bricks/ev3: Implement clock, systick, and wait for interrupt sleep.

bricks/ev3/mpconfigport.h

@@ -78,14 +78,14 @@ typedef long mp_off_t;
 // value from disable_irq back to enable_irq.  If you really need
 // to know the machine-specific values, see irq.h.
 
+#include <arm920t.h>
+
 static inline void enable_irq(mp_uint_t state) {
-    // __set_PRIMASK(state);
+    arm_intr_enable();
 }
 
 static inline mp_uint_t disable_irq(void) {
-    // mp_uint_t state = __get_PRIMASK();
-    // __disable_irq();
-    // return state;
+    arm_intr_disable();
     return 0;
 }
 

bricks/ev3/mphalport.c

@@ -16,6 +16,10 @@
 #include "py/mpconfig.h"
 #include "py/stream.h"
 
+#include <systick.h>
+#include <arm920t.h>
+#include <am18x_aintc.h>
+
 void pb_stack_get_info(char **sstack, char **estack) {
 
     volatile int stack_dummy;
@@ -31,24 +35,17 @@ void pb_event_poll_hook_leave(void) {
     // have a critical section where we disable interrupts and check see if there
     // are any last second events. If not, we can call __WFI(), which still wakes
     // up the CPU on interrupt even though interrupts are otherwise disabled.
-
-
-    // TODO: TIAM1808 Implement commented out parts
-
-    // mp_uint_t state = disable_irq();
+    arm_intr_disable();
     if (!process_nevents()) {
-        // __WFI();
+        arm_wfi();
     }
-    // enable_irq(state);
+    arm_intr_enable();
 }
 
 // Core delay function that does an efficient sleep and may switch thread context.
 // If IRQs are enabled then we must have the GIL.
 void mp_hal_delay_ms(mp_uint_t Delay) {
-
-    // TODO: TIAM1808 implement IRQ enabled check
-
-    if (/*__get_PRIMASK() == 0*/ 0) {
+    if (aintc_get_active() != AINTC_INVALID_ACTIVE) {
         // IRQs enabled, so can use systick counter to do the delay
         uint32_t start = pbdrv_clock_get_ms();
         // Wraparound of tick is taken care of by 2's complement arithmetic.
@@ -60,7 +57,7 @@ void mp_hal_delay_ms(mp_uint_t Delay) {
         } while (pbdrv_clock_get_ms() - start < Delay);
     } else {
         // IRQs disabled, so need to use a busy loop for the delay.
-        // TODO: TIAM1808
+        systick_sleep(Delay);
     }
 }
 
@@ -80,7 +77,7 @@ typedef struct {
 } pb_hal_uart_t;
 
 // Sensor port 1
-static pb_hal_uart_t UART0 = { .thr = (volatile uint8_t *)0x01D0C000, .lsr = (volatile uint8_t *)0x01D0C014 };
+static pb_hal_uart_t DBG_UART = { .thr = (volatile uint8_t *)0x01D0C000, .lsr = (volatile uint8_t *)0x01D0C014 };
 
 static void debug(pb_hal_uart_t *uart, const char *s) {
     while (*s) {
@@ -91,7 +88,7 @@ static void debug(pb_hal_uart_t *uart, const char *s) {
 }
 
 void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
-    debug(&UART0, str);
+    debug(&DBG_UART, str);
     // MICROPY_EVENT_POLL_HOOK
 }
 

lib/am18x-lib/prj/am1808exp.c

@@ -7,7 +7,7 @@
 #include "am1808exp.h"
 #include "am18x_type.h"
 
-#define SYSTICK_PERIOD			10/* milli seconds */
+#define SYSTICK_PERIOD_MS (1)
 
 
 const ddr_conf_t mt46h64m16_6 = {
@@ -71,16 +71,15 @@ int low_level_init(void) {
 
 	// ddr_initialize(DDR0, &mt46h64m16_6);
 
-	if (AM18X_OK != (r = systick_init(SYSTICK_PERIOD))) {
-		// printk("systick_init() error\n");
+	if (AM18X_OK != (r = systick_init(SYSTICK_PERIOD_MS))) {
+		printk("systick_init() error\n");
 		return r;
 	}
 
-/*	if (AM18X_OK != (r = systick_start())) {
+	if (AM18X_OK != (r = systick_start())) {
 		printk("systick_start() error\n");
 		return r;
 	}
-*/
 	// invalid operation ?
 	sata_100m_clk_enable(AM18X_FALSE);
 
@@ -90,7 +89,7 @@ int low_level_init(void) {
 
 	// tps6507x_conf();
 
-	// printk("ARM CLK: %9d Hz\n", dev_get_freq(DCLK_ID_ARM));
+	printk("ARM CLK: %9d Hz\n", dev_get_freq(DCLK_ID_ARM));
 
 	return AM18X_OK;
 }

lib/am18x-lib/prj/am18x_conf.h

@@ -76,7 +76,9 @@ extern const uint32_t f_osc;
 #define assert(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
 void assert_failed(uint8_t* file, uint32_t line);
 #else
+#ifndef assert
 #define assert(expr) ((void)0)
+#endif
 #endif // DEBUG
 
 typedef void (*none_arg_handler_t)(void);

lib/pbio/drv/clock/clock_tiam1808.c

@@ -7,10 +7,23 @@
 
 #include <stdint.h>
 
+#include <contiki.h>
+
+#include <arm920t.h>
+#include <systick.h>
+
+/* High priority handler, called 1000 times a second */
+static int systick_isr(int ticks) {
+    etimer_request_poll();
+    return 0;
+}
+
 void pbdrv_clock_init(void) {
     // Actual low level clocks should probably be configured at the very
     // start of in SystemInit in platform.c instead.
     // But optionally, additional things can be initialized here.
+    systick_set_handler(systick_isr);
+    arm_intr_enable();
 }
 
 uint32_t pbdrv_clock_get_us(void) {
@@ -19,8 +32,7 @@ uint32_t pbdrv_clock_get_us(void) {
 }
 
 uint32_t pbdrv_clock_get_ms(void) {
-    // TODO: TIAM1808 implementation.
-    return 0;
+    return systick_elapsed();
 }
 
 uint32_t pbdrv_clock_get_100us(void) {