Improvements to the STM32 ICU driver.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3955 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 108 insertions, 32 deletions

diff --git a/os/hal/include/icu.h b/os/hal/include/icu.h
index d01c18749..99cfc4e3c 100644
--- a/os/hal/include/icu.h
+++ b/os/hal/include/icu.h
@@ -103,25 +103,29 @@ typedef void (*icucallback_t)(ICUDriver *icup);
  * @brief   Returns the width of the latest pulse.

  * @details The pulse width is defined as number of ticks between the start

  *          edge and the stop edge.

+ * @note    This function is meant to be invoked from the width capture

+ *          callback only.

  *

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

  * @return              The number of ticks.

  *

- * @iclass

+ * @special

  */

-#define icuGetWidthI(icup) icu_lld_get_width(icup)

+#define icuGetWidth(icup) icu_lld_get_width(icup)

 

 /**

  * @brief   Returns the width of the latest cycle.

  * @details The cycle width is defined as number of ticks between a start

  *          edge and the next start edge.

+ * @note    This function is meant to be invoked from the width capture

+ *          callback only.

  *

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

  * @return              The number of ticks.

  *

- * @iclass

+ * @special

  */

-#define icuGetPeriodI(icup) icu_lld_get_period(icup)

+#define icuGetPeriod(icup) icu_lld_get_period(icup)

 /** @} */

 

 /**

diff --git a/os/hal/platforms/STM32/icu_lld.c b/os/hal/platforms/STM32/icu_lld.c
index 3d362a3be..2c641280f 100644
--- a/os/hal/platforms/STM32/icu_lld.c
+++ b/os/hal/platforms/STM32/icu_lld.c
@@ -101,10 +101,17 @@ static void icu_lld_serve_interrupt(ICUDriver *icup) {
 

   sr = icup->tim->SR & icup->tim->DIER;

   icup->tim->SR = 0;

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

-    _icu_isr_invoke_period_cb(icup);

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

-    _icu_isr_invoke_width_cb(icup);

+  if (icup->config->channel == ICU_CHANNEL_1) {

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

+      _icu_isr_invoke_period_cb(icup);

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

+      _icu_isr_invoke_width_cb(icup);

+  } else {

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

+      _icu_isr_invoke_width_cb(icup);

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

+      _icu_isr_invoke_period_cb(icup);

+  }

 }

 

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

@@ -283,6 +290,10 @@ void icu_lld_init(void) {
 void icu_lld_start(ICUDriver *icup) {

   uint32_t psc;

 

+  chDbgAssert((icup->config->channel == ICU_CHANNEL_1) ||

+              (icup->config->channel == ICU_CHANNEL_2),

+              "icu_lld_start(), #1", "invalid input");

+

   if (icup->state == ICU_STOP) {

     /* Clock activation and timer reset.*/

 #if STM32_ICU_USE_TIM1

@@ -359,23 +370,56 @@ void icu_lld_start(ICUDriver *icup) {
   icup->tim->PSC  = (uint16_t)psc;

   icup->tim->ARR   = 0xFFFF;

 

-  /* CCMR1_CC1S = 01 = CH1 Input on TI1.

-     CCMR1_CC2S = 10 = CH2 Input on TI1.*/

-  icup->tim->CCMR1 = TIM_CCMR1_CC1S_0 |

-                     TIM_CCMR1_CC2S_1;

-  /* 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;

-  /* 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 = TIM_CCER_CC1E |

-                      TIM_CCER_CC2E | TIM_CCER_CC2P;

-  else

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

-                      TIM_CCER_CC2E;

+  chDbgAssert((icup->config->channel != ICU_CHANNEL_1) &&

+              (icup->config->channel != ICU_CHANNEL_2),

+              "icu_lld_start(), #2", "invalid channel");

+  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 = TIM_CCMR1_CC1S_0 |

+                       TIM_CCMR1_CC2S_1;

+    /* 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;

+    /* 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 = TIM_CCER_CC1E |

+                        TIM_CCER_CC2E | TIM_CCER_CC2P;

+    else

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

+                        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 = TIM_CCMR1_CC1S_1 |

+                       TIM_CCMR1_CC2S_0;

+    /* SMCR_TS  = 110, input is TI2FP2.

+       SMCR_SMS = 100, reset on rising edge.*/

+    icup->tim->SMCR  = TIM_SMCR_TS_2 | TIM_SMCR_TS_1 |

+                       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.*/

+    if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH)

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

+                        TIM_CCER_CC2E;

+    else

+      icup->tim->CCER = TIM_CCER_CC1E |

+                        TIM_CCER_CC2E | 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];

+  }

 }

 

 /**

@@ -442,10 +486,17 @@ void icu_lld_stop(ICUDriver *icup) {
 void icu_lld_enable(ICUDriver *icup) {

 

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

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

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

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

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

+  if (icup->config->channel == ICU_CHANNEL_1) {

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

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

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

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

+  } else {

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

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

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

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

+  }

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

 }

 

diff --git a/os/hal/platforms/STM32/icu_lld.h b/os/hal/platforms/STM32/icu_lld.h
index 5f53884cd..642de2a64 100644
--- a/os/hal/platforms/STM32/icu_lld.h
+++ b/os/hal/platforms/STM32/icu_lld.h
@@ -179,7 +179,7 @@
 /*===========================================================================*/

 

 /**

- * @brief ICU driver mode.

+ * @brief   ICU driver mode.

  */

 typedef enum {

   ICU_INPUT_ACTIVE_HIGH = 0,        /**< Trigger on rising edge.            */

@@ -192,6 +192,14 @@ typedef enum {
 typedef uint32_t icufreq_t;

 

 /**

+ * @brief   ICU channel.

+ */

+typedef enum {

+  ICU_CHANNEL_1 = 0,              /**< Use TIMxCH1.      */

+  ICU_CHANNEL_2 = 1,              /**< Use TIMxCH2.      */

+} icuchannel_t;

+

+/**

  * @brief   ICU counter type.

  */

 typedef uint16_t icucnt_t;

@@ -220,6 +228,11 @@ typedef struct {
    */

   icucallback_t             period_cb;

   /* End of the mandatory fields.*/

+  /**

+   * @brief   Timer input channel to be used.

+   * @note    Only inputs TIMx 1 and 2 are supported.

+   */

+  icuchannel_t              channel;

 } ICUConfig;

 

 /**

@@ -246,6 +259,14 @@ struct ICUDriver {
    * @brief Pointer to the TIMx registers block.

    */

   stm32_tim_t               *tim;

+  /**

+   * @bried CCR register used for width capture.

+   */

+  volatile uint32_t         *wccrp;

+  /**

+   * @bried CCR register used for period capture.

+   */

+  volatile uint32_t         *pccrp;

 };

 

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

@@ -262,7 +283,7 @@ struct ICUDriver {
  *

  * @notapi

  */

-#define icu_lld_get_width(icup) ((icup)->tim->CCR[1] + 1)

+#define icu_lld_get_width(icup) (*((icup)->wccrp) + 1)

 

 /**

  * @brief   Returns the width of the latest cycle.

@@ -274,7 +295,7 @@ struct ICUDriver {
  *

  * @notapi

  */

-#define icu_lld_get_period(icup) ((icup)->tim->CCR[0] + 1)

+#define icu_lld_get_period(icup) (*((icup)->pccrp) + 1)

 

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

 /* External declarations.                                                    */