X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fstm%2Fao_timer.c;h=d00deffab2161b80e0333f6524567deefdb87052;hp=e07625d8d7d1e809db29f18c5f6deaae388f0869;hb=cd920a0e5321166ef8b1d6afc3d63fc5de998a93;hpb=e57ab2a7bfb69c0ef9b5b7fa8e53e20a500e7c6c

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index e07625d8..d00deffa 100644
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.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
@@ -17,32 +18,55 @@
 
 #include "ao.h"
 #include <ao_task.h>
+#if HAS_FAKE_FLIGHT
+#include <ao_fake_flight.h>
+#endif
+
+#ifndef HAS_TICK
+#define HAS_TICK 1
+#endif
 
-volatile __data AO_TICK_TYPE ao_tick_count;
+#if HAS_TICK || defined(AO_TIMER_HOOK)
 
-uint16_t ao_time(void)
+#if HAS_TICK
+volatile AO_TICK_TYPE ao_tick_count;
+
+AO_TICK_TYPE
+ao_time(void)
 {
-	uint16_t	v;
-	ao_arch_critical(
-		v = ao_tick_count;
-		);
-	return v;
+	return ao_tick_count;
 }
 
-#if AO_DATA_ALL
-volatile __data uint8_t	ao_data_interval = 1;
-volatile __data uint8_t	ao_data_count;
-#endif
+uint64_t
+ao_time_ns(void)
+{
+	AO_TICK_TYPE	before, after;
+	uint32_t	cvr;
 
-void
-ao_debug_out(char c);
+	do {
+		before = ao_tick_count;
+		cvr = stm_systick.cvr;
+		after = ao_tick_count;
+	} while (before != after);
 
+	return (uint64_t) after * (1000000000ULL / AO_HERTZ) +
+		(uint64_t) cvr * (1000000000ULL / AO_SYSTICK);
+}
 
-void stm_tim6_isr(void)
+#endif
+
+#if AO_DATA_ALL
+volatile uint8_t	ao_data_interval = 1;
+volatile uint8_t	ao_data_count;
+#endif
+
+void stm_systick_isr(void)
 {
-	if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) {
-		stm_tim6.sr = 0;
+	ao_validate_cur_stack();
+	if (stm_systick.csr & (1 << STM_SYSTICK_CSR_COUNTFLAG)) {
+#if HAS_TICK
 		++ao_tick_count;
+#endif
 #if HAS_TASK_QUEUE
 		if (ao_task_alarm_tick && (int16_t) (ao_tick_count - ao_task_alarm_tick) >= 0)
 			ao_task_check_alarm((uint16_t) ao_tick_count);
@@ -50,11 +74,19 @@ void stm_tim6_isr(void)
 #if AO_DATA_ALL
 		if (++ao_data_count == ao_data_interval) {
 			ao_data_count = 0;
-			ao_adc_poll();
+#if HAS_FAKE_FLIGHT
+			if (ao_fake_flight_active)
+				ao_fake_flight_poll();
+			else
+#endif
+				ao_adc_poll();
 #if (AO_DATA_ALL & ~(AO_DATA_ADC))
 			ao_wakeup((void *) &ao_data_count);
 #endif
 		}
+#endif
+#ifdef AO_TIMER_HOOK
+		AO_TIMER_HOOK;
 #endif
 	}
 }
@@ -70,49 +102,21 @@ ao_timer_set_adc_interval(uint8_t interval)
 }
 #endif
 
-/*
- * According to the STM clock-configuration, timers run
- * twice as fast as the APB1 clock *if* the APB1 prescaler
- * is greater than 1.
- */
-
-#if AO_APB1_PRESCALER > 1
-#define TIMER_23467_SCALER 2
-#else
-#define TIMER_23467_SCALER 1
-#endif
-
-#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));
+	stm_nvic.shpr15_12 |= AO_STM_NVIC_CLOCK_PRIORITY << 24;
 }
 
+#endif
+
 void
 ao_clock_init(void)
 {
@@ -122,7 +126,15 @@ ao_clock_init(void)
 	/* Switch to MSI while messing about */
 	stm_rcc.cr |= (1 << STM_RCC_CR_MSION);
 	while (!(stm_rcc.cr & (1 << STM_RCC_CR_MSIRDY)))
-		asm("nop");
+		ao_arch_nop();
+
+	stm_rcc.cfgr = (stm_rcc.cfgr & ~(STM_RCC_CFGR_SW_MASK << STM_RCC_CFGR_SW)) |
+		(STM_RCC_CFGR_SW_MSI << STM_RCC_CFGR_SW);
+
+	/* wait for system to switch to MSI */
+	while ((stm_rcc.cfgr & (STM_RCC_CFGR_SWS_MASK << STM_RCC_CFGR_SWS)) !=
+	       (STM_RCC_CFGR_SWS_MSI << STM_RCC_CFGR_SWS))
+		ao_arch_nop();
 
 	/* reset SW, HPRE, PPRE1, PPRE2, MCOSEL and MCOPRE */
 	stm_rcc.cfgr &= (uint32_t)0x88FFC00C;
@@ -159,7 +171,7 @@ ao_clock_init(void)
 #define STM_RCC_CFGR_PLLSRC_TARGET_CLOCK	(0 << STM_RCC_CFGR_PLLSRC)
 #endif
 
-#if !AO_HSE || HAS_ADC
+#if !AO_HSE || HAS_ADC || HAS_ADC_SINGLE
 	/* Enable HSI RC clock 16MHz */
 	stm_rcc.cr |= (1 << STM_RCC_CR_HSION);
 	while (!(stm_rcc.cr & (1 << STM_RCC_CR_HSIRDY)))
@@ -173,7 +185,6 @@ ao_clock_init(void)
 	stm_flash.acr |= (1 << STM_FLASH_ACR_PRFEN);
 
 	/* Enable 1 wait state so the CPU can run at 32MHz */
-	/* (haven't managed to run the CPU at 32MHz yet, it's at 16MHz) */
 	stm_flash.acr |= (1 << STM_FLASH_ACR_LATENCY);
 
 	/* Enable power interface clock */