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SAM4CM: Add support for tickless operation

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This commit is contained in:
Gregory Nutt 2015-02-03 07:00:54 -06:00
parent c5ab7c39d3
commit cabaf7399a
10 changed files with 3276 additions and 6 deletions
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133
arch/arm/src/sam34/Kconfig
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@ -929,6 +929,139 @@ config SAM34_GPIOF_IRQ
endif # SAM34_GPIO_IRQ
endmenu # AT91SAM3/4 GPIO Interrupt Configuration
menu "AT91SAM3/4 Timer/Counter Configuration"
depends on SAM34_TC
config SAM34_TC0_CLK
bool "Enable TC channel 0 clock input pin"
default n
depends on SAM34_TC0
config SAM34_TC0_TIOA
bool "Enable TC channel 0 output A"
default n
depends on SAM34_TC0
config SAM34_TC0_TIOB
bool "Enable TC channel 0 output B"
default n
depends on SAM34_TC0
config SAM34_TC1_CLK
bool "Enable TC channel 1 clock input pin"
default n
depends on SAM34_TC1
config SAM34_TC1_TIOA
bool "Enable TC channel 1 output A"
default n
depends on SAM34_TC1
config SAM34_TC1_TIOB
bool "Enable TC channel 1 output B"
default n
depends on SAM34_TC1
config SAM34_TC2_CLK
bool "Enable TC channel 2 clock input pin"
default n
depends on SAM34_TC2
config SAM34_TC2_TIOA2
bool "Enable TC channel 2 output A"
default n
depends on SAM34_TC2
config SAM34_TC2_TIOB2
bool "Enable TC channel 2 output B"
default n
depends on SAM34_TC2
config SAM34_TC3_CLK
bool "Enable TC channel 3 clock input pin"
default n
depends on SAM34_TC3
config SAM34_TC3_TIOA
bool "Enable TC channel 3 output A"
default n
depends on SAM34_TC3
config SAM34_TC3_TIOB
bool "Enable TC channel 3 output B"
default n
depends on SAM34_TC3
config SAM34_TC4_CLK
bool "Enable TC channel 4 clock input pin"
default n
depends on SAM34_TC4
config SAM34_TC4_TIOA
bool "Enable TC channel 4 output A"
default n
depends on SAM34_TC4
config SAM34_TC4_TIOB
bool "Enable TC channel 4 output B"
default n
depends on SAM34_TC4
config SAM34_TC5_CLK
bool "Enable TC channel 5 clock input pin"
default n
depends on SAM34_TC5
config SAM34_TC5_TIOA
bool "Enable TC channel 5 output A"
default n
depends on SAM34_TC5
config SAM34_TC5_TIOB
bool "Enable TC channel 5 output B"
default n
depends on SAM34_TC5
config SAM34_ONESHOT
bool "TC one-shot wrapper"
default n if !SCHED_TICKLESS
default y if SCHED_TICKLESS
---help---
Enable a wrapper around the low level timer/counter functions to
support one-shot timer.
config SAM34_FREERUN
bool "TC free-running wrapper"
default n if !SCHED_TICKLESS
default y if SCHED_TICKLESS
---help---
Enable a wrapper around the low level timer/counter functions to
support a free-running timer.
endif # ARCH_CHIP_SAM4CM
if SCHED_TICKLESS
config SAM34_TICKLESS_ONESHOT
int "Tickless one-shot timer channel"
default 0
range 0 8
---help---
If the Tickless OS feature is enabled, the one clock must be
assigned to provided the one-shot timer needed by the OS.
config SAM34_TICKLESS_FREERUN
int "Tickless free-running timer channel"
default 1
range 0 8
---help---
If the Tickless OS feature is enabled, the one clock must be
assigned to provided the free-running timer needed by the OS.
endif
endmenu # AT91SAM3/4 Timer/Counter Configuration
if SAM34_SPI0 || SAM34_SPI1
menu "AT91SAM3/4 SPI device driver options"

17
arch/arm/src/sam34/Make.defs
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@ -1,7 +1,7 @@
############################################################################
# arch/arm/src/sam34/Make.defs
#
# Copyright (C) 2009-2011, 2013-2014 Gregory Nutt. All rights reserved.
# Copyright (C) 2009-2011, 2013-2015 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# Redistribution and use in source and binary forms, with or without
@ -161,3 +161,18 @@ endif
ifeq ($(CONFIG_TIMER),y)
CHIP_CSRCS += sam_tc.c
endif
ifeq ($(CONFIG_ARCH_CHIP_SAM4CM),y)
ifeq ($(CONFIG_SAM34_TC),y)
CHIP_CSRCS += sam4cm_tc.c
ifeq ($(CONFIG_SAM34_ONESHOT),y)
CHIP_CSRCS += sam4cm_oneshot.c
endif
ifeq ($(CONFIG_SAM34_FREERUN),y)
CHIP_CSRCS += sam4cm_freerun.c
endif
ifeq ($(CONFIG_SCHED_TICKLESS),y)
CHIP_CSRCS += sam4cm_tickless.c
endif
endif
endif

11
arch/arm/src/sam34/chip/sam_tc.h
View File

@ -325,6 +325,7 @@
#define TC_CMR_TCCLKS_SHIFT (0) /* Bits 0-2: Clock Selection */
#define TC_CMR_TCCLKS_MASK (7 << TC_CMR_TCCLKS_SHIFT)
# define TC_CMR_TCCLKS(n) ((uint32_t)(n) << TC_CMR_TCCLKS_SHIFT)
# define TC_CMR_TCCLKS_TIMERCLOCK1 (0 << TC_CMR_TCCLKS_SHIFT)
# define TC_CMR_TCCLKS_TIMERCLOCK2 (1 << TC_CMR_TCCLKS_SHIFT)
# define TC_CMR_TCCLKS_TIMERCLOCK3 (2 << TC_CMR_TCCLKS_SHIFT)
@ -335,11 +336,11 @@
# define TC_CMR_TCCLKS_XC2 (7 << TC_CMR_TCCLKS_SHIFT)
#define TC_CMR_CLKI (1 << 3) /* Bit 3: Clock Invert */
#define TC_CMR_BURST_SHIFT (4) /* Bits 4-5: Burst Signal Selection */
#define TC_CMR_BURST_MASK (3 << TC_CMR_BURST_MASK)
# define TC_CMR_BURST_NOTGATED (0 << TC_CMR_BURST_MASK) /* Nott gated by external signal */
# define TC_CMR_BURST_XC0 (1 << TC_CMR_BURST_MASK) /* XC0 ANDed with selected clock */
# define TC_CMR_BURST_XC1 (2 << TC_CMR_BURST_MASK) /* XC1 ANDed with selected clock */
# define TC_CMR_BURST_XC2 (3 << TC_CMR_BURST_MASK) /* XC2 ANDed with selected clock */
#define TC_CMR_BURST_MASK (3 << TC_CMR_BURST_SHIFT)
# define TC_CMR_BURST_NOTGATED (0 << TC_CMR_BURST_SHIFT) /* Nott gated by external signal */
# define TC_CMR_BURST_XC0 (1 << TC_CMR_BURST_SHIFT) /* XC0 ANDed with selected clock */
# define TC_CMR_BURST_XC1 (2 << TC_CMR_BURST_SHIFT) /* XC1 ANDed with selected clock */
# define TC_CMR_BURST_XC2 (3 << TC_CMR_BURST_SHIFT) /* XC2 ANDed with selected clock */
#define TC_CMR_WAVE (1 << 15) /* Bit 15: Waveform Mode */
/* TC Channel Mode Register -- Capture mode only */

314
arch/arm/src/sam34/sam4cm_freerun.c Normal file
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@ -0,0 +1,314 @@
/****************************************************************************
* arch/arm/src/sam34/sam_freerun.c
*
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* References:
*
* 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 "sam4cm_freerun.h"
#ifdef CONFIG_SAM34_ONESHOT
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: sam_freerun_handler
*
* Description:
* Timer interrupt callback. When the freerun timer counter overflows,
* this interrupt will occur. We will just increment an overflow count.
*
* 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_freerun_handler(TC_HANDLE tch, void *arg, uint32_t sr)
{
struct sam_freerun_s *freerun = (struct sam_freerun_s *)arg;
DEBUGASSERT(freerun && freerun->overflow < UINT16_MAX);
freerun->overflow++;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: sam_freerun_initialize
*
* Description:
* Initialize the freerun timer wrapper
*
* Input Parameters:
* freerun Caller allocated instance of the freerun state structure
* chan Timer counter channel to be used. See the TC_CHAN*
* definitions in arch/arm/src/sam34/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_freerun_initialize(struct sam_freerun_s *freerun, 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(freerun && 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=%u, 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=0 - Don't 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_UP - TC_CV is incremented from 0 to 0xffffffff
* 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_NOTGATED | TC_CMR_EEVTEDG_NONE | TC_CMR_EEVT_TIOB |
TC_CMR_WAVSEL_UP | 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);
freerun->tch = sam_tc_allocate(chan, cmr);
if (!freerun->tch)
{
tcdbg("ERROR: Failed to allocate timer channel %d\n", chan);
return -EBUSY;
}
/* Initialize the remaining fields in the state structure and return
* success.
*/
freerun->chan = chan;
freerun->running = false;
freerun->overflow = 0;
/* Set up to receive the callback when the counter overflow occurs */
(void)sam_tc_attach(freerun->tch, sam_freerun_handler, freerun,
TC_INT_COVFS);
/* Start the counter */
sam_tc_start(freerun->tch);
return OK;
}
/****************************************************************************
* Name: sam_freerun_counter
*
* Description:
* 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 from the free-running
* timer.
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned
* on failure.
*
****************************************************************************/
int sam_freerun_counter(struct sam_freerun_s *freerun, struct timespec *ts)
{
uint64_t usec;
uint32_t counter;
uint32_t verify;
uint32_t sr;
uint32_t overflow;
uint32_t sec;
irqstate_t flags;
DEBUGASSERT(freerun && freerun->tch && ts);
/* Temporarily disable the overflow counter */
flags = irqsave();
overflow = freerun->overflow;
counter = sam_tc_getcounter(freerun->tch);
sr = sam_tc_getpending(freerun->tch);
verify = sam_tc_getcounter(freerun->tch);
irqrestore(flags);
tcvdbg("counter=%lu (%lu) overflow=%lu, sr=%08lx\n",
(unsigned long)counter, (unsigned long)verify,
(unsigned long)overflow, (unsigned long)sr);
/* If an interrupt was pending before we re-enabled interrupts,
* then our value of overflow needs to be incremented.
*/
if ((sr & TC_INT_COVFS) != 0)
{
/* Increment the overflow count and use the value of the
* guaranteed to be AFTER the overflow occurred.
*/
overflow++;
counter = verify;
tcvdbg("counter=%lu overflow=%lu\n",
(unsigned long)counter, (unsigned long)overflow);
}
/* Convert the whole thing to units of microseconds.
*
* frequency = ticks / second
* seconds = ticks * frequency
* usecs = (ticks * USEC_PER_SEC) / frequency;
*/
usec = ((((uint64_t)overflow << 16) + (uint64_t)counter) * USEC_PER_SEC) /
sam_tc_divfreq(freerun->tch);
/* And return the value of the timer */
sec = (uint32_t)(usec / USEC_PER_SEC);
ts->tv_sec = sec;
ts->tv_nsec = (usec - (sec * USEC_PER_SEC)) * NSEC_PER_USEC;
tcvdbg("usec=%llu ts=(%lu, %lu)\n",
usec, (unsigned long)ts->tv_sec, (unsigned long)ts->tv_nsec);
return OK;
}
/****************************************************************************
* 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)
{
DEBUGASSERT(freerun && freerun->tch);
/* Now we can disable the timer interrupt and disable the timer. */
sam_tc_attach(freerun->tch, NULL, NULL, 0);
sam_tc_stop(freerun->tch);
/* Free the timer */
sam_tc_free(freerun->tch);
freerun->tch = NULL;
return OK;
}
#endif /* CONFIG_SAM34_ONESHOT */

156
arch/arm/src/sam34/sam4cm_freerun.h Normal file
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@ -0,0 +1,156 @@
/****************************************************************************
* arch/arm/src/sam34/sam_freerun.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_SAM34_SAM_FREERUN_H
#define __ARCH_ARM_SRC_SAM34_SAM_FREERUN_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <time.h>
#include "sam4cm_tc.h"
#ifdef CONFIG_SAM34_FREERUN
/****************************************************************************
* Public Types
****************************************************************************/
/* The freerun client must allocate an instance of this structure and called
* sam_freerun_initialize() before using the freerun facilities. The client
* should not access the contents of this structure directly since the
* contents are subject to change.
*/
struct sam_freerun_s
{
uint8_t chan; /* The timer/counter in use */
bool running; /* True: the timer is running */
uint16_t overflow; /* Timer counter overflow */
TC_HANDLE tch; /* Handle returned by sam_tc_initialize() */
};
/****************************************************************************
* Public Data
****************************************************************************/
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: sam_freerun_initialize
*
* Description:
* Initialize the freerun timer wrapper
*
* Input Parameters:
* freerun Caller allocated instance of the freerun state structure
* chan Timer counter channel to be used. See the TC_CHAN*
* definitions in arch/arm/src/sama5/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_freerun_initialize(struct sam_freerun_s *freerun, int chan,
uint16_t resolution);
/****************************************************************************
* Name: sam_freerun_counter
*
* Description:
* 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.
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned
* on failure.
*
****************************************************************************/
int sam_freerun_counter(struct sam_freerun_s *freerun, struct timespec *ts);
/****************************************************************************
* 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_SAM34_FREERUN */
#endif /* __ARCH_ARM_SRC_SAM34_SAM_FREERUN_H */

448
arch/arm/src/sam34/sam4cm_oneshot.c Normal file
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@ -0,0 +1,448 @@
/****************************************************************************
* arch/arm/src/sam34/sam4cm_oneshot.c
*
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* References:
*
* 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 "sam4cm_oneshot.h"
#ifdef CONFIG_SAM34_ONESHOT
/****************************************************************************
* 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/sam34/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_NOTGATED | TC_CMR_CPCSTOP | TC_CMR_EEVTEDG_NONE |
TC_CMR_EEVT_TIOB | TC_CMR_WAVSEL_UPAUTO | 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_max_delay
*
* Description:
* Determine the maximum delay of the one-shot timer (in microseconds)
*
****************************************************************************/
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;
}
/****************************************************************************
* 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;
}
#endif /* CONFIG_SAM34_ONESHOT */

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/****************************************************************************
* arch/arm/src/sam34/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_SAM34_SAM_ONESHOT_H
#define __ARCH_ARM_SRC_SAM34_SAM_ONESHOT_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <time.h>
#include "sam4cm_tc.h"
#ifdef CONFIG_SAM34_ONESHOT
/****************************************************************************
* 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/sama5/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);
int sam_oneshot_max_delay(struct sam_oneshot_s *oneshot, uint64_t *usec);
/****************************************************************************
* 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_SAM34_ONESHOT */
#endif /* __ARCH_ARM_SRC_SAM34_SAM_ONESHOT_H */

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/****************************************************************************
* arch/arm/src/sam34/sam4cm_tc.h
*
* Copyright (C) 2013-2015 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_SAM34_SAM4CM_TC_H
#define __ARCH_ARM_SRC_SAM34_SAM4CM_TC_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <debug.h>
#include "chip.h"
#include "chip/sam_tc.h"
#if defined(CONFIG_SAM34_TC0) || defined(CONFIG_SAM34_TC1) || defined(CONFIG_SAM34_TC2)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* The timer/counter and channel arguments to sam_tc_allocate() */
#define TC_CHAN0 0 /* TC0 */
#define TC_CHAN1 1
#define TC_CHAN2 2
#define TC_CHAN3 3 /* TC1 */
#define TC_CHAN4 4
#define TC_CHAN5 5
/* Register identifier used with sam_tc_setregister */
#define TC_REGA 0
#define TC_REGB 1
#define TC_REGC 2
/* Timer debug is enabled if any timer client is enabled */
#ifndef CONFIG_DEBUG
# undef CONFIG_DEBUG_ANALOG
# undef CONFIG_SAMA5_TC_REGDEBUG
#endif
#if !defined(CONFIG_SAM34_TC_DEBUG) && defined(CONFIG_SAM34_ADC) && defined(CONFIG_DEBUG_ANALOG)
# define CONFIG_SAM34_TC_DEBUG 1
#endif
/* Timer/counter debug output */
#ifdef CONFIG_SAM34_TC_DEBUG
# define tcdbg dbg
# define tcvdbg vdbg
# define tclldbg lldbg
# define tcllvdbg llvdbg
#else
# define tcdbg(x...)
# define tcvdbg(x...)
# define tclldbg(x...)
# define tcllvdbg(x...)
#endif
/****************************************************************************
* Public Types
****************************************************************************/
/* An opaque handle used to represent a timer channel */
typedef void *TC_HANDLE;
/* Timer interrupt callback. When a timer interrupt expires, the client will
* receive:
*
* 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.
*/
typedef void (*tc_handler_t)(TC_HANDLE tch, void *arg, uint32_t sr);
/****************************************************************************
* Public Data
****************************************************************************/
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: sam_tc_allocate
*
* Description:
* Configures a Timer Counter to operate in the given mode. The timer is
* stopped after configuration and must be restarted with sam_tc_start().
* All the interrupts of the timer are also disabled.
*
* Input Parameters:
* channel TC channel number (see TC_CHANx definitions)
* mode Operating mode (TC_CMR value).
*
* Returned Value:
* On success, a non-NULL handle value is returned. This handle may be
* used with subsequent timer/counter interfaces to manage the timer. A
* NULL handle value is returned on a failure.
*
****************************************************************************/
TC_HANDLE sam_tc_allocate(int channel, int mode);
/****************************************************************************
* Name: sam_tc_free
*
* Description:
* Release the handle previously allocated by sam_tc_allocate().
*
* Input Parameters:
* handle Channel handle previously allocated by sam_tc_allocate()
*
* Returned Value:
* None
*
****************************************************************************/
void sam_tc_free(TC_HANDLE handle);
/****************************************************************************
* Name: sam_tc_start
*
* Description:
* Reset and Start the TC Channel. Enables the timer clock and performs a
* software reset to start the counting.
*
* Input Parameters:
* handle Channel handle previously allocated by sam_tc_allocate()
*
* Returned Value:
*
****************************************************************************/
void sam_tc_start(TC_HANDLE handle);
/****************************************************************************
* Name: sam_tc_stop
*
* Description:
* Stop TC Channel. Disables the timer clock, stopping the counting.
*
* Input Parameters:
* handle Channel handle previously allocated by sam_tc_allocate()
*
* Returned Value:
*
****************************************************************************/
void sam_tc_stop(TC_HANDLE handle);
/****************************************************************************
* Name: sam_tc_attach/sam_tc_detach
*
* Description:
* Attach or detach an interrupt handler to the timer interrupt. The
* interrupt is detached if the handler argument is NULL.
*
* Input Parameters:
* handle The handle that represents the timer state
* handler The interrupt handler that will be invoked when the interrupt
* condition occurs
* arg An opaque argument that will be provided when the interrupt
* handler callback is executed. Ignored if handler is NULL.
* mask The value of the timer interrupt mask register that defines
* which interrupts should be disabled. Ignored if handler is
* NULL.
*
* Returned Value:
* The address of the previous handler, if any.
*
****************************************************************************/
tc_handler_t sam_tc_attach(TC_HANDLE handle, tc_handler_t handler,
void *arg, uint32_t mask);
#define sam_tc_detach(h) sam_tc_attach(h, NULL, NULL, 0)
/****************************************************************************
* Name: sam_tc_getpending
*
* Description:
* Return the current contents of the interrutp status register, clearing
* all pending interrupts.
*
* Input Parameters:
* handle The handle that represents the timer state
*
* Returned Value:
* The value of the channel interrupt status register.
*
****************************************************************************/
uint32_t sam_tc_getpending(TC_HANDLE handle);
/****************************************************************************
* Name: sam_tc_setregister
*
* Description:
* Set TC_REGA, TC_REGB, or TC_REGC register.
*
* Input Parameters:
* handle Channel handle previously allocated by sam_tc_allocate()
* regid One of {TC_REGA, TC_REGB, or TC_REGC}
* regval Then value to set in the register
*
* Returned Value:
* None
*
****************************************************************************/
void sam_tc_setregister(TC_HANDLE handle, int regid, uint32_t regval);
/****************************************************************************
* Name: sam_tc_getregister
*
* Description:
* Get the current value of the TC_REGA, TC_REGB, or TC_REGC register.
*
* Input Parameters:
* handle Channel handle previously allocated by sam_tc_allocate()
* regid One of {TC_REGA, TC_REGB, or TC_REGC}
*
* Returned Value:
* The value of the specified register.
*
****************************************************************************/
uint32_t sam_tc_getregister(TC_HANDLE handle, int regid);
/****************************************************************************
* Name: sam_tc_getcounter
*
* Description:
* Return the current value of the timer counter register
*
* Input Parameters:
* handle Channel handle previously allocated by sam_tc_allocate()
*
* Returned Value:
* The current value of the timer counter register for this channel.
*
****************************************************************************/
uint32_t sam_tc_getcounter(TC_HANDLE handle);
/****************************************************************************
* Name: sam_tc_infreq
*
* Description:
* Return the timer input frequency, that is, the MCK frequency divided
* down so that the timer/counter is driven within its maximum frequency.
*
* Input Parameters:
* None
*
* Returned Value:
* The timer input frequency.
*
****************************************************************************/
uint32_t sam_tc_infreq(void);
/****************************************************************************
* Name: sam_tc_divfreq
*
* Description:
* Return the divided timer input frequency that is currently driving the
* the timer counter.
*
* Input Parameters:
* handle Channel handle previously allocated by sam_tc_allocate()
*
* Returned Value:
* The timer counter frequency.
*
****************************************************************************/
uint32_t sam_tc_divfreq(TC_HANDLE handle);
/****************************************************************************
* Name: sam_tc_divisor
*
* Description:
* Finds the best MCK divisor given the timer frequency and MCK. The
* result is guaranteed to satisfy the following equation:
*
* (Ftcin / (div * 65536)) <= freq <= (Ftcin / div)
*
* where:
* freq - the desired frequency
* Ftcin - The timer/counter input frequency
* div - With DIV being the highest possible value.
*
* Input Parameters:
* frequency Desired timer frequency.
* div Divisor value.
* tcclks TCCLKS field value for divisor.
*
* Returned Value:
* Zero (OK) if a proper divisor has been found, otherwise a negated errno
* value indicating the nature of the failure.
*
****************************************************************************/
int sam_tc_divisor(uint32_t frequency, uint32_t *div, uint32_t *tcclks);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_SAMA5_TC0 || CONFIG_SAMA5_TC1 || CONFIG_SAMA5_TC2 */
#endif /* __ARCH_ARM_SRC_SAMA5_SAM_TC_H */

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/****************************************************************************
* arch/arm/src/sam34/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.
*
****************************************************************************/
/****************************************************************************
* SAM34 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 SAM34 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 "sam4cm_oneshot.h"
#include "sam4cm_freerun.h"
#ifdef CONFIG_SCHED_TICKLESS
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifndef CONFIG_SAM34_TC
# error Timer/counters must be selected for the Tickless OS option
#endif
#ifndef CONFIG_SAM34_ONESHOT
# error CONFIG_SAM34_ONESHOT must be selected for the Tickless OS option
#endif
#ifndef CONFIG_SAM34_FREERUN
# error CONFIG_SAM34_FREERUN must be selected for the Tickless OS option
#endif
#ifndef CONFIG_SAM34_TICKLESS_FREERUN
# error CONFIG_SAM34_TICKLESS_FREERUN must be selected for the Tickless OS option
#endif
#ifndef CONFIG_SAM34_TICKLESS_ONESHOT
# error CONFIG_SAM34_TICKLESS_ONESHOT must be selected for the Tickless OS option
#endif
#if CONFIG_SAM34_TICKLESS_ONESHOT == 0 && !defined(CONFIG_SAM34_TC0)
# error CONFIG_SAM34_TICKLESS_ONESHOT == 0 && CONFIG_SAM34_TC0 not selected
#elif CONFIG_SAM34_TICKLESS_ONESHOT == 1 && !defined(CONFIG_SAM34_TC0)
# error CONFIG_SAM34_TICKLESS_ONESHOT == 1 && CONFIG_SAM34_TC0 not selected
#elif CONFIG_SAM34_TICKLESS_ONESHOT == 2 && !defined(CONFIG_SAM34_TC0)
# error CONFIG_SAM34_TICKLESS_ONESHOT == 2 && CONFIG_SAM34_TC0 not selected
#elif CONFIG_SAM34_TICKLESS_ONESHOT == 3 && !defined(CONFIG_SAM34_TC1)
# error CONFIG_SAM34_TICKLESS_ONESHOT == 3 && CONFIG_SAM34_TC1 not selected
#elif CONFIG_SAM34_TICKLESS_ONESHOT == 4 && !defined(CONFIG_SAM34_TC1)
# error CONFIG_SAM34_TICKLESS_ONESHOT == 4 && CONFIG_SAM34_TC1 not selected
#elif CONFIG_SAM34_TICKLESS_ONESHOT == 5 && !defined(CONFIG_SAM34_TC1)
# error CONFIG_SAM34_TICKLESS_ONESHOT == 5 && CONFIG_SAM34_TC1 not selected
#endif
#if CONFIG_SAM34_TICKLESS_ONESHOT < 0 || CONFIG_SAM34_TICKLESS_ONESHOT > 5
# error CONFIG_SAMA5_TICKLESS_ONESHOT is not valid
#endif
#if CONFIG_SAM34_TICKLESS_FREERUN == 0 && !defined(CONFIG_SAM34_TC0)
# error CONFIG_SAM34_TICKLESS_FREERUN == 0 && CONFIG_SAM34_TC0 not selected
#elif CONFIG_SAM34_TICKLESS_FREERUN == 1 && !defined(CONFIG_SAM34_TC0)
# error CONFIG_SAM34_TICKLESS_FREERUN == 1 && CONFIG_SAM34_TC0 not selected
#elif CONFIG_SAM34_TICKLESS_FREERUN == 2 && !defined(CONFIG_SAM34_TC0)
# error CONFIG_SAM34_TICKLESS_FREERUN == 2 && CONFIG_SAM34_TC0 not selected
#elif CONFIG_SAM34_TICKLESS_FREERUN == 3 && !defined(CONFIG_SAM34_TC1)
# error CONFIG_SAM34_TICKLESS_FREERUN == 3 && CONFIG_SAM34_TC1 not selected
#elif CONFIG_SAM34_TICKLESS_FREERUN == 4 && !defined(CONFIG_SAM34_TC1)
# error CONFIG_SAM34_TICKLESS_FREERUN == 4 && CONFIG_SAM34_TC1 not selected
#elif CONFIG_SAM34_TICKLESS_FREERUN == 5 && !defined(CONFIG_SAM34_TC1)
# error CONFIG_SAM34_TICKLESS_FREERUN == 5 && CONFIG_SAM34_TC1 not selected
#endif
#if CONFIG_SAM34_TICKLESS_FREERUN < 0 || CONFIG_SAM34_TICKLESS_FREERUN > 5
# error CONFIG_SAM34_TICKLESS_FREERUN is not valid
#endif
#if CONFIG_SAM34_TICKLESS_FREERUN == CONFIG_SAM34_TICKLESS_ONESHOT
# error CONFIG_SAM34_TICKLESS_FREERUN is the same as CONFIG_SAM34_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_SAM34_TICKLESS_ONESHOT,
CONFIG_USEC_PER_TICK);
if (ret < 0)
{
tclldbg("ERROR: sam_oneshot_initialize failed\n");
PANIC();
}
#ifdef CONFIG_SCHED_TICKLESS_LIMIT_MAX_SLEEP
ret = sam_oneshot_max_delay(&g_tickless.oneshot, &g_oneshot_max_delay_usec);
if (ret < 0)
{
tclldbg("ERROR: sam_oneshot_max_delay failed\n");
PANIC();
}
#endif
/* Initialize the free-running timer */
ret = sam_freerun_initialize(&g_tickless.freerun,
CONFIG_SAM34_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 */