去掉不使用的timer32 counter

Signed-off-by: huhui <huhui@sharkgulf.com>

Applications/bsp/bsp.c

@@ -3,7 +3,7 @@
 #include "libs/logger.h"
 #include "os/os_types.h"
 #include "bsp/uart.h"
-#include "bsp/timer_count32.h"
+#include "bsp/delay.h"
 #include "version.h"
 
 static void wdog_enable(void);
@@ -15,7 +15,6 @@ void bsp_init(void){
 	dbg_periph_enable(DBG_TIMER1_HOLD);
 	systick_open();
 	task_ticks_enable();
-	timer_count32_init();
 	gpio_pin_init();
 	shark_uart_init(SHARK_UART0);
 }

Applications/bsp/delay.c

@@ -38,11 +38,21 @@ void task_udelay(uint32_t delay)
 }
 
 
-u32 task_delta_ticks(u32 count) {
-	u32 now = task_ticks_abs();
-	u32 delta = now - count;
-	if (now < count) { //wrap
-		delta = 0xFFFFFFFF - count + now + 1;
+uint32_t task_get_usecond(void) {
+	return task_ticks_abs() / (SYSTEM_CLOCK / 1000000);
+}
+
+uint32_t task_get_delta_us(uint32_t us) {
+	u32 count = us * (SYSTEM_CLOCK / 1000000);
+	return task_delta_ticks(count) / (SYSTEM_CLOCK / 1000000);
+}
+
+
+uint32_t task_delta_ticks(u32 count) {
+	u32 now = task_ticks_abs();
+	u32 delta = now - count;
+	if (now < count) { //wrap
+		delta = 0xFFFFFFFF - count + now + 1;
 	}
 	return (delta);
 }

Applications/bsp/delay.h

@@ -12,6 +12,8 @@ void systick_close(void);
 void delay_ms(uint32_t count);
 void delay_us(uint16_t cnt);
 void task_udelay(uint32_t delay);
+uint32_t task_get_usecond(void);
+uint32_t task_get_delta_us(uint32_t us);
 
 #endif
 

Applications/bsp/mc_hall_gpio.c

@@ -1,5 +1,5 @@
 #include "bsp/mc_hall_gpio.h"
-#include "bsp/timer_count32.h"
+#include "bsp/delay.h"
 #include "os/os_task.h"
 
 static void _gpio_irq_enable(void);
@@ -51,7 +51,7 @@ u32 hall_get_hwcount(u8 *hall) {
 		g_hall.is_edged = 0;
 		return g_hall.hall_time;
 	}
-	return timer_count32_get();
+	return task_get_usecond();
 }
 
 

Applications/bsp/timer_count32.c

@@ -1,100 +0,0 @@
-#include "bsp/bsp.h"
-#include "timer_count32.h"
-#include "os/os_task.h"
-//#define ENABLE_32TIMER 
-
-#ifdef ENABLE_32TIMER
-static void init_master_timer(void);
-static void init_slave_timer(void);
-
-#define MASTER TIMER3
-#define MASTER_CK RCU_TIMER3
-
-#define SLAVE  TIMER4
-#define SLAVE_CK RCU_TIMER4
-
-void timer_count32_init(void) {
-
-	init_master_timer();
-	init_slave_timer();
-
-	timer_enable(MASTER);
-	timer_enable(SLAVE);
-}
-
-static void init_master_timer(void){
-	timer_parameter_struct timer_initpara;
-	
-	rcu_periph_clock_enable(MASTER_CK);
-
-	timer_deinit(MASTER);
-
-	memset(&timer_initpara, 0, sizeof(timer_initpara));
-	timer_initpara.prescaler		= TIM_CLOCK/COUNT_CLK - 1; //clk 200KHz, 5us
-	timer_initpara.alignedmode		= TIMER_COUNTER_EDGE;
-	timer_initpara.counterdirection = TIMER_COUNTER_UP;
-	timer_initpara.period		   = 0xFFFF;
-	timer_initpara.clockdivision	= TIMER_CKDIV_DIV1;
-	timer_initpara.repetitioncounter = 0;
-	timer_init(MASTER,&timer_initpara);
-	timer_counter_value_config(MASTER, 0);
-	timer_autoreload_value_config(MASTER, 0xFFFF);
-	timer_counter_up_direction(MASTER);
-	timer_auto_reload_shadow_enable(MASTER);
-	timer_master_slave_mode_config(MASTER, TIMER_MASTER_SLAVE_MODE_ENABLE);
-	timer_master_output_trigger_source_select(MASTER, TIMER_TRI_OUT_SRC_UPDATE);
-}
-
-static void init_slave_timer(void) {
-	timer_parameter_struct timer_initpara;
-	
-	rcu_periph_clock_enable(SLAVE_CK);
-
-	timer_deinit(SLAVE);
-
-	memset(&timer_initpara, 0, sizeof(timer_initpara));
-	timer_initpara.prescaler		= 0; //clk 10MHz/65535
-	timer_initpara.alignedmode		= TIMER_COUNTER_EDGE;
-	timer_initpara.counterdirection = TIMER_COUNTER_UP;
-	timer_initpara.period		   = 0xFFFF;
-	timer_initpara.clockdivision	= TIMER_CKDIV_DIV1;
-	timer_initpara.repetitioncounter = 0;
-	timer_init(SLAVE,&timer_initpara);
-	timer_counter_value_config(SLAVE, 0);
-	timer_autoreload_value_config(SLAVE, 0xFFFF);
-	timer_counter_up_direction(SLAVE);
-	timer_auto_reload_shadow_enable(SLAVE);
-	timer_master_slave_mode_config(SLAVE, TIMER_MASTER_SLAVE_MODE_ENABLE);
-	timer_slave_mode_select(SLAVE, TIMER_SLAVE_MODE_EXTERNAL0);
-	timer_input_trigger_source_select(SLAVE, TIMER_SMCFG_TRGSEL_ITI1); //select timer1 output as the trigger input
-
-}
-
-static __inline__ u32 _timer_count32_get(void) {
-#if 0
-	u16 high;
-	u16 low;
-	do {
-		high = TIMER_CNT(SLAVE);
-		low = TIMER_CNT(MASTER);
-	}while((high != TIMER_CNT(SLAVE)) /*|| (low != TIMER_CNT(MASTER))*/);
-	return (high<<16) | low;
-#else
-	return task_ticks_abs()/120;
-#endif
-}
-
-#else
-void timer_count32_init(void){
-}
-#endif
-u32 timer_count32_get(void) {
-	return task_ticks_abs();
-}
-
-u32 timer_count32_delta(u32 now, u32 prev) {
-	if (now >= prev) {
-		return (now - prev)/120;
-	}
-	return ((u32)0xFFFFFFFF - prev + now + 1)/120;
-}

Applications/bsp/timer_count32.h

@@ -1,21 +0,0 @@
-#ifndef _TIMER_COUNT32_H__
-#define _TIMER_COUNT32_H__
-#include "os/os_types.h"
-
-
-void timer_count32_init(void);
-u32  timer_count32_get(void);
-u32 timer_count32_delta(u32 now, u32 prev);
-
-#define COUNT_CLK (1000 * 1000)
-
-static __inline__ u32 timer_get_5us_ticks(u32 now, u32 count) {
-	u32 delta = now - count;
-	if (now < count) { //wrap
-		delta = 0xFFFFFFFF - count + now + 1;
-	}
-	return (delta);
-}
-
-#endif	/* _TIMER_COUNT32_H__ */
-

Applications/foc/motor/encoder.c

@@ -1,6 +1,6 @@
 #include "bsp/bsp.h"
 #include "bsp/enc_intf.h"
-#include "bsp/timer_count32.h"
+#include "bsp/delay.h"
 #include "foc/motor/encoder.h"
 #include "foc/motor/motor_param.h"
 #include "libs/logger.h"
@@ -171,7 +171,7 @@ float encoder_get_theta(void) {
 	g_encoder.abi_angle += _eccentricity_compensation(cnt);
 	rand_angle(g_encoder.abi_angle);
 	g_encoder.last_cnt = cnt;
-	g_encoder.last_us = timer_count32_get();
+	g_encoder.last_us = task_get_usecond();
 
 	if (g_encoder.cali_angle != INVALID_ANGLE) {
 		encoder_do_offset_calibrate();

Applications/foc/motor/hall.c

@@ -7,7 +7,7 @@
 #include "math/fast_math.h"
 #include "foc/motor/hall.h"
 #include "app/nv_storage.h"
-#include "bsp/timer_count32.h"
+#include "bsp/delay.h"
 #include "libs/time_measure.h"
 #include "app/nv_storage.h"
 #include "libs/logger.h"
@@ -113,9 +113,9 @@ void hall_sensor_clear(void) {
 
 static u32 _hall_detect_task(void *args) {
 	if (_sensor_hander.el_speed != 0) {
-		u32 ticks_now = timer_count32_get();
+		u32 ticks_now = task_ticks_abs();
 		if (ticks_now > _sensor_hander.hall_ticks) {
-			if (timer_count32_delta(ticks_now, _sensor_hander.hall_ticks) > 2000*1000) {
+			if (task_delta_ticks(ticks_now) > 2000*1000) {
 				hall_sensor_clear();
 			}
 		}
@@ -282,7 +282,7 @@ static void _hall_init_el_angle(void) {
 	_sensor_hander.measured_el_angle += PHASE_60_DEGREE;
 	rand_angle(_sensor_hander.measured_el_angle);
   	_sensor_hander.estimate_el_angle = _sensor_hander.measured_el_angle;
-	_sensor_hander.hall_ticks = timer_count32_get();
+	_sensor_hander.hall_ticks = task_ticks_abs();
 }
 
 static __inline__ float _get_angle(u8 state, float added) {
@@ -425,7 +425,7 @@ void HALL_IRQHandler(void) {
 	time_measure_start(&g_meas_hall);
 	u8 hall_stat_now = get_hall_stat(HALL_READ_TIMES);
 	u8 hall_stat_prev = _sensor_hander.hall_stat;
-	u32 hall_ticks_now = timer_count32_get();	
+	u32 hall_ticks_now = task_ticks_abs();	
 
 	/*获取当前转子角度*/
 	float theta_now = _hall_position(hall_stat_now, hall_stat_prev);
@@ -434,10 +434,11 @@ void HALL_IRQHandler(void) {
 	}
 	//plot_2data16(hall_stat_now*60, _sensor_hander.manual_angle);
 	//获取两次中断的时间间隔，估计速度
-	u32 delta_us = timer_count32_delta(hall_ticks_now, _sensor_hander.hall_ticks);
+	u32 delta_us = task_delta_ticks(hall_ticks_now);
 	if (delta_us == 0) {
 		return;
 	}
+	_sensor_hander.hall_ticks = hall_ticks_now;
 	//获取两次中断之间转子转过的角度,获取预期的下次hall状态变换转过的角度
 #ifdef USE_DETECTED_ANGLE
 	float delta_angle = _get_delta_angle(hall_stat_prev, hall_stat_now);

Applications/foc/motor/motor.c

@@ -4,7 +4,7 @@
 #include "foc/mc_error.h"
 #include "foc/samples.h"
 #include "math/fast_math.h"
-#include "bsp/timer_count32.h"
+#include "bsp/delay.h"
 #include "libs/time_measure.h"
 #include "bsp/delay.h"
 #include "bsp/bsp.h"

Project/MC100.uvoptx

@@ -606,7 +606,7 @@
 
   <Group>
     <GroupName>BSP</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -761,18 +761,6 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Applications\bsp\timer_count32.c</PathWithFileName>
-      <FilenameWithoutPath>timer_count32.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
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@@ -780,7 +768,7 @@
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@@ -792,7 +780,7 @@
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@@ -804,7 +792,7 @@
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+      <FileNumber>46</FileNumber>
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@@ -824,7 +812,7 @@
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@@ -836,7 +824,7 @@
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@@ -848,7 +836,7 @@
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+      <FileNumber>49</FileNumber>
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@@ -860,7 +848,7 @@
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+      <FileNumber>50</FileNumber>
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@@ -872,7 +860,7 @@
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+      <FileNumber>51</FileNumber>
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@@ -884,7 +872,7 @@
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+      <FileNumber>52</FileNumber>
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@@ -904,7 +892,7 @@
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+      <FileNumber>53</FileNumber>
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@@ -916,7 +904,7 @@
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@@ -928,7 +916,7 @@
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@@ -948,7 +936,7 @@
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@@ -960,7 +948,7 @@
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@@ -1068,7 +1056,7 @@
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@@ -1104,7 +1092,7 @@
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@@ -1128,7 +1116,7 @@
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@@ -1148,7 +1136,7 @@
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@@ -1160,7 +1148,7 @@
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+      <FileNumber>73</FileNumber>
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Project/MC100.uvprojx

@@ -618,11 +618,6 @@
               <FileType>1</FileType>
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             </File>
-            <File>
-              <FileName>timer_count32.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Applications\bsp\timer_count32.c</FilePath>
-            </File>
             <File>
               <FileName>delay.c</FileName>
               <FileType>1</FileType>

Project/MC105_V3.uvoptx

@@ -571,7 +571,7 @@
 
   <Group>
     <GroupName>BSP</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
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     <cbSel>0</cbSel>
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@@ -726,18 +726,6 @@
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@@ -745,7 +733,7 @@
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@@ -813,7 +801,7 @@
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@@ -825,7 +813,7 @@
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@@ -881,7 +869,7 @@
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@@ -893,7 +881,7 @@
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Project/MC105_V3.uvprojx

@@ -618,11 +618,6 @@
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