EL4121 Embedded System / mbed-os

mbed-os

Dependents:   cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more

targets/TARGET_STM/hal_tick_16b.c@0:b74591d5ab33, 2017-12-11 (annotated)

Committer:
be_bryan
Date:
Mon Dec 11 17:54:04 2017 +0000
Revision:
0:b74591d5ab33
motor ++

Who changed what in which revision?

UserRevisionLine numberNew contents of line
be_bryan 0:b74591d5ab33 1 /* mbed Microcontroller Library
be_bryan 0:b74591d5ab33 2 * Copyright (c) 2006-2016 ARM Limited
be_bryan 0:b74591d5ab33 3 *
be_bryan 0:b74591d5ab33 4 * Licensed under the Apache License, Version 2.0 (the "License");
be_bryan 0:b74591d5ab33 5 * you may not use this file except in compliance with the License.
be_bryan 0:b74591d5ab33 6 * You may obtain a copy of the License at
be_bryan 0:b74591d5ab33 7 *
be_bryan 0:b74591d5ab33 8 * http://www.apache.org/licenses/LICENSE-2.0
be_bryan 0:b74591d5ab33 9 *
be_bryan 0:b74591d5ab33 10 * Unless required by applicable law or agreed to in writing, software
be_bryan 0:b74591d5ab33 11 * distributed under the License is distributed on an "AS IS" BASIS,
be_bryan 0:b74591d5ab33 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
be_bryan 0:b74591d5ab33 13 * See the License for the specific language governing permissions and
be_bryan 0:b74591d5ab33 14 * limitations under the License.
be_bryan 0:b74591d5ab33 15 */
be_bryan 0:b74591d5ab33 16 #include "hal_tick.h"
be_bryan 0:b74591d5ab33 17
be_bryan 0:b74591d5ab33 18 // A 16-bit timer is used
be_bryan 0:b74591d5ab33 19 #if TIM_MST_16BIT
be_bryan 0:b74591d5ab33 20
be_bryan 0:b74591d5ab33 21 #define DEBUG_TICK 0 // Set to 1 to toggle a pin (see below which pin) at each tick
be_bryan 0:b74591d5ab33 22
be_bryan 0:b74591d5ab33 23 extern TIM_HandleTypeDef TimMasterHandle;
be_bryan 0:b74591d5ab33 24
be_bryan 0:b74591d5ab33 25 extern volatile uint32_t SlaveCounter;
be_bryan 0:b74591d5ab33 26 extern volatile uint32_t oc_int_part;
be_bryan 0:b74591d5ab33 27
be_bryan 0:b74591d5ab33 28 volatile uint32_t PreviousVal = 0;
be_bryan 0:b74591d5ab33 29
be_bryan 0:b74591d5ab33 30 void us_ticker_irq_handler(void);
be_bryan 0:b74591d5ab33 31
be_bryan 0:b74591d5ab33 32 #if defined(TARGET_STM32F0)
be_bryan 0:b74591d5ab33 33 void timer_update_irq_handler(void) {
be_bryan 0:b74591d5ab33 34 #else
be_bryan 0:b74591d5ab33 35 void timer_irq_handler(void)
be_bryan 0:b74591d5ab33 36 {
be_bryan 0:b74591d5ab33 37 #endif
be_bryan 0:b74591d5ab33 38 TimMasterHandle.Instance = TIM_MST;
be_bryan 0:b74591d5ab33 39
be_bryan 0:b74591d5ab33 40 // Clear Update interrupt flag
be_bryan 0:b74591d5ab33 41 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_UPDATE) == SET) {
be_bryan 0:b74591d5ab33 42 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_UPDATE) == SET) {
be_bryan 0:b74591d5ab33 43 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_UPDATE);
be_bryan 0:b74591d5ab33 44 SlaveCounter++;
be_bryan 0:b74591d5ab33 45 }
be_bryan 0:b74591d5ab33 46 }
be_bryan 0:b74591d5ab33 47
be_bryan 0:b74591d5ab33 48 #if defined(TARGET_STM32F0)
be_bryan 0:b74591d5ab33 49 } // end timer_update_irq_handler function
be_bryan 0:b74591d5ab33 50 // Used for mbed timeout (channel 1) and HAL tick (channel 2)
be_bryan 0:b74591d5ab33 51 void timer_oc_irq_handler(void)
be_bryan 0:b74591d5ab33 52 {
be_bryan 0:b74591d5ab33 53 TimMasterHandle.Instance = TIM_MST;
be_bryan 0:b74591d5ab33 54 #endif
be_bryan 0:b74591d5ab33 55
be_bryan 0:b74591d5ab33 56 // Channel 1 for mbed timeout
be_bryan 0:b74591d5ab33 57 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC1) == SET) {
be_bryan 0:b74591d5ab33 58 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC1) == SET) {
be_bryan 0:b74591d5ab33 59 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC1);
be_bryan 0:b74591d5ab33 60
be_bryan 0:b74591d5ab33 61 if (oc_int_part > 0) {
be_bryan 0:b74591d5ab33 62 oc_int_part--;
be_bryan 0:b74591d5ab33 63 } else {
be_bryan 0:b74591d5ab33 64 us_ticker_irq_handler();
be_bryan 0:b74591d5ab33 65 }
be_bryan 0:b74591d5ab33 66 }
be_bryan 0:b74591d5ab33 67 }
be_bryan 0:b74591d5ab33 68
be_bryan 0:b74591d5ab33 69 // Channel 2 for HAL tick
be_bryan 0:b74591d5ab33 70 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC2) == SET) {
be_bryan 0:b74591d5ab33 71
be_bryan 0:b74591d5ab33 72 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC2) == SET) {
be_bryan 0:b74591d5ab33 73 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC2);
be_bryan 0:b74591d5ab33 74 uint32_t val = __HAL_TIM_GET_COUNTER(&TimMasterHandle);
be_bryan 0:b74591d5ab33 75 if ((val - PreviousVal) >= HAL_TICK_DELAY) {
be_bryan 0:b74591d5ab33 76 // Increment HAL variable
be_bryan 0:b74591d5ab33 77 HAL_IncTick();
be_bryan 0:b74591d5ab33 78 // Prepare next interrupt
be_bryan 0:b74591d5ab33 79 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_2, val + HAL_TICK_DELAY);
be_bryan 0:b74591d5ab33 80 PreviousVal = val;
be_bryan 0:b74591d5ab33 81 #if DEBUG_TICK > 0
be_bryan 0:b74591d5ab33 82 HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_6);
be_bryan 0:b74591d5ab33 83 #endif
be_bryan 0:b74591d5ab33 84 }
be_bryan 0:b74591d5ab33 85 }
be_bryan 0:b74591d5ab33 86 }
be_bryan 0:b74591d5ab33 87 }
be_bryan 0:b74591d5ab33 88
be_bryan 0:b74591d5ab33 89 // Reconfigure the HAL tick using a standard timer instead of systick.
be_bryan 0:b74591d5ab33 90 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
be_bryan 0:b74591d5ab33 91 {
be_bryan 0:b74591d5ab33 92 // Enable timer clock
be_bryan 0:b74591d5ab33 93 TIM_MST_RCC;
be_bryan 0:b74591d5ab33 94
be_bryan 0:b74591d5ab33 95 // Reset timer
be_bryan 0:b74591d5ab33 96 TIM_MST_RESET_ON;
be_bryan 0:b74591d5ab33 97 TIM_MST_RESET_OFF;
be_bryan 0:b74591d5ab33 98
be_bryan 0:b74591d5ab33 99 // Update the SystemCoreClock variable
be_bryan 0:b74591d5ab33 100 SystemCoreClockUpdate();
be_bryan 0:b74591d5ab33 101
be_bryan 0:b74591d5ab33 102 // Configure time base
be_bryan 0:b74591d5ab33 103 TimMasterHandle.Instance = TIM_MST;
be_bryan 0:b74591d5ab33 104 TimMasterHandle.Init.Period = 0xFFFF;
be_bryan 0:b74591d5ab33 105 TimMasterHandle.Init.Prescaler = (uint32_t)(SystemCoreClock / 1000000) - 1; // 1 us tick
be_bryan 0:b74591d5ab33 106 TimMasterHandle.Init.ClockDivision = 0;
be_bryan 0:b74591d5ab33 107 TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
be_bryan 0:b74591d5ab33 108 #if !defined(TARGET_STM32L0)
be_bryan 0:b74591d5ab33 109 TimMasterHandle.Init.RepetitionCounter = 0;
be_bryan 0:b74591d5ab33 110 #endif
be_bryan 0:b74591d5ab33 111 #ifdef TIM_AUTORELOAD_PRELOAD_DISABLE
be_bryan 0:b74591d5ab33 112 TimMasterHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
be_bryan 0:b74591d5ab33 113 #endif
be_bryan 0:b74591d5ab33 114 HAL_TIM_Base_Init(&TimMasterHandle);
be_bryan 0:b74591d5ab33 115
be_bryan 0:b74591d5ab33 116 //LL_TIM_EnableUpdateEvent(TimMasterHandle.Instance);
be_bryan 0:b74591d5ab33 117
be_bryan 0:b74591d5ab33 118 // Configure output compare channel 1 for mbed timeout (enabled later when used)
be_bryan 0:b74591d5ab33 119 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_1);
be_bryan 0:b74591d5ab33 120
be_bryan 0:b74591d5ab33 121 // Configure output compare channel 2 for HAL tick
be_bryan 0:b74591d5ab33 122 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_2);
be_bryan 0:b74591d5ab33 123 PreviousVal = __HAL_TIM_GET_COUNTER(&TimMasterHandle);
be_bryan 0:b74591d5ab33 124 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_2, PreviousVal + HAL_TICK_DELAY);
be_bryan 0:b74591d5ab33 125
be_bryan 0:b74591d5ab33 126
be_bryan 0:b74591d5ab33 127
be_bryan 0:b74591d5ab33 128 // Configure interrupts
be_bryan 0:b74591d5ab33 129 // Update interrupt used for 32-bit counter
be_bryan 0:b74591d5ab33 130 // Output compare channel 1 interrupt for mbed timeout
be_bryan 0:b74591d5ab33 131 // Output compare channel 2 interrupt for HAL tick
be_bryan 0:b74591d5ab33 132 #if defined(TARGET_STM32F0)
be_bryan 0:b74591d5ab33 133 NVIC_SetVector(TIM_MST_UP_IRQ, (uint32_t)timer_update_irq_handler);
be_bryan 0:b74591d5ab33 134 NVIC_EnableIRQ(TIM_MST_UP_IRQ);
be_bryan 0:b74591d5ab33 135 NVIC_SetPriority(TIM_MST_UP_IRQ, 0);
be_bryan 0:b74591d5ab33 136 NVIC_SetVector(TIM_MST_OC_IRQ, (uint32_t)timer_oc_irq_handler);
be_bryan 0:b74591d5ab33 137 NVIC_EnableIRQ(TIM_MST_OC_IRQ);
be_bryan 0:b74591d5ab33 138 NVIC_SetPriority(TIM_MST_OC_IRQ, 1);
be_bryan 0:b74591d5ab33 139 #else
be_bryan 0:b74591d5ab33 140 NVIC_SetVector(TIM_MST_IRQ, (uint32_t)timer_irq_handler);
be_bryan 0:b74591d5ab33 141 NVIC_EnableIRQ(TIM_MST_IRQ);
be_bryan 0:b74591d5ab33 142 #endif
be_bryan 0:b74591d5ab33 143
be_bryan 0:b74591d5ab33 144 // Enable interrupts
be_bryan 0:b74591d5ab33 145 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_UPDATE); // For 32-bit counter
be_bryan 0:b74591d5ab33 146 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2); // For HAL tick
be_bryan 0:b74591d5ab33 147
be_bryan 0:b74591d5ab33 148 // Enable timer
be_bryan 0:b74591d5ab33 149 HAL_TIM_Base_Start(&TimMasterHandle);
be_bryan 0:b74591d5ab33 150
be_bryan 0:b74591d5ab33 151 // Freeze timer on stop/breakpoint
be_bryan 0:b74591d5ab33 152 // Define the FREEZE_TIMER_ON_DEBUG macro in mbed_app.json for example
be_bryan 0:b74591d5ab33 153 #if !defined(NDEBUG) && defined(FREEZE_TIMER_ON_DEBUG) && defined(TIM_MST_DBGMCU_FREEZE)
be_bryan 0:b74591d5ab33 154 TIM_MST_DBGMCU_FREEZE;
be_bryan 0:b74591d5ab33 155 #endif
be_bryan 0:b74591d5ab33 156
be_bryan 0:b74591d5ab33 157 #if DEBUG_TICK > 0
be_bryan 0:b74591d5ab33 158 __HAL_RCC_GPIOB_CLK_ENABLE();
be_bryan 0:b74591d5ab33 159 GPIO_InitTypeDef GPIO_InitStruct;
be_bryan 0:b74591d5ab33 160 GPIO_InitStruct.Pin = GPIO_PIN_6;
be_bryan 0:b74591d5ab33 161 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
be_bryan 0:b74591d5ab33 162 GPIO_InitStruct.Pull = GPIO_PULLUP;
be_bryan 0:b74591d5ab33 163 GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
be_bryan 0:b74591d5ab33 164 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
be_bryan 0:b74591d5ab33 165 #endif
be_bryan 0:b74591d5ab33 166
be_bryan 0:b74591d5ab33 167 return HAL_OK;
be_bryan 0:b74591d5ab33 168 }
be_bryan 0:b74591d5ab33 169
be_bryan 0:b74591d5ab33 170 /* NOTE: must be called with interrupts disabled! */
be_bryan 0:b74591d5ab33 171 void HAL_SuspendTick(void)
be_bryan 0:b74591d5ab33 172 {
be_bryan 0:b74591d5ab33 173 __HAL_TIM_DISABLE_IT(&TimMasterHandle, TIM_IT_CC2);
be_bryan 0:b74591d5ab33 174 }
be_bryan 0:b74591d5ab33 175
be_bryan 0:b74591d5ab33 176 /* NOTE: must be called with interrupts disabled! */
be_bryan 0:b74591d5ab33 177 void HAL_ResumeTick(void)
be_bryan 0:b74591d5ab33 178 {
be_bryan 0:b74591d5ab33 179 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2);
be_bryan 0:b74591d5ab33 180 }
be_bryan 0:b74591d5ab33 181
be_bryan 0:b74591d5ab33 182 #endif // TIM_MST_16BIT