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); }