Diff: targets/hal/TARGET_STM/TARGET_NUCLEO_F401RE/us_ticker.c

Revision:

87:085cde657901

Child:

91:0a39e62a0464

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/targets/hal/TARGET_STM/TARGET_NUCLEO_F401RE/us_ticker.c	Sat Feb 08 19:45:06 2014 +0000
@@ -0,0 +1,170 @@
+/* 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"
+#include "stm32f4xx_hal.h"
+
+// Timer selection:
+
+#define TIM_MST            TIM1
+#define TIM_MST_UP_IRQ     TIM1_UP_TIM10_IRQn
+#define TIM_MST_OC_IRQ     TIM1_CC_IRQn
+#define TIM_MST_RCC        __TIM1_CLK_ENABLE()
+
+static TIM_HandleTypeDef TimMasterHandle;
+    
+static int      us_ticker_inited = 0;
+static uint32_t SlaveCounter = 0;
+static uint32_t us_ticker_int_counter = 0;
+static uint16_t us_ticker_int_remainder = 0;
+
+// Used to increment the slave counter
+static void tim_update_irq_handler(void) {
+    SlaveCounter++;
+    if (__HAL_TIM_GET_ITSTATUS(&TimMasterHandle, TIM_IT_UPDATE) == SET) {
+        __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_UPDATE);
+        __HAL_TIM_SetCounter(&TimMasterHandle, 0); // Reset counter !!!
+    }
+}
+
+// Used by interrupt system
+static void tim_oc_irq_handler(void) {
+    // Clear interrupt flag
+    if (__HAL_TIM_GET_ITSTATUS(&TimMasterHandle, TIM_IT_CC1) == SET) {
+        __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC1);
+    }
+    
+    if (us_ticker_int_counter > 0) {
+        __HAL_TIM_SetCompare(&TimMasterHandle, TIM_CHANNEL_1, 0xFFFF);
+        us_ticker_int_counter--;
+    } else {
+        if (us_ticker_int_remainder > 0) {
+            __HAL_TIM_SetCompare(&TimMasterHandle, TIM_CHANNEL_1, us_ticker_int_remainder);
+            us_ticker_int_remainder = 0;
+        } else {
+            // This function is going to disable the interrupts if there are
+            // no other events in the queue
+            us_ticker_irq_handler();
+        }
+    }    
+}
+
+void us_ticker_init(void) {
+    if (us_ticker_inited) return;
+    us_ticker_inited = 1;
+  
+    // Enable Timer clock
+    TIM_MST_RCC;
+  
+    // Configure time base
+    TimMasterHandle.Instance = TIM_MST;
+    TimMasterHandle.Init.Period            = 0xFFFF;
+    TimMasterHandle.Init.Prescaler         = (uint32_t)(SystemCoreClock / 1000000) - 1; // 1 µs tick
+    TimMasterHandle.Init.ClockDivision     = 0;
+    TimMasterHandle.Init.CounterMode       = TIM_COUNTERMODE_UP;
+    TimMasterHandle.Init.RepetitionCounter = 0;
+    //HAL_TIM_Base_Init(&TimMasterHandle);
+    HAL_TIM_OC_Init(&TimMasterHandle);
+
+    /*
+    TIM_OC_InitTypeDef sConfig;
+    sConfig.OCMode     = TIM_OCMODE_INACTIVE;
+    sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
+    sConfig.Pulse      = 0;
+    HAL_TIM_OC_ConfigChannel(&TimMasterHandle, &sConfig, TIM_CHANNEL_1);
+    */
+    
+    // Configure interrupts
+    __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_UPDATE);
+    __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC1);
+    
+    // For 32-bit counter
+    NVIC_SetVector(TIM_MST_UP_IRQ, (uint32_t)tim_update_irq_handler);
+    NVIC_EnableIRQ(TIM_MST_UP_IRQ);
+    
+    // For ouput compare
+    NVIC_SetVector(TIM_MST_OC_IRQ, (uint32_t)tim_oc_irq_handler);
+    NVIC_EnableIRQ(TIM_MST_OC_IRQ);
+  
+    // Enable timer
+    //HAL_TIM_Base_Start(&TimMasterHandle);
+    HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_1);
+}
+
+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(unsigned int timestamp) {
+    int delta = (int)(timestamp - us_ticker_read());
+
+    if (delta <= 0) { // This event was in the past
+        us_ticker_irq_handler();
+        return;
+    }
+    else {
+        us_ticker_int_counter   = (uint32_t)(delta >> 16);
+        us_ticker_int_remainder = (uint16_t)(delta & 0xFFFF);
+        if (us_ticker_int_counter > 0) { // means delta > 0xFFFF
+            __HAL_TIM_SetCompare(&TimMasterHandle, TIM_CHANNEL_1, 0xFFFF);
+            us_ticker_int_counter--;
+        } else {
+            __HAL_TIM_SetCompare(&TimMasterHandle, TIM_CHANNEL_1, us_ticker_int_remainder);
+            us_ticker_int_remainder = 0;
+        }
+        __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC1);
+    }
+}
+
+void us_ticker_disable_interrupt(void) {
+    __HAL_TIM_DISABLE_IT(&TimMasterHandle, TIM_IT_CC1);
+}
+
+void us_ticker_clear_interrupt(void) {
+    if (__HAL_TIM_GET_ITSTATUS(&TimMasterHandle, TIM_IT_CC1) == SET) {
+        __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC1);
+    }
+}