|
| 1 | +//! PWM driver. |
| 2 | +
|
| 3 | +use core::marker::PhantomData; |
| 4 | + |
| 5 | +use embassy_hal_internal::{into_ref, PeripheralRef}; |
| 6 | + |
| 7 | +use super::timer::Timer; |
| 8 | +#[cfg(not(any(lptim_v2a, lptim_v2b)))] |
| 9 | +use super::OutputPin; |
| 10 | +#[cfg(any(lptim_v2a, lptim_v2b))] |
| 11 | +use super::{channel::Channel, timer::ChannelDirection, Channel1Pin, Channel2Pin}; |
| 12 | +use super::{BasicInstance, Instance}; |
| 13 | +use crate::gpio::{AfType, AnyPin, OutputType, Speed}; |
| 14 | +use crate::time::Hertz; |
| 15 | +use crate::Peripheral; |
| 16 | + |
| 17 | +/// Output marker type. |
| 18 | +pub enum Output {} |
| 19 | +/// Channel 1 marker type. |
| 20 | +pub enum Ch1 {} |
| 21 | +/// Channel 2 marker type. |
| 22 | +pub enum Ch2 {} |
| 23 | + |
| 24 | +/// PWM pin wrapper. |
| 25 | +/// |
| 26 | +/// This wraps a pin to make it usable with PWM. |
| 27 | +pub struct PwmPin<'d, T, C> { |
| 28 | + _pin: PeripheralRef<'d, AnyPin>, |
| 29 | + phantom: PhantomData<(T, C)>, |
| 30 | +} |
| 31 | + |
| 32 | +macro_rules! channel_impl { |
| 33 | + ($new_chx:ident, $channel:ident, $pin_trait:ident) => { |
| 34 | + impl<'d, T: BasicInstance> PwmPin<'d, T, $channel> { |
| 35 | + #[doc = concat!("Create a new ", stringify!($channel), " PWM pin instance.")] |
| 36 | + pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd) -> Self { |
| 37 | + into_ref!(pin); |
| 38 | + critical_section::with(|_| { |
| 39 | + pin.set_low(); |
| 40 | + pin.set_as_af( |
| 41 | + pin.af_num(), |
| 42 | + AfType::output(OutputType::PushPull, Speed::VeryHigh), |
| 43 | + ); |
| 44 | + }); |
| 45 | + PwmPin { |
| 46 | + _pin: pin.map_into(), |
| 47 | + phantom: PhantomData, |
| 48 | + } |
| 49 | + } |
| 50 | + } |
| 51 | + }; |
| 52 | +} |
| 53 | + |
| 54 | +#[cfg(not(any(lptim_v2a, lptim_v2b)))] |
| 55 | +channel_impl!(new, Output, OutputPin); |
| 56 | +#[cfg(any(lptim_v2a, lptim_v2b))] |
| 57 | +channel_impl!(new_ch1, Ch1, Channel1Pin); |
| 58 | +#[cfg(any(lptim_v2a, lptim_v2b))] |
| 59 | +channel_impl!(new_ch2, Ch2, Channel2Pin); |
| 60 | + |
| 61 | +/// PWM driver. |
| 62 | +pub struct Pwm<'d, T: Instance> { |
| 63 | + inner: Timer<'d, T>, |
| 64 | +} |
| 65 | + |
| 66 | +#[cfg(not(any(lptim_v2a, lptim_v2b)))] |
| 67 | +impl<'d, T: Instance> Pwm<'d, T> { |
| 68 | + /// Create a new PWM driver. |
| 69 | + pub fn new(tim: impl Peripheral<P = T> + 'd, _output_pin: PwmPin<'d, T, Output>, freq: Hertz) -> Self { |
| 70 | + Self::new_inner(tim, freq) |
| 71 | + } |
| 72 | + |
| 73 | + /// Set the duty. |
| 74 | + /// |
| 75 | + /// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included. |
| 76 | + pub fn set_duty(&mut self, duty: u16) { |
| 77 | + assert!(duty <= self.get_max_duty()); |
| 78 | + self.inner.set_compare_value(duty) |
| 79 | + } |
| 80 | + |
| 81 | + /// Get the duty. |
| 82 | + /// |
| 83 | + /// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included. |
| 84 | + pub fn get_duty(&self) -> u16 { |
| 85 | + self.inner.get_compare_value() |
| 86 | + } |
| 87 | + |
| 88 | + fn post_init(&mut self) {} |
| 89 | +} |
| 90 | + |
| 91 | +#[cfg(any(lptim_v2a, lptim_v2b))] |
| 92 | +impl<'d, T: Instance> Pwm<'d, T> { |
| 93 | + /// Create a new PWM driver. |
| 94 | + pub fn new( |
| 95 | + tim: impl Peripheral<P = T> + 'd, |
| 96 | + _ch1_pin: Option<PwmPin<'d, T, Ch1>>, |
| 97 | + _ch2_pin: Option<PwmPin<'d, T, Ch2>>, |
| 98 | + freq: Hertz, |
| 99 | + ) -> Self { |
| 100 | + Self::new_inner(tim, freq) |
| 101 | + } |
| 102 | + |
| 103 | + /// Enable the given channel. |
| 104 | + pub fn enable(&mut self, channel: Channel) { |
| 105 | + self.inner.enable_channel(channel, true); |
| 106 | + } |
| 107 | + |
| 108 | + /// Disable the given channel. |
| 109 | + pub fn disable(&mut self, channel: Channel) { |
| 110 | + self.inner.enable_channel(channel, false); |
| 111 | + } |
| 112 | + |
| 113 | + /// Check whether given channel is enabled |
| 114 | + pub fn is_enabled(&self, channel: Channel) -> bool { |
| 115 | + self.inner.get_channel_enable_state(channel) |
| 116 | + } |
| 117 | + |
| 118 | + /// Set the duty for a given channel. |
| 119 | + /// |
| 120 | + /// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included. |
| 121 | + pub fn set_duty(&mut self, channel: Channel, duty: u16) { |
| 122 | + assert!(duty <= self.get_max_duty()); |
| 123 | + self.inner.set_compare_value(channel, duty) |
| 124 | + } |
| 125 | + |
| 126 | + /// Get the duty for a given channel. |
| 127 | + /// |
| 128 | + /// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included. |
| 129 | + pub fn get_duty(&self, channel: Channel) -> u16 { |
| 130 | + self.inner.get_compare_value(channel) |
| 131 | + } |
| 132 | + |
| 133 | + fn post_init(&mut self) { |
| 134 | + [Channel::Ch1, Channel::Ch2].iter().for_each(|&channel| { |
| 135 | + self.inner.set_channel_direction(channel, ChannelDirection::OutputPwm); |
| 136 | + }); |
| 137 | + } |
| 138 | +} |
| 139 | + |
| 140 | +impl<'d, T: Instance> Pwm<'d, T> { |
| 141 | + fn new_inner(tim: impl Peripheral<P = T> + 'd, freq: Hertz) -> Self { |
| 142 | + let mut this = Self { inner: Timer::new(tim) }; |
| 143 | + |
| 144 | + this.inner.enable(); |
| 145 | + this.set_frequency(freq); |
| 146 | + |
| 147 | + this.post_init(); |
| 148 | + |
| 149 | + this.inner.continuous_mode_start(); |
| 150 | + |
| 151 | + this |
| 152 | + } |
| 153 | + |
| 154 | + /// Set PWM frequency. |
| 155 | + /// |
| 156 | + /// Note: when you call this, the max duty value changes, so you will have to |
| 157 | + /// call `set_duty` on all channels with the duty calculated based on the new max duty. |
| 158 | + pub fn set_frequency(&mut self, frequency: Hertz) { |
| 159 | + self.inner.set_frequency(frequency); |
| 160 | + } |
| 161 | + |
| 162 | + /// Get max duty value. |
| 163 | + /// |
| 164 | + /// This value depends on the configured frequency and the timer's clock rate from RCC. |
| 165 | + pub fn get_max_duty(&self) -> u16 { |
| 166 | + self.inner.get_max_compare_value() + 1 |
| 167 | + } |
| 168 | +} |
0 commit comments