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+- Feature Name: Common Interface for reading Clocks and other counters
+- Start Date: 2024-05-22
+- RFC PR: (leave this empty)
+- Rust Issue: (leave this empty)
+
+# Summary
+[summary]: #summary
+
+The embedded-hal traits `InputPin`, `OutputPin`, `I2c`, etc. key elements on the journey towards rust becoming
+a first-class-citizen in the embedded devolopment space. Of notable absence is such a trait for reading an incremental counter,
+and coupling that read to a unit being counted. This RFC calls for the development of such a trait.
+
+**Example 1: Clock**
+The trait would be implemented such that it reads from a clocks tick-count register, and assosciated type(s)/const(s) would allow
+this to be expressed as a measure of time. This implementation can be used wherever one needs a clock to get a measure of time, and
+`embedded_hal::counters::Clock` trait is in scope.
+
+**Example 2: Usage Tracking**
+
+A embedded dev wishes to track total movement of a machine. The couple an AB encoder to a ++ only pulse-count peripheral.
+They implement counter such that a `read` will read from the pulse-count peripheral. They define their own trait extension internally
+named `LifetimeMoveCount: embedded_hal::count::Counter`, and constrain it such that Counter must specify a distance for each count.
+Their `LifetimeMoveCount` defers to `Counter` to get a read of movement, but its own impls defines long-term caching of data (e.g.
+non volatile storage, or send reports to a server, etc).
+
+**Core Principal**
+
+> the goal of embedded-hal is to make it possible to write drivers that are portable across HALs.
+
+
+
+# Motivation
+[motivation]: #motivation
+
+`esp-hal` has one implementation of representing time. `embassy-time` is another. If you look through any platform specific hal,
+you are sure to find two things:
+
+- Comprehensive implementation of the embedded-hal common interface.
+- Their own implementation of getting time.
+- Where applicable, their own interface for reading and interpreting counters, such as pulse counters.
+
+One can put together a library that is platform agnostic by means of using common interfaces. Much like the way
+`where LedP: SetDutyCycle` clause in a method makes it usable across the board, such as with this e.g....:
+
+```rust
+fn set_brightness<LedP: SetDutyCycle>(pin: LedP, brightness_pcnt: u8) -> Encoder {
+ pin.set_duty_cycle_percent(brightness_pcnt)
+}
+```
+
+...embedded developers ought to have access to a common counter interface
+
+```rust
+// rotate brightness between 50 and 100% every 15 seconds using a clock-specific extension of a counting interface.
+fn time_rotated_brightness<LedP: SetDutyCycle, ClkSrc: ReadClock>(led_pin: LedP, clk: ClkSrc) {
+ let age: MiliSecs<_> = clk.read_count().time_scaled();
+ let age: u16 = age.into();
+ let modulod = age.integer() % 15_000;
+ let numer = // math to map and scale the modulod to a triange pattern between 7_500 and 15_000
+ led_pin.set_duty_cycle_fraction(numer, 15_000)
+}
+```
+
+This example is quite contrived, but for every situation in which someone needs to read an oscilator count, there is no core
+standard for this, the way there is for things like gpio pins, i2c, etc.
+
+# Detailed design
+[design]: #detailed-design
+
+The core influence comes from two sources:
+
+- `embedded-hal`: This RFC aims to make no impositions on specific implementation, but rather, make it easy to write highly portable embedded-rust
+- `embedded-time`: An independant endeavour that does a great job of already encapsulating this core idea.
+
+This is the code defining the `embedded_time::Clock` trait. I have changed the comments for the context of this RFC:
+
+<details>
+<summary> Expand to view annotated summary `embedded_time::Clock` trait </summary>
+
+```rust
+// I would rename this. A consistent oscilator is not necisarily a clock. It could be a PWM at 50% duty cycle,
+// or an ab encoder tracking total distance moved, etc. The only assumption is that it is an incremental counter, and that
+// each increment has a specific meaning (be it a meanure of time, distance, etc.).
+pub trait Clock: Sized {
+
+ // This `T` assosciated type is constrained to u32 or u64. I agree with constraining to an unsigned integer, but I am of the
+ // opinion that it can be _any_ unsigned integer; It shall be the decision of the implementor to choose the type.
+ //
+ // In addition, maybe integers-only as too limiting, as exotic types like `Wrapper(u32)` should be available. The guiding
+ // principal here is "You are reading a thing that counts the number of occurances of an event." Unsigned integers make
+ // the most sense on what to reach for, but that should be a decision for the implementor.
+ type T: TimeInt + Hash;
+
+ // The original code runs its own fraction implementation. Strictly with respect to time, I feel using `fugit` is more
+ // prudent.
+ //
+ // More broadly, I feel this should be an encapsulation of an interval. An interval could be a measure of time, a distance,
+ // angle, and so on, depending on what is being counted.
+ //
+ // I feel this should remain a compile-time defined statement.
+ const SCALING_FACTOR: Fraction;
+
+ // With respect to assosciated types for errors, the question that defines the design choices made should be "What is best
+ // for creating a standardised interface?"
+
+ // I would rename this to `try_read`. I would also like to raise the idea of mirroring the standard `Read` pattern, where
+ // it's not a return value that's used, but rather a passid in `&mut`. At its core, this interface should encapsulate
+ // the reading of a count that increments, tightly coupled to an encapsulation of what is being counted. This implies:
+ // - it can read time: An implementation of this trait would define a duration-per-count
+ // - it can read absolute movement: each increment would correspond to a distance.
+ // - it is a _reader_: but is it different enough to `Read` implementors that it merits different patterns?
+ // - it reads _generic_ units: the notion of `now` and `time` are implementation dependant
+ fn try_now(&self) -> Result<Instant<Self>, Error>;
+
+ // Not exactly sure about how to read into this, or what should be done. Will update this part of RFC in response to
+ // questions, feedback, and any further insight I gather. My thinking is anything that respembles construction or
+ // initialisation is out, much the same as any other trait in embedded-hal.
+ fn new_timer<Dur: Duration>(
+ &self,
+ duration: Dur,
+ ) -> Timer<param::OneShot, param::Armed, Self, Dur>
+ where
+ Dur: FixedPoint,
+ {
+ Timer::<param::None, param::None, Self, Dur>::new(&self, duration)
+ }
+}
+```
+
+</details>
+
+Below is an initial draft design.
+
+<details>
+<summary>Expand to view pseudo-rust illustrative concept. </summary>
+
+```rust
+/// Base encapsulation for reading a clock perihpereal. Intended typical use-case is
+/// a HAL implementation adds this trait to a HAL type, and uses this interface to
+/// read a clock/timer register. Through implementation of this trait, this object
+/// will carry with it the means to read a clocks tick counter, and communicate the
+/// total duration this represents.
+pub trait TimeCount: Sized {
+ /// Typically u32 or u64 (or held within a type-wrapper) that corresponds with the
+ /// data type held within the peripheral register being read.
+ type RawData;
+
+ /// The length of time that each clock-tick measures. Setting up a clock with a 80MHz,
+ /// a HAL might opt to set this as `fugit::TimerDuration<Self::RawData, 1, 80_000_000>`.
+ ///
+ /// Another option might something that expresses the measure as a frequency, in which
+ /// case, something that encapsulates "eighty million" (as opposed to "one eighty
+ /// millionth").
+ ///
+ /// META: This might merit being a const instead.
+ /// META: Should it also be documented about the Mul constraint?
+ type TickMeasure: Duration + Mul<Self::RawData, Output = Self::TimeMeasure> + Default;
+
+ /// A combinasion of raw count and measure. 80k ticks with 80MHz => 1 second.
+ type TimeMeasure: Duration;
+
+
+ /// Intended as an interface to a raw-register read.
+ fn try_now_raw(&self) -> Result<Self::RawData, crate::clock::Error>;
+
+ /// Interprates the tick-count of `try_now_raw`, and scales based on `TickMeasure`
+ fn try_now(&self) -> Result<Self::TimeMeasure, crate::clock::Error> {
+ Self::TickMeasure::default() * self.try_now_raw()?
+ }
+}
+```
+
+</details>
+
+And here is an initial thought as to how to handle the need to address wrapping.
+
+<details>
+<summary>`/// There are many sc...</summary>
+
+```rust
+/// There are many scenarios where a time-based tick-counter needs to handle the case
+/// where the counter overflows. This trait is intended to provide a HAL with the means
+/// of providing a `TimeCount` implementor with specialised interupt-based overflow
+/// tracking.
+pub trait TimeWrap: TimeCount {
+ /// A HAL implementation might register the provided method to handle an overflow
+ /// interupt and increment a field that tracks overflow.
+ ///
+ /// META: I honestly don't know the best way to do this. This might prove to be
+ /// a key technical challenge
+ fn register_wrap_interupt(self, ???);
+}
+```
+</details>
+
+This RFC initially proposed a base `Counter` trait, where a `Clock` trait would extend
+it in a manner to handle time. This has changed. For background context, the initial
+illustration of this concept is included here.
+
+```rust
+pub trait Clock: Counter
+where <Self as Counter>::Output: Into<Seconds<...>>
+{
+ fn read_time(&self) -> Seconds<...> {
+ let ticks = <Self as Counter>::read_ticks(self);
+ Seconds::from(ticks)
+ }
+}
+```
+
+### Upstreamed feedback
+
+James Munn shared a valuable summary of their thoughts following a lengthy discussion in DMs:
+
+> you need to provide an interface that is reasonable for all parties, within reasonable use case [expectations] of all of them
+
+<details>
+<summary>It is expected that...</summary>
+
+- ..a timer/counter will need to be shared - there are relatively few of them on many chips
+- ..users will want high precision in some cases, 1k-1M are very reasonable number
+- ..some timers have a limited range - 16/24/32 bit are common, but many chips only have 16/24
+- ..programs will be expected for months to years at a time
+- ..some users want to use the lowest possible power design they can
+- ..not all chips have atomics, and may need to use critical sections
+- ..users may have other interrupts, some of which may have higher priority than your timer/counter interrupt
+- ..users may want to use a global timer inside of other interrupts
+
+</details>
+
+
+# How We Teach This
+[how-we-teach-this]: #how-we-teach-this
+
+Personally, I intend to make PRs into embedded-hal reverse dependencies, and update their encapsulation of time-tracking
+to include implementations that are officially supported by the embedded working group. I also see the need to add examples
+of both implementation, and use (such as the time-rotating e.g. I hypothesised above).
+
+# Drawbacks
+[drawbacks]: #drawbacks
+
+I'm mostly basing my thoughts on the models that I see throughout the embedded-hal crate. The drawbacks assosciated with the
+various modules that define a common interface for things like gpio pins, I2c, etc would ideally apply in the same manner here.
+
+# Alternatives
+[alternatives]: #alternatives
+
+- `embassy-time` has an encapsulation of time, however that lives in an async-first context. It also forces design
+choices onto reverse dependencies, such as forced into using u64 for their `Duration` and `Instant` primitives.
+- many MCU hals have their own way of encapsulating time, and other incremental counts.
+- fugit is an embedded-first encapsulation of mapping time-oscilator counts to a measurement of time in SI units.
+- `fugit` covers a lot of other base-functionalities in terms of embedded-first time-encapsulation.
+
+
+# Unresolved questions
+[unresolved]: #unresolved-questions
+
+
+How should we approach assosciated error types?
+
+What is the wish-list of industry, such as the various teams writing the hal crates for specific MCUs/platforms?
+
+What constraits make sense? I feel that `Ord` ought to be required for the raw data being read. In my mind, a type that can
+be used to count something, would necissarily have an ordering between any two possible values. I also think some thought should
+be put into providing the maths where compatable. in pseudo-rust: `impl<A: Counter, B: Counter> Add<A::Output> for for B::Output`
+with where-clauses that constrain that the output types can do the Add.
+
+### How to move forward?
+
+Initially, it was thought to add `embedded-count` added to the rust-embedded repository, initially just a placeholder, and so on.
+
+This has been updated. I have concerns about the chicken-egg dilema, and counsil is sought to mitigate this. At time of writing:
+
+1. Create out-of-workinggroup repo and build up the interface(s)
+2. Fork some hals and update to use the interface(s)
+3. Fork existing projects, update to clocks portably.
+4. Continue working on my `SimpleFOC-rs` project, writing clocks in a portable manner
+
+### Typenum
+
+Are we comfortable with using `typenum` instead of const generics. This will remove the limitations of const generics
+entirely, including the need for nightly features, at the risk of interface ergonomics, and compromising user familiarity.
+I wish to explore the use of this crate, though I feel it's a core requirement that the change in UX to be trivial. I.e. other
+than theneed to use `typenum::U5` where `5u32/64/size/8` would be used to set a generic const.