Add hrtim Dac and adc trigger tests

Author: usbalbin

tests/nucleo-g474_hrtim.rs

@@ -10,17 +10,21 @@ 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 stm32_hrtim::{
+    compare_register::HrCompareRegister,
+    control::HrPwmControl,
+    deadtime::DeadtimeConfig,
+    output::{HrOutput, ToHrOut},
+    timer::HrTimer,
+    DacResetOnCounterReset, DacStepOnCmp2, HrParts, HrPwmAdvExt as _, Pscl64,
+};
+use stm32g4xx_hal::{
+    delay::SYSTDelayExt,
+    gpio::{GpioExt, PinExt},
+    hrtim::{HrControltExt, HrtimPin},
+    pwr::PwrExt,
+    rcc::{self, Rcc, RccExt},
+};
 
 use hal::stm32;
 use stm32g4xx_hal as hal;
@@ -33,6 +37,10 @@ type Timer = crate::common::Timer<CYCLES_PER_US>;
 #[embedded_test::tests]
 mod tests {
     use embedded_hal::delay::DelayNs;
+    use stm32g4xx_hal::{
+        adc::{self, temperature::Temperature, AdcClaim, AdcCommonExt},
+        dac::{self, DacExt, DacOut, SawtoothConfig},
+    };
 
     #[test]
     fn simple() {
@@ -61,7 +69,7 @@ mod tests {
                 ..
             },
             mut hr_control,
-        ) = setup(pin, None, dp.HRTIM_TIMA, dp.HRTIM_COMMON, &mut rcc);
+        ) = setup_hrtim(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
@@ -97,6 +105,104 @@ mod tests {
 
         deadtime_test(1, 68);
     }
+
+    /// Test adc trigger and DAC trigger
+    ///
+    /// Setup hrtim with DAC to generate a Sawtooth waveform. Use a compare register to accurately
+    /// place the measurement point.
+    ///
+    /// |          /|          /|          /|
+    /// |    *   /  |        /  |        /  |
+    /// |    * /    |      /    |      /    |
+    /// |    X      |    /      |    /      |
+    /// |  / *      |  /        |  /        |
+    /// |/   *      |/          |/          |
+    /// |--->*         
+    ///     cr3 indicates where in waveform to trigger ADC
+    ///
+    #[test]
+    fn adc_trigger() {
+        use super::*;
+
+        let mut cp = stm32::CorePeripherals::take().unwrap();
+        let dp = stm32::Peripherals::take().unwrap();
+
+        // 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 = gpioa.pa1.into_analog();
+        let pa4 = gpioa.pa4;
+        let pin = gpioa.pa8;
+
+        let (mut hrtimer, mut hr_control) =
+            setup_hrtim(pin, None, dp.HRTIM_TIMA, dp.HRTIM_COMMON, &mut rcc);
+
+        hrtimer.cr1.set_duty(PERIOD / 2);
+        hrtimer.out.enable_rst_event(&hrtimer.cr1); // Set low on compare match with cr1
+        hrtimer.out.enable_set_event(&hrtimer.timer); // Set high at new period
+
+        let dac_step_per_trigger = 16;
+        let cr2_ticks_per_dac_trigger = dac_step_per_trigger;
+        hrtimer.cr2.set_duty(cr2_ticks_per_dac_trigger);
+        let dac1ch1 = dp.DAC1.constrain(pa4, &mut rcc);
+        let mut ref_dac = dac1ch1.enable_sawtooth_generator(
+            SawtoothConfig::with_slope(dac::CountingDirection::Decrement, dac_step_per_trigger)
+                .inc_trigger(&hrtimer.cr2)
+                .reset_trigger(&hrtimer.timer),
+            &mut rcc,
+        );
+
+        hr_control.adc_trigger1.enable_source(&hrtimer.cr3);
+
+        defmt::debug!("Setup Adc1");
+        let mut adc12_common = dp
+            .ADC12_COMMON
+            .claim(adc::config::ClockMode::AdcHclkDiv4, &mut rcc);
+        let mut adc = adc12_common.claim(dp.ADC1, &mut delay);
+
+        adc.set_external_trigger((
+            adc::config::TriggerMode::RisingEdge,
+            (&hr_control.adc_trigger1).into(),
+        ));
+        adc12_common.enable_temperature();
+        adc.set_continuous(hal::adc::config::Continuous::Discontinuous);
+        adc.reset_sequence();
+        adc.configure_channel(
+            &pa1,
+            adc::config::Sequence::One,
+            adc::config::SampleTime::Cycles_12_5,
+        );
+        let mut adc = adc.enable().into_dynamic_adc();
+        hrtimer.timer.start(&mut hr_control.control);
+
+        ref_dac.set_value(4095);
+
+        defmt::debug!("Awaiting first dac rst trigger");
+        while ref_dac.get_value() == 0 {}
+
+        //out.enable();
+
+        adc.start_conversion();
+
+        for _ in 0..2 {
+            let margin = 256;
+            for sampling_point in (margin..(PERIOD - margin)).step_by(16) {
+                hrtimer.cr3.set_duty(sampling_point); // Set sampling point
+                let sampling_point_as_12bit = sampling_point >> 4;
+
+                // Dac generates a sawtooth with negative slope which starts at 4095 every new period
+                let expected_dac_value = 4095 - sampling_point_as_12bit;
+                adc.wait_for_conversion_sequence();
+                let adc_value = adc.current_sample();
+                let diff = adc_value.abs_diff(expected_dac_value);
+                assert!(diff < 20);
+            }
+        }
+    }
 }
 
 #[allow(non_snake_case)]
@@ -118,16 +224,26 @@ fn setup_rcc_120MHz(pwr: stm32::PWR, rcc: stm32::RCC) -> Rcc {
     )
 }
 
-fn setup<P: stm32g4xx_hal::hrtim::HrtimPin<stm32::HRTIM_TIMA>>(
+fn setup_hrtim<P>(
     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>>,
+    HrParts<
+        stm32::HRTIM_TIMA,
+        Pscl64,
+        <P as ToHrOut<stm32::HRTIM_TIMA, DacResetOnCounterReset, DacStepOnCmp2>>::Out<Pscl64>,
+        DacResetOnCounterReset,
+        DacStepOnCmp2,
+    >,
     HrPwmControl,
-) {
+)
+where
+    P: HrtimPin<stm32::HRTIM_TIMA>
+        + ToHrOut<stm32::HRTIM_TIMA, DacResetOnCounterReset, DacStepOnCmp2>,
+{
     use stm32g4xx_hal::hrtim::HrPwmBuilderExt;
     let (hr_control, ..) = hrtim_common.hr_control(rcc).wait_for_calibration();
     let mut hr_control = hr_control.constrain();
@@ -136,19 +252,20 @@ fn setup<P: stm32g4xx_hal::hrtim::HrtimPin<stm32::HRTIM_TIMA>>(
     // 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
+    let mut hr_tim_builder = 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)
+    (
+        hr_tim_builder
+            .dac_trigger_cfg(DacResetOnCounterReset, DacStepOnCmp2)
+            .finalize(&mut hr_control),
+        hr_control,
+    )
 }
 
 fn deadtime_test(deadtime_rising_us: u32, deadtime_falling_us: u32) {
@@ -187,7 +304,7 @@ fn deadtime_test(deadtime_rising_us: u32, deadtime_falling_us: u32) {
             ..
         },
         mut hr_control,
-    ) = setup(
+    ) = setup_hrtim(
         (pin, complementary_pin),
         Some(deadtime_cfg),
         dp.HRTIM_TIMA,