embedded-interfaces

A comprehensive framework for building type-safe and ergonomic embedded device drivers. Includes traits for communication protocols, codecs, and abstractions for register and command based devices. Fully no_std compatible, and suitable for both sync and async.

Features

🗜️ Bit-packed data structures via the interface_objects! macro for ergonomic zero-cost packed struct definitions
🧮 Customizable bit patterns for non-contiguous field layouts
🧬 Flexible enum definitions supporting ranges, wildcards, and value capture
🚌 Protocol abstraction of register-based and command-based access models on any supported bus
🧵 Supports both sync and async, simultaneously if needed
🧪 Physical quantities and units can directly be specified in struct/register definitions

Quick Start

This crate provides two main abstractions, the RegisterInterface and CommandInterface. By default, we provide implementations for any I2C or SPI bus from embedded-hal or embedded-hal-async. These interfaces can be used to respectively read and write registers or execute arbitrary commands.

Commands are a more abstract interface which allows downstream drivers to represent arbitrary combinations of sending data, reading data and waiting.
Registers are data that can be read from or written to the device via a register pointer or address. The standard codecs that describe how this address and data needs to be communicated to the device are covered by this crate.

Finally, a macro called interface_objects! is provided by this crate to simplify the definition of registers and data for commands which often have very specific bit-packed layouts. It will be explained in the following section.

Bit-packed structs

The interface_objects! macro can be used to define bit-packed structs and registers. It automatically generates:

Packed structs with exact memory layout control
Unpacked variants for easier access and manipulation
Accessor methods that don't require full unpacking/packing
Unit conversion functions when physical units are specified
Debug format as in the image below to debug struct layout issues

Basic Struct Definition

Define a simple bit-packed struct with automatic field packing:

use embedded_interfaces::codegen::interface_objects;

interface_objects! {
    /// A basic struct
    struct BasicStruct(size = 2) {
        /// Some documentation for the field
        field1: u8,
        /// Another field
        field2: u8,
    }
}

This defines two types BasicStruct([u8; 2]) and BasicStructUnpacked, where the former directly wraps the underlying data array while the latter contains the actual unpacked fields.

The structs can be converted into one another by using .pack() and .unpack(). The packed representation also gets specific field accessor functions like .read_field1() or .write_field1(123).

Doc-comments will be transferred to the actual types while automatically adding generated information like the resulting bit range or default value (if given).

Defaults, field size control and reserved fields

You can directly associate defaults to each field and control the desired size in bits. By eliding the field name with an underscore, the field will become a reserved field that is ignored in packing or unpacking operations. No accessors will be generated for it.

use embedded_interfaces::codegen::interface_objects;

interface_objects! {
    struct BitFields(size = 1) {
        flag1: bool = true,      // 1-bit bool
        flag2: bool = false,     // 1-bit bool
        counter: u8{4} = 0b1010, // 4-bit field
        _: u8{2},                // 2-bit reserved field
    }
}

Custom ranges and bit Patterns

Fields can be comprised of arbitrary bits without order, even of non-contiguous bit layouts.

use embedded_interfaces::codegen::interface_objects;

interface_objects! {
    struct Interleaved(size = 2) {
        // Interleaved bits: even positions for one field, odd for another
        field1: u8[0,2,4,6,8,10,12,14] = 0x55,
        field2: u8[1,3,5,7,9,11,13,15] = 0xAA,
    }
}

Fields without explicit bit ranges will automatically use the next N bits after the highest previously used bit. The macro will ensure that all bits are used exactly once at compile time.

use embedded_interfaces::codegen::interface_objects;

interface_objects! {
    struct Ranges(size = 2) {
        f3: u8[4..12] // 8 specific bits
        f1: u8[0..4]  // The first 4 bits
        f2: u8{4}     // The next 4 bits after the highest used until now (so 12,13,14,15)
    }
}

Flexible enums

You can define enums with a specific bit-width and powerful value patterns:

use embedded_interfaces::codegen::interface_objects;

interface_objects! {
    // Underlying type must be some unsigned type, and exact bit width must be given
    enum Status: u8{4} {
        0x0 Off,           // Single value
        1..=3 Low(u8),     // Value range, captures the specific value
        4..8 Medium,       // Exclusive range, doesn't capture the value. Packing will use lowest associated value.
        8|10|12..16 High,  // Specific values
        _ Invalid(u8),     // Wildcard catch-all
    }

    struct Device(size = 1) {
        mode: Status = Status::Off,  // Enums can be used directly in structs, the size is automatically known.
        _: u8{4},                    // Reserved bits
    }
}

Nested Structures

Bit-packed structures can be nested into other structures. The resulting bit-ranges will be fully resolved at compile time.

use embedded_interfaces::codegen::interface_objects;

interface_objects! {
    struct Point(size = 2) {
        x: u8 = 10,
        y: u8 = 20,
    }

    struct Rectangle(size = 4) {
        top_left: PointUnpacked = PointUnpacked { x: 1, y: 2 },
        bottom_right: PointUnpacked = PointUnpacked { x: 3, y: 4 },
    }
}

Arrays

Arrays and nested arrays of primitive types work similarly, but arrays of structs or enums are currently not supported:

use embedded_interfaces::codegen::interface_objects;

interface_objects! {
    struct DataPacket(size = 5) {
        data: [u8; 4] = [0x01, 0x02, 0x03, 0x04],
        flags: [bool; 8] = [true, false, true, false, true, false, true, false],
    }
}

Physical Units Integration

You can directly associate physical quantities from the uom crate with any raw_* fields. The smallest representable value must be provided as a rational a / b to allow the macro to convert between the raw and typed representation automatically. For complex fields the conversion functions can also be given directly.

New accessors without the raw_ prefix will also be generated to allow convenient access, for example through a .read_temperature() or .write_temperature() function.

use embedded_interfaces::codegen::interface_objects;
use uom::si::f64::{Pressure, ThermodynamicTemperature};
use uom::si::pressure::pascal;
use uom::si::thermodynamic_temperature::degree_celsius;

interface_objects! {
    struct Units(size = 4) {
        raw_temperature: u16 = 75 => {
            quantity: ThermodynamicTemperature,
            unit: degree_celsius,
            lsb: 1f64 / 128f64,
        },
        raw_pressure: u16 = 12 => {
            quantity: Pressure,
            unit: pascal,
            from_raw: |x| (x as f64 + 7.0) * 31.0,
            into_raw: |x| (x / 31.0 - 7.0) as u16,
        },
    }
}

Registers

Registers are structs with some meta information, such as an address and codecs that specify how this register has to be interfaced with. By replacing struct with register, the macro will automatically implement the register specific traits so they can be used with register based devices.

Apart from size, registers require some additional attributes to be set:

addr The register address
mode One of "r", "w" or "rw", specifying whether the register can be read from, written to or both.
codec_error The error type which the codec may produce, usually () for simple codecs.
i2c_codec The codec which is responsible to interface this register over I2C. Often determines the address size in bytes. If I2C is not supported, set this to UnsupportedCodec.
spi_codec The codec which is responsible to interface this register over SPI. Often determines how the address header is structured. If SPI is not supported, set this to UnsupportedCodec.

use embedded_interfaces::codegen::interface_objects;
use embedded_interfaces::registers::i2c::codecs::TwoByteRegAddrCodec;
type UnsupportedSpiCodec = embedded_interfaces::registers::spi::codecs::unsupported_codec::UnsupportedCodec<()>;

interface_objects! {
    register ExampleRegister(addr = 0x1234, mode = r, size = 2, codec_error = (), i2c_codec = TwoByteRegAddrCodec, spi_codec = UnsupportedSpiCodec) {
        value: u8,
        flags: [bool; 8],
    }
}

Register defaults

Often you will find yourself defining multiple registers for a device, each time repeating the codec settings. The register_defaults block allows you to define this once in the beginning:

use embedded_interfaces::codegen::interface_objects;
use embedded_interfaces::registers::i2c::codecs::TwoByteRegAddrCodec;
type UnsupportedSpiCodec = embedded_interfaces::registers::spi::codecs::unsupported_codec::UnsupportedCodec<()>;

interface_objects! {
    register_defaults {
        codec_error = (),
        i2c_codec = TwoByteRegAddrCodec,
        spi_codec = UnsupportedSpiCodec,
    }

    register ExampleRegister(addr = 0x1234, mode = r, size = 2) {
        value: u8,
        flags: [bool; 8],
    }
}

embedded-interfaces 0.10.1