/* ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio ChibiOS - Copyright (C) 2023..2025 HorrorTroll ChibiOS - Copyright (C) 2023..2025 Zhaqian Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. */ /** * @file SYSTICKv1/hal_st_lld.h * @brief ST Driver subsystem low level driver header. * @details This header is designed to be include-able without having to * include other files from the HAL. * * @addtogroup ST * @{ */ #ifndef HAL_ST_LLD_H #define HAL_ST_LLD_H /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options * @{ */ /** * @brief SysTick timer IRQ priority. */ #if !defined(AT32_ST_IRQ_PRIORITY) || defined(__DOXYGEN__) #define AT32_ST_IRQ_PRIORITY 8 #endif /** * @brief TMRx unit (by number) to be used for free running operations. * @note You must select a 32 bits timer if a 32 bits @p systick_t type * is required. * @note Timers 1, 2, 3, 4, 5, 9, 10 and 11 are supported. */ #if !defined(AT32_ST_USE_TIMER) || defined(__DOXYGEN__) #define AT32_ST_USE_TIMER 2 #endif /** * @brief Overrides the number of supported alarms. * @note The default number of alarms is equal to the number of * comparators in the timer, overriding it to one makes * the driver a little faster and smaller. The kernel itself * only needs one alarm, additional features could need more. * @note Zero means do not override. * @note This setting is only meaningful in free running mode, in * tick mode there are no alarms. */ #if !defined(AT32_ST_OVERRIDE_ALARMS) || defined(__DOXYGEN__) #define AT32_ST_OVERRIDE_ALARMS 1 #endif /** @} */ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ /* This has to go after transition to shared handlers is complete for all platforms.*/ #if !defined(AT32_HAS_TMR1) #define AT32_HAS_TMR1 FALSE #endif #if !defined(AT32_HAS_TMR2) #define AT32_HAS_TMR2 FALSE #endif #if !defined(AT32_HAS_TMR3) #define AT32_HAS_TMR3 FALSE #endif #if !defined(AT32_HAS_TMR4) #define AT32_HAS_TMR4 FALSE #endif #if !defined(AT32_HAS_TMR5) #define AT32_HAS_TMR5 FALSE #endif #if !defined(AT32_HAS_TMR9) #define AT32_HAS_TMR9 FALSE #endif #if !defined(AT32_HAS_TMR10) #define AT32_HAS_TMR10 FALSE #endif #if !defined(AT32_HAS_TMR11) #define AT32_HAS_TMR11 FALSE #endif #if !defined(AT32_HAS_TMR13) #define AT32_HAS_TMR13 FALSE #endif #if !defined(AT32_HAS_TMR14) #define AT32_HAS_TMR14 FALSE #endif /* End of checks to be removed.*/ #if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING #if AT32_ST_USE_TIMER == 1 #if defined(AT32_TMR1_IS_USED) #error "ST requires TMR1 but the timer is already used" #else #define AT32_TMR1_IS_USED #endif #if defined(AT32_TMR1_SUPPRESS_ISR) #define AT32_SYSTICK_SUPPRESS_ISR #endif #define AT32_ST_TMR AT32_TMR1 #define ST_LLD_NUM_ALARMS AT32_TMR1_CHANNELS #define AT32_ST_USE_SYSTICK FALSE #define AT32_ST_USE_TMR1 TRUE #define AT32_ST_USE_TMR2 FALSE #define AT32_ST_USE_TMR3 FALSE #define AT32_ST_USE_TMR4 FALSE #define AT32_ST_USE_TMR5 FALSE #define AT32_ST_USE_TMR9 FALSE #define AT32_ST_USE_TMR10 FALSE #define AT32_ST_USE_TMR11 FALSE #define AT32_ST_USE_TMR13 FALSE #define AT32_ST_USE_TMR14 FALSE #elif AT32_ST_USE_TIMER == 2 #if defined(AT32_TMR2_IS_USED) #error "ST requires TMR2 but the timer is already used" #else #define AT32_TMR2_IS_USED #endif #if defined(AT32_TMR2_SUPPRESS_ISR) #define AT32_SYSTICK_SUPPRESS_ISR #endif #define AT32_ST_TMR AT32_TMR2 #define ST_LLD_NUM_ALARMS AT32_TMR2_CHANNELS #define AT32_ST_USE_SYSTICK FALSE #define AT32_ST_USE_TMR1 FALSE #define AT32_ST_USE_TMR2 TRUE #define AT32_ST_USE_TMR3 FALSE #define AT32_ST_USE_TMR4 FALSE #define AT32_ST_USE_TMR5 FALSE #define AT32_ST_USE_TMR9 FALSE #define AT32_ST_USE_TMR10 FALSE #define AT32_ST_USE_TMR11 FALSE #define AT32_ST_USE_TMR13 FALSE #define AT32_ST_USE_TMR14 FALSE #elif AT32_ST_USE_TIMER == 3 #if defined(AT32_TMR3_IS_USED) #error "ST requires TMR3 but the timer is already used" #else #define AT32_TMR3_IS_USED #endif #if defined(AT32_TMR3_SUPPRESS_ISR) #define AT32_SYSTICK_SUPPRESS_ISR #endif #define AT32_ST_TMR AT32_TMR3 #define ST_LLD_NUM_ALARMS AT32_TMR3_CHANNELS #define AT32_ST_USE_SYSTICK FALSE #define AT32_ST_USE_TMR1 FALSE #define AT32_ST_USE_TMR2 FALSE #define AT32_ST_USE_TMR3 TRUE #define AT32_ST_USE_TMR4 FALSE #define AT32_ST_USE_TMR5 FALSE #define AT32_ST_USE_TMR9 FALSE #define AT32_ST_USE_TMR10 FALSE #define AT32_ST_USE_TMR11 FALSE #define AT32_ST_USE_TMR13 FALSE #define AT32_ST_USE_TMR14 FALSE #elif AT32_ST_USE_TIMER == 4 #if defined(AT32_TMR4_IS_USED) #error "ST requires TMR4 but the timer is already used" #else #define AT32_TMR4_IS_USED #endif #if defined(AT32_TMR4_SUPPRESS_ISR) #define AT32_SYSTICK_SUPPRESS_ISR #endif #define AT32_ST_TMR AT32_TMR4 #define ST_LLD_NUM_ALARMS AT32_TMR4_CHANNELS #define AT32_ST_USE_SYSTICK FALSE #define AT32_ST_USE_TMR1 FALSE #define AT32_ST_USE_TMR2 FALSE #define AT32_ST_USE_TMR3 FALSE #define AT32_ST_USE_TMR4 TRUE #define AT32_ST_USE_TMR5 FALSE #define AT32_ST_USE_TMR9 FALSE #define AT32_ST_USE_TMR10 FALSE #define AT32_ST_USE_TMR11 FALSE #define AT32_ST_USE_TMR13 FALSE #define AT32_ST_USE_TMR14 FALSE #elif AT32_ST_USE_TIMER == 5 #if defined(AT32_TMR5_IS_USED) #error "ST requires TMR5 but the timer is already used" #else #define AT32_TMR5_IS_USED #endif #if defined(AT32_TMR5_SUPPRESS_ISR) #define AT32_SYSTICK_SUPPRESS_ISR #endif #define AT32_ST_TMR AT32_TMR5 #define ST_LLD_NUM_ALARMS AT32_TMR5_CHANNELS #define AT32_ST_USE_SYSTICK FALSE #define AT32_ST_USE_TMR1 FALSE #define AT32_ST_USE_TMR2 FALSE #define AT32_ST_USE_TMR3 FALSE #define AT32_ST_USE_TMR4 FALSE #define AT32_ST_USE_TMR5 TRUE #define AT32_ST_USE_TMR9 FALSE #define AT32_ST_USE_TMR10 FALSE #define AT32_ST_USE_TMR11 FALSE #define AT32_ST_USE_TMR13 FALSE #define AT32_ST_USE_TMR14 FALSE #elif AT32_ST_USE_TIMER == 9 #if defined(AT32_TMR9_IS_USED) #error "ST requires TMR9 but the timer is already used" #else #define AT32_TMR9_IS_USED #endif #if defined(AT32_TMR9_SUPPRESS_ISR) #define AT32_SYSTICK_SUPPRESS_ISR #endif #define AT32_ST_TMR AT32_TMR9 #define ST_LLD_NUM_ALARMS AT32_TMR9_CHANNELS #define AT32_ST_USE_SYSTICK FALSE #define AT32_ST_USE_TMR1 FALSE #define AT32_ST_USE_TMR2 FALSE #define AT32_ST_USE_TMR3 FALSE #define AT32_ST_USE_TMR4 FALSE #define AT32_ST_USE_TMR5 FALSE #define AT32_ST_USE_TMR9 TRUE #define AT32_ST_USE_TMR10 FALSE #define AT32_ST_USE_TMR11 FALSE #define AT32_ST_USE_TMR13 FALSE #define AT32_ST_USE_TMR14 FALSE #elif AT32_ST_USE_TIMER == 10 #if defined(AT32_TMR10_IS_USED) #error "ST requires TMR10 but the timer is already used" #else #define AT32_TMR10_IS_USED #endif #if defined(AT32_TMR10_SUPPRESS_ISR) #define AT32_SYSTICK_SUPPRESS_ISR #endif #define AT32_ST_TMR AT32_TMR10 #define ST_LLD_NUM_ALARMS AT32_TMR10_CHANNELS #define AT32_ST_USE_SYSTICK FALSE #define AT32_ST_USE_TMR1 FALSE #define AT32_ST_USE_TMR2 FALSE #define AT32_ST_USE_TMR3 FALSE #define AT32_ST_USE_TMR4 FALSE #define AT32_ST_USE_TMR5 FALSE #define AT32_ST_USE_TMR9 FALSE #define AT32_ST_USE_TMR10 TRUE #define AT32_ST_USE_TMR11 FALSE #define AT32_ST_USE_TMR13 FALSE #define AT32_ST_USE_TMR14 FALSE #elif AT32_ST_USE_TIMER == 11 #if defined(AT32_TMR11_IS_USED) #error "ST requires TMR11 but the timer is already used" #else #define AT32_TMR11_IS_USED #endif #if defined(AT32_TMR11_SUPPRESS_ISR) #define AT32_SYSTICK_SUPPRESS_ISR #endif #define AT32_ST_TMR AT32_TMR11 #define ST_LLD_NUM_ALARMS AT32_TMR11_CHANNELS #define AT32_ST_USE_SYSTICK FALSE #define AT32_ST_USE_TMR1 FALSE #define AT32_ST_USE_TMR2 FALSE #define AT32_ST_USE_TMR3 FALSE #define AT32_ST_USE_TMR4 FALSE #define AT32_ST_USE_TMR5 FALSE #define AT32_ST_USE_TMR9 FALSE #define AT32_ST_USE_TMR10 FALSE #define AT32_ST_USE_TMR11 TRUE #define AT32_ST_USE_TMR13 FALSE #define AT32_ST_USE_TMR14 FALSE #elif AT32_ST_USE_TIMER == 13 #if defined(AT32_TMR13_IS_USED) #error "ST requires TMR13 but the timer is already used" #else #define AT32_TMR13_IS_USED #endif #if defined(AT32_TMR13_SUPPRESS_ISR) #define AT32_SYSTICK_SUPPRESS_ISR #endif #define AT32_ST_TMR AT32_TMR13 #define ST_LLD_NUM_ALARMS AT32_TMR13_CHANNELS #define AT32_ST_USE_SYSTICK FALSE #define AT32_ST_USE_TMR1 FALSE #define AT32_ST_USE_TMR2 FALSE #define AT32_ST_USE_TMR3 FALSE #define AT32_ST_USE_TMR4 FALSE #define AT32_ST_USE_TMR5 FALSE #define AT32_ST_USE_TMR9 FALSE #define AT32_ST_USE_TMR10 FALSE #define AT32_ST_USE_TMR11 FALSE #define AT32_ST_USE_TMR13 TRUE #define AT32_ST_USE_TMR14 FALSE #elif AT32_ST_USE_TIMER == 14 #if defined(AT32_TMR14_IS_USED) #error "ST requires TMR14 but the timer is already used" #else #define AT32_TMR14_IS_USED #endif #if defined(AT32_TMR14_SUPPRESS_ISR) #define AT32_SYSTICK_SUPPRESS_ISR #endif #define AT32_ST_TMR AT32_TMR14 #define ST_LLD_NUM_ALARMS AT32_TMR14_CHANNELS #define AT32_ST_USE_SYSTICK FALSE #define AT32_ST_USE_TMR1 FALSE #define AT32_ST_USE_TMR2 FALSE #define AT32_ST_USE_TMR3 FALSE #define AT32_ST_USE_TMR4 FALSE #define AT32_ST_USE_TMR5 FALSE #define AT32_ST_USE_TMR9 FALSE #define AT32_ST_USE_TMR10 FALSE #define AT32_ST_USE_TMR11 FALSE #define AT32_ST_USE_TMR13 FALSE #define AT32_ST_USE_TMR14 TRUE #else #error "AT32_ST_USE_TIMER specifies an unsupported timer" #endif #if (AT32_ST_OVERRIDE_ALARMS < 0) || \ (AT32_ST_OVERRIDE_ALARMS > ST_LLD_NUM_ALARMS) #error "invalid AT32_ST_OVERRIDE_ALARMS value" #endif #if AT32_ST_OVERRIDE_ALARMS > 0 #undef ST_LLD_NUM_ALARMS #define ST_LLD_NUM_ALARMS AT32_ST_OVERRIDE_ALARMS #endif #elif OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC #define AT32_ST_USE_SYSTICK TRUE #define AT32_ST_USE_TMR1 FALSE #define AT32_ST_USE_TMR2 FALSE #define AT32_ST_USE_TMR3 FALSE #define AT32_ST_USE_TMR4 FALSE #define AT32_ST_USE_TMR5 FALSE #define AT32_ST_USE_TMR9 FALSE #define AT32_ST_USE_TMR10 FALSE #define AT32_ST_USE_TMR11 FALSE #define AT32_ST_USE_TMR13 FALSE #define AT32_ST_USE_TMR14 FALSE #else #define AT32_ST_USE_SYSTICK FALSE #define AT32_ST_USE_TMR1 FALSE #define AT32_ST_USE_TMR2 FALSE #define AT32_ST_USE_TMR3 FALSE #define AT32_ST_USE_TMR4 FALSE #define AT32_ST_USE_TMR5 FALSE #define AT32_ST_USE_TMR9 FALSE #define AT32_ST_USE_TMR10 FALSE #define AT32_ST_USE_TMR11 FALSE #define AT32_ST_USE_TMR13 FALSE #define AT32_ST_USE_TMR14 FALSE #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #ifdef __cplusplus extern "C" { #endif void st_lld_init(void); void st_lld_serve_interrupt(void); #ifdef __cplusplus } #endif /*===========================================================================*/ /* Driver inline functions. */ /*===========================================================================*/ #if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) || defined(__DOXYGEN__) /** * @brief Returns the time counter value. * * @return The counter value. * * @notapi */ static inline systime_t st_lld_get_counter(void) { return (systime_t)AT32_ST_TMR->CVAL; } /** * @brief Starts the alarm. * @note Makes sure that no spurious alarms are triggered after * this call. * * @param[in] abstime the time to be set for the first alarm * * @notapi */ static inline void st_lld_start_alarm(systime_t abstime) { AT32_ST_TMR->CDT[0] = (uint32_t)abstime; AT32_ST_TMR->ISTS = 0; #if ST_LLD_NUM_ALARMS == 1 AT32_ST_TMR->IDEN = AT32_TMR_IDEN_C1IEN; #else AT32_ST_TMR->IDEN |= AT32_TMR_IDEN_C1IEN; #endif } /** * @brief Stops the alarm interrupt. * * @notapi */ static inline void st_lld_stop_alarm(void) { #if ST_LLD_NUM_ALARMS == 1 AT32_ST_TMR->IDEN = 0U; #else AT32_ST_TMR->IDEN &= ~AT32_TMR_IDEN_C1IEN; #endif } /** * @brief Sets the alarm time. * * @param[in] abstime the time to be set for the next alarm * * @notapi */ static inline void st_lld_set_alarm(systime_t abstime) { AT32_ST_TMR->CDT[0] = (uint32_t)abstime; } /** * @brief Returns the current alarm time. * * @return The currently set alarm time. * * @notapi */ static inline systime_t st_lld_get_alarm(void) { return (systime_t)AT32_ST_TMR->CDT[0]; } /** * @brief Determines if the alarm is active. * * @return The alarm status. * @retval false if the alarm is not active. * @retval true is the alarm is active * * @notapi */ static inline bool st_lld_is_alarm_active(void) { return (bool)((AT32_ST_TMR->IDEN & AT32_TMR_IDEN_C1IEN) != 0); } #if (ST_LLD_NUM_ALARMS > 1) || defined(__DOXYGEN__) /** * @brief Starts an alarm. * @note Makes sure that no spurious alarms are triggered after * this call. * @note This functionality is only available in free running mode, the * behavior in periodic mode is undefined. * * @param[in] abstime the time to be set for the first alarm * @param[in] alarm alarm channel number * * @notapi */ static inline void st_lld_start_alarm_n(unsigned alarm, systime_t abstime) { AT32_ST_TMR->CDT[alarm] = (uint32_t)abstime; AT32_ST_TMR->ISTS = 0; AT32_ST_TMR->IDEN |= (AT32_TMR_IDEN_C1IEN << alarm); } /** * @brief Stops an alarm interrupt. * @note This functionality is only available in free running mode, the * behavior in periodic mode is undefined. * * @param[in] alarm alarm channel number * * @notapi */ static inline void st_lld_stop_alarm_n(unsigned alarm) { AT32_ST_TMR->IDEN &= ~(AT32_TMR_IDEN_C1IEN << alarm); } /** * @brief Sets an alarm time. * @note This functionality is only available in free running mode, the * behavior in periodic mode is undefined. * * @param[in] alarm alarm channel number * @param[in] abstime the time to be set for the next alarm * * @notapi */ static inline void st_lld_set_alarm_n(unsigned alarm, systime_t abstime) { AT32_ST_TMR->CDT[alarm] = (uint32_t)abstime; } /** * @brief Returns an alarm current time. * @note This functionality is only available in free running mode, the * behavior in periodic mode is undefined. * * @param[in] alarm alarm channel number * @return The currently set alarm time. * * @notapi */ static inline systime_t st_lld_get_alarm_n(unsigned alarm) { return (systime_t)AT32_ST_TMR->CDT[alarm]; } /** * @brief Determines if an alarm is active. * * @param[in] alarm alarm channel number * @return The alarm status. * @retval false if the alarm is not active. * @retval true is the alarm is active * * @notapi */ static inline bool st_lld_is_alarm_active_n(unsigned alarm) { return (bool)((AT32_ST_TMR->IDEN & (AT32_TMR_IDEN_C1IEN << alarm)) != 0); } #endif /* ST_LLD_NUM_ALARMS > 1 */ #endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */ #endif /* HAL_ST_LLD_H */ /** @} */