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 #if !defined(USABLE_TIMER_CHANNEL_COUNT)
  21 #define USABLE_TIMER_CHANNEL_COUNT 14
  22 #endif
  23
  24 typedef uint16_t captureCompare_t;        // 16 bit on both 103 and 303, just register access must be 32bit sometimes (use timCCR_t)
  25
  26 #if defined(STM32F303)
  27 typedef uint32_t timCCR_t;
  28 typedef uint32_t timCCER_t;
  29 typedef uint32_t timSR_t;
  30 typedef uint32_t timCNT_t;
  31 #elif defined(STM32F10X)
  32 typedef uint16_t timCCR_t;
  33 typedef uint16_t timCCER_t;
  34 typedef uint16_t timSR_t;
  35 typedef uint16_t timCNT_t;
  36 #elif defined(UNIT_TEST)
  37 typedef uint32_t timCCR_t;
  38 typedef uint32_t timCCER_t;
  39 typedef uint32_t timSR_t;
  40 typedef uint32_t timCNT_t;
  41 #else
  42 # error "Unknown CPU defined"
  43 #endif
  44
  45 // use different types from capture and overflow - multiple overflow handlers are implemented as linked list
  46 struct timerCCHandlerRec_s;
  47 struct timerOvrHandlerRec_s;
  48 typedef void timerCCHandlerCallback(struct timerCCHandlerRec_s* self, uint16_t capture);
  49 typedef void timerOvrHandlerCallback(struct timerOvrHandlerRec_s* self, uint16_t capture);
  50
  51 typedef struct timerCCHandlerRec_s {
  52     timerCCHandlerCallback* fn;
  53 } timerCCHandlerRec_t;
  54
  55 typedef struct timerOvrHandlerRec_s {
  56     timerOvrHandlerCallback* fn;
  57     struct timerOvrHandlerRec_s* next;
  58 } timerOvrHandlerRec_t;
  59
  60 typedef struct {
  61     TIM_TypeDef *tim;
  62     GPIO_TypeDef *gpio;
  63     uint16_t pin;
  64     uint8_t channel;
  65     uint8_t irq;
  66     uint8_t outputEnable;
  67     GPIO_Mode gpioInputMode;
  68 #ifdef STM32F303
  69     uint8_t gpioPinSource;             // TODO - this can be removed and pinSource calculated from pin
  70     uint8_t alternateFunction;
  71 #endif
  72 } timerHardware_t;
  73
  74 extern const timerHardware_t timerHardware[];
  75
  76 typedef enum {
  77     TYPE_FREE,
  78     TYPE_PWMINPUT,
  79     TYPE_PPMINPUT,
  80     TYPE_PWMOUTPUT_MOTOR,
  81     TYPE_PWMOUTPUT_FAST,
  82     TYPE_PWMOUTPUT_SERVO,
  83     TYPE_SOFTSERIAL_RX,
  84     TYPE_SOFTSERIAL_TX,
  85     TYPE_SOFTSERIAL_RXTX,        // bidirectional pin for softserial
  86     TYPE_SOFTSERIAL_AUXTIMER,    // timer channel is used for softserial. No IO function on pin
  87     TYPE_ADC,
  88     TYPE_SERIAL_RX,
  89     TYPE_SERIAL_TX,
  90     TYPE_SERIAL_RXTX,
  91     TYPE_TIMER
  92 } channelType_t;
  93
  94 void timerConfigure(const timerHardware_t *timHw, uint16_t period, uint8_t mhz);  // This interface should be replaced.
  95
  96 void timerChConfigIC(const timerHardware_t *timHw, bool polarityRising, unsigned inputFilterSamples);
  97 void timerChConfigICDual(const timerHardware_t* timHw, bool polarityRising, unsigned inputFilterSamples);
  98 void timerChICPolarity(const timerHardware_t *timHw, bool polarityRising);
  99 volatile timCCR_t* timerChCCR(const timerHardware_t* timHw);
 100 volatile timCCR_t* timerChCCRLo(const timerHardware_t* timHw);
 101 volatile timCCR_t* timerChCCRHi(const timerHardware_t* timHw);
 102 void timerChConfigOC(const timerHardware_t* timHw, bool outEnable, bool stateHigh);
 103 void timerChConfigGPIO(const timerHardware_t* timHw, GPIO_Mode mode);
 104
 105 void timerChCCHandlerInit(timerCCHandlerRec_t *self, timerCCHandlerCallback *fn);
 106 void timerChOvrHandlerInit(timerOvrHandlerRec_t *self, timerOvrHandlerCallback *fn);
 107 void timerChConfigCallbacks(const timerHardware_t *channel, timerCCHandlerRec_t *edgeCallback, timerOvrHandlerRec_t *overflowCallback);
 108 void timerChConfigCallbacksDual(const timerHardware_t *channel, timerCCHandlerRec_t *edgeCallbackLo, timerCCHandlerRec_t *edgeCallbackHi, timerOvrHandlerRec_t *overflowCallback);
 109 void timerChITConfigDualLo(const timerHardware_t* timHw, FunctionalState newState);
 110 void timerChITConfig(const timerHardware_t* timHw, FunctionalState newState);
 111 void timerChClearCCFlag(const timerHardware_t* timHw);
 112
 113 void timerChInit(const timerHardware_t *timHw, channelType_t type, int irqPriority);
 114
 115 void timerInit(void);
 116 void timerStart(void);
 117 void timerForceOverflow(TIM_TypeDef *tim);
 118
 119 void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz);  // TODO - just for migration
 120