Stagger dcam FSIN (#2307)

Author: robbederks

board/drivers/clock_source.h

@@ -7,22 +7,23 @@ 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);
@@ -33,15 +34,33 @@ 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), (0b0111U << TIM_CR2_MMS_Pos), 0xFFFFU);
+  register_set(&(TIM8->SMCR), (0b0100U << TIM_SMCR_SMS_Pos) | (0b000U << 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);
 }