/
IntervalTimer.cpp
117 lines (108 loc) · 3.72 KB
/
IntervalTimer.cpp
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/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2018 PJRC.COM, LLC.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* 1. The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* 2. If the Software is incorporated into a build system that allows
* selection among a list of target devices, then similar target
* devices manufactured by PJRC.COM must be included in the list of
* target devices and selectable in the same manner.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include "IntervalTimer.h"
#include "debug/printf.h"
static void pit_isr(void);
#define NUM_CHANNELS 4
static IntervalTimer::callback funct_table[4] __attribute((aligned(32))) = {nullptr, nullptr, nullptr, nullptr};
uint8_t IntervalTimer::nvic_priorites[4] = {255, 255, 255, 255};
bool IntervalTimer::beginCycles(callback funct, uint32_t cycles)
{
printf("beginCycles %u\n", cycles);
if (channel) {
channel->TCTRL = 0;
channel->TFLG = 1;
} else {
CCM_CCGR1 |= CCM_CCGR1_PIT(CCM_CCGR_ON);
//__asm__ volatile("nop"); // solves timing problem on Teensy 3.5
PIT_MCR = 1;
channel = IMXRT_PIT_CHANNELS;
while (1) {
if (channel->TCTRL == 0) break;
if (++channel >= IMXRT_PIT_CHANNELS + NUM_CHANNELS) {
channel = NULL;
return false;
}
}
}
int index = channel - IMXRT_PIT_CHANNELS;
funct_table[index] = funct;
channel->LDVAL = cycles;
channel->TCTRL = 3;
nvic_priorites[index] = nvic_priority;
uint8_t top_priority = 255;
for (int i=0; i < NUM_CHANNELS; i++) {
if (top_priority > nvic_priorites[i]) top_priority = nvic_priorites[i];
}
attachInterruptVector(IRQ_PIT, &pit_isr);
NVIC_SET_PRIORITY(IRQ_PIT, top_priority);
NVIC_ENABLE_IRQ(IRQ_PIT);
return true;
}
void IntervalTimer::end() {
#if 1
if (channel) {
int index = channel - IMXRT_PIT_CHANNELS;
// TODO: disable IRQ_PIT, but only if all instances ended
funct_table[index] = nullptr;
channel->TCTRL = 0;
channel->TFLG = 1;
nvic_priorites[index] = 255;
uint8_t top_priority = 255;
for (int i=0; i < NUM_CHANNELS; i++) {
if (top_priority > nvic_priorites[i]) top_priority = nvic_priorites[i];
}
NVIC_SET_PRIORITY(IRQ_PIT, top_priority);
channel = 0;
}
#endif
}
//FASTRUN
static void pit_isr()
{
#if 0
for (int i=0; i < NUM_CHANNELS; i++) {
IMXRT_PIT_CHANNEL_t *channel = IMXRT_PIT_CHANNELS + i;
if (funct_table[0] && channel->TFLG) {
channel->TFLG = 1;
funct_table[i]();
}
}
#else
IMXRT_PIT_CHANNEL_t *channel= IMXRT_PIT_CHANNELS;
if (funct_table[0] != nullptr && channel->TFLG) {channel->TFLG = 1;funct_table[0]();}
channel++;
if (funct_table[1] != nullptr && channel->TFLG) {channel->TFLG = 1;funct_table[1]();}
channel++;
if (funct_table[2] != nullptr && channel->TFLG) {channel->TFLG = 1;funct_table[2]();}
channel++;
if (funct_table[3] != nullptr && channel->TFLG) {channel->TFLG = 1;funct_table[3]();}
#endif
}