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Merge pull request #2781 from ismet55555/pwm-change

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Remove Generics from `embassy-rp` `Pwm` struct
This commit is contained in:
Dario Nieuwenhuis 2024-05-21 21:48:21 +00:00 committed by GitHub
commit 9a4c4fe2c7
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GPG Key ID: B5690EEEBB952194
2 changed files with 59 additions and 51 deletions
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107
embassy-rp/src/pwm.rs
View File

@ -81,24 +81,22 @@ impl From<InputMode> for Divmode {
}
/// PWM driver.
pub struct Pwm<'d, T: Slice> {
inner: PeripheralRef<'d, T>,
pub struct Pwm<'d> {
pin_a: Option<PeripheralRef<'d, AnyPin>>,
pin_b: Option<PeripheralRef<'d, AnyPin>>,
slice: usize,
}
impl<'d, T: Slice> Pwm<'d, T> {
impl<'d> Pwm<'d> {
fn new_inner(
inner: impl Peripheral<P = T> + 'd,
slice: usize,
a: Option<PeripheralRef<'d, AnyPin>>,
b: Option<PeripheralRef<'d, AnyPin>>,
b_pull: Pull,
config: Config,
divmode: Divmode,
) -> Self {
into_ref!(inner);
let p = inner.regs();
let p = pac::PWM.ch(slice);
p.csr().modify(|w| {
w.set_divmode(divmode);
w.set_en(false);
@ -117,51 +115,67 @@ impl<'d, T: Slice> Pwm<'d, T> {
});
}
Self {
inner,
// inner: p.into(),
pin_a: a,
pin_b: b,
slice,
}
}
/// Create PWM driver without any configured pins.
#[inline]
pub fn new_free(inner: impl Peripheral<P = T> + 'd, config: Config) -> Self {
Self::new_inner(inner, None, None, Pull::None, config, Divmode::DIV)
pub fn new_free<T: Slice>(slice: impl Peripheral<P = T> + 'd, config: Config) -> Self {
into_ref!(slice);
Self::new_inner(slice.number(), None, None, Pull::None, config, Divmode::DIV)
}
/// Create PWM driver with a single 'a' as output.
#[inline]
pub fn new_output_a(
inner: impl Peripheral<P = T> + 'd,
pub fn new_output_a<T: Slice>(
slice: impl Peripheral<P = T> + 'd,
a: impl Peripheral<P = impl ChannelAPin<T>> + 'd,
config: Config,
) -> Self {
into_ref!(a);
Self::new_inner(inner, Some(a.map_into()), None, Pull::None, config, Divmode::DIV)
into_ref!(slice, a);
Self::new_inner(
slice.number(),
Some(a.map_into()),
None,
Pull::None,
config,
Divmode::DIV,
)
}
/// Create PWM driver with a single 'b' pin as output.
#[inline]
pub fn new_output_b(
inner: impl Peripheral<P = T> + 'd,
pub fn new_output_b<T: Slice>(
slice: impl Peripheral<P = T> + 'd,
b: impl Peripheral<P = impl ChannelBPin<T>> + 'd,
config: Config,
) -> Self {
into_ref!(b);
Self::new_inner(inner, None, Some(b.map_into()), Pull::None, config, Divmode::DIV)
into_ref!(slice, b);
Self::new_inner(
slice.number(),
None,
Some(b.map_into()),
Pull::None,
config,
Divmode::DIV,
)
}
/// Create PWM driver with a 'a' and 'b' pins as output.
#[inline]
pub fn new_output_ab(
inner: impl Peripheral<P = T> + 'd,
pub fn new_output_ab<T: Slice>(
slice: impl Peripheral<P = T> + 'd,
a: impl Peripheral<P = impl ChannelAPin<T>> + 'd,
b: impl Peripheral<P = impl ChannelBPin<T>> + 'd,
config: Config,
) -> Self {
into_ref!(a, b);
into_ref!(slice, a, b);
Self::new_inner(
inner,
slice.number(),
Some(a.map_into()),
Some(b.map_into()),
Pull::None,
@ -172,30 +186,30 @@ impl<'d, T: Slice> Pwm<'d, T> {
/// Create PWM driver with a single 'b' as input pin.
#[inline]
pub fn new_input(
inner: impl Peripheral<P = T> + 'd,
pub fn new_input<T: Slice>(
slice: impl Peripheral<P = T> + 'd,
b: impl Peripheral<P = impl ChannelBPin<T>> + 'd,
b_pull: Pull,
mode: InputMode,
config: Config,
) -> Self {
into_ref!(b);
Self::new_inner(inner, None, Some(b.map_into()), b_pull, config, mode.into())
into_ref!(slice, b);
Self::new_inner(slice.number(), None, Some(b.map_into()), b_pull, config, mode.into())
}
/// Create PWM driver with a 'a' and 'b' pins in the desired input mode.
#[inline]
pub fn new_output_input(
inner: impl Peripheral<P = T> + 'd,
pub fn new_output_input<T: Slice>(
slice: impl Peripheral<P = T> + 'd,
a: impl Peripheral<P = impl ChannelAPin<T>> + 'd,
b: impl Peripheral<P = impl ChannelBPin<T>> + 'd,
b_pull: Pull,
mode: InputMode,
config: Config,
) -> Self {
into_ref!(a, b);
into_ref!(slice, a, b);
Self::new_inner(
inner,
slice.number(),
Some(a.map_into()),
Some(b.map_into()),
b_pull,
@ -206,7 +220,7 @@ impl<'d, T: Slice> Pwm<'d, T> {
/// Set the PWM config.
pub fn set_config(&mut self, config: &Config) {
Self::configure(self.inner.regs(), config);
Self::configure(pac::PWM.ch(self.slice), config);
}
fn configure(p: pac::pwm::Channel, config: &Config) {
@ -228,22 +242,22 @@ impl<'d, T: Slice> Pwm<'d, T> {
});
}
/// Advances a slice’s output phase by one count while it is running
/// Advances a slice's output phase by one count while it is running
/// by inserting a pulse into the clock enable. The counter
/// will not count faster than once per cycle.
#[inline]
pub fn phase_advance(&mut self) {
let p = self.inner.regs();
let p = pac::PWM.ch(self.slice);
p.csr().write_set(|w| w.set_ph_adv(true));
while p.csr().read().ph_adv() {}
}
/// Retards a slice’s output phase by one count while it is running
/// Retards a slice's output phase by one count while it is running
/// by deleting a pulse from the clock enable. The counter will not
/// count backward when clock enable is permenantly low.
/// count backward when clock enable is permanently low.
#[inline]
pub fn phase_retard(&mut self) {
let p = self.inner.regs();
let p = pac::PWM.ch(self.slice);
p.csr().write_set(|w| w.set_ph_ret(true));
while p.csr().read().ph_ret() {}
}
@ -251,13 +265,13 @@ impl<'d, T: Slice> Pwm<'d, T> {
/// Read PWM counter.
#[inline]
pub fn counter(&self) -> u16 {
self.inner.regs().ctr().read().ctr()
pac::PWM.ch(self.slice).ctr().read().ctr()
}
/// Write PWM counter.
#[inline]
pub fn set_counter(&self, ctr: u16) {
self.inner.regs().ctr().write(|w| w.set_ctr(ctr))
pac::PWM.ch(self.slice).ctr().write(|w| w.set_ctr(ctr))
}
/// Wait for channel interrupt.
@ -281,7 +295,7 @@ impl<'d, T: Slice> Pwm<'d, T> {
#[inline]
fn bit(&self) -> u32 {
1 << self.inner.number() as usize
1 << self.slice as usize
}
}
@ -291,7 +305,7 @@ pub struct PwmBatch(u32);
impl PwmBatch {
#[inline]
/// Enable a PWM slice in this batch.
pub fn enable(&mut self, pwm: &Pwm<'_, impl Slice>) {
pub fn enable(&mut self, pwm: &Pwm<'_>) {
self.0 |= pwm.bit();
}
@ -308,9 +322,9 @@ impl PwmBatch {
}
}
impl<'d, T: Slice> Drop for Pwm<'d, T> {
impl<'d> Drop for Pwm<'d> {
fn drop(&mut self) {
self.inner.regs().csr().write_clear(|w| w.set_en(false));
pac::PWM.ch(self.slice).csr().write_clear(|w| w.set_en(false));
if let Some(pin) = &self.pin_a {
pin.gpio().ctrl().write(|w| w.set_funcsel(31));
}
@ -326,19 +340,14 @@ trait SealedSlice {}
#[allow(private_bounds)]
pub trait Slice: Peripheral<P = Self> + SealedSlice + Sized + 'static {
/// Slice number.
fn number(&self) -> u8;
/// Slice register block.
fn regs(&self) -> pac::pwm::Channel {
pac::PWM.ch(self.number() as _)
}
fn number(&self) -> usize;
}
macro_rules! slice {
($name:ident, $num:expr) => {
impl SealedSlice for peripherals::$name {}
impl Slice for peripherals::$name {
fn number(&self) -> u8 {
fn number(&self) -> usize {
$num
}
}

3
examples/rp/src/bin/interrupt.rs
View File

@ -15,7 +15,6 @@ use embassy_executor::Spawner;
use embassy_rp::adc::{self, Adc, Blocking};
use embassy_rp::gpio::Pull;
use embassy_rp::interrupt;
use embassy_rp::peripherals::PWM_SLICE4;
use embassy_rp::pwm::{Config, Pwm};
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::blocking_mutex::Mutex;
@ -26,7 +25,7 @@ use static_cell::StaticCell;
use {defmt_rtt as _, panic_probe as _};
static COUNTER: AtomicU32 = AtomicU32::new(0);
static PWM: Mutex<CriticalSectionRawMutex, RefCell<Option<Pwm<PWM_SLICE4>>>> = Mutex::new(RefCell::new(None));
static PWM: Mutex<CriticalSectionRawMutex, RefCell<Option<Pwm>>> = Mutex::new(RefCell::new(None));
static ADC: Mutex<CriticalSectionRawMutex, RefCell<Option<(Adc<Blocking>, adc::Channel)>>> =
Mutex::new(RefCell::new(None));
static ADC_VALUES: Channel<CriticalSectionRawMutex, u16, 2048> = Channel::new();