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a couple optimizations for dynamic HSE frequency - moved SetSysClock() to run after reset vector + bss init, and changed rcc which used hardcoded HSE_VALUE.

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turn off leds/beeper before initializing pins to prevent flash at startup
uninitialized errorAngle fix in new PID


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@362 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-07-02 00:58:50 +00:00
parent 3afeb3d1c8
commit 57cbd784a9
11 changed files with 3091 additions and 3036 deletions
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13
src/drv_system.c
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@ -4,6 +4,8 @@
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;
// from system_stm32f10x.c
void SetSysClock(void);
static void cycleCounterInit(void)
{
@ -60,8 +62,9 @@ void systemInit(void)
uint32_t i;
uint8_t gpio_count = sizeof(gpio_setup) / sizeof(gpio_setup[0]);
// This is needed because some shit inside Keil startup fucks with SystemCoreClock, setting it back to 72MHz even on HSI.
SystemCoreClockUpdate();
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock();
// Turn on clocks for stuff we use
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE);
@ -81,13 +84,13 @@ void systemInit(void)
AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;
// Configure gpio
for (i = 0; i < gpio_count; i++)
gpioInit(gpio_setup[i].gpio, &gpio_setup[i].cfg);
LED0_OFF;
LED1_OFF;
BEEP_OFF;
for (i = 0; i < gpio_count; i++)
gpioInit(gpio_setup[i].gpio, &gpio_setup[i].cfg);
// Init cycle counter
cycleCounterInit();