__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");
}
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;
}
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;
}
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 System entrypoint. CONFIG_USER_ENTRYPOINT should point to this function.
*/
int timesync_init(void) {
int rc;
timesync_rollover_master_timer = stm32_tim_init(TIMESYNC_ROLLOVER_TIMER_MASTER_ID);
if (!timesync_rollover_master_timer) {
lldbg("error initializing master time-sync rollover timer #%d\n",
TIMESYNC_ROLLOVER_TIMER_MASTER_ID);
PANIC();
return ERROR;
}
timesync_rollover_slave_timer = stm32_tim_init(TIMESYNC_ROLLOVER_TIMER_SLAVE_ID);
if (!timesync_rollover_slave_timer) {
lldbg("error initializing slave time-sync rollover timer #%d\n",
TIMESYNC_ROLLOVER_TIMER_SLAVE_ID);
PANIC();
return ERROR;
}
timesync_strobe_timer = stm32_tim_init(TIMESYNC_STROBE_TIMER_ID);
if (!timesync_strobe_timer) {
lldbg("error initializing timesync strobe timer #%d\n",
TIMESYNC_STROBE_TIMER_ID);
PANIC();
return ERROR;
}
/* TIM8 fundamental frequency */
lldbg("Frame-time basic-frequency %dHz\n", STM32_TIM18_FREQUENCY);
timesync_disable();
timesync_rollover_timer_irq = STM32_TIM_SETISR(timesync_rollover_slave_timer,
timesync_frame_time_rollover_handler, 0);
if (timesync_rollover_timer_irq == ERROR) {
lldbg("Unable to latch timer #%d interrupt!\n",
TIMESYNC_ROLLOVER_TIMER_SLAVE_ID);
PANIC();
return ERROR;
}
timesync_strobe_timer_irq = STM32_TIM_SETISR(timesync_strobe_timer,
timesync_strobe_handler, 0);
if (timesync_strobe_timer_irq == ERROR) {
lldbg("Unable to latch timer #%d interrupt!\n",
TIMESYNC_STROBE_TIMER_ID);
PANIC();
return ERROR;
}
#ifdef CONFIG_ARCH_TIMESYNC_DEBUG
/* timesync_debug exists for debug and informational purposes only */
sem_init(&dbg_thread_sem, 0, 0);
rc = task_create("timesync_debugd", TIMESYNC_TASK_PRIORITY,
TIMESYNC_TASK_STACK_SIZE, timesync_debugd_main, NULL);
if (rc == ERROR) {
dbg_error("failed to start timesync_debugd\n");
return rc;
}
timesync_debug_pid = rc;
#else
(void)rc;
#endif
return 0;
}
