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Merge pull request #1913 from BartSX/816f0xx 

[STM32F0xx] Fix for #816 issue
pull/1941/head
Martin Kojtal 2016-06-14 21:53:26 +02:00 committed by GitHub
parent 1f9d28346f bb65961089
commit 4dcefa604a
3 changed files with 24 additions and 14 deletions
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7
hal/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F030R8/hal_tick.c
View File

@ -43,7 +43,6 @@ void set_compare(uint16_t count);
extern volatile uint32_t SlaveCounter; extern volatile uint32_t SlaveCounter;
extern volatile uint32_t oc_int_part; extern volatile uint32_t oc_int_part;
extern volatile uint16_t oc_rem_part; extern volatile uint16_t oc_rem_part;
extern volatile uint16_t cnt_val;
// Used to increment the slave counter // Used to increment the slave counter
void timer_update_irq_handler(void) void timer_update_irq_handler(void)
@ -60,7 +59,7 @@ void timer_update_irq_handler(void)
// Used for mbed timeout (channel 1) and HAL tick (channel 2) // Used for mbed timeout (channel 1) and HAL tick (channel 2)
void timer_oc_irq_handler(void) void timer_oc_irq_handler(void)
{ {
cnt_val = TIM_MST->CNT; uint16_t cval = TIM_MST->CNT;
TimMasterHandle.Instance = TIM_MST; TimMasterHandle.Instance = TIM_MST;
// Channel 1 for mbed timeout // Channel 1 for mbed timeout
@ -72,7 +71,7 @@ void timer_oc_irq_handler(void)
} else { } else {
if (oc_int_part > 0) { if (oc_int_part > 0) {
set_compare(0xFFFF); set_compare(0xFFFF);
oc_rem_part = cnt_val; // To finish the counter loop the next time oc_rem_part = cval; // To finish the counter loop the next time
oc_int_part--; oc_int_part--;
} else { } else {
us_ticker_irq_handler(); us_ticker_irq_handler();
@ -129,8 +128,10 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority) {
// Output compare channel 2 interrupt for HAL tick // Output compare channel 2 interrupt for HAL tick
NVIC_SetVector(TIM_MST_UP_IRQ, (uint32_t)timer_update_irq_handler); NVIC_SetVector(TIM_MST_UP_IRQ, (uint32_t)timer_update_irq_handler);
NVIC_EnableIRQ(TIM_MST_UP_IRQ); NVIC_EnableIRQ(TIM_MST_UP_IRQ);
NVIC_SetPriority(TIM_MST_UP_IRQ, 0);
NVIC_SetVector(TIM_MST_OC_IRQ, (uint32_t)timer_oc_irq_handler); NVIC_SetVector(TIM_MST_OC_IRQ, (uint32_t)timer_oc_irq_handler);
NVIC_EnableIRQ(TIM_MST_OC_IRQ); NVIC_EnableIRQ(TIM_MST_OC_IRQ);
NVIC_SetPriority(TIM_MST_OC_IRQ, 1);
// Enable interrupts // Enable interrupts
__HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_UPDATE); // For 32-bit counter __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_UPDATE); // For 32-bit counter

7
hal/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F070RB/hal_tick.c
View File

@ -43,7 +43,6 @@ void set_compare(uint16_t count);
extern volatile uint32_t SlaveCounter; extern volatile uint32_t SlaveCounter;
extern volatile uint32_t oc_int_part; extern volatile uint32_t oc_int_part;
extern volatile uint16_t oc_rem_part; extern volatile uint16_t oc_rem_part;
extern volatile uint16_t cnt_val;
// Used to increment the slave counter // Used to increment the slave counter
void timer_update_irq_handler(void) void timer_update_irq_handler(void)
@ -60,7 +59,7 @@ void timer_update_irq_handler(void)
// Used for mbed timeout (channel 1) and HAL tick (channel 2) // Used for mbed timeout (channel 1) and HAL tick (channel 2)
void timer_oc_irq_handler(void) void timer_oc_irq_handler(void)
{ {
cnt_val = TIM_MST->CNT; uint16_t cval = TIM_MST->CNT;
TimMasterHandle.Instance = TIM_MST; TimMasterHandle.Instance = TIM_MST;
// Channel 1 for mbed timeout // Channel 1 for mbed timeout
@ -72,7 +71,7 @@ void timer_oc_irq_handler(void)
} else { } else {
if (oc_int_part > 0) { if (oc_int_part > 0) {
set_compare(0xFFFF); set_compare(0xFFFF);
oc_rem_part = cnt_val; // To finish the counter loop the next time oc_rem_part = cval; // To finish the counter loop the next time
oc_int_part--; oc_int_part--;
} else { } else {
us_ticker_irq_handler(); us_ticker_irq_handler();
@ -131,8 +130,10 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority) {
// Output compare channel 2 interrupt for HAL tick // Output compare channel 2 interrupt for HAL tick
NVIC_SetVector(TIM_MST_UP_IRQ, (uint32_t)timer_update_irq_handler); NVIC_SetVector(TIM_MST_UP_IRQ, (uint32_t)timer_update_irq_handler);
NVIC_EnableIRQ(TIM_MST_UP_IRQ); NVIC_EnableIRQ(TIM_MST_UP_IRQ);
NVIC_SetPriority(TIM_MST_UP_IRQ, 0);
NVIC_SetVector(TIM_MST_OC_IRQ, (uint32_t)timer_oc_irq_handler); NVIC_SetVector(TIM_MST_OC_IRQ, (uint32_t)timer_oc_irq_handler);
NVIC_EnableIRQ(TIM_MST_OC_IRQ); NVIC_EnableIRQ(TIM_MST_OC_IRQ);
NVIC_SetPriority(TIM_MST_OC_IRQ, 1);
// Enable interrupts // Enable interrupts
__HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_UPDATE); // For 32-bit counter __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_UPDATE); // For 32-bit counter

24
hal/targets/hal/TARGET_STM/TARGET_STM32F0/us_ticker.c
View File

@ -41,7 +41,6 @@ static int us_ticker_inited = 0;
volatile uint32_t SlaveCounter = 0; volatile uint32_t SlaveCounter = 0;
volatile uint32_t oc_int_part = 0; volatile uint32_t oc_int_part = 0;
volatile uint16_t oc_rem_part = 0; volatile uint16_t oc_rem_part = 0;
volatile uint16_t cnt_val = 0;
void set_compare(uint16_t count) { void set_compare(uint16_t count) {
TimMasterHandle.Instance = TIM_MST; TimMasterHandle.Instance = TIM_MST;
@ -59,15 +58,24 @@ void us_ticker_init(void) {
} }
uint32_t us_ticker_read() { uint32_t us_ticker_read() {
uint32_t counter; uint32_t counter, counter2;
if (!us_ticker_inited) us_ticker_init(); if (!us_ticker_inited) us_ticker_init();
// A situation might appear when Master overflows right after Slave is read and before the
//Current value of TIM_MST->CNT is stored in cnt_val and is // new (overflowed) value of Master is read. Which would make the code below consider the
//updated in interrupt context // previous (incorrect) value of Slave and the new value of Master, which would return a
// value in the past. Avoid this by computing consecutive values of the timer until they
// are properly ordered.
counter = (uint32_t)(SlaveCounter << 16); counter = (uint32_t)(SlaveCounter << 16);
counter += cnt_val; counter += TIM_MST->CNT;
while (1) {
return counter; counter2 = (uint32_t)(SlaveCounter << 16);
counter2 += TIM_MST->CNT;
if (counter2 > counter) {
break;
}
counter = counter2;
}
return counter2;
} }
void us_ticker_set_interrupt(timestamp_t timestamp) { void us_ticker_set_interrupt(timestamp_t timestamp) {