The clock tick rate was off by a factor of two in some configurations.
Use the maximum counter frequency to get the best time resolution. Do
not use the automatic interrupt clear feature.
Update #4982.
---
bsps/arm/tms570/clock/clock.c | 99 +++++++++++------------------------
1 file changed, 32 insertions(+), 67 deletions(-)
diff --git a/bsps/arm/tms570/clock/clock.c b/bsps/arm/tms570/clock/clock.c
index a3ea08c967..cf14d5772f 100644
--- a/bsps/arm/tms570/clock/clock.c
+++ b/bsps/arm/tms570/clock/clock.c
@@ -9,6 +9,7 @@
*/
/*
+ * Copyright (C) 2024 embedded brains GmbH & Co. KG
* Copyright (C) 2014 Premysl Houdek <kom541...@gmail.com>
*
* Google Summer of Code 2014 at
@@ -39,9 +40,6 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
-#include <stdlib.h>
-
-#include <rtems.h>
#include <bsp.h>
#include <bsp/irq.h>
#include <bsp/tms570.h>
@@ -54,57 +52,33 @@ static uint32_t tms570_rti_get_timecount(struct timecounter
*tc)
return TMS570_RTI.CNT[0].FRCx;
}
-#ifndef TMS570_PREFERRED_TC_FREQUENCY
-/*
- * Define preferred main time base counter frequency
- * The value of 1MHz is the best matching RTEMS
- * timing system because then there is no need
- * to scale RTEMS configuration microseconds_per_tick
- * parameter
- */
-#define TMS570_PREFERRED_TC_FREQUENCY 1000000
-#endif /* TMS570_PREFERRED_TC_FREQUENCY */
-
-/**
- * @brief Initialize the HW peripheral for clock driver
- *
- * Clock driver is implemented by RTI module
- *
- * @retval Void
- */
static void tms570_clock_driver_support_initialize_hardware( void )
{
- uint32_t microsec_per_tick;
+ uint64_t usec_per_tick;
uint32_t tc_frequency;
- uint32_t tc_prescaler;
uint32_t tc_increments_per_tick;
+ struct timecounter *tc;
- microsec_per_tick = rtems_configuration_get_microseconds_per_tick();
- tc_frequency = TMS570_PREFERRED_TC_FREQUENCY;
-
- tc_prescaler = (TMS570_RTICLK_HZ + tc_frequency) / (tc_frequency * 2);
-
- /* Recompute actual most close frequency which can be realized */
- tc_frequency = (TMS570_RTICLK_HZ + tc_prescaler) / (tc_prescaler * 2);
+ usec_per_tick = rtems_configuration_get_microseconds_per_tick();
+ tc_frequency = TMS570_RTICLK_HZ / 2;
+ tc_increments_per_tick = (usec_per_tick * tc_frequency + 500000) / 1000000;
- /*
- * Recompute tick period to adjust for configurable or exact
- * preferred time base 1 usec resolution.
- */
- tc_increments_per_tick = ((uint64_t)microsec_per_tick * tc_frequency +
- 500000) / 1000000;
-
- /* Hardware specific initialize */
+ /* Initialize module */
TMS570_RTI.GCTRL = 0;
- TMS570_RTI.CNT[0].CPUCx = tc_prescaler - 1;
- TMS570_RTI.TBCTRL = TMS570_RTI_TBCTRL_INC;
TMS570_RTI.CAPCTRL = 0;
TMS570_RTI.COMPCTRL = 0;
- /* set counter to zero */
+ TMS570_RTI.TBCTRL = TMS570_RTI_TBCTRL_INC;
+ TMS570_RTI.INTCLRENABLE = 0x05050505;
+
+ /* Initialize counter 0 */
+ TMS570_RTI.CNT[0].CPUCx = 1;
TMS570_RTI.CNT[0].UCx = 0;
TMS570_RTI.CNT[0].FRCx = 0;
- /* clear interrupts*/
+ TMS570_RTI.CMP[0].COMPx = tc_increments_per_tick;
+ TMS570_RTI.CMP[0].UDCPx = tc_increments_per_tick;
+
+ /* Clear interrupts */
TMS570_RTI.CLEARINTENA = TMS570_RTI_CLEARINTENA_CLEAROVL1INT |
TMS570_RTI_CLEARINTENA_CLEAROVL0INT |
TMS570_RTI_CLEARINTENA_CLEARTBINT |
@@ -123,27 +97,21 @@ static void
tms570_clock_driver_support_initialize_hardware( void )
TMS570_RTI_INTFLAG_INT2 |
TMS570_RTI_INTFLAG_INT1 |
TMS570_RTI_INTFLAG_INT0;
- /* set timer */
- TMS570_RTI.CMP[0].COMPx = TMS570_RTI.CNT[0].FRCx + tc_increments_per_tick;
- TMS570_RTI.COMP0CLR = TMS570_RTI.CMP[0].COMPx + tc_increments_per_tick / 2;
- TMS570_RTI.CMP[0].UDCPx = tc_increments_per_tick;
- /* enable interupt */
- TMS570_RTI.SETINTENA = TMS570_RTI_SETINTENA_SETINT0;
- /* enable timer */
+
+ /* Enable counter 0 */
TMS570_RTI.GCTRL = TMS570_RTI_GCTRL_CNT0EN;
- /* set timecounter */
- tms570_rti_tc.tc_get_timecount = tms570_rti_get_timecount;
- tms570_rti_tc.tc_counter_mask = 0xffffffff;
- tms570_rti_tc.tc_frequency = tc_frequency;
- tms570_rti_tc.tc_quality = RTEMS_TIMECOUNTER_QUALITY_CLOCK_DRIVER;
- rtems_timecounter_install(&tms570_rti_tc);
+
+ /* Enable interrupts for counter 0 */
+ TMS570_RTI.SETINTENA = TMS570_RTI_SETINTENA_SETINT0;
+
+ tc = &tms570_rti_tc;
+ tc->tc_get_timecount = tms570_rti_get_timecount;
+ tc->tc_counter_mask = 0xffffffff;
+ tc->tc_frequency = tc_frequency;
+ tc->tc_quality = RTEMS_TIMECOUNTER_QUALITY_CLOCK_DRIVER;
+ rtems_timecounter_install(tc);
}
-/**
- * @brief Clears interrupt source
- *
- * @retval Void
- */
static void tms570_clock_driver_support_at_tick(volatile tms570_rti_t *rti)
{
rti->INTFLAG = TMS570_RTI_INTFLAG_INT0;
@@ -175,14 +143,11 @@ static void tms570_clock_driver_support_install_isr(
}
}
-#define Clock_driver_support_initialize_hardware \
- tms570_clock_driver_support_initialize_hardware
+#define Clock_driver_support_initialize_hardware() \
+ tms570_clock_driver_support_initialize_hardware()
#define Clock_driver_support_at_tick(arg) \
- tms570_clock_driver_support_at_tick(arg)
-#define Clock_driver_support_initialize_hardware \
- tms570_clock_driver_support_initialize_hardware
-
+ tms570_clock_driver_support_at_tick(arg)
#define Clock_driver_support_install_isr(handler) \
- tms570_clock_driver_support_install_isr(handler)
+ tms570_clock_driver_support_install_isr(handler)
#include "../../../shared/dev/clock/clockimpl.h"
--
2.35.3
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