compiled hw and sw uart in semestralka

semestralka_1/Cargo.lock

@@ -275,6 +275,8 @@ dependencies = [
  "embassy-usb",
  "embedded-graphics",
  "embedded-hal 1.0.0",
+ "embedded-io",
+ "embedded-io-async",
  "heapless 0.9.1",
  "micromath",
  "panic-halt",

semestralka_1/Cargo.toml

@@ -27,3 +27,5 @@ panic-probe = { version = "1.0.0", features = ["defmt"] }
 defmt-rtt = "1.1.0"
 defmt = "1.0.1"
 static_cell = "2.1.1"
+embedded-io = "0.6.1"
+embedded-io-async = "0.6.1"

semestralka_1/src/bin/main.rs

@@ -4,6 +4,7 @@
 
 use defmt::*;
 use embassy_executor::Spawner;
+use embassy_time::Instant;
 use embassy_stm32::dma::Request;
 use embassy_stm32::gpio::{Input, Output, Level, Pull, Speed};
 use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, pipe::Pipe};
@@ -17,9 +18,11 @@ use dma_gpio::config::{TX_RING_BYTES, RX_RING_BYTES, PIPE_RX_SIZE};
 use dma_gpio::software_uart::gpio_dma_uart_tx::tx_dma_task;
 use static_cell::StaticCell;
 use embassy_futures::yield_now;
-use hw_uart_pc::usart1;
+use dma_gpio::hw_uart_pc::usart1;
+use dma_gpio::hw_uart_pc::driver::uart_task;
 use embassy_stm32::usart::{BufferedUart, Config, BufferedInterruptHandler};
 use embassy_stm32::peripherals;
+use embassy_stm32::bind_interrupts;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -53,7 +56,8 @@ async fn main(spawner: Spawner) {
         Irqs,
         cfg,
     ).unwrap();
-    let handle = usart1::setup_and_spawn(&spawner, uart, cfg.baudrate);
+    let (handle, yield_period) = usart1::setup_and_spawn(BAUD);
+    spawner.spawn(uart_task(uart, handle.tx, handle.rx).unwrap());
     // END OF HARDWARE UART to the PC
 
     // SOFTWARE UART 
@@ -74,11 +78,17 @@ async fn main(spawner: Spawner) {
     spawner.spawn(tx_dma_task(p.GPDMA1_CH0, odr_ptr, tx_ring_mem, &PIPE_RX).unwrap());
     // EDN OF SOFTWARE UART 
 
+    let mut last_yield = Instant::now();
+
     loop {
         info!("tick start");
         // Timer::after(Duration::from_millis(100)).await;
         // info!("tick end");
 
-        yield_now().await;
+        if Instant::now().duration_since(last_yield) >= handle.yield_period {
+            embassy_futures::yield_now().await;
+            last_yield = Instant::now();
+        }
+
     }
 }

semestralka_1/src/hw_uart_pc/driver.rs

@@ -1,6 +1,5 @@
 // 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;
@@ -8,7 +7,7 @@ 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};
+use crate::hw_uart_pc::safety::{RX_PIPE_CAP, TX_PIPE_CAP};
 
 pub struct UartHandle {
     pub tx: &'static Pipe<CriticalSectionRawMutex, TX_PIPE_CAP>,
@@ -36,9 +35,7 @@ pub async fn uart_task(
             // 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
@@ -48,18 +45,3 @@ pub async fn uart_task(
         }
     }
 }
-
-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,
-    }
-}

semestralka_1/src/hw_uart_pc/usart1.rs

@@ -1,23 +1,24 @@
 // src/uart/usart1.rs
 use defmt::info;
-use embassy_executor::Spawner;
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::pipe::Pipe;
 use embassy_time::Duration;
 
-use crate::uart::safety::{preflight_and_suggest_yield_period, RX_PIPE_CAP, TX_PIPE_CAP};
+use crate::hw_uart_pc::safety::{preflight_and_suggest_yield_period, RX_PIPE_CAP, TX_PIPE_CAP};
-use crate::uart::driver::{spawn_for, UartHandle};
+use crate::hw_uart_pc::driver::UartHandle;
 
 // Static pipes and buffers
 static UART1_TX_PIPE: Pipe<CriticalSectionRawMutex, TX_PIPE_CAP> = Pipe::new();
 static UART1_RX_PIPE: Pipe<CriticalSectionRawMutex, RX_PIPE_CAP> = Pipe::new();
 
-pub fn setup_and_spawn(
+pub fn setup_and_spawn(baudrate: u32,) -> (UartHandle, Duration) {
-    spawner: &Spawner,
-    uart: embassy_stm32::usart::BufferedUart<'static>,
-    baudrate: u32,
-) -> UartHandle {
     let yield_period: Duration = preflight_and_suggest_yield_period(baudrate);
-    info!("USART1 initialized");
+    info!("HW USART1 safe");
-    spawn_for(spawner, uart, &UART1_TX_PIPE, &UART1_RX_PIPE, yield_period)
+    let handle = UartHandle {
+        tx: &UART1_TX_PIPE,
+        rx: &UART1_RX_PIPE,
+        yield_period,
+    };
+
+    (handle, yield_period)
 }