nrf/qdec: make available on all chips, use Instance trait, switch to new interrupt binding.

10 files changed, 102 insertions, 35 deletions

diff --git a/embassy-nrf/src/chips/nrf52805.rs b/embassy-nrf/src/chips/nrf52805.rs
index 3c74a2a63..185cda430 100644
--- a/embassy-nrf/src/chips/nrf52805.rs
+++ b/embassy-nrf/src/chips/nrf52805.rs
@@ -140,6 +140,8 @@ impl_twim!(TWI0, TWIM0, TWIM0_TWIS0_TWI0);
 
 impl_twis!(TWI0, TWIS0, TWIM0_TWIS0_TWI0);
 
+impl_qdec!(QDEC, QDEC, QDEC);
+
 impl_timer!(TIMER0, TIMER0, TIMER0);
 impl_timer!(TIMER1, TIMER1, TIMER1);
 impl_timer!(TIMER2, TIMER2, TIMER2);
diff --git a/embassy-nrf/src/chips/nrf52810.rs b/embassy-nrf/src/chips/nrf52810.rs
index c6ccb6a0e..1e3c054a4 100644
--- a/embassy-nrf/src/chips/nrf52810.rs
+++ b/embassy-nrf/src/chips/nrf52810.rs
@@ -150,6 +150,8 @@ impl_pwm!(PWM0, PWM0, PWM0);
 
 impl_pdm!(PDM, PDM, PDM);
 
+impl_qdec!(QDEC, QDEC, QDEC);
+
 impl_timer!(TIMER0, TIMER0, TIMER0);
 impl_timer!(TIMER1, TIMER1, TIMER1);
 impl_timer!(TIMER2, TIMER2, TIMER2);
diff --git a/embassy-nrf/src/chips/nrf52811.rs b/embassy-nrf/src/chips/nrf52811.rs
index 7d1bce1c0..3bb44171e 100644
--- a/embassy-nrf/src/chips/nrf52811.rs
+++ b/embassy-nrf/src/chips/nrf52811.rs
@@ -152,6 +152,8 @@ impl_pwm!(PWM0, PWM0, PWM0);
 
 impl_pdm!(PDM, PDM, PDM);
 
+impl_qdec!(QDEC, QDEC, QDEC);
+
 impl_timer!(TIMER0, TIMER0, TIMER0);
 impl_timer!(TIMER1, TIMER1, TIMER1);
 impl_timer!(TIMER2, TIMER2, TIMER2);
diff --git a/embassy-nrf/src/chips/nrf52820.rs b/embassy-nrf/src/chips/nrf52820.rs
index 81b07f32c..b28778f33 100644
--- a/embassy-nrf/src/chips/nrf52820.rs
+++ b/embassy-nrf/src/chips/nrf52820.rs
@@ -153,6 +153,8 @@ impl_timer!(TIMER1, TIMER1, TIMER1);
 impl_timer!(TIMER2, TIMER2, TIMER2);
 impl_timer!(TIMER3, TIMER3, TIMER3, extended);
 
+impl_qdec!(QDEC, QDEC, QDEC);
+
 impl_pin!(P0_00, 0, 0);
 impl_pin!(P0_01, 0, 1);
 impl_pin!(P0_02, 0, 2);
diff --git a/embassy-nrf/src/chips/nrf52832.rs b/embassy-nrf/src/chips/nrf52832.rs
index ce19a18e8..00dc9fd8f 100644
--- a/embassy-nrf/src/chips/nrf52832.rs
+++ b/embassy-nrf/src/chips/nrf52832.rs
@@ -173,6 +173,8 @@ impl_pwm!(PWM2, PWM2, PWM2);
 
 impl_pdm!(PDM, PDM, PDM);
 
+impl_qdec!(QDEC, QDEC, QDEC);
+
 impl_timer!(TIMER0, TIMER0, TIMER0);
 impl_timer!(TIMER1, TIMER1, TIMER1);
 impl_timer!(TIMER2, TIMER2, TIMER2);
diff --git a/embassy-nrf/src/chips/nrf52833.rs b/embassy-nrf/src/chips/nrf52833.rs
index 08b82021d..345608c9d 100644
--- a/embassy-nrf/src/chips/nrf52833.rs
+++ b/embassy-nrf/src/chips/nrf52833.rs
@@ -199,6 +199,8 @@ impl_pwm!(PWM3, PWM3, PWM3);
 
 impl_pdm!(PDM, PDM, PDM);
 
+impl_qdec!(QDEC, QDEC, QDEC);
+
 impl_timer!(TIMER0, TIMER0, TIMER0);
 impl_timer!(TIMER1, TIMER1, TIMER1);
 impl_timer!(TIMER2, TIMER2, TIMER2);
diff --git a/embassy-nrf/src/chips/nrf52840.rs b/embassy-nrf/src/chips/nrf52840.rs
index 4e8b6d9ee..630f01aa9 100644
--- a/embassy-nrf/src/chips/nrf52840.rs
+++ b/embassy-nrf/src/chips/nrf52840.rs
@@ -210,6 +210,8 @@ impl_qspi!(QSPI, QSPI, QSPI);
 
 impl_pdm!(PDM, PDM, PDM);
 
+impl_qdec!(QDEC, QDEC, QDEC);
+
 impl_pin!(P0_00, 0, 0);
 impl_pin!(P0_01, 0, 1);
 impl_pin!(P0_02, 0, 2);
diff --git a/embassy-nrf/src/chips/nrf5340_app.rs b/embassy-nrf/src/chips/nrf5340_app.rs
index 050612b1c..34f96800f 100644
--- a/embassy-nrf/src/chips/nrf5340_app.rs
+++ b/embassy-nrf/src/chips/nrf5340_app.rs
@@ -37,7 +37,7 @@ pub mod pac {
         pdm0_ns as pdm,
         power_ns as power,
         pwm0_ns as pwm0,
-        qdec0_ns as qdec0,
+        qdec0_ns as qdec,
         qspi_ns as qspi,
         regulators_ns as regulators,
         reset_ns as reset,
@@ -256,6 +256,10 @@ embassy_hal_common::peripherals! {
     // PDM
     PDM0,
 
+    // QDEC
+    QDEC0,
+    QDEC1,
+
     // GPIOTE
     GPIOTE_CH0,
     GPIOTE_CH1,
@@ -403,6 +407,9 @@ impl_qspi!(QSPI, QSPI, QSPI);
 
 impl_pdm!(PDM0, PDM0, PDM0);
 
+impl_qdec!(QDEC0, QDEC0, QDEC0);
+impl_qdec!(QDEC1, QDEC1, QDEC1);
+
 impl_pin!(P0_00, 0, 0);
 impl_pin!(P0_01, 0, 1);
 #[cfg(feature = "nfc-pins-as-gpio")]
diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs
index 17aa5ad15..feefa2486 100644
--- a/embassy-nrf/src/lib.rs
+++ b/embassy-nrf/src/lib.rs
@@ -57,7 +57,7 @@ pub mod pdm;
 pub mod ppi;
 #[cfg(not(any(feature = "nrf52805", feature = "nrf52820", feature = "_nrf5340-net")))]
 pub mod pwm;
-#[cfg(not(any(feature = "nrf51", feature = "_nrf9160", feature = "_nrf5340")))]
+#[cfg(not(any(feature = "nrf51", feature = "_nrf9160", feature = "_nrf5340-net")))]
 pub mod qdec;
 #[cfg(any(feature = "nrf52840", feature = "_nrf5340-app"))]
 pub mod qspi;
diff --git a/embassy-nrf/src/qdec.rs b/embassy-nrf/src/qdec.rs
index c01babca3..4d2a09198 100644
--- a/embassy-nrf/src/qdec.rs
+++ b/embassy-nrf/src/qdec.rs
@@ -1,20 +1,22 @@
 //! Quadrature decoder (QDEC) driver.
 
+#![macro_use]
+
 use core::future::poll_fn;
+use core::marker::PhantomData;
 use core::task::Poll;
 
+use embassy_cortex_m::interrupt::Interrupt;
 use embassy_hal_common::{into_ref, PeripheralRef};
-use embassy_sync::waitqueue::AtomicWaker;
 
 use crate::gpio::sealed::Pin as _;
 use crate::gpio::{AnyPin, Pin as GpioPin};
 use crate::interrupt::InterruptExt;
-use crate::peripherals::QDEC;
-use crate::{interrupt, pac, Peripheral};
+use crate::{interrupt, Peripheral};
 
 /// Quadrature decoder driver.
-pub struct Qdec<'d> {
-    _p: PeripheralRef<'d, QDEC>,
+pub struct Qdec<'d, T: Instance> {
+    _p: PeripheralRef<'d, T>,
 }
 
 /// QDEC config
@@ -44,44 +46,52 @@ impl Default for Config {
     }
 }
 
-static WAKER: AtomicWaker = AtomicWaker::new();
+/// Interrupt handler.
+pub struct InterruptHandler<T: Instance> {
+    _phantom: PhantomData<T>,
+}
 
-impl<'d> Qdec<'d> {
+impl<T: Instance> interrupt::Handler<T::Interrupt> for InterruptHandler<T> {
+    unsafe fn on_interrupt() {
+        T::regs().intenclr.write(|w| w.reportrdy().clear());
+        T::state().waker.wake();
+    }
+}
+
+impl<'d, T: Instance> Qdec<'d, T> {
     /// Create a new QDEC.
     pub fn new(
-        qdec: impl Peripheral<P = QDEC> + 'd,
-        irq: impl Peripheral<P = interrupt::QDEC> + 'd,
+        qdec: impl Peripheral<P = T> + 'd,
+        _irq: impl interrupt::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
         a: impl Peripheral<P = impl GpioPin> + 'd,
         b: impl Peripheral<P = impl GpioPin> + 'd,
         config: Config,
     ) -> Self {
-        into_ref!(a, b);
-        Self::new_inner(qdec, irq, a.map_into(), b.map_into(), None, config)
+        into_ref!(qdec, a, b);
+        Self::new_inner(qdec, a.map_into(), b.map_into(), None, config)
     }
 
     /// Create a new QDEC, with a pin for LED output.
     pub fn new_with_led(
-        qdec: impl Peripheral<P = QDEC> + 'd,
-        irq: impl Peripheral<P = interrupt::QDEC> + 'd,
+        qdec: impl Peripheral<P = T> + 'd,
+        _irq: impl interrupt::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
         a: impl Peripheral<P = impl GpioPin> + 'd,
         b: impl Peripheral<P = impl GpioPin> + 'd,
         led: impl Peripheral<P = impl GpioPin> + 'd,
         config: Config,
     ) -> Self {
-        into_ref!(a, b, led);
-        Self::new_inner(qdec, irq, a.map_into(), b.map_into(), Some(led.map_into()), config)
+        into_ref!(qdec, a, b, led);
+        Self::new_inner(qdec, a.map_into(), b.map_into(), Some(led.map_into()), config)
     }
 
     fn new_inner(
-        p: impl Peripheral<P = QDEC> + 'd,
-        irq: impl Peripheral<P = interrupt::QDEC> + 'd,
+        p: PeripheralRef<'d, T>,
         a: PeripheralRef<'d, AnyPin>,
         b: PeripheralRef<'d, AnyPin>,
         led: Option<PeripheralRef<'d, AnyPin>>,
         config: Config,
     ) -> Self {
-        into_ref!(p, irq);
-        let r = Self::regs();
+        let r = T::regs();
 
         // Select pins.
         a.conf().write(|w| w.input().connect().pull().pullup());
@@ -124,20 +134,15 @@ impl<'d> Qdec<'d> {
             SamplePeriod::_131ms => w.sampleper()._131ms(),
         });
 
+        unsafe { T::Interrupt::steal() }.unpend();
+        unsafe { T::Interrupt::steal() }.enable();
+
         // Enable peripheral
         r.enable.write(|w| w.enable().set_bit());
 
         // Start sampling
         unsafe { r.tasks_start.write(|w| w.bits(1)) };
 
-        irq.disable();
-        irq.set_handler(|_| {
-            let r = Self::regs();
-            r.intenclr.write(|w| w.reportrdy().clear());
-            WAKER.wake();
-        });
-        irq.enable();
-
         Self { _p: p }
     }
 
@@ -155,12 +160,12 @@ impl<'d> Qdec<'d> {
     /// let delta = q.read().await;
     /// ```
     pub async fn read(&mut self) -> i16 {
-        let t = Self::regs();
+        let t = T::regs();
         t.intenset.write(|w| w.reportrdy().set());
         unsafe { t.tasks_readclracc.write(|w| w.bits(1)) };
 
         let value = poll_fn(|cx| {
-            WAKER.register(cx.waker());
+            T::state().waker.register(cx.waker());
             if t.events_reportrdy.read().bits() == 0 {
                 return Poll::Pending;
             } else {
@@ -172,10 +177,6 @@ impl<'d> Qdec<'d> {
         .await;
         value
     }
-
-    fn regs() -> &'static pac::qdec::RegisterBlock {
-        unsafe { &*pac::QDEC::ptr() }
-    }
 }
 
 /// Sample period
@@ -236,3 +237,48 @@ pub enum LedPolarity {
     /// Active low (a low output turns on the LED).
     ActiveLow,
 }
+
+pub(crate) mod sealed {
+    use embassy_sync::waitqueue::AtomicWaker;
+
+    /// Peripheral static state
+    pub struct State {
+        pub waker: AtomicWaker,
+    }
+
+    impl State {
+        pub const fn new() -> Self {
+            Self {
+                waker: AtomicWaker::new(),
+            }
+        }
+    }
+
+    pub trait Instance {
+        fn regs() -> &'static crate::pac::qdec::RegisterBlock;
+        fn state() -> &'static State;
+    }
+}
+
+/// qdec peripheral instance.
+pub trait Instance: Peripheral<P = Self> + sealed::Instance + 'static + Send {
+    /// Interrupt for this peripheral.
+    type Interrupt: Interrupt;
+}
+
+macro_rules! impl_qdec {
+    ($type:ident, $pac_type:ident, $irq:ident) => {
+        impl crate::qdec::sealed::Instance for peripherals::$type {
+            fn regs() -> &'static crate::pac::qdec::RegisterBlock {
+                unsafe { &*pac::$pac_type::ptr() }
+            }
+            fn state() -> &'static crate::qdec::sealed::State {
+                static STATE: crate::qdec::sealed::State = crate::qdec::sealed::State::new();
+                &STATE
+            }
+        }
+        impl crate::qdec::Instance for peripherals::$type {
+            type Interrupt = crate::interrupt::$irq;
+        }
+    };
+}