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Changed to use dork timer TIM6 so that TIM1 becomes free for use by ADC

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This commit is contained in:
Eric Parsonage
2010-09-07 03:59:22 +00:00
parent 4edb1852a7
commit 979d89417c
1 changed files with 23 additions and 23 deletions
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sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c
+23 -23
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@@ -119,7 +119,7 @@ void SpektrumUartInit(void);
void SpektrumTimerInit(void);
/* sets a GPIO pin as output for debugging */
void DebugInit(void);
void tim1_up_irq_handler(void);
void tim6_irq_handler(void);
/* wait busy loop, microseconds */
static void DelayUs( uint16_t uSecs );
/* wait busy loop, milliseconds */
@@ -457,16 +457,16 @@ void RadioControlEventImp(void (*frame_handler)(void)) {
/*****************************************************************************
*
* Initialise TIM1 to fire a IM1_UP_IRQ every 100 microseconds to provide
* Initialise TIM6 to fire an interrupt every 100 microseconds to provide
* timebase for SpektrumParser
*
*****************************************************************************/
void SpektrumTimerInit( void ) {
/* enable TIM1 clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
/* enable TIM6 clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
/* TIM1 configuration */
/* TIM6 configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
/* 100 microseconds ie 0.1 millisecond */
@@ -474,34 +474,34 @@ void SpektrumTimerInit( void ) {
TIM_TimeBaseStructure.TIM_Prescaler = ((AHB_CLK / TIM_FREQ_1000000) - 1);
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
/* Enable TIM1 interrupts */
/* Enable TIM6 interrupts */
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable and configure TIM1 IRQ channel */
NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn;
/* Enable and configure TIM6 IRQ channel */
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable TIM1 Update interrupt */
TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
TIM_ClearFlag(TIM1, TIM_FLAG_Update);
/* Enable TIM6 Update interrupt */
TIM_ITConfig(TIM6, TIM_IT_Update, ENABLE);
TIM_ClearFlag(TIM6, TIM_FLAG_Update);
/* TIM1 enable counter */
TIM_Cmd(TIM1, ENABLE);
/* TIM6 enable counter */
TIM_Cmd(TIM6, ENABLE);
}
/*****************************************************************************
*
* TIM1 interrupt request handler updates times used by SpektrumParser
* TIM6 interrupt request handler updates times used by SpektrumParser
*
*****************************************************************************/
void tim1_up_irq_handler( void ) {
void tim6_irq_handler( void ) {
TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
if (PrimarySpektrumState.SpektrumTimer)
--PrimarySpektrumState.SpektrumTimer;
@@ -721,10 +721,10 @@ void radio_control_spektrum_try_bind(void) {
*
*****************************************************************************/
/* set TIM1 to run at DELAY_TIM_FREQUENCY */
/* set TIM6 to run at DELAY_TIM_FREQUENCY */
static void SpektrumDelayInit( void ) {
/* Enable timer clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
/* Time base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
@@ -732,17 +732,17 @@ static void SpektrumDelayInit( void ) {
TIM_TimeBaseStructure.TIM_Period = UINT16_MAX;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
/* Enable counter */
TIM_Cmd(TIM1, ENABLE);
TIM_Cmd(TIM6, ENABLE);
}
/* wait busy loop, microseconds */
static void DelayUs( uint16_t uSecs ) {
uint16_t start = TIM1->CNT;
uint16_t start = TIM6->CNT;
/* use 16 bit count wrap around */
while((uint16_t)(TIM1->CNT - start) <= uSecs);
while((uint16_t)(TIM6->CNT - start) <= uSecs);
}
/* wait busy loop, milliseconds */