altos: Switch all tick variables to AO_TICK_TYPE/AO_TICK_SIGNED

[fw/altos] / src / stm-bringup / bringup.c

diff --git a/src/stm-bringup/bringup.c b/src/stm-bringup/bringup.c
index b6fe458db895d7763e5d724d99deb745389eff6f..30b442cdfd3948fa43e2f28a6af25e4ba3ca9c37 100644 (file)
--- a/src/stm-bringup/bringup.c
+++ b/src/stm-bringup/bringup.c
@@ -3,7 +3,8 @@
  *
  * 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; version 2 of the License.
+ * the Free Software Foundation; either version 2 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
@@ -250,13 +251,46 @@ serial_string(char *string)
                outbyte(c);
 }
 
+volatile AO_TICK_TYPE  tick_count;
+
+void
+stm_tim6_isr(void)
+{
+       if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) {
+               stm_tim6.sr = 0;
+               ++tick_count;
+       }
+}
+
+#define TIMER_10kHz    (STM_APB1 / 10000)
+
 void
 set_timer6(void)
 {
+       stm_nvic_set_enable(STM_ISR_TIM6_POS);
+       stm_nvic_set_priority(STM_ISR_TIM6_POS, 1);
+
        /* Turn on timer 6 */
        stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM6EN);
 
-       
+       stm_tim6.psc = TIMER_10kHz;
+       stm_tim6.arr = 100;
+       stm_tim6.cnt = 0;
+
+       /* Enable update interrupt */
+       stm_tim6.dier = (1 << STM_TIM67_DIER_UIE);
+
+       /* Poke timer to reload values */
+       stm_tim6.egr |= (1 << STM_TIM67_EGR_UG);
+
+       stm_tim6.cr2 = (STM_TIM67_CR2_MMS_RESET << STM_TIM67_CR2_MMS);
+
+       /* And turn it on */
+       stm_tim6.cr1 = ((0 << STM_TIM67_CR1_ARPE) |
+                       (0 << STM_TIM67_CR1_OPM) |
+                       (1 << STM_TIM67_CR1_URS) |
+                       (0 << STM_TIM67_CR1_UDIS) |
+                       (1 << STM_TIM67_CR1_CEN));
 }
 
 void
@@ -273,7 +307,7 @@ main (void)
                printf ("hello, ");
                delay();
                stm_gpiob.odr = (1 << 6);
-               printf ("world\n");
+               printf ("world %d\n", tick_count);
                delay();
        }
 }
@@ -285,22 +319,3 @@ delay(void)
        for (i = 0; i < 1000000; i++)
                __asm__ __volatile__ ("nop\n\t":::"memory");
 }
-
-static int x = 7;
-
-extern char __stack__;
-extern char __text_start__, __text_end__;
-extern char __data_start__, __data_end__;
-extern char __bss_start__, __bss_end__;
-
-void start(void) {
-       memcpy(&__data_start__, &__text_end__, &__data_end__ - &__data_start__);
-       memset(&__bss_start__, '\0', &__bss_end__ - &__bss_start__);
-       main();
-}
-
-__attribute__ ((section(".interrupt")))
-static const void *interrupt[] = {
-       &__stack__,
-       start,
-};