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@ -20,7 +20,7 @@ |
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* |
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*/ |
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#ifdef STM32F4 |
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#if defined(STM32F4) || defined(STM32F4xx) |
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// --------------------------------------------------------------------------
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// Includes
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@ -39,6 +39,8 @@ |
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// --------------------------------------------------------------------------
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#define NUM_HARDWARE_TIMERS 2 |
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#define STEP_TIMER_IRQ_ID TIM5_IRQn |
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#define TEMP_TIMER_IRQ_ID TIM7_IRQn |
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//#define PRESCALER 1
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// --------------------------------------------------------------------------
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@ -53,7 +55,7 @@ |
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// Private Variables
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// --------------------------------------------------------------------------
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tTimerConfig timerConfig[NUM_HARDWARE_TIMERS]; |
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stm32f4_timer_t TimerHandle[NUM_HARDWARE_TIMERS]; |
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// --------------------------------------------------------------------------
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// Function prototypes
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@ -72,90 +74,86 @@ bool timers_initialised[NUM_HARDWARE_TIMERS] = {false}; |
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { |
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if (!timers_initialised[timer_num]) { |
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constexpr uint32_t step_prescaler = STEPPER_TIMER_PRESCALE - 1, |
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temp_prescaler = TEMP_TIMER_PRESCALE - 1; |
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switch (timer_num) { |
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case STEP_TIMER_NUM: |
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//STEPPER TIMER TIM5 //use a 32bit timer
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__HAL_RCC_TIM5_CLK_ENABLE(); |
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timerConfig[0].timerdef.Instance = TIM5; |
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timerConfig[0].timerdef.Init.Prescaler = (STEPPER_TIMER_PRESCALE); |
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timerConfig[0].timerdef.Init.CounterMode = TIM_COUNTERMODE_UP; |
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timerConfig[0].timerdef.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; |
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timerConfig[0].IRQ_Id = TIM5_IRQn; |
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timerConfig[0].callback = (uint32_t)TC5_Handler; |
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HAL_NVIC_SetPriority(timerConfig[0].IRQ_Id, 1, 0); |
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break; |
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case TEMP_TIMER_NUM: |
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//TEMP TIMER TIM7 // any available 16bit Timer (1 already used for PWM)
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__HAL_RCC_TIM7_CLK_ENABLE(); |
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timerConfig[1].timerdef.Instance = TIM7; |
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timerConfig[1].timerdef.Init.Prescaler = (TEMP_TIMER_PRESCALE); |
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timerConfig[1].timerdef.Init.CounterMode = TIM_COUNTERMODE_UP; |
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timerConfig[1].timerdef.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; |
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timerConfig[1].IRQ_Id = TIM7_IRQn; |
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timerConfig[1].callback = (uint32_t)TC7_Handler; |
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HAL_NVIC_SetPriority(timerConfig[1].IRQ_Id, 2, 0); |
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break; |
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case STEP_TIMER_NUM: |
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// STEPPER TIMER TIM5 - use a 32bit timer
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#ifdef STM32GENERIC |
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__HAL_RCC_TIM5_CLK_ENABLE(); |
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TimerHandle[timer_num].handle.Instance = TIM5; |
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TimerHandle[timer_num].handle.Init.Prescaler = step_prescaler; |
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TimerHandle[timer_num].handle.Init.CounterMode = TIM_COUNTERMODE_UP; |
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TimerHandle[timer_num].handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; |
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TimerHandle[timer_num].callback = (uint32_t)TC5_Handler; |
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#else |
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TimerHandle[timer_num].timer = TIM5; |
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TimerHandle[timer_num].irqHandle = TC5_Handler; |
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TimerHandleInit(&TimerHandle[timer_num], (((HAL_TIMER_RATE) / step_prescaler) / frequency) - 1, step_prescaler); |
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#endif |
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HAL_NVIC_SetPriority(STEP_TIMER_IRQ_ID, 6, 0); |
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break; |
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case TEMP_TIMER_NUM: |
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// TEMP TIMER TIM7 - any available 16bit Timer (1 already used for PWM)
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#ifdef STM32GENERIC |
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__HAL_RCC_TIM7_CLK_ENABLE(); |
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TimerHandle[timer_num].handle.Instance = TIM7; |
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TimerHandle[timer_num].handle.Init.Prescaler = temp_prescaler; |
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TimerHandle[timer_num].handle.Init.CounterMode = TIM_COUNTERMODE_UP; |
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TimerHandle[timer_num].handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; |
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TimerHandle[timer_num].callback = (uint32_t)TC7_Handler; |
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#else |
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TimerHandle[timer_num].timer = TIM7; |
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TimerHandle[timer_num].irqHandle = TC7_Handler; |
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TimerHandleInit(&TimerHandle[timer_num], (((HAL_TIMER_RATE) / temp_prescaler) / frequency) - 1, temp_prescaler); |
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#endif |
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HAL_NVIC_SetPriority(TEMP_TIMER_IRQ_ID, 2, 0); |
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break; |
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} |
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timers_initialised[timer_num] = true; |
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} |
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timerConfig[timer_num].timerdef.Init.Period = (((HAL_TIMER_RATE) / timerConfig[timer_num].timerdef.Init.Prescaler) / frequency) - 1; |
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if (HAL_TIM_Base_Init(&timerConfig[timer_num].timerdef) == HAL_OK) |
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HAL_TIM_Base_Start_IT(&timerConfig[timer_num].timerdef); |
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#ifdef STM32GENERIC |
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TimerHandle[timer_num].handle.Init.Period = (((HAL_TIMER_RATE) / TimerHandle[timer_num].handle.Init.Prescaler) / frequency) - 1; |
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if (HAL_TIM_Base_Init(&TimerHandle[timer_num].handle) == HAL_OK) |
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HAL_TIM_Base_Start_IT(&TimerHandle[timer_num].handle); |
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#endif |
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} |
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//forward the interrupt
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extern "C" void TIM5_IRQHandler() { |
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((void(*)(void))timerConfig[0].callback)(); |
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} |
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extern "C" void TIM7_IRQHandler() { |
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((void(*)(void))timerConfig[1].callback)(); |
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} |
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void HAL_timer_set_compare(const uint8_t timer_num, const uint32_t compare) { |
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__HAL_TIM_SetAutoreload(&timerConfig[timer_num].timerdef, compare); |
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} |
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#ifdef STM32GENERIC |
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extern "C" void TIM5_IRQHandler() { |
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((void(*)(void))TimerHandle[0].callback)(); |
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} |
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extern "C" void TIM7_IRQHandler() { |
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((void(*)(void))TimerHandle[1].callback)(); |
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} |
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#endif |
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void HAL_timer_enable_interrupt(const uint8_t timer_num) { |
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HAL_NVIC_EnableIRQ(timerConfig[timer_num].IRQ_Id); |
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switch (timer_num) { |
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case STEP_TIMER_NUM: HAL_NVIC_EnableIRQ(STEP_TIMER_IRQ_ID); break; |
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case TEMP_TIMER_NUM: HAL_NVIC_EnableIRQ(TEMP_TIMER_IRQ_ID); break; |
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} |
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} |
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void HAL_timer_disable_interrupt(const uint8_t timer_num) { |
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HAL_NVIC_DisableIRQ(timerConfig[timer_num].IRQ_Id); |
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switch (timer_num) { |
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case STEP_TIMER_NUM: HAL_NVIC_DisableIRQ(STEP_TIMER_IRQ_ID); break; |
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case TEMP_TIMER_NUM: HAL_NVIC_DisableIRQ(TEMP_TIMER_IRQ_ID); break; |
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} |
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// We NEED memory barriers to ensure Interrupts are actually disabled!
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// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
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__DSB(); |
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__ISB(); |
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} |
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hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { |
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return __HAL_TIM_GetAutoreload(&timerConfig[timer_num].timerdef); |
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} |
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uint32_t HAL_timer_get_count(const uint8_t timer_num) { |
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return __HAL_TIM_GetCounter(&timerConfig[timer_num].timerdef); |
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} |
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void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) { |
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const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks; |
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if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp); |
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} |
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void HAL_timer_isr_prologue(const uint8_t timer_num) { |
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if (__HAL_TIM_GET_FLAG(&timerConfig[timer_num].timerdef, TIM_FLAG_UPDATE) == SET) { |
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__HAL_TIM_CLEAR_FLAG(&timerConfig[timer_num].timerdef, TIM_FLAG_UPDATE); |
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} |
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} |
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bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { |
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if (NVIC->ISER[(uint32_t)((int32_t)timerConfig[timer_num].IRQ_Id) >> 5] & (uint32_t)(1 << ((uint32_t)((int32_t)timerConfig[timer_num].IRQ_Id) & (uint32_t)0x1F))) { |
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return true; |
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} |
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else { |
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return false; |
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switch (timer_num) { |
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case STEP_TIMER_NUM: return NVIC->ISER[(uint32_t)((int32_t)STEP_TIMER_IRQ_ID) >> 5] & (uint32_t)(1 << ((uint32_t)((int32_t)STEP_TIMER_IRQ_ID) & (uint32_t)0x1F)); |
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case TEMP_TIMER_NUM: return NVIC->ISER[(uint32_t)((int32_t)TEMP_TIMER_IRQ_ID) >> 5] & (uint32_t)(1 << ((uint32_t)((int32_t)TEMP_TIMER_IRQ_ID) & (uint32_t)0x1F)); |
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} |
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return false; |
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} |
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#endif // STM32F4
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#endif // STM32F4 || STM32F4xx
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Karl Andersson
6 years ago
Scott Lahteine