ICU driver functional.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2857 35acf78f-673a-0410-8e92-d51de3d6d3f4

os/hal/include/icu.h

@@ -130,8 +130,8 @@ extern "C" {
   void icuObjectInit(ICUDriver *icup);
   void icuStart(ICUDriver *icup, const ICUConfig *config);
   void icuStop(ICUDriver *icup);
-  void icuEnableI(ICUDriver *icup);
+  void icuEnable(ICUDriver *icup);
-  void icuDisableI(ICUDriver *icup);
+  void icuDisable(ICUDriver *icup);
 #ifdef __cplusplus
 }
 #endif

os/hal/platforms/STM32/icu_lld.c

@@ -91,12 +91,18 @@ ICUDriver ICUD5;
 static void icu_lld_serve_interrupt(ICUDriver *icup) {
   uint16_t sr;
 
-  sr = TIM1->SR & TIM1->DIER;
+  sr = icup->tim->SR & icup->tim->DIER;
   icup->tim->SR = 0;
-  if ((sr & TIM_SR_CC1IF) != 0)
+  if ((sr & TIM_SR_CC1IF) != 0) {
-    icup->config->period_cb(icup);
+    icustate_t previous_state = icup->state;
-  if ((sr & TIM_SR_CC2IF) != 0)
+    icup->state = ICU_ACTIVE;
+    if (previous_state != ICU_WAITING)
+      icup->config->period_cb(icup);
+  }
+  if ((sr & TIM_SR_CC2IF) != 0) {
+    icup->state = ICU_IDLE;
     icup->config->width_cb(icup);
+  }
 }
 
 /*===========================================================================*/

os/hal/platforms/STM32/icu_lld.h

@@ -223,7 +223,6 @@ struct ICUDriver {
 /* Driver macros.                                                            */
 /*===========================================================================*/
 
-
 /**
  * @brief   Returns the width of the latest pulse.
  * @details The pulse width is defined as number of ticks between the start
@@ -234,7 +233,7 @@ struct ICUDriver {
  *
  * @notapi
  */
-#define icu_lld_get_width(icup) ((icup)->tim->CCR2)
+#define icu_lld_get_width(icup) ((icup)->tim->CCR2 + 1)
 
 /**
  * @brief   Returns the width of the latest cycle.
@@ -246,29 +245,7 @@ struct ICUDriver {
  *
  * @notapi
  */
-#define icu_lld_get_period(icup) ((icup)->tim->CCR1)
+#define icu_lld_get_period(icup) ((icup)->tim->CCR1 + 1)
-
-/**
- * @brief   ICU clock prescaler initialization utility.
- * @note    The real clock value is rounded to the lower valid value, please
- *          make sure that the source clock frequency is a multiple of the
- *          requested ICU clock frequency.
- * @note    The calculated value must fit into an unsigned 16 bits integer.
- *
- * @param[in] clksrc    clock source frequency, depending on the target timer
- *                      cell it can be one of:
- *                      - STM32_TIMCLK1
- *                      - STM32_TIMCLK2
- *                      .
- *                      Please refer to the STM32 HAL driver documentation
- *                      and/or the STM32 Reference Manual for the right clock
- *                      source.
- * @param[in] icuclk    ICU clock frequency in cycles
- * @return              The value to be stored in the @p psc field of the
- *                      @p ICUConfig structure.
- */
-#define ICU_COMPUTE_PSC(clksrc, icuclk)                                     \
-  ((uint16_t)(((clksrc) / (icuclk)) - 1))
 
 /*===========================================================================*/
 /* External declarations.                                                    */

os/hal/src/hal.c

@@ -73,6 +73,9 @@ void halInit(void) {
 #if HAL_USE_I2C || defined(__DOXYGEN__)
   i2cInit();
 #endif
+#if HAL_USE_ICU || defined(__DOXYGEN__)
+  icuInit();
+#endif
 #if HAL_USE_MAC || defined(__DOXYGEN__)
   macInit();
 #endif

testhal/STM32/PWM/main.c

@@ -46,6 +46,25 @@ static PWMConfig pwmcfg = {
   0
 };
 
+icucnt_t last_width, last_period;
+
+static void icuwidthcb(ICUDriver *icup) {
+
+  last_width = icuGetWidthI(icup);
+}
+
+static void icuperiodcb(ICUDriver *icup) {
+
+  last_period = icuGetPeriodI(icup);
+}
+
+static ICUConfig icucfg = {
+  ICU_INPUT_ACTIVE_HIGH,
+  10000,                                    /* 10KHz ICU clock frequency.   */
+  icuwidthcb,
+  icuperiodcb
+};
+
 /*
  * Application entry point.
  */
@@ -71,6 +90,8 @@ int main(void) {
    */
   pwmStart(&PWMD1, &pwmcfg);
   palSetPadMode(IOPORT1, 8, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
+  icuStart(&ICUD4, &icucfg);
+  icuEnable(&ICUD4);
   chThdSleepMilliseconds(2000);
 
   /*
@@ -97,6 +118,8 @@ int main(void) {
    */
   pwmDisableChannel(&PWMD1, 0);
   pwmStop(&PWMD1);
+  icuDisable(&ICUD4);
+  icuStop(&ICUD4);
   palSetPad(IOPORT3, GPIOC_LED);
 
   /*

testhal/STM32/PWM/mcuconf.h

@@ -78,9 +78,9 @@
  * ICU driver system settings.
  */
 #define STM32_ICU_USE_TIM1                  FALSE
-#define STM32_ICU_USE_TIM2                  TRUE
+#define STM32_ICU_USE_TIM2                  FALSE
 #define STM32_ICU_USE_TIM3                  FALSE
-#define STM32_ICU_USE_TIM4                  FALSE
+#define STM32_ICU_USE_TIM4                  TRUE
 #define STM32_ICU_USE_TIM5                  FALSE
 #define STM32_ICU_TIM1_IRQ_PRIORITY         7
 #define STM32_ICU_TIM2_IRQ_PRIORITY         7

testhal/STM32/PWM/readme.txt

@@ -1,5 +1,5 @@
 *****************************************************************************
-** ChibiOS/RT HAL - PWM driver demo for STM32.                             **
+** ChibiOS/RT HAL - PWM/ICU driver demo for STM32.                         **
 *****************************************************************************
 
 ** TARGET **
@@ -8,7 +8,9 @@ The demo will on an Olimex STM32-P103 board.
 
 ** The Demo **
 
-The application demonstrates the use of the STM32 PWM driver.
+The application demonstrates the use of the STM32 PWM and ICU drivers. Pins
+PA8 and PB6 must be connected in order to trigger the ICU input with the
+PWM output. The ICU unit will measure the generated PWM.
 
 ** Build Procedure **