physical/drivers/ads1256/driver/src/mutex.rs

use crate::{AdControl, Ads1256, BlockingDelay, CalibrationCommand, Conversion,
            DataRate, Multiplexer, Status,
};
use core::ops::DerefMut;
use embassy_sync::blocking_mutex::raw::RawMutex;

use physical_node::GPIO_ERROR_MSG;
use physical_node::spi::end_spi;
use embassy_sync::mutex::Mutex;
use embedded_hal::digital::OutputPin;
use embedded_hal::spi;
use embedded_hal::spi::SpiBus;
use embedded_hal_async::digital::Wait;

impl<DelayerT, SST, DrdyT> Ads1256<DelayerT, SST, DrdyT>
where
    DelayerT: BlockingDelay,
    SST: OutputPin,
    DrdyT: Wait,
{
    /// Functionally the same as [Ads1256::cmd_read_data] but exercises fine-grained control
    /// over the [Mutex] of a [SpiBus] in cases where one is used. This function will unlock the
    /// [Mutex] while it is waiting for data from the ADS1256.
    ///
    /// Action sequence:
    /// 1. Wait for data_ready to go low
    /// 1. Lock mutex, mutably borrow SPI
    /// 1. Read the conversion value
    #[inline]
    pub async fn cmd_read_data_m<MutexT: RawMutex, SpiT: SpiBus>(
        &mut self,
        spi: &Mutex<MutexT, SpiT>,
    ) -> Result<Conversion, <SpiT as spi::ErrorType>::Error> {
        self.data_ready.wait_for_low().await.expect(GPIO_ERROR_MSG);
        let mut spi_guard = spi.lock().await;
        let spi = spi_guard.deref_mut();
        self.slave_select.set_low().expect(GPIO_ERROR_MSG);
        let spi_op_result = self.raw_cmd_read_data(spi);

        end_spi(&mut self.slave_select, spi, spi_op_result)
    }

    /// Functionally the same as [Ads1256::autocal_convert] but exercises fine-grained control
    /// over the [Mutex] of a [SpiBus] in cases where one is used. This function will unlock the
    /// [Mutex] while it is waiting for data from the ADS1256.
    ///
    /// Action sequence:
    /// 1. Switch inputs and optionally adjust different configuration parameters.
    /// 1. If only the input was switched without configuration changes.
    ///     1. Issue sync command followed by wakeup command
    /// 1. Else, auto-calibration will take place
    /// 1. Wait for data_ready low
    /// 1. RDATA command (read the conversion value)
    /// 1. Optionally enter standby mode
    ///
    /// **WARNING:** Auto-calibration must be enabled for intended functionality when changing
    /// [Status], [AdControl], or [DataRate]. Furthermore if setting [Status] or [AdControl], their
    /// [Buffer] and [Gain] settings must be modified respectively to trigger auto-calibration.
    #[inline]
    pub async fn autocal_convert_m<MutexT: RawMutex, SpiT: SpiBus>(
        &mut self,
        spi_mutex: &Mutex<MutexT, SpiT>,
        input: Multiplexer,
        status: Option<Status>,
        ad_control: Option<AdControl>,
        data_rate: Option<DataRate>,
        standby: bool,
    ) -> Result<Conversion, <SpiT as spi::ErrorType>::Error> {
        // Acquire SPI lock
        let mut spi_guard = spi_mutex.lock().await;
        let spi = spi_guard.deref_mut();
        // Slave select low
        self.slave_select.set_low().expect(GPIO_ERROR_MSG);
        match (status, ad_control, data_rate) {
            // Only modifying the multiplexer, not changing any configuration
            (None, None, None) => {
                self._none_config(spi, input)?;
                self._manual_conversion_init(spi)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying status (toggle buffer) and changing multiplexer
            (Some(status), None, None) => {
                self._status_config(spi, input, status)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying AD control (gain) and changing multiplexer
            (None, Some(ad_control), None) => {
                self._ad_config(spi, input, ad_control)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying data rate and change multiplexer
            (None, None, Some(data_rate)) => {
                self._drate_config(spi, input, data_rate)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying status (toggle buffer), AD control (gain), and changing multiplexer
            (Some(status), Some(ad_control), None) => {
                self._status_ad_config(spi, input, status, ad_control)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying status (toggle buffer), data rate, and changing multiplexer
            (Some(status), None, Some(data_rate)) => {
                self._status_drate_config(spi, input, status, data_rate)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying AD control (gain), data rate, and changing multiplexer
            (None, Some(ad_control), Some(data_rate)) => {
                self._ad_drate_config(spi, input, ad_control, data_rate)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying status (toggle buffer), AD control (gain), data rate, and changing
            // multiplexer
            (Some(status), Some(ad_control), Some(data_rate)) => {
                self._all_config(spi, input, status, ad_control, data_rate)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
        }
    }

    /// Functionally the same as [Ads1256::loadcal_convert] but exercises fine-grained control
    /// over the [Mutex] of a [SpiBus] in cases where one is used. This function will unlock the
    /// [Mutex] while it is waiting for data from the ADS1256.
    ///
    /// Action sequence:
    /// 1. Switch inputs and optionally adjust different configuration parameters.
    /// 1. Issue sync command followed by wakeup command
    /// 1. Wait for data_ready low
    /// 1. RDATA command (read the conversion value)
    /// 1. Optionally enter standby mode
    ///
    /// **WARNING:** Auto-calibration must be disabled for intended functionality when changing
    /// [Status], [AdControl], or [DataRate].
    #[inline]
    pub async fn loadcal_convert_m<MutexT: RawMutex, SpiT: SpiBus>(
        &mut self,
        spi_mutex: &Mutex<MutexT, SpiT>,
        input: Multiplexer,
        calibration: Option<&CalibrationCommand>,
        status: Option<Status>,
        ad_control: Option<AdControl>,
        data_rate: Option<DataRate>,
        standby: bool,
    ) -> Result<Conversion, <SpiT as spi::ErrorType>::Error> {
        // Acquire SPI lock
        let mut spi_guard = spi_mutex.lock().await;
        let spi = spi_guard.deref_mut();
        // Slave select low
        self.slave_select.set_low().expect(GPIO_ERROR_MSG);
        match (status, ad_control, data_rate) {
            // Only modifying the multiplexer, not changing any configuration
            (None, None, None) => {
                self._none_config(spi, input)?;
                self._manual_conversion_init(spi)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying status (toggle buffer) and changing multiplexer
            (Some(status), None, None) => {
                self._status_config(spi, input, status)?;
                self._loadcal_init(spi, calibration)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying AD control (gain) and changing multiplexer
            (None, Some(ad_control), None) => {
                self._ad_config(spi, input, ad_control)?;
                self._loadcal_init(spi, calibration)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying data rate and change multiplexer
            (None, None, Some(data_rate)) => {
                self._drate_config(spi, input, data_rate)?;
                self._loadcal_init(spi, calibration)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying status (toggle buffer), AD control (gain), and changing multiplexer
            (Some(status), Some(ad_control), None) => {
                self._status_ad_config(spi, input, status, ad_control)?;
                self._loadcal_init(spi, calibration)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying status (toggle buffer), data rate, and changing multiplexer
            (Some(status), None, Some(data_rate)) => {
                self._status_drate_config(spi, input, status, data_rate)?;
                self._loadcal_init(spi, calibration)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying AD control (gain), data rate, and changing multiplexer
            (None, Some(ad_control), Some(data_rate)) => {
                self._ad_drate_config(spi, input, ad_control, data_rate)?;
                self._loadcal_init(spi, calibration)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
            // Modifying status (toggle buffer), AD control (gain), data rate, and changing
            // multiplexer
            (Some(status), Some(ad_control), Some(data_rate)) => {
                self._all_config(spi, input, status, ad_control, data_rate)?;
                self._loadcal_init(spi, calibration)?;
                spi.flush()?;
                drop(spi_guard);
                self._read_when_rdy_m(spi_mutex, standby).await
            },
        }
    }

    #[inline]
    pub async fn loadcal_convert_next_m<MutexT: RawMutex, SpiT: SpiBus>(
        &mut self,
        spi_mutex: &Mutex<MutexT, SpiT>,
        next_input: Multiplexer,
        next_calibration: Option<&CalibrationCommand>,
        next_status: Option<Status>,
        next_ad_control: Option<AdControl>,
        next_data_rate: Option<DataRate>,
        standby: bool,
    ) -> Result<Conversion, <SpiT as spi::ErrorType>::Error> {
        self.data_ready.wait_for_low().await.expect(GPIO_ERROR_MSG);
        self._loadcal_convert_next(
            spi_mutex.lock().await.deref_mut(),
            next_input,
            next_calibration,
            next_status,
            next_ad_control,
            next_data_rate,
            standby,
        )
        .await
    }

    #[inline]
    async fn _read_when_rdy_m<MutexT: RawMutex, SpiT: SpiBus>(
        &mut self,
        spi_mutex: &Mutex<MutexT, SpiT>,
        standby: bool,
    ) -> Result<Conversion, <SpiT as spi::ErrorType>::Error> {
        self.slave_select.set_high().expect(GPIO_ERROR_MSG);
        // Wait for data ready low
        self.data_ready.wait_for_low().await.expect(GPIO_ERROR_MSG);
        self.slave_select.set_low().expect(GPIO_ERROR_MSG);
        // Reacquire lock on SPI mutex and read mux conversion
        self._read_mux_conversion(spi_mutex.lock().await.deref_mut(), standby)
    }
}