449 lines
16 KiB
Rust
449 lines
16 KiB
Rust
//! # Async GPIO functionality for the VA416xx 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 the
|
|
//! [on_interrupt_for_async_gpio_for_port] generic interrupt handler. This should be called in all
|
|
//! IRQ functions which handle any GPIO interrupts with the corresponding [Port] argument.
|
|
//!
|
|
//! # Example
|
|
//!
|
|
//! - [Async GPIO example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy/src/bin/async-gpio.rs)
|
|
use core::future::Future;
|
|
|
|
use embassy_sync::waitqueue::AtomicWaker;
|
|
use embedded_hal_async::digital::Wait;
|
|
use portable_atomic::AtomicBool;
|
|
use va416xx::{self as pac};
|
|
|
|
use crate::enable_nvic_interrupt;
|
|
|
|
use super::{
|
|
pin, DynPin, DynPinId, InputConfig, InterruptEdge, InvalidPinTypeError, Pin, PinId, Port,
|
|
NUM_PINS_PORT_A_TO_F,
|
|
};
|
|
|
|
static WAKERS_FOR_PORT_A: [AtomicWaker; NUM_PINS_PORT_A_TO_F] =
|
|
[const { AtomicWaker::new() }; NUM_PINS_PORT_A_TO_F];
|
|
static WAKERS_FOR_PORT_B: [AtomicWaker; NUM_PINS_PORT_A_TO_F] =
|
|
[const { AtomicWaker::new() }; NUM_PINS_PORT_A_TO_F];
|
|
static WAKERS_FOR_PORT_C: [AtomicWaker; NUM_PINS_PORT_A_TO_F] =
|
|
[const { AtomicWaker::new() }; NUM_PINS_PORT_A_TO_F];
|
|
static WAKERS_FOR_PORT_D: [AtomicWaker; NUM_PINS_PORT_A_TO_F] =
|
|
[const { AtomicWaker::new() }; NUM_PINS_PORT_A_TO_F];
|
|
static WAKERS_FOR_PORT_E: [AtomicWaker; NUM_PINS_PORT_A_TO_F] =
|
|
[const { AtomicWaker::new() }; NUM_PINS_PORT_A_TO_F];
|
|
static WAKERS_FOR_PORT_F: [AtomicWaker; NUM_PINS_PORT_A_TO_F] =
|
|
[const { AtomicWaker::new() }; NUM_PINS_PORT_A_TO_F];
|
|
|
|
static EDGE_DETECTION_PORT_A: [AtomicBool; NUM_PINS_PORT_A_TO_F] =
|
|
[const { AtomicBool::new(false) }; NUM_PINS_PORT_A_TO_F];
|
|
static EDGE_DETECTION_PORT_B: [AtomicBool; NUM_PINS_PORT_A_TO_F] =
|
|
[const { AtomicBool::new(false) }; NUM_PINS_PORT_A_TO_F];
|
|
static EDGE_DETECTION_PORT_C: [AtomicBool; NUM_PINS_PORT_A_TO_F] =
|
|
[const { AtomicBool::new(false) }; NUM_PINS_PORT_A_TO_F];
|
|
static EDGE_DETECTION_PORT_D: [AtomicBool; NUM_PINS_PORT_A_TO_F] =
|
|
[const { AtomicBool::new(false) }; NUM_PINS_PORT_A_TO_F];
|
|
static EDGE_DETECTION_PORT_E: [AtomicBool; NUM_PINS_PORT_A_TO_F] =
|
|
[const { AtomicBool::new(false) }; NUM_PINS_PORT_A_TO_F];
|
|
static EDGE_DETECTION_PORT_F: [AtomicBool; NUM_PINS_PORT_A_TO_F] =
|
|
[const { AtomicBool::new(false) }; NUM_PINS_PORT_A_TO_F];
|
|
|
|
#[derive(Debug, thiserror::Error)]
|
|
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
|
|
#[error("port G does not support async functionality")]
|
|
pub struct PortGDoesNotSupportAsyncError;
|
|
|
|
#[derive(Debug, thiserror::Error)]
|
|
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
|
|
pub enum AsyncDynPinError {
|
|
#[error("invalid pin type: {0}")]
|
|
InvalidPinType(#[from] InvalidPinTypeError),
|
|
#[error("port g does not support async functionality: {0}")]
|
|
PortGDoesNotSupportAsync(#[from] PortGDoesNotSupportAsyncError),
|
|
}
|
|
|
|
/// Generic interrupt handler for GPIO interrupts on a specific port to support async functionalities
|
|
///
|
|
/// This function should be called in all interrupt handlers which handle any GPIO interrupts
|
|
/// matching the [Port] argument.
|
|
/// The handler will wake the corresponding wakers for the pins that triggered an interrupts
|
|
/// as well as update the static edge detection structures. This allows the pin future tocomplete
|
|
/// complete async operations.
|
|
pub fn on_interrupt_for_async_gpio_for_port(
|
|
port: Port,
|
|
) -> Result<(), PortGDoesNotSupportAsyncError> {
|
|
let periphs = unsafe { pac::Peripherals::steal() };
|
|
|
|
let (irq_enb, edge_status, wakers, edge_detection) = match port {
|
|
Port::A => (
|
|
periphs.porta.irq_enb().read().bits(),
|
|
periphs.porta.edge_status().read().bits(),
|
|
&WAKERS_FOR_PORT_A,
|
|
&EDGE_DETECTION_PORT_A,
|
|
),
|
|
Port::B => (
|
|
periphs.portb.irq_enb().read().bits(),
|
|
periphs.portb.edge_status().read().bits(),
|
|
&WAKERS_FOR_PORT_B,
|
|
&EDGE_DETECTION_PORT_B,
|
|
),
|
|
Port::C => (
|
|
periphs.portc.irq_enb().read().bits(),
|
|
periphs.portc.edge_status().read().bits(),
|
|
&WAKERS_FOR_PORT_C,
|
|
&EDGE_DETECTION_PORT_C,
|
|
),
|
|
Port::D => (
|
|
periphs.portd.irq_enb().read().bits(),
|
|
periphs.portd.edge_status().read().bits(),
|
|
&WAKERS_FOR_PORT_D,
|
|
&EDGE_DETECTION_PORT_D,
|
|
),
|
|
Port::E => (
|
|
periphs.porte.irq_enb().read().bits(),
|
|
periphs.porte.edge_status().read().bits(),
|
|
&WAKERS_FOR_PORT_E,
|
|
&EDGE_DETECTION_PORT_E,
|
|
),
|
|
Port::F => (
|
|
periphs.portf.irq_enb().read().bits(),
|
|
periphs.portf.edge_status().read().bits(),
|
|
&WAKERS_FOR_PORT_F,
|
|
&EDGE_DETECTION_PORT_F,
|
|
),
|
|
Port::G => return Err(PortGDoesNotSupportAsyncError),
|
|
};
|
|
|
|
on_interrupt_for_port(irq_enb, edge_status, wakers, edge_detection);
|
|
Ok(())
|
|
}
|
|
|
|
#[inline]
|
|
fn on_interrupt_for_port(
|
|
mut irq_enb: u32,
|
|
edge_status: u32,
|
|
wakers: &'static [AtomicWaker],
|
|
edge_detection: &'static [AtomicBool],
|
|
) {
|
|
while irq_enb != 0 {
|
|
let bit_pos = irq_enb.trailing_zeros() as usize;
|
|
let bit_mask = 1 << bit_pos;
|
|
|
|
wakers[bit_pos].wake();
|
|
|
|
if edge_status & bit_mask != 0 {
|
|
edge_detection[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,
|
|
waker_group: &'static [AtomicWaker],
|
|
edge_detection_group: &'static [AtomicBool],
|
|
}
|
|
|
|
impl InputPinFuture {
|
|
pub fn new_with_dyn_pin(
|
|
pin: &mut DynPin,
|
|
edge: InterruptEdge,
|
|
) -> Result<Self, AsyncDynPinError> {
|
|
if !pin.is_input_pin() {
|
|
return Err(InvalidPinTypeError(pin.mode()).into());
|
|
}
|
|
if pin.id().port() == Port::G {
|
|
return Err(PortGDoesNotSupportAsyncError.into());
|
|
}
|
|
|
|
let (waker_group, edge_detection_group) =
|
|
Self::pin_group_to_waker_and_edge_detection_group(pin.id().port());
|
|
edge_detection_group[pin.id().num() as usize]
|
|
.store(false, core::sync::atomic::Ordering::Relaxed);
|
|
// Unwraps okay, checked for PORT G previously
|
|
pin.configure_edge_interrupt(edge).unwrap();
|
|
unsafe { enable_nvic_interrupt(pin.irq_id().unwrap()) };
|
|
pin.enable_interrupt();
|
|
Ok(Self {
|
|
pin_id: pin.id(),
|
|
waker_group,
|
|
edge_detection_group,
|
|
})
|
|
}
|
|
|
|
pub fn new_with_pin<I: PinId, C: InputConfig>(
|
|
pin: &mut Pin<I, pin::Input<C>>,
|
|
edge: InterruptEdge,
|
|
) -> Result<Self, PortGDoesNotSupportAsyncError> {
|
|
if pin.id().port() == Port::G {
|
|
return Err(PortGDoesNotSupportAsyncError);
|
|
}
|
|
let (waker_group, edge_detection_group) =
|
|
Self::pin_group_to_waker_and_edge_detection_group(pin.id().port());
|
|
edge_detection_group[pin.id().num() as usize]
|
|
.store(false, core::sync::atomic::Ordering::Relaxed);
|
|
// Unwraps okay, checked for PORT G previously
|
|
pin.configure_edge_interrupt(edge);
|
|
unsafe { enable_nvic_interrupt(I::IRQ.unwrap()) };
|
|
pin.enable_interrupt();
|
|
Ok(Self {
|
|
pin_id: pin.id(),
|
|
waker_group,
|
|
edge_detection_group,
|
|
})
|
|
}
|
|
|
|
#[inline]
|
|
pub fn pin_group_to_waker_and_edge_detection_group(
|
|
group: Port,
|
|
) -> (&'static [AtomicWaker], &'static [AtomicBool]) {
|
|
match group {
|
|
Port::A => (WAKERS_FOR_PORT_A.as_ref(), EDGE_DETECTION_PORT_A.as_ref()),
|
|
Port::B => (WAKERS_FOR_PORT_B.as_ref(), EDGE_DETECTION_PORT_B.as_ref()),
|
|
Port::C => (WAKERS_FOR_PORT_C.as_ref(), EDGE_DETECTION_PORT_C.as_ref()),
|
|
Port::D => (WAKERS_FOR_PORT_D.as_ref(), EDGE_DETECTION_PORT_D.as_ref()),
|
|
Port::E => (WAKERS_FOR_PORT_E.as_ref(), EDGE_DETECTION_PORT_E.as_ref()),
|
|
Port::F => (WAKERS_FOR_PORT_F.as_ref(), EDGE_DETECTION_PORT_F.as_ref()),
|
|
_ => panic!("unexpected pin group G"),
|
|
}
|
|
}
|
|
}
|
|
|
|
impl Drop for InputPinFuture {
|
|
fn drop(&mut self) {
|
|
// The API ensures that we actually own the pin, so stealing it here is okay.
|
|
unsafe { DynPin::steal(self.pin_id) }.disable_interrupt();
|
|
}
|
|
}
|
|
|
|
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 = self.pin_id.num() as usize;
|
|
self.waker_group[idx].register(cx.waker());
|
|
if self.edge_detection_group[idx].swap(false, core::sync::atomic::Ordering::Relaxed) {
|
|
return core::task::Poll::Ready(());
|
|
}
|
|
core::task::Poll::Pending
|
|
}
|
|
}
|
|
|
|
pub struct InputDynPinAsync {
|
|
pin: DynPin,
|
|
}
|
|
|
|
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 [on_interrupt_for_async_gpio_for_port] function must be called inside that function
|
|
/// for the asynchronous functionality to work.
|
|
pub fn new(pin: DynPin) -> Result<Self, AsyncDynPinError> {
|
|
if !pin.is_input_pin() {
|
|
return Err(InvalidPinTypeError(pin.mode()).into());
|
|
}
|
|
if pin.id().port() == Port::G {
|
|
return Err(PortGDoesNotSupportAsyncError.into());
|
|
}
|
|
Ok(Self { pin })
|
|
}
|
|
|
|
/// Asynchronously wait until the pin is high.
|
|
///
|
|
/// This returns immediately if the pin is already high.
|
|
pub async fn wait_for_high(&mut self) {
|
|
// Unwrap okay, checked pin in constructor.
|
|
let fut =
|
|
InputPinFuture::new_with_dyn_pin(&mut self.pin, 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) {
|
|
// Unwrap okay, checked pin in constructor.
|
|
let fut =
|
|
InputPinFuture::new_with_dyn_pin(&mut self.pin, 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) {
|
|
// Unwrap okay, checked pin in constructor.
|
|
InputPinFuture::new_with_dyn_pin(&mut self.pin, InterruptEdge::HighToLow)
|
|
.unwrap()
|
|
.await;
|
|
}
|
|
|
|
/// Asynchronously wait until the pin sees a rising edge.
|
|
pub async fn wait_for_rising_edge(&mut self) {
|
|
// Unwrap okay, checked pin in constructor.
|
|
InputPinFuture::new_with_dyn_pin(&mut self.pin, 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) {
|
|
// Unwrap okay, checked pin in constructor.
|
|
InputPinFuture::new_with_dyn_pin(&mut self.pin, 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>>,
|
|
}
|
|
|
|
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 [on_interrupt_for_async_gpio_for_port] function must be called inside that function
|
|
/// for the asynchronous functionality to work.
|
|
pub fn new(pin: Pin<I, pin::Input<C>>) -> Result<Self, PortGDoesNotSupportAsyncError> {
|
|
if pin.id().port() == Port::G {
|
|
return Err(PortGDoesNotSupportAsyncError);
|
|
}
|
|
Ok(Self { pin })
|
|
}
|
|
|
|
/// Asynchronously wait until the pin is high.
|
|
///
|
|
/// This returns immediately if the pin is already high.
|
|
pub async fn wait_for_high(&mut self) {
|
|
// Unwrap okay, checked pin in constructor.
|
|
let fut = InputPinFuture::new_with_pin(&mut self.pin, InterruptEdge::LowToHigh).unwrap();
|
|
if self.pin.is_high() {
|
|
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 = InputPinFuture::new_with_pin(&mut self.pin, InterruptEdge::HighToLow).unwrap();
|
|
if self.pin.is_low() {
|
|
return;
|
|
}
|
|
fut.await;
|
|
}
|
|
|
|
/// Asynchronously wait until the pin sees falling edge.
|
|
pub async fn wait_for_falling_edge(&mut self) {
|
|
// Unwrap okay, checked pin in constructor.
|
|
InputPinFuture::new_with_pin(&mut self.pin, InterruptEdge::HighToLow)
|
|
.unwrap()
|
|
.await;
|
|
}
|
|
|
|
/// Asynchronously wait until the pin sees rising edge.
|
|
pub async fn wait_for_rising_edge(&mut self) {
|
|
// Unwrap okay, checked pin in constructor.
|
|
InputPinFuture::new_with_pin(&mut self.pin, 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) {
|
|
// Unwrap okay, checked pin in constructor.
|
|
InputPinFuture::new_with_pin(&mut self.pin, InterruptEdge::BothEdges)
|
|
.unwrap()
|
|
.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(())
|
|
}
|
|
}
|