commit 0bca3ba0a9c28ffe49327ae42aa3f7ce50f7f9dd
author Brian Silverman <brians> Wed Mar 26 14:07:55 2014 -0700
committer Brian Silverman <brians> Wed Mar 26 14:10:29 2014 -0700
tree ce966899deca1eaa47a4311cbbcf90136378d9be
parent e12f8e480d65443b3e556ac60c2f96ae9ee00a76

got the output check stuff actually compiling and closer to working

bbb_cape/src/cape/robot_comp.c

diff --git a/bbb_cape/src/cape/robot_comp.c b/bbb_cape/src/cape/robot_comp.c
index cab3e28..03e529a 100644
--- a/bbb_cape/src/cape/robot_comp.c
+++ b/bbb_cape/src/cape/robot_comp.c
@@ -6,9 +6,7 @@
 #include "cape/analog.h"
 #include "cape/digital.h"
 #include "cape/util.h"
-
-// TIM11.1 on PB9, aka digital input 6.
-static volatile uint32_t ultrasonic_pulse_length = 0;
+#include "cape/timer.h"
 
 typedef struct {
   uint32_t posedges, negedges;
@@ -91,27 +89,15 @@
 CLAW(10, 11, 9, bottom_claw, 7);
 SHOOTER(7, 5, 4, 8, 0)
 
-void TIM1_TRG_COM_TIM11_IRQHandler(void) {
-  TIM11->SR = ~TIM_SR_CC1IF;
-  if (digital_read(6)) {
-    TIM11->EGR = TIM_EGR_UG;
-  } else {
-    ultrasonic_pulse_length = TIM11->CCR1;
-  }
-}
+// TIM11.1 on PB9, aka digital input 6.
+timer_declare(TIM11, TIM1_TR_GCOM_TIM11_IRQHandler, 1, 1, ultrasonic)
 
 void robot_init(void) {
   gpio_setup_alt(GPIOB, 9, 3);
   RCC->APB2ENR |= RCC_APB2ENR_TIM11EN;
-  TIM11->CR1 = TIM_CR1_URS;
-  TIM11->DIER = TIM_DIER_CC1IE;
   TIM11->CCMR1 = TIM_CCMR1_CC1S_0 /* input pin 1 -> timer input 1 */;
-  TIM11->CCER = TIM_CCER_CC1P | TIM_CCER_CC1NP | TIM_CCER_CC1E;
-  TIM11->EGR = TIM_EGR_UG;
-  TIM11->PSC = 1200 - 1;  // 100kHZ timer
-  TIM11->CR1 |= TIM_CR1_CEN;
-  NVIC_SetPriority(TIM1_TRG_COM_TIM11_IRQn, 3);
-  NVIC_EnableIRQ(TIM1_TRG_COM_TIM11_IRQn);
+  TIM11->PSC = 1200 - 1;  // 100KHz timer
+  timer_setup(TIM11, TIM1_TRG_COM_TIM11_IRQn, 1);
 }
 
 void robot_fill_packet(struct DataStruct *packet) {
@@ -125,7 +111,7 @@
   packet->main.battery_voltage_high = analog_get(5);
   packet->main.battery_voltage_low = analog_get(3);
 
-  packet->main.ultrasonic_pulse_length = ultrasonic_pulse_length;
+  packet->main.ultrasonic_pulse_length = ultrasonic_length;
 
   fill_top_claw_values(packet);
   fill_bottom_claw_values(packet);