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//! Encoder input using timers.
use crate::gpio::{gpioa, gpiob, AltMode, Analog};
use crate::pac::{tim2, tim21, TIM2, TIM21};
use crate::rcc::{Enable, Rcc, Reset};
use core::marker::PhantomData;
pub trait Pins<TIM> {
fn into_alt_mode(self);
}
pub trait PinCh1<TIM> {
fn into_alt_mode(self);
}
pub trait PinCh2<TIM> {
fn into_alt_mode(self);
}
impl PinCh1<TIM21> for gpiob::PB13<Analog> {
fn into_alt_mode(self) {
self.set_alt_mode(AltMode::AF6);
}
}
impl PinCh2<TIM21> for gpiob::PB14<Analog> {
fn into_alt_mode(self) {
self.set_alt_mode(AltMode::AF6);
}
}
impl PinCh1<TIM2> for gpioa::PA0<Analog> {
fn into_alt_mode(self) {
self.set_alt_mode(AltMode::AF2);
}
}
impl PinCh2<TIM2> for gpioa::PA1<Analog> {
fn into_alt_mode(self) {
self.set_alt_mode(AltMode::AF2);
}
}
impl<TIM, CH1, CH2> Pins<TIM> for (CH1, CH2)
where
CH1: PinCh1<TIM>,
CH2: PinCh2<TIM>,
{
fn into_alt_mode(self) {
self.0.into_alt_mode();
self.1.into_alt_mode();
}
}
/// Encoder direction.
#[derive(Debug, PartialEq, Eq, Copy, Clone)]
pub enum Direction {
/// Encoder is counting up.
Up,
/// Encoder is counting down.
Down,
}
/// Encoder status.
pub struct Status {
/// Encoder direction.
pub direction: Direction,
/// Overflow flag.
pub did_overflow: bool,
/// Current encoder count.
pub count: u16,
}
/// Encoder mode. See `TIMx_SMCR.SMS` item in datasheet.
pub enum Mode {
/// Encoder mode 1 - Counter counts up/down on TI2FP1 edge depending on TI1FP2 level.
CountTi2 = 0b001,
/// Encoder mode 2 - Counter counts up/down on TI1FP2 edge depending on TI2FP1 level.
CountTi1 = 0b010,
/// Encoder mode 3 (AKA quadrature mode) - Counter counts up/down on both TI1FP1 and TI2FP2 edges depending on the level of the other input.
Qei = 0b011,
}
pub trait EncoderExt<TIM> {
fn encoder<PINS>(self, pins: PINS, mode: Mode, arr: u16, rcc: &mut Rcc) -> Encoder<TIM, PINS>
where
PINS: Pins<TIM>;
}
pub struct Encoder<T, PINS> {
timer: T,
_pins: PhantomData<PINS>,
}
macro_rules! encoders {
($($TIM:ident: ($sms:ty),)+) => {
$(
impl EncoderExt<$TIM> for $TIM {
fn encoder<PINS>(
self,
pins: PINS,
mode: Mode,
arr: u16,
rcc: &mut Rcc,
) -> Encoder<$TIM, PINS>
where
PINS: Pins<$TIM>,
{
Encoder::<$TIM, PINS>::new(self, pins, mode, arr, rcc)
}
}
impl<PINS> Encoder<$TIM, PINS>
where
PINS: Pins<$TIM>,
{
fn new(timer: $TIM, pins: PINS, mode: Mode, arr: u16, rcc: &mut Rcc) -> Self {
// Enable peripheral, reset it
<$TIM>::enable(rcc);
<$TIM>::reset(rcc);
// Disable the timer for configuration
timer.cr1.write(|w| w.cen().clear_bit());
// Configure encoder inputs.
pins.into_alt_mode();
// Encoder mode, count on all edges
timer.smcr.write(|w| {
w
// Trigger source - TI1 edge detector
.ts()
.ti1f_ed()
// Count edges on TI1, direction set by TI2
.sms()
.variant(match mode {
Mode::CountTi1 => <$sms>::EncoderMode1,
Mode::CountTi2 => <$sms>::EncoderMode2,
Mode::Qei => <$sms>::EncoderMode3,
})
});
timer.cr1.write(|w| {
w
// Only interrupt on over/underflow (as well as input pulses)
.urs()
.set_bit()
// Enable timer
.cen()
.set_bit()
});
// "After setting the ENABLE bit, a delay of two counter clock is needed before the LPTIM is
// actually enabled."
// The slowest LPTIM clock source is LSE at 32768 Hz, the fastest CPU clock is ~80 MHz. At
// these conditions, one cycle of the LPTIM clock takes 2500 CPU cycles, so sleep for 5000.
cortex_m::asm::delay(5000);
let mut self_ = Self {
timer,
_pins: PhantomData,
};
self_.set_arr(arr);
self_
}
/// Get the ARR (Auto Reload Register) value.
pub fn arr(&mut self) -> u16 {
self.timer.arr.read().bits() as u16
}
/// Set ARR (Auto Reload Register) value.
///
/// ARR may only be set when timer is enabled.
pub fn set_arr(&mut self, arr: u16) {
// This is only unsafe for some timers, so we need this to suppress the
// warnings.
#[allow(unused_unsafe)]
self.timer.arr.write(|w| unsafe { w.arr().bits(arr) });
}
/// Listen for over/underflow interrupts
pub fn listen(&mut self) {
// Listen for over/underflow.
self.timer.dier.write(|w| w.uie().enabled());
}
/// Listen for over/underflow interrupts, as well as IO triggers.
pub fn listen_all(&mut self) {
// Listen for over/underflow.
self.listen();
// Listen for counter change as well.
self.timer.dier.write(|w| w.tie().enabled());
}
/// Get the current encoder status.
///
/// Note that calling `clear_irq` before this method will clear the `did_overflow` flag.
pub fn status(&mut self) -> Status {
// Up = 0, down = 1
let is_dir_up = self.timer.cr1.read().dir().bit_is_clear();
// UIF is bit 0
let did_overflow = self.timer.sr.read().bits() & 0x01 == 1;
let count = self.timer.cnt.read().bits() as u16;
let direction = match is_dir_up {
true => Direction::Up,
false => Direction::Down,
};
Status {
direction,
did_overflow,
count,
}
}
/// Clear all interrupts
pub fn clear_irq(&mut self) {
self.timer.sr.reset();
}
}
)+
}
}
encoders! {
TIM2: (tim2::smcr::SMS_A),
TIM21: (tim21::smcr::SMS_A),
}