Timer tweaks.

2 files changed, 90 insertions, 92 deletions

diff --git a/libmaple/timer.c b/libmaple/timer.c
index a4e4032..b22ffb4 100644
--- a/libmaple/timer.c
+++ b/libmaple/timer.c
@@ -32,12 +32,6 @@
 
 #include "timer.h"
 
-#if defined(STM32_MEDIUM_DENSITY)
-#define NR_TIMERS 4
-#elif defined(STM32_HIGH_DENSITY)
-#define NR_TIMERS 8
-#endif
-
 /* Just like the corresponding DIER bits:
  * [0] = Update handler;
  * [1,2,3,4] = capture/compare 1,2,3,4 handlers, respectively;
@@ -51,7 +45,7 @@
 #define NR_BAS_HANDLERS                 1
 
 static timer_dev timer1 = {
-    .regs         = {.adv = TIMER1_BASE},
+    .regs         = { .adv = TIMER1_BASE },
     .clk_id       = RCC_TIMER1,
     .type         = TIMER_ADVANCED,
     .handlers     = { [NR_ADV_HANDLERS - 1] = 0 },
@@ -59,7 +53,7 @@ static timer_dev timer1 = {
 timer_dev *TIMER1 = &timer1;
 
 static timer_dev timer2 = {
-    .regs         = {.gen = TIMER2_BASE},
+    .regs         = { .gen = TIMER2_BASE },
     .clk_id       = RCC_TIMER2,
     .type         = TIMER_GENERAL,
     .handlers     = { [NR_GEN_HANDLERS - 1] = 0 },
@@ -67,7 +61,7 @@ static timer_dev timer2 = {
 timer_dev *TIMER2 = &timer2;
 
 static timer_dev timer3 = {
-    .regs         = {.gen = TIMER3_BASE},
+    .regs         = { .gen = TIMER3_BASE },
     .clk_id       = RCC_TIMER3,
     .type         = TIMER_GENERAL,
     .handlers     = { [NR_GEN_HANDLERS - 1] = 0 },
@@ -75,7 +69,7 @@ static timer_dev timer3 = {
 timer_dev *TIMER3 = &timer3;
 
 static timer_dev timer4 = {
-    .regs         = {.gen = TIMER4_BASE},
+    .regs         = { .gen = TIMER4_BASE },
     .clk_id       = RCC_TIMER4,
     .type         = TIMER_GENERAL,
     .handlers     = { [NR_GEN_HANDLERS - 1] = 0 },
@@ -84,7 +78,7 @@ timer_dev *TIMER4 = &timer4;
 
 #ifdef STM32_HIGH_DENSITY
 static timer_dev timer5 = {
-    .regs         = {.gen = TIMER5_BASE},
+    .regs         = { .gen = TIMER5_BASE },
     .clk_id       = RCC_TIMER5,
     .type         = TIMER_GENERAL,
     .handlers     = { [NR_GEN_HANDLERS - 1] = 0 },
@@ -92,7 +86,7 @@ static timer_dev timer5 = {
 timer_dev *TIMER5 = &timer5;
 
 static timer_dev timer6 = {
-    .regs         = {.bas = TIMER6_BASE},
+    .regs         = { .bas = TIMER6_BASE },
     .clk_id       = RCC_TIMER6,
     .type         = TIMER_BASIC,
     .handlers     = { [NR_BAS_HANDLERS - 1] = 0 },
@@ -100,7 +94,7 @@ static timer_dev timer6 = {
 timer_dev *TIMER6 = &timer6;
 
 static timer_dev timer7 = {
-    .regs         = {.bas = TIMER7_BASE},
+    .regs         = { .bas = TIMER7_BASE },
     .clk_id       = RCC_TIMER7,
     .type         = TIMER_BASIC,
     .handlers     = { [NR_BAS_HANDLERS - 1] = 0 },
@@ -108,7 +102,7 @@ static timer_dev timer7 = {
 timer_dev *TIMER7 = &timer7;
 
 static timer_dev timer8 = {
-    .regs         = {.adv = TIMER8_BASE},
+    .regs         = { .adv = TIMER8_BASE },
     .clk_id       = RCC_TIMER8,
     .type         = TIMER_ADVANCED,
     .handlers     = { [NR_ADV_HANDLERS - 1] = 0 },
@@ -168,7 +162,7 @@ void timer_disable(timer_dev *dev) {
  * @param mode New timer mode for channel
  */
 void timer_set_mode(timer_dev *dev, uint8 channel, timer_mode mode) {
-    ASSERT(channel > 0 && channel <= 4);
+    ASSERT_FAULT(channel > 0 && channel <= 4);
 
     /* TODO decide about the basic timers */
     ASSERT(dev->type != TIMER_BASIC);
@@ -351,8 +345,8 @@ static inline void dispatch_cc_irqs(timer_dev *dev) {
     uint32 sr_clear = 0;
     uint32 b;
 
-    ASSERT(sr & (TIMER_SR_CC1IF | TIMER_SR_CC2IF |
-                 TIMER_SR_CC3IF | TIMER_SR_CC4IF));
+    ASSERT_FAULT(sr & (TIMER_SR_CC1IF | TIMER_SR_CC2IF |
+                       TIMER_SR_CC3IF | TIMER_SR_CC4IF));
 
     for (b = TIMER_SR_CC1IF_BIT; b <= TIMER_SR_CC4IF_BIT; b++) {
         uint32 mask = BIT(b);
@@ -443,7 +437,7 @@ static void enable_nonmuxed_irq(timer_dev *dev) {
         break;
 #endif
     default:
-        ASSERT(0);
+        ASSERT_FAULT(0);
         break;
     }
 }
diff --git a/notes/timers.txt b/notes/timers.txt
index 3f5b9f4..647e92e 100644
--- a/notes/timers.txt
+++ b/notes/timers.txt
@@ -1,82 +1,87 @@
+Timers
+======
 
-Each timer (1-4) has 4 capture/compare channels (1-4). These are directly used
-by PWM but have a ton of other possible functionality. The STM32 implementation
-is particularly complicated with, eg, the ability to chain together timers
-
-Timer1 is an "advanced timer" with many more features. I think if we use just
-the "Capture and compare interrupt", and enable MOE during initialization
-everything will be ok. There are seperate Break, Update, and Trigger interrupts
-as well that we will ignore for now.
-
-Timer2,Ch 3+4 are D0 and D1, which conflict with Serial2. USART should work
-fine as long as pins aren't in output mode? and timers should work fine if
-Serial2 isn't in use?
-
-Caveats
-------------------------------------------------------------------------------
-There are probably subtle bugs with the way register settings get read in; eg,
-it is often required to have the counter fully overflow before new settings
-come into effect?
-Getting really good timing is still an art, not a science here... usually you 
-need to fiddle with an oscilloscope and the exact overflow/compare numbers to
-get just the right time values.
-Any other interrupts (SysTick, USB, Serial, etc) can blow away all the nice 
-timing stuff.
-
-Misc Notes
-------------------------------------------------------------------------------
-Implementation with case/switch in the interrupt handlers doesn't work; a lot
-of the time multiple interrupt flags are active at the same time (or become
-active?)
+Medium-density chips have timers 1 through 4.  High- and XL-density
+chips additionally have timers 5 through 8.  XL-density chips
+additionally have timers 9--14, which we don't support yet.
+
+Timer Capabilities
+------------------
+
+Each of timers 1--4 has 4 capture/compare (C/C) channels (also numbered
+1--4). These are directly used by PWM, but may serve other purposes as
+well (including handling user-specified periodic interrupts). The
+STM32 implementation is particularly featureful, with, e.g., the
+ability to chain together timers.
+
+Timers 1 and 8 are an advanced timers, with many more features.
+Wirish just uses just their capture/compare interrupts and enables MOE
+during initialization, essentially treating them as general purpose
+timers (like timers 2--5).  Advanced timers also have separate break,
+update, and trigger interrupts that we only provide low-level
+(i.e. libmaple proper) support for.
+
+Timers 6 and 7 are basic timers, without C/C channels.  They are still
+useful for interrupts (via NVIC_TIMER6, NVIC_TIMER7 IRQs, which can
+fire upon an update event), but they're most useful for controlling
+periodic DAC output.
+
+Known Issues and Other Caveats
+------------------------------
+
+There are some conflicts between timer C/C outputs and USART 1 and 2
+TX/RX.  Wirish tries to handle this gracefully, but (as of 7 April
+2011) not all the bugs are sorted yet.  In particular, if you call
+HardwareSerial::disable(), then try to use PWM, the USART TX pins
+don't cooperate.
+
+Resetting the prescaler or reload value only takes effect at the next
+update event.  You can use timer_generate_update() to generate an
+update event via software.
+
+Other interrupts (SysTick, USB, Serial, etc.) can interfere with
+timing-critical applications.  If your program requires precise
+timing, you should probably at least disable USB and SysTick.  Note
+that this also disables the bootloader and stops millis()/micros()
+from counting.
+
+Getting really good timing is a bit of an art.  If things don't work
+at first, you need to fiddle with an oscilloscope and the exact
+overflow/compare numbers to get precise behavior.
 
 TODO
-------------------------------------------------------------------------------
-- document carefully (eg, determine clock-wise and overflow-wise behavior for
-  each function)
-- track down and handle all pin conflicts
-- implement the update interrupt as a "5th channel"
-- "pulse in" stuff, both c and c++
-- function to read out CCR registers
-- allow comparison output to the pin (a la PWM)
-- additional modes and configuration (up, down, up/down, etc)
-
-Possible Wirish implementation
-------------------------------------------------------------------------------
-Inspired by Timer1 Library for arduino
-http://arduino.cc/pipermail/developers_arduino.cc/2010-June/002845.html
+----
+
+- Document more carefully (e.g., determine clock-wise and
+  overflow-wise behavior for each function).
 
-        class HardwareTimer {
-
-        public:
-
-            void pause();
-            void resume();
-            void setPrescaleFactor(uint8 factor);
-            void setOverflow(uint16 val); // truncates to overflow
-            void setCount(uint16 val);    // truncates to overflow
-            uint16 getCount();
-            uint16 setPeriod(uint32 microseconds); // tries to set prescaler and overflow wisely; returns overflow
-            void setMode(uint8 mode);
-            void setCompare1(uint16 val); // truncates to overflow
-            void setCompare2(uint16 val); // truncates to overflow
-            void setCompare3(uint16 val); // truncates to overflow
-            void setCompare4(uint16 val); // truncates to overflow
-            void attachCompare1Interrupt(void (*f)(void));
-            void attachCompare2Interrupt(void (*f)(void));
-            void attachCompare3Interrupt(void (*f)(void));
-            void attachCompare4Interrupt(void (*f)(void));
-            void detachCompare1Interrupt();
-            void detachCompare2Interrupt();
-            void detachCompare3Interrupt();
-            void detachCompare4Interrupt();
-        };
-
-        HardwareTimer Timer1 = HardwareTimer(1);
-        HardwareTimer Timer2 = HardwareTimer(2);
-        HardwareTimer Timer3 = HardwareTimer(3);
-        HardwareTimer Timer4 = HardwareTimer(4);
+- Track down and handle pin conflicts.
+
+- Input capture interface.  DON'T WRITE pulseIn() IN TERMS OF THIS.
+  Do that as a simple, Arduino style implementation that just
+  busy-waits and uses micros(), to allow a pulseIn() on arbitrary
+  pins.  Eventually, expose the more precise/harder to use timer-based
+  API via a convenience library.
+
+- Complementary outputs, with convenient break/dead time interface.
+
+- Additional modes (center-aligned PWM, one pulse mode, etc.) and
+  count configuration (down, up/down).
+
+Alternative Wirish Implementations
+----------------------------------
+
+The current Wirish API is big and clunky.  Its inclusion by default
+also threatens making everyone's sketches bigger unnecessarily.  We
+need to deprecate the parts of it that are bad for 0.0.10, and remove
+them when 0.1.0 comes out.
+
+Current implementation was inspired by Timer1 Library for Arduino:
+
+http://arduino.cc/pipermail/developers_arduino.cc/2010-June/002845.html
 
 Here's one of the more standard libaries out there:
+
 http://www.arduino.cc/playground/Code/Timer1
 
         void initialize(long microseconds=1000000);
@@ -89,4 +94,3 @@ http://www.arduino.cc/playground/Code/Timer1
         void disablePwm(char pin);
         void attachInterrupt(void (*isr)(), long microseconds=-1);
         void detachInterrupt();
-