281 lines
8.3 KiB
C
281 lines
8.3 KiB
C
#include "Timer.h"
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#include "stm32f1xx_ll_bus.h" // Pour l'activation des horloges
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#include "stm32f1xx_ll_tim.h" // Pour les timers
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/****************************************************************************
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* INTERRUPTIONS
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***************************************************************************/
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// variable pointeur de fonction permettant de m<>moriser le callback <20> appeler depuis
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// le handler d'IT
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void (*it_callback_TIM1)(void);
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void (*it_callback_TIM2)(void);
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void (*it_callback_TIM3)(void);
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void (*it_callback_TIM4)(void);
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void TIM1_UP_IRQHandler(void)
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{
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// rabaisser le flag d'IT
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LL_TIM_ClearFlag_UPDATE(TIM1);
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(*it_callback_TIM1)();
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}
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void TIM2_IRQHandler(void)
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{
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// rabaisser le flag d'IT
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LL_TIM_ClearFlag_UPDATE(TIM2);
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(*it_callback_TIM2)();
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}
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void TIM3_IRQHandler(void)
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{
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// rabaisser le flag d'IT
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LL_TIM_ClearFlag_UPDATE(TIM3);
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(*it_callback_TIM3)();
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}
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void TIM4_IRQHandler(void)
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{
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// rabaisser le flag d'IT
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LL_TIM_ClearFlag_UPDATE(TIM4);
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(*it_callback_TIM4)();
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}
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/**
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* @brief Autorise les interruptions
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* @note
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* @param TIM_TypeDef Timer : indique le timer <20> utiliser par le chronom<6F>tre, TIM1, TIM2, TIM3 ou TIM4
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* @retval None
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*/
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void Timer_IT_enable(TIM_TypeDef * timer)
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{
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LL_TIM_EnableIT_UPDATE(timer);
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}
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/**
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* @brief Interdit les interruptions
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* @note
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* @param TIM_TypeDef Timer : indique le timer <20> utiliser par le chronom<6F>tre, TIM1, TIM2, TIM3 ou TIM4
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* @retval None
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*/
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void Timer_IT_disable(TIM_TypeDef * timer)
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{
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LL_TIM_DisableIT_UPDATE(timer);
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}
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/**
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* @brief Configure le Timer consid<69>r<EFBFBD> en interruption sur d<>bordement.
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* @note A ce stade, les interruptions ne sont pas valid<69>s (voir MyTimer_IT_Enable )
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* @param TIM_TypeDef Timer : indique le timer <20> utiliser par le chronom<6F>tre, TIM1, TIM2, TIM3 ou TIM4
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* void (*IT_function) (void) : nom (adresse) de la fonction <20> lancer sur interruption
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* int Prio : priorit<69> associ<63>e <20> l'interruption
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* @retval None
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*/
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void Timer_IT_conf(TIM_TypeDef * timer, void (*it_callback) (void), int prio)
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{
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// affectation de la fonction
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if (timer == TIM1) it_callback_TIM1 = it_callback;
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else if (timer == TIM2) it_callback_TIM2 = it_callback;
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else if (timer == TIM3) it_callback_TIM3 = it_callback;
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else it_callback_TIM4 = it_callback;
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// Blocage IT (il faudra la d<>bloquer voir fct suivante)
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LL_TIM_DisableIT_UPDATE(timer);
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// validation du canal NVIC
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IRQn_Type TIM_irq;
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if (timer == TIM1) TIM_irq = TIM1_UP_IRQn;
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else if (timer == TIM2) TIM_irq = TIM2_IRQn;
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else if (timer == TIM3) TIM_irq = TIM3_IRQn;
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else TIM_irq = TIM4_IRQn;
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NVIC_SetPriority(TIM_irq, prio);
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NVIC_EnableIRQ(TIM_irq);
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}
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/****************************************************************************
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* TIMER
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***************************************************************************/
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/**
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* @brief D<>marre le timer consid<69>r<EFBFBD> et active les interruptions
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* @note
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* @param TIM_TypeDef Timer : indique le timer <20> utiliser par le chronom<6F>tre, TIM1, TIM2, TIM3 ou TIM4
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* @retval None
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*/
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void Timer_start(TIM_TypeDef * timer)
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{
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LL_TIM_EnableCounter(timer);
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}
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/**
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* @brief Arr<72>t le timer consid<69>r<EFBFBD> et d<>sactive les interruptions
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* @note
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* @param TIM_TypeDef Timer : indique le timer <20> utiliser par le chronom<6F>tre, TIM1, TIM2, TIM3 ou TIM4
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* @retval None
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*/
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void Timer_stop(TIM_TypeDef * timer)
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{
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LL_TIM_DisableCounter(timer);
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}
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/**
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* @brief Active l'horloge et r<>gle l'ARR et le PSC du timer vis<69>.
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* @note Fonction <20> lancer avant toute autre. Le timer n'est pas encore lanc<6E> (voir Timer_start)
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* @param TIM_TypeDef Timer : indique le timer <20> utiliser par le chronom<6F>tre, TIM1, TIM2, TIM3 ou TIM4
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* int Arr : valeur <20> placer dans ARR
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* int Psc : valeur <20> placer dans PSC
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* @retval None
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*/
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void Timer_conf(TIM_TypeDef * timer, int arr, int psc)
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{
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LL_TIM_InitTypeDef init_struct;
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// Validation horloge locale
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if (timer == TIM1) LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);
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else if (timer == TIM2) LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
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else if (timer == TIM3) LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
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else LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
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// chargement structure Arr, Psc, Up Count
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init_struct.Autoreload = arr;
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init_struct.Prescaler = psc;
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init_struct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
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init_struct.CounterMode = LL_TIM_COUNTERMODE_UP;
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init_struct.RepetitionCounter = 0;
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LL_TIM_Init(timer,&init_struct);
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// Blocage interruptions
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Timer_IT_disable(timer);
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// Blocage Timer
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Timer_stop(timer);
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}
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/****************************************************************************
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* PWM INPUT
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***************************************************************************/
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void PWMi_conf(TIM_TypeDef * TIMx, uint32_t channels){
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//Periode à recuperer dans TIMx_CCR1, duty cycle dans TIMx_CCR2
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// Validation horloge locale
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if (TIMx == TIM1) LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);
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else if (TIMx == TIM2) LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
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else if (TIMx == TIM3) LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
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else LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
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//LL_TIM_CC_EnableChannel(TIMx, channels);
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//LL_TIM_IC_Init
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TIMx -> CCMR1 |= TIM_CCMR1_CC1S_0; //01
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//TIM_CCMR1_IC1F_0; Potentiellement utile, à voir plus tard
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TIMx -> CCER &= ~(TIM_CCER_CC1P); //0 = Rising edge
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TIMx -> CCMR1 &= ~(TIM_CCMR1_IC1PSC);
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TIMx -> CCMR1 |= TIM_CCMR1_CC2S_1;
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TIMx -> CCER |= TIM_CCER_CC2P;
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TIMx -> SMCR |= TIM_SMCR_TS_0 | TIM_SMCR_TS_2; //101
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TIMx -> SMCR |= TIM_SMCR_SMS_2; //100
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TIMx -> CCER |= TIM_CCER_CC1E;
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TIMx -> CCER |= TIM_CCER_CC2E;
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TIMx -> DIER |= TIM_DIER_CC1IE;
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//TIM_DIER_CC1DE_Pos; Probablement pas utile
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}
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int get_input_period(TIM_TypeDef * TIMx) {
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return TIMx -> CCR1;
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}
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int get_input_duty_cycle(TIM_TypeDef * TIMx) {
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return TIMx -> CCR2;
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}
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/****************************************************************************
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* PWM OUTPUT
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***************************************************************************/
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int getArrFromFreq(float freq)
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{
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return (72000 / freq) - 1;
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}
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void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq, float dutyCycle)
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{
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const int arr = getArrFromFreq(freq);
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Timer_conf(timer, arr, 1000);
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LL_TIM_OC_InitTypeDef init_struct;
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LL_TIM_OC_StructInit(&init_struct);
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init_struct.OCMode = LL_TIM_OCMODE_PWM1;
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init_struct.OCState = LL_TIM_OCSTATE_ENABLE;
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init_struct.CompareValue= dutyCycle * arr;
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LL_TIM_OC_Init(timer, channel, &init_struct);
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}
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void Timer_pwmo_setFreq(TIM_TypeDef * timer, float freq)
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{
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const int arr = getArrFromFreq(freq);
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LL_TIM_SetAutoReload(timer, arr);
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}
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void Timer_pwmo_setDutyCycle(TIM_TypeDef * timer, int channel, float dutyCycle)
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{
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const int arr = LL_TIM_GetAutoReload(timer);
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int compare = dutyCycle * arr;
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if (channel == LL_TIM_CHANNEL_CH1) LL_TIM_OC_SetCompareCH1(timer, compare);
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else if (channel == LL_TIM_CHANNEL_CH2) LL_TIM_OC_SetCompareCH2(timer, compare);
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else if (channel == LL_TIM_CHANNEL_CH3) LL_TIM_OC_SetCompareCH3(timer, compare);
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else LL_TIM_OC_SetCompareCH4(timer, compare);
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}
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float Timer_pwmo_getDutyCycle(TIM_TypeDef * timer, int channel)
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{
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int compare = 0;
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const int arr = LL_TIM_GetAutoReload(timer);
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if (channel == LL_TIM_CHANNEL_CH1) compare = LL_TIM_OC_GetCompareCH1(timer);
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else if (channel == LL_TIM_CHANNEL_CH2) compare = LL_TIM_OC_GetCompareCH2(timer);
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else if (channel == LL_TIM_CHANNEL_CH3) compare = LL_TIM_OC_GetCompareCH3(timer);
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else compare = LL_TIM_OC_GetCompareCH4(timer);
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return ((float) compare) / ((float) arr);
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}
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/****************************************************************************
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* ENCODER
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***************************************************************************/
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void Timer_encoder_conf(TIM_TypeDef * timer)
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{
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Timer_conf(timer, 359, 0);
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LL_TIM_ENCODER_InitTypeDef init_struct;
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LL_TIM_ENCODER_StructInit(&init_struct);
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init_struct.EncoderMode = LL_TIM_ENCODERMODE_X2_TI1;
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LL_TIM_ENCODER_Init(timer, &init_struct);
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}
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int Timer_encoder_getAngle(TIM_TypeDef * timer)
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{
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return LL_TIM_GetCounter(timer);
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}
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enum CounterDirection Timer_encoder_getDirection(TIM_TypeDef * timer)
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{
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const int dir = LL_TIM_GetDirection(timer);
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if (dir == LL_TIM_COUNTERDIRECTION_UP)
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return CLOCKWISE;
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else
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return COUNTER_CLOCKWISE;
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}
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