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Merged
bjoernQ merged 2 commits into from
Sep 26, 2023
Merged

Add ETM, Add GPIO ETM #819

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77ad5c5
Add ETM, Add GPIO ETM
bjoernQ Sep 25, 2023
1c75607
Add CHANGELOG.md entry
bjoernQ Sep 26, 2023
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
- Async support for I2S (#801)
- Async support for PARL_IO (#807)
- Implement `embeded_hal_async::delay::DelayUs` trait for `SYSTIMER` alarms (#812)
- ETM driver, GPIO ETM (#819)

### Changed

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5 changes: 3 additions & 2 deletions esp-hal-common/Cargo.toml
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Expand Up @@ -58,9 +58,10 @@ ufmt-write = { version = "0.1.0", optional = true }
esp32 = { version = "0.26.0", features = ["critical-section"], optional = true }
esp32c2 = { version = "0.14.0", features = ["critical-section"], optional = true }
esp32c3 = { version = "0.17.0", features = ["critical-section"], optional = true }
esp32c6 = { version = "0.7.0", features = ["critical-section"], optional = true }
# until new C6 pacs are relesed, required because of a wrong base address of GPIO_SD
esp32c6 = { git = "https://github.com/esp-rs/esp-pacs", package = "esp32c6", rev = "1b1ce7ba631cb349a8255f5959e768d5c52fad40", version = "0.7.0", features = ["critical-section"], optional = true }
# until new H2 pacs are relesed, required because of https://github.com/esp-rs/esp-pacs/pull/156
esp32h2 = { git = "https://github.com/esp-rs/esp-pacs.git", rev = "2545b66f4c11dd78dc02a3c77c44a78fa5893beb", features = ["critical-section"], optional = true }
esp32h2 = { git = "https://github.com/esp-rs/esp-pacs.git", rev = "1b1ce7ba631cb349a8255f5959e768d5c52fad40", features = ["critical-section"], optional = true }
esp32s2 = { version = "0.17.0", features = ["critical-section"], optional = true }
esp32s3 = { git = "https://github.com/esp-rs/esp-pacs", rev = "c1283ca", features = ["critical-section",], optional = true }

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1 change: 1 addition & 0 deletions esp-hal-common/devices/esp32h2/device.toml
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Expand Up @@ -12,6 +12,7 @@ peripherals = [
"ecc",
"efuse",
"gpio",
"gpio_sd",
"hmac",
"hp_apm",
"hp_sys",
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283 changes: 283 additions & 0 deletions esp-hal-common/src/etm.rs
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@@ -0,0 +1,283 @@
//! # Event Task Matrix (ETM)
//!
//! ## Overview
//!
//! Normally, if a peripheral X needs to notify peripheral Y of a particular
//! event, this could only be done via a CPU interrupt from peripheral X, where
//! the CPU notifies peripheral Y on behalf of peripheral X. However, in
//! time-critical applications, the latency introduced by CPU interrupts is
//! non-negligible.
//!
//! With the help of the Event Task Matrix (ETM) module, some peripherals can
//! directly notify other peripherals of events through pre-set connections
//! without the intervention of CPU interrupts. This allows precise and low
//! latency synchronization between peripherals, and lessens the CPU’s workload
//! as the CPU no longer needs to handle these events.
//!
//! The ETM module has multiple programmable channels, they are used to connect
//! a particular Event to a particular Task. When an event is activated, the ETM
//! channel will trigger the corresponding task automatically.
//!
//! More information: https://docs.espressif.com/projects/esp-idf/en/latest/esp32c6/api-reference/peripherals/etm.html
//!
//! ## Example
//! ```no_run
//! let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
//! let mut led = io.pins.gpio1.into_push_pull_output();
//! let button = io.pins.gpio9.into_pull_down_input();
//!
//! // setup ETM
//! let gpio_ext = GpioEtmChannels::new(peripherals.GPIO_SD);
//! let led_task = gpio_ext.channel0_task.toggle(&mut led);
//! let button_event = gpio_ext.channel0_event.falling_edge(button);
//!
//! let etm = Etm::new(peripherals.SOC_ETM, &mut system.peripheral_clock_control);
//! let channel0 = etm.channel0;
//!
//! // make sure the configured channel doesn't get dropped - dropping it will
//! // disable the channel
//! let _configured_channel = channel0.setup(&button_event, &led_task);
//!
//! // the LED is controlled by the button without involving the CPU
//! loop {}
//! ```

use crate::{
peripheral::{Peripheral, PeripheralRef},
system::PeripheralClockControl,
};

/// Unconfigured EtmChannel.
#[non_exhaustive]
pub struct EtmChannel<const C: u8> {}

macro_rules! impl_etm_channel {
($channel: literal, $bank: literal) => {
paste::paste! {
impl EtmChannel<$channel> {
/// Setup the channel
///
/// Enabled the channel and configures the assigned event and task.
pub fn setup<'a, E, T>(self, event: &'a E, task: &'a T) -> EtmConfiguredChannel<'a, E,T,$channel>
where
E: EtmEvent,
T: EtmTask,
{
let etm = unsafe { crate::peripherals::SOC_ETM::steal() };

etm.[< ch $channel _evt_id >].modify(|_, w| w.[< ch $channel _evt_id >]().variant(event.id()));
etm.[< ch $channel _task_id >].modify(|_, w| w.[< ch $channel _task_id >]().variant(task.id()));
etm.[< ch_ena_ad $bank _set >].write(|w| w.[< ch_set $channel >]().set_bit());

EtmConfiguredChannel {
_event: event,
_task: task,
}
}
}
}
};
}

impl_etm_channel!(0, 0);
impl_etm_channel!(1, 0);
impl_etm_channel!(2, 0);
impl_etm_channel!(3, 0);
impl_etm_channel!(4, 0);
impl_etm_channel!(5, 0);
impl_etm_channel!(6, 0);
impl_etm_channel!(7, 0);
impl_etm_channel!(8, 0);
impl_etm_channel!(9, 0);
impl_etm_channel!(10, 0);
impl_etm_channel!(11, 0);
impl_etm_channel!(12, 0);
impl_etm_channel!(13, 0);
impl_etm_channel!(14, 0);
impl_etm_channel!(15, 0);
impl_etm_channel!(16, 0);
impl_etm_channel!(17, 0);
impl_etm_channel!(18, 0);
impl_etm_channel!(19, 0);
impl_etm_channel!(20, 0);
impl_etm_channel!(21, 0);
impl_etm_channel!(22, 0);
impl_etm_channel!(23, 0);
impl_etm_channel!(24, 0);
impl_etm_channel!(25, 0);
impl_etm_channel!(26, 0);
impl_etm_channel!(27, 0);
impl_etm_channel!(28, 0);
impl_etm_channel!(29, 0);
impl_etm_channel!(30, 0);
impl_etm_channel!(31, 0);
impl_etm_channel!(32, 1);
impl_etm_channel!(33, 1);
impl_etm_channel!(34, 1);
impl_etm_channel!(35, 1);
impl_etm_channel!(36, 1);
impl_etm_channel!(37, 1);
impl_etm_channel!(38, 1);
impl_etm_channel!(39, 1);
impl_etm_channel!(40, 1);
impl_etm_channel!(41, 1);
impl_etm_channel!(42, 1);
impl_etm_channel!(43, 1);
impl_etm_channel!(44, 1);
impl_etm_channel!(45, 1);
impl_etm_channel!(46, 1);
impl_etm_channel!(47, 1);
impl_etm_channel!(48, 1);
impl_etm_channel!(49, 1);

macro_rules! impl_disable_helper {
($(($channel:literal, $bank:literal)),+) => {
paste::paste! {
fn disable_channel(channel: u8) {
let etm = unsafe { crate::peripherals::SOC_ETM::steal() };
match channel {
$(
$channel => {etm.[< ch_ena_ad $bank _clr>].write(|w| w.[< ch_clr $channel >]().set_bit());},
)+
_ => panic!("Unknown channel {}", channel),
}

}
}
};
}
impl_disable_helper!(
(0, 0),
(1, 0),
(2, 0),
(3, 0),
(4, 0),
(5, 0),
(6, 0),
(7, 0),
(8, 0),
(9, 0),
(10, 0),
(11, 0),
(12, 0),
(13, 0),
(14, 0),
(15, 0),
(16, 0),
(17, 0),
(18, 0),
(19, 0),
(20, 0),
(21, 0),
(22, 0),
(23, 0),
(24, 0),
(25, 0),
(26, 0),
(27, 0),
(28, 0),
(29, 0),
(30, 0),
(31, 0),
(32, 1),
(33, 1),
(34, 1),
(35, 1),
(36, 1),
(37, 1),
(38, 1),
(39, 1),
(40, 1),
(41, 1),
(42, 1),
(43, 1),
(44, 1),
(45, 1),
(46, 1),
(47, 1),
(48, 1),
(49, 1)
);

/// A readily configured channel
///
/// The channel is enabled and event and task are configured.
#[non_exhaustive]
pub struct EtmConfiguredChannel<'a, E, T, const C: u8>
where
E: EtmEvent,
T: EtmTask,
{
_event: &'a E,
_task: &'a T,
}

impl<'a, E, T, const C: u8> Drop for EtmConfiguredChannel<'a, E, T, C>
where
E: EtmEvent,
T: EtmTask,
{
fn drop(&mut self) {
debug!("drop {}", C);
disable_channel(C);
}
}

macro_rules! create_etm_struct {
($($num:literal),+) => {
paste::paste! {
/// ETM Instance
///
/// Provides access to all the [EtmChannel]
pub struct Etm<'d> {
_peripheral: PeripheralRef<'d, crate::peripherals::SOC_ETM>,
$(pub [< channel $num >]: EtmChannel<$num>,)+
}
}
};
}

macro_rules! create_etm_constructor {
($($num:literal),+) => {
paste::paste! {
impl<'d> Etm<'d> {
pub fn new(
peripheral: impl Peripheral<P = crate::peripherals::SOC_ETM> + 'd,
peripheral_clock_control: &mut PeripheralClockControl,
) -> Self {
crate::into_ref!(peripheral);
peripheral_clock_control.enable(crate::system::Peripheral::Etm);

Self {
_peripheral: peripheral,
$([< channel $num >]: EtmChannel {},)+
}
}
}
}
};
}

create_etm_struct!(
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25,
26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49
);

create_etm_constructor!(
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25,
26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49
);

#[doc(hidden)]
pub trait EtmEvent: private::Sealed {
fn id(&self) -> u8;
}

#[doc(hidden)]
pub trait EtmTask: private::Sealed {
fn id(&self) -> u8;
}

pub(crate) mod private {
pub trait Sealed {}
}
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