feat!: Add support for RTIC v2.0 monotonic drivers using RTC peripher…

…al (#804) Implement `rtic_time::Monotonic` (RTIC v2.0) trait for RTC peripheral on all platforms --------- Co-authored-by: Dan Whitman <[email protected]> Co-authored-by: Dan Whitman <[email protected]>
atsamd-rs · Jan 13, 2025 · b6fc085 · b6fc085
1 parent d0f2f5c
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Showing 9 changed files with 1,120 additions and 57 deletions.
diff --git a/boards/metro_m0/examples/blinky_rtic.rs b/boards/metro_m0/examples/blinky_rtic.rs
@@ -19,7 +19,7 @@ mod app {
     use hal::clock::{ClockGenId, ClockSource, GenericClockController};
     use hal::pac::Peripherals;
     use hal::prelude::*;
-    use hal::rtc::{Count32Mode, Duration, Rtc};
+    use hal::rtc::{rtic::v1::Duration, Count32Mode, Rtc};
 
     #[local]
     struct Local {}

diff --git a/hal/Cargo.toml b/hal/Cargo.toml
@@ -23,7 +23,7 @@ rust-version = "1.77.2"
 version = "0.20.2"
 
 [package.metadata.docs.rs]
-features = ["samd21g", "samd21g-rt", "usb", "dma", "async"]
+features = ["samd21g", "samd21g-rt", "usb", "dma", "async", "rtic"]
 
 #===============================================================================
 # Required depdendencies
@@ -48,7 +48,7 @@ nb = "1.1"
 num-traits = {version = "0.2.19", default-features = false}
 opaque-debug = "0.3.0"
 paste = "1.0.15"
-portable-atomic = {version = "1.9.0", optional = true, default-features = false, features = ["critical-section"]}
+portable-atomic = {version = "1.10.0", optional = true, features = ["critical-section"]}
 rand_core = "0.6"
 seq-macro = "0.3"
 typenum = "1.12.0"
@@ -69,6 +69,7 @@ jlink_rtt = {version = "0.2", optional = true}
 mcan-core = {version = "0.2", optional = true}
 rtic-monotonic = {version = "1.0", optional = true}
 usb-device = {version = "0.3.2", optional = true}
+rtic-time = {version = "2.0", optional = true}
 
 #===============================================================================
 # PACs
@@ -80,27 +81,27 @@ usb-device = {version = "0.3.2", optional = true}
 # users should specify a corresponding variant (see below). The variant features
 # will select the correct PAC, as well as other configuration features.
 
-atsamd11c = { version = "0.14.1", path = "../pac/atsamd11c", optional = true}
-atsamd11d = { version = "0.14.1", path = "../pac/atsamd11d", optional = true}
+atsamd11c = {version = "0.14.1", path = "../pac/atsamd11c", optional = true}
+atsamd11d = {version = "0.14.1", path = "../pac/atsamd11d", optional = true}
 
-atsamd21e = { version = "0.14.1", path = "../pac/atsamd21e", optional = true}
-atsamd21g = { version = "0.14.1", path = "../pac/atsamd21g", optional = true}
-atsamd21j = { version = "0.14.1", path = "../pac/atsamd21j", optional = true}
+atsamd21e = {version = "0.14.1", path = "../pac/atsamd21e", optional = true}
+atsamd21g = {version = "0.14.1", path = "../pac/atsamd21g", optional = true}
+atsamd21j = {version = "0.14.1", path = "../pac/atsamd21j", optional = true}
 
-atsamd51g = { version = "0.14.1", path = "../pac/atsamd51g", optional = true}
-atsamd51j = { version = "0.14.1", path = "../pac/atsamd51j", optional = true}
-atsamd51n = { version = "0.14.1", path = "../pac/atsamd51n", optional = true}
-atsamd51p = { version = "0.14.1", path = "../pac/atsamd51p", optional = true}
+atsamd51g = {version = "0.14.1", path = "../pac/atsamd51g", optional = true}
+atsamd51j = {version = "0.14.1", path = "../pac/atsamd51j", optional = true}
+atsamd51n = {version = "0.14.1", path = "../pac/atsamd51n", optional = true}
+atsamd51p = {version = "0.14.1", path = "../pac/atsamd51p", optional = true}
 
-atsame51g = { version = "0.14.1", path = "../pac/atsame51g", optional = true}
-atsame51j = { version = "0.14.1", path = "../pac/atsame51j", optional = true}
-atsame51n = { version = "0.14.1", path = "../pac/atsame51n", optional = true}
+atsame51g = {version = "0.14.1", path = "../pac/atsame51g", optional = true}
+atsame51j = {version = "0.14.1", path = "../pac/atsame51j", optional = true}
+atsame51n = {version = "0.14.1", path = "../pac/atsame51n", optional = true}
 
-atsame53j = { version = "0.14.1", path = "../pac/atsame53j", optional = true}
-atsame53n = { version = "0.14.1", path = "../pac/atsame53n", optional = true}
+atsame53j = {version = "0.14.1", path = "../pac/atsame53j", optional = true}
+atsame53n = {version = "0.14.1", path = "../pac/atsame53n", optional = true}
 
-atsame54n = { version = "0.14.1", path = "../pac/atsame54n", optional = true}
-atsame54p = { version = "0.14.1", path = "../pac/atsame54p", optional = true}
+atsame54n = {version = "0.14.1", path = "../pac/atsame54n", optional = true}
+atsame54p = {version = "0.14.1", path = "../pac/atsame54p", optional = true}
 
 #===============================================================================
 # Features
@@ -182,11 +183,11 @@ same54p-rt = ["same54p", "atsame54p/rt"]
 # These features are user-selectable and enable additional features within the
 # HAL, like USB or DMA support.
 can = ["mcan-core"]
-dma = []
 defmt = ["dep:defmt"]
+dma = []
 enable_unsafe_aes_newblock_cipher = []
 max-channels = ["dma"]
-rtic = ["rtic-monotonic"]
+rtic = ["rtic-monotonic", "rtic-time", "portable-atomic"]
 sdmmc = ["embedded-sdmmc"]
 usb = ["usb-device"]
 use_rtt = ["jlink_rtt"]

diff --git a/hal/src/interrupt.rs b/hal/src/interrupt.rs
@@ -42,6 +42,15 @@ pub enum Priority {
 }
 
 impl Priority {
+    /// Creates the `Priority` from a numeric priority if possible.
+    pub const fn from_numeric(prio: u8) -> Option<Self> {
+        if prio >= 1 && prio <= 8 {
+            Some(unsafe { core::mem::transmute::<u8, Self>(prio) })
+        } else {
+            None
+        }
+    }
+
     /// Convert a logical priority (where higher priority number = higher
     /// priority level) to a hardware priority level (where lower priority
     /// number = higher priority level).

diff --git a/hal/src/lib.rs b/hal/src/lib.rs
@@ -14,6 +14,9 @@ pub use embedded_hal_async as ehal_async;
 #[cfg(feature = "async")]
 pub use embedded_io_async;
 
+#[cfg(feature = "rtic")]
+pub use rtic_time;
+
 pub mod typelevel;
 mod util;
 

diff --git a/hal/src/prelude.rs b/hal/src/prelude.rs
@@ -11,3 +11,9 @@ pub use crate::ehal_02::digital::v2::OutputPin as _atsamd_hal_embedded_hal_digit
 pub use crate::ehal_02::digital::v2::ToggleableOutputPin as _atsamd_hal_embedded_hal_digital_v2_ToggleableOutputPin;
 
 pub use crate::ehal_02::prelude::*;
+
+#[cfg(feature = "rtic")]
+pub use rtic_time::Monotonic as _;
+
+#[cfg(feature = "rtic")]
+pub use fugit::{ExtU64, ExtU64Ceil};
diff --git a/hal/src/rtc.rs → hal/src/rtc/mod.rs b/hal/src/rtc.rs → hal/src/rtc/mod.rs
@@ -15,11 +15,10 @@ use core::marker::PhantomData;
 use embedded_sdmmc::{TimeSource, Timestamp};
 
 #[cfg(feature = "rtic")]
-pub type Instant = fugit::Instant<u32, 1, 32_768>;
-#[cfg(feature = "rtic")]
-pub type Duration = fugit::Duration<u32, 1, 32_768>;
+mod modes;
+
 #[cfg(feature = "rtic")]
-use rtic_monotonic::Monotonic;
+pub mod rtic;
 
 // SAMx5x imports
 #[hal_cfg("rtc-d5x")]
@@ -101,7 +100,6 @@ pub struct Rtc<Mode: RtcMode> {
     _mode: PhantomData<Mode>,
 }
 
-#[hal_macro_helper]
 impl<Mode: RtcMode> Rtc<Mode> {
     // --- Helper Functions for M0 vs M4 targets
     #[inline]
@@ -115,6 +113,7 @@ impl<Mode: RtcMode> Rtc<Mode> {
     }
 
     #[inline]
+    #[hal_macro_helper]
     fn mode0_ctrla(&self) -> &Mode0CtrlA {
         #[hal_cfg("rtc-d5x")]
         return self.mode0().ctrla();
@@ -123,6 +122,7 @@ impl<Mode: RtcMode> Rtc<Mode> {
     }
 
     #[inline]
+    #[hal_macro_helper]
     fn mode2_ctrla(&self) -> &Mode2CtrlA {
         #[hal_cfg("rtc-d5x")]
         return self.mode2().ctrla();
@@ -131,6 +131,7 @@ impl<Mode: RtcMode> Rtc<Mode> {
     }
 
     #[inline]
+    #[hal_macro_helper]
     fn sync(&self) {
         #[hal_cfg("rtc-d5x")]
         while self.mode2().syncbusy().read().bits() != 0 {}
@@ -167,6 +168,7 @@ impl<Mode: RtcMode> Rtc<Mode> {
     }
 
     /// Reonfigures the peripheral for 32bit counter mode.
+    #[hal_macro_helper]
     pub fn into_count32_mode(mut self) -> Rtc<Count32Mode> {
         self.enable(false);
         self.sync();
@@ -193,6 +195,7 @@ impl<Mode: RtcMode> Rtc<Mode> {
 
     /// Reconfigures the peripheral for clock/calendar mode. Requires the source
     /// clock to be running at 1024 Hz.
+    #[hal_macro_helper]
     pub fn into_clock_mode(mut self) -> Rtc<ClockMode> {
         // The max divisor is 1024, so to get 1 Hz, we need a 1024 Hz source.
         assert_eq!(
@@ -238,6 +241,10 @@ impl Rtc<Count32Mode> {
     pub fn count32_mode(rtc: pac::Rtc, rtc_clock_freq: Hertz, pm: &mut Pm) -> Self {
         pm.apbamask().modify(|_, w| w.rtc_().set_bit());
 
+        // TODO: This may not work properly because here the count sync bit is not set
+        // as it is in Self::into_count32_mode Maybe we can just call that to
+        // avoid code duplication
+
         let mut new_rtc = Self {
             rtc,
             rtc_clock_freq,
@@ -481,34 +488,3 @@ impl TimerParams {
         TimerParams { divider, cycles }
     }
 }
-
-#[cfg(feature = "rtic")]
-impl Monotonic for Rtc<Count32Mode> {
-    type Instant = Instant;
-    type Duration = Duration;
-    unsafe fn reset(&mut self) {
-        // Since reset is only called once, we use it to enable the interrupt generation
-        // bit.
-        self.mode0().intenset().write(|w| w.cmp0().set_bit());
-    }
-
-    fn now(&mut self) -> Self::Instant {
-        Self::Instant::from_ticks(self.count32())
-    }
-
-    fn zero() -> Self::Instant {
-        Self::Instant::from_ticks(0)
-    }
-
-    fn set_compare(&mut self, instant: Self::Instant) {
-        unsafe {
-            self.mode0()
-                .comp(0)
-                .write(|w| w.comp().bits(instant.ticks()))
-        }
-    }
-
-    fn clear_compare_flag(&mut self) {
-        self.mode0().intflag().write(|w| w.cmp0().set_bit());
-    }
-}