Remove unused files
This commit is contained in:
Dario Nieuwenhuis
parent
f5f98cdeab
commit
386e4bf0de
@ -1,120 +0,0 @@
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//! Async low power Serial.
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//!
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//! The peripheral is autmatically enabled and disabled as required to save power.
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//! Lowest power consumption can only be guaranteed if the send receive futures
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//! are dropped correctly (e.g. not using `mem::forget()`).
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use bxcan;
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use bxcan::Interrupts;
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use core::future::Future;
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use embassy::interrupt::Interrupt;
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use embassy::util::InterruptFuture;
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use nb;
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use nb::block;
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use crate::interrupt;
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/// Interface to the Serial peripheral
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pub struct Can<T: Instance> {
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can: bxcan::Can<T>,
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tx_int: T::TInterrupt,
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rx_int: T::RInterrupt,
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}
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impl<T: Instance> Can<T> {
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pub fn new(mut can: bxcan::Can<T>, tx_int: T::TInterrupt, rx_int: T::RInterrupt) -> Self {
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// Sync to the bus and start normal operation.
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can.enable_interrupts(
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Interrupts::TRANSMIT_MAILBOX_EMPTY | Interrupts::FIFO0_MESSAGE_PENDING,
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);
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block!(can.enable()).unwrap();
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Can {
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can: can,
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tx_int: tx_int,
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rx_int: rx_int,
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}
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}
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/// Sends can frame.
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///
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/// This method async-blocks until the frame is transmitted.
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pub fn transmit<'a>(&'a mut self, frame: &'a bxcan::Frame) -> impl Future<Output = ()> + 'a {
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async move {
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let fut = InterruptFuture::new(&mut self.tx_int);
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// Infallible
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self.can.transmit(frame).unwrap();
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fut.await;
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}
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}
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/// Receive can frame.
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///
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/// This method async-blocks until the frame is received.
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pub fn receive<'a>(&'a mut self) -> impl Future<Output = bxcan::Frame> + 'a {
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async move {
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let mut frame: Option<bxcan::Frame>;
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loop {
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let fut = InterruptFuture::new(&mut self.rx_int);
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frame = match self.can.receive() {
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Ok(frame) => Some(frame),
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Err(nb::Error::WouldBlock) => None,
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Err(nb::Error::Other(_)) => None, // Ignore overrun errors.
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};
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if frame.is_some() {
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break;
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}
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fut.await;
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}
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frame.unwrap()
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}
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}
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}
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mod private {
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pub trait Sealed {}
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}
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pub trait Instance: bxcan::Instance + private::Sealed {
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type TInterrupt: Interrupt;
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type RInterrupt: Interrupt;
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}
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macro_rules! can {
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($($can:ident => ($tint:ident, $rint:ident),)+) => {
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$(
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impl private::Sealed for crate::hal::can::Can<crate::pac::$can> {}
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impl Instance for crate::hal::can::Can<crate::pac::$can> {
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type TInterrupt = interrupt::$tint;
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type RInterrupt = interrupt::$rint;
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}
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)+
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}
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}
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#[cfg(any(
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feature = "stm32f401",
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feature = "stm32f405",
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feature = "stm32f407",
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feature = "stm32f410",
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feature = "stm32f411",
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feature = "stm32f412",
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feature = "stm32f413",
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feature = "stm32f415",
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feature = "stm32f417",
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feature = "stm32f423",
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feature = "stm32f427",
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feature = "stm32f429",
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feature = "stm32f437",
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feature = "stm32f439",
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feature = "stm32f446",
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feature = "stm32f469",
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feature = "stm32f479",
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))]
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can! {
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CAN1 => (CAN1_TX, CAN1_RX0),
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CAN2 => (CAN2_TX, CAN2_RX0),
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}
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@ -1,2 +0,0 @@
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pub mod serial;
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pub mod spi;
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@ -1,357 +0,0 @@
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//! Async Serial.
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use core::future::Future;
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use core::marker::PhantomData;
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use embassy::interrupt::Interrupt;
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use embassy::traits::uart::{Error, Read, ReadUntilIdle, Write};
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use embassy::util::InterruptFuture;
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use futures::{select_biased, FutureExt};
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use crate::hal::{
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dma,
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dma::config::DmaConfig,
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dma::traits::{Channel, DMASet, PeriAddress, Stream},
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dma::{MemoryToPeripheral, PeripheralToMemory, Transfer},
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rcc::Clocks,
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serial,
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serial::config::{Config as SerialConfig, DmaConfig as SerialDmaConfig},
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serial::{Event as SerialEvent, Pins},
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};
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use crate::interrupt;
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use crate::pac;
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/// Interface to the Serial peripheral
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pub struct Serial<
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USART: PeriAddress<MemSize = u8> + WithInterrupt,
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TSTREAM: Stream + WithInterrupt,
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RSTREAM: Stream + WithInterrupt,
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CHANNEL: Channel,
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> {
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tx_stream: Option<TSTREAM>,
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rx_stream: Option<RSTREAM>,
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usart: Option<USART>,
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tx_int: TSTREAM::Interrupt,
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rx_int: RSTREAM::Interrupt,
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usart_int: USART::Interrupt,
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channel: PhantomData<CHANNEL>,
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}
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// static mut INSTANCE: *const Serial<USART1, Stream7<DMA2>, Stream2<DMA2>> = ptr::null_mut();
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impl<USART, TSTREAM, RSTREAM, CHANNEL> Serial<USART, TSTREAM, RSTREAM, CHANNEL>
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where
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USART: serial::Instance
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+ PeriAddress<MemSize = u8>
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+ DMASet<TSTREAM, CHANNEL, MemoryToPeripheral>
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+ DMASet<RSTREAM, CHANNEL, PeripheralToMemory>
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+ WithInterrupt,
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TSTREAM: Stream + WithInterrupt,
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RSTREAM: Stream + WithInterrupt,
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CHANNEL: Channel,
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{
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// Leaking futures is forbidden!
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pub unsafe fn new<PINS>(
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usart: USART,
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streams: (TSTREAM, RSTREAM),
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pins: PINS,
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tx_int: TSTREAM::Interrupt,
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rx_int: RSTREAM::Interrupt,
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usart_int: USART::Interrupt,
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mut config: SerialConfig,
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clocks: Clocks,
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) -> Self
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where
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PINS: Pins<USART>,
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{
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config.dma = SerialDmaConfig::TxRx;
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let (usart, _) = serial::Serial::new(usart, pins, config, clocks)
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.unwrap()
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.release();
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let (tx_stream, rx_stream) = streams;
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Serial {
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tx_stream: Some(tx_stream),
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rx_stream: Some(rx_stream),
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usart: Some(usart),
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tx_int: tx_int,
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rx_int: rx_int,
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usart_int: usart_int,
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channel: PhantomData,
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}
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}
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}
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impl<USART, TSTREAM, RSTREAM, CHANNEL> Read for Serial<USART, TSTREAM, RSTREAM, CHANNEL>
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where
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USART: serial::Instance
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+ PeriAddress<MemSize = u8>
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+ DMASet<TSTREAM, CHANNEL, MemoryToPeripheral>
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+ DMASet<RSTREAM, CHANNEL, PeripheralToMemory>
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+ WithInterrupt
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+ 'static,
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TSTREAM: Stream + WithInterrupt + 'static,
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RSTREAM: Stream + WithInterrupt + 'static,
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CHANNEL: Channel + 'static,
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{
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type ReadFuture<'a> = impl Future<Output = Result<(), Error>> + 'a;
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/// Receives serial data.
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///
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/// The future is pending until the buffer is completely filled.
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fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
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let static_buf = unsafe { core::mem::transmute::<&'a mut [u8], &'static mut [u8]>(buf) };
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async move {
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let rx_stream = self.rx_stream.take().unwrap();
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let usart = self.usart.take().unwrap();
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let mut rx_transfer = Transfer::init(
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rx_stream,
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usart,
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static_buf,
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None,
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DmaConfig::default()
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.transfer_complete_interrupt(true)
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.memory_increment(true)
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.double_buffer(false),
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);
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let fut = InterruptFuture::new(&mut self.rx_int);
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rx_transfer.start(|_usart| {});
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fut.await;
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let (rx_stream, usart, _, _) = rx_transfer.free();
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self.rx_stream.replace(rx_stream);
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self.usart.replace(usart);
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Ok(())
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}
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}
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}
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impl<USART, TSTREAM, RSTREAM, CHANNEL> Write for Serial<USART, TSTREAM, RSTREAM, CHANNEL>
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where
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USART: serial::Instance
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+ PeriAddress<MemSize = u8>
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+ DMASet<TSTREAM, CHANNEL, MemoryToPeripheral>
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+ DMASet<RSTREAM, CHANNEL, PeripheralToMemory>
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+ WithInterrupt
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+ 'static,
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TSTREAM: Stream + WithInterrupt + 'static,
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RSTREAM: Stream + WithInterrupt + 'static,
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CHANNEL: Channel + 'static,
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{
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type WriteFuture<'a> = impl Future<Output = Result<(), Error>> + 'a;
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/// Sends serial data.
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fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
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#[allow(mutable_transmutes)]
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let static_buf = unsafe { core::mem::transmute::<&'a [u8], &'static mut [u8]>(buf) };
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async move {
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let tx_stream = self.tx_stream.take().unwrap();
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let usart = self.usart.take().unwrap();
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let mut tx_transfer = Transfer::init(
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tx_stream,
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usart,
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static_buf,
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None,
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DmaConfig::default()
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.transfer_complete_interrupt(true)
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.memory_increment(true)
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.double_buffer(false),
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);
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let fut = InterruptFuture::new(&mut self.tx_int);
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tx_transfer.start(|_usart| {});
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fut.await;
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let (tx_stream, usart, _buf, _) = tx_transfer.free();
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self.tx_stream.replace(tx_stream);
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self.usart.replace(usart);
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Ok(())
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}
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}
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}
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impl<USART, TSTREAM, RSTREAM, CHANNEL> ReadUntilIdle for Serial<USART, TSTREAM, RSTREAM, CHANNEL>
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where
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USART: serial::Instance
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+ PeriAddress<MemSize = u8>
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+ DMASet<TSTREAM, CHANNEL, MemoryToPeripheral>
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+ DMASet<RSTREAM, CHANNEL, PeripheralToMemory>
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+ WithInterrupt
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+ 'static,
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TSTREAM: Stream + WithInterrupt + 'static,
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RSTREAM: Stream + WithInterrupt + 'static,
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CHANNEL: Channel + 'static,
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{
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type ReadUntilIdleFuture<'a> = impl Future<Output = Result<usize, Error>> + 'a;
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/// Receives serial data.
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///
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/// The future is pending until either the buffer is completely full, or the RX line falls idle after receiving some data.
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///
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/// Returns the number of bytes read.
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fn read_until_idle<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadUntilIdleFuture<'a> {
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let static_buf = unsafe { core::mem::transmute::<&'a mut [u8], &'static mut [u8]>(buf) };
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async move {
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let rx_stream = self.rx_stream.take().unwrap();
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let usart = self.usart.take().unwrap();
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unsafe {
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/* __HAL_UART_ENABLE_IT(&uart->UartHandle, UART_IT_IDLE); */
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(*USART::ptr()).cr1.modify(|_, w| w.idleie().set_bit());
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/* __HAL_UART_CLEAR_IDLEFLAG(&uart->UartHandle); */
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(*USART::ptr()).sr.read();
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(*USART::ptr()).dr.read();
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};
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let mut rx_transfer = Transfer::init(
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rx_stream,
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usart,
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static_buf,
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None,
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DmaConfig::default()
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.transfer_complete_interrupt(true)
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.memory_increment(true)
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.double_buffer(false),
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);
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let total_bytes = RSTREAM::get_number_of_transfers() as usize;
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let fut = InterruptFuture::new(&mut self.rx_int);
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let fut_idle = InterruptFuture::new(&mut self.usart_int);
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rx_transfer.start(|_usart| {});
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futures::future::select(fut, fut_idle).await;
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let (rx_stream, usart, _, _) = rx_transfer.free();
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let remaining_bytes = RSTREAM::get_number_of_transfers() as usize;
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unsafe {
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(*USART::ptr()).cr1.modify(|_, w| w.idleie().clear_bit());
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}
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self.rx_stream.replace(rx_stream);
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self.usart.replace(usart);
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Ok(total_bytes - remaining_bytes)
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}
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}
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}
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mod private {
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pub trait Sealed {}
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}
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pub trait WithInterrupt: private::Sealed {
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type Interrupt: Interrupt;
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}
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macro_rules! dma {
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($($PER:ident => ($dma:ident, $stream:ident),)+) => {
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$(
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impl private::Sealed for dma::$stream<pac::$dma> {}
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impl WithInterrupt for dma::$stream<pac::$dma> {
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type Interrupt = interrupt::$PER;
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}
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)+
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}
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}
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macro_rules! usart {
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($($PER:ident => ($usart:ident),)+) => {
|
|
||||||
$(
|
|
||||||
impl private::Sealed for pac::$usart {}
|
|
||||||
impl WithInterrupt for pac::$usart {
|
|
||||||
type Interrupt = interrupt::$PER;
|
|
||||||
}
|
|
||||||
)+
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
dma! {
|
|
||||||
DMA2_STREAM0 => (DMA2, Stream0),
|
|
||||||
DMA2_STREAM1 => (DMA2, Stream1),
|
|
||||||
DMA2_STREAM2 => (DMA2, Stream2),
|
|
||||||
DMA2_STREAM3 => (DMA2, Stream3),
|
|
||||||
DMA2_STREAM4 => (DMA2, Stream4),
|
|
||||||
DMA2_STREAM5 => (DMA2, Stream5),
|
|
||||||
DMA2_STREAM6 => (DMA2, Stream6),
|
|
||||||
DMA2_STREAM7 => (DMA2, Stream7),
|
|
||||||
DMA1_STREAM0 => (DMA1, Stream0),
|
|
||||||
DMA1_STREAM1 => (DMA1, Stream1),
|
|
||||||
DMA1_STREAM2 => (DMA1, Stream2),
|
|
||||||
DMA1_STREAM3 => (DMA1, Stream3),
|
|
||||||
DMA1_STREAM4 => (DMA1, Stream4),
|
|
||||||
DMA1_STREAM5 => (DMA1, Stream5),
|
|
||||||
DMA1_STREAM6 => (DMA1, Stream6),
|
|
||||||
}
|
|
||||||
|
|
||||||
#[cfg(any(feature = "stm32f401", feature = "stm32f410", feature = "stm32f411",))]
|
|
||||||
usart! {
|
|
||||||
USART1 => (USART1),
|
|
||||||
USART2 => (USART2),
|
|
||||||
USART6 => (USART6),
|
|
||||||
}
|
|
||||||
|
|
||||||
#[cfg(any(feature = "stm32f405", feature = "stm32f407"))]
|
|
||||||
usart! {
|
|
||||||
USART1 => (USART1),
|
|
||||||
USART2 => (USART2),
|
|
||||||
USART3 => (USART3),
|
|
||||||
USART6 => (USART6),
|
|
||||||
|
|
||||||
UART4 => (UART4),
|
|
||||||
UART5 => (UART5),
|
|
||||||
}
|
|
||||||
|
|
||||||
#[cfg(feature = "stm32f412")]
|
|
||||||
usart! {
|
|
||||||
USART1 => (USART1),
|
|
||||||
USART2 => (USART2),
|
|
||||||
USART3 => (USART3),
|
|
||||||
USART6 => (USART6),
|
|
||||||
}
|
|
||||||
|
|
||||||
#[cfg(feature = "stm32f413")]
|
|
||||||
usart! {
|
|
||||||
USART1 => (USART1),
|
|
||||||
USART2 => (USART2),
|
|
||||||
USART3 => (USART3),
|
|
||||||
USART6 => (USART6),
|
|
||||||
USART7 => (USART7),
|
|
||||||
USART8 => (USART8),
|
|
||||||
|
|
||||||
UART5 => (UART5),
|
|
||||||
UART9 => (UART9),
|
|
||||||
UART10 => (UART10),
|
|
||||||
}
|
|
||||||
|
|
||||||
#[cfg(any(
|
|
||||||
feature = "stm32f427",
|
|
||||||
feature = "stm32f429",
|
|
||||||
feature = "stm32f446",
|
|
||||||
feature = "stm32f469"
|
|
||||||
))]
|
|
||||||
usart! {
|
|
||||||
USART1 => (USART1),
|
|
||||||
USART2 => (USART2),
|
|
||||||
USART3 => (USART3),
|
|
||||||
USART6 => (USART6),
|
|
||||||
|
|
||||||
UART4 => (UART4),
|
|
||||||
UART5 => (UART5),
|
|
||||||
// UART7 => (UART7),
|
|
||||||
// UART8 => (UART8),
|
|
||||||
}
|
|
||||||
@ -1,475 +0,0 @@
|
|||||||
//! Async SPI
|
|
||||||
|
|
||||||
use embassy::time;
|
|
||||||
|
|
||||||
use core::{future::Future, marker::PhantomData, mem, ops::Deref, pin::Pin, ptr};
|
|
||||||
use embassy::{interrupt::Interrupt, traits::spi::FullDuplex, util::InterruptFuture};
|
|
||||||
use nb;
|
|
||||||
|
|
||||||
pub use crate::hal::spi::{Mode, Phase, Polarity};
|
|
||||||
use crate::hal::{
|
|
||||||
bb, dma,
|
|
||||||
dma::config::DmaConfig,
|
|
||||||
dma::traits::{Channel, DMASet, PeriAddress, Stream},
|
|
||||||
dma::{MemoryToPeripheral, PeripheralToMemory, Transfer},
|
|
||||||
rcc::Clocks,
|
|
||||||
spi::Pins,
|
|
||||||
time::Hertz,
|
|
||||||
};
|
|
||||||
use crate::interrupt;
|
|
||||||
use crate::pac;
|
|
||||||
use futures::future;
|
|
||||||
|
|
||||||
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
|
|
||||||
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
|
|
||||||
#[non_exhaustive]
|
|
||||||
pub enum Error {
|
|
||||||
TxBufferTooLong,
|
|
||||||
RxBufferTooLong,
|
|
||||||
Overrun,
|
|
||||||
ModeFault,
|
|
||||||
Crc,
|
|
||||||
}
|
|
||||||
|
|
||||||
fn read_sr<T: Instance>(spi: &T) -> nb::Result<u8, Error> {
|
|
||||||
let sr = spi.sr.read();
|
|
||||||
Err(if sr.ovr().bit_is_set() {
|
|
||||||
nb::Error::Other(Error::Overrun)
|
|
||||||
} else if sr.modf().bit_is_set() {
|
|
||||||
nb::Error::Other(Error::ModeFault)
|
|
||||||
} else if sr.crcerr().bit_is_set() {
|
|
||||||
nb::Error::Other(Error::Crc)
|
|
||||||
} else if sr.rxne().bit_is_set() {
|
|
||||||
// NOTE(read_volatile) read only 1 byte (the svd2rust API only allows
|
|
||||||
// reading a half-word)
|
|
||||||
return Ok(unsafe { ptr::read_volatile(&spi.dr as *const _ as *const u8) });
|
|
||||||
} else {
|
|
||||||
nb::Error::WouldBlock
|
|
||||||
})
|
|
||||||
}
|
|
||||||
|
|
||||||
fn write_sr<T: Instance>(spi: &T, byte: u8) -> nb::Result<(), Error> {
|
|
||||||
let sr = spi.sr.read();
|
|
||||||
Err(if sr.ovr().bit_is_set() {
|
|
||||||
// Read from the DR to clear the OVR bit
|
|
||||||
let _ = spi.dr.read();
|
|
||||||
nb::Error::Other(Error::Overrun)
|
|
||||||
} else if sr.modf().bit_is_set() {
|
|
||||||
// Write to CR1 to clear MODF
|
|
||||||
spi.cr1.modify(|_r, w| w);
|
|
||||||
nb::Error::Other(Error::ModeFault)
|
|
||||||
} else if sr.crcerr().bit_is_set() {
|
|
||||||
// Clear the CRCERR bit
|
|
||||||
spi.sr.modify(|_r, w| {
|
|
||||||
w.crcerr().clear_bit();
|
|
||||||
w
|
|
||||||
});
|
|
||||||
nb::Error::Other(Error::Crc)
|
|
||||||
} else if sr.txe().bit_is_set() {
|
|
||||||
// NOTE(write_volatile) see note above
|
|
||||||
unsafe { ptr::write_volatile(&spi.dr as *const _ as *mut u8, byte) }
|
|
||||||
return Ok(());
|
|
||||||
} else {
|
|
||||||
nb::Error::WouldBlock
|
|
||||||
})
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Interface to the Serial peripheral
|
|
||||||
pub struct Spi<
|
|
||||||
SPI: PeriAddress<MemSize = u8> + WithInterrupt,
|
|
||||||
TSTREAM: Stream + WithInterrupt,
|
|
||||||
RSTREAM: Stream + WithInterrupt,
|
|
||||||
CHANNEL: Channel,
|
|
||||||
> {
|
|
||||||
tx_stream: Option<TSTREAM>,
|
|
||||||
rx_stream: Option<RSTREAM>,
|
|
||||||
spi: Option<SPI>,
|
|
||||||
tx_int: TSTREAM::Interrupt,
|
|
||||||
rx_int: RSTREAM::Interrupt,
|
|
||||||
spi_int: SPI::Interrupt,
|
|
||||||
channel: PhantomData<CHANNEL>,
|
|
||||||
}
|
|
||||||
|
|
||||||
impl<SPI, TSTREAM, RSTREAM, CHANNEL> Spi<SPI, TSTREAM, RSTREAM, CHANNEL>
|
|
||||||
where
|
|
||||||
SPI: Instance
|
|
||||||
+ PeriAddress<MemSize = u8>
|
|
||||||
+ DMASet<TSTREAM, CHANNEL, MemoryToPeripheral>
|
|
||||||
+ DMASet<RSTREAM, CHANNEL, PeripheralToMemory>
|
|
||||||
+ WithInterrupt,
|
|
||||||
TSTREAM: Stream + WithInterrupt,
|
|
||||||
RSTREAM: Stream + WithInterrupt,
|
|
||||||
CHANNEL: Channel,
|
|
||||||
{
|
|
||||||
// Leaking futures is forbidden!
|
|
||||||
pub unsafe fn new<PINS>(
|
|
||||||
spi: SPI,
|
|
||||||
streams: (TSTREAM, RSTREAM),
|
|
||||||
pins: PINS,
|
|
||||||
tx_int: TSTREAM::Interrupt,
|
|
||||||
rx_int: RSTREAM::Interrupt,
|
|
||||||
spi_int: SPI::Interrupt,
|
|
||||||
mode: Mode,
|
|
||||||
freq: Hertz,
|
|
||||||
clocks: Clocks,
|
|
||||||
) -> Self
|
|
||||||
where
|
|
||||||
PINS: Pins<SPI>,
|
|
||||||
{
|
|
||||||
let (tx_stream, rx_stream) = streams;
|
|
||||||
|
|
||||||
// let spi1: crate::pac::SPI1 = unsafe { mem::transmute(()) };
|
|
||||||
// let mut hspi = crate::hal::spi::Spi::spi1(
|
|
||||||
// spi1,
|
|
||||||
// (
|
|
||||||
// crate::hal::spi::NoSck,
|
|
||||||
// crate::hal::spi::NoMiso,
|
|
||||||
// crate::hal::spi::NoMosi,
|
|
||||||
// ),
|
|
||||||
// mode,
|
|
||||||
// freq,
|
|
||||||
// clocks,
|
|
||||||
// );
|
|
||||||
|
|
||||||
unsafe { SPI::enable_clock() };
|
|
||||||
|
|
||||||
let clock = SPI::clock_speed(clocks);
|
|
||||||
|
|
||||||
// disable SS output
|
|
||||||
// spi.cr2
|
|
||||||
// .write(|w| w.ssoe().clear_bit().rxdmaen().set_bit().txdmaen().set_bit());
|
|
||||||
spi.cr2.write(|w| w.ssoe().clear_bit());
|
|
||||||
|
|
||||||
let br = match clock.0 / freq.0 {
|
|
||||||
0 => unreachable!(),
|
|
||||||
1..=2 => 0b000,
|
|
||||||
3..=5 => 0b001,
|
|
||||||
6..=11 => 0b010,
|
|
||||||
12..=23 => 0b011,
|
|
||||||
24..=47 => 0b100,
|
|
||||||
48..=95 => 0b101,
|
|
||||||
96..=191 => 0b110,
|
|
||||||
_ => 0b111,
|
|
||||||
};
|
|
||||||
|
|
||||||
// mstr: master configuration
|
|
||||||
// lsbfirst: MSB first
|
|
||||||
// ssm: enable software slave management (NSS pin free for other uses)
|
|
||||||
// ssi: set nss high = master mode
|
|
||||||
// dff: 8 bit frames
|
|
||||||
// bidimode: 2-line unidirectional
|
|
||||||
// spe: enable the SPI bus
|
|
||||||
spi.cr1.write(|w| {
|
|
||||||
w.cpha()
|
|
||||||
.bit(mode.phase == Phase::CaptureOnSecondTransition)
|
|
||||||
.cpol()
|
|
||||||
.bit(mode.polarity == Polarity::IdleHigh)
|
|
||||||
.mstr()
|
|
||||||
.set_bit()
|
|
||||||
.br()
|
|
||||||
.bits(br)
|
|
||||||
.lsbfirst()
|
|
||||||
.clear_bit()
|
|
||||||
.ssm()
|
|
||||||
.set_bit()
|
|
||||||
.ssi()
|
|
||||||
.set_bit()
|
|
||||||
.rxonly()
|
|
||||||
.clear_bit()
|
|
||||||
.dff()
|
|
||||||
.clear_bit()
|
|
||||||
.bidimode()
|
|
||||||
.clear_bit()
|
|
||||||
.spe()
|
|
||||||
.set_bit()
|
|
||||||
});
|
|
||||||
|
|
||||||
Self {
|
|
||||||
tx_stream: Some(tx_stream),
|
|
||||||
rx_stream: Some(rx_stream),
|
|
||||||
spi: Some(spi),
|
|
||||||
tx_int: tx_int,
|
|
||||||
rx_int: rx_int,
|
|
||||||
spi_int: spi_int,
|
|
||||||
channel: PhantomData,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
impl<SPI, TSTREAM, RSTREAM, CHANNEL> FullDuplex<u8> for Spi<SPI, TSTREAM, RSTREAM, CHANNEL>
|
|
||||||
where
|
|
||||||
SPI: Instance
|
|
||||||
+ PeriAddress<MemSize = u8>
|
|
||||||
+ DMASet<TSTREAM, CHANNEL, MemoryToPeripheral>
|
|
||||||
+ DMASet<RSTREAM, CHANNEL, PeripheralToMemory>
|
|
||||||
+ WithInterrupt
|
|
||||||
+ 'static,
|
|
||||||
TSTREAM: Stream + WithInterrupt + 'static,
|
|
||||||
RSTREAM: Stream + WithInterrupt + 'static,
|
|
||||||
CHANNEL: Channel + 'static,
|
|
||||||
{
|
|
||||||
type Error = Error;
|
|
||||||
|
|
||||||
type WriteFuture<'a> = impl Future<Output = Result<(), Error>> + 'a;
|
|
||||||
type ReadFuture<'a> = impl Future<Output = Result<(), Error>> + 'a;
|
|
||||||
type WriteReadFuture<'a> = impl Future<Output = Result<(), Error>> + 'a;
|
|
||||||
|
|
||||||
fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
|
|
||||||
#[allow(mutable_transmutes)]
|
|
||||||
let static_buf: &'static mut [u8] = unsafe { mem::transmute(buf) };
|
|
||||||
|
|
||||||
async move {
|
|
||||||
let rx_stream = self.rx_stream.take().unwrap();
|
|
||||||
let spi = self.spi.take().unwrap();
|
|
||||||
|
|
||||||
spi.cr2.modify(|_, w| w.errie().set_bit());
|
|
||||||
|
|
||||||
let mut rx_transfer = Transfer::init(
|
|
||||||
rx_stream,
|
|
||||||
spi,
|
|
||||||
static_buf,
|
|
||||||
None,
|
|
||||||
DmaConfig::default()
|
|
||||||
.transfer_complete_interrupt(true)
|
|
||||||
.memory_increment(true)
|
|
||||||
.double_buffer(false),
|
|
||||||
);
|
|
||||||
|
|
||||||
let fut = InterruptFuture::new(&mut self.rx_int);
|
|
||||||
let fut_err = InterruptFuture::new(&mut self.spi_int);
|
|
||||||
|
|
||||||
rx_transfer.start(|_spi| {});
|
|
||||||
future::select(fut, fut_err).await;
|
|
||||||
|
|
||||||
let (rx_stream, spi, _buf, _) = rx_transfer.free();
|
|
||||||
|
|
||||||
spi.cr2.modify(|_, w| w.errie().clear_bit());
|
|
||||||
self.rx_stream.replace(rx_stream);
|
|
||||||
self.spi.replace(spi);
|
|
||||||
|
|
||||||
Ok(())
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
|
|
||||||
#[allow(mutable_transmutes)]
|
|
||||||
let static_buf: &'static mut [u8] = unsafe { mem::transmute(buf) };
|
|
||||||
|
|
||||||
async move {
|
|
||||||
let tx_stream = self.tx_stream.take().unwrap();
|
|
||||||
let spi = self.spi.take().unwrap();
|
|
||||||
|
|
||||||
// let mut tx_transfer = Transfer::init(
|
|
||||||
// tx_stream,
|
|
||||||
// spi,
|
|
||||||
// static_buf,
|
|
||||||
// None,
|
|
||||||
// DmaConfig::default()
|
|
||||||
// .transfer_complete_interrupt(true)
|
|
||||||
// .memory_increment(true)
|
|
||||||
// .double_buffer(false),
|
|
||||||
// );
|
|
||||||
//
|
|
||||||
// let fut = InterruptFuture::new(&mut self.tx_int);
|
|
||||||
//
|
|
||||||
// tx_transfer.start(|_spi| {});
|
|
||||||
// fut.await;
|
|
||||||
|
|
||||||
// let (tx_stream, spi, _buf, _) = tx_transfer.free();
|
|
||||||
|
|
||||||
for i in 0..(static_buf.len() - 1) {
|
|
||||||
let byte = static_buf[i];
|
|
||||||
nb::block!(write_sr(&spi, byte));
|
|
||||||
}
|
|
||||||
|
|
||||||
self.tx_stream.replace(tx_stream);
|
|
||||||
self.spi.replace(spi);
|
|
||||||
|
|
||||||
Ok(())
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn read_write<'a>(
|
|
||||||
&'a mut self,
|
|
||||||
read_buf: &'a mut [u8],
|
|
||||||
write_buf: &'a [u8],
|
|
||||||
) -> Self::WriteReadFuture<'a> {
|
|
||||||
#[allow(mutable_transmutes)]
|
|
||||||
let write_static_buf: &'static mut [u8] = unsafe { mem::transmute(write_buf) };
|
|
||||||
let read_static_buf: &'static mut [u8] = unsafe { mem::transmute(read_buf) };
|
|
||||||
|
|
||||||
async move {
|
|
||||||
let tx_stream = self.tx_stream.take().unwrap();
|
|
||||||
let rx_stream = self.rx_stream.take().unwrap();
|
|
||||||
let spi_tx = self.spi.take().unwrap();
|
|
||||||
let spi_rx: SPI = unsafe { mem::transmute_copy(&spi_tx) };
|
|
||||||
|
|
||||||
spi_rx
|
|
||||||
.cr2
|
|
||||||
.modify(|_, w| w.errie().set_bit().txeie().set_bit().rxneie().set_bit());
|
|
||||||
|
|
||||||
// let mut tx_transfer = Transfer::init(
|
|
||||||
// tx_stream,
|
|
||||||
// spi_tx,
|
|
||||||
// write_static_buf,
|
|
||||||
// None,
|
|
||||||
// DmaConfig::default()
|
|
||||||
// .transfer_complete_interrupt(true)
|
|
||||||
// .memory_increment(true)
|
|
||||||
// .double_buffer(false),
|
|
||||||
// );
|
|
||||||
//
|
|
||||||
// let mut rx_transfer = Transfer::init(
|
|
||||||
// rx_stream,
|
|
||||||
// spi_rx,
|
|
||||||
// read_static_buf,
|
|
||||||
// None,
|
|
||||||
// DmaConfig::default()
|
|
||||||
// .transfer_complete_interrupt(true)
|
|
||||||
// .memory_increment(true)
|
|
||||||
// .double_buffer(false),
|
|
||||||
// );
|
|
||||||
//
|
|
||||||
// let tx_fut = InterruptFuture::new(&mut self.tx_int);
|
|
||||||
// let rx_fut = InterruptFuture::new(&mut self.rx_int);
|
|
||||||
// let rx_fut_err = InterruptFuture::new(&mut self.spi_int);
|
|
||||||
//
|
|
||||||
// rx_transfer.start(|_spi| {});
|
|
||||||
// tx_transfer.start(|_spi| {});
|
|
||||||
//
|
|
||||||
// time::Timer::after(time::Duration::from_millis(500)).await;
|
|
||||||
//
|
|
||||||
// // tx_fut.await;
|
|
||||||
// // future::select(rx_fut, rx_fut_err).await;
|
|
||||||
//
|
|
||||||
// let (rx_stream, spi_rx, _buf, _) = rx_transfer.free();
|
|
||||||
// let (tx_stream, _, _buf, _) = tx_transfer.free();
|
|
||||||
|
|
||||||
for i in 0..(read_static_buf.len() - 1) {
|
|
||||||
let byte = write_static_buf[i];
|
|
||||||
loop {
|
|
||||||
let fut = InterruptFuture::new(&mut self.spi_int);
|
|
||||||
match write_sr(&spi_tx, byte) {
|
|
||||||
Ok(()) => break,
|
|
||||||
_ => {}
|
|
||||||
}
|
|
||||||
fut.await;
|
|
||||||
}
|
|
||||||
|
|
||||||
loop {
|
|
||||||
let fut = InterruptFuture::new(&mut self.spi_int);
|
|
||||||
match read_sr(&spi_tx) {
|
|
||||||
Ok(byte) => {
|
|
||||||
read_static_buf[i] = byte;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
_ => {}
|
|
||||||
}
|
|
||||||
fut.await;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
spi_rx.cr2.modify(|_, w| {
|
|
||||||
w.errie()
|
|
||||||
.clear_bit()
|
|
||||||
.txeie()
|
|
||||||
.clear_bit()
|
|
||||||
.rxneie()
|
|
||||||
.clear_bit()
|
|
||||||
});
|
|
||||||
self.rx_stream.replace(rx_stream);
|
|
||||||
self.tx_stream.replace(tx_stream);
|
|
||||||
self.spi.replace(spi_rx);
|
|
||||||
|
|
||||||
Ok(())
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
mod private {
|
|
||||||
pub trait Sealed {}
|
|
||||||
}
|
|
||||||
|
|
||||||
pub trait WithInterrupt: private::Sealed {
|
|
||||||
type Interrupt: Interrupt;
|
|
||||||
}
|
|
||||||
|
|
||||||
pub trait Instance: Deref<Target = pac::spi1::RegisterBlock> + private::Sealed {
|
|
||||||
unsafe fn enable_clock();
|
|
||||||
fn clock_speed(clocks: Clocks) -> Hertz;
|
|
||||||
}
|
|
||||||
|
|
||||||
macro_rules! dma {
|
|
||||||
($($PER:ident => ($dma:ident, $stream:ident),)+) => {
|
|
||||||
$(
|
|
||||||
impl private::Sealed for dma::$stream<pac::$dma> {}
|
|
||||||
impl WithInterrupt for dma::$stream<pac::$dma> {
|
|
||||||
type Interrupt = interrupt::$PER;
|
|
||||||
}
|
|
||||||
)+
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
macro_rules! spi {
|
|
||||||
($($PER:ident => ($SPI:ident, $pclkX:ident, $apbXenr:ident, $en:expr),)+) => {
|
|
||||||
$(
|
|
||||||
impl private::Sealed for pac::$SPI {}
|
|
||||||
impl Instance for pac::$SPI {
|
|
||||||
unsafe fn enable_clock() {
|
|
||||||
const EN_BIT: u8 = $en;
|
|
||||||
// NOTE(unsafe) self reference will only be used for atomic writes with no side effects.
|
|
||||||
let rcc = &(*pac::RCC::ptr());
|
|
||||||
// Enable clock.
|
|
||||||
bb::set(&rcc.$apbXenr, EN_BIT);
|
|
||||||
// Stall the pipeline to work around erratum 2.1.13 (DM00037591)
|
|
||||||
cortex_m::asm::dsb();
|
|
||||||
}
|
|
||||||
|
|
||||||
fn clock_speed(clocks: Clocks) -> Hertz {
|
|
||||||
clocks.$pclkX()
|
|
||||||
}
|
|
||||||
}
|
|
||||||
impl WithInterrupt for pac::$SPI {
|
|
||||||
type Interrupt = interrupt::$PER;
|
|
||||||
}
|
|
||||||
)+
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
dma! {
|
|
||||||
DMA2_STREAM0 => (DMA2, Stream0),
|
|
||||||
DMA2_STREAM1 => (DMA2, Stream1),
|
|
||||||
DMA2_STREAM2 => (DMA2, Stream2),
|
|
||||||
DMA2_STREAM3 => (DMA2, Stream3),
|
|
||||||
DMA2_STREAM4 => (DMA2, Stream4),
|
|
||||||
DMA2_STREAM5 => (DMA2, Stream5),
|
|
||||||
DMA2_STREAM6 => (DMA2, Stream6),
|
|
||||||
DMA2_STREAM7 => (DMA2, Stream7),
|
|
||||||
DMA1_STREAM0 => (DMA1, Stream0),
|
|
||||||
DMA1_STREAM1 => (DMA1, Stream1),
|
|
||||||
DMA1_STREAM2 => (DMA1, Stream2),
|
|
||||||
DMA1_STREAM3 => (DMA1, Stream3),
|
|
||||||
DMA1_STREAM4 => (DMA1, Stream4),
|
|
||||||
DMA1_STREAM5 => (DMA1, Stream5),
|
|
||||||
DMA1_STREAM6 => (DMA1, Stream6),
|
|
||||||
}
|
|
||||||
|
|
||||||
#[cfg(any(
|
|
||||||
feature = "stm32f401",
|
|
||||||
feature = "stm32f410",
|
|
||||||
feature = "stm32f411",
|
|
||||||
feature = "stm32f446",
|
|
||||||
))]
|
|
||||||
spi! {
|
|
||||||
SPI1 => (SPI1, pclk2, apb2enr, 12),
|
|
||||||
SPI2 => (SPI2, pclk1, apb2enr, 14),
|
|
||||||
// SPI6 => (SPI6, pclk2, apb2enr, 21),
|
|
||||||
SPI4 => (SPI3, pclk2, apb2enr, 13),
|
|
||||||
// SPI5 => (SPI3, pclk2, apb2enr, 20),
|
|
||||||
}
|
|
||||||
|
|
||||||
#[cfg(any(feature = "stm32f405", feature = "stm32f407"))]
|
|
||||||
spi! {
|
|
||||||
SPI1 => (SPI1, pclk2, apb2enr, 12),
|
|
||||||
SPI3 => (SPI3, pclk1, apb2enr, 15),
|
|
||||||
}
|
|
||||||
@ -1,59 +0,0 @@
|
|||||||
use core::sync::atomic::{compiler_fence, Ordering};
|
|
||||||
|
|
||||||
use crate::pac::NVIC_PRIO_BITS;
|
|
||||||
|
|
||||||
// Re-exports
|
|
||||||
pub use cortex_m::interrupt::{CriticalSection, Mutex};
|
|
||||||
pub use embassy::interrupt::{declare, take, Interrupt};
|
|
||||||
|
|
||||||
#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
|
|
||||||
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
|
|
||||||
#[repr(u8)]
|
|
||||||
pub enum Priority {
|
|
||||||
Level0 = 0,
|
|
||||||
Level1 = 1,
|
|
||||||
Level2 = 2,
|
|
||||||
Level3 = 3,
|
|
||||||
Level4 = 4,
|
|
||||||
Level5 = 5,
|
|
||||||
Level6 = 6,
|
|
||||||
Level7 = 7,
|
|
||||||
Level8 = 8,
|
|
||||||
Level9 = 9,
|
|
||||||
Level10 = 10,
|
|
||||||
Level11 = 11,
|
|
||||||
Level12 = 12,
|
|
||||||
Level13 = 13,
|
|
||||||
Level14 = 14,
|
|
||||||
Level15 = 15,
|
|
||||||
}
|
|
||||||
|
|
||||||
impl From<u8> for Priority {
|
|
||||||
fn from(priority: u8) -> Self {
|
|
||||||
match priority >> (8 - NVIC_PRIO_BITS) {
|
|
||||||
0 => Self::Level0,
|
|
||||||
1 => Self::Level1,
|
|
||||||
2 => Self::Level2,
|
|
||||||
3 => Self::Level3,
|
|
||||||
4 => Self::Level4,
|
|
||||||
5 => Self::Level5,
|
|
||||||
6 => Self::Level6,
|
|
||||||
7 => Self::Level7,
|
|
||||||
8 => Self::Level8,
|
|
||||||
9 => Self::Level9,
|
|
||||||
10 => Self::Level10,
|
|
||||||
11 => Self::Level11,
|
|
||||||
12 => Self::Level12,
|
|
||||||
13 => Self::Level13,
|
|
||||||
14 => Self::Level14,
|
|
||||||
15 => Self::Level15,
|
|
||||||
_ => unreachable!(),
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
impl From<Priority> for u8 {
|
|
||||||
fn from(p: Priority) -> Self {
|
|
||||||
(p as u8) << (8 - NVIC_PRIO_BITS)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -1,504 +0,0 @@
|
|||||||
use crate::hal::bb;
|
|
||||||
use crate::hal::rcc::Clocks;
|
|
||||||
use core::cell::Cell;
|
|
||||||
use core::convert::TryInto;
|
|
||||||
use core::sync::atomic::{compiler_fence, AtomicU32, Ordering};
|
|
||||||
|
|
||||||
use embassy::interrupt::InterruptExt;
|
|
||||||
use embassy::time::{Clock, TICKS_PER_SECOND};
|
|
||||||
|
|
||||||
use crate::interrupt;
|
|
||||||
use crate::interrupt::{CriticalSection, Interrupt, Mutex};
|
|
||||||
|
|
||||||
// RTC timekeeping works with something we call "periods", which are time intervals
|
|
||||||
// of 2^15 ticks. The RTC counter value is 16 bits, so one "overflow cycle" is 2 periods.
|
|
||||||
//
|
|
||||||
// A `period` count is maintained in parallel to the RTC hardware `counter`, like this:
|
|
||||||
// - `period` and `counter` start at 0
|
|
||||||
// - `period` is incremented on overflow (at counter value 0)
|
|
||||||
// - `period` is incremented "midway" between overflows (at counter value 0x8000)
|
|
||||||
//
|
|
||||||
// Therefore, when `period` is even, counter is in 0..0x7FFF. When odd, counter is in 0x8000..0xFFFF
|
|
||||||
// This allows for now() to return the correct value even if it races an overflow.
|
|
||||||
//
|
|
||||||
// To get `now()`, `period` is read first, then `counter` is read. If the counter value matches
|
|
||||||
// the expected range for the `period` parity, we're done. If it doesn't, this means that
|
|
||||||
// a new period start has raced us between reading `period` and `counter`, so we assume the `counter` value
|
|
||||||
// corresponds to the next period.
|
|
||||||
//
|
|
||||||
// `period` is a 32bit integer, so It overflows on 2^32 * 2^15 / 32768 seconds of uptime, which is 136 years.
|
|
||||||
fn calc_now(period: u32, counter: u16) -> u64 {
|
|
||||||
((period as u64) << 15) + ((counter as u32 ^ ((period & 1) << 15)) as u64)
|
|
||||||
}
|
|
||||||
|
|
||||||
struct AlarmState {
|
|
||||||
timestamp: Cell<u64>,
|
|
||||||
callback: Cell<Option<(fn(*mut ()), *mut ())>>,
|
|
||||||
}
|
|
||||||
|
|
||||||
impl AlarmState {
|
|
||||||
fn new() -> Self {
|
|
||||||
Self {
|
|
||||||
timestamp: Cell::new(u64::MAX),
|
|
||||||
callback: Cell::new(None),
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// TODO: This is sometimes wasteful, try to find a better way
|
|
||||||
const ALARM_COUNT: usize = 3;
|
|
||||||
|
|
||||||
/// RTC timer that can be used by the executor and to set alarms.
|
|
||||||
///
|
|
||||||
/// It can work with Timers 2, 3, 4, 5, 9 and 12. Timers 9 and 12 only have one alarm available,
|
|
||||||
/// while the others have three each.
|
|
||||||
/// This timer works internally with a unit of 2^15 ticks, which means that if a call to
|
|
||||||
/// [`embassy::time::Clock::now`] is blocked for that amount of ticks the returned value will be
|
|
||||||
/// wrong (an old value). The current default tick rate is 32768 ticks per second.
|
|
||||||
pub struct RTC<T: Instance> {
|
|
||||||
rtc: T,
|
|
||||||
irq: T::Interrupt,
|
|
||||||
|
|
||||||
/// Number of 2^23 periods elapsed since boot.
|
|
||||||
period: AtomicU32,
|
|
||||||
|
|
||||||
/// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
|
|
||||||
alarms: Mutex<[AlarmState; ALARM_COUNT]>,
|
|
||||||
|
|
||||||
clocks: Clocks,
|
|
||||||
}
|
|
||||||
|
|
||||||
impl<T: Instance> RTC<T> {
|
|
||||||
pub fn new(rtc: T, irq: T::Interrupt, clocks: Clocks) -> Self {
|
|
||||||
Self {
|
|
||||||
rtc,
|
|
||||||
irq,
|
|
||||||
period: AtomicU32::new(0),
|
|
||||||
alarms: Mutex::new([AlarmState::new(), AlarmState::new(), AlarmState::new()]),
|
|
||||||
clocks,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
pub fn start(&'static self) {
|
|
||||||
self.rtc.enable_clock();
|
|
||||||
self.rtc.stop_and_reset();
|
|
||||||
|
|
||||||
let multiplier = if T::ppre(&self.clocks) == 1 { 1 } else { 2 };
|
|
||||||
let freq = T::pclk(&self.clocks) * multiplier;
|
|
||||||
let psc = freq / TICKS_PER_SECOND as u32 - 1;
|
|
||||||
let psc: u16 = psc.try_into().unwrap();
|
|
||||||
|
|
||||||
self.rtc.set_psc_arr(psc, u16::MAX);
|
|
||||||
// Mid-way point
|
|
||||||
self.rtc.set_compare(0, 0x8000);
|
|
||||||
self.rtc.set_compare_interrupt(0, true);
|
|
||||||
|
|
||||||
self.irq.set_handler(|ptr| unsafe {
|
|
||||||
let this = &*(ptr as *const () as *const Self);
|
|
||||||
this.on_interrupt();
|
|
||||||
});
|
|
||||||
self.irq.set_handler_context(self as *const _ as *mut _);
|
|
||||||
self.irq.unpend();
|
|
||||||
self.irq.enable();
|
|
||||||
|
|
||||||
self.rtc.start();
|
|
||||||
}
|
|
||||||
|
|
||||||
fn on_interrupt(&self) {
|
|
||||||
if self.rtc.overflow_interrupt_status() {
|
|
||||||
self.rtc.overflow_clear_flag();
|
|
||||||
self.next_period();
|
|
||||||
}
|
|
||||||
|
|
||||||
// Half overflow
|
|
||||||
if self.rtc.compare_interrupt_status(0) {
|
|
||||||
self.rtc.compare_clear_flag(0);
|
|
||||||
self.next_period();
|
|
||||||
}
|
|
||||||
|
|
||||||
for n in 1..=ALARM_COUNT {
|
|
||||||
if self.rtc.compare_interrupt_status(n) {
|
|
||||||
self.rtc.compare_clear_flag(n);
|
|
||||||
interrupt::free(|cs| self.trigger_alarm(n, cs));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn next_period(&self) {
|
|
||||||
interrupt::free(|cs| {
|
|
||||||
let period = self.period.fetch_add(1, Ordering::Relaxed) + 1;
|
|
||||||
let t = (period as u64) << 15;
|
|
||||||
|
|
||||||
for n in 1..=ALARM_COUNT {
|
|
||||||
let alarm = &self.alarms.borrow(cs)[n - 1];
|
|
||||||
let at = alarm.timestamp.get();
|
|
||||||
|
|
||||||
let diff = at - t;
|
|
||||||
if diff < 0xc000 {
|
|
||||||
self.rtc.set_compare(n, at as u16);
|
|
||||||
self.rtc.set_compare_interrupt(n, true);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
})
|
|
||||||
}
|
|
||||||
|
|
||||||
fn trigger_alarm(&self, n: usize, cs: &CriticalSection) {
|
|
||||||
self.rtc.set_compare_interrupt(n, false);
|
|
||||||
|
|
||||||
let alarm = &self.alarms.borrow(cs)[n - 1];
|
|
||||||
alarm.timestamp.set(u64::MAX);
|
|
||||||
|
|
||||||
// Call after clearing alarm, so the callback can set another alarm.
|
|
||||||
if let Some((f, ctx)) = alarm.callback.get() {
|
|
||||||
f(ctx);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn set_alarm_callback(&self, n: usize, callback: fn(*mut ()), ctx: *mut ()) {
|
|
||||||
interrupt::free(|cs| {
|
|
||||||
let alarm = &self.alarms.borrow(cs)[n - 1];
|
|
||||||
alarm.callback.set(Some((callback, ctx)));
|
|
||||||
})
|
|
||||||
}
|
|
||||||
|
|
||||||
fn set_alarm(&self, n: usize, timestamp: u64) {
|
|
||||||
interrupt::free(|cs| {
|
|
||||||
let alarm = &self.alarms.borrow(cs)[n - 1];
|
|
||||||
alarm.timestamp.set(timestamp);
|
|
||||||
|
|
||||||
let t = self.now();
|
|
||||||
if timestamp <= t {
|
|
||||||
self.trigger_alarm(n, cs);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
let diff = timestamp - t;
|
|
||||||
if diff < 0xc000 {
|
|
||||||
let safe_timestamp = timestamp.max(t + 3);
|
|
||||||
self.rtc.set_compare(n, safe_timestamp as u16);
|
|
||||||
self.rtc.set_compare_interrupt(n, true);
|
|
||||||
} else {
|
|
||||||
self.rtc.set_compare_interrupt(n, false);
|
|
||||||
}
|
|
||||||
})
|
|
||||||
}
|
|
||||||
|
|
||||||
pub fn alarm1(&'static self) -> Alarm<T> {
|
|
||||||
Alarm { n: 1, rtc: self }
|
|
||||||
}
|
|
||||||
pub fn alarm2(&'static self) -> Option<Alarm<T>> {
|
|
||||||
if T::REAL_ALARM_COUNT >= 2 {
|
|
||||||
Some(Alarm { n: 2, rtc: self })
|
|
||||||
} else {
|
|
||||||
None
|
|
||||||
}
|
|
||||||
}
|
|
||||||
pub fn alarm3(&'static self) -> Option<Alarm<T>> {
|
|
||||||
if T::REAL_ALARM_COUNT >= 3 {
|
|
||||||
Some(Alarm { n: 3, rtc: self })
|
|
||||||
} else {
|
|
||||||
None
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
impl<T: Instance> embassy::time::Clock for RTC<T> {
|
|
||||||
fn now(&self) -> u64 {
|
|
||||||
let period = self.period.load(Ordering::Relaxed);
|
|
||||||
compiler_fence(Ordering::Acquire);
|
|
||||||
let counter = self.rtc.counter();
|
|
||||||
calc_now(period, counter)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
pub struct Alarm<T: Instance> {
|
|
||||||
n: usize,
|
|
||||||
rtc: &'static RTC<T>,
|
|
||||||
}
|
|
||||||
|
|
||||||
impl<T: Instance> embassy::time::Alarm for Alarm<T> {
|
|
||||||
fn set_callback(&self, callback: fn(*mut ()), ctx: *mut ()) {
|
|
||||||
self.rtc.set_alarm_callback(self.n, callback, ctx);
|
|
||||||
}
|
|
||||||
|
|
||||||
fn set(&self, timestamp: u64) {
|
|
||||||
self.rtc.set_alarm(self.n, timestamp);
|
|
||||||
}
|
|
||||||
|
|
||||||
fn clear(&self) {
|
|
||||||
self.rtc.set_alarm(self.n, u64::MAX);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
mod sealed {
|
|
||||||
pub trait Sealed {}
|
|
||||||
}
|
|
||||||
|
|
||||||
pub trait Instance: sealed::Sealed + Sized + 'static {
|
|
||||||
type Interrupt: Interrupt;
|
|
||||||
const REAL_ALARM_COUNT: usize;
|
|
||||||
|
|
||||||
fn enable_clock(&self);
|
|
||||||
fn set_compare(&self, n: usize, value: u16);
|
|
||||||
fn set_compare_interrupt(&self, n: usize, enable: bool);
|
|
||||||
fn compare_interrupt_status(&self, n: usize) -> bool;
|
|
||||||
fn compare_clear_flag(&self, n: usize);
|
|
||||||
fn overflow_interrupt_status(&self) -> bool;
|
|
||||||
fn overflow_clear_flag(&self);
|
|
||||||
// This method should ensure that the values are really updated before returning
|
|
||||||
fn set_psc_arr(&self, psc: u16, arr: u16);
|
|
||||||
fn stop_and_reset(&self);
|
|
||||||
fn start(&self);
|
|
||||||
fn counter(&self) -> u16;
|
|
||||||
fn ppre(clocks: &Clocks) -> u8;
|
|
||||||
fn pclk(clocks: &Clocks) -> u32;
|
|
||||||
}
|
|
||||||
|
|
||||||
#[allow(unused_macros)]
|
|
||||||
macro_rules! impl_timer {
|
|
||||||
($module:ident: ($TYPE:ident, $INT:ident, $apbenr:ident, $enrbit:expr, $apbrstr:ident, $rstrbit:expr, $ppre:ident, $pclk: ident), 3) => {
|
|
||||||
mod $module {
|
|
||||||
use super::*;
|
|
||||||
use crate::hal::pac::{$TYPE, RCC};
|
|
||||||
|
|
||||||
impl sealed::Sealed for $TYPE {}
|
|
||||||
|
|
||||||
impl Instance for $TYPE {
|
|
||||||
type Interrupt = interrupt::$INT;
|
|
||||||
const REAL_ALARM_COUNT: usize = 3;
|
|
||||||
|
|
||||||
fn enable_clock(&self) {
|
|
||||||
// NOTE(unsafe) It will only be used for atomic operations
|
|
||||||
unsafe {
|
|
||||||
let rcc = &*RCC::ptr();
|
|
||||||
|
|
||||||
bb::set(&rcc.$apbenr, $enrbit);
|
|
||||||
bb::set(&rcc.$apbrstr, $rstrbit);
|
|
||||||
bb::clear(&rcc.$apbrstr, $rstrbit);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn set_compare(&self, n: usize, value: u16) {
|
|
||||||
// NOTE(unsafe) these registers accept all the range of u16 values
|
|
||||||
match n {
|
|
||||||
0 => self.ccr1.write(|w| unsafe { w.bits(value.into()) }),
|
|
||||||
1 => self.ccr2.write(|w| unsafe { w.bits(value.into()) }),
|
|
||||||
2 => self.ccr3.write(|w| unsafe { w.bits(value.into()) }),
|
|
||||||
3 => self.ccr4.write(|w| unsafe { w.bits(value.into()) }),
|
|
||||||
_ => {}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn set_compare_interrupt(&self, n: usize, enable: bool) {
|
|
||||||
if n > 3 {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
let bit = n as u8 + 1;
|
|
||||||
unsafe {
|
|
||||||
if enable {
|
|
||||||
bb::set(&self.dier, bit);
|
|
||||||
} else {
|
|
||||||
bb::clear(&self.dier, bit);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn compare_interrupt_status(&self, n: usize) -> bool {
|
|
||||||
let status = self.sr.read();
|
|
||||||
match n {
|
|
||||||
0 => status.cc1if().bit_is_set(),
|
|
||||||
1 => status.cc2if().bit_is_set(),
|
|
||||||
2 => status.cc3if().bit_is_set(),
|
|
||||||
3 => status.cc4if().bit_is_set(),
|
|
||||||
_ => false,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn compare_clear_flag(&self, n: usize) {
|
|
||||||
if n > 3 {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
let bit = n as u8 + 1;
|
|
||||||
unsafe {
|
|
||||||
bb::clear(&self.sr, bit);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn overflow_interrupt_status(&self) -> bool {
|
|
||||||
self.sr.read().uif().bit_is_set()
|
|
||||||
}
|
|
||||||
|
|
||||||
fn overflow_clear_flag(&self) {
|
|
||||||
unsafe {
|
|
||||||
bb::clear(&self.sr, 0);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn set_psc_arr(&self, psc: u16, arr: u16) {
|
|
||||||
// NOTE(unsafe) All u16 values are valid
|
|
||||||
self.psc.write(|w| unsafe { w.bits(psc.into()) });
|
|
||||||
self.arr.write(|w| unsafe { w.bits(arr.into()) });
|
|
||||||
|
|
||||||
unsafe {
|
|
||||||
// Set URS, generate update, clear URS
|
|
||||||
bb::set(&self.cr1, 2);
|
|
||||||
self.egr.write(|w| w.ug().set_bit());
|
|
||||||
bb::clear(&self.cr1, 2);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn stop_and_reset(&self) {
|
|
||||||
unsafe {
|
|
||||||
bb::clear(&self.cr1, 0);
|
|
||||||
}
|
|
||||||
self.cnt.reset();
|
|
||||||
}
|
|
||||||
|
|
||||||
fn start(&self) {
|
|
||||||
unsafe { bb::set(&self.cr1, 0) }
|
|
||||||
}
|
|
||||||
|
|
||||||
fn counter(&self) -> u16 {
|
|
||||||
self.cnt.read().bits() as u16
|
|
||||||
}
|
|
||||||
|
|
||||||
fn ppre(clocks: &Clocks) -> u8 {
|
|
||||||
clocks.$ppre()
|
|
||||||
}
|
|
||||||
|
|
||||||
fn pclk(clocks: &Clocks) -> u32 {
|
|
||||||
clocks.$pclk().0
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
($module:ident: ($TYPE:ident, $INT:ident, $apbenr:ident, $enrbit:expr, $apbrstr:ident, $rstrbit:expr, $ppre:ident, $pclk: ident), 1) => {
|
|
||||||
mod $module {
|
|
||||||
use super::*;
|
|
||||||
use crate::hal::pac::{$TYPE, RCC};
|
|
||||||
|
|
||||||
impl sealed::Sealed for $TYPE {}
|
|
||||||
|
|
||||||
impl Instance for $TYPE {
|
|
||||||
type Interrupt = interrupt::$INT;
|
|
||||||
const REAL_ALARM_COUNT: usize = 1;
|
|
||||||
|
|
||||||
fn enable_clock(&self) {
|
|
||||||
// NOTE(unsafe) It will only be used for atomic operations
|
|
||||||
unsafe {
|
|
||||||
let rcc = &*RCC::ptr();
|
|
||||||
|
|
||||||
bb::set(&rcc.$apbenr, $enrbit);
|
|
||||||
bb::set(&rcc.$apbrstr, $rstrbit);
|
|
||||||
bb::clear(&rcc.$apbrstr, $rstrbit);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn set_compare(&self, n: usize, value: u16) {
|
|
||||||
// NOTE(unsafe) these registers accept all the range of u16 values
|
|
||||||
match n {
|
|
||||||
0 => self.ccr1.write(|w| unsafe { w.bits(value.into()) }),
|
|
||||||
1 => self.ccr2.write(|w| unsafe { w.bits(value.into()) }),
|
|
||||||
_ => {}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn set_compare_interrupt(&self, n: usize, enable: bool) {
|
|
||||||
if n > 1 {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
let bit = n as u8 + 1;
|
|
||||||
unsafe {
|
|
||||||
if enable {
|
|
||||||
bb::set(&self.dier, bit);
|
|
||||||
} else {
|
|
||||||
bb::clear(&self.dier, bit);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn compare_interrupt_status(&self, n: usize) -> bool {
|
|
||||||
let status = self.sr.read();
|
|
||||||
match n {
|
|
||||||
0 => status.cc1if().bit_is_set(),
|
|
||||||
1 => status.cc2if().bit_is_set(),
|
|
||||||
_ => false,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn compare_clear_flag(&self, n: usize) {
|
|
||||||
if n > 1 {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
let bit = n as u8 + 1;
|
|
||||||
unsafe {
|
|
||||||
bb::clear(&self.sr, bit);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn overflow_interrupt_status(&self) -> bool {
|
|
||||||
self.sr.read().uif().bit_is_set()
|
|
||||||
}
|
|
||||||
|
|
||||||
fn overflow_clear_flag(&self) {
|
|
||||||
unsafe {
|
|
||||||
bb::clear(&self.sr, 0);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn set_psc_arr(&self, psc: u16, arr: u16) {
|
|
||||||
// NOTE(unsafe) All u16 values are valid
|
|
||||||
self.psc.write(|w| unsafe { w.bits(psc.into()) });
|
|
||||||
self.arr.write(|w| unsafe { w.bits(arr.into()) });
|
|
||||||
|
|
||||||
unsafe {
|
|
||||||
// Set URS, generate update, clear URS
|
|
||||||
bb::set(&self.cr1, 2);
|
|
||||||
self.egr.write(|w| w.ug().set_bit());
|
|
||||||
bb::clear(&self.cr1, 2);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn stop_and_reset(&self) {
|
|
||||||
unsafe {
|
|
||||||
bb::clear(&self.cr1, 0);
|
|
||||||
}
|
|
||||||
self.cnt.reset();
|
|
||||||
}
|
|
||||||
|
|
||||||
fn start(&self) {
|
|
||||||
unsafe { bb::set(&self.cr1, 0) }
|
|
||||||
}
|
|
||||||
|
|
||||||
fn counter(&self) -> u16 {
|
|
||||||
self.cnt.read().bits() as u16
|
|
||||||
}
|
|
||||||
|
|
||||||
fn ppre(clocks: &Clocks) -> u8 {
|
|
||||||
clocks.$ppre()
|
|
||||||
}
|
|
||||||
|
|
||||||
fn pclk(clocks: &Clocks) -> u32 {
|
|
||||||
clocks.$pclk().0
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
|
|
||||||
#[cfg(not(feature = "stm32f410"))]
|
|
||||||
impl_timer!(tim2: (TIM2, TIM2, apb1enr, 0, apb1rstr, 0, ppre1, pclk1), 3);
|
|
||||||
|
|
||||||
#[cfg(not(feature = "stm32f410"))]
|
|
||||||
impl_timer!(tim3: (TIM3, TIM3, apb1enr, 1, apb1rstr, 1, ppre1, pclk1), 3);
|
|
||||||
|
|
||||||
#[cfg(not(feature = "stm32f410"))]
|
|
||||||
impl_timer!(tim4: (TIM4, TIM4, apb1enr, 2, apb1rstr, 2, ppre1, pclk1), 3);
|
|
||||||
|
|
||||||
impl_timer!(tim5: (TIM5, TIM5, apb1enr, 3, apb1rstr, 3, ppre1, pclk1), 3);
|
|
||||||
|
|
||||||
impl_timer!(tim9: (TIM9, TIM1_BRK_TIM9, apb2enr, 16, apb2rstr, 16, ppre2, pclk2), 1);
|
|
||||||
|
|
||||||
#[cfg(not(any(feature = "stm32f401", feature = "stm32f410", feature = "stm32f411")))]
|
|
||||||
impl_timer!(tim12: (TIM12, TIM8_BRK_TIM12, apb1enr, 6, apb1rstr, 6, ppre1, pclk1), 1);
|
|
||||||
Loading…
x
Reference in New Issue
Block a user