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Code Issues Releases Activity

Handle different prescaler values for timers on APB1 and APB2.

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The PIOS_MASTER_CLOCK has been removed in favor of
PIOS_SYSCLK (the master clock value,168000000 for revolution)
PIOS_PERIPHERAL_APB1_CLOCK and
PIOS_PERIPHERAL_APB2_CLOCK
Look at STM32F4xx_Revolution.h for the list of timer/peripheral and APB them belongs.
This commit is contained in:
Alessio Morale 2012-01-28 20:04:55 +01:00
parent e07fca0465
commit 820e8ac062
3 changed files with 67 additions and 15 deletions
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33
flight/PiOS/Boards/STM32F4xx_Revolution.h
View File

@ -135,9 +135,38 @@ extern uint32_t pios_com_telem_usb_id;
//-------------------------
// System Settings
//
// See also System_stm32f4xx.c
//-------------------------
#define PIOS_MASTER_CLOCK 168000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
//These macros are deprecated
//please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below
//#define PIOS_MASTER_CLOCK
//#define PIOS_PERIPHERAL_CLOCK
//#define PIOS_PERIPHERAL_CLOCK
#define PIOS_SYSCLK 168000000
// Peripherals that belongs to APB1 are:
// DAC |PWR |CAN1,2
// I2C1,2,3 |UART4,5 |USART3,2
// I2S3Ext |SPI3/I2S3 |SPI2/I2S2
// I2S2Ext |IWDG |WWDG
// RTC/BKP reg
// TIM2,3,4,5,6,7,12,13,14
// Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2)
// Default APB1 Prescaler = 4
#define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2)
// Peripherals belonging to APB2
// SDIO |EXTI |SYSCFG |SPI1
// ADC1,2,3
// USART1,6
// TIM1,8,9,10,11
//
// Default APB2 Prescaler = 2
//
#define PIOS_PERIPHERAL_APB2_CLOCK PIOS_SYSCLK
//-------------------------
// Interrupt Priorities

10
flight/PiOS/STM32F4xx/pios_servo.c
View File

@ -96,7 +96,7 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = servo_cfg->tim_base_init;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
//
uint8_t set = 0;
@ -109,6 +109,14 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
new &= chan->timer != servo_cfg->channels[j].timer;
if(new) {
// Choose the correct prescaler value for the APB the timer is attached
if (chan->timer==TIM1 || chan->timer==TIM8 || chan->timer==TIM9 || chan->timer==TIM10 || chan->timer==TIM11 ){
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1;
}
else {
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1;
}
TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1);
TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure);
set++;

39
flight/board_hw_defs/revolution/board_hw_defs.c
View File

@ -974,8 +974,15 @@ void PIOS_RTC_IRQ_Handler (void)
#include "pios_tim_priv.h"
static const TIM_TimeBaseInitTypeDef tim_3_5_9_10_11_time_base = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
static const TIM_TimeBaseInitTypeDef tim_3_5_time_base = {
.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
.TIM_RepetitionCounter = 0x0000,
};
static const TIM_TimeBaseInitTypeDef tim_9_10_11_time_base = {
.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
@ -984,7 +991,7 @@ static const TIM_TimeBaseInitTypeDef tim_3_5_9_10_11_time_base = {
static const struct pios_tim_clock_cfg tim_3_cfg = {
.timer = TIM3,
.time_base_init = &tim_3_5_9_10_11_time_base,
.time_base_init = &tim_3_5_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM3_IRQn,
@ -997,7 +1004,7 @@ static const struct pios_tim_clock_cfg tim_3_cfg = {
static const struct pios_tim_clock_cfg tim_5_cfg = {
.timer = TIM5,
.time_base_init = &tim_3_5_9_10_11_time_base,
.time_base_init = &tim_3_5_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM5_IRQn,
@ -1010,7 +1017,7 @@ static const struct pios_tim_clock_cfg tim_5_cfg = {
static const struct pios_tim_clock_cfg tim_9_cfg = {
.timer = TIM9,
.time_base_init = &tim_3_5_9_10_11_time_base,
.time_base_init = &tim_9_10_11_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM1_BRK_TIM9_IRQn,
@ -1023,7 +1030,7 @@ static const struct pios_tim_clock_cfg tim_9_cfg = {
static const struct pios_tim_clock_cfg tim_10_cfg = {
.timer = TIM10,
.time_base_init = &tim_3_5_9_10_11_time_base,
.time_base_init = &tim_9_10_11_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM1_UP_TIM10_IRQn,
@ -1036,7 +1043,7 @@ static const struct pios_tim_clock_cfg tim_10_cfg = {
static const struct pios_tim_clock_cfg tim_11_cfg = {
.timer = TIM11,
.time_base_init = &tim_3_5_9_10_11_time_base,
.time_base_init = &tim_9_10_11_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM1_TRG_COM_TIM11_IRQn,
@ -1047,9 +1054,17 @@ static const struct pios_tim_clock_cfg tim_11_cfg = {
},
};
// Set up timers that only have inputs
static const TIM_TimeBaseInitTypeDef tim_1_4_time_base = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
// Set up timers that only have inputs on APB2
static const TIM_TimeBaseInitTypeDef tim_1_time_base = {
.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF,
.TIM_RepetitionCounter = 0x0000,
};
// Set up timers that only have inputs on APB2
static const TIM_TimeBaseInitTypeDef tim_4_time_base = {
.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF,
@ -1058,7 +1073,7 @@ static const TIM_TimeBaseInitTypeDef tim_1_4_time_base = {
static const struct pios_tim_clock_cfg tim_1_cfg = {
.timer = TIM1,
.time_base_init = &tim_1_4_time_base,
.time_base_init = &tim_1_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM1_CC_IRQn,
@ -1071,7 +1086,7 @@ static const struct pios_tim_clock_cfg tim_1_cfg = {
static const struct pios_tim_clock_cfg tim_4_cfg = {
.timer = TIM4,
.time_base_init = &tim_1_4_time_base,
.time_base_init = &tim_4_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM4_IRQn,