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-rw-r--r--examples/test-session.cpp19
-rw-r--r--examples/test-timers.cpp372
2 files changed, 216 insertions, 175 deletions
diff --git a/examples/test-session.cpp b/examples/test-session.cpp
index a147e06..9b4bce4 100644
--- a/examples/test-session.cpp
+++ b/examples/test-session.cpp
@@ -15,7 +15,6 @@
//#define COMM Serial2
//#define COMM Serial3
-
#define ESC ((uint8)27)
int rate = 0;
@@ -610,17 +609,15 @@ void cmd_servo_sweep(void) {
COMM.println("(reset serial port)");
}
+static uint16 init_all_timers_prescale = 0;
+
+static void set_prescale(timer_dev *dev) {
+ timer_set_prescaler(dev, init_all_timers_prescale);
+}
+
void init_all_timers(uint16 prescale) {
- timer_init(TIMER1, prescale);
- timer_init(TIMER2, prescale);
- timer_init(TIMER3, prescale);
- timer_init(TIMER4, prescale);
-#ifdef STM32_HIGH_DENSITY
- timer_init(TIMER5, prescale);
- // timer_init(TIMER6, prescale);
- // timer_init(TIMER7, prescale);
- timer_init(TIMER8, prescale);
-#endif
+ init_all_timers_prescale = prescale;
+ timer_foreach(set_prescale);
}
// Force init to be called *first*, i.e. before static object allocation.
diff --git a/examples/test-timers.cpp b/examples/test-timers.cpp
index f3cfdcc..a4fbc8a 100644
--- a/examples/test-timers.cpp
+++ b/examples/test-timers.cpp
@@ -1,8 +1,7 @@
-// Program to test the wirish timers implementation
+// Program to test the timer.h implementation's essential functionality.
#include "wirish.h"
-
-#define LED_PIN BOARD_LED_PIN
+#include "timer.h"
void handler1(void);
void handler2(void);
@@ -27,208 +26,253 @@ uint16 val2 = 10000;
uint16 val3 = 10000;
uint16 val4 = 10000;
-HardwareTimer Timers[] = {Timer1, Timer2, Timer3, Timer4};
+// FIXME high density timer test (especially basic timers + DAC)
+timer_dev *timers[] = {TIMER1, TIMER2, TIMER3, TIMER4};
+voidFuncPtr handlers[] = {handler1, handler2, handler3, handler4};
+
+void initTimer(timer_dev *dev);
+void setTimerPeriod(timer_dev *dev, uint32 period_us);
+void testSetTimerPeriod(uint32 period);
+void testTimerChannels(timer_dev *dev);
+int timerNumber(timer_dev *dev);
-void setup()
-{
- /* Set up the LED to blink */
- pinMode(LED_PIN, OUTPUT);
+void setup() {
+ // Set up the LED to blink
+ pinMode(BOARD_LED_PIN, OUTPUT);
// Setup the button as input
pinMode(BOARD_BUTTON_PIN, INPUT);
- // Wait for user to attach...
- waitForButtonPress(0);
-
- // Send a message out SerialUSB
- SerialUSB.println("Beginning timer test...");
- for(int t=0; t<4; t++) {
- Timers[t].setChannel1Mode(TIMER_OUTPUTCOMPARE);
- Timers[t].setChannel2Mode(TIMER_OUTPUTCOMPARE);
- Timers[t].setChannel3Mode(TIMER_OUTPUTCOMPARE);
- Timers[t].setChannel4Mode(TIMER_OUTPUTCOMPARE);
- }
+ // Send a message out Serial2
+ Serial2.begin(115200);
+ Serial2.println("*** Initializing timers...");
+ Serial2.println("foo");
+ timer_foreach(initTimer);
+ Serial2.println("*** Done. Beginning timer test.");
}
void loop() {
- SerialUSB.println("-----------------------------------------------------");
- SerialUSB.println("Testing setCount/getCount");
- SerialUSB.print("Timer1.getCount() = "); SerialUSB.println(Timer1.getCount());
- SerialUSB.println("Timer1.setCount(1234)");
- Timer1.setCount(1234);
- SerialUSB.print("Timer1.getCount() = "); SerialUSB.println(Timer1.getCount());
- // This tests whether the pause/resume functions work; when BUT is held
- // down Timer4 is in the "pause" state and the timer doesn't increment, so
- // the final counts should reflect the ratio of time that BUT was held down
- SerialUSB.println("-----------------------------------------------------");
- SerialUSB.println("Testing Pause/Resume; button roughly controls Timer4");
+ Serial2.println("-----------------------------------------------------");
+
+ Serial2.println("Testing timer_get_count()/timer_set_count()");
+ Serial2.print("TIMER1 count = ");
+ Serial2.println(timer_get_count(TIMER1));
+ Serial2.println("timer_set_count(TIMER1, 1234)");
+ timer_set_count(TIMER1, 1234);
+ Serial2.print("timer_get_count(TIMER1) = ");
+ Serial2.println(timer_get_count(TIMER1));
+
+ Serial2.println("-----------------------------------------------------");
+ Serial2.println("Testing pause/resume; button roughly controls TIMER4");
+ // when BUT is held down, TIMER4 is in the "pause" state and the
+ // timer doesn't increment, so the final counts should reflect the
+ // ratio of time that BUT was held down.
count3 = 0;
count4 = 0;
- Timer3.setChannel1Mode(TIMER_OUTPUTCOMPARE);
- Timer4.setChannel1Mode(TIMER_OUTPUTCOMPARE);
- Timer3.pause();
- Timer4.pause();
- Timer3.setCount(0);
- Timer4.setCount(0);
- Timer3.setOverflow(30000);
- Timer4.setOverflow(30000);
- Timer3.setCompare1(1000);
- Timer4.setCompare1(1000);
- Timer3.attachCompare1Interrupt(handler3b);
- Timer4.attachCompare1Interrupt(handler4b);
- Timer3.resume();
- Timer4.resume();
- SerialUSB.println("~4 seconds...");
- for(int i = 0; i<4000; i++) {
- if(isButtonPressed()) {
- Timer4.pause();
+ timer_set_mode(TIMER3, TIMER_CH1, TIMER_OUTPUT_COMPARE);
+ timer_set_mode(TIMER4, TIMER_CH1, TIMER_OUTPUT_COMPARE);
+ timer_pause(TIMER3);
+ timer_pause(TIMER4);
+ timer_set_count(TIMER3, 0);
+ timer_set_count(TIMER4, 0);
+ timer_set_reload(TIMER3, 30000);
+ timer_set_reload(TIMER4, 30000);
+ timer_set_compare(TIMER3, 1, 1000);
+ timer_set_compare(TIMER4, 1, 1000);
+ timer_attach_interrupt(TIMER3, TIMER_CC1_INTERRUPT, handler3b);
+ timer_attach_interrupt(TIMER4, TIMER_CC1_INTERRUPT, handler4b);
+ timer_resume(TIMER3);
+ timer_resume(TIMER4);
+
+ Serial2.println("Testing for ~4 seconds...");
+ for(int i = 0; i < 4000; i++) {
+ if (isButtonPressed()) {
+ timer_pause(TIMER4);
} else {
- Timer4.resume();
+ timer_resume(TIMER4);
}
delay(1);
}
- Timer3.setChannel1Mode(TIMER_DISABLED);
- Timer4.setChannel1Mode(TIMER_DISABLED);
- SerialUSB.print("Count3: "); SerialUSB.println(count3);
- SerialUSB.print("Count4: "); SerialUSB.println(count4);
-
- // These test the setPeriod auto-configure functionality
- SerialUSB.println("-----------------------------------------------------");
- SerialUSB.println("Testing setPeriod");
- Timer4.setChannel1Mode(TIMER_OUTPUTCOMPARE);
- Timer4.setCompare1(1);
- Timer4.setPeriod(10);
- Timer4.pause();
- Timer4.setCount(0);
- Timer4.attachCompare1Interrupt(handler4b);
- SerialUSB.println("Period 10ms, wait 2 seconds...");
- count4 = 0;
- Timer4.resume();
- delay(2000);
- Timer4.pause();
- Timer4.setChannel1Mode(TIMER_DISABLED);
- SerialUSB.print("Count4: "); SerialUSB.println(count4);
- SerialUSB.println("(should be around 2sec/10ms = 200000)");
- Timer4.setChannel1Mode(TIMER_OUTPUTCOMPARE);
- Timer4.setCompare1(1);
- Timer4.pause();
- Timer4.setPeriod(30000);
- Timer4.setCount(0);
- Timer4.attachCompare1Interrupt(handler4b);
- SerialUSB.println("Period 30000ms, wait 2 seconds...");
- count4 = 0;
- Timer4.resume();
- delay(2000);
- Timer4.pause();
- Timer4.setChannel1Mode(TIMER_DISABLED);
- SerialUSB.print("Count4: "); SerialUSB.println(count4);
- SerialUSB.println("(should be around 2sec/30000ms ~ 67)");
-
- Timer4.setChannel1Mode(TIMER_OUTPUTCOMPARE);
- Timer4.setPeriod(300000);
- Timer4.setCompare1(1);
- Timer4.pause();
- Timer4.setCount(0);
- Timer4.attachCompare1Interrupt(handler4b);
- SerialUSB.println("Period 300000ms, wait 2 seconds...");
- count4 = 0;
- Timer4.resume();
- delay(2000);
- Timer4.pause();
- Timer4.setChannel1Mode(TIMER_DISABLED);
- SerialUSB.print("Count4: "); SerialUSB.println(count4);
- SerialUSB.println("(should be around 2sec/300000ms ~ 6.7)");
-
- Timer4.setChannel1Mode(TIMER_OUTPUTCOMPARE);
- Timer4.setPrescaleFactor(33);
- Timer4.setOverflow(65454);
- Timer4.pause();
- Timer4.setCount(0);
- Timer4.setCompare1(1);
- Timer4.attachCompare1Interrupt(handler4b);
- SerialUSB.println("Period 30000ms, wait 2 seconds...");
+
+ timer_set_mode(TIMER3, TIMER_CH1, TIMER_DISABLED);
+ timer_set_mode(TIMER4, TIMER_CH1, TIMER_DISABLED);
+
+ Serial2.print("TIMER3 count: ");
+ Serial2.println(timer_get_count(TIMER3));
+ Serial2.print("TIMER4 count: ");
+ Serial2.println(timer_get_count(TIMER4));
+
+ Serial2.println("-----------------------------------------------------");
+ Serial2.println("Testing setTimerPeriod()");
+ testSetTimerPeriod(10);
+ testSetTimerPeriod(30000);
+ testSetTimerPeriod(300000);
+ testSetTimerPeriod(30000);
+
+ Serial2.println("Sanity check (with hand-coded reload and prescaler for "
+ "72 MHz timers):");
+ timer_set_mode(TIMER4, TIMER_CH1, TIMER_OUTPUT_COMPARE);
+ timer_set_prescaler(TIMER4, 33);
+ timer_set_reload(TIMER4, 65454);
+ timer_pause(TIMER4);
+ timer_set_count(TIMER4, 0);
+ timer_set_compare(TIMER4, TIMER_CH1, 1);
+ timer_attach_interrupt(TIMER4, TIMER_CC1_INTERRUPT, handler4b);
+ Serial2.println("Period 30000ms, wait 2 seconds...");
count4 = 0;
- Timer4.resume();
+ timer_resume(TIMER4);
delay(2000);
- Timer4.pause();
- Timer4.setChannel1Mode(TIMER_DISABLED);
- SerialUSB.print("Count4: "); SerialUSB.println(count4);
- SerialUSB.println("(should be around 2sec/30000ms ~ 67)");
-
- Timer4.setChannel1Mode(TIMER_OUTPUTCOMPARE);
- Timer4.setCompare1(1);
- Timer4.setPeriod(30000);
- Timer4.pause();
- Timer4.setCount(0);
- Timer4.attachCompare1Interrupt(handler4b);
- SerialUSB.println("Period 30000ms, wait 2 seconds...");
+ timer_pause(TIMER4);
+ timer_set_mode(TIMER4, TIMER_CH1, TIMER_DISABLED);
+ Serial2.print("TIMER4 count: ");
+ Serial2.println(count4);
+ Serial2.println(" (Should be around 2sec/30000ms ~ 67)");
+
+ // Test all the individual timer channels
+ timer_foreach(testTimerChannels);
+}
+
+void initTimer(timer_dev *dev) {
+ switch (dev->type) {
+ case TIMER_ADVANCED:
+ case TIMER_GENERAL:
+ Serial2.print("Initializing timer ");
+ Serial2.println(timerNumber(dev));
+ for (int c = 1; c <= 4; c++) {
+ timer_set_mode(dev, c, TIMER_OUTPUT_COMPARE);
+ }
+ Serial2.println("Done.");
+ break;
+ case TIMER_BASIC:
+ break;
+ }
+}
+
+void testSetTimerPeriod(uint32 period) {
+ timer_set_mode(TIMER4, TIMER_CH1, TIMER_OUTPUT_COMPARE);
+ timer_set_compare(TIMER4, TIMER_CH1, 1);
+ setTimerPeriod(TIMER4, period);
+ timer_pause(TIMER4);
+ timer_set_count(TIMER4, 0);
+ timer_attach_interrupt(TIMER4, TIMER_CC1_INTERRUPT, handler4b);
+ Serial2.println("Period ");
+ Serial2.print(period);
+ Serial2.print(" ms. Waiting 2 seconds...");
count4 = 0;
- Timer4.resume();
+ timer_resume(TIMER4);
delay(2000);
- Timer4.pause();
- Timer4.setChannel1Mode(TIMER_DISABLED);
- SerialUSB.print("Count4: "); SerialUSB.println(count4);
- SerialUSB.println("(should be around 2sec/30000ms ~ 67)");
-
- // This section is to touch every channel of every timer. The output
- // ratios should reflect the ratios of the rate variables. Demonstrates
- // that over time the actual timing rates get blown away by other system
- // interrupts.
- for(t=0; t<4; t++) {
- toggleLED();
- delay(100);
- SerialUSB.println("-----------------------------------------------------");
- SerialUSB.print("Testing Timer "); SerialUSB.println(t+1);
+ timer_pause(TIMER4);
+ timer_set_mode(TIMER4, TIMER_CH1, TIMER_DISABLED);
+ Serial2.print("TIMER4 count: ");
+ Serial2.println(timer_get_count(TIMER4));
+ Serial2.print(" (Should be around 2 sec / ");
+ Serial2.print(period);
+ Serial2.print(" ms = ");
+ Serial2.print(double(2) / period * 1000);
+ Serial2.println(", modulo delays due to interrupts)");
+}
+
+int timerNumber(timer_dev *dev) {
+ switch (dev->clk_id) {
+ case RCC_TIMER1:
+ return 1;
+ case RCC_TIMER2:
+ return 2;
+ case RCC_TIMER3:
+ return 3;
+ case RCC_TIMER4:
+ return 4;
+#ifdef STM32_HIGH_DENSITY
+ case RCC_TIMER5:
+ return 5;
+ case RCC_TIMER6:
+ return 6;
+ case RCC_TIMER7:
+ return 7;
+ case RCC_TIMER8:
+ return 8;
+#endif
+ default:
+ ASSERT(0);
+ return 0;
+ }
+}
+
+/* This function touches every channel of a given timer. The output
+ * ratios should reflect the ratios of the rate variables. It
+ * demonstrates that, over time, the actual timing rates get blown
+ * away by other system interrupts. */
+void testTimerChannels(timer_dev *dev) {
+ t = timerNumber(dev);
+ toggleLED();
+ delay(100);
+ Serial2.println("-----------------------------------------------------");
+ switch (dev->type) {
+ case TIMER_BASIC:
+ Serial2.print("NOT testing channels for basic timer ");
+ Serial2.println(t);
+ break;
+ case TIMER_ADVANCED:
+ case TIMER_GENERAL:
+ Serial2.print("Testing channels for timer ");
+ Serial2.println(t);
+ timer_pause(dev);
count1 = count2 = count3 = count4 = 0;
- Timers[t].setOverflow(0xFFFF);
- Timers[t].setPrescaleFactor(1);
- Timers[t].setCompare1(65535);
- Timers[t].setCompare2(65535);
- Timers[t].setCompare3(65535);
- Timers[t].setCompare4(65535);
- Timers[t].setChannel1Mode(TIMER_OUTPUTCOMPARE);
- Timers[t].setChannel2Mode(TIMER_OUTPUTCOMPARE);
- Timers[t].setChannel3Mode(TIMER_OUTPUTCOMPARE);
- Timers[t].setChannel4Mode(TIMER_OUTPUTCOMPARE);
- Timers[t].attachCompare1Interrupt(handler1);
- Timers[t].attachCompare2Interrupt(handler2);
- Timers[t].attachCompare3Interrupt(handler3);
- Timers[t].attachCompare4Interrupt(handler4);
- Timers[t].resume();
+ timer_set_reload(dev, 0xFFFF);
+ timer_set_prescaler(dev, 1);
+ for (int c = 1; c <= 4; c++) {
+ timer_set_compare(dev, c, 65535);
+ timer_set_mode(dev, c, TIMER_OUTPUT_COMPARE);
+ timer_attach_interrupt(dev, c, handlers[c - 1]);
+ }
+ timer_resume(dev);
delay(3000);
- Timers[t].setChannel1Mode(TIMER_DISABLED);
- Timers[t].setChannel2Mode(TIMER_DISABLED);
- Timers[t].setChannel3Mode(TIMER_DISABLED);
- Timers[t].setChannel4Mode(TIMER_DISABLED);
- SerialUSB.print("Count1: "); SerialUSB.println(count1);
- SerialUSB.print("Count2: "); SerialUSB.println(count2);
- SerialUSB.print("Count3: "); SerialUSB.println(count3);
- SerialUSB.print("Count4: "); SerialUSB.println(count4);
+ for (int c = 1; c <= 4; c++) {
+ timer_set_mode(dev, c, TIMER_DISABLED);
+ }
+ Serial2.print("Channel 1 count: "); Serial2.println(count1);
+ Serial2.print("Channel 2 count: "); Serial2.println(count2);
+ Serial2.print("Channel 3 count: "); Serial2.println(count3);
+ Serial2.print("Channel 4 count: "); Serial2.println(count4);
+ break;
+ }
+}
+
+// FIXME move this into the new wirish timer implementation
+void setTimerPeriod(timer_dev *dev, uint32 period_us) {
+ if (!period_us) {
+ // FIXME handle this case
+ ASSERT(0);
+ return;
}
+ uint32 cycles = period_us * CYCLES_PER_MICROSECOND;
+ uint16 pre = (uint16)((cycles >> 16) + 1);
+ timer_set_prescaler(dev, pre);
+ timer_set_reload(dev, cycles / pre - 1);
}
void handler1(void) {
val1 += rate1;
- Timers[t].setCompare1(val1);
+ timer_set_compare(timers[t], TIMER_CH1, val1);
count1++;
}
void handler2(void) {
val2 += rate2;
- Timers[t].setCompare2(val2);
+ timer_set_compare(timers[t], TIMER_CH2, val2);
count2++;
}
void handler3(void) {
val3 += rate3;
- Timers[t].setCompare3(val3);
+ timer_set_compare(timers[t], TIMER_CH3, val3);
count3++;
}
void handler4(void) {
val4 += rate4;
- Timers[t].setCompare4(val4);
+ timer_set_compare(timers[t], TIMER_CH4, val4);
count4++;
}
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