Merge branch 'branch-1.6' into debian

Conflicts:
	ChangeLog
	altoslib/AltosTelemetryReader.java
	configure.ac

1 files changed, 266 insertions, 0 deletions

diff --git a/src/stmf0/ao_timer.c b/src/stmf0/ao_timer.c
new file mode 100644
index 00000000..3aae7e55
--- /dev/null
+++ b/src/stmf0/ao_timer.c
@@ -0,0 +1,266 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#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
+
+#if HAS_TICK
+volatile AO_TICK_TYPE ao_tick_count;
+
+AO_TICK_TYPE
+ao_time(void)
+{
+	return ao_tick_count;
+}
+
+#if AO_DATA_ALL
+volatile __data uint8_t	ao_data_interval = 1;
+volatile __data uint8_t	ao_data_count;
+#endif
+
+void stm_systick_isr(void)
+{
+	if (stm_systick.csr & (1 << STM_SYSTICK_CSR_COUNTFLAG)) {
+		++ao_tick_count;
+#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);
+#endif
+#if AO_DATA_ALL
+		if (++ao_data_count == ao_data_interval) {
+			ao_data_count = 0;
+#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
+	}
+}
+
+#if HAS_ADC
+void
+ao_timer_set_adc_interval(uint8_t interval)
+{
+	ao_arch_critical(
+		ao_data_interval = interval;
+		ao_data_count = 0;
+		);
+}
+#endif
+
+#define SYSTICK_RELOAD (AO_SYSTICK / 100 - 1)
+
+void
+ao_timer_init(void)
+{
+	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));
+}
+
+#endif
+
+static void
+ao_clock_enable_crs(void)
+{
+	/* Enable crs interface clock */
+	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_CRSEN);
+
+	/* Disable error counter */
+	stm_crs.cr = ((stm_crs.cr & (1 << 4)) |
+		      (32 << STM_CRS_CR_TRIM) |
+		      (0 << STM_CRS_CR_SWSYNC) |
+		      (0 << STM_CRS_CR_AUTOTRIMEN) |
+		      (0 << STM_CRS_CR_CEN) |
+		      (0 << STM_CRS_CR_ESYNCIE) |
+		      (0 << STM_CRS_CR_ERRIE) |
+		      (0 << STM_CRS_CR_SYNCWARNIE) |
+		      (0 << STM_CRS_CR_SYNCOKIE));
+
+	/* Configure for USB source */
+	stm_crs.cfgr = ((stm_crs.cfgr & ((1 << 30) | (1 << 27))) |
+			(0 << STM_CRS_CFGR_SYNCPOL) |
+			(STM_CRS_CFGR_SYNCSRC_USB << STM_CRS_CFGR_SYNCSRC) |
+			(STM_CRS_CFGR_SYNCDIV_1 << STM_CRS_CFGR_SYNCDIV) |
+			(0x22 << STM_CRS_CFGR_FELIM) |
+			(((48000000 / 1000) - 1) << STM_CRS_CFGR_RELOAD));
+
+	/* Enable error counter, set auto trim */
+	stm_crs.cr = ((stm_crs.cr & (1 << 4)) |
+		      (32 << STM_CRS_CR_TRIM) |
+		      (0 << STM_CRS_CR_SWSYNC) |
+		      (1 << STM_CRS_CR_AUTOTRIMEN) |
+		      (1 << STM_CRS_CR_CEN) |
+		      (0 << STM_CRS_CR_ESYNCIE) |
+		      (0 << STM_CRS_CR_ERRIE) |
+		      (0 << STM_CRS_CR_SYNCWARNIE) |
+		      (0 << STM_CRS_CR_SYNCOKIE));
+
+}
+
+void
+ao_clock_init(void)
+{
+	uint32_t	cfgr;
+
+	/* Switch to HSI while messing about */
+	stm_rcc.cr |= (1 << STM_RCC_CR_HSION);
+	while (!(stm_rcc.cr & (1 << STM_RCC_CR_HSIRDY)))
+		ao_arch_nop();
+
+	stm_rcc.cfgr = (stm_rcc.cfgr & ~(STM_RCC_CFGR_SW_MASK << STM_RCC_CFGR_SW)) |
+		(STM_RCC_CFGR_SW_HSI << STM_RCC_CFGR_SW);
+
+	/* wait for system to switch to HSI */
+	while ((stm_rcc.cfgr & (STM_RCC_CFGR_SWS_MASK << STM_RCC_CFGR_SWS)) !=
+	       (STM_RCC_CFGR_SWS_HSI << STM_RCC_CFGR_SWS))
+		ao_arch_nop();
+
+	/* reset the clock config, leaving us running on the HSI */
+	stm_rcc.cfgr &= (uint32_t)0x0000000f;
+
+	/* reset PLLON, CSSON, HSEBYP, HSEON */
+	stm_rcc.cr &= 0x0000ffff;
+
+	/* Disable all interrupts */
+	stm_rcc.cir = 0;
+
+#if AO_HSE
+#define STM_RCC_CFGR_SWS_TARGET_CLOCK		STM_RCC_CFGR_SWS_HSE
+#define STM_RCC_CFGR_SW_TARGET_CLOCK		STM_RCC_CFGR_SW_HSE
+#define STM_PLLSRC				AO_HSE
+#define STM_RCC_CFGR_PLLSRC_TARGET_CLOCK	1
+
+#if AO_HSE_BYPASS
+	stm_rcc.cr |= (1 << STM_RCC_CR_HSEBYP);
+#else
+	stm_rcc.cr &= ~(1 << STM_RCC_CR_HSEBYP);
+#endif
+	/* Enable HSE clock */
+	stm_rcc.cr |= (1 << STM_RCC_CR_HSEON);
+	while (!(stm_rcc.cr & (1 << STM_RCC_CR_HSERDY)))
+		asm("nop");
+#endif
+
+
+#if AO_HSI48
+#define STM_RCC_CFGR_SWS_TARGET_CLOCK		STM_RCC_CFGR_SWS_HSI48
+#define STM_RCC_CFGR_SW_TARGET_CLOCK		STM_RCC_CFGR_SW_HSI48
+
+	/* Turn HSI48 clock on */
+	stm_rcc.cr2 |= (1 << STM_RCC_CR2_HSI48ON);
+
+	/* Wait for clock to stabilize */
+	while ((stm_rcc.cr2 & (1 << STM_RCC_CR2_HSI48RDY)) == 0)
+		ao_arch_nop();
+
+	ao_clock_enable_crs();
+#endif
+
+#ifndef STM_RCC_CFGR_SWS_TARGET_CLOCK
+#define STM_HSI 				16000000
+#define STM_RCC_CFGR_SWS_TARGET_CLOCK		STM_RCC_CFGR_SWS_HSI
+#define STM_RCC_CFGR_SW_TARGET_CLOCK		STM_RCC_CFGR_SW_HSI
+#define STM_PLLSRC				STM_HSI
+#define STM_RCC_CFGR_PLLSRC_TARGET_CLOCK	0
+#endif
+
+#ifdef STM_PLLSRC
+#error No code for PLL initialization yet
+#endif
+
+	/* Set flash latency to tolerate 48MHz SYSCLK  -> 1 wait state */
+
+	/* Enable prefetch */
+	stm_flash.acr |= (1 << STM_FLASH_ACR_PRFTBE);
+
+	/* Enable 1 wait state so the CPU can run at 48MHz */
+	stm_flash.acr |= (STM_FLASH_ACR_LATENCY_1 << STM_FLASH_ACR_LATENCY);
+
+	/* Enable power interface clock */
+	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN);
+
+	/* HCLK to 48MHz -> AHB prescaler = /1 */
+	cfgr = stm_rcc.cfgr;
+	cfgr &= ~(STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE);
+	cfgr |= (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE);
+	stm_rcc.cfgr = cfgr;
+	while ((stm_rcc.cfgr & (STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE)) !=
+	       (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE))
+		ao_arch_nop();
+
+	/* APB Prescaler = AO_APB_PRESCALER */
+	cfgr = stm_rcc.cfgr;
+	cfgr &= ~(STM_RCC_CFGR_PPRE_MASK << STM_RCC_CFGR_PPRE);
+	cfgr |= (AO_RCC_CFGR_PPRE_DIV << STM_RCC_CFGR_PPRE);
+	stm_rcc.cfgr = cfgr;
+
+	/* Switch to the desired system clock */
+
+	cfgr = stm_rcc.cfgr;
+	cfgr &= ~(STM_RCC_CFGR_SW_MASK << STM_RCC_CFGR_SW);
+	cfgr |= (STM_RCC_CFGR_SW_TARGET_CLOCK << STM_RCC_CFGR_SW);
+	stm_rcc.cfgr = cfgr;
+	for (;;) {
+		uint32_t	c, part, mask, val;
+
+		c = stm_rcc.cfgr;
+		mask = (STM_RCC_CFGR_SWS_MASK << STM_RCC_CFGR_SWS);
+		val = (STM_RCC_CFGR_SWS_TARGET_CLOCK << STM_RCC_CFGR_SWS);
+		part = c & mask;
+		if (part == val)
+			break;
+	}
+
+	/* Clear reset flags */
+	stm_rcc.csr |= (1 << STM_RCC_CSR_RMVF);
+
+#if !AO_HSI && !AO_NEED_HSI
+	/* Turn off the HSI clock */
+	stm_rcc.cr &= ~(1 << STM_RCC_CR_HSION);
+#endif
+#if DEBUG_THE_CLOCK
+	/* Output SYSCLK on PA8 for measurments */
+
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN);
+
+	stm_afr_set(&stm_gpioa, 8, STM_AFR_AF0);
+	stm_moder_set(&stm_gpioa, 8, STM_MODER_ALTERNATE);
+	stm_ospeedr_set(&stm_gpioa, 8, STM_OSPEEDR_40MHz);
+
+	stm_rcc.cfgr |= (STM_RCC_CFGR_MCOPRE_DIV_1 << STM_RCC_CFGR_MCOPRE);
+	stm_rcc.cfgr |= (STM_RCC_CFGR_MCOSEL_HSE << STM_RCC_CFGR_MCOSEL);
+#endif
+}