Make the Qei struct own the channel 1 and 2 pins

2 files changed, 20 insertions, 9 deletions

diff --git a/embassy-stm32/src/timer/qei.rs b/embassy-stm32/src/timer/qei.rs
index 82b5968b0..d63a2b45d 100644
--- a/embassy-stm32/src/timer/qei.rs
+++ b/embassy-stm32/src/timer/qei.rs
@@ -55,20 +55,27 @@ impl SealedQeiChannel for Ch2 {}
 /// Quadrature decoder driver.
 pub struct Qei<'d, T: GeneralInstance4Channel> {
     inner: Timer<'d, T>,
+    _ch1: Peri<'d, AnyPin>,
+    _ch2: Peri<'d, AnyPin>,
 }
 
 impl<'d, T: GeneralInstance4Channel> Qei<'d, T> {
     /// Create a new quadrature decoder driver.
     #[allow(unused)]
-    pub fn new<#[cfg(afio)] A>(
+    pub fn new<CH1: QeiChannel, CH2: QeiChannel, #[cfg(afio)] A>(
         tim: Peri<'d, T>,
-        ch1: if_afio!(QeiPin<'d, T, Ch1, A>),
-        ch2: if_afio!(QeiPin<'d, T, Ch2, A>),
+        ch1: Peri<'d, if_afio!(impl TimerPin<T, CH1, A>)>,
+        ch2: Peri<'d, if_afio!(impl TimerPin<T, CH2, A>)>,
     ) -> Self {
-        Self::new_inner(tim)
-    }
+        // Configure the pins to be used for the QEI peripheral.
+        critical_section::with(|_| {
+            ch1.set_low();
+            set_as_af!(ch1, AfType::input(Pull::None));
+
+            ch2.set_low();
+            set_as_af!(ch2, AfType::input(Pull::None));
+        });
 
-    fn new_inner(tim: Peri<'d, T>) -> Self {
         let inner = Timer::new(tim);
         let r = inner.regs_gp16();
 
@@ -94,7 +101,11 @@ impl<'d, T: GeneralInstance4Channel> Qei<'d, T> {
         r.arr().modify(|w| w.set_arr(u16::MAX));
         r.cr1().modify(|w| w.set_cen(true));
 
-        Self { inner }
+        Self {
+            inner,
+            _ch1: ch1.into(),
+            _ch2: ch2.into(),
+        }
     }
 
     /// Get direction.
diff --git a/tests/stm32/src/bin/afio.rs b/tests/stm32/src/bin/afio.rs
index cc44dc59c..356c39443 100644
--- a/tests/stm32/src/bin/afio.rs
+++ b/tests/stm32/src/bin/afio.rs
@@ -260,8 +260,8 @@ async fn main(_spawner: Spawner) {
         reset_afio_registers();
         Qei::new::<AfioRemap<1>>(
             p.TIM1.reborrow(),
-            QeiPin::new(p.PA8.reborrow()),
-            QeiPin::new(p.PA9.reborrow()),
+            p.PA8.reborrow(),
+            p.PA9.reborrow(),
         );
         defmt::assert_eq!(AFIO.mapr().read().tim1_remap(), 1);
     }