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Move SAMD51 Temperature timer to RTC (#16868)
This commit is contained in:
Giuliano Zaro
GitHub
parent
4360142bd1
commit
199a1ba0e5
@ -37,15 +37,16 @@
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// Private Variables
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// --------------------------------------------------------------------------
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const tTimerConfig TimerConfig[NUM_HARDWARE_TIMERS] = {
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{ TC0, TC0_IRQn, TC_PRIORITY(0) },
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{ TC1, TC1_IRQn, TC_PRIORITY(1) },
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{ TC2, TC2_IRQn, TC_PRIORITY(2) }, // Reserved by framework tone function
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{ TC3, TC3_IRQn, TC_PRIORITY(3) }, // Reserved by servo library
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{ TC4, TC4_IRQn, TC_PRIORITY(4) },
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{ TC5, TC5_IRQn, TC_PRIORITY(5) },
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{ TC6, TC6_IRQn, TC_PRIORITY(6) },
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{ TC7, TC7_IRQn, TC_PRIORITY(7) }
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const tTimerConfig TimerConfig[NUM_HARDWARE_TIMERS+1] = {
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{ {.pTc=TC0}, TC0_IRQn, TC_PRIORITY(0) }, // 0 - stepper
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{ {.pTc=TC1}, TC1_IRQn, TC_PRIORITY(1) }, // 1 - stepper (needed by 32 bit timers)
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{ {.pTc=TC2}, TC2_IRQn, TC_PRIORITY(2) }, // 2 - tone (framework)
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{ {.pTc=TC3}, TC3_IRQn, TC_PRIORITY(3) }, // 3 - servo
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{ {.pTc=TC4}, TC4_IRQn, TC_PRIORITY(4) },
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{ {.pTc=TC5}, TC5_IRQn, TC_PRIORITY(5) },
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{ {.pTc=TC6}, TC6_IRQn, TC_PRIORITY(6) },
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{ {.pTc=TC7}, TC7_IRQn, TC_PRIORITY(7) },
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{ {.pRtc=RTC}, RTC_IRQn, TC_PRIORITY(8) } // 8 - temperature
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};
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// --------------------------------------------------------------------------
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@ -66,17 +67,47 @@ FORCE_INLINE void Disable_Irq(IRQn_Type irq) {
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// --------------------------------------------------------------------------
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
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Tc * const tc = TimerConfig[timer_num].pTimer;
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IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
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// Disable interrupt, just in case it was already enabled
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Disable_Irq(irq);
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if (timer_num == RTC_TIMER_NUM) {
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Rtc * const rtc = TimerConfig[timer_num].pRtc;
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// Disable timer interrupt
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rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0;
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// RTC clock setup
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OSC32KCTRL->RTCCTRL.reg = OSC32KCTRL_RTCCTRL_RTCSEL_XOSC32K; // External 32.768KHz oscillator
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// Stop timer, just in case, to be able to reconfigure it
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rtc->MODE0.CTRLA.bit.ENABLE = false;
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SYNC(rtc->MODE0.SYNCBUSY.bit.ENABLE);
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// Mode, reset counter on match
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rtc->MODE0.CTRLA.reg = RTC_MODE0_CTRLA_MODE_COUNT32 | RTC_MODE0_CTRLA_MATCHCLR;
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// Set compare value
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rtc->MODE0.COMP[0].reg = (32768 + frequency / 2) / frequency;
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SYNC(rtc->MODE0.SYNCBUSY.bit.COMP0);
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// Enable interrupt on compare
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rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0; // reset pending interrupt
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rtc->MODE0.INTENSET.reg = RTC_MODE0_INTENSET_CMP0; // enable compare 0 interrupt
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// And start timer
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rtc->MODE0.CTRLA.bit.ENABLE = true;
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SYNC(rtc->MODE0.SYNCBUSY.bit.ENABLE);
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}
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else {
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Tc * const tc = TimerConfig[timer_num].pTc;
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// Disable timer interrupt
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tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt
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// TCn clock setup
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const uint8_t clockID = GCLK_CLKCTRL_IDs[TCC_INST_NUM + timer_num];
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const uint8_t clockID = GCLK_CLKCTRL_IDs[TCC_INST_NUM + timer_num]; // TC clock are preceeded by TCC ones
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GCLK->PCHCTRL[clockID].bit.CHEN = false;
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SYNC(GCLK->PCHCTRL[clockID].bit.CHEN);
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GCLK->PCHCTRL[clockID].reg = GCLK_PCHCTRL_GEN_GCLK0 | GCLK_PCHCTRL_CHEN; // 120MHz startup code programmed
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@ -90,8 +121,6 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
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tc->COUNT32.CTRLA.bit.SWRST = true;
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SYNC(tc->COUNT32.SYNCBUSY.bit.SWRST);
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NVIC_SetPriority(irq, TimerConfig[timer_num].priority);
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// Wave mode, reset counter on overflow on 0 (I use count down to prevent double buffer use)
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tc->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
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tc->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCALER_DIV1;
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@ -101,14 +130,17 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
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// Set compare value
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tc->COUNT32.COUNT.reg = tc->COUNT32.CC[0].reg = (HAL_TIMER_RATE) / frequency;
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// Enable interrupt on compare
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tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF; // reset pending interrupt
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tc->COUNT32.INTENSET.reg = TC_INTENSET_OVF; // enable overflow interrupt
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// And start timer
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tc->COUNT32.CTRLA.bit.ENABLE = true;
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SYNC(tc->COUNT32.SYNCBUSY.bit.ENABLE);
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// Enable interrupt on RC compare
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tc->COUNT32.INTENSET.reg = TC_INTENCLR_OVF; // enable overflow interrupt
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}
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// Finally, enable IRQ
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NVIC_SetPriority(irq, TimerConfig[timer_num].priority);
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NVIC_EnableIRQ(irq);
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}
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@ -25,6 +25,7 @@
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// --------------------------------------------------------------------------
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// Defines
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// --------------------------------------------------------------------------
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#define RTC_TIMER_NUM 8 // This is not a TC but a RTC
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typedef uint32_t hal_timer_t;
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#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
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@ -33,12 +34,12 @@ typedef uint32_t hal_timer_t;
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#define STEP_TIMER_NUM 0 // index of timer to use for stepper (also +1 for 32bits counter)
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#define PULSE_TIMER_NUM STEP_TIMER_NUM
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#define TEMP_TIMER_NUM 4 // index of timer to use for temperature (also +1 for 32bits counter)
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#define TEMP_TIMER_NUM RTC_TIMER_NUM // index of timer to use for temperature
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#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
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#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
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#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
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#define STEPPER_TIMER_TICKS_PER_US (STEPPER_TIMER_RATE / 1000000) // stepper timer ticks per µs
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#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
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#define PULSE_TIMER_RATE STEPPER_TIMER_RATE
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@ -62,14 +63,21 @@ typedef uint32_t hal_timer_t;
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#if STEP_TIMER_NUM != PULSE_TIMER_NUM
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#define HAL_PULSE_TIMER_ISR() TC_HANDLER(PULSE_TIMER_NUM)
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#endif
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#define HAL_TEMP_TIMER_ISR() TC_HANDLER(TEMP_TIMER_NUM)
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#if TEMP_TIMER_NUM == RTC_TIMER_NUM
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#define HAL_TEMP_TIMER_ISR() void RTC_Handler()
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#else
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#define HAL_TEMP_TIMER_ISR() TC_HANDLER(TEMP_TIMER_NUM)
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#endif
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// --------------------------------------------------------------------------
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// Types
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// --------------------------------------------------------------------------
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typedef struct {
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Tc *pTimer;
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union {
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Tc *pTc;
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Rtc *pRtc;
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};
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IRQn_Type IRQ_Id;
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uint8_t priority;
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} tTimerConfig;
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@ -87,17 +95,20 @@ extern const tTimerConfig TimerConfig[];
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void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
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FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
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Tc * const tc = TimerConfig[timer_num].pTimer;
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// Should never be called with timer RTC_TIMER_NUM
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Tc * const tc = TimerConfig[timer_num].pTc;
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tc->COUNT32.CC[0].reg = HAL_TIMER_TYPE_MAX - compare;
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}
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FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
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Tc * const tc = TimerConfig[timer_num].pTimer;
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// Should never be called with timer RTC_TIMER_NUM
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Tc * const tc = TimerConfig[timer_num].pTc;
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return (hal_timer_t)(HAL_TIMER_TYPE_MAX - tc->COUNT32.CC[0].reg);
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}
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FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
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Tc * const tc = TimerConfig[timer_num].pTimer;
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// Should never be called with timer RTC_TIMER_NUM
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Tc * const tc = TimerConfig[timer_num].pTc;
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tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC;
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SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB || tc->COUNT32.SYNCBUSY.bit.COUNT);
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return HAL_TIMER_TYPE_MAX - tc->COUNT32.COUNT.reg;
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@ -108,9 +119,16 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
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bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
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FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
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Tc * const tc = TimerConfig[timer_num].pTimer;
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if (timer_num == RTC_TIMER_NUM) {
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Rtc * const rtc = TimerConfig[timer_num].pRtc;
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// Clear interrupt flag
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rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0;
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}
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else {
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Tc * const tc = TimerConfig[timer_num].pTc;
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// Clear interrupt flag
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tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF;
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}
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}
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#define HAL_timer_isr_epilogue(timer_num)
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