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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 * This is called from pios.c as part of the main() function
* at system start up. * 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 * \return < 0 if initialisation failed
*/ */
int32_t PIOS_DELAY_Init(void) int32_t PIOS_DELAY_Init(void)
{ {
// enable timer clock /* Enable timer clock */
if( PIOS_DELAY_TIMER_RCC == RCC_APB2Periph_TIM1 || PIOS_DELAY_TIMER_RCC == RCC_APB2Periph_TIM8 ) if(PIOS_DELAY_TIMER_RCC == RCC_APB2Periph_TIM1 || PIOS_DELAY_TIMER_RCC == RCC_APB2Periph_TIM8) {
RCC_APB2PeriphClockCmd(PIOS_DELAY_TIMER_RCC, ENABLE); RCC_APB2PeriphClockCmd(PIOS_DELAY_TIMER_RCC, ENABLE);
else } else {
RCC_APB1PeriphClockCmd(PIOS_DELAY_TIMER_RCC, ENABLE); RCC_APB1PeriphClockCmd(PIOS_DELAY_TIMER_RCC, ENABLE);
}
// time base configuration /* Time base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 65535; // maximum value TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 72-1; // for 1 uS accuracy fixed to 72Mhz TIM_TimeBaseStructure.TIM_Period = 65535; // maximum value
TIM_TimeBaseStructure.TIM_ClockDivision = 0; TIM_TimeBaseStructure.TIM_Prescaler = 72-1; // for 1 uS accuracy fixed to 72Mhz
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseInit(PIOS_DELAY_TIMER, &TIM_TimeBaseStructure); TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(PIOS_DELAY_TIMER, &TIM_TimeBaseStructure);
// enable counter /* Enable counter */
TIM_Cmd(PIOS_DELAY_TIMER, ENABLE); TIM_Cmd(PIOS_DELAY_TIMER, ENABLE);
return 0; // no error /* No error */
return 0;
} }
/** /**
* Waits for a specific number of uS<BR> * Waits for a specific number of uS<BR>
* Example:<BR> * Example:<BR>
* \code * \code
* // wait for 500 uS * // Wait for 500 uS
* PIOS_DELAY_Wait_uS(500); * PIOS_DELAY_Wait_uS(500);
* \endcode * \endcode
* \param[in] uS delay (1..65535 microseconds) * \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) 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 /* Note that this event works on 16bit counter wrap-arounds */
while( (uint16_t)(PIOS_DELAY_TIMER->CNT - start) <= uS ); 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); void NVIC_Configuration(void);
/** /**
* Initializes all system peripherals * Initializes all system peripherals
*/ */

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

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

23
flight/PiOS/pios.c
View File

@ -41,7 +41,8 @@ static uint32_t IdleTimePercent = 0;
void vApplicationIdleHook(void); void vApplicationIdleHook(void);
/* Function Prototypes */ /* Function Prototypes */
void TestTask( void *pvParameters ); void TestTask(void *pvParameters);
void Flashy(void);
/** /**
* Main function * Main function
@ -56,6 +57,8 @@ int main()
/* Delay system */ /* Delay system */
PIOS_DELAY_Init(); PIOS_DELAY_Init();
Flashy();
/* Enables the SDCard */ /* Enables the SDCard */
// PIOS_SDCARD_Init(); // PIOS_SDCARD_Init();
@ -80,11 +83,27 @@ int main()
vTaskStartScheduler(); vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */ /* 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; 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 ) void TestTask( void *pvParameters )
{ {