From 6473a1728e8da1f7bce91c905dd31a1545215d84 Mon Sep 17 00:00:00 2001
From: runger1101001 <runger1@gmail.com>
Date: Thu, 7 Nov 2024 19:16:43 +0100
Subject: [PATCH] add ability to reserve timers so they don't get used for
 motors

---
 .../hardware_specific/stm32/stm32_mcu.cpp     | 30 ++++++++++++++++++-
 .../hardware_specific/stm32/stm32_mcu.h       |  6 ++++
 2 files changed, 35 insertions(+), 1 deletion(-)

diff --git a/src/drivers/hardware_specific/stm32/stm32_mcu.cpp b/src/drivers/hardware_specific/stm32/stm32_mcu.cpp
index 1a73ddfa..ed9da6be 100644
--- a/src/drivers/hardware_specific/stm32/stm32_mcu.cpp
+++ b/src/drivers/hardware_specific/stm32/stm32_mcu.cpp
@@ -27,6 +27,10 @@
 int numTimersUsed = 0;
 TIM_HandleTypeDef* timersUsed[SIMPLEFOC_STM32_MAX_TIMERSUSED];
 
+// reserve timers for other uses, so SimpleFOC doesn't use them for motors
+int numTimersReserved = 0;
+TIM_TypeDef* reservedTimers[SIMPLEFOC_STM32_MAX_TIMERSRESERVED];
+
 // track drivers initialized via SimpleFOC - used to know which timer channels are used
 int numMotorsUsed = 0;
 STM32DriverParams* motorsUsed[SIMPLEFOC_STM32_MAX_MOTORSUSED];
@@ -38,6 +42,16 @@ int stm32_getNumTimersUsed() {
 int stm32_getNumMotorsUsed() {
   return numMotorsUsed;
 }
+int stm32_getNumTimersReserved() {
+  return numTimersReserved;
+}
+bool stm32_isTimerReserved(TIM_TypeDef* timer) {
+  for (int i=0; i<numTimersReserved; i++) {
+    if (reservedTimers[i] == timer)
+      return true;
+  }
+  return false;
+}
 bool stm32_isTimerUsed(TIM_HandleTypeDef* timer) {
   for (int i=0; i<numTimersUsed; i++) {
     if (timersUsed[i] == timer)
@@ -49,6 +63,9 @@ STM32DriverParams* stm32_getMotorUsed(int index) {
   return motorsUsed[index];
 }
 bool stm32_isChannelUsed(PinMap* pin) {
+  if (stm32_isTimerReserved((TIM_TypeDef*)pin->peripheral)) {
+    return true;
+  }
   for (int i=0; i<numMotorsUsed; i++) {
     for (int j=0; j<6; j++) {
       if (motorsUsed[i]->timers_handle[j] == NULL) break;
@@ -65,7 +82,14 @@ TIM_HandleTypeDef* stm32_getTimer(PinMap* timer) {
   }
   return NULL;
 }
-
+bool stm32_reserveTimer(TIM_TypeDef* timer) {
+  if (numTimersReserved >= SIMPLEFOC_STM32_MAX_TIMERSRESERVED) {
+    SIMPLEFOC_DEBUG("STM32-DRV: ERR: too many timers reserved");
+    return false;
+  }
+  reservedTimers[numTimersReserved++] = timer;
+  return true;
+}
 // function to get a timer handle given the pinmap entry of the pin you want to use
 // after calling this function, the timer is marked as used by SimpleFOC
 TIM_HandleTypeDef* stm32_useTimer(PinMap* timer) {
@@ -75,6 +99,10 @@ TIM_HandleTypeDef* stm32_useTimer(PinMap* timer) {
     SIMPLEFOC_DEBUG("STM32-DRV: ERR: too many timers used");
     return NULL;
   }
+  if (stm32_isTimerReserved((TIM_TypeDef*)timer->peripheral)) {
+    SIMPLEFOC_DEBUG("STM32-DRV: ERR: timer reserved");
+    return NULL;
+  }
   handle = new TIM_HandleTypeDef();
   handle->Instance = (TIM_TypeDef*)timer->peripheral;
   handle->Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED;
diff --git a/src/drivers/hardware_specific/stm32/stm32_mcu.h b/src/drivers/hardware_specific/stm32/stm32_mcu.h
index ee0bf569..feee6ba2 100644
--- a/src/drivers/hardware_specific/stm32/stm32_mcu.h
+++ b/src/drivers/hardware_specific/stm32/stm32_mcu.h
@@ -8,6 +8,9 @@
 #ifndef SIMPLEFOC_STM32_MAX_TIMERSUSED
 #define SIMPLEFOC_STM32_MAX_TIMERSUSED 6
 #endif
+#ifndef SIMPLEFOC_STM32_MAX_TIMERSRESERVED
+#define SIMPLEFOC_STM32_MAX_TIMERSRESERVED 4
+#endif
 #ifndef SIMPLEFOC_STM32_MAX_MOTORSUSED
 #define SIMPLEFOC_STM32_MAX_MOTORSUSED 4
 #endif
@@ -53,11 +56,14 @@ typedef struct STM32DriverParams {
 // timer allocation functions
 int stm32_getNumTimersUsed();
 int stm32_getNumMotorsUsed();
+int stm32_getNumTimersReserved();
 STM32DriverParams* stm32_getMotorUsed(int index);
 bool stm32_isTimerUsed(TIM_HandleTypeDef* timer);
 bool stm32_isChannelUsed(PinMap* pin);
+bool stm32_isTimerReserved(TIM_TypeDef* timer);
 TIM_HandleTypeDef* stm32_getTimer(PinMap* timer);
 TIM_HandleTypeDef* stm32_useTimer(PinMap* timer);
+bool stm32_reserveTimer(TIM_TypeDef* timer);
 
 void stm32_pause(STM32DriverParams* params);
 void stm32_resume(STM32DriverParams* params);