moved GPT to LLD

3 files changed, 624 insertions, 0 deletions

diff --git a/os/hal/ports/NRF5/LLD/hal_gpt_lld.c b/os/hal/ports/NRF5/LLD/hal_gpt_lld.c
new file mode 100644
index 0000000..e850e31
--- /dev/null
+++ b/os/hal/ports/NRF5/LLD/hal_gpt_lld.c
@@ -0,0 +1,359 @@
+/*

+    ChibiOS - 2015 Stephen Caudle

+

+    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    NRF5/LLD/hal_gpt_lld.c

+ * @brief   NRF5 GPT subsystem low level driver source.

+ *

+ * @addtogroup GPT

+ * @{

+ */

+

+#include "hal.h"

+

+#if HAL_USE_GPT || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+#define NRF5_TIMER_PRESCALER_NUM 10

+#define NRF5_TIMER_COMPARE_NUM   4

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   GPTD1 driver identifier.

+ * @note    The driver GPTD1 allocates the complex timer TIM1 when enabled.

+ */

+#if NRF5_GPT_USE_TIMER0 || defined(__DOXYGEN__)

+GPTDriver GPTD1;

+#endif

+

+/**

+ * @brief   GPTD2 driver identifier.

+ * @note    The driver GPTD2 allocates the timer TIM2 when enabled.

+ */

+#if NRF5_GPT_USE_TIMER1 || defined(__DOXYGEN__)

+GPTDriver GPTD2;

+#endif

+

+/**

+ * @brief   GPTD3 driver identifier.

+ * @note    The driver GPTD3 allocates the timer TIM3 when enabled.

+ */

+#if NRF5_GPT_USE_TIMER2 || defined(__DOXYGEN__)

+GPTDriver GPTD3;

+#endif

+

+/*===========================================================================*/

+/* Driver local variables and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+static uint8_t prescaler(uint16_t freq)

+{

+  uint8_t i;

+  static const gptfreq_t frequencies[] = {

+    NRF5_GPT_FREQ_16MHZ,

+    NRF5_GPT_FREQ_8MHZ,

+    NRF5_GPT_FREQ_4MHZ,

+    NRF5_GPT_FREQ_2MHZ,

+    NRF5_GPT_FREQ_1MHZ,

+    NRF5_GPT_FREQ_500KHZ,

+    NRF5_GPT_FREQ_250KHZ,

+    NRF5_GPT_FREQ_125KHZ,

+    NRF5_GPT_FREQ_62500HZ,

+    NRF5_GPT_FREQ_31250HZ,

+  };

+

+  for (i = 0; i < NRF5_TIMER_PRESCALER_NUM; i++)

+    if (freq == frequencies[i])

+      return i;

+

+  osalDbgAssert(FALSE, "invalid timer frequency");

+

+  return 0;

+}

+

+/**

+ * @brief   Shared IRQ handler.

+ *

+ * @param[in] gptp      pointer to a @p GPTDriver object

+ */

+static void gpt_lld_serve_interrupt(GPTDriver *gptp) {

+

+  gptp->tim->EVENTS_COMPARE[gptp->cc_int] = 0;

+  (void)gptp->tim->EVENTS_COMPARE[gptp->cc_int];

+  if (gptp->state == GPT_ONESHOT)

+    gptp->state = GPT_READY;                 /* Back in GPT_READY state.     */

+  gptp->config->callback(gptp);

+}

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+#if NRF5_GPT_USE_TIMER0

+/**

+ * @brief   TIMER0 interrupt handler.

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(Vector60) {

+

+  OSAL_IRQ_PROLOGUE();

+

+  gpt_lld_serve_interrupt(&GPTD1);

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif /* NRF5_GPT_USE_TIMER0 */

+

+#if NRF5_GPT_USE_TIMER1

+/**

+ * @brief   TIMER1 interrupt handler.

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(Vector64) {

+

+  OSAL_IRQ_PROLOGUE();

+

+  gpt_lld_serve_interrupt(&GPTD2);

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif /* NRF5_GPT_USE_TIMER1 */

+

+#if NRF5_GPT_USE_TIMER2

+/**

+ * @brief   TIMER2 interrupt handler.

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(Vector68) {

+

+  OSAL_IRQ_PROLOGUE();

+

+  gpt_lld_serve_interrupt(&GPTD3);

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif /* NRF5_GPT_USE_TIMER2 */

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level GPT driver initialization.

+ *

+ * @notapi

+ */

+void gpt_lld_init(void) {

+

+#if NRF5_GPT_USE_TIMER0

+  /* Driver initialization.*/

+  GPTD1.tim = NRF_TIMER0;

+  gptObjectInit(&GPTD1);

+#endif

+

+#if NRF5_GPT_USE_TIMER1

+  /* Driver initialization.*/

+  GPTD2.tim = NRF_TIMER1;

+  gptObjectInit(&GPTD2);

+#endif

+

+#if NRF5_GPT_USE_TIMER2

+  /* Driver initialization.*/

+  GPTD3.tim = NRF_TIMER2;

+  gptObjectInit(&GPTD3);

+#endif

+}

+

+/**

+ * @brief   Configures and activates the GPT peripheral.

+ *

+ * @param[in] gptp      pointer to the @p GPTDriver object

+ *

+ * @notapi

+ */

+void gpt_lld_start(GPTDriver *gptp) {

+

+  NRF_TIMER_Type *tim = gptp->tim;

+

+  if (gptp->state == GPT_STOP) {

+    osalDbgAssert(gptp->cc_int < NRF5_TIMER_COMPARE_NUM,

+        "invalid capture/compare index");

+

+    tim->INTENSET = TIMER_INTENSET_COMPARE0_Msk << gptp->cc_int;

+#if NRF5_GPT_USE_TIMER0

+    if (&GPTD1 == gptp)

+      nvicEnableVector(TIMER0_IRQn, NRF5_GPT_TIMER0_IRQ_PRIORITY);

+#endif

+#if NRF5_GPT_USE_TIMER1

+    if (&GPTD2 == gptp)

+      nvicEnableVector(TIMER1_IRQn, NRF5_GPT_TIMER1_IRQ_PRIORITY);

+#endif

+#if NRF5_GPT_USE_TIMER2

+    if (&GPTD3 == gptp)

+      nvicEnableVector(TIMER2_IRQn, NRF5_GPT_TIMER2_IRQ_PRIORITY);

+#endif

+  }

+

+  /* Prescaler value calculation.*/

+  tim->PRESCALER = prescaler(gptp->config->frequency);

+

+  /* Timer configuration.*/

+  tim->MODE = TIMER_MODE_MODE_Timer << TIMER_MODE_MODE_Pos;

+

+  switch (gptp->config->resolution) {

+

+    case 8:

+      tim->BITMODE = TIMER_BITMODE_BITMODE_08Bit << TIMER_BITMODE_BITMODE_Pos;

+      break;

+

+    case 16:

+      tim->BITMODE = TIMER_BITMODE_BITMODE_16Bit << TIMER_BITMODE_BITMODE_Pos;

+      break;

+

+#if NRF5_GPT_USE_TIMER0

+    case 24:

+      tim->BITMODE = TIMER_BITMODE_BITMODE_24Bit << TIMER_BITMODE_BITMODE_Pos;

+      break;

+

+    case 32:

+      tim->BITMODE = TIMER_BITMODE_BITMODE_32Bit << TIMER_BITMODE_BITMODE_Pos;

+      break;

+#endif

+

+    default:

+      osalDbgAssert(FALSE, "invalid timer resolution");

+      break;

+  };

+}

+

+/**

+ * @brief   Deactivates the GPT peripheral.

+ *

+ * @param[in] gptp      pointer to the @p GPTDriver object

+ *

+ * @notapi

+ */

+void gpt_lld_stop(GPTDriver *gptp) {

+

+  if (gptp->state == GPT_READY) {

+    gptp->tim->TASKS_SHUTDOWN = 1;

+

+#if NRF5_GPT_USE_TIMER0

+    if (&GPTD1 == gptp)

+      nvicDisableVector(TIMER0_IRQn);

+#endif

+#if NRF5_GPT_USE_TIMER1

+    if (&GPTD2 == gptp)

+      nvicDisableVector(TIMER1_IRQn);

+#endif

+#if NRF5_GPT_USE_TIMER2

+    if (&GPTD3 == gptp)

+      nvicDisableVector(TIMER2_IRQn);

+#endif

+    gptp->tim->INTENCLR = TIMER_INTENSET_COMPARE0_Msk << gptp->cc_int;

+  }

+}

+

+/**

+ * @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) {

+

+  NRF_TIMER_Type *tim = gptp->tim;

+

+  tim->TASKS_CLEAR = 1;

+  tim->CC[gptp->cc_int] = (uint32_t)(interval - 1);  /* Time constant.        */

+  if (gptp->state == GPT_ONESHOT)

+    gptp->tim->SHORTS = TIMER_SHORTS_COMPARE0_STOP_Msk << gptp->cc_int;

+  else if (gptp->state == GPT_CONTINUOUS)

+    gptp->tim->SHORTS = TIMER_SHORTS_COMPARE0_CLEAR_Msk << gptp->cc_int;

+  tim->TASKS_START = 1;

+}

+

+/**

+ * @brief   Stops the timer.

+ *

+ * @param[in] gptp      pointer to the @p GPTDriver object

+ *

+ * @notapi

+ */

+void gpt_lld_stop_timer(GPTDriver *gptp) {

+

+  gptp->tim->TASKS_STOP = 1;

+}

+

+/**

+ * @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) {

+

+  NRF_TIMER_Type *tim = gptp->tim;

+

+  tim->INTENCLR = (1UL << gptp->cc_int) << TIMER_INTENSET_COMPARE0_Pos;

+  tim->TASKS_CLEAR = 1;

+  tim->CC[gptp->cc_int] = (uint32_t)(interval - 1);  /* Time constant.        */

+  tim->TASKS_START = 1;

+  while (!(tim->INTENSET & (TIMER_INTENSET_COMPARE0_Msk << gptp->cc_int)))

+    ;

+  tim->INTENSET = TIMER_INTENSET_COMPARE0_Msk << gptp->cc_int;

+}

+

+/**

+ * @brief   Returns the counter value of GPT peripheral.

+ * @pre     The GPT unit must be running in continuous mode.

+ * @note    The nature of the counter is not defined, it may count upward

+ *          or downward, it could be continuously running or not.

+ *

+ * @param[in] gptp      pointer to a @p GPTDriver object

+ * @return              The current counter value.

+ *

+ * @notapi

+ */

+gptcnt_t gpt_lld_get_counter(GPTDriver *gptp) {

+

+  gptp->tim->TASKS_CAPTURE[gptp->cc_get] = 1;

+  return gptp->tim->CC[gptp->cc_get];

+}

+

+#endif /* HAL_USE_GPT */

+

+/** @} */

diff --git a/os/hal/ports/NRF5/LLD/hal_gpt_lld.h b/os/hal/ports/NRF5/LLD/hal_gpt_lld.h
new file mode 100644
index 0000000..4173a3a
--- /dev/null
+++ b/os/hal/ports/NRF5/LLD/hal_gpt_lld.h
@@ -0,0 +1,264 @@
+/*

+    Copyright (C) 2015 Stephen Caudle

+

+    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    NRF5/LLD/gpt_lld.h

+ * @brief   NRF5 GPT subsystem low level driver header.

+ *

+ * @addtogroup GPT

+ * @{

+ */

+

+#ifndef HAL_GPT_LLD_H

+#define HAL_GPT_LLD_H

+

+#if HAL_USE_GPT || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/**

+ * @name    Configuration options

+ * @{

+ */

+/**

+ * @brief   GPTD1 driver enable switch.

+ * @details If set to @p TRUE the support for GPTD1 is included.

+ * @note    The default is @p TRUE.

+ */

+#if !defined(NRF5_GPT_USE_TIMER0) || defined(__DOXYGEN__)

+#define NRF5_GPT_USE_TIMER0                  FALSE

+#endif

+

+/**

+ * @brief   GPTD2 driver enable switch.

+ * @details If set to @p TRUE the support for GPTD2 is included.

+ * @note    The default is @p TRUE.

+ */

+#if !defined(NRF5_GPT_USE_TIMER1) || defined(__DOXYGEN__)

+#define NRF5_GPT_USE_TIMER1                  FALSE

+#endif

+

+/**

+ * @brief   GPTD3 driver enable switch.

+ * @details If set to @p TRUE the support for GPTD3 is included.

+ * @note    The default is @p TRUE.

+ */

+#if !defined(NRF5_GPT_USE_TIMER2) || defined(__DOXYGEN__)

+#define NRF5_GPT_USE_TIMER2                  FALSE

+#endif

+

+/**

+ * @brief   GPTD1 interrupt priority level setting.

+ */

+#if !defined(NRF5_GPT_TIMER0_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define NRF5_GPT_TIMER0_IRQ_PRIORITY         3

+#endif

+

+/**

+ * @brief   GPTD2 interrupt priority level setting.

+ */

+#if !defined(NRF5_GPT_TIMER1_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define NRF5_GPT_TIMER1_IRQ_PRIORITY         3

+#endif

+

+/**

+ * @brief   GPTD3 interrupt priority level setting.

+ */

+#if !defined(NRF5_GPT_TIMER2_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define NRF5_GPT_TIMER2_IRQ_PRIORITY         3

+#endif

+/** @} */

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+#if !NRF5_GPT_USE_TIMER0 && !NRF5_GPT_USE_TIMER1 &&                         \

+    !NRF5_GPT_USE_TIMER2

+#error "GPT driver activated but no TIMER peripheral assigned"

+#endif

+

+#if NRF5_GPT_USE_TIMER0 &&                                                   \

+    !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_GPT_TIMER0_IRQ_PRIORITY)

+#error "Invalid IRQ priority assigned to TIMER0"

+#endif

+

+#if NRF5_GPT_USE_TIMER1 &&                                                   \

+    !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_GPT_TIMER1_IRQ_PRIORITY)

+#error "Invalid IRQ priority assigned to TIMER1"

+#endif

+

+#if NRF5_GPT_USE_TIMER2 &&                                                   \

+    !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_GPT_TIMER2_IRQ_PRIORITY)

+#error "Invalid IRQ priority assigned to TIMER2"

+#endif

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   GPT frequency type.

+ */

+typedef enum {

+  NRF5_GPT_FREQ_31250HZ = 31250,

+  NRF5_GPT_FREQ_62500HZ = 62500,

+  NRF5_GPT_FREQ_125KHZ = 125000,

+  NRF5_GPT_FREQ_250KHZ = 250000,

+  NRF5_GPT_FREQ_500KHZ = 500000,

+  NRF5_GPT_FREQ_1MHZ = 1000000,

+  NRF5_GPT_FREQ_2MHZ = 2000000,

+  NRF5_GPT_FREQ_4MHZ = 4000000,

+  NRF5_GPT_FREQ_8MHZ = 8000000,

+  NRF5_GPT_FREQ_16MHZ = 16000000,

+} gptfreq_t;

+

+/**

+ * @brief   GPT counter type.

+ */

+typedef uint32_t gptcnt_t;

+

+/**

+ * @brief   Driver configuration structure.

+ * @note    It could be empty on some architectures.

+ */

+typedef struct {

+  /**

+   * @brief   Timer clock in Hz.

+   * @note    The low level can use assertions in order to catch invalid

+   *          frequency specifications.

+   */

+  gptfreq_t                 frequency;

+  /**

+   * @brief   Timer callback pointer.

+   * @note    This callback is invoked on GPT counter events.

+   * @note    This callback can be set to @p NULL but in that case the

+   *          one-shot mode cannot be used.

+   */

+  gptcallback_t             callback;

+  /* End of the mandatory fields.*/

+  /**

+   * @brief The timer resolution in bits (8/16/24/32)

+   * @note  The default value of this field is 16 bits

+   * @note  The 24 and 32 bit modes are only valid for TIMER0

+   */

+  uint8_t                  resolution;

+} GPTConfig;

+

+/**

+ * @brief   Structure representing a GPT driver.

+ */

+struct GPTDriver {

+  /**

+   * @brief Driver state.

+   */

+  gptstate_t                state;

+  /**

+   * @brief Current configuration data.

+   */

+  const GPTConfig           *config;

+#if defined(GPT_DRIVER_EXT_FIELDS)

+  GPT_DRIVER_EXT_FIELDS

+#endif

+  /* End of the mandatory fields.*/

+  /**

+   * @brief Pointer to the TIMERx registers block.

+   */

+  NRF_TIMER_Type            *tim;

+  /**

+   * @brief Index of the TIMERx capture/compare register used for setting the

+   *        interval between compare events.

+   */

+  uint8_t                   cc_int;

+  /**

+   * @brief Index of the TIMERx capture/compare register used for getting the

+   *        current timer counter value.

+   */

+  uint8_t                   cc_get;

+};

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+/**

+ * @brief   Changes the interval of GPT peripheral.

+ * @details This function changes the interval of a running GPT unit.

+ * @pre     The GPT unit must be running in continuous mode.

+ * @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

+ */

+#define gpt_lld_change_interval(gptp, interval)                               \

+  ((gptp)->tim->CC[(gptp)->cc_int] = (uint32_t)((interval) - 1))

+

+/**

+ * @brief   Returns the interval of GPT peripheral.

+ * @pre     The GPT unit must be running in continuous mode.

+ *

+ * @param[in] gptp      pointer to a @p GPTDriver object

+ * @return              The current interval.

+ *

+ * @notapi

+ */

+#define gpt_lld_get_interval(gptp)                                            \

+  ((gptcnt_t)((gptp)->tim->CC[(gptp)->cc_int]) + 1)

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#if NRF5_GPT_USE_TIMER0 && !defined(__DOXYGEN__)

+extern GPTDriver GPTD1;

+#endif

+

+#if NRF5_GPT_USE_TIMER1 && !defined(__DOXYGEN__)

+extern GPTDriver GPTD2;

+#endif

+

+#if NRF5_GPT_USE_TIMER2 && !defined(__DOXYGEN__)

+extern GPTDriver GPTD3;

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void gpt_lld_init(void);

+  void gpt_lld_start(GPTDriver *gptp);

+  void gpt_lld_stop(GPTDriver *gptp);

+  void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t period);

+  void gpt_lld_stop_timer(GPTDriver *gptp);

+  void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval);

+  gptcnt_t gpt_lld_get_counter(GPTDriver *gptp);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_GPT */

+

+#endif /* HAL_GPT_LLD_H */

+

+/** @} */

diff --git a/os/hal/ports/NRF5/LLD/hal_st_lld.h b/os/hal/ports/NRF5/LLD/hal_st_lld.h
index 9d67ce9..7073e12 100644
--- a/os/hal/ports/NRF5/LLD/hal_st_lld.h
+++ b/os/hal/ports/NRF5/LLD/hal_st_lld.h
@@ -124,6 +124,7 @@
 #error "Invalid IRQ priority assigned to ST driver"

 #endif

 

+

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

 /* Driver data structures and types.                                         */

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