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//! Low-Power Timer (LPTIM) support. use crate::hal; use crate::pac::LPTIM; use crate::rcc::Rcc; use crate::pwr::PWR; use crate::time::{Hertz, MicroSeconds}; use cast::{u32, u64}; use core::marker::PhantomData; use core::convert::TryFrom; use void::Void; mod sealed { pub trait Sealed {} } /// Low-Power Timer counting in one-shot mode. pub enum OneShot {} /// Low-Power Timer counting in periodic mode. pub enum Periodic {} impl sealed::Sealed for OneShot {} impl sealed::Sealed for Periodic {} /// Marker trait for counter directions. pub trait CountMode: sealed::Sealed {} impl CountMode for OneShot {} impl CountMode for Periodic {} /// Clock source selection for the Low-Power Timer `LPTIM`. #[derive(Debug, Copy, Clone, PartialEq, Eq)] pub enum ClockSrc { /// Drive LPTIM with APB1 clock. Apb1 = 0b00, /// Drive LPTIM with Low-Speed Internal (LSI) clock. /// /// The user has to ensure that the LSI clock is running, or the timer won't /// start counting. Lsi = 0b01, /// Drive LPTIM with Internal 16 MHz clock. Hsi16 = 0b10, /// Drive LPTIM with Low-Speed External (LSE) clock at 32.768 kHz. /// /// The user has to ensure that the LSE clock is running, or the timer won't /// start counting. Lse = 0b11, } /// Interrupt enable flags. #[derive(Debug, Copy, Clone, PartialEq, Eq, Default)] pub struct Interrupts { /// Encoder direction change to down. pub enc_dir_down: bool, /// Encoder direction change to up. pub enc_dir_up: bool, /// ARR register update successful. pub autoreload_update_ok: bool, /// CMP register update successful. pub compare_update_ok: bool, /// Valid edge on ext. trigger input. pub ext_trig: bool, /// ARR register matches current CNT value. pub autoreload_match: bool, /// CMP register matches current CNT value. pub compare_match: bool, } /// Low-Power Timer (`LPTIM`). /// /// The Low-Power Timer is a 16-bit timer with a prescaler of up to 128. It can run off of the APB1, /// LSI, HSI16, or LSE clocks. With LSE, the slowest clock at 32.768 kHz, this results in a maximum /// timeout of 256 seconds, or 4 minutes and 16 seconds. /// /// The timer can be initialized either in one-shot mode or in periodic mode, using `init_oneshot` /// or `init_periodic` respectively. In periodic mode, the embedded-hal `Periodic` marker trait is /// implemented and the `CountDown` implementation uses `Hertz` as the time unit. In one-shot mode, /// the `CountDown` implementation instead uses `MicroSeconds`, allowing for a multi-second timeout /// to be configured (with the tradeoff being a larger code size due to use of 64-bit arithmetic). pub struct LpTimer<M: CountMode> { lptim: LPTIM, input_freq: Hertz, _mode: PhantomData<M>, } impl LpTimer<Periodic> { /// Initializes the Low-Power Timer in periodic mode. /// /// The timer needs to be started by calling `.start(freq)`. pub fn init_periodic(lptim: LPTIM, pwr: &mut PWR, rcc: &mut Rcc, clk: ClockSrc) -> Self { Self::init(lptim, pwr, rcc, clk) } } impl LpTimer<OneShot> { /// Initializes the Low-Power Timer in one-shot mode. /// /// The timer needs to be started by calling `.start(freq)`. pub fn init_oneshot(lptim: LPTIM, pwr: &mut PWR, rcc: &mut Rcc, clk: ClockSrc) -> Self { Self::init(lptim, pwr, rcc, clk) } } impl<M: CountMode> LpTimer<M> { fn init(lptim: LPTIM, pwr: &mut PWR, rcc: &mut Rcc, clk: ClockSrc) -> Self { // `pwr` is not used. It is used as a marker that guarantees that `PWR.CR` is set so this // function can set the `RCC.LSEON` bit, which is otherwise write protected. let _ = pwr; // Enable selected clock and determine its frequency let input_freq = match clk { ClockSrc::Apb1 => rcc.clocks.apb1_clk(), // always enabled ClockSrc::Lsi => { // Turn on LSI rcc.rb.csr.modify(|_, w| w.lsion().set_bit()); // Wait for LSI to be ready while rcc.rb.csr.read().lsirdy().bit_is_clear() {} Hertz(37_000) } ClockSrc::Hsi16 => { // Turn on HSI16 rcc.rb.cr.modify(|_, w| w.hsi16on().set_bit()); // Wait for HSI16 to be ready while rcc.rb.cr.read().hsi16rdyf().bit_is_clear() {} Hertz(16_000_000) } ClockSrc::Lse => { // Turn on LSE rcc.rb.csr.modify(|_, w| w.lseon().set_bit()); // Wait for LSE to be ready while rcc.rb.csr.read().lserdy().bit_is_clear() {} Hertz(32_768) } }; // Select and enable clock. Right now we only support the internal RCC clocks, but LPTIM can // also run as a counter with a dedicated external input. rcc.rb.ccipr.modify(|_, w| w.lptim1sel().bits(clk as u8)); rcc.rb.apb1enr.modify(|_, w| w.lptim1en().set_bit()); rcc.rb.apb1rstr.modify(|_, w| w.lptim1rst().set_bit()); rcc.rb.apb1rstr.modify(|_, w| w.lptim1rst().clear_bit()); Self { lptim, input_freq, _mode: PhantomData, } } /// Disables the timer and configures it so that starting it will make it fire at the given /// frequency. fn configure(&mut self, conf: TimeConf) { // Disable the timer. The prescaler can only be changed while it's disabled. self.lptim.cr.write(|w| w.enable().clear_bit()); self.lptim .cfgr .write(|w| w.presc().bits(conf.psc_encoded).timout().set_bit()); self.lptim.cr.write(|w| w.enable().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); // ARR can only be changed while the timer is *en*abled self.lptim .arr .write(|w| w.arr().bits(conf.arr)); } /// Disables and destructs the timer, returning the raw `LPTIM` peripheral. pub fn free(self) -> LPTIM { self.lptim.cr.reset(); self.lptim } /// Disables the timer and enables the given interrupts. pub fn enable_interrupts(&mut self, interrupts: Interrupts) { // IER can only be modified when the timer is disabled self.lptim.cr.reset(); self.lptim.ier.modify(|_, w| { if interrupts.enc_dir_down { w.downie().enabled(); } if interrupts.enc_dir_up { w.upie().enabled(); } if interrupts.autoreload_update_ok { w.arrokie().enabled(); } if interrupts.compare_update_ok { w.cmpokie().enabled(); } if interrupts.ext_trig { w.exttrigie().enabled(); } if interrupts.autoreload_match { w.arrmie().enabled(); } if interrupts.compare_match { w.cmpmie().enabled(); } w }) } /// Disables the timer and disables the given interrupts. pub fn disable_interrupts(&mut self, interrupts: Interrupts) { // IER can only be modified when the timer is disabled self.lptim.cr.reset(); self.lptim.ier.modify(|_, w| { if interrupts.enc_dir_down { w.downie().disabled(); } if interrupts.enc_dir_up { w.upie().disabled(); } if interrupts.autoreload_update_ok { w.arrokie().disabled(); } if interrupts.compare_update_ok { w.cmpokie().disabled(); } if interrupts.ext_trig { w.exttrigie().disabled(); } if interrupts.autoreload_match { w.arrmie().disabled(); } if interrupts.compare_match { w.cmpmie().disabled(); } w }) } } impl hal::timer::CountDown for LpTimer<Periodic> { type Time = Hertz; fn start<T>(&mut self, freq: T) where T: Into<Hertz>, { self.configure(TimeConf::calculate_freq(self.input_freq, freq.into())); // Start LPTIM in continuous mode. self.lptim .cr .write(|w| w.enable().set_bit().cntstrt().set_bit()); } fn wait(&mut self) -> nb::Result<(), Void> { if self.lptim.isr.read().arrm().bit_is_clear() { Err(nb::Error::WouldBlock) } else { self.lptim.icr.write(|w| w.arrmcf().set_bit()); Ok(()) } } } impl hal::timer::Periodic for LpTimer<Periodic> {} impl hal::timer::CountDown for LpTimer<OneShot> { type Time = MicroSeconds; fn start<T>(&mut self, period: T) where T: Into<MicroSeconds>, { self.configure(TimeConf::calculate_period(self.input_freq, period.into())); // Start LPTIM in one-shot mode. self.lptim .cr .write(|w| w.enable().set_bit().sngstrt().set_bit()); } fn wait(&mut self) -> nb::Result<(), Void> { if self.lptim.isr.read().arrm().bit_is_clear() { Err(nb::Error::WouldBlock) } else { self.lptim.icr.write(|w| w.arrmcf().set_bit()); Ok(()) } } } #[derive(Copy, Clone)] struct TimeConf { psc_encoded: u8, arr: u16, } impl TimeConf { const ARR_MAX: u16 = u16::max_value(); /// Calculates prescaler and autoreload value for producing overflows at a rate of /// `output_freq`. fn calculate_freq(input_freq: Hertz, output_freq: Hertz) -> Self { // Fi = Frequency of input clock // Fo = Output frequency (frequency of timer overflows, using ARR) // psc = prescaler (must be power of two in range 1..=128) // We know Fi and Fo, and want to know psc and ARR. // // The timer works like this: // Fo = (Fi / psc) / ARR // // Therefore: // Fo * ARR = Fi / psc // Fo * ARR * psc = Fi // ARR = (Fi / Fo) / psc // psc = (Fi / Fo) / ARR // // We first calculate `psc` by assuming the largest `ARR` value, and round the result to the // next power of two. If that's > 128, the chosen frequency is too slow for the timer and // we panic. Otherwise we use that `psc` to calculate the real `ARR`. // Add `ARR_MAX - 1` to round the result upwards let psc = ((input_freq.0 / output_freq.0) + (u32(Self::ARR_MAX) - 1)) / u32(Self::ARR_MAX); let psc = psc.next_power_of_two(); // always >= 1 assert!(psc <= 128); // This calculation must be in u16 range because we assume the max. ARR value above ^ let arr = u16::try_from((input_freq.0 / output_freq.0) / psc).unwrap(); // PSC encoding is N where `psc = 2^N` let psc_encoded = psc.trailing_zeros() as u8; Self { psc_encoded, arr, } } /// Calculates prescaler and autoreload value for producing overflows after every /// `output_period`. fn calculate_period(input_freq: Hertz, output_period: MicroSeconds) -> Self { // Here, the `output_period` can be very long, resulting in an output frequency of < 1 Hz. // Fi = Frequency of input clock // Fo = Output frequency (frequency of timer overflows, using ARR) // Po = 1 / Fo = Output Period // psc = prescaler (must be power of two in range 1..=128) // We know Fi and Fo, and want to know psc and ARR. // // The timer works like this: // Fo = 1 / Po = (Fi / psc) / ARR // // Therefore: // ARR / Po = Fi / psc // (ARR * psc) / Po = Fi // ARR * psc = Fi * Po // ARR = (Fi * Po) / psc // psc = (Fi * Po) / ARR // // We first calculate `psc` by assuming the largest `ARR` value, and round the result to the // next power of two. If that's > 128, the chosen period is too long for the timer and we // panic. Otherwise we use that `psc` to calculate the real `ARR`. // First, calculate the product `Fi * Po`. Since `output_period` is in µs, we have to divide // it by 1_000_000 to get seconds, without losing much precision. We can divide either of // the multiplicants, or the resulting product. Dividing the resulting product results in // the least amount of rouding error, but might require 64-bit multiplication and division, // which is very expensive. Dividing either of the multiplicands by 1_000_000 can easily // result in significant rounding error that makes this API useless. let fi_po = u32(u64(input_freq.0) * u64(output_period.0) / 1_000_000).unwrap(); // Add `ARR_MAX - 1` to round the result upwards let psc = (fi_po + (u32(Self::ARR_MAX) - 1)) / u32(Self::ARR_MAX); assert!(psc > 0); // if 0, the output period is too short to be produced from input_freq let psc = psc.next_power_of_two(); // always >= 1 assert!(psc <= 128); // if > 128, the output period is too long to be produced from input_freq // This calculation must be in u16 range because we assume the max. ARR value above ^ let arr = (fi_po / psc) as u16; // PSC encoding is N where `psc = 2^N` let psc_encoded = psc.trailing_zeros() as u8; Self { psc_encoded, arr, } } } #[cfg(test)] mod tests { use super::*; use crate::time::U32Ext; /// Test-only methods. impl TimeConf { fn psc(&self) -> u8 { 1 << self.psc_encoded } /// Calculates the output frequency if the timer is configured according to `self` and is run at /// `input_freq`. fn output_freq(&self, input_freq: Hertz) -> Hertz { Hertz(input_freq.0 / u32(self.psc()) / u32(self.arr)) } fn output_period(&self, input_freq: Hertz) -> MicroSeconds { MicroSeconds(u32(u64(self.psc()) * u64(self.arr) * 1_000_000 / u64(input_freq.0)).unwrap()) } } #[test] fn calc_from_freq() { // no psc necessary (so psc=1) let c = TimeConf::calculate_freq(32_768.hz(), 1.hz()); assert_eq!(c.psc(), 1); assert_eq!(c.arr, 32_768); assert_eq!(c.output_freq(32_768.hz()), 1.hz()); // barely works with psc=1 let c = TimeConf::calculate_freq(65535.hz(), 1.hz()); assert_eq!(c.psc(), 1); assert_eq!(c.arr, 65535); assert_eq!(c.output_freq(65535.hz()), 1.hz()); // barely needs psc=2 let c = TimeConf::calculate_freq(65536.hz(), 1.hz()); assert_eq!(c.psc(), 2); assert_eq!(c.arr, 32768); assert_eq!(c.output_freq(65536.hz()), 1.hz()); // maximum possible ratio, needs psc=128 and max ARR let c = TimeConf::calculate_freq((65535 * 128).hz(), 1.hz()); assert_eq!(c.psc(), 128); assert_eq!(c.arr, 65535); assert_eq!(c.output_freq((65535 * 128).hz()), 1.hz()); } #[test] #[should_panic(expected = "assertion failed: psc <= 128")] fn freq_ratio_too_large() { TimeConf::calculate_freq((65535 * 128 + 1).hz(), 1.hz()); } #[test] fn calc_from_period() { // 1:1 ratio let c = TimeConf::calculate_period(1_000.hz(), 1_000.us()); assert_eq!(c.psc(), 1); assert_eq!(c.arr, 1); assert_eq!(c.output_freq(1_000.hz()), 1_000.hz()); // real-world test: go from 32.768 kHz to 10 s let c = TimeConf::calculate_period(32_768.hz(), 10_000_000.us()); assert_eq!(c.psc(), 8); assert_eq!(c.arr, 40960); assert_eq!(c.output_freq(32_768.hz()), 0.hz()); assert_eq!(c.output_period(32_768.hz()), 10_000_000.us()); } #[test] #[should_panic(expected = "assertion failed: psc > 0")] fn period_too_short() { TimeConf::calculate_period(1_000.hz(), 999.us()); } }