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timer_pic32.c
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/**
* @file timer_pic32.c
* @author Sebastien CAUX (sebcaux)
* @copyright Robotips 2016-2017
* @copyright UniSwarm 2018-2023
*
* @date March 01, 2016, 20:45 PM
*
* @brief Timer support for udevkit for PIC32MM, PIC32MK, PIC32MX,
* PIC32MZDA, PIC32MZEC and PIC32MZEF
*
* Implementation based on Microchip document DS61105F :
* http://ww1.microchip.com/downloads/en/DeviceDoc/61105F.pdf
*/
#include "timer.h"
#include <archi.h>
#include <driver/int.h>
#include <driver/sysclock.h>
#if !defined(TIMER_COUNT) || TIMER_COUNT == 0
# warning "No timer on the current device or unknow device"
#endif
enum
{
TIMER_FLAG_UNUSED = 0x00
};
typedef struct
{
union
{
struct
{
unsigned used : 1;
unsigned enabled : 1;
unsigned bit32 : 1;
unsigned : 5;
};
uint8_t val;
};
} timer_status;
struct timer_dev
{
uint32_t periodUs;
timer_status flags;
void (*handler)(void);
};
#ifdef UDEVKIT_HAVE_CONFIG
# include "udevkit_config.h"
#endif
#ifndef INT_MODE
# define INT_MODE INT_DEFAULT_MODE
#endif
#ifndef TIMER_INTERRUPT_PRIORITY
# define TIMER_INTERRUPT_PRIORITY 4
#endif
#ifndef TIMER1_INT_PRIORITY
# define TIMER1_INT_PRIORITY TIMER_INTERRUPT_PRIORITY
#endif
#ifndef TIMER2_INT_PRIORITY
# define TIMER2_INT_PRIORITY TIMER_INTERRUPT_PRIORITY
#endif
#ifndef TIMER3_INT_PRIORITY
# define TIMER3_INT_PRIORITY TIMER_INTERRUPT_PRIORITY
#endif
#ifndef TIMER4_INT_PRIORITY
# define TIMER4_INT_PRIORITY TIMER_INTERRUPT_PRIORITY
#endif
#ifndef TIMER5_INT_PRIORITY
# define TIMER5_INT_PRIORITY TIMER_INTERRUPT_PRIORITY
#endif
#ifndef TIMER6_INT_PRIORITY
# define TIMER6_INT_PRIORITY TIMER_INTERRUPT_PRIORITY
#endif
#ifndef TIMER7_INT_PRIORITY
# define TIMER7_INT_PRIORITY TIMER_INTERRUPT_PRIORITY
#endif
#ifndef TIMER8_INT_PRIORITY
# define TIMER8_INT_PRIORITY TIMER_INTERRUPT_PRIORITY
#endif
#ifndef TIMER9_INT_PRIORITY
# define TIMER9_INT_PRIORITY TIMER_INTERRUPT_PRIORITY
#endif
static struct timer_dev _timers[] = {
#if TIMER_COUNT >= 1
{.periodUs = 0, .flags = {{.val = TIMER_FLAG_UNUSED}}, .handler = NULL},
#endif
#if TIMER_COUNT >= 2
{.periodUs = 0, .flags = {{.val = TIMER_FLAG_UNUSED}}, .handler = NULL},
#endif
#if TIMER_COUNT >= 3
{.periodUs = 0, .flags = {{.val = TIMER_FLAG_UNUSED}}, .handler = NULL},
#endif
#if TIMER_COUNT >= 4
{.periodUs = 0, .flags = {{.val = TIMER_FLAG_UNUSED}}, .handler = NULL},
#endif
#if TIMER_COUNT >= 5
{.periodUs = 0, .flags = {{.val = TIMER_FLAG_UNUSED}}, .handler = NULL},
#endif
#if TIMER_COUNT >= 6
{.periodUs = 0, .flags = {{.val = TIMER_FLAG_UNUSED}}, .handler = NULL},
#endif
#if TIMER_COUNT >= 7
{.periodUs = 0, .flags = {{.val = TIMER_FLAG_UNUSED}}, .handler = NULL},
#endif
#if TIMER_COUNT >= 8
{.periodUs = 0, .flags = {{.val = TIMER_FLAG_UNUSED}}, .handler = NULL},
#endif
#if TIMER_COUNT >= 9
{.periodUs = 0, .flags = {{.val = TIMER_FLAG_UNUSED}}, .handler = NULL},
#endif
};
#if (TIMER_COUNT >= 1) && !defined(TIMER1_DISABLE) && !defined(TIMER1_INT_DISABLE)
void T1Interrupt(void);
#endif
#if (TIMER_COUNT >= 2) && !defined(TIMER2_DISABLE) && !defined(TIMER2_INT_DISABLE)
void T2Interrupt(void);
#endif
#if (TIMER_COUNT >= 3) && !defined(TIMER3_DISABLE) && !defined(TIMER3_INT_DISABLE)
void T3Interrupt(void);
#endif
#if (TIMER_COUNT >= 4) && !defined(TIMER4_DISABLE) && !defined(TIMER4_INT_DISABLE)
void T4Interrupt(void);
#endif
#if (TIMER_COUNT >= 5) && !defined(TIMER5_DISABLE) && !defined(TIMER5_INT_DISABLE)
void T5Interrupt(void);
#endif
#if (TIMER_COUNT >= 6) && !defined(TIMER6_DISABLE) && !defined(TIMER6_INT_DISABLE)
void T6Interrupt(void);
#endif
#if (TIMER_COUNT >= 7) && !defined(TIMER7_DISABLE) && !defined(TIMER7_INT_DISABLE)
void T7Interrupt(void);
#endif
#if (TIMER_COUNT >= 8) && !defined(TIMER8_DISABLE) && !defined(TIMER8_INT_DISABLE)
void T8Interrupt(void);
#endif
#if (TIMER_COUNT >= 9) && !defined(TIMER9_DISABLE) && !defined(TIMER9_INT_DISABLE)
void T9Interrupt(void);
#endif
/**
* @brief Gives a free timer device number
* @return timer device number
*/
rt_dev_t timer_getFreeDevice(void)
{
#if TIMER_COUNT >= 1
uint8_t timer_id;
for (timer_id = 0; timer_id < TIMER_COUNT; timer_id++)
{
if (_timers[timer_id].flags.used == 0)
{
break;
}
}
if (timer_id == TIMER_COUNT)
{
return NULLDEV;
}
rt_dev_t device = MKDEV(DEV_CLASS_TIMER, timer_id);
timer_open(device);
return device;
#else
return NULLDEV;
#endif
}
/**
* @brief Open a timer
* @param device timer device number
*/
int timer_open(rt_dev_t device)
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return -1;
}
if (_timers[timer].flags.used == 1)
{
return -1;
}
_timers[timer].flags.used = 1;
_timers[timer].handler = NULL;
return 0;
#else
return -1;
#endif
}
/**
* @brief Close a timer
* @param device timer device number
*/
int timer_close(rt_dev_t device)
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return -1;
}
timer_disable(device);
_timers[timer].flags.val = TIMER_FLAG_UNUSED;
return 0;
#else
return -1;
#endif
}
/**
* @brief Timer sdk state
* @param device timer device number
* @return true if timer was openned by timer_open function
*/
bool timer_isOpened(rt_dev_t device)
{
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return -1;
}
return (_timers[timer].flags.used == 1);
}
/**
* @brief Enable the specified timer device
* @param device timer device number
* @return 0 if ok, -1 in case of error
*/
int timer_enable(rt_dev_t device)
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return -1;
}
_timers[timer].flags.enabled = 1;
switch (timer)
{
# if (TIMER_COUNT >= 1) && !defined(TIMER1_DISABLE)
case TIMER1_ID:
T1CONbits.ON = 1; // enable timer module
_T1IF = 0;
_T1IE = (_timers[TIMER1_ID].handler != NULL) ? 1 : 0;
_T1IP = TIMER1_INT_PRIORITY;
break;
# endif
# if (TIMER_COUNT >= 2) && !defined(TIMER2_DISABLE)
case TIMER2_ID:
T2CONbits.ON = 1; // enable timer module
_T2IF = 0;
_T2IE = (_timers[TIMER2_ID].handler != NULL) ? 1 : 0;
_T2IP = TIMER2_INT_PRIORITY;
break;
# endif
# if (TIMER_COUNT >= 3) && !defined(TIMER3_DISABLE)
case TIMER3_ID:
T3CONbits.ON = 1; // enable timer module
_T3IF = 0;
_T3IE = (_timers[TIMER3_ID].handler != NULL) ? 1 : 0;
_T3IP = TIMER3_INT_PRIORITY;
break;
# endif
# if (TIMER_COUNT >= 4) && !defined(TIMER4_DISABLE)
case TIMER4_ID:
T4CONbits.ON = 1; // enable timer module
_T4IF = 0;
_T4IE = (_timers[TIMER4_ID].handler != NULL) ? 1 : 0;
_T4IP = TIMER4_INT_PRIORITY;
break;
# endif
# if (TIMER_COUNT >= 5) && !defined(TIMER5_DISABLE)
case TIMER5_ID:
T5CONbits.ON = 1; // enable timer module
_T5IF = 0;
_T5IE = (_timers[TIMER5_ID].handler != NULL) ? 1 : 0;
_T5IP = TIMER5_INT_PRIORITY;
break;
# endif
# if (TIMER_COUNT >= 6) && !defined(TIMER6_DISABLE)
case TIMER6_ID:
T6CONbits.ON = 1; // enable timer module
_T6IF = 0;
_T6IE = (_timers[TIMER6_ID].handler != NULL) ? 1 : 0;
_T6IP = TIMER6_INT_PRIORITY;
break;
# endif
# if (TIMER_COUNT >= 7) && !defined(TIMER7_DISABLE)
case TIMER7_ID:
T7CONbits.ON = 1; // enable timer module
_T7IF = 0;
_T7IE = (_timers[TIMER7_ID].handler != NULL) ? 1 : 0;
_T7IP = TIMER7_INT_PRIORITY;
break;
# endif
# if (TIMER_COUNT >= 8) && !defined(TIMER8_DISABLE)
case TIMER8_ID:
T8CONbits.ON = 1; // enable timer module
_T8IF = 0;
_T8IE = (_timers[TIMER8_ID].handler != NULL) ? 1 : 0;
_T8IP = TIMER8_INT_PRIORITY;
break;
# endif
# if (TIMER_COUNT >= 9) && !defined(TIMER9_DISABLE)
case TIMER9_ID:
T9CONbits.ON = 1; // enable timer module
_T9IF = 0;
_T9IE = (_timers[TIMER9_ID].handler != NULL) ? 1 : 0;
_T9IP = TIMER9_INT_PRIORITY;
break;
# endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Disable the specified timer device
* @param device timer device number
* @return 0 if ok, -1 in case of error
*/
int timer_disable(rt_dev_t device)
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return -1;
}
_timers[timer].flags.enabled = 0;
switch (timer)
{
# if (TIMER_COUNT >= 1) && !defined(TIMER1_DISABLE)
case TIMER1_ID:
T1CONbits.ON = 0; // disable timer module
_T1IE = 0;
break;
# endif
# if (TIMER_COUNT >= 2) && !defined(TIMER2_DISABLE)
case TIMER2_ID:
T2CONbits.ON = 0; // disable timer module
_T2IE = 0;
break;
# endif
# if (TIMER_COUNT >= 3) && !defined(TIMER3_DISABLE)
case TIMER3_ID:
T3CONbits.ON = 0; // disable timer module
_T3IE = 0;
break;
# endif
# if (TIMER_COUNT >= 4) && !defined(TIMER4_DISABLE)
case TIMER4_ID:
T4CONbits.ON = 0; // disable timer module
_T4IE = 0;
break;
# endif
# if (TIMER_COUNT >= 5) && !defined(TIMER5_DISABLE)
case TIMER5_ID:
T5CONbits.ON = 0; // disable timer module
_T5IE = 0;
break;
# endif
# if (TIMER_COUNT >= 6) && !defined(TIMER6_DISABLE)
case TIMER6_ID:
T6CONbits.ON = 0; // disable timer module
_T6IE = 0;
break;
# endif
# if (TIMER_COUNT >= 7) && !defined(TIMER7_DISABLE)
case TIMER7_ID:
T7CONbits.ON = 0; // disable timer module
_T7IE = 0;
break;
# endif
# if (TIMER_COUNT >= 8) && !defined(TIMER8_DISABLE)
case TIMER8_ID:
T8CONbits.ON = 0; // disable timer module
_T8IE = 0;
break;
# endif
# if (TIMER_COUNT >= 9) && !defined(TIMER9_DISABLE)
case TIMER9_ID:
T9CONbits.ON = 0; // disable timer module
_T9IE = 0;
break;
# endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Timer sdk enabled state
* @param device timer device number
* @return true if timer was enabled by timer_enable function
*/
bool timer_isEnabled(rt_dev_t device)
{
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return -1;
}
return (_timers[timer].flags.enabled == 1);
}
/**
* @brief Sets the handler function that will be called on timer interrupt
* @param device timer device number
* @param handler void funtion pointer or null to remove the handler
* @return 0 if ok, -1 in case of error
*/
int timer_setHandler(rt_dev_t device, void (*handler)(void))
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return -1;
}
_timers[timer].handler = handler;
if (_timers[timer].flags.enabled == 1)
{
timer_enable(device);
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Sets the internal period
* @param device timer device number
* @param prvalue reset value of timer, does not consider the time
* @return 0 if ok, -1 in case of error
*/
int timer_setPeriod(rt_dev_t device, uint32_t period)
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return -1;
}
// TODO PR and TMR are 32 bit width on T2 to T9 on PIC32MK
uint8_t divisor = 0;
if (period > 65535)
{
divisor = 0b111; // 256 divisor for type A (0b11) and for type B (0b111)
period >>= 8;
if (period > 65535)
{
period = 65535;
}
}
switch (timer)
{
# if (TIMER_COUNT >= 1) && !defined(TIMER1_DISABLE)
case TIMER1_ID:
T1CONbits.TCKPS = divisor; // set divide number
PR1 = period; // pr value, comparator value
break;
# endif
# if (TIMER_COUNT >= 2) && !defined(TIMER2_DISABLE)
case TIMER2_ID:
T2CONbits.TCKPS = divisor; // set divide number
PR2 = period; // pr value, comparator value
break;
# endif
# if (TIMER_COUNT >= 3) && !defined(TIMER3_DISABLE)
case TIMER3_ID:
T3CONbits.TCKPS = divisor; // set divide number
PR3 = period; // pr value, comparator value
break;
# endif
# if (TIMER_COUNT >= 4) && !defined(TIMER4_DISABLE)
case TIMER4_ID:
T4CONbits.TCKPS = divisor; // set divide number
PR4 = period; // pr value, comparator value
break;
# endif
# if (TIMER_COUNT >= 5) && !defined(TIMER5_DISABLE)
case TIMER5_ID:
T5CONbits.TCKPS = divisor; // set divide number
PR5 = period; // pr value, comparator value
break;
# endif
# if (TIMER_COUNT >= 6) && !defined(TIMER6_DISABLE)
case TIMER6_ID:
T6CONbits.TCKPS = divisor; // set divide number
PR6 = period; // pr value, comparator value
break;
# endif
# if (TIMER_COUNT >= 7) && !defined(TIMER7_DISABLE)
case TIMER7_ID:
T7CONbits.TCKPS = divisor; // set divide number
PR7 = period; // pr value, comparator value
break;
# endif
# if (TIMER_COUNT >= 8) && !defined(TIMER8_DISABLE)
case TIMER8_ID:
T8CONbits.TCKPS = divisor; // set divide number
PR8 = period; // pr value, comparator value
break;
# endif
# if (TIMER_COUNT >= 9) && !defined(TIMER9_DISABLE)
case TIMER9_ID:
T9CONbits.TCKPS = divisor; // set divide number
PR9 = period; // pr value, comparator value
break;
# endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Gets the internal period
* @param device timer device number
* @return 0 if ok, -1 in case of error
*/
uint32_t timer_period(rt_dev_t device)
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return -1;
}
switch (timer)
{
# if (TIMER_COUNT >= 1) && !defined(TIMER1_DISABLE)
case TIMER1_ID:
return PR1;
# endif
# if (TIMER_COUNT >= 2) && !defined(TIMER2_DISABLE)
case TIMER2_ID:
return PR2;
# endif
# if (TIMER_COUNT >= 3) && !defined(TIMER3_DISABLE)
case TIMER3_ID:
return PR3;
# endif
# if (TIMER_COUNT >= 4) && !defined(TIMER4_DISABLE)
case TIMER4_ID:
return PR4;
# endif
# if (TIMER_COUNT >= 5) && !defined(TIMER5_DISABLE)
case TIMER5_ID:
return PR5;
# endif
# if (TIMER_COUNT >= 6) && !defined(TIMER6_DISABLE)
case TIMER6_ID:
return PR6;
# endif
# if (TIMER_COUNT >= 7) && !defined(TIMER7_DISABLE)
case TIMER7_ID:
return PR7;
# endif
# if (TIMER_COUNT >= 8) && !defined(TIMER8_DISABLE)
case TIMER8_ID:
return PR8;
# endif
# if (TIMER_COUNT >= 9) && !defined(TIMER9_DISABLE)
case TIMER9_ID:
return PR9;
# endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Sets the period in us of the timer module to work in timer mode
* @param device timer device number
* @return 0 if ok, -1 in case of error
*/
int timer_setPeriodMs(rt_dev_t device, uint32_t periodMs)
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return -1;
}
_timers[timer].periodUs = periodMs * 1000;
float clockMs = sysclock_periphFreq(SYSCLOCK_CLOCK_TIMER);
float prvalue = clockMs / 1000.0 * (float)periodMs;
return timer_setPeriod(device, (uint32_t)prvalue);
#else
return -1;
#endif
}
/**
* @brief Returns the current period in us
* @param device timer device number
* @return period in us if ok, 0 in case of error
*/
uint32_t timer_periodMs(rt_dev_t device)
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return 0;
}
return _timers[timer].periodUs / 1000;
#else
return 0;
#endif
}
/**
* @brief Sets the period in us of the timer module to work in timer mode
* @param device timer device number
* @return 0 if ok, -1 in case of error
*/
int timer_setPeriodUs(rt_dev_t device, uint32_t periodUs)
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return -1;
}
_timers[timer].periodUs = periodUs;
float clockMs = sysclock_periphFreq(SYSCLOCK_CLOCK_TIMER);
float prvalue = clockMs / 1000000.0 * (float)periodUs;
return timer_setPeriod(device, (uint32_t)prvalue);
#else
return -1;
#endif
}
/**
* @brief Returns the current period in us
* @param device timer device number
* @return period in us if ok, 0 in case of error
*/
uint32_t timer_periodUs(rt_dev_t device)
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return 0;
}
return _timers[timer].periodUs;
#else
return 0;
#endif
}
/**
* @brief Returns the current value of timer
* @param device timer device number
* @return value if ok, 0 in case of error
*/
uint16_t timer_value(rt_dev_t device)
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
switch (timer)
{
# if (TIMER_COUNT >= 1) && !defined(TIMER1_DISABLE)
case TIMER1_ID:
return TMR1;
# endif
# if (TIMER_COUNT >= 2) && !defined(TIMER2_DISABLE)
case TIMER2_ID:
return TMR2;
# endif
# if (TIMER_COUNT >= 3) && !defined(TIMER3_DISABLE)
case TIMER3_ID:
return TMR3;
# endif
# if (TIMER_COUNT >= 4) && !defined(TIMER4_DISABLE)
case TIMER4_ID:
return TMR4;
# endif
# if (TIMER_COUNT >= 5) && !defined(TIMER5_DISABLE)
case TIMER5_ID:
return TMR5;
# endif
# if (TIMER_COUNT >= 6) && !defined(TIMER6_DISABLE)
case TIMER6_ID:
return TMR6;
# endif
# if (TIMER_COUNT >= 7) && !defined(TIMER7_DISABLE)
case TIMER7_ID:
return TMR7;
# endif
# if (TIMER_COUNT >= 8) && !defined(TIMER8_DISABLE)
case TIMER8_ID:
return TMR8;
# endif
# if (TIMER_COUNT >= 9) && !defined(TIMER9_DISABLE)
case TIMER9_ID:
return TMR9;
# endif
default:
return 0;
}
#else
return 0;
#endif
}
/**
* @brief Sets the current value of timer
* @param device timer device number
* @return 0 if ok, -1 in case of error
*/
int timer_setValue(rt_dev_t device, uint16_t value)
{
#if TIMER_COUNT >= 1
uint8_t timer = MINOR(device);
if (timer >= TIMER_COUNT)
{
return -1;
}
switch (timer)
{
# if (TIMER_COUNT >= 1) && !defined(TIMER1_DISABLE)
case TIMER1_ID:
TMR1 = value;
break;
# endif
# if (TIMER_COUNT >= 2) && !defined(TIMER2_DISABLE)
case TIMER2_ID:
TMR2 = value;
break;
# endif
# if (TIMER_COUNT >= 3) && !defined(TIMER3_DISABLE)
case TIMER3_ID:
TMR3 = value;
break;
# endif
# if (TIMER_COUNT >= 4) && !defined(TIMER4_DISABLE)
case TIMER4_ID:
TMR4 = value;
break;
# endif
# if (TIMER_COUNT >= 5) && !defined(TIMER5_DISABLE)
case TIMER5_ID:
TMR5 = value;
break;
# endif
# if (TIMER_COUNT >= 6) && !defined(TIMER6_DISABLE)
case TIMER6_ID:
TMR6 = value;
break;
# endif
# if (TIMER_COUNT >= 7) && !defined(TIMER7_DISABLE)
case TIMER7_ID:
TMR7 = value;
break;
# endif
# if (TIMER_COUNT >= 8) && !defined(TIMER8_DISABLE)
case TIMER8_ID:
TMR8 = value;
break;
# endif
# if (TIMER_COUNT >= 9) && !defined(TIMER9_DISABLE)
case TIMER9_ID:
TMR9 = value;
break;
# endif
}
return 0;
#else
return -1;
#endif
}
#if (TIMER_COUNT >= 1) && !defined(TIMER1_DISABLE) && !defined(TIMER1_INT_DISABLE)
void INT_ISR(_TIMER_1_VECTOR, TIMER1_INT_PRIORITY, INT_MODE) __attribute__((weak)) T1Interrupt(void)
{
if (_timers[TIMER1_ID].handler != NULL)
{
(*_timers[TIMER1_ID].handler)();
}
_T1IF = 0;
}
#endif
#if (TIMER_COUNT >= 2) && !defined(TIMER2_DISABLE) && !defined(TIMER2_INT_DISABLE)
void INT_ISR(_TIMER_2_VECTOR, TIMER2_INT_PRIORITY, INT_MODE) __attribute__((weak)) T2Interrupt(void)
{
if (_timers[TIMER2_ID].handler != NULL)
{
(*_timers[TIMER2_ID].handler)();
}
_T2IF = 0;
}
#endif
#if (TIMER_COUNT >= 3) && !defined(TIMER3_DISABLE) && !defined(TIMER3_INT_DISABLE)
void INT_ISR(_TIMER_3_VECTOR, TIMER3_INT_PRIORITY, INT_MODE) __attribute__((weak)) T3Interrupt(void)
{
if (_timers[TIMER3_ID].handler != NULL)
{
(*_timers[TIMER3_ID].handler)();
}
_T3IF = 0;
}
#endif
#if (TIMER_COUNT >= 4) && !defined(TIMER4_DISABLE) && !defined(TIMER4_INT_DISABLE)
void INT_ISR(_TIMER_4_VECTOR, TIMER4_INT_PRIORITY, INT_MODE) __attribute__((weak)) T4Interrupt(void)
{
if (_timers[TIMER4_ID].handler != NULL)
{
(*_timers[TIMER4_ID].handler)();
}
_T4IF = 0;
}
#endif
#if (TIMER_COUNT >= 5) && !defined(TIMER5_DISABLE) && !defined(TIMER5_INT_DISABLE)
void INT_ISR(_TIMER_5_VECTOR, TIMER5_INT_PRIORITY, INT_MODE) __attribute__((weak)) T5Interrupt(void)
{
if (_timers[TIMER5_ID].handler != NULL)
{
(*_timers[TIMER5_ID].handler)();
}
_T5IF = 0;
}
#endif
#if (TIMER_COUNT >= 6) && !defined(TIMER6_DISABLE) && !defined(TIMER6_INT_DISABLE)
void INT_ISR(_TIMER_6_VECTOR, TIMER6_INT_PRIORITY, INT_MODE) __attribute__((weak)) T6Interrupt(void)
{
if (_timers[TIMER6_ID].handler != NULL)
{
(*_timers[TIMER6_ID].handler)();
}
_T6IF = 0;
}
#endif
#if (TIMER_COUNT >= 7) && !defined(TIMER7_DISABLE) && !defined(TIMER7_INT_DISABLE)
void INT_ISR(_TIMER_7_VECTOR, TIMER7_INT_PRIORITY, INT_MODE) __attribute__((weak)) T7Interrupt(void)
{
if (_timers[TIMER7_ID].handler != NULL)
{
(*_timers[TIMER7_ID].handler)();
}
_T7IF = 0;
}
#endif
#if (TIMER_COUNT >= 8) && !defined(TIMER8_DISABLE) && !defined(TIMER8_INT_DISABLE)
void INT_ISR(_TIMER_8_VECTOR, TIMER8_INT_PRIORITY, INT_MODE) __attribute__((weak)) T8Interrupt(void)
{
if (_timers[TIMER8_ID].handler != NULL)
{
(*_timers[TIMER8_ID].handler)();
}
_T8IF = 0;
}
#endif
#if (TIMER_COUNT >= 9) && !defined(TIMER9_DISABLE) && !defined(TIMER9_INT_DISABLE)
void INT_ISR(_TIMER_9_VECTOR, TIMER9_INT_PRIORITY, INT_MODE) __attribute__((weak)) T9Interrupt(void)
{
if (_timers[TIMER9_ID].handler != NULL)
{
(*_timers[TIMER9_ID].handler)();
}
_T9IF = 0;
}
#endif
/**
* @brief Reconfigure clocks for all activated TIMERs devices. Call this function on clock change.
*/
void timer_reconfig(void)
{
for (uint8_t i = 0; i < TIMER_COUNT; i++)
{
if (_timers[i].flags.used == 1 && _timers[i].periodUs != 0)
{
rt_dev_t device = MKDEV(DEV_CLASS_TIMER, i);
timer_setPeriodUs(device, _timers[i].periodUs);
}
}
}