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221 lines
11 KiB
C++
221 lines
11 KiB
C++
/****************************************************************************************************************************
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HardwareTimer.h
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For Portenta_H7 boards
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Written by Khoi Hoang
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Built by Khoi Hoang https://github.com/khoih-prog/Portenta_H7_TimerInterrupt
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Licensed under MIT license
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Now even you use all these new 16 ISR-based timers,with their maximum interval practically unlimited (limited only by
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unsigned long miliseconds), you just consume only one Portenta_H7 STM32 timer and avoid conflicting with other cores' tasks.
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The accuracy is nearly perfect compared to software timers. The most important feature is they're ISR-based timers
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Therefore, their executions are not blocked by bad-behaving functions / tasks.
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This important feature is absolutely necessary for mission-critical tasks.
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Version: 1.4.0
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Version Modified By Date Comments
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------- ----------- ---------- -----------
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1.2.1 K.Hoang 15/09/2021 Initial coding for Portenta_H7
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1.3.0 K.Hoang 17/09/2021 Add PWM features and examples
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1.3.1 K.Hoang 21/09/2021 Fix warnings in PWM examples
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1.4.0 K.Hoang 22/01/2022 Fix `multiple-definitions` linker error. Fix bug
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*****************************************************************************************************************************/
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// Modified from stm32 core v2.0.0
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/*
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Copyright (c) 2017 Daniel Fekete
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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Copyright (c) 2019 STMicroelectronics
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Modified to support Arduino_Core_STM32
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef GIGAHARDWARETIMER_H_
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#define GIGAHARDWARETIMER_H_
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#if defined(ARDUINO_GIGA)
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/* Includes ------------------------------------------------------------------*/
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#include "Gigatimer.h"
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#if defined(HAL_TIM_MODULE_ENABLED) && !defined(HAL_TIM_MODULE_ONLY)
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#define TIMER_CHANNELS 4 // channel5 and channel 6 are not considered here has they don't have gpio output and they don't have interrupt
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typedef enum
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{
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TIMER_DISABLED, // == TIM_OCMODE_TIMING no output, useful for only-interrupt
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// Output Compare
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TIMER_OUTPUT_COMPARE, // == Obsolete, use TIMER_DISABLED instead. Kept for compatibility reason
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TIMER_OUTPUT_COMPARE_ACTIVE, // == TIM_OCMODE_ACTIVE pin is set high when counter == channel compare
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TIMER_OUTPUT_COMPARE_INACTIVE, // == TIM_OCMODE_INACTIVE pin is set low when counter == channel compare
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TIMER_OUTPUT_COMPARE_TOGGLE, // == TIM_OCMODE_TOGGLE pin toggles when counter == channel compare
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TIMER_OUTPUT_COMPARE_PWM1, // == TIM_OCMODE_PWM1 pin high when counter < channel compare, low otherwise
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TIMER_OUTPUT_COMPARE_PWM2, // == TIM_OCMODE_PWM2 pin low when counter < channel compare, high otherwise
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TIMER_OUTPUT_COMPARE_FORCED_ACTIVE, // == TIM_OCMODE_FORCED_ACTIVE pin always high
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TIMER_OUTPUT_COMPARE_FORCED_INACTIVE, // == TIM_OCMODE_FORCED_INACTIVE pin always low
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//Input capture
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TIMER_INPUT_CAPTURE_RISING, // == TIM_INPUTCHANNELPOLARITY_RISING
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TIMER_INPUT_CAPTURE_FALLING, // == TIM_INPUTCHANNELPOLARITY_FALLING
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TIMER_INPUT_CAPTURE_BOTHEDGE, // == TIM_INPUTCHANNELPOLARITY_BOTHEDGE
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// Used 2 channels for a single pin. One channel in TIM_INPUTCHANNELPOLARITY_RISING another channel in TIM_INPUTCHANNELPOLARITY_FALLING.
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// Channels must be used by pair: CH1 with CH2, or CH3 with CH4
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// This mode is very useful for Frequency and Dutycycle measurement
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TIMER_INPUT_FREQ_DUTY_MEASUREMENT,
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TIMER_NOT_USED = 0xFFFF // This must be the last item of this enum
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} TimerModes_t;
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typedef enum
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{
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TICK_FORMAT, // default
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MICROSEC_FORMAT,
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HERTZ_FORMAT,
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} TimerFormat_t;
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typedef enum
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{
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RESOLUTION_1B_COMPARE_FORMAT = 1, // used for Dutycycle: [0 .. 1]
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RESOLUTION_2B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 3]
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RESOLUTION_3B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 7]
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RESOLUTION_4B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 15]
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RESOLUTION_5B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 31]
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RESOLUTION_6B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 63]
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RESOLUTION_7B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 127]
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RESOLUTION_8B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 255]
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RESOLUTION_9B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 511]
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RESOLUTION_10B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 1023]
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RESOLUTION_11B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 2047]
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RESOLUTION_12B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 4095]
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RESOLUTION_13B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 8191]
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RESOLUTION_14B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 16383]
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RESOLUTION_15B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 32767]
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RESOLUTION_16B_COMPARE_FORMAT, // used for Dutycycle: [0 .. 65535]
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TICK_COMPARE_FORMAT = 0x80, // default
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MICROSEC_COMPARE_FORMAT,
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HERTZ_COMPARE_FORMAT,
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PERCENT_COMPARE_FORMAT, // used for Dutycycle
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} TimerCompareFormat_t;
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#ifdef __cplusplus
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#include <functional>
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using callback_function_t = std::function<void(void)>;
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/* Class --------------------------------------------------------*/
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class HardwareTimer
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{
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public:
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HardwareTimer(TIM_TypeDef *instance);
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~HardwareTimer(); // destructor
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void pause(void); // Pause counter and all output channels
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void pauseChannel(uint32_t channel); // Timer is still running but channel (output and interrupt) is disabled
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void resume(void); // Resume counter and all output channels
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void resumeChannel(uint32_t channel); // Resume only one channel
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void setPrescaleFactor(uint32_t prescaler); // set prescaler register (which is factor value - 1)
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uint32_t getPrescaleFactor();
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void setOverflow(uint32_t val, TimerFormat_t format =
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TICK_FORMAT); // set AutoReload register depending on format provided
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uint32_t getOverflow(TimerFormat_t format = TICK_FORMAT); // return overflow depending on format provided
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void setPWM(uint32_t channel, PinName pin, uint32_t frequency, uint32_t dutycycle,
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callback_function_t PeriodCallback = nullptr,
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callback_function_t CompareCallback = nullptr); // Set all in one command freq in HZ, Duty in percentage. Including both interrup.
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void setPWM(uint32_t channel, uint32_t pin, uint32_t frequency, uint32_t dutycycle,
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callback_function_t PeriodCallback = nullptr, callback_function_t CompareCallback = nullptr);
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void setCount(uint32_t val, TimerFormat_t format =
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TICK_FORMAT); // set timer counter to value 'val' depending on format provided
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uint32_t getCount(TimerFormat_t format =
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TICK_FORMAT); // return current counter value of timer depending on format provided
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void setMode(uint32_t channel, TimerModes_t mode,
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PinName pin = NC); // Configure timer channel with specified mode on specified pin if available
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void setMode(uint32_t channel, TimerModes_t mode, uint32_t pin);
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TimerModes_t getMode(uint32_t channel); // Retrieve configured mode
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void setPreloadEnable(bool value); // Configure overflow preload enable setting
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uint32_t getCaptureCompare(uint32_t channel,
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TimerCompareFormat_t format = TICK_COMPARE_FORMAT); // return Capture/Compare register value of specified channel depending on format provided
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void setCaptureCompare(uint32_t channel, uint32_t compare,
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TimerCompareFormat_t format = TICK_COMPARE_FORMAT); // set Compare register value of specified channel depending on format provided
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void setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority); // set interrupt priority
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//Add interrupt to period update
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void attachInterrupt(callback_function_t
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callback); // Attach interrupt callback which will be called upon update event (timer rollover)
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void detachInterrupt(); // remove interrupt callback which was attached to update event
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bool hasInterrupt(); //returns true if a timer rollover interrupt has already been set
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//Add interrupt to capture/compare channel
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void attachInterrupt(uint32_t channel,
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callback_function_t callback); // Attach interrupt callback which will be called upon compare match event of specified channel
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void detachInterrupt(uint32_t
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channel); // remove interrupt callback which was attached to compare match event of specified channel
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bool hasInterrupt(uint32_t channel); //returns true if an interrupt has already been set on the channel compare match
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void timerHandleDeinit(); // Timer deinitialization
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// Refresh() is usefull while timer is running after some registers update
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void refresh(
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void); // Generate update event to force all registers (Autoreload, prescaler, compare) to be taken into account
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uint32_t getTimerClkFreq(); // return timer clock frequency in Hz.
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static void captureCompareCallback(TIM_HandleTypeDef
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*htim); // Generic Caputre and Compare callback which will call user callback
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static void updateCallback(TIM_HandleTypeDef
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*htim); // Generic Update (rollover) callback which will call user callback
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// The following function(s) are available for more advanced timer options
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TIM_HandleTypeDef *getHandle(); // return the handle address for HAL related configuration
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int getChannel(uint32_t channel);
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int getLLChannel(uint32_t channel);
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int getIT(uint32_t channel);
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int getAssociatedChannel(uint32_t channel);
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#if defined(TIM_CCER_CC1NE)
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bool isComplementaryChannel[TIMER_CHANNELS];
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#endif
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private:
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TimerModes_t _ChannelMode[TIMER_CHANNELS];
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timerObj_t _timerObj;
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callback_function_t callbacks[1 +
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TIMER_CHANNELS]; //Callbacks: 0 for update, 1-4 for channels. (channel5/channel6, if any, doesn't have interrupt)
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};
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extern timerObj_t *HardwareTimer_Handle[TIMER_NUM];
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extern timer_index_t get_timer_index(TIM_TypeDef *htim);
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#endif /* __cplusplus */
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#endif // HAL_TIM_MODULE_ENABLED && !HAL_TIM_MODULE_ONLY
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#endif
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#endif // GIGAHARDWARETIMER_H_
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