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#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
teleprobe_meta::target!(b"rpi-pico");
use defmt::{assert, assert_eq, assert_ne, *};
use embassy_executor::Spawner;
use embassy_rp::gpio::{Input, Level, Output, Pull};
use embassy_rp::pwm::{Config, InputMode, Pwm};
use embassy_time::{Duration, Timer};
use {defmt_rtt as _, panic_probe as _};
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
let mut p = embassy_rp::init(Default::default());
info!("Hello World!");
// Connections on CI device: 6 -> 9, 7 -> 11
let (mut p6, mut p7, mut p9, mut p11) = (p.PIN_6, p.PIN_7, p.PIN_9, p.PIN_11);
let cfg = {
let mut c = Config::default();
c.divider = 125.into();
c.top = 10000;
c.compare_a = 5000;
c.compare_b = 5000;
c
};
// Test free-running clock
{
let pwm = Pwm::new_free(&mut p.PWM_CH3, cfg.clone());
cortex_m::asm::delay(125);
let ctr = pwm.counter();
assert!(ctr > 0);
assert!(ctr < 100);
cortex_m::asm::delay(125);
assert!(ctr < pwm.counter());
}
for invert_a in [false, true] {
info!("free-running, invert A: {}", invert_a);
let mut cfg = cfg.clone();
cfg.invert_a = invert_a;
cfg.invert_b = !invert_a;
// Test output from A
{
let pin1 = Input::new(&mut p9, Pull::None);
let _pwm = Pwm::new_output_a(&mut p.PWM_CH3, &mut p6, cfg.clone());
Timer::after(Duration::from_millis(1)).await;
assert_eq!(pin1.is_low(), invert_a);
Timer::after(Duration::from_millis(5)).await;
assert_eq!(pin1.is_high(), invert_a);
Timer::after(Duration::from_millis(5)).await;
assert_eq!(pin1.is_low(), invert_a);
Timer::after(Duration::from_millis(5)).await;
assert_eq!(pin1.is_high(), invert_a);
}
// Test output from B
{
let pin2 = Input::new(&mut p11, Pull::None);
let _pwm = Pwm::new_output_b(&mut p.PWM_CH3, &mut p7, cfg.clone());
Timer::after(Duration::from_millis(1)).await;
assert_ne!(pin2.is_low(), invert_a);
Timer::after(Duration::from_millis(5)).await;
assert_ne!(pin2.is_high(), invert_a);
Timer::after(Duration::from_millis(5)).await;
assert_ne!(pin2.is_low(), invert_a);
Timer::after(Duration::from_millis(5)).await;
assert_ne!(pin2.is_high(), invert_a);
}
// Test output from A+B
{
let pin1 = Input::new(&mut p9, Pull::None);
let pin2 = Input::new(&mut p11, Pull::None);
let _pwm = Pwm::new_output_ab(&mut p.PWM_CH3, &mut p6, &mut p7, cfg.clone());
Timer::after(Duration::from_millis(1)).await;
assert_eq!(pin1.is_low(), invert_a);
assert_ne!(pin2.is_low(), invert_a);
Timer::after(Duration::from_millis(5)).await;
assert_eq!(pin1.is_high(), invert_a);
assert_ne!(pin2.is_high(), invert_a);
Timer::after(Duration::from_millis(5)).await;
assert_eq!(pin1.is_low(), invert_a);
assert_ne!(pin2.is_low(), invert_a);
Timer::after(Duration::from_millis(5)).await;
assert_eq!(pin1.is_high(), invert_a);
assert_ne!(pin2.is_high(), invert_a);
}
}
// Test level-gated
{
let mut pin2 = Output::new(&mut p11, Level::Low);
let pwm = Pwm::new_input(&mut p.PWM_CH3, &mut p7, InputMode::Level, cfg.clone());
assert_eq!(pwm.counter(), 0);
Timer::after(Duration::from_millis(5)).await;
assert_eq!(pwm.counter(), 0);
pin2.set_high();
Timer::after(Duration::from_millis(1)).await;
pin2.set_low();
let ctr = pwm.counter();
assert!(ctr >= 1000);
Timer::after(Duration::from_millis(1)).await;
assert_eq!(pwm.counter(), ctr);
}
// Test rising-gated
{
let mut pin2 = Output::new(&mut p11, Level::Low);
let pwm = Pwm::new_input(&mut p.PWM_CH3, &mut p7, InputMode::RisingEdge, cfg.clone());
assert_eq!(pwm.counter(), 0);
Timer::after(Duration::from_millis(5)).await;
assert_eq!(pwm.counter(), 0);
pin2.set_high();
Timer::after(Duration::from_millis(1)).await;
pin2.set_low();
assert_eq!(pwm.counter(), 1);
Timer::after(Duration::from_millis(1)).await;
assert_eq!(pwm.counter(), 1);
}
// Test falling-gated
{
let mut pin2 = Output::new(&mut p11, Level::High);
let pwm = Pwm::new_input(&mut p.PWM_CH3, &mut p7, InputMode::FallingEdge, cfg.clone());
assert_eq!(pwm.counter(), 0);
Timer::after(Duration::from_millis(5)).await;
assert_eq!(pwm.counter(), 0);
pin2.set_low();
Timer::after(Duration::from_millis(1)).await;
pin2.set_high();
assert_eq!(pwm.counter(), 1);
Timer::after(Duration::from_millis(1)).await;
assert_eq!(pwm.counter(), 1);
}
info!("Test OK");
cortex_m::asm::bkpt();
}
|
