nrf5/drivers/ticker: Adding ticker.c/.h from microbit port.
This commit is contained in:
Glenn Ruben Bakke
glennrub
parent
3bc8309dab
commit
cab515a022
|
|
@ -0,0 +1,171 @@
|
|||
/*
|
||||
* This file is part of the Micro Python project, http://micropython.org/
|
||||
*
|
||||
* The MIT License (MIT)
|
||||
*
|
||||
* Copyright (c) 2016 Mark Shannon
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in
|
||||
* all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
* THE SOFTWARE.
|
||||
*/
|
||||
|
||||
#include "py/mphal.h"
|
||||
|
||||
#include "ticker.h"
|
||||
|
||||
#define FastTicker NRF_TIMER0
|
||||
#define FastTicker_IRQn TIMER0_IRQn
|
||||
#define FastTicker_IRQHandler TIMER0_IRQHandler
|
||||
|
||||
#define SlowTicker_IRQn SWI3_IRQn
|
||||
#define SlowTicker_IRQHandler SWI3_IRQHandler
|
||||
|
||||
#define LowPriority_IRQn SWI4_IRQn
|
||||
#define LowPriority_IRQHandler SWI4_IRQHandler
|
||||
|
||||
// Ticker callback function called every MACRO_TICK
|
||||
static callback_ptr slow_ticker;
|
||||
|
||||
void ticker_init(callback_ptr slow_ticker_callback) {
|
||||
slow_ticker = slow_ticker_callback;
|
||||
NRF_TIMER_Type *ticker = FastTicker;
|
||||
#if NRF51
|
||||
ticker->POWER = 1;
|
||||
#endif
|
||||
__NOP();
|
||||
ticker_stop();
|
||||
ticker->TASKS_CLEAR = 1;
|
||||
ticker->CC[3] = MICROSECONDS_PER_MACRO_TICK;
|
||||
ticker->MODE = TIMER_MODE_MODE_Timer;
|
||||
ticker->BITMODE = TIMER_BITMODE_BITMODE_24Bit << TIMER_BITMODE_BITMODE_Pos;
|
||||
ticker->PRESCALER = 4; // 1 tick == 1 microsecond
|
||||
ticker->INTENSET = TIMER_INTENSET_COMPARE3_Msk;
|
||||
ticker->SHORTS = 0;
|
||||
NVIC_SetPriority(FastTicker_IRQn, 1);
|
||||
NVIC_SetPriority(SlowTicker_IRQn, 2);
|
||||
NVIC_SetPriority(LowPriority_IRQn, 3);
|
||||
NVIC_EnableIRQ(SlowTicker_IRQn);
|
||||
NVIC_EnableIRQ(LowPriority_IRQn);
|
||||
}
|
||||
|
||||
/* Start and stop timer 0 including workarounds for Anomaly 73 for Timer
|
||||
* http://www.nordicsemi.com/eng/content/download/29490/494569/file/nRF51822-PAN%20v3.0.pdf
|
||||
*/
|
||||
void ticker_start(void) {
|
||||
NVIC_EnableIRQ(FastTicker_IRQn);
|
||||
*(uint32_t *)0x40008C0C = 1; //for Timer 0
|
||||
FastTicker->TASKS_START = 1;
|
||||
}
|
||||
|
||||
void ticker_stop(void) {
|
||||
NVIC_DisableIRQ(FastTicker_IRQn);
|
||||
FastTicker->TASKS_STOP = 1;
|
||||
*(uint32_t *)0x40008C0C = 0; //for Timer 0
|
||||
}
|
||||
|
||||
int32_t noop(void) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
uint32_t ticks;
|
||||
|
||||
static ticker_callback_ptr callbacks[3] = { noop, noop, noop };
|
||||
|
||||
void FastTicker_IRQHandler(void) {
|
||||
NRF_TIMER_Type *ticker = FastTicker;
|
||||
ticker_callback_ptr *call = callbacks;
|
||||
if (ticker->EVENTS_COMPARE[0]) {
|
||||
ticker->EVENTS_COMPARE[0] = 0;
|
||||
ticker->CC[0] += call[0]()*MICROSECONDS_PER_TICK;
|
||||
}
|
||||
if (ticker->EVENTS_COMPARE[1]) {
|
||||
ticker->EVENTS_COMPARE[1] = 0;
|
||||
ticker->CC[1] += call[1]()*MICROSECONDS_PER_TICK;
|
||||
}
|
||||
if (ticker->EVENTS_COMPARE[2]) {
|
||||
ticker->EVENTS_COMPARE[2] = 0;
|
||||
ticker->CC[2] += call[2]()*MICROSECONDS_PER_TICK;
|
||||
}
|
||||
if (ticker->EVENTS_COMPARE[3]) {
|
||||
ticker->EVENTS_COMPARE[3] = 0;
|
||||
ticker->CC[3] += MICROSECONDS_PER_MACRO_TICK;
|
||||
ticks += MILLISECONDS_PER_MACRO_TICK;
|
||||
NVIC_SetPendingIRQ(SlowTicker_IRQn);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
static const uint32_t masks[3] = {
|
||||
TIMER_INTENCLR_COMPARE0_Msk,
|
||||
TIMER_INTENCLR_COMPARE1_Msk,
|
||||
TIMER_INTENCLR_COMPARE2_Msk,
|
||||
};
|
||||
|
||||
int set_ticker_callback(uint32_t index, ticker_callback_ptr func, int32_t initial_delay_us) {
|
||||
if (index > 3)
|
||||
return -1;
|
||||
NRF_TIMER_Type *ticker = FastTicker;
|
||||
callbacks[index] = noop;
|
||||
ticker->INTENCLR = masks[index];
|
||||
ticker->TASKS_CAPTURE[index] = 1;
|
||||
uint32_t t = FastTicker->CC[index];
|
||||
// Need to make sure that set tick is aligned to lastest tick
|
||||
// Use CC[3] as a reference, as that is always up-to-date.
|
||||
int32_t cc3 = FastTicker->CC[3];
|
||||
int32_t delta = t+initial_delay_us-cc3;
|
||||
delta = (delta/MICROSECONDS_PER_TICK+1)*MICROSECONDS_PER_TICK;
|
||||
callbacks[index] = func;
|
||||
ticker->INTENSET = masks[index];
|
||||
FastTicker->CC[index] = cc3 + delta;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int clear_ticker_callback(uint32_t index) {
|
||||
if (index > 3)
|
||||
return -1;
|
||||
FastTicker->INTENCLR = masks[index];
|
||||
callbacks[index] = noop;
|
||||
return 0;
|
||||
}
|
||||
|
||||
void SlowTicker_IRQHandler(void)
|
||||
{
|
||||
slow_ticker();
|
||||
}
|
||||
|
||||
#define LOW_PRIORITY_CALLBACK_LIMIT 4
|
||||
callback_ptr low_priority_callbacks[LOW_PRIORITY_CALLBACK_LIMIT] = { NULL, NULL, NULL, NULL };
|
||||
|
||||
void LowPriority_IRQHandler(void)
|
||||
{
|
||||
for (int id = 0; id < LOW_PRIORITY_CALLBACK_LIMIT; id++) {
|
||||
callback_ptr callback = low_priority_callbacks[id];
|
||||
if (callback != NULL) {
|
||||
low_priority_callbacks[id] = NULL;
|
||||
callback();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int set_low_priority_callback(callback_ptr callback, int id) {
|
||||
if (low_priority_callbacks[id] != NULL)
|
||||
return -1;
|
||||
low_priority_callbacks[id] = callback;
|
||||
NVIC_SetPendingIRQ(LowPriority_IRQn);
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,30 @@
|
|||
#ifndef __MICROPY_INCLUDED_LIB_TICKER_H__
|
||||
#define __MICROPY_INCLUDED_LIB_TICKER_H__
|
||||
|
||||
/*************************************
|
||||
* 62.5kHz (16µs cycle time) ticker.
|
||||
************************************/
|
||||
|
||||
#include "nrf.h"
|
||||
|
||||
typedef void (*callback_ptr)(void);
|
||||
typedef int32_t (*ticker_callback_ptr)(void);
|
||||
|
||||
void ticker_init(callback_ptr slow_ticker_callback);
|
||||
void ticker_start(void);
|
||||
void ticker_stop(void);
|
||||
|
||||
int clear_ticker_callback(uint32_t index);
|
||||
int set_ticker_callback(uint32_t index, ticker_callback_ptr func, int32_t initial_delay_us);
|
||||
|
||||
int set_low_priority_callback(callback_ptr callback, int id);
|
||||
|
||||
#define CYCLES_PER_MICROSECONDS 16
|
||||
|
||||
#define MICROSECONDS_PER_TICK 16
|
||||
#define CYCLES_PER_TICK (CYCLES_PER_MICROSECONDS*MICROSECONDS_PER_TICK)
|
||||
// This must be an integer multiple of MICROSECONDS_PER_TICK
|
||||
#define MICROSECONDS_PER_MACRO_TICK 6000
|
||||
#define MILLISECONDS_PER_MACRO_TICK 6
|
||||
|
||||
#endif // __MICROPY_INCLUDED_LIB_TICKER_H__
|
||||
Loading…
Reference in New Issue