diff options
Diffstat (limited to 'src/stm')
| -rw-r--r-- | src/stm/Makefile-flash.defs | 17 | ||||
| -rw-r--r-- | src/stm/Makefile.defs | 22 | ||||
| -rw-r--r-- | src/stm/altos-loader.ld | 6 | ||||
| -rw-r--r-- | src/stm/ao_adc_stm.c | 4 | ||||
| -rw-r--r-- | src/stm/ao_arch.h | 2 | ||||
| -rw-r--r-- | src/stm/ao_arch_funcs.h | 25 | ||||
| -rw-r--r-- | src/stm/ao_beep_stm.c | 48 | ||||
| -rw-r--r-- | src/stm/ao_eeprom_stm.c | 57 | ||||
| -rw-r--r-- | src/stm/ao_exti.h | 1 | ||||
| -rw-r--r-- | src/stm/ao_exti_stm.c | 30 | ||||
| -rw-r--r-- | src/stm/ao_fast_timer.c | 120 | ||||
| -rw-r--r-- | src/stm/ao_fast_timer.h (renamed from src/stm/ao_data.c) | 30 | ||||
| -rw-r--r-- | src/stm/ao_flash_stm.c | 4 | ||||
| -rw-r--r-- | src/stm/ao_timer.c | 25 | ||||
| -rw-r--r-- | src/stm/ao_usb_stm.c | 4 | ||||
| -rw-r--r-- | src/stm/stm32l.h | 7 |
16 files changed, 276 insertions, 126 deletions
diff --git a/src/stm/Makefile-flash.defs b/src/stm/Makefile-flash.defs index 016bb7e7..3890eff1 100644 --- a/src/stm/Makefile-flash.defs +++ b/src/stm/Makefile-flash.defs @@ -6,16 +6,15 @@ vpath ao-make-product.5c $(TOPDIR)/util .elf.ihx: objcopy -O ihex $*.elf $@ -CC=arm-none-eabi-gcc -SAT=/opt/cortex -SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a -SAT_CFLAGS=-I$(SAT)/include - ifndef VERSION include $(TOPDIR)/Version endif +include $(TOPDIR)/Makedefs + +CC=$(ARM_CC) +LIBS=$(PDCLIB_LIBS_M3) -lgcc -AO_CFLAGS=-I. -I$(TOPDIR)/stm -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) +AO_CFLAGS=-I. -I$(TOPDIR)/stm -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) $(PDCLIB_INCLUDES) STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS) LDFLAGS=-L$(TOPDIR)/stm -Wl,-Taltos-loader.ld @@ -62,7 +61,7 @@ SRC = \ OBJ=$(SRC:.c=.o) -PRODUCT=AltosFlash-$(VERSION) +PRODUCT=AltosFlash PRODUCT_DEF=-DALTOS_FLASH IDPRODUCT=0x000a @@ -72,7 +71,7 @@ PROGNAME=altos-flash PROG=$(HARDWARE)-$(PROGNAME)-$(VERSION).elf $(PROG): Makefile $(OBJ) altos-loader.ld - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS) ao_product.h: ao-make-product.5c $(TOPDIR)/Version $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ @@ -84,7 +83,7 @@ all: $(PROG) distclean: clean clean: - rm -f *.o $(PROG) + rm -f *.o $(HARDWARE)-$(PROGNAME)-*.elf rm -f ao_product.h install: diff --git a/src/stm/Makefile.defs b/src/stm/Makefile.defs index c8bb7d70..9adcfeb3 100644 --- a/src/stm/Makefile.defs +++ b/src/stm/Makefile.defs @@ -1,4 +1,4 @@ -vpath % ../stm:../product:../drivers:../core:../util:../kalman:../aes:.. +vpath % ../stm:../product:../drivers:../core:../util:../kalman:../aes:../math:.. vpath make-altitude ../util vpath make-kalman ../util vpath kalman.5c ../kalman @@ -10,23 +10,27 @@ vpath ao-make-product.5c ../util .SUFFIXES: .elf .ihx .elf.ihx: - objcopy -O ihex $*.elf $@ + $(ELFTOHEX) --output=$@ $*.elf -CC=arm-none-eabi-gcc -SAT=/opt/cortex -SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a -SAT_CFLAGS=-I$(SAT)/include +ifndef TOPDIR +TOPDIR=.. +endif ifndef VERSION -include ../Version +include $(TOPDIR)/Version endif +include $(TOPDIR)/Makedefs + +CC=$(ARM_CC) +LIBS=$(PDCLIB_LIBS_M3) -lgcc -AO_CFLAGS=-I. -I../stm -I../core -I../drivers -I.. -STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS) +AO_CFLAGS=-I. -I../stm -I../core -I../drivers -I../math -I.. $(PDCLIB_INCLUDES) +STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) LDFLAGS=-L../stm -Wl,-Taltos.ld NICKLE=nickle +ELFTOHEX=$(TOPDIR)/../ao-tools/ao-elftohex/ao-elftohex V=0 # The user has explicitly enabled quiet compilation. diff --git a/src/stm/altos-loader.ld b/src/stm/altos-loader.ld index 2be964f2..0753f5f7 100644 --- a/src/stm/altos-loader.ld +++ b/src/stm/altos-loader.ld @@ -37,11 +37,11 @@ SECTIONS { ao_romconfig.o(.romconfig*) ao_product.o(.romconfig*) - *(.text) /* Executable code */ + *(.text*) /* Executable code */ *(.ARM.exidx* .gnu.linkonce.armexidx.*) *(.rodata*) /* Constants */ - __text_end__ = .; } > rom + __text_end__ = .; /* Boot data which must live at the start of ram so that * the application and bootloader share the same addresses. @@ -66,7 +66,7 @@ SECTIONS { .textram BLOCK(8): { __data_start__ = .; __text_ram_start__ = .; - *(.text.ram) + *(.ramtext) __text_ram_end = .; } >ram AT>rom diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c index 48fc4262..53f19b40 100644 --- a/src/stm/ao_adc_stm.c +++ b/src/stm/ao_adc_stm.c @@ -113,11 +113,15 @@ ao_adc_dump(void) __reentrant uint8_t i; ao_data_get(&packet); +#ifdef AO_ADC_DUMP + AO_ADC_DUMP(&packet); +#else printf("tick: %5u", packet.tick); d = (int16_t *) (&packet.adc); for (i = 0; i < AO_NUM_ADC; i++) printf (" %2d: %5d", i, d[i]); printf("\n"); +#endif } __code struct ao_cmds ao_adc_cmds[] = { diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h index adc288c3..42fe727a 100644 --- a/src/stm/ao_arch.h +++ b/src/stm/ao_arch.h @@ -34,6 +34,8 @@ #define AO_TICK_SIGNED int16_t #endif +#define AO_PORT_TYPE uint16_t + /* Various definitions to make GCC look more like SDCC */ #define ao_arch_naked_declare __attribute__((naked)) diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h index 1e78cabc..b461cd3f 100644 --- a/src/stm/ao_arch_funcs.h +++ b/src/stm/ao_arch_funcs.h @@ -87,13 +87,16 @@ extern uint16_t ao_spi_speed[STM_NUM_SPI]; void ao_spi_init(void); +#define ao_spi_set_cs(reg,mask) ((reg)->bsrr = ((uint32_t) (mask)) << 16) +#define ao_spi_clr_cs(reg,mask) ((reg)->bsrr = (mask)) + #define ao_spi_get_mask(reg,mask,bus, speed) do { \ ao_spi_get(bus, speed); \ - (reg)->bsrr = ((uint32_t) mask) << 16; \ + ao_spi_set_cs(reg,mask); \ } while (0) #define ao_spi_put_mask(reg,mask,bus) do { \ - (reg)->bsrr = mask; \ + ao_spi_clr_cs(reg,mask); \ ao_spi_put(bus); \ } while (0) @@ -326,7 +329,7 @@ static inline void ao_arch_restore_stack(void) { /* Restore APSR */ asm("pop {r0}"); - asm("msr apsr,r0"); + asm("msr apsr_nczvq,r0"); /* Restore general registers */ asm("pop {r0-r12,lr}\n"); @@ -335,6 +338,11 @@ static inline void ao_arch_restore_stack(void) { asm("bx lr"); } +#ifndef HAS_SAMPLE_PROFILE +#define HAS_SAMPLE_PROFILE 0 +#endif + +#if !HAS_SAMPLE_PROFILE #define HAS_ARCH_START_SCHEDULER 1 static inline void ao_arch_start_scheduler(void) { @@ -346,16 +354,19 @@ static inline void ao_arch_start_scheduler(void) { asm("mrs %0,control" : "=&r" (control)); control |= (1 << 1); asm("msr control,%0" : : "r" (control)); + asm("isb"); } +#endif #define ao_arch_isr_stack() #endif -#define ao_arch_wait_interrupt() do { \ - asm(".global ao_idle_loc\n\twfi\nao_idle_loc:"); \ - ao_arch_release_interrupts(); \ - ao_arch_block_interrupts(); \ +#define ao_arch_wait_interrupt() do { \ + asm("\twfi\n"); \ + ao_arch_release_interrupts(); \ + asm(".global ao_idle_loc\nao_idle_loc:"); \ + ao_arch_block_interrupts(); \ } while (0) #define ao_arch_critical(b) do { \ diff --git a/src/stm/ao_beep_stm.c b/src/stm/ao_beep_stm.c index 4761fbfc..a95d869b 100644 --- a/src/stm/ao_beep_stm.c +++ b/src/stm/ao_beep_stm.c @@ -17,6 +17,10 @@ #include "ao.h" +#ifndef BEEPER_CHANNEL +#define BEEPER_CHANNEL 1 +#endif + void ao_beep(uint8_t beep) { @@ -56,6 +60,7 @@ ao_beep(uint8_t beep) * is enabled and active high. */ +#if BEEPER_CHANNEL == 1 stm_tim3.ccmr1 = ((0 << STM_TIM234_CCMR1_OC2CE) | (STM_TIM234_CCMR1_OC2M_FROZEN << STM_TIM234_CCMR1_OC2M) | (0 << STM_TIM234_CCMR1_OC2PE) | @@ -68,7 +73,6 @@ ao_beep(uint8_t beep) (0 << STM_TIM234_CCMR1_OC1FE) | (STM_TIM234_CCMR1_CC1S_OUTPUT << STM_TIM234_CCMR1_CC1S)); - stm_tim3.ccer = ((0 << STM_TIM234_CCER_CC4NP) | (0 << STM_TIM234_CCER_CC4P) | (0 << STM_TIM234_CCER_CC4E) | @@ -81,6 +85,33 @@ ao_beep(uint8_t beep) (0 << STM_TIM234_CCER_CC1NP) | (0 << STM_TIM234_CCER_CC1P) | (1 << STM_TIM234_CCER_CC1E)); +#endif +#if BEEPER_CHANNEL == 4 + stm_tim3.ccmr2 = ((0 << STM_TIM234_CCMR2_OC4CE) | + (STM_TIM234_CCMR2_OC4M_TOGGLE << STM_TIM234_CCMR2_OC4M) | + (0 << STM_TIM234_CCMR2_OC4PE) | + (0 << STM_TIM234_CCMR2_OC4FE) | + (STM_TIM234_CCMR2_CC4S_OUTPUT << STM_TIM234_CCMR2_CC4S) | + + (0 << STM_TIM234_CCMR2_OC3CE) | + (STM_TIM234_CCMR2_OC3M_FROZEN << STM_TIM234_CCMR2_OC3M) | + (0 << STM_TIM234_CCMR2_OC3PE) | + (0 << STM_TIM234_CCMR2_OC3FE) | + (STM_TIM234_CCMR2_CC3S_OUTPUT << STM_TIM234_CCMR2_CC3S)); + + stm_tim3.ccer = ((0 << STM_TIM234_CCER_CC4NP) | + (0 << STM_TIM234_CCER_CC4P) | + (1 << STM_TIM234_CCER_CC4E) | + (0 << STM_TIM234_CCER_CC3NP) | + (0 << STM_TIM234_CCER_CC3P) | + (0 << STM_TIM234_CCER_CC3E) | + (0 << STM_TIM234_CCER_CC2NP) | + (0 << STM_TIM234_CCER_CC2P) | + (0 << STM_TIM234_CCER_CC2E) | + (0 << STM_TIM234_CCER_CC1NP) | + (0 << STM_TIM234_CCER_CC1P) | + (0 << STM_TIM234_CCER_CC1E)); +#endif /* 5. Enable the counter by setting the CEN bit in the TIMx_CR1 register. */ @@ -110,13 +141,22 @@ ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant void ao_beep_init(void) { - /* Our beeper is on PC6, which is hooked to TIM3_CH1, - * which is on PC6 - */ +#if BEEPER_CHANNEL == 1 + /* Our beeper is on PC6, which is hooked to TIM3_CH1. + */ stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOCEN); stm_afr_set(&stm_gpioc, 6, STM_AFR_AF2); +#endif +#if BEEPER_CHANNEL == 4 + + /* Our beeper is on PB1, which is hooked to TIM3_CH4. + */ + stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN); + + stm_afr_set(&stm_gpiob, 1, STM_AFR_AF2); +#endif /* Leave the timer off until requested */ diff --git a/src/stm/ao_eeprom_stm.c b/src/stm/ao_eeprom_stm.c index 58783f1a..4207a860 100644 --- a/src/stm/ao_eeprom_stm.c +++ b/src/stm/ao_eeprom_stm.c @@ -16,19 +16,10 @@ */ #include <ao.h> -#include <ao_storage.h> +#include <ao_eeprom.h> /* Total bytes of available storage */ -ao_pos_t ao_storage_total = 4096; - -/* Block size - device is erased in these units. */ -ao_pos_t ao_storage_block = 1024; - -/* Byte offset of config block. Will be ao_storage_block bytes long */ -ao_pos_t ao_storage_config = 0; - -/* Storage unit size - device reads and writes must be within blocks of this size. */ -uint16_t ao_storage_unit = 1024; +const ao_pos_t ao_eeprom_total = 4096; /* Location of eeprom in address space */ #define stm_eeprom ((uint8_t *) 0x08080000) @@ -42,16 +33,6 @@ uint16_t ao_storage_unit = 1024; * the same contents, or append to an existing page easily enough */ -/* - * Erase the specified sector - */ -uint8_t -ao_storage_erase(ao_pos_t pos) __reentrant -{ - /* Not necessary */ - return 1; -} - static void ao_intflash_unlock(void) { @@ -131,16 +112,16 @@ ao_intflash_read(uint16_t pos) } /* - * Write to flash + * Write to eeprom */ uint8_t -ao_storage_device_write(ao_pos_t pos32, __xdata void *v, uint16_t len) __reentrant +ao_eeprom_write(ao_pos_t pos32, __xdata void *v, uint16_t len) { uint16_t pos = pos32; __xdata uint8_t *d = v; - if (pos >= ao_storage_total || pos + len > ao_storage_total) + if (pos >= ao_eeprom_total || pos + len > ao_eeprom_total) return 0; ao_intflash_unlock(); @@ -166,38 +147,26 @@ ao_storage_device_write(ao_pos_t pos32, __xdata void *v, uint16_t len) __reentra } /* - * Read from flash + * Read from eeprom */ uint8_t -ao_storage_device_read(ao_pos_t pos, __xdata void *v, uint16_t len) __reentrant +ao_eeprom_read(ao_pos_t pos, __xdata void *v, uint16_t len) { uint8_t *d = v; - if (pos >= ao_storage_total || pos + len > ao_storage_total) + if (pos >= ao_eeprom_total || pos + len > ao_eeprom_total) return 0; while (len--) *d++ = ao_intflash_read(pos++); return 1; } -void -ao_storage_flush(void) __reentrant -{ -} - -void -ao_storage_setup(void) -{ -} - -void -ao_storage_device_info(void) __reentrant -{ - uint8_t i; - printf ("Using internal flash\n"); -} +/* + * Initialize eeprom + */ void -ao_storage_device_init(void) +ao_eeprom_init(void) { + /* Nothing to do here */ } diff --git a/src/stm/ao_exti.h b/src/stm/ao_exti.h index 35b56b57..ebea224d 100644 --- a/src/stm/ao_exti.h +++ b/src/stm/ao_exti.h @@ -25,6 +25,7 @@ #define AO_EXTI_PRIORITY_LOW 16 #define AO_EXTI_PRIORITY_MED 0 #define AO_EXTI_PRIORITY_HIGH 32 +#define AO_EXTI_PIN_NOCONFIGURE 64 void ao_exti_setup(struct stm_gpio *gpio, uint8_t pin, uint8_t mode, void (*callback)()); diff --git a/src/stm/ao_exti_stm.c b/src/stm/ao_exti_stm.c index 1361d0d4..c1dcdf85 100644 --- a/src/stm/ao_exti_stm.c +++ b/src/stm/ao_exti_stm.c @@ -70,21 +70,23 @@ ao_exti_setup (struct stm_gpio *gpio, uint8_t pin, uint8_t mode, void (*callback /* configure gpio to interrupt routing */ stm_exticr_set(gpio, pin); - /* configure pin as input, setting selected pull-up/down mode */ - stm_moder_set(gpio, pin, STM_MODER_INPUT); - switch (mode & (AO_EXTI_MODE_PULL_UP|AO_EXTI_MODE_PULL_DOWN)) { - case 0: - default: - pupdr = STM_PUPDR_NONE; - break; - case AO_EXTI_MODE_PULL_UP: - pupdr = STM_PUPDR_PULL_UP; - break; - case AO_EXTI_MODE_PULL_DOWN: - pupdr = STM_PUPDR_PULL_DOWN; - break; + if (!(mode & AO_EXTI_PIN_NOCONFIGURE)) { + /* configure pin as input, setting selected pull-up/down mode */ + stm_moder_set(gpio, pin, STM_MODER_INPUT); + switch (mode & (AO_EXTI_MODE_PULL_UP|AO_EXTI_MODE_PULL_DOWN)) { + case 0: + default: + pupdr = STM_PUPDR_NONE; + break; + case AO_EXTI_MODE_PULL_UP: + pupdr = STM_PUPDR_PULL_UP; + break; + case AO_EXTI_MODE_PULL_DOWN: + pupdr = STM_PUPDR_PULL_DOWN; + break; + } + stm_pupdr_set(gpio, pin, pupdr); } - stm_pupdr_set(gpio, pin, pupdr); /* Set interrupt mask and rising/falling mode */ stm_exti.imr &= ~mask; diff --git a/src/stm/ao_fast_timer.c b/src/stm/ao_fast_timer.c new file mode 100644 index 00000000..d61b40c9 --- /dev/null +++ b/src/stm/ao_fast_timer.c @@ -0,0 +1,120 @@ +/* + * Copyright © 2013 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_fast_timer.h> + +static void (*ao_fast_timer_callback[AO_FAST_TIMER_MAX])(void); +static uint8_t ao_fast_timer_count; +static uint8_t ao_fast_timer_users; + +static void +ao_fast_timer_enable(void) +{ + stm_tim6.cr1 = ((0 << STM_TIM67_CR1_ARPE) | + (0 << STM_TIM67_CR1_OPM) | + (1 << STM_TIM67_CR1_URS) | + (0 << STM_TIM67_CR1_UDIS) | + (1 << STM_TIM67_CR1_CEN)); +} + +static void +ao_fast_timer_disable(void) +{ + stm_tim6.cr1 = ((0 << STM_TIM67_CR1_ARPE) | + (0 << STM_TIM67_CR1_OPM) | + (1 << STM_TIM67_CR1_URS) | + (0 << STM_TIM67_CR1_UDIS) | + (0 << STM_TIM67_CR1_CEN)); +} + +void +ao_fast_timer_on(void (*callback)(void)) +{ + ao_fast_timer_callback[ao_fast_timer_count] = callback; + if (!ao_fast_timer_count++) + ao_fast_timer_enable(); +} + +void +ao_fast_timer_off(void (*callback)(void)) +{ + uint8_t n; + + for (n = 0; n < ao_fast_timer_count; n++) + if (ao_fast_timer_callback[n] == callback) { + for (; n < ao_fast_timer_count-1; n++) { + ao_fast_timer_callback[n] = ao_fast_timer_callback[n+1]; + } + if (!--ao_fast_timer_count) + ao_fast_timer_disable(); + break; + } +} + +void stm_tim6_isr(void) +{ + uint8_t i; + if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) { + stm_tim6.sr = 0; + + for (i = 0; i < ao_fast_timer_count; i++) + (*ao_fast_timer_callback[i])(); + } +} + +/* + * According to the STM clock-configuration, timers run + * twice as fast as the APB1 clock *if* the APB1 prescaler + * is greater than 1. + */ + +#if AO_APB1_PRESCALER > 1 +#define TIMER_23467_SCALER 2 +#else +#define TIMER_23467_SCALER 1 +#endif + +#define TIMER_10kHz ((AO_PCLK1 * TIMER_23467_SCALER) / 10000) + +void +ao_fast_timer_init(void) +{ + if (!ao_fast_timer_users) { + stm_nvic_set_enable(STM_ISR_TIM6_POS); + stm_nvic_set_priority(STM_ISR_TIM6_POS, AO_STM_NVIC_CLOCK_PRIORITY); + + /* Turn on timer 6 */ + stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM6EN); + + stm_tim6.psc = TIMER_10kHz; + stm_tim6.arr = 9; + stm_tim6.cnt = 0; + + /* Enable update interrupt */ + stm_tim6.dier = (1 << STM_TIM67_DIER_UIE); + + /* Poke timer to reload values */ + stm_tim6.egr |= (1 << STM_TIM67_EGR_UG); + + stm_tim6.cr2 = (STM_TIM67_CR2_MMS_RESET << STM_TIM67_CR2_MMS); + ao_fast_timer_disable(); + } + if (ao_fast_timer_users == AO_FAST_TIMER_MAX) + ao_panic(AO_PANIC_FAST_TIMER); + ao_fast_timer_users++; +} + diff --git a/src/stm/ao_data.c b/src/stm/ao_fast_timer.h index 38d2f7ff..90fb3930 100644 --- a/src/stm/ao_data.c +++ b/src/stm/ao_fast_timer.h @@ -1,5 +1,5 @@ /* - * Copyright © 2012 Keith Packard <keithp@keithp.com> + * Copyright © 2013 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 @@ -15,20 +15,20 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -#include <ao.h> -#include <ao_data.h> - -volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; -volatile __data uint8_t ao_data_head; -volatile __data uint8_t ao_data_present; +#ifndef _AO_FAST_TIMER_H_ +#define _AO_FAST_TIMER_H_ void -ao_data_get(__xdata struct ao_data *packet) -{ -#if HAS_FLIGHT - uint8_t i = ao_data_ring_prev(ao_sample_data); -#else - uint8_t i = ao_data_ring_prev(ao_data_head); +ao_fast_timer_init(void); + +#ifndef AO_FAST_TIMER_MAX +#define AO_FAST_TIMER_MAX 2 #endif - memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data)); -} + +void +ao_fast_timer_on(void (*callback)(void)); + +void +ao_fast_timer_off(void (*callback)(void)); + +#endif /* _AO_FAST_TIMER_H_ */ diff --git a/src/stm/ao_flash_stm.c b/src/stm/ao_flash_stm.c index d7a85582..38b1c2d8 100644 --- a/src/stm/ao_flash_stm.c +++ b/src/stm/ao_flash_stm.c @@ -69,7 +69,7 @@ ao_flash_wait_bsy(void) ; } -static void __attribute__ ((section(".text.ram"),noinline)) +static void __attribute__ ((section(".ramtext"),noinline)) _ao_flash_erase_page(uint32_t *page) { stm_flash.pecr |= (1 << STM_FLASH_PECR_ERASE) | (1 << STM_FLASH_PECR_PROG); @@ -91,7 +91,7 @@ ao_flash_erase_page(uint32_t *page) ao_flash_lock(); } -static void __attribute__ ((section(".text.ram"), noinline)) +static void __attribute__ ((section(".ramtext"), noinline)) _ao_flash_half_page(uint32_t *dst, uint32_t *src) { uint8_t i; diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c index daf2f400..34f9edb9 100644 --- a/src/stm/ao_timer.c +++ b/src/stm/ao_timer.c @@ -67,20 +67,6 @@ ao_timer_set_adc_interval(uint8_t interval) } #endif -/* - * According to the STM clock-configuration, timers run - * twice as fast as the APB1 clock *if* the APB1 prescaler - * is greater than 1. - */ - -#if AO_APB1_PRESCALER > 1 -#define TIMER_23467_SCALER 2 -#else -#define TIMER_23467_SCALER 1 -#endif - -#define TIMER_10kHz ((AO_PCLK1 * TIMER_23467_SCALER) / 10000) - #define SYSTICK_RELOAD (AO_SYSTICK / 100 - 1) void @@ -104,7 +90,15 @@ ao_clock_init(void) /* Switch to MSI while messing about */ stm_rcc.cr |= (1 << STM_RCC_CR_MSION); while (!(stm_rcc.cr & (1 << STM_RCC_CR_MSIRDY))) - asm("nop"); + ao_arch_nop(); + + stm_rcc.cfgr = (stm_rcc.cfgr & ~(STM_RCC_CFGR_SW_MASK << STM_RCC_CFGR_SW)) | + (STM_RCC_CFGR_SW_MSI << STM_RCC_CFGR_SW); + + /* wait for system to switch to MSI */ + while ((stm_rcc.cfgr & (STM_RCC_CFGR_SWS_MASK << STM_RCC_CFGR_SWS)) != + (STM_RCC_CFGR_SWS_MSI << STM_RCC_CFGR_SWS)) + ao_arch_nop(); /* reset SW, HPRE, PPRE1, PPRE2, MCOSEL and MCOPRE */ stm_rcc.cfgr &= (uint32_t)0x88FFC00C; @@ -155,7 +149,6 @@ ao_clock_init(void) stm_flash.acr |= (1 << STM_FLASH_ACR_PRFEN); /* Enable 1 wait state so the CPU can run at 32MHz */ - /* (haven't managed to run the CPU at 32MHz yet, it's at 16MHz) */ stm_flash.acr |= (1 << STM_FLASH_ACR_LATENCY); /* Enable power interface clock */ diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c index 11dde92e..28a9f9f3 100644 --- a/src/stm/ao_usb_stm.c +++ b/src/stm/ao_usb_stm.c @@ -572,7 +572,7 @@ ao_usb_ep0_out_set(uint8_t *data, uint8_t len) } static void -ao_usb_ep0_in_start(uint8_t max) +ao_usb_ep0_in_start(uint16_t max) { /* Don't send more than asked for */ if (ao_usb_ep0_in_len > max) @@ -965,7 +965,7 @@ ao_usb_disable(void) stm_usb.cntr = (1 << STM_USB_CNTR_PDWN) | (1 << STM_USB_CNTR_FRES); /* Disable the interface */ - stm_rcc.apb1enr &+ ~(1 << STM_RCC_APB1ENR_USBEN); + stm_rcc.apb1enr &= ~(1 << STM_RCC_APB1ENR_USBEN); ao_arch_release_interrupts(); } diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h index 63bde0f8..ff3f5336 100644 --- a/src/stm/stm32l.h +++ b/src/stm/stm32l.h @@ -171,6 +171,11 @@ stm_gpio_get(struct stm_gpio *gpio, int pin) { return (gpio->idr >> pin) & 1; } +static inline uint16_t +stm_gpio_get_all(struct stm_gpio *gpio) { + return gpio->idr; +} + extern struct stm_gpio stm_gpioa; extern struct stm_gpio stm_gpiob; extern struct stm_gpio stm_gpioc; @@ -1734,7 +1739,7 @@ extern struct stm_tim234 stm_tim2, stm_tim3, stm_tim4; #define STM_TIM234_CCMR1_CC1S_INPUT_TRC 3 #define STM_TIM234_CCMR1_CC1S_MASK 3 -#define STM_TIM234_CCMR2_OC2CE 15 +#define STM_TIM234_CCMR2_OC4CE 15 #define STM_TIM234_CCMR2_OC4M 12 #define STM_TIM234_CCMR2_OC4M_FROZEN 0 #define STM_TIM234_CCMR2_OC4M_SET_HIGH_ON_MATCH 1 |