Enhanced ICU driver.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7211 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 23 insertions, 12 deletions

diff --git a/os/hal/include/icu.h b/os/hal/include/icu.h
index 1839c214f..0b85aa97b 100644
--- a/os/hal/include/icu.h
+++ b/os/hal/include/icu.h
@@ -183,7 +183,7 @@ typedef void (*icucallback_t)(ICUDriver *icup);
  * @notapi

  */

 #define _icu_isr_invoke_width_cb(icup) do {                                 \

-  if (((icup)->state != ICU_WAITING) &&                                     \

+  if (((icup)->state == ICU_ACTIVE) &&                                      \

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

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

 } while (0)

@@ -196,11 +196,10 @@ typedef void (*icucallback_t)(ICUDriver *icup);
  * @notapi

  */

 #define _icu_isr_invoke_period_cb(icup) do {                                \

-  icustate_t previous_state = (icup)->state;                                \

-  (icup)->state = ICU_ACTIVE;                                               \

-  if ((previous_state != ICU_WAITING) &&                                    \

+  if (((icup)->state == ICU_ACTIVE) &&                                      \

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

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

+  (icup)->state = ICU_ACTIVE;                                               \

 } while (0)

 

 /**

diff --git a/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c b/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c
index 1602ac1d1..6ee7ff293 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c
+++ b/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c
@@ -108,17 +108,18 @@ ICUDriver ICUD9;
  * @param[in] icup      pointer to the @p ICUDriver object

  */

 static void icu_lld_serve_interrupt(ICUDriver *icup) {

-  uint16_t sr;

+  uint32_t sr;

 

   sr  = icup->tim->SR;

   sr &= icup->tim->DIER & STM32_TIM_DIER_IRQ_MASK;

   icup->tim->SR = ~sr;

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

-    if ((sr & STM32_TIM_SR_CC1IF) != 0)

-      _icu_isr_invoke_period_cb(icup);

     if ((sr & STM32_TIM_SR_CC2IF) != 0)

       _icu_isr_invoke_width_cb(icup);

-  } else {

+    if ((sr & STM32_TIM_SR_CC1IF) != 0)

+      _icu_isr_invoke_period_cb(icup);

+  }

+  else {

     if ((sr & STM32_TIM_SR_CC1IF) != 0)

       _icu_isr_invoke_width_cb(icup);

     if ((sr & STM32_TIM_SR_CC2IF) != 0)

@@ -506,7 +507,8 @@ void icu_lld_start(ICUDriver *icup) {
        data faster from within callbacks.*/

     icup->wccrp = &icup->tim->CCR[1];

     icup->pccrp = &icup->tim->CCR[0];

-  } else {

+  }

+  else {

     /* Selected input 2.

        CCMR1_CC1S = 10 = CH1 Input on TI2.

        CCMR1_CC2S = 01 = CH2 Input on TI2.*/

@@ -618,6 +620,7 @@ void icu_lld_start_capture(ICUDriver *icup) {
  *          brings the driver in the @p ICU_ACTIVE state.

  * @note    If notifications are enabled then the transition to the

  *          @p ICU_ACTIVE state is done automatically on the first edge.

+ * @note    The wait is performed in polled mode.

  *

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

  *

@@ -625,6 +628,14 @@ void icu_lld_start_capture(ICUDriver *icup) {
  */

 void icu_lld_wait_capture(ICUDriver *icup) {

 

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

+    while ((icup->tim->SR & STM32_TIM_SR_CC1IF) == 0)

+      ;

+  }

+  else {

+    while ((icup->tim->SR & STM32_TIM_SR_CC2IF) == 0)

+      ;

+  }

 }

 

 /**

@@ -658,7 +669,7 @@ void icu_enable_notifications(ICUDriver *icup) {
   /* If interrupts were already enabled then the operation is skipped.

      This is done in order to avoid clearing the SR and risk losing

      pending interrupts.*/

-  if ((dier & STM32_TIM_DIER_IRQ_MASK) != 0) {

+  if ((dier & STM32_TIM_DIER_IRQ_MASK) == 0) {

     /* Previously triggered IRQs are ignored, status cleared.*/

     icup->tim->SR = 0;

 

@@ -669,7 +680,8 @@ void icu_enable_notifications(ICUDriver *icup) {
       /* Optionally enabling width callback on CC2.*/

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

         dier |= STM32_TIM_DIER_CC2IE;

-    } else {

+    }

+    else {

       /* Enabling periodic callback on CC2.*/

       dier |= STM32_TIM_DIER_CC2IE;

 

diff --git a/os/hal/ports/STM32/LLD/TIMv1/pwm_lld.c b/os/hal/ports/STM32/LLD/TIMv1/pwm_lld.c
index 2b633c2e2..50884c5c8 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/pwm_lld.c
+++ b/os/hal/ports/STM32/LLD/TIMv1/pwm_lld.c
@@ -109,7 +109,7 @@ PWMDriver PWMD9;
  * @param[in] pwmp      pointer to a @p PWMDriver object

  */

 static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {

-  uint16_t sr;

+  uint32_t sr;

 

   sr  = pwmp->tim->SR;

   sr &= pwmp->tim->DIER & STM32_TIM_DIER_IRQ_MASK;