152 lines
4.2 KiB
C
152 lines
4.2 KiB
C
/*
|
|
* Copyright (c) 2007, Swedish Institute of Computer Science.
|
|
* 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.
|
|
*
|
|
* $Id: rtimer-arch.c,v 1.8 2010/02/22 22:21:15 dak664 Exp $
|
|
*/
|
|
|
|
/**
|
|
* \file
|
|
* AVR-specific rtimer code
|
|
* Currently only works on ATMEGAs that have Timer 3.
|
|
* \author
|
|
* Fredrik Osterlind <fros@sics.se>
|
|
* Joakim Eriksson <joakime@sics.se>
|
|
*/
|
|
|
|
/* OBS: 8 seconds maximum time! */
|
|
|
|
#include <avr/io.h>
|
|
#include <avr/interrupt.h>
|
|
#include <stdio.h>
|
|
|
|
#include "sys/energest.h"
|
|
#include "sys/rtimer.h"
|
|
#include "rtimer-arch.h"
|
|
|
|
#if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega1284P__)
|
|
//#error FTH081029 test timer 3
|
|
#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
|
|
#warning No OCIE3C in architecture, hopefully it will not be needed
|
|
#define OCIE3C OCIE3B
|
|
#define OCF3C OCF3B
|
|
#endif
|
|
|
|
#if defined(__AVR_AT90USB1287__)
|
|
#warning AT90USB1287 rtimers not tested
|
|
#define ETIMSK TIMSK3
|
|
#define ETIFR TIFR3
|
|
#define TICIE3 ICIE3
|
|
#endif
|
|
uint8_t rtimerworks;
|
|
/*---------------------------------------------------------------------------*/
|
|
#ifdef TCNT3
|
|
ISR (TIMER3_COMPA_vect) {
|
|
ENERGEST_ON(ENERGEST_TYPE_IRQ);
|
|
|
|
ETIMSK &= ~((1 << OCIE3A) | (1 << OCIE3B) | (1 << TOIE3) |
|
|
(1 << TICIE3) | (1 << OCIE3C));
|
|
rtimerworks++;
|
|
/* Call rtimer callback */
|
|
rtimer_run_next();
|
|
|
|
ENERGEST_OFF(ENERGEST_TYPE_IRQ);
|
|
}
|
|
|
|
#else
|
|
#error "No Timer3 in rtimer-arch.c"
|
|
|
|
#endif
|
|
/*---------------------------------------------------------------------------*/
|
|
void
|
|
rtimer_arch_init(void)
|
|
{
|
|
/* Disable interrupts (store old state) */
|
|
uint8_t sreg;
|
|
sreg = SREG;
|
|
cli ();
|
|
|
|
#ifdef TCNT3
|
|
rtimerworks=240;
|
|
|
|
ETIMSK &= ~((1 << OCIE3A) | (1 << OCIE3B) | (1 << TOIE3) |
|
|
(1 << TICIE3) | (1 << OCIE3C));
|
|
ETIFR |= (1 << ICF3) | (1 << OCF3A) | (1 << OCF3B) | (1 << TOV3) |
|
|
(1 << OCF3C);
|
|
|
|
/* Default timer behaviour */
|
|
TCCR3A = 0;
|
|
TCCR3B = 0;
|
|
TCCR3C = 0;
|
|
|
|
/* Reset counter */
|
|
TCNT3 = 0;
|
|
|
|
/* Maximum prescaler */
|
|
TCCR3B |= 5;
|
|
|
|
#else
|
|
#error "No Timer3 in rtimer-arch.c"
|
|
|
|
#endif
|
|
|
|
/* Restore interrupt state */
|
|
SREG = sreg;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
void
|
|
rtimer_arch_schedule(rtimer_clock_t t)
|
|
{
|
|
/* Disable interrupts (store old state) */
|
|
uint8_t sreg;
|
|
sreg = SREG;
|
|
cli ();
|
|
|
|
#ifdef TCNT3
|
|
rtimerworks=250;
|
|
/* Set compare register */
|
|
OCR3A = t;
|
|
ETIFR |= (1 << ICF3) | (1 << OCF3A) | (1 << OCF3B) | (1 << TOV3) |
|
|
(1 << OCF3C);
|
|
ETIMSK |= (1 << OCIE3A);
|
|
|
|
#else
|
|
#error "No Timer3 in rtimer-arch.c"
|
|
|
|
#endif
|
|
|
|
/* Restore interrupt state */
|
|
SREG = sreg;
|
|
// printf("rs%d",t);
|
|
}
|