static void timer_drivers_setup()
{
// Enable Motor timer
timer_enable(TIM_1);
timer_enable(TIM_8);
// Enable Soft timer
timer_enable(TIM_2);
// Setting Motor timer to about 2MHz (2^21) = 2097152
timer_select_internal_clock(TIM_1,
(rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_PCLK1_TIM) / 2097152)
- 1);
boot_success("Starting TIM_1 at about 2MHz\n");
// Setting servo timer to about 30Hz (2^5) = 32
// Setting Motor timer to about 2MHz (2^21) = 2097152
timer_select_internal_clock(TIM_8,
(rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_PCLK1_TIM) / 2097152)
- 1);
boot_success("Starting TIM_8 at about 30Hz\n");
// Setting Soft timer to about 32kHz
timer_select_internal_clock(TIM_2,
(rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_PCLK1_TIM) / 2097152)//32768)
- 1);
boot_success("Starting TIM_2 at about 32kHz\n");
// Start ALL timers
timer_start(TIM_1, 0xFFFF, NULL, NULL, TIMER_MODE_CLOCK);
timer_start(TIM_2, 0xFFFF, NULL, NULL, TIMER_MODE_CLOCK);
timer_start(TIM_8, 0xFFFF, NULL, NULL, TIMER_MODE_CLOCK);
timer_set_channel_compare(TIM_1, TIMER_CHANNEL_1, 0x00FF, NULL, NULL);
timer_set_channel_compare(TIM_8, TIMER_CHANNEL_1, 0x00FF, NULL, NULL);
}
void platform_drivers_setup()
{
// Set base address and AHB bit for all GPIO ports
gpio_enable(GPIO_A);
gpio_enable(GPIO_B);
gpio_enable(GPIO_C);
gpio_enable(GPIO_D);
// Enable the AFIO
rcc_apb_enable(RCC_APB_BUS_AFIO, RCC_APB_BIT_AFIO);
// Start the TIM3 at ~32kHz
timer_enable(TIM_3);
timer_select_internal_clock(TIM_3, (rcc_sysclk_get_clock_frequency(
RCC_SYSCLK_CLOCK_PCLK1_TIM) / 32768) - 1);
timer_start(TIM_3, 0xFFFF, NULL, NULL);
// Enable the print uart
gpio_set_uart_tx(GPIO_A, GPIO_PIN_9);
gpio_set_uart_rx(GPIO_A, GPIO_PIN_10);
uart_enable(UART_1, PLATFORM_UART_PRINT_BAUDRATE);
// Configure the DMA for the SPIs
dma_enable(DMA_1_CH4);
dma_enable(DMA_1_CH5);
// Configure the SPI 2
gpio_set_spi_clk(GPIO_B, GPIO_PIN_13);
gpio_set_spi_miso(GPIO_B, GPIO_PIN_14);
gpio_set_spi_mosi(GPIO_B, GPIO_PIN_15);
spi_set_dma(SPI_2, DMA_1_CH4, DMA_1_CH5);
spi_enable(SPI_2, 4000000, SPI_CLOCK_MODE_IDLE_LOW_RISING);
// Configure the I2C 1
gpio_set_i2c_scl(GPIO_B, GPIO_PIN_6);
gpio_set_i2c_sda(GPIO_B, GPIO_PIN_7);
i2c_enable(I2C_1, I2C_CLOCK_MODE_FAST);
// Force inclusion of EXTI
exti_set_handler(EXTI_LINE_Px0, NULL, NULL);
}
