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Timer API now macroless

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- Separation of TIM reg and TIM pin IF
- Improvements of API
This commit is contained in:
Robin Müller
2021-12-05 22:57:54 +01:00
parent dd7d29ec72
commit 779d5a94ec
8 changed files with 320 additions and 271 deletions
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490
src/timer.rs
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@ -11,7 +11,10 @@ use crate::{
PA9, PB0, PB1, PB10, PB11, PB12, PB13, PB14, PB15, PB16, PB17, PB18, PB19, PB2, PB20, PB21,
PB22, PB23, PB3, PB4, PB5, PB6,
},
pac::{self, tim0},
pac::{
self, tim0, TIM0, TIM1, TIM10, TIM11, TIM12, TIM13, TIM14, TIM15, TIM16, TIM17, TIM18,
TIM19, TIM2, TIM20, TIM21, TIM22, TIM23, TIM3, TIM4, TIM5, TIM6, TIM7, TIM8, TIM9,
},
prelude::*,
private::Sealed,
time::Hertz,
@ -161,7 +164,7 @@ pin_and_tim!(PB1, AltFunc3, 1, TIM1);
pin_and_tim!(PB0, AltFunc3, 0, TIM0);
//==================================================================================================
// Register Interface
// Register Interface for TIM registers and TIM pins
//==================================================================================================
pub type TimRegBlock = tim0::RegisterBlock;
@ -173,20 +176,19 @@ pub type TimRegBlock = tim0::RegisterBlock;
///
/// # Safety
///
/// Users should only implement the [`id`] function. No default function
/// Users should only implement the [`tim_id`] function. No default function
/// implementations should be overridden. The implementing type must also have
/// "control" over the corresponding pin ID, i.e. it must guarantee that a each
/// pin ID is a singleton.
pub(super) unsafe trait TimRegInterface {
fn tim_id(&self) -> u8;
fn pin_id(&self) -> DynPinId;
const PORT_BASE: *const tim0::RegisterBlock = TIM0::ptr() as *const _;
/// All 24 TIM blocks are identical. This helper functions returns the correct
/// memory mapped peripheral depending on the TIM ID.
#[inline(always)]
fn get_reg_block(&self) -> &TimRegBlock {
fn reg(&self) -> &TimRegBlock {
unsafe { &*Self::PORT_BASE.offset(self.tim_id() as isize) }
}
@ -194,24 +196,85 @@ pub(super) unsafe trait TimRegInterface {
fn mask_32(&self) -> u32 {
1 << self.tim_id()
}
/// Clear the reset bit of the TIM, holding it in reset
///
/// # Safety
///
/// Only the bit related to the corresponding TIM peripheral is modified
#[inline]
fn clear_tim_reset_bit(&self) {
unsafe {
va108xx::Peripherals::steal()
.SYSCONFIG
.tim_reset
.modify(|r, w| w.bits(r.bits() & !self.mask_32()))
}
}
#[inline]
fn set_tim_reset_bit(&self) {
unsafe {
va108xx::Peripherals::steal()
.SYSCONFIG
.tim_reset
.modify(|r, w| w.bits(r.bits() | self.mask_32()))
}
}
}
/// Register interface.
///
/// This interface provides an interface for TIM pins to access their corresponding
/// configuration
///
/// # Safety
///
/// Users should only implement the [`pin_id`] function. No default function
/// implementations should be overridden. The implementing type must also have
/// "control" over the corresponding pin ID, i.e. it must guarantee that a each
/// pin ID is a singleton.
pub(super) unsafe trait TimPinInterface {
fn pin_id(&self) -> DynPinId;
}
/// Provide a safe register interface for [`ValidTimAndPin`]s
///
/// This `struct` takes ownership of a [`ValidTimAndPin`] and provides an API to
/// access the corresponding registers.
pub(super) struct TimRegister<PIN: TimPin, TIM: ValidTim> {
pub(super) struct TimAndPinRegister<PIN: TimPin, TIM: ValidTim> {
pin: PIN,
tim: TIM,
}
impl<PIN: TimPin, TIM: ValidTim> TimRegister<PIN, TIM>
pub(super) struct TimRegister<TIM: ValidTim> {
tim: TIM,
}
impl<TIM: ValidTim> TimRegister<TIM> {
#[inline]
pub(super) unsafe fn new(tim: TIM) -> Self {
TimRegister { tim }
}
pub(super) fn release(self) -> TIM {
self.tim
}
}
unsafe impl<TIM: ValidTim> TimRegInterface for TimRegister<TIM> {
fn tim_id(&self) -> u8 {
TIM::TIM_ID
}
}
impl<PIN: TimPin, TIM: ValidTim> TimAndPinRegister<PIN, TIM>
where
(PIN, TIM): ValidTimAndPin<PIN, TIM>,
{
#[inline]
pub(super) unsafe fn new(pin: PIN, tim: TIM) -> Self {
TimRegister { pin, tim }
TimAndPinRegister { pin, tim }
}
pub(super) fn release(self) -> (PIN, TIM) {
@ -219,12 +282,14 @@ where
}
}
unsafe impl<PIN: TimPin, TIM: ValidTim> TimRegInterface for TimRegister<PIN, TIM> {
unsafe impl<PIN: TimPin, TIM: ValidTim> TimRegInterface for TimAndPinRegister<PIN, TIM> {
#[inline(always)]
fn tim_id(&self) -> u8 {
TIM::TIM_ID
}
}
unsafe impl<PIN: TimPin, TIM: ValidTim> TimPinInterface for TimAndPinRegister<PIN, TIM> {
#[inline(always)]
fn pin_id(&self) -> DynPinId {
PIN::DYN
@ -236,8 +301,8 @@ pub(super) struct TimDynRegister {
pin_id: DynPinId,
}
impl<PIN: TimPin, TIM: ValidTim> From<TimRegister<PIN, TIM>> for TimDynRegister {
fn from(_reg: TimRegister<PIN, TIM>) -> Self {
impl<PIN: TimPin, TIM: ValidTim> From<TimAndPinRegister<PIN, TIM>> for TimDynRegister {
fn from(_reg: TimAndPinRegister<PIN, TIM>) -> Self {
Self {
tim_id: TIM::TIM_ID,
pin_id: PIN::DYN,
@ -250,7 +315,9 @@ unsafe impl TimRegInterface for TimDynRegister {
fn tim_id(&self) -> u8 {
self.tim_id
}
}
unsafe impl TimPinInterface for TimDynRegister {
#[inline(always)]
fn pin_id(&self) -> DynPinId {
self.pin_id
@ -262,8 +329,8 @@ unsafe impl TimRegInterface for TimDynRegister {
//==================================================================================================
/// Hardware timers
pub struct CountDownTimer<TIM> {
tim: TIM,
pub struct CountDownTimer<TIM: ValidTim> {
tim: TimRegister<TIM>,
curr_freq: Hertz,
sys_clk: Hertz,
rst_val: u32,
@ -277,201 +344,201 @@ fn enable_tim_clk(syscfg: &mut SYSCONFIG, idx: u8) {
.modify(|r, w| unsafe { w.bits(r.bits() | (1 << idx)) });
}
macro_rules! timers {
($($TIM:ident: ($tim:ident, $i:expr),)+) => {
$(
use crate::pac::$TIM;
unsafe impl<TIM: ValidTim> TimRegInterface for CountDownTimer<TIM> {
fn tim_id(&self) -> u8 {
TIM::TIM_ID
}
}
impl CountDownTimer<$TIM> {
// XXX(why not name this `new`?) bummer: constructors need to have different names
// even if the `$TIM` are non overlapping (compare to the `free` function below
// which just works)
/// Configures a TIM peripheral as a periodic count down timer
pub fn $tim(
syscfg: &mut SYSCONFIG, sys_clk: Hertz, tim: $TIM
) -> Self {
enable_tim_clk(syscfg, $i);
tim.ctrl.modify(|_, w| w.enable().set_bit());
CountDownTimer {
tim,
sys_clk,
rst_val: 0,
curr_freq: 0.hz(),
listening: false,
last_cnt: 0,
}
}
impl<TIM: ValidTim> CountDownTimer<TIM> {
/// Configures a TIM peripheral as a periodic count down timer
pub fn new(syscfg: &mut SYSCONFIG, sys_clk: Hertz, tim: TIM) -> Self {
enable_tim_clk(syscfg, TIM::TIM_ID);
let cd_timer = CountDownTimer {
tim: unsafe { TimRegister::new(tim) },
sys_clk,
rst_val: 0,
curr_freq: 0.hz(),
listening: false,
last_cnt: 0,
};
cd_timer.tim.reg().ctrl.modify(|_, w| w.enable().set_bit());
cd_timer
}
/// Listen for events. This also actives the IRQ in the IRQSEL register
/// for the provided interrupt. It also actives the peripheral clock for
/// IRQSEL
pub fn listen(
&mut self,
event: Event,
syscfg: &mut SYSCONFIG,
irqsel: &mut IRQSEL,
interrupt: Interrupt,
) {
match event {
Event::TimeOut => {
enable_peripheral_clock(syscfg, PeripheralClocks::Irqsel);
irqsel.tim[$i].write(|w| unsafe { w.bits(interrupt as u32) });
self.tim.ctrl.modify(|_, w| w.irq_enb().set_bit());
self.listening = true;
}
}
}
pub fn unlisten(
&mut self, event: Event, syscfg: &mut SYSCONFIG, irqsel: &mut IRQSEL
) {
match event {
Event::TimeOut => {
enable_peripheral_clock(syscfg, PeripheralClocks::Irqsel);
irqsel.tim[$i].write(|w| unsafe { w.bits(IRQ_DST_NONE) });
self.tim.ctrl.modify(|_, w| w.irq_enb().clear_bit());
self.listening = false;
}
}
}
pub fn release(self, syscfg: &mut SYSCONFIG) -> $TIM {
self.tim.ctrl.write(|w| w.enable().clear_bit());
syscfg
.tim_clk_enable
.modify(|r, w| unsafe { w.bits(r.bits() & !(1 << $i)) });
self.tim
}
pub fn auto_disable(self, enable: bool) -> Self {
if enable {
self.tim.ctrl.modify(|_, w| w.auto_disable().set_bit());
} else {
self.tim.ctrl.modify(|_, w| w.auto_disable().clear_bit());
}
self
}
pub fn auto_deactivate(self, enable: bool) -> Self {
if enable {
self.tim.ctrl.modify(|_, w| w.auto_deactivate().set_bit());
} else {
self.tim.ctrl.modify(|_, w| w.auto_deactivate().clear_bit());
}
self
}
pub fn curr_freq(&self) -> Hertz {
self.curr_freq
}
pub fn listening(&self) -> bool {
self.listening
}
/// Listen for events. This also actives the IRQ in the IRQSEL register
/// for the provided interrupt. It also actives the peripheral clock for
/// IRQSEL
pub fn listen(
&mut self,
event: Event,
syscfg: &mut SYSCONFIG,
irqsel: &mut IRQSEL,
interrupt: Interrupt,
) {
match event {
Event::TimeOut => {
enable_peripheral_clock(syscfg, PeripheralClocks::Irqsel);
irqsel.tim[TIM::TIM_ID as usize].write(|w| unsafe { w.bits(interrupt as u32) });
self.tim.reg().ctrl.modify(|_, w| w.irq_enb().set_bit());
self.listening = true;
}
}
}
/// CountDown implementation for TIMx
impl CountDown for CountDownTimer<$TIM> {
type Time = Hertz;
pub fn unlisten(&mut self, event: Event, syscfg: &mut SYSCONFIG, irqsel: &mut IRQSEL) {
match event {
Event::TimeOut => {
enable_peripheral_clock(syscfg, PeripheralClocks::Irqsel);
irqsel.tim[TIM::TIM_ID as usize].write(|w| unsafe { w.bits(IRQ_DST_NONE) });
self.tim.reg().ctrl.modify(|_, w| w.irq_enb().clear_bit());
self.listening = false;
}
}
}
fn start<T>(&mut self, timeout: T)
where
T: Into<Hertz>,
{
self.tim.ctrl.modify(|_, w| w.enable().clear_bit());
self.curr_freq = timeout.into();
self.rst_val = self.sys_clk.0 / self.curr_freq.0;
unsafe {
self.tim.rst_value.write(|w| w.bits(self.rst_val));
self.tim.cnt_value.write(|w| w.bits(self.rst_val));
}
self.tim.ctrl.modify(|_, w| w.enable().set_bit());
}
pub fn release(self, syscfg: &mut SYSCONFIG) -> TIM {
self.tim.reg().ctrl.write(|w| w.enable().clear_bit());
syscfg
.tim_clk_enable
.modify(|r, w| unsafe { w.bits(r.bits() & !(1 << TIM::TIM_ID)) });
self.tim.release()
}
/// Return `Ok` if the timer has wrapped. Peripheral will automatically clear the
/// flag and restart the time if configured correctly
fn wait(&mut self) -> nb::Result<(), Void> {
let cnt = self.tim.cnt_value.read().bits();
if cnt > self.last_cnt {
self.last_cnt = self.rst_val;
Ok(())
} else if cnt == 0 {
self.last_cnt = self.rst_val;
Ok(())
} else {
self.last_cnt = cnt;
Err(nb::Error::WouldBlock)
}
}
}
pub fn auto_disable(self, enable: bool) -> Self {
if enable {
self.tim
.reg()
.ctrl
.modify(|_, w| w.auto_disable().set_bit());
} else {
self.tim
.reg()
.ctrl
.modify(|_, w| w.auto_disable().clear_bit());
}
self
}
impl Periodic for CountDownTimer<$TIM> {}
pub fn auto_deactivate(self, enable: bool) -> Self {
if enable {
self.tim
.reg()
.ctrl
.modify(|_, w| w.auto_deactivate().set_bit());
} else {
self.tim
.reg()
.ctrl
.modify(|_, w| w.auto_deactivate().clear_bit());
}
self
}
impl Cancel for CountDownTimer<$TIM> {
type Error = TimerErrors;
fn cancel(&mut self) -> Result<(), Self::Error> {
if !self.tim.ctrl.read().enable().bit_is_set() {
return Err(TimerErrors::Canceled);
}
self.tim.ctrl.write(|w| w.enable().clear_bit());
Ok(())
}
}
pub fn curr_freq(&self) -> Hertz {
self.curr_freq
}
/// Delay for microseconds.
///
/// For delays less than 100 us, an assembly delay will be used.
/// For larger delays, the timer peripheral will be used.
/// Please note that the delay using the peripheral might not
/// work properly in debug mode.
impl delay::DelayUs<u32> for CountDownTimer<$TIM> {
fn delay_us(&mut self, us: u32) {
if(us < 100) {
cortex_m::asm::delay(us * (self.sys_clk.0 / 2_000_000));
} else {
// Configuring the peripheral for higher frequencies is unstable
self.start(1000.khz());
// The subtracted value is an empirical value measures by using tests with
// an oscilloscope.
for _ in 0..us - 7 {
nb::block!(self.wait()).unwrap();
}
}
}
}
/// Forwards call to u32 variant of delay
impl delay::DelayUs<u16> for CountDownTimer<$TIM> {
fn delay_us(&mut self, us: u16) {
self.delay_us(u32::from(us));
}
}
/// Forwards call to u32 variant of delay
impl delay::DelayUs<u8> for CountDownTimer<$TIM> {
fn delay_us(&mut self, us: u8) {
self.delay_us(u32::from(us));
}
}
pub fn listening(&self) -> bool {
self.listening
}
}
impl delay::DelayMs<u32> for CountDownTimer<$TIM> {
fn delay_ms(&mut self, ms: u32) {
self.start(1000.hz());
for _ in 0..ms {
nb::block!(self.wait()).unwrap();
}
}
}
impl delay::DelayMs<u16> for CountDownTimer<$TIM> {
fn delay_ms(&mut self, ms: u16) {
self.delay_ms(u32::from(ms));
}
}
impl embedded_hal::blocking::delay::DelayMs<u8> for CountDownTimer<$TIM> {
fn delay_ms(&mut self, ms: u8) {
self.delay_ms(u32::from(ms));
}
}
/// CountDown implementation for TIMx
impl<TIM: ValidTim> CountDown for CountDownTimer<TIM> {
type Time = Hertz;
)+
fn start<T>(&mut self, timeout: T)
where
T: Into<Hertz>,
{
self.tim.reg().ctrl.modify(|_, w| w.enable().clear_bit());
self.curr_freq = timeout.into();
self.rst_val = self.sys_clk.0 / self.curr_freq.0;
unsafe {
self.tim.reg().rst_value.write(|w| w.bits(self.rst_val));
self.tim.reg().cnt_value.write(|w| w.bits(self.rst_val));
}
self.tim.reg().ctrl.modify(|_, w| w.enable().set_bit());
}
/// Return `Ok` if the timer has wrapped. Peripheral will automatically clear the
/// flag and restart the time if configured correctly
fn wait(&mut self) -> nb::Result<(), Void> {
let cnt = self.tim.reg().cnt_value.read().bits();
if (cnt > self.last_cnt) || cnt == 0 {
self.last_cnt = self.rst_val;
Ok(())
} else {
self.last_cnt = cnt;
Err(nb::Error::WouldBlock)
}
}
}
impl<TIM: ValidTim> Periodic for CountDownTimer<TIM> {}
impl<TIM: ValidTim> Cancel for CountDownTimer<TIM> {
type Error = TimerErrors;
fn cancel(&mut self) -> Result<(), Self::Error> {
if !self.tim.reg().ctrl.read().enable().bit_is_set() {
return Err(TimerErrors::Canceled);
}
self.tim.reg().ctrl.write(|w| w.enable().clear_bit());
Ok(())
}
}
/// Delay for microseconds.
///
/// For delays less than 100 us, an assembly delay will be used.
/// For larger delays, the timer peripheral will be used.
/// Please note that the delay using the peripheral might not
/// work properly in debug mode.
impl<TIM: ValidTim> delay::DelayUs<u32> for CountDownTimer<TIM> {
fn delay_us(&mut self, us: u32) {
if us < 100 {
cortex_m::asm::delay(us * (self.sys_clk.0 / 2_000_000));
} else {
// Configuring the peripheral for higher frequencies is unstable
self.start(1000.khz());
// The subtracted value is an empirical value measures by using tests with
// an oscilloscope.
for _ in 0..us - 7 {
nb::block!(self.wait()).unwrap();
}
}
}
}
/// Forwards call to u32 variant of delay
impl<TIM: ValidTim> delay::DelayUs<u16> for CountDownTimer<TIM> {
fn delay_us(&mut self, us: u16) {
self.delay_us(u32::from(us));
}
}
/// Forwards call to u32 variant of delay
impl<TIM: ValidTim> delay::DelayUs<u8> for CountDownTimer<TIM> {
fn delay_us(&mut self, us: u8) {
self.delay_us(u32::from(us));
}
}
impl<TIM: ValidTim> delay::DelayMs<u32> for CountDownTimer<TIM> {
fn delay_ms(&mut self, ms: u32) {
self.start(1000.hz());
for _ in 0..ms {
nb::block!(self.wait()).unwrap();
}
}
}
impl<TIM: ValidTim> delay::DelayMs<u16> for CountDownTimer<TIM> {
fn delay_ms(&mut self, ms: u16) {
self.delay_ms(u32::from(ms));
}
}
impl<TIM: ValidTim> embedded_hal::blocking::delay::DelayMs<u8> for CountDownTimer<TIM> {
fn delay_ms(&mut self, ms: u8) {
self.delay_ms(u32::from(ms));
}
}
@ -484,7 +551,7 @@ pub fn set_up_ms_timer(
tim0: TIM0,
irq: pac::Interrupt,
) -> CountDownTimer<TIM0> {
let mut ms_timer = CountDownTimer::tim0(syscfg, sys_clk, tim0);
let mut ms_timer = CountDownTimer::new(syscfg, sys_clk, tim0);
ms_timer.listen(timer::Event::TimeOut, syscfg, irqsel, irq);
ms_timer.start(1000.hz());
ms_timer
@ -505,33 +572,6 @@ pub fn get_ms_ticks() -> u32 {
cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get())
}
timers! {
TIM0: (tim0, 0),
TIM1: (tim1, 1),
TIM2: (tim2, 2),
TIM3: (tim3, 3),
TIM4: (tim4, 4),
TIM5: (tim5, 5),
TIM6: (tim6, 6),
TIM7: (tim7, 7),
TIM8: (tim8, 8),
TIM9: (tim9, 9),
TIM10: (tim10, 10),
TIM11: (tim11, 11),
TIM12: (tim12, 12),
TIM13: (tim13, 13),
TIM14: (tim14, 14),
TIM15: (tim15, 15),
TIM16: (tim16, 16),
TIM17: (tim17, 17),
TIM18: (tim18, 18),
TIM19: (tim19, 19),
TIM20: (tim20, 20),
TIM21: (tim21, 21),
TIM22: (tim22, 22),
TIM23: (tim23, 23),
}
//==================================================================================================
// Delay implementations
//==================================================================================================