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Add delay for mode transitions #5

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4 changes: 2 additions & 2 deletions Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,9 @@ embedded-hal-async = "1.0"
embedded-hal = "1.0"
heapless = "0.8"
seq-macro = "0.3"
embassy-sync = "0.5"
embassy-sync = "0.6"

[dev-dependencies]
embedded-hal-mock = { version = "0.10", features = ["eh1", "embedded-hal-async"] }
embedded-hal-mock = { version = "0.11", features = ["eh1", "embedded-hal-async"] }
tokio = { version = "1.36", features = ["full"] }
critical-section = { version = "1.1", features = ["std"] }
2 changes: 2 additions & 0 deletions src/config.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -207,6 +207,7 @@ pub struct DeviceConfig {
pub rscancel: RSCANCEL,
pub lpen: LPEN,
pub brst: BRST,
pub mode_transition_delay: u32,
}

impl DeviceConfig {
Expand Down Expand Up @@ -237,6 +238,7 @@ impl Default for DeviceConfig {
rscancel: RSCANCEL::Disabled,
lpen: LPEN::Default,
brst: BRST::Default,
mode_transition_delay: 5,
}
}
}
Expand Down
72 changes: 47 additions & 25 deletions src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ mod port;

use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, mutex::Mutex};
use embedded_hal::digital::OutputPin;
use embedded_hal_async::spi::SpiBus;
use embedded_hal_async::{delay::DelayNs, spi::SpiBus};
use heapless::Vec;
use seq_macro::seq;

Expand All @@ -31,25 +31,26 @@ pub enum Error<S, P> {
Port,
}

pub type WrappedDriver<SPI, EN> = Mutex<CriticalSectionRawMutex, MaxDriver<SPI, EN>>;
pub type WrappedDriver<SPI, EN, D> = Mutex<CriticalSectionRawMutex, MaxDriver<SPI, EN, D>>;

pub struct Max11300<SPI, EN> {
max: WrappedDriver<SPI, EN>,
pub struct Max11300<SPI, EN, D> {
max: WrappedDriver<SPI, EN, D>,
config: DeviceConfig,
}

seq!(N in 0..20 {
impl<SPI, EN, S, P> Max11300<SPI, EN>
impl<SPI, EN, S, P, D> Max11300<SPI, EN, D>
where
SPI: SpiBus<Error = S>,
EN: OutputPin<Error = P>,
D: DelayNs,
{
pub async fn new(spi: SPI, enable: EN, config: DeviceConfig) -> Result<Self, Error<S, P>> {
let max = MaxDriver::try_new(spi, enable, config).await?;
pub async fn new(spi: SPI, enable: EN, delay: D, config: DeviceConfig) -> Result<Self, Error<S, P>> {
let max = MaxDriver::try_new(spi, enable, delay, config).await?;
Ok(Self { max: Mutex::new(max), config })
}

pub fn split(&mut self) -> Parts<'_, SPI, EN> {
pub fn split(&mut self) -> Parts<'_, SPI, EN, D> {
Parts {
#(
port~N: Mode0Port::new(Port::P~N, &self.max),
Expand All @@ -65,19 +66,32 @@ seq!(N in 0..20 {
}
});

pub struct MaxDriver<SPI, EN> {
pub struct MaxDriver<SPI, EN, D> {
enable: EN,
spi: SPI,
delay: D,
config: DeviceConfig,
}

impl<SPI, EN, S, P> MaxDriver<SPI, EN>
impl<SPI, EN, D, S, P> MaxDriver<SPI, EN, D>
where
SPI: SpiBus<Error = S>,
EN: OutputPin<Error = P>,
D: DelayNs,
{
async fn try_new(spi: SPI, mut enable: EN, config: DeviceConfig) -> Result<Self, Error<S, P>> {
async fn try_new(
spi: SPI,
mut enable: EN,
delay: D,
config: DeviceConfig,
) -> Result<Self, Error<S, P>> {
enable.set_high().map_err(Error::Pin)?;
let mut max = Self { enable, spi };
let mut max = Self {
config,
delay,
enable,
spi,
};
if max.read_register(REG_DEVICE_ID).await? != DEVICE_ID {
return Err(Error::Conn);
}
Expand Down Expand Up @@ -163,16 +177,17 @@ where
}
}

pub struct ReadInterrupts<'a, SPI, EN> {
max: &'a WrappedDriver<SPI, EN>,
pub struct ReadInterrupts<'a, SPI, EN, D> {
max: &'a WrappedDriver<SPI, EN, D>,
}

impl<'a, SPI, EN, S, P> ReadInterrupts<'a, SPI, EN>
impl<'a, SPI, EN, D, S, P> ReadInterrupts<'a, SPI, EN, D>
where
SPI: SpiBus<Error = S>,
EN: OutputPin<Error = P>,
D: DelayNs,
{
pub fn new(max: &'a WrappedDriver<SPI, EN>) -> Self {
pub fn new(max: &'a WrappedDriver<SPI, EN, D>) -> Self {
Self { max }
}

Expand Down Expand Up @@ -200,15 +215,16 @@ where
}

seq!(N in 0..20 {
pub struct Parts<'a, SPI, EN>
pub struct Parts<'a, SPI, EN, D>
where
SPI: SpiBus + 'a,
EN: OutputPin,
D: DelayNs,
{
#(
pub port~N: Mode0Port<'a, SPI, EN>,
pub port~N: Mode0Port<'a, SPI, EN, D>,
)*
pub interrupts: ReadInterrupts<'a, SPI, EN>
pub interrupts: ReadInterrupts<'a, SPI, EN, D>
}
});

Expand All @@ -220,13 +236,15 @@ mod tests {
};

use super::*;
use embedded_hal_mock::eh1::pin::{
use embedded_hal_mock::eh1::delay::NoopDelay;
use embedded_hal_mock::eh1::digital::{
Mock as PinMock, State as PinState, Transaction as PinTransaction,
};
use embedded_hal_mock::eh1::spi::{Mock as SpiMock, Transaction as SpiTransaction};

#[tokio::test]
async fn into_configured() {
let delay = NoopDelay::new();
let config = DeviceConfig::default();
let pin_expectations = [
PinTransaction::set(PinState::High),
Expand All @@ -243,7 +261,7 @@ mod tests {
];
let mut pin = PinMock::new(&pin_expectations);
let mut spi = SpiMock::new(&spi_expectations);
let _max = Max11300::new(spi.clone(), pin.clone(), config)
let _max = Max11300::new(spi.clone(), pin.clone(), delay, config)
.await
.unwrap();
pin.done();
Expand All @@ -252,6 +270,7 @@ mod tests {

#[tokio::test]
async fn config_modes() {
let delay = NoopDelay::new();
let config = DeviceConfig::default();
let pin_expectations = [
PinTransaction::set(PinState::High),
Expand All @@ -276,7 +295,7 @@ mod tests {
];
let mut pin = PinMock::new(&pin_expectations);
let mut spi = SpiMock::new(&spi_expectations);
let mut max = Max11300::new(spi.clone(), pin.clone(), config)
let mut max = Max11300::new(spi.clone(), pin.clone(), delay, config)
.await
.unwrap();
let ports = max.split();
Expand All @@ -297,6 +316,7 @@ mod tests {

#[tokio::test]
async fn config_mode_5() {
let delay = NoopDelay::new();
let config = DeviceConfig::default();
let pin_expectations = [
PinTransaction::set(PinState::High),
Expand All @@ -321,7 +341,7 @@ mod tests {
];
let mut pin = PinMock::new(&pin_expectations);
let mut spi = SpiMock::new(&spi_expectations);
let mut max = Max11300::new(spi.clone(), pin.clone(), config)
let mut max = Max11300::new(spi.clone(), pin.clone(), delay, config)
.await
.unwrap();
let ports = max.split();
Expand All @@ -337,6 +357,7 @@ mod tests {

#[tokio::test]
async fn config_mode_7() {
let delay = NoopDelay::new();
let config = DeviceConfig::default();
let pin_expectations = [
PinTransaction::set(PinState::High),
Expand All @@ -361,7 +382,7 @@ mod tests {
];
let mut pin = PinMock::new(&pin_expectations);
let mut spi = SpiMock::new(&spi_expectations);
let mut max = Max11300::new(spi.clone(), pin.clone(), config)
let mut max = Max11300::new(spi.clone(), pin.clone(), delay, config)
.await
.unwrap();
let ports = max.split();
Expand All @@ -382,6 +403,7 @@ mod tests {

#[tokio::test]
async fn multiport() {
let delay = NoopDelay::new();
let config = DeviceConfig::default();
let pin_expectations = [
PinTransaction::set(PinState::High),
Expand Down Expand Up @@ -409,7 +431,7 @@ mod tests {
];
let mut pin = PinMock::new(&pin_expectations);
let mut spi = SpiMock::new(&spi_expectations);
let mut max = Max11300::new(spi.clone(), pin.clone(), config)
let mut max = Max11300::new(spi.clone(), pin.clone(), delay, config)
.await
.unwrap();
let ports = max.split();
Expand Down
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