move AVR interrupt related code to runtime
move AVR interrupt related code to runtime address formatting add volatile to access counters
Этот коммит содержится в:
Dmitriy Zakharkin
Ron Evans
родитель
7914a729a5
коммит
50401c05e8
4 изменённых файлов: 92 добавлений и 81 удалений
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@ -181,7 +181,7 @@ func (pwm PWM) Configure(config PWMConfig) error {
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avr.TCCR0A.Set(avr.TCCR0A_WGM00 | avr.TCCR0A_WGM01)
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// monotonic timer is using the same time as PWM:0
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// we must adust internal settings of monotonic timer when PWM:0 settings changed
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AdjustMonotonicTimer()
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adjustMonotonicTimer()
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} else {
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avr.TCCR2B.Set(prescaler)
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// Set the PWM mode to fast PWM (mode = 3).
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@ -719,7 +719,7 @@ func (pwm PWM) Set(channel uint8, value uint32) {
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}
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// monotonic timer is using the same time as PWM:0
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// we must adust internal settings of monotonic timer when PWM:0 settings changed
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AdjustMonotonicTimer()
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adjustMonotonicTimer()
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case 1:
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mask := interrupt.Disable()
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switch channel {
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@ -71,7 +71,7 @@ func (pwm PWM) Configure(config PWMConfig) error {
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avr.TCCR0A.Set(avr.TCCR0A_WGM00 | avr.TCCR0A_WGM01)
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// monotonic timer is using the same time as PWM:0
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// we must adust internal settings of monotonic timer when PWM:0 settings changed
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AdjustMonotonicTimer()
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adjustMonotonicTimer()
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} else {
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avr.TCCR2B.Set(prescaler)
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// Set the PWM mode to fast PWM (mode = 3).
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@ -400,7 +400,7 @@ func (pwm PWM) Set(channel uint8, value uint32) {
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}
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// monotonic timer is using the same time as PWM:0
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// we must adust internal settings of monotonic timer when PWM:0 settings changed
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AdjustMonotonicTimer()
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adjustMonotonicTimer()
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case 1:
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mask := interrupt.Disable()
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switch channel {
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@ -1,10 +1,10 @@
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//go:build avr
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// +build avr
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package machine
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import (
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"device/avr"
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"runtime/interrupt"
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"runtime/volatile"
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"unsafe"
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)
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@ -144,75 +144,8 @@ func (a ADC) Get() uint16 {
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return uint16(avr.ADCL.Get()) | uint16(avr.ADCH.Get())<<8
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}
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var Ticks int64 // nanoseconds since start
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var tickNanos int64 // nanoseconds per each tick
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// linked from runtime.adjustMonotonicTimer
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func adjustMonotonicTimer()
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func InitMonotonicTimer() {
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tickNanos = 0
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Ticks = 0
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interrupt.New(avr.IRQ_TIMER0_OVF, func(i interrupt.Interrupt) {
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Ticks += tickNanos
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})
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// initial initialization of the Timer0
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// - Mask interrupt
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avr.TIMSK0.ClearBits(avr.TIMSK0_TOIE0 | avr.TIMSK0_OCIE0A | avr.TIMSK0_OCIE0B)
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// - Write new values to TCNT2, OCR2x, and TCCR2x.
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avr.TCNT0.Set(0)
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avr.OCR0A.Set(0xff)
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// - Set mode 3
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avr.TCCR0A.Set(avr.TCCR0A_WGM00 | avr.TCCR0A_WGM01)
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// - Set prescaler 1
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avr.TCCR0B.Set(avr.TCCR0B_CS00)
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AdjustMonotonicTimer()
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// - Unmask interrupt
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avr.TIMSK0.SetBits(avr.TIMSK0_TOIE0)
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}
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func AdjustMonotonicTimer() {
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// adjust the tickNanos
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tickNanos = currentTickNanos()
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}
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func currentTickNanos() int64 {
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// this time depends on clk_IO, prescale, mode and OCR0A
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// assuming the clock source is CPU clock
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prescaler := int64(avr.TCCR0B.Get() & 0x7)
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clock := (int64(1e12) / prescaler) / int64(CPUFrequency())
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mode := avr.TCCR0A.Get() & 0x7
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/*
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Mode WGM02 WGM01 WGM00 Timer/Counter TOP Update of TOV Flag
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Mode of Operation OCRx at Set on
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0 0 0 0 Normal 0xFF Immediate MAX
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1 0 0 1 PWM, Phase Correct 0xFF TOP BOTTOM
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2 0 1 0 CTC OCRA Immediate MAX
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3 0 1 1 Fast PWM 0xFF BOTTOM MAX
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5 1 0 1 PWM, Phase Correct OCRA TOP BOTTOM
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7 1 1 1 Fast PWM OCRA BOTTOM TOP
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*/
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switch mode {
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case 0, 3:
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// normal & fast PWM
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// TOV0 Interrupt when moving from MAX (0xff) to 0x00
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return clock * 256 / 1000
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case 1:
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// Phase Correct PWM
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// TOV0 Interrupt when moving from MAX (0xff) to 0x00
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return clock * 256 * 2 / 1000
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case 2, 7:
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// CTC & fast PWM
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// TOV0 Interrupt when moving from MAX (OCRA) to 0x00
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return clock * int64(avr.OCR0A.Get()) / 1000
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case 5:
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// Phase Correct PWM
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// TOV0 Interrupt when moving from MAX (OCRA) to 0x00
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return clock * int64(avr.OCR0A.Get()) * 2 / 1000
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}
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return clock / 1000 // for unknown
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}
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// linked from runtime.initMonotonicTimer
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func initMonotonicTimer()
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@ -7,6 +7,7 @@ import (
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"device/avr"
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"machine"
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"runtime/interrupt"
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"runtime/volatile"
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"unsafe"
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)
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@ -58,7 +59,7 @@ func preinit() {
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func initHardware() {
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initUART()
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machine.InitMonotonicTimer()
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initMonotonicTimer()
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nextTimerRecalibrate = ticks() + timerRecalibrateInterval
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// Enable interrupts after initialization.
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@ -81,7 +82,7 @@ func sleepTicks(d timeUnit) {
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now := waitTill - d
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if nextTimerRecalibrate < now {
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nextTimerRecalibrate = now + timerRecalibrateInterval
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machine.AdjustMonotonicTimer()
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adjustMonotonicTimer()
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}
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}
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for {
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@ -98,10 +99,10 @@ func sleepTicks(d timeUnit) {
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}
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}
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// ticks return time since start in nanoseconds
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func ticks() (ticks timeUnit) {
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func ticks() (ticksReturn timeUnit) {
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state := interrupt.Disable()
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ticks = timeUnit(machine.Ticks)
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// use volatile since ticksCount can be changed when running on multi-core boards.
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ticksReturn = timeUnit(volatile.LoadUint64((*uint64)(unsafe.Pointer(&ticksCount))))
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interrupt.Restore(state)
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return
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}
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@ -118,3 +119,80 @@ func abort() {
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avr.Asm("sleep")
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}
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}
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var ticksCount int64 // nanoseconds since start
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var nanosecondsInTick int64 // nanoseconds per each tick
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func initMonotonicTimer() {
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nanosecondsInTick = 0
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ticksCount = 0
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interrupt.New(avr.IRQ_TIMER0_OVF, func(i interrupt.Interrupt) {
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// use volatile
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increment := volatile.LoadUint64((*uint64)(unsafe.Pointer(&nanosecondsInTick)))
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ticks := volatile.LoadUint64((*uint64)(unsafe.Pointer(&ticksCount)))
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volatile.StoreUint64((*uint64)(unsafe.Pointer(&ticksCount)), ticks+increment)
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})
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// initial initialization of the Timer0
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// - Mask interrupt
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avr.TIMSK0.ClearBits(avr.TIMSK0_TOIE0 | avr.TIMSK0_OCIE0A | avr.TIMSK0_OCIE0B)
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// - Write new values to TCNT2, OCR2x, and TCCR2x.
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avr.TCNT0.Set(0)
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avr.OCR0A.Set(0xff)
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// - Set mode 3
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avr.TCCR0A.Set(avr.TCCR0A_WGM00 | avr.TCCR0A_WGM01)
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// - Set prescaler 1
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avr.TCCR0B.Set(avr.TCCR0B_CS00)
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adjustMonotonicTimer()
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// - Unmask interrupt
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avr.TIMSK0.SetBits(avr.TIMSK0_TOIE0)
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}
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//go:linkname adjustMonotonicTimer machine.adjustMonotonicTimer
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func adjustMonotonicTimer() {
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// adjust the nanosecondsInTick using volatile
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volatile.StoreUint64((*uint64)(unsafe.Pointer(&nanosecondsInTick)), uint64(currentNanosecondsInTick()))
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}
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func currentNanosecondsInTick() int64 {
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// this time depends on clk_IO, prescale, mode and OCR0A
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// assuming the clock source is CPU clock
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prescaler := int64(avr.TCCR0B.Get() & 0x7)
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clock := (int64(1e12) / prescaler) / int64(machine.CPUFrequency())
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mode := avr.TCCR0A.Get() & 0x7
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/*
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Mode WGM02 WGM01 WGM00 Timer/Counter TOP Update of TOV Flag
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Mode of Operation OCRx at Set on
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0 0 0 0 Normal 0xFF Immediate MAX
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1 0 0 1 PWM, Phase Correct 0xFF TOP BOTTOM
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2 0 1 0 CTC OCRA Immediate MAX
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3 0 1 1 Fast PWM 0xFF BOTTOM MAX
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5 1 0 1 PWM, Phase Correct OCRA TOP BOTTOM
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7 1 1 1 Fast PWM OCRA BOTTOM TOP
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*/
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switch mode {
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case 0, 3:
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// normal & fast PWM
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// TOV0 Interrupt when moving from MAX (0xff) to 0x00
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return clock * 256 / 1000
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case 1:
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// Phase Correct PWM
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// TOV0 Interrupt when moving from MAX (0xff) to 0x00
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return clock * 256 * 2 / 1000
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case 2, 7:
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// CTC & fast PWM
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// TOV0 Interrupt when moving from MAX (OCRA) to 0x00
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return clock * int64(avr.OCR0A.Get()) / 1000
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case 5:
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// Phase Correct PWM
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// TOV0 Interrupt when moving from MAX (OCRA) to 0x00
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return clock * int64(avr.OCR0A.Get()) * 2 / 1000
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}
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return clock / 1000 // for unknown
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}
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