A bit less far from compiling...

Author: usbalbin

src/mcpwm/mod.rs

@@ -59,6 +59,7 @@ use core::borrow::Borrow;
 
 use crate::gpio::OutputPin;
 use crate::units::{FromValueType, Hertz};
+use crate::mcpwm::operator::{HwOperator, OPERATOR0, OPERATOR1, OPERATOR2};
 use esp_idf_sys::*;
 
 // MCPWM clock source frequency for ESP32 and ESP32-s3
@@ -116,23 +117,13 @@ impl<U: Unit> MCPWM<U> {
 }
 
 pub trait Unit: Default {
-    fn unit() -> mcpwm_unit_t;
+    const ID: mcpwm_unit_t;
 }
 
 impl Unit for UnitZero {
-    fn unit() -> mcpwm_unit_t {
-        mcpwm_unit_t_MCPWM_UNIT_0
-    }
+    const ID: mcpwm_unit_t = mcpwm_unit_t_MCPWM_UNIT_0;
 }
 
 impl Unit for UnitOne {
-    fn unit() -> mcpwm_unit_t {
-        mcpwm_unit_t_MCPWM_UNIT_1
-    }
-}
-
-trait OptionalOperator<U: Unit, O: HwOperator<U>> {}
-
-struct NoOperator;
-impl<U: Unit, O: HwOperator> OptionalOperator<U, O> for NoOperator {}
-
+    const ID: mcpwm_unit_t = mcpwm_unit_t_MCPWM_UNIT_1;
+}

src/mcpwm/operator.rs

@@ -1,24 +1,28 @@
+use std::borrow::Borrow;
+
+use esp_idf_sys::{mcpwm_io_signals_t, mcpwm_unit_t, mcpwm_operator_t,
+    mcpwm_io_signals_t_MCPWM0A, mcpwm_io_signals_t_MCPWM0B,
+    mcpwm_io_signals_t_MCPWM1A, mcpwm_io_signals_t_MCPWM1B,
+    mcpwm_io_signals_t_MCPWM2A, mcpwm_io_signals_t_MCPWM2B, EspError
+};
+
+use crate::{mcpwm::{Unit, UnitZero, UnitOne}, gpio::OutputPin};
+
+use super::{Duty, timer_connection::OptionalOutputPin};
+
 // The hardware for ESP32 and ESP32-S3 can associate any operator(within the mcpwm module) with any
 // timer(within the mcpwm module) for example allowing using the same timer for all three operators.
-// However at least as of IDF v4.4 timer0 is hardcoded to operator0 and timer1 to operator1 and so on...
-pub trait HwOperator<U: Unit>: Into<Operator<U, Self>> {
-    fn signal_a() -> mcpwm_io_signals_t;
-    fn signal_b() -> mcpwm_io_signals_t;
-    fn unit() -> mcpwm_unit_t {
-        U::unit()
-    }
+pub trait HwOperator<U: Unit> {
+    const SIGNAL_A: mcpwm_io_signals_t;
+    const SIGNAL_B: mcpwm_io_signals_t;
+    const UNIT_ID: mcpwm_unit_t = U::ID;
 }
 
 macro_rules! impl_operator_helper {
     ($instance:ident: $timer:expr, $signal_a:expr, $signal_b:expr, $unit:ty) => {
         impl HwOperator<$unit> for $instance<$unit> {
-            fn signal_a() -> mcpwm_io_signals_t {
-                $signal_a
-            }
-
-            fn signal_b() -> mcpwm_io_signals_t {
-                $signal_b
-            }
+            const SIGNAL_A: mcpwm_io_signals_t = $signal_a;
+            const SIGNAL_B: mcpwm_io_signals_t = $signal_b;
         }
     };
 }
@@ -40,16 +44,6 @@ macro_rules! impl_operator {
             }
         }
 
-        impl<U: Unit> Into<Operator<U>> for $instance<U> {
-            fn into(self) -> Operator<U> {
-                Operator {
-                    _instance: self,
-                    pin_a: NoPin,
-                    pin_b: NoPin,
-                }
-            }
-        }
-
         impl_operator_helper!($instance: $timer, $signal_a, $signal_b, UnitZero);
         impl_operator_helper!($instance: $timer, $signal_a, $signal_b, UnitOne);
     };
@@ -79,21 +73,20 @@ impl_operator!(
 ///
 /// Every Motor Control module has three operators. Every operator can generate two output signals called A and B.
 /// A and B share the same timer and thus frequency and phase but can have induvidual duty set.
-pub struct Operator<U: Unit, O: HwOperator<U>, M: Borrow<Mcpwm<U>>, PA: OptionalPin, PB: OptionalPin, D> {
+pub struct Operator<U: Unit, O: HwOperator<U>, PA: OptionalOutputPin, PB: OptionalOutputPin> {
     handle: mcpwm_operator_t,
     _instance: O,
 
     _pin_a: PA,
     _pin_b: PB,
 
-    deadtime: D
+    //deadtime: D
 }
 
-impl<U, O, M, PA, PB> Operator<U, O, M, PA, PB>
+impl<U, O, PA, PB> Operator<U, O, PA, PB>
 where
     U: Unit,
     O: HwOperator<U>,
-    M: Borrow<Mcpwm<U>>,
     PA: OutputPin,
     PB: OptionalOutputPin,
 {
@@ -108,11 +101,10 @@ where
     }
 }
 
-impl<U, O, M, PA, PB> Operator<U, O, M, PA, PB>
+impl<U, O, PA, PB> Operator<U, O, PA, PB>
 where
     U: Unit,
     O: HwOperator<U>,
-    M: Borrow<Mcpwm<U>>,
     PA: OptionalOutputPin,
     PB: OutputPin,
 {
@@ -134,7 +126,7 @@ pub struct OperatorConfig {
 
     duty_mode: DutyMode,
 
-    deadtime: Option<DeadtimeConfig>,
+    //deadtime: Option<DeadtimeConfig>,
 }
 
 impl OperatorConfig {
@@ -159,26 +151,22 @@ impl OperatorConfig {
         self
     }
 
-    #[must_use]
+    /*#[must_use]
     pub fn deadtime(mut self, deadtime: impl Into<Option<DeadtimeConfig>>) -> Self {
         self.deadtime = deadtime.into();
         self
-    }
+    }*/
 }
 
 impl Default for OperatorConfig {
     fn default() -> Self {
         Self {
-            frequency: 1000.Hz(),
-            duty_a: 50.0,
-            duty_b: 50.0,
-
-            #[cfg(not(esp_idf_version = "4.3"))]
-            lowest_frequency: 16.Hz(),
+            duty_a: 0.0,
+            duty_b: 0.0,
 
             duty_mode: DutyMode::ActiveHigh,
 
-            deadtime: None,
+            //deadtime: None,
         }
     }
 }
@@ -199,6 +187,13 @@ pub enum DutyMode {
     ActiveLow,
 }
 
+pub trait OptionalOperator<U: Unit, O: HwOperator<U>> {}
+
+pub struct NoOperator;
+impl<U: Unit, O: HwOperator<U>> OptionalOperator<U, O> for NoOperator {}
+
+/*
+
 #[derive(Default, Clone)]
 struct DutyConfig {
     on_matches_cmp_a: CountingDirection,
@@ -226,23 +221,30 @@ impl Default for GeneratorAction {
     }
 }
 
-impl From<DutyMode> for DutyConfig {
-    fn from(val: DutyMode) -> Self {
+impl DutyMode {
+    fn into_duty_cfg<G: Generator>(self) -> DutyConfig<G> {
         match val {
             DutyMode::ActiveHigh => {
                 let mut duty_config: DutyConfig = Default::default();
                 duty_config.on_is_empty.counting_up = GeneratorAction::SetHigh;
-                duty_config.on_matches_cmp_a.counting_up = GeneratorAction::SetLow;
-                
+                if G::IS_A {
+                    duty_config.on_matches_cmp_a.counting_up = GeneratorAction::SetLow;
+                } else {
+                    duty_config.on_matches_cmp_b.counting_up = GeneratorAction::SetLow;
+                }
                 duty_config
             },
             DutyMode::ActiveLow => {
                 let mut duty_config: DutyConfig = Default::default();
                 duty_config.on_is_empty.counting_up = GeneratorAction::SetLow;
-                duty_config.on_matches_cmp_a.counting_up = GeneratorAction::SetHigh;
+                if G::IS_A {
+                    duty_config.on_matches_cmp_a.counting_up = GeneratorAction::SetHigh;
+                } else {
+                    duty_config.on_matches_cmp_b.counting_up = GeneratorAction::SetHigh;
+                }
                 
                 duty_config
             },
         }
     }
-}
+} */

src/mcpwm/timer.rs

@@ -1,13 +1,24 @@
+use std::ptr;
+
+use esp_idf_sys::{mcpwm_counter_type_t_MCPWM_UP_DOWN_COUNTER, mcpwm_counter_type_t_MCPWM_DOWN_COUNTER, mcpwm_counter_type_t_MCPWM_UP_COUNTER, mcpwm_timer_t, mcpwm_timer_handle_t, mcpwm_timer_enable, mcpwm_timer_t_MCPWM_TIMER_0, mcpwm_timer_t_MCPWM_TIMER_1, mcpwm_timer_t_MCPWM_TIMER_2, mcpwm_counter_type_t};
+
+use crate::units::Hertz;
+use crate::mcpwm::Unit;
+
+use super::operator::NoOperator;
+use super::timer_connection::TimerConnection;
+
+
 #[derive(Clone, Copy, Debug)]
 struct TimerConfig {
     frequency: Hertz,
     resolution: Hertz,
     counter_mode: CounterMode,
 
     // TODO
-    // on_full,
-    // on_empty,
-    // on_stop,
+    // on_full: FF,
+    // on_empty: FE,
+    // on_stop: FS,
 }
 
 impl TimerConfig {
@@ -40,12 +51,12 @@ impl TimerConfig {
     //}
 //}
 
-struct Timer<U: Unit, T: HwTimer<U>> {
+pub struct Timer<U: Unit, T: HwTimer<U>> {
     handle: mcpwm_timer_handle_t,
     _timer: T,
 }
 
-impl Timer {
+impl<U: Unit, T: HwTimer<U>> Timer {
     pub fn new(timer: T, config: TimerConfig) -> Self {
         let config = mcpwm_timer_config_t {
             resolution
@@ -71,7 +82,7 @@ impl Timer {
     }
 
     pub fn timer(&self) -> mcpwm_timer_t {
-        T::timer()
+        T::ID
     }
 
     pub fn release(self) -> T {
@@ -88,7 +99,7 @@ impl Timer {
     }
 }
 
-impl Drop for Timer {
+impl<U: Unit, T: HwTimer<U>> Drop for Timer<U, T> {
     fn drop(self) {
         mcpwm_del_timer(self.handle)
     }
@@ -99,8 +110,8 @@ impl Drop for Timer {
 #[derive(Clone, Copy, Debug)]
 pub enum CounterMode {
     /// Timer is frozen or paused
-    #[cfg(not(esp_idf_version = "4.3"))]
-    Frozen,
+    //#[cfg(not(esp_idf_version = "4.3"))]
+    //Frozen,
     /// Edge aligned. The counter will start from its lowest value and increment every clock cycle until the period is reached.
     ///
     /// The wave form will end up looking something like the following:
@@ -158,11 +169,27 @@ pub enum CounterMode {
 impl From<CounterMode> for mcpwm_counter_type_t {
     fn from(val: CounterMode) -> Self {
         match val {
-            #[cfg(not(esp_idf_version = "4.3"))]
-            CounterMode::Frozen => mcpwm_counter_type_t_MCPWM_FREEZE_COUNTER,
+            //CounterMode::Frozen => mcpwm_counter_type_t_MCPWM_FREEZE_COUNTER,
             CounterMode::Up => mcpwm_counter_type_t_MCPWM_UP_COUNTER,
             CounterMode::Down => mcpwm_counter_type_t_MCPWM_DOWN_COUNTER,
             CounterMode::UpDown => mcpwm_counter_type_t_MCPWM_UP_DOWN_COUNTER,
         }
     }
-}
+}
+
+unsafe trait HwTimer<U: Unit> {
+    const ID: mcpwm_timer_t;
+}
+
+macro_rules! impl_timer {
+    ($t:ident, $id:expr) => {
+        struct $t;
+        impl<U: Unit> HwTimer<U> for $t {
+            const ID: mcpwm_timer_t = $id;
+        }
+    };
+}
+
+impl_timer!(TIMER0, mcpwm_timer_t_MCPWM_TIMER_0);
+impl_timer!(TIMER1, mcpwm_timer_t_MCPWM_TIMER_1);
+impl_timer!(TIMER2, mcpwm_timer_t_MCPWM_TIMER_2);