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HardwareTimer.cpp
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/*
Copyright (c) 2017 Daniel Fekete
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
Copyright (c) 2019 STMicroelectronics
Modified to support Arduino_Core_STM32
*/
#include "Arduino.h"
#include "HardwareTimer.h"
#if defined(HAL_TIM_MODULE_ENABLED) && !defined(HAL_TIM_MODULE_ONLY)
/* Private Defines */
#define PIN_NOT_USED 0xFF
#define MAX_RELOAD ((1 << 16) - 1) // Currently even 32b timers are used as 16b to have generic behavior
/* Private Variables */
timerObj_t *HardwareTimer_Handle[TIMER_NUM] = {NULL};
IRQn_Type getTimerUpIrq(TIM_TypeDef *tim);
IRQn_Type getTimerCCIrq(TIM_TypeDef *tim);
/**
* @brief HardwareTimer constructor: set default configuration values
* @param Timer instance ex: TIM1, ...
* @retval None
*/
HardwareTimer::HardwareTimer(TIM_TypeDef *instance)
{
uint32_t index = get_timer_index(instance);
if (index == UNKNOWN_TIMER) {
Error_Handler();
}
HardwareTimer_Handle[index] = &_timerObj;
_timerObj.handle.Instance = instance;
_timerObj.handle.Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED;
_timerObj.handle.hdma[0] = NULL;
_timerObj.handle.hdma[1] = NULL;
_timerObj.handle.hdma[2] = NULL;
_timerObj.handle.hdma[3] = NULL;
_timerObj.handle.hdma[4] = NULL;
_timerObj.handle.hdma[5] = NULL;
_timerObj.handle.hdma[6] = NULL;
_timerObj.handle.Lock = HAL_UNLOCKED;
_timerObj.handle.State = HAL_TIM_STATE_RESET;
_timerObj.__this = (void *)this;
_timerObj.preemptPriority = TIM_IRQ_PRIO;
_timerObj.subPriority = TIM_IRQ_SUBPRIO;
/* Enable timer clock. Even if it is also done in HAL_TIM_Base_MspInit(),
it is done there so that it is possible to write registers right now */
enableTimerClock(&(_timerObj.handle));
// Initialize NULL callbacks
for (int i = 0; i < TIMER_CHANNELS + 1 ; i++) {
callbacks[i] = NULL;
}
// Initialize channel mode and complementary
for (int i = 0; i < TIMER_CHANNELS; i++) {
#if defined(TIM_CCER_CC1NE)
isComplementaryChannel[i] = false;
#endif
_ChannelMode[i] = TIMER_DISABLED;
}
/* Configure timer with some default values */
_timerObj.handle.Init.Prescaler = 0;
_timerObj.handle.Init.Period = 0xFFFF; // 16bit max value
_timerObj.handle.Init.CounterMode = TIM_COUNTERMODE_UP;
_timerObj.handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
#if defined(TIM_RCR_REP)
_timerObj.handle.Init.RepetitionCounter = 0;
#endif
_timerObj.handle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_Base_Init(&(_timerObj.handle));
}
/**
* @brief Pause HardwareTimer: stop timer
* @param None
* @retval None
*/
void HardwareTimer::pause()
{
// Disable all IT
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), TIM_IT_UPDATE);
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), TIM_IT_CC1);
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), TIM_IT_CC2);
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), TIM_IT_CC3);
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), TIM_IT_CC4);
// Disable timer unconditionally
LL_TIM_DisableCounter(_timerObj.handle.Instance);
}
/**
* @brief Pause only one channel.
* Timer is still running but channel is disabled (output and interrupt)
* @param Arduino channel [1..4]
* @retval None
*/
void HardwareTimer::pauseChannel(uint32_t channel)
{
int timAssociatedInputChannel;
int LLChannel = getLLChannel(channel);
if (LLChannel == -1) {
Error_Handler();
}
int interrupt = getIT(channel);
if (interrupt == -1) {
Error_Handler();
}
// Disable channel and corresponding interrupt
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), interrupt);
LL_TIM_CC_DisableChannel(_timerObj.handle.Instance, LLChannel);
// In case 2 channels are used, disbale also the 2nd one
if (_ChannelMode[channel - 1] == TIMER_INPUT_FREQ_DUTY_MEASUREMENT) {
// Identify and configure 2nd associated channel
timAssociatedInputChannel = getAssociatedChannel(channel);
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), getIT(timAssociatedInputChannel));
LL_TIM_CC_DisableChannel(_timerObj.handle.Instance, getLLChannel(timAssociatedInputChannel));
}
}
/**
* @brief Start or resume HardwareTimer: all channels are resumed, interrupts are enabled if necessary
* @param None
* @retval None
*/
void HardwareTimer::resume(void)
{
// Clear flag and ennable IT
if (callbacks[0] != NULL) {
__HAL_TIM_CLEAR_FLAG(&(_timerObj.handle), TIM_FLAG_UPDATE);
__HAL_TIM_ENABLE_IT(&(_timerObj.handle), TIM_IT_UPDATE);
}
// Resume all channels
resumeChannel(1);
resumeChannel(2);
resumeChannel(3);
resumeChannel(4);
}
/**
* @brief Convert arduino channel into HAL channel
* @param Arduino channel [1..4]
* @retval HAL channel. return -1 if arduino channel is invalid
*/
int HardwareTimer::getChannel(uint32_t channel)
{
uint32_t return_value;
switch (channel) {
case 1:
return_value = TIM_CHANNEL_1;
break;
case 2:
return_value = TIM_CHANNEL_2;
break;
case 3:
return_value = TIM_CHANNEL_3;
break;
case 4:
return_value = TIM_CHANNEL_4;
break;
default:
return_value = -1;
}
return return_value;
}
/**
* @brief Convert arduino channel into LL channel
* @param Arduino channel [1..4]
* @retval LL channel. return -1 if arduino channel is invalid
*/
int HardwareTimer::getLLChannel(uint32_t channel)
{
uint32_t return_value;
#if defined(TIM_CCER_CC1NE)
if (isComplementaryChannel[channel - 1]) {
// Complementary channel
switch (channel) {
case 1:
return_value = LL_TIM_CHANNEL_CH1N;
break;
case 2:
return_value = LL_TIM_CHANNEL_CH2N;
break;
case 3:
return_value = LL_TIM_CHANNEL_CH3N;
break;
#if defined(LL_TIM_CHANNEL_CH4N)
case 4:
return_value = LL_TIM_CHANNEL_CH4N;
break;
#endif
default:
return_value = -1;
}
} else
#endif
{
// Regular channel not complementary
switch (channel) {
case 1:
return_value = LL_TIM_CHANNEL_CH1;
break;
case 2:
return_value = LL_TIM_CHANNEL_CH2;
break;
case 3:
return_value = LL_TIM_CHANNEL_CH3;
break;
case 4:
return_value = LL_TIM_CHANNEL_CH4;
break;
default:
return_value = -1;
}
}
return return_value;
}
/**
* @brief Convert arduino channel into HAL Interrupt ID
* @param Arduino channel [1..4]
* @retval HAL channel. return -1 if arduino channel is invalid
*/
int HardwareTimer::getIT(uint32_t channel)
{
uint32_t return_value;
switch (channel) {
case 1:
return_value = TIM_IT_CC1;
break;
case 2:
return_value = TIM_IT_CC2;
break;
case 3:
return_value = TIM_IT_CC3;
break;
case 4:
return_value = TIM_IT_CC4;
break;
default:
return_value = -1;
}
return return_value;
}
/**
* @brief Get input associated channel
* Channel 1 and 2 are associated; channel 3 and 4 are associated
* @param Arduino channel [1..4]
* @retval HAL channel. return -1 if arduino channel is invalid
*/
int HardwareTimer::getAssociatedChannel(uint32_t channel)
{
int timAssociatedInputChannel = -1;
switch (channel) {
case 1:
timAssociatedInputChannel = 2;
break;
case 2:
timAssociatedInputChannel = 1;
break;
case 3:
timAssociatedInputChannel = 4;
break;
case 4:
timAssociatedInputChannel = 3;
break;
default:
break;
}
return timAssociatedInputChannel;
}
/**
* @brief Configure specified channel and resume/start timer
* @param Arduino channel [1..4]
* @retval None
*/
void HardwareTimer::resumeChannel(uint32_t channel)
{
int timChannel = getChannel(channel);
int timAssociatedInputChannel;
if (timChannel == -1) {
Error_Handler();
}
int interrupt = getIT(channel);
if (interrupt == -1) {
Error_Handler();
}
int LLChannel = getLLChannel(channel);
if (LLChannel == -1) {
Error_Handler();
}
// Clear flag and enable IT
if (callbacks[channel] != NULL) {
__HAL_TIM_CLEAR_FLAG(&(_timerObj.handle), interrupt);
__HAL_TIM_ENABLE_IT(&(_timerObj.handle), interrupt);
}
switch (_ChannelMode[channel - 1]) {
case TIMER_OUTPUT_COMPARE_PWM1:
case TIMER_OUTPUT_COMPARE_PWM2: {
#if defined(TIM_CCER_CC1NE)
if (isComplementaryChannel[channel - 1]) {
HAL_TIMEx_PWMN_Start(&(_timerObj.handle), timChannel);
} else
#endif
{
HAL_TIM_PWM_Start(&(_timerObj.handle), timChannel);
}
}
break;
case TIMER_OUTPUT_COMPARE:
case TIMER_OUTPUT_COMPARE_ACTIVE:
case TIMER_OUTPUT_COMPARE_INACTIVE:
case TIMER_OUTPUT_COMPARE_TOGGLE:
case TIMER_OUTPUT_COMPARE_FORCED_ACTIVE:
case TIMER_OUTPUT_COMPARE_FORCED_INACTIVE: {
#if defined(TIM_CCER_CC1NE)
if (isComplementaryChannel[channel - 1]) {
HAL_TIMEx_OCN_Start(&(_timerObj.handle), timChannel);
} else
#endif
{
HAL_TIM_OC_Start(&(_timerObj.handle), timChannel);
}
}
break;
case TIMER_INPUT_FREQ_DUTY_MEASUREMENT: {
HAL_TIM_IC_Start(&(_timerObj.handle), timChannel);
// Enable 2nd associated channel
timAssociatedInputChannel = getAssociatedChannel(channel);
LL_TIM_CC_EnableChannel(_timerObj.handle.Instance, getLLChannel(timAssociatedInputChannel));
if (callbacks[channel] != NULL) {
__HAL_TIM_CLEAR_FLAG(&(_timerObj.handle), getIT(timAssociatedInputChannel));
__HAL_TIM_ENABLE_IT(&(_timerObj.handle), getIT(timAssociatedInputChannel));
}
}
break;
case TIMER_INPUT_CAPTURE_RISING:
case TIMER_INPUT_CAPTURE_FALLING:
case TIMER_INPUT_CAPTURE_BOTHEDGE: {
HAL_TIM_IC_Start(&(_timerObj.handle), timChannel);
}
break;
case TIMER_NOT_USED:
default :
break;
}
}
/**
* @brief Retrieve prescaler from hardware register
* @param None
* @retval prescaler factor
*/
uint32_t HardwareTimer::getPrescaleFactor()
{
// Hardware register correspond to prescaler-1. Example PSC register value 0 means divided by 1
return (LL_TIM_GetPrescaler(_timerObj.handle.Instance) + 1);
}
/**
* @brief Configure hardwareTimer prescaler
* @param prescaler factor
* @retval None
*/
void HardwareTimer::setPrescaleFactor(uint32_t prescaler)
{
// Hardware register correspond to prescaler-1. Example PSC register value 0 means divided by 1
LL_TIM_SetPrescaler(_timerObj.handle.Instance, prescaler - 1);
}
/**
* @brief Retrieve overflow (rollover) value from hardware register
* @param format of returned value. If ommited default format is Tick
* @retval overflow depending on format value:
* TICK_FORMAT: return number of tick for overflow
* MICROSEC_FORMAT: return number of microsecondes for overflow
* HERTZ_FORMAT: return frequency in hertz for overflow
*/
uint32_t HardwareTimer::getOverflow(TimerFormat_t format)
{
// Hardware register correspond to period count-1. Example ARR register value 9 means period of 10 timer cycle
uint32_t ARR_RegisterValue = LL_TIM_GetAutoReload(_timerObj.handle.Instance);
uint32_t Prescalerfactor = LL_TIM_GetPrescaler(_timerObj.handle.Instance) + 1;
uint32_t return_value;
switch (format) {
case MICROSEC_FORMAT:
return_value = (uint32_t)(((ARR_RegisterValue + 1) * Prescalerfactor * 1000000.0) / getTimerClkFreq());
break;
case HERTZ_FORMAT:
return_value = (uint32_t)(getTimerClkFreq() / ((ARR_RegisterValue + 1) * Prescalerfactor));
break;
case TICK_FORMAT:
default :
return_value = ARR_RegisterValue + 1;
break;
}
return return_value;
}
/**
* @brief Set overflow (rollover)
* @param overflow: depend on format parameter
* @param format of overflow parameter. If ommited default format is Tick
* TICK_FORMAT: overflow is the number of tick for overflow
* MICROSEC_FORMAT: overflow is the number of microsecondes for overflow
* HERTZ_FORMAT: overflow is the frequency in hertz for overflow
* @retval None
*/
void HardwareTimer::setOverflow(uint32_t overflow, TimerFormat_t format)
{
uint32_t ARR_RegisterValue;
uint32_t Prescalerfactor;
uint32_t period_cyc;
// Remark: Hardware register correspond to period count-1. Example ARR register value 9 means period of 10 timer cycle
switch (format) {
case MICROSEC_FORMAT:
period_cyc = overflow * (getTimerClkFreq() / 1000000);
Prescalerfactor = (period_cyc / 0x10000) + 1;
LL_TIM_SetPrescaler(_timerObj.handle.Instance, Prescalerfactor - 1);
ARR_RegisterValue = (period_cyc / Prescalerfactor) - 1;
break;
case HERTZ_FORMAT:
period_cyc = getTimerClkFreq() / overflow;
Prescalerfactor = (period_cyc / 0x10000) + 1;
LL_TIM_SetPrescaler(_timerObj.handle.Instance, Prescalerfactor - 1);
ARR_RegisterValue = (period_cyc / Prescalerfactor) - 1;
break;
case TICK_FORMAT:
default :
ARR_RegisterValue = overflow - 1;
break;
}
__HAL_TIM_SET_AUTORELOAD(&_timerObj.handle, ARR_RegisterValue);
}
/**
* @brief Retreive timer counter value
* @param format of returned value. If ommited default format is Tick
* @retval overflow depending on format value:
* TICK_FORMAT: return number of tick for counter
* MICROSEC_FORMAT: return number of microsecondes for counter
* HERTZ_FORMAT: return frequency in hertz for counter
*/
uint32_t HardwareTimer::getCount(TimerFormat_t format)
{
uint32_t CNT_RegisterValue = LL_TIM_GetCounter(_timerObj.handle.Instance);
uint32_t Prescalerfactor = LL_TIM_GetPrescaler(_timerObj.handle.Instance) + 1;
uint32_t return_value;
switch (format) {
case MICROSEC_FORMAT:
return_value = (uint32_t)((CNT_RegisterValue * Prescalerfactor * 1000000.0) / getTimerClkFreq());
break;
case HERTZ_FORMAT:
return_value = (uint32_t)(getTimerClkFreq() / (CNT_RegisterValue * Prescalerfactor));
break;
case TICK_FORMAT:
default :
return_value = CNT_RegisterValue;
break;
}
return return_value;
}
/**
* @brief Set timer counter value
* @param counter: depend on format parameter
* @param format of overflow parameter. If ommited default format is Tick
* TICK_FORMAT: counter is the number of tick
* MICROSEC_FORMAT: counter is the number of microsecondes
* HERTZ_FORMAT: counter is the frequency in hertz
* @retval None
*/
void HardwareTimer::setCount(uint32_t counter, TimerFormat_t format)
{
uint32_t CNT_RegisterValue;
uint32_t Prescalerfactor = LL_TIM_GetPrescaler(_timerObj.handle.Instance) + 1;
switch (format) {
case MICROSEC_FORMAT:
CNT_RegisterValue = ((counter * (getTimerClkFreq() / 1000000)) / Prescalerfactor) - 1 ;
break;
case HERTZ_FORMAT:
CNT_RegisterValue = (uint32_t)((getTimerClkFreq() / (counter * Prescalerfactor)) - 1);
break;
case TICK_FORMAT:
default :
CNT_RegisterValue = counter - 1;
break;
}
__HAL_TIM_SET_COUNTER(&(_timerObj.handle), CNT_RegisterValue);
}
/**
* @brief Set channel mode
* @param channel: Arduino channel [1..4]
* @param mode: mode configuration for the channel (see TimerModes_t)
* @param pin: Arduino pin number, ex: D1, 1 or PA1
* @retval None
*/
void HardwareTimer::setMode(uint32_t channel, TimerModes_t mode, uint32_t pin)
{
setMode(channel, mode, digitalPinToPinName(pin));
}
/**
* @brief Set channel mode
* @param channel: Arduino channel [1..4]
* @param mode: mode configuration for the channel (see TimerModes_t)
* @param pin: pin name, ex: PB_0
* @retval None
*/
void HardwareTimer::setMode(uint32_t channel, TimerModes_t mode, PinName pin)
{
int timChannel = getChannel(channel);
int timAssociatedInputChannel;
TIM_OC_InitTypeDef channelOC;
TIM_IC_InitTypeDef channelIC;
if (timChannel == -1) {
Error_Handler();
}
// Save channel selected mode to object attribute
_ChannelMode[channel - 1] = mode;
/* Configure some default values. Maybe overwritten later */
channelOC.OCMode = TIMER_NOT_USED;
channelOC.Pulse = __HAL_TIM_GET_COMPARE(&(_timerObj.handle), timChannel); // keep same value already written in hardware <register
channelOC.OCPolarity = TIM_OCPOLARITY_HIGH;
channelOC.OCFastMode = TIM_OCFAST_DISABLE;
#if defined(TIM_CR2_OIS1)
channelOC.OCIdleState = TIM_OCIDLESTATE_RESET;
#endif
#if defined(TIM_CCER_CC1NE)
channelOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
#if defined(TIM_CR2_OIS1)
channelOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
#endif
#endif
channelIC.ICPolarity = TIMER_NOT_USED;
channelIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
channelIC.ICPrescaler = TIM_ICPSC_DIV1;
channelIC.ICFilter = 0;
switch (mode) {
case TIMER_DISABLED:
channelOC.OCMode = TIM_OCMODE_TIMING;
HAL_TIM_OC_ConfigChannel(&(_timerObj.handle), &channelOC, timChannel);
break;
case TIMER_OUTPUT_COMPARE:
channelOC.OCMode = TIM_OCMODE_TIMING;
HAL_TIM_OC_ConfigChannel(&(_timerObj.handle), &channelOC, timChannel);
break;
case TIMER_OUTPUT_COMPARE_ACTIVE:
channelOC.OCMode = TIM_OCMODE_ACTIVE;
HAL_TIM_OC_ConfigChannel(&(_timerObj.handle), &channelOC, timChannel);
break;
case TIMER_OUTPUT_COMPARE_INACTIVE:
channelOC.OCMode = TIM_OCMODE_INACTIVE;
HAL_TIM_OC_ConfigChannel(&(_timerObj.handle), &channelOC, timChannel);
break;
case TIMER_OUTPUT_COMPARE_TOGGLE:
channelOC.OCMode = TIM_OCMODE_TOGGLE;
HAL_TIM_OC_ConfigChannel(&(_timerObj.handle), &channelOC, timChannel);
break;
case TIMER_OUTPUT_COMPARE_PWM1:
channelOC.OCMode = TIM_OCMODE_PWM1;
HAL_TIM_PWM_ConfigChannel(&(_timerObj.handle), &channelOC, timChannel);
break;
case TIMER_OUTPUT_COMPARE_PWM2:
channelOC.OCMode = TIM_OCMODE_PWM2;
HAL_TIM_PWM_ConfigChannel(&(_timerObj.handle), &channelOC, timChannel);
break;
case TIMER_OUTPUT_COMPARE_FORCED_ACTIVE:
channelOC.OCMode = TIM_OCMODE_FORCED_ACTIVE;
HAL_TIM_OC_ConfigChannel(&(_timerObj.handle), &channelOC, timChannel);
break;
case TIMER_OUTPUT_COMPARE_FORCED_INACTIVE:
channelOC.OCMode = TIM_OCMODE_FORCED_INACTIVE;
HAL_TIM_OC_ConfigChannel(&(_timerObj.handle), &channelOC, timChannel);
break;
case TIMER_INPUT_CAPTURE_RISING:
channelIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
// channelIC[0].ICSelection = TIM_ICSELECTION_DIRECTTI;
HAL_TIM_IC_ConfigChannel(&(_timerObj.handle), &channelIC, timChannel);
break;
case TIMER_INPUT_CAPTURE_FALLING:
channelIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
// _channelIC[0].ICSelection = TIM_ICSELECTION_DIRECTTI;
HAL_TIM_IC_ConfigChannel(&(_timerObj.handle), &channelIC, timChannel);
break;
case TIMER_INPUT_CAPTURE_BOTHEDGE:
channelIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_BOTHEDGE;
HAL_TIM_IC_ConfigChannel(&(_timerObj.handle), &channelIC, timChannel);
break;
case TIMER_INPUT_FREQ_DUTY_MEASUREMENT:
// Configure 1st channel
channelIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
channelIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
HAL_TIM_IC_ConfigChannel(&(_timerObj.handle), &channelIC, timChannel);
// Identify and configure 2nd associated channel
timAssociatedInputChannel = getAssociatedChannel(channel);
_ChannelMode[timAssociatedInputChannel - 1] = mode;
channelIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
channelIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
HAL_TIM_IC_ConfigChannel(&(_timerObj.handle), &channelIC, getChannel(timAssociatedInputChannel));
break;
default:
break;
}
if (pin != NC) {
if ((int)get_pwm_channel(pin) == timChannel) {
#if defined(STM32F1xx)
if ((mode == TIMER_INPUT_CAPTURE_RISING) || (mode == TIMER_INPUT_CAPTURE_FALLING) \
|| (mode == TIMER_INPUT_CAPTURE_BOTHEDGE) || (mode == TIMER_INPUT_FREQ_DUTY_MEASUREMENT)) {
// on F1 family, input alternate function must configure GPIO in input mode
pinMode(pin, INPUT);
} else
#endif
{
/* Configure PWM GPIO pins */
pinmap_pinout(pin, PinMap_PWM);
}
} else {
// Pin doesn't match with timer output channels
Error_Handler();
}
#if defined(TIM_CCER_CC1NE)
isComplementaryChannel[channel - 1] = STM_PIN_INVERTED(pinmap_function(pin, PinMap_PWM));
#endif
}
}
/**
* @brief Set channel Capture/Compare register
* @param channel: Arduino channel [1..4]
* @param compare: compare value depending on format
* @param format of compare parameter. If ommited default format is Tick
* TICK_FORMAT: compare is the number of tick
* MICROSEC_FORMAT: compare is the number of microsecondes
* HERTZ_FORMAT: compare is the frequency in hertz
* @retval None
*/
void HardwareTimer::setCaptureCompare(uint32_t channel, uint32_t compare, TimerCompareFormat_t format)
{
int timChannel = getChannel(channel);
uint32_t Prescalerfactor = LL_TIM_GetPrescaler(_timerObj.handle.Instance) + 1;
uint32_t CCR_RegisterValue;
if (timChannel == -1) {
Error_Handler();
}
switch (format) {
case MICROSEC_COMPARE_FORMAT:
CCR_RegisterValue = ((compare * (getTimerClkFreq() / 1000000)) / Prescalerfactor) - 1 ;
break;
case HERTZ_COMPARE_FORMAT:
CCR_RegisterValue = (getTimerClkFreq() / (compare * Prescalerfactor)) - 1;
break;
case PERCENT_COMPARE_FORMAT:
CCR_RegisterValue = ((__HAL_TIM_GET_AUTORELOAD(&(_timerObj.handle)) + 1) * compare) / 100;
break;
case RESOLUTION_1B_COMPARE_FORMAT:
case RESOLUTION_2B_COMPARE_FORMAT:
case RESOLUTION_3B_COMPARE_FORMAT:
case RESOLUTION_4B_COMPARE_FORMAT:
case RESOLUTION_5B_COMPARE_FORMAT:
case RESOLUTION_6B_COMPARE_FORMAT:
case RESOLUTION_7B_COMPARE_FORMAT:
case RESOLUTION_8B_COMPARE_FORMAT:
case RESOLUTION_9B_COMPARE_FORMAT:
case RESOLUTION_10B_COMPARE_FORMAT:
case RESOLUTION_11B_COMPARE_FORMAT:
case RESOLUTION_12B_COMPARE_FORMAT:
case RESOLUTION_13B_COMPARE_FORMAT:
case RESOLUTION_14B_COMPARE_FORMAT:
case RESOLUTION_15B_COMPARE_FORMAT:
case RESOLUTION_16B_COMPARE_FORMAT:
CCR_RegisterValue = ((__HAL_TIM_GET_AUTORELOAD(&(_timerObj.handle)) + 1) * compare) / ((1 << format) - 1) ;
break;
case TICK_COMPARE_FORMAT:
default :
CCR_RegisterValue = compare - 1;
break;
}
__HAL_TIM_SET_COMPARE(&(_timerObj.handle), timChannel, CCR_RegisterValue);
}
/**
* @brief Retrieve Capture/Compare value
* @param channel: Arduino channel [1..4]
* @param format of return value. If ommited default format is Tick
* TICK_FORMAT: return value is the number of tick for Capture/Compare value
* MICROSEC_FORMAT: return value is the number of microsecondes for Capture/Compare value
* HERTZ_FORMAT: return value is the frequency in hertz for Capture/Compare value
* @retval None
*/
uint32_t HardwareTimer::getCaptureCompare(uint32_t channel, TimerCompareFormat_t format)
{
int timChannel = getChannel(channel);
uint32_t CCR_RegisterValue = __HAL_TIM_GET_COMPARE(&(_timerObj.handle), timChannel);
uint32_t Prescalerfactor = LL_TIM_GetPrescaler(_timerObj.handle.Instance) + 1;
uint32_t return_value;
if (timChannel == -1) {
Error_Handler();
}
switch (format) {
case MICROSEC_COMPARE_FORMAT:
return_value = (uint32_t)((CCR_RegisterValue * Prescalerfactor * 1000000.0) / getTimerClkFreq());
break;
case HERTZ_COMPARE_FORMAT:
return_value = (uint32_t)(getTimerClkFreq() / (CCR_RegisterValue * Prescalerfactor));
break;
case PERCENT_COMPARE_FORMAT:
return_value = (CCR_RegisterValue * 100) / __HAL_TIM_GET_AUTORELOAD(&(_timerObj.handle));
break;
case RESOLUTION_1B_COMPARE_FORMAT:
case RESOLUTION_2B_COMPARE_FORMAT:
case RESOLUTION_3B_COMPARE_FORMAT:
case RESOLUTION_4B_COMPARE_FORMAT:
case RESOLUTION_5B_COMPARE_FORMAT:
case RESOLUTION_6B_COMPARE_FORMAT:
case RESOLUTION_7B_COMPARE_FORMAT:
case RESOLUTION_8B_COMPARE_FORMAT:
case RESOLUTION_9B_COMPARE_FORMAT:
case RESOLUTION_10B_COMPARE_FORMAT:
case RESOLUTION_11B_COMPARE_FORMAT:
case RESOLUTION_12B_COMPARE_FORMAT:
case RESOLUTION_13B_COMPARE_FORMAT:
case RESOLUTION_14B_COMPARE_FORMAT:
case RESOLUTION_15B_COMPARE_FORMAT:
case RESOLUTION_16B_COMPARE_FORMAT:
return_value = (CCR_RegisterValue * ((1 << format) - 1)) / __HAL_TIM_GET_AUTORELOAD(&(_timerObj.handle));
break;
case TICK_COMPARE_FORMAT:
default :
return_value = CCR_RegisterValue;
break;
}
return return_value;
}
/**
* @param channel: Arduino channel [1..4]
* @param pin: Arduino pin number, ex D1, 1 or PA1
* @param frequency: PWM frequency expessed in hertz
* @param dutycycle: PWM dutycycle expressed in percentage
* @param format of return value. If ommited default format is Tick
* TICK_FORMAT: return value is the number of tick for Capture/Compare value
* MICROSEC_FORMAT: return value is the number of microsecondes for Capture/Compare value
* HERTZ_FORMAT: return value is the frequency in hertz for Capture/Compare value
* @retval None
*/
void HardwareTimer::setPWM(uint32_t channel, uint32_t pin, uint32_t frequency, uint32_t dutycycle, void (*PeriodCallback)(HardwareTimer *), void (*CompareCallback)(HardwareTimer *))
{
setPWM(channel, digitalPinToPinName(pin), frequency, dutycycle, PeriodCallback, CompareCallback);
}
/**
* @brief All in one function to configure PWM
* @param channel: Arduino channel [1..4]
* @param pin: pin name, ex PB_0
* @param frequency: PWM frequency expessed in hertz
* @param dutycycle: PWM dutycycle expressed in percentage
* @param format of return value. If ommited default format is Tick
* TICK_FORMAT: return value is the number of tick for Capture/Compare value
* MICROSEC_FORMAT: return value is the number of microsecondes for Capture/Compare value
* HERTZ_FORMAT: return value is the frequency in hertz for Capture/Compare value
* @retval None
*/
void HardwareTimer::setPWM(uint32_t channel, PinName pin, uint32_t frequency, uint32_t dutycycle, void (*PeriodCallback)(HardwareTimer *), void (*CompareCallback)(HardwareTimer *))
{
setMode(channel, TIMER_OUTPUT_COMPARE_PWM1, pin);
setOverflow(frequency, HERTZ_FORMAT);
setCaptureCompare(channel, dutycycle, PERCENT_COMPARE_FORMAT);
if (PeriodCallback != NULL) {
attachInterrupt(PeriodCallback);
}
if (CompareCallback != NULL) {
attachInterrupt(channel, CompareCallback);
}
resume();
}
/**
* @brief Set the priority of the interrupt
* @note Must be call before resume()
* @param preemptPriority: the pre-emption priority for the IRQn channel
* @param subPriority: the subpriority level for the IRQ channel.
* @retval None
*/
void HardwareTimer::setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority)
{
_timerObj.preemptPriority = preemptPriority;
_timerObj.subPriority = subPriority;
}
/**
* @brief Attach interrupt callback on update (rollover) event
* @param callback: interrupt callback
* @retval None
*/
void HardwareTimer::attachInterrupt(void (*callback)(HardwareTimer *))
{
callbacks[0] = callback;
if (callback != NULL) {
// Clear flag before enabling IT
__HAL_TIM_CLEAR_FLAG(&(_timerObj.handle), TIM_FLAG_UPDATE);
// Enable update interrupt only if callback is valid
__HAL_TIM_ENABLE_IT(&(_timerObj.handle), TIM_IT_UPDATE);
}
}
/**
* @brief Dettach interrupt callback on update (rollover) event
* @retval None
*/
void HardwareTimer::detachInterrupt()
{
// Disable update interrupt and clear callback
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), TIM_IT_UPDATE); // disables the interrupt call to save cpu cycles for useless context switching
callbacks[0] = NULL;
}
/**
* @brief Attach interrupt callback on Capture/Compare event
* @param channel: Arduino channel [1..4]
* @param callback: interrupt callback
* @retval None
*/
void HardwareTimer::attachInterrupt(uint32_t channel, void (*callback)(HardwareTimer *))
{
int interrupt = getIT(channel);
if (interrupt == -1) {
Error_Handler();
}
if ((channel == 0) || (channel > (TIMER_CHANNELS + 1))) {
Error_Handler(); // only channel 1..4 have an interrupt
}
callbacks[channel] = callback;
if (callback != NULL) {
// Clear flag before enabling IT
__HAL_TIM_CLEAR_FLAG(&(_timerObj.handle), interrupt);
// Enable interrupt corresponding to channel, only if callback is valid
__HAL_TIM_ENABLE_IT(&(_timerObj.handle), interrupt);
}
}
/**
* @brief Dettach interrupt callback on Capture/Compare event
* @param channel: Arduino channel [1..4]
* @retval None
*/
void HardwareTimer::detachInterrupt(uint32_t channel)
{
int interrupt = getIT(channel);
if (interrupt == -1) {
Error_Handler();
}
if ((channel == 0) || (channel > (TIMER_CHANNELS + 1))) {
Error_Handler(); // only channel 1..4 have an interrupt
}
// Disable interrupt corresponding to channel and clear callback
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), interrupt);
callbacks[channel] = NULL;
}
/**
* @brief Checks if there's an interrupt callback attached on Rollover event
* @retval returns true if a timer rollover interrupt has already been set
*/
bool HardwareTimer::hasInterrupt()
{
return callbacks[0] != NULL;
}
/**
* @brief Checks if there's an interrupt callback attached on Capture/Compare event
* @param channel: Arduino channel [1..4]
* @retval returns true if a channel compare match interrupt has already been set
*/
bool HardwareTimer::hasInterrupt(uint32_t channel)
{
if ((channel == 0) || (channel > (TIMER_CHANNELS + 1))) {
Error_Handler(); // only channel 1..4 have an interrupt
}
return callbacks[channel] != NULL;
}
/**
* @brief Generate an update event to force all registers (Autoreload, prescaler, compare) to be taken into account
* @note Refresh() can only be called after a 1st call to resume() to be sure timer is initialised.
* It is usefull while timer is running after some registers update
* @retval None
*/
void HardwareTimer::refresh()
{
HAL_TIM_GenerateEvent(&(_timerObj.handle), TIM_EVENTSOURCE_UPDATE);
}
/**
* @brief Return the timer object handle object for more advanced setup
* @note Using this function and editing the Timer handle is at own risk! No support will
* be provided whatsoever if the HardwareTimer does not work as expected when editing
* the handle using the HAL functionality or other custom coding.
* @retval TIM_HandleTypeDef address
*/
TIM_HandleTypeDef *HardwareTimer::getHandle()
{
return &_timerObj.handle;
}
/**
* @brief Generic Update (rollover) callback which will call user callback
* @param htim: HAL timer handle
* @retval None
*/
void HardwareTimer::updateCallback(TIM_HandleTypeDef *htim)
{
if (htim == NULL) {
Error_Handler();
}
timerObj_t *obj = get_timer_obj(htim);
HardwareTimer *HT = (HardwareTimer *)(obj->__this);
if (HT->callbacks[0] != NULL) {
HT->callbacks[0](HT);
}
}
/**
* @brief Generic Caputre and Compare callback which will call user callback
* @param htim: HAL timer handle
* @retval None
*/
void HardwareTimer::captureCompareCallback(TIM_HandleTypeDef *htim)
{
if (htim == NULL) {
Error_Handler();
}
uint32_t channel = htim->Channel;
switch (htim->Channel) {
case HAL_TIM_ACTIVE_CHANNEL_1: {
channel = 1;
break;
}
case HAL_TIM_ACTIVE_CHANNEL_2: {
channel = 2;