40 lines
1.2 KiB
Rust
40 lines
1.2 KiB
Rust
// src/hw_uart_pc/driver.rs
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use defmt::unwrap;
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use embassy_futures::select::{select, Either};
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use embassy_stm32::usart::BufferedUart;
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use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
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use embassy_sync::pipe::Pipe;
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use embedded_io_async::{Read, Write};
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use crate::hw_uart_pc::safety::{RX_PIPE_CAP, TX_PIPE_CAP};
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#[embassy_executor::task]
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pub async fn uart_task(
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mut uart: BufferedUart<'static>,
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tx_pipe: &'static Pipe<CriticalSectionRawMutex, TX_PIPE_CAP>,
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rx_pipe: &'static Pipe<CriticalSectionRawMutex, RX_PIPE_CAP>,
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) {
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let mut rx_byte = [0u8; 1];
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let mut tx_buf = [0u8; 64];
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loop {
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let rx_fut = uart.read(&mut rx_byte);
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let tx_fut = async {
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let n = tx_pipe.read(&mut tx_buf).await;
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n
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};
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match select(rx_fut, tx_fut).await {
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// Incoming data from UART hardware
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Either::First(res) => {
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if let Ok(_) = res {
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let _ = rx_pipe.write(&rx_byte).await;
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}
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}
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// Outgoing data waiting in TX pipe
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Either::Second(n) => {
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unwrap!(uart.write(&tx_buf[..n]).await);
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}
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}
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}
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}
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