From 76772683191be15d32604ec5dd46fb5eb3949de8 Mon Sep 17 00:00:00 2001
From: xoviat <xoviat@users.noreply.github.com>
Date: Wed, 5 Apr 2023 17:50:23 -0500
Subject: [PATCH] stm32/pwm: cleanup and fix complementary pwm

---
 embassy-stm32/src/pwm/complementary_pwm.rs | 47 ++++++----------------
 embassy-stm32/src/pwm/mod.rs               | 18 +++++++++
 2 files changed, 31 insertions(+), 34 deletions(-)

diff --git a/embassy-stm32/src/pwm/complementary_pwm.rs b/embassy-stm32/src/pwm/complementary_pwm.rs
index b8761724..e4de1fb7 100644
--- a/embassy-stm32/src/pwm/complementary_pwm.rs
+++ b/embassy-stm32/src/pwm/complementary_pwm.rs
@@ -1,7 +1,9 @@
 use core::marker::PhantomData;
 
 use embassy_hal_common::{into_ref, PeripheralRef};
+use stm32_metapac::timer::vals::Ckd;
 
+use super::simple_pwm::*;
 use super::*;
 #[allow(unused_imports)]
 use crate::gpio::sealed::{AFType, Pin};
@@ -9,39 +11,13 @@ use crate::gpio::AnyPin;
 use crate::time::Hertz;
 use crate::Peripheral;
 
-pub struct Ch1;
-pub struct Ch2;
-pub struct Ch3;
-pub struct Ch4;
-
-pub struct PwmPin<'d, Perip, Channel> {
-    _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(Perip, Channel)>,
-}
-
 pub struct ComplementaryPwmPin<'d, Perip, Channel> {
     _pin: PeripheralRef<'d, AnyPin>,
     phantom: PhantomData<(Perip, Channel)>,
 }
 
-macro_rules! channel_impl {
+macro_rules! complementary_channel_impl {
     ($new_chx:ident, $channel:ident, $pin_trait:ident, $complementary_pin_trait:ident) => {
-        impl<'d, Perip: CaptureCompare16bitInstance> PwmPin<'d, Perip, $channel> {
-            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<Perip>> + 'd) -> Self {
-                into_ref!(pin);
-                critical_section::with(|_| unsafe {
-                    pin.set_low();
-                    pin.set_as_af(pin.af_num(), AFType::OutputPushPull);
-                    #[cfg(gpio_v2)]
-                    pin.set_speed(crate::gpio::Speed::VeryHigh);
-                });
-                PwmPin {
-                    _pin: pin.map_into(),
-                    phantom: PhantomData,
-                }
-            }
-        }
-
         impl<'d, Perip: CaptureCompare16bitInstance> ComplementaryPwmPin<'d, Perip, $channel> {
             pub fn $new_chx(pin: impl Peripheral<P = impl $complementary_pin_trait<Perip>> + 'd) -> Self {
                 into_ref!(pin);
@@ -60,10 +36,10 @@ macro_rules! channel_impl {
     };
 }
 
-channel_impl!(new_ch1, Ch1, Channel1Pin, Channel1ComplementaryPin);
-channel_impl!(new_ch2, Ch2, Channel2Pin, Channel2ComplementaryPin);
-channel_impl!(new_ch3, Ch3, Channel3Pin, Channel3ComplementaryPin);
-channel_impl!(new_ch4, Ch4, Channel4Pin, Channel4ComplementaryPin);
+complementary_channel_impl!(new_ch1, Ch1, Channel1Pin, Channel1ComplementaryPin);
+complementary_channel_impl!(new_ch2, Ch2, Channel2Pin, Channel2ComplementaryPin);
+complementary_channel_impl!(new_ch3, Ch3, Channel3Pin, Channel3ComplementaryPin);
+complementary_channel_impl!(new_ch4, Ch4, Channel4Pin, Channel4ComplementaryPin);
 
 pub struct ComplementaryPwm<'d, T> {
     inner: PeripheralRef<'d, T>,
@@ -114,11 +90,13 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
     pub fn enable(&mut self, channel: Channel) {
         unsafe {
             self.inner.enable_channel(channel, true);
+            self.inner.enable_complementary_channel(channel, true);
         }
     }
 
     pub fn disable(&mut self, channel: Channel) {
         unsafe {
+            self.inner.enable_complementary_channel(channel, false);
             self.inner.enable_channel(channel, false);
         }
     }
@@ -136,9 +114,10 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
         unsafe { self.inner.set_compare_value(channel, duty) }
     }
 
-    /*
-        set the value of the dead-time register
-    */
+    pub fn set_dead_time_clock_division(&mut self, value: Ckd) {
+        unsafe { self.inner.set_dead_time_clock_division(value) }
+    }
+
     pub fn set_dead_time_value(&mut self, value: u8) {
         unsafe { self.inner.set_dead_time_value(value) }
     }
diff --git a/embassy-stm32/src/pwm/mod.rs b/embassy-stm32/src/pwm/mod.rs
index 6f3c1266..0bef0708 100644
--- a/embassy-stm32/src/pwm/mod.rs
+++ b/embassy-stm32/src/pwm/mod.rs
@@ -1,6 +1,8 @@
 pub mod complementary_pwm;
 pub mod simple_pwm;
 
+use stm32_metapac::timer::vals::Ckd;
+
 #[cfg(feature = "unstable-pac")]
 pub mod low_level {
     pub use super::sealed::*;
@@ -69,7 +71,11 @@ pub(crate) mod sealed {
     }
 
     pub trait ComplementaryCaptureCompare16bitInstance: CaptureCompare16bitInstance {
+        unsafe fn set_dead_time_clock_division(&mut self, value: Ckd);
+
         unsafe fn set_dead_time_value(&mut self, value: u8);
+
+        unsafe fn enable_complementary_channel(&mut self, channel: Channel, enable: bool);
     }
 
     pub trait CaptureCompare32bitInstance: crate::timer::sealed::GeneralPurpose32bitInstance {
@@ -222,10 +228,22 @@ foreach_interrupt! {
         }
 
         impl crate::pwm::sealed::ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {
+            unsafe fn set_dead_time_clock_division(&mut self, value: Ckd) {
+                use crate::timer::sealed::AdvancedControlInstance;
+                Self::regs_advanced().cr1().modify(|w| w.set_ckd(value));
+            }
+
             unsafe fn set_dead_time_value(&mut self, value: u8) {
                 use crate::timer::sealed::AdvancedControlInstance;
                 Self::regs_advanced().bdtr().modify(|w| w.set_dtg(value));
             }
+
+            unsafe fn enable_complementary_channel(&mut self, channel: Channel, enable: bool) {
+                use crate::timer::sealed::AdvancedControlInstance;
+                Self::regs_advanced()
+                    .ccer()
+                    .modify(|w| w.set_ccne(channel.raw(), enable));
+            }
         }
 
         impl ComplementaryCaptureCompare16bitInstance for crate::peripherals::$inst {