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115 lines
3 KiB
C
115 lines
3 KiB
C
/**
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******************************************************************************
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* @file motors.c
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* @brief motors driver body
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* @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
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* @date December 2023
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*
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******************************************************************************
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* @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
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* @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
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*
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* @copyright This file is part of "Dumber" project
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*
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* @copyright This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* @copyright This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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* @copyright You should have received a copy of the GNU Lesser General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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******************************************************************************
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*/
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#include "rtos_support.h"
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#include "stm32l0xx_ll_tim.h"
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/** @addtogroup Application_Software
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* @{
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*/
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/** @addtogroup RTOS_SUPPORT
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* RTOS support module provide several functions for task run time measurement.
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* @{
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*/
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/** @addtogroup RTOS_SUPPORT_Private Private
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* @{
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*/
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uint16_t RTOS_SUPPORT_counter16bitUpper=0;
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/**
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* @brief TIM7 Initialization Function
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*/
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void RTOS_SUPPORT_Init(void) {
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TIM_ClockConfigTypeDef sClockSourceConfig = { 0 };
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TIM_HandleTypeDef htim7;
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__HAL_RCC_TIM7_CLK_ENABLE();
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htim7.Instance = TIM7;
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htim7.Init.Prescaler = 0;
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htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim7.Init.Period = 65535;
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htim7.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
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{
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim7, &sClockSourceConfig) != HAL_OK) {
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Error_Handler();
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}
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/* TIM7 interrupt Init */
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LL_TIM_EnableIT_UPDATE(TIM7);
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HAL_NVIC_SetPriority(TIM7_IRQn, 1, 0);
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HAL_NVIC_EnableIRQ(TIM7_IRQn);
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RTOS_SUPPORT_counter16bitUpper=0;
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LL_TIM_EnableCounter(TIM7);
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}
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/**
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* @brief Get 32bit emulated timer based on TIM7
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*
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* @return 32bit timer
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*/
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uint32_t RTOS_SUPPORT_GetTimer(void) {
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uint16_t currentVal=LL_TIM_GetCounter(TIM7);
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return (uint32_t)((((uint32_t)RTOS_SUPPORT_counter16bitUpper)<<16) + (uint32_t)currentVal);
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}
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/**
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* @brief This function handles TIM7 update interrupt for 32bit
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*/
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void TIM7_IRQHandler(void) {
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LL_TIM_ClearFlag_UPDATE(TIM7);
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RTOS_SUPPORT_counter16bitUpper++;
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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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/**
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* @}
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*/
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