DelayNs

Author: burrbull

Cargo.toml

@@ -25,7 +25,7 @@ stm32f1 = "0.15.1"
 embedded-dma = "0.2.0"
 bxcan = "0.7"
 void = { default-features = false, version = "1.0.2" }
-fugit = "0.3.6"
+fugit = "0.3.7"
 fugit-timer = "0.1.3"
 rtic-monotonic = { version = "1.0", optional = true }
 bitflags = "1.3.2"

src/timer.rs

@@ -73,6 +73,7 @@ pub mod pwm;
 pub use pwm::*;
 
 mod hal_02;
+mod hal_1;
 
 /// Timer wrapper
 pub struct Timer<TIM> {

src/timer/hal_1.rs

@@ -0,0 +1,48 @@
+//! Delay implementation based on general-purpose 32 bit timers and System timer (SysTick).
+//!
+//! TIM2 and TIM5 are a general purpose 32-bit auto-reload up/downcounter with
+//! a 16-bit prescaler.
+
+use core::convert::Infallible;
+use embedded_hal::delay::DelayNs;
+
+use super::{Delay, Instance, PwmChannel, SysDelay, WithPwm};
+use fugit::ExtU32Ceil;
+
+impl DelayNs for SysDelay {
+    fn delay_ns(&mut self, ns: u32) {
+        self.delay(ns.nanos_at_least());
+    }
+
+    fn delay_ms(&mut self, ms: u32) {
+        self.delay(ms.millis_at_least());
+    }
+}
+
+impl<TIM: Instance, const FREQ: u32> DelayNs for Delay<TIM, FREQ> {
+    fn delay_ns(&mut self, ns: u32) {
+        self.delay(ns.micros_at_least());
+    }
+
+    fn delay_us(&mut self, us: u32) {
+        self.delay(us.micros_at_least());
+    }
+
+    fn delay_ms(&mut self, ms: u32) {
+        self.delay(ms.millis_at_least());
+    }
+}
+
+impl<TIM: Instance + WithPwm, const C: u8> embedded_hal::pwm::ErrorType for PwmChannel<TIM, C> {
+    type Error = Infallible;
+}
+
+impl<TIM: Instance + WithPwm, const C: u8> embedded_hal::pwm::SetDutyCycle for PwmChannel<TIM, C> {
+    fn max_duty_cycle(&self) -> u16 {
+        self.get_max_duty()
+    }
+    fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
+        self.set_duty(duty);
+        Ok(())
+    }
+}