Add basic output support for GPIOs

2024-12-23 20:51:31 +11:00 · 2021-04-17 18:18:10 -05:00 · 2021-04-17 18:18:10 -05:00 · 45580ec4c8
parent b96339c417
commit 45580ec4c8
6 changed files with 253 additions and 1 deletions
--- a/.gitignore
+++ b/.gitignore
@ -1 +1,2 @@
 .idea/
+target
--- a/Cargo.lock
+++ b/Cargo.lock
@ -0,0 +1,117 @@
+# 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",
+]
--- a/rp2040-hal/Cargo.toml
+++ b/rp2040-hal/Cargo.toml
@ -13,4 +13,4 @@ license = "MIT OR Apache-2.0"
 cortex-m = "0.7.1"
 embedded-hal = "0.2.4"
 nb = "1.0.0"
-rp2040-pac = "0.1.1"
+rp2040-pac = { git = "https://github.com/rp-rs/rp2040-pac", branch="main" }
--- a/rp2040-hal/src/gpio.rs
+++ b/rp2040-hal/src/gpio.rs
@ -0,0 +1,132 @@
+//! General Purpose Input and Output (GPIO)
+//!
+//! TODO: Docs for this whole module
+//!
+//! For example, to turn on the LED on a Pico board:
+//!
+//! ```rust
+//! let mut pac = rp2040_pac::Peripherals::take().unwrap();
+//!
+//! let pins = pac.IO_BANK0.split(&mut pac.RESETS);
+//! let mut led_pin = pins.gpio25.into_output(&mut pac.PADS_BANK0, &mut pac.SIO);
+//!  led_pin.set_low().unwrap();
+//! ```
+use core::convert::Infallible;
+use core::marker::PhantomData;
+use embedded_hal::digital::v2::OutputPin;
+
+pub struct Floating;
+pub struct Input<MODE> {
+    _mode: PhantomData<MODE>,
+}
+pub struct Output;
+
+pub trait GpioExt {
+    type Parts;
+
+    // TODO: Do we need a marker to check that clocks are up?
+    fn split(self, reset: &mut rp2040_pac::RESETS) -> Self::Parts;
+}
+
+const FUNCTION_SIO: u8 = 5;
+
+macro_rules! gpio {
+    ($GPIOX:ident, $gpiox:ident, $PADSX:ident, [
+        $($PXi:ident: ($pxi:ident, $i:expr),)+
+    ]) => {
+        impl GpioExt for pac::$GPIOX {
+            type Parts = Parts;
+
+            fn split(self, resets: &mut pac::RESETS) -> Parts {
+                resets.reset.modify(|_, w| w.$gpiox().clear_bit());
+                Parts {
+                    $(
+                        $pxi: $PXi { _mode: PhantomData },
+                    )+
+                }
+            }
+        }
+
+        pub struct Parts {
+            $(
+                pub $pxi: $PXi<Input<Floating>>,
+            )+
+        }
+
+        $(
+            pub struct $PXi<MODE> {
+                _mode: PhantomData<MODE>,
+            }
+
+            impl<MODE> $PXi<MODE> {
+                pub fn into_output(
+                    self,
+                    pads: &mut pac::$PADSX,
+                    sio: &mut pac::SIO,
+                ) -> $PXi<Output> {
+                    pads.gpio[$i].modify(|_, w| w.ie().set_bit().od().clear_bit());
+                    unsafe {
+                        (*pac::$GPIOX::ptr()).gpio[$i]
+                            .gpio_ctrl
+                            .write_with_zero(|x| x.funcsel().bits(FUNCTION_SIO));
+                    }
+                    sio.gpio_oe.modify(|_, x| unsafe { x.bits(1 << $i) });
+                    $PXi { _mode: PhantomData }
+                }
+            }
+
+            impl OutputPin for $PXi<Output> {
+                type Error = Infallible;
+
+                fn set_low(&mut self) -> Result<(), Self::Error> {
+                    unsafe {
+                        (*pac::SIO::ptr()).gpio_out_clr.write(|x| x.bits(1 << $i));
+                    }
+                    Ok(())
+                }
+
+                fn set_high(&mut self) -> Result<(), Self::Error> {
+                    unsafe {
+                        (*pac::SIO::ptr()).gpio_out_set.write(|x| x.bits(1 << $i));
+                    }
+                    Ok(())
+                }
+            }
+        )+
+    };
+}
+
+gpio!(
+    IO_BANK0, io_bank0, PADS_BANK0, [
+        Gpio0: (gpio0, 0),
+        Gpio1: (gpio1, 1),
+        Gpio2: (gpio2, 2),
+        Gpio3: (gpio3, 3),
+        Gpio4: (gpio4, 4),
+        Gpio5: (gpio5, 5),
+        Gpio6: (gpio6, 6),
+        Gpio7: (gpio7, 7),
+        Gpio8: (gpio8, 8),
+        Gpio9: (gpio9, 9),
+        Gpio10: (gpio10, 10),
+        Gpio11: (gpio11, 11),
+        Gpio12: (gpio12, 12),
+        Gpio13: (gpio13, 13),
+        Gpio14: (gpio14, 14),
+        Gpio15: (gpio15, 15),
+        Gpio16: (gpio16, 16),
+        Gpio17: (gpio17, 17),
+        Gpio18: (gpio18, 18),
+        Gpio19: (gpio19, 19),
+        Gpio20: (gpio20, 20),
+        Gpio21: (gpio21, 21),
+        Gpio22: (gpio22, 22),
+        Gpio23: (gpio23, 23),
+        Gpio24: (gpio24, 24),
+        Gpio25: (gpio25, 25),
+        Gpio26: (gpio26, 26),
+        Gpio27: (gpio27, 27),
+        Gpio28: (gpio28, 28),
+        Gpio29: (gpio29, 29),
+    ]
+);
--- a/rp2040-hal/src/lib.rs
+++ b/rp2040-hal/src/lib.rs
@ -13,6 +13,7 @@ extern crate nb;
 pub extern crate rp2040_pac as pac;

 pub mod adc;
+pub mod gpio;
 pub mod i2c;
 pub mod prelude;
 pub mod pwm;
--- a/rp2040-hal/src/prelude.rs
+++ b/rp2040-hal/src/prelude.rs
@ -1 +1,2 @@
 //! Prelude
+pub use crate::gpio::GpioExt;