From d6636ca11669c60925acb08c32d488c481ee1581 Mon Sep 17 00:00:00 2001
From: eZio Pan <eziopan@qq.com>
Date: Tue, 30 Jan 2024 16:54:06 +0800
Subject: [PATCH 01/10] minor fix
---
embassy-stm32/src/dma/ringbuffer.rs | 1 +
1 file changed, 1 insertion(+)
diff --git a/embassy-stm32/src/dma/ringbuffer.rs b/embassy-stm32/src/dma/ringbuffer.rs
index c5b42060a..23f1d67d5 100644
--- a/embassy-stm32/src/dma/ringbuffer.rs
+++ b/embassy-stm32/src/dma/ringbuffer.rs
@@ -37,6 +37,7 @@ pub struct ReadableDmaRingBuffer<'a, W: Word> {
}
#[derive(Debug, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct OverrunError;
pub trait DmaCtrl {
From dc4898ca89d2130158acf1ced1f8cb3b25efe4b8 Mon Sep 17 00:00:00 2001
From: eZio Pan <eziopan@qq.com>
Date: Tue, 30 Jan 2024 16:53:39 +0800
Subject: [PATCH 02/10] update timer mod after stm32-metapac timer_v2
---
embassy-stm32/Cargo.toml | 4 +-
embassy-stm32/src/time_driver.rs | 8 +-
embassy-stm32/src/timer/complementary_pwm.rs | 2 +-
embassy-stm32/src/timer/mod.rs | 526 ++++++++++++++-----
embassy-stm32/src/timer/qei.rs | 2 +-
embassy-stm32/src/timer/simple_pwm.rs | 6 +-
examples/stm32h7/src/bin/dac_dma.rs | 14 +-
examples/stm32l4/src/bin/dac_dma.rs | 14 +-
8 files changed, 433 insertions(+), 143 deletions(-)
diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index 61d70b732..c6bc27f89 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -68,7 +68,7 @@ rand_core = "0.6.3"
sdio-host = "0.5.0"
critical-section = "1.1"
#stm32-metapac = { version = "15" }
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-d7c933984fe0cbd120b6aaa7742bd585f89fa786" }
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", rev = "stm32-data-028efe4e6e0719b661cbdf8ffda3341e4d63d0df" }
vcell = "0.1.3"
bxcan = "0.7.0"
nb = "1.0.0"
@@ -89,7 +89,7 @@ critical-section = { version = "1.1", features = ["std"] }
proc-macro2 = "1.0.36"
quote = "1.0.15"
#stm32-metapac = { version = "15", default-features = false, features = ["metadata"]}
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-d7c933984fe0cbd120b6aaa7742bd585f89fa786", default-features = false, features = ["metadata"]}
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-028efe4e6e0719b661cbdf8ffda3341e4d63d0df", default-features = false, features = ["metadata"]}
[features]
diff --git a/embassy-stm32/src/time_driver.rs b/embassy-stm32/src/time_driver.rs
index 320b29ddb..29ff4a736 100644
--- a/embassy-stm32/src/time_driver.rs
+++ b/embassy-stm32/src/time_driver.rs
@@ -14,7 +14,7 @@ use crate::pac::timer::vals;
use crate::rcc::sealed::RccPeripheral;
#[cfg(feature = "low-power")]
use crate::rtc::Rtc;
-use crate::timer::sealed::{Basic16bitInstance as BasicInstance, GeneralPurpose16bitInstance as Instance};
+use crate::timer::sealed::{CoreInstance, GeneralPurpose16bitInstance as Instance};
use crate::{interrupt, peripherals};
// NOTE regarding ALARM_COUNT:
@@ -234,8 +234,8 @@ impl RtcDriver {
w.set_ccie(0, true);
});
- <T as BasicInstance>::Interrupt::unpend();
- unsafe { <T as BasicInstance>::Interrupt::enable() };
+ <T as CoreInstance>::Interrupt::unpend();
+ unsafe { <T as CoreInstance>::Interrupt::enable() };
r.cr1().modify(|w| w.set_cen(true));
}
@@ -251,7 +251,7 @@ impl RtcDriver {
// Clear all interrupt flags. Bits in SR are "write 0 to clear", so write the bitwise NOT.
// Other approaches such as writing all zeros, or RMWing won't work, they can
// miss interrupts.
- r.sr().write_value(regs::SrGp(!sr.0));
+ r.sr().write_value(regs::SrGp16(!sr.0));
// Overflow
if sr.uif() {
diff --git a/embassy-stm32/src/timer/complementary_pwm.rs b/embassy-stm32/src/timer/complementary_pwm.rs
index eddce0404..0470e3048 100644
--- a/embassy-stm32/src/timer/complementary_pwm.rs
+++ b/embassy-stm32/src/timer/complementary_pwm.rs
@@ -52,7 +52,7 @@ pub struct ComplementaryPwm<'d, T> {
inner: PeripheralRef<'d, T>,
}
-impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
+impl<'d, T: GeneralPurpose16bitInstance + ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
/// Create a new complementary PWM driver.
#[allow(clippy::too_many_arguments)]
pub fn new(
diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs
index 210bf7153..f66b4d094 100644
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@@ -1,5 +1,19 @@
//! Timers, PWM, quadrature decoder.
+// Timer inheritance
+//
+// CaptureCompare16bitInstance ComplementaryCaptureCompare16bitInstance
+// v v
+// Core -------------------------> 1CH -------------------------> 1CH_CMP
+// | | ^ |
+// +--> Basic_NoCr2 --> Basic +--> 2CH --> GP16 --> GP32 | +--> 2CH_CMP --> ADV
+// | | | ^ | | ^ ^
+// | | +------|--|--------------|-----------+ |
+// | +--------------------+ +--------------|-----------|---------+
+// | | | |
+// | +--------------------------------------|-----------+
+// +----------------------------------------------------+
+
pub mod complementary_pwm;
pub mod qei;
pub mod simple_pwm;
@@ -19,32 +33,32 @@ pub mod low_level {
pub(crate) mod sealed {
use super::*;
- /// Basic 16-bit timer instance.
- pub trait Basic16bitInstance: RccPeripheral {
+ /// Virtual Core 16-bit timer instance.
+ pub trait CoreInstance: RccPeripheral {
/// Interrupt for this timer.
type Interrupt: interrupt::typelevel::Interrupt;
- /// Get access to the basic 16bit timer registers.
+ /// Get access to the virutal core 16bit timer registers.
///
/// Note: This works even if the timer is more capable, because registers
/// for the less capable timers are a subset. This allows writing a driver
/// for a given set of capabilities, and having it transparently work with
/// more capable timers.
- fn regs() -> crate::pac::timer::TimBasic;
+ fn regs_core() -> crate::pac::timer::TimCore;
/// Start the timer.
fn start(&mut self) {
- Self::regs().cr1().modify(|r| r.set_cen(true));
+ Self::regs_core().cr1().modify(|r| r.set_cen(true));
}
/// Stop the timer.
fn stop(&mut self) {
- Self::regs().cr1().modify(|r| r.set_cen(false));
+ Self::regs_core().cr1().modify(|r| r.set_cen(false));
}
/// Reset the counter value to 0
fn reset(&mut self) {
- Self::regs().cnt().write(|r| r.set_cnt(0));
+ Self::regs_core().cnt().write(|r| r.set_cnt(0));
}
/// Set the frequency of how many times per second the timer counts up to the max value or down to 0.
@@ -64,7 +78,7 @@ pub(crate) mod sealed {
// the timer counts `0..=arr`, we want it to count `0..divide_by`
let arr = unwrap!(u16::try_from(divide_by - 1));
- let regs = Self::regs();
+ let regs = Self::regs_core();
regs.psc().write(|r| r.set_psc(psc));
regs.arr().write(|r| r.set_arr(arr));
@@ -77,7 +91,7 @@ pub(crate) mod sealed {
///
/// Returns whether the update interrupt flag was set.
fn clear_update_interrupt(&mut self) -> bool {
- let regs = Self::regs();
+ let regs = Self::regs_core();
let sr = regs.sr().read();
if sr.uif() {
regs.sr().modify(|r| {
@@ -91,29 +105,19 @@ pub(crate) mod sealed {
/// Enable/disable the update interrupt.
fn enable_update_interrupt(&mut self, enable: bool) {
- Self::regs().dier().modify(|r| r.set_uie(enable));
- }
-
- /// Enable/disable the update dma.
- fn enable_update_dma(&mut self, enable: bool) {
- Self::regs().dier().modify(|r| r.set_ude(enable));
- }
-
- /// Get the update dma enable/disable state.
- fn get_update_dma_state(&self) -> bool {
- Self::regs().dier().read().ude()
+ Self::regs_core().dier().modify(|r| r.set_uie(enable));
}
/// Enable/disable autoreload preload.
fn set_autoreload_preload(&mut self, enable: bool) {
- Self::regs().cr1().modify(|r| r.set_arpe(enable));
+ Self::regs_core().cr1().modify(|r| r.set_arpe(enable));
}
/// Get the timer frequency.
fn get_frequency(&self) -> Hertz {
let timer_f = Self::frequency();
- let regs = Self::regs();
+ let regs = Self::regs_core();
let arr = regs.arr().read().arr();
let psc = regs.psc().read().psc();
@@ -121,8 +125,67 @@ pub(crate) mod sealed {
}
}
+ /// Virtual Basic without CR2 16-bit timer instance.
+ pub trait BasicNoCr2Instance: CoreInstance {
+ /// Get access to the Baisc 16bit timer registers.
+ ///
+ /// Note: This works even if the timer is more capable, because registers
+ /// for the less capable timers are a subset. This allows writing a driver
+ /// for a given set of capabilities, and having it transparently work with
+ /// more capable timers.
+ fn regs_basic_no_cr2() -> crate::pac::timer::TimBasicNoCr2;
+
+ /// Enable/disable the update dma.
+ fn enable_update_dma(&mut self, enable: bool) {
+ Self::regs_basic_no_cr2().dier().modify(|r| r.set_ude(enable));
+ }
+
+ /// Get the update dma enable/disable state.
+ fn get_update_dma_state(&self) -> bool {
+ Self::regs_basic_no_cr2().dier().read().ude()
+ }
+ }
+
+ /// Basic 16-bit timer instance.
+ pub trait BasicInstance: BasicNoCr2Instance {
+ /// Get access to the Baisc 16bit timer registers.
+ ///
+ /// Note: This works even if the timer is more capable, because registers
+ /// for the less capable timers are a subset. This allows writing a driver
+ /// for a given set of capabilities, and having it transparently work with
+ /// more capable timers.
+ fn regs_basic() -> crate::pac::timer::TimBasic;
+ }
+
+ /// Gneral-purpose 1 channel 16-bit timer instance.
+ pub trait GeneralPurpose1ChannelInstance: CoreInstance {
+ /// Get access to the general purpose 1 channel 16bit timer registers.
+ ///
+ /// Note: This works even if the timer is more capable, because registers
+ /// for the less capable timers are a subset. This allows writing a driver
+ /// for a given set of capabilities, and having it transparently work with
+ /// more capable timers.
+ fn regs_1ch() -> crate::pac::timer::Tim1ch;
+
+ /// Set clock divider.
+ fn set_clock_division(&mut self, ckd: vals::Ckd) {
+ Self::regs_1ch().cr1().modify(|r| r.set_ckd(ckd));
+ }
+ }
+
+ /// Gneral-purpose 1 channel 16-bit timer instance.
+ pub trait GeneralPurpose2ChannelInstance: GeneralPurpose1ChannelInstance {
+ /// Get access to the general purpose 2 channel 16bit timer registers.
+ ///
+ /// Note: This works even if the timer is more capable, because registers
+ /// for the less capable timers are a subset. This allows writing a driver
+ /// for a given set of capabilities, and having it transparently work with
+ /// more capable timers.
+ fn regs_2ch() -> crate::pac::timer::Tim2ch;
+ }
+
/// Gneral-purpose 16-bit timer instance.
- pub trait GeneralPurpose16bitInstance: Basic16bitInstance {
+ pub trait GeneralPurpose16bitInstance: BasicInstance + GeneralPurpose2ChannelInstance {
/// Get access to the general purpose 16bit timer registers.
///
/// Note: This works even if the timer is more capable, because registers
@@ -135,7 +198,7 @@ pub(crate) mod sealed {
fn set_counting_mode(&mut self, mode: CountingMode) {
let (cms, dir) = mode.into();
- let timer_enabled = Self::regs().cr1().read().cen();
+ let timer_enabled = Self::regs_core().cr1().read().cen();
// Changing from edge aligned to center aligned (and vice versa) is not allowed while the timer is running.
// Changing direction is discouraged while the timer is running.
assert!(!timer_enabled);
@@ -149,11 +212,6 @@ pub(crate) mod sealed {
let cr1 = Self::regs_gp16().cr1().read();
(cr1.cms(), cr1.dir()).into()
}
-
- /// Set clock divider.
- fn set_clock_division(&mut self, ckd: vals::Ckd) {
- Self::regs_gp16().cr1().modify(|r| r.set_ckd(ckd));
- }
}
/// Gneral-purpose 32-bit timer instance.
@@ -196,36 +254,67 @@ pub(crate) mod sealed {
}
}
+ /// 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.
+ ///
+ /// Note: This works even if the timer is more capable, because registers
+ /// for the less capable timers are a subset. This allows writing a driver
+ /// for a given set of capabilities, and having it transparently work with
+ /// more capable timers.
+ fn regs_1ch_cmp() -> crate::pac::timer::Tim1chCmp;
+
+ /// Enable timer outputs.
+ fn enable_outputs(&mut self) {
+ Self::regs_1ch_cmp().bdtr().modify(|w| w.set_moe(true));
+ }
+ }
+
+ /// Gneral-purpose 2 channel with one complementary 16-bit timer instance.
+ pub trait GeneralPurpose2ChannelComplementaryInstance:
+ BasicInstance + GeneralPurpose1ChannelComplementaryInstance
+ {
+ /// Get access to the general purpose 2 channel with one complementary 16bit timer registers.
+ ///
+ /// Note: This works even if the timer is more capable, because registers
+ /// for the less capable timers are a subset. This allows writing a driver
+ /// for a given set of capabilities, and having it transparently work with
+ /// more capable timers.
+ fn regs_2ch_cmp() -> crate::pac::timer::Tim2chCmp;
+ }
+
/// Advanced control timer instance.
- pub trait AdvancedControlInstance: GeneralPurpose16bitInstance {
+ pub trait AdvancedControlInstance:
+ GeneralPurpose2ChannelComplementaryInstance + GeneralPurpose16bitInstance
+ {
/// Get access to the advanced timer registers.
fn regs_advanced() -> crate::pac::timer::TimAdv;
}
/// Capture/Compare 16-bit timer instance.
- pub trait CaptureCompare16bitInstance: GeneralPurpose16bitInstance {
+ pub trait CaptureCompare16bitInstance: GeneralPurpose1ChannelInstance {
/// Set input capture filter.
- fn set_input_capture_filter(&mut self, channel: Channel, icf: vals::Icf) {
+ fn set_input_capture_filter(&mut self, channel: Channel, icf: vals::FilterValue) {
let raw_channel = channel.index();
- Self::regs_gp16()
+ Self::regs_1ch()
.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_gp16().sr().modify(|r| r.set_ccif(channel.index(), false));
+ Self::regs_1ch().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));
+ Self::regs_1ch().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()
+ Self::regs_1ch()
.ccmr_input(raw_channel / 2)
.modify(|r| r.set_icpsc(raw_channel % 2, factor));
}
@@ -233,14 +322,14 @@ pub(crate) mod sealed {
/// Set input TI selection.
fn set_input_ti_selection(&mut self, channel: Channel, tisel: InputTISelection) {
let raw_channel = channel.index();
- Self::regs_gp16()
+ Self::regs_1ch()
.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 {
+ Self::regs_1ch().ccer().modify(|r| match mode {
InputCaptureMode::Rising => {
r.set_ccnp(channel.index(), false);
r.set_ccp(channel.index(), false);
@@ -256,12 +345,9 @@ pub(crate) mod sealed {
});
}
- /// Enable timer outputs.
- fn enable_outputs(&mut self);
-
/// Set output compare mode.
fn set_output_compare_mode(&mut self, channel: Channel, mode: OutputCompareMode) {
- let r = Self::regs_gp16();
+ let r = Self::regs_1ch();
let raw_channel: usize = channel.index();
r.ccmr_output(raw_channel / 2)
.modify(|w| w.set_ocm(raw_channel % 2, mode.into()));
@@ -269,45 +355,45 @@ pub(crate) mod sealed {
/// Set output polarity.
fn set_output_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
- Self::regs_gp16()
+ Self::regs_1ch()
.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));
+ Self::regs_1ch().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())
+ Self::regs_1ch().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));
+ Self::regs_1ch().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()
+ Self::regs_1ch().ccr(channel.index()).read().ccr()
}
/// Get max compare value. This depends on the timer frequency and the clock frequency from RCC.
fn get_max_compare_value(&self) -> u16 {
- Self::regs_gp16().arr().read().arr()
+ Self::regs_1ch().arr().read().arr()
}
/// Get compare value for a channel.
fn get_compare_value(&self, channel: Channel) -> u16 {
- Self::regs_gp16().ccr(channel.index()).read().ccr()
+ Self::regs_1ch().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()
+ Self::regs_1ch()
.ccmr_output(channel_index / 2)
.modify(|w| w.set_ocpe(channel_index % 2, preload));
}
@@ -334,27 +420,29 @@ pub(crate) mod sealed {
}
/// Capture/Compare 16-bit timer instance with complementary pin support.
- pub trait ComplementaryCaptureCompare16bitInstance: CaptureCompare16bitInstance + AdvancedControlInstance {
+ pub trait ComplementaryCaptureCompare16bitInstance:
+ CaptureCompare16bitInstance + GeneralPurpose1ChannelComplementaryInstance
+ {
/// Set complementary output polarity.
fn set_complementary_output_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
- Self::regs_advanced()
+ Self::regs_1ch_cmp()
.ccer()
.modify(|w| w.set_ccnp(channel.index(), polarity.into()));
}
/// Set clock divider for the dead time.
fn set_dead_time_clock_division(&mut self, value: vals::Ckd) {
- Self::regs_advanced().cr1().modify(|w| w.set_ckd(value));
+ Self::regs_1ch_cmp().cr1().modify(|w| w.set_ckd(value));
}
/// Set dead time, as a fraction of the max duty value.
fn set_dead_time_value(&mut self, value: u8) {
- Self::regs_advanced().bdtr().modify(|w| w.set_dtg(value));
+ Self::regs_1ch_cmp().bdtr().modify(|w| w.set_dtg(value));
}
/// Enable/disable a complementary channel.
fn enable_complementary_channel(&mut self, channel: Channel, enable: bool) {
- Self::regs_advanced()
+ Self::regs_1ch_cmp()
.ccer()
.modify(|w| w.set_ccne(channel.index(), enable));
}
@@ -571,11 +659,29 @@ impl From<OutputPolarity> for bool {
}
}
-/// Basic 16-bit timer instance.
-pub trait Basic16bitInstance: sealed::Basic16bitInstance + 'static {}
+/// Virtual Core 16-bit timer instance.
+pub trait CoreInstance: sealed::CoreInstance + 'static {}
-/// Gneral-purpose 16-bit timer instance.
-pub trait GeneralPurpose16bitInstance: sealed::GeneralPurpose16bitInstance + Basic16bitInstance + '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
+{
+}
+
+/// General-purpose 16-bit timer instance.
+pub trait GeneralPurpose16bitInstance:
+ sealed::GeneralPurpose16bitInstance + BasicInstance + GeneralPurpose2ChannelInstance + 'static
+{
+}
/// Gneral-purpose 32-bit timer instance.
pub trait GeneralPurpose32bitInstance:
@@ -583,18 +689,39 @@ pub trait GeneralPurpose32bitInstance:
{
}
+/// General-purpose 1 channel with one complementary 16-bit timer instance.
+pub trait GeneralPurpose1ChannelComplementaryInstance:
+ sealed::GeneralPurpose1ChannelComplementaryInstance + GeneralPurpose1ChannelInstance + 'static
+{
+}
+
+/// General-purpose 2 channel with one complementary 16-bit timer instance.
+pub trait GeneralPurpose2ChannelComplementaryInstance:
+ sealed::GeneralPurpose2ChannelComplementaryInstance
+ + BasicInstance
+ + GeneralPurpose1ChannelComplementaryInstance
+ + 'static
+{
+}
+
/// Advanced control timer instance.
-pub trait AdvancedControlInstance: sealed::AdvancedControlInstance + GeneralPurpose16bitInstance + 'static {}
+pub trait AdvancedControlInstance:
+ sealed::AdvancedControlInstance + GeneralPurpose2ChannelComplementaryInstance + GeneralPurpose16bitInstance + 'static
+{
+}
/// Capture/Compare 16-bit timer instance.
pub trait CaptureCompare16bitInstance:
- sealed::CaptureCompare16bitInstance + GeneralPurpose16bitInstance + 'static
+ sealed::CaptureCompare16bitInstance + GeneralPurpose1ChannelInstance + 'static
{
}
/// Capture/Compare 16-bit timer instance with complementary pin support.
pub trait ComplementaryCaptureCompare16bitInstance:
- sealed::ComplementaryCaptureCompare16bitInstance + CaptureCompare16bitInstance + AdvancedControlInstance + 'static
+ sealed::ComplementaryCaptureCompare16bitInstance
+ + CaptureCompare16bitInstance
+ + GeneralPurpose1ChannelComplementaryInstance
+ + 'static
{
}
@@ -621,12 +748,34 @@ pin_trait!(BreakInput2Comparator1Pin, CaptureCompare16bitInstance);
pin_trait!(BreakInput2Comparator2Pin, CaptureCompare16bitInstance);
#[allow(unused)]
-macro_rules! impl_basic_16bit_timer {
+macro_rules! impl_core_timer {
($inst:ident, $irq:ident) => {
- impl sealed::Basic16bitInstance for crate::peripherals::$inst {
+ impl sealed::CoreInstance for crate::peripherals::$inst {
type Interrupt = crate::interrupt::typelevel::$irq;
- fn regs() -> crate::pac::timer::TimBasic {
+ fn regs_core() -> crate::pac::timer::TimCore {
+ unsafe { crate::pac::timer::TimCore::from_ptr(crate::pac::$inst.as_ptr()) }
+ }
+ }
+ };
+}
+
+#[allow(unused)]
+macro_rules! impl_basic_no_cr2_timer {
+ ($inst:ident) => {
+ impl sealed::BasicNoCr2Instance for crate::peripherals::$inst {
+ fn regs_basic_no_cr2() -> crate::pac::timer::TimBasicNoCr2 {
+ unsafe { crate::pac::timer::TimBasicNoCr2::from_ptr(crate::pac::$inst.as_ptr()) }
+ }
+ }
+ };
+}
+
+#[allow(unused)]
+macro_rules! impl_basic_timer {
+ ($inst:ident) => {
+ impl sealed::BasicInstance for crate::peripherals::$inst {
+ fn regs_basic() -> crate::pac::timer::TimBasic {
unsafe { crate::pac::timer::TimBasic::from_ptr(crate::pac::$inst.as_ptr()) }
}
}
@@ -634,7 +783,40 @@ macro_rules! impl_basic_16bit_timer {
}
#[allow(unused)]
-macro_rules! impl_32bit_timer {
+macro_rules! impl_1ch_timer {
+ ($inst:ident) => {
+ impl sealed::GeneralPurpose1ChannelInstance for crate::peripherals::$inst {
+ fn regs_1ch() -> crate::pac::timer::Tim1ch {
+ unsafe { crate::pac::timer::Tim1ch::from_ptr(crate::pac::$inst.as_ptr()) }
+ }
+ }
+ };
+}
+
+#[allow(unused)]
+macro_rules! impl_2ch_timer {
+ ($inst:ident) => {
+ impl sealed::GeneralPurpose2ChannelInstance for crate::peripherals::$inst {
+ fn regs_2ch() -> crate::pac::timer::Tim2ch {
+ unsafe { crate::pac::timer::Tim2ch::from_ptr(crate::pac::$inst.as_ptr()) }
+ }
+ }
+ };
+}
+
+#[allow(unused)]
+macro_rules! impl_gp_16bit_timer {
+ ($inst:ident) => {
+ impl sealed::GeneralPurpose16bitInstance for crate::peripherals::$inst {
+ fn regs_gp16() -> crate::pac::timer::TimGp16 {
+ unsafe { crate::pac::timer::TimGp16::from_ptr(crate::pac::$inst.as_ptr()) }
+ }
+ }
+ };
+}
+
+#[allow(unused)]
+macro_rules! impl_gp_32bit_timer {
($inst:ident) => {
impl sealed::GeneralPurpose32bitInstance for crate::peripherals::$inst {
fn regs_gp32() -> crate::pac::timer::TimGp32 {
@@ -644,84 +826,194 @@ macro_rules! impl_32bit_timer {
};
}
+#[allow(unused)]
+macro_rules! impl_1ch_cmp_timer {
+ ($inst:ident) => {
+ impl sealed::GeneralPurpose1ChannelComplementaryInstance for crate::peripherals::$inst {
+ fn regs_1ch_cmp() -> crate::pac::timer::Tim1chCmp {
+ unsafe { crate::pac::timer::Tim1chCmp::from_ptr(crate::pac::$inst.as_ptr()) }
+ }
+ }
+ };
+}
+
+#[allow(unused)]
+macro_rules! impl_2ch_cmp_timer {
+ ($inst:ident) => {
+ impl sealed::GeneralPurpose2ChannelComplementaryInstance for crate::peripherals::$inst {
+ fn regs_2ch_cmp() -> crate::pac::timer::Tim2chCmp {
+ unsafe { crate::pac::timer::Tim2chCmp::from_ptr(crate::pac::$inst.as_ptr()) }
+ }
+ }
+ };
+}
+
+#[allow(unused)]
+macro_rules! impl_adv_timer {
+ ($inst:ident) => {
+ impl sealed::AdvancedControlInstance for crate::peripherals::$inst {
+ fn regs_advanced() -> crate::pac::timer::TimAdv {
+ unsafe { crate::pac::timer::TimAdv::from_ptr(crate::pac::$inst.as_ptr()) }
+ }
+ }
+ };
+}
+
#[allow(unused)]
macro_rules! impl_compare_capable_16bit {
($inst:ident) => {
- impl sealed::CaptureCompare16bitInstance for crate::peripherals::$inst {
- fn enable_outputs(&mut self) {}
- }
+ impl sealed::CaptureCompare16bitInstance for crate::peripherals::$inst {}
+ };
+}
+
+#[allow(unused)]
+macro_rules! impl_compare_capable_32bit {
+ ($inst:ident) => {
+ impl sealed::CaptureCompare32bitInstance for crate::peripherals::$inst {}
+ };
+}
+
+#[allow(unused)]
+macro_rules! impl_compare_capable_complementary_16bit {
+ ($inst:ident) => {
+ impl sealed::ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
};
}
foreach_interrupt! {
- ($inst:ident, timer, TIM_BASIC, UP, $irq:ident) => {
- impl_basic_16bit_timer!($inst, $irq);
- impl Basic16bitInstance for crate::peripherals::$inst {}
- };
- ($inst:ident, timer, TIM_GP16, UP, $irq:ident) => {
- impl_basic_16bit_timer!($inst, $irq);
- impl_compare_capable_16bit!($inst);
- impl Basic16bitInstance for crate::peripherals::$inst {}
- impl GeneralPurpose16bitInstance for crate::peripherals::$inst {}
- impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
- impl sealed::GeneralPurpose16bitInstance for crate::peripherals::$inst {
- fn regs_gp16() -> crate::pac::timer::TimGp16 {
- crate::pac::$inst
- }
- }
+ ($inst:ident, timer, TIM_BASIC, UP, $irq:ident) => {
+ impl_core_timer!($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, $irq);
+ impl_1ch_timer!($inst);
+ impl_compare_capable_16bit!($inst);
+ impl CoreInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
+ impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
+ };
+
+
+ ($inst:ident, timer, TIM_2CH, UP, $irq:ident) => {
+ impl_core_timer!($inst, $irq);
+ impl_1ch_timer!($inst);
+ impl_compare_capable_16bit!($inst);
+ impl_2ch_timer!($inst);
+ impl CoreInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
+ impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
+ };
+
+ ($inst:ident, timer, TIM_GP16, UP, $irq:ident) => {
+ impl_core_timer!($inst, $irq);
+ impl_basic_no_cr2_timer!($inst);
+ impl_basic_timer!($inst);
+ impl_1ch_timer!($inst);
+ impl_compare_capable_16bit!($inst);
+ impl_2ch_timer!($inst);
+ impl_gp_16bit_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::$inst {}
+ impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose16bitInstance for crate::peripherals::$inst {}
};
($inst:ident, timer, TIM_GP32, UP, $irq:ident) => {
- impl_basic_16bit_timer!($inst, $irq);
- impl_32bit_timer!($inst);
+ impl_core_timer!($inst, $irq);
+ impl_basic_no_cr2_timer!($inst);
+ impl_basic_timer!($inst);
+ impl_1ch_timer!($inst);
impl_compare_capable_16bit!($inst);
- impl Basic16bitInstance for crate::peripherals::$inst {}
+ impl_compare_capable_32bit!($inst);
+ impl_2ch_timer!($inst);
+ impl_gp_16bit_timer!($inst);
+ impl_gp_32bit_timer!($inst);
+ impl CoreInstance for crate::peripherals::$inst {}
+ impl BasicNoCr2Instance for crate::peripherals::$inst{}
+ impl BasicInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
impl CaptureCompare32bitInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose16bitInstance for crate::peripherals::$inst {}
impl GeneralPurpose32bitInstance for crate::peripherals::$inst {}
- impl sealed::CaptureCompare32bitInstance for crate::peripherals::$inst {}
-
- impl sealed::GeneralPurpose16bitInstance for crate::peripherals::$inst {
- fn regs_gp16() -> crate::pac::timer::TimGp16 {
- unsafe { crate::pac::timer::TimGp16::from_ptr(crate::pac::$inst.as_ptr()) }
- }
- }
};
- ($inst:ident, timer, TIM_ADV, UP, $irq:ident) => {
- impl_basic_16bit_timer!($inst, $irq);
+ ($inst:ident, timer, TIM_1CH_CMP, UP, $irq:ident) => {
+ impl_core_timer!($inst, $irq);
+ impl_basic_no_cr2_timer!($inst);
+ impl_1ch_timer!($inst);
+ impl_compare_capable_16bit!($inst);
+ impl_1ch_cmp_timer!($inst);
+ impl_compare_capable_complementary_16bit!($inst);
+ impl CoreInstance for crate::peripherals::$inst {}
+ impl BasicNoCr2Instance for crate::peripherals::$inst{}
+ impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
+ impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose1ChannelComplementaryInstance for crate::peripherals::$inst {}
+ impl ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
+ };
- impl Basic16bitInstance for crate::peripherals::$inst {}
+
+ ($inst:ident, timer, TIM_2CH_CMP, UP, $irq:ident) => {
+ impl_core_timer!($inst, $irq);
+ impl_basic_no_cr2_timer!($inst);
+ impl_basic_timer!($inst);
+ impl_1ch_timer!($inst);
+ impl_compare_capable_16bit!($inst);
+ impl_1ch_cmp_timer!($inst);
+ impl_compare_capable_complementary_16bit!($inst);
+ impl_2ch_cmp_timer!($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 CaptureCompare16bitInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose1ChannelComplementaryInstance for crate::peripherals::$inst {}
+ impl ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose2ChannelComplementaryInstance for crate::peripherals::$inst {}
+ };
+
+
+ ($inst:ident, timer, TIM_ADV, 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!($inst);
+ impl_compare_capable_16bit!($inst);
+ impl_1ch_cmp_timer!($inst);
+ impl_gp_16bit_timer!($inst);
+ impl_compare_capable_complementary_16bit!($inst);
+ impl_2ch_cmp_timer!($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::$inst {}
impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose1ChannelComplementaryInstance for crate::peripherals::$inst {}
impl ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose2ChannelComplementaryInstance for crate::peripherals::$inst {}
impl AdvancedControlInstance for crate::peripherals::$inst {}
- impl sealed::CaptureCompare16bitInstance for crate::peripherals::$inst {
- fn enable_outputs(&mut self) {
- use crate::timer::sealed::AdvancedControlInstance;
- let r = Self::regs_advanced();
- r.bdtr().modify(|w| w.set_moe(true));
- }
- }
- impl sealed::ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
- impl sealed::GeneralPurpose16bitInstance for crate::peripherals::$inst {
- fn regs_gp16() -> crate::pac::timer::TimGp16 {
- unsafe { crate::pac::timer::TimGp16::from_ptr(crate::pac::$inst.as_ptr()) }
- }
- }
-
- impl sealed::AdvancedControlInstance for crate::peripherals::$inst {
- fn regs_advanced() -> crate::pac::timer::TimAdv {
- crate::pac::$inst
- }
- }
};
}
// Update Event trigger DMA for every timer
-dma_trait!(UpDma, Basic16bitInstance);
+dma_trait!(UpDma, BasicNoCr2Instance);
dma_trait!(Ch1Dma, CaptureCompare16bitInstance);
dma_trait!(Ch2Dma, CaptureCompare16bitInstance);
diff --git a/embassy-stm32/src/timer/qei.rs b/embassy-stm32/src/timer/qei.rs
index 59efb72ba..75e5ab12a 100644
--- a/embassy-stm32/src/timer/qei.rs
+++ b/embassy-stm32/src/timer/qei.rs
@@ -57,7 +57,7 @@ pub struct Qei<'d, T> {
_inner: PeripheralRef<'d, T>,
}
-impl<'d, T: CaptureCompare16bitInstance> Qei<'d, T> {
+impl<'d, T: GeneralPurpose16bitInstance + 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)
diff --git a/embassy-stm32/src/timer/simple_pwm.rs b/embassy-stm32/src/timer/simple_pwm.rs
index 0b4c1225f..1c665d456 100644
--- a/embassy-stm32/src/timer/simple_pwm.rs
+++ b/embassy-stm32/src/timer/simple_pwm.rs
@@ -59,7 +59,7 @@ pub struct SimplePwm<'d, T> {
inner: PeripheralRef<'d, T>,
}
-impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
+impl<'d, T: GeneralPurpose16bitInstance + CaptureCompare16bitInstance> SimplePwm<'d, T> {
/// Create a new simple PWM driver.
pub fn new(
tim: impl Peripheral<P = T> + 'd,
@@ -84,8 +84,6 @@ impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
this.set_frequency(freq);
this.inner.start();
- this.inner.enable_outputs();
-
[Channel::Ch1, Channel::Ch2, Channel::Ch3, Channel::Ch4]
.iter()
.for_each(|&channel| {
@@ -202,7 +200,7 @@ impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
&mut dma,
req,
duty,
- T::regs_gp16().ccr(channel.index()).as_ptr() as *mut _,
+ T::regs_1ch().ccr(channel.index()).as_ptr() as *mut _,
dma_transfer_option,
)
.await
diff --git a/examples/stm32h7/src/bin/dac_dma.rs b/examples/stm32h7/src/bin/dac_dma.rs
index 8e5c41a43..d88bd838f 100644
--- a/examples/stm32h7/src/bin/dac_dma.rs
+++ b/examples/stm32h7/src/bin/dac_dma.rs
@@ -8,7 +8,7 @@ use embassy_stm32::pac::timer::vals::Mms;
use embassy_stm32::peripherals::{DAC1, DMA1_CH3, DMA1_CH4, TIM6, TIM7};
use embassy_stm32::rcc::low_level::RccPeripheral;
use embassy_stm32::time::Hertz;
-use embassy_stm32::timer::low_level::Basic16bitInstance;
+use embassy_stm32::timer::low_level::BasicInstance;
use micromath::F32Ext;
use {defmt_rtt as _, panic_probe as _};
@@ -75,9 +75,9 @@ async fn dac_task1(mut dac: DacCh1<'static, DAC1, DMA1_CH3>) {
dac.enable();
TIM6::enable_and_reset();
- TIM6::regs().arr().modify(|w| w.set_arr(reload as u16 - 1));
- TIM6::regs().cr2().modify(|w| w.set_mms(Mms::UPDATE));
- TIM6::regs().cr1().modify(|w| {
+ TIM6::regs_basic().arr().modify(|w| w.set_arr(reload as u16 - 1));
+ TIM6::regs_basic().cr2().modify(|w| w.set_mms(Mms::UPDATE));
+ TIM6::regs_basic().cr1().modify(|w| {
w.set_opm(false);
w.set_cen(true);
});
@@ -112,9 +112,9 @@ async fn dac_task2(mut dac: DacCh2<'static, DAC1, DMA1_CH4>) {
}
TIM7::enable_and_reset();
- TIM7::regs().arr().modify(|w| w.set_arr(reload as u16 - 1));
- TIM7::regs().cr2().modify(|w| w.set_mms(Mms::UPDATE));
- TIM7::regs().cr1().modify(|w| {
+ TIM7::regs_basic().arr().modify(|w| w.set_arr(reload as u16 - 1));
+ TIM7::regs_basic().cr2().modify(|w| w.set_mms(Mms::UPDATE));
+ TIM7::regs_basic().cr1().modify(|w| {
w.set_opm(false);
w.set_cen(true);
});
diff --git a/examples/stm32l4/src/bin/dac_dma.rs b/examples/stm32l4/src/bin/dac_dma.rs
index 8e5098557..f227812cd 100644
--- a/examples/stm32l4/src/bin/dac_dma.rs
+++ b/examples/stm32l4/src/bin/dac_dma.rs
@@ -8,7 +8,7 @@ use embassy_stm32::pac::timer::vals::Mms;
use embassy_stm32::peripherals::{DAC1, DMA1_CH3, DMA1_CH4, TIM6, TIM7};
use embassy_stm32::rcc::low_level::RccPeripheral;
use embassy_stm32::time::Hertz;
-use embassy_stm32::timer::low_level::Basic16bitInstance;
+use embassy_stm32::timer::low_level::BasicInstance;
use micromath::F32Ext;
use {defmt_rtt as _, panic_probe as _};
@@ -46,9 +46,9 @@ async fn dac_task1(mut dac: DacCh1<'static, DAC1, DMA1_CH3>) {
dac.enable();
TIM6::enable_and_reset();
- TIM6::regs().arr().modify(|w| w.set_arr(reload as u16 - 1));
- TIM6::regs().cr2().modify(|w| w.set_mms(Mms::UPDATE));
- TIM6::regs().cr1().modify(|w| {
+ TIM6::regs_basic().arr().modify(|w| w.set_arr(reload as u16 - 1));
+ TIM6::regs_basic().cr2().modify(|w| w.set_mms(Mms::UPDATE));
+ TIM6::regs_basic().cr1().modify(|w| {
w.set_opm(false);
w.set_cen(true);
});
@@ -83,9 +83,9 @@ async fn dac_task2(mut dac: DacCh2<'static, DAC1, DMA1_CH4>) {
}
TIM7::enable_and_reset();
- TIM7::regs().arr().modify(|w| w.set_arr(reload as u16 - 1));
- TIM7::regs().cr2().modify(|w| w.set_mms(Mms::UPDATE));
- TIM7::regs().cr1().modify(|w| {
+ TIM7::regs_basic().arr().modify(|w| w.set_arr(reload as u16 - 1));
+ TIM7::regs_basic().cr2().modify(|w| w.set_mms(Mms::UPDATE));
+ TIM7::regs_basic().cr1().modify(|w| {
w.set_opm(false);
w.set_cen(true);
});
From 53bf0332e9e862fa5c09a1e9ab9a6d7116219ed7 Mon Sep 17 00:00:00 2001
From: Dario Nieuwenhuis <dirbaio@dirbaio.net>
Date: Sat, 10 Feb 2024 00:00:26 +0100
Subject: [PATCH 03/10] asdkf
---
embassy-stm32/Cargo.toml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index c6bc27f89..eb67404d3 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -68,7 +68,7 @@ rand_core = "0.6.3"
sdio-host = "0.5.0"
critical-section = "1.1"
#stm32-metapac = { version = "15" }
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", rev = "stm32-data-028efe4e6e0719b661cbdf8ffda3341e4d63d0df" }
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-028efe4e6e0719b661cbdf8ffda3341e4d63d0df" }
vcell = "0.1.3"
bxcan = "0.7.0"
nb = "1.0.0"
From d538829f2f3542c78ee9eb218c0b5c982acfb46b Mon Sep 17 00:00:00 2001
From: eZio Pan <eziopan@qq.com>
Date: Thu, 1 Feb 2024 17:10:47 +0800
Subject: [PATCH 04/10] add methods with macro
---
embassy-stm32/src/timer/complementary_pwm.rs | 52 +-
embassy-stm32/src/timer/mod.rs | 522 ++++++++----------
embassy-stm32/src/timer/qei.rs | 4 +-
embassy-stm32/src/timer/simple_pwm.rs | 40 +-
.../stm32h7/src/bin/low_level_timer_api.rs | 4 +-
5 files changed, 298 insertions(+), 324 deletions(-)
diff --git a/embassy-stm32/src/timer/complementary_pwm.rs b/embassy-stm32/src/timer/complementary_pwm.rs
index 0470e3048..b9cd044c9 100644
--- a/embassy-stm32/src/timer/complementary_pwm.rs
+++ b/embassy-stm32/src/timer/complementary_pwm.rs
@@ -1,6 +1,7 @@
//! 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;
@@ -23,7 +24,7 @@ pub struct ComplementaryPwmPin<'d, T, C> {
macro_rules! complementary_channel_impl {
($new_chx:ident, $channel:ident, $pin_trait:ident) => {
- impl<'d, T: CaptureCompare16bitInstance> ComplementaryPwmPin<'d, T, $channel> {
+ impl<'d, T: AdvancedControlInstance> 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);
@@ -52,7 +53,7 @@ pub struct ComplementaryPwm<'d, T> {
inner: PeripheralRef<'d, T>,
}
-impl<'d, T: GeneralPurpose16bitInstance + ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
+impl<'d, T: AdvancedControlInstance> ComplementaryPwm<'d, T> {
/// Create a new complementary PWM driver.
#[allow(clippy::too_many_arguments)]
pub fn new(
@@ -84,27 +85,30 @@ impl<'d, T: GeneralPurpose16bitInstance + ComplementaryCaptureCompare16bitInstan
this.inner.enable_outputs();
- this.inner
- .set_output_compare_mode(Channel::Ch1, OutputCompareMode::PwmMode1);
- this.inner
- .set_output_compare_mode(Channel::Ch2, OutputCompareMode::PwmMode1);
- this.inner
- .set_output_compare_mode(Channel::Ch3, OutputCompareMode::PwmMode1);
- this.inner
- .set_output_compare_mode(Channel::Ch4, OutputCompareMode::PwmMode1);
+ [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
}
/// Enable the given channel.
pub fn enable(&mut self, channel: Channel) {
- self.inner.enable_channel(channel, true);
- self.inner.enable_complementary_channel(channel, true);
+ sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, true);
+ sealed::AdvancedControlInstance::enable_complementary_channel(self.inner.deref_mut(), channel, true);
}
/// Disable the given channel.
pub fn disable(&mut self, channel: Channel) {
- self.inner.enable_complementary_channel(channel, false);
- self.inner.enable_channel(channel, false);
+ sealed::AdvancedControlInstance::enable_complementary_channel(self.inner.deref_mut(), channel, false);
+ sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, false);
}
/// Set PWM frequency.
@@ -132,13 +136,13 @@ impl<'d, T: GeneralPurpose16bitInstance + ComplementaryCaptureCompare16bitInstan
/// 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());
- self.inner.set_compare_value(channel, duty)
+ sealed::GeneralPurpose16bitInstance::set_compare_value(self.inner.deref_mut(), channel, duty)
}
/// Set the output polarity for a given channel.
pub fn set_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
- self.inner.set_output_polarity(channel, polarity);
- self.inner.set_complementary_output_polarity(channel, polarity);
+ sealed::GeneralPurpose16bitInstance::set_output_polarity(self.inner.deref_mut(), channel, polarity);
+ sealed::AdvancedControlInstance::set_complementary_output_polarity(self.inner.deref_mut(), channel, polarity);
}
/// Set the dead time as a proportion of max_duty
@@ -150,19 +154,19 @@ impl<'d, T: GeneralPurpose16bitInstance + ComplementaryCaptureCompare16bitInstan
}
}
-impl<'d, T: ComplementaryCaptureCompare16bitInstance> embedded_hal_02::Pwm for ComplementaryPwm<'d, T> {
+impl<'d, T: AdvancedControlInstance> embedded_hal_02::Pwm for ComplementaryPwm<'d, T> {
type Channel = Channel;
type Time = Hertz;
type Duty = u16;
fn disable(&mut self, channel: Self::Channel) {
- self.inner.enable_complementary_channel(channel, false);
- self.inner.enable_channel(channel, false);
+ sealed::AdvancedControlInstance::enable_complementary_channel(self.inner.deref_mut(), channel, false);
+ sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, false);
}
fn enable(&mut self, channel: Self::Channel) {
- self.inner.enable_channel(channel, true);
- self.inner.enable_complementary_channel(channel, true);
+ sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, true);
+ sealed::AdvancedControlInstance::enable_complementary_channel(self.inner.deref_mut(), channel, true);
}
fn get_period(&self) -> Self::Time {
@@ -170,7 +174,7 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> embedded_hal_02::Pwm for C
}
fn get_duty(&self, channel: Self::Channel) -> Self::Duty {
- self.inner.get_compare_value(channel)
+ sealed::GeneralPurpose16bitInstance::get_compare_value(self.inner.deref(), channel)
}
fn get_max_duty(&self) -> Self::Duty {
@@ -179,7 +183,7 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> embedded_hal_02::Pwm for C
fn set_duty(&mut self, channel: Self::Channel, duty: Self::Duty) {
assert!(duty <= self.get_max_duty());
- self.inner.set_compare_value(channel, duty)
+ sealed::GeneralPurpose16bitInstance::set_compare_value(self.inner.deref_mut(), channel, duty)
}
fn set_period<P>(&mut self, period: P)
diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs
index f66b4d094..2f5d5770a 100644
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@@ -2,8 +2,6 @@
// Timer inheritance
//
-// CaptureCompare16bitInstance ComplementaryCaptureCompare16bitInstance
-// v v
// Core -------------------------> 1CH -------------------------> 1CH_CMP
// | | ^ |
// +--> Basic_NoCr2 --> Basic +--> 2CH --> GP16 --> GP32 | +--> 2CH_CMP --> ADV
@@ -33,6 +31,156 @@ 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 r = Self::$regs();
+ let raw_channel: usize = channel.index();
+ r.ccmr_output(raw_channel / 2)
+ .modify(|w| w.set_ocm(raw_channel % 2, mode.into()));
+ }
+
+ /// Set output polarity.
+ fn set_output_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
+ Self::$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::$regs().ccr(channel.index()).read().ccr()
+ }
+
+ /// Set output compare preload.
+ fn set_output_compare_preload(&mut self, channel: Channel, preload: bool) {
+ let channel_index = channel.index();
+ Self::regs_1ch()
+ .ccmr_output(channel_index / 2)
+ .modify(|w| w.set_ocpe(channel_index % 2, preload));
+ }
+ };
+ }
+
+ macro_rules! add_capture_compare_dma_methods {
+ ($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))
+ }
+ };
+ }
+
+ 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.
@@ -171,6 +319,13 @@ pub(crate) mod sealed {
fn set_clock_division(&mut self, ckd: vals::Ckd) {
Self::regs_1ch().cr1().modify(|r| r.set_ckd(ckd));
}
+
+ /// Get max compare value. This depends on the timer frequency and the clock frequency from RCC.
+ 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.
@@ -182,6 +337,8 @@ 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.
@@ -212,6 +369,9 @@ pub(crate) mod sealed {
let cr1 = Self::regs_gp16().cr1().read();
(cr1.cms(), cr1.dir()).into()
}
+
+ add_capture_compare_common_methods!(regs_gp16);
+ add_capture_compare_dma_methods!(regs_gp16);
}
/// Gneral-purpose 32-bit timer instance.
@@ -252,204 +412,7 @@ pub(crate) mod sealed {
timer_f / arr / (psc + 1)
}
- }
- /// 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.
- ///
- /// Note: This works even if the timer is more capable, because registers
- /// for the less capable timers are a subset. This allows writing a driver
- /// for a given set of capabilities, and having it transparently work with
- /// more capable timers.
- fn regs_1ch_cmp() -> crate::pac::timer::Tim1chCmp;
-
- /// Enable timer outputs.
- fn enable_outputs(&mut self) {
- Self::regs_1ch_cmp().bdtr().modify(|w| w.set_moe(true));
- }
- }
-
- /// Gneral-purpose 2 channel with one complementary 16-bit timer instance.
- pub trait GeneralPurpose2ChannelComplementaryInstance:
- BasicInstance + GeneralPurpose1ChannelComplementaryInstance
- {
- /// Get access to the general purpose 2 channel with one complementary 16bit timer registers.
- ///
- /// Note: This works even if the timer is more capable, because registers
- /// for the less capable timers are a subset. This allows writing a driver
- /// for a given set of capabilities, and having it transparently work with
- /// more capable timers.
- fn regs_2ch_cmp() -> crate::pac::timer::Tim2chCmp;
- }
-
- /// Advanced control timer instance.
- pub trait AdvancedControlInstance:
- GeneralPurpose2ChannelComplementaryInstance + GeneralPurpose16bitInstance
- {
- /// Get access to the advanced timer registers.
- fn regs_advanced() -> crate::pac::timer::TimAdv;
- }
-
- /// Capture/Compare 16-bit timer instance.
- pub trait CaptureCompare16bitInstance: GeneralPurpose1ChannelInstance {
- /// Set input capture filter.
- fn set_input_capture_filter(&mut self, channel: Channel, icf: vals::FilterValue) {
- let raw_channel = channel.index();
- Self::regs_1ch()
- .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_1ch().sr().modify(|r| r.set_ccif(channel.index(), false));
- }
-
- /// Enable input interrupt.
- fn enable_input_interrupt(&mut self, channel: Channel, enable: bool) {
- Self::regs_1ch().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_1ch()
- .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_1ch()
- .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_1ch().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 r = Self::regs_1ch();
- let raw_channel: usize = channel.index();
- r.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_1ch()
- .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_1ch().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_1ch().ccer().read().cce(channel.index())
- }
-
- /// Set compare value for a channel.
- fn set_compare_value(&mut self, channel: Channel, value: u16) {
- Self::regs_1ch().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_1ch().ccr(channel.index()).read().ccr()
- }
-
- /// Get max compare value. This depends on the timer frequency and the clock frequency from RCC.
- fn get_max_compare_value(&self) -> u16 {
- Self::regs_1ch().arr().read().arr()
- }
-
- /// Get compare value for a channel.
- fn get_compare_value(&self, channel: Channel) -> u16 {
- Self::regs_1ch().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_1ch()
- .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))
- }
- }
-
- /// Capture/Compare 16-bit timer instance with complementary pin support.
- pub trait ComplementaryCaptureCompare16bitInstance:
- CaptureCompare16bitInstance + GeneralPurpose1ChannelComplementaryInstance
- {
- /// Set complementary output polarity.
- fn set_complementary_output_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
- Self::regs_1ch_cmp()
- .ccer()
- .modify(|w| w.set_ccnp(channel.index(), polarity.into()));
- }
-
- /// Set clock divider for the dead time.
- fn set_dead_time_clock_division(&mut self, value: vals::Ckd) {
- Self::regs_1ch_cmp().cr1().modify(|w| w.set_ckd(value));
- }
-
- /// Set dead time, as a fraction of the max duty value.
- fn set_dead_time_value(&mut self, value: u8) {
- Self::regs_1ch_cmp().bdtr().modify(|w| w.set_dtg(value));
- }
-
- /// Enable/disable a complementary channel.
- fn enable_complementary_channel(&mut self, channel: Channel, enable: bool) {
- Self::regs_1ch_cmp()
- .ccer()
- .modify(|w| w.set_ccne(channel.index(), enable));
- }
- }
-
- /// Capture/Compare 32-bit timer instance.
- pub trait CaptureCompare32bitInstance: GeneralPurpose32bitInstance + CaptureCompare16bitInstance {
/// Set comapre value for a channel.
fn set_compare_value(&mut self, channel: Channel, value: u32) {
Self::regs_gp32().ccr(channel.index()).modify(|w| w.set_ccr(value));
@@ -470,6 +433,59 @@ pub(crate) mod sealed {
Self::regs_gp32().ccr(channel.index()).read().ccr()
}
}
+
+ /// 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.
+ ///
+ /// Note: This works even if the timer is more capable, because registers
+ /// for the less capable timers are a subset. This allows writing a driver
+ /// for a given set of capabilities, and having it transparently work with
+ /// more capable timers.
+ fn regs_1ch_cmp() -> crate::pac::timer::Tim1chCmp;
+
+ /// Set clock divider for the dead time.
+ fn set_dead_time_clock_division(&mut self, value: vals::Ckd) {
+ Self::regs_1ch_cmp().cr1().modify(|w| w.set_ckd(value));
+ }
+
+ /// Set dead time, as a fraction of the max duty value.
+ fn set_dead_time_value(&mut self, value: u8) {
+ Self::regs_1ch_cmp().bdtr().modify(|w| w.set_dtg(value));
+ }
+
+ /// Enable timer outputs.
+ fn enable_outputs(&mut self) {
+ Self::regs_1ch_cmp().bdtr().modify(|w| w.set_moe(true));
+ }
+
+ add_complementary_capture_compare_methods!(regs_1ch_cmp);
+ }
+
+ /// Gneral-purpose 2 channel with one complementary 16-bit timer instance.
+ pub trait GeneralPurpose2ChannelComplementaryInstance:
+ BasicInstance + GeneralPurpose2ChannelInstance + GeneralPurpose1ChannelComplementaryInstance
+ {
+ /// Get access to the general purpose 2 channel with one complementary 16bit timer registers.
+ ///
+ /// Note: This works even if the timer is more capable, because registers
+ /// for the less capable timers are a subset. This allows writing a driver
+ /// 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);
+ }
+
+ /// Advanced control timer instance.
+ pub trait AdvancedControlInstance:
+ GeneralPurpose2ChannelComplementaryInstance + GeneralPurpose16bitInstance
+ {
+ /// Get access to the advanced timer registers.
+ fn regs_advanced() -> crate::pac::timer::TimAdv;
+
+ add_complementary_capture_compare_methods!(regs_advanced);
+ }
}
/// Timer channel.
@@ -699,6 +715,7 @@ pub trait GeneralPurpose1ChannelComplementaryInstance:
pub trait GeneralPurpose2ChannelComplementaryInstance:
sealed::GeneralPurpose2ChannelComplementaryInstance
+ BasicInstance
+ + GeneralPurpose2ChannelInstance
+ GeneralPurpose1ChannelComplementaryInstance
+ 'static
{
@@ -710,42 +727,30 @@ pub trait AdvancedControlInstance:
{
}
-/// Capture/Compare 16-bit timer instance.
-pub trait CaptureCompare16bitInstance:
- sealed::CaptureCompare16bitInstance + GeneralPurpose1ChannelInstance + 'static
-{
-}
+pin_trait!(Channel1Pin, GeneralPurpose1ChannelInstance);
+pin_trait!(Channel2Pin, GeneralPurpose2ChannelInstance);
+pin_trait!(Channel3Pin, GeneralPurpose16bitInstance);
+pin_trait!(Channel4Pin, GeneralPurpose16bitInstance);
-/// Capture/Compare 16-bit timer instance with complementary pin support.
-pub trait ComplementaryCaptureCompare16bitInstance:
- sealed::ComplementaryCaptureCompare16bitInstance
- + CaptureCompare16bitInstance
- + GeneralPurpose1ChannelComplementaryInstance
- + 'static
-{
-}
+#[cfg(not(stm32l0))]
+pin_trait!(ExternalTriggerPin, GeneralPurpose16bitInstance);
-/// Capture/Compare 32-bit timer instance.
-pub trait CaptureCompare32bitInstance:
- sealed::CaptureCompare32bitInstance + CaptureCompare16bitInstance + GeneralPurpose32bitInstance + 'static
-{
-}
+#[cfg(stm32l0)]
+pin_trait!(ExternalTriggerPin, GeneralPurpose2ChannelInstance);
-pin_trait!(Channel1Pin, CaptureCompare16bitInstance);
-pin_trait!(Channel1ComplementaryPin, CaptureCompare16bitInstance);
-pin_trait!(Channel2Pin, CaptureCompare16bitInstance);
-pin_trait!(Channel2ComplementaryPin, CaptureCompare16bitInstance);
-pin_trait!(Channel3Pin, CaptureCompare16bitInstance);
-pin_trait!(Channel3ComplementaryPin, CaptureCompare16bitInstance);
-pin_trait!(Channel4Pin, CaptureCompare16bitInstance);
-pin_trait!(Channel4ComplementaryPin, CaptureCompare16bitInstance);
-pin_trait!(ExternalTriggerPin, CaptureCompare16bitInstance);
-pin_trait!(BreakInputPin, CaptureCompare16bitInstance);
-pin_trait!(BreakInputComparator1Pin, CaptureCompare16bitInstance);
-pin_trait!(BreakInputComparator2Pin, CaptureCompare16bitInstance);
-pin_trait!(BreakInput2Pin, CaptureCompare16bitInstance);
-pin_trait!(BreakInput2Comparator1Pin, CaptureCompare16bitInstance);
-pin_trait!(BreakInput2Comparator2Pin, CaptureCompare16bitInstance);
+pin_trait!(Channel1ComplementaryPin, GeneralPurpose1ChannelComplementaryInstance);
+pin_trait!(Channel2ComplementaryPin, GeneralPurpose2ChannelComplementaryInstance);
+pin_trait!(Channel3ComplementaryPin, AdvancedControlInstance);
+pin_trait!(Channel4ComplementaryPin, AdvancedControlInstance);
+
+pin_trait!(BreakInputPin, GeneralPurpose1ChannelComplementaryInstance);
+pin_trait!(BreakInput2Pin, GeneralPurpose2ChannelComplementaryInstance);
+
+pin_trait!(BreakInputComparator1Pin, GeneralPurpose1ChannelComplementaryInstance);
+pin_trait!(BreakInputComparator2Pin, AdvancedControlInstance);
+
+pin_trait!(BreakInput2Comparator1Pin, AdvancedControlInstance);
+pin_trait!(BreakInput2Comparator2Pin, AdvancedControlInstance);
#[allow(unused)]
macro_rules! impl_core_timer {
@@ -859,27 +864,6 @@ macro_rules! impl_adv_timer {
};
}
-#[allow(unused)]
-macro_rules! impl_compare_capable_16bit {
- ($inst:ident) => {
- impl sealed::CaptureCompare16bitInstance for crate::peripherals::$inst {}
- };
-}
-
-#[allow(unused)]
-macro_rules! impl_compare_capable_32bit {
- ($inst:ident) => {
- impl sealed::CaptureCompare32bitInstance for crate::peripherals::$inst {}
- };
-}
-
-#[allow(unused)]
-macro_rules! impl_compare_capable_complementary_16bit {
- ($inst:ident) => {
- impl sealed::ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
- };
-}
-
foreach_interrupt! {
($inst:ident, timer, TIM_BASIC, UP, $irq:ident) => {
@@ -894,21 +878,17 @@ foreach_interrupt! {
($inst:ident, timer, TIM_1CH, UP, $irq:ident) => {
impl_core_timer!($inst, $irq);
impl_1ch_timer!($inst);
- impl_compare_capable_16bit!($inst);
impl CoreInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
- impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
};
($inst:ident, timer, TIM_2CH, UP, $irq:ident) => {
impl_core_timer!($inst, $irq);
impl_1ch_timer!($inst);
- impl_compare_capable_16bit!($inst);
impl_2ch_timer!($inst);
impl CoreInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
- impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
};
@@ -917,14 +897,12 @@ foreach_interrupt! {
impl_basic_no_cr2_timer!($inst);
impl_basic_timer!($inst);
impl_1ch_timer!($inst);
- impl_compare_capable_16bit!($inst);
impl_2ch_timer!($inst);
impl_gp_16bit_timer!($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 CaptureCompare16bitInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose16bitInstance for crate::peripherals::$inst {}
};
@@ -934,8 +912,6 @@ foreach_interrupt! {
impl_basic_no_cr2_timer!($inst);
impl_basic_timer!($inst);
impl_1ch_timer!($inst);
- impl_compare_capable_16bit!($inst);
- impl_compare_capable_32bit!($inst);
impl_2ch_timer!($inst);
impl_gp_16bit_timer!($inst);
impl_gp_32bit_timer!($inst);
@@ -943,8 +919,6 @@ foreach_interrupt! {
impl BasicNoCr2Instance for crate::peripherals::$inst{}
impl BasicInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
- impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
- impl CaptureCompare32bitInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose16bitInstance for crate::peripherals::$inst {}
impl GeneralPurpose32bitInstance for crate::peripherals::$inst {}
@@ -954,15 +928,11 @@ foreach_interrupt! {
impl_core_timer!($inst, $irq);
impl_basic_no_cr2_timer!($inst);
impl_1ch_timer!($inst);
- impl_compare_capable_16bit!($inst);
impl_1ch_cmp_timer!($inst);
- impl_compare_capable_complementary_16bit!($inst);
impl CoreInstance for crate::peripherals::$inst {}
impl BasicNoCr2Instance for crate::peripherals::$inst{}
impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
- impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelComplementaryInstance for crate::peripherals::$inst {}
- impl ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
};
@@ -971,17 +941,15 @@ foreach_interrupt! {
impl_basic_no_cr2_timer!($inst);
impl_basic_timer!($inst);
impl_1ch_timer!($inst);
- impl_compare_capable_16bit!($inst);
+ impl_2ch_timer!($inst);
impl_1ch_cmp_timer!($inst);
- impl_compare_capable_complementary_16bit!($inst);
impl_2ch_cmp_timer!($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 CaptureCompare16bitInstance for crate::peripherals::$inst {}
+ impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelComplementaryInstance for crate::peripherals::$inst {}
- impl ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelComplementaryInstance for crate::peripherals::$inst {}
};
@@ -992,10 +960,8 @@ foreach_interrupt! {
impl_basic_timer!($inst);
impl_1ch_timer!($inst);
impl_2ch_timer!($inst);
- impl_compare_capable_16bit!($inst);
impl_1ch_cmp_timer!($inst);
impl_gp_16bit_timer!($inst);
- impl_compare_capable_complementary_16bit!($inst);
impl_2ch_cmp_timer!($inst);
impl_adv_timer!($inst);
impl CoreInstance for crate::peripherals::$inst {}
@@ -1004,9 +970,7 @@ foreach_interrupt! {
impl GeneralPurpose1ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelInstance for crate::peripherals::$inst {}
impl GeneralPurpose16bitInstance for crate::peripherals::$inst {}
- impl CaptureCompare16bitInstance for crate::peripherals::$inst {}
impl GeneralPurpose1ChannelComplementaryInstance for crate::peripherals::$inst {}
- impl ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {}
impl GeneralPurpose2ChannelComplementaryInstance for crate::peripherals::$inst {}
impl AdvancedControlInstance for crate::peripherals::$inst {}
};
@@ -1015,7 +979,7 @@ foreach_interrupt! {
// Update Event trigger DMA for every timer
dma_trait!(UpDma, BasicNoCr2Instance);
-dma_trait!(Ch1Dma, CaptureCompare16bitInstance);
-dma_trait!(Ch2Dma, CaptureCompare16bitInstance);
-dma_trait!(Ch3Dma, CaptureCompare16bitInstance);
-dma_trait!(Ch4Dma, CaptureCompare16bitInstance);
+dma_trait!(Ch1Dma, GeneralPurpose1ChannelInstance);
+dma_trait!(Ch2Dma, GeneralPurpose2ChannelInstance);
+dma_trait!(Ch3Dma, GeneralPurpose16bitInstance);
+dma_trait!(Ch4Dma, GeneralPurpose16bitInstance);
diff --git a/embassy-stm32/src/timer/qei.rs b/embassy-stm32/src/timer/qei.rs
index 75e5ab12a..7e56312bb 100644
--- a/embassy-stm32/src/timer/qei.rs
+++ b/embassy-stm32/src/timer/qei.rs
@@ -30,7 +30,7 @@ pub struct QeiPin<'d, T, Channel> {
macro_rules! channel_impl {
($new_chx:ident, $channel:ident, $pin_trait:ident) => {
- impl<'d, T: CaptureCompare16bitInstance> QeiPin<'d, T, $channel> {
+ impl<'d, T: GeneralPurpose16bitInstance> QeiPin<'d, T, $channel> {
#[doc = concat!("Create a new ", stringify!($channel), " QEI pin instance.")]
pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd) -> Self {
into_ref!(pin);
@@ -57,7 +57,7 @@ pub struct Qei<'d, T> {
_inner: PeripheralRef<'d, T>,
}
-impl<'d, T: GeneralPurpose16bitInstance + CaptureCompare16bitInstance> Qei<'d, T> {
+impl<'d, T: GeneralPurpose16bitInstance> Qei<'d, T> {
/// Create a new quadrature decoder driver.
pub fn new(tim: impl Peripheral<P = T> + 'd, _ch1: QeiPin<'d, T, Ch1>, _ch2: QeiPin<'d, T, Ch2>) -> Self {
Self::new_inner(tim)
diff --git a/embassy-stm32/src/timer/simple_pwm.rs b/embassy-stm32/src/timer/simple_pwm.rs
index 1c665d456..088d02c97 100644
--- a/embassy-stm32/src/timer/simple_pwm.rs
+++ b/embassy-stm32/src/timer/simple_pwm.rs
@@ -1,6 +1,7 @@
//! Simple PWM driver.
use core::marker::PhantomData;
+use core::ops::{Deref, DerefMut};
use embassy_hal_internal::{into_ref, PeripheralRef};
@@ -30,7 +31,7 @@ pub struct PwmPin<'d, T, C> {
macro_rules! channel_impl {
($new_chx:ident, $channel:ident, $pin_trait:ident) => {
- impl<'d, T: CaptureCompare16bitInstance> PwmPin<'d, T, $channel> {
+ impl<'d, T: GeneralPurpose16bitInstance> 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);
@@ -59,7 +60,7 @@ pub struct SimplePwm<'d, T> {
inner: PeripheralRef<'d, T>,
}
-impl<'d, T: GeneralPurpose16bitInstance + CaptureCompare16bitInstance> SimplePwm<'d, T> {
+impl<'d, T: GeneralPurpose16bitInstance> SimplePwm<'d, T> {
/// Create a new simple PWM driver.
pub fn new(
tim: impl Peripheral<P = T> + 'd,
@@ -87,8 +88,13 @@ impl<'d, T: GeneralPurpose16bitInstance + CaptureCompare16bitInstance> SimplePwm
[Channel::Ch1, Channel::Ch2, Channel::Ch3, Channel::Ch4]
.iter()
.for_each(|&channel| {
- this.inner.set_output_compare_mode(channel, OutputCompareMode::PwmMode1);
- this.inner.set_output_compare_preload(channel, true)
+ 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
@@ -96,17 +102,17 @@ impl<'d, T: GeneralPurpose16bitInstance + CaptureCompare16bitInstance> SimplePwm
/// Enable the given channel.
pub fn enable(&mut self, channel: Channel) {
- self.inner.enable_channel(channel, true);
+ sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, true);
}
/// Disable the given channel.
pub fn disable(&mut self, channel: Channel) {
- self.inner.enable_channel(channel, false);
+ sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, false);
}
/// Check whether given channel is enabled
pub fn is_enabled(&self, channel: Channel) -> bool {
- self.inner.get_channel_enable_state(channel)
+ sealed::GeneralPurpose16bitInstance::get_channel_enable_state(self.inner.deref(), channel)
}
/// Set PWM frequency.
@@ -134,24 +140,24 @@ impl<'d, T: GeneralPurpose16bitInstance + CaptureCompare16bitInstance> SimplePwm
/// 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());
- self.inner.set_compare_value(channel, duty)
+ sealed::GeneralPurpose16bitInstance::set_compare_value(self.inner.deref_mut(), 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 {
- self.inner.get_compare_value(channel)
+ sealed::GeneralPurpose16bitInstance::get_compare_value(self.inner.deref(), channel)
}
/// Set the output polarity for a given channel.
pub fn set_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
- self.inner.set_output_polarity(channel, polarity);
+ sealed::GeneralPurpose16bitInstance::set_output_polarity(self.inner.deref_mut(), channel, polarity);
}
/// Set the output compare mode for a given channel.
pub fn set_output_compare_mode(&mut self, channel: Channel, mode: OutputCompareMode) {
- self.inner.set_output_compare_mode(channel, mode);
+ sealed::GeneralPurpose16bitInstance::set_output_compare_mode(self.inner.deref_mut(), channel, mode);
}
/// Generate a sequence of PWM waveform
@@ -226,7 +232,7 @@ impl<'d, T: GeneralPurpose16bitInstance + CaptureCompare16bitInstance> SimplePwm
macro_rules! impl_waveform_chx {
($fn_name:ident, $dma_ch:ident, $cc_ch:ident) => {
- impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
+ impl<'d, T: GeneralPurpose16bitInstance> SimplePwm<'d, T> {
/// Generate a sequence of PWM waveform
///
/// Note:
@@ -313,17 +319,17 @@ impl_waveform_chx!(waveform_ch2, Ch2Dma, Ch2);
impl_waveform_chx!(waveform_ch3, Ch3Dma, Ch3);
impl_waveform_chx!(waveform_ch4, Ch4Dma, Ch4);
-impl<'d, T: CaptureCompare16bitInstance> embedded_hal_02::Pwm for SimplePwm<'d, T> {
+impl<'d, T: GeneralPurpose16bitInstance> embedded_hal_02::Pwm for SimplePwm<'d, T> {
type Channel = Channel;
type Time = Hertz;
type Duty = u16;
fn disable(&mut self, channel: Self::Channel) {
- self.inner.enable_channel(channel, false);
+ sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, false);
}
fn enable(&mut self, channel: Self::Channel) {
- self.inner.enable_channel(channel, true);
+ sealed::GeneralPurpose16bitInstance::enable_channel(self.inner.deref_mut(), channel, true);
}
fn get_period(&self) -> Self::Time {
@@ -331,7 +337,7 @@ impl<'d, T: CaptureCompare16bitInstance> embedded_hal_02::Pwm for SimplePwm<'d,
}
fn get_duty(&self, channel: Self::Channel) -> Self::Duty {
- self.inner.get_compare_value(channel)
+ sealed::GeneralPurpose16bitInstance::get_compare_value(self.inner.deref(), channel)
}
fn get_max_duty(&self) -> Self::Duty {
@@ -340,7 +346,7 @@ impl<'d, T: CaptureCompare16bitInstance> embedded_hal_02::Pwm for SimplePwm<'d,
fn set_duty(&mut self, channel: Self::Channel, duty: Self::Duty) {
assert!(duty <= self.get_max_duty());
- self.inner.set_compare_value(channel, duty)
+ sealed::GeneralPurpose16bitInstance::set_compare_value(self.inner.deref_mut(), channel, duty)
}
fn set_period<P>(&mut self, period: P)
diff --git a/examples/stm32h7/src/bin/low_level_timer_api.rs b/examples/stm32h7/src/bin/low_level_timer_api.rs
index cc508c3cf..0be3eccb7 100644
--- a/examples/stm32h7/src/bin/low_level_timer_api.rs
+++ b/examples/stm32h7/src/bin/low_level_timer_api.rs
@@ -56,11 +56,11 @@ async fn main(_spawner: Spawner) {
Timer::after_millis(300).await;
}
}
-pub struct SimplePwm32<'d, T: CaptureCompare32bitInstance> {
+pub struct SimplePwm32<'d, T: GeneralPurpose32bitInstance> {
inner: PeripheralRef<'d, T>,
}
-impl<'d, T: CaptureCompare32bitInstance> SimplePwm32<'d, T> {
+impl<'d, T: GeneralPurpose32bitInstance> SimplePwm32<'d, T> {
pub fn new(
tim: impl Peripheral<P = T> + 'd,
ch1: impl Peripheral<P = impl Channel1Pin<T>> + 'd,
From 5b646bc3bd0c4a2cd9acf6a59b3a76f2bbcb0bfb Mon Sep 17 00:00:00 2001
From: eZio Pan <eziopan@qq.com>
Date: Thu, 1 Feb 2024 23:04:39 +0800
Subject: [PATCH 05/10] stm32-timer: L0 is special
---
embassy-stm32/src/timer/mod.rs | 20 ++++++++++++++++++++
1 file changed, 20 insertions(+)
diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs
index 2f5d5770a..8be96b414 100644
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@@ -12,6 +12,7 @@
// | +--------------------------------------|-----------+
// +----------------------------------------------------+
+#[cfg(not(any(stm32l0, stm32l1)))]
pub mod complementary_pwm;
pub mod qei;
pub mod simple_pwm;
@@ -163,6 +164,7 @@ pub(crate) mod sealed {
};
}
+ #[cfg(not(any(stm32l0, stm32l1)))]
macro_rules! add_complementary_capture_compare_methods {
($regs:ident) => {
/// Set complementary output polarity.
@@ -374,6 +376,7 @@ pub(crate) mod sealed {
add_capture_compare_dma_methods!(regs_gp16);
}
+ #[cfg(not(any(stm32l0)))]
/// Gneral-purpose 32-bit timer instance.
pub trait GeneralPurpose32bitInstance: GeneralPurpose16bitInstance {
/// Get access to the general purpose 32bit timer registers.
@@ -434,6 +437,7 @@ pub(crate) mod sealed {
}
}
+ #[cfg(not(any(stm32l0, stm32l1)))]
/// 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.
@@ -462,6 +466,7 @@ pub(crate) mod sealed {
add_complementary_capture_compare_methods!(regs_1ch_cmp);
}
+ #[cfg(not(any(stm32l0, stm32l1)))]
/// Gneral-purpose 2 channel with one complementary 16-bit timer instance.
pub trait GeneralPurpose2ChannelComplementaryInstance:
BasicInstance + GeneralPurpose2ChannelInstance + GeneralPurpose1ChannelComplementaryInstance
@@ -477,6 +482,7 @@ pub(crate) mod sealed {
add_complementary_capture_compare_methods!(regs_2ch_cmp);
}
+ #[cfg(not(any(stm32l0, stm32l1)))]
/// Advanced control timer instance.
pub trait AdvancedControlInstance:
GeneralPurpose2ChannelComplementaryInstance + GeneralPurpose16bitInstance
@@ -699,18 +705,21 @@ pub trait GeneralPurpose16bitInstance:
{
}
+#[cfg(not(stm32l0))]
/// 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
@@ -721,6 +730,7 @@ pub trait GeneralPurpose2ChannelComplementaryInstance:
{
}
+#[cfg(not(any(stm32l0, stm32l1)))]
/// Advanced control timer instance.
pub trait AdvancedControlInstance:
sealed::AdvancedControlInstance + GeneralPurpose2ChannelComplementaryInstance + GeneralPurpose16bitInstance + 'static
@@ -738,18 +748,28 @@ pin_trait!(ExternalTriggerPin, GeneralPurpose16bitInstance);
#[cfg(stm32l0)]
pin_trait!(ExternalTriggerPin, GeneralPurpose2ChannelInstance);
+#[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(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);
#[allow(unused)]
From 319f10da5daff415ad2dac17f4eed43313455167 Mon Sep 17 00:00:00 2001
From: eZio Pan <eziopan@qq.com>
Date: Thu, 1 Feb 2024 23:41:32 +0800
Subject: [PATCH 06/10] stm32-timer: filter out c0, f1 and f37x
---
embassy-stm32/src/timer/mod.rs | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs
index 8be96b414..be5c6cf29 100644
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@@ -376,7 +376,7 @@ pub(crate) mod sealed {
add_capture_compare_dma_methods!(regs_gp16);
}
- #[cfg(not(any(stm32l0)))]
+ #[cfg(not(any(stm32f1, stm32l0, stm32c0)))]
/// Gneral-purpose 32-bit timer instance.
pub trait GeneralPurpose32bitInstance: GeneralPurpose16bitInstance {
/// Get access to the general purpose 32bit timer registers.
@@ -705,7 +705,7 @@ pub trait GeneralPurpose16bitInstance:
{
}
-#[cfg(not(stm32l0))]
+#[cfg(not(any(stm32f1, stm32l0, stm32c0)))]
/// Gneral-purpose 32-bit timer instance.
pub trait GeneralPurpose32bitInstance:
sealed::GeneralPurpose32bitInstance + GeneralPurpose16bitInstance + 'static
@@ -730,7 +730,7 @@ pub trait GeneralPurpose2ChannelComplementaryInstance:
{
}
-#[cfg(not(any(stm32l0, stm32l1)))]
+#[cfg(not(any(stm32f37, stm32l0, stm32l1)))]
/// Advanced control timer instance.
pub trait AdvancedControlInstance:
sealed::AdvancedControlInstance + GeneralPurpose2ChannelComplementaryInstance + GeneralPurpose16bitInstance + 'static
From b3cdf3a040ae97923e84eca525505f7eff55e870 Mon Sep 17 00:00:00 2001
From: eZio Pan <eziopan@qq.com>
Date: Fri, 2 Feb 2024 14:52:54 +0800
Subject: [PATCH 07/10] bug fix
---
embassy-stm32/src/timer/mod.rs | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs
index be5c6cf29..3e303a6cf 100644
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@@ -90,9 +90,9 @@ pub(crate) mod sealed {
/// Set output compare mode.
fn set_output_compare_mode(&mut self, channel: Channel, mode: OutputCompareMode) {
- let r = Self::$regs();
let raw_channel: usize = channel.index();
- r.ccmr_output(raw_channel / 2)
+ Self::$regs()
+ .ccmr_output(raw_channel / 2)
.modify(|w| w.set_ocm(raw_channel % 2, mode.into()));
}
@@ -133,7 +133,7 @@ pub(crate) mod sealed {
/// Set output compare preload.
fn set_output_compare_preload(&mut self, channel: Channel, preload: bool) {
let channel_index = channel.index();
- Self::regs_1ch()
+ Self::$regs()
.ccmr_output(channel_index / 2)
.modify(|w| w.set_ocpe(channel_index % 2, preload));
}
From 6c690ab259ed15eece329a53a7147e7780f53cf3 Mon Sep 17 00:00:00 2001
From: eZio Pan <eziopan@qq.com>
Date: Fri, 2 Feb 2024 17:45:51 +0800
Subject: [PATCH 08/10] restore original public API of timer, but keep new PAC
---
embassy-stm32/src/timer/complementary_pwm.rs | 41 +-
embassy-stm32/src/timer/mod.rs | 525 ++++++++----------
embassy-stm32/src/timer/qei.rs | 4 +-
embassy-stm32/src/timer/simple_pwm.rs | 39 +-
.../stm32h7/src/bin/low_level_timer_api.rs | 4 +-
5 files changed, 274 insertions(+), 339 deletions(-)
diff --git a/embassy-stm32/src/timer/complementary_pwm.rs b/embassy-stm32/src/timer/complementary_pwm.rs
index b9cd044c9..72f1ec864 100644
--- a/embassy-stm32/src/timer/complementary_pwm.rs
+++ b/embassy-stm32/src/timer/complementary_pwm.rs
@@ -1,7 +1,6 @@
//! PWM driver with complementary output support.
use core::marker::PhantomData;
-use core::ops::{Deref, DerefMut};
use embassy_hal_internal::{into_ref, PeripheralRef};
use stm32_metapac::timer::vals::Ckd;
@@ -24,7 +23,7 @@ pub struct ComplementaryPwmPin<'d, T, C> {
macro_rules! complementary_channel_impl {
($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)
diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs
index 3e303a6cf..5f40be957 100644
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@@ -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));
+ }
+
+ /// 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(any(stm32f1, stm32l0, stm32c0)))]
+ #[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::$inst {}
};
}
// Update Event trigger DMA for every timer
-dma_trait!(UpDma, BasicNoCr2Instance);
+dma_trait!(UpDma, BasicInstance);
-dma_trait!(Ch1Dma, GeneralPurpose1ChannelInstance);
-dma_trait!(Ch2Dma, GeneralPurpose2ChannelInstance);
-dma_trait!(Ch3Dma, GeneralPurpose16bitInstance);
-dma_trait!(Ch4Dma, GeneralPurpose16bitInstance);
+dma_trait!(Ch1Dma, CaptureCompare16bitInstance);
+dma_trait!(Ch2Dma, CaptureCompare16bitInstance);
+dma_trait!(Ch3Dma, CaptureCompare16bitInstance);
+dma_trait!(Ch4Dma, CaptureCompare16bitInstance);
diff --git a/embassy-stm32/src/timer/qei.rs b/embassy-stm32/src/timer/qei.rs
index 7e56312bb..59efb72ba 100644
--- a/embassy-stm32/src/timer/qei.rs
+++ b/embassy-stm32/src/timer/qei.rs
@@ -30,7 +30,7 @@ pub struct QeiPin<'d, T, Channel> {
macro_rules! channel_impl {
($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 $pin_trait<T>> + 'd) -> Self {
into_ref!(pin);
@@ -57,7 +57,7 @@ pub struct Qei<'d, T> {
_inner: PeripheralRef<'d, T>,
}
-impl<'d, T: GeneralPurpose16bitInstance> Qei<'d, T> {
+impl<'d, T: CaptureCompare16bitInstance> Qei<'d, T> {
/// Create a new quadrature decoder driver.
pub fn new(tim: impl Peripheral<P = T> + 'd, _ch1: QeiPin<'d, T, Ch1>, _ch2: QeiPin<'d, T, Ch2>) -> Self {
Self::new_inner(tim)
diff --git a/embassy-stm32/src/timer/simple_pwm.rs b/embassy-stm32/src/timer/simple_pwm.rs
index 088d02c97..1acba504e 100644
--- a/embassy-stm32/src/timer/simple_pwm.rs
+++ b/embassy-stm32/src/timer/simple_pwm.rs
@@ -1,7 +1,6 @@
//! Simple PWM driver.
use core::marker::PhantomData;
-use core::ops::{Deref, DerefMut};
use embassy_hal_internal::{into_ref, PeripheralRef};
@@ -31,7 +30,7 @@ pub struct PwmPin<'d, T, C> {
macro_rules! channel_impl {
($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)
diff --git a/examples/stm32h7/src/bin/low_level_timer_api.rs b/examples/stm32h7/src/bin/low_level_timer_api.rs
index 0be3eccb7..cc508c3cf 100644
--- a/examples/stm32h7/src/bin/low_level_timer_api.rs
+++ b/examples/stm32h7/src/bin/low_level_timer_api.rs
@@ -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,
From 0f94006be3aa099d0a6039d51834562e51f91580 Mon Sep 17 00:00:00 2001
From: eZio Pan <eziopan@qq.com>
Date: Sat, 3 Feb 2024 17:30:00 +0800
Subject: [PATCH 09/10] doc fix
---
embassy-stm32/src/timer/mod.rs | 19 +++++++++++--------
1 file changed, 11 insertions(+), 8 deletions(-)
diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs
index 5f40be957..9780c005c 100644
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@@ -20,10 +20,10 @@
//!
//! 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
+//! BasicInstance --> Basic Timer
+//! CaptureCompare16bitInstance --> 1-channel Timer, 2-channel Timer, General Purpose 16-bit Timer
+//! CaptureCompare32bitInstance --> General Purpose 32-bit Timer
+//! ComplementaryCaptureCompare16bitInstance --> 1-channel with one complentary Timer, 2-channel with one complentary Timer, Advance Control Timer
#[cfg(not(stm32l0))]
pub mod complementary_pwm;
@@ -667,7 +667,8 @@ impl From<OutputPolarity> for bool {
/// Basic 16-bit timer instance.
pub trait BasicInstance: sealed::BasicInstance + sealed::BasicNoCr2Instance + sealed::CoreInstance + 'static {}
-/// General-purpose 16-bit timer instance.
+// It's just a General-purpose 16-bit timer instance.
+/// Capture Compare timer instance.
pub trait CaptureCompare16bitInstance:
BasicInstance
+ sealed::GeneralPurpose2ChannelInstance
@@ -678,14 +679,16 @@ pub trait CaptureCompare16bitInstance:
}
#[cfg(not(stm32l0))]
-/// Gneral-purpose 32-bit timer instance.
+// It's just a General-purpose 32-bit timer instance.
+/// Capture Compare 32-bit timer instance.
pub trait CaptureCompare32bitInstance:
- sealed::GeneralPurpose32bitInstance + CaptureCompare16bitInstance + 'static
+ CaptureCompare16bitInstance + sealed::GeneralPurpose32bitInstance + 'static
{
}
#[cfg(not(stm32l0))]
-/// Advanced control timer instance.
+// It's just a Advanced Control timer instance.
+/// Complementary Capture Compare 32-bit timer instance.
pub trait ComplementaryCaptureCompare16bitInstance:
CaptureCompare16bitInstance
+ sealed::GeneralPurpose1ChannelComplementaryInstance
From 8fd803a5fe0af8cc9d648ba2efba755b502f08e9 Mon Sep 17 00:00:00 2001
From: eZio Pan <eziopan@qq.com>
Date: Sun, 4 Feb 2024 15:14:02 +0800
Subject: [PATCH 10/10] use cfg_if to reduce macro condition
---
embassy-stm32/src/timer/mod.rs | 34 ++++++++++++++--------------------
1 file changed, 14 insertions(+), 20 deletions(-)
diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs
index 9780c005c..0118395a7 100644
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@@ -704,29 +704,23 @@ pin_trait!(Channel3Pin, CaptureCompare16bitInstance);
pin_trait!(Channel4Pin, CaptureCompare16bitInstance);
pin_trait!(ExternalTriggerPin, CaptureCompare16bitInstance);
-#[cfg(not(stm32l0))]
-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_if::cfg_if! {
+ if #[cfg(not(stm32l0))] {
+ pin_trait!(Channel1ComplementaryPin, ComplementaryCaptureCompare16bitInstance);
+ pin_trait!(Channel2ComplementaryPin, ComplementaryCaptureCompare16bitInstance);
+ pin_trait!(Channel3ComplementaryPin, ComplementaryCaptureCompare16bitInstance);
+ pin_trait!(Channel4ComplementaryPin, ComplementaryCaptureCompare16bitInstance);
-#[cfg(not(stm32l0))]
-pin_trait!(BreakInputPin, ComplementaryCaptureCompare16bitInstance);
-#[cfg(not(stm32l0))]
-pin_trait!(BreakInput2Pin, ComplementaryCaptureCompare16bitInstance);
+ pin_trait!(BreakInputPin, ComplementaryCaptureCompare16bitInstance);
+ pin_trait!(BreakInput2Pin, ComplementaryCaptureCompare16bitInstance);
-#[cfg(not(stm32l0))]
-pin_trait!(BreakInputComparator1Pin, ComplementaryCaptureCompare16bitInstance);
-#[cfg(not(stm32l0))]
-pin_trait!(BreakInputComparator2Pin, ComplementaryCaptureCompare16bitInstance);
+ pin_trait!(BreakInputComparator1Pin, ComplementaryCaptureCompare16bitInstance);
+ pin_trait!(BreakInputComparator2Pin, ComplementaryCaptureCompare16bitInstance);
-#[cfg(not(stm32l0))]
-pin_trait!(BreakInput2Comparator1Pin, ComplementaryCaptureCompare16bitInstance);
-#[cfg(not(stm32l0))]
-pin_trait!(BreakInput2Comparator2Pin, ComplementaryCaptureCompare16bitInstance);
+ pin_trait!(BreakInput2Comparator1Pin, ComplementaryCaptureCompare16bitInstance);
+ pin_trait!(BreakInput2Comparator2Pin, ComplementaryCaptureCompare16bitInstance);
+ }
+}
#[allow(unused)]
macro_rules! impl_core_timer {