mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
6415fc84a5
This separates the RTC device and interrupt handling from the devices that rely on the tick notifications. Drivers can now register tick notification functions that will be called on each RTC tick event.
130 lines
3.3 KiB
C
130 lines
3.3 KiB
C
/**
|
|
******************************************************************************
|
|
* @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_APB1PeriphClockCmd(RCC_APB1Periph_BKP | RCC_APB1Periph_PWR,
|
|
ENABLE);
|
|
PWR_BackupAccessCmd(ENABLE);
|
|
|
|
RCC_RTCCLKConfig(cfg->clksrc);
|
|
RCC_RTCCLKCmd(ENABLE);
|
|
RTC_WaitForLastTask();
|
|
RTC_WaitForSynchro();
|
|
RTC_WaitForLastTask();
|
|
|
|
/* Configure and enable the RTC Second interrupt */
|
|
NVIC_Init(&cfg->irq.init);
|
|
RTC_ITConfig( RTC_IT_SEC, ENABLE );
|
|
RTC_WaitForLastTask();
|
|
|
|
RTC_SetPrescaler(cfg->prescaler);
|
|
RTC_WaitForLastTask();
|
|
RTC_SetCounter(0);
|
|
RTC_WaitForLastTask();
|
|
}
|
|
|
|
uint32_t PIOS_RTC_Counter()
|
|
{
|
|
return RTC_GetCounter();
|
|
}
|
|
|
|
/* 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_SEC))
|
|
{
|
|
/* 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);
|
|
}
|
|
}
|
|
|
|
/* Wait until last write operation on RTC registers has finished */
|
|
RTC_WaitForLastTask();
|
|
/* Clear the RTC Second interrupt */
|
|
RTC_ClearITPendingBit(RTC_IT_SEC);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|