Clock initialization improvements.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@14085 27425a3e-05d8-49a3-a47f-9c15f0e5edd8

demos/RP/RT-RP2040-PICO/.project

@@ -34,6 +34,11 @@
 			<type>2</type>
 			<locationURI>CHIBIOS/os</locationURI>
 		</link>
+		<link>
+			<name>pico-sdk</name>
+			<type>2</type>
+			<locationURI>CHIBIOS/ext/pico-sdk/src</locationURI>
+		</link>
 		<link>
 			<name>test</name>
 			<type>2</type>

os/hal/ports/RP/LLD/TIMERv1/hal_st_lld.c

@@ -31,23 +31,10 @@
 /*===========================================================================*/
 
 #if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
-
 #endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
 
 #if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC
-
 #define ST_HANDLER                          SysTick_Handler
-
-#define SYSTICK_CK                          RP_CORE_CK
-
-#if SYSTICK_CK % OSAL_ST_FREQUENCY != 0
-#error "the selected ST frequency is not obtainable because integer rounding"
-#endif
-
-#if (SYSTICK_CK / OSAL_ST_FREQUENCY) - 1 > 0xFFFFFF
-#error "the selected ST frequency is not obtainable because SysTick timer counter limits"
-#endif
-
 #endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
 
 /*===========================================================================*/
@@ -96,22 +83,30 @@ OSAL_IRQ_HANDLER(ST_HANDLER) {
  * @notapi
  */
 void st_lld_init(void) {
+  uint32_t  timer_clk;
 
 #if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
 
 #endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
 
 #if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC
+  timer_clk = RP_CORE_CLK;
+
+  osalDbgAssert(timer_clk % OSAL_ST_FREQUENCY != 0U,
+                "division remainder");
+  osalDbgAssert((timer_clk / OSAL_ST_FREQUENCY) - 1U > 0x00FFFFFFU,
+                "prescaler range");
+
   /* Periodic systick mode, the Cortex-Mx internal systick timer is used
      in this mode.*/
-  SysTick->LOAD = (SYSTICK_CK / OSAL_ST_FREQUENCY) - 1;
+  SysTick->LOAD = (timer_clk / OSAL_ST_FREQUENCY) - 1;
   SysTick->VAL = 0;
   SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
                   SysTick_CTRL_ENABLE_Msk |
                   SysTick_CTRL_TICKINT_Msk;
 
   /* IRQ enabled.*/
-  nvicSetSystemHandlerPriority(HANDLER_SYSTICK, RP_ST_IRQ_PRIORITY);
+  nvicSetSystemHandlerPriority(HANDLER_SYSTICK, RP_SYSTICK_IRQ_PRIORITY);
 #endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
 }
 

os/hal/ports/RP/LLD/TIMERv1/hal_st_lld.h

@@ -42,8 +42,8 @@
 /**
  * @brief   SysTick timer IRQ priority.
  */
-#if !defined(RP_TIMER_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#if !defined(RP_SYSTICK_IRQ_PRIORITY) || defined(__DOXYGEN__)
-#define RP_TIMER_IRQ_PRIORITY               1
+#define RP_SYSTICK_IRQ_PRIORITY             1
 #endif
 /** @} */
 

os/hal/ports/RP/RP2040/hal_lld.c

@@ -24,9 +24,6 @@
 
 #include "hal.h"
 
-/* From Pico-SDK */
-#include "hardware/clocks.h"
-
 /*===========================================================================*/
 /* Driver local definitions.                                                 */
 /*===========================================================================*/
@@ -39,7 +36,7 @@
  * @brief   CMSIS system core clock variable.
  * @note    It is declared in system_rp2040.h.
  */
-uint32_t SystemCoreClock = RP_CORE_CK;
+uint32_t SystemCoreClock;
 
 /*===========================================================================*/
 /* Driver local variables and types.                                         */
@@ -79,6 +76,8 @@ void rp_clock_init(void) {
 
 #if !RP_NO_INIT
   clocks_init();
+
+  SystemCoreClock = RP_CORE_CLK;
 #endif /* RP_NO_INIT */
 }
 

os/hal/ports/RP/RP2040/hal_lld.h

@@ -30,6 +30,9 @@
  */
 #include "rp_registry.h"
 
+/* From Pico-SDK */
+#include "hardware/clocks.h"
+
 /*===========================================================================*/
 /* Driver constants.                                                         */
 /*===========================================================================*/
@@ -87,12 +90,19 @@
 #error "RP_XOSCCLK not defined in board.h"
 #endif
 
-#define RP_CORE_CK              125000000
+/**
+ * @name    Various clock points.
+ * @{
+ */
+#define RP_CORE_CLK             hal_lld_get_clock(clk_sys)
+/** @} */
 
 /*===========================================================================*/
 /* Driver data structures and types.                                         */
 /*===========================================================================*/
 
+typedef enum clock_index clock_index_t;
+
 /*===========================================================================*/
 /* Driver macros.                                                            */
 /*===========================================================================*/
@@ -108,12 +118,21 @@
 #ifdef __cplusplus
 extern "C" {
 #endif
-  void hal_lld_init(void);
   void rp_clock_init(void);
+  void hal_lld_init(void);
 #ifdef __cplusplus
 }
 #endif
 
+/*===========================================================================*/
+/* Driver inline functions.                                                  */
+/*===========================================================================*/
+
+__STATIC_INLINE uint32_t hal_lld_get_clock(clock_index_t clk_index) {
+
+  return clock_get_hz(clk_index);
+}
+
 #endif /* HAL_LLD_H */
 
 /** @} */