96 lines
2.4 KiB
Rust
96 lines
2.4 KiB
Rust
use crate::interrupt;
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use core::future::Future;
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use core::pin::Pin;
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use embassy::interrupt::Interrupt;
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use embassy::traits::qei::WaitForRotate;
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use embedded_hal::Direction;
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use embedded_hal::Qei as THQei;
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use stm32f4xx_hal::pac::TIM2;
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use stm32f4xx_hal::qei::{Pins, Qei as HalQei};
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pub struct Qei<T: Instance, PINS> {
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qei: HalQei<T, PINS>,
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int: T::Interrupt,
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}
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impl<PINS: Pins<TIM2>> Qei<TIM2, PINS> {
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pub fn tim2(tim: TIM2, pins: PINS, interrupt: interrupt::TIM2) -> Self {
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let qei = HalQei::tim2(tim, pins);
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let tim = unsafe {
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&mut *(stm32f4xx_hal::stm32::TIM2::ptr()
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as *mut stm32f4xx_hal::stm32::tim2::RegisterBlock)
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};
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/*
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enable qei interrupt
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*/
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tim.dier.write(|w| w.uie().set_bit());
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Qei {
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qei: qei,
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int: interrupt,
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}
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}
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}
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impl<PINS: Pins<TIM2> + 'static> WaitForRotate for Qei<TIM2, PINS> {
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type RotateFuture<'a> = impl Future<Output = Direction> + 'a;
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fn wait_for_rotate<'a>(
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self: Pin<&'a mut Self>,
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count_down: u16,
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count_up: u16,
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) -> Self::RotateFuture<'a> {
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let s = unsafe { self.get_unchecked_mut() };
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let tim = unsafe {
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&mut *(stm32f4xx_hal::stm32::TIM2::ptr()
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as *mut stm32f4xx_hal::stm32::tim2::RegisterBlock)
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};
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/*
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the interrupt will be reached at zero or the max count
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write the total range to the qei.
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*/
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tim.arr
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.write(|w| unsafe { w.bits((count_down + count_up) as u32) });
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/*
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set timer to the correct value in the range
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*/
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tim.cnt.write(|w| unsafe { w.bits(count_down as u32) });
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/*
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clear interrupt flag
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*/
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tim.sr.write(|w| w.uif().clear_bit());
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async move {
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embassy::util::InterruptFuture::new(&mut s.int).await;
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if tim.cnt.read().bits() == 0 {
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Direction::Downcounting
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} else if tim.cnt.read() == count_down + count_up {
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Direction::Upcounting
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} else {
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panic!("unexpected value")
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}
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}
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}
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}
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mod sealed {
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pub trait Sealed {}
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}
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pub trait Instance: sealed::Sealed {
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type Interrupt: interrupt::Interrupt;
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}
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#[cfg(feature = "stm32f405")]
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impl sealed::Sealed for TIM2 {}
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#[cfg(feature = "stm32f405")]
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impl Instance for TIM2 {
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type Interrupt = interrupt::TIM2;
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}
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