Merge pull request #14391 from benpicco/cpu/stm32-timer_periodic

cpu/stm32: implement periph_timer_periodic

cpu/stm32/Kconfig

@@ -13,6 +13,7 @@ config CPU_STM32
     select HAS_PERIPH_GPIO
     select HAS_PERIPH_GPIO_IRQ
     select HAS_PUF_SRAM
+    select HAS_PERIPH_TIMER_PERIODIC
     select HAS_PERIPH_UART_MODECFG
     select HAS_PERIPH_UART_NONBLOCKING
     select HAS_PERIPH_WDT

cpu/stm32/Makefile.features

@@ -5,6 +5,7 @@ FEATURES_PROVIDED += cpu_stm32$(CPU_FAM)
 FEATURES_PROVIDED += periph_cpuid
 FEATURES_PROVIDED += periph_gpio periph_gpio_irq
 FEATURES_PROVIDED += puf_sram
+FEATURES_PROVIDED += periph_timer_periodic
 FEATURES_PROVIDED += periph_uart_modecfg
 FEATURES_PROVIDED += periph_uart_nonblocking
 FEATURES_PROVIDED += periph_wdt

cpu/stm32/periph/timer.c

@@ -36,6 +36,57 @@ static inline TIM_TypeDef *dev(tim_t tim)
     return timer_config[tim].dev;
 }
 
+#ifdef MODULE_PERIPH_TIMER_PERIODIC
+
+/**
+ * @brief   Helper macro to get channel bit in timer/channel bitmap
+ */
+#define CHAN_BIT(tim, chan) (1 << chan) << (TIMER_CHANNEL_NUMOF * (tim & 1))
+
+/**
+ * @brief   Bitmap for compare channel disable after match
+ */
+static uint8_t _oneshot[(TIMER_NUMOF+1)/2];
+
+/**
+ * @brief   Clear interrupt enable after the interrupt has fired
+ */
+static inline void set_oneshot(tim_t tim, int chan)
+{
+    _oneshot[tim >> 1] |= CHAN_BIT(tim, chan);
+}
+
+/**
+ * @brief   Enable interrupt with every wrap-around of the timer
+ */
+static inline void clear_oneshot(tim_t tim, int chan)
+{
+    _oneshot[tim >> 1] &= ~CHAN_BIT(tim, chan);
+}
+
+static inline bool is_oneshot(tim_t tim, int chan)
+{
+    return _oneshot[tim >> 1] & CHAN_BIT(tim, chan);
+}
+
+#else /* !MODULE_PERIPH_TIMER_PERIODIC */
+
+static inline void set_oneshot(tim_t tim, int chan)
+{
+    (void)tim;
+    (void)chan;
+}
+
+static inline bool is_oneshot(tim_t tim, int chan)
+{
+    (void)tim;
+    (void)chan;
+
+    return true;
+}
+
+#endif /* MODULE_PERIPH_TIMER_PERIODIC */
+
 int timer_init(tim_t tim, unsigned long freq, timer_cb_t cb, void *arg)
 {
     /* check if device is valid */
@@ -74,12 +125,52 @@ int timer_set_absolute(tim_t tim, int channel, unsigned int value)
         return -1;
     }
 
+    set_oneshot(tim, channel);
+
     TIM_CHAN(tim, channel) = (value & timer_config[tim].max);
-    dev(tim)->SR &= ~(TIM_SR_CC1IF << channel);
+
+#ifdef MODULE_PERIPH_TIMER_PERIODIC
+    if (dev(tim)->ARR == TIM_CHAN(tim, channel)) {
+        dev(tim)->ARR = timer_config[tim].max;
+    }
+#endif
+
+    dev(tim)->DIER |= (TIM_DIER_CC1IE << channel);
+
+    return 0;
+}
+
+#ifdef MODULE_PERIPH_TIMER_PERIODIC
+int timer_set_periodic(tim_t tim, int channel, unsigned int value, uint8_t flags)
+{
+    if (channel >= (int)TIMER_CHANNEL_NUMOF) {
+        return -1;
+    }
+
+    clear_oneshot(tim, channel);
+
+    if (flags & TIM_FLAG_RESET_ON_SET) {
+        /* setting COUNT gives us an interrupt on all channels */
+        unsigned state = irq_disable();
+        dev(tim)->CNT = 0;
+
+        /* wait for the interrupt & clear it */
+        while(dev(tim)->SR == 0) {}
+        dev(tim)->SR = 0;
+
+        irq_restore(state);
+    }
+
+    TIM_CHAN(tim, channel) = value;
     dev(tim)->DIER |= (TIM_DIER_CC1IE << channel);
 
+    if (flags & TIM_FLAG_RESET_ON_MATCH) {
+        dev(tim)->ARR = value;
+    }
+
     return 0;
 }
+#endif /* MODULE_PERIPH_TIMER_PERIODIC */
 
 int timer_clear(tim_t tim, int channel)
 {
@@ -88,6 +179,13 @@ int timer_clear(tim_t tim, int channel)
     }
 
     dev(tim)->DIER &= ~(TIM_DIER_CC1IE << channel);
+
+#ifdef MODULE_PERIPH_TIMER_PERIODIC
+    if (dev(tim)->ARR == TIM_CHAN(tim, channel)) {
+        dev(tim)->ARR = timer_config[tim].max;
+    }
+#endif
+
     return 0;
 }
 
@@ -108,13 +206,30 @@ void timer_stop(tim_t tim)
 
 static inline void irq_handler(tim_t tim)
 {
-    uint32_t status = (dev(tim)->SR & dev(tim)->DIER);
+    uint32_t top = dev(tim)->ARR;
+    uint32_t status = dev(tim)->SR & dev(tim)->DIER;
+    dev(tim)->SR = 0;
+
+    for (unsigned int i = 0; status; i++) {
+        uint32_t msk = TIM_SR_CC1IF << i;
+
+        /* check if interrupt flag is set */
+        if ((status & msk) == 0) {
+            continue;
+        }
+        status &= ~msk;
 
-    for (unsigned int i = 0; i < TIMER_CHANNEL_NUMOF; i++) {
-        if (status & (TIM_SR_CC1IF << i)) {
-            dev(tim)->DIER &= ~(TIM_DIER_CC1IE << i);
-            isr_ctx[tim].cb(isr_ctx[tim].arg, i);
+        /* interrupt flag gets set for all channels > ARR */
+        if (TIM_CHAN(tim, i) > top) {
+            continue;
         }
+
+        /* disable Interrupt */
+        if (is_oneshot(tim, i)) {
+            dev(tim)->DIER &= ~msk;
+        }
+
+        isr_ctx[tim].cb(isr_ctx[tim].arg, i);
     }
     cortexm_isr_end();
 }

tests/driver_soft_uart/Makefile.ci

@@ -4,4 +4,6 @@ BOARD_INSUFFICIENT_MEMORY := \
     arduino-nano \
     arduino-uno \
     atmega328p \
+    nucleo-f031k6 \
+    stm32f030f4-demo \
     #

tests/periph_timer_periodic/main.c

@@ -38,7 +38,7 @@
  * provides a configuration for it.
  */
 #define TIMER_CYCL  XTIMER_DEV
-#define CYCLE_MS    100UL
+#define CYCLE_MS    25UL
 #define CYCLES_MAX   10
 
 static unsigned count[TIMER_CHANNEL_NUMOF];

tests/periph_timer_periodic/tests/01-run.py

@@ -16,9 +16,9 @@ def testfunc(child):
     start = time.time()
     child.expect_exact('TEST SUCCEEDED')
     end = time.time()
-    # test should run 10 cycles with 100ms each
-    assert (end - start) > 1
-    assert (end - start) < 1.5
+    # test should run 10 cycles with 25ms each
+    assert (end - start) > 0.25
+    assert (end - start) < 0.35
 
 
 if __name__ == "__main__":