X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=drv%2Ftimer_avr.h;h=fe5ba9b8f9736924a6eacc29dbbe066429ee3634;hb=0021318b90d6cc2da07904de709f9901f77b2c86;hp=359299db2382a9e93e49b467b1a6d0e19fd3de5a;hpb=0fee90eca2cd56674ba7708dc113e8794327cee0;p=bertos.git diff --git a/drv/timer_avr.h b/drv/timer_avr.h index 359299db..fe5ba9b8 100755 --- a/drv/timer_avr.h +++ b/drv/timer_avr.h @@ -1,9 +1,9 @@ /*! * \file * * * \version $Id$ @@ -13,115 +13,274 @@ * \brief Low-level timer module for AVR */ -/* - * $Log$ - * Revision 1.1 2004/05/23 18:23:30 bernie - * Import drv/timer module. +/*#* + *#* $Log$ + *#* Revision 1.23 2005/03/01 23:24:51 bernie + *#* Tweaks for avr-libc 1.2.x. + *#* + *#* Revision 1.21 2004/12/13 12:07:06 bernie + *#* DISABLE_IRQSAVE/ENABLE_IRQRESTORE: Convert to IRQ_SAVE_DISABLE/IRQ_RESTORE. + *#* + *#* Revision 1.20 2004/11/16 20:59:46 bernie + *#* Include explicitly. + *#* + *#* Revision 1.19 2004/10/19 08:56:41 bernie + *#* TIMER_STROBE_ON, TIMER_STROBE_OFF, TIMER_STROBE_INIT: Move from timer_avr.h to timer.h, where they really belong. + *#* + *#* Revision 1.18 2004/09/20 03:31:03 bernie + *#* Fix racy racy code. + *#* + *#* Revision 1.17 2004/09/14 21:07:09 bernie + *#* Include hw.h explicitly. + *#* + *#* Revision 1.16 2004/09/06 21:49:26 bernie + *#* CONFIG_TIMER_STROBE: be tolerant with missing optional macro. + *#* + *#* Revision 1.15 2004/08/25 14:12:08 rasky + *#* Aggiornato il comment block dei log RCS + *#* + *#* Revision 1.14 2004/08/24 16:27:01 bernie + *#* Add missing headers. + *#* + *#* Revision 1.13 2004/08/24 14:30:11 bernie + *#* Use new-style config macros for drv/timer.c + *#* + *#* Revision 1.12 2004/08/10 06:59:45 bernie + *#* CONFIG_TIMER_STROBE: Define no-op default macros. + *#* + *#* Revision 1.11 2004/08/03 15:53:17 aleph + *#* Fix spacing + *#* + *#* Revision 1.10 2004/08/02 20:20:29 aleph + *#* Merge from project_ks + *#* + *#* Revision 1.9 2004/07/22 02:01:14 bernie + *#* Use TIMER_PRESCALER consistently. + *#*/ +#ifndef DRV_TIMER_AVR_H +#define DRV_TIMER_AVR_H + +#include // ARCH_BOARD_KC +#include // BV() +#include + +#include +#include + +#if defined(ARCH_BOARD_KC) && (ARCH & ARCH_BOARD_KC) + #include +#endif + + +/*! + * Values for CONFIG_TIMER. * + * Select which hardware timer interrupt to use for system clock and softtimers. + * \note The timer 1 overflow mode set the timer as a 24 kHz PWM. */ +#define TIMER_ON_OUTPUT_COMPARE0 1 +#define TIMER_ON_OVERFLOW1 2 +#define TIMER_ON_OUTPUT_COMPARE2 3 -#ifndef DRV_TIMER_AVR_H -#define DRV_TIMER_AVR_H -#include +/* Not needed, IRQ timer flag cleared automatically */ +#define timer_hw_irq() do {} while (0) -# define TIMER_RETRIGGER /* Not needed, timer retriggers automatically */ +#define TIMER_PRESCALER 64 - /*! - * System timer: additional division after the prescaler - * 12288000 / 64 / 192 (0..191) = 1 ms - */ -# define OCR_DIVISOR 191 - - /*! HW dependent timer initialization */ -#if defined(CONFIG_TIMER_ON_TIMER0) - -# define TIMER_INIT \ - do { \ - DISABLE_INTS; \ - \ - /* Reset Timer flags */ \ - TIFR = BV(OCF0) | BV(TOV0); \ - \ - /* Setup Timer/Counter interrupt */ \ - ASSR = 0x00; /* internal system clock */ \ - TCCR0 = BV(WGM01) | BV(CS02); /* Clear on Compare match & prescaler = 64 */ \ - TCNT0 = 0x00; /* initialization of Timer/Counter */ \ - OCR0 = OCR_DIVISOR; /* Timer/Counter Output Compare Register */ \ - \ - /* Enable timer interrupts: Timer/Counter2 Output Compare (OCIE2) */ \ - TIMSK &= ~BV(TOIE0); \ - TIMSK |= BV(OCIE0); \ - \ - ENABLE_INTS; \ - } while (0) - -#elif defined(CONFIG_TIMER_ON_TIMER1_OVERFLOW) - -# define TIMER_INIT \ - do { \ - DISABLE_INTS; \ - \ - /* Reset Timer overflow flag */ \ - TIFR |= BV(TOV1); \ - \ - /* Fast PWM mode, 24 kHz, no prescaling */ \ - TCCR1A |= BV(WGM11); \ - TCCR1A &= ~BV(WGM10); \ - TCCR1B |= BV(WGM12) | BV(CS10); \ - TCCR1B &= ~(BV(WGM13) | BV(CS11) | BV(CS12)); \ - \ - TCNT1 = 0x00; /* initialization of Timer/Counter */ \ - \ - /* Enable timer interrupt: Timer/Counter1 Overflow */ \ - TIMSK |= BV(TOIE1); \ - \ - ENABLE_INTS; \ - } while (0) - -#elif defined(CONFIG_TIMER_ON_TIMER2) - -# define TIMER_INIT \ - do { \ - DISABLE_INTS; \ - \ - /* Reset Timer flags */ \ - TIFR = BV(OCF2) | BV(TOV2); \ - \ - /* Setup Timer/Counter interrupt */ \ - TCCR2 = BV(WGM21) | BV(CS21) | BV(CS20); \ - /* Clear on Compare match & prescaler = 64, internal sys clock */ \ - TCNT2 = 0x00; /* initialization of Timer/Counter */ \ - OCR2 = OCR_DIVISOR; /* Timer/Counter Output Compare Register */ \ - \ - /* Enable timer interrupts: Timer/Counter2 Output Compare (OCIE2) */ \ - TIMSK &= ~BV(TOIE2); \ - TIMSK |= BV(OCIE2); \ - \ - ENABLE_INTS; \ - } while (0) +/*! + * System timer: additional division after the prescaler + * 12288000 / 64 / 192 (0..191) = 1 ms + */ +#define OCR_DIVISOR (CLOCK_FREQ / TIMER_PRESCALER / TICKS_PER_SEC - 1) /* 191 */ + +/*! HW dependent timer initialization */ +#if (CONFIG_TIMER == TIMER_ON_OUTPUT_COMPARE0) + + //! Type of time expressed in ticks of the hardware high-precision timer + typedef uint8_t hptime_t; + + static void timer_hw_init(void) + { + cpuflags_t flags; + IRQ_SAVE_DISABLE(flags); + + /* Reset Timer flags */ + TIFR = BV(OCF0) | BV(TOV0); + + /* Setup Timer/Counter interrupt */ + ASSR = 0x00; /* Internal system clock */ + TCCR0 = BV(WGM01) /* Clear on Compare match */ + #if TIMER_PRESCALER == 64 + | BV(CS02) + #else + #error Unsupported value of TIMER_PRESCALER + #endif + ; + TCNT0 = 0x00; /* Initialization of Timer/Counter */ + OCR0 = OCR_DIVISOR; /* Timer/Counter Output Compare Register */ + + /* Enable timer interrupts: Timer/Counter2 Output Compare (OCIE2) */ + TIMSK &= ~BV(TOIE0); + TIMSK |= BV(OCIE0); + + IRQ_RESTORE(flags); + } + + //! Frequency of the hardware high precision timer + #define TIMER_HW_HPTICKS_PER_SEC (CLOCK_FREQ / TIMER_PRESCALER) + + INLINE hptime_t timer_hw_hpread(void) + { + return TCNT0; + } + +#elif (CONFIG_TIMER == TIMER_ON_OVERFLOW1) + + //! Type of time expressed in ticks of the hardware high precision timer + typedef uint16_t hptime_t; + + static void timer_hw_init(void) + { + cpuflags_t flags; + IRQ_SAVE_DISABLE(flags); + + /* Reset Timer overflow flag */ + TIFR |= BV(TOV1); + + /* Fast PWM mode, 9 bit, 24 kHz, no prescaling. When changing freq or + resolution (top of TCNT), change TIMER_HW_HPTICKS_PER_SEC too */ + TCCR1A |= BV(WGM11); + TCCR1A &= ~BV(WGM10); + TCCR1B |= BV(WGM12) | BV(CS10); + TCCR1B &= ~(BV(WGM13) | BV(CS11) | BV(CS12)); + + TCNT1 = 0x00; /* initialization of Timer/Counter */ + + /* Enable timer interrupt: Timer/Counter1 Overflow */ + TIMSK |= BV(TOIE1); + + IRQ_RESTORE(flags); + } + + //! Frequency of the hardware high precision timer + #define TIMER_HW_HPTICKS_PER_SEC (24000ul * 512) + + INLINE hptime_t timer_hw_hpread(void) + { + return TCNT1; + } + +#elif (CONFIG_TIMER == TIMER_ON_OUTPUT_COMPARE2) + + //! Type of time expressed in ticks of the hardware high precision timer + typedef uint8_t hptime_t; + + static void timer_hw_init(void) + { + cpuflags_t flags; + IRQ_SAVE_DISABLE(flags); + + /* Reset Timer flags */ + TIFR = BV(OCF2) | BV(TOV2); + + /* Setup Timer/Counter interrupt */ + TCCR2 = BV(WGM21) + #if TIMER_PRESCALER == 64 + | BV(CS21) | BV(CS20) + #else + #error Unsupported value of TIMER_PRESCALER + #endif + ; + /* Clear on Compare match & prescaler = 64, internal sys clock. + When changing prescaler change TIMER_HW_HPTICKS_PER_SEC too */ + TCNT2 = 0x00; /* initialization of Timer/Counter */ + OCR2 = OCR_DIVISOR; /* Timer/Counter Output Compare Register */ + + /* Enable timer interrupts: Timer/Counter2 Output Compare (OCIE2) */ + TIMSK &= ~BV(TOIE2); + TIMSK |= BV(OCIE2); + + IRQ_RESTORE(flags); + } + + //! Frequency of the hardware high precision timer + #define TIMER_HW_HPTICKS_PER_SEC (CLOCK_FREQ / TIMER_PRESCALER) + + INLINE hptime_t timer_hw_hpread(void) + { + return TCNT2; + } #else -# error Choose witch timer to use with CONFIG_TIMER_ON_TIMERx -#endif /* CONFIG_TIMER_ON_TIMERx */ + #error Unimplemented value for CONFIG_TIMER +#endif /* CONFIG_TIMER */ -#if defined(CONFIG_TIMER_ON_TIMER1_OVERFLOW) +#if (CONFIG_TIMER == TIMER_ON_OVERFLOW1) #define DEFINE_TIMER_ISR \ static void timer_handler(void) + DEFINE_TIMER_ISR; + /* - * Timer 1 overflow irq handler. - */ + * Timer 1 overflow irq handler. It's called at the frequency of the timer 1 + * PWM (should be 24 kHz). It's too much for timer purposes, so the interrupt + * handler is really a counter that call the true handler in timer.c + * every 1 ms. + */ SIGNAL(SIG_OVERFLOW1) { + #if (ARCH & ARCH_BOARD_KC) + /* + * Super-optimization-hack: switch CPU ADC mux here, ASAP after the start + * of conversion (auto-triggered with timer 1 overflow). + * The switch can be done 2 ADC cycles after start of conversion. + * The handler prologue takes a little more than 32 CPU cycles: with + * the prescaler at 1/16 the timing should be correct even at the start + * of the handler. + * + * The switch is synchronized with the ADC handler using _adc_trigger_lock. + * + * Mel (A Real Programmer) + */ + extern uint8_t _adc_idx_next; + extern bool _adc_trigger_lock; + + if (!_adc_trigger_lock) + { + // Backwards compatibility fix for avr-libc 1.0.4 + #ifndef ADATE + #define ADATE ADFR + #endif + + /* + * Disable free-running mode to avoid starting a + * new conversion before the ADC handler has read + * the ongoing one. This condition could occur + * under very high interrupt load and would have the + * unwanted effect of reading from the wrong ADC + * channel. + * + * NOTE: writing 0 to ADSC and ADIF has no effect. + */ + ADCSRA = ADCSRA & ~(BV(ADATE) | BV(ADIF) | BV(ADSC)); + + ADC_SETCHN(_adc_idx_next); + _adc_trigger_lock = true; + } + #endif // ARCH_BOARD_KC + /*! - * How many overflow we have to count before calling the true timer handler. - * If timer overflow is at 24 kHz, with a value of 24 we have 1 ms between - * each call. - */ - #define TIMER1_OVF_COUNT 24 + * How many timer overflows we must count before calling the real + * timer handler. + * When the timer is programmed to overflow at 24 kHz, a value of + * 24 will result in 1ms between each call. + */ + #define TIMER1_OVF_COUNT 24 + //#warning TIMER1_OVF_COUNT for timer at 12 kHz + //#define TIMER1_OVF_COUNT 12 static uint8_t count = TIMER1_OVF_COUNT; @@ -133,18 +292,18 @@ } } -#elif defined (CONFIG_TIMER_ON_TIMER0) +#elif (CONFIG_TIMER == TIMER_ON_OUTPUT_COMPARE0) #define DEFINE_TIMER_ISR \ SIGNAL(SIG_OUTPUT_COMPARE0) -#elif defined(CONFIG_TIMER_ON_TIMER2) +#elif (CONFIG_TIMER == TIMER_ON_OUTPUT_COMPARE2) #define DEFINE_TIMER_ISR \ SIGNAL(SIG_OUTPUT_COMPARE2) #else -# error Choose witch timer to use with CONFIG_TIMER_ON_TIMERx -#endif /* CONFIG_TIMER_ON_TIMERx */ + #error Unimplemented value for CONFIG_TIMER +#endif /* CONFIG_TIMER */ #endif /* DRV_TIMER_AVR_H */