Merge pull request #33 from sdalu/rtc

RTC for System Ticks

7 files changed, 360 insertions, 20 deletions

diff --git a/os/hal/boards/NRF51-DK/board.h b/os/hal/boards/NRF51-DK/board.h
index 5e0c738..04c8daf 100644
--- a/os/hal/boards/NRF51-DK/board.h
+++ b/os/hal/boards/NRF51-DK/board.h
@@ -22,7 +22,8 @@
 #define BOARD_NAME              "nRF51 DK"
 
 /* Board oscillators-related settings. */
-#define XTAL_VALUE              16000000
+#define NRF51_XTAL_VALUE        16000000
+#define NRF51_LFCLK_SOURCE      1
 
 /* GPIO pins. */
 #define BTN1           17
diff --git a/os/hal/boards/WVSHARE_BLE400/board.h b/os/hal/boards/WVSHARE_BLE400/board.h
index 57578b5..536b7f6 100644
--- a/os/hal/boards/WVSHARE_BLE400/board.h
+++ b/os/hal/boards/WVSHARE_BLE400/board.h
@@ -22,7 +22,7 @@
 #define BOARD_NAME              "WvShare BLE400"
 
 /* Board oscillators-related settings. */
-#define XTAL_VALUE              16000000
+#define NRF51_XTAL_VALUE        16000000
 
 /* GPIO pins. */
 #define KEY1           16
diff --git a/os/hal/ports/NRF51/NRF51822/gpt_lld.h b/os/hal/ports/NRF51/NRF51822/gpt_lld.h
index d707cda..2c84d6c 100644
--- a/os/hal/ports/NRF51/NRF51822/gpt_lld.h
+++ b/os/hal/ports/NRF51/NRF51822/gpt_lld.h
@@ -94,7 +94,7 @@
 

 #if !NRF51_GPT_USE_TIMER0 && !NRF51_GPT_USE_TIMER1 &&                         \

     !NRF51_GPT_USE_TIMER2

-#error "GPT driver activated but no TIM peripheral assigned"

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

 #endif

 

 #if 0

diff --git a/os/hal/ports/NRF51/NRF51822/hal_lld.c b/os/hal/ports/NRF51/NRF51822/hal_lld.c
index e1d2ed5..af5e377 100644
--- a/os/hal/ports/NRF51/NRF51822/hal_lld.c
+++ b/os/hal/ports/NRF51/NRF51822/hal_lld.c
@@ -55,6 +55,29 @@
  */
 void hal_lld_init(void)
 {
+  /* High frequency clock initialisation
+   *  (If NRF51_XTAL_VALUE is not defined assume its an RC oscillator)
+   */
+  NRF_CLOCK->TASKS_HFCLKSTOP = 1;
+#if defined(NRF51_XTAL_VALUE)
+#if   NRF51_XTAL_VALUE == 16000000
+  NRF_CLOCK->XTALFREQ = 0xFF;
+#elif NRF51_XTAL_VALUE == 32000000
+  NRF_CLOCK->XTALFREQ = 0x00;
+#endif
+#endif
+
+  
+  /* Low frequency clock initialisation
+   * Clock is only started if st driver requires it
+   */
+  NRF_CLOCK->TASKS_LFCLKSTOP = 1;
+  NRF_CLOCK->LFCLKSRC = NRF51_LFCLK_SOURCE;
+  
+#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) &&			\
+    (NRF51_SYSTEM_TICKS == NRF51_SYSTEM_TICKS_AS_RTC)
+  NRF_CLOCK->TASKS_LFCLKSTART = 1;
+#endif
 }
 
 /**
diff --git a/os/hal/ports/NRF51/NRF51822/hal_lld.h b/os/hal/ports/NRF51/NRF51822/hal_lld.h
index 436789c..283c207 100644
--- a/os/hal/ports/NRF51/NRF51822/hal_lld.h
+++ b/os/hal/ports/NRF51/NRF51822/hal_lld.h
@@ -39,14 +39,36 @@
  * @}
  */
 
+/**
+ * @brief  Frequency valuefor the Low Frequency Clock
+ */
+#define NRF51_LFCLK_FREQUENCY  32768
+
 /*===========================================================================*/
 /* Driver pre-compile time settings.                                         */
 /*===========================================================================*/
 
+/**
+ * @brief   Select source of Low Frequency Clock (LFCLK)
+ * @details Possible values for source are:
+ *            0 : RC oscillator
+ *            1 : External cristal
+ *            2 : Synthetized clock from High Frequency Clock (HFCLK)
+ *          When cristal is not available it's preferable to use the
+ *          internal RC oscillator that synthezing the clock.
+ */
+#if !defined(NRF51_LFCLK_SOURCE) || defined(__DOXYGEN__)
+#define NRF51_LFCLK_SOURCE             0
+#endif
+
 /*===========================================================================*/
 /* Derived constants and error checks.                                       */
 /*===========================================================================*/
 
+#if (NRF51_LFCLK_SOURCE < 0) || (NRF51_LFCLK_SOURCE > 2)
+#error "Possible value for NRF51_LFCLK_SOURCE are 0=RC, 1=XTAL, 2=Synth"
+#endif
+
 /*===========================================================================*/
 /* Driver data structures and types.                                         */
 /*===========================================================================*/
diff --git a/os/hal/ports/NRF51/NRF51822/st_lld.c b/os/hal/ports/NRF51/NRF51822/st_lld.c
index 526db35..f65117b 100644
--- a/os/hal/ports/NRF51/NRF51822/st_lld.c
+++ b/os/hal/ports/NRF51/NRF51822/st_lld.c
@@ -1,5 +1,6 @@
 /*

     ChibiOS - Copyright (C) 2015 Fabio Utzig

+                            2016 Stephane D'Alu

 

     Licensed under the Apache License, Version 2.0 (the "License");

     you may not use this file except in compliance with the License.

@@ -51,9 +52,55 @@
 /*===========================================================================*/

 

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

+#if NRF51_ST_USE_RTC0 == TRUE

 /**

- * @brief   System Timer vector.

- * @details This interrupt is used for system tick in periodic mode.

+ * @brief   System Timer vector (RTC0)

+ * @details This interrupt is used for system tick in periodic mode

+ *          if selected with NRF51_ST_USE_RTC0

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(Vector6C) {

+

+  OSAL_IRQ_PROLOGUE();

+

+  NRF_RTC0->EVENTS_TICK = 0;

+      

+  osalSysLockFromISR();

+  osalOsTimerHandlerI();

+  osalSysUnlockFromISR();

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+#if NRF51_ST_USE_RTC1 == TRUE

+/**

+ * @brief   System Timer vector (RTC1)

+ * @details This interrupt is used for system tick in periodic mode

+ *          if selected with NRF51_ST_USE_RTC1

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(Vector84) {

+

+  OSAL_IRQ_PROLOGUE();

+

+  NRF_RTC1->EVENTS_TICK = 0;

+      

+  osalSysLockFromISR();

+  osalOsTimerHandlerI();

+  osalSysUnlockFromISR();

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+#if NRF51_ST_USE_TIMER0 == TRUE

+/**

+ * @brief   System Timer vector. (TIMER0)

+ * @details This interrupt is used for system tick in periodic mode

+ *          if selected with NRF51_ST_USE_TIMER0

  *

  * @isr

  */

@@ -71,8 +118,73 @@ 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_ST_USE_RTC0 == TRUE

+/**

+ * @brief   System Timer vector (RTC0)

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

+ *          if selected with NRF51_ST_USE_RTC0 

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(Vector6C) {

+

+  OSAL_IRQ_PROLOGUE();

+

+  if (NRF_RTC0->EVENTS_COMPARE[0]) {

+      NRF_RTC0->EVENTS_COMPARE[0] = 0;

+      

+      osalSysLockFromISR();

+      osalOsTimerHandlerI();

+      osalSysUnlockFromISR();

+  }

+

+#if OSAL_ST_RESOLUTION == 16

+  if (NRF_RTC0->EVENTS_COMPARE[1]) {

+      NRF_RTC0->EVENTS_COMPARE[1] = 0;

+      NRF_RTC0->TASKS_CLEAR = 1;

+  }

+#endif

+  

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+#if NRF51_ST_USE_RTC1 == TRUE

+/**

+ * @brief   System Timer vector (RTC1)

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

+ *          if selected with NRF51_ST_USE_RTC1

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(Vector84) {

+

+  OSAL_IRQ_PROLOGUE();

+

+  if (NRF_RTC1->EVENTS_COMPARE[0]) {

+      NRF_RTC1->EVENTS_COMPARE[0] = 0;

+      

+      osalSysLockFromISR();

+      osalOsTimerHandlerI();

+      osalSysUnlockFromISR();

+  }

+

+#if OSAL_ST_RESOLUTION == 16

+  if (NRF_RTC1->EVENTS_COMPARE[1]) {

+      NRF_RTC1->EVENTS_COMPARE[1] = 0;

+      NRF_RTC1->TASKS_CLEAR = 1;

+  }

+#endif

+  

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */

+

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

 /* Driver exported functions.                                                */

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

@@ -83,8 +195,75 @@ OSAL_IRQ_HANDLER(Vector60) {
  * @notapi

  */

 void st_lld_init(void) {

+#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING

+

+#if NRF51_ST_USE_RTC0 == TRUE

+  /* Using RTC with prescaler */

+  NRF_RTC0->TASKS_STOP  = 1;

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

+  NRF_RTC0->EVTENCLR    = RTC_EVTENSET_COMPARE0_Msk;

+  NRF_RTC0->EVENTS_COMPARE[0] = 0;

+  NRF_RTC0->INTENSET    = RTC_INTENSET_COMPARE0_Msk;

+#if OSAL_ST_RESOLUTION == 16

+  NRF_RTC0->CC[1]       = 0x10000; /* 2^16 */

+  NRF_RTC0->EVENTS_COMPARE[1] = 0;

+  NRF_RTC0->EVTENSET    = RTC_EVTENSET_COMPARE0_Msk;

+  NRF_RTC0->INTENSET    = RTC_INTENSET_COMPARE1_Msk;

+#endif

+  NRF_RTC0->TASKS_CLEAR  = 1;

+  

+    /* Start timer */

+  nvicEnableVector(RTC0_IRQn, NRF51_ST_PRIORITY);

+  NRF_RTC0->TASKS_START = 1;

+#endif /* NRF51_ST_USE_RTC0 == TRUE */

+

+#if NRF51_ST_USE_RTC1 == TRUE

+  /* Using RTC with prescaler */

+  NRF_RTC1->TASKS_STOP  = 1;

+  NRF_RTC1->PRESCALER   = (NRF51_LFCLK_FREQUENCY / OSAL_ST_FREQUENCY) - 1; 

+  NRF_RTC1->EVTENCLR    = RTC_EVTENSET_COMPARE0_Msk;

+  NRF_RTC1->EVENTS_COMPARE[0] = 0;

+  NRF_RTC1->INTENSET    = RTC_INTENSET_COMPARE0_Msk;

+#if OSAL_ST_RESOLUTION == 16

+  NRF_RTC1->CC[1]       = 0x10000; /* 2^16 */

+  NRF_RTC1->EVENTS_COMPARE[1] = 0;

+  NRF_RTC1->EVTENSET    = RTC_EVTENSET_COMPARE0_Msk;

+  NRF_RTC1->INTENSET    = RTC_INTENSET_COMPARE1_Msk;

+#endif

+  NRF_RTC1->TASKS_CLEAR  = 1;

+  

+    /* Start timer */

+  nvicEnableVector(RTC1_IRQn, NRF51_ST_PRIORITY);

+  NRF_RTC1->TASKS_START = 1;

+#endif /* NRF51_ST_USE_RTC1 == TRUE */

+

+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */

 

 #if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC

+

+#if NRF51_ST_USE_RTC0 == TRUE

+  /* Using RTC with prescaler */

+  NRF_RTC0->TASKS_STOP  = 1;

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

+  NRF_RTC0->INTENSET    = RTC_INTENSET_TICK_Msk;

+

+  /* Start timer */

+  nvicEnableVector(RTC0_IRQn, NRF51_ST_PRIORITY);

+  NRF_RTC0->TASKS_START = 1;

+#endif /* NRF51_ST_USE_RTC0 == TRUE */

+

+#if NRF51_ST_USE_RTC1 == TRUE

+  /* Using RTC with prescaler */

+  NRF_RTC1->TASKS_STOP  = 1;

+  NRF_RTC1->PRESCALER   = (NRF51_LFCLK_FREQUENCY / OSAL_ST_FREQUENCY) - 1; 

+  NRF_RTC1->INTENSET    = RTC_INTENSET_TICK_Msk;

+

+  /* Start timer */

+  nvicEnableVector(RTC1_IRQn, NRF51_ST_PRIORITY);

+  NRF_RTC1->TASKS_START = 1;

+#endif /* NRF51_ST_USE_RTC1 == TRUE */

+

+#if NRF51_ST_USE_TIMER0 == TRUE

   NRF_TIMER0->TASKS_CLEAR = 1;

 

   /*

@@ -102,12 +281,12 @@ void st_lld_init(void) {
   NRF_TIMER0->SHORTS = 1;

   NRF_TIMER0->INTENSET = 0x10000;

 

-  nvicEnableVector(TIMER0_IRQn, 8);

-

   /* Start timer */

+  nvicEnableVector(TIMER0_IRQn, NRF51_ST_PRIORITY);

   NRF_TIMER0->TASKS_START = 1;

-#endif

-

+#endif /* NRF51_ST_USE_TIMER0 == TRUE */

+  

+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */

 }

 

 #endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */

diff --git a/os/hal/ports/NRF51/NRF51822/st_lld.h b/os/hal/ports/NRF51/NRF51822/st_lld.h
index 2e0672e..ab25dbb 100644
--- a/os/hal/ports/NRF51/NRF51822/st_lld.h
+++ b/os/hal/ports/NRF51/NRF51822/st_lld.h
@@ -27,6 +27,8 @@
 #ifndef _ST_LLD_H_

 #define _ST_LLD_H_

 

+#include "halconf.h"

+

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

 /* Driver constants.                                                         */

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

@@ -35,10 +37,92 @@
 /* Driver pre-compile time settings.                                         */

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

 

+/**

+ * @brief   Use RTC0 to generates system ticks

+ */

+#if !defined(NRF51_ST_USE_RTC0) || defined(__DOXYGEN__)

+#if !defined(SOFTDEVICE_PRESENT)

+#define NRF51_ST_USE_RTC0 		TRUE

+#else

+#define NRF51_ST_USE_RTC0 		FALSE

+#endif

+#endif

+

+/**

+ * @brief   Use RTC1 to generates system ticks

+ */

+#if !defined(NRF51_ST_USE_RTC1) || defined(__DOXYGEN__)

+#if !defined(SOFTDEVICE_PRESENT)

+#define NRF51_ST_USE_RTC1		FALSE

+#else

+#define NRF51_ST_USE_RTC1		TRUE

+#endif

+#endif

+

+/**

+ * @brief   Use TIMER0 to generates system ticks

+ */

+#if !defined(NRF51_ST_USE_TIMER0) || defined(__DOXYGEN__)

+#define NRF51_ST_USE_TIMER0		FALSE

+#endif

+

+/**

+ * @brief   ST interrupt priority level setting.

+ */

+#if !defined(NRF51_ST_PRIORITY) || defined(__DOXYGEN__)

+#if !defined(SOFTDEVICE_PRESENT)

+#define NRF51_ST_PRIORITY        8

+#else

+#define NRF51_ST_PRIORITY        1

+#endif

+#endif

+

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

 /* Derived constants and error checks.                                       */

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

 

+#if OSAL_ST_MODE != OSAL_ST_MODE_NONE

+#if (NRF51_ST_USE_TIMER0 == TRUE) && (NRF51_GPT_USE_TIMER0 == TRUE)

+#error "TIMER0 already used by GPT driver"

+#endif

+

+#if (NRF51_ST_USE_RTC0   == FALSE) && \

+    (NRF51_ST_USE_RTC1   == FALSE) && \

+    (NRF51_ST_USE_TIMER0 == FALSE)

+#error "One clock source is needed, enable one (RTC0, RTC1, or TIMER0)"

+#endif

+

+#if ((NRF51_ST_USE_RTC0   == TRUE ? 1 : 0) +	\

+     (NRF51_ST_USE_RTC1   == TRUE ? 1 : 0) +	\

+     (NRF51_ST_USE_TIMER0 == TRUE ? 1 : 0)) > 1

+#error "Only one clock source can be used (RTC0, RTC1, or TIMER0)"

+#endif

+

+#if defined(SOFTDEVICE_PRESENT)

+#if NRF51_ST_USE_RTC0 == TRUE

+#error "RTC0 cannot be used for system ticks when SOFTDEVICE present"

+#endif

+

+#if NRF51_ST_USE_TIMER0 == TRUE

+#error "TIMER0 cannot be used for system ticks when SOFTDEVICE present"

+#endif

+

+#if NRF51_ST_PRIORITY != 1

+#error "ST priority must be 1 when SOFTDEVICE present"

+#endif

+

+#endif /* defined(SOFTDEVICE_PRESENT) */

+#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */

+

+#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING

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

+#error "CH_CFG_ST_TIMEDELTA is too low"

+#endif

+#if NRF51_ST_USE_TIMER0 == TRUE

+#error "Freeruning (tick-less) mode not supported with TIMER, use RTC"

+#endif

+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */

+

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

 /* Driver data structures and types.                                         */

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

@@ -71,8 +155,12 @@ extern "C" {
  * @notapi

  */

 static inline systime_t st_lld_get_counter(void) {

-

-  return (systime_t)0;

+#if NRF51_ST_USE_RTC0 == TRUE

+    return (systime_t)NRF_RTC0->COUNTER;

+#endif

+#if NRF51_ST_USE_RTC1 == TRUE

+    return (systime_t)NRF_RTC1->COUNTER;

+#endif

 }

 

 /**

@@ -85,8 +173,16 @@ static inline systime_t st_lld_get_counter(void) {
  * @notapi

  */

 static inline void st_lld_start_alarm(systime_t abstime) {

-

-  (void)abstime;

+#if NRF51_ST_USE_RTC0 == TRUE

+  NRF_RTC0->CC[0]               = abstime;

+  NRF_RTC0->EVENTS_COMPARE[0]   = 0;

+  NRF_RTC0->EVTENSET            = RTC_EVTENSET_COMPARE0_Msk;

+#endif

+#if NRF51_ST_USE_RTC1 == TRUE

+  NRF_RTC1->CC[0]               = abstime;

+  NRF_RTC1->EVENTS_COMPARE[0]   = 0;

+  NRF_RTC1->EVTENSET            = RTC_EVTENSET_COMPARE0_Msk;

+#endif

 }

 

 /**

@@ -95,7 +191,14 @@ static inline void st_lld_start_alarm(systime_t abstime) {
  * @notapi

  */

 static inline void st_lld_stop_alarm(void) {

-

+#if NRF51_ST_USE_RTC0 == TRUE

+  NRF_RTC0->EVTENCLR            = RTC_EVTENCLR_COMPARE0_Msk;

+  NRF_RTC0->EVENTS_COMPARE[0]   = 0;

+#endif

+#if NRF51_ST_USE_RTC1 == TRUE

+  NRF_RTC1->EVTENCLR            = RTC_EVTENCLR_COMPARE0_Msk;

+  NRF_RTC1->EVENTS_COMPARE[0]   = 0;

+#endif

 }

 

 /**

@@ -106,8 +209,12 @@ static inline void st_lld_stop_alarm(void) {
  * @notapi

  */

 static inline void st_lld_set_alarm(systime_t abstime) {

-

-  (void)abstime;

+#if NRF51_ST_USE_RTC0 == TRUE

+    NRF_RTC0->CC[0]             = abstime;

+#endif

+#if NRF51_ST_USE_RTC1 == TRUE

+    NRF_RTC1->CC[0]             = abstime;

+#endif

 }

 

 /**

@@ -118,8 +225,12 @@ 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_ST_USE_RTC0 == TRUE

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

+#endif

+#if NRF51_ST_USE_RTC1 == TRUE

+  return (systime_t)NRF_RTC1->CC[0];

+#endif

 }

 

 /**

@@ -132,8 +243,12 @@ static inline systime_t st_lld_get_alarm(void) {
  * @notapi

  */

 static inline bool st_lld_is_alarm_active(void) {

-

-  return false;

+#if NRF51_ST_USE_RTC0 == TRUE

+  return NRF_RTC0->EVTEN & RTC_EVTEN_COMPARE0_Msk;

+#endif

+#if NRF51_ST_USE_RTC1 == TRUE

+  return NRF_RTC1->EVTEN & RTC_EVTEN_COMPARE0_Msk;

+#endif

 }

 

 #endif /* _ST_LLD_H_ */