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restore original public API of timer, but keep new PAC

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This commit is contained in:
eZio Pan 2024-02-02 17:45:51 +08:00 committed by Dario Nieuwenhuis
parent b3cdf3a040
commit 6c690ab259
5 changed files with 274 additions and 339 deletions
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41
embassy-stm32/src/timer/complementary_pwm.rs
View File

@ -1,7 +1,6 @@
//! PWM driver with complementary output support.
use core::marker::PhantomData;
use core::ops::{Deref, DerefMut};
use embassy_hal_internal::{into_ref, PeripheralRef};
use stm32_metapac::timer::vals::Ckd;
@ -24,7 +23,7 @@ pub struct ComplementaryPwmPin<'d, T, C> {
macro_rules! complementary_channel_impl {
($new_chx:ident, $channel:ident, $pin_trait:ident) => {
impl<'d, T: AdvancedControlInstance> ComplementaryPwmPin<'d, T, $channel> {
impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwmPin<'d, T, $channel> {
#[doc = concat!("Create a new ", stringify!($channel), " complementary PWM pin instance.")]
pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd, output_type: OutputType) -> Self {
into_ref!(pin);
@ -53,7 +52,7 @@ pub struct ComplementaryPwm<'d, T> {
inner: PeripheralRef<'d, T>,
}
impl<'d, T: AdvancedControlInstance> ComplementaryPwm<'d, T> {
impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
/// Create a new complementary PWM driver.
#[allow(clippy::too_many_arguments)]
pub fn new(
@ -88,12 +87,8 @@ impl<'d, T: AdvancedControlInstance> ComplementaryPwm<'d, T> {
[Channel::Ch1, Channel::Ch2, Channel::Ch3, Channel::Ch4]
.iter()
.for_each(|&channel| {
sealed::GeneralPurpose16bitInstance::set_output_compare_mode(
this.inner.deref_mut(),
channel,
OutputCompareMode::PwmMode1,
);
sealed::GeneralPurpose16bitInstance::set_output_compare_preload(this.inner.deref_mut(), channel, true);
this.inner.set_output_compare_mode(channel, OutputCompareMode::PwmMode1);
this.inner.set_output_compare_preload(channel, true);
});
this
@ -101,14 +96,14 @@ impl<'d, T: AdvancedControlInstance> ComplementaryPwm<'d, T> {
/// Enable the given channel.
pub fn enable(&mut self, channel: Channel) {
sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, true);
sealed::AdvancedControlInstance::enable_complementary_channel(self.inner.deref_mut(), channel, true);
self.inner.enable_channel(channel, true);
self.inner.enable_complementary_channel(channel, true);
}
/// Disable the given channel.
pub fn disable(&mut self, channel: Channel) {
sealed::AdvancedControlInstance::enable_complementary_channel(self.inner.deref_mut(), channel, false);
sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, false);
self.inner.enable_complementary_channel(channel, false);
self.inner.enable_channel(channel, false);
}
/// Set PWM frequency.
@ -136,13 +131,13 @@ impl<'d, T: AdvancedControlInstance> ComplementaryPwm<'d, T> {
/// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included.
pub fn set_duty(&mut self, channel: Channel, duty: u16) {
assert!(duty <= self.get_max_duty());
sealed::GeneralPurpose16bitInstance::set_compare_value(self.inner.deref_mut(), channel, duty)
self.inner.set_compare_value(channel, duty)
}
/// Set the output polarity for a given channel.
pub fn set_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
sealed::GeneralPurpose16bitInstance::set_output_polarity(self.inner.deref_mut(), channel, polarity);
sealed::AdvancedControlInstance::set_complementary_output_polarity(self.inner.deref_mut(), channel, polarity);
self.inner.set_output_polarity(channel, polarity);
self.inner.set_complementary_output_polarity(channel, polarity);
}
/// Set the dead time as a proportion of max_duty
@ -154,19 +149,19 @@ impl<'d, T: AdvancedControlInstance> ComplementaryPwm<'d, T> {
}
}
impl<'d, T: AdvancedControlInstance> embedded_hal_02::Pwm for ComplementaryPwm<'d, T> {
impl<'d, T: ComplementaryCaptureCompare16bitInstance> embedded_hal_02::Pwm for ComplementaryPwm<'d, T> {
type Channel = Channel;
type Time = Hertz;
type Duty = u16;
fn disable(&mut self, channel: Self::Channel) {
sealed::AdvancedControlInstance::enable_complementary_channel(self.inner.deref_mut(), channel, false);
sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, false);
self.inner.enable_complementary_channel(channel, false);
self.inner.enable_channel(channel, false);
}
fn enable(&mut self, channel: Self::Channel) {
sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, true);
sealed::AdvancedControlInstance::enable_complementary_channel(self.inner.deref_mut(), channel, true);
self.inner.enable_channel(channel, true);
self.inner.enable_complementary_channel(channel, true);
}
fn get_period(&self) -> Self::Time {
@ -174,7 +169,7 @@ impl<'d, T: AdvancedControlInstance> embedded_hal_02::Pwm for ComplementaryPwm<'
}
fn get_duty(&self, channel: Self::Channel) -> Self::Duty {
sealed::GeneralPurpose16bitInstance::get_compare_value(self.inner.deref(), channel)
self.inner.get_compare_value(channel)
}
fn get_max_duty(&self) -> Self::Duty {
@ -183,7 +178,7 @@ impl<'d, T: AdvancedControlInstance> embedded_hal_02::Pwm for ComplementaryPwm<'
fn set_duty(&mut self, channel: Self::Channel, duty: Self::Duty) {
assert!(duty <= self.get_max_duty());
sealed::GeneralPurpose16bitInstance::set_compare_value(self.inner.deref_mut(), channel, duty)
self.inner.set_compare_value(channel, duty)
}
fn set_period<P>(&mut self, period: P)

525
embassy-stm32/src/timer/mod.rs
View File

@ -1,6 +1,8 @@
//! Timers, PWM, quadrature decoder.
// Timer inheritance
//! Timer inheritance
// sealed:
//
// Core -------------------------> 1CH -------------------------> 1CH_CMP
// | | ^ |
@ -12,7 +14,18 @@
// | +--------------------------------------|-----------+
// +----------------------------------------------------+
#[cfg(not(any(stm32l0, stm32l1)))]
//! BasicInstance --> CaptureCompare16bitInstance --+--> ComplementaryCaptureCompare16bitInstance
//! |
//! +--> CaptureCompare32bitInstance
//!
//! mapping:
//!
//! Basic Timer --> BasicInstance
//! 1-channel Timer, 2-channel Timer, General Purpose 16-bit Timer --> CaptureCompare16bitInstance
//! General Purpose 32-bit Timer --> CaptureCompare32bitInstance
//! 1-channel with one complentary Timer, 2-channel with one complentary Timer, Advance Control Timer --> ComplementaryCaptureCompare16bitInstance
#[cfg(not(stm32l0))]
pub mod complementary_pwm;
pub mod qei;
pub mod simple_pwm;
@ -32,157 +45,6 @@ pub mod low_level {
pub(crate) mod sealed {
use super::*;
macro_rules! add_capture_compare_common_methods {
($regs:ident) => {
/// Set input capture filter.
fn set_input_capture_filter(&mut self, channel: Channel, icf: vals::FilterValue) {
let raw_channel = channel.index();
Self::$regs()
.ccmr_input(raw_channel / 2)
.modify(|r| r.set_icf(raw_channel % 2, icf));
}
/// Clear input interrupt.
fn clear_input_interrupt(&mut self, channel: Channel) {
Self::$regs().sr().modify(|r| r.set_ccif(channel.index(), false));
}
/// Enable input interrupt.
fn enable_input_interrupt(&mut self, channel: Channel, enable: bool) {
Self::$regs()
.dier()
.modify(|r| r.set_ccie(channel.index(), enable));
}
/// Set input capture prescaler.
fn set_input_capture_prescaler(&mut self, channel: Channel, factor: u8) {
let raw_channel = channel.index();
Self::$regs()
.ccmr_input(raw_channel / 2)
.modify(|r| r.set_icpsc(raw_channel % 2, factor));
}
/// Set input TI selection.
fn set_input_ti_selection(&mut self, channel: Channel, tisel: InputTISelection) {
let raw_channel = channel.index();
Self::$regs()
.ccmr_input(raw_channel / 2)
.modify(|r| r.set_ccs(raw_channel % 2, tisel.into()));
}
/// Set input capture mode.
fn set_input_capture_mode(&mut self, channel: Channel, mode: InputCaptureMode) {
Self::$regs().ccer().modify(|r| match mode {
InputCaptureMode::Rising => {
r.set_ccnp(channel.index(), false);
r.set_ccp(channel.index(), false);
}
InputCaptureMode::Falling => {
r.set_ccnp(channel.index(), false);
r.set_ccp(channel.index(), true);
}
InputCaptureMode::BothEdges => {
r.set_ccnp(channel.index(), true);
r.set_ccp(channel.index(), true);
}
});
}
/// Set output compare mode.
fn set_output_compare_mode(&mut self, channel: Channel, mode: OutputCompareMode) {
let raw_channel: usize = channel.index();
Self::$regs()
.ccmr_output(raw_channel / 2)
.modify(|w| w.set_ocm(raw_channel % 2, mode.into()));
}
/// Set output polarity.
fn set_output_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
Self::$regs()
.ccer()
.modify(|w| w.set_ccp(channel.index(), polarity.into()));
}
/// Enable/disable a channel.
fn enable_channel(&mut self, channel: Channel, enable: bool) {
Self::$regs()
.ccer()
.modify(|w| w.set_cce(channel.index(), enable));
}
/// Get enable/disable state of a channel
fn get_channel_enable_state(&self, channel: Channel) -> bool {
Self::$regs().ccer().read().cce(channel.index())
}
/// Set compare value for a channel.
fn set_compare_value(&mut self, channel: Channel, value: u16) {
Self::$regs().ccr(channel.index()).modify(|w| w.set_ccr(value));
}
/// Get capture value for a channel.
fn get_capture_value(&mut self, channel: Channel) -> u16 {
Self::$regs().ccr(channel.index()).read().ccr()
}
/// Get compare value for a channel.
fn get_compare_value(&self, channel: Channel) -> u16 {
Self::$regs().ccr(channel.index()).read().ccr()
}
/// Set output compare preload.
fn set_output_compare_preload(&mut self, channel: Channel, preload: bool) {
let channel_index = channel.index();
Self::$regs()
.ccmr_output(channel_index / 2)
.modify(|w| w.set_ocpe(channel_index % 2, preload));
}
};
}
macro_rules! add_capture_compare_dma_methods {
($regs:ident) => {
/// Get capture compare DMA selection
fn get_cc_dma_selection(&self) -> super::vals::Ccds {
Self::$regs().cr2().read().ccds()
}
/// Set capture compare DMA selection
fn set_cc_dma_selection(&mut self, ccds: super::vals::Ccds) {
Self::$regs().cr2().modify(|w| w.set_ccds(ccds))
}
/// Get capture compare DMA enable state
fn get_cc_dma_enable_state(&self, channel: Channel) -> bool {
Self::$regs().dier().read().ccde(channel.index())
}
/// Set capture compare DMA enable state
fn set_cc_dma_enable_state(&mut self, channel: Channel, ccde: bool) {
Self::$regs().dier().modify(|w| w.set_ccde(channel.index(), ccde))
}
};
}
#[cfg(not(any(stm32l0, stm32l1)))]
macro_rules! add_complementary_capture_compare_methods {
($regs:ident) => {
/// Set complementary output polarity.
fn set_complementary_output_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
Self::$regs()
.ccer()
.modify(|w| w.set_ccnp(channel.index(), polarity.into()));
}
/// Enable/disable a complementary channel.
fn enable_complementary_channel(&mut self, channel: Channel, enable: bool) {
Self::$regs()
.ccer()
.modify(|w| w.set_ccne(channel.index(), enable));
}
};
}
/// Virtual Core 16-bit timer instance.
pub trait CoreInstance: RccPeripheral {
/// Interrupt for this timer.
@ -326,8 +188,6 @@ pub(crate) mod sealed {
fn get_max_compare_value(&self) -> u16 {
Self::regs_1ch().arr().read().arr()
}
add_capture_compare_common_methods!(regs_1ch);
}
/// Gneral-purpose 1 channel 16-bit timer instance.
@ -339,8 +199,6 @@ pub(crate) mod sealed {
/// for a given set of capabilities, and having it transparently work with
/// more capable timers.
fn regs_2ch() -> crate::pac::timer::Tim2ch;
add_capture_compare_common_methods!(regs_2ch);
}
/// Gneral-purpose 16-bit timer instance.
@ -372,11 +230,128 @@ pub(crate) mod sealed {
(cr1.cms(), cr1.dir()).into()
}
add_capture_compare_common_methods!(regs_gp16);
add_capture_compare_dma_methods!(regs_gp16);
/// Set input capture filter.
fn set_input_capture_filter(&mut self, channel: Channel, icf: vals::FilterValue) {
let raw_channel = channel.index();
Self::regs_gp16()
.ccmr_input(raw_channel / 2)
.modify(|r| r.set_icf(raw_channel % 2, icf));
}
#[cfg(not(any(stm32f1, stm32l0, stm32c0)))]
/// Clear input interrupt.
fn clear_input_interrupt(&mut self, channel: Channel) {
Self::regs_gp16().sr().modify(|r| r.set_ccif(channel.index(), false));
}
/// Enable input interrupt.
fn enable_input_interrupt(&mut self, channel: Channel, enable: bool) {
Self::regs_gp16().dier().modify(|r| r.set_ccie(channel.index(), enable));
}
/// Set input capture prescaler.
fn set_input_capture_prescaler(&mut self, channel: Channel, factor: u8) {
let raw_channel = channel.index();
Self::regs_gp16()
.ccmr_input(raw_channel / 2)
.modify(|r| r.set_icpsc(raw_channel % 2, factor));
}
/// Set input TI selection.
fn set_input_ti_selection(&mut self, channel: Channel, tisel: InputTISelection) {
let raw_channel = channel.index();
Self::regs_gp16()
.ccmr_input(raw_channel / 2)
.modify(|r| r.set_ccs(raw_channel % 2, tisel.into()));
}
/// Set input capture mode.
fn set_input_capture_mode(&mut self, channel: Channel, mode: InputCaptureMode) {
Self::regs_gp16().ccer().modify(|r| match mode {
InputCaptureMode::Rising => {
r.set_ccnp(channel.index(), false);
r.set_ccp(channel.index(), false);
}
InputCaptureMode::Falling => {
r.set_ccnp(channel.index(), false);
r.set_ccp(channel.index(), true);
}
InputCaptureMode::BothEdges => {
r.set_ccnp(channel.index(), true);
r.set_ccp(channel.index(), true);
}
});
}
/// Set output compare mode.
fn set_output_compare_mode(&mut self, channel: Channel, mode: OutputCompareMode) {
let raw_channel: usize = channel.index();
Self::regs_gp16()
.ccmr_output(raw_channel / 2)
.modify(|w| w.set_ocm(raw_channel % 2, mode.into()));
}
/// Set output polarity.
fn set_output_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
Self::regs_gp16()
.ccer()
.modify(|w| w.set_ccp(channel.index(), polarity.into()));
}
/// Enable/disable a channel.
fn enable_channel(&mut self, channel: Channel, enable: bool) {
Self::regs_gp16().ccer().modify(|w| w.set_cce(channel.index(), enable));
}
/// Get enable/disable state of a channel
fn get_channel_enable_state(&self, channel: Channel) -> bool {
Self::regs_gp16().ccer().read().cce(channel.index())
}
/// Set compare value for a channel.
fn set_compare_value(&mut self, channel: Channel, value: u16) {
Self::regs_gp16().ccr(channel.index()).modify(|w| w.set_ccr(value));
}
/// Get capture value for a channel.
fn get_capture_value(&mut self, channel: Channel) -> u16 {
Self::regs_gp16().ccr(channel.index()).read().ccr()
}
/// Get compare value for a channel.
fn get_compare_value(&self, channel: Channel) -> u16 {
Self::regs_gp16().ccr(channel.index()).read().ccr()
}
/// Set output compare preload.
fn set_output_compare_preload(&mut self, channel: Channel, preload: bool) {
let channel_index = channel.index();
Self::regs_gp16()
.ccmr_output(channel_index / 2)
.modify(|w| w.set_ocpe(channel_index % 2, preload));
}
/// Get capture compare DMA selection
fn get_cc_dma_selection(&self) -> super::vals::Ccds {
Self::regs_gp16().cr2().read().ccds()
}
/// Set capture compare DMA selection
fn set_cc_dma_selection(&mut self, ccds: super::vals::Ccds) {
Self::regs_gp16().cr2().modify(|w| w.set_ccds(ccds))
}
/// Get capture compare DMA enable state
fn get_cc_dma_enable_state(&self, channel: Channel) -> bool {
Self::regs_gp16().dier().read().ccde(channel.index())
}
/// Set capture compare DMA enable state
fn set_cc_dma_enable_state(&mut self, channel: Channel, ccde: bool) {
Self::regs_gp16().dier().modify(|w| w.set_ccde(channel.index(), ccde))
}
}
#[cfg(not(stm32l0))]
/// Gneral-purpose 32-bit timer instance.
pub trait GeneralPurpose32bitInstance: GeneralPurpose16bitInstance {
/// Get access to the general purpose 32bit timer registers.
@ -437,7 +412,7 @@ pub(crate) mod sealed {
}
}
#[cfg(not(any(stm32l0, stm32l1)))]
#[cfg(not(stm32l0))]
/// Gneral-purpose 1 channel with one complementary 16-bit timer instance.
pub trait GeneralPurpose1ChannelComplementaryInstance: BasicNoCr2Instance + GeneralPurpose1ChannelInstance {
/// Get access to the general purpose 1 channel with one complementary 16bit timer registers.
@ -462,11 +437,9 @@ pub(crate) mod sealed {
fn enable_outputs(&mut self) {
Self::regs_1ch_cmp().bdtr().modify(|w| w.set_moe(true));
}
add_complementary_capture_compare_methods!(regs_1ch_cmp);
}
#[cfg(not(any(stm32l0, stm32l1)))]
#[cfg(not(stm32l0))]
/// Gneral-purpose 2 channel with one complementary 16-bit timer instance.
pub trait GeneralPurpose2ChannelComplementaryInstance:
BasicInstance + GeneralPurpose2ChannelInstance + GeneralPurpose1ChannelComplementaryInstance
@ -478,11 +451,9 @@ pub(crate) mod sealed {
/// for a given set of capabilities, and having it transparently work with
/// more capable timers.
fn regs_2ch_cmp() -> crate::pac::timer::Tim2chCmp;
add_complementary_capture_compare_methods!(regs_2ch_cmp);
}
#[cfg(not(any(stm32l0, stm32l1)))]
#[cfg(not(stm32l0))]
/// Advanced control timer instance.
pub trait AdvancedControlInstance:
GeneralPurpose2ChannelComplementaryInstance + GeneralPurpose16bitInstance
@ -490,7 +461,19 @@ pub(crate) mod sealed {
/// Get access to the advanced timer registers.
fn regs_advanced() -> crate::pac::timer::TimAdv;
add_complementary_capture_compare_methods!(regs_advanced);
/// Set complementary output polarity.
fn set_complementary_output_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
Self::regs_advanced()
.ccer()
.modify(|w| w.set_ccnp(channel.index(), polarity.into()));
}
/// Enable/disable a complementary channel.
fn enable_complementary_channel(&mut self, channel: Channel, enable: bool) {
Self::regs_advanced()
.ccer()
.modify(|w| w.set_ccne(channel.index(), enable));
}
}
}
@ -681,96 +664,66 @@ impl From<OutputPolarity> for bool {
}
}
/// Virtual Core 16-bit timer instance.
pub trait CoreInstance: sealed::CoreInstance + 'static {}
/// Virtual Basic 16-bit timer without CR2 register instance.
pub trait BasicNoCr2Instance: sealed::BasicNoCr2Instance + CoreInstance + 'static {}
/// Basic 16-bit timer instance.
pub trait BasicInstance: sealed::BasicInstance + BasicNoCr2Instance + 'static {}
/// 1 channel 16-bit instance.
pub trait GeneralPurpose1ChannelInstance: sealed::GeneralPurpose1ChannelInstance + CoreInstance + 'static {}
/// 2 channel 16-bit instance.
pub trait GeneralPurpose2ChannelInstance:
sealed::GeneralPurpose2ChannelInstance + GeneralPurpose1ChannelInstance + 'static
{
}
pub trait BasicInstance: sealed::BasicInstance + sealed::BasicNoCr2Instance + sealed::CoreInstance + 'static {}
/// General-purpose 16-bit timer instance.
pub trait GeneralPurpose16bitInstance:
sealed::GeneralPurpose16bitInstance + BasicInstance + GeneralPurpose2ChannelInstance + 'static
{
}
#[cfg(not(any(stm32f1, stm32l0, stm32c0)))]
/// Gneral-purpose 32-bit timer instance.
pub trait GeneralPurpose32bitInstance:
sealed::GeneralPurpose32bitInstance + GeneralPurpose16bitInstance + 'static
{
}
#[cfg(not(any(stm32l0, stm32l1)))]
/// General-purpose 1 channel with one complementary 16-bit timer instance.
pub trait GeneralPurpose1ChannelComplementaryInstance:
sealed::GeneralPurpose1ChannelComplementaryInstance + GeneralPurpose1ChannelInstance + 'static
{
}
#[cfg(not(any(stm32l0, stm32l1)))]
/// General-purpose 2 channel with one complementary 16-bit timer instance.
pub trait GeneralPurpose2ChannelComplementaryInstance:
sealed::GeneralPurpose2ChannelComplementaryInstance
+ BasicInstance
+ GeneralPurpose2ChannelInstance
+ GeneralPurpose1ChannelComplementaryInstance
pub trait CaptureCompare16bitInstance:
BasicInstance
+ sealed::GeneralPurpose2ChannelInstance
+ sealed::GeneralPurpose1ChannelInstance
+ sealed::GeneralPurpose16bitInstance
+ 'static
{
}
#[cfg(not(any(stm32f37, stm32l0, stm32l1)))]
/// Advanced control timer instance.
pub trait AdvancedControlInstance:
sealed::AdvancedControlInstance + GeneralPurpose2ChannelComplementaryInstance + GeneralPurpose16bitInstance + 'static
#[cfg(not(stm32l0))]
/// Gneral-purpose 32-bit timer instance.
pub trait CaptureCompare32bitInstance:
sealed::GeneralPurpose32bitInstance + CaptureCompare16bitInstance + 'static
{
}
pin_trait!(Channel1Pin, GeneralPurpose1ChannelInstance);
pin_trait!(Channel2Pin, GeneralPurpose2ChannelInstance);
pin_trait!(Channel3Pin, GeneralPurpose16bitInstance);
pin_trait!(Channel4Pin, GeneralPurpose16bitInstance);
#[cfg(not(stm32l0))]
/// Advanced control timer instance.
pub trait ComplementaryCaptureCompare16bitInstance:
CaptureCompare16bitInstance
+ sealed::GeneralPurpose1ChannelComplementaryInstance
+ sealed::GeneralPurpose2ChannelComplementaryInstance
+ sealed::AdvancedControlInstance
+ 'static
{
}
pin_trait!(Channel1Pin, CaptureCompare16bitInstance);
pin_trait!(Channel2Pin, CaptureCompare16bitInstance);
pin_trait!(Channel3Pin, CaptureCompare16bitInstance);
pin_trait!(Channel4Pin, CaptureCompare16bitInstance);
pin_trait!(ExternalTriggerPin, CaptureCompare16bitInstance);
#[cfg(not(stm32l0))]
pin_trait!(ExternalTriggerPin, GeneralPurpose16bitInstance);
pin_trait!(Channel1ComplementaryPin, ComplementaryCaptureCompare16bitInstance);
#[cfg(not(stm32l0))]
pin_trait!(Channel2ComplementaryPin, ComplementaryCaptureCompare16bitInstance);
#[cfg(not(stm32l0))]
pin_trait!(Channel3ComplementaryPin, ComplementaryCaptureCompare16bitInstance);
#[cfg(not(stm32l0))]
pin_trait!(Channel4ComplementaryPin, ComplementaryCaptureCompare16bitInstance);
#[cfg(stm32l0)]
pin_trait!(ExternalTriggerPin, GeneralPurpose2ChannelInstance);
#[cfg(not(stm32l0))]
pin_trait!(BreakInputPin, ComplementaryCaptureCompare16bitInstance);
#[cfg(not(stm32l0))]
pin_trait!(BreakInput2Pin, ComplementaryCaptureCompare16bitInstance);
#[cfg(not(any(stm32l0, stm32l1)))]
pin_trait!(Channel1ComplementaryPin, GeneralPurpose1ChannelComplementaryInstance);
#[cfg(not(any(stm32l0, stm32l1)))]
pin_trait!(Channel2ComplementaryPin, GeneralPurpose2ChannelComplementaryInstance);
#[cfg(not(any(stm32l0, stm32l1)))]
pin_trait!(Channel3ComplementaryPin, AdvancedControlInstance);
#[cfg(not(any(stm32l0, stm32l1)))]
pin_trait!(Channel4ComplementaryPin, AdvancedControlInstance);
#[cfg(not(stm32l0))]
pin_trait!(BreakInputComparator1Pin, ComplementaryCaptureCompare16bitInstance);
#[cfg(not(stm32l0))]
pin_trait!(BreakInputComparator2Pin, ComplementaryCaptureCompare16bitInstance);
#[cfg(not(any(stm32l0, stm32l1)))]
pin_trait!(BreakInputPin, GeneralPurpose1ChannelComplementaryInstance);
#[cfg(not(any(stm32l0, stm32l1)))]
pin_trait!(BreakInput2Pin, GeneralPurpose2ChannelComplementaryInstance);
#[cfg(not(any(stm32l0, stm32l1)))]
pin_trait!(BreakInputComparator1Pin, GeneralPurpose1ChannelComplementaryInstance);
#[cfg(not(any(stm32l0, stm32l1)))]
pin_trait!(BreakInputComparator2Pin, AdvancedControlInstance);
#[cfg(not(any(stm32l0, stm32l1)))]
pin_trait!(BreakInput2Comparator1Pin, AdvancedControlInstance);
#[cfg(not(any(stm32l0, stm32l1)))]
pin_trait!(BreakInput2Comparator2Pin, AdvancedControlInstance);
#[cfg(not(stm32l0))]
pin_trait!(BreakInput2Comparator1Pin, ComplementaryCaptureCompare16bitInstance);
#[cfg(not(stm32l0))]
pin_trait!(BreakInput2Comparator2Pin, ComplementaryCaptureCompare16bitInstance);
#[allow(unused)]
macro_rules! impl_core_timer {
@ -830,7 +783,7 @@ macro_rules! impl_2ch_timer {
}
#[allow(unused)]
macro_rules! impl_gp_16bit_timer {
macro_rules! impl_gp16_timer {
($inst:ident) => {
impl sealed::GeneralPurpose16bitInstance for crate::peripherals::$inst {
fn regs_gp16() -> crate::pac::timer::TimGp16 {
@ -841,7 +794,7 @@ macro_rules! impl_gp_16bit_timer {
}
#[allow(unused)]
macro_rules! impl_gp_32bit_timer {
macro_rules! impl_gp32_timer {
($inst:ident) => {
impl sealed::GeneralPurpose32bitInstance for crate::peripherals::$inst {
fn regs_gp32() -> crate::pac::timer::TimGp32 {
@ -890,26 +843,30 @@ foreach_interrupt! {
impl_core_timer!($inst, $irq);
impl_basic_no_cr2_timer!($inst);
impl_basic_timer!($inst);
impl CoreInstance for crate::peripherals::$inst {}
impl BasicNoCr2Instance for crate::peripherals::$inst{}
impl BasicInstance for crate::peripherals::$inst {}
};
($inst:ident, timer, TIM_1CH, UP, $irq:ident) => {
impl_core_timer!($inst, $irq);
impl_basic_no_cr2_timer!($inst);
impl_basic_timer!($inst);
impl_1ch_timer!($inst);
impl CoreInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
impl_2ch_timer!($inst);
impl_gp16_timer!($inst);
impl BasicInstance for crate::peripherals::$inst {}
impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
};
($inst:ident, timer, TIM_2CH, UP, $irq:ident) => {
impl_core_timer!($inst, $irq);
impl_basic_no_cr2_timer!($inst);
impl_basic_timer!($inst);
impl_1ch_timer!($inst);
impl_2ch_timer!($inst);
impl CoreInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
impl_gp16_timer!($inst);
impl BasicInstance for crate::peripherals::$inst {}
impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
};
($inst:ident, timer, TIM_GP16, UP, $irq:ident) => {
@ -918,13 +875,9 @@ foreach_interrupt! {
impl_basic_timer!($inst);
impl_1ch_timer!($inst);
impl_2ch_timer!($inst);
impl_gp_16bit_timer!($inst);
impl CoreInstance for crate::peripherals::$inst {}
impl BasicNoCr2Instance for crate::peripherals::$inst{}
impl_gp16_timer!($inst);
impl BasicInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose16bitInstance for crate::peripherals::$inst {}
impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
};
($inst:ident, timer, TIM_GP32, UP, $irq:ident) => {
@ -933,26 +886,26 @@ foreach_interrupt! {
impl_basic_timer!($inst);
impl_1ch_timer!($inst);
impl_2ch_timer!($inst);
impl_gp_16bit_timer!($inst);
impl_gp_32bit_timer!($inst);
impl CoreInstance for crate::peripherals::$inst {}
impl BasicNoCr2Instance for crate::peripherals::$inst{}
impl_gp16_timer!($inst);
impl_gp32_timer!($inst);
impl BasicInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose16bitInstance for crate::peripherals::$inst {}
impl GeneralPurpose32bitInstance for crate::peripherals::$inst {}
impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
impl CaptureCompare32bitInstance for crate::peripherals::$inst {}
};
($inst:ident, timer, TIM_1CH_CMP, UP, $irq:ident) => {
impl_core_timer!($inst, $irq);
impl_basic_no_cr2_timer!($inst);
impl_basic_timer!($inst);
impl_1ch_timer!($inst);
impl_2ch_timer!($inst);
impl_gp16_timer!($inst);
impl_1ch_cmp_timer!($inst);
impl CoreInstance for crate::peripherals::$inst {}
impl BasicNoCr2Instance for crate::peripherals::$inst{}
impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelComplementaryInstance for crate::peripherals::$inst {}
impl_2ch_cmp_timer!($inst);
impl_adv_timer!($inst);
impl BasicInstance for crate::peripherals::$inst {}
impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
impl ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
};
@ -962,15 +915,13 @@ foreach_interrupt! {
impl_basic_timer!($inst);
impl_1ch_timer!($inst);
impl_2ch_timer!($inst);
impl_gp16_timer!($inst);
impl_1ch_cmp_timer!($inst);
impl_2ch_cmp_timer!($inst);
impl CoreInstance for crate::peripherals::$inst {}
impl BasicNoCr2Instance for crate::peripherals::$inst{}
impl_adv_timer!($inst);
impl BasicInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelComplementaryInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelComplementaryInstance for crate::peripherals::$inst {}
impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
impl ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
};
@ -980,26 +931,20 @@ foreach_interrupt! {
impl_basic_timer!($inst);
impl_1ch_timer!($inst);
impl_2ch_timer!($inst);
impl_gp16_timer!($inst);
impl_1ch_cmp_timer!($inst);
impl_gp_16bit_timer!($inst);
impl_2ch_cmp_timer!($inst);
impl_adv_timer!($inst);
impl CoreInstance for crate::peripherals::$inst {}
impl BasicNoCr2Instance for crate::peripherals::$inst{}
impl BasicInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose16bitInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelComplementaryInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelComplementaryInstance for crate::peripherals::$inst {}
impl AdvancedControlInstance for crate::peripherals::$inst {}
impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
impl ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
};
}
// Update Event trigger DMA for every timer
dma_trait!(UpDma, BasicNoCr2Instance);
dma_trait!(UpDma, BasicInstance);
dma_trait!(Ch1Dma, GeneralPurpose1ChannelInstance);
dma_trait!(Ch2Dma, GeneralPurpose2ChannelInstance);
dma_trait!(Ch3Dma, GeneralPurpose16bitInstance);
dma_trait!(Ch4Dma, GeneralPurpose16bitInstance);
dma_trait!(Ch1Dma, CaptureCompare16bitInstance);
dma_trait!(Ch2Dma, CaptureCompare16bitInstance);
dma_trait!(Ch3Dma, CaptureCompare16bitInstance);
dma_trait!(Ch4Dma, CaptureCompare16bitInstance);

4
embassy-stm32/src/timer/qei.rs
View File

@ -30,7 +30,7 @@ pub struct QeiPin<'d, T, Channel> {
macro_rules! channel_impl {
($new_chx:ident, $channel:ident, $pin_trait:ident) => {
impl<'d, T: GeneralPurpose16bitInstance> QeiPin<'d, T, $channel> {
impl<'d, T: CaptureCompare16bitInstance> QeiPin<'d, T, $channel> {
#[doc = concat!("Create a new ", stringify!($channel), " QEI pin instance.")]
pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd) -> Self {
into_ref!(pin);
@ -57,7 +57,7 @@ pub struct Qei<'d, T> {
_inner: PeripheralRef<'d, T>,
}
impl<'d, T: GeneralPurpose16bitInstance> Qei<'d, T> {
impl<'d, T: CaptureCompare16bitInstance> Qei<'d, T> {
/// Create a new quadrature decoder driver.
pub fn new(tim: impl Peripheral<P = T> + 'd, _ch1: QeiPin<'d, T, Ch1>, _ch2: QeiPin<'d, T, Ch2>) -> Self {
Self::new_inner(tim)

39
embassy-stm32/src/timer/simple_pwm.rs
View File

@ -1,7 +1,6 @@
//! Simple PWM driver.
use core::marker::PhantomData;
use core::ops::{Deref, DerefMut};
use embassy_hal_internal::{into_ref, PeripheralRef};
@ -31,7 +30,7 @@ pub struct PwmPin<'d, T, C> {
macro_rules! channel_impl {
($new_chx:ident, $channel:ident, $pin_trait:ident) => {
impl<'d, T: GeneralPurpose16bitInstance> PwmPin<'d, T, $channel> {
impl<'d, T: CaptureCompare16bitInstance> PwmPin<'d, T, $channel> {
#[doc = concat!("Create a new ", stringify!($channel), " PWM pin instance.")]
pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd, output_type: OutputType) -> Self {
into_ref!(pin);
@ -60,7 +59,7 @@ pub struct SimplePwm<'d, T> {
inner: PeripheralRef<'d, T>,
}
impl<'d, T: GeneralPurpose16bitInstance> SimplePwm<'d, T> {
impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
/// Create a new simple PWM driver.
pub fn new(
tim: impl Peripheral<P = T> + 'd,
@ -88,13 +87,9 @@ impl<'d, T: GeneralPurpose16bitInstance> SimplePwm<'d, T> {
[Channel::Ch1, Channel::Ch2, Channel::Ch3, Channel::Ch4]
.iter()
.for_each(|&channel| {
sealed::GeneralPurpose16bitInstance::set_output_compare_mode(
this.inner.deref_mut(),
channel,
OutputCompareMode::PwmMode1,
);
this.inner.set_output_compare_mode(channel, OutputCompareMode::PwmMode1);
sealed::GeneralPurpose16bitInstance::set_output_compare_preload(this.inner.deref_mut(), channel, true);
this.inner.set_output_compare_preload(channel, true);
});
this
@ -102,17 +97,17 @@ impl<'d, T: GeneralPurpose16bitInstance> SimplePwm<'d, T> {
/// Enable the given channel.
pub fn enable(&mut self, channel: Channel) {
sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, true);
self.inner.enable_channel(channel, true);
}
/// Disable the given channel.
pub fn disable(&mut self, channel: Channel) {
sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, false);
self.inner.enable_channel(channel, false);
}
/// Check whether given channel is enabled
pub fn is_enabled(&self, channel: Channel) -> bool {
sealed::GeneralPurpose16bitInstance::get_channel_enable_state(self.inner.deref(), channel)
self.inner.get_channel_enable_state(channel)
}
/// Set PWM frequency.
@ -140,24 +135,24 @@ impl<'d, T: GeneralPurpose16bitInstance> SimplePwm<'d, T> {
/// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included.
pub fn set_duty(&mut self, channel: Channel, duty: u16) {
assert!(duty <= self.get_max_duty());
sealed::GeneralPurpose16bitInstance::set_compare_value(self.inner.deref_mut(), channel, duty)
self.inner.set_compare_value(channel, duty)
}
/// Get the duty for a given channel.
///
/// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included.
pub fn get_duty(&self, channel: Channel) -> u16 {
sealed::GeneralPurpose16bitInstance::get_compare_value(self.inner.deref(), channel)
self.inner.get_compare_value(channel)
}
/// Set the output polarity for a given channel.
pub fn set_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
sealed::GeneralPurpose16bitInstance::set_output_polarity(self.inner.deref_mut(), channel, polarity);
self.inner.set_output_polarity(channel, polarity);
}
/// Set the output compare mode for a given channel.
pub fn set_output_compare_mode(&mut self, channel: Channel, mode: OutputCompareMode) {
sealed::GeneralPurpose16bitInstance::set_output_compare_mode(self.inner.deref_mut(), channel, mode);
self.inner.set_output_compare_mode(channel, mode);
}
/// Generate a sequence of PWM waveform
@ -232,7 +227,7 @@ impl<'d, T: GeneralPurpose16bitInstance> SimplePwm<'d, T> {
macro_rules! impl_waveform_chx {
($fn_name:ident, $dma_ch:ident, $cc_ch:ident) => {
impl<'d, T: GeneralPurpose16bitInstance> SimplePwm<'d, T> {
impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
/// Generate a sequence of PWM waveform
///
/// Note:
@ -319,17 +314,17 @@ impl_waveform_chx!(waveform_ch2, Ch2Dma, Ch2);
impl_waveform_chx!(waveform_ch3, Ch3Dma, Ch3);
impl_waveform_chx!(waveform_ch4, Ch4Dma, Ch4);
impl<'d, T: GeneralPurpose16bitInstance> embedded_hal_02::Pwm for SimplePwm<'d, T> {
impl<'d, T: CaptureCompare16bitInstance> embedded_hal_02::Pwm for SimplePwm<'d, T> {
type Channel = Channel;
type Time = Hertz;
type Duty = u16;
fn disable(&mut self, channel: Self::Channel) {
sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, false);
self.inner.enable_channel(channel, false);
}
fn enable(&mut self, channel: Self::Channel) {
sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, true);
self.inner.enable_channel(channel, true);
}
fn get_period(&self) -> Self::Time {
@ -337,7 +332,7 @@ impl<'d, T: GeneralPurpose16bitInstance> embedded_hal_02::Pwm for SimplePwm<'d,
}
fn get_duty(&self, channel: Self::Channel) -> Self::Duty {
sealed::GeneralPurpose16bitInstance::get_compare_value(self.inner.deref(), channel)
self.inner.get_compare_value(channel)
}
fn get_max_duty(&self) -> Self::Duty {
@ -346,7 +341,7 @@ impl<'d, T: GeneralPurpose16bitInstance> embedded_hal_02::Pwm for SimplePwm<'d,
fn set_duty(&mut self, channel: Self::Channel, duty: Self::Duty) {
assert!(duty <= self.get_max_duty());
sealed::GeneralPurpose16bitInstance::set_compare_value(self.inner.deref_mut(), channel, duty)
self.inner.set_compare_value(channel, duty)
}
fn set_period<P>(&mut self, period: P)

4
examples/stm32h7/src/bin/low_level_timer_api.rs
View File

@ -56,11 +56,11 @@ async fn main(_spawner: Spawner) {
Timer::after_millis(300).await;
}
}
pub struct SimplePwm32<'d, T: GeneralPurpose32bitInstance> {
pub struct SimplePwm32<'d, T: CaptureCompare32bitInstance> {
inner: PeripheralRef<'d, T>,
}
impl<'d, T: GeneralPurpose32bitInstance> SimplePwm32<'d, T> {
impl<'d, T: CaptureCompare32bitInstance> SimplePwm32<'d, T> {
pub fn new(
tim: impl Peripheral<P = T> + 'd,
ch1: impl Peripheral<P = impl Channel1Pin<T>> + 'd,