F4 PiOS: Reimplement the RTC logic for F4

flight/PiOS/STM32F4xx/pios_rtc.c

@@ -0,0 +1,138 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_PWM PWM Input Functions
+ * @brief		Code to measure with PWM input
+ * @{
+ *
+ * @file       pios_pwm.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      PWM Input functions (STM32 dependent)
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_RTC)
+#include <pios_rtc_priv.h>
+
+#ifndef PIOS_RTC_PRESCALER
+#define PIOS_RTC_PRESCALER 100
+#endif
+
+struct rtc_callback_entry {
+  void (*fn)(uint32_t);
+  uint32_t data;
+};
+
+#define PIOS_RTC_MAX_CALLBACKS 3
+struct rtc_callback_entry rtc_callback_list[PIOS_RTC_MAX_CALLBACKS];
+static uint8_t rtc_callback_next = 0;
+
+void PIOS_RTC_Init(const struct pios_rtc_cfg * cfg)
+{
+	RCC_BackupResetCmd(ENABLE);
+	RCC_BackupResetCmd(DISABLE);
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
+	PWR_BackupAccessCmd(ENABLE);
+	// Divide external 8 MHz clock to 1 MHz
+	RCC_RTCCLKConfig(cfg->clksrc);
+	RCC_RTCCLKCmd(ENABLE);
+
+	RTC_WakeUpCmd(DISABLE);
+	// Divide 1 Mhz clock by 16 -> 62.5 khz
+	RTC_WakeUpClockConfig(RTC_WakeUpClock_RTCCLK_Div16);
+	// Divide 62.5 khz by 200 to get 625 Hz
+	RTC_SetWakeUpCounter(cfg->prescaler); //cfg->prescaler);
+	RTC_WakeUpCmd(ENABLE);
+	
+	/* Configure and enable the RTC Second interrupt */
+	EXTI_InitTypeDef ExtiInit = {
+		.EXTI_Line = EXTI_Line22, // matches above GPIO pin
+		.EXTI_Mode = EXTI_Mode_Interrupt,
+		.EXTI_Trigger = EXTI_Trigger_Rising,
+		.EXTI_LineCmd = ENABLE,
+	};
+	EXTI_Init(&ExtiInit);
+	NVIC_Init(&cfg->irq.init);
+	RTC_ITConfig(RTC_IT_WUT, ENABLE);
+	
+	RTC_ClearFlag(RTC_FLAG_WUTF);
+}
+
+uint32_t PIOS_RTC_Counter()
+{
+	return RTC_GetWakeUpCounter();
+}
+
+/* FIXME: This shouldn't use hard-coded clock rates, dividers or prescalers.
+ *        Should get these from the cfg struct passed to init.
+ */
+float PIOS_RTC_Rate()
+{
+	return (float) (8e6 / 128) / (1 + PIOS_RTC_PRESCALER);
+}
+
+float PIOS_RTC_MsPerTick() 
+{
+	return 1000.0f / PIOS_RTC_Rate();
+}
+
+/* TODO: This needs a mutex around rtc_callbacks[] */
+bool PIOS_RTC_RegisterTickCallback(void (*fn)(uint32_t id), uint32_t data)
+{
+	struct rtc_callback_entry * cb;
+	if (rtc_callback_next >= PIOS_RTC_MAX_CALLBACKS) {
+		return false;
+	}
+
+	cb = &rtc_callback_list[rtc_callback_next++];
+
+	cb->fn   = fn;
+	cb->data = data;
+	return true;
+}
+
+void PIOS_RTC_irq_handler (void)
+{
+	if (RTC_GetITStatus(RTC_IT_WUT))
+	{
+		/* Call all registered callbacks */
+		for (uint8_t i = 0; i < rtc_callback_next; i++) {
+			struct rtc_callback_entry * cb = &rtc_callback_list[i];
+			if (cb->fn) {
+				(cb->fn)(cb->data);
+			}
+		}
+
+		/* Clear the RTC Second interrupt */
+		RTC_ClearITPendingBit(RTC_IT_WUT);
+	}
+
+	if (EXTI_GetITStatus(EXTI_Line22) != RESET)
+		EXTI_ClearITPendingBit(EXTI_Line22);
+}
+#endif
+
+/** 
+ * @}
+ * @}
+ */

flight/Revolution/System/inc/pios_config.h

@@ -64,13 +64,21 @@
 #define PIOS_INCLUDE_FREERTOS
 //#define PIOS_INCLUDE_GPIO
 //#define PIOS_INCLUDE_EXTI
-//#define PIOS_INCLUDE_RTC
+#define PIOS_INCLUDE_RTC
 #define PIOS_INCLUDE_WDG
 //#define PIOS_INCLUDE_I2C_ESC
 #define PIOS_INCLUDE_BL_HELPER
 
 #define PIOS_INCLUDE_COM_TELEM
 
+/* Supported receiver interfaces */
+#define PIOS_INCLUDE_DSM
+//#define PIOS_INCLUDE_SBUS
+//#define PIOS_INCLUDE_PPM
+//#define PIOS_INCLUDE_PWM
+//#define PIOS_INCLUDE_GCSRCVR
+
+
 #define PIOS_INCLUDE_FLASH
 /* A really shitty setting saving implementation */
 #define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS

flight/Revolution/System/pios_board.c

@@ -799,13 +799,15 @@ void PIOS_I2C_pressure_adapter_er_irq_handler(void)
 #include <pios_rtc_priv.h>
 
 void PIOS_RTC_IRQ_Handler (void);
-void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
+void RTC_WKUP_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
 static const struct pios_rtc_cfg pios_rtc_main_cfg = {
-	.clksrc = RCC_RTCCLKSource_HSE_Div128,
-	.prescaler = 100,
+	.clksrc = RCC_RTCCLKSource_HSE_Div16, // Divide 8 Mhz crystal down to 1
+	// For some reason it's acting like crystal is 16 Mhz.  This clock is then divided
+	// by another 16 to give a nominal 62.5 khz clock
+	.prescaler = 100, // Every 100 cycles gives 625 Hz
 	.irq = {
 		.init = {
-			.NVIC_IRQChannel                   = RTC_IRQn,
+			.NVIC_IRQChannel                   = RTC_WKUP_IRQn,
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 			.NVIC_IRQChannelSubPriority        = 0,
 			.NVIC_IRQChannelCmd                = ENABLE,