Merge #845

845: Add blocking shared bus for i2c and SPI r=Dirbaio a=kalkyl

Blocking versions of the shared buses

Co-authored-by: Henrik Alsér <[email protected]>
Co-authored-by: Dario Nieuwenhuis <[email protected]>

4 files changed, 148 insertions, 2 deletions

diff --git a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
new file mode 100644
index 000000000..2c762fe14
--- /dev/null
+++ b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
@@ -0,0 +1,84 @@
+//! Blocking shared I2C bus
+use core::cell::RefCell;
+
+use embassy::blocking_mutex::raw::RawMutex;
+use embassy::blocking_mutex::Mutex;
+use embedded_hal_1::i2c::blocking::{I2c, Operation};
+use embedded_hal_1::i2c::ErrorType;
+
+use crate::shared_bus::i2c::I2cBusDeviceError;
+
+pub struct I2cBusDevice<'a, M: RawMutex, BUS> {
+    bus: &'a Mutex<M, RefCell<BUS>>,
+}
+
+impl<'a, M: RawMutex, BUS> I2cBusDevice<'a, M, BUS> {
+    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>) -> Self {
+        Self { bus }
+    }
+}
+
+impl<'a, M: RawMutex, BUS> ErrorType for I2cBusDevice<'a, M, BUS>
+where
+    BUS: ErrorType,
+{
+    type Error = I2cBusDeviceError<BUS::Error>;
+}
+
+impl<M, BUS> I2c for I2cBusDevice<'_, M, BUS>
+where
+    M: RawMutex,
+    BUS: I2c,
+{
+    fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
+        self.bus
+            .lock(|bus| bus.borrow_mut().read(address, buffer).map_err(I2cBusDeviceError::I2c))
+    }
+
+    fn write(&mut self, address: u8, bytes: &[u8]) -> Result<(), Self::Error> {
+        self.bus
+            .lock(|bus| bus.borrow_mut().write(address, bytes).map_err(I2cBusDeviceError::I2c))
+    }
+
+    fn write_read(&mut self, address: u8, wr_buffer: &[u8], rd_buffer: &mut [u8]) -> Result<(), Self::Error> {
+        self.bus.lock(|bus| {
+            bus.borrow_mut()
+                .write_read(address, wr_buffer, rd_buffer)
+                .map_err(I2cBusDeviceError::I2c)
+        })
+    }
+
+    fn transaction<'a>(&mut self, address: u8, operations: &mut [Operation<'a>]) -> Result<(), Self::Error> {
+        let _ = address;
+        let _ = operations;
+        todo!()
+    }
+
+    fn write_iter<B: IntoIterator<Item = u8>>(&mut self, addr: u8, bytes: B) -> Result<(), Self::Error> {
+        let _ = addr;
+        let _ = bytes;
+        todo!()
+    }
+
+    fn write_iter_read<B: IntoIterator<Item = u8>>(
+        &mut self,
+        addr: u8,
+        bytes: B,
+        buffer: &mut [u8],
+    ) -> Result<(), Self::Error> {
+        let _ = addr;
+        let _ = bytes;
+        let _ = buffer;
+        todo!()
+    }
+
+    fn transaction_iter<'a, O: IntoIterator<Item = Operation<'a>>>(
+        &mut self,
+        address: u8,
+        operations: O,
+    ) -> Result<(), Self::Error> {
+        let _ = address;
+        let _ = operations;
+        todo!()
+    }
+}
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/mod.rs b/embassy-embedded-hal/src/shared_bus/blocking/mod.rs
new file mode 100644
index 000000000..c2063ed2e
--- /dev/null
+++ b/embassy-embedded-hal/src/shared_bus/blocking/mod.rs
@@ -0,0 +1,3 @@
+//! Blocking shared bus implementations for embedded-hal
+pub mod i2c;
+pub mod spi;
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
new file mode 100644
index 000000000..c08bcbf62
--- /dev/null
+++ b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
@@ -0,0 +1,57 @@
+//! Blocking shared SPI bus
+use core::cell::RefCell;
+
+use embassy::blocking_mutex::raw::RawMutex;
+use embassy::blocking_mutex::Mutex;
+use embedded_hal_1::digital::blocking::OutputPin;
+use embedded_hal_1::spi;
+use embedded_hal_1::spi::blocking::{SpiBusFlush, SpiDevice};
+
+use crate::shared_bus::spi::SpiBusDeviceError;
+
+pub struct SpiBusDevice<'a, M: RawMutex, BUS, CS> {
+    bus: &'a Mutex<M, RefCell<BUS>>,
+    cs: CS,
+}
+
+impl<'a, M: RawMutex, BUS, CS> SpiBusDevice<'a, M, BUS, CS> {
+    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, cs: CS) -> Self {
+        Self { bus, cs }
+    }
+}
+
+impl<'a, M: RawMutex, BUS, CS> spi::ErrorType for SpiBusDevice<'a, M, BUS, CS>
+where
+    BUS: spi::ErrorType,
+    CS: OutputPin,
+{
+    type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
+}
+
+impl<BUS, M, CS> SpiDevice for SpiBusDevice<'_, M, BUS, CS>
+where
+    M: RawMutex,
+    BUS: SpiBusFlush,
+    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();
+            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 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/mod.rs b/embassy-embedded-hal/src/shared_bus/mod.rs
index bd4fd2c31..cd748cac8 100644
--- a/embassy-embedded-hal/src/shared_bus/mod.rs
+++ b/embassy-embedded-hal/src/shared_bus/mod.rs
@@ -1,4 +1,6 @@
-//! Shared bus implementations for embedded-hal-async
-
+//! Shared bus implementations
+pub mod blocking;
+/// Shared i2c bus implementation for embedded-hal-async
 pub mod i2c;
+/// Shared SPI bus implementation for embedded-hal-async
 pub mod spi;