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_32b.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 32-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 void HAL_IncTick(void);
be_bryan 0:b74591d5ab33 26
be_bryan 0:b74591d5ab33 27 volatile uint32_t PreviousVal = 0;
be_bryan 0:b74591d5ab33 28
be_bryan 0:b74591d5ab33 29 void us_ticker_irq_handler(void);
be_bryan 0:b74591d5ab33 30
be_bryan 0:b74591d5ab33 31 void timer_irq_handler(void)
be_bryan 0:b74591d5ab33 32 {
be_bryan 0:b74591d5ab33 33 // Channel 1 for mbed timeout
be_bryan 0:b74591d5ab33 34 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC1) == SET) {
be_bryan 0:b74591d5ab33 35 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC1) == SET) {
be_bryan 0:b74591d5ab33 36 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC1);
be_bryan 0:b74591d5ab33 37 us_ticker_irq_handler();
be_bryan 0:b74591d5ab33 38 }
be_bryan 0:b74591d5ab33 39 }
be_bryan 0:b74591d5ab33 40
be_bryan 0:b74591d5ab33 41 // Channel 2 for HAL tick
be_bryan 0:b74591d5ab33 42 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC2) == SET) {
be_bryan 0:b74591d5ab33 43 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC2) == SET) {
be_bryan 0:b74591d5ab33 44 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC2);
be_bryan 0:b74591d5ab33 45 uint32_t val = __HAL_TIM_GetCounter(&TimMasterHandle);
be_bryan 0:b74591d5ab33 46 if ((val - PreviousVal) >= HAL_TICK_DELAY) {
be_bryan 0:b74591d5ab33 47 // Increment HAL variable
be_bryan 0:b74591d5ab33 48 HAL_IncTick();
be_bryan 0:b74591d5ab33 49 // Prepare next interrupt
be_bryan 0:b74591d5ab33 50 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_2, val + HAL_TICK_DELAY);
be_bryan 0:b74591d5ab33 51 PreviousVal = val;
be_bryan 0:b74591d5ab33 52 #if DEBUG_TICK > 0
be_bryan 0:b74591d5ab33 53 HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_6);
be_bryan 0:b74591d5ab33 54 #endif
be_bryan 0:b74591d5ab33 55 }
be_bryan 0:b74591d5ab33 56 }
be_bryan 0:b74591d5ab33 57 }
be_bryan 0:b74591d5ab33 58 }
be_bryan 0:b74591d5ab33 59
be_bryan 0:b74591d5ab33 60 // Reconfigure the HAL tick using a standard timer instead of systick.
be_bryan 0:b74591d5ab33 61 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
be_bryan 0:b74591d5ab33 62 {
be_bryan 0:b74591d5ab33 63 RCC_ClkInitTypeDef RCC_ClkInitStruct;
be_bryan 0:b74591d5ab33 64 uint32_t PclkFreq;
be_bryan 0:b74591d5ab33 65
be_bryan 0:b74591d5ab33 66 // Get clock configuration
be_bryan 0:b74591d5ab33 67 // Note: PclkFreq contains here the Latency (not used after)
be_bryan 0:b74591d5ab33 68 HAL_RCC_GetClockConfig(&RCC_ClkInitStruct, &PclkFreq);
be_bryan 0:b74591d5ab33 69
be_bryan 0:b74591d5ab33 70 // Get timer clock value
be_bryan 0:b74591d5ab33 71 #if TIM_MST_PCLK == 1
be_bryan 0:b74591d5ab33 72 PclkFreq = HAL_RCC_GetPCLK1Freq();
be_bryan 0:b74591d5ab33 73 #else
be_bryan 0:b74591d5ab33 74 PclkFreq = HAL_RCC_GetPCLK2Freq();
be_bryan 0:b74591d5ab33 75 #endif
be_bryan 0:b74591d5ab33 76
be_bryan 0:b74591d5ab33 77 // Enable timer clock
be_bryan 0:b74591d5ab33 78 TIM_MST_RCC;
be_bryan 0:b74591d5ab33 79
be_bryan 0:b74591d5ab33 80 // Reset timer
be_bryan 0:b74591d5ab33 81 TIM_MST_RESET_ON;
be_bryan 0:b74591d5ab33 82 TIM_MST_RESET_OFF;
be_bryan 0:b74591d5ab33 83
be_bryan 0:b74591d5ab33 84 // Configure time base
be_bryan 0:b74591d5ab33 85 TimMasterHandle.Instance = TIM_MST;
be_bryan 0:b74591d5ab33 86 TimMasterHandle.Init.Period = 0xFFFFFFFF;
be_bryan 0:b74591d5ab33 87
be_bryan 0:b74591d5ab33 88 // TIMxCLK = PCLKx when the APB prescaler = 1 else TIMxCLK = 2 * PCLKx
be_bryan 0:b74591d5ab33 89 #if TIM_MST_PCLK == 1
be_bryan 0:b74591d5ab33 90 if (RCC_ClkInitStruct.APB1CLKDivider == RCC_HCLK_DIV1) {
be_bryan 0:b74591d5ab33 91 #else
be_bryan 0:b74591d5ab33 92 if (RCC_ClkInitStruct.APB2CLKDivider == RCC_HCLK_DIV1) {
be_bryan 0:b74591d5ab33 93 #endif
be_bryan 0:b74591d5ab33 94 TimMasterHandle.Init.Prescaler = (uint16_t)((PclkFreq) / 1000000) - 1; // 1 us tick
be_bryan 0:b74591d5ab33 95 } else {
be_bryan 0:b74591d5ab33 96 TimMasterHandle.Init.Prescaler = (uint16_t)((PclkFreq * 2) / 1000000) - 1; // 1 us tick
be_bryan 0:b74591d5ab33 97 }
be_bryan 0:b74591d5ab33 98
be_bryan 0:b74591d5ab33 99 TimMasterHandle.Init.ClockDivision = 0;
be_bryan 0:b74591d5ab33 100 TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
be_bryan 0:b74591d5ab33 101 #if !TARGET_STM32L1
be_bryan 0:b74591d5ab33 102 TimMasterHandle.Init.RepetitionCounter = 0;
be_bryan 0:b74591d5ab33 103 #endif
be_bryan 0:b74591d5ab33 104 #ifdef TIM_AUTORELOAD_PRELOAD_DISABLE
be_bryan 0:b74591d5ab33 105 TimMasterHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
be_bryan 0:b74591d5ab33 106 #endif
be_bryan 0:b74591d5ab33 107 HAL_TIM_OC_Init(&TimMasterHandle);
be_bryan 0:b74591d5ab33 108
be_bryan 0:b74591d5ab33 109 NVIC_SetVector(TIM_MST_IRQ, (uint32_t)timer_irq_handler);
be_bryan 0:b74591d5ab33 110 NVIC_EnableIRQ(TIM_MST_IRQ);
be_bryan 0:b74591d5ab33 111
be_bryan 0:b74591d5ab33 112 // Channel 1 for mbed timeout
be_bryan 0:b74591d5ab33 113 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_1);
be_bryan 0:b74591d5ab33 114
be_bryan 0:b74591d5ab33 115 // Channel 2 for HAL tick
be_bryan 0:b74591d5ab33 116 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_2);
be_bryan 0:b74591d5ab33 117 PreviousVal = __HAL_TIM_GetCounter(&TimMasterHandle);
be_bryan 0:b74591d5ab33 118 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_2, PreviousVal + HAL_TICK_DELAY);
be_bryan 0:b74591d5ab33 119 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2);
be_bryan 0:b74591d5ab33 120
be_bryan 0:b74591d5ab33 121 // Freeze timer on stop/breakpoint
be_bryan 0:b74591d5ab33 122 // Define the FREEZE_TIMER_ON_DEBUG macro in mbed_app.json for example
be_bryan 0:b74591d5ab33 123 #if !defined(NDEBUG) && defined(FREEZE_TIMER_ON_DEBUG) && defined(TIM_MST_DBGMCU_FREEZE)
be_bryan 0:b74591d5ab33 124 TIM_MST_DBGMCU_FREEZE;
be_bryan 0:b74591d5ab33 125 #endif
be_bryan 0:b74591d5ab33 126
be_bryan 0:b74591d5ab33 127 #if DEBUG_TICK > 0
be_bryan 0:b74591d5ab33 128 __HAL_RCC_GPIOB_CLK_ENABLE();
be_bryan 0:b74591d5ab33 129 GPIO_InitTypeDef GPIO_InitStruct;
be_bryan 0:b74591d5ab33 130 GPIO_InitStruct.Pin = GPIO_PIN_6;
be_bryan 0:b74591d5ab33 131 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
be_bryan 0:b74591d5ab33 132 GPIO_InitStruct.Pull = GPIO_PULLUP;
be_bryan 0:b74591d5ab33 133 GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
be_bryan 0:b74591d5ab33 134 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
be_bryan 0:b74591d5ab33 135 #endif
be_bryan 0:b74591d5ab33 136
be_bryan 0:b74591d5ab33 137 return HAL_OK;
be_bryan 0:b74591d5ab33 138 }
be_bryan 0:b74591d5ab33 139
be_bryan 0:b74591d5ab33 140 /* NOTE: must be called with interrupts disabled! */
be_bryan 0:b74591d5ab33 141 void HAL_SuspendTick(void)
be_bryan 0:b74591d5ab33 142 {
be_bryan 0:b74591d5ab33 143 __HAL_TIM_DISABLE_IT(&TimMasterHandle, TIM_IT_CC2);
be_bryan 0:b74591d5ab33 144 }
be_bryan 0:b74591d5ab33 145
be_bryan 0:b74591d5ab33 146 /* NOTE: must be called with interrupts disabled! */
be_bryan 0:b74591d5ab33 147 void HAL_ResumeTick(void)
be_bryan 0:b74591d5ab33 148 {
be_bryan 0:b74591d5ab33 149 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2);
be_bryan 0:b74591d5ab33 150 }
be_bryan 0:b74591d5ab33 151
be_bryan 0:b74591d5ab33 152 #endif // !TIM_MST_16BIT