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6d69439f58
nuttx/arch/arm/src/tms570/tms570_timerisr.c
Xiang Xiao 6d69439f58 Call xxx_timer_initialize from clock subsystem 
Call xxx_timer_initialize from clock subsystem to make timer ready for use as soon as possiblei and revert the workaround:

commit 0863e771a9
Author: Gregory Nutt <gnutt@nuttx.org>
Date:   Fri Apr 26 07:24:57 2019 -0600

    Revert "sched/clock/clock_initialize.c:  clock_inittime() needs to be done with CONFIG_SCHED_TICKLESS and clock_initialize should skip clock_inittime() for external RTC case since the RTC isn't ready yet."

    This reverts commit 2bc709d4b9.

    Commit 2bc709d4b9 was intended to handle the case where up_timer_gettime may not start from zero case.  However, this change has the side-effect of breaking every implementation of tickless mode:  After this change the tickless timer structures are used before they are initialized in clock_inittime().  Initialization happens later when up_initialize is called() when arm_timer_initialize().

    Since the tickless mode timer is very special, one solution might be to

    1. Rename xxx_timer_initialize to up_timer_initialize
    2  Move up_timer_initialize to include/nuttx/arch.h
    3.  Call it from clock subsystem instead up_initialize

    Basically, this change make timer initialization almost same as rtc initialization(up_rtc_initialize).

    For now, however, we just need to revert the change.
2020-02-08 07:40:06 -06:00

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/****************************************************************************
* arch/arm/src/tms570/tms570_timerisr.c
*
* Copyright (C) 2015, 2017-2018 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <nuttx/arch.h>
#include "up_internal.h"
#include "up_arch.h"
#include "hardware/tms570_rti.h"
#include <arch/board/board.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* The input clock to the RTI is the RTICLK. The RTI source is always VCLK
* which may be divided down by 2. The correct RTICLK frequency must be
* provided by board.h file as BOARD_RTICLK_FREQUENCY.
*/
#ifndef BOARD_RTICLK_FREQUENCY
# error BOARD_RTICLK_FREQUENCY not defined
#endif
/* Timing Calculations:
*
* FRC0CLK = RTICLK / (CPUC0 + 1) Hz
* Tcount = 1 / FRC0CLK Seconds
* = 1,000,000 / FRC0CLK Microseconds
* CMP0 = Period / Tcount
* = CONFIG_USEC_PER_TICK * FRC0CLK / 1,000,000
* = CONFIG_USEC_PER_TICK * RTICLK / (CPUC0 + 1) / 1,000,000
*
* For Example:
* VCLK = 80,000,000 Hz
* RTICLK = VCLK / 2 Hz
* = 40,000,000 Hz
* CPUC0 = 39
* FR0CLK = 1,000,000 Hz
* Tcount = 1 Microsecond
* CONFIG_USEC_PER_TICK = 10,000 Microseconds
* CMP0 = 10,000 * 40,000,000 / 40 / 1,000,000
* = 10, 000 = CONFIG_USEC_PER_TICK
*/
#if BOARD_RTICLK_FREQUENCY > 10000000
/* Use FR0CLK = 1MHz with CPUC0 at least 9 */
# define RTI_FRC0CLK (1000000)
#elif BOARD_RTICLK_FREQUENCY > 5000000
/* Use FR0CLK = 500KHz with CPUC0 at least 9 */
# define RTI_FRC0CLK (500000)
#elif BOARD_RTICLK_FREQUENCY > 1000000
/* Use FR0CLK = 100KHz with CPUC0 at least 9 */
# define RTI_FRC0CLK (100000)
#else
# error No logic for this value of RTICLK
#endif
/* CPUC0 = RTICLK / FRC0CLK - 1
*
* NOTES:
* - The following calculation performs rounding.
*/
#define RTI_CPUC0 (((BOARD_RTICLK_FREQUENCY ) / RTI_FRC0CLK) - 1)
/* CMP0 = CONFIG_USEC_PER_TICK * FRC0CLK / 1,000,000
*
* NOTES:
* - The following calculation performs rounding.
* - The following calculation avoids integer overflow by depending on
* FRCLK being a multiple of 100,000
*/
#define RTI_CMP0 ((CONFIG_USEC_PER_TICK * (RTI_FRC0CLK / 100000) + 50) / 10)
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: tms570_timerisr
*
* Description:
* The timer ISR will perform a variety of services for various portions
* of the systems.
*
****************************************************************************/
static int tms570_timerisr(int irq, uint32_t *regs, void *arg)
{
/* Clear the RTI Compare 0 interrupts */
putreg32(RTI_INT0, TMS570_RTI_INTFLAG);
/* Process timer interrupt */
nxsched_process_timer();
return 0;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: up_timer_initialize
*
* Description:
* This function is called during start-up to initialize the timer
* interrupt.
*
****************************************************************************/
void up_timer_initialize(void)
{
/* Disable all RTI interrupts */
up_disable_irq(TMS570_REQ_RTICMP0);
putreg32(0x0, TMS570_RTI_GCTRL);
putreg32(RTI_ALLINTS, TMS570_RTI_CLEARINTENA);
/* Configure RTICOMP0 register and the RTIUDCP0 Register to initialize with
* the calculated compare value.
*/
putreg32(RTI_CMP0, TMS570_RTI_COMP0);
putreg32(RTI_CMP0, TMS570_RTI_UDCP0);
/* Configure the FRC0CLK clock by setting the RTICPUC0 register to the
* calculated value.
*/
putreg32(RTI_CPUC0, TMS570_RTI_CPUC0);
/* Initialize the free-running counter and the RTI up-counter */
putreg32(0, TMS570_RTI_FRC0);
putreg32(0, TMS570_RTI_UC0);
/* Clear any pending interrupts */
putreg32(RTI_ALLINTS, TMS570_RTI_INTFLAG);
/* Enable the RTI Compare 0 interrupts (still disabled at the VIM) */
putreg32(RTI_INT0, TMS570_RTI_SETINTENA);
/* Enable counter 0 */
putreg32(RTI_GCTRL_CNT0EN, TMS570_RTI_GCTRL);
/* Attach the interrupt handler to the RTI Compare 0 interrupt */
DEBUGVERIFY(irq_attach(TMS570_REQ_RTICMP0, (xcpt_t)tms570_timerisr, NULL));
/* Enable RTI compare 0 interrupts at the VIM */
up_enable_irq(TMS570_REQ_RTICMP0);
}
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