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tinySA/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c

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/*
ChibiOS/HAL - Copyright (C) 2006-2014 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/*
Concepts and parts of this file have been contributed by Fabio Utzig and
Xo Wang.
*/
/**
* @file STM32/icu_lld.c
* @brief STM32 ICU subsystem low level driver header.
*
* @addtogroup ICU
* @{
*/
#include "hal.h"
#if HAL_USE_ICU || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/**
* @brief ICUD1 driver identifier.
* @note The driver ICUD1 allocates the complex timer TIM1 when enabled.
*/
#if STM32_ICU_USE_TIM1 || defined(__DOXYGEN__)
ICUDriver ICUD1;
#endif
/**
* @brief ICUD2 driver identifier.
* @note The driver ICUD1 allocates the timer TIM2 when enabled.
*/
#if STM32_ICU_USE_TIM2 || defined(__DOXYGEN__)
ICUDriver ICUD2;
#endif
/**
* @brief ICUD3 driver identifier.
* @note The driver ICUD1 allocates the timer TIM3 when enabled.
*/
#if STM32_ICU_USE_TIM3 || defined(__DOXYGEN__)
ICUDriver ICUD3;
#endif
/**
* @brief ICUD4 driver identifier.
* @note The driver ICUD4 allocates the timer TIM4 when enabled.
*/
#if STM32_ICU_USE_TIM4 || defined(__DOXYGEN__)
ICUDriver ICUD4;
#endif
/**
* @brief ICUD5 driver identifier.
* @note The driver ICUD5 allocates the timer TIM5 when enabled.
*/
#if STM32_ICU_USE_TIM5 || defined(__DOXYGEN__)
ICUDriver ICUD5;
#endif
/**
* @brief ICUD8 driver identifier.
* @note The driver ICUD8 allocates the timer TIM8 when enabled.
*/
#if STM32_ICU_USE_TIM8 || defined(__DOXYGEN__)
ICUDriver ICUD8;
#endif
/**
* @brief ICUD9 driver identifier.
* @note The driver ICUD9 allocates the timer TIM9 when enabled.
*/
#if STM32_ICU_USE_TIM9 || defined(__DOXYGEN__)
ICUDriver ICUD9;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
static void icu_lld_wait_edge(ICUDriver *icup) {
/* Polled mode so re-enabling the interrupts while the operation is
performed.*/
chSysUnlock();
/* Polling the right bit depending on the input channel.*/
if (icup->config->channel == ICU_CHANNEL_1) {
/* Waiting for an edge.*/
while ((icup->tim->SR & STM32_TIM_SR_CC1IF) == 0)
;
/* Resetting capture flag.*/
icup->tim->SR &= ~STM32_TIM_SR_CC1IF;
}
else {
/* Waiting for an edge.*/
while ((icup->tim->SR & STM32_TIM_SR_CC2IF) == 0)
;
/* Resetting capture flag.*/
icup->tim->SR &= ~STM32_TIM_SR_CC2IF;
}
/* Done, disabling interrupts again.*/
chSysLock();
}
/**
* @brief Shared IRQ handler.
*
* @param[in] icup pointer to the @p ICUDriver object
*/
static void icu_lld_serve_interrupt(ICUDriver *icup) {
uint32_t sr;
sr = icup->tim->SR;
sr &= icup->tim->DIER & STM32_TIM_DIER_IRQ_MASK;
icup->tim->SR = ~sr;
if (icup->config->channel == ICU_CHANNEL_1) {
if ((sr & STM32_TIM_SR_CC2IF) != 0)
_icu_isr_invoke_width_cb(icup);
if ((sr & STM32_TIM_SR_CC1IF) != 0)
_icu_isr_invoke_period_cb(icup);
}
else {
if ((sr & STM32_TIM_SR_CC1IF) != 0)
_icu_isr_invoke_width_cb(icup);
if ((sr & STM32_TIM_SR_CC2IF) != 0)
_icu_isr_invoke_period_cb(icup);
}
if ((sr & STM32_TIM_SR_UIF) != 0)
_icu_isr_invoke_overflow_cb(icup);
}
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if STM32_ICU_USE_TIM1
#if !defined(STM32_TIM1_UP_HANDLER)
#error "STM32_TIM1_UP_HANDLER not defined"
#endif
/**
* @brief TIM1 compare interrupt handler.
* @note It is assumed that the various sources are only activated if the
* associated callback pointer is not equal to @p NULL in order to not
* perform an extra check in a potentially critical interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_TIM1_UP_HANDLER) {
OSAL_IRQ_PROLOGUE();
icu_lld_serve_interrupt(&ICUD1);
OSAL_IRQ_EPILOGUE();
}
#if !defined(STM32_TIM1_CC_HANDLER)
#error "STM32_TIM1_CC_HANDLER not defined"
#endif
/**
* @brief TIM1 compare interrupt handler.
* @note It is assumed that the various sources are only activated if the
* associated callback pointer is not equal to @p NULL in order to not
* perform an extra check in a potentially critical interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_TIM1_CC_HANDLER) {
OSAL_IRQ_PROLOGUE();
icu_lld_serve_interrupt(&ICUD1);
OSAL_IRQ_EPILOGUE();
}
#endif /* STM32_ICU_USE_TIM1 */
#if STM32_ICU_USE_TIM2
#if !defined(STM32_TIM2_HANDLER)
#error "STM32_TIM2_HANDLER not defined"
#endif
/**
* @brief TIM2 interrupt handler.
* @note It is assumed that the various sources are only activated if the
* associated callback pointer is not equal to @p NULL in order to not
* perform an extra check in a potentially critical interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_TIM2_HANDLER) {
OSAL_IRQ_PROLOGUE();
icu_lld_serve_interrupt(&ICUD2);
OSAL_IRQ_EPILOGUE();
}
#endif /* STM32_ICU_USE_TIM2 */
#if STM32_ICU_USE_TIM3
#if !defined(STM32_TIM3_HANDLER)
#error "STM32_TIM3_HANDLER not defined"
#endif
/**
* @brief TIM3 interrupt handler.
* @note It is assumed that the various sources are only activated if the
* associated callback pointer is not equal to @p NULL in order to not
* perform an extra check in a potentially critical interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_TIM3_HANDLER) {
OSAL_IRQ_PROLOGUE();
icu_lld_serve_interrupt(&ICUD3);
OSAL_IRQ_EPILOGUE();
}
#endif /* STM32_ICU_USE_TIM3 */
#if STM32_ICU_USE_TIM4
#if !defined(STM32_TIM4_HANDLER)
#error "STM32_TIM4_HANDLER not defined"
#endif
/**
* @brief TIM4 interrupt handler.
* @note It is assumed that the various sources are only activated if the
* associated callback pointer is not equal to @p NULL in order to not
* perform an extra check in a potentially critical interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_TIM4_HANDLER) {
OSAL_IRQ_PROLOGUE();
icu_lld_serve_interrupt(&ICUD4);
OSAL_IRQ_EPILOGUE();
}
#endif /* STM32_ICU_USE_TIM4 */
#if STM32_ICU_USE_TIM5
#if !defined(STM32_TIM5_HANDLER)
#error "STM32_TIM5_HANDLER not defined"
#endif
/**
* @brief TIM5 interrupt handler.
* @note It is assumed that the various sources are only activated if the
* associated callback pointer is not equal to @p NULL in order to not
* perform an extra check in a potentially critical interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_TIM5_HANDLER) {
OSAL_IRQ_PROLOGUE();
icu_lld_serve_interrupt(&ICUD5);
OSAL_IRQ_EPILOGUE();
}
#endif /* STM32_ICU_USE_TIM5 */
#if STM32_ICU_USE_TIM8
#if !defined(STM32_TIM8_UP_HANDLER)
#error "STM32_TIM8_UP_HANDLER not defined"
#endif
/**
* @brief TIM8 compare interrupt handler.
* @note It is assumed that the various sources are only activated if the
* associated callback pointer is not equal to @p NULL in order to not
* perform an extra check in a potentially critical interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_TIM8_UP_HANDLER) {
OSAL_IRQ_PROLOGUE();
icu_lld_serve_interrupt(&ICUD8);
OSAL_IRQ_EPILOGUE();
}
#if !defined(STM32_TIM8_CC_HANDLER)
#error "STM32_TIM8_CC_HANDLER not defined"
#endif
/**
* @brief TIM8 compare interrupt handler.
* @note It is assumed that the various sources are only activated if the
* associated callback pointer is not equal to @p NULL in order to not
* perform an extra check in a potentially critical interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_TIM8_CC_HANDLER) {
OSAL_IRQ_PROLOGUE();
icu_lld_serve_interrupt(&ICUD8);
OSAL_IRQ_EPILOGUE();
}
#endif /* STM32_ICU_USE_TIM8 */
#if STM32_ICU_USE_TIM9
#if !defined(STM32_TIM9_HANDLER)
#error "STM32_TIM9_HANDLER not defined"
#endif
/**
* @brief TIM9 interrupt handler.
* @note It is assumed that the various sources are only activated if the
* associated callback pointer is not equal to @p NULL in order to not
* perform an extra check in a potentially critical interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_TIM9_HANDLER) {
OSAL_IRQ_PROLOGUE();
icu_lld_serve_interrupt(&ICUD9);
OSAL_IRQ_EPILOGUE();
}
#endif /* STM32_ICU_USE_TIM9 */
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level ICU driver initialization.
*
* @notapi
*/
void icu_lld_init(void) {
#if STM32_ICU_USE_TIM1
/* Driver initialization.*/
icuObjectInit(&ICUD1);
ICUD1.tim = STM32_TIM1;
#endif
#if STM32_ICU_USE_TIM2
/* Driver initialization.*/
icuObjectInit(&ICUD2);
ICUD2.tim = STM32_TIM2;
#endif
#if STM32_ICU_USE_TIM3
/* Driver initialization.*/
icuObjectInit(&ICUD3);
ICUD3.tim = STM32_TIM3;
#endif
#if STM32_ICU_USE_TIM4
/* Driver initialization.*/
icuObjectInit(&ICUD4);
ICUD4.tim = STM32_TIM4;
#endif
#if STM32_ICU_USE_TIM5
/* Driver initialization.*/
icuObjectInit(&ICUD5);
ICUD5.tim = STM32_TIM5;
#endif
#if STM32_ICU_USE_TIM8
/* Driver initialization.*/
icuObjectInit(&ICUD8);
ICUD8.tim = STM32_TIM8;
#endif
#if STM32_ICU_USE_TIM9
/* Driver initialization.*/
icuObjectInit(&ICUD9);
ICUD9.tim = STM32_TIM9;
#endif
}
/**
* @brief Configures and activates the ICU peripheral.
*
* @param[in] icup pointer to the @p ICUDriver object
*
* @notapi
*/
void icu_lld_start(ICUDriver *icup) {
uint32_t psc;
osalDbgAssert((icup->config->channel == ICU_CHANNEL_1) ||
(icup->config->channel == ICU_CHANNEL_2),
"invalid input");
if (icup->state == ICU_STOP) {
/* Clock activation and timer reset.*/
#if STM32_ICU_USE_TIM1
if (&ICUD1 == icup) {
rccEnableTIM1(FALSE);
rccResetTIM1();
nvicEnableVector(STM32_TIM1_UP_NUMBER, STM32_ICU_TIM1_IRQ_PRIORITY);
nvicEnableVector(STM32_TIM1_CC_NUMBER, STM32_ICU_TIM1_IRQ_PRIORITY);
#if defined(STM32_TIM1CLK)
icup->clock = STM32_TIM1CLK;
#else
icup->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_ICU_USE_TIM2
if (&ICUD2 == icup) {
rccEnableTIM2(FALSE);
rccResetTIM2();
nvicEnableVector(STM32_TIM2_NUMBER, STM32_ICU_TIM2_IRQ_PRIORITY);
icup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM3
if (&ICUD3 == icup) {
rccEnableTIM3(FALSE);
rccResetTIM3();
nvicEnableVector(STM32_TIM3_NUMBER, STM32_ICU_TIM3_IRQ_PRIORITY);
icup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM4
if (&ICUD4 == icup) {
rccEnableTIM4(FALSE);
rccResetTIM4();
nvicEnableVector(STM32_TIM4_NUMBER, STM32_ICU_TIM4_IRQ_PRIORITY);
icup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM5
if (&ICUD5 == icup) {
rccEnableTIM5(FALSE);
rccResetTIM5();
nvicEnableVector(STM32_TIM5_NUMBER, STM32_ICU_TIM5_IRQ_PRIORITY);
icup->clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM8
if (&ICUD8 == icup) {
rccEnableTIM8(FALSE);
rccResetTIM8();
nvicEnableVector(STM32_TIM8_UP_NUMBER, STM32_ICU_TIM8_IRQ_PRIORITY);
nvicEnableVector(STM32_TIM8_CC_NUMBER, STM32_ICU_TIM8_IRQ_PRIORITY);
#if defined(STM32_TIM8CLK)
icup->clock = STM32_TIM8CLK;
#else
icup->clock = STM32_TIMCLK2;
#endif
}
#endif
#if STM32_ICU_USE_TIM9
if (&ICUD9 == icup) {
rccEnableTIM9(FALSE);
rccResetTIM9();
nvicEnableVector(STM32_TIM9_NUMBER, STM32_ICU_TIM9_IRQ_PRIORITY);
icup->clock = STM32_TIMCLK2;
}
#endif
}
else {
/* Driver re-configuration scenario, it must be stopped first.*/
icup->tim->CR1 = 0; /* Timer disabled. */
icup->tim->CCR[0] = 0; /* Comparator 1 disabled. */
icup->tim->CCR[1] = 0; /* Comparator 2 disabled. */
icup->tim->CNT = 0; /* Counter reset to zero. */
}
/* Timer configuration.*/
icup->tim->SR = 0; /* Clear eventual pending IRQs. */
icup->tim->DIER = icup->config->dier & /* DMA-related DIER settings. */
~STM32_TIM_DIER_IRQ_MASK;
psc = (icup->clock / icup->config->frequency) - 1;
osalDbgAssert((psc <= 0xFFFF) &&
((psc + 1) * icup->config->frequency) == icup->clock,
"invalid frequency");
icup->tim->PSC = psc;
icup->tim->ARR = 0xFFFF;
if (icup->config->channel == ICU_CHANNEL_1) {
/* Selected input 1.
CCMR1_CC1S = 01 = CH1 Input on TI1.
CCMR1_CC2S = 10 = CH2 Input on TI1.*/
icup->tim->CCMR1 = STM32_TIM_CCMR1_CC1S(1) | STM32_TIM_CCMR1_CC2S(2);
/* SMCR_TS = 101, input is TI1FP1.
SMCR_SMS = 100, reset on rising edge.*/
icup->tim->SMCR = STM32_TIM_SMCR_TS(5) | STM32_TIM_SMCR_SMS(4);
/* The CCER settings depend on the selected trigger mode.
ICU_INPUT_ACTIVE_HIGH: Active on rising edge, idle on falling edge.
ICU_INPUT_ACTIVE_LOW: Active on falling edge, idle on rising edge.*/
if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH)
icup->tim->CCER = STM32_TIM_CCER_CC1E |
STM32_TIM_CCER_CC2E | STM32_TIM_CCER_CC2P;
else
icup->tim->CCER = STM32_TIM_CCER_CC1E | STM32_TIM_CCER_CC1P |
STM32_TIM_CCER_CC2E;
/* Direct pointers to the capture registers in order to make reading
data faster from within callbacks.*/
icup->wccrp = &icup->tim->CCR[1];
icup->pccrp = &icup->tim->CCR[0];
}
else {
/* Selected input 2.
CCMR1_CC1S = 10 = CH1 Input on TI2.
CCMR1_CC2S = 01 = CH2 Input on TI2.*/
icup->tim->CCMR1 = STM32_TIM_CCMR1_CC1S(2) | STM32_TIM_CCMR1_CC2S(1);
/* SMCR_TS = 110, input is TI2FP2.
SMCR_SMS = 100, reset on rising edge.*/
icup->tim->SMCR = STM32_TIM_SMCR_TS(6) | STM32_TIM_SMCR_SMS(4);
/* The CCER settings depend on the selected trigger mode.
ICU_INPUT_ACTIVE_HIGH: Active on rising edge, idle on falling edge.
ICU_INPUT_ACTIVE_LOW: Active on falling edge, idle on rising edge.*/
if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH)
icup->tim->CCER = STM32_TIM_CCER_CC1E | STM32_TIM_CCER_CC1P |
STM32_TIM_CCER_CC2E;
else
icup->tim->CCER = STM32_TIM_CCER_CC1E |
STM32_TIM_CCER_CC2E | STM32_TIM_CCER_CC2P;
/* Direct pointers to the capture registers in order to make reading
data faster from within callbacks.*/
icup->wccrp = &icup->tim->CCR[0];
icup->pccrp = &icup->tim->CCR[1];
}
}
/**
* @brief Deactivates the ICU peripheral.
*
* @param[in] icup pointer to the @p ICUDriver object
*
* @notapi
*/
void icu_lld_stop(ICUDriver *icup) {
if (icup->state == ICU_READY) {
/* Clock deactivation.*/
icup->tim->CR1 = 0; /* Timer disabled. */
icup->tim->DIER = 0; /* All IRQs disabled. */
icup->tim->SR = 0; /* Clear eventual pending IRQs. */
#if STM32_ICU_USE_TIM1
if (&ICUD1 == icup) {
nvicDisableVector(STM32_TIM1_UP_NUMBER);
nvicDisableVector(STM32_TIM1_CC_NUMBER);
rccDisableTIM1(FALSE);
}
#endif
#if STM32_ICU_USE_TIM2
if (&ICUD2 == icup) {
nvicDisableVector(STM32_TIM2_NUMBER);
rccDisableTIM2(FALSE);
}
#endif
#if STM32_ICU_USE_TIM3
if (&ICUD3 == icup) {
nvicDisableVector(STM32_TIM3_NUMBER);
rccDisableTIM3(FALSE);
}
#endif
#if STM32_ICU_USE_TIM4
if (&ICUD4 == icup) {
nvicDisableVector(STM32_TIM4_NUMBER);
rccDisableTIM4(FALSE);
}
#endif
#if STM32_ICU_USE_TIM5
if (&ICUD5 == icup) {
nvicDisableVector(STM32_TIM5_NUMBER);
rccDisableTIM5(FALSE);
}
#endif
#if STM32_ICU_USE_TIM8
if (&ICUD8 == icup) {
nvicDisableVector(STM32_TIM8_UP_NUMBER);
nvicDisableVector(STM32_TIM8_CC_NUMBER);
rccDisableTIM8(FALSE);
}
#endif
#if STM32_ICU_USE_TIM9
if (&ICUD9 == icup) {
nvicDisableVector(STM32_TIM9_NUMBER);
rccDisableTIM9(FALSE);
}
#endif
}
}
/**
* @brief Starts the input capture.
*
* @param[in] icup pointer to the @p ICUDriver object
*
* @notapi
*/
void icu_lld_start_capture(ICUDriver *icup) {
/* Triggering an UG and clearing the IRQ status.*/
icup->tim->EGR |= STM32_TIM_EGR_UG;
icup->tim->SR = 0;
/* Timer is started.*/
icup->tim->CR1 = STM32_TIM_CR1_URS | STM32_TIM_CR1_CEN;
}
/**
* @brief Waits for a completed capture.
* @note The operation is performed in polled mode.
* @note In order to use this function notifications must be disabled.
*
* @param[in] icup pointer to the @p ICUDriver object
*
* @notapi
*/
void icu_lld_wait_capture(ICUDriver *icup) {
/* If the driver is still in the ICU_WAITING state then we need to wait
for the first activation edge.*/
if (icup->state == ICU_WAITING)
icu_lld_wait_edge(icup);
/* This edge marks the availability of a capture result.*/
icu_lld_wait_edge(icup);
}
/**
* @brief Stops the input capture.
*
* @param[in] icup pointer to the @p ICUDriver object
*
* @notapi
*/
void icu_lld_stop_capture(ICUDriver *icup) {
/* Timer stopped.*/
icup->tim->CR1 = 0;
/* All interrupts disabled.*/
icup->tim->DIER &= ~STM32_TIM_DIER_IRQ_MASK;
}
/**
* @brief Enables notifications.
* @pre The ICU unit must have been activated using @p icuStart().
* @note If the notification is already enabled then the call has no effect.
*
* @param[in] icup pointer to the @p ICUDriver object
*
* @api
*/
void icu_lld_enable_notifications(ICUDriver *icup) {
uint32_t dier = icup->tim->DIER;
/* If interrupts were already enabled then the operation is skipped.
This is done in order to avoid clearing the SR and risk losing
pending interrupts.*/
if ((dier & STM32_TIM_DIER_IRQ_MASK) == 0) {
/* Previously triggered IRQs are ignored, status cleared.*/
icup->tim->SR = 0;
if (icup->config->channel == ICU_CHANNEL_1) {
/* Enabling periodic callback on CC1.*/
dier |= STM32_TIM_DIER_CC1IE;
/* Optionally enabling width callback on CC2.*/
if (icup->config->width_cb != NULL)
dier |= STM32_TIM_DIER_CC2IE;
}
else {
/* Enabling periodic callback on CC2.*/
dier |= STM32_TIM_DIER_CC2IE;
/* Optionally enabling width callback on CC1.*/
if (icup->config->width_cb != NULL)
dier |= STM32_TIM_DIER_CC1IE;
}
/* If an overflow callback is defined then also the overflow callback
is enabled.*/
if (icup->config->overflow_cb != NULL)
dier |= STM32_TIM_DIER_UIE;
/* One single atomic write.*/
icup->tim->DIER = dier;
}
}
/**
* @brief Disables notifications.
* @pre The ICU unit must have been activated using @p icuStart().
* @note If the notification is already disabled then the call has no effect.
*
* @param[in] icup pointer to the @p ICUDriver object
*
* @api
*/
void icu_lld_disable_notifications(ICUDriver *icup) {
/* All interrupts disabled.*/
icup->tim->DIER &= ~STM32_TIM_DIER_IRQ_MASK;
}
#endif /* HAL_USE_ICU */
/** @} */
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