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[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
This commit is contained in:
utzig 2014-07-26 13:26:47 +00:00
parent df18715f17
commit 1437e590d7
5 changed files with 186 additions and 98 deletions
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7
os/hal/ports/AVR/avr_timers.h
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@ -17,6 +17,13 @@
#ifndef _AVR_TIMERS_H_ #ifndef _AVR_TIMERS_H_
#define _AVR_TIMERS_H_ #define _AVR_TIMERS_H_
#include "mcuconf.h"
#if ((NIL_CFG_ST_TIMEDELTA > 0 || CH_CFG_ST_TIMEDELTA > 0) && \
(AVR_GPT_USE_TIM1 || AVR_PWM_USE_TIM1 || AVR_ICU_USE_TIM1))
#error "Timer 1 cannot be used by drivers when running in tickless mode."
#endif
#if ((AVR_GPT_USE_TIM1 && AVR_PWM_USE_TIM1) || \ #if ((AVR_GPT_USE_TIM1 && AVR_PWM_USE_TIM1) || \
(AVR_GPT_USE_TIM1 && AVR_ICU_USE_TIM1) || \ (AVR_GPT_USE_TIM1 && AVR_ICU_USE_TIM1) || \
(AVR_PWM_USE_TIM1 && AVR_ICU_USE_TIM1)) (AVR_PWM_USE_TIM1 && AVR_ICU_USE_TIM1))

48
os/hal/ports/AVR/hal_lld.c
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@ -40,21 +40,6 @@
/* Driver interrupt handlers. */ /* Driver interrupt handlers. */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief Timer0 interrupt handler.
*/
OSAL_IRQ_HANDLER(AVR_TIMER_VECT) {
OSAL_IRQ_PROLOGUE();
osalSysLockFromISR();
osalOsTimerHandlerI();
osalSysUnlockFromISR();
OSAL_IRQ_EPILOGUE();
}
/*===========================================================================*/ /*===========================================================================*/
/* Driver exported functions. */ /* Driver exported functions. */
/*===========================================================================*/ /*===========================================================================*/
@ -65,39 +50,6 @@ OSAL_IRQ_HANDLER(AVR_TIMER_VECT) {
* @notapi * @notapi
*/ */
void hal_lld_init(void) { void hal_lld_init(void) {
/*
* Timer 0 setup.
*/
#if defined(TCCR0B) /* Timer has multiple output comparators */
TCCR0A = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
(0 << COM0A1) | (0 << COM0A0) | /* OC0A disabled. */
(0 << COM0B1) | (0 << COM0B0); /* OC0B disabled. */
TCCR0B = (0 << WGM02) | AVR_TIMER_PRESCALER_BITS; /* CTC mode. */
OCR0A = AVR_TIMER_COUNTER - 1;
TCNT0 = 0; /* Reset counter. */
TIFR0 = (1 << OCF0A); /* Reset pending. */
TIMSK0 = (1 << OCIE0A); /* IRQ on compare. */
#elif defined(TCCR0A) /* AT90CAN doesn't have TCCR0B and slightly different TCCR0A */
TCCR0A = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
(0 << COM0A1) | (0 << COM0A0); /* OC0A disabled. */
OCR0A = AVR_TIMER_COUNTER - 1;
TCNT0 = 0; /* Reset counter. */
TIFR0 = (1 << OCF0A); /* Reset pending. */
TIMSK0 = (1 << OCIE0A); /* IRQ on compare. */
#elif defined(TCCR0) /* Timer has single output comparator */
TCCR0 = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
(0 << COM01) | (0 << COM00) | /* OC0A disabled. */
AVR_TIMER_PRESCALER_BITS;
OCR0 = AVR_TIMER_COUNTER - 1;
TCNT0 = 0; /* Reset counter. */
TIFR = (1 << OCF0); /* Reset pending. */
TIMSK = (1 << OCIE0); /* IRQ on compare. */
#else
#error "Neither TCCR0A nor TCCR0 registers are defined"
#endif
} }
/** @} */ /** @} */

45
os/hal/ports/AVR/hal_lld.h
View File

@ -39,59 +39,14 @@
*/ */
#define PLATFORM_NAME "AVR" #define PLATFORM_NAME "AVR"
/**
* @brief Timer maximum value
*/
#define AVR_TIMER_COUNTER_MAX 255
/*===========================================================================*/ /*===========================================================================*/
/* Driver pre-compile time settings. */ /* Driver pre-compile time settings. */
/*===========================================================================*/ /*===========================================================================*/
/* Work out what the timer interrupt is called on this MCU */
#ifdef TIMER0_COMPA_vect
#define AVR_TIMER_VECT TIMER0_COMPA_vect
#elif defined(TIMER_COMPA_vect)
#define AVR_TIMER_VECT TIMER_COMPA_vect
#elif defined(TIMER0_COMP_vect)
#define AVR_TIMER_VECT TIMER0_COMP_vect
#else
#error "Cannot find interrupt vector name for timer"
#endif
/*===========================================================================*/ /*===========================================================================*/
/* Derived constants and error checks. */ /* Derived constants and error checks. */
/*===========================================================================*/ /*===========================================================================*/
/* Find the most suitable prescaler setting for the desired OSAL_ST_FREQUENCY */
#if ((F_CPU / OSAL_ST_FREQUENCY) <= AVR_TIMER_COUNTER_MAX)
#define AVR_TIMER_PRESCALER 1
#define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(0<<CS01)|(1<<CS00); /* CLK */
#elif ((F_CPU / OSAL_ST_FREQUENCY / 8) <= AVR_TIMER_COUNTER_MAX)
#define AVR_TIMER_PRESCALER 8
#define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(1<<CS01)|(0<<CS00); /* CLK/8 */
#elif ((F_CPU / OSAL_ST_FREQUENCY / 64) <= AVR_TIMER_COUNTER_MAX)
#define AVR_TIMER_PRESCALER 64
#define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(1<<CS01)|(1<<CS00); /* CLK/64 */
#elif ((F_CPU / OSAL_ST_FREQUENCY / 256) <= AVR_TIMER_COUNTER_MAX)
#define AVR_TIMER_PRESCALER 256
#define AVR_TIMER_PRESCALER_BITS (1<<CS02)|(0<<CS01)|(0<<CS00); /* CLK/256 */
#elif ((F_CPU / OSAL_ST_FREQUENCY / 1024) <= AVR_TIMER_COUNTER_MAX)
#define AVR_TIMER_PRESCALER 1024
#define AVR_TIMER_PRESCALER_BITS (1<<CS02)|(0<<CS01)|(1<<CS00); /* CLK/1024 */
#else
#error "Frequency too low for timer, please set OSAL_ST_FREQUENCY to a higher value"
#endif
#define AVR_TIMER_COUNTER (F_CPU / OSAL_ST_FREQUENCY / AVR_TIMER_PRESCALER)
/* Test if OSAL_ST_FREQUENCY can be matched exactly using this timer */
#define F_CPU_ (AVR_TIMER_COUNTER * AVR_TIMER_PRESCALER * OSAL_ST_FREQUENCY)
#if (F_CPU_ != F_CPU)
#warning "OSAL_ST_FREQUENCY cannot be generated exactly using timer"
#endif
#undef F_CPU_
/*===========================================================================*/ /*===========================================================================*/
/* Driver data structures and types. */ /* Driver data structures and types. */
/*===========================================================================*/ /*===========================================================================*/

155
os/hal/ports/AVR/st_lld.c
View File

@ -30,6 +30,11 @@
/* Driver local definitions. */ /* Driver local definitions. */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief Timer maximum value
*/
#define AVR_TIMER_COUNTER_MAX 255
/*===========================================================================*/ /*===========================================================================*/
/* Driver exported variables. */ /* Driver exported variables. */
/*===========================================================================*/ /*===========================================================================*/
@ -42,6 +47,60 @@
/* Driver local variables and types. */ /* Driver local variables and types. */
/*===========================================================================*/ /*===========================================================================*/
#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)
/* Work out what the timer interrupt is called on this MCU */
#ifdef TIMER0_COMPA_vect
#define AVR_TIMER_VECT TIMER0_COMPA_vect
#elif defined(TIMER_COMPA_vect)
#define AVR_TIMER_VECT TIMER_COMPA_vect
#elif defined(TIMER0_COMP_vect)
#define AVR_TIMER_VECT TIMER0_COMP_vect
#else
#error "Cannot find interrupt vector name for timer"
#endif
/* Find the most suitable prescaler setting for the desired OSAL_ST_FREQUENCY */
#if ((F_CPU / OSAL_ST_FREQUENCY) <= AVR_TIMER_COUNTER_MAX)
#define AVR_TIMER_PRESCALER 1
#define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(0<<CS01)|(1<<CS00); /* CLK */
#elif ((F_CPU / OSAL_ST_FREQUENCY / 8) <= AVR_TIMER_COUNTER_MAX)
#define AVR_TIMER_PRESCALER 8
#define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(1<<CS01)|(0<<CS00); /* CLK/8 */
#elif ((F_CPU / OSAL_ST_FREQUENCY / 64) <= AVR_TIMER_COUNTER_MAX)
#define AVR_TIMER_PRESCALER 64
#define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(1<<CS01)|(1<<CS00); /* CLK/64 */
#elif ((F_CPU / OSAL_ST_FREQUENCY / 256) <= AVR_TIMER_COUNTER_MAX)
#define AVR_TIMER_PRESCALER 256
#define AVR_TIMER_PRESCALER_BITS (1<<CS02)|(0<<CS01)|(0<<CS00); /* CLK/256 */
#elif ((F_CPU / OSAL_ST_FREQUENCY / 1024) <= AVR_TIMER_COUNTER_MAX)
#define AVR_TIMER_PRESCALER 1024
#define AVR_TIMER_PRESCALER_BITS (1<<CS02)|(0<<CS01)|(1<<CS00); /* CLK/1024 */
#else
#error "Frequency too low for timer, please set OSAL_ST_FREQUENCY to a higher value"
#endif
#define AVR_TIMER_COUNTER (F_CPU / OSAL_ST_FREQUENCY / AVR_TIMER_PRESCALER)
/* Test if OSAL_ST_FREQUENCY can be matched exactly using this timer */
#define F_CPU_ (AVR_TIMER_COUNTER * AVR_TIMER_PRESCALER * OSAL_ST_FREQUENCY)
#if (F_CPU_ != F_CPU)
#warning "OSAL_ST_FREQUENCY cannot be generated exactly using timer"
#endif
#undef F_CPU_
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) || defined(__DOXYGEN__)
/* FIXME: Prescaler is now fixed in 1024.
* Should add support for calculating best value according to
* user requested configuration.
*/
#define PRESCALER (_BV(CS12) | _BV(CS10))
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
/*===========================================================================*/ /*===========================================================================*/
/* Driver local functions. */ /* Driver local functions. */
/*===========================================================================*/ /*===========================================================================*/
@ -50,6 +109,44 @@
/* Driver interrupt handlers. */ /* Driver interrupt handlers. */
/*===========================================================================*/ /*===========================================================================*/
#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)
/**
* @brief Timer handler for periodic mode.
*/
OSAL_IRQ_HANDLER(AVR_TIMER_VECT) {
OSAL_IRQ_PROLOGUE();
osalSysLockFromISR();
osalOsTimerHandlerI();
osalSysUnlockFromISR();
OSAL_IRQ_EPILOGUE();
}
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) || defined(__DOXYGEN__)
/**
* @brief Timer handler for free running mode.
*/
OSAL_IRQ_HANDLER(TIMER1_COMPA_vect) {
OSAL_IRQ_PROLOGUE();
// TODO: reset status if required
osalSysLockFromISR();
osalOsTimerHandlerI();
osalSysUnlockFromISR();
OSAL_IRQ_EPILOGUE();
}
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
/*===========================================================================*/ /*===========================================================================*/
/* Driver exported functions. */ /* Driver exported functions. */
/*===========================================================================*/ /*===========================================================================*/
@ -60,6 +157,64 @@
* @notapi * @notapi
*/ */
void st_lld_init(void) { void st_lld_init(void) {
#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) || defined(__DOXYGEN__)
/*
* Periodic mode uses Timer 1 (16 bit).
*/
/* CTC mode, no clock source */
TCCR1A = 0;
TCCR1B = _BV(WGM12);
/* start disabled */
TCCR1C = 0;
OCR1A = 0;
TCNT1 = 0;
TIFR1 = _BV(OCF1A); /* Reset pending. */
TIMSK1 = 0;
TCCR1B = PRESCALER;
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)
/*
* Periodic mode uses Timer 0 (8 bit).
*/
#if defined(TCCR0B) /* Timer has multiple output comparators */
TCCR0A = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
(0 << COM0A1) | (0 << COM0A0) | /* OC0A disabled. */
(0 << COM0B1) | (0 << COM0B0); /* OC0B disabled. */
TCCR0B = (0 << WGM02) | AVR_TIMER_PRESCALER_BITS; /* CTC mode. */
OCR0A = AVR_TIMER_COUNTER - 1;
TCNT0 = 0; /* Reset counter. */
TIFR0 = (1 << OCF0A); /* Reset pending. */
TIMSK0 = (1 << OCIE0A); /* IRQ on compare. */
#elif defined(TCCR0A) /* AT90CAN doesn't have TCCR0B and slightly different TCCR0A */
TCCR0A = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
(0 << COM0A1) | (0 << COM0A0); /* OC0A disabled. */
OCR0A = AVR_TIMER_COUNTER - 1;
TCNT0 = 0; /* Reset counter. */
TIFR0 = (1 << OCF0A); /* Reset pending. */
TIMSK0 = (1 << OCIE0A); /* IRQ on compare. */
#elif defined(TCCR0) /* Timer has single output comparator */
TCCR0 = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
(0 << COM01) | (0 << COM00) | /* OC0A disabled. */
AVR_TIMER_PRESCALER_BITS;
OCR0 = AVR_TIMER_COUNTER - 1;
TCNT0 = 0; /* Reset counter. */
TIFR = (1 << OCF0); /* Reset pending. */
TIMSK = (1 << OCIE0); /* IRQ on compare. */
#else
#error "Neither TCCR0A nor TCCR0 registers are defined"
#endif
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
} }
#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */ #endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */

29
os/hal/ports/AVR/st_lld.h
View File

@ -27,6 +27,9 @@
#ifndef _ST_LLD_H_ #ifndef _ST_LLD_H_
#define _ST_LLD_H_ #define _ST_LLD_H_
#include "mcuconf.h"
#include "avr_timers.h"
/*===========================================================================*/ /*===========================================================================*/
/* Driver constants. */ /* Driver constants. */
/*===========================================================================*/ /*===========================================================================*/
@ -35,10 +38,19 @@
/* Driver pre-compile time settings. */ /* Driver pre-compile time settings. */
/*===========================================================================*/ /*===========================================================================*/
/*
* TODO: for models that have many timers,
* could add AVR_ST_USE_TIMER
*/
/*===========================================================================*/ /*===========================================================================*/
/* Derived constants and error checks. */ /* Derived constants and error checks. */
/*===========================================================================*/ /*===========================================================================*/
/*
* TODO: error checks for valid timer selected
*/
/*===========================================================================*/ /*===========================================================================*/
/* Driver data structures and types. */ /* Driver data structures and types. */
/*===========================================================================*/ /*===========================================================================*/
@ -72,7 +84,7 @@ extern "C" {
*/ */
static inline systime_t st_lld_get_counter(void) { static inline systime_t st_lld_get_counter(void) {
return (systime_t)0; return (systime_t) TCNT1;
} }
/** /**
@ -86,7 +98,13 @@ static inline systime_t st_lld_get_counter(void) {
*/ */
static inline void st_lld_start_alarm(systime_t time) { static inline void st_lld_start_alarm(systime_t time) {
(void)time; OCR1A = (uint16_t) time;
/* Reset pending. */
TIFR1 = _BV(OCF1A);
/* enable interrupt */
TIMSK1 = _BV(OCIE1A);
} }
/** /**
@ -96,6 +114,7 @@ static inline void st_lld_start_alarm(systime_t time) {
*/ */
static inline void st_lld_stop_alarm(void) { static inline void st_lld_stop_alarm(void) {
TIMSK1 = 0;
} }
/** /**
@ -107,7 +126,7 @@ static inline void st_lld_stop_alarm(void) {
*/ */
static inline void st_lld_set_alarm(systime_t time) { static inline void st_lld_set_alarm(systime_t time) {
(void)time; OCR1A = (uint16_t) time;
} }
/** /**
@ -119,7 +138,7 @@ static inline void st_lld_set_alarm(systime_t time) {
*/ */
static inline systime_t st_lld_get_alarm(void) { static inline systime_t st_lld_get_alarm(void) {
return (systime_t)0; return (systime_t) OCR1A;
} }
/** /**
@ -133,7 +152,7 @@ static inline systime_t st_lld_get_alarm(void) {
*/ */
static inline bool st_lld_is_alarm_active(void) { static inline bool st_lld_is_alarm_active(void) {
return false; return (bool) ((TIMSK1 & _BV(OCIE1A)) != 0);
} }
#endif /* _ST_LLD_H_ */ #endif /* _ST_LLD_H_ */