mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-09-23 00:59:54 +08:00
make TIM14 the HAL timebase
This commit is contained in:
Oskar Weigl
@@ -157,7 +157,7 @@
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* @brief This is the HAL system configuration section
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*/
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#define VDD_VALUE ((uint32_t)3300U) /*!< Value of VDD in mv */
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#define TICK_INT_PRIORITY ((uint32_t)15U) /*!< tick interrupt priority */
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#define TICK_INT_PRIORITY ((uint32_t)0U) /*!< tick interrupt priority */
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#define USE_RTOS 0U
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#define PREFETCH_ENABLE 1U
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#define INSTRUCTION_CACHE_ENABLE 1U
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@@ -56,6 +56,7 @@ void DebugMon_Handler(void);
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void SysTick_Handler(void);
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void DMA1_Stream2_IRQHandler(void);
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void ADC_IRQHandler(void);
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void TIM8_TRG_COM_TIM14_IRQHandler(void);
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void OTG_FS_IRQHandler(void);
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#ifdef __cplusplus
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@@ -42,13 +42,14 @@ C_SOURCES = \
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Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c \
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Src/system_stm32f4xx.c \
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Src/stm32f4xx_it.c \
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Src/stm32f4xx_hal_msp.c \
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Src/stm32f4xx_hal_timebase_TIM.c \
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Src/tim.c \
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Src/gpio.c \
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Src/main.c \
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Src/adc.c \
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Src/freertos.c \
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Src/spi.c \
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Src/stm32f4xx_hal_msp.c \
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Src/can.c \
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Src/usart.c \
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Src/dma.c \
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+6
-3
@@ -167,7 +167,7 @@ Mcu.Pin49=PB8
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Mcu.Pin5=PC0
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Mcu.Pin50=PB9
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Mcu.Pin51=VP_FREERTOS_VS_ENABLE
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Mcu.Pin52=VP_SYS_VS_Systick
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Mcu.Pin52=VP_SYS_VS_tim14
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Mcu.Pin53=VP_TIM1_VS_ClockSourceINT
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Mcu.Pin54=VP_TIM1_VS_no_output4
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Mcu.Pin55=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
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@@ -193,6 +193,9 @@ NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:true
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NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
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NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:true
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NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:true
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NVIC.TIM8_TRG_COM_TIM14_IRQn=true\:0\:0\:false\:false\:true\:false\:false
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NVIC.TimeBase=TIM8_TRG_COM_TIM14_IRQn
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NVIC.TimeBaseIP=TIM14
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NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true
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PA0-WKUP.GPIOParameters=GPIO_PuPd,GPIO_Label
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PA0-WKUP.GPIO_Label=GPIO_1
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@@ -591,8 +594,8 @@ USB_OTG_FS.VirtualMode=Device_Only
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USB_OTG_FS.vbus_sensing_enable=DISABLE
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VP_FREERTOS_VS_ENABLE.Mode=Enabled
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VP_FREERTOS_VS_ENABLE.Signal=FREERTOS_VS_ENABLE
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VP_SYS_VS_Systick.Mode=SysTick
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VP_SYS_VS_Systick.Signal=SYS_VS_Systick
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VP_SYS_VS_tim14.Mode=TIM14
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VP_SYS_VS_tim14.Signal=SYS_VS_tim14
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VP_TIM1_VS_ClockSourceINT.Mode=Internal
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VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
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VP_TIM1_VS_no_output4.Mode=Output Compare4 No Output
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+21
@@ -208,6 +208,27 @@ void SystemClock_Config(void)
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/* USER CODE END 4 */
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/**
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* @brief Period elapsed callback in non blocking mode
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* @note This function is called when TIM14 interrupt took place, inside
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* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
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* a global variable "uwTick" used as application time base.
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* @param htim : TIM handle
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* @retval None
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*/
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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{
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/* USER CODE BEGIN Callback 0 */
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/* USER CODE END Callback 0 */
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if (htim->Instance == TIM14) {
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HAL_IncTick();
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}
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/* USER CODE BEGIN Callback 1 */
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/* USER CODE END Callback 1 */
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}
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/**
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* @brief This function is executed in case of error occurrence.
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* @param None
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@@ -0,0 +1,158 @@
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/**
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******************************************************************************
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* @file stm32f4xx_hal_timebase_TIM.c
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* @brief HAL time base based on the hardware TIM.
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******************************************************************************
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* This notice applies to any and all portions of this file
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* that are not between comment pairs USER CODE BEGIN and
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* USER CODE END. Other portions of this file, whether
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* inserted by the user or by software development tools
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* are owned by their respective copyright owners.
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*
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* Copyright (c) 2017 STMicroelectronics International N.V.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted, provided that the following conditions are met:
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*
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* 1. Redistribution of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of other
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* contributors to this software may be used to endorse or promote products
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* derived from this software without specific written permission.
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* 4. This software, including modifications and/or derivative works of this
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* software, must execute solely and exclusively on microcontroller or
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* microprocessor devices manufactured by or for STMicroelectronics.
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* 5. Redistribution and use of this software other than as permitted under
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* this license is void and will automatically terminate your rights under
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* this license.
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*
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* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
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* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
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* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
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* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f4xx_hal.h"
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#include "stm32f4xx_hal_tim.h"
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/** @addtogroup STM32F7xx_HAL_Examples
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* @{
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*/
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/** @addtogroup HAL_TimeBase
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* @{
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*/
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/* Private typedef -----------------------------------------------------------*/
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/* Private define ------------------------------------------------------------*/
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/* Private macro -------------------------------------------------------------*/
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/* Private variables ---------------------------------------------------------*/
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TIM_HandleTypeDef htim14;
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uint32_t uwIncrementState = 0;
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/* Private function prototypes -----------------------------------------------*/
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/* Private functions ---------------------------------------------------------*/
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/**
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* @brief This function configures the TIM14 as a time base source.
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* The time source is configured to have 1ms time base with a dedicated
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* Tick interrupt priority.
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* @note This function is called automatically at the beginning of program after
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* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
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* @param TickPriority: Tick interrupt priorty.
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* @retval HAL status
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*/
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HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
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{
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RCC_ClkInitTypeDef clkconfig;
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uint32_t uwTimclock = 0;
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uint32_t uwPrescalerValue = 0;
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uint32_t pFLatency;
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/*Configure the TIM14 IRQ priority */
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HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, TickPriority ,0);
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/* Enable the TIM14 global Interrupt */
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HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
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/* Enable TIM14 clock */
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__HAL_RCC_TIM14_CLK_ENABLE();
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/* Get clock configuration */
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HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
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/* Compute TIM14 clock */
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uwTimclock = 2*HAL_RCC_GetPCLK1Freq();
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/* Compute the prescaler value to have TIM14 counter clock equal to 1MHz */
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uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000) - 1);
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/* Initialize TIM14 */
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htim14.Instance = TIM14;
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/* Initialize TIMx peripheral as follow:
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+ Period = [(TIM14CLK/1000) - 1]. to have a (1/1000) s time base.
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+ Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
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+ ClockDivision = 0
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+ Counter direction = Up
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*/
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htim14.Init.Period = (1000000 / 1000) - 1;
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htim14.Init.Prescaler = uwPrescalerValue;
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htim14.Init.ClockDivision = 0;
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htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
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if(HAL_TIM_Base_Init(&htim14) == HAL_OK)
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{
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/* Start the TIM time Base generation in interrupt mode */
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return HAL_TIM_Base_Start_IT(&htim14);
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}
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/* Return function status */
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return HAL_ERROR;
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}
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/**
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* @brief Suspend Tick increment.
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* @note Disable the tick increment by disabling TIM14 update interrupt.
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* @param None
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* @retval None
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*/
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void HAL_SuspendTick(void)
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{
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/* Disable TIM14 update Interrupt */
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__HAL_TIM_DISABLE_IT(&htim14, TIM_IT_UPDATE);
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}
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/**
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* @brief Resume Tick increment.
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* @note Enable the tick increment by Enabling TIM14 update interrupt.
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* @param None
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* @retval None
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*/
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void HAL_ResumeTick(void)
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{
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/* Enable TIM14 Update interrupt */
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__HAL_TIM_ENABLE_IT(&htim14, TIM_IT_UPDATE);
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}
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/**
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* @}
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*/
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/**
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* @}
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*/
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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+18
-1
@@ -54,8 +54,11 @@ extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
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extern ADC_HandleTypeDef hadc1;
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extern ADC_HandleTypeDef hadc2;
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extern ADC_HandleTypeDef hadc3;
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extern TIM_HandleTypeDef htim8;
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extern DMA_HandleTypeDef hdma_uart4_rx;
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extern TIM_HandleTypeDef htim14;
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/******************************************************************************/
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/* Cortex-M4 Processor Interruption and Exception Handlers */
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/******************************************************************************/
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@@ -158,7 +161,6 @@ void SysTick_Handler(void)
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/* USER CODE BEGIN SysTick_IRQn 0 */
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/* USER CODE END SysTick_IRQn 0 */
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HAL_IncTick();
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osSystickHandler();
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/* USER CODE BEGIN SysTick_IRQn 1 */
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@@ -212,6 +214,21 @@ void ADC_IRQHandler(void)
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/* USER CODE END ADC_IRQn 1 */
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}
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/**
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* @brief This function handles TIM8 trigger and commutation interrupts and TIM14 global interrupt.
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*/
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void TIM8_TRG_COM_TIM14_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 0 */
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/* USER CODE END TIM8_TRG_COM_TIM14_IRQn 0 */
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HAL_TIM_IRQHandler(&htim8);
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HAL_TIM_IRQHandler(&htim14);
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/* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 1 */
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/* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */
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}
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/**
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* @brief This function handles USB On The Go FS global interrupt.
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*/
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@@ -373,6 +373,10 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
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/* USER CODE END TIM8_MspInit 0 */
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/* TIM8 clock enable */
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__HAL_RCC_TIM8_CLK_ENABLE();
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/* TIM8 interrupt Init */
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HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
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/* USER CODE BEGIN TIM8_MspInit 1 */
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/* USER CODE END TIM8_MspInit 1 */
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@@ -565,6 +569,9 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
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/* USER CODE END TIM8_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_TIM8_CLK_DISABLE();
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/* TIM8 interrupt Deinit */
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HAL_NVIC_DisableIRQ(TIM8_TRG_COM_TIM14_IRQn);
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/* USER CODE BEGIN TIM8_MspDeInit 1 */
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/* USER CODE END TIM8_MspDeInit 1 */
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