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Inline timer init functions, no static storage

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Hardware init function profit a great deal from being inlined if the
given parameters are constant -- which is the common use-case, we could
probably call this for all timers and still have less overhead. The
hwtimer_pwm_ini (which calls hwtimer_ini) gets completely computed at
compile-time resulting only in the register settings of hwtimer_ini.

This is now possible because we get rid of static storage for the
max_ticks and instead compute this in hwtimer_pwm_max_ticks from the
timer register settings.
This commit is contained in:
Ralf Schlatterbeck 2014-06-26 20:37:34 +02:00
parent c46d6afa39
commit fd54bc9ca4
4 changed files with 157 additions and 254 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

3
cpu/avr/Makefile.avr
View file

@ -14,8 +14,7 @@ CONTIKI_CPU=$(CONTIKI)/cpu/avr
### TARGETLIBS are platform-specific routines in the contiki library path
CONTIKI_CPU_DIRS = . dev
AVR = clock.c mtarch.c eeprom.c flash.c rs232.c leds-arch.c \
watchdog.c rtimer-arch.c bootloader.c hw_timer.c \
hw_pwm_timer.c
watchdog.c rtimer-arch.c bootloader.c
ELFLOADER = elfloader.c elfloader-avr.c symtab-avr.c
TARGETLIBS = random.c leds.c

142
cpu/avr/hw_pwm_timer.c
View file

@ -1,142 +0,0 @@
/*
* Copyright (c) 2014, Ralf Schlatterbeck Open Source Consulting
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Institute nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* This file is part of the Contiki operating system.
*/
/**
* \addgroup hardware timer
*
* @{
*/
/**
* \file
* Alternative initialisation with period in microseconds
* \author
* Ralf Schlatterbeck <rsc@runtux.com>
*/
#include <avr/pgmspace.h>
#include "contiki.h"
#include "rtimer-arch.h"
#include "hw_timer.h"
/* one for each possible timer */
uint16_t hwt_max_ticks [6];
#define PERIOD_MAX (0xFFFFFFFF / (F_CPU / 1000000))
/* for 16-bit timer: */
#define TICKS_MAX 0xFFFF
#define TICKS_MIN 0xFF
int8_t
hwtimer_pwm_ini (uint8_t timer, uint32_t period_us, uint8_t pwm_type, uint8_t ocra)
{
uint32_t ticks = 0;
uint8_t clock = HWT_CLOCK_PRESCALER_1024;
uint8_t wgm = HWT_WGM_NORMAL;
HWT_CHECK_TIMER (timer);
if (period_us > PERIOD_MAX) {
period_us = PERIOD_MAX;
}
ticks = (F_CPU / 1000000) * period_us;
/* Non-fast PWM modes have half the frequency */
if (pwm_type != HWT_PWM_FAST) {
ticks >>= 1;
}
/*
* Divisors are 1, 8, 64, 256, 1024, shifts between these are
* 3, 3, 2, 2, respectively. We modify `ticks` in place, the AVR can
* shift only one bit in one instruction, so shifting isn't cheap.
* We try to get the *maximum* prescaler that still permits a tick
* resolution of at least 8 bit.
*/
if (ticks <= (TICKS_MIN << 3)) {
clock = HWT_CLOCK_PRESCALER_1;
}
else if ((ticks >>= 3) <= (TICKS_MIN << 3)) {
clock = HWT_CLOCK_PRESCALER_8;
}
else if ((ticks >>= 3) <= (TICKS_MIN << 2)) {
clock = HWT_CLOCK_PRESCALER_64;
}
else if ((ticks >>= 2) <= (TICKS_MIN << 2)) {
clock = HWT_CLOCK_PRESCALER_256;
}
else if ((ticks >>= 2) > TICKS_MAX) {
ticks = TICKS_MAX;
}
hwt_max_ticks [timer] = ticks;
switch (pwm_type) {
case HWT_PWM_FAST:
wgm = ocra ? HWT_WGM_PWM_FAST_OCRA : HWT_WGM_PWM_FAST_ICR;
break;
case HWT_PWM_PHASE_CORRECT:
wgm = ocra ? HWT_WGM_PWM_PHASE_OCRA : HWT_WGM_PWM_PHASE_ICR;
break;
case HWT_PWM_PHASE_FRQ_CORRECT:
default:
wgm = ocra ? HWT_WGM_PWM_PHASE_FRQ_OCRA : HWT_WGM_PWM_PHASE_FRQ_ICR;
break;
}
/* Special 8- 9- 10-bit modes */
if (pwm_type == HWT_PWM_FAST || pwm_type == HWT_PWM_PHASE_CORRECT) {
if (ticks == 0xFF) {
wgm = (pwm_type == HWT_PWM_FAST)
? HWT_WGM_PWM_FAST_8_BIT
: HWT_WGM_PWM_PHASE_8_BIT;
}
else if (ticks == 0x1FF) {
wgm = (pwm_type == HWT_PWM_FAST)
? HWT_WGM_PWM_FAST_9_BIT
: HWT_WGM_PWM_PHASE_9_BIT;
}
else if (ticks == 0x3FF) {
wgm = (pwm_type == HWT_PWM_FAST)
? HWT_WGM_PWM_FAST_10_BIT
: HWT_WGM_PWM_PHASE_10_BIT;
}
}
return hwtimer_ini (timer, wgm, clock, ticks);
}
uint32_t hwtimer_pwm_max_ticks (uint8_t timer)
{
if (timer > 5) {
return 0;
}
return hwt_max_ticks [timer];
}
/*
* ex:ts=8:et:sw=2
*/
/** @} */

103
cpu/avr/hw_timer.c
View file

@ -1,103 +0,0 @@
/*
* Copyright (c) 2014, Ralf Schlatterbeck Open Source Consulting
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Institute nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* This file is part of the Contiki operating system.
*/
/**
* \addgroup hardware timer
*
* @{
*/
/**
* \file
* Header file for hardware timer of AVR microcontrollers
* \author
* Ralf Schlatterbeck <rsc@runtux.com>
*/
#include <avr/pgmspace.h>
#include "contiki.h"
#include "rtimer-arch.h"
#include "hw_timer.h"
#ifndef PLAT_TIMER
#define PLAT_TIMER 0xFF /* invalid timer for comparison */
#endif
int8_t hwtimer_ini (uint8_t timer, uint8_t wgm, uint8_t clock, uint16_t maxt)
{
int8_t i;
HWT_CHECK_TIMER (timer);
if (wgm > HWT_WGM_MASK || wgm == HWT_WGM_RESERVED) {
return HWT_ERR_INVALID_WGM;
}
if (clock > HWT_CLOCK_MASK) {
return HWT_ERR_INVALID_CLOCK;
}
/* Turn off clock, no need to disable interrupt */
*HWT_TCCRB (timer) &= ~HWT_CLOCK_MASK;
*HWT_TCCRA (timer) &= ~(HWT_WGM_MASK_LOW << HWT_WGM_SHIFT_LOW);
*HWT_TCCRA (timer) |= ((wgm & HWT_WGM_MASK_LOW) << HWT_WGM_SHIFT_LOW);
*HWT_TCCRB (timer) &= ~(HWT_WGM_MASK_HIGH << HWT_WGM_SHIFT_HIGH);
*HWT_TCCRB (timer) |= ((wgm & HWT_WGM_MASK_HIGH) << HWT_WGM_SHIFT_HIGH);
for (i=0; i<3; i++) {
HWT_SET_COM (timer, i, HWT_COM_NORMAL);
}
if ( wgm == HWT_WGM_PWM_PHASE_FRQ_ICR
|| wgm == HWT_WGM_PWM_PHASE_ICR
|| wgm == HWT_WGM_CTC_ICR
|| wgm == HWT_WGM_PWM_FAST_ICR
)
{
*HWT_ICR (timer) = maxt;
}
if ( wgm == HWT_WGM_CTC_OCRA
|| wgm == HWT_WGM_PWM_PHASE_FRQ_OCRA
|| wgm == HWT_WGM_PWM_PHASE_OCRA
|| wgm == HWT_WGM_PWM_FAST_OCRA
)
{
*HWT_OCRA (timer) = maxt;
}
/* Set clock, finally */
*HWT_TCCRB (timer) |= clock;
return 0;
}
/*
* ex:ts=8:et:sw=2
*/
/** @} */

163
cpu/avr/hw_timer.h
View file

@ -215,7 +215,57 @@
* Note that this sets the compare output mode COM registers to 0,
* turning off PWM on outputs.
*/
int8_t hwtimer_ini (uint8_t timer, uint8_t wgm, uint8_t clock, uint16_t maxt);
static inline int8_t
hwtimer_ini (uint8_t timer, uint8_t wgm, uint8_t clock, uint16_t maxt)
{
int8_t i;
HWT_CHECK_TIMER (timer);
if (wgm > HWT_WGM_MASK || wgm == HWT_WGM_RESERVED) {
return HWT_ERR_INVALID_WGM;
}
if (clock > HWT_CLOCK_MASK) {
return HWT_ERR_INVALID_CLOCK;
}
/* Turn off clock, no need to disable interrupt */
*HWT_TCCRB (timer) &= ~HWT_CLOCK_MASK;
*HWT_TCCRA (timer) &= ~(HWT_WGM_MASK_LOW << HWT_WGM_SHIFT_LOW);
*HWT_TCCRA (timer) |= ((wgm & HWT_WGM_MASK_LOW) << HWT_WGM_SHIFT_LOW);
*HWT_TCCRB (timer) &= ~(HWT_WGM_MASK_HIGH << HWT_WGM_SHIFT_HIGH);
*HWT_TCCRB (timer) |= ((wgm & HWT_WGM_MASK_HIGH) << HWT_WGM_SHIFT_HIGH);
for (i=0; i<3; i++) {
HWT_SET_COM (timer, i, HWT_COM_NORMAL);
}
if ( wgm == HWT_WGM_PWM_PHASE_FRQ_ICR
|| wgm == HWT_WGM_PWM_PHASE_ICR
|| wgm == HWT_WGM_CTC_ICR
|| wgm == HWT_WGM_PWM_FAST_ICR
)
{
*HWT_ICR (timer) = maxt;
}
if ( wgm == HWT_WGM_CTC_OCRA
|| wgm == HWT_WGM_PWM_PHASE_FRQ_OCRA
|| wgm == HWT_WGM_PWM_PHASE_OCRA
|| wgm == HWT_WGM_PWM_FAST_OCRA
)
{
*HWT_OCRA (timer) = maxt;
}
/* Set clock, finally */
*HWT_TCCRB (timer) |= clock;
return 0;
}
/* Needed for implementation */
#define HWT_PERIOD_MAX_ (0xFFFFFFFF / (F_CPU / 1000000))
/* for 16-bit timer: */
#define HWT_TICKS_MAX_ 0xFFFF
#define HWT_TICKS_MIN_ 0xFF
/**
* \brief Convenience function to initialize hardware timer for PWM
@ -248,8 +298,76 @@ int8_t hwtimer_ini (uint8_t timer, uint8_t wgm, uint8_t clock, uint16_t maxt);
* pin associated with this register can not be used for PWM. Instead it
* can be used to change the period.
*/
int8_t
hwtimer_pwm_ini (uint8_t timer, uint32_t period_us, uint8_t pwm_type, uint8_t ocra);
static inline int8_t
hwtimer_pwm_ini (uint8_t timer, uint32_t period_us, uint8_t pwm_type, uint8_t ocra)
{
uint32_t ticks = 0;
uint8_t clock = HWT_CLOCK_PRESCALER_1024;
uint8_t wgm = HWT_WGM_NORMAL;
HWT_CHECK_TIMER (timer);
if (period_us > HWT_PERIOD_MAX_) {
period_us = HWT_PERIOD_MAX_;
}
ticks = (F_CPU / 1000000) * period_us;
/* Non-fast PWM modes have half the frequency */
if (pwm_type != HWT_PWM_FAST) {
ticks >>= 1;
}
/*
* Divisors are 1, 8, 64, 256, 1024, shifts between these are
* 3, 3, 2, 2, respectively. We modify `ticks` in place, the AVR can
* shift only one bit in one instruction, so shifting isn't cheap.
* We try to get the *maximum* prescaler that still permits a tick
* resolution of at least 8 bit.
*/
if (ticks <= (HWT_TICKS_MIN_ << 3)) {
clock = HWT_CLOCK_PRESCALER_1;
}
else if ((ticks >>= 3) <= (HWT_TICKS_MIN_ << 3)) {
clock = HWT_CLOCK_PRESCALER_8;
}
else if ((ticks >>= 3) <= (HWT_TICKS_MIN_ << 2)) {
clock = HWT_CLOCK_PRESCALER_64;
}
else if ((ticks >>= 2) <= (HWT_TICKS_MIN_ << 2)) {
clock = HWT_CLOCK_PRESCALER_256;
}
else if ((ticks >>= 2) > HWT_TICKS_MAX_) {
ticks = HWT_TICKS_MAX_;
}
switch (pwm_type) {
case HWT_PWM_FAST:
wgm = ocra ? HWT_WGM_PWM_FAST_OCRA : HWT_WGM_PWM_FAST_ICR;
break;
case HWT_PWM_PHASE_CORRECT:
wgm = ocra ? HWT_WGM_PWM_PHASE_OCRA : HWT_WGM_PWM_PHASE_ICR;
break;
case HWT_PWM_PHASE_FRQ_CORRECT:
default:
wgm = ocra ? HWT_WGM_PWM_PHASE_FRQ_OCRA : HWT_WGM_PWM_PHASE_FRQ_ICR;
break;
}
/* Special 8- 9- 10-bit modes */
if (pwm_type == HWT_PWM_FAST || pwm_type == HWT_PWM_PHASE_CORRECT) {
if (ticks == 0xFF) {
wgm = (pwm_type == HWT_PWM_FAST)
? HWT_WGM_PWM_FAST_8_BIT
: HWT_WGM_PWM_PHASE_8_BIT;
}
else if (ticks == 0x1FF) {
wgm = (pwm_type == HWT_PWM_FAST)
? HWT_WGM_PWM_FAST_9_BIT
: HWT_WGM_PWM_PHASE_9_BIT;
}
else if (ticks == 0x3FF) {
wgm = (pwm_type == HWT_PWM_FAST)
? HWT_WGM_PWM_FAST_10_BIT
: HWT_WGM_PWM_PHASE_10_BIT;
}
}
return hwtimer_ini (timer, wgm, clock, ticks);
}
/*
* Simple init macro for sane default values
@ -260,11 +378,42 @@ hwtimer_pwm_ini (uint8_t timer, uint32_t period_us, uint8_t pwm_type, uint8_t oc
/**
* \brief Maximum timer value usable in hwtimer_set_pwm
* \param timer: Timer to use
* \return
*
*
* \return max. timer value according to current timer setup
* negative value if wrong timer given
* a positive value is guaranteed to fit into 16 bit unsigned.
*/
uint32_t hwtimer_pwm_max_ticks (uint8_t timer);
static inline int32_t hwtimer_pwm_max_ticks (uint8_t timer)
{
uint8_t wgm = 0;
HWT_CHECK_TIMER (timer);
wgm = ((*HWT_TCCRA (timer) >> HWT_WGM_SHIFT_LOW) & HWT_WGM_MASK_LOW)
| ((*HWT_TCCRB (timer) >> HWT_WGM_SHIFT_HIGH) & HWT_WGM_MASK_HIGH)
;
switch (wgm) {
case HWT_WGM_PWM_PHASE_8_BIT:
case HWT_WGM_PWM_FAST_8_BIT:
return 0xFF;
case HWT_WGM_PWM_PHASE_9_BIT:
case HWT_WGM_PWM_FAST_9_BIT:
return 0x1FF;
case HWT_WGM_PWM_PHASE_10_BIT:
case HWT_WGM_PWM_FAST_10_BIT:
return 0x3FF;
case HWT_WGM_CTC_OCRA:
case HWT_WGM_PWM_PHASE_FRQ_OCRA:
case HWT_WGM_PWM_PHASE_OCRA:
case HWT_WGM_PWM_FAST_OCRA:
return *HWT_OCRA (timer);
case HWT_WGM_PWM_PHASE_FRQ_ICR:
case HWT_WGM_PWM_PHASE_ICR:
case HWT_WGM_CTC_ICR:
case HWT_WGM_PWM_FAST_ICR:
return *HWT_ICR (timer);
case HWT_WGM_NORMAL:
return 0xFFFF;
}
return HWT_ERR_INVALID_WGM;
}
/*
* The following functions are defined inline to allow for compiler