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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"
#ifdef HAL_TIM_MODULE_ENABLED
/* 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.handle.Instance = instance;
_timerObj.__this = (void *)this;
_timerObj.preemptPriority = TIM_IRQ_PRIO;
_timerObj.subPriority = TIM_IRQ_SUBPRIO;
// Enable Timer clock
enableTimerClock(&(_timerObj.handle));
// Configure HAL structure for all channels
for (int i = 0; i < TIMER_CHANNELS; i++) {
_channelOC[i].OCMode = TIMER_NOT_USED;
_channelOC[i].OCPolarity = TIM_OCPOLARITY_HIGH;
_channelOC[i].OCFastMode = TIM_OCFAST_DISABLE;
#if defined(TIM_CR2_OIS1)
_channelOC[i].OCIdleState = TIM_OCIDLESTATE_RESET;
#endif
#if defined(TIM_CCER_CC1NE)
_channelOC[i].OCNPolarity = TIM_OCNPOLARITY_HIGH;
#if defined(TIM_CR2_OIS1)
_channelOC[i].OCNIdleState = TIM_OCNIDLESTATE_RESET;
#endif
#endif
_channelIC[i].ICPolarity = TIMER_NOT_USED;
_channelIC[i].ICSelection = TIM_ICSELECTION_DIRECTTI;
_channelIC[i].ICPrescaler = TIM_ICPSC_DIV1;
_channelIC[i].ICFilter = 0;
for (int i = 0; i < TIMER_CHANNELS + 1 ; i++) {
callbacks[i] = NULL;
}
}
}
/**
* @brief Pause HardwareTimer: stop timer
* @param None
* @retval None
*/
void HardwareTimer::pause()
{
HAL_TIM_Base_Stop_IT(&(_timerObj.handle));
}
/**
* @brief Start or resume HardwareTimer: all channels are resumed, interrupts are enabled if necessary
* @param None
* @retval None
*/
void HardwareTimer::resume(void)
{
_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));
// Start timer with IT if required
if (callbacks[0] != NULL) {
HAL_TIM_Base_Start_IT(&(_timerObj.handle));
} else {
HAL_TIM_Base_Start(&(_timerObj.handle));
}
resumeChannel(1);
resumeChannel(2);
resumeChannel(3);
resumeChannel(4);
}
/**
* @brief Convert arduino 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 Configure specified channel and resume/start timer
* @param Arduino channel [1..4]
* @retval None
*/
void HardwareTimer::resumeChannel(uint32_t channel)
{
int timChannel = getChannel(channel);
if (timChannel == -1) {
Error_Handler();
}
if (IS_TIM_PWM_MODE(_channelOC[channel - 1].OCMode)) {
HAL_TIM_PWM_ConfigChannel(&(_timerObj.handle), &_channelOC[channel - 1], timChannel);
#if defined(TIM_CCER_CC1NE)
if (isComplementaryChannel[channel]) {
HAL_TIMEx_PWMN_Start(&(_timerObj.handle), timChannel);
} else
#endif
{
HAL_TIM_PWM_Start(&(_timerObj.handle), timChannel);
}
} else if (IS_TIM_OC_MODE(_channelOC[channel - 1].OCMode)) {
HAL_TIM_OC_ConfigChannel(&(_timerObj.handle), &_channelOC[channel - 1], timChannel);
#if defined(TIM_CCER_CC1NE)
if (isComplementaryChannel[channel]) {
HAL_TIMEx_OCN_Start(&(_timerObj.handle), timChannel);
} else
#endif
{
HAL_TIM_OC_Start(&(_timerObj.handle), timChannel);
}
} else if (_channelIC[channel - 1].ICPolarity != TIMER_NOT_USED) {
HAL_TIM_IC_ConfigChannel(&(_timerObj.handle), &_channelIC[channel - 1], timChannel);
HAL_TIM_IC_Start(&(_timerObj.handle), timChannel);
}
}
/**
* @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 (_timerObj.handle.Init.Prescaler + 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
__HAL_TIM_SET_PRESCALER(&_timerObj.handle, prescaler - 1);
_timerObj.handle.Init.Prescaler = 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 = __HAL_TIM_GET_AUTORELOAD(&(_timerObj.handle));
uint32_t Prescalerfactor = _timerObj.handle.Instance->PSC + 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;
__HAL_TIM_SET_PRESCALER(&_timerObj.handle, Prescalerfactor - 1);
_timerObj.handle.Init.Prescaler = Prescalerfactor - 1;
ARR_RegisterValue = (period_cyc / Prescalerfactor) - 1;
break;
case HERTZ_FORMAT:
period_cyc = getTimerClkFreq() / overflow;
Prescalerfactor = (period_cyc / 0x10000) + 1;
__HAL_TIM_SET_PRESCALER(&_timerObj.handle, Prescalerfactor - 1);
_timerObj.handle.Init.Prescaler = 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);
_timerObj.handle.Init.Period = 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 = __HAL_TIM_GET_COUNTER(&(_timerObj.handle));
uint32_t Prescalerfactor = _timerObj.handle.Instance->PSC + 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 = _timerObj.handle.Instance->PSC + 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)
{
if (getChannel(channel) == -1) {
Error_Handler();
}
switch (mode) {
case TIMER_OUTPUT_COMPARE:
_channelOC[channel - 1].OCMode = TIM_OCMODE_TIMING;
_channelIC[channel - 1].ICPolarity = TIMER_NOT_USED;
break;
case TIMER_OUTPUT_COMPARE_ACTIVE:
_channelOC[channel - 1].OCMode = TIM_OCMODE_ACTIVE;
_channelIC[channel - 1].ICPolarity = TIMER_NOT_USED;
break;
case TIMER_OUTPUT_COMPARE_INACTIVE:
_channelOC[channel - 1].OCMode = TIM_OCMODE_INACTIVE;
_channelIC[channel - 1].ICPolarity = TIMER_NOT_USED;
break;
case TIMER_OUTPUT_COMPARE_TOGGLE:
_channelOC[channel - 1].OCMode = TIM_OCMODE_TOGGLE;
_channelIC[channel - 1].ICPolarity = TIMER_NOT_USED;
break;
case TIMER_OUTPUT_COMPARE_PWM1:
_channelOC[channel - 1].OCMode = TIM_OCMODE_PWM1;
_channelIC[channel - 1].ICPolarity = TIMER_NOT_USED;
break;
case TIMER_OUTPUT_COMPARE_PWM2:
_channelOC[channel - 1].OCMode = TIM_OCMODE_PWM2;
_channelIC[channel - 1].ICPolarity = TIMER_NOT_USED;
break;
case TIMER_OUTPUT_COMPARE_FORCED_ACTIVE:
_channelOC[channel - 1].OCMode = TIM_OCMODE_FORCED_ACTIVE;
_channelIC[channel - 1].ICPolarity = TIMER_NOT_USED;
break;
case TIMER_OUTPUT_COMPARE_FORCED_INACTIVE:
_channelOC[channel - 1].OCMode = TIM_OCMODE_FORCED_INACTIVE;
_channelIC[channel - 1].ICPolarity = TIMER_NOT_USED;
break;
case TIMER_INPUT_CAPTURE_RISING:
_channelIC[channel - 1].ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
_channelIC[0].ICSelection = TIM_ICSELECTION_DIRECTTI;
_channelOC[channel - 1].OCMode = TIMER_NOT_USED;
break;
case TIMER_INPUT_CAPTURE_FALLING:
_channelIC[channel - 1].ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
_channelIC[0].ICSelection = TIM_ICSELECTION_DIRECTTI;
_channelOC[channel - 1].OCMode = TIMER_NOT_USED;
break;
case TIMER_INPUT_CAPTURE_BOTHEDGE:
_channelIC[channel - 1].ICPolarity = TIM_INPUTCHANNELPOLARITY_BOTHEDGE;
_channelOC[channel - 1].OCMode = TIMER_NOT_USED;
break;
case TIMER_INPUT_FREQ_DUTY_MEASUREMENT:
switch (channel) {
case 1:
_channelIC[0].ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
_channelIC[0].ICSelection = TIM_ICSELECTION_DIRECTTI;
_channelIC[1].ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
_channelIC[1].ICSelection = TIM_ICSELECTION_INDIRECTTI;
break;
case 2:
_channelIC[1].ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
_channelIC[1].ICSelection = TIM_ICSELECTION_DIRECTTI;
_channelIC[0].ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
_channelIC[0].ICSelection = TIM_ICSELECTION_INDIRECTTI;
break;
case 3:
_channelIC[2].ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
_channelIC[2].ICSelection = TIM_ICSELECTION_DIRECTTI;
_channelIC[3].ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
_channelIC[3].ICSelection = TIM_ICSELECTION_INDIRECTTI;
break;
case 4:
_channelIC[3].ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
_channelIC[3].ICSelection = TIM_ICSELECTION_DIRECTTI;
_channelIC[2].ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
_channelIC[2].ICSelection = TIM_ICSELECTION_INDIRECTTI;
break;
default:
break;
}
_channelOC[channel - 1].OCMode = TIMER_NOT_USED;
break;
case TIMER_DISABLED:
_channelOC[channel - 1].OCMode = TIMER_NOT_USED;
_channelIC[channel - 1].ICSelection = TIM_ICSELECTION_DIRECTTI;
_channelIC[channel - 1].ICPolarity = TIMER_NOT_USED;
break;
default:
break;
}
if (pin != NC) {
if ((int)get_pwm_channel(pin) == getChannel(channel)) {
/* 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] = 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 = _timerObj.handle.Instance->PSC + 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_8B_COMPARE_FORMAT:
CCR_RegisterValue = ((__HAL_TIM_GET_AUTORELOAD(&(_timerObj.handle)) + 1) * compare) / 255 ;
break;
case RESOLUTION_12B_COMPARE_FORMAT:
CCR_RegisterValue = ((__HAL_TIM_GET_AUTORELOAD(&(_timerObj.handle)) + 1) * compare) / 4095 ;
break;
case TICK_COMPARE_FORMAT:
default :
CCR_RegisterValue = compare - 1;
break;
}
__HAL_TIM_SET_COMPARE(&(_timerObj.handle), timChannel, CCR_RegisterValue);
_channelOC[channel - 1].Pulse = 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 = _timerObj.handle.Instance->PSC + 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_8B_COMPARE_FORMAT:
return_value = (CCR_RegisterValue * 255) / __HAL_TIM_GET_AUTORELOAD(&(_timerObj.handle));
break;
case RESOLUTION_12B_COMPARE_FORMAT:
return_value = (CCR_RegisterValue * 4095) / __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 *))
{
if (callbacks[0] == NULL) { //if there's no callback the ISR here is not enabled
__HAL_TIM_ENABLE_IT(&(_timerObj.handle), TIM_IT_UPDATE);
}
callbacks[0] = callback; //set or replace user callback
}
/**
* @brief Dettach interrupt callback on update (rollover) event
* @retval None
*/
void HardwareTimer::detachInterrupt()
{
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), TIM_IT_UPDATE); //disables the interrupt call to save cpu cycles for useless context switching
//we don't need memory barriers, as specified here
//( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
//since, even if the ISR here could be called again it will not call back in the user-space because we clear the user callback below.
//so actually if the user wants to detach the interrupt and there are pending calls the user doesn't get notified anymore.
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 *))
{
if ((channel == 0) || (channel > (TIMER_CHANNELS + 1))) {
Error_Handler(); // only channel 1..4 have an interrupt
}
bool mustActivateISR = (callbacks[channel] == NULL); //no user callback means ISR is disabled
callbacks[channel] = callback;
if (mustActivateISR) {
switch (channel) {
case 1:
__HAL_TIM_ENABLE_IT(&(_timerObj.handle), TIM_IT_CC1); // Enable the TIM Capture/Compare 1 interrupt
break;
case 2:
__HAL_TIM_ENABLE_IT(&(_timerObj.handle), TIM_IT_CC2); // Enable the TIM Capture/Compare 2 interrupt
break;
case 3:
__HAL_TIM_ENABLE_IT(&(_timerObj.handle), TIM_IT_CC3); // Enable the TIM Capture/Compare 3 interrupt
break;
case 4:
__HAL_TIM_ENABLE_IT(&(_timerObj.handle), TIM_IT_CC4); // Enable the TIM Capture/Compare 4 interrupt
break;
}
}
}
/**
* @brief Dettach interrupt callback on Capture/Compare event
* @param channel: Arduino channel [1..4]
* @retval None
*/
void HardwareTimer::detachInterrupt(uint32_t channel)
{
switch (channel) {
case 1:
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), TIM_IT_CC1); // Disable the TIM Capture/Compare 1 interrupt
break;
case 2:
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), TIM_IT_CC2); // Disable the TIM Capture/Compare 2 interrupt
break;
case 3:
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), TIM_IT_CC3); // Disable the TIM Capture/Compare 3 interrupt
break;
case 4:
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), TIM_IT_CC4); // Disable the TIM Capture/Compare 4 interrupt
break;
default:
Error_Handler(); // only channel 1..4 have an interrupt
}
//look at the detachInterrupt() for notes
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 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;
break;
}
case HAL_TIM_ACTIVE_CHANNEL_3: {
channel = 3;
break;
}
case HAL_TIM_ACTIVE_CHANNEL_4: {
channel = 4;
break;
}
default:
return;
}
timerObj_t *obj = get_timer_obj(htim);
HardwareTimer *HT = (HardwareTimer *)(obj->__this);
if (HT->callbacks[channel] != NULL) {
HT->callbacks[channel](HT);
}
}
/**
* @brief HardwareTimer destructor
* @retval None
*/
HardwareTimer::~HardwareTimer()
{
uint32_t index = get_timer_index(_timerObj.handle.Instance);
disableTimerClock(&(_timerObj.handle));
HardwareTimer_Handle[index] = NULL;
_timerObj.__this = NULL;
}
/**
* @brief return timer index from timer handle
* @param htim : one of the defined timer
* @retval None
*/
timer_index_t get_timer_index(TIM_TypeDef *instance)
{
timer_index_t index = UNKNOWN_TIMER;
#if defined(TIM1_BASE)
if (instance == TIM1) {
index = TIMER1_INDEX;
}
#endif
#if defined(TIM2_BASE)
if (instance == TIM2) {
index = TIMER2_INDEX;
}
#endif
#if defined(TIM3_BASE)
if (instance == TIM3) {
index = TIMER3_INDEX;
}
#endif
#if defined(TIM4_BASE)
if (instance == TIM4) {
index = TIMER4_INDEX;
}
#endif
#if defined(TIM5_BASE)
if (instance == TIM5) {
index = TIMER5_INDEX;
}
#endif
#if defined(TIM6_BASE)
if (instance == TIM6) {
index = TIMER6_INDEX;
}
#endif
#if defined(TIM7_BASE)
if (instance == TIM7) {
index = TIMER7_INDEX;
}
#endif
#if defined(TIM8_BASE)
if (instance == TIM8) {
index = TIMER8_INDEX;
}
#endif
#if defined(TIM9_BASE)
if (instance == TIM9) {
index = TIMER9_INDEX;
}
#endif
#if defined(TIM10_BASE)
if (instance == TIM10) {
index = TIMER10_INDEX;
}
#endif
#if defined(TIM11_BASE)
if (instance == TIM11) {
index = TIMER11_INDEX;
}
#endif
#if defined(TIM12_BASE)
if (instance == TIM12) {
index = TIMER12_INDEX;
}
#endif
#if defined(TIM13_BASE)
if (instance == TIM13) {
index = TIMER13_INDEX;
}
#endif
#if defined(TIM14_BASE)
if (instance == TIM14) {
index = TIMER14_INDEX;
}
#endif
#if defined(TIM15_BASE)
if (instance == TIM15) {
index = TIMER15_INDEX;
}
#endif
#if defined(TIM16_BASE)
if (instance == TIM16) {
index = TIMER16_INDEX;
}
#endif
#if defined(TIM17_BASE)
if (instance == TIM17) {
index = TIMER17_INDEX;
}
#endif
#if defined(TIM18_BASE)
if (instance == TIM18) {
index = TIMER18_INDEX;
}
#endif
#if defined(TIM19_BASE)
if (instance == TIM19) {
index = TIMER19_INDEX;
}
#endif
#if defined(TIM20_BASE)
if (instance == TIM20) {
index = TIMER20_INDEX;
}
#endif
#if defined(TIM21_BASE)
if (instance == TIM21) {
index = TIMER21_INDEX;
}
#endif
#if defined(TIM22_BASE)
if (instance == TIM22) {
index = TIMER2_INDEX;
}
#endif
return index;
}
/**
* @brief This function return the timer clock frequency.
* @param tim: timer instance
* @retval frequency in Hz
*/
uint32_t HardwareTimer::getTimerClkFreq()
{
RCC_ClkInitTypeDef clkconfig = {};
uint32_t pFLatency = 0U;
uint32_t uwTimclock = 0U, uwAPBxPrescaler = 0U;
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
switch (getTimerClkSrc(_timerObj.handle.Instance)) {
case 1:
uwAPBxPrescaler = clkconfig.APB1CLKDivider;
uwTimclock = HAL_RCC_GetPCLK1Freq();
break;
#if !defined(STM32F0xx) && !defined(STM32G0xx)
case 2:
uwAPBxPrescaler = clkconfig.APB2CLKDivider;
uwTimclock = HAL_RCC_GetPCLK2Freq();
break;
#endif
default:
case 0: // Unknown timer clock source
Error_Handler();
break;
}
#if defined(STM32H7xx)
/* When TIMPRE bit of the RCC_CFGR register is reset,
* if APBx prescaler is 1 or 2 then TIMxCLK = HCLK,
* otherwise TIMxCLK = 2x PCLKx.
* When TIMPRE bit in the RCC_CFGR register is set,
* if APBx prescaler is 1,2 or 4, then TIMxCLK = HCLK,
* otherwise TIMxCLK = 4x PCLKx
*/
RCC_PeriphCLKInitTypeDef PeriphClkConfig = {};
HAL_RCCEx_GetPeriphCLKConfig(&PeriphClkConfig);
if (PeriphClkConfig.TIMPresSelection == RCC_TIMPRES_ACTIVATED) {
switch (uwAPBxPrescaler) {
default:
case RCC_APB1_DIV1:
case RCC_APB1_DIV2:
case RCC_APB1_DIV4:
/* case RCC_APB2_DIV1: */
case RCC_APB2_DIV2:
case RCC_APB2_DIV4:
uwTimclock = HAL_RCC_GetHCLKFreq();
break;
case RCC_APB1_DIV8:
case RCC_APB1_DIV16:
case RCC_APB2_DIV8:
case RCC_APB2_DIV16: