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Wrap errors for embedded-hal trait implementations #30

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merged 3 commits into from
Apr 6, 2024
Merged

Wrap errors for embedded-hal trait implementations #30

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524ca21
Wrap errors for embedded-hal trait implementations
markus-k Apr 4, 2024
4c02e95
Make all methods in `Pin` return `PinError` as the error type
markus-k Apr 5, 2024
5df5f15
Rename `PinError::bus_error` to `driver_error` and add getter
markus-k Apr 5, 2024
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91 changes: 65 additions & 26 deletions src/pin.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -40,14 +40,46 @@ where
self.port_driver.lock(|pd| f(pd))
}
}

/// Error type for [`Pin`] which implements [`embedded_hal::digital::Error`].
#[derive(Debug)]
pub struct PinError<PDE> {
driver_error: PDE,
}

impl<PDE> PinError<PDE> {
/// The upstream port driver error that occurred
pub fn driver_error(&self) -> &PDE {
&self.driver_error
}
}

impl<PDE> hal_digital::Error for PinError<PDE>
where
PDE: core::fmt::Debug,
{
fn kind(&self) -> hal_digital::ErrorKind {
hal_digital::ErrorKind::Other
}
}

impl<PDE> From<PDE> for PinError<PDE> {
fn from(value: PDE) -> Self {
Self {
driver_error: value,
}
}
}

impl<'a, MODE, MUTEX, PD> ErrorType for Pin<'a, MODE, MUTEX>
where
PD: crate::PortDriver + crate::PortDriverTotemPole,
PD::Error: embedded_hal::digital::Error,
PD::Error: core::fmt::Debug,
MUTEX: crate::PortMutex<Port = PD>,
{
type Error = PD::Error;
type Error = PinError<PD::Error>;
}

impl<'a, MODE, MUTEX, PD> Pin<'a, MODE, MUTEX>
where
PD: crate::PortDriver + crate::PortDriverTotemPole,
Expand All @@ -56,7 +88,7 @@ where
/// Configure this pin as an input.
///
/// The exact electrical details depend on the port-expander device which is used.
pub fn into_input(self) -> Result<Pin<'a, crate::mode::Input, MUTEX>, PD::Error> {
pub fn into_input(self) -> Result<Pin<'a, crate::mode::Input, MUTEX>, PinError<PD::Error>> {
self.port_driver
.lock(|drv| drv.set_direction(self.pin_mask, crate::Direction::Input, false))?;
Ok(Pin {
Expand All @@ -70,7 +102,7 @@ where
///
/// The LOW state is, as long as he port-expander chip allows this, entered without any
/// electrical glitch.
pub fn into_output(self) -> Result<Pin<'a, crate::mode::Output, MUTEX>, PD::Error> {
pub fn into_output(self) -> Result<Pin<'a, crate::mode::Output, MUTEX>, PinError<PD::Error>> {
self.port_driver
.lock(|drv| drv.set_direction(self.pin_mask, crate::Direction::Output, false))?;
Ok(Pin {
Expand All @@ -84,7 +116,9 @@ where
///
/// The HIGH state is, as long as he port-expander chip allows this, entered without any
/// electrical glitch.
pub fn into_output_high(self) -> Result<Pin<'a, crate::mode::Output, MUTEX>, PD::Error> {
pub fn into_output_high(
self,
) -> Result<Pin<'a, crate::mode::Output, MUTEX>, PinError<PD::Error>> {
self.port_driver
.lock(|drv| drv.set_direction(self.pin_mask, crate::Direction::Output, true))?;
Ok(Pin {
Expand All @@ -101,14 +135,14 @@ where
MUTEX: crate::PortMutex<Port = PD>,
{
/// Turn on hardware polarity inversion for this pin.
pub fn into_inverted(self) -> Result<Self, PD::Error> {
pub fn into_inverted(self) -> Result<Self, PinError<PD::Error>> {
self.port_driver
.lock(|drv| drv.set_polarity(self.pin_mask, true))?;
Ok(self)
}

/// Set hardware polarity inversion for this pin.
pub fn set_inverted(&mut self, inverted: bool) -> Result<(), PD::Error> {
pub fn set_inverted(&mut self, inverted: bool) -> Result<(), PinError<PD::Error>> {
self.port_driver
.lock(|drv| drv.set_polarity(self.pin_mask, inverted))?;
Ok(())
Expand All @@ -121,13 +155,13 @@ where
MUTEX: crate::PortMutex<Port = PD>,
{
/// Read the pin's input state and return `true` if it is HIGH.
pub fn is_high(&self) -> Result<bool, PD::Error> {
pub fn is_high(&self) -> Result<bool, PinError<PD::Error>> {
self.port_driver
.lock(|drv| Ok(drv.get(self.pin_mask, 0)? == self.pin_mask))
}

/// Read the pin's input state and return `true` if it is LOW.
pub fn is_low(&self) -> Result<bool, PD::Error> {
pub fn is_low(&self) -> Result<bool, PinError<PD::Error>> {
self.port_driver
.lock(|drv| Ok(drv.get(0, self.pin_mask)? == self.pin_mask))
}
Expand All @@ -141,9 +175,10 @@ where
/// Enable/Disable pull-up resistors for this pin.
///
/// If `enable` is `true`, the pull-up resistor is enabled, otherwise the pin is configured as floating input.
pub fn enable_pull_up(&mut self, enable: bool) -> Result<(), PD::Error> {
pub fn enable_pull_up(&mut self, enable: bool) -> Result<(), PinError<PD::Error>> {
self.port_driver
.lock(|drv| drv.set_pull_up(self.pin_mask, enable))
.lock(|drv| drv.set_pull_up(self.pin_mask, enable))?;
Ok(())
}
}

Expand All @@ -155,23 +190,24 @@ where
/// Enable/Disable pull-down resistors for this pin.
///
/// If `enable` is `true`, the pull-down resistor is enabled, otherwise the pin is configured as floating input.
pub fn enable_pull_down(&mut self, enable: bool) -> Result<(), PD::Error> {
pub fn enable_pull_down(&mut self, enable: bool) -> Result<(), PinError<PD::Error>> {
self.port_driver
.lock(|drv| drv.set_pull_down(self.pin_mask, enable))
.lock(|drv| drv.set_pull_down(self.pin_mask, enable))?;
Ok(())
}
}

impl<'a, MODE: crate::mode::HasInput, MUTEX, PD> hal_digital::InputPin for Pin<'a, MODE, MUTEX>
where
PD: crate::PortDriver + crate::PortDriverTotemPole,
<PD as crate::PortDriver>::Error: embedded_hal::digital::Error,
<PD as crate::PortDriver>::Error: core::fmt::Debug,
MUTEX: crate::PortMutex<Port = PD>,
{
fn is_high(&mut self) -> Result<bool, <PD as crate::PortDriver>::Error> {
fn is_high(&mut self) -> Result<bool, Self::Error> {
Pin::is_high(self)
}

fn is_low(&mut self) -> Result<bool, <PD as crate::PortDriver>::Error> {
fn is_low(&mut self) -> Result<bool, Self::Error> {
Pin::is_low(self)
}
}
Expand All @@ -184,43 +220,46 @@ where
/// Set the pin's output state to HIGH.
///
/// Note that this can have different electrical meanings depending on the port-expander chip.
pub fn set_high(&mut self) -> Result<(), PD::Error> {
self.port_driver.lock(|drv| drv.set(self.pin_mask, 0))
pub fn set_high(&mut self) -> Result<(), PinError<PD::Error>> {
self.port_driver.lock(|drv| drv.set(self.pin_mask, 0))?;
Ok(())
}

/// Set the pin's output state to LOW.
///
/// Note that this can have different electrical meanings depending on the port-expander chip.
pub fn set_low(&mut self) -> Result<(), PD::Error> {
self.port_driver.lock(|drv| drv.set(0, self.pin_mask))
pub fn set_low(&mut self) -> Result<(), PinError<PD::Error>> {
self.port_driver.lock(|drv| drv.set(0, self.pin_mask))?;
Ok(())
}

/// Return `true` if the pin's output state is HIGH.
///
/// This method does **not** read the pin's electrical state.
pub fn is_set_high(&self) -> Result<bool, PD::Error> {
pub fn is_set_high(&self) -> Result<bool, PinError<PD::Error>> {
self.port_driver
.lock(|drv| Ok(drv.is_set(self.pin_mask, 0)? == self.pin_mask))
}

/// Return `true` if the pin's output state is LOW.
///
/// This method does **not** read the pin's electrical state.
pub fn is_set_low(&self) -> Result<bool, PD::Error> {
pub fn is_set_low(&self) -> Result<bool, PinError<PD::Error>> {
self.port_driver
.lock(|drv| Ok(drv.is_set(0, self.pin_mask)? == self.pin_mask))
}

/// Toggle the pin's output state.
pub fn toggle(&mut self) -> Result<(), PD::Error> {
self.port_driver.lock(|drv| drv.toggle(self.pin_mask))
pub fn toggle(&mut self) -> Result<(), PinError<PD::Error>> {
self.port_driver.lock(|drv| drv.toggle(self.pin_mask))?;
Ok(())
}
}

impl<'a, MODE: crate::mode::HasOutput, MUTEX, PD> hal_digital::OutputPin for Pin<'a, MODE, MUTEX>
where
PD: crate::PortDriver + crate::PortDriverTotemPole,
<PD as crate::PortDriver>::Error: embedded_hal::digital::Error,
<PD as crate::PortDriver>::Error: core::fmt::Debug,
MUTEX: crate::PortMutex<Port = PD>,
{
fn set_low(&mut self) -> Result<(), Self::Error> {
Expand All @@ -236,7 +275,7 @@ impl<'a, MODE: crate::mode::HasOutput, MUTEX, PD> hal_digital::StatefulOutputPin
for Pin<'a, MODE, MUTEX>
where
PD: crate::PortDriver + crate::PortDriverTotemPole,
<PD as crate::PortDriver>::Error: embedded_hal::digital::Error,
<PD as crate::PortDriver>::Error: core::fmt::Debug,
MUTEX: crate::PortMutex<Port = PD>,
{
fn is_set_high(&mut self) -> Result<bool, Self::Error> {
Expand Down
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