diff --git a/embassy-stm32/src/timer/input_capture.rs b/embassy-stm32/src/timer/input_capture.rs index a1c1486f9..0258d4077 100644 --- a/embassy-stm32/src/timer/input_capture.rs +++ b/embassy-stm32/src/timer/input_capture.rs @@ -7,7 +7,7 @@ use core::task::{Context, Poll}; use embassy_hal_internal::{into_ref, PeripheralRef}; -use super::low_level::{CountingMode, InputCaptureMode, InputTISelection, Timer}; +use super::low_level::{CountingMode, FilterValue, InputCaptureMode, InputTISelection, Timer}; use super::{ CaptureCompareInterruptHandler, Channel, Channel1Pin, Channel2Pin, Channel3Pin, Channel4Pin, GeneralInstance4Channel, @@ -40,11 +40,9 @@ macro_rules! channel_impl { #[doc = concat!("Create a new ", stringify!($channel), " capture pin instance.")] pub fn $new_chx(pin: impl Peripheral

> + 'd, pull_type: Pull) -> Self { into_ref!(pin); - critical_section::with(|_| { - pin.set_as_af_pull(pin.af_num(), AFType::Input, pull_type); - #[cfg(gpio_v2)] - pin.set_speed(crate::gpio::Speed::VeryHigh); - }); + + pin.set_as_af_pull(pin.af_num(), AFType::Input, pull_type); + CapturePin { _pin: pin.map_into(), phantom: PhantomData, @@ -83,7 +81,7 @@ impl<'d, T: GeneralInstance4Channel> InputCapture<'d, T> { let mut this = Self { inner: Timer::new(tim) }; this.inner.set_counting_mode(counting_mode); - this.set_tick_freq(freq); + this.inner.set_tick_freq(freq); this.inner.enable_outputs(); // Required for advanced timers, see GeneralInstance4Channel for details this.inner.start(); @@ -109,24 +107,6 @@ impl<'d, T: GeneralInstance4Channel> InputCapture<'d, T> { self.inner.get_channel_enable_state(channel) } - /// Set tick frequency. - /// - /// Note: when you call this, the max period value changes - pub fn set_tick_freq(&mut self, freq: Hertz) { - let f = freq; - assert!(f.0 > 0); - let timer_f = self.inner.get_clock_frequency(); - - let pclk_ticks_per_timer_period = timer_f / f; - let psc: u16 = unwrap!((pclk_ticks_per_timer_period - 1).try_into()); - - let regs = self.inner.regs_core(); - regs.psc().write_value(psc); - - // Generate an Update Request - regs.egr().write(|r| r.set_ug(true)); - } - /// Set the input capture mode for a given channel. pub fn set_input_capture_mode(&mut self, channel: Channel, mode: InputCaptureMode) { self.inner.set_input_capture_mode(channel, mode); @@ -148,10 +128,13 @@ impl<'d, T: GeneralInstance4Channel> InputCapture<'d, T> { } fn new_future(&self, channel: Channel, mode: InputCaptureMode, tisel: InputTISelection) -> InputCaptureFuture { - self.inner.enable_channel(channel, true); - self.inner.set_input_capture_mode(channel, mode); + // Configuration steps from ST RM0390 (STM32F446) chapter 17.3.5 + // or ST RM0008 (STM32F103) chapter 15.3.5 Input capture mode self.inner.set_input_ti_selection(channel, tisel); - self.inner.clear_input_interrupt(channel); + self.inner.set_input_capture_filter(channel, FilterValue::NOFILTER); + self.inner.set_input_capture_mode(channel, mode); + self.inner.set_input_capture_prescaler(channel, 0); + self.inner.enable_channel(channel, true); self.inner.enable_input_interrupt(channel, true); InputCaptureFuture { diff --git a/embassy-stm32/src/timer/low_level.rs b/embassy-stm32/src/timer/low_level.rs index 9932c04cd..e643722aa 100644 --- a/embassy-stm32/src/timer/low_level.rs +++ b/embassy-stm32/src/timer/low_level.rs @@ -7,6 +7,8 @@ //! The available functionality depends on the timer type. use embassy_hal_internal::{into_ref, Peripheral, PeripheralRef}; +// Re-export useful enums +pub use stm32_metapac::timer::vals::{FilterValue, Sms as SlaveMode, Ts as TriggerSource}; use super::*; use crate::pac::timer::vals; @@ -274,6 +276,22 @@ impl<'d, T: CoreInstance> Timer<'d, T> { } } + /// Set tick frequency. + pub fn set_tick_freq(&mut self, freq: Hertz) { + let f = freq; + assert!(f.0 > 0); + let timer_f = self.get_clock_frequency(); + + let pclk_ticks_per_timer_period = timer_f / f; + let psc: u16 = unwrap!((pclk_ticks_per_timer_period - 1).try_into()); + + let regs = self.regs_core(); + regs.psc().write_value(psc); + + // Generate an Update Request + regs.egr().write(|r| r.set_ug(true)); + } + /// Clear update interrupt. /// /// Returns whether the update interrupt flag was set. @@ -573,6 +591,16 @@ impl<'d, T: GeneralInstance4Channel> Timer<'d, T> { pub fn set_cc_dma_enable_state(&self, channel: Channel, ccde: bool) { self.regs_gp16().dier().modify(|w| w.set_ccde(channel.index(), ccde)) } + + /// Set Timer Slave Mode + pub fn set_slave_mode(&self, sms: SlaveMode) { + self.regs_gp16().smcr().modify(|r| r.set_sms(sms)); + } + + /// Set Timer Trigger Source + pub fn set_trigger_source(&self, ts: TriggerSource) { + self.regs_gp16().smcr().modify(|r| r.set_ts(ts)); + } } #[cfg(not(stm32l0))] diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs index 314b6006b..25782ee13 100644 --- a/embassy-stm32/src/timer/mod.rs +++ b/embassy-stm32/src/timer/mod.rs @@ -8,6 +8,7 @@ use embassy_sync::waitqueue::AtomicWaker; pub mod complementary_pwm; pub mod input_capture; pub mod low_level; +pub mod pwm_input; pub mod qei; pub mod simple_pwm; diff --git a/embassy-stm32/src/timer/pwm_input.rs b/embassy-stm32/src/timer/pwm_input.rs new file mode 100644 index 000000000..dcf098a78 --- /dev/null +++ b/embassy-stm32/src/timer/pwm_input.rs @@ -0,0 +1,114 @@ +//! PWM Input driver. + +use embassy_hal_internal::into_ref; + +use super::low_level::{CountingMode, InputCaptureMode, InputTISelection, SlaveMode, Timer, TriggerSource}; +use super::{Channel, Channel1Pin, Channel2Pin, GeneralInstance4Channel}; +use crate::gpio::{AFType, Pull}; +use crate::time::Hertz; +use crate::Peripheral; + +/// PWM Input driver. +pub struct PwmInput<'d, T: GeneralInstance4Channel> { + channel: Channel, + inner: Timer<'d, T>, +} + +impl<'d, T: GeneralInstance4Channel> PwmInput<'d, T> { + /// Create a new PWM input driver. + pub fn new( + tim: impl Peripheral

+ 'd, + pin: impl Peripheral

> + 'd, + pull_type: Pull, + freq: Hertz, + ) -> Self { + into_ref!(pin); + + pin.set_as_af_pull(pin.af_num(), AFType::Input, pull_type); + + Self::new_inner(tim, freq, Channel::Ch1, Channel::Ch2) + } + + /// Create a new PWM input driver. + pub fn new_alt( + tim: impl Peripheral

+ 'd, + pin: impl Peripheral

> + 'd, + pull_type: Pull, + freq: Hertz, + ) -> Self { + into_ref!(pin); + + pin.set_as_af_pull(pin.af_num(), AFType::Input, pull_type); + + Self::new_inner(tim, freq, Channel::Ch2, Channel::Ch1) + } + + fn new_inner(tim: impl Peripheral

+ 'd, freq: Hertz, ch1: Channel, ch2: Channel) -> Self { + let mut inner = Timer::new(tim); + + inner.set_counting_mode(CountingMode::EdgeAlignedUp); + inner.set_tick_freq(freq); + inner.enable_outputs(); // Required for advanced timers, see GeneralInstance4Channel for details + inner.start(); + + // Configuration steps from ST RM0390 (STM32F446) chapter 17.3.6 + // or ST RM0008 (STM32F103) chapter 15.3.6 Input capture mode + inner.set_input_ti_selection(ch1, InputTISelection::Normal); + inner.set_input_capture_mode(ch1, InputCaptureMode::Rising); + + inner.set_input_ti_selection(ch2, InputTISelection::Alternate); + inner.set_input_capture_mode(ch2, InputCaptureMode::Falling); + + inner.set_trigger_source(match ch1 { + Channel::Ch1 => TriggerSource::TI1FP1, + Channel::Ch2 => TriggerSource::TI2FP2, + _ => panic!("Invalid channel for PWM input"), + }); + + inner.set_slave_mode(SlaveMode::RESET_MODE); + + // Must call the `enable` function after + + Self { channel: ch1, inner } + } + + /// Enable the given channel. + pub fn enable(&mut self) { + self.inner.enable_channel(Channel::Ch1, true); + self.inner.enable_channel(Channel::Ch2, true); + } + + /// Disable the given channel. + pub fn disable(&mut self) { + self.inner.enable_channel(Channel::Ch1, false); + self.inner.enable_channel(Channel::Ch2, false); + } + + /// Check whether given channel is enabled + pub fn is_enabled(&self) -> bool { + self.inner.get_channel_enable_state(Channel::Ch1) + } + + /// Get the period tick count + pub fn get_period_ticks(&self) -> u32 { + self.inner.get_capture_value(self.channel) + } + + /// Get the pulse width tick count + pub fn get_width_ticks(&self) -> u32 { + self.inner.get_capture_value(match self.channel { + Channel::Ch1 => Channel::Ch2, + Channel::Ch2 => Channel::Ch1, + _ => panic!("Invalid channel for PWM input"), + }) + } + + /// Get the duty cycle in 100% + pub fn get_duty_cycle(&self) -> f32 { + let period = self.get_period_ticks(); + if period == 0 { + return 0.; + } + 100. * (self.get_width_ticks() as f32) / (period as f32) + } +} diff --git a/examples/stm32f1/src/bin/input_capture.rs b/examples/stm32f1/src/bin/input_capture.rs new file mode 100644 index 000000000..5e2dab9e6 --- /dev/null +++ b/examples/stm32f1/src/bin/input_capture.rs @@ -0,0 +1,52 @@ +#![no_std] +#![no_main] + +use defmt::*; +use embassy_executor::Spawner; +use embassy_stm32::gpio::{Level, Output, Pull, Speed}; +use embassy_stm32::time::khz; +use embassy_stm32::timer::input_capture::{CapturePin, InputCapture}; +use embassy_stm32::timer::{self, Channel}; +use embassy_stm32::{bind_interrupts, peripherals}; +use embassy_time::Timer; +use {defmt_rtt as _, panic_probe as _}; + +/// Connect PA2 and PC13 with a 1k Ohm resistor + +#[embassy_executor::task] +async fn blinky(led: peripherals::PC13) { + let mut led = Output::new(led, Level::High, Speed::Low); + + loop { + info!("high"); + led.set_high(); + Timer::after_millis(300).await; + + info!("low"); + led.set_low(); + Timer::after_millis(300).await; + } +} + +bind_interrupts!(struct Irqs { + TIM2 => timer::CaptureCompareInterruptHandler; +}); + +#[embassy_executor::main] +async fn main(spawner: Spawner) { + let p = embassy_stm32::init(Default::default()); + info!("Hello World!"); + + unwrap!(spawner.spawn(blinky(p.PC13))); + + let ch3 = CapturePin::new_ch3(p.PA2, Pull::None); + let mut ic = InputCapture::new(p.TIM2, None, None, Some(ch3), None, Irqs, khz(1000), Default::default()); + + loop { + info!("wait for rising edge"); + ic.wait_for_rising_edge(Channel::Ch3).await; + + let capture_value = ic.get_capture_value(Channel::Ch3); + info!("new capture! {}", capture_value); + } +} diff --git a/examples/stm32f1/src/bin/pwm_input.rs b/examples/stm32f1/src/bin/pwm_input.rs new file mode 100644 index 000000000..f74853d4e --- /dev/null +++ b/examples/stm32f1/src/bin/pwm_input.rs @@ -0,0 +1,54 @@ +#![no_std] +#![no_main] + +use defmt::*; +use embassy_executor::Spawner; +use embassy_stm32::gpio::{Level, Output, Pull, Speed}; +use embassy_stm32::time::khz; +use embassy_stm32::timer::pwm_input::PwmInput; +use embassy_stm32::{bind_interrupts, peripherals, timer}; +use embassy_time::Timer; +use {defmt_rtt as _, panic_probe as _}; + +/// Connect PA0 and PC13 with a 1k Ohm resistor + +#[embassy_executor::task] +async fn blinky(led: peripherals::PC13) { + let mut led = Output::new(led, Level::High, Speed::Low); + + loop { + info!("high"); + led.set_high(); + Timer::after_millis(300).await; + + info!("low"); + led.set_low(); + Timer::after_millis(300).await; + } +} + +bind_interrupts!(struct Irqs { + TIM2 => timer::CaptureCompareInterruptHandler; +}); + +#[embassy_executor::main] +async fn main(spawner: Spawner) { + let p = embassy_stm32::init(Default::default()); + info!("Hello World!"); + + unwrap!(spawner.spawn(blinky(p.PC13))); + + let mut pwm_input = PwmInput::new(p.TIM2, p.PA0, Pull::None, khz(10)); + pwm_input.enable(); + + loop { + Timer::after_millis(500).await; + let period = pwm_input.get_period_ticks(); + let width = pwm_input.get_width_ticks(); + let duty_cycle = pwm_input.get_duty_cycle(); + info!( + "period ticks: {} width ticks: {} duty cycle: {}", + period, width, duty_cycle + ); + } +} diff --git a/examples/stm32f4/src/bin/pwm_input.rs b/examples/stm32f4/src/bin/pwm_input.rs new file mode 100644 index 000000000..ce200549d --- /dev/null +++ b/examples/stm32f4/src/bin/pwm_input.rs @@ -0,0 +1,54 @@ +#![no_std] +#![no_main] + +use defmt::*; +use embassy_executor::Spawner; +use embassy_stm32::gpio::{Level, Output, Pull, Speed}; +use embassy_stm32::time::khz; +use embassy_stm32::timer::pwm_input::PwmInput; +use embassy_stm32::{bind_interrupts, peripherals, timer}; +use embassy_time::Timer; +use {defmt_rtt as _, panic_probe as _}; + +/// Connect PB2 and PA6 with a 1k Ohm resistor + +#[embassy_executor::task] +async fn blinky(led: peripherals::PB2) { + let mut led = Output::new(led, Level::High, Speed::Low); + + loop { + info!("high"); + led.set_high(); + Timer::after_millis(300).await; + + info!("low"); + led.set_low(); + Timer::after_millis(300).await; + } +} + +bind_interrupts!(struct Irqs { + TIM2 => timer::CaptureCompareInterruptHandler; +}); + +#[embassy_executor::main] +async fn main(spawner: Spawner) { + let p = embassy_stm32::init(Default::default()); + info!("Hello World!"); + + unwrap!(spawner.spawn(blinky(p.PB2))); + + let mut pwm_input = PwmInput::new(p.TIM3, p.PA6, Pull::None, khz(10)); + pwm_input.enable(); + + loop { + Timer::after_millis(500).await; + let period = pwm_input.get_period_ticks(); + let width = pwm_input.get_width_ticks(); + let duty_cycle = pwm_input.get_duty_cycle(); + info!( + "period ticks: {} width ticks: {} duty cycle: {}", + period, width, duty_cycle + ); + } +}