nrf52: extend systimer support; support WFI/WFE again
This commit exends systimer options for nRF52 arch. It is possible to use ARM SysTick either for tickless or non-tickless mode. Also, it is possible to use the RTC peripheral for tickless mode. This also re-enables support for WFI/WFE sleep if RTC is used, since this counter continues to run in this mode (in contrast to SysTick).
This commit is contained in:
Matias N
Mateusz Szafoni
parent
dcd49c3882
commit
459ad29799
@ -208,6 +208,7 @@ config ARCH_CHIP_MOXART
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config ARCH_CHIP_NRF52
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bool "Nordic NRF52"
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select ARCH_CORTEXM4
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select ARCH_HAVE_TICKLESS
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#select ARCH_HAVE_MPU
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#select ARM_HAVE_MPU_UNIFIED
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select ARCH_HAVE_FPU
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@ -291,6 +291,57 @@ endif # NRF52_USE_LFCLK
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endmenu # Clock Configuration
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menu "System Timer"
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config NRF52_SYSTIMER
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bool
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default y
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choice
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prompt "System Timer Source"
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default NRF52_SYSTIMER_SYSTICK
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---help---
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Choose which hardware resource will drive NuttX
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system time
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config NRF52_SYSTIMER_SYSTICK
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bool "SysTick"
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select TIMER_ARCH
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select TIMER
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select ARMV7M_SYSTICK
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---help---
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Use ARM SysTick. It can be used for tickless and
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non-tickless mode.
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NOTE: nRF52 implementation of WFE/WFI involves is
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incompatible with SysTick. This means that if
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you choose this option, WFE/WFI will not be used
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in idle loop.
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config NRF52_SYSTIMER_RTC
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bool "RTC"
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select NRF52_RTC
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select SCHED_TICKLESS
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select SCHED_TICKLESS_ALARM
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select NRF52_USE_LFCLK
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---help---
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Use RTC timer in tickless mode.
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endchoice
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if NRF52_SYSTIMER_RTC
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config NRF52_SYSTIMER_RTC_INSTANCE
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int "RTC timer instance"
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default 0
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range 0 2
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---help---
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Which RTC instance to use to drive the system timer
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endif
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endmenu # System Timer
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config NRF52_FLASH_PREFETCH
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bool "Enable FLASH Pre-fetch"
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default y
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@ -45,12 +45,20 @@ endif
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CMN_CSRCS = arm_assert.c arm_blocktask.c arm_copyfullstate.c
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CMN_CSRCS += arm_createstack.c arm_doirq.c arm_exit.c arm_hardfault.c
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CMN_CSRCS += arm_initialize.c arm_initialstate.c arm_interruptcontext.c
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CMN_CSRCS += arm_memfault.c arm_mdelay.c arm_modifyreg8.c arm_modifyreg16.c
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CMN_CSRCS += arm_memfault.c arm_modifyreg8.c arm_modifyreg16.c
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CMN_CSRCS += arm_modifyreg32.c arm_releasepending.c arm_releasestack.c
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CMN_CSRCS += arm_reprioritizertr.c arm_schedulesigaction.c arm_sigdeliver.c
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CMN_CSRCS += arm_stackframe.c arm_svcall.c arm_trigger_irq.c arm_udelay.c
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CMN_CSRCS += arm_unblocktask.c arm_usestack.c arm_vfork.c arm_systemreset.c
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ifeq ($(CONFIG_NRF52_SYSTIMER_SYSTICK),y)
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CMN_CSRCS += arm_systick.c nrf52_systick.c
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else
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ifeq ($(CONFIG_NRF52_SYSTIMER_RTC),y)
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CMN_CSRCS += nrf52_tickless_rtc.c arm_mdelay.c
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endif
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endif
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ifeq ($(CONFIG_ARMV7M_LAZYFPU),y)
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CMN_ASRCS += arm_lazyexception.S
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else
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@ -85,12 +93,6 @@ ifeq ($(CONFIG_ARCH_CHIP_NRF52832),y)
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CHIP_CSRCS += nrf52832_errdata.c
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endif
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ifneq ($(CONFIG_SCHED_TICKLESS),y)
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CHIP_CSRCS += nrf52_timerisr.c
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else
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CHIP_CSRCS += nrf52_tickless.c
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endif
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ifeq ($(CONFIG_BUILD_PROTECTED),y)
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CHIP_CSRCS += nrf52_userspace.c nrf52_mpuinit.c
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endif
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@ -178,11 +178,11 @@ void up_idle(void)
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/* Sleep until an interrupt occurs to save power
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*
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* REVISIT: The SysTick's clock will only tick when the CPU is
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* The SysTick's clock will only tick when the CPU is
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* running (not in WFE/WFI) or when the system is in debug interface mode.
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*/
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#if 0
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#ifdef CONFIG_NRF52_SYSTIMER_RTC
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BEGIN_IDLE();
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asm("WFI");
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END_IDLE();
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@ -1,5 +1,5 @@
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/****************************************************************************
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* arch/arm/src/nrf52/nrf52_timerisr.c
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* arch/arm/src/nrf52/nrf52_systick.c
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*
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* Copyright (C) 2018 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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@ -46,68 +46,17 @@
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#include <nuttx/arch.h>
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#include <arch/board/board.h>
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#include "nvic.h"
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#include "clock/clock.h"
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#include "arm_internal.h"
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#include "arm_arch.h"
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#include <nuttx/timers/arch_timer.h>
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#include "systick.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* The SysTick clock may be clocked internally either by the by the system
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* clock (CLKSOURCE==1) or by the SysTick function clock (CLKSOURCE==0).
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* The SysTick Function clock is equal to:
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*
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* Fsystick = Fmainclk / SYSTICKCLKDIV
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*
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* Both the divider value (BOARD_SYSTICKCLKDIV) and the resulting SysTick
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* function clock frequency (Fsystick, BOARD_SYSTICK_CLOCK)
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*
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* The desired timer interrupt frequency is provided by the definition
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* CLK_TCK (see include/time.h). CLK_TCK defines the desired number of
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* system clock ticks per second. That value is a user configurable setting
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* that defaults to 100 (100 ticks per second = 10 MS interval).
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*
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* reload = (Fsystick / CLK_TICK) - 1
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*
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* Tips for selecting BOARD_SYSTICKCLKDIV: The resulting reload value
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* should be as large as possible, but must be less than 2^24:
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*
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* SYSTICKDIV > Fmainclk / CLK_TCK / 2^24
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*/
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#define SYSTICK_RELOAD ((BOARD_SYSTICK_CLOCK / CLK_TCK) - 1)
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/* The size of the reload field is 24 bits. Verify that the reload value
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* will fit in the reload register.
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*/
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#if SYSTICK_RELOAD > 0x00ffffff
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# error SYSTICK_RELOAD exceeds the range of the RELOAD register
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#endif
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Function: nrf52_timerisr
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*
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* Description:
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* The timer ISR will perform a variety of services for various portions
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* of the systems.
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*
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****************************************************************************/
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static int nrf52_timerisr(int irq, uint32_t *regs, void *arg)
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{
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/* Process timer interrupt */
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nxsched_process_timer();
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return 0;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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@ -123,26 +72,7 @@ static int nrf52_timerisr(int irq, uint32_t *regs, void *arg)
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void up_timer_initialize(void)
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{
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uint32_t regval;
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/* Use SysTick to drive system timer */
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regval = getreg32(NVIC_SYSTICK_CTRL);
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regval &= ~NVIC_SYSTICK_CTRL_CLKSOURCE;
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putreg32(regval, NVIC_SYSTICK_CTRL);
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/* Configure SysTick to interrupt at the requested rate */
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putreg32(SYSTICK_RELOAD, NVIC_SYSTICK_RELOAD);
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/* Attach the timer interrupt vector */
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irq_attach(NRF52_IRQ_SYSTICK, (xcpt_t)nrf52_timerisr, NULL);
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/* Enable SysTick interrupts */
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putreg32((NVIC_SYSTICK_CTRL_CLKSOURCE | NVIC_SYSTICK_CTRL_TICKINT |
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NVIC_SYSTICK_CTRL_ENABLE), NVIC_SYSTICK_CTRL);
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/* And enable the timer interrupt */
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up_enable_irq(NRF52_IRQ_SYSTICK);
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up_timer_set_lowerhalf(systick_initialize(true, BOARD_SYSTICK_CLOCK, -1));
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}
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330
arch/arm/src/nrf52/nrf52_tickless_rtc.c
Normal file
330
arch/arm/src/nrf52/nrf52_tickless_rtc.c
Normal file
@ -0,0 +1,330 @@
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/****************************************************************************
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* arch/arm/src/nrf52/nrf52_tickless_rtc.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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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 <stdbool.h>
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#include <string.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/arch.h>
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#include "arm_arch.h"
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#include "hardware/nrf52_rtc.h"
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#include "nrf52_rtc.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Check corresponding RTC support */
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#if (CONFIG_NRF52_SYSTIMER_RTC_INSTANCE == 0) && !defined(CONFIG_NRF52_RTC0)
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# error "Support for RTC0 is not enabled"
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#elif (CONFIG_NRF52_SYSTIMER_RTC_INSTANCE == 1) && !defined(CONFIG_NRF52_RTC1)
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# error "Support for RTC1 is not enabled"
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#elif (CONFIG_NRF52_SYSTIMER_RTC_INSTANCE == 2) && !defined(CONFIG_NRF52_RTC2)
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# error "Support for RTC2 is not enabled"
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#endif
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/* TIMER configuration */
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#if (CONFIG_NRF52_SYSTIMER_RTC_INSTANCE == 0)
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# define NRF52_RTC_BASE NRF52_RTC0_BASE
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#elif (CONFIG_NRF52_SYSTIMER_RTC_INSTANCE == 1)
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# define NRF52_RTC_BASE NRF52_RTC1_BASE
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#elif (CONFIG_NRF52_SYSTIMER_RTC_INSTANCE == 2)
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# define NRF52_RTC_BASE NRF52_RTC2_BASE
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#endif
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#define NRF52_RTC_PERIOD (512)
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#define NRF52_RTC_MAX (0x00ffffff)
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#define NRF52_RTC_MAX_TIME (NRF52_RTC_MAX * 31)
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/* Convert uS to timer count for f = 32768Hz, using more precision
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* when possible:
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* (1 / 32768) s ~ 30.51 uS ~ 31 uS
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* 512 * (1 / 32768) s = 0.015625 s = 15625 uS
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* So, instead of always dividing by 31, if t * 512 < (2**32 - 1), we can do:
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* (t * 512) / 15625 ~ t / 30.51
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*/
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#define USEC_TO_COUNTER(t) (t > 0x7fffff ? (t / 31) : ((t * 512) / 15625))
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/* To convert from counter to uS we split the counter into one second worth
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* of counts (32768) and a fractional part we can safely multiply first
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* by (USEC_PER_SEC/8) and still be within 32 bit value
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*/
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#define COUNTER_TO_USEC(c) ((c / 32768) * USEC_PER_SEC) + \
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(((c % 32768) * (USEC_PER_SEC / 8)) / (32768 / 8))
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/****************************************************************************
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* Private Types
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****************************************************************************/
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struct nrf52_tickless_dev_s
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{
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FAR struct nrf52_rtc_dev_s *rtc; /* nrf52 RTC driver */
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uint32_t periods; /* how many times the timer overflowed */
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bool alarm_set; /* is the alarm set? */
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struct timespec alarm; /* absolute time of alarm */
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int rtc_handler(int irq, void *context, void *arg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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struct nrf52_tickless_dev_s g_tickless_dev;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static void rtc_counter_to_ts(uint32_t counter, struct timespec *now)
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{
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uint32_t usec;
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usec = COUNTER_TO_USEC(counter);
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now->tv_sec = usec / USEC_PER_SEC;
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now->tv_nsec = (usec % USEC_PER_SEC) * NSEC_PER_USEC;
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now->tv_sec += g_tickless_dev.periods * NRF52_RTC_PERIOD;
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}
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static void rtc_prepare_alarm(void)
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{
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struct timespec now;
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struct timespec delta;
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uint32_t usec;
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uint32_t counter;
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uint32_t target_counter;
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/* get current counter and absolute time */
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NRF52_RTC_GETCOUNTER(g_tickless_dev.rtc, &counter);
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rtc_counter_to_ts(counter, &now);
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/* obtain relative time to alarm */
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clock_timespec_subtract(&g_tickless_dev.alarm, &now, &delta);
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usec = delta.tv_sec * USEC_PER_SEC + delta.tv_nsec / NSEC_PER_USEC;
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/* if the alarm is to expire within one RTC period, we can set the CC */
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if (usec < NRF52_RTC_PERIOD * USEC_PER_SEC)
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{
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/* usec is the time w.r.t. now, so we compute the counter compare value
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* from current counter. as this may be "behind" the counter, we wrap
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* around one full timer period
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*/
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target_counter = USEC_TO_COUNTER(usec);
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if (target_counter < 2)
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{
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/* ensure counter fires, from nRF52832_PS_v1.4 (p. 245):
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* "If the COUNTER is N, writing N+2 to a CC register is
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* guaranteed to trigger a COMPARE event at N+2."
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*/
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target_counter = 2;
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}
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target_counter = (counter + target_counter) % (NRF52_RTC_MAX + 1);
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NRF52_RTC_SETCC(g_tickless_dev.rtc, NRF52_RTC_CC0, target_counter);
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NRF52_RTC_ENABLEINT(g_tickless_dev.rtc, NRF52_RTC_EVT_COMPARE0);
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}
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}
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/****************************************************************************
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* Name: rtc_handler
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****************************************************************************/
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static int rtc_handler(int irq, void *context, void *arg)
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{
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irqstate_t flags;
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flags = enter_critical_section();
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/* if the timer wrapped-around */
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if (getreg32(NRF52_RTC_BASE + NRF52_RTC_EVENTS_OVRFLW_OFFSET))
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{
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/* ack interrupt */
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NRF52_RTC_ACKINT(g_tickless_dev.rtc, NRF52_RTC_EVT_OVRFLW);
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/* count one more period */
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g_tickless_dev.periods++;
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/* check if the currently set alarm is to fire in this new period */
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if (g_tickless_dev.alarm_set)
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{
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rtc_prepare_alarm();
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}
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}
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/* if the compare event fired */
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if (getreg32(NRF52_RTC_BASE + NRF52_RTC_EVENTS_COMPARE_OFFSET(0)))
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{
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struct timespec now;
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/* cancel alarm and get current time */
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up_alarm_cancel(&now);
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/* let scheduler now of alarm firing */
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nxsched_alarm_expiration(&now);
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}
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leave_critical_section(flags);
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return OK;
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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: up_alarm_cancel
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****************************************************************************/
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int up_alarm_cancel(FAR struct timespec *ts)
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{
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if (g_tickless_dev.alarm_set)
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{
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uint32_t counter;
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irqstate_t flags;
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flags = enter_critical_section();
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NRF52_RTC_DISABLEINT(g_tickless_dev.rtc, NRF52_RTC_EVT_COMPARE0);
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NRF52_RTC_GETCOUNTER(g_tickless_dev.rtc, &counter);
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rtc_counter_to_ts(counter, ts);
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NRF52_RTC_ACKINT(g_tickless_dev.rtc, NRF52_RTC_EVT_COMPARE0);
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g_tickless_dev.alarm_set = false;
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leave_critical_section(flags);
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}
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|
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return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_alarm_start
|
||||
****************************************************************************/
|
||||
|
||||
int up_alarm_start(FAR const struct timespec *ts)
|
||||
{
|
||||
irqstate_t flags;
|
||||
flags = enter_critical_section();
|
||||
|
||||
/* remember the alarm time */
|
||||
|
||||
g_tickless_dev.alarm_set = true;
|
||||
g_tickless_dev.alarm = *ts;
|
||||
|
||||
rtc_prepare_alarm();
|
||||
|
||||
leave_critical_section(flags);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_timer_gettime
|
||||
****************************************************************************/
|
||||
|
||||
int up_timer_gettime(FAR struct timespec *ts)
|
||||
{
|
||||
uint32_t counter;
|
||||
irqstate_t flags;
|
||||
|
||||
flags = enter_critical_section();
|
||||
|
||||
NRF52_RTC_GETCOUNTER(g_tickless_dev.rtc, &counter);
|
||||
rtc_counter_to_ts(counter, ts);
|
||||
|
||||
leave_critical_section(flags);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_timer_initialize
|
||||
****************************************************************************/
|
||||
|
||||
void up_timer_initialize(void)
|
||||
{
|
||||
struct timespec ts;
|
||||
|
||||
g_tickless_dev.rtc = nrf52_rtc_init(CONFIG_NRF52_SYSTIMER_RTC_INSTANCE);
|
||||
g_tickless_dev.periods = 0;
|
||||
g_tickless_dev.alarm_set = false;
|
||||
|
||||
/* Ensure we have support for the selected RTC instance */
|
||||
|
||||
ASSERT(g_tickless_dev.rtc);
|
||||
|
||||
/* Configure prescaler */
|
||||
|
||||
NRF52_RTC_SETPRE(g_tickless_dev.rtc, 0);
|
||||
|
||||
/* Configure ISR */
|
||||
|
||||
NRF52_RTC_SETISR(g_tickless_dev.rtc, rtc_handler, NULL);
|
||||
|
||||
/* Enable overflow interrupt */
|
||||
|
||||
NRF52_RTC_ENABLEINT(g_tickless_dev.rtc, NRF52_RTC_EVT_OVRFLW);
|
||||
|
||||
/* Start counting */
|
||||
|
||||
NRF52_RTC_CLEAR(g_tickless_dev.rtc);
|
||||
NRF52_RTC_ACKINT(g_tickless_dev.rtc, NRF52_RTC_EVT_OVRFLW);
|
||||
NRF52_RTC_ACKINT(g_tickless_dev.rtc, NRF52_RTC_EVT_COMPARE0);
|
||||
NRF52_RTC_START(g_tickless_dev.rtc);
|
||||
|
||||
/* kick off alarm scheduling */
|
||||
|
||||
ts.tv_sec = ts.tv_nsec = 0;
|
||||
nxsched_alarm_expiration(&ts);
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user