Merge #585

585: Permit many sequences to be passed r=huntc a=huntc

Sequences are now passed in via the start method to avoid having to stop the PWM and restart it. Sequences continue to be constrained with the same lifetime of the Pwm struct itself. The pwm_sequence example has been extended to illustrate multiple sequences being passed around.

Co-authored-by: huntc <[email protected]>

3 files changed, 45 insertions, 49 deletions

diff --git a/embassy-nrf/src/pwm.rs b/embassy-nrf/src/pwm.rs
index 3fdc37ec0..61a282833 100644
--- a/embassy-nrf/src/pwm.rs
+++ b/embassy-nrf/src/pwm.rs
@@ -63,14 +63,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
         ch2: impl Unborrow<Target = impl GpioOptionalPin> + 'd,
         ch3: impl Unborrow<Target = impl GpioOptionalPin> + 'd,
         config: SequenceConfig,
-        sequence: &'d [u16],
     ) -> Result<Self, Error> {
-        slice_in_ram_or(sequence, Error::DMABufferNotInDataMemory)?;
-
-        if sequence.len() > 32767 {
-            return Err(Error::SequenceTooLong);
-        }
-
         unborrow!(ch0, ch1, ch2, ch3);
 
         let r = T::regs();
@@ -110,28 +103,6 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
         r.events_seqstarted[0].reset();
         r.events_seqstarted[1].reset();
 
-        r.seq0
-            .ptr
-            .write(|w| unsafe { w.bits(sequence.as_ptr() as u32) });
-        r.seq0
-            .cnt
-            .write(|w| unsafe { w.bits(sequence.len() as u32) });
-        r.seq0.refresh.write(|w| unsafe { w.bits(config.refresh) });
-        r.seq0
-            .enddelay
-            .write(|w| unsafe { w.bits(config.end_delay) });
-
-        r.seq1
-            .ptr
-            .write(|w| unsafe { w.bits(sequence.as_ptr() as u32) });
-        r.seq1
-            .cnt
-            .write(|w| unsafe { w.bits(sequence.len() as u32) });
-        r.seq1.refresh.write(|w| unsafe { w.bits(config.refresh) });
-        r.seq1
-            .enddelay
-            .write(|w| unsafe { w.bits(config.end_delay) });
-
         r.decoder.write(|w| {
             w.load().bits(config.sequence_load as u8);
             w.mode().refresh_count()
@@ -146,6 +117,16 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
         r.countertop
             .write(|w| unsafe { w.countertop().bits(config.max_duty) });
 
+        r.seq0.refresh.write(|w| unsafe { w.bits(config.refresh) });
+        r.seq0
+            .enddelay
+            .write(|w| unsafe { w.bits(config.end_delay) });
+
+        r.seq1.refresh.write(|w| unsafe { w.bits(config.refresh) });
+        r.seq1
+            .enddelay
+            .write(|w| unsafe { w.bits(config.end_delay) });
+
         Ok(Self {
             phantom: PhantomData,
             ch0: ch0.degrade_optional(),
@@ -157,12 +138,33 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
 
     /// Start or restart playback
     #[inline(always)]
-    pub fn start(&self, times: SequenceMode) -> Result<(), Error> {
+    pub fn start(&mut self, sequence: &'d [u16], times: SequenceMode) -> Result<(), Error> {
+        slice_in_ram_or(sequence, Error::DMABufferNotInDataMemory)?;
+
+        if sequence.len() > 32767 {
+            return Err(Error::SequenceTooLong);
+        }
+
         if let SequenceMode::Times(0) = times {
             return Err(Error::SequenceTimesAtLeastOne);
         }
+
         let r = T::regs();
 
+        r.seq0
+            .ptr
+            .write(|w| unsafe { w.bits(sequence.as_ptr() as u32) });
+        r.seq0
+            .cnt
+            .write(|w| unsafe { w.bits(sequence.len() as u32) });
+
+        r.seq1
+            .ptr
+            .write(|w| unsafe { w.bits(sequence.as_ptr() as u32) });
+        r.seq1
+            .cnt
+            .write(|w| unsafe { w.bits(sequence.len() as u32) });
+
         self.stop();
 
         r.enable.write(|w| w.enable().enabled());
diff --git a/examples/nrf/src/bin/pwm_sequence.rs b/examples/nrf/src/bin/pwm_sequence.rs
index 8f57b5245..561bc1dd1 100644
--- a/examples/nrf/src/bin/pwm_sequence.rs
+++ b/examples/nrf/src/bin/pwm_sequence.rs
@@ -13,7 +13,8 @@ use embassy_nrf::Peripherals;
 
 #[embassy::main]
 async fn main(_spawner: Spawner, p: Peripherals) {
-    let seq_values: [u16; 5] = [1000, 250, 100, 50, 0];
+    let seq_values_1: [u16; 5] = [1000, 250, 100, 50, 0];
+    let seq_values_2: [u16; 5] = [0, 50, 100, 250, 1000];
 
     let mut config = SequenceConfig::default();
     config.prescaler = Prescaler::Div128;
@@ -24,19 +25,18 @@ async fn main(_spawner: Spawner, p: Peripherals) {
     config.refresh = 624;
     // thus our sequence takes 5 * 5000ms or 25 seconds
 
-    let pwm = unwrap!(SequencePwm::new(
-        p.PWM0,
-        p.P0_13,
-        NoPin,
-        NoPin,
-        NoPin,
-        config,
-        &seq_values
+    let mut pwm = unwrap!(SequencePwm::new(
+        p.PWM0, p.P0_13, NoPin, NoPin, NoPin, config,
     ));
-    let _ = pwm.start(SequenceMode::Infinite);
+    let _ = pwm.start(&seq_values_1, SequenceMode::Infinite);
 
     info!("pwm started!");
 
+    Timer::after(Duration::from_millis(20000)).await;
+    info!("pwm starting with another sequence!");
+
+    let _ = pwm.start(&seq_values_2, SequenceMode::Infinite);
+
     // we can abort a sequence if we need to before its complete with pwm.stop()
     // or stop is also implicitly called when the pwm peripheral is dropped
     // when it goes out of scope
diff --git a/examples/nrf/src/bin/pwm_sequence_ppi.rs b/examples/nrf/src/bin/pwm_sequence_ppi.rs
index aaea9ff00..213ef5ed7 100644
--- a/examples/nrf/src/bin/pwm_sequence_ppi.rs
+++ b/examples/nrf/src/bin/pwm_sequence_ppi.rs
@@ -26,17 +26,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
     // thus our sequence takes 5 * 250ms or 1.25 seconds
     config.refresh = 30;
 
-    let pwm = unwrap!(SequencePwm::new(
-        p.PWM0,
-        p.P0_13,
-        NoPin,
-        NoPin,
-        NoPin,
-        config,
-        &seq_values
+    let mut pwm = unwrap!(SequencePwm::new(
+        p.PWM0, p.P0_13, NoPin, NoPin, NoPin, config,
     ));
 
-    let _ = pwm.start(SequenceMode::Times(1));
+    let _ = pwm.start(&seq_values, SequenceMode::Times(1));
     // pwm.stop() deconfigures pins, and then the task_start_seq0 task cant work
     // so its going to have to start running in order load the configuration