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Merge branch 'refactor/systimer_hal' into 'master'

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systimer: add HAL layer

See merge request espressif/esp-idf!8115
This commit is contained in:
Ivan Grokhotkov 2020-04-03 18:17:18 +08:00
commit 60086d1bd0
13 changed files with 517 additions and 149 deletions
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2
components/esp_timer/private_include/esp_timer_impl.h
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@ -73,7 +73,7 @@ void esp_timer_impl_advance(int64_t time_us);
* @brief Get time, in microseconds, since esp_timer_impl_init was called
* @return timestamp in microseconds
*/
uint64_t esp_timer_impl_get_time(void);
int64_t esp_timer_impl_get_time(void);
/**
* @brief Get minimal timer period, in microseconds

7
components/esp_timer/src/esp_timer.c
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@ -278,7 +278,7 @@ static void timer_process_alarm(esp_timer_dispatch_t dispatch_method)
(void) dispatch_method;
timer_list_lock();
uint64_t now = esp_timer_impl_get_time();
int64_t now = esp_timer_impl_get_time();
esp_timer_handle_t it = LIST_FIRST(&s_timers);
while (it != NULL &&
it->alarm < now) {
@ -502,8 +502,3 @@ int64_t IRAM_ATTR esp_timer_get_next_alarm(void)
timer_list_unlock();
return next_alarm;
}
int64_t IRAM_ATTR esp_timer_get_time(void)
{
return (int64_t) esp_timer_impl_get_time();
}

4
components/esp_timer/src/esp_timer_impl_frc_legacy.c
View File

@ -176,7 +176,7 @@ void esp_timer_impl_unlock(void)
portEXIT_CRITICAL(&s_time_update_lock);
}
uint64_t IRAM_ATTR esp_timer_impl_get_time(void)
int64_t IRAM_ATTR esp_timer_impl_get_time(void)
{
uint32_t timer_val;
uint64_t time_base;
@ -209,6 +209,8 @@ uint64_t IRAM_ATTR esp_timer_impl_get_time(void)
return result;
}
int64_t esp_timer_get_time(void) __attribute__((alias("esp_timer_impl_get_time")));
void IRAM_ATTR esp_timer_impl_set_alarm(uint64_t timestamp)
{
portENTER_CRITICAL_SAFE(&s_time_update_lock);

4
components/esp_timer/src/esp_timer_impl_lac.c
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@ -144,11 +144,13 @@ uint64_t IRAM_ATTR esp_timer_impl_get_counter_reg(void)
return result.val;
}
uint64_t IRAM_ATTR esp_timer_impl_get_time(void)
int64_t IRAM_ATTR esp_timer_impl_get_time(void)
{
return esp_timer_impl_get_counter_reg() / TICKS_PER_US;
}
int64_t esp_timer_get_time(void) __attribute__((alias("esp_timer_impl_get_time")));
void IRAM_ATTR esp_timer_impl_set_alarm(uint64_t timestamp)
{
portENTER_CRITICAL_SAFE(&s_time_update_lock);

194
components/esp_timer/src/esp_timer_impl_systimer.c
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@ -1,4 +1,4 @@
// Copyright 2017 Espressif Systems (Shanghai) PTE LTD
// Copyright 2017-2020 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
@ -12,63 +12,30 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <sys/param.h>
#include "esp_timer_impl.h"
#include "esp_err.h"
#include "esp_timer.h"
#include "esp_attr.h"
#include "esp_intr_alloc.h"
#include "esp_log.h"
#include "soc/rtc.h"
#include "soc/systimer_reg.h"
#include "soc/periph_defs.h"
#include "freertos/FreeRTOS.h"
#include "hal/systimer_ll.h"
#include "hal/systimer_types.h"
#include "hal/systimer_hal.h"
/**
* @file esp_timer_systimer.c
* @brief Implementation of chip-specific part of esp_timer
* @brief Implementation of esp_timer using systimer.
*
* This implementation uses SYSTIMER of the ESP32-S2. This timer is
* a 64-bit up-counting timer, with a programmable compare value (called 'alarm'
* hereafter). When the timer reaches compare value, interrupt is raised.
* The timer can be configured to produce an edge or a level interrupt.
* This timer is a 64-bit up-counting timer, with a programmable compare value (called 'alarm' hereafter).
* When the timer reaches compare value, interrupt is raised.
* The timer can be configured to produce an edge interrupt.
*
* @note systimer counter0 and alarm2 are adopted to implemented esp_timer
*/
/* esp_timer uses the 2 compare unit of SYSTIMER. */
#define INTR_SOURCE_LACT (ETS_SYSTIMER_TARGET2_EDGE_INTR_SOURCE)
// Registers
#define COUNT_LO_REG (SYSTIMER_VALUE_LO_REG)
#define COUNT_HI_REG (SYSTIMER_VALUE_HI_REG)
#define LOAD_LO_REG (SYSTIMER_LOAD_LO_REG)
#define LOAD_HI_REG (SYSTIMER_LOAD_HI_REG)
#define ALARM_LO_REG (SYSTIMER_TARGET2_LO_REG)
#define ALARM_HI_REG (SYSTIMER_TARGET2_HI_REG)
// Macros
#define ENABLE_CLK() (REG_SET_BIT(SYSTIMER_CONF_REG, SYSTIMER_CLK_EN))
#define ENABLE_INT() (REG_SET_BIT(SYSTIMER_INT_ENA_REG, SYSTIMER_INT2_ENA))
#define DISABLE_INT() (REG_CLR_BIT(SYSTIMER_INT_ENA_REG, SYSTIMER_INT2_ENA))
#define GET_INT_FLAG() (REG_GET_FIELD(SYSTIMER_INT_RAW_REG, SYSTIMER_INT2_RAW))
#define CLEAR_INT() (REG_WRITE(SYSTIMER_INT_CLR_REG, SYSTIMER_INT2_CLR))
#define DISABLE_COMPARE_UNIT() (REG_WRITE(SYSTIMER_TARGET2_CONF_REG, 0))
#define ENABLE_COMPARE_UNIT() (REG_WRITE(SYSTIMER_TARGET2_CONF_REG, SYSTIMER_TARGET2_WORK_EN))
#define APPLY_LOADED_VAL() (REG_SET_BIT(SYSTIMER_LOAD_REG, SYSTIMER_TIMER_LOAD))
#define SETTING_STEP_FOR_PLL_SRC(step) (REG_SET_FIELD(SYSTIMER_STEP_REG, SYSTIMER_TIMER_PLL_STEP, step))
#define SETTING_STEP_FOR_XTAL_SRC(step) (REG_SET_FIELD(SYSTIMER_STEP_REG, SYSTIMER_TIMER_XTAL_STEP, step))
#define UPDATE_COUNT_REG() (REG_WRITE(SYSTIMER_UPDATE_REG, SYSTIMER_TIMER_UPDATE))
#define GET_FLAG_UPDATED_COUNT_REG() (REG_GET_BIT(SYSTIMER_UPDATE_REG, SYSTIMER_TIMER_VALUE_VALID))
/* Helper type to convert between a 64-bit value and a pair of 32-bit values without shifts and masks */
typedef struct {
union {
struct {
uint32_t lo;
uint32_t hi;
};
uint64_t val;
};
} timer_64b_reg_t;
static const char* TAG = "esp_timer_impl";
static const char *TAG = "esp_timer_systimer";
/* Interrupt handle returned by the interrupt allocator */
static intr_handle_t s_timer_interrupt_handle;
@ -78,13 +45,9 @@ static intr_handle_t s_timer_interrupt_handle;
*/
static intr_handler_t s_alarm_handler;
/* Number of timer ticks per microsecond. */
#define TICKS_PER_US (APB_CLK_FREQ / 1000000)
/* Spinlock used to protect access to the hardware registers. */
portMUX_TYPE s_time_update_lock = portMUX_INITIALIZER_UNLOCKED;
void esp_timer_impl_lock(void)
{
portENTER_CRITICAL(&s_time_update_lock);
@ -97,134 +60,92 @@ void esp_timer_impl_unlock(void)
uint64_t IRAM_ATTR esp_timer_impl_get_counter_reg(void)
{
uint32_t lo, lo_start, hi;
/* Set the "update" bit and wait for acknowledgment */
UPDATE_COUNT_REG();
while (GET_FLAG_UPDATED_COUNT_REG() == 0) {
;
}
/* Read LO, HI, then LO again, check that LO returns the same value.
* This accounts for the case when an interrupt may happen between reading
* HI and LO values, and this function may get called from the ISR.
* In this case, the repeated read will return consistent values.
*/
lo_start = REG_READ(COUNT_LO_REG);
do {
lo = lo_start;
hi = REG_READ(COUNT_HI_REG);
lo_start = REG_READ(COUNT_LO_REG);
} while (lo_start != lo);
timer_64b_reg_t result = {
.lo = lo,
.hi = hi
};
return result.val;
return systimer_hal_get_counter_value(SYSTIMER_COUNTER_0);
}
uint64_t IRAM_ATTR esp_timer_impl_get_time(void)
int64_t IRAM_ATTR esp_timer_impl_get_time(void)
{
return esp_timer_impl_get_counter_reg() / TICKS_PER_US;
return systimer_hal_get_time(SYSTIMER_COUNTER_0);
}
// Xtensa architecture doesn't have tail call optimization, using alias here can improve performance somehow
int64_t esp_timer_get_time(void) __attribute__((alias("esp_timer_impl_get_time")));
void IRAM_ATTR esp_timer_impl_set_alarm(uint64_t timestamp)
{
portENTER_CRITICAL_SAFE(&s_time_update_lock);
int64_t offset = TICKS_PER_US * 2;
uint64_t now_time = esp_timer_impl_get_counter_reg();
timer_64b_reg_t alarm = { .val = MAX(timestamp * TICKS_PER_US, now_time + offset) };
do {
DISABLE_COMPARE_UNIT();
REG_WRITE(ALARM_LO_REG, alarm.lo);
REG_WRITE(ALARM_HI_REG, alarm.hi);
ENABLE_COMPARE_UNIT();
now_time = esp_timer_impl_get_counter_reg();
int64_t delta = (int64_t)alarm.val - (int64_t)now_time;
if (delta <= 0 && GET_INT_FLAG() == 0) {
// new alarm is less than the counter and the interrupt flag is not set
offset += abs((int)delta) + TICKS_PER_US * 2;
alarm.val = now_time + offset;
} else {
// finish if either (alarm > counter) or the interrupt flag is already set.
break;
}
} while(1);
systimer_hal_set_alarm_value(SYSTIMER_ALARM_2, timestamp);
portEXIT_CRITICAL_SAFE(&s_time_update_lock);
}
static void IRAM_ATTR timer_alarm_isr(void *arg)
{
// clear the interrupt
CLEAR_INT();
systimer_ll_clear_alarm_int(SYSTIMER_ALARM_2);
/* Call the upper layer handler */
(*s_alarm_handler)(arg);
}
void IRAM_ATTR esp_timer_impl_update_apb_freq(uint32_t apb_ticks_per_us)
{
/* If this function was called when switching APB clock to PLL, don't need
* do anything: the SYSTIMER_TIMER_PLL_STEP is already correct.
* If this was called when switching APB clock to XTAL, need to adjust
* XTAL_STEP value accordingly.
*/
if (apb_ticks_per_us != TICKS_PER_US) {
assert((TICKS_PER_US % apb_ticks_per_us) == 0 && "TICK_PER_US should be divisible by APB frequency (in MHz)");
SETTING_STEP_FOR_XTAL_SRC(TICKS_PER_US / apb_ticks_per_us);
}
systimer_hal_on_apb_freq_update(apb_ticks_per_us);
}
void esp_timer_impl_advance(int64_t time_us)
{
portENTER_CRITICAL_SAFE(&s_time_update_lock);
timer_64b_reg_t new_count = { .val = esp_timer_impl_get_counter_reg() + time_us * TICKS_PER_US };
REG_WRITE(LOAD_LO_REG, new_count.lo);
REG_WRITE(LOAD_HI_REG, new_count.hi);
APPLY_LOADED_VAL();
systimer_hal_counter_value_advance(SYSTIMER_COUNTER_0, time_us);
portEXIT_CRITICAL_SAFE(&s_time_update_lock);
}
esp_err_t esp_timer_impl_init(intr_handler_t alarm_handler)
{
s_alarm_handler = alarm_handler;
esp_err_t err = esp_intr_alloc(INTR_SOURCE_LACT,
ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM | ESP_INTR_FLAG_EDGE,
&timer_alarm_isr, NULL, &s_timer_interrupt_handle);
esp_err_t err = esp_intr_alloc(ETS_SYSTIMER_TARGET2_EDGE_INTR_SOURCE,
ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM | ESP_INTR_FLAG_EDGE,
&timer_alarm_isr, NULL, &s_timer_interrupt_handle);
if (err != ESP_OK) {
ESP_EARLY_LOGE(TAG, "esp_intr_alloc failed (0x%0x)", err);
return err;
ESP_EARLY_LOGE(TAG, "esp_intr_alloc failed (%#x)", err);
goto err_intr_alloc;
}
ENABLE_CLK();
/* Configure the counter:
* - increment by 1 when running from PLL (80 ticks per microsecond),
* - increment by 2 when running from XTAL (40 ticks per microsecond).
* Note that if the APB frequency is derived from XTAL with divider != 1,
* XTAL_STEP needs to be adjusted accordingly. For example, if
* the APB frequency is XTAL/4 = 10 MHz, then XTAL_STEP should be set to 8.
* This is handled in esp_timer_impl_update_apb_freq function above.
*/
assert(rtc_clk_xtal_freq_get() == 40 && TICKS_PER_US == 80
&& "update the following code to support other XTAL:APB frequency ratios");
SETTING_STEP_FOR_PLL_SRC(1);
SETTING_STEP_FOR_XTAL_SRC(2);
systimer_hal_enable_counter(SYSTIMER_COUNTER_0);
systimer_hal_init();
systimer_hal_select_alarm_mode(SYSTIMER_ALARM_2, SYSTIMER_ALARM_MODE_ONESHOT);
/* TODO: if SYSTIMER is used for anything else, access to SYSTIMER_INT_ENA_REG has to be
* protected by a shared spinlock. Since this code runs as part of early startup, this
* is practically not an issue. Same applies to SYSTIMER_CLK_EN above.
*/
ENABLE_INT();
ESP_ERROR_CHECK(esp_intr_enable(s_timer_interrupt_handle));
* protected by a shared spinlock. Since this code runs as part of early startup, this
* is practically not an issue.
*/
systimer_hal_enable_alarm_int(SYSTIMER_ALARM_2);
err = esp_intr_enable(s_timer_interrupt_handle);
if (err != ESP_OK) {
ESP_EARLY_LOGE(TAG, "esp_intr_enable failed (%#x)", err);
goto err_intr_en;
}
return ESP_OK;
err_intr_en:
systimer_ll_disable_alarm(SYSTIMER_ALARM_2);
/* TODO: may need a spinlock, see the note related to SYSTIMER_INT_ENA_REG in systimer_hal_init */
systimer_ll_disable_alarm_int(SYSTIMER_ALARM_2);
esp_intr_free(s_timer_interrupt_handle);
err_intr_alloc:
s_alarm_handler = NULL;
return err;
}
void esp_timer_impl_deinit(void)
{
esp_intr_disable(s_timer_interrupt_handle);
DISABLE_COMPARE_UNIT();
/* TODO: may need a spinlock, see the note related to SYSTIMER_INT_ENA_REG in esp_timer_impl_init */
DISABLE_INT();
systimer_ll_disable_alarm(SYSTIMER_ALARM_2);
/* TODO: may need a spinlock, see the note related to SYSTIMER_INT_ENA_REG in systimer_hal_init */
systimer_ll_disable_alarm_int(SYSTIMER_ALARM_2);
esp_intr_free(s_timer_interrupt_handle);
s_timer_interrupt_handle = NULL;
s_alarm_handler = NULL;
}
uint64_t IRAM_ATTR esp_timer_impl_get_min_period_us(void)
@ -235,12 +156,9 @@ uint64_t IRAM_ATTR esp_timer_impl_get_min_period_us(void)
uint64_t esp_timer_impl_get_alarm_reg(void)
{
portENTER_CRITICAL_SAFE(&s_time_update_lock);
timer_64b_reg_t alarm = {
.lo = REG_READ(ALARM_LO_REG),
.hi = REG_READ(ALARM_HI_REG)
};
uint64_t val = systimer_hal_get_alarm_value(SYSTIMER_ALARM_2);
portEXIT_CRITICAL_SAFE(&s_time_update_lock);
return alarm.val;
return val;
}
void esp_timer_private_update_apb_freq(uint32_t apb_ticks_per_us) __attribute__((alias("esp_timer_impl_update_apb_freq")));

4
components/esp_timer/test/test_esp_timer.c
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@ -113,8 +113,8 @@ TEST_CASE("esp_timer_impl_set_alarm stress test", "[esp_timer]")
{
SemaphoreHandle_t done = (SemaphoreHandle_t) arg;
uint64_t start = esp_timer_impl_get_time();
uint64_t now = start;
int64_t start = esp_timer_impl_get_time();
int64_t now = start;
int count = 0;
const int delays[] = {50, 5000, 10000000};
const int delays_count = sizeof(delays)/sizeof(delays[0]);

76
components/soc/include/hal/systimer_hal.h Normal file
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@ -0,0 +1,76 @@
// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include "hal/systimer_types.h"
/**
* @brief enable systimer counter
*/
void systimer_hal_enable_counter(systimer_counter_id_t counter_id);
/**
* @brief get current counter value
*/
uint64_t systimer_hal_get_counter_value(systimer_counter_id_t counter_id);
/**
* @brief get current time (in microseconds)
*/
uint64_t systimer_hal_get_time(systimer_counter_id_t counter_id);
/**
* @brief set alarm time
*/
void systimer_hal_set_alarm_value(systimer_alarm_id_t alarm_id, uint64_t timestamp);
/**
* @brief get alarm time
*/
uint64_t systimer_hal_get_alarm_value(systimer_alarm_id_t alarm_id);
/**
* @brief enable alarm interrupt
*/
void systimer_hal_enable_alarm_int(systimer_alarm_id_t alarm_id);
/**
* @brief select alarm mode
*/
void systimer_hal_select_alarm_mode(systimer_alarm_id_t alarm_id, systimer_alarm_mode_t mode);
/**
* @brief update systimer step when apb clock gets changed
*/
void systimer_hal_on_apb_freq_update(uint32_t apb_ticks_per_us);
/**
* @brief move systimer counter value forward or backward
*/
void systimer_hal_counter_value_advance(systimer_counter_id_t counter_id, int64_t time_us);
/**
* @brief initialize systimer in HAL layer
*/
void systimer_hal_init(void);
#ifdef __cplusplus
}
#endif

74
components/soc/include/hal/systimer_types.h Normal file
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@ -0,0 +1,74 @@
// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include "soc/systimer_caps.h"
/*
* @brief The structure of the counter value in systimer
*
*/
typedef struct {
union {
struct {
uint64_t lo : SOC_SYSTIMER_BIT_WIDTH_LO; /*!< Low part of counter value */
uint64_t hi : SOC_SYSTIMER_BIT_WIDTH_HI; /*!< High part of counter value */
};
uint64_t val; /*!< counter value */
};
} systimer_counter_value_t;
/** @cond */
_Static_assert(sizeof(systimer_counter_value_t) == 8, "systimer_counter_value_t should occupy 8 bytes in memory");
/** @endcond */
/**
* @brief systimer counter ID
*
*/
typedef enum {
SYSTIMER_COUNTER_0, /*!< systimer counter 0 */
#if SOC_SYSTIMER_COUNTER_NUM > 1
SYSTIEMR_COUNTER_1, /*!< systimer counter 1 */
#endif
} systimer_counter_id_t;
/**
* @brief systimer alarm ID
*
*/
typedef enum {
SYSTIMER_ALARM_0, /*!< systimer alarm 0 */
SYSTIMER_ALARM_1, /*!< systimer alarm 1 */
SYSTIMER_ALARM_2, /*!< systimer alarm 2 */
} systimer_alarm_id_t;
/**
* @brief systimer alarm mode
*
*/
typedef enum {
SYSTIMER_ALARM_MODE_ONESHOT, /*!< systimer alarm oneshot mode */
SYSTIMER_ALARM_MODE_PERIOD, /*!< systimer alarm period mode */
} systimer_alarm_mode_t;
#ifdef __cplusplus
}
#endif

1
components/soc/linker.lf
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@ -24,3 +24,4 @@ entries:
cpu_hal (noflash)
soc_hal (noflash)
wdt_hal_iram (noflash)
systimer_hal (noflash)

21
components/soc/soc/esp32s2/include/soc/systimer_caps.h Normal file
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@ -0,0 +1,21 @@
// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#define SOC_SYSTIMER_COUNTER_NUM (1) // Number of counter units
#define SOC_SYSTIMER_ALARM_NUM (3) // Number of alarm units
#define SOC_SYSTIMER_BIT_WIDTH_LO (32) // Bit width of systimer low part
#define SOC_SYSTIMER_BIT_WIDTH_HI (32) // Bit width of systimer high part

1
components/soc/src/esp32s2/CMakeLists.txt
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@ -8,6 +8,7 @@ set(srcs "adc_hal.c"
"rtc_time.c"
"rtc_wdt.c"
"soc_memory_layout.c"
"systimer_hal.c"
"touch_sensor_hal.c"
"usb_hal.c")

138
components/soc/src/esp32s2/include/hal/systimer_ll.h Normal file
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@ -0,0 +1,138 @@
// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>
#include "soc/soc.h"
#include "soc/systimer_reg.h"
// All these functions get invoked either from ISR or HAL that linked to IRAM.
// Always inline these functions even no gcc optimization is applied.
/*******************counter*************************/
__attribute__((always_inline)) static inline void systimer_ll_enable_clock(void)
{
REG_SET_BIT(SYSTIMER_CONF_REG, SYSTIMER_CLK_EN);
}
__attribute__((always_inline)) static inline void systimer_ll_apply_counter_value(void)
{
REG_SET_BIT(SYSTIMER_LOAD_REG, SYSTIMER_TIMER_LOAD);
}
__attribute__((always_inline)) static inline void systimer_ll_load_counter_value(uint64_t value)
{
REG_WRITE(SYSTIMER_LOAD_LO_REG, value & 0xFFFFFFFF);
REG_WRITE(SYSTIMER_LOAD_HI_REG, (value & 0xFFFFFFFF00000000) >> 32);
}
__attribute__((always_inline)) static inline void systimer_ll_set_step_for_pll(uint32_t step)
{
REG_SET_FIELD(SYSTIMER_STEP_REG, SYSTIMER_TIMER_PLL_STEP, step);
}
__attribute__((always_inline)) static inline void systimer_ll_set_step_for_xtal(uint32_t step)
{
REG_SET_FIELD(SYSTIMER_STEP_REG, SYSTIMER_TIMER_XTAL_STEP, step);
}
__attribute__((always_inline)) static inline void systimer_ll_counter_snapshot(void)
{
REG_WRITE(SYSTIMER_UPDATE_REG, SYSTIMER_TIMER_UPDATE);
}
__attribute__((always_inline)) static inline bool systimer_ll_is_counter_value_valid(void)
{
return REG_GET_BIT(SYSTIMER_UPDATE_REG, SYSTIMER_TIMER_VALUE_VALID);
}
__attribute__((always_inline)) static inline uint32_t systimer_ll_get_counter_value_low(void)
{
return REG_READ(SYSTIMER_VALUE_LO_REG);
}
__attribute__((always_inline)) static inline uint32_t systimer_ll_get_counter_value_high(void)
{
return REG_READ(SYSTIMER_VALUE_HI_REG);
}
/*******************alarm*************************/
__attribute__((always_inline)) static inline void systimer_ll_set_alarm_value(uint32_t alarm_id, uint64_t value)
{
REG_WRITE(SYSTIMER_TARGET0_LO_REG + alarm_id * 8, value & 0xFFFFFFFF);
REG_WRITE(SYSTIMER_TARGET0_HI_REG + alarm_id * 8, (value & 0xFFFFFFFF00000000) >> 32);
}
__attribute__((always_inline)) static inline uint64_t systimer_ll_get_alarm_value(uint32_t alarm_id)
{
return (uint64_t)REG_READ(SYSTIMER_TARGET0_HI_REG + alarm_id * 8) << 32 | REG_READ(SYSTIMER_TARGET0_LO_REG + alarm_id * 8);
}
__attribute__((always_inline)) static inline void systimer_ll_enable_alarm(uint32_t alarm_id)
{
REG_SET_BIT(SYSTIMER_TARGET0_CONF_REG + alarm_id * 4, BIT(31));
}
__attribute__((always_inline)) static inline void systimer_ll_disable_alarm(uint32_t alarm_id)
{
REG_CLR_BIT(SYSTIMER_TARGET0_CONF_REG + alarm_id * 4, BIT(31));
}
__attribute__((always_inline)) static inline void systimer_ll_enable_alarm_oneshot(uint32_t alarm_id)
{
REG_CLR_BIT(SYSTIMER_TARGET0_CONF_REG + alarm_id * 4, BIT(30));
}
__attribute__((always_inline)) static inline void systimer_ll_enable_alarm_period(uint32_t alarm_id)
{
REG_SET_BIT(SYSTIMER_TARGET0_CONF_REG + alarm_id * 4, BIT(30));
}
__attribute__((always_inline)) static inline void systimer_ll_set_alarm_period(uint32_t alarm_id, uint32_t period)
{
REG_SET_FIELD(SYSTIMER_TARGET0_CONF_REG + alarm_id * 4, SYSTIMER_TARGET0_PERIOD, period);
}
/*******************interrupt*************************/
__attribute__((always_inline)) static inline void systimer_ll_enable_alarm_int(uint32_t alarm_id)
{
REG_SET_BIT(SYSTIMER_INT_ENA_REG, 1 << alarm_id);
}
__attribute__((always_inline)) static inline void systimer_ll_disable_alarm_int(uint32_t alarm_id)
{
REG_CLR_BIT(SYSTIMER_INT_ENA_REG, 1 << alarm_id);
}
__attribute__((always_inline)) static inline bool systimer_ll_is_alarm_int_fired(uint32_t alarm_id)
{
return REG_GET_BIT(SYSTIMER_INT_RAW_REG, 1 << alarm_id);
}
__attribute__((always_inline)) static inline void systimer_ll_clear_alarm_int(uint32_t alarm_id)
{
REG_SET_BIT(SYSTIMER_INT_CLR_REG, 1 << alarm_id);
}
#ifdef __cplusplus
}
#endif

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// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <sys/param.h>
#include <assert.h>
#include "hal/systimer_hal.h"
#include "hal/systimer_ll.h"
#include "hal/systimer_types.h"
#include "soc/systimer_caps.h"
#include "soc/rtc.h"
#define SYSTIMER_TICKS_PER_US (80) // Number of timer ticks per microsecond
uint64_t systimer_hal_get_counter_value(systimer_counter_id_t counter_id)
{
uint32_t lo, lo_start, hi;
/* Set the "update" bit and wait for acknowledgment */
systimer_ll_counter_snapshot();
while (!systimer_ll_is_counter_value_valid());
/* Read LO, HI, then LO again, check that LO returns the same value.
* This accounts for the case when an interrupt may happen between reading
* HI and LO values, and this function may get called from the ISR.
* In this case, the repeated read will return consistent values.
*/
lo_start = systimer_ll_get_counter_value_low();
do {
lo = lo_start;
hi = systimer_ll_get_counter_value_high();
lo_start = systimer_ll_get_counter_value_low();
} while (lo_start != lo);
systimer_counter_value_t result = {
.lo = lo,
.hi = hi
};
return result.val;
}
uint64_t systimer_hal_get_time(systimer_counter_id_t counter_id)
{
return systimer_hal_get_counter_value(counter_id) / SYSTIMER_TICKS_PER_US;
}
void systimer_hal_set_alarm_value(systimer_alarm_id_t alarm_id, uint64_t timestamp)
{
int64_t offset = SYSTIMER_TICKS_PER_US * 2;
uint64_t now_time = systimer_hal_get_counter_value(SYSTIMER_COUNTER_0);
systimer_counter_value_t alarm = { .val = MAX(timestamp * SYSTIMER_TICKS_PER_US, now_time + offset) };
do {
systimer_ll_disable_alarm(alarm_id);
systimer_ll_set_alarm_value(alarm_id, alarm.val);
systimer_ll_enable_alarm(alarm_id);
now_time = systimer_hal_get_counter_value(SYSTIMER_COUNTER_0);
int64_t delta = (int64_t)alarm.val - (int64_t)now_time;
if (delta <= 0 && !systimer_ll_is_alarm_int_fired(alarm_id)) {
// new alarm is less than the counter and the interrupt flag is not set
offset += -1 * delta + SYSTIMER_TICKS_PER_US * 2;
alarm.val = now_time + offset;
} else {
// finish if either (alarm > counter) or the interrupt flag is already set.
break;
}
} while (1);
}
uint64_t systimer_hal_get_alarm_value(systimer_alarm_id_t alarm_id)
{
return systimer_ll_get_alarm_value(alarm_id);
}
void systimer_hal_enable_alarm_int(systimer_alarm_id_t alarm_id)
{
systimer_ll_enable_alarm_int(alarm_id);
}
void systimer_hal_on_apb_freq_update(uint32_t apb_ticks_per_us)
{
/* If this function was called when switching APB clock to PLL, don't need
* do anything: the SYSTIMER_TIMER_PLL_STEP is already correct.
* If this was called when switching APB clock to XTAL, need to adjust
* XTAL_STEP value accordingly.
*/
if (apb_ticks_per_us != SYSTIMER_TICKS_PER_US) {
assert((SYSTIMER_TICKS_PER_US % apb_ticks_per_us) == 0 && "TICK_PER_US should be divisible by APB frequency (in MHz)");
systimer_ll_set_step_for_xtal(SYSTIMER_TICKS_PER_US / apb_ticks_per_us);
}
}
void systimer_hal_counter_value_advance(systimer_counter_id_t counter_id, int64_t time_us)
{
systimer_counter_value_t new_count = { .val = systimer_hal_get_counter_value(counter_id) + time_us * SYSTIMER_TICKS_PER_US };
systimer_ll_load_counter_value(new_count.val);
systimer_ll_apply_counter_value();
}
void systimer_hal_enable_counter(systimer_counter_id_t counter_id)
{
systimer_ll_enable_clock();
}
void systimer_hal_init(void)
{
assert(rtc_clk_xtal_freq_get() == 40 && "update the step for xtal to support other XTAL:APB frequency ratios");
/* Configure the counter:
* - increment by 1 when running from PLL (80 ticks per microsecond),
* - increment by 2 when running from XTAL (40 ticks per microsecond).
* Note that if the APB frequency is derived from XTAL with divider != 1,
* XTAL_STEP needs to be adjusted accordingly. For example, if
* the APB frequency is XTAL/4 = 10 MHz, then XTAL_STEP should be set to 8.
* This is handled in systimer_hal_on_apb_freq_update function.
*/
systimer_ll_set_step_for_pll(1);
systimer_ll_set_step_for_xtal(2);
}
void systimer_hal_select_alarm_mode(systimer_alarm_id_t alarm_id, systimer_alarm_mode_t mode)
{
switch (mode) {
case SYSTIMER_ALARM_MODE_ONESHOT:
systimer_ll_enable_alarm_oneshot(alarm_id);
break;
case SYSTIMER_ALARM_MODE_PERIOD:
systimer_ll_enable_alarm_period(alarm_id);
break;
default:
break;
}
}