Mouse code for the MacroRat
mbed-dev/targets/TARGET_Atmel/TARGET_SAM_CortexM4/lp_ticker.c@46:b156ef445742, 2017-06-03 (annotated)
- Committer:
- sahilmgandhi
- Date:
- Sat Jun 03 00:22:44 2017 +0000
- Revision:
- 46:b156ef445742
- Parent:
- 18:6a4db94011d3
Final code for internal battlebot competition.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sahilmgandhi | 18:6a4db94011d3 | 1 | /* mbed Microcontroller Library |
sahilmgandhi | 18:6a4db94011d3 | 2 | * Copyright (c) 2006-2015 ARM Limited |
sahilmgandhi | 18:6a4db94011d3 | 3 | * |
sahilmgandhi | 18:6a4db94011d3 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
sahilmgandhi | 18:6a4db94011d3 | 5 | * you may not use this file except in compliance with the License. |
sahilmgandhi | 18:6a4db94011d3 | 6 | * You may obtain a copy of the License at |
sahilmgandhi | 18:6a4db94011d3 | 7 | * |
sahilmgandhi | 18:6a4db94011d3 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
sahilmgandhi | 18:6a4db94011d3 | 9 | * |
sahilmgandhi | 18:6a4db94011d3 | 10 | * Unless required by applicable law or agreed to in writing, software |
sahilmgandhi | 18:6a4db94011d3 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
sahilmgandhi | 18:6a4db94011d3 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
sahilmgandhi | 18:6a4db94011d3 | 13 | * See the License for the specific language governing permissions and |
sahilmgandhi | 18:6a4db94011d3 | 14 | * limitations under the License. |
sahilmgandhi | 18:6a4db94011d3 | 15 | */ |
sahilmgandhi | 18:6a4db94011d3 | 16 | |
sahilmgandhi | 18:6a4db94011d3 | 17 | #include "cmsis.h" |
sahilmgandhi | 18:6a4db94011d3 | 18 | #include <stddef.h> |
sahilmgandhi | 18:6a4db94011d3 | 19 | #include "lp_ticker_api.h" |
sahilmgandhi | 18:6a4db94011d3 | 20 | #include "mbed_assert.h" |
sahilmgandhi | 18:6a4db94011d3 | 21 | #include "sleep_api.h" |
sahilmgandhi | 18:6a4db94011d3 | 22 | #include "compiler.h" |
sahilmgandhi | 18:6a4db94011d3 | 23 | #include "sysclk.h" |
sahilmgandhi | 18:6a4db94011d3 | 24 | #include "tc.h" |
sahilmgandhi | 18:6a4db94011d3 | 25 | #include "us_ticker_api.h" |
sahilmgandhi | 18:6a4db94011d3 | 26 | |
sahilmgandhi | 18:6a4db94011d3 | 27 | uint8_t lp_ticker_inited = 0; |
sahilmgandhi | 18:6a4db94011d3 | 28 | extern volatile uint8_t us_ticker_inited; |
sahilmgandhi | 18:6a4db94011d3 | 29 | extern uint8_t g_sys_init; |
sahilmgandhi | 18:6a4db94011d3 | 30 | extern volatile uint32_t overflow32bitcounter; |
sahilmgandhi | 18:6a4db94011d3 | 31 | volatile uint16_t lp_ticker_16bit_counter; |
sahilmgandhi | 18:6a4db94011d3 | 32 | volatile uint16_t lp_ticker_interrupt_counter; |
sahilmgandhi | 18:6a4db94011d3 | 33 | volatile uint16_t lp_ticker_interrupt_offset; |
sahilmgandhi | 18:6a4db94011d3 | 34 | volatile uint32_t lpoverflow32bitcounter = 0; |
sahilmgandhi | 18:6a4db94011d3 | 35 | |
sahilmgandhi | 18:6a4db94011d3 | 36 | #define TICKER_COUNTER_lp TC0 |
sahilmgandhi | 18:6a4db94011d3 | 37 | |
sahilmgandhi | 18:6a4db94011d3 | 38 | #define TICKER_COUNTER_CLK2 ID_TC2 |
sahilmgandhi | 18:6a4db94011d3 | 39 | |
sahilmgandhi | 18:6a4db94011d3 | 40 | #define TICKER_COUNTER_CHANNEL2 2 |
sahilmgandhi | 18:6a4db94011d3 | 41 | #define TICKER_COUNTER_IRQn2 TC2_IRQn |
sahilmgandhi | 18:6a4db94011d3 | 42 | #define TICKER_COUNTER_Handlr2 TC2_Handler |
sahilmgandhi | 18:6a4db94011d3 | 43 | |
sahilmgandhi | 18:6a4db94011d3 | 44 | #define OVERFLOW_16bit_VALUE 0xFFFF |
sahilmgandhi | 18:6a4db94011d3 | 45 | |
sahilmgandhi | 18:6a4db94011d3 | 46 | |
sahilmgandhi | 18:6a4db94011d3 | 47 | void TICKER_COUNTER_Handlr2(void) |
sahilmgandhi | 18:6a4db94011d3 | 48 | { |
sahilmgandhi | 18:6a4db94011d3 | 49 | uint32_t status=tc_get_status(TICKER_COUNTER_lp, TICKER_COUNTER_CHANNEL2); |
sahilmgandhi | 18:6a4db94011d3 | 50 | uint32_t interrupmask=tc_get_interrupt_mask(TICKER_COUNTER_lp, TICKER_COUNTER_CHANNEL2); |
sahilmgandhi | 18:6a4db94011d3 | 51 | |
sahilmgandhi | 18:6a4db94011d3 | 52 | if (((status & interrupmask) & TC_IER_CPCS)) { |
sahilmgandhi | 18:6a4db94011d3 | 53 | if(lp_ticker_interrupt_counter) { |
sahilmgandhi | 18:6a4db94011d3 | 54 | lp_ticker_interrupt_counter--; |
sahilmgandhi | 18:6a4db94011d3 | 55 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 56 | if(lp_ticker_interrupt_offset) { |
sahilmgandhi | 18:6a4db94011d3 | 57 | tc_stop(TICKER_COUNTER_lp, TICKER_COUNTER_CHANNEL2); |
sahilmgandhi | 18:6a4db94011d3 | 58 | tc_write_rc(TICKER_COUNTER_lp, TICKER_COUNTER_CHANNEL2, (uint32_t)lp_ticker_interrupt_offset); |
sahilmgandhi | 18:6a4db94011d3 | 59 | tc_start(TICKER_COUNTER_lp, TICKER_COUNTER_CHANNEL2); |
sahilmgandhi | 18:6a4db94011d3 | 60 | lp_ticker_interrupt_offset=0; |
sahilmgandhi | 18:6a4db94011d3 | 61 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 62 | lp_ticker_irq_handler(); |
sahilmgandhi | 18:6a4db94011d3 | 63 | } |
sahilmgandhi | 18:6a4db94011d3 | 64 | } |
sahilmgandhi | 18:6a4db94011d3 | 65 | } |
sahilmgandhi | 18:6a4db94011d3 | 66 | } |
sahilmgandhi | 18:6a4db94011d3 | 67 | |
sahilmgandhi | 18:6a4db94011d3 | 68 | void lp_ticker_init(void) |
sahilmgandhi | 18:6a4db94011d3 | 69 | { |
sahilmgandhi | 18:6a4db94011d3 | 70 | if(lp_ticker_inited) |
sahilmgandhi | 18:6a4db94011d3 | 71 | return; |
sahilmgandhi | 18:6a4db94011d3 | 72 | if (!us_ticker_inited) |
sahilmgandhi | 18:6a4db94011d3 | 73 | us_ticker_init(); |
sahilmgandhi | 18:6a4db94011d3 | 74 | sysclk_enable_peripheral_clock(TICKER_COUNTER_CLK2); |
sahilmgandhi | 18:6a4db94011d3 | 75 | tc_init(TICKER_COUNTER_lp, TICKER_COUNTER_CHANNEL2, TC_CMR_TCCLKS_TIMER_CLOCK4); |
sahilmgandhi | 18:6a4db94011d3 | 76 | lp_ticker_inited = 1; |
sahilmgandhi | 18:6a4db94011d3 | 77 | } |
sahilmgandhi | 18:6a4db94011d3 | 78 | |
sahilmgandhi | 18:6a4db94011d3 | 79 | uint32_t lp_ticker_read() |
sahilmgandhi | 18:6a4db94011d3 | 80 | { |
sahilmgandhi | 18:6a4db94011d3 | 81 | if (!lp_ticker_inited) |
sahilmgandhi | 18:6a4db94011d3 | 82 | lp_ticker_init(); |
sahilmgandhi | 18:6a4db94011d3 | 83 | return us_ticker_read(); |
sahilmgandhi | 18:6a4db94011d3 | 84 | } |
sahilmgandhi | 18:6a4db94011d3 | 85 | |
sahilmgandhi | 18:6a4db94011d3 | 86 | void lp_ticker_set_interrupt(timestamp_t timestamp) |
sahilmgandhi | 18:6a4db94011d3 | 87 | { |
sahilmgandhi | 18:6a4db94011d3 | 88 | uint32_t cur_time; |
sahilmgandhi | 18:6a4db94011d3 | 89 | int32_t delta; |
sahilmgandhi | 18:6a4db94011d3 | 90 | |
sahilmgandhi | 18:6a4db94011d3 | 91 | cur_time = lp_ticker_read(); |
sahilmgandhi | 18:6a4db94011d3 | 92 | delta = (int32_t)((uint32_t)timestamp - cur_time); |
sahilmgandhi | 18:6a4db94011d3 | 93 | if (delta < 0) { |
sahilmgandhi | 18:6a4db94011d3 | 94 | /* Event already occurred in past */ |
sahilmgandhi | 18:6a4db94011d3 | 95 | lp_ticker_irq_handler(); |
sahilmgandhi | 18:6a4db94011d3 | 96 | return; |
sahilmgandhi | 18:6a4db94011d3 | 97 | } |
sahilmgandhi | 18:6a4db94011d3 | 98 | |
sahilmgandhi | 18:6a4db94011d3 | 99 | uint16_t interruptat=0; |
sahilmgandhi | 18:6a4db94011d3 | 100 | |
sahilmgandhi | 18:6a4db94011d3 | 101 | if(delta > OVERFLOW_16bit_VALUE) { |
sahilmgandhi | 18:6a4db94011d3 | 102 | lp_ticker_interrupt_counter= (delta/OVERFLOW_16bit_VALUE) -1; |
sahilmgandhi | 18:6a4db94011d3 | 103 | lp_ticker_interrupt_offset=delta%OVERFLOW_16bit_VALUE; |
sahilmgandhi | 18:6a4db94011d3 | 104 | interruptat=OVERFLOW_16bit_VALUE; |
sahilmgandhi | 18:6a4db94011d3 | 105 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 106 | lp_ticker_interrupt_counter=0; |
sahilmgandhi | 18:6a4db94011d3 | 107 | lp_ticker_interrupt_offset=0; |
sahilmgandhi | 18:6a4db94011d3 | 108 | interruptat=delta; |
sahilmgandhi | 18:6a4db94011d3 | 109 | } |
sahilmgandhi | 18:6a4db94011d3 | 110 | |
sahilmgandhi | 18:6a4db94011d3 | 111 | NVIC_DisableIRQ(TICKER_COUNTER_IRQn2); |
sahilmgandhi | 18:6a4db94011d3 | 112 | |
sahilmgandhi | 18:6a4db94011d3 | 113 | tc_write_rc(TICKER_COUNTER_lp, TICKER_COUNTER_CHANNEL2, (uint32_t)interruptat); |
sahilmgandhi | 18:6a4db94011d3 | 114 | |
sahilmgandhi | 18:6a4db94011d3 | 115 | NVIC_ClearPendingIRQ(TICKER_COUNTER_IRQn2); |
sahilmgandhi | 18:6a4db94011d3 | 116 | NVIC_SetPriority(TICKER_COUNTER_IRQn2, 0); |
sahilmgandhi | 18:6a4db94011d3 | 117 | NVIC_EnableIRQ(TICKER_COUNTER_IRQn2); |
sahilmgandhi | 18:6a4db94011d3 | 118 | tc_enable_interrupt(TICKER_COUNTER_lp, TICKER_COUNTER_CHANNEL2, TC_IDR_CPCS ); |
sahilmgandhi | 18:6a4db94011d3 | 119 | |
sahilmgandhi | 18:6a4db94011d3 | 120 | tc_start(TICKER_COUNTER_lp, TICKER_COUNTER_CHANNEL2); |
sahilmgandhi | 18:6a4db94011d3 | 121 | } |
sahilmgandhi | 18:6a4db94011d3 | 122 | |
sahilmgandhi | 18:6a4db94011d3 | 123 | void lp_ticker_disable_interrupt(void) |
sahilmgandhi | 18:6a4db94011d3 | 124 | { |
sahilmgandhi | 18:6a4db94011d3 | 125 | tc_stop(TICKER_COUNTER_lp, TICKER_COUNTER_CHANNEL2); |
sahilmgandhi | 18:6a4db94011d3 | 126 | tc_disable_interrupt(TICKER_COUNTER_lp, TICKER_COUNTER_CHANNEL2, TC_IDR_CPCS); |
sahilmgandhi | 18:6a4db94011d3 | 127 | NVIC_DisableIRQ(TICKER_COUNTER_IRQn2); |
sahilmgandhi | 18:6a4db94011d3 | 128 | } |
sahilmgandhi | 18:6a4db94011d3 | 129 | |
sahilmgandhi | 18:6a4db94011d3 | 130 | void lp_ticker_clear_interrupt(void) |
sahilmgandhi | 18:6a4db94011d3 | 131 | { |
sahilmgandhi | 18:6a4db94011d3 | 132 | NVIC_ClearPendingIRQ(TICKER_COUNTER_IRQn2); |
sahilmgandhi | 18:6a4db94011d3 | 133 | } |