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Updated GPIO impl

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This commit is contained in:
Robin Müller
2025-02-14 14:38:54 +01:00
parent 9306bb07a9
commit 0d2fcd346b
8 changed files with 318 additions and 224 deletions
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264
va416xx-hal/src/gpio/dynpin.rs
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@ -1,4 +1,61 @@
use embedded_hal::digital::{ErrorKind, ErrorType, InputPin, OutputPin, StatefulOutputPin};
//! # Type-erased, value-level module for GPIO pins
//!
//! Although the type-level API is generally preferred, it is not suitable in
//! all cases. Because each pin is represented by a distinct type, it is not
//! possible to store multiple pins in a homogeneous data structure. The
//! value-level API solves this problem by erasing the type information and
//! tracking the pin at run-time.
//!
//! Value-level pins are represented by the [`DynPin`] type. [`DynPin`] has two
//! fields, `id` and `mode` with types [`DynPinId`] and [`DynPinMode`]
//! respectively. The implementation of these types closely mirrors the
//! type-level API.
//!
//! Instances of [`DynPin`] cannot be created directly. Rather, they must be
//! created from their type-level equivalents using [`From`]/[`Into`].
//!
//! ```
//! // Move a pin out of the Pins struct and convert to a DynPin
//! let pa0: DynPin = pins.pa0.into();
//! ```
//!
//! Conversions between pin modes use a value-level version of the type-level
//! API.
//!
//! ```
//! // Use one of the literal function names
//! pa0.into_floating_input();
//! // Use a method and a DynPinMode variant
//! pa0.into_mode(DYN_FLOATING_INPUT);
//! ```
//!
//! Because the pin state cannot be tracked at compile-time, many [`DynPin`]
//! operations become fallible. Run-time checks are inserted to ensure that
//! users don't try to, for example, set the output level of an input pin.
//!
//! Users may try to convert value-level pins back to their type-level
//! equivalents. However, this option is fallible, because the compiler cannot
//! guarantee the pin has the correct ID or is in the correct mode at
//! compile-time. Use [TryFrom]/[TryInto] for this conversion.
//!
//! ```
//! // Convert to a `DynPin`
//! let pa0: DynPin = pins.pa0.into();
//! // Change pin mode
//! pa0.into_floating_input();
//! // Convert back to a `Pin`
//! let pa0: Pin<PA0, FloatingInput> = pa0.try_into().unwrap();
//! ```
//!
//! # Embedded HAL traits
//!
//! This module implements all of the embedded HAL GPIO traits for [`DynPin`].
//! However, whereas the type-level API uses
//! `Error = core::convert::Infallible`, the value-level API can return a real
//! error. If the [`DynPin`] is not in the correct [`DynPinMode`] for the
//! operation, the trait functions will return
//! [InvalidPinTypeError].
use embedded_hal::digital::{ErrorType, InputPin, OutputPin, StatefulOutputPin};
use super::{
reg::RegisterInterface, FilterClkSel, FilterType, InterruptEdge, InterruptLevel, Pin, PinId,
@ -10,7 +67,8 @@ use super::{
//==================================================================================================
/// Value-level `enum` for disabled configurations
#[derive(PartialEq, Eq, Clone, Copy)]
#[derive(Debug, PartialEq, Eq, Clone, Copy)]
#[cfg_attr(feature = "defmt", derive(defmt::format))]
pub enum DynDisabled {
Floating,
PullDown,
@ -18,7 +76,8 @@ pub enum DynDisabled {
}
/// Value-level `enum` for input configurations
#[derive(PartialEq, Eq, Clone, Copy)]
#[derive(Debug, PartialEq, Eq, Clone, Copy)]
#[cfg_attr(feature = "defmt", derive(defmt::format))]
pub enum DynInput {
Floating,
PullDown,
@ -26,7 +85,8 @@ pub enum DynInput {
}
/// Value-level `enum` for output configurations
#[derive(PartialEq, Eq, Clone, Copy)]
#[derive(Debug, PartialEq, Eq, Clone, Copy)]
#[cfg_attr(feature = "defmt", derive(defmt::format))]
pub enum DynOutput {
PushPull,
OpenDrain,
@ -36,12 +96,32 @@ pub enum DynOutput {
pub type DynAlternate = crate::FunSel;
//==============================================================================
// Error
//==============================================================================
/// GPIO error type
///
/// [`DynPin`]s are not tracked and verified at compile-time, so run-time
/// operations are fallible. This `enum` represents the corresponding errors.
#[derive(Debug, PartialEq, Eq, thiserror::Error)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[error("Invalid pin type for operation: {0:?}")]
pub struct InvalidPinTypeError(pub DynPinMode);
impl embedded_hal::digital::Error for InvalidPinTypeError {
fn kind(&self) -> embedded_hal::digital::ErrorKind {
embedded_hal::digital::ErrorKind::Other
}
}
//==================================================================================================
// DynPinMode
//==================================================================================================
/// Value-level `enum` representing pin modes
#[derive(PartialEq, Eq, Clone, Copy)]
#[derive(Debug, PartialEq, Eq, Clone, Copy)]
#[cfg_attr(feature = "defmt", derive(defmt::format))]
pub enum DynPinMode {
Input(DynInput),
Output(DynOutput),
@ -76,7 +156,8 @@ pub const DYN_ALT_FUNC_3: DynPinMode = DynPinMode::Alternate(DynAlternate::Sel3)
//==================================================================================================
/// Value-level `enum` for pin groups
#[derive(PartialEq, Eq, Clone, Copy)]
#[derive(Debug, PartialEq, Eq, Clone, Copy)]
#[cfg_attr(feature = "defmt", derive(defmt::format))]
pub enum DynGroup {
A,
B,
@ -88,7 +169,8 @@ pub enum DynGroup {
}
/// Value-level `struct` representing pin IDs
#[derive(PartialEq, Eq, Clone, Copy)]
#[derive(Debug, PartialEq, Eq, Clone, Copy)]
#[cfg_attr(feature = "defmt", derive(defmt::format))]
pub struct DynPinId {
pub group: DynGroup,
pub num: u8,
@ -102,16 +184,16 @@ pub struct DynPinId {
///
/// This `struct` takes ownership of a [`DynPinId`] and provides an API to
/// access the corresponding regsiters.
struct DynRegisters {
id: DynPinId,
}
#[derive(Debug)]
#[cfg_attr(feature = "defmt", derive(defmt::format))]
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
}
}
@ -124,25 +206,7 @@ impl DynRegisters {
/// the same [`DynPinId`]
#[inline]
unsafe fn new(id: DynPinId) -> Self {
DynRegisters { id }
}
}
//==============================================================================
// Error
//==============================================================================
/// GPIO error type
///
/// [`DynPin`]s are not tracked and verified at compile-time, so run-time
/// operations are fallible. This `enum` represents the corresponding errors.
#[derive(Debug)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct InvalidPinTypeError(pub(crate) ());
impl embedded_hal::digital::Error for InvalidPinTypeError {
fn kind(&self) -> embedded_hal::digital::ErrorKind {
ErrorKind::Other
DynRegisters(id)
}
}
@ -154,8 +218,10 @@ impl embedded_hal::digital::Error for InvalidPinTypeError {
///
/// This type acts as a type-erased version of [`Pin`]. Every pin is represented
/// by the same type, and pins are tracked and distinguished at run-time.
#[derive(Debug)]
#[cfg_attr(feature = "defmt", derive(defmt::format))]
pub struct DynPin {
regs: DynRegisters,
pub(crate) regs: DynRegisters,
mode: DynPinMode,
}
@ -168,7 +234,7 @@ impl DynPin {
/// must be at most one corresponding [`DynPin`] in existence at any given
/// time. Violating this requirement is `unsafe`.
#[inline]
unsafe fn new(id: DynPinId, mode: DynPinMode) -> Self {
pub(crate) unsafe fn new(id: DynPinId, mode: DynPinMode) -> Self {
DynPin {
regs: DynRegisters::new(id),
mode,
@ -178,7 +244,7 @@ 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
@ -254,7 +320,45 @@ impl DynPin {
self.into_mode(DYN_RD_OPEN_DRAIN_OUTPUT);
}
common_reg_if_functions!();
#[inline]
pub fn datamask(&self) -> bool {
self.regs.datamask()
}
#[inline]
pub fn clear_datamask(&mut self) {
self.regs.clear_datamask();
}
#[inline]
pub fn set_datamask(&mut self) {
self.regs.set_datamask();
}
#[inline]
pub fn is_high_masked(&self) -> Result<bool, crate::gpio::IsMaskedError> {
self.regs.read_pin_masked()
}
#[inline]
pub fn is_low_masked(&self) -> Result<bool, crate::gpio::IsMaskedError> {
self.regs.read_pin_masked().map(|v| !v)
}
#[inline]
pub fn set_high_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
self.regs.write_pin_masked(true)
}
#[inline]
pub fn set_low_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
self.regs.write_pin_masked(false)
}
#[inline]
pub fn irq_enb(&mut self) {
self.regs.enable_irq();
}
/// See p.53 of the programmers guide for more information.
/// Possible delays in clock cycles:
@ -262,71 +366,78 @@ impl DynPin {
/// - Delay 2: 2
/// - Delay 1 + Delay 2: 3
#[inline]
pub fn delay(self, delay_1: bool, delay_2: bool) -> Result<Self, InvalidPinTypeError> {
pub fn configure_delay(
&mut self,
delay_1: bool,
delay_2: bool,
) -> Result<(), InvalidPinTypeError> {
match self.mode {
DynPinMode::Output(_) => {
self.regs.delay(delay_1, delay_2);
Ok(self)
self.regs.configure_delay(delay_1, delay_2);
Ok(())
}
_ => Err(InvalidPinTypeError(())),
_ => Err(InvalidPinTypeError(self.mode)),
}
}
/// 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
/// one clock cycle before returning to the configured default state
pub fn pulse_mode(
self,
pub fn configure_pulse_mode(
&mut self,
enable: bool,
default_state: PinState,
) -> Result<Self, InvalidPinTypeError> {
) -> Result<(), InvalidPinTypeError> {
match self.mode {
DynPinMode::Output(_) => {
self.regs.pulse_mode(enable, default_state);
Ok(self)
self.regs.configure_pulse_mode(enable, default_state);
Ok(())
}
_ => Err(InvalidPinTypeError(())),
_ => Err(InvalidPinTypeError(self.mode)),
}
}
/// See p.37 and p.38 of the programmers guide for more information.
#[inline]
pub fn filter_type(
self,
pub fn configure_filter_type(
&mut self,
filter: FilterType,
clksel: FilterClkSel,
) -> Result<Self, InvalidPinTypeError> {
) -> Result<(), InvalidPinTypeError> {
match self.mode {
DynPinMode::Input(_) => {
self.regs.filter_type(filter, clksel);
Ok(self)
self.regs.configure_filter_type(filter, clksel);
Ok(())
}
_ => Err(InvalidPinTypeError(())),
_ => Err(InvalidPinTypeError(self.mode)),
}
}
pub fn interrupt_edge(mut self, edge_type: InterruptEdge) -> Result<Self, InvalidPinTypeError> {
pub fn configure_edge_interrupt(
&mut self,
edge_type: InterruptEdge,
) -> Result<(), InvalidPinTypeError> {
match self.mode {
DynPinMode::Input(_) | DynPinMode::Output(_) => {
self.regs.interrupt_edge(edge_type);
self.regs.configure_edge_interrupt(edge_type);
self.irq_enb();
Ok(self)
Ok(())
}
_ => Err(InvalidPinTypeError(())),
_ => Err(InvalidPinTypeError(self.mode)),
}
}
pub fn interrupt_level(
mut self,
pub fn configure_level_interrupt(
&mut self,
level_type: InterruptLevel,
) -> Result<Self, InvalidPinTypeError> {
) -> Result<(), InvalidPinTypeError> {
match self.mode {
DynPinMode::Input(_) | DynPinMode::Output(_) => {
self.regs.interrupt_level(level_type);
self.regs.configure_level_interrupt(level_type);
self.irq_enb();
Ok(self)
Ok(())
}
_ => Err(InvalidPinTypeError(())),
_ => Err(InvalidPinTypeError(self.mode)),
}
}
@ -336,7 +447,7 @@ impl DynPin {
DynPinMode::Input(_) | DYN_RD_OPEN_DRAIN_OUTPUT | DYN_RD_PUSH_PULL_OUTPUT => {
Ok(self.regs.read_pin())
}
_ => Err(InvalidPinTypeError(())),
_ => Err(InvalidPinTypeError(self.mode)),
}
}
#[inline]
@ -346,7 +457,7 @@ impl DynPin {
self.regs.write_pin(bit);
Ok(())
}
_ => Err(InvalidPinTypeError(())),
_ => Err(InvalidPinTypeError(self.mode)),
}
}
@ -366,6 +477,21 @@ impl DynPin {
fn _set_high(&mut self) -> Result<(), InvalidPinTypeError> {
self._write(true)
}
/// Try to recreate a type-level [`Pin`] from a value-level [`DynPin`]
///
/// There is no way for the compiler to know if the conversion will be
/// successful at compile-time. We must verify the conversion at run-time
/// or refuse to perform it.
#[inline]
pub fn upgrade<I: PinId, M: PinMode>(self) -> Result<Pin<I, M>, InvalidPinTypeError> {
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() });
}
Err(InvalidPinTypeError(self.mode))
}
}
//==============================================================================
@ -380,10 +506,8 @@ where
/// Erase the type-level information in a [`Pin`] and return a value-level
/// [`DynPin`]
#[inline]
fn from(_pin: Pin<I, M>) -> Self {
// The `Pin` is consumed, so it is safe to replace it with the
// corresponding `DynPin`
unsafe { DynPin::new(I::DYN, M::DYN) }
fn from(pin: Pin<I, M>) -> Self {
pin.downgrade()
}
}
@ -401,13 +525,7 @@ where
/// or refuse to perform it.
#[inline]
fn try_from(pin: DynPin) -> Result<Self, Self::Error> {
if pin.regs.id == I::DYN && pin.mode == M::DYN {
// The `DynPin` is consumed, so it is safe to replace it with the
// corresponding `Pin`
Ok(unsafe { Self::new() })
} else {
Err(InvalidPinTypeError(()))
}
pin.upgrade()
}
}