forked from Elron_dev/elbear_arduino_bsp
в библиотеке заменила некоторые строчки на макросы из wiringLL.h. переименовала обработчик прерываний
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47c01383e6
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978661626c
@ -9,7 +9,7 @@ void __attribute__((weak)) wire_interrupt_handler(void)
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{
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// dummy function for case when wire library is not in use
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}
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void __attribute__((weak)) servo_handler_wrapper(void)
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void __attribute__((weak)) servo_interrupt_handler(void)
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{
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// dummy function for case when wire library is not in use
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}
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@ -27,7 +27,7 @@ void __attribute__((noinline, section(".ram_text"), optimize("O3"))) trap_handle
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// servo timer interrupt
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if (EPIC_CHECK_TIMER16_2())
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servo_handler_wrapper();
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servo_interrupt_handler();
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// uart0 interrupt
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if (EPIC_CHECK_UART_0())
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@ -19,39 +19,40 @@
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// ----------------- SYSTICK ----------------- //
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// get ticks from systick
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#define SYSTICK_GET_TICKS() ((uint64_t)(SCR1_TIMER->MTIMEH)<<32 | SCR1_TIMER->MTIME)
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#define SYSTICK_GET_TICKS() ((uint64_t)(SCR1_TIMER->MTIMEH)<<32 | SCR1_TIMER->MTIME)
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// ----------------- UART ----------------- //
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#define UART_READ_BYTE(pUart) ((uint16_t)pUart->RXDATA)
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#define UART_IS_RX_FIFO_EMPTY(pUart) ((pUart->FLAGS & UART_FLAGS_RXNE_M) == 0)
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#define UART_READ_BYTE(pUart) ((uint16_t)pUart->RXDATA)
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#define UART_IS_RX_FIFO_EMPTY(pUart) ((pUart->FLAGS & UART_FLAGS_RXNE_M) == 0)
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// ----------------- TIMER16 ----------------- //
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#define TIM16_DISABLE(htim16) (htim16.Instance->CR &= ~TIMER16_CR_ENABLE_M)
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#define TIM16_CLEAR_INT_MASK(htim16, intMask) (htim16.Instance->ICR = intMask)
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#define TIM16_GET_ARRM_INT_STATUS(htim16) ((bool)((htim16.Instance->ISR & htim16.Instance->IER) & TIMER16_ISR_ARR_MATCH_M))
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#define TIM16_DISABLE(htim16) (htim16.Instance->CR &= ~TIMER16_CR_ENABLE_M)
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#define TIM16_CLEAR_INT_MASK(htim16, intMask) (htim16.Instance->ICR = intMask)
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#define TIM16_GET_ARRM_INT_STATUS(htim16) ((bool)((htim16.Instance->ISR & htim16.Instance->IER) & TIMER16_ISR_ARR_MATCH_M))
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#define TIM16_DISABLE_INT_BY_MASK(htim16,intMask) (htim16.Instance->IER &= ~(intMask))
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// ----------------- EPIC ----------------- //
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#define EPIC_LEVEL_CLEAR_BY_MASK(mask) (EPIC->MASK_LEVEL_CLEAR |= mask)
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#define EPIC_CLEAR_ALL() (EPIC->CLEAR = 0xFFFFFFFF)
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#define EPIC_LEVEL_CLEAR_BY_MASK(mask) (EPIC->MASK_LEVEL_CLEAR |= mask)
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#define EPIC_CLEAR_ALL() (EPIC->CLEAR = 0xFFFFFFFF)
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// ----------------- IRQ ----------------- //
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#define GLOBAL_IRQ_DISABLE() (clear_csr(mie, MIE_MEIE))
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#define GLOBAL_IRQ_ENABLE() set_csr(mstatus, MSTATUS_MIE); \
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set_csr(mie, MIE_MEIE)
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#define GLOBAL_IRQ_DISABLE() (clear_csr(mie, MIE_MEIE))
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#define GLOBAL_IRQ_ENABLE() set_csr(mstatus, MSTATUS_MIE); \
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set_csr(mie, MIE_MEIE)
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// ----------------- GPIO ----------------- //
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#define GPIO_SET_PIN(GPIO_x, pinMask) ((GPIO_x)->SET = (pinMask))
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#define GPIO_CLEAR_PIN(GPIO_x, pinMask) ((GPIO_x)->CLEAR = (pinMask))
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#define GPIO_TOGGLE_PIN(GPIO_x, pinMask) ((GPIO_x)->OUTPUT_ ^= pinMask)
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#define GPIO_READ_PIN(GPIO_x, pinMask) (((GPIO_x)->SET & (pinMask)) != (uint32_t)GPIO_PIN_LOW ? GPIO_PIN_HIGH : GPIO_PIN_LOW)
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#define GPIO_SET_PIN(GPIO_x, pinMask) ((GPIO_x)->SET = (pinMask))
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#define GPIO_CLEAR_PIN(GPIO_x, pinMask) ((GPIO_x)->CLEAR = (pinMask))
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#define GPIO_TOGGLE_PIN(GPIO_x, pinMask) ((GPIO_x)->OUTPUT_ ^= pinMask)
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#define GPIO_READ_PIN(GPIO_x, pinMask) (((GPIO_x)->SET & (pinMask)) != (uint32_t)GPIO_PIN_LOW ? GPIO_PIN_HIGH : GPIO_PIN_LOW)
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// get pin state by it's number
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#define GPIO_GET_PIN_STATE(GPIO_x, pinNumber) (((GPIO_x)->OUTPUT_ >> pinNumber) & 0b1)
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#define GPIO_GET_PIN_STATE(GPIO_x, pinNumber) (((GPIO_x)->OUTPUT_ >> pinNumber) & 0b1)
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// ----------------- GPIO IRQ ----------------- //
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#define GPIO_IRQ_LINE_ENABLE(lineMask) ( GPIO_IRQ->ENABLE_SET = (1 << (lineMask >> GPIO_IRQ_LINE_S)) )
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#define GPIO_IRQ_LINE_DISABLE(lineMask) ( GPIO_IRQ->ENABLE_CLEAR = (1 << (lineMask >> GPIO_IRQ_LINE_S)) )
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#define GPIO_IRQ_LINE_STATE(lineMask) ((GPIO_IRQ->INTERRUPT & (1 << (lineMask >> GPIO_IRQ_LINE_S))) != 0)
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#define GPIO_IRQ_CLEAR_ALL() ( GPIO_IRQ->CLEAR = 0b11111111)
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#define GPIO_IRQ_LINE_ENABLE(lineMask) ( GPIO_IRQ->ENABLE_SET = (1 << (lineMask >> GPIO_IRQ_LINE_S)) )
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#define GPIO_IRQ_LINE_DISABLE(lineMask) ( GPIO_IRQ->ENABLE_CLEAR = (1 << (lineMask >> GPIO_IRQ_LINE_S)) )
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#define GPIO_IRQ_LINE_STATE(lineMask) ((GPIO_IRQ->INTERRUPT & (1 << (lineMask >> GPIO_IRQ_LINE_S))) != 0)
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#define GPIO_IRQ_CLEAR_ALL() ( GPIO_IRQ->CLEAR = 0b11111111)
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// ----------------- PIN CONFIG ----------------- //
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// return config of pin with pinNumber(0...16) in portReg (config, pupd, ds for ports 0...2)
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@ -4,6 +4,7 @@
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#include "mik32_hal_timer16.h"
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#include "mik32_hal_irq.h"
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#include "wiring_LL.h"
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#include "Servo.h"
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@ -19,16 +20,16 @@ uint8_t prescaler = TIMER16_PRESCALER_16;
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#define usToTicks(_us) ((clockCyclesPerMicrosecond() * _us) / ( (1 << prescaler) )) // converts microseconds to ticks (TIMERx_PRESCALER_16)
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#define ticksToUs(_ticks) (((unsigned) _ticks * ( (1 << prescaler) )) / clockCyclesPerMicrosecond()) // converts from ticks back to microseconds
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#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays
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#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in us for this servo
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#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in us for this servo
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#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays
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// convenience macros
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#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
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#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
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#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
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#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
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#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in us for this servo
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#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in us for this servo
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#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
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#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
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#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
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#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
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// timer handler
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Timer16_HandleTypeDef htimer16;
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@ -58,9 +59,9 @@ void Timer16_2_Init()
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/************ static functions common to all instances ***********************/
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// irq handler
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extern "C" void servo_handler_wrapper(void)
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extern "C" void __attribute__((optimize("O3"))) servo_interrupt_handler(void)
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{
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if ((htimer16.Instance->ISR & htimer16.Instance->IER) & TIMER16_ISR_ARR_MATCH_M)
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if (TIM16_GET_ARRM_INT_STATUS(htimer16))
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{
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timer16_Sequence_t timer = _timer1;
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@ -89,7 +90,7 @@ extern "C" void servo_handler_wrapper(void)
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}
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// reset timer interrupt flags
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htimer16.Instance->ICR = 0xFFFFFFFF;
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TIM16_CLEAR_INT_MASK(htimer16, 0xFFFFFFFF);
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}
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// init isr
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@ -108,11 +109,9 @@ static void finISR(timer16_Sequence_t timer)
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{
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if (timer == _timer1)
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{
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HAL_Timer16_Disable(&htimer16);
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htimer16.Instance->IER &= ~(TIMER16_IER_ARROKIE_M | TIMER16_IER_CMPOKIE_M
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| TIMER16_IER_ARRMIE_M | TIMER16_IER_CMPMIE_M);
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htimer16.Instance->CR &= ~TIMER16_CR_ENABLE_M; // disable timer
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HAL_EPIC_MaskLevelClear(HAL_EPIC_TIMER16_1_MASK);
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TIM16_DISABLE(htimer16);
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TIM16_DISABLE_INT_BY_MASK(htimer16, TIMER16_IER_ARROKIE_M | TIMER16_IER_CMPOKIE_M | TIMER16_IER_ARRMIE_M | TIMER16_IER_CMPMIE_M);
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EPIC_LEVEL_CLEAR_BY_MASK(HAL_EPIC_TIMER16_1_MASK);
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}
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}
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