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Make HW timer for contiki rtimer configurable

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... and configure osd platform to use timer 5. With the new
configuration we can use timer 3 for generating hardware PWM.
This commit is contained in:
Ralf Schlatterbeck 2014-05-31 16:17:07 +02:00
parent b4fb8c3f52
commit 4ceffb090d
3 changed files with 86 additions and 97 deletions
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142
cpu/avr/rtimer-arch.c
View file

@ -51,29 +51,24 @@
#include "rtimer-arch.h"
#if defined(__AVR_ATmega1284P__)
#define ETIMSK TIMSK3
#define ETIFR TIFR3
#define TICIE3 ICIE3
//Has no 'C', so we just set it to B. The code doesn't really use C so this
//is safe to do but lets it compile. Probably should enable the warning if
//it is ever used on other platforms.
//#warning no OCIE3C in timer3 architecture, hopefully it won't be needed!
#define OCIE3C OCIE3B
#define OCF3C OCF3B
#define PLAT_TCCRC PLAT_TCCRB
#endif
#if defined(__AVR_ATmega1281__) || defined(__AVR_AT90USB1287__) || defined(__AVR_ATmega128RFA1__)
#define ETIMSK TIMSK3
#define ETIFR TIFR3
#define TICIE3 ICIE3
#endif
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega644__)
#define TIMSK TIMSK1
#define TICIE1 ICIE1
#define TIFR TIFR1
//Has no 'C', so we just set it to B. The code doesn't really use C so this
//is safe to do but lets it compile.
#define OCIE1C OCIE1B
#define OCF1C OCF1B
#define PLAT_TCCRC PLAT_TCCRB
#endif
/* Track flow through rtimer interrupts*/
@ -85,14 +80,19 @@ extern uint8_t debugflowsize,debugflow[DEBUGFLOWSIZE];
#endif
/*---------------------------------------------------------------------------*/
#if defined(TCNT3) && RTIMER_ARCH_PRESCALER
ISR (TIMER3_COMPA_vect) {
#if RTIMER_ARCH_PRESCALER
ISR (PLAT_VECT) {
DEBUGFLOW('/');
ENERGEST_ON(ENERGEST_TYPE_IRQ);
/* Disable rtimer interrupts */
ETIMSK &= ~((1 << OCIE3A) | (1 << OCIE3B) | (1 << TOIE3) |
(1 << TICIE3) | (1 << OCIE3C));
PLAT_TIMSK &=
~( (1 << PLAT_OCIEA)
| (1 << PLAT_OCIEB)
| (1 << PLAT_OCIEC)
| (1 << PLAT_TOIE)
| (1 << PLAT_ICIE)
);
#if RTIMER_CONF_NESTED_INTERRUPTS
/* Enable nested interrupts. Allows radio interrupt during rtimer interrupt. */
@ -106,17 +106,6 @@ ISR (TIMER3_COMPA_vect) {
ENERGEST_OFF(ENERGEST_TYPE_IRQ);
DEBUGFLOW('\\');
}
#elif RTIMER_ARCH_PRESCALER
#warning "No Timer3 in rtimer-arch.c - using Timer1 instead"
ISR (TIMER1_COMPA_vect) {
DEBUGFLOW('/');
TIMSK &= ~((1<<TICIE1)|(1<<OCIE1A)|(1<<OCIE1B)|(1<<TOIE1));
rtimer_run_next();
DEBUGFLOW('\\');
}
#endif
/*---------------------------------------------------------------------------*/
void
@ -128,67 +117,45 @@ rtimer_arch_init(void)
sreg = SREG;
cli ();
#ifdef TCNT3
/* Disable all timer functions */
ETIMSK &= ~((1 << OCIE3A) | (1 << OCIE3B) | (1 << TOIE3) |
(1 << TICIE3) | (1 << OCIE3C));
PLAT_TIMSK &=
~( (1 << PLAT_OCIEA)
| (1 << PLAT_OCIEB)
| (1 << PLAT_OCIEC)
| (1 << PLAT_TOIE)
| (1 << PLAT_ICIE)
);
/* Write 1s to clear existing timer function flags */
ETIFR |= (1 << ICF3) | (1 << OCF3A) | (1 << OCF3B) | (1 << TOV3) |
(1 << OCF3C);
PLAT_TIFR |=
( (1 << PLAT_ICF)
| (1 << PLAT_OCFA)
| (1 << PLAT_OCFB)
| (1 << PLAT_OCFC)
| (1 << PLAT_TOV)
);
/* Default timer behaviour */
TCCR3A = 0;
TCCR3B = 0;
TCCR3C = 0;
PLAT_TCCRA = 0;
PLAT_TCCRB = 0;
PLAT_TCCRC = 0;
/* Reset counter */
TCNT3 = 0;
PLAT_TCNT = 0;
#if RTIMER_ARCH_PRESCALER==1024
TCCR3B |= 5;
PLAT_TCCRB |= 5;
#elif RTIMER_ARCH_PRESCALER==256
TCCR3B |= 4;
PLAT_TCCRB |= 4;
#elif RTIMER_ARCH_PRESCALER==64
TCCR3B |= 3;
PLAT_TCCRB |= 3;
#elif RTIMER_ARCH_PRESCALER==8
TCCR3B |= 2;
PLAT_TCCRB |= 2;
#elif RTIMER_ARCH_PRESCALER==1
TCCR3B |= 1;
PLAT_TCCRB |= 1;
#else
#error Timer3 PRESCALER factor not supported.
#error Timer PRESCALER factor not supported.
#endif
#elif RTIMER_ARCH_PRESCALER
/* Leave timer1 alone if PRESCALER set to zero */
/* Obviously you can not then use rtimers */
TIMSK &= ~((1<<TICIE1)|(1<<OCIE1A)|(1<<OCIE1B)|(1<<TOIE1));
TIFR |= (1 << ICF1) | (1 << OCF1A) | (1 << OCF1B) | (1 << TOV1);
/* Default timer behaviour */
TCCR1A = 0;
TCCR1B = 0;
/* Reset counter */
TCNT1 = 0;
/* Start clock */
#if RTIMER_ARCH_PRESCALER==1024
TCCR1B |= 5;
#elif RTIMER_ARCH_PRESCALER==256
TCCR1B |= 4;
#elif RTIMER_ARCH_PRESCALER==64
TCCR1B |= 3;
#elif RTIMER_ARCH_PRESCALER==8
TCCR1B |= 2;
#elif RTIMER_ARCH_PRESCALER==1
TCCR1B |= 1;
#else
#error Timer1 PRESCALER factor not supported.
#endif
#endif /* TCNT3 */
/* Restore interrupt state */
SREG = sreg;
#endif /* RTIMER_ARCH_PRESCALER */
@ -203,23 +170,18 @@ rtimer_arch_schedule(rtimer_clock_t t)
sreg = SREG;
cli ();
DEBUGFLOW(':');
#ifdef TCNT3
/* Set compare register */
OCR3A = t;
PLAT_OCRA = t;
/* Write 1s to clear all timer function flags */
ETIFR |= (1 << ICF3) | (1 << OCF3A) | (1 << OCF3B) | (1 << TOV3) |
(1 << OCF3C);
/* Enable interrupt on OCR3A match */
ETIMSK |= (1 << OCIE3A);
#elif RTIMER_ARCH_PRESCALER
/* Set compare register */
OCR1A = t;
TIFR |= (1 << ICF1) | (1 << OCF1A) | (1 << OCF1B) | (1 << TOV1);
TIMSK |= (1 << OCIE1A);
#endif
PLAT_TIFR |=
( (1 << PLAT_ICF)
| (1 << PLAT_OCFA)
| (1 << PLAT_OCFB)
| (1 << PLAT_OCFC)
| (1 << PLAT_TOV)
);
/* Enable interrupt on OCRXA match */
PLAT_TIMSK |= (1 << PLAT_OCIEA);
/* Restore interrupt state */
SREG = sreg;
#endif /* RTIMER_ARCH_PRESCALER */
@ -293,11 +255,7 @@ uint32_t longhowlong;
/* Adjust rtimer ticks if rtimer is enabled. TIMER3 is preferred, else TIMER1 */
#if RTIMER_ARCH_PRESCALER
#ifdef TCNT3
TCNT3 += howlong;
#else
TCNT1 += howlong;
#endif
PLAT_TCNT += howlong;
#endif
ENERGEST_ON(ENERGEST_TYPE_CPU);