Asynchronous GPIO support

va108xx-hal/Cargo.toml

@@ -16,6 +16,7 @@ cortex-m-rt = "0.7"
 nb = "1"
 paste = "1"
 embedded-hal = "1"
+embedded-hal-async = "1"
 embedded-hal-nb = "1"
 embedded-io = "0.6"
 fugit = "0.3"
@@ -26,6 +27,8 @@ thiserror = { version = "2", default-features = false }
 void = { version = "1", default-features = false }
 once_cell = {version = "1", default-features = false }
 va108xx = { version = "0.3", default-features = false, features = ["critical-section"]}
+portable-atomic = { version = "1", features = ["unsafe-assume-single-core"]}
+embassy-sync = "0.6"
 
 defmt = { version = "0.3", optional = true }
 

va108xx-hal/docs.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
+cargo +nightly doc --all-features --open

va108xx-hal/src/gpio/asynch.rs

@@ -0,0 +1,449 @@
+//! # Async GPIO functionality for the VA108xx family.
+//!
+//! This module provides the [InputPinAsync] and [InputDynPinAsync] which both implement
+//! the [embedded_hal_async::digital::Wait] trait. These types allow for asynchronous waiting
+//! on GPIO pins. Please note that this module does not specify/declare the interrupt handlers
+//! which must be provided for async support to work. However, it provides one generic
+//! [handler][handle_interrupt_for_async_gpio] which should be called in ALL user interrupt handlers
+//! for which handle GPIO interrupts.
+//!
+//! # Example
+//!
+//! - [Async GPIO example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/async-gpio/examples/embassy/src/bin/async-gpio.rs)
+use core::future::Future;
+
+use embassy_sync::waitqueue::AtomicWaker;
+use embedded_hal::digital::InputPin;
+use embedded_hal_async::digital::Wait;
+use portable_atomic::AtomicBool;
+use va108xx::{self as pac, Irqsel, Sysconfig};
+
+use crate::IrqCfg;
+
+use super::{
+    pin, DynGroup, DynPin, DynPinId, InputConfig, InterruptEdge, InvalidPinTypeError, Pin, PinId,
+    NUM_GPIO_PINS, NUM_PINS_PORT_A,
+};
+
+static WAKERS: [AtomicWaker; NUM_GPIO_PINS] = [const { AtomicWaker::new() }; NUM_GPIO_PINS];
+static EDGE_DETECTION: [AtomicBool; NUM_GPIO_PINS] =
+    [const { AtomicBool::new(false) }; NUM_GPIO_PINS];
+
+#[inline]
+fn pin_id_to_offset(dyn_pin_id: DynPinId) -> usize {
+    match dyn_pin_id.group {
+        DynGroup::A => dyn_pin_id.num as usize,
+        DynGroup::B => NUM_PINS_PORT_A + dyn_pin_id.num as usize,
+    }
+}
+
+/// Generic interrupt handler for GPIO interrupts to support the async functionalities.
+///
+/// This handler will wake the correspoding wakers for the pins which triggered an interrupt
+/// as well as updating the static edge detection structures. This allows the pin future to
+/// complete async operations. The user should call this function in ALL interrupt handlers
+/// which handle any GPIO interrupts.
+#[inline]
+pub fn handle_interrupt_for_async_gpio() {
+    let periphs = unsafe { pac::Peripherals::steal() };
+
+    handle_interrupt_for_gpio_and_port(
+        periphs.porta.irq_enb().read().bits(),
+        periphs.porta.edge_status().read().bits(),
+        0,
+    );
+    handle_interrupt_for_gpio_and_port(
+        periphs.portb.irq_enb().read().bits(),
+        periphs.portb.edge_status().read().bits(),
+        NUM_PINS_PORT_A,
+    );
+}
+
+// Uses the enabled interrupt register and the persistent edge status to capture all GPIO events.
+#[inline]
+fn handle_interrupt_for_gpio_and_port(mut irq_enb: u32, edge_status: u32, pin_base_offset: usize) {
+    while irq_enb != 0 {
+        let bit_pos = irq_enb.trailing_zeros() as usize;
+        let bit_mask = 1 << bit_pos;
+
+        WAKERS[pin_base_offset + bit_pos].wake();
+
+        if edge_status & bit_mask != 0 {
+            EDGE_DETECTION[pin_base_offset + bit_pos]
+                .store(true, core::sync::atomic::Ordering::Relaxed);
+        }
+
+        // Clear the processed bit
+        irq_enb &= !bit_mask;
+    }
+}
+
+/// Input pin future which implements the [Future] trait.
+///
+/// Generally, you want to use the [InputPinAsync] or [InputDynPinAsync] types instead of this
+/// which also implements the [embedded_hal_async::digital::Wait] trait. However, access to this
+/// struture is granted  to allow writing custom async structures.
+pub struct InputPinFuture {
+    pin_id: DynPinId,
+}
+
+impl InputPinFuture {
+    /// # Safety
+    ///
+    /// This calls [Self::new] but uses [pac::Peripherals::steal] to get the system configuration
+    /// and IRQ selection peripherals. Users must ensure that the registers and configuration
+    /// related to this input pin are not being used elsewhere concurrently.
+    pub unsafe fn new_unchecked_with_dyn_pin(
+        pin: &mut DynPin,
+        irq: pac::Interrupt,
+        edge: InterruptEdge,
+    ) -> Result<Self, InvalidPinTypeError> {
+        let mut periphs = pac::Peripherals::steal();
+        Self::new_with_dyn_pin(pin, irq, edge, &mut periphs.sysconfig, &mut periphs.irqsel)
+    }
+
+    pub fn new_with_dyn_pin(
+        pin: &mut DynPin,
+        irq: pac::Interrupt,
+        edge: InterruptEdge,
+        sys_cfg: &mut Sysconfig,
+        irq_sel: &mut Irqsel,
+    ) -> Result<Self, InvalidPinTypeError> {
+        if !pin.is_input_pin() {
+            return Err(InvalidPinTypeError);
+        }
+
+        EDGE_DETECTION[pin_id_to_offset(pin.id())]
+            .store(false, core::sync::atomic::Ordering::Relaxed);
+        pin.interrupt_edge(
+            edge,
+            IrqCfg::new(irq, true, true),
+            Some(sys_cfg),
+            Some(irq_sel),
+        )
+        .unwrap();
+        Ok(Self { pin_id: pin.id() })
+    }
+
+    /// # Safety
+    ///
+    /// This calls [Self::new] but uses [pac::Peripherals::steal] to get the system configuration
+    /// and IRQ selection peripherals. Users must ensure that the registers and configuration
+    /// related to this input pin are not being used elsewhere concurrently.
+    pub unsafe fn new_unchecked_with_pin<I: PinId, C: InputConfig>(
+        pin: &mut Pin<I, pin::Input<C>>,
+        irq: pac::Interrupt,
+        edge: InterruptEdge,
+    ) -> Self {
+        let mut periphs = pac::Peripherals::steal();
+        Self::new_with_pin(pin, irq, edge, &mut periphs.sysconfig, &mut periphs.irqsel)
+    }
+
+    pub fn new_with_pin<I: PinId, C: InputConfig>(
+        pin: &mut Pin<I, pin::Input<C>>,
+        irq: pac::Interrupt,
+        edge: InterruptEdge,
+        sys_cfg: &mut Sysconfig,
+        irq_sel: &mut Irqsel,
+    ) -> Self {
+        EDGE_DETECTION[pin_id_to_offset(pin.id())]
+            .store(false, core::sync::atomic::Ordering::Relaxed);
+        pin.interrupt_edge(
+            edge,
+            IrqCfg::new(irq, true, true),
+            Some(sys_cfg),
+            Some(irq_sel),
+        );
+        Self { pin_id: pin.id() }
+    }
+}
+
+impl Drop for InputPinFuture {
+    fn drop(&mut self) {
+        let periphs = unsafe { pac::Peripherals::steal() };
+        if self.pin_id.group == DynGroup::A {
+            periphs
+                .porta
+                .irq_enb()
+                .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << self.pin_id.num)) });
+        } else {
+            periphs
+                .porta
+                .irq_enb()
+                .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << self.pin_id.num)) });
+        }
+    }
+}
+
+impl Future for InputPinFuture {
+    type Output = ();
+    fn poll(
+        self: core::pin::Pin<&mut Self>,
+        cx: &mut core::task::Context<'_>,
+    ) -> core::task::Poll<Self::Output> {
+        let idx = pin_id_to_offset(self.pin_id);
+        WAKERS[idx].register(cx.waker());
+        if EDGE_DETECTION[idx].swap(false, core::sync::atomic::Ordering::Relaxed) {
+            return core::task::Poll::Ready(());
+        }
+        core::task::Poll::Pending
+    }
+}
+
+pub struct InputDynPinAsync {
+    pin: DynPin,
+    irq: pac::Interrupt,
+}
+
+impl InputDynPinAsync {
+    /// Create a new asynchronous input pin from a [DynPin]. The interrupt ID to be used must be
+    /// passed as well and is used to route and enable the interrupt.
+    ///
+    /// Please note that the interrupt handler itself must be provided by the user and the
+    /// generic [handle_interrupt_for_async_gpio] function must be called inside that function for
+    /// the asynchronous functionality to work.
+    pub fn new(pin: DynPin, irq: pac::Interrupt) -> Result<Self, InvalidPinTypeError> {
+        if !pin.is_input_pin() {
+            return Err(InvalidPinTypeError);
+        }
+        Ok(Self { pin, irq })
+    }
+
+    /// Asynchronously wait until the pin is high.
+    ///
+    /// This returns immediately if the pin is already high.
+    pub async fn wait_for_high(&mut self) {
+        let fut = unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::LowToHigh,
+            )
+            .unwrap()
+        };
+        if self.pin.is_high().unwrap() {
+            return;
+        }
+        fut.await;
+    }
+
+    /// Asynchronously wait until the pin is low.
+    ///
+    /// This returns immediately if the pin is already high.
+    pub async fn wait_for_low(&mut self) {
+        let fut = unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::HighToLow,
+            )
+            .unwrap()
+        };
+        if self.pin.is_low().unwrap() {
+            return;
+        }
+        fut.await;
+    }
+
+    /// Asynchronously wait until the pin sees a falling edge.
+    pub async fn wait_for_falling_edge(&mut self) {
+        unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::HighToLow,
+            )
+            .unwrap()
+        }
+        .await;
+    }
+
+    /// Asynchronously wait until the pin sees a rising edge.
+    pub async fn wait_for_rising_edge(&mut self) {
+        unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::LowToHigh,
+            )
+            .unwrap()
+        }
+        .await;
+    }
+
+    /// Asynchronously wait until the pin sees any edge (either rising or falling).
+    pub async fn wait_for_any_edge(&mut self) {
+        unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::BothEdges,
+            )
+            .unwrap()
+        }
+        .await;
+    }
+
+    pub fn release(self) -> DynPin {
+        self.pin
+    }
+}
+
+impl embedded_hal::digital::ErrorType for InputDynPinAsync {
+    type Error = core::convert::Infallible;
+}
+
+impl Wait for InputDynPinAsync {
+    async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_high().await;
+        Ok(())
+    }
+
+    async fn wait_for_low(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_low().await;
+        Ok(())
+    }
+
+    async fn wait_for_rising_edge(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_rising_edge().await;
+        Ok(())
+    }
+
+    async fn wait_for_falling_edge(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_falling_edge().await;
+        Ok(())
+    }
+
+    async fn wait_for_any_edge(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_any_edge().await;
+        Ok(())
+    }
+}
+
+pub struct InputPinAsync<I: PinId, C: InputConfig> {
+    pin: Pin<I, pin::Input<C>>,
+    irq: pac::Interrupt,
+}
+
+impl<I: PinId, C: InputConfig> InputPinAsync<I, C> {
+    /// Create a new asynchronous input pin from a typed [Pin]. The interrupt ID to be used must be
+    /// passed as well and is used to route and enable the interrupt.
+    ///
+    /// Please note that the interrupt handler itself must be provided by the user and the
+    /// generic [handle_interrupt_for_async_gpio] function must be called inside that function for
+    /// the asynchronous functionality to work.
+    pub fn new(pin: Pin<I, pin::Input<C>>, irq: pac::Interrupt) -> Self {
+        Self { pin, irq }
+    }
+
+    /// Asynchronously wait until the pin is high.
+    ///
+    /// This returns immediately if the pin is already high.
+    pub async fn wait_for_high(&mut self) {
+        let fut = unsafe {
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::LowToHigh,
+            )
+        };
+        if self.pin.is_high().unwrap() {
+            return;
+        }
+        fut.await;
+    }
+
+    /// Asynchronously wait until the pin is low.
+    ///
+    /// This returns immediately if the pin is already high.
+    pub async fn wait_for_low(&mut self) {
+        let fut = unsafe {
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::HighToLow,
+            )
+        };
+        if self.pin.is_low().unwrap() {
+            return;
+        }
+        fut.await;
+    }
+
+    /// Asynchronously wait until the pin sees falling edge.
+    pub async fn wait_for_falling_edge(&mut self) {
+        unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::HighToLow,
+            )
+        }
+        .await;
+    }
+
+    /// Asynchronously wait until the pin sees rising edge.
+    pub async fn wait_for_rising_edge(&mut self) {
+        unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::LowToHigh,
+            )
+        }
+        .await;
+    }
+
+    /// Asynchronously wait until the pin sees any edge (either rising or falling).
+    pub async fn wait_for_any_edge(&mut self) {
+        unsafe {
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::BothEdges,
+            )
+        }
+        .await;
+    }
+
+    pub fn release(self) -> Pin<I, pin::Input<C>> {
+        self.pin
+    }
+}
+impl<I: PinId, C: InputConfig> embedded_hal::digital::ErrorType for InputPinAsync<I, C> {
+    type Error = core::convert::Infallible;
+}
+
+impl<I: PinId, C: InputConfig> Wait for InputPinAsync<I, C> {
+    async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_high().await;
+        Ok(())
+    }
+
+    async fn wait_for_low(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_low().await;
+        Ok(())
+    }
+
+    async fn wait_for_rising_edge(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_rising_edge().await;
+        Ok(())
+    }
+
+    async fn wait_for_falling_edge(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_falling_edge().await;
+        Ok(())
+    }
+
+    async fn wait_for_any_edge(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_any_edge().await;
+        Ok(())
+    }
+}

va108xx-hal/src/gpio/dynpin.rs

@@ -60,7 +60,7 @@ use super::{
     pin::{FilterType, InterruptEdge, InterruptLevel, Pin, PinId, PinMode, PinState},
     reg::RegisterInterface,
 };
-use crate::{clock::FilterClkSel, pac, FunSel, IrqCfg};
+use crate::{clock::FilterClkSel, enable_interrupt, pac, FunSel, IrqCfg};
 
 //==================================================================================================
 //  DynPinMode configurations
@@ -173,16 +173,14 @@ pub struct DynPinId {
 ///
 /// This `struct` takes ownership of a [`DynPinId`] and provides an API to
 /// access the corresponding regsiters.
-pub(crate) struct DynRegisters {
-    id: DynPinId,
-}
+pub(crate) struct DynRegisters(DynPinId);
 
 // [`DynRegisters`] takes ownership of the [`DynPinId`], and [`DynPin`]
 // guarantees that each pin is a singleton, so this implementation is safe.
 unsafe impl RegisterInterface for DynRegisters {
     #[inline]
     fn id(&self) -> DynPinId {
-        self.id
+        self.0
     }
 }
 
@@ -195,7 +193,7 @@ impl DynRegisters {
     /// the same [`DynPinId`]
     #[inline]
     unsafe fn new(id: DynPinId) -> Self {
-        DynRegisters { id }
+        DynRegisters(id)
     }
 }
 
@@ -231,7 +229,7 @@ impl DynPin {
     /// Return a copy of the pin ID
     #[inline]
     pub fn id(&self) -> DynPinId {
-        self.regs.id
+        self.regs.0
     }
 
     /// Return a copy of the pin mode
@@ -250,6 +248,11 @@ impl DynPin {
         }
     }
 
+    #[inline]
+    pub fn is_input_pin(&self) -> bool {
+        matches!(self.mode, DynPinMode::Input(_))
+    }
+
     #[inline]
     pub fn into_funsel_1(&mut self) {
         self.into_mode(DYN_ALT_FUNC_1);
@@ -342,6 +345,11 @@ impl DynPin {
         self.regs.write_pin_masked(false)
     }
 
+    #[inline]
+    pub fn edge_has_occurred(&mut self) -> bool {
+        self.regs.edge_has_occurred()
+    }
+
     pub(crate) fn irq_enb(
         &mut self,
         irq_cfg: crate::IrqCfg,
@@ -369,6 +377,9 @@ impl DynPin {
                 }
             }
         }
+        if irq_cfg.enable {
+            unsafe { enable_interrupt(irq_cfg.irq) };
+        }
     }
 
     /// See p.53 of the programmers guide for more information.
@@ -512,7 +523,7 @@ impl DynPin {
     /// or refuse to perform it.
     #[inline]
     pub fn upgrade<I: PinId, M: PinMode>(self) -> Result<Pin<I, M>, InvalidPinTypeError> {
-        if self.regs.id == I::DYN && self.mode == M::DYN {
+        if self.regs.0 == I::DYN && self.mode == M::DYN {
             // The `DynPin` is consumed, so it is safe to replace it with the
             // corresponding `Pin`
             return Ok(unsafe { Pin::new() });

va108xx-hal/src/gpio/mod.rs

@@ -27,10 +27,17 @@
 #[error("The pin is masked")]
 pub struct IsMaskedError;
 
+pub const NUM_PINS_PORT_A: usize = 32;
+pub const NUM_PINS_PORT_B: usize = 24;
+pub const NUM_GPIO_PINS: usize = NUM_PINS_PORT_A + NUM_PINS_PORT_B;
+
 pub mod dynpin;
 pub use dynpin::*;
 
 pub mod pin;
 pub use pin::*;
 
+pub mod asynch;
+pub use asynch::*;
+
 mod reg;

va108xx-hal/src/gpio/pin.rs

@@ -342,6 +342,10 @@ impl<I: PinId, M: PinMode> Pin<I, M> {
         }
     }
 
+    pub fn id(&self) -> DynPinId {
+        self.inner.id()
+    }
+
     /// Convert the pin to the requested [`PinMode`]
     #[inline]
     pub fn into_mode<N: PinMode>(mut self) -> Pin<I, N> {

va108xx-hal/src/gpio/reg.rs

@@ -327,6 +327,13 @@ pub(super) unsafe trait RegisterInterface {
         }
     }
 
+    /// Persistent bit which specifies whether an edge was detected. Reading will clear the bit.
+    #[inline(always)]
+    fn edge_has_occurred(&mut self) -> bool {
+        let portreg = self.port_reg();
+        ((portreg.edge_status().read().bits() >> self.id().num) & 0x01) == 1
+    }
+
     /// Only useful for output pins
     /// See p.52 of the programmers guide for more information.
     /// When configured for pulse mode, a given pin will set the non-default state for exactly

va108xx-hal/src/pwm.rs

@@ -213,22 +213,6 @@ impl<Mode> ReducedPwmPin<Mode> {
         }
     }
 }
-/*
-impl<Pin: TimPin, Tim: ValidTim> From<PwmPin<Pin, Tim>> for ReducedPwmPin<PwmA> {
-    fn from(pwm_pin: PwmPin<Pin, Tim>) -> Self {
-        ReducedPwmPin {
-            dyn_reg: TimDynRegister {
-
-
-            }
-            // ::from(pwm_pin.reg),
-            common: pwm_pin.pwm_base,
-            pin_id: Pin::DYN,
-            mode: PhantomData,
-        }
-    }
-}
-*/
 
 impl<Mode> ReducedPwmPin<Mode> {
     #[inline]

va108xx-hal/src/timer.rs

@@ -286,7 +286,7 @@ pub type TimRegBlock = tim0::RegisterBlock;
 ///
 /// # Safety
 ///
-/// Users should only implement the [`tim_id`] function. No default function
+/// Users should only implement the [Self::tim_id] function. No default function
 /// implementations should be overridden. The implementing type must also have
 /// "control" over the corresponding pin ID, i.e. it must guarantee that a each
 /// pin ID is a singleton.