PWM: Add wrapper around RIOTS PWM interface

Cargo.toml

@@ -25,6 +25,8 @@ riot-sys = "0.7.8"
 num-traits = { version = "0.2", default-features = false }
 mutex-trait = "0.2"
 
+fugit = "0.3.6"
+
 bare-metal = "1"
 
 cstr = "^0.2.11"

src/lib.rs

@@ -121,6 +121,9 @@ pub mod adc;
 #[cfg(riot_module_periph_dac)]
 pub mod dac;
 
+#[cfg(riot_module_periph_pwm)]
+pub mod pwm;
+
 #[cfg(riot_module_ztimer)]
 pub mod ztimer;
 

src/pwm.rs

@@ -0,0 +1,235 @@
+use embedded_hal::Pwm;
+pub use fugit::{HertzU32, Rate};
+use riot_sys::pwm_t;
+
+/// PWM modes
+///
+/// [`PWMMode::CENTER`] exists in RIOT but is marked as "not supported"
+#[derive(Debug)]
+pub enum PWMMode {
+    Left,
+    Right,
+    Center,
+}
+
+impl PWMMode {
+    /// Converts the rust enum to a c type
+    fn to_c(self) -> riot_sys::pwm_mode_t {
+        match self {
+            Self::Left => riot_sys::pwm_mode_t_PWM_LEFT,
+            Self::Right => riot_sys::pwm_mode_t_PWM_RIGHT,
+            Self::Center => riot_sys::pwm_mode_t_PWM_CENTER,
+        }
+    }
+}
+
+#[derive(Debug)]
+#[non_exhaustive]
+pub enum PwmInitError {
+    /// No information available on the error details
+    ///
+    /// This is the catch-all for unknown types, and should not be handled any different than the `_` case.
+    Other,
+}
+
+#[derive(Debug)]
+#[non_exhaustive]
+pub enum PWMChannelError {
+    /// The specified `PWMChannel` is not available
+    Unavailable,
+}
+
+/// A descriptor for a PWM channel
+#[derive(Debug)]
+pub struct PWMChannel {
+    channel: u8,
+}
+
+/// A device for generating PWM signals on multiple channels.
+///
+/// **Note** that the `CHANNELS` Variable is only used to cache the duty values for each of the `CHANNELS` number of
+/// PWM channels. This is used by [`embedded_hal::Pwm::get_duty`]. If this is not needed setting `CHANNELS` to `0` saves memory.
+#[derive(Debug)]
+pub struct PWMDevice<const CHANNELS: usize> {
+    dev: pwm_t,
+    channel_duty_values: [u16; CHANNELS], //Needed because of embedded_hal implementation
+    frequency: HertzU32,                  //Needed because of embedded_hal implementation
+    resolution: u16,
+}
+
+impl<const CHANNELS: usize> PWMDevice<CHANNELS> {
+    /// Creates and initializes a [`PWMDevice`] with the given frequency in Hz and the resolution of a period/duty cycle
+    ///
+    /// The `index` specifies the index of a boards PWM device. To see how many devices a board supports
+    /// please refer to its RIOT documentation.
+    ///
+    /// Note that duty-values set in [`embedded_hal::Pwm::set_duty`] have to be in [0..resolution]
+    /// with `value==resolution` representing `100%` duty-cycle.
+    ///
+    /// If the given frequency and resolution values can not be acchieved on the current device, the
+    /// resolution will be kept the same while the frequency will be lowered until the device can handle the combination.
+    /// The actual set frequency can the be obtained with [`PWMDevice::get_frequency`].
+    ///
+    /// Returns the initialized [`PWMDevice`] on success
+    ///
+    pub fn new(
+        index: usize,
+        mode: PWMMode,
+        frequency: HertzU32,
+        resolution: u16,
+    ) -> Result<Self, PwmInitError> {
+        let mut pwm_dev = PWMDevice {
+            dev: unsafe { riot_sys::macro_PWM_DEV(index as u32) },
+            channel_duty_values: [0; CHANNELS],
+            frequency,
+            resolution,
+        };
+
+        pwm_dev.init(mode, frequency, resolution)?;
+        Ok(pwm_dev)
+    }
+
+    /// Creates a PWM device from an already initialized c type.
+    ///
+    /// **Note** that the `CHANNELS` Variable is only used to cache the duty values for each of the `CHANNELS` number of
+    /// PWM channels. This is used by [`embedded_hal::Pwm::get_duty`]. If this is not needed setting `CHANNELS` to `0` saves memory.
+    ///
+    /// ## Important:
+    /// It is **important** to make sure that the provided **device is already initialized** by using [`riot_sys::pwm_init`](https://rustdoc.etonomy.org/riot_sys/fn.pwm_init.html).
+    /// Using the returned device otherwise results in **undefined behavior**!
+    ///
+    /// Also note, that the given frequency is only to be used by [`embedded_hal::Pwm::get_period`] or [`PWMDevice::get_frequency`].
+    /// Just setting this to `x` will only result in those two functions returning `x` but will have no other impact, if
+    /// for example the given [`pwm_t`] is initialized by a board and the actually set frequency is unknown.
+    ///
+    /// The same goes for `resolution` which is only used in [`embedded_hal::Pwm::get_max_duty`].
+    pub unsafe fn new_without_init(dev: pwm_t, frequency: HertzU32, resolution: u16) -> Self {
+        PWMDevice {
+            dev,
+            channel_duty_values: [0; CHANNELS],
+            frequency,
+            resolution,
+        }
+    }
+
+    /// Initializes the [`PWMDevice`] with the given frequency in Hz and resolution of a period/duty cycle.
+    ///
+    /// If the given frequency and resolution values can not be acchieved on the current device, the
+    /// resolution will be kept the same while the frequency will be lowered until the device can handle the combination.
+    /// The resulting frequency is written into the [`PWMDevice`].
+    ///
+    /// Uses a [`Result`] in anticipation of a more usefull error handling in the future.
+    fn init(
+        &mut self,
+        mode: PWMMode,
+        frequency: HertzU32,
+        resolution: u16,
+    ) -> Result<(), PwmInitError> {
+        let err = unsafe { riot_sys::pwm_init(self.dev, mode.to_c(), frequency.raw(), resolution) };
+
+        match err {
+            0 => Err(PwmInitError::Other),
+            freq => {
+                // Set frequency in the device
+                self.frequency = Rate::<u32, 1, 1>::from_raw(freq);
+                Ok(())
+            }
+        }
+    }
+
+    /// Provides a channel-descriptor for the given channel number.
+    ///
+    /// Returns an error if the channel number has no corresponding PWM channel in
+    /// RIOT   
+    pub fn get_channel(&self, channel_num: u8) -> Result<PWMChannel, PWMChannelError> {
+        if channel_num >= self.channels() {
+            Err(PWMChannelError::Unavailable)
+        } else {
+            Ok(PWMChannel {
+                channel: channel_num,
+            })
+        }
+    }
+
+    /// Returns the number of available channels for this device.
+    ///
+    /// This is completely independent from `CHANNELS` and only returns
+    /// the count of channels available in RIOT
+    pub fn channels(&self) -> u8 {
+        unsafe { riot_sys::pwm_channels(self.dev) }
+    }
+
+    /// Stops PWM generation on this device
+    pub fn power_off(&mut self) {
+        unsafe { riot_sys::pwm_poweroff(self.dev) }
+    }
+
+    /// Resumes PWM generation after power_off on this device
+    pub fn power_on(&mut self) {
+        unsafe {
+            riot_sys::pwm_poweron(self.dev);
+        }
+    }
+
+    /// Sets the duty-cycle for the given channel
+    ///
+    /// value: `0: 0%, resolution: 100%` duty_cycle
+    fn set(&mut self, channel: PWMChannel, value: u16) {
+        unsafe {
+            riot_sys::pwm_set(self.dev, channel.channel, value);
+        }
+
+        let channel = channel.channel as usize;
+        // Ignore if entry does not exists because
+        // only embedded_hal interface cares about those values
+        // and the implementation already checks for this
+        if channel < CHANNELS {
+            self.channel_duty_values[channel] = value;
+        }
+    }
+}
+
+impl<const CHANNELS: usize> Pwm for PWMDevice<CHANNELS> {
+    type Channel = PWMChannel;
+    type Duty = u16;
+    type Time = HertzU32;
+
+    fn disable(&mut self, _channel: Self::Channel) {
+        panic!("RIOT does not support enabling/disabling single channels")
+    }
+
+    fn enable(&mut self, _channel: Self::Channel) {
+        panic!("RIOT does not support enabling/disabling single channels")
+    }
+
+    fn get_period(&self) -> Self::Time {
+        self.frequency
+    }
+
+    fn get_duty(&self, channel: Self::Channel) -> Self::Duty {
+        let channel = channel.channel as usize;
+
+        if channel >= CHANNELS {
+            panic!(
+                "Tried to get duty for not cached channel: {} >= CHANNELS",
+                channel
+            )
+        }
+        self.channel_duty_values[channel]
+    }
+
+    fn get_max_duty(&self) -> Self::Duty {
+        self.resolution
+    }
+
+    fn set_duty(&mut self, channel: Self::Channel, duty: Self::Duty) {
+        self.set(channel, duty);
+    }
+
+    fn set_period<P>(&mut self, _period: P)
+    where
+        P: Into<Self::Time>,
+    {
+        panic!("RIOT does not support setting the period after initialisation")
+    }
+}

tests/pwm/Cargo.toml

@@ -0,0 +1,16 @@
+[package]
+name = "riot-wrappers-test-pwm"
+version = "0.1.0"
+edition = "2021"
+publish = false
+
+[lib]
+crate-type = ["staticlib"]
+
+[profile.release]
+panic = "abort"
+
+[dependencies]
+riot-wrappers = { version = "*", features = [ "set_panic_handler" ] }
+riot-sys = "*"
+embedded-hal = { version = "0.2.4", features = ["unproven"] }

tests/pwm/Makefile

@@ -0,0 +1,7 @@
+APPLICATION = riot-wrappers-test-pwm
+APPLICATION_RUST_MODULE = riot_wrappers_test_pwm
+BASELIBS += $(APPLICATION_RUST_MODULE).module
+FEATURES_REQUIRED += rust_target
+FEATURES_REQUIRED += periph_pwm
+
+include $(RIOTBASE)/Makefile.include

tests/pwm/src/lib.rs

@@ -0,0 +1,13 @@
+#![no_std]
+
+use embedded_hal::Pwm;
+use riot_wrappers::pwm::{HertzU32, PWMDevice, PWMMode};
+use riot_wrappers::riot_main;
+
+riot_main!(main);
+
+fn main() {
+    let mut pwm = PWMDevice::<0>::new(0, PWMMode::Left, HertzU32::Hz(10), 100).unwrap();
+    let channel_0 = pwm.get_channel(0).unwrap();
+    pwm.set_duty(channel_0, 50); // 50% duty_cycle
+}