From 39fa1818ffe52d04832d5f5d25ae01fb7b6d514f Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Sat, 18 Feb 2012 16:46:21 +0000
Subject: Improvements to the STM32 ICU driver.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3955 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 os/hal/platforms/STM32/icu_lld.c | 101 +++++++++++++++++++++++++++++----------
 1 file changed, 76 insertions(+), 25 deletions(-)

(limited to 'os/hal/platforms/STM32/icu_lld.c')

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;
 }
 
-- 
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