Rust edition bumped & UART implementation

- Also adds UART example

CHANGELOG.md

@@ -8,6 +8,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
+
+## [0.2.0]
+
+### Added
+
+- UART implementation
+- UART example
+- Some bugfixes for GPIO implementation
+- Rust edition updated to 2021
+
 ## [0.1.0]
 
 ### Added

Cargo.toml

@@ -2,7 +2,7 @@
 name = "va108xx-hal"
 version = "0.1.0"
 authors = ["Robin Mueller <robin.mueller.m@gmail.com>"]
-edition = "2018"
+edition = "2021"
 description = "HAL for the Vorago VA108xx family of microcontrollers"
 homepage = "https://github.com/robamu-org/va108xx-hal-rs"
 repository = "https://github.com/robamu-org/va108xx-hal-rs"
@@ -17,6 +17,7 @@ nb = "1"
 embedded-hal = { features = ["unproven"], version = "0.2.6" }
 void = { version = "1.0", default-features = false }
 once_cell = { version = "1.8.0", default-features = false }
+libm = "0.2.1"
 
 [dependencies.va108xx]
 version = "0.1"

examples/tests.rs

@@ -72,7 +72,9 @@ fn main() -> ! {
         }
         TestCase::TestPullup => {
             // Tie PORTA[0] to PORTA[1] for these tests!
-            let input = porta.pa1.into_pull_up_input(&mut dp.IOCONFIG);
+            let input = porta
+                .pa1
+                .into_pull_up_input(&mut dp.IOCONFIG, &mut dp.PORTA);
             assert!(input.is_high().unwrap());
             let mut out = porta
                 .pa0

examples/uart.rs

@@ -0,0 +1,44 @@
+//! UART example application. Sends a test string over a UART and then enters
+//! echo mode
+#![no_main]
+#![no_std]
+
+use core::fmt::Write;
+use cortex_m_rt::entry;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va108xx_hal::{pac, prelude::*, uart};
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    rprintln!("-- VA108xx UART test application--");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    let gpiob = dp.PORTB.split(&mut dp.SYSCONFIG).unwrap();
+    let tx = gpiob.pb21.into_funsel_1(&mut dp.IOCONFIG);
+    let rx = gpiob.pb20.into_funsel_1(&mut dp.IOCONFIG);
+
+    let uartb = uart::Uart::uartb(
+        dp.UARTB,
+        (tx, rx),
+        115200.bps(),
+        &mut dp.SYSCONFIG,
+        50.mhz().into(),
+    );
+    let (mut tx, mut rx) = uartb.split();
+    writeln!(tx, "Hello World\r").unwrap();
+    loop {
+        // Echo what is received on the serial link.
+        match rx.read() {
+            Ok(recv) => {
+                nb::block!(tx.write(recv)).expect("TX send error");
+            }
+            Err(nb::Error::WouldBlock) => (),
+            Err(nb::Error::Other(uart_error)) => {
+                rprintln!("UART receive error {:?}", uart_error);
+            }
+        }
+    }
+}

src/clock.rs

@@ -5,13 +5,14 @@ use va108xx::SYSCONFIG;
 
 static SYS_CLOCK: Mutex<OnceCell<Hertz>> = Mutex::new(OnceCell::new());
 
+#[derive(Copy, Clone, PartialEq)]
 pub enum PeripheralClocks {
     PortA = 0,
     PortB = 1,
     Spi0 = 4,
     Spi1 = 5,
     Spi2 = 6,
-    UArt0 = 8,
+    Uart0 = 8,
     Uart1 = 9,
     I2c0 = 16,
     I2c1 = 17,

src/gpio.rs

@@ -1,3 +1,8 @@
+//! API for the GPIO pins
+//!
+//! ## Examples
+//!
+//! - [Blinky example](https://github.com/robamu-org/va108xx-hal-rs/blob/main/examples/blinky.rs)
 use crate::pac::SYSCONFIG;
 use core::convert::Infallible;
 use core::marker::PhantomData;
@@ -71,7 +76,7 @@ pub struct FUNSEL2;
 pub struct FUNSEL3;
 
 /// Function select (type state)
-pub struct Funsel<FUN> {
+pub struct AltFunc<FUN> {
     _mode: PhantomData<FUN>,
 }
 
@@ -207,7 +212,7 @@ macro_rules! gpio {
             use core::marker::PhantomData;
             use core::convert::Infallible;
             use super::{
-                FUNSEL1, FUNSEL2, FUNSEL3, Floating, Funsel, GpioExt, Input, OpenDrain,
+                FUNSEL1, FUNSEL2, FUNSEL3, Floating, AltFunc, GpioExt, Input, OpenDrain,
                 PullUp, Output, FilterType, FilterClkSel, Pin, GpioRegExt, PushPull,
                 PinModeError, PinState, PortId, singleton
             };
@@ -247,11 +252,9 @@ macro_rules! gpio {
             }
 
             fn _set_alternate_mode(iocfg: &mut IOCONFIG, index: usize, mode: u8) {
-                unsafe {
+                iocfg.$portx[index].modify(|_, w| unsafe {
-                    iocfg.$portx[index].modify(|_, w| {
                     w.funsel().bits(mode)
-                    })
+                });
-                }
             }
 
             $(
@@ -260,15 +263,15 @@ macro_rules! gpio {
                 }
 
                 impl<MODE> $PXi<MODE> {
-                    pub fn into_funsel_1(self, iocfg: &mut IOCONFIG) -> $PXi<Funsel<FUNSEL1>> {
+                    pub fn into_funsel_1(self, iocfg: &mut IOCONFIG) -> $PXi<AltFunc<FUNSEL1>> {
                         _set_alternate_mode(iocfg, $i, 1);
                         $PXi { _mode: PhantomData }
                     }
-                    pub fn into_funsel_2(self, iocfg: &mut IOCONFIG) -> $PXi<Funsel<FUNSEL2>> {
+                    pub fn into_funsel_2(self, iocfg: &mut IOCONFIG) -> $PXi<AltFunc<FUNSEL2>> {
                         _set_alternate_mode(iocfg, $i, 2);
                         $PXi { _mode: PhantomData }
                     }
-                    pub fn into_funsel_3(self, iocfg: &mut IOCONFIG) -> $PXi<Funsel<FUNSEL3>> {
+                    pub fn into_funsel_3(self, iocfg: &mut IOCONFIG) -> $PXi<AltFunc<FUNSEL3>> {
                         _set_alternate_mode(iocfg, $i, 3);
                         $PXi { _mode: PhantomData }
                     }
@@ -312,7 +315,7 @@ macro_rules! gpio {
                         $PXi { _mode: PhantomData }
                     }
 
-                    pub fn into_pull_up_input(self, iocfg: &mut IOCONFIG) -> $PXi<Input<PullUp>> {
+                    pub fn into_pull_up_input(self, iocfg: &mut IOCONFIG, port: &mut $PORTX) -> $PXi<Input<PullUp>> {
                         unsafe {
                             iocfg.$portx[$i].modify(|_, w| {
                                 w.funsel().bits(0);
@@ -320,14 +323,13 @@ macro_rules! gpio {
                                 w.plevel().set_bit();
                                 w.opendrn().clear_bit()
                             });
-                            let port_reg = &(*$PORTX::ptr());
+                            port.dir().modify(|r,w| w.bits(r.bits() & !(1 << $i)));
-                            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
+                        self, iocfg: &mut IOCONFIG, port: &mut $PORTX
                     ) -> $PXi<Input<PullUp>> {
                         unsafe {
                             iocfg.$portx[$i].modify(|_, w| {
@@ -336,7 +338,7 @@ macro_rules! gpio {
                                 w.plevel().clear_bit();
                                 w.opendrn().clear_bit()
                             });
-                            port_reg.dir().modify(|r,w| w.bits(r.bits() & !(1 << $i)));
+                            port.dir().modify(|r,w| w.bits(r.bits() & !(1 << $i)));
                         }
                         $PXi { _mode: PhantomData }
                     }

src/lib.rs

@@ -7,5 +7,10 @@ pub mod gpio;
 pub mod prelude;
 pub mod time;
 pub mod timer;
+pub mod uart;
 
 pub use va108xx as pac;
+
+mod sealed {
+    pub trait Sealed {}
+}

src/timer.rs

@@ -1,3 +1,8 @@
+//! API for the TIM peripherals
+//!
+//! ## Examples
+//!
+//! - [MS and second tick implementation](https://github.com/robamu-org/va108xx-hal-rs/blob/main/examples/timer-ticks.rs)
 use crate::{
     clock::{enable_peripheral_clock, PeripheralClocks},
     time::Hertz,

src/uart.rs

@@ -0,0 +1,417 @@
+//! API for the UART peripheral
+use core::{convert::Infallible, ptr};
+use core::{marker::PhantomData, ops::Deref};
+use libm::floorf;
+
+use crate::clock::enable_peripheral_clock;
+use crate::{
+    clock,
+    gpio::porta::{PA16, PA17, PA18, PA19, PA2, PA26, PA27, PA3, PA30, PA31, PA8, PA9},
+    gpio::portb::{PB18, PB19, PB20, PB21, PB22, PB23, PB6, PB7, PB8, PB9},
+    gpio::{AltFunc, FUNSEL1, FUNSEL2, FUNSEL3},
+    pac::{uarta as uart_base, SYSCONFIG, UARTA, UARTB},
+    prelude::*,
+    time::{Bps, Hertz},
+};
+
+use embedded_hal::{blocking, serial};
+
+pub trait Pins<UART> {}
+
+impl Pins<UARTA> for (PA9<AltFunc<FUNSEL2>>, PA8<AltFunc<FUNSEL2>>) {}
+impl Pins<UARTA> for (PA17<AltFunc<FUNSEL3>>, PA16<AltFunc<FUNSEL3>>) {}
+impl Pins<UARTA> for (PA31<AltFunc<FUNSEL3>>, PA30<AltFunc<FUNSEL3>>) {}
+
+impl Pins<UARTA> for (PB9<AltFunc<FUNSEL1>>, PB8<AltFunc<FUNSEL1>>) {}
+impl Pins<UARTA> for (PB23<AltFunc<FUNSEL1>>, PB22<AltFunc<FUNSEL1>>) {}
+
+impl Pins<UARTB> for (PA3<AltFunc<FUNSEL2>>, PA2<AltFunc<FUNSEL2>>) {}
+impl Pins<UARTB> for (PA19<AltFunc<FUNSEL3>>, PA18<AltFunc<FUNSEL3>>) {}
+impl Pins<UARTB> for (PA27<AltFunc<FUNSEL3>>, PA26<AltFunc<FUNSEL3>>) {}
+
+impl Pins<UARTB> for (PB7<AltFunc<FUNSEL1>>, PB6<AltFunc<FUNSEL1>>) {}
+impl Pins<UARTB> for (PB19<AltFunc<FUNSEL2>>, PB18<AltFunc<FUNSEL2>>) {}
+impl Pins<UARTB> for (PB21<AltFunc<FUNSEL1>>, PB20<AltFunc<FUNSEL1>>) {}
+
+#[derive(Debug)]
+pub enum Error {
+    Overrun,
+    FramingError,
+    ParityError,
+    BreakCondition,
+}
+
+#[derive(Copy, Clone, PartialEq)]
+pub enum Event {
+    // Receiver FIFO interrupt enable. Generates interrupt
+    // when FIFO is at least half full. Half full is defined as FIFO
+    // count >= RXFIFOIRQTRG
+    RxFifoHalfFull,
+    // Framing error, Overrun error, Parity Error and Break error
+    RxError,
+    // Event for timeout condition: Data in the FIFO and no receiver
+    // FIFO activity for 4 character times
+    RxTimeout,
+
+    // Transmitter FIFO interrupt enable. Generates interrupt
+    // when FIFO is at least half full. Half full is defined as FIFO
+    // count >= TXFIFOIRQTRG
+    TxFifoHalfFull,
+    // FIFO overflow error
+    TxError,
+    // Generate interrupt when transmit FIFO is empty and TXBUSY is 0
+    TxEmpty,
+    // Interrupt when CTSn changes value
+    TxCts,
+}
+
+#[derive(Copy, Clone, PartialEq)]
+pub enum Parity {
+    None,
+    Odd,
+    Even,
+}
+
+#[derive(Copy, Clone, PartialEq)]
+pub enum StopBits {
+    One = 0,
+    Two = 1,
+}
+
+#[derive(Copy, Clone, PartialEq)]
+pub enum WordSize {
+    Five = 0,
+    Six = 1,
+    Seven = 2,
+    Eight = 3,
+}
+
+pub struct Config {
+    pub baudrate: Bps,
+    pub parity: Parity,
+    pub stopbits: StopBits,
+    // When false, use standard 16x baud clock, other 8x baud clock
+    pub baud8: bool,
+    pub wordsize: WordSize,
+    pub enable_tx: bool,
+    pub enable_rx: bool,
+}
+
+impl Config {
+    pub fn baudrate(mut self, baudrate: Bps) -> Self {
+        self.baudrate = baudrate;
+        self
+    }
+
+    pub fn parity_none(mut self) -> Self {
+        self.parity = Parity::None;
+        self
+    }
+
+    pub fn parity_even(mut self) -> Self {
+        self.parity = Parity::Even;
+        self
+    }
+
+    pub fn parity_odd(mut self) -> Self {
+        self.parity = Parity::Odd;
+        self
+    }
+
+    pub fn stopbits(mut self, stopbits: StopBits) -> Self {
+        self.stopbits = stopbits;
+        self
+    }
+
+    pub fn wordsize(mut self, wordsize: WordSize) -> Self {
+        self.wordsize = wordsize;
+        self
+    }
+
+    pub fn baud8(mut self, baud: bool) -> Self {
+        self.baud8 = baud;
+        self
+    }
+}
+
+impl Default for Config {
+    fn default() -> Config {
+        let baudrate = 115_200_u32.bps();
+        Config {
+            baudrate,
+            parity: Parity::None,
+            stopbits: StopBits::One,
+            baud8: false,
+            wordsize: WordSize::Eight,
+            enable_tx: true,
+            enable_rx: true,
+        }
+    }
+}
+
+impl From<Bps> for Config {
+    fn from(baud: Bps) -> Self {
+        Config::default().baudrate(baud)
+    }
+}
+
+/// Serial abstraction
+pub struct Uart<UART, PINS> {
+    uart: UART,
+    pins: PINS,
+    tx: Tx<UART>,
+    rx: Rx<UART>,
+}
+
+/// Serial receiver
+pub struct Rx<UART> {
+    _usart: PhantomData<UART>,
+}
+
+/// Serial transmitter
+pub struct Tx<UART> {
+    _usart: PhantomData<UART>,
+}
+
+impl<UART> Rx<UART> {
+    fn new() -> Self {
+        Self {
+            _usart: PhantomData,
+        }
+    }
+}
+
+impl<UART> Tx<UART> {
+    fn new() -> Self {
+        Self {
+            _usart: PhantomData,
+        }
+    }
+}
+
+pub trait Instance: Deref<Target = uart_base::RegisterBlock> {
+    fn ptr() -> *const uart_base::RegisterBlock;
+}
+
+impl<UART, PINS> Uart<UART, PINS>
+where
+    UART: Instance,
+{
+    /// This function assumes that the peripheral clock was alredy enabled
+    /// in the SYSCONFIG register
+    fn init(self, config: Config, sys_clk: Hertz) -> Self {
+        let baud_multiplier = match config.baud8 {
+            false => 16,
+            true => 8,
+        };
+        let x = sys_clk.0 as f32 / (config.baudrate.0 * baud_multiplier) as f32;
+        let integer_part = floorf(x) as u32;
+        let frac = floorf((64.0 * (x - integer_part as f32) + 0.5) as f32) as u32;
+        self.uart
+            .clkscale
+            .write(|w| unsafe { w.bits(integer_part * 64 + frac) });
+
+        let (paren, pareven) = match config.parity {
+            Parity::None => (false, false),
+            Parity::Odd => (true, false),
+            Parity::Even => (true, true),
+        };
+        let stopbits = match config.stopbits {
+            StopBits::One => false,
+            StopBits::Two => true,
+        };
+        let wordsize = config.wordsize as u8;
+        let baud8 = config.baud8;
+        self.uart.ctrl.write(|w| {
+            w.paren().bit(paren);
+            w.pareven().bit(pareven);
+            w.stopbits().bit(stopbits);
+            w.baud8().bit(baud8);
+            unsafe { w.wordsize().bits(wordsize) }
+        });
+        let (txenb, rxenb) = (config.enable_tx, config.enable_rx);
+        // Clear the FIFO
+        self.uart.fifo_clr.write(|w| {
+            w.rxfifo().set_bit();
+            w.txfifo().set_bit()
+        });
+        self.uart.enable.write(|w| {
+            w.rxenable().bit(rxenb);
+            w.txenable().bit(txenb)
+        });
+        self
+    }
+
+    pub fn listen(self, event: Event) -> Self {
+        self.uart.irq_enb.modify(|_, w| match event {
+            Event::RxError => w.irq_rx_status().set_bit(),
+            Event::RxFifoHalfFull => w.irq_rx().set_bit(),
+            Event::RxTimeout => w.irq_rx_to().set_bit(),
+            Event::TxEmpty => w.irq_tx_empty().set_bit(),
+            Event::TxError => w.irq_tx_status().set_bit(),
+            Event::TxFifoHalfFull => w.irq_tx().set_bit(),
+            Event::TxCts => w.irq_tx_cts().set_bit(),
+        });
+        self
+    }
+
+    pub fn unlisten(self, event: Event) -> Self {
+        self.uart.irq_enb.modify(|_, w| match event {
+            Event::RxError => w.irq_rx_status().clear_bit(),
+            Event::RxFifoHalfFull => w.irq_rx().clear_bit(),
+            Event::RxTimeout => w.irq_rx_to().clear_bit(),
+            Event::TxEmpty => w.irq_tx_empty().clear_bit(),
+            Event::TxError => w.irq_tx_status().clear_bit(),
+            Event::TxFifoHalfFull => w.irq_tx().clear_bit(),
+            Event::TxCts => w.irq_tx_cts().clear_bit(),
+        });
+        self
+    }
+
+    pub fn release(self) -> (UART, PINS) {
+        // Clear the FIFO
+        self.uart.fifo_clr.write(|w| {
+            w.rxfifo().set_bit();
+            w.txfifo().set_bit()
+        });
+        self.uart.enable.write(|w| {
+            w.rxenable().clear_bit();
+            w.txenable().clear_bit()
+        });
+        (self.uart, self.pins)
+    }
+
+    pub fn split(self) -> (Tx<UART>, Rx<UART>) {
+        (self.tx, self.rx)
+    }
+}
+
+macro_rules! uart_impl {
+    ($($UARTX:ident: ($uartx:ident, $clk_enb_enum:path),)+) => {
+        $(
+            impl Instance for $UARTX {
+                fn ptr() -> *const uart_base::RegisterBlock {
+                    $UARTX::ptr() as *const _
+                }
+            }
+
+            impl<PINS: Pins<$UARTX>> Uart<$UARTX, PINS> {
+                pub fn $uartx(
+                    uart: $UARTX,
+                    pins: PINS,
+                    config: impl Into<Config>,
+                    syscfg: &mut SYSCONFIG,
+                    sys_clk: Hertz
+                ) -> Self
+                {
+                    enable_peripheral_clock(syscfg, $clk_enb_enum);
+                    Uart { uart, pins, tx: Tx::new(), rx: Rx::new() }.init(
+                        config.into(), sys_clk
+                    )
+                }
+            }
+        )+
+    }
+}
+
+uart_impl! {
+    UARTA: (uarta, clock::PeripheralClocks::Uart0),
+    UARTB: (uartb, clock::PeripheralClocks::Uart1),
+}
+
+impl<UART> Tx<UART> where UART: Instance {}
+
+impl<UART, PINS> serial::Write<u8> for Uart<UART, PINS>
+where
+    UART: Instance,
+{
+    type Error = Infallible;
+    fn write(&mut self, word: u8) -> nb::Result<(), Self::Error> {
+        self.tx.write(word)
+    }
+    fn flush(&mut self) -> nb::Result<(), Self::Error> {
+        self.tx.flush()
+    }
+}
+
+impl<UART: Instance, PINS> blocking::serial::write::Default<u8> for Uart<UART, PINS> {}
+
+impl<UART: Instance> serial::Write<u8> for Tx<UART> {
+    type Error = Infallible;
+
+    fn write(&mut self, word: u8) -> nb::Result<(), Self::Error> {
+        let reader = unsafe { &(*UART::ptr()) }.txstatus.read();
+        if reader.wrrdy().bit_is_clear() {
+            return Err(nb::Error::WouldBlock);
+        } else {
+            // DPARITY bit not supported yet
+            unsafe {
+                // NOTE(unsafe) atomic write to data register
+                // NOTE(write_volatile) 8-bit write that's not
+                // possible through the svd2rust API
+                ptr::write_volatile(&(*UART::ptr()).data as *const _ as *mut _, word);
+            }
+        }
+        Ok(())
+    }
+
+    fn flush(&mut self) -> nb::Result<(), Self::Error> {
+        let reader = unsafe { &(*UART::ptr()) }.txstatus.read();
+        if reader.wrbusy().bit_is_clear() {
+            Ok(())
+        } else {
+            Err(nb::Error::WouldBlock)
+        }
+    }
+}
+
+impl<UART: Instance, PINS> serial::Read<u8> for Uart<UART, PINS> {
+    type Error = Error;
+
+    fn read(&mut self) -> nb::Result<u8, Error> {
+        self.rx.read()
+    }
+}
+
+impl<UART: Instance> serial::Read<u8> for Rx<UART> {
+    type Error = Error;
+
+    fn read(&mut self) -> nb::Result<u8, Error> {
+        let uart = unsafe { &(*UART::ptr()) };
+        let status_reader = uart.rxstatus.read();
+        let err = if status_reader.rxovr().bit_is_set() {
+            Some(Error::Overrun)
+        } else if status_reader.rxfrm().bit_is_set() {
+            Some(Error::FramingError)
+        } else if status_reader.rxpar().bit_is_set() {
+            Some(Error::ParityError)
+        } else {
+            None
+        };
+        if let Some(err) = err {
+            // The status code is always related to the next bit for the framing
+            // and parity status bits. We have to read the DATA register
+            // so that the next status reflects the next DATA word
+            // For overrun error, we read as well to clear the peripheral
+            uart.data.read().bits();
+            Err(err.into())
+        } else if status_reader.rdavl().bit_is_set() {
+            let data = uart.data.read().bits();
+            Ok((data & 0xff) as u8)
+        } else {
+            Err(nb::Error::WouldBlock)
+        }
+    }
+}
+
+impl<UART> core::fmt::Write for Tx<UART>
+where
+    Tx<UART>: embedded_hal::serial::Write<u8>,
+{
+    fn write_str(&mut self, s: &str) -> core::fmt::Result {
+        s.as_bytes()
+            .iter()
+            .try_for_each(|c| nb::block!(self.write(*c)))
+            .map_err(|_| core::fmt::Error)
+    }
+}