tuber/robot/libs/stm32/hal/Src/stm32g0xx_hal_timebase_tim_template.c

/**
  ******************************************************************************
  * @file    stm32g0xx_hal_timebase_tim_template.c
  * @author  MCD Application Team
  * @brief   HAL time base based on the hardware TIM Template.
  *
  *          This file overrides the native HAL time base functions (defined as weak)
  *          the TIM time base:
  *           + Initializes the TIM peripheral to generate a Period elapsed Event each 1ms
  *           + HAL_IncTick is called inside HAL_TIM_PeriodElapsedCallback ie each 1ms
  *
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2018 STMicroelectronics. 
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
 @verbatim
  ==============================================================================
                        ##### How to use this driver #####
  ==============================================================================
    [..]
    This file must be copied to the application folder and modified as follows:
    (#) Rename it to 'stm32g0xx_hal_timebase_tim.c'
    (#) Add this file and the TIM HAL driver files to your project and make sure
       HAL_TIM_MODULE_ENABLED is defined in stm32g0xx_hal_conf.h

    [..]
    (@) The application needs to ensure that the time base is always set to 1 millisecond
       to have correct HAL operation.

  @endverbatim
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "stm32g0xx_hal.h"

/** @addtogroup STM32G0xx_HAL_Driver
  * @{
  */

/** @addtogroup HAL_TimeBase_TIM
  * @{
  */

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef TimHandle = {.Init = {0}};

/* Private function prototypes -----------------------------------------------*/
void TIM14_IRQHandler(void);
/* Private functions ---------------------------------------------------------*/

/**
  * @brief  This function configures the TIM14 as a time base source.
  *         The time source is configured to have 1ms time base with a dedicated
  *         Tick interrupt priority.
  * @note   This function is called  automatically at the beginning of program
  *         after reset by HAL_Init() or at any time when clock is configured,
  *         by HAL_RCC_ClockConfig().
  * @param  TickPriority Tick interrupt priority.
  * @retval HAL status
  */
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
  RCC_ClkInitTypeDef    clkconfig;
  uint32_t              uwTimclock;
  uint32_t              uwAPB1Prescaler;
  uint32_t              uwPrescalerValue;
  uint32_t              pFLatency;
  HAL_StatusTypeDef     status = HAL_OK;

  /* Check uwTickFreq for MisraC 2012 (even if uwTickFreq is a enum type that don't take the value zero)*/
  if ((uint32_t)uwTickFreq != 0U)
  {
    /* Enable TIM14 clock */
    __HAL_RCC_TIM14_CLK_ENABLE();

    /* Get clock configuration */
    HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);

    /* Get APB1 prescaler */
    uwAPB1Prescaler = clkconfig.APB1CLKDivider;

    /* Compute TIM14 clock */
    if (uwAPB1Prescaler == RCC_HCLK_DIV1)
    {
      uwTimclock = HAL_RCC_GetPCLK1Freq();
    }
    else
    {
      uwTimclock = 2U*HAL_RCC_GetPCLK1Freq();
    }

    /* Compute the prescaler value to have TIM14 counter clock equal to 1MHz */
    uwPrescalerValue = (uint32_t)((uwTimclock / 1000000U) - 1U);

    /* Initialize TIM14 */
    TimHandle.Instance = TIM14;

    /* Initialize TIMx peripheral as follow:
    + Period = [(TIM14CLK/uwTickFreq) - 1]. to have a (1/uwTickFreq) s time base.
    + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
    + ClockDivision = 0
    + Counter direction = Up
    */
    TimHandle.Init.Period = (1000000U / (1000U / (uint32_t)uwTickFreq)) - 1U;
    TimHandle.Init.Prescaler = uwPrescalerValue;
    TimHandle.Init.ClockDivision = 0U;
    TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
    TimHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    if (HAL_TIM_Base_Init(&TimHandle) == HAL_OK)
    {
      /* Start the TIM time Base generation in interrupt mode */
      if (HAL_TIM_Base_Start_IT(&TimHandle) == HAL_OK)
      {
        /* Enable the TIM14 global Interrupt */
        HAL_NVIC_EnableIRQ(TIM14_IRQn);

        /* Configure the SysTick IRQ priority */
        if (TickPriority < (1UL << __NVIC_PRIO_BITS))
        {
          /*Configure the TIM14 IRQ priority */
          HAL_NVIC_SetPriority(TIM14_IRQn, TickPriority,0U);
          uwTickPrio = TickPriority;
        }
        else
        {
          status = HAL_ERROR;
        }
      }
      else
      {
        status = HAL_ERROR;
      }
    }
    else
    {
      status = HAL_ERROR;
    }
  }
  else
  {
      status = HAL_ERROR;
  }

  /* Return function status */
  return status;
}

/**
  * @brief  Suspend Tick increment.
  * @note   Disable the tick increment by disabling TIM14 update interrupt.
  * @retval None
  */
void HAL_SuspendTick(void)
{
  /* Disable TIM14 update interrupt */
  __HAL_TIM_DISABLE_IT(&TimHandle, TIM_IT_UPDATE);
}

/**
  * @brief  Resume Tick increment.
  * @note   Enable the tick increment by enabling TIM14 update interrupt.
  * @retval None
  */
void HAL_ResumeTick(void)
{
  /* Enable TIM14 update interrupt */
  __HAL_TIM_ENABLE_IT(&TimHandle, TIM_IT_UPDATE);
}

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM14 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  HAL_IncTick();
}

/**
  * @brief  This function handles TIM interrupt request.
  * @retval None
  */
void TIM14_IRQHandler(void)
{
  HAL_TIM_IRQHandler(&TimHandle);
}

/**
  * @}
  */

/**
  * @}
  */