implement clock

8 files changed, 58 insertions, 62 deletions

diff --git a/Makefile b/Makefile
index 8660585..e7d4dc5 100644
--- a/Makefile
+++ b/Makefile
@@ -12,7 +12,7 @@ SERIAL=/dev/ttyACM0
 BAUD=115200
 
 # Modules to include in kernel
-MODULES=bug collection task tshield
+MODULES=bug collection task tshield time
 
 # Toolchain flags
 CC=avr-gcc
diff --git a/kernel/task/include/task/lock.h b/kernel/task/include/task/lock.h
index bfb7994..eaa661c 100644
--- a/kernel/task/include/task/lock.h
+++ b/kernel/task/include/task/lock.h
@@ -9,11 +9,15 @@ typedef char spin_lock_t;
 
 static inline void spin_lock(struct spin_lock_t* lock) {
   while(*lock != SPIN_LOCK_UNLOCKED) {yield();};
+  cli();
   *lock = 1;
+  sei();
 }
 
 static inline void spin_unlock(struct spin_lock_t* lock) {
+  cli();
   *lock = SPIN_LOCK_UNLOCKED;
+  sei();
 }
 
 #endif
\ No newline at end of file
diff --git a/kernel/task/include/task/sched.h b/kernel/task/include/task/sched.h
index 9029664..c14a85b 100644
--- a/kernel/task/include/task/sched.h
+++ b/kernel/task/include/task/sched.h
@@ -2,6 +2,7 @@
 #define SCHED_H
 
 #include "collection/list.h"
+#include "task/task.h"
 #include "mcu/task/task.h"
 
 /**
diff --git a/kernel/time/include/time/clock.h b/kernel/time/include/time/clock.h
new file mode 100644
index 0000000..3d90cf0
--- /dev/null
+++ b/kernel/time/include/time/clock.h
@@ -0,0 +1,8 @@
+#ifndef CLOCK_H
+#define CLOCK_H
+
+void clock_init(int ms, void (*tick)());
+void clock_start();
+void clock_stop();
+
+#endif
\ No newline at end of file
diff --git a/kernel/time/include/time/timer.h b/kernel/time/include/time/timer.h
deleted file mode 100644
index eaec726..0000000
--- a/kernel/time/include/time/timer.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#ifndef TIMER_H
-#define TIMER_H
-
-#define HZ 50
-
-void timer_init();
-void timer_start();
-void timer_stop();
-
-#endif
diff --git a/kernel/time/mcu/atmega2560/clock.c b/kernel/time/mcu/atmega2560/clock.c
new file mode 100644
index 0000000..6821456
--- /dev/null
+++ b/kernel/time/mcu/atmega2560/clock.c
@@ -0,0 +1,37 @@
+#include <avr/interrupt.h>
+#include "time/clock.h"
+#include "task/sched.h"
+#include "mcu/task/context.h"
+
+static void (*on_tick)();
+
+void clock_init(int ms, void (*tick)()) {
+  TCCR3A = 0;
+  TCCR3B = 0;
+  TCCR3C = 0;
+
+  TCCR3B = (1 << WGM32); // turn on CTC mode:
+  TCCR3B |= (1 << CS32) | (0 << CS31) | (1 << CS30); // set to 1024 prescaler
+
+  unsigned long int fcpu = (unsigned long int) F_CPU;
+  unsigned long int hz = 1000l / ((unsigned long int) ms);
+
+  unsigned long int hz_counter = fcpu / (1024 * (hz)) - 1;
+  OCR3A = hz_counter;
+  on_tick = tick;
+}
+
+void clock_start() {
+  TIMSK3 |= (1 << OCIE3A);
+}
+
+void clock_stop() {
+  TIMSK3 &= ~(1 << OCIE3A);
+}
+
+ISR(TIMER3_COMPA_vect, ISR_NAKED) {
+  context_save();
+  on_tick();
+  context_restore();
+  reti();
+}
diff --git a/kernel/time/mcu/atmega2560/timer.c b/kernel/time/mcu/atmega2560/timer.c
deleted file mode 100644
index 03f1ed5..0000000
--- a/kernel/time/mcu/atmega2560/timer.c
+++ /dev/null
@@ -1,46 +0,0 @@
-#include <avr/interrupt.h>
-#include "sched/sched.h"
-#include "time/timer.h"
-
-void timer_init() {
-  cli();
-  TCCR3A = 0;
-  TCCR3B = 0;
-  TCCR3C = 0;
-
-  TCCR3B = (1 << WGM32); // turn on CTC mode:
-  TCCR3B |= (1 << CS32) | (0 << CS31) | (1 << CS30); // set to 1024 prescaler
-
-  unsigned long int hz_counter = ((unsigned long int) F_CPU) / (1024 * ((unsigned long int) HZ)) - 1;
-  OCR3A = hz_counter;
-  sei();
-}
-
-void timer_start() {
-  TIMSK3 |= (1 << OCIE3A);
-}
-
-void timer_stop() {
-  TIMSK3 &= ~(1 << OCIE3A);
-}
-
-#include <avr/io.h>
-void led13(int on) {
-  if (on) {
-    DDRB |= (1 << 7);
-    PORTB |= (1 << 7);
-  } else {
-    DDRB &= ~(1 << 7);
-    PORTB &= ~(1 << 7);
-  }
-}
-
-ISR(TIMER3_COMPA_vect, ISR_NAKED) {
-  SAVE_CONTEXT();
-  static int on = 0;
-  on = !on;
-  led13(on);
-  sched_tick();
-  RESTORE_CONTEXT();
-  asm volatile ("reti");
-}
diff --git a/main.c b/main.c
index c4dadee..79ca41b 100644
--- a/main.c
+++ b/main.c
@@ -24,13 +24,10 @@ void freeze() {
 void blink( char id) {
   while(1) {
     debug_led(id - 1,1);
-    WAIT_CYCLES((long) id * 30000);
+    WAIT_CYCLES((long) 30000);
     debug_led(id - 1,0);
-    WAIT_CYCLES((long) id * 30000);
-    freeze();
+    WAIT_CYCLES((long) 30000);
   }
-
-  panic();
 }
 
 
@@ -43,6 +40,7 @@ DECLARE_TASK(task4, DEFAULT_STACK_SIZE, blink, 4);
 int main(int argc, char *argv[]) {
   cli();
   tshield_init();
+
   
 
   spawn(&task1);
@@ -51,7 +49,11 @@ int main(int argc, char *argv[]) {
   spawn(&task4);
   
   sei();
+  clock_init(10, schedule);
+  clock_start();
   sched_init();
+
+
   panic(); //should never reach here
   while(1){}
 }