mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-12 15:33:45 +08:00
Daniel Koepping
60 lines
2.0 KiB
C
60 lines
2.0 KiB
C
#pragma once
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static void timer_init(TIM_TypeDef *TIM, int psc) {
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register_set(&(TIM->PSC), (psc-1), 0xFFFFU);
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register_set(&(TIM->DIER), TIM_DIER_UIE, 0x5F5FU);
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register_set(&(TIM->CR1), TIM_CR1_CEN, 0x3FU);
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TIM->SR = 0;
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}
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// drop an update that pended before init, read back so the clear lands first
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static void timer_irq_enable(TIM_TypeDef *TIM, IRQn_Type irq) {
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TIM->SR = 0;
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(void)TIM->SR;
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NVIC_ClearPendingIRQ(irq);
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nvic_enable(irq);
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}
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void microsecond_timer_init(void) {
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register_set(&(MICROSECOND_TIMER->PSC), (APB1_TIMER_FREQ - 1U), 0xFFFFU);
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register_set(&(MICROSECOND_TIMER->CR1), TIM_CR1_CEN, 0x3FU);
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MICROSECOND_TIMER->EGR = TIM_EGR_UG;
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}
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uint32_t microsecond_timer_get(void) {
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return MICROSECOND_TIMER->CNT;
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}
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// GTIM_SM_1: against the microsecond timer over two periods, one late interrupt can't fault
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// returns true on a fault, raised by the caller so each timer logs as its own site
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bool timer_check(timer_check_t *check, uint32_t *dt_out) {
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bool fault = false;
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uint32_t now = microsecond_timer_get();
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if (check->prev_ts != 0U) {
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uint32_t dt = get_ts_elapsed(now, check->prev_ts);
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bool ok = (dt > 1900000U) && (dt < 2100000U);
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check->mismatches = ok ? 0U : (check->mismatches + 1U);
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fault = check->mismatches >= 2U;
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*dt_out = dt;
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}
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check->prev_ts = check->last_ts;
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check->last_ts = now;
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return fault;
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}
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void interrupt_timer_init(void) {
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enable_interrupt_timer();
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REGISTER_INTERRUPT(INTERRUPT_TIMER_IRQ, interrupt_timer_handler, 2U, FAULT_INTERRUPT_RATE_INTERRUPTS)
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register_set(&(INTERRUPT_TIMER->PSC), ((uint16_t)(15.25*APB1_TIMER_FREQ)-1U), 0xFFFFU);
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register_set(&(INTERRUPT_TIMER->DIER), TIM_DIER_UIE, 0x5F5FU);
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register_set(&(INTERRUPT_TIMER->CR1), TIM_CR1_CEN, 0x3FU);
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// load the prescaler now, so the first window covers all of boot
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INTERRUPT_TIMER->EGR = TIM_EGR_UG;
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timer_irq_enable(INTERRUPT_TIMER, INTERRUPT_TIMER_IRQ);
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}
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void tick_timer_init(void) {
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timer_init(TICK_TIMER, (uint16_t)((15.25*APB2_TIMER_FREQ)/8U));
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timer_irq_enable(TICK_TIMER, TICK_TIMER_IRQ);
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}
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