[Timer] Add channels support

Author: Tjeerdie

cores/arduino/stm32/timer.c

@@ -811,10 +811,11 @@ uint32_t getTimerClkFreq(TIM_TypeDef *tim)
   */
 void TimerPulseInit(stimer_t *obj, uint16_t period, uint16_t pulseWidth, void (*irqHandle)(stimer_t *, uint32_t))
 {
-  TIM_OC_InitTypeDef sConfig = {};
   TIM_HandleTypeDef *handle = &(obj->handle);
 
-  obj->timer = TIMER_SERVO;
+  if (obj->timer == NULL) {
+    obj->timer = TIMER_SERVO;
+  }
 
   //min pulse = 1us - max pulse = 65535us
   handle->Instance               = obj->timer;
@@ -827,28 +828,7 @@ void TimerPulseInit(stimer_t *obj, uint16_t period, uint16_t pulseWidth, void (*
 #endif
   obj->irqHandleOC = irqHandle;
 
-  sConfig.OCMode        = TIM_OCMODE_TIMING;
-  sConfig.Pulse         = pulseWidth;
-  sConfig.OCPolarity    = TIM_OCPOLARITY_HIGH;
-  sConfig.OCFastMode    = TIM_OCFAST_DISABLE;
-#if !defined(STM32L0xx) && !defined(STM32L1xx)
-  sConfig.OCNPolarity   = TIM_OCNPOLARITY_HIGH;
-  sConfig.OCIdleState   = TIM_OCIDLESTATE_RESET;
-  sConfig.OCNIdleState  = TIM_OCNIDLESTATE_RESET;
-#endif
-  HAL_NVIC_SetPriority(getTimerIrq(obj->timer), 14, 0);
-  HAL_NVIC_EnableIRQ(getTimerIrq(obj->timer));
-
-  if (HAL_TIM_OC_Init(handle) != HAL_OK) {
-    return;
-  }
-
-  if (HAL_TIM_OC_ConfigChannel(handle, &sConfig, TIM_CHANNEL_1) != HAL_OK) {
-    return;
-  }
-  if (HAL_TIM_OC_Start_IT(handle, TIM_CHANNEL_1) != HAL_OK) {
-    return;
-  }
+  attachIntHandleOC(obj, NULL, 1, pulseWidth);
 }
 
 /**
@@ -859,8 +839,11 @@ void TimerPulseInit(stimer_t *obj, uint16_t period, uint16_t pulseWidth, void (*
 void TimerPulseDeinit(stimer_t *obj)
 {
   TIM_HandleTypeDef *handle = &(obj->handle);
-
   obj->irqHandleOC = NULL;
+  obj->irqHandleOC_CH1 = NULL;
+  obj->irqHandleOC_CH2 = NULL;
+  obj->irqHandleOC_CH3 = NULL;
+  obj->irqHandleOC_CH4 = NULL;
 
   HAL_NVIC_DisableIRQ(getTimerIrq(obj->timer));
 
@@ -915,17 +898,36 @@ void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim)
 {
   uint32_t channel = 0;
   stimer_t *obj = get_timer_obj(htim);
-
-  if (obj->irqHandleOC != NULL) {
-    switch (htim->Channel) {
-      case HAL_TIM_ACTIVE_CHANNEL_1:
-        channel = TIM_CHANNEL_1 / 4;
-        break;
-      default:
-        return;
-        break;
-    }
-    obj->irqHandleOC(obj, channel);
+  switch (htim->Channel) {
+    case HAL_TIM_ACTIVE_CHANNEL_1:
+      channel = TIM_CHANNEL_1 / 4;
+      if (obj->irqHandleOC_CH1 != NULL) {
+        obj->irqHandleOC_CH1();
+      }
+      if (obj->irqHandleOC != NULL) {
+        obj->irqHandleOC(obj, channel);
+      }
+      break;
+    case HAL_TIM_ACTIVE_CHANNEL_2:
+      channel = TIM_CHANNEL_2 / 4;
+      if (obj->irqHandleOC_CH2 != NULL) {
+        obj->irqHandleOC_CH2();
+      }
+      break;
+    case HAL_TIM_ACTIVE_CHANNEL_3:
+      if (obj->irqHandleOC_CH3 != NULL) {
+        obj->irqHandleOC_CH3();
+      }
+      channel = TIM_CHANNEL_3 / 4;
+      break;
+    case HAL_TIM_ACTIVE_CHANNEL_4:
+      if (obj->irqHandleOC_CH4 != NULL) {
+        obj->irqHandleOC_CH4();
+      }
+      channel = TIM_CHANNEL_4 / 4;
+      break;
+    default:
+      break;
   }
 }
 
@@ -1095,6 +1097,64 @@ void attachIntHandle(stimer_t *obj, void (*irqHandle)(stimer_t *))
   obj->irqHandle = irqHandle;
 }
 
+/**
+  * @brief  This function will attach timer interrupt to with a particular duty cycle on channel x
+  * @param  timer_id : timer_id_e
+  * @param  irqHandle : interrupt routine to call
+  * @param  timChannel : timer channel
+  * @param  pulseWidth : phase of the timer where the callback will happen
+  * @retval None
+  */
+void attachIntHandleOC(stimer_t *obj, void (*irqHandle)(void), uint16_t timChannel, uint16_t pulseWidth)
+{
+  TIM_OC_InitTypeDef sConfig = {};
+  TIM_HandleTypeDef *handle = &(obj->handle);
+
+  sConfig.OCMode        = TIM_OCMODE_TIMING;
+  sConfig.Pulse         = pulseWidth;
+  sConfig.OCPolarity    = TIM_OCPOLARITY_HIGH;
+  sConfig.OCFastMode    = TIM_OCFAST_DISABLE;
+#if !defined(STM32L0xx) && !defined(STM32L1xx)
+  sConfig.OCNPolarity   = TIM_OCNPOLARITY_HIGH;
+  sConfig.OCIdleState   = TIM_OCIDLESTATE_RESET;
+  sConfig.OCNIdleState  = TIM_OCNIDLESTATE_RESET;
+#endif
+  HAL_NVIC_SetPriority(getTimerIrq(obj->timer), 14, 0);
+  HAL_NVIC_EnableIRQ(getTimerIrq(obj->timer));
+
+  if (HAL_TIM_OC_Init(handle) != HAL_OK) {
+    return;
+  }
+  switch (timChannel) {
+    case 1:
+      obj->irqHandleOC_CH1 = irqHandle;
+      if (HAL_TIM_OC_ConfigChannel(handle, &sConfig, TIM_CHANNEL_1) == HAL_OK) {
+        HAL_TIM_OC_Start_IT(handle, TIM_CHANNEL_1);
+      }
+      break;
+    case 2:
+      obj->irqHandleOC_CH2 = irqHandle;
+      if (HAL_TIM_OC_ConfigChannel(handle, &sConfig, TIM_CHANNEL_2) != HAL_OK) {
+        HAL_TIM_OC_Start_IT(handle, TIM_CHANNEL_2);
+      }
+      break;
+    case 3:
+      obj->irqHandleOC_CH3 = irqHandle;
+      if (HAL_TIM_OC_ConfigChannel(handle, &sConfig, TIM_CHANNEL_3) != HAL_OK) {
+        HAL_TIM_OC_Start_IT(handle, TIM_CHANNEL_3);
+      }
+      break;
+    case 4:
+      obj->irqHandleOC_CH4 = irqHandle;
+      if (HAL_TIM_OC_ConfigChannel(handle, &sConfig, TIM_CHANNEL_4) != HAL_OK) {
+        HAL_TIM_OC_Start_IT(handle, TIM_CHANNEL_4);
+      }
+      break;
+    default:
+      break;
+  }
+  return;
+}
 
 /******************************************************************************/
 /*                            TIMx IRQ HANDLER                                */

cores/arduino/stm32/timer.h

@@ -68,6 +68,10 @@ struct timer_s {
   uint8_t idx;
   void (*irqHandle)(stimer_t *);
   void (*irqHandleOC)(stimer_t *, uint32_t);
+  void (*irqHandleOC_CH1)(void);
+  void (*irqHandleOC_CH2)(void);
+  void (*irqHandleOC_CH3)(void);
+  void (*irqHandleOC_CH4)(void);
   PinName pin;
   volatile timerPinInfo_t pinInfo;
 };
@@ -216,6 +220,7 @@ uint8_t getTimerClkSrc(TIM_TypeDef *tim);
 uint32_t getTimerClkFreq(TIM_TypeDef *tim);
 
 void attachIntHandle(stimer_t *obj, void (*irqHandle)(stimer_t *));
+void attachIntHandleOC(stimer_t *obj, void (*irqHandle)(void), uint16_t timChannel, uint16_t pulseWidth);
 
 #ifdef __cplusplus
 }