Add async nunchuk support (#14)

* Add nunchuk async impl

* Add nunchuk async example project

examples/nunchuk-async-embassy-rp/.cargo/config.toml

@@ -0,0 +1,8 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "probe-rs run --chip RP2040 --protocol swd --speed 16000"
+
+[build]
+target = "thumbv6m-none-eabi"        # Cortex-M0 and Cortex-M0+
+
+[env]
+DEFMT_LOG = "debug"

examples/nunchuk-async-embassy-rp/.vscode/launch.json

@@ -0,0 +1,78 @@
+// The format of this file is specified in https://probe.rs/docs/tools/vscode/#start-a-debug-session-with-minimum-configuration
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "preLaunchTask": "rust: cargo build",
+            "type": "probe-rs-debug",
+            "request": "launch",
+            "name": "embassy_rp_async launch",
+            "cwd": "${workspaceFolder}",
+            "chip": "rp2040",
+            // RP2040 doesn't support connectUnderReset
+            "connectUnderReset": false,
+            "speed": 4000,
+            "runtimeExecutable": "probe-rs",
+            "runtimeArgs": [
+                "dap-server"
+            ],
+            "flashingConfig": {
+                "flashingEnabled": true,
+                "resetAfterFlashing": true,
+                "haltAfterReset": true,
+            },
+            "coreConfigs": [
+                {
+                    "coreIndex": 0,
+                    "programBinary": "target/thumbv6m-none-eabi/debug/embassy_rp_async",
+                    "chip": "RP2040",
+                    // Uncomment this if you've downloaded the SVD from
+                    // https://github.com/raspberrypi/pico-sdk/raw/1.3.1/src/rp2040/hardware_regs/rp2040.svd
+                    // and placed it in the .vscode directory
+                    // "svdFile": "./.vscode/rp2040.svd",
+                    "rttEnabled": true,
+                    "options": {
+                        "env": {
+                            "DEFMT_LOG": "debug"
+                        }
+                    },
+                }
+            ],
+            "consoleLogLevel": "Info", //Error, Warn, Info, Debug, Trace
+            "wireProtocol": "Swd"
+        },
+        {
+            "type": "probe-rs-debug",
+            "request": "attach",
+            "name": "embassy_rp_async attach",
+            "cwd": "${workspaceFolder}",
+            "chip": "rp2040",
+            // RP2040 doesn't support connectUnderReset
+            "connectUnderReset": false,
+            "speed": 4000,
+            "runtimeExecutable": "probe-rs",
+            "runtimeArgs": [
+                "dap-server"
+            ],
+            "coreConfigs": [
+                {
+                    "coreIndex": 0,
+                    "programBinary": "target/thumbv6m-none-eabi/debug/embassy_rp_async",
+                    "chip": "RP2040",
+                    // Uncomment this if you've downloaded the SVD from
+                    // https://github.com/raspberrypi/pico-sdk/raw/1.5.1/src/rp2040/hardware_regs/rp2040.svd
+                    // and placed it in the .vscode directory
+                    // "svdFile": "./.vscode/rp2040.svd",
+                    "rttEnabled": true,
+                    "options": {
+                        "env": {
+                            "DEFMT_LOG": "debug"
+                        }
+                    },
+                }
+            ],
+            "consoleLogLevel": "Info", //Error, Warn, Info, Debug, Trace
+            "wireProtocol": "Swd"
+        }
+    ]
+}

examples/nunchuk-async-embassy-rp/.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "rust-analyzer.cargo.target": "thumbv6m-none-eabi",
+    "rust-analyzer.check.allTargets": false,
+    "rust-analyzer.checkOnSave": false,
+    "editor.formatOnSave": true
+}

examples/nunchuk-async-embassy-rp/Cargo.toml

@@ -0,0 +1,97 @@
+[package]
+edition = "2021"
+name = "nunchuk_async_embassy_rp"
+version = "0.1.0"
+license = "MIT OR Apache-2.0"
+resolver = "2"
+
+
+[dependencies]
+wii-ext = { version = "0.3.0", features = [
+    "defmt_print",
+], path = "../../wii-ext" }
+
+cortex-m = { version = "0.7.6", features = ["inline-asm"] }
+cortex-m-rt = "0.7.0"
+
+defmt = "0.3"
+defmt-rtt = "0.4"
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+
+embassy-embedded-hal = { version = "0.1.0", features = ["defmt"] }
+
+embassy-executor = { version = "0.5.0", features = [
+    "arch-cortex-m",
+    "executor-thread",
+    "executor-interrupt",
+    "defmt",
+    "integrated-timers",
+    "task-arena-size-32768",
+] }
+embassy-futures = { version = "0.1.0" }
+embassy-sync = { version = "0.5.0", features = ["defmt"] }
+embassy-time = { version = "0.3.0", features = [
+    "defmt",
+    "defmt-timestamp-uptime",
+] }
+
+embassy-rp = { version = "0.1.0", features = [
+    "defmt",
+    "unstable-pac",
+    "time-driver",
+    "critical-section-impl",
+] }
+portable-atomic = { version = "1.5.1", features = ["critical-section"] }
+
+# cargo build/run
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true
+incremental = false
+opt-level = 1
+overflow-checks = true
+lto = "off"
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false
+incremental = false
+lto = true
+opt-level = 's'
+overflow-checks = false
+
+# do not optimize proc-macro crates = faster builds from scratch
+[profile.dev.build-override]
+codegen-units = 8
+debug = false
+debug-assertions = false
+opt-level = 0
+overflow-checks = false
+
+[profile.release.build-override]
+codegen-units = 8
+debug = false
+debug-assertions = false
+opt-level = 0
+overflow-checks = false
+
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true
+incremental = false
+opt-level = 's'
+overflow-checks = true
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false
+incremental = false
+lto = true
+opt-level = 's'

examples/nunchuk-async-embassy-rp/build.rs

@@ -0,0 +1,36 @@
+//! This build script copies the `memory.x` file from the crate root into
+//! a directory where the linker can always find it at build time.
+//! For many projects this is optional, as the linker always searches the
+//! project root directory -- wherever `Cargo.toml` is. However, if you
+//! are using a workspace or have a more complicated build setup, this
+//! build script becomes required. Additionally, by requesting that
+//! Cargo re-run the build script whenever `memory.x` is changed,
+//! updating `memory.x` ensures a rebuild of the application with the
+//! new memory settings.
+
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+    // Put `memory.x` in our output directory and ensure it's
+    // on the linker search path.
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    File::create(out.join("memory.x"))
+        .unwrap()
+        .write_all(include_bytes!("memory.x"))
+        .unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+
+    // By default, Cargo will re-run a build script whenever
+    // any file in the project changes. By specifying `memory.x`
+    // here, we ensure the build script is only re-run when
+    // `memory.x` is changed.
+    println!("cargo:rerun-if-changed=memory.x");
+
+    println!("cargo:rustc-link-arg-bins=--nmagic");
+    println!("cargo:rustc-link-arg-bins=-Tlink.x");
+    println!("cargo:rustc-link-arg-bins=-Tlink-rp.x");
+    println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+}

examples/nunchuk-async-embassy-rp/memory.x

@@ -0,0 +1,5 @@
+MEMORY {
+    BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
+    FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100
+    RAM   : ORIGIN = 0x20000000, LENGTH = 256K
+}

examples/nunchuk-async-embassy-rp/src/main.rs

@@ -0,0 +1,77 @@
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_rp::gpio;
+use gpio::{Level, Output};
+use wii_ext::async_impl::nunchuk;
+use {defmt_rtt as _, panic_probe as _};
+
+use embassy_executor::Spawner;
+use embassy_rp::bind_interrupts;
+use embassy_rp::gpio::AnyPin;
+use embassy_rp::i2c::{self, Config, InterruptHandler};
+use embassy_rp::peripherals::I2C0;
+use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
+use embassy_sync::mutex::Mutex;
+use embassy_time::{Delay, Duration, Ticker};
+use embassy_time::Timer;
+
+bind_interrupts!(struct Irqs {
+    I2C0_IRQ => InterruptHandler<I2C0>;
+});
+
+type LedType = Mutex<ThreadModeRawMutex, Option<Output<'static, AnyPin>>>;
+static LED: LedType = Mutex::new(None);
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    info!("Program start");
+    let p = embassy_rp::init(Default::default());
+
+    // Configure Pico LED to blink once a second
+    let led = Output::new(AnyPin::from(p.PIN_25), Level::High);
+    {
+        *(LED.lock().await) = Some(led);
+    }
+    unwrap!(spawner.spawn(toggle_led(&LED, Duration::from_millis(500))));
+
+    let sda = p.PIN_8;
+    let scl = p.PIN_9;
+
+    info!("set up i2c");
+    let i2c = i2c::I2c::new_async(p.I2C0, scl, sda, Irqs, Config::default());
+
+    // Create, initialise and calibrate the controller
+    info!("initialising controller");
+    let mut controller = nunchuk::NunchukAsync::new(i2c, Delay);
+    controller.init().await.unwrap();
+
+
+    info!("begin polling controller");
+    loop {
+        let input = controller.read().await.unwrap();
+        debug!("{:?}", input);
+    }
+}
+
+#[embassy_executor::task(pool_size = 1)]
+async fn toggle_led(led: &'static LedType, delay: Duration) {
+    let mut ticker = Ticker::every(delay);
+    loop {
+        {
+            let mut led_unlocked = led.lock().await;
+            if let Some(pin_ref) = led_unlocked.as_mut() {
+                pin_ref.toggle();
+            }
+        }
+        ticker.next().await;
+    }
+}
+
+#[cortex_m_rt::pre_init]
+unsafe fn before_main() {
+    // Soft-reset doesn't clear spinlocks. Clear the one used by critical-section
+    // before we hit main to avoid deadlocks when using a debugger
+    embassy_rp::pac::SIO.spinlock(31).write_value(1);
+}

wii-ext/src/async_impl.rs

@@ -2,3 +2,5 @@
 pub mod classic;
 /// Async i2c interface code
 pub mod interface;
+
+pub mod nunchuk;