rust/va108xx-rs
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Rework library structure

Browse Source 
Changed:

- Move most library components to new [`vorago-shared-periphs`](https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs)
  which is mostly re-exported in this crate.
- All HAL API constructors now have a more consistent argument order: PAC structures and resource
  management structures first, then clock configuration, then any other configuration.
- Overhaul and simplification of several HAL APIs. The system configuration and IRQ router
  peripheral instance generally does not need to be passed to HAL API anymore.
- All HAL drivers are now type erased. The constructors will still expect and consume the PAC
  singleton component for resource management purposes, but are not cached anymore.
- Refactoring of GPIO library to be more inline with embassy GPIO API.

Added:

- I2C clock timeout feature support.
This commit is contained in:
Robin Müller
2025-04-12 17:01:53 +02:00
parent 5b2ded51f9
commit 64a7cef47a
63 changed files with 717 additions and 9119 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
vorago-reb1/examples/adt75-temp-sensor.rs
View File

@ -4,17 +4,17 @@ use cortex_m_rt::entry;
use embedded_hal::delay::DelayNs;
use panic_rtt_target as _;
use rtt_target::{rprintln, rtt_init_print};
use va108xx_hal::{pac, prelude::*, timer::set_up_ms_delay_provider};
use va108xx_hal::{pac, prelude::*, timer::CountdownTimer};
use vorago_reb1::temp_sensor::Adt75TempSensor;
#[entry]
fn main() -> ! {
rtt_init_print!();
rprintln!("-- Vorago Temperature Sensor and I2C Example --");
let mut dp = pac::Peripherals::take().unwrap();
let mut delay = set_up_ms_delay_provider(&mut dp.sysconfig, 50.MHz(), dp.tim0);
let mut temp_sensor = Adt75TempSensor::new(&mut dp.sysconfig, 50.MHz(), dp.i2ca)
.expect("Creating temperature sensor struct failed");
let dp = pac::Peripherals::take().unwrap();
let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
let mut temp_sensor =
Adt75TempSensor::new(50.MHz(), dp.i2ca).expect("Creating temperature sensor struct failed");
loop {
let temp = temp_sensor
.read_temperature()

35
vorago-reb1/examples/adxl343-accelerometer.rs
View File

@ -9,13 +9,14 @@ use embedded_hal::delay::DelayNs;
use embedded_hal::spi::{SpiBus, MODE_3};
use panic_rtt_target as _;
use rtt_target::{rprintln, rtt_init_print};
use va108xx_hal::spi::SpiClkConfig;
use va108xx_hal::gpio::{Output, PinState};
use va108xx_hal::pins::PinsA;
use va108xx_hal::spi::{configure_pin_as_hw_cs_pin, SpiClkConfig};
use va108xx_hal::timer::CountdownTimer;
use va108xx_hal::{
gpio::PinsA,
pac,
prelude::*,
spi::{Spi, SpiConfig},
timer::set_up_ms_delay_provider,
};
const READ_MASK: u8 = 1 << 7;
@ -29,19 +30,15 @@ const PWR_MEASUREMENT_MODE_MASK: u8 = 1 << 3;
fn main() -> ! {
rtt_init_print!();
rprintln!("-- Vorago Accelerometer Example --");
let mut dp = pac::Peripherals::take().unwrap();
let mut delay = set_up_ms_delay_provider(&mut dp.sysconfig, 50.MHz(), dp.tim0);
let pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
let (sck, mosi, miso) = (
pinsa.pa20.into_funsel_2(),
pinsa.pa19.into_funsel_2(),
pinsa.pa18.into_funsel_2(),
);
let cs_pin = pinsa.pa16.into_funsel_2();
let dp = pac::Peripherals::take().unwrap();
let pinsa = PinsA::new(dp.porta);
let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
let (sck, mosi, miso) = (pinsa.pa20, pinsa.pa19, pinsa.pa18);
let cs_pin = pinsa.pa16;
let hw_cs_id = configure_pin_as_hw_cs_pin(cs_pin);
// Need to set the ADC chip select low
let mut adc_cs = pinsa.pa17.into_push_pull_output();
adc_cs.set_high();
Output::new(pinsa.pa17, PinState::Low);
let spi_cfg = SpiConfig::default()
.clk_cfg(
@ -49,14 +46,8 @@ fn main() -> ! {
)
.mode(MODE_3)
.slave_output_disable(true);
let mut spi = Spi::new(
&mut dp.sysconfig,
50.MHz(),
dp.spib,
(sck, miso, mosi),
spi_cfg,
);
spi.cfg_hw_cs_with_pin(&cs_pin);
let mut spi = Spi::new(dp.spib, (sck, miso, mosi), spi_cfg).unwrap();
spi.cfg_hw_cs(hw_cs_id);
let mut tx_rx_buf: [u8; 3] = [0; 3];
tx_rx_buf[0] = READ_MASK | DEVID_REG;

30
vorago-reb1/examples/blinky-button-irq.rs
View File

@ -10,10 +10,10 @@ use panic_rtt_target as _;
use rtt_target::{rprintln, rtt_init_print};
use va108xx_hal::{
clock::{set_clk_div_register, FilterClkSel},
gpio::{FilterType, InterruptEdge, PinsA},
gpio::{FilterType, InterruptEdge},
pac::{self, interrupt},
prelude::*,
timer::{default_ms_irq_handler, set_up_ms_tick, InterruptConfig},
pins::PinsA,
timer::InterruptConfig,
};
use vorago_reb1::button::Button;
use vorago_reb1::leds::Leds;
@ -35,18 +35,18 @@ fn main() -> ! {
rtt_init_print!();
rprintln!("-- Vorago Button IRQ Example --");
let mut dp = pac::Peripherals::take().unwrap();
let pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
let pinsa = PinsA::new(dp.porta);
let edge_irq = match PRESS_MODE {
PressMode::Toggle => InterruptEdge::HighToLow,
PressMode::Keep => InterruptEdge::BothEdges,
};
// Configure an edge interrupt on the button and route it to interrupt vector 15
let mut button = Button::new(pinsa.pa11.into_floating_input());
let mut button = Button::new(pinsa.pa11);
if PRESS_MODE == PressMode::Toggle {
// This filter debounces the switch for edge based interrupts
button.configure_filter_type(FilterType::FilterFourClockCycles, FilterClkSel::Clk1);
button.configure_filter_type(FilterType::FilterFourCycles, FilterClkSel::Clk1);
set_clk_div_register(&mut dp.sysconfig, FilterClkSel::Clk1, 50_000);
}
button.configure_and_enable_edge_interrupt(
@ -54,18 +54,7 @@ fn main() -> ! {
InterruptConfig::new(pac::interrupt::OC15, true, true),
);
set_up_ms_tick(
InterruptConfig::new(pac::Interrupt::OC0, true, true),
&mut dp.sysconfig,
Some(&mut dp.irqsel),
50.MHz(),
dp.tim0,
);
let mut leds = Leds::new(
pinsa.pa10.into_push_pull_output(),
pinsa.pa7.into_push_pull_output(),
pinsa.pa6.into_push_pull_output(),
);
let mut leds = Leds::new(pinsa.pa10, pinsa.pa7, pinsa.pa6);
for led in leds.iter_mut() {
led.off();
}
@ -79,11 +68,6 @@ fn main() -> ! {
}
}
#[interrupt]
fn OC0() {
default_ms_irq_handler();
}
#[interrupt]
fn OC15() {
cortex_m::interrupt::free(|cs| {

30
vorago-reb1/examples/blinky-leds.rs
View File

@ -9,7 +9,13 @@
use cortex_m_rt::entry;
use embedded_hal::delay::DelayNs;
use panic_halt as _;
use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::set_up_ms_delay_provider};
use va108xx_hal::{
gpio::{Output, PinState},
pac,
pins::PinsA,
prelude::*,
timer::CountdownTimer,
};
use vorago_reb1::leds::Leds;
// REB LED pin definitions. All on port A
@ -26,7 +32,7 @@ enum LibType {
#[entry]
fn main() -> ! {
let mut dp = pac::Peripherals::take().unwrap();
let dp = pac::Peripherals::take().unwrap();
let lib_type = LibType::Bsp;
@ -60,11 +66,11 @@ fn main() -> ! {
}
}
LibType::Hal => {
let pins = PinsA::new(&mut dp.sysconfig, dp.porta);
let mut led1 = pins.pa10.into_readable_push_pull_output();
let mut led2 = pins.pa7.into_readable_push_pull_output();
let mut led3 = pins.pa6.into_readable_push_pull_output();
let mut delay = set_up_ms_delay_provider(&mut dp.sysconfig, 50.MHz(), dp.tim0);
let pins = PinsA::new(dp.porta);
let mut led1 = Output::new(pins.pa10, PinState::Low);
let mut led2 = Output::new(pins.pa7, PinState::Low);
let mut led3 = Output::new(pins.pa6, PinState::Low);
let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
for _ in 0..10 {
led1.set_low();
led2.set_low();
@ -83,13 +89,9 @@ fn main() -> ! {
}
}
LibType::Bsp => {
let pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
let mut leds = Leds::new(
pinsa.pa10.into_push_pull_output(),
pinsa.pa7.into_push_pull_output(),
pinsa.pa6.into_push_pull_output(),
);
let mut delay = set_up_ms_delay_provider(&mut dp.sysconfig, 50.MHz(), dp.tim0);
let pinsa = PinsA::new(dp.porta);
let mut leds = Leds::new(pinsa.pa10, pinsa.pa7, pinsa.pa6);
let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
for _ in 0..10 {
// Blink all LEDs quickly
for led in leds.iter_mut() {

103
vorago-reb1/examples/max11619-adc.rs
View File

@ -14,20 +14,19 @@ use max116xx_10bit::VoltageRefMode;
use max116xx_10bit::{AveragingConversions, AveragingResults};
use panic_rtt_target as _;
use rtt_target::{rprintln, rtt_init_print};
use va108xx_hal::gpio::Port;
use va108xx_hal::spi::{OptionalHwCs, SpiClkConfig};
use va108xx_hal::gpio::{Input, Output, PinState, Port};
use va108xx_hal::pins::PinsA;
use va108xx_hal::spi::{configure_pin_as_hw_cs_pin, SpiClkConfig};
use va108xx_hal::timer::CountdownTimer;
use va108xx_hal::{
gpio::PinsA,
pac::{self, interrupt},
pac,
prelude::*,
spi::{Spi, SpiBase, SpiConfig},
timer::{default_ms_irq_handler, set_up_ms_tick, DelayMs, InterruptConfig},
spi::{HwChipSelectId, Spi, SpiConfig},
};
use va108xx_hal::{port_function_select, FunSel};
use vorago_reb1::max11619::{
max11619_externally_clocked_no_wakeup, max11619_externally_clocked_with_wakeup,
max11619_internally_clocked, EocPin, AN2_CHANNEL, POTENTIOMETER_CHANNEL,
max11619_internally_clocked, AN2_CHANNEL, POTENTIOMETER_CHANNEL,
};
#[derive(Debug, PartialEq, Copy, Clone)]
@ -57,34 +56,34 @@ const MUX_MODE: MuxMode = MuxMode::None;
// This is probably more or less a re-implementation of https://docs.rs/embedded-hal-bus/latest/embedded_hal_bus/spi/struct.ExclusiveDevice.html.
// Users should look at the embedded-hal-bus crate for sharing the bus.
pub struct SpiWithHwCs<Delay, HwCs> {
inner: SpiBase<pac::Spib, u8>,
pub struct SpiWithHwCs<Delay> {
inner: Spi<u8>,
delay_provider: Delay,
hw_cs: HwCs,
hw_cs_id: HwChipSelectId,
}
impl<Delay: DelayNs, HwCs: OptionalHwCs<pac::Spib>> SpiWithHwCs<Delay, HwCs> {
pub fn new(spi: SpiBase<pac::Spib, u8>, hw_cs: HwCs, delay_provider: Delay) -> Self {
impl<Delay: DelayNs> SpiWithHwCs<Delay> {
pub fn new(spi: Spi<u8>, hw_cs_id: HwChipSelectId, delay_provider: Delay) -> Self {
Self {
inner: spi,
hw_cs,
hw_cs_id,
delay_provider,
}
}
}
impl<Delay, HwCs> embedded_hal::spi::ErrorType for SpiWithHwCs<Delay, HwCs> {
impl<Delay> embedded_hal::spi::ErrorType for SpiWithHwCs<Delay> {
type Error = Infallible;
}
impl<Delay: DelayNs, HwCs: OptionalHwCs<pac::Spib>> SpiDevice for SpiWithHwCs<Delay, HwCs> {
impl<Delay: DelayNs> SpiDevice for SpiWithHwCs<Delay> {
fn transaction(
&mut self,
operations: &mut [spi::Operation<'_, u8>],
) -> Result<(), Self::Error> {
// Only the HW CS is configured here. This is not really necessary, but showcases
// that we could scale this multiple SPI devices.
self.inner.cfg_hw_cs_with_pin(&self.hw_cs);
self.inner.cfg_hw_cs(self.hw_cs_id);
for operation in operations {
match operation {
spi::Operation::Read(buf) => self.inner.read(buf).ok().unwrap(),
@ -111,28 +110,17 @@ fn main() -> ! {
rprintln!("-- Vorago ADC Example --");
let mut dp = pac::Peripherals::take().unwrap();
let tim0 = set_up_ms_tick(
InterruptConfig::new(pac::Interrupt::OC0, true, true),
&mut dp.sysconfig,
Some(&mut dp.irqsel),
SYS_CLK,
dp.tim0,
);
let delay = DelayMs::new(tim0).unwrap();
let mut delay = CountdownTimer::new(dp.tim0, SYS_CLK);
unsafe {
cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC0);
}
let pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
let pinsa = PinsA::new(dp.porta);
let spi_cfg = SpiConfig::default()
.clk_cfg(SpiClkConfig::from_clk(SYS_CLK, 3.MHz()).unwrap())
.mode(MODE_0)
.blockmode(true);
let (sck, mosi, miso) = (
pinsa.pa20.into_funsel_2(),
pinsa.pa19.into_funsel_2(),
pinsa.pa18.into_funsel_2(),
);
let (sck, mosi, miso) = (pinsa.pa20, pinsa.pa19, pinsa.pa18);
if MUX_MODE == MuxMode::PortB19to17 {
port_function_select(&mut dp.ioconfig, Port::B, 19, FunSel::Sel1).ok();
@ -141,39 +129,30 @@ fn main() -> ! {
port_function_select(&mut dp.ioconfig, Port::B, 16, FunSel::Sel1).ok();
}
// Set the accelerometer chip select low in case the board slot is populated
let mut accel_cs = pinsa.pa16.into_push_pull_output();
accel_cs.set_high();
Output::new(pinsa.pa16, PinState::Low);
let spi = Spi::new(
&mut dp.sysconfig,
50.MHz(),
dp.spib,
(sck, miso, mosi),
spi_cfg,
)
.downgrade();
let delay_provider = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim1);
let spi_with_hwcs = SpiWithHwCs::new(spi, pinsa.pa17.into_funsel_2(), delay_provider);
let hw_cs_id = configure_pin_as_hw_cs_pin(pinsa.pa17);
let spi = Spi::new(dp.spib, (sck, miso, mosi), spi_cfg).unwrap();
let delay_spi = CountdownTimer::new(dp.tim1, SYS_CLK);
let spi_with_hwcs = SpiWithHwCs::new(spi, hw_cs_id, delay_spi);
match EXAMPLE_MODE {
ExampleMode::NotUsingEoc => spi_example_externally_clocked(spi_with_hwcs, delay),
ExampleMode::NotUsingEoc => spi_example_externally_clocked(spi_with_hwcs, &mut delay),
ExampleMode::UsingEoc => {
spi_example_internally_clocked(spi_with_hwcs, delay, pinsa.pa14.into_floating_input());
spi_example_internally_clocked(
spi_with_hwcs,
&mut delay,
Input::new_floating(pinsa.pa14),
);
}
ExampleMode::NotUsingEocWithDelay => {
let delay_us = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim2);
spi_example_externally_clocked_with_delay(spi_with_hwcs, delay, delay_us);
spi_example_externally_clocked_with_delay(spi_with_hwcs, &mut delay);
}
}
}
#[interrupt]
#[allow(non_snake_case)]
fn OC0() {
default_ms_irq_handler();
}
/// Use the SPI clock as the conversion clock
fn spi_example_externally_clocked(spi: impl SpiDevice, mut delay: DelayMs) -> ! {
fn spi_example_externally_clocked(spi: impl SpiDevice, delay: &mut impl DelayNs) -> ! {
let mut adc = max11619_externally_clocked_no_wakeup(spi)
.expect("Creating externally clocked MAX11619 device failed");
if READ_MODE == ReadMode::AverageN {
@ -228,11 +207,7 @@ fn spi_example_externally_clocked(spi: impl SpiDevice, mut delay: DelayMs) -> !
}
}
fn spi_example_externally_clocked_with_delay(
spi: impl SpiDevice,
mut delay: DelayMs,
mut delay_us: impl DelayNs,
) -> ! {
fn spi_example_externally_clocked_with_delay(spi: impl SpiDevice, delay: &mut impl DelayNs) -> ! {
let mut adc =
max11619_externally_clocked_with_wakeup(spi).expect("Creating MAX116xx device failed");
let mut cmd_buf: [u8; 32] = [0; 32];
@ -244,7 +219,7 @@ fn spi_example_externally_clocked_with_delay(
ReadMode::Single => {
rprintln!("Reading single potentiometer channel");
let pot_val = adc
.read_single_channel(&mut cmd_buf, POTENTIOMETER_CHANNEL, &mut delay_us)
.read_single_channel(&mut cmd_buf, POTENTIOMETER_CHANNEL, delay)
.expect("Creating externally clocked MAX11619 ADC failed");
rprintln!("Single channel read:");
rprintln!("\tPotentiometer value: {}", pot_val);
@ -255,7 +230,7 @@ fn spi_example_externally_clocked_with_delay(
&mut cmd_buf,
&mut res_buf.iter_mut(),
POTENTIOMETER_CHANNEL,
&mut delay_us,
delay,
)
.expect("Multi-Channel read failed");
print_res_buf(&res_buf);
@ -266,7 +241,7 @@ fn spi_example_externally_clocked_with_delay(
&mut cmd_buf,
&mut res_buf.iter_mut(),
AN2_CHANNEL,
&mut delay_us,
delay,
)
.expect("Multi-Channel read failed");
rprintln!("Multi channel read from 2 to 3:");
@ -283,7 +258,11 @@ fn spi_example_externally_clocked_with_delay(
}
/// This function uses the EOC pin to determine whether the conversion finished
fn spi_example_internally_clocked(spi: impl SpiDevice, mut delay: DelayMs, eoc_pin: EocPin) -> ! {
fn spi_example_internally_clocked(
spi: impl SpiDevice,
delay: &mut impl DelayNs,
eoc_pin: Input,
) -> ! {
let mut adc = max11619_internally_clocked(
spi,
eoc_pin,

13
vorago-reb1/examples/nvm.rs
View File

@ -5,7 +5,7 @@ use cortex_m_rt::entry;
use embedded_hal::delay::DelayNs;
use panic_rtt_target as _;
use rtt_target::{rprintln, rtt_init_print};
use va108xx_hal::{pac, time::Hertz, timer::CountdownTimer};
use va108xx_hal::{pac, spi::SpiClkConfig, time::Hertz, timer::CountdownTimer};
use vorago_reb1::m95m01::{M95M01, PAGE_SIZE};
const CLOCK_FREQ: Hertz = Hertz::from_raw(50_000_000);
@ -15,12 +15,13 @@ fn main() -> ! {
rtt_init_print!();
rprintln!("-- VA108XX REB1 NVM example --");
let mut dp = pac::Peripherals::take().unwrap();
let dp = pac::Peripherals::take().unwrap();
let mut timer = CountdownTimer::new(&mut dp.sysconfig, CLOCK_FREQ, dp.tim0);
let mut nvm = M95M01::new(&mut dp.sysconfig, CLOCK_FREQ, dp.spic);
let mut delay = CountdownTimer::new(dp.tim0, CLOCK_FREQ);
let clk_config = SpiClkConfig::new(2, 4);
let mut nvm = M95M01::new(dp.spic, clk_config);
let status_reg = nvm.read_status_reg().expect("reading status reg failed");
if status_reg.zero_segment() == 0b111 {
if status_reg.zero_segment().value() == 0b111 {
panic!("status register unexpected values");
}
@ -51,6 +52,6 @@ fn main() -> ! {
nvm.write(0, &orig_content).unwrap();
loop {
timer.delay_ms(500);
delay.delay_ms(500);
}
}