at91timer.c

(1)基于部分u-boot代码自己调试的vxworks BSP (2)实现了nand/nor flash的tffs文件系统 (3)实现了对spi dataflash的访问 (4)实现了对启动参数

/* at91Timer.c - at91rm9200 timer driver */






#include "vxWorks.h"
#include "intLib.h"
#include "errno.h"
#include "drv/timer/timerDev.h"
#include "drv/timer/timestampDev.h"


#include "config.h"
#include "h/drv/intrCtl/at91Intr.h"
#include "h/drv/timer/at91Timer.h"
#include "h/drv/sio/at91Sio.h"

#define CLOCK_TICK_RATE		(AT91C_SLOW_CLOCK)
#define LATCH  ((CLOCK_TICK_RATE + DEF_SYS_CLK_TICKS/2) / DEF_SYS_CLK_TICKS)	/* For divider */
/* Local forward declarations */

LOCAL BOOL sysClkConnectFirstTime       = TRUE;
LOCAL FUNCPTR sysClkRoutine             = NULL;
LOCAL int sysClkArg                     = 0;
LOCAL int sysClkRunning                 = FALSE;
LOCAL int sysClkTicksPerSecond          = DEF_SYS_CLK_TICKS;

/*#ifdef INCLUDE_SYSCLK_INIT*/
#define SYS_CLK_RATE_MIN              19                   /* minimum system clock rate */
#define SYS_CLK_RATE_MAX             1000             /* maximum system clock rate */
/*#endif  INCLUDE_SYSCLK_INIT */

#ifdef INCLUDE_ST_RTT
/* at91rm9200's RTT */
LOCAL BOOL sysRTTClkConnectFirstTime       = TRUE;
LOCAL FUNCPTR sysRTTClkRoutine             = NULL;
LOCAL int sysRTTClkArg                     = 0;
LOCAL int sysRTTClkRunning                 = FALSE;
#endif /* INCLUDE_ST_RTT */

#ifdef INCLUDE_AUX_CLK
LOCAL BOOL sysAuxClkConnectFirstTime    = TRUE;
LOCAL FUNCPTR sysAuxClkRoutine          = NULL;
LOCAL int sysAuxClkArg                  = 0;
LOCAL int sysAuxClkRunning              = FALSE;
LOCAL int sysAuxClkTicksPerSecond       = DEF_SYS_AUX_CLK_TICKS;
#endif /* INCLUDE_AUX_CLK */
#if defined (INCLUDE_AUX_CLK)
#define AT91C_TIMER_CLOCK1     (AT91C_MASTER_CLOCK/2)
#define AT91C_TIMER_CLOCK2     (AT91C_MASTER_CLOCK/8)
#define AT91C_TIMER_CLOCK3     (AT91C_MASTER_CLOCK/32)
#define AT91C_TIMER_CLOCK4     (AT91C_MASTER_CLOCK/128)
#define AT91C_TIMER_CLOCK5     AT91C_SLOW_CLOCK
#endif /* INCLUDE_AUX_CLK  */

#ifdef  INCLUDE_TIMESTAMP
typedef struct _AT91C_TIMESTAMP_BASE {
    UINT32 century;       /* Current Century range : 19 - 20 */
    UINT32 year;          /* Current Year range : 00 - 99 */
    UINT32 mounth;        /* Current Month range : 01 - 12 */   
    UINT32 day;           /* Current Day range : 1 - 7 */     
    UINT32 date;           /* Current Date range : 01 - 31 */
    UINT32 hour;          /* Current Hour range : 1 - 12 */
    UINT32 minute;        /* Current Minute : 0 - 59 */ 
    UINT32 second;         /* Current Second : 0 - 59 */
} AT91C_TIMESTAMP_BASE;

LOCAL BOOL sysTimestampConnectFirstTime = TRUE;
LOCAL BOOL sysTimestampBaseSetFirstTime = TRUE;
LOCAL FUNCPTR sysTimestampRoutine       = NULL;
LOCAL int sysTimestampArg               = 0;
LOCAL BOOL sysTimestampRunning          = TRUE;
LOCAL AT91C_TIMESTAMP_BASE sysTimestampBase = {FALSE, 0, 0, 0, 0, 0, 0, 0, 0};
#endif  /* INCLUDE_TIMESTAMP */


#ifdef INCLUDE_TIMER_COUNTERS
LOCAL void TimerCounter0ISR(void);
LOCAL void TimerCounter1ISR(void);
LOCAL void TimerCounter2ISR(void);
LOCAL void TimerCounter3ISR(void);
LOCAL void TimerCounter4ISR(void);
LOCAL void TimerCounter5ISR(void);

#define TIMERCOUNTERS 6
#define TIMER_COUNTER0   0 /* used for auxclock */
#define TIMER_COUNTER1   1
#define TIMER_COUNTER2   2
#define TIMER_COUNTER3   3
#define TIMER_COUNTER4   4
#define TIMER_COUNTER5   5

typedef struct _AT91C_TIMER_COUNTER {
    BOOL TimerCounterConnectFirstTime;
	AT91PS_TC TCRegBaseAddr;
	VOIDFUNCPTR TimerCounterISR;
    FUNCPTR TimerCounterRoutine;
	int TimerCounterArg;
	int TimerCounterRunning;
	int TimerCounterTicksPerSecond;	
} AT91C_TIMER_COUNTER;

LOCAL AT91C_TIMER_COUNTER at91rm9200timercounter[TIMERCOUNTERS] = 
{
    {TRUE, AT91C_BASE_TC0, TimerCounter0ISR, NULL, 0, FALSE, DEF_TIMER_COUNTER_TICKS}, /*tc0*/
    {TRUE, AT91C_BASE_TC1, TimerCounter1ISR, NULL, 0, FALSE, DEF_TIMER_COUNTER_TICKS}, /*tc1*/
    {TRUE, AT91C_BASE_TC2, TimerCounter2ISR, NULL, 0, FALSE, DEF_TIMER_COUNTER_TICKS}, /*tc2*/
    {TRUE, AT91C_BASE_TC3, TimerCounter3ISR, NULL, 0, FALSE, DEF_TIMER_COUNTER_TICKS}, /*tc3*/
    {TRUE, AT91C_BASE_TC4, TimerCounter4ISR, NULL, 0, FALSE, DEF_TIMER_COUNTER_TICKS}, /*tc4*/
    {TRUE, AT91C_BASE_TC5, TimerCounter5ISR, NULL, 0, FALSE, DEF_TIMER_COUNTER_TICKS}  /*tc5*/
};

#endif /* INCLUDE_TIMER_COUNTERS */
/*******************************************************************************
*
* sysClkInt - clock interrupt handler
*
* This routine handles the clock interrupt on the at91rm9200 architecture. It is
* attached to the INT_VEC_SYS vector by the routine sysClkConnect().
*
* RETURNS : N/A
*/

LOCAL void sysClkInt(void)
{
    unsigned int st_sr = AT91_SYS->ST_SR;
    unsigned int dbgu_sr = AT91_SYS->DBGU_CSR;  

    /* ST interrupts */
    if (st_sr & AT91C_ST_PITS)
    {	
	  /* Call system clock service routine. */
        if (sysClkRoutine && sysClkRunning)
        {
            (*sysClkRoutine)(sysClkArg);
        }
    }
	
	if (st_sr & AT91C_ST_RTTINC)
	{
		/* Call Real Time clock service routine. */
		if (sysRTTClkRoutine && sysRTTClkRunning)
		{
		    (*sysRTTClkRoutine)(sysRTTClkArg);
		}
	}

    /* DBGU interrupts */	
    #ifdef AT91C_DBGU_PDC_MODE
    if(dbgu_sr &  (AT91C_US_RXRDY | AT91C_US_ENDTX))
    #else /* AT91C_DBGU_PDC_MODE */
    if(dbgu_sr &  (AT91C_US_RXRDY| AT91C_US_TXEMPTY ))
    #endif	/* AT91C_DBGU_PDC_MODE */
    {
        at91SioInt(0);
    }
}

/*******************************************************************************
*
* sysClkConnect - connect a routine to the system clock interrupt
*
* This routine specifies the interrupt service routine to be called at each
* clock interrupt. Normally, it is called from usrRoot() in usrConfig.c to
* connect usrClock() to the system clock interrupt.
*
* RETURNS: OK, or ERROR if the routine cannot be connected to the interrupt.
*
* SEE ALSO: intConnect(), usrClock(), sysClkEnable()
*/

STATUS sysClkConnect(
    FUNCPTR routine,                                        /* routine called at each clock interrupt */
    int arg                                                 /* argument to clock interrupt routine */
    )
{
    if (sysClkConnectFirstTime)
    {		
        sysHwInit2();

        /* Disable all timer interrupts */
        AT91_SYS->ST_IDR = AT91C_ST_PITS | AT91C_ST_WDOVF | AT91C_ST_RTTINC | AT91C_ST_ALMS;
        /* Clear any pending interrupts */
        (void) AT91_SYS->ST_SR;	

        /* Set Period Interval timer */
        AT91_SYS->ST_PIMR = LATCH;
#if 0 /* enable the pits just in the  sysClkEnable*/
        /* Enable Period Interval Timer interrupt */
        AT91_SYS->ST_IER = AT91C_ST_PITS;
#endif
        /* Connect and enable interrupt. */
        intConnect(INT_VEC_SYS, (VOIDFUNCPTR)sysClkInt, 0);
        intEnable(INT_LVL_SYS);

        sysClkConnectFirstTime = FALSE;
    }

    sysClkRoutine   = routine;
    sysClkArg       = arg;

    return OK;
}

/*******************************************************************************
*
* sysClkDisable - turn off system clock interrupts
*
* This routine disables system clock interrupts.
*
* RETURNS: N/A
*
* SEE ALSO: sysClkEnable()
*/

void sysClkDisable(void)
{
    if (sysClkRunning)
    {
        /* Disable timer. */
	    AT91_SYS->ST_IDR = AT91C_ST_PITS | AT91C_ST_WDOVF | AT91C_ST_RTTINC | AT91C_ST_ALMS;

        sysClkRunning = FALSE;
    }
}

/*******************************************************************************
*
* sysClkEnable - turn on system clock interrupts
*
* This routine enables system clock interrupts.
*
* RETURNS: N/A
*
* SEE ALSO: sysClkConnect(), sysClkDisable(), sysClkRateSet()
*/

void sysClkEnable(void)
{
    if (!sysClkRunning)
    {
	AT91_SYS->ST_IER = AT91C_ST_PITS ;/*| AT91C_ST_WDOVF | AT91C_ST_RTTINC | AT91C_ST_ALMS;*/

        sysClkRunning = TRUE;
    }
}

/*******************************************************************************
*
* sysClkRateGet - get the system clock rate
*
* This routine returns the system clock rate.
*
* RETURNS: The number of ticks per second of the system clock.
*
* SEE ALSO: sysClkEnable(), sysClkRateSet()
*/

int sysClkRateGet(void)
{
    return (sysClkTicksPerSecond);
}


/*******************************************************************************
*
* sysClkRateSet - set the system clock rate
*
* This routine sets the interrupt rate of the system clock. It is called by
* usrRoot() in usrConfig.c.
*
* RETURNS: OK, or ERROR if the tick rate is invalid or the timer cannot be set.
*
* SEE ALSO: sysClkEnable(), sysClkRateGet()
*/

STATUS sysClkRateSet(
    int ticksPerSecond                                      /* number of clock interrupts per second */
    )
{
    if ((ticksPerSecond < SYS_CLK_RATE_MIN) || (ticksPerSecond > SYS_CLK_RATE_MAX))
    {
        return ERROR;
    }

    sysClkTicksPerSecond = ticksPerSecond;

    sysClkDisable();
    AT91_SYS->ST_PIMR = ((CLOCK_TICK_RATE + ticksPerSecond/2) / ticksPerSecond);
    sysClkEnable();

    if (sysClkRunning)
    {
        sysClkDisable();
        sysClkEnable();
    }   
    
    return OK;
}


#ifdef INCLUDE_ST_RTT
/*******************************************************************************
*
* sysClkConnect - connect a routine to the system real time clock interrupt
*
* NOTE : real time clock period is 1 second, 
*        that is it will cause interrupt every 1 second
*/
STATUS sysRTTClkConnect(
    FUNCPTR routine,                                        /* routine called at each clock interrupt */
    int arg                                                 /* argument to clock interrupt routine */
    )
{
    if (sysRTTClkConnectFirstTime)
    {
        /* Set initial alarm to 0 */
        AT91_SYS->ST_RTAR = 0;
		
        /* Real time counter incremented every 30.51758 microseconds 
        AT91_SYS->ST_RTMR = 1;
        Real time counter incremented every 1 second */
        AT91_SYS->ST_RTMR = 0x00008000;
		sysRTTClkConnectFirstTime = FALSE;
    }
	
    sysRTTClkRoutine   = routine;
    sysRTTClkArg       = arg;

    return OK;
}

/*******************************************************************************
*
* sysClkDisable - turn off system clock interrupts
*
* This routine disables system clock interrupts.
*
* RETURNS: N/A
*
* SEE ALSO: sysClkEnable()
*/

void sysRTTClkDisable(void)
{
    if (sysRTTClkRunning)
    {
        /* Disable timer. */
	    AT91_SYS->ST_IDR = AT91C_ST_RTTINC;
        sysRTTClkRunning = FALSE;
    }
}

/*******************************************************************************
*
* sysClkEnable - turn on system clock interrupts
*
* This routine enables system clock interrupts.
*
* RETURNS: N/A
*
* SEE ALSO: sysClkConnect(), sysClkDisable(), sysClkRateSet()
*/

void sysRTTClkEnable(void)
{
    if (!sysRTTClkRunning)
    {
	    AT91_SYS->ST_IER = AT91C_ST_RTTINC;
        sysRTTClkRunning = TRUE;