stm32: implement qei
This commit is contained in:
xoviat
parent
416ecc73d8
commit
c10fb7c1c4
@ -1,4 +1,5 @@
|
||||
pub mod complementary_pwm;
|
||||
pub mod qei;
|
||||
pub mod simple_pwm;
|
||||
|
||||
use stm32_metapac::timer::vals;
|
||||
|
||||
@ -1,142 +1,96 @@
|
||||
//! # Quadrature Encoder Interface
|
||||
use crate::{
|
||||
gpio::PushPull,
|
||||
pac, rcc,
|
||||
timer::{CPin, General},
|
||||
};
|
||||
use core::marker::PhantomData;
|
||||
|
||||
pub trait QeiExt: Sized + Instance {
|
||||
fn qei(
|
||||
self,
|
||||
pins: (
|
||||
impl Into<<Self as CPin<0>>::Ch<PushPull>>,
|
||||
impl Into<<Self as CPin<1>>::Ch<PushPull>>,
|
||||
),
|
||||
) -> Qei<Self>;
|
||||
use embassy_hal_internal::{into_ref, PeripheralRef};
|
||||
|
||||
use super::*;
|
||||
use crate::gpio::sealed::AFType;
|
||||
use crate::gpio::AnyPin;
|
||||
use crate::Peripheral;
|
||||
|
||||
pub enum Direction {
|
||||
Upcounting,
|
||||
Downcounting,
|
||||
}
|
||||
|
||||
impl<TIM: Instance> QeiExt for TIM {
|
||||
fn qei(
|
||||
self,
|
||||
pins: (
|
||||
impl Into<<Self as CPin<0>>::Ch<PushPull>>,
|
||||
impl Into<<Self as CPin<1>>::Ch<PushPull>>,
|
||||
),
|
||||
) -> Qei<Self> {
|
||||
Qei::new(self, pins)
|
||||
}
|
||||
pub struct Ch1;
|
||||
pub struct Ch2;
|
||||
|
||||
pub struct QeiPin<'d, Perip, Channel> {
|
||||
_pin: PeripheralRef<'d, AnyPin>,
|
||||
phantom: PhantomData<(Perip, Channel)>,
|
||||
}
|
||||
|
||||
/// Hardware quadrature encoder interface peripheral
|
||||
pub struct Qei<TIM: Instance> {
|
||||
tim: TIM,
|
||||
pins: (
|
||||
<TIM as CPin<0>>::Ch<PushPull>,
|
||||
<TIM as CPin<1>>::Ch<PushPull>,
|
||||
),
|
||||
}
|
||||
|
||||
impl<TIM: Instance> Qei<TIM> {
|
||||
/// Configures a TIM peripheral as a quadrature encoder interface input
|
||||
pub fn new(
|
||||
mut tim: TIM,
|
||||
pins: (
|
||||
impl Into<<TIM as CPin<0>>::Ch<PushPull>>,
|
||||
impl Into<<TIM as CPin<1>>::Ch<PushPull>>,
|
||||
),
|
||||
) -> Self {
|
||||
// Enable and reset clock.
|
||||
unsafe {
|
||||
TIM::enable_unchecked();
|
||||
TIM::reset_unchecked();
|
||||
}
|
||||
|
||||
let pins = (pins.0.into(), pins.1.into());
|
||||
tim.setup_qei();
|
||||
|
||||
Qei { tim, pins }
|
||||
}
|
||||
|
||||
/// Releases the TIM peripheral and QEI pins
|
||||
#[allow(clippy::type_complexity)]
|
||||
pub fn release(
|
||||
self,
|
||||
) -> (
|
||||
TIM,
|
||||
(
|
||||
<TIM as CPin<0>>::Ch<PushPull>,
|
||||
<TIM as CPin<1>>::Ch<PushPull>,
|
||||
),
|
||||
) {
|
||||
(self.tim, self.pins)
|
||||
}
|
||||
|
||||
/// Set current count number
|
||||
pub fn set_count(&mut self, value: TIM::Width) -> &mut Self {
|
||||
self.tim.write_count(value);
|
||||
self
|
||||
}
|
||||
}
|
||||
|
||||
impl<TIM: Instance> embedded_hal::Qei for Qei<TIM> {
|
||||
type Count = TIM::Width;
|
||||
|
||||
fn count(&self) -> Self::Count {
|
||||
self.tim.read_count()
|
||||
}
|
||||
|
||||
fn direction(&self) -> embedded_hal::Direction {
|
||||
if self.tim.read_direction() {
|
||||
embedded_hal::Direction::Upcounting
|
||||
} else {
|
||||
embedded_hal::Direction::Downcounting
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub trait Instance: crate::Sealed + rcc::Enable + rcc::Reset + General + CPin<0> + CPin<1> {
|
||||
fn setup_qei(&mut self);
|
||||
|
||||
fn read_direction(&self) -> bool;
|
||||
}
|
||||
|
||||
macro_rules! hal {
|
||||
($TIM:ty) => {
|
||||
impl Instance for $TIM {
|
||||
fn setup_qei(&mut self) {
|
||||
// Configure TxC1 and TxC2 as captures
|
||||
#[cfg(not(feature = "gpio-f410"))]
|
||||
self.ccmr1_input().write(|w| w.cc1s().ti1().cc2s().ti2());
|
||||
#[cfg(feature = "gpio-f410")]
|
||||
self.ccmr1_input()
|
||||
.write(|w| unsafe { w.cc1s().bits(0b01).cc2s().bits(0b01) });
|
||||
// enable and configure to capture on rising edge
|
||||
self.ccer.write(|w| {
|
||||
w.cc1e().set_bit().cc1p().clear_bit();
|
||||
w.cc2e().set_bit().cc2p().clear_bit()
|
||||
macro_rules! channel_impl {
|
||||
($new_chx:ident, $channel:ident, $pin_trait:ident) => {
|
||||
impl<'d, Perip: CaptureCompare16bitInstance> QeiPin<'d, Perip, $channel> {
|
||||
pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<Perip>> + 'd) -> Self {
|
||||
into_ref!(pin);
|
||||
critical_section::with(|_| {
|
||||
pin.set_low();
|
||||
pin.set_as_af(pin.af_num(), AFType::Input);
|
||||
#[cfg(gpio_v2)]
|
||||
pin.set_speed(crate::gpio::Speed::VeryHigh);
|
||||
});
|
||||
self.smcr.write(|w| w.sms().encoder_mode_3());
|
||||
self.set_auto_reload(<$TIM as General>::Width::MAX as u32)
|
||||
.unwrap();
|
||||
self.cr1.write(|w| w.cen().set_bit());
|
||||
QeiPin {
|
||||
_pin: pin.map_into(),
|
||||
phantom: PhantomData,
|
||||
}
|
||||
|
||||
fn read_direction(&self) -> bool {
|
||||
self.cr1.read().dir().bit_is_clear()
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
#[cfg(feature = "tim1")]
|
||||
hal! { pac::TIM1 }
|
||||
#[cfg(feature = "tim2")]
|
||||
hal! { pac::TIM2 }
|
||||
#[cfg(feature = "tim3")]
|
||||
hal! { pac::TIM3 }
|
||||
#[cfg(feature = "tim4")]
|
||||
hal! { pac::TIM4 }
|
||||
#[cfg(feature = "tim5")]
|
||||
hal! { pac::TIM5 }
|
||||
#[cfg(feature = "tim8")]
|
||||
hal! { pac::TIM8 }
|
||||
channel_impl!(new_ch1, Ch1, Channel1Pin);
|
||||
channel_impl!(new_ch2, Ch2, Channel2Pin);
|
||||
|
||||
pub struct SimplePwm<'d, T> {
|
||||
_inner: PeripheralRef<'d, T>,
|
||||
}
|
||||
|
||||
impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
|
||||
pub fn new(tim: impl Peripheral<P = T> + 'd, _ch1: QeiPin<'d, T, Ch1>, _ch2: QeiPin<'d, T, Ch2>) -> Self {
|
||||
Self::new_inner(tim)
|
||||
}
|
||||
|
||||
fn new_inner(tim: impl Peripheral<P = T> + 'd) -> Self {
|
||||
into_ref!(tim);
|
||||
|
||||
T::enable();
|
||||
<T as crate::rcc::sealed::RccPeripheral>::reset();
|
||||
|
||||
// Configure TxC1 and TxC2 as captures
|
||||
T::regs_gp16().ccmr_input(0).modify(|w| {
|
||||
w.set_ccs(0, vals::CcmrInputCcs::TI4);
|
||||
w.set_ccs(1, vals::CcmrInputCcs::TI4);
|
||||
});
|
||||
|
||||
// enable and configure to capture on rising edge
|
||||
T::regs_gp16().ccer().modify(|w| {
|
||||
w.set_cce(0, true);
|
||||
w.set_cce(1, true);
|
||||
|
||||
w.set_ccp(0, false);
|
||||
w.set_ccp(1, false);
|
||||
});
|
||||
|
||||
T::regs_gp16().smcr().modify(|w| {
|
||||
w.set_sms(vals::Sms::ENCODER_MODE_3);
|
||||
});
|
||||
|
||||
T::regs_gp16().arr().modify(|w| w.set_arr(u16::MAX));
|
||||
T::regs_gp16().cr1().modify(|w| w.set_cen(true));
|
||||
|
||||
Self { _inner: tim }
|
||||
}
|
||||
|
||||
pub fn read_direction(&self) -> Direction {
|
||||
match T::regs_gp16().cr1().read().dir() {
|
||||
vals::Dir::DOWN => Direction::Downcounting,
|
||||
vals::Dir::UP => Direction::Upcounting,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn count(&self) -> u16 {
|
||||
T::regs_gp16().cnt().read().cnt()
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user