Implement Observable POC (#157)

* Add stasis

copy proto-hal/src/stasis.rs from https://github.com/AdinAck/proto-hal/tree/main

Add `Ad` wrapper around ADC-type in Channel and OneShot impl to avoid problems with orphan rule

Co-authored-by: Adin Ackerman <[email protected]>

* Add example of using pin.observe

* observe opamp

* observe opamp - update example

* Fix some warnings

* Setup negative input

* clippy

* Add tests for DAC, OPAMP, COMP etc

* Add test with external opamp pin

* cleanup

* cleanup

---------

Co-authored-by: Adin Ackerman <[email protected]>

Author: usbalbin

Cargo.toml

@@ -140,7 +140,11 @@ name = "cordic"
 required-features = ["cordic"]
 
 [[test]]
-name = "tests"
+name = "nucleo-g474"
+harness = false
+
+[[test]]
+name = "nucleo-g474_w_jumpers"
 harness = false
 
 [lib]

examples/comp.rs

@@ -15,7 +15,7 @@ use rt::entry;
 
 #[entry]
 fn main() -> ! {
-    use hal::comparator::{ComparatorExt, ComparatorSplit, Config, Hysteresis, RefintInput};
+    use hal::comparator::{refint_input, ComparatorExt, ComparatorSplit, Config, Hysteresis};
     use hal::gpio::GpioExt;
     use hal::prelude::OutputPin;
     use hal::rcc::RccExt;
@@ -31,16 +31,16 @@ fn main() -> ! {
 
     let pa1 = gpioa.pa1.into_analog();
     let pa0 = gpioa.pa0.into_analog();
-    let comp1 = comp1.comparator(&pa1, pa0, Config::default(), &rcc.clocks);
+    let comp1 = comp1.comparator(pa1, pa0, Config::default(), &rcc.clocks);
     let comp1 = comp1.enable();
 
     // led1 pa1 will be updated manually when to match comp1 value
     let mut led1 = gpioa.pa5.into_push_pull_output();
 
     let pa7 = gpioa.pa7.into_analog();
     let comp2 = comp2.comparator(
-        &pa7,
-        RefintInput::VRefintM12,
+        pa7,
+        refint_input::VRefintM12,
         Config::default()
             .hysteresis(Hysteresis::None)
             .output_inverted(),

examples/comp_w_dac.rs

@@ -15,6 +15,7 @@ fn main() -> ! {
     use hal::delay::SYSTDelayExt;
     use hal::gpio::GpioExt;
     use hal::rcc::RccExt;
+    use hal::stasis::Freeze;
     use hal::stm32;
     use stm32g4xx_hal as hal;
 
@@ -29,15 +30,16 @@ fn main() -> ! {
     // Set up DAC to output to pa4 and to internal signal Dac1IntSig1
     // which just so happens is compatible with comp1
     let dac1ch1 = dp.DAC1.constrain((gpioa.pa4, Dac1IntSig1), &mut rcc);
-    let mut dac = dac1ch1.calibrate_buffer(&mut delay).enable(&mut rcc);
+    let dac = dac1ch1.calibrate_buffer(&mut delay).enable(&mut rcc);
+    let (mut dac, [dac_token]) = dac.freeze();
 
     let (comp1, _comp2, ..) = dp.COMP.split(&mut rcc);
     let pa1 = gpioa.pa1.into_analog();
 
     // Set up comparator with pa1 as positive, and the DAC as negative input
     let comp = comp1.comparator(
-        &pa1,
-        &dac,
+        pa1,
+        dac_token,
         comparator::Config::default().hysteresis(comparator::Hysteresis::None),
         &rcc.clocks,
     );

examples/observe.rs

@@ -0,0 +1,58 @@
+//#![deny(warnings)]
+#![deny(unsafe_code)]
+#![no_main]
+#![no_std]
+
+mod utils;
+use utils::logger::info;
+extern crate cortex_m_rt as rt;
+
+use fugit::ExtU32 as _;
+use hal::{
+    adc::AdcClaim as _,
+    comparator::{ComparatorExt, ComparatorSplit, Config},
+    delay::SYSTDelayExt as _,
+    gpio::GpioExt,
+    rcc::RccExt,
+    stm32,
+};
+use rt::entry;
+use stm32g4xx_hal::{self as hal, adc::config::SampleTime, delay::DelayExt as _, stasis::Freeze};
+
+#[entry]
+fn main() -> ! {
+    let cp = cortex_m::Peripherals::take().unwrap();
+    let dp = stm32::Peripherals::take().unwrap();
+    let mut rcc = dp.RCC.constrain();
+
+    let gpioa = dp.GPIOA.split(&mut rcc);
+
+    let (comp1, ..) = dp.COMP.split(&mut rcc);
+
+    let (pa1, [pa1_token]) = gpioa // <- The pin to keep track of
+        .pa1
+        .into_analog()
+        .freeze();
+    let pa0 = gpioa.pa0.into_analog(); // <- Reference voltage
+
+    // Only pa1_token and pa0 consumed here
+    let comp1 = comp1.comparator(pa1_token, pa0, Config::default(), &rcc.clocks);
+    let _comp1 = comp1.enable(); // <-- TODO: Do things with comparator
+
+    let mut delay = cp.SYST.delay(&rcc.clocks);
+    let mut adc = dp.ADC1.claim_and_configure(
+        stm32g4xx_hal::adc::ClockSource::SystemClock,
+        &rcc,
+        stm32g4xx_hal::adc::config::AdcConfig::default(),
+        &mut delay,
+        false,
+    );
+
+    // Can not reconfigure pa1 here
+    loop {
+        // Can still use pa1 here
+        let sample = adc.convert(&pa1, SampleTime::Cycles_640_5);
+        info!("Reading: {}", sample);
+        delay.delay(1000.millis());
+    }
+}

examples/opamp.rs

@@ -5,7 +5,7 @@
 
 use stm32g4xx_hal::adc::AdcClaim;
 use stm32g4xx_hal::adc::ClockSource;
-use stm32g4xx_hal::opamp::{Gain, InternalOutput};
+use stm32g4xx_hal::opamp::Gain;
 use stm32g4xx_hal::prelude::*;
 use stm32g4xx_hal::pwr::PwrExt;
 
@@ -34,12 +34,20 @@ fn main() -> ! {
     // setup opamps
     let (opamp1, opamp2, opamp3, ..) = dp.OPAMP.split(&mut rcc);
 
+    let pa1 = gpioa.pa1.into_analog();
+    let pa2 = gpioa.pa2.into_analog();
+    let pa7 = gpioa.pa7.into_analog();
+
+    let pb0 = gpiob.pb0.into_analog();
+    let pb1 = gpiob.pb1.into_analog();
+    let pb2 = gpiob.pb2.into_analog();
+
     // Set up opamp1 and opamp2 in follower mode
-    let opamp1 = opamp1.follower(gpioa.pa1, gpioa.pa2);
-    let opamp2 = opamp2.follower(gpioa.pa7, InternalOutput);
+    let opamp1 = opamp1.follower(pa1).enable_output(pa2);
+    let opamp2 = opamp2.follower(pa7);
 
     // Set up opamp1 and opamp2 in open loop mode
-    let opamp3 = opamp3.open_loop(gpiob.pb0, gpiob.pb2, gpiob.pb1);
+    let opamp3 = opamp3.open_loop(pb0, pb2).enable_output(pb1);
 
     // disable opamps
     let (opamp1, pa1, pa2) = opamp1.disable();
@@ -48,18 +56,10 @@ fn main() -> ! {
     let (_opamp3, _pb0, _pb2, _pb1) = opamp3.disable();
 
     // Configure opamp1 with pa1 as non-inverting input and set gain to x2
-    let _opamp1 = opamp1.pga(
-        pa1,
-        pa2, // Route output to pin pa2
-        Gain::Gain2,
-    );
+    let _opamp1 = opamp1.pga(pa1, Gain::Gain2).enable_output(pa2); // Route output to pin pa2
 
     // Configure op with pa7 as non-inverting input and set gain to x4
-    let opamp2 = opamp2.pga(
-        pa7,
-        InternalOutput, // Do not route output to any external pin, use internal AD instead
-        Gain::Gain4,
-    );
+    let opamp2 = opamp2.pga(pa7, Gain::Gain4); // Do not route output to any external pin, use internal AD instead
 
     // Lock opamp2. After the opamp is locked its registers cannot be written
     // until the device is reset (even if using unsafe register accesses).

src/adc.rs

@@ -9,6 +9,7 @@
 */
 
 //use crate::dma::traits::PeriAddress;
+use crate::stasis;
 pub use crate::time::U32Ext as _;
 use crate::{
     dma::{mux::DmaMuxResources, traits::TargetAddress, PeripheralToMemory},
@@ -51,12 +52,16 @@ impl Vref {
         Self::sample_to_millivolts_ext(sample, VDDA_CALIB, config::Resolution::Twelve)
     }
 }
+impl stasis::Freeze for Vref {}
 
 /// Vbat internal signal, used for monitoring the battery (if used)
 pub struct Vbat;
+impl stasis::Freeze for Vbat {}
 
 /// Core temperature internal signal
 pub struct Temperature;
+impl stasis::Freeze for Temperature {}
+
 impl Temperature {
     /// Precompute the inverse of `VTEMP_CAL_VREFANALOG`, in volts,
     /// for floating point calculations
@@ -131,39 +136,49 @@ impl Temperature {
     }
 }
 
+// TODO: Is there any way to avoid this wrapper to overcome the orphan rule
+/// Wrapper to side step orphan rule
+pub struct Ad<T>(T);
+macro_rules! adc_channel_helper {
+    ($adc:ident, $chan:expr, $r:ty, $($a:ident),*) => {
+        impl<$($a,)*> Channel<Ad<stm32::$adc>> for stasis::Entitlement<$r> {
+            type ID = u8;
+            fn channel() -> u8 {
+                $chan
+            }
+        }
+
+        impl<const N: usize, $($a,)*> Channel<Ad<stm32::$adc>> for stasis::Frozen<$r, N> {
+            type ID = u8;
+            fn channel() -> u8 {
+                $chan
+            }
+        }
+
+        impl<$($a,)*> Channel<Ad<stm32::$adc>> for $r {
+            type ID = u8;
+            fn channel() -> u8 {
+                $chan
+            }
+        }
+    };
+}
+
 macro_rules! adc_pins {
     ($($pin:ty => ($adc:ident, $chan:expr)),+ $(,)*) => {
         $(
-            impl Channel<stm32::$adc> for $pin {
-                type ID = u8;
-                fn channel() -> u8 { $chan }
-            }
+            adc_channel_helper!($adc, $chan, $pin,);
         )+
     };
 }
 
 macro_rules! adc_opamp {
     ($($opamp:ty => ($adc:ident, $chan:expr)),+ $(,)*) => {
         $(
-            impl<A> Channel<stm32::$adc> for opamp::Follower<$opamp, A, InternalOutput> {
-                type ID = u8;
-                fn channel() -> u8 { $chan }
-            }
-
-            impl<A, B> Channel<stm32::$adc> for opamp::OpenLoop<$opamp, A, B, InternalOutput> {
-                type ID = u8;
-                fn channel() -> u8 { $chan }
-            }
-
-            impl<A> Channel<stm32::$adc> for opamp::Pga<$opamp, A, InternalOutput> {
-                type ID = u8;
-                fn channel() -> u8 { $chan }
-            }
-
-            impl Channel<stm32::$adc> for opamp::Locked<$opamp, InternalOutput> {
-                type ID = u8;
-                fn channel() -> u8 { $chan }
-            }
+            adc_channel_helper!($adc, $chan, opamp::Follower<$opamp, A, InternalOutput>, A);
+            adc_channel_helper!($adc, $chan, opamp::OpenLoop<$opamp, A, B, InternalOutput>, A, B);
+            adc_channel_helper!($adc, $chan, opamp::Pga<$opamp, A, InternalOutput>, A);
+            adc_channel_helper!($adc, $chan, opamp::Locked<$opamp, InternalOutput>,);
         )+
     };
 }
@@ -1898,7 +1913,7 @@ macro_rules! adc {
                 ///   to sample for at a given ADC clock frequency
                 pub fn configure_channel<CHANNEL>(&mut self, _channel: &CHANNEL, sequence: config::Sequence, sample_time: config::SampleTime)
                 where
-                    CHANNEL: Channel<stm32::$adc_type, ID=u8>
+                    CHANNEL: Channel<Ad<stm32::$adc_type>, ID=u8>
                 {
 
                     //Check the sequence is long enough
@@ -1964,7 +1979,7 @@ macro_rules! adc {
                 /// Note that it reconfigures the adc sequence and doesn't restore it
                 pub fn convert<PIN>(&mut self, pin: &PIN, sample_time: config::SampleTime) -> u16
                 where
-                    PIN: Channel<stm32::$adc_type, ID=u8>
+                    PIN: Channel<Ad<stm32::$adc_type>, ID=u8>
                 {
                     let saved_config = self.config;
                     unsafe {
@@ -2410,7 +2425,7 @@ macro_rules! adc {
                 #[inline(always)]
                 pub fn configure_channel<CHANNEL>(&mut self, channel: &CHANNEL, sequence: config::Sequence, sample_time: config::SampleTime)
                 where
-                    CHANNEL: Channel<stm32::$adc_type, ID=u8>
+                    CHANNEL: Channel<Ad<stm32::$adc_type>, ID=u8>
                 {
                     self.adc.configure_channel(channel, sequence, sample_time)
                 }
@@ -2420,7 +2435,7 @@ macro_rules! adc {
                 #[inline(always)]
                 pub fn convert<PIN>(&mut self, pin: &PIN, sample_time: config::SampleTime) -> u16
                 where
-                    PIN: Channel<stm32::$adc_type, ID=u8>
+                    PIN: Channel<Ad<stm32::$adc_type>, ID=u8>
                 {
                     self.adc.convert(pin, sample_time)
                 }
@@ -2463,7 +2478,7 @@ macro_rules! adc {
                 #[inline(always)]
                 pub fn convert<PIN>(&mut self, pin: &PIN, sample_time: config::SampleTime) -> u16
                 where
-                    PIN: Channel<stm32::$adc_type, ID=u8>
+                    PIN: Channel<Ad<stm32::$adc_type>, ID=u8>
                 {
                     self.adc.reset_sequence();
                     self.adc.configure_channel(pin, config::Sequence::One, sample_time);
@@ -2604,9 +2619,9 @@ macro_rules! adc {
                 const REQUEST_LINE: Option<u8> = Some($mux as u8);
             }
 
-            impl<PIN> OneShot<stm32::$adc_type, u16, PIN> for Adc<stm32::$adc_type, Disabled>
+            impl<PIN> OneShot<Ad<stm32::$adc_type>, u16, PIN> for Adc<stm32::$adc_type, Disabled>
             where
-                PIN: Channel<stm32::$adc_type, ID=u8>,
+                PIN: Channel<Ad<stm32::$adc_type>, ID=u8>,
             {
                 type Error = ();