mbed library sources
Dependents: FRDM-KL46Z_LCD_Test FRDM-KL46Z_LCD_Test FRDM-KL46Z_Plantilla FRDM-KL46Z_Plantilla ... more
Diff: targets/hal/TARGET_STM/TARGET_NUCLEO_F103RB/us_ticker.c
- Revision:
- 0:6bc4ac881c8e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/targets/hal/TARGET_STM/TARGET_NUCLEO_F103RB/us_ticker.c Thu Jul 28 15:56:34 2016 +0000 @@ -0,0 +1,149 @@ +/* mbed Microcontroller Library + * Copyright (c) 2014, STMicroelectronics + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include <stddef.h> +#include "us_ticker_api.h" +#include "PeripheralNames.h" + +// Timer selection: +#define TIM_MST TIM4 +#define TIM_MST_IRQ TIM4_IRQn +#define TIM_MST_RCC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE) + +static int us_ticker_inited = 0; +static volatile uint32_t SlaveCounter = 0; +static volatile uint32_t oc_int_part = 0; +static volatile uint16_t oc_rem_part = 0; + +void set_compare(uint16_t count) { + // Set new output compare value + TIM_SetCompare1(TIM_MST, count); + // Enable IT + TIM_ITConfig(TIM_MST, TIM_IT_CC1, ENABLE); +} + +static void tim_irq_handler(void) { + uint16_t cval = TIM_MST->CNT; + + if (TIM_GetITStatus(TIM_MST, TIM_IT_Update) == SET) { + TIM_ClearITPendingBit(TIM_MST, TIM_IT_Update); + SlaveCounter++; + } + + if (TIM_GetITStatus(TIM_MST, TIM_IT_CC1) == SET) { + TIM_ClearITPendingBit(TIM_MST, TIM_IT_CC1); + if (oc_rem_part > 0) { + set_compare(oc_rem_part); // Finish the remaining time left + oc_rem_part = 0; + } else { + if (oc_int_part > 0) { + set_compare(0xFFFF); + oc_rem_part = cval; // To finish the counter loop the next time + oc_int_part--; + } else { + us_ticker_irq_handler(); + } + } + } +} + +void us_ticker_init(void) { + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; + + if (us_ticker_inited) return; + us_ticker_inited = 1; + + // Enable timer clock + TIM_MST_RCC; + + // Configure time base + TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); + TIM_TimeBaseStructure.TIM_Period = 0xFFFF; + TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)(SystemCoreClock / 1000000) - 1; // 1 �s tick + TIM_TimeBaseStructure.TIM_ClockDivision = 0; + TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; + TIM_TimeBaseInit(TIM_MST, &TIM_TimeBaseStructure); + + // Configure interrupts + TIM_ITConfig(TIM_MST, TIM_IT_Update, ENABLE); + + // Update interrupt used for 32-bit counter + // Output compare interrupt used for timeout feature + NVIC_SetVector(TIM_MST_IRQ, (uint32_t)tim_irq_handler); + NVIC_EnableIRQ(TIM_MST_IRQ); + + // Enable timer + TIM_Cmd(TIM_MST, ENABLE); +} + +uint32_t us_ticker_read() { + uint32_t counter, counter2; + if (!us_ticker_inited) us_ticker_init(); + // A situation might appear when Master overflows right after Slave is read and before the + // new (overflowed) value of Master is read. Which would make the code below consider the + // previous (incorrect) value of Slave and the new value of Master, which would return a + // value in the past. Avoid this by computing consecutive values of the timer until they + // are properly ordered. + counter = (uint32_t)(SlaveCounter << 16); + counter += TIM_MST->CNT; + while (1) { + counter2 = (uint32_t)(SlaveCounter << 16); + counter2 += TIM_MST->CNT; + if (counter2 > counter) { + break; + } + counter = counter2; + } + return counter2; +} + +void us_ticker_set_interrupt(timestamp_t timestamp) { + int delta = (int)((uint32_t)timestamp - us_ticker_read()); + uint16_t cval = TIM_MST->CNT; + + if (delta <= 0) { // This event was in the past + us_ticker_irq_handler(); + } else { + oc_int_part = (uint32_t)(delta >> 16); + oc_rem_part = (uint16_t)(delta & 0xFFFF); + if (oc_rem_part <= (0xFFFF - cval)) { + set_compare(cval + oc_rem_part); + oc_rem_part = 0; + } else { + set_compare(0xFFFF); + oc_rem_part = oc_rem_part - (0xFFFF - cval); + } + } +} + +void us_ticker_disable_interrupt(void) { + TIM_ITConfig(TIM_MST, TIM_IT_CC1, DISABLE); +} + +void us_ticker_clear_interrupt(void) { + TIM_ClearITPendingBit(TIM_MST, TIM_IT_CC1); +}