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authorbnewbold <bnewbold@robocracy.org>2010-07-02 00:57:35 -0400
committerbnewbold <bnewbold@robocracy.org>2010-07-20 15:37:09 -0400
commitdd52d66d034c943380d4a95d7677cff7772109df (patch)
treeb650943b1921f229496c08ab1199039442f61c42 /libmaple
parent480dad829fe7870883d51cb641ce05aa62074424 (diff)
downloadlibrambutan-dd52d66d034c943380d4a95d7677cff7772109df.tar.gz
librambutan-dd52d66d034c943380d4a95d7677cff7772109df.zip
timers progress
examples code cleanup, more descriptive comments, more notes
Diffstat (limited to 'libmaple')
-rw-r--r--libmaple/timers.c57
1 files changed, 45 insertions, 12 deletions
diff --git a/libmaple/timers.c b/libmaple/timers.c
index a772cf9..daf8b51 100644
--- a/libmaple/timers.c
+++ b/libmaple/timers.c
@@ -75,15 +75,17 @@ typedef struct {
uint16 RESERVED19;
} Timer;
-
+// These are the output compare interrupt functions that get called by the
+// handlers below
volatile static voidFuncPtr timer1_handlers[4];
volatile static voidFuncPtr timer2_handlers[4];
volatile static voidFuncPtr timer3_handlers[4];
volatile static voidFuncPtr timer4_handlers[4];
+// This function should probably be rewriten to take (timer_num, mode) and have
+// prescaler set elsewhere. The mode can be passed through to set_mode at the
+// end
void timer_init(uint8 timer_num, uint16 prescale) {
- // This initialization is very PWM-specific. That's a good default but it
- // should probably call down to a set_mode function
Timer *timer; uint8 is_advanced = 0;
@@ -151,9 +153,11 @@ void timer_init(uint8 timer_num, uint16 prescale) {
timer->CR1 |= 1; // Enable timer
}
-void timer_set_count(uint8 timer_num, uint16 value) {
- Timer *timer;
- ASSERT(timer_num > 0 && timer_num <= 4);
+// This function sets the counter value via register for the specified timer.
+// Can't think of specific usecases except for resetting to zero but it's easy
+// to implement and allows for "creative" programming
+void timer_set_count(uint8 timer_num, uint16 value) { Timer *timer;
+ASSERT(timer_num > 0 && timer_num <= 4);
switch(timer_num) {
case 1:
@@ -172,6 +176,8 @@ void timer_set_count(uint8 timer_num, uint16 value) {
timer->CNT = value;
}
+// Returns the current timer counter value. Probably very inaccurate if the
+// counter is running with a low prescaler.
uint16 timer_get_count(uint8 timer_num) {
Timer *timer;
ASSERT(timer_num > 0 && timer_num <= 4);
@@ -193,6 +199,7 @@ uint16 timer_get_count(uint8 timer_num) {
return timer->CNT;
}
+// Does what it says
void timer_set_prescaler(uint8 timer_num, uint16 prescale) {
Timer *timer;
ASSERT(timer_num > 0 && timer_num <= 4);
@@ -214,6 +221,8 @@ void timer_set_prescaler(uint8 timer_num, uint16 prescale) {
timer->PSC = prescale;
}
+// This sets the "reload" or "overflow" value for the entire timer. We should
+// probably settle on either "reload" or "overflow" to prevent confusion?
void timer_set_reload(uint8 timer_num, uint16 max_reload) {
Timer *timer;
ASSERT(timer_num > 0 && timer_num <= 4);
@@ -235,15 +244,28 @@ void timer_set_reload(uint8 timer_num, uint16 max_reload) {
timer->ARR = max_reload;
}
-
+// This quickly disables all 4 timers, presumably as part of a system shutdown
+// or similar to prevent interrupts and PWM output without 16 seperate function
+// calls to timer_set_mode
void timer_disable_all(void) {
// Note: this must be very robust because it gets called from, eg, ASSERT
// TODO: rewrite?
- Timer *timer; Timer *timers[4] = { (Timer*)TIMER1_BASE,
- (Timer*)TIMER2_BASE, (Timer*)TIMER3_BASE, (Timer*)TIMER4_BASE, }; int i;
- for (i = 0; i < 4; i++) { timer = timers[i]; timer->CR1 = 0; timer->CCER =
- 0; } }
+ Timer *timer;
+ Timer *timers[4] = { (Timer*)TIMER1_BASE,
+ (Timer*)TIMER2_BASE,
+ (Timer*)TIMER3_BASE,
+ (Timer*)TIMER4_BASE,
+ };
+ int i;
+
+ for (i = 0; i < 4; i++) {
+ timer = timers[i];
+ timer->CR1 = 0;
+ timer->CCER = 0;
+ }
+}
+// Sets the mode of individual timer channels, including a DISABLE mode
void timer_set_mode(uint8 timer_num, uint8 channel, uint8 mode) {
Timer *timer;
switch (timer_num) {
@@ -359,6 +381,7 @@ void timer_set_mode(uint8 timer_num, uint8 channel, uint8 mode) {
}
}
+// This sets the compare value (aka the trigger) for a given timer channel
void timer_set_compare_value(uint8 timer_num, uint8 compare_num, uint16 value) {
// The faster version of this function is the inline timer_pwm_write_ccr
@@ -395,6 +418,8 @@ void timer_set_compare_value(uint8 timer_num, uint8 compare_num, uint16 value) {
}
}
+// Stores a pointer to the passed usercode interrupt function and configures
+// the actual ISR so that it will actually be called
void timer_attach_interrupt(uint8 timer_num, uint8 compare_num, voidFuncPtr handler) {
Timer *timer;
ASSERT(timer_num > 0 && timer_num <= 4 && compare_num > 0 && compare_num <= 4);
@@ -455,12 +480,20 @@ void timer_detach_interrupt(uint8 timer_num, uint8 compare_num) {
}
}
+// The following are the actual interrupt handlers; 1 for each timer which must
+// determine which actual compare value (aka channel) was triggered.
+//
+// These ISRs get called when the timer interrupt is enabled, the timer is running, and
+// the timer count equals any of the CCR registers /or/ has overflowed.
+//
+// This is a rather long implementation...
void TIM1_CC_IRQHandler(void) {
- // This is a rather long implementation...
Timer *timer = (Timer*)TIMER1_BASE;
uint16 sr_buffer;
sr_buffer = timer->SR;
+ // Simply switch/case-ing here doesn't work because multiple
+ // CC flags may be high.
if(sr_buffer & 0x10){ // CC4 flag
timer->SR &= ~(0x10);
if(timer1_handlers[3]) {