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#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
use core::marker::PhantomData;
use defmt_rtt as _; // global logger
use panic_probe as _;
use defmt::*;
use embassy::executor::Spawner;
use embassy::time::{Duration, Timer};
use embassy_stm32::gpio::low_level::AFType;
use embassy_stm32::gpio::Speed;
use embassy_stm32::pwm::*;
use embassy_stm32::time::{Hertz, U32Ext};
use embassy_stm32::unborrow;
use embassy_stm32::Unborrow;
use embassy_stm32::{Config, Peripherals};
pub fn config() -> Config {
let mut config = Config::default();
config.rcc.sys_ck = Some(400.mhz().into());
config.rcc.hclk = Some(400.mhz().into());
config.rcc.pll1.q_ck = Some(100.mhz().into());
config.rcc.pclk1 = Some(100.mhz().into());
config.rcc.pclk2 = Some(100.mhz().into());
config.rcc.pclk3 = Some(100.mhz().into());
config.rcc.pclk4 = Some(100.mhz().into());
config
}
#[embassy::main(config = "config()")]
async fn main(_spawner: Spawner, p: Peripherals) {
info!("Hello World!");
let mut pwm = SimplePwm32::new(p.TIM5, p.PA0, p.PA1, p.PA2, p.PA3, 10000.hz());
let max = pwm.get_max_duty();
pwm.enable(Channel::Ch1);
info!("PWM initialized");
info!("PWM max duty {}", max);
loop {
pwm.set_duty(Channel::Ch1, 0);
Timer::after(Duration::from_millis(300)).await;
pwm.set_duty(Channel::Ch1, max / 4);
Timer::after(Duration::from_millis(300)).await;
pwm.set_duty(Channel::Ch1, max / 2);
Timer::after(Duration::from_millis(300)).await;
pwm.set_duty(Channel::Ch1, max - 1);
Timer::after(Duration::from_millis(300)).await;
}
}
pub struct SimplePwm32<'d, T: CaptureCompare32bitInstance> {
phantom: PhantomData<&'d mut T>,
inner: T,
}
impl<'d, T: CaptureCompare32bitInstance> SimplePwm32<'d, T> {
pub fn new<F: Into<Hertz>>(
tim: impl Unborrow<Target = T> + 'd,
ch1: impl Unborrow<Target = impl Channel1Pin<T>> + 'd,
ch2: impl Unborrow<Target = impl Channel2Pin<T>> + 'd,
ch3: impl Unborrow<Target = impl Channel3Pin<T>> + 'd,
ch4: impl Unborrow<Target = impl Channel4Pin<T>> + 'd,
freq: F,
) -> Self {
unborrow!(tim, ch1, ch2, ch3, ch4);
T::enable();
<T as embassy_stm32::rcc::low_level::RccPeripheral>::reset();
unsafe {
ch1.set_speed(Speed::VeryHigh);
ch1.set_as_af(ch1.af_num(), AFType::OutputPushPull);
ch2.set_speed(Speed::VeryHigh);
ch2.set_as_af(ch1.af_num(), AFType::OutputPushPull);
ch3.set_speed(Speed::VeryHigh);
ch3.set_as_af(ch1.af_num(), AFType::OutputPushPull);
ch4.set_speed(Speed::VeryHigh);
ch4.set_as_af(ch1.af_num(), AFType::OutputPushPull);
}
let mut this = Self {
inner: tim,
phantom: PhantomData,
};
this.set_freq(freq);
this.inner.start();
unsafe {
T::regs_gp32()
.ccmr_output(0)
.modify(|w| w.set_ocm(0, OutputCompareMode::PwmMode1.into()));
T::regs_gp32()
.ccmr_output(0)
.modify(|w| w.set_ocm(1, OutputCompareMode::PwmMode1.into()));
T::regs_gp32()
.ccmr_output(1)
.modify(|w| w.set_ocm(0, OutputCompareMode::PwmMode1.into()));
T::regs_gp32()
.ccmr_output(1)
.modify(|w| w.set_ocm(1, OutputCompareMode::PwmMode1.into()));
}
this
}
pub fn enable(&mut self, channel: Channel) {
unsafe {
T::regs_gp32()
.ccer()
.modify(|w| w.set_cce(channel.raw(), true));
}
}
pub fn disable(&mut self, channel: Channel) {
unsafe {
T::regs_gp32()
.ccer()
.modify(|w| w.set_cce(channel.raw(), false));
}
}
pub fn set_freq<F: Into<Hertz>>(&mut self, freq: F) {
<T as embassy_stm32::timer::low_level::GeneralPurpose32bitInstance>::set_frequency(
&mut self.inner,
freq,
);
}
pub fn get_max_duty(&self) -> u32 {
unsafe { T::regs_gp32().arr().read().arr() }
}
pub fn set_duty(&mut self, channel: Channel, duty: u32) {
defmt::assert!(duty < self.get_max_duty());
unsafe {
T::regs_gp32()
.ccr(channel.raw())
.modify(|w| w.set_ccr(duty))
}
}
}
|
