Added back missing revisions in trunk.

git-svn-id: https://svn.code.sf.net/p/chibios/svn2/trunk@11544 110e8d01-0319-4d1e-a829-52ad28d1bb01

2 files changed, 182 insertions, 66 deletions

diff --git a/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.c b/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.c
index 8d286884e..83bf6e52e 100644
--- a/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.c
+++ b/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.c
@@ -31,7 +31,7 @@
 /**

  * @brief   Periodic Interrupt Timer frequency.

  */

-#define SAMA_PIT                            (SAMA_MCK / 16 / SAMA_H64MX_H32MX_RATIO)

+#define SAMA_PIT  (SAMA_MCK / 16 / SAMA_H64MX_H32MX_RATIO)

 

 #if (SAMA_ST_USE_TC0 == TRUE) || (SAMA_ST_USE_TC1 == TRUE)

 /**

@@ -57,6 +57,26 @@
 }

 #endif

 

+#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING

+

+#if SAMA_ST_USE_PIT

+#error "PIT timer doesn't support tick-less mode"

+#endif

+

+#if SAMA_ST_USE_TC0

+#if ((SAMA_TC0CLK) / (OSAL_ST_FREQUENCY) != 32)

+#error "Bad OSAL_ST_FREQUENCY value in configuration. It must be set to TC0_periph_clk / 32"

+#endif

+#endif

+

+#if SAMA_ST_USE_TC1

+#if ((SAMA_TC1CLK) / (OSAL_ST_FREQUENCY) != 32)

+#error "Bad OSAL_ST_FREQUENCY value in configuration. It must be set to TC1_periph_clk / 32"

+#endif

+#endif

+

+#endif

+

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

 /* Driver exported variables.                                                */

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

@@ -69,6 +89,10 @@
 /* Driver local variables and types.                                         */

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

 

+#if SAMA_ST_USE_TC0 || SAMA_ST_USE_TC1

+static Tc *tcp;

+#endif

+

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

 /* Driver local functions.                                                   */

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

@@ -77,39 +101,27 @@
 /* Driver interrupt handlers.                                                */

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

 

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

-

-#if (SAMA_ST_USE_TC0)

-OSAL_IRQ_HANDLER(SAMA_ST_TC0_HANDLER) {

-

-  OSAL_IRQ_PROLOGUE();

-  if (((TC0->TC_CHANNEL[0].TC_SR & TC_SR_CPCS) != 0) &&

-      ((TC0->TC_CHANNEL[0].TC_IMR & TC_IMR_CPCS) != 0)) {

-    osalSysLockFromISR();

-    osalOsTimerHandlerI();

-    osalSysUnlockFromISR();

-  }

-  aicAckInt();

-  OSAL_IRQ_EPILOGUE();

-}

-#endif

-

-#if (SAMA_ST_USE_TC1)

-OSAL_IRQ_HANDLER(SAMA_ST_TC1_HANDLER) {

+#if (SAMA_ST_USE_TC0 || SAMA_ST_USE_TC1) || defined(__DOXYGEN__)

+/**

+ * @brief   System Timer vector.

+ * @details This interrupt is used for system tick in periodic or free running

+ *          mode, generated by TCx timer

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(SAMA_ST_TC_HANDLER) {

 

   OSAL_IRQ_PROLOGUE();

-  if (((TC1->TC_CHANNEL[0].TC_SR & TC_SR_CPCS) != 0) &&

-      ((TC1->TC_CHANNEL[0].TC_IMR & TC_IMR_CPCS) != 0)) {

-    osalSysLockFromISR();

-    osalOsTimerHandlerI();

-    osalSysUnlockFromISR();

-  }

+  (void)tcp->TC_CHANNEL[0].TC_SR; /* acknowledge TC interrupt */

+  osalSysLockFromISR();

+  osalOsTimerHandlerI();

+  osalSysUnlockFromISR();

   aicAckInt();

   OSAL_IRQ_EPILOGUE();

 }

 #endif

 

-#if (SAMA_ST_USE_PIT == TRUE)

+#if (SAMA_ST_USE_PIT)  || defined(__DOXYGEN__)

 /**

  * @brief   System Timer vector.

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

@@ -131,8 +143,6 @@ OSAL_IRQ_HANDLER(PIT_Handler) {
 }

 #endif /* SAMA_ST_USE_PIT == TRUE */

 

-#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */

-

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

 /* Driver exported functions.                                                */

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

@@ -144,72 +154,81 @@ OSAL_IRQ_HANDLER(PIT_Handler) {
  */

 void st_lld_init(void) {

 

-#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC)

+#if SAMA_ST_USE_TC0 || SAMA_ST_USE_TC1

+

+#if SAMA_ST_USE_TC0

+  tcp = TC0;

+  uint32_t rc = (SAMA_TC0CLK) / (OSAL_ST_FREQUENCY);

 

-#if (SAMA_ST_USE_TC0 == TRUE)

 #if SAMA_HAL_IS_SECURE

   mtxConfigPeriphSecurity(MATRIX1, ID_TC0, SECURE_PER);

 #endif /* SAMA_HAL_IS_SECURE */

+

   pmcEnableTC0();

   aicSetSourcePriority(ID_TC0, SAMA_TC0_IRQ_PRIORITY);

-  aicSetSourceHandler(ID_TC0, SAMA_ST_TC0_HANDLER);

+  aicSetSourceHandler(ID_TC0, SAMA_ST_TC_HANDLER);

   aicEnableInt(ID_TC0);

+#endif

+

+#if SAMA_ST_USE_TC1

+  tcp = TC1;

+  uint32_t rc = (SAMA_TC1CLK) / (OSAL_ST_FREQUENCY);

 

-  tcDisableWP(TC0);

-  uint32_t rc = (SAMA_TC0CLK) / (OSAL_ST_FREQUENCY);

-  TC0->TC_CHANNEL[0].TC_EMR = TC_EMR_NODIVCLK;

-  TC0->TC_CHANNEL[0].TC_CMR = TC_CMR_WAVE | TC_CMR_ACPA_SET |

-                              TC_CMR_ACPC_CLEAR | TC_CMR_WAVSEL_UP_RC;

-  TC0->TC_CHANNEL[0].TC_RC = TC_RC_RC(rc);

-  TC0->TC_CHANNEL[0].TC_RA = TC_RA_RA(rc);

-  TC0->TC_CHANNEL[0].TC_CCR = TC_CCR_CLKEN;

-  TC0->TC_CHANNEL[0].TC_CCR = TC_CCR_SWTRG;

-  TC0->TC_CHANNEL[0].TC_SR;                       /* Clear pending IRQs.          */

-  TC0->TC_CHANNEL[0].TC_IER |= TC_IER_CPCS;

-  tcEnableWP(TC0);

-#endif /* SAMA_ST_USE_TC0 == TRUE */

-

-#if (SAMA_ST_USE_TC1 == TRUE)

 #if SAMA_HAL_IS_SECURE

   mtxConfigPeriphSecurity(MATRIX1, ID_TC1, SECURE_PER);

 #endif /* SAMA_HAL_IS_SECURE */

+

   pmcEnableTC1();

   aicSetSourcePriority(ID_TC1, SAMA_TC1_IRQ_PRIORITY);

-  aicSetSourceHandler(ID_TC1, SAMA_ST_TC1_HANDLER);

+  aicSetSourceHandler(ID_TC1, SAMA_ST_TC_HANDLER);

   aicEnableInt(ID_TC1);

+#endif

 

-  tcDisableWP(TC1);

-  uint32_t rc = (SAMA_TC1CLK) / (OSAL_ST_FREQUENCY);

-  TC1->TC_CHANNEL[0].TC_EMR = TC_EMR_NODIVCLK;

-  TC1->TC_CHANNEL[0].TC_CMR = TC_CMR_WAVE | TC_CMR_ACPA_SET |

-                              TC_CMR_ACPC_CLEAR | TC_CMR_WAVSEL_UP_RC;

-  TC1->TC_CHANNEL[0].TC_RC = TC_RC_RC(rc);

-  TC1->TC_CHANNEL[0].TC_RA = TC_RA_RA(rc);

-  TC1->TC_CHANNEL[0].TC_CCR = TC_CCR_CLKEN;

-  TC1->TC_CHANNEL[0].TC_CCR = TC_CCR_SWTRG;

-  TC1->TC_CHANNEL[0].TC_SR;                       /* Clear pending IRQs.          */

-  TC1->TC_CHANNEL[0].TC_IER |= TC_IER_CPCS;

-  tcEnableWP(TC1);

-#endif /* SAMA_ST_USE_TC1 == TRUE */

+  tcDisableWP(tcp);

+

+#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING

+

+  /* Initializing the timer counter in free running mode.

+   * The clock source is the bus clock divided by 32.*/

+  (void)rc;

+  tcp->TC_CHANNEL[0].TC_EMR = 0;

+  tcp->TC_CHANNEL[0].TC_CMR = TC_CMR_WAVE | TC_CMR_WAVSEL_UP |

+                              TC_CMR_TCCLKS(TC_CMR_TCCLKS_TIMER_CLOCK3);

+  tcp->TC_CHANNEL[0].TC_RC  = 0;

+  tcp->TC_CHANNEL[0].TC_CCR = TC_CCR_CLKEN | TC_CCR_SWTRG;

+  tcp->TC_CHANNEL[0].TC_IDR = 0xFFFFFFFF;         /* Disable IRQs.                */

+  tcp->TC_CHANNEL[0].TC_SR;                       /* Clear pending IRQs.          */

+#endif

+

+#if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC

+  tcp->TC_CHANNEL[0].TC_EMR = TC_EMR_NODIVCLK;

+  tcp->TC_CHANNEL[0].TC_CMR = TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC;

+  tcp->TC_CHANNEL[0].TC_RC  = TC_RC_RC(rc);

+  tcp->TC_CHANNEL[0].TC_CCR = TC_CCR_CLKEN | TC_CCR_SWTRG;;

+  tcp->TC_CHANNEL[0].TC_SR;                       /* Clear pending IRQs.          */

+  tcp->TC_CHANNEL[0].TC_IER = TC_IER_CPCS;

+#endif

+

+  tcEnableWP(tcp);

+#endif /* SAMA_ST_USE_TC0 || SAMA_ST_USE_TC1 */

 

 #if (SAMA_ST_USE_PIT == TRUE)

 #if SAMA_HAL_IS_SECURE

   mtxConfigPeriphSecurity(MATRIX1, ID_PIT, SECURE_PER);

 #endif /* SAMA_HAL_IS_SECURE */

-  /* Enabling PIT.*/

-  pmcEnablePIT();

 

+  /* Enable PIT.*/

+  pmcEnablePIT();

   PIT->PIT_MR = PIT_MR_PIV((SAMA_PIT / OSAL_ST_FREQUENCY) - 1);

   PIT->PIT_MR |= PIT_MR_PITEN | PIT_MR_PITIEN;

   (void) PIT->PIT_PIVR;    /* reset PIT PICNT counter */

 

-  /* IRQ enabled.*/

+  /* Enable IRQ.*/

   aicSetSourcePriority(ID_PIT, SAMA_ST_IRQ_PRIORITY);

   aicSetSourceHandler(ID_PIT, PIT_Handler);

   aicEnableInt(ID_PIT);

-#endif /* SAMA_ST_USE_PIT == TRUE */

+#endif /* SAMA_ST_USE_PIT */

 

-#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */

 }

 

 /** @} */

diff --git a/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.h b/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.h
index bce654bc9..3325d4ac8 100644
--- a/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.h
+++ b/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.h
@@ -95,6 +95,7 @@
 #define SAMA_TC1_IS_USED

 #endif

 #endif

+

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

 /* Driver data structures and types.                                         */

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

@@ -128,7 +129,22 @@ extern "C" {
  */

 static inline systime_t st_lld_get_counter(void) {

 

+#if (SAMA_ST_USE_TC0 || SAMA_ST_USE_TC1)

+

+#if SAMA_ST_USE_TC0

+

+  Tc *tcp = TC0;

+#endif

+#if SAMA_ST_USE_TC1

+

+  Tc *tcp = TC1;

+#endif

+

+  return (systime_t)tcp->TC_CHANNEL[0].TC_CV;

+#else

+

   return (systime_t)0;

+#endif

 }

 

 /**

@@ -142,7 +158,26 @@ static inline systime_t st_lld_get_counter(void) {
  */

 static inline void st_lld_start_alarm(systime_t time) {

 

+#if (SAMA_ST_USE_TC0 || SAMA_ST_USE_TC1)

+

+#if SAMA_ST_USE_TC0

+

+  Tc *tcp = TC0;

+#endif

+#if SAMA_ST_USE_TC1

+

+  Tc *tcp = TC1;

+#endif

+

+  tcp->TC_WPMR = TC_WPMR_WPKEY_PASSWD;

+  tcp->TC_CHANNEL[0].TC_RC = TC_RC_RC((uint32_t)time);

+  tcp->TC_CHANNEL[0].TC_SR;

+  tcp->TC_CHANNEL[0].TC_IER = TC_IER_CPCS;

+  tcp->TC_WPMR = TC_WPMR_WPKEY_PASSWD | TC_WPMR_WPEN;

+#else

+

   (void)time;

+#endif

 }

 

 /**

@@ -152,6 +187,21 @@ static inline void st_lld_start_alarm(systime_t time) {
  */

 static inline void st_lld_stop_alarm(void) {

 

+#if (SAMA_ST_USE_TC0 || SAMA_ST_USE_TC1)

+

+#if SAMA_ST_USE_TC0

+

+  Tc *tcp = TC0;

+#endif

+#if SAMA_ST_USE_TC1

+

+  Tc *tcp = TC1;

+#endif

+

+  tcp->TC_WPMR = TC_WPMR_WPKEY_PASSWD;

+  tcp->TC_CHANNEL[0].TC_IDR = TC_IDR_CPCS;

+  tcp->TC_WPMR = TC_WPMR_WPKEY_PASSWD | TC_WPMR_WPEN;

+#endif

 }

 

 /**

@@ -163,7 +213,24 @@ static inline void st_lld_stop_alarm(void) {
  */

 static inline void st_lld_set_alarm(systime_t time) {

 

+#if (SAMA_ST_USE_TC0 || SAMA_ST_USE_TC1)

+

+#if SAMA_ST_USE_TC0

+

+  Tc *tcp = TC0;

+#endif

+#if SAMA_ST_USE_TC1

+

+  Tc *tcp = TC1;

+#endif

+

+  tcp->TC_WPMR = TC_WPMR_WPKEY_PASSWD;

+  tcp->TC_CHANNEL[0].TC_RC = TC_RC_RC((uint32_t)time);

+  tcp->TC_WPMR = TC_WPMR_WPKEY_PASSWD | TC_WPMR_WPEN;

+#else

+

   (void)time;

+#endif

 }

 

 /**

@@ -175,7 +242,22 @@ static inline void st_lld_set_alarm(systime_t time) {
  */

 static inline systime_t st_lld_get_alarm(void) {

 

+#if (SAMA_ST_USE_TC0 || SAMA_ST_USE_TC1)

+

+#if SAMA_ST_USE_TC0

+

+  Tc *tcp = TC0;

+#endif

+#if SAMA_ST_USE_TC1

+

+  Tc *tcp = TC1;

+#endif

+

+  return (systime_t)tcp->TC_CHANNEL[0].TC_RC;

+#else

+

   return (systime_t)0;

+#endif

 }

 

 /**

@@ -189,7 +271,22 @@ static inline systime_t st_lld_get_alarm(void) {
  */

 static inline bool st_lld_is_alarm_active(void) {

 

+#if (SAMA_ST_USE_TC0 || SAMA_ST_USE_TC1)

+

+#if SAMA_ST_USE_TC0

+

+  Tc *tcp = TC0;

+#endif

+#if SAMA_ST_USE_TC1

+

+  Tc *tcp = TC1;

+#endif

+

+  return (bool)((tcp->TC_CHANNEL[0].TC_IMR & TC_IMR_CPCS) != 0);

+#else

+

   return false;

+#endif

 }

 

 #endif /* HAL_ST_LLD_H */