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jonas-schievinkjonas-schievink
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Merge pull request #196 from kalkyl/twis
Add TWIS module
2 parents bb94d90 + 66d209b commit 5e98514

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Lines changed: 693 additions & 0 deletions

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‎Cargo.toml‎

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@@ -16,6 +16,8 @@ members = [
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"examples/lpcomp-demo",
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"examples/qdec-demo",
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"examples/comp-demo",
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"examples/twim-demo",
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"examples/twis-demo",
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]
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[profile.dev]

‎examples/twim-demo/Cargo.toml‎

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[package]
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name = "twim-demo"
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version = "0.1.0"
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authors = ["Henrik Alsér"]
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edition = "2018"
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# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
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[dependencies]
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cortex-m = "0.6.2"
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cortex-m-rtic = "0.5.3"
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rtt-target = {version = "0.2.0", features = ["cortex-m"] }
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nrf52840-hal = { features = ["rt"], path = "../../nrf52840-hal" }
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[dependencies.embedded-hal]
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version = "0.2.3"
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features = ["unproven"]

‎examples/twim-demo/Embed.toml‎

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[default.probe]
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# The index of the probe in the connected probe list.
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# probe_index = 0
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# The protocol to be used for communicating with the target.
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protocol = "Swd"
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# The speed in kHz of the data link to the target.
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# speed = 1337
8+
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[default.flashing]
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# Whether or not the target should be flashed.
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enabled = true
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# Whether or not the target should be halted after flashing.
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halt_afterwards = false
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# Whether or not bytes erased but not rewritten with data from the ELF
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# should be restored with their contents before erasing.
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restore_unwritten_bytes = false
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# The path where an SVG of the assembled flash layout should be written to.
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# flash_layout_output_path = "out.svg"
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[default.general]
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# The chip name of the chip to be debugged.
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chip = "nRF52840"
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# A list of chip descriptions to be loaded during runtime.
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chip_descriptions = []
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# The default log level to be used.
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log_level = "Warn"
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[default.rtt]
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# Whether or not an RTTUI should be opened after flashing.
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# This is exclusive and cannot be used with GDB at the moment.
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enabled = true
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# A list of channel associations to be displayed. If left empty, all channels are displayed.
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channels = [
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# { up = 0, down = 0, name = "name" }
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]
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# The duration in ms for which the logger should retry to attach to RTT.
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timeout = 3000
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# Whether timestamps in the RTTUI are enabled
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show_timestamps = true
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[default.gdb]
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# Whether or not a GDB server should be opened after flashing.
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# This is exclusive and cannot be used with RTT at the moment.
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enabled = false
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# The connection string in host:port format wher the GDB server will open a socket.
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# gdb_connection_string

‎examples/twim-demo/src/main.rs‎

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#![no_std]
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#![no_main]
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#[allow(unused_imports)]
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use embedded_hal::blocking::i2c::{Read, Write};
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use embedded_hal::digital::v2::InputPin;
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use {
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core::{
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panic::PanicInfo,
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sync::atomic::{compiler_fence, Ordering},
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},
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hal::{
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gpio::{p0::Parts, Input, Pin, PullUp},
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gpiote::Gpiote,
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pac::TWIM0,
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twim::*,
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},
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nrf52840_hal as hal,
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rtic::cyccnt::U32Ext,
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rtt_target::{rprintln, rtt_init_print},
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};
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#[rtic::app(device = crate::hal::pac, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
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const APP: () = {
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struct Resources {
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twim: Twim<TWIM0>,
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gpiote: Gpiote,
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btn1: Pin<Input<PullUp>>,
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btn2: Pin<Input<PullUp>>,
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btn3: Pin<Input<PullUp>>,
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btn4: Pin<Input<PullUp>>,
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}
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#[init]
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fn init(mut ctx: init::Context) -> init::LateResources {
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let _clocks = hal::clocks::Clocks::new(ctx.device.CLOCK).enable_ext_hfosc();
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ctx.core.DCB.enable_trace();
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ctx.core.DWT.enable_cycle_counter();
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rtt_init_print!();
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let p0 = Parts::new(ctx.device.P0);
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let scl = p0.p0_30.into_floating_input().degrade();
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let sda = p0.p0_31.into_floating_input().degrade();
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let btn1 = p0.p0_11.into_pullup_input().degrade();
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let btn2 = p0.p0_12.into_pullup_input().degrade();
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let btn3 = p0.p0_24.into_pullup_input().degrade();
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let btn4 = p0.p0_25.into_pullup_input().degrade();
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let gpiote = Gpiote::new(ctx.device.GPIOTE);
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gpiote.port().input_pin(&btn1).low();
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gpiote.port().input_pin(&btn2).low();
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gpiote.port().input_pin(&btn3).low();
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gpiote.port().input_pin(&btn4).low();
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gpiote.port().enable_interrupt();
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let twim = Twim::new(ctx.device.TWIM0, Pins { scl, sda }, Frequency::K100);
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init::LateResources {
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twim,
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gpiote,
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btn1,
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btn2,
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btn3,
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btn4,
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}
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}
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#[idle]
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fn idle(_: idle::Context) -> ! {
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rprintln!("Press button 1 to READ from addr 0x1A");
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rprintln!("Press button 2 to WRITE to addr 0x1A");
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rprintln!("Press button 3 to READ from addr 0x1B");
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rprintln!("Press button 4 to WRITE from addr 0x1B");
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loop {
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cortex_m::asm::wfi();
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}
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}
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#[task(binds = GPIOTE, resources = [gpiote], schedule = [debounce])]
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fn on_gpiote(ctx: on_gpiote::Context) {
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ctx.resources.gpiote.reset_events();
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ctx.schedule.debounce(ctx.start + 3_000_000.cycles()).ok();
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}
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#[task(resources = [twim, gpiote, btn1, btn2, btn3, btn4])]
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fn debounce(ctx: debounce::Context) {
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let twim = ctx.resources.twim;
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if ctx.resources.btn1.is_low().unwrap() {
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rprintln!("\nREAD from address 0x1A");
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let rx_buf = &mut [0; 8][..];
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let res = twim.read(0x1A, rx_buf);
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rprintln!("Result: {:?}\n{:?}", res, rx_buf);
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}
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if ctx.resources.btn2.is_low().unwrap() {
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rprintln!("\nWRITE to address 0x1A");
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let tx_buf = [1, 2, 3, 4, 5, 6, 7, 8];
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let res = twim.write(0x1A, &tx_buf[..]);
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rprintln!("Result: {:?}\n{:?}", res, tx_buf);
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}
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if ctx.resources.btn3.is_low().unwrap() {
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rprintln!("\nREAD from address 0x1B");
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let rx_buf = &mut [0; 4][..];
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let res = twim.read(0x1B, rx_buf);
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rprintln!("Result: {:?}\n{:?}", res, rx_buf);
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}
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if ctx.resources.btn4.is_low().unwrap() {
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rprintln!("\nWRITE to address 0x1B");
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let tx_buf = [9, 10, 11, 12];
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let res = twim.write(0x1B, &tx_buf[..]);
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rprintln!("Result: {:?}\n{:?}", res, tx_buf);
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}
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}
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extern "C" {
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fn SWI0_EGU0();
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}
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};
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#[inline(never)]
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#[panic_handler]
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fn panic(info: &PanicInfo) -> ! {
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cortex_m::interrupt::disable();
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rprintln!("{}", info);
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loop {
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compiler_fence(Ordering::SeqCst);
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}
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}

‎examples/twis-demo/Cargo.toml‎

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[package]
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name = "twis-demo"
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version = "0.1.0"
4+
authors = ["Henrik Alsér"]
5+
edition = "2018"
6+
7+
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
8+
9+
[dependencies]
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cortex-m = "0.6.2"
11+
cortex-m-rtic = "0.5.3"
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rtt-target = {version = "0.2.0", features = ["cortex-m"] }
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nrf52840-hal = { features = ["rt"], path = "../../nrf52840-hal" }
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[dependencies.embedded-hal]
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version = "0.2.3"
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features = ["unproven"]

‎examples/twis-demo/Embed.toml‎

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@@ -0,0 +1,46 @@
1+
[default.probe]
2+
# The index of the probe in the connected probe list.
3+
# probe_index = 0
4+
# The protocol to be used for communicating with the target.
5+
protocol = "Swd"
6+
# The speed in kHz of the data link to the target.
7+
# speed = 1337
8+
9+
[default.flashing]
10+
# Whether or not the target should be flashed.
11+
enabled = true
12+
# Whether or not the target should be halted after flashing.
13+
halt_afterwards = false
14+
# Whether or not bytes erased but not rewritten with data from the ELF
15+
# should be restored with their contents before erasing.
16+
restore_unwritten_bytes = false
17+
# The path where an SVG of the assembled flash layout should be written to.
18+
# flash_layout_output_path = "out.svg"
19+
20+
[default.general]
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# The chip name of the chip to be debugged.
22+
chip = "nRF52840"
23+
# A list of chip descriptions to be loaded during runtime.
24+
chip_descriptions = []
25+
# The default log level to be used.
26+
log_level = "Warn"
27+
28+
[default.rtt]
29+
# Whether or not an RTTUI should be opened after flashing.
30+
# This is exclusive and cannot be used with GDB at the moment.
31+
enabled = true
32+
# A list of channel associations to be displayed. If left empty, all channels are displayed.
33+
channels = [
34+
# { up = 0, down = 0, name = "name" }
35+
]
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# The duration in ms for which the logger should retry to attach to RTT.
37+
timeout = 3000
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# Whether timestamps in the RTTUI are enabled
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show_timestamps = true
40+
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[default.gdb]
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# Whether or not a GDB server should be opened after flashing.
43+
# This is exclusive and cannot be used with RTT at the moment.
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enabled = false
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# The connection string in host:port format wher the GDB server will open a socket.
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# gdb_connection_string

‎examples/twis-demo/src/main.rs‎

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#![no_std]
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#![no_main]
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use embedded_hal::digital::v2::OutputPin;
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use {
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core::{
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panic::PanicInfo,
8+
sync::atomic::{compiler_fence, Ordering},
9+
},
10+
hal::{
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gpio::{p0::Parts, Level, Output, Pin, PushPull},
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pac::TWIS0,
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twis::*,
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},
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nrf52840_hal as hal,
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rtt_target::{rprintln, rtt_init_print},
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};
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const ADDR0: u8 = 0x1A;
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const ADDR1: u8 = 0x1B;
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const BUF0_SZ: usize = 8;
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const BUF1_SZ: usize = 4;
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#[rtic::app(device = crate::hal::pac, peripherals = true)]
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const APP: () = {
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struct Resources {
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twis: Twis<TWIS0>,
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#[init([0; BUF0_SZ])]
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buffer0: [u8; BUF0_SZ],
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#[init([0; BUF1_SZ])]
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buffer1: [u8; BUF1_SZ],
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led: Pin<Output<PushPull>>,
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}
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#[init]
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fn init(ctx: init::Context) -> init::LateResources {
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let _clocks = hal::clocks::Clocks::new(ctx.device.CLOCK).enable_ext_hfosc();
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rtt_init_print!();
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let p0 = Parts::new(ctx.device.P0);
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let led = p0.p0_06.into_push_pull_output(Level::High).degrade();
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let scl = p0.p0_14.into_floating_input().degrade();
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let sda = p0.p0_16.into_floating_input().degrade();
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let twis = Twis::new(ctx.device.TWIS0, Pins { scl, sda }, ADDR0);
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twis.address1(ADDR1) // Add a secondary i2c address
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.enable_interrupt(TwiEvent::Write) // Trigger interrupt on WRITE command
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.enable_interrupt(TwiEvent::Read) // Trigger interrupt on READ command
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.enable();
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init::LateResources { twis, led }
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}
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#[idle]
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fn idle(_: idle::Context) -> ! {
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rprintln!("Waiting for commands from controller...");
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loop {
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cortex_m::asm::wfi();
59+
}
60+
}
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#[task(binds = SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0, resources = [twis, buffer0, buffer1, led])]
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fn on_twis(ctx: on_twis::Context) {
64+
let twis = ctx.resources.twis;
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let buffer0 = ctx.resources.buffer0;
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let buffer1 = ctx.resources.buffer1;
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let led = ctx.resources.led;
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if twis.is_event_triggered(TwiEvent::Read) {
70+
twis.reset_event(TwiEvent::Read);
71+
led.set_low().ok();
72+
rprintln!("\nREAD cmd received on addr 0x{:x}", twis.address_match());
73+
rprintln!("Writing data to controller...");
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match twis.address_match() {
75+
ADDR0 => {
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let res = twis.tx(&buffer0[..]);
77+
rprintln!("Result: {:?}\n{:?}", res, buffer0);
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}
79+
ADDR1 => {
80+
let res = twis.tx(&buffer1[..]);
81+
rprintln!("Result: {:?}\n{:?}", res, buffer1);
82+
}
83+
_ => unreachable!(),
84+
}
85+
}
86+
if twis.is_event_triggered(TwiEvent::Write) {
87+
twis.reset_event(TwiEvent::Write);
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led.set_high().ok();
89+
rprintln!("\nWRITE cmd received on addr 0x{:x}", twis.address_match());
90+
rprintln!("Reading data from controller...");
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match twis.address_match() {
92+
ADDR0 => {
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let res = twis.rx(&mut buffer0[..]);
94+
rprintln!("Result: {:?}\n{:?}", res, buffer0);
95+
}
96+
ADDR1 => {
97+
let res = twis.rx(&mut buffer1[..]);
98+
rprintln!("Result: {:?}\n{:?}", res, buffer1);
99+
}
100+
_ => unreachable!(),
101+
}
102+
}
103+
}
104+
};
105+
106+
#[inline(never)]
107+
#[panic_handler]
108+
fn panic(info: &PanicInfo) -> ! {
109+
cortex_m::interrupt::disable();
110+
rprintln!("{}", info);
111+
loop {
112+
compiler_fence(Ordering::SeqCst);
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}
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}

‎nrf-hal-common/src/lib.rs‎

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@@ -60,6 +60,8 @@ pub mod timer;
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pub mod twi;
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#[cfg(not(feature = "51"))]
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pub mod twim;
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#[cfg(not(any(feature = "51", feature = "9160")))]
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pub mod twis;
6365
#[cfg(feature = "51")]
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pub mod uart;
6567
#[cfg(not(feature = "51"))]

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