git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2850 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 210 insertions, 24 deletions

diff --git a/os/hal/platforms/STM32/icu_lld.c b/os/hal/platforms/STM32/icu_lld.c
index 6877b2d72..04c2f6372 100644
--- a/os/hal/platforms/STM32/icu_lld.c
+++ b/os/hal/platforms/STM32/icu_lld.c
@@ -36,13 +36,45 @@
 /*===========================================================================*/

 

 /**

- * @brief   ICU1 driver identifier.

+ * @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

+

 /*===========================================================================*/

 /* Driver local variables.                                                   */

 /*===========================================================================*/

@@ -51,52 +83,120 @@ ICUDriver ICUD1;
 /* Driver local functions.                                                   */

 /*===========================================================================*/

 

+/**

+ * @brief   Shared IRQ handler.

+ *

+ * @param[in] icup      pointer to the @p ICUDriver object

+ */

+static void icu_lld_serve_interrupt(ICUDriver *icup) {

+  uint16_t sr;

+

+  sr = TIM1->SR & TIM1->DIER;

+  icup->tim->SR = 0;

+  if ((sr & TIM_SR_CC1IF) != 0)

+    icup->config->period_cb(icup);

+  if ((sr & TIM_SR_CC2IF) != 0)

+    icup->config->width_cb(icup);

+}

+

 /*===========================================================================*/

 /* Driver interrupt handlers.                                                */

 /*===========================================================================*/

 

 #if STM32_ICU_USE_TIM1

 /**

- * @brief   TIM1 update interrupt handler.

- * @note    It is assumed that this interrupt is only activated if the callback

- *          pointer is not equal to @p NULL in order to not perform an extra

- *          check in a potentially critical interrupt handler.

+ * @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

+ */

+CH_IRQ_HANDLER(TIM1_CC_IRQHandler) {

+

+  CH_IRQ_PROLOGUE();

+

+  icu_lld_serve_interrupt(&ICUD1);

+

+  CH_IRQ_EPILOGUE();

+}

+#endif /* STM32_ICU_USE_TIM1 */

+

+#if STM32_ICU_USE_TIM2

+/**

+ * @brief   TIM2 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

  */

-CH_IRQ_HANDLER(TIM1_UP_IRQHandler) {

+CH_IRQ_HANDLER(TIM2_IRQHandler) {

 

   CH_IRQ_PROLOGUE();

 

-  TIM1->SR = ~TIM_SR_UIF;

-  ICUD1.config->callback(&ICUD1);

+  icu_lld_serve_interrupt(&ICUD2);

 

   CH_IRQ_EPILOGUE();

 }

+#endif /* STM32_ICU_USE_TIM2 */

 

+#if STM32_ICU_USE_TIM3

 /**

- * @brief   TIM1 compare interrupt handler.

+ * @brief   TIM3 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

  */

-CH_IRQ_HANDLER(TIM1_CC_IRQHandler) {

-  uint16_t sr;

+CH_IRQ_HANDLER(TIM3_IRQHandler) {

 

   CH_IRQ_PROLOGUE();

 

-  sr = TIM1->SR & TIM1->DIER;

-  TIM1->SR = ~(TIM_SR_CC1IF | TIM_SR_CC2IF | TIM_SR_CC3IF | TIM_SR_CC4IF);

-  if ((sr & TIM_SR_CC1IF) != 0)

-    ICUD1.config->channels[0].callback(&ICUD1);

-  if ((sr & TIM_SR_CC2IF) != 0)

-    ICUD1.config->channels[1].callback(&ICUD1);

+  icu_lld_serve_interrupt(&ICUD3);

 

   CH_IRQ_EPILOGUE();

 }

-#endif /* STM32_ICU_USE_TIM1 */

+#endif /* STM32_ICU_USE_TIM3 */

+

+#if STM32_ICU_USE_TIM4

+/**

+ * @brief   TIM4 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

+ */

+CH_IRQ_HANDLER(TIM4_IRQHandler) {

+

+  CH_IRQ_PROLOGUE();

+

+  icu_lld_serve_interrupt(&ICUD4);

+

+  CH_IRQ_EPILOGUE();

+}

+#endif /* STM32_ICU_USE_TIM4 */

+

+#if STM32_ICU_USE_TIM5

+/**

+ * @brief   TIM5 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

+ */

+CH_IRQ_HANDLER(TIM5_IRQHandler) {

+

+  CH_IRQ_PROLOGUE();

+

+  icu_lld_serve_interrupt(&ICUD5);

+

+  CH_IRQ_EPILOGUE();

+}

+#endif /* STM32_ICU_USE_TIM5 */

 

 /*===========================================================================*/

 /* Driver exported functions.                                                */

@@ -114,6 +214,30 @@ void icu_lld_init(void) {
   icuObjectInit(&ICUD1);

   ICUD1.tim = TIM1;

 #endif

+

+#if STM32_ICU_USE_TIM2

+  /* Driver initialization.*/

+  icuObjectInit(&ICUD2);

+  ICUD2.tim = TIM2;

+#endif

+

+#if STM32_ICU_USE_TIM3

+  /* Driver initialization.*/

+  icuObjectInit(&ICUD3);

+  ICUD3.tim = TIM3;

+#endif

+

+#if STM32_ICU_USE_TIM4

+  /* Driver initialization.*/

+  icuObjectInit(&ICUD4);

+  ICUD4.tim = TIM4;

+#endif

+

+#if STM32_ICU_USE_TIM5

+  /* Driver initialization.*/

+  icuObjectInit(&ICUD5);

+  ICUD5.tim = TIM5;

+#endif

 }

 

 /**

@@ -132,12 +256,47 @@ void icu_lld_start(ICUDriver *icup) {
       RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;

       RCC->APB2RSTR = RCC_APB2RSTR_TIM1RST;

       RCC->APB2RSTR = 0;

-      NVICEnableVector(TIM1_UP_IRQn,

-                       CORTEX_PRIORITY_MASK(STM32_ICU_TIM1_IRQ_PRIORITY));

       NVICEnableVector(TIM1_CC_IRQn,

                        CORTEX_PRIORITY_MASK(STM32_ICU_TIM1_IRQ_PRIORITY));

     }

 #endif

+#if STM32_ICU_USE_TIM2

+    if (&ICUD2 == icup) {

+      RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;

+      RCC->APB1RSTR = RCC_APB1RSTR_TIM2RST;

+      RCC->APB1RSTR = 0;

+      NVICEnableVector(TIM2_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_ICU_TIM2_IRQ_PRIORITY));

+    }

+#endif

+#if STM32_ICU_USE_TIM3

+    if (&ICUD3 == icup) {

+      RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;

+      RCC->APB1RSTR = RCC_APB1RSTR_TIM3RST;

+      RCC->APB1RSTR = 0;

+      NVICEnableVector(TIM3_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_ICU_TIM3_IRQ_PRIORITY));

+    }

+#endif

+#if STM32_ICU_USE_TIM4

+    if (&ICUD4 == icup) {

+      RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;

+      RCC->APB1RSTR = RCC_APB1RSTR_TIM4RST;

+      RCC->APB1RSTR = 0;

+      NVICEnableVector(TIM4_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_ICU_TIM4_IRQ_PRIORITY));

+    }

+#endif

+

+#if STM32_ICU_USE_TIM5

+    if (&ICUD5 == icup) {

+      RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;

+      RCC->APB1RSTR = RCC_APB1RSTR_TIM5RST;

+      RCC->APB1RSTR = 0;

+      NVICEnableVector(TIM5_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_ICU_TIM5_IRQ_PRIORITY));

+    }

+#endif

   }

 

   /* Timer configuration, PWM input mode.*/

@@ -153,7 +312,7 @@ void icu_lld_start(ICUDriver *icup) {
   /* SMCR_TS  = 101, input is TI1FP1.

      SMCR_SMS = 100, reset on rising edge.*/

   icup->tim->SMCR  = TIM_SMCR_TS_2 | TIM_SMCR_TS_0 |

-                     TIM_SMCR_SMS_2.

+                     TIM_SMCR_SMS_2;

   /* 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.*/

@@ -161,7 +320,7 @@ void icu_lld_start(ICUDriver *icup) {
     icup->tim->CCER = TIM_CCER_CC1E |

                       TIM_CCER_CC2E | TIM_CCER_CC2P;

   else

-    icup->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P

+    icup->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P |

                       TIM_CCER_CC2E;

 }

 

@@ -181,11 +340,35 @@ void icu_lld_stop(ICUDriver *icup) {
 

 #if STM32_ICU_USE_TIM1

     if (&ICUD1 == icup) {

-      NVICDisableVector(TIM1_UP_IRQn);

+      NVICDisableVector(TIM1_CC_IRQn);

       RCC->APB2ENR &= ~RCC_APB2ENR_TIM1EN;

     }

 #endif

   }

+#if STM32_ICU_USE_TIM2

+    if (&ICUD2 == icup) {

+      NVICDisableVector(TIM2_IRQn);

+      RCC->APB1ENR &= ~RCC_APB1ENR_TIM2EN;

+    }

+#endif

+#if STM32_ICU_USE_TIM3

+    if (&ICUD3 == icup) {

+      NVICDisableVector(TIM3_IRQn);

+      RCC->APB1ENR &= ~RCC_APB1ENR_TIM3EN;

+    }

+#endif

+#if STM32_ICU_USE_TIM4

+    if (&ICUD4 == icup) {

+      NVICDisableVector(TIM4_IRQn);

+      RCC->APB1ENR &= ~RCC_APB1ENR_TIM4EN;

+    }

+#endif

+#if STM32_ICU_USE_TIM5

+    if (&ICUD5 == icup) {

+      NVICDisableVector(TIM5_IRQn);

+      RCC->APB1ENR &= ~RCC_APB1ENR_TIM5EN;

+    }

+#endif

 }

 

 /**

@@ -198,7 +381,10 @@ void icu_lld_stop(ICUDriver *icup) {
 void icu_lld_enable(ICUDriver *icup) {

 

   icup->tim->SR   = 0;                      /* Clear pending IRQs (if any). */

-  icup->tim->DIER = TIM_DIER_CC1IE | TIM_DIER_CC2IE;

+  if (icup->config->period_cb != NULL)

+    icup->tim->DIER |= TIM_DIER_CC1IE;

+  if (icup->config->width_cb != NULL)

+    icup->tim->DIER |= TIM_DIER_CC2IE;

   icup->tim->CR1  = TIM_CR1_URS | TIM_CR1_CEN;

 }