Add gpiote output channel.

1 files changed, 128 insertions, 32 deletions

diff --git a/embassy-nrf/src/gpiote.rs b/embassy-nrf/src/gpiote.rs
index b9a1f6132..5195f926a 100644
--- a/embassy-nrf/src/gpiote.rs
+++ b/embassy-nrf/src/gpiote.rs
@@ -1,13 +1,17 @@
 use core::cell::Cell;
-use core::pin::Pin;
 use core::ptr;
 use defmt::trace;
 use embassy::util::Signal;
-use nrf52840_hal::gpio::{Floating, Input, Pin as GpioPin, Port};
+use nrf52840_hal::gpio::{Input, Level, Output, Pin, Port};
 
 use crate::interrupt;
+use crate::pac::generic::Reg;
+use crate::pac::gpiote::_TASKS_OUT;
 use crate::pac::GPIOTE;
 
+#[cfg(not(feature = "51"))]
+use crate::pac::gpiote::{_TASKS_CLR, _TASKS_SET};
+
 pub struct Gpiote {
     inner: GPIOTE,
     free_channels: Cell<u8>, // 0 = used, 1 = free. 8 bits for 8 channelself.
@@ -23,6 +27,13 @@ pub enum EventPolarity {
     Toggle,
 }
 
+/// Polarity of the `task out` operation.
+pub enum TaskOutPolarity {
+    Set,
+    Clear,
+    Toggle,
+}
+
 #[derive(defmt::Format)]
 pub enum NewChannelError {
     NoFreeChannels,
@@ -30,8 +41,6 @@ pub enum NewChannelError {
 
 impl Gpiote {
     pub fn new(gpiote: GPIOTE) -> Self {
-        let signal: Signal<()> = Signal::new();
-
         interrupt::unpend(interrupt::GPIOTE);
         interrupt::enable(interrupt::GPIOTE);
 
@@ -51,24 +60,40 @@ impl Gpiote {
         }
     }
 
-    pub fn new_input_channel<'a, T>(
-        &'a self,
-        pin: &'a GpioPin<Input<T>>,
-        trigger_mode: EventPolarity,
-    ) -> Result<Channel<'a>, NewChannelError> {
+    fn allocate_channel(&self) -> Result<u8, NewChannelError> {
         interrupt::free(|_| {
-            unsafe { INSTANCE = self };
-
             let chs = self.free_channels.get();
             let index = chs.trailing_zeros() as usize;
             if index == 8 {
                 return Err(NewChannelError::NoFreeChannels);
             }
             self.free_channels.set(chs & !(1 << index));
+            Ok(index as u8)
+        })
+    }
+
+    fn free_channel(&self, index: u8) {
+        interrupt::free(|_| {
+            self.inner.config[index as usize].write(|w| w.mode().disabled());
+            self.inner.intenclr.write(|w| unsafe { w.bits(1 << index) });
+
+            self.free_channels
+                .set(self.free_channels.get() | 1 << index);
+            trace!("freed ch {:u8}", index);
+        })
+    }
 
-            trace!("allocated ch {:u8}", index as u8);
+    pub fn new_input_channel<'a, T>(
+        &'a self,
+        pin: &'a Pin<Input<T>>,
+        trigger_mode: EventPolarity,
+    ) -> Result<InputChannel<'a>, NewChannelError> {
+        interrupt::free(|_| {
+            unsafe { INSTANCE = self };
+            let index = self.allocate_channel()?;
+            trace!("allocated in ch {:u8}", index as u8);
 
-            self.inner.config[index].write(|w| {
+            self.inner.config[index as usize].write(|w| {
                 match trigger_mode {
                     EventPolarity::HiToLo => w.mode().event().polarity().hi_to_lo(),
                     EventPolarity::LoToHi => w.mode().event().polarity().lo_to_hi(),
@@ -85,44 +110,115 @@ impl Gpiote {
             // Enable interrupt
             self.inner.intenset.write(|w| unsafe { w.bits(1 << index) });
 
-            Ok(Channel {
+            Ok(InputChannel {
+                gpiote: self,
+                index,
+            })
+        })
+    }
+
+    pub fn new_output_channel<'a, T>(
+        &'a self,
+        pin: Pin<Output<T>>,
+        level: Level,
+        task_out_polarity: TaskOutPolarity,
+    ) -> Result<OutputChannel<'a>, NewChannelError> {
+        interrupt::free(|_| {
+            unsafe { INSTANCE = self };
+            let index = self.allocate_channel()?;
+            trace!("allocated out ch {:u8}", index);
+
+            self.inner.config[index as usize].write(|w| {
+                w.mode().task();
+                match level {
+                    Level::High => w.outinit().high(),
+                    Level::Low => w.outinit().low(),
+                };
+                match task_out_polarity {
+                    TaskOutPolarity::Set => w.polarity().lo_to_hi(),
+                    TaskOutPolarity::Clear => w.polarity().hi_to_lo(),
+                    TaskOutPolarity::Toggle => w.polarity().toggle(),
+                };
+                w.port().bit(match pin.port() {
+                    Port::Port0 => false,
+                    Port::Port1 => true,
+                });
+                unsafe { w.psel().bits(pin.pin()) }
+            });
+
+            // Enable interrupt
+            self.inner.intenset.write(|w| unsafe { w.bits(1 << index) });
+
+            Ok(OutputChannel {
                 gpiote: self,
-                index: index as u8,
+                index,
             })
         })
     }
 }
 
-pub struct Channel<'a> {
+pub struct InputChannel<'a> {
     gpiote: &'a Gpiote,
     index: u8,
 }
 
-impl<'a> Drop for Channel<'a> {
+impl<'a> Drop for InputChannel<'a> {
     fn drop(&mut self) {
-        let g = unsafe { Pin::new_unchecked(self.gpiote) };
-
-        interrupt::free(|_| {
-            self.gpiote.inner.config[self.index as usize].write(|w| w.mode().disabled());
-            self.gpiote
-                .inner
-                .intenclr
-                .write(|w| unsafe { w.bits(1 << self.index) });
-
-            self.gpiote
-                .free_channels
-                .set(self.gpiote.free_channels.get() | 1 << self.index);
-            trace!("freed ch {:u8}", self.index);
-        })
+        self.gpiote.free_channel(self.index);
     }
 }
 
-impl<'a> Channel<'a> {
+impl<'a> InputChannel<'a> {
     pub async fn wait(&self) -> () {
         self.gpiote.signals[self.index as usize].wait().await;
     }
 }
 
+pub struct OutputChannel<'a> {
+    gpiote: &'a Gpiote,
+    index: u8,
+}
+
+impl<'a> Drop for OutputChannel<'a> {
+    fn drop(&mut self) {
+        self.gpiote.free_channel(self.index);
+    }
+}
+
+impl<'a> OutputChannel<'a> {
+    /// Triggers `task out` (as configured with task_out_polarity, defaults to Toggle).
+    pub fn out(&self) {
+        self.gpiote.inner.tasks_out[self.index as usize].write(|w| unsafe { w.bits(1) });
+    }
+    /// Triggers `task set` (set associated pin high).
+    #[cfg(not(feature = "51"))]
+    pub fn set(&self) {
+        self.gpiote.inner.tasks_set[self.index as usize].write(|w| unsafe { w.bits(1) });
+    }
+    /// Triggers `task clear` (set associated pin low).
+    #[cfg(not(feature = "51"))]
+    pub fn clear(&self) {
+        self.gpiote.inner.tasks_clr[self.index as usize].write(|w| unsafe { w.bits(1) });
+    }
+
+    /// Returns reference to task_out endpoint for PPI.
+    pub fn task_out(&self) -> &Reg<u32, _TASKS_OUT> {
+        &self.gpiote.inner.tasks_out[self.index as usize]
+    }
+
+    /// Returns reference to task_clr endpoint for PPI.
+    #[cfg(not(feature = "51"))]
+    pub fn task_clr(&self) -> &Reg<u32, _TASKS_CLR> {
+        &self.gpiote.inner.tasks_clr[self.index as usize]
+    }
+
+    /// Returns reference to task_set endpoint for PPI.
+    #[cfg(not(feature = "51"))]
+    pub fn task_set(&self) -> &Reg<u32, _TASKS_SET> {
+        &self.gpiote.inner.tasks_set[self.index as usize]
+    }
+}
+
 #[interrupt]
 unsafe fn GPIOTE() {
     let s = &(*INSTANCE);