Takaaki Numai / mbed-dev

inport from local

Dependents:   Hobbyking_Cheetah_0511

targets/TARGET_STM/hal_tick_32b.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 32-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 void HAL_IncTick(void);
NYX 0:85b3fd62ea1a 26
NYX 0:85b3fd62ea1a 27 volatile uint32_t PreviousVal = 0;
NYX 0:85b3fd62ea1a 28
NYX 0:85b3fd62ea1a 29 void us_ticker_irq_handler(void);
NYX 0:85b3fd62ea1a 30
NYX 0:85b3fd62ea1a 31 void timer_irq_handler(void)
NYX 0:85b3fd62ea1a 32 {
NYX 0:85b3fd62ea1a 33 // Channel 1 for mbed timeout
NYX 0:85b3fd62ea1a 34 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC1) == SET) {
NYX 0:85b3fd62ea1a 35 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC1) == SET) {
NYX 0:85b3fd62ea1a 36 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC1);
NYX 0:85b3fd62ea1a 37 us_ticker_irq_handler();
NYX 0:85b3fd62ea1a 38 }
NYX 0:85b3fd62ea1a 39 }
NYX 0:85b3fd62ea1a 40
NYX 0:85b3fd62ea1a 41 // Channel 2 for HAL tick
NYX 0:85b3fd62ea1a 42 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC2) == SET) {
NYX 0:85b3fd62ea1a 43 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC2) == SET) {
NYX 0:85b3fd62ea1a 44 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC2);
NYX 0:85b3fd62ea1a 45 uint32_t val = __HAL_TIM_GetCounter(&TimMasterHandle);
NYX 0:85b3fd62ea1a 46 if ((val - PreviousVal) >= HAL_TICK_DELAY) {
NYX 0:85b3fd62ea1a 47 // Increment HAL variable
NYX 0:85b3fd62ea1a 48 HAL_IncTick();
NYX 0:85b3fd62ea1a 49 // Prepare next interrupt
NYX 0:85b3fd62ea1a 50 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_2, val + HAL_TICK_DELAY);
NYX 0:85b3fd62ea1a 51 PreviousVal = val;
NYX 0:85b3fd62ea1a 52 #if DEBUG_TICK > 0
NYX 0:85b3fd62ea1a 53 HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_6);
NYX 0:85b3fd62ea1a 54 #endif
NYX 0:85b3fd62ea1a 55 }
NYX 0:85b3fd62ea1a 56 }
NYX 0:85b3fd62ea1a 57 }
NYX 0:85b3fd62ea1a 58 }
NYX 0:85b3fd62ea1a 59
NYX 0:85b3fd62ea1a 60 // Reconfigure the HAL tick using a standard timer instead of systick.
NYX 0:85b3fd62ea1a 61 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
NYX 0:85b3fd62ea1a 62 {
NYX 0:85b3fd62ea1a 63 RCC_ClkInitTypeDef RCC_ClkInitStruct;
NYX 0:85b3fd62ea1a 64 uint32_t PclkFreq;
NYX 0:85b3fd62ea1a 65
NYX 0:85b3fd62ea1a 66 // Get clock configuration
NYX 0:85b3fd62ea1a 67 // Note: PclkFreq contains here the Latency (not used after)
NYX 0:85b3fd62ea1a 68 HAL_RCC_GetClockConfig(&RCC_ClkInitStruct, &PclkFreq);
NYX 0:85b3fd62ea1a 69
NYX 0:85b3fd62ea1a 70 // Get timer clock value
NYX 0:85b3fd62ea1a 71 #if TIM_MST_PCLK == 1
NYX 0:85b3fd62ea1a 72 PclkFreq = HAL_RCC_GetPCLK1Freq();
NYX 0:85b3fd62ea1a 73 #else
NYX 0:85b3fd62ea1a 74 PclkFreq = HAL_RCC_GetPCLK2Freq();
NYX 0:85b3fd62ea1a 75 #endif
NYX 0:85b3fd62ea1a 76
NYX 0:85b3fd62ea1a 77 // Enable timer clock
NYX 0:85b3fd62ea1a 78 TIM_MST_RCC;
NYX 0:85b3fd62ea1a 79
NYX 0:85b3fd62ea1a 80 // Reset timer
NYX 0:85b3fd62ea1a 81 TIM_MST_RESET_ON;
NYX 0:85b3fd62ea1a 82 TIM_MST_RESET_OFF;
NYX 0:85b3fd62ea1a 83
NYX 0:85b3fd62ea1a 84 // Configure time base
NYX 0:85b3fd62ea1a 85 TimMasterHandle.Instance = TIM_MST;
NYX 0:85b3fd62ea1a 86 TimMasterHandle.Init.Period = 0xFFFFFFFF;
NYX 0:85b3fd62ea1a 87
NYX 0:85b3fd62ea1a 88 // TIMxCLK = PCLKx when the APB prescaler = 1 else TIMxCLK = 2 * PCLKx
NYX 0:85b3fd62ea1a 89 #if TIM_MST_PCLK == 1
NYX 0:85b3fd62ea1a 90 if (RCC_ClkInitStruct.APB1CLKDivider == RCC_HCLK_DIV1) {
NYX 0:85b3fd62ea1a 91 #else
NYX 0:85b3fd62ea1a 92 if (RCC_ClkInitStruct.APB2CLKDivider == RCC_HCLK_DIV1) {
NYX 0:85b3fd62ea1a 93 #endif
NYX 0:85b3fd62ea1a 94 TimMasterHandle.Init.Prescaler = (uint16_t)((PclkFreq) / 1000000) - 1; // 1 us tick
NYX 0:85b3fd62ea1a 95 } else {
NYX 0:85b3fd62ea1a 96 TimMasterHandle.Init.Prescaler = (uint16_t)((PclkFreq * 2) / 1000000) - 1; // 1 us tick
NYX 0:85b3fd62ea1a 97 }
NYX 0:85b3fd62ea1a 98
NYX 0:85b3fd62ea1a 99 TimMasterHandle.Init.ClockDivision = 0;
NYX 0:85b3fd62ea1a 100 TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
NYX 0:85b3fd62ea1a 101 #if !TARGET_STM32L1
NYX 0:85b3fd62ea1a 102 TimMasterHandle.Init.RepetitionCounter = 0;
NYX 0:85b3fd62ea1a 103 #endif
NYX 0:85b3fd62ea1a 104 #ifdef TIM_AUTORELOAD_PRELOAD_DISABLE
NYX 0:85b3fd62ea1a 105 TimMasterHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
NYX 0:85b3fd62ea1a 106 #endif
NYX 0:85b3fd62ea1a 107 HAL_TIM_OC_Init(&TimMasterHandle);
NYX 0:85b3fd62ea1a 108
NYX 0:85b3fd62ea1a 109 NVIC_SetVector(TIM_MST_IRQ, (uint32_t)timer_irq_handler);
NYX 0:85b3fd62ea1a 110 NVIC_EnableIRQ(TIM_MST_IRQ);
NYX 0:85b3fd62ea1a 111
NYX 0:85b3fd62ea1a 112 // Channel 1 for mbed timeout
NYX 0:85b3fd62ea1a 113 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_1);
NYX 0:85b3fd62ea1a 114
NYX 0:85b3fd62ea1a 115 // Channel 2 for HAL tick
NYX 0:85b3fd62ea1a 116 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_2);
NYX 0:85b3fd62ea1a 117 PreviousVal = __HAL_TIM_GetCounter(&TimMasterHandle);
NYX 0:85b3fd62ea1a 118 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_2, PreviousVal + HAL_TICK_DELAY);
NYX 0:85b3fd62ea1a 119 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2);
NYX 0:85b3fd62ea1a 120
NYX 0:85b3fd62ea1a 121 // Freeze timer on stop/breakpoint
NYX 0:85b3fd62ea1a 122 // Define the FREEZE_TIMER_ON_DEBUG macro in mbed_app.json for example
NYX 0:85b3fd62ea1a 123 #if !defined(NDEBUG) && defined(FREEZE_TIMER_ON_DEBUG) && defined(TIM_MST_DBGMCU_FREEZE)
NYX 0:85b3fd62ea1a 124 TIM_MST_DBGMCU_FREEZE;
NYX 0:85b3fd62ea1a 125 #endif
NYX 0:85b3fd62ea1a 126
NYX 0:85b3fd62ea1a 127 #if DEBUG_TICK > 0
NYX 0:85b3fd62ea1a 128 __HAL_RCC_GPIOB_CLK_ENABLE();
NYX 0:85b3fd62ea1a 129 GPIO_InitTypeDef GPIO_InitStruct;
NYX 0:85b3fd62ea1a 130 GPIO_InitStruct.Pin = GPIO_PIN_6;
NYX 0:85b3fd62ea1a 131 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
NYX 0:85b3fd62ea1a 132 GPIO_InitStruct.Pull = GPIO_PULLUP;
NYX 0:85b3fd62ea1a 133 GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
NYX 0:85b3fd62ea1a 134 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
NYX 0:85b3fd62ea1a 135 #endif
NYX 0:85b3fd62ea1a 136
NYX 0:85b3fd62ea1a 137 return HAL_OK;
NYX 0:85b3fd62ea1a 138 }
NYX 0:85b3fd62ea1a 139
NYX 0:85b3fd62ea1a 140 /* NOTE: must be called with interrupts disabled! */
NYX 0:85b3fd62ea1a 141 void HAL_SuspendTick(void)
NYX 0:85b3fd62ea1a 142 {
NYX 0:85b3fd62ea1a 143 __HAL_TIM_DISABLE_IT(&TimMasterHandle, TIM_IT_CC2);
NYX 0:85b3fd62ea1a 144 }
NYX 0:85b3fd62ea1a 145
NYX 0:85b3fd62ea1a 146 /* NOTE: must be called with interrupts disabled! */
NYX 0:85b3fd62ea1a 147 void HAL_ResumeTick(void)
NYX 0:85b3fd62ea1a 148 {
NYX 0:85b3fd62ea1a 149 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2);
NYX 0:85b3fd62ea1a 150 }
NYX 0:85b3fd62ea1a 151
NYX 0:85b3fd62ea1a 152 #endif // !TIM_MST_16BIT