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Several improvements to serial #10

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Several improvements to serial #10

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230 changes: 155 additions & 75 deletions src/serial.rs
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Original file line number Diff line number Diff line change
@@ -1,96 +1,176 @@
use embedded_hal::digital::v2::{OutputPin, InputPin};
use embedded_hal::timer::{CountDown, Periodic};
use core::time::Duration;
use embedded_hal::digital::v2::{InputPin, OutputPin};
use embedded_hal::serial;
use embedded_hal::timer::{CountDown, Periodic};
use nb::block;

#[derive(Debug)]
pub enum Error<E> {
Bus(E),
Bus(E),
}

pub struct Serial<TX, RX, Timer>
where
TX: OutputPin,
RX: InputPin,
Timer: CountDown + Periodic,
pub struct Serial<TX, RX, Timer>
where
TX: OutputPin,
RX: InputPin,
Timer: CountDown + Periodic,
{
tx: TX,
rx: RX,
timer: Timer,
tx: TX,
rx: RX,
timer: Timer,
rate: u64,
rx_delay_centering: u64,
rx_delay_intrabit: u64,
rx_delay_stopbit: u64,
tx_delay: u64,
timeout: u64,
}

impl <TX, RX, Timer, E> Serial<TX, RX, Timer>
where
TX: OutputPin<Error = E>,
RX: InputPin<Error = E>,
Timer: CountDown + Periodic
impl<TX, RX, Timer, E> Serial<TX, RX, Timer>
where
TX: OutputPin<Error = E>,
RX: InputPin<Error = E>,
Timer: CountDown + Periodic,
Timer::Time: From<Duration>,
{
pub fn new(
tx: TX,
rx: RX,
timer: Timer
) -> Self {
Serial {
tx,
rx,
timer
}
}
pub fn new(tx: TX, rx: RX, timer: Timer) -> Self {
Serial {
tx,
rx,
timer,
rate: 0,
rx_delay_centering: 0,
rx_delay_intrabit: 0,
rx_delay_stopbit: 0,
tx_delay: 0,
timeout: 0,
}
}

#[allow(dead_code)]
pub fn destroy(self) -> (TX, RX, Timer)
where
TX: OutputPin<Error = E>,
RX: InputPin<Error = E>,
Timer: CountDown + Periodic,
{
(self.tx, self.rx, self.timer)
}

pub fn set_rate(&mut self, rate: u64) {
self.rate = rate;
self.rx_delay_centering = 100_000_000 / rate;
self.rx_delay_intrabit = 1_000_000_000 / rate - 500;
self.rx_delay_stopbit = 10_000_000 / rate;
self.tx_delay = 1_000_000_000 / rate;
}

pub fn set_timeout(&mut self, timeout: u64) { self.timeout = timeout; }

#[inline]
pub fn wait_time(&mut self, nanoseconds: u64) {
self.set_timer(nanoseconds);
self.wait();
}

#[inline]
fn set_timer(&mut self, nanoseconds: u64) {
self.timer.start(Duration::from_nanos(nanoseconds));
}

#[inline]
fn wait(&mut self) { block!(self.timer.wait()).unwrap(); }

pub fn try_read(&mut self) -> nb::Result<u8, ()> {
let mut data_in = 0;
let mut select_bit = 1u8;
// Wait for start bit
let mut ctr = 0u64;
while self.rx.is_high().map_err(|_| ())? {
ctr += 1;
if ctr >= self.timeout {
return Err(nb::Error::Other(()));
}
}
self.wait_time(self.rx_delay_centering);
self.wait_time(self.rx_delay_intrabit);
for _ in 0..8 {
if self.rx.is_high().map_err(|_| ())? {
data_in |= select_bit;
}
else {
data_in &= !select_bit;
}
select_bit <<= 1;
self.wait();
}
// Wait for stop bit
self.wait_time(self.rx_delay_stopbit);
Ok(data_in)
}
}

impl <TX, RX, Timer, E> serial::Write<u8> for Serial <TX, RX, Timer>
where
TX: OutputPin<Error = E>,
RX: InputPin<Error = E>,
Timer: CountDown + Periodic
impl<TX, RX, Timer, E> serial::Write<u8> for Serial<TX, RX, Timer>
where
TX: OutputPin<Error = E>,
RX: InputPin<Error = E>,
Timer: CountDown + Periodic,
Timer::Time: From<Duration>,
{
type Error = crate::serial::Error<E>;
type Error = Error<E>;

fn write(&mut self, byte: u8) -> nb::Result<(), Self::Error> {
let mut data_out = byte;
self.tx.set_low().map_err(Error::Bus)?; // start bit
block!(self.timer.wait()).ok();
for _bit in 0..8 {
if data_out & 1 == 1 {
self.tx.set_high().map_err(Error::Bus)?;
} else {
self.tx.set_low().map_err(Error::Bus)?;
}
data_out >>= 1;
block!(self.timer.wait()).ok();
}
self.tx.set_high().map_err(Error::Bus)?; // stop bit
block!(self.timer.wait()).ok();
Ok(())
}
fn write(&mut self, byte: u8) -> nb::Result<(), Self::Error> {
let mut select_bit = 1u8;
// Start bit
self.tx.set_low().map_err(Error::Bus)?;
self.wait_time(self.tx_delay);
for _ in 0..8 {
if byte & select_bit != 0 {
self.tx.set_high().map_err(Error::Bus)?;
}
else {
self.tx.set_low().map_err(Error::Bus)?;
}
select_bit <<= 1;
self.wait();
}
// Stop bit
self.tx.set_high().map_err(Error::Bus)?;
self.wait();
Ok(())
}

fn flush(&mut self) -> nb::Result<(), Self::Error> {
Ok(())
}
fn flush(&mut self) -> nb::Result<(), Self::Error> { Ok(()) }
}

impl <TX, RX, Timer, E> serial::Read<u8> for Serial <TX, RX, Timer>
where
TX: OutputPin<Error = E>,
RX: InputPin<Error = E>,
Timer: CountDown + Periodic
impl<TX, RX, Timer, E> serial::Read<u8> for Serial<TX, RX, Timer>
where
TX: OutputPin<Error = E>,
RX: InputPin<Error = E>,
Timer: CountDown + Periodic,
Timer::Time: From<Duration>,
{
type Error = crate::serial::Error<E>;
type Error = Error<E>;

fn read(&mut self) -> nb::Result<u8, Self::Error> {
let mut data_in = 0;
// wait for start bit
while self.rx.is_high().map_err(Error::Bus)? {}
block!(self.timer.wait()).ok();
for _bit in 0..8 {
data_in <<= 1;
if self.rx.is_high().map_err(Error::Bus)? {
data_in |= 1
}
block!(self.timer.wait()).ok();
}
// wait for stop bit
block!(self.timer.wait()).ok();
Ok(data_in)
}
fn read(&mut self) -> nb::Result<u8, Self::Error> {
let mut data_in = 0;
let mut select_bit = 1u8;
// Wait for start bit
while self.rx.is_high().map_err(Error::Bus)? {}
self.wait_time(self.rx_delay_centering);
self.wait_time(self.rx_delay_intrabit);
for _ in 0..8 {
if self.rx.is_high().map_err(Error::Bus)? {
data_in |= select_bit;
}
else {
data_in &= !select_bit;
}
select_bit <<= 1;
self.wait();
}
// Wait for stop bit
self.wait_time(self.rx_delay_stopbit);
Ok(data_in)
}
}