From c89faa42abc962f5626369dcee332f9d28f2b259 Mon Sep 17 00:00:00 2001
From: Benjamin Koch <bbbsnowball@gmail.com>
Date: Sat, 20 May 2023 16:41:42 +0200
Subject: [PATCH] merge UART RX task with autobaud task
---
firmware/rust1/src/bin/heizung.rs | 97 ++++++++++++++++++++++++-------
1 file changed, 76 insertions(+), 21 deletions(-)
diff --git a/firmware/rust1/src/bin/heizung.rs b/firmware/rust1/src/bin/heizung.rs
index 4248da4..e0d30a4 100644
--- a/firmware/rust1/src/bin/heizung.rs
+++ b/firmware/rust1/src/bin/heizung.rs
@@ -5,7 +5,7 @@
use defmt::*;
use embassy_executor::Spawner;
//use embassy_futures::join::join;
-use embassy_futures::select::{select, Either, select3, Either3};
+use embassy_futures::select::*;
use embassy_rp::gpio;
use embassy_time::{Duration, Timer};
use embassy_rp::gpio::{Input, Level, Output, Pull, Flex};
@@ -24,18 +24,6 @@ use heapless::String;
use fixed::traits::ToFixed;
use fixed_macro::types::U56F8;
-#[embassy_executor::task]
-async fn reader(mut rx: UartRx<'static, UART0, uart::Async>) {
- info!("Reading...");
- loop {
- let mut buf = [0; 1];
- match rx.read(&mut buf).await {
- Result::Ok(()) => info!("RX {:?}", buf),
- Result::Err(e) => info!("RX error {:?}", e),
- }
- }
-}
-
fn append_hex1<const N : usize>(s : &mut String<N>, num : u8) -> Result<(), ()> {
let ch = if num < 10 {
('0' as u8 + num) as char
@@ -291,9 +279,63 @@ async fn debug_print_pio_addr(sm: embassy_rp::pac::pio::StateMachine) {
}
}
+mod dont_abort {
+ use core::future::*;
+ use core::pin::Pin;
+ use core::task::*;
+
+ pub struct DontAbort<A> {
+ a: A,
+ done: bool
+ }
+
+ pub struct DontAbortFuture<'a, A> {
+ inner: &'a mut DontAbort<A>
+ }
+
+ impl<A> DontAbort<A> {
+ pub fn new(a: A) -> DontAbort<A> {
+ DontAbort { a, done: false }
+ }
+
+ #[allow(dead_code)]
+ pub fn done(self: &Self) -> bool {
+ return self.done;
+ }
+
+ pub fn continue_wait<'a>(self: &'a mut Self) -> DontAbortFuture<'a, A> {
+ DontAbortFuture { inner: self }
+ }
+ }
+
+ impl<A: Unpin> Unpin for DontAbort<A> {}
+ impl<'a, A: Unpin> Unpin for DontAbortFuture<'a, A> {}
+
+ impl<'a, A> Future for DontAbortFuture<'a, A>
+ where
+ A: Future,
+ {
+ type Output = A::Output;
+
+ fn poll(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
+ let this = unsafe { self.get_unchecked_mut() };
+ if this.inner.done {
+ panic!("Ready future is called again!");
+ }
+ let a = unsafe { Pin::new_unchecked(&mut this.inner.a) };
+ if let Poll::Ready(x) = a.poll(cx) {
+ this.inner.done = true;
+ return Poll::Ready(x);
+ }
+ Poll::Pending
+ }
+ }
+}
+
#[embassy_executor::task]
-async fn autobaud_task(pio0: embassy_rp::peripherals::PIO0, rx_pin: embassy_rp::peripherals::PIN_17,
- dma_channel: embassy_rp::peripherals::DMA_CH0) {
+async fn uart_task(pio0: embassy_rp::peripherals::PIO0, rx_pin: embassy_rp::peripherals::PIN_17,
+ dma_channel: embassy_rp::peripherals::DMA_CH0,
+ mut rx: UartRx<'static, UART0, uart::Async>) {
let Pio {
mut common,
sm0: mut sm,
@@ -417,14 +459,17 @@ async fn autobaud_task(pio0: embassy_rp::peripherals::PIO0, rx_pin: embassy_rp::
let mut dma_in_ref = dma_channel.into_ref();
let mut din = [42u32; 9];
let mut bit_index = 0;
+ let mut rx_buf = [0; 1];
+ let mut rx_future = dont_abort::DontAbort::new(rx.read(&mut rx_buf));
loop {
- let x = select3(
+ let x = select4(
irq0.wait(),
sm.rx().dma_pull(dma_in_ref.reborrow(), &mut din),
debug_print_pio_addr(embassy_rp::pac::PIO0.sm(0)),
+ rx_future.continue_wait(),
).await;
match x {
- Either3::First(_) => {
+ Either4::First(_) => {
let mut sum = 0;
let mut first = 0;
let mut ok = false;
@@ -494,7 +539,7 @@ async fn autobaud_task(pio0: embassy_rp::peripherals::PIO0, rx_pin: embassy_rp::
info!("Guessed baud rate: {}", baud);
}
},
- Either3::Second(_) => {
+ Either4::Second(_) => {
if false {
for i in 0..din.len() {
if din[i] == 0 {
@@ -506,6 +551,18 @@ async fn autobaud_task(pio0: embassy_rp::peripherals::PIO0, rx_pin: embassy_rp::
}
}
},
+ Either4::Fourth(x) => {
+ drop(rx_future);
+ match x {
+ Result::Ok(()) => {
+ info!("RX {:?}", rx_buf);
+ },
+ Result::Err(e) => {
+ info!("RX error {:?}", e);
+ },
+ }
+ rx_future = dont_abort::DontAbort::new(rx.read(&mut rx_buf));
+ },
_ => {
},
}
@@ -568,14 +625,12 @@ async fn main(spawner: Spawner) {
p.DMA_CH1,
uart_config,
);
- unwrap!(spawner.spawn(reader(uart_rx)));
+ unwrap!(spawner.spawn(uart_task(p.PIO0, rx_for_autobaud, p.DMA_CH0, uart_rx)));
if false {
unwrap!(spawner.spawn(beeper_task(p.PWM_CH3, led_r)));
}
- unwrap!(spawner.spawn(autobaud_task(p.PIO0, rx_for_autobaud, p.DMA_CH0)));
-
loop {
led_b.set_high();
Timer::after(Duration::from_secs(1)).await;
--
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