Merge branch 'master' into devel

.travis.yml

@@ -1,12 +1,17 @@
 # adapted from https://github.com/andysworkshop/stm32plus/blob/master/.travis.yml
 
+branches:
+  only: 
+    - master
+    - devel
+
 language: c
 sudo: false
 
-addons:		
-  apt:		
-    packages:		
-      libc6-i386		
+addons:
+  apt:
+    packages:
+      libc6-i386
 
 cache:
   directories:

Firmware/Board/v3.3/Inc/main.h

@@ -69,6 +69,8 @@
 #define TIM_APB1_CLOCK_HZ 84000000
 #define TIM_APB1_PERIOD_CLOCKS 4096
 #define TIM_APB1_DEADTIME_CLOCKS 40
+#define TIM_TIME_BASE TIM14
+
 
 #define M0_nCS_Pin GPIO_PIN_13
 #define M0_nCS_GPIO_Port GPIOC

Firmware/CHANGELOG.md

@@ -1,17 +1,21 @@
-## UNRELEASED
-Please add a note of your changes below this heading if you make a PR
+# Unreleased Features
+Please add a note of your changes below this heading if you make a Pull Request.
+
+# Releases
+
+## [0.3.5] - 2018-03-04
 
 ### Added
 * **Storing of configuration parameters to Non Volatile Memory**
 * Reporting error if your encoder CPR is incorrect
+* Ability to start anticogging calibration over USB protocol
 * Reporting of DRV status/control registers and fault codes
 * DRV status read script
 * Microsecond delay function
-* Ability to start anticogging calibration over USB protocol
 * Travis-CI
 
 ### Changed
-* Build system is now tup instead of make
+* Build system is now tup instead of make. Please check the [Readme](README.md#installing-prerequisites) for installation instructions.
 
 ## [0.3.4] - 2018-02-13
 

Firmware/MotorControl/utils.c

@@ -187,13 +187,13 @@ uint32_t timeout_to_deadline(uint32_t timeout_ms) {
 
 // @brief: Returns number of microseconds since system startup
 uint32_t micros(void) {
-    uint32_t usTicks = HAL_RCC_GetSysClockFreq() / 1000000;
     register uint32_t ms, cycle_cnt;
     do {
         ms = HAL_GetTick();
-        cycle_cnt = SysTick->VAL;
-    } while (ms != HAL_GetTick());
-    return (ms * 1000) + (usTicks * 1000 - cycle_cnt) / usTicks;
+        cycle_cnt = TIM_TIME_BASE->CNT;
+     } while (ms != HAL_GetTick());
+
+    return (ms * 1000) + cycle_cnt;
 }
 
 // @brief: Busy wait delay for given amount of microseconds (us)
@@ -203,4 +203,4 @@ void delay_us(uint32_t us)
     while (micros() - start < (uint32_t) us) {
         __ASM("nop");
     }
-}
+}