From 147e579e28eea4c3bfee13212e0d1038f2b50b20 Mon Sep 17 00:00:00 2001 From: Glenn Ruben Bakke Date: Thu, 1 Jun 2017 22:58:24 +0200 Subject: [PATCH 1/4] nrf5/hal/rtc: Aligning RTC (real-time counter) HAL driver with Timer HAL driver. To make api's symetric. Also updating modules/rtc to get aligned with new HAL api. --- nrf5/hal/hal_rtc.c | 85 +++++++++++++------------- nrf5/hal/hal_rtc.h | 55 +++++++---------- nrf5/modules/machine/rtc.c | 119 +++++++++++-------------------------- 3 files changed, 101 insertions(+), 158 deletions(-) diff --git a/nrf5/hal/hal_rtc.c b/nrf5/hal/hal_rtc.c index d539d78c48..bd3905bb4f 100644 --- a/nrf5/hal/hal_rtc.c +++ b/nrf5/hal/hal_rtc.c @@ -32,13 +32,14 @@ static hal_rtc_app_callback m_callback; +static uint32_t m_period[sizeof(RTC_BASE_POINTERS) / sizeof(uint32_t)]; + void hal_rtc_callback_set(hal_rtc_app_callback callback) { m_callback = callback; } void hal_rtc_init(hal_rtc_conf_t const * p_rtc_conf) { - p_rtc_conf->p_instance->PRESCALER = (32768 / p_rtc_conf->frequency) - 1; // approx correct. - hal_irq_priority(p_rtc_conf->irq_num, p_rtc_conf->irq_priority); + NRF_RTC_Type * p_rtc = RTC_BASE(p_rtc_conf->id); // start LFCLK if not already started if (NRF_CLOCK->LFCLKSTAT == 0) { @@ -46,70 +47,70 @@ void hal_rtc_init(hal_rtc_conf_t const * p_rtc_conf) { while (NRF_CLOCK->EVENTS_LFCLKSTARTED == 0); NRF_CLOCK->EVENTS_LFCLKSTARTED = 0; } + + m_period[p_rtc_conf->id] = p_rtc_conf->period; + + p_rtc->PRESCALER = (32768 / 32) - 1; // approx ms ticks. + hal_irq_priority(RTC_IRQ_NUM(p_rtc_conf->id), p_rtc_conf->irq_priority); } -void hal_rtc_start(hal_rtc_conf_t const * p_rtc_conf, uint16_t period) { - uint32_t counter = p_rtc_conf->p_instance->COUNTER; +void hal_rtc_start(uint8_t id) { + NRF_RTC_Type * p_rtc = RTC_BASE(id); - p_rtc_conf->p_instance->CC[0] = counter + period; + uint32_t period = m_period[id]; + uint32_t counter = p_rtc->COUNTER; - p_rtc_conf->p_instance->EVTENSET = RTC_EVTEN_COMPARE0_Msk; - p_rtc_conf->p_instance->INTENSET = RTC_INTENSET_COMPARE0_Msk; + p_rtc->CC[0] = counter + period; - hal_irq_clear(p_rtc_conf->irq_num); - hal_irq_enable(p_rtc_conf->irq_num); + p_rtc->EVTENSET = RTC_EVTEN_COMPARE0_Msk; + p_rtc->INTENSET = RTC_INTENSET_COMPARE0_Msk; - p_rtc_conf->p_instance->TASKS_START = 1; + hal_irq_clear(RTC_IRQ_NUM(id)); + hal_irq_enable(RTC_IRQ_NUM(id)); + + p_rtc->TASKS_START = 1; } -void hal_rtc_stop(hal_rtc_conf_t const * p_rtc_conf) { - p_rtc_conf->p_instance->EVTENCLR = RTC_EVTEN_COMPARE0_Msk; - p_rtc_conf->p_instance->INTENCLR = RTC_INTENSET_COMPARE0_Msk; +void hal_rtc_stop(uint8_t id) { + NRF_RTC_Type * p_rtc = RTC_BASE(id); - hal_irq_disable(p_rtc_conf->irq_num); + p_rtc->EVTENCLR = RTC_EVTEN_COMPARE0_Msk; + p_rtc->INTENCLR = RTC_INTENSET_COMPARE0_Msk; - p_rtc_conf->p_instance->TASKS_STOP = 1; + hal_irq_disable(RTC_IRQ_NUM(id)); + + p_rtc->TASKS_STOP = 1; +} + +static void common_irq_handler(uint8_t id) { + NRF_RTC_Type * p_rtc = RTC_BASE(id); + + // clear all events + p_rtc->EVENTS_COMPARE[0] = 0; + p_rtc->EVENTS_COMPARE[1] = 0; + p_rtc->EVENTS_COMPARE[2] = 0; + p_rtc->EVENTS_COMPARE[3] = 0; + p_rtc->EVENTS_TICK = 0; + p_rtc->EVENTS_OVRFLW = 0; + + m_callback(id); } void RTC0_IRQHandler(void) { - // clear all events - NRF_RTC0->EVENTS_COMPARE[0] = 0; - NRF_RTC0->EVENTS_COMPARE[1] = 0; - NRF_RTC0->EVENTS_COMPARE[2] = 0; - NRF_RTC0->EVENTS_COMPARE[3] = 0; - NRF_RTC0->EVENTS_TICK = 0; - NRF_RTC0->EVENTS_OVRFLW = 0; - - m_callback(NRF_RTC0); + common_irq_handler(0); } void RTC1_IRQHandler(void) { - // clear all events - NRF_RTC1->EVENTS_COMPARE[0] = 0; - NRF_RTC1->EVENTS_COMPARE[1] = 0; - NRF_RTC1->EVENTS_COMPARE[2] = 0; - NRF_RTC1->EVENTS_COMPARE[3] = 0; - NRF_RTC1->EVENTS_TICK = 0; - NRF_RTC1->EVENTS_OVRFLW = 0; - - m_callback(NRF_RTC1); + common_irq_handler(1); } #if NRF52 void RTC2_IRQHandler(void) { - // clear all events - NRF_RTC2->EVENTS_COMPARE[0] = 0; - NRF_RTC2->EVENTS_COMPARE[1] = 0; - NRF_RTC2->EVENTS_COMPARE[2] = 0; - NRF_RTC2->EVENTS_COMPARE[3] = 0; - NRF_RTC2->EVENTS_TICK = 0; - NRF_RTC2->EVENTS_OVRFLW = 0; - - m_callback(NRF_RTC2); + common_irq_handler(2); } #endif // NRF52 diff --git a/nrf5/hal/hal_rtc.h b/nrf5/hal/hal_rtc.h index 16ef2f7ed2..81797bfb55 100644 --- a/nrf5/hal/hal_rtc.h +++ b/nrf5/hal/hal_rtc.h @@ -30,52 +30,41 @@ #include "nrf.h" #if NRF51 - -#define RTC0 ((NRF_RTC_Type *) NRF_RTC0) -#define RTC0_IRQ_NUM RTC0_IRQn -#define RTC1 ((NRF_RTC_Type *) NRF_RTC1) -#define RTC1_IRQ_NUM RTC1_IRQn - -#elif NRF52 - -#define RTC0 ((NRF_RTC_Type *) NRF_RTC0) -#define RTC0_IRQ_NUM RTC0_IRQn -#define RTC1 ((NRF_RTC_Type *) NRF_RTC1) -#define RTC1_IRQ_NUM RTC1_IRQn -#define RTC2 ((NRF_RTC_Type *) NRF_RTC2) -#define RTC2_IRQ_NUM RTC2_IRQn - -#else -#error "Device not supported." + #define RTC_BASE_POINTERS (const uint32_t[]){NRF_RTC0_BASE, \ + NRF_RTC1_BASE} + #define RTC_IRQ_VALUES (const uint32_t[]){RTC0_IRQn, \ + RTC1_IRQn} #endif -typedef void (*hal_rtc_app_callback)(NRF_RTC_Type * p_instance); +#if NRF52 + #define RTC_BASE_POINTERS (const uint32_t[]){NRF_RTC0_BASE, \ + NRF_RTC1_BASE, \ + NRF_RTC2_BASE} + #define RTC_IRQ_VALUES (const uint32_t[]){RTC0_IRQn, \ + RTC1_IRQn, \ + RTC2_IRQn} +#endif + +#define RTC_BASE(x) ((NRF_RTC_Type *)RTC_BASE_POINTERS[x]) +#define RTC_IRQ_NUM(x) (RTC_IRQ_VALUES[x]) + +typedef void (*hal_rtc_app_callback)(uint8_t id); /** * @brief RTC Configuration Structure definition */ typedef struct { - NRF_RTC_Type * p_instance; /* RTC registers base address */ - uint32_t irq_num; /* RTC IRQ num */ - uint32_t irq_priority; /* RTC IRQ priority */ - uint16_t frequency; /* RTC frequency in Hz */ + uint8_t id; /* RTC instance id */ + uint32_t period; /* RTC period in ms */ + uint32_t irq_priority; /* RTC IRQ priority */ } hal_rtc_conf_t; -/** - * @brief RTC handle Structure definition - */ -typedef struct __RTC_HandleTypeDef -{ - uint8_t id; /* RTC instance id */ - hal_rtc_conf_t config; /* RTC config */ -} RTC_HandleTypeDef; - void hal_rtc_callback_set(hal_rtc_app_callback callback); void hal_rtc_init(hal_rtc_conf_t const * p_rtc_config); -void hal_rtc_start(hal_rtc_conf_t const * p_rtc_conf, uint16_t period); +void hal_rtc_start(uint8_t id); -void hal_rtc_stop(hal_rtc_conf_t const * p_rtc_conf); +void hal_rtc_stop(uint8_t id); #endif // HAL_RTC_H__ diff --git a/nrf5/modules/machine/rtc.c b/nrf5/modules/machine/rtc.c index 2fdc32fe87..ca4b575d1e 100644 --- a/nrf5/modules/machine/rtc.c +++ b/nrf5/modules/machine/rtc.c @@ -36,73 +36,49 @@ #if MICROPY_PY_MACHINE_RTC typedef struct _machine_rtc_obj_t { - mp_obj_base_t base; - RTC_HandleTypeDef *rtc; + mp_obj_base_t base; + hal_rtc_conf_t * p_config; mp_obj_t callback; mp_int_t period; mp_int_t mode; } machine_rtc_obj_t; -RTC_HandleTypeDef RTCHandle0 = {.config.p_instance = NULL, .id = 0}; -RTC_HandleTypeDef RTCHandle1 = {.config.p_instance = NULL, .id = 1}; - -STATIC machine_rtc_obj_t machine_rtc_obj[] = { - {{&machine_rtc_type}, &RTCHandle0}, - {{&machine_rtc_type}, &RTCHandle1}, -}; - -STATIC void hal_interrupt_handle(NRF_RTC_Type * p_instance) { - const machine_rtc_obj_t * self = NULL; - if (p_instance == RTC0) { - self = &machine_rtc_obj[0]; - mp_call_function_0(self->callback); - } else if (p_instance == RTC1) { - self = &machine_rtc_obj[1]; - mp_call_function_0(self->callback); - } +static hal_rtc_conf_t rtc_config0 = {.id = 0}; +static hal_rtc_conf_t rtc_config1 = {.id = 1}; #if NRF52 - else if (p_instance == RTC2) { - self = &machine_rtc_obj[2]; - mp_call_function_0(self->callback); - } +static hal_rtc_conf_t rtc_config2 = {.id = 2}; #endif +STATIC machine_rtc_obj_t machine_rtc_obj[] = { + {{&machine_rtc_type}, &rtc_config0}, + {{&machine_rtc_type}, &rtc_config1}, +#if NRF52 + {{&machine_rtc_type}, &rtc_config2}, +#endif +}; + +STATIC void hal_interrupt_handle(uint8_t id) { + machine_rtc_obj_t * self = &machine_rtc_obj[id];; + + mp_call_function_1(self->callback, self); + if (self != NULL) { - hal_rtc_stop(&self->rtc->config); + hal_rtc_stop(id); if (self->mode == 1) { - hal_rtc_start(&self->rtc->config, self->period); + hal_rtc_start(id); } } } void rtc_init0(void) { - hal_rtc_callback_set(hal_interrupt_handle); - - // reset the RTC handles - memset(&RTCHandle0, 0, sizeof(RTC_HandleTypeDef)); - RTCHandle0.config.p_instance = RTC0; - RTCHandle0.config.irq_num = RTC0_IRQ_NUM; -#if (BLUETOOTH_SD == 100) - RTCHandle0.config.irq_priority = 3; -#else - RTCHandle0.config.irq_priority = 6; -#endif - memset(&RTCHandle1, 0, sizeof(RTC_HandleTypeDef)); - RTCHandle1.config.p_instance = RTC1; - RTCHandle1.config.irq_num = RTC1_IRQ_NUM; -#if (BLUETOOTH_SD == 100) - RTCHandle1.config.irq_priority = 3; -#else - RTCHandle1.config.irq_priority = 6; -#endif } STATIC int rtc_find(mp_obj_t id) { // given an integer id int rtc_id = mp_obj_get_int(id); if (rtc_id >= 0 && rtc_id <= MP_ARRAY_SIZE(machine_rtc_obj) - && machine_rtc_obj[rtc_id].rtc != NULL) { + && machine_rtc_obj[rtc_id].p_config != NULL) { return rtc_id; } nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, @@ -111,59 +87,39 @@ STATIC int rtc_find(mp_obj_t id) { STATIC void rtc_print(const mp_print_t *print, mp_obj_t o, mp_print_kind_t kind) { machine_rtc_obj_t *self = o; - mp_printf(print, "RTC(%u)", self->rtc->id); + mp_printf(print, "RTC(%u)", self->p_config->id); } /******************************************************************************/ /* MicroPython bindings for machine API */ -/* -from machine import RTC -def cb(): - print("Callback") -r = RTC(0, 8, cb, mode=RTC.PERIODIC) -r.start(16) -*/ - STATIC mp_obj_t machine_rtc_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) { static const mp_arg_t allowed_args[] = { - { MP_QSTR_id, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = mp_const_none} }, - { MP_QSTR_frequency, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = mp_const_none} }, - { MP_QSTR_callback, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = mp_const_none} }, - { MP_QSTR_mode, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_id, MP_ARG_OBJ, {.u_obj = MP_OBJ_NEW_SMALL_INT(-1)} }, + { MP_QSTR_period, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1000} }, + { MP_QSTR_mode, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} }, + { MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, }; // parse args mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); - if (args[0].u_obj == MP_OBJ_NEW_SMALL_INT(-1)) { - // index -1 does not exist - return mp_const_none; - // TODO: raise exception - } - // get static peripheral object int rtc_id = rtc_find(args[0].u_obj); // unconst machine object in order to set a callback. machine_rtc_obj_t * self = (machine_rtc_obj_t *)&machine_rtc_obj[rtc_id]; - mp_obj_t freq_obj = args[1].u_obj; + self->p_config->period = args[1].u_int; - if (freq_obj != mp_const_none && MP_OBJ_IS_INT(freq_obj)) { - self->rtc->config.frequency = mp_obj_get_int(freq_obj); - } else { - // raise exception + self->mode = args[2].u_int; + + if (args[3].u_obj != mp_const_none) { + self->callback = args[3].u_obj; } - if (args[2].u_obj != mp_const_none) { - self->callback = args[2].u_obj; - } - - self->mode = args[3].u_int; - - hal_rtc_init(&self->rtc->config); + hal_rtc_init(self->p_config); return MP_OBJ_FROM_PTR(self); } @@ -172,17 +128,14 @@ STATIC mp_obj_t machine_rtc_make_new(const mp_obj_type_t *type, size_t n_args, s /// Start the RTC timer. Timeout occurs after number of periods /// in the configured frequency has been reached. /// -STATIC mp_obj_t machine_rtc_start(mp_obj_t self_in, mp_obj_t period_in) { +STATIC mp_obj_t machine_rtc_start(mp_obj_t self_in) { machine_rtc_obj_t * self = MP_OBJ_TO_PTR(self_in); - mp_int_t period = mp_obj_get_int(period_in); - self->period = mp_obj_get_int(period_in); - - hal_rtc_start(&self->rtc->config, period); + hal_rtc_start(self->p_config->id); return mp_const_none; } -STATIC MP_DEFINE_CONST_FUN_OBJ_2(machine_rtc_start_obj, machine_rtc_start); +STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_rtc_start_obj, machine_rtc_start); /// \method stop() /// Stop the RTC timer. @@ -190,7 +143,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_2(machine_rtc_start_obj, machine_rtc_start); STATIC mp_obj_t machine_rtc_stop(mp_obj_t self_in) { machine_rtc_obj_t * self = MP_OBJ_TO_PTR(self_in); - hal_rtc_stop(&self->rtc->config); + hal_rtc_stop(self->p_config->id); return mp_const_none; } From 5cfd6d166cc3d8e2653f5d5470ddffc72f7e8394 Mon Sep 17 00:00:00 2001 From: Glenn Ruben Bakke Date: Fri, 2 Jun 2017 18:35:04 +0200 Subject: [PATCH 2/4] nrf5/modules/machine: Update rtc init to set default IRQ priority before initializing RTC instance. --- nrf5/modules/machine/rtc.c | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/nrf5/modules/machine/rtc.c b/nrf5/modules/machine/rtc.c index ca4b575d1e..deadb385ee 100644 --- a/nrf5/modules/machine/rtc.c +++ b/nrf5/modules/machine/rtc.c @@ -119,6 +119,12 @@ STATIC mp_obj_t machine_rtc_make_new(const mp_obj_type_t *type, size_t n_args, s self->callback = args[3].u_obj; } +#ifdef NRF51 + self->p_config.irq_priority = 3; +#else + self->p_config.irq_priority = 6; +#endif + hal_rtc_init(self->p_config); return MP_OBJ_FROM_PTR(self); From b785e145d29a5cd39a26fcba13c731e806dbb6fe Mon Sep 17 00:00:00 2001 From: Glenn Ruben Bakke Date: Fri, 2 Jun 2017 18:41:13 +0200 Subject: [PATCH 3/4] nrf5/modules/machine: Fixing type in RTC. --- nrf5/modules/machine/rtc.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/nrf5/modules/machine/rtc.c b/nrf5/modules/machine/rtc.c index deadb385ee..9b5e5601b3 100644 --- a/nrf5/modules/machine/rtc.c +++ b/nrf5/modules/machine/rtc.c @@ -120,9 +120,9 @@ STATIC mp_obj_t machine_rtc_make_new(const mp_obj_type_t *type, size_t n_args, s } #ifdef NRF51 - self->p_config.irq_priority = 3; + self->p_config->irq_priority = 3; #else - self->p_config.irq_priority = 6; + self->p_config->irq_priority = 6; #endif hal_rtc_init(self->p_config); From 45303796d77051e2520a94b01ee6a18da23b27c9 Mon Sep 17 00:00:00 2001 From: Glenn Ruben Bakke Date: Fri, 2 Jun 2017 19:04:19 +0200 Subject: [PATCH 4/4] nrf5/hal/rtc: Updating hal driver to calculate prescaler a bit more verbose. Using 1 second interval ticks. --- nrf5/hal/hal_rtc.c | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/nrf5/hal/hal_rtc.c b/nrf5/hal/hal_rtc.c index bd3905bb4f..d3ea751915 100644 --- a/nrf5/hal/hal_rtc.c +++ b/nrf5/hal/hal_rtc.c @@ -30,6 +30,10 @@ #ifdef HAL_RTC_MODULE_ENABLED +#define HAL_LFCLK_FREQ (32768UL) +#define HAL_RTC_FREQ (10UL) +#define HAL_RTC_COUNTER_PRESCALER ((HAL_LFCLK_FREQ/HAL_RTC_FREQ)-1) + static hal_rtc_app_callback m_callback; static uint32_t m_period[sizeof(RTC_BASE_POINTERS) / sizeof(uint32_t)]; @@ -50,14 +54,14 @@ void hal_rtc_init(hal_rtc_conf_t const * p_rtc_conf) { m_period[p_rtc_conf->id] = p_rtc_conf->period; - p_rtc->PRESCALER = (32768 / 32) - 1; // approx ms ticks. + p_rtc->PRESCALER = HAL_RTC_COUNTER_PRESCALER; hal_irq_priority(RTC_IRQ_NUM(p_rtc_conf->id), p_rtc_conf->irq_priority); } void hal_rtc_start(uint8_t id) { NRF_RTC_Type * p_rtc = RTC_BASE(id); - uint32_t period = m_period[id]; + uint32_t period = HAL_RTC_FREQ * m_period[id]; uint32_t counter = p_rtc->COUNTER; p_rtc->CC[0] = counter + period;