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Code Issues Releases Activity

Fixed DELAY module. Now uses TIM2 and conforms to standard coding practices.

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Added temporary flashing function as an easy way to know things are working.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@131 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy 2010-01-20 08:16:35 +00:00 committed by gussy
parent 1320fc06be
commit 90f1fab5fe
4 changed files with 48 additions and 31 deletions
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51
flight/PiOS/STM32F10x/pios_delay.c
View File

@ -32,45 +32,43 @@
/**
* Initializes the Timer used by PIOS_DELAY functions<BR>
* Initialises 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 TIM7 for this on Hardware V1. Can be changed
* with PIOS_DELAY_TIMER and PIOS_DELAY_TIMER_RCC the
* board_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);
/* 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);
/* Time base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&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);
/* Enable counter */
TIM_Cmd(PIOS_DELAY_TIMER, ENABLE);
return 0; // no error
/* No error */
return 0;
}
/**
* Waits for a specific number of uS<BR>
* Example:<BR>
* \code
* // wait for 500 uS
* // Wait for 500 uS
* PIOS_DELAY_Wait_uS(500);
* \endcode
* \param[in] uS delay (1..65535 microseconds)
@ -78,10 +76,11 @@ int32_t PIOS_DELAY_Init(void)
*/
int32_t PIOS_DELAY_Wait_uS(uint16_t uS)
{
uint16_t start = PIOS_DELAY_TIMER->CNT;
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 );
/* Note that this event works on 16bit counter wrap-arounds */
while((uint16_t)(PIOS_DELAY_TIMER->CNT - start) <= uS);
return 0; // no error
/* No error */
return 0;
}

1
flight/PiOS/STM32F10x/pios_sys.c
View File

@ -33,7 +33,6 @@
void NVIC_Configuration(void);
/**
* Initializes all system peripherals
*/

4
flight/PiOS/inc/pios_board.h
View File

@ -213,8 +213,8 @@
//-------------------------
// Delay Timer
//-------------------------
#define PIOS_DELAY_TIMER TIM7
#define PIOS_DELAY_TIMER_RCC RCC_APB1Periph_TIM7
#define PIOS_DELAY_TIMER TIM2
#define PIOS_DELAY_TIMER_RCC RCC_APB1Periph_TIM2
//-------------------------
// Master Clock

23
flight/PiOS/pios.c
View File

@ -41,7 +41,8 @@ static uint32_t IdleTimePercent = 0;
void vApplicationIdleHook(void);
/* Function Prototypes */
void TestTask( void *pvParameters );
void TestTask(void *pvParameters);
void Flashy(void);
/**
* Main function
@ -56,6 +57,8 @@ int main()
/* Delay system */
PIOS_DELAY_Init();
Flashy();
/* Enables the SDCard */
// PIOS_SDCARD_Init();
@ -80,11 +83,27 @@ int main()
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likley be because we ran out of heap space. */
/* If we do get here, it will most likely be because we ran out of heap space. */
return 0;
}
void Flashy(void)
{
for(;;)
{
/* Setup the LEDs to Alternate */
PIOS_LED_On(LED1);
PIOS_LED_Off(LED2);
/* Infinite loop */
while (1)
{
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(LED2);
for(int i = 0; i < 1000000; i++);
}
}
}
void TestTask( void *pvParameters )
{