/************************************************************************************ * arm/arm/src/stm32/stm32_tim.c * * Copyright (C) 2011 Uros Platise. All rights reserved. * Author: Uros Platise * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ************************************************************************************/ /** \file * \author Uros Platise * \brief STM32 Basic, General and Advanced Timers */ #include #include #include #include #include #include #include #include #include #include #include "chip.h" #include "up_internal.h" #include "up_arch.h" #include "stm32_internal.h" #include "stm32_gpio.h" #include "stm32_tim.h" #if defined(CONFIG_STM32_TIM1) || defined(CONFIG_STM32_TIM2) || defined(CONFIG_STM32_TIM3) || \ defined(CONFIG_STM32_TIM4) || defined(CONFIG_STM32_TIM5) || defined(CONFIG_STM32_TIM6) || \ defined(CONFIG_STM32_TIM7) || defined(CONFIG_STM32_TIM8) /************************************************************************************ * Private Types ************************************************************************************/ /** TIM Device Structure */ struct stm32_tim_priv_s { struct stm32_tim_ops_s *ops; stm32_tim_mode_t mode; uint32_t base; /** TIMn base address */ }; /************************************************************************************ * Private Functions ************************************************************************************/ /** Get register value by offset */ static inline uint16_t stm32_tim_getreg(FAR struct stm32_tim_dev_s *dev, uint8_t offset) { return getreg16( ((struct stm32_tim_priv_s *)dev)->base + offset); } /** Put register value by offset */ static inline void stm32_tim_putreg(FAR struct stm32_tim_dev_s *dev, uint8_t offset, uint16_t value) { //printf("putreg(%8x)=%4x\n", ((struct stm32_tim_priv_s *)dev)->base + offset, value ); putreg16(value, ((struct stm32_tim_priv_s *)dev)->base + offset); } /** Modify register value by offset */ static inline void stm32_tim_modifyreg(FAR struct stm32_tim_dev_s *dev, uint8_t offset, uint16_t clearbits, uint16_t setbits) { modifyreg16( ((struct stm32_tim_priv_s *)dev)->base + offset, clearbits, setbits); } static void stm32_tim_reload_counter(FAR struct stm32_tim_dev_s *dev) { uint16_t val = stm32_tim_getreg(dev, STM32_BTIM_EGR_OFFSET); val |= ATIM_EGR_UG; stm32_tim_putreg(dev, STM32_BTIM_EGR_OFFSET, val); } static void stm32_tim_enable(FAR struct stm32_tim_dev_s *dev) { uint16_t val = stm32_tim_getreg(dev, STM32_BTIM_CR1_OFFSET); val |= ATIM_CR1_CEN; stm32_tim_reload_counter(dev); stm32_tim_putreg(dev, STM32_BTIM_CR1_OFFSET, val); } static void stm32_tim_disable(FAR struct stm32_tim_dev_s *dev) { uint16_t val = stm32_tim_getreg(dev, STM32_BTIM_CR1_OFFSET); val &= ~ATIM_CR1_CEN; stm32_tim_putreg(dev, STM32_BTIM_CR1_OFFSET, val); } /** Reset timer into system default state, but do not affect output/input pins */ static void stm32_tim_reset(FAR struct stm32_tim_dev_s *dev) { ((struct stm32_tim_priv_s *)dev)->mode = STM32_TIM_MODE_DISABLED; stm32_tim_disable(dev); } static void stm32_tim_gpioconfig(uint32_t cfg, stm32_tim_channel_t mode) { /** \todo Added support for input capture and bipolar dual outputs for TIM8 */ if (mode & STM32_TIM_CH_MODE_MASK) { stm32_configgpio(cfg); } else { stm32_unconfiggpio(cfg); } } /************************************************************************************ * Basic Functions ************************************************************************************/ static int stm32_tim_setclock(FAR struct stm32_tim_dev_s *dev, uint32_t freq) { int prescaler; ASSERT(dev); /* Disable Timer? */ if (freq == 0) { stm32_tim_disable(dev); return 0; } #if STM32_NATIM > 0 if (((struct stm32_tim_priv_s *)dev)->base == STM32_TIM1_BASE || ((struct stm32_tim_priv_s *)dev)->base == STM32_TIM8_BASE) prescaler = STM32_TIM18_FREQUENCY / freq; else #endif prescaler = STM32_TIM27_FREQUENCY / freq; /* we need to decrement value for '1', but only, if we are allowed to * not to cause underflow. Check for overflow. */ if (prescaler > 0) prescaler--; if (prescaler > 0xFFFF) prescaler = 0xFFFF; stm32_tim_putreg(dev, STM32_BTIM_PSC_OFFSET, prescaler); stm32_tim_enable(dev); return prescaler; } static void stm32_tim_setperiod(FAR struct stm32_tim_dev_s *dev, uint16_t period) { ASSERT(dev); stm32_tim_putreg(dev, STM32_BTIM_ARR_OFFSET, period); } static int stm32_tim_setisr(FAR struct stm32_tim_dev_s *dev, int (*handler)(int irq, void *context), int source) { int vectorno; ASSERT(dev); ASSERT(source==0); switch( ((struct stm32_tim_priv_s *)dev)->base ) { #if CONFIG_STM32_TIM2 case STM32_TIM2_BASE: vectorno = STM32_IRQ_TIM2; break; #endif #if CONFIG_STM32_TIM3 case STM32_TIM3_BASE: vectorno = STM32_IRQ_TIM3; break; #endif #if CONFIG_STM32_TIM4 case STM32_TIM4_BASE: vectorno = STM32_IRQ_TIM4; break; #endif #if CONFIG_STM32_TIM5 case STM32_TIM5_BASE: vectorno = STM32_IRQ_TIM5; break; #endif #if STM32_NBTIM > 0 #if CONFIG_STM32_TIM6 case STM32_TIM6_BASE: vectorno = STM32_IRQ_TIM6; break; #endif #endif #if STM32_NBTIM > 1 #if CONFIG_STM32_TIM7 case STM32_TIM7_BASE: vectorno = STM32_IRQ_TIM7; break; #endif #endif #if STM32_NATIM > 0 /** \todo add support for multiple sources and callbacks */ #if CONFIG_STM32_TIM1 case STM32_TIM1_BASE: vectorno = STM32_IRQ_TIM1UP; break; #endif #if CONFIG_STM32_TIM8 case STM32_TIM8_BASE: vectorno = STM32_IRQ_TIM8UP; break; #endif #endif default: return ERROR; } /* Disable interrupt when callback is removed */ if (!handler) { up_disable_irq(vectorno); irq_detach(vectorno); return OK; } /* Otherwise set callback and enable interrupt */ irq_attach(vectorno, handler); up_enable_irq(vectorno); // up_prioritize_irq(vectorno, NVIC_SYSH_PRIORITY_DEFAULT); return OK; } static void stm32_tim_enableint(FAR struct stm32_tim_dev_s *dev, int source) { ASSERT(dev); stm32_tim_modifyreg(dev, STM32_BTIM_DIER_OFFSET, 0, ATIM_DIER_UIE); } static void stm32_tim_disableint(FAR struct stm32_tim_dev_s *dev, int source) { ASSERT(dev); stm32_tim_modifyreg(dev, STM32_BTIM_DIER_OFFSET, ATIM_DIER_UIE, 0); } static void stm32_tim_ackint(FAR struct stm32_tim_dev_s *dev, int source) { stm32_tim_putreg(dev, STM32_BTIM_SR_OFFSET, ~ATIM_SR_UIF); } /************************************************************************************ * General Functions ************************************************************************************/ static int stm32_tim_setmode(FAR struct stm32_tim_dev_s *dev, stm32_tim_mode_t mode) { uint16_t val = ATIM_CR1_CEN | ATIM_CR1_ARPE; ASSERT(dev); /* This function is not supported on basic timers. To enable or * disable it, simply set its clock to valid frequency or zero. */ #if STM32_NBTIM > 0 if (((struct stm32_tim_priv_s *)dev)->base == STM32_TIM6_BASE #endif #if STM32_NBTIM > 1 || ((struct stm32_tim_priv_s *)dev)->base == STM32_TIM7_BASE #endif #if STM32_NBTIM > 0 ) return ERROR; #endif /* Decode operational modes */ switch(mode & STM32_TIM_MODE_MASK) { case STM32_TIM_MODE_DISABLED: val = 0; break; case STM32_TIM_MODE_DOWN: val |= ATIM_CR1_DIR; case STM32_TIM_MODE_UP: break; case STM32_TIM_MODE_UPDOWN: val |= ATIM_CR1_CENTER1; // Our default: Interrupts are generated on compare, when counting down break; case STM32_TIM_MODE_PULSE: val |= ATIM_CR1_OPM; break; default: return ERROR; } stm32_tim_reload_counter(dev); stm32_tim_putreg(dev, STM32_BTIM_CR1_OFFSET, val); #if STM32_NATIM > 0 /* Advanced registers require Main Output Enable */ if (((struct stm32_tim_priv_s *)dev)->base == STM32_TIM1_BASE || ((struct stm32_tim_priv_s *)dev)->base == STM32_TIM8_BASE) { stm32_tim_modifyreg(dev, STM32_ATIM_BDTR_OFFSET, 0, ATIM_BDTR_MOE); } #endif return OK; } static int stm32_tim_setchannel(FAR struct stm32_tim_dev_s *dev, uint8_t channel, stm32_tim_channel_t mode) { uint16_t ccmr_val = 0; uint16_t ccer_val = stm32_tim_getreg(dev, STM32_GTIM_CCER_OFFSET); uint8_t ccmr_offset = STM32_GTIM_CCMR1_OFFSET; ASSERT(dev); /* Further we use range as 0..3; if channel=0 it will also overflow here */ if (--channel > 4) return ERROR; /* Assume that channel is disabled and polarity is active high */ ccer_val &= ~(3 << (channel << 2)); /* This function is not supported on basic timers. To enable or * disable it, simply set its clock to valid frequency or zero. */ #if STM32_NBTIM > 0 if ( ((struct stm32_tim_priv_s *)dev)->base == STM32_TIM6_BASE #endif #if STM32_NBTIM > 1 || ((struct stm32_tim_priv_s *)dev)->base == STM32_TIM7_BASE #endif #if STM32_NBTIM > 0 ) return ERROR; #endif /* Decode configuration */ switch(mode & STM32_TIM_CH_MODE_MASK) { case STM32_TIM_CH_DISABLED: break; case STM32_TIM_CH_OUTPWM: ccmr_val = (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) + ATIM_CCMR1_OC1PE; ccer_val |= ATIM_CCER_CC1E << (channel << 2); break; default: return ERROR; } /* Set polarity */ if (mode & STM32_TIM_CH_POLARITY_NEG) ccer_val |= ATIM_CCER_CC1P << (channel << 2); /* define its position (shift) and get register offset */ if (channel & 1) ccmr_val <<= 8; if (channel > 1) ccmr_offset = STM32_GTIM_CCMR2_OFFSET; stm32_tim_putreg(dev, ccmr_offset, ccmr_val); stm32_tim_putreg(dev, STM32_GTIM_CCER_OFFSET, ccer_val); /* set GPIO */ switch( ((struct stm32_tim_priv_s *)dev)->base ) { #if CONFIG_STM32_TIM2 case STM32_TIM2_BASE: switch(channel) { case 0: stm32_tim_gpioconfig(GPIO_TIM2_CH1OUT, mode); break; case 1: stm32_tim_gpioconfig(GPIO_TIM2_CH2OUT, mode); break; case 2: stm32_tim_gpioconfig(GPIO_TIM2_CH3OUT, mode); break; case 3: stm32_tim_gpioconfig(GPIO_TIM2_CH4OUT, mode); break; } break; #endif #if CONFIG_STM32_TIM3 case STM32_TIM3_BASE: switch(channel) { case 0: stm32_tim_gpioconfig(GPIO_TIM3_CH1OUT, mode); break; case 1: stm32_tim_gpioconfig(GPIO_TIM3_CH2OUT, mode); break; case 2: stm32_tim_gpioconfig(GPIO_TIM3_CH3OUT, mode); break; case 3: stm32_tim_gpioconfig(GPIO_TIM3_CH4OUT, mode); break; } break; #endif #if CONFIG_STM32_TIM4 case STM32_TIM4_BASE: switch(channel) { case 0: stm32_tim_gpioconfig(GPIO_TIM4_CH1OUT, mode); break; case 1: stm32_tim_gpioconfig(GPIO_TIM4_CH2OUT, mode); break; case 2: stm32_tim_gpioconfig(GPIO_TIM4_CH3OUT, mode); break; case 3: stm32_tim_gpioconfig(GPIO_TIM4_CH4OUT, mode); break; } break; #endif #if CONFIG_STM32_TIM5 case STM32_TIM5_BASE: switch(channel) { case 0: stm32_tim_gpioconfig(GPIO_TIM5_CH1OUT, mode); break; case 1: stm32_tim_gpioconfig(GPIO_TIM5_CH2OUT, mode); break; case 2: stm32_tim_gpioconfig(GPIO_TIM5_CH3OUT, mode); break; case 3: stm32_tim_gpioconfig(GPIO_TIM5_CH4OUT, mode); break; } break; #endif #if STM32_NATIM > 0 #if CONFIG_STM32_TIM1 case STM32_TIM1_BASE: switch(channel) { case 0: stm32_tim_gpioconfig(GPIO_TIM1_CH1OUT, mode); break; case 1: stm32_tim_gpioconfig(GPIO_TIM1_CH2OUT, mode); break; case 2: stm32_tim_gpioconfig(GPIO_TIM1_CH3OUT, mode); break; case 3: stm32_tim_gpioconfig(GPIO_TIM1_CH4OUT, mode); break; } break; #endif #if CONFIG_STM32_TIM8 case STM32_TIM8_BASE: switch(channel) { case 0: stm32_tim_gpioconfig(GPIO_TIM8_CH1OUT, mode); break; case 1: stm32_tim_gpioconfig(GPIO_TIM8_CH2OUT, mode); break; case 2: stm32_tim_gpioconfig(GPIO_TIM8_CH3OUT, mode); break; case 3: stm32_tim_gpioconfig(GPIO_TIM8_CH4OUT, mode); break; } break; #endif #endif default: return ERROR; } return OK; } static int stm32_tim_setcompare(FAR struct stm32_tim_dev_s *dev, uint8_t channel, uint16_t compare) { ASSERT(dev); switch(channel) { case 1: stm32_tim_putreg(dev, STM32_GTIM_CCR1_OFFSET, compare); break; case 2: stm32_tim_putreg(dev, STM32_GTIM_CCR2_OFFSET, compare); break; case 3: stm32_tim_putreg(dev, STM32_GTIM_CCR3_OFFSET, compare); break; case 4: stm32_tim_putreg(dev, STM32_GTIM_CCR4_OFFSET, compare); break; default: return ERROR; } return OK; } static int stm32_tim_getcapture(FAR struct stm32_tim_dev_s *dev, uint8_t channel) { ASSERT(dev); switch(channel) { case 1: return stm32_tim_getreg(dev, STM32_GTIM_CCR1_OFFSET); case 2: return stm32_tim_getreg(dev, STM32_GTIM_CCR2_OFFSET); case 3: return stm32_tim_getreg(dev, STM32_GTIM_CCR3_OFFSET); case 4: return stm32_tim_getreg(dev, STM32_GTIM_CCR4_OFFSET); } return ERROR; } /************************************************************************************ * Advanced Functions ************************************************************************************/ /** \todo Advanced functions for the STM32_ATIM */ /************************************************************************************ * Device Structures, Instantiation ************************************************************************************/ struct stm32_tim_ops_s stm32_tim_ops = { .setmode = &stm32_tim_setmode, .setclock = &stm32_tim_setclock, .setperiod = &stm32_tim_setperiod, .setchannel = &stm32_tim_setchannel, .setcompare = &stm32_tim_setcompare, .getcapture = &stm32_tim_getcapture, .setisr = &stm32_tim_setisr, .enableint = &stm32_tim_enableint, .disableint = &stm32_tim_disableint, .ackint = &stm32_tim_ackint }; #if CONFIG_STM32_TIM2 struct stm32_tim_priv_s stm32_tim2_priv = { .ops = &stm32_tim_ops, .mode = STM32_TIM_MODE_UNUSED, .base = STM32_TIM2_BASE, }; #endif #if CONFIG_STM32_TIM3 struct stm32_tim_priv_s stm32_tim3_priv = { .ops = &stm32_tim_ops, .mode = STM32_TIM_MODE_UNUSED, .base = STM32_TIM3_BASE, }; #endif #if CONFIG_STM32_TIM4 struct stm32_tim_priv_s stm32_tim4_priv = { .ops = &stm32_tim_ops, .mode = STM32_TIM_MODE_UNUSED, .base = STM32_TIM4_BASE, }; #endif #if CONFIG_STM32_TIM5 struct stm32_tim_priv_s stm32_tim5_priv = { .ops = &stm32_tim_ops, .mode = STM32_TIM_MODE_UNUSED, .base = STM32_TIM5_BASE, }; #endif #if STM32_NBTIM > 0 #if CONFIG_STM32_TIM6 struct stm32_tim_priv_s stm32_tim6_priv = { .ops = &stm32_tim_ops, .mode = STM32_TIM_MODE_UNUSED, .base = STM32_TIM6_BASE, }; #endif #endif #if STM32_NBTIM > 1 #if CONFIG_STM32_TIM7 struct stm32_tim_priv_s stm32_tim7_priv = { .ops = &stm32_tim_ops, .mode = STM32_TIM_MODE_UNUSED, .base = STM32_TIM7_BASE, }; #endif #endif #if STM32_NATIM > 0 #if CONFIG_STM32_TIM1 struct stm32_tim_priv_s stm32_tim1_priv = { .ops = &stm32_tim_ops, .mode = STM32_TIM_MODE_UNUSED, .base = STM32_TIM1_BASE, }; #endif #if CONFIG_STM32_TIM8 struct stm32_tim_priv_s stm32_tim8_priv = { .ops = &stm32_tim_ops, .mode = STM32_TIM_MODE_UNUSED, .base = STM32_TIM8_BASE, }; #endif #endif /************************************************************************************ * Public Function - Initialization ************************************************************************************/ FAR struct stm32_tim_dev_s * stm32_tim_init(int timer) { struct stm32_tim_dev_s * dev = NULL; /* Get structure and enable power */ switch(timer) { #if CONFIG_STM32_TIM2 case 2: dev = (struct stm32_tim_dev_s *)&stm32_tim2_priv; modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM2EN); break; #endif #if CONFIG_STM32_TIM3 case 3: dev = (struct stm32_tim_dev_s *)&stm32_tim3_priv; modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM3EN); break; #endif #if CONFIG_STM32_TIM4 case 4: dev = (struct stm32_tim_dev_s *)&stm32_tim4_priv; modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM4EN); break; #endif #if CONFIG_STM32_TIM5 case 5: dev = (struct stm32_tim_dev_s *)&stm32_tim5_priv; modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM5EN); break; #endif #if STM32_NBTIM > 0 #if CONFIG_STM32_TIM6 case 6: dev = (struct stm32_tim_dev_s *)&stm32_tim6_priv; modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM6EN); break; #endif #endif #if STM32_NBTIM > 1 #if CONFIG_STM32_TIM7 case 7: dev = (struct stm32_tim_dev_s *)&stm32_tim7_priv; modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM7EN); break; #endif #endif #if STM32_NATIM > 0 #if CONFIG_STM32_TIM1 case 1: dev = (struct stm32_tim_dev_s *)&stm32_tim1_priv; modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN); break; #endif #if CONFIG_STM32_TIM8 case 8: dev = (struct stm32_tim_dev_s *)&stm32_tim8_priv; modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM8EN); break; #endif #endif default: return NULL; } /* Is device already allocated */ if ( ((struct stm32_tim_priv_s *)dev)->mode != STM32_TIM_MODE_UNUSED) return NULL; stm32_tim_reset(dev); return dev; } /** \todo Detach interrupts, and close down all TIM Channels */ int stm32_tim_deinit(FAR struct stm32_tim_dev_s * dev) { ASSERT(dev); /* Disable power */ switch( ((struct stm32_tim_priv_s *)dev)->base ) { #if CONFIG_STM32_TIM2 case STM32_TIM2_BASE: modifyreg32(STM32_RCC_APB1ENR, RCC_APB1ENR_TIM2EN, 0); break; #endif #if CONFIG_STM32_TIM3 case STM32_TIM3_BASE: modifyreg32(STM32_RCC_APB1ENR, RCC_APB1ENR_TIM3EN, 0); break; #endif #if CONFIG_STM32_TIM4 case STM32_TIM4_BASE: modifyreg32(STM32_RCC_APB1ENR, RCC_APB1ENR_TIM4EN, 0); break; #endif #if CONFIG_STM32_TIM5 case STM32_TIM5_BASE: modifyreg32(STM32_RCC_APB1ENR, RCC_APB1ENR_TIM5EN, 0); break; #endif #if STM32_NBTIM > 0 #if CONFIG_STM32_TIM6 case STM32_TIM6_BASE: modifyreg32(STM32_RCC_APB1ENR, RCC_APB1ENR_TIM6EN, 0); break; #endif #endif #if STM32_NBTIM > 1 #if CONFIG_STM32_TIM7 case STM32_TIM7_BASE: modifyreg32(STM32_RCC_APB1ENR, RCC_APB1ENR_TIM7EN, 0); break; #endif #endif #if STM32_NATIM > 0 #if CONFIG_STM32_TIM1 case STM32_TIM1_BASE: modifyreg32(STM32_RCC_APB2ENR, RCC_APB2ENR_TIM1EN, 0); break; #endif #if CONFIG_STM32_TIM8 case STM32_TIM8_BASE: modifyreg32(STM32_RCC_APB2ENR, RCC_APB2ENR_TIM8EN, 0); break; #endif #endif default: return ERROR; } /* Mark it as free */ ((struct stm32_tim_priv_s *)dev)->mode = STM32_TIM_MODE_UNUSED; return OK; } #endif /* defined(CONFIG_STM32_TIM1 || ... || TIM8) */