Merge #449
449: STM32: Add PWM support r=Dirbaio a=bgamari Here is a first-cut at implementing PWM support for STM32 targets via the TIM peripherals. Currently this only contains pin configuration for the STM32G0 but it would be straightforward to extend to other platforms. Co-authored-by: Ben Gamari <ben@smart-cactus.org> Co-authored-by: Dario Nieuwenhuis <dirbaio@dirbaio.net>
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5 changed files with 234 additions and 1 deletions
1
.vscode/settings.json
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1
.vscode/settings.json
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@ -6,6 +6,7 @@
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"rust-analyzer.checkOnSave.allTargets": false,
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"rust-analyzer.checkOnSave.command": "clippy",
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"rust-analyzer.cargo.noDefaultFeatures": true,
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"rust-analyzer.experimental.procAttrMacros": false,
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"rust-analyzer.checkOnSave.noDefaultFeatures": true,
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"rust-analyzer.cargo.target": "thumbv7em-none-eabi",
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"rust-analyzer.cargo.features": [
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@ -41,6 +41,7 @@ pub mod i2c;
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#[cfg(crc)]
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pub mod crc;
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pub mod pwm;
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#[cfg(pwr)]
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pub mod pwr;
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#[cfg(rng)]
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195
embassy-stm32/src/pwm/mod.rs
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embassy-stm32/src/pwm/mod.rs
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@ -0,0 +1,195 @@
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use crate::gpio;
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use crate::rcc::RccPeripheral;
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use crate::time::Hertz;
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use core::marker::PhantomData;
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use embassy::util::Unborrow;
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use embassy_hal_common::unborrow;
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use stm32_metapac::timer::vals::Ocm;
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pub struct Pwm<'d, T: Instance> {
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phantom: PhantomData<&'d mut T>,
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}
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// TIM2
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pub struct Ch1 {}
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pub struct Ch2 {}
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pub struct Ch3 {}
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pub struct Ch4 {}
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#[derive(Clone, Copy)]
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pub enum Channel {
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Ch1,
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Ch2,
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Ch3,
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Ch4,
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}
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impl<'d, T: Instance> Pwm<'d, T> {
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pub fn new<F: Into<Hertz>>(
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_tim: impl Unborrow<Target = T> + 'd,
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ch1: impl Unborrow<Target = impl PwmPin<T, Ch1>> + 'd,
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ch2: impl Unborrow<Target = impl PwmPin<T, Ch2>> + 'd,
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ch3: impl Unborrow<Target = impl PwmPin<T, Ch3>> + 'd,
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ch4: impl Unborrow<Target = impl PwmPin<T, Ch4>> + 'd,
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freq: F,
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) -> Self {
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unborrow!(ch1, ch2, ch3, ch4);
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T::enable();
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T::reset();
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let r = T::regs();
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let mut this = Pwm {
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phantom: PhantomData,
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};
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unsafe {
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ch1.configure();
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ch2.configure();
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ch3.configure();
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ch4.configure();
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}
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unsafe {
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use stm32_metapac::timer::vals::Dir;
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this.set_freq(freq);
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r.cr1().write(|w| {
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w.set_cen(true);
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w.set_dir(Dir::UP)
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});
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this.set_ocm(Channel::Ch1, Ocm::PWMMODE1);
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this.set_ocm(Channel::Ch2, Ocm::PWMMODE1);
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this.set_ocm(Channel::Ch3, Ocm::PWMMODE1);
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this.set_ocm(Channel::Ch4, Ocm::PWMMODE1);
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}
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this
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}
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unsafe fn set_ocm(&mut self, channel: Channel, mode: Ocm) {
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let r = T::regs();
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match channel {
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Channel::Ch1 => r.ccmr_output(0).modify(|w| w.set_ocm(0, mode)),
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Channel::Ch2 => r.ccmr_output(0).modify(|w| w.set_ocm(1, mode)),
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Channel::Ch3 => r.ccmr_output(1).modify(|w| w.set_ocm(0, mode)),
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Channel::Ch4 => r.ccmr_output(1).modify(|w| w.set_ocm(1, mode)),
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}
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}
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unsafe fn set_enable(&mut self, channel: Channel, enable: bool) {
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let r = T::regs();
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match channel {
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Channel::Ch1 => r.ccer().modify(|w| w.set_cce(0, enable)),
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Channel::Ch2 => r.ccer().modify(|w| w.set_cce(1, enable)),
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Channel::Ch3 => r.ccer().modify(|w| w.set_cce(2, enable)),
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Channel::Ch4 => r.ccer().modify(|w| w.set_cce(3, enable)),
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}
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}
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pub fn enable(&mut self, channel: Channel) {
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unsafe { self.set_enable(channel, true) }
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}
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pub fn disable(&mut self, channel: Channel) {
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unsafe { self.set_enable(channel, false) }
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}
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pub fn set_freq<F: Into<Hertz>>(&mut self, freq: F) {
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use core::convert::TryInto;
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let clk = T::frequency();
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let r = T::regs();
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let freq: Hertz = freq.into();
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let ticks: u32 = clk.0 / freq.0;
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let psc: u16 = (ticks / (1 << 16)).try_into().unwrap();
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let arr: u16 = (ticks / (u32::from(psc) + 1)).try_into().unwrap();
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unsafe {
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r.psc().write(|w| w.set_psc(psc));
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r.arr().write(|w| w.set_arr(arr));
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}
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}
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pub fn get_max_duty(&self) -> u32 {
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let r = T::regs();
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unsafe { r.arr().read().arr() as u32 }
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}
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pub fn set_duty(&mut self, channel: Channel, duty: u32) {
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use core::convert::TryInto;
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assert!(duty < self.get_max_duty());
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let duty: u16 = duty.try_into().unwrap();
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let r = T::regs();
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unsafe {
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match channel {
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Channel::Ch1 => r.ccr(0).modify(|w| w.set_ccr(duty)),
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Channel::Ch2 => r.ccr(1).modify(|w| w.set_ccr(duty)),
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Channel::Ch3 => r.ccr(2).modify(|w| w.set_ccr(duty)),
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Channel::Ch4 => r.ccr(3).modify(|w| w.set_ccr(duty)),
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}
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}
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}
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}
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pub(crate) mod sealed {
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pub trait Instance {
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fn regs() -> crate::pac::timer::TimGp16;
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}
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}
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pub trait Instance: sealed::Instance + Sized + RccPeripheral + 'static {}
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#[allow(unused)]
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macro_rules! impl_timer {
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($inst:ident) => {
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impl crate::pwm::sealed::Instance for crate::peripherals::$inst {
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fn regs() -> crate::pac::timer::TimGp16 {
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crate::pac::timer::TimGp16(crate::pac::$inst.0)
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}
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}
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impl crate::pwm::Instance for crate::peripherals::$inst {}
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};
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}
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pub trait PwmPin<Timer, Channel>: gpio::OptionalPin {
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unsafe fn configure(&mut self);
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}
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impl<Timer, Channel> PwmPin<Timer, Channel> for gpio::NoPin {
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unsafe fn configure(&mut self) {}
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}
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#[allow(unused)]
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macro_rules! impl_pwm_pin {
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($timer:ident, $channel:ident, $pin:ident, $af:expr) => {
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impl crate::pwm::PwmPin<crate::peripherals::$timer, crate::pwm::$channel>
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for crate::peripherals::$pin
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{
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unsafe fn configure(&mut self) {
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use crate::gpio::sealed::{AFType, Pin};
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use crate::gpio::Speed;
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self.set_low();
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self.set_speed(Speed::VeryHigh);
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self.set_as_af($af, AFType::OutputPushPull);
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}
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}
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};
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}
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crate::pac::peripherals!(
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(timer, $inst:ident) => { impl_timer!($inst); };
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);
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crate::pac::peripheral_pins!(
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($inst:ident, timer,TIM_GP16, $pin:ident, CH1, $af:expr) => {
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impl_pwm_pin!($inst, Ch1, $pin, $af);
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};
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($inst:ident, timer,TIM_GP16, $pin:ident, CH2, $af:expr) => {
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impl_pwm_pin!($inst, Ch2, $pin, $af);
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};
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($inst:ident, timer,TIM_GP16, $pin:ident, CH3, $af:expr) => {
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impl_pwm_pin!($inst, Ch3, $pin, $af);
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};
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($inst:ident, timer,TIM_GP16, $pin:ident, CH4, $af:expr) => {
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impl_pwm_pin!($inst, Ch4, $pin, $af);
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};
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);
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@ -8,7 +8,7 @@ resolver = "2"
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[dependencies]
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embassy = { version = "0.1.0", path = "../../embassy", features = ["defmt"] }
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embassy-traits = { version = "0.1.0", path = "../../embassy-traits", features = ["defmt"] }
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embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "time-driver-tim2", "stm32g491re", "memory-x", "unstable-pac"] }
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embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "time-driver-tim3", "stm32g491re", "memory-x", "unstable-pac"] }
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embassy-hal-common = {version = "0.1.0", path = "../../embassy-hal-common" }
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defmt = "0.3"
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36
examples/stm32g4/src/bin/pwm.rs
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36
examples/stm32g4/src/bin/pwm.rs
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#![no_std]
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#![no_main]
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#![feature(type_alias_impl_trait)]
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#[path = "../example_common.rs"]
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mod example_common;
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use embassy::executor::Spawner;
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use embassy::time::{Duration, Timer};
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use embassy_stm32::gpio::NoPin;
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use embassy_stm32::pwm::{Channel, Pwm};
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use embassy_stm32::time::U32Ext;
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use embassy_stm32::Peripherals;
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use example_common::*;
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#[embassy::main]
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async fn main(_spawner: Spawner, p: Peripherals) {
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info!("Hello World!");
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let mut pwm = Pwm::new(p.TIM2, p.PA5, NoPin, NoPin, NoPin, 10000.hz());
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let max = pwm.get_max_duty();
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pwm.enable(Channel::Ch1);
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info!("PWM initialized");
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info!("PWM max duty {}", max);
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loop {
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pwm.set_duty(Channel::Ch1, 0);
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Timer::after(Duration::from_millis(300)).await;
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pwm.set_duty(Channel::Ch1, max / 4);
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Timer::after(Duration::from_millis(300)).await;
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pwm.set_duty(Channel::Ch1, max / 2);
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Timer::after(Duration::from_millis(300)).await;
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pwm.set_duty(Channel::Ch1, max - 1);
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Timer::after(Duration::from_millis(300)).await;
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}
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}
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