Crude embassy-rp pwm HAL abstraction

pico_pwm_hal.rs

use core::convert::Infallible;
use embassy_rp::pwm::{Channel, Config, Pwm};
use embedded_hal::pwm::{ErrorType, SetDutyCycle};

pub struct PwmChannelB<'d, T: Channel> {
    pwm: Pwm<'d, T>,
    config: Config,
    max_is_logical_one: bool
}

impl<'d, T: Channel> PwmChannelB<'d, T> {
    pub fn new(pwm: Pwm<'d, T>, config: Config, max_is_logical_one: bool) -> Self {
        Self { pwm, config, max_is_logical_one }
    }
}

impl<'d, T: Channel> ErrorType for PwmChannelB<'d, T> {
    type Error = Infallible;
}

impl<'d, T: Channel> SetDutyCycle for PwmChannelB<'d, T> {
    fn max_duty_cycle(&self) -> u16 {
        self.config.top
    }

    fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
        self.config.compare_b = if self.max_is_logical_one && duty >= self.config.top {
            self.config.top + 1
        } else {
            duty
        };
        self.pwm.set_config(&self.config);
        Ok(())
    }
}

pub struct PwmChannelA<'d, T: Channel> {
    pwm: Pwm<'d, T>,
    config: Config,
    max_is_logical_one: bool
}

impl<'d, T: Channel> crate::pico_pwm_hal::PwmChannelA<'d, T> {
    pub fn new(pwm: Pwm<'d, T>, config: Config, max_is_logical_one: bool) -> Self {
        Self { pwm, config, max_is_logical_one }
    }
}

impl<'d, T: Channel> ErrorType for crate::pico_pwm_hal::PwmChannelA<'d, T> {
    type Error = Infallible;
}

impl<'d, T: Channel> SetDutyCycle for crate::pico_pwm_hal::PwmChannelA<'d, T> {
    fn max_duty_cycle(&self) -> u16 {
        self.config.top
    }

    fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
        self.config.compare_a = if self.max_is_logical_one && duty >= self.config.top {
            self.config.top + 1
        } else {
            duty
        };
        self.pwm.set_config(&self.config);
        Ok(())
    }
}