基于硬件定时器的时间基准类 / Provides a timebase using hardware timer (TIM) More...

#include <stm32_timebase.hpp>

Inheritance diagram for LibXR::STM32TimerTimebase:

Collaboration diagram for LibXR::STM32TimerTimebase:

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Public Member Functions
	STM32TimerTimebase (TIM_HandleTypeDef *timer)
	构造函数 / Constructor

TimestampUS	_get_microseconds ()
	获取当前时间（微秒级） / Get current time in microseconds

TimestampMS	_get_milliseconds ()
	获取当前时间（毫秒级） / Get current time in milliseconds

Public Member Functions inherited from LibXR::Timebase
	Timebase (uint64_t max_valid_us=UINT64_MAX, uint32_t max_valid_ms=UINT32_MAX)
	默认构造函数，初始化全局时间基指针。 Default constructor, initializing the global timebase pointer.

Static Public Attributes
static TIM_HandleTypeDef *	htim = nullptr
	硬件定时器句柄指针 / Static pointer to hardware timer handle

Static Public Attributes inherited from LibXR::Timebase
static Timebase *	timebase = nullptr
	静态指针，用于存储全局时间基对象。 Static pointer storing the global timebase instance.

Additional Inherited Members
Static Public Member Functions inherited from LibXR::Timebase
static TimestampUS	GetMicroseconds ()
	获取当前时间的微秒级时间戳。 Gets the current timestamp in microseconds.

static TimestampMS	GetMilliseconds ()
	获取当前时间的毫秒级时间戳。 Gets the current timestamp in milliseconds.

Detailed Description

基于硬件定时器的时间基准类 / Provides a timebase using hardware timer (TIM)

Definition at line 73 of file stm32_timebase.hpp.

Constructor & Destructor Documentation

◆ STM32TimerTimebase()

LibXR::STM32TimerTimebase::STM32TimerTimebase ( TIM_HandleTypeDef * timer )

inline

构造函数 / Constructor

Parameters

timer 定时器句柄指针 / Pointer to hardware timer handle

Definition at line 80 of file stm32_timebase.hpp.

      : Timebase(static_cast<uint64_t>(UINT32_MAX) * 1000 + 999, UINT32_MAX)
  {
    htim = timer;
  }

Member Function Documentation

◆ _get_microseconds()

TimestampUS LibXR::STM32TimerTimebase::_get_microseconds ( )

inlinevirtual

获取当前时间（微秒级） / Get current time in microseconds

该函数通过读取硬件定时器计数值和系统滴答定时器毫秒数来计算当前的微秒级时间戳。 It calculates current microsecond timestamp based on hardware timer counter and system tick value.

Returns: TimestampUS 当前时间（微秒） / Current timestamp in microseconds

Implements LibXR::Timebase.

Definition at line 95 of file stm32_timebase.hpp.

  {
    uint32_t ms_old = HAL_GetTick();
    uint32_t tick_value_old = __HAL_TIM_GET_COUNTER(htim);
    uint32_t ms_new = HAL_GetTick();
    uint32_t tick_value_new = __HAL_TIM_GET_COUNTER(htim);
 
    uint32_t autoreload = __HAL_TIM_GET_AUTORELOAD(htim) + 1;
 
    uint32_t delta_ms = ms_new - ms_old;
    switch (delta_ms)
    {
      case 0:
        return TimestampUS(static_cast<uint64_t>(ms_new) * 1000 +
                           static_cast<uint64_t>(tick_value_old) * 1000 / autoreload);
      case 1:
        /* 中断发生在两次读取之间 / Interrupt happened between two reads */
        return TimestampUS(static_cast<uint64_t>(ms_new) * 1000 +
                           static_cast<uint64_t>(tick_value_new) * 1000 / autoreload);
      default:
        /* 中断耗时过长（超过1ms），程序异常 / Indicates that interrupt took more than
         * 1ms, an error case */
        ASSERT(false);
    }
 
    return 0;
  }

◆ _get_milliseconds()

TimestampMS LibXR::STM32TimerTimebase::_get_milliseconds ( )

inlinevirtual

获取当前时间（毫秒级） / Get current time in milliseconds

Returns: TimestampMS 当前时间（毫秒） / Current timestamp in milliseconds

Implements LibXR::Timebase.

Definition at line 128 of file stm32_timebase.hpp.

128{ return HAL_GetTick(); }

Field Documentation

◆ htim

TIM_HandleTypeDef * STM32TimerTimebase::htim = nullptr

static

硬件定时器句柄指针 / Static pointer to hardware timer handle

Definition at line 133 of file stm32_timebase.hpp.

The documentation for this class was generated from the following files:

driver/st/stm32_timebase.hpp
driver/st/stm32_timebase.cpp

Public Member Functions

Static Public Attributes

Additional Inherited Members