MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_STM/hal_tick_16b.c@18:6a4db94011d3, 2017-05-14 (annotated)

Committer:
sahilmgandhi
Date:
Sun May 14 23:18:57 2017 +0000
Revision:
18:6a4db94011d3
Publishing again

Who changed what in which revision?

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sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2016 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #include "hal_tick.h"
sahilmgandhi 18:6a4db94011d3 17
sahilmgandhi 18:6a4db94011d3 18 // A 16-bit timer is used
sahilmgandhi 18:6a4db94011d3 19 #if TIM_MST_16BIT
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21 #define DEBUG_TICK 0 // Set to 1 to toggle a pin (see below which pin) at each tick
sahilmgandhi 18:6a4db94011d3 22
sahilmgandhi 18:6a4db94011d3 23 extern TIM_HandleTypeDef TimMasterHandle;
sahilmgandhi 18:6a4db94011d3 24
sahilmgandhi 18:6a4db94011d3 25 extern volatile uint32_t SlaveCounter;
sahilmgandhi 18:6a4db94011d3 26 extern volatile uint32_t oc_int_part;
sahilmgandhi 18:6a4db94011d3 27 extern volatile uint16_t oc_rem_part;
sahilmgandhi 18:6a4db94011d3 28 extern volatile uint8_t tim_it_update;
sahilmgandhi 18:6a4db94011d3 29 extern volatile uint32_t tim_it_counter;
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31 volatile uint32_t PreviousVal = 0;
sahilmgandhi 18:6a4db94011d3 32
sahilmgandhi 18:6a4db94011d3 33 void us_ticker_irq_handler(void);
sahilmgandhi 18:6a4db94011d3 34 void set_compare(uint16_t count);
sahilmgandhi 18:6a4db94011d3 35
sahilmgandhi 18:6a4db94011d3 36 #if defined(TARGET_STM32F0)
sahilmgandhi 18:6a4db94011d3 37 void timer_update_irq_handler(void) {
sahilmgandhi 18:6a4db94011d3 38 #else
sahilmgandhi 18:6a4db94011d3 39 void timer_irq_handler(void)
sahilmgandhi 18:6a4db94011d3 40 {
sahilmgandhi 18:6a4db94011d3 41 #endif
sahilmgandhi 18:6a4db94011d3 42 uint16_t cnt_val = TIM_MST->CNT;
sahilmgandhi 18:6a4db94011d3 43 TimMasterHandle.Instance = TIM_MST;
sahilmgandhi 18:6a4db94011d3 44
sahilmgandhi 18:6a4db94011d3 45 // Clear Update interrupt flag
sahilmgandhi 18:6a4db94011d3 46 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_UPDATE) == SET) {
sahilmgandhi 18:6a4db94011d3 47 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_UPDATE) == SET) {
sahilmgandhi 18:6a4db94011d3 48 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_UPDATE);
sahilmgandhi 18:6a4db94011d3 49 SlaveCounter++;
sahilmgandhi 18:6a4db94011d3 50 tim_it_counter = cnt_val + (uint32_t)(SlaveCounter << 16);
sahilmgandhi 18:6a4db94011d3 51 tim_it_update = 1;
sahilmgandhi 18:6a4db94011d3 52 }
sahilmgandhi 18:6a4db94011d3 53 }
sahilmgandhi 18:6a4db94011d3 54
sahilmgandhi 18:6a4db94011d3 55 #if defined(TARGET_STM32F0)
sahilmgandhi 18:6a4db94011d3 56 } // end timer_update_irq_handler function
sahilmgandhi 18:6a4db94011d3 57 // Used for mbed timeout (channel 1) and HAL tick (channel 2)
sahilmgandhi 18:6a4db94011d3 58 void timer_oc_irq_handler(void)
sahilmgandhi 18:6a4db94011d3 59 {
sahilmgandhi 18:6a4db94011d3 60 uint16_t cnt_val = TIM_MST->CNT;
sahilmgandhi 18:6a4db94011d3 61 TimMasterHandle.Instance = TIM_MST;
sahilmgandhi 18:6a4db94011d3 62 #endif
sahilmgandhi 18:6a4db94011d3 63
sahilmgandhi 18:6a4db94011d3 64 // Channel 1 for mbed timeout
sahilmgandhi 18:6a4db94011d3 65 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC1) == SET) {
sahilmgandhi 18:6a4db94011d3 66 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC1) == SET) {
sahilmgandhi 18:6a4db94011d3 67 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC1);
sahilmgandhi 18:6a4db94011d3 68 if (oc_rem_part > 0) {
sahilmgandhi 18:6a4db94011d3 69 set_compare(oc_rem_part); // Finish the remaining time left
sahilmgandhi 18:6a4db94011d3 70 oc_rem_part = 0;
sahilmgandhi 18:6a4db94011d3 71 } else {
sahilmgandhi 18:6a4db94011d3 72 if (oc_int_part > 0) {
sahilmgandhi 18:6a4db94011d3 73 set_compare(0xFFFF);
sahilmgandhi 18:6a4db94011d3 74 oc_rem_part = cnt_val; // To finish the counter loop the next time
sahilmgandhi 18:6a4db94011d3 75 oc_int_part--;
sahilmgandhi 18:6a4db94011d3 76 } else {
sahilmgandhi 18:6a4db94011d3 77 us_ticker_irq_handler();
sahilmgandhi 18:6a4db94011d3 78 }
sahilmgandhi 18:6a4db94011d3 79 }
sahilmgandhi 18:6a4db94011d3 80 }
sahilmgandhi 18:6a4db94011d3 81 }
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83 // Channel 2 for HAL tick
sahilmgandhi 18:6a4db94011d3 84 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC2) == SET) {
sahilmgandhi 18:6a4db94011d3 85 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC2) == SET) {
sahilmgandhi 18:6a4db94011d3 86 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC2);
sahilmgandhi 18:6a4db94011d3 87 uint32_t val = __HAL_TIM_GetCounter(&TimMasterHandle);
sahilmgandhi 18:6a4db94011d3 88 if ((val - PreviousVal) >= HAL_TICK_DELAY) {
sahilmgandhi 18:6a4db94011d3 89 // Increment HAL variable
sahilmgandhi 18:6a4db94011d3 90 HAL_IncTick();
sahilmgandhi 18:6a4db94011d3 91 // Prepare next interrupt
sahilmgandhi 18:6a4db94011d3 92 __HAL_TIM_SetCompare(&TimMasterHandle, TIM_CHANNEL_2, val + HAL_TICK_DELAY);
sahilmgandhi 18:6a4db94011d3 93 PreviousVal = val;
sahilmgandhi 18:6a4db94011d3 94 #if DEBUG_TICK > 0
sahilmgandhi 18:6a4db94011d3 95 HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_6);
sahilmgandhi 18:6a4db94011d3 96 #endif
sahilmgandhi 18:6a4db94011d3 97 }
sahilmgandhi 18:6a4db94011d3 98 }
sahilmgandhi 18:6a4db94011d3 99 }
sahilmgandhi 18:6a4db94011d3 100 }
sahilmgandhi 18:6a4db94011d3 101
sahilmgandhi 18:6a4db94011d3 102 // Reconfigure the HAL tick using a standard timer instead of systick.
sahilmgandhi 18:6a4db94011d3 103 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
sahilmgandhi 18:6a4db94011d3 104 {
sahilmgandhi 18:6a4db94011d3 105 // Enable timer clock
sahilmgandhi 18:6a4db94011d3 106 TIM_MST_RCC;
sahilmgandhi 18:6a4db94011d3 107
sahilmgandhi 18:6a4db94011d3 108 // Reset timer
sahilmgandhi 18:6a4db94011d3 109 TIM_MST_RESET_ON;
sahilmgandhi 18:6a4db94011d3 110 TIM_MST_RESET_OFF;
sahilmgandhi 18:6a4db94011d3 111
sahilmgandhi 18:6a4db94011d3 112 // Update the SystemCoreClock variable
sahilmgandhi 18:6a4db94011d3 113 SystemCoreClockUpdate();
sahilmgandhi 18:6a4db94011d3 114
sahilmgandhi 18:6a4db94011d3 115 // Configure time base
sahilmgandhi 18:6a4db94011d3 116 TimMasterHandle.Instance = TIM_MST;
sahilmgandhi 18:6a4db94011d3 117 TimMasterHandle.Init.Period = 0xFFFF;
sahilmgandhi 18:6a4db94011d3 118 TimMasterHandle.Init.Prescaler = (uint32_t)(SystemCoreClock / 1000000) - 1; // 1 us tick
sahilmgandhi 18:6a4db94011d3 119 TimMasterHandle.Init.ClockDivision = 0;
sahilmgandhi 18:6a4db94011d3 120 TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
sahilmgandhi 18:6a4db94011d3 121 #ifdef TARGET_STM32F0
sahilmgandhi 18:6a4db94011d3 122 TimMasterHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sahilmgandhi 18:6a4db94011d3 123 #endif
sahilmgandhi 18:6a4db94011d3 124 HAL_TIM_Base_Init(&TimMasterHandle);
sahilmgandhi 18:6a4db94011d3 125
sahilmgandhi 18:6a4db94011d3 126 // Configure output compare channel 1 for mbed timeout (enabled later when used)
sahilmgandhi 18:6a4db94011d3 127 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_1);
sahilmgandhi 18:6a4db94011d3 128
sahilmgandhi 18:6a4db94011d3 129 // Configure output compare channel 2 for HAL tick
sahilmgandhi 18:6a4db94011d3 130 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_2);
sahilmgandhi 18:6a4db94011d3 131 PreviousVal = __HAL_TIM_GetCounter(&TimMasterHandle);
sahilmgandhi 18:6a4db94011d3 132 __HAL_TIM_SetCompare(&TimMasterHandle, TIM_CHANNEL_2, PreviousVal + HAL_TICK_DELAY);
sahilmgandhi 18:6a4db94011d3 133
sahilmgandhi 18:6a4db94011d3 134 // Configure interrupts
sahilmgandhi 18:6a4db94011d3 135 // Update interrupt used for 32-bit counter
sahilmgandhi 18:6a4db94011d3 136 // Output compare channel 1 interrupt for mbed timeout
sahilmgandhi 18:6a4db94011d3 137 // Output compare channel 2 interrupt for HAL tick
sahilmgandhi 18:6a4db94011d3 138 #if defined(TARGET_STM32F0)
sahilmgandhi 18:6a4db94011d3 139 NVIC_SetVector(TIM_MST_UP_IRQ, (uint32_t)timer_update_irq_handler);
sahilmgandhi 18:6a4db94011d3 140 NVIC_EnableIRQ(TIM_MST_UP_IRQ);
sahilmgandhi 18:6a4db94011d3 141 NVIC_SetPriority(TIM_MST_UP_IRQ, 0);
sahilmgandhi 18:6a4db94011d3 142 NVIC_SetVector(TIM_MST_OC_IRQ, (uint32_t)timer_oc_irq_handler);
sahilmgandhi 18:6a4db94011d3 143 NVIC_EnableIRQ(TIM_MST_OC_IRQ);
sahilmgandhi 18:6a4db94011d3 144 NVIC_SetPriority(TIM_MST_OC_IRQ, 1);
sahilmgandhi 18:6a4db94011d3 145 #else
sahilmgandhi 18:6a4db94011d3 146 NVIC_SetVector(TIM_MST_IRQ, (uint32_t)timer_irq_handler);
sahilmgandhi 18:6a4db94011d3 147 NVIC_EnableIRQ(TIM_MST_IRQ);
sahilmgandhi 18:6a4db94011d3 148 #endif
sahilmgandhi 18:6a4db94011d3 149
sahilmgandhi 18:6a4db94011d3 150 // Enable interrupts
sahilmgandhi 18:6a4db94011d3 151 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_UPDATE); // For 32-bit counter
sahilmgandhi 18:6a4db94011d3 152 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2); // For HAL tick
sahilmgandhi 18:6a4db94011d3 153
sahilmgandhi 18:6a4db94011d3 154 // Enable timer
sahilmgandhi 18:6a4db94011d3 155 HAL_TIM_Base_Start(&TimMasterHandle);
sahilmgandhi 18:6a4db94011d3 156
sahilmgandhi 18:6a4db94011d3 157 #if DEBUG_TICK > 0
sahilmgandhi 18:6a4db94011d3 158 __GPIOB_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 159 GPIO_InitTypeDef GPIO_InitStruct;
sahilmgandhi 18:6a4db94011d3 160 GPIO_InitStruct.Pin = GPIO_PIN_6;
sahilmgandhi 18:6a4db94011d3 161 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
sahilmgandhi 18:6a4db94011d3 162 GPIO_InitStruct.Pull = GPIO_PULLUP;
sahilmgandhi 18:6a4db94011d3 163 GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
sahilmgandhi 18:6a4db94011d3 164 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
sahilmgandhi 18:6a4db94011d3 165 #endif
sahilmgandhi 18:6a4db94011d3 166
sahilmgandhi 18:6a4db94011d3 167 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 168 }
sahilmgandhi 18:6a4db94011d3 169
sahilmgandhi 18:6a4db94011d3 170 void HAL_SuspendTick(void)
sahilmgandhi 18:6a4db94011d3 171 {
sahilmgandhi 18:6a4db94011d3 172 TimMasterHandle.Instance = TIM_MST;
sahilmgandhi 18:6a4db94011d3 173 __HAL_TIM_DISABLE_IT(&TimMasterHandle, TIM_IT_CC2);
sahilmgandhi 18:6a4db94011d3 174 }
sahilmgandhi 18:6a4db94011d3 175
sahilmgandhi 18:6a4db94011d3 176 void HAL_ResumeTick(void)
sahilmgandhi 18:6a4db94011d3 177 {
sahilmgandhi 18:6a4db94011d3 178 TimMasterHandle.Instance = TIM_MST;
sahilmgandhi 18:6a4db94011d3 179 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2);
sahilmgandhi 18:6a4db94011d3 180 }
sahilmgandhi 18:6a4db94011d3 181
sahilmgandhi 18:6a4db94011d3 182 #endif // TIM_MST_16BIT