Gan likun / The prosthetic control

The prosthetic control（MIT）

targets/TARGET_STM/hal_tick_16b.c@0:20e0c61e0684, 2022-06-23 (annotated)

Committer:
ganlikun
Date:
Thu Jun 23 05:23:34 2022 +0000
Revision:
0:20e0c61e0684
01

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ganlikun 0:20e0c61e0684 1 /* mbed Microcontroller Library
ganlikun 0:20e0c61e0684 2 * Copyright (c) 2006-2016 ARM Limited
ganlikun 0:20e0c61e0684 3 *
ganlikun 0:20e0c61e0684 4 * Licensed under the Apache License, Version 2.0 (the "License");
ganlikun 0:20e0c61e0684 5 * you may not use this file except in compliance with the License.
ganlikun 0:20e0c61e0684 6 * You may obtain a copy of the License at
ganlikun 0:20e0c61e0684 7 *
ganlikun 0:20e0c61e0684 8 * http://www.apache.org/licenses/LICENSE-2.0
ganlikun 0:20e0c61e0684 9 *
ganlikun 0:20e0c61e0684 10 * Unless required by applicable law or agreed to in writing, software
ganlikun 0:20e0c61e0684 11 * distributed under the License is distributed on an "AS IS" BASIS,
ganlikun 0:20e0c61e0684 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ganlikun 0:20e0c61e0684 13 * See the License for the specific language governing permissions and
ganlikun 0:20e0c61e0684 14 * limitations under the License.
ganlikun 0:20e0c61e0684 15 */
ganlikun 0:20e0c61e0684 16 #include "hal_tick.h"
ganlikun 0:20e0c61e0684 17
ganlikun 0:20e0c61e0684 18 // A 16-bit timer is used
ganlikun 0:20e0c61e0684 19 #if TIM_MST_16BIT
ganlikun 0:20e0c61e0684 20
ganlikun 0:20e0c61e0684 21 #define DEBUG_TICK 0 // Set to 1 to toggle a pin (see below which pin) at each tick
ganlikun 0:20e0c61e0684 22
ganlikun 0:20e0c61e0684 23 extern TIM_HandleTypeDef TimMasterHandle;
ganlikun 0:20e0c61e0684 24
ganlikun 0:20e0c61e0684 25 extern volatile uint32_t SlaveCounter;
ganlikun 0:20e0c61e0684 26 extern volatile uint32_t oc_int_part;
ganlikun 0:20e0c61e0684 27
ganlikun 0:20e0c61e0684 28 volatile uint32_t PreviousVal = 0;
ganlikun 0:20e0c61e0684 29
ganlikun 0:20e0c61e0684 30 void us_ticker_irq_handler(void);
ganlikun 0:20e0c61e0684 31
ganlikun 0:20e0c61e0684 32 #if defined(TARGET_STM32F0)
ganlikun 0:20e0c61e0684 33 void timer_update_irq_handler(void) {
ganlikun 0:20e0c61e0684 34 #else
ganlikun 0:20e0c61e0684 35 void timer_irq_handler(void)
ganlikun 0:20e0c61e0684 36 {
ganlikun 0:20e0c61e0684 37 #endif
ganlikun 0:20e0c61e0684 38 TimMasterHandle.Instance = TIM_MST;
ganlikun 0:20e0c61e0684 39
ganlikun 0:20e0c61e0684 40 // Clear Update interrupt flag
ganlikun 0:20e0c61e0684 41 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_UPDATE) == SET) {
ganlikun 0:20e0c61e0684 42 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_UPDATE) == SET) {
ganlikun 0:20e0c61e0684 43 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_UPDATE);
ganlikun 0:20e0c61e0684 44 SlaveCounter++;
ganlikun 0:20e0c61e0684 45 }
ganlikun 0:20e0c61e0684 46 }
ganlikun 0:20e0c61e0684 47
ganlikun 0:20e0c61e0684 48 #if defined(TARGET_STM32F0)
ganlikun 0:20e0c61e0684 49 } // end timer_update_irq_handler function
ganlikun 0:20e0c61e0684 50 // Used for mbed timeout (channel 1) and HAL tick (channel 2)
ganlikun 0:20e0c61e0684 51 void timer_oc_irq_handler(void)
ganlikun 0:20e0c61e0684 52 {
ganlikun 0:20e0c61e0684 53 TimMasterHandle.Instance = TIM_MST;
ganlikun 0:20e0c61e0684 54 #endif
ganlikun 0:20e0c61e0684 55
ganlikun 0:20e0c61e0684 56 // Channel 1 for mbed timeout
ganlikun 0:20e0c61e0684 57 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC1) == SET) {
ganlikun 0:20e0c61e0684 58 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC1) == SET) {
ganlikun 0:20e0c61e0684 59 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC1);
ganlikun 0:20e0c61e0684 60
ganlikun 0:20e0c61e0684 61 if (oc_int_part > 0) {
ganlikun 0:20e0c61e0684 62 oc_int_part--;
ganlikun 0:20e0c61e0684 63 } else {
ganlikun 0:20e0c61e0684 64 us_ticker_irq_handler();
ganlikun 0:20e0c61e0684 65 }
ganlikun 0:20e0c61e0684 66 }
ganlikun 0:20e0c61e0684 67 }
ganlikun 0:20e0c61e0684 68
ganlikun 0:20e0c61e0684 69 // Channel 2 for HAL tick
ganlikun 0:20e0c61e0684 70 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC2) == SET) {
ganlikun 0:20e0c61e0684 71
ganlikun 0:20e0c61e0684 72 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC2) == SET) {
ganlikun 0:20e0c61e0684 73 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC2);
ganlikun 0:20e0c61e0684 74 uint32_t val = __HAL_TIM_GET_COUNTER(&TimMasterHandle);
ganlikun 0:20e0c61e0684 75 if ((val - PreviousVal) >= HAL_TICK_DELAY) {
ganlikun 0:20e0c61e0684 76 // Increment HAL variable
ganlikun 0:20e0c61e0684 77 HAL_IncTick();
ganlikun 0:20e0c61e0684 78 // Prepare next interrupt
ganlikun 0:20e0c61e0684 79 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_2, val + HAL_TICK_DELAY);
ganlikun 0:20e0c61e0684 80 PreviousVal = val;
ganlikun 0:20e0c61e0684 81 #if DEBUG_TICK > 0
ganlikun 0:20e0c61e0684 82 HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_6);
ganlikun 0:20e0c61e0684 83 #endif
ganlikun 0:20e0c61e0684 84 }
ganlikun 0:20e0c61e0684 85 }
ganlikun 0:20e0c61e0684 86 }
ganlikun 0:20e0c61e0684 87 }
ganlikun 0:20e0c61e0684 88
ganlikun 0:20e0c61e0684 89 // Reconfigure the HAL tick using a standard timer instead of systick.
ganlikun 0:20e0c61e0684 90 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
ganlikun 0:20e0c61e0684 91 {
ganlikun 0:20e0c61e0684 92 // Enable timer clock
ganlikun 0:20e0c61e0684 93 TIM_MST_RCC;
ganlikun 0:20e0c61e0684 94
ganlikun 0:20e0c61e0684 95 // Reset timer
ganlikun 0:20e0c61e0684 96 TIM_MST_RESET_ON;
ganlikun 0:20e0c61e0684 97 TIM_MST_RESET_OFF;
ganlikun 0:20e0c61e0684 98
ganlikun 0:20e0c61e0684 99 // Update the SystemCoreClock variable
ganlikun 0:20e0c61e0684 100 SystemCoreClockUpdate();
ganlikun 0:20e0c61e0684 101
ganlikun 0:20e0c61e0684 102 // Configure time base
ganlikun 0:20e0c61e0684 103 TimMasterHandle.Instance = TIM_MST;
ganlikun 0:20e0c61e0684 104 TimMasterHandle.Init.Period = 0xFFFF;
ganlikun 0:20e0c61e0684 105 TimMasterHandle.Init.Prescaler = (uint32_t)(SystemCoreClock / 1000000) - 1; // 1 us tick
ganlikun 0:20e0c61e0684 106 TimMasterHandle.Init.ClockDivision = 0;
ganlikun 0:20e0c61e0684 107 TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
ganlikun 0:20e0c61e0684 108 #if !defined(TARGET_STM32L0)
ganlikun 0:20e0c61e0684 109 TimMasterHandle.Init.RepetitionCounter = 0;
ganlikun 0:20e0c61e0684 110 #endif
ganlikun 0:20e0c61e0684 111 #ifdef TIM_AUTORELOAD_PRELOAD_DISABLE
ganlikun 0:20e0c61e0684 112 TimMasterHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
ganlikun 0:20e0c61e0684 113 #endif
ganlikun 0:20e0c61e0684 114 HAL_TIM_Base_Init(&TimMasterHandle);
ganlikun 0:20e0c61e0684 115
ganlikun 0:20e0c61e0684 116 //LL_TIM_EnableUpdateEvent(TimMasterHandle.Instance);
ganlikun 0:20e0c61e0684 117
ganlikun 0:20e0c61e0684 118 // Configure output compare channel 1 for mbed timeout (enabled later when used)
ganlikun 0:20e0c61e0684 119 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_1);
ganlikun 0:20e0c61e0684 120
ganlikun 0:20e0c61e0684 121 // Configure output compare channel 2 for HAL tick
ganlikun 0:20e0c61e0684 122 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_2);
ganlikun 0:20e0c61e0684 123 PreviousVal = __HAL_TIM_GET_COUNTER(&TimMasterHandle);
ganlikun 0:20e0c61e0684 124 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_2, PreviousVal + HAL_TICK_DELAY);
ganlikun 0:20e0c61e0684 125
ganlikun 0:20e0c61e0684 126
ganlikun 0:20e0c61e0684 127
ganlikun 0:20e0c61e0684 128 // Configure interrupts
ganlikun 0:20e0c61e0684 129 // Update interrupt used for 32-bit counter
ganlikun 0:20e0c61e0684 130 // Output compare channel 1 interrupt for mbed timeout
ganlikun 0:20e0c61e0684 131 // Output compare channel 2 interrupt for HAL tick
ganlikun 0:20e0c61e0684 132 #if defined(TARGET_STM32F0)
ganlikun 0:20e0c61e0684 133 NVIC_SetVector(TIM_MST_UP_IRQ, (uint32_t)timer_update_irq_handler);
ganlikun 0:20e0c61e0684 134 NVIC_EnableIRQ(TIM_MST_UP_IRQ);
ganlikun 0:20e0c61e0684 135 NVIC_SetPriority(TIM_MST_UP_IRQ, 0);
ganlikun 0:20e0c61e0684 136 NVIC_SetVector(TIM_MST_OC_IRQ, (uint32_t)timer_oc_irq_handler);
ganlikun 0:20e0c61e0684 137 NVIC_EnableIRQ(TIM_MST_OC_IRQ);
ganlikun 0:20e0c61e0684 138 NVIC_SetPriority(TIM_MST_OC_IRQ, 1);
ganlikun 0:20e0c61e0684 139 #else
ganlikun 0:20e0c61e0684 140 NVIC_SetVector(TIM_MST_IRQ, (uint32_t)timer_irq_handler);
ganlikun 0:20e0c61e0684 141 NVIC_EnableIRQ(TIM_MST_IRQ);
ganlikun 0:20e0c61e0684 142 #endif
ganlikun 0:20e0c61e0684 143
ganlikun 0:20e0c61e0684 144 // Enable interrupts
ganlikun 0:20e0c61e0684 145 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_UPDATE); // For 32-bit counter
ganlikun 0:20e0c61e0684 146 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2); // For HAL tick
ganlikun 0:20e0c61e0684 147
ganlikun 0:20e0c61e0684 148 // Enable timer
ganlikun 0:20e0c61e0684 149 HAL_TIM_Base_Start(&TimMasterHandle);
ganlikun 0:20e0c61e0684 150
ganlikun 0:20e0c61e0684 151 // Freeze timer on stop/breakpoint
ganlikun 0:20e0c61e0684 152 // Define the FREEZE_TIMER_ON_DEBUG macro in mbed_app.json for example
ganlikun 0:20e0c61e0684 153 #if !defined(NDEBUG) && defined(FREEZE_TIMER_ON_DEBUG) && defined(TIM_MST_DBGMCU_FREEZE)
ganlikun 0:20e0c61e0684 154 TIM_MST_DBGMCU_FREEZE;
ganlikun 0:20e0c61e0684 155 #endif
ganlikun 0:20e0c61e0684 156
ganlikun 0:20e0c61e0684 157 #if DEBUG_TICK > 0
ganlikun 0:20e0c61e0684 158 __HAL_RCC_GPIOB_CLK_ENABLE();
ganlikun 0:20e0c61e0684 159 GPIO_InitTypeDef GPIO_InitStruct;
ganlikun 0:20e0c61e0684 160 GPIO_InitStruct.Pin = GPIO_PIN_6;
ganlikun 0:20e0c61e0684 161 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
ganlikun 0:20e0c61e0684 162 GPIO_InitStruct.Pull = GPIO_PULLUP;
ganlikun 0:20e0c61e0684 163 GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
ganlikun 0:20e0c61e0684 164 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
ganlikun 0:20e0c61e0684 165 #endif
ganlikun 0:20e0c61e0684 166
ganlikun 0:20e0c61e0684 167 return HAL_OK;
ganlikun 0:20e0c61e0684 168 }
ganlikun 0:20e0c61e0684 169
ganlikun 0:20e0c61e0684 170 /* NOTE: must be called with interrupts disabled! */
ganlikun 0:20e0c61e0684 171 void HAL_SuspendTick(void)
ganlikun 0:20e0c61e0684 172 {
ganlikun 0:20e0c61e0684 173 __HAL_TIM_DISABLE_IT(&TimMasterHandle, TIM_IT_CC2);
ganlikun 0:20e0c61e0684 174 }
ganlikun 0:20e0c61e0684 175
ganlikun 0:20e0c61e0684 176 /* NOTE: must be called with interrupts disabled! */
ganlikun 0:20e0c61e0684 177 void HAL_ResumeTick(void)
ganlikun 0:20e0c61e0684 178 {
ganlikun 0:20e0c61e0684 179 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2);
ganlikun 0:20e0c61e0684 180 }
ganlikun 0:20e0c61e0684 181
ganlikun 0:20e0c61e0684 182 #endif // TIM_MST_16BIT
ganlikun 0:20e0c61e0684 183