From 9523dc8a7809354fa768aefdeaafd7c487e00a56 Mon Sep 17 00:00:00 2001
From: Steins7 <steinsset@gmail.com>
Date: Sat, 8 Feb 2020 12:48:52 +0100
Subject: [PATCH] Fixed non-blocking delays not working

* fixed ARR value
- removed reset function
---
 src/drivers/timer.c | 28 +++++++++++++++++-----------
 src/drivers/timer.h |  4 ++++
 2 files changed, 21 insertions(+), 11 deletions(-)

diff --git a/src/drivers/timer.c b/src/drivers/timer.c
index 6c4cfdd..acda55f 100644
--- a/src/drivers/timer.c
+++ b/src/drivers/timer.c
@@ -108,19 +108,22 @@ int timer_wait_ms(TIM_TypeDef* tmr, uint16_t ms, OnTick cb) {
 			else if (tmr == TIM4) RCC->APB1ENR |= 1<<2;
 			else return -1;			// no such timer
 		}
+		
+		// set period
+		tmr->ARR = 0xFFFFFFFF;
 
 	} else { //non-blocking
 		if(timer_config_cb(tmr, &clk, cb)) return -1;
+
+		// set period
+		tmr->ARR = ms-1;
 	}
 
 	// set mode
-	tmr->CR1 |= (1<<7);  		//buffering
+	tmr->CR1 = (1<<7) | (1<<2);  //buffering and update settings
 	tmr->CR1 |= (1<<3);			//one pulse mode
 
-	// set period
-	tmr->ARR = 0xFFFFFFFF;
-
-	// set prescaler 1us
+		// set prescaler 1ms
 	tmr->PSC = 8*(clk/1000)-1; 	//PSC = clk/f - 1 | don't know why 8 times..
 
 	timer_start(tmr);
@@ -149,17 +152,20 @@ int timer_wait_us(TIM_TypeDef* tmr, uint16_t us, OnTick cb) {
 			else return -1;			// no such timer
 		}
 
+		// set period
+		tmr->ARR = 0xFFFFFFFF;
+
 	} else { //non-blocking
 		if(timer_config_cb(tmr, &clk, cb)) return -1;
+		
+		// set period
+		tmr->ARR = us-1;
 	}
 
 	// set mode
-	tmr->CR1 |= (1<<7);  		//buffering
+	tmr->CR1 = (1<<7) | (1<<2);  //buffering and update settings
 	tmr->CR1 |= (1<<3);			//one pulse mode
 
-	// set period
-	tmr->ARR = 0xFFFFFFFF;
-
 	// set prescaler 1us
 	tmr->PSC = 8*(clk/1000000)-1; 	//PSC = clk/f - 1 | don't know why 8 times..
 
@@ -229,8 +235,8 @@ int timer_tick_init(TIM_TypeDef *tmr, uint16_t tick_ms, OnTick cb) {
 	tmr->SR &= !1;
 
 	// set mode
-	tmr->CR1 = (1<<7);  	//buffering
-	tmr->DIER = (1<<0); 	//Enable interrupts
+	tmr->CR1 = (1<<7) | (1<<2);  //buffering and update settings
+	tmr->DIER = (1<<0); //Enable interrupts
 
 	// set prescaler 1ms
 	tmr->PSC = 8*(clk/1000)-1; //PSC = clk/f - 1 | don't know why 8 times...
diff --git a/src/drivers/timer.h b/src/drivers/timer.h
index 772a047..b6cde97 100644
--- a/src/drivers/timer.h
+++ b/src/drivers/timer.h
@@ -42,6 +42,10 @@ void timer_start(TIM_TypeDef *tmr);
 void timer_stop(TIM_TypeDef *tmr);
 
 //------------------------------------------------------------------------------
+/** timer_enc_init
+ *  setup timer to read encoder output and keep track of it's position in the
+ *  CNT register whithout using CPU time
+ */
 int timer_enc_init(TIM_TypeDef* tmr);
 
 //------------------------------------------------------------------------------