[Timer] Add function to set interrupt priority

Signed-off-by: Frederic Pillon <[email protected]>

Author: fpistm

cores/arduino/HardwareTimer.cpp

@@ -66,6 +66,8 @@ HardwareTimer::HardwareTimer(TIM_TypeDef *instance)
 
   _timerObj.handle.Instance = instance;
   _timerObj.__this = (void *)this;
+  _timerObj.preemptPriority = TIM_IRQ_PRIO;
+  _timerObj.subPriority = TIM_IRQ_SUBPRIO;
 
   // Enable Timer clock
   enableTimerClock(&(_timerObj.handle));
@@ -638,6 +640,19 @@ void HardwareTimer::setPWM(uint32_t channel, PinName pin, uint32_t frequency, ui
   resume();
 }
 
+/**
+  * @brief  Set the priority of the interrupt
+  * @note   Must be call before resume()
+  * @param  preemptPriority: the pre-emption priority for the IRQn channel
+  * @param  subPriority: the subpriority level for the IRQ channel.
+  * @retval None
+  */
+void HardwareTimer::setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority)
+{
+  _timerObj.preemptPriority = preemptPriority;
+  _timerObj.subPriority = subPriority;
+}
+
 /**
   * @brief  Attach interrupt callback on update (rollover) event
   * @param  callback: interrupt callback

cores/arduino/HardwareTimer.h

@@ -105,6 +105,8 @@ class HardwareTimer {
 
     void setCaptureCompare(uint32_t channel, uint32_t compare, TimerCompareFormat_t format = TICK_COMPARE_FORMAT);  // set Compare register value of specified channel depending on format provided
 
+    void setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority); // set interrupt priority
+
     //Add interrupt to period update
     void attachInterrupt(void (*handler)(HardwareTimer *)); // Attach interrupt callback which will be called upon update event (timer rollover)
     void detachInterrupt();  // remove interrupt callback which was attached to update event

cores/arduino/stm32/timer.c

@@ -37,15 +37,16 @@ timerObj_t *get_timer_obj(TIM_HandleTypeDef *htim)
   */
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *htim_base)
 {
+  timerObj_t *obj = get_timer_obj(htim_base);
   enableTimerClock(htim_base);
 
   // configure Update interrupt
-  HAL_NVIC_SetPriority(getTimerUpIrq(htim_base->Instance), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO);
+  HAL_NVIC_SetPriority(getTimerUpIrq(htim_base->Instance), obj->preemptPriority, obj->subPriority);
   HAL_NVIC_EnableIRQ(getTimerUpIrq(htim_base->Instance));
 
   if (getTimerCCIrq(htim_base->Instance) != getTimerUpIrq(htim_base->Instance)) {
     // configure Capture Compare interrupt
-    HAL_NVIC_SetPriority(getTimerCCIrq(htim_base->Instance), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO);
+    HAL_NVIC_SetPriority(getTimerCCIrq(htim_base->Instance), obj->preemptPriority, obj->subPriority);
     HAL_NVIC_EnableIRQ(getTimerCCIrq(htim_base->Instance));
   }
 }
@@ -69,15 +70,16 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef *htim_base)
   */
 void HAL_TIM_OC_MspInit(TIM_HandleTypeDef *htim)
 {
+  timerObj_t *obj = get_timer_obj(htim);
   enableTimerClock(htim);
 
   // configure Update interrupt
-  HAL_NVIC_SetPriority(getTimerUpIrq(htim->Instance), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO);
+  HAL_NVIC_SetPriority(getTimerUpIrq(htim->Instance), obj->preemptPriority, obj->subPriority);
   HAL_NVIC_EnableIRQ(getTimerUpIrq(htim->Instance));
 
   if (getTimerCCIrq(htim->Instance) != getTimerUpIrq(htim->Instance)) {
     // configure Capture Compare interrupt
-    HAL_NVIC_SetPriority(getTimerCCIrq(htim->Instance), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO);
+    HAL_NVIC_SetPriority(getTimerCCIrq(htim->Instance), obj->preemptPriority, obj->subPriority);
     HAL_NVIC_EnableIRQ(getTimerCCIrq(htim->Instance));
   }
 }

cores/arduino/stm32/timer.h

@@ -238,6 +238,8 @@ typedef struct  {
   // Those 2 first fields must remain in this order at the beginning of the structure
   void    *__this;
   TIM_HandleTypeDef handle;
+  uint32_t preemptPriority;
+  uint32_t subPriority;
 } timerObj_t;
 
 /* Exported functions ------------------------------------------------------- */