116 lines
3.4 KiB
Rust
116 lines
3.4 KiB
Rust
//! This example shows how to share (async) I2C and SPI buses between multiple devices.
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#![no_std]
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#![no_main]
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use defmt::*;
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use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
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use embassy_embedded_hal::shared_bus::asynch::spi::SpiDevice;
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use embassy_executor::Spawner;
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use embassy_rp::bind_interrupts;
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use embassy_rp::gpio::{Level, Output};
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use embassy_rp::i2c::{self, I2c, InterruptHandler};
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use embassy_rp::peripherals::{I2C1, SPI1};
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use embassy_rp::spi::{self, Spi};
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use embassy_sync::blocking_mutex::raw::NoopRawMutex;
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use embassy_sync::mutex::Mutex;
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use embassy_time::Timer;
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use static_cell::StaticCell;
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use {defmt_rtt as _, panic_probe as _};
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type Spi1Bus = Mutex<NoopRawMutex, Spi<'static, SPI1, spi::Async>>;
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type I2c1Bus = Mutex<NoopRawMutex, I2c<'static, I2C1, i2c::Async>>;
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bind_interrupts!(struct Irqs {
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I2C1_IRQ => InterruptHandler<I2C1>;
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});
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#[embassy_executor::main]
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async fn main(spawner: Spawner) {
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let p = embassy_rp::init(Default::default());
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info!("Here we go!");
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// Shared I2C bus
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let i2c = I2c::new_async(p.I2C1, p.PIN_15, p.PIN_14, Irqs, i2c::Config::default());
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static I2C_BUS: StaticCell<I2c1Bus> = StaticCell::new();
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let i2c_bus = I2C_BUS.init(Mutex::new(i2c));
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spawner.must_spawn(i2c_task_a(i2c_bus));
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spawner.must_spawn(i2c_task_b(i2c_bus));
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// Shared SPI bus
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let spi_cfg = spi::Config::default();
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let spi = Spi::new(p.SPI1, p.PIN_10, p.PIN_11, p.PIN_12, p.DMA_CH0, p.DMA_CH1, spi_cfg);
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static SPI_BUS: StaticCell<Spi1Bus> = StaticCell::new();
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let spi_bus = SPI_BUS.init(Mutex::new(spi));
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// Chip select pins for the SPI devices
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let cs_a = Output::new(p.PIN_0, Level::High);
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let cs_b = Output::new(p.PIN_1, Level::High);
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spawner.must_spawn(spi_task_a(spi_bus, cs_a));
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spawner.must_spawn(spi_task_b(spi_bus, cs_b));
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}
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#[embassy_executor::task]
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async fn i2c_task_a(i2c_bus: &'static I2c1Bus) {
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let i2c_dev = I2cDevice::new(i2c_bus);
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let _sensor = DummyI2cDeviceDriver::new(i2c_dev, 0xC0);
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loop {
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info!("i2c task A");
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Timer::after_secs(1).await;
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}
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}
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#[embassy_executor::task]
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async fn i2c_task_b(i2c_bus: &'static I2c1Bus) {
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let i2c_dev = I2cDevice::new(i2c_bus);
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let _sensor = DummyI2cDeviceDriver::new(i2c_dev, 0xDE);
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loop {
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info!("i2c task B");
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Timer::after_secs(1).await;
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}
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}
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#[embassy_executor::task]
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async fn spi_task_a(spi_bus: &'static Spi1Bus, cs: Output<'static>) {
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let spi_dev = SpiDevice::new(spi_bus, cs);
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let _sensor = DummySpiDeviceDriver::new(spi_dev);
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loop {
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info!("spi task A");
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Timer::after_secs(1).await;
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}
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}
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#[embassy_executor::task]
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async fn spi_task_b(spi_bus: &'static Spi1Bus, cs: Output<'static>) {
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let spi_dev = SpiDevice::new(spi_bus, cs);
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let _sensor = DummySpiDeviceDriver::new(spi_dev);
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loop {
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info!("spi task B");
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Timer::after_secs(1).await;
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}
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}
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// Dummy I2C device driver, using `embedded-hal-async`
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struct DummyI2cDeviceDriver<I2C: embedded_hal_async::i2c::I2c> {
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_i2c: I2C,
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}
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impl<I2C: embedded_hal_async::i2c::I2c> DummyI2cDeviceDriver<I2C> {
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fn new(i2c_dev: I2C, _address: u8) -> Self {
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Self { _i2c: i2c_dev }
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}
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}
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// Dummy SPI device driver, using `embedded-hal-async`
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struct DummySpiDeviceDriver<SPI: embedded_hal_async::spi::SpiDevice> {
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_spi: SPI,
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}
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impl<SPI: embedded_hal_async::spi::SpiDevice> DummySpiDeviceDriver<SPI> {
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fn new(spi_dev: SPI) -> Self {
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Self { _spi: spi_dev }
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}
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}
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