NOT TESTED - impl eh-async::digital::Wait for awating pins

usbalbin · usbalbin · commit 35ddeef1a680 · 2025-09-09T00:31:34.000+02:00
diff --git a/Cargo.toml b/Cargo.toml
@@ -76,8 +76,9 @@ embedded-hal = "1.0.0"
 defmt = { version = "1.0.0", optional = true }
 paste = "1.0.15"
 log = { version = "0.4.20", optional = true}
-futures-util = { version = "0.3", default-features = false, features = ["async-await-macro"], optional = true}
+futures-util = { version = "0.3", default-features = false, features = ["async-await-macro"], optional = true }
 stm32-usbd = "0.8.0"
+embedded-hal-async = "1.0.0"
 
 [dev-dependencies]
 log = { version = "0.4.20"}
@@ -95,6 +96,7 @@ panic-probe = "0.3.2"
 panic-semihosting = "0.6"
 usbd-serial = "0.2.2"
 usb-device = { version = "0.3.2", features = ["defmt", "log"] }
+rtic = { version = "2.2", features = ["thumbv8main-backend"] }
 
 [profile.release]
 codegen-units = 1 # better optimizations
@@ -116,3 +118,7 @@ required-features = ["stm32h503"]
 [[example]]
 name = "i2c_target_manual_ack"
 required-features = ["stm32h503"]
+
+[[example]]
+name = "await-pins"
+required-features = ["futures"]
diff --git a/examples/await-pins.rs b/examples/await-pins.rs
@@ -0,0 +1,60 @@
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+mod utilities;
+use embedded_hal_async::digital::Wait;
+use stm32h5xx_hal::{
+    gpio::{ExtiExt, ExtiPin},
+    pac,
+    prelude::*,
+};
+use utilities::logger::info;
+
+#[rtic::app(device = pac, dispatchers = [USART1, USART2], peripherals = true)]
+mod app {
+    use stm32h5xx_hal::gpio;
+
+    use super::*;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {
+        pin: gpio::PA5<gpio::Input, true>,
+    }
+
+    #[init]
+    fn init(ctx: init::Context) -> (Shared, Local) {
+        let dp = ctx.device;
+
+        let pwr = dp.PWR.constrain();
+        let pwrcfg = pwr.vos0().freeze();
+
+        // Constrain and Freeze clock
+        let rcc = dp.RCC.constrain();
+        let ccdr = rcc.sys_ck(250.MHz()).freeze(pwrcfg, &dp.SBS);
+
+        let gpioa = dp.GPIOA.split(ccdr.peripheral.GPIOA);
+
+        let (mut exti, exti_channels) = dp.EXTI.split();
+
+        let pin = gpioa
+            .pa5
+            .into_input()
+            .make_interrupt_source(exti_channels.ch5, &mut exti);
+
+        (Shared {}, Local { pin })
+    }
+
+    #[task(local = [pin])]
+    async fn foo(ctx: foo::Context) {
+        loop {
+            ctx.local.pin.wait_for_high().await.unwrap();
+            info!("On");
+            ctx.local.pin.wait_for_low().await.unwrap();
+            info!("Off");
+        }
+    }
+}
diff --git a/src/gpio.rs b/src/gpio.rs
@@ -58,6 +58,9 @@ mod convert;
 mod dynamic;
 mod erased;
 mod exti;
+
+#[cfg(feature = "futures")]
+mod future;
 mod gpio_def;
 mod hal;
 mod partially_erased;
@@ -71,7 +74,7 @@ pub use dynamic::{Dynamic, DynamicPin};
 pub use embedded_hal::digital::PinState;
 
 pub use erased::{EPin, ErasedPin};
-pub use exti::ExtiPin;
+pub use exti::{ExtiExt, ExtiPin, ExtiedPin};
 pub use gpio_def::*;
 pub use partially_erased::{PEPin, PartiallyErasedPin};
 
@@ -264,10 +267,16 @@ pub type AF15<Otype = PushPull> = Alternate<15, Otype>;
 /// - `MODE` is one of the pin modes (see [Modes](crate::gpio#modes) section).
 /// - `P` is port name: `A` for GPIOA, `B` for GPIOB, etc.
 /// - `N` is pin number: from `0` to `15`.
-pub struct Pin<const P: char, const N: u8, MODE = Analog> {
+/// - `INT` is true of the pin is configured for EXTI interrupt
+pub struct Pin<
+    const P: char,
+    const N: u8,
+    MODE = Analog,
+    const INT: bool = false,
+> {
     _mode: PhantomData<MODE>,
 }
-impl<const P: char, const N: u8, MODE> Pin<P, N, MODE> {
+impl<const P: char, const N: u8, MODE, const INT: bool> Pin<P, N, MODE, INT> {
     const fn new() -> Self {
         Self { _mode: PhantomData }
     }
@@ -412,7 +421,7 @@ impl<const P: char, const N: u8, MODE> From<Pin<P, N, MODE>>
     }
 }
 
-impl<const P: char, const N: u8, MODE> Pin<P, N, MODE> {
+impl<const P: char, const N: u8, MODE, const INT: bool> Pin<P, N, MODE, INT> {
     /// Set the output of the pin regardless of its mode.
     /// Primarily used to set the output value of the pin
     /// before changing its mode to an output to avoid
diff --git a/src/gpio/exti.rs b/src/gpio/exti.rs
@@ -1,5 +1,72 @@
+use core::{marker::PhantomData, ops::Deref};
+
 use super::{marker, Edge, Pin, PinExt};
-use crate::pac::{Interrupt, EXTI};
+use crate::{
+    gpio,
+    pac::{Interrupt, EXTI},
+};
+
+pub trait ExtiExt {
+    fn split(self) -> (Exti, ExtiChannels);
+}
+
+impl ExtiExt for EXTI {
+    fn split(self) -> (Exti, ExtiChannels) {
+        (
+            Exti(self),
+            ExtiChannels {
+                ch0: ExtiChannel,
+                ch1: ExtiChannel,
+                ch2: ExtiChannel,
+                ch3: ExtiChannel,
+                ch4: ExtiChannel,
+                ch5: ExtiChannel,
+                ch6: ExtiChannel,
+                ch7: ExtiChannel,
+                ch8: ExtiChannel,
+                ch9: ExtiChannel,
+                ch10: ExtiChannel,
+                ch11: ExtiChannel,
+                ch12: ExtiChannel,
+                ch13: ExtiChannel,
+                ch14: ExtiChannel,
+                ch15: ExtiChannel,
+            },
+        )
+    }
+}
+
+pub struct Exti(pub(crate) EXTI);
+
+impl Deref for Exti {
+    type Target = EXTI;
+
+    fn deref(&self) -> &Self::Target {
+        &self.0
+    }
+}
+
+#[non_exhaustive]
+pub struct ExtiChannel<const N: u8>;
+
+pub struct ExtiChannels {
+    pub ch0: ExtiChannel<0>,
+    pub ch1: ExtiChannel<1>,
+    pub ch2: ExtiChannel<2>,
+    pub ch3: ExtiChannel<3>,
+    pub ch4: ExtiChannel<4>,
+    pub ch5: ExtiChannel<5>,
+    pub ch6: ExtiChannel<6>,
+    pub ch7: ExtiChannel<7>,
+    pub ch8: ExtiChannel<8>,
+    pub ch9: ExtiChannel<9>,
+    pub ch10: ExtiChannel<10>,
+    pub ch11: ExtiChannel<11>,
+    pub ch12: ExtiChannel<12>,
+    pub ch13: ExtiChannel<13>,
+    pub ch14: ExtiChannel<14>,
+    pub ch15: ExtiChannel<15>,
+}
 
 impl<const P: char, const N: u8, MODE> Pin<P, N, MODE> {
     /// NVIC interrupt number of interrupt from this pin
@@ -30,25 +97,38 @@ impl<const P: char, const N: u8, MODE> Pin<P, N, MODE> {
 }
 
 /// External Interrupt Pin
-pub trait ExtiPin {
-    fn make_interrupt_source(&mut self, exti: &mut EXTI);
-    fn trigger_on_edge(&mut self, exti: &mut EXTI, level: Edge);
-    fn enable_event(&mut self, exti: &mut EXTI);
-    fn disable_event(&mut self, exti: &mut EXTI);
-    fn enable_interrupt(&mut self, exti: &mut EXTI);
-    fn disable_interrupt(&mut self, exti: &mut EXTI);
+pub trait ExtiPin<const P: char, const N: u8, M> {
+    fn make_interrupt_source(
+        self,
+        _ch: ExtiChannel<N>,
+        ch: &mut Exti,
+    ) -> Pin<P, N, M, true>;
+}
+
+// TODO: Find better name
+/// Only available on pins where interrupts have been enabled by the user
+pub trait ExtiedPin<const N: u8> {
+    fn trigger_on_edge(&mut self, exti: &mut Exti, level: Edge);
+    fn enable_event(&mut self, exti: &mut Exti);
+    fn disable_event(&mut self, exti: &mut Exti);
+    fn enable_interrupt(&mut self, exti: &mut Exti);
+    fn disable_interrupt(&mut self, exti: &mut Exti);
     fn clear_interrupt_pending_bit(&mut self, edge: Edge);
     fn check_interrupt(&self, edge: Edge) -> bool;
 }
 
-impl<PIN> ExtiPin for PIN
+impl<const P: char, const N: u8, M> ExtiPin<P, N, M>
+    for gpio::Pin<P, N, M, false>
 where
-    PIN: PinExt,
-    PIN::Mode: marker::Interruptable,
+    M: marker::Interruptable,
 {
     /// Make corresponding EXTI line sensitive to this pin
     #[inline(always)]
-    fn make_interrupt_source(&mut self, exti: &mut EXTI) {
+    fn make_interrupt_source(
+        self,
+        _ch: ExtiChannel<N>,
+        exti: &mut Exti,
+    ) -> Pin<P, N, M, true> {
         let i = self.pin_id();
         let port = self.port_id() as u32;
         let offset = 8 * (i % 4);
@@ -75,12 +155,16 @@ where
             }
             _ => unreachable!(),
         }
+
+        Pin { _mode: PhantomData }
     }
+}
 
+impl<const P: char, const N: u8, M> ExtiedPin<N> for gpio::Pin<P, N, M, true> {
     /// Generate interrupt on rising edge, falling edge or both
     #[inline(always)]
-    fn trigger_on_edge(&mut self, exti: &mut EXTI, edge: Edge) {
-        let i = self.pin_id();
+    fn trigger_on_edge(&mut self, exti: &mut Exti, edge: Edge) {
+        let i = N;
         match edge {
             Edge::Rising => {
                 exti.rtsr1()
@@ -105,30 +189,30 @@ where
 
     /// Enable external interrupts from this pin.
     #[inline(always)]
-    fn enable_event(&mut self, exti: &mut EXTI) {
+    fn enable_event(&mut self, exti: &mut Exti) {
         exti.emr1()
-            .modify(|r, w| unsafe { w.bits(r.bits() | (1 << self.pin_id())) });
+            .modify(|r, w| unsafe { w.bits(r.bits() | (1 << N)) });
     }
 
     /// Disable external interrupts from this pin
     #[inline(always)]
-    fn disable_event(&mut self, exti: &mut EXTI) {
+    fn disable_event(&mut self, exti: &mut Exti) {
         exti.emr1()
-            .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << self.pin_id())) });
+            .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << N)) });
     }
 
     /// Enable external interrupts from this pin.
     #[inline(always)]
-    fn enable_interrupt(&mut self, exti: &mut EXTI) {
+    fn enable_interrupt(&mut self, exti: &mut Exti) {
         exti.imr1()
-            .modify(|r, w| unsafe { w.bits(r.bits() | (1 << self.pin_id())) });
+            .modify(|r, w| unsafe { w.bits(r.bits() | (1 << N)) });
     }
 
     /// Disable external interrupts from this pin
     #[inline(always)]
-    fn disable_interrupt(&mut self, exti: &mut EXTI) {
+    fn disable_interrupt(&mut self, exti: &mut Exti) {
         exti.imr1()
-            .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << self.pin_id())) });
+            .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << N)) });
     }
 
     /// Clear the interrupt pending bit for this pin
@@ -137,7 +221,7 @@ where
         unsafe {
             let exti = &(*EXTI::ptr());
 
-            let mask = 1 << self.pin_id();
+            let mask = 1 << N;
             match edge {
                 Edge::Rising => exti.rpr1().write(|w| w.bits(mask)),
                 Edge::Falling => exti.fpr1().write(|w| w.bits(mask)),
@@ -158,7 +242,7 @@ where
                 _ => panic!("Must choose a rising or falling edge"),
             };
 
-            bits & (1 << self.pin_id()) != 0
+            bits & (1 << N) != 0
         }
     }
 }
diff --git a/src/gpio/future.rs b/src/gpio/future.rs
diff --git a/src/gpio/gpio_def.rs b/src/gpio/gpio_def.rs
