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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 119 | killagreg | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 119 | killagreg | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 119 | killagreg | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 119 | killagreg | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include "91x_lib.h" |
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| 58 | #include "timer1.h" |
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| 59 | #include "uart1.h" |
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| 136 | killagreg | 60 | #include "config.h" |
| 119 | killagreg | 61 | |
| 62 | u32 CountMilliseconds; |
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| 63 | DateTime_t SystemTime; |
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| 64 | |||
| 65 | //---------------------------------------------------------------------------------------------------- |
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| 66 | void TIM1_IRQHandler(void) |
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| 67 | { |
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| 195 | killagreg | 68 | IENABLE; |
| 69 | |||
| 119 | killagreg | 70 | if(TIM_GetFlagStatus(TIM1, TIM_FLAG_OC1) == SET) |
| 71 | { |
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| 154 | killagreg | 72 | TIM_ClearFlag(TIM1, TIM_FLAG_OC1); // clear irq pending bit |
| 119 | killagreg | 73 | TIM1->OC1R += 200; // Timerfreq is 200kHz, generate an interrupt every 1ms |
| 74 | CountMilliseconds++; |
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| 146 | killagreg | 75 | |
| 154 | killagreg | 76 | // generate SW Interrupt to make a regular timing |
| 195 | killagreg | 77 | // independent from the mainloop at the lowest IRQ priority |
| 154 | killagreg | 78 | VIC_SWITCmd(EXTIT3_ITLine, ENABLE); |
| 119 | killagreg | 79 | } |
| 195 | killagreg | 80 | |
| 81 | IDISABLE; |
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| 119 | killagreg | 82 | } |
| 83 | |||
| 84 | //---------------------------------------------------------------------------------------------------- |
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| 85 | // 1ms Timer |
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| 86 | //---------------------------------------------------------------------------------------------------- |
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| 87 | void TIMER1_Init(void) |
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| 88 | { |
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| 89 | TIM_InitTypeDef TIM_InitStructure; |
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| 90 | |||
| 120 | killagreg | 91 | UART1_PutString("\r\n Timer1 init..."); |
| 119 | killagreg | 92 | |
| 93 | #define TIM1_FREQ 200000 // 200kHz |
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| 94 | // TimerOCR set in IntHandler |
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| 95 | |||
| 96 | SCU_APBPeriphClockConfig(__TIM01, ENABLE); |
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| 97 | |||
| 120 | killagreg | 98 | TIM_DeInit(TIM1); |
| 119 | killagreg | 99 | TIM_StructInit(&TIM_InitStructure); |
| 100 | TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_1; |
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| 101 | TIM_InitStructure.TIM_OC1_Modes = TIM_TIMING; |
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| 102 | TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; |
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| 103 | TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM1_FREQ; // is only valid up to 48 MHz ! |
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| 104 | TIM_Init (TIM1, &TIM_InitStructure); |
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| 105 | |||
| 106 | TIM_ITConfig(TIM1, TIM_IT_OC1, ENABLE); |
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| 107 | TIM_CounterCmd(TIM1, TIM_START); |
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| 108 | |||
| 136 | killagreg | 109 | VIC_Config(TIM1_ITLine, VIC_IRQ, PRIORITY_TIMER1); |
| 119 | killagreg | 110 | VIC_ITCmd(TIM1_ITLine, ENABLE); |
| 111 | |||
| 112 | SystemTime.Year = 0; |
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| 113 | SystemTime.Month = 0; |
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| 114 | SystemTime.Day = 0; |
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| 115 | SystemTime.Hour = 0; |
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| 116 | SystemTime.Min = 0; |
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| 117 | SystemTime.Sec = 0; |
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| 118 | SystemTime.mSec = 0; |
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| 119 | SystemTime.Valid = 0; |
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| 120 | |||
| 121 | CountMilliseconds = 0; |
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| 122 | |||
| 120 | killagreg | 123 | UART1_PutString("ok"); |
| 119 | killagreg | 124 | |
| 125 | } |
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| 126 | |||
| 127 | // ----------------------------------------------------------------------- |
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| 128 | u32 SetDelay (u32 t) |
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| 129 | { |
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| 130 | return(CountMilliseconds + t -1); |
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| 131 | } |
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| 132 | |||
| 133 | // ----------------------------------------------------------------------- |
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| 134 | u8 CheckDelay(u32 t) |
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| 135 | { |
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| 136 | return(((t - CountMilliseconds)& 0x80000000) >> 27); |
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| 137 | } |
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| 138 | |||
| 139 | // ----------------------------------------------------------------------- |
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| 140 | // this function calculates the time difference of t to the current time in ms |
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| 141 | // if t < current time the delay is reportet as zero |
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| 142 | u32 GetDelay(u32 t) |
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| 143 | { |
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| 144 | u32 delay = 0; |
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| 145 | delay = t - CountMilliseconds; |
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| 146 | if(delay & 0x80000000) delay = 0; // avoid negative delay values |
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| 147 | return(delay); |
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| 148 | } |
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| 149 | |||
| 150 | // ----------------------------------------------------------------------- |
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| 151 | void Delay_ms(u32 w) |
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| 152 | { |
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| 243 | killagreg | 153 | u32 akt; |
| 154 | akt = CountMilliseconds + w; |
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| 155 | while(1) |
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| 156 | { |
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| 157 | if(akt<=CountMilliseconds) return; |
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| 158 | } |
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| 119 | killagreg | 159 | } |