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generalize new and change pwm example to a servo

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This commit is contained in:
Jacob Rosenthal
2021-11-01 09:37:34 -07:00
parent 12b2c5d5f7
commit 5285179218
2 changed files with 41 additions and 92 deletions
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22
embassy-nrf/src/pwm.rs
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@ -95,14 +95,15 @@ pub enum Error {
}
impl<'d, T: Instance> Pwm<'d, T> {
/// Creates the interface to a UARTE instance.
/// Sets the baud rate, parity and assigns the pins to the UARTE peripheral.
/// Creates the interface to a PWM instance.
///
/// Defaults the freq to 1Mhz, max_duty 32767, duty 0, and channels low.
///
/// # Safety
///
/// The returned API is safe unless you use `mem::forget` (or similar safe mechanisms)
/// on stack allocated buffers which which have been passed to [`send()`](Pwm::send)
/// or [`receive`](Pwm::receive).
/// The returned API is safe unless you use `mem::forget` (or similar safe
/// mechanisms) on stack allocated buffers which which have been passed to
/// [`send()`](Pwm::send) or [`receive`](Pwm::receive).
#[allow(unused_unsafe)]
pub fn new(
_pwm: impl Unborrow<Target = T> + 'd,
@ -141,7 +142,9 @@ impl<'d, T: Instance> Pwm<'d, T> {
r.psel.out[3].write(|w| unsafe { w.bits(ch3.psel_bits()) });
// Disable all interrupts
r.intenset.reset();
r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
r.shorts.reset();
// Enable
r.enable.write(|w| w.enable().enabled());
@ -150,7 +153,7 @@ impl<'d, T: Instance> Pwm<'d, T> {
.ptr
.write(|w| unsafe { w.bits(&s.duty as *const _ as u32) });
r.seq0.cnt.write(|w| unsafe { w.bits(4) });
r.seq0.refresh.write(|w| unsafe { w.bits(32) });
r.seq0.refresh.write(|w| unsafe { w.bits(0) });
r.seq0.enddelay.write(|w| unsafe { w.bits(0) });
r.decoder.write(|w| {
@ -158,9 +161,8 @@ impl<'d, T: Instance> Pwm<'d, T> {
w.mode().refresh_count()
});
r.mode.write(|w| w.updown().up());
r.prescaler.write(|w| w.prescaler().div_1());
r.countertop
.write(|w| unsafe { w.countertop().bits(32767) });
r.prescaler.write(|w| w.prescaler().div_16());
r.countertop.write(|w| unsafe { w.countertop().bits(1000) });
r.loop_.write(|w| w.cnt().disabled());
Self {
@ -255,7 +257,7 @@ impl<'d, T: Instance> Pwm<'d, T> {
pub fn sequence_stop(&self) {
let r = T::regs();
r.shorts.write(|w| unsafe { w.bits(0x0) });
r.shorts.reset();
// tasks_stop doesnt exist in all svds so write its bit instead
r.tasks_stop.write(|w| unsafe { w.bits(0x01) });