Convert to embassy_rp

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "rust-analyzer.check.allTargets": false
+}

Cargo.toml

@@ -14,23 +14,13 @@ categories = ["embedded", "hardware-support", "no-std"]
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-embedded-hal = { version = "0.2.5" }
-cortex-m = { version = "0.7.6"}
+embassy-rp = { version = "0.1.0", features = ["unstable-pac", "time-driver", "critical-section-impl"] }
+embassy-time = { version = "0.3.0" }
 cortex-m-rt = "0.7.3"
-rp2040-boot2 = "0.2.1"
-rp2040-hal = { version = "0.9.0", features = ["rp2040-e5"] }
+
 pio-proc = "0.2.2"
 pio = "0.2.1"
 
-[dev-dependencies]
-rp-pico = { version = "0.8.0", features = ["rp2040-e5"] }
-embedded-hal = { version = "0.2.5", features = ["unproven"] }
-embedded-alloc = "0.5.0"
-cortex-m = { version = "0.7.6"}
-cortex-m-rt = "0.7.3"
-usb-device = "0.2.9"
-usbd-serial = "0.1.1"
+fixed = "1.23.1"
+fixed-macro = "1.2"
 
-[[example]]
-name = "rp-pico-dht22"
-path = "example/rp_pico_dht22.rs"

src/dht.rs

@@ -1,55 +1,47 @@
-use cortex_m::delay::Delay;
+use embassy_rp::pio::{Common, Config, Instance, PioPin, StateMachine};
+use embassy_time::Timer;
+use fixed::traits::ToFixed;
 use pio_proc::pio_file;
-use rp2040_hal::gpio::AnyPin;
-use rp2040_hal::pio::{PIOExt, Running, StateMachine, StateMachineIndex, Tx};
-use rp2040_hal::pio::{Rx, UninitStateMachine};
 
 use crate::DhtError;
 
-pub struct DhtPio<P: PIOExt, STI: StateMachineIndex> {
-    // sm: PicoStateMachine<P, STI>,
-    sm: StateMachine<(P, STI), Running>,
-    rx_fifo: Rx<(P, STI)>,
-    tx_fifo: Tx<(P, STI)>,
+pub struct DhtPio<'d, PIO: Instance, const SM: usize> {
+    sm: StateMachine<'d, PIO, SM>,
 }
 
-impl<P: PIOExt, STI: StateMachineIndex> DhtPio<P, STI> {
-    pub fn new<I: AnyPin<Function = P::PinFunction>>(
-        mut pio: rp2040_hal::pio::PIO<P>,
-        sm: UninitStateMachine<(P, STI)>,
-        dht_pin: I,
+impl<'d, PIO: Instance, const SM: usize> DhtPio<'d, PIO, SM> {
+    pub fn new(
+        pio: &mut Common<'d, PIO>,
+        mut sm: StateMachine<'d, PIO, SM>,
+        dht_pin: impl PioPin,
     ) -> Self {
         let program = pio_file!("./src/dht.pio");
 
-        let pin = dht_pin.into();
+        let pin = pio.make_pio_pin(dht_pin);
 
-        let installed = pio.install(&program.program).unwrap();
+        let mut config = Config::default();
+        config.use_program(&pio.load_program(&program.program), &[]);
+        config.set_out_pins(&[&pin]);
+        config.set_set_pins(&[&pin]);
+        config.set_in_pins(&[&pin]);
+        config.shift_out.threshold = 32;
+        config.clock_divider = 125.to_fixed();
 
-        let (int, frac) = (125, 0);
-        let (mut sm, rx, tx) = rp2040_hal::pio::PIOBuilder::from_program(installed)
-            .out_pins(pin.id().num, 1)
-            .set_pins(pin.id().num, 1)
-            .in_pin_base(pin.id().num)
-            .clock_divisor_fixed_point(int, frac)
-            .push_threshold(32)
-            .build(sm);
-        sm.set_pindirs([(pin.id().num, rp2040_hal::pio::PinDir::Output)]);
+        sm.set_pin_dirs(embassy_rp::pio::Direction::Out, &[&pin]);
+        sm.set_config(&config);
+        sm.set_enable(true);
 
-        Self {
-            sm: sm.start(),
-            rx_fifo: rx,
-            tx_fifo: tx,
-        }
+        Self { sm }
     }
 
-    pub fn read_data(&mut self, delay: &mut Delay) -> Result<(u16, u16), DhtError> {
+    pub async fn read_data(&mut self) -> Result<(u16, u16), DhtError> {
         let mut timeout = 2000;
         let mut raw: [Option<u32>; 2] = [None; 2];
 
-        self.tx_fifo.write(1);
+        self.sm.tx().wait_push(1).await;
 
         while timeout > 0 && raw[1].is_none() {
-            match self.rx_fifo.read() {
+            match self.sm.rx().try_pull() {
                 Some(d) => {
                     if raw[0].is_none() {
                         raw[0] = Some(d);
@@ -60,7 +52,7 @@ impl<P: PIOExt, STI: StateMachineIndex> DhtPio<P, STI> {
                 None => (),
             }
 
-            delay.delay_ms(1);
+            Timer::after_millis(1).await;
             timeout -= 1;
         }
 
@@ -95,3 +87,9 @@ impl<P: PIOExt, STI: StateMachineIndex> DhtPio<P, STI> {
         crc % 256
     }
 }
+
+impl<'d, PIO: Instance, const SM: usize> Drop for DhtPio<'d, PIO, SM> {
+    fn drop(&mut self) {
+        self.sm.set_enable(false);
+    }
+}

src/lib.rs

@@ -1,9 +1,6 @@
 #![no_std]
 
-use cortex_m::delay::Delay;
-use rp2040_hal::gpio::AnyPin;
-use rp2040_hal::pio::UninitStateMachine;
-use rp2040_hal::pio::{PIOExt, StateMachineIndex};
+use embassy_rp::pio::{Common, Instance, PioPin, StateMachine};
 
 mod dht;
 use dht::DhtPio;
@@ -24,23 +21,23 @@ pub struct DhtResult {
     pub humidity: f32,
 }
 
-pub struct Dht22<P: PIOExt, STI: StateMachineIndex> {
-    dht: DhtPio<P, STI>,
+pub struct Dht22<'d, PIO: Instance, const SM: usize> {
+    dht: DhtPio<'d, PIO, SM>,
 }
 
-impl<P: PIOExt, STI: StateMachineIndex> Dht22<P, STI> {
-    pub fn new<I: AnyPin<Function = P::PinFunction>>(
-        pio: rp2040_hal::pio::PIO<P>,
-        sm: UninitStateMachine<(P, STI)>,
-        dht_pin: I,
+impl<'d, PIO: Instance, const SM: usize> Dht22<'d, PIO, SM> {
+    pub fn new(
+        pio: &mut Common<'d, PIO>,
+        sm: StateMachine<'d, PIO, SM>,
+        dht_pin: impl PioPin,
     ) -> Self {
         Self {
             dht: DhtPio::new(pio, sm, dht_pin),
         }
     }
 
-    pub fn read(&mut self, delay: &mut Delay) -> Result<DhtResult, DhtError> {
-        let (raw_temp, raw_hum) = self.dht.read_data(delay)?;
+    pub async fn read(&mut self) -> Result<DhtResult, DhtError> {
+        let (raw_temp, raw_hum) = self.dht.read_data().await?;
         let mut final_t: f32 = (raw_temp & 0x7FFF) as f32;
 
         if (raw_temp & 0x8000) > 0 {
@@ -54,23 +51,23 @@ impl<P: PIOExt, STI: StateMachineIndex> Dht22<P, STI> {
     }
 }
 
-pub struct Dht22Type2<P: PIOExt, STI: StateMachineIndex> {
-    dht: DhtPio<P, STI>,
+pub struct Dht22Type2<'d, PIO: Instance, const SM: usize> {
+    dht: DhtPio<'d, PIO, SM>,
 }
 
-impl<P: PIOExt, STI: StateMachineIndex> Dht22Type2<P, STI> {
-    pub fn new<I: AnyPin<Function = P::PinFunction>>(
-        pio: rp2040_hal::pio::PIO<P>,
-        sm: UninitStateMachine<(P, STI)>,
-        dht_pin: I,
+impl<'d, PIO: Instance, const SM: usize> Dht22Type2<'d, PIO, SM> {
+    pub fn new(
+        pio: &mut Common<'d, PIO>,
+        sm: StateMachine<'d, PIO, SM>,
+        dht_pin: impl PioPin,
     ) -> Self {
         Self {
             dht: DhtPio::new(pio, sm, dht_pin),
         }
     }
 
-    pub fn read(&mut self, delay: &mut Delay) -> Result<DhtResult, DhtError> {
-        let (raw_temp, raw_hum) = self.dht.read_data(delay)?;
+    pub async fn read(&mut self) -> Result<DhtResult, DhtError> {
+        let (raw_temp, raw_hum) = self.dht.read_data().await?;
 
         let tmp: i16 = raw_temp as i16;
 
@@ -81,23 +78,23 @@ impl<P: PIOExt, STI: StateMachineIndex> Dht22Type2<P, STI> {
     }
 }
 
-pub struct Dht11<P: PIOExt, STI: StateMachineIndex> {
-    dht: DhtPio<P, STI>,
+pub struct Dht11<'d, PIO: Instance, const SM: usize> {
+    dht: DhtPio<'d, PIO, SM>,
 }
 
-impl<P: PIOExt, STI: StateMachineIndex> Dht11<P, STI> {
-    pub fn new<I: AnyPin<Function = P::PinFunction>>(
-        pio: rp2040_hal::pio::PIO<P>,
-        sm: UninitStateMachine<(P, STI)>,
-        dht_pin: I,
+impl<'d, PIO: Instance, const SM: usize> Dht11<'d, PIO, SM> {
+    pub fn new(
+        pio: &mut Common<'d, PIO>,
+        sm: StateMachine<'d, PIO, SM>,
+        dht_pin: impl PioPin,
     ) -> Self {
         Self {
             dht: DhtPio::new(pio, sm, dht_pin),
         }
     }
 
-    pub fn read(&mut self, delay: &mut Delay) -> Result<DhtResult, DhtError> {
-        let (t, h) = self.dht.read_data(delay)?;
+    pub async fn read(&mut self) -> Result<DhtResult, DhtError> {
+        let (t, h) = self.dht.read_data().await?;
         let mut final_t: f32 = ((t & 0x7FFF) >> 8) as f32;
 
         if (t & 0x8000) > 0 {