diff options
Diffstat (limited to 'os/hal/platforms/AT91SAM7/gpt_lld.c')
| -rw-r--r-- | os/hal/platforms/AT91SAM7/gpt_lld.c | 456 |
1 files changed, 456 insertions, 0 deletions
diff --git a/os/hal/platforms/AT91SAM7/gpt_lld.c b/os/hal/platforms/AT91SAM7/gpt_lld.c new file mode 100644 index 000000000..3d584fee3 --- /dev/null +++ b/os/hal/platforms/AT91SAM7/gpt_lld.c @@ -0,0 +1,456 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2013 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 AT91SAM7/gpt_lld.c
+ * @brief AT91SAM7 GPT subsystem low level driver source.
+ *
+ * @addtogroup GPT
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#if HAL_USE_GPT || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief GPTD1 driver identifier.
+ * @note The driver GPTD1 allocates the complex timer TC0 when enabled.
+ */
+#if AT91_GPT_USE_TC0 || defined(__DOXYGEN__)
+ GPTDriver GPTD1;
+#endif
+
+/**
+ * @brief GPTD2 driver identifier.
+ * @note The driver GPTD2 allocates the timer TC1 when enabled.
+ */
+#if AT91_GPT_USE_TC1 || defined(__DOXYGEN__)
+ GPTDriver GPTD2;
+#endif
+
+/**
+ * @brief GPTD3 driver identifier.
+ * @note The driver GPTD3 allocates the timer TC2 when enabled.
+ */
+#if AT91_GPT_USE_TC2 || defined(__DOXYGEN__)
+ GPTDriver GPTD3;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Shared IRQ handler.
+ *
+ * @param[in] gptp pointer to a @p GPTDriver object
+ */
+static void gpt_lld_serve_interrupt(GPTDriver *gptp) {
+ // Read the status to clear the interrupts
+ {
+ uint32_t isr = gptp->tc->TC_SR;
+ (void) isr;
+ }
+
+ // Clear one-shot
+ if (gptp->state == GPT_ONESHOT) {
+ gptp->state = GPT_READY; // Back in GPT_READY state.
+ gptp->tc->TC_IDR = 0xFFFFFFFF; // Disable interrupts (not really needed but safer)
+ }
+
+ // Do the callback
+ gptp->config->callback(gptp);
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if AT91_GPT_USE_TC0
+ /**
+ * @brief TC1 interrupt handler.
+ *
+ * @isr
+ */
+ CH_IRQ_HANDLER(TC0_IRQHandler) {
+ CH_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD1);
+ AT91C_BASE_AIC->AIC_EOICR = 0;
+ CH_IRQ_EPILOGUE();
+ }
+#endif /* AT91_GPT_USE_TC0 */
+
+#if AT91_GPT_USE_TC1
+ /**
+ * @brief TC1 interrupt handler.
+ *
+ * @isr
+ */
+ CH_IRQ_HANDLER(TC1_IRQHandler) {
+ CH_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD2);
+ AT91C_BASE_AIC->AIC_EOICR = 0;
+ CH_IRQ_EPILOGUE();
+ }
+#endif /* AT91_GPT_USE_TC1 */
+
+#if AT91_GPT_USE_TC2
+ /**
+ * @brief TC1 interrupt handler.
+ *
+ * @isr
+ */
+ CH_IRQ_HANDLER(TC2_IRQHandler) {
+ CH_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD2);
+ AT91C_BASE_AIC->AIC_EOICR = 0;
+ CH_IRQ_EPILOGUE();
+ }
+}
+#endif /* AT91_GPT_USE_TC2 */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level GPT driver initialization.
+ *
+ * @notapi
+ */
+void gpt_lld_init(void) {
+
+ #if AT91_GPT_USE_TC0
+ AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_TC0); // Turn on the power
+ GPTD1.tc = AT91C_BASE_TC0;
+ gptObjectInit(&GPTD1);
+ gpt_lld_stop(&GPTD1); // Make sure it is disabled
+ AIC_ConfigureIT(AT91C_ID_TC0, AT91C_AIC_SRCTYPE_HIGH_LEVEL | AT91_GPT_TC0_IRQ_PRIORITY, TC0_IRQHandler);
+ AIC_EnableIT(AT91C_ID_TC0);
+ #endif
+
+ #if AT91_GPT_USE_TC1
+ AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_TC1); // Turn on the power
+ GPTD2.tc = AT91C_BASE_TC1;
+ gptObjectInit(&GPTD2);
+ gpt_lld_stop(&GPTD2); // Make sure it is disabled
+ AIC_ConfigureIT(AT91C_ID_TC1, AT91C_AIC_SRCTYPE_HIGH_LEVEL | AT91_GPT_TC1_IRQ_PRIORITY, TC1_IRQHandler);
+ AIC_EnableIT(AT91C_ID_TC1);
+ #endif
+
+ #if AT91_GPT_USE_TC2
+ AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_TC2); // Turn on the power
+ GPTD3.tc = AT91C_BASE_TC2;
+ gptObjectInit(&GPTD3);
+ gpt_lld_stop(&GPTD3); // Make sure it is disabled
+ AIC_ConfigureIT(AT91C_ID_TC2, AT91C_AIC_SRCTYPE_HIGH_LEVEL | AT91_GPT_TC2_IRQ_PRIORITY, TC2_IRQHandler);
+ AIC_EnableIT(AT91C_ID_TC2);
+ #endif
+}
+
+/**
+ * @brief Configures and activates the GPT peripheral.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_start(GPTDriver *gptp) {
+ uint32_t cmr, rc, bmr;
+
+ bmr = *AT91C_TCB_BMR;
+ rc = 65535;
+ cmr = (AT91C_TC_ASWTRG_CLEAR | AT91C_TC_ACPC_CLEAR | AT91C_TC_ACPA_SET |
+ AT91C_TC_WAVE | AT91C_TC_WAVESEL_UP_AUTO);
+
+ // Calculate clock
+ switch(gptp->config->clocksource) {
+ case GPT_CLOCK_MCLK:
+ switch(gptp->config->frequency) {
+ case MCK/2: cmr |= AT91C_TC_CLKS_TIMER_DIV1_CLOCK; break;
+ case MCK/8: cmr |= AT91C_TC_CLKS_TIMER_DIV2_CLOCK; break;
+ case MCK/32: cmr |= AT91C_TC_CLKS_TIMER_DIV3_CLOCK; break;
+ case MCK/128: cmr |= AT91C_TC_CLKS_TIMER_DIV4_CLOCK; break;
+ case MCK/1024: cmr |= AT91C_TC_CLKS_TIMER_DIV5_CLOCK; break;
+ default:
+ chDbgAssert(TRUE, "gpt_lld_start(), #1", "invalid frequency");
+ cmr |= AT91C_TC_CLKS_TIMER_DIV5_CLOCK;
+ break;
+ }
+ break;
+ case GPT_CLOCK_FREQUENCY:
+ /* Set the Mode of the Timer Counter and calculate the period */
+ rc = (MCK/2)/gptp->config->frequency;
+ if (rc < (0x10000<<0)) {
+ cmr |= AT91C_TC_CLKS_TIMER_DIV1_CLOCK;
+ } else if (rc < (0x10000<<2)) {
+ rc >>= 2;
+ cmr |= AT91C_TC_CLKS_TIMER_DIV2_CLOCK;
+ } else if (rc < (0x10000<<4)) {
+ rc >>= 4;
+ cmr |= AT91C_TC_CLKS_TIMER_DIV3_CLOCK;
+ } else if (rc < (0x10000<<6)) {
+ rc >>= 6;
+ cmr |= AT91C_TC_CLKS_TIMER_DIV4_CLOCK;
+ } else {
+ rc >>= 9;
+ cmr |= AT91C_TC_CLKS_TIMER_DIV5_CLOCK;
+ }
+ break;
+ case GPT_CLOCK_RE_TCLK0:
+ case GPT_CLOCK_FE_TCLK0:
+ if ((gptp->config->clocksource & 1)) cmr |= AT91C_TC_CLKI;
+ cmr |= AT91C_TC_CLKS_XC0;
+ #if AT91_GPT_USE_TC0
+ if (gptp == &GPTD1) bmr = (bmr & ~AT91C_TCB_TC0XC0S) | AT91C_TCB_TC0XC0S_TCLK0;
+ #endif
+ break;
+ case GPT_CLOCK_RE_TCLK1:
+ case GPT_CLOCK_FE_TCLK1:
+ if ((gptp->config->clocksource & 1)) cmr |= AT91C_TC_CLKI;
+ cmr |= AT91C_TC_CLKS_XC1;
+ #if AT91_GPT_USE_TC1
+ if (gptp == &GPTD2) bmr = (bmr & ~AT91C_TCB_TC1XC1S) | AT91C_TCB_TC1XC1S_TCLK1;
+ #endif
+ break;
+ case GPT_CLOCK_RE_TCLK2:
+ case GPT_CLOCK_FE_TCLK2:
+ if ((gptp->config->clocksource & 1)) cmr |= AT91C_TC_CLKI;
+ cmr |= AT91C_TC_CLKS_XC2;
+ #if AT91_GPT_USE_TC2
+ if (gptp == &GPTD3) bmr = (bmr & ~AT91C_TCB_TC2XC2S) | AT91C_TCB_TC2XC2S_TCLK2;
+ #endif
+ break;
+ case GPT_CLOCK_RE_TC0:
+ case GPT_CLOCK_FE_TC0:
+ if ((gptp->config->clocksource & 1)) cmr |= AT91C_TC_CLKI;
+ #if AT91_GPT_USE_TC0
+ if (gptp == &GPTD1) {
+ chDbgAssert(TRUE, "gpt_lld_start(), #2", "invalid clock");
+ cmr |= AT91C_TC_CLKS_XC0;
+ bmr = (bmr & ~AT91C_TCB_TC0XC0S) | AT91C_TCB_TC0XC0S_NONE;
+ break;
+ }
+ #endif
+ #if AT91_GPT_USE_TC1
+ if (gptp == &GPTD2) {
+ cmr |= AT91C_TC_CLKS_XC1;
+ bmr = (bmr & ~AT91C_TCB_TC1XC1S) | AT91C_TCB_TC1XC1S_TIOA0;
+ break;
+ }
+ #endif
+ #if AT91_GPT_USE_TC2
+ if (gptp == &GPTD3) {
+ cmr |= AT91C_TC_CLKS_XC2;
+ bmr = (bmr & ~AT91C_TCB_TC2XC2S) | AT91C_TCB_TC2XC2S_TIOA0;
+ break;
+ }
+ #endif
+ chDbgAssert(TRUE, "gpt_lld_start(), #3", "invalid GPT device");
+ cmr |= AT91C_TC_CLKS_TIMER_DIV5_CLOCK;
+ break;
+ case GPT_CLOCK_RE_TC1:
+ case GPT_CLOCK_FE_TC1:
+ if ((gptp->config->clocksource & 1)) cmr |= AT91C_TC_CLKI;
+ #if AT91_GPT_USE_TC0
+ if (gptp == &GPTD1) {
+ cmr |= AT91C_TC_CLKS_XC0;
+ bmr = (bmr & ~AT91C_TCB_TC0XC0S) | AT91C_TCB_TC0XC0S_TIOA1;
+ break;
+ }
+ #endif
+ #if AT91_GPT_USE_TC1
+ if (gptp == &GPTD2) {
+ chDbgAssert(TRUE, "gpt_lld_start(), #4", "invalid clock");
+ cmr |= AT91C_TC_CLKS_XC1;
+ bmr = (bmr & ~AT91C_TCB_TC1XC1S) | AT91C_TCB_TC1XC1S_NONE;
+ break;
+ }
+ #endif
+ #if AT91_GPT_USE_TC2
+ if (gptp == &GPTD3) {
+ cmr |= AT91C_TC_CLKS_XC2;
+ bmr = (bmr & ~AT91C_TCB_TC2XC2S) | AT91C_TCB_TC2XC2S_TIOA1;
+ break;
+ }
+ #endif
+ chDbgAssert(TRUE, "gpt_lld_start(), #5", "invalid GPT device");
+ cmr |= AT91C_TC_CLKS_TIMER_DIV5_CLOCK;
+ break;
+ case GPT_CLOCK_RE_TC2:
+ case GPT_CLOCK_FE_TC2:
+ if ((gptp->config->clocksource & 1)) cmr |= AT91C_TC_CLKI;
+ #if AT91_GPT_USE_TC0
+ if (gptp == &GPTD1) {
+ cmr |= AT91C_TC_CLKS_XC0;
+ bmr = (bmr & ~AT91C_TCB_TC0XC0S) | AT91C_TCB_TC0XC0S_TIOA2;
+ break;
+ }
+ #endif
+ #if AT91_GPT_USE_TC1
+ if (gptp == &GPTD2) {
+ cmr |= AT91C_TC_CLKS_XC1;
+ bmr = (bmr & ~AT91C_TCB_TC1XC1S) | AT91C_TCB_TC1XC1S_TIOA2;
+ break;
+ }
+ #endif
+ #if AT91_GPT_USE_TC2
+ if (gptp == &GPTD3) {
+ chDbgAssert(TRUE, "gpt_lld_start(), #6", "invalid clock");
+ cmr |= AT91C_TC_CLKS_XC2;
+ bmr = (bmr & ~AT91C_TCB_TC2XC2S) | AT91C_TCB_TC2XC2S_NONE;
+ break;
+ }
+ #endif
+ chDbgAssert(TRUE, "gpt_lld_start(), #7", "invalid GPT device");
+ cmr |= AT91C_TC_CLKS_TIMER_DIV5_CLOCK;
+ break;
+ default:
+ chDbgAssert(TRUE, "gpt_lld_start(), #8", "invalid clock");
+ cmr |= AT91C_TC_CLKS_TIMER_DIV5_CLOCK;
+ break;
+ }
+
+ // Calculate clock gating
+ chDbgAssert(gptp->config->clockgate == GPT_GATE_NONE || gptp->config->clockgate == GPT_GATE_TCLK0
+ || gptp->config->clockgate == GPT_GATE_TCLK1 || gptp->config->clockgate == GPT_GATE_TCLK2
+ , "gpt_lld_start(), #9", "invalid clockgate");
+ cmr |= ((uint32_t)(gptp->config->clockgate & 0x03)) << 4; // special magic numbers here
+
+ // Calculate triggers
+ chDbgAssert(gptp->config->trigger == GPT_TRIGGER_NONE
+ || gptp->config->trigger == GPT_TRIGGER_RE_TIOB || gptp->config->trigger == GPT_TRIGGER_FE_TIOB || gptp->config->trigger == GPT_TRIGGER_BE_TIOB
+ || gptp->config->trigger == GPT_TRIGGER_RE_TCLK0 || gptp->config->trigger == GPT_TRIGGER_FE_TCLK0 || gptp->config->trigger == GPT_TRIGGER_BE_TCLK0
+ || gptp->config->trigger == GPT_TRIGGER_RE_TCLK1 || gptp->config->trigger == GPT_TRIGGER_FE_TCLK1 || gptp->config->trigger == GPT_TRIGGER_BE_TCLK1
+ || gptp->config->trigger == GPT_TRIGGER_RE_TCLK2 || gptp->config->trigger == GPT_TRIGGER_FE_TCLK2 || gptp->config->trigger == GPT_TRIGGER_BE_TCLK2
+ , "gpt_lld_start(), #10", "invalid trigger");
+ cmr |= ((uint32_t)(gptp->config->trigger & 0x03)) << 10; // special magic numbers here
+ cmr |= ((uint32_t)(gptp->config->trigger & 0x30)) << (8-4); // special magic numbers here
+
+ /* Set everything up but disabled */
+ gptp->tc->TC_CCR = AT91C_TC_CLKDIS;
+ gptp->tc->TC_IDR = 0xFFFFFFFF;
+ gptp->tc->TC_CMR = cmr;
+ gptp->tc->TC_RC = rc;
+ gptp->tc->TC_RA = rc/2;
+ *AT91C_TCB_BMR = bmr;
+ cmr = gptp->tc->TC_SR; // Clear any pending interrupts
+}
+
+/**
+ * @brief Deactivates the GPT peripheral.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_stop(GPTDriver *gptp) {
+ gptp->tc->TC_CCR = AT91C_TC_CLKDIS;
+ gptp->tc->TC_IDR = 0xFFFFFFFF;
+ { uint32_t isr = gptp->tc->TC_SR; (void)isr; }
+}
+
+/**
+ * @brief Starts the timer in continuous mode.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ * @param[in] interval period in ticks
+ *
+ * @notapi
+ */
+void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t interval) {
+
+ if (gptp->config->clocksource != GPT_CLOCK_FREQUENCY) {
+ gptp->tc->TC_RC = interval;
+ gptp->tc->TC_RA = interval/2;
+ }
+ gptp->tc->TC_CMR &= ~AT91C_TC_CPCDIS;
+ gptp->tc->TC_CCR = AT91C_TC_CLKEN|AT91C_TC_SWTRG;
+ gptp->tc->TC_IER = AT91C_TC_CPCS|AT91C_TC_COVFS;
+}
+
+/**
+ * @brief Stops the timer.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_stop_timer(GPTDriver *gptp) {
+ gptp->tc->TC_CCR = AT91C_TC_CLKDIS;
+ gptp->tc->TC_IDR = 0xFFFFFFFF;
+ { uint32_t isr = gptp->tc->TC_SR; (void)isr; }
+}
+
+/**
+ * @brief Changes the interval of GPT peripheral.
+ * @details This function changes the interval of a running GPT unit.
+ * @pre The GPT unit must have been activated using @p gptStart().
+ * @pre The GPT unit must have been running in continuous mode using
+ * @p gptStartContinuous().
+ * @post The GPT unit interval is changed to the new value.
+ * @note The function has effect at the next cycle start.
+ *
+ * @param[in] gptp pointer to a @p GPTDriver object
+ * @param[in] interval new cycle time in timer ticks
+ * @notapi
+ */
+void gpt_lld_change_interval(GPTDriver *gptp, gptcnt_t interval) {
+ if (gptp->config->clocksource != GPT_CLOCK_FREQUENCY) {
+ gptp->tc->TC_RC = interval;
+ gptp->tc->TC_RA = interval/2;
+ }
+}
+
+/**
+ * @brief Starts the timer in one shot mode and waits for completion.
+ * @details This function specifically polls the timer waiting for completion
+ * in order to not have extra delays caused by interrupt servicing,
+ * this function is only recommended for short delays.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ * @param[in] interval time interval in ticks
+ *
+ * @notapi
+ */
+void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval) {
+
+ if (gptp->config->clocksource != GPT_CLOCK_FREQUENCY) {
+ gptp->tc->TC_RC = interval;
+ gptp->tc->TC_RA = interval/2;
+ }
+ gptp->tc->TC_CMR |= AT91C_TC_CPCDIS;
+ gptp->tc->TC_CCR = AT91C_TC_CLKEN|AT91C_TC_SWTRG;
+ while (!(gptp->tc->TC_SR & (AT91C_TC_CPCS|AT91C_TC_COVFS)));
+}
+
+#endif /* HAL_USE_GPT */
+
+/** @} */
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