Major refactoring
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- Improved IRQ handling, which makes most unsafe unmask operations
  in user code absolete
- Add first UART RX handlers which use an IRQ
This commit is contained in:
Robin Müller 2021-12-19 14:18:10 +01:00
parent dc2426a905
commit f376a43f41
No known key found for this signature in database
GPG Key ID: 71B58F8A3CDFA9AC
12 changed files with 491 additions and 133 deletions

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@ -45,19 +45,3 @@ opt-level = "s"
# [profile.release-lto] # [profile.release-lto]
# inherits = "release" # inherits = "release"
# lto = true # lto = true
[[example]]
name = "timer-ticks"
required-features = ["rt"]
[[example]]
name = "tests"
required-features = ["rt"]
[[example]]
name = "pwm"
required-features = ["rt"]
[[example]]
name = "cascade"
required-features = ["rt"]

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@ -9,7 +9,7 @@
use cortex_m_rt::entry; use cortex_m_rt::entry;
use embedded_hal::digital::v2::ToggleableOutputPin; use embedded_hal::digital::v2::ToggleableOutputPin;
use panic_halt as _; use panic_halt as _;
use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::set_up_ms_timer}; use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::CountDownTimer};
#[entry] #[entry]
fn main() -> ! { fn main() -> ! {
@ -18,13 +18,7 @@ fn main() -> ! {
let mut led1 = porta.pa10.into_push_pull_output(); let mut led1 = porta.pa10.into_push_pull_output();
let mut led2 = porta.pa7.into_push_pull_output(); let mut led2 = porta.pa7.into_push_pull_output();
let mut led3 = porta.pa6.into_push_pull_output(); let mut led3 = porta.pa6.into_push_pull_output();
let mut delay = set_up_ms_timer( let mut delay = CountDownTimer::new(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM0);
&mut dp.SYSCONFIG,
&mut dp.IRQSEL,
50.mhz().into(),
dp.TIM0,
pac::Interrupt::OC0,
);
for _ in 0..10 { for _ in 0..10 {
led1.set_low().ok(); led1.set_low().ok();
led2.set_low().ok(); led2.set_low().ok();

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@ -14,8 +14,8 @@ use va108xx_hal::{
pac::{self, interrupt, TIM4, TIM5}, pac::{self, interrupt, TIM4, TIM5},
prelude::*, prelude::*,
timer::{ timer::{
default_ms_irq_handler, set_up_ms_timer, CascadeCtrl, CascadeSource, CountDownTimer, Delay, default_ms_irq_handler, set_up_ms_delay_provider, CascadeCtrl, CascadeSource,
Event, CountDownTimer, Event, IrqCfg,
}, },
}; };
@ -28,23 +28,16 @@ fn main() -> ! {
rprintln!("-- VA108xx Cascade example application--"); rprintln!("-- VA108xx Cascade example application--");
let mut dp = pac::Peripherals::take().unwrap(); let mut dp = pac::Peripherals::take().unwrap();
let timer = set_up_ms_timer( let mut delay = set_up_ms_delay_provider(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM0);
&mut dp.SYSCONFIG,
&mut dp.IRQSEL,
50.mhz().into(),
dp.TIM0,
pac::Interrupt::OC0,
);
let mut delay = Delay::new(timer);
// Will be started periodically to trigger a cascade // Will be started periodically to trigger a cascade
let mut cascade_triggerer = let mut cascade_triggerer =
CountDownTimer::new(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM3).auto_disable(true); CountDownTimer::new(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM3).auto_disable(true);
cascade_triggerer.listen( cascade_triggerer.listen(
Event::TimeOut, Event::TimeOut,
&mut dp.SYSCONFIG, IrqCfg::new(va108xx::Interrupt::OC1, true, false),
&mut dp.IRQSEL, Some(&mut dp.IRQSEL),
va108xx::Interrupt::OC1, Some(&mut dp.SYSCONFIG),
); );
// First target for cascade // First target for cascade
@ -63,9 +56,9 @@ fn main() -> ! {
// the timer expires // the timer expires
cascade_target_1.listen( cascade_target_1.listen(
Event::TimeOut, Event::TimeOut,
&mut dp.SYSCONFIG, IrqCfg::new(va108xx::Interrupt::OC2, true, false),
&mut dp.IRQSEL, Some(&mut dp.IRQSEL),
va108xx::Interrupt::OC2, Some(&mut dp.SYSCONFIG),
); );
// The counter will only activate when the cascade signal is coming in so // The counter will only activate when the cascade signal is coming in so
// it is okay to call start here to set the reset value // it is okay to call start here to set the reset value
@ -89,9 +82,9 @@ fn main() -> ! {
// the timer expires // the timer expires
cascade_target_2.listen( cascade_target_2.listen(
Event::TimeOut, Event::TimeOut,
&mut dp.SYSCONFIG, IrqCfg::new(va108xx::Interrupt::OC3, true, false),
&mut dp.IRQSEL, Some(&mut dp.IRQSEL),
va108xx::Interrupt::OC3, Some(&mut dp.SYSCONFIG),
); );
// The counter will only activate when the cascade signal is coming in so // The counter will only activate when the cascade signal is coming in so
// it is okay to call start here to set the reset value // it is okay to call start here to set the reset value
@ -112,7 +105,7 @@ fn main() -> ! {
loop { loop {
rprintln!("-- Triggering cascade in 0.5 seconds --"); rprintln!("-- Triggering cascade in 0.5 seconds --");
cascade_triggerer.start(2.hz()); cascade_triggerer.start(2.hz());
delay.delay_ms(5000); delay.delay_ms(5000_u16);
} }
} }

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@ -8,10 +8,10 @@ use panic_rtt_target as _;
use rtt_target::{rprintln, rtt_init_print}; use rtt_target::{rprintln, rtt_init_print};
use va108xx_hal::{ use va108xx_hal::{
gpio::PinsA, gpio::PinsA,
pac::{self, interrupt}, pac,
prelude::*, prelude::*,
pwm::{self, get_duty_from_percent, ReducedPwmPin, PWMA, PWMB}, pwm::{self, get_duty_from_percent, ReducedPwmPin, PWMA, PWMB},
timer::{default_ms_irq_handler, set_up_ms_timer, Delay}, timer::set_up_ms_delay_provider,
}; };
#[entry] #[entry]
@ -26,17 +26,7 @@ fn main() -> ! {
&mut dp.SYSCONFIG, &mut dp.SYSCONFIG,
10.hz(), 10.hz(),
); );
let timer = set_up_ms_timer( let mut delay = set_up_ms_delay_provider(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM0);
&mut dp.SYSCONFIG,
&mut dp.IRQSEL,
50.mhz().into(),
dp.TIM0,
pac::Interrupt::OC0,
);
let mut delay = Delay::new(timer);
unsafe {
cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC0);
}
let mut current_duty_cycle = 0.0; let mut current_duty_cycle = 0.0;
PwmPin::set_duty(&mut pwm, get_duty_from_percent(current_duty_cycle)); PwmPin::set_duty(&mut pwm, get_duty_from_percent(current_duty_cycle));
PwmPin::enable(&mut pwm); PwmPin::enable(&mut pwm);
@ -46,7 +36,7 @@ fn main() -> ! {
loop { loop {
// Increase duty cycle continuously // Increase duty cycle continuously
while current_duty_cycle < 1.0 { while current_duty_cycle < 1.0 {
delay.delay_ms(200); delay.delay_ms(200_u16);
current_duty_cycle += 0.02; current_duty_cycle += 0.02;
PwmPin::set_duty(&mut reduced_pin, get_duty_from_percent(current_duty_cycle)); PwmPin::set_duty(&mut reduced_pin, get_duty_from_percent(current_duty_cycle));
} }
@ -60,7 +50,7 @@ fn main() -> ! {
pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit)); pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit));
pwmb.set_pwmb_upper_limit(get_duty_from_percent(upper_limit)); pwmb.set_pwmb_upper_limit(get_duty_from_percent(upper_limit));
while lower_limit < 0.5 { while lower_limit < 0.5 {
delay.delay_ms(200); delay.delay_ms(200_u16);
lower_limit += 0.01; lower_limit += 0.01;
upper_limit -= 0.01; upper_limit -= 0.01;
pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit)); pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit));
@ -71,8 +61,3 @@ fn main() -> ! {
reduced_pin = ReducedPwmPin::<PWMA>::from(pwmb); reduced_pin = ReducedPwmPin::<PWMA>::from(pwmb);
} }
} }
#[interrupt]
fn OC0() {
default_ms_irq_handler()
}

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@ -14,7 +14,7 @@ use va108xx_hal::{
pac::{self, interrupt}, pac::{self, interrupt},
prelude::*, prelude::*,
time::Hertz, time::Hertz,
timer::{default_ms_irq_handler, set_up_ms_timer, CountDownTimer, Delay}, timer::{default_ms_irq_handler, set_up_ms_timer, CountDownTimer, Delay, IrqCfg},
}; };
#[allow(dead_code)] #[allow(dead_code)]
@ -146,15 +146,12 @@ fn main() -> ! {
} }
TestCase::DelayMs => { TestCase::DelayMs => {
let ms_timer = set_up_ms_timer( let ms_timer = set_up_ms_timer(
IrqCfg::new(pac::Interrupt::OC0, true, true),
&mut dp.SYSCONFIG, &mut dp.SYSCONFIG,
&mut dp.IRQSEL, Some(&mut dp.IRQSEL),
50.mhz().into(), 50.mhz(),
dp.TIM0, dp.TIM0,
pac::Interrupt::OC0,
); );
unsafe {
cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC0);
}
let mut delay = Delay::new(ms_timer); let mut delay = Delay::new(ms_timer);
for _ in 0..5 { for _ in 0..5 {
led1.toggle().ok(); led1.toggle().ok();
@ -163,7 +160,7 @@ fn main() -> ! {
delay.delay_ms(500); delay.delay_ms(500);
} }
let mut delay_timer = CountDownTimer::new(&mut dp.SYSCONFIG, 50.mhz().into(), dp.TIM1); let mut delay_timer = CountDownTimer::new(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM1);
let mut pa0 = pinsa.pa0.into_push_pull_output(); let mut pa0 = pinsa.pa0.into_push_pull_output();
for _ in 0..5 { for _ in 0..5 {
led1.toggle().ok(); led1.toggle().ok();

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@ -12,7 +12,7 @@ use va108xx_hal::{
pac::{self, interrupt}, pac::{self, interrupt},
prelude::*, prelude::*,
time::Hertz, time::Hertz,
timer::{default_ms_irq_handler, set_up_ms_timer, CountDownTimer, Event, MS_COUNTER}, timer::{default_ms_irq_handler, set_up_ms_timer, CountDownTimer, Event, IrqCfg, MS_COUNTER},
}; };
#[allow(dead_code)] #[allow(dead_code)]
@ -65,22 +65,21 @@ fn main() -> ! {
} }
LibType::Hal => { LibType::Hal => {
set_up_ms_timer( set_up_ms_timer(
IrqCfg::new(interrupt::OC0, true, true),
&mut dp.SYSCONFIG, &mut dp.SYSCONFIG,
&mut dp.IRQSEL, Some(&mut dp.IRQSEL),
50.mhz().into(), 50.mhz(),
dp.TIM0, dp.TIM0,
interrupt::OC0,
); );
let mut second_timer = let mut second_timer =
CountDownTimer::new(&mut dp.SYSCONFIG, get_sys_clock().unwrap(), dp.TIM1); CountDownTimer::new(&mut dp.SYSCONFIG, get_sys_clock().unwrap(), dp.TIM1);
second_timer.listen( second_timer.listen(
Event::TimeOut, Event::TimeOut,
&mut dp.SYSCONFIG, IrqCfg::new(interrupt::OC1, true, true),
&mut dp.IRQSEL, Some(&mut dp.IRQSEL),
interrupt::OC1, Some(&mut dp.SYSCONFIG),
); );
second_timer.start(1.hz()); second_timer.start(1.hz());
unmask_irqs();
} }
} }
loop { loop {

44
examples/uart-irq.rs Normal file
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@ -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::{gpio::PinsB, pac, prelude::*, uart};
#[entry]
fn main() -> ! {
rtt_init_print!();
rprintln!("-- VA108xx UART example application--");
let mut dp = pac::Peripherals::take().unwrap();
let gpiob = PinsB::new(&mut dp.SYSCONFIG, Some(dp.IOCONFIG), dp.PORTB);
let tx = gpiob.pb21.into_funsel_1();
let rx = gpiob.pb20.into_funsel_1();
let uartb = uart::Uart::uartb(
dp.UARTB,
(tx, rx),
115200.bps(),
&mut dp.SYSCONFIG,
50.mhz(),
);
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);
}
}
}
}

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@ -66,8 +66,8 @@ use super::{
}; };
use crate::{ use crate::{
clock::FilterClkSel, clock::FilterClkSel,
pac::{self, IRQSEL, SYSCONFIG}, pac::{IRQSEL, SYSCONFIG},
utility::Funsel, utility::{IrqCfg, Funsel},
}; };
use embedded_hal::digital::v2::{InputPin, OutputPin, ToggleableOutputPin}; use embedded_hal::digital::v2::{InputPin, OutputPin, ToggleableOutputPin};
use paste::paste; use paste::paste;
@ -344,14 +344,14 @@ impl DynPin {
pub fn interrupt_edge( pub fn interrupt_edge(
mut self, mut self,
edge_type: InterruptEdge, edge_type: InterruptEdge,
irq_cfg: IrqCfg,
syscfg: Option<&mut SYSCONFIG>, syscfg: Option<&mut SYSCONFIG>,
irqsel: &mut IRQSEL, irqsel: Option<&mut IRQSEL>
interrupt: pac::Interrupt,
) -> Result<Self, PinError> { ) -> Result<Self, PinError> {
match self.mode { match self.mode {
DynPinMode::Input(_) | DynPinMode::Output(_) => { DynPinMode::Input(_) | DynPinMode::Output(_) => {
self._irq_enb(syscfg, irqsel, interrupt);
self.regs.interrupt_edge(edge_type); self.regs.interrupt_edge(edge_type);
self.irq_enb(irq_cfg, syscfg, irqsel);
Ok(self) Ok(self)
} }
_ => Err(PinError::InvalidPinType), _ => Err(PinError::InvalidPinType),
@ -361,14 +361,14 @@ impl DynPin {
pub fn interrupt_level( pub fn interrupt_level(
mut self, mut self,
level_type: InterruptLevel, level_type: InterruptLevel,
irq_cfg: IrqCfg,
syscfg: Option<&mut SYSCONFIG>, syscfg: Option<&mut SYSCONFIG>,
irqsel: &mut IRQSEL, irqsel: Option<&mut IRQSEL>
interrupt: crate::pac::Interrupt,
) -> Result<Self, PinError> { ) -> Result<Self, PinError> {
match self.mode { match self.mode {
DynPinMode::Input(_) | DynPinMode::Output(_) => { DynPinMode::Input(_) | DynPinMode::Output(_) => {
self._irq_enb(syscfg, irqsel, interrupt);
self.regs.interrupt_level(level_type); self.regs.interrupt_level(level_type);
self.irq_enb(irq_cfg, syscfg, irqsel);
Ok(self) Ok(self)
} }
_ => Err(PinError::InvalidPinType), _ => Err(PinError::InvalidPinType),

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@ -92,9 +92,10 @@
use super::dynpins::{DynAlternate, DynGroup, DynInput, DynOutput, DynPinId, DynPinMode}; use super::dynpins::{DynAlternate, DynGroup, DynInput, DynOutput, DynPinId, DynPinMode};
use super::reg::RegisterInterface; use super::reg::RegisterInterface;
use crate::{ use crate::{
pac::{self, IOCONFIG, IRQSEL, PORTA, PORTB, SYSCONFIG}, pac::{IOCONFIG, IRQSEL, PORTA, PORTB, SYSCONFIG},
typelevel::Is, typelevel::Is,
Sealed, Sealed,
utility::IrqCfg
}; };
use core::convert::Infallible; use core::convert::Infallible;
use core::marker::PhantomData; use core::marker::PhantomData;
@ -360,6 +361,7 @@ impl<I: PinId, M: PinMode> AnyPin for Pin<I, M> {
macro_rules! common_reg_if_functions { macro_rules! common_reg_if_functions {
() => { () => {
paste!( paste!(
#[inline] #[inline]
pub fn datamask(&self) -> bool { pub fn datamask(&self) -> bool {
self.regs.datamask() self.regs.datamask()
@ -397,11 +399,11 @@ macro_rules! common_reg_if_functions {
self.regs.write_pin_masked(false) self.regs.write_pin_masked(false)
} }
fn _irq_enb( fn irq_enb(
&mut self, &mut self,
irq_cfg: crate::utility::IrqCfg,
syscfg: Option<&mut va108xx::SYSCONFIG>, syscfg: Option<&mut va108xx::SYSCONFIG>,
irqsel: &mut va108xx::IRQSEL, irqsel: Option<&mut va108xx::IRQSEL>
interrupt: va108xx::Interrupt,
) { ) {
if syscfg.is_some() { if syscfg.is_some() {
crate::clock::enable_peripheral_clock( crate::clock::enable_peripheral_clock(
@ -410,15 +412,19 @@ macro_rules! common_reg_if_functions {
); );
} }
self.regs.enable_irq(); self.regs.enable_irq();
match self.regs.id().group { if let Some(irqsel) = irqsel {
// Set the correct interrupt number in the IRQSEL register if irq_cfg.route {
DynGroup::A => { match self.regs.id().group {
irqsel.porta[self.regs.id().num as usize] // Set the correct interrupt number in the IRQSEL register
.write(|w| unsafe { w.bits(interrupt as u32) }); DynGroup::A => {
} irqsel.porta[self.regs.id().num as usize]
DynGroup::B => { .write(|w| unsafe { w.bits(irq_cfg.irq as u32) });
irqsel.portb[self.regs.id().num as usize] }
.write(|w| unsafe { w.bits(interrupt as u32) }); DynGroup::B => {
irqsel.portb[self.regs.id().num as usize]
.write(|w| unsafe { w.bits(irq_cfg.irq as u32) });
}
}
} }
} }
} }
@ -577,24 +583,24 @@ impl<I: PinId, C: InputConfig> Pin<I, Input<C>> {
pub fn interrupt_edge( pub fn interrupt_edge(
mut self, mut self,
edge_type: InterruptEdge, edge_type: InterruptEdge,
irq_cfg: IrqCfg,
syscfg: Option<&mut SYSCONFIG>, syscfg: Option<&mut SYSCONFIG>,
irqsel: &mut IRQSEL, irqsel: Option<&mut IRQSEL>
interrupt: pac::Interrupt,
) -> Self { ) -> Self {
self._irq_enb(syscfg, irqsel, interrupt);
self.regs.interrupt_edge(edge_type); self.regs.interrupt_edge(edge_type);
self.irq_enb(irq_cfg, syscfg, irqsel);
self self
} }
pub fn interrupt_level( pub fn interrupt_level(
mut self, mut self,
level_type: InterruptLevel, level_type: InterruptLevel,
irq_cfg: IrqCfg,
syscfg: Option<&mut SYSCONFIG>, syscfg: Option<&mut SYSCONFIG>,
irqsel: &mut IRQSEL, irqsel: Option<&mut IRQSEL>
interrupt: pac::Interrupt,
) -> Self { ) -> Self {
self._irq_enb(syscfg, irqsel, interrupt);
self.regs.interrupt_level(level_type); self.regs.interrupt_level(level_type);
self.irq_enb(irq_cfg, syscfg, irqsel);
self self
} }
} }
@ -622,24 +628,24 @@ impl<I: PinId, C: OutputConfig> Pin<I, Output<C>> {
pub fn interrupt_edge( pub fn interrupt_edge(
mut self, mut self,
edge_type: InterruptEdge, edge_type: InterruptEdge,
irq_cfg: IrqCfg,
syscfg: Option<&mut SYSCONFIG>, syscfg: Option<&mut SYSCONFIG>,
irqsel: &mut IRQSEL, irqsel: Option<&mut IRQSEL>
interrupt: pac::Interrupt,
) -> Self { ) -> Self {
self._irq_enb(syscfg, irqsel, interrupt);
self.regs.interrupt_edge(edge_type); self.regs.interrupt_edge(edge_type);
self.irq_enb(irq_cfg, syscfg, irqsel);
self self
} }
pub fn interrupt_level( pub fn interrupt_level(
mut self, mut self,
level_type: InterruptLevel, level_type: InterruptLevel,
irq_cfg: IrqCfg,
syscfg: Option<&mut SYSCONFIG>, syscfg: Option<&mut SYSCONFIG>,
irqsel: &mut IRQSEL, irqsel: Option<&mut IRQSEL>
interrupt: pac::Interrupt,
) -> Self { ) -> Self {
self._irq_enb(syscfg, irqsel, interrupt);
self.regs.interrupt_level(level_type); self.regs.interrupt_level(level_type);
self.irq_enb(irq_cfg, syscfg, irqsel);
self self
} }
} }

View File

@ -4,8 +4,10 @@
//! //!
//! - [MS and second tick implementation](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/timer-ticks.rs) //! - [MS and second tick implementation](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/timer-ticks.rs)
//! - [Cascade feature example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/cascade.rs) //! - [Cascade feature example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/cascade.rs)
pub use crate::utility::IrqCfg;
use crate::{ use crate::{
clock::{enable_peripheral_clock, PeripheralClocks}, clock::{enable_peripheral_clock, PeripheralClocks},
utility::unmask_irq,
gpio::{ gpio::{
AltFunc1, AltFunc2, AltFunc3, DynPinId, Pin, PinId, PA0, PA1, PA10, PA11, PA12, PA13, PA14, AltFunc1, AltFunc2, AltFunc3, DynPinId, Pin, PinId, PA0, PA1, PA10, PA11, PA12, PA13, PA14,
PA15, PA2, PA24, PA25, PA26, PA27, PA28, PA29, PA3, PA30, PA31, PA4, PA5, PA6, PA7, PA8, PA15, PA2, PA24, PA25, PA26, PA27, PA28, PA29, PA3, PA30, PA31, PA4, PA5, PA6, PA7, PA8,
@ -27,7 +29,7 @@ use embedded_hal::{
blocking::delay, blocking::delay,
timer::{Cancel, CountDown, Periodic}, timer::{Cancel, CountDown, Periodic},
}; };
use va108xx::{Interrupt, IRQSEL, SYSCONFIG}; use va108xx::{IRQSEL, SYSCONFIG};
use void::Void; use void::Void;
const IRQ_DST_NONE: u32 = 0xffffffff; const IRQ_DST_NONE: u32 = 0xffffffff;
@ -386,6 +388,7 @@ unsafe impl TimPinInterface for TimDynRegister {
pub struct CountDownTimer<TIM: ValidTim> { pub struct CountDownTimer<TIM: ValidTim> {
tim: TimRegister<TIM>, tim: TimRegister<TIM>,
curr_freq: Hertz, curr_freq: Hertz,
irq_cfg: Option<IrqCfg>,
sys_clk: Hertz, sys_clk: Hertz,
rst_val: u32, rst_val: u32,
last_cnt: u32, last_cnt: u32,
@ -482,6 +485,7 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
let cd_timer = CountDownTimer { let cd_timer = CountDownTimer {
tim: unsafe { TimRegister::new(tim) }, tim: unsafe { TimRegister::new(tim) },
sys_clk: sys_clk.into(), sys_clk: sys_clk.into(),
irq_cfg: None,
rst_val: 0, rst_val: 0,
curr_freq: 0.hz(), curr_freq: 0.hz(),
listening: false, listening: false,
@ -491,21 +495,28 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
cd_timer cd_timer
} }
/// Listen for events. This also actives the IRQ in the IRQSEL register /// Listen for events. Depending on the IRQ configuration, this also activates the IRQ in the
/// for the provided interrupt. It also actives the peripheral clock for /// IRQSEL peripheral for the provided interrupt and unmasks the interrupt
/// IRQSEL
pub fn listen( pub fn listen(
&mut self, &mut self,
event: Event, event: Event,
syscfg: &mut SYSCONFIG, irq_cfg: IrqCfg,
irqsel: &mut IRQSEL, irq_sel: Option<&mut IRQSEL>,
interrupt: Interrupt, sys_cfg: Option<&mut SYSCONFIG>,
) { ) {
match event { match event {
Event::TimeOut => { Event::TimeOut => {
enable_peripheral_clock(syscfg, PeripheralClocks::Irqsel); cortex_m::peripheral::NVIC::mask(irq_cfg.irq);
irqsel.tim[TIM::TIM_ID as usize].write(|w| unsafe { w.bits(interrupt as u32) }); self.irq_cfg = Some(irq_cfg);
self.enable_interrupt(); if irq_cfg.route {
if let Some(sys_cfg) = sys_cfg {
enable_peripheral_clock(sys_cfg, PeripheralClocks::Irqsel);
}
if let Some(irq_sel) = irq_sel {
irq_sel.tim[TIM::TIM_ID as usize]
.write(|w| unsafe { w.bits(irq_cfg.irq as u32) });
}
}
self.listening = true; self.listening = true;
} }
} }
@ -554,6 +565,12 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
#[inline(always)] #[inline(always)]
pub fn enable(&mut self) { pub fn enable(&mut self) {
self.tim.reg().ctrl.modify(|_, w| w.enable().set_bit()); self.tim.reg().ctrl.modify(|_, w| w.enable().set_bit());
if let Some(irq_cfg) = self.irq_cfg {
self.enable_interrupt();
if irq_cfg.enable {
unmask_irq(irq_cfg.irq);
}
}
} }
#[inline(always)] #[inline(always)]
@ -720,19 +737,29 @@ impl<TIM: ValidTim> embedded_hal::blocking::delay::DelayMs<u8> for CountDownTime
// Set up a millisecond timer on TIM0. Please note that you still need to unmask the related IRQ // Set up a millisecond timer on TIM0. Please note that you still need to unmask the related IRQ
// and provide an IRQ handler yourself // and provide an IRQ handler yourself
pub fn set_up_ms_timer( pub fn set_up_ms_timer<TIM: ValidTim>(
syscfg: &mut pac::SYSCONFIG, irq_cfg: IrqCfg,
irqsel: &mut pac::IRQSEL, sys_cfg: &mut pac::SYSCONFIG,
sys_clk: Hertz, irq_sel: Option<&mut pac::IRQSEL>,
tim0: TIM0, sys_clk: impl Into<Hertz>,
irq: pac::Interrupt, tim0: TIM,
) -> CountDownTimer<TIM0> { ) -> CountDownTimer<TIM> {
let mut ms_timer = CountDownTimer::new(syscfg, sys_clk, tim0); let mut ms_timer = CountDownTimer::new(sys_cfg, sys_clk, tim0);
ms_timer.listen(timer::Event::TimeOut, syscfg, irqsel, irq); ms_timer.listen(timer::Event::TimeOut, irq_cfg, irq_sel, Some(sys_cfg));
ms_timer.start(1000.hz()); ms_timer.start(1000.hz());
ms_timer ms_timer
} }
pub fn set_up_ms_delay_provider<TIM: ValidTim>(
sys_cfg: &mut pac::SYSCONFIG,
sys_clk: impl Into<Hertz>,
tim: TIM,
) -> CountDownTimer<TIM> {
let mut provider = CountDownTimer::new(sys_cfg, sys_clk, tim);
provider.start(1000.hz());
provider
}
/// This function can be called in a specified interrupt handler to increment /// This function can be called in a specified interrupt handler to increment
/// the MS counter /// the MS counter
pub fn default_ms_irq_handler() { pub fn default_ms_irq_handler() {
@ -763,6 +790,7 @@ impl Delay {
} }
/// This assumes that the user has already set up a MS tick timer in TIM0 as a system tick /// This assumes that the user has already set up a MS tick timer in TIM0 as a system tick
/// with [`set_up_ms_delay_provider`]
impl embedded_hal::blocking::delay::DelayMs<u32> for Delay { impl embedded_hal::blocking::delay::DelayMs<u32> for Delay {
fn delay_ms(&mut self, ms: u32) { fn delay_ms(&mut self, ms: u32) {
if self.cd_tim.curr_freq() != 1000.hz() || !self.cd_tim.listening() { if self.cd_tim.curr_freq() != 1000.hz() || !self.cd_tim.listening() {

View File

@ -8,19 +8,25 @@ use core::{marker::PhantomData, ops::Deref};
use libm::floorf; use libm::floorf;
use crate::clock::enable_peripheral_clock; use crate::clock::enable_peripheral_clock;
pub use crate::utility::IrqCfg;
use crate::{ use crate::{
clock, clock,
gpio::pins::{ gpio::pins::{
AltFunc1, AltFunc2, AltFunc3, Pin, PA16, PA17, PA18, PA19, PA2, PA26, PA27, PA3, PA30, AltFunc1, AltFunc2, AltFunc3, Pin, PA16, PA17, PA18, PA19, PA2, PA26, PA27, PA3, PA30,
PA31, PA8, PA9, PB18, PB19, PB20, PB21, PB22, PB23, PB6, PB7, PB8, PB9, PA31, PA8, PA9, PB18, PB19, PB20, PB21, PB22, PB23, PB6, PB7, PB8, PB9,
}, },
pac::{uarta as uart_base, SYSCONFIG, UARTA, UARTB}, pac::{uarta as uart_base, IRQSEL, SYSCONFIG, UARTA, UARTB},
utility::unmask_irq,
prelude::*, prelude::*,
time::{Bps, Hertz}, time::{Bps, Hertz},
}; };
use embedded_hal::{blocking, serial}; use embedded_hal::{blocking, serial};
//==================================================================================================
// Type-Level support
//==================================================================================================
pub trait Pins<UART> {} pub trait Pins<UART> {}
impl Pins<UARTA> for (Pin<PA9, AltFunc2>, Pin<PA8, AltFunc2>) {} impl Pins<UARTA> for (Pin<PA9, AltFunc2>, Pin<PA8, AltFunc2>) {}
@ -38,12 +44,18 @@ impl Pins<UARTB> for (Pin<PB7, AltFunc1>, Pin<PB6, AltFunc1>) {}
impl Pins<UARTB> for (Pin<PB19, AltFunc2>, Pin<PB18, AltFunc2>) {} impl Pins<UARTB> for (Pin<PB19, AltFunc2>, Pin<PB18, AltFunc2>) {}
impl Pins<UARTB> for (Pin<PB21, AltFunc1>, Pin<PB20, AltFunc1>) {} impl Pins<UARTB> for (Pin<PB21, AltFunc1>, Pin<PB20, AltFunc1>) {}
//==================================================================================================
// Regular Definitions
//==================================================================================================
#[derive(Debug)] #[derive(Debug)]
pub enum Error { pub enum Error {
Overrun, Overrun,
FramingError, FramingError,
ParityError, ParityError,
BreakCondition, BreakCondition,
TransferPending,
BufferTooShort,
} }
#[derive(Debug, PartialEq, Copy, Clone)] #[derive(Debug, PartialEq, Copy, Clone)]
@ -160,6 +172,106 @@ impl From<Bps> for Config {
} }
} }
//==================================================================================================
// IRQ Definitions
//==================================================================================================
pub struct IrqInfo {
rx_len: usize,
rx_idx: usize,
irq_cfg: IrqCfg,
mode: IrqReceptionMode,
}
pub enum IrqResultMask {
Complete = 0,
Overflow = 1,
FramingError = 2,
ParityError = 3,
Break = 4,
Timeout = 5,
Addr9 = 6,
}
pub struct IrqResult {
raw_res: u32,
pub bytes_read: usize,
}
impl IrqResult {
#[inline]
pub fn raw_result(&self) -> u32 {
self.raw_res
}
#[inline]
pub(crate) fn clear_result(&mut self) {
self.raw_res = 0;
}
#[inline]
pub(crate) fn set_result(&mut self, flag: IrqResultMask) {
self.raw_res |= 1 << flag as u32;
}
#[inline]
pub fn complete(&self) -> bool {
if ((self.raw_res >> IrqResultMask::Complete as u32) & 0x01) == 0x00 {
return true;
}
false
}
#[inline]
pub fn error(&self) -> bool {
if self.overflow_error() || self.framing_error() || self.parity_error() {
return true;
}
false
}
#[inline]
pub fn overflow_error(&self) -> bool {
if ((self.raw_res >> IrqResultMask::Overflow as u32) & 0x01) == 0x01 {
return true;
}
false
}
#[inline]
pub fn framing_error(&self) -> bool {
if ((self.raw_res >> IrqResultMask::FramingError as u32) & 0x01) == 0x01 {
return true;
}
false
}
#[inline]
pub fn parity_error(&self) -> bool {
if ((self.raw_res >> IrqResultMask::ParityError as u32) & 0x01) == 0x01 {
return true;
}
false
}
#[inline]
pub fn timeout(&self) -> bool {
if ((self.raw_res >> IrqResultMask::Timeout as u32) & 0x01) == 0x01 {
return true;
}
false
}
}
#[derive(Debug, PartialEq)]
pub enum IrqReceptionMode {
Idle,
FixedLen,
VarLen,
}
//==================================================================================================
// UART implementation
//==================================================================================================
/// Serial abstraction /// Serial abstraction
pub struct Uart<UART, PINS> { pub struct Uart<UART, PINS> {
uart: UART, uart: UART,
@ -168,6 +280,11 @@ pub struct Uart<UART, PINS> {
rx: Rx<UART>, rx: Rx<UART>,
} }
pub struct UartWithIrq<UART, PINS> {
uart_base: Uart<UART, PINS>,
irq_info: IrqInfo,
}
/// Serial receiver /// Serial receiver
pub struct Rx<UART> { pub struct Rx<UART> {
_usart: PhantomData<UART>, _usart: PhantomData<UART>,
@ -247,6 +364,46 @@ where
self self
} }
#[inline]
pub fn enable_rx(&mut self) {
self.uart.enable.write(|w| w.rxenable().set_bit());
}
#[inline]
pub fn disable_rx(&mut self) {
self.uart.enable.write(|w| w.rxenable().set_bit());
}
#[inline]
pub fn enable_tx(&mut self) {
self.uart.enable.write(|w| w.txenable().set_bit());
}
#[inline]
pub fn disable_tx(&mut self) {
self.uart.enable.write(|w| w.txenable().set_bit());
}
#[inline]
pub fn clear_rx_fifo(&mut self) {
self.uart.fifo_clr.write(|w| w.rxfifo().set_bit());
}
#[inline]
pub fn clear_tx_fifo(&mut self) {
self.uart.fifo_clr.write(|w| w.txfifo().set_bit());
}
#[inline]
pub fn clear_rx_status(&mut self) {
self.uart.fifo_clr.write(|w| w.rxsts().set_bit());
}
#[inline]
pub fn clear_tx_status(&mut self) {
self.uart.fifo_clr.write(|w| w.txsts().set_bit());
}
pub fn listen(self, event: Event) -> Self { pub fn listen(self, event: Event) -> Self {
self.uart.irq_enb.modify(|_, w| match event { self.uart.irq_enb.modify(|_, w| match event {
Event::RxError => w.irq_rx_status().set_bit(), Event::RxError => w.irq_rx_status().set_bit(),
@ -319,6 +476,146 @@ macro_rules! uart_impl {
} }
} }
impl<PINS> Uart<UARTA, PINS> {
pub fn into_uart_with_irq(self, irq_cfg: IrqCfg) -> UartWithIrq<UARTA, PINS> {
UartWithIrq {
uart_base: self,
irq_info: IrqInfo {
rx_len: 0,
rx_idx: 0,
irq_cfg,
mode: IrqReceptionMode::Idle,
},
}
}
}
impl<PINS> UartWithIrq<UARTA, PINS> {
pub fn read_fixed_len_using_irq(
&mut self,
max_len: usize,
enb_timeout_irq: bool,
irqsel: Option<&mut IRQSEL>,
) -> Result<(), Error> {
if self.irq_info.mode != IrqReceptionMode::Idle {
return Err(Error::TransferPending);
}
self.irq_info.rx_idx = 0;
self.irq_info.rx_len = max_len;
self.enable_rx_irq_sources(enb_timeout_irq);
if let Some(irqsel) = irqsel {
if self.irq_info.irq_cfg.route {
irqsel.uart[0].write(|w| unsafe { w.bits(self.irq_info.irq_cfg.irq as u32) });
}
}
if self.irq_info.irq_cfg.enable {
unmask_irq(self.irq_info.irq_cfg.irq);
}
Ok(())
}
#[inline]
fn enable_rx_irq_sources(&mut self, timeout: bool) {
self.uart_base.uart.irq_enb.modify(|_, w| {
if timeout {
w.irq_rx_to().set_bit();
}
w.irq_rx_status().set_bit();
w.irq_rx().set_bit()
});
}
#[inline]
fn disable_rx_irq_sources(&mut self) {
self.uart_base.uart.irq_enb.modify(|_, w| {
w.irq_rx_to().clear_bit();
w.irq_rx_status().clear_bit();
w.irq_rx().clear_bit()
});
}
pub fn cancel_transfer(&mut self) {
// Disable IRQ
cortex_m::peripheral::NVIC::mask(self.irq_info.irq_cfg.irq);
self.disable_rx_irq_sources();
self.uart_base.clear_tx_fifo();
self.irq_info.rx_idx = 0;
self.irq_info.rx_len = 0;
}
pub fn irq_handler(&mut self, res: &mut IrqResult, buf: &mut [u8]) -> Result<(), Error> {
if buf.len() < self.irq_info.rx_len {
return Err(Error::BufferTooShort);
}
let mut rx_status = self.uart_base.uart.rxstatus.read();
let _tx_status = self.uart_base.uart.txstatus.read();
let irq_end = self.uart_base.uart.irq_end.read();
let enb_status = self.uart_base.uart.enable.read();
let rx_enabled = enb_status.rxenable().bit_is_set();
let _tx_enabled = enb_status.txenable().bit_is_set();
res.clear_result();
if irq_end.irq_rx().bit_is_set() && rx_status.rdavl().bit_is_set() {
let mut rd_avl = rx_status.rdavl();
// While there is data in the FIFO, write it into the reception buffer
while self.irq_info.rx_idx < self.irq_info.rx_len && rd_avl.bit_is_set() {
buf[self.irq_info.rx_idx] = nb::block!(self.uart_base.read()).unwrap();
rd_avl = self.uart_base.uart.rxstatus.read().rdavl();
self.irq_info.rx_idx += 1;
if self.irq_info.rx_idx == self.irq_info.rx_len {
self.disable_rx_irq_sources();
res.bytes_read = self.irq_info.rx_len;
res.set_result(IrqResultMask::Complete);
self.irq_info.rx_idx = 0;
self.irq_info.rx_len = 0;
return Ok(());
}
}
}
// RX transfer not complete, check for RX errors
if (self.irq_info.rx_idx < self.irq_info.rx_len) && rx_enabled {
// Read status register again, might have changed since reading received data
rx_status = self.uart_base.uart.rxstatus.read();
if rx_status.rxovr().bit_is_set() {
res.set_result(IrqResultMask::Overflow);
}
if rx_status.rxfrm().bit_is_set() {
res.set_result(IrqResultMask::FramingError);
}
if rx_status.rxpar().bit_is_set() {
res.set_result(IrqResultMask::ParityError);
}
if rx_status.rxbrk().bit_is_set() {
res.set_result(IrqResultMask::Break);
}
if rx_status.rxto().bit_is_set() {
// A timeout has occured but there might be some leftover data in the FIFO,
// so read that data as well
while self.irq_info.rx_idx < self.irq_info.rx_len && rx_status.rdavl().bit_is_set()
{
buf[self.irq_info.rx_idx] = nb::block!(self.uart_base.read()).unwrap();
self.irq_info.rx_idx += 1;
}
res.bytes_read = self.irq_info.rx_idx;
res.set_result(IrqResultMask::Timeout);
res.set_result(IrqResultMask::Complete);
}
if res.raw_res != 0 {
self.disable_rx_irq_sources();
}
}
self.uart_base
.uart
.irq_clr
.write(|w| unsafe { w.bits(irq_end.bits()) });
Ok(())
}
}
uart_impl! { uart_impl! {
UARTA: (uarta, clock::PeripheralClocks::Uart0), UARTA: (uarta, clock::PeripheralClocks::Uart0),
UARTB: (uartb, clock::PeripheralClocks::Uart1), UARTB: (uartb, clock::PeripheralClocks::Uart1),

View File

@ -3,6 +3,7 @@
//! Some more information about the recommended scrub rates can be found on the //! Some more information about the recommended scrub rates can be found on the
//! [Vorago White Paper website](https://www.voragotech.com/resources) in the //! [Vorago White Paper website](https://www.voragotech.com/resources) in the
//! application note AN1212 //! application note AN1212
use crate::pac;
use va108xx::{IOCONFIG, SYSCONFIG}; use va108xx::{IOCONFIG, SYSCONFIG};
#[derive(PartialEq, Debug)] #[derive(PartialEq, Debug)]
@ -41,6 +42,26 @@ pub enum PeripheralSelect {
Gpio = 24, Gpio = 24,
} }
/// Generic IRQ config which can be used to specify whether the HAL driver will
/// use the IRQSEL register to route an interrupt, and whether the IRQ will be unmasked in the
/// Cortex-M0 NVIC. Both are generally necessary for IRQs to work, but the user might perform
/// this steps themselves
#[derive(Debug, PartialEq, Clone, Copy)]
pub struct IrqCfg {
/// Interrupt target vector. Should always be set, might be required for disabling IRQs
pub irq: pac::Interrupt,
/// Specfiy whether IRQ should be routed to an IRQ vector using the IRQSEL peripheral
pub route: bool,
/// Specify whether the IRQ is unmasked in the Cortex-M NVIC
pub enable: bool,
}
impl IrqCfg {
pub fn new(irq: pac::Interrupt, route: bool, enable: bool) -> Self {
IrqCfg { irq, route, enable }
}
}
/// Enable scrubbing for the ROM /// Enable scrubbing for the ROM
/// ///
/// Returns [`UtilityError::InvalidCounterResetVal`] if the scrub rate is 0 /// Returns [`UtilityError::InvalidCounterResetVal`] if the scrub rate is 0
@ -111,3 +132,13 @@ pub fn port_mux(
} }
} }
} }
/// Unmask and enable an IRQ with the given interrupt number
///
/// ## Safety
///
/// The unmask function can break mask-based critical sections
#[inline]
pub (crate) fn unmask_irq(irq: pac::Interrupt) {
unsafe { cortex_m::peripheral::NVIC::unmask(irq) };
}