Crate embedded_hal [−] [src]
A Hardware Abstraction Layer (HAL) for embedded systems
NOTE This HAL is still is active development. Expect the traits presented here to be tweaked, split or be replaced wholesale before being stabilized, i.e. before hitting the 1.0.0 release. That being said there's a part of the HAL that's currently considered unproven and is hidden behind an "unproven" Cargo feature. This API is even more volatile and it's exempt from semver rules: it can change in a non-backward compatible fashion or even disappear in between patch releases.
Design goals
The HAL
-
Must erase device specific details. Neither register, register blocks or magic values should appear in the API.
-
Must be generic within a device and across devices. The API to use a serial interface must be the same regardless of whether the implementation uses the USART1 or UART4 peripheral of a device or the UART0 peripheral of another device.
-
Where possible must not be tied to a specific asynchronous model. The API should be usable in blocking mode, with the
futures
model, with an async/await model or with a callback model. (cf. thenb
crate) -
Must be minimal, and thus easy to implement and zero cost, yet highly composable. People that want higher level abstraction should prefer to use this HAL rather than re-implement register manipulation code.
-
Serve as a foundation for building an ecosystem of platform agnostic drivers. Here driver means a library crate that lets a target platform interface an external device like a digital sensor or a wireless transceiver. The advantage of this system is that by writing the driver as a generic library on top of
embedded-hal
driver authors can support any number of target platforms (e.g. Cortex-M microcontrollers, AVR microcontrollers, embedded Linux, etc.). The advantage for application developers is that by adoptingembedded-hal
they can unlock all these drivers for their platform.
Out of scope
- Initialization and configuration stuff like "ensure this serial interface and that SPI interface are not using the same pins". The HAL will focus on doing I/O.
Reference implementation
The stm32f30x-hal
crate contains a reference implementation of this HAL.
Platform agnostic drivers
You can find platform agnostic drivers built on top of embedded-hal
on crates.io by searching
for the embedded-hal keyword.
If you writing a platform agnostic driver yourself you are highly encouraged to add the embedded-hal keyword to your crate before publishing it!
Detailed design
Traits
The HAL is specified as traits to allow generic programming. These traits make use of the
nb
crate (please go read that crate documentation before continuing) to abstract over
the asynchronous model and to also provide a blocking operation mode.
Here's how a HAL trait may look like:
extern crate nb; /// A serial interface pub trait Serial { /// Error type associated to this serial interface type Error; /// Reads a single byte fn read(&mut self) -> nb::Result<u8, Self::Error>; /// Writes a single byte fn write(&mut self, byte: u8) -> nb::Result<(), Self::Error>; }
The nb::Result
enum is used to add a WouldBlock
variant to the errors
of the serial interface. As explained in the documentation of the nb
crate this single API,
when paired with the macros in the nb
crate, can operate in a blocking manner, or in a
non-blocking manner compatible with futures
and with the await!
operator.
Some traits, like the one shown below, may expose possibly blocking APIs that can't fail. In
those cases nb::Result<_, Void>
is used.
extern crate nb; extern crate void; use void::Void; /// A count down timer pub trait CountDown { // .. /// "waits" until the count down is over fn wait(&mut self) -> nb::Result<(), Void>; }
Suggested implementation
The HAL traits should be implemented for device crates generated via svd2rust
to maximize
code reuse.
Shown below is an implementation of some of the HAL traits for the stm32f30x
crate. This
single implementation will work for any microcontroller in the STM32F30x family.
// crate: stm32f30x-hal //! An implementation of the `embedded-hal` traits for STM32F30x microcontrollers extern crate embedded_hal as hal; extern crate nb; // device crate extern crate stm32f30x; use stm32f30x::USART1; /// A serial interface // NOTE generic over the USART peripheral pub struct Serial<USART> { usart: USART } // convenience type alias pub type Serial1 = Serial<USART1>; /// Serial interface error pub enum Error { /// Buffer overrun Overrun, // omitted: other error variants } impl hal::serial::Read<u8> for Serial<USART1> { type Error = Error; fn read(&mut self) -> nb::Result<u8, Error> { // read the status register let isr = self.usart.isr.read(); if isr.ore().bit_is_set() { // Error: Buffer overrun Err(nb::Error::Other(Error::Overrun)) } // omitted: checks for other errors else if isr.rxne().bit_is_set() { // Data available: read the data register Ok(self.usart.rdr.read().bits() as u8) } else { // No data available yet Err(nb::Error::WouldBlock) } } } impl hal::serial::Write<u8> for Serial<USART1> { type Error = Error; fn write(&mut self, byte: u8) -> nb::Result<(), Error> { // Similar to the `read` implementation } fn flush(&mut self) -> nb::Result<(), Error> { // Similar to the `read` implementation } }
Intended usage
Thanks to the nb
crate the HAL API can be used in a blocking manner,
with futures
or with the await
operator using the block!
,
try_nb!
and await!
macros respectively.
Blocking mode
An example of sending a string over the serial interface in a blocking fashion:
extern crate embedded_hal; #[macro_use(block)] extern crate nb; use stm32f30x_hal::Serial1; use embedded_hal::serial::Write; let mut serial: Serial1 = { // .. }; for byte in b"Hello, world!" { // NOTE `block!` blocks until `serial.write()` completes and returns // `Result<(), Error>` block!(serial.write(*byte)).unwrap(); }
futures
An example of running two tasks concurrently. First task: blink an LED every second. Second task: loop back data over the serial interface.
extern crate embedded_hal as hal; extern crate futures; extern crate void; #[macro_use(try_nb)] extern crate nb; use hal::prelude::*; use futures::{ future, Async, Future, }; use futures::future::Loop; use stm32f30x_hal::{Led, Serial1, Timer6}; use void::Void; /// `futures` version of `CountDown.wait` /// /// This returns a future that must be polled to completion fn wait<T>(mut timer: T) -> impl Future<Item = T, Error = Void> where T: hal::timer::CountDown, { let mut timer = Some(timer); future::poll_fn(move || { try_nb!(timer.as_mut().unwrap().wait()); Ok(Async::Ready(timer.take().unwrap())) }) } /// `futures` version of `Serial.read` /// /// This returns a future that must be polled to completion fn read<S>(mut serial: S) -> impl Future<Item = (S, u8), Error = S::Error> where S: hal::serial::Read<u8>, { let mut serial = Some(serial); future::poll_fn(move || { let byte = try_nb!(serial.as_mut().unwrap().read()); Ok(Async::Ready((serial.take().unwrap(), byte))) }) } /// `futures` version of `Serial.write` /// /// This returns a future that must be polled to completion fn write<S>(mut serial: S, byte: u8) -> impl Future<Item = S, Error = S::Error> where S: hal::serial::Write<u8>, { let mut serial = Some(serial); future::poll_fn(move || { try_nb!(serial.as_mut().unwrap().write(byte)); Ok(Async::Ready(serial.take().unwrap())) }) } fn main() { // HAL implementers let timer: Timer6 = { // .. }; let serial: Serial1 = { // .. }; let led: Led = { // .. }; // Tasks let mut blinky = future::loop_fn::<_, (), _, _>( (led, timer, true), |(mut led, mut timer, state)| { wait(timer).map(move |timer| { if state { led.on(); } else { led.off(); } Loop::Continue((led, timer, !state)) }) }); let mut loopback = future::loop_fn::<_, (), _, _>(serial, |mut serial| { read(serial).and_then(|(serial, byte)| { write(serial, byte) }).map(|serial| { Loop::Continue(serial) }) }); // Event loop loop { blinky.poll().unwrap(); // NOTE(unwrap) E = Void loopback.poll().unwrap(); } }
await
Same example as above but using await!
instead of futures
.
#![feature(generator_trait)] #![feature(generators)] extern crate embedded_hal as hal; #[macro_use(await)] extern crate nb; use std::ops::Generator; use hal::prelude::*; use stm32f30x_hal::{Led, Serial1, Timer6}; fn main() { // HAL implementers let mut timer: Timer6 = { // .. }; let mut serial: Serial1 = { // .. }; let mut led: Led = { // .. }; // Tasks let mut blinky = (move || { let mut state = false; loop { // `await!` means "suspend / yield here" instead of "block until // completion" await!(timer.wait()).unwrap(); // NOTE(unwrap) E = Void state = !state; if state { led.on(); } else { led.off(); } } }); let mut loopback = (move || { loop { let byte = await!(serial.read()).unwrap(); await!(serial.write(byte)).unwrap(); } }); // Event loop loop { unsafe { blinky.resume(); } unsafe { loopback.resume(); } } }
Generic programming and higher level abstractions
The core of the HAL has been kept minimal on purpose to encourage building generic higher
level abstractions on top of it. Some higher level abstractions that pick an asynchronous model
or that have blocking behavior and that are deemed useful to build other abstractions can be
found in the blocking
module and, in the future, in the futures
and async
modules.
Some examples:
NOTE All the functions shown below could have been written as trait methods with default implementation to allow specialization, but they have been written as functions to keep things simple.
- Write a whole buffer to a serial device in blocking a fashion.
extern crate embedded_hal as hal; #[macro_use(block)] extern crate nb; use hal::prelude::*; fn write_all<S>(serial: &mut S, buffer: &[u8]) -> Result<(), S::Error> where S: hal::serial::Write<u8> { for &byte in buffer { block!(serial.write(byte))?; } Ok(()) }
- Blocking serial read with timeout
extern crate embedded_hal as hal; extern crate nb; use hal::prelude::*; enum Error<E> { /// Serial interface error Serial(E), TimedOut, } fn read_with_timeout<S, T>( serial: &mut S, timer: &mut T, timeout: T::Time, ) -> Result<u8, Error<S::Error>> where T: hal::timer::CountDown, S: hal::serial::Read<u8>, { timer.start(timeout); loop { match serial.read() { // raise error Err(nb::Error::Other(e)) => return Err(Error::Serial(e)), Err(nb::Error::WouldBlock) => { // no data available yet, check the timer below }, Ok(byte) => return Ok(byte), } match timer.wait() { Err(nb::Error::Other(e)) => { // The error type specified by `timer.wait()` is `!`, which // means no error can actually occur. The Rust compiler // still forces us to provide this match arm, though. unreachable!() }, // no timeout yet, try again Err(nb::Error::WouldBlock) => continue, Ok(()) => return Err(Error::TimedOut), } } }
- Asynchronous SPI transfer
#![feature(conservative_impl_trait)] #![feature(generators)] #![feature(generator_trait)] extern crate embedded_hal as hal; #[macro_use(await)] extern crate nb; use std::ops::Generator; /// Transfers a byte buffer of size N /// /// Returns the same byte buffer but filled with the data received from the /// slave device fn transfer<S, B>( mut spi: S, mut buffer: [u8; 16], // NOTE this should be generic over the size of the array ) -> impl Generator<Return = Result<(S, [u8; 16]), S::Error>, Yield = ()> where S: hal::spi::FullDuplex<u8>, { move || { let n = buffer.len(); for i in 0..n { await!(spi.send(buffer[i]))?; buffer[i] = await!(spi.read())?; } Ok((spi, buffer)) } }
- Buffered serial interface with periodic flushing in interrupt handler
extern crate embedded_hal as hal; extern crate nb; extern crate void; use hal::prelude::*; use void::Void; fn flush<S>(serial: &mut S, cb: &mut CircularBuffer) where S: hal::serial::Write<u8, Error = Void>, { loop { if let Some(byte) = cb.peek() { match serial.write(*byte) { Err(nb::Error::Other(_)) => unreachable!(), Err(nb::Error::WouldBlock) => return, Ok(()) => {}, // keep flushing data } } cb.pop(); } } // The stuff below could be in some other crate /// Global singleton pub struct BufferedSerial1; // NOTE private static BUFFER1: Mutex<CircularBuffer> = { // .. }; static SERIAL1: Mutex<Serial1> = { // .. }; impl BufferedSerial1 { pub fn write(&self, byte: u8) { self.write_all(&[byte]) } pub fn write_all(&self, bytes: &[u8]) { let mut buffer = BUFFER1.lock(); for byte in bytes { buffer.push(*byte).expect("buffer overrun"); } // omitted: pend / enable interrupt_handler } } fn interrupt_handler() { let mut serial = SERIAL1.lock(); let mut buffer = BUFFER1.lock(); flush(&mut *serial, &mut buffer); }
Modules
blocking |
Blocking API |
digital |
Digital I/O |
prelude |
The prelude is a collection of all the traits in this crate |
serial |
Serial interface |
spi |
Serial Peripheral Interface |
timer |
Timers |
Traits
PwmPin |
A single PWM channel / pin |