57 lines
1.3 KiB
Rust
57 lines
1.3 KiB
Rust
use embedded_hal::pwm::{ErrorKind, ErrorType, SetDutyCycle};
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use log::trace;
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use rpi_pal::pwm::Pwm;
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use std::fmt::{Display, Formatter};
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use std::time::Duration;
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const PWM_PERIOD: Duration = Duration::from_micros(1000); // 1kHz
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pub struct PwmWrapper {
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pwm: Pwm,
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}
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impl PwmWrapper {
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pub fn new(mut pwm: Pwm) -> anyhow::Result<Self> {
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trace!("PwmWrapper::new(pwm: {pwm:?})");
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pwm.set_period(PWM_PERIOD)?;
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pwm.enable()?;
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pwm.set_reset_on_drop(true);
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Ok(Self {
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pwm
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})
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}
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}
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#[derive(Debug)]
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pub struct ErrorWrapper(rpi_pal::pwm::Error);
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impl embedded_hal::pwm::Error for ErrorWrapper {
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fn kind(&self) -> ErrorKind {
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ErrorKind::Other
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}
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}
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impl Display for ErrorWrapper {
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fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
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self.0.fmt(f)
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}
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}
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impl std::error::Error for ErrorWrapper {}
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impl ErrorType for PwmWrapper {
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type Error = ErrorWrapper;
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}
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impl SetDutyCycle for PwmWrapper {
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fn max_duty_cycle(&self) -> u16 {
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trace!("PwmWrapper::max_duty_cycle()");
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u16::MAX
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}
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fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
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trace!("PwmWrapper::set_duty_cycle(duty: {duty})");
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self.pwm.set_duty_cycle((duty as f64) / (u16::MAX as f64)).map_err(ErrorWrapper)
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}
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}
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