adding hardware uart

semestralka_1/src/hw_uart_pc/driver.rs

@@ -0,0 +1,65 @@
+// src/uart/driver.rs
+use defmt::unwrap;
+use embassy_executor::Spawner;
+use embassy_futures::select::{select, Either};
+use embassy_stm32::usart::BufferedUart;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::pipe::Pipe;
+use embassy_time::Duration;
+use embedded_io_async::{Read, Write};
+
+use crate::uart::safety::{RX_PIPE_CAP, TX_PIPE_CAP};
+
+pub struct UartHandle {
+    pub tx: &'static Pipe<CriticalSectionRawMutex, TX_PIPE_CAP>,
+    pub rx: &'static Pipe<CriticalSectionRawMutex, RX_PIPE_CAP>,
+    pub yield_period: Duration,
+}
+
+#[embassy_executor::task]
+pub async fn uart_task(
+    mut uart: BufferedUart<'static>,
+    tx_pipe: &'static Pipe<CriticalSectionRawMutex, TX_PIPE_CAP>,
+    rx_pipe: &'static Pipe<CriticalSectionRawMutex, RX_PIPE_CAP>,
+) {
+    let mut rx_byte = [0u8; 1];
+    let mut tx_buf = [0u8; 64];
+
+    loop {
+        let rx_fut = uart.read(&mut rx_byte);
+        let tx_fut = async {
+            let n = tx_pipe.read(&mut tx_buf).await;
+            n
+        };
+
+        match select(rx_fut, tx_fut).await {
+            // Incoming data from UART hardware
+            Either::First(res) => {
+                if let Ok(_) = res {
+                    // Forward to RX pipe and echo to TX pipe (same behavior as before)
+                    let _ = rx_pipe.write(&rx_byte).await;
+                    let _ = tx_pipe.try_write(&rx_byte);
+                }
+            }
+            // Outgoing data waiting in TX pipe
+            Either::Second(n) => {
+                unwrap!(uart.write(&tx_buf[..n]).await);
+            }
+        }
+    }
+}
+
+pub fn spawn_for(
+    spawner: &Spawner,
+    uart: BufferedUart<'static>,
+    tx_pipe: &'static Pipe<CriticalSectionRawMutex, TX_PIPE_CAP>,
+    rx_pipe: &'static Pipe<CriticalSectionRawMutex, RX_PIPE_CAP>,
+    yield_period: Duration,
+) -> UartHandle {
+    spawner.spawn(uart_task(uart, tx_pipe, rx_pipe)).unwrap();
+    UartHandle {
+        tx: tx_pipe,
+        rx: rx_pipe,
+        yield_period,
+    }
+}