TimerUtils.h

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/* Copyright (c) 2018-2021 Skyward Experimental Rocketry
 * Authors: Luca Erbetta, Davide Mor, Alberto Nidasio
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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 * THE SOFTWARE.
 */
 
#pragma once
 
#include <utils/ClockUtils.h>
 
#include <cassert>
 
namespace Boardcore
{
 
namespace TimerUtils
{
 
enum class TriggerSource : uint16_t
{
    ITR0 = 0,
 
    ITR1 = TIM_SMCR_TS_0,
 
    ITR2 = TIM_SMCR_TS_1,
 
    ITR3 = TIM_SMCR_TS_1 | TIM_SMCR_TS_0,
 
    TI1F_ED = TIM_SMCR_TS_2,
 
    TI1FP1 = TIM_SMCR_TS_2 | TIM_SMCR_TS_0,
 
    TI2FP2 = TIM_SMCR_TS_2 | TIM_SMCR_TS_1
};
 
enum class MasterMode : uint32_t
{
    RESET = 0,
 
    ENABLE = TIM_CR2_MMS_0,
 
    UPDATE = TIM_CR2_MMS_1,
 
    COMPARE_PULSE = TIM_CR2_MMS_1 | TIM_CR2_MMS_0,
 
    OC1REF_OUTPUT = TIM_CR2_MMS_2,
 
    OC2REF_OUTPUT = TIM_CR2_MMS_2 | TIM_CR2_MMS_0,
 
    OC3REF_OUTPUT = TIM_CR2_MMS_2 | TIM_CR2_MMS_1,
 
    OC4REF_OUTPUT = TIM_CR2_MMS
};
 
enum class SlaveMode : uint16_t
{
    DISABLED = 0,
 
    RESET_MODE = TIM_SMCR_SMS_2,
 
    GATED_MODE = TIM_SMCR_SMS_2 | TIM_SMCR_SMS_0,
 
    TRIGGER_MODE = TIM_SMCR_SMS_2 | TIM_SMCR_SMS_1,
 
    EXTERNAL_CLOCK_MODE_1 = TIM_SMCR_SMS_0 | TIM_SMCR_SMS_1 | TIM_SMCR_SMS_2
};
 
enum class OutputCompareMode : uint16_t
{
    FROZEN = 0,
 
    ACTIVE_ON_MATCH = 0x1,
 
    INACTIVE_ON_MATCH = 0x2,
 
    TOGGLE = 0x3,
 
    FORCE_INACTIVE = 0x4,
 
    FORCE_ACTIVE = 0x5,
 
    PWM_MODE_1 = 0x6,
 
    PWM_MODE_2 = 0x7
};
 
enum class OutputComparePolarity : uint16_t
{
    ACTIVE_HIGH = 0,
    ACTIVE_LOW  = 0x1
};
 
enum class Channel : uint8_t
{
    CHANNEL_1 = 0,
    CHANNEL_2 = 1,
    CHANNEL_3 = 2,
    CHANNEL_4 = 3
};
 
ClockUtils::APB getTimerInputClock(const TIM_TypeDef* timer);
 
uint32_t getPrescalerInputFrequency(const TIM_TypeDef* timer);
 
uint32_t getFrequency(TIM_TypeDef* timer);
 
float toMicroSeconds(TIM_TypeDef* timer, uint32_t value);
 
float toMicroSeconds(TIM_TypeDef* timer);
 
uint64_t toIntMicroSeconds(TIM_TypeDef* timer, uint32_t value);
 
uint64_t toIntMicroSeconds(TIM_TypeDef* timer);
 
float toMilliSeconds(TIM_TypeDef* timer, uint32_t value);
 
float toMilliSeconds(TIM_TypeDef* timer);
 
float toSeconds(TIM_TypeDef* timer);
 
float getResolution(TIM_TypeDef* timer);
 
float getMaxDuration(TIM_TypeDef* timer);
 
uint16_t computePrescalerValue(TIM_TypeDef* timer, int targetFrequency);
 
MasterMode masterModeFromChannel(const Channel channel);
 
}  // namespace TimerUtils
 
inline ClockUtils::APB TimerUtils::getTimerInputClock(const TIM_TypeDef* timer)
{
    // Timers can be connected to APB1 or APB2 clocks.
    // APB1: TIM2-7,12-15
    // APB2: TIM1,8-11
    // TODO: Add support for F103
    if (timer == TIM1 || timer == TIM8 || timer == TIM9 || timer == TIM10 ||
        timer == TIM11)
    {
        return ClockUtils::APB::APB2;
    }
    else
    {
        return ClockUtils::APB::APB1;
    }
}
 
inline uint32_t TimerUtils::getPrescalerInputFrequency(const TIM_TypeDef* timer)
{
    return ClockUtils::getAPBTimersClock(getTimerInputClock(timer));
}
 
inline uint32_t TimerUtils::getFrequency(TIM_TypeDef* timer)
{
    return getPrescalerInputFrequency(timer) / (1 + timer->PSC);
}
 
inline float TimerUtils::toMicroSeconds(TIM_TypeDef* timer, uint32_t value)
{
    return (1.0f * value * 1e6 * (1 + timer->PSC)) /
           getPrescalerInputFrequency(timer);
}
 
inline float TimerUtils::toMicroSeconds(TIM_TypeDef* timer)
{
    return toMicroSeconds(timer, timer->CNT);
}
 
inline uint64_t TimerUtils::toIntMicroSeconds(TIM_TypeDef* timer,
                                              uint32_t value)
{
    return ((uint64_t)value * 1e6 * (uint64_t)(1 + timer->PSC)) /
           getPrescalerInputFrequency(timer);
}
 
inline uint64_t TimerUtils::toIntMicroSeconds(TIM_TypeDef* timer)
{
    return toIntMicroSeconds(timer, timer->CNT);
}
 
inline float TimerUtils::toMilliSeconds(TIM_TypeDef* timer, uint32_t value)
{
    return (1.0f * value * 1e3 * (1 + timer->PSC)) /
           getPrescalerInputFrequency(timer);
}
 
inline float TimerUtils::toMilliSeconds(TIM_TypeDef* timer)
{
    return toMilliSeconds(timer, timer->CNT);
}
 
inline float TimerUtils::toSeconds(TIM_TypeDef* timer)
{
    return (1.0f * timer->CNT * (1 + timer->PSC)) /
           getPrescalerInputFrequency(timer);
}
 
inline float TimerUtils::getResolution(TIM_TypeDef* timer)
{
    return (1.0e6f * (1 + timer->PSC)) / getPrescalerInputFrequency(timer);
}
 
inline float TimerUtils::getMaxDuration(TIM_TypeDef* timer)
{
    return (1.0f * timer->ARR * 1e6 * (1 + timer->PSC)) /
           getPrescalerInputFrequency(timer);
}
 
inline uint16_t TimerUtils::computePrescalerValue(TIM_TypeDef* timer,
                                                  int targetFrequency)
{
    int32_t targetPrescaler =
        TimerUtils::getPrescalerInputFrequency(timer) / targetFrequency - 1;
    return targetPrescaler >= 0 ? targetPrescaler : 0;
}
 
inline TimerUtils::MasterMode TimerUtils::masterModeFromChannel(
    const Channel channel)
{
    switch (channel)
    {
        case Channel::CHANNEL_1:
            return MasterMode::OC1REF_OUTPUT;
        case Channel::CHANNEL_2:
            return MasterMode::OC2REF_OUTPUT;
        case Channel::CHANNEL_3:
            return MasterMode::OC3REF_OUTPUT;
        case Channel::CHANNEL_4:
            return MasterMode::OC4REF_OUTPUT;
        default:
            assert(false && "Invalid channel!");
            return MasterMode::RESET;
    }
}
 
}  // namespace Boardcore