static void timer_default_config(timer_dev *dev) {
timer_adv_reg_map *regs = (dev->regs).adv;
const uint16 full_overflow = 0xFFFF;
const uint16 half_duty = 0x8FFF;
timer_init(dev);
timer_pause(dev);
regs->CR1 = TIMER_CR1_ARPE;
regs->PSC = 1;
regs->SR = 0;
regs->DIER = 0;
regs->EGR = TIMER_EGR_UG;
switch (dev->type) {
case TIMER_ADVANCED:
regs->BDTR = TIMER_BDTR_MOE | TIMER_BDTR_LOCK_OFF;
// fall-through
case TIMER_GENERAL:
timer_set_reload(dev, full_overflow);
for (uint8 channel = 1; channel <= 4; channel++) {
if (timer_has_cc_channel(dev, channel)) {
timer_set_compare(dev, channel, half_duty);
timer_oc_set_mode(dev, channel, TIMER_OC_MODE_PWM_1,
TIMER_OC_PE);
}
}
// fall-through
case TIMER_BASIC:
break;
}
timer_generate_update(dev);
timer_resume(dev);
}
void Dynamixel::begin(int baud) {
//TxDString("[DXL]start begin\r\n");
afio_remap(AFIO_REMAP_USART1);//USART1 -> DXL
afio_cfg_debug_ports(AFIO_DEBUG_FULL_SWJ_NO_NJRST);
#ifdef BOARD_CM900 //Engineering version case
gpio_set_mode(PORT_ENABLE_TXD, PIN_ENABLE_TXD, GPIO_OUTPUT_PP);
gpio_set_mode(PORT_ENABLE_RXD, PIN_ENABLE_RXD, GPIO_OUTPUT_PP);
gpio_write_bit(PORT_ENABLE_TXD, PIN_ENABLE_TXD, 0 );// TX Disable
gpio_write_bit(PORT_ENABLE_RXD, PIN_ENABLE_RXD, 1 );// RX Enable
#else
gpio_set_mode(PORT_TXRX_DIRECTION, PIN_TXRX_DIRECTION, GPIO_OUTPUT_PP);
gpio_write_bit(PORT_TXRX_DIRECTION, PIN_TXRX_DIRECTION, 0 );// RX Enable
#endif
timer_set_mode(TIMER2, TIMER_CH1, TIMER_OUTPUT_COMPARE);
timer_pause(TIMER2);
uint16 ovf = timer_get_reload(TIMER2);
timer_set_count(TIMER2, min(0, ovf));
timer_set_reload(TIMER2, 30000);//set overflow
ovf = timer_get_reload(TIMER2);
timer_set_compare(TIMER2, TIMER_CH1, min(1000, ovf));
timer_attach_interrupt(TIMER2, TIMER_CH1, TIM2_IRQHandler);
timer_generate_update(TIMER2);
timer_resume(TIMER2);
dxl_initialize(0, baud);
}
/**
* Non-blocking piezo/headphone beep
*/
void buzzer_nonblocking_buzz(float time, bool piezo, bool headphones) {
// No need to go further if both outputs are
// false
if (!(piezo || headphones))
return;
piezo_out = piezo;
headphones_out = headphones;
buzz_time = 4100*time*2;
// Configure timer2 to fire every N microseconds
timer_pause(TIMER2);
timer_set_prescaler(TIMER2,1);
timer_set_reload(TIMER2,(125*CYCLES_PER_MICROSECOND)/2);
// setup interrupt on channel 2
timer_set_mode(TIMER2,TIMER_CH2,TIMER_OUTPUT_COMPARE);
timer_set_compare(TIMER2,TIMER_CH2,MAX_RELOAD-1);
timer_attach_interrupt(TIMER2,TIMER_CH2,buzzer_handler);
// start timer2
buzz_count=0;
timer_generate_update(TIMER2); // refresh timer count, prescale, overflow
timer_resume(TIMER2);
}
bool Servo::attach(uint8 pin,
uint16 minPW,
uint16 maxPW,
int16 minAngle,
int16 maxAngle) {
timer_dev *tdev = PIN_MAP[pin].timer_device;
if (tdev == NULL) {
// don't reset any fields or ASSERT(0), to keep driving any
// previously attach()ed servo.
return false;
}
if (this->attached()) {
this->detach();
}
this->pin = pin;
this->minPW = minPW;
this->maxPW = maxPW;
this->minAngle = minAngle;
this->maxAngle = maxAngle;
pinMode(pin, PWM);
timer_pause(tdev);
timer_set_prescaler(tdev, SERVO_PRESCALER - 1); // prescaler is 1-based
timer_set_reload(tdev, SERVO_OVERFLOW);
timer_generate_update(tdev);
timer_resume(tdev);
return true;
}
void DmxClass::begin(uint16 n) {
SerialUSB.println("DMX begin");
this->number_of_channels = n; // red, green, and blue are independent channels
//SerialUSB.end();
// initializes timer configurations
timer_pause(this->dmx_timer);
timer_set_prescaler(this->dmx_timer, 1);
timer_set_reload(this->dmx_timer, 288); // 4 us = 288 clock pulses @ 72MHz
timer_generate_update(this->dmx_timer); // update new reload value
timer_set_mode(this->dmx_timer, dmx_timer_ch, TIMER_OUTPUT_COMPARE);
timer_set_compare(this->dmx_timer, dmx_timer_ch, 1); // test
timer_attach_interrupt(this->dmx_timer, TIMER_CC1_INTERRUPT, dmx_handler_hack);
timer_resume(this->dmx_timer);
}
void buzzer_nonblocking_buzz(float time) {
buzz_time = 4100*time*2;
// Configure timer2 to fire every N microseconds
timer_pause(TIMER2);
timer_set_prescaler(TIMER2,1);
timer_set_reload(TIMER2,(125*CYCLES_PER_MICROSECOND)/2);
// setup interrupt on channel 2
timer_set_mode(TIMER2,TIMER_CH2,TIMER_OUTPUT_COMPARE);
timer_set_compare(TIMER2,TIMER_CH2,MAX_RELOAD-1);
timer_attach_interrupt(TIMER2,TIMER_CH2,buzzer_handler);
// start timer2
buzz_count=0;
timer_generate_update(TIMER2); // refresh timer count, prescale, overflow
timer_resume(TIMER2);
}
void HardwareTimer::refresh(void) {
timer_generate_update(this->dev);
}
void speaker_refresh(void) {
timer_generate_update(SPEAKER_TIMER);
}
