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ChibiOS-Contrib/os/hal/ports/TIVA/LLD/hal_st_lld.c

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/*
Copyright (C) 2014..2016 Marco Veeneman
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/**
* @file Tiva/LLD/st_lld.c
* @brief ST Driver subsystem low level driver code.
*
* @addtogroup ST
* @{
*/
#include "hal.h"
#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
#if (TIVA_ST_USE_WIDE_TIMER == TRUE)
#if TIVA_ST_TIMER_NUMBER == 0
#define ST_HANDLER TIVA_WGPT0A_HANDLER
#define ST_NUMBER TIVA_WGPT0A_NUMBER
#define ST_ENABLE_CLOCK() (SYSCTL->RCGCWTIMER |= (1 << 0))
#define ST_WAIT_CLOCK() while (!(SYSCTL->PRWTIMER & (1 << 0)))
#elif TIVA_ST_TIMER_NUMBER == 1
#define ST_HANDLER TIVA_WGPT1A_HANDLER
#define ST_NUMBER TIVA_WGPT1A_NUMBER
#define ST_ENABLE_CLOCK() (SYSCTL->RCGCWTIMER |= (1 << 1))
#define ST_WAIT_CLOCK() while (!(SYSCTL->PRWTIMER & (1 << 1)))
#elif TIVA_ST_TIMER_NUMBER == 2
#define ST_HANDLER TIVA_WGPT2A_HANDLER
#define ST_NUMBER TIVA_WGPT2A_NUMBER
#define ST_ENABLE_CLOCK() (SYSCTL->RCGCWTIMER |= (1 << 2))
#define ST_WAIT_CLOCK() while (!(SYSCTL->PRWTIMER & (1 << 2)))
#elif TIVA_ST_TIMER_NUMBER == 3
#define ST_HANDLER TIVA_WGPT3A_HANDLER
#define ST_NUMBER TIVA_WGPT3A_NUMBER
#define ST_ENABLE_CLOCK() (SYSCTL->RCGCWTIMER |= (1 << 3))
#define ST_WAIT_CLOCK() while (!(SYSCTL->PRWTIMER & (1 << 3)))
#elif TIVA_ST_TIMER_NUMBER == 4
#define ST_HANDLER TIVA_WGPT4A_HANDLER
#define ST_NUMBER TIVA_WGPT4A_NUMBER
#define ST_ENABLE_CLOCK() (SYSCTL->RCGCWTIMER |= (1 << 4))
#define ST_WAIT_CLOCK() while (!(SYSCTL->PRWTIMER & (1 << 4)))
#elif TIVA_ST_TIMER_NUMBER == 5
#define ST_HANDLER TIVA_WGPT5A_HANDLER
#define ST_NUMBER TIVA_WGPT5A_NUMBER
#define ST_ENABLE_CLOCK() (SYSCTL->RCGCWTIMER |= (1 << 5))
#define ST_WAIT_CLOCK() while (!(SYSCTL->PRWTIMER & (1 << 5)))
#else
#error "TIVA_ST_USE_TIMER specifies an unsupported timer"
#endif
#if (ST_CLOCK_SRC / OSAL_ST_FREQUENCY) - 1 > 0xFFFF
#error "the selected ST frequency is not obtainable because TIM timer prescaler limits"
#endif
#elif (TIVA_ST_USE_WIDE_TIMER == FALSE)
#if TIVA_ST_TIMER_NUMBER == 0
#define ST_HANDLER TIVA_GPT0A_HANDLER
#define ST_NUMBER TIVA_GPT0A_NUMBER
#define ST_ENABLE_CLOCK() (SYSCTL->RCGCTIMER |= (1 << 0))
#define ST_WAIT_CLOCK() while (!(SYSCTL->PRTIMER & (1 << 0)))
#elif TIVA_ST_TIMER_NUMBER == 1
#define ST_HANDLER TIVA_GPT1A_HANDLER
#define ST_NUMBER TIVA_GPT1A_NUMBER
#define ST_ENABLE_CLOCK() (SYSCTL->RCGCTIMER |= (1 << 1))
#define ST_WAIT_CLOCK() while (!(SYSCTL->PRTIMER & (1 << 1)))
#elif TIVA_ST_TIMER_NUMBER == 2
#define ST_HANDLER TIVA_GPT2A_HANDLER
#define ST_NUMBER TIVA_GPT2A_NUMBER
#define ST_ENABLE_CLOCK() (SYSCTL->RCGCTIMER |= (1 << 2))
#define ST_WAIT_CLOCK() while (!(SYSCTL->PRTIMER & (1 << 2)))
#elif TIVA_ST_TIMER_NUMBER == 3
#define ST_HANDLER TIVA_GPT3A_HANDLER
#define ST_NUMBER TIVA_GPT3A_NUMBER
#define ST_ENABLE_CLOCK() (SYSCTL->RCGCTIMER |= (1 << 3))
#define ST_WAIT_CLOCK() while (!(SYSCTL->PRTIMER & (1 << 3)))
#elif TIVA_ST_TIMER_NUMBER == 4
#define ST_HANDLER TIVA_GPT4A_HANDLER
#define ST_NUMBER TIVA_GPT4A_NUMBER
#define ST_ENABLE_CLOCK() (SYSCTL->RCGCTIMER |= (1 << 4))
#define ST_WAIT_CLOCK() while (!(SYSCTL->PRTIMER & (1 << 4)))
#elif TIVA_ST_TIMER_NUMBER == 5
#define ST_HANDLER TIVA_GPT5A_HANDLER
#define ST_NUMBER TIVA_GPT5A_NUMBER
#define ST_ENABLE_CLOCK() (SYSCTL->RCGCTIMER |= (1 << 5))
#define ST_WAIT_CLOCK() while (!(SYSCTL->PRTIMER & (1 << 5)))
#else
#error "TIVA_ST_USE_TIMER specifies an unsupported timer"
#endif
#if (TIVA_SYSCLK / OSAL_ST_FREQUENCY) - 1 > 0xFF
#error "the selected ST frequency is not obtainable because TIM timer prescaler limits"
#endif
#endif
#if TIVA_SYSCLK % OSAL_ST_FREQUENCY != 0
#error "the selected ST frequency is not obtainable because integer rounding"
#endif
#endif
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)
/**
* @brief System Timer vector.
* @details This interrupt is used for system tick in periodic mode.
*
* @isr
*/
OSAL_IRQ_HANDLER(SysTick_Handler)
{
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 GPT interrupt handler.
* @details This interrupt is used for system tick in free running mode.
*
* @isr
*/
OSAL_IRQ_HANDLER(ST_HANDLER)
{
uint32_t mis;
OSAL_IRQ_PROLOGUE();
mis = TIVA_ST_TIM->MIS;
TIVA_ST_TIM->ICR = mis;
if (mis & GPTM_IMR_TAMIM) {
osalSysLockFromISR();
osalOsTimerHandlerI();
osalSysUnlockFromISR();
}
OSAL_IRQ_EPILOGUE();
}
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level ST driver initialization.
*
* @notapi
*/
void st_lld_init(void)
{
#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
/* Free running counter mode.*/
/* Enabling timer clock.*/
ST_ENABLE_CLOCK();
/* Wait until timer peripheral is ready */
ST_WAIT_CLOCK();
/* Initializing the counter in free running down mode.*/
TIVA_ST_TIM->CTL = 0;
TIVA_ST_TIM->CFG = GPTM_CFG_CFG_SPLIT; /* Timer split mode */
TIVA_ST_TIM->TAMR = (GPTM_TAMR_TAMR_PERIODIC |/* Periodic mode */
GPTM_TAMR_TAMIE | /* Match interrupt enable */
GPTM_TAMR_TASNAPS); /* Snapshot mode */
TIVA_ST_TIM->TAPR = (TIVA_SYSCLK / OSAL_ST_FREQUENCY) - 1;
TIVA_ST_TIM->CTL = (GPTM_CTL_TAEN | /* Timer A enable */
GPTM_CTL_TASTALL); /* Timer A stall when paused */
/* IRQ enabled.*/
nvicEnableVector(ST_NUMBER, TIVA_ST_IRQ_PRIORITY);
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
#if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC
/* Periodic systick mode, the Cortex-Mx internal systick timer is used
in this mode.*/
SysTick->LOAD = (TIVA_SYSCLK / 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, TIVA_ST_IRQ_PRIORITY);
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
}
#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */
/**
* @}
*/
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