1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
|
/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file STM32/icu_lld.c
* @brief STM32 ICU subsystem low level driver header.
*
* @addtogroup ICU
* @{
*/
#include "ch.h"
#include "hal.h"
#if HAL_USE_ICU || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/**
* @brief ICU1 driver identifier.
* @note The driver ICUD1 allocates the complex timer TIM1 when enabled.
*/
#if STM32_ICU_USE_TIM1 || defined(__DOXYGEN__)
ICUDriver ICUD1;
#endif
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* 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.
*
* @isr
*/
CH_IRQ_HANDLER(TIM1_UP_IRQHandler) {
CH_IRQ_PROLOGUE();
TIM1->SR = ~TIM_SR_UIF;
ICUD1.config->callback(&ICUD1);
CH_IRQ_EPILOGUE();
}
/**
* @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) {
uint16_t sr;
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);
CH_IRQ_EPILOGUE();
}
#endif /* STM32_ICU_USE_TIM1 */
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level ICU driver initialization.
*
* @notapi
*/
void icu_lld_init(void) {
#if STM32_ICU_USE_TIM1
/* Driver initialization.*/
icuObjectInit(&ICUD1);
ICUD1.tim = TIM1;
#endif
}
/**
* @brief Configures and activates the ICU peripheral.
*
* @param[in] icup pointer to the @p ICUDriver object
*
* @notapi
*/
void icu_lld_start(ICUDriver *icup) {
if (icup->state == ICU_STOP) {
/* Clock activation and timer reset.*/
#if STM32_ICU_USE_TIM1
if (&ICUD1 == 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
}
/* Timer configuration, PWM input mode.*/
icup->tim->CR1 = 0; /* Initially stopped. */
icup->tim->CR2 = 0;
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 |
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;
}
/**
* @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) {
/* Clock deactivation.*/
icup->tim->CR1 = 0; /* Timer disabled. */
icup->tim->DIER = 0; /* All IRQs disabled. */
#if STM32_ICU_USE_TIM1
if (&ICUD1 == icup) {
NVICDisableVector(TIM1_UP_IRQn);
RCC->APB2ENR &= ~RCC_APB2ENR_TIM1EN;
}
#endif
}
}
/**
* @brief Enables the input capture.
*
* @param[in] icup pointer to the @p ICUDriver object
*
* @notapi
*/
void icu_lld_enable(ICUDriver *icup) {
icup->tim->SR = 0; /* Clear pending IRQs (if any). */
icup->tim->DIER = TIM_DIER_CC1IE | TIM_DIER_CC2IE;
icup->tim->CR1 = TIM_CR1_URS | TIM_CR1_CEN;
}
/**
* @brief Disables the input capture.
*
* @param[in] icup pointer to the @p ICUDriver object
*
* @notapi
*/
void icu_lld_disable(ICUDriver *icup) {
icup->tim->CR1 = 0; /* Initially stopped. */
icup->tim->SR = 0; /* Clear pending IRQs (if any). */
icup->tim->DIER = 0; /* Interrupts disabled. */
}
#endif /* HAL_USE_ICU */
/** @} */
|
