a8000_subboard/sdk/chip/ztim.cpp

#include "ztim.hpp"

#include "irq_dispatcher/ztim_irq_dispatcher.hpp"
using namespace iflytop;

void ZTIM::initialize(zchip_tim_t *htim, mode_t mode) {
  m_htim = htim;
  m_mode = mode;

  if (m_mode == ktm_pwm) {
    ZEARLY_ASSERT(m_htim->Init.AutoReloadPreload == TIM_AUTORELOAD_PRELOAD_ENABLE);
    ZEARLY_ASSERT(m_htim->Init.CounterMode == TIM_COUNTERMODE_UP);
    ZEARLY_ASSERT(m_htim->Channel)
  }
}
ZTIM::mode_t ZTIM::getMode() { return m_mode; }

/******************************************************
 *                   kTimMode_timer                   *
 ******************************************************/

/**
 * @brief startTimer
 *
 * @param periodus 定时器周期
 * @param onirq 回调函数，如果为null,则使用上次注册的回调函数
 */

void ZTIM::simpleTimer_startByPeriod(uint32_t periodus) { simpleTimer_startByFreq(1000000.0 / periodus); }
void ZTIM::simpleTimer_startByFreq(float freq) {
  ZEARLY_ASSERT(m_htim->Init.AutoReloadPreload == TIM_AUTORELOAD_PRELOAD_ENABLE)
  m_timer_start = true;

  uint32_t prescaler  = 0;
  uint32_t autoreload = 0;

  uint32_t timClkFreq = chip_get_timer_clock_sorce_freq(m_htim);

  ZEARLY_ASSERT(chip_calculate_prescaler_and_autoreload_by_expect_freq(timClkFreq, freq, &prescaler, &autoreload));

  __HAL_TIM_SET_AUTORELOAD(m_htim, autoreload);
  __HAL_TIM_SET_PRESCALER(m_htim, prescaler);

  HAL_TIM_Base_Start_IT(m_htim);

  ZIRQDispatcher::instance().regListener([this](zchip_tim_t *tim) {
    if (tim != m_htim) return;
    if (m_timer_start && m_simpleTimer_cb) m_simpleTimer_cb();
  });
}
void ZTIM::simpleTimer_stop() {
  m_timer_start = false;
  HAL_TIM_Base_Stop(m_htim);
}

void ZTIM::setPWMFreq(float freq) {
  uint32_t prescaler  = 0;
  uint32_t autoreload = 0;

  uint32_t timClkFreq = chip_get_timer_clock_sorce_freq(m_htim);
  ZEARLY_ASSERT(chip_calculate_prescaler_and_autoreload_by_expect_freq(timClkFreq, freq, &prescaler, &autoreload));
  __HAL_TIM_SET_AUTORELOAD(m_htim, autoreload);
  __HAL_TIM_SET_PRESCALER(m_htim, prescaler);
}
void ZTIM::setPWMPolarity(uint32_t Channel, uint32_t Polarity) { m_timpwmPolarity[Channel] = Polarity; }

void ZTIM::startPWM(uint32_t Channel, float duty) {
  /**
   * @brief
   */
  TIM_OC_InitTypeDef sConfigOC = {0};
  sConfigOC.OCMode             = TIM_OCMODE_PWM1;
  sConfigOC.Pulse              = duty / 100.0 * __HAL_TIM_GET_AUTORELOAD(m_htim);
  sConfigOC.OCPolarity         = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode         = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState        = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState       = TIM_OCNIDLESTATE_RESET;

  if (HAL_TIM_PWM_ConfigChannel(m_htim, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) {
    Error_Handler();
  }
  HAL_TIM_PWM_Start(m_htim, Channel);
}
void ZTIM::stopPWM(uint32_t Channel) { startPWM(Channel, 100); }