Ben Katz / mbed-dev-f303

mbed library sources. Supersedes mbed-src.

Dependents:   Hobbyking_Cheetah_Compact Hobbyking_Cheetah_Compact_DRV8323_14bit Hobbyking_Cheetah_Compact_DRV8323_V51_201907 HKC_MiniCheetah ... more

Fork of mbed-dev by mbed official

targets/TARGET_Silicon_Labs/TARGET_EFM32/lp_ticker.c@181:36facd806e4a, 2018-07-30 (annotated)

Committer:
benkatz
Date:
Mon Jul 30 20:31:44 2018 +0000
Revision:
181:36facd806e4a
Parent:
174:b96e65c34a4d 
going on the robot.  fixed a dumb bug in float_to_uint

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 144:ef7eb2e8f9f7 1 /***************************************************************************//**
<> 144:ef7eb2e8f9f7 2 * @file lp_ticker.c
<> 144:ef7eb2e8f9f7 3 *******************************************************************************
<> 144:ef7eb2e8f9f7 4 * @section License
<> 144:ef7eb2e8f9f7 5 * <b>(C) Copyright 2015 Silicon Labs, http://www.silabs.com</b>
<> 144:ef7eb2e8f9f7 6 *******************************************************************************
<> 144:ef7eb2e8f9f7 7 *
<> 144:ef7eb2e8f9f7 8 * SPDX-License-Identifier: Apache-2.0
<> 144:ef7eb2e8f9f7 9 *
<> 144:ef7eb2e8f9f7 10 * Licensed under the Apache License, Version 2.0 (the "License"); you may
<> 144:ef7eb2e8f9f7 11 * not use this file except in compliance with the License.
<> 144:ef7eb2e8f9f7 12 * You may obtain a copy of the License at
<> 144:ef7eb2e8f9f7 13 *
<> 144:ef7eb2e8f9f7 14 * http://www.apache.org/licenses/LICENSE-2.0
<> 144:ef7eb2e8f9f7 15 *
<> 144:ef7eb2e8f9f7 16 * Unless required by applicable law or agreed to in writing, software
<> 144:ef7eb2e8f9f7 17 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
<> 144:ef7eb2e8f9f7 18 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 144:ef7eb2e8f9f7 19 * See the License for the specific language governing permissions and
<> 144:ef7eb2e8f9f7 20 * limitations under the License.
<> 144:ef7eb2e8f9f7 21 *
<> 144:ef7eb2e8f9f7 22 ******************************************************************************/
<> 144:ef7eb2e8f9f7 23
<> 144:ef7eb2e8f9f7 24 #include "device.h"
<> 150:02e0a0aed4ec 25 #include "clocking.h"
<> 144:ef7eb2e8f9f7 26 #if DEVICE_LOWPOWERTIMER
<> 144:ef7eb2e8f9f7 27
<> 144:ef7eb2e8f9f7 28 #include "rtc_api.h"
<> 144:ef7eb2e8f9f7 29 #include "rtc_api_HAL.h"
<> 144:ef7eb2e8f9f7 30 #include "lp_ticker_api.h"
<> 144:ef7eb2e8f9f7 31
<> 160:d5399cc887bb 32 #include "mbed_critical.h"
<> 144:ef7eb2e8f9f7 33 #if (defined RTCC_COUNT) && (RTCC_COUNT > 0)
<> 144:ef7eb2e8f9f7 34 #include "em_rtcc.h"
<> 144:ef7eb2e8f9f7 35 #endif
<> 144:ef7eb2e8f9f7 36
<> 144:ef7eb2e8f9f7 37 static int rtc_reserved = 0;
<> 144:ef7eb2e8f9f7 38
<> 144:ef7eb2e8f9f7 39 void lp_ticker_init()
<> 144:ef7eb2e8f9f7 40 {
<> 144:ef7eb2e8f9f7 41 if(!rtc_reserved) {
<> 144:ef7eb2e8f9f7 42 core_util_critical_section_enter();
<> 144:ef7eb2e8f9f7 43 rtc_init_real(RTC_INIT_LPTIMER);
<> 144:ef7eb2e8f9f7 44 rtc_set_comp0_handler((uint32_t)lp_ticker_irq_handler);
<> 144:ef7eb2e8f9f7 45 rtc_reserved = 1;
<> 144:ef7eb2e8f9f7 46 core_util_critical_section_exit();
<> 144:ef7eb2e8f9f7 47 }
<> 144:ef7eb2e8f9f7 48 }
<> 144:ef7eb2e8f9f7 49
<> 144:ef7eb2e8f9f7 50 void lp_ticker_free()
<> 144:ef7eb2e8f9f7 51 {
<> 144:ef7eb2e8f9f7 52 if(rtc_reserved) {
<> 144:ef7eb2e8f9f7 53 core_util_critical_section_enter();
<> 144:ef7eb2e8f9f7 54 rtc_free_real(RTC_INIT_LPTIMER);
<> 144:ef7eb2e8f9f7 55 rtc_reserved = 0;
<> 144:ef7eb2e8f9f7 56 core_util_critical_section_exit();
<> 144:ef7eb2e8f9f7 57 }
<> 144:ef7eb2e8f9f7 58 }
<> 144:ef7eb2e8f9f7 59
<> 144:ef7eb2e8f9f7 60 #ifndef RTCC_COUNT
<> 144:ef7eb2e8f9f7 61
<> 144:ef7eb2e8f9f7 62 /* RTC API */
<> 144:ef7eb2e8f9f7 63
<> 144:ef7eb2e8f9f7 64 void lp_ticker_set_interrupt(timestamp_t timestamp)
<> 144:ef7eb2e8f9f7 65 {
<> 144:ef7eb2e8f9f7 66 uint64_t timestamp_ticks;
<> 144:ef7eb2e8f9f7 67 uint64_t current_ticks = RTC_CounterGet();
<> 144:ef7eb2e8f9f7 68 timestamp_t current_time = ((uint64_t)(current_ticks * 1000000) / (LOW_ENERGY_CLOCK_FREQUENCY / RTC_CLOCKDIV_INT));
<> 144:ef7eb2e8f9f7 69
<> 144:ef7eb2e8f9f7 70 /* Initialize RTC */
<> 144:ef7eb2e8f9f7 71 lp_ticker_init();
<> 144:ef7eb2e8f9f7 72
<> 144:ef7eb2e8f9f7 73 /* calculate offset value */
<> 144:ef7eb2e8f9f7 74 timestamp_t offset = timestamp - current_time;
<> 144:ef7eb2e8f9f7 75 if(offset > 0xEFFFFFFF) offset = 100;
<> 144:ef7eb2e8f9f7 76
<> 144:ef7eb2e8f9f7 77 /* map offset to RTC value */
<> 144:ef7eb2e8f9f7 78 // ticks = offset * RTC frequency div 1000000
<> 144:ef7eb2e8f9f7 79 timestamp_ticks = ((uint64_t)offset * (LOW_ENERGY_CLOCK_FREQUENCY / RTC_CLOCKDIV_INT)) / 1000000;
<> 144:ef7eb2e8f9f7 80 timestamp_ticks += current_ticks;
<> 144:ef7eb2e8f9f7 81
<> 144:ef7eb2e8f9f7 82 /* RTC has 24 bit resolution */
<> 144:ef7eb2e8f9f7 83 timestamp_ticks &= 0xFFFFFF;
<> 144:ef7eb2e8f9f7 84
<> 144:ef7eb2e8f9f7 85 /* check for RTC limitation */
<> 144:ef7eb2e8f9f7 86 if((timestamp_ticks - RTC_CounterGet()) >= 0x800000) timestamp_ticks = RTC_CounterGet() + 2;
<> 144:ef7eb2e8f9f7 87
<> 144:ef7eb2e8f9f7 88 /* Set callback */
<> 144:ef7eb2e8f9f7 89 RTC_FreezeEnable(true);
<> 144:ef7eb2e8f9f7 90 RTC_CompareSet(0, (uint32_t)timestamp_ticks);
<> 144:ef7eb2e8f9f7 91 RTC_IntEnable(RTC_IF_COMP0);
<> 144:ef7eb2e8f9f7 92 RTC_FreezeEnable(false);
<> 144:ef7eb2e8f9f7 93 }
<> 144:ef7eb2e8f9f7 94
AnnaBridge 174:b96e65c34a4d 95 void lp_ticker_fire_interrupt(void)
AnnaBridge 174:b96e65c34a4d 96 {
AnnaBridge 174:b96e65c34a4d 97 RTC_IntSet(RTC_IFS_COMP0);
AnnaBridge 174:b96e65c34a4d 98 }
AnnaBridge 174:b96e65c34a4d 99
<> 144:ef7eb2e8f9f7 100 inline void lp_ticker_disable_interrupt()
<> 144:ef7eb2e8f9f7 101 {
<> 144:ef7eb2e8f9f7 102 RTC_IntDisable(RTC_IF_COMP0);
<> 144:ef7eb2e8f9f7 103 }
<> 144:ef7eb2e8f9f7 104
<> 144:ef7eb2e8f9f7 105 inline void lp_ticker_clear_interrupt()
<> 144:ef7eb2e8f9f7 106 {
<> 144:ef7eb2e8f9f7 107 RTC_IntClear(RTC_IF_COMP0);
<> 144:ef7eb2e8f9f7 108 }
<> 144:ef7eb2e8f9f7 109
<> 144:ef7eb2e8f9f7 110 timestamp_t lp_ticker_read()
<> 144:ef7eb2e8f9f7 111 {
<> 144:ef7eb2e8f9f7 112 lp_ticker_init();
<> 144:ef7eb2e8f9f7 113
<> 144:ef7eb2e8f9f7 114 uint64_t ticks_temp;
<> 144:ef7eb2e8f9f7 115 uint64_t ticks = RTC_CounterGet();
<> 144:ef7eb2e8f9f7 116
<> 144:ef7eb2e8f9f7 117 /* ticks = counter tick value
<> 144:ef7eb2e8f9f7 118 * timestamp = value in microseconds
<> 144:ef7eb2e8f9f7 119 * timestamp = ticks * 1.000.000 / RTC frequency
<> 144:ef7eb2e8f9f7 120 */
<> 144:ef7eb2e8f9f7 121
<> 144:ef7eb2e8f9f7 122 ticks_temp = (ticks * 1000000) / (LOW_ENERGY_CLOCK_FREQUENCY / RTC_CLOCKDIV_INT);
<> 144:ef7eb2e8f9f7 123 return (timestamp_t) (ticks_temp & 0xFFFFFFFF);
<> 144:ef7eb2e8f9f7 124 }
<> 144:ef7eb2e8f9f7 125
<> 144:ef7eb2e8f9f7 126 #else
<> 144:ef7eb2e8f9f7 127
<> 144:ef7eb2e8f9f7 128 /* RTCC API */
<> 144:ef7eb2e8f9f7 129
<> 144:ef7eb2e8f9f7 130 void lp_ticker_set_interrupt(timestamp_t timestamp)
<> 144:ef7eb2e8f9f7 131 {
<> 144:ef7eb2e8f9f7 132 uint64_t timestamp_ticks;
<> 144:ef7eb2e8f9f7 133 uint64_t current_ticks = RTCC_CounterGet();
<> 144:ef7eb2e8f9f7 134 timestamp_t current_time = ((uint64_t)(current_ticks * 1000000) / (LOW_ENERGY_CLOCK_FREQUENCY / RTC_CLOCKDIV_INT));
<> 144:ef7eb2e8f9f7 135
<> 144:ef7eb2e8f9f7 136 /* Initialize RTC */
<> 144:ef7eb2e8f9f7 137 lp_ticker_init();
<> 144:ef7eb2e8f9f7 138
<> 144:ef7eb2e8f9f7 139 /* calculate offset value */
<> 144:ef7eb2e8f9f7 140 timestamp_t offset = timestamp - current_time;
<> 144:ef7eb2e8f9f7 141 if(offset > 0xEFFFFFFF) offset = 100;
<> 144:ef7eb2e8f9f7 142
<> 144:ef7eb2e8f9f7 143 /* map offset to RTC value */
<> 144:ef7eb2e8f9f7 144 // ticks = offset * RTC frequency div 1000000
<> 144:ef7eb2e8f9f7 145 timestamp_ticks = ((uint64_t)offset * (LOW_ENERGY_CLOCK_FREQUENCY / RTC_CLOCKDIV_INT)) / 1000000;
<> 144:ef7eb2e8f9f7 146 // checking the rounding. If timeout is wanted between RTCC ticks, irq should be configured to
<> 144:ef7eb2e8f9f7 147 // trigger in the latter RTCC-tick. Otherwise ticker-api fails to send timer event to its client
<> 144:ef7eb2e8f9f7 148 if(((timestamp_ticks * 1000000) / (LOW_ENERGY_CLOCK_FREQUENCY / RTC_CLOCKDIV_INT)) < offset){
<> 144:ef7eb2e8f9f7 149 timestamp_ticks++;
<> 144:ef7eb2e8f9f7 150 }
<> 144:ef7eb2e8f9f7 151
<> 144:ef7eb2e8f9f7 152 timestamp_ticks += current_ticks;
<> 144:ef7eb2e8f9f7 153
<> 144:ef7eb2e8f9f7 154 /* RTCC has 32 bit resolution */
<> 144:ef7eb2e8f9f7 155 timestamp_ticks &= 0xFFFFFFFF;
<> 144:ef7eb2e8f9f7 156
<> 144:ef7eb2e8f9f7 157 /* check for RTCC limitation */
<> 144:ef7eb2e8f9f7 158 if((timestamp_ticks - RTCC_CounterGet()) >= 0x80000000) timestamp_ticks = RTCC_CounterGet() + 2;
<> 144:ef7eb2e8f9f7 159
<> 144:ef7eb2e8f9f7 160 /* init channel */
<> 144:ef7eb2e8f9f7 161 RTCC_CCChConf_TypeDef ccchConf = RTCC_CH_INIT_COMPARE_DEFAULT;
<> 144:ef7eb2e8f9f7 162 RTCC_ChannelInit(0,&ccchConf);
<> 144:ef7eb2e8f9f7 163 /* Set callback */
<> 144:ef7eb2e8f9f7 164 RTCC_ChannelCCVSet(0, (uint32_t)timestamp_ticks);
<> 144:ef7eb2e8f9f7 165 RTCC_IntEnable(RTCC_IF_CC0);
<> 144:ef7eb2e8f9f7 166 }
<> 144:ef7eb2e8f9f7 167
AnnaBridge 174:b96e65c34a4d 168 void lp_ticker_fire_interrupt(void)
AnnaBridge 174:b96e65c34a4d 169 {
AnnaBridge 174:b96e65c34a4d 170 RTCC_IntSet(RTCC_IFS_CC0);
AnnaBridge 174:b96e65c34a4d 171 }
AnnaBridge 174:b96e65c34a4d 172
<> 144:ef7eb2e8f9f7 173 inline void lp_ticker_disable_interrupt()
<> 144:ef7eb2e8f9f7 174 {
<> 144:ef7eb2e8f9f7 175 RTCC_IntDisable(RTCC_IF_CC0);
<> 144:ef7eb2e8f9f7 176 }
<> 144:ef7eb2e8f9f7 177
<> 144:ef7eb2e8f9f7 178 inline void lp_ticker_clear_interrupt()
<> 144:ef7eb2e8f9f7 179 {
<> 144:ef7eb2e8f9f7 180 RTCC_IntClear(RTCC_IF_CC0);
<> 144:ef7eb2e8f9f7 181 }
<> 144:ef7eb2e8f9f7 182
<> 144:ef7eb2e8f9f7 183 timestamp_t lp_ticker_read()
<> 144:ef7eb2e8f9f7 184 {
<> 144:ef7eb2e8f9f7 185 lp_ticker_init();
<> 144:ef7eb2e8f9f7 186
<> 144:ef7eb2e8f9f7 187 uint64_t ticks_temp;
<> 144:ef7eb2e8f9f7 188 uint64_t ticks = RTCC_CounterGet();
<> 144:ef7eb2e8f9f7 189
<> 144:ef7eb2e8f9f7 190 /* ticks = counter tick value
<> 144:ef7eb2e8f9f7 191 * timestamp = value in microseconds
<> 144:ef7eb2e8f9f7 192 * timestamp = ticks * 1.000.000 / RTC frequency
<> 144:ef7eb2e8f9f7 193 */
<> 144:ef7eb2e8f9f7 194
<> 144:ef7eb2e8f9f7 195 ticks_temp = (ticks * 1000000) / (LOW_ENERGY_CLOCK_FREQUENCY / RTC_CLOCKDIV_INT);
<> 144:ef7eb2e8f9f7 196 return (timestamp_t) (ticks_temp & 0xFFFFFFFF);
<> 144:ef7eb2e8f9f7 197 }
<> 144:ef7eb2e8f9f7 198
<> 144:ef7eb2e8f9f7 199 #endif /* RTCC */
<> 144:ef7eb2e8f9f7 200
<> 144:ef7eb2e8f9f7 201 #endif