From bc65b8f7ec1df181c793846b7c0657f689963d3a Mon Sep 17 00:00:00 2001
From: Dario Nieuwenhuis <dirbaio@dirbaio.net>
Date: Sat, 18 Nov 2023 01:18:23 +0100
Subject: [PATCH 1/2] stm32/i2c: add async, dual interrupt scaffolding.
---
embassy-stm32/Cargo.toml | 4 +-
embassy-stm32/build.rs | 20 +++
embassy-stm32/src/i2c/mod.rs | 157 +++++++++++++++++-
embassy-stm32/src/i2c/v1.rs | 122 ++++----------
embassy-stm32/src/i2c/v2.rs | 157 ++----------------
examples/stm32f4/src/bin/i2c.rs | 3 +-
examples/stm32h5/src/bin/i2c.rs | 3 +-
examples/stm32h7/src/bin/camera.rs | 3 +-
examples/stm32h7/src/bin/i2c.rs | 3 +-
examples/stm32l4/src/bin/i2c.rs | 3 +-
.../stm32l4/src/bin/i2c_blocking_async.rs | 3 +-
examples/stm32l4/src/bin/i2c_dma.rs | 3 +-
.../src/bin/spe_adin1110_http_server.rs | 3 +-
13 files changed, 239 insertions(+), 245 deletions(-)
diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index 65434ceca..d04000a1d 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -58,7 +58,7 @@ rand_core = "0.6.3"
sdio-host = "0.5.0"
embedded-sdmmc = { git = "https://github.com/embassy-rs/embedded-sdmmc-rs", rev = "a4f293d3a6f72158385f79c98634cb8a14d0d2fc", optional = true }
critical-section = "1.1"
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-fbb8f77326dd066aa6c0d66b3b46e76a569dda8b" }
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-f6d1ffc1a25f208b5cd6b1024bff246592da1949" }
vcell = "0.1.3"
bxcan = "0.7.0"
nb = "1.0.0"
@@ -76,7 +76,7 @@ critical-section = { version = "1.1", features = ["std"] }
[build-dependencies]
proc-macro2 = "1.0.36"
quote = "1.0.15"
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-fbb8f77326dd066aa6c0d66b3b46e76a569dda8b", default-features = false, features = ["metadata"]}
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-f6d1ffc1a25f208b5cd6b1024bff246592da1949", default-features = false, features = ["metadata"]}
[features]
diff --git a/embassy-stm32/build.rs b/embassy-stm32/build.rs
index a7dac5f9d..4aae58229 100644
--- a/embassy-stm32/build.rs
+++ b/embassy-stm32/build.rs
@@ -1138,6 +1138,23 @@ fn main() {
}
}
+ // ========
+ // Write peripheral_interrupts module.
+ let mut mt = TokenStream::new();
+ for p in METADATA.peripherals {
+ let mut pt = TokenStream::new();
+
+ for irq in p.interrupts {
+ let iname = format_ident!("{}", irq.interrupt);
+ let sname = format_ident!("{}", irq.signal);
+ pt.extend(quote!(pub type #sname = crate::interrupt::typelevel::#iname;));
+ }
+
+ let pname = format_ident!("{}", p.name);
+ mt.extend(quote!(pub mod #pname { #pt }));
+ }
+ g.extend(quote!(#[allow(non_camel_case_types)] pub mod peripheral_interrupts { #mt }));
+
// ========
// Write foreach_foo! macrotables
@@ -1296,6 +1313,9 @@ fn main() {
let mut m = String::new();
+ // DO NOT ADD more macros like these.
+ // These turned to be a bad idea!
+ // Instead, make build.rs generate the final code.
make_table(&mut m, "foreach_flash_region", &flash_regions_table);
make_table(&mut m, "foreach_interrupt", &interrupts_table);
make_table(&mut m, "foreach_peripheral", &peripherals_table);
diff --git a/embassy-stm32/src/i2c/mod.rs b/embassy-stm32/src/i2c/mod.rs
index dde1a5040..19346d707 100644
--- a/embassy-stm32/src/i2c/mod.rs
+++ b/embassy-stm32/src/i2c/mod.rs
@@ -1,11 +1,14 @@
#![macro_use]
+use core::marker::PhantomData;
+
use crate::interrupt;
#[cfg_attr(i2c_v1, path = "v1.rs")]
#[cfg_attr(i2c_v2, path = "v2.rs")]
mod _version;
pub use _version::*;
+use embassy_sync::waitqueue::AtomicWaker;
use crate::peripherals;
@@ -23,6 +26,20 @@ pub enum Error {
pub(crate) mod sealed {
use super::*;
+
+ pub struct State {
+ #[allow(unused)]
+ pub waker: AtomicWaker,
+ }
+
+ impl State {
+ pub const fn new() -> Self {
+ Self {
+ waker: AtomicWaker::new(),
+ }
+ }
+ }
+
pub trait Instance: crate::rcc::RccPeripheral {
fn regs() -> crate::pac::i2c::I2c;
fn state() -> &'static State;
@@ -30,7 +47,8 @@ pub(crate) mod sealed {
}
pub trait Instance: sealed::Instance + 'static {
- type Interrupt: interrupt::typelevel::Interrupt;
+ type EventInterrupt: interrupt::typelevel::Interrupt;
+ type ErrorInterrupt: interrupt::typelevel::Interrupt;
}
pin_trait!(SclPin, Instance);
@@ -38,21 +56,148 @@ pin_trait!(SdaPin, Instance);
dma_trait!(RxDma, Instance);
dma_trait!(TxDma, Instance);
-foreach_interrupt!(
- ($inst:ident, i2c, $block:ident, EV, $irq:ident) => {
+/// Interrupt handler.
+pub struct EventInterruptHandler<T: Instance> {
+ _phantom: PhantomData<T>,
+}
+
+impl<T: Instance> interrupt::typelevel::Handler<T::EventInterrupt> for EventInterruptHandler<T> {
+ unsafe fn on_interrupt() {
+ _version::on_interrupt::<T>()
+ }
+}
+
+pub struct ErrorInterruptHandler<T: Instance> {
+ _phantom: PhantomData<T>,
+}
+
+impl<T: Instance> interrupt::typelevel::Handler<T::ErrorInterrupt> for ErrorInterruptHandler<T> {
+ unsafe fn on_interrupt() {
+ _version::on_interrupt::<T>()
+ }
+}
+
+foreach_peripheral!(
+ (i2c, $inst:ident) => {
impl sealed::Instance for peripherals::$inst {
fn regs() -> crate::pac::i2c::I2c {
crate::pac::$inst
}
- fn state() -> &'static State {
- static STATE: State = State::new();
+ fn state() -> &'static sealed::State {
+ static STATE: sealed::State = sealed::State::new();
&STATE
}
}
impl Instance for peripherals::$inst {
- type Interrupt = crate::interrupt::typelevel::$irq;
+ type EventInterrupt = crate::_generated::peripheral_interrupts::$inst::EV;
+ type ErrorInterrupt = crate::_generated::peripheral_interrupts::$inst::ER;
}
};
);
+
+mod eh02 {
+ use super::*;
+
+ impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Read for I2c<'d, T> {
+ type Error = Error;
+
+ fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
+ self.blocking_read(address, buffer)
+ }
+ }
+
+ impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Write for I2c<'d, T> {
+ type Error = Error;
+
+ fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
+ self.blocking_write(address, write)
+ }
+ }
+
+ impl<'d, T: Instance> embedded_hal_02::blocking::i2c::WriteRead for I2c<'d, T> {
+ type Error = Error;
+
+ fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
+ self.blocking_write_read(address, write, read)
+ }
+ }
+}
+
+#[cfg(feature = "unstable-traits")]
+mod eh1 {
+ use super::*;
+ use crate::dma::NoDma;
+
+ impl embedded_hal_1::i2c::Error for Error {
+ fn kind(&self) -> embedded_hal_1::i2c::ErrorKind {
+ match *self {
+ Self::Bus => embedded_hal_1::i2c::ErrorKind::Bus,
+ Self::Arbitration => embedded_hal_1::i2c::ErrorKind::ArbitrationLoss,
+ Self::Nack => {
+ embedded_hal_1::i2c::ErrorKind::NoAcknowledge(embedded_hal_1::i2c::NoAcknowledgeSource::Unknown)
+ }
+ Self::Timeout => embedded_hal_1::i2c::ErrorKind::Other,
+ Self::Crc => embedded_hal_1::i2c::ErrorKind::Other,
+ Self::Overrun => embedded_hal_1::i2c::ErrorKind::Overrun,
+ Self::ZeroLengthTransfer => embedded_hal_1::i2c::ErrorKind::Other,
+ }
+ }
+ }
+
+ impl<'d, T: Instance, TXDMA, RXDMA> embedded_hal_1::i2c::ErrorType for I2c<'d, T, TXDMA, RXDMA> {
+ type Error = Error;
+ }
+
+ impl<'d, T: Instance> embedded_hal_1::i2c::I2c for I2c<'d, T, NoDma, NoDma> {
+ fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
+ self.blocking_read(address, read)
+ }
+
+ fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
+ self.blocking_write(address, write)
+ }
+
+ fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
+ self.blocking_write_read(address, write, read)
+ }
+
+ fn transaction(
+ &mut self,
+ _address: u8,
+ _operations: &mut [embedded_hal_1::i2c::Operation<'_>],
+ ) -> Result<(), Self::Error> {
+ todo!();
+ }
+ }
+}
+
+#[cfg(all(feature = "unstable-traits", feature = "nightly"))]
+mod eha {
+ use super::*;
+
+ impl<'d, T: Instance, TXDMA: TxDma<T>, RXDMA: RxDma<T>> embedded_hal_async::i2c::I2c for I2c<'d, T, TXDMA, RXDMA> {
+ async fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
+ self.read(address, read).await
+ }
+
+ async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
+ self.write(address, write).await
+ }
+
+ async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
+ self.write_read(address, write, read).await
+ }
+
+ async fn transaction(
+ &mut self,
+ address: u8,
+ operations: &mut [embedded_hal_1::i2c::Operation<'_>],
+ ) -> Result<(), Self::Error> {
+ let _ = address;
+ let _ = operations;
+ todo!()
+ }
+ }
+}
diff --git a/embassy-stm32/src/i2c/v1.rs b/embassy-stm32/src/i2c/v1.rs
index ab59f5ab9..03f07c4fe 100644
--- a/embassy-stm32/src/i2c/v1.rs
+++ b/embassy-stm32/src/i2c/v1.rs
@@ -3,21 +3,17 @@ use core::marker::PhantomData;
use embassy_embedded_hal::SetConfig;
use embassy_hal_internal::{into_ref, PeripheralRef};
+use super::*;
use crate::dma::NoDma;
use crate::gpio::sealed::AFType;
use crate::gpio::Pull;
-use crate::i2c::{Error, Instance, SclPin, SdaPin};
+use crate::interrupt::typelevel::Interrupt;
use crate::pac::i2c;
use crate::time::Hertz;
use crate::{interrupt, Peripheral};
-/// Interrupt handler.
-pub struct InterruptHandler<T: Instance> {
- _phantom: PhantomData<T>,
-}
-
-impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
- unsafe fn on_interrupt() {}
+pub unsafe fn on_interrupt<T: Instance>() {
+ // todo
}
#[non_exhaustive]
@@ -27,14 +23,6 @@ pub struct Config {
pub scl_pullup: bool,
}
-pub struct State {}
-
-impl State {
- pub(crate) const fn new() -> Self {
- Self {}
- }
-}
-
pub struct I2c<'d, T: Instance, TXDMA = NoDma, RXDMA = NoDma> {
phantom: PhantomData<&'d mut T>,
#[allow(dead_code)]
@@ -48,7 +36,9 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
_peri: impl Peripheral<P = T> + 'd,
scl: impl Peripheral<P = impl SclPin<T>> + 'd,
sda: impl Peripheral<P = impl SdaPin<T>> + 'd,
- _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
+ _irq: impl interrupt::typelevel::Binding<T::EventInterrupt, EventInterruptHandler<T>>
+ + interrupt::typelevel::Binding<T::ErrorInterrupt, ErrorInterruptHandler<T>>
+ + 'd,
tx_dma: impl Peripheral<P = TXDMA> + 'd,
rx_dma: impl Peripheral<P = RXDMA> + 'd,
freq: Hertz,
@@ -98,6 +88,9 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
reg.set_pe(true);
});
+ unsafe { T::EventInterrupt::enable() };
+ unsafe { T::ErrorInterrupt::enable() };
+
Self {
phantom: PhantomData,
tx_dma,
@@ -336,6 +329,30 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
pub fn blocking_write_read(&mut self, addr: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error> {
self.blocking_write_read_timeout(addr, write, read, || Ok(()))
}
+
+ // Async
+
+ pub async fn write(&mut self, _address: u8, _write: &[u8]) -> Result<(), Error>
+ where
+ TXDMA: crate::i2c::TxDma<T>,
+ {
+ todo!()
+ }
+
+ pub async fn read(&mut self, _address: u8, _buffer: &mut [u8]) -> Result<(), Error>
+ where
+ RXDMA: crate::i2c::RxDma<T>,
+ {
+ todo!()
+ }
+
+ pub async fn write_read(&mut self, _address: u8, _write: &[u8], _read: &mut [u8]) -> Result<(), Error>
+ where
+ RXDMA: crate::i2c::RxDma<T>,
+ TXDMA: crate::i2c::TxDma<T>,
+ {
+ todo!()
+ }
}
impl<'d, T: Instance, TXDMA, RXDMA> Drop for I2c<'d, T, TXDMA, RXDMA> {
@@ -344,77 +361,6 @@ impl<'d, T: Instance, TXDMA, RXDMA> Drop for I2c<'d, T, TXDMA, RXDMA> {
}
}
-impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Read for I2c<'d, T> {
- type Error = Error;
-
- fn read(&mut self, addr: u8, read: &mut [u8]) -> Result<(), Self::Error> {
- self.blocking_read(addr, read)
- }
-}
-
-impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Write for I2c<'d, T> {
- type Error = Error;
-
- fn write(&mut self, addr: u8, write: &[u8]) -> Result<(), Self::Error> {
- self.blocking_write(addr, write)
- }
-}
-
-impl<'d, T: Instance> embedded_hal_02::blocking::i2c::WriteRead for I2c<'d, T> {
- type Error = Error;
-
- fn write_read(&mut self, addr: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
- self.blocking_write_read(addr, write, read)
- }
-}
-
-#[cfg(feature = "unstable-traits")]
-mod eh1 {
- use super::*;
-
- impl embedded_hal_1::i2c::Error for Error {
- fn kind(&self) -> embedded_hal_1::i2c::ErrorKind {
- match *self {
- Self::Bus => embedded_hal_1::i2c::ErrorKind::Bus,
- Self::Arbitration => embedded_hal_1::i2c::ErrorKind::ArbitrationLoss,
- Self::Nack => {
- embedded_hal_1::i2c::ErrorKind::NoAcknowledge(embedded_hal_1::i2c::NoAcknowledgeSource::Unknown)
- }
- Self::Timeout => embedded_hal_1::i2c::ErrorKind::Other,
- Self::Crc => embedded_hal_1::i2c::ErrorKind::Other,
- Self::Overrun => embedded_hal_1::i2c::ErrorKind::Overrun,
- Self::ZeroLengthTransfer => embedded_hal_1::i2c::ErrorKind::Other,
- }
- }
- }
-
- impl<'d, T: Instance> embedded_hal_1::i2c::ErrorType for I2c<'d, T> {
- type Error = Error;
- }
-
- impl<'d, T: Instance> embedded_hal_1::i2c::I2c for I2c<'d, T> {
- fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
- self.blocking_read(address, read)
- }
-
- fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
- self.blocking_write(address, write)
- }
-
- fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
- self.blocking_write_read(address, write, read)
- }
-
- fn transaction(
- &mut self,
- _address: u8,
- _operations: &mut [embedded_hal_1::i2c::Operation<'_>],
- ) -> Result<(), Self::Error> {
- todo!();
- }
- }
-}
-
enum Mode {
Fast,
Standard,
diff --git a/embassy-stm32/src/i2c/v2.rs b/embassy-stm32/src/i2c/v2.rs
index 40bcaa9bc..8c20e1c54 100644
--- a/embassy-stm32/src/i2c/v2.rs
+++ b/embassy-stm32/src/i2c/v2.rs
@@ -1,19 +1,17 @@
use core::cmp;
use core::future::poll_fn;
-use core::marker::PhantomData;
use core::task::Poll;
use embassy_embedded_hal::SetConfig;
use embassy_hal_internal::drop::OnDrop;
use embassy_hal_internal::{into_ref, PeripheralRef};
-use embassy_sync::waitqueue::AtomicWaker;
#[cfg(feature = "time")]
use embassy_time::{Duration, Instant};
+use super::*;
use crate::dma::{NoDma, Transfer};
use crate::gpio::sealed::AFType;
use crate::gpio::Pull;
-use crate::i2c::{Error, Instance, SclPin, SdaPin};
use crate::interrupt::typelevel::Interrupt;
use crate::pac::i2c;
use crate::time::Hertz;
@@ -36,25 +34,18 @@ pub fn no_timeout_fn() -> impl Fn() -> Result<(), Error> {
move || Ok(())
}
-/// Interrupt handler.
-pub struct InterruptHandler<T: Instance> {
- _phantom: PhantomData<T>,
-}
+pub unsafe fn on_interrupt<T: Instance>() {
+ let regs = T::regs();
+ let isr = regs.isr().read();
-impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
- unsafe fn on_interrupt() {
- let regs = T::regs();
- let isr = regs.isr().read();
-
- if isr.tcr() || isr.tc() {
- T::state().waker.wake();
- }
- // The flag can only be cleared by writting to nbytes, we won't do that here, so disable
- // the interrupt
- critical_section::with(|_| {
- regs.cr1().modify(|w| w.set_tcie(false));
- });
+ if isr.tcr() || isr.tc() {
+ T::state().waker.wake();
}
+ // The flag can only be cleared by writting to nbytes, we won't do that here, so disable
+ // the interrupt
+ critical_section::with(|_| {
+ regs.cr1().modify(|w| w.set_tcie(false));
+ });
}
#[non_exhaustive]
@@ -77,18 +68,6 @@ impl Default for Config {
}
}
-pub struct State {
- waker: AtomicWaker,
-}
-
-impl State {
- pub(crate) const fn new() -> Self {
- Self {
- waker: AtomicWaker::new(),
- }
- }
-}
-
pub struct I2c<'d, T: Instance, TXDMA = NoDma, RXDMA = NoDma> {
_peri: PeripheralRef<'d, T>,
#[allow(dead_code)]
@@ -104,7 +83,9 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
peri: impl Peripheral<P = T> + 'd,
scl: impl Peripheral<P = impl SclPin<T>> + 'd,
sda: impl Peripheral<P = impl SdaPin<T>> + 'd,
- _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
+ _irq: impl interrupt::typelevel::Binding<T::EventInterrupt, EventInterruptHandler<T>>
+ + interrupt::typelevel::Binding<T::ErrorInterrupt, ErrorInterruptHandler<T>>
+ + 'd,
tx_dma: impl Peripheral<P = TXDMA> + 'd,
rx_dma: impl Peripheral<P = RXDMA> + 'd,
freq: Hertz,
@@ -150,8 +131,8 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
reg.set_pe(true);
});
- T::Interrupt::unpend();
- unsafe { T::Interrupt::enable() };
+ unsafe { T::EventInterrupt::enable() };
+ unsafe { T::ErrorInterrupt::enable() };
Self {
_peri: peri,
@@ -987,35 +968,6 @@ impl<'d, T: Instance, TXDMA, RXDMA> Drop for I2c<'d, T, TXDMA, RXDMA> {
}
}
-#[cfg(feature = "time")]
-mod eh02 {
- use super::*;
-
- impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Read for I2c<'d, T> {
- type Error = Error;
-
- fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
- self.blocking_read(address, buffer)
- }
- }
-
- impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Write for I2c<'d, T> {
- type Error = Error;
-
- fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
- self.blocking_write(address, write)
- }
- }
-
- impl<'d, T: Instance> embedded_hal_02::blocking::i2c::WriteRead for I2c<'d, T> {
- type Error = Error;
-
- fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
- self.blocking_write_read(address, write, read)
- }
- }
-}
-
/// I2C Stop Configuration
///
/// Peripheral options for generating the STOP condition
@@ -1140,83 +1092,6 @@ impl Timings {
}
}
-#[cfg(feature = "unstable-traits")]
-mod eh1 {
- use super::*;
-
- impl embedded_hal_1::i2c::Error for Error {
- fn kind(&self) -> embedded_hal_1::i2c::ErrorKind {
- match *self {
- Self::Bus => embedded_hal_1::i2c::ErrorKind::Bus,
- Self::Arbitration => embedded_hal_1::i2c::ErrorKind::ArbitrationLoss,
- Self::Nack => {
- embedded_hal_1::i2c::ErrorKind::NoAcknowledge(embedded_hal_1::i2c::NoAcknowledgeSource::Unknown)
- }
- Self::Timeout => embedded_hal_1::i2c::ErrorKind::Other,
- Self::Crc => embedded_hal_1::i2c::ErrorKind::Other,
- Self::Overrun => embedded_hal_1::i2c::ErrorKind::Overrun,
- Self::ZeroLengthTransfer => embedded_hal_1::i2c::ErrorKind::Other,
- }
- }
- }
-
- impl<'d, T: Instance, TXDMA, RXDMA> embedded_hal_1::i2c::ErrorType for I2c<'d, T, TXDMA, RXDMA> {
- type Error = Error;
- }
-
- impl<'d, T: Instance> embedded_hal_1::i2c::I2c for I2c<'d, T, NoDma, NoDma> {
- fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
- self.blocking_read(address, read)
- }
-
- fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
- self.blocking_write(address, write)
- }
-
- fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
- self.blocking_write_read(address, write, read)
- }
-
- fn transaction(
- &mut self,
- _address: u8,
- _operations: &mut [embedded_hal_1::i2c::Operation<'_>],
- ) -> Result<(), Self::Error> {
- todo!();
- }
- }
-}
-
-#[cfg(all(feature = "unstable-traits", feature = "nightly"))]
-mod eha {
- use super::super::{RxDma, TxDma};
- use super::*;
-
- impl<'d, T: Instance, TXDMA: TxDma<T>, RXDMA: RxDma<T>> embedded_hal_async::i2c::I2c for I2c<'d, T, TXDMA, RXDMA> {
- async fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
- self.read(address, read).await
- }
-
- async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
- self.write(address, write).await
- }
-
- async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
- self.write_read(address, write, read).await
- }
-
- async fn transaction(
- &mut self,
- address: u8,
- operations: &mut [embedded_hal_1::i2c::Operation<'_>],
- ) -> Result<(), Self::Error> {
- let _ = address;
- let _ = operations;
- todo!()
- }
- }
-}
-
impl<'d, T: Instance> SetConfig for I2c<'d, T> {
type Config = Hertz;
type ConfigError = ();
diff --git a/examples/stm32f4/src/bin/i2c.rs b/examples/stm32f4/src/bin/i2c.rs
index 032bd97ee..4f4adde28 100644
--- a/examples/stm32f4/src/bin/i2c.rs
+++ b/examples/stm32f4/src/bin/i2c.rs
@@ -14,7 +14,8 @@ const ADDRESS: u8 = 0x5F;
const WHOAMI: u8 = 0x0F;
bind_interrupts!(struct Irqs {
- I2C2_EV => i2c::InterruptHandler<peripherals::I2C2>;
+ I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+ I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
});
#[embassy_executor::main]
diff --git a/examples/stm32h5/src/bin/i2c.rs b/examples/stm32h5/src/bin/i2c.rs
index 8b1662f39..31783a2bf 100644
--- a/examples/stm32h5/src/bin/i2c.rs
+++ b/examples/stm32h5/src/bin/i2c.rs
@@ -13,7 +13,8 @@ const ADDRESS: u8 = 0x5F;
const WHOAMI: u8 = 0x0F;
bind_interrupts!(struct Irqs {
- I2C2_EV => i2c::InterruptHandler<peripherals::I2C2>;
+ I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+ I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
});
#[embassy_executor::main]
diff --git a/examples/stm32h7/src/bin/camera.rs b/examples/stm32h7/src/bin/camera.rs
index 23ece1c38..489fb03dd 100644
--- a/examples/stm32h7/src/bin/camera.rs
+++ b/examples/stm32h7/src/bin/camera.rs
@@ -19,7 +19,8 @@ const HEIGHT: usize = 100;
static mut FRAME: [u32; WIDTH * HEIGHT / 2] = [0u32; WIDTH * HEIGHT / 2];
bind_interrupts!(struct Irqs {
- I2C1_EV => i2c::InterruptHandler<peripherals::I2C1>;
+ I2C1_EV => i2c::EventInterruptHandler<peripherals::I2C1>;
+ I2C1_ER => i2c::ErrorInterruptHandler<peripherals::I2C1>;
DCMI => dcmi::InterruptHandler<peripherals::DCMI>;
});
diff --git a/examples/stm32h7/src/bin/i2c.rs b/examples/stm32h7/src/bin/i2c.rs
index 9aa0ca08b..aea21ec6f 100644
--- a/examples/stm32h7/src/bin/i2c.rs
+++ b/examples/stm32h7/src/bin/i2c.rs
@@ -13,7 +13,8 @@ const ADDRESS: u8 = 0x5F;
const WHOAMI: u8 = 0x0F;
bind_interrupts!(struct Irqs {
- I2C2_EV => i2c::InterruptHandler<peripherals::I2C2>;
+ I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+ I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
});
#[embassy_executor::main]
diff --git a/examples/stm32l4/src/bin/i2c.rs b/examples/stm32l4/src/bin/i2c.rs
index d0060d20c..07dc12e8c 100644
--- a/examples/stm32l4/src/bin/i2c.rs
+++ b/examples/stm32l4/src/bin/i2c.rs
@@ -14,7 +14,8 @@ const ADDRESS: u8 = 0x5F;
const WHOAMI: u8 = 0x0F;
bind_interrupts!(struct Irqs {
- I2C2_EV => i2c::InterruptHandler<peripherals::I2C2>;
+ I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+ I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
});
#[embassy_executor::main]
diff --git a/examples/stm32l4/src/bin/i2c_blocking_async.rs b/examples/stm32l4/src/bin/i2c_blocking_async.rs
index eca59087b..60a4e2eb3 100644
--- a/examples/stm32l4/src/bin/i2c_blocking_async.rs
+++ b/examples/stm32l4/src/bin/i2c_blocking_async.rs
@@ -16,7 +16,8 @@ const ADDRESS: u8 = 0x5F;
const WHOAMI: u8 = 0x0F;
bind_interrupts!(struct Irqs {
- I2C2_EV => i2c::InterruptHandler<peripherals::I2C2>;
+ I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+ I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
});
#[embassy_executor::main]
diff --git a/examples/stm32l4/src/bin/i2c_dma.rs b/examples/stm32l4/src/bin/i2c_dma.rs
index cf6f3da67..4c2c224a6 100644
--- a/examples/stm32l4/src/bin/i2c_dma.rs
+++ b/examples/stm32l4/src/bin/i2c_dma.rs
@@ -13,7 +13,8 @@ const ADDRESS: u8 = 0x5F;
const WHOAMI: u8 = 0x0F;
bind_interrupts!(struct Irqs {
- I2C2_EV => i2c::InterruptHandler<peripherals::I2C2>;
+ I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+ I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
});
#[embassy_executor::main]
diff --git a/examples/stm32l4/src/bin/spe_adin1110_http_server.rs b/examples/stm32l4/src/bin/spe_adin1110_http_server.rs
index 3a7e5370c..4826e0bed 100644
--- a/examples/stm32l4/src/bin/spe_adin1110_http_server.rs
+++ b/examples/stm32l4/src/bin/spe_adin1110_http_server.rs
@@ -40,7 +40,8 @@ use static_cell::make_static;
use {embassy_stm32 as hal, panic_probe as _};
bind_interrupts!(struct Irqs {
- I2C3_EV => i2c::InterruptHandler<peripherals::I2C3>;
+ I2C3_EV => i2c::EventInterruptHandler<peripherals::I2C3>;
+ I2C3_ER => i2c::ErrorInterruptHandler<peripherals::I2C3>;
RNG => rng::InterruptHandler<peripherals::RNG>;
});
From 3efc3eee5700d2a39e397f1b1b821885301c0862 Mon Sep 17 00:00:00 2001
From: Barnaby Walters <barnaby@waterpigs.co.uk>
Date: Mon, 20 Nov 2023 01:29:02 +0100
Subject: [PATCH 2/2] stm32/i2c: implement async i2c v1.
---
embassy-stm32/src/i2c/v1.rs | 404 +++++++++++++++++++--
examples/stm32f4/src/bin/i2c_async.rs | 62 ++++
examples/stm32f4/src/bin/i2c_comparison.rs | 135 +++++++
3 files changed, 578 insertions(+), 23 deletions(-)
create mode 100644 examples/stm32f4/src/bin/i2c_async.rs
create mode 100644 examples/stm32f4/src/bin/i2c_comparison.rs
diff --git a/embassy-stm32/src/i2c/v1.rs b/embassy-stm32/src/i2c/v1.rs
index 03f07c4fe..b62ee8246 100644
--- a/embassy-stm32/src/i2c/v1.rs
+++ b/embassy-stm32/src/i2c/v1.rs
@@ -1,10 +1,14 @@
+use core::future::poll_fn;
use core::marker::PhantomData;
+use core::task::Poll;
use embassy_embedded_hal::SetConfig;
+use embassy_futures::select::{select, Either};
+use embassy_hal_internal::drop::OnDrop;
use embassy_hal_internal::{into_ref, PeripheralRef};
use super::*;
-use crate::dma::NoDma;
+use crate::dma::{NoDma, Transfer};
use crate::gpio::sealed::AFType;
use crate::gpio::Pull;
use crate::interrupt::typelevel::Interrupt;
@@ -13,7 +17,17 @@ use crate::time::Hertz;
use crate::{interrupt, Peripheral};
pub unsafe fn on_interrupt<T: Instance>() {
- // todo
+ let regs = T::regs();
+ // i2c v2 only woke the task on transfer complete interrupts. v1 uses interrupts for a bunch of
+ // other stuff, so we wake the task on every interrupt.
+ T::state().waker.wake();
+ critical_section::with(|_| {
+ // Clear event interrupt flag.
+ regs.cr2().modify(|w| {
+ w.set_itevten(false);
+ w.set_iterren(false);
+ });
+ });
}
#[non_exhaustive]
@@ -98,40 +112,58 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
}
}
- fn check_and_clear_error_flags(&self) -> Result<i2c::regs::Sr1, Error> {
+ fn check_and_clear_error_flags() -> Result<i2c::regs::Sr1, Error> {
// Note that flags should only be cleared once they have been registered. If flags are
// cleared otherwise, there may be an inherent race condition and flags may be missed.
let sr1 = T::regs().sr1().read();
if sr1.timeout() {
- T::regs().sr1().modify(|reg| reg.set_timeout(false));
+ T::regs().sr1().write(|reg| {
+ reg.0 = !0;
+ reg.set_timeout(false);
+ });
return Err(Error::Timeout);
}
if sr1.pecerr() {
- T::regs().sr1().modify(|reg| reg.set_pecerr(false));
+ T::regs().sr1().write(|reg| {
+ reg.0 = !0;
+ reg.set_pecerr(false);
+ });
return Err(Error::Crc);
}
if sr1.ovr() {
- T::regs().sr1().modify(|reg| reg.set_ovr(false));
+ T::regs().sr1().write(|reg| {
+ reg.0 = !0;
+ reg.set_ovr(false);
+ });
return Err(Error::Overrun);
}
if sr1.af() {
- T::regs().sr1().modify(|reg| reg.set_af(false));
+ T::regs().sr1().write(|reg| {
+ reg.0 = !0;
+ reg.set_af(false);
+ });
return Err(Error::Nack);
}
if sr1.arlo() {
- T::regs().sr1().modify(|reg| reg.set_arlo(false));
+ T::regs().sr1().write(|reg| {
+ reg.0 = !0;
+ reg.set_arlo(false);
+ });
return Err(Error::Arbitration);
}
// The errata indicates that BERR may be incorrectly detected. It recommends ignoring and
// clearing the BERR bit instead.
if sr1.berr() {
- T::regs().sr1().modify(|reg| reg.set_berr(false));
+ T::regs().sr1().write(|reg| {
+ reg.0 = !0;
+ reg.set_berr(false);
+ });
}
Ok(sr1)
@@ -150,13 +182,13 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
});
// Wait until START condition was generated
- while !self.check_and_clear_error_flags()?.start() {
+ while !Self::check_and_clear_error_flags()?.start() {
check_timeout()?;
}
// Also wait until signalled we're master and everything is waiting for us
while {
- self.check_and_clear_error_flags()?;
+ Self::check_and_clear_error_flags()?;
let sr2 = T::regs().sr2().read();
!sr2.msl() && !sr2.busy()
@@ -170,7 +202,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
// Wait until address was sent
// Wait for the address to be acknowledged
// Check for any I2C errors. If a NACK occurs, the ADDR bit will never be set.
- while !self.check_and_clear_error_flags()?.addr() {
+ while !Self::check_and_clear_error_flags()?.addr() {
check_timeout()?;
}
@@ -190,7 +222,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
// Wait until we're ready for sending
while {
// Check for any I2C errors. If a NACK occurs, the ADDR bit will never be set.
- !self.check_and_clear_error_flags()?.txe()
+ !Self::check_and_clear_error_flags()?.txe()
} {
check_timeout()?;
}
@@ -201,7 +233,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
// Wait until byte is transferred
while {
// Check for any potential error conditions.
- !self.check_and_clear_error_flags()?.btf()
+ !Self::check_and_clear_error_flags()?.btf()
} {
check_timeout()?;
}
@@ -212,7 +244,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
fn recv_byte(&self, check_timeout: impl Fn() -> Result<(), Error>) -> Result<u8, Error> {
while {
// Check for any potential error conditions.
- self.check_and_clear_error_flags()?;
+ Self::check_and_clear_error_flags()?;
!T::regs().sr1().read().rxne()
} {
@@ -237,7 +269,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
});
// Wait until START condition was generated
- while !self.check_and_clear_error_flags()?.start() {
+ while !Self::check_and_clear_error_flags()?.start() {
check_timeout()?;
}
@@ -254,7 +286,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
// Wait until address was sent
// Wait for the address to be acknowledged
- while !self.check_and_clear_error_flags()?.addr() {
+ while !Self::check_and_clear_error_flags()?.addr() {
check_timeout()?;
}
@@ -332,26 +364,352 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
// Async
- pub async fn write(&mut self, _address: u8, _write: &[u8]) -> Result<(), Error>
+ #[inline] // pretty sure this should always be inlined
+ fn enable_interrupts() -> () {
+ T::regs().cr2().modify(|w| {
+ w.set_iterren(true);
+ w.set_itevten(true);
+ });
+ }
+
+ async fn write_with_stop(&mut self, address: u8, write: &[u8], send_stop: bool) -> Result<(), Error>
where
TXDMA: crate::i2c::TxDma<T>,
{
- todo!()
+ let dma_transfer = unsafe {
+ let regs = T::regs();
+ regs.cr2().modify(|w| {
+ // DMA mode can be enabled for transmission by setting the DMAEN bit in the I2C_CR2 register.
+ w.set_dmaen(true);
+ w.set_itbufen(false);
+ });
+ // Set the I2C_DR register address in the DMA_SxPAR register. The data will be moved to this address from the memory after each TxE event.
+ let dst = regs.dr().as_ptr() as *mut u8;
+
+ let ch = &mut self.tx_dma;
+ let request = ch.request();
+ Transfer::new_write(ch, request, write, dst, Default::default())
+ };
+
+ let on_drop = OnDrop::new(|| {
+ let regs = T::regs();
+ regs.cr2().modify(|w| {
+ w.set_dmaen(false);
+ w.set_iterren(false);
+ w.set_itevten(false);
+ })
+ });
+
+ Self::enable_interrupts();
+
+ // Send a START condition
+ T::regs().cr1().modify(|reg| {
+ reg.set_start(true);
+ });
+
+ let state = T::state();
+
+ // Wait until START condition was generated
+ poll_fn(|cx| {
+ state.waker.register(cx.waker());
+
+ match Self::check_and_clear_error_flags() {
+ Err(e) => Poll::Ready(Err(e)),
+ Ok(sr1) => {
+ if sr1.start() {
+ Poll::Ready(Ok(()))
+ } else {
+ Poll::Pending
+ }
+ }
+ }
+ })
+ .await?;
+
+ // Also wait until signalled we're master and everything is waiting for us
+ Self::enable_interrupts();
+ poll_fn(|cx| {
+ state.waker.register(cx.waker());
+
+ match Self::check_and_clear_error_flags() {
+ Err(e) => Poll::Ready(Err(e)),
+ Ok(_) => {
+ let sr2 = T::regs().sr2().read();
+ if !sr2.msl() && !sr2.busy() {
+ Poll::Pending
+ } else {
+ Poll::Ready(Ok(()))
+ }
+ }
+ }
+ })
+ .await?;
+
+ // Set up current address, we're trying to talk to
+ Self::enable_interrupts();
+ T::regs().dr().write(|reg| reg.set_dr(address << 1));
+
+ poll_fn(|cx| {
+ state.waker.register(cx.waker());
+ match Self::check_and_clear_error_flags() {
+ Err(e) => Poll::Ready(Err(e)),
+ Ok(sr1) => {
+ if sr1.addr() {
+ // Clear the ADDR condition by reading SR2.
+ T::regs().sr2().read();
+ Poll::Ready(Ok(()))
+ } else {
+ Poll::Pending
+ }
+ }
+ }
+ })
+ .await?;
+ Self::enable_interrupts();
+ let poll_error = poll_fn(|cx| {
+ state.waker.register(cx.waker());
+
+ match Self::check_and_clear_error_flags() {
+ // Unclear why the Err turbofish is necessary here? The compiler didn’t require it in the other
+ // identical poll_fn check_and_clear matches.
+ Err(e) => Poll::Ready(Err::<T, Error>(e)),
+ Ok(_) => Poll::Pending,
+ }
+ });
+
+ // Wait for either the DMA transfer to successfully finish, or an I2C error to occur.
+ match select(dma_transfer, poll_error).await {
+ Either::Second(Err(e)) => Err(e),
+ _ => Ok(()),
+ }?;
+
+ // The I2C transfer itself will take longer than the DMA transfer, so wait for that to finish too.
+
+ // 18.3.8 “Master transmitter: In the interrupt routine after the EOT interrupt, disable DMA
+ // requests then wait for a BTF event before programming the Stop condition.”
+
+ // TODO: If this has to be done “in the interrupt routine after the EOT interrupt”, where to put it?
+ T::regs().cr2().modify(|w| {
+ w.set_dmaen(false);
+ });
+
+ Self::enable_interrupts();
+ poll_fn(|cx| {
+ state.waker.register(cx.waker());
+
+ match Self::check_and_clear_error_flags() {
+ Err(e) => Poll::Ready(Err(e)),
+ Ok(sr1) => {
+ if sr1.btf() {
+ if send_stop {
+ T::regs().cr1().modify(|w| {
+ w.set_stop(true);
+ });
+ }
+
+ Poll::Ready(Ok(()))
+ } else {
+ Poll::Pending
+ }
+ }
+ }
+ })
+ .await?;
+
+ drop(on_drop);
+
+ // Fallthrough is success
+ Ok(())
}
- pub async fn read(&mut self, _address: u8, _buffer: &mut [u8]) -> Result<(), Error>
+ pub async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Error>
+ where
+ TXDMA: crate::i2c::TxDma<T>,
+ {
+ self.write_with_stop(address, write, true).await?;
+
+ // Wait for STOP condition to transmit.
+ Self::enable_interrupts();
+ poll_fn(|cx| {
+ T::state().waker.register(cx.waker());
+ // TODO: error interrupts are enabled here, should we additional check for and return errors?
+ if T::regs().cr1().read().stop() {
+ Poll::Pending
+ } else {
+ Poll::Ready(Ok(()))
+ }
+ })
+ .await?;
+
+ Ok(())
+ }
+
+ pub async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error>
where
RXDMA: crate::i2c::RxDma<T>,
{
- todo!()
+ let state = T::state();
+ let buffer_len = buffer.len();
+
+ let dma_transfer = unsafe {
+ let regs = T::regs();
+ regs.cr2().modify(|w| {
+ // DMA mode can be enabled for transmission by setting the DMAEN bit in the I2C_CR2 register.
+ w.set_itbufen(false);
+ w.set_dmaen(true);
+ });
+ // Set the I2C_DR register address in the DMA_SxPAR register. The data will be moved to this address from the memory after each TxE event.
+ let src = regs.dr().as_ptr() as *mut u8;
+
+ let ch = &mut self.rx_dma;
+ let request = ch.request();
+ Transfer::new_read(ch, request, src, buffer, Default::default())
+ };
+
+ let on_drop = OnDrop::new(|| {
+ let regs = T::regs();
+ regs.cr2().modify(|w| {
+ w.set_dmaen(false);
+ w.set_iterren(false);
+ w.set_itevten(false);
+ })
+ });
+
+ Self::enable_interrupts();
+
+ // Send a START condition and set ACK bit
+ T::regs().cr1().modify(|reg| {
+ reg.set_start(true);
+ reg.set_ack(true);
+ });
+
+ // Wait until START condition was generated
+ poll_fn(|cx| {
+ state.waker.register(cx.waker());
+
+ match Self::check_and_clear_error_flags() {
+ Err(e) => Poll::Ready(Err(e)),
+ Ok(sr1) => {
+ if sr1.start() {
+ Poll::Ready(Ok(()))
+ } else {
+ Poll::Pending
+ }
+ }
+ }
+ })
+ .await?;
+
+ // Also wait until signalled we're master and everything is waiting for us
+ Self::enable_interrupts();
+ poll_fn(|cx| {
+ state.waker.register(cx.waker());
+
+ // blocking read didn’t have a check_and_clear call here, but blocking write did so
+ // I’m adding it here in case that was an oversight.
+ match Self::check_and_clear_error_flags() {
+ Err(e) => Poll::Ready(Err(e)),
+ Ok(_) => {
+ let sr2 = T::regs().sr2().read();
+ if !sr2.msl() && !sr2.busy() {
+ Poll::Pending
+ } else {
+ Poll::Ready(Ok(()))
+ }
+ }
+ }
+ })
+ .await?;
+
+ // Set up current address, we're trying to talk to
+ T::regs().dr().write(|reg| reg.set_dr((address << 1) + 1));
+
+ // Wait for the address to be acknowledged
+
+ Self::enable_interrupts();
+ poll_fn(|cx| {
+ state.waker.register(cx.waker());
+
+ match Self::check_and_clear_error_flags() {
+ Err(e) => Poll::Ready(Err(e)),
+ Ok(sr1) => {
+ if sr1.addr() {
+ // 18.3.8: When a single byte must be received: the NACK must be programmed during EV6
+ // event, i.e. program ACK=0 when ADDR=1, before clearing ADDR flag.
+ if buffer_len == 1 {
+ T::regs().cr1().modify(|w| {
+ w.set_ack(false);
+ });
+ }
+ Poll::Ready(Ok(()))
+ } else {
+ Poll::Pending
+ }
+ }
+ }
+ })
+ .await?;
+
+ // Clear ADDR condition by reading SR2
+ T::regs().sr2().read();
+
+ // 18.3.8: When a single byte must be received: [snip] Then the
+ // user can program the STOP condition either after clearing ADDR flag, or in the
+ // DMA Transfer Complete interrupt routine.
+ if buffer_len == 1 {
+ T::regs().cr1().modify(|w| {
+ w.set_stop(true);
+ });
+ } else {
+ // If, in the I2C_CR2 register, the LAST bit is set, I2C
+ // automatically sends a NACK after the next byte following EOT_1. The user can
+ // generate a Stop condition in the DMA Transfer Complete interrupt routine if enabled.
+ T::regs().cr2().modify(|w| {
+ w.set_last(true);
+ })
+ }
+
+ // Wait for bytes to be received, or an error to occur.
+ Self::enable_interrupts();
+ let poll_error = poll_fn(|cx| {
+ state.waker.register(cx.waker());
+
+ match Self::check_and_clear_error_flags() {
+ Err(e) => Poll::Ready(Err::<T, Error>(e)),
+ _ => Poll::Pending,
+ }
+ });
+
+ match select(dma_transfer, poll_error).await {
+ Either::Second(Err(e)) => Err(e),
+ _ => Ok(()),
+ }?;
+
+ // Wait for the STOP to be sent (STOP bit cleared).
+ Self::enable_interrupts();
+ poll_fn(|cx| {
+ state.waker.register(cx.waker());
+ // TODO: error interrupts are enabled here, should we additional check for and return errors?
+ if T::regs().cr1().read().stop() {
+ Poll::Pending
+ } else {
+ Poll::Ready(Ok(()))
+ }
+ })
+ .await?;
+ drop(on_drop);
+
+ // Fallthrough is success
+ Ok(())
}
- pub async fn write_read(&mut self, _address: u8, _write: &[u8], _read: &mut [u8]) -> Result<(), Error>
+ pub async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error>
where
RXDMA: crate::i2c::RxDma<T>,
TXDMA: crate::i2c::TxDma<T>,
{
- todo!()
+ self.write_with_stop(address, write, false).await?;
+ self.read(address, read).await
}
}
diff --git a/examples/stm32f4/src/bin/i2c_async.rs b/examples/stm32f4/src/bin/i2c_async.rs
new file mode 100644
index 000000000..9f59e4d41
--- /dev/null
+++ b/examples/stm32f4/src/bin/i2c_async.rs
@@ -0,0 +1,62 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+// Example originally designed for stm32f411ceu6 reading an A1454 hall effect sensor on I2C1
+// DMA peripherals changed to compile for stm32f429zi, for the CI.
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::i2c::I2c;
+use embassy_stm32::time::Hertz;
+use embassy_stm32::{bind_interrupts, i2c, peripherals};
+use {defmt_rtt as _, panic_probe as _};
+
+const ADDRESS: u8 = 96;
+
+bind_interrupts!(struct Irqs {
+ I2C1_EV => i2c::EventInterruptHandler<peripherals::I2C1>;
+ I2C1_ER => i2c::ErrorInterruptHandler<peripherals::I2C1>;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ info!("Hello world!");
+ let p = embassy_stm32::init(Default::default());
+
+ let mut i2c = I2c::new(
+ p.I2C1,
+ p.PB8,
+ p.PB7,
+ Irqs,
+ p.DMA1_CH6,
+ p.DMA1_CH0,
+ Hertz(100_000),
+ Default::default(),
+ );
+
+ loop {
+ let a1454_read_sensor_command = [0x1F];
+ let mut sensor_data_buffer: [u8; 4] = [0, 0, 0, 0];
+
+ match i2c
+ .write_read(ADDRESS, &a1454_read_sensor_command, &mut sensor_data_buffer)
+ .await
+ {
+ Ok(()) => {
+ // Convert 12-bit signed integer into 16-bit signed integer.
+ // Is the 12 bit number negative?
+ if (sensor_data_buffer[2] & 0b00001000) == 0b0001000 {
+ sensor_data_buffer[2] = sensor_data_buffer[2] | 0b11110000;
+ }
+
+ let mut sensor_value_raw: u16 = sensor_data_buffer[3].into();
+ sensor_value_raw |= (sensor_data_buffer[2] as u16) << 8;
+ let sensor_value: u16 = sensor_value_raw.into();
+ let sensor_value = sensor_value as i16;
+ info!("Data: {}", sensor_value);
+ }
+ Err(e) => error!("I2C Error during read: {:?}", e),
+ }
+ }
+}
diff --git a/examples/stm32f4/src/bin/i2c_comparison.rs b/examples/stm32f4/src/bin/i2c_comparison.rs
new file mode 100644
index 000000000..6d23c0ed8
--- /dev/null
+++ b/examples/stm32f4/src/bin/i2c_comparison.rs
@@ -0,0 +1,135 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+// Example originally designed for stm32f411ceu6 with three A1454 hall effect sensors, connected to I2C1, 2 and 3
+// on the pins referenced in the peripheral definitions.
+// Pins and DMA peripherals changed to compile for stm32f429zi, to work with the CI.
+// MUST be compiled in release mode to see actual performance, otherwise the async transactions take 2x
+// as long to complete as the blocking ones!
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::i2c::I2c;
+use embassy_stm32::time::Hertz;
+use embassy_stm32::{bind_interrupts, i2c, peripherals};
+use embassy_time::Instant;
+use futures::future::try_join3;
+use {defmt_rtt as _, panic_probe as _};
+
+const ADDRESS: u8 = 96;
+
+bind_interrupts!(struct Irqs {
+ I2C1_EV => i2c::EventInterruptHandler<peripherals::I2C1>;
+ I2C1_ER => i2c::ErrorInterruptHandler<peripherals::I2C1>;
+ I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+ I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
+ I2C3_EV => i2c::EventInterruptHandler<peripherals::I2C3>;
+ I2C3_ER => i2c::ErrorInterruptHandler<peripherals::I2C3>;
+});
+
+/// Convert 12-bit signed integer within a 4 byte long buffer into 16-bit signed integer.
+fn a1454_buf_to_i16(buffer: &[u8; 4]) -> i16 {
+ let lower = buffer[3];
+ let mut upper = buffer[2];
+ // Fill in additional 1s if the 12 bit number is negative.
+ if (upper & 0b00001000) == 0b0001000 {
+ upper = upper | 0b11110000;
+ }
+
+ let mut sensor_value_raw: u16 = lower.into();
+ sensor_value_raw |= (upper as u16) << 8;
+ let sensor_value: u16 = sensor_value_raw.into();
+ let sensor_value = sensor_value as i16;
+ sensor_value
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ info!("Setting up peripherals.");
+ let p = embassy_stm32::init(Default::default());
+
+ let mut i2c1 = I2c::new(
+ p.I2C1,
+ p.PB8,
+ p.PB7,
+ Irqs,
+ p.DMA1_CH6,
+ p.DMA1_CH0,
+ Hertz(100_000),
+ Default::default(),
+ );
+
+ let mut i2c2 = I2c::new(
+ p.I2C2,
+ p.PB10,
+ p.PB11,
+ Irqs,
+ p.DMA1_CH7,
+ p.DMA1_CH3,
+ Hertz(100_000),
+ Default::default(),
+ );
+
+ let mut i2c3 = I2c::new(
+ p.I2C3,
+ p.PA8,
+ p.PC9,
+ Irqs,
+ p.DMA1_CH4,
+ p.DMA1_CH2,
+ Hertz(100_000),
+ Default::default(),
+ );
+
+ let a1454_read_sensor_command = [0x1F];
+ let mut i2c1_buffer: [u8; 4] = [0, 0, 0, 0];
+ let mut i2c2_buffer: [u8; 4] = [0, 0, 0, 0];
+ let mut i2c3_buffer: [u8; 4] = [0, 0, 0, 0];
+ loop {
+ // Blocking reads one after the other. Completes in about 2000us.
+ let blocking_read_start_us = Instant::now().as_micros();
+ match i2c1.blocking_write_read(ADDRESS, &a1454_read_sensor_command, &mut i2c1_buffer) {
+ Ok(()) => {}
+ Err(e) => error!("I2C Error: {:?}", e),
+ }
+ match i2c2.blocking_write_read(ADDRESS, &a1454_read_sensor_command, &mut i2c2_buffer) {
+ Ok(()) => {}
+ Err(e) => error!("I2C Error: {:?}", e),
+ }
+ match i2c3.blocking_write_read(ADDRESS, &a1454_read_sensor_command, &mut i2c3_buffer) {
+ Ok(()) => {}
+ Err(e) => error!("I2C Error: {:?}", e),
+ }
+ let blocking_read_total_us = Instant::now().as_micros() - blocking_read_start_us;
+ info!(
+ "Blocking reads completed in {}us: i2c1: {} i2c2: {} i2c3: {}",
+ blocking_read_total_us,
+ a1454_buf_to_i16(&i2c1_buffer),
+ a1454_buf_to_i16(&i2c2_buffer),
+ a1454_buf_to_i16(&i2c3_buffer)
+ );
+
+ // Async reads overlapping. Completes in about 1000us.
+ let async_read_start_us = Instant::now().as_micros();
+
+ let i2c1_result = i2c1.write_read(ADDRESS, &a1454_read_sensor_command, &mut i2c1_buffer);
+ let i2c2_result = i2c2.write_read(ADDRESS, &a1454_read_sensor_command, &mut i2c2_buffer);
+ let i2c3_result = i2c3.write_read(ADDRESS, &a1454_read_sensor_command, &mut i2c3_buffer);
+
+ // Wait for all three transactions to finish, or any one of them to fail.
+ match try_join3(i2c1_result, i2c2_result, i2c3_result).await {
+ Ok(_) => {
+ let async_read_total_us = Instant::now().as_micros() - async_read_start_us;
+ info!(
+ "Async reads completed in {}us: i2c1: {} i2c2: {} i2c3: {}",
+ async_read_total_us,
+ a1454_buf_to_i16(&i2c1_buffer),
+ a1454_buf_to_i16(&i2c2_buffer),
+ a1454_buf_to_i16(&i2c3_buffer)
+ );
+ }
+ Err(e) => error!("I2C Error during async write-read: {}", e),
+ };
+ }
+}