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c5fe985a45
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1615 ebee16cc-31ac-478f-84a7-5cbb03baadba
61 lines
1.8 KiB
C
61 lines
1.8 KiB
C
/**
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******************************************************************************
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* @addtogroup AHRS AHRS Control
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* @brief The AHRS Modules perform
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*
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* @{
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* @addtogroup AHRS_TIMER
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* @brief Sets up a simple timer that can be polled to estimate idle time
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* @{
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*
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*
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* @file ahrs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief INSGPS Test Program
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "ahrs_timer.h"
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#define TIMER_RATE (8e6 / 128)
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void timer_start()
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{
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_BKP | RCC_APB1Periph_PWR,ENABLE);
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PWR_BackupAccessCmd(ENABLE);
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RCC_RTCCLKConfig(RCC_RTCCLKSource_HSE_Div128);
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RCC_RTCCLKCmd(ENABLE);
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RTC_WaitForLastTask();
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RTC_WaitForSynchro();
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RTC_WaitForLastTask();
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RTC_SetPrescaler(0); // counting at 8e6 / 128
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RTC_WaitForLastTask();
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RTC_SetCounter(0);
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RTC_WaitForLastTask();
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}
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uint32_t timer_count()
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{
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return RTC_GetCounter();
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}
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uint32_t timer_rate()
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{
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return TIMER_RATE;
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} |