From 1f78d3422b63d1299de0a744f0b429e31ce69357 Mon Sep 17 00:00:00 2001
From: Arnaud Cadot <arnaud.cadot@telecom-bretagne.eu>
Date: Sun, 20 Mar 2016 22:36:19 +0100
Subject: [PATCH] Moved interruption code to class Clock

---
 stm32/src/asservissement/asservissement.cpp | 33 +++++++++++----------
 stm32/src/clock.cpp                         | 27 +++++++++++++++++
 stm32/src/initialisation.cpp                |  3 +-
 3 files changed, 46 insertions(+), 17 deletions(-)

diff --git a/stm32/src/asservissement/asservissement.cpp b/stm32/src/asservissement/asservissement.cpp
index c512fda2..34f36589 100644
--- a/stm32/src/asservissement/asservissement.cpp
+++ b/stm32/src/asservissement/asservissement.cpp
@@ -91,24 +91,25 @@ Asservissement::Asservissement(Odometrie* _odometrie) : testMod(false), testRunn
 #ifdef CAPTEURS
     sensors = Sensors::getSensors();
 #endif
+#if 0
+    #ifdef ROBOTHW  //on définie les interruptions possibles dues à certains ports
+        *((uint32_t *)(STK_CTRL_ADDR)) = 0x03; // CLKSOURCE:0 ; TICKINT: 1 ; ENABLE:1
+    #ifdef STM32F40_41xxx
+        *((uint32_t *)(STK_LOAD_ADDR)) = 21000*nb_ms_between_updates; // valeur en ms*9000 (doit etre inférieur à 0x00FFFFFF=16 777 215)
+    #else
+        *((uint32_t *)(STK_LOAD_ADDR)) = 9000*nb_ms_between_updates; // valeur en ms*9000 (doit etre inférieur à 0x00FFFFFF=16 777 215)
+    #endif
+        // le micro controlleur tourne à une frequence f (72Mhz ici), la valeur à mettre est (0.001*(f/8))*(temps en ms entre chaque update)
+        // voir p190 de la doc
 
-#ifdef ROBOTHW  //on définie les interruptions possibles dues à certains ports
-    *((uint32_t *)(STK_CTRL_ADDR)) = 0x03; // CLKSOURCE:0 ; TICKINT: 1 ; ENABLE:1
-#ifdef STM32F40_41xxx
-    *((uint32_t *)(STK_LOAD_ADDR)) = 21000*nb_ms_between_updates; // valeur en ms*9000 (doit etre inférieur à 0x00FFFFFF=16 777 215)
-#else
-    *((uint32_t *)(STK_LOAD_ADDR)) = 9000*nb_ms_between_updates; // valeur en ms*9000 (doit etre inférieur à 0x00FFFFFF=16 777 215)
-#endif
-    // le micro controlleur tourne à une frequence f (72Mhz ici), la valeur à mettre est (0.001*(f/8))*(temps en ms entre chaque update)
-    // voir p190 de la doc
-
-    NVIC_InitTypeDef SysTick_IRQ;
+        NVIC_InitTypeDef SysTick_IRQ;
 
-    SysTick_IRQ.NVIC_IRQChannel = SysTick_IRQn;
-    SysTick_IRQ.NVIC_IRQChannelCmd = ENABLE;
-    SysTick_IRQ.NVIC_IRQChannelPreemptionPriority = 0;
-    SysTick_IRQ.NVIC_IRQChannelSubPriority = 1;
-    NVIC_Init(&SysTick_IRQ);
+        SysTick_IRQ.NVIC_IRQChannel = SysTick_IRQn;
+        SysTick_IRQ.NVIC_IRQChannelCmd = ENABLE;
+        SysTick_IRQ.NVIC_IRQChannelPreemptionPriority = 0;
+        SysTick_IRQ.NVIC_IRQChannelSubPriority = 1;
+        NVIC_Init(&SysTick_IRQ);
+    #endif
 #endif
 }
 
diff --git a/stm32/src/clock.cpp b/stm32/src/clock.cpp
index 120e4d05..56331c93 100644
--- a/stm32/src/clock.cpp
+++ b/stm32/src/clock.cpp
@@ -5,6 +5,16 @@
 #include "hardware/tourelle.h"
 #include "hardware/leds.h"
 
+#ifndef ROBOTHW
+    #include <QTimer>
+#endif
+
+#ifdef STM32F40_41xxx
+    #define HW_CLOCK_SPEED 72000000   // 72Mhz
+#else
+    #define HW_CLOCK_SPEED 168000000  // 168Mhz
+#endif
+
 void Clock::everyTick()
 {
 }
@@ -39,6 +49,23 @@ Clock::Clock()
     m_last5msTick       = 0;
     m_matchStartTime    = 0;
     m_matchStarted      = false;
+
+    #ifdef ROBOTHW
+        *((uint32_t *)(STK_CTRL_ADDR)) = 0x03; // CLKSOURCE:0 ; TICKINT: 1 ; ENABLE:1
+
+        *((uint32_t *)(STK_LOAD_ADDR)) = (0.001*HW_CLOCK_SPEED*Clock::MS_PER_TICK)/8; // (doit etre inférieur à 0x00FFFFFF=16 777 215)
+        /* (voir p190 de la doc) */
+
+        NVIC_InitTypeDef SysTick_IRQ;
+
+        SysTick_IRQ.NVIC_IRQChannel = SysTick_IRQn;
+        SysTick_IRQ.NVIC_IRQChannelCmd = ENABLE;
+        SysTick_IRQ.NVIC_IRQChannelPreemptionPriority = 0;
+        SysTick_IRQ.NVIC_IRQChannelSubPriority = 1;
+        NVIC_Init(&SysTick_IRQ);
+    #else
+        /* Some trick with QTimer here */
+    #endif
 }
 
 void Clock::tick()
diff --git a/stm32/src/initialisation.cpp b/stm32/src/initialisation.cpp
index f62f20d6..a3e0f993 100644
--- a/stm32/src/initialisation.cpp
+++ b/stm32/src/initialisation.cpp
@@ -45,9 +45,10 @@ void Initialisation::init()
 #ifdef ROBOTHW
     tirette->attendreRemise();
     tirette->attendreEnlevee();
-    Clock::getInstance()->matchStart();
+
 #endif
 */
+    Clock::getInstance()->matchStart(); // Will also start the callbacks
     asservissement = new Asservissement(odometrie);
 
 #ifdef ROBOTHW
-- 
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