[AVR] Add preliminary tickless support to HAL

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7101 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 186 insertions, 98 deletions

diff --git a/os/hal/ports/AVR/avr_timers.h b/os/hal/ports/AVR/avr_timers.h
index 26b891937..b0a137ddd 100644
--- a/os/hal/ports/AVR/avr_timers.h
+++ b/os/hal/ports/AVR/avr_timers.h
@@ -17,6 +17,13 @@
 #ifndef _AVR_TIMERS_H_

 #define _AVR_TIMERS_H_

 

+#include "mcuconf.h"

+

+#if ((NIL_CFG_ST_TIMEDELTA > 0 || CH_CFG_ST_TIMEDELTA > 0) && \

+     (AVR_GPT_USE_TIM1 || AVR_PWM_USE_TIM1 || AVR_ICU_USE_TIM1))

+  #error "Timer 1 cannot be used by drivers when running in tickless mode."

+#endif

+

 #if ((AVR_GPT_USE_TIM1 && AVR_PWM_USE_TIM1) || \

      (AVR_GPT_USE_TIM1 && AVR_ICU_USE_TIM1) || \

      (AVR_PWM_USE_TIM1 && AVR_ICU_USE_TIM1))

diff --git a/os/hal/ports/AVR/hal_lld.c b/os/hal/ports/AVR/hal_lld.c
index 894d5dcc5..c3b90dd6b 100644
--- a/os/hal/ports/AVR/hal_lld.c
+++ b/os/hal/ports/AVR/hal_lld.c
@@ -40,21 +40,6 @@
 /* Driver interrupt handlers.                                                */

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

 

-/**

- * @brief   Timer0 interrupt handler.

- */

-OSAL_IRQ_HANDLER(AVR_TIMER_VECT) {

-

-  OSAL_IRQ_PROLOGUE();

-

-  osalSysLockFromISR();

-  osalOsTimerHandlerI();

-  osalSysUnlockFromISR();

-

-  OSAL_IRQ_EPILOGUE();

-}

-

-

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

 /* Driver exported functions.                                                */

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

@@ -65,39 +50,6 @@ OSAL_IRQ_HANDLER(AVR_TIMER_VECT) {
  * @notapi

  */

 void hal_lld_init(void) {

-

-  /*

-   * Timer 0 setup.

-   */

-#if defined(TCCR0B) /* Timer has multiple output comparators                       */

-  TCCR0A  = (1 << WGM01) | (0 << WGM00) |                /* CTC mode.        */

-            (0 << COM0A1) | (0 << COM0A0) |              /* OC0A disabled.   */

-            (0 << COM0B1) | (0 << COM0B0);               /* OC0B disabled.   */

-  TCCR0B  = (0 << WGM02) | AVR_TIMER_PRESCALER_BITS;     /* CTC mode.        */

-  OCR0A   = AVR_TIMER_COUNTER - 1;

-  TCNT0   = 0;                                           /* Reset counter.   */

-  TIFR0   = (1 << OCF0A);                                /* Reset pending.   */

-  TIMSK0  = (1 << OCIE0A);                               /* IRQ on compare.  */

-

-#elif defined(TCCR0A) /* AT90CAN doesn't have TCCR0B and slightly different TCCR0A */

-  TCCR0A  = (1 << WGM01) | (0 << WGM00) |                /* CTC mode.        */

-            (0 << COM0A1) | (0 << COM0A0);               /* OC0A disabled.   */

-  OCR0A   = AVR_TIMER_COUNTER - 1;

-  TCNT0   = 0;                                           /* Reset counter.   */

-  TIFR0   = (1 << OCF0A);                                /* Reset pending.   */

-  TIMSK0  = (1 << OCIE0A);                               /* IRQ on compare.  */

-

-#elif defined(TCCR0) /* Timer has single output comparator                   */

-  TCCR0   = (1 << WGM01) | (0 << WGM00) |                /* CTC mode.        */

-            (0 << COM01) | (0 << COM00) |                /* OC0A disabled.   */

-            AVR_TIMER_PRESCALER_BITS;

-  OCR0    = AVR_TIMER_COUNTER - 1;

-  TCNT0   = 0;                                           /* Reset counter.   */

-  TIFR    = (1 << OCF0);                                 /* Reset pending.   */

-  TIMSK   = (1 << OCIE0);                                /* IRQ on compare.  */

-#else

-  #error "Neither TCCR0A nor TCCR0 registers are defined"

-#endif

 }

 

 /** @} */

diff --git a/os/hal/ports/AVR/hal_lld.h b/os/hal/ports/AVR/hal_lld.h
index c72063ac0..5685943f3 100644
--- a/os/hal/ports/AVR/hal_lld.h
+++ b/os/hal/ports/AVR/hal_lld.h
@@ -39,59 +39,14 @@
  */

 #define PLATFORM_NAME "AVR"

 

-/**

- * @brief  Timer maximum value 

- */

-#define AVR_TIMER_COUNTER_MAX 255

-

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

 /* Driver pre-compile time settings.                                         */

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

 

-/* Work out what the timer interrupt is called on this MCU */

-#ifdef TIMER0_COMPA_vect

-  #define AVR_TIMER_VECT TIMER0_COMPA_vect

-#elif defined(TIMER_COMPA_vect)

-  #define AVR_TIMER_VECT TIMER_COMPA_vect

-#elif defined(TIMER0_COMP_vect)

-  #define AVR_TIMER_VECT TIMER0_COMP_vect

-#else

-  #error "Cannot find interrupt vector name for timer"

-#endif

-

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

 /* Derived constants and error checks.                                       */

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

 

-/* Find the most suitable prescaler setting for the desired OSAL_ST_FREQUENCY */

-#if ((F_CPU / OSAL_ST_FREQUENCY) <= AVR_TIMER_COUNTER_MAX)

-  #define AVR_TIMER_PRESCALER 1

-  #define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(0<<CS01)|(1<<CS00); /* CLK      */

-#elif ((F_CPU / OSAL_ST_FREQUENCY / 8) <= AVR_TIMER_COUNTER_MAX)

-  #define AVR_TIMER_PRESCALER 8

-  #define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(1<<CS01)|(0<<CS00); /* CLK/8    */

-#elif ((F_CPU / OSAL_ST_FREQUENCY / 64) <= AVR_TIMER_COUNTER_MAX)

-  #define AVR_TIMER_PRESCALER 64

-  #define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(1<<CS01)|(1<<CS00); /* CLK/64   */

-#elif ((F_CPU / OSAL_ST_FREQUENCY / 256) <= AVR_TIMER_COUNTER_MAX)

-  #define AVR_TIMER_PRESCALER 256

-  #define AVR_TIMER_PRESCALER_BITS (1<<CS02)|(0<<CS01)|(0<<CS00); /* CLK/256  */

-#elif ((F_CPU / OSAL_ST_FREQUENCY / 1024) <= AVR_TIMER_COUNTER_MAX)

-  #define AVR_TIMER_PRESCALER 1024

-  #define AVR_TIMER_PRESCALER_BITS (1<<CS02)|(0<<CS01)|(1<<CS00); /* CLK/1024 */

-#else

-  #error "Frequency too low for timer, please set OSAL_ST_FREQUENCY to a higher value"

-#endif

-

-#define AVR_TIMER_COUNTER (F_CPU / OSAL_ST_FREQUENCY / AVR_TIMER_PRESCALER)

-

-/* Test if OSAL_ST_FREQUENCY can be matched exactly using this timer */

-#define F_CPU_ (AVR_TIMER_COUNTER * AVR_TIMER_PRESCALER * OSAL_ST_FREQUENCY)

-#if (F_CPU_ != F_CPU)

-  #warning "OSAL_ST_FREQUENCY cannot be generated exactly using timer"

-#endif

-#undef F_CPU_

-

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

 /* Driver data structures and types.                                         */

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

diff --git a/os/hal/ports/AVR/st_lld.c b/os/hal/ports/AVR/st_lld.c
index 463ff8b8a..349d7307e 100644
--- a/os/hal/ports/AVR/st_lld.c
+++ b/os/hal/ports/AVR/st_lld.c
@@ -30,6 +30,11 @@
 /* Driver local definitions.                                                 */

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

 

+/**

+ * @brief  Timer maximum value

+ */

+#define AVR_TIMER_COUNTER_MAX 255

+

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

 /* Driver exported variables.                                                */

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

@@ -42,6 +47,60 @@
 /* Driver local variables and types.                                         */

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

 

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

+

+/* Work out what the timer interrupt is called on this MCU */

+#ifdef TIMER0_COMPA_vect

+  #define AVR_TIMER_VECT TIMER0_COMPA_vect

+#elif defined(TIMER_COMPA_vect)

+  #define AVR_TIMER_VECT TIMER_COMPA_vect

+#elif defined(TIMER0_COMP_vect)

+  #define AVR_TIMER_VECT TIMER0_COMP_vect

+#else

+  #error "Cannot find interrupt vector name for timer"

+#endif

+

+/* Find the most suitable prescaler setting for the desired OSAL_ST_FREQUENCY */

+#if ((F_CPU / OSAL_ST_FREQUENCY) <= AVR_TIMER_COUNTER_MAX)

+  #define AVR_TIMER_PRESCALER 1

+  #define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(0<<CS01)|(1<<CS00); /* CLK      */

+#elif ((F_CPU / OSAL_ST_FREQUENCY / 8) <= AVR_TIMER_COUNTER_MAX)

+  #define AVR_TIMER_PRESCALER 8

+  #define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(1<<CS01)|(0<<CS00); /* CLK/8    */

+#elif ((F_CPU / OSAL_ST_FREQUENCY / 64) <= AVR_TIMER_COUNTER_MAX)

+  #define AVR_TIMER_PRESCALER 64

+  #define AVR_TIMER_PRESCALER_BITS (0<<CS02)|(1<<CS01)|(1<<CS00); /* CLK/64   */

+#elif ((F_CPU / OSAL_ST_FREQUENCY / 256) <= AVR_TIMER_COUNTER_MAX)

+  #define AVR_TIMER_PRESCALER 256

+  #define AVR_TIMER_PRESCALER_BITS (1<<CS02)|(0<<CS01)|(0<<CS00); /* CLK/256  */

+#elif ((F_CPU / OSAL_ST_FREQUENCY / 1024) <= AVR_TIMER_COUNTER_MAX)

+  #define AVR_TIMER_PRESCALER 1024

+  #define AVR_TIMER_PRESCALER_BITS (1<<CS02)|(0<<CS01)|(1<<CS00); /* CLK/1024 */

+#else

+  #error "Frequency too low for timer, please set OSAL_ST_FREQUENCY to a higher value"

+#endif

+

+#define AVR_TIMER_COUNTER (F_CPU / OSAL_ST_FREQUENCY / AVR_TIMER_PRESCALER)

+

+/* Test if OSAL_ST_FREQUENCY can be matched exactly using this timer */

+#define F_CPU_ (AVR_TIMER_COUNTER * AVR_TIMER_PRESCALER * OSAL_ST_FREQUENCY)

+#if (F_CPU_ != F_CPU)

+  #warning "OSAL_ST_FREQUENCY cannot be generated exactly using timer"

+#endif

+#undef F_CPU_

+

+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */

+

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

+

+/* FIXME: Prescaler is now fixed in 1024.

+ *        Should add support for calculating best value according to

+ *        user requested configuration.

+ */

+#define PRESCALER (_BV(CS12) | _BV(CS10))

+

+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */

+

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

 /* Driver local functions.                                                   */

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

@@ -50,6 +109,44 @@
 /* Driver interrupt handlers.                                                */

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

 

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

+

+/**

+ * @brief Timer handler for periodic mode.

+ */

+OSAL_IRQ_HANDLER(AVR_TIMER_VECT) {

+

+  OSAL_IRQ_PROLOGUE();

+

+  osalSysLockFromISR();

+  osalOsTimerHandlerI();

+  osalSysUnlockFromISR();

+

+  OSAL_IRQ_EPILOGUE();

+}

+

+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */

+

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

+

+/**

+ * @brief Timer handler for free running mode.

+ */

+OSAL_IRQ_HANDLER(TIMER1_COMPA_vect) {

+

+  OSAL_IRQ_PROLOGUE();

+

+  // TODO: reset status if required

+

+  osalSysLockFromISR();

+  osalOsTimerHandlerI();

+  osalSysUnlockFromISR();

+

+  OSAL_IRQ_EPILOGUE();

+}

+

+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */

+

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

 /* Driver exported functions.                                                */

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

@@ -60,6 +157,64 @@
  * @notapi

  */

 void st_lld_init(void) {

+

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

+

+  /*

+   * Periodic mode uses Timer 1 (16 bit).

+   */

+

+  /* CTC mode, no clock source */

+  TCCR1A  = 0;

+  TCCR1B  = _BV(WGM12);

+

+  /* start disabled */

+  TCCR1C  = 0;

+  OCR1A   = 0;

+  TCNT1   = 0;

+  TIFR1   = _BV(OCF1A);                                  /* Reset pending.   */

+  TIMSK1  = 0;

+  TCCR1B  = PRESCALER;

+

+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */

+

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

+

+  /*

+   * Periodic mode uses Timer 0 (8 bit).

+   */

+#if defined(TCCR0B) /* Timer has multiple output comparators                       */

+  TCCR0A  = (1 << WGM01) | (0 << WGM00) |                /* CTC mode.        */

+            (0 << COM0A1) | (0 << COM0A0) |              /* OC0A disabled.   */

+            (0 << COM0B1) | (0 << COM0B0);               /* OC0B disabled.   */

+  TCCR0B  = (0 << WGM02) | AVR_TIMER_PRESCALER_BITS;     /* CTC mode.        */

+  OCR0A   = AVR_TIMER_COUNTER - 1;

+  TCNT0   = 0;                                           /* Reset counter.   */

+  TIFR0   = (1 << OCF0A);                                /* Reset pending.   */

+  TIMSK0  = (1 << OCIE0A);                               /* IRQ on compare.  */

+

+#elif defined(TCCR0A) /* AT90CAN doesn't have TCCR0B and slightly different TCCR0A */

+  TCCR0A  = (1 << WGM01) | (0 << WGM00) |                /* CTC mode.        */

+            (0 << COM0A1) | (0 << COM0A0);               /* OC0A disabled.   */

+  OCR0A   = AVR_TIMER_COUNTER - 1;

+  TCNT0   = 0;                                           /* Reset counter.   */

+  TIFR0   = (1 << OCF0A);                                /* Reset pending.   */

+  TIMSK0  = (1 << OCIE0A);                               /* IRQ on compare.  */

+

+#elif defined(TCCR0) /* Timer has single output comparator                   */

+  TCCR0   = (1 << WGM01) | (0 << WGM00) |                /* CTC mode.        */

+            (0 << COM01) | (0 << COM00) |                /* OC0A disabled.   */

+            AVR_TIMER_PRESCALER_BITS;

+  OCR0    = AVR_TIMER_COUNTER - 1;

+  TCNT0   = 0;                                           /* Reset counter.   */

+  TIFR    = (1 << OCF0);                                 /* Reset pending.   */

+  TIMSK   = (1 << OCIE0);                                /* IRQ on compare.  */

+#else

+  #error "Neither TCCR0A nor TCCR0 registers are defined"

+#endif

+

+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */

+

 }

 

 #endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */

diff --git a/os/hal/ports/AVR/st_lld.h b/os/hal/ports/AVR/st_lld.h
index 024135c8f..6b47596ba 100644
--- a/os/hal/ports/AVR/st_lld.h
+++ b/os/hal/ports/AVR/st_lld.h
@@ -27,6 +27,9 @@
 #ifndef _ST_LLD_H_

 #define _ST_LLD_H_

 

+#include "mcuconf.h"

+#include "avr_timers.h"

+

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

 /* Driver constants.                                                         */

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

@@ -35,10 +38,19 @@
 /* Driver pre-compile time settings.                                         */

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

 

+/*

+ * TODO: for models that have many timers,

+ *       could add AVR_ST_USE_TIMER

+ */

+

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

 /* Derived constants and error checks.                                       */

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

 

+/*

+ * TODO: error checks for valid timer selected

+ */

+

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

 /* Driver data structures and types.                                         */

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

@@ -72,7 +84,7 @@ extern "C" {
  */

 static inline systime_t st_lld_get_counter(void) {

 

-  return (systime_t)0;

+  return (systime_t) TCNT1;

 }

 

 /**

@@ -86,7 +98,13 @@ static inline systime_t st_lld_get_counter(void) {
  */

 static inline void st_lld_start_alarm(systime_t time) {

 

-  (void)time;

+  OCR1A = (uint16_t) time;

+

+  /* Reset pending. */

+  TIFR1 = _BV(OCF1A);

+

+  /* enable interrupt */

+  TIMSK1 = _BV(OCIE1A);

 }

 

 /**

@@ -96,6 +114,7 @@ static inline void st_lld_start_alarm(systime_t time) {
  */

 static inline void st_lld_stop_alarm(void) {

 

+  TIMSK1 = 0;

 }

 

 /**

@@ -107,7 +126,7 @@ static inline void st_lld_stop_alarm(void) {
  */

 static inline void st_lld_set_alarm(systime_t time) {

 

-  (void)time;

+  OCR1A = (uint16_t) time;

 }

 

 /**

@@ -119,7 +138,7 @@ static inline void st_lld_set_alarm(systime_t time) {
  */

 static inline systime_t st_lld_get_alarm(void) {

 

-  return (systime_t)0;

+  return (systime_t) OCR1A;

 }

 

 /**

@@ -133,7 +152,7 @@ static inline systime_t st_lld_get_alarm(void) {
  */

 static inline bool st_lld_is_alarm_active(void) {

 

-  return false;

+  return (bool) ((TIMSK1 & _BV(OCIE1A)) != 0);

 }

 

 #endif /* _ST_LLD_H_ */