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timer.c
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timer.c
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/*
Copyright 2019 Benjamin Vedder [email protected]
This file is part of the VESC firmware.
The VESC firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
The VESC firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "timer.h"
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
// Settings
#define TIMER_HZ 1e7
void timer_init(void) {
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
uint16_t PrescalerValue = (uint16_t) ((SYSTEM_CORE_CLOCK / 2) / TIMER_HZ) - 1;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
TIM5->CNT = 0;
TIM_Cmd(TIM5, ENABLE);
}
uint32_t timer_time_now(void) {
return TIM5->CNT;
}
float timer_seconds_elapsed_since(uint32_t time) {
uint32_t diff = TIM5->CNT - time;
return (float)diff / (float)TIMER_HZ;
}
/**
* Blocking sleep based on timer.
*
* @param seconds
* Seconds to sleep.
*/
void timer_sleep(float seconds) {
uint32_t start_t = TIM5->CNT;
for (;;) {
if (timer_seconds_elapsed_since(start_t) >= seconds) {
return;
}
}
}