rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-03-21 13:28:58 +01:00
Code Issues Releases Activity

OP-73 Flight/PiOS: deinits started, still just for review

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2107 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2010-11-11 20:38:44 +00:00 committed by sambas
parent f94dc41712
commit c74c9cc08e
1 changed files with 109 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

113
flight/PiOS/STM32F10x/pios_rcinput.c
View File

@ -56,7 +56,7 @@ static uint32_t CapCounterPrev[PIOS_PWM_NUM_INPUTS];
//pwm
//ppm
static TIM_ICInitTypeDef TIM_ICInitStructure;
//static TIM_ICInitTypeDef TIM_ICInitStructure;
static uint8_t PulseIndex;
static uint32_t PreviousValue;
static uint32_t CurrentValue;
@ -116,8 +116,8 @@ void PIOS_InputMode_Set(uint8_t Mode)
}
if(Mode<NELEMENTS(rcinputs))
{
rcinputs[Mode].init();
InputMode=Mode;
rcinputs[Mode].init();
}
}
}
@ -254,6 +254,51 @@ void PIOS_PPM_Init(void)
void PIOS_PPM_DeInit(void)
{
/* TODO! PIOS_PPM_DeInit*/
int32_t i;
for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
CaptureValue[i] = 0;
}
/* Supervisor Setup */
#if (PIOS_PPM_SUPV_ENABLED)
/* Disable counter */
TIM_Cmd(PIOS_PPM_SUPV_TIMER, DISABLE);
/* Disable the CC2 Interrupt Request */
TIM_ITConfig(PIOS_PPM_SUPV_TIMER, TIM_IT_Update, DISABLE);
/* DeConfigure interrupts */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = PIOS_PPM_SUPV_IRQ_CHANNEL;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
/* Disable timers */
TIM_Cmd(PIOS_PPM_TIM, DISABLE);
/* Disable the Capture Compare Interrupt Request */
TIM_ITConfig(PIOS_PPM_TIM_PORT, PIOS_PPM_TIM_CCR, DISABLE);
/* Configure input pins */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Pin = PIOS_PPM_GPIO_PIN;
GPIO_Init(PIOS_PPM_GPIO_PORT, &GPIO_InitStructure);
/* Disable timer interrupts */
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_InitStructure.NVIC_IRQChannel = PIOS_PPM_TIM_IRQ;
NVIC_Init(&NVIC_InitStructure);
/* Setup RCC */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, DISABLE);
}
/**
@ -402,6 +447,50 @@ void PIOS_PWM_Init(void)
void PIOS_PWM_DeInit(void)
{
/* TODO! PIOS_PWM_DeInit*/
int32_t i;
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
CaptureValue[i] = 0;
}
/* Supervisor Setup */
#if (PIOS_PWM_SUPV_ENABLED)
/* Disable counter */
TIM_Cmd(PIOS_PWM_SUPV_TIMER, DISABLE);
/* Disable the CC2 Interrupt Request */
TIM_ITConfig(PIOS_PWM_SUPV_TIMER, TIM_IT_Update, DISABLE);
/* DeConfigure interrupts */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = PIOS_PWM_SUPV_IRQ_CHANNEL;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
/* Disable timers */
for (i = 0; i < PIOS_PWM_NUM_TIMS; i++) {
TIM_Cmd(PIOS_PWM_TIM[i], DISABLE);
}
/* Configure timer clocks */
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
TIM_InternalClockConfig(PIOS_PWM_TIM_PORT[i]);
//TIM_TimeBaseInit(PIOS_PWM_TIM_PORT[i], &TIM_TimeBaseStructure);
/* Disable the Capture Compare Interrupt Request */
TIM_ITConfig(PIOS_PWM_TIM_PORT[i], PIOS_PWM_TIM_CCR[i], DISABLE);
}
/* Configure input pins */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
GPIO_InitStructure.GPIO_Pin = PIOS_PWM_GPIO_PIN[i];
GPIO_Init(PIOS_PWM_GPIO_PORT[i], &GPIO_InitStructure);
}
}
/**
@ -554,12 +643,11 @@ void PIOS_SPEKTRUM_Init(void)
}
/* spektrum "watchdog" timer */
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/* Enable timer clock */
PIOS_SPEKTRUM_SUPV_TIMER_RCC_FUNC;
/* Configure interrupts */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = PIOS_SPEKTRUM_SUPV_IRQ_CHANNEL;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
@ -567,6 +655,7 @@ void PIOS_SPEKTRUM_Init(void)
NVIC_Init(&NVIC_InitStructure);
/* Time base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = ((1000000 / PIOS_SPEKTRUM_SUPV_HZ) - 1);
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1; /* For 1 uS accuracy */
@ -590,6 +679,22 @@ void PIOS_SPEKTRUM_Init(void)
void PIOS_SPEKTRUM_DeInit(void)
{
/* TODO! PIOS_SPEKTRUM_DeInit*/
/* Supervisor Setup */
/* Disable counter */
TIM_Cmd(PIOS_SPEKTRUM_SUPV_TIMER, DISABLE);
/* Disable the CC2 Interrupt Request */
TIM_ITConfig(PIOS_SPEKTRUM_SUPV_TIMER, TIM_IT_Update, DISABLE);
/* DeConfigure interrupts */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = PIOS_SPEKTRUM_SUPV_IRQ_CHANNEL;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_Init(&NVIC_InitStructure);
}