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Use type-level programming instead of macros for adc #616

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Use type-level programming instead of macros for adc #616

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245 changes: 159 additions & 86 deletions hal/src/thumbv7em/adc.rs
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Original file line number Diff line number Diff line change
@@ -1,5 +1,8 @@
//! Analogue-to-Digital Conversion
use crate::clock::GenericClockController;

use core::ops::Deref;

use crate::clock::{GClock, GenericClockController};
#[rustfmt::skip]
use crate::gpio::*;
use crate::ehal::adc::{Channel, OneShot};
Expand All @@ -8,6 +11,7 @@ use crate::pac::gclk::pchctrl::GEN_A;
use crate::pac::{adc0, ADC0, ADC1, MCLK};

use crate::calibration;
use crate::typelevel::Sealed;

/// Samples per reading
pub use adc0::avgctrl::SAMPLENUM_A as SampleRate;
Expand All @@ -18,23 +22,59 @@ pub use adc0::ctrlb::RESSEL_A as Resolution;
/// Reference voltage (or its source)
pub use adc0::refctrl::REFSEL_A as Reference;

pub trait AdcPeripheral: Sealed + Deref<Target = adc0::RegisterBlock> {
/// ADC number
const NUM: usize;
/// Enable the corresponding APB clock
fn enable_apb_clock(mclk: &mut MCLK);
/// Enable the corresponding peripheral clock
fn enable_peripheral_clock(clocks: &mut GenericClockController, gclock: &GClock);
}

impl Sealed for ADC0 {}
impl AdcPeripheral for ADC0 {
const NUM: usize = 0;
#[inline]
fn enable_apb_clock(mclk: &mut MCLK) {
mclk.apbdmask.modify(|_, w| w.adc0_().set_bit());
}
#[inline]
fn enable_peripheral_clock(clocks: &mut GenericClockController, gclock: &GClock) {
clocks.adc0(gclock).expect("adc clock setup failed");
}
}

impl Sealed for ADC1 {}
impl AdcPeripheral for ADC1 {
const NUM: usize = 1;
#[inline]
fn enable_apb_clock(mclk: &mut MCLK) {
mclk.apbdmask.modify(|_, w| w.adc1_().set_bit());
}
#[inline]
fn enable_peripheral_clock(clocks: &mut GenericClockController, gclock: &GClock) {
clocks.adc1(gclock).expect("adc clock setup failed");
}
}

/// An ADC where results are accessible via interrupt servicing.
pub struct InterruptAdc<ADC, C>
where
ADC: AdcPeripheral,
C: ConversionMode<ADC>,
{
adc: Adc<ADC>,
m: core::marker::PhantomData<C>,
}

/// `Adc` encapsulates the device ADC
pub struct Adc<ADC> {
pub struct Adc<ADC: AdcPeripheral> {
adc: ADC,
}

/// Describes how an interrupt-driven ADC should finalize the peripheral
/// upon the completion of a conversion.
pub trait ConversionMode<ADC> {
pub trait ConversionMode<ADC: AdcPeripheral> {
fn on_start(adc: &mut Adc<ADC>);
fn on_complete(adc: &mut Adc<ADC>);
fn on_stop(adc: &mut Adc<ADC>);
Expand All @@ -43,28 +83,53 @@ pub trait ConversionMode<ADC> {
pub struct SingleConversion;
pub struct FreeRunning;

macro_rules! adc_hal {
($($ADC:ident: ($init:ident, $mclk:ident, $apmask:ident, $compcal:ident, $refcal:ident, $r2rcal:ident),)+) => {
$(
impl Adc<$ADC> {
pub fn $init(adc: $ADC, mclk: &mut MCLK, clocks: &mut GenericClockController, gclk:GEN_A) -> Self {
mclk.$mclk.modify(|_, w| w.$apmask().set_bit());
impl Adc<ADC0> {
pub fn adc0(
adc: ADC0,
mclk: &mut MCLK,
clocks: &mut GenericClockController,
gclk: GEN_A,
) -> Self {
Adc::new(adc, mclk, clocks, gclk)
}
}

impl Adc<ADC1> {
pub fn adc1(
adc: ADC1,
mclk: &mut MCLK,
clocks: &mut GenericClockController,
gclk: GEN_A,
) -> Self {
Adc::new(adc, mclk, clocks, gclk)
}
}

impl<ADC: AdcPeripheral> Adc<ADC> {
pub fn new(
adc: ADC,
mclk: &mut MCLK,
clocks: &mut GenericClockController,
gclk: GEN_A,
) -> Self {
ADC::enable_apb_clock(mclk);
// set to 1/(1/(48000000/32) * 6) = 250000 SPS
let adc_clock = clocks.configure_gclk_divider_and_source(gclk, 1, DFLL, false)
let adc_clock = clocks
.configure_gclk_divider_and_source(gclk, 1, DFLL, false)
.expect("adc clock setup failed");
clocks.$init(&adc_clock).expect("adc clock setup failed");
ADC::enable_peripheral_clock(clocks, &adc_clock);
adc.ctrla.modify(|_, w| w.prescaler().div32());
adc.ctrlb.modify(|_, w| w.ressel()._12bit());
while adc.syncbusy.read().ctrlb().bit_is_set() {}
adc.sampctrl.modify(|_, w| unsafe {w.samplen().bits(5)}); // sample length
adc.sampctrl.modify(|_, w| unsafe { w.samplen().bits(5) }); // sample length
while adc.syncbusy.read().sampctrl().bit_is_set() {}
adc.inputctrl.modify(|_, w| w.muxneg().gnd()); // No negative input (internal gnd)
while adc.syncbusy.read().inputctrl().bit_is_set() {}

adc.calib.write(|w| unsafe {
w.biascomp().bits(calibration::$compcal());
w.biasrefbuf().bits(calibration::$refcal());
w.biasr2r().bits(calibration::$r2rcal())
w.biascomp().bits(calibration::biascomp_scale_cal::<ADC>());
w.biasrefbuf().bits(calibration::biasref_scale_cal::<ADC>());
w.biasr2r().bits(calibration::biasr2r_scale_cal::<ADC>())
});

let mut newadc = Self { adc };
Expand Down Expand Up @@ -112,9 +177,7 @@ impl Adc<$ADC> {

/// Set the input resolution
pub fn resolution(&mut self, resolution: Resolution) {
self.adc
.ctrlb
.modify(|_, w| w.ressel().variant(resolution));
self.adc.ctrlb.modify(|_, w| w.ressel().variant(resolution));
while self.adc.syncbusy.read().ctrlb().bit_is_set() {}
}

Expand Down Expand Up @@ -178,39 +241,38 @@ impl Adc<$ADC> {

/// Sets the mux to a particular pin. The pin mux is enabled-protected,
/// so must be called while the peripheral is disabled.
fn mux<PIN: Channel<$ADC, ID=u8>>(&mut self, _pin: &mut PIN) {
fn mux<PIN: Channel<ADC, ID = u8>>(&mut self, _pin: &mut PIN) {
let chan = PIN::channel();
while self.adc.syncbusy.read().inputctrl().bit_is_set() {}
self.adc.inputctrl.modify(|_, w| w.muxpos().bits(chan));
}
}

impl ConversionMode<$ADC> for SingleConversion {
fn on_start(_adc: &mut Adc<$ADC>) {
}
fn on_complete(adc: &mut Adc<$ADC>) {
impl<ADC: AdcPeripheral> ConversionMode<ADC> for SingleConversion {
fn on_start(_adc: &mut Adc<ADC>) {}
fn on_complete(adc: &mut Adc<ADC>) {
adc.disable_interrupts();
adc.power_down();
}
fn on_stop(_adc: &mut Adc<$ADC>) {
}
fn on_stop(_adc: &mut Adc<ADC>) {}
}

impl ConversionMode<$ADC> for FreeRunning {
fn on_start(adc: &mut Adc<$ADC>) {
impl<ADC: AdcPeripheral> ConversionMode<ADC> for FreeRunning {
fn on_start(adc: &mut Adc<ADC>) {
adc.enable_freerunning();
}
fn on_complete(_adc: &mut Adc<$ADC>) {
}
fn on_stop(adc: &mut Adc<$ADC>) {
fn on_complete(_adc: &mut Adc<ADC>) {}
fn on_stop(adc: &mut Adc<ADC>) {
adc.disable_interrupts();
adc.power_down();
adc.disable_freerunning();
}
}

impl<C> InterruptAdc<$ADC, C>
where C: ConversionMode<$ADC>
impl<ADC, C> InterruptAdc<ADC, C>
where
ADC: AdcPeripheral,
C: ConversionMode<ADC>,
{
pub fn service_interrupt_ready(&mut self) -> Option<u16> {
if let Some(res) = self.adc.service_interrupt_ready() {
Expand All @@ -222,7 +284,7 @@ impl<C> InterruptAdc<$ADC, C>
}

/// Starts a conversion sampling the specified pin.
pub fn start_conversion<PIN: Channel<$ADC, ID=u8>>(&mut self, pin: &mut PIN) {
pub fn start_conversion<PIN: Channel<ADC, ID = u8>>(&mut self, pin: &mut PIN) {
self.adc.mux(pin);
self.adc.power_up();
C::on_start(&mut self.adc);
Expand All @@ -235,100 +297,111 @@ impl<C> InterruptAdc<$ADC, C>
}
}

impl<C> From<Adc<$ADC>> for InterruptAdc<$ADC, C>
where C: ConversionMode<$ADC>
impl<ADC, C> From<Adc<ADC>> for InterruptAdc<ADC, C>
where
ADC: AdcPeripheral,
C: ConversionMode<ADC>,
{
fn from(adc: Adc<$ADC>) -> Self {
fn from(adc: Adc<ADC>) -> Self {
Self {
adc,
m: core::marker::PhantomData{},
m: core::marker::PhantomData {},
}
}
}

impl<WORD, PIN> OneShot<$ADC, WORD, PIN> for Adc<$ADC>
impl<ADC, WORD, PIN> OneShot<ADC, WORD, PIN> for Adc<ADC>
where
WORD: From<u16>,
PIN: Channel<$ADC, ID=u8>,
ADC: AdcPeripheral,
WORD: From<u16>,
PIN: Channel<ADC, ID = u8>,
{
type Error = ();
type Error = ();

fn read(&mut self, pin: &mut PIN) -> nb::Result<WORD, Self::Error> {
fn read(&mut self, pin: &mut PIN) -> nb::Result<WORD, Self::Error> {
self.mux(pin);
self.power_up();
let result = self.synchronous_convert();
self.power_down();
Ok(result.into())
}
}
)+
}
}

adc_hal! {
ADC0: (adc0, apbdmask, adc0_, adc0_biascomp_scale_cal, adc0_biasref_scale_cal, adc0_biasr2r_scale_cal),
ADC1: (adc1, apbdmask, adc1_, adc1_biascomp_scale_cal, adc1_biasref_scale_cal, adc1_biasr2r_scale_cal),
pub trait AdcChannel<ADC: AdcPeripheral>: PinId {
const CHANNEL: u8;
}

impl<ADC, I> Channel<ADC> for Pin<I, AlternateB>
where
ADC: AdcPeripheral,
I: AdcChannel<ADC>,
{
type ID = u8;
fn channel() -> u8 {
I::CHANNEL
}
}

macro_rules! adc_pins {
(
$(
$PinId:ident: ($ADC:ident, $CHAN:literal),
$PinId:ident: [ $( ($ADC:ident, $CHAN:literal) ),+ ],
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I made this a list of tuples rather than a single tuple, because some pins can be an input for both ADC0 and ADC1. We should update the pin table below to match the datasheet. It's missing a bunch of entries right now.

)+
) => {
$(
impl Channel<$ADC> for Pin<$PinId, AlternateB> {
type ID = u8;
fn channel() -> u8 { $CHAN }
}
$(
impl AdcChannel<$ADC> for $PinId {
const CHANNEL: u8 = $CHAN;
}
)+
)+
}
}

adc_pins! {
PA02: (ADC0, 0),
PA03: (ADC0, 1),
PB08: (ADC0, 2),
PB09: (ADC0, 3),
PA04: (ADC0, 4),
PA05: (ADC0, 5),
PA06: (ADC0, 6),
PA07: (ADC0, 7),
PA08: (ADC0, 8),
PA09: (ADC0, 9),
PA10: (ADC0, 10),
PA11: (ADC0, 11),
PB02: (ADC0, 14),
PB03: (ADC0, 15),

PB08: (ADC1, 0),
PB09: (ADC1, 1),
PA08: (ADC1, 2),
PA09: (ADC1, 3),
PA02: [(ADC0, 0)],
PA03: [(ADC0, 1)],
PB08: [(ADC0, 2)],
PB09: [(ADC0, 3)],
PA04: [(ADC0, 4)],
PA05: [(ADC0, 5)],
PA06: [(ADC0, 6)],
PA07: [(ADC0, 7)],
PA08: [(ADC0, 8)],
PA09: [(ADC0, 9)],
PA10: [(ADC0, 10)],
PA11: [(ADC0, 11)],
PB02: [(ADC0, 14)],
PB03: [(ADC0, 15)],

PB08: [(ADC1, 0)],
PB09: [(ADC1, 1)],
PA08: [(ADC1, 2)],
PA09: [(ADC1, 3)],
}

#[cfg(feature = "min-samd51j")]
adc_pins! {
PB00: (ADC0, 12),
PB01: (ADC0, 13),
PB04: (ADC1, 6),
PB05: (ADC1, 7),
PB06: (ADC1, 8),
PB07: (ADC1, 9),
PB00: [(ADC0, 12)],
PB01: [(ADC0, 13)],
PB04: [(ADC1, 6)],
PB05: [(ADC1, 7)],
PB06: [(ADC1, 8)],
PB07: [(ADC1, 9)],
}

#[cfg(feature = "min-samd51n")]
adc_pins! {
PC02: (ADC1, 4),
PC03: (ADC1, 5),
PC00: (ADC1, 10),
PC01: (ADC1, 11),
PC02: [(ADC1, 4)],
PC03: [(ADC1, 5)],
PC00: [(ADC1, 10)],
PC01: [(ADC1, 11)],
}

#[cfg(feature = "min-samd51p")]
adc_pins! {
PC30: (ADC1, 12),
PC31: (ADC1, 13),
PD00: (ADC1, 14),
PD01: (ADC1, 15),
PC30: [(ADC1, 12)],
PC31: [(ADC1, 13)],
PD00: [(ADC1, 14)],
PD01: [(ADC1, 15)],
}
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