Shared buses with SetConfig

5 files changed, 277 insertions, 0 deletions

diff --git a/embassy-embedded-hal/src/lib.rs b/embassy-embedded-hal/src/lib.rs
index 27ffa7421..aae719925 100644
--- a/embassy-embedded-hal/src/lib.rs
+++ b/embassy-embedded-hal/src/lib.rs
@@ -4,3 +4,7 @@
 
 pub mod adapter;
 pub mod shared_bus;
+
+pub trait SetConfig<C> {
+    fn set_config(&mut self, config: &C);
+}
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
index 2c762fe14..6f5f07051 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
@@ -7,6 +7,7 @@ use embedded_hal_1::i2c::blocking::{I2c, Operation};
 use embedded_hal_1::i2c::ErrorType;
 
 use crate::shared_bus::i2c::I2cBusDeviceError;
+use crate::SetConfig;
 
 pub struct I2cBusDevice<'a, M: RawMutex, BUS> {
     bus: &'a Mutex<M, RefCell<BUS>>,
@@ -82,3 +83,86 @@ where
         todo!()
     }
 }
+
+pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS, C> {
+    bus: &'a Mutex<M, RefCell<BUS>>,
+    config: C,
+}
+
+impl<'a, M: RawMutex, BUS, C> I2cBusDeviceWithConfig<'a, M, BUS, C> {
+    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, config: C) -> Self {
+        Self { bus, config }
+    }
+}
+
+impl<'a, M: RawMutex, BUS, C> ErrorType for I2cBusDeviceWithConfig<'a, M, BUS, C>
+where
+    BUS: ErrorType,
+{
+    type Error = I2cBusDeviceError<BUS::Error>;
+}
+
+impl<M, BUS, C> I2c for I2cBusDeviceWithConfig<'_, M, BUS, C>
+where
+    M: RawMutex,
+    BUS: I2c + SetConfig<C>,
+{
+    fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
+        self.bus.lock(|bus| {
+            let mut bus = bus.borrow_mut();
+            bus.set_config(&self.config);
+            bus.read(address, buffer).map_err(I2cBusDeviceError::I2c)
+        })
+    }
+
+    fn write(&mut self, address: u8, bytes: &[u8]) -> Result<(), Self::Error> {
+        self.bus.lock(|bus| {
+            let mut bus = bus.borrow_mut();
+            bus.set_config(&self.config);
+            bus.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| {
+            let mut bus = bus.borrow_mut();
+            bus.set_config(&self.config);
+            bus.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/spi.rs b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
index c08bcbf62..d54ca6bfa 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
@@ -8,6 +8,7 @@ use embedded_hal_1::spi;
 use embedded_hal_1::spi::blocking::{SpiBusFlush, SpiDevice};
 
 use crate::shared_bus::spi::SpiBusDeviceError;
+use crate::SetConfig;
 
 pub struct SpiBusDevice<'a, M: RawMutex, BUS, CS> {
     bus: &'a Mutex<M, RefCell<BUS>>,
@@ -55,3 +56,52 @@ 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>
+where
+    M: RawMutex,
+    BUS: SpiBusFlush + SetConfig<C>,
+    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 = 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 e8131288a..0e964773c 100644
--- a/embassy-embedded-hal/src/shared_bus/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/i2c.rs
@@ -29,6 +29,8 @@ use embassy::blocking_mutex::raw::RawMutex;
 use embassy::mutex::Mutex;
 use embedded_hal_async::i2c;
 
+use crate::SetConfig;
+
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]
 pub enum I2cBusDeviceError<BUS> {
     I2c(BUS),
@@ -116,3 +118,79 @@ where
         async move { todo!() }
     }
 }
+
+pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS, C> {
+    bus: &'a Mutex<M, BUS>,
+    config: C,
+}
+
+impl<'a, M: RawMutex, BUS, C> I2cBusDeviceWithConfig<'a, M, BUS, C> {
+    pub fn new(bus: &'a Mutex<M, BUS>, config: C) -> Self {
+        Self { bus, config }
+    }
+}
+
+impl<'a, M: RawMutex, BUS, C> i2c::ErrorType for I2cBusDeviceWithConfig<'a, M, BUS, C>
+where
+    BUS: i2c::ErrorType,
+{
+    type Error = I2cBusDeviceError<BUS::Error>;
+}
+
+impl<M, BUS, C> i2c::I2c for I2cBusDeviceWithConfig<'_, M, BUS, C>
+where
+    M: RawMutex + 'static,
+    BUS: i2c::I2c + SetConfig<C> + 'static,
+{
+    type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+
+    fn read<'a>(&'a mut self, address: u8, buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
+        async move {
+            let mut bus = self.bus.lock().await;
+            bus.set_config(&self.config);
+            bus.read(address, buffer).await.map_err(I2cBusDeviceError::I2c)?;
+            Ok(())
+        }
+    }
+
+    type WriteFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+
+    fn write<'a>(&'a mut self, address: u8, bytes: &'a [u8]) -> Self::WriteFuture<'a> {
+        async move {
+            let mut bus = self.bus.lock().await;
+            bus.set_config(&self.config);
+            bus.write(address, bytes).await.map_err(I2cBusDeviceError::I2c)?;
+            Ok(())
+        }
+    }
+
+    type WriteReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+
+    fn write_read<'a>(
+        &'a mut self,
+        address: u8,
+        wr_buffer: &'a [u8],
+        rd_buffer: &'a mut [u8],
+    ) -> Self::WriteReadFuture<'a> {
+        async move {
+            let mut bus = self.bus.lock().await;
+            bus.set_config(&self.config);
+            bus.write_read(address, wr_buffer, rd_buffer)
+                .await
+                .map_err(I2cBusDeviceError::I2c)?;
+            Ok(())
+        }
+    }
+
+    type TransactionFuture<'a, 'b> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a, 'b: 'a;
+
+    fn transaction<'a, 'b>(
+        &'a mut self,
+        address: u8,
+        operations: &'a mut [embedded_hal_async::i2c::Operation<'b>],
+    ) -> Self::TransactionFuture<'a, 'b> {
+        let _ = address;
+        let _ = operations;
+        async move { todo!() }
+    }
+}
diff --git a/embassy-embedded-hal/src/shared_bus/spi.rs b/embassy-embedded-hal/src/shared_bus/spi.rs
index fd4b6d565..04378c330 100644
--- a/embassy-embedded-hal/src/shared_bus/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/spi.rs
@@ -34,6 +34,8 @@ use embedded_hal_1::digital::blocking::OutputPin;
 use embedded_hal_1::spi::ErrorType;
 use embedded_hal_async::spi;
 
+use crate::SetConfig;
+
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]
 pub enum SpiBusDeviceError<BUS, CS> {
     Spi(BUS),
@@ -109,3 +111,62 @@ where
         }
     }
 }
+
+pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS, CS, C> {
+    bus: &'a Mutex<M, 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, 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<M, BUS, CS, C> spi::SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS, C>
+where
+    M: RawMutex + 'static,
+    BUS: spi::SpiBusFlush + SetConfig<C> + 'static,
+    CS: OutputPin,
+{
+    type Bus = BUS;
+
+    type TransactionFuture<'a, R, F, Fut> = impl Future<Output = Result<R, Self::Error>> + 'a
+    where
+        Self: 'a, R: 'a, F: FnOnce(*mut Self::Bus) -> Fut + 'a,
+        Fut: Future<Output =  Result<R, <Self::Bus as ErrorType>::Error>> + 'a;
+
+    fn transaction<'a, R, F, Fut>(&'a mut self, f: F) -> Self::TransactionFuture<'a, R, F, Fut>
+    where
+        R: 'a,
+        F: FnOnce(*mut Self::Bus) -> Fut + 'a,
+        Fut: Future<Output = Result<R, <Self::Bus as ErrorType>::Error>> + 'a,
+    {
+        async move {
+            let mut bus = self.bus.lock().await;
+            bus.set_config(&self.config);
+            self.cs.set_low().map_err(SpiBusDeviceError::Cs)?;
+
+            let f_res = f(&mut *bus).await;
+
+            // On failure, it's important to still flush and deassert CS.
+            let flush_res = bus.flush().await;
+            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)
+        }
+    }
+}