec; -pub use self::builder::{Builder, Config}; -use self::control::*; -use self::descriptor::*; -use self::driver::{Bus, Driver, Event}; -use self::types::*; +pub use crate::builder::{Builder, Config}; +use crate::control::*; +use crate::descriptor::*; use crate::descriptor_reader::foreach_endpoint; -use crate::driver::ControlPipe; +use crate::driver::{Bus, ControlPipe, Direction, Driver, EndpointAddress, Event}; +use crate::types::*; /// The global state of the USB device. /// @@ -248,11 +248,11 @@ impl<'d, D: Driver<'d>> UsbDevice<'d, D> { async fn handle_control(&mut self, req: [u8; 8]) { let req = Request::parse(&req); - trace!("control request: {:02x}", req); + trace!("control request: {:?}", req); match req.direction { - UsbDirection::In => self.handle_control_in(req).await, - UsbDirection::Out => self.handle_control_out(req).await, + Direction::In => self.handle_control_in(req).await, + Direction::Out => self.handle_control_out(req).await, } if self.inner.set_address_pending { diff --git a/embassy-usb/src/types.rs b/embassy-usb/src/types.rs index b8717ffa9..aeab063d1 100644 --- a/embassy-usb/src/types.rs +++ b/embassy-usb/src/types.rs @@ -1,108 +1,3 @@ -/// Direction of USB traffic. Note that in the USB standard the direction is always indicated from -/// the perspective of the host, which is backward for devices, but the standard directions are used -/// for consistency. -/// -/// The values of the enum also match the direction bit used in endpoint addresses and control -/// request types. -#[repr(u8)] -#[derive(Copy, Clone, Eq, PartialEq, Debug)] -#[cfg_attr(feature = "defmt", derive(defmt::Format))] -pub enum UsbDirection { - /// Host to device (OUT) - Out = 0x00, - /// Device to host (IN) - In = 0x80, -} - -impl From for UsbDirection { - fn from(value: u8) -> Self { - unsafe { core::mem::transmute(value & 0x80) } - } -} - -/// USB endpoint transfer type. The values of this enum can be directly cast into `u8` to get the -/// transfer bmAttributes transfer type bits. -#[repr(u8)] -#[derive(Copy, Clone, Eq, PartialEq, Debug)] -#[cfg_attr(feature = "defmt", derive(defmt::Format))] -pub enum EndpointType { - /// Control endpoint. Used for device management. Only the host can initiate requests. Usually - /// used only endpoint 0. - Control = 0b00, - /// Isochronous endpoint. Used for time-critical unreliable data. Not implemented yet. - Isochronous = 0b01, - /// Bulk endpoint. Used for large amounts of best-effort reliable data. - Bulk = 0b10, - /// Interrupt endpoint. Used for small amounts of time-critical reliable data. - Interrupt = 0b11, -} - -/// Type-safe endpoint address. -#[derive(Debug, Clone, Copy, Eq, PartialEq)] -#[cfg_attr(feature = "defmt", derive(defmt::Format))] -pub struct EndpointAddress(u8); - -impl From for EndpointAddress { - #[inline] - fn from(addr: u8) -> EndpointAddress { - EndpointAddress(addr) - } -} - -impl From for u8 { - #[inline] - fn from(addr: EndpointAddress) -> u8 { - addr.0 - } -} - -impl EndpointAddress { - const INBITS: u8 = UsbDirection::In as u8; - - /// Constructs a new EndpointAddress with the given index and direction. - #[inline] - pub fn from_parts(index: usize, dir: UsbDirection) -> Self { - EndpointAddress(index as u8 | dir as u8) - } - - /// Gets the direction part of the address. - #[inline] - pub fn direction(&self) -> UsbDirection { - if (self.0 & Self::INBITS) != 0 { - UsbDirection::In - } else { - UsbDirection::Out - } - } - - /// Returns true if the direction is IN, otherwise false. - #[inline] - pub fn is_in(&self) -> bool { - (self.0 & Self::INBITS) != 0 - } - - /// Returns true if the direction is OUT, otherwise false. - #[inline] - pub fn is_out(&self) -> bool { - (self.0 & Self::INBITS) == 0 - } - - /// Gets the index part of the endpoint address. - #[inline] - pub fn index(&self) -> usize { - (self.0 & !Self::INBITS) as usize - } -} - -#[derive(Copy, Clone, Eq, PartialEq, Debug)] -#[cfg_attr(feature = "defmt", derive(defmt::Format))] -pub struct EndpointInfo { - pub addr: EndpointAddress, - pub ep_type: EndpointType, - pub max_packet_size: u16, - pub interval: u8, -} - /// A handle for a USB interface that contains its number. #[derive(Copy, Clone, Eq, PartialEq)] #[cfg_attr(feature = "defmt", derive(defmt::Format))] diff --git a/examples/boot/application/nrf/src/bin/a.rs b/examples/boot/application/nrf/src/bin/a.rs index 133a3e678..7a404a914 100644 --- a/examples/boot/application/nrf/src/bin/a.rs +++ b/examples/boot/application/nrf/src/bin/a.rs @@ -1,7 +1,6 @@ #![no_std] #![no_main] #![macro_use] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use embassy_boot_nrf::FirmwareUpdater; diff --git a/examples/boot/application/nrf/src/bin/b.rs b/examples/boot/application/nrf/src/bin/b.rs index 5394bf0c7..1373f277d 100644 --- a/examples/boot/application/nrf/src/bin/b.rs +++ b/examples/boot/application/nrf/src/bin/b.rs @@ -1,7 +1,6 @@ #![no_std] #![no_main] #![macro_use] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use embassy_executor::Spawner; diff --git a/examples/boot/bootloader/nrf/src/main.rs b/examples/boot/bootloader/nrf/src/main.rs index 9031997c2..8266206b3 100644 --- a/examples/boot/bootloader/nrf/src/main.rs +++ b/examples/boot/bootloader/nrf/src/main.rs @@ -21,7 +21,7 @@ fn main() -> ! { let mut bl = BootLoader::default(); let start = bl.prepare(&mut SingleFlashConfig::new(&mut BootFlash::<_, 4096>::new( - &mut WatchdogFlash::start(Nvmc::new(p.NVMC), p.WDT, 5), + WatchdogFlash::start(Nvmc::new(p.NVMC), p.WDT, 5), ))); unsafe { bl.load(start) } } diff --git a/examples/boot/bootloader/stm32/src/main.rs b/examples/boot/bootloader/stm32/src/main.rs index bb5d3e531..294464d1c 100644 --- a/examples/boot/bootloader/stm32/src/main.rs +++ b/examples/boot/bootloader/stm32/src/main.rs @@ -20,10 +20,9 @@ fn main() -> ! { */ let mut bl: BootLoader = BootLoader::default(); - let mut flash = Flash::unlock(p.FLASH); - let start = bl.prepare(&mut SingleFlashConfig::new( - &mut BootFlash::<_, ERASE_SIZE, ERASE_VALUE>::new(&mut flash), - )); + let flash = Flash::unlock(p.FLASH); + let mut flash = BootFlash::<_, ERASE_SIZE, ERASE_VALUE>::new(flash); + let start = bl.prepare(&mut SingleFlashConfig::new(&mut flash)); core::mem::drop(flash); unsafe { bl.load(start) } } diff --git a/examples/nrf-rtos-trace/src/bin/rtos_trace.rs b/examples/nrf-rtos-trace/src/bin/rtos_trace.rs index 7d1ad87c8..cf8b2f808 100644 --- a/examples/nrf-rtos-trace/src/bin/rtos_trace.rs +++ b/examples/nrf-rtos-trace/src/bin/rtos_trace.rs @@ -2,6 +2,7 @@ #![no_main] #![feature(type_alias_impl_trait)] +use core::future::poll_fn; use core::task::Poll; use embassy_executor::Spawner; @@ -46,7 +47,7 @@ async fn run2() { #[embassy_executor::task] async fn run3() { - futures::future::poll_fn(|cx| { + poll_fn(|cx| { cx.waker().wake_by_ref(); Poll::<()>::Pending }) diff --git a/examples/nrf/Cargo.toml b/examples/nrf/Cargo.toml index dbc659cda..a5d340c69 100644 --- a/examples/nrf/Cargo.toml +++ b/examples/nrf/Cargo.toml @@ -5,7 +5,7 @@ version = "0.1.0" [features] default = ["nightly"] -nightly = ["embassy-executor/nightly", "embassy-nrf/nightly", "embassy-net/nightly", "embassy-nrf/unstable-traits", "embassy-usb", "embassy-usb-serial", "embassy-usb-hid", "embassy-usb-ncm", "embedded-io/async", "embassy-net"] +nightly = ["embassy-executor/nightly", "embassy-nrf/nightly", "embassy-net/nightly", "embassy-nrf/unstable-traits", "embassy-usb", "embedded-io/async", "embassy-net"] [dependencies] embassy-futures = { version = "0.1.0", path = "../../embassy-futures" } @@ -15,9 +15,6 @@ embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["de embassy-nrf = { version = "0.1.0", path = "../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac"] } embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "pool-16"], optional = true } embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"], optional = true } -embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"], optional = true } -embassy-usb-hid = { version = "0.1.0", path = "../../embassy-usb-hid", features = ["defmt"], optional = true } -embassy-usb-ncm = { version = "0.1.0", path = "../../embassy-usb-ncm", features = ["defmt"], optional = true } embedded-io = "0.3.0" defmt = "0.3" diff --git a/examples/nrf/src/bin/executor_fairness_test.rs b/examples/nrf/src/bin/executor_fairness_test.rs index 9ae030d07..2a28f2763 100644 --- a/examples/nrf/src/bin/executor_fairness_test.rs +++ b/examples/nrf/src/bin/executor_fairness_test.rs @@ -2,6 +2,7 @@ #![no_main] #![feature(type_alias_impl_trait)] +use core::future::poll_fn; use core::task::Poll; use defmt::{info, unwrap}; @@ -26,7 +27,7 @@ async fn run2() { #[embassy_executor::task] async fn run3() { - futures::future::poll_fn(|cx| { + poll_fn(|cx| { cx.waker().wake_by_ref(); Poll::<()>::Pending }) diff --git a/examples/nrf/src/bin/usb_ethernet.rs b/examples/nrf/src/bin/usb_ethernet.rs index 352660b59..de93a2b45 100644 --- a/examples/nrf/src/bin/usb_ethernet.rs +++ b/examples/nrf/src/bin/usb_ethernet.rs @@ -1,6 +1,5 @@ #![no_std] #![no_main] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use core::mem; @@ -16,8 +15,8 @@ use embassy_nrf::usb::{Driver, PowerUsb}; use embassy_nrf::{interrupt, pac, peripherals}; use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex; use embassy_sync::channel::Channel; +use embassy_usb::class::cdc_ncm::{CdcNcmClass, Receiver, Sender, State}; use embassy_usb::{Builder, Config, UsbDevice}; -use embassy_usb_ncm::{CdcNcmClass, Receiver, Sender, State}; use embedded_io::asynch::Write; use static_cell::StaticCell; use {defmt_rtt as _, panic_probe as _}; diff --git a/examples/nrf/src/bin/usb_hid_keyboard.rs b/examples/nrf/src/bin/usb_hid_keyboard.rs index 7fdb0b685..76e198719 100644 --- a/examples/nrf/src/bin/usb_hid_keyboard.rs +++ b/examples/nrf/src/bin/usb_hid_keyboard.rs @@ -1,6 +1,5 @@ #![no_std] #![no_main] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use core::mem; @@ -8,15 +7,16 @@ use core::sync::atomic::{AtomicBool, Ordering}; use defmt::*; use embassy_executor::Spawner; +use embassy_futures::join::join; use embassy_futures::select::{select, Either}; use embassy_nrf::gpio::{Input, Pin, Pull}; use embassy_nrf::usb::{Driver, PowerUsb}; use embassy_nrf::{interrupt, pac}; +use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; use embassy_sync::signal::Signal; +use embassy_usb::class::hid::{HidReaderWriter, ReportId, RequestHandler, State}; use embassy_usb::control::OutResponse; use embassy_usb::{Builder, Config, DeviceStateHandler}; -use embassy_usb_hid::{HidReaderWriter, ReportId, RequestHandler, State}; -use futures::future::join; use usbd_hid::descriptor::{KeyboardReport, SerializedDescriptor}; use {defmt_rtt as _, panic_probe as _}; @@ -67,7 +67,7 @@ async fn main(_spawner: Spawner) { ); // Create classes on the builder. - let config = embassy_usb_hid::Config { + let config = embassy_usb::class::hid::Config { report_descriptor: KeyboardReport::desc(), request_handler: Some(&request_handler), poll_ms: 60, @@ -78,7 +78,7 @@ async fn main(_spawner: Spawner) { // Build the builder. let mut usb = builder.build(); - let remote_wakeup = Signal::new(); + let remote_wakeup: Signal = Signal::new(); // Run the USB device. let usb_fut = async { diff --git a/examples/nrf/src/bin/usb_hid_mouse.rs b/examples/nrf/src/bin/usb_hid_mouse.rs index 7cd2ece17..4916a38d4 100644 --- a/examples/nrf/src/bin/usb_hid_mouse.rs +++ b/examples/nrf/src/bin/usb_hid_mouse.rs @@ -1,19 +1,18 @@ #![no_std] #![no_main] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use core::mem; use defmt::*; use embassy_executor::Spawner; +use embassy_futures::join::join; use embassy_nrf::usb::{Driver, PowerUsb}; use embassy_nrf::{interrupt, pac}; use embassy_time::{Duration, Timer}; +use embassy_usb::class::hid::{HidWriter, ReportId, RequestHandler, State}; use embassy_usb::control::OutResponse; use embassy_usb::{Builder, Config}; -use embassy_usb_hid::{HidWriter, ReportId, RequestHandler, State}; -use futures::future::join; use usbd_hid::descriptor::{MouseReport, SerializedDescriptor}; use {defmt_rtt as _, panic_probe as _}; @@ -60,7 +59,7 @@ async fn main(_spawner: Spawner) { ); // Create classes on the builder. - let config = embassy_usb_hid::Config { + let config = embassy_usb::class::hid::Config { report_descriptor: MouseReport::desc(), request_handler: Some(&request_handler), poll_ms: 60, diff --git a/examples/nrf/src/bin/usb_serial.rs b/examples/nrf/src/bin/usb_serial.rs index a68edb329..7c9c4184b 100644 --- a/examples/nrf/src/bin/usb_serial.rs +++ b/examples/nrf/src/bin/usb_serial.rs @@ -1,18 +1,17 @@ #![no_std] #![no_main] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use core::mem; use defmt::{info, panic}; use embassy_executor::Spawner; +use embassy_futures::join::join; use embassy_nrf::usb::{Driver, Instance, PowerUsb, UsbSupply}; use embassy_nrf::{interrupt, pac}; +use embassy_usb::class::cdc_acm::{CdcAcmClass, State}; use embassy_usb::driver::EndpointError; use embassy_usb::{Builder, Config}; -use embassy_usb_serial::{CdcAcmClass, State}; -use futures::future::join; use {defmt_rtt as _, panic_probe as _}; #[embassy_executor::main] diff --git a/examples/nrf/src/bin/usb_serial_multitask.rs b/examples/nrf/src/bin/usb_serial_multitask.rs index d62d7e520..93efc2fe6 100644 --- a/examples/nrf/src/bin/usb_serial_multitask.rs +++ b/examples/nrf/src/bin/usb_serial_multitask.rs @@ -1,6 +1,5 @@ #![no_std] #![no_main] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use core::mem; @@ -9,9 +8,9 @@ use defmt::{info, panic, unwrap}; use embassy_executor::Spawner; use embassy_nrf::usb::{Driver, PowerUsb}; use embassy_nrf::{interrupt, pac, peripherals}; +use embassy_usb::class::cdc_acm::{CdcAcmClass, State}; use embassy_usb::driver::EndpointError; use embassy_usb::{Builder, Config, UsbDevice}; -use embassy_usb_serial::{CdcAcmClass, State}; use static_cell::StaticCell; use {defmt_rtt as _, panic_probe as _}; diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml index 18a92b094..3c8f923e7 100644 --- a/examples/rp/Cargo.toml +++ b/examples/rp/Cargo.toml @@ -8,11 +8,10 @@ version = "0.1.0" embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = ["defmt"] } embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["defmt", "integrated-timers"] } embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] } -embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["defmt", "unstable-traits", "nightly", "unstable-pac"] } +embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver"] } embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] } -embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"] } embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet", "pool-16"] } -embassy-usb-ncm = { version = "0.1.0", path = "../../embassy-usb-ncm", features = ["defmt"] } +embassy-futures = { version = "0.1.0", path = "../../embassy-futures" } defmt = "0.3" defmt-rtt = "0.3" diff --git a/examples/rp/src/bin/usb_ethernet.rs b/examples/rp/src/bin/usb_ethernet.rs index 2df7f62f6..1057fe7fd 100644 --- a/examples/rp/src/bin/usb_ethernet.rs +++ b/examples/rp/src/bin/usb_ethernet.rs @@ -1,6 +1,5 @@ #![no_std] #![no_main] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use core::sync::atomic::{AtomicBool, Ordering}; @@ -14,8 +13,8 @@ use embassy_rp::usb::Driver; use embassy_rp::{interrupt, peripherals}; use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex; use embassy_sync::channel::Channel; +use embassy_usb::class::cdc_ncm::{CdcNcmClass, Receiver, Sender, State}; use embassy_usb::{Builder, Config, UsbDevice}; -use embassy_usb_ncm::{CdcNcmClass, Receiver, Sender, State}; use embedded_io::asynch::Write; use static_cell::StaticCell; use {defmt_rtt as _, panic_probe as _}; diff --git a/examples/rp/src/bin/usb_serial.rs b/examples/rp/src/bin/usb_serial.rs index 74be1f598..b7d6493b4 100644 --- a/examples/rp/src/bin/usb_serial.rs +++ b/examples/rp/src/bin/usb_serial.rs @@ -1,16 +1,15 @@ #![no_std] #![no_main] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use defmt::{info, panic}; use embassy_executor::Spawner; +use embassy_futures::join::join; use embassy_rp::interrupt; use embassy_rp::usb::{Driver, Instance}; +use embassy_usb::class::cdc_acm::{CdcAcmClass, State}; use embassy_usb::driver::EndpointError; use embassy_usb::{Builder, Config}; -use embassy_usb_serial::{CdcAcmClass, State}; -use futures::future::join; use {defmt_rtt as _, panic_probe as _}; #[embassy_executor::main] diff --git a/examples/stm32f1/Cargo.toml b/examples/stm32f1/Cargo.toml index 33ac63db1..e6553789a 100644 --- a/examples/stm32f1/Cargo.toml +++ b/examples/stm32f1/Cargo.toml @@ -9,7 +9,7 @@ embassy-executor = { version = "0.1.0", path = "../../embassy-executor", feature embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] } embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32f103c8", "unstable-pac", "memory-x", "time-driver-any"] } embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] } -embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"] } +embassy-futures = { version = "0.1.0", path = "../../embassy-futures" } defmt = "0.3" defmt-rtt = "0.3" diff --git a/examples/stm32f1/src/bin/usb_serial.rs b/examples/stm32f1/src/bin/usb_serial.rs index a9c46068f..ad92cdeb2 100644 --- a/examples/stm32f1/src/bin/usb_serial.rs +++ b/examples/stm32f1/src/bin/usb_serial.rs @@ -4,15 +4,15 @@ use defmt::{panic, *}; use embassy_executor::Spawner; +use embassy_futures::join::join; use embassy_stm32::gpio::{Level, Output, Speed}; use embassy_stm32::time::Hertz; use embassy_stm32::usb::{Driver, Instance}; use embassy_stm32::{interrupt, Config}; use embassy_time::{Duration, Timer}; +use embassy_usb::class::cdc_acm::{CdcAcmClass, State}; use embassy_usb::driver::EndpointError; use embassy_usb::Builder; -use embassy_usb_serial::{CdcAcmClass, State}; -use futures::future::join; use {defmt_rtt as _, panic_probe as _}; #[embassy_executor::main] diff --git a/examples/stm32f3/Cargo.toml b/examples/stm32f3/Cargo.toml index 208f39080..f5b0b880c 100644 --- a/examples/stm32f3/Cargo.toml +++ b/examples/stm32f3/Cargo.toml @@ -9,8 +9,7 @@ embassy-executor = { version = "0.1.0", path = "../../embassy-executor", feature embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] } embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32f303ze", "unstable-pac", "memory-x", "time-driver-any", "exti"] } embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] } -embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"] } -embassy-usb-hid = { version = "0.1.0", path = "../../embassy-usb-hid", features = ["defmt"] } +embassy-futures = { version = "0.1.0", path = "../../embassy-futures" } defmt = "0.3" defmt-rtt = "0.3" diff --git a/examples/stm32f3/src/bin/usb_serial.rs b/examples/stm32f3/src/bin/usb_serial.rs index d3702fc35..f6d27c860 100644 --- a/examples/stm32f3/src/bin/usb_serial.rs +++ b/examples/stm32f3/src/bin/usb_serial.rs @@ -4,15 +4,15 @@ use defmt::{panic, *}; use embassy_executor::Spawner; +use embassy_futures::join::join; use embassy_stm32::gpio::{Level, Output, Speed}; use embassy_stm32::time::mhz; use embassy_stm32::usb::{Driver, Instance}; use embassy_stm32::{interrupt, Config}; use embassy_time::{Duration, Timer}; +use embassy_usb::class::cdc_acm::{CdcAcmClass, State}; use embassy_usb::driver::EndpointError; use embassy_usb::Builder; -use embassy_usb_serial::{CdcAcmClass, State}; -use futures::future::join; use {defmt_rtt as _, panic_probe as _}; #[embassy_executor::main] diff --git a/examples/stm32h7/src/bin/signal.rs b/examples/stm32h7/src/bin/signal.rs index cc3e4e3ca..6d7c168d5 100644 --- a/examples/stm32h7/src/bin/signal.rs +++ b/examples/stm32h7/src/bin/signal.rs @@ -4,11 +4,12 @@ use defmt::{info, unwrap}; use embassy_executor::Spawner; +use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; use embassy_sync::signal::Signal; use embassy_time::{Duration, Timer}; use {defmt_rtt as _, panic_probe as _}; -static SIGNAL: Signal = Signal::new(); +static SIGNAL: Signal = Signal::new(); #[embassy_executor::task] async fn my_sending_task() { diff --git a/examples/stm32l0/src/bin/lorawan.rs b/examples/stm32l0/src/bin/lorawan.rs index 00ff67f3f..27d7c29c2 100644 --- a/examples/stm32l0/src/bin/lorawan.rs +++ b/examples/stm32l0/src/bin/lorawan.rs @@ -3,7 +3,6 @@ #![no_main] #![macro_use] #![allow(dead_code)] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use embassy_executor::Spawner; diff --git a/examples/stm32l5/Cargo.toml b/examples/stm32l5/Cargo.toml index c451bd221..9ebab6476 100644 --- a/examples/stm32l5/Cargo.toml +++ b/examples/stm32l5/Cargo.toml @@ -11,10 +11,8 @@ embassy-executor = { version = "0.1.0", path = "../../embassy-executor", feature embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] } embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "unstable-pac", "stm32l552ze", "time-driver-any", "exti", "unstable-traits", "memory-x"] } embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] } -embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"] } -embassy-usb-hid = { version = "0.1.0", path = "../../embassy-usb-hid", features = ["defmt"] } -embassy-usb-ncm = { version = "0.1.0", path = "../../embassy-usb-ncm", features = ["defmt"] } embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet", "pool-16"] } +embassy-futures = { version = "0.1.0", path = "../../embassy-futures" } usbd-hid = "0.6.0" defmt = "0.3" diff --git a/examples/stm32l5/src/bin/usb_ethernet.rs b/examples/stm32l5/src/bin/usb_ethernet.rs index 2c8706e41..4f36d3f5a 100644 --- a/examples/stm32l5/src/bin/usb_ethernet.rs +++ b/examples/stm32l5/src/bin/usb_ethernet.rs @@ -1,6 +1,5 @@ #![no_std] #![no_main] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use core::sync::atomic::{AtomicBool, Ordering}; @@ -16,8 +15,8 @@ use embassy_stm32::usb::Driver; use embassy_stm32::{interrupt, Config}; use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex; use embassy_sync::channel::Channel; +use embassy_usb::class::cdc_ncm::{CdcNcmClass, Receiver, Sender, State}; use embassy_usb::{Builder, UsbDevice}; -use embassy_usb_ncm::{CdcNcmClass, Receiver, Sender, State}; use embedded_io::asynch::Write; use rand_core::RngCore; use static_cell::StaticCell; diff --git a/examples/stm32l5/src/bin/usb_hid_mouse.rs b/examples/stm32l5/src/bin/usb_hid_mouse.rs index 7d763e7fd..d38ed7496 100644 --- a/examples/stm32l5/src/bin/usb_hid_mouse.rs +++ b/examples/stm32l5/src/bin/usb_hid_mouse.rs @@ -1,18 +1,17 @@ #![no_std] #![no_main] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use defmt::*; use embassy_executor::Spawner; +use embassy_futures::join::join; use embassy_stm32::rcc::*; use embassy_stm32::usb::Driver; use embassy_stm32::{interrupt, Config}; use embassy_time::{Duration, Timer}; +use embassy_usb::class::hid::{HidWriter, ReportId, RequestHandler, State}; use embassy_usb::control::OutResponse; use embassy_usb::Builder; -use embassy_usb_hid::{HidWriter, ReportId, RequestHandler, State}; -use futures::future::join; use usbd_hid::descriptor::{MouseReport, SerializedDescriptor}; use {defmt_rtt as _, panic_probe as _}; @@ -56,7 +55,7 @@ async fn main(_spawner: Spawner) { ); // Create classes on the builder. - let config = embassy_usb_hid::Config { + let config = embassy_usb::class::hid::Config { report_descriptor: MouseReport::desc(), request_handler: Some(&request_handler), poll_ms: 60, diff --git a/examples/stm32l5/src/bin/usb_serial.rs b/examples/stm32l5/src/bin/usb_serial.rs index b576a7353..7562a4e96 100644 --- a/examples/stm32l5/src/bin/usb_serial.rs +++ b/examples/stm32l5/src/bin/usb_serial.rs @@ -4,13 +4,13 @@ use defmt::{panic, *}; use embassy_executor::Spawner; +use embassy_futures::join::join; use embassy_stm32::rcc::*; use embassy_stm32::usb::{Driver, Instance}; use embassy_stm32::{interrupt, Config}; +use embassy_usb::class::cdc_acm::{CdcAcmClass, State}; use embassy_usb::driver::EndpointError; use embassy_usb::Builder; -use embassy_usb_serial::{CdcAcmClass, State}; -use futures::future::join; use {defmt_rtt as _, panic_probe as _}; #[embassy_executor::main] diff --git a/examples/stm32wl/src/bin/lorawan.rs b/examples/stm32wl/src/bin/lorawan.rs index 9143e64da..7f34dd306 100644 --- a/examples/stm32wl/src/bin/lorawan.rs +++ b/examples/stm32wl/src/bin/lorawan.rs @@ -2,7 +2,6 @@ #![no_main] #![macro_use] #![allow(dead_code)] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use embassy_executor::Spawner; diff --git a/examples/stm32wl/src/bin/subghz.rs b/examples/stm32wl/src/bin/subghz.rs index 8f674d796..32c8b5515 100644 --- a/examples/stm32wl/src/bin/subghz.rs +++ b/examples/stm32wl/src/bin/subghz.rs @@ -2,7 +2,6 @@ #![no_main] #![macro_use] #![allow(dead_code)] -#![feature(generic_associated_types)] #![feature(type_alias_impl_trait)] use defmt::*; @@ -13,6 +12,7 @@ use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed}; use embassy_stm32::interrupt; use embassy_stm32::interrupt::{Interrupt, InterruptExt}; use embassy_stm32::subghz::*; +use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; use embassy_sync::signal::Signal; use {defmt_rtt as _, panic_probe as _}; @@ -65,7 +65,7 @@ async fn main(_spawner: Spawner) { let button = Input::new(p.PA0, Pull::Up); let mut pin = ExtiInput::new(button, p.EXTI0); - static IRQ_SIGNAL: Signal<()> = Signal::new(); + static IRQ_SIGNAL: Signal = Signal::new(); let radio_irq = interrupt::take!(SUBGHZ_RADIO); radio_irq.set_handler(|_| { IRQ_SIGNAL.signal(()); diff --git a/rust-toolchain.toml b/rust-toolchain.toml index f5e342edc..1ec19e58b 100644 --- a/rust-toolchain.toml +++ b/rust-toolchain.toml @@ -1,7 +1,7 @@ # Before upgrading check that everything is available on all tier1 targets here: # https://rust-lang.github.io/rustup-components-history [toolchain] -channel = "nightly-2022-08-16" +channel = "nightly-2022-09-22" components = [ "rust-src", "rustfmt" ] targets = [ "thumbv7em-none-eabi", diff --git a/tests/rp/.cargo/config.toml b/tests/rp/.cargo/config.toml index 0330025e4..9611db3a0 100644 --- a/tests/rp/.cargo/config.toml +++ b/tests/rp/.cargo/config.toml @@ -3,7 +3,7 @@ build-std = ["core"] build-std-features = ["panic_immediate_abort"] [target.'cfg(all(target_arch = "arm", target_os = "none"))'] -#runner = "teleprobe client run --target bluepill-stm32f103c8 --elf" +#runner = "teleprobe client run --target rpi-pico --elf" runner = "teleprobe local run --chip RP2040 --elf" rustflags = [ diff --git a/tests/rp/Cargo.toml b/tests/rp/Cargo.toml index 70fd95557..503373759 100644 --- a/tests/rp/Cargo.toml +++ b/tests/rp/Cargo.toml @@ -7,7 +7,8 @@ version = "0.1.0" embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = ["defmt"] } embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["defmt", "integrated-timers"] } embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt"] } -embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["nightly", "defmt", "unstable-pac", "unstable-traits"] } +embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["nightly", "defmt", "unstable-pac", "unstable-traits", "time-driver"] } +embassy-futures = { version = "0.1.0", path = "../../embassy-futures" } defmt = "0.3.0" defmt-rtt = "0.3.0" diff --git a/tests/rp/src/bin/gpio_async.rs b/tests/rp/src/bin/gpio_async.rs index 1eeaac1f6..f20b8fcbd 100644 --- a/tests/rp/src/bin/gpio_async.rs +++ b/tests/rp/src/bin/gpio_async.rs @@ -4,9 +4,9 @@ use defmt::{assert, *}; use embassy_executor::Spawner; +use embassy_futures::join::join; use embassy_rp::gpio::{Input, Level, Output, Pull}; use embassy_time::{Duration, Instant, Timer}; -use futures::future::join; use {defmt_rtt as _, panic_probe as _}; #[embassy_executor::main]