diff --git a/embassy-nrf/src/pwm.rs b/embassy-nrf/src/pwm.rs index 42294312..3f05ed58 100644 --- a/embassy-nrf/src/pwm.rs +++ b/embassy-nrf/src/pwm.rs @@ -24,10 +24,13 @@ pub enum Prescaler { Div128, } +/// How a sequence is read from RAM and is spread to the compare register #[derive(Debug, Eq, PartialEq, Clone, Copy)] pub enum SequenceLoad { + /// sequence in buffer will be used across all channels Common, Grouped, + /// buffer holds [ch0_0, ch1_0, ch2_0, ch3_0... ch0_n, ch1_n, ch2_n, ch3_n] Individual, Waveform, } @@ -43,26 +46,32 @@ pub struct Pwm<'d, T: Instance> { phantom: PhantomData<&'d mut T>, } +#[derive(Debug, Eq, PartialEq, Clone, Copy)] +pub enum LoopMode { + // Repeat n additional times after the first + Additional(u16), + /// Repeat until `stop` is called + Infinite, +} + // Configure an infinite looping sequence for `simple_playback` pub struct LoopingConfig<'a> { /// Selects up mode or up-and-down mode for the counter pub counter_mode: CounterMode, - // top value to be compared against buffer values + // Top value to be compared against buffer values pub top: u16, /// Configuration for PWM_CLK pub prescaler: Prescaler, /// In ram buffer to be played back pub sequence: &'a [u16], - /// Common Mode means seq in buffer will be used across all channels - /// Individual Mode buffer holds [ch0_0, ch1_0, ch2_0, ch3_0, ch0_1, ch1_1, - /// ch2_1, ch3_1 ... ch0_n, ch1_n, ch2_n, ch3_n] + /// How a sequence is read from RAM and is spread to the compare register pub sequence_load: SequenceLoad, - /// will instruct a new RAM stored pulse width value on every (N+1)th PWM - /// period. Setting the register to zero will result in a new duty cycle - /// update every PWM period as long as the minimum PWM period is observed. - pub repeats: u32, - /// enddelay PWM period delays between last period on sequence 0 before repeating + /// Number of additional PWM periods between samples loaded into compare register + pub refresh: u32, + /// Number of additional PWM periods after the sequence ends pub enddelay: u32, + /// How many times to repeat the sequence + pub additional_loops: LoopMode, } #[derive(Debug, Clone, Copy, PartialEq, Eq)] @@ -146,6 +155,7 @@ impl<'d, T: Instance> Pwm<'d, T> { } } + /// Returns a configured pwm that has had start called on it pub fn simple_playback( _pwm: impl Unborrow + 'd, ch0: impl Unborrow + 'd, @@ -209,7 +219,7 @@ impl<'d, T: Instance> Pwm<'d, T> { r.seq0 .cnt .write(|w| unsafe { w.bits(config.sequence.len() as u32) }); - r.seq0.refresh.write(|w| unsafe { w.bits(config.repeats) }); + r.seq0.refresh.write(|w| unsafe { w.bits(config.refresh) }); r.seq0 .enddelay .write(|w| unsafe { w.bits(config.enddelay) }); @@ -220,17 +230,42 @@ impl<'d, T: Instance> Pwm<'d, T> { r.seq1 .cnt .write(|w| unsafe { w.bits(config.sequence.len() as u32) }); - r.seq1.refresh.write(|w| unsafe { w.bits(config.repeats) }); + r.seq1.refresh.write(|w| unsafe { w.bits(config.refresh) }); r.seq1 .enddelay .write(|w| unsafe { w.bits(config.enddelay) }); - r.loop_.write(|w| unsafe { w.cnt().bits(0x1) }); + match config.additional_loops { + LoopMode::Additional(0) => { + r.loop_.write(|w| w.cnt().disabled()); + r.tasks_seqstart[0].write(|w| unsafe { w.bits(0x01) }); + } + LoopMode::Additional(n) => { + let times = (n / 2) + 1; - r.shorts.write(|w| w.loopsdone_seqstart1().set_bit()); + r.loop_.write(|w| unsafe { w.cnt().bits(times) }); + r.shorts.write(|w| { + w.loopsdone_seqstart1().enabled(); + w.loopsdone_seqstart0().disabled(); + w.loopsdone_stop().enabled() + }); - // tasks_seqstart doesnt exist in all svds so write its bit instead - r.tasks_seqstart[1].write(|w| unsafe { w.bits(0x01) }); + if n & 1 == 1 { + r.tasks_seqstart[0].write(|w| unsafe { w.bits(0x01) }); + } else { + r.tasks_seqstart[1].write(|w| unsafe { w.bits(0x01) }); + } + } + + LoopMode::Infinite => { + r.loop_.write(|w| unsafe { w.cnt().bits(0x1) }); + r.shorts.write(|w| { + w.loopsdone_seqstart1().enabled(); + w.loopsdone_seqstart0().disabled() + }); + r.tasks_seqstart[1].write(|w| unsafe { w.bits(0x01) }); + } + } Ok(Self { phantom: PhantomData, @@ -326,10 +361,8 @@ impl<'d, T: Instance> Pwm<'d, T> { impl<'a, T: Instance> Drop for Pwm<'a, T> { fn drop(&mut self) { - let r = T::regs(); - self.stop(); - r.enable.write(|w| w.enable().disabled()); + self.disable(); info!("pwm drop: done"); diff --git a/examples/nrf/src/bin/pwm_sequence.rs b/examples/nrf/src/bin/pwm_sequence.rs index bc356c28..8b7aeddc 100644 --- a/examples/nrf/src/bin/pwm_sequence.rs +++ b/examples/nrf/src/bin/pwm_sequence.rs @@ -7,7 +7,7 @@ mod example_common; use defmt::*; use embassy::executor::Spawner; use embassy::time::{Duration, Timer}; -use embassy_nrf::pwm::{CounterMode, LoopingConfig, Prescaler, Pwm, SequenceLoad}; +use embassy_nrf::pwm::{CounterMode, LoopMode, LoopingConfig, Prescaler, Pwm, SequenceLoad}; use embassy_nrf::Peripherals; #[embassy::main] @@ -15,26 +15,23 @@ async fn main(_spawner: Spawner, p: Peripherals) { let seq_values: [u16; 16] = [ 0x8000, 0, 0, 0, 0, 0x8000, 0, 0, 0, 0, 0x8000, 0, 0, 0, 0, 0x8000, ]; + let config = LoopingConfig { counter_mode: CounterMode::Up, top: 15625, prescaler: Prescaler::Div128, sequence: &seq_values, sequence_load: SequenceLoad::Individual, - repeats: 0, + refresh: 0, enddelay: 0, + additional_loops: LoopMode::Additional(5), }; - let pwm = unwrap!(Pwm::simple_playback( + let _pwm = unwrap!(Pwm::simple_playback( p.PWM0, p.P0_13, p.P0_15, p.P0_16, p.P0_14, config )); info!("pwm started!"); - Timer::after(Duration::from_millis(10000)).await; - - pwm.stop(); - info!("pwm stopped!"); - loop { Timer::after(Duration::from_millis(1000)).await; } diff --git a/examples/nrf/src/bin/pwm_simple_sin.rs b/examples/nrf/src/bin/pwm_simple_sin.rs index 866202a4..3fbfc960 100644 --- a/examples/nrf/src/bin/pwm_simple_sin.rs +++ b/examples/nrf/src/bin/pwm_simple_sin.rs @@ -9,7 +9,7 @@ use defmt::*; use embassy::executor::Spawner; use embassy::time::{Duration, Timer}; use embassy_nrf::gpio::NoPin; -use embassy_nrf::pwm::{CounterMode, LoopingConfig, Prescaler, Pwm, SequenceLoad}; +use embassy_nrf::pwm::{CounterMode, LoopMode, LoopingConfig, Prescaler, Pwm, SequenceLoad}; use embassy_nrf::Peripherals; use micromath::F32Ext; @@ -26,15 +26,21 @@ async fn main(_spawner: Spawner, p: Peripherals) { prescaler: Prescaler::Div16, sequence: &seq_values, sequence_load: SequenceLoad::Common, - repeats: 0, + refresh: 0, enddelay: 0, + additional_loops: LoopMode::Infinite, }; - let _pwm = unwrap!(Pwm::simple_playback( + let pwm = unwrap!(Pwm::simple_playback( p.PWM0, p.P0_13, NoPin, NoPin, NoPin, config )); info!("pwm started!"); + Timer::after(Duration::from_millis(20000)).await; + + pwm.stop(); + info!("pwm stopped!"); + loop { Timer::after(Duration::from_millis(1000)).await; }