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Commit c6f2d53f authored by Johannes Sjölund's avatar Johannes Sjölund
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Set individual pwm channels

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examples/capture4.rs
+ 6
− 7
View file @ c6f2d53f
...@@ -16,6 +16,7 @@ use f4::prelude::*; ...@@ -16,6 +16,7 @@ use f4::prelude::*;
use rtfm::{app, Threshold}; use rtfm::{app, Threshold};
const RESOLUTION: Milliseconds = Milliseconds(1); const RESOLUTION: Milliseconds = Milliseconds(1);
const CHANNELS: [Channel; 2] = [Channel::_1, Channel::_2];
app! { app! {
device: f4::stm32f40x, device: f4::stm32f40x,
...@@ -25,21 +26,19 @@ app! { ...@@ -25,21 +26,19 @@ app! {
}, },
} }
fn init(p: init::Peripherals) { fn init(p: init::Peripherals) {
let capture = Capture(p.TIM4); let capture = Capture(p.TIM4);
capture.init(RESOLUTION, p.GPIOA, p.GPIOB, p.GPIOC, p.RCC); for c in &CHANNELS {
capture.init(RESOLUTION, *c, p.GPIOA, p.GPIOB, p.GPIOC, p.RCC);
capture.enable(*c);
}
} }
fn idle(_t: &mut Threshold, r: idle::Resources) -> ! { fn idle(_t: &mut Threshold, r: idle::Resources) -> ! {
const CHANNELS: [Channel; 4] = [Channel::_1, Channel::_2, Channel::_3, Channel::_4];
let capture = Capture(&*r.TIM4); let capture = Capture(&*r.TIM4);
for c in &CHANNELS {
capture.enable(*c);
}
loop { loop {
for c in &CHANNELS { for c in &CHANNELS {
match capture.capture(*c) { match capture.capture(*c) {
......
examples/pwm-control.rs
+ 10
− 2
View file @ c6f2d53f
...@@ -41,8 +41,16 @@ fn init(p: init::Peripherals) { ...@@ -41,8 +41,16 @@ fn init(p: init::Peripherals) {
serial.init(BAUD_RATE.invert(), None, p.GPIOA, p.RCC); serial.init(BAUD_RATE.invert(), None, p.GPIOA, p.RCC);
serial.listen(Event::Rxne); serial.listen(Event::Rxne);
pwm.init(FREQUENCY.invert(), None, p.GPIOA, p.GPIOB, p.GPIOC, p.RCC); pwm.init(
pwm.set_duty(Channel::_1, 0); FREQUENCY.invert(),
Channel::_1,
None,
p.GPIOA,
p.GPIOB,
p.GPIOC,
p.RCC,
);
pwm.set_duty(Channel::_1, 1000);
pwm.enable(Channel::_1); pwm.enable(Channel::_1);
} }
......
examples/pwm1.rs
+ 12
− 12
View file @ c6f2d53f
//! Output a PWM with a duty cycle of ~6% on all the channels of TIM1
// FIXME doesn't seem to work :-(
#![deny(unsafe_code)] #![deny(unsafe_code)]
#![deny(warnings)] #![deny(warnings)]
#![feature(proc_macro)] #![feature(proc_macro)]
...@@ -21,20 +18,23 @@ app! { ...@@ -21,20 +18,23 @@ app! {
} }
fn init(p: init::Peripherals) { fn init(p: init::Peripherals) {
let pwm = Pwm(p.TIM1); let pwm = Pwm(p.TIM4);
pwm.init(FREQUENCY.invert(), None, p.GPIOA, p.GPIOB, p.GPIOC, p.RCC);
let duty = pwm.get_max_duty() / 16;
const CHANNELS: [Channel; 4] = [Channel::_1, Channel::_2, Channel::_3, Channel::_4]; const CHANNELS: [Channel; 4] = [Channel::_1, Channel::_2, Channel::_3, Channel::_4];
for c in &CHANNELS { for c in &CHANNELS {
pwm.set_duty(*c, duty); pwm.init(
} FREQUENCY.invert(),
*c,
for c in &CHANNELS { None,
p.GPIOA,
p.GPIOB,
p.GPIOC,
p.RCC,
);
pwm.set_duty(*c, pwm.get_max_duty() / 16);
pwm.enable(*c); pwm.enable(*c);
rtfm::bkpt(); // rtfm::bkpt();
} }
} }
......
src/capture.rs
+ 105
− 75
View file @ c6f2d53f
...@@ -76,8 +76,6 @@ impl<'a, T> Clone for Capture<'a, T> { ...@@ -76,8 +76,6 @@ impl<'a, T> Clone for Capture<'a, T> {
impl<'a, T> Copy for Capture<'a, T> {} impl<'a, T> Copy for Capture<'a, T> {}
// TODO: TIM1 is a 16 bit timer, must have its own implementation
macro_rules! impl_Capture { macro_rules! impl_Capture {
($TIM:ident, $APB:ident) => { ($TIM:ident, $APB:ident) => {
impl<'a> Capture<'a, $TIM> impl<'a> Capture<'a, $TIM>
...@@ -88,6 +86,7 @@ macro_rules! impl_Capture { ...@@ -88,6 +86,7 @@ macro_rules! impl_Capture {
pub fn init<R>( pub fn init<R>(
&self, &self,
resolution: R, resolution: R,
channel: Channel,
gpioa: &GPIOA, // TODO: Make these optional/implement custom init for each TIM gpioa: &GPIOA, // TODO: Make these optional/implement custom init for each TIM
gpiob: &GPIOB, gpiob: &GPIOB,
gpioc: &GPIOC, gpioc: &GPIOC,
...@@ -95,19 +94,22 @@ macro_rules! impl_Capture { ...@@ -95,19 +94,22 @@ macro_rules! impl_Capture {
where where
R: Into<::$APB::Ticks>, R: Into<::$APB::Ticks>,
{ {
self._init(resolution.into(), gpioa, gpiob, gpioc, rcc) self._init(resolution.into(), channel, gpioa, gpiob, gpioc, rcc)
} }
fn _init( fn _init(
&self, &self,
resolution: ::$APB::Ticks, resolution: ::$APB::Ticks,
channel: Channel,
gpioa: &GPIOA, gpioa: &GPIOA,
gpiob: &GPIOB, gpiob: &GPIOB,
gpioc: &GPIOC, gpioc: &GPIOC,
rcc: &RCC) { rcc: &RCC) {
let tim = self.0; let tim = self.0;
if tim.get_type_id() == TypeId::of::<TIM2>() { if tim.get_type_id() == TypeId::of::<TIM1>() {
rcc.apb2enr.modify(|_, w| w.tim1en().set_bit());
} else if tim.get_type_id() == TypeId::of::<TIM2>() {
rcc.apb1enr.modify(|_, w| w.tim2en().set_bit()); rcc.apb1enr.modify(|_, w| w.tim2en().set_bit());
} else if tim.get_type_id() == TypeId::of::<TIM3>() { } else if tim.get_type_id() == TypeId::of::<TIM3>() {
rcc.apb1enr.modify(|_, w| w.tim3en().set_bit()); rcc.apb1enr.modify(|_, w| w.tim3en().set_bit());
...@@ -115,12 +117,23 @@ macro_rules! impl_Capture { ...@@ -115,12 +117,23 @@ macro_rules! impl_Capture {
rcc.apb1enr.modify(|_, w| w.tim4en().set_bit()); rcc.apb1enr.modify(|_, w| w.tim4en().set_bit());
} }
// enable AFIO, GPIOx and TIMx
rcc.ahb1enr.modify(|_, w| { rcc.ahb1enr.modify(|_, w| {
if tim.get_type_id() == TypeId::of::<TIM2>() { if tim.get_type_id() == TypeId::of::<TIM1>() {
w.gpioaen().set_bit().gpioben().set_bit() w.gpioaen().set_bit()
} else if tim.get_type_id() == TypeId::of::<TIM2>() {
match channel {
Channel::_1 => w.gpioaen().set_bit(),
Channel::_2 => w.gpioaen().set_bit(),
Channel::_3 => w.gpioben().set_bit(),
Channel::_4 => panic!("Not implemented: conflicts with USB USART2_RX"),
}
} else if tim.get_type_id() == TypeId::of::<TIM3>() { } else if tim.get_type_id() == TypeId::of::<TIM3>() {
w.gpioaen().set_bit().gpioben().set_bit().gpiocen().set_bit() match channel {
Channel::_1 => w.gpioaen().set_bit(),
Channel::_2 => w.gpiocen().set_bit(),
Channel::_3 => w.gpioben().set_bit(),
Channel::_4 => w.gpioben().set_bit(),
}
} else if tim.get_type_id() == TypeId::of::<TIM4>() { } else if tim.get_type_id() == TypeId::of::<TIM4>() {
w.gpioben().set_bit() w.gpioben().set_bit()
} else { } else {
...@@ -128,85 +141,101 @@ macro_rules! impl_Capture { ...@@ -128,85 +141,101 @@ macro_rules! impl_Capture {
} }
}); });
// don't remap TIM pins // See datasheet DM00115249 Table 9. Alternate function mapping
if tim.get_type_id() == TypeId::of::<TIM2>() { if tim.get_type_id() == TypeId::of::<TIM1>() {
// CH1 = PA0 = floating input // CH1 = PA8 = alternate push-pull
// CH2 = PA1 = floating input // CH2 = PA9 = alternate push-pull
// CH3 = PB10 = floating input // CH3 = PA10 = alternate push-pull
// CH4 = PA3 = floating input (Unimplemented: conflicts with USB USART2_RX) // CH4 = PA11 = alternate push-pull
match channel {
Channel::_1 => {
gpioa.afrh.modify(|_, w| w.afrh8().bits(1));
gpioa.moder.modify(|_, w| w.moder8().bits(2));
}
Channel::_2 => {
gpioa.afrh.modify(|_, w| w.afrh9().bits(1));
gpioa.moder.modify(|_, w| w.moder9().bits(2));
}
Channel::_3 => {
gpioa.afrh.modify(|_, w| w.afrh10().bits(1));
gpioa.moder.modify(|_, w| w.moder10().bits(2));
}
Channel::_4 => {
gpioa.afrh.modify(|_, w| w.afrh11().bits(1));
gpioa.moder.modify(|_, w| w.moder11().bits(2));
}
}
} else if tim.get_type_id() == TypeId::of::<TIM2>() {
// CH1 = PA0 = alternate push-pull
// CH2 = PA1 = alternate push-pull
// CH3 = PB10 = alternate push-pull
// CH4 = PA3 = alternate push-pull (Not implemented: conflicts with USB USART2_RX)
// See datasheet DM00115249 Table 9. Alternate function mapping // See datasheet DM00115249 Table 9. Alternate function mapping
gpioa.afrl.modify(|_, w| { match channel {
w.afrl0().bits(1) Channel::_1 => {
.afrl1().bits(1) gpioa.afrl.modify(|_, w| w.afrl0().bits(1));
}); gpioa.moder.modify(|_, w| w.moder0().bits(2));
gpioa.moder.modify(|_, w| { }
w.moder0().bits(2) Channel::_2 => {
.moder1().bits(2) gpioa.afrl.modify(|_, w| w.afrl1().bits(1));
}); gpioa.moder.modify(|_, w| w.moder1().bits(2));
gpiob.afrh.modify(|_, w| { unsafe { }
w.afrh10().bits(1) Channel::_3 => {
}}); gpiob.afrh.modify(|_, w| unsafe {w.afrh10().bits(1)});
gpiob.moder.modify(|_, w| { unsafe { gpiob.moder.modify(|_, w| unsafe {w.moder10().bits(2)});
w.moder10().bits(2) }
}}); Channel::_4 => {
panic!("Not implemented: conflicts with USB USART2_RX");
}
}
} else if tim.get_type_id() == TypeId::of::<TIM3>() { } else if tim.get_type_id() == TypeId::of::<TIM3>() {
// CH1 = PA6 = floating input // CH1 = PA6 = alternate push-pull
// CH2 = PC7 = floating input // CH2 = PC7 = alternate push-pull
// CH3 = PB0 = floating input // CH3 = PB0 = alternate push-pull
// CH4 = PB1 = floating input // CH4 = PB1 = alternate push-pull
gpioa.afrl.modify(|_, w| { match channel {
w.afrl6().bits(2) Channel::_1 => {
}); gpioa.afrl.modify(|_, w| w.afrl6().bits(2));
gpioa.moder.modify(|_, w| { gpioa.moder.modify(|_, w| w.moder6().bits(2));
w.moder6().bits(2) }
}); Channel::_2 => {
gpiob.afrl.modify(|_, w| { unsafe { gpioc.afrl.modify(|_, w| unsafe {w.afrl7().bits(2)});
w.afrl0().bits(2) gpioc.moder.modify(|_, w| unsafe {w.moder7().bits(2)});
.afrl1().bits(2) }
}}); Channel::_3 => {
gpiob.moder.modify(|_, w| { unsafe { gpiob.afrl.modify(|_, w| unsafe {w.afrl0().bits(2)});
w.moder0().bits(2) gpiob.moder.modify(|_, w| unsafe {w.moder0().bits(2)});
.moder1().bits(2) }
}}); Channel::_4 => {
gpioc.afrl.modify(|_, w| { unsafe { gpiob.afrl.modify(|_, w| unsafe {w.afrl1().bits(2)});
w.afrl7().bits(2) gpiob.moder.modify(|_, w| unsafe {w.moder1().bits(2)});
}}); }
gpioc.moder.modify(|_, w| { unsafe { }
w.moder7().bits(2)
}});
} else if tim.get_type_id() == TypeId::of::<TIM4>() { } else if tim.get_type_id() == TypeId::of::<TIM4>() {
// CH1 = PB6 = alternate push-pull // CH1 = PB6 = alternate push-pull
// CH2 = PB7 = alternate push-pull // CH2 = PB7 = alternate push-pull
// CH3 = PB8 = alternate push-pull // CH3 = PB8 = alternate push-pull
// CH4 = PB9 = alternate push-pull // CH4 = PB9 = alternate push-pull
gpiob.afrl.modify(|_, w| { unsafe { match channel {
w.afrl6().bits(2) Channel::_1 => {
.afrl7().bits(2) gpiob.afrl.modify(|_, w| unsafe {w.afrl6().bits(2)});
gpiob.moder.modify(|_, w| unsafe {w.moder6().bits(2)});
} }
}); Channel::_2 => {
gpiob.moder.modify(|_, w| { unsafe { gpiob.afrl.modify(|_, w| unsafe {w.afrl7().bits(2)});
w.moder6().bits(2) gpiob.moder.modify(|_, w| unsafe {w.moder7().bits(2)});
.moder7().bits(2)
} }
}); Channel::_3 => {
gpiob.afrh.modify(|_, w| { unsafe { gpiob.afrh.modify(|_, w| unsafe {w.afrh8().bits(2)});
w.afrh8().bits(2) gpiob.moder.modify(|_, w| unsafe {w.moder8().bits(2)});
.afrh9().bits(2)
} }
}); Channel::_4 => {
gpiob.moder.modify(|_, w| { unsafe { gpiob.afrh.modify(|_, w| unsafe {w.afrh9().bits(2)});
w.moder8().bits(2) gpiob.moder.modify(|_, w| unsafe {w.moder9().bits(2)});
.moder9().bits(2)
} }
});
gpiob.pupdr.modify(|_, w| { unsafe {
w.pupdr6().bits(2)
.pupdr7().bits(2)
.pupdr8().bits(2)
.pupdr9().bits(2)
} }
});
} }
tim.smcr.write(|w| unsafe { tim.smcr.write(|w| unsafe {
...@@ -375,6 +404,7 @@ macro_rules! impl_Capture { ...@@ -375,6 +404,7 @@ macro_rules! impl_Capture {
} }
} }
impl_Capture!(TIM1, apb2);
impl_Capture!(TIM2, apb1); impl_Capture!(TIM2, apb1);
impl_Capture!(TIM3, apb1); impl_Capture!(TIM3, apb1);
impl_Capture!(TIM4, apb1); impl_Capture!(TIM4, apb1);
src/pwm.rs
+ 178
− 286
View file @ c6f2d53f
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