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MIMXRT1062/LLD/PITv1: hal_st: set up SysTick like the Arduino Teensy 4 Core does

This commit is contained in:
Michael Stapelberg 2020-06-11 23:31:11 +02:00
parent f19da3e183
commit 1788a7468c
3 changed files with 17 additions and 15 deletions
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10
os/hal/ports/MIMXRT1062/LLD/PITv1/driver.mk
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@ -1,9 +1,3 @@
ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_GPT TRUE,$(HALCONF)),)
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.c
endif
else
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1/hal_gpt_lld.c
endif
PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/MIMXRT1062/LLD/PITv1/hal_st_lld.c
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/PITv1
PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/MIMXRT1062/LLD/PITv1

18
os/hal/ports/MIMXRT1062/LLD/PITv1/hal_st_lld.c
View File

@ -73,6 +73,16 @@ OSAL_IRQ_HANDLER(SysTick_Handler) {
/* Driver exported functions. */
/*===========================================================================*/
// ARM SysTick is used for most Ardiuno timing functions, delay(), millis(),
// micros(). SysTick can run from either the ARM core clock, or from an
// "external" clock. NXP documents it as "24 MHz XTALOSC can be the external
// clock source of SYSTICK" (RT1052 ref manual, rev 1, page 411). However,
// NXP actually hid an undocumented divide-by-240 circuit in the hardware, so
// the external clock is really 100 kHz. We use this clock rather than the
// ARM clock, to allow SysTick to maintain correct timing even when we change
// the ARM clock to run at different speeds.
#define SYSTICK_EXT_FREQ 100000
/**
* @brief Low level ST driver initialization.
*
@ -82,14 +92,12 @@ void st_lld_init(void) {
#if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC
/* Periodic systick mode, the Cortex-Mx internal systick timer is used
in this mode.*/
SysTick->LOAD = (KINETIS_SYSCLK_FREQUENCY / OSAL_ST_FREQUENCY) - 1;
SysTick->LOAD = (SYSTICK_EXT_FREQ / OSAL_ST_FREQUENCY) - 1;
SysTick->VAL = 0;
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
SysTick_CTRL_ENABLE_Msk |
SysTick_CTRL_TICKINT_Msk;
SysTick->CTRL = SysTick_CTRL_TICKINT_Msk | SysTick_CTRL_ENABLE_Msk;
/* IRQ enabled.*/
nvicSetSystemHandlerPriority(HANDLER_SYSTICK, KINETIS_ST_IRQ_PRIORITY);
nvicSetSystemHandlerPriority(HANDLER_SYSTICK, MIMXRT1062_ST_IRQ_PRIORITY);
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
}

4
os/hal/ports/MIMXRT1062/LLD/PITv1/hal_st_lld.h
View File

@ -44,8 +44,8 @@
/**
* @brief SysTick timer IRQ priority.
*/
#if !defined(KINETIS_ST_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define KINETIS_ST_IRQ_PRIORITY 8
#if !defined(MIMXRT1062_ST_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define MIMXRT1062_ST_IRQ_PRIORITY 8
#endif
/** @} */