diff --git a/dma_gpio2/Cargo.lock b/dma_gpio2/Cargo.lock index 2cf9391..e5f74da 100644 --- a/dma_gpio2/Cargo.lock +++ b/dma_gpio2/Cargo.lock @@ -295,7 +295,6 @@ dependencies = [ [[package]] name = "embassy-embedded-hal" version = "0.5.0" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "defmt 1.0.1", "embassy-futures", @@ -313,7 +312,6 @@ dependencies = [ [[package]] name = "embassy-executor" version = "0.9.1" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "cordyceps", "cortex-m", @@ -326,7 +324,6 @@ dependencies = [ [[package]] name = "embassy-executor-macros" version = "0.7.0" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "darling", "proc-macro2", @@ -337,17 +334,14 @@ dependencies = [ [[package]] name = "embassy-executor-timer-queue" version = "0.1.0" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" [[package]] name = "embassy-futures" version = "0.1.2" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" [[package]] name = "embassy-hal-internal" version = "0.3.0" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "cortex-m", "critical-section", @@ -358,7 +352,6 @@ dependencies = [ [[package]] name = "embassy-net-driver" version = "0.2.0" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "defmt 1.0.1", ] @@ -366,7 +359,6 @@ dependencies = [ [[package]] name = "embassy-net-driver-channel" version = "0.3.2" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "embassy-futures", "embassy-net-driver", @@ -376,7 +368,6 @@ dependencies = [ [[package]] name = "embassy-stm32" version = "0.4.0" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "aligned", "bit_field", @@ -425,7 +416,6 @@ dependencies = [ [[package]] name = "embassy-sync" version = "0.7.2" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "cfg-if", "critical-section", @@ -439,7 +429,6 @@ dependencies = [ [[package]] name = "embassy-time" version = "0.5.0" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "cfg-if", "critical-section", @@ -455,7 +444,6 @@ dependencies = [ [[package]] name = "embassy-time-driver" version = "0.2.1" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "document-features", ] @@ -463,7 +451,6 @@ dependencies = [ [[package]] name = "embassy-time-queue-utils" version = "0.3.0" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "embassy-executor-timer-queue", "heapless 0.8.0", @@ -472,7 +459,6 @@ dependencies = [ [[package]] name = "embassy-usb" version = "0.5.1" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "embassy-futures", "embassy-net-driver-channel", @@ -487,7 +473,6 @@ dependencies = [ [[package]] name = "embassy-usb-driver" version = "0.2.0" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "defmt 1.0.1", "embedded-io-async", @@ -496,7 +481,6 @@ dependencies = [ [[package]] name = "embassy-usb-synopsys-otg" version = "0.3.1" -source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20" dependencies = [ "critical-section", "defmt 1.0.1", diff --git a/dma_gpio2/Cargo.toml b/dma_gpio2/Cargo.toml index a13e99c..b87b77d 100644 --- a/dma_gpio2/Cargo.toml +++ b/dma_gpio2/Cargo.toml @@ -10,13 +10,13 @@ cortex-m = { version = "0.7.7", features = ["inline-asm", "critical-section-sing cortex-m-rt = "0.7.5" panic-halt = "1.0.0" -embassy-executor = { git = "https://github.com/embassy-rs/embassy.git", branch = "main", features = ["arch-cortex-m", "executor-thread"] } -embassy-futures = { git = "https://github.com/embassy-rs/embassy.git", branch = "main" } -embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", branch = "main" } -embassy-time = { git = "https://github.com/embassy-rs/embassy.git", branch = "main", features = ["tick-hz-32_768"] } -embassy-hal-internal = { git = "https://github.com/embassy-rs/embassy.git", branch = "main" } -embassy-usb = { git = "https://github.com/embassy-rs/embassy.git", branch = "main" } -embassy-stm32 = { git = "https://github.com/embassy-rs/embassy.git", branch = "main", features = ["unstable-pac", "stm32u575zi", "time-driver-tim2", "memory-x", "defmt"] } +embassy-executor = { path = "/home/filip/programs/embassy/embassy-executor", features = ["arch-cortex-m", "executor-thread"] } +embassy-futures = { path = "/home/filip/programs/embassy/embassy-futures" } +embassy-sync = { path = "/home/filip/programs/embassy/embassy-sync" } +embassy-time = { path = "/home/filip/programs/embassy/embassy-time", features = ["tick-hz-32_768"] } +embassy-hal-internal = { path = "/home/filip/programs/embassy/embassy-hal-internal" } +embassy-usb = { path = "/home/filip/programs/embassy/embassy-usb" } +embassy-stm32 = { path = "/home/filip/programs/embassy/embassy-stm32", features = ["unstable-pac", "stm32u575zi", "time-driver-tim2", "memory-x", "defmt"] } embedded-hal = "1.0.0" embedded-graphics = "0.8.1" diff --git a/dma_gpio2/src/bin/main.rs b/dma_gpio2/src/bin/main.rs index 34b5c41..6d104ed 100644 --- a/dma_gpio2/src/bin/main.rs +++ b/dma_gpio2/src/bin/main.rs @@ -7,7 +7,6 @@ use embassy_executor::Spawner; use embassy_futures::yield_now; use embassy_stm32::dma::Request; use embassy_stm32::gpio::{Input, Output, Level, Pull, Speed}; -use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, pipe::Pipe}; use embassy_time::{Duration, Timer}; use embassy_stm32::dma::{TransferOptions, WritableRingBuffer}; use dma_gpio::software_uart::{ @@ -15,57 +14,59 @@ use dma_gpio::software_uart::{ gpio_dma_uart_tx::encode_uart_frames, debug::dump_tim6_regs, }; -use dma_gpio::config::{BAUD, TX_PIN_BIT, RX_OVERSAMPLE, TX_OVERSAMPLE}; -use dma_gpio::config::{TX_RING_BYTES, RX_RING_BYTES, PIPE_RX_SIZE}; +use dma_gpio::config::{BAUD, TX_PIN_BIT, TX_OVERSAMPLE, TX_RING_BYTES}; use static_cell::StaticCell; use {defmt_rtt as _, panic_probe as _}; -// kapitola 17.4.11 - 2 casovace pre 2 DMA -pub const TIM6_UP_REQ: Request = 4; // Table 137: tim6_upd_dma, strana 687 STM32U5xx datasheet +pub const TIM6_UP_REQ: Request = 4; static TX_RING: StaticCell<[u32; TX_RING_BYTES]> = StaticCell::new(); use core::future::poll_fn; use core::task::Poll; -async fn wait_for_space<'a, W: embassy_stm32::dma::word::Word>( - ring: &mut embassy_stm32::dma::WritableRingBuffer<'a, W>, - min_free: usize, +// Wait until there is at least `needed` free space in the TX ring. +async fn wait_for_space<'a>( + ring: &mut WritableRingBuffer<'a, u32>, + needed: usize, ) { poll_fn(|cx| { - let used = ring.len().unwrap_or(0); let cap = ring.capacity(); - if cap - used > min_free { + let used = ring.len().unwrap_or(0); + let free = cap.saturating_sub(used); + + if free >= needed { Poll::Ready(()) } else { ring.set_waker(cx.waker()); Poll::Pending } - }).await + }) + .await } #[embassy_executor::main] -async fn main(spawner: Spawner) { +async fn main(_spawner: Spawner) { let p = embassy_stm32::init(Default::default()); info!("Hehe"); - let _rx = Input::new(p.PA3, Pull::Up); + let _rx = Input::new(p.PA3, embassy_stm32::gpio::Pull::Up); let _tx = Output::new(p.PA2, Level::High, Speed::VeryHigh); init_tim6_for_uart(p.TIM6, BAUD, TX_OVERSAMPLE); dump_tim6_regs(); - // Safe one-time init from StaticCell - let tx_ring_mem: &mut [u32; TX_RING_BYTES] = TX_RING.init([0; TX_RING_BYTES]); + let idle: u32 = 1u32 << TX_PIN_BIT; + + // Ring initialized to idle (line high). + let tx_ring_mem: &mut [u32; TX_RING_BYTES] = TX_RING.init([idle; TX_RING_BYTES]); - // Create and start the TX DMA ring in main. - // let bsrr_ptr = embassy_stm32::pac::GPIOA.bsrr().as_ptr() as *mut u32; let odr_ptr = embassy_stm32::pac::GPIOA.odr().as_ptr() as *mut u32; + let mut tx_opts = TransferOptions::default(); tx_opts.half_transfer_ir = true; tx_opts.complete_transfer_ir = true; - // SAFETY: tx_ring_mem is exclusive let mut tx_ring = unsafe { WritableRingBuffer::new( p.GPDMA1_CH0, @@ -75,9 +76,45 @@ async fn main(spawner: Spawner) { tx_opts, ) }; - // Start DMA + tx_ring.start(); - info!("TX DMA ring started"); + info!( + "TX DMA ring started: cap_words={}", + tx_ring.capacity() + ); + unsafe { + use embassy_stm32::pac::gpdma::Gpdma; + let dma = Gpdma::from_ptr(0x4002_0000 as _); // GPDMA1 base for STM32U5 + let ch = dma.ch(0); // Channel 0 + + let cr = ch.cr().read(); + let tr1 = ch.tr1().read(); + let tr2 = ch.tr2().read(); + let br1 = ch.br1().read(); + let sar = ch.sar().read(); + let dar = ch.dar().read(); + let llr = ch.llr().read(); + let lbar = ch.lbar().read(); + + info!( + "GPDMA1_CH0: EN={} HTIE={} TCIE={} SDW={:?} DDW={:?} SINC={} DINC={} BNDT={} SAR=0x{:08x} DAR=0x{:08x}", + cr.en(), + cr.htie(), + cr.tcie(), + tr1.sdw(), + tr1.ddw(), + tr1.sinc(), + tr1.dinc(), + br1.bndt(), + sar, // already u32 + dar, // already u32 + ); + info!( + "GPDMA1_CH0: LBAR=0x{:08x} LLR=0x{:08x}", + lbar.lba(), + llr.0 + ); + } let mut frame_buf = [0u32; 4096]; @@ -86,17 +123,58 @@ async fn main(spawner: Spawner) { Timer::after(Duration::from_millis(400)).await; info!("tick end"); - let used = encode_uart_frames(TX_PIN_BIT, b"Hello marshmallow\r\n", &mut frame_buf).await; - - // Wait for DMA to free space, async style - wait_for_space(&mut tx_ring, used / 2).await; - - if let Err(e) = tx_ring.write_exact(&frame_buf[..used]).await { - warn!("DMA ring write error: {:?}", e); - } else { - info!("Frame queued to DMA ring"); + // Prepare scratch buffer with idle. + for w in frame_buf.iter_mut() { + *w = idle; } + let used = encode_uart_frames( + TX_PIN_BIT, + b"Hello marshmallow\r\n", + &mut frame_buf, + ) + .await; + + if used == 0 { + info!("encode_uart_frames() produced 0 words, skipping write"); + yield_now().await; + continue; + } + + // Debug: confirm encoded content. + let preview = core::cmp::min(used, 32); + info!( + "TX frame used={} words, head={=[?]}", + used, + &frame_buf[..preview] + ); + + // Wait until the ring has room for this frame. + wait_for_space(&mut tx_ring, used).await; + + // Now it is safe to call write_exact. + match tx_ring.write_immediate(&frame_buf[..used]) { + Ok((written, remaining)) => { + let len = tx_ring.len().unwrap_or(0); + info!( + "write_immediate ok: written={} remaining={} ring_used={} ring_cap={}", + written, + remaining, + len, + tx_ring.capacity() + ); + } + Err(e) => { + let len = tx_ring.len().unwrap_or(0); + warn!( + "write_immediate error: {:?}, ring_used={} ring_cap={}", + e, + len, + tx_ring.capacity() + ); + } + } + yield_now().await; } }