Async PARL_IO support

CHANGELOG.md

@@ -18,6 +18,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Add UART support for splitting into TX and RX (#754)
 - Async support for I2S (#801)
 - UART/ESP32: fix calculating FIFO counter with `get_rx_fifo_count()` (#804)
+- Async support for PARL_IO (#807)
 
 ### Changed
 

esp-hal-common/src/parl_io.rs

@@ -1412,6 +1412,124 @@ where
     }
 }
 
+#[cfg(feature = "async")]
+pub mod asynch {
+    use core::task::Poll;
+
+    use embassy_sync::waitqueue::AtomicWaker;
+
+    use super::{
+        private::{ConfigurePins, Instance, RxClkPin, RxPins, TxClkPin, TxPins},
+        Error,
+        ParlIoRx,
+        ParlIoTx,
+        MAX_DMA_SIZE,
+    };
+    use crate::{
+        dma::{asynch::DmaRxDoneChFuture, ChannelTypes, ParlIoPeripheral},
+        macros::interrupt,
+    };
+
+    static TX_WAKER: AtomicWaker = AtomicWaker::new();
+
+    pub struct TxDoneFuture {}
+
+    impl TxDoneFuture {
+        pub fn new() -> Self {
+            Instance::listen_tx_done();
+            Self {}
+        }
+    }
+
+    impl core::future::Future for TxDoneFuture {
+        type Output = ();
+
+        fn poll(
+            self: core::pin::Pin<&mut Self>,
+            cx: &mut core::task::Context<'_>,
+        ) -> Poll<Self::Output> {
+            TX_WAKER.register(cx.waker());
+            if Instance::is_listening_tx_done() {
+                Poll::Pending
+            } else {
+                Poll::Ready(())
+            }
+        }
+    }
+
+    #[cfg(esp32c6)]
+    #[interrupt]
+    fn PARL_IO() {
+        if Instance::is_tx_done_set() {
+            Instance::clear_is_tx_done();
+            Instance::unlisten_tx_done();
+            TX_WAKER.wake()
+        }
+    }
+
+    #[cfg(esp32h2)]
+    #[interrupt]
+    fn PARL_IO_TX() {
+        if Instance::is_tx_done_set() {
+            Instance::clear_is_tx_done();
+            Instance::unlisten_tx_done();
+            TX_WAKER.wake()
+        }
+    }
+
+    impl<'d, CH, P, CP> ParlIoTx<'d, CH, P, CP>
+    where
+        CH: ChannelTypes,
+        CH::P: ParlIoPeripheral,
+        P: TxPins + ConfigurePins,
+        CP: TxClkPin,
+    {
+        /// Perform a DMA write.
+        ///
+        /// The maximum amount of data to be sent is 32736 bytes.
+        pub async fn write_dma_async(&mut self, words: &mut [u8]) -> Result<(), Error> {
+            let (ptr, len) = (words.as_ptr(), words.len());
+
+            if len > MAX_DMA_SIZE {
+                return Err(Error::MaxDmaTransferSizeExceeded);
+            }
+
+            self.start_write_bytes_dma(ptr, len)?;
+
+            TxDoneFuture::new().await;
+
+            Ok(())
+        }
+    }
+
+    impl<'d, CH, P, CP> ParlIoRx<'d, CH, P, CP>
+    where
+        CH: ChannelTypes,
+        CH::P: ParlIoPeripheral,
+        P: RxPins + ConfigurePins,
+        CP: RxClkPin,
+    {
+        /// Perform a DMA write.
+        ///
+        /// The maximum amount of data to be sent is 32736 bytes.
+        pub async fn read_dma_async(&mut self, words: &mut [u8]) -> Result<(), Error> {
+            let (ptr, len) = (words.as_mut_ptr(), words.len());
+
+            if !Instance::is_suc_eof_generated_externally() {
+                if len > MAX_DMA_SIZE {
+                    return Err(Error::MaxDmaTransferSizeExceeded);
+                }
+            }
+
+            self.start_receive_bytes_dma(ptr, len)?;
+
+            DmaRxDoneChFuture::new(&mut self.rx_channel).await;
+
+            Ok(())
+        }
+    }
+}
+
 mod private {
     use super::{BitPackOrder, EofMode, Error, SampleEdge};
     use crate::dma::ChannelTypes;
@@ -1705,6 +1823,50 @@ mod private {
 
             reg_block.rx_cfg0.read().rx_eof_gen_sel().bit_is_set()
         }
+
+        #[cfg(feature = "async")]
+        pub fn listen_tx_done() {
+            let reg_block: crate::peripherals::PARL_IO =
+                unsafe { crate::peripherals::PARL_IO::steal() };
+
+            reg_block
+                .int_ena
+                .modify(|_, w| w.tx_eof_int_ena().set_bit());
+        }
+
+        #[cfg(feature = "async")]
+        pub fn unlisten_tx_done() {
+            let reg_block: crate::peripherals::PARL_IO =
+                unsafe { crate::peripherals::PARL_IO::steal() };
+
+            reg_block
+                .int_ena
+                .modify(|_, w| w.tx_eof_int_ena().clear_bit());
+        }
+
+        #[cfg(feature = "async")]
+        pub fn is_listening_tx_done() -> bool {
+            let reg_block: crate::peripherals::PARL_IO =
+                unsafe { crate::peripherals::PARL_IO::steal() };
+
+            reg_block.int_ena.read().tx_eof_int_ena().bit()
+        }
+
+        #[cfg(feature = "async")]
+        pub fn is_tx_done_set() -> bool {
+            let reg_block: crate::peripherals::PARL_IO =
+                unsafe { crate::peripherals::PARL_IO::steal() };
+
+            reg_block.int_raw.read().tx_eof_int_raw().bit()
+        }
+
+        #[cfg(feature = "async")]
+        pub fn clear_is_tx_done() {
+            let reg_block: crate::peripherals::PARL_IO =
+                unsafe { crate::peripherals::PARL_IO::steal() };
+
+            reg_block.int_clr.write(|w| w.tx_eof_int_clr().set_bit());
+        }
     }
 
     #[cfg(esp32h2)]
@@ -1924,5 +2086,49 @@ mod private {
 
             reg_block.rx_genrl_cfg.read().rx_eof_gen_sel().bit_is_set()
         }
+
+        #[cfg(feature = "async")]
+        pub fn listen_tx_done() {
+            let reg_block: crate::peripherals::PARL_IO =
+                unsafe { crate::peripherals::PARL_IO::steal() };
+
+            reg_block
+                .int_ena
+                .modify(|_, w| w.tx_eof_int_ena().set_bit());
+        }
+
+        #[cfg(feature = "async")]
+        pub fn unlisten_tx_done() {
+            let reg_block: crate::peripherals::PARL_IO =
+                unsafe { crate::peripherals::PARL_IO::steal() };
+
+            reg_block
+                .int_ena
+                .modify(|_, w| w.tx_eof_int_ena().clear_bit());
+        }
+
+        #[cfg(feature = "async")]
+        pub fn is_listening_tx_done() -> bool {
+            let reg_block: crate::peripherals::PARL_IO =
+                unsafe { crate::peripherals::PARL_IO::steal() };
+
+            reg_block.int_ena.read().tx_eof_int_ena().bit()
+        }
+
+        #[cfg(feature = "async")]
+        pub fn is_tx_done_set() -> bool {
+            let reg_block: crate::peripherals::PARL_IO =
+                unsafe { crate::peripherals::PARL_IO::steal() };
+
+            reg_block.int_raw.read().tx_eof_int_raw().bit()
+        }
+
+        #[cfg(feature = "async")]
+        pub fn clear_is_tx_done() {
+            let reg_block: crate::peripherals::PARL_IO =
+                unsafe { crate::peripherals::PARL_IO::steal() };
+
+            reg_block.int_clr.write(|w| w.tx_eof_int_clr().set_bit());
+        }
     }
 }

esp32c6-hal/Cargo.toml

@@ -127,3 +127,11 @@ required-features = ["embassy", "async"]
 [[example]]
 name              = "embassy_i2s_read"
 required-features = ["embassy", "async"]
+
+[[example]]
+name              = "embassy_parl_io_tx"
+required-features = ["embassy", "async"]
+
+[[example]]
+name              = "embassy_parl_io_rx"
+required-features = ["embassy", "async"]

esp32c6-hal/examples/embassy_parl_io_rx.rs

@@ -0,0 +1,120 @@
+//! This shows using Parallel IO to input 4 bit parallel data at 1MHz clock
+//! rate.
+//!
+//! Uses GPIO 1, 2, 3 and 4 as the data pins.
+
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use embassy_executor::Executor;
+use embassy_time::{Duration, Timer};
+use esp32c6_hal::{
+    clock::ClockControl,
+    dma::DmaPriority,
+    embassy,
+    gdma::{self, Gdma},
+    gpio::{GpioPin, Unknown, IO},
+    interrupt,
+    parl_io::{BitPackOrder, NoClkPin, ParlIoRx, ParlIoRxOnly, RxFourBits},
+    peripherals,
+    peripherals::Peripherals,
+    prelude::*,
+};
+use esp_backtrace as _;
+use esp_println::println;
+use static_cell::make_static;
+
+#[embassy_executor::task]
+async fn parl_io_task(
+    mut parl_io_rx: ParlIoRx<
+        'static,
+        gdma::Channel0,
+        RxFourBits<
+            'static,
+            GpioPin<Unknown, 1>,
+            GpioPin<Unknown, 2>,
+            GpioPin<Unknown, 3>,
+            GpioPin<Unknown, 4>,
+        >,
+        NoClkPin,
+    >,
+) {
+    let buffer = dma_buffer();
+    loop {
+        parl_io_rx.read_dma_async(buffer).await.unwrap();
+        println!("Received: {:02x?} ...", &buffer[..30]);
+
+        Timer::after(Duration::from_millis(500)).await;
+    }
+}
+
+#[entry]
+fn main() -> ! {
+    esp_println::println!("Init!");
+    let peripherals = Peripherals::take();
+    let mut system = peripherals.PCR.split();
+    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+    #[cfg(feature = "embassy-time-systick")]
+    embassy::init(
+        &clocks,
+        esp32c6_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
+    );
+
+    #[cfg(feature = "embassy-time-timg0")]
+    {
+        let timer_group0 = esp32c6_hal::timer::TimerGroup::new(
+            peripherals.TIMG0,
+            &clocks,
+            &mut system.peripheral_clock_control,
+        );
+        embassy::init(&clocks, timer_group0.timer0);
+    }
+
+    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
+
+    let tx_descriptors = make_static!([0u32; 8 * 3]);
+    let rx_descriptors = make_static!([0u32; 8 * 3]);
+
+    let dma = Gdma::new(peripherals.DMA, &mut system.peripheral_clock_control);
+    let dma_channel = dma.channel0;
+
+    let rx_pins = RxFourBits::new(io.pins.gpio1, io.pins.gpio2, io.pins.gpio3, io.pins.gpio4);
+
+    let parl_io = ParlIoRxOnly::new(
+        peripherals.PARL_IO,
+        dma_channel.configure(
+            false,
+            tx_descriptors,
+            rx_descriptors,
+            DmaPriority::Priority0,
+        ),
+        1u32.MHz(),
+        &mut system.peripheral_clock_control,
+        &clocks,
+    )
+    .unwrap();
+
+    let parl_io_rx = parl_io
+        .rx
+        .with_config(rx_pins, NoClkPin, BitPackOrder::Msb, Some(0xfff))
+        .unwrap();
+
+    // you need to manually enable the DMA channel's interrupt!
+    interrupt::enable(
+        peripherals::Interrupt::DMA_IN_CH0,
+        interrupt::Priority::Priority1,
+    )
+    .unwrap();
+
+    let executor = make_static!(Executor::new());
+    executor.run(|spawner| {
+        spawner.spawn(parl_io_task(parl_io_rx)).ok();
+    });
+}
+
+fn dma_buffer() -> &'static mut [u8; 4092 * 4] {
+    static mut BUFFER: [u8; 4092 * 4] = [0u8; 4092 * 4];
+    unsafe { &mut BUFFER }
+}