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use crate::{pac::RCC, rcc, timer::General};
pub trait Pins<TIM> {}
use crate::timer::CPin;
pub trait QeiExt: Sized {
fn qei<PC1, PC2>(self, pins: (PC1, PC2)) -> Qei<Self, (PC1, PC2)>
where
(PC1, PC2): Pins<Self>;
}
impl<TIM: Instance> QeiExt for TIM {
fn qei<PC1, PC2>(self, pins: (PC1, PC2)) -> Qei<Self, (PC1, PC2)>
where
(PC1, PC2): Pins<Self>,
{
Qei::new(self, pins)
}
}
impl<TIM, PC1, PC2> Pins<TIM> for (PC1, PC2)
where
PC1: CPin<TIM, 0>,
PC2: CPin<TIM, 1>,
{
}
pub struct Qei<TIM, PINS> {
tim: TIM,
pins: PINS,
}
impl<TIM: Instance, PC1, PC2> Qei<TIM, (PC1, PC2)>
where
(PC1, PC2): Pins<TIM>,
{
pub fn new(mut tim: TIM, pins: (PC1, PC2)) -> Self {
let rcc = unsafe { &(*RCC::ptr()) };
TIM::enable(rcc);
TIM::reset(rcc);
tim.setup_qei();
Qei { tim, pins }
}
pub fn release(self) -> (TIM, (PC1, PC2)) {
(self.tim, (self.pins.0, self.pins.1))
}
}
impl<TIM: Instance, PINS> embedded_hal::Qei for Qei<TIM, PINS> {
type Count = TIM::Width;
fn count(&self) -> Self::Count {
self.tim.read_count()
}
fn direction(&self) -> embedded_hal::Direction {
if self.tim.read_direction() {
embedded_hal::Direction::Upcounting
} else {
embedded_hal::Direction::Downcounting
}
}
}
pub trait Instance: crate::Sealed + rcc::Enable + rcc::Reset + General {
fn setup_qei(&mut self);
fn read_direction(&self) -> bool;
}
macro_rules! hal {
($($TIM:ty,)+) => {
$(
impl Instance for $TIM {
fn setup_qei(&mut self) {
#[cfg(not(feature = "stm32f410"))]
self.ccmr1_input().write(|w| w.cc1s().ti1().cc2s().ti2());
#[cfg(feature = "stm32f410")]
self.ccmr1_input()
.write(|w| unsafe { w.cc1s().bits(0b01).cc2s().bits(0b01) });
self.ccer.write(|w| {
w.cc1e()
.set_bit()
.cc1p()
.clear_bit()
.cc2e()
.set_bit()
.cc2p()
.clear_bit()
});
#[cfg(not(feature = "stm32f410"))]
self.smcr.write(|w| w.sms().encoder_mode_3());
#[cfg(feature = "stm32f410")]
self.smcr.write(|w| unsafe { w.sms().bits(3) });
self.set_auto_reload(<$TIM as General>::Width::MAX as u32).unwrap();
self.cr1.write(|w| w.cen().set_bit());
}
fn read_direction(&self) -> bool {
self.cr1.read().dir().bit_is_clear()
}
}
)+
}
}
hal! {
crate::pac::TIM1,
crate::pac::TIM5,
}
#[cfg(feature = "tim2")]
hal! {
crate::pac::TIM2,
crate::pac::TIM3,
crate::pac::TIM4,
}
#[cfg(feature = "tim8")]
hal! {
crate::pac::TIM8,
}