...just kidding. However now it is compiling!! But now quite running

Author: usbalbin

examples/mcpwm-simple.rs

@@ -61,7 +61,7 @@ fn main() -> anyhow::Result<()> {
     use embedded_hal::delay::blocking::DelayUs;
 
     use esp_idf_hal::delay::FreeRtos;
-    use esp_idf_hal::mcpwm::{Mcpwm, Operator, OperatorConfig};
+    use esp_idf_hal::mcpwm::{Timer, TimerConfig, Operator, OperatorConfig};
     use esp_idf_hal::prelude::Peripherals;
     use esp_idf_hal::units::FromValueType;
 
@@ -72,27 +72,30 @@ fn main() -> anyhow::Result<()> {
     let peripherals = Peripherals::take().unwrap();
     let timer_config = TimerConfig::default().frequency(25.kHz());
     let operator_config = OperatorConfig::default();
-    let timer = Mcpwm::new(peripherals.mcpwm0.timer, timer_config)?;
+    let timer = Timer::new(peripherals.mcpwm0.timer0, timer_config);
 
-    let timer = timer.into_connection()
+    let mut timer = timer.into_connection()
         .attatch_operator0(
             peripherals.mcpwm0.operator0,
             operator_config,
             peripherals.pins.gpio4,
             peripherals.pins.gpio5,
-        )?;
+        );
 
     let (timer, operator, _, _) = timer.split();
 
     println!("Starting duty-cycle loop");
 
-    for duty in (0..timer.get_top_value()).cycle() {
+    let period_ticks = timer.get_period_peak();
+
+    // TODO: Will this work as expected in UP_DOWN counter mode?
+    for duty in (0..period_ticks).cycle() {
         if duty % 100 == 0 {
-            println!("Duty {}%", x / 100);
+            println!("Duty {}%", 100 * duty / period_ticks);
         }
 
         operator.set_duty_a(duty)?;
-        operator.set_duty_b(100.0 - duty)?;
+        operator.set_duty_b(period_ticks - duty)?;
         FreeRtos.delay_ms(10)?;
     }
 
@@ -102,4 +105,6 @@ fn main() -> anyhow::Result<()> {
 #[cfg(not(any(esp32, esp32s3)))]
 fn main() {
     esp_idf_sys::link_patches();
+
+    println!("Sorry MCPWM is only supported on ESP32 and ESP32-S3");
 }

src/mcpwm/mod.rs

@@ -57,7 +57,21 @@ mod timer_connection;
 
 use core::ffi;
 
-use self::{operator::OPERATOR, timer::TIMER};
+pub use self::{
+    operator::{
+        OPERATOR,
+        Operator,
+        OperatorConfig,
+    },
+    timer::{
+        TIMER,
+        Timer,
+        TimerConfig
+    },
+    timer_connection::{
+        TimerConnection
+    }
+};
 
 // MCPWM clock source frequency for ESP32 and ESP32-s3
 const MCPWM_CLOCK_SOURCE_FREQUENCY: u32 = 160_000_000;
@@ -70,9 +84,9 @@ const MAX_PWM_TIMER_PERIOD: u32 = 0x1_00_00;
 
 /// The Motor Control Pulse Width Modulator peripheral
 pub struct MCPWM<G: Group> {
-    timer0: TIMER<0, G>,
-    timer1: TIMER<1, G>,
-    timer2: TIMER<2, G>,
+    pub timer0: TIMER<0, G>,
+    pub timer1: TIMER<1, G>,
+    pub timer2: TIMER<2, G>,
 
     pub operator0: OPERATOR<0, G>,
     pub operator1: OPERATOR<1, G>,

src/mcpwm/operator.rs

@@ -1,14 +1,14 @@
-use esp_idf_sys::{EspError, mcpwm_oper_handle_t};
+use esp_idf_sys::{mcpwm_oper_handle_t, EspError};
 
-use crate::{mcpwm::{Group, Group0, Group1}, gpio::OutputPin};
+use crate::{gpio::OutputPin, mcpwm::Group};
 
-use super::{Duty, timer_connection::OptionalOutputPin};
+use super::{timer_connection::OptionalOutputPin, Duty};
 
 use core::{ffi, marker::PhantomData};
 
-pub struct OPERATOR<const N: u8, G: Group>{
+pub struct OPERATOR<const N: u8, G: Group> {
     _ptr: PhantomData<*const ()>,
-    _group: PhantomData<G>
+    _group: PhantomData<G>,
 }
 
 impl<const N: u8, G: Group> OPERATOR<N, G> {
@@ -19,7 +19,7 @@ impl<const N: u8, G: Group> OPERATOR<N, G> {
     pub unsafe fn new() -> Self {
         Self {
             _ptr: PhantomData,
-            _group: PhantomData
+            _group: PhantomData,
         }
     }
 }
@@ -52,7 +52,6 @@ pub struct Operator<const N: u8, G: Group, PA: OptionalOutputPin, PB: OptionalOu
 
     _pin_a: PA,
     _pin_b: PB,
-
     //deadtime: D
 }
 
@@ -67,7 +66,8 @@ where
         todo!()
     }
 
-    /// Set duty as percentage between 0.0 and 100.0 for output A
+    // TODO: make sure the peak related description is accurate
+    /// Set duty as in the range 0 to timers peak value
     pub fn set_duty_a(&mut self, duty: Duty) -> Result<(), EspError> {
         todo!()
     }
@@ -96,7 +96,6 @@ pub struct OperatorConfig {
     duty_b: Duty,
 
     duty_mode: DutyMode,
-
     //deadtime: Option<DeadtimeConfig>,
 }
 
@@ -136,7 +135,6 @@ impl Default for OperatorConfig {
             duty_b: 0,
 
             duty_mode: DutyMode::ActiveHigh,
-
             //deadtime: None,
         }
     }
@@ -159,12 +157,14 @@ pub enum DutyMode {
 }
 
 pub trait OptionalOperator<const N: u8, G: Group> {}
-impl<const N: u8, G: Group> OptionalOperator<N, G> for OPERATOR<N, G> {}
+impl<const N: u8, G: Group, PA: OptionalOutputPin, PB: OptionalOutputPin> OptionalOperator<N, G>
+    for Operator<N, G, PA, PB>
+{
+}
 
 pub struct NoOperator;
 impl<const N: u8, G: Group> OptionalOperator<N, G> for NoOperator {}
 
-
 /*
 
 #[derive(Default, Clone)]
@@ -215,9 +215,9 @@ impl DutyMode {
                 } else {
                     duty_config.on_matches_cmp_b.counting_up = GeneratorAction::SetHigh;
                 }
-                
+
                 duty_config
             },
         }
     }
-} */
+} */