Homec4science
Diffusion HHRI-software (hri-gen3) Browse

R2671/Firmware/src/drivers/callback_timers.h
0959a16c5548hri-gen3

Last Change
Raw File

callback_timers.h
View Options

#ifndef __CALLBACK_TIMERS_H
#define __CALLBACK_TIMERS_H
#include "../main.h"
typedef void (*cbt_PeriodicTaskFunc)(void);
// TIMX_PERIOD is the clock divider at the input of the timers.
// So, the timer will increment its counter, every TIMX_PERIOD ticks of the system clock (168 MHz).
#define TIM10_PRESCALER ((uint16_t)(SystemCoreClock/APB2_PRESCALER*TIM_MULTIPLIER/1000000-1)) // CLK_CNT = 1[us] (current loop)
#define TIM6_PRESCALER ((uint16_t)(SystemCoreClock/APB1_PRESCALER*TIM_MULTIPLIER/1000000-1)) // CLK_CNT = 1[us] (control loop)
#define TIM7_PRESCALER ((uint16_t)(SystemCoreClock/APB1_PRESCALER*TIM_MULTIPLIER/1000000-1)) // CLK_CNT = 1[us] (data loop)
/** @defgroup CallbackTimers Driver / Callback timers
* @brief Driver to call functions at a fixed rate.
*
* This driver setups three timers of the STM32, in order to call at a precise
* rate the control functions: the current regulation loop, the position
* regulation loop and the communication loop (data streaming part only).
*
* In the initialization code, first call cbt_Init(). Then call each
* cbt_Set*LoopTimer() function, giving the pointer to the function to call as
* an argument.
*
* @addtogroup CallbackTimers
* @{
*/
void cbt_Init(void);
void cbt_SetCurrentLoopTimer(cbt_PeriodicTaskFunc f, uint32_t period);
void cbt_SetPositionLoopTimer(cbt_PeriodicTaskFunc f, uint32_t period);
void cbt_SetCommLoopTimer(cbt_PeriodicTaskFunc f, uint32_t period);
void cbt_SetPositionLoopPeriod(uint32_t period);
void cbt_SetCommLoopPeriod(uint32_t period);
uint32_t cbt_GetCurrentLoopPeriod(void);
uint32_t cbt_GetPositionLoopPeriod(void);
uint32_t cbt_GetCommLoopPeriod(void);
/**
* @}
*/
#endif
c4science · Help