stm32/hrtim: extract traits
This commit is contained in:
xoviat
parent
28136579e9
commit
e495d606ec
@ -1,3 +1,5 @@
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mod traits;
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use core::marker::PhantomData;
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use embassy_hal_common::{into_ref, PeripheralRef};
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@ -5,7 +7,7 @@ use embassy_hal_common::{into_ref, PeripheralRef};
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#[allow(unused_imports)]
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use crate::gpio::sealed::{AFType, Pin};
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use crate::gpio::AnyPin;
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use crate::pwm::HighResolutionCaptureCompare16bitInstance;
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use crate::hrtim::traits::HighResolutionCaptureCompare16bitInstance;
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use crate::time::Hertz;
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use crate::Peripheral;
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@ -41,7 +43,7 @@ pub struct ChE<T: HighResolutionCaptureCompare16bitInstance> {
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}
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mod sealed {
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use crate::pwm::HighResolutionCaptureCompare16bitInstance;
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use super::HighResolutionCaptureCompare16bitInstance;
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pub trait AdvancedChannel<T: HighResolutionCaptureCompare16bitInstance> {
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fn raw() -> usize;
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196
embassy-stm32/src/hrtim/traits.rs
Normal file
196
embassy-stm32/src/hrtim/traits.rs
Normal file
@ -0,0 +1,196 @@
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use crate::time::Hertz;
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#[derive(Clone, Copy)]
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pub(crate) enum HighResolutionControlPrescaler {
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Div1,
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Div2,
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Div4,
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Div8,
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Div16,
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Div32,
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Div64,
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Div128,
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}
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impl From<HighResolutionControlPrescaler> for u32 {
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fn from(val: HighResolutionControlPrescaler) -> Self {
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match val {
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HighResolutionControlPrescaler::Div1 => 1,
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HighResolutionControlPrescaler::Div2 => 2,
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HighResolutionControlPrescaler::Div4 => 4,
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HighResolutionControlPrescaler::Div8 => 8,
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HighResolutionControlPrescaler::Div16 => 16,
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HighResolutionControlPrescaler::Div32 => 32,
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HighResolutionControlPrescaler::Div64 => 64,
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HighResolutionControlPrescaler::Div128 => 128,
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}
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}
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}
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impl From<HighResolutionControlPrescaler> for u8 {
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fn from(val: HighResolutionControlPrescaler) -> Self {
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match val {
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HighResolutionControlPrescaler::Div1 => 0b000,
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HighResolutionControlPrescaler::Div2 => 0b001,
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HighResolutionControlPrescaler::Div4 => 0b010,
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HighResolutionControlPrescaler::Div8 => 0b011,
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HighResolutionControlPrescaler::Div16 => 0b100,
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HighResolutionControlPrescaler::Div32 => 0b101,
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HighResolutionControlPrescaler::Div64 => 0b110,
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HighResolutionControlPrescaler::Div128 => 0b111,
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}
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}
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}
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impl From<u8> for HighResolutionControlPrescaler {
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fn from(val: u8) -> Self {
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match val {
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0b000 => HighResolutionControlPrescaler::Div1,
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0b001 => HighResolutionControlPrescaler::Div2,
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0b010 => HighResolutionControlPrescaler::Div4,
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0b011 => HighResolutionControlPrescaler::Div8,
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0b100 => HighResolutionControlPrescaler::Div16,
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0b101 => HighResolutionControlPrescaler::Div32,
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0b110 => HighResolutionControlPrescaler::Div64,
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0b111 => HighResolutionControlPrescaler::Div128,
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_ => unreachable!(),
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}
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}
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}
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impl HighResolutionControlPrescaler {
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pub fn compute_min_high_res(val: u32) -> Self {
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*[
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HighResolutionControlPrescaler::Div1,
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HighResolutionControlPrescaler::Div2,
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HighResolutionControlPrescaler::Div4,
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HighResolutionControlPrescaler::Div8,
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HighResolutionControlPrescaler::Div16,
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HighResolutionControlPrescaler::Div32,
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HighResolutionControlPrescaler::Div64,
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HighResolutionControlPrescaler::Div128,
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]
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.iter()
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.skip_while(|psc| <HighResolutionControlPrescaler as Into<u32>>::into(**psc) <= val)
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.next()
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.unwrap()
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}
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pub fn compute_min_low_res(val: u32) -> Self {
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*[
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HighResolutionControlPrescaler::Div32,
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HighResolutionControlPrescaler::Div64,
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HighResolutionControlPrescaler::Div128,
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]
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.iter()
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.skip_while(|psc| <HighResolutionControlPrescaler as Into<u32>>::into(**psc) <= val)
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.next()
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.unwrap()
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}
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}
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pub(crate) mod sealed {
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use super::*;
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pub trait HighResolutionCaptureCompare16bitInstance: crate::timer::sealed::HighResolutionControlInstance {
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fn set_master_frequency(frequency: Hertz);
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fn set_channel_frequency(channnel: usize, frequency: Hertz);
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/// Set the dead time as a proportion of max_duty
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fn set_channel_dead_time(channnel: usize, dead_time: u16);
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// fn enable_outputs(enable: bool);
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//
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// fn enable_channel(&mut self, channel: usize, enable: bool);
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}
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}
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pub trait HighResolutionCaptureCompare16bitInstance:
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sealed::HighResolutionCaptureCompare16bitInstance + 'static
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{
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}
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foreach_interrupt! {
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($inst:ident, hrtim, HRTIM, MASTER, $irq:ident) => {
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impl sealed::HighResolutionCaptureCompare16bitInstance for crate::peripherals::$inst {
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fn set_master_frequency(frequency: Hertz) {
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use crate::rcc::sealed::RccPeripheral;
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use crate::timer::sealed::HighResolutionControlInstance;
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let f = frequency.0;
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let timer_f = Self::frequency().0;
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let psc_min = (timer_f / f) / (u16::MAX as u32 / 32);
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let psc = if Self::regs().isr().read().dllrdy() {
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HighResolutionControlPrescaler::compute_min_high_res(psc_min)
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} else {
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HighResolutionControlPrescaler::compute_min_low_res(psc_min)
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};
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let psc_val: u32 = psc.into();
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let timer_f = 32 * (timer_f / psc_val);
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let per: u16 = (timer_f / f) as u16;
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let regs = Self::regs();
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regs.mcr().modify(|w| w.set_ckpsc(psc.into()));
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regs.mper().modify(|w| w.set_mper(per));
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}
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fn set_channel_frequency(channel: usize, frequency: Hertz) {
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use crate::rcc::sealed::RccPeripheral;
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use crate::timer::sealed::HighResolutionControlInstance;
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let f = frequency.0;
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let timer_f = Self::frequency().0;
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let psc_min = (timer_f / f) / (u16::MAX as u32 / 32);
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let psc = if Self::regs().isr().read().dllrdy() {
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HighResolutionControlPrescaler::compute_min_high_res(psc_min)
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} else {
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HighResolutionControlPrescaler::compute_min_low_res(psc_min)
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};
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let psc_val: u32 = psc.into();
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let timer_f = 32 * (timer_f / psc_val);
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let per: u16 = (timer_f / f) as u16;
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let regs = Self::regs();
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regs.tim(channel).cr().modify(|w| w.set_ckpsc(psc.into()));
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regs.tim(channel).per().modify(|w| w.set_per(per));
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}
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fn set_channel_dead_time(channel: usize, dead_time: u16) {
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use crate::timer::sealed::HighResolutionControlInstance;
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let regs = Self::regs();
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let channel_psc: HighResolutionControlPrescaler = regs.tim(channel).cr().read().ckpsc().into();
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let psc_val: u32 = channel_psc.into();
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// The dead-time base clock runs 4 times slower than the hrtim base clock
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// u9::MAX = 511
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let psc_min = (psc_val * dead_time as u32) / (4 * 511);
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let psc = if Self::regs().isr().read().dllrdy() {
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HighResolutionControlPrescaler::compute_min_high_res(psc_min)
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} else {
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HighResolutionControlPrescaler::compute_min_low_res(psc_min)
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};
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let dt_psc_val: u32 = psc.into();
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let dt_val = (dt_psc_val * dead_time as u32) / (4 * psc_val);
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regs.tim(channel).dt().modify(|w| {
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w.set_dtprsc(psc.into());
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w.set_dtf(dt_val as u16);
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w.set_dtr(dt_val as u16);
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});
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}
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}
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impl HighResolutionCaptureCompare16bitInstance for crate::peripherals::$inst {
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}
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};
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}
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@ -3,9 +3,6 @@ pub mod simple_pwm;
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use stm32_metapac::timer::vals::Ckd;
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#[cfg(hrtim_v1)]
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use crate::time::Hertz;
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#[cfg(feature = "unstable-pac")]
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pub mod low_level {
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pub use super::sealed::*;
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@ -57,117 +54,9 @@ impl From<OutputCompareMode> for stm32_metapac::timer::vals::Ocm {
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}
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}
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#[cfg(hrtim_v1)]
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#[derive(Clone, Copy)]
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pub(crate) enum HighResolutionControlPrescaler {
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Div1,
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Div2,
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Div4,
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Div8,
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Div16,
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Div32,
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Div64,
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Div128,
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}
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#[cfg(hrtim_v1)]
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impl From<HighResolutionControlPrescaler> for u32 {
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fn from(val: HighResolutionControlPrescaler) -> Self {
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match val {
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HighResolutionControlPrescaler::Div1 => 1,
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HighResolutionControlPrescaler::Div2 => 2,
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HighResolutionControlPrescaler::Div4 => 4,
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HighResolutionControlPrescaler::Div8 => 8,
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HighResolutionControlPrescaler::Div16 => 16,
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HighResolutionControlPrescaler::Div32 => 32,
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HighResolutionControlPrescaler::Div64 => 64,
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HighResolutionControlPrescaler::Div128 => 128,
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}
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}
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}
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#[cfg(hrtim_v1)]
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impl From<HighResolutionControlPrescaler> for u8 {
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fn from(val: HighResolutionControlPrescaler) -> Self {
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match val {
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HighResolutionControlPrescaler::Div1 => 0b000,
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HighResolutionControlPrescaler::Div2 => 0b001,
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HighResolutionControlPrescaler::Div4 => 0b010,
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HighResolutionControlPrescaler::Div8 => 0b011,
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HighResolutionControlPrescaler::Div16 => 0b100,
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HighResolutionControlPrescaler::Div32 => 0b101,
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HighResolutionControlPrescaler::Div64 => 0b110,
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HighResolutionControlPrescaler::Div128 => 0b111,
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}
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}
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}
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#[cfg(hrtim_v1)]
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impl From<u8> for HighResolutionControlPrescaler {
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fn from(val: u8) -> Self {
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match val {
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0b000 => HighResolutionControlPrescaler::Div1,
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0b001 => HighResolutionControlPrescaler::Div2,
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0b010 => HighResolutionControlPrescaler::Div4,
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0b011 => HighResolutionControlPrescaler::Div8,
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0b100 => HighResolutionControlPrescaler::Div16,
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0b101 => HighResolutionControlPrescaler::Div32,
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0b110 => HighResolutionControlPrescaler::Div64,
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0b111 => HighResolutionControlPrescaler::Div128,
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_ => unreachable!(),
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}
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}
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}
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#[cfg(hrtim_v1)]
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impl HighResolutionControlPrescaler {
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pub fn compute_min_high_res(val: u32) -> Self {
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*[
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HighResolutionControlPrescaler::Div1,
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HighResolutionControlPrescaler::Div2,
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HighResolutionControlPrescaler::Div4,
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HighResolutionControlPrescaler::Div8,
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HighResolutionControlPrescaler::Div16,
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HighResolutionControlPrescaler::Div32,
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HighResolutionControlPrescaler::Div64,
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HighResolutionControlPrescaler::Div128,
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]
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.iter()
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.skip_while(|psc| <HighResolutionControlPrescaler as Into<u32>>::into(**psc) <= val)
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.next()
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.unwrap()
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}
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pub fn compute_min_low_res(val: u32) -> Self {
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*[
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HighResolutionControlPrescaler::Div32,
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HighResolutionControlPrescaler::Div64,
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HighResolutionControlPrescaler::Div128,
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]
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.iter()
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.skip_while(|psc| <HighResolutionControlPrescaler as Into<u32>>::into(**psc) <= val)
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.next()
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.unwrap()
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}
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}
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pub(crate) mod sealed {
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use super::*;
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#[cfg(hrtim_v1)]
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pub trait HighResolutionCaptureCompare16bitInstance: crate::timer::sealed::HighResolutionControlInstance {
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fn set_master_frequency(frequency: Hertz);
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fn set_channel_frequency(channnel: usize, frequency: Hertz);
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/// Set the dead time as a proportion of max_duty
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fn set_channel_dead_time(channnel: usize, dead_time: u16);
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// fn enable_outputs(enable: bool);
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//
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// fn enable_channel(&mut self, channel: usize, enable: bool);
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}
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pub trait CaptureCompare16bitInstance: crate::timer::sealed::GeneralPurpose16bitInstance {
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/// Global output enable. Does not do anything on non-advanced timers.
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fn enable_outputs(&mut self, enable: bool);
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@ -200,12 +89,6 @@ pub(crate) mod sealed {
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}
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}
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#[cfg(hrtim_v1)]
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pub trait HighResolutionCaptureCompare16bitInstance:
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sealed::HighResolutionCaptureCompare16bitInstance + 'static
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{
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}
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pub trait CaptureCompare16bitInstance:
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sealed::CaptureCompare16bitInstance + crate::timer::GeneralPurpose16bitInstance + 'static
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{
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@ -367,88 +250,6 @@ foreach_interrupt! {
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}
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};
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($inst:ident, hrtim, HRTIM, MASTER, $irq:ident) => {
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impl crate::pwm::sealed::HighResolutionCaptureCompare16bitInstance for crate::peripherals::$inst {
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fn set_master_frequency(frequency: Hertz) {
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use crate::rcc::sealed::RccPeripheral;
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use crate::timer::sealed::HighResolutionControlInstance;
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let f = frequency.0;
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let timer_f = Self::frequency().0;
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let psc_min = (timer_f / f) / (u16::MAX as u32 / 32);
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let psc = if Self::regs().isr().read().dllrdy() {
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HighResolutionControlPrescaler::compute_min_high_res(psc_min)
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} else {
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HighResolutionControlPrescaler::compute_min_low_res(psc_min)
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};
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let psc_val: u32 = psc.into();
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let timer_f = 32 * (timer_f / psc_val);
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let per: u16 = (timer_f / f) as u16;
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let regs = Self::regs();
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regs.mcr().modify(|w| w.set_ckpsc(psc.into()));
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regs.mper().modify(|w| w.set_mper(per));
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}
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fn set_channel_frequency(channel: usize, frequency: Hertz) {
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use crate::rcc::sealed::RccPeripheral;
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use crate::timer::sealed::HighResolutionControlInstance;
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let f = frequency.0;
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let timer_f = Self::frequency().0;
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let psc_min = (timer_f / f) / (u16::MAX as u32 / 32);
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let psc = if Self::regs().isr().read().dllrdy() {
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HighResolutionControlPrescaler::compute_min_high_res(psc_min)
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} else {
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HighResolutionControlPrescaler::compute_min_low_res(psc_min)
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};
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let psc_val: u32 = psc.into();
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let timer_f = 32 * (timer_f / psc_val);
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let per: u16 = (timer_f / f) as u16;
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let regs = Self::regs();
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regs.tim(channel).cr().modify(|w| w.set_ckpsc(psc.into()));
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regs.tim(channel).per().modify(|w| w.set_per(per));
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}
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fn set_channel_dead_time(channel: usize, dead_time: u16) {
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use crate::timer::sealed::HighResolutionControlInstance;
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let regs = Self::regs();
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let channel_psc: HighResolutionControlPrescaler = regs.tim(channel).cr().read().ckpsc().into();
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let psc_val: u32 = channel_psc.into();
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// The dead-time base clock runs 4 times slower than the hrtim base clock
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// u9::MAX = 511
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let psc_min = (psc_val * dead_time as u32) / (4 * 511);
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let psc = if Self::regs().isr().read().dllrdy() {
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HighResolutionControlPrescaler::compute_min_high_res(psc_min)
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} else {
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HighResolutionControlPrescaler::compute_min_low_res(psc_min)
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};
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let dt_psc_val: u32 = psc.into();
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let dt_val = (dt_psc_val * dead_time as u32) / (4 * psc_val);
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regs.tim(channel).dt().modify(|w| {
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w.set_dtprsc(psc.into());
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w.set_dtf(dt_val as u16);
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w.set_dtr(dt_val as u16);
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});
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}
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}
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impl HighResolutionCaptureCompare16bitInstance for crate::peripherals::$inst {
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}
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};
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}
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|
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pin_trait!(Channel1Pin, CaptureCompare16bitInstance);
|
||||
|
||||
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Reference in New Issue
Block a user