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use core::u16;
use hal::{self, Direction};
use stm32f103xx::{TIM2, TIM3, TIM4};
use afio::MAPR;
use gpio::gpioa::{PA0, PA1, PA6, PA7};
use gpio::gpiob::{PB6, PB7};
use gpio::{Floating, Input};
use rcc::APB1;
pub trait Pins<TIM> {
const REMAP: u8;
}
impl Pins<TIM2> for (PA0<Input<Floating>>, PA1<Input<Floating>>) {
const REMAP: u8 = 0b00;
}
impl Pins<TIM3> for (PA6<Input<Floating>>, PA7<Input<Floating>>) {
const REMAP: u8 = 0b00;
}
impl Pins<TIM4> for (PB6<Input<Floating>>, PB7<Input<Floating>>) {
const REMAP: u8 = 0b00;
}
pub struct Qei<TIM, PINS> {
tim: TIM,
pins: PINS,
}
impl<PINS> Qei<TIM2, PINS> {
pub fn tim2(tim: TIM2, pins: PINS, mapr: &mut MAPR, apb: &mut APB1) -> Self
where
PINS: Pins<TIM2>,
{
mapr.mapr()
.modify(|_, w| unsafe { w.tim2_remap().bits(PINS::REMAP) });
Qei::_tim2(tim, pins, apb)
}
}
impl<PINS> Qei<TIM3, PINS> {
pub fn tim3(tim: TIM3, pins: PINS, mapr: &mut MAPR, apb: &mut APB1) -> Self
where
PINS: Pins<TIM3>,
{
mapr.mapr()
.modify(|_, w| unsafe { w.tim3_remap().bits(PINS::REMAP) });
Qei::_tim3(tim, pins, apb)
}
}
impl<PINS> Qei<TIM4, PINS> {
pub fn tim4(tim: TIM4, pins: PINS, mapr: &mut MAPR, apb: &mut APB1) -> Self
where
PINS: Pins<TIM4>,
{
mapr.mapr()
.modify(|_, w| w.tim4_remap().bit(PINS::REMAP == 1));
Qei::_tim4(tim, pins, apb)
}
}
macro_rules! hal {
($($TIMX:ident: ($timX:ident, $timXen:ident, $timXrst:ident),)+) => {
$(
impl<PINS> Qei<$TIMX, PINS> {
fn $timX(tim: $TIMX, pins: PINS, apb: &mut APB1) -> Self {
apb.enr().modify(|_, w| w.$timXen().set_bit());
apb.rstr().modify(|_, w| w.$timXrst().set_bit());
apb.rstr().modify(|_, w| w.$timXrst().clear_bit());
tim.ccmr1_output
.write(|w| unsafe { w.bits({ (0b01 << 0) | (0b01 << 8) }) });
tim.ccer.write(|w| {
w.cc1e()
.set_bit()
.cc1p()
.clear_bit()
.cc2e()
.set_bit()
.cc2p()
.clear_bit()
});
tim.smcr.write(|w| w.sms().encoder_ti1ti2());
tim.arr.write(|w| w.arr().bits(u16::MAX));
tim.cr1.write(|w| w.cen().enabled());
Qei { tim, pins }
}
pub fn release(self) -> ($TIMX, PINS) {
(self.tim, self.pins)
}
}
impl<PINS> hal::Qei for Qei<$TIMX, PINS> {
type Count = u16;
fn count(&self) -> u16 {
self.tim.cnt.read().cnt().bits()
}
fn direction(&self) -> Direction {
if self.tim.cr1.read().dir().bit_is_clear() {
hal::Direction::Upcounting
} else {
hal::Direction::Downcounting
}
}
}
)+
}
}
hal! {
TIM2: (_tim2, tim2en, tim2rst),
TIM3: (_tim3, tim3en, tim3rst),
TIM4: (_tim4, tim4en, tim4rst),
}