int sif_anout_init(void)
{
vsn_sif.tim3 = stm32_tim_init(3);
vsn_sif.tim8 = stm32_tim_init(8);
if (!vsn_sif.tim3 || !vsn_sif.tim8) return ERROR;
// Use the TIM3 as PWM modulated analogue output
STM32_TIM_SETPERIOD(vsn_sif.tim3, 5);
STM32_TIM_SETCOMPARE(vsn_sif.tim3, GPIO_OUT_PWM_TIM3_CH, 3);
STM32_TIM_SETCLOCK(vsn_sif.tim3, 36e6);
STM32_TIM_SETMODE(vsn_sif.tim3, STM32_TIM_MODE_UP);
STM32_TIM_SETCHANNEL(vsn_sif.tim3, GPIO_OUT_PWM_TIM3_CH, STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
// Use the TIM8 to drive the upper power mosfet
STM32_TIM_SETISR(vsn_sif.tim8, sif_anout_isr, 0);
STM32_TIM_ENABLEINT(vsn_sif.tim8, 0);
STM32_TIM_SETPERIOD(vsn_sif.tim8, 4096);
STM32_TIM_SETCOMPARE(vsn_sif.tim8, GPIO_OUT_PWRPWM_TIM8_CH, 5000);
STM32_TIM_SETCLOCK(vsn_sif.tim8, 36e6);
STM32_TIM_SETMODE(vsn_sif.tim8, STM32_TIM_MODE_UP);
//STM32_TIM_SETCHANNEL(vsn_sif.tim8, GPIO_OUT_PWRPWM_TIM8_CH, STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
vsn_sif.i2c1 = up_i2cinitialize(1);
vsn_sif.i2c2 = up_i2cinitialize(2);
vsn_sif.spi2 = up_spiinitialize(2);
return OK;
}
__EXPORT void up_wspeedinit()
{
// Initialize interrupts (GPIO 1-4)
stm32_gpiosetevent(GPIO_GPIO0_INPUT, true, true, false, sensor_int1);
stm32_gpiosetevent(GPIO_GPIO1_INPUT, true, true, false, sensor_int2);
stm32_gpiosetevent(GPIO_GPIO2_INPUT, true, true, false, sensor_int3);
stm32_gpiosetevent(GPIO_GPIO3_INPUT, true, true, false, sensor_int4);
// Initialize timer 5
timer = stm32_tim_init(5);
// Configure timer 5 for a frequency of 1000000 Hz (overflow after 4295 s)
STM32_TIM_SETCLOCK(timer, 1000000);
STM32_TIM_SETMODE(timer, STM32_TIM_MODE_UP | STM32_TIM_MODE_CK_INT);
// Initialize timer for filter interrupt at a interval of 5ms
timer2 = stm32_tim_init(4);
STM32_TIM_SETISR(timer2, filter_interrupt, 0);
STM32_TIM_ENABLEINT(timer2, 0);
STM32_TIM_SETPERIOD(timer2, 4096);
STM32_TIM_SETCOMPARE(timer2, 1, 5000);
STM32_TIM_SETCLOCK(timer2, 1000000); // 1000000 Hz -> period: 1us
STM32_TIM_SETMODE(timer2, STM32_TIM_MODE_UP | STM32_TIM_MODE_CK_INT);
printf("[WSPEED] initialized\n");
}
/**
* @brief Disable timers
*/
static void timesync_disable_timers(void) {
STM32_TIM_DISABLEINT(timesync_strobe_timer, 0);
STM32_TIM_SETMODE(timesync_strobe_timer, STM32_TIM_MODE_DISABLED);
STM32_TIM_SETCLOCK(timesync_strobe_timer, 0);
STM32_TIM_DISABLEINT(timesync_rollover_master_timer, 0);
STM32_TIM_SETMODE(timesync_rollover_master_timer, STM32_TIM_MODE_DISABLED);
STM32_TIM_SETCLOCK(timesync_rollover_master_timer, 0);
STM32_TIM_DISABLEINT(timesync_rollover_slave_timer, 0);
STM32_TIM_SETMODE(timesync_rollover_slave_timer, STM32_TIM_MODE_DISABLED);
STM32_TIM_SETCLOCK(timesync_rollover_slave_timer, 0);
}
FAR int up_lcdinitialize(void)
{
lcddbg("Initializing lcd\n");
lcddbg("init spi1\n");
spi = up_spiinitialize(1);
DEBUGASSERT(spi);
lcddbg("configure related io\n");
stm32_configgpio(GPIO_MEMLCD_EXTCOMIN);
stm32_configgpio(GPIO_MEMLCD_DISP);
lcddbg("configure EXTCOMIN timer\n");
if (tim == NULL)
{
tim = stm32_tim_init(2);
DEBUGASSERT(tim);
STM32_TIM_SETPERIOD(tim, TIMER_FREQ / EXTCOMIN_FREQ);
STM32_TIM_SETCLOCK(tim, TIMER_FREQ);
STM32_TIM_SETMODE(tim, STM32_TIM_MODE_UP);
}
lcddbg("init lcd\n");
l_lcddev = memlcd_initialize(spi, &memlcd_priv, 0);
DEBUGASSERT(l_lcddev);
return OK;
}
/**
* @brief Responsible for sending out the TIME_SYNC pulse
*
* Logs the time of the strobe and strobes. If the requested iteration
* count is reached we transition to the TIMESYNC_STATE_ACTIVE state or
* the TIMESYNC_STATE_DEBUT_INIT state depending on CONFIG_ARCH_TIMESYNC_DEBUG.
*
*/
static int timesync_strobe_handler(int irq, void *context, void *priv) {
irqstate_t flags;
uint64_t strobe_time;
flags = irqsave();
STM32_TIM_ACKINT(timesync_strobe_timer, irq);
timesync_strobe(timesync_pin_strobe_mask, &strobe_time);
timesync_log_frame_time(strobe_time);
if (timesync_strobe_index == timesync_strobe_count) {
STM32_TIM_DISABLEINT(timesync_strobe_timer, 0);
STM32_TIM_SETMODE(timesync_strobe_timer, STM32_TIM_MODE_DISABLED);
STM32_TIM_SETCLOCK(timesync_strobe_timer, 0);
#ifdef CONFIG_ARCH_TIMESYNC_DEBUG
timesync_set_state(TIMESYNC_STATE_DEBUG_INIT);
sem_post(&dbg_thread_sem);
#else
timesync_set_state(TIMESYNC_STATE_ACTIVE);
#endif
}
irqrestore(flags);
return 0;
}
void up_leds(int r, int g ,int b, int freqs)
{
long fosc = 72000000;
long prescale = 2048;
long p1s = fosc/prescale;
long p0p5s = p1s/2;
long p;
static struct stm32_tim_dev_s *tim1 = 0;
if (tim1 == 0)
{
tim1 = stm32_tim_init(1);
STM32_TIM_SETMODE(tim1, STM32_TIM_MODE_UP);
STM32_TIM_SETCLOCK(tim1, p1s-8);
STM32_TIM_SETPERIOD(tim1, p1s);
STM32_TIM_SETCOMPARE(tim1, 1, 0);
STM32_TIM_SETCOMPARE(tim1, 2, 0);
STM32_TIM_SETCOMPARE(tim1, 3, 0);
STM32_TIM_SETCHANNEL(tim1, 1, STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
STM32_TIM_SETCHANNEL(tim1, 2, STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
STM32_TIM_SETCHANNEL(tim1, 3, STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
}
p = freqs == 0 ? p1s : p1s / freqs;
STM32_TIM_SETPERIOD(tim1, p);
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
STM32_TIM_SETCOMPARE(tim1, 2, (r * p) / 255);
STM32_TIM_SETCOMPARE(tim1, 1, (b * p) / 255);
STM32_TIM_SETCOMPARE(tim1, 3, (g * p) / 255);
}
/**
* @brief Enable TimeSync at the given reference frame_time
*
* Setup TIM8 as master clock cascading into TIM4 see DocID018909 Rev 10 page 612
* https://www.rapitasystems.com/blog/chaining-two-16-bit-timers-together-stm32f4
* 622/1728 DocID018909 Rev 10 - details which timers can be cascaded
* TIM8 has been selected since we can clock that @ 96MHz and divide down by 5 to
* get to 19.2MHz with just a little work @ the PLL configuration.
*/
int timesync_enable(uint8_t strobe_count, uint64_t frame_time,
uint32_t strobe_delay, uint32_t refclk) {
if (!strobe_count || strobe_count > GB_TIMESYNC_MAX_STROBES) {
return -EINVAL;
}
if (!strobe_delay) {
return -EINVAL;
}
if (!refclk || STM32_TIM18_FREQUENCY % refclk) {
lldbg("Error Time-Sync clock %dHz doesn't divide APB clock %dHz evenly\n",
refclk, STM32_TIM18_FREQUENCY);
return -ENODEV;
}
timesync_refclk = refclk;
timesync_strobe_count = strobe_count;
timesync_strobe_index = 0;
timesync_strobe_delay = strobe_delay;
timesync_set_state(TIMESYNC_STATE_SYNCING);
timesync_frame_time = frame_time;
/* Disable timers */
timesync_disable_timers();
/*******************************************************************
* Enable TIM8 against the hardware input clock output on TIM8_TRGO
*******************************************************************/
/* Configure MMS=010 in TIM8_CR2 output TIM8_TRGO on rollover (master mode) */
STM32_TIM_SETMASTER_MODE(timesync_rollover_master_timer, STM32_TIM_MASTER_MODE_UPDATE);
/* Configures TIM8_ARR - auto reload register */
STM32_TIM_SETPERIOD(timesync_rollover_master_timer, TIMESYNC_ROLLOVER_TIMER_PERIOD);
/* Configures TIM8_PSC - prescaler value to get our desired master clock */
STM32_TIM_SETCLOCK(timesync_rollover_master_timer, timesync_refclk);
/*********************************************************************
* Enable TIM4 with clock input source ITR2 (TIM8_TRGO), no pre-scaler
* interrupt on over-flow
*********************************************************************/
/* Configure ITR0 as internal trigger TIM4_SMCR:TS=011(TIM8) external clock mode TIM4_SMCR:SMS=111 (slave mode) */
STM32_TIM_SETSLAVE_MODE(timesync_rollover_slave_timer, STM32_TIM_SLAVE_EXTERNAL_MODE, STM32_TIM_SLAVE_INTERNAL_TRIGGER3);
/* Configures TIM4_ARR - auto reload register */
STM32_TIM_SETPERIOD(timesync_rollover_slave_timer, TIMESYNC_ROLLOVER_TIMER_PERIOD);
/* Configures TIM4_PSC - set to STM32_TIM18_FREQUENCY to get a prescaler value of 0 */
STM32_TIM_SETCLOCK(timesync_rollover_slave_timer, STM32_TIM18_FREQUENCY);
/****************************************************************************
* Enable TIM6 as a simple up-counter at the strobe_delay specified by the AP
* strobe_delay is expressed in microseconds.
****************************************************************************/
/* Delay is expressed in microseconds so apply directly to TIM6_ARR */
STM32_TIM_SETPERIOD(timesync_strobe_timer, strobe_delay);
/* Clock is simply the fundamental input Hz (clocks per second) / 1000 */
STM32_TIM_SETCLOCK(timesync_strobe_timer, 1000000UL);
/***************
* Enable timers
***************/
/* Configures TIM8_CR1 - mode up-counter */
STM32_TIM_SETMODE(timesync_rollover_master_timer, STM32_TIM_MODE_UP);
/* Configures TIM4_CR1 - mode up-counter */
STM32_TIM_SETMODE(timesync_rollover_slave_timer, STM32_TIM_MODE_UP);
/* Configures TIM6_CR1 - mode up-counter */
STM32_TIM_SETMODE(timesync_strobe_timer, STM32_TIM_MODE_UP);
/* Enable roll-over timer interrupt */
STM32_TIM_ACKINT(timesync_rollover_slave_timer, timesync_rollover_timer_irq);
STM32_TIM_ENABLEINT(timesync_rollover_slave_timer, 0);
/* Enable strobe timer interrupt */
STM32_TIM_ACKINT(timesync_strobe_timer, timesync_strobe_timer_irq);
STM32_TIM_ENABLEINT(timesync_strobe_timer, 0);
dbg_verbose("ref-clk-freq=%dHz timer-freq=%dHz period=%d\n",
STM32_TIM18_FREQUENCY, timesync_refclk,
TIMESYNC_ROLLOVER_TIMER_PERIOD);
dbg_verbose("strobe-clk=%dHz strobe-pin-mask=0x%08lx period=%d\n",
STM32_TIM18_FREQUENCY / 1000UL, timesync_pin_strobe_mask, strobe_delay);
return 0;
}
