Tickless mode for Tiva seems to be working using WGPT5 in up mode.

2 files changed, 54 insertions, 34 deletions

diff --git a/os/hal/ports/TIVA/LLD/st_lld.c b/os/hal/ports/TIVA/LLD/st_lld.c
index 6e83c10..6b47503 100644
--- a/os/hal/ports/TIVA/LLD/st_lld.c
+++ b/os/hal/ports/TIVA/LLD/st_lld.c
@@ -73,8 +73,8 @@
 #warning "WGPT5"
 #define ST_HANDLER                          TIVA_WGPT5A_HANDLER
 #define ST_NUMBER                           TIVA_WGPT5A_NUMBER
-//#define ST_CLOCK_SRC                        (80000000)
-#define ST_CLOCK_SRC                        (16000000)
+#define ST_CLOCK_SRC                        (80000000)
+//#define ST_CLOCK_SRC                        (16000000)
 #define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCWTIMER |= (1 << 5))
 
 #else
@@ -203,7 +203,7 @@ OSAL_IRQ_HANDLER(ST_HANDLER)
   OSAL_IRQ_PROLOGUE();
 
   mis = TIVA_ST_TIM->MIS;
-  TIVA_ST_TIM->ICR = 0xffffffff;
+  TIVA_ST_TIM->ICR = mis;
 
   if (mis & GPTM_IMR_TATOIM) {
     temp = 3;
diff --git a/os/hal/ports/TIVA/LLD/st_lld.h b/os/hal/ports/TIVA/LLD/st_lld.h
index 49bd91d..0db601a 100644
--- a/os/hal/ports/TIVA/LLD/st_lld.h
+++ b/os/hal/ports/TIVA/LLD/st_lld.h
@@ -77,7 +77,7 @@
 
 #if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
 
-#error "Tickless system tick mode is not working yet! Please use the periodic system tick mode."
+//#error "Tickless system tick mode is not working yet! Please use the periodic system tick mode."
 
 #if (TIVA_ST_USE_WIDE_TIMER == TRUE)
 
@@ -193,6 +193,9 @@ extern "C" {
 /* Driver inline functions.                                                  */
 /*===========================================================================*/
 
+#define OSAL_ST_FREQUENCY   10000
+#define ST_CLOCK_SRC        80000000
+
 /**
  * @brief   Returns the time counter value.
  *
@@ -203,7 +206,8 @@ extern "C" {
 static inline systime_t st_lld_get_counter(void)
 {
 #if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
-  return (systime_t) TIVA_ST_TIM->TAV;
+  return (systime_t) TIVA_ST_TIM->TAV/((ST_CLOCK_SRC / OSAL_ST_FREQUENCY) - 1);
+  //return (systime_t) ((TIVA_ST_TIM->TAV >> 16) | (TIVA_ST_TIM->TAPV << 16))/((ST_CLOCK_SRC / OSAL_ST_FREQUENCY) - 1);
 #else
   return (systime_t) 0;
 #endif
@@ -221,17 +225,25 @@ static inline systime_t st_lld_get_counter(void)
 static inline void st_lld_start_alarm(systime_t time)
 {
 #if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
-  uint64_t temp;
-
-  temp = (uint64_t) time * TIVA_ST_TIM_PRESCALER;
-
-  TIVA_ST_TIM->TAMATCHR = (uint32_t) temp;
-
-  temp = temp >> 32;
-
-  TIVA_ST_TIM->TAPMR = (uint16_t) temp;
-
-  TIVA_ST_TIM->ICR = 0xffffffff;
+//  uint64_t temp;
+//
+//  temp = (uint64_t) time * TIVA_ST_TIM_PRESCALER;
+//
+//  TIVA_ST_TIM->TAMATCHR = (uint32_t) temp;
+//
+//  temp = temp >> 32;
+//
+//  TIVA_ST_TIM->TAPMR = (uint16_t) temp;
+//
+//  TIVA_ST_TIM->ICR = 0xffffffff;
+//  TIVA_ST_TIM->IMR = GPTM_IMR_TAMIM;
+
+  uint64_t settime = time * ((ST_CLOCK_SRC / OSAL_ST_FREQUENCY) - 1);
+
+  TIVA_ST_TIM->TAPMR = (uint16_t) ((settime >> 32) & 0xffff);
+  TIVA_ST_TIM->TAMATCHR = (uint32_t) (settime);
+
+  TIVA_ST_TIM->ICR = TIVA_ST_TIM->MIS;
   TIVA_ST_TIM->IMR = GPTM_IMR_TAMIM;
 #else
   (void)time;
@@ -260,15 +272,20 @@ static inline void st_lld_stop_alarm(void)
 static inline void st_lld_set_alarm(systime_t time)
 {
 #if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
-  uint64_t temp;
-
-  temp = (uint64_t) time * TIVA_ST_TIM_PRESCALER;
-
-  TIVA_ST_TIM->TAMATCHR = (uint32_t) temp;
-
-  temp = temp >> 32;
-
-  TIVA_ST_TIM->TAPMR = (uint16_t) temp;
+//  uint64_t temp;
+//
+//  temp = (uint64_t) time * TIVA_ST_TIM_PRESCALER;
+//
+//  TIVA_ST_TIM->TAMATCHR = (uint32_t) temp;
+//
+//  temp = temp >> 32;
+//
+//  TIVA_ST_TIM->TAPMR = (uint16_t) temp;
+
+  uint64_t settime = time * ((ST_CLOCK_SRC / OSAL_ST_FREQUENCY) - 1);
+
+  TIVA_ST_TIM->TAPMR = (uint16_t) ((settime >> 32) & 0xffff);
+  TIVA_ST_TIM->TAMATCHR = (uint32_t) (settime);
 #else
   (void)time;
 #endif
@@ -284,15 +301,18 @@ static inline void st_lld_set_alarm(systime_t time)
 static inline systime_t st_lld_get_alarm(void)
 {
 #if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
-  uint64_t temp;
-
-  temp = TIVA_ST_TIM->TAPR;
-  temp = temp << 32;
-  temp = TIVA_ST_TIM->TAR;
-
-  temp = temp / TIVA_ST_TIM_PRESCALER;
-
-  return (systime_t) temp;
+//  uint64_t temp;
+//
+//  temp = TIVA_ST_TIM->TAPR;
+//  temp = temp << 32;
+//  temp = TIVA_ST_TIM->TAR;
+//
+//  temp = temp / TIVA_ST_TIM_PRESCALER;
+//
+//  return (systime_t) temp;
+
+  //return (systime_t) (TIVA_ST_TIM->TAPR << 16 | TIVA_ST_TIM->TAR >> 16);
+  return (systime_t) ((TIVA_ST_TIM->TAV >> 16) | (TIVA_ST_TIM->TAPV << 16))/((ST_CLOCK_SRC / OSAL_ST_FREQUENCY) - 1);
 #else
   return (systime_t) 0;
 #endif