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-rw-r--r--drivers/ppmsum.cpp32
-rw-r--r--drivers/ppmsum.h4
-rw-r--r--hal/stm32.h32
-rw-r--r--hal/timer.h40
-rw-r--r--main.cpp12
5 files changed, 67 insertions, 53 deletions
diff --git a/drivers/ppmsum.cpp b/drivers/ppmsum.cpp
index ff00f42..c1bd101 100644
--- a/drivers/ppmsum.cpp
+++ b/drivers/ppmsum.cpp
@@ -5,18 +5,13 @@
PPMSum* PPMSum::self = 0;
template<>
-void interrupt<Interrupt::TIM1_UP>() {
- PPMSum::self->irq();
-}
-
-template<>
-void interrupt<Interrupt::TIM1_CC>() {
+void interrupt<Interrupt::TIM2>() {
PPMSum::self->irq();
}
void PPMSum::irq() {
- int16_t sr = TIM1.SR;
- TIM1.SR = 0;
+ int16_t sr = TIM2.SR;
+ TIM2.SR = 0;
if(sr & 0x01) {
// Timeout.
@@ -26,7 +21,7 @@ void PPMSum::irq() {
} else if(sr & 0x02) {
// Period.
- if(TIM1.CCR1 > 5000) {
+ if(TIM2.CCR1 > 5000) {
synced = true;
index = 0;
} else {
@@ -37,20 +32,19 @@ void PPMSum::irq() {
} else if(sr & 0x04) {
// Pulsewidth.
- channels[index] = TIM1.CCR2;
+ channels[index] = TIM2.CCR2;
}
}
void PPMSum::enable() {
- RCC.enable(RCC.TIM1);
- TIM1.PSC = 72;
- TIM1.CCMR1 = 0x0201;
- TIM1.SMCR = 0x54;
- TIM1.CCER = 0x31;
- TIM1.DIER = 0x07;
+ RCC.enable(RCC.TIM2);
+ TIM2.PSC = 84 - 1;
+ TIM2.CCMR1 = 0x0201;
+ TIM2.SMCR = 0x54;
+ TIM2.CCER = 0x13;
+ TIM2.DIER = 0x07;
- Interrupt::enable(Interrupt::TIM1_UP);
- Interrupt::enable(Interrupt::TIM1_CC);
+ Interrupt::enable(Interrupt::TIM2);
- TIM1.CR1 = 0x05;
+ TIM2.CR1 = 0x05;
}
diff --git a/drivers/ppmsum.h b/drivers/ppmsum.h
index 90bb860..a522b57 100644
--- a/drivers/ppmsum.h
+++ b/drivers/ppmsum.h
@@ -2,11 +2,11 @@
#define PPMSUM_H
#include <stdint.h>
+#include "timer.h"
#include "interrupt.h"
class PPMSum {
- friend void interrupt<Interrupt::TIM1_UP>();
- friend void interrupt<Interrupt::TIM1_CC>();
+ friend void interrupt<Interrupt::TIM2>();
private:
static PPMSum* self;
diff --git a/hal/stm32.h b/hal/stm32.h
index 6c7a04b..68848d8 100644
--- a/hal/stm32.h
+++ b/hal/stm32.h
@@ -42,38 +42,6 @@ struct STK_t {
static STK_t& STK = *(STK_t*)0xe000e010;
-struct TIM_t {
- volatile uint32_t CR1;
- volatile uint32_t CR2;
- volatile uint32_t SMCR;
- volatile uint32_t DIER;
- volatile uint32_t SR;
- volatile uint32_t EGR;
- volatile uint32_t CCMR1;
- volatile uint32_t CCMR2;
- volatile uint32_t CCER;
- volatile uint32_t CNT;
- volatile uint32_t PSC;
- volatile uint32_t ARR;
- volatile uint32_t RCR;
- volatile uint32_t CCR1;
- volatile uint32_t CCR2;
- volatile uint32_t CCR3;
- volatile uint32_t CCR4;
- volatile uint32_t BDTR;
- volatile uint32_t DCR;
- volatile uint32_t DMAR;
-};
-
-static TIM_t& TIM1 = *(TIM_t*)0x40012c00;
-static TIM_t& TIM2 = *(TIM_t*)0x40000000;
-static TIM_t& TIM3 = *(TIM_t*)0x40000400;
-static TIM_t& TIM4 = *(TIM_t*)0x40000800;
-static TIM_t& TIM5 = *(TIM_t*)0x40000c00;
-static TIM_t& TIM6 = *(TIM_t*)0x40001000;
-static TIM_t& TIM7 = *(TIM_t*)0x40001400;
-static TIM_t& TIM8 = *(TIM_t*)0x40013400;
-
struct ADC_t {
volatile uint32_t SR;
volatile uint32_t CR1;
diff --git a/hal/timer.h b/hal/timer.h
new file mode 100644
index 0000000..f9305de
--- /dev/null
+++ b/hal/timer.h
@@ -0,0 +1,40 @@
+#ifndef TIMER_H
+#define TIMER_H
+
+struct TIM_t {
+ volatile uint32_t CR1;
+ volatile uint32_t CR2;
+ volatile uint32_t SMCR;
+ volatile uint32_t DIER;
+ volatile uint32_t SR;
+ volatile uint32_t EGR;
+ volatile uint32_t CCMR1;
+ volatile uint32_t CCMR2;
+ volatile uint32_t CCER;
+ volatile uint32_t CNT;
+ volatile uint32_t PSC;
+ volatile uint32_t ARR;
+ volatile uint32_t RCR;
+ volatile uint32_t CCR1;
+ volatile uint32_t CCR2;
+ volatile uint32_t CCR3;
+ volatile uint32_t CCR4;
+ volatile uint32_t BDTR;
+ volatile uint32_t DCR;
+ volatile uint32_t DMAR;
+};
+
+#if defined(STM32F1)
+static TIM_t& TIM1 = *(TIM_t*)0x40012c00;
+static TIM_t& TIM2 = *(TIM_t*)0x40000000;
+static TIM_t& TIM3 = *(TIM_t*)0x40000400;
+static TIM_t& TIM4 = *(TIM_t*)0x40000800;
+static TIM_t& TIM5 = *(TIM_t*)0x40000c00;
+static TIM_t& TIM6 = *(TIM_t*)0x40001000;
+static TIM_t& TIM7 = *(TIM_t*)0x40001400;
+static TIM_t& TIM8 = *(TIM_t*)0x40013400;
+#elif defined(STM32F4)
+static TIM_t& TIM2 = *(TIM_t*)0x40000000;
+#endif
+
+#endif
diff --git a/main.cpp b/main.cpp
index e14eb3d..723714a 100644
--- a/main.cpp
+++ b/main.cpp
@@ -12,6 +12,8 @@
#include "lsm303dlm.h"
#include "l3gd20.h"
+#include "ppmsum.h"
+
static Pin& led_status = PA4;
static Pin& led_error = PC4;
@@ -289,6 +291,8 @@ L3GD20 gyro(cs_gyro, SPI1);
LSM303DLM_A accel(I2C2);
LSM303DLM_M magn(I2C2);
+PPMSum ppmsum;
+
int main() {
// Initialize system timer.
STK.LOAD = 168000000 / 8 / 1000; // 1000 Hz.
@@ -336,6 +340,10 @@ int main() {
accel.init();
magn.init();
+ PA0.set_mode(Pin::AF);
+ PA0.set_af(1);
+ ppmsum.enable();
+
while(1) {
led_error.toggle();
Time::sleep(10);
@@ -359,5 +367,9 @@ int main() {
if(usb_ep_ready(1)) {
usb_write(1, (uint32_t*)buf, sizeof(buf));
}
+
+ if(usb_ep_ready(1)) {
+ usb_write(1, (uint32_t*)ppmsum.channels, sizeof(ppmsum.channels));
+ }
}
}