251 lines
7.4 KiB
Rust
251 lines
7.4 KiB
Rust
use core::marker::PhantomData;
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use embassy_hal_common::{into_ref, PeripheralRef};
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use stm32_metapac::timer::vals::Ckd;
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use super::simple_pwm::*;
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use super::*;
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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::time::Hertz;
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use crate::Peripheral;
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pub struct ComplementaryPwmPin<'d, Perip, Channel> {
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_pin: PeripheralRef<'d, AnyPin>,
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phantom: PhantomData<(Perip, Channel)>,
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}
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macro_rules! complementary_channel_impl {
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($new_chx:ident, $channel:ident, $pin_trait:ident, $complementary_pin_trait:ident) => {
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impl<'d, Perip: CaptureCompare16bitInstance> ComplementaryPwmPin<'d, Perip, $channel> {
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pub fn $new_chx(pin: impl Peripheral<P = impl $complementary_pin_trait<Perip>> + 'd) -> Self {
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into_ref!(pin);
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critical_section::with(|_| {
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pin.set_low();
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pin.set_as_af(pin.af_num(), AFType::OutputPushPull);
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#[cfg(gpio_v2)]
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pin.set_speed(crate::gpio::Speed::VeryHigh);
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});
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ComplementaryPwmPin {
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_pin: pin.map_into(),
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phantom: PhantomData,
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}
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}
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}
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};
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}
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complementary_channel_impl!(new_ch1, Ch1, Channel1Pin, Channel1ComplementaryPin);
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complementary_channel_impl!(new_ch2, Ch2, Channel2Pin, Channel2ComplementaryPin);
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complementary_channel_impl!(new_ch3, Ch3, Channel3Pin, Channel3ComplementaryPin);
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complementary_channel_impl!(new_ch4, Ch4, Channel4Pin, Channel4ComplementaryPin);
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pub struct ComplementaryPwm<'d, T> {
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inner: PeripheralRef<'d, T>,
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}
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impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
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pub fn new(
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tim: impl Peripheral<P = T> + 'd,
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_ch1: Option<PwmPin<'d, T, Ch1>>,
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_ch1n: Option<ComplementaryPwmPin<'d, T, Ch1>>,
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_ch2: Option<PwmPin<'d, T, Ch2>>,
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_ch2n: Option<ComplementaryPwmPin<'d, T, Ch2>>,
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_ch3: Option<PwmPin<'d, T, Ch3>>,
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_ch3n: Option<ComplementaryPwmPin<'d, T, Ch3>>,
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_ch4: Option<PwmPin<'d, T, Ch4>>,
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_ch4n: Option<ComplementaryPwmPin<'d, T, Ch4>>,
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freq: Hertz,
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) -> Self {
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Self::new_inner(tim, freq)
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}
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fn new_inner(tim: impl Peripheral<P = T> + 'd, freq: Hertz) -> Self {
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into_ref!(tim);
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T::enable();
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<T as crate::rcc::sealed::RccPeripheral>::reset();
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let mut this = Self { inner: tim };
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this.inner.set_frequency(freq);
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this.inner.start();
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this.inner.enable_outputs(true);
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this.inner
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.set_output_compare_mode(Channel::Ch1, OutputCompareMode::PwmMode1);
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this.inner
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.set_output_compare_mode(Channel::Ch2, OutputCompareMode::PwmMode1);
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this.inner
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.set_output_compare_mode(Channel::Ch3, OutputCompareMode::PwmMode1);
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this.inner
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.set_output_compare_mode(Channel::Ch4, OutputCompareMode::PwmMode1);
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this
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}
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pub fn enable(&mut self, channel: Channel) {
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self.inner.enable_channel(channel, true);
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self.inner.enable_complementary_channel(channel, true);
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}
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pub fn disable(&mut self, channel: Channel) {
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self.inner.enable_complementary_channel(channel, false);
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self.inner.enable_channel(channel, false);
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}
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pub fn set_freq(&mut self, freq: Hertz) {
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self.inner.set_frequency(freq);
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}
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pub fn get_max_duty(&self) -> u16 {
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self.inner.get_max_compare_value()
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}
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pub fn set_duty(&mut self, channel: Channel, duty: u16) {
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assert!(duty < self.get_max_duty());
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self.inner.set_compare_value(channel, duty)
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}
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/// Set the dead time as a proportion of max_duty
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pub fn set_dead_time(&mut self, value: u16) {
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let (ckd, value) = compute_dead_time_value(value);
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self.inner.set_dead_time_clock_division(ckd);
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self.inner.set_dead_time_value(value);
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}
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}
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fn compute_dead_time_value(value: u16) -> (Ckd, u8) {
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/*
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Dead-time = T_clk * T_dts * T_dtg
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T_dts:
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This bit-field indicates the division ratio between the timer clock (CK_INT) frequency and the
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dead-time and sampling clock (tDTS)used by the dead-time generators and the digital filters
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(ETR, TIx),
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00: tDTS=tCK_INT
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01: tDTS=2*tCK_INT
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10: tDTS=4*tCK_INT
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T_dtg:
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This bit-field defines the duration of the dead-time inserted between the complementary
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outputs. DT correspond to this duration.
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DTG[7:5]=0xx => DT=DTG[7:0]x tdtg with tdtg=tDTS.
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DTG[7:5]=10x => DT=(64+DTG[5:0])xtdtg with Tdtg=2xtDTS.
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DTG[7:5]=110 => DT=(32+DTG[4:0])xtdtg with Tdtg=8xtDTS.
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DTG[7:5]=111 => DT=(32+DTG[4:0])xtdtg with Tdtg=16xtDTS.
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Example if TDTS=125ns (8MHz), dead-time possible values are:
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0 to 15875 ns by 125 ns steps,
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16 us to 31750 ns by 250 ns steps,
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32 us to 63us by 1 us steps,
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64 us to 126 us by 2 us steps
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*/
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let mut error = u16::MAX;
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let mut ckd = Ckd::DIV1;
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let mut bits = 0u8;
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for this_ckd in [Ckd::DIV1, Ckd::DIV2, Ckd::DIV4] {
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let outdiv = match this_ckd {
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Ckd::DIV1 => 1,
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Ckd::DIV2 => 2,
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Ckd::DIV4 => 4,
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_ => unreachable!(),
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};
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// 127
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// 128
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// ..
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// 254
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// 256
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// ..
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// 504
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// 512
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// ..
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// 1008
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let target = value / outdiv;
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let (these_bits, result) = if target < 128 {
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(target as u8, target)
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} else if target < 255 {
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(64 + (target / 2) as u8, (target - target % 2))
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} else if target < 508 {
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(32 + (target / 8) as u8, (target - target % 8))
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} else if target < 1008 {
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(32 + (target / 16) as u8, (target - target % 16))
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} else {
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(u8::MAX, 1008)
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};
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let this_error = value.abs_diff(result * outdiv);
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if error > this_error {
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ckd = this_ckd;
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bits = these_bits;
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error = this_error;
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}
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match error {
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0 => break,
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_ => {}
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}
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}
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(ckd, bits)
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}
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#[cfg(test)]
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mod tests {
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use super::{compute_dead_time_value, Ckd};
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#[test]
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fn test_compute_dead_time_value() {
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struct TestRun {
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value: u16,
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ckd: Ckd,
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bits: u8,
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}
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let fn_results = [
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TestRun {
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value: 1,
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ckd: Ckd::DIV1,
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bits: 1,
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},
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TestRun {
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value: 125,
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ckd: Ckd::DIV1,
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bits: 125,
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},
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TestRun {
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value: 245,
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ckd: Ckd::DIV1,
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bits: 64 + 245 / 2,
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},
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TestRun {
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value: 255,
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ckd: Ckd::DIV2,
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bits: 127,
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},
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TestRun {
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value: 400,
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ckd: Ckd::DIV1,
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bits: 32 + (400u16 / 8) as u8,
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},
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TestRun {
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value: 600,
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ckd: Ckd::DIV4,
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bits: 64 + (600u16 / 8) as u8,
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},
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];
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for test_run in fn_results {
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let (ckd, bits) = compute_dead_time_value(test_run.value);
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assert_eq!(ckd.to_bits(), test_run.ckd.to_bits());
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assert_eq!(bits, test_run.bits);
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}
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}
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}
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