aboutsummaryrefslogtreecommitdiffstats
path: root/docs/source/lang/api/hardwaretimer.rst
diff options
context:
space:
mode:
authorMarti Bolivar <mbolivar@leaflabs.com>2011-05-09 16:43:27 -0400
committerMarti Bolivar <mbolivar@leaflabs.com>2011-05-09 16:49:08 -0400
commit19ea6ba4ea3f1ecb9830cf4d3e1366513f4f96e3 (patch)
treea43f7e0fb3650ca54f245b750a078a0e8c356504 /docs/source/lang/api/hardwaretimer.rst
parent868fb1c273e562a1140abfa948022c9d4f55bccf (diff)
parent1e2e177f6dae62e040c674b617744c73be187062 (diff)
downloadlibrambutan-19ea6ba4ea3f1ecb9830cf4d3e1366513f4f96e3.tar.gz
librambutan-19ea6ba4ea3f1ecb9830cf4d3e1366513f4f96e3.zip
Merge branch 'refactor'
This merges the libmaple refactor work into master. The contents of libmaple proper (/libmaple/) are almost completely incompatible with previous APIs in master. See /docs/source/libmaple/overview.rst for more information on the new design. Wirish incompatibilities are limited to the HardwareTimer class; however, there are several new deprecations, most likely to be removed in 0.1.0.
Diffstat (limited to 'docs/source/lang/api/hardwaretimer.rst')
-rw-r--r--docs/source/lang/api/hardwaretimer.rst548
1 files changed, 260 insertions, 288 deletions
diff --git a/docs/source/lang/api/hardwaretimer.rst b/docs/source/lang/api/hardwaretimer.rst
index c7a630d..09245f0 100644
--- a/docs/source/lang/api/hardwaretimer.rst
+++ b/docs/source/lang/api/hardwaretimer.rst
@@ -5,369 +5,341 @@
HardwareTimer
=============
-This class defines the public API for interfacing with the STM32's
-built-in timer peripherals. More information on these peripherals
-(including code examples) is available in the :ref:`timers reference
-<timers>`.
+This page describes how to control the built-in timers. It does not
+describe how the timers work on your board. For more information on
+that, the :ref:`timers reference <timers>`.
-Library Documentation
----------------------
+.. warning:: The timer interface is still taking shape, and is
+ expected to change significantly between releases. Because of
+ that, the functionality described in this page shouldn't be
+ considered stable.
-HardwareTimer Class Reference
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+ If you want a timer API that will be consistent between releases of
+ the Maple IDE, your best bet for now is to use the low-level
+ support in :ref:`libmaple-timer`.
-To interact with a particular timer, call one of the methods
-documented below on one of the predefined ``HardwareTimer`` instances.
-For example, to set the prescale factor on timer 1 to 5, call
-``Timer1.setPrescaleFactor(5)``.
+.. contents:: Contents
+ :local:
-.. TODO add code examples that people can copy and paste in case
-.. they're unfamiliar with namespace syntax
+.. _lang-hardwaretimer-getting-started:
-.. cpp:class:: HardwareTimer
+Getting Started
+---------------
- Class for interacting with a timer. There are four predefined
- instances available on the Maple: ``Timer1``, ``Timer2``,
- ``Timer3``, and ``Timer4``.
+You'll first need to define a ``HardwareTimer`` variable, which you'll
+use to control the timer. Do this by putting the line
+"``HardwareTimer timer(number);``" with your variables, where
+``number`` is the timer's number.
-.. _lang-hardwaretimer-attachinterrupt:
+Here's an example (we'll fill in :ref:`setup() <lang-setup>` and
+:ref:`loop() <lang-loop>` later)::
-.. cpp:function:: void HardwareTimer::attachInterrupt(int channel, voidFuncPtr handler)
+ // Use timer 1
+ HardwareTimer timer(1);
- Attach an interrupt handler to the given ``channel``. This
- interrupt handler will be called when the timer's counter reaches
- the given channel :ref:`compare <lang-hardwaretimer-setcompare>`
- value.
+ void setup() {
+ // Your setup code
+ }
- ``handler`` should be a function which takes no arguments and has
- :ref:`void <lang-void>` value; i.e. it should have signature ::
+ void loop() {
+ // ...
+ }
- void handler(void);
+Configuring the Prescaler and Overflow
+--------------------------------------
- You can later detach the interrupt using :ref:`detachInterrupt()
- <lang-hardwaretimer-detachinterrupt>`.
+After defining your ``timer`` variable, you'll probably want to
+configure how fast your timer's counter changes (using the prescaler)
+and when it gets reset to zero (using the overflow value). You can do
+that with the ``setPrescaleFactor()`` and ``setOverflow()`` functions.
- .. note:: The function (often called an *interrupt service
- routine*, or ISR) should attempt to return as quickly as
- possible. :ref:`Blinking the LED <lang-toggleled>`, some
- logic, :ref:`PWM <pwm>` updates, and :ref:`Serial
- <lang-serial>` writes are fine; writing to
- :ref:`SerialUSB <lang-serialusb>` or :ref:`waiting
- <lang-waitforbuttonpress>` for user input can take a long
- time and prevent other interrupts from firing on time.
-
- Tip: if you have a :ref:`delay() <lang-delay>` in your
- ISR, you're probably doing it wrong.
-
-.. cpp:function:: void HardwareTimer::attachCompare1Interrupt(voidFuncPtr handler)
-
- Equivalent to :ref:`attachInterrupt
- <lang-hardwaretimer-attachinterrupt>`\ ``(1, handler)``.
-
-.. cpp:function:: void HardwareTimer::attachCompare2Interrupt(voidFuncPtr handler)
-
- Equivalent to :ref:`attachInterrupt
- <lang-hardwaretimer-attachinterrupt>`\ ``(2, handler)``.
-
-.. cpp:function:: void HardwareTimer::attachCompare3Interrupt(voidFuncPtr handler)
+.. _lang-hardwaretimer-setprescalefactor:
- Equivalent to :ref:`attachInterrupt
- <lang-hardwaretimer-attachinterrupt>`\ ``(3, handler)``.
+.. doxygenfunction:: HardwareTimer::setPrescaleFactor
+ :no-link:
-.. cpp:function:: void HardwareTimer::attachCompare4Interrupt(voidFuncPtr handler)
+.. _lang-hardwaretimer-setoverflow:
- Equivalent to :ref:`attachInterrupt
- <lang-hardwaretimer-attachinterrupt>`\ ``(4, handler)``.
+.. doxygenfunction:: HardwareTimer::setOverflow
+ :no-link:
-.. _lang-hardwaretimer-setchannelmode:
+For example::
-.. cpp:function:: void HardwareTimer::setChannelMode(int channel, TimerMode mode)
+ // Use timer 1
+ HardwareTimer timer(1);
- Set the given channel of this timer to the given :ref:`mode
- <lang-hardwaretimer-modes>`. The parameter ``channel`` is one of
- 1, 2, 3, and 4, and corresponds to the compare channel you would
- like to set. Refer to the full :ref:`pin mapping table
- <pin-mapping-mega-table>` to match up timer channels and pin
- numbers.
+ void setup() {
+ timer.setPrescaleFactor(5);
+ timer.setOverflow(255);
+ }
-.. cpp:function:: void HardwareTimer::setChannel1Mode(TimerMode mode)
+ void loop() {
+ // ...
+ }
- Equivalent to :ref:`setChannelMode <lang-hardwaretimer-setchannelmode>`\
- ``(1, mode)``.
+You may also find the ``setPeriod()`` function useful:
-.. cpp:function:: void HardwareTimer::setChannel2Mode(TimerMode mode)
+.. _lang-hardwaretimer-setperiod:
- Equivalent to :ref:`setChannelMode <lang-hardwaretimer-setchannelmode>`\
- ``(2, mode)``.
+.. doxygenfunction:: HardwareTimer::setPeriod
+ :no-link:
-.. cpp:function:: void HardwareTimer::setChannel3Mode(TimerMode mode)
+For example::
- Equivalent to :ref:`setChannelMode <lang-hardwaretimer-setchannelmode>`\
- ``(3, mode)``.
+ // Use timer 1
+ HardwareTimer timer(1);
-.. cpp:function:: void HardwareTimer::setChannel4Mode(TimerMode mode)
+ void setup() {
+ // Have the timer repeat every 20 milliseconds
+ int microseconds_per_millisecond = 1000;
+ timer.setPeriod(20 * microseconds_per_millisecond);
+ }
- Equivalent to :ref:`setChannelMode <lang-hardwaretimer-setchannelmode>`\
- ``(4, mode)``.
+ void loop() {
+ // ...
+ }
+
+.. _lang-hardwaretimer-interrupts:
+
+Using Timer Interrupts
+----------------------
+
+.. TODO [0.2.0] Improve the interrupts section, here or in timers.rst
+
+In order to use timer interrupts, we recommend the following sequence:
+
+* Pause the timer.
+* Configure the prescaler and overflow.
+* Pick a timer channel to handle the interrupt and set the channel's
+ :ref:`mode <lang-hardwaretimer-timermode>` to ``TIMER_OUTPUT_COMPARE``.
+* Set the channel compare value appropriately (this controls what counter value,
+ from 0 to overflow - 1). If you just want to make the interrupt fire once
+ every time the timer overflows, and you don't care what the timer count is,
+ the channel compare value can just be 1.
+* Attach an interrupt handler to the channel.
+* Refresh the timer.
+* Resume the timer.
+
+Here are two complete examples.
+
+**LED blink**: This example blinks the built-in LED without doing
+anything in ``loop()``. ::
+
+ #define LED_RATE 500000 // in microseconds; should give 0.5Hz toggles
+
+ // We'll use timer 2
+ HardwareTimer timer(2);
+
+ void setup() {
+ // Set up the LED to blink
+ pinMode(BOARD_LED_PIN, OUTPUT);
+
+ // Pause the timer while we're configuring it
+ timer.pause();
+
+ // Set up period
+ timer.setPeriod(LED_RATE); // in microseconds
+
+ // Set up an interrupt on channel 1
+ timer.setChannel1Mode(TIMER_OUTPUT_COMPARE);
+ timer.setCompare(TIMER_CH1, 1); // Interrupt 1 count after each update
+ timer.attachCompare1Interrupt(handler_led);
+
+ // Refresh the timer's count, prescale, and overflow
+ timer.refresh();
+
+ // Start the timer counting
+ timer.resume();
+ }
+
+ void loop() {
+ // Nothing! It's all in the handler_led() interrupt:
+ }
+
+ void handler_led(void) {
+ toggleLED();
+ }
+
+**Racing Counters**: This example shows how to use multiple timers at
+the same time. ::
+
+ int count3 = 0;
+ int count4 = 0;
+
+ // We'll use timers 3 and 4
+ HardwareTimer timer3(3);
+ HardwareTimer timer4(4);
+
+ void setup() {
+ // Set up the button for input
+ pinMode(BOARD_BUTTON_PIN, INPUT_PULLUP);
+
+ // Set up timers to add 1 to their counts each time
+ // their interrupts fire.
+ timer3.setMode(TIMER_CH1, TIMER_OUTPUT_COMPARE);
+ timer4.setMode(TIMER_CH1, TIMER_OUTPUT_COMPARE);
+ timer3.pause();
+ timer4.pause();
+ timer3.setCount(0);
+ timer4.setCount(0);
+ timer3.setOverflow(30000);
+ timer4.setOverflow(30000);
+ timer3.setCompare(TIMER_CH1, 1000); // somewhere in the middle
+ timer4.setCompare(TIMER_CH1, 1000);
+ timer3.attachCompare1Interrupt(handler3);
+ timer4.attachCompare1Interrupt(handler4);
+ timer3.refresh();
+ timer4.refresh();
+ timer3.resume();
+ timer4.resume();
+ }
+
+ void loop() {
+ // Display the running counts
+ SerialUSB.print("Count 3: ");
+ SerialUSB.print(count3);
+ SerialUSB.print("\t\tCount 4: ");
+ SerialUSB.println(count4);
+
+ // While the button is held down, pause timer 4
+ for (int i = 0; i < 1000; i++) {
+ if (digitalRead(BOARD_BUTTON_PIN)) {
+ timer4.pause();
+ } else {
+ timer4.resume();
+ }
+ delay(1);
+ }
+ }
+
+ void handler3(void) {
+ count3++;
+ }
+
+ void handler4(void) {
+ count4++;
+ }
+
+``HardwareTimer`` Class Reference
+---------------------------------
+
+This section gives a full listing of the capabilities of a
+``HardwareTimer``.
+
+.. doxygenclass:: HardwareTimer
+ :members: HardwareTimer, pause, resume, getPrescaleFactor, setPrescaleFactor, getOverflow, setOverflow, getCount, setCount, setPeriod, setMode, getCompare, setCompare, attachInterrupt, detachInterrupt, refresh
+
+.. _lang-hardwaretimer-timermode:
+
+.. doxygenenum:: timer_mode
+
+Deprecated Functionality
+------------------------
+
+The following functionality exists for now, but it has been
+deprecated, and will be removed in a future Maple IDE release. You
+shouldn't use it in new programs, and you should change any of your
+programs which do use them to use the up-to-date features described
+above.
+
+The ``TimerMode`` type from previous releases has been renamed
+``timer_mode``. The mode ``TIMER_OUTPUTCOMPARE`` is still present,
+but will be removed in a future release. Use ``TIMER_OUTPUT_COMPARE``
+instead.
-.. _lang-hardwaretimer-getcompare:
+.. cpp:function:: void HardwareTimer::attachCompare1Interrupt(voidFuncPtr handler)
-.. cpp:function:: uint16 HardwareTimer::getCompare(int channel)
+ Use ``attachInterrupt(1, handler)`` instead.
- Gets the compare value for the given ``channel``, from 1 to 4. See
- :ref:`setCompare() <lang-hardwaretimer-setcompare>`.
+.. cpp:function:: void HardwareTimer::attachCompare2Interrupt(voidFuncPtr handler)
-.. cpp:function:: uint16 HardwareTimer::getCompare1()
+ Use ``attachInterrupt(2, handler)`` instead.
- Equivalent to :ref:`getCompare <lang-hardwaretimer-getcompare>`\
- ``(1, mode)``.
+.. cpp:function:: void HardwareTimer::attachCompare3Interrupt(voidFuncPtr handler)
-.. cpp:function:: uint16 HardwareTimer::getCompare2()
+ Use ``attachInterrupt(3, handler)`` instead.
- Equivalent to :ref:`getCompare <lang-hardwaretimer-getcompare>`\
- ``(2, mode)``.
+.. cpp:function:: void HardwareTimer::attachCompare4Interrupt(voidFuncPtr handler)
-.. cpp:function:: uint16 HardwareTimer::getCompare3()
+ Use ``attachInterrupt(4, handler)`` instead.
- Equivalent to :ref:`getCompare <lang-hardwaretimer-getcompare>`\
- ``(3, mode)``.
+.. _lang-hardwaretimer-setchannelmode:
-.. cpp:function:: uint16 HardwareTimer::getCompare4()
+.. cpp:function:: void HardwareTimer::setChannelMode(int channel, timer_mode mode)
- Equivalent to :ref:`getCompare <lang-hardwaretimer-getcompare>`\
- ``(4, mode)``.
+ Use ``setMode(channel, mode)`` instead.
-.. _lang-hardwaretimer-setcompare:
+.. cpp:function:: void HardwareTimer::setChannel1Mode(timer_mode mode)
-.. cpp:function:: void HardwareTimer::setCompare(int channel, uint16 compare)
+ Use ``setMode(1, mode)`` instead.
- Sets the compare value for the given ``channel`` to ``compare``.
- If ``compare`` is greater than this timer's overflow value, it will
- be truncated to the overflow value. The default compare value is
- 65,535 (the largest unsigned 16-bit integer value).
+.. cpp:function:: void HardwareTimer::setChannel2Mode(timer_mode mode)
- When the counter reaches this value the interrupt for this channel
- will fire if the given ``channel`` :ref:`mode
- <lang-hardwaretimer-setchannelmode>` is ``TIMER_OUTPUTCOMPARE`` and
- an interrupt is :ref:`attached
- <lang-hardwaretimer-attachinterrupt>`.
+ Use ``setMode(2, mode)`` instead.
- By default, this only changes the relative offsets between events
- on a single timer ("phase"); they don't control the frequency with
- which they occur. However, a common trick is to increment the
- compare value manually in the interrupt handler so that the event
- will fire again after the increment period. There can be a
- different increment value for each channel, so this trick allows
- events to be programmed at 4 different rates on a single
- timer. Note that function call overheads mean that the smallest
- increment rate is at least a few microseconds.
+.. cpp:function:: void HardwareTimer::setChannel3Mode(timer_mode mode)
-.. cpp:function:: void HardwareTimer::setCompare1(uint16 compare)
+ Use ``setMode(3, mode)`` instead.
- Equivalent to :ref:`setCompare <lang-hardwaretimer-setcompare>`\
- ``(1, compare)``.
+.. cpp:function:: void HardwareTimer::setChannel4Mode(timer_mode mode)
-.. cpp:function:: void HardwareTimer::setCompare2(uint16 compare)
+ Use ``setMode(4, mode)`` instead.
- Equivalent to :ref:`setCompare <lang-hardwaretimer-setcompare>`\
- ``(2, compare)``.
+.. cpp:function:: uint16 HardwareTimer::getCompare1()
-.. cpp:function:: void HardwareTimer::setCompare3(uint16 compare)
+ Use ``getCompare(1, mode)`` instead.
- Equivalent to :ref:`setCompare <lang-hardwaretimer-setcompare>`\
- ``(3, compare)``.
+.. cpp:function:: uint16 HardwareTimer::getCompare2()
-.. cpp:function:: void HardwareTimer::setCompare4(uint16 compare)
+ Use ``getCompare(2, mode)`` instead.
- Equivalent to :ref:`setCompare <lang-hardwaretimer-setcompare>`\
- ``(4, compare)``.
+.. cpp:function:: uint16 HardwareTimer::getCompare3()
-.. cpp:function:: uint16 HardwareTimer::getCount()
+ Use ``getCompare(3, mode)`` instead.
- Gets the current timer count. Due to function call overhead, the
- return value will be increasingly accurate with smaller prescale
- values. Also see :ref:`setCount() <lang-hardwaretimer-setcount>`.
+.. cpp:function:: uint16 HardwareTimer::getCompare4()
-.. _lang-hardwaretimer-setcount:
+ Use ``getCompare(4, mode)`` instead.
-.. cpp:function:: void HardwareTimer::setCount(uint16 val)
+.. cpp:function:: void HardwareTimer::setCompare1(uint16 compare)
- Set the timer's current count to ``val``.
+ Use ``setCompare(1, compare)`` instead.
- Note that there is some function call overhead associated with
- calling this method, so using it is not a robust way to get
- multiple timers to share a count value.
+.. cpp:function:: void HardwareTimer::setCompare2(uint16 compare)
- If ``val`` exceeds the timer's :ref:`overflow value
- <lang-hardwaretimer-getoverflow>`, it is truncated to the overflow
- value.
+ Use ``setCompare(2, compare)`` instead.
+.. cpp:function:: void HardwareTimer::setCompare3(uint16 compare)
-.. _lang-hardwaretimer-detachinterrupt:
+ Use ``setCompare(3, compare)`` instead.
-.. cpp:function:: void HardwareTimer::detachInterrupt(int channel)
+.. cpp:function:: void HardwareTimer::setCompare4(uint16 compare)
- Remove the interrupt handler attached to the given ``channel``, if
- any. The handler will no longer be called by this timer.
+ Use ``setCompare(4, compare)`` instead.
.. cpp:function:: void HardwareTimer::detachCompare1Interrupt()
- Equivalent to :ref:`detachInterrupt
- <lang-hardwaretimer-detachinterrupt>`\ ``(1)``.
+ Use ``detachInterrupt(1)`` instead.
.. cpp:function:: void HardwareTimer::detachCompare2Interrupt()
- Equivalent to :ref:`detachInterrupt
- <lang-hardwaretimer-detachinterrupt>`\ ``(2)``.
+ Use ``detachInterrupt(2)`` instead.
.. cpp:function:: void HardwareTimer::detachCompare3Interrupt()
- Equivalent to :ref:`detachInterrupt
- <lang-hardwaretimer-detachinterrupt>`\ ``(3)``.
+ Use ``detachInterrupt(3)`` instead.
.. cpp:function:: void HardwareTimer::detachCompare4Interrupt()
- Equivalent to :ref:`detachInterrupt
- <lang-hardwaretimer-detachinterrupt>`\ ``(4)``.
-
-.. _lang-hardwaretimer-generateupdate:
+ Use ``detachInterrupt(4)`` instead.
.. cpp:function:: void HardwareTimer::generateUpdate()
- Re-initializes the counter (to 0 in upcounting mode, which is the
- default), and generates an update of the prescale and overflow
- registers.
-
-.. _lang-hardwaretimer-getoverflow:
-
-.. cpp:function:: uint16 HardwareTimer::getOverflow()
-
- Gets the timer's overflow value. See :ref:`setOverflow()
- <lang-hardwaretimer-setoverflow>`.
-
-.. _lang-hardwaretimer-setoverflow:
-
-.. cpp:function:: void HardwareTimer::setOverflow(uint16 val)
-
- Sets the timer overflow (or "reload") value to ``val``.
-
- When the timer's counter reaches this, value it resets to
- zero. Its default value is 65535 (the largest unsigned 16-bit
- integer); setting the overflow to anything lower will cause
- interrupts to be called more frequently (see :ref:`setPeriod()
- <lang-hardwaretimer-setperiod>` function for a shortcut).
-
- After the next :ref:`timer update
- <lang-hardwaretimer-generateupdate>`, this number will be the
- maximum value for the timer's channel compare values.
-
-.. _lang-hardwaretimer-pause:
-
-.. cpp:function:: void HardwareTimer::pause()
-
- Stop the timer's counter, without affecting its configuration.
-
- The timer will no longer count or fire interrupts after this
- function is called, until it is resumed. This function is useful
- during timer setup periods, in order to prevent interrupts from
- firing before the timer is fully configured.
-
- Note that there is some function call overhead associated with this
- method, so using it in concert with :ref:`resume()
- <lang-hardwaretimer-resume>` is not a robust way to align multiple
- timers to the same count value.
-
-.. _lang-hardwaretimer-setperiod:
-
-.. cpp:function:: uint16 HardwareTimer::setPeriod(uint32 microseconds)
-
- Configure the :ref:`prescaler
- <lang-hardwaretimer-getprescalefactor>` and :ref:`overflow
- <lang-hardwaretimer-getoverflow>` values to generate a timer reload
- with a period as close to the given number of ``microseconds`` as
- possible.
-
- The return value is the new overflow value, which may be used to
- set channel compare values. However, if a clock that fires an
- interrupt every given number of microseconds is all that is
- desired, and the relative "phases" are unimportant, channel compare
- values may all be set to 1.
-
-.. _lang-hardwaretimer-getprescalefactor:
-
-.. cpp:function:: uint16 HardwareTimer::getPrescaleFactor()
-
- Returns the timer's prescale factor. See
- :ref:`setPrescaleFactor() <lang-hardwaretimer-setprescalefactor>`.
-
-.. _lang-hardwaretimer-setprescalefactor:
-
-.. cpp:function:: void HardwareTimer::setPrescaleFactor(uint16 factor)
-
- Set the timer's prescale factor to ``factor``.
-
- The prescaler acts as a clock divider to slow down the rate at
- which the counter increments.
-
- For example, the system clock rate is 72MHz, so the counter will
- reach 65535 in (13.89 nanoseconds) × (65535 counts) = (910.22
- microseconds), or about a thousand times a second. If the
- prescaler equals 1098, then the clock rate is effectively 72MHz /
- 1098 = 65.56KHz, and the counter will reach 65536 in (15.25
- microseconds) × (65536 counts) = (0.999 seconds), or about once
- per second.
-
- The :ref:`setPeriod() <lang-hardwaretimer-setperiod>` method may
- also be used as a convenient alternative.
-
-.. _lang-hardwaretimer-resume:
-
-.. cpp:function:: void HardwareTimer::resume()
-
- Resume a paused timer, without affecting its configuration.
-
- The timer will resume counting and firing interrupts as
- appropriate.
-
- Note that there is some function call overhead associated with
- using this method, so using it in concert with :ref:`pause()
- <lang-hardwaretimer-pause>` is not a robust way to align multiple
- timers to the same count value.
-
-.. cpp:function:: timer_dev_num HardwareTimer::getTimerNum()
-
- Returns the :ref:`timer device number
- <lang-hardwaretimer-timer-dev-num>` associated with the timer. For
- example, ``Timer1.getTimerNum()`` would return ``TIMER1``.
-
- In most cases, you should not need to use this function. If you do
- use it, be careful; the constant ``TIMER1`` is *not equal* to the
- number 1; similarly, ``TIMER2`` is *not* the number 2, etc. Be
- sure to refer to the timer device number by name.
-
-.. _lang-hardwaretimer-modes:
-
-Timer Modes
-^^^^^^^^^^^
-.. doxygenenum:: TimerMode
-
-.. _lang-hardwaretimer-timer-dev-num:
-
-Timer Device Numbers
-^^^^^^^^^^^^^^^^^^^^
-
-These provide a lower-level interface for interacting with timers.
-They are mostly useful in context with the :ref:`getTimer()
-<lang-hardwaretimer-gettimer>` function. **Be careful** when using
-these not to confuse e.g. ``TIMER1`` with the number 1; they are
-different.
-
-.. doxygenenum:: timer_dev_num
-
-.. _lang-hardwaretimer-convenience:
-
-.. _lang-hardwaretimer-gettimer:
+ Use ``refresh()`` instead.
-Other Functions
-^^^^^^^^^^^^^^^
-.. doxygenfunction:: getTimer
+In previous releases, to interact with a particular timers, you would
+use one of the predefined ``HardwareTimer`` instances ``Timer1``,
+``Timer2``, ``Timer3``, and ``Timer4``. These are still available for
+now, but they are also deprecated, and will be removed in a future
+release. As detailed in :ref:`lang-hardwaretimer-getting-started`,
+you should define your own ``HardwareTimer`` variables.