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Stagger dcam FSIN #2307

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Stagger dcam FSIN #2307

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37 changes: 28 additions & 9 deletions board/drivers/clock_source.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,22 +4,23 @@ void clock_source_set_timer_params(uint16_t param1, uint16_t param2) {
// Pulse length of each channel
register_set(&(TIM1->CCR1), (((param1 & 0xFF00U) >> 8U)*10U), 0xFFFFU);
register_set(&(TIM1->CCR2), ((param1 & 0x00FFU)*10U), 0xFFFFU);
register_set(&(TIM1->CCR3), (((param2 & 0xFF00U) >> 8U)*10U), 0xFFFFU);
register_set(&(TIM8->CCR3), (((param2 & 0xFF00U) >> 8U)*10U), 0xFFFFU);
// Timer period
register_set(&(TIM1->ARR), (((param2 & 0x00FFU)*10U) - 1U), 0xFFFFU);
register_set(&(TIM1->CCR4), ((TIM1->ARR + 1U) / 2U), 0xFFFFU);
}

void clock_source_init(bool enable_channel1) {
// Setup timer
register_set(&(TIM1->PSC), ((APB2_TIMER_FREQ*100U)-1U), 0xFFFFU); // Tick on 0.1 ms
register_set(&(TIM1->ARR), ((CLOCK_SOURCE_PERIOD_MS*10U) - 1U), 0xFFFFU); // Period
register_set(&(TIM1->CCMR1), 0U, 0xFFFFU); // No output on compare
register_set(&(TIM1->CCER), TIM_CCER_CC1E, 0xFFFFU); // Enable compare 1
register_set(&(TIM1->CCER), TIM_CCER_CC1E | TIM_CCER_CC2NE, 0xFFFFU); // Enable compares
register_set(&(TIM1->CCR1), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU); // Compare 1 value
register_set(&(TIM1->CCR2), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU); // Compare 1 value
register_set(&(TIM1->CCR3), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU); // Compare 1 value
register_set(&(TIM1->CCR2), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU); // Compare 2 value
register_set(&(TIM1->CCR4), (CLOCK_SOURCE_PERIOD_MS*5U), 0xFFFFU); // For slave timer
register_set_bits(&(TIM1->DIER), TIM_DIER_UIE | TIM_DIER_CC1IE); // Enable interrupts
register_set(&(TIM1->CR1), TIM_CR1_CEN, 0x3FU); // Enable timer


// No interrupts
NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
Expand All @@ -30,15 +31,33 @@ void clock_source_init(bool enable_channel1) {
set_gpio_alternate(GPIOA, 8, GPIO_AF1_TIM1);
}
set_gpio_alternate(GPIOB, 14, GPIO_AF1_TIM1);
set_gpio_alternate(GPIOB, 15, GPIO_AF1_TIM1);

// Set PWM mode
register_set(&(TIM1->CCMR1), (0b110UL << TIM_CCMR1_OC1M_Pos) | (0b110UL << TIM_CCMR1_OC2M_Pos), 0xFFFFU);
register_set(&(TIM1->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos), 0xFFFFU);
register_set(&(TIM1->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos) | (0b111UL << TIM_CCMR2_OC4M_Pos), 0xFFFFU);

// Enable output
register_set(&(TIM1->BDTR), TIM_BDTR_MOE, 0xFFFFU);

// Enable complementary compares
register_set_bits(&(TIM1->CCER), TIM_CCER_CC2NE | TIM_CCER_CC3NE);
// Sync with slave
register_set(&(TIM1->SMCR), TIM_SMCR_MSM , 0xFFFFU);
register_set(&(TIM1->CR2), (0b0111 << TIM_CR2_MMS_Pos), 0xFFFFU);
register_set(&(TIM8->SMCR), (0b0100 << TIM_SMCR_SMS_Pos) | (0b000 << TIM_SMCR_TS_Pos), 0xFFFFU);

// Setup slave timer (TIM8)
register_set(&(TIM8->PSC), TIM1->PSC, 0xFFFFU);
register_set(&(TIM8->ARR), TIM1->ARR, 0xFFFFU);
register_set(&(TIM8->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos), 0xFFFFU);
register_set(&(TIM8->CCR3), (CLOCK_SOURCE_PULSE_LEN_MS * 10U), 0xFFFFU);
register_set(&(TIM8->CCER), TIM_CCER_CC3NE, 0xFFFFU);

// MOE for TIM8 as well
register_set(&(TIM8->BDTR), TIM_BDTR_MOE, 0xFFFFU);

// Set GPIO
set_gpio_alternate(GPIOB, 15, GPIO_AF3_TIM8);

// Enable timers
register_set(&(TIM1->CR1), TIM_CR1_CEN, 0x3FU);
register_set(&(TIM8->CR1), TIM_CR1_CEN, 0x3FU);
}
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