Robin Mueller
80ed03c9d3
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. - 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.
118 lines
4.9 KiB
Rust
118 lines
4.9 KiB
Rust
//! # Embassy-rs support for the Vorago VA416xx MCU family
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//!
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//! This repository contains the [embassy-rs](https://github.com/embassy-rs/embassy) support for the
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//! VA416xx family. Currently, it contains the time driver to allow using embassy-rs. It uses the TIM
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//! peripherals provided by the VA416xx family for this purpose.
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//!
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//! ## Usage
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//!
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//! This library only exposes the [embassy::init] method which sets up the time driver. This
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//! function must be called once at the start of the application.
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//!
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//! This implementation requires two TIM peripherals provided by the VA108xx device.
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//! The user can freely specify the two used TIM peripheral by passing the concrete TIM instances
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//! into the [init] method. If the interrupt handlers are provided by the library, the ID of the
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//! used TIM peripherals has to match the ID of the passed timer peripherals. Currently, this
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//! can only be checked at run-time, and a run-time assertion will panic on the embassy
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//! initialization in case of a missmatch.
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//!
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//! The application also requires two interrupt handlers to handle the timekeeper and alarm
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//! interrupts. By default, this library will define the interrupt handler inside the library
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//! itself by using the `irq-tim14-tim15` feature flag. This library exposes three combinations:
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//!
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//! - `irq-tim14-tim15`: Uses [pac::Interrupt::TIM14] for alarm and [pac::Interrupt::TIM15]
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//! for timekeeper
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//! - `irq-tim13-tim14`: Uses [pac::Interrupt::TIM13] for alarm and [pac::Interrupt::TIM14]
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//! for timekeeper
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//! - `irq-tim22-tim23`: Uses [pac::Interrupt::TIM22] for alarm and [pac::Interrupt::TIM23]
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//! for timekeeper
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//!
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//! You can disable the default features and then specify one of the features above to use the
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//! documented combination of IRQs. It is also possible to specify custom IRQs by importing and
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//! using the [embassy_time_driver_irqs] macro to declare the IRQ handlers in the
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//! application code. If this is done, [embassy::init_with_custom_irqs] must be used
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//! method to pass the IRQ numbers to the library.
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//!
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//! ## Examples
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//!
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//! [embassy example projects](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy)
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#![no_std]
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#![cfg_attr(docsrs, feature(doc_auto_cfg))]
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use va416xx_hal::{
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clock::Clocks,
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irq_router::enable_and_init_irq_router,
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pac::{self, interrupt},
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timer::{TimMarker, TIM_IRQ_OFFSET},
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};
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use vorago_shared_periphs::embassy::time_driver;
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/// Macro to define the IRQ handlers for the time driver.
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///
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/// By default, the code generated by this macro will be defined inside the library depending on
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/// the feature flags specified. However, the macro is exported to allow users to specify the
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/// interrupt handlers themselves.
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///
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/// Please note that you have to explicitely import the [macro@va108xx_hal::pac::interrupt]
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/// macro in the application code in case this macro is used there.
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#[macro_export]
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macro_rules! embassy_time_driver_irqs {
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(
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timekeeper_irq = $timekeeper_irq:ident,
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alarm_irq = $alarm_irq:ident
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) => {
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const TIMEKEEPER_IRQ: pac::Interrupt = pac::Interrupt::$timekeeper_irq;
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#[interrupt]
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#[allow(non_snake_case)]
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fn $timekeeper_irq() {
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// Safety: We call it once here.
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unsafe { $crate::time_driver().on_interrupt_timekeeping() }
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}
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const ALARM_IRQ: pac::Interrupt = pac::Interrupt::$alarm_irq;
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#[interrupt]
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#[allow(non_snake_case)]
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fn $alarm_irq() {
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// Safety: We call it once here.
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unsafe { $crate::time_driver().on_interrupt_alarm() }
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}
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};
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}
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// Provide three combinations of IRQs for the time driver by default.
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#[cfg(feature = "irq-tim14-tim15")]
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embassy_time_driver_irqs!(timekeeper_irq = TIM15, alarm_irq = TIM14);
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#[cfg(feature = "irq-tim13-tim14")]
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embassy_time_driver_irqs!(timekeeper_irq = TIM14, alarm_irq = TIM13);
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#[cfg(feature = "irq-tim22-tim23")]
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embassy_time_driver_irqs!(timekeeper_irq = TIM23, alarm_irq = TIM22);
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/// Initialization method for embassy
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///
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/// If the interrupt handlers are provided by the library, the ID of the
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/// used TIM peripherals has to match the ID of the passed timer peripherals. Currently, this
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/// can only be checked at run-time, and a run-time assertion will panic on the embassy
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/// initialization in case of a missmatch.
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pub fn init<TimekeeperTim: TimMarker, AlarmTim: TimMarker>(
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timekeeper: TimekeeperTim,
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alarm: AlarmTim,
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clocks: &Clocks,
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) {
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#[cfg(feature = "_irqs-in-lib")]
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assert_eq!(
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TimekeeperTim::ID.value(),
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TIMEKEEPER_IRQ as u8 - TIM_IRQ_OFFSET as u8,
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"Timekeeper TIM and IRQ missmatch"
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);
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#[cfg(feature = "_irqs-in-lib")]
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assert_eq!(
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AlarmTim::ID.value(),
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ALARM_IRQ as u8 - TIM_IRQ_OFFSET as u8,
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"Alarm TIM and IRQ missmatch"
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);
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enable_and_init_irq_router();
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time_driver().__init(timekeeper, alarm, clocks)
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}
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