Merge branch 'embassy-rs:main' into fix/simple-pwm-32bit-timer-support

6 files changed, 75 insertions, 41 deletions

diff --git a/embassy-stm32/src/timer/complementary_pwm.rs b/embassy-stm32/src/timer/complementary_pwm.rs
index 484aae1d0..75a83629c 100644
--- a/embassy-stm32/src/timer/complementary_pwm.rs
+++ b/embassy-stm32/src/timer/complementary_pwm.rs
@@ -7,11 +7,11 @@ pub use stm32_metapac::timer::vals::{Ckd, Ossi, Ossr};
 use super::low_level::{CountingMode, OutputPolarity, Timer};
 use super::simple_pwm::PwmPin;
 use super::{AdvancedInstance4Channel, Ch1, Ch2, Ch3, Ch4, Channel, TimerComplementaryPin};
+use crate::Peri;
 use crate::gpio::{AnyPin, OutputType};
 use crate::time::Hertz;
-use crate::timer::low_level::OutputCompareMode;
 use crate::timer::TimerChannel;
-use crate::Peri;
+use crate::timer::low_level::OutputCompareMode;
 
 /// Complementary PWM pin wrapper.
 ///
@@ -388,7 +388,7 @@ fn compute_dead_time_value(value: u16) -> (Ckd, u8) {
 
 #[cfg(test)]
 mod tests {
-    use super::{compute_dead_time_value, Ckd};
+    use super::{Ckd, compute_dead_time_value};
 
     #[test]
     fn test_compute_dead_time_value() {
diff --git a/embassy-stm32/src/timer/input_capture.rs b/embassy-stm32/src/timer/input_capture.rs
index 7a25e6c21..2a4ec2db0 100644
--- a/embassy-stm32/src/timer/input_capture.rs
+++ b/embassy-stm32/src/timer/input_capture.rs
@@ -8,11 +8,11 @@ use core::task::{Context, Poll};
 use super::low_level::{CountingMode, FilterValue, InputCaptureMode, InputTISelection, Timer};
 use super::{CaptureCompareInterruptHandler, Channel, GeneralInstance4Channel, TimerPin};
 pub use super::{Ch1, Ch2, Ch3, Ch4};
+use crate::Peri;
 use crate::gpio::{AfType, AnyPin, Pull};
 use crate::interrupt::typelevel::{Binding, Interrupt};
 use crate::time::Hertz;
 use crate::timer::TimerChannel;
-use crate::Peri;
 
 /// Capture pin wrapper.
 ///
diff --git a/embassy-stm32/src/timer/one_pulse.rs b/embassy-stm32/src/timer/one_pulse.rs
index a75b41bd7..fe8681356 100644
--- a/embassy-stm32/src/timer/one_pulse.rs
+++ b/embassy-stm32/src/timer/one_pulse.rs
@@ -11,12 +11,12 @@ use super::low_level::{
 };
 use super::{CaptureCompareInterruptHandler, Channel, ExternalTriggerPin, GeneralInstance4Channel, TimerPin};
 pub use super::{Ch1, Ch2};
+use crate::Peri;
 use crate::gpio::{AfType, AnyPin, Pull};
 use crate::interrupt::typelevel::{Binding, Interrupt};
 use crate::pac::timer::vals::Etp;
 use crate::time::Hertz;
 use crate::timer::TimerChannel;
-use crate::Peri;
 
 /// External input marker type.
 pub enum Ext {}
diff --git a/embassy-stm32/src/timer/pwm_input.rs b/embassy-stm32/src/timer/pwm_input.rs
index 159b5a177..da8a79b09 100644
--- a/embassy-stm32/src/timer/pwm_input.rs
+++ b/embassy-stm32/src/timer/pwm_input.rs
@@ -2,9 +2,9 @@
 
 use super::low_level::{CountingMode, InputCaptureMode, InputTISelection, SlaveMode, Timer, TriggerSource};
 use super::{Ch1, Ch2, Channel, GeneralInstance4Channel, TimerPin};
+use crate::Peri;
 use crate::gpio::{AfType, Pull};
 use crate::time::Hertz;
-use crate::Peri;
 
 /// PWM Input driver.
 ///
diff --git a/embassy-stm32/src/timer/qei.rs b/embassy-stm32/src/timer/qei.rs
index 82b5968b0..a547a2a19 100644
--- a/embassy-stm32/src/timer/qei.rs
+++ b/embassy-stm32/src/timer/qei.rs
@@ -1,45 +1,67 @@
 //! Quadrature decoder using a timer.
 
-use core::marker::PhantomData;
-
-use stm32_metapac::timer::vals;
+use stm32_metapac::timer::vals::{self, Sms};
 
 use super::low_level::Timer;
 pub use super::{Ch1, Ch2};
 use super::{GeneralInstance4Channel, TimerPin};
+use crate::Peri;
 use crate::gpio::{AfType, AnyPin, Pull};
 use crate::timer::TimerChannel;
-use crate::Peri;
 
-/// Counting direction
-pub enum Direction {
-    /// Counting up.
-    Upcounting,
-    /// Counting down.
-    Downcounting,
+/// Qei driver config.
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[derive(Clone, Copy)]
+pub struct Config {
+    /// Configures the internal pull up/down resistor for Qei's channel 1 pin.
+    pub ch1_pull: Pull,
+    /// Configures the internal pull up/down resistor for Qei's channel 2 pin.
+    pub ch2_pull: Pull,
+    /// Specifies the encoder mode to use for the Qei peripheral.
+    pub mode: QeiMode,
 }
 
-/// Wrapper for using a pin with QEI.
-pub struct QeiPin<'d, T, Channel, #[cfg(afio)] A> {
-    #[allow(unused)]
-    pin: Peri<'d, AnyPin>,
-    phantom: PhantomData<if_afio!((T, Channel, A))>,
+impl Default for Config {
+    /// Arbitrary defaults to preserve backwards compatibility
+    fn default() -> Self {
+        Self {
+            ch1_pull: Pull::None,
+            ch2_pull: Pull::None,
+            mode: QeiMode::Mode3,
+        }
+    }
 }
 
-impl<'d, T: GeneralInstance4Channel, C: QeiChannel, #[cfg(afio)] A> if_afio!(QeiPin<'d, T, C, A>) {
-    /// Create a new QEI pin instance.
-    pub fn new(pin: Peri<'d, if_afio!(impl TimerPin<T, C, A>)>) -> Self {
-        critical_section::with(|_| {
-            pin.set_low();
-            set_as_af!(pin, AfType::input(Pull::None));
-        });
-        QeiPin {
-            pin: pin.into(),
-            phantom: PhantomData,
+/// See STMicro AN4013 for §2.3 for more information
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[derive(Clone, Copy)]
+pub enum QeiMode {
+    /// Direct alias for [`Sms::ENCODER_MODE_1`]
+    Mode1,
+    /// Direct alias for [`Sms::ENCODER_MODE_2`]
+    Mode2,
+    /// Direct alias for [`Sms::ENCODER_MODE_3`]
+    Mode3,
+}
+
+impl From<QeiMode> for Sms {
+    fn from(mode: QeiMode) -> Self {
+        match mode {
+            QeiMode::Mode1 => Sms::ENCODER_MODE_1,
+            QeiMode::Mode2 => Sms::ENCODER_MODE_2,
+            QeiMode::Mode3 => Sms::ENCODER_MODE_3,
         }
     }
 }
 
+/// Counting direction
+pub enum Direction {
+    /// Counting up.
+    Upcounting,
+    /// Counting down.
+    Downcounting,
+}
+
 trait SealedQeiChannel: TimerChannel {}
 
 /// Marker trait for a timer channel eligible for use with QEI.
@@ -55,20 +77,28 @@ 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.
+    /// Create a new quadrature decoder driver, with a given [`Config`].
     #[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>)>,
+        config: Config,
     ) -> 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(config.ch1_pull));
+
+            ch2.set_low();
+            set_as_af!(ch2, AfType::input(config.ch2_pull));
+        });
 
-    fn new_inner(tim: Peri<'d, T>) -> Self {
         let inner = Timer::new(tim);
         let r = inner.regs_gp16();
 
@@ -88,13 +118,17 @@ impl<'d, T: GeneralInstance4Channel> Qei<'d, T> {
         });
 
         r.smcr().modify(|w| {
-            w.set_sms(vals::Sms::ENCODER_MODE_3);
+            w.set_sms(config.mode.into());
         });
 
         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/embassy-stm32/src/timer/simple_pwm.rs b/embassy-stm32/src/timer/simple_pwm.rs
index e60bb5b06..36303aeb4 100644
--- a/embassy-stm32/src/timer/simple_pwm.rs
+++ b/embassy-stm32/src/timer/simple_pwm.rs
@@ -5,11 +5,11 @@ use core::mem::ManuallyDrop;
 
 use super::low_level::{CountingMode, OutputCompareMode, OutputPolarity, Timer};
 use super::{Ch1, Ch2, Ch3, Ch4, Channel, GeneralInstance4Channel, TimerBits, TimerChannel, TimerPin};
+use crate::Peri;
 #[cfg(gpio_v2)]
 use crate::gpio::Pull;
 use crate::gpio::{AfType, AnyPin, OutputType, Speed};
 use crate::time::Hertz;
-use crate::Peri;
 
 /// PWM pin wrapper.
 ///