Add tests for hrtim

Author: usbalbin

Cargo.toml

@@ -56,7 +56,7 @@ optional = true
 [dev-dependencies]
 cortex-m-rt = "0.7.2"
 defmt-rtt = "0.4.0"
-embedded-test = "0.6.1"
+embedded-test = "0.6.2"
 cortex-m-rtic = "1.1.4"
 cortex-m-semihosting = "0.3.5"
 panic-probe = { version = "0.3.0", features = ["print-defmt"] }
@@ -148,7 +148,12 @@ required-features = ["stm32g474", "defmt", "cordic"]
 [[test]]
 name = "nucleo-g474_w_jumpers"
 harness = false
-required-features = ["stm32g474", "defmt", "cordic"]
+required-features = ["stm32g474", "defmt"]
+
+[[test]]
+name = "nucleo-g474_hrtim"
+harness = false
+required-features = ["stm32g474", "defmt"]
 
 [lib]
 test = false

src/hrtim/mod.rs

@@ -76,7 +76,7 @@ use gpio::{
 
 use gpio::gpioc::{PC6, PC7};
 
-trait HrtimPin<TIM>: ToHrOut<TIM> {
+pub trait HrtimPin<TIM>: ToHrOut<TIM> {
     fn connect_to_hrtim(self);
 }
 

tests/common/mod.rs

@@ -65,3 +65,52 @@ pub fn await_p<const CYCLES_PER_US: u32>(
         }
     }
 }
+
+#[allow(dead_code)]
+pub fn test_pwm<const CYCLES_PER_US: u32>(timer: &Timer<CYCLES_PER_US>, pin_num: u8, t_lo: MicrosDurationU32, t_hi: MicrosDurationU32, t_max_deviation: MicrosDurationU32, first_start_mult: u32) {
+    defmt::debug!("Awaiting first rising edge...");
+
+    let t_lo_min = t_lo - t_max_deviation;
+    let t_lo_max = t_lo + t_max_deviation;
+    let t_hi_min = t_hi - t_max_deviation;
+    let t_hi_max = t_hi + t_max_deviation;
+
+    let mut hi_duration = 0u32.micros();
+    let mut lo_duration = 0.micros();
+
+    let duration_until_lo = await_lo(timer, pin_num, t_hi_max).unwrap();
+    let first_lo_duration = await_hi(timer, pin_num, t_lo_max * first_start_mult).unwrap(); // Some extra time until started
+
+    for _ in 0..100 {
+        // Make sure the timer half periods are within 495-505us
+        hi_duration = await_lo(timer, pin_num, t_hi_max).unwrap();
+        //defmt::debug!("hi_duration: {}", hi_duration);
+        defmt::assert!(
+            hi_duration > t_hi_min && hi_duration < t_hi_max,
+            "hi: {} < {} < {}",
+            t_hi_min,
+            hi_duration,
+            t_hi_max
+        );
+
+        lo_duration = await_hi(timer, pin_num, t_lo_max).unwrap();
+        //defmt::debug!("lo_duration: {}", lo_duration);
+        defmt::assert!(
+            lo_duration > t_lo_min && lo_duration < t_lo_max,
+            "lo: {} < {} < {}",
+            t_lo_min,
+            lo_duration,
+            t_lo_max
+        );
+        //defmt::debug!("");
+    }
+
+    // Prints deferred until here to not mess up timing
+    defmt::debug!("Waited ~{} until low", duration_until_lo);
+    defmt::debug!("First low half period: {}", first_lo_duration);
+
+    defmt::debug!("High half period: {}", hi_duration);
+    defmt::debug!("Low half period: {}", lo_duration);
+
+    defmt::debug!("Done!");
+}

tests/nucleo-g474_hrtim.rs

@@ -0,0 +1,233 @@
+#![no_std]
+#![no_main]
+
+// Requires a jumper from A1<->A2 (arduino naming) aka PA1<->PA4
+
+#[path = "../examples/utils/mod.rs"]
+mod utils;
+
+mod common;
+
+use common::test_pwm;
+use fugit::{ExtU32, HertzU32, MicrosDurationU32};
+use stm32_hrtim::compare_register::HrCompareRegister;
+use stm32_hrtim::control::HrPwmControl;
+use stm32_hrtim::deadtime::DeadtimeConfig;
+use stm32_hrtim::output::HrOutput;
+use stm32_hrtim::timer::HrTimer;
+use stm32_hrtim::{HrParts, HrPwmAdvExt as _, Pscl64};
+use stm32g4xx_hal::delay::SYSTDelayExt;
+use stm32g4xx_hal::gpio::{GpioExt, PinExt};
+use stm32g4xx_hal::hrtim::HrControltExt;
+use stm32g4xx_hal::pwr::PwrExt;
+use stm32g4xx_hal::rcc::{self, Rcc, RccExt};
+
+use hal::stm32;
+use stm32g4xx_hal as hal;
+
+const PERIOD: u16 = 60_000;
+const F_SYS: HertzU32 = HertzU32::MHz(120);
+const CYCLES_PER_US: u32 = F_SYS.raw() / 1_000_000;
+type Timer = crate::common::Timer<CYCLES_PER_US>;
+
+#[embedded_test::tests]
+mod tests {
+    use embedded_hal::delay::DelayNs;
+
+    #[test]
+    fn simple() {
+        use super::*;
+
+        let mut cp = stm32::CorePeripherals::take().unwrap();
+        let dp = stm32::Peripherals::take().unwrap();
+        let timer = Timer::enable_timer(&mut cp);
+
+        // Set system frequency to 16MHz * 15/1/2 = 120MHz
+        // This would lead to HrTim running at 120MHz * 32 = 3.84...
+        let mut rcc = setup_rcc_120MHz(dp.PWR, dp.RCC);
+        assert_eq!(rcc.clocks.sys_clk, F_SYS);
+        let mut delay = cp.SYST.delay(&rcc.clocks);
+
+        let gpioa = dp.GPIOA.split(&mut rcc);
+        let _pa1_important_dont_use_as_output = gpioa.pa1.into_floating_input();
+        let pin = gpioa.pa8;
+        let pin_num = pin.pin_id();
+
+        let (
+            HrParts {
+                timer: mut hrtimer,
+                mut cr1,
+                mut out,
+                ..
+            },
+            mut hr_control,
+        ) = setup(pin, None, dp.HRTIM_TIMA, dp.HRTIM_COMMON, &mut rcc);
+
+        cr1.set_duty(PERIOD / 2);
+        out.enable_rst_event(&cr1); // Set low on compare match with cr1
+        out.enable_set_event(&hrtimer); // Set high at new period
+        out.enable();
+        hrtimer.start(&mut hr_control.control);
+
+        let t_hi = 500.micros();
+        let t_lo = 500.micros();
+        let t_max_deviation = 2.micros();
+        test_pwm(&timer, pin_num, t_lo, t_hi, t_max_deviation, 10);
+
+        delay.delay_ms(20); // Give the host some time to read defmt messages
+    }
+
+    #[test]
+    fn deadtime_68us_68us() {
+        use super::*;
+
+        deadtime_test(68, 68);
+    }
+
+    #[test]
+    fn deadtime_68us_1us() {
+        use super::*;
+
+        deadtime_test(68, 1);
+    }
+
+    #[test]
+    fn deadtime_1us_68us() {
+        use super::*;
+
+        deadtime_test(1, 68);
+    }
+}
+
+#[allow(non_snake_case)]
+fn setup_rcc_120MHz(pwr: stm32::PWR, rcc: stm32::RCC) -> Rcc {
+    defmt::info!("rcc");
+    // Set system frequency to 16MHz * 15/1/2 = 120MHz
+    // This would lead to HrTim running at 120MHz * 32 = 3.84...
+    let pwr = pwr.constrain().freeze();
+    rcc.freeze(
+        rcc::Config::pll().pll_cfg(rcc::PllConfig {
+            mux: rcc::PllSrc::HSI,
+            n: rcc::PllNMul::MUL_15,
+            m: rcc::PllMDiv::DIV_1,
+            r: Some(rcc::PllRDiv::DIV_2),
+
+            ..Default::default()
+        }),
+        pwr,
+    )
+}
+
+fn setup<P: stm32g4xx_hal::hrtim::HrtimPin<stm32::HRTIM_TIMA>>(
+    pins: P,
+    deadtime_cfg: Option<DeadtimeConfig>,
+    hrtim_tima: stm32::HRTIM_TIMA,
+    hrtim_common: stm32::HRTIM_COMMON,
+    rcc: &mut Rcc,
+) -> (HrParts<stm32::HRTIM_TIMA, Pscl64, P::Out<Pscl64>>, HrPwmControl) {
+    use stm32g4xx_hal::hrtim::HrPwmBuilderExt;
+    let (hr_control, ..) = hrtim_common.hr_control(rcc).wait_for_calibration();
+    let mut hr_control = hr_control.constrain();
+
+    // ...with a prescaler of 64 this gives us a HrTimer with a tick rate of 60MHz
+    // With a period of 60_000 set, this would be 60MHz/60_000 = 1kHz
+    let prescaler = Pscl64;
+
+    let mut hr_tim_builder: stm32_hrtim::HrPwmBuilder<
+        stm32::HRTIM_TIMA,
+        Pscl64,
+        stm32_hrtim::PreloadSource,
+        P,
+    > = hrtim_tima
+        .pwm_advanced(pins)
+        .prescaler(prescaler)
+        .period(PERIOD);
+    if let Some(dt) = deadtime_cfg {
+        hr_tim_builder = hr_tim_builder.deadtime(dt);
+    }
+    (hr_tim_builder.finalize(&mut hr_control), hr_control)
+}
+
+fn deadtime_test(deadtime_rising_us: u32, deadtime_falling_us: u32) {
+    let mut cp = stm32::CorePeripherals::take().unwrap();
+    let dp = stm32::Peripherals::take().unwrap();
+    let timer = Timer::enable_timer(&mut cp);
+
+    let deadtime_cfg = DeadtimeConfig::default()
+        .prescaler(stm32_hrtim::deadtime::DeadtimePrescaler::ThrtimMul16)
+        .deadtime_rising_value(
+            (deadtime_rising_us * F_SYS.to_MHz() / 16)
+                .try_into()
+                .unwrap(),
+        ) // ~(1/120MHz)*16*500 ~= 67us
+        .deadtime_falling_value(
+            (deadtime_falling_us * F_SYS.to_MHz() / 16)
+                .try_into()
+                .unwrap(),
+        );
+
+    let mut rcc = setup_rcc_120MHz(dp.PWR, dp.RCC);
+    assert_eq!(rcc.clocks.sys_clk, F_SYS);
+
+    let gpioa = dp.GPIOA.split(&mut rcc);
+    let _pa1_important_dont_use_as_output = gpioa.pa1.into_floating_input();
+    let pin = gpioa.pa8;
+    let pin_num = pin.pin_id();
+    let complementary_pin = gpioa.pa9;
+    let complementary_pin_num = complementary_pin.pin_id();
+
+    let (
+        HrParts {
+            timer: mut hrtimer,
+            mut cr1,
+            out: (mut out1, mut out2),
+            ..
+        },
+        mut hr_control,
+    ) = setup(
+        (pin, complementary_pin),
+        Some(deadtime_cfg),
+        dp.HRTIM_TIMA,
+        dp.HRTIM_COMMON,
+        &mut rcc,
+    );
+
+    cr1.set_duty(PERIOD / 2);
+    out1.enable_rst_event(&cr1); // Set low on compare match with cr1
+    out1.enable_set_event(&hrtimer); // Set high at new period
+    out1.enable();
+    out2.enable();
+    hrtimer.start(&mut hr_control.control);
+
+    let t_max_deviation = 2.micros();
+    {
+        let t_hi = (500 - deadtime_rising_us).micros();
+        let t_lo = (500 + deadtime_rising_us).micros();
+        test_pwm(&timer, pin_num, t_lo, t_hi, t_max_deviation, 10);
+    }
+
+    {
+        let t_hi = (500 - deadtime_falling_us).micros();
+        let t_lo = (500 + deadtime_falling_us).micros();
+        test_pwm(
+            &timer,
+            complementary_pin_num,
+            t_lo,
+            t_hi,
+            t_max_deviation,
+            10,
+        );
+    }
+
+    let gpioa = unsafe { &*stm32::GPIOA::PTR };
+
+    // Check that both output are not active at the same time
+    let before = timer.now();
+    while (timer.now() - before) < MicrosDurationU32::millis(1000) {
+        let idr = gpioa.idr().read();
+
+        let p = idr.idr(pin_num).is_high();
+        let compl_p = idr.idr(complementary_pin_num).is_high();
+        defmt::assert!(!(p && compl_p), "Both outputs active at the same time");
+    }
+}