Asynchronous GPIO support

board-tests/src/main.rs

@@ -44,8 +44,8 @@ fn main() -> ! {
     rprintln!("-- VA108xx Test Application --");
     let mut dp = pac::Peripherals::take().unwrap();
     let cp = cortex_m::Peripherals::take().unwrap();
-    let pinsa = PinsA::new(&mut dp.sysconfig, None, dp.porta);
+    let pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
-    let pinsb = PinsB::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.portb);
+    let pinsb = PinsB::new(&mut dp.sysconfig, dp.portb);
     let mut led1 = pinsa.pa10.into_readable_push_pull_output();
     let test_case = TestCase::DelayMs;
 

examples/embassy/src/bin/async-gpio.rs

@@ -1,10 +1,16 @@
+//! This example demonstrates the usage of async GPIO operations on VA108xx.
+//!
+//! You need to tie the PA0 to the PA1 pin for this example to work. You can optionally tie the PB22 to PB23 pins well
+//! and then set the `CHECK_PB22_TO_PB23` to true to also test async operations on Port B.
 #![no_std]
 #![no_main]
 
 use embassy_executor::Spawner;
+use embassy_sync::channel::{Receiver, Sender};
 use embassy_sync::{blocking_mutex::raw::ThreadModeRawMutex, channel::Channel};
 use embassy_time::{Duration, Instant, Timer};
 use embedded_hal::digital::{InputPin, OutputPin, StatefulOutputPin};
+use embedded_hal_async::digital::Wait;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va108xx_embassy::embassy;
@@ -17,6 +23,12 @@ use va108xx_hal::{
 
 const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);
 
+const CHECK_PA0_TO_PA1: bool = true;
+const CHECK_PB22_TO_PB23: bool = false;
+
+// Can also be set to OC10 and works as well.
+const PB22_TO_PB23_IRQ: pac::Interrupt = pac::Interrupt::OC11;
+
 #[derive(Clone, Copy)]
 pub struct GpioCmd {
     cmd_type: GpioCmdType,
@@ -44,9 +56,6 @@ pub enum GpioCmdType {
 static CHANNEL_PA0_PA1: Channel<ThreadModeRawMutex, GpioCmd, 3> = Channel::new();
 static CHANNEL_PB22_TO_PB23: Channel<ThreadModeRawMutex, GpioCmd, 3> = Channel::new();
 
-const CHECK_PA0_TO_PA1: bool = true;
-const CHECK_PB22_TO_PB23: bool = true;
-
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
     rtt_init_print!();
@@ -65,26 +74,42 @@ async fn main(spawner: Spawner) {
         )
     };
 
-    let porta = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
+    let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
-    let portb = PinsB::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.portb);
+    let portb = PinsB::new(&mut dp.sysconfig, dp.portb);
-    let led0 = porta.pa10.into_readable_push_pull_output();
+    let mut led0 = porta.pa10.into_readable_push_pull_output();
     let out_pa0 = porta.pa0.into_readable_push_pull_output();
     let in_pa1 = porta.pa1.into_floating_input();
     let out_pb22 = portb.pb22.into_readable_push_pull_output();
     let in_pb23 = portb.pb23.into_floating_input();
 
-    let mut in_pa1_async = InputPinAsync::new(in_pa1, pac::Interrupt::OC10);
+    let in_pa1_async = InputPinAsync::new(in_pa1, pac::Interrupt::OC10);
     let out_pa0_dyn = out_pa0.downgrade();
-    let mut in_pb23_async = InputPinAsync::new(in_pb23, pac::Interrupt::OC10);
+    let in_pb23_async = InputDynPinAsync::new(in_pb23.downgrade(), PB22_TO_PB23_IRQ).unwrap();
     let out_pb22_dyn = out_pb22.downgrade();
 
-    spawner.spawn(output_task(out_pa0_dyn)).unwrap();
+    spawner
+        .spawn(output_task(
+            "PA0 to PA1",
+            out_pa0_dyn,
+            CHANNEL_PA0_PA1.receiver(),
+        ))
+        .unwrap();
+    spawner
+        .spawn(output_task(
+            "PB22 to PB23",
+            out_pb22_dyn,
+            CHANNEL_PB22_TO_PB23.receiver(),
+        ))
+        .unwrap();
 
     if CHECK_PA0_TO_PA1 {
-        check_pin_to_pin_async_ops(&CHANNEL_PA0_PA1, in_pa1_async);
+        check_pin_to_pin_async_ops("PA0 to PA1", CHANNEL_PA0_PA1.sender(), in_pa1_async).await;
+        rprintln!("Example PA0 to PA1 done");
     }
     if CHECK_PB22_TO_PB23 {
-        check_pin_to_pin_async_ops(&CHANNEL_PB22_TO_PB23, in_pb23_async);
+        check_pin_to_pin_async_ops("PB22 to PB23", CHANNEL_PB22_TO_PB23.sender(), in_pb23_async)
+            .await;
+        rprintln!("Example PB22 to PB23 done");
     }
 
     rprintln!("Example done, toggling LED0");
@@ -95,113 +120,139 @@ async fn main(spawner: Spawner) {
 }
 
 async fn check_pin_to_pin_async_ops(
-    ch: &'static Channel<ThreadModeRawMutex, GpioCmd, 3>,
+    ctx: &'static str,
-    async_input: InputDynPinAsync,
+    sender: Sender<'static, ThreadModeRawMutex, GpioCmd, 3>,
+    mut async_input: impl Wait,
 ) {
     rprintln!(
-        "sending SetHigh command ({} ms)",
+        "{}: sending SetHigh command ({} ms)",
+        ctx,
         Instant::now().as_millis()
     );
-    CHANNEL_PA0_PA1
+    sender.send(GpioCmd::new(GpioCmdType::SetHigh, 20)).await;
-        .send(GpioCmd::new(GpioCmdType::SetHigh, 20))
+    async_input.wait_for_high().await.unwrap();
-        .await;
-    async_input.wait_for_high().await;
-    rprintln!("Input pin is high now ({} ms)", Instant::now().as_millis());
-
-    rprintln!("sending SetLow command ({} ms)", Instant::now().as_millis());
-    CHANNEL_PA0_PA1
-        .send(GpioCmd::new(GpioCmdType::SetLow, 20))
-        .await;
-    async_input.wait_for_low().await;
-    rprintln!("Input pin is low now ({} ms)", Instant::now().as_millis());
-
     rprintln!(
-        "sending RisingEdge command ({} ms)",
+        "{}: Input pin is high now ({} ms)",
-        Instant::now().as_millis()
+        ctx,
-    );
-    CHANNEL_PA0_PA1
-        .send(GpioCmd::new(GpioCmdType::RisingEdge, 20))
-        .await;
-    async_input.wait_for_rising_edge().await;
-    rprintln!(
-        "input pin had rising edge ({} ms)",
         Instant::now().as_millis()
     );
 
     rprintln!(
-        "sending Falling command ({} ms)",
+        "{}: sending SetLow command ({} ms)",
+        ctx,
         Instant::now().as_millis()
     );
-    CHANNEL_PA0_PA1
+    sender.send(GpioCmd::new(GpioCmdType::SetLow, 20)).await;
+    async_input.wait_for_low().await.unwrap();
+    rprintln!(
+        "{}: Input pin is low now ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+
+    rprintln!(
+        "{}: sending RisingEdge command ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+    sender.send(GpioCmd::new(GpioCmdType::RisingEdge, 20)).await;
+    async_input.wait_for_rising_edge().await.unwrap();
+    rprintln!(
+        "{}: input pin had rising edge ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+
+    rprintln!(
+        "{}: sending Falling command ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+    sender
         .send(GpioCmd::new(GpioCmdType::FallingEdge, 20))
         .await;
-    async_input.wait_for_falling_edge().await;
+    async_input.wait_for_falling_edge().await.unwrap();
     rprintln!(
-        "input pin had a falling edge ({} ms)",
+        "{}: input pin had a falling edge ({} ms)",
+        ctx,
         Instant::now().as_millis()
     );
 
     rprintln!(
-        "sending Falling command ({} ms)",
+        "{}: sending Falling command ({} ms)",
+        ctx,
         Instant::now().as_millis()
     );
-    CHANNEL_PA0_PA1
+    sender
         .send(GpioCmd::new(GpioCmdType::FallingEdge, 20))
         .await;
-    async_input.wait_for_any_edge().await;
+    async_input.wait_for_any_edge().await.unwrap();
     rprintln!(
-        "input pin had a falling (any) edge ({} ms)",
+        "{}: input pin had a falling (any) edge ({} ms)",
+        ctx,
         Instant::now().as_millis()
     );
 
     rprintln!(
-        "sending Falling command ({} ms)",
+        "{}: sending Falling command ({} ms)",
+        ctx,
         Instant::now().as_millis()
     );
-    CHANNEL_PA0_PA1
+    sender.send(GpioCmd::new(GpioCmdType::RisingEdge, 20)).await;
-        .send(GpioCmd::new(GpioCmdType::RisingEdge, 20))
+    async_input.wait_for_any_edge().await.unwrap();
-        .await;
-    async_input.wait_for_any_edge().await;
     rprintln!(
-        "input pin had a rising (any) edge ({} ms)",
+        "{}: input pin had a rising (any) edge ({} ms)",
+        ctx,
         Instant::now().as_millis()
     );
 }
 
-#[embassy_executor::task]
+#[embassy_executor::task(pool_size = 2)]
-async fn output_task(mut out: DynPin) {
+async fn output_task(
+    ctx: &'static str,
+    mut out: DynPin,
+    receiver: Receiver<'static, ThreadModeRawMutex, GpioCmd, 3>,
+) {
     loop {
-        let next_cmd = CHANNEL_PA0_PA1.receive().await;
+        let next_cmd = receiver.receive().await;
         Timer::after(Duration::from_millis(next_cmd.after_delay.into())).await;
         match next_cmd.cmd_type {
             GpioCmdType::SetHigh => {
-                rprintln!("Set output high");
+                rprintln!("{}: Set output high", ctx);
                 out.set_high().unwrap();
             }
             GpioCmdType::SetLow => {
-                rprintln!("Set output low");
+                rprintln!("{}: Set output low", ctx);
                 out.set_low().unwrap();
             }
             GpioCmdType::RisingEdge => {
+                rprintln!("{}: Rising edge", ctx);
                 if !out.is_low().unwrap() {
                     out.set_low().unwrap();
                 }
-                rprintln!("Rising edge");
                 out.set_high().unwrap();
             }
             GpioCmdType::FallingEdge => {
+                rprintln!("{}: Falling edge", ctx);
                 if !out.is_high().unwrap() {
                     out.set_high().unwrap();
                 }
-                rprintln!("Falling edge");
                 out.set_low().unwrap();
             }
         }
     }
 }
 
+// PB22 to PB23 can be handled by both OC10 and OC11 depending on configuration.
+
 #[interrupt]
 #[allow(non_snake_case)]
 fn OC10() {
     handle_interrupt_for_async_gpio();
 }
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn OC11() {
+    handle_interrupt_for_async_gpio();
+}

examples/embassy/src/main.rs

@@ -52,7 +52,7 @@ async fn main(_spawner: Spawner) {
         }
     }
 
-    let porta = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
+    let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
     let mut led0 = porta.pa10.into_readable_push_pull_output();
     let mut led1 = porta.pa7.into_readable_push_pull_output();
     let mut led2 = porta.pa6.into_readable_push_pull_output();

flashloader/src/main.rs

@@ -110,7 +110,7 @@ mod app {
         let mut dp = cx.device;
         let nvm = M95M01::new(&mut dp.sysconfig, SYSCLK_FREQ, dp.spic);
 
-        let gpioa = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
+        let gpioa = PinsA::new(&mut dp.sysconfig, dp.porta);
         let tx = gpioa.pa9.into_funsel_2();
         let rx = gpioa.pa8.into_funsel_2();
 

va108xx-hal/CHANGELOG.md

@@ -23,6 +23,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `InvalidPinTypeError` now wraps the pin mode.
 - I2C `TimingCfg` constructor now returns explicit error instead of generic Error.
   Removed the timing configuration error type from the generic I2C error enumeration.
+- `PinsA` and `PinsB` constructor do not expect an optional `pac::Ioconfig` argument anymore.
 
 ## Added
 

va108xx-hal/src/gpio/asynch.rs

@@ -110,7 +110,7 @@ impl InputPinFuture {
         irq_sel: &mut Irqsel,
     ) -> Result<Self, InvalidPinTypeError> {
         if !pin.is_input_pin() {
-            return Err(InvalidPinTypeError);
+            return Err(InvalidPinTypeError(pin.mode()));
         }
 
         EDGE_DETECTION[pin_id_to_offset(pin.id())]
@@ -204,7 +204,7 @@ impl InputDynPinAsync {
     /// the asynchronous functionality to work.
     pub fn new(pin: DynPin, irq: pac::Interrupt) -> Result<Self, InvalidPinTypeError> {
         if !pin.is_input_pin() {
-            return Err(InvalidPinTypeError);
+            return Err(InvalidPinTypeError(pin.mode()));
         }
         Ok(Self { pin, irq })
     }

va108xx-hal/src/gpio/dynpin.rs

@@ -105,7 +105,7 @@ pub type DynAlternate = FunSel;
 #[derive(Debug, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[error("Invalid pin type for operation: {0:?}")]
-pub struct InvalidPinTypeError(DynPinMode);
+pub struct InvalidPinTypeError(pub DynPinMode);
 
 impl embedded_hal::digital::Error for InvalidPinTypeError {
     fn kind(&self) -> embedded_hal::digital::ErrorKind {

va108xx-hal/src/gpio/pin.rs

@@ -742,7 +742,6 @@ macro_rules! pins {
         paste!(
             /// Collection of all the individual [`Pin`]s for a given port (PORTA or PORTB)
             pub struct $PinsName {
-                iocfg: Option<va108xx::Ioconfig>,
                 port: $Port,
                 $(
                     #[doc = "Pin " $Id]
@@ -757,7 +756,6 @@ macro_rules! pins {
                 #[inline]
                 pub fn new(
                     syscfg: &mut va108xx::Sysconfig,
-                    iocfg: Option<va108xx::Ioconfig>,
                     port: $Port
                 ) -> $PinsName {
                     syscfg.peripheral_clk_enable().modify(|_, w| {
@@ -766,7 +764,7 @@ macro_rules! pins {
                         w.ioconfig().set_bit()
                     });
                     $PinsName {
-                        iocfg,
+                        //iocfg,
                         port,
                         // Safe because we only create one `Pin` per `PinId`
                         $(
@@ -783,8 +781,8 @@ macro_rules! pins {
                 }
 
                 /// Consumes the Pins struct and returns the port definitions
-                pub fn release(self) -> (Option<va108xx::Ioconfig>, $Port) {
+                pub fn release(self) -> $Port {
-                    (self.iocfg, self.port)
+                    self.port
                 }
             }
         );

va108xx-hal/src/gpio/reg.rs

@@ -73,13 +73,6 @@ impl From<DynPinMode> for ModeFields {
 //==================================================================================================
 
 pub type PortReg = ioconfig::Porta;
-/*
-pub type IocfgPort = ioconfig::Porta;
-#[repr(C)]
-pub(super) struct IocfgPortGroup {
-    port: [IocfgPort; 32],
-}
-*/
 
 /// Provide a safe register interface for pin objects
 ///