Introduced the SingleSequencer and a more complex Sequencer

4 files changed, 62 insertions, 27 deletions

diff --git a/examples/nrf/src/bin/pwm_double_sequence.rs b/examples/nrf/src/bin/pwm_double_sequence.rs
new file mode 100644
index 000000000..269015f4a
--- /dev/null
+++ b/examples/nrf/src/bin/pwm_double_sequence.rs
@@ -0,0 +1,46 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+#[path = "../example_common.rs"]
+mod example_common;
+use defmt::*;
+use embassy::executor::Spawner;
+use embassy::time::{Duration, Timer};
+use embassy_nrf::gpio::NoPin;
+use embassy_nrf::pwm::{
+    Config, Prescaler, Sequence, SequenceConfig, SequenceMode, SequencePwm, Sequencer,
+    StartSequence,
+};
+use embassy_nrf::Peripherals;
+
+#[embassy::main]
+async fn main(_spawner: Spawner, p: Peripherals) {
+    let seq_words_0: [u16; 5] = [1000, 250, 100, 50, 0];
+    let seq_words_1: [u16; 4] = [50, 100, 250, 1000];
+
+    let mut config = Config::default();
+    config.prescaler = Prescaler::Div128;
+    // 1 period is 1000 * (128/16mhz = 0.000008s = 0.008ms) = 8us
+    // but say we want to hold the value for 5000ms
+    // so we want to repeat our value as many times as necessary until 5000ms passes
+    // want 5000/8 = 625 periods total to occur, so 624 (we get the one period for free remember)
+    let mut seq_config = SequenceConfig::default();
+    seq_config.refresh = 624;
+    // thus our sequence takes 5 * 5000ms or 25 seconds
+
+    let mut pwm = unwrap!(SequencePwm::new(
+        p.PWM0, p.P0_13, NoPin, NoPin, NoPin, config,
+    ));
+
+    let sequence_0 = Sequence::new(&seq_words_0, seq_config.clone());
+    let sequence_1 = Sequence::new(&seq_words_1, seq_config);
+    let sequencer = Sequencer::new(&mut pwm, sequence_0, Some(sequence_1));
+    unwrap!(sequencer.start(StartSequence::Zero, SequenceMode::Loop(1)));
+
+    // 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
+    Timer::after(Duration::from_millis(40000)).await;
+    info!("pwm stopped early!");
+}
diff --git a/examples/nrf/src/bin/pwm_sequence.rs b/examples/nrf/src/bin/pwm_sequence.rs
index b31c12a23..761ac0f03 100644
--- a/examples/nrf/src/bin/pwm_sequence.rs
+++ b/examples/nrf/src/bin/pwm_sequence.rs
@@ -9,14 +9,13 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_nrf::gpio::NoPin;
 use embassy_nrf::pwm::{
-    Config, Prescaler, Sequence, SequenceConfig, SequenceMode, SequencePwm, Sequences,
+    Config, Prescaler, Sequence, SequenceConfig, SequencePwm, SingleSequenceMode, SingleSequencer,
 };
 use embassy_nrf::Peripherals;
 
 #[embassy::main]
 async fn main(_spawner: Spawner, p: Peripherals) {
-    let seq_words_1: [u16; 5] = [1000, 250, 100, 50, 0];
-    let seq_words_2: [u16; 5] = [0, 50, 100, 250, 1000];
+    let seq_words: [u16; 5] = [1000, 250, 100, 50, 0];
 
     let mut config = Config::default();
     config.prescaler = Prescaler::Div128;
@@ -32,20 +31,9 @@ async fn main(_spawner: Spawner, p: Peripherals) {
         p.PWM0, p.P0_13, NoPin, NoPin, NoPin, config,
     ));
 
-    let sequence0 = Sequence::new(&seq_words_1, seq_config.clone());
-    let sequences = Sequences::new(&mut pwm, sequence0, None);
-    unwrap!(sequences.start(SequenceMode::Times(1)));
-
-    info!("pwm started!");
-
-    Timer::after(Duration::from_millis(20000)).await;
-    info!("pwm starting with another sequence!");
-
-    drop(sequences); // This stops the previous sequence and returns pwm ownership back
-
-    let sequence0 = Sequence::new(&seq_words_2, seq_config);
-    let sequences = Sequences::new(&mut pwm, sequence0, None);
-    unwrap!(sequences.start(SequenceMode::Times(1)));
+    let sequence = Sequence::new(&seq_words, seq_config.clone());
+    let sequencer = SingleSequencer::new(&mut pwm, sequence);
+    unwrap!(sequencer.start(SingleSequenceMode::Times(1)));
 
     // 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
diff --git a/examples/nrf/src/bin/pwm_sequence_ppi.rs b/examples/nrf/src/bin/pwm_sequence_ppi.rs
index 593e7590d..7e58c37e6 100644
--- a/examples/nrf/src/bin/pwm_sequence_ppi.rs
+++ b/examples/nrf/src/bin/pwm_sequence_ppi.rs
@@ -12,7 +12,7 @@ use embassy_nrf::gpio::{Input, NoPin, Pull};
 use embassy_nrf::gpiote::{InputChannel, InputChannelPolarity};
 use embassy_nrf::ppi::Ppi;
 use embassy_nrf::pwm::{
-    Config, Prescaler, Sequence, SequenceConfig, SequenceMode, SequencePwm, Sequences,
+    Config, Prescaler, Sequence, SequenceConfig, SequencePwm, SingleSequenceMode, SingleSequencer,
 };
 use embassy_nrf::Peripherals;
 
@@ -33,10 +33,6 @@ async fn main(_spawner: Spawner, p: Peripherals) {
         p.PWM0, p.P0_13, NoPin, NoPin, NoPin, config,
     ));
 
-    let sequence0 = Sequence::new(&seq_words, seq_config);
-    let sequences = Sequences::new(&mut pwm, sequence0, None);
-    unwrap!(sequences.start(SequenceMode::Infinite));
-
     // 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
 
@@ -54,8 +50,12 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     // messing with the pwm tasks is ill advised
     // Times::Ininite and Times even are seq0, Times odd is seq1
-    let start = unsafe { sequences.pwm.task_start_seq0() };
-    let stop = unsafe { sequences.pwm.task_stop() };
+    let start = unsafe { pwm.task_start_seq0() };
+    let stop = unsafe { pwm.task_stop() };
+
+    let sequence = Sequence::new(&seq_words, seq_config);
+    let sequencer = SingleSequencer::new(&mut pwm, sequence);
+    unwrap!(sequencer.start(SingleSequenceMode::Infinite));
 
     let mut ppi = Ppi::new_one_to_one(p.PPI_CH1, button1.event_in(), start);
     ppi.enable();
diff --git a/examples/nrf/src/bin/pwm_sequence_ws2812b.rs b/examples/nrf/src/bin/pwm_sequence_ws2812b.rs
index c0c10373a..71ddd5283 100644
--- a/examples/nrf/src/bin/pwm_sequence_ws2812b.rs
+++ b/examples/nrf/src/bin/pwm_sequence_ws2812b.rs
@@ -9,7 +9,8 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_nrf::gpio::NoPin;
 use embassy_nrf::pwm::{
-    Config, Prescaler, Sequence, SequenceConfig, SequenceLoad, SequenceMode, SequencePwm, Sequences,
+    Config, Prescaler, Sequence, SequenceConfig, SequenceLoad, SequencePwm, SingleSequenceMode,
+    SingleSequencer,
 };
 use embassy_nrf::Peripherals;
 
@@ -54,8 +55,8 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         let sequence0 = Sequence::new(&seq_words, seq_config.clone());
-        let sequences = Sequences::new(&mut pwm, sequence0, None);
-        unwrap!(sequences.start(SequenceMode::Times(1)));
+        let sequences = SingleSequencer::new(&mut pwm, sequence0);
+        unwrap!(sequences.start(SingleSequenceMode::Times(1)));
 
         Timer::after(Duration::from_millis(50)).await;