philip/MDH-UAV-Control-System
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Merge branch 'master' of https://github.com/MDHSweden/UAV-Control-System

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philsson 2016-09-21 16:38:55 +02:00
commit a89e3dc4e9
3 changed files with 209 additions and 90 deletions
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51
UAV-ControlSystem/inc/drivers/system_clock.h Normal file
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/**************************************************************************
* NAME: system_clock.h *
* AUTHOR: Lennart Eriksson *
* PURPOSE: Enable and handle system clock functionality *
* INFORMATION: *
* This file initilizes the system clock and handles delays, get time *
* in both micro- and milliseconds. *
* *
* GLOBAL VARIABLES: *
* Variable Type Description *
* -------- ---- ----------- *
**************************************************************************/
#ifndef DRIVERS_SYSTEM_CLOCK_H_
#define DRIVERS_SYSTEM_CLOCK_H_
#include "stm32f4xx.h"
/***********************************************************************
* BRIEF: Starts the system clock at 100MHz *
* INFORMATION: In the current version it works with ADC and DMA *
***********************************************************************/
void system_clock_config(void);
/***********************************************************************
* BRIEF: Get the time since the system started in milliseconds
* INFORMATION: return the time in milliseconds
***********************************************************************/
uint32_t clock_get_ms();
/***********************************************************************
* BRIEF: Get the time since the system started in microseconds
* INFORMATION: return the time in microseconds
***********************************************************************/
uint32_t clock_get_us();
/***********************************************************************
* BRIEF: stall the system for number of milliseconds
* INFORMATION:
***********************************************************************/
void clock_delay_ms(uint32_t ms);
/***********************************************************************
* BRIEF: Stall the system for a number of microseconds
* INFORMATION:
***********************************************************************/
void clock_delay_us(uint32_t us);
#endif /* DRIVERS_SYSTEM_CLOCK_H_ */

110
UAV-ControlSystem/src/drivers/system_clock.c Normal file
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/**************************************************************************
* NAME: system_clock.c *
* PURPOSE: Enable and handle system clock functionality *
* INFORMATION: *
* *
* GLOBAL VARIABLES: *
* Variable Type Description *
* -------- ---- ----------- *
**************************************************************************/
#include "drivers/system_clock.h"
//the number of clock cycles per microsecond
static uint32_t usTicks = 0;
/***********************************************************************
* BRIEF: Starts the system clock at 100MHz *
* INFORMATION: In the current version it works with ADC and DMA *
***********************************************************************/
void system_clock_config(void)
{
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitTypeDef RCC_OscInitStruct;
//Enable GPIO clocks
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
//Enable power clock
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 288;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 6;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4);
if (HAL_GetREVID() == 0x1001)
__HAL_FLASH_PREFETCH_BUFFER_ENABLE();
//Set the number of sycles per microsecond
usTicks = SystemCoreClock / 1000000;
}
/***********************************************************************
* BRIEF: Get the time since the system started in microseconds
* INFORMATION: return the time in microseconds
***********************************************************************/
uint32_t clock_get_us()
{
register uint32_t ms, cycle_cnt;
//make sure that the system tick interrupt does not happen during the time we fetch microsecond from the register
do {
ms = clock_get_ms();
cycle_cnt = SysTick->VAL;
//If the SysTick timer expired during the previous instruction, we need to give it a little time for that
//interrupt to be delivered before we can recheck sysTickUptime:
asm volatile("\tnop\n");
} while (ms != clock_get_ms());
assert_param(us >= 1000);
return (ms * 1000) + (usTicks * 1000 - cycle_cnt) / usTicks;
}
/***********************************************************************
* BRIEF: Get the time since the system started in milliseconds
* INFORMATION: return the time in milliseconds
***********************************************************************/
uint32_t clock_get_ms()
{
return HAL_GetTick();
}
/***********************************************************************
* BRIEF: stall the system for number of milliseconds
* INFORMATION:
***********************************************************************/
void clock_delay_ms(uint32_t ms)
{
HAL_Delay(ms);
}
/***********************************************************************
* BRIEF: Stall the system for a number of microseconds
* INFORMATION:
***********************************************************************/
void clock_delay_us(uint32_t us)
{
volatile uint32_t time = clock_get_us() + us;
while(clock_get_us() < time);
}

138
UAV-ControlSystem/src/main.c
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#include "drivers/adc.h" #include "drivers/adc.h"
#include "drivers/system_clock.h"
#include "stm32f4xx.h" #include "stm32f4xx.h"
#include "system_variables.h" #include "system_variables.h"
#include "utilities.h" #include "utilities.h"
#include <string.h> #include <string.h>
static void SystemClock_Config(void);
int main(void) int main(void)
{ {
// Initialize the Hardware Abstraction Layer
// Comment?
HAL_Init(); HAL_Init();
// Configure the system clock to 100 MHz
system_clock_config();
int i = 1; int i = 1;
/* Configure the system clock to 100 MHz */ //Add ADC Channels
SystemClock_Config(); adc_pin_add(ADC_CHANNEL_0);
adc_pin_add(ADC_CHANNEL_1);
adc_pin_add(ADC_CHANNEL_12);
adc_pin_add(ADC_CHANNEL_0); //Configure the ADCs
adc_pin_add(ADC_CHANNEL_1); adc_configure();
adc_pin_add(ADC_CHANNEL_12);
/* This is done in system_clock_config for all GPIO clocks */
//__GPIOB_CLK_ENABLE();
adc_configure(); GPIO_InitTypeDef gpinit;
gpinit.Pin = GPIO_PIN_5;
gpinit.Mode = GPIO_MODE_OUTPUT_PP;
gpinit.Pull = GPIO_PULLUP;
gpinit.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init(GPIOB, &gpinit);
adc_start();
int num = 2000;
int j = 0;
volatile uint32_t time_us[num];
__GPIOB_CLK_ENABLE(); while (1)
{
i++;
GPIO_InitTypeDef gpinit; //g_ADCValue = accumulate(g_ADCBuffer,ADC_BUFFER_LENGTH) / ADC_BUFFER_LENGTH;
gpinit.Pin = GPIO_PIN_5; //HAL_Delay(100);
gpinit.Mode = GPIO_MODE_OUTPUT_PP; int g_ADCValue = adc_read(ADC_CHANNEL_0);
gpinit.Pull = GPIO_PULLUP; int g_ADCValue1 = adc_read(ADC_CHANNEL_1);
gpinit.Speed = GPIO_SPEED_HIGH; int g_ADCValue12 = adc_read(ADC_CHANNEL_12);
HAL_GPIO_Init(GPIOB, &gpinit);
adc_start(); int offTime = g_ADCValue;
int onTime = 4096 - offTime;
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5,GPIO_PIN_SET);
for (int i = 0; i < onTime; i++)
{
asm("nop");
}
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5,GPIO_PIN_RESET);
for (int i = 0; i < offTime; i++)
{
asm("nop");
}
/*##-3- Toggle PA05 IO in an infinite loop #################################*/ //Get time in microseconds
while (1) if(j < num)
{ time_us[j++] = clock_get_us();
i++; }
//g_ADCValue = accumulate(g_ADCBuffer,ADC_BUFFER_LENGTH) / ADC_BUFFER_LENGTH;
//HAL_Delay(100);
int g_ADCValue = adc_read(ADC_CHANNEL_0);
int g_ADCValue1 = adc_read(ADC_CHANNEL_1);
int g_ADCValue12 = adc_read(ADC_CHANNEL_12);
int offTime = g_ADCValue;
int onTime = 4096 - offTime;
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5,GPIO_PIN_SET);
for (int i = 0; i < onTime; i++)
{
asm("nop");
}
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5,GPIO_PIN_RESET);
for (int i = 0; i < offTime; i++)
{
asm("nop");
}
}
for(;;); for(;;);
} }
/***********************************************************************
* BRIEF: Starts the system clock *
* INFORMATION: In the current version it works with ADC and DMA *
***********************************************************************/
static void SystemClock_Config(void)
{
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitTypeDef RCC_OscInitStruct;
//__PWR_CLK_ENABLE(); // samma skit
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 288;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 6;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4);
if (HAL_GetREVID() == 0x1001)
__HAL_FLASH_PREFETCH_BUFFER_ENABLE();
//SystemCoreClockUpdate();
}