feat: Embassy driver #1

+1024

9 changed files

Interdiff #5 → #6

expand all

.tangled

workflows

test.yml

Cargo.lock

Cargo.toml

README.md

embassy-strike-driver

Cargo.toml

src

analysis.rs

drivers.rs

lib.rs

traits.rs

.tangled/workflows/test.yml

This file has not been changed.

+892

Cargo.lock

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Cargo.toml

··· 13 13 [workspace.dependencies] 14 14 embassy-time = "0.5" 15 15 embassy-sync = "0.7" 16 + embassy-rp = "0.9" 16 17 defmt = "1"

README.md

This file has not been changed.

embassy-strike-driver/Cargo.toml

··· 11 11 default = [] 12 12 alloc = [] 13 13 heapless = ["dep:heapless"] 14 + rp2040 = ["dep:embassy-rp", "embassy-rp/rp2040"] 15 + rp235xa = ["dep:embassy-rp", "embassy-rp/rp235xa"] 16 + rp235xb = ["dep:embassy-rp", "embassy-rp/rp235xb"] 14 17 15 18 [dependencies] 16 19 embassy-time.workspace = true 17 20 embassy-sync.workspace = true 21 + embassy-rp = { workspace = true, optional = true } 18 22 heapless = { version = "0.9.2", optional = true } 19 23 20 24 [dev-dependencies]

embassy-strike-driver/src/analysis.rs

This file has not been changed.

embassy-strike-driver/src/lib.rs

··· 6 6 extern crate alloc; 7 7 8 8 mod analysis; 9 + pub mod drivers; 9 10 pub mod traits; 10 11 11 12 use core::cell::Cell; ··· 258 259 use core::future::poll_fn; 259 260 use embassy_time::MockDriver; 260 261 262 + #[cfg(not(feature = "alloc"))] 261 263 extern crate alloc; 262 264 use super::*; 263 265 ··· 278 280 fn set_duty(&mut self, duty: u16) { 279 281 self.0.pwm.set(duty); 280 282 } 283 + 284 + // These do nothing 285 + fn enable(&mut self) {} 286 + fn disable(&mut self) {} 281 287 } 282 288 283 289 struct MockAdc<'a>(&'a MockMachine);

embassy-strike-driver/src/traits.rs

··· 10 10 11 11 pub trait PwmSource { 12 12 fn set_duty(&mut self, duty: u16); 13 + fn enable(&mut self); 14 + fn disable(&mut self); 13 15 } 14 16 15 17 /// A Mutable Buffer trait ⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁤⁤⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁢⁤⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁤⁤⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁢⁤⁤⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁤⁤⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁢⁤⁢⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁤⁤⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁤⁢⁤⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢

+119

embassy-strike-driver/src/drivers.rs

··· 1 + #[cfg(any(feature = "rp2040", feature = "rp235xa", feature = "rp235xb"))] 2 + pub mod rp { 3 + use embassy_rp::{ 4 + Peri, 5 + adc::{self, Adc, AdcPin, Async, InterruptHandler}, 6 + dma, 7 + interrupt::typelevel::{ADC_IRQ_FIFO, Binding}, 8 + peripherals::ADC, pwm::{self, ChannelBPin, Pwm, Slice}, 9 + }; 10 + use embassy_sync::{blocking_mutex::raw::RawMutex, mutex::Mutex}; 11 + 12 + use crate::traits::{AdcSource, PwmSource}; 13 + 14 + struct AdcInner<'device, T: dma::Channel> { 15 + adc: Adc<'device, Async>, 16 + pin: adc::Channel<'device>, 17 + dma: Peri<'device, T>, 18 + } 19 + 20 + pub struct RpAdcDriver<'device, M: RawMutex, T: dma::Channel> { 21 + inner: Mutex<M, AdcInner<'device, T>>, 22 + } 23 + 24 + impl<T: dma::Channel> AdcInner<'_, T> { 25 + /// Samples at 100Khz, or 10us per sample. If a sampling fails due to conversion error, 26 + /// it tries again until the sampling succeeds. 27 + async fn read_many(&mut self, buf: &mut [u16]) { 28 + let mut retries: u32 = 5; 29 + 30 + while self 31 + .adc 32 + .read_many(&mut self.pin, buf, 480, self.dma.reborrow()) 33 + .await 34 + .is_err() 35 + { 36 + retries -= 1; 37 + 38 + if retries == 0 { 39 + panic!("ADC not configured or connected correctly."); 40 + } 41 + } 42 + } 43 + } 44 + 45 + impl<'device, M: RawMutex, T: dma::Channel> RpAdcDriver<'device, M, T> { 46 + pub fn new( 47 + inner: Peri<'device, ADC>, 48 + pin: Peri<'device, impl AdcPin + 'device>, 49 + dma: Peri<'device, T>, 50 + irqs: impl Binding<ADC_IRQ_FIFO, InterruptHandler>, 51 + ) -> Self { 52 + Self { 53 + inner: Mutex::new(AdcInner { 54 + adc: Adc::new(inner, irqs, adc::Config::default()), 55 + pin: adc::Channel::new_pin(pin, embassy_rp::gpio::Pull::None), 56 + dma, 57 + }), 58 + } 59 + } 60 + } 61 + 62 + impl<'device, M: RawMutex, T: dma::Channel> AdcSource for RpAdcDriver<'device, M, T> { 63 + async fn sample_average(&self, samples: &mut [u16]) -> u16 { 64 + self.sample(samples).await; 65 + 66 + let len = samples.len() as u32; 67 + 68 + (samples.iter().copied().map(u32::from).sum::<u32>() / len) as u16 69 + } 70 + 71 + async fn sample(&self, samples: &mut [u16]) { 72 + self.inner.lock().await.read_many(samples).await; 73 + } 74 + } 75 + 76 + pub struct PwmDriver<'device> { 77 + config: pwm::Config, 78 + pwm: Pwm<'device>, 79 + } 80 + 81 + impl<'device> PwmDriver<'device> { 82 + pub fn new<T>( 83 + slice: Peri<'device, T>, 84 + b: Peri<'device, impl ChannelBPin<T>>, 85 + ) -> Self 86 + where 87 + T: Slice, 88 + { 89 + let mut config = pwm::Config::default(); 90 + config.top = u8::MAX as u16; 91 + let pwm = Pwm::new_output_b(slice, b, config.clone()); 92 + 93 + Self { pwm, config } 94 + } 95 + } 96 + 97 + impl PwmSource for PwmDriver<'_> { 98 + fn set_duty(&mut self, duty: u16) { 99 + self.config.compare_b = duty.clamp(0, self.config.top); 100 + self.pwm.set_config(&self.config); 101 + } 102 + 103 + fn enable(&mut self) { 104 + self.config.enable = true; 105 + self.pwm.set_config(&self.config); 106 + } 107 + 108 + fn disable(&mut self) { 109 + self.config.enable = false; 110 + self.pwm.set_config(&self.config); 111 + } 112 + } 113 + 114 + impl Drop for PwmDriver<'_> { 115 + fn drop(&mut self) { 116 + self.disable(); 117 + } 118 + } 119 + }