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improve Async SPI impl

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This commit is contained in:
Robin Mueller
2026-06-08 18:19:10 +02:00
parent a1cc31f52d
commit 58d98049d8
1 changed files with 45 additions and 29 deletions
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vorago-shared-hal/src/spi/asynch.rs
+45 -29
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@@ -322,13 +322,19 @@ impl TransferContext {
pub struct SpiFuture<'spi> {
bank: super::Bank,
spi: &'spi mut super::Spi<u8>,
empty_buffer: bool,
finished_regularly: core::cell::Cell<bool>,
}
impl<'spi> SpiFuture<'spi> {
fn new_for_read(spi: &'spi mut super::Spi<u8>, bank: super::Bank, words: &mut [u8]) -> Self {
if words.is_empty() {
panic!("words length unexpectedly 0");
return Self {
bank,
spi,
empty_buffer: true,
finished_regularly: core::cell::Cell::new(false),
};
}
Self::generic_init_transfer(spi, bank);
@@ -359,13 +365,19 @@ impl<'spi> SpiFuture<'spi> {
Self {
bank,
spi,
empty_buffer: false,
finished_regularly: core::cell::Cell::new(false),
}
}
fn new_for_write(spi: &'spi mut super::Spi<u8>, bank: super::Bank, words: &[u8]) -> Self {
if words.is_empty() {
panic!("words length unexpectedly 0");
return Self {
bank,
spi,
empty_buffer: true,
finished_regularly: core::cell::Cell::new(false),
};
}
let index = bank as usize;
let write_index = Self::generic_init_transfer_write_transfer_in_place(spi, bank, words);
@@ -388,6 +400,7 @@ impl<'spi> SpiFuture<'spi> {
Self {
bank,
spi,
empty_buffer: false,
finished_regularly: core::cell::Cell::new(false),
}
}
@@ -399,7 +412,12 @@ impl<'spi> SpiFuture<'spi> {
write: &[u8],
) -> Self {
if read.is_empty() || write.is_empty() {
panic!("read or write buffer unexpectedly empty");
return Self {
bank,
spi,
empty_buffer: true,
finished_regularly: core::cell::Cell::new(false),
};
}
let index = bank as usize;
let full_write_len = core::cmp::max(read.len(), write.len());
@@ -433,6 +451,7 @@ impl<'spi> SpiFuture<'spi> {
Self {
bank,
spi,
empty_buffer: false,
finished_regularly: core::cell::Cell::new(false),
}
}
@@ -443,7 +462,12 @@ impl<'spi> SpiFuture<'spi> {
words: &mut [u8],
) -> Self {
if words.is_empty() {
panic!("read and write buffer unexpectedly empty");
return Self {
bank,
spi,
empty_buffer: true,
finished_regularly: core::cell::Cell::new(false),
};
}
let write_idx = Self::generic_init_transfer_write_transfer_in_place(spi, bank, words);
critical_section::with(|cs| {
@@ -465,6 +489,7 @@ impl<'spi> SpiFuture<'spi> {
Self {
bank,
spi,
empty_buffer: false,
finished_regularly: core::cell::Cell::new(false),
}
}
@@ -522,6 +547,9 @@ impl<'spi> Future for SpiFuture<'spi> {
self: core::pin::Pin<&mut Self>,
cx: &mut core::task::Context<'_>,
) -> core::task::Poll<Self::Output> {
if self.empty_buffer {
return core::task::Poll::Ready(Ok(()));
}
WAKERS[self.bank as usize].register(cx.waker());
if DONE[self.bank as usize].swap(false, core::sync::atomic::Ordering::Relaxed) {
let rx_overrun = critical_section::with(|cs| {
@@ -544,7 +572,7 @@ impl<'spi> Future for SpiFuture<'spi> {
impl<'spi> Drop for SpiFuture<'spi> {
fn drop(&mut self) {
if !self.finished_regularly.get() {
if !self.finished_regularly.get() && !self.empty_buffer {
// It might be sufficient to disable and enable the SPI.. But this definitely
// ensures the SPI is fully reset.
self.spi.regs.write_interrupt_clear(InterruptClear::ALL);
@@ -598,12 +626,9 @@ impl SpiAsync {
/// This function stores the raw pointer of the passed data buffer. The user MUST ensure
/// that the slice outlives the data structure. If the passed slice is stack-allocated,
/// the user also MUST ensure that the `Drop` method runs on transfer cancellation.
pub unsafe fn read(&mut self, words: &mut [u8]) -> Option<SpiFuture<'_>> {
if words.is_empty() {
return None;
}
pub unsafe fn read(&mut self, words: &mut [u8]) -> SpiFuture<'_> {
let id = self.0.id;
Some(SpiFuture::new_for_read(&mut self.0, id, words))
SpiFuture::new_for_read(&mut self.0, id, words)
}
/// Future which writes `words` to the slave, ignoring all the incoming words.
@@ -615,12 +640,9 @@ impl SpiAsync {
/// This function stores the raw pointer of the passed data. The user MUST ensure
/// that the slice outlives the data structure. If the passed slice is stack-allocated,
/// the user also MUST ensure that the `Drop` method runs on transfer cancellation.
pub unsafe fn write(&mut self, words: &[u8]) -> Option<SpiFuture<'_>> {
if words.is_empty() {
return None;
}
pub unsafe fn write(&mut self, words: &[u8]) -> SpiFuture<'_> {
let id = self.0.id;
Some(SpiFuture::new_for_write(&mut self.0, id, words))
SpiFuture::new_for_write(&mut self.0, id, words)
}
/// Future which writes and reads simultaneously. `write` is written to the slave on MOSI and
@@ -638,12 +660,9 @@ impl SpiAsync {
/// This function stores the raw pointer of the passed slices. The user MUST ensure
/// that the slice outlives the data structure. If the passed slice is stack-allocated,
/// the user also MUST ensure that the `Drop` method runs on transfer cancellation.
pub unsafe fn transfer(&mut self, read: &mut [u8], write: &[u8]) -> Option<SpiFuture<'_>> {
if read.is_empty() || write.is_empty() {
return None;
}
pub unsafe fn transfer(&mut self, read: &mut [u8], write: &[u8]) -> SpiFuture<'_> {
let id = self.0.id;
Some(SpiFuture::new_for_transfer(&mut self.0, id, read, write))
SpiFuture::new_for_transfer(&mut self.0, id, read, write)
}
/// Future which writes and reads simultaneously. The contents of `words` are
@@ -657,12 +676,9 @@ impl SpiAsync {
/// This function stores the raw pointer of the passed slice. The user MUST ensure
/// that the slice outlives the data structure. If the passed slice is stack-allocated,
/// the user also MUST ensure that the `Drop` method runs on transfer cancellation.
pub unsafe fn transfer_in_place(&mut self, words: &mut [u8]) -> Option<SpiFuture<'_>> {
if words.is_empty() {
return None;
}
pub unsafe fn transfer_in_place(&mut self, words: &mut [u8]) -> SpiFuture<'_> {
let id = self.0.id;
Some(SpiFuture::new_for_transfer_in_place(&mut self.0, id, words))
SpiFuture::new_for_transfer_in_place(&mut self.0, id, words)
}
}
@@ -682,7 +698,7 @@ impl embedded_hal_async::spi::SpiBus for SpiAsync {
if words.is_empty() {
return Ok(());
}
unsafe { self.read(words).unwrap().await }
unsafe { self.read(words).await }
}
/// Write `words` to the slave, ignoring all the incoming words.
@@ -696,7 +712,7 @@ impl embedded_hal_async::spi::SpiBus for SpiAsync {
if words.is_empty() {
return Ok(());
}
unsafe { self.write(words).unwrap().await }
unsafe { self.write(words).await }
}
/// Write and read simultaneously. `write` is written to the slave on MOSI and
@@ -716,7 +732,7 @@ impl embedded_hal_async::spi::SpiBus for SpiAsync {
if read.is_empty() && write.is_empty() {
return Ok(());
}
unsafe { self.transfer(read, write).unwrap().await }
unsafe { self.transfer(read, write).await }
}
/// Write and read simultaneously. The contents of `words` are
@@ -732,7 +748,7 @@ impl embedded_hal_async::spi::SpiBus for SpiAsync {
if words.is_empty() {
return Ok(());
}
unsafe { self.transfer_in_place(words).unwrap().await }
unsafe { self.transfer_in_place(words).await }
}
async fn flush(&mut self) -> Result<(), Self::Error> {