altos: Use SYSTICK on STM32L

[fw/altos] / src / stm / ao_timer.c

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index 8b7c2327ff2bdd34f93e7f93a8351f0c3ff63a4f..5976eb3f6657b6882d8cbfc668524f646f8387f4 100644 (file)
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -31,14 +31,9 @@ volatile __data uint8_t      ao_data_interval = 1;
 volatile __data uint8_t        ao_data_count;
 #endif
 
-void
-ao_debug_out(char c);
-
-
-void stm_tim6_isr(void)
+void stm_systick_isr(void)
 {
-       if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) {
-               stm_tim6.sr = 0;
+       if (stm_systick.csr & (1 << STM_SYSTICK_CSR_COUNTFLAG)) {
                ++ao_tick_count;
 #if HAS_TASK_QUEUE
                if (ao_task_alarm_tick && (int16_t) (ao_tick_count - ao_task_alarm_tick) >= 0)
@@ -81,33 +76,16 @@ ao_timer_set_adc_interval(uint8_t interval)
 
 #define TIMER_10kHz    ((AO_PCLK1 * TIMER_23467_SCALER) / 10000)
 
+#define SYSTICK_RELOAD (AO_SYSTICK / 100 - 1)
+
 void
 ao_timer_init(void)
 {
-       stm_nvic_set_enable(STM_ISR_TIM6_POS);
-       stm_nvic_set_priority(STM_ISR_TIM6_POS, AO_STM_NVIC_CLOCK_PRIORITY);
-
-       /* Turn on timer 6 */
-       stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM6EN);
-
-       stm_tim6.psc = TIMER_10kHz;
-       stm_tim6.arr = 99;
-       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));
+       stm_systick.rvr = SYSTICK_RELOAD;
+       stm_systick.cvr = 0;
+       stm_systick.csr = ((1 << STM_SYSTICK_CSR_ENABLE) |
+                          (1 << STM_SYSTICK_CSR_TICKINT) |
+                          (STM_SYSTICK_CSR_CLKSOURCE_HCLK_8 << STM_SYSTICK_CSR_CLKSOURCE));
 }
 
 void