From e10fc2bada1c59420431f09a35f7aa09a5b45623 Mon Sep 17 00:00:00 2001 From: Henrik Alsér Date: Thu, 26 May 2022 18:54:58 +0200 Subject: Async shared bus for SPI & I2C + rename embassy-traits (#769) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Rename embassy-traits to embassy-embedded-hal * Rename embassy-traits to embassy-embedded-hal * Add shared bus for SPI and I2C * rustfmt * EHA alpha 1 * Rename embedded-traits in examples * rustfmt * rustfmt Co-authored-by: Henrik Alsér --- embassy-embedded-hal/src/shared_bus/i2c.rs | 120 +++++++++++++++++++++++++++++ embassy-embedded-hal/src/shared_bus/mod.rs | 4 + embassy-embedded-hal/src/shared_bus/spi.rs | 110 ++++++++++++++++++++++++++ 3 files changed, 234 insertions(+) create mode 100644 embassy-embedded-hal/src/shared_bus/i2c.rs create mode 100644 embassy-embedded-hal/src/shared_bus/mod.rs create mode 100644 embassy-embedded-hal/src/shared_bus/spi.rs (limited to 'embassy-embedded-hal/src/shared_bus') diff --git a/embassy-embedded-hal/src/shared_bus/i2c.rs b/embassy-embedded-hal/src/shared_bus/i2c.rs new file mode 100644 index 000000000..5a180e897 --- /dev/null +++ b/embassy-embedded-hal/src/shared_bus/i2c.rs @@ -0,0 +1,120 @@ +//! Asynchronous shared I2C bus +//! +//! # Example (nrf52) +//! +//! ```rust +//! use embassy_embedded_hal::shared_bus::i2c::I2cBusDevice; +//! use embassy::mutex::Mutex; +//! use embassy::blocking_mutex::raw::ThreadModeRawMutex; +//! +//! static I2C_BUS: Forever>> = Forever::new(); +//! let config = twim::Config::default(); +//! let irq = interrupt::take!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0); +//! let i2c = Twim::new(p.TWISPI0, irq, p.P0_03, p.P0_04, config); +//! let i2c_bus = Mutex::::new(i2c); +//! let i2c_bus = I2C_BUS.put(i2c_bus); +//! +//! // Device 1, using embedded-hal-async compatible driver for QMC5883L compass +//! let i2c_dev1 = I2cBusDevice::new(i2c_bus); +//! let compass = QMC5883L::new(i2c_dev1).await.unwrap(); +//! +//! // Device 2, using embedded-hal-async compatible driver for Mpu6050 accelerometer +//! let i2c_dev2 = I2cBusDevice::new(i2c_bus); +//! let mpu = Mpu6050::new(i2c_dev2); +//! ``` +use core::{fmt::Debug, future::Future}; +use embassy::blocking_mutex::raw::RawMutex; +use embassy::mutex::Mutex; +use embedded_hal_async::i2c; + +#[derive(Copy, Clone, Eq, PartialEq, Debug)] +pub enum I2cBusDeviceError { + I2c(BUS), +} + +impl i2c::Error for I2cBusDeviceError +where + BUS: i2c::Error + Debug, +{ + fn kind(&self) -> i2c::ErrorKind { + match self { + Self::I2c(e) => e.kind(), + } + } +} + +pub struct I2cBusDevice<'a, M: RawMutex, BUS> { + bus: &'a Mutex, +} + +impl<'a, M: RawMutex, BUS> I2cBusDevice<'a, M, BUS> { + pub fn new(bus: &'a Mutex) -> Self { + Self { bus } + } +} + +impl<'a, M: RawMutex, BUS> i2c::ErrorType for I2cBusDevice<'a, M, BUS> +where + BUS: i2c::ErrorType, +{ + type Error = I2cBusDeviceError; +} + +impl i2c::I2c for I2cBusDevice<'_, M, BUS> +where + M: RawMutex + 'static, + BUS: i2c::I2c + 'static, +{ + type ReadFuture<'a> = impl Future> + '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.read(address, buffer) + .await + .map_err(I2cBusDeviceError::I2c)?; + Ok(()) + } + } + + type WriteFuture<'a> = impl Future> + '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.write(address, bytes) + .await + .map_err(I2cBusDeviceError::I2c)?; + Ok(()) + } + } + + type WriteReadFuture<'a> = impl Future> + '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.write_read(address, wr_buffer, rd_buffer) + .await + .map_err(I2cBusDeviceError::I2c)?; + Ok(()) + } + } + + type TransactionFuture<'a, 'b> = impl Future> + '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/mod.rs b/embassy-embedded-hal/src/shared_bus/mod.rs new file mode 100644 index 000000000..bd4fd2c31 --- /dev/null +++ b/embassy-embedded-hal/src/shared_bus/mod.rs @@ -0,0 +1,4 @@ +//! Shared bus implementations for embedded-hal-async + +pub mod i2c; +pub mod spi; diff --git a/embassy-embedded-hal/src/shared_bus/spi.rs b/embassy-embedded-hal/src/shared_bus/spi.rs new file mode 100644 index 000000000..3ec064ba7 --- /dev/null +++ b/embassy-embedded-hal/src/shared_bus/spi.rs @@ -0,0 +1,110 @@ +//! Asynchronous shared SPI bus +//! +//! # Example (nrf52) +//! +//! ```rust +//! use embassy_embedded_hal::shared_bus::spi::SpiBusDevice; +//! use embassy::mutex::Mutex; +//! use embassy::blocking_mutex::raw::ThreadModeRawMutex; +//! +//! static SPI_BUS: Forever>> = Forever::new(); +//! let mut config = spim::Config::default(); +//! config.frequency = spim::Frequency::M32; +//! let irq = interrupt::take!(SPIM3); +//! let spi = spim::Spim::new_txonly(p.SPI3, irq, p.P0_15, p.P0_18, config); +//! let spi_bus = Mutex::::new(spi); +//! let spi_bus = SPI_BUS.put(spi_bus); +//! +//! // Device 1, using embedded-hal-async compatible driver for ST7735 LCD display +//! let cs_pin1 = Output::new(p.P0_24, Level::Low, OutputDrive::Standard); +//! let spi_dev1 = SpiBusDevice::new(spi_bus, cs_pin1); +//! let display1 = ST7735::new(spi_dev1, dc1, rst1, Default::default(), 160, 128); +//! +//! // Device 2 +//! let cs_pin2 = Output::new(p.P0_24, Level::Low, OutputDrive::Standard); +//! let spi_dev2 = SpiBusDevice::new(spi_bus, cs_pin2); +//! let display2 = ST7735::new(spi_dev2, dc2, rst2, Default::default(), 160, 128); +//! ``` +use core::{fmt::Debug, future::Future}; +use embassy::blocking_mutex::raw::RawMutex; +use embassy::mutex::Mutex; + +use embedded_hal_1::digital::blocking::OutputPin; +use embedded_hal_1::spi::ErrorType; +use embedded_hal_async::spi; + +#[derive(Copy, Clone, Eq, PartialEq, Debug)] +pub enum SpiBusDeviceError { + Spi(BUS), + Cs(CS), +} + +impl spi::Error for SpiBusDeviceError +where + BUS: spi::Error + Debug, + CS: Debug, +{ + fn kind(&self) -> spi::ErrorKind { + match self { + Self::Spi(e) => e.kind(), + Self::Cs(_) => spi::ErrorKind::Other, + } + } +} + +pub struct SpiBusDevice<'a, M: RawMutex, BUS, CS> { + bus: &'a Mutex, + cs: CS, +} + +impl<'a, M: RawMutex, BUS, CS> SpiBusDevice<'a, M, BUS, CS> { + pub fn new(bus: &'a Mutex, 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; +} + +impl spi::SpiDevice for SpiBusDevice<'_, M, BUS, CS> +where + M: RawMutex + 'static, + BUS: spi::SpiBusFlush + 'static, + CS: OutputPin, +{ + type Bus = BUS; + + type TransactionFuture<'a, R, F, Fut> = impl Future> + 'a + where + Self: 'a, R: 'a, F: FnOnce(*mut Self::Bus) -> Fut + 'a, + Fut: Future::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::Error>> + 'a, + { + async move { + let mut bus = self.bus.lock().await; + 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) + } + } +} -- cgit