nrf: Add IPC peripheral for nRF5340

embassy-nrf/src/chips/nrf5340_app.rs

@@ -262,6 +262,9 @@ embassy_hal_internal::peripherals! {
     PPI_GROUP4,
     PPI_GROUP5,
 
+    // IPC
+    IPC,
+
     // GPIO port 0
     #[cfg(feature = "lfxo-pins-as-gpio")]
     P0_00,
@@ -327,6 +330,8 @@ embassy_hal_internal::peripherals! {
     EGU5,
 }
 
+impl_ipc!(IPC, IPC, IPC);
+
 impl_usb!(USBD, USBD, USBD);
 
 impl_uarte!(SERIAL0, UARTE0, SERIAL0);

embassy-nrf/src/chips/nrf5340_net.rs

@@ -141,6 +141,9 @@ embassy_hal_internal::peripherals! {
     PPI_GROUP4,
     PPI_GROUP5,
 
+    // IPC
+    IPC,
+
     // GPIO port 0
     P0_00,
     P0_01,
@@ -200,6 +203,8 @@ embassy_hal_internal::peripherals! {
     EGU0,
 }
 
+impl_ipc!(IPC, IPC, IPC);
+
 impl_uarte!(SERIAL0, UARTE0, SERIAL0);
 impl_spim!(SERIAL0, SPIM0, SERIAL0);
 impl_spis!(SERIAL0, SPIS0, SERIAL0);

embassy-nrf/src/ipc.rs

@@ -0,0 +1,360 @@
+//! InterProcessor Communication (IPC)
+
+#![macro_use]
+
+use core::future::poll_fn;
+use core::sync::atomic::{compiler_fence, Ordering};
+use core::task::Poll;
+
+use embassy_hal_internal::{into_ref, Peripheral, PeripheralRef};
+use embassy_sync::waitqueue::AtomicWaker;
+
+use crate::peripherals::IPC;
+use crate::{interrupt, pac};
+
+/// IPC Event
+#[derive(Debug, Clone, Copy)]
+pub enum IpcEvent {
+    /// IPC Event 0
+    Event0 = 0,
+    /// IPC Event 1
+    Event1 = 1,
+    /// IPC Event 2
+    Event2 = 2,
+    /// IPC Event 3
+    Event3 = 3,
+    /// IPC Event 4
+    Event4 = 4,
+    /// IPC Event 5
+    Event5 = 5,
+    /// IPC Event 6
+    Event6 = 6,
+    /// IPC Event 7
+    Event7 = 7,
+    /// IPC Event 8
+    Event8 = 8,
+    /// IPC Event 9
+    Event9 = 9,
+    /// IPC Event 10
+    Event10 = 10,
+    /// IPC Event 11
+    Event11 = 11,
+    /// IPC Event 12
+    Event12 = 12,
+    /// IPC Event 13
+    Event13 = 13,
+    /// IPC Event 14
+    Event14 = 14,
+    /// IPC Event 15
+    Event15 = 15,
+}
+
+const EVENTS: [IpcEvent; 16] = [
+    IpcEvent::Event0,
+    IpcEvent::Event1,
+    IpcEvent::Event2,
+    IpcEvent::Event3,
+    IpcEvent::Event4,
+    IpcEvent::Event5,
+    IpcEvent::Event6,
+    IpcEvent::Event7,
+    IpcEvent::Event8,
+    IpcEvent::Event9,
+    IpcEvent::Event10,
+    IpcEvent::Event11,
+    IpcEvent::Event12,
+    IpcEvent::Event13,
+    IpcEvent::Event14,
+    IpcEvent::Event15,
+];
+
+/// IPC Channel
+#[derive(Debug, Clone, Copy)]
+pub enum IpcChannel {
+    /// IPC Channel 0
+    Channel0,
+    /// IPC Channel 1
+    Channel1,
+    /// IPC Channel 2
+    Channel2,
+    /// IPC Channel 3
+    Channel3,
+    /// IPC Channel 4
+    Channel4,
+    /// IPC Channel 5
+    Channel5,
+    /// IPC Channel 6
+    Channel6,
+    /// IPC Channel 7
+    Channel7,
+    /// IPC Channel 8
+    Channel8,
+    /// IPC Channel 9
+    Channel9,
+    /// IPC Channel 10
+    Channel10,
+    /// IPC Channel 11
+    Channel11,
+    /// IPC Channel 12
+    Channel12,
+    /// IPC Channel 13
+    Channel13,
+    /// IPC Channel 14
+    Channel14,
+    /// IPC Channel 15
+    Channel15,
+}
+
+/// Interrupt Handler
+pub struct InterruptHandler {}
+
+impl interrupt::typelevel::Handler<interrupt::typelevel::IPC> for InterruptHandler {
+    unsafe fn on_interrupt() {
+        let regs = IPC::regs();
+
+        // Check if an event was generated, and if it was, trigger the corresponding waker
+        for event in EVENTS {
+            if regs.events_receive(event as usize).read() & 0x01 == 0x01 {
+                // Event is set. Reset and wake waker
+                regs.events_receive(event as usize).write_value(0);
+                IPC::state().waker_for(event);
+            }
+
+            // Ensure the state is actually cleared
+            //  Ref: nRF5340 PS v1.5 7.1.9.1 p.153
+            compiler_fence(Ordering::SeqCst);
+            while regs.events_receive(event as usize).read() & 0x01 != 0x00 {}
+        }
+    }
+}
+
+/// IPC driver
+pub struct Ipc<'d, T: Instance> {
+    _peri: PeripheralRef<'d, T>,
+}
+
+impl<'d, T: Instance> From<PeripheralRef<'d, T>> for Ipc<'d, T> {
+    fn from(value: PeripheralRef<'d, T>) -> Self {
+        Self { _peri: value }
+    }
+}
+
+impl<'d, T: Instance> Ipc<'d, T> {
+    /// Create IPC driver
+    pub fn new(ipc: impl Peripheral<P = T> + 'd) -> Self {
+        into_ref!(ipc);
+
+        Self { _peri: ipc }
+    }
+
+    /// Duplicates the peripheral singleton
+    ///
+    /// # Safety
+    ///
+    /// Ensure manually that only one peripheral is in use at one time
+    pub unsafe fn clone_unchecked(&self) -> Self {
+        Self {
+            _peri: self._peri.clone_unchecked(),
+        }
+    }
+
+    /// Configures the sending of events
+    ///
+    /// Events can be configured to broadcast on one or multiple IPC channels.
+    pub fn configure_send_event<I: IntoIterator<Item = IpcChannel>>(&self, ev: IpcEvent, channels: I) {
+        let regs = T::regs();
+
+        regs.send_cnf(ev as usize).write(|w| {
+            for channel in channels {
+                match channel {
+                    IpcChannel::Channel0 => w.set_chen0(true),
+                    IpcChannel::Channel1 => w.set_chen1(true),
+                    IpcChannel::Channel2 => w.set_chen2(true),
+                    IpcChannel::Channel3 => w.set_chen3(true),
+                    IpcChannel::Channel4 => w.set_chen4(true),
+                    IpcChannel::Channel5 => w.set_chen5(true),
+                    IpcChannel::Channel6 => w.set_chen6(true),
+                    IpcChannel::Channel7 => w.set_chen7(true),
+                    IpcChannel::Channel8 => w.set_chen8(true),
+                    IpcChannel::Channel9 => w.set_chen9(true),
+                    IpcChannel::Channel10 => w.set_chen10(true),
+                    IpcChannel::Channel11 => w.set_chen11(true),
+                    IpcChannel::Channel12 => w.set_chen12(true),
+                    IpcChannel::Channel13 => w.set_chen13(true),
+                    IpcChannel::Channel14 => w.set_chen14(true),
+                    IpcChannel::Channel15 => w.set_chen15(true),
+                }
+            }
+        })
+    }
+
+    /// Configures the receiving of events
+    ///
+    /// Events can be configured to be received by one or multiple IPC channels.
+    pub fn configure_receive_event<I: IntoIterator<Item = IpcChannel>>(&self, ev: IpcEvent, channels: I) {
+        let regs = T::regs();
+
+        regs.receive_cnf(ev as usize).write(|w| {
+            for channel in channels {
+                match channel {
+                    IpcChannel::Channel0 => w.set_chen0(true),
+                    IpcChannel::Channel1 => w.set_chen1(true),
+                    IpcChannel::Channel2 => w.set_chen2(true),
+                    IpcChannel::Channel3 => w.set_chen3(true),
+                    IpcChannel::Channel4 => w.set_chen4(true),
+                    IpcChannel::Channel5 => w.set_chen5(true),
+                    IpcChannel::Channel6 => w.set_chen6(true),
+                    IpcChannel::Channel7 => w.set_chen7(true),
+                    IpcChannel::Channel8 => w.set_chen8(true),
+                    IpcChannel::Channel9 => w.set_chen9(true),
+                    IpcChannel::Channel10 => w.set_chen10(true),
+                    IpcChannel::Channel11 => w.set_chen11(true),
+                    IpcChannel::Channel12 => w.set_chen12(true),
+                    IpcChannel::Channel13 => w.set_chen13(true),
+                    IpcChannel::Channel14 => w.set_chen14(true),
+                    IpcChannel::Channel15 => w.set_chen15(true),
+                }
+            }
+        });
+    }
+
+    /// Triggers an event
+    pub fn trigger_event(&self, ev: IpcEvent) {
+        let regs = T::regs();
+
+        regs.tasks_send(ev as usize).write_value(0x01);
+    }
+
+    /// Wait for event to be triggered
+    pub async fn wait_for_event(&self, ev: IpcEvent) {
+        let regs = T::regs();
+
+        // Enable interrupt
+        match ev {
+            IpcEvent::Event0 => {
+                regs.inten().modify(|m| m.set_receive0(true));
+            }
+            IpcEvent::Event1 => {
+                regs.inten().modify(|m| m.set_receive1(true));
+            }
+            IpcEvent::Event2 => {
+                regs.inten().modify(|m| m.set_receive2(true));
+            }
+            IpcEvent::Event3 => {
+                regs.inten().modify(|m| m.set_receive3(true));
+            }
+            IpcEvent::Event4 => {
+                regs.inten().modify(|m| m.set_receive4(true));
+            }
+            IpcEvent::Event5 => {
+                regs.inten().modify(|m| m.set_receive5(true));
+            }
+            IpcEvent::Event6 => {
+                regs.inten().modify(|m| m.set_receive6(true));
+            }
+            IpcEvent::Event7 => {
+                regs.inten().modify(|m| m.set_receive7(true));
+            }
+            IpcEvent::Event8 => {
+                regs.inten().modify(|m| m.set_receive8(true));
+            }
+            IpcEvent::Event9 => {
+                regs.inten().modify(|m| m.set_receive9(true));
+            }
+            IpcEvent::Event10 => {
+                regs.inten().modify(|m| m.set_receive10(true));
+            }
+            IpcEvent::Event11 => {
+                regs.inten().modify(|m| m.set_receive11(true));
+            }
+            IpcEvent::Event12 => {
+                regs.inten().modify(|m| m.set_receive12(true));
+            }
+            IpcEvent::Event13 => {
+                regs.inten().modify(|m| m.set_receive13(true));
+            }
+            IpcEvent::Event14 => {
+                regs.inten().modify(|m| m.set_receive14(true));
+            }
+            IpcEvent::Event15 => {
+                regs.inten().modify(|m| m.set_receive15(true));
+            }
+        };
+
+        poll_fn(|cx| {
+            IPC::state().waker_for(ev).register(cx.waker());
+
+            if regs.events_receive(ev as usize).read() & 0x01 == 0x01 {
+                regs.events_receive(ev as usize).write_value(0x00);
+
+                Poll::Ready(())
+            } else {
+                Poll::Pending
+            }
+        })
+        .await;
+    }
+}
+
+pub(crate) struct State {
+    wakers: [AtomicWaker; 16],
+}
+
+impl State {
+    pub(crate) const fn new() -> Self {
+        const WAKER: AtomicWaker = AtomicWaker::new();
+
+        Self { wakers: [WAKER; 16] }
+    }
+
+    const fn waker_for(&self, ev: IpcEvent) -> &AtomicWaker {
+        match ev {
+            IpcEvent::Event0 => &self.wakers[0],
+            IpcEvent::Event1 => &self.wakers[1],
+            IpcEvent::Event2 => &self.wakers[2],
+            IpcEvent::Event3 => &self.wakers[3],
+            IpcEvent::Event4 => &self.wakers[4],
+            IpcEvent::Event5 => &self.wakers[5],
+            IpcEvent::Event6 => &self.wakers[6],
+            IpcEvent::Event7 => &self.wakers[7],
+            IpcEvent::Event8 => &self.wakers[8],
+            IpcEvent::Event9 => &self.wakers[9],
+            IpcEvent::Event10 => &self.wakers[10],
+            IpcEvent::Event11 => &self.wakers[11],
+            IpcEvent::Event12 => &self.wakers[12],
+            IpcEvent::Event13 => &self.wakers[13],
+            IpcEvent::Event14 => &self.wakers[14],
+            IpcEvent::Event15 => &self.wakers[15],
+        }
+    }
+}
+
+pub(crate) trait SealedInstance {
+    fn regs() -> pac::ipc::Ipc;
+    fn state() -> &'static State;
+}
+
+/// IPC peripheral instance.
+#[allow(private_bounds)]
+pub trait Instance: Peripheral<P = Self> + SealedInstance + 'static + Send {
+    /// Interrupt for this peripheral.
+    type Interrupt: interrupt::typelevel::Interrupt;
+}
+
+macro_rules! impl_ipc {
+    ($type:ident, $pac_type:ident, $irq:ident) => {
+        impl crate::ipc::SealedInstance for peripherals::$type {
+            fn regs() -> pac::ipc::Ipc {
+                pac::$pac_type
+            }
+
+            fn state() -> &'static crate::ipc::State {
+                static STATE: crate::ipc::State = crate::ipc::State::new();
+                &STATE
+            }
+        }
+        impl crate::ipc::Instance for peripherals::$type {
+            type Interrupt = crate::interrupt::typelevel::$irq;
+        }
+    };
+}

embassy-nrf/src/lib.rs

@@ -88,6 +88,8 @@ pub mod gpiote;
 #[cfg(not(feature = "_nrf54l"))] // TODO
 #[cfg(any(feature = "nrf52832", feature = "nrf52833", feature = "nrf52840"))]
 pub mod i2s;
+#[cfg(feature = "_nrf5340")]
+pub mod ipc;
 #[cfg(not(feature = "_nrf54l"))] // TODO
 #[cfg(any(
     feature = "nrf52832",