init channels after Pwm

.github/workflows/ci.yml

@@ -43,7 +43,7 @@ jobs:
       - uses: actions-rs/cargo@v1
         with:
           command: check
-          args: --features=${{ matrix.mcu }},rtic,high --examples
+          args: --features=${{ matrix.mcu }},rtic1,high --examples
 
       - uses: actions-rs/cargo@v1
         with:

.vscode/settings.json

@@ -2,19 +2,8 @@
   "rust.all_targets": false,
   "rust.target": "thumbv7m-none-eabi",
   "rust.all_features": false,
-  "rust.features": [
-    "rtic",
-    "stm32f103",
-    "medium"
-  ],
+  "rust.features": ["rtic1", "stm32f103", "medium"],
   "rust-analyzer.checkOnSave.allTargets": false,
-  "rust-analyzer.checkOnSave.extraArgs": [
-      "--target",
-      "thumbv7m-none-eabi"
-  ],
-  "rust-analyzer.cargo.features": [
-    "rtic",
-    "stm32f103",
-    "medium"
-  ]
+  "rust-analyzer.checkOnSave.extraArgs": ["--target", "thumbv7m-none-eabi"],
+  "rust-analyzer.cargo.features": ["rtic1", "stm32f103", "medium"]
 }

.zed/settings.json

@@ -3,7 +3,7 @@
     "rust-analyzer": {
       "initialization_options": {
         "cargo": {
-          "features": ["defmt", "rtic", "stm32f103", "medium"]
+          "features": ["defmt", "rtic1", "stm32f103", "medium"]
         },
         "check": {
           "allTargets": false,

CHANGELOG.md

@@ -7,9 +7,20 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [Unreleased]
 
+### Breaking changes
+
+- move pin connecting to timer channels after `Pwm` initialization [#517]
+
 ### Changed
 
 - `timer.rs` refactoring
+- `rtic` feature renamed to `rtic1` [#517]
+
+### Added
+
+- `rtic2` feature, timer `Capture` support [#517]
+
+[#517]: https://github.com/stm32-rs/stm32f1xx-hal/pull/517
 
 ## [v0.11.0] - 2025-09-09
 

Cargo.toml

@@ -17,7 +17,7 @@ readme = "README.md"
 version = "0.11.0"
 
 [package.metadata.docs.rs]
-features = ["stm32f103", "rtic", "high"]
+features = ["stm32f103", "rtic1", "high"]
 default-target = "x86_64-unknown-linux-gnu"
 
 [dependencies]
@@ -28,11 +28,21 @@ nb = "1.1"
 embedded-dma = "0.2.0"
 bxcan = "0.8.0"
 void = { default-features = false, version = "1.0.2" }
-fugit = "0.3.7"
+fugit = "0.3.9"
 fugit-timer = "0.1.3"
-rtic-monotonic = { version = "1.0", optional = true }
 bitflags = "1.3.2"
 vcell = "0.1.3"
+# rtic1
+rtic-monotonic = { version = "1.0", optional = true }
+systick-monotonic = { version = "1.0.1", optional = true }
+cortex-m-rtic = { version = "1.1.4", features = [
+    "test-critical-section",
+], optional = true }
+# rtic2
+rtic-time = { version = "2.0.1", optional = true }
+embedded-hal-async = { version = "1.0", optional = true }
+rtic = { version = "2.2", features = ["thumbv7-backend"], optional = true }
+atomic-polyfill = { version = "1.0.3", optional = true }
 
 [dependencies.stm32f1]
 version = "0.16.0"
@@ -57,12 +67,12 @@ version = "0.8.0"
 optional = true
 
 [dev-dependencies]
+defmt-rtt = "1.0"
 panic-halt = "1.0.0"
 panic-semihosting = "0.6.0"
 panic-itm = "0.4.2"
 panic-probe = "1.0"
 rtt-target = "0.6.1"
-cortex-m-rtic = "1.1.4"
 cortex-m-semihosting = "0.5.0"
 heapless = "0.9.1"
 mfrc522 = { version = "0.8.0", features = ["eh02"] }
@@ -93,7 +103,22 @@ has-can = []
 # Devices with Dac
 has-dac = []
 
-rtic = ["rtic-monotonic"]
+## Support monotonic timers and other stuff that can be used by [RTICv1 framework](https://crates.io/crates/cortex-m-rtic)
+rtic1 = ["dep:rtic-monotonic", "dep:systick-monotonic", "cortex-m-rtic"]
+
+## Support monotonic timers and other stuff that can be used by [RTICv2 framework](https://crates.io/crates/rtic)
+##
+## Requires nightly rust compiler
+rtic2 = [
+    "dep:rtic-time",
+    "dep:rtic",
+    "dep:atomic-polyfill",
+    "dep:embedded-hal-async",
+]
+rtic-tim2 = []
+rtic-tim3 = []
+rtic-tim4 = []
+rtic-tim5 = []
 
 [profile.dev]
 incremental = false
@@ -114,7 +139,7 @@ required-features = ["stm32f103", "stm32-usbd"]
 
 [[example]]
 name = "usb_serial_rtic"
-required-features = ["stm32f103", "stm32-usbd"]
+required-features = ["stm32f103", "stm32-usbd", "rtic1"]
 
 [[example]]
 name = "blinky_timer_irq"
@@ -130,12 +155,16 @@ required-features = ["medium"]
 
 [[example]]
 name = "timer-interrupt-rtic"
-required-features = ["stm32f103", "medium"]
+required-features = ["stm32f103", "medium", "rtic1"]
 
 [[example]]
 name = "exti"
 required-features = []
 
+[[example]]
+name = "exti_rtic"
+required-features = ["rtic1"]
+
 [[example]]
 name = "can-echo"
 required-features = ["has-can"]
@@ -146,7 +175,7 @@ required-features = ["has-can"]
 
 [[example]]
 name = "can-rtic"
-required-features = ["has-can"]
+required-features = ["has-can", "rtic1"]
 
 [[example]]
 name = "gpio_input"
@@ -155,3 +184,7 @@ required-features = ["stm32f103"]
 [[example]]
 name = "serial-interrupt-idle"
 required-features = ["stm32f103", "medium"]
+
+[[example]]
+name = "rtic2-timer-input-capture"
+required-features = ["stm32f103", "rtic2"]

examples/pwm.rs

@@ -9,103 +9,78 @@ use panic_halt as _;
 
 use cortex_m::asm;
 use cortex_m_rt::entry;
-use stm32f1xx_hal::{
-    pac,
-    prelude::*,
-    time::ms,
-    timer::{Channel, Tim2NoRemap},
-};
+use stm32f1xx_hal::{pac, prelude::*, time::ms};
 
 #[entry]
 fn main() -> ! {
     let p = pac::Peripherals::take().unwrap();
 
     let mut rcc = p.RCC.constrain();
 
-    let mut afio = p.AFIO.constrain(&mut rcc);
-
-    let mut gpioa = p.GPIOA.split(&mut rcc);
+    let gpioa = p.GPIOA.split(&mut rcc);
     // let mut gpiob = p.GPIOB.split(&mut rcc);
 
     // TIM2
-    let c1 = gpioa.pa0.into_alternate_push_pull(&mut gpioa.crl);
-    let c2 = gpioa.pa1.into_alternate_push_pull(&mut gpioa.crl);
-    let c3 = gpioa.pa2.into_alternate_push_pull(&mut gpioa.crl);
+    let c1 = gpioa.pa0;
+    let c2 = gpioa.pa1;
+    let c3 = gpioa.pa2;
     // If you don't want to use all channels, just leave some out
-    // let c4 = gpioa.pa3.into_alternate_push_pull(&mut gpioa.crl);
-    let pins = (c1, c2, c3);
+    // let c4 = gpioa.pa3;
 
     // TIM3
-    // let c1 = gpioa.pa6.into_alternate_push_pull(&mut gpioa.crl);
-    // let c2 = gpioa.pa7.into_alternate_push_pull(&mut gpioa.crl);
-    // let c3 = gpiob.pb0.into_alternate_push_pull(&mut gpiob.crl);
-    // let c4 = gpiob.pb1.into_alternate_push_pull(&mut gpiob.crl);
+    // let c1 = gpioa.pa6;
+    // let c2 = gpioa.pa7;
+    // let c3 = gpiob.pb0;
+    // let c4 = gpiob.pb1;
 
     // TIM4 (Only available with the "medium" density feature)
-    // let c1 = gpiob.pb6.into_alternate_push_pull(&mut gpiob.crl);
-    // let c2 = gpiob.pb7.into_alternate_push_pull(&mut gpiob.crl);
-    // let c3 = gpiob.pb8.into_alternate_push_pull(&mut gpiob.crh);
-    // let c4 = gpiob.pb9.into_alternate_push_pull(&mut gpiob.crh);
+    // let c1 = gpiob.pb6;
+    // let c2 = gpiob.pb7;
+    // let c3 = gpiob.pb8;
+    // let c4 = gpiob.pb9;
 
     //let mut pwm =
-    //    Timer::new(p.TIM2, &mut rcc).pwm_hz::<Tim2NoRemap, _, _>(pins, &mut afio.mapr, 1.kHz());
+    //    Timer::new(p.TIM2, &mut rcc).pwm_hz(pins, 1.kHz());
     // or
-    let mut pwm = p
-        .TIM2
-        .pwm_hz::<Tim2NoRemap, _, _>(pins, &mut afio.mapr, 1.kHz(), &mut rcc);
+    let (mut pwm_mgr, (pwm_c1, pwm_c2, pwm_c3, ..)) = p.TIM2.pwm_hz(1.kHz(), &mut rcc);
 
     // Enable clock on each of the channels
-    pwm.enable(Channel::C1);
-    pwm.enable(Channel::C2);
-    pwm.enable(Channel::C3);
+    let mut c1 = pwm_c1.with(c1);
+    c1.enable();
+    let mut c2 = pwm_c2.with(c2);
+    c2.enable();
+    let mut c3 = pwm_c3.with(c3);
+    c3.enable();
 
     //// Operations affecting all defined channels on the Timer
 
     // Adjust period to 0.5 seconds
-    pwm.set_period(ms(500).into_rate());
+    pwm_mgr.set_period(ms(500).into_rate());
 
     asm::bkpt();
 
     // Return to the original frequency
-    pwm.set_period(1.kHz());
+    pwm_mgr.set_period(1.kHz());
 
     asm::bkpt();
 
-    let max = pwm.get_max_duty();
+    let max = pwm_mgr.get_max_duty();
 
     //// Operations affecting single channels can be accessed through
     //// the Pwm object or via dereferencing to the pin.
 
     // Use the Pwm object to set C3 to full strength
-    pwm.set_duty(Channel::C3, max);
+    c3.set_duty(max);
 
     asm::bkpt();
 
     // Use the Pwm object to set C3 to be dim
-    pwm.set_duty(Channel::C3, max / 4);
+    c3.set_duty(max / 4);
 
     asm::bkpt();
 
     // Use the Pwm object to set C3 to be zero
-    pwm.set_duty(Channel::C3, 0);
-
-    asm::bkpt();
-
-    // Extract the PwmChannel for C3
-    let mut pwm_channel = pwm.split().2;
-
-    // Use the PwmChannel object to set C3 to be full strength
-    pwm_channel.set_duty(max);
-
-    asm::bkpt();
-
-    // Use the PwmChannel object to set C3 to be dim
-    pwm_channel.set_duty(max / 4);
-
-    asm::bkpt();
-
-    // Use the PwmChannel object to set C3 to be zero
-    pwm_channel.set_duty(0);
+    c3.set_duty(0);
 
     asm::bkpt();
 

examples/pwm_custom.rs

@@ -8,7 +8,7 @@
 use panic_halt as _;
 
 use cortex_m::asm;
-use stm32f1xx_hal::{pac, prelude::*, timer::Timer};
+use stm32f1xx_hal::{pac, prelude::*};
 
 use cortex_m_rt::entry;
 
@@ -27,30 +27,31 @@ fn main() -> ! {
     let p0 = pb4.into_alternate_push_pull(&mut gpiob.crl);
     let p1 = gpiob.pb5.into_alternate_push_pull(&mut gpiob.crl);
 
-    let pwm = Timer::new(p.TIM3, &mut rcc).pwm_hz((p0, p1), &mut afio.mapr, 1.kHz());
+    let (pwm, pwm_channels) = p.TIM3.remap(&mut afio.mapr).pwm_hz(1.kHz(), &mut rcc);
 
     let max = pwm.get_max_duty();
 
-    let mut pwm_channels = pwm.split();
+    let mut c1 = pwm_channels.0.with(p0);
+    let mut c2 = pwm_channels.1.with(p1);
 
     // Enable the individual channels
-    pwm_channels.0.enable();
-    pwm_channels.1.enable();
+    c1.enable();
+    c2.enable();
 
     // full
-    pwm_channels.0.set_duty(max);
-    pwm_channels.1.set_duty(max);
+    c1.set_duty(max);
+    c2.set_duty(max);
 
     asm::bkpt();
 
     // dim
-    pwm_channels.1.set_duty(max / 4);
+    c2.set_duty(max / 4);
 
     asm::bkpt();
 
     // zero
-    pwm_channels.0.set_duty(0);
-    pwm_channels.1.set_duty(0);
+    c1.set_duty(0);
+    c2.set_duty(0);
 
     asm::bkpt();