Add async HIL test

esp-hal/src/spi/master.rs

@@ -840,6 +840,7 @@ where
 
 pub mod dma {
     use core::{
+        cell::Cell,
         cmp::min,
         sync::atomic::{fence, Ordering},
     };
@@ -1046,6 +1047,9 @@ pub mod dma {
         dma_buf: Buf,
         is_rx: bool,
         is_tx: bool,
+
+        rx_future_awaited: bool,
+        tx_future_awaited: bool,
     }
 
     impl<'d, T, C, M, DmaMode, Buf> SpiDmaTransfer<'d, T, C, M, DmaMode, Buf>
@@ -1056,14 +1060,30 @@ pub mod dma {
         M: DuplexMode,
         DmaMode: Mode,
     {
+        fn new(
+            spi_dma: SpiDma<'d, T, C, M, DmaMode>,
+            dma_buf: Buf,
+            is_rx: bool,
+            is_tx: bool,
+        ) -> Self {
+            Self {
+                spi_dma,
+                dma_buf,
+                is_rx,
+                is_tx,
+                rx_future_awaited: false,
+                tx_future_awaited: false,
+            }
+        }
+
         pub fn is_done(&self) -> bool {
-            if self.is_tx && !self.spi_dma.channel.tx.is_done() {
+            if self.is_tx && !self.tx_future_awaited && !self.spi_dma.channel.tx.is_done() {
                 return false;
             }
             if self.spi_dma.spi.busy() {
                 return false;
             }
-            if self.is_rx {
+            if self.is_rx && !self.rx_future_awaited {
                 // If this is an asymmetric transfer and the RX side is smaller, the RX channel
                 // will never be "done" as it won't have enough descriptors/buffer to receive
                 // the EOF bit from the SPI. So instead the RX channel will hit
@@ -1096,14 +1116,16 @@ pub mod dma {
         M: DuplexMode,
     {
         pub async fn wait_for_done(&mut self) {
-            if self.is_tx {
+            if self.is_tx && !self.tx_future_awaited {
                 let _ = DmaTxFuture::new(&mut self.spi_dma.channel.tx).await;
+                self.tx_future_awaited = true;
             }
 
             // As a future enhancement, setup Spi Future in here as well.
 
-            if self.is_rx {
+            if self.is_rx && !self.rx_future_awaited {
                 let _ = DmaRxFuture::new(&mut self.spi_dma.channel.rx).await;
+                self.rx_future_awaited = true;
             }
         }
     }
@@ -1141,12 +1163,7 @@ pub mod dma {
                 return Err((e, self, buffer));
             }
 
-            Ok(SpiDmaTransfer {
-                spi_dma: self,
-                dma_buf: buffer,
-                is_tx: true,
-                is_rx: false,
-            })
+            Ok(SpiDmaTransfer::new(self, buffer, true, false))
         }
 
         /// Perform a DMA read.
@@ -1161,7 +1178,7 @@ pub mod dma {
             buffer: DmaRxBuf,
         ) -> Result<SpiDmaTransfer<'d, T, C, M, DmaMode, DmaRxBuf>, (Error, Self, DmaRxBuf)>
         {
-            let bytes_to_read = buffer.capacity();
+            let bytes_to_read = buffer.len();
             if bytes_to_read > MAX_DMA_SIZE {
                 return Err((Error::MaxDmaTransferSizeExceeded, self, buffer));
             }
@@ -1174,12 +1191,7 @@ pub mod dma {
                 return Err((e, self, buffer));
             }
 
-            Ok(SpiDmaTransfer {
-                spi_dma: self,
-                dma_buf: buffer,
-                is_tx: false,
-                is_rx: true,
-            })
+            Ok(SpiDmaTransfer::new(self, buffer, false, true))
         }
 
         /// Perform a DMA transfer
@@ -1197,7 +1209,7 @@ pub mod dma {
             (Error, Self, DmaTxBuf, DmaRxBuf),
         > {
             let bytes_to_write = tx_buffer.len();
-            let bytes_to_read = rx_buffer.capacity();
+            let bytes_to_read = rx_buffer.len();
 
             if bytes_to_write > MAX_DMA_SIZE || bytes_to_read > MAX_DMA_SIZE {
                 return Err((
@@ -1222,12 +1234,12 @@ pub mod dma {
                 return Err((e, self, tx_buffer, rx_buffer));
             }
 
-            Ok(SpiDmaTransfer {
-                spi_dma: self,
-                dma_buf: (tx_buffer, rx_buffer),
-                is_tx: true,
-                is_rx: true,
-            })
+            Ok(SpiDmaTransfer::new(
+                self,
+                (tx_buffer, rx_buffer),
+                true,
+                true,
+            ))
         }
     }
 
@@ -1250,7 +1262,7 @@ pub mod dma {
             buffer: DmaRxBuf,
         ) -> Result<SpiDmaTransfer<'d, T, C, M, DmaMode, DmaRxBuf>, (Error, Self, DmaRxBuf)>
         {
-            let bytes_to_read = buffer.capacity();
+            let bytes_to_read = buffer.len();
             if bytes_to_read > MAX_DMA_SIZE {
                 return Err((Error::MaxDmaTransferSizeExceeded, self, buffer));
             }
@@ -1313,12 +1325,7 @@ pub mod dma {
                 return Err((e, self, buffer));
             }
 
-            Ok(SpiDmaTransfer {
-                spi_dma: self,
-                dma_buf: buffer,
-                is_tx: false,
-                is_rx: true,
-            })
+            Ok(SpiDmaTransfer::new(self, buffer, false, true))
         }
 
         #[allow(clippy::type_complexity)]
@@ -1395,12 +1402,7 @@ pub mod dma {
                 return Err((e, self, buffer));
             }
 
-            Ok(SpiDmaTransfer {
-                spi_dma: self,
-                dma_buf: buffer,
-                is_tx: true,
-                is_rx: false,
-            })
+            Ok(SpiDmaTransfer::new(self, buffer, true, false))
         }
     }
 

hil-test/tests/spi_full_duplex_async.rs

@@ -0,0 +1,78 @@
+//! SPI Full Duplex Async Test
+//!
+//! Folowing pins are used:
+//! SCLK    GPIO0
+//! MISO    GPIO2
+//! MOSI    GPIO3
+//! CS      GPIO8
+//!
+//! Connect MISO (GPIO2) and MOSI (GPIO3) pins.
+
+//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s3
+
+#![no_std]
+#![no_main]
+
+use defmt_rtt as _;
+use esp_backtrace as _;
+
+#[cfg(test)]
+#[embedded_test::tests(executor = esp_hal_embassy::Executor::new())]
+mod tests {
+    use esp_hal::{
+        clock::ClockControl,
+        dma::{Dma, DmaPriority, DmaRxBuf, DmaTxBuf},
+        dma_buffers,
+        gpio::Io,
+        peripherals::Peripherals,
+        prelude::*,
+        spi::{
+            master::{dma::asynch::SpiDmaAsyncBus, prelude::*, Spi},
+            SpiMode,
+        },
+        system::SystemControl,
+    };
+
+    #[init]
+    async fn init() {}
+
+    #[test]
+    #[timeout(3)]
+    async fn test_transfer() {
+        let peripherals = Peripherals::take();
+        let system = SystemControl::new(peripherals.SYSTEM);
+        let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+        let sclk = io.pins.gpio0;
+        let miso = io.pins.gpio2;
+        let mosi = io.pins.gpio3;
+        let cs = io.pins.gpio8;
+
+        let dma = Dma::new(peripherals.DMA);
+
+        #[cfg(any(feature = "esp32", feature = "esp32s2"))]
+        let dma_channel = dma.spi2channel;
+        #[cfg(not(any(feature = "esp32", feature = "esp32s2")))]
+        let dma_channel = dma.channel0;
+
+        let (tx_buffer, tx_descriptors, rx_buffer, rx_descriptors) = dma_buffers!(4);
+        let dma_tx_buf = DmaTxBuf::new(tx_descriptors, tx_buffer).unwrap();
+        let dma_rx_buf = DmaRxBuf::new(rx_descriptors, rx_buffer).unwrap();
+
+        let spi = Spi::new(peripherals.SPI2, 100.kHz(), SpiMode::Mode0, &clocks)
+            .with_pins(Some(sclk), Some(mosi), Some(miso), Some(cs))
+            .with_dma(dma_channel.configure_for_async(false, DmaPriority::Priority0));
+
+        let mut spi_bus = SpiDmaAsyncBus::new(spi, dma_tx_buf, dma_rx_buf);
+
+        let send_buffer = [0, 1, 2, 3, 4, 5, 6, 7];
+        let mut buffer = [0; 8];
+
+        embedded_hal_async::spi::SpiBus::transfer(&mut spi_bus, &mut buffer, &send_buffer)
+            .await
+            .unwrap();
+
+        assert_eq!(send_buffer, buffer);
+    }
+}