Merge pull request #7212 from dhalbert/stm-pwm-fix
STM: off-by-one TIMx reference; other code cleanup and minor fixes
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commit
b8a2d3ffdc
@ -106,7 +106,8 @@ void pulsein_reset(void) {
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memset(callback_obj_ref, 0, sizeof(callback_obj_ref));
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HAL_TIM_Base_DeInit(&tim_handle);
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tim_clock_disable(stm_peripherals_timer_get_index(tim_handle.Instance));
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// tim_clock_disable() takes a bitmask of timers.
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tim_clock_disable(1 << stm_peripherals_timer_get_index(tim_handle.Instance));
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memset(&tim_handle, 0, sizeof(tim_handle));
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refcount = 0;
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}
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@ -36,23 +36,24 @@
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#include "timers.h"
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#define ALL_CLOCKS 0xFFFF
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STATIC uint8_t reserved_tim[TIM_BANK_ARRAY_LEN];
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// Bitmask of channels taken.
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STATIC uint8_t tim_channels_taken[TIM_BANK_ARRAY_LEN];
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// Initial frequency timer is set to.
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STATIC uint32_t tim_frequencies[TIM_BANK_ARRAY_LEN];
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STATIC bool never_reset_tim[TIM_BANK_ARRAY_LEN];
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STATIC uint32_t timer_get_internal_duty(uint16_t duty, uint32_t period) {
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// duty cycle is duty/0xFFFF fraction x (number of pulses per period)
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return (duty * period) / ((1 << 16) - 1);
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return (duty * period) / 0xffff;
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}
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STATIC bool timer_get_optimal_divisors(uint32_t *period, uint32_t *prescaler,
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uint32_t frequency, uint32_t source_freq) {
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// Find the largest possible period supported by this frequency
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for (int i = 0; i < (1 << 16); i++) {
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*prescaler = 0;
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for (uint32_t i = 1; i <= 0xffff; i++) {
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*period = source_freq / (i * frequency);
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if (*period < (1 << 16) && *period >= 2) {
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if (*period <= 0xffff && *period >= 2) {
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*prescaler = i;
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break;
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}
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@ -62,13 +63,10 @@ STATIC bool timer_get_optimal_divisors(uint32_t *period, uint32_t *prescaler,
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}
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void pwmout_reset(void) {
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uint16_t never_reset_mask = 0x00;
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for (int i = 0; i < TIM_BANK_ARRAY_LEN; i++) {
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if (!never_reset_tim[i]) {
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reserved_tim[i] = 0x00;
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tim_frequencies[i] = 0x00;
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} else {
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never_reset_mask |= 1 << i;
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tim_channels_taken[i] = 0x00;
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tim_frequencies[i] = 0;
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}
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}
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}
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@ -78,73 +76,69 @@ pwmout_result_t common_hal_pwmio_pwmout_construct(pwmio_pwmout_obj_t *self,
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uint16_t duty,
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uint32_t frequency,
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bool variable_frequency) {
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TIM_TypeDef *TIMx;
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uint8_t tim_num = MP_ARRAY_SIZE(mcu_tim_pin_list);
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bool tim_taken_internal = false;
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bool tim_chan_taken = false;
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bool tim_taken_f_mismatch = false;
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bool var_freq_mismatch = false;
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// Default error is no timer at all on pin.
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pwmout_result_t last_failure = PWMOUT_INVALID_PIN;
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bool first_time_setup = true;
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for (uint i = 0; i < tim_num; i++) {
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const mcu_tim_pin_obj_t *l_tim = &mcu_tim_pin_list[i];
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uint8_t l_tim_index = l_tim->tim_index;
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uint8_t l_tim_channel = l_tim->channel_index;
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uint8_t tim_index;
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uint8_t tim_channel_index;
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self->tim = NULL;
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for (uint i = 0; i < MP_ARRAY_SIZE(mcu_tim_pin_list); i++) {
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const mcu_tim_pin_obj_t *tim = &mcu_tim_pin_list[i];
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tim_index = tim->tim_index;
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tim_channel_index = tim->channel_index;
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// if pin is same
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if (l_tim->pin == pin) {
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if (tim->pin == pin) {
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// check if the timer has a channel active, or is reserved by main timer system
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if (l_tim_index < TIM_BANK_ARRAY_LEN && reserved_tim[l_tim_index] != 0) {
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if (tim_index < TIM_BANK_ARRAY_LEN && tim_channels_taken[tim_index] != 0) {
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// Timer has already been reserved by an internal module
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if (stm_peripherals_timer_is_reserved(mcu_tim_banks[l_tim_index])) {
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tim_taken_internal = true;
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if (stm_peripherals_timer_is_reserved(mcu_tim_banks[tim_index])) {
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last_failure = PWMOUT_ALL_TIMERS_ON_PIN_IN_USE;
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continue; // keep looking
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}
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// is it the same channel? (or all channels reserved by a var-freq)
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if (reserved_tim[l_tim_index] & 1 << (l_tim_channel)) {
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tim_chan_taken = true;
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if (tim_channels_taken[tim_index] & (1 << tim_channel_index)) {
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last_failure = PWMOUT_ALL_TIMERS_ON_PIN_IN_USE;
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continue; // keep looking, might be another viable option
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}
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// If the frequencies are the same it's ok
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if (tim_frequencies[l_tim_index] != frequency) {
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tim_taken_f_mismatch = true;
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if (tim_frequencies[tim_index] != frequency) {
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last_failure = PWMOUT_INVALID_FREQUENCY_ON_PIN;
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continue; // keep looking
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}
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// you can't put a variable frequency on a partially reserved timer
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if (variable_frequency) {
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var_freq_mismatch = true;
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last_failure = PWMOUT_VARIABLE_FREQUENCY_NOT_AVAILABLE;
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continue; // keep looking
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}
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first_time_setup = false; // skip setting up the timer
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}
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// No problems taken, so set it up
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self->tim = l_tim;
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self->tim = tim;
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break;
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}
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}
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TIM_TypeDef *TIMx;
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// handle valid/invalid timer instance
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if (self->tim != NULL) {
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// create instance
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TIMx = mcu_tim_banks[self->tim->tim_index];
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TIMx = mcu_tim_banks[tim_index];
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// reserve timer/channel
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if (variable_frequency) {
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reserved_tim[self->tim->tim_index] = 0x0F;
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// Take all the channels.
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tim_channels_taken[tim_index] = 0x0F;
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} else {
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reserved_tim[self->tim->tim_index] |= 1 << self->tim->channel_index;
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tim_channels_taken[tim_index] |= 1 << tim_channel_index;
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}
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tim_frequencies[self->tim->tim_index] = frequency;
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tim_frequencies[tim_index] = frequency;
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stm_peripherals_timer_reserve(TIMx);
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} else { // no match found
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if (tim_chan_taken || tim_taken_internal) {
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return PWMOUT_ALL_TIMERS_ON_PIN_IN_USE;
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} else if (tim_taken_f_mismatch) {
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return PWMOUT_INVALID_FREQUENCY_ON_PIN;
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} else if (var_freq_mismatch) {
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return PWMOUT_VARIABLE_FREQUENCY_NOT_AVAILABLE;
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} else {
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return PWMOUT_INVALID_PIN;
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}
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} else {
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// no match found
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return last_failure;
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}
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uint32_t prescaler = 0; // prescaler is 15 bit
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@ -163,10 +157,10 @@ pwmout_result_t common_hal_pwmio_pwmout_construct(pwmio_pwmout_obj_t *self,
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HAL_GPIO_Init(pin_port(pin->port), &GPIO_InitStruct);
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self->pin = pin;
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tim_clock_enable(1 << (self->tim->tim_index));
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tim_clock_enable(1 << tim_index);
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// translate channel into handle value
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self->channel = 4 * self->tim->channel_index;
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// translate channel into handle value: TIM_CHANNEL_1, _2, _3, _4.
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self->channel = 4 * tim_channel_index;
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// Timer init
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self->handle.Instance = TIMx;
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@ -175,6 +169,7 @@ pwmout_result_t common_hal_pwmio_pwmout_construct(pwmio_pwmout_obj_t *self,
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self->handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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self->handle.Init.CounterMode = TIM_COUNTERMODE_UP;
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self->handle.Init.RepetitionCounter = 0;
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self->handle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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// only run init if this is the first instance of this timer
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if (first_time_setup) {
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@ -232,15 +227,15 @@ void common_hal_pwmio_pwmout_deinit(pwmio_pwmout_obj_t *self) {
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}
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// var freq shuts down entire timer, others just their channel
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if (self->variable_frequency) {
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reserved_tim[self->tim->tim_index] = 0x00;
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tim_channels_taken[self->tim->tim_index] = 0x00;
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} else {
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reserved_tim[self->tim->tim_index] &= ~(1 << self->tim->channel_index);
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tim_channels_taken[self->tim->tim_index] &= ~(1 << self->tim->channel_index);
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HAL_TIM_PWM_Stop(&self->handle, self->channel);
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}
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common_hal_reset_pin(self->pin);
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// if reserved timer has no active channels, we can disable it
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if (reserved_tim[self->tim->tim_index] == 0) {
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if (tim_channels_taken[self->tim->tim_index] == 0) {
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tim_frequencies[self->tim->tim_index] = 0x00;
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stm_peripherals_timer_free(self->handle.Instance);
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}
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@ -39,12 +39,12 @@ typedef struct {
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TIM_HandleTypeDef handle;
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TIM_OC_InitTypeDef chan_handle;
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const mcu_tim_pin_obj_t *tim;
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uint8_t channel : 7;
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bool variable_frequency : 1;
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uint16_t duty_cycle;
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uint32_t frequency;
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uint32_t period;
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const mcu_pin_obj_t *pin;
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uint16_t duty_cycle;
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uint8_t channel;
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bool variable_frequency;
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} pwmio_pwmout_obj_t;
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void pwmout_reset(void);
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@ -150,26 +150,65 @@ static size_t irq_map[] = {
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};
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// Get the frequency (in Hz) of the source clock for the given timer.
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// On STM32F405/407/415/417 there are 2 cases for how the clock freq is set.
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// If the APB prescaler is 1, then the timer clock is equal to its respective
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// APB clock. Otherwise (APB prescaler > 1) the timer clock is twice its
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// respective APB clock. See DM00031020 Rev 4, page 115.
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//
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// From STM ref manual: DM00031020 Rev 19, section 7.2, page 217:
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//
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// The timer clock frequencies for STM32F405xx/07xx and STM32F415xx/17xx are
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// automatically set by hardware. There are two cases:
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// 1. If the APB prescaler is 1, the timer clock frequencies are set to the same frequency as
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// that of the APB domain to which the timers are connected.
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// 2. Otherwise, they are set to twice (×2) the frequency of the APB domain to which the
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// timers are connected.
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// From STM ref manual: DM00031020 Rev 19, section 6.2, page 153:
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//
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// The timer clock frequencies for STM32F42xxx and STM32F43xxx are automatically set by
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// hardware. There are two cases depending on the value of TIMPRE bit in RCC_CFGR [sic - should be RCC_DKCFGR]
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// register:
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// * If TIMPRE bit in RCC_DKCFGR register is reset:
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// If the APB prescaler is configured to a division factor of 1, the timer clock frequencies
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// (TIMxCLK) are set to PCLKx. Otherwise, the timer clock frequencies are twice the
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// frequency of the APB domain to which the timers are connected: TIMxCLK = 2xPCLKx.
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// * If TIMPRE bit in RCC_DKCFGR register is set:
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// If the APB prescaler is configured to a division factor of 1, 2 or 4, the timer clock
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// frequencies (TIMxCLK) are set to HCLK. Otherwise, the timer clock frequencies is four
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// times the frequency of the APB domain to which the timers are connected: TIMxCLK = 4xPCLKx.
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uint32_t stm_peripherals_timer_get_source_freq(TIM_TypeDef *timer) {
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size_t tim_id = stm_peripherals_timer_get_index(timer);
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// The timer index starts at 0, but the timer numbers start at TIM1.
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size_t tim_id = stm_peripherals_timer_get_index(timer) + 1;
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uint32_t source, clk_div;
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if (tim_id == 1 || (8 <= tim_id && tim_id <= 11)) {
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// TIM{1,8,9,10,11} are on APB2
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source = HAL_RCC_GetPCLK2Freq();
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clk_div = RCC->CFGR & RCC_CFGR_PPRE2;
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// 0b0xx means not divided; 0b100 is divide by 2; 0b101 by 4; 0b110 by 8; 0b111 by 16.
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clk_div = (RCC->CFGR & RCC_CFGR_PPRE2) >> RCC_CFGR_PPRE2_Pos;
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} else {
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// TIM{2,3,4,5,6,7,12,13,14} are on APB1
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source = HAL_RCC_GetPCLK1Freq();
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clk_div = RCC->CFGR & RCC_CFGR_PPRE1;
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// 0b0xx means not divided; 0b100 is divide by 2; 0b101 by 4; 0b110 by 8; 0b111 by 16.
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clk_div = (RCC->CFGR & RCC_CFGR_PPRE1) >> RCC_CFGR_PPRE1_Pos;
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}
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if (clk_div != 0) {
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// APB prescaler for this timer is > 1
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// Only some STM32's have TIMPRE.
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#if defined(RCC_CFGR_TIMPRE)
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uint32_t timpre = RCC->DCKCFGR & RCC_CFGR_TIMPRE;
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if (timpre == 0) {
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if (clk_div >= 0b100) {
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source *= 2;
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}
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} else {
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if (clk_div > 0b101) {
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source *= 4;
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} else {
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source = HAL_RCC_GetHCLKFreq();
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}
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}
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#else
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if (clk_div >= 0b100) {
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source *= 2;
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}
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#endif
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return source;
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}
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@ -271,6 +310,7 @@ bool stm_peripherals_timer_is_reserved(TIM_TypeDef *instance) {
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return stm_timer_reserved[tim_idx];
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}
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// Note this returns a timer index starting at zero, corresponding to TIM1.
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size_t stm_peripherals_timer_get_index(TIM_TypeDef *instance) {
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for (size_t i = 0; i < MP_ARRAY_SIZE(mcu_tim_banks); i++) {
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if (instance == mcu_tim_banks[i]) {
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