esp-rs · MabezDev · May 16, 2023 · May 15, 2023 · May 15, 2023 · May 16, 2023
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -22,6 +22,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Add initial support for I2C in ESP32-H2 (#538)
 - Implement Copy and Eq for EspTwaiError (#540)
 - Add LEDC hardware fade support
+- Added support for multicore async GPIO (#542)
 
 ### Fixed
 

diff --git a/esp-hal-common/src/gpio.rs b/esp-hal-common/src/gpio.rs
@@ -201,108 +201,26 @@ pub trait OutputPin: Pin {
     fn internal_pull_down(&mut self, on: bool) -> &mut Self;
 }
 
-#[doc(hidden)]
-pub struct SingleCoreInteruptStatusRegisterAccessBank0;
-#[doc(hidden)]
-pub struct DualCoreInteruptStatusRegisterAccessBank0;
-#[doc(hidden)]
-pub struct SingleCoreInteruptStatusRegisterAccessBank1;
-#[doc(hidden)]
-pub struct DualCoreInteruptStatusRegisterAccessBank1;
-
 #[doc(hidden)]
 pub trait InteruptStatusRegisterAccess {
     fn pro_cpu_interrupt_status_read() -> u32;
 
     fn pro_cpu_nmi_status_read() -> u32;
 
-    fn app_cpu_interrupt_status_read() -> u32;
-
-    fn app_cpu_nmi_status_read() -> u32;
-}
-
-impl InteruptStatusRegisterAccess for SingleCoreInteruptStatusRegisterAccessBank0 {
-    fn pro_cpu_interrupt_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.pcpu_int.read().bits()
-    }
-
-    fn pro_cpu_nmi_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.pcpu_nmi_int.read().bits()
-    }
-
-    fn app_cpu_interrupt_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.pcpu_int.read().bits()
-    }
-
-    fn app_cpu_nmi_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.pcpu_nmi_int.read().bits()
-    }
-}
-
-#[cfg(any(esp32, esp32s2, esp32s3))]
-impl InteruptStatusRegisterAccess for SingleCoreInteruptStatusRegisterAccessBank1 {
-    fn pro_cpu_interrupt_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.pcpu_int1.read().bits()
-    }
-
-    fn pro_cpu_nmi_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.pcpu_nmi_int1.read().bits()
-    }
-
-    fn app_cpu_interrupt_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.pcpu_int1.read().bits()
-    }
-
-    fn app_cpu_nmi_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.pcpu_nmi_int1.read().bits()
-    }
-}
-
-// ESP32S3 is a dual-core chip however pro cpu and app cpu shares the same
-// interrupt enable bit see
-// https://github.com/espressif/esp-idf/blob/c04803e88b871a4044da152dfb3699cf47354d18/components/hal/esp32s3/include/hal/gpio_ll.h#L32
-// Treating it as SingleCore in the gpio macro makes this work.
-#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2, esp32s2, esp32s3)))]
-impl InteruptStatusRegisterAccess for DualCoreInteruptStatusRegisterAccessBank0 {
-    fn pro_cpu_interrupt_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.pcpu_int.read().bits()
-    }
-
-    fn pro_cpu_nmi_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.pcpu_nmi_int.read().bits()
-    }
-
     fn app_cpu_interrupt_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.acpu_int.read().bits()
+        Self::pro_cpu_interrupt_status_read()
     }
 
     fn app_cpu_nmi_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.acpu_nmi_int.read().bits()
+        Self::pro_cpu_nmi_status_read()
     }
 }
 
-// ESP32S3 is a dual-core chip however pro cpu and app cpu shares the same
-// interrupt enable bit see
-// https://github.com/espressif/esp-idf/blob/c04803e88b871a4044da152dfb3699cf47354d18/components/hal/esp32s3/include/hal/gpio_ll.h#L32
-// Treating it as SingleCore in the gpio macro makes this work.
-#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2, esp32s2, esp32s3)))]
-impl InteruptStatusRegisterAccess for DualCoreInteruptStatusRegisterAccessBank1 {
-    fn pro_cpu_interrupt_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.pcpu_int1.read().bits()
-    }
-
-    fn pro_cpu_nmi_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.pcpu_nmi_int1.read().bits()
-    }
-
-    fn app_cpu_interrupt_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.acpu_int1.read().bits()
-    }
+#[doc(hidden)]
+pub struct InteruptStatusRegisterAccessBank0;
 
-    fn app_cpu_nmi_status_read() -> u32 {
-        unsafe { &*GPIO::PTR }.acpu_nmi_int1.read().bits()
-    }
-}
+#[doc(hidden)]
+pub struct InteruptStatusRegisterAccessBank1;
 
 #[doc(hidden)]
 pub trait InterruptStatusRegisters<RegisterAccess>
@@ -1530,7 +1448,6 @@ impl IO {
 #[macro_export]
 macro_rules! gpio {
     (
-        $cores:ident,
         $(
             ($gpionum:literal, $bank:literal, $type:ident
                 $(
@@ -1593,12 +1510,12 @@ macro_rules! gpio {
 
             pub struct Pins {
                 $(
-                    pub [< gpio $gpionum >] : GpioPin<Unknown, [< Bank $bank GpioRegisterAccess >], $crate::gpio::[< $cores CoreInteruptStatusRegisterAccessBank $bank >], [< $type PinType >], [<Gpio $gpionum Signals>], $gpionum>,
+                    pub [< gpio $gpionum >] : GpioPin<Unknown, [< Bank $bank GpioRegisterAccess >], $crate::gpio::[< InteruptStatusRegisterAccessBank $bank >], [< $type PinType >], [<Gpio $gpionum Signals>], $gpionum>,
                 )+
             }
 
             $(
-                pub type [<Gpio $gpionum >]<MODE> = GpioPin<MODE, [< Bank $bank GpioRegisterAccess >], $crate::gpio::[< $cores CoreInteruptStatusRegisterAccessBank $bank >], [< $type PinType >], [<Gpio $gpionum Signals>], $gpionum>;
+                pub type [<Gpio $gpionum >]<MODE> = GpioPin<MODE, [< Bank $bank GpioRegisterAccess >], $crate::gpio::[< InteruptStatusRegisterAccessBank $bank >], [< $type PinType >], [<Gpio $gpionum Signals>], $gpionum>;
             )+
 
             pub(crate) enum ErasedPin<MODE> {
@@ -1909,18 +1826,34 @@ mod asynch {
 
     #[interrupt]
     unsafe fn GPIO() {
-        // TODO how to handle dual core reg access
-        // we need to check which core the interrupt is currently firing on
-        // and only fire interrupts registered for that core
-        type Bank0 = SingleCoreInteruptStatusRegisterAccessBank0;
-        #[cfg(any(esp32, esp32s2, esp32s3))]
-        type Bank1 = SingleCoreInteruptStatusRegisterAccessBank1;
-        let mut intrs = Bank0::pro_cpu_interrupt_status_read() as u64;
+        let mut intrs = match crate::get_core() {
+            crate::Cpu::ProCpu => {
+                InteruptStatusRegisterAccessBank0::pro_cpu_interrupt_status_read() as u64
+            }
+            #[cfg(multi_core)]
+            crate::Cpu::AppCpu => {
+                InteruptStatusRegisterAccessBank0::app_cpu_interrupt_status_read() as u64
+            }
+        };
 
         #[cfg(any(esp32, esp32s2, esp32s3))]
-        {
-            intrs |= (Bank1::pro_cpu_interrupt_status_read() as u64) << 32;
-        }
+        match crate::get_core() {
+            crate::Cpu::ProCpu => {
+                intrs |= (InteruptStatusRegisterAccessBank1::pro_cpu_interrupt_status_read() as u64)
+                    << 32
+            }
+            #[cfg(multi_core)]
+            crate::Cpu::AppCpu => {
+                intrs |= (InteruptStatusRegisterAccessBank1::app_cpu_interrupt_status_read() as u64)
+                    << 32
+            }
+        };
+
+        log::trace!(
+            "Handling interrupt on {:?} - {:064b}",
+            crate::get_core(),
+            intrs
+        );
 
         while intrs != 0 {
             let pin_nr = intrs.trailing_zeros();

diff --git a/esp-hal-common/src/soc/esp32/gpio.rs b/esp-hal-common/src/soc/esp32/gpio.rs
@@ -9,9 +9,13 @@ use crate::{
         InputOnlyAnalogPinType,
         InputOutputAnalogPinType,
         InputOutputPinType,
+        InteruptStatusRegisterAccess,
+        InteruptStatusRegisterAccessBank0,
+        InteruptStatusRegisterAccessBank1,
         Unknown,
     },
     peripherals::GPIO,
+    Cpu,
 };
 
 pub const NUM_PINS: usize = 39;
@@ -72,10 +76,12 @@ pub(crate) fn get_io_mux_reg(gpio_num: u8) -> &'static crate::peripherals::io_mu
 }
 
 pub(crate) fn gpio_intr_enable(int_enable: bool, nmi_enable: bool) -> u8 {
-    int_enable as u8
-        | ((nmi_enable as u8) << 1)
-        | (int_enable as u8) << 2
-        | ((nmi_enable as u8) << 3)
+    match crate::get_core() {
+        Cpu::AppCpu => int_enable as u8 | ((nmi_enable as u8) << 1),
+        // this should be bits 3 & 4 respectively, according to the TRM, but it doesn't seem to
+        // work. This does though.
+        Cpu::ProCpu => (int_enable as u8) << 2 | ((nmi_enable as u8) << 3),
+    }
 }
 
 /// Peripheral input signals for the GPIO mux
@@ -657,7 +663,6 @@ pub(crate) fn errata36(pin_num: u8, pull_up: bool, pull_down: bool) {
 }
 
 crate::gpio::gpio! {
-    Dual,
     (0, 0, InputOutputAnalog (5 => EMAC_TX_CLK) (1 => CLK_OUT1))
     (1, 0, InputOutput (5 => EMAC_RXD2) (0 => U0TXD 1 => CLK_OUT3))
     (2, 0, InputOutputAnalog (1 => HSPIWP 3 => HS2_DATA0 4 => SD_DATA0) (3 => HS2_DATA0 4 => SD_DATA0))
@@ -716,3 +721,39 @@ crate::gpio::analog! {
      (14, 16, touch_pad6,           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
      (27, 17, touch_pad7,           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
 }
+
+impl InteruptStatusRegisterAccess for InteruptStatusRegisterAccessBank0 {
+    fn pro_cpu_interrupt_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.pcpu_int.read().bits()
+    }
+
+    fn pro_cpu_nmi_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.pcpu_nmi_int.read().bits()
+    }
+
+    fn app_cpu_interrupt_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.acpu_int.read().bits()
+    }
+
+    fn app_cpu_nmi_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.acpu_nmi_int.read().bits()
+    }
+}
+
+impl InteruptStatusRegisterAccess for InteruptStatusRegisterAccessBank1 {
+    fn pro_cpu_interrupt_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.pcpu_int1.read().bits()
+    }
+
+    fn pro_cpu_nmi_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.pcpu_nmi_int1.read().bits()
+    }
+
+    fn app_cpu_interrupt_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.acpu_int1.read().bits()
+    }
+
+    fn app_cpu_nmi_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.acpu_nmi_int1.read().bits()
+    }
+}
diff --git a/esp-hal-common/src/soc/esp32c2/gpio.rs b/esp-hal-common/src/soc/esp32c2/gpio.rs
@@ -7,6 +7,8 @@ use crate::{
         GpioPin,
         InputOutputAnalogPinType,
         InputOutputPinType,
+        InteruptStatusRegisterAccess,
+        InteruptStatusRegisterAccessBank0,
         Unknown,
     },
     peripherals::GPIO,
@@ -139,7 +141,6 @@ pub enum OutputSignal {
 }
 
 crate::gpio::gpio! {
-    Single,
     (0, 0, InputOutputAnalog)
     (1, 0, InputOutputAnalog)
     (2, 0, InputOutputAnalog (2 => FSPIQ) (2 => FSPIQ))
@@ -163,3 +164,13 @@ crate::gpio::analog! {
     3
     4
 }
+
+impl InteruptStatusRegisterAccess for InteruptStatusRegisterAccessBank0 {
+    fn pro_cpu_interrupt_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.pcpu_int.read().bits()
+    }
+
+    fn pro_cpu_nmi_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.pcpu_nmi_int.read().bits()
+    }
+}
diff --git a/esp-hal-common/src/soc/esp32c3/gpio.rs b/esp-hal-common/src/soc/esp32c3/gpio.rs
@@ -7,6 +7,8 @@ use crate::{
         GpioPin,
         InputOutputAnalogPinType,
         InputOutputPinType,
+        InteruptStatusRegisterAccess,
+        InteruptStatusRegisterAccessBank0,
         Unknown,
     },
     peripherals::GPIO,
@@ -165,7 +167,6 @@ pub enum OutputSignal {
 }
 
 crate::gpio::gpio! {
-    Single,
     (0, 0, InputOutputAnalog)
     (1, 0, InputOutputAnalog)
     (2, 0, InputOutputAnalog (2 => FSPIQ) (2 => FSPIQ))
@@ -198,3 +199,13 @@ crate::gpio::analog! {
     4
     5
 }
+
+impl InteruptStatusRegisterAccess for InteruptStatusRegisterAccessBank0 {
+    fn pro_cpu_interrupt_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.pcpu_int.read().bits()
+    }
+
+    fn pro_cpu_nmi_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.pcpu_nmi_int.read().bits()
+    }
+}
diff --git a/esp-hal-common/src/soc/esp32c6/gpio.rs b/esp-hal-common/src/soc/esp32c6/gpio.rs
@@ -7,6 +7,8 @@ use crate::{
         GpioPin,
         InputOutputAnalogPinType,
         InputOutputPinType,
+        InteruptStatusRegisterAccess,
+        InteruptStatusRegisterAccessBank0,
         Unknown,
     },
     peripherals::GPIO,
@@ -236,7 +238,6 @@ pub enum OutputSignal {
 }
 
 crate::gpio::gpio! {
-    Single,
     (0, 0, InputOutputAnalog)
     (1, 0, InputOutputAnalog)
     (2, 0, InputOutputAnalog (2 => FSPIQ) (2 => FSPIQ))
@@ -281,6 +282,16 @@ crate::gpio::analog! {
     7
 }
 
+impl InteruptStatusRegisterAccess for InteruptStatusRegisterAccessBank0 {
+    fn pro_cpu_interrupt_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.pcpu_int.read().bits()
+    }
+
+    fn pro_cpu_nmi_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.pcpu_nmi_int.read().bits()
+    }
+}
+
 // TODO USB pins
 // implement marker traits on USB pins
 // impl<T> crate::otg_fs::UsbSel for Gpio??<T> {}

diff --git a/esp-hal-common/src/soc/esp32h2/gpio.rs b/esp-hal-common/src/soc/esp32h2/gpio.rs
@@ -7,6 +7,8 @@ use crate::{
         GpioPin,
         InputOutputAnalogPinType,
         InputOutputPinType,
+        InteruptStatusRegisterAccess,
+        InteruptStatusRegisterAccessBank0,
         Unknown,
     },
     peripherals::GPIO,
@@ -217,7 +219,6 @@ pub enum OutputSignal {
 
 // FIXME: add alternate function numbers/signals where necessary
 crate::gpio::gpio! {
-    Single,
     (0, 0, InputOutput)
     (1, 0, InputOutputAnalog)
     (2, 0, InputOutputAnalog)
@@ -256,6 +257,16 @@ crate::gpio::analog! {
     5
 }
 
+impl InteruptStatusRegisterAccess for InteruptStatusRegisterAccessBank0 {
+    fn pro_cpu_interrupt_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.pcpu_int.read().bits()
+    }
+
+    fn pro_cpu_nmi_status_read() -> u32 {
+        unsafe { &*GPIO::PTR }.pcpu_nmi_int.read().bits()
+    }
+}
+
 // TODO USB pins
 // implement marker traits on USB pins
 // impl<T> crate::otg_fs::UsbSel for Gpio??<T> {}