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Flexible interrupts handling #767

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e2096d0
Add methods to check if there's an IRQ handler
LinoBarreca Nov 8, 2019
8f83572
validate user input
LinoBarreca Nov 8, 2019
623e17e
Only activate ISR to HardwareTimer when needed.
LinoBarreca Nov 8, 2019
1a60a58
Merge remote-tracking branch 'upstream/master' into FlexibleInterrupts
LinoBarreca Nov 8, 2019
215d64b
Proper code formatting
LinoBarreca Nov 8, 2019
7a3d117
Case statement formatting to pass travis
LinoBarreca Nov 8, 2019
aa0ddd9
Spaces on an empty line -.-'
LinoBarreca Nov 8, 2019
166a9c3
Uppercase NULL
LinoBarreca Nov 8, 2019
51b7947
Only activate ISR to HardwareTimer when needed.
LinoBarreca Nov 8, 2019
348e106
Proper code formatting
LinoBarreca Nov 8, 2019
b9cf8a6
Case statement formatting to pass travis
LinoBarreca Nov 8, 2019
d9e4d44
Spaces on an empty line -.-'
LinoBarreca Nov 8, 2019
c2fde3c
Uppercase NULL
LinoBarreca Nov 8, 2019
2b4df7c
Merge branch 'FlexibleInterrupts' of https://github.com/LinoBarreca/A…
LinoBarreca Nov 26, 2019
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98 changes: 56 additions & 42 deletions cores/arduino/HardwareTimer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -179,57 +179,29 @@ void HardwareTimer::resumeChannel(uint32_t channel)
if (IS_TIM_PWM_MODE(_channelOC[channel - 1].OCMode)) {
HAL_TIM_PWM_ConfigChannel(&(_timerObj.handle), &_channelOC[channel - 1], timChannel);

if ((channel < (TIMER_CHANNELS + 1)) && (callbacks[channel] != NULL)) {
// Only channel 1..4 can have interruption
#if defined(TIM_CCER_CC1NE)
if (isComplementaryChannel[channel]) {
HAL_TIMEx_PWMN_Start_IT(&(_timerObj.handle), timChannel);
} else
#endif
{
HAL_TIM_PWM_Start_IT(&(_timerObj.handle), timChannel);
}
} else {
#if defined(TIM_CCER_CC1NE)
if (isComplementaryChannel[channel]) {
HAL_TIMEx_PWMN_Start(&(_timerObj.handle), timChannel);
} else
if (isComplementaryChannel[channel]) {
HAL_TIMEx_PWMN_Start(&(_timerObj.handle), timChannel);
} else
#endif
{
HAL_TIM_PWM_Start(&(_timerObj.handle), timChannel);
}
{
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 ((channel < (TIMER_CHANNELS + 1)) && (callbacks[channel] != NULL)) {
// Only channel 1..4 can have interruption
#if defined(TIM_CCER_CC1NE)
if (isComplementaryChannel[channel]) {
HAL_TIMEx_OCN_Start_IT(&(_timerObj.handle), timChannel);
} else
#endif
{
HAL_TIM_OC_Start_IT(&(_timerObj.handle), timChannel);
}
} else {
#if defined(TIM_CCER_CC1NE)
if (isComplementaryChannel[channel]) {
HAL_TIMEx_OCN_Start(&(_timerObj.handle), timChannel);
} else
if (isComplementaryChannel[channel]) {
HAL_TIMEx_OCN_Start(&(_timerObj.handle), timChannel);
} else
#endif
{
HAL_TIM_OC_Start(&(_timerObj.handle), timChannel);
}
{
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);

if (callbacks[channel] != NULL) {
HAL_TIM_IC_Start_IT(&(_timerObj.handle), timChannel);
} else {
HAL_TIM_IC_Start(&(_timerObj.handle), timChannel);
}
HAL_TIM_IC_Start(&(_timerObj.handle), timChannel);
}
}

Expand Down Expand Up @@ -660,7 +632,11 @@ void HardwareTimer::setInterruptPriority(uint32_t preemptPriority, uint32_t subP
*/
void HardwareTimer::attachInterrupt(void (*callback)(HardwareTimer *))
{
callbacks[0] = callback;
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
}

/**
Expand All @@ -669,6 +645,11 @@ void HardwareTimer::attachInterrupt(void (*callback)(HardwareTimer *))
*/
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;
}

Expand All @@ -684,7 +665,26 @@ void HardwareTimer::attachInterrupt(uint32_t channel, void (*callback)(HardwareT
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;
}
}
}

/**
Expand All @@ -694,10 +694,24 @@ void HardwareTimer::attachInterrupt(uint32_t channel, void (*callback)(HardwareT
*/
void HardwareTimer::detachInterrupt(uint32_t channel)
{
if ((channel == 0) || (channel > (TIMER_CHANNELS + 1))) {
Error_Handler(); // only channel 1..4 have an interrupt
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;
}

Expand Down