[AVR] Add preliminary tickless support to HAL
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7101 35acf78f-673a-0410-8e92-d51de3d6d3f4
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@ -17,6 +17,13 @@
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#ifndef _AVR_TIMERS_H_
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#define _AVR_TIMERS_H_
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#include "mcuconf.h"
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#if ((NIL_CFG_ST_TIMEDELTA > 0 || CH_CFG_ST_TIMEDELTA > 0) && \
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(AVR_GPT_USE_TIM1 || AVR_PWM_USE_TIM1 || AVR_ICU_USE_TIM1))
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#error "Timer 1 cannot be used by drivers when running in tickless mode."
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#endif
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#if ((AVR_GPT_USE_TIM1 && AVR_PWM_USE_TIM1) || \
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(AVR_GPT_USE_TIM1 && AVR_ICU_USE_TIM1) || \
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(AVR_PWM_USE_TIM1 && AVR_ICU_USE_TIM1))
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@ -40,21 +40,6 @@
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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/**
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* @brief Timer0 interrupt handler.
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*/
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OSAL_IRQ_HANDLER(AVR_TIMER_VECT) {
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OSAL_IRQ_PROLOGUE();
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osalSysLockFromISR();
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osalOsTimerHandlerI();
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osalSysUnlockFromISR();
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OSAL_IRQ_EPILOGUE();
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}
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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@ -65,39 +50,6 @@ OSAL_IRQ_HANDLER(AVR_TIMER_VECT) {
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* @notapi
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*/
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void hal_lld_init(void) {
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/*
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* Timer 0 setup.
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*/
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#if defined(TCCR0B) /* Timer has multiple output comparators */
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TCCR0A = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
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(0 << COM0A1) | (0 << COM0A0) | /* OC0A disabled. */
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(0 << COM0B1) | (0 << COM0B0); /* OC0B disabled. */
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TCCR0B = (0 << WGM02) | AVR_TIMER_PRESCALER_BITS; /* CTC mode. */
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OCR0A = AVR_TIMER_COUNTER - 1;
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TCNT0 = 0; /* Reset counter. */
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TIFR0 = (1 << OCF0A); /* Reset pending. */
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TIMSK0 = (1 << OCIE0A); /* IRQ on compare. */
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#elif defined(TCCR0A) /* AT90CAN doesn't have TCCR0B and slightly different TCCR0A */
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TCCR0A = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
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(0 << COM0A1) | (0 << COM0A0); /* OC0A disabled. */
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OCR0A = AVR_TIMER_COUNTER - 1;
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TCNT0 = 0; /* Reset counter. */
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TIFR0 = (1 << OCF0A); /* Reset pending. */
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TIMSK0 = (1 << OCIE0A); /* IRQ on compare. */
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#elif defined(TCCR0) /* Timer has single output comparator */
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TCCR0 = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
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(0 << COM01) | (0 << COM00) | /* OC0A disabled. */
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AVR_TIMER_PRESCALER_BITS;
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OCR0 = AVR_TIMER_COUNTER - 1;
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TCNT0 = 0; /* Reset counter. */
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TIFR = (1 << OCF0); /* Reset pending. */
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TIMSK = (1 << OCIE0); /* IRQ on compare. */
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#else
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#error "Neither TCCR0A nor TCCR0 registers are defined"
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#endif
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}
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/** @} */
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@ -39,59 +39,14 @@
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*/
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#define PLATFORM_NAME "AVR"
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/**
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* @brief Timer maximum value
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*/
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#define AVR_TIMER_COUNTER_MAX 255
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/* Work out what the timer interrupt is called on this MCU */
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#ifdef TIMER0_COMPA_vect
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#define AVR_TIMER_VECT TIMER0_COMPA_vect
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#elif defined(TIMER_COMPA_vect)
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#define AVR_TIMER_VECT TIMER_COMPA_vect
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#elif defined(TIMER0_COMP_vect)
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#define AVR_TIMER_VECT TIMER0_COMP_vect
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#else
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#error "Cannot find interrupt vector name for timer"
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#endif
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/* Find the most suitable prescaler setting for the desired OSAL_ST_FREQUENCY */
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#if ((F_CPU / OSAL_ST_FREQUENCY) <= AVR_TIMER_COUNTER_MAX)
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#define AVR_TIMER_PRESCALER 1
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#define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(0<<CS01)|(1<<CS00); /* CLK */
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#elif ((F_CPU / OSAL_ST_FREQUENCY / 8) <= AVR_TIMER_COUNTER_MAX)
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#define AVR_TIMER_PRESCALER 8
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#define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(1<<CS01)|(0<<CS00); /* CLK/8 */
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#elif ((F_CPU / OSAL_ST_FREQUENCY / 64) <= AVR_TIMER_COUNTER_MAX)
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#define AVR_TIMER_PRESCALER 64
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#define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(1<<CS01)|(1<<CS00); /* CLK/64 */
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#elif ((F_CPU / OSAL_ST_FREQUENCY / 256) <= AVR_TIMER_COUNTER_MAX)
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#define AVR_TIMER_PRESCALER 256
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#define AVR_TIMER_PRESCALER_BITS (1<<CS02)|(0<<CS01)|(0<<CS00); /* CLK/256 */
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#elif ((F_CPU / OSAL_ST_FREQUENCY / 1024) <= AVR_TIMER_COUNTER_MAX)
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#define AVR_TIMER_PRESCALER 1024
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#define AVR_TIMER_PRESCALER_BITS (1<<CS02)|(0<<CS01)|(1<<CS00); /* CLK/1024 */
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#else
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#error "Frequency too low for timer, please set OSAL_ST_FREQUENCY to a higher value"
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#endif
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#define AVR_TIMER_COUNTER (F_CPU / OSAL_ST_FREQUENCY / AVR_TIMER_PRESCALER)
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/* Test if OSAL_ST_FREQUENCY can be matched exactly using this timer */
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#define F_CPU_ (AVR_TIMER_COUNTER * AVR_TIMER_PRESCALER * OSAL_ST_FREQUENCY)
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#if (F_CPU_ != F_CPU)
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#warning "OSAL_ST_FREQUENCY cannot be generated exactly using timer"
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#endif
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#undef F_CPU_
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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@ -30,6 +30,11 @@
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/* Driver local definitions. */
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/*===========================================================================*/
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/**
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* @brief Timer maximum value
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*/
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#define AVR_TIMER_COUNTER_MAX 255
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)
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/* Work out what the timer interrupt is called on this MCU */
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#ifdef TIMER0_COMPA_vect
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#define AVR_TIMER_VECT TIMER0_COMPA_vect
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#elif defined(TIMER_COMPA_vect)
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#define AVR_TIMER_VECT TIMER_COMPA_vect
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#elif defined(TIMER0_COMP_vect)
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#define AVR_TIMER_VECT TIMER0_COMP_vect
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#else
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#error "Cannot find interrupt vector name for timer"
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#endif
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/* Find the most suitable prescaler setting for the desired OSAL_ST_FREQUENCY */
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#if ((F_CPU / OSAL_ST_FREQUENCY) <= AVR_TIMER_COUNTER_MAX)
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#define AVR_TIMER_PRESCALER 1
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#define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(0<<CS01)|(1<<CS00); /* CLK */
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#elif ((F_CPU / OSAL_ST_FREQUENCY / 8) <= AVR_TIMER_COUNTER_MAX)
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#define AVR_TIMER_PRESCALER 8
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#define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(1<<CS01)|(0<<CS00); /* CLK/8 */
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#elif ((F_CPU / OSAL_ST_FREQUENCY / 64) <= AVR_TIMER_COUNTER_MAX)
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#define AVR_TIMER_PRESCALER 64
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#define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(1<<CS01)|(1<<CS00); /* CLK/64 */
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#elif ((F_CPU / OSAL_ST_FREQUENCY / 256) <= AVR_TIMER_COUNTER_MAX)
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#define AVR_TIMER_PRESCALER 256
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#define AVR_TIMER_PRESCALER_BITS (1<<CS02)|(0<<CS01)|(0<<CS00); /* CLK/256 */
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#elif ((F_CPU / OSAL_ST_FREQUENCY / 1024) <= AVR_TIMER_COUNTER_MAX)
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#define AVR_TIMER_PRESCALER 1024
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#define AVR_TIMER_PRESCALER_BITS (1<<CS02)|(0<<CS01)|(1<<CS00); /* CLK/1024 */
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#else
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#error "Frequency too low for timer, please set OSAL_ST_FREQUENCY to a higher value"
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#endif
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#define AVR_TIMER_COUNTER (F_CPU / OSAL_ST_FREQUENCY / AVR_TIMER_PRESCALER)
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/* Test if OSAL_ST_FREQUENCY can be matched exactly using this timer */
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#define F_CPU_ (AVR_TIMER_COUNTER * AVR_TIMER_PRESCALER * OSAL_ST_FREQUENCY)
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#if (F_CPU_ != F_CPU)
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#warning "OSAL_ST_FREQUENCY cannot be generated exactly using timer"
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#endif
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#undef F_CPU_
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#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
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#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) || defined(__DOXYGEN__)
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/* FIXME: Prescaler is now fixed in 1024.
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* Should add support for calculating best value according to
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* user requested configuration.
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*/
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#define PRESCALER (_BV(CS12) | _BV(CS10))
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#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)
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/**
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* @brief Timer handler for periodic mode.
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*/
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OSAL_IRQ_HANDLER(AVR_TIMER_VECT) {
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OSAL_IRQ_PROLOGUE();
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osalSysLockFromISR();
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osalOsTimerHandlerI();
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osalSysUnlockFromISR();
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OSAL_IRQ_EPILOGUE();
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}
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#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
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#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) || defined(__DOXYGEN__)
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/**
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* @brief Timer handler for free running mode.
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*/
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OSAL_IRQ_HANDLER(TIMER1_COMPA_vect) {
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OSAL_IRQ_PROLOGUE();
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// TODO: reset status if required
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osalSysLockFromISR();
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osalOsTimerHandlerI();
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osalSysUnlockFromISR();
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OSAL_IRQ_EPILOGUE();
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}
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#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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* @notapi
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*/
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void st_lld_init(void) {
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#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) || defined(__DOXYGEN__)
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/*
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* Periodic mode uses Timer 1 (16 bit).
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*/
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/* CTC mode, no clock source */
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TCCR1A = 0;
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TCCR1B = _BV(WGM12);
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/* start disabled */
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TCCR1C = 0;
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OCR1A = 0;
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TCNT1 = 0;
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TIFR1 = _BV(OCF1A); /* Reset pending. */
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TIMSK1 = 0;
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TCCR1B = PRESCALER;
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#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
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#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)
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/*
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* Periodic mode uses Timer 0 (8 bit).
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*/
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#if defined(TCCR0B) /* Timer has multiple output comparators */
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TCCR0A = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
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(0 << COM0A1) | (0 << COM0A0) | /* OC0A disabled. */
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(0 << COM0B1) | (0 << COM0B0); /* OC0B disabled. */
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TCCR0B = (0 << WGM02) | AVR_TIMER_PRESCALER_BITS; /* CTC mode. */
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OCR0A = AVR_TIMER_COUNTER - 1;
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TCNT0 = 0; /* Reset counter. */
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TIFR0 = (1 << OCF0A); /* Reset pending. */
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TIMSK0 = (1 << OCIE0A); /* IRQ on compare. */
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#elif defined(TCCR0A) /* AT90CAN doesn't have TCCR0B and slightly different TCCR0A */
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TCCR0A = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
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(0 << COM0A1) | (0 << COM0A0); /* OC0A disabled. */
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OCR0A = AVR_TIMER_COUNTER - 1;
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TCNT0 = 0; /* Reset counter. */
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TIFR0 = (1 << OCF0A); /* Reset pending. */
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TIMSK0 = (1 << OCIE0A); /* IRQ on compare. */
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#elif defined(TCCR0) /* Timer has single output comparator */
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TCCR0 = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
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(0 << COM01) | (0 << COM00) | /* OC0A disabled. */
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AVR_TIMER_PRESCALER_BITS;
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OCR0 = AVR_TIMER_COUNTER - 1;
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TCNT0 = 0; /* Reset counter. */
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TIFR = (1 << OCF0); /* Reset pending. */
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TIMSK = (1 << OCIE0); /* IRQ on compare. */
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#else
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#error "Neither TCCR0A nor TCCR0 registers are defined"
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#endif
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#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
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}
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#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */
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#ifndef _ST_LLD_H_
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#define _ST_LLD_H_
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#include "mcuconf.h"
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#include "avr_timers.h"
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/*
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* TODO: for models that have many timers,
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* could add AVR_ST_USE_TIMER
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*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*
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* TODO: error checks for valid timer selected
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*/
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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*/
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static inline systime_t st_lld_get_counter(void) {
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return (systime_t)0;
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return (systime_t) TCNT1;
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}
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/**
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*/
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static inline void st_lld_start_alarm(systime_t time) {
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(void)time;
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OCR1A = (uint16_t) time;
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/* Reset pending. */
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TIFR1 = _BV(OCF1A);
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/* enable interrupt */
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TIMSK1 = _BV(OCIE1A);
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}
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/**
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*/
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static inline void st_lld_stop_alarm(void) {
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TIMSK1 = 0;
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}
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/**
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*/
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static inline void st_lld_set_alarm(systime_t time) {
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(void)time;
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OCR1A = (uint16_t) time;
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}
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/**
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*/
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static inline systime_t st_lld_get_alarm(void) {
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return (systime_t)0;
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return (systime_t) OCR1A;
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}
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/**
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*/
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static inline bool st_lld_is_alarm_active(void) {
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return false;
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return (bool) ((TIMSK1 & _BV(OCIE1A)) != 0);
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}
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#endif /* _ST_LLD_H_ */
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