Add mutex-traits-based implementations of SpiDevice and I2c

embedded-hal-bus/Cargo.toml

@@ -16,7 +16,7 @@ version = "0.3.0"
 
 [features]
 # Enable shared bus implementations using `std::sync::Mutex`
-std = ["alloc"]
+std = ["alloc", "mutex/std"]
 # Use `portable-atomic` to enable `atomic-device` on devices without native atomic CAS
 #
 # `portable-atomic` emulates atomic CAS functionality, allowing `embedded-hal-bus` to use `atomic-device` on hardware
@@ -37,6 +37,7 @@ embedded-hal-async = { version = "1.0.0", path = "../embedded-hal-async", option
 critical-section = { version = "1.0" }
 defmt-03 = { package = "defmt", version = "0.3", optional = true }
 portable-atomic = {version = "1.3", default-features = false, optional = true, features = ["require-cas"]}
+mutex = "1.0"
 
 [package.metadata.docs.rs]
 features = ["std", "async"]

embedded-hal-bus/src/i2c/mod.rs

@@ -6,6 +6,8 @@ pub use refcell::*;
 mod mutex;
 #[cfg(feature = "std")]
 pub use mutex::*;
+mod mutex_traits;
+pub use mutex_traits::*;
 mod critical_section;
 pub use self::critical_section::*;
 #[cfg(any(feature = "portable-atomic", target_has_atomic = "8"))]

embedded-hal-bus/src/i2c/mutex_traits.rs

@@ -0,0 +1,65 @@
+use embedded_hal::i2c::{ErrorType, I2c};
+use mutex::{BlockingMutex, RawMutex};
+
+type Mutex<R, T> = BlockingMutex<R, T>;
+
+/// `mutex-traits`-based shared bus [`I2c`] implementation.
+///
+/// Whether a single bus can be used across multiple threads depends on which
+/// implementation of `RawMutex` is used.
+pub struct MutexTraitsDevice<'a, R, T> {
+    bus: &'a Mutex<R, T>,
+}
+
+impl<'a, R: RawMutex, T> MutexTraitsDevice<'a, R, T> {
+    /// Create a new `MutexTraitsDevice`.
+    #[inline]
+    pub fn new(bus: &'a Mutex<R, T>) -> Self {
+        Self { bus }
+    }
+}
+
+impl<R, T> ErrorType for MutexTraitsDevice<'_, R, T>
+where
+    T: I2c,
+{
+    type Error = T::Error;
+}
+
+impl<R: RawMutex, T> I2c for MutexTraitsDevice<'_, R, T>
+where
+    T: I2c,
+{
+    #[inline]
+    fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
+        let bus = &mut *self.bus.lock();
+        bus.read(address, read)
+    }
+
+    #[inline]
+    fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
+        let bus = &mut *self.bus.lock();
+        bus.write(address, write)
+    }
+
+    #[inline]
+    fn write_read(
+        &mut self,
+        address: u8,
+        write: &[u8],
+        read: &mut [u8],
+    ) -> Result<(), Self::Error> {
+        let bus = &mut *self.bus.lock();
+        bus.write_read(address, write, read)
+    }
+
+    #[inline]
+    fn transaction(
+        &mut self,
+        address: u8,
+        operations: &mut [embedded_hal::i2c::Operation<'_>],
+    ) -> Result<(), Self::Error> {
+        let bus = &mut *self.bus.lock();
+        bus.transaction(address, operations)
+    }
+}

embedded-hal-bus/src/spi/mod.rs

@@ -11,6 +11,8 @@ pub use refcell::*;
 mod mutex;
 #[cfg(feature = "std")]
 pub use mutex::*;
+mod mutex_traits;
+pub use mutex_traits::*;
 #[cfg(any(feature = "portable-atomic", target_has_atomic = "8"))]
 mod atomic;
 mod critical_section;

embedded-hal-bus/src/spi/mutex_traits.rs

@@ -0,0 +1,95 @@
+use embedded_hal::delay::DelayNs;
+use embedded_hal::digital::OutputPin;
+use embedded_hal::spi::{ErrorType, Operation, SpiBus, SpiDevice};
+use mutex::{BlockingMutex, RawMutex};
+
+use super::DeviceError;
+use crate::spi::shared::transaction;
+
+type Mutex<R, T> = BlockingMutex<R, T>;
+
+/// `mutex-traits`-based shared bus [`SpiDevice`] implementation.
+///
+/// This allows for sharing an [`SpiBus`], obtaining multiple [`SpiDevice`] instances,
+/// each with its own `CS` pin.
+///
+/// Whether a single bus can be used across multiple threads depends on which
+/// implementation of `RawMutex` is used.
+pub struct MutexTraitsDevice<'a, R, BUS, CS, D> {
+    bus: &'a Mutex<R, BUS>,
+    cs: CS,
+    delay: D,
+}
+
+impl<'a, R: RawMutex, BUS, CS, D> MutexTraitsDevice<'a, R, BUS, CS, D> {
+    /// Create a new [`MutexTraitsDevice`].
+    ///
+    /// This sets the `cs` pin high, and returns an error if that fails. It is recommended
+    /// to set the pin high the moment it's configured as an output, to avoid glitches.
+    #[inline]
+    pub fn new(bus: &'a Mutex<R, BUS>, mut cs: CS, delay: D) -> Result<Self, CS::Error>
+    where
+        CS: OutputPin,
+    {
+        cs.set_high()?;
+        Ok(Self { bus, cs, delay })
+    }
+}
+
+impl<'a, R: RawMutex, BUS, CS> MutexTraitsDevice<'a, R, BUS, CS, super::NoDelay> {
+    /// Create a new [`MutexTraitsDevice`] without support for in-transaction delays.
+    ///
+    /// This sets the `cs` pin high, and returns an error if that fails. It is recommended
+    /// to set the pin high the moment it's configured as an output, to avoid glitches.
+    ///
+    /// **Warning**: The returned instance *technically* doesn't comply with the `SpiDevice`
+    /// contract, which mandates delay support. It is relatively rare for drivers to use
+    /// in-transaction delays, so you might still want to use this method because it's more practical.
+    ///
+    /// Note that a future version of the driver might start using delays, causing your
+    /// code to panic. This wouldn't be considered a breaking change from the driver side, because
+    /// drivers are allowed to assume `SpiDevice` implementations comply with the contract.
+    /// If you feel this risk outweighs the convenience of having `cargo` automatically upgrade
+    /// the driver crate, you might want to pin the driver's version.
+    ///
+    /// # Panics
+    ///
+    /// The returned device will panic if you try to execute a transaction
+    /// that contains any operations of type [`Operation::DelayNs`].
+    #[inline]
+    pub fn new_no_delay(bus: &'a Mutex<R, BUS>, mut cs: CS) -> Result<Self, CS::Error>
+    where
+        CS: OutputPin,
+    {
+        cs.set_high()?;
+        Ok(Self {
+            bus,
+            cs,
+            delay: super::NoDelay,
+        })
+    }
+}
+
+impl<R, BUS, CS, D> ErrorType for MutexTraitsDevice<'_, R, BUS, CS, D>
+where
+    R: RawMutex,
+    BUS: ErrorType,
+    CS: OutputPin,
+{
+    type Error = DeviceError<BUS::Error, CS::Error>;
+}
+
+impl<Word: Copy + 'static, R, BUS, CS, D> SpiDevice<Word> for MutexTraitsDevice<'_, R, BUS, CS, D>
+where
+    R: RawMutex,
+    BUS: SpiBus<Word>,
+    CS: OutputPin,
+    D: DelayNs,
+{
+    #[inline]
+    fn transaction(&mut self, operations: &mut [Operation<'_, Word>]) -> Result<(), Self::Error> {
+        let bus = &mut *self.bus.lock();
+
+        transaction(operations, bus, &mut self.delay, &mut self.cs)
+    }
+}