refactor(faderboard): touch module

firmware/faderboard/src/main.rs

@@ -11,20 +11,22 @@ use panic_halt as _;
 use stm32f0xx_hal as hal;
 
 use hal::adc::Adc;
-use hal::pac::Peripherals;
+use hal::delay::Delay;
+use hal::pac::{CorePeripherals, Peripherals};
 use hal::prelude::*;
 use hal::pwm;
 use hal::usb::{Peripheral, UsbBus};
 
-use touch::Touch;
+use touch::{SysCfg, Touch};
 
 use usb::Usb;
 
 #[entry]
 fn main() -> ! {
     let mut p = Peripherals::take().unwrap();
+    let cp = CorePeripherals::take().unwrap();
 
-    let touch = Touch::new(p.SYSCFG, p.EXTI, &mut p.RCC);
+    let sys_cfg = SysCfg::new(p.SYSCFG, &mut p.RCC);
 
     let mut rcc = p
         .RCC
@@ -133,7 +135,10 @@ fn main() -> ! {
     let mut _pwm6 = pwm::tim1(p.TIM1, pwm6_pin, &mut rcc, 250.khz());
     let (mut _pwm8, mut _pwm7) = pwm::tim15(p.TIM15, (pwm8_pin, pwm7_pin), &mut rcc, 250.khz());
 
-    touch.setup();
+    let delay = Delay::new(cp.SYST, &mut rcc);
+
+    let touch = Touch::new(sys_cfg, p.EXTI, delay.clone());
+    touch.enable();
 
     loop {
         usb.poll();

firmware/faderboard/src/touch.rs

@@ -1,79 +1,214 @@
+use core::cell::RefCell;
+
+use cortex_m::interrupt::{CriticalSection, Mutex};
+
+use stm32f0xx_hal::delay::Delay;
 use stm32f0xx_hal::pac::{interrupt, Interrupt, EXTI, RCC, SYSCFG};
 
-pub struct Touch {
+static GLOBALS: Mutex<RefCell<Option<Globals>>> = Mutex::new(RefCell::new(None));
-    exti: EXTI,
+
+pub struct SysCfg {
     syscfg: SYSCFG,
 }
 
-impl Touch {
+impl SysCfg {
-    pub fn new(syscfg: SYSCFG, exti: EXTI, rcc: &mut RCC) -> Self {
+    pub fn new(syscfg: SYSCFG, rcc: &mut RCC) -> Self {
-        cortex_m::interrupt::free(|_| rcc.apb2enr.modify(|_, w| w.syscfgen().set_bit()));
+        cortex_m::interrupt::free(|_| {
+            rcc.apb2enr.modify(|_, w| w.syscfgen().set_bit());
+        });
 
-        Self { exti, syscfg }
+        Self { syscfg }
     }
 
-    pub fn setup(&self) {
+    fn take(self) -> SYSCFG {
-        cortex_m::interrupt::free(|_| {
+        self.syscfg
-            self.syscfg.exticr1.modify(|_, w| {
+    }
-                w.exti0().pb0();
+}
-                w.exti1().pb1();
-                w.exti2().pb2();
-                w
-            });
-            self.syscfg.exticr3.modify(|_, w| {
-                w.exti10().pb10();
-                w.exti11().pb11();
-                w
-            });
-            self.syscfg.exticr4.modify(|_, w| {
-                w.exti13().pc13();
-                w.exti14().pc14();
-                w.exti15().pc15();
-                w
-            });
 
-            self.exti.imr.modify(|_, w| {
+pub struct Touch;
-                w.mr0().unmasked();
-                w.mr1().unmasked();
-                w.mr2().unmasked();
-                w.mr10().unmasked();
-                w.mr11().unmasked();
-                w.mr13().unmasked();
-                w.mr14().unmasked();
-                w.mr15().unmasked();
-                w
-            });
 
-            self.exti.rtsr.modify(|_, w| {
+impl Touch {
-                w.tr0().enabled();
+    pub fn new(sys_cfg: SysCfg, exti: EXTI, delay: Delay) -> Self {
-                w.tr1().enabled();
+        let _ = cortex_m::interrupt::free(|cs| {
-                w.tr2().enabled();
+            GLOBALS
-                w.tr10().enabled();
+                .borrow(cs)
-                w.tr11().enabled();
+                .replace(Some(Globals::new(sys_cfg.take(), exti, delay)))
-                w.tr13().enabled();
+        });
-                w.tr14().enabled();
-                w.tr15().enabled();
-                w
-            });
 
-            unsafe {
+        Self
-                cortex_m::peripheral::NVIC::unmask(Interrupt::EXTI0_1);
+    }
-                cortex_m::peripheral::NVIC::unmask(Interrupt::EXTI2_3);
-                cortex_m::peripheral::NVIC::unmask(Interrupt::EXTI4_15);
-            }
 
-            cortex_m::peripheral::NVIC::unpend(Interrupt::EXTI0_1);
+    pub fn enable(&self) {
-            cortex_m::peripheral::NVIC::unpend(Interrupt::EXTI2_3);
+        cortex_m::interrupt::free(|cs| {
-            cortex_m::peripheral::NVIC::unpend(Interrupt::EXTI4_15);
+            GLOBALS
+                .borrow(cs)
+                .borrow()
+                .as_ref()
+                .expect("GLOBALS should not be None")
+                .setup_interrupts(cs)
         });
     }
 }
 
-#[interrupt]
+struct Globals {
-fn EXTI0_1() {}
+    syscfg: SYSCFG,
+    exti: EXTI,
+    /// Currently only used to ensure SysTick timer is set up correctly
+    #[allow(dead_code)]
+    delay: Delay,
+}
+
+impl Globals {
+    fn new(syscfg: SYSCFG, exti: EXTI, delay: Delay) -> Self {
+        Self {
+            syscfg,
+            exti,
+            delay,
+        }
+    }
+
+    fn setup_interrupts(&self, _cs: &CriticalSection) {
+        self.syscfg.exticr1.modify(|_, w| {
+            w.exti0().pb0();
+            w.exti1().pb1();
+            w.exti2().pb2();
+            w
+        });
+        self.syscfg.exticr3.modify(|_, w| {
+            w.exti10().pb10();
+            w.exti11().pb11();
+            w
+        });
+        self.syscfg.exticr4.modify(|_, w| {
+            w.exti13().pc13();
+            w.exti14().pc14();
+            w.exti15().pc15();
+            w
+        });
+
+        self.exti.imr.modify(|_, w| {
+            w.mr0().unmasked();
+            w.mr1().unmasked();
+            w.mr2().unmasked();
+            w.mr10().unmasked();
+            w.mr11().unmasked();
+            w.mr13().unmasked();
+            w.mr14().unmasked();
+            w.mr15().unmasked();
+            w
+        });
+
+        self.exti.rtsr.modify(|_, w| {
+            w.tr0().enabled();
+            w.tr1().enabled();
+            w.tr2().enabled();
+            w.tr10().enabled();
+            w.tr11().enabled();
+            w.tr13().enabled();
+            w.tr14().enabled();
+            w.tr15().enabled();
+            w
+        });
+
+        unsafe {
+            cortex_m::peripheral::NVIC::unmask(Interrupt::EXTI0_1);
+            cortex_m::peripheral::NVIC::unmask(Interrupt::EXTI2_3);
+            cortex_m::peripheral::NVIC::unmask(Interrupt::EXTI4_15);
+        }
+
+        cortex_m::peripheral::NVIC::unpend(Interrupt::EXTI0_1);
+        cortex_m::peripheral::NVIC::unpend(Interrupt::EXTI2_3);
+        cortex_m::peripheral::NVIC::unpend(Interrupt::EXTI4_15);
+    }
+}
 
 #[interrupt]
-fn EXTI2_3() {}
+fn EXTI0_1() {
+    cortex_m::interrupt::free(|cs| {
+        if let Some(globals) = GLOBALS.borrow(cs).borrow().as_ref() {
+            let pr = &globals.exti.pr;
+
+            if pr.read().pif0().is_pending() {
+                pr.write(|w| w.pif0().set_bit());
+            }
+
+            if pr.read().pif1().is_pending() {
+                pr.write(|w| w.pif1().set_bit());
+            }
+        }
+    });
+}
 
 #[interrupt]
-fn EXTI4_15() {}
+fn EXTI2_3() {
+    cortex_m::interrupt::free(|cs| {
+        if let Some(globals) = GLOBALS.borrow(cs).borrow().as_ref() {
+            let pr = &globals.exti.pr;
+
+            if pr.read().pif2().is_pending() {
+                pr.write(|w| w.pif2().set_bit());
+            }
+
+            if pr.read().pif3().is_pending() {
+                pr.write(|w| w.pif3().set_bit());
+            }
+        }
+    });
+}
+
+#[interrupt]
+fn EXTI4_15() {
+    cortex_m::interrupt::free(|cs| {
+        if let Some(globals) = GLOBALS.borrow(cs).borrow().as_ref() {
+            let pr = &globals.exti.pr;
+
+            if pr.read().pif4().is_pending() {
+                pr.write(|w| w.pif4().set_bit());
+            }
+
+            if pr.read().pif5().is_pending() {
+                pr.write(|w| w.pif5().set_bit());
+            }
+
+            if pr.read().pif6().is_pending() {
+                pr.write(|w| w.pif6().set_bit());
+            }
+
+            if pr.read().pif7().is_pending() {
+                pr.write(|w| w.pif7().set_bit());
+            }
+
+            if pr.read().pif8().is_pending() {
+                pr.write(|w| w.pif8().set_bit());
+            }
+
+            if pr.read().pif9().is_pending() {
+                pr.write(|w| w.pif9().set_bit());
+            }
+
+            if pr.read().pif10().is_pending() {
+                pr.write(|w| w.pif10().set_bit());
+            }
+
+            if pr.read().pif11().is_pending() {
+                pr.write(|w| w.pif11().set_bit());
+            }
+
+            if pr.read().pif12().is_pending() {
+                pr.write(|w| w.pif12().set_bit());
+            }
+
+            if pr.read().pif13().is_pending() {
+                pr.write(|w| w.pif13().set_bit());
+            }
+
+            if pr.read().pif14().is_pending() {
+                pr.write(|w| w.pif14().set_bit());
+            }
+
+            if pr.read().pif15().is_pending() {
+                pr.write(|w| w.pif15().set_bit());
+            }
+        }
+    });
+}