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added configurable motor and servo period settings (50-498Hz). both set by cli, default is 50 for servo, 400 for motors.

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removed feature digital_servo since its now set by cli instead.
added proper tx end check into uart, to remove delay inside printing out set values and tx buffer overrun during help()
instead of passing a bunch of params to pwm driver, made a config struct
fixed a bug in gps baudrate
fixed typo in stmloader.c
whitespace / indentation cleanups in various drivers

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@137 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-30 09:49:00 +00:00
parent 97cdebfb13
commit 58eb2b966f
16 changed files with 2645 additions and 2619 deletions
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62
src/drv_system.c
View file

@ -1,9 +1,9 @@
#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)
#define DWT_CTRL (*(volatile uint32_t *)0xE0001000)
#define DWT_CYCCNT ((volatile uint32_t *)0xE0001004)
#define CYCCNTENA (1 << 0)
// cycles per microsecond
static volatile uint32_t usTicks = 0;
@ -13,14 +13,14 @@ static volatile uint32_t sysTickCycleCounter = 0;
static void cycleCounterInit(void)
{
RCC_ClocksTypeDef clocks;
RCC_GetClocksFreq(&clocks);
usTicks = clocks.SYSCLK_Frequency / 1000000;
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;
// enable the CPU cycle counter
DWT_CTRL |= CYCCNTENA;
}
@ -75,9 +75,9 @@ void systemInit(void)
// Turn off JTAG port 'cause we're using the GPIO for leds
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
// Configure gpio
// PB3, PB4 (LEDs)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
@ -95,48 +95,48 @@ void systemInit(void)
// Init cycle counter
cycleCounterInit();
// SysTick
SysTick_Config(SystemCoreClock / 1000);
// Configure the rest of the stuff
adcInit();
i2cInit(I2C2);
// sleep for 100ms
delay(100);
}
void delayMicroseconds(uint32_t us)
{
uint32_t elapsed = 0;
uint32_t lastCount = *DWT_CYCCNT;
uint32_t elapsed = 0;
uint32_t lastCount = *DWT_CYCCNT;
for (;;) {
register uint32_t current_count = *DWT_CYCCNT;
uint32_t elapsed_us;
for (;;) {
register uint32_t current_count = *DWT_CYCCNT;
uint32_t elapsed_us;
// measure the time elapsed since the last time we checked
elapsed += current_count - lastCount;
lastCount = current_count;
// measure the time elapsed since the last time we checked
elapsed += current_count - lastCount;
lastCount = current_count;
// convert to microseconds
elapsed_us = elapsed / usTicks;
if (elapsed_us >= us)
break;
// convert to microseconds
elapsed_us = elapsed / usTicks;
if (elapsed_us >= us)
break;
// reduce the delay by the elapsed time
us -= elapsed_us;
// reduce the delay by the elapsed time
us -= elapsed_us;
// keep fractional microseconds for the next iteration
elapsed %= usTicks;
}
// keep fractional microseconds for the next iteration
elapsed %= usTicks;
}
}
void delay(uint32_t ms)
{
while (ms--)
delayMicroseconds(1000);
while (ms--)
delayMicroseconds(1000);
}
void failureMode(uint8_t mode)