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Code Issues Releases Activity

Merge remote-tracking branch 'revo/amorale/revolution' into revolution

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This commit is contained in:
James Cotton 2012-01-31 17:51:20 -06:00
commit c8464848b5
3 changed files with 69 additions and 17 deletions
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33
flight/PiOS/Boards/STM32F4xx_Revolution.h
View File

@ -135,9 +135,38 @@ extern uint32_t pios_com_telem_usb_id;
//------------------------- //-------------------------
// System Settings // System Settings
//
// See also System_stm32f4xx.c
//------------------------- //-------------------------
#define PIOS_MASTER_CLOCK 168000000 //These macros are deprecated
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2) //please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below
//#define PIOS_MASTER_CLOCK
//#define PIOS_PERIPHERAL_CLOCK
//#define PIOS_PERIPHERAL_CLOCK
#define PIOS_SYSCLK 168000000
// Peripherals that belongs to APB1 are:
// DAC |PWR |CAN1,2
// I2C1,2,3 |UART4,5 |USART3,2
// I2S3Ext |SPI3/I2S3 |SPI2/I2S2
// I2S2Ext |IWDG |WWDG
// RTC/BKP reg
// TIM2,3,4,5,6,7,12,13,14
// Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2)
// Default APB1 Prescaler = 4
#define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2)
// Peripherals belonging to APB2
// SDIO |EXTI |SYSCFG |SPI1
// ADC1,2,3
// USART1,6
// TIM1,8,9,10,11
//
// Default APB2 Prescaler = 2
//
#define PIOS_PERIPHERAL_APB2_CLOCK PIOS_SYSCLK
//------------------------- //-------------------------
// Interrupt Priorities // Interrupt Priorities

10
flight/PiOS/STM32F4xx/pios_servo.c
View File

@ -96,7 +96,7 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = servo_cfg->tim_base_init; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = servo_cfg->tim_base_init;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1; //
uint8_t set = 0; uint8_t set = 0;
@ -109,6 +109,14 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
new &= chan->timer != servo_cfg->channels[j].timer; new &= chan->timer != servo_cfg->channels[j].timer;
if(new) { if(new) {
// Choose the correct prescaler value for the APB the timer is attached
if (chan->timer==TIM1 || chan->timer==TIM8 || chan->timer==TIM9 || chan->timer==TIM10 || chan->timer==TIM11 ){
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1;
}
else {
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1;
}
TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1); TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1);
TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure); TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure);
set++; set++;

43
flight/board_hw_defs/revolution/board_hw_defs.c
View File

@ -974,8 +974,15 @@ void PIOS_RTC_IRQ_Handler (void)
#include "pios_tim_priv.h" #include "pios_tim_priv.h"
static const TIM_TimeBaseInitTypeDef tim_3_5_9_10_11_time_base = { static const TIM_TimeBaseInitTypeDef tim_3_5_time_base = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
.TIM_RepetitionCounter = 0x0000,
};
static const TIM_TimeBaseInitTypeDef tim_9_10_11_time_base = {
.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1, .TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up, .TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
@ -984,7 +991,7 @@ static const TIM_TimeBaseInitTypeDef tim_3_5_9_10_11_time_base = {
static const struct pios_tim_clock_cfg tim_3_cfg = { static const struct pios_tim_clock_cfg tim_3_cfg = {
.timer = TIM3, .timer = TIM3,
.time_base_init = &tim_3_5_9_10_11_time_base, .time_base_init = &tim_3_5_time_base,
.irq = { .irq = {
.init = { .init = {
.NVIC_IRQChannel = TIM3_IRQn, .NVIC_IRQChannel = TIM3_IRQn,
@ -997,7 +1004,7 @@ static const struct pios_tim_clock_cfg tim_3_cfg = {
static const struct pios_tim_clock_cfg tim_5_cfg = { static const struct pios_tim_clock_cfg tim_5_cfg = {
.timer = TIM5, .timer = TIM5,
.time_base_init = &tim_3_5_9_10_11_time_base, .time_base_init = &tim_3_5_time_base,
.irq = { .irq = {
.init = { .init = {
.NVIC_IRQChannel = TIM5_IRQn, .NVIC_IRQChannel = TIM5_IRQn,
@ -1010,7 +1017,7 @@ static const struct pios_tim_clock_cfg tim_5_cfg = {
static const struct pios_tim_clock_cfg tim_9_cfg = { static const struct pios_tim_clock_cfg tim_9_cfg = {
.timer = TIM9, .timer = TIM9,
.time_base_init = &tim_3_5_9_10_11_time_base, .time_base_init = &tim_9_10_11_time_base,
.irq = { .irq = {
.init = { .init = {
.NVIC_IRQChannel = TIM1_BRK_TIM9_IRQn, .NVIC_IRQChannel = TIM1_BRK_TIM9_IRQn,
@ -1023,7 +1030,7 @@ static const struct pios_tim_clock_cfg tim_9_cfg = {
static const struct pios_tim_clock_cfg tim_10_cfg = { static const struct pios_tim_clock_cfg tim_10_cfg = {
.timer = TIM10, .timer = TIM10,
.time_base_init = &tim_3_5_9_10_11_time_base, .time_base_init = &tim_9_10_11_time_base,
.irq = { .irq = {
.init = { .init = {
.NVIC_IRQChannel = TIM1_UP_TIM10_IRQn, .NVIC_IRQChannel = TIM1_UP_TIM10_IRQn,
@ -1036,7 +1043,7 @@ static const struct pios_tim_clock_cfg tim_10_cfg = {
static const struct pios_tim_clock_cfg tim_11_cfg = { static const struct pios_tim_clock_cfg tim_11_cfg = {
.timer = TIM11, .timer = TIM11,
.time_base_init = &tim_3_5_9_10_11_time_base, .time_base_init = &tim_9_10_11_time_base,
.irq = { .irq = {
.init = { .init = {
.NVIC_IRQChannel = TIM1_TRG_COM_TIM11_IRQn, .NVIC_IRQChannel = TIM1_TRG_COM_TIM11_IRQn,
@ -1047,9 +1054,17 @@ static const struct pios_tim_clock_cfg tim_11_cfg = {
}, },
}; };
// Set up timers that only have inputs // Set up timers that only have inputs on APB2
static const TIM_TimeBaseInitTypeDef tim_1_4_time_base = { static const TIM_TimeBaseInitTypeDef tim_1_time_base = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF,
.TIM_RepetitionCounter = 0x0000,
};
// Set up timers that only have inputs on APB2
static const TIM_TimeBaseInitTypeDef tim_4_time_base = {
.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1, .TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up, .TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF, .TIM_Period = 0xFFFF,
@ -1058,7 +1073,7 @@ static const TIM_TimeBaseInitTypeDef tim_1_4_time_base = {
static const struct pios_tim_clock_cfg tim_1_cfg = { static const struct pios_tim_clock_cfg tim_1_cfg = {
.timer = TIM1, .timer = TIM1,
.time_base_init = &tim_1_4_time_base, .time_base_init = &tim_1_time_base,
.irq = { .irq = {
.init = { .init = {
.NVIC_IRQChannel = TIM1_CC_IRQn, .NVIC_IRQChannel = TIM1_CC_IRQn,
@ -1071,7 +1086,7 @@ static const struct pios_tim_clock_cfg tim_1_cfg = {
static const struct pios_tim_clock_cfg tim_4_cfg = { static const struct pios_tim_clock_cfg tim_4_cfg = {
.timer = TIM4, .timer = TIM4,
.time_base_init = &tim_1_4_time_base, .time_base_init = &tim_4_time_base,
.irq = { .irq = {
.init = { .init = {
.NVIC_IRQChannel = TIM4_IRQn, .NVIC_IRQChannel = TIM4_IRQn,
@ -1201,7 +1216,7 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
}, },
{ {
.timer = TIM3, .timer = TIM3,
.timer_chan = TIM_Channel_3, .timer_chan = TIM_Channel_4,
.pin = { .pin = {
.gpio = GPIOB, .gpio = GPIOB,
.init = { .init = {
@ -1363,7 +1378,7 @@ static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
.GPIO_OType = GPIO_OType_PP, .GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP .GPIO_PuPd = GPIO_PuPd_UP
}, },
.pin_source = GPIO_PinSource1, .pin_source = GPIO_PinSource9,
}, },
.remap = GPIO_AF_TIM1, .remap = GPIO_AF_TIM1,
}, },