From 58e167350f007cfdc33bbb67e8042ffd9dee4297 Mon Sep 17 00:00:00 2001
From: Rocco Marco Guglielmi <roccomarco.guglielmi@gmail.com>
Date: Fri, 11 Aug 2017 18:45:50 +0000
Subject: Added PIT implementation for ATSAMA5D2 (Still incomplete)

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@10404 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED/main.c | 32 +++++++++++++++++++++++--
 os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.c    | 38 ++++++++++++++++++++++++++++++
 os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.h    | 12 ++++++++++
 3 files changed, 80 insertions(+), 2 deletions(-)

diff --git a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED/main.c b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED/main.c
index 44b9c0f4b..4009917da 100755
--- a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED/main.c
+++ b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED/main.c
@@ -17,7 +17,25 @@
 #include "ch.h"
 #include "hal.h"
 
-static uint32_t counter = 0;
+static uint32_t seconds_counter;
+static uint32_t minutes_counter;
+
+/*
+ * Seconds counter thread.
+ */
+static THD_WORKING_AREA(waThread1, 128);
+static THD_FUNCTION(Thread1, arg) {
+
+  (void)arg;
+
+  chRegSetThreadName("counter");
+
+  while (true) {
+    chThdSleepMilliseconds(1000);
+    seconds_counter++;
+  }
+}
+
 /*
  * Application entry point.
  */
@@ -33,7 +51,17 @@ int main(void) {
   halInit();
   chSysInit();
 
+  /*
+   * Creates the example thread.
+   */
+  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
+
+  /*
+   * Normal main() thread activity, in this demo it does nothing except
+   * increasing the minutes counter.
+   */
   while (true) {
-    counter++;
+    chThdSleepSeconds(60);
+    minutes_counter++;
   }
 }
diff --git a/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.c b/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.c
index cc1b46250..14e82a31d 100644
--- a/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.c
+++ b/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.c
@@ -28,6 +28,11 @@
 /* Driver local definitions.                                                 */
 /*===========================================================================*/
 
+/**
+ * @brief   Periodic Interrupt Timer frequency.
+ */
+#define SAMA_PIT                            (SAMA_MCK / 16)
+
 /*===========================================================================*/
 /* Driver exported variables.                                                */
 /*===========================================================================*/
@@ -48,6 +53,25 @@
 /* Driver interrupt handlers.                                                */
 /*===========================================================================*/
 
+#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)
+/**
+ * @brief   System Timer vector.
+ * @details This interrupt is used for system tick in periodic mode.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(PIT_Handler) {
+
+  OSAL_IRQ_PROLOGUE();
+
+  osalSysLockFromISR();
+  osalOsTimerHandlerI();
+  osalSysUnlockFromISR();
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
+
 /*===========================================================================*/
 /* Driver exported functions.                                                */
 /*===========================================================================*/
@@ -58,6 +82,20 @@
  * @notapi
  */
 void st_lld_init(void) {
+
+#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC)
+  /* Enabling PIT.*/
+  pmcEnablePIT();
+
+  PIT->PIT_MR = PIT_MR_PIV((SAMA_PIT / OSAL_ST_FREQUENCY) - 1);
+  PIT->PIT_MR |= PIT_MR_PITEN | PIT_MR_PITIEN;
+
+
+  /* IRQ enabled.*/
+  aicSetSourcePriority(ID_PIT, SAMA_ST_IRQ_PRIORITY);
+  aicSetSourceHandler(ID_PIT, PIT_Handler);
+  aicEnableInt(ID_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 055433614..328d929ed 100644
--- a/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.h
+++ b/os/hal/ports/SAMA/SAMA5D2x/hal_st_lld.h
@@ -37,6 +37,18 @@
 /* Driver pre-compile time settings.                                         */
 /*===========================================================================*/
 
+/**
+ * @name    Configuration options
+ * @{
+ */
+/**
+ * @brief   SysTick timer IRQ priority.
+ */
+#if !defined(SAMA_ST_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define SAMA_ST_IRQ_PRIORITY                7
+#endif
+/** @} */
+
 /*===========================================================================*/
 /* Derived constants and error checks.                                       */
 /*===========================================================================*/
-- 
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