Fixed delayMicroseconds, changed serial interface, added an (untested) runtime check for pwm/serial collision, moved more headers around.

git-svn-id: https://leaflabs.googlecode.com/svn/trunk/library@79 749a229e-a60e-11de-b98f-4500b42dc123

4 files changed, 26 insertions, 23 deletions

diff --git a/src/wiring/comm/HardwareSerial.cpp b/src/wiring/comm/HardwareSerial.cpp
index 84eb4c7..3d0a0ce 100644
--- a/src/wiring/comm/HardwareSerial.cpp
+++ b/src/wiring/comm/HardwareSerial.cpp
@@ -27,6 +27,7 @@
 #include "HardwareSerial.h"
 #include "usart.h"
 #include "gpio.h"
+#include "timers.h"
 
 #define USART1_TX_PORT             GPIOA_BASE
 #define USART1_TX_PIN              9
@@ -75,6 +76,8 @@ void HardwareSerial::begin(uint32_t baud) {
     case 2:
         gpio_set_mode(USART2_TX_PORT, USART2_TX_PIN, GPIO_MODE_AF_OUTPUT_PP);
         gpio_set_mode(USART2_RX_PORT, USART2_RX_PIN, GPIO_MODE_INPUT_FLOATING);
+        /* Turn off any pwm  */
+        timers_disable_channel(2, 3);
         break;
     case 3:
         gpio_set_mode(USART3_TX_PORT, USART3_TX_PIN, GPIO_MODE_AF_OUTPUT_PP);
diff --git a/src/wiring/time.c b/src/wiring/time.c
index 1a91b5e..164d978 100644
--- a/src/wiring/time.c
+++ b/src/wiring/time.c
@@ -28,7 +28,7 @@
 #include "time.h"
 
 #define CYCLES_PER_MICROSECOND  72
-#define THE_SECRET_TO_LIFE_THE_UNIVERSE_AND_EVERYTHING    42
+#define FUDGE                   42
 
 extern volatile uint32_t systick_timer_millis;
 
@@ -47,26 +47,13 @@ void delay(unsigned long ms)
 }
 
 
-#define MAGIC 4096
-/* HZ = 1000
- * n HZ*/
+
+#if 1
 void delayMicroseconds(uint32_t us) {
     uint32_t target;
     uint32_t last, cur, count;
-
-#if 0
-    asm volatile("mov r0, %[count]     \n\t"
-"1:                                    \n\t"
-            "subs r0, r0, #1           \n\t"
-            "bne 1b"
-                 :
-                 : [count] "r" (count)
-                 : "r0", "cc");
-#endif
-
-#if 1
     /* fudge factor hacky hack hack for function overhead  */
-    target = us * CYCLES_PER_MICROSECOND - THE_SECRET_TO_LIFE_THE_UNIVERSE_AND_EVERYTHING;
+    target = us * CYCLES_PER_MICROSECOND - FUDGE;
 
     /* Get current count */
     last = systick_get_count();
@@ -81,5 +68,5 @@ void delayMicroseconds(uint32_t us) {
         }
         last = cur;
     }
-#endif
 }
+#endif
diff --git a/src/wiring/time.h b/src/wiring/time.h
index a97310a..68b3901 100644
--- a/src/wiring/time.h
+++ b/src/wiring/time.h
@@ -41,6 +41,20 @@ void delay(unsigned long ms);
 /* Delay for us microseconds  */
 void delayMicroseconds(uint32_t us);
 
+#if 0
+static inline void delay_us(uint32 us) {
+    us *= 12;
+    asm volatile("mov  r0, %[us]        \n\t"
+                 "subs r0, #2 \n\t"
+"1:                                    \n\t"
+                  "subs r0, r0, #1           \n\t"
+                  "bne 1b"
+                 :
+                 : [us] "r" (us)
+                 : "r0", "cc");
+
+}
+#endif
 #ifdef __cplusplus
 } // extern "C"
 #endif
diff --git a/src/wiring/wiring.c b/src/wiring/wiring.c
index cecca20..04de78a 100644
--- a/src/wiring/wiring.c
+++ b/src/wiring/wiring.c
@@ -47,13 +47,12 @@ void init(void) {
 
    gpio_init();
 
-   /* off for debug  */
-//   adc_init();
+   adc_init();
 
    timer_init(1, 1);
-//   timer_init(2, 1);
-//   timer_init(3, 1);
-//   timer_init(4, 1);
+   timer_init(2, 1);
+   timer_init(3, 1);
+   timer_init(4, 1);
 }
 
 void NVIC_Configuration(void) {