void setup_timer_int() {
// Pause the timer while we're configuring it
timer.pause();
// Set up period
timer.setPeriod(TIMER_PERIODE); // in microseconds
// Set up an interrupt on channel 1
timer.setChannel1Mode(TIMER_OUTPUT_COMPARE);
timer.setCompare(TIMER_CH1, 1); // Interrupt 1 count after each update
timer.attachCompare1Interrupt(timer_int_handler);
// Refresh the timer's count, prescale, and overflow
timer.refresh();
// Start the timer counting
timer.resume();
}
unsigned int baud_time_get()
{
#ifdef ___MAPLE
timer4.pause();
unsigned int tmp = timer4.getCount(); //get current timer count
timer4.setCount(0); // reset timer count
timer4.refresh();
timer4.resume();
#endif
#ifdef ___ARDUINO
TCCR1B &= 0xF8; // Clear CS10/CS11/CS12 bits, stopping the timer
unsigned int tmp = int(TCNT1/2); // get current timer count, dividing by two
// because Arduino timer is counting at 2Mhz instead of 1Mhz
// due to limited prescaler selection
tmp += 0x8000 * baudOverflow; // if timer overflowed, we will add 0xFFFF/2
TCNT1 = 0; // reset timer count
baudOverflow = false; // reset baudOverflow after resetting timer
TCCR1B |= (1 << CS11); // Configure for 8 prescaler, restarting timer
#endif
#ifdef ___TEENSY
unsigned int tmp = int(FTM0_CNT*2.8);
FTM0_CNT = 0x0;
#endif
return tmp;
}
void dxl_serial_init(volatile struct dxl_device *device, int index)
{
ASSERT(index >= 1 && index <= 3);
// Initializing device
struct serial *serial = (struct serial*)malloc(sizeof(struct serial));
dxl_device_init(device);
device->data = (void *)serial;
device->tick = dxl_serial_tick;
device->process = process;
serial->index = index;
serial->txComplete = true;
serial->dmaEvent = false;
if (index == 1) {
serial->port = &Serial1;
serial->direction = DIRECTION1;
serial->channel = DMA_CH4;
} else if (index == 2) {
serial->port = &Serial2;
serial->direction = DIRECTION2;
serial->channel = DMA_CH7;
} else {
serial->port = &Serial3;
serial->direction = DIRECTION3;
serial->channel = DMA_CH2;
}
serial->syncReadCurrent = 0xff;
serial->syncReadCount = 0;
initSerial(serial);
if (!serialInitialized) {
serialInitialized = true;
// Initializing DMA
dma_init(DMA1);
usart1_tc_handler = usart1_tc;
usart2_tc_handler = usart2_tc;
usart3_tc_handler = usart3_tc;
// Reset allocation
for (unsigned int k=0; k<sizeof(devicePorts); k++) {
devicePorts[k] = 0;
}
// Initialize sync read timer
syncReadTimer.pause();
syncReadTimer.setPrescaleFactor(CYCLES_PER_MICROSECOND*10);
syncReadTimer.setOverflow(0xffff);
syncReadTimer.refresh();
syncReadTimer.resume();
}
}
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, 10000);//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);*/
/*
* Timer Configuation for Dynamixel bus
* 2013-04-03 ROBOTIS Changed it as the below codes
* Dynamixel bus used timer 2(channel 1) to check timeout for receiving data from the bus.
* So, don't use time 2(channel 1) in other parts.
* */
// Pause the timer while we're configuring it
timer.pause();
// Set up period
timer.setPeriod(1); // in microseconds
// Set up an interrupt on channel 1
timer.setMode(TIMER_CH1,TIMER_OUTPUT_COMPARE);
timer.setCompare(TIMER_CH1, 1); // Interrupt 1 count after each update
timer.attachInterrupt(TIMER_CH1,TIM2_IRQHandler);
// Refresh the timer's count, prescale, and overflow
timer.refresh();
// Start the timer counting
//timer.resume();
dxl_initialize(0, baud);
}
void baud_timer_restart()
{
#ifdef ___MAPLE
timer4.setCount(0);
timer4.refresh();
#endif
#ifdef ___ARDUINO
TCNT1 = 0;
baudOverflow = false;
#endif
#ifdef ___TEENSY
FTM0_CNT = 0x0;
#endif
}
//Timer control routines
void baud_timer_init()
{
#ifdef ___MAPLE
timer4.pause(); // Pause the timer while configuring it
timer4.setMode(TIMER_CH1, TIMER_OUTPUT_COMPARE); // Set up interrupt on channel 1
timer4.setCount(0); // Reset count to zero
timer4.setPrescaleFactor(72); // Timer counts at 72MHz/72 = 1MHz 1 count = 1uS
timer4.setOverflow(0xFFFF); // reset occurs at 15.259Hz
timer4.refresh(); // Refresh the timer's count, prescale, and overflow
timer4.resume(); // Start the timer counting
#endif
#ifdef ___ARDUINO
cli(); // stop interrupts during configuration
TCCR1A = 0; // Clear TCCR1A register
TCCR1B = 0; // Clear TCCR1B register
TCNT1 = 0; // Initialize counter value
OCR1A = 0xFFFF; // Set compare match register to maximum value
TCCR1B |= (1 << WGM12); // CTC mode
// We want 1uS ticks, for 16MHz CPU, we use prescaler of 16
// as 1MHz = 1uS period, but Arduino is lame and only has
// 3 bit multiplier, we can have 8 (overflows too quickly)
// or 64, which operates at 1/4 the desired resolution
TCCR1B |= (1 << CS11); // Configure for 8 prescaler
TIMSK1 |= (1 << OCIE1A); // enable compare interrupt
sei(); // re-enable interrupts
#endif
#ifdef ___TEENSY
FTM0_MODE |= FTM_MODE_WPDIS;
FTM0_CNT = 0;
FTM0_CNTIN = 0;
FTM0_SC |= FTM_SC_PS(7);
FTM0_SC |= FTM_SC_CLKS(1);
FTM0_MOD = 0xFFFF;
FTM0_MODE |= FTM_MODE_FTMEN;
/*
PIT_LDVAL1 = 0x500000;
PIT_TCTRL1 = TIE;
PIT_TCTRL1 |= TEN;
PIT_TFLG1 |= 1;
*/
#endif
}
/**
* Processing master packets (sending it to the local bus)
*/
static void process(volatile struct dxl_device *self, volatile struct dxl_packet *packet)
{
struct serial *serial = (struct serial*)self->data;
dxl_serial_tick(self);
if (serial->txComplete && !syncReadMode) {
if (packet->instruction == DXL_SYNC_READ && packet->parameter_nb > 2) {
ui8 i;
syncReadMode = true;
syncReadAddr = packet->parameters[0];
syncReadLength = packet->parameters[1];
syncReadDevices = 0;
ui8 total = 0;
for (i=0; (i+2)<packet->parameter_nb; i++) {
ui8 id = packet->parameters[i+2];
if (devicePorts[id]) {
struct serial *port = serials[devicePorts[id]];
if (port->syncReadCount == 0) {
port->syncReadCurrent = 0xff;
syncReadDevices++;
}
port->syncReadIds[port->syncReadCount] = packet->parameters[i+2];
port->syncReadOffsets[port->syncReadCount] = i;
port->syncReadCount++;
total++;
}
}
syncReadTimer.refresh();
syncReadResponse = (struct dxl_packet*)&self->packet;
syncReadResponse->error = 0;
syncReadResponse->parameter_nb = (syncReadLength+1)*total;
syncReadResponse->process = false;
syncReadResponse->id = packet->id;
} else {
// Forwarding the packet to the serial bus
if (packet->id == DXL_BROADCAST || packet->id < 200) {
self->packet.dxl_state = 0;
self->packet.process = false;
sendSerialPacket(serial, packet);
}
}
}
}
void FLYMAPLEScheduler::init(void* machtnichts)
{
delay_us(2000000); // Wait for startup so we have time to connect a new USB console
// 1kHz interrupts from systick for normal timers
systick_attach_callback(_timer_procs_timer_event);
// Set up Maple hardware timer for 1khz failsafe timer
// ref: http://leaflabs.com/docs/lang/api/hardwaretimer.html#lang-hardwaretimer
_failsafe_timer.pause();
_failsafe_timer.setPeriod(1000); // 1000us = 1kHz
_failsafe_timer.setChannelMode(TIMER_CH1, TIMER_OUTPUT_COMPARE);// Set up an interrupt on channel 1
_failsafe_timer.setCompare(TIMER_CH1, 1); // Interrupt 1 count after each update
_failsafe_timer.attachInterrupt(TIMER_CH1, _failsafe_timer_event);
_failsafe_timer.refresh();// Refresh the timer's count, prescale, and overflow
_failsafe_timer.resume(); // Start the timer counting
// We run this timer at a higher priority, so that a broken timer handler (ie one that hangs)
// will not prevent the failsafe timer interrupt.
// Caution: the timer number must agree with the HardwareTimer number
nvic_irq_set_priority(NVIC_TIMER2, 0x14);
}
void setup() {
// Set up the LED to blink
pinMode(D13, OUTPUT);
// Pause the timer while we're configuring it
timer.pause();
// Set up period
timer.setPeriod(LED_RATE); // in microseconds
// Set up an interrupt on channel 1
timer.setChannel1Mode(TIMER_OUTPUT_COMPARE);
timer.setCompare(TIMER_CH1, 1); // Interrupt 1 count after each update
timer.attachCompare1Interrupt(handler_led);
// Refresh the timer's count, prescale, and overflow
timer.refresh();
// Start the timer counting
timer.resume();
}
void setup( void )
{
hardwareSetup();
// Setup the LED to steady on
pinMode(BOARD_LED_PIN, OUTPUT);
digitalWrite(BOARD_LED_PIN, HIGH);
// Setup the button as input
pinMode(BOARD_BUTTON_PIN, INPUT);
digitalWrite(BOARD_BUTTON_PIN, HIGH);
// Setup the sensor pin as an analog input
pinMode(sensor_pin,INPUT_ANALOG);
setupKeywords();
registerAction(_DIR_, &DIRaction);
registerAction(_TYP_, &TYPaction);
setupRadioModule();
timer.pause();
// Set up period
timer.setPeriod(1000); // in microseconds
// Set up an interrupt on channel 1
timer.setMode(TIMER_CH1,TIMER_OUTPUT_COMPARE);
timer.setCompare(TIMER_CH1, 1); // Interrupt 1 count after each update
timer.attachInterrupt(TIMER_CH1,ledTask);
// Refresh the timer's count, prescale, and overflow
timer.refresh();
// Start the timer counting
timer.resume();
setupRadioModule();
}
void motor_restart_traj_timer() {
timer3.pause();
timer3.refresh();
timer3.resume();
}
void init_ppm_timer()
{
timer4.pause();
timer4.setPrescaleFactor(TIMER_PRESCALE);
timer4.setOverflow(65535);
timer4.setCount(0);
// use channel 2 to detect when we stop receiving
// a ppm signal from the encoder.
timer4.setMode(TIMER_CH2, TIMER_OUTPUT_COMPARE);
timer4.setCompare(TIMER_CH2, 65535);
timer4.attachCompare2Interrupt(ppm_timeout_isr);
timer4.refresh();
//capture compare regs TIMx_CCRx used to hold val after a transition on corresponding ICx
//when cap occurs, flag CCXIF (TIMx_SR register) is set,
//and interrupt, or dma req can be sent if they are enabled.
//if cap occurs while flag is already high CCxOF (overcapture) flag is set..
//CCIX can be cleared by writing 0, or by reading the capped data from TIMx_CCRx
//CCxOF is cleared by writing 0 to it.
//Clear the CC1E bit to disable capture from the counter as we set it up.
//CC1S bits aren't writeable when CC1E is set.
//CC1E is bit 0 of CCER (page 401)
bitClear(r.gen->CCER,0);
//Capture/Compare 1 Selection
// set CC1S bits to 01 in the capture compare mode register 1.
// 01 selects TI1 as the input to use. (page 399 stm32 reference)
// (assuming here that TI1 is D16, according to maple master pin map)
//CC1S bits are bits 1,0
bitClear(r.gen->CCMR1, 1);
bitSet(r.gen->CCMR1, 0);
//Input Capture 1 Filter.
// need to set IC1F bits according to a table saying how long
// we should wait for a signal to be 'stable' to validate a transition
// on the input.
// (page 401 stm32 reference)
//IC1F bits are bits 7,6,5,4
bitClear(r.gen->CCMR1, 7);
bitClear(r.gen->CCMR1, 6);
bitSet(r.gen->CCMR1, 5);
bitSet(r.gen->CCMR1, 4);
//sort out the input capture prescaler IC1PSC..
//00 no prescaler.. capture is done at every edge detected
bitClear(r.gen->CCMR1, 3);
bitClear(r.gen->CCMR1, 2);
//select the edge for the transition on TI1 channel using CC1P in CCER
//CC1P is bit 1 of CCER (page 401)
// 0 = rising (non-inverted. capture is done on a rising edge of IC1)
// 1 = falling (inverted. capture is done on a falling edge of IC1)
bitClear(r.gen->CCER,1);
//set the CC1E bit to enable capture from the counter.
//CC1E is bit 0 of CCER (page 401)
bitSet(r.gen->CCER,0);
//enable dma for this timer..
//sets the Capture/Compare 1 DMA request enable bit on the DMA/interrupt enable register.
//bit 9 is CC1DE as defined on page 393.
bitSet(r.gen->DIER,9);
}
