src/main/drivers/timer.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "io.h"
  21 #include "rcc.h"
  22
  23 #if !defined(USABLE_TIMER_CHANNEL_COUNT)
  24 #define USABLE_TIMER_CHANNEL_COUNT 14
  25 #endif
  26
  27 typedef uint16_t captureCompare_t;        // 16 bit on both 103 and 303, just register access must be 32bit sometimes (use timCCR_t)
  28
  29 #if defined(STM32F4)
  30 typedef uint32_t timCCR_t;
  31 typedef uint32_t timCCER_t;
  32 typedef uint32_t timSR_t;
  33 typedef uint32_t timCNT_t;
  34 #elif defined(STM32F3)
  35 typedef uint32_t timCCR_t;
  36 typedef uint32_t timCCER_t;
  37 typedef uint32_t timSR_t;
  38 typedef uint32_t timCNT_t;
  39 #elif defined(STM32F1)
  40 typedef uint16_t timCCR_t;
  41 typedef uint16_t timCCER_t;
  42 typedef uint16_t timSR_t;
  43 typedef uint16_t timCNT_t;
  44 #elif defined(UNIT_TEST)
  45 typedef uint32_t timCCR_t;
  46 typedef uint32_t timCCER_t;
  47 typedef uint32_t timSR_t;
  48 typedef uint32_t timCNT_t;
  49 #else
  50 # error "Unknown CPU defined"
  51 #endif
  52
  53 // use different types from capture and overflow - multiple overflow handlers are implemented as linked list
  54 struct timerCCHandlerRec_s;
  55 struct timerOvrHandlerRec_s;
  56 typedef void timerCCHandlerCallback(struct timerCCHandlerRec_s* self, uint16_t capture);
  57 typedef void timerOvrHandlerCallback(struct timerOvrHandlerRec_s* self, uint16_t capture);
  58
  59 typedef struct timerCCHandlerRec_s {
  60     timerCCHandlerCallback* fn;
  61 } timerCCHandlerRec_t;
  62
  63 typedef struct timerOvrHandlerRec_s {
  64     timerOvrHandlerCallback* fn;
  65     struct timerOvrHandlerRec_s* next;
  66 } timerOvrHandlerRec_t;
  67
  68 typedef struct timerDef_s {
  69     TIM_TypeDef *TIMx;
  70     rccPeriphTag_t rcc;
  71 } timerDef_t;
  72
  73 typedef struct {
  74     TIM_TypeDef *tim;
  75     ioTag_t pin;
  76     uint8_t channel;
  77     uint8_t irq;
  78     uint8_t outputEnable;
  79     ioConfig_t ioMode;
  80 #if defined(STM32F3) || defined(STM32F4)
  81     uint8_t alternateFunction;
  82 #endif
  83     uint8_t outputInverted;
  84 } timerHardware_t;
  85
  86 #ifdef STM32F1
  87 #if defined(STM32F10X_XL) || defined(STM32F10X_HD_VL)
  88 #define HARDWARE_TIMER_DEFINITION_COUNT 14
  89 #elif defined(STM32F10X_HD) || defined(STM32F10X_CL)
  90 #define HARDWARE_TIMER_DEFINITION_COUNT 7
  91 #else
  92 #define HARDWARE_TIMER_DEFINITION_COUNT 4
  93 #endif
  94 #elif defined(STM32F3)
  95 #define HARDWARE_TIMER_DEFINITION_COUNT 10
  96 #elif defined(STM32F4)
  97 #define HARDWARE_TIMER_DEFINITION_COUNT 14
  98 #endif
  99 extern const timerHardware_t timerHardware[];
 100 extern const timerDef_t timerDefinitions[];
 101
 102 typedef enum {
 103     TYPE_FREE,
 104     TYPE_PWMINPUT,
 105     TYPE_PPMINPUT,
 106     TYPE_PWMOUTPUT_MOTOR,
 107     TYPE_PWMOUTPUT_FAST,
 108     TYPE_PWMOUTPUT_SERVO,
 109     TYPE_SOFTSERIAL_RX,
 110     TYPE_SOFTSERIAL_TX,
 111     TYPE_SOFTSERIAL_RXTX,        // bidirectional pin for softserial
 112     TYPE_SOFTSERIAL_AUXTIMER,    // timer channel is used for softserial. No IO function on pin
 113     TYPE_ADC,
 114     TYPE_SERIAL_RX,
 115     TYPE_SERIAL_TX,
 116     TYPE_SERIAL_RXTX,
 117     TYPE_TIMER
 118 } channelType_t;
 119
 120 void timerConfigure(const timerHardware_t *timHw, uint16_t period, uint8_t mhz);  // This interface should be replaced.
 121
 122 void timerChConfigIC(const timerHardware_t *timHw, bool polarityRising, unsigned inputFilterSamples);
 123 void timerChConfigICDual(const timerHardware_t* timHw, bool polarityRising, unsigned inputFilterSamples);
 124 void timerChICPolarity(const timerHardware_t *timHw, bool polarityRising);
 125 volatile timCCR_t* timerChCCR(const timerHardware_t* timHw);
 126 volatile timCCR_t* timerChCCRLo(const timerHardware_t* timHw);
 127 volatile timCCR_t* timerChCCRHi(const timerHardware_t* timHw);
 128 void timerChConfigOC(const timerHardware_t* timHw, bool outEnable, bool stateHigh);
 129 void timerChConfigGPIO(const timerHardware_t* timHw, ioConfig_t mode);
 130
 131 void timerChCCHandlerInit(timerCCHandlerRec_t *self, timerCCHandlerCallback *fn);
 132 void timerChOvrHandlerInit(timerOvrHandlerRec_t *self, timerOvrHandlerCallback *fn);
 133 void timerChConfigCallbacks(const timerHardware_t *channel, timerCCHandlerRec_t *edgeCallback, timerOvrHandlerRec_t *overflowCallback);
 134 void timerChConfigCallbacksDual(const timerHardware_t *channel, timerCCHandlerRec_t *edgeCallbackLo, timerCCHandlerRec_t *edgeCallbackHi, timerOvrHandlerRec_t *overflowCallback);
 135 void timerChITConfigDualLo(const timerHardware_t* timHw, FunctionalState newState);
 136 void timerChITConfig(const timerHardware_t* timHw, FunctionalState newState);
 137 void timerChClearCCFlag(const timerHardware_t* timHw);
 138
 139 void timerChInit(const timerHardware_t *timHw, channelType_t type, int irqPriority);
 140
 141 void timerInit(void);
 142 void timerStart(void);
 143 void timerForceOverflow(TIM_TypeDef *tim);
 144
 145 void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz);  // TODO - just for migration
 146
 147 rccPeriphTag_t timerRCC(TIM_TypeDef *tim);