Takaaki Numai / mbed-dev

inport from local

Dependents:   Hobbyking_Cheetah_0511

targets/TARGET_STM/hal_tick_16b.c@0:85b3fd62ea1a, 2020-03-16 (annotated)

Committer:
NYX
Date:
Mon Mar 16 06:35:48 2020 +0000
Revision:
0:85b3fd62ea1a
reinport to mbed;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NYX 0:85b3fd62ea1a 1 /* mbed Microcontroller Library
NYX 0:85b3fd62ea1a 2 * Copyright (c) 2006-2016 ARM Limited
NYX 0:85b3fd62ea1a 3 *
NYX 0:85b3fd62ea1a 4 * Licensed under the Apache License, Version 2.0 (the "License");
NYX 0:85b3fd62ea1a 5 * you may not use this file except in compliance with the License.
NYX 0:85b3fd62ea1a 6 * You may obtain a copy of the License at
NYX 0:85b3fd62ea1a 7 *
NYX 0:85b3fd62ea1a 8 * http://www.apache.org/licenses/LICENSE-2.0
NYX 0:85b3fd62ea1a 9 *
NYX 0:85b3fd62ea1a 10 * Unless required by applicable law or agreed to in writing, software
NYX 0:85b3fd62ea1a 11 * distributed under the License is distributed on an "AS IS" BASIS,
NYX 0:85b3fd62ea1a 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
NYX 0:85b3fd62ea1a 13 * See the License for the specific language governing permissions and
NYX 0:85b3fd62ea1a 14 * limitations under the License.
NYX 0:85b3fd62ea1a 15 */
NYX 0:85b3fd62ea1a 16 #include "hal_tick.h"
NYX 0:85b3fd62ea1a 17
NYX 0:85b3fd62ea1a 18 // A 16-bit timer is used
NYX 0:85b3fd62ea1a 19 #if TIM_MST_16BIT
NYX 0:85b3fd62ea1a 20
NYX 0:85b3fd62ea1a 21 #define DEBUG_TICK 0 // Set to 1 to toggle a pin (see below which pin) at each tick
NYX 0:85b3fd62ea1a 22
NYX 0:85b3fd62ea1a 23 extern TIM_HandleTypeDef TimMasterHandle;
NYX 0:85b3fd62ea1a 24
NYX 0:85b3fd62ea1a 25 extern volatile uint32_t SlaveCounter;
NYX 0:85b3fd62ea1a 26 extern volatile uint32_t oc_int_part;
NYX 0:85b3fd62ea1a 27
NYX 0:85b3fd62ea1a 28 volatile uint32_t PreviousVal = 0;
NYX 0:85b3fd62ea1a 29
NYX 0:85b3fd62ea1a 30 void us_ticker_irq_handler(void);
NYX 0:85b3fd62ea1a 31
NYX 0:85b3fd62ea1a 32 #if defined(TARGET_STM32F0)
NYX 0:85b3fd62ea1a 33 void timer_update_irq_handler(void) {
NYX 0:85b3fd62ea1a 34 #else
NYX 0:85b3fd62ea1a 35 void timer_irq_handler(void)
NYX 0:85b3fd62ea1a 36 {
NYX 0:85b3fd62ea1a 37 #endif
NYX 0:85b3fd62ea1a 38 TimMasterHandle.Instance = TIM_MST;
NYX 0:85b3fd62ea1a 39
NYX 0:85b3fd62ea1a 40 // Clear Update interrupt flag
NYX 0:85b3fd62ea1a 41 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_UPDATE) == SET) {
NYX 0:85b3fd62ea1a 42 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_UPDATE) == SET) {
NYX 0:85b3fd62ea1a 43 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_UPDATE);
NYX 0:85b3fd62ea1a 44 SlaveCounter++;
NYX 0:85b3fd62ea1a 45 }
NYX 0:85b3fd62ea1a 46 }
NYX 0:85b3fd62ea1a 47
NYX 0:85b3fd62ea1a 48 #if defined(TARGET_STM32F0)
NYX 0:85b3fd62ea1a 49 } // end timer_update_irq_handler function
NYX 0:85b3fd62ea1a 50 // Used for mbed timeout (channel 1) and HAL tick (channel 2)
NYX 0:85b3fd62ea1a 51 void timer_oc_irq_handler(void)
NYX 0:85b3fd62ea1a 52 {
NYX 0:85b3fd62ea1a 53 TimMasterHandle.Instance = TIM_MST;
NYX 0:85b3fd62ea1a 54 #endif
NYX 0:85b3fd62ea1a 55
NYX 0:85b3fd62ea1a 56 // Channel 1 for mbed timeout
NYX 0:85b3fd62ea1a 57 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC1) == SET) {
NYX 0:85b3fd62ea1a 58 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC1) == SET) {
NYX 0:85b3fd62ea1a 59 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC1);
NYX 0:85b3fd62ea1a 60
NYX 0:85b3fd62ea1a 61 if (oc_int_part > 0) {
NYX 0:85b3fd62ea1a 62 oc_int_part--;
NYX 0:85b3fd62ea1a 63 } else {
NYX 0:85b3fd62ea1a 64 us_ticker_irq_handler();
NYX 0:85b3fd62ea1a 65 }
NYX 0:85b3fd62ea1a 66 }
NYX 0:85b3fd62ea1a 67 }
NYX 0:85b3fd62ea1a 68
NYX 0:85b3fd62ea1a 69 // Channel 2 for HAL tick
NYX 0:85b3fd62ea1a 70 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC2) == SET) {
NYX 0:85b3fd62ea1a 71
NYX 0:85b3fd62ea1a 72 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC2) == SET) {
NYX 0:85b3fd62ea1a 73 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC2);
NYX 0:85b3fd62ea1a 74 uint32_t val = __HAL_TIM_GET_COUNTER(&TimMasterHandle);
NYX 0:85b3fd62ea1a 75 if ((val - PreviousVal) >= HAL_TICK_DELAY) {
NYX 0:85b3fd62ea1a 76 // Increment HAL variable
NYX 0:85b3fd62ea1a 77 HAL_IncTick();
NYX 0:85b3fd62ea1a 78 // Prepare next interrupt
NYX 0:85b3fd62ea1a 79 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_2, val + HAL_TICK_DELAY);
NYX 0:85b3fd62ea1a 80 PreviousVal = val;
NYX 0:85b3fd62ea1a 81 #if DEBUG_TICK > 0
NYX 0:85b3fd62ea1a 82 HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_6);
NYX 0:85b3fd62ea1a 83 #endif
NYX 0:85b3fd62ea1a 84 }
NYX 0:85b3fd62ea1a 85 }
NYX 0:85b3fd62ea1a 86 }
NYX 0:85b3fd62ea1a 87 }
NYX 0:85b3fd62ea1a 88
NYX 0:85b3fd62ea1a 89 // Reconfigure the HAL tick using a standard timer instead of systick.
NYX 0:85b3fd62ea1a 90 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
NYX 0:85b3fd62ea1a 91 {
NYX 0:85b3fd62ea1a 92 // Enable timer clock
NYX 0:85b3fd62ea1a 93 TIM_MST_RCC;
NYX 0:85b3fd62ea1a 94
NYX 0:85b3fd62ea1a 95 // Reset timer
NYX 0:85b3fd62ea1a 96 TIM_MST_RESET_ON;
NYX 0:85b3fd62ea1a 97 TIM_MST_RESET_OFF;
NYX 0:85b3fd62ea1a 98
NYX 0:85b3fd62ea1a 99 // Update the SystemCoreClock variable
NYX 0:85b3fd62ea1a 100 SystemCoreClockUpdate();
NYX 0:85b3fd62ea1a 101
NYX 0:85b3fd62ea1a 102 // Configure time base
NYX 0:85b3fd62ea1a 103 TimMasterHandle.Instance = TIM_MST;
NYX 0:85b3fd62ea1a 104 TimMasterHandle.Init.Period = 0xFFFF;
NYX 0:85b3fd62ea1a 105 TimMasterHandle.Init.Prescaler = (uint32_t)(SystemCoreClock / 1000000) - 1; // 1 us tick
NYX 0:85b3fd62ea1a 106 TimMasterHandle.Init.ClockDivision = 0;
NYX 0:85b3fd62ea1a 107 TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
NYX 0:85b3fd62ea1a 108 #if !defined(TARGET_STM32L0)
NYX 0:85b3fd62ea1a 109 TimMasterHandle.Init.RepetitionCounter = 0;
NYX 0:85b3fd62ea1a 110 #endif
NYX 0:85b3fd62ea1a 111 #ifdef TIM_AUTORELOAD_PRELOAD_DISABLE
NYX 0:85b3fd62ea1a 112 TimMasterHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
NYX 0:85b3fd62ea1a 113 #endif
NYX 0:85b3fd62ea1a 114 HAL_TIM_Base_Init(&TimMasterHandle);
NYX 0:85b3fd62ea1a 115
NYX 0:85b3fd62ea1a 116 //LL_TIM_EnableUpdateEvent(TimMasterHandle.Instance);
NYX 0:85b3fd62ea1a 117
NYX 0:85b3fd62ea1a 118 // Configure output compare channel 1 for mbed timeout (enabled later when used)
NYX 0:85b3fd62ea1a 119 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_1);
NYX 0:85b3fd62ea1a 120
NYX 0:85b3fd62ea1a 121 // Configure output compare channel 2 for HAL tick
NYX 0:85b3fd62ea1a 122 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_2);
NYX 0:85b3fd62ea1a 123 PreviousVal = __HAL_TIM_GET_COUNTER(&TimMasterHandle);
NYX 0:85b3fd62ea1a 124 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_2, PreviousVal + HAL_TICK_DELAY);
NYX 0:85b3fd62ea1a 125
NYX 0:85b3fd62ea1a 126
NYX 0:85b3fd62ea1a 127
NYX 0:85b3fd62ea1a 128 // Configure interrupts
NYX 0:85b3fd62ea1a 129 // Update interrupt used for 32-bit counter
NYX 0:85b3fd62ea1a 130 // Output compare channel 1 interrupt for mbed timeout
NYX 0:85b3fd62ea1a 131 // Output compare channel 2 interrupt for HAL tick
NYX 0:85b3fd62ea1a 132 #if defined(TARGET_STM32F0)
NYX 0:85b3fd62ea1a 133 NVIC_SetVector(TIM_MST_UP_IRQ, (uint32_t)timer_update_irq_handler);
NYX 0:85b3fd62ea1a 134 NVIC_EnableIRQ(TIM_MST_UP_IRQ);
NYX 0:85b3fd62ea1a 135 NVIC_SetPriority(TIM_MST_UP_IRQ, 0);
NYX 0:85b3fd62ea1a 136 NVIC_SetVector(TIM_MST_OC_IRQ, (uint32_t)timer_oc_irq_handler);
NYX 0:85b3fd62ea1a 137 NVIC_EnableIRQ(TIM_MST_OC_IRQ);
NYX 0:85b3fd62ea1a 138 NVIC_SetPriority(TIM_MST_OC_IRQ, 1);
NYX 0:85b3fd62ea1a 139 #else
NYX 0:85b3fd62ea1a 140 NVIC_SetVector(TIM_MST_IRQ, (uint32_t)timer_irq_handler);
NYX 0:85b3fd62ea1a 141 NVIC_EnableIRQ(TIM_MST_IRQ);
NYX 0:85b3fd62ea1a 142 #endif
NYX 0:85b3fd62ea1a 143
NYX 0:85b3fd62ea1a 144 // Enable interrupts
NYX 0:85b3fd62ea1a 145 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_UPDATE); // For 32-bit counter
NYX 0:85b3fd62ea1a 146 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2); // For HAL tick
NYX 0:85b3fd62ea1a 147
NYX 0:85b3fd62ea1a 148 // Enable timer
NYX 0:85b3fd62ea1a 149 HAL_TIM_Base_Start(&TimMasterHandle);
NYX 0:85b3fd62ea1a 150
NYX 0:85b3fd62ea1a 151 // Freeze timer on stop/breakpoint
NYX 0:85b3fd62ea1a 152 // Define the FREEZE_TIMER_ON_DEBUG macro in mbed_app.json for example
NYX 0:85b3fd62ea1a 153 #if !defined(NDEBUG) && defined(FREEZE_TIMER_ON_DEBUG) && defined(TIM_MST_DBGMCU_FREEZE)
NYX 0:85b3fd62ea1a 154 TIM_MST_DBGMCU_FREEZE;
NYX 0:85b3fd62ea1a 155 #endif
NYX 0:85b3fd62ea1a 156
NYX 0:85b3fd62ea1a 157 #if DEBUG_TICK > 0
NYX 0:85b3fd62ea1a 158 __HAL_RCC_GPIOB_CLK_ENABLE();
NYX 0:85b3fd62ea1a 159 GPIO_InitTypeDef GPIO_InitStruct;
NYX 0:85b3fd62ea1a 160 GPIO_InitStruct.Pin = GPIO_PIN_6;
NYX 0:85b3fd62ea1a 161 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
NYX 0:85b3fd62ea1a 162 GPIO_InitStruct.Pull = GPIO_PULLUP;
NYX 0:85b3fd62ea1a 163 GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
NYX 0:85b3fd62ea1a 164 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
NYX 0:85b3fd62ea1a 165 #endif
NYX 0:85b3fd62ea1a 166
NYX 0:85b3fd62ea1a 167 return HAL_OK;
NYX 0:85b3fd62ea1a 168 }
NYX 0:85b3fd62ea1a 169
NYX 0:85b3fd62ea1a 170 /* NOTE: must be called with interrupts disabled! */
NYX 0:85b3fd62ea1a 171 void HAL_SuspendTick(void)
NYX 0:85b3fd62ea1a 172 {
NYX 0:85b3fd62ea1a 173 __HAL_TIM_DISABLE_IT(&TimMasterHandle, TIM_IT_CC2);
NYX 0:85b3fd62ea1a 174 }
NYX 0:85b3fd62ea1a 175
NYX 0:85b3fd62ea1a 176 /* NOTE: must be called with interrupts disabled! */
NYX 0:85b3fd62ea1a 177 void HAL_ResumeTick(void)
NYX 0:85b3fd62ea1a 178 {
NYX 0:85b3fd62ea1a 179 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2);
NYX 0:85b3fd62ea1a 180 }
NYX 0:85b3fd62ea1a 181
NYX 0:85b3fd62ea1a 182 #endif // TIM_MST_16BIT