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took out cycle counter stuff for timing, now using systick + counter strictly. ... seems improved loop precision a bit.

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put gyro interleave under define. this needs to be cleaned sometime.
took out "gyro glitch" stuff that was leftover from  nintendo days.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@162 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-06-07 15:29:37 +00:00
parent 19ca85963b
commit 572d5827cc
7 changed files with 2478 additions and 2794 deletions
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49
src/drv_system.c
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@ -1,10 +1,5 @@
#include "board.h"
// Cycle counter stuff - these should be defined by CMSIS, but they aren't
#define DWT_CTRL (*(volatile uint32_t *)0xE0001000)
#define DWT_CYCCNT ((volatile uint32_t *)0xE0001004)
#define CYCCNTENA (1 << 0)
typedef struct gpio_config_t
{
GPIO_TypeDef *gpio;
@ -16,38 +11,29 @@ typedef struct gpio_config_t
static volatile uint32_t usTicks = 0;
// current uptime for 1kHz systick timer. will rollover after 49 days. hopefully we won't care.
static volatile uint32_t sysTickUptime = 0;
static volatile uint32_t sysTickCycleCounter = 0;
static void cycleCounterInit(void)
{
RCC_ClocksTypeDef clocks;
RCC_GetClocksFreq(&clocks);
usTicks = clocks.SYSCLK_Frequency / 1000000;
// enable DWT access
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
// enable the CPU cycle counter
DWT_CTRL |= CYCCNTENA;
}
// SysTick
void SysTick_Handler(void)
{
sysTickCycleCounter = *DWT_CYCCNT;
sysTickUptime++;
}
// Return system uptime in microseconds (rollover in 70minutes)
uint32_t micros(void)
{
register uint32_t oldCycle, cycle, timeMs;
__disable_irq();
cycle = *DWT_CYCCNT;
oldCycle = sysTickCycleCounter;
timeMs = sysTickUptime;
__enable_irq();
return (timeMs * 1000) + (cycle - oldCycle) / usTicks;
register uint32_t ms, cycle_cnt;
do {
ms = sysTickUptime;
cycle_cnt = SysTick->VAL;
} while (ms != sysTickUptime);
return (ms * 1000) + (72000 - cycle_cnt) / 72;
}
// Return system uptime in milliseconds (rollover in 49 days)
@ -71,16 +57,9 @@ void systemInit(void)
uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]);
// Turn on clocks for stuff we use
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_TIM1 | RCC_APB2Periph_ADC1 | RCC_APB2Periph_USART1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE);
RCC_ClearFlag();
// Make all GPIO in by default to save power and reduce noise
@ -121,13 +100,20 @@ void systemInit(void)
delay(100);
}
#if 1
void delayMicroseconds(uint32_t us)
{
uint32_t now = micros();
while (micros() - now < us);
}
#else
void delayMicroseconds(uint32_t us)
{
uint32_t elapsed = 0;
uint32_t lastCount = *DWT_CYCCNT;
uint32_t lastCount = SysTick->VAL;
for (;;) {
register uint32_t current_count = *DWT_CYCCNT;
register uint32_t current_count = SysTick->VAL;
uint32_t elapsed_us;
// measure the time elapsed since the last time we checked
@ -146,6 +132,7 @@ void delayMicroseconds(uint32_t us)
elapsed %= usTicks;
}
}
#endif
void delay(uint32_t ms)
{