Delay module.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@118 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/Makefile

@@ -89,6 +89,7 @@ SRC += $(PIOS)/pios.c
 ## PIOS Hardware (STM32F10x)
 SRC += $(PIOSSTM32F10X)/pios_sys.c
 SRC += $(PIOSSTM32F10X)/pios_led.c
+SRC += $(PIOSSTM32F10X)/pios_delay.c
 SRC += $(PIOSSTM32F10X)/pios_usart.c
 SRC += $(PIOSSTM32F10X)/pios_irq.c
 SRC += $(PIOSSTM32F10X)/pios_adc.c

flight/PiOS/STM32F10x/pios_delay.c

@@ -0,0 +1,87 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_delay.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      Delay Functions 
+ *                 - Provides a micro-second granular delay using a TIM 
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   PIOS_DELAY Delay Functions
+ * @{
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+/* Project Includes */
+#include "pios.h"
+
+
+/**
+* Initializes the Timer used by PIOS_DELAY functions<BR>
+* This is called from pios.c as part of the main() function
+* at system start up.
+*
+* We use TIM8 for this on Hardware V1. Can be changed
+* with PIOS_DELAY_TIMER and PIOS_DELAY_TIMER_RCC the 
+* pios_config.h file.
+* 
+* \return < 0 if initialisation failed
+*/
+
+
+int32_t PIOS_DELAY_Init(void)
+{
+  // enable timer clock
+  if( PIOS_DELAY_TIMER_RCC == RCC_APB2Periph_TIM1 || PIOS_DELAY_TIMER_RCC == RCC_APB2Periph_TIM8 )
+    RCC_APB2PeriphClockCmd(PIOS_DELAY_TIMER_RCC, ENABLE);
+  else
+    RCC_APB1PeriphClockCmd(PIOS_DELAY_TIMER_RCC, ENABLE);
+
+  // time base configuration
+  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
+  TIM_TimeBaseStructure.TIM_Period = 65535; // maximum value
+  TIM_TimeBaseStructure.TIM_Prescaler = 72-1; // for 1 uS accuracy fixed to 72Mhz
+  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
+  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+  TIM_TimeBaseInit(PIOS_DELAY_TIMER, &TIM_TimeBaseStructure);
+
+  // enable counter
+  TIM_Cmd(PIOS_DELAY_TIMER, ENABLE);
+
+  return 0; // no error
+}
+
+/**
+* Waits for a specific number of uS<BR>
+* Example:<BR>
+* \code
+*   // wait for 500 uS
+*   PIOS_DELAY_Wait_uS(500);
+* \endcode
+* \param[in] uS delay (1..65535 microseconds)
+* \return < 0 on errors
+*/
+int32_t PIOS_DELAY_Wait_uS(uint16_t uS)
+{
+  uint16_t start = PIOS_DELAY_TIMER->CNT;
+
+  // note that this event works on 16bit counter wrap-arounds
+  while( (uint16_t)(PIOS_DELAY_TIMER->CNT - start) <= uS );
+
+  return 0; // no error
+}

flight/PiOS/inc/pios_delay.h

@@ -0,0 +1,35 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_settings.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      Settings functions header 
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_DELAY_H
+#define PIOS_DELAY_H
+
+
+/* Public Functions */
+extern int32_t PIOS_DELAY_Init(void);
+extern int32_t PIOS_DELAY_Wait_uS(uint16_t uS);
+
+
+#endif /* PIOS_DELAY_H */

flight/PiOS/pios.c

@@ -42,7 +42,6 @@ void vApplicationIdleHook(void);
 
 /* Function Prototypes */
 void TestTask( void *pvParameters );
-void DiskTask( void *pvParameters );
 
 /**
 * Main function
@@ -54,8 +53,8 @@ int main()
 	   enables the LEDs. */
 	PIOS_SYS_Init();
 
-	xTaskCreate( TestTask, ( signed portCHAR * ) "Test", configMINIMAL_STACK_SIZE , NULL, 2, NULL );
+	/* Delay system */
-	xTaskCreate( DiskTask, ( signed portCHAR * ) "Disk", configMINIMAL_STACK_SIZE , NULL, 4, NULL );
+	PIOS_DELAY_Init();
 
 	/* Enables the SDCard */
 //	PIOS_SDCARD_Init();
@@ -73,6 +72,10 @@ int main()
 	/* Initialise OpenPilot application */
 //	OpenPilotInit();
 
+
+	/* Create a FreeRTOS task */
+	xTaskCreate( TestTask, ( signed portCHAR * ) "Test", configMINIMAL_STACK_SIZE , NULL, 2, NULL );
+
 	/* Start the FreeRTOS scheduler */
 	vTaskStartScheduler();
 
@@ -81,6 +84,8 @@ int main()
 	return 0;
 }
 
+
+
 void TestTask( void *pvParameters )
 {
 const portTickType xDelay = 500 / portTICK_RATE_MS;
@@ -93,17 +98,6 @@ const portTickType xDelay = 500 / portTICK_RATE_MS;
 }
 
 
-void DiskTask( void *pvParameters )
-{
-const portTickType xDelay = 10 / portTICK_RATE_MS;
-
-    while(1)
-        {
-    	disk_timerproc();
-        vTaskDelay(xDelay);
-        }
-}
-
 
 /**
 * Idle hook function

flight/PiOS/pios.h

@@ -53,6 +53,7 @@
 /* PIOS Hardware Includes (STM32F10x) */
 #include <pios_board.h>
 #include <pios_sys.h>
+#include <pios_delay.h>
 #include <pios_led.h>
 #include <pios_sdcard.h>
 #include <pios_usart.h>