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Code Issues Releases Activity

Merge remote branch 'origin/msmith-delay-timer' into next

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This commit is contained in:
Stacey Sheldon 2011-07-26 09:04:06 -04:00
commit b70d5ae148
10 changed files with 87 additions and 116 deletions
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4
flight/PiOS.posix/posix/pios_delay.c
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@ -67,10 +67,6 @@ int32_t PIOS_DELAY_WaituS(uint16_t uS)
while (!nanosleep(&wait,&rest)) {
wait=rest;
}
//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);
/* No error */
return 0;

4
flight/PiOS.win32/win32/pios_delay.c
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@ -62,11 +62,7 @@ int32_t PIOS_DELAY_Init(void)
int32_t PIOS_DELAY_WaituS(uint16_t uS)
{
Sleep(uS/1000);
//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);
/* No error */
return 0;
}

6
flight/PiOS/Boards/STM32103CB_AHRS.h
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@ -79,12 +79,6 @@ TIM8 | | | |
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
//-------------------------
// Delay Timer
//-------------------------
#define PIOS_DELAY_TIMER TIM2
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
//-------------------------
// System Settings
//-------------------------

6
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
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@ -91,12 +91,6 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
//-------------------------
// Delay Timer
//-------------------------
#define PIOS_DELAY_TIMER TIM3
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
//-------------------------
// System Settings
//-------------------------

8
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -117,14 +117,6 @@ TIM4 | STOPWATCH |
#define TX_LED_OFF PIOS_LED_Off(LED4)
#define TX_LED_TOGGLE PIOS_LED_Toggle(LED4)
// *****************************************************************
// Delay Timer
//#define PIOS_DELAY_TIMER TIM2
//#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
#define PIOS_DELAY_TIMER TIM1
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE)
// *****************************************************************
// Timer interrupt

6
flight/PiOS/Boards/STM3210E_INS.h
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@ -144,12 +144,6 @@ extern uint32_t pios_com_aux_id;
#define PIOS_COM_DEBUG PIOS_COM_AUX
#endif
//-------------------------
// Delay Timer
//-------------------------
#define PIOS_DELAY_TIMER TIM2
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
//-------------------------
// System Settings
//-------------------------

6
flight/PiOS/Boards/STM3210E_OP.h
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@ -174,12 +174,6 @@ extern uint32_t pios_com_sbus_id;
#define PIOS_COM_SBUS (pios_com_sbus_id)
#endif
//-------------------------
// Delay Timer
//-------------------------
#define PIOS_DELAY_TIMER TIM2
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
//-------------------------
// System Settings
//-------------------------

148
flight/PiOS/STM32F10x/pios_delay.c
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@ -7,10 +7,10 @@
* @{
*
* @file pios_delay.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @author Michael Smith Copyright (C) 2011
* @brief Delay Functions
* - Provides a micro-second granular delay using a TIM
* - Provides a micro-second granular delay using the CPU
* cycle counter.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
@ -31,72 +31,97 @@
*/
/* Project Includes */
#include "pios.h"
#include <pios.h>
#if defined(PIOS_INCLUDE_DELAY)
/* these should be defined by CMSIS, but they aren't */
#define DWT_CTRL (*(volatile uint32_t *)0xe0001000)
#define CYCCNTENA (1<<0)
#define DWT_CYCCNT (*(volatile uint32_t *)0xe0001004)
/* cycles per microsecond */
static uint32_t us_ticks;
/**
* 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.
* \return < 0 if initialisation failed
*/
* Initialises the Timer used by PIOS_DELAY functions.
*
* \return always zero (success)
*/
int32_t PIOS_DELAY_Init(void)
{
/* Enable timer clock */
PIOS_DELAY_TIMER_RCC_FUNC;
RCC_ClocksTypeDef clocks;
/* 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);
/* compute the number of system clocks per microsecond */
RCC_GetClocksFreq(&clocks);
us_ticks = clocks.SYSCLK_Frequency / 1000000;
PIOS_DEBUG_Assert(us_ticks > 1);
/* Enable counter */
TIM_Cmd(PIOS_DELAY_TIMER, ENABLE);
/* turn on access to the DWT registers */
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
/* enable the CPU cycle counter */
DWT_CTRL |= CYCCNTENA;
return 0;
}
/**
* Waits for a specific number of uS
*
* Example:<BR>
* \code
* // Wait for 500 uS
* PIOS_DELAY_Wait_uS(500);
* \endcode
* \param[in] uS delay
* \return < 0 on errors
*/
int32_t PIOS_DELAY_WaituS(uint32_t uS)
{
uint32_t elapsed = 0;
uint32_t last_count = DWT_CYCCNT;
for (;;) {
uint32_t current_count = DWT_CYCCNT;
uint32_t elapsed_uS;
/* measure the time elapsed since the last time we checked */
elapsed += current_count - last_count;
last_count = current_count;
/* convert to microseconds */
elapsed_uS = elapsed / us_ticks;
if (elapsed_uS >= uS)
break;
/* reduce the delay by the elapsed time */
uS -= elapsed_uS;
/* keep fractional microseconds for the next iteration */
elapsed %= us_ticks;
}
/* No error */
return 0;
}
/**
* 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_WaituS(uint16_t uS)
* Waits for a specific number of mS
*
* 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_WaitmS(uint32_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) <= 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_WaitmS(uint16_t mS)
{
for (int i = 0; i < mS; i++) {
while (mS--) {
PIOS_DELAY_WaituS(1000);
}
@ -108,22 +133,9 @@ int32_t PIOS_DELAY_WaitmS(uint16_t mS)
* @brief Query the Delay timer for the current uS
* @return A microsecond value
*/
uint16_t PIOS_DELAY_GetuS()
uint32_t PIOS_DELAY_GetuS()
{
return PIOS_DELAY_TIMER->CNT;
}
/**
* @brief Compute the difference between now and a reference time
* @param[in] the reference time to compare now to
* @return The number of uS since the delay
*
* @note the user is responsible for worrying about rollover on the 16 bit uS counter
*/
int32_t PIOS_DELAY_DiffuS(uint16_t ref)
{
int32_t ret_t = ref;
return (int16_t) (PIOS_DELAY_GetuS() - ret_t);
return DWT_CYCCNT / us_ticks;
}
#endif

7
flight/PiOS/inc/pios_delay.h
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@ -34,10 +34,9 @@
/* Public Functions */
extern int32_t PIOS_DELAY_Init(void);
extern int32_t PIOS_DELAY_WaituS(uint16_t uS);
extern int32_t PIOS_DELAY_WaitmS(uint16_t mS);
extern uint16_t PIOS_DELAY_GetuS();
extern int32_t PIOS_DELAY_DiffuS(uint16_t ref);
extern int32_t PIOS_DELAY_WaituS(uint32_t uS);
extern int32_t PIOS_DELAY_WaitmS(uint32_t mS);
extern uint32_t PIOS_DELAY_GetuS();
#endif /* PIOS_DELAY_H */

8
flight/PipXtreme/main.c
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@ -163,8 +163,8 @@ void TIMER_INT_FUNC(void)
// Clear timer interrupt pending bit
TIM_ClearITPendingBit(TIMER_INT_TIMER, TIM_IT_Update);
// random32 = UpdateCRC32(random32, PIOS_DELAY_TIMER->CNT >> 8);
// random32 = UpdateCRC32(random32, PIOS_DELAY_TIMER->CNT);
// random32 = UpdateCRC32(random32, PIOS_DELAY_GetuS() >> 8);
// random32 = UpdateCRC32(random32, PIOS_DELAY_GetuS());
uptime_ms++;
@ -785,8 +785,8 @@ int main()
for (;;)
{
random32 = updateCRC32(random32, PIOS_DELAY_TIMER->CNT >> 8);
random32 = updateCRC32(random32, PIOS_DELAY_TIMER->CNT);
random32 = updateCRC32(random32, PIOS_DELAY_GetuS() >> 8);
random32 = updateCRC32(random32, PIOS_DELAY_GetuS());
if (second_tick)
{