diff --git a/src/common/lpspi.rs b/src/common/lpspi.rs index 645b0c11..74861d04 100644 --- a/src/common/lpspi.rs +++ b/src/common/lpspi.rs @@ -75,28 +75,14 @@ //! //! # Limitations //! -//! ## embedded-hal 0.2 Transaction API -//! -//! Due to [a hardware defect][1], this driver does not yet support the EH02 SPI transaction API. -//! An early iteration of this driver reproduced the issue discussed in that forum. This driver may -//! be able to work around the defect in software, but it hasn't been explored. -//! -//! [1]: https://community.nxp.com/t5/i-MX-RT/RT1050-LPSPI-last-bit-not-completing-in-continuous-mode/m-p/898460 -//! -//! [`Transaction`] exposes the continuous / continuing flags, so you're free to model advanced -//! transactions. However, keep in mind that disabling the receiver during a continuous transaction -//! may not work as expected. -//! -//! ## embedded-hal 1.0 `SpiDevice` -//! //! The current implementation of the EH1 `SpiDevice` trait does not support the `DelayNs` //! operation. Implementing this was impossible while keeping backwards compatibility. //! This may change in a future release. //! //! If you need support for the `DelayNs` operation you can use one of the devices from -//! [`embedded_hal_bus::spi`][2]. +//! [`embedded_hal_bus::spi`][1]. //! -//! [2]: https://docs.rs/embedded-hal-bus/latest/embedded_hal_bus/spi/index.html +//! [1]: https://docs.rs/embedded-hal-bus/latest/embedded_hal_bus/spi/index.html use core::marker::PhantomData; use core::task::Poll; @@ -1443,6 +1429,56 @@ where } } +impl eh02::blocking::spi::Transactional for Lpspi +where + P: HasChipSelect, + W: Word + 'static, +{ + type Error = LpspiError; + + fn exec( + &mut self, + operations: &mut [eh02::blocking::spi::Operation<'_, W>], + ) -> Result<(), Self::Error> { + use eh02::blocking::spi::Operation; + + let operations_len = operations.len(); + + if operations_len == 0 { + return Ok(()); + } + + crate::spin_on(async { + let mut continuing = false; + + for (i, op) in operations.iter_mut().enumerate() { + // For the last transaction `continuous` needs to be set to false. + // Otherwise the hardware fails to correctly de-assert CS. + let continuous = i + 1 != operations_len; + match op { + Operation::Write(data) => { + self.spin_write_no_read(continuous, continuing, data) + .await? + } + Operation::Transfer(data) => { + self.spin_transfer_in_place(continuous, continuing, data) + .await?; + } + } + + continuing = true; + } + + Ok(()) + }) + .map_err(|err| { + self.recover_from_error(); + err + })?; + + self.flush() + } +} impl eh1::spi::Error for LpspiError { fn kind(&self) -> eh1::spi::ErrorKind {