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# # old_revision [8760ae9232295422550b79f09e55122390704b3c] # new_revision [81e4dce274e79dd9187ed4bd182e1d6fc0fdfb37] # # patch "timer.c" # from [cd7a8d69e6c6dcdc33683f9f6dfcc98c62d77b4d] # to [88939ba8fd01747c78fddeb6d82012af7d61da7a] # ============================================================ --- timer.c cd7a8d69e6c6dcdc33683f9f6dfcc98c62d77b4d +++ timer.c 88939ba8fd01747c78fddeb6d82012af7d61da7a @@ -1,7 +1,14 @@ #include "timer.h" +#include "interrupt.h" +#include "uart.h" +#include "event.h" +#define FP0XVAL (*((volatile unsigned int *) 0x3FFFC014)) + #define TIMER0BASE 0xE0004000 #define TIMER1BASE 0xE0008000 +#define TIMER2BASE 0xE0070000 +#define TIMER3BASE 0xE0074000 #define IR 0x00 #define TCR 0x04 @@ -25,19 +32,98 @@ #define TREG(x) (((volatile unsigned char *)TIMER0BASE)[x]) #define TWREG(x) (((volatile unsigned int *)TIMER0BASE)[(x)/sizeof(unsigned int)]) +#define T1REG(x) (((volatile unsigned char *)TIMER1BASE)[x]) +#define T1WREG(x) (((volatile unsigned int *)TIMER1BASE)[(x)/sizeof(unsigned int)]) + +#define T2REG(x) (((volatile unsigned char *)TIMER2BASE)[x]) +#define T2WREG(x) (((volatile unsigned int *)TIMER2BASE)[(x)/sizeof(unsigned int)]) + +#define T3REG(x) (((volatile unsigned char *)TIMER3BASE)[x]) +#define T3WREG(x) (((volatile unsigned int *)TIMER3BASE)[(x)/sizeof(unsigned int)]) + #define TCR_ENABLE (1<<0) #define TCR_RESET (1<<1) +#define MR0I (1<<0) +#define MR0R (1<<1) +#define MR0S (1<<2) +#define MR1I (1<<3) +#define MR1R (1<<4) +#define MR1S (1<<5) +#define MR2I (1<<6) +#define MR2R (1<<7) +#define MR2S (1<<8) +#define MR3I (1<<9) +#define MR3R (1<<10) +#define MR3S (1<<11) + + +volatile unsigned int timer1_rising[4]; +volatile unsigned int timer1_width[4]; + +unsigned int timer_map[] = {0, 3, 2, 1}; + +void __attribute__((interrupt("IRQ"))) timer_interrupt_handler(void); +void __attribute__((interrupt("IRQ"))) timer1_interrupt_handler(void); + +void timer_event_handler(void); + void init_timer(void) { TREG(TCR) = TCR_ENABLE | TCR_RESET; TREG(CTCR) = 0; /* Use PCLK */ - TREG(TC) = 0; - TREG(PR) = TIMER_PRESCALE ; - TREG(PC) = 0; + TWREG(TC) = 0; + TWREG(PR) = TIMER_PRESCALE ; + TWREG(PC) = 0; TREG(TCR) = TCR_ENABLE; + + interrupt_register(TIMER1, timer1_interrupt_handler); + + T1REG(TCR) = TCR_ENABLE | TCR_RESET; + + T1REG(CTCR) = 0; /* Use PCLK */ + T1WREG(TC) = 0; + T1WREG(PR) = TIMER_PRESCALE ; + T1WREG(PC) = 0; + + T1WREG(CCR) = 0x00000fff; + + T1REG(TCR) = TCR_ENABLE; + + T2REG(TCR) = TCR_ENABLE | TCR_RESET; + T2REG(CTCR) = 0; /* Use PCLK */ + T2WREG(PR) = 0; // Prescaling + T2WREG(PC) = 0; // Reset the prescale counter + T2WREG(TC) = 0; // Reset the counter + + T2WREG(MCR) = 0x0400; // Reset on MR3 match + T2WREG(PWM) = 0x0000000d; // Enable PWMs + + T2WREG(MR3) = PWM_PERIOD; // Period duration + + /* This is chosen to be an invalid output. */ + T2WREG(MR1) = 1; // Pulse width + T2WREG(MR0) = 1; // Pulse width + + T3REG(TCR) = TCR_ENABLE | TCR_RESET; + T3REG(CTCR) = 0; /* Use PCLK */ + T3WREG(PR) = 0; // Prescaling + T3WREG(PC) = 0; // Reset the prescale counter + T3WREG(TC) = 0; // Reset the counter + + T3WREG(MCR) = 0x0010; // Reset on MR1 match + T3WREG(PWM) = 0x0000000b; // Enable PWMs + + T3WREG(MR1) = PWM_PERIOD; // Period duration + + /* This is chosen to be an invalid output. */ + T3WREG(MR3) = 1; // Pulse width + T3WREG(MR0) = 1; // Pulse width + + T2REG(TCR) = TCR_ENABLE; + T3REG(TCR) = TCR_ENABLE; } unsigned int timer_read(void) @@ -51,3 +137,130 @@ void timer_delay_clocks(unsigned int clo while (((signed int) (time-TWREG(TC))) > 0); } +void timer_set_period(unsigned int period) +{ + interrupt_register(TIMER0, timer_interrupt_handler); + TWREG(MR0) = period; + TWREG(MCR) = MR0I | MR0R; + TWREG(TC) = 0; +} + +void __attribute__((interrupt("IRQ"))) timer_interrupt_handler(void) +{ + unsigned int ir; + ir = TREG(IR); + TREG(IR) = ir; + + if (ir & (1<<0)) { + /* Match channel 0 */ + event_set(EVENT_TIMER); + } + + interrupt_clear(); +} + +void __attribute__((interrupt("IRQ"))) timer1_interrupt_handler(void) +{ + unsigned int ir; + unsigned int gpio; + ir = T1REG(IR); + T1REG(IR) = ir; + + gpio = FP0XVAL; + + if (ir & (1<<4)) { + /* Capture channel 0 */ + if (gpio & (1<<10)) { + timer1_rising[0] = T1WREG(CR0); + } else { + timer1_width[0] = T1WREG(CR0) - timer1_rising[0]; + } + } + if (ir & (1<<5)) { + /* Capture channel 1 */ + if (gpio & (1<<11)) { + timer1_rising[1] = T1WREG(CR1); + } else { + timer1_width[1] = T1WREG(CR1) - timer1_rising[1]; + } + } + if (ir & (1<<6)) { + /* Capture channel 2 */ + if (gpio & (1<<17)) { + timer1_rising[2] = T1WREG(CR2); + } else { + timer1_width[2] = T1WREG(CR2) - timer1_rising[2]; + } + } + if (ir & (1<<7)) { + /* Capture channel 3 */ + if (gpio & (1<<18)) { + timer1_rising[3] = T1WREG(CR3); + } else { + timer1_width[3] = T1WREG(CR3) - timer1_rising[3]; + } + } + + interrupt_clear(); +} + +bool timer_valid(int channel) { + channel = TIMER_CH(channel); + /* Be careful here to ensure that this can't be in the past */ + unsigned int chtime = timer1_rising[channel]; /* Atomic */ + unsigned int time = T1WREG(TC); /* Atomic */ + return (time - chtime) < TIMER_INPUT_TIMEOUT; +} + +bool timer_allvalid(void) { + unsigned int time; + unsigned int chtime[4]; + int i; + /* Be careful here to ensure that this can't be in the past */ + for (i = 0; i < 4; i++) + chtime[i] = timer1_rising[i]; + time = T1WREG(TC); + for (i = 0; i < 4; i++) + if ((time - chtime[i]) >= TIMER_INPUT_TIMEOUT) + return FALSE; + return TRUE; +} + +void timer_set_pwm_value(int channel, int value) +{ + value = PWM_PERIOD - (PWM_MAX + value); + switch (channel) { + case 0: + T2WREG(MR2) = value; + break; + case 1: + T2WREG(MR0) = value; + break; + case 2: + T3WREG(MR3) = value; + break; + case 3: + T3WREG(MR0) = value; + break; + } +} + +void timer_set_pwm_invalid(int channel) +{ + int value = 1; + switch (channel) { + case 0: + T2WREG(MR2) = value; + break; + case 1: + T2WREG(MR0) = value; + break; + case 2: + T3WREG(MR3) = value; + break; + case 3: + T3WREG(MR0) = value; + break; + } +} +