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Tick-less mode support for RP. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@14102 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
This commit is contained in:
Giovanni Di Sirio 2021-03-29 08:43:50 +00:00
parent 8333cc054c
commit f91d50a826
7 changed files with 866 additions and 26 deletions
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4
demos/RP/RT-RP2040-PICO/cfg/chconf.h
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@ -52,7 +52,7 @@
* setting also defines the system tick time unit.
*/
#if !defined(CH_CFG_ST_FREQUENCY)
#define CH_CFG_ST_FREQUENCY 1000
#define CH_CFG_ST_FREQUENCY 1000000
#endif
/**
@ -80,7 +80,7 @@
* this value.
*/
#if !defined(CH_CFG_ST_TIMEDELTA)
#define CH_CFG_ST_TIMEDELTA 0
#define CH_CFG_ST_TIMEDELTA 20
#endif
/** @} */

551
demos/RP/RT-RP2040-PICO/cfg/halconf.h Normal file
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@ -0,0 +1,551 @@
/*
ChibiOS - Copyright (C) 2006..2020 Giovanni Di Sirio
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 templates/halconf.h
* @brief HAL configuration header.
* @details HAL configuration file, this file allows to enable or disable the
* various device drivers from your application. You may also use
* this file in order to override the device drivers default settings.
*
* @addtogroup HAL_CONF
* @{
*/
#ifndef HALCONF_H
#define HALCONF_H
#define _CHIBIOS_HAL_CONF_
#define _CHIBIOS_HAL_CONF_VER_7_1_
#include "mcuconf.h"
/**
* @brief Enables the PAL subsystem.
*/
#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
#define HAL_USE_PAL TRUE
#endif
/**
* @brief Enables the ADC subsystem.
*/
#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
#define HAL_USE_ADC FALSE
#endif
/**
* @brief Enables the CAN subsystem.
*/
#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
#define HAL_USE_CAN FALSE
#endif
/**
* @brief Enables the cryptographic subsystem.
*/
#if !defined(HAL_USE_CRY) || defined(__DOXYGEN__)
#define HAL_USE_CRY FALSE
#endif
/**
* @brief Enables the DAC subsystem.
*/
#if !defined(HAL_USE_DAC) || defined(__DOXYGEN__)
#define HAL_USE_DAC FALSE
#endif
/**
* @brief Enables the EFlash subsystem.
*/
#if !defined(HAL_USE_EFL) || defined(__DOXYGEN__)
#define HAL_USE_EFL FALSE
#endif
/**
* @brief Enables the GPT subsystem.
*/
#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
#define HAL_USE_GPT FALSE
#endif
/**
* @brief Enables the I2C subsystem.
*/
#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
#define HAL_USE_I2C FALSE
#endif
/**
* @brief Enables the I2S subsystem.
*/
#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
#define HAL_USE_I2S FALSE
#endif
/**
* @brief Enables the ICU subsystem.
*/
#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
#define HAL_USE_ICU FALSE
#endif
/**
* @brief Enables the MAC subsystem.
*/
#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
#define HAL_USE_MAC FALSE
#endif
/**
* @brief Enables the MMC_SPI subsystem.
*/
#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
#define HAL_USE_MMC_SPI FALSE
#endif
/**
* @brief Enables the PWM subsystem.
*/
#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
#define HAL_USE_PWM FALSE
#endif
/**
* @brief Enables the RTC subsystem.
*/
#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
#define HAL_USE_RTC FALSE
#endif
/**
* @brief Enables the SDC subsystem.
*/
#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
#define HAL_USE_SDC FALSE
#endif
/**
* @brief Enables the SERIAL subsystem.
*/
#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
#define HAL_USE_SERIAL FALSE
#endif
/**
* @brief Enables the SERIAL over USB subsystem.
*/
#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
#define HAL_USE_SERIAL_USB FALSE
#endif
/**
* @brief Enables the SIO subsystem.
*/
#if !defined(HAL_USE_SIO) || defined(__DOXYGEN__)
#define HAL_USE_SIO TRUE
#endif
/**
* @brief Enables the SPI subsystem.
*/
#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
#define HAL_USE_SPI FALSE
#endif
/**
* @brief Enables the TRNG subsystem.
*/
#if !defined(HAL_USE_TRNG) || defined(__DOXYGEN__)
#define HAL_USE_TRNG FALSE
#endif
/**
* @brief Enables the UART subsystem.
*/
#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
#define HAL_USE_UART FALSE
#endif
/**
* @brief Enables the USB subsystem.
*/
#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
#define HAL_USE_USB FALSE
#endif
/**
* @brief Enables the WDG subsystem.
*/
#if !defined(HAL_USE_WDG) || defined(__DOXYGEN__)
#define HAL_USE_WDG FALSE
#endif
/**
* @brief Enables the WSPI subsystem.
*/
#if !defined(HAL_USE_WSPI) || defined(__DOXYGEN__)
#define HAL_USE_WSPI FALSE
#endif
/*===========================================================================*/
/* PAL driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(PAL_USE_CALLBACKS) || defined(__DOXYGEN__)
#define PAL_USE_CALLBACKS FALSE
#endif
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__)
#define PAL_USE_WAIT FALSE
#endif
/*===========================================================================*/
/* ADC driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
#define ADC_USE_WAIT TRUE
#endif
/**
* @brief Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define ADC_USE_MUTUAL_EXCLUSION TRUE
#endif
/*===========================================================================*/
/* CAN driver related settings. */
/*===========================================================================*/
/**
* @brief Sleep mode related APIs inclusion switch.
*/
#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
#define CAN_USE_SLEEP_MODE TRUE
#endif
/**
* @brief Enforces the driver to use direct callbacks rather than OSAL events.
*/
#if !defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
#define CAN_ENFORCE_USE_CALLBACKS FALSE
#endif
/*===========================================================================*/
/* CRY driver related settings. */
/*===========================================================================*/
/**
* @brief Enables the SW fall-back of the cryptographic driver.
* @details When enabled, this option, activates a fall-back software
* implementation for algorithms not supported by the underlying
* hardware.
* @note Fall-back implementations may not be present for all algorithms.
*/
#if !defined(HAL_CRY_USE_FALLBACK) || defined(__DOXYGEN__)
#define HAL_CRY_USE_FALLBACK FALSE
#endif
/**
* @brief Makes the driver forcibly use the fall-back implementations.
*/
#if !defined(HAL_CRY_ENFORCE_FALLBACK) || defined(__DOXYGEN__)
#define HAL_CRY_ENFORCE_FALLBACK FALSE
#endif
/*===========================================================================*/
/* DAC driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(DAC_USE_WAIT) || defined(__DOXYGEN__)
#define DAC_USE_WAIT TRUE
#endif
/**
* @brief Enables the @p dacAcquireBus() and @p dacReleaseBus() APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(DAC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define DAC_USE_MUTUAL_EXCLUSION TRUE
#endif
/*===========================================================================*/
/* I2C driver related settings. */
/*===========================================================================*/
/**
* @brief Enables the mutual exclusion APIs on the I2C bus.
*/
#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define I2C_USE_MUTUAL_EXCLUSION TRUE
#endif
/*===========================================================================*/
/* MAC driver related settings. */
/*===========================================================================*/
/**
* @brief Enables the zero-copy API.
*/
#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
#define MAC_USE_ZERO_COPY FALSE
#endif
/**
* @brief Enables an event sources for incoming packets.
*/
#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)
#define MAC_USE_EVENTS TRUE
#endif
/*===========================================================================*/
/* MMC_SPI driver related settings. */
/*===========================================================================*/
/**
* @brief Delays insertions.
* @details If enabled this options inserts delays into the MMC waiting
* routines releasing some extra CPU time for the threads with
* lower priority, this may slow down the driver a bit however.
* This option is recommended also if the SPI driver does not
* use a DMA channel and heavily loads the CPU.
*/
#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
#define MMC_NICE_WAITING TRUE
#endif
/*===========================================================================*/
/* SDC driver related settings. */
/*===========================================================================*/
/**
* @brief Number of initialization attempts before rejecting the card.
* @note Attempts are performed at 10mS intervals.
*/
#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)
#define SDC_INIT_RETRY 100
#endif
/**
* @brief Include support for MMC cards.
* @note MMC support is not yet implemented so this option must be kept
* at @p FALSE.
*/
#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)
#define SDC_MMC_SUPPORT FALSE
#endif
/**
* @brief Delays insertions.
* @details If enabled this options inserts delays into the MMC waiting
* routines releasing some extra CPU time for the threads with
* lower priority, this may slow down the driver a bit however.
*/
#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)
#define SDC_NICE_WAITING TRUE
#endif
/**
* @brief OCR initialization constant for V20 cards.
*/
#if !defined(SDC_INIT_OCR_V20) || defined(__DOXYGEN__)
#define SDC_INIT_OCR_V20 0x50FF8000U
#endif
/**
* @brief OCR initialization constant for non-V20 cards.
*/
#if !defined(SDC_INIT_OCR) || defined(__DOXYGEN__)
#define SDC_INIT_OCR 0x80100000U
#endif
/*===========================================================================*/
/* SERIAL driver related settings. */
/*===========================================================================*/
/**
* @brief Default bit rate.
* @details Configuration parameter, this is the baud rate selected for the
* default configuration.
*/
#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
#define SERIAL_DEFAULT_BITRATE 38400
#endif
/**
* @brief Serial buffers size.
* @details Configuration parameter, you can change the depth of the queue
* buffers depending on the requirements of your application.
* @note The default is 16 bytes for both the transmission and receive
* buffers.
*/
#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
#define SERIAL_BUFFERS_SIZE 16
#endif
/*===========================================================================*/
/* SIO driver related settings. */
/*===========================================================================*/
/**
* @brief Default bit rate.
* @details Configuration parameter, this is the baud rate selected for the
* default configuration.
*/
#if !defined(SIO_DEFAULT_BITRATE) || defined(__DOXYGEN__)
#define SIO_DEFAULT_BITRATE 115200
#endif
/**
* @brief Support for thread synchronization API.
*/
#if !defined(SIO_USE_SYNCHRONIZATION) || defined(__DOXYGEN__)
#define SIO_USE_SYNCHRONIZATION TRUE
#endif
/*===========================================================================*/
/* SERIAL_USB driver related setting. */
/*===========================================================================*/
/**
* @brief Serial over USB buffers size.
* @details Configuration parameter, the buffer size must be a multiple of
* the USB data endpoint maximum packet size.
* @note The default is 256 bytes for both the transmission and receive
* buffers.
*/
#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)
#define SERIAL_USB_BUFFERS_SIZE 256
#endif
/**
* @brief Serial over USB number of buffers.
* @note The default is 2 buffers.
*/
#if !defined(SERIAL_USB_BUFFERS_NUMBER) || defined(__DOXYGEN__)
#define SERIAL_USB_BUFFERS_NUMBER 2
#endif
/*===========================================================================*/
/* SPI driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
#define SPI_USE_WAIT TRUE
#endif
/**
* @brief Enables circular transfers APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(SPI_USE_CIRCULAR) || defined(__DOXYGEN__)
#define SPI_USE_CIRCULAR FALSE
#endif
/**
* @brief Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define SPI_USE_MUTUAL_EXCLUSION TRUE
#endif
/**
* @brief Handling method for SPI CS line.
* @note Disabling this option saves both code and data space.
*/
#if !defined(SPI_SELECT_MODE) || defined(__DOXYGEN__)
#define SPI_SELECT_MODE SPI_SELECT_MODE_PAD
#endif
/*===========================================================================*/
/* UART driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(UART_USE_WAIT) || defined(__DOXYGEN__)
#define UART_USE_WAIT FALSE
#endif
/**
* @brief Enables the @p uartAcquireBus() and @p uartReleaseBus() APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(UART_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define UART_USE_MUTUAL_EXCLUSION FALSE
#endif
/*===========================================================================*/
/* USB driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(USB_USE_WAIT) || defined(__DOXYGEN__)
#define USB_USE_WAIT FALSE
#endif
/*===========================================================================*/
/* WSPI driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(WSPI_USE_WAIT) || defined(__DOXYGEN__)
#define WSPI_USE_WAIT TRUE
#endif
/**
* @brief Enables the @p wspiAcquireBus() and @p wspiReleaseBus() APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(WSPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define WSPI_USE_MUTUAL_EXCLUSION TRUE
#endif
#endif /* HALCONF_H */
/** @} */

48
demos/RP/RT-RP2040-PICO/cfg/mcuconf.h Normal file
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@ -0,0 +1,48 @@
/*
ChibiOS - Copyright (C) 2006..2021 Giovanni Di Sirio
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.
*/
#ifndef MCUCONF_H
#define MCUCONF_H
/*
* RP2040_MCUCONF drivers configuration.
*/
#define RP2040_MCUCONF
/*
* HAL driver system settings.
*/
#define RP_NO_INIT FALSE
/*
* IRQ system settings.
*/
#define RP_IRQ_SYSTICK_PRIORITY 2
#define RP_IRQ_TIMER_ALARM0_PRIORITY 2
#define RP_IRQ_TIMER_ALARM1_PRIORITY 2
#define RP_IRQ_TIMER_ALARM2_PRIORITY 2
#define RP_IRQ_TIMER_ALARM3_PRIORITY 2
#define RP_IRQ_UART0_PRIORITY 3
#define RP_IRQ_UART1_PRIORITY 3
/*
* SIO driver system settings.
*/
#define RP_SIO_USE_UART0 TRUE
#define RP_SIO_USE_UART1 TRUE
#endif /* MCUCONF_H */

5
os/common/ext/RP/RP2040/rp2040.h
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@ -186,10 +186,7 @@ typedef struct {
__IO uint32_t TIMELW;
__I uint32_t TIMEHR;
__I uint32_t TIMELR;
__IO uint32_t ALARM0;
__IO uint32_t ALARM1;
__IO uint32_t ALARM2;
__IO uint32_t ALARM3;
__IO uint32_t ALARM[4];
__IO uint32_t ARMED;
__I uint32_t TIMERAWH;
__I uint32_t TIMERAWL;

127
os/hal/ports/RP/LLD/TIMERv1/hal_st_lld.c
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@ -31,6 +31,7 @@
/*===========================================================================*/
#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
#define ST_HANDLER SysTick_Handler
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
#if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC
@ -57,13 +58,34 @@
/* Driver interrupt handlers. */
/*===========================================================================*/
#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)
#if !defined(ST_SYSTICK_SUPPRESS_ISR)
/**
* @brief Interrupt handler.
* @brief SysTick interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(ST_HANDLER) {
OSAL_IRQ_HANDLER(SysTick_Handler) {
OSAL_IRQ_PROLOGUE();
osalSysLockFromISR();
osalOsTimerHandlerI();
osalSysUnlockFromISR();
OSAL_IRQ_EPILOGUE();
}
#endif
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) || defined(__DOXYGEN__)
#if !defined(ST_TIMER_ALARM0_SUPPRESS_ISR)
/**
* @brief TIMER alarm 0 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(RP_TIMER_IRQ0_HANDLER) {
OSAL_IRQ_PROLOGUE();
@ -73,6 +95,56 @@ OSAL_IRQ_HANDLER(ST_HANDLER) {
}
#endif
#if !defined(ST_TIMER_ALARM1_SUPPRESS_ISR)
/**
* @brief TIMER alarm 1 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(RP_TIMER_IRQ1_HANDLER) {
OSAL_IRQ_PROLOGUE();
st_lld_serve_interrupt();
OSAL_IRQ_EPILOGUE();
}
#endif
#if !defined(ST_TIMER_ALARM2_SUPPRESS_ISR)
/**
* @brief TIMER alarm 2 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(RP_TIMER_IRQ2_HANDLER) {
OSAL_IRQ_PROLOGUE();
st_lld_serve_interrupt();
OSAL_IRQ_EPILOGUE();
}
#endif
#if !defined(ST_TIMER_ALARM3_SUPPRESS_ISR)
/**
* @brief TIMER alarm 3 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(RP_TIMER_IRQ3_HANDLER) {
OSAL_IRQ_PROLOGUE();
st_lld_serve_interrupt();
OSAL_IRQ_EPILOGUE();
}
#endif
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
@ -83,14 +155,40 @@ OSAL_IRQ_HANDLER(ST_HANDLER) {
* @notapi
*/
void st_lld_init(void) {
uint32_t timer_clk;
#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
/* The timer need to stop during debug or the virtual timers list would
go out of sync.*/
TIMER->DBGPAUSE = TIMER_DBGPAUSE_DBG0 | TIMER_DBGPAUSE_DBG1;
/* Comparators and counter initially at zero.*/
TIMER->TIMELW = 0U;
TIMER->TIMEHW = 0U;
TIMER->ALARM[0] = 0U;
TIMER->ALARM[1] = 0U;
TIMER->ALARM[2] = 0U;
TIMER->ALARM[3] = 0U;
TIMER->INTR = TIMER_INTR_ALARM3 | TIMER_INTR_ALARM2 |
TIMER_INTR_ALARM1 | TIMER_INTR_ALARM0;
/* IRQs enabled.*/
#if !defined(ST_TIMER_ALARM0_SUPPRESS_ISR)
nvicEnableVector(RP_TIMER_IRQ0_NUMBER, RP_IRQ_TIMER_ALARM0_PRIORITY);
#endif
#if !defined(ST_TIMER_ALARM1_SUPPRESS_ISR)
nvicEnableVector(RP_TIMER_IRQ1_NUMBER, RP_IRQ_TIMER_ALARM1_PRIORITY);
#endif
#if !defined(ST_TIMER_ALARM2_SUPPRESS_ISR)
nvicEnableVector(RP_TIMER_IRQ2_NUMBER, RP_IRQ_TIMER_ALARM2_PRIORITY);
#endif
#if !defined(ST_TIMER_ALARM3_SUPPRESS_ISR)
nvicEnableVector(RP_TIMER_IRQ3_NUMBER, RP_IRQ_TIMER_ALARM3_PRIORITY);
#endif
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
#if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC
timer_clk = RP_CORE_CLK;
uint32_t timer_clk = RP_CORE_CLK;
osalDbgAssert(timer_clk % OSAL_ST_FREQUENCY != 0U,
"division remainder");
@ -114,18 +212,29 @@ void st_lld_init(void) {
* @brief IRQ handling code.
*/
void st_lld_serve_interrupt(void) {
uint32_t ints;
#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
ints = TIMER->INTS;
TIMER->INTR = ints;
#endif
{
/* Alarms 0 and 1 are used for system ticks for core 0 and core 1.*/
if ((ints & (TIMER_INTS_ALARM1 | TIMER_INTS_ALARM0)) != 0U) {
osalSysLockFromISR();
osalOsTimerHandlerI();
osalSysUnlockFromISR();
}
#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
#endif
if ((ints & TIMER_INTS_ALARM2) != 0U) {
if (st_callbacks[0] != NULL) {
st_callbacks[0](2U);
}
}
if ((ints & TIMER_INTS_ALARM3) != 0U) {
if (st_callbacks[1] != NULL) {
st_callbacks[1](3U);
}
}
}
#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */

155
os/hal/ports/RP/LLD/TIMERv1/hal_st_lld.h
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@ -31,6 +31,16 @@
/* Driver constants. */
/*===========================================================================*/
/**
* @brief Number of supported alarms.
*/
#define ST_LLD_NUM_ALARMS 4U
/**
* @brief Number of supported callbacks.
*/
#define ST_LLD_NUM_CALLBACKS (ST_LLD_NUM_ALARMS - 2U)
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
@ -43,7 +53,35 @@
* @brief SysTick timer IRQ priority.
*/
#if !defined(RP_IRQ_SYSTICK_PRIORITY) || defined(__DOXYGEN__)
#define RP_IRQ_SYSTICK_PRIORITY 1
#define RP_IRQ_SYSTICK_PRIORITY 2
#endif
/**
* @brief TIMER alarm 0 IRQ priority.
*/
#if !defined(RP_IRQ_TIMER_ALARM0_PRIORITY) || defined(__DOXYGEN__)
#define RP_IRQ_TIMER_ALARM0_PRIORITY 2
#endif
/**
* @brief TIMER alarm 1 IRQ priority.
*/
#if !defined(RP_IRQ_TIMER_ALARM1_PRIORITY) || defined(__DOXYGEN__)
#define RP_IRQ_TIMER_ALARM1_PRIORITY 2
#endif
/**
* @brief TIMER alarm 2 IRQ priority.
*/
#if !defined(RP_IRQ_TIMER_ALARM2_PRIORITY) || defined(__DOXYGEN__)
#define RP_IRQ_TIMER_ALARM2_PRIORITY 2
#endif
/**
* @brief TIMER alarm 3 IRQ priority.
*/
#if !defined(RP_IRQ_TIMER_ALARM3_PRIORITY) || defined(__DOXYGEN__)
#define RP_IRQ_TIMER_ALARM3_PRIORITY 2
#endif
/** @} */
@ -51,19 +89,26 @@
/* Derived constants and error checks. */
/*===========================================================================*/
#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) && \
(OSAL_ST_RESOLUTION != 32)
#error "OSAL_ST_RESOLUTION must be 32 in OSAL_ST_MODE_FREERUNNING mode"
#endif
#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
#define RP_ST_USE_SYSTICK FALSE
#error "OSAL_ST_MODE_FREERUNNING not yet supported"
#define RP_ST_USE_TIMER TRUE
#elif OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC
#define RP_ST_USE_SYSTICK TRUE
#define RP_ST_USE_TIMER FALSE
#else
#define RP_ST_USE_SYSTICK FALSE
#define RP_ST_USE_TIMER FALSE
#endif
@ -83,7 +128,9 @@
extern "C" {
#endif
void st_lld_init(void);
#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
void st_lld_serve_interrupt(void);
#endif
#ifdef __cplusplus
}
#endif
@ -92,7 +139,6 @@ extern "C" {
/* Driver inline functions. */
/*===========================================================================*/
#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) || defined(__DOXYGEN__)
/**
@ -102,8 +148,9 @@ extern "C" {
*
* @notapi
*/
static inline systime_t st_lld_get_counter(void) {
__STATIC_INLINE systime_t st_lld_get_counter(void) {
return (systime_t)TIMER->TIMERAWL;
}
/**
@ -115,8 +162,11 @@ static inline systime_t st_lld_get_counter(void) {
*
* @notapi
*/
static inline void st_lld_start_alarm(systime_t abstime) {
__STATIC_INLINE void st_lld_start_alarm(systime_t abstime) {
TIMER->ALARM[0] = (uint32_t)abstime;
TIMER->INTR = (1U << 0);
TIMER->INTE |= (1U << 0);
}
/**
@ -124,8 +174,9 @@ static inline void st_lld_start_alarm(systime_t abstime) {
*
* @notapi
*/
static inline void st_lld_stop_alarm(void) {
__STATIC_INLINE void st_lld_stop_alarm(void) {
TIMER->INTE &= ~(1U << 0);
}
/**
@ -135,8 +186,9 @@ static inline void st_lld_stop_alarm(void) {
*
* @notapi
*/
static inline void st_lld_set_alarm(systime_t abstime) {
__STATIC_INLINE void st_lld_set_alarm(systime_t abstime) {
TIMER->ALARM[0] = (uint32_t)abstime;
}
/**
@ -146,8 +198,9 @@ static inline void st_lld_set_alarm(systime_t abstime) {
*
* @notapi
*/
static inline systime_t st_lld_get_alarm(void) {
__STATIC_INLINE systime_t st_lld_get_alarm(void) {
return (systime_t)TIMER->ALARM[0];
}
/**
@ -159,10 +212,92 @@ static inline systime_t st_lld_get_alarm(void) {
*
* @notapi
*/
static inline bool st_lld_is_alarm_active(void) {
__STATIC_INLINE bool st_lld_is_alarm_active(void) {
return (bool)((TIMER->INTE & (1U << 0)) != 0U);
}
#if (ST_LLD_NUM_ALARMS > 1) || defined(__DOXYGEN__)
/**
* @brief Starts an alarm.
* @note Makes sure that no spurious alarms are triggered after
* this call.
* @note This functionality is only available in free running mode, the
* behavior in periodic mode is undefined.
*
* @param[in] abstime the time to be set for the first alarm
* @param[in] alarm alarm channel number
*
* @notapi
*/
__STATIC_INLINE void st_lld_start_alarm_n(unsigned alarm, systime_t abstime) {
TIMER->ALARM[alarm] = (uint32_t)abstime;
TIMER->INTR = (1U << alarm);
TIMER->INTE |= (1U << alarm);
}
/**
* @brief Stops an alarm interrupt.
* @note This functionality is only available in free running mode, the
* behavior in periodic mode is undefined.
*
* @param[in] alarm alarm channel number
*
* @notapi
*/
__STATIC_INLINE void st_lld_stop_alarm_n(unsigned alarm) {
TIMER->INTE &= ~(1U << alarm);
}
/**
* @brief Sets an alarm time.
* @note This functionality is only available in free running mode, the
* behavior in periodic mode is undefined.
*
* @param[in] alarm alarm channel number
* @param[in] abstime the time to be set for the next alarm
*
* @notapi
*/
__STATIC_INLINE void st_lld_set_alarm_n(unsigned alarm, systime_t abstime) {
TIMER->ALARM[alarm] = (uint32_t)abstime;
}
/**
* @brief Returns an alarm current time.
* @note This functionality is only available in free running mode, the
* behavior in periodic mode is undefined.
*
* @param[in] alarm alarm channel number
* @return The currently set alarm time.
*
* @notapi
*/
__STATIC_INLINE systime_t st_lld_get_alarm_n(unsigned alarm) {
return (systime_t)TIMER->ALARM[alarm];
}
/**
* @brief Determines if an alarm is active.
*
* @param[in] alarm alarm channel number
* @return The alarm status.
* @retval false if the alarm is not active.
* @retval true is the alarm is active
*
* @notapi
*/
static inline bool st_lld_is_alarm_active_n(unsigned alarm) {
return (bool)((TIMER->INTE & (1U << alarm)) != 0U);
}
#endif /* ST_LLD_NUM_ALARMS > 1 */
#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
#endif /* HAL_ST_LLD_H */

2
os/hal/src/hal_st.c
View File

@ -176,7 +176,7 @@ bool stIsAlarmActive(void) {
*/
bool stIsAlarmActiveN(unsigned alarm) {
return st_lld_is_alarm_active_n(n);
return st_lld_is_alarm_active_n(alarm);
}
/**