diff --git a/.gitignore b/.gitignore index 088ba6b..f2e972d 100644 --- a/.gitignore +++ b/.gitignore @@ -2,9 +2,5 @@ # will have compiled files and executables /target/ -# Remove Cargo.lock from gitignore if creating an executable, leave it for libraries -# More information here https://doc.rust-lang.org/cargo/guide/cargo-toml-vs-cargo-lock.html -Cargo.lock - # These are backup files generated by rustfmt **/*.rs.bk diff --git a/Cargo.toml b/Cargo.toml index 0db13d4..fe3dc70 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -1,8 +1,33 @@ [package] name = "va108xx-hal" version = "0.1.0" +authors = ["Robin Mueller "] edition = "2018" - -# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html +description = "HAL for the Vorago VA108xx family of microcontrollers" +homepage = "https://github.com/robamu/va108xx-hal-rs" +repository = "https://github.com/robamu/va108xx-hal-rs" +license = "MIT OR Apache-2.0" +keywords = ["no-std", "hal", "cortex-m", "vorago", "va108xx"] +categories = ["embedded", "no-std", "hardware-support"] [dependencies] + +cortex-m = "0.7.3" +cortex-m-rt = "0.7.0" +nb = "1" +embedded-hal = { features = ["unproven"], version = "0.2.6" } + +[dependencies.va108xx] +version = "0.1" + +[features] +rt = ["va108xx/rt"] + +[profile.dev] +debug = true +lto = true + +[profile.release] +lto = true +debug = true +opt-level = "s" diff --git a/src/gpio.rs b/src/gpio.rs new file mode 100644 index 0000000..8388398 --- /dev/null +++ b/src/gpio.rs @@ -0,0 +1,661 @@ +use crate::pac::SYSCONFIG; +use core::convert::Infallible; +use core::marker::PhantomData; +use cortex_m::singleton; +use embedded_hal::digital::v2::{InputPin, OutputPin, StatefulOutputPin, ToggleableOutputPin}; +use va108xx::IOCONFIG; + +/// Extension trait to split a GPIO peripheral in independent pins and registers +pub trait GpioExt { + /// The parts to split the GPIO into. + type Parts; + + /// Splits the GPIO block into independent pins and registers. + fn split(&mut self, syscfg: &mut SYSCONFIG) -> Option; +} + +#[derive(Debug, PartialEq)] +pub enum PinModeError { + InputDisabledForOutput, + IsMasked, +} + +#[derive(Debug, PartialEq)] +pub enum PinState { + Low = 0, + High = 1, +} + +enum PortId { + A, + B, +} + +trait GpioRegExt { + fn is_low(&self, pos: u8) -> bool; + fn is_set_low(&self, pos: usize, port_id: &PortId) -> Result; + fn input_enabled_for_output(&self, pos: usize, port_id: &PortId) -> bool; + fn set_high(&self, pos: u8); + fn set_low(&self, pos: u8); + fn toggle(&self, pos: u8); +} + +/// Input mode (type state) +pub struct Input { + _mode: PhantomData, +} + +/// Output mode (type state) +pub struct Output { + _mode: PhantomData, +} + +/// Floating input (type state) +pub struct Floating; +/// Pulled down input (type state) +pub struct PullDown; +/// Pulled up input (type state) +pub struct PullUp; +/// Open drain output (type state) +pub struct OpenDrain; +// Push-pull output (type state) +pub struct PushPull; + +pub struct OutputInverted; + +pub struct InputInverted; + +// FUNSEL0 is the regular GPIO port configuration +pub struct FUNSEL1; +pub struct FUNSEL2; +pub struct FUNSEL3; + +/// Function select (type state) +pub struct Funsel { + _mode: PhantomData, +} + +pub enum FilterType { + SystemClock = 0, + DirectInputWithSynchronization = 1, + FilterOneClockCycle = 2, + FilterTwoClockCycles = 3, + FilterThreeClockCycles = 4, + FilterFourClockCycles = 5, +} + +pub enum FilterClkSel { + SysClk = 0, + Clk1 = 1, + Clk2 = 2, + Clk3 = 3, + Clk4 = 4, + Clk5 = 5, + Clk6 = 6, + Clk7 = 7, +} + +/// Fully erased pin +pub struct Pin { + i: u8, + port_id: PortId, + port: *const dyn GpioRegExt, + _mode: PhantomData, +} +// NOTE(unsafe) this only enables read access to the same pin from multiple threads +unsafe impl Send for Pin {} +impl StatefulOutputPin for Pin> { + #[inline(always)] + fn is_set_high(&self) -> Result { + self.is_set_low().map(|v| !v) + } + #[inline(always)] + fn is_set_low(&self) -> Result { + unsafe { (*self.port).is_set_low(self.i.into(), &self.port_id) } + } +} +impl OutputPin for Pin> { + type Error = PinModeError; + #[inline(always)] + fn set_high(&mut self) -> Result<(), Self::Error> { + unsafe { (*self.port).set_high(self.i) }; + Ok(()) + } + #[inline(always)] + fn set_low(&mut self) -> Result<(), Self::Error> { + unsafe { (*self.port).set_low(self.i) } + Ok(()) + } +} + +impl ToggleableOutputPin for Pin> { + type Error = Infallible; + #[inline(always)] + fn toggle(&mut self) -> Result<(), Self::Error> { + unsafe { (*self.port).toggle(self.i) } + Ok(()) + } +} + +impl InputPin for Pin> { + type Error = Infallible; + #[inline(always)] + fn is_high(&self) -> Result { + self.is_low().map(|v| !v) + } + #[inline(always)] + fn is_low(&self) -> Result { + Ok(unsafe { (*self.port).is_low(self.i) }) + } +} +impl InputPin for Pin> { + type Error = Infallible; + #[inline(always)] + fn is_high(&self) -> Result { + self.is_low().map(|v| !v) + } + #[inline(always)] + fn is_low(&self) -> Result { + Ok(unsafe { (*self.port).is_low(self.i) }) + } +} + +// This is only needs to be implemented for PORTA because PORTB is derived +// from PORTA +impl GpioRegExt for crate::pac::porta::RegisterBlock { + #[inline(always)] + fn is_low(&self, pos: u8) -> bool { + self.datainraw().read().bits() & (1 << pos) == 0 + } + #[inline(always)] + fn is_set_low(&self, pos: usize, port_id: &PortId) -> Result { + if self.input_enabled_for_output(pos, port_id) { + Ok(self.datainraw().read().bits() & (1 << pos) == 0) + } else { + Err(PinModeError::InputDisabledForOutput) + } + } + #[inline(always)] + fn set_high(&self, pos: u8) { + unsafe { self.setout().write(|w| w.bits(1 << pos)) } + } + #[inline(always)] + fn set_low(&self, pos: u8) { + unsafe { self.clrout().write(|w| w.bits(1 << pos)) } + } + #[inline(always)] + fn toggle(&self, pos: u8) { + unsafe { self.togout().write(|w| w.bits(1 << pos)) } + } + #[inline(always)] + fn input_enabled_for_output(&self, pos: usize, port_id: &PortId) -> bool { + unsafe { + let iocfg = &(*IOCONFIG::ptr()); + match port_id { + PortId::A => iocfg.porta[pos].read().iewo().bit_is_set(), + PortId::B => iocfg.portb[pos].read().iewo().bit_is_set(), + } + } + } +} + +macro_rules! gpio { + ($PORTX:ident, $portx:ident, $port_id:path, [ + $($PXi:ident: ($pxi:ident, $i:expr),)+ + ]) => { + pub mod $portx { + use core::marker::PhantomData; + use core::convert::Infallible; + use super::{ + FUNSEL1, FUNSEL2, FUNSEL3, Floating, Funsel, GpioExt, Input, OpenDrain, + PullUp, Output, FilterType, FilterClkSel, Pin, GpioRegExt, PushPull, + PinModeError, PinState, PortId, singleton + }; + use crate::{pac::$PORTX, pac::SYSCONFIG, pac::IOCONFIG}; + use embedded_hal::digital::v2::{ + InputPin, OutputPin, StatefulOutputPin, ToggleableOutputPin + }; + pub struct Parts { + $( + pub $pxi: $PXi>, + )+ + } + + pub fn get_perid(port: &$PORTX) -> u32 { + port.perid.read().bits() + } + + impl GpioExt for $PORTX { + type Parts = Parts; + + /// This function splits the PORT into the individual pins + /// Should only be called once and returns None on subsequent calls + fn split(&mut self, syscfg: &mut SYSCONFIG) -> Option { + let _: &'static mut bool = singleton!(: bool = false)?; + syscfg.peripheral_clk_enable.modify(|_, w| { + w.$portx().set_bit(); + w.gpio().set_bit(); + w.ioconfig().set_bit(); + w + }); + Some(Parts { + $( + $pxi: $PXi { _mode : PhantomData }, + )+ + }) + } + } + + fn _set_alternate_mode(iocfg: &mut IOCONFIG, index: usize, mode: u8) { + unsafe { + iocfg.$portx[index].modify(|_, w| { + w.funsel().bits(mode) + }) + } + } + + $( + pub struct $PXi { + _mode: PhantomData, + } + + impl $PXi { + pub fn into_funsel_1(self, iocfg: &mut IOCONFIG) -> $PXi> { + _set_alternate_mode(iocfg, $i, 1); + $PXi { _mode: PhantomData } + } + pub fn into_funsel_2(self, iocfg: &mut IOCONFIG) -> $PXi> { + _set_alternate_mode(iocfg, $i, 2); + $PXi { _mode: PhantomData } + } + pub fn into_funsel_3(self, iocfg: &mut IOCONFIG) -> $PXi> { + _set_alternate_mode(iocfg, $i, 3); + $PXi { _mode: PhantomData } + } + + // Get DATAMASK bit for this particular pin + #[inline(always)] + pub fn datamask(&self, port: &$PORTX) -> bool { + (port.datamask().read().bits() >> $i) == 1 + } + /// Set DATAMASK bit for this particular pin. 1 is the default + /// state of the bit and allows access of the corresponding bit + #[inline(always)] + pub fn set_datamask(self, port: &mut $PORTX) -> Self { + unsafe { + port.datamask().modify(|r, w| w.bits(r.bits() | (1 << $i))) + } + self + } + + /// Clear DATAMASK bit for this particular pin. This prevents access + /// of the corresponding bit for output and input operations + #[inline(always)] + pub fn clear_datamask(self, port: &mut $PORTX) -> Self { + unsafe { + port.datamask().modify(|r, w| w.bits(r.bits() & !(1 << $i))) + } + self + } + + pub fn into_floating_input( + self, iocfg: &mut IOCONFIG, port: &mut $PORTX + ) -> $PXi> { + unsafe { + iocfg.$portx[$i].modify(|_, w| { + w.funsel().bits(0); + w.pen().clear_bit(); + w.opendrn().clear_bit() + }); + port.dir().modify(|r,w| w.bits(r.bits() & !(1 << $i))); + } + $PXi { _mode: PhantomData } + } + + pub fn into_pull_up_input(self, iocfg: &mut IOCONFIG) -> $PXi> { + unsafe { + iocfg.$portx[$i].modify(|_, w| { + w.funsel().bits(0); + w.pen().set_bit(); + w.plevel().set_bit(); + w.opendrn().clear_bit() + }); + let port_reg = &(*$PORTX::ptr()); + port_reg.dir().modify(|r,w| w.bits(r.bits() & !(1 << $i))); + } + $PXi { _mode: PhantomData } + } + + pub fn into_pull_down_input( + self, iocfg: &mut IOCONFIG, port_reg: &mut $PORTX + ) -> $PXi> { + unsafe { + iocfg.$portx[$i].modify(|_, w| { + w.funsel().bits(0); + w.pen().set_bit(); + w.plevel().clear_bit(); + w.opendrn().clear_bit() + }); + port_reg.dir().modify(|r,w| w.bits(r.bits() & !(1 << $i))); + } + $PXi { _mode: PhantomData } + } + + pub fn into_open_drain_output( + self, iocfg: &mut IOCONFIG + ) -> $PXi> { + unsafe { + iocfg.$portx[$i].modify(|_, w| { + w.funsel().bits(0); + w.pen().clear_bit(); + w.opendrn().set_bit() + }); + let port_reg = &(*$PORTX::ptr()); + port_reg.dir().modify(|r,w| w.bits(r.bits() | (1 << $i))); + } + $PXi { _mode: PhantomData } + } + + pub fn into_push_pull_output( + self, iocfg: &mut IOCONFIG, port_reg: &mut $PORTX + ) -> $PXi> { + unsafe { + iocfg.$portx[$i].modify(|_, w| { + w.funsel().bits(0); + w.opendrn().clear_bit() + }); + port_reg.dir().modify(|r,w| w.bits(r.bits() | (1 << $i))); + port_reg.clrout().write(|w| w.bits(1 << $i)) + } + $PXi { _mode: PhantomData } + } + + pub fn filter_type( + self, iocfg: &mut IOCONFIG, filter: FilterType, clksel: FilterClkSel + ) -> Self { + unsafe { + iocfg.$portx[$i].modify(|_, w| { + w.flttype().bits(filter as u8); + w.fltclk().bits(clksel as u8) + }); + } + self + } + } + + impl $PXi> { + pub fn input_inversion(self, iocfg: &mut IOCONFIG, enable: bool) -> Self { + if enable { + iocfg.$portx[$i].modify(|_, w| w.invinp().set_bit()); + } else { + iocfg.$portx[$i].modify(|_, w| w.invinp().clear_bit()); + } + self + } + + /// This function takes account for the data mask register + #[inline(always)] + pub fn is_high_masked(&self, port: &$PORTX) -> Result { + self.is_low_masked(port).map(|v| !v) + } + + /// This function takes account for the data mask register + #[inline(always)] + pub fn is_low_masked(&self, port: &$PORTX) -> Result { + if ((port.datamask().read().bits() >> $i) & 1) == 0 { + Err(PinModeError::IsMasked) + } else { + Ok(port.datain().read().bits() & (1 << $i) == 0) + } + } + } + + impl $PXi> { + pub fn output_inversion(self, iocfg: &mut IOCONFIG, enable: bool) -> Self { + if enable { + iocfg.$portx[$i].modify(|_, w| w.invout().set_bit()); + } else { + iocfg.$portx[$i].modify(|_, w| w.invout().clear_bit()); + } + self + } + + /// Enable Input even when in output mode. In + /// this mode the input receiver is enabled even + /// if the direction is configured as an output. + /// This allows monitoring of output values + pub fn enable_input(self, iocfg: &mut IOCONFIG, enable: bool) -> Self { + if enable { + iocfg.$portx[$i].modify(|_, w| w.iewo().set_bit()); + } else { + iocfg.$portx[$i].modify(|_, w| w.iewo().clear_bit()); + } + self + } + + /// Enable Pull up/down even when output is active. The Default is to + /// disable pull up/down when output is actively driven. This bit enables the + /// pull up/down all the time. + /// + /// # Arguments + /// + /// `enable` - Enable the peripheral functionality + /// `enable_pullup` - Enable the pullup itself + pub fn enable_pull_up( + self, iocfg: &mut IOCONFIG, enable: bool, enable_pullup: bool + ) -> Self { + iocfg.$portx[$i].modify(|_, w| { + if enable { w.pwoa().set_bit(); } else { w.pwoa().clear_bit(); } + if enable_pullup { w.pen().set_bit(); } else { w.pen().clear_bit(); } + w.plevel().set_bit() + }); + self + } + /// Enable Pull up/down even when output is active. The Default is to disable + /// pull up/down when output is actively driven. This bit enables the + /// pull up/down all the time. + /// + /// # Arguments + /// + /// `enable` - Enable the peripheral functionality + /// `enable_pullup` - Enable the pulldown itself + pub fn enable_pull_down( + self, iocfg: &mut IOCONFIG, enable: bool, enable_pulldown: bool + ) -> Self { + iocfg.$portx[$i].modify(|_, w| { + if enable { w.pwoa().set_bit(); } else { w.pwoa().clear_bit(); } + if enable_pulldown { w.pen().set_bit(); } else { w.pen().clear_bit(); } + w.plevel().clear_bit() + }); + self + } + } + + impl $PXi> { + /// Erases the pin number from the type + /// + /// This is useful when you want to collect the pins into an array where you + /// need all the elements to have the same type + pub fn downgrade(self) -> Pin> { + Pin { + i: $i, + port_id: $port_id, + port: $PORTX::ptr() as *const dyn GpioRegExt, + _mode: self._mode, + } + } + + /// This function takes account for the data mask register + #[inline(always)] + pub fn set_low_masked(&self, port: &$PORTX) -> Result<(), PinModeError> { + if ((port.datamask().read().bits() >> $i) & 1) == 0 { + Err(PinModeError::IsMasked) + } else { + Ok(unsafe { (*$PORTX::ptr()).set_low($i) }) + } + } + /// This function takes account for the data mask register + #[inline(always)] + pub fn set_high_masked(&self, port: &$PORTX) -> Result<(), PinModeError> { + if ((port.datamask().read().bits() >> $i) & 1) == 0 { + Err(PinModeError::IsMasked) + } else { + Ok(unsafe { (*$PORTX::ptr()).set_high($i) }) + } + } + + pub fn pulse_mode(self, port: &mut $PORTX, enable: bool, default_state: PinState) -> Self { + unsafe { + if enable { + port.pulse().modify(|r, w| w.bits(r.bits() | (1 << $i))); + } else { + port.pulse().modify(|r, w| w.bits(r.bits() & !(1 << $i))); + } + if default_state == PinState::Low { + port.pulsebase().modify(|r,w| w.bits(r.bits() & !(1 << $i))); + } + else { + port.pulsebase().modify(|r,w| w.bits(r.bits() | (1 << $i))); + } + } + self + } + + pub fn delay(self, port: &mut $PORTX, delay_1: bool, delay_2: bool) -> Self { + unsafe { + if delay_1 { + port.delay1().modify(|r, w| w.bits(r.bits() | (1 << $i))); + } else { + port.delay1().modify(|r, w| w.bits(r.bits() & !(1 << $i))); + } + if delay_2 { + port.delay2().modify(|r, w| w.bits(r.bits() | (1 << $i))); + } else { + port.delay2().modify(|r, w| w.bits(r.bits() & !(1 << $i))); + } + } + self + } + } + + impl StatefulOutputPin for $PXi> { + #[inline(always)] + fn is_set_high(&self) -> Result { + self.is_set_low().map(|v| !v) + } + #[inline(always)] + fn is_set_low(&self) -> Result { + unsafe { + (*$PORTX::ptr()).is_set_low($i, &$port_id) + } + } + } + impl OutputPin for $PXi> { + type Error = PinModeError; + #[inline(always)] + fn set_high(&mut self) -> Result<(), Self::Error> { + Ok(unsafe { (*$PORTX::ptr()).set_high($i) }) + } + #[inline(always)] + fn set_low(&mut self) -> Result<(), Self::Error> { + Ok(unsafe { (*$PORTX::ptr()).set_low($i) }) + } + } + impl ToggleableOutputPin for $PXi> { + type Error = Infallible; + #[inline(always)] + fn toggle(&mut self) -> Result<(), Self::Error> { + Ok(unsafe { (*$PORTX::ptr()).toggle($i) }) + } + } + impl $PXi> { + /// Erases the pin number from the type + /// + /// This is useful when you want to collect the pins into an array where you + /// need all the elements to have the same type + pub fn downgrade(self) -> Pin> { + Pin { + i: $i, + port_id: $port_id, + port: $PORTX::ptr() as *const dyn GpioRegExt, + _mode: self._mode, + } + } + } + impl InputPin for $PXi> { + type Error = Infallible; + #[inline(always)] + fn is_high(&self) -> Result { + self.is_low().map(|v| !v) + } + #[inline(always)] + fn is_low(&self) -> Result { + Ok(unsafe { (*$PORTX::ptr()).is_low($i) }) + } + } + )+ + } + } +} + +gpio!(PORTA, porta, PortId::A, [ + PA0: (pa0, 0), + PA1: (pa1, 1), + PA2: (pa2, 2), + PA3: (pa3, 3), + PA4: (pa4, 4), + PA5: (pa5, 5), + PA6: (pa6, 6), + PA7: (pa7, 7), + PA8: (pa8, 8), + PA9: (pa9, 9), + PA10: (pa10, 10), + PA11: (pa11, 11), + PA12: (pa12, 12), + PA13: (pa13, 13), + PA14: (pa14, 14), + PA15: (pa15, 15), + PA16: (pa16, 16), + PA17: (pa17, 17), + PA18: (pa18, 18), + PA19: (pa19, 19), + PA20: (pa20, 20), + PA21: (pa21, 21), + PA22: (pa22, 22), + PA23: (pa23, 23), + PA24: (pa24, 24), + PA25: (pa25, 25), + PA26: (pa26, 26), + PA27: (pa27, 27), + PA28: (pa28, 28), + PA29: (pa29, 29), + PA30: (pa30, 30), + PA31: (pa31, 31), +]); + +gpio!(PORTB, portb, PortId::B, [ + PB0: (pb0, 0), + PB1: (pb1, 1), + PB2: (pb2, 2), + PB3: (pb3, 3), + PB4: (pb4, 4), + PB5: (pb5, 5), + PB6: (pb6, 6), + PB7: (pb7, 7), + PB8: (pb8, 8), + PB9: (pb9, 9), + PB10: (pb10, 10), + PB11: (pb11, 11), + PB12: (pb12, 12), + PB13: (pb13, 13), + PB14: (pb14, 14), + PB15: (pb15, 15), + PB16: (pb16, 16), + PB17: (pb17, 17), + PB18: (pb18, 18), + PB19: (pb19, 19), + PB20: (pb20, 20), + PB21: (pb21, 21), + PB22: (pb22, 22), + PB23: (pb23, 23), +]); diff --git a/src/lib.rs b/src/lib.rs new file mode 100644 index 0000000..ccc7032 --- /dev/null +++ b/src/lib.rs @@ -0,0 +1,7 @@ +#![no_std] + +pub use va108xx; + +pub mod gpio; +pub mod prelude; +pub use va108xx as pac; diff --git a/src/main.rs b/src/main.rs deleted file mode 100644 index e7a11a9..0000000 --- a/src/main.rs +++ /dev/null @@ -1,3 +0,0 @@ -fn main() { - println!("Hello, world!"); -} diff --git a/src/prelude.rs b/src/prelude.rs new file mode 100644 index 0000000..bbdbc4f --- /dev/null +++ b/src/prelude.rs @@ -0,0 +1,4 @@ +//! Prelude +pub use embedded_hal::prelude::*; + +pub use crate::gpio::GpioExt as _va108xx_hal_gpio_GpioExt;