Gan likun / The prosthetic control

The prosthetic control（MIT）

targets/TARGET_STM/us_ticker_32b.c@0:20e0c61e0684, 2022-06-23 (annotated)

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

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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 <stddef.h>
ganlikun 0:20e0c61e0684 17 #include "us_ticker_api.h"
ganlikun 0:20e0c61e0684 18 #include "PeripheralNames.h"
ganlikun 0:20e0c61e0684 19 #include "hal_tick.h"
ganlikun 0:20e0c61e0684 20
ganlikun 0:20e0c61e0684 21 // A 32-bit timer is used
ganlikun 0:20e0c61e0684 22 #if !TIM_MST_16BIT
ganlikun 0:20e0c61e0684 23
ganlikun 0:20e0c61e0684 24 TIM_HandleTypeDef TimMasterHandle;
ganlikun 0:20e0c61e0684 25
ganlikun 0:20e0c61e0684 26 void us_ticker_init(void)
ganlikun 0:20e0c61e0684 27 {
ganlikun 0:20e0c61e0684 28 /* NOTE: assuming that HAL tick has already been initialized! */
ganlikun 0:20e0c61e0684 29 }
ganlikun 0:20e0c61e0684 30
ganlikun 0:20e0c61e0684 31 uint32_t us_ticker_read()
ganlikun 0:20e0c61e0684 32 {
ganlikun 0:20e0c61e0684 33 return TIM_MST->CNT;
ganlikun 0:20e0c61e0684 34 }
ganlikun 0:20e0c61e0684 35
ganlikun 0:20e0c61e0684 36 void us_ticker_set_interrupt(timestamp_t timestamp)
ganlikun 0:20e0c61e0684 37 {
ganlikun 0:20e0c61e0684 38 // NOTE: This function must be called with interrupts disabled to keep our
ganlikun 0:20e0c61e0684 39 // timer interrupt setup atomic
ganlikun 0:20e0c61e0684 40
ganlikun 0:20e0c61e0684 41 // disable IT while we are handling the correct timestamp
ganlikun 0:20e0c61e0684 42 __HAL_TIM_DISABLE_IT(&TimMasterHandle, TIM_IT_CC1);
ganlikun 0:20e0c61e0684 43 // Set new output compare value
ganlikun 0:20e0c61e0684 44 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_1, (uint32_t)timestamp);
ganlikun 0:20e0c61e0684 45 // Enable IT
ganlikun 0:20e0c61e0684 46 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC1);
ganlikun 0:20e0c61e0684 47 }
ganlikun 0:20e0c61e0684 48
ganlikun 0:20e0c61e0684 49 void us_ticker_fire_interrupt(void)
ganlikun 0:20e0c61e0684 50 {
ganlikun 0:20e0c61e0684 51 LL_TIM_GenerateEvent_CC1(TimMasterHandle.Instance);
ganlikun 0:20e0c61e0684 52 }
ganlikun 0:20e0c61e0684 53
ganlikun 0:20e0c61e0684 54 /* NOTE: must be called with interrupts disabled! */
ganlikun 0:20e0c61e0684 55 void us_ticker_disable_interrupt(void)
ganlikun 0:20e0c61e0684 56 {
ganlikun 0:20e0c61e0684 57 __HAL_TIM_DISABLE_IT(&TimMasterHandle, TIM_IT_CC1);
ganlikun 0:20e0c61e0684 58 }
ganlikun 0:20e0c61e0684 59
ganlikun 0:20e0c61e0684 60 /* NOTE: must be called with interrupts disabled! */
ganlikun 0:20e0c61e0684 61 void us_ticker_clear_interrupt(void)
ganlikun 0:20e0c61e0684 62 {
ganlikun 0:20e0c61e0684 63 __HAL_TIM_CLEAR_FLAG(&TimMasterHandle, TIM_FLAG_CC1);
ganlikun 0:20e0c61e0684 64 }
ganlikun 0:20e0c61e0684 65
ganlikun 0:20e0c61e0684 66 #endif // !TIM_MST_16BIT
ganlikun 0:20e0c61e0684 67