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diff --git a/os/hal/ports/NRF5/LLD/TIMERv1/hal_icu_lld.c b/os/hal/ports/NRF5/LLD/TIMERv1/hal_icu_lld.c
new file mode 100644
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+++ b/os/hal/ports/NRF5/LLD/TIMERv1/hal_icu_lld.c
@@ -0,0 +1,749 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006-2013 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.
+*/
+
+/*
+ * Hardware Abstraction Layer for Extended Input Capture Unit
+ */
+#include "hal.h"
+
+#if (HAL_USE_ICU == TRUE) || defined(__DOXYGEN__)
+
+/**
+ * @brief Returns the compare value of the latest cycle.
+ *
+ * @param[in] chp Pointer to channel structure that fired the interrupt.
+ * @return The number of ticks.
+ *
+ * @notapi
+ */
+//#define icu_lld_get_compare(chp) (*((chp)->ccp) + 1)
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief ICUD1 driver identifier.
+ * @note The driver ICUD1 allocates the complex timer TIMER0 when enabled.
+ */
+#if NRF5_ICU_USE_TIMER0 && !defined(__DOXYGEN__)
+ICUDriver ICUD1;
+#endif
+
+/**
+ * @brief ICUD2 driver identifier.
+ * @note The driver ICUD2 allocates the timer TIMER1 when enabled.
+ */
+#if NRF5_ICU_USE_TIMER1 && !defined(__DOXYGEN__)
+ICUDriver ICUD2;
+#endif
+
+/**
+ * @brief ICUD3 driver identifier.
+ * @note The driver ICUD3 allocates the timer TIMER2 when enabled.
+ */
+#if NRF5_ICU_USE_TIMER2 && !defined(__DOXYGEN__)
+ICUDriver ICUD3;
+#endif
+
+/**
+ * @brief ICUD4 driver identifier.
+ * @note The driver ICUD4 allocates the timer TIMER3 when enabled.
+ */
+#if NRF5_ICU_USE_TIMER3 && !defined(__DOXYGEN__)
+ICUDriver ICUD4;
+#endif
+
+/**
+ * @brief ICUD5 driver identifier.
+ * @note The driver ICUD5 allocates the timer TIMER4 when enabled.
+ */
+#if NRF5_ICU_USE_TIMER4 && !defined(__DOXYGEN__)
+ICUDriver ICUD5;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+/**
+ * @brief Returns pulse width.
+ * @details The time is defined as number of ticks.
+ *
+ * @param[in] icup Pointer to the ICUDriver object.
+ * @param[in] channel The timer channel that fired the interrupt.
+ * @param[in] compare Content of the CC register.
+ * @return The number of ticks.
+ *
+ * @notapi
+ */
+static icucnt_t get_time_width(const ICUDriver *icup,
+ uint8_t channel,
+ icucnt_t compare) {
+
+ const ICUChannel *chp = &icup->channel[channel];
+
+ /* Note! there is no overflow check because it handles under the hood of
+ unsigned subtraction math.*/
+ return compare - chp->last_idle;
+}
+
+/**
+ * @brief Returns pulse period.
+ * @details The time is defined as number of ticks.
+ *
+ * @param[in] icup Pointer to the ICUDriver object.
+ * @param[in] channel The timer channel that fired the interrupt.
+ * @param[in] compare Content of the CC register.
+ * @return The number of ticks.
+ *
+ * @notapi
+ */
+static icucnt_t get_time_period(const ICUDriver *icup,
+ uint8_t channel,
+ icucnt_t compare) {
+
+ const ICUChannel *chp = &icup->channel[channel];
+
+ /* Note! there is no overflow check because it handles under the hood of
+ unsigned subtraction math.*/
+ return compare - chp->last_idle;
+}
+
+/**
+ * @brief ICU width event.
+ *
+ * @param[in] icup Pointer to the @p ICUDriver object
+ * @param[in] channel The timer channel that fired the interrupt.
+ *
+ * @notapi
+ */
+static void _isr_invoke_width_cb(ICUDriver *icup, uint8_t channel) {
+ ICUChannel *chp = &icup->channel[channel];
+ icucnt_t compare = icup->timer->CC[channel+2];
+ chp->last_active = compare;
+ if (ICU_CH_ACTIVE == chp->state) {
+ icup->result.width = get_time_width(icup, channel, compare);
+ if ((icup->state == ICU_ACTIVE) && (icup->config->width_cb != NULL))
+ icup->config->width_cb(icup);
+ chp->state = ICU_CH_IDLE;
+ }
+}
+
+/**
+ * @brief ICU period detect event.
+ *
+ * @param[in] icup Pointer to the @p ICUDriver object
+ * @param[in] channel The timer channel that fired the interrupt.
+ *
+ * @notapi
+ */
+static void _isr_invoke_period_cb(ICUDriver *icup, uint8_t channel) {
+ ICUChannel *chp = &icup->channel[channel];
+ icucnt_t compare = (uint32_t)icup->timer->CC[channel];
+ icup->result.period = get_time_period(icup, channel, compare);
+ chp->last_idle = compare;
+ chp->state = ICU_CH_ACTIVE;
+ if ((icup->state == ICU_ACTIVE) && (icup->config->period_cb != NULL))
+ icup->config->period_cb(icup);
+ icup->state = ICU_ACTIVE;
+ /* Set overflow timeout */
+ icup->timer->CC[channel] = compare + ICU_WAIT_TIMEOUT;
+}
+
+/**
+ * @brief Shared IRQ handler.
+ *
+ * @param[in] icup Pointer to the @p ICUDriver object
+ */
+void icu_lld_serve_gpiote_interrupt(ICUDriver *icup) {
+ uint8_t ch;
+ for (ch=0; ch<ICU_CHANNELS; ch++) {
+ const ICUChannelConfig *cfg_channel = &icup->config->iccfgp[ch];
+ const uint8_t *gpiote_channel = cfg_channel->gpiote_channel;
+
+ /* Period event */
+ if (NRF_GPIOTE->INTENSET & (1 << gpiote_channel[0]) && NRF_GPIOTE->EVENTS_IN[gpiote_channel[0]]) {
+ _isr_invoke_period_cb(icup, ch);
+ NRF_GPIOTE->EVENTS_IN[gpiote_channel[0]] = 0;
+ (void) NRF_GPIOTE->EVENTS_IN[gpiote_channel[0]];
+ }
+ /* Width event */
+ if (NRF_GPIOTE->INTENSET & (1 << gpiote_channel[1]) && NRF_GPIOTE->EVENTS_IN[gpiote_channel[1]]) {
+ _isr_invoke_width_cb(icup, ch);
+ NRF_GPIOTE->EVENTS_IN[gpiote_channel[1]] = 0;
+ (void) NRF_GPIOTE->EVENTS_IN[gpiote_channel[1]];
+ }
+ }
+}
+
+/**
+ * @brief Overflow IRQ handler.
+ *
+ * @param[in] icup Pointer to the @p ICUDriver object
+ */
+void icu_lld_serve_interrupt(ICUDriver *icup) {
+ uint8_t ch;
+ for (ch=0; ch<ICU_CHANNELS; ch++) {
+ /* Clear overflow events */
+ if (icup->timer->INTENSET & (1 << (TIMER_INTENSET_COMPARE0_Pos + ch)) &&
+ icup->timer->EVENTS_COMPARE[ch]) {
+ icup->timer->EVENTS_COMPARE[ch] = 0;
+ (void) icup->timer->EVENTS_COMPARE[ch];
+ /* Set next overlow compare */
+ icup->timer->CC[ch] = icup->timer->CC[ch] + ICU_WAIT_TIMEOUT;
+ }
+ }
+ if (icup->config->overflow_cb != NULL)
+ icup->config->overflow_cb(icup);
+ icup->state = ICU_WAITING;
+}
+
+/**
+ * @brief Starts every channel.
+ *
+ * @param[in] icup Pointer to the @p ICUDriver object
+ *
+ * @note GPIO Line[0] -> GPIOTE channel[0] will detect start edge.
+ * @note GPIO Line[1] -> GPIOTE channel[1] will detect end edge.
+ */
+static void start_channels(ICUDriver *icup) {
+
+ /* Set each input channel that is used as: a normal input capture channel. */
+#if NRF5_ICU_USE_GPIOTE_PPI
+ uint8_t channel;
+ for (channel = 0; channel<ICU_CHANNELS; channel++) {
+ const ICUChannelConfig *cfg_channel = &icup->config->iccfgp[channel];
+ if (cfg_channel->mode == ICU_INPUT_DISABLED) continue;
+
+ const uint32_t gpio_pin0 = PAL_PAD(cfg_channel->ioline[0]);
+ const uint32_t gpio_pin1 = PAL_PAD(cfg_channel->ioline[1]);
+ osalDbgAssert((gpio_pin0 < 32) &&
+ (gpio_pin1 < 32) &&
+ (gpio_pin0 != gpio_pin1),
+ "invalid Line configuration");
+
+ /* NRF52832 GPIOTE channels 0..7 */
+ const uint8_t *gpiote_channel = cfg_channel->gpiote_channel;
+ osalDbgAssert((gpiote_channel[0] < 8) &&
+ (gpiote_channel[1] < 8) &&
+ (gpiote_channel[0] != gpiote_channel[1]),
+ "invalid GPIOTE configuration");
+
+ /* NRF52832 PPI channels 0..19 */
+ const uint8_t *ppi_channel = cfg_channel->ppi_channel;
+ osalDbgAssert((gpiote_channel[0] < 20) &&
+ (gpiote_channel[1] < 20) &&
+ (gpiote_channel[0] != gpiote_channel[1]),
+ "invalid PPI configuration");
+
+ /* Program PPI events for period */
+ NRF_PPI->CH[ppi_channel[0]].EEP = (uint32_t) &NRF_GPIOTE->EVENTS_IN[gpiote_channel[0]];
+ NRF_PPI->CH[ppi_channel[0]].TEP = (uint32_t) &icup->timer->TASKS_CAPTURE[channel];
+
+ /* Program PPI events for width */
+ NRF_PPI->CH[ppi_channel[1]].EEP = (uint32_t) &NRF_GPIOTE->EVENTS_IN[gpiote_channel[1]];
+ NRF_PPI->CH[ppi_channel[1]].TEP = (uint32_t) &icup->timer->TASKS_CAPTURE[channel+2];
+
+ /* Disable GPIOTE interrupts */
+ NRF_GPIOTE->INTENCLR = (GPIOTE_INTENCLR_PORT_Clear << GPIOTE_INTENCLR_PORT_Pos) |
+ (1 << gpiote_channel[0]) | (1 << gpiote_channel[1]);
+ NRF_GPIOTE->EVENTS_PORT = 1;
+
+ /* Clear GPIOTE channels */
+ NRF_GPIOTE->CONFIG[gpiote_channel[0]] &= ~(GPIOTE_CONFIG_PSEL_Msk | GPIOTE_CONFIG_POLARITY_Msk);
+ NRF_GPIOTE->CONFIG[gpiote_channel[1]] &= ~(GPIOTE_CONFIG_PSEL_Msk | GPIOTE_CONFIG_POLARITY_Msk);
+
+ /* Set GPIOTE channels */
+ if (cfg_channel->mode == ICU_INPUT_ACTIVE_HIGH) {
+ NRF_GPIOTE->CONFIG[gpiote_channel[0]] =
+ (GPIOTE_CONFIG_MODE_Event << GPIOTE_CONFIG_MODE_Pos) |
+ ((gpio_pin0 << GPIOTE_CONFIG_PSEL_Pos) & GPIOTE_CONFIG_PSEL_Msk) |
+ ((GPIOTE_CONFIG_POLARITY_LoToHi << GPIOTE_CONFIG_POLARITY_Pos) & GPIOTE_CONFIG_POLARITY_Msk);
+ NRF_GPIOTE->CONFIG[gpiote_channel[1]] =
+ (GPIOTE_CONFIG_MODE_Event << GPIOTE_CONFIG_MODE_Pos) |
+ ((gpio_pin1 << GPIOTE_CONFIG_PSEL_Pos) & GPIOTE_CONFIG_PSEL_Msk) |
+ ((GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos) & GPIOTE_CONFIG_POLARITY_Msk);
+ } else {
+ NRF_GPIOTE->CONFIG[gpiote_channel[0]] =
+ (GPIOTE_CONFIG_MODE_Event << GPIOTE_CONFIG_MODE_Pos) |
+ ((gpio_pin0 << GPIOTE_CONFIG_PSEL_Pos) & GPIOTE_CONFIG_PSEL_Msk) |
+ ((GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos)
+ & GPIOTE_CONFIG_POLARITY_Msk);
+ NRF_GPIOTE->CONFIG[gpiote_channel[1]] =
+ (GPIOTE_CONFIG_MODE_Event << GPIOTE_CONFIG_MODE_Pos) |
+ ((gpio_pin1 << GPIOTE_CONFIG_PSEL_Pos) & GPIOTE_CONFIG_PSEL_Msk) |
+ ((GPIOTE_CONFIG_POLARITY_LoToHi << GPIOTE_CONFIG_POLARITY_Pos)
+ & GPIOTE_CONFIG_POLARITY_Msk);
+ }
+ }
+#endif
+
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if NRF5_ICU_USE_TIMER0
+/**
+ * @brief TIMER0 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(Vector60) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ icu_lld_serve_interrupt(&ICUD1);
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* NRF5_ICU_USE_TIMER0 */
+
+#if NRF5_ICU_USE_TIMER1
+/**
+ * @brief TIMER1 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(Vector64) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ icu_lld_serve_interrupt(&ICUD2);
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* NRF5_ICU_USE_TIMER1 */
+
+#if NRF5_ICU_USE_TIMER2
+/**
+ * @brief TIMER2 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(Vector68) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ icu_lld_serve_interrupt(&ICUD3);
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* NRF5_ICU_USE_TIMER2 */
+
+#if NRF5_ICU_USE_TIMER3
+/**
+ * @brief TIMER3 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(VectorA8) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ icu_lld_serve_interrupt(&ICUD4);
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* NRF5_ICU_USE_TIMER3 */
+
+#if NRF5_ICU_USE_TIMER4
+/**
+ * @brief TIMER4 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(VectorAC) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ icu_lld_serve_interrupt(&ICUD5);
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* NRF5_ICU_USE_TIMER4 */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level ICU driver initialization.
+ *
+ * @notapi
+ */
+void icu_lld_init(void) {
+#if NRF5_ICU_USE_TIMER0
+ /* Driver initialization.*/
+ icuObjectInit(&ICUD1);
+ ICUD1.timer = NRF_TIMER0;
+#endif
+
+#if NRF5_ICU_USE_TIMER1
+ /* Driver initialization.*/
+ icuObjectInit(&ICUD2);
+ ICUD2.timer = NRF_TIMER1;
+#endif
+
+#if NRF5_ICU_USE_TIMER2
+ /* Driver initialization.*/
+ icuObjectInit(&ICUD3);
+ ICUD3.timer = NRF_TIMER2;
+#endif
+
+#if NRF5_ICU_USE_TIMER3
+ /* Driver initialization.*/
+ icuObjectInit(&ICUD4);
+ ICUD4.timer = NRF_TIMER3;
+#endif
+
+#if NRF5_ICU_USE_TIMER4
+ /* Driver initialization.*/
+ icuObjectInit(&ICUD5);
+ ICUD5.timer = NRF_TIMER4;
+#endif
+}
+
+/**
+ * @brief Configures and activates the ICU peripheral.
+ *
+ * @param[in] icup Pointer to the @p ICUDriver object
+ *
+ * @notapi
+ */
+void icu_lld_start(ICUDriver *icup) {
+ size_t ch;
+ osalDbgAssert((&icup->config->iccfgp[0] != NULL) ||
+ (&icup->config->iccfgp[1] != NULL),
+ "invalid input configuration");
+ /* Prescaler value calculation: ftimer = 16MHz / 2^PRESCALER */
+ uint16_t psc_ratio = 16000000 / icup->config->frequency;
+ /* Prescaler ratio must be between 1 and 512, and a power of two. */
+ osalDbgAssert(psc_ratio <= 512 && !(psc_ratio & (psc_ratio - 1)),
+ "invalid frequency");
+ /* Prescaler value as a power of 2, must be 0..9 */
+ uint32_t psc_value;
+ for (psc_value = 0; psc_value < 10; psc_value++)
+ if (psc_ratio == (unsigned)(1 << psc_value))
+ break;
+
+ /* Configure as 32bits timer */
+ icup->timer->BITMODE = TIMER_BITMODE_BITMODE_32Bit;
+
+ /* Set timer mode */
+ icup->timer->MODE = TIMER_MODE_MODE_Timer;
+
+ /* Set prescaler */
+ icup->timer->PRESCALER = psc_value;
+
+ /* With clear shortcuts. */
+ icup->timer->SHORTS = 0;
+
+ /* Clear Timer */
+ icup->timer->TASKS_CLEAR = 1;
+
+ /* Disable and reset interrupts for compare events */
+ icup->timer->INTENCLR = (TIMER_INTENCLR_COMPARE0_Msk |
+ TIMER_INTENCLR_COMPARE1_Msk |
+ TIMER_INTENCLR_COMPARE2_Msk |
+ TIMER_INTENCLR_COMPARE3_Msk );
+
+ icup->timer->EVENTS_COMPARE[0] = 0;
+ icup->timer->EVENTS_COMPARE[1] = 0;
+ icup->timer->EVENTS_COMPARE[2] = 0;
+ icup->timer->EVENTS_COMPARE[3] = 0;
+ (void) icup->timer->EVENTS_COMPARE[0];
+ (void) icup->timer->EVENTS_COMPARE[1];
+ (void) icup->timer->EVENTS_COMPARE[2];
+ (void) icup->timer->EVENTS_COMPARE[3];
+
+ /* Enable GPIOTE and TIMER interrupt vectors.*/
+#if NRF5_ICU_USE_GPIOTE_PPI
+ nvicEnableVector(GPIOTE_IRQn, NRF5_ICU_GPIOTE_IRQ_PRIORITY);
+#endif
+#if NRF5_ICU_USE_TIMER0
+ if (&ICUD1 == icup) {
+ nvicEnableVector(TIMER0_IRQn, NRF5_ICU_TIMER0_IRQ_PRIORITY);
+ }
+#endif
+#if NRF5_ICU_USE_TIMER1
+ if (&ICUD2 == icup) {
+ nvicEnableVector(TIMER1_IRQn, NRF5_ICU_TIMER1_IRQ_PRIORITY);
+ }
+#endif
+#if NRF5_ICU_USE_TIMER2
+ if (&ICUD3 == icup) {
+ nvicEnableVector(TIMER2_IRQn, NRF5_ICU_TIMER2_IRQ_PRIORITY);
+ }
+#endif
+#if NRF5_ICU_USE_TIMER3
+ if (&ICUD4 == icup) {
+ nvicEnableVector(TIMER3_IRQn, NRF5_ICU_TIMER3_IRQ_PRIORITY);
+ }
+#endif
+#if NRF5_ICU_USE_TIMER4
+ if (&ICUD5 == icup) {
+ nvicEnableVector(TIMER4_IRQn, NRF5_ICU_TIMER4_IRQ_PRIORITY);
+ }
+#endif
+
+ /* clean channel structures and set pointers to channel configs */
+ for (ch=0; ch<ICU_CHANNELS; ch++) {
+ icup->channel[ch].last_active = 0;
+ icup->channel[ch].last_idle = 0;
+ icup->channel[ch].state = ICU_CH_IDLE;
+ }
+ /* Set GPIOTE & PPI channels */
+ start_channels(icup);
+}
+
+/**
+ * @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) {
+ /* Timer stop.*/
+ icup->timer->TASKS_STOP = 1;
+
+#if NRF5_ICU_USE_GPIOTE_PPI
+ uint8_t channel;
+ for (channel = 0; channel<ICU_CHANNELS; channel++) {
+ const ICUChannelConfig *cfg_channel = &icup->config->iccfgp[channel];
+ if (cfg_channel == NULL) continue;
+
+ const uint8_t *gpiote_channel = cfg_channel->gpiote_channel;
+ const uint8_t *ppi_channel = cfg_channel->ppi_channel;
+
+ /* Disable Timer interrupt */
+ icup->timer->INTENCLR = 1 << (TIMER_INTENCLR_COMPARE0_Pos + channel);
+
+ /* Disable GPIOTE interrupts */
+ NRF_GPIOTE->INTENCLR = (1 << gpiote_channel[0]) | (1 << gpiote_channel[1]);
+
+ /* Disable PPI channels */
+ NRF_PPI->CHENCLR = ((1 << ppi_channel[0]) | (1 << ppi_channel[1]));
+
+ /* Clear GPIOTE channels */
+ NRF_GPIOTE->CONFIG[gpiote_channel[0]] &= ~(GPIOTE_CONFIG_PSEL_Msk | GPIOTE_CONFIG_POLARITY_Msk);
+ NRF_GPIOTE->CONFIG[gpiote_channel[1]] &= ~(GPIOTE_CONFIG_PSEL_Msk | GPIOTE_CONFIG_POLARITY_Msk);
+ }
+#endif
+
+#if NRF5_ICU_USE_GPIOTE_PPI
+ nvicDisableVector(GPIOTE_IRQn);
+#endif
+#if NRF5_ICU_USE_TIMER0
+ if (&ICUD1 == icup) {
+ nvicDisableVector(TIMER0_IRQn);
+ }
+#endif
+#if NRF5_ICU_USE_TIMER1
+ if (&ICUD2 == icup) {
+ nvicDisableVector(TIMER1_IRQn);
+ }
+#endif
+#if NRF5_ICU_USE_TIMER2
+ if (&ICUD3 == icup) {
+ nvicDisableVector(TIMER2_IRQn);
+ }
+#endif
+#if NRF5_ICU_USE_TIMER3
+ if (&ICUD4 == icup) {
+ nvicDisableVector(TIMER3_IRQn);
+ }
+#endif
+#if NRF5_ICU_USE_TIMER4
+ if (&ICUD5 == icup) {
+ nvicDisableVector(TIMER4_IRQn);
+ }
+#endif
+ }
+}
+
+/**
+ * @brief Starts the input capture.
+ *
+ * @param[in] icup pointer to the @p ICUDriver object
+ *
+ * @notapi
+ */
+void icu_lld_start_capture(ICUDriver *icup) {
+ /* Clear and start Timer */
+ icup->timer->TASKS_CLEAR = 1;
+ icup->timer->TASKS_START = 1;
+
+#if NRF5_ICU_USE_GPIOTE_PPI
+ uint8_t channel;
+ for (channel = 0; channel<ICU_CHANNELS; channel++) {
+ const ICUChannelConfig *cfg_channel = &icup->config->iccfgp[channel];
+ if (cfg_channel == NULL) continue;
+
+ const uint8_t *gpiote_channel = cfg_channel->gpiote_channel;
+ const uint8_t *ppi_channel = cfg_channel->ppi_channel;
+
+ /* Enable interrupt for overflow events */
+ icup->timer->CC[channel] = ICU_WAIT_TIMEOUT;
+ icup->timer->INTENSET = 1 << (TIMER_INTENSET_COMPARE0_Pos + channel);
+
+ /* Enable PPI channels */
+ NRF_PPI->CHENSET = ((1 << ppi_channel[0]) | (1 << ppi_channel[1]));
+
+ /* Enable GPIOTE interrupt */
+ NRF_GPIOTE->INTENSET = (1 << gpiote_channel[0]) | (1 << gpiote_channel[1]);
+ }
+#endif
+}
+
+/**
+ * @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
+ * @return The capture status.
+ * @retval false if the capture is successful.
+ * @retval true if a timer overflow occurred.
+ *
+ * @notapi
+ */
+bool 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)
+ if (icu_lld_wait_edge(icup))
+ return true;
+
+ /* This edge marks the availability of a capture result.*/
+ return 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->timer->TASKS_STOP = 1;
+
+#if NRF5_ICU_USE_GPIOTE_PPI
+ uint8_t channel;
+ for (channel = 0; channel<ICU_CHANNELS; channel++) {
+ const ICUChannelConfig *cfg_channel = &icup->config->iccfgp[channel];
+ if (cfg_channel == NULL) continue;
+
+ const uint8_t *gpiote_channel = cfg_channel->gpiote_channel;
+ const uint8_t *ppi_channel = cfg_channel->ppi_channel;
+
+ /* Disable Timer interrupt for overflow events */
+ icup->timer->INTENCLR = 1 << (TIMER_INTENCLR_COMPARE0_Pos + channel);
+
+ /* Disable GPIOTE interrupt */
+ NRF_GPIOTE->INTENCLR = (1 << gpiote_channel[0]) | (1 << gpiote_channel[1]);
+
+ /* Disable PPI channels */
+ NRF_PPI->CHENCLR = ((1 << ppi_channel[0]) | (1 << ppi_channel[1]));
+ }
+#endif
+}
+
+/**
+ * @brief Enables notifications.
+ * @pre The ICU unit must have been activated using @p icuStart() and the
+ * capture started using @p icuStartCapture().
+ * @note If the notification is already enabled then the call has no effect.
+ *
+ * @param[in] icup pointer to the @p ICUDriver object
+ *
+ * @notapi
+ */
+void icu_lld_enable_notifications(ICUDriver *icup) {
+#if NRF5_ICU_USE_GPIOTE_PPI
+ uint8_t channel;
+ for (channel = 0; channel<ICU_CHANNELS; channel++) {
+ const ICUChannelConfig *cfg_channel = &icup->config->iccfgp[channel];
+ if (cfg_channel == NULL) continue;
+
+ const uint8_t *gpiote_channel = cfg_channel->gpiote_channel;
+
+ /* Enable Timer interrupt */
+ icup->timer->INTENSET = 1 << (TIMER_INTENSET_COMPARE0_Pos + channel);
+
+ /* Enable GPIOTE interrupt */
+ NRF_GPIOTE->INTENSET = (1 << gpiote_channel[0]) | (1 << gpiote_channel[1]);
+ }
+#endif
+}
+
+/**
+ * @brief Disables notifications.
+ * @pre The ICU unit must have been activated using @p icuStart() and the
+ * capture started using @p icuStartCapture().
+ * @note If the notification is already disabled then the call has no effect.
+ *
+ * @param[in] icup pointer to the @p ICUDriver object
+ *
+ * @notapi
+ */
+void icu_lld_disable_notifications(ICUDriver *icup) {
+ /* All interrupts disabled.*/
+#if NRF5_ICU_USE_GPIOTE_PPI
+ uint8_t channel;
+ for (channel = 0; channel<ICU_CHANNELS; channel++) {
+ const ICUChannelConfig *cfg_channel = &icup->config->iccfgp[channel];
+ if (cfg_channel == NULL) continue;
+
+ const uint8_t *gpiote_channel = cfg_channel->gpiote_channel;
+
+ /* Disable Timer interrupt for overflow events */
+ icup->timer->INTENCLR = 1 << (TIMER_INTENCLR_COMPARE0_Pos + channel);
+
+ /* Disable GPIOTE interrupt */
+ NRF_GPIOTE->INTENCLR = (1 << gpiote_channel[0]) | (1 << gpiote_channel[1]);
+ }
+#endif
+
+}
+
+#endif /* HAL_USE_ICU */