try to implement tick-less mode

2 files changed, 143 insertions, 16 deletions

diff --git a/os/hal/ports/NRF51/NRF51822/st_lld.c b/os/hal/ports/NRF51/NRF51822/st_lld.c
index a43a679..51f942b 100644
--- a/os/hal/ports/NRF51/NRF51822/st_lld.c
+++ b/os/hal/ports/NRF51/NRF51822/st_lld.c
@@ -31,6 +31,14 @@
 /* Driver local definitions.                                                 */

 /*===========================================================================*/

 

+#if   (OSAL_ST_RESOLUTION == 32)

+#define ST_OVERFLOW_VALUE                         0xFFFFFFFF

+#elif (OSAL_ST_RESOLUTION == 24)

+#define ST_OVERFLOW_VALUE                         0x00FFFFFF

+#elif (OSAL_ST_RESOLUTION == 16)

+#define ST_OVERFLOW_VALUE                         0x0000FFFF

+#endif

+

 /*===========================================================================*/

 /* Driver exported variables.                                                */

 /*===========================================================================*/

@@ -52,7 +60,6 @@
 /*===========================================================================*/

 

 #if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)

-

 #if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_RTC)

 /**

  * @brief   System Timer vector (RTC0)

@@ -98,9 +105,56 @@ OSAL_IRQ_HANDLER(Vector60) {
   OSAL_IRQ_EPILOGUE();

 }

 #endif

-

 #endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */

 

+#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) || defined(__DOXYGEN__)

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_RTC)

+/**

+ * @brief   System Timer vector (RTC0)

+ * @details This interrupt is used for freerunning mode (tick-less)

+ *          if selected with NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_RTC

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(Vector6C) {

+

+  OSAL_IRQ_PROLOGUE();

+

+  NRF_RTC0->EVENTS_COMPARE[0] = 0;

+      

+  osalSysLockFromISR();

+  osalOsTimerHandlerI();

+  osalSysUnlockFromISR();

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_TIMER)

+/**

+ * @brief   System Timer vector. (TIMER0)

+ * @details This interrupt is used for freerunning mode (tick-less)

+ *          if selected with NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_TIMER

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(Vector60) {

+

+  OSAL_IRQ_PROLOGUE();

+

+  /* Clear timer compare event */

+  if (NRF_TIMER0->EVENTS_COMPARE[0] != 0)

+    NRF_TIMER0->EVENTS_COMPARE[0] = 0;

+

+  osalSysLockFromISR();

+  osalOsTimerHandlerI();

+  osalSysUnlockFromISR();

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+#endif

+

 /*===========================================================================*/

 /* Driver exported functions.                                                */

 /*===========================================================================*/

@@ -112,11 +166,43 @@ OSAL_IRQ_HANDLER(Vector60) {
  */

 void st_lld_init(void) {

 #if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING)

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_RTC)

+  /* Using RTC with prescaler */

+  NRF_RTC0->TASKS_STOP  = 1;

+  NRF_RTC0->PRESCALER   = (NRF51_LFCLK_FREQUENCY / OSAL_ST_FREQUENCY) - 1; 

+  NRF_RTC0->EVTENCLR    = RTC_EVTEN_COMPARE0_Msk;

+  NRF_RTC0->EVENTS_COMPARE[0] = 0;

+

+  /* Start timer */

+  nvicEnableVector(RTC0_IRQn, 8);

+  NRF_RTC0->TASKS_START = 1;

+#endif

+

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_TIMER)

+  NRF_TIMER0->TASKS_CLEAR = 1;

 

+  /*

+   * Using 32-bit mode with prescaler 16 configures this

+   * timer with a 1MHz clock.

+   */

+  NRF_TIMER0->BITMODE = 3;

+  NRF_TIMER0->PRESCALER = 4;

+

+  /*

+   * Configure timer 0 compare capture 1 to generate interrupt

+   * for overflow according to ST_OVERFLOW_VALUE

+   */

+  NRF_TIMER0->CC[0] = (1000000 / OSAL_ST_FREQUENCY) - 1;

+  NRF_TIMER0->SHORTS = 1;

+  NRF_TIMER0->INTENSET = 0x10000;

+

+  /* Start timer */

+  nvicEnableVector(TIMER0_IRQn, 8);

+  NRF_TIMER0->TASKS_START = 1;

+#endif

 #endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */

 

 #if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC

-

 #if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_RTC)

   /* Using RTC with prescaler */

   NRF_RTC0->TASKS_STOP  = 1;

@@ -150,7 +236,6 @@ void st_lld_init(void) {
   nvicEnableVector(TIMER0_IRQn, 8);

   NRF_TIMER0->TASKS_START = 1;

 #endif

-

 #endif

 }

 

diff --git a/os/hal/ports/NRF51/NRF51822/st_lld.h b/os/hal/ports/NRF51/NRF51822/st_lld.h
index c62ff2c..3f47a11 100644
--- a/os/hal/ports/NRF51/NRF51822/st_lld.h
+++ b/os/hal/ports/NRF51/NRF51822/st_lld.h
@@ -27,17 +27,19 @@
 #ifndef _ST_LLD_H_

 #define _ST_LLD_H_

 

+#include "halconf.h"

+

 /*===========================================================================*/

 /* Driver constants.                                                         */

 /*===========================================================================*/

 

 /**

- * @brief   SPI0 interrupt priority level setting.

+ * @brief   System ticks implementer as a timer.

  */

 #define NRF51_SYSTEM_TICKS_AS_TIMER    1

 

 /**

- * @brief   SPI0 interrupt priority level setting.

+ * @brief   System ticks implementer as an rtc.

  */

 #define NRF51_SYSTEM_TICKS_AS_RTC      2

 

@@ -64,6 +66,14 @@
 #error "NRF51_SYSTEM_TICKS illegal value"

 #endif

 

+#if defined(CH_CFG_ST_TIMEDELTA) && CH_CFG_ST_TIMEDELTA < 5

+#error "CH_CFG_ST_TIMEDELTA is too low"

+#endif

+

+#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING)

+#error "Freeruning (tick-less) mode currently not working"

+#endif

+

 /*===========================================================================*/

 /* Driver data structures and types.                                         */

 /*===========================================================================*/

@@ -96,8 +106,13 @@ extern "C" {
  * @notapi

  */

 static inline systime_t st_lld_get_counter(void) {

-

-  return (systime_t)0;

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_RTC)

+  return (systime_t)NRF_RTC0->COUNTER;

+#endif

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_TIMER)

+  NRF_TIMER0->TASKS_CAPTURE[1] = 1;

+  return (systime_t)NRF_TIMER0->CC[1];

+#endif

 }

 

 /**

@@ -110,8 +125,16 @@ static inline systime_t st_lld_get_counter(void) {
  * @notapi

  */

 static inline void st_lld_start_alarm(systime_t abstime) {

-

-  (void)abstime;

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_RTC)

+  NRF_RTC0->CC[0]               = abstime;

+  NRF_RTC0->EVENTS_COMPARE[0]   = 0;

+  NRF_RTC0->EVTENSET            = RTC_EVTEN_COMPARE0_Msk;

+#endif

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_TIMER)

+  NRF_TIMER0->CC[0]             = abstime;

+  NRF_TIMER0->EVENTS_COMPARE[0] = 0;

+  NRF_TIMER0->INTENSET          = TIMER_INTENSET_COMPARE0_Msk;

+#endif

 }

 

 /**

@@ -120,7 +143,14 @@ static inline void st_lld_start_alarm(systime_t abstime) {
  * @notapi

  */

 static inline void st_lld_stop_alarm(void) {

-

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_RTC)

+  NRF_RTC0->EVTENCLR            = RTC_EVTEN_COMPARE0_Msk;

+  NRF_RTC0->EVENTS_COMPARE[0]   = 0;

+#endif

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_TIMER)

+  NRF_TIMER0->INTENCLR          = TIMER_INTENCLR_COMPARE0_Msk;

+  NRF_TIMER0->EVENTS_COMPARE[0] = 0;

+#endif

 }

 

 /**

@@ -131,8 +161,12 @@ static inline void st_lld_stop_alarm(void) {
  * @notapi

  */

 static inline void st_lld_set_alarm(systime_t abstime) {

-

-  (void)abstime;

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_RTC)

+    NRF_RTC0->CC[0]             = abstime;

+#endif

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_TIMER)

+    NRF_TIMER0->CC[0]           = abstime;

+#endif

 }

 

 /**

@@ -143,8 +177,12 @@ static inline void st_lld_set_alarm(systime_t abstime) {
  * @notapi

  */

 static inline systime_t st_lld_get_alarm(void) {

-

-  return (systime_t)0;

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_RTC)

+  return (systime_t)NRF_RTC0->CC[0];

+#endif

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_TIMER)

+  return (systime_t)NRF_TIMER0->CC[0];

+#endif

 }

 

 /**

@@ -157,8 +195,12 @@ static inline systime_t st_lld_get_alarm(void) {
  * @notapi

  */

 static inline bool st_lld_is_alarm_active(void) {

-

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_RTC)

+  return NRF_RTC0->EVTEN & RTC_INTENSET_COMPARE0_Msk;

+#endif

+#if (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_TIMER)

   return false;

+#endif

 }

 

 #endif /* _ST_LLD_H_ */