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Integrate numbered RAL types #9

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Integrate numbered RAL types #9

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54caa92
Integrate strongly-typed RAL instances
mciantyre Dec 6, 2020
38427fc
Update documentation tests
mciantyre Dec 14, 2020
6def511
Remove instance module
mciantyre Dec 14, 2020
778cab4
Address clippy naming warnings
mciantyre Mar 30, 2021
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4 changes: 4 additions & 0 deletions Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -61,3 +61,7 @@ default-target = "thumbv7em-none-eabihf"
[patch.crates-io.imxrt-iomuxc]
git = "https://github.com/imxrt-rs/imxrt-iomuxc"
branch = "v0.1-imxrt101x"

[patch.crates-io.imxrt-ral]
git = "https://github.com/imxrt-rs/imxrt-ral"
branch = "typenum-instances"
4 changes: 4 additions & 0 deletions examples/teensy4/Cargo.toml
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Expand Up @@ -46,3 +46,7 @@ opt-level = 0
[patch.crates-io.imxrt-iomuxc]
git = "https://github.com/imxrt-rs/imxrt-iomuxc"
branch = "v0.1-imxrt101x"

[patch.crates-io.imxrt-ral]
git = "https://github.com/imxrt-rs/imxrt-ral"
branch = "typenum-instances"
15 changes: 8 additions & 7 deletions examples/teensy4/src/bin/forgotten.rs
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Expand Up @@ -46,7 +46,10 @@ static DATA: u32 = 0;

/// Prepare to receive UART data from a DMA transfer into stack memory
#[inline(never)]
fn prepare_receive(uart: &mut hal::UART<P14, P15>, channel: &mut hal::dma::Channel) {
fn prepare_receive(
uart: &mut hal::Uart<hal::iomuxc::consts::U2, P14, P15>,
channel: &mut hal::dma::Channel,
) {
let mut buffer: [u8; 8] = [0; 8];
let mut read = uart.dma_read(channel, &mut buffer);
let pin = unsafe { Pin::new_unchecked(&mut read) };
Expand All @@ -59,7 +62,7 @@ fn prepare_receive(uart: &mut hal::UART<P14, P15>, channel: &mut hal::dma::Chann

/// Watch the stack memory, and turn on the LED when its non-zero
#[inline(never)]
fn watch_stack(led: &mut hal::gpio::GPIO<P13, hal::gpio::Output>) -> ! {
fn watch_stack(led: &mut hal::gpio::Gpio<P13, hal::gpio::Output>) -> ! {
let buffer: [u8; 256] = [0; 256];
loop {
for elem in &buffer {
Expand All @@ -77,7 +80,7 @@ fn watch_stack(led: &mut hal::gpio::GPIO<P13, hal::gpio::Output>) -> ! {
fn main() -> ! {
let pads = hal::iomuxc::new(hal::ral::iomuxc::IOMUXC::take().unwrap());
let pins = teensy4_pins::t40::into_pins(pads);
let mut led = hal::gpio::GPIO::new(pins.p13).output();
let mut led = hal::gpio::Gpio::new(pins.p13).output();

let ccm = hal::ral::ccm::CCM::take().unwrap();
ral::modify_reg!(ral::ccm, ccm, CSCDR1, UART_CLK_SEL: 1 /* XTAL */, UART_CLK_PODF: 0);
Expand All @@ -91,10 +94,8 @@ fn main() -> ! {
hal::ral::dmamux::DMAMUX::take().unwrap(),
);

let uart2 = hal::ral::lpuart::LPUART2::take()
.and_then(hal::instance::uart)
.unwrap();
let mut uart = hal::UART::new(uart2, pins.p14, pins.p15);
let uart2 = hal::ral::lpuart::LPUART2::take().unwrap();
let mut uart = hal::Uart::new(uart2, pins.p14, pins.p15);
let mut channel = channels[7].take().unwrap();
uart.set_baud(BAUD, 24_000_000 /* XTAL Hz */).unwrap();

Expand Down
18 changes: 9 additions & 9 deletions examples/teensy4/src/bin/gpio.rs
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Expand Up @@ -23,8 +23,8 @@ use hal::gpio;
use imxrt_async_hal as hal;

async fn connect<P, Q>(
mut input: gpio::GPIO<P, gpio::Input>,
mut output: gpio::GPIO<Q, gpio::Output>,
mut input: gpio::Gpio<P, gpio::Input>,
mut output: gpio::Gpio<Q, gpio::Output>,
) -> !
where
P: hal::iomuxc::gpio::Pin,
Expand All @@ -40,7 +40,7 @@ where
fn main() -> ! {
let pads = hal::iomuxc::new(hal::ral::iomuxc::IOMUXC::take().unwrap());
let pins = teensy4_pins::t40::into_pins(pads);
let mut p13 = hal::gpio::GPIO::new(pins.p13).output();
let mut p13 = hal::gpio::Gpio::new(pins.p13).output();

let ccm = hal::ral::ccm::CCM::take().unwrap();
let (_, _, mut timer) = t4_startup::new_gpt(hal::ral::gpt::GPT2::take().unwrap(), &ccm);
Expand All @@ -51,16 +51,16 @@ fn main() -> ! {
}
};

let p12 = hal::gpio::GPIO::new(pins.p12);
let p14 = hal::gpio::GPIO::new(pins.p14).output();
let p12 = hal::gpio::Gpio::new(pins.p12);
let p14 = hal::gpio::Gpio::new(pins.p14).output();
let twos = connect(p12, p14);

let p11 = hal::gpio::GPIO::new(pins.p11);
let p15 = hal::gpio::GPIO::new(pins.p15).output();
let p11 = hal::gpio::Gpio::new(pins.p11);
let p15 = hal::gpio::Gpio::new(pins.p15).output();
let fours = connect(p11, p15);

let p10 = hal::gpio::GPIO::new(pins.p10);
let p16 = hal::gpio::GPIO::new(pins.p16).output();
let p10 = hal::gpio::Gpio::new(pins.p10);
let p16 = hal::gpio::Gpio::new(pins.p16).output();
let eights = connect(p10, p16);

async_embedded::task::block_on(future::join4(ones, twos, fours, eights));
Expand Down
6 changes: 3 additions & 3 deletions examples/teensy4/src/bin/gpt.rs
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Expand Up @@ -15,8 +15,8 @@ use imxrt_async_hal as hal;
fn main() -> ! {
let pads = hal::iomuxc::new(hal::ral::iomuxc::IOMUXC::take().unwrap());
let pins = teensy4_pins::t40::into_pins(pads);
let mut led = hal::gpio::GPIO::new(pins.p13).output();
let mut pin14 = hal::gpio::GPIO::new(pins.p14).output();
let mut led = hal::gpio::Gpio::new(pins.p13).output();
let mut pin14 = hal::gpio::Gpio::new(pins.p14).output();

let ccm = ral::ccm::CCM::take().unwrap();
// Select 24MHz crystal oscillator, divide by 24 == 1MHz clock
Expand All @@ -34,7 +34,7 @@ fn main() -> ! {
);
ral::write_reg!(ral::gpt, gpt, PR, PRESCALER24M: 4); // 1MHz / 5 == 200KHz

let (mut blink_timer, mut gpio_timer, _) = hal::GPT::new(gpt);
let (mut blink_timer, mut gpio_timer, _) = hal::Gpt::new(gpt);
let blink_loop = async {
loop {
blink_timer.delay(250_000u32 / 5).await;
Expand Down
12 changes: 6 additions & 6 deletions examples/teensy4/src/bin/i2c.rs
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Expand Up @@ -22,17 +22,17 @@ extern crate panic_halt;
extern crate t4_startup;

use hal::{
gpio::GPIO,
gpio::Gpio,
iomuxc,
ral::{self, ccm::CCM, gpt::GPT1, iomuxc::IOMUXC, lpi2c::LPI2C3},
I2C,
I2c,
};
use imxrt_async_hal as hal;

const MPU9250_ADDRESS: u8 = 0x68;
const WHO_AM_I: u8 = 0x75;
const ACCEL_XOUT_H: u8 = 0x3B;
const CLOCK_SPEED: hal::I2CClockSpeed = hal::I2CClockSpeed::KHz400;
const CLOCK_SPEED: hal::I2cClockSpeed = hal::I2cClockSpeed::KHz400;

const SOURCE_CLOCK_HZ: u32 = 24_000_000;
const SOURCE_CLOCK_DIVIDER: u32 = 3;
Expand Down Expand Up @@ -61,10 +61,10 @@ fn main() -> ! {
ral::modify_reg!(ral::ccm, ccm, CCGR2, CG5: 0b11);
let (mut timer, _, _) = t4_startup::new_gpt(GPT1::take().unwrap(), &ccm);

let mut led = GPIO::new(pins.p13).output();
let mut led = Gpio::new(pins.p13).output();

let i2c3 = LPI2C3::take().and_then(hal::instance::i2c).unwrap();
let mut i2c = I2C::new(i2c3, pins.p16, pins.p17);
let i2c3 = LPI2C3::take().unwrap();
let mut i2c = I2c::new(i2c3, pins.p16, pins.p17);
i2c.set_clock_speed(CLOCK_SPEED, SOURCE_CLOCK_HZ / SOURCE_CLOCK_DIVIDER)
.unwrap();

Expand Down
4 changes: 2 additions & 2 deletions examples/teensy4/src/bin/pit.rs
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Expand Up @@ -15,7 +15,7 @@ use imxrt_async_hal as hal;
fn main() -> ! {
let pads = hal::iomuxc::new(hal::ral::iomuxc::IOMUXC::take().unwrap());
let pins = teensy4_pins::t40::into_pins(pads);
let mut led = hal::gpio::GPIO::new(pins.p13).output();
let mut led = hal::gpio::Gpio::new(pins.p13).output();

let ccm = ral::ccm::CCM::take().unwrap();
// Select 24MHz crystal oscillator, divide by 24 == 1MHz clock
Expand All @@ -24,7 +24,7 @@ fn main() -> ! {
ral::modify_reg!(ral::ccm, ccm, CCGR1, CG6: 0b11);
ral::ccm::CCM::release(ccm);

let (mut pit, _, _, _) = ral::pit::PIT::take().map(hal::PIT::new).unwrap();
let (mut pit, _, _, _) = ral::pit::PIT::take().map(hal::Pit::new).unwrap();
let blink_loop = async {
loop {
const DELAY_MS: u32 = 250_000; // 1MHz clock, 1us period
Expand Down
10 changes: 4 additions & 6 deletions examples/teensy4/src/bin/spi.rs
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Expand Up @@ -31,7 +31,7 @@ const SOURCE_CLOCK_DIVIDER: u32 = 5;
fn main() -> ! {
let pads = hal::iomuxc::new(hal::ral::iomuxc::IOMUXC::take().unwrap());
let pins = teensy4_pins::t40::into_pins(pads);
let mut hardware_flag = hal::gpio::GPIO::new(pins.p14).output();
let mut hardware_flag = hal::gpio::Gpio::new(pins.p14).output();
hardware_flag.clear();

let ccm = hal::ral::ccm::CCM::take().unwrap();
Expand All @@ -56,16 +56,14 @@ fn main() -> ! {
hal::ral::dmamux::DMAMUX::take().unwrap(),
);

let spi4 = hal::ral::lpspi::LPSPI4::take()
.and_then(hal::instance::spi)
.unwrap();
let pins = hal::SPIPins {
let spi4 = hal::ral::lpspi::LPSPI4::take().unwrap();
let pins = hal::SpiPins {
sdo: pins.p11,
sdi: pins.p12,
sck: pins.p13,
pcs0: pins.p10,
};
let mut spi = hal::SPI::new(pins, spi4);
let mut spi = hal::Spi::new(pins, spi4);
let mut tx_channel = channels[8].take().unwrap();
let mut rx_channel = channels[9].take().unwrap();
tx_channel.set_interrupt_on_completion(true);
Expand Down
8 changes: 3 additions & 5 deletions examples/teensy4/src/bin/uart.rs
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Expand Up @@ -29,7 +29,7 @@ const CLOCK_DIVIDER: u32 = 1;
fn main() -> ! {
let pads = hal::iomuxc::new(hal::ral::iomuxc::IOMUXC::take().unwrap());
let pins = teensy4_pins::t40::into_pins(pads);
let mut led = hal::gpio::GPIO::new(pins.p13).output();
let mut led = hal::gpio::Gpio::new(pins.p13).output();
let gpt = hal::ral::gpt::GPT2::take().unwrap();

let ccm = hal::ral::ccm::CCM::take().unwrap();
Expand All @@ -46,10 +46,8 @@ fn main() -> ! {
hal::ral::dmamux::DMAMUX::take().unwrap(),
);

let uart2 = hal::ral::lpuart::LPUART2::take()
.and_then(hal::instance::uart)
.unwrap();
let mut uart = hal::UART::new(uart2, pins.p14, pins.p15);
let uart2 = hal::ral::lpuart::LPUART2::take().unwrap();
let mut uart = hal::Uart::new(uart2, pins.p14, pins.p15);
let mut channel = channels[7].take().unwrap();
channel.set_interrupt_on_completion(true);
uart.set_baud(BAUD, CLOCK_FREQUENCY_HZ / CLOCK_DIVIDER)
Expand Down
12 changes: 6 additions & 6 deletions examples/teensy4/src/lib.rs
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Expand Up @@ -31,10 +31,10 @@ unsafe fn pre_init() {
///
/// See the gpt example for more information on GPT timer
/// configuration.
pub fn new_gpt(
gpt: ral::gpt::Instance,
pub fn new_gpt<N>(
gpt: ral::gpt::Instance<N>,
ccm: &ral::ccm::Instance,
) -> (hal::GPT, hal::GPT, hal::GPT) {
) -> (hal::Gpt, hal::Gpt, hal::Gpt) {
// Select 24MHz crystal oscillator, divide by 24 == 1MHz clock
ral::modify_reg!(ral::ccm, ccm, CSCMR1, PERCLK_PODF: DIVIDE_24, PERCLK_CLK_SEL: 1);

Expand All @@ -54,15 +54,15 @@ pub fn new_gpt(
);
ral::write_reg!(ral::gpt, gpt, PR, PRESCALER24M: 4); // 1MHz / 5 == 200KHz

hal::GPT::new(gpt)
hal::Gpt::new(gpt)
}

/// Use a GPT to delay `ms` milliseconds
pub async fn gpt_delay_ms(gpt: &mut hal::GPT, ms: u32) {
pub async fn gpt_delay_ms(gpt: &mut hal::Gpt, ms: u32) {
gpt.delay(ms * 1_000 / 5).await
}

/// Use a GPT to delay `us` microseconds
pub async fn gpt_delay_us(gpt: &mut hal::GPT, us: u32) {
pub async fn gpt_delay_us(gpt: &mut hal::Gpt, us: u32) {
gpt.delay(us / 5).await
}
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