cheapsdo2.0/src/main.rs

#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
use defmt_rtt as _; // global logger

use panic_probe as _;
use stm32f1xx_hal as _;

// same panicking *behavior* as `panic-probe` but doesn't print a panic message
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
#[defmt::panic_handler]
fn panic() -> ! {
    cortex_m::asm::udf()
}

use rtic::app;

#[app(device = stm32f1xx_hal::pac, peripherals = true, dispatchers = [SPI3])]
mod app {

    use rtic_monotonics::systick::*;

    use embedded_hal::digital::v2::OutputPin;
    use stm32f1xx_hal::{
        gpio::{self, gpioa, gpioc, Alternate, Output, PushPull},
        pac,
        pac::{RCC, TIM2, TIM3, TIM4},
        prelude::*,
        rcc::Enable,
        rcc::Reset,
        timer::{self, Channel, PwmHz, Tim4NoRemap},
    };

    #[local]
    struct Local {
        board_led: gpioc::PC13<Output<PushPull>>,
        tim2: TIM2,
        tim3: TIM3,
        pwm: PwmHz<TIM4, Tim4NoRemap, timer::Ch<0>, gpio::Pin<'B', 6, Alternate>>,
    }

    #[shared]
    struct Shared {}

    const target_freq: f64 = 10.0f64;

    #[init]
    fn init(cx: init::Context) -> (Shared, Local) {
        let mut rcc = cx.device.RCC.constrain();
        let mut flash = cx.device.FLASH.constrain();

        let clocks = rcc
            .cfgr
            .use_hse(8.MHz())
            .sysclk(48.MHz())
            .pclk1(24.MHz())
            .freeze(&mut flash.acr);

        defmt::info!("Clock Setup done");

        // Initialize the systick interrupt & obtain the token to prove that we did
        let systick_mono_token = rtic_monotonics::create_systick_token!();
        Systick::start(cx.core.SYST, clocks.sysclk().to_Hz(), systick_mono_token);

        let mut gpioc = cx.device.GPIOC.split();

        // Configure gpio C pin 13 as a push-pull output. The `crh` register is passed to the function
        // in order to configure the port. For pins 0-7, crl should be passed instead.
        let board_led = gpioc.pc13.into_push_pull_output(&mut gpioc.crh);

        let mut afio = cx.device.AFIO.constrain();
        let mut gpiob = cx.device.GPIOB.split();
        let pwm_pin = gpiob.pb6.into_alternate_push_pull(&mut gpiob.crl);
        let mut pwm =
            cx.device
                .TIM4
                .pwm_hz::<Tim4NoRemap, _, _>(pwm_pin, &mut afio.mapr, 32.kHz(), &clocks);
        pwm.enable(Channel::C1);

        defmt::info!("PWM Setup done");


        let tim2 = cx.device.TIM2;
        unsafe {
            let rcc = &*RCC::ptr();
            TIM2::enable(rcc);
            TIM2::reset(rcc);
        }

        // Enable external clocking
        tim2.smcr.write(|w| {
            w.etf().no_filter(); // No filter for to 10Mhz clock
            w.etps().div1(); // No divider
            w.etp().not_inverted(); // on rising edege at ETR pin
            w.ece().enabled() // mode 2 (use ETR pin)
        });

        tim2.ccmr1_input().write(|w| {
            w.cc1s().ti2(); // Input capture using TI2 input
            w.ic1f().no_filter() // No filter on input capture input
                                 //w.ic1psc().bits(0) // Disable prescaler, not safely implement by HAL yet
        });

        tim2.ccer.write(|w| {
            w.cc1p().set_bit(); // Use rising edge on TI
            w.cc1e().set_bit() // Enable input capture
        });

        tim2.cr2.write(|w| {
            w.mms().update() // Trigger output on update/overflow
        });

        tim2.ccer.write(|w| {
            w.cc1p().set_bit(); // Use rising edge on TI
            w.cc1e().set_bit() // Enable input capture
        });

        tim2.cr2.write(|w| {
            w.mms().update() // Trigger output on update/overflow
        });

        // Counting up to 10^7 should need 24 bits
        // Clock tim2 by tim1s overflow to make a 32bit timer
        let tim3 = cx.device.TIM3;
        unsafe {
            let rcc = &*RCC::ptr();
            TIM3::enable(rcc);
            TIM3::reset(rcc);
        }

        tim3.smcr.write(|w| {
            w.ts().itr1(); // Trigger from internal trigger 1
            w.sms().ext_clock_mode() // Use trigger as clock
        });

        tim3.ccmr1_input().write(|w| {
            w.cc1s().ti1(); // Input capture using TI1 input
            w.ic1f().no_filter() // No filter on input capture input
                                 //w.ic1psc().bits(0) // Disable prescaler, not safely implement by HAL yet
        });

        tim3.ccer.write(|w| {
            w.cc1p().set_bit(); // Use rising edge on TI
            w.cc1e().set_bit() // Enable input capture
        });

        tim2.cr1.write(|w| w.cen().enabled());
        tim3.cr1.write(|w| w.cen().enabled());

        defmt::info!("Timer Setup done");

        update_pwm::spawn().unwrap();

        (
            Shared {},
            Local {
                board_led,
                tim2,
                tim3,
                pwm,
            },
        )
    }

    #[task(local=[tim2, tim3, pwm, board_led])]
    async fn update_pwm(cx: update_pwm::Context) {
        defmt::info!("Update Task started");

        let tim2 = cx.local.tim2;
        let tim3 = cx.local.tim3;
        let pwm = cx.local.pwm;
        let board_led = cx.local.board_led;

        let mut last_ic = 0u32;
        let mut avg = 10f64;
        let max_pwm = pwm.get_max_duty() as u32;
        let mut cur_pwm = 3000u32; //max_pwm / 2;

        // Inialize last_ic
        while !tim2.sr.read().cc1if().bit_is_set() || !tim3.sr.read().cc1if().bit_is_set() {
            Systick::delay(10.millis()).await;
        }
        let ic1 = tim2.ccr1().read().bits();
        let ic2 = tim3.ccr1().read().bits();

        last_ic = ic2 << 16 | ic1;

       loop {
            while !tim3.sr.read().cc1if().bit_is_set() || !tim3.sr.read().cc1if().bit_is_set() {
                Systick::delay(10.millis()).await;
            }

            let ic1 = tim2.ccr1().read().bits();
            let ic2 = tim3.ccr1().read().bits();

            let sum_ic = ic2 << 16 | ic1;

            let diff_ic = if sum_ic > last_ic {
                sum_ic - last_ic
            } else {
                u32::MAX - last_ic + sum_ic
            };

            last_ic = sum_ic;

            let freq = (diff_ic as f64) / 1_000_000f64;
            let diff = freq - avg;

            board_led.toggle();

            if diff > 0.000_100 || diff < -0.000_100 {
                continue;
            }

            avg = avg * 0.999 + freq * 0.001;

            cur_pwm = if 10_000_000 >= diff_ic {
                cur_pwm + (10_000_000 - diff_ic)
            } else {
                cur_pwm - (diff_ic - 10_000_000)
            };
            cur_pwm = if cur_pwm > max_pwm { max_pwm } else { cur_pwm };

            pwm.set_duty(Channel::C1, cur_pwm as u16);

            defmt::info!("ic1:\t{}", ic1);
            defmt::info!("ic2:\t{}", ic2);
            defmt::info!("sum_ic:\t{}", sum_ic);
            defmt::info!("diff_ic:\t{}", diff_ic);
            defmt::info!("freq:\t{} MHz", freq);
            defmt::info!("avg:\t{} MHz", avg);
            defmt::info!("pwm:\t{}", cur_pwm);

             Systick::delay(500.millis()).await;
       }
    }
}