timer.h

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 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
  *  _____.___.                 .___                    .__.__      *
  *  \__  |   | ____   ____   __| _/___________    _____|__|  |     *
  *   /   |   |/ ___\ / ___\ / __ |\_  __ \__  \  /  ___/  |  |     *
  *   \____   / /_/  > /_/  > /_/ | |  | \// __ \_\___ \|  |  |__   *
  *   / ______\___  /\___  /\____ | |__|  (____  /____  >__|____/   *
  *   \/     /_____//_____/      \/            \/     \/            *
  *                          - Midgard -                            *
  * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
  * This software can be used by students and other personal of the *
  * Bern University of Applied Sciences under the terms of the MIT  *
  * license.                                                        *
  * For other persons this software is under the terms of the GNU   *
  * General Public License version 2.                               *
  *                                                                 *
  * Copyright © 2021, Bern University of Applied Sciences.     *
  * All rights reserved.                                            *
  * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
#include <c/common/types.h>
 
#include <stm32f7xx_hal.h>
 
typedef struct {
    TIM_HandleTypeDef *interface;
    size_t size;
} tim_t;
 
typedef struct {
    tim_t timer;
    u8 channel;
} tim_channel_t;
 
 
/* Basic timer functions */
 
C_LINKAGE bool yggdrasil_TIM_Init(tim_t tim);
 
C_LINKAGE bool yggdrasil_TIM_Deinit(tim_t tim);
 
C_LINKAGE void yggdrasil_TIM_Enable(tim_t tim);
 
C_LINKAGE void yggdrasil_TIM_Disable(tim_t tim);
 
C_LINKAGE u32 yggdrasil_TIM_GetCount(tim_t tim);
 
C_LINKAGE void yggdrasil_TIM_SetCount(tim_t tim, u32 cnt);
 
C_LINKAGE void yggdrasil_TIM_ResetCount(tim_t tim);
 
C_LINKAGE u32 yggdrasil_TIM_GetPwmFrequency(tim_t tim);
 
C_LINKAGE bool yggdrasil_TIM_SetPwmFrequency(tim_t tim, u32 f_hz, u32 resolution);
 
 
C_LINKAGE bool yggdrasil_TIM_Channel_StartPwm(tim_channel_t channel);
 
C_LINKAGE bool yggdrasil_TIM_Channel_StopPwm(tim_channel_t channel);
 
C_LINKAGE bool yggdrasil_TIM_Channel_SetPolarityHigh(tim_channel_t channel, bool highActive);
 
C_LINKAGE bool yggdrasil_TIM_Channel_SetDutyCycle(tim_channel_t channel, float dutyCycle);
 
 
/* Profile counter functions */
 
C_LINKAGE void yggdrasil_ProfileCounter_Start(tim_t tim);
 
C_LINKAGE void yggdrasil_ProfileCounter_Stop(tim_t tim);
 
C_LINKAGE void yggdrasil_ProfileCounter_Reset(tim_t tim);
 
C_LINKAGE u64 yggdrasil_ProfileCounter_GetTimeToOverflow(tim_t tim);
 
C_LINKAGE void yggdrasil_ProfileCounter_GetFormattedTimeToOverflow(tim_t tim, char *buffer, size_t size);
 
C_LINKAGE u64 yggdrasil_ProfileCounter_GetPassedTime(tim_t tim);
 
C_LINKAGE void yggdrasil_ProfileCounter_GetFormattedPassedTime(tim_t tim, char *buffer, size_t size);
 
 
/* Encoder functions */
enum EncoderDirection {
    EncoderDirection_Clockwise,
    EncoderDirection_CounterClockwise,
};
 
enum EncoderMode {
    EncoderMode_48StepsPerTurn,
    EncoderMode_96StepsPerTurn
};
 
C_LINKAGE bool yggdrasil_Encoder_Init(tim_t tim);
 
C_LINKAGE bool yggdrasil_Encoder_Enable(tim_t tim);
 
C_LINKAGE bool yggdrasil_Encoder_Disable(tim_t tim);
 
C_LINKAGE u32 yggdrasil_Encoder_GetCount(tim_t tim);
 
C_LINKAGE void yggdrasil_Encoder_SetCount(tim_t tim, u32 cnt);
 
C_LINKAGE enum EncoderDirection yggdrasil_Encoder_GetDirection(tim_t tim);
 
C_LINKAGE void yggdrasil_Encoder_SetMode(tim_t tim, enum EncoderMode mode);