1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197

use crate::adc;
use crate::can;
use crate::gpio;
use crate::i2c;
#[cfg(esp_idf_soc_i2s_supported)]
use crate::i2s;
use crate::ledc;
#[cfg(any(all(esp32, esp_idf_eth_use_esp32_emac), esp_idf_eth_use_openeth))]
use crate::mac;
use crate::modem;
#[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
use crate::pcnt;
use crate::rmt;
use crate::spi;
#[cfg(any(
    all(
        not(any(esp_idf_version_major = "4", esp_idf_version = "5.0")),
        esp_idf_esp_task_wdt_en
    ),
    any(esp_idf_version_major = "4", esp_idf_version = "5.0")
))]
use crate::task::watchdog;
use crate::timer;
use crate::uart;
#[cfg(all(
    any(esp32, esp32s2, esp32s3, esp32c6, esp32p4),
    esp_idf_comp_ulp_enabled
))]
use crate::ulp;

pub struct Peripherals {
    pub pins: gpio::Pins,
    pub uart0: uart::UART0,
    pub uart1: uart::UART1,
    #[cfg(any(esp32, esp32s3))]
    pub uart2: uart::UART2,
    pub i2c0: i2c::I2C0,
    #[cfg(not(any(esp32c3, esp32c2, esp32c6)))]
    pub i2c1: i2c::I2C1,
    #[cfg(esp_idf_soc_i2s_supported)]
    pub i2s0: i2s::I2S0,
    #[cfg(all(esp_idf_soc_i2s_supported, any(esp32, esp32s3)))]
    pub i2s1: i2s::I2S1,
    pub spi1: spi::SPI1,
    pub spi2: spi::SPI2,
    #[cfg(any(esp32, esp32s2, esp32s3))]
    pub spi3: spi::SPI3,
    pub adc1: adc::ADC1,
    #[cfg(any(esp32, esp32s2, esp32s3, esp32c3))]
    pub adc2: adc::ADC2,
    // TODO: Check the pulse counter story for c2, h2, c5, and p4
    #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
    pub pcnt0: pcnt::PCNT0,
    #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
    pub pcnt1: pcnt::PCNT1,
    #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
    pub pcnt2: pcnt::PCNT2,
    #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
    pub pcnt3: pcnt::PCNT3,
    #[cfg(esp32)]
    pub pcnt4: pcnt::PCNT4,
    #[cfg(esp32)]
    pub pcnt5: pcnt::PCNT5,
    #[cfg(esp32)]
    pub pcnt6: pcnt::PCNT6,
    #[cfg(esp32)]
    pub pcnt7: pcnt::PCNT7,
    #[cfg(all(esp32, esp_idf_version_major = "4"))]
    pub hall_sensor: crate::hall::HallSensor,
    pub can: can::CAN,
    pub ledc: ledc::LEDC,
    #[cfg(esp32)]
    pub hledc: ledc::HLEDC,
    pub rmt: rmt::RMT,
    #[cfg(all(
        any(esp32, esp32s2, esp32s3, esp32c6, esp32p4),
        esp_idf_comp_ulp_enabled
    ))]
    pub ulp: ulp::ULP,
    #[cfg(any(all(esp32, esp_idf_eth_use_esp32_emac), esp_idf_eth_use_openeth))]
    pub mac: mac::MAC,
    pub modem: modem::Modem,
    // TODO: Check the timer story for c2, h2, c5, c6, and p4
    pub timer00: timer::TIMER00,
    #[cfg(any(esp32, esp32s2, esp32s3))]
    pub timer01: timer::TIMER01,
    #[cfg(not(esp32c2))]
    pub timer10: timer::TIMER10,
    #[cfg(any(esp32, esp32s2, esp32s3))]
    pub timer11: timer::TIMER11,
    #[cfg(any(
        all(
            not(any(esp_idf_version_major = "4", esp_idf_version = "5.0")),
            esp_idf_esp_task_wdt_en
        ),
        any(esp_idf_version_major = "4", esp_idf_version = "5.0")
    ))]
    pub twdt: watchdog::TWDT,
}

static TAKEN: core::sync::atomic::AtomicBool = core::sync::atomic::AtomicBool::new(false);
static TAKEN_CS: crate::task::CriticalSection = crate::task::CriticalSection::new();

impl Peripherals {
    pub fn take() -> Result<Self, crate::sys::EspError> {
        if TAKEN.load(core::sync::atomic::Ordering::SeqCst) {
            Err(crate::sys::EspError::from_infallible::<
                { crate::sys::ESP_ERR_INVALID_STATE },
            >())
        } else {
            let _guard = TAKEN_CS.enter();

            if !TAKEN.load(core::sync::atomic::Ordering::SeqCst) {
                TAKEN.store(true, core::sync::atomic::Ordering::SeqCst);

                Ok(unsafe { Peripherals::new() })
            } else {
                Err(crate::sys::EspError::from_infallible::<
                    { crate::sys::ESP_ERR_INVALID_STATE },
                >())
            }
        }
    }

    /// # Safety
    ///
    /// Care should be taken not to instantiate the Peripherals structure, if it is already instantiated and used elsewhere
    pub unsafe fn new() -> Self {
        Self {
            pins: gpio::Pins::new(),
            uart0: uart::UART0::new(),
            uart1: uart::UART1::new(),
            #[cfg(any(esp32, esp32s3))]
            uart2: uart::UART2::new(),
            i2c0: i2c::I2C0::new(),
            #[cfg(not(any(esp32c3, esp32c2, esp32c6)))]
            i2c1: i2c::I2C1::new(),
            #[cfg(esp_idf_soc_i2s_supported)]
            i2s0: i2s::I2S0::new(),
            #[cfg(all(esp_idf_soc_i2s_supported, any(esp32, esp32s3)))]
            i2s1: i2s::I2S1::new(),
            spi1: spi::SPI1::new(),
            spi2: spi::SPI2::new(),
            #[cfg(any(esp32, esp32s2, esp32s3))]
            spi3: spi::SPI3::new(),
            adc1: adc::ADC1::new(),
            #[cfg(any(esp32, esp32s2, esp32s3, esp32c3))]
            adc2: adc::ADC2::new(),
            #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
            pcnt0: pcnt::PCNT0::new(),
            #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
            pcnt1: pcnt::PCNT1::new(),
            #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
            pcnt2: pcnt::PCNT2::new(),
            #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
            pcnt3: pcnt::PCNT3::new(),
            #[cfg(esp32)]
            pcnt4: pcnt::PCNT4::new(),
            #[cfg(esp32)]
            pcnt5: pcnt::PCNT5::new(),
            #[cfg(esp32)]
            pcnt6: pcnt::PCNT6::new(),
            #[cfg(esp32)]
            pcnt7: pcnt::PCNT7::new(),
            #[cfg(all(esp32, esp_idf_version_major = "4"))]
            hall_sensor: crate::hall::HallSensor::new(),
            can: can::CAN::new(),
            ledc: ledc::LEDC::new(),
            #[cfg(esp32)]
            hledc: ledc::HLEDC::new(),
            rmt: rmt::RMT::new(),
            #[cfg(all(
                any(esp32, esp32s2, esp32s3, esp32c6, esp32p4),
                esp_idf_comp_ulp_enabled
            ))]
            ulp: ulp::ULP::new(),
            #[cfg(any(all(esp32, esp_idf_eth_use_esp32_emac), esp_idf_eth_use_openeth))]
            mac: mac::MAC::new(),
            modem: modem::Modem::new(),
            timer00: timer::TIMER00::new(),
            #[cfg(any(esp32, esp32s2, esp32s3))]
            timer01: timer::TIMER01::new(),
            #[cfg(not(esp32c2))]
            timer10: timer::TIMER10::new(),
            #[cfg(any(esp32, esp32s2, esp32s3))]
            timer11: timer::TIMER11::new(),
            #[cfg(any(
                all(
                    not(any(esp_idf_version_major = "4", esp_idf_version = "5.0")),
                    esp_idf_esp_task_wdt_en
                ),
                any(esp_idf_version_major = "4", esp_idf_version = "5.0")
            ))]
            twdt: watchdog::TWDT::new(),
        }
    }
}