diff options
| -rw-r--r-- | os/hal/include/icu.h | 12 | ||||
| -rw-r--r-- | os/hal/platforms/STM32/icu_lld.c | 27 | ||||
| -rw-r--r-- | os/hal/platforms/STM32/icu_lld.h | 25 | ||||
| -rw-r--r-- | os/hal/templates/icu_lld.h | 21 |
4 files changed, 54 insertions, 31 deletions
diff --git a/os/hal/include/icu.h b/os/hal/include/icu.h index f13349760..26fc120ad 100644 --- a/os/hal/include/icu.h +++ b/os/hal/include/icu.h @@ -59,6 +59,18 @@ typedef enum { ICU_IDLE = 5, /**< Idle cycle phase. */
} icustate_t;
+/**
+ * @brief Type of a structure representing an ICU driver.
+ */
+typedef struct ICUDriver ICUDriver;
+
+/**
+ * @brief ICU notification callback type.
+ *
+ * @param[in] icup pointer to a @p ICUDriver object
+ */
+typedef void (*icucallback_t)(ICUDriver *icup);
+
#include "icu_lld.h"
/*===========================================================================*/
diff --git a/os/hal/platforms/STM32/icu_lld.c b/os/hal/platforms/STM32/icu_lld.c index 04c2f6372..d59027e4f 100644 --- a/os/hal/platforms/STM32/icu_lld.c +++ b/os/hal/platforms/STM32/icu_lld.c @@ -248,6 +248,7 @@ void icu_lld_init(void) { * @notapi
*/
void icu_lld_start(ICUDriver *icup) {
+ uint32_t clock, psc;
if (icup->state == ICU_STOP) {
/* Clock activation and timer reset.*/
@@ -258,6 +259,7 @@ void icu_lld_start(ICUDriver *icup) { RCC->APB2RSTR = 0;
NVICEnableVector(TIM1_CC_IRQn,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM1_IRQ_PRIORITY));
+ clock = STM32_TIMCLK2;
}
#endif
#if STM32_ICU_USE_TIM2
@@ -267,6 +269,7 @@ void icu_lld_start(ICUDriver *icup) { RCC->APB1RSTR = 0;
NVICEnableVector(TIM2_IRQn,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM2_IRQ_PRIORITY));
+ clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM3
@@ -276,6 +279,7 @@ void icu_lld_start(ICUDriver *icup) { RCC->APB1RSTR = 0;
NVICEnableVector(TIM3_IRQn,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM3_IRQ_PRIORITY));
+ clock = STM32_TIMCLK1;
}
#endif
#if STM32_ICU_USE_TIM4
@@ -285,6 +289,7 @@ void icu_lld_start(ICUDriver *icup) { RCC->APB1RSTR = 0;
NVICEnableVector(TIM4_IRQn,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM4_IRQ_PRIORITY));
+ clock = STM32_TIMCLK1;
}
#endif
@@ -295,16 +300,28 @@ void icu_lld_start(ICUDriver *icup) { RCC->APB1RSTR = 0;
NVICEnableVector(TIM5_IRQn,
CORTEX_PRIORITY_MASK(STM32_ICU_TIM5_IRQ_PRIORITY));
+ clock = STM32_TIMCLK1;
}
#endif
}
+ else {
+ /* Driver re-configuration scenario, it must be stopped first.*/
+ icup->tim->CR1 = 0; /* Timer disabled. */
+ icup->tim->DIER = 0; /* All IRQs disabled. */
+ icup->tim->SR = 0; /* Clear eventual pending IRQs. */
+ icup->tim->CCR1 = 0; /* Comparator 1 disabled. */
+ icup->tim->CCR2 = 0; /* Comparator 2 disabled. */
+ icup->tim->CNT = 0; /* Counter reset to zero. */
+ }
- /* Timer configuration, PWM input mode.*/
- icup->tim->CR1 = 0; /* Initially stopped. */
- icup->tim->CR2 = 0;
+ /* Timer configuration.*/
+ psc = (clock / icup->config->frequency) - 1;
+ chDbgAssert((psc <= 0xFFFF) &&
+ ((psc + 1) * icup->config->frequency) == clock,
+ "icu_lld_start(), #1", "invalid frequency");
+ icup->tim->PSC = (uint16_t)psc;
icup->tim->ARR = 0xFFFF;
- icup->tim->PSC = icup->config->psc; /* Prescaler value. */
- icup->tim->DIER = 0;
+
/* CCMR1_CC1S = 01 = CH1 Input on TI1.
CCMR1_CC2S = 10 = CH2 Input on TI2.*/
icup->tim->CCMR1 = TIM_CCMR1_CC1S_0 |
diff --git a/os/hal/platforms/STM32/icu_lld.h b/os/hal/platforms/STM32/icu_lld.h index 758b9c352..437390d52 100644 --- a/os/hal/platforms/STM32/icu_lld.h +++ b/os/hal/platforms/STM32/icu_lld.h @@ -162,21 +162,14 @@ typedef enum { } icumode_t;
/**
- * @brief ICU counter type.
- */
-typedef uint16_t icucnt_t;
-
-/**
- * @brief Type of a structure representing an ICU driver.
+ * @brief ICU frequency type.
*/
-typedef struct ICUDriver ICUDriver;
+typedef uint32_t icufreq_t;
/**
- * @brief ICU notification callback type.
- *
- * @param[in] icup pointer to a @p ICUDriver object
+ * @brief ICU counter type.
*/
-typedef void (*icucallback_t)(ICUDriver *icup);
+typedef uint16_t icucnt_t;
/**
* @brief Driver configuration structure.
@@ -188,6 +181,12 @@ typedef struct { */
icumode_t mode;
/**
+ * @brief Timer clock in Hz.
+ * @note The low level can use assertions in order to catch invalid
+ * frequency specifications.
+ */
+ icufreq_t frequency;
+ /**
* @brief Callback for pulse width measurement.
*/
icucallback_t width_cb;
@@ -196,10 +195,6 @@ typedef struct { */
icucallback_t period_cb;
/* End of the mandatory fields.*/
- /**
- * @brief TIM PSC (pre-scaler) register initialization data.
- */
- uint16_t psc;
} ICUConfig;
/**
diff --git a/os/hal/templates/icu_lld.h b/os/hal/templates/icu_lld.h index 68ec93df6..34549b76e 100644 --- a/os/hal/templates/icu_lld.h +++ b/os/hal/templates/icu_lld.h @@ -56,21 +56,14 @@ typedef enum { } icumode_t;
/**
- * @brief ICU counter type.
- */
-typedef uint16_t icucnt_t;
-
-/**
- * @brief Type of a structure representing an ICU driver.
+ * @brief ICU frequency type.
*/
-typedef struct ICUDriver ICUDriver;
+typedef uint32_t icufreq_t;
/**
- * @brief ICU notification callback type.
- *
- * @param[in] icup pointer to a @p ICUDriver object
+ * @brief ICU counter type.
*/
-typedef void (*icucallback_t)(ICUDriver *icup);
+typedef uint16_t icucnt_t;
/**
* @brief Driver configuration structure.
@@ -82,6 +75,12 @@ typedef struct { */
icumode_t mode;
/**
+ * @brief Timer clock in Hz.
+ * @note The low level can use assertions in order to catch invalid
+ * frequency specifications.
+ */
+ icufreq_t frequency;
+ /**
* @brief Callback for pulse width measurement.
*/
icucallback_t width_cb;
|