embedded-io implementations

Author: romancardenas

e310x-hal/Cargo.toml

@@ -11,12 +11,13 @@ edition = "2021"
 rust-version = "1.76"
 
 [dependencies]
-embedded-hal = { version = "1.0.0" }
-embedded-hal-nb = { version = "1.0.0" }
-nb = "1.0.0"
-riscv = { version = "0.12.1", features = ["critical-section-single-hart"] }
+embedded-hal = "1.0.0"
+embedded-hal-nb = "1.0.0"
+embedded-io = "0.6.1"
 e310x = { path = "../e310x", version = "0.12.0", features = ["rt", "critical-section"] }
+nb = "1.0.0"
 portable-atomic = { version = "1.9", default-features = false}
+riscv = { version = "0.12.1", features = ["critical-section-single-hart"] }
 
 [features]
 g002 = ["e310x/g002"]

e310x-hal/src/prelude.rs

@@ -11,6 +11,7 @@ pub use e310x::interrupt::{
     PriorityNumber,
 };
 pub use embedded_hal::{
+    self,
     delay::DelayNs,
     digital::{InputPin, OutputPin, StatefulOutputPin},
     i2c::I2c as _embedded_hal_i2c_I2c,
@@ -19,6 +20,9 @@ pub use embedded_hal::{
 };
 
 pub use embedded_hal_nb::{
-    serial::{Read, Write},
+    self,
+    serial::{Read as _embedded_hal_nb_Read, Write as _embedded_hal_nb_Write},
     spi::FullDuplex,
 };
+
+pub use embedded_io;

e310x-hal/src/serial.rs

@@ -15,8 +15,7 @@
 
 use core::ops::Deref;
 use e310x::{uart0, Uart0, Uart1};
-use embedded_hal_nb::serial::{ErrorKind, ErrorType, Read, Write};
-use nb;
+use embedded_hal_nb::serial;
 
 use crate::{clock::Clocks, time::Bps};
 
@@ -73,12 +72,17 @@ impl<UART, PIN> Rx<UART, PIN> {
     }
 }
 
-impl<UART: UartX, PIN: RxPin<UART>> ErrorType for Rx<UART, PIN> {
-    type Error = ErrorKind;
+impl<UART: UartX, PIN: RxPin<UART>> serial::ErrorType for Rx<UART, PIN> {
+    type Error = serial::ErrorKind;
 }
 
-impl<UART: UartX, PIN: RxPin<UART>> Read for Rx<UART, PIN> {
-    fn read(&mut self) -> nb::Result<u8, ErrorKind> {
+impl<UART: UartX, PIN: RxPin<UART>> embedded_io::ErrorType for Rx<UART, PIN> {
+    type Error = embedded_io::ErrorKind;
+}
+
+impl<UART: UartX, PIN: RxPin<UART>> serial::Read for Rx<UART, PIN> {
+    #[inline]
+    fn read(&mut self) -> nb::Result<u8, Self::Error> {
         let rxdata = self.uart.rxdata().read();
 
         if rxdata.empty().bit_is_set() {
@@ -89,6 +93,28 @@ impl<UART: UartX, PIN: RxPin<UART>> Read for Rx<UART, PIN> {
     }
 }
 
+impl<UART: UartX, PIN: RxPin<UART>> embedded_io::Read for Rx<UART, PIN> {
+    #[inline]
+    fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+        if buf.is_empty() {
+            return Ok(0);
+        }
+        buf[0] = nb::block!(serial::Read::read(self)).unwrap(); // first byte may block
+        let mut count = 1;
+        for byte in buf.iter_mut().skip(1) {
+            match serial::Read::read(self) {
+                Ok(b) => {
+                    *byte = b;
+                    count += 1
+                }
+                Err(nb::Error::WouldBlock) => break,
+                _ => unreachable!(),
+            }
+        }
+        Ok(count)
+    }
+}
+
 /// Serial transmitter half
 pub struct Tx<UART, PIN> {
     uart: UART,
@@ -102,23 +128,34 @@ impl<UART, PIN> Tx<UART, PIN> {
     }
 }
 
-impl<UART: UartX, PIN: TxPin<UART>> ErrorType for Tx<UART, PIN> {
-    type Error = ErrorKind;
+impl<UART: UartX, PIN: TxPin<UART>> Tx<UART, PIN> {
+    /// Returns true if the transmit buffer is full
+    fn is_buffer_full(&self) -> bool {
+        self.uart.txdata().read().full().bit_is_set()
+    }
 }
 
-impl<UART: UartX, PIN: TxPin<UART>> Write for Tx<UART, PIN> {
-    fn write(&mut self, byte: u8) -> nb::Result<(), ErrorKind> {
-        let txdata = self.uart.txdata().read();
+impl<UART: UartX, PIN: TxPin<UART>> serial::ErrorType for Tx<UART, PIN> {
+    type Error = serial::ErrorKind;
+}
 
-        if txdata.full().bit_is_set() {
-            Err(::nb::Error::WouldBlock)
+impl<UART: UartX, PIN: TxPin<UART>> embedded_io::ErrorType for Tx<UART, PIN> {
+    type Error = embedded_io::ErrorKind;
+}
+
+impl<UART: UartX, PIN: TxPin<UART>> serial::Write for Tx<UART, PIN> {
+    #[inline]
+    fn write(&mut self, byte: u8) -> nb::Result<(), Self::Error> {
+        if self.is_buffer_full() {
+            Err(nb::Error::WouldBlock)
         } else {
             self.uart.txdata().write(|w| unsafe { w.data().bits(byte) });
             Ok(())
         }
     }
 
-    fn flush(&mut self) -> nb::Result<(), ErrorKind> {
+    #[inline]
+    fn flush(&mut self) -> nb::Result<(), Self::Error> {
         if self.uart.ip().read().txwm().bit_is_set() {
             // FIFO count is below the receive watermark (1)
             Ok(())
@@ -128,6 +165,38 @@ impl<UART: UartX, PIN: TxPin<UART>> Write for Tx<UART, PIN> {
     }
 }
 
+impl<UART: UartX, PIN: TxPin<UART>> embedded_io::WriteReady for Tx<UART, PIN> {
+    #[inline]
+    fn write_ready(&mut self) -> Result<bool, Self::Error> {
+        Ok(!self.is_buffer_full())
+    }
+}
+
+impl<UART: UartX, PIN: TxPin<UART>> embedded_io::Write for Tx<UART, PIN> {
+    #[inline]
+    fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
+        if buf.is_empty() {
+            return Ok(0);
+        }
+        nb::block!(serial::Write::write(self, buf[0])).unwrap(); // first byte may block
+        let mut count = 1;
+        for byte in buf.iter().skip(1) {
+            match serial::Write::write(self, *byte) {
+                Ok(()) => count += 1,
+                Err(nb::Error::WouldBlock) => break,
+                _ => unreachable!(),
+            }
+        }
+        Ok(count)
+    }
+
+    #[inline]
+    fn flush(&mut self) -> Result<(), Self::Error> {
+        nb::block!(serial::Write::flush(self)).unwrap();
+        Ok(())
+    }
+}
+
 /// Serial abstraction
 pub struct Serial<UART, TX, RX> {
     uart: UART,
@@ -186,22 +255,48 @@ impl<UART: UartX, TX: TxPin<UART>, RX: RxPin<UART>> Serial<UART, TX, RX> {
     }
 }
 
-impl<UART, TX, RX> ErrorType for Serial<UART, TX, RX> {
-    type Error = ErrorKind;
+impl<UART: UartX, TX, RX> serial::ErrorType for Serial<UART, TX, RX> {
+    type Error = serial::ErrorKind;
 }
 
-impl<UART: UartX, TX, RX: RxPin<UART>> Read for Serial<UART, TX, RX> {
-    fn read(&mut self) -> nb::Result<u8, ErrorKind> {
+impl<UART: UartX, TX, RX: RxPin<UART>> serial::Read for Serial<UART, TX, RX> {
+    fn read(&mut self) -> nb::Result<u8, Self::Error> {
         self.rx.read()
     }
 }
 
-impl<UART: UartX, TX: TxPin<UART>, RX> Write for Serial<UART, TX, RX> {
-    fn write(&mut self, byte: u8) -> nb::Result<(), ErrorKind> {
+impl<UART: UartX, TX: TxPin<UART>, RX> serial::Write for Serial<UART, TX, RX> {
+    fn write(&mut self, byte: u8) -> nb::Result<(), Self::Error> {
         self.tx.write(byte)
     }
 
-    fn flush(&mut self) -> nb::Result<(), ErrorKind> {
+    fn flush(&mut self) -> nb::Result<(), Self::Error> {
+        self.tx.flush()
+    }
+}
+
+impl<UART, TX, RX> embedded_io::ErrorType for Serial<UART, TX, RX> {
+    type Error = embedded_io::ErrorKind;
+}
+
+impl<UART: UartX, TX, RX: RxPin<UART>> embedded_io::Read for Serial<UART, TX, RX> {
+    fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+        self.rx.read(buf)
+    }
+}
+
+impl<UART: UartX, TX: TxPin<UART>, RX> embedded_io::WriteReady for Serial<UART, TX, RX> {
+    fn write_ready(&mut self) -> Result<bool, Self::Error> {
+        self.tx.write_ready()
+    }
+}
+
+impl<UART: UartX, TX: TxPin<UART>, RX> embedded_io::Write for Serial<UART, TX, RX> {
+    fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
+        self.tx.write(buf)
+    }
+
+    fn flush(&mut self) -> Result<(), Self::Error> {
         self.tx.flush()
     }
 }

e310x-hal/src/spi/bus.rs

@@ -1,4 +1,7 @@
-use embedded_hal::spi::{self, ErrorKind, ErrorType, Phase, Polarity};
+use embedded_hal::{
+    delay::DelayNs,
+    spi::{self, ErrorKind, ErrorType, Phase, Polarity},
+};
 use embedded_hal_nb::spi::FullDuplex;
 
 use super::{Pins, PinsFull, PinsNoCS, SharedBus, SpiConfig, SpiExclusiveDevice, SpiX};
@@ -76,8 +79,12 @@ impl<SPI: SpiX, PINS: Pins<SPI>> SpiBus<SPI, PINS> {
     }
 
     /// Create a new [`SpiExclusiveDevice`] for exclusive use on this bus
-    pub fn new_device(self, config: &SpiConfig) -> SpiExclusiveDevice<SPI, PINS> {
-        SpiExclusiveDevice::new(self, config)
+    pub fn new_device<D: DelayNs>(
+        self,
+        config: &SpiConfig,
+        delay: D,
+    ) -> SpiExclusiveDevice<SPI, PINS, D> {
+        SpiExclusiveDevice::new(self, config, delay)
     }
 
     /// Configure the [`SpiBus`] with given [`SpiConfig`]

e310x-hal/src/spi/exclusive_device.rs

@@ -1,34 +1,54 @@
-use embedded_hal::spi::{ErrorKind, ErrorType, Operation, SpiBus, SpiDevice};
+use embedded_hal::{
+    delay::DelayNs,
+    spi::{self, ErrorType, Operation, SpiBus, SpiDevice},
+};
 
 use crate::spi::SpiConfig;
 
 use super::{Pins, PinsFull, SpiBus as Bus, SpiX};
 
-/// SPI exclusive device abstraction
-pub struct SpiExclusiveDevice<SPI, PINS> {
+/// SPI exclusive device abstraction with delay support.
+pub struct SpiExclusiveDevice<SPI, PINS, D> {
     bus: Bus<SPI, PINS>,
+    delay: D,
 }
 
-impl<SPI: SpiX, PINS: Pins<SPI>> SpiExclusiveDevice<SPI, PINS> {
-    /// Create [`SpiExclusiveDevice`] using existing [`SpiBus`](Bus) with the given [`SpiConfig`]
-    pub fn new(mut bus: Bus<SPI, PINS>, config: &SpiConfig) -> Self {
+impl<SPI, PINS, D> SpiExclusiveDevice<SPI, PINS, D>
+where
+    SPI: SpiX,
+    PINS: Pins<SPI>,
+    D: DelayNs,
+{
+    /// Create [`SpiDelayedExclusiveDevice`] using existing [`SpiBus`](Bus) with the given [`SpiConfig`]
+    pub fn new(mut bus: Bus<SPI, PINS>, config: &SpiConfig, delay: D) -> Self {
         // Safety: valid CS index
         unsafe { bus.configure(config, PINS::CS_INDEX) };
 
-        Self { bus }
+        Self { bus, delay }
     }
 
-    /// Releases the Bus back deconstructing it
-    pub fn release(self) -> (SPI, PINS) {
-        self.bus.release()
+    /// Releases the Bus and Delay back deconstructing it
+    pub fn release(self) -> (SPI, PINS, D) {
+        let (spi, pins) = self.bus.release();
+        (spi, pins, self.delay)
     }
 }
 
-impl<SPI: SpiX, PINS: Pins<SPI>> ErrorType for SpiExclusiveDevice<SPI, PINS> {
-    type Error = ErrorKind;
+impl<SPI, PINS, D> ErrorType for SpiExclusiveDevice<SPI, PINS, D>
+where
+    SPI: SpiX,
+    PINS: Pins<SPI>,
+    D: DelayNs,
+{
+    type Error = spi::ErrorKind;
 }
 
-impl<SPI: SpiX, PINS: PinsFull<SPI>> SpiDevice for SpiExclusiveDevice<SPI, PINS> {
+impl<SPI, PINS, D> SpiDevice for SpiExclusiveDevice<SPI, PINS, D>
+where
+    SPI: SpiX,
+    PINS: PinsFull<SPI>,
+    D: DelayNs,
+{
     fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
         self.bus.start_frame();
 
@@ -39,7 +59,10 @@ impl<SPI: SpiX, PINS: PinsFull<SPI>> SpiDevice for SpiExclusiveDevice<SPI, PINS>
                 Operation::Write(write) => self.bus.write(write),
                 Operation::Transfer(read, write) => self.bus.transfer(read, write),
                 Operation::TransferInPlace(read_write) => self.bus.transfer_in_place(read_write),
-                Operation::DelayNs(_ns) => todo!(),
+                Operation::DelayNs(ns) => {
+                    self.delay.delay_ns(*ns);
+                    Ok(())
+                }
             };
             if res.is_err() {
                 break;

e310x-hal/src/spi/shared_bus.rs

@@ -1,5 +1,6 @@
 use core::cell::RefCell;
 use core::ops::Deref;
+use embedded_hal::delay::DelayNs;
 use riscv::interrupt;
 
 use super::{PinCS, PinsNoCS, SpiBus, SpiConfig, SpiSharedDevice, SpiX};
@@ -18,15 +19,17 @@ where
     }
 
     /// Create a new shared device on this SPI bus.
-    pub fn new_device<'bus, CS>(
+    pub fn new_device<'bus, CS, D>(
         &'bus self,
         cs: CS,
         config: &SpiConfig,
-    ) -> SpiSharedDevice<'bus, SPI, PINS, CS>
+        delay: D,
+    ) -> SpiSharedDevice<'bus, SPI, PINS, CS, D>
     where
         CS: PinCS<SPI>,
+        D: DelayNs,
     {
-        SpiSharedDevice::new(self, cs, config)
+        SpiSharedDevice::new(self, cs, config, delay)
     }
 }