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https://github.com/firestar5683/StarPilot.git
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firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
34 lines
1.0 KiB
C
34 lines
1.0 KiB
C
#pragma once
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static void timer_init(TIM_TypeDef *TIM, int psc) {
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register_set(&(TIM->PSC), (psc-1), 0xFFFFU);
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register_set(&(TIM->DIER), TIM_DIER_UIE, 0x5F5FU);
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register_set(&(TIM->CR1), TIM_CR1_CEN, 0x3FU);
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TIM->SR = 0;
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}
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void microsecond_timer_init(void) {
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MICROSECOND_TIMER->PSC = (APB1_TIMER_FREQ - 1U);
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MICROSECOND_TIMER->CR1 = TIM_CR1_CEN;
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MICROSECOND_TIMER->EGR = TIM_EGR_UG;
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}
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uint32_t microsecond_timer_get(void) {
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return MICROSECOND_TIMER->CNT;
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}
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void interrupt_timer_init(void) {
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enable_interrupt_timer();
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REGISTER_INTERRUPT(INTERRUPT_TIMER_IRQ, interrupt_timer_handler, 2U, FAULT_INTERRUPT_RATE_INTERRUPTS)
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register_set(&(INTERRUPT_TIMER->PSC), ((uint16_t)(15.25*APB1_TIMER_FREQ)-1U), 0xFFFFU);
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register_set(&(INTERRUPT_TIMER->DIER), TIM_DIER_UIE, 0x5F5FU);
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register_set(&(INTERRUPT_TIMER->CR1), TIM_CR1_CEN, 0x3FU);
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INTERRUPT_TIMER->SR = 0;
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NVIC_EnableIRQ(INTERRUPT_TIMER_IRQ);
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}
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void tick_timer_init(void) {
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timer_init(TICK_TIMER, (uint16_t)((15.25*APB2_TIMER_FREQ)/8U));
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NVIC_EnableIRQ(TICK_TIMER_IRQ);
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}
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