Changed the time module to use the TIM6 module and the generic TTime data object.

Makefile

@@ -7,6 +7,7 @@ TARGET_FILES=src/bioloid_stm32.c
 TARGET_FILES+=src/system_stm32f4xx.c
 TARGET_FILES+=src/stm32f4xx_hal_msp.c
 TARGET_FILES+=src/gpio.c
+TARGET_FILES+=src/bioloid_time.c
 TARGET_PROCESSOR=STM32F407VG
 
 HAL_PATH=../../STM32_processor/hal/f4

include/bioloid_time.h

+#ifndef _BIOLOID_TIME_H
+#define _BIOLOID_TIME_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "stm32f4xx_hal.h"
+
+void bioloid_time_init(void);
+unsigned long long int bioloid_time_get_counts(void);
+inline unsigned int bioloid_time_get_counts_per_us(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

include/stm32_time.h

-#ifndef _STM32_TIME_H
-#define _STM32_TIME_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "stm32f4xx.h"
-#include "system_stm32f4xx.h"
-
-void time_init(void);
-void delay_ms(__IO uint32_t time);
-void delay_us(uint32_t us);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif

src/bioloid_stm32.c

 #include "stm32f4xx_hal.h"
 #include "gpio.h"
+#include "bioloid_time.h"
+#include "stm32_time.h"
 
 int32_t main(void)
 {
-//  uint16_t eeprom_data,period;
+  TTime timer;
+  int i;
 
-  /* initialize EEPROM */
-//  EE_Init();
-  // initialize the Dynamixel RAM memory space
-//  ram_init();
-  /* initialize the 1ms system timer */
-//  time_init();
+  HAL_Init();
   /* initialize the gpio */
   gpio_init();
-  /* initialize the dynamixel master interface */
-//  dyn_master_init();  
-//  dyn_master_set_timeout(20);
-//  /* initialize the dynamixel slave interface*/
-//  dyn_slave_init();
-//  EE_ReadVariable(DEVICE_ID_OFFSET,&eeprom_data);
-//  dyn_slave_set_address((uint8_t)eeprom_data);
-//  EE_ReadVariable(RETURN_DELAY_OFFSET,&eeprom_data);
-//  dyn_slave_set_return_delay((uint8_t)eeprom_data);
-//  EE_ReadVariable(RETURN_LEVEL_OFFSET,&eeprom_data);
-//  dyn_slave_set_return_level((uint8_t)eeprom_data);
-  /* initialize the IMU */
-//  imu_init();
-  // initialize the Analog to digital converter
-//  adc_init();
-  // initialize motion manager
-//  EE_ReadVariable(MM_PERIOD_OFFSET,&eeprom_data);
-//  period=eeprom_data&0x00FF;
-//  EE_ReadVariable(MM_PERIOD_OFFSET+1,&eeprom_data);
-//  period+=((eeprom_data&0x00FF)<<8);
-//  manager_init(period);
-  /* initialize communications module */
-//  comm_init();
-//  comm_start();
+  /* initialize the time module */
+  bioloid_time_init();
 
-  while(1);
+  time_init(&timer, bioloid_time_get_counts_per_us(), bioloid_time_get_counts);
+
+  while(1)
+  {
+    for(i=0;i<10000;i++)
+      time_delay_us(&timer,100);
+    gpio_toggle_led(USER1_LED);
+  }
 }
 

src/bioloid_time.c

+#include "bioloid_time.h"
+
+TIM_HandleTypeDef us_timer_Handle;
+unsigned long long int timer_counts;
+unsigned short int timer_counts_per_us;
+
+// interrupt service routines
+void SysTick_Handler(void)
+{
+  HAL_IncTick();
+  HAL_SYSTICK_IRQHandler();
+}
+
+void TIM6_DAC_IRQHandler(void)
+{
+  /* TIM Update event */
+  if(__HAL_TIM_GET_FLAG(&us_timer_Handle, TIM_FLAG_UPDATE) != RESET)
+  {
+    if(__HAL_TIM_GET_IT_SOURCE(&us_timer_Handle, TIM_IT_UPDATE) !=RESET)
+    {
+      __HAL_TIM_CLEAR_IT(&us_timer_Handle, TIM_IT_UPDATE);
+      timer_counts++;
+    }
+  }
+}
+
+// public functions
+void bioloid_time_init(void)
+{
+  TIM_MasterConfigTypeDef sMasterConfig;
+
+  /* initialize internal variables */
+  timer_counts=0;
+  timer_counts_per_us=(SystemCoreClock/2000000)+1;
+
+  /* configure timer */
+  __TIM6_CLK_ENABLE();
+  us_timer_Handle.Instance = TIM6;
+  us_timer_Handle.Init.Prescaler = 0;
+  us_timer_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
+  us_timer_Handle.Init.Period = 0xFFFF;
+  HAL_TIM_Base_Init(&us_timer_Handle);
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  HAL_TIMEx_MasterConfigSynchronization(&us_timer_Handle, &sMasterConfig);
+
+  /* configure timer interrupts */
+  HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+  HAL_TIM_Base_Start_IT(&us_timer_Handle);
+}
+
+unsigned long long int bioloid_time_get_counts(void)
+{
+  return (timer_counts<<16)+__HAL_TIM_GetCounter(&us_timer_Handle);
+}
+
+inline unsigned int bioloid_time_get_counts_per_us(void)
+{
+  return timer_counts_per_us;
+}

src/gpio.c

@@ -241,7 +241,7 @@ void gpio_init(void)
   ENABLE_GPO_TIMER_CLK;
 
   GPO_TIM_Handle.Instance=GPO_TIMER;
-  GPO_TIM_Handle.Init.Period = 0xFFFF;
+  GPO_TIM_Handle.Init.Period = 0xFFFFFFFF;
   GPO_TIM_Handle.Init.Prescaler = 42000;
   GPO_TIM_Handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV2;
   GPO_TIM_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;

src/stm32_time.c

-#include "stm32_time.h"
-
-static __IO uint32_t timing_delay;
-uint32_t clocks_per_us;
-
-/*******************************************************************************
-* Function Name  : SysTickHandler
-* Description    : This function handles SysTick Handler.
-* Input          : None
-* Output         : None
-* Return         : None
-*******************************************************************************/
-void SysTick_Handler(void)
-{
-  if(timing_delay!=0)
-    timing_delay--;
-}
-
-// public functions
-void time_init(void)
-{
-  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
-
-  // set the time base to 1ms
-  SysTick_Config(SystemCoreClock / 1000);
-  NVIC_SetPriority(SysTick_IRQn,0);
-
-  RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE);
-
-  TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
-  TIM_TimeBaseStructure.TIM_Prescaler = 0;
-  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
-  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
-  TIM_TimeBaseStructure.TIM_RepetitionCounter=0x0000;
-  TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure);
-  TIM_SetCounter(TIM1,0);
-
-  clocks_per_us=(SystemCoreClock/1000000)+1;
-}
-
-void delay_ms(__IO uint32_t time)
-{
-  timing_delay=time;
-
-  while(timing_delay!=0);
-}
-
-void delay_us(uint32_t us) // microseconds
-{
-  uint32_t clocks,current;
-
-  clocks=clocks_per_us*us;
-  TIM_SetCounter(TIM1,0);
-  TIM_Cmd(TIM1, ENABLE);
-  do{
-    current=TIM_GetCounter(TIM1);
-  }while(current<clocks);
-  TIM_Cmd(TIM1, DISABLE);
-}
-

src/stm32f4xx_hal_msp.c

@@ -98,6 +98,9 @@ void HAL_MspInit(void)
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
   HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
+
+  /* update the SystemCoreClock variable*/
+  SystemCoreClockUpdate();
 }
 
 /**

src/system_stm32f4xx.c

@@ -135,7 +135,7 @@
                is no need to call the 2 first functions listed above, since SystemCoreClock
                variable is updated automatically.
   */
-  uint32_t SystemCoreClock = 16000000;
+  uint32_t SystemCoreClock = 168000000;
   __IO const uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
 
 /**