Used the scheduler from the library.

include/darwin_sch.h

+#ifndef _DARWIN_SCH_H
+#define _DARWIN_SCH_H
+
+#include "stm32f1xx.h"
+#include "scheduler.h"
+
+TScheduler *darwin_sch_init(void);
+
+#endif
+

include/scheduler.h

-#ifndef _SCHEDULER_H
-#define _SCHEDULER_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "stm32f1xx.h"
-
-typedef enum {SCH_CH1=0,SCH_CH2=1,SCH_CH3=2,SCH_CH4=3} sch_ch_t;
-
-void scheduler_init(void);
-void scheduler_set_period(sch_ch_t channel_id, uint16_t period_ms);
-void scheduler_set_one_shot(sch_ch_t channel_id, uint16_t time_ms);
-void scheduler_set_function(sch_ch_t channel_id, void (*function)(void));
-void scheduler_start(sch_ch_t channel_id);
-void scheduler_stop(sch_ch_t channel_id);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif

src/darwin_sch.c

+#include "darwin_sch.h"
+
+/* private variables */
+TIM_HandleTypeDef darwin_sch_timer_handle;
+TScheduler darwin_scheduler;
+
+/* interrupt handlers */
+void TIM1_CC_IRQHandler(void)
+{
+  /* Capture compare 1 event */
+  if(__HAL_TIM_GET_FLAG(&darwin_sch_timer_handle, TIM_FLAG_CC1) != RESET)
+  {
+    if(__HAL_TIM_GET_IT_SOURCE(&darwin_sch_timer_handle, TIM_IT_CC1) !=RESET)
+    {
+      __HAL_TIM_CLEAR_IT(&darwin_sch_timer_handle, TIM_IT_CC1);
+      scheduler_interrupt(&darwin_scheduler,SCHED_CH1);
+    }
+  }
+  /* Capture compare 2 event */
+  if(__HAL_TIM_GET_FLAG(&darwin_sch_timer_handle, TIM_FLAG_CC2) != RESET)
+  {
+    if(__HAL_TIM_GET_IT_SOURCE(&darwin_sch_timer_handle, TIM_IT_CC2) !=RESET)
+    {
+      __HAL_TIM_CLEAR_IT(&darwin_sch_timer_handle, TIM_IT_CC2);
+      scheduler_interrupt(&darwin_scheduler,SCHED_CH2);
+    }
+  }
+  /* Capture compare 3 event */
+  if(__HAL_TIM_GET_FLAG(&darwin_sch_timer_handle, TIM_FLAG_CC3) != RESET)
+  {
+    if(__HAL_TIM_GET_IT_SOURCE(&darwin_sch_timer_handle, TIM_IT_CC3) !=RESET)
+    {
+      __HAL_TIM_CLEAR_IT(&darwin_sch_timer_handle, TIM_IT_CC3);
+      scheduler_interrupt(&darwin_scheduler,SCHED_CH3);
+    }
+  }
+  /* Capture compare 4 event */
+  if(__HAL_TIM_GET_FLAG(&darwin_sch_timer_handle, TIM_FLAG_CC4) != RESET)
+  {
+    if(__HAL_TIM_GET_IT_SOURCE(&darwin_sch_timer_handle, TIM_IT_CC4) !=RESET)
+    {
+      __HAL_TIM_CLEAR_IT(&darwin_sch_timer_handle, TIM_IT_CC4);
+      scheduler_interrupt(&darwin_scheduler,SCHED_CH4);
+    }
+  }
+}
+
+/* private functions */
+void darwin_sch_start(unsigned short int channel_id)
+{
+  HAL_TIM_OC_Start_IT(&darwin_sch_timer_handle,channel_id);
+}
+
+void darwin_sch_stop(unsigned short int channel_id)
+{
+  HAL_TIM_OC_Stop_IT(&darwin_sch_timer_handle,channel_id); 
+}
+
+void darwin_sch_set_pulse(unsigned short int channel_id,unsigned short int pulse, unsigned char running)
+{
+  TIM_OC_InitTypeDef out_comp_config;
+  unsigned short int capture;
+
+  if(running==0x00)
+  {
+    if(darwin_scheduler.channels[channel_id].enabled==0x00)
+    {
+      out_comp_config.OCMode = TIM_OCMODE_TIMING;
+      capture = HAL_TIM_ReadCapturedValue(&darwin_sch_timer_handle,channel_id);
+      out_comp_config.Pulse = capture+pulse;
+      out_comp_config.OCPolarity = TIM_OCPOLARITY_HIGH;
+      out_comp_config.OCFastMode = TIM_OCFAST_DISABLE;
+      HAL_TIM_OC_ConfigChannel(&darwin_sch_timer_handle, &out_comp_config, channel_id);
+    }
+  }
+  else
+  {
+    capture = HAL_TIM_ReadCapturedValue(&darwin_sch_timer_handle, channel_id);
+    __HAL_TIM_SetCompare(&darwin_sch_timer_handle,channel_id, capture+pulse);
+  } 
+}
+
+/* public functions */
+TScheduler *darwin_sch_init(void)
+{
+  TIM_ClockConfigTypeDef sClockSourceConfig;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
+
+  __HAL_RCC_TIM1_CLK_ENABLE();
+
+  darwin_sch_timer_handle.Instance = TIM1;
+  darwin_sch_timer_handle.Init.Prescaler = 168;
+  darwin_sch_timer_handle.Init.CounterMode = TIM_COUNTERMODE_UP;
+  darwin_sch_timer_handle.Init.Period = 0xFFFF;
+  darwin_sch_timer_handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  darwin_sch_timer_handle.Init.RepetitionCounter = 0;
+  HAL_TIM_Base_Init(&darwin_sch_timer_handle);
+
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  HAL_TIM_ConfigClockSource(&darwin_sch_timer_handle, &sClockSourceConfig);
+
+  HAL_TIM_OC_Init(&darwin_sch_timer_handle);
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  HAL_TIMEx_MasterConfigSynchronization(&darwin_sch_timer_handle, &sMasterConfig);
+
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  HAL_TIMEx_ConfigBreakDeadTime(&darwin_sch_timer_handle, &sBreakDeadTimeConfig);
+
+  /* Peripheral interrupt init */
+  HAL_NVIC_SetPriority(TIM1_CC_IRQn, 2, 0);
+  HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
+
+  scheduler_init(&darwin_scheduler,4,168);
+  darwin_scheduler.start=darwin_sch_start;
+  darwin_scheduler.stop=darwin_sch_stop;
+  darwin_scheduler.set_pulse=darwin_sch_set_pulse;
+
+  return &darwin_scheduler;
+}

src/scheduler.c

-#include "scheduler.h"
-
-#define      SCHEDULER_TIMER                 TIM1
-#define      SCHEDULER_TIMER_IRQn            TIM1_IRQn
-#define      SCHEDULER_TIMER_IRQHandler      TIM1_IRQHandler
-#define      SCHEDULER_TIMER_CLK             __HAL_RCC_TIM1_CLK_ENABLE()
-
-typedef void (*scheduler_function)(void);
-
-scheduler_function sch_ch1_fnct;
-scheduler_function sch_ch2_fnct;
-scheduler_function sch_ch3_fnct;
-scheduler_function sch_ch4_fnct;
-uint16_t sch_ch1_period;
-uint16_t sch_ch2_period;
-uint16_t sch_ch3_period;
-uint16_t sch_ch4_period;
-
-void scheduler_init(void)
-{
-  /* initialize internal variables */ 
-  sch_ch1_fnct=0;
-  sch_ch2_fnct=0;
-  sch_ch3_fnct=0;
-  sch_ch4_fnct=0;
-  sch_ch1_period=0;
-  sch_ch2_period=0;
-  sch_ch3_period=0;
-  sch_ch4_period=0;
-  /* initialize timer 1 */
-
-}
-
-void scheduler_set_period(sch_ch_t channel_id, uint16_t period_ms)
-{
-   
-}
-
-void scheduler_set_one_shot(sch_ch_t channel_id, uint16_t time_ms)
-{
-
-}
-
-void scheduler_set_function(sch_ch_t channel_id, void (*function)(void))
-{
-
-}
-
-void scheduler_start(sch_ch_t channel_id)
-{
-
-}
-
-void scheduler_stop(sch_ch_t channel_id)
-{
-
-}
-