Prepare LPSPI driver for embedded-hal 1.0 rework

board/src/imxrt1010evk.rs

@@ -61,14 +61,17 @@ pub type SpiPins = hal::lpspi::Pins<
     iomuxc::gpio_ad::GPIO_AD_04, // SDO, J57_8
     iomuxc::gpio_ad::GPIO_AD_03, // SDI, J57_10
     iomuxc::gpio_ad::GPIO_AD_06, // SCK, J57_12
-    iomuxc::gpio_ad::GPIO_AD_05, // PCS0, J57_6
 >;
 
 #[cfg(feature = "spi")]
 pub type Spi = hal::lpspi::Lpspi<SpiPins, 1>;
+#[cfg(feature = "spi")]
+pub type SpiCsPin = hal::gpio::Output<iomuxc::gpio_ad::GPIO_AD_05>; // PCS0, J57_6
 
 #[cfg(not(feature = "spi"))]
 pub type Spi = ();
+#[cfg(not(feature = "spi"))]
+pub type SpiCsPin = ();
 
 pub type I2cPins = hal::lpi2c::Pins<
     iomuxc::gpio::GPIO_02, // SCL, J57_20
@@ -145,6 +148,7 @@ pub struct Specifics {
     pub ports: GpioPorts,
     pub console: Console,
     pub spi: Spi,
+    pub spi_cs: SpiCsPin,
     pub i2c: I2c,
     pub pwm: Pwm,
     pub tp34: Tp34,
@@ -164,7 +168,7 @@ impl Specifics {
         let gpio2 = unsafe { ral::gpio::GPIO2::instance() };
         let mut gpio2 = hal::gpio::Port::new(gpio2);
 
-        let led = gpio1.output(iomuxc.gpio.p11);
+        let led = gpio1.output(iomuxc.gpio.p11, false);
         let button = gpio2.input(iomuxc.gpio_sd.p05);
 
         let lpuart1 = unsafe { ral::lpuart::LPUART1::instance() };
@@ -181,24 +185,24 @@ impl Specifics {
         });
 
         #[cfg(feature = "spi")]
-        let spi = {
+        let (spi, spi_cs) = {
             let lpspi1 = unsafe { ral::lpspi::LPSPI1::instance() };
             let pins = SpiPins {
                 sdo: iomuxc.gpio_ad.p04,
                 sdi: iomuxc.gpio_ad.p03,
                 sck: iomuxc.gpio_ad.p06,
-                pcs0: iomuxc.gpio_ad.p05,
             };
             let mut spi = Spi::new(lpspi1, pins);
             spi.disabled(|spi| {
                 spi.set_clock_hz(super::LPSPI_CLK_FREQUENCY, super::SPI_BAUD_RATE_FREQUENCY);
             });
-            spi
+            let spi_cs = gpio1.output(iomuxc.gpio_ad.p05, true);
+            (spi, spi_cs)
         };
 
         #[cfg(not(feature = "spi"))]
         #[allow(clippy::let_unit_value)]
-        let spi = ();
+        let (spi, spi_cs) = ((), ());
 
         let lpi2c1 = unsafe { ral::lpi2c::LPI2C1::instance() };
         let i2c = I2c::new(
@@ -247,6 +251,7 @@ impl Specifics {
             ports: GpioPorts { gpio2 },
             console,
             spi,
+            spi_cs,
             i2c,
             pwm,
             tp34: iomuxc.gpio_sd.p02,

board/src/imxrt1060evk.rs

@@ -60,16 +60,19 @@
     iomuxc::gpio_sd_b0::GPIO_SD_B0_02, // SDO, J24_4
     iomuxc::gpio_sd_b0::GPIO_SD_B0_03, // SDI, J24_5
     iomuxc::gpio_sd_b0::GPIO_SD_B0_00, // SCK, J24_6
-    iomuxc::gpio_sd_b0::GPIO_SD_B0_01, // PCS0, J24_3
 >;
 
 #[cfg(not(feature = "spi"))]
 /// Activate the `"spi"` feature to configure the SPI peripheral.
 pub type Spi = ();
+#[cfg(not(feature = "spi"))]
+pub type SpiCsPin = ();
 
 #[cfg(feature = "spi")]
 /// SPI peripheral.
 pub type Spi = hal::lpspi::Lpspi<SpiPins, 1>;
+#[cfg(feature = "spi")]
+pub type SpiCsPin = hal::gpio::Output<iomuxc::gpio_sd_b0::GPIO_SD_B0_01>; // PCS0, J24_3
 
 type I2cScl = iomuxc::gpio_ad_b1::GPIO_AD_B1_00; // J24_10
 type I2cSda = iomuxc::gpio_ad_b1::GPIO_AD_B1_01; // J24_9
@@ -130,6 +133,7 @@
     pub ports: GpioPorts,
     pub console: Console,
     pub spi: Spi,
+    pub spi_cs: SpiCsPin,
     pub i2c: I2c,
     pub pwm: Pwm,
     pub trng: hal::trng::Trng,
@@ -152,12 +156,15 @@
 
         let gpio1 = unsafe { ral::gpio::GPIO1::instance() };
         let mut gpio1 = hal::gpio::Port::new(gpio1);
-        let led = gpio1.output(iomuxc.gpio_ad_b0.p09);
+        let led = gpio1.output(iomuxc.gpio_ad_b0.p09, false);
 
         let gpio5 = unsafe { ral::gpio::GPIO5::instance() };
         let mut gpio5 = hal::gpio::Port::new(gpio5);
         let button = hal::gpio::Input::without_pin(&mut gpio5, 0);
 
+        let gpio3 = unsafe { ral::gpio::GPIO3::instance() };
+        let mut gpio3 = hal::gpio::Port::new(gpio3);
+
         let lpuart1 = unsafe { ral::lpuart::LPUART1::instance() };
         let mut console = hal::lpuart::Lpuart::new(
             lpuart1,
@@ -172,23 +179,23 @@
         });
 
         #[cfg(feature = "spi")]
-        let spi = {
+        let (spi, spi_cs) = {
             let lpspi1 = unsafe { ral::lpspi::LPSPI1::instance() };
             let pins = SpiPins {
                 sdo: iomuxc.gpio_sd_b0.p02,
                 sdi: iomuxc.gpio_sd_b0.p03,
                 sck: iomuxc.gpio_sd_b0.p00,
-                pcs0: iomuxc.gpio_sd_b0.p01,
             };
             let mut spi = Spi::new(lpspi1, pins);
             spi.disabled(|spi| {
                 spi.set_clock_hz(super::LPSPI_CLK_FREQUENCY, super::SPI_BAUD_RATE_FREQUENCY);
             });
-            spi
+            let spi_cs = gpio3.output(iomuxc.gpio_sd_b0.p01, true);
+            (spi, spi_cs)
         };
         #[cfg(not(feature = "spi"))]
         #[allow(clippy::let_unit_value)]
-        let spi = ();
+        let (spi, spi_cs) = ((), ());
 
         let lpi2c1 = unsafe { ral::lpi2c::LPI2C1::instance() };
         let i2c = I2c::new(
@@ -228,6 +235,7 @@
             ports: GpioPorts { gpio5 },
             console,
             spi,
+            spi_cs,
             i2c,
             pwm,
             trng,

board/src/imxrt1170evk-cm7.rs

@@ -92,14 +92,18 @@ pub type SpiPins = hal::lpspi::Pins<
     iomuxc::gpio_ad::GPIO_AD_30, // SDO, J10_8
     iomuxc::gpio_ad::GPIO_AD_31, // SDI, J10_10
     iomuxc::gpio_ad::GPIO_AD_28, // SCK, J10_12
-    iomuxc::gpio_ad::GPIO_AD_29, // PCS0, J10_6
 >;
 const SPI_INSTANCE: u8 = 1;
 
 #[cfg(feature = "spi")]
 pub type Spi = hal::lpspi::Lpspi<SpiPins, { SPI_INSTANCE }>;
+#[cfg(feature = "spi")]
+pub type SpiCsPin = hal::gpio::Output<iomuxc::gpio_ad::GPIO_AD_29>; // PCS0, J10_6
+
 #[cfg(not(feature = "spi"))]
 pub type Spi = ();
+#[cfg(not(feature = "spi"))]
+pub type SpiCsPin = ();
 
 pub type I2cPins = hal::lpi2c::Pins<
     iomuxc::gpio_lpsr::GPIO_LPSR_05, // SCL, J10_20
@@ -160,6 +164,7 @@ pub struct Specifics {
     pub tp1002: Tp1002,
     pub tp1003: Tp1003,
     pub spi: Spi,
+    pub spi_cs: SpiCsPin,
     pub pwm: Pwm,
     pub i2c: I2c,
 }
@@ -184,7 +189,7 @@ impl Specifics {
 
         let gpio9 = unsafe { ral::gpio::GPIO9::instance() };
         let mut gpio9 = hal::gpio::Port::new(gpio9);
-        let led = gpio9.output(iomuxc.gpio_ad.p04);
+        let led = gpio9.output(iomuxc.gpio_ad.p04, false);
 
         let console = unsafe { ral::lpuart::Instance::<{ CONSOLE_INSTANCE }>::instance() };
         let mut console = hal::lpuart::Lpuart::new(
@@ -201,23 +206,23 @@ impl Specifics {
         hal::usbphy::restart_pll(&mut common.usbphy1);
 
         #[cfg(feature = "spi")]
-        let spi = {
+        let (spi, spi_cs) = {
             let lpspi1 = unsafe { ral::lpspi::LPSPI1::instance() };
             let pins = SpiPins {
                 sdo: iomuxc.gpio_ad.p30,
                 sdi: iomuxc.gpio_ad.p31,
                 sck: iomuxc.gpio_ad.p28,
-                pcs0: iomuxc.gpio_ad.p29,
             };
             let mut spi = Spi::new(lpspi1, pins);
             spi.disabled(|spi| {
                 spi.set_clock_hz(LPSPI_CLK_FREQUENCY, super::SPI_BAUD_RATE_FREQUENCY);
             });
-            spi
+            let spi_cs = gpio9.output(iomuxc.gpio_ad.p29, true);
+            (spi, spi_cs)
         };
         #[cfg(not(feature = "spi"))]
         #[allow(clippy::let_unit_value)]
-        let spi = ();
+        let (spi, spi_cs) = ((), ());
 
         #[cfg(not(feature = "spi"))]
         let pwm = {
@@ -259,6 +264,7 @@ impl Specifics {
             tp1002: iomuxc.gpio_emc_b1.p40,
             tp1003: iomuxc.gpio_emc_b1.p41,
             spi,
+            spi_cs,
             pwm,
             i2c,
         }

board/src/teensy4.rs

@@ -49,16 +49,19 @@ pub type SpiPins = hal::lpspi::Pins<
     iomuxc::gpio_b0::GPIO_B0_02, // SDO, P11
     iomuxc::gpio_b0::GPIO_B0_01, // SDI, P12
     iomuxc::gpio_b0::GPIO_B0_03, // SCK, P13
-    iomuxc::gpio_b0::GPIO_B0_00, // PCS0, P10
 >;
 
 #[cfg(not(feature = "spi"))]
 /// Activate the `"spi"` feature to configure the SPI peripheral.
 pub type Spi = ();
+#[cfg(not(feature = "spi"))]
+pub type SpiCsPin = ();
 
 #[cfg(feature = "spi")]
 /// SPI peripheral.
 pub type Spi = hal::lpspi::Lpspi<SpiPins, 4>;
+#[cfg(feature = "spi")]
+pub type SpiCsPin = hal::gpio::Output<iomuxc::gpio_b0::GPIO_B0_00>; // PCS0, P10
 
 pub type I2cPins = hal::lpi2c::Pins<
     iomuxc::gpio_ad_b1::GPIO_AD_B1_07, // SCL, P16
@@ -111,6 +114,7 @@ pub struct Specifics {
     pub ports: GpioPorts,
     pub console: Console,
     pub spi: Spi,
+    pub spi_cs: SpiCsPin,
     pub i2c: I2c,
     pub pwm: Pwm,
     pub trng: hal::trng::Trng,
@@ -127,7 +131,7 @@ impl Specifics {
         let mut gpio2 = hal::gpio::Port::new(gpio2);
 
         #[cfg(not(feature = "spi"))]
-        let led = gpio2.output(iomuxc.gpio_b0.p03);
+        let led = gpio2.output(iomuxc.gpio_b0.p03, false);
         #[cfg(feature = "spi")]
         let led = ();
 
@@ -147,23 +151,23 @@ impl Specifics {
         });
 
         #[cfg(feature = "spi")]
-        let spi = {
+        let (spi, spi_cs) = {
             let lpspi4 = unsafe { ral::lpspi::LPSPI4::instance() };
             let pins = SpiPins {
                 sdo: iomuxc.gpio_b0.p02,
                 sdi: iomuxc.gpio_b0.p01,
                 sck: iomuxc.gpio_b0.p03,
-                pcs0: iomuxc.gpio_b0.p00,
             };
             let mut spi = Spi::new(lpspi4, pins);
             spi.disabled(|spi| {
                 spi.set_clock_hz(super::LPSPI_CLK_FREQUENCY, super::SPI_BAUD_RATE_FREQUENCY);
             });
-            spi
+            let spi_cs = gpio2.output(iomuxc.gpio_b0.p00, true);
+            (spi, spi_cs)
         };
         #[cfg(not(feature = "spi"))]
         #[allow(clippy::let_unit_value)]
-        let spi = ();
+        let (spi, spi_cs) = ((), ());
 
         let lpi2c3 = unsafe { ral::lpi2c::LPI2C3::instance() };
         let i2c = I2c::new(
@@ -203,6 +207,7 @@ impl Specifics {
             ports: GpioPorts { gpio2 },
             console,
             spi,
+            spi_cs,
             i2c,
             pwm,
             trng,

examples/rtic_spi.rs

@@ -25,12 +25,12 @@ mod app {
     #[init]
     fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
         let (_, board::Specifics { mut spi, .. }) = board::new();
-        spi.disabled(|spi| {
-            // Trigger when the TX FIFO is empty.
-            spi.set_watermark(Direction::Tx, 0);
-            // Wait to receive at least 2 u32s.
-            spi.set_watermark(Direction::Rx, 1);
-        });
+
+        // Wait to receive at least 2 u32s.
+        spi.set_watermark(Direction::Rx, 1);
+        // Trigger when the TX FIFO is empty.
+        spi.set_watermark(Direction::Tx, 0);
+
         // Starts the I/O as soon as we're done initializing, since
         // the TX FIFO is empty.
         spi.set_interrupts(Interrupts::TRANSMIT_DATA);

src/common/gpio.rs

@@ -23,7 +23,7 @@
 //! let gpio_b0_04 = // Handle to GPIO_B0_04 IOMUXC pin, provided by BSP or higher-level HAL...
 //!     # unsafe { imxrt_iomuxc::imxrt1060::gpio_b0::GPIO_B0_04::new() };
 //!
-//! let output = gpio2.output(gpio_b0_04);
+//! let output = gpio2.output(gpio_b0_04, false);
 //! output.set();
 //! output.clear();
 //! output.toggle();
@@ -60,12 +60,14 @@ impl<const N: u8> Port<N> {
     }
 
     /// Allocate an output GPIO.
-    pub fn output<P>(&mut self, mut pin: P) -> Output<P>
+    ///
+    /// `set` defines the initial state of the pin; `true` sets it high.
+    pub fn output<P>(&mut self, mut pin: P, set: bool) -> Output<P>
     where
         P: iomuxc::gpio::Pin<N>,
     {
         iomuxc::gpio::prepare(&mut pin);
-        Output::new(pin, self.register_block(), P::OFFSET)
+        Output::new(pin, self.register_block(), P::OFFSET, set)
     }
 
     /// Allocate an input GPIO.
@@ -134,8 +136,13 @@ pub struct Output<P> {
 unsafe impl<P: Send> Send for Output<P> {}
 
 impl<P> Output<P> {
-    fn new(pin: P, gpio: &'static ral::gpio::RegisterBlock, offset: u32) -> Self {
+    fn new(pin: P, gpio: &'static ral::gpio::RegisterBlock, offset: u32, set: bool) -> Self {
         let output = Self { pin, gpio, offset };
+        if set {
+            output.set();
+        } else {
+            output.clear();
+        }
         ral::modify_reg!(ral::gpio, gpio, GDIR, |gdir| gdir | output.mask());
         output
     }
@@ -189,7 +196,7 @@ impl<P> Output<P> {
 impl Output<()> {
     /// Allocate an output GPIO without a pin.
     ///
-    /// Prefer using [`Port::output`](Port::output) to create a GPIO ouptut with a
+    /// Prefer using [`Port::output`](Port::output) to create a GPIO output with a
     /// pin resource. That method ensures that pin resources are managed throughout
     /// your program, and that the pin is configured to operate as a GPIO output.
     ///
@@ -199,8 +206,10 @@ impl Output<()> {
     ///
     /// If you use this constructor, you're responsible for configuring the IOMUX
     /// multiplexer register.
-    pub fn without_pin<const N: u8>(port: &mut Port<N>, offset: u32) -> Self {
-        Self::new((), port.register_block(), offset)
+    ///
+    /// `set` defines the initial state of the pin; `true` sets it high.
+    pub fn without_pin<const N: u8>(port: &mut Port<N>, offset: u32, set: bool) -> Self {
+        Self::new((), port.register_block(), offset, set)
     }
 }