Merge pull request #3433 from 1-rafael-1/rp-pwm-embedded-hal-traits

embassy_rp: implement pwm traits from embedded_hal

2 files changed, 45 insertions, 4 deletions

diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index 547d64e43..3e61641ff 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -118,18 +118,18 @@ embassy-usb-driver = {version = "0.1.0", path = "../embassy-usb-driver" }
 atomic-polyfill = "1.0.1"
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
-nb = "1.0.0"
+nb = "1.1.0"
 cfg-if = "1.0.0"
 cortex-m-rt = ">=0.6.15,<0.8"
 cortex-m = "0.7.6"
-critical-section = "1.1"
+critical-section = "1.2.0"
 chrono = { version = "0.4", default-features = false, optional = true }
 embedded-io = { version = "0.6.1" }
 embedded-io-async = { version = "0.6.1" }
 embedded-storage = { version = "0.3" }
 embedded-storage-async = { version = "0.4.1" }
 rand_core = "0.6.4"
-fixed = "1.23.1"
+fixed = "1.28.0"
 
 rp-pac = { git = "https://github.com/embassy-rs/rp-pac.git", rev = "a7f42d25517f7124ad3b4ed492dec8b0f50a0e6c", feature = ["rt"] }
 
@@ -141,7 +141,7 @@ embedded-hal-nb = { version = "1.0" }
 pio-proc = {version= "0.2" }
 pio = {version= "0.2.1" }
 rp2040-boot2 = "0.3"
-document-features = "0.2.7"
+document-features = "0.2.10"
 sha2-const-stable = "0.1"
 rp-binary-info = { version = "0.1.0", optional = true }
 smart-leds = "0.4.0"
diff --git a/embassy-rp/src/pwm.rs b/embassy-rp/src/pwm.rs
index 027f5504e..cfb99c569 100644
--- a/embassy-rp/src/pwm.rs
+++ b/embassy-rp/src/pwm.rs
@@ -1,6 +1,8 @@
 //! Pulse Width Modulation (PWM)
 
 use embassy_hal_internal::{into_ref, Peripheral, PeripheralRef};
+pub use embedded_hal_1::pwm::SetDutyCycle;
+use embedded_hal_1::pwm::{Error, ErrorKind, ErrorType};
 use fixed::traits::ToFixed;
 use fixed::FixedU16;
 use pac::pwm::regs::{ChDiv, Intr};
@@ -80,6 +82,21 @@ impl From<InputMode> for Divmode {
     }
 }
 
+/// PWM error.
+#[derive(Debug)]
+pub enum PwmError {
+    /// Invalid Duty Cycle.
+    InvalidDutyCycle,
+}
+
+impl Error for PwmError {
+    fn kind(&self) -> ErrorKind {
+        match self {
+            PwmError::InvalidDutyCycle => ErrorKind::Other,
+        }
+    }
+}
+
 /// PWM driver.
 pub struct Pwm<'d> {
     pin_a: Option<PeripheralRef<'d, AnyPin>>,
@@ -87,6 +104,30 @@ pub struct Pwm<'d> {
     slice: usize,
 }
 
+impl<'d> ErrorType for Pwm<'d> {
+    type Error = PwmError;
+}
+
+impl<'d> SetDutyCycle for Pwm<'d> {
+    fn max_duty_cycle(&self) -> u16 {
+        pac::PWM.ch(self.slice).top().read().top()
+    }
+
+    fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
+        let max_duty = self.max_duty_cycle();
+        if duty > max_duty {
+            return Err(PwmError::InvalidDutyCycle);
+        }
+
+        let p = pac::PWM.ch(self.slice);
+        p.cc().modify(|w| {
+            w.set_a(duty);
+            w.set_b(duty);
+        });
+        Ok(())
+    }
+}
+
 impl<'d> Pwm<'d> {
     fn new_inner(
         slice: usize,