From 998ab12de4bf217a12345dfb9c85da537c364660 Mon Sep 17 00:00:00 2001
From: gussy <gussy>
Date: Wed, 20 Jan 2010 23:48:04 +0000
Subject: [PATCH] Delays fixed. SD Card fixed and working, tested with 2Gb and
 8Gb (SDHC) cards. Changed startup_stm32f10x_HD.S to work with
 SysTick_Handler, needs to be changed back for FreeRTOS to work.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@132 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/Libraries/FatFS/diskio.c              | 10 +++---
 flight/PiOS/Common/pios_sdcard.c             | 22 ++++++++-----
 flight/PiOS/STM32F10x/pios_delay.c           | 21 ++++++++++++
 flight/PiOS/STM32F10x/pios_sys.c             | 21 ++++++++----
 flight/PiOS/STM32F10x/startup_stm32f10x_HD.S |  3 +-
 flight/PiOS/inc/pios_delay.h                 |  3 +-
 flight/PiOS/pios.c                           | 34 +++++++++++---------
 7 files changed, 77 insertions(+), 37 deletions(-)

diff --git a/flight/Libraries/FatFS/diskio.c b/flight/Libraries/FatFS/diskio.c
index 80a47fb41..531e1dc52 100644
--- a/flight/Libraries/FatFS/diskio.c
+++ b/flight/Libraries/FatFS/diskio.c
@@ -41,15 +41,15 @@
 //Using DMA
 #define STM32_USE_DMA
 
-//Setup for SPI1 on v1.2 hardware (CD is on GPIO_Pin_4)
+//Setup for SPI1 on v1 hardware (CD is on GPIO_Pin_4)
 #define CARD_SUPPLY_SWITCHABLE   0
 #define SOCKET_WP_CP_CONNECTED   0
 #define SPI_SD                   SPI1
 
-//CS is on PC5
-#define GPIO_CS                  GPIOC
-#define RCC_APB2Periph_GPIO_CS   RCC_APB2Periph_GPIOC
-#define GPIO_Pin_CS              GPIO_Pin_5
+//CS is on PA4
+#define GPIO_CS                  GPIOA
+#define RCC_APB2Periph_GPIO_CS   RCC_APB2Periph_GPIOA
+#define GPIO_Pin_CS              GPIO_Pin_4
 
 #define GPIO_SPI_SD              GPIOA
 #define GPIO_Pin_SPI_SD_SCK      GPIO_Pin_5
diff --git a/flight/PiOS/Common/pios_sdcard.c b/flight/PiOS/Common/pios_sdcard.c
index 4920970fe..8baff12ff 100644
--- a/flight/PiOS/Common/pios_sdcard.c
+++ b/flight/PiOS/Common/pios_sdcard.c
@@ -41,26 +41,32 @@ FIL logfile;
 void PIOS_SDCARD_Init(void)
 {
 	int result;
-	
+
 	/* Initialise FatFS disk */
 	if(f_mount(0, &Fatfs[0]) != FR_OK) {
 		/* Failed to setup MicroSD memory structure, flash LED1 forever */
 		while(1) {
-			for(int i = 0; i < 100000; i++);
+			for(int i = 0; i < 1000000; i++);
 			PIOS_LED_Toggle(LED1);
 		}
 	} else {
-		/* Try to Open Logging file */
-		if ( f_open(&logfile, LOG_FILENAME, FA_CREATE_ALWAYS | FA_WRITE ) != FR_OK ) {
+		FRESULT foresult = f_open(&logfile, LOG_FILENAME, FA_CREATE_ALWAYS | FA_WRITE);
+		if (foresult != FR_OK) {
 			/* Failed to mount MicroSD or create file, flash LED1 forever */
+			PIOS_LED_Off(LED1);
+			PIOS_LED_Off(LED2);
 			while(1) {
-				for(int i = 0; i < 100000; i++);
+				for(int i = 0; i < 1000000; i++);
 				PIOS_LED_Toggle(LED1);
+				PIOS_LED_Toggle(LED2);
 			}
 		} else {
-			result = f_puts("Hello\n", &logfile );
-			if ( result != EOF ) { result = f_puts("pios rocks!\n", &logfile ); }
-			f_close( &logfile );
+			result = f_puts("Hello\n", &logfile);
+			if (result != EOF ) {
+				result = f_puts("pios rocks!\n", &logfile );
+			}
+			f_close(&logfile);
 		}
 	}
 }
+
diff --git a/flight/PiOS/STM32F10x/pios_delay.c b/flight/PiOS/STM32F10x/pios_delay.c
index 9dfd0d5a2..5bbc7e628 100644
--- a/flight/PiOS/STM32F10x/pios_delay.c
+++ b/flight/PiOS/STM32F10x/pios_delay.c
@@ -84,3 +84,24 @@ int32_t PIOS_DELAY_Wait_uS(uint16_t uS)
 	/* No error */
 	return 0;
 }
+
+/**
+* Waits for a specific number of mS<BR>
+* Example:<BR>
+* \code
+*   // Wait for 500 mS
+*   PIOS_DELAY_Wait_mS(500);
+* \endcode
+* \param[in] mS delay (1..65535 milliseconds)
+* \return < 0 on errors
+*/
+int32_t PIOS_DELAY_Wait_mS(uint16_t mS)
+{
+	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) <= (mS * 1000));
+
+	/* No error */
+	return 0;
+}
diff --git a/flight/PiOS/STM32F10x/pios_sys.c b/flight/PiOS/STM32F10x/pios_sys.c
index b7217b0a4..c28dc4302 100644
--- a/flight/PiOS/STM32F10x/pios_sys.c
+++ b/flight/PiOS/STM32F10x/pios_sys.c
@@ -31,14 +31,13 @@
 
 /* Private Function Prototypes */
 void NVIC_Configuration(void);
-
+void SysTick_Handler(void);
 
 /**
 * Initializes all system peripherals
 */
 void PIOS_SYS_Init(void)
 {
-
 	/* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */
 	SystemInit();
 	
@@ -47,7 +46,6 @@ void PIOS_SYS_Init(void)
 	
 	/* Initialize LEDs */
 	PIOS_LED_Init();
-	
 }
 
 
@@ -63,7 +61,19 @@ void NVIC_Configuration(void)
 	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
 
 	/* Configure HCLK clock as SysTick clock source. */
-	SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
+	//SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
+
+	/* Set SysTick to 10mS tick */
+	if(SysTick_Config(SystemFrequency / 100))
+	{
+		/* Capture error */
+		while (1);
+	}
+}
+
+void SysTick_Handler(void)
+{
+	disk_timerproc();
 }
 
 #ifdef  USE_FULL_ASSERT
@@ -86,10 +96,9 @@ void assert_failed(uint8_t* file, uint32_t line)
 	/* Infinite loop */
 	while (1)
 	{
-		for(int i = 0; i < 1000; i++);
 		PIOS_LED_Toggle(LED1);
-		for(int i = 0; i < 1000; i++);
 		PIOS_LED_Toggle(LED2);
+		for(int i = 0; i < 1000000; i++);
 	}
 }
 #endif
diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_HD.S b/flight/PiOS/STM32F10x/startup_stm32f10x_HD.S
index 34caf921b..bd4ab1e39 100644
--- a/flight/PiOS/STM32F10x/startup_stm32f10x_HD.S
+++ b/flight/PiOS/STM32F10x/startup_stm32f10x_HD.S
@@ -155,7 +155,8 @@ g_pfnVectors:
   .word  DebugMon_Handler
   .word  0
   .word  xPortPendSVHandler
-  .word  xPortSysTickHandler
+  //.word  xPortSysTickHandler
+  .word  SysTick_Handler
   .word  WWDG_IRQHandler
   .word  PVD_IRQHandler
   .word  TAMPER_IRQHandler
diff --git a/flight/PiOS/inc/pios_delay.h b/flight/PiOS/inc/pios_delay.h
index c58690d6a..d630c0a2d 100644
--- a/flight/PiOS/inc/pios_delay.h
+++ b/flight/PiOS/inc/pios_delay.h
@@ -30,6 +30,7 @@
 /* Public Functions */
 extern int32_t PIOS_DELAY_Init(void);
 extern int32_t PIOS_DELAY_Wait_uS(uint16_t uS);
+extern int32_t PIOS_DELAY_Wait_mS(uint16_t mS);
 
 
-#endif /* PIOS_DELAY_H */
\ No newline at end of file
+#endif /* PIOS_DELAY_H */
diff --git a/flight/PiOS/pios.c b/flight/PiOS/pios.c
index 2adb8c9b7..0e11a9c1f 100644
--- a/flight/PiOS/pios.c
+++ b/flight/PiOS/pios.c
@@ -41,8 +41,9 @@ static uint32_t IdleTimePercent = 0;
 void vApplicationIdleHook(void);
 
 /* Function Prototypes */
-void TestTask(void *pvParameters);
+void TickTask(void *pvParameters);
 void Flashy(void);
+void SysTick_Handler(void);
 
 /**
 * Main function
@@ -57,14 +58,16 @@ int main()
 	/* Delay system */
 	PIOS_DELAY_Init();
 
-	Flashy();
-
 	/* Enables the SDCard */
-//	PIOS_SDCARD_Init();
-	
-	/* Call LoadSettings which populates System Vars 
+	PIOS_SDCARD_Init();
+
+	/* Call LoadSettings which populates System Vars
 	   so the rest of the hardware can be configured. */
-//	PIOS_Settings_Load();
+	//PIOS_Settings_Load();
+
+	for(;;) {
+
+	}
 
 	/* Com ports init */
 //	PIOS_COM_Init();
@@ -77,7 +80,7 @@ int main()
 
 
 	/* Create a FreeRTOS task */
-	xTaskCreate( TestTask, ( signed portCHAR * ) "Test", configMINIMAL_STACK_SIZE , NULL, 2, NULL );
+	xTaskCreate(TickTask, (signed portCHAR *) "Test", configMINIMAL_STACK_SIZE , NULL, 2, NULL);
 
 	/* Start the FreeRTOS scheduler */
 	vTaskStartScheduler();
@@ -105,19 +108,18 @@ void Flashy(void)
 	}
 }
 
-void TestTask( void *pvParameters )
+void TickTask(void *pvParameters)
 {
-const portTickType xDelay = 500 / portTICK_RATE_MS;
+	const portTickType xDelay = 10 / portTICK_RATE_MS;
 
-    while(1)
-        {
-    	PIOS_LED_Toggle(LED1);
-        vTaskDelay(xDelay);
-        }
+	for(;;)
+	{
+		PIOS_LED_Toggle(LED2);
+		vTaskDelay(xDelay);
+	}
 }
 
 
-
 /**
 * Idle hook function
 */