IMPR: add custom timer (systick)

3 files changed, 77 insertions, 70 deletions

diff --git a/cm3cpp_i2c.cpp b/cm3cpp_i2c.cpp
index a8cbefd..845a8d4 100644
--- a/cm3cpp_i2c.cpp
+++ b/cm3cpp_i2c.cpp
@@ -29,7 +29,7 @@ namespace cm3cpp {
 
 namespace i2c {
 
-I2c::I2c(Config i2c_conf)
+I2c::I2c(Config i2c_conf) : _counter_ms(new systick::Counter(systick::Counter::Mode::ONE_SHOT, MAX_TRANSMIT_TIME_MS))
 {
 	_config = i2c_conf;
 
@@ -49,12 +49,6 @@ I2c::I2c(Config i2c_conf)
 	sda.mode_setup(Gpio::Mode::ALTERNATE_FUNCTION, Gpio::PullMode::NO_PULL);
 	sda.set_output_options(Gpio::OutputType::OPEN_DRAIN, Gpio::Speed::LOW_2MHz);
 	sda.set_af(Gpio::AltFuncNumber::AF4);
-
-#ifndef FREERTOS
-	_counter_ms->init(systick::Counter::Mode::ONE_SHOT, MAX_TRANSMIT_TIME_MS);
-#else
-	//_counter_ms = new timers::OneShotTimer(MAX_TRANSMIT_TIME_MS);
-#endif
 }
 
 void I2c::reset() {
@@ -168,25 +162,25 @@ auto I2c::master_transfer(MasterTransferCfg cfg) -> Result
 	uint32_t reg __attribute__((unused));
 	Result result = OK;
 
-	//_counter_ms->start();
+	_counter_ms->start();
 
 	_send_start();
-	while (_get_flag_status(MASTER_MODE_SELECTED) == Result::ERROR);
-//	{
-//		if(_counter_ms->timeout()) {
-//			result = TIMEOUT;
-//		    break;
-//		}
-//	}
+	while (_get_flag_status(MASTER_MODE_SELECTED) == Result::ERROR)
+	{
+		if(_counter_ms->timeout()) {
+			result = TIMEOUT;
+		    break;
+		}
+	}
 
 	_send_7bit_address(cfg.device_address, WRITE);
-	while (_get_flag_status(MASTER_TRANSMITTER_MODE_SELECTED) == Result::ERROR);
-//	{
-//		if(_counter_ms->timeout()) {
-//			result = TIMEOUT;
-//		   break;
-//		}
-//	}
+	while (_get_flag_status(MASTER_TRANSMITTER_MODE_SELECTED) == Result::ERROR)
+	{
+		if(_counter_ms->timeout()) {
+			result = TIMEOUT;
+		   break;
+		}
+	}
 
     uint8_t index = 0;
 
@@ -194,13 +188,13 @@ auto I2c::master_transfer(MasterTransferCfg cfg) -> Result
     {
     	_send_data(cfg.write_buf[index]);
 
-    	while (_get_flag_status(MASTER_BYTE_TRANSMITTED) == Result::ERROR);
-//    	{
-//    		if(_counter_ms->timeout()) {
-//    			result = TIMEOUT;
-//    			break;
-//    		}
-//    	}
+    	while (_get_flag_status(MASTER_BYTE_TRANSMITTED) == Result::ERROR)
+    	{
+    		if(_counter_ms->timeout()) {
+    			result = TIMEOUT;
+    			break;
+    		}
+    	}
 
     	cfg.write_len--;
         index++;
@@ -208,24 +202,24 @@ auto I2c::master_transfer(MasterTransferCfg cfg) -> Result
 
     if(cfg.read_len != 0) {
     	_send_start();
-    	while (_get_flag_status(MASTER_MODE_SELECTED) == Result::ERROR);
-//    	{
-//    		if(_counter_ms->timeout()) {
-//    			result = TIMEOUT;
-//    			break;
-//    		}
-//    	}
+    	while (_get_flag_status(MASTER_MODE_SELECTED) == Result::ERROR)
+    	{
+    		if(_counter_ms->timeout()) {
+    			result = TIMEOUT;
+    			break;
+    		}
+    	}
 
     	_enable_ack();
 
     	_send_7bit_address(cfg.device_address, READ);
-    	while (_get_flag_status(MASTER_RECEIVER_MODE_SELECTED) == Result::ERROR);
-//    	{
-//    		if(_counter_ms->timeout()) {
-//    			result = TIMEOUT;
-//    			break;
-//    		}
-//    	}
+    	while (_get_flag_status(MASTER_RECEIVER_MODE_SELECTED) == Result::ERROR)
+    	{
+    		if(_counter_ms->timeout()) {
+    			result = TIMEOUT;
+    			break;
+    		}
+    	}
 
     	uint8_t size_to_read = cfg.read_len;
     	index = 0;
@@ -235,13 +229,13 @@ auto I2c::master_transfer(MasterTransferCfg cfg) -> Result
     		size_to_read--;
     		if (!size_to_read)
     			_disable_ack();
-    		while (_get_flag_status(MASTER_BYTE_RECEIVED) == Result::ERROR);
-//    		{
-//    			if(_counter_ms->timeout()) {
-//    				result = TIMEOUT;
-//    				break;
-//    			}
-//    		}
+    		while (_get_flag_status(MASTER_BYTE_RECEIVED) == Result::ERROR)
+    		{
+    			if(_counter_ms->timeout()) {
+    				result = TIMEOUT;
+    				break;
+    			}
+    		}
 
     		uint8_t data = _get_data();
     		cfg.read_buf[index] = data;
@@ -250,7 +244,7 @@ auto I2c::master_transfer(MasterTransferCfg cfg) -> Result
     }
 
     _send_stop();
-    //_counter_ms->stop();
+    _counter_ms->stop();
 
     return result;
 }
diff --git a/cm3cpp_i2c.h b/cm3cpp_i2c.h
index 4daf405..49cb775 100644
--- a/cm3cpp_i2c.h
+++ b/cm3cpp_i2c.h
@@ -32,11 +32,7 @@ I2C C++ Wrapper of libopencm3 library for STM32F2, STM32F4
 #include "cm3cpp_gpio.h"
 #include "private/assert.h"
 
-#ifndef FREERTOS
 #include "cm3cpp_systick.h"
-#else
-#include <timers/OneShotTimer.hpp>
-#endif
 
 namespace cm3cpp {
 
@@ -196,11 +192,7 @@ private:
 	uint32_t _i2c;
 	Config _config;
 
-#ifndef FREERTOS
 	systick::Counter *_counter_ms;
-#else
-	//timers::OneShotTimer *_counter_ms;
-#endif
 
 	void _send_start();
 	void _send_stop();
diff --git a/cm3cpp_systick.cpp b/cm3cpp_systick.cpp
index de73941..84528b6 100644
--- a/cm3cpp_systick.cpp
+++ b/cm3cpp_systick.cpp
@@ -29,6 +29,8 @@ extern "C" {
     void CM3CPP_SYS_TICK_INT_FUNC(void);
 }
 #include "libopencm3/stm32/timer.h"
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3_cpp_extensions/irq/cm3cpp_irq.h>
 #else
 #define CM3CPP_SYS_TICK_INT_FUNC sys_tick_handler
 #endif
@@ -38,10 +40,10 @@ volatile uint32_t counter;
 void CM3CPP_SYS_TICK_INT_FUNC(void)
 {
 #if CM3CPP_ENABLE_CUSTOM_SYSTICK_SOURCE == 1
-    if (timer_get_flag(CM3CPP_INT_SOURCE, TIM_SR_UIF)) {
-        timer_clear_flag(CM3CPP_INT_SOURCE, TIM_SR_UIF);
-        counter++;
-    }
+//    if (timer_get_flag(CM3CPP_INT_SOURCE, TIM_SR_UIF)) {
+//        timer_clear_flag(CM3CPP_INT_SOURCE, TIM_SR_UIF);
+//        counter++;
+//    }
 #else
     counter++;
 #endif
@@ -61,24 +63,43 @@ namespace systick {
 
 void delay_systick(uint32_t ms)
 {
-	uint32_t time = counter;
-	while((counter - time) < ms);
+	uint32_t time = get_counter();
+	while((get_counter() - time) < ms);
 }
 
-//by default sets up a timer to create 1ms ticks (div = 1000)
-//at system clock 120mhz.
+
 void init(uint32_t div)
 {
+#if CM3CPP_ENABLE_CUSTOM_SYSTICK_SOURCE == 1
+
+	timer_reset(CM3CPP_INT_SOURCE);
+	timer_set_mode(CM3CPP_INT_SOURCE, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+	timer_set_prescaler(CM3CPP_INT_SOURCE, ((rcc_apb1_frequency * 2) / 1000) - 1); // 1 kHz
+	timer_disable_preload(CM3CPP_INT_SOURCE);
+	timer_continuous_mode(CM3CPP_INT_SOURCE);
+	timer_set_period(CM3CPP_INT_SOURCE, 0xffff); // 65535 or (UINT32_MAX - 1)
+	timer_enable_counter(CM3CPP_INT_SOURCE);
+//	nvic_enable_irq(NVIC_TIM1_CC_IRQ);
+//	timer_enable_irq(TIM1, TIM_DIER_UIE);
+
+#else
+	//by default sets up a timer to create 1ms ticks (div = 1000)
+	//at system clock 120mhz.
 	counter = 0;
 	systick_set_reload(CM3CPP_SYSTEM_CORE_CLOCK / div);
 	systick_set_clocksource(STK_CSR_CLKSOURCE_AHB);
 	systick_counter_enable();
 	systick_interrupt_enable();
+#endif
 }
 
 uint32_t get_counter()
 {
+#if CM3CPP_ENABLE_CUSTOM_SYSTICK_SOURCE == 1
+	return timer_get_counter(CM3CPP_INT_SOURCE);
+#else
 	return counter;
+#endif
 }
 
 Counter::Counter(Mode mode, uint32_t period)
@@ -105,11 +126,11 @@ void Counter::init(Mode mode, uint32_t period)
 
 bool Counter::timeout()
 {
-	if (_is_active && ((counter - _saved) >= _period)) {
+	if (_is_active && ((get_counter() - _saved) >= _period)) {
 		switch (_mode)
 		{
 			case CYCLE:
-				_saved = counter;
+				_saved = get_counter();
 				return true;
 			case ONE_SHOT:
 				return true;
@@ -123,7 +144,7 @@ bool Counter::start()
 {
 	if(_mode == CYCLE)
 		return false;
-	_saved = counter;
+	_saved = get_counter();
 	_is_active = true;
 	return true;
 }