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|
//! I2C bus sharing using [`Arbiter`]
//!
//! An Example how to use it in RTIC application:
//! ```text
//! #[app(device = some_hal, peripherals = true, dispatchers = [TIM16])]
//! mod app {
//! use core::mem::MaybeUninit;
//! use rtic_sync::{arbiter::{i2c::ArbiterDevice, Arbiter},
//!
//! #[shared]
//! struct Shared {}
//!
//! #[local]
//! struct Local {
//! ens160: Ens160<ArbiterDevice<'static, I2c<'static, I2C1>>>,
//! }
//!
//! #[init(local = [
//! i2c_arbiter: MaybeUninit<Arbiter<I2c<'static, I2C1>>> = MaybeUninit::uninit(),
//! ])]
//! fn init(cx: init::Context) -> (Shared, Local) {
//! let i2c = I2c::new(cx.device.I2C1);
//! let i2c_arbiter = cx.local.i2c_arbiter.write(Arbiter::new(i2c));
//! let ens160 = Ens160::new(ArbiterDevice::new(i2c_arbiter), 0x52);
//!
//! i2c_sensors::spawn(i2c_arbiter).ok();
//!
//! (Shared {}, Local { ens160 })
//! }
//!
//! #[task(local = [ens160])]
//! async fn i2c_sensors(cx: i2c_sensors::Context, i2c: &'static Arbiter<I2c<'static, I2C1>>) {
//! use sensor::Asensor;
//!
//! loop {
//! // Use scope to make sure I2C access is dropped.
//! {
//! // Read from sensor driver that wants to use I2C directly.
//! let mut i2c = i2c.access().await;
//! let status = Asensor::status(&mut i2c).await;
//! }
//!
//! // Read ENS160 sensor.
//! let eco2 = cx.local.ens160.eco2().await;
//! }
//! }
//! }
//! ```
use super::Arbiter;
use embedded_hal::i2c::{AddressMode, ErrorType, I2c as BlockingI2c, Operation};
use embedded_hal_async::i2c::I2c as AsyncI2c;
/// [`Arbiter`]-based shared bus implementation for I2C.
pub struct ArbiterDevice<'a, BUS> {
bus: &'a Arbiter<BUS>,
}
impl<'a, BUS> ArbiterDevice<'a, BUS> {
/// Create a new [`ArbiterDevice`] for I2C.
pub fn new(bus: &'a Arbiter<BUS>) -> Self {
Self { bus }
}
}
impl<BUS> ErrorType for ArbiterDevice<'_, BUS>
where
BUS: ErrorType,
{
type Error = BUS::Error;
}
impl<BUS, A> AsyncI2c<A> for ArbiterDevice<'_, BUS>
where
BUS: AsyncI2c<A>,
A: AddressMode,
{
async fn read(&mut self, address: A, read: &mut [u8]) -> Result<(), Self::Error> {
let mut bus = self.bus.access().await;
bus.read(address, read).await
}
async fn write(&mut self, address: A, write: &[u8]) -> Result<(), Self::Error> {
let mut bus = self.bus.access().await;
bus.write(address, write).await
}
async fn write_read(
&mut self,
address: A,
write: &[u8],
read: &mut [u8],
) -> Result<(), Self::Error> {
let mut bus = self.bus.access().await;
bus.write_read(address, write, read).await
}
async fn transaction(
&mut self,
address: A,
operations: &mut [Operation<'_>],
) -> Result<(), Self::Error> {
let mut bus = self.bus.access().await;
bus.transaction(address, operations).await
}
}
/// [`Arbiter`]-based shared bus implementation for I2C.
pub struct BlockingArbiterDevice<'a, BUS> {
bus: &'a Arbiter<BUS>,
}
impl<'a, BUS> BlockingArbiterDevice<'a, BUS> {
/// Create a new [`BlockingArbiterDevice`] for I2C.
pub fn new(bus: &'a Arbiter<BUS>) -> Self {
Self { bus }
}
/// Create an `ArbiterDevice` from an `BlockingArbiterDevice`.
pub fn into_non_blocking(self) -> ArbiterDevice<'a, BUS>
where
BUS: AsyncI2c,
{
ArbiterDevice { bus: self.bus }
}
}
impl<'a, BUS> ErrorType for BlockingArbiterDevice<'a, BUS>
where
BUS: ErrorType,
{
type Error = BUS::Error;
}
impl<'a, BUS, A> AsyncI2c<A> for BlockingArbiterDevice<'a, BUS>
where
BUS: BlockingI2c<A>,
A: AddressMode,
{
async fn read(&mut self, address: A, read: &mut [u8]) -> Result<(), Self::Error> {
let mut bus = self.bus.access().await;
bus.read(address, read)
}
async fn write(&mut self, address: A, write: &[u8]) -> Result<(), Self::Error> {
let mut bus = self.bus.access().await;
bus.write(address, write)
}
async fn write_read(
&mut self,
address: A,
write: &[u8],
read: &mut [u8],
) -> Result<(), Self::Error> {
let mut bus = self.bus.access().await;
bus.write_read(address, write, read)
}
async fn transaction(
&mut self,
address: A,
operations: &mut [Operation<'_>],
) -> Result<(), Self::Error> {
let mut bus = self.bus.access().await;
bus.transaction(address, operations)
}
}
|
