Rohit Sant
146 linhas
3.7 KiB
C++
146 linhas
3.7 KiB
C++
/*! @file timer.cpp
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* @version 3.1.8
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* @date Aug 05 2016
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*
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* @brief
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* Timer helper functions and ISR for board STM32F4Discovery
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*
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* Copyright 2016 DJI. All right reserved.
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*
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* */
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#include "stm32f4xx.h"
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#include "timer.h"
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#include "main.h"
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uint32_t tick = 0; // tick is the time stamp,which record how many ms since u
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// initialize the system.
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/*extern VirtualRC virtualrc;
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extern VirtualRCData myVRCdata;
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extern FlightData flightData;
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extern Flight flight;
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*/
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extern uint8_t Rx_buff[];
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extern TerminalCommand myTerminal;
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void
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Timer1Config()
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{
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TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
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NVIC_InitTypeDef NVIC_InitStructure;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
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TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInitStructure.TIM_Period =
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(200 - 1); // t is the time between each Timer irq.
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TIM_TimeBaseInitStructure.TIM_Prescaler =
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(8400 - 1); // t = (1+TIM_Prescaler/SystemCoreClock)*(1+TIM_Period)
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TIM_TimeBaseInitStructure.TIM_RepetitionCounter =
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0x00; // here configure TIM1 in 50Hz
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TIM_TimeBaseInit(TIM1, &TIM_TimeBaseInitStructure);
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NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM10_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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TIM_ClearFlag(TIM1, TIM_FLAG_Update);
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TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
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TIM_Cmd(TIM1, DISABLE);
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}
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void
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Timer2Config()
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{
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TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
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NVIC_InitTypeDef NVIC_InitStructure;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
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TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInitStructure.TIM_Period =
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(200 - 1); // t is the time between each Timer irq.
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TIM_TimeBaseInitStructure.TIM_Period =
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(40 - 1); // t is the time between each Timer irq.
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TIM_TimeBaseInitStructure.TIM_Prescaler =
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(42000 - 1); // t = (1+TIM_Prescaler/SystemCoreClock)*(1+TIM_Period)
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TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
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NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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TIM_ClearFlag(TIM2, TIM_FLAG_Update);
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TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
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TIM_Cmd(TIM2, DISABLE);
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}
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void
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SystickConfig()
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{
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if (SysTick_Config(SystemCoreClock / 1000)) // 1000 ticks per second.
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{
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while (1)
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; // run here when error.
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}
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}
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void
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delay_nms(uint16_t time)
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{
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u32 i = 0;
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while (time--)
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{
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i = 30000;
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while (i--)
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;
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}
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}
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#ifdef __cplusplus
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extern "C" {
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#endif //__cplusplus
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void
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SysTick_Handler(void)
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{
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if (tick > 4233600000ll) // 49 days non-reset would cost a tick reset.
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{
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tick = 0;
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}
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tick++;
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}
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void
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TIM1_UP_TIM10_IRQHandler(void)
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{
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if (TIM_GetITStatus(TIM1, TIM_IT_Update) == SET)
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{
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// virtualrc.sendData(myVRCdata);
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}
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TIM_ClearFlag(TIM1, TIM_FLAG_Update);
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}
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void
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TIM2_IRQHandler()
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{
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if (TIM_GetITStatus(TIM2, TIM_IT_Update) == SET)
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{
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if ((myTerminal.cmdIn[2] == 0x04) && (myTerminal.cmdIn[3] == 0x01))
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{
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// flight.setFlight(&flightData);
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}
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else
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{
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TIM_Cmd(TIM2, DISABLE);
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}
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}
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TIM_ClearFlag(TIM2, TIM_FLAG_Update);
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}
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#ifdef __cplusplus
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}
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#endif //__cplusplus
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