ogneyar/elbear_arduino_bsp
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в библиотеке заменила некоторые строчки на макросы из wiringLL.h. переименовала обработчик прерываний

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This commit is contained in:
klassents 2024-10-14 10:21:04 +07:00
parent 47c01383e6
commit 978661626c
3 changed files with 38 additions and 38 deletions
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4
cores/arduino/trap_handler.c
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@ -9,7 +9,7 @@ void __attribute__((weak)) wire_interrupt_handler(void)
{ {
// dummy function for case when wire library is not in use // dummy function for case when wire library is not in use
} }
void __attribute__((weak)) servo_handler_wrapper(void) void __attribute__((weak)) servo_interrupt_handler(void)
{ {
// dummy function for case when wire library is not in use // dummy function for case when wire library is not in use
} }
@ -27,7 +27,7 @@ void __attribute__((noinline, section(".ram_text"), optimize("O3"))) trap_handle
// servo timer interrupt // servo timer interrupt
if (EPIC_CHECK_TIMER16_2()) if (EPIC_CHECK_TIMER16_2())
servo_handler_wrapper(); servo_interrupt_handler();
// uart0 interrupt // uart0 interrupt
if (EPIC_CHECK_UART_0()) if (EPIC_CHECK_UART_0())

41
cores/arduino/wiring_LL.h
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@ -19,39 +19,40 @@
// ----------------- SYSTICK ----------------- // // ----------------- SYSTICK ----------------- //
// get ticks from systick // get ticks from systick
#define SYSTICK_GET_TICKS() ((uint64_t)(SCR1_TIMER->MTIMEH)<<32 | SCR1_TIMER->MTIME) #define SYSTICK_GET_TICKS() ((uint64_t)(SCR1_TIMER->MTIMEH)<<32 | SCR1_TIMER->MTIME)
// ----------------- UART ----------------- // // ----------------- UART ----------------- //
#define UART_READ_BYTE(pUart) ((uint16_t)pUart->RXDATA) #define UART_READ_BYTE(pUart) ((uint16_t)pUart->RXDATA)
#define UART_IS_RX_FIFO_EMPTY(pUart) ((pUart->FLAGS & UART_FLAGS_RXNE_M) == 0) #define UART_IS_RX_FIFO_EMPTY(pUart) ((pUart->FLAGS & UART_FLAGS_RXNE_M) == 0)
// ----------------- TIMER16 ----------------- // // ----------------- TIMER16 ----------------- //
#define TIM16_DISABLE(htim16) (htim16.Instance->CR &= ~TIMER16_CR_ENABLE_M) #define TIM16_DISABLE(htim16) (htim16.Instance->CR &= ~TIMER16_CR_ENABLE_M)
#define TIM16_CLEAR_INT_MASK(htim16, intMask) (htim16.Instance->ICR = intMask) #define TIM16_CLEAR_INT_MASK(htim16, intMask) (htim16.Instance->ICR = intMask)
#define TIM16_GET_ARRM_INT_STATUS(htim16) ((bool)((htim16.Instance->ISR & htim16.Instance->IER) & TIMER16_ISR_ARR_MATCH_M)) #define TIM16_GET_ARRM_INT_STATUS(htim16) ((bool)((htim16.Instance->ISR & htim16.Instance->IER) & TIMER16_ISR_ARR_MATCH_M))
#define TIM16_DISABLE_INT_BY_MASK(htim16,intMask) (htim16.Instance->IER &= ~(intMask))
// ----------------- EPIC ----------------- // // ----------------- EPIC ----------------- //
#define EPIC_LEVEL_CLEAR_BY_MASK(mask) (EPIC->MASK_LEVEL_CLEAR |= mask) #define EPIC_LEVEL_CLEAR_BY_MASK(mask) (EPIC->MASK_LEVEL_CLEAR |= mask)
#define EPIC_CLEAR_ALL() (EPIC->CLEAR = 0xFFFFFFFF) #define EPIC_CLEAR_ALL() (EPIC->CLEAR = 0xFFFFFFFF)
// ----------------- IRQ ----------------- // // ----------------- IRQ ----------------- //
#define GLOBAL_IRQ_DISABLE() (clear_csr(mie, MIE_MEIE)) #define GLOBAL_IRQ_DISABLE() (clear_csr(mie, MIE_MEIE))
#define GLOBAL_IRQ_ENABLE() set_csr(mstatus, MSTATUS_MIE); \ #define GLOBAL_IRQ_ENABLE() set_csr(mstatus, MSTATUS_MIE); \
set_csr(mie, MIE_MEIE) set_csr(mie, MIE_MEIE)
// ----------------- GPIO ----------------- // // ----------------- GPIO ----------------- //
#define GPIO_SET_PIN(GPIO_x, pinMask) ((GPIO_x)->SET = (pinMask)) #define GPIO_SET_PIN(GPIO_x, pinMask) ((GPIO_x)->SET = (pinMask))
#define GPIO_CLEAR_PIN(GPIO_x, pinMask) ((GPIO_x)->CLEAR = (pinMask)) #define GPIO_CLEAR_PIN(GPIO_x, pinMask) ((GPIO_x)->CLEAR = (pinMask))
#define GPIO_TOGGLE_PIN(GPIO_x, pinMask) ((GPIO_x)->OUTPUT_ ^= pinMask) #define GPIO_TOGGLE_PIN(GPIO_x, pinMask) ((GPIO_x)->OUTPUT_ ^= pinMask)
#define GPIO_READ_PIN(GPIO_x, pinMask) (((GPIO_x)->SET & (pinMask)) != (uint32_t)GPIO_PIN_LOW ? GPIO_PIN_HIGH : GPIO_PIN_LOW) #define GPIO_READ_PIN(GPIO_x, pinMask) (((GPIO_x)->SET & (pinMask)) != (uint32_t)GPIO_PIN_LOW ? GPIO_PIN_HIGH : GPIO_PIN_LOW)
// get pin state by it's number // get pin state by it's number
#define GPIO_GET_PIN_STATE(GPIO_x, pinNumber) (((GPIO_x)->OUTPUT_ >> pinNumber) & 0b1) #define GPIO_GET_PIN_STATE(GPIO_x, pinNumber) (((GPIO_x)->OUTPUT_ >> pinNumber) & 0b1)
// ----------------- GPIO IRQ ----------------- // // ----------------- GPIO IRQ ----------------- //
#define GPIO_IRQ_LINE_ENABLE(lineMask) ( GPIO_IRQ->ENABLE_SET = (1 << (lineMask >> GPIO_IRQ_LINE_S)) ) #define GPIO_IRQ_LINE_ENABLE(lineMask) ( GPIO_IRQ->ENABLE_SET = (1 << (lineMask >> GPIO_IRQ_LINE_S)) )
#define GPIO_IRQ_LINE_DISABLE(lineMask) ( GPIO_IRQ->ENABLE_CLEAR = (1 << (lineMask >> GPIO_IRQ_LINE_S)) ) #define GPIO_IRQ_LINE_DISABLE(lineMask) ( GPIO_IRQ->ENABLE_CLEAR = (1 << (lineMask >> GPIO_IRQ_LINE_S)) )
#define GPIO_IRQ_LINE_STATE(lineMask) ((GPIO_IRQ->INTERRUPT & (1 << (lineMask >> GPIO_IRQ_LINE_S))) != 0) #define GPIO_IRQ_LINE_STATE(lineMask) ((GPIO_IRQ->INTERRUPT & (1 << (lineMask >> GPIO_IRQ_LINE_S))) != 0)
#define GPIO_IRQ_CLEAR_ALL() ( GPIO_IRQ->CLEAR = 0b11111111) #define GPIO_IRQ_CLEAR_ALL() ( GPIO_IRQ->CLEAR = 0b11111111)
// ----------------- PIN CONFIG ----------------- // // ----------------- PIN CONFIG ----------------- //
// return config of pin with pinNumber(0...16) in portReg (config, pupd, ds for ports 0...2) // return config of pin with pinNumber(0...16) in portReg (config, pupd, ds for ports 0...2)

31
libraries/Servo/src/Servo.cpp
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@ -4,6 +4,7 @@
#include "mik32_hal_timer16.h" #include "mik32_hal_timer16.h"
#include "mik32_hal_irq.h" #include "mik32_hal_irq.h"
#include "wiring_LL.h"
#include "Servo.h" #include "Servo.h"
@ -19,16 +20,16 @@ uint8_t prescaler = TIMER16_PRESCALER_16;
#define usToTicks(_us) ((clockCyclesPerMicrosecond() * _us) / ( (1 << prescaler) )) // converts microseconds to ticks (TIMERx_PRESCALER_16) #define usToTicks(_us) ((clockCyclesPerMicrosecond() * _us) / ( (1 << prescaler) )) // converts microseconds to ticks (TIMERx_PRESCALER_16)
#define ticksToUs(_ticks) (((unsigned) _ticks * ( (1 << prescaler) )) / clockCyclesPerMicrosecond()) // converts from ticks back to microseconds #define ticksToUs(_ticks) (((unsigned) _ticks * ( (1 << prescaler) )) / clockCyclesPerMicrosecond()) // converts from ticks back to microseconds
#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays #define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in us for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in us for this servo
#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays
// convenience macros // convenience macros
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo #define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer #define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel #define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel #define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in us for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in us for this servo
// timer handler // timer handler
Timer16_HandleTypeDef htimer16; Timer16_HandleTypeDef htimer16;
@ -58,9 +59,9 @@ void Timer16_2_Init()
/************ static functions common to all instances ***********************/ /************ static functions common to all instances ***********************/
// irq handler // irq handler
extern "C" void servo_handler_wrapper(void) extern "C" void __attribute__((optimize("O3"))) servo_interrupt_handler(void)
{ {
if ((htimer16.Instance->ISR & htimer16.Instance->IER) & TIMER16_ISR_ARR_MATCH_M) if (TIM16_GET_ARRM_INT_STATUS(htimer16))
{ {
timer16_Sequence_t timer = _timer1; timer16_Sequence_t timer = _timer1;
@ -89,7 +90,7 @@ extern "C" void servo_handler_wrapper(void)
} }
// reset timer interrupt flags // reset timer interrupt flags
htimer16.Instance->ICR = 0xFFFFFFFF; TIM16_CLEAR_INT_MASK(htimer16, 0xFFFFFFFF);
} }
// init isr // init isr
@ -108,11 +109,9 @@ static void finISR(timer16_Sequence_t timer)
{ {
if (timer == _timer1) if (timer == _timer1)
{ {
HAL_Timer16_Disable(&htimer16); TIM16_DISABLE(htimer16);
htimer16.Instance->IER &= ~(TIMER16_IER_ARROKIE_M | TIMER16_IER_CMPOKIE_M TIM16_DISABLE_INT_BY_MASK(htimer16, TIMER16_IER_ARROKIE_M | TIMER16_IER_CMPOKIE_M | TIMER16_IER_ARRMIE_M | TIMER16_IER_CMPMIE_M);
| TIMER16_IER_ARRMIE_M | TIMER16_IER_CMPMIE_M); EPIC_LEVEL_CLEAR_BY_MASK(HAL_EPIC_TIMER16_1_MASK);
htimer16.Instance->CR &= ~TIMER16_CR_ENABLE_M; // disable timer
HAL_EPIC_MaskLevelClear(HAL_EPIC_TIMER16_1_MASK);
} }
} }