diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml index 9a6a5908e..3c6484c96 100644 --- a/embassy-stm32/Cargo.toml +++ b/embassy-stm32/Cargo.toml @@ -72,7 +72,7 @@ rand_core = "0.6.3" sdio-host = "0.5.0" critical-section = "1.1" #stm32-metapac = { version = "15" } -stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-5ef354f3e49f790e47f5c818f243459742c9b83b" } +stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-ad00827345b4b758b2453082809d6e3b634b5364" } vcell = "0.1.3" nb = "1.0.0" @@ -99,7 +99,7 @@ proc-macro2 = "1.0.36" quote = "1.0.15" #stm32-metapac = { version = "15", default-features = false, features = ["metadata"]} -stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-5ef354f3e49f790e47f5c818f243459742c9b83b", default-features = false, features = ["metadata"] } +stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-ad00827345b4b758b2453082809d6e3b634b5364", default-features = false, features = ["metadata"] } [features] default = ["rt"] diff --git a/embassy-stm32/build.rs b/embassy-stm32/build.rs index 1984a1420..19cf193d9 100644 --- a/embassy-stm32/build.rs +++ b/embassy-stm32/build.rs @@ -1015,6 +1015,9 @@ fn main() { (("hrtim", "CHE2"), quote!(crate::hrtim::ChannelEComplementaryPin)), (("hrtim", "CHF1"), quote!(crate::hrtim::ChannelFPin)), (("hrtim", "CHF2"), quote!(crate::hrtim::ChannelFComplementaryPin)), + (("lptim", "CH1"), quote!(crate::lptim::Channel1Pin)), + (("lptim", "CH2"), quote!(crate::lptim::Channel2Pin)), + (("lptim", "OUT"), quote!(crate::lptim::OutputPin)), (("sdmmc", "CK"), quote!(crate::sdmmc::CkPin)), (("sdmmc", "CMD"), quote!(crate::sdmmc::CmdPin)), (("sdmmc", "D0"), quote!(crate::sdmmc::D0Pin)), diff --git a/embassy-stm32/src/adc/mod.rs b/embassy-stm32/src/adc/mod.rs index 2ac0c0083..4ab82c1d9 100644 --- a/embassy-stm32/src/adc/mod.rs +++ b/embassy-stm32/src/adc/mod.rs @@ -4,7 +4,7 @@ #![allow(missing_docs)] // TODO #![cfg_attr(adc_f3_v2, allow(unused))] -#[cfg(not(adc_f3_v2))] +#[cfg(not(any(adc_f3_v2, adc_u5)))] #[cfg_attr(adc_f1, path = "f1.rs")] #[cfg_attr(adc_f3, path = "f3.rs")] #[cfg_attr(adc_f3_v1_1, path = "f3_v1_1.rs")] @@ -19,14 +19,16 @@ mod _version; use core::marker::PhantomData; #[allow(unused)] -#[cfg(not(adc_f3_v2))] +#[cfg(not(any(adc_f3_v2, adc_u5)))] pub use _version::*; #[cfg(any(adc_f1, adc_f3, adc_v1, adc_l0, adc_f3_v1_1))] use embassy_sync::waitqueue::AtomicWaker; +#[cfg(not(any(adc_u5)))] pub use crate::pac::adc::vals; -#[cfg(not(any(adc_f1, adc_f3_v2)))] +#[cfg(not(any(adc_f1, adc_f3_v2, adc_u5)))] pub use crate::pac::adc::vals::Res as Resolution; +#[cfg(not(any(adc_u5)))] pub use crate::pac::adc::vals::SampleTime; use crate::peripherals; @@ -36,7 +38,7 @@ dma_trait!(RxDma, Instance); pub struct Adc<'d, T: Instance> { #[allow(unused)] adc: crate::PeripheralRef<'d, T>, - #[cfg(not(any(adc_f3_v2, adc_f3_v1_1)))] + #[cfg(not(any(adc_f3_v2, adc_f3_v1_1, adc_u5)))] sample_time: SampleTime, } @@ -57,7 +59,7 @@ impl State { trait SealedInstance { #[allow(unused)] fn regs() -> crate::pac::adc::Adc; - #[cfg(not(any(adc_f1, adc_v1, adc_l0, adc_f3_v2, adc_f3_v1_1, adc_g0)))] + #[cfg(not(any(adc_f1, adc_v1, adc_l0, adc_f3_v2, adc_f3_v1_1, adc_g0, adc_u5)))] #[allow(unused)] fn common_regs() -> crate::pac::adccommon::AdcCommon; #[cfg(any(adc_f1, adc_f3, adc_v1, adc_l0, adc_f3_v1_1))] @@ -163,7 +165,7 @@ foreach_adc!( crate::pac::$inst } - #[cfg(not(any(adc_f1, adc_v1, adc_l0, adc_f3_v2, adc_f3_v1_1, adc_g0)))] + #[cfg(not(any(adc_f1, adc_v1, adc_l0, adc_f3_v2, adc_f3_v1_1, adc_g0, adc_u5)))] fn common_regs() -> crate::pac::adccommon::AdcCommon { return crate::pac::$common_inst } @@ -200,7 +202,7 @@ macro_rules! impl_adc_pin { /// Get the maximum reading value for this resolution. /// /// This is `2**n - 1`. -#[cfg(not(any(adc_f1, adc_f3_v2)))] +#[cfg(not(any(adc_f1, adc_f3_v2, adc_u5)))] pub const fn resolution_to_max_count(res: Resolution) -> u32 { match res { #[cfg(adc_v4)] diff --git a/embassy-stm32/src/lib.rs b/embassy-stm32/src/lib.rs index 98695e738..451f595e0 100644 --- a/embassy-stm32/src/lib.rs +++ b/embassy-stm32/src/lib.rs @@ -89,6 +89,8 @@ pub mod i2s; pub mod ipcc; #[cfg(feature = "low-power")] pub mod low_power; +#[cfg(lptim)] +pub mod lptim; #[cfg(ltdc)] pub mod ltdc; #[cfg(opamp)] diff --git a/embassy-stm32/src/lptim/channel.rs b/embassy-stm32/src/lptim/channel.rs new file mode 100644 index 000000000..17fc2fb86 --- /dev/null +++ b/embassy-stm32/src/lptim/channel.rs @@ -0,0 +1,18 @@ +/// Timer channel. +#[derive(Clone, Copy)] +pub enum Channel { + /// Channel 1. + Ch1, + /// Channel 2. + Ch2, +} + +impl Channel { + /// Get the channel index (0..1) + pub fn index(&self) -> usize { + match self { + Channel::Ch1 => 0, + Channel::Ch2 => 1, + } + } +} diff --git a/embassy-stm32/src/lptim/mod.rs b/embassy-stm32/src/lptim/mod.rs new file mode 100644 index 000000000..1649cc5b4 --- /dev/null +++ b/embassy-stm32/src/lptim/mod.rs @@ -0,0 +1,48 @@ +//! Low-power timer (LPTIM) + +pub mod pwm; +pub mod timer; + +use crate::rcc::RccPeripheral; + +/// Timer channel. +#[cfg(any(lptim_v2a, lptim_v2b))] +mod channel; +#[cfg(any(lptim_v2a, lptim_v2b))] +pub use channel::Channel; + +pin_trait!(OutputPin, BasicInstance); +pin_trait!(Channel1Pin, BasicInstance); +pin_trait!(Channel2Pin, BasicInstance); + +pub(crate) trait SealedInstance: RccPeripheral { + fn regs() -> crate::pac::lptim::Lptim; +} +pub(crate) trait SealedBasicInstance: RccPeripheral {} + +/// LPTIM basic instance trait. +#[allow(private_bounds)] +pub trait BasicInstance: SealedBasicInstance + 'static {} + +/// LPTIM instance trait. +#[allow(private_bounds)] +pub trait Instance: BasicInstance + SealedInstance + 'static {} + +foreach_interrupt! { + ($inst:ident, lptim, LPTIM, GLOBAL, $irq:ident) => { + impl SealedInstance for crate::peripherals::$inst { + fn regs() -> crate::pac::lptim::Lptim { + crate::pac::$inst + } + } + impl SealedBasicInstance for crate::peripherals::$inst { + } + impl BasicInstance for crate::peripherals::$inst {} + impl Instance for crate::peripherals::$inst {} + }; + ($inst:ident, lptim, LPTIM_BASIC, GLOBAL, $irq:ident) => { + impl SealedBasicInstance for crate::peripherals::$inst { + } + impl BasicInstance for crate::peripherals::$inst {} + }; +} diff --git a/embassy-stm32/src/lptim/pwm.rs b/embassy-stm32/src/lptim/pwm.rs new file mode 100644 index 000000000..1f43eb6ee --- /dev/null +++ b/embassy-stm32/src/lptim/pwm.rs @@ -0,0 +1,168 @@ +//! PWM driver. + +use core::marker::PhantomData; + +use embassy_hal_internal::{into_ref, PeripheralRef}; + +use super::timer::Timer; +#[cfg(not(any(lptim_v2a, lptim_v2b)))] +use super::OutputPin; +#[cfg(any(lptim_v2a, lptim_v2b))] +use super::{channel::Channel, timer::ChannelDirection, Channel1Pin, Channel2Pin}; +use super::{BasicInstance, Instance}; +use crate::gpio::{AfType, AnyPin, OutputType, Speed}; +use crate::time::Hertz; +use crate::Peripheral; + +/// Output marker type. +pub enum Output {} +/// Channel 1 marker type. +pub enum Ch1 {} +/// Channel 2 marker type. +pub enum Ch2 {} + +/// PWM pin wrapper. +/// +/// This wraps a pin to make it usable with PWM. +pub struct PwmPin<'d, T, C> { + _pin: PeripheralRef<'d, AnyPin>, + phantom: PhantomData<(T, C)>, +} + +macro_rules! channel_impl { + ($new_chx:ident, $channel:ident, $pin_trait:ident) => { + impl<'d, T: BasicInstance> PwmPin<'d, T, $channel> { + #[doc = concat!("Create a new ", stringify!($channel), " PWM pin instance.")] + pub fn $new_chx(pin: impl Peripheral

> + 'd) -> Self { + into_ref!(pin); + critical_section::with(|_| { + pin.set_low(); + pin.set_as_af( + pin.af_num(), + AfType::output(OutputType::PushPull, Speed::VeryHigh), + ); + }); + PwmPin { + _pin: pin.map_into(), + phantom: PhantomData, + } + } + } + }; +} + +#[cfg(not(any(lptim_v2a, lptim_v2b)))] +channel_impl!(new, Output, OutputPin); +#[cfg(any(lptim_v2a, lptim_v2b))] +channel_impl!(new_ch1, Ch1, Channel1Pin); +#[cfg(any(lptim_v2a, lptim_v2b))] +channel_impl!(new_ch2, Ch2, Channel2Pin); + +/// PWM driver. +pub struct Pwm<'d, T: Instance> { + inner: Timer<'d, T>, +} + +#[cfg(not(any(lptim_v2a, lptim_v2b)))] +impl<'d, T: Instance> Pwm<'d, T> { + /// Create a new PWM driver. + pub fn new(tim: impl Peripheral

+ 'd, _output_pin: PwmPin<'d, T, Output>, freq: Hertz) -> Self { + Self::new_inner(tim, freq) + } + + /// Set the duty. + /// + /// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included. + pub fn set_duty(&mut self, duty: u16) { + assert!(duty <= self.get_max_duty()); + self.inner.set_compare_value(duty) + } + + /// Get the duty. + /// + /// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included. + pub fn get_duty(&self) -> u16 { + self.inner.get_compare_value() + } + + fn post_init(&mut self) {} +} + +#[cfg(any(lptim_v2a, lptim_v2b))] +impl<'d, T: Instance> Pwm<'d, T> { + /// Create a new PWM driver. + pub fn new( + tim: impl Peripheral

+ 'd, + _ch1_pin: Option>, + _ch2_pin: Option>, + freq: Hertz, + ) -> Self { + Self::new_inner(tim, freq) + } + + /// Enable the given channel. + pub fn enable(&mut self, channel: Channel) { + self.inner.enable_channel(channel, true); + } + + /// Disable the given channel. + pub fn disable(&mut self, channel: Channel) { + self.inner.enable_channel(channel, false); + } + + /// Check whether given channel is enabled + pub fn is_enabled(&self, channel: Channel) -> bool { + self.inner.get_channel_enable_state(channel) + } + + /// Set the duty for a given channel. + /// + /// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included. + pub fn set_duty(&mut self, channel: Channel, duty: u16) { + assert!(duty <= self.get_max_duty()); + self.inner.set_compare_value(channel, duty) + } + + /// Get the duty for a given channel. + /// + /// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included. + pub fn get_duty(&self, channel: Channel) -> u16 { + self.inner.get_compare_value(channel) + } + + fn post_init(&mut self) { + [Channel::Ch1, Channel::Ch2].iter().for_each(|&channel| { + self.inner.set_channel_direction(channel, ChannelDirection::OutputPwm); + }); + } +} + +impl<'d, T: Instance> Pwm<'d, T> { + fn new_inner(tim: impl Peripheral

+ 'd, freq: Hertz) -> Self { + let mut this = Self { inner: Timer::new(tim) }; + + this.inner.enable(); + this.set_frequency(freq); + + this.post_init(); + + this.inner.continuous_mode_start(); + + this + } + + /// Set PWM frequency. + /// + /// Note: when you call this, the max duty value changes, so you will have to + /// call `set_duty` on all channels with the duty calculated based on the new max duty. + pub fn set_frequency(&mut self, frequency: Hertz) { + self.inner.set_frequency(frequency); + } + + /// Get max duty value. + /// + /// This value depends on the configured frequency and the timer's clock rate from RCC. + pub fn get_max_duty(&self) -> u16 { + self.inner.get_max_compare_value() + 1 + } +} diff --git a/embassy-stm32/src/lptim/timer/channel_direction.rs b/embassy-stm32/src/lptim/timer/channel_direction.rs new file mode 100644 index 000000000..a38df63cd --- /dev/null +++ b/embassy-stm32/src/lptim/timer/channel_direction.rs @@ -0,0 +1,18 @@ +use crate::pac::lptim::vals; + +/// Direction of a low-power timer channel +pub enum ChannelDirection { + /// Use channel as a PWM output + OutputPwm, + /// Use channel as an input capture + InputCapture, +} + +impl From for vals::Ccsel { + fn from(direction: ChannelDirection) -> Self { + match direction { + ChannelDirection::OutputPwm => vals::Ccsel::OUTPUTCOMPARE, + ChannelDirection::InputCapture => vals::Ccsel::INPUTCAPTURE, + } + } +} diff --git a/embassy-stm32/src/lptim/timer/mod.rs b/embassy-stm32/src/lptim/timer/mod.rs new file mode 100644 index 000000000..e62fcab49 --- /dev/null +++ b/embassy-stm32/src/lptim/timer/mod.rs @@ -0,0 +1,133 @@ +//! Low-level timer driver. +mod prescaler; + +use embassy_hal_internal::{into_ref, Peripheral, PeripheralRef}; + +#[cfg(any(lptim_v2a, lptim_v2b))] +use super::channel::Channel; +#[cfg(any(lptim_v2a, lptim_v2b))] +mod channel_direction; +#[cfg(any(lptim_v2a, lptim_v2b))] +pub use channel_direction::ChannelDirection; +use prescaler::Prescaler; + +use super::Instance; +use crate::rcc; +use crate::time::Hertz; + +/// Low-level timer driver. +pub struct Timer<'d, T: Instance> { + _tim: PeripheralRef<'d, T>, +} + +impl<'d, T: Instance> Timer<'d, T> { + /// Create a new timer driver. + pub fn new(tim: impl Peripheral

+ 'd) -> Self { + into_ref!(tim); + + rcc::enable_and_reset::(); + + Self { _tim: tim } + } + + /// Enable the timer. + pub fn enable(&self) { + T::regs().cr().modify(|w| w.set_enable(true)); + } + + /// Disable the timer. + pub fn disable(&self) { + T::regs().cr().modify(|w| w.set_enable(false)); + } + + /// Start the timer in single pulse mode. + pub fn single_mode_start(&self) { + T::regs().cr().modify(|w| w.set_sngstrt(true)); + } + + /// Start the timer in continuous mode. + pub fn continuous_mode_start(&self) { + T::regs().cr().modify(|w| w.set_cntstrt(true)); + } + + /// Set the frequency of how many times per second the timer counts up to the max value or down to 0. + pub fn set_frequency(&self, frequency: Hertz) { + let f = frequency.0; + assert!(f > 0); + + let pclk_f = T::frequency().0; + + let pclk_ticks_per_timer_period = pclk_f / f; + + let psc = Prescaler::from_ticks(pclk_ticks_per_timer_period); + let arr = psc.scale_down(pclk_ticks_per_timer_period); + + T::regs().cfgr().modify(|r| r.set_presc((&psc).into())); + T::regs().arr().modify(|r| r.set_arr(arr.into())); + } + + /// Get the timer frequency. + pub fn get_frequency(&self) -> Hertz { + let pclk_f = T::frequency(); + let arr = T::regs().arr().read().arr(); + let psc = Prescaler::from(T::regs().cfgr().read().presc()); + + pclk_f / psc.scale_up(arr) + } + + /// Get the clock frequency of the timer (before prescaler is applied). + pub fn get_clock_frequency(&self) -> Hertz { + T::frequency() + } + + /// Get max compare value. This depends on the timer frequency and the clock frequency from RCC. + pub fn get_max_compare_value(&self) -> u16 { + T::regs().arr().read().arr() + } +} + +#[cfg(any(lptim_v2a, lptim_v2b))] +impl<'d, T: Instance> Timer<'d, T> { + /// Enable/disable a channel. + pub fn enable_channel(&self, channel: Channel, enable: bool) { + T::regs().ccmr(0).modify(|w| { + w.set_cce(channel.index(), enable); + }); + } + + /// Get enable/disable state of a channel + pub fn get_channel_enable_state(&self, channel: Channel) -> bool { + T::regs().ccmr(0).read().cce(channel.index()) + } + + /// Set compare value for a channel. + pub fn set_compare_value(&self, channel: Channel, value: u16) { + T::regs().ccr(channel.index()).modify(|w| w.set_ccr(value)); + } + + /// Get compare value for a channel. + pub fn get_compare_value(&self, channel: Channel) -> u16 { + T::regs().ccr(channel.index()).read().ccr() + } + + /// Set channel direction. + #[cfg(any(lptim_v2a, lptim_v2b))] + pub fn set_channel_direction(&self, channel: Channel, direction: ChannelDirection) { + T::regs() + .ccmr(0) + .modify(|w| w.set_ccsel(channel.index(), direction.into())); + } +} + +#[cfg(not(any(lptim_v2a, lptim_v2b)))] +impl<'d, T: Instance> Timer<'d, T> { + /// Set compare value for a channel. + pub fn set_compare_value(&self, value: u16) { + T::regs().cmp().modify(|w| w.set_cmp(value)); + } + + /// Get compare value for a channel. + pub fn get_compare_value(&self) -> u16 { + T::regs().cmp().read().cmp() + } +} diff --git a/embassy-stm32/src/lptim/timer/prescaler.rs b/embassy-stm32/src/lptim/timer/prescaler.rs new file mode 100644 index 000000000..5d2326faf --- /dev/null +++ b/embassy-stm32/src/lptim/timer/prescaler.rs @@ -0,0 +1,90 @@ +//! Low-level timer driver. + +use crate::pac::lptim::vals; + +pub enum Prescaler { + Div1, + Div2, + Div4, + Div8, + Div16, + Div32, + Div64, + Div128, +} + +impl From<&Prescaler> for vals::Presc { + fn from(prescaler: &Prescaler) -> Self { + match prescaler { + Prescaler::Div1 => vals::Presc::DIV1, + Prescaler::Div2 => vals::Presc::DIV2, + Prescaler::Div4 => vals::Presc::DIV4, + Prescaler::Div8 => vals::Presc::DIV8, + Prescaler::Div16 => vals::Presc::DIV16, + Prescaler::Div32 => vals::Presc::DIV32, + Prescaler::Div64 => vals::Presc::DIV64, + Prescaler::Div128 => vals::Presc::DIV128, + } + } +} + +impl From for Prescaler { + fn from(prescaler: vals::Presc) -> Self { + match prescaler { + vals::Presc::DIV1 => Prescaler::Div1, + vals::Presc::DIV2 => Prescaler::Div2, + vals::Presc::DIV4 => Prescaler::Div4, + vals::Presc::DIV8 => Prescaler::Div8, + vals::Presc::DIV16 => Prescaler::Div16, + vals::Presc::DIV32 => Prescaler::Div32, + vals::Presc::DIV64 => Prescaler::Div64, + vals::Presc::DIV128 => Prescaler::Div128, + } + } +} + +impl From<&Prescaler> for u32 { + fn from(prescaler: &Prescaler) -> Self { + match prescaler { + Prescaler::Div1 => 1, + Prescaler::Div2 => 2, + Prescaler::Div4 => 4, + Prescaler::Div8 => 8, + Prescaler::Div16 => 16, + Prescaler::Div32 => 32, + Prescaler::Div64 => 64, + Prescaler::Div128 => 128, + } + } +} + +impl From for Prescaler { + fn from(prescaler: u32) -> Self { + match prescaler { + 1 => Prescaler::Div1, + 2 => Prescaler::Div2, + 4 => Prescaler::Div4, + 8 => Prescaler::Div8, + 16 => Prescaler::Div16, + 32 => Prescaler::Div32, + 64 => Prescaler::Div64, + 128 => Prescaler::Div128, + _ => unreachable!(), + } + } +} + +impl Prescaler { + pub fn from_ticks(ticks: u32) -> Self { + // We need to scale down to a 16-bit range + (ticks >> 16).next_power_of_two().into() + } + + pub fn scale_down(&self, ticks: u32) -> u16 { + (ticks / u32::from(self)).try_into().unwrap() + } + + pub fn scale_up(&self, ticks: u16) -> u32 { + u32::from(self) * ticks as u32 + } +}