diff --git a/embassy-rp/src/pwm.rs b/embassy-rp/src/pwm.rs
index a1f400cfb..20b5c4d58 100644
--- a/embassy-rp/src/pwm.rs
+++ b/embassy-rp/src/pwm.rs
@@ -81,24 +81,22 @@ impl From<InputMode> for Divmode {
}
/// PWM driver.
-pub struct Pwm<'d, T: Slice> {
- inner: PeripheralRef<'d, T>,
+pub struct Pwm<'d> {
pin_a: Option<PeripheralRef<'d, AnyPin>>,
pin_b: Option<PeripheralRef<'d, AnyPin>>,
+ slice: usize,
}
-impl<'d, T: Slice> Pwm<'d, T> {
+impl<'d> Pwm<'d> {
fn new_inner(
- inner: impl Peripheral<P = T> + 'd,
+ slice: usize,
a: Option<PeripheralRef<'d, AnyPin>>,
b: Option<PeripheralRef<'d, AnyPin>>,
b_pull: Pull,
config: Config,
divmode: Divmode,
) -> Self {
- into_ref!(inner);
-
- let p = inner.regs();
+ let p = pac::PWM.ch(slice);
p.csr().modify(|w| {
w.set_divmode(divmode);
w.set_en(false);
@@ -117,51 +115,67 @@ impl<'d, T: Slice> Pwm<'d, T> {
});
}
Self {
- inner,
+ // inner: p.into(),
pin_a: a,
pin_b: b,
+ slice,
}
}
/// Create PWM driver without any configured pins.
#[inline]
- pub fn new_free(inner: impl Peripheral<P = T> + 'd, config: Config) -> Self {
- Self::new_inner(inner, None, None, Pull::None, config, Divmode::DIV)
+ pub fn new_free<T: Slice>(slice: impl Peripheral<P = T> + 'd, config: Config) -> Self {
+ into_ref!(slice);
+ Self::new_inner(slice.number(), None, None, Pull::None, config, Divmode::DIV)
}
/// Create PWM driver with a single 'a' as output.
#[inline]
- pub fn new_output_a(
- inner: impl Peripheral<P = T> + 'd,
+ pub fn new_output_a<T: Slice>(
+ slice: impl Peripheral<P = T> + 'd,
a: impl Peripheral<P = impl ChannelAPin<T>> + 'd,
config: Config,
) -> Self {
- into_ref!(a);
- Self::new_inner(inner, Some(a.map_into()), None, Pull::None, config, Divmode::DIV)
+ into_ref!(slice, a);
+ Self::new_inner(
+ slice.number(),
+ Some(a.map_into()),
+ None,
+ Pull::None,
+ config,
+ Divmode::DIV,
+ )
}
/// Create PWM driver with a single 'b' pin as output.
#[inline]
- pub fn new_output_b(
- inner: impl Peripheral<P = T> + 'd,
+ pub fn new_output_b<T: Slice>(
+ slice: impl Peripheral<P = T> + 'd,
b: impl Peripheral<P = impl ChannelBPin<T>> + 'd,
config: Config,
) -> Self {
- into_ref!(b);
- Self::new_inner(inner, None, Some(b.map_into()), Pull::None, config, Divmode::DIV)
+ into_ref!(slice, b);
+ Self::new_inner(
+ slice.number(),
+ None,
+ Some(b.map_into()),
+ Pull::None,
+ config,
+ Divmode::DIV,
+ )
}
/// Create PWM driver with a 'a' and 'b' pins as output.
#[inline]
- pub fn new_output_ab(
- inner: impl Peripheral<P = T> + 'd,
+ pub fn new_output_ab<T: Slice>(
+ slice: impl Peripheral<P = T> + 'd,
a: impl Peripheral<P = impl ChannelAPin<T>> + 'd,
b: impl Peripheral<P = impl ChannelBPin<T>> + 'd,
config: Config,
) -> Self {
- into_ref!(a, b);
+ into_ref!(slice, a, b);
Self::new_inner(
- inner,
+ slice.number(),
Some(a.map_into()),
Some(b.map_into()),
Pull::None,
@@ -172,30 +186,30 @@ impl<'d, T: Slice> Pwm<'d, T> {
/// Create PWM driver with a single 'b' as input pin.
#[inline]
- pub fn new_input(
- inner: impl Peripheral<P = T> + 'd,
+ pub fn new_input<T: Slice>(
+ slice: impl Peripheral<P = T> + 'd,
b: impl Peripheral<P = impl ChannelBPin<T>> + 'd,
b_pull: Pull,
mode: InputMode,
config: Config,
) -> Self {
- into_ref!(b);
- Self::new_inner(inner, None, Some(b.map_into()), b_pull, config, mode.into())
+ into_ref!(slice, b);
+ Self::new_inner(slice.number(), None, Some(b.map_into()), b_pull, config, mode.into())
}
/// Create PWM driver with a 'a' and 'b' pins in the desired input mode.
#[inline]
- pub fn new_output_input(
- inner: impl Peripheral<P = T> + 'd,
+ pub fn new_output_input<T: Slice>(
+ slice: impl Peripheral<P = T> + 'd,
a: impl Peripheral<P = impl ChannelAPin<T>> + 'd,
b: impl Peripheral<P = impl ChannelBPin<T>> + 'd,
b_pull: Pull,
mode: InputMode,
config: Config,
) -> Self {
- into_ref!(a, b);
+ into_ref!(slice, a, b);
Self::new_inner(
- inner,
+ slice.number(),
Some(a.map_into()),
Some(b.map_into()),
b_pull,
@@ -206,7 +220,7 @@ impl<'d, T: Slice> Pwm<'d, T> {
/// Set the PWM config.
pub fn set_config(&mut self, config: &Config) {
- Self::configure(self.inner.regs(), config);
+ Self::configure(pac::PWM.ch(self.slice), config);
}
fn configure(p: pac::pwm::Channel, config: &Config) {
@@ -228,22 +242,22 @@ impl<'d, T: Slice> Pwm<'d, T> {
});
}
- /// Advances a slice’s output phase by one count while it is running
+ /// Advances a slice's output phase by one count while it is running
/// by inserting a pulse into the clock enable. The counter
/// will not count faster than once per cycle.
#[inline]
pub fn phase_advance(&mut self) {
- let p = self.inner.regs();
+ let p = pac::PWM.ch(self.slice);
p.csr().write_set(|w| w.set_ph_adv(true));
while p.csr().read().ph_adv() {}
}
- /// Retards a slice’s output phase by one count while it is running
+ /// Retards a slice's output phase by one count while it is running
/// by deleting a pulse from the clock enable. The counter will not
- /// count backward when clock enable is permenantly low.
+ /// count backward when clock enable is permanently low.
#[inline]
pub fn phase_retard(&mut self) {
- let p = self.inner.regs();
+ let p = pac::PWM.ch(self.slice);
p.csr().write_set(|w| w.set_ph_ret(true));
while p.csr().read().ph_ret() {}
}
@@ -251,13 +265,13 @@ impl<'d, T: Slice> Pwm<'d, T> {
/// Read PWM counter.
#[inline]
pub fn counter(&self) -> u16 {
- self.inner.regs().ctr().read().ctr()
+ pac::PWM.ch(self.slice).ctr().read().ctr()
}
/// Write PWM counter.
#[inline]
pub fn set_counter(&self, ctr: u16) {
- self.inner.regs().ctr().write(|w| w.set_ctr(ctr))
+ pac::PWM.ch(self.slice).ctr().write(|w| w.set_ctr(ctr))
}
/// Wait for channel interrupt.
@@ -281,7 +295,7 @@ impl<'d, T: Slice> Pwm<'d, T> {
#[inline]
fn bit(&self) -> u32 {
- 1 << self.inner.number() as usize
+ 1 << self.slice as usize
}
}
@@ -291,7 +305,7 @@ pub struct PwmBatch(u32);
impl PwmBatch {
#[inline]
/// Enable a PWM slice in this batch.
- pub fn enable(&mut self, pwm: &Pwm<'_, impl Slice>) {
+ pub fn enable(&mut self, pwm: &Pwm<'_>) {
self.0 |= pwm.bit();
}
@@ -308,9 +322,9 @@ impl PwmBatch {
}
}
-impl<'d, T: Slice> Drop for Pwm<'d, T> {
+impl<'d> Drop for Pwm<'d> {
fn drop(&mut self) {
- self.inner.regs().csr().write_clear(|w| w.set_en(false));
+ pac::PWM.ch(self.slice).csr().write_clear(|w| w.set_en(false));
if let Some(pin) = &self.pin_a {
pin.gpio().ctrl().write(|w| w.set_funcsel(31));
}
@@ -326,19 +340,14 @@ trait SealedSlice {}
#[allow(private_bounds)]
pub trait Slice: Peripheral<P = Self> + SealedSlice + Sized + 'static {
/// Slice number.
- fn number(&self) -> u8;
-
- /// Slice register block.
- fn regs(&self) -> pac::pwm::Channel {
- pac::PWM.ch(self.number() as _)
- }
+ fn number(&self) -> usize;
}
macro_rules! slice {
($name:ident, $num:expr) => {
impl SealedSlice for peripherals::$name {}
impl Slice for peripherals::$name {
- fn number(&self) -> u8 {
+ fn number(&self) -> usize {
$num
}
}
diff --git a/examples/rp/src/bin/interrupt.rs b/examples/rp/src/bin/interrupt.rs
index d334d35d7..5b9d7027e 100644
--- a/examples/rp/src/bin/interrupt.rs
+++ b/examples/rp/src/bin/interrupt.rs
@@ -15,7 +15,6 @@ use embassy_executor::Spawner;
use embassy_rp::adc::{self, Adc, Blocking};
use embassy_rp::gpio::Pull;
use embassy_rp::interrupt;
-use embassy_rp::peripherals::PWM_SLICE4;
use embassy_rp::pwm::{Config, Pwm};
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::blocking_mutex::Mutex;
@@ -26,7 +25,7 @@ use static_cell::StaticCell;
use {defmt_rtt as _, panic_probe as _};
static COUNTER: AtomicU32 = AtomicU32::new(0);
-static PWM: Mutex<CriticalSectionRawMutex, RefCell<Option<Pwm<PWM_SLICE4>>>> = Mutex::new(RefCell::new(None));
+static PWM: Mutex<CriticalSectionRawMutex, RefCell<Option<Pwm>>> = Mutex::new(RefCell::new(None));
static ADC: Mutex<CriticalSectionRawMutex, RefCell<Option<(Adc<Blocking>, adc::Channel)>>> =
Mutex::new(RefCell::new(None));
static ADC_VALUES: Channel<CriticalSectionRawMutex, u16, 2048> = Channel::new();