rp: add single-channel dma from adc

with uniform treatment of adc inputs it's easy enough to add a new
sampling method. dma sampling only supports one channel at the moment,
though round-robin sampling would be a simple extension (probably a new
trait that's implemented for Channel and &[Channel]). continuous dma as
proposed in #1608 also isn't done here, we'd expect that to be a
compound dma::Channel that internally splits a buffer in half and
dispatches callbacks or something like that.

3 files changed, 165 insertions, 7 deletions

diff --git a/embassy-rp/src/adc.rs b/embassy-rp/src/adc.rs
index 2824d893c..bac455743 100644
--- a/embassy-rp/src/adc.rs
+++ b/embassy-rp/src/adc.rs
@@ -1,5 +1,6 @@
 use core::future::poll_fn;
 use core::marker::PhantomData;
+use core::mem;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
@@ -11,7 +12,7 @@ use crate::gpio::{self, AnyPin, Pull};
 use crate::interrupt::typelevel::Binding;
 use crate::interrupt::InterruptExt;
 use crate::peripherals::{ADC, ADC_TEMP_SENSOR};
-use crate::{interrupt, pac, peripherals, Peripheral, RegExt};
+use crate::{dma, interrupt, pac, peripherals, Peripheral, RegExt};
 
 static WAKER: AtomicWaker = AtomicWaker::new();
 
@@ -48,7 +49,7 @@ impl<'p> Channel<'p> {
         Self(Source::Pin(pin.map_into()))
     }
 
-    pub fn new_sensor(s: impl Peripheral<P = ADC_TEMP_SENSOR> + 'p) -> Self {
+    pub fn new_temp_sensor(s: impl Peripheral<P = ADC_TEMP_SENSOR> + 'p) -> Self {
         let r = pac::ADC;
         r.cs().write_set(|w| w.set_ts_en(true));
         Self(Source::TempSensor(s.into_ref()))
@@ -82,6 +83,21 @@ impl<'p> Drop for Source<'p> {
     }
 }
 
+#[derive(Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Debug, Default)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(transparent)]
+pub struct Sample(u16);
+
+impl Sample {
+    pub fn good(&self) -> bool {
+        self.0 < 0x8000
+    }
+
+    pub fn value(&self) -> u16 {
+        self.0 & !0x8000
+    }
+}
+
 #[derive(Debug, Eq, PartialEq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
@@ -191,6 +207,91 @@ impl<'d> Adc<'d, Async> {
             false => Ok(r.result().read().result().into()),
         }
     }
+
+    async fn read_many_inner<W: dma::Word>(
+        &mut self,
+        ch: &mut Channel<'_>,
+        buf: &mut [W],
+        fcs_err: bool,
+        dma: impl Peripheral<P = impl dma::Channel>,
+    ) -> Result<(), Error> {
+        let r = Self::regs();
+        // clear previous errors and set channel
+        r.cs().modify(|w| {
+            w.set_ainsel(ch.channel());
+            w.set_err_sticky(true); // clear previous errors
+            w.set_start_many(false);
+        });
+        // wait for previous conversions and drain fifo. an earlier batch read may have
+        // been cancelled, leaving the adc running.
+        while !r.cs().read().ready() {}
+        while !r.fcs().read().empty() {
+            r.fifo().read();
+        }
+
+        // set up fifo for dma
+        r.fcs().write(|w| {
+            w.set_thresh(1);
+            w.set_dreq_en(true);
+            w.set_shift(mem::size_of::<W>() == 1);
+            w.set_en(true);
+            w.set_err(fcs_err);
+        });
+
+        // reset dma config on drop, regardless of whether it was a future being cancelled
+        // or the method returning normally.
+        struct ResetDmaConfig;
+        impl Drop for ResetDmaConfig {
+            fn drop(&mut self) {
+                pac::ADC.cs().write_clear(|w| w.set_start_many(true));
+                while !pac::ADC.cs().read().ready() {}
+                pac::ADC.fcs().write_clear(|w| {
+                    w.set_dreq_en(true);
+                    w.set_shift(true);
+                    w.set_en(true);
+                });
+            }
+        }
+        let auto_reset = ResetDmaConfig;
+
+        let dma = unsafe { dma::read(dma, r.fifo().as_ptr() as *const W, buf as *mut [W], 36) };
+        // start conversions and wait for dma to finish. we can't report errors early
+        // because there's no interrupt to signal them, and inspecting every element
+        // of the fifo is too costly to do here.
+        r.cs().write_set(|w| w.set_start_many(true));
+        dma.await;
+        mem::drop(auto_reset);
+        // we can't report errors before the conversions have ended since no interrupt
+        // exists to report them early, and since they're exceedingly rare we probably don't
+        // want to anyway.
+        match r.cs().read().err_sticky() {
+            false => Ok(()),
+            true => Err(Error::ConversionFailed),
+        }
+    }
+
+    #[inline]
+    pub async fn read_many<S: AdcSample>(
+        &mut self,
+        ch: &mut Channel<'_>,
+        buf: &mut [S],
+        dma: impl Peripheral<P = impl dma::Channel>,
+    ) -> Result<(), Error> {
+        self.read_many_inner(ch, buf, false, dma).await
+    }
+
+    #[inline]
+    pub async fn read_many_raw(
+        &mut self,
+        ch: &mut Channel<'_>,
+        buf: &mut [Sample],
+        dma: impl Peripheral<P = impl dma::Channel>,
+    ) {
+        // errors are reported in individual samples
+        let _ = self
+            .read_many_inner(ch, unsafe { mem::transmute::<_, &mut [u16]>(buf) }, true, dma)
+            .await;
+    }
 }
 
 impl<'d> Adc<'d, Blocking> {
@@ -214,9 +315,19 @@ impl interrupt::typelevel::Handler<interrupt::typelevel::ADC_IRQ_FIFO> for Inter
 }
 
 mod sealed {
+    pub trait AdcSample: crate::dma::Word {}
+
     pub trait AdcChannel {}
 }
 
+pub trait AdcSample: sealed::AdcSample {}
+
+impl sealed::AdcSample for u16 {}
+impl AdcSample for u16 {}
+
+impl sealed::AdcSample for u8 {}
+impl AdcSample for u8 {}
+
 pub trait AdcChannel: sealed::AdcChannel {}
 pub trait AdcPin: AdcChannel + gpio::Pin {}
 
diff --git a/examples/rp/src/bin/adc.rs b/examples/rp/src/bin/adc.rs
index c58695512..02bc493b6 100644
--- a/examples/rp/src/bin/adc.rs
+++ b/examples/rp/src/bin/adc.rs
@@ -25,7 +25,7 @@ async fn main(_spawner: Spawner) {
     let mut p26 = Channel::new_pin(p.PIN_26, Pull::None);
     let mut p27 = Channel::new_pin(p.PIN_27, Pull::None);
     let mut p28 = Channel::new_pin(p.PIN_28, Pull::None);
-    let mut ts = Channel::new_sensor(p.ADC_TEMP_SENSOR);
+    let mut ts = Channel::new_temp_sensor(p.ADC_TEMP_SENSOR);
 
     loop {
         let level = adc.read(&mut p26).await.unwrap();
diff --git a/tests/rp/src/bin/adc.rs b/tests/rp/src/bin/adc.rs
index 9006ce8cc..d6d58f0c0 100644
--- a/tests/rp/src/bin/adc.rs
+++ b/tests/rp/src/bin/adc.rs
@@ -6,7 +6,7 @@ mod common;
 
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_rp::adc::{Adc, Channel, Config, InterruptHandler};
+use embassy_rp::adc::{Adc, Channel, Config, InterruptHandler, Sample};
 use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::Pull;
 use {defmt_rtt as _, panic_probe as _};
@@ -71,10 +71,57 @@ async fn main(_spawner: Spawner) {
         defmt::assert!(low < none);
         defmt::assert!(none < up);
     }
+    {
+        let temp = convert_to_celsius(
+            adc.read(&mut Channel::new_temp_sensor(&mut p.ADC_TEMP_SENSOR))
+                .await
+                .unwrap(),
+        );
+        defmt::assert!(temp > 0.0);
+        defmt::assert!(temp < 60.0);
+    }
 
-    let temp = convert_to_celsius(adc.read(&mut Channel::new_sensor(p.ADC_TEMP_SENSOR)).await.unwrap());
-    defmt::assert!(temp > 0.0);
-    defmt::assert!(temp < 60.0);
+    // run a bunch of conversions. we'll only check gp29 and the temp
+    // sensor here for brevity, if those two work the rest will too.
+    {
+        // gp29 is connected to vsys through a 200k/100k divider,
+        // adding pulls should change the value
+        let mut low = [0u16; 16];
+        let mut none = [0u8; 16];
+        let mut up = [Sample::default(); 16];
+        adc.read_many(
+            &mut Channel::new_pin(&mut p.PIN_29, Pull::Down),
+            &mut low,
+            &mut p.DMA_CH0,
+        )
+        .await
+        .unwrap();
+        adc.read_many(
+            &mut Channel::new_pin(&mut p.PIN_29, Pull::None),
+            &mut none,
+            &mut p.DMA_CH0,
+        )
+        .await
+        .unwrap();
+        adc.read_many_raw(&mut Channel::new_pin(&mut p.PIN_29, Pull::Up), &mut up, &mut p.DMA_CH0)
+            .await;
+        defmt::assert!(low.iter().zip(none.iter()).all(|(l, n)| *l >> 4 < *n as u16));
+        defmt::assert!(up.iter().all(|s| s.good()));
+        defmt::assert!(none.iter().zip(up.iter()).all(|(n, u)| (*n as u16) < u.value()));
+    }
+    {
+        let mut temp = [0u16; 16];
+        adc.read_many(
+            &mut Channel::new_temp_sensor(&mut p.ADC_TEMP_SENSOR),
+            &mut temp,
+            &mut p.DMA_CH0,
+        )
+        .await
+        .unwrap();
+        let temp = temp.map(convert_to_celsius);
+        defmt::assert!(temp.iter().all(|t| *t > 0.0));
+        defmt::assert!(temp.iter().all(|t| *t < 60.0));
+    }
 
     info!("Test OK");
     cortex_m::asm::bkpt();