Improved icuWaitCapture().

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7212 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 13 insertions, 4 deletions

diff --git a/os/hal/include/icu.h b/os/hal/include/icu.h
index 0b85aa97b..007226616 100644
--- a/os/hal/include/icu.h
+++ b/os/hal/include/icu.h
@@ -93,7 +93,7 @@ typedef void (*icucallback_t)(ICUDriver *icup);
 } while (0)

 

 /**

- * @brief   Waits for the first cycle activation edge.

+ * @brief   Waits for the next cycle activation edge.

  * @details The function waits for the next PWM input activation front then

  *          brings the driver in the @p ICU_ACTIVE state.

  * @note    If notifications are enabled then the transition to the

diff --git a/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c b/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c
index 6ee7ff293..d8bc2e84c 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c
+++ b/os/hal/ports/STM32/LLD/TIMv1/icu_lld.c
@@ -615,7 +615,7 @@ void icu_lld_start_capture(ICUDriver *icup) {
 }

 

 /**

- * @brief   Waits for the first cycle activation edge.

+ * @brief   Waits for the next cycle activation edge.

  * @details The function waits for the next PWM input activation front then

  *          brings the driver in the @p ICU_ACTIVE state.

  * @note    If notifications are enabled then the transition to the

@@ -629,10 +629,18 @@ void icu_lld_start_capture(ICUDriver *icup) {
 void icu_lld_wait_capture(ICUDriver *icup) {

 

   if (icup->config->channel == ICU_CHANNEL_1) {

+    /* Resetting capture flag.*/

+    icup->tim->SR &= ~STM32_TIM_SR_CC1IF;

+

+    /* Waiting for an edge.*/

     while ((icup->tim->SR & STM32_TIM_SR_CC1IF) == 0)

       ;

   }

   else {

+    /* Resetting capture flag.*/

+    icup->tim->SR &= ~STM32_TIM_SR_CC2IF;

+

+    /* Waiting for an edge.*/

     while ((icup->tim->SR & STM32_TIM_SR_CC2IF) == 0)

       ;

   }

diff --git a/os/hal/src/icu.c b/os/hal/src/icu.c
index fcccab727..298e1cb28 100644
--- a/os/hal/src/icu.c
+++ b/os/hal/src/icu.c
@@ -133,7 +133,7 @@ void icuStartCapture(ICUDriver *icup) {
 }

 

 /**

- * @brief   Waits for the first cycle activation edge.

+ * @brief   Waits for the next cycle activation edge.

  * @details The function waits for the next PWM input activation front then

  *          brings the driver in the @p ICU_ACTIVE state.

  * @note    If notifications are enabled then the transition to the

@@ -148,7 +148,8 @@ void icuWaitCapture(ICUDriver *icup) {
   osalDbgCheck(icup != NULL);

 

   osalSysLock();

-  osalDbgAssert(icup->state == ICU_WAITING, "invalid state");

+  osalDbgAssert((icup->state == ICU_WAITING) || (icup->state == ICU_ACTIVE),

+                "invalid state");

   icuWaitCaptureI(icup);

   osalSysUnlock();

 }