dead_time

Author: burrbull

src/timer.rs

@@ -275,6 +275,8 @@ mod sealed {
 
     pub trait Advanced: WithPwmCommon {
         fn enable_nchannel(channel: u8, b: bool);
+        fn set_dtg_value(value: u8);
+        fn read_dtg_value() -> u8;
     }
 
     pub trait WithPwm: WithPwmCommon {
@@ -463,6 +465,14 @@ macro_rules! hal {
                                 unsafe { bb::write(&tim.ccer, c*4 + 2, b); }
                             }
                         }
+                        fn set_dtg_value(value: u8) {
+                            let tim = unsafe { &*<$TIM>::ptr() };
+                            tim.bdtr.modify(|_,w| unsafe { w.dtg().bits(value) });
+                        }
+                        fn read_dtg_value() -> u8 {
+                            let tim = unsafe { &*<$TIM>::ptr() };
+                            tim.bdtr.read().dtg().bits()
+                        }
                     }
                 )?
 

src/timer/pwm.rs

@@ -419,6 +419,15 @@ where
     pub fn disable_complementary(&mut self, channel: Channel) {
         TIM::enable_nchannel(PINS::check_complementary_used(channel) as u8, false)
     }
+
+    pub fn set_dead_time(&mut self, dts_ticks: u16) {
+        let bits = pack_ceil_dead_time(dts_ticks);
+        TIM::set_dtg_value(bits);
+    }
+
+    pub fn get_dead_time(&self) -> u16 {
+        unpack_dead_time(TIM::read_dtg_value())
+    }
 }
 
 pub struct Pwm<TIM, P, PINS, const FREQ: u32>
@@ -576,4 +585,35 @@ where
     pub fn disable_complementary(&mut self, channel: Channel) {
         TIM::enable_nchannel(PINS::check_complementary_used(channel) as u8, false)
     }
+
+    pub fn set_dead_time(&mut self, dts_ticks: u16) {
+        let bits = pack_ceil_dead_time(dts_ticks);
+        TIM::set_dtg_value(bits);
+    }
+
+    pub fn get_dead_time(&self) -> u16 {
+        unpack_dead_time(TIM::read_dtg_value())
+    }
+}
+
+const fn pack_ceil_dead_time(dts_ticks: u16) -> u8 {
+    match dts_ticks {
+        0..=127 => dts_ticks as u8,
+        128..=254 => ((((dts_ticks + 1) >> 1) - 64) as u8) | 0b_1000_0000,
+        255..=504 => ((((dts_ticks + 7) >> 3) - 32) as u8) | 0b_1100_0000,
+        505..=1008 => ((((dts_ticks + 15) >> 4) - 32) as u8) | 0b_1110_0000,
+        1009.. => 0xff,
+    }
+}
+
+const fn unpack_dead_time(bits: u8) -> u16 {
+    if bits & 0b_1000_0000 == 0 {
+        bits as u16
+    } else if bits & 0b_0100_0000 == 0 {
+        (((bits & !0b_1000_0000) as u16) + 64) * 2
+    } else if bits & 0b_0010_0000 == 0 {
+        (((bits & !0b_1100_0000) as u16) + 32) * 8
+    } else {
+        (((bits & !0b_1110_0000) as u16) + 32) * 16
+    }
 }