add .write_count() for TIM, add .set_count() for Qei

Author: eZioPan

src/qei.rs

@@ -6,6 +6,8 @@ use crate::{
 };
 
 pub trait QeiExt: Sized + Instance {
+    type Count;
+
     fn qei(
         self,
         pins: (
@@ -16,6 +18,8 @@ pub trait QeiExt: Sized + Instance {
 }
 
 impl<TIM: Instance> QeiExt for TIM {
+    type Count = TIM::Width;
+
     fn qei(
         self,
         pins: (
@@ -70,6 +74,12 @@ impl<TIM: Instance> Qei<TIM> {
     ) {
         (self.tim, self.pins)
     }
+
+    /// Set current count number
+    pub fn set_count(&mut self, value: TIM::Width) -> &mut Self {
+        self.tim.write_count(value);
+        self
+    }
 }
 
 impl<TIM: Instance> embedded_hal::Qei for Qei<TIM> {

src/timer.rs

@@ -273,6 +273,7 @@ mod sealed {
         fn listen_interrupt(&mut self, event: Event, b: bool);
         fn get_interrupt_flag(&self) -> Event;
         fn read_count(&self) -> Self::Width;
+        fn write_count(&mut self, value: Self::Width);
         fn start_one_pulse(&mut self);
         fn start_free(&mut self, update: bool);
         fn cr1_reset(&mut self);
@@ -405,6 +406,12 @@ macro_rules! hal {
                 self.cnt.read().bits() as Self::Width
             }
             #[inline(always)]
+            fn write_count(&mut self, value:Self::Width) {
+                //TODO: remove "unsafe" when possible
+                #[allow(unused_unsafe)]
+                self.cnt.write(|w|unsafe{w.cnt().bits(value)});
+            }
+            #[inline(always)]
             fn start_one_pulse(&mut self) {
                 self.cr1.modify(|_, w| unsafe { w.bits(1 << 3) }.cen().set_bit());
             }