Skip to content

Commit

Permalink
refactoring
Browse files Browse the repository at this point in the history
  • Loading branch information
Nilolay committed Jan 2, 2025
1 parent 2097b16 commit 65e96ee
Show file tree
Hide file tree
Showing 4 changed files with 120 additions and 153 deletions.
10 changes: 4 additions & 6 deletions examples/rtic2-timer-input-capture.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,7 @@ use stm32f4xx_hal::{
pac,
pac::{TIM2, TIM5},
prelude::*,
timer::{
CcChannel, CcHzManager, Event, Flag, Polarity, PwmChannel, Timer,
},
timer::{CaptureChannel, CaptureHzManager, Event, Flag, Polarity, PwmChannel, Timer},
};

use rtic::app;
Expand All @@ -23,8 +21,8 @@ mod app {

#[local]
struct Local {
tim5: CcHzManager<TIM5>,
ch1: CcChannel<TIM5, 0>,
tim5: CaptureHzManager<TIM5>,
ch1: CaptureChannel<TIM5, 0>,
}

#[init]
Expand All @@ -44,7 +42,7 @@ mod app {
// It is necessary to connect pins PA0 and PA5 through a resistor of 1 kΩ - 10 kΩ

// Configuration of TIM5 in input capture mode
let (mut tim5, (ch1, ..)) = Timer::new(dp.TIM5, &clocks).capture_compare_hz(48.MHz());
let (mut tim5, (ch1, ..)) = Timer::new(dp.TIM5, &clocks).capture_hz(48.MHz());
let mut ch1 = ch1.with(gpioa.pa0);
tim5.listen(Event::C1);

Expand Down
137 changes: 50 additions & 87 deletions src/timer.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -27,9 +27,9 @@ pub mod pwm_input;
#[cfg(not(feature = "gpio-f410"))]
pub use pwm_input::PwmInput;
#[cfg(not(feature = "gpio-f410"))]
pub mod capture_compare;
pub mod capture;
#[cfg(not(feature = "gpio-f410"))]
pub use capture_compare::*;
pub use capture::*;
#[cfg(feature = "rtic1")]
pub mod monotonic;
#[cfg(feature = "rtic1")]
Expand Down Expand Up @@ -311,25 +311,32 @@ pub enum Ocm {
PwmMode2 = 7,
}

/// Capture/Compare mode
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[repr(u8)]
pub enum CcMode {
// Todo Output compare (not tested)
// OutputCompare = 0,
/// Capture mode
/// Enum for configuring the mode of the Capture channels (CC1S, CC2S, CC3S, CC4S).
/// Defines how each channel is used in Input Capture mode, considering TI1, TI2, TI3, and TI4.
pub enum CaptureMode {
/// Input Capture on the corresponding channel (e.g., CC1 -> TI1, CC2 -> TI2, etc.).
InputCapture = 1,
/// Input Capture on the inverted channel (e.g., CC1 -> TI2, CC2 -> TI1, CC3 -> TI4, CC4 -> TI3).
InvChannelInputCapture = 2,
TriggerInputCapture = 3,
}

#[derive(Clone, Copy, Debug, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[repr(u8)]
/// Enum for configuring the Input Capture prescaler.
/// Determines how many input events are required for one capture.
pub enum CapturePrescaler {
/// No prescaler (00): Capture every input event.
No = 0,
/// Prescaler 2 (01): Capture every second input event.
Two = 1,
/// Prescaler 4 (10): Capture every fourth input event.
Four = 2,
/// Prescaler 8 (11): Capture every eighth input event.
Eight = 3,
}

Expand Down Expand Up @@ -372,7 +379,6 @@ pub enum CaptureFilter {
FdtsDiv32N8,
}


// Center-aligned mode selection
pub use pac::tim1::cr1::CMS as CenterAlignedMode;

Expand All @@ -387,7 +393,10 @@ pub type CCR4<T> = CCR<T, 3>;
pub struct DMAR<T>(T);

mod sealed {
use super::{BitFlags, CaptureFilter, CapturePrescaler, CcMode, CenterAlignedMode, Event, Flag, IdleState, Ocm, Polarity};
use super::{
BitFlags, CaptureFilter, CaptureMode, CapturePrescaler, CenterAlignedMode, Event, Flag,
IdleState, Ocm, Polarity,
};
pub trait General {
type Width: Into<u32> + From<u16>;
fn max_auto_reload() -> u32;
Expand Down Expand Up @@ -416,43 +425,37 @@ mod sealed {
fn cnt_reset(&mut self);
}

pub trait WithPwmCommon: General {
pub trait WithTimerCommon: General {
const CH_NUMBER: u8;
const COMP_CH_NUMBER: u8;
fn read_cc_value(channel: u8) -> u32;
fn set_cc_value(channel: u8, value: u32);
fn enable_channel(channel: u8, b: bool);
fn set_channel_polarity(channel: u8, p: Polarity);
fn set_nchannel_polarity(channel: u8, p: Polarity);
}
fn set_pwm_channel_polarity(channel: u8, p: Polarity);
fn set_pwm_nchannel_polarity(channel: u8, p: Polarity);

pub trait WithCcCommon: General {
const CC_CH_NUMBER: u8;
const CC_COMP_CH_NUMBER: u8;
fn read_cc_value(channel: u8) -> u32;
fn enable_channel(channel: u8, b: bool);
fn set_channel_polarity(channel: u8, p: Polarity);
fn set_capture_channel_polarity(channel: u8, p: Polarity);
}

pub trait Advanced: WithPwmCommon {
pub trait Advanced: WithTimerCommon {
fn enable_nchannel(channel: u8, b: bool);
fn set_dtg_value(value: u8);
fn read_dtg_value() -> u8;
fn idle_state(channel: u8, comp: bool, s: IdleState);
fn set_cms(mode: CenterAlignedMode);
}

pub trait WithPwm: WithPwmCommon {
pub trait WithPwm: WithTimerCommon {
fn preload_output_channel_in_mode(&mut self, c: u8, mode: Ocm);
fn freeze_output_channel(&mut self, c: u8);
fn start_pwm(&mut self);
}

pub trait WithCc: WithCcCommon {
fn preload_capture_compare(&mut self, c: u8, mode: CcMode);
pub trait WithCapture: WithTimerCommon {
fn preload_capture(&mut self, c: u8, mode: CaptureMode);
fn prescaler_capture(&mut self, c: u8, psc: CapturePrescaler);
fn filter_capture(&mut self, c: u8, filter: CaptureFilter);
fn start_capture_compare(&mut self);
fn start_capture(&mut self);
}

pub trait MasterTimer: General {
Expand All @@ -465,22 +468,19 @@ mod sealed {
fn split() -> Self::Channels;
}

pub trait SplitCc {
type CcChannels;
fn split_cc() -> Self::CcChannels;
pub trait SplitCapture {
type CaptureChannels;
fn split_capture() -> Self::CaptureChannels;
}
}
pub(crate) use sealed::{
Advanced, General, MasterTimer, WithCc, WithCcCommon, WithPwm,
WithPwmCommon,
};
pub(crate) use sealed::{Advanced, General, MasterTimer, WithCapture, WithPwm, WithTimerCommon};

pub trait Instance:
crate::Sealed + rcc::Enable + rcc::Reset + rcc::BusTimerClock + General
{
}

use sealed::{Split, SplitCc};
use sealed::{Split, SplitCapture};
macro_rules! split {
($TIM:ty: 1) => {
split!($TIM, C1);
Expand All @@ -498,24 +498,10 @@ macro_rules! split {
($(PwmChannelDisabled::<_, $C>::new(),)+)
}
}
};
}

macro_rules! split_cc {
($TIM:ty: 1) => {
split_cc!($TIM, C1);
};
($TIM:ty: 2) => {
split_cc!($TIM, C1, C2);
};
($TIM:ty: 4) => {
split_cc!($TIM, C1, C2, C3, C4);
};
($TIM:ty, $($C:ident),+) => {
impl SplitCc for $TIM {
type CcChannels = ($(CcChannelDisabled<$TIM, $C>,)+);
fn split_cc() -> Self::CcChannels {
($(CcChannelDisabled::<_, $C>::new(),)+)
impl SplitCapture for $TIM {
type CaptureChannels = ($(CaptureChannelDisabled<$TIM, $C>,)+);
fn split_capture() -> Self::CaptureChannels {
($(CaptureChannelDisabled::<_, $C>::new(),)+)
}
}
};
Expand Down Expand Up @@ -643,7 +629,7 @@ macro_rules! hal {
$(with_dmar!($TIM, $memsize);)?

$(
impl WithPwmCommon for $TIM {
impl WithTimerCommon for $TIM {
const CH_NUMBER: u8 = $cnum;
const COMP_CH_NUMBER: u8 = $cnum;

Expand Down Expand Up @@ -674,47 +660,25 @@ macro_rules! hal {
}

#[inline(always)]
fn set_channel_polarity(c: u8, p: Polarity) {
fn set_pwm_channel_polarity(c: u8, p: Polarity) {
let tim = unsafe { &*<$TIM>::ptr() };
if c < Self::CH_NUMBER {
unsafe { bb::write(tim.ccer(), c*4 + 1, p == Polarity::ActiveLow); }
}
}

#[inline(always)]
fn set_nchannel_polarity(c: u8, p: Polarity) {
fn set_pwm_nchannel_polarity(c: u8, p: Polarity) {
let tim = unsafe { &*<$TIM>::ptr() };
if c < Self::COMP_CH_NUMBER {
unsafe { bb::write(tim.ccer(), c*4 + 3, p == Polarity::ActiveLow); }
}
}
}

impl WithCcCommon for $TIM {
const CC_CH_NUMBER: u8 = $cnum;
const CC_COMP_CH_NUMBER: u8 = $cnum;
#[inline(always)]
fn read_cc_value(c: u8) -> u32 {
let tim = unsafe { &*<$TIM>::ptr() };
if c < Self::CC_CH_NUMBER {
tim.ccr(c as usize).read().bits()
} else {
0
}
}

#[inline(always)]
fn enable_channel(c: u8, b: bool) {
fn set_capture_channel_polarity(c: u8, p: Polarity) {
let tim = unsafe { &*<$TIM>::ptr() };
if c < Self::CC_CH_NUMBER {
unsafe { bb::write(tim.ccer(), c*4, b); }
}
}

#[inline(always)]
fn set_channel_polarity(c: u8, p: Polarity) {
let tim = unsafe { &*<$TIM>::ptr() };
if c < Self::CC_CH_NUMBER {
if c < Self::CH_NUMBER {
match p {
Polarity::ActiveLow => {
unsafe { bb::write(tim.ccer(), c*4 + 3, false); }
Expand Down Expand Up @@ -772,9 +736,8 @@ macro_rules! hal {
)?

with_pwm!($TIM: $cnum $(, $aoe)?);
with_cc!($TIM: $cnum $(, $aoe)?);
with_capture!($TIM: $cnum $(, $aoe)?);
split!($TIM: $cnum);
split_cc!($TIM: $cnum);
unsafe impl<const C: u8> PeriAddress for CCR<$TIM, C> {
#[inline(always)]
fn address(&self) -> u32 {
Expand Down Expand Up @@ -865,11 +828,11 @@ macro_rules! with_pwm {
};
}

macro_rules! with_cc {
macro_rules! with_capture {
($TIM:ty: [$($Cx:literal, $ccmrx_input:ident, $ccxs:ident, $icx_psc:ident, $icxf:ident;)+] $(, $aoe:ident)?) => {
impl WithCc for $TIM {
impl WithCapture for $TIM {
#[inline(always)]
fn preload_capture_compare(&mut self, c: u8, mode: CcMode) {
fn preload_capture(&mut self, c: u8, mode: CaptureMode) {
match c {
$(
$Cx => {
Expand Down Expand Up @@ -908,28 +871,28 @@ macro_rules! with_cc {
_ => {},
}
}


#[inline(always)]
fn start_capture_compare(&mut self) {
fn start_capture(&mut self) {
// $(let $aoe = self.bdtr().modify(|_, w| w.aoe().set_bit());)?
self.cr1().modify(|_, w| w.cen().set_bit());
}
}
};
($TIM:ty: 1) => {
with_cc!($TIM: [
with_capture!($TIM: [
0, ccmr1_input, cc1s, ic1psc, ic1f;
]);
};
($TIM:ty: 2) => {
with_cc!($TIM: [
with_capture!($TIM: [
0, ccmr1_input, cc1s, ic1psc, ic1f;
1, ccmr1_input, cc2s, ic2psc, ic2f;
]);
};
($TIM:ty: 4 $(, $aoe:ident)?) => {
with_cc!($TIM: [
with_capture!($TIM: [
0, ccmr1_input, cc1s, ic1psc, ic1f;
1, ccmr1_input, cc2s, ic2psc, ic2f;
2, ccmr2_input, cc3s, ic3psc, ic3f;
Expand Down
Loading

0 comments on commit 65e96ee

Please sign in to comment.