Timers — Maple v0.0.9 Documentation

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# Timers

There are four general purpose timers in the Maple microcontroller that can be configured to generate periodic or delayed events with minimal work done by the microcontroller. For example, the PWM channels can generate regular square-wave signals on specific output pins without consuming extra clock cycles. By attaching interrupt handlers to these channels (instead of just changing the voltage on an external pin), more complex events can be scheduled.

Contents

- Introduction
- libmaple Reference
- Caveats
- SysTick Peripheral
- Code Examples
  - LED blink
  - Racing Counters

## Introduction

The four timers each have four separate compare channels. Each channel has an associated 16-bit counter that can be configured with a 16-bit prescaler and a 16-bit overflow value. The prescaler determines how fast the counter changes, while the overflow value determines when it gets reset.

The prescaler acts as a divider of the 72MHz system clock. That is, with a prescaler of 1, the channel’s counter increments with a frequency of 72MHz, rolling over (passing the maximum 16-bit unsigned integer value of 65,535) more than a thousand times a second. With a prescaler of 7200, it has a frequency of (72/7200) MHz = 10 KHz, rolling over approximately every 6.55 seconds.

The overflow value is the maximum value the counter will go up to. It defaults to the full 65,535; smaller values will cause the counter to reset to zero more frequently.

Whenever a channel’s counter reaches its overflow value, an “update event” interrupt is generated. You can configure the Maple to notify you when this takes place, by registering an interrupt handler, which is a function that will be called when the update event occurs.

## libmaple Reference

The libmaple API for interacting with timers is documented at the HardwareTimer reference.

## Caveats

PWM Conflicts: Because PWM functionality on a given pin depends on the configuration of the timer and channel, you must chose your channels carefully if you want to use both timer interrupts and PWM in the same program. Refer to the following table to match up timer channels and Maple header pin numbers:

Timer | Ch. 1 pin | Ch. 2 pin | Ch. 3 pin | Ch. 4 pin
--- | --- | --- | --- | ---
`Timer1` | 6 | 7 | 8 | –
`Timer2` | 2 | 3 | 1 | 0
`Timer3` | 12 | 11 | 27 | 28
`Timer4` | 5 | 9 | 14 | 24

Overhead: there is some overhead associated with function and interrupt calls (loading and unloading the stack, preparing state, etc.) and this overhead can fudge your timing. Imperfect code branching also means that, e.g., channel 1 interrupts may get called a couple clock cycles sooner than a channel 4 interrupt, all other configuration being the same.

Jitter: other interrupts (USB, Serial, SysTick, or other timers) can and will get called before or during the timer interrupt routines, causing pseudorandom delays and other frustrations.

Disabling the USB port (by calling `SerialUSB.end()`, or just running off a battery) helps a lot, but then you lose the auto-reset and communications functionality. This will require that you put your Maple into perpetual bootloader mode before uploading a new program to it (or somehow causing your program to re-enable serial over USB using SerialUSB.begin()).

Disabling SysTick with `systick_disable()` helps as well. However, calling this function will break the `micros()` and `millis()` functions.

General: working with timers and interrupts can be tricky and hard to debug; they are a somewhat “advanced” topic. Start simple, test with ASSERT(), and don’t try to do too much in your interrupt handlers! Make sure that what you’re trying to do in a handler isn’t going to block other interrupts from firing (e.g. USB, Serial, SysTick) if those other interrupts are important for your program.

## SysTick Peripheral

The SysTick peripheral allows another, simple way to perform periodic or delayed events. This separate timer does not conflict with any other peripherals, but the associated 1kHz interrupt can jitter the general purpose timer interrupts; this is clearly seen when running VGA code, where the timing jitters are transformed into visual jags in the image. The SysTick peripheral can be disabled by calling `systick_disable()`, and re-enabled using `systick_resume()`.

## Code Examples

### LED blink

    #define LED_RATE 500000    // in microseconds; should give 0.5Hz toggles

    void handler_led(void);

    void setup()
    {
        // Set up the LED to blink
        pinMode(BOARD_LED_PIN, OUTPUT);

        // Setup Timer
        Timer2.setChannel1Mode(TIMER_OUTPUTCOMPARE);
        Timer2.setPeriod(LED_RATE); // in microseconds
        Timer2.setCompare1(1);      // overflow might be small
        Timer2.attachCompare1Interrupt(handler_led);
    }

    void loop() {
        // Nothing! It's all in the interrupts
    }

    void handler_led(void) {
        toggleLED();
    }

### Racing Counters

    void handler_count1(void);
    void handler_count2(void);

    int count1 = 0;
    int count2 = 0;

    void setup()
    {
        // Set up BUT for input
        pinMode(BOARD_BUTTON_PIN, INPUT_PULLUP);

        // Setup Counting Timers
        Timer3.setChannel1Mode(TIMER_OUTPUTCOMPARE);
        Timer4.setChannel1Mode(TIMER_OUTPUTCOMPARE);
        Timer3.pause();
        Timer4.pause();
        Timer3.setCount(0);
        Timer4.setCount(0);
        Timer3.setOverflow(30000);
        Timer4.setOverflow(30000);
        Timer3.setCompare1(1000);   // somewhere in the middle
        Timer4.setCompare1(1000);
        Timer3.attachCompare1Interrupt(handler1);
        Timer4.attachCompare1Interrupt(handler2);
        Timer3.resume();
        Timer4.resume();
    }

    void loop() {
        // Display the running counts
        SerialUSB.print("Count 1: ");
        SerialUSB.print(count1);
        SerialUSB.print("\t\tCount 2: ");
        SerialUSB.println(count2);

        // Run... while BUT is held, pause Count2
        for(int i = 0; i<1000; i++) {
            if(digitalRead(BOARD_BUTTON_PIN)) {
                Timer4.pause();
            } else {
                Timer4.resume();
            }
            delay(1);
        }
    }

    void handler1(void) {
        count1++;
    }
    void handler2(void) {
        count2++;
    }

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