#![deny(unsafe_code)]
#![no_main]
#![no_std]
use panic_halt as _;
use core::f32::consts::FRAC_PI_2;
use cortex_m_rt::entry;
use micromath::F32Ext;
use stm32f4xx_hal::{pac, prelude::*, timer::Channel};
#[entry]
fn main() -> ! {
if let Some(dp) = pac::Peripherals::take() {
let rcc = dp.RCC.constrain();
let clocks = rcc.cfgr.use_hse(25.MHz()).freeze();
let gpioa = dp.GPIOA.split();
let channels = (gpioa.pa8.into_alternate(), gpioa.pa9.into_alternate());
let mut pwm = dp.TIM1.pwm_us(channels, 100.micros(), &clocks);
let mut counter = dp.TIM2.counter_us(&clocks);
let max_duty = pwm.get_max_duty();
const N: usize = 50;
let mut sin_a = [0_u16; N + 1];
let a = FRAC_PI_2 / (N as f32);
for (i, b) in sin_a.iter_mut().enumerate() {
let angle = a * (i as f32);
*b = (angle.sin() * (max_duty as f32)) as u16;
}
counter.start(100.micros()).unwrap();
pwm.enable(Channel::C1);
pwm.enable(Channel::C2);
let mut i = 0;
loop {
if i == 0 {
pwm.set_duty(Channel::C2, 0);
}
if i == 2 * N {
pwm.set_duty(Channel::C1, 0);
}
if i < N {
pwm.set_duty(Channel::C1, sin_a[i]);
} else if i < 2 * N {
pwm.set_duty(Channel::C1, sin_a[2 * N - i]);
} else if i < 3 * N {
pwm.set_duty(Channel::C2, sin_a[i - 2 * N]);
} else {
pwm.set_duty(Channel::C2, sin_a[4 * N - i]);
}
nb::block!(counter.wait()).unwrap();
i += 1;
if i == 4 * N {
i -= 4 * N;
}
}
}
loop {
cortex_m::asm::nop();
}
}