Associated type

8 files changed, 123 insertions, 136 deletions

diff --git a/embassy-embedded-hal/src/lib.rs b/embassy-embedded-hal/src/lib.rs
index aae719925..688d0b48d 100644
--- a/embassy-embedded-hal/src/lib.rs
+++ b/embassy-embedded-hal/src/lib.rs
@@ -5,6 +5,7 @@
 pub mod adapter;
 pub mod shared_bus;
 
-pub trait SetConfig<C> {
-    fn set_config(&mut self, config: &C);
+pub trait SetConfig {
+    type Config;
+    fn set_config(&mut self, config: &Self::Config);
 }
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
index e8dd0f248..0c8338c73 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
@@ -101,28 +101,71 @@ where
     }
 }
 
-pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS, C> {
+impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Write for I2cBusDevice<'_, M, BUS>
+where
+    M: RawMutex,
+    BUS: embedded_hal_02::blocking::i2c::Write<Error = E>,
+{
+    type Error = I2cBusDeviceError<E>;
+
+    fn write<'w>(&mut self, addr: u8, bytes: &'w [u8]) -> Result<(), Self::Error> {
+        self.bus
+            .lock(|bus| bus.borrow_mut().write(addr, bytes).map_err(I2cBusDeviceError::I2c))
+    }
+}
+
+impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Read for I2cBusDevice<'_, M, BUS>
+where
+    M: RawMutex,
+    BUS: embedded_hal_02::blocking::i2c::Read<Error = E>,
+{
+    type Error = I2cBusDeviceError<E>;
+
+    fn read<'w>(&mut self, addr: u8, bytes: &'w mut [u8]) -> Result<(), Self::Error> {
+        self.bus
+            .lock(|bus| bus.borrow_mut().read(addr, bytes).map_err(I2cBusDeviceError::I2c))
+    }
+}
+
+impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::WriteRead for I2cBusDevice<'_, M, BUS>
+where
+    M: RawMutex,
+    BUS: embedded_hal_02::blocking::i2c::WriteRead<Error = E>,
+{
+    type Error = I2cBusDeviceError<E>;
+
+    fn write_read<'w>(&mut self, addr: u8, bytes: &'w [u8], buffer: &'w mut [u8]) -> Result<(), Self::Error> {
+        self.bus.lock(|bus| {
+            bus.borrow_mut()
+                .write_read(addr, bytes, buffer)
+                .map_err(I2cBusDeviceError::I2c)
+        })
+    }
+}
+
+pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig> {
     bus: &'a Mutex<M, RefCell<BUS>>,
-    config: C,
+    config: BUS::Config,
 }
 
-impl<'a, M: RawMutex, BUS, C> I2cBusDeviceWithConfig<'a, M, BUS, C> {
-    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, config: C) -> Self {
+impl<'a, M: RawMutex, BUS: SetConfig> I2cBusDeviceWithConfig<'a, M, BUS> {
+    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, config: BUS::Config) -> Self {
         Self { bus, config }
     }
 }
 
-impl<'a, M: RawMutex, BUS, C> ErrorType for I2cBusDeviceWithConfig<'a, M, BUS, C>
+impl<'a, M, BUS> ErrorType for I2cBusDeviceWithConfig<'a, M, BUS>
 where
-    BUS: ErrorType,
+    M: RawMutex,
+    BUS: ErrorType + SetConfig,
 {
     type Error = I2cBusDeviceError<BUS::Error>;
 }
 
-impl<M, BUS, C> I2c for I2cBusDeviceWithConfig<'_, M, BUS, C>
+impl<M, BUS> I2c for I2cBusDeviceWithConfig<'_, M, BUS>
 where
     M: RawMutex,
-    BUS: I2c + SetConfig<C>,
+    BUS: I2c + SetConfig,
 {
     fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
@@ -183,45 +226,3 @@ where
         todo!()
     }
 }
-
-impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Write for I2cBusDevice<'_, M, BUS>
-where
-    M: RawMutex,
-    BUS: embedded_hal_02::blocking::i2c::Write<Error = E>,
-{
-    type Error = I2cBusDeviceError<E>;
-
-    fn write<'w>(&mut self, addr: u8, bytes: &'w [u8]) -> Result<(), Self::Error> {
-        self.bus
-            .lock(|bus| bus.borrow_mut().write(addr, bytes).map_err(I2cBusDeviceError::I2c))
-    }
-}
-
-impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Read for I2cBusDevice<'_, M, BUS>
-where
-    M: RawMutex,
-    BUS: embedded_hal_02::blocking::i2c::Read<Error = E>,
-{
-    type Error = I2cBusDeviceError<E>;
-
-    fn read<'w>(&mut self, addr: u8, bytes: &'w mut [u8]) -> Result<(), Self::Error> {
-        self.bus
-            .lock(|bus| bus.borrow_mut().read(addr, bytes).map_err(I2cBusDeviceError::I2c))
-    }
-}
-
-impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::WriteRead for I2cBusDevice<'_, M, BUS>
-where
-    M: RawMutex,
-    BUS: embedded_hal_02::blocking::i2c::WriteRead<Error = E>,
-{
-    type Error = I2cBusDeviceError<E>;
-
-    fn write_read<'w>(&mut self, addr: u8, bytes: &'w [u8], buffer: &'w mut [u8]) -> Result<(), Self::Error> {
-        self.bus.lock(|bus| {
-            bus.borrow_mut()
-                .write_read(addr, bytes, buffer)
-                .map_err(I2cBusDeviceError::I2c)
-        })
-    }
-}
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
index 2bcf47cff..456da8859 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
@@ -76,66 +76,39 @@ where
     }
 }
 
-pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS, CS, C> {
-    bus: &'a Mutex<M, RefCell<BUS>>,
-    cs: CS,
-    config: C,
-}
-
-impl<'a, M: RawMutex, BUS, CS, C> SpiBusDeviceWithConfig<'a, M, BUS, CS, C> {
-    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, cs: CS, config: C) -> Self {
-        Self { bus, cs, config }
-    }
-}
-
-impl<'a, M: RawMutex, BUS, CS, C> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS, C>
-where
-    BUS: spi::ErrorType,
-    CS: OutputPin,
-{
-    type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
-}
-
-impl<BUS, M, CS, C> SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS, C>
+impl<'d, M, BUS, CS, BusErr, CsErr> embedded_hal_02::blocking::spi::Transfer<u8> for SpiBusDevice<'_, M, BUS, CS>
 where
     M: RawMutex,
-    BUS: SpiBusFlush + SetConfig<C>,
-    CS: OutputPin,
+    BUS: embedded_hal_02::blocking::spi::Transfer<u8, Error = BusErr>,
+    CS: OutputPin<Error = CsErr>,
 {
-    type Bus = BUS;
-
-    fn transaction<R>(&mut self, f: impl FnOnce(&mut Self::Bus) -> Result<R, BUS::Error>) -> Result<R, Self::Error> {
+    type Error = SpiBusDeviceError<BusErr, CsErr>;
+    fn transfer<'w>(&mut self, words: &'w mut [u8]) -> Result<&'w [u8], Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
             self.cs.set_low().map_err(SpiBusDeviceError::Cs)?;
-
-            let f_res = f(&mut bus);
-
-            // On failure, it's important to still flush and deassert CS.
-            let flush_res = bus.flush();
+            let f_res = bus.transfer(words);
             let cs_res = self.cs.set_high();
-
             let f_res = f_res.map_err(SpiBusDeviceError::Spi)?;
-            flush_res.map_err(SpiBusDeviceError::Spi)?;
             cs_res.map_err(SpiBusDeviceError::Cs)?;
             Ok(f_res)
         })
     }
 }
 
-impl<'d, M, BUS, CS, BusErr, CsErr> embedded_hal_02::blocking::spi::Transfer<u8> for SpiBusDevice<'_, M, BUS, CS>
+impl<'d, M, BUS, CS, BusErr, CsErr> embedded_hal_02::blocking::spi::Write<u8> for SpiBusDevice<'_, M, BUS, CS>
 where
     M: RawMutex,
-    BUS: embedded_hal_02::blocking::spi::Transfer<u8, Error = BusErr>,
+    BUS: embedded_hal_02::blocking::spi::Write<u8, Error = BusErr>,
     CS: OutputPin<Error = CsErr>,
 {
     type Error = SpiBusDeviceError<BusErr, CsErr>;
-    fn transfer<'w>(&mut self, words: &'w mut [u8]) -> Result<&'w [u8], Self::Error> {
+
+    fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
             self.cs.set_low().map_err(SpiBusDeviceError::Cs)?;
-            let f_res = bus.transfer(words);
+            let f_res = bus.write(words);
             let cs_res = self.cs.set_high();
             let f_res = f_res.map_err(SpiBusDeviceError::Spi)?;
             cs_res.map_err(SpiBusDeviceError::Cs)?;
@@ -144,21 +117,49 @@ where
     }
 }
 
-impl<'d, M, BUS, CS, BusErr, CsErr> embedded_hal_02::blocking::spi::Write<u8> for SpiBusDevice<'_, M, BUS, CS>
+pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig, CS> {
+    bus: &'a Mutex<M, RefCell<BUS>>,
+    cs: CS,
+    config: BUS::Config,
+}
+
+impl<'a, M: RawMutex, BUS: SetConfig, CS> SpiBusDeviceWithConfig<'a, M, BUS, CS> {
+    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, cs: CS, config: BUS::Config) -> Self {
+        Self { bus, cs, config }
+    }
+}
+
+impl<'a, M, BUS, CS> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS>
 where
     M: RawMutex,
-    BUS: embedded_hal_02::blocking::spi::Write<u8, Error = BusErr>,
-    CS: OutputPin<Error = CsErr>,
+    BUS: spi::ErrorType + SetConfig,
+    CS: OutputPin,
 {
-    type Error = SpiBusDeviceError<BusErr, CsErr>;
+    type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
+}
 
-    fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
+impl<BUS, M, CS> SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS>
+where
+    M: RawMutex,
+    BUS: SpiBusFlush + SetConfig,
+    CS: OutputPin,
+{
+    type Bus = BUS;
+
+    fn transaction<R>(&mut self, f: impl FnOnce(&mut Self::Bus) -> Result<R, BUS::Error>) -> Result<R, Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
+            bus.set_config(&self.config);
             self.cs.set_low().map_err(SpiBusDeviceError::Cs)?;
-            let f_res = bus.write(words);
+
+            let f_res = f(&mut bus);
+
+            // On failure, it's important to still flush and deassert CS.
+            let flush_res = bus.flush();
             let cs_res = self.cs.set_high();
+
             let f_res = f_res.map_err(SpiBusDeviceError::Spi)?;
+            flush_res.map_err(SpiBusDeviceError::Spi)?;
             cs_res.map_err(SpiBusDeviceError::Cs)?;
             Ok(f_res)
         })
diff --git a/embassy-embedded-hal/src/shared_bus/i2c.rs b/embassy-embedded-hal/src/shared_bus/i2c.rs
index 0e964773c..18f144531 100644
--- a/embassy-embedded-hal/src/shared_bus/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/i2c.rs
@@ -119,28 +119,30 @@ where
     }
 }
 
-pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS, C> {
+pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig> {
     bus: &'a Mutex<M, BUS>,
-    config: C,
+    config: BUS::Config,
 }
 
-impl<'a, M: RawMutex, BUS, C> I2cBusDeviceWithConfig<'a, M, BUS, C> {
-    pub fn new(bus: &'a Mutex<M, BUS>, config: C) -> Self {
+impl<'a, M: RawMutex, BUS: SetConfig> I2cBusDeviceWithConfig<'a, M, BUS> {
+    pub fn new(bus: &'a Mutex<M, BUS>, config: BUS::Config) -> Self {
         Self { bus, config }
     }
 }
 
-impl<'a, M: RawMutex, BUS, C> i2c::ErrorType for I2cBusDeviceWithConfig<'a, M, BUS, C>
+impl<'a, M, BUS> i2c::ErrorType for I2cBusDeviceWithConfig<'a, M, BUS>
 where
     BUS: i2c::ErrorType,
+    M: RawMutex,
+    BUS: SetConfig,
 {
     type Error = I2cBusDeviceError<BUS::Error>;
 }
 
-impl<M, BUS, C> i2c::I2c for I2cBusDeviceWithConfig<'_, M, BUS, C>
+impl<M, BUS> i2c::I2c for I2cBusDeviceWithConfig<'_, M, BUS>
 where
     M: RawMutex + 'static,
-    BUS: i2c::I2c + SetConfig<C> + 'static,
+    BUS: i2c::I2c + SetConfig + 'static,
 {
     type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
 
diff --git a/embassy-embedded-hal/src/shared_bus/spi.rs b/embassy-embedded-hal/src/shared_bus/spi.rs
index 04378c330..8e3762e68 100644
--- a/embassy-embedded-hal/src/shared_bus/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/spi.rs
@@ -112,30 +112,31 @@ where
     }
 }
 
-pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS, CS, C> {
+pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig, CS> {
     bus: &'a Mutex<M, BUS>,
     cs: CS,
-    config: C,
+    config: BUS::Config,
 }
 
-impl<'a, M: RawMutex, BUS, CS, C> SpiBusDeviceWithConfig<'a, M, BUS, CS, C> {
-    pub fn new(bus: &'a Mutex<M, BUS>, cs: CS, config: C) -> Self {
+impl<'a, M: RawMutex, BUS: SetConfig, CS> SpiBusDeviceWithConfig<'a, M, BUS, CS> {
+    pub fn new(bus: &'a Mutex<M, BUS>, cs: CS, config: BUS::Config) -> Self {
         Self { bus, cs, config }
     }
 }
 
-impl<'a, M: RawMutex, BUS, CS, C> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS, C>
+impl<'a, M, BUS, CS> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS>
 where
-    BUS: spi::ErrorType,
+    BUS: spi::ErrorType + SetConfig,
     CS: OutputPin,
+    M: RawMutex,
 {
     type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<M, BUS, CS, C> spi::SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS, C>
+impl<M, BUS, CS> spi::SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS>
 where
     M: RawMutex + 'static,
-    BUS: spi::SpiBusFlush + SetConfig<C> + 'static,
+    BUS: spi::SpiBusFlush + SetConfig + 'static,
     CS: OutputPin,
 {
     type Bus = BUS;
diff --git a/embassy-nrf/src/spim.rs b/embassy-nrf/src/spim.rs
index 882bf4b47..d34d9a0c8 100644
--- a/embassy-nrf/src/spim.rs
+++ b/embassy-nrf/src/spim.rs
@@ -523,8 +523,9 @@ cfg_if::cfg_if! {
     }
 }
 
-impl<'d, T: Instance> SetConfig<Config> for Spim<'d, T> {
-    fn set_config(&mut self, config: &Config) {
+impl<'d, T: Instance> SetConfig for Spim<'d, T> {
+    type Config = Config;
+    fn set_config(&mut self, config: &Self::Config) {
         let r = T::regs();
         // Configure mode.
         let mode = config.mode;
diff --git a/embassy-nrf/src/twim.rs b/embassy-nrf/src/twim.rs
index 8189d3e71..2088691b2 100644
--- a/embassy-nrf/src/twim.rs
+++ b/embassy-nrf/src/twim.rs
@@ -880,8 +880,9 @@ cfg_if::cfg_if! {
     }
 }
 
-impl<'d, T: Instance> SetConfig<Config> for Twim<'d, T> {
-    fn set_config(&mut self, config: &Config) {
+impl<'d, T: Instance> SetConfig for Twim<'d, T> {
+    type Config = Config;
+    fn set_config(&mut self, config: &Self::Config) {
         let r = T::regs();
         r.frequency
             .write(|w| unsafe { w.frequency().bits(config.frequency as u32) });
diff --git a/examples/nrf/src/bin/shared_bus.rs b/examples/nrf/src/bin/shared_bus.rs
deleted file mode 100644
index 23d16f796..000000000
--- a/examples/nrf/src/bin/shared_bus.rs
+++ /dev/null
@@ -1,21 +0,0 @@
-#![no_std]
-#![no_main]
-#![feature(type_alias_impl_trait)]
-
-use embassy::executor::Spawner;
-use embassy::time::{Duration, Timer};
-use embassy_nrf::gpio::{Level, Output, OutputDrive};
-use embassy_nrf::Peripherals;
-use {defmt_rtt as _, panic_probe as _};
-
-#[embassy::main]
-async fn main(_spawner: Spawner, p: Peripherals) {
-    let mut led = Output::new(p.P0_13, Level::Low, OutputDrive::Standard);
-
-    loop {
-        led.set_high();
-        Timer::after(Duration::from_millis(300)).await;
-        led.set_low();
-        Timer::after(Duration::from_millis(300)).await;
-    }
-}