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[platform:timer] support std::chrono in Timer**::setPeriod #873

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Jun 13, 2022
Merged

[platform:timer] support std::chrono in Timer**::setPeriod #873

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5ddcab3
using std::chrono on platform:Timer**::setPeriod()
TomSaw Jun 8, 2022
c949daf
examples use std::chrono::duration in Timer**::setPeriod(...)
TomSaw Jun 12, 2022
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19 changes: 10 additions & 9 deletions examples/blue_pill_f103/encoder_input_bitbang/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,18 +38,19 @@ MODM_ISR(TIM2)
encoder.update();
}

template<class Timer, class Rep, class Period>
void
init_Timer2(const uint16_t period)
initPeriodicInterrupt(std::chrono::duration<Rep, Period> period)
{
Timer2::enable();
Timer2::setMode(Timer2::Mode::UpCounter);
Timer::enable();
Timer::setMode(Timer::Mode::UpCounter);

Timer2::template setPeriod<Board::SystemClock>(period);
Timer2::enableInterruptVector(true, 10);
Timer2::enableInterrupt(Timer2::Interrupt::Update);
Timer::template setPeriod<Board::SystemClock>(period);
Timer::enableInterruptVector(true, 10);
Timer::enableInterrupt(Timer::Interrupt::Update);

Timer2::applyAndReset();
Timer2::start();
Timer::applyAndReset();
Timer::start();
}

int
Expand All @@ -61,7 +62,7 @@ main()
Usart2::initialize<Board::SystemClock, 115200_Bd>();

encoder.initialize();
init_Timer2(1000); // 1ms period
initPeriodicInterrupt<Timer2>(1ms);

int value(0);

Expand Down
2 changes: 1 addition & 1 deletion examples/nucleo_f042k6/vector_table_ram/main.cpp
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Expand Up @@ -38,7 +38,7 @@ main()

Timer14::enable();
Timer14::setMode(Timer14::Mode::UpCounter);
Timer14::setPeriod<Board::SystemClock>(500'000 /* us */);
Timer14::setPeriod<Board::SystemClock>(500ms);
Timer14::applyAndReset();
Timer14::start();
Timer14::enableInterrupt(Timer14::Interrupt::Update);
Expand Down
2 changes: 1 addition & 1 deletion examples/nucleo_l031k6/vector_table_ram/main.cpp
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Expand Up @@ -37,7 +37,7 @@ main()

Timer2::enable();
Timer2::setMode(Timer2::Mode::UpCounter);
Timer2::setPeriod<Board::SystemClock>(500'000 /* us */);
Timer2::setPeriod<Board::SystemClock>(500ms);
Timer2::applyAndReset();
Timer2::start();
Timer2::enableInterrupt(Timer2::Interrupt::Update);
Expand Down
2 changes: 1 addition & 1 deletion examples/stm32f3_discovery/timer/basic/main.cpp
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Expand Up @@ -24,7 +24,7 @@ main()
//Timer1::setMode(Timer1::Mode::CenterAligned3);
Timer1::setMode(Timer1::Mode::UpCounter);
Timer1::setOverflow(0xff);
//Timer1::setPeriod(4);
//Timer1::setPeriod(4us);
Timer1::applyAndReset();
Timer1::start();

Expand Down
4 changes: 2 additions & 2 deletions examples/stm32f4_discovery/timer_test/main.cpp
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Expand Up @@ -39,7 +39,7 @@ testTimerAdvancedStart()
TIMER::enable();
TIMER::setMode(TIMER::Mode::UpCounter);

TIMER::template setPeriod<Board::SystemClock>(250000);
TIMER::template setPeriod<Board::SystemClock>(250ms);
TIMER::enableInterruptVector(TIMER::Interrupt::Update, true, 10);
TIMER::enableInterrupt(TIMER::Interrupt::Update);

Expand All @@ -54,7 +54,7 @@ testTimerStart()
TIMER::enable();
TIMER::setMode(TIMER::Mode::UpCounter);

TIMER::template setPeriod<Board::SystemClock>(250000);
TIMER::template setPeriod<Board::SystemClock>(250ms);
TIMER::enableInterruptVector(true, 10);
TIMER::enableInterrupt(TIMER::Interrupt::Update);

Expand Down
69 changes: 43 additions & 26 deletions src/modm/platform/timer/stm32/advanced.hpp.in
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Expand Up @@ -17,13 +17,12 @@
#ifndef MODM_STM32_TIMER_{{ id }}_HPP
#define MODM_STM32_TIMER_{{ id }}_HPP

#include <chrono>
#include <limits>
#include "advanced_base.hpp"
#include <modm/platform/gpio/connector.hpp>

namespace modm
{

namespace platform
namespace modm::platform
{

/**
Expand Down Expand Up @@ -76,6 +75,9 @@ namespace platform
class Timer{{ id }} : public AdvancedControlTimer
{
public:
// This type is the internal size of the counter.
using Value = uint16_t;

template< class... Signals >
static void
connect()
Expand Down Expand Up @@ -149,34 +151,51 @@ public:
TIM{{ id }}->PSC = prescaler - 1;
}

static uint16_t
getPrescaler()
{
return TIM{{ id }}->PSC + 1;
}

static inline void
setOverflow(uint16_t overflow)
setOverflow(Value overflow)
{
TIM{{ id }}->ARR = overflow;
}

template<class SystemClock>
static uint16_t
setPeriod(uint32_t microseconds, bool autoApply = true)
static inline Value
getOverflow()
{
// This will be inaccurate for non-smooth frequencies (last six digits
// unequal to zero)
uint32_t cycles = microseconds * (SystemClock::Timer{{ id }} / 1'000'000UL);
uint16_t prescaler = (cycles + 65'535) / 65'536; // always round up
uint16_t overflow = cycles / prescaler;
return TIM{{ id }}->ARR;
}

overflow = overflow - 1; // e.g. 36'000 cycles are from 0 to 35'999
template<class SystemClock, class Rep, class Period>
static Value
setPeriod(std::chrono::duration<Rep, Period> duration, bool autoApply = true)
{
// This will be inaccurate for non-smooth frequencies (last six digits unequal to zero)
const uint32_t cycles = duration.count() * SystemClock::Timer{{ id }} * Period::num / Period::den;
const uint16_t prescaler = (cycles + std::numeric_limits<Value>::max() - 1) / std::numeric_limits<Value>::max(); // always round up
const Value overflow = cycles / prescaler - 1;

setPrescaler(prescaler);
setOverflow(overflow);

if (autoApply) {
// Generate Update Event to apply the new settings for ARR
// Generate Update Event to apply the new settings for ARR
if (autoApply)
TIM{{ id }}->EGR |= TIM_EGR_UG;
}

return overflow;
}
}

// DEPRECATE: 2023q2
template<class SystemClock>
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[[deprecated("Pass microseconds as std::chrono::duration: setPeriod( {microseconds}us ) instead!")]]
static Value
setPeriod(uint32_t microseconds, bool autoApply = true)
{
return setPeriod<SystemClock>(std::chrono::microseconds(microseconds), autoApply);
}

static inline void
applyAndReset()
Expand All @@ -191,14 +210,14 @@ public:
TIM{{ id }}->EGR |= static_cast<uint32_t>(ev);
}

static inline uint16_t
static inline Value
getValue()
{
return TIM{{ id }}->CNT;
}

static inline void
setValue(uint16_t value)
setValue(Value value)
{
TIM{{ id }}->CNT = value;
}
Expand Down Expand Up @@ -314,7 +333,7 @@ public:

static void
configureOutputChannel(uint32_t channel, OutputCompareMode mode,
uint16_t compareValue);
Value compareValue);
// TODO: Maybe add some functionality from the configureOutput
// function below...

Expand Down Expand Up @@ -361,7 +380,7 @@ public:
configureOutputChannel(uint32_t channel, uint32_t modeOutputPorts);

static inline void
setCompareValue(uint32_t channel, uint16_t value)
setCompareValue(uint32_t channel, Value value)
{
%% if advanced_extended
if(channel <= 4) {
Expand All @@ -376,7 +395,7 @@ public:
%% endif
}

static inline uint16_t
static inline Value
getCompareValue(uint32_t channel)
{
return *(&TIM{{ id }}->CCR1 + (channel - 1));
Expand Down Expand Up @@ -438,8 +457,6 @@ public:
}
};

} // namespace platform

} // namespace modm
} // namespace modm::platform

#endif // MODM_STM32_TIMER_{{ id }}_HPP
60 changes: 38 additions & 22 deletions src/modm/platform/timer/stm32/basic.hpp.in
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Expand Up @@ -19,10 +19,7 @@
#include "basic_base.hpp"
#include <modm/platform/gpio/connector.hpp>

namespace modm
{

namespace platform
namespace modm::platform
{

/**
Expand Down Expand Up @@ -56,6 +53,9 @@ namespace platform
class Timer{{ id }} : public BasicTimer
{
public:
// This type is the internal size of the counter.
using Value = uint16_t;

template< class... Signals >
static void
connect()
Expand Down Expand Up @@ -93,49 +93,67 @@ public:
TIM{{ id }}->PSC = prescaler - 1;
}

static uint16_t
getPrescaler()
{
return TIM{{ id }}->PSC + 1;
}

static inline void
setOverflow(uint16_t overflow)
setOverflow(Value overflow)
{
TIM{{ id }}->ARR = overflow;
}

template<class SystemClock>
static uint16_t
setPeriod(uint32_t microseconds, bool autoApply = true)
static inline Value
getOverflow()
{
// This will be inaccurate for non-smooth frequencies (last six digits
// unequal to zero)
uint32_t cycles = microseconds * (SystemClock::Timer{{ id }} / 1'000'000UL);
uint16_t prescaler = (cycles + 65'535) / 65'536; // always round up
uint16_t overflow = cycles / prescaler;
return TIM{{ id }}->ARR;
}

template<class SystemClock, class Rep, class Period>
static Value
setPeriod(std::chrono::duration<Rep, Period> duration, bool autoApply = true)
{
// This will be inaccurate for non-smooth frequencies (last six digits unequal to zero)
const uint32_t cycles = duration.count() * SystemClock::Timer{{ id }} * Period::num / Period::den;
const uint16_t prescaler = (cycles + std::numeric_limits<Value>::max() - 1) / std::numeric_limits<Value>::max(); // always round up
const Value overflow = cycles / prescaler - 1;

overflow = overflow - 1; // e.g. 36'000 cycles are from 0 to 35'999
setPrescaler(prescaler);
setOverflow(overflow);

if (autoApply) {
// Generate Update Event to apply the new settings for ARR
// Generate Update Event to apply the new settings for ARR
if (autoApply)
TIM{{ id }}->EGR |= TIM_EGR_UG;
}

return overflow;
}

// DEPRECATE: 2023q2
template<class SystemClock>
[[deprecated("Pass microseconds as std::chrono::duration: setPeriod( {microseconds}us ) instead!")]]
static Value
setPeriod(uint32_t microseconds, bool autoApply = true)
{
return setPeriod<SystemClock>(std::chrono::microseconds(microseconds), autoApply);
}

static inline void
applyAndReset()
{
// Generate Update Event to apply the new settings for ARR
TIM{{ id }}->EGR |= TIM_EGR_UG;
}

static inline uint16_t
static inline Value
getValue()
{
return TIM{{ id }}->CNT;
}

static inline void
setValue(uint16_t value)
setValue(Value value)
{
TIM{{ id }}->CNT = value;
}
Expand Down Expand Up @@ -170,8 +188,6 @@ public:
}
};

} // namespace platform

} // namespace modm
} // namespace modm::platform

#endif // MODM_STM32_TIMER_{{ id }}_HPP
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