SAMV7: Ported tickless logic from the SAMA5/SAM4CM to the SAMV7
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02c57c22f8
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@ -1,5 +1,5 @@
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/************************************************************************************
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* arch/arm/src/sama5/chip/sam_emac.h
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* arch/arm/src/samv7/chip/sam_emac.h
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* This is the form of the EMAC interface used the the SAMV7.
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* This is referred as GMAC in the documentation even though it does not support
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* Gibabit Ethernet.
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@ -2138,7 +2138,7 @@ static void sam_txerr_interrupt(FAR struct sam_emac_s *priv, int qid)
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NETDEV_TXERRORS(&priv->dev);
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/* Clear TXEN bit into the Network Configuration Register. This is a
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* workaround to recover from TX lockups that occur on sama5d3 gmac
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* workaround to recover from TX lockups that occurred on the sama5d3 gmac
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* (r1p24f2) when using scatter-gather. This issue has never been
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* seen on sama5d4 gmac (r1p31).
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*/
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322
arch/arm/src/samv7/sam_freerun.c
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322
arch/arm/src/samv7/sam_freerun.c
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@ -0,0 +1,322 @@
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/****************************************************************************
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* arch/arm/src/samv7/sam_freerun.c
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*
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* Copyright (C) 2015 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* References:
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*
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* SAMV71 Series Data Sheet
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* NuttX SAMA5 free-running timer driver
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* Atmel NoOS sample code for the SAMA5D3.
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*
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* The Atmel sample code has a BSD compatible license that requires this
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* copyright notice:
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*
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* Copyright (c) 2011, Atmel Corporation
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the names NuttX nor Atmel nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <assert.h>
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#include <errno.h>
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#include <arch/irq.h>
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#include <nuttx/clock.h>
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#include "sam_freerun.h"
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#ifdef CONFIG_SAMV7_ONESHOT
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: sam_freerun_handler
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*
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* Description:
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* Timer interrupt callback. When the freerun timer counter overflows,
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* this interrupt will occur. We will just increment an overflow count.
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*
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* Input Parameters:
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* tch - The handle that represents the timer state
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* arg - An opaque argument provided when the interrupt was registered
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* sr - The value of the timer interrupt status register at the time
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* that the interrupt occurred.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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static void sam_freerun_handler(TC_HANDLE tch, void *arg, uint32_t sr)
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{
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struct sam_freerun_s *freerun = (struct sam_freerun_s *)arg;
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DEBUGASSERT(freerun && freerun->overflow < UINT32_MAX);
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freerun->overflow++;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: sam_freerun_initialize
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*
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* Description:
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* Initialize the freerun timer wrapper
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*
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* Input Parameters:
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* freerun Caller allocated instance of the freerun state structure
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* chan Timer counter channel to be used. See the TC_CHAN*
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* definitions in arch/arm/src/samv7/sam_tc.h.
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* resolution The required resolution of the timer in units of
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* microseconds. NOTE that the range is restricted to the
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* range of uint16_t (excluding zero).
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned
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* on failure.
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*
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****************************************************************************/
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int sam_freerun_initialize(struct sam_freerun_s *freerun, int chan,
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uint16_t resolution)
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{
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uint32_t frequency;
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uint32_t divisor;
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uint32_t cmr;
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int ret;
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tcvdbg("chan=%d resolution=%d usec\n", chan, resolution);
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DEBUGASSERT(freerun && resolution > 0);
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/* Get the TC frequency the corresponds to the requested resolution */
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frequency = USEC_PER_SEC / (uint32_t)resolution;
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/* The pre-calculate values to use when we start the timer */
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ret = sam_tc_divisor(frequency, &divisor, &cmr);
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if (ret < 0)
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{
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tcdbg("ERROR: sam_tc_divisor failed: %d\n", ret);
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return ret;
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}
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tcvdbg("frequency=%lu, divisor=%u, cmr=%08lx\n",
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(unsigned long)frequency, (unsigned long)divisor,
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(unsigned long)cmr);
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/* Allocate the timer/counter and select its mode of operation
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*
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* CMR_TCCLKS - Returned by sam_tc_divisor
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* TC_CMR_CLKI=0 - Not inverted
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* TC_CMR_BURST_NONE - Not gated by an external signal
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* TC_CMR_CPCSTOP=0 - Don't stop the clock on an RC compare event
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* TC_CMR_CPCDIS=0 - Don't disable the clock on an RC compare event
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* TC_CMR_EEVTEDG_NONE - No external events (and, hence, no edges
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* TC_CMR_EEVT_TIOB - ???? REVISIT
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* TC_CMR_ENET=0 - External event trigger disabled
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* TC_CMR_WAVSEL_UP - TC_CV is incremented from 0 to 0xffffffff
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* TC_CMR_WAVE - Waveform mode
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* TC_CMR_ACPA_NONE - RA compare has no effect on TIOA
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* TC_CMR_ACPC_NONE - RC compare has no effect on TIOA
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* TC_CMR_AEEVT_NONE - No external event effect on TIOA
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* TC_CMR_ASWTRG_NONE - No software trigger effect on TIOA
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* TC_CMR_BCPB_NONE - RB compare has no effect on TIOB
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* TC_CMR_BCPC_NONE - RC compare has no effect on TIOB
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* TC_CMR_BEEVT_NONE - No external event effect on TIOB
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* TC_CMR_BSWTRG_NONE - No software trigger effect on TIOB
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*/
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cmr |= (TC_CMR_BURST_NONE | TC_CMR_EEVTEDG_NONE | TC_CMR_EEVT_TIOB |
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TC_CMR_WAVSEL_UP | TC_CMR_WAVE | TC_CMR_ACPA_NONE |
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TC_CMR_ACPC_NONE | TC_CMR_AEEVT_NONE | TC_CMR_ASWTRG_NONE |
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TC_CMR_BCPB_NONE | TC_CMR_BCPC_NONE | TC_CMR_BEEVT_NONE |
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TC_CMR_BSWTRG_NONE);
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freerun->tch = sam_tc_allocate(chan, cmr);
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if (!freerun->tch)
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{
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tcdbg("ERROR: Failed to allocate timer channel %d\n", chan);
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return -EBUSY;
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}
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/* Initialize the remaining fields in the state structure and return
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* success.
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*/
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freerun->chan = chan;
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freerun->running = false;
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freerun->overflow = 0;
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/* Set up to receive the callback when the counter overflow occurs */
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(void)sam_tc_attach(freerun->tch, sam_freerun_handler, freerun,
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TC_INT_COVFS);
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/* Start the counter */
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sam_tc_start(freerun->tch);
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return OK;
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}
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/****************************************************************************
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* Name: sam_freerun_counter
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*
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* Description:
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* Read the counter register of the free-running timer.
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*
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* Input Parameters:
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* freerun Caller allocated instance of the freerun state structure. This
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* structure must have been previously initialized via a call to
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* sam_freerun_initialize();
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* ts The location in which to return the time from the free-running
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* timer.
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned
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* on failure.
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*
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****************************************************************************/
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int sam_freerun_counter(struct sam_freerun_s *freerun, struct timespec *ts)
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{
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uint64_t usec;
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uint32_t counter;
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uint32_t verify;
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uint32_t sr;
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uint32_t overflow;
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uint32_t sec;
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irqstate_t flags;
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DEBUGASSERT(freerun && freerun->tch && ts);
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/* Temporarily disable the overflow counter. NOTE that we have to be careful
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* here because sam_tc_getpending() will reset the pending interrupt status.
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* If we do not handle the overflow here then, it will be lost.
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*/
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flags = irqsave();
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overflow = freerun->overflow;
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counter = sam_tc_getcounter(freerun->tch);
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sr = sam_tc_getpending(freerun->tch);
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verify = sam_tc_getcounter(freerun->tch);
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/* If an interrupt was pending before we re-enabled interrupts,
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* then the overflow needs to be incremented.
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*/
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if ((sr & TC_INT_COVFS) != 0)
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{
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/* Increment the overflow count and use the value of the
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* guaranteed to be AFTER the overflow occurred.
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*/
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overflow++;
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counter = verify;
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/* Update freerun overflow counter. */
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freerun->overflow = overflow;
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}
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irqrestore(flags);
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tcvdbg("counter=%lu (%lu) overflow=%lu, sr=%08lx\n",
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(unsigned long)counter, (unsigned long)verify,
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(unsigned long)overflow, (unsigned long)sr);
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/* Convert the whole thing to units of microseconds.
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*
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* frequency = ticks / second
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* seconds = ticks * frequency
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* usecs = (ticks * USEC_PER_SEC) / frequency;
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*/
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usec = ((((uint64_t)overflow << 16) + (uint64_t)counter) * USEC_PER_SEC) /
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sam_tc_divfreq(freerun->tch);
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/* And return the value of the timer */
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sec = (uint32_t)(usec / USEC_PER_SEC);
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ts->tv_sec = sec;
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ts->tv_nsec = (usec - (sec * USEC_PER_SEC)) * NSEC_PER_USEC;
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tcvdbg("usec=%llu ts=(%lu, %lu)\n",
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usec, (unsigned long)ts->tv_sec, (unsigned long)ts->tv_nsec);
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return OK;
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}
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/****************************************************************************
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* Name: sam_freerun_uninitialize
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*
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* Description:
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* Stop the free-running timer and release all resources that it uses.
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*
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* Input Parameters:
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* freerun Caller allocated instance of the freerun state structure. This
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* structure must have been previously initialized via a call to
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* sam_freerun_initialize();
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned
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* on failure.
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*
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****************************************************************************/
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int sam_freerun_uninitialize(struct sam_freerun_s *freerun)
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{
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DEBUGASSERT(freerun && freerun->tch);
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/* Now we can disable the timer interrupt and disable the timer. */
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sam_tc_attach(freerun->tch, NULL, NULL, 0);
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sam_tc_stop(freerun->tch);
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/* Free the timer */
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sam_tc_free(freerun->tch);
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freerun->tch = NULL;
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return OK;
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}
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#endif /* CONFIG_SAMV7_ONESHOT */
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160
arch/arm/src/samv7/sam_freerun.h
Normal file
160
arch/arm/src/samv7/sam_freerun.h
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@ -0,0 +1,160 @@
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/****************************************************************************
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* arch/arm/src/samv7/sam_freerun.h
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*
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* Copyright (C) 2015 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
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****************************************************************************/
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#ifndef __ARCH_ARM_SRC_SAMV7_SAM_FREERUN_H
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#define __ARCH_ARM_SRC_SAMV7_SAM_FREERUN_H
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/****************************************************************************
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* Included Files
|
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****************************************************************************/
|
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#include <nuttx/config.h>
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#include <stdint.h>
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#include <time.h>
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#include "sam_tc.h"
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#ifdef CONFIG_SAMV7_FREERUN
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Public Types
|
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****************************************************************************/
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/* The freerun client must allocate an instance of this structure and called
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* sam_freerun_initialize() before using the freerun facilities. The client
|
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* should not access the contents of this structure directly since the
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* contents are subject to change.
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*/
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struct sam_freerun_s
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{
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uint8_t chan; /* The timer/counter in use */
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bool running; /* True: the timer is running */
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uint32_t overflow; /* Timer counter overflow */
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TC_HANDLE tch; /* Handle returned by sam_tc_initialize() */
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};
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/****************************************************************************
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* Public Data
|
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****************************************************************************/
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#undef EXTERN
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C"
|
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: sam_freerun_initialize
|
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*
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* Description:
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* Initialize the freerun timer wrapper
|
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*
|
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* Input Parameters:
|
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* freerun Caller allocated instance of the freerun state structure
|
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* chan Timer counter channel to be used. See the TC_CHAN*
|
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* definitions in arch/arm/src/samv7/sam_tc.h.
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* resolution The required resolution of the timer in units of
|
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* microseconds. NOTE that the range is restricted to the
|
||||
* range of uint16_t (excluding zero).
|
||||
*
|
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* Returned Value:
|
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* Zero (OK) is returned on success; a negated errno value is returned
|
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* on failure.
|
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*
|
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****************************************************************************/
|
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|
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int sam_freerun_initialize(struct sam_freerun_s *freerun, int chan,
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uint16_t resolution);
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|
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/****************************************************************************
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* Name: sam_freerun_counter
|
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*
|
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* Description:
|
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* Read the counter register of the free-running timer.
|
||||
*
|
||||
* Input Parameters:
|
||||
* freerun Caller allocated instance of the freerun state structure. This
|
||||
* structure must have been previously initialized via a call to
|
||||
* sam_freerun_initialize();
|
||||
* ts The location in which to return the time remaining on the
|
||||
* oneshot timer.
|
||||
*
|
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* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned
|
||||
* on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
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int sam_freerun_counter(struct sam_freerun_s *freerun, struct timespec *ts);
|
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|
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/****************************************************************************
|
||||
* Name: sam_freerun_uninitialize
|
||||
*
|
||||
* Description:
|
||||
* Stop the free-running timer and release all resources that it uses.
|
||||
*
|
||||
* Input Parameters:
|
||||
* freerun Caller allocated instance of the freerun state structure. This
|
||||
* structure must have been previously initialized via a call to
|
||||
* sam_freerun_initialize();
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned
|
||||
* on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int sam_freerun_uninitialize(struct sam_freerun_s *freerun);
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* CONFIG_SAMV7_FREERUN */
|
||||
#endif /* __ARCH_ARM_SRC_SAMV7_SAM_FREERUN_H */
|
479
arch/arm/src/samv7/sam_oneshot.c
Normal file
479
arch/arm/src/samv7/sam_oneshot.c
Normal file
@ -0,0 +1,479 @@
|
||||
/****************************************************************************
|
||||
* arch/arm/src/samv7/sam_oneshot.c
|
||||
*
|
||||
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* References:
|
||||
*
|
||||
* SAMV71 Series Data Sheet
|
||||
* NuttX SAMA5 one-shot timer driver
|
||||
* Atmel NoOS sample code.
|
||||
*
|
||||
* The Atmel sample code has a BSD compatible license that requires this
|
||||
* copyright notice:
|
||||
*
|
||||
* Copyright (c) 2011, Atmel Corporation
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the names NuttX nor Atmel nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <assert.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <arch/irq.h>
|
||||
#include <nuttx/clock.h>
|
||||
|
||||
#include "sam_oneshot.h"
|
||||
|
||||
#ifdef CONFIG_SAMV7_ONESHOT
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_oneshot_handler
|
||||
*
|
||||
* Description:
|
||||
* Timer interrupt callback. When the oneshot timer interrupt expires,
|
||||
* this function will be called. It will forward the call to the next
|
||||
* level up.
|
||||
*
|
||||
* Input Parameters:
|
||||
* tch - The handle that represents the timer state
|
||||
* arg - An opaque argument provided when the interrupt was registered
|
||||
* sr - The value of the timer interrupt status register at the time
|
||||
* that the interrupt occurred.
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static void sam_oneshot_handler(TC_HANDLE tch, void *arg, uint32_t sr)
|
||||
{
|
||||
struct sam_oneshot_s *oneshot = (struct sam_oneshot_s *)arg;
|
||||
oneshot_handler_t oneshot_handler;
|
||||
void *oneshot_arg;
|
||||
|
||||
tcllvdbg("Expired...\n");
|
||||
DEBUGASSERT(oneshot && oneshot->handler);
|
||||
|
||||
/* The clock was stopped, but not disabled when the RC match occurred.
|
||||
* Disable the TC now and disable any further interrupts.
|
||||
*/
|
||||
|
||||
sam_tc_attach(oneshot->tch, NULL, NULL, 0);
|
||||
sam_tc_stop(oneshot->tch);
|
||||
|
||||
/* The timer is no longer running */
|
||||
|
||||
oneshot->running = false;
|
||||
|
||||
/* Forward the event, clearing out any vestiges */
|
||||
|
||||
oneshot_handler = (oneshot_handler_t)oneshot->handler;
|
||||
oneshot->handler = NULL;
|
||||
oneshot_arg = (void *)oneshot->arg;
|
||||
oneshot->arg = NULL;
|
||||
|
||||
oneshot_handler(oneshot_arg);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_oneshot_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the oneshot timer wrapper
|
||||
*
|
||||
* Input Parameters:
|
||||
* oneshot Caller allocated instance of the oneshot state structure
|
||||
* chan Timer counter channel to be used. See the TC_CHAN*
|
||||
* definitions in arch/arm/src/samv7/sam_tc.h.
|
||||
* resolution The required resolution of the timer in units of
|
||||
* microseconds. NOTE that the range is restricted to the
|
||||
* range of uint16_t (excluding zero).
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned
|
||||
* on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int sam_oneshot_initialize(struct sam_oneshot_s *oneshot, int chan,
|
||||
uint16_t resolution)
|
||||
{
|
||||
uint32_t frequency;
|
||||
uint32_t divisor;
|
||||
uint32_t cmr;
|
||||
int ret;
|
||||
|
||||
tcvdbg("chan=%d resolution=%d usec\n", chan, resolution);
|
||||
DEBUGASSERT(oneshot && resolution > 0);
|
||||
|
||||
/* Get the TC frequency the corresponds to the requested resolution */
|
||||
|
||||
frequency = USEC_PER_SEC / (uint32_t)resolution;
|
||||
|
||||
/* The pre-calculate values to use when we start the timer */
|
||||
|
||||
ret = sam_tc_divisor(frequency, &divisor, &cmr);
|
||||
if (ret < 0)
|
||||
{
|
||||
tcdbg("ERROR: sam_tc_divisor failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
tcvdbg("frequency=%lu, divisor=%lu, cmr=%08lx\n",
|
||||
(unsigned long)frequency, (unsigned long)divisor,
|
||||
(unsigned long)cmr);
|
||||
|
||||
/* Allocate the timer/counter and select its mode of operation
|
||||
*
|
||||
* CMR_TCCLKS - Returned by sam_tc_divisor
|
||||
* TC_CMR_CLKI=0 - Not inverted
|
||||
* TC_CMR_BURST_NONE - Not gated by an external signal
|
||||
* TC_CMR_CPCSTOP=1 - Stop the clock on an RC compare event
|
||||
* TC_CMR_CPCDIS=0 - Don't disable the clock on an RC compare event
|
||||
* TC_CMR_EEVTEDG_NONE - No external events (and, hence, no edges
|
||||
* TC_CMR_EEVT_TIOB - ???? REVISIT
|
||||
* TC_CMR_ENET=0 - External event trigger disabled
|
||||
* TC_CMR_WAVSEL_UPRC - TC_CV is incremented from 0 to the value of RC,
|
||||
* then automatically reset on a RC Compare
|
||||
* TC_CMR_WAVE - Waveform mode
|
||||
* TC_CMR_ACPA_NONE - RA compare has no effect on TIOA
|
||||
* TC_CMR_ACPC_NONE - RC compare has no effect on TIOA
|
||||
* TC_CMR_AEEVT_NONE - No external event effect on TIOA
|
||||
* TC_CMR_ASWTRG_NONE - No software trigger effect on TIOA
|
||||
* TC_CMR_BCPB_NONE - RB compare has no effect on TIOB
|
||||
* TC_CMR_BCPC_NONE - RC compare has no effect on TIOB
|
||||
* TC_CMR_BEEVT_NONE - No external event effect on TIOB
|
||||
* TC_CMR_BSWTRG_NONE - No software trigger effect on TIOB
|
||||
*/
|
||||
|
||||
cmr |= (TC_CMR_BURST_NONE | TC_CMR_CPCSTOP | TC_CMR_EEVTEDG_NONE |
|
||||
TC_CMR_EEVT_TIOB | TC_CMR_WAVSEL_UPRC | TC_CMR_WAVE |
|
||||
TC_CMR_ACPA_NONE | TC_CMR_ACPC_NONE | TC_CMR_AEEVT_NONE |
|
||||
TC_CMR_ASWTRG_NONE | TC_CMR_BCPB_NONE | TC_CMR_BCPC_NONE |
|
||||
TC_CMR_BEEVT_NONE | TC_CMR_BSWTRG_NONE);
|
||||
|
||||
oneshot->tch = sam_tc_allocate(chan, cmr);
|
||||
if (!oneshot->tch)
|
||||
{
|
||||
tcdbg("ERROR: Failed to allocate timer channel %d\n", chan);
|
||||
return -EBUSY;
|
||||
}
|
||||
|
||||
/* Initialize the remaining fields in the state structure and return
|
||||
* success.
|
||||
*/
|
||||
|
||||
oneshot->chan = chan;
|
||||
oneshot->running = false;
|
||||
oneshot->handler = NULL;
|
||||
oneshot->arg = NULL;
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_oneshot_start
|
||||
*
|
||||
* Description:
|
||||
* Start the oneshot timer
|
||||
*
|
||||
* Input Parameters:
|
||||
* oneshot Caller allocated instance of the oneshot state structure. This
|
||||
* structure must have been previously initialized via a call to
|
||||
* sam_oneshot_initialize();
|
||||
* handler The function to call when when the oneshot timer expires.
|
||||
* arg An opaque argument that will accompany the callback.
|
||||
* ts Provides the duration of the one shot timer.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned
|
||||
* on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int sam_oneshot_start(struct sam_oneshot_s *oneshot, oneshot_handler_t handler,
|
||||
void *arg, const struct timespec *ts)
|
||||
{
|
||||
uint64_t usec;
|
||||
uint64_t regval;
|
||||
irqstate_t flags;
|
||||
|
||||
tcvdbg("handler=%p arg=%p, ts=(%lu, %lu)\n",
|
||||
handler, arg, (unsigned long)ts->tv_sec, (unsigned long)ts->tv_nsec);
|
||||
DEBUGASSERT(oneshot && handler && ts);
|
||||
|
||||
/* Was the oneshot already running? */
|
||||
|
||||
flags = irqsave();
|
||||
if (oneshot->running)
|
||||
{
|
||||
/* Yes.. then cancel it */
|
||||
|
||||
tcvdbg("Already running... cancelling\n");
|
||||
(void)sam_oneshot_cancel(oneshot, NULL);
|
||||
}
|
||||
|
||||
/* Save the new handler and its argument */
|
||||
|
||||
oneshot->handler = handler;
|
||||
oneshot->arg = arg;
|
||||
|
||||
/* Express the delay in microseconds */
|
||||
|
||||
usec = (uint64_t)ts->tv_sec * USEC_PER_SEC + (uint64_t)(ts->tv_nsec / NSEC_PER_USEC);
|
||||
|
||||
/* Get the timer counter frequency and determine the number of counts need to achieve the requested delay.
|
||||
*
|
||||
* frequency = ticks / second
|
||||
* ticks = seconds * frequency
|
||||
* = (usecs * frequency) / USEC_PER_SEC;
|
||||
*/
|
||||
|
||||
regval = (usec * (uint64_t)sam_tc_divfreq(oneshot->tch)) / USEC_PER_SEC;
|
||||
|
||||
tcvdbg("usec=%llu regval=%08llx\n", usec, regval);
|
||||
DEBUGASSERT(regval <= UINT16_MAX);
|
||||
|
||||
/* Set up to receive the callback when the interrupt occurs */
|
||||
|
||||
(void)sam_tc_attach(oneshot->tch, sam_oneshot_handler, oneshot,
|
||||
TC_INT_CPCS);
|
||||
|
||||
/* Set RC so that an event will be triggered when TC_CV register counts
|
||||
* up to RC.
|
||||
*/
|
||||
|
||||
sam_tc_setregister(oneshot->tch, TC_REGC, (uint32_t)regval);
|
||||
|
||||
/* Start the counter */
|
||||
|
||||
sam_tc_start(oneshot->tch);
|
||||
|
||||
/* Enable interrupts. We should get the callback when the interrupt
|
||||
* occurs.
|
||||
*/
|
||||
|
||||
oneshot->running = true;
|
||||
irqrestore(flags);
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_oneshot_cancel
|
||||
*
|
||||
* Description:
|
||||
* Cancel the oneshot timer and return the time remaining on the timer.
|
||||
*
|
||||
* NOTE: This function may execute at a high rate with no timer running (as
|
||||
* when pre-emption is enabled and disabled).
|
||||
*
|
||||
* Input Parameters:
|
||||
* oneshot Caller allocated instance of the oneshot state structure. This
|
||||
* structure must have been previously initialized via a call to
|
||||
* sam_oneshot_initialize();
|
||||
* ts The location in which to return the time remaining on the
|
||||
* oneshot timer. A time of zero is returned if the timer is
|
||||
* not running. ts may be zero in which case the time remaining
|
||||
* is not returned.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success. A call to up_timer_cancel() when
|
||||
* the timer is not active should also return success; a negated errno
|
||||
* value is returned on any failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int sam_oneshot_cancel(struct sam_oneshot_s *oneshot, struct timespec *ts)
|
||||
{
|
||||
irqstate_t flags;
|
||||
uint64_t usec;
|
||||
uint64_t sec;
|
||||
uint64_t nsec;
|
||||
uint32_t count;
|
||||
uint32_t rc;
|
||||
|
||||
/* Was the timer running? */
|
||||
|
||||
flags = irqsave();
|
||||
if (!oneshot->running)
|
||||
{
|
||||
/* No.. Just return zero timer remaining and successful cancellation.
|
||||
* This function may execute at a high rate with no timer running
|
||||
* (as when pre-emption is enabled and disabled).
|
||||
*/
|
||||
|
||||
ts->tv_sec = 0;
|
||||
ts->tv_nsec = 0;
|
||||
irqrestore(flags);
|
||||
return OK;
|
||||
}
|
||||
|
||||
/* Yes.. Get the timer counter and rc registers and stop the counter. If
|
||||
* the counter expires while we are doing this, the counter clock will be
|
||||
* stopped, but the clock will not be disabled.
|
||||
*
|
||||
* The expected behavior is that the the counter register will freezes at
|
||||
* a value equal to the RC register when the timer expires. The counter
|
||||
* should have values between 0 and RC in all other cased.
|
||||
*
|
||||
* REVISIT: This does not appear to be the case.
|
||||
*/
|
||||
|
||||
tcvdbg("Cancelling...\n");
|
||||
|
||||
count = sam_tc_getcounter(oneshot->tch);
|
||||
rc = sam_tc_getregister(oneshot->tch, TC_REGC);
|
||||
|
||||
/* Now we can disable the interrupt and stop the timer. */
|
||||
|
||||
sam_tc_attach(oneshot->tch, NULL, NULL, 0);
|
||||
sam_tc_stop(oneshot->tch);
|
||||
|
||||
oneshot->running = false;
|
||||
oneshot->handler = NULL;
|
||||
oneshot->arg = NULL;
|
||||
irqrestore(flags);
|
||||
|
||||
/* Did the caller provide us with a location to return the time
|
||||
* remaining?
|
||||
*/
|
||||
|
||||
if (ts)
|
||||
{
|
||||
/* Yes.. then calculate and return the time remaining on the
|
||||
* oneshot timer.
|
||||
*/
|
||||
|
||||
tcvdbg("rc=%lu count=%lu usec=%lu\n",
|
||||
(unsigned long)rc, (unsigned long)count, (unsigned long)usec);
|
||||
|
||||
/* REVISIT: I am not certain why the timer counter value sometimes
|
||||
* exceeds RC. Might be a bug, or perhaps the counter does not stop
|
||||
* in all cases.
|
||||
*/
|
||||
|
||||
if (count >= rc)
|
||||
{
|
||||
/* No time remaining (?) */
|
||||
|
||||
ts->tv_sec = 0;
|
||||
ts->tv_nsec = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* The total time remaining is the difference. Convert the that
|
||||
* to units of microseconds.
|
||||
*
|
||||
* frequency = ticks / second
|
||||
* seconds = ticks * frequency
|
||||
* usecs = (ticks * USEC_PER_SEC) / frequency;
|
||||
*/
|
||||
|
||||
usec = (((uint64_t)(rc - count)) * USEC_PER_SEC) /
|
||||
sam_tc_divfreq(oneshot->tch);
|
||||
|
||||
/* Return the time remaining in the correct form */
|
||||
|
||||
sec = usec / USEC_PER_SEC;
|
||||
nsec = ((usec) - (sec * USEC_PER_SEC)) * NSEC_PER_USEC;
|
||||
|
||||
ts->tv_sec = (time_t)sec;
|
||||
ts->tv_nsec = (unsigned long)nsec;
|
||||
}
|
||||
|
||||
tcvdbg("remaining (%lu, %lu)\n",
|
||||
(unsigned long)ts->tv_sec, (unsigned long)ts->tv_nsec);
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_oneshot_max_delay
|
||||
*
|
||||
* Description:
|
||||
* Return the maximum delay supported by the one shot timer (in
|
||||
* microseconds).
|
||||
*
|
||||
* Input Parameters:
|
||||
* oneshot Caller allocated instance of the oneshot state structure. This
|
||||
* structure must have been previously initialized via a call to
|
||||
* sam_oneshot_initialize();
|
||||
* usec The location in which to return the maximum delay.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned
|
||||
* on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#if 0 /* Not used */
|
||||
int sam_oneshot_max_delay(struct sam_oneshot_s *oneshot, uint64_t *usec)
|
||||
{
|
||||
DEBUGASSERT(oneshot && usec);
|
||||
*usec = (0xffffull * USEC_PER_SEC) / (uint64_t)sam_tc_divfreq(oneshot->tch);
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* CONFIG_SAMV7_ONESHOT */
|
203
arch/arm/src/samv7/sam_oneshot.h
Normal file
203
arch/arm/src/samv7/sam_oneshot.h
Normal file
@ -0,0 +1,203 @@
|
||||
/****************************************************************************
|
||||
* arch/arm/src/samv7/sam_oneshot.h
|
||||
*
|
||||
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef __ARCH_ARM_SRC_SAMV7_SAM_ONESHOT_H
|
||||
#define __ARCH_ARM_SRC_SAMV7_SAM_ONESHOT_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <time.h>
|
||||
|
||||
#include "sam_tc.h"
|
||||
|
||||
#ifdef CONFIG_SAMV7_ONESHOT
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/* This describes the callback function that will be invoked when the oneshot
|
||||
* timer expires. The oneshot fires, the client will receive:
|
||||
*
|
||||
* arg - The opaque argument provided when the interrupt was registered
|
||||
*/
|
||||
|
||||
typedef void (*oneshot_handler_t)(void *arg);
|
||||
|
||||
/* The oneshot client must allocate an instance of this structure and called
|
||||
* sam_oneshot_initialize() before using the oneshot facilities. The client
|
||||
* should not access the contents of this structure directly since the
|
||||
* contents are subject to change.
|
||||
*/
|
||||
|
||||
struct sam_oneshot_s
|
||||
{
|
||||
uint8_t chan; /* The timer/counter in use */
|
||||
volatile bool running; /* True: the timer is running */
|
||||
TC_HANDLE tch; /* Handle returned by
|
||||
* sam_tc_initialize() */
|
||||
volatile oneshot_handler_t handler; /* Oneshot expiration callback */
|
||||
volatile void *arg; /* The argument that will accompany
|
||||
* the callback */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_oneshot_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the oneshot timer wrapper
|
||||
*
|
||||
* Input Parameters:
|
||||
* oneshot Caller allocated instance of the oneshot state structure
|
||||
* chan Timer counter channel to be used. See the TC_CHAN*
|
||||
* definitions in arch/arm/src/samv7/sam_tc.h.
|
||||
* resolution The required resolution of the timer in units of
|
||||
* microseconds. NOTE that the range is restricted to the
|
||||
* range of uint16_t (excluding zero).
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned
|
||||
* on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int sam_oneshot_initialize(struct sam_oneshot_s *oneshot, int chan,
|
||||
uint16_t resolution);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_oneshot_max_delay
|
||||
*
|
||||
* Description:
|
||||
* Return the maximum delay supported by the one shot timer (in
|
||||
* microseconds).
|
||||
*
|
||||
* Input Parameters:
|
||||
* oneshot Caller allocated instance of the oneshot state structure. This
|
||||
* structure must have been previously initialized via a call to
|
||||
* sam_oneshot_initialize();
|
||||
* usec The location in which to return the maximum delay.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned
|
||||
* on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#if 0 /* Not used */
|
||||
int sam_oneshot_max_delay(struct sam_oneshot_s *oneshot, uint64_t *usec);
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_oneshot_start
|
||||
*
|
||||
* Description:
|
||||
* Start the oneshot timer
|
||||
*
|
||||
* Input Parameters:
|
||||
* oneshot Caller allocated instance of the oneshot state structure. This
|
||||
* structure must have been previously initialized via a call to
|
||||
* sam_oneshot_initialize();
|
||||
* handler The function to call when when the oneshot timer expires.
|
||||
* arg An opaque argument that will accompany the callback.
|
||||
* ts Provides the duration of the one shot timer.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned
|
||||
* on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int sam_oneshot_start(struct sam_oneshot_s *oneshot, oneshot_handler_t handler,
|
||||
void *arg, const struct timespec *ts);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_oneshot_cancel
|
||||
*
|
||||
* Description:
|
||||
* Cancel the oneshot timer and return the time remaining on the timer.
|
||||
*
|
||||
* NOTE: This function may execute at a high rate with no timer running (as
|
||||
* when pre-emption is enabled and disabled).
|
||||
*
|
||||
* Input Parameters:
|
||||
* oneshot Caller allocated instance of the oneshot state structure. This
|
||||
* structure must have been previously initialized via a call to
|
||||
* sam_oneshot_initialize();
|
||||
* ts The location in which to return the time remaining on the
|
||||
* oneshot timer. A time of zero is returned if the timer is
|
||||
* not running.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success. A call to up_timer_cancel() when
|
||||
* the timer is not active should also return success; a negated errno
|
||||
* value is returned on any failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int sam_oneshot_cancel(struct sam_oneshot_s *oneshot, struct timespec *ts);
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* CONFIG_SAMV7_ONESHOT */
|
||||
#endif /* __ARCH_ARM_SRC_SAMV7_SAM_ONESHOT_H */
|
@ -8,7 +8,7 @@
|
||||
*
|
||||
* SAMV71 Series Data Sheet
|
||||
* NuttX SAMA5 timer/counter driver
|
||||
* Atmel NoOS sample code for the SAMA5.
|
||||
* Atmel NoOS sample code for the SAMA5D3.
|
||||
*
|
||||
* The Atmel sample code has a BSD compatible license that requires this
|
||||
* copyright notice:
|
||||
|
391
arch/arm/src/samv7/sam_tickless.c
Normal file
391
arch/arm/src/samv7/sam_tickless.c
Normal file
@ -0,0 +1,391 @@
|
||||
/****************************************************************************
|
||||
* arch/arm/src/samv7/sam_tickless.c
|
||||
*
|
||||
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
* Tickless OS Support.
|
||||
*
|
||||
* When CONFIG_SCHED_TICKLESS is enabled, all support for timer interrupts
|
||||
* is suppressed and the platform specific code is expected to provide the
|
||||
* following custom functions.
|
||||
*
|
||||
* void up_timer_initialize(void): Initializes the timer facilities. Called
|
||||
* early in the initialization sequence (by up_intialize()).
|
||||
* int up_timer_gettime(FAR struct timespec *ts): Returns the current
|
||||
* time from the platform specific time source.
|
||||
* int up_timer_cancel(void): Cancels the interval timer.
|
||||
* int up_timer_start(FAR const struct timespec *ts): Start (or re-starts)
|
||||
* the interval timer.
|
||||
*
|
||||
* The RTOS will provide the following interfaces for use by the platform-
|
||||
* specific interval timer implementation:
|
||||
*
|
||||
* void sched_timer_expiration(void): Called by the platform-specific
|
||||
* logic when the interval timer expires.
|
||||
*
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
* SAMV7 Timer Usage
|
||||
*
|
||||
* This current implementation uses two timers: A one-shot timer to provide
|
||||
* the timed events and a free running timer to provide the current time.
|
||||
* Since timers are a limited resource, that could be an issue on some
|
||||
* systems.
|
||||
*
|
||||
* We could do the job with a single timer if we were to keep the single
|
||||
* timer in a free-running at all times. The SAMV7 timer/counters have
|
||||
* 16-bit counters with the capability to generate a compare interrupt when
|
||||
* the timer matches a compare value but also to continue counting without
|
||||
* stopping (giving another, different interrupt when the timer rolls over
|
||||
* from 0xffff to zero). So we could potentially just set the compare at
|
||||
* the number of ticks you want PLUS the current value of timer. Then you
|
||||
* could have both with a single timer: An interval timer and a free-
|
||||
* running counter with the same timer!
|
||||
*
|
||||
* Patches are welcome!
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
|
||||
#include "sam_oneshot.h"
|
||||
#include "sam_freerun.h"
|
||||
|
||||
#ifdef CONFIG_SCHED_TICKLESS
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef CONFIG_SAMV7_HAVE_TC
|
||||
# error Timer/counters must be selected for the Tickless OS option
|
||||
#endif
|
||||
|
||||
#ifndef CONFIG_SAMV7_ONESHOT
|
||||
# error CONFIG_SAMV7_ONESHOT must be selected for the Tickless OS option
|
||||
#endif
|
||||
|
||||
#ifndef CONFIG_SAMV7_FREERUN
|
||||
# error CONFIG_SAMV7_FREERUN must be selected for the Tickless OS option
|
||||
#endif
|
||||
|
||||
#ifndef CONFIG_SAMV7_TICKLESS_FREERUN
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN must be selected for the Tickless OS option
|
||||
#endif
|
||||
|
||||
#ifndef CONFIG_SAMV7_TICKLESS_ONESHOT
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT must be selected for the Tickless OS option
|
||||
#endif
|
||||
|
||||
#if CONFIG_SAMV7_TICKLESS_ONESHOT == 0 && !defined(CONFIG_SAMV7_TC0)
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT == 0 && CONFIG_SAMV7_TC0 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_ONESHOT == 1 && !defined(CONFIG_SAMV7_TC0)
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT == 1 && CONFIG_SAMV7_TC0 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_ONESHOT == 2 && !defined(CONFIG_SAMV7_TC0)
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT == 2 && CONFIG_SAMV7_TC0 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_ONESHOT == 3 && !defined(CONFIG_SAMV7_TC1)
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT == 3 && CONFIG_SAMV7_TC1 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_ONESHOT == 4 && !defined(CONFIG_SAMV7_TC1)
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT == 4 && CONFIG_SAMV7_TC1 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_ONESHOT == 5 && !defined(CONFIG_SAMV7_TC1)
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT == 5 && CONFIG_SAMV7_TC1 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_ONESHOT == 6 && !defined(CONFIG_SAMV7_TC2)
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT == 6 && CONFIG_SAMV7_TC2 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_ONESHOT == 7 && !defined(CONFIG_SAMV7_TC2)
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT == 7 && CONFIG_SAMV7_TC2 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_ONESHOT == 8 && !defined(CONFIG_SAMV7_TC2)
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT == 8 && CONFIG_SAMV7_TC2 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_ONESHOT == 9 && !defined(CONFIG_SAMV7_TC3)
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT == 9 && CONFIG_SAMV7_TC3 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_ONESHOT == 10 && !defined(CONFIG_SAMV7_TC3)
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT == 10 && CONFIG_SAMV7_TC3 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_ONESHOT == 11 && !defined(CONFIG_SAMV7_TC3)
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT == 11 && CONFIG_SAMV7_TC3 not selected
|
||||
#endif
|
||||
|
||||
#if CONFIG_SAMV7_TICKLESS_ONESHOT < 0 || CONFIG_SAMV7_TICKLESS_ONESHOT > 11
|
||||
# error CONFIG_SAMV7_TICKLESS_ONESHOT is not valid
|
||||
#endif
|
||||
|
||||
#if CONFIG_SAMV7_TICKLESS_FREERUN == 0 && !defined(CONFIG_SAMV7_TC0)
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN == 0 && CONFIG_SAMV7_TC0 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_FREERUN == 1 && !defined(CONFIG_SAMV7_TC0)
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN == 1 && CONFIG_SAMV7_TC0 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_FREERUN == 2 && !defined(CONFIG_SAMV7_TC0)
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN == 2 && CONFIG_SAMV7_TC0 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_FREERUN == 3 && !defined(CONFIG_SAMV7_TC1)
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN == 3 && CONFIG_SAMV7_TC1 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_FREERUN == 4 && !defined(CONFIG_SAMV7_TC1)
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN == 4 && CONFIG_SAMV7_TC1 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_FREERUN == 5 && !defined(CONFIG_SAMV7_TC1)
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN == 5 && CONFIG_SAMV7_TC1 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_FREERUN == 6 && !defined(CONFIG_SAMV7_TC2)
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN == 6 && CONFIG_SAMV7_TC2 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_FREERUN == 7 && !defined(CONFIG_SAMV7_TC2)
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN == 7 && CONFIG_SAMV7_TC2 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_FREERUN == 8 && !defined(CONFIG_SAMV7_TC2)
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN == 8 && CONFIG_SAMV7_TC2 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_FREERUN == 9 && !defined(CONFIG_SAMV7_TC3)
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN == 9 && CONFIG_SAMV7_TC3 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_FREERUN == 10 && !defined(CONFIG_SAMV7_TC3)
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN == 10 && CONFIG_SAMV7_TC3 not selected
|
||||
#elif CONFIG_SAMV7_TICKLESS_FREERUN == 11 && !defined(CONFIG_SAMV7_TC3)
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN == 11 && CONFIG_SAMV7_TC3 not selected
|
||||
#endif
|
||||
|
||||
#if CONFIG_SAMV7_TICKLESS_FREERUN < 0 || CONFIG_SAMV7_TICKLESS_FREERUN > 11
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN is not valid
|
||||
#endif
|
||||
|
||||
#if CONFIG_SAMV7_TICKLESS_FREERUN == CONFIG_SAMV7_TICKLESS_ONESHOT
|
||||
# error CONFIG_SAMV7_TICKLESS_FREERUN is the same as CONFIG_SAMV7_TICKLESS_ONESHOT
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
struct sam_tickless_s
|
||||
{
|
||||
struct sam_oneshot_s oneshot;
|
||||
struct sam_freerun_s freerun;
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
static struct sam_tickless_s g_tickless;
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sam_oneshot_handler
|
||||
*
|
||||
* Description:
|
||||
* Called when the one shot timer expires
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
* Assumptions:
|
||||
* Called early in the initialization sequence before any special
|
||||
* concurrency protections are required.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static void sam_oneshot_handler(void *arg)
|
||||
{
|
||||
tcllvdbg("Expired...\n");
|
||||
sched_timer_expiration();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_timer_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initializes all platform-specific timer facilities. This function is
|
||||
* called early in the initialization sequence by up_intialize().
|
||||
* On return, the current up-time should be available from
|
||||
* up_timer_gettime() and the interval timer is ready for use (but not
|
||||
* actively timing.
|
||||
*
|
||||
* Provided by platform-specific code and called from the architecture-
|
||||
* specific logic.
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
* Assumptions:
|
||||
* Called early in the initialization sequence before any special
|
||||
* concurrency protections are required.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void up_timer_initialize(void)
|
||||
{
|
||||
int ret;
|
||||
|
||||
/* Initialize the one-shot timer */
|
||||
|
||||
ret = sam_oneshot_initialize(&g_tickless.oneshot,
|
||||
CONFIG_SAMV7_TICKLESS_ONESHOT,
|
||||
CONFIG_USEC_PER_TICK);
|
||||
if (ret < 0)
|
||||
{
|
||||
tclldbg("ERROR: sam_oneshot_initialize failed\n");
|
||||
PANIC();
|
||||
}
|
||||
|
||||
/* Initialize the free-running timer */
|
||||
|
||||
ret = sam_freerun_initialize(&g_tickless.freerun,
|
||||
CONFIG_SAMV7_TICKLESS_FREERUN,
|
||||
CONFIG_USEC_PER_TICK);
|
||||
if (ret < 0)
|
||||
{
|
||||
tclldbg("ERROR: sam_freerun_initialize failed\n");
|
||||
PANIC();
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_timer_gettime
|
||||
*
|
||||
* Description:
|
||||
* Return the elapsed time since power-up (or, more correctly, since
|
||||
* up_timer_initialize() was called). This function is functionally
|
||||
* equivalent to:
|
||||
*
|
||||
* int clock_gettime(clockid_t clockid, FAR struct timespec *ts);
|
||||
*
|
||||
* when clockid is CLOCK_MONOTONIC.
|
||||
*
|
||||
* This function provides the basis for reporting the current time and
|
||||
* also is used to eliminate error build-up from small errors in interval
|
||||
* time calculations.
|
||||
*
|
||||
* Provided by platform-specific code and called from the RTOS base code.
|
||||
*
|
||||
* Input Parameters:
|
||||
* ts - Provides the location in which to return the up-time.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure.
|
||||
*
|
||||
* Assumptions:
|
||||
* Called from the the normal tasking context. The implementation must
|
||||
* provide whatever mutual exclusion is necessary for correct operation.
|
||||
* This can include disabling interrupts in order to assure atomic register
|
||||
* operations.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int up_timer_gettime(FAR struct timespec *ts)
|
||||
{
|
||||
return sam_freerun_counter(&g_tickless.freerun, ts);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_timer_cancel
|
||||
*
|
||||
* Description:
|
||||
* Cancel the interval timer and return the time remaining on the timer.
|
||||
* These two steps need to be as nearly atomic as possible.
|
||||
* sched_timer_expiration() will not be called unless the timer is
|
||||
* restarted with up_timer_start().
|
||||
*
|
||||
* If, as a race condition, the timer has already expired when this
|
||||
* function is called, then that pending interrupt must be cleared so
|
||||
* that up_timer_start() and the remaining time of zero should be
|
||||
* returned.
|
||||
*
|
||||
* NOTE: This function may execute at a high rate with no timer running (as
|
||||
* when pre-emption is enabled and disabled).
|
||||
*
|
||||
* Provided by platform-specific code and called from the RTOS base code.
|
||||
*
|
||||
* Input Parameters:
|
||||
* ts - Location to return the remaining time. Zero should be returned
|
||||
* if the timer is not active. ts may be zero in which case the
|
||||
* time remaining is not returned.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success. A call to up_timer_cancel() when
|
||||
* the timer is not active should also return success; a negated errno
|
||||
* value is returned on any failure.
|
||||
*
|
||||
* Assumptions:
|
||||
* May be called from interrupt level handling or from the normal tasking
|
||||
* level. Interrupts may need to be disabled internally to assure
|
||||
* non-reentrancy.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int up_timer_cancel(FAR struct timespec *ts)
|
||||
{
|
||||
return sam_oneshot_cancel(&g_tickless.oneshot, ts);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_timer_start
|
||||
*
|
||||
* Description:
|
||||
* Start the interval timer. sched_timer_expiration() will be
|
||||
* called at the completion of the timeout (unless up_timer_cancel
|
||||
* is called to stop the timing.
|
||||
*
|
||||
* Provided by platform-specific code and called from the RTOS base code.
|
||||
*
|
||||
* Input Parameters:
|
||||
* ts - Provides the time interval until sched_timer_expiration() is
|
||||
* called.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure.
|
||||
*
|
||||
* Assumptions:
|
||||
* May be called from interrupt level handling or from the normal tasking
|
||||
* level. Interrupts may need to be disabled internally to assure
|
||||
* non-reentrancy.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int up_timer_start(FAR const struct timespec *ts)
|
||||
{
|
||||
return sam_oneshot_start(&g_tickless.oneshot, sam_oneshot_handler, NULL, ts);
|
||||
}
|
||||
#endif /* CONFIG_SCHED_TICKLESS */
|
Loading…
Reference in New Issue
Block a user