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Add input support, examples, SIO/PADS ownership

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Sorry this is a large commit :(

This adds support for input pins, including pulling them high or low.

It also adds two examples: the start of a classic blinky LED example, and an example for reading input.
This commit is contained in:
Jennifer Wilcox 2021-04-24 16:18:57 -05:00
parent 45580ec4c8
commit 2c3a0956fa
8 changed files with 253 additions and 185 deletions
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8
.cargo/config
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@ -1,3 +1,11 @@
[build] [build]
# Instruction set of Cortex-M0+ # Instruction set of Cortex-M0+
target = "thumbv6m-none-eabi" target = "thumbv6m-none-eabi"
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
rustflags = [
"-C", "link-arg=--nmagic",
"-C", "link-arg=-Tlink.x",
"-C", "inline-threshold=5",
"-C", "no-vectorize-loops",
]

1
.gitignore vendored
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@ -1,2 +1,3 @@
.idea/ .idea/
target target
Cargo.lock

117
Cargo.lock generated
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@ -1,117 +0,0 @@
# This file is automatically @generated by Cargo.
# It is not intended for manual editing.
[[package]]
name = "bare-metal"
version = "0.2.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
dependencies = [
"rustc_version",
]
[[package]]
name = "bitfield"
version = "0.13.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
[[package]]
name = "cortex-m"
version = "0.7.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "643a210c1bdc23d0db511e2a576082f4ff4dcae9d0c37f50b431b8f8439d6d6b"
dependencies = [
"bare-metal",
"bitfield",
"embedded-hal",
"volatile-register",
]
[[package]]
name = "embedded-hal"
version = "0.2.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "fa998ce59ec9765d15216393af37a58961ddcefb14c753b4816ba2191d865fcb"
dependencies = [
"nb 0.1.3",
"void",
]
[[package]]
name = "nb"
version = "0.1.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
dependencies = [
"nb 1.0.0",
]
[[package]]
name = "nb"
version = "1.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
[[package]]
name = "rp2040-hal"
version = "0.1.0"
dependencies = [
"cortex-m",
"embedded-hal",
"nb 1.0.0",
"rp2040-pac",
]
[[package]]
name = "rp2040-pac"
version = "0.1.1"
source = "git+https://github.com/rp-rs/rp2040-pac?branch=main#f4339cb856f082970767099a0079259f333cdc7e"
dependencies = [
"cortex-m",
"vcell",
]
[[package]]
name = "rustc_version"
version = "0.2.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
dependencies = [
"semver",
]
[[package]]
name = "semver"
version = "0.9.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
dependencies = [
"semver-parser",
]
[[package]]
name = "semver-parser"
version = "0.7.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
[[package]]
name = "vcell"
version = "0.1.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
[[package]]
name = "void"
version = "1.0.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
[[package]]
name = "volatile-register"
version = "0.2.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0d67cb4616d99b940db1d6bd28844ff97108b498a6ca850e5b6191a532063286"
dependencies = [
"vcell",
]

13
memory.x Normal file
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@ -0,0 +1,13 @@
MEMORY {
BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100
RAM : ORIGIN = 0x20000000, LENGTH = 256K
}
SECTIONS {
/* ### Boot loader */
.boot2 ORIGIN(BOOT2) :
{
KEEP(*(.boot2));
} > BOOT2
} INSERT BEFORE .text;

7
rp2040-hal/Cargo.toml
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@ -11,6 +11,11 @@ license = "MIT OR Apache-2.0"
[dependencies] [dependencies]
cortex-m = "0.7.1" cortex-m = "0.7.1"
embedded-hal = "0.2.4" embedded-hal = { version = "0.2.4", features = ["unproven"] }
nb = "1.0.0" nb = "1.0.0"
rp2040-pac = { git = "https://github.com/rp-rs/rp2040-pac", branch="main" } rp2040-pac = { git = "https://github.com/rp-rs/rp2040-pac", branch="main" }
[dev-dependencies]
cortex-m-rt = "0.6.13"
panic-halt = "0.2.0"
rp2040-boot2 = { git = "https://github.com/rp-rs/rp2040-boot2-rs", branch="main" }

31
rp2040-hal/examples/blinky.rs Normal file
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@ -0,0 +1,31 @@
//! Blinks the LED on a Pico board
//!
//! This will blink an LED attached to GP25, which is the pin the Pico uses for the on-board LED.
#![no_std]
#![no_main]
use panic_halt as _;
use cortex_m_rt::entry;
#[link_section = ".boot2"]
#[used]
pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER;
use embedded_hal::digital::v2::OutputPin;
use rp2040_hal::prelude::*;
#[entry]
fn main() -> ! {
let mut pac = rp2040_pac::Peripherals::take().unwrap();
let pins = pac.IO_BANK0.split(pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let mut led_pin = pins.gpio25.into_output();
loop {
led_pin.set_low().unwrap();
// TODO: I dare not use delays until we've got clocks running
led_pin.set_high().unwrap();
// TODO: Other delay
}
}

36
rp2040-hal/examples/gpio_in_out.rs Normal file
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@ -0,0 +1,36 @@
//! Toggle LED based on GPIO input
//!
//! This will control an LED on GP25 based on a button hooked up to GP15. The button should be tied
//! to ground, as the input pin is pulled high internally by this example. When the button is
//! pressed, the LED will turn off.
#![no_std]
#![no_main]
use panic_halt as _;
use cortex_m_rt::entry;
#[link_section = ".boot2"]
#[used]
pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER;
use embedded_hal::digital::v2::{InputPin, OutputPin};
use rp2040_hal::prelude::*;
#[entry]
fn main() -> ! {
let mut pac = rp2040_pac::Peripherals::take().unwrap();
let pins = pac.IO_BANK0.split(pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let mut led_pin = pins.gpio25.into_output();
let mut button_pin = pins.gpio15.into_input();
button_pin.pull_high();
loop {
if button_pin.is_high().unwrap() {
led_pin.set_high().unwrap();
} else {
led_pin.set_low().unwrap();
}
}
}

141
rp2040-hal/src/gpio.rs
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@ -7,39 +7,50 @@
//! ```rust //! ```rust
//! let mut pac = rp2040_pac::Peripherals::take().unwrap(); //! let mut pac = rp2040_pac::Peripherals::take().unwrap();
//! //!
//! let pins = pac.IO_BANK0.split(&mut pac.RESETS); //! let pins = pac.IO_BANK0.split(pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
//! let mut led_pin = pins.gpio25.into_output(&mut pac.PADS_BANK0, &mut pac.SIO); //! let mut led_pin = pins.gpio25.into_output();
//! led_pin.set_low().unwrap(); //! led_pin.set_high().unwrap();
//! ``` //! ```
use core::convert::Infallible; pub struct Input;
use core::marker::PhantomData;
use embedded_hal::digital::v2::OutputPin;
pub struct Floating;
pub struct Input<MODE> {
_mode: PhantomData<MODE>,
}
pub struct Output; pub struct Output;
pub struct Unknown;
pub trait GpioExt { pub trait GpioExt<PADS, SIO> {
type Parts; type Parts;
// TODO: Do we need a marker to check that clocks are up? // TODO: Do we need a marker to check that clocks are up?
fn split(self, reset: &mut rp2040_pac::RESETS) -> Self::Parts; fn split(self, pads: PADS, sio: SIO, reset: &mut rp2040_pac::RESETS) -> Self::Parts;
} }
// Magic numbers from the datasheet
// const FUNCTION_SPI: u8 = 1;
// const FUNCTION_UART: u8 = 2;
// const FUNCTION_I2C: u8 = 3;
// const FUNCTION_PWM: u8 = 4;
const FUNCTION_SIO: u8 = 5; const FUNCTION_SIO: u8 = 5;
// const FUNCTION_PIO0: u8 = 6;
// const FUNCTION_PIO1: u8 = 7;
// const FUNCTION_CLOCK: u8 = 8;
// const FUNCTION_USB: u8 = 9;
macro_rules! gpio { macro_rules! gpio {
($GPIOX:ident, $gpiox:ident, $PADSX:ident, [ ($GPIOX:ident, $gpiox:ident, $PADSX:ident, $padsx:ident, [
$($PXi:ident: ($pxi:ident, $i:expr),)+ $($PXi:ident: ($pxi:ident, $i:expr),)+
]) => { ]) => {
impl GpioExt for pac::$GPIOX { mod $gpiox {
use core::convert::Infallible;
use core::marker::PhantomData;
use embedded_hal::digital::v2::{InputPin, OutputPin, StatefulOutputPin};
use super::{GpioExt, Input, Output, Unknown, FUNCTION_SIO};
impl GpioExt<pac::$PADSX, pac::SIO> for pac::$GPIOX {
type Parts = Parts; type Parts = Parts;
fn split(self, resets: &mut pac::RESETS) -> Parts { fn split(self, pads: pac::$PADSX, sio: pac::SIO, resets: &mut pac::RESETS) -> Parts {
resets.reset.modify(|_, w| w.$gpiox().clear_bit()); resets.reset.modify(|_, w| w.$gpiox().clear_bit());
Parts { Parts {
_pads: pads,
_sio: sio,
$( $(
$pxi: $PXi { _mode: PhantomData }, $pxi: $PXi { _mode: PhantomData },
)+ )+
@ -48,29 +59,67 @@ macro_rules! gpio {
} }
pub struct Parts { pub struct Parts {
_pads: pac::$PADSX,
_sio: pac::SIO,
$( $(
pub $pxi: $PXi<Input<Floating>>, pub $pxi: $PXi<Unknown>,
)+ )+
} }
// Puts pad in default state as far as this crate is concerned:
// - Input is enabled
// - Output is enabled (if also set in SIO)
// - Pull up/down is disabled
//
// TODO: Drive strength, smitty, slewing
fn setup_pad_io(pads: &pac::$padsx::RegisterBlock, index: usize) {
pads.gpio[index].modify(|_, w| w.ie().set_bit().od().clear_bit().pue().clear_bit().pde().clear_bit());
}
fn set_gpio_function(gpios: &pac::$gpiox::RegisterBlock, index: usize, function: u8) {
gpios.gpio[index]
.gpio_ctrl
.write_with_zero(|x| unsafe { x.funcsel().bits(function) });
}
$( $(
pub struct $PXi<MODE> { pub struct $PXi<MODE> {
_mode: PhantomData<MODE>, _mode: PhantomData<MODE>,
} }
// Safety: We own our $i slice of padsx, gpiox, and sio because the
// construction of Parts assumes ownership of all 3 and will not release
// them. Thus several of the methods below will reconstruct these objects
// as-needed
impl<MODE> $PXi<MODE> { impl<MODE> $PXi<MODE> {
pub fn into_output( pub fn into_output(
self, self,
pads: &mut pac::$PADSX,
sio: &mut pac::SIO,
) -> $PXi<Output> { ) -> $PXi<Output> {
pads.gpio[$i].modify(|_, w| w.ie().set_bit().od().clear_bit());
unsafe { unsafe {
(*pac::$GPIOX::ptr()).gpio[$i] setup_pad_io(&*pac::$PADSX::ptr(), $i);
.gpio_ctrl }
.write_with_zero(|x| x.funcsel().bits(FUNCTION_SIO)); unsafe {
set_gpio_function(&*pac::$GPIOX::ptr(), $i, FUNCTION_SIO);
}
unsafe {
(*pac::SIO::ptr()).gpio_oe_set.write(|x| { x.bits(1 << $i) });
}
$PXi { _mode: PhantomData }
}
pub fn into_input(
self,
) -> $PXi<Input> {
unsafe {
setup_pad_io(&*pac::$PADSX::ptr(), $i);
}
unsafe {
set_gpio_function(&*pac::$GPIOX::ptr(), $i, FUNCTION_SIO);
}
unsafe {
(*pac::SIO::ptr()).gpio_oe_clr.write(|x| { x.bits(1 << $i) });
} }
sio.gpio_oe.modify(|_, x| unsafe { x.bits(1 << $i) });
$PXi { _mode: PhantomData } $PXi { _mode: PhantomData }
} }
} }
@ -92,12 +141,54 @@ macro_rules! gpio {
Ok(()) Ok(())
} }
} }
impl StatefulOutputPin for $PXi<Output> {
fn is_set_low(&self) -> Result<bool, Self::Error> {
Ok(!self.is_set_high()?)
}
fn is_set_high(&self) -> Result<bool, Self::Error> {
unsafe {
Ok((*pac::SIO::ptr()).gpio_out_set.read().bits() & (1 << $i) != 0)
}
}
}
// TODO: Don't allow Unknown since we need to fix up the pad at least
impl<MODE> InputPin for $PXi<MODE> {
type Error = Infallible;
fn is_low(&self) -> Result<bool, Self::Error> {
Ok(!self.is_high()?)
}
fn is_high(&self) -> Result<bool, Self::Error> {
unsafe {
Ok((*pac::SIO::ptr()).gpio_in.read().bits() & (1 << $i) != 0)
}
}
}
impl $PXi<Input> {
pub fn pull_high(&mut self) {
unsafe {
(*pac::$PADSX::ptr()).gpio[$i].modify(|_, w| w.pue().set_bit().pde().clear_bit());
}
}
pub fn pull_low(&mut self) {
unsafe {
(*pac::$PADSX::ptr()).gpio[$i].modify(|_, w| w.pue().clear_bit().pde().set_bit());
}
}
}
)+ )+
}
}; };
} }
gpio!( gpio!(
IO_BANK0, io_bank0, PADS_BANK0, [ IO_BANK0, io_bank0, PADS_BANK0, pads_bank0, [
Gpio0: (gpio0, 0), Gpio0: (gpio0, 0),
Gpio1: (gpio1, 1), Gpio1: (gpio1, 1),
Gpio2: (gpio2, 2), Gpio2: (gpio2, 2),