stm32/hrtim: first draft
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xoviat
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45561f1622
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cdb3fb059f
4 changed files with 256 additions and 0 deletions
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@ -589,6 +589,16 @@ fn main() {
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(("timer", "BKIN2"), quote!(crate::pwm::BreakInput2Pin)),
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(("timer", "BKIN2_COMP1"), quote!(crate::pwm::BreakInput2Comparator1Pin)),
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(("timer", "BKIN2_COMP2"), quote!(crate::pwm::BreakInput2Comparator2Pin)),
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(("hrtim", "CHA1"), quote!(crate::pwm::ChannelAPin)),
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(("hrtim", "CHA2"), quote!(crate::pwm::ChannelAComplementaryPin)),
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(("hrtim", "CHB1"), quote!(crate::pwm::ChannelBPin)),
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(("hrtim", "CHB2"), quote!(crate::pwm::ChannelBComplementaryPin)),
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(("hrtim", "CHC1"), quote!(crate::pwm::ChannelCPin)),
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(("hrtim", "CHC2"), quote!(crate::pwm::ChannelCComplementaryPin)),
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(("hrtim", "CHD1"), quote!(crate::pwm::ChannelDPin)),
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(("hrtim", "CHD2"), quote!(crate::pwm::ChannelDComplementaryPin)),
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(("hrtim", "CHE1"), quote!(crate::pwm::ChannelEPin)),
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(("hrtim", "CHE2"), quote!(crate::pwm::ChannelEComplementaryPin)),
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(("sdmmc", "CK"), quote!(crate::sdmmc::CkPin)),
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(("sdmmc", "CMD"), quote!(crate::sdmmc::CmdPin)),
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(("sdmmc", "D0"), quote!(crate::sdmmc::D0Pin)),
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147
embassy-stm32/src/pwm/advanced_pwm.rs
Normal file
147
embassy-stm32/src/pwm/advanced_pwm.rs
Normal file
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@ -0,0 +1,147 @@
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use core::marker::PhantomData;
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use embassy_hal_common::{into_ref, PeripheralRef};
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use super::simple_pwm::*;
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use super::*;
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#[allow(unused_imports)]
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use crate::gpio::sealed::{AFType, Pin};
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use crate::gpio::AnyPin;
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use crate::time::Hertz;
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use crate::Peripheral;
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// Re-implement the channels for hrtim
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pub struct ChA;
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pub struct ChB;
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pub struct ChC;
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pub struct ChD;
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pub struct ChE;
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pub struct PwmPin<'d, Perip, Channel> {
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_pin: PeripheralRef<'d, AnyPin>,
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phantom: PhantomData<(Perip, Channel)>,
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}
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pub struct ComplementaryPwmPin<'d, Perip, Channel> {
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_pin: PeripheralRef<'d, AnyPin>,
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phantom: PhantomData<(Perip, Channel)>,
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}
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macro_rules! advanced_channel_impl {
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($new_chx:ident, $channel:ident, $pin_trait:ident, $complementary_pin_trait:ident) => {
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impl<'d, Perip: AdvancedCaptureCompare16bitInstance> PwmPin<'d, Perip, $channel> {
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pub fn $new_chx(pin: impl Peripheral<P = impl $complementary_pin_trait<Perip>> + 'd) -> Self {
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into_ref!(pin);
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critical_section::with(|_| {
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pin.set_low();
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pin.set_as_af(pin.af_num(), AFType::OutputPushPull);
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#[cfg(gpio_v2)]
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pin.set_speed(crate::gpio::Speed::VeryHigh);
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});
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PwmPin {
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_pin: pin.map_into(),
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phantom: PhantomData,
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}
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}
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}
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impl<'d, Perip: AdvancedCaptureCompare16bitInstance> ComplementaryPwmPin<'d, Perip, $channel> {
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pub fn $new_chx(pin: impl Peripheral<P = impl $complementary_pin_trait<Perip>> + 'd) -> Self {
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into_ref!(pin);
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critical_section::with(|_| {
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pin.set_low();
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pin.set_as_af(pin.af_num(), AFType::OutputPushPull);
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#[cfg(gpio_v2)]
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pin.set_speed(crate::gpio::Speed::VeryHigh);
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});
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ComplementaryPwmPin {
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_pin: pin.map_into(),
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phantom: PhantomData,
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}
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}
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}
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};
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}
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advanced_channel_impl!(new_cha, ChA, ChannelAPin, ChannelAComplementaryPin);
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advanced_channel_impl!(new_chb, ChB, ChannelBPin, ChannelBComplementaryPin);
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advanced_channel_impl!(new_chc, ChC, ChannelCPin, ChannelCComplementaryPin);
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advanced_channel_impl!(new_chd, ChD, ChannelDPin, ChannelDComplementaryPin);
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advanced_channel_impl!(new_che, ChE, ChannelEPin, ChannelEComplementaryPin);
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pub struct AdvancedPwm<'d, T> {
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inner: PeripheralRef<'d, T>,
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}
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impl<'d, T: ComplementaryCaptureCompare16bitInstance> AdvancedPwm<'d, T> {
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pub fn new(
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tim: impl Peripheral<P = T> + 'd,
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_ch1: Option<PwmPin<'d, T, Ch1>>,
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_ch1n: Option<ComplementaryPwmPin<'d, T, Ch1>>,
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_ch2: Option<PwmPin<'d, T, Ch2>>,
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_ch2n: Option<ComplementaryPwmPin<'d, T, Ch2>>,
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_ch3: Option<PwmPin<'d, T, Ch3>>,
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_ch3n: Option<ComplementaryPwmPin<'d, T, Ch3>>,
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_ch4: Option<PwmPin<'d, T, Ch4>>,
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_ch4n: Option<ComplementaryPwmPin<'d, T, Ch4>>,
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freq: Hertz,
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) -> Self {
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Self::new_inner(tim, freq)
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}
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fn new_inner(tim: impl Peripheral<P = T> + 'd, freq: Hertz) -> Self {
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into_ref!(tim);
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T::enable();
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<T as crate::rcc::sealed::RccPeripheral>::reset();
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let mut this = Self { inner: tim };
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//
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// this.inner.set_frequency(freq);
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// this.inner.start();
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//
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// this.inner.enable_outputs(true);
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//
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// this.inner
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// .set_output_compare_mode(Channel::Ch1, OutputCompareMode::PwmMode1);
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// this.inner
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// .set_output_compare_mode(Channel::Ch2, OutputCompareMode::PwmMode1);
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// this.inner
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// .set_output_compare_mode(Channel::Ch3, OutputCompareMode::PwmMode1);
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// this.inner
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// .set_output_compare_mode(Channel::Ch4, OutputCompareMode::PwmMode1);
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this
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}
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pub fn enable(&mut self, channel: AdvancedChannel) {
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// self.inner.enable_channel(channel, true);
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// self.inner.enable_complementary_channel(channel, true);
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}
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pub fn disable(&mut self, channel: AdvancedChannel) {
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// self.inner.enable_complementary_channel(channel, false);
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// self.inner.enable_channel(channel, false);
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}
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pub fn set_freq(&mut self, freq: Hertz) {
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// self.inner.set_frequency(freq);
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}
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pub fn get_max_duty(&self) -> u16 {
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todo!()
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// self.inner.get_max_compare_value()
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}
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pub fn set_duty(&mut self, channel: AdvancedChannel, duty: u16) {
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// assert!(duty < self.get_max_duty());
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// self.inner.set_compare_value(channel, duty)
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}
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/// Set the dead time as a proportion of max_duty
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pub fn set_dead_time(&mut self, value: u16) {
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// let (ckd, value) = compute_dead_time_value(value);
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//
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// self.inner.set_dead_time_clock_division(ckd);
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// self.inner.set_dead_time_value(value);
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}
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}
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@ -1,3 +1,5 @@
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#[cfg(hrtim_v1)]
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pub mod advanced_pwm;
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pub mod complementary_pwm;
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pub mod simple_pwm;
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@ -27,6 +29,29 @@ impl Channel {
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}
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}
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#[cfg(hrtim_v1)]
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#[derive(Clone, Copy)]
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pub enum AdvancedChannel {
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ChA,
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ChB,
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ChC,
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ChD,
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ChE,
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}
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#[cfg(hrtim_v1)]
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impl AdvancedChannel {
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pub fn raw(&self) -> usize {
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match self {
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AdvancedChannel::ChA => 0,
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AdvancedChannel::ChB => 1,
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AdvancedChannel::ChC => 2,
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AdvancedChannel::ChD => 3,
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AdvancedChannel::ChE => 4,
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}
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}
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}
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#[derive(Clone, Copy)]
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pub enum OutputCompareMode {
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Frozen,
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@ -57,6 +82,14 @@ impl From<OutputCompareMode> for stm32_metapac::timer::vals::Ocm {
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pub(crate) mod sealed {
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use super::*;
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pub trait AdvancedCaptureCompare16bitInstance: crate::timer::sealed::HighResolutionControlInstance {
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fn enable_outputs(&mut self, enable: bool);
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fn set_output_compare_mode(&mut self, channel: AdvancedChannel, mode: OutputCompareMode);
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fn enable_channel(&mut self, channel: AdvancedChannel, enable: bool);
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}
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pub trait CaptureCompare16bitInstance: crate::timer::sealed::GeneralPurpose16bitInstance {
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/// Global output enable. Does not do anything on non-advanced timers.
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fn enable_outputs(&mut self, enable: bool);
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@ -89,6 +122,8 @@ pub(crate) mod sealed {
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}
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}
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pub trait AdvancedCaptureCompare16bitInstance: sealed::AdvancedCaptureCompare16bitInstance + 'static {}
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pub trait CaptureCompare16bitInstance:
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sealed::CaptureCompare16bitInstance + crate::timer::GeneralPurpose16bitInstance + 'static
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{
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@ -250,6 +285,20 @@ foreach_interrupt! {
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}
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};
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($inst:ident, hrtim, HRTIM, MASTER, $irq:ident) => {
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impl crate::pwm::sealed::AdvancedCaptureCompare16bitInstance for crate::peripherals::$inst {
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fn enable_outputs(&mut self, enable: bool) { todo!() }
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fn set_output_compare_mode(&mut self, channel: AdvancedChannel, mode: OutputCompareMode) { todo!() }
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fn enable_channel(&mut self, channel: AdvancedChannel, enable: bool) { todo!() }
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}
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impl AdvancedCaptureCompare16bitInstance for crate::peripherals::$inst {
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}
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};
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}
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pin_trait!(Channel1Pin, CaptureCompare16bitInstance);
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@ -267,3 +316,14 @@ pin_trait!(BreakInputComparator2Pin, CaptureCompare16bitInstance);
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pin_trait!(BreakInput2Pin, CaptureCompare16bitInstance);
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pin_trait!(BreakInput2Comparator1Pin, CaptureCompare16bitInstance);
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pin_trait!(BreakInput2Comparator2Pin, CaptureCompare16bitInstance);
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pin_trait!(ChannelAPin, AdvancedCaptureCompare16bitInstance);
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pin_trait!(ChannelAComplementaryPin, AdvancedCaptureCompare16bitInstance);
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pin_trait!(ChannelBPin, AdvancedCaptureCompare16bitInstance);
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pin_trait!(ChannelBComplementaryPin, AdvancedCaptureCompare16bitInstance);
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pin_trait!(ChannelCPin, AdvancedCaptureCompare16bitInstance);
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pin_trait!(ChannelCComplementaryPin, AdvancedCaptureCompare16bitInstance);
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pin_trait!(ChannelDPin, AdvancedCaptureCompare16bitInstance);
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pin_trait!(ChannelDComplementaryPin, AdvancedCaptureCompare16bitInstance);
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pin_trait!(ChannelEPin, AdvancedCaptureCompare16bitInstance);
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pin_trait!(ChannelEComplementaryPin, AdvancedCaptureCompare16bitInstance);
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@ -43,6 +43,21 @@ pub(crate) mod sealed {
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pub trait AdvancedControlInstance: GeneralPurpose16bitInstance {
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fn regs_advanced() -> crate::pac::timer::TimAdv;
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}
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#[cfg(hrtim_v1)]
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pub trait HighResolutionControlInstance: RccPeripheral {
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type Interrupt: interrupt::typelevel::Interrupt;
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fn regs_highres() -> crate::pac::hrtim::Hrtim;
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fn start(&mut self);
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fn stop(&mut self);
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fn reset(&mut self);
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fn set_frequency(&mut self, frequency: Hertz);
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}
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}
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pub trait GeneralPurpose16bitInstance: sealed::GeneralPurpose16bitInstance + 'static {}
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@ -51,6 +66,9 @@ pub trait GeneralPurpose32bitInstance: sealed::GeneralPurpose32bitInstance + 'st
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pub trait AdvancedControlInstance: sealed::AdvancedControlInstance + 'static {}
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#[cfg(hrtim_v1)]
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pub trait HighResolutionControlInstance: sealed::HighResolutionControlInstance + 'static {}
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pub trait Basic16bitInstance: sealed::Basic16bitInstance + 'static {}
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#[allow(unused)]
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@ -208,4 +226,25 @@ foreach_interrupt! {
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impl AdvancedControlInstance for crate::peripherals::$inst {
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}
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};
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($inst:ident, hrtim, HRTIM, MASTER, $irq:ident) => {
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impl sealed::HighResolutionControlInstance for crate::peripherals::$inst {
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type Interrupt = crate::interrupt::typelevel::$irq;
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fn regs_highres() -> crate::pac::hrtim::Hrtim {
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crate::pac::$inst
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}
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fn start(&mut self) { todo!() }
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fn stop(&mut self) { todo!() }
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fn reset(&mut self) { todo!() }
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fn set_frequency(&mut self, frequency: Hertz) { todo!() }
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}
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impl HighResolutionControlInstance for crate::peripherals::$inst {
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}
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};
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}
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