SAMA5 T/C: Can now handle non-constant BOARD_MCK_FREQUENCY. Also now supports methods to attach user interrupt handlers

4 files changed, 407 insertions, 70 deletions

diff --git a/nuttx/arch/arm/src/sama5/chip/sam_pmc.h b/nuttx/arch/arm/src/sama5/chip/sam_pmc.h
index 222149d7c..19940593d 100644
--- a/nuttx/arch/arm/src/sama5/chip/sam_pmc.h
+++ b/nuttx/arch/arm/src/sama5/chip/sam_pmc.h
@@ -423,6 +423,7 @@
 #  define SAMA5_HAVE_PMC_PCR_DIV       1         /* Supports conditional compilation */
 #  define PMC_PCR_DIV_SHIFT            (16)      /* Bits 16-17: Divisor Value */
 #  define PMC_PCR_DIV_MASK             (3 << PMC_PCR_DIV_SHIFT)
+#    define PMC_PCR_DIV(n)             ((uint32_t)(n) << PMC_PCR_DIV_SHIFT)
 #    define PMC_PCR_DIV1               (0 << PMC_PCR_DIV_SHIFT) /* Peripheral clock is MCK */
 #    define PMC_PCR_DIV2               (1 << PMC_PCR_DIV_SHIFT) /* Peripheral clock is MCK/2 */
 #    define PMC_PCR_DIV4               (2 << PMC_PCR_DIV_SHIFT) /* Peripheral clock is MCK/4 */
diff --git a/nuttx/arch/arm/src/sama5/sam_tc.c b/nuttx/arch/arm/src/sama5/sam_tc.c
index 8f3865c86..c4a89aef7 100644
--- a/nuttx/arch/arm/src/sama5/sam_tc.c
+++ b/nuttx/arch/arm/src/sama5/sam_tc.c
@@ -58,6 +58,7 @@
 #include <errno.h>
 #include <debug.h>
 
+#include <nuttx/arch.h>
 #include <arch/board/board.h>
 
 #include "up_arch.h"
@@ -74,24 +75,6 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-/* Clocking */
-
-#if BOARD_MCK_FREQUENCY <= SAM_TC_MAXPERCLK
-#  define TC_FREQUENCY BOARD_MCK_FREQUENCY
-#  define TC_PCR_DIV PMC_PCR_DIV1
-#elif (BOARD_MCK_FREQUENCY >> 1) <= SAM_TC_MAXPERCLK
-#  define TC_FREQUENCY (BOARD_MCK_FREQUENCY >> 1)
-#  define TC_PCR_DIV PMC_PCR_DIV2
-#elif (BOARD_MCK_FREQUENCY >> 2) <= SAM_TC_MAXPERCLK
-#  define TC_FREQUENCY (BOARD_MCK_FREQUENCY >> 2)
-#  define TC_PCR_DIV PMC_PCR_DIV4
-#elif (BOARD_MCK_FREQUENCY >> 3) <= SAM_TC_MAXPERCLK
-#  define TC_FREQUENCY (BOARD_MCK_FREQUENCY >> 3)
-#  define TC_PCR_DIV PMC_PCR_DIV8
-#else
-#  error Cannot realize TC input frequency
-#endif
-
 /* Timer debug is enabled if any timer client is enabled */
 
 #ifndef CONFIG_DEBUG
@@ -146,17 +129,19 @@ struct sam_chan_s
 {
   struct sam_tc_s *tc;     /* Parent timer/counter */
   uintptr_t base;          /* Channel register base address */
+  tc_handler_t handler;    /* Attached interrupt handler */
+  void *arg;               /* Interrupt handler argument */
   uint8_t chan;            /* Channel number (0, 1, or 2 OR 3, 4, or 5) */
   bool inuse;              /* True: channel is in use */
 };
 
-/* This structure describes on timer/counter */
+/* This structure describes one timer/counter */
 
 struct sam_tc_s
 {
   sem_t exclsem;           /* Assures mutually exclusive access to TC */
   uintptr_t base;          /* Register base address */
-  uint8_t pid;             /* Peripheral ID */
+  uint8_t pid;             /* Peripheral ID/irq number */
   uint8_t tc;              /* Timer/channel number (0 or 1) */
   bool initialized;        /* True: Timer data has been initialized */
 
@@ -202,8 +187,26 @@ static inline uint32_t sam_chan_getreg(struct sam_chan_s *chan,
 static inline void sam_chan_putreg(struct sam_chan_s *chan,
                                    unsigned int offset, uint32_t regval);
 
+/* Interrupt Handling *******************************************************/
+
+static int sam_tc_interrupt(struct sam_tc_s *tc);
+#ifdef CONFIG_SAMA5_TC0
+static int sam_tc012_interrupt(int irq, void *context);
+#endif
+#ifdef CONFIG_SAMA5_TC1
+static int sam_tc345_interrupt(int irq, void *context);
+#endif
+#ifdef CONFIG_SAMA5_TC2
+static int sam_tc678_interrupt(int irq, void *context);
+#endif
+
 /* Initialization ***********************************************************/
 
+#ifdef SAMA5_HAVE_PMC_PCR_DIV
+static int sam_tc_mckdivider(uint32_t mck);
+#endif
+static int sam_tc_freqdiv(uint32_t ftc, int ndx);
+static uint32_t sam_tc_divfreq(uint32_t ftc, int ndx);
 static inline struct sam_chan_s *sam_tc_initialize(int channel);
 
 /****************************************************************************
@@ -437,28 +440,17 @@ static struct sam_tc_s g_tc678;
 
 /* TC frequency data.  This table provides the frequency for each selection of TCCLK */
 
-#define TC_NDIVIDERS 5
-
-/* This is the list of divider values */
-
-static const uint16_t g_divider[TC_NDIVIDERS] =
-{
-  2,                     /* TIMER_CLOCK1 -> div2 */
-  8,                     /* TIMER_CLOCK2 -> div8 */
-  32,                    /* TIMER_CLOCK3 -> div32 */
-  128,                   /* TIMER_CLOCK4 -> div128 */
-  TC_FREQUENCY / 32768   /* TIMER_CLOCK5 -> slow clock (not really a divider) */
-};
+#define TC_NDIVIDERS   4
+#define TC_NDIVOPTIONS 5
 
-/* This is the list of divided down frequencies */
+/* This is the list of divider values: divider = (1 << value) */
 
-static const uint32_t g_divfreq[TC_NDIVIDERS] =
+static const uint8_t g_log2divider[TC_NDIVIDERS] =
 {
-  TC_FREQUENCY / 2,      /* TIMER_CLOCK1 -> div2 */
-  TC_FREQUENCY / 8,      /* TIMER_CLOCK2 -> div8 */
-  TC_FREQUENCY / 32,     /* TIMER_CLOCK3 -> div32 */
-  TC_FREQUENCY / 128,    /* TIMER_CLOCK4 -> div128 */
-  32768                  /* TIMER_CLOCK5 -> slow clock */
+  1,                     /* TIMER_CLOCK1 -> div2 */
+  3,                     /* TIMER_CLOCK2 -> div8 */
+  5,                     /* TIMER_CLOCK3 -> div32 */
+  7                      /* TIMER_CLOCK4 -> div128 */
 };
 
 /* TC register lookup used by sam_tc_setregister */
@@ -700,9 +692,217 @@ static inline void sam_chan_putreg(struct sam_chan_s *chan, unsigned int offset,
 }
 
 /****************************************************************************
+ * Interrupt Handling
+ ****************************************************************************/
+/****************************************************************************
+ * Name: sam_tc_interrupt
+ *
+ * Description:
+ *  Common timer channel interrupt handling.
+ *
+ * Input Parameters:
+ *   tc   Timer status instance
+ *
+ * Returned Value:
+ *   A pointer to the initialized timer channel structure associated with tc
+ *   and channel.  NULL is returned on any failure.
+ *
+ *   On successful return, the caller holds the tc exclusive access semaphore.
+ *
+ ****************************************************************************/
+
+static int sam_tc_interrupt(struct sam_tc_s *tc)
+{
+  struct sam_chan_s *chan;
+  uint32_t sr;
+  uint32_t imr;
+  uint32_t pending;
+  int i;
+
+  /* Process interrupts on each channel */
+
+  for (i = 0; i < 3; i++)
+    {
+      /* Get the handy channel reference */
+
+      chan = &tc->channel[i];
+
+      /* Get the interrupt status for this channel */
+
+      sr      = sam_chan_getreg(chan, SAM_TC_SR_OFFSET);
+      imr     = sam_chan_getreg(chan, SAM_TC_IMR_OFFSET);
+      pending = sr & imr;
+
+      /* Are there any pending interrupts for this channel? */
+
+      if (pending)
+        {
+          /* Yes... if we have pending interrupts then interrupts must be
+           * enabled and we must have a handler attached.
+           */
+
+          DEBUGASSERT(chan->handler);
+          if (chan->handler)
+            {
+              /* Execute the callback */
+
+              chan->handler(chan, chan->arg, sr);
+            }
+          else
+            {
+              /* Should never happen */
+
+              sam_chan_putreg(chan, SAM_TC_IDR_OFFSET, TC_INT_ALL);
+            }
+        }
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: sam_tcABC_interrupt
+ *
+ * Description:
+ *  Timer block interrupt handlers
+ *
+ * Input Parameters:
+ *   chan TC channel structure
+ *   sr   The status register value that generated the interrupt
+ *
+ * Returned Value:
+ *   A pointer to the initialized timer channel structure associated with tc
+ *   and channel.  NULL is returned on any failure.
+ *
+ *   On successful return, the caller holds the tc exclusive access semaphore.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SAMA5_TC0
+static int sam_tc012_interrupt(int irq, void *context)
+{
+  return sam_tc_interrupt(&g_tc012);
+}
+#endif
+
+#ifdef CONFIG_SAMA5_TC1
+static int sam_tc345_interrupt(int irq, void *context)
+{
+  return sam_tc_interrupt(&g_tc345);
+}
+#endif
+
+#ifdef CONFIG_SAMA5_TC2
+static int sam_tc678_interrupt(int irq, void *context)
+{
+  return sam_tc_interrupt(&g_tc678);
+}
+#endif
+
+/****************************************************************************
  * Initialization
  ****************************************************************************/
 /****************************************************************************
+ * Name: sam_tc_mckdivider
+ *
+ * Description:
+ *  Return the TC clock input divider value.  One of n=0..3 corresponding
+ *  to divider values of {1, 2, 4, 8}.
+ *
+ *  NOTE: The SAMA5D4 has no clock input divider
+ *
+ * Input Parameters:
+ *   mck - The MCK frequency to be divider.
+ *
+ * Returned Value:
+ *   Log2 of the TC clock divider.
+ *
+ ****************************************************************************/
+
+#ifdef SAMA5_HAVE_PMC_PCR_DIV
+static int sam_tc_mckdivider(uint32_t mck)
+{
+  if (mck <= SAM_TC_MAXPERCLK)
+    {
+      return 0;
+    }
+  else if ((mck >> 1) <= SAM_TC_MAXPERCLK)
+    {
+      return 1;
+    }
+  else if ((mck >> 2) <= SAM_TC_MAXPERCLK)
+    {
+      return 2;
+    }
+  else /* if ((mck >> 3) <= SAM_TC_MAXPERCLK) */
+    {
+      DEBUGASSERT((mck >> 3) <= SAM_TC_MAXPERCLK);
+      return 3;
+    }
+}
+#endif
+
+/****************************************************************************
+ * Name: sam_tc_freqdiv
+ *
+ * Description:
+ *  Given the TC input frequency (Ftc) and a divider index, return the value of
+ *  the Ftc divider.
+ *
+ * Input Parameters:
+ *   ftc - TC input frequency
+ *   ndx - Divider index
+ *
+ * Returned Value:
+ *   The ftc input divider value
+ *
+ ****************************************************************************/
+
+static int sam_tc_freqdiv(uint32_t ftc, int ndx)
+{
+  /* The final option is to use the SLOW clock */
+
+  if (ndx >= TC_NDIVIDERS)
+    {
+      return ftc / BOARD_SLOWCLK_FREQUENCY;
+    }
+  else
+    {
+      return 1 << g_log2divider[ndx];
+    }
+}
+
+/****************************************************************************
+ * Name: sam_tc_divfreq
+ *
+ * Description:
+ *  Given the TC input frequency (Ftc) and a divider index, return the value of
+ *  the divided frequency
+ *
+ * Input Parameters:
+ *   ftc - TC input frequency
+ *   ndx - Divider index
+ *
+ * Returned Value:
+ *   The divided frequency value
+ *
+ ****************************************************************************/
+
+static uint32_t sam_tc_divfreq(uint32_t ftc, int ndx)
+{
+  /* The final option is to use the SLOW clock */
+
+  if (ndx >= TC_NDIVIDERS)
+    {
+      return BOARD_SLOWCLK_FREQUENCY;
+    }
+  else
+    {
+      return ftc >> g_log2divider[ndx];
+    }
+}
+
+/****************************************************************************
  * Name: sam_tc_initialize
  *
  * Description:
@@ -724,11 +924,12 @@ static inline void sam_chan_putreg(struct sam_chan_s *chan, unsigned int offset,
 
 static inline struct sam_chan_s *sam_tc_initialize(int channel)
 {
-  FAR struct sam_tc_s *tc;
-  FAR const struct sam_tcconfig_s *tcconfig;
-  FAR struct sam_chan_s *chan;
-  FAR const struct sam_chconfig_s *chconfig;
+  struct sam_tc_s *tc;
+  const struct sam_tcconfig_s *tcconfig;
+  struct sam_chan_s *chan;
+  const struct sam_chconfig_s *chconfig;
   irqstate_t flags;
+  xcpt_t handler;
   uint32_t regval;
   uint8_t ch;
   int i;
@@ -742,6 +943,7 @@ static inline struct sam_chan_s *sam_tc_initialize(int channel)
     {
       tc       = &g_tc012;
       tcconfig = &g_tc012config;
+      handler  = sam_tc012_interrupt;
     }
   else
 #endif
@@ -750,6 +952,7 @@ static inline struct sam_chan_s *sam_tc_initialize(int channel)
     {
       tc       = &g_tc345;
       tcconfig = &g_tc345config;
+      handler  = sam_tc345_interrupt;
     }
   else
 #endif
@@ -758,6 +961,7 @@ static inline struct sam_chan_s *sam_tc_initialize(int channel)
     {
       tc       = &g_tc678;
       tcconfig = &g_tc678config;
+      handler  = sam_tc678_interrupt;
     }
   else
 #endif
@@ -820,17 +1024,34 @@ static inline struct sam_chan_s *sam_tc_initialize(int channel)
 
               sam_configpio(chconfig->tiobset);
             }
+
+          /* Disable and clear all channel interrupts */
+
+          sam_chan_putreg(chan, SAM_TC_IDR_OFFSET, TC_INT_ALL);
+          (void)sam_chan_getreg(chan, SAM_TC_SR_OFFSET);
         }
 
       /* Set the maximum TC peripheral clock frequency */
 
-      regval = PMC_PCR_PID(tcconfig->pid) | PMC_PCR_CMD | TC_PCR_DIV | PMC_PCR_EN;
+      regval  = PMC_PCR_PID(tcconfig->pid) | PMC_PCR_CMD | PMC_PCR_EN;
+
+#ifdef SAMA5_HAVE_PMC_PCR_DIV
+      /* Set the MCK divider (if any) */
+
+      regval |= PMC_PCR_DIV(sam_tc_mckdivider(BOARD_MCK_FREQUENCY));
+#endif
+
       putreg32(regval, SAM_PMC_PCR);
 
       /* Enable clocking to the timer counter */
 
       sam_enableperiph0(tcconfig->pid);
 
+      /* Attach the timer interrupt handler and enable the timer interrupts */
+
+      (void)irq_attach(tc->pid, handler);
+      up_enable_irq(tc->pid);
+
       /* Now the channel is initialized */
 
       tc->initialized = true;
@@ -981,6 +1202,60 @@ void sam_tc_start(TC_HANDLE handle)
 }
 
 /****************************************************************************
+ * Name: sam_tc_attach
+ *
+ * Description:
+ *   Attach or detach an interrupt handler to the timer interrupt.  The
+ *   interrupt is detached if the handler argument is NULL.
+ *
+ * Input Parameters:
+ *   handle  The handle that represents the timer state
+ *   handler The interrupt handler that will be invoked when the interrupt
+ *           condition occurs
+ *   arg     An opaque argument that will be provided when the interrupt
+ *           handler callback is executed.
+ *   mask    The value of the timer interrupt mask register that defines
+ *           which interrupts should be disabled.
+ *
+ * Returned Value:
+ *
+ ****************************************************************************/
+
+tc_handler_t sam_tc_attach(TC_HANDLE handle, tc_handler_t handler,
+                           void *arg, uint32_t mask)
+{
+  struct sam_chan_s *chan = (struct sam_chan_s *)handle;
+  tc_handler_t oldhandler;
+  irqstate_t flags;
+
+  DEBUGASSERT(chan);
+
+  /* Remember the old interrupt handler and set the new handler */
+
+  flags = irqsave();
+  oldhandler = handler;
+  chan->handler = handler;
+
+  /* Don't enable interrupt if we are detaching no matter what the caller
+   * says.
+   */
+
+  if (!handler)
+    {
+      arg  = NULL;
+      mask = 0;
+    }
+
+  /* Now enable interrupt as requested */
+
+  sam_chan_putreg(chan, SAM_TC_IDR_OFFSET, TC_INT_ALL & ~mask);
+  sam_chan_putreg(chan, SAM_TC_IER_OFFSET, TC_INT_ALL & mask);
+  irqrestore(flags);
+
+  return oldhandler;
+}
+
+/****************************************************************************
  * Name: sam_tc_stop
  *
  * Description:
@@ -1009,9 +1284,9 @@ void sam_tc_stop(TC_HANDLE handle)
  *
  * Description:
  *    Set TC_RA, TC_RB, or TC_RB using the provided divisor.  The actual
- *    setting in the register will be the TC input frequency divided by
+ *    setting in the register will be the TC input frequency (Ftc) divided by
  *    the provided divider (which should derive from the divider returned
- *    by sam_tc_divider).
+ *    by sam_tc_divisor).
  *
  * Input Parameters:
  *   handle Channel handle previously allocated by sam_tc_allocate()
@@ -1024,13 +1299,15 @@ void sam_tc_stop(TC_HANDLE handle)
 void sam_tc_setregister(TC_HANDLE handle, int reg, unsigned int div)
 {
   struct sam_chan_s *chan = (struct sam_chan_s *)handle;
+  uint32_t frequency;
   uint32_t regval;
 
   DEBUGASSERT(reg < TC_NREGISTERS);
 
-  regval = TC_FREQUENCY / div;
+  frequency = sam_tc_frequency();
+  regval    = frequency / div;
   tcvdbg("Channel %d: Set register %d to %d / %d = %d\n",
-         chan->chan, reg, TC_FREQUENCY, div, (unsigned int)regval);
+         chan->chan, reg, frequency, div, (unsigned int)regval);
 
   sam_chan_putreg(chan, g_regoffset[reg], regval);
   sam_regdump(chan, "Set register");
@@ -1040,8 +1317,9 @@ void sam_tc_setregister(TC_HANDLE handle, int reg, unsigned int div)
  * Name: sam_tc_frequency
  *
  * Description:
- *   Return the timer input frequency, that is, the MCK frequency divided
- *   down so that the timer/counter is driven within its maximum frequency.
+ *   Return the timer input frequency (Ftc), that is, the MCK frequency
+ *   divided down so that the timer/counter is driven within its maximum
+ *   frequency.
  *
  * Input Parameters:
  *   None
@@ -1053,7 +1331,13 @@ void sam_tc_setregister(TC_HANDLE handle, int reg, unsigned int div)
 
 uint32_t sam_tc_frequency(void)
 {
-  return TC_FREQUENCY;
+#ifdef SAMA5_HAVE_PMC_PCR_DIV
+  uint32_t mck = BOARD_MCK_FREQUENCY;
+  int shift = sam_tc_mckdivider(mck);
+  return mck >> shift;
+#else
+  return BOARD_MCK_FREQUENCY;
+#endif
 }
 
 /****************************************************************************
@@ -1066,7 +1350,7 @@ uint32_t sam_tc_frequency(void)
  *     (Ftc / (div * 65536)) <= freq <= (Ftc / dev)
  *
  *   where:
- *     freq - the desitred frequency
+ *     freq - the desired frequency
  *     Ftc  - The timer/counter input frequency
  *     div  - With DIV being the highest possible value.
  *
@@ -1083,15 +1367,19 @@ uint32_t sam_tc_frequency(void)
 
 int sam_tc_divisor(uint32_t frequency, uint32_t *div, uint32_t *tcclks)
 {
+  uint32_t ftc = sam_tc_frequency();
   int ndx = 0;
 
   tcvdbg("frequency=%d\n", frequency);
 
-  /* Satisfy lower bound */
+  /* Satisfy lower bound.  That is, the value of the divider such that:
+   *
+   *   frequency >= tc_input_frequency / divider.
+   */
 
-  while (frequency < (g_divfreq[ndx] >> 16))
+  while (frequency < (sam_tc_divfreq(ftc, ndx) >> 16))
     {
-      if (++ndx > TC_NDIVIDERS)
+      if (++ndx > TC_NDIVOPTIONS)
         {
           /* If no divisor can be found, return -ERANGE */
 
@@ -1100,11 +1388,15 @@ int sam_tc_divisor(uint32_t frequency, uint32_t *div, uint32_t *tcclks)
         }
     }
 
-  /* Try to maximize DIV while still satisfying upper bound */
+  /* Try to maximize DIV while still satisfying upper bound.  That the
+   * value of the divider such that:
+   *
+   *   frequency < tc_input_frequency / divider.
+   */
 
-  for (; ndx < (TC_NDIVIDERS-1); ndx++)
+  for (; ndx < (TC_NDIVOPTIONS-1); ndx++)
     {
-      if (frequency > g_divfreq[ndx + 1])
+      if (frequency > sam_tc_divfreq(ftc, ndx + 1))
         {
           break;
         }
@@ -1114,11 +1406,12 @@ int sam_tc_divisor(uint32_t frequency, uint32_t *div, uint32_t *tcclks)
 
   if (div)
     {
-      tcvdbg("return div=%d\n", g_divider[ndx]);
-      *div = g_divider[ndx];
+      uint32_t value = sam_tc_freqdiv(ftc, ndx);
+      tcvdbg("return div=%lu\n", (unsigned long)value);
+      *div = value;
     }
 
-  /* REturn the TCCLKS selection */
+  /* Return the TCCLKS selection */
 
   if (tcclks)
     {
diff --git a/nuttx/arch/arm/src/sama5/sam_tc.h b/nuttx/arch/arm/src/sama5/sam_tc.h
index 50585f7a1..b767158ef 100644
--- a/nuttx/arch/arm/src/sama5/sam_tc.h
+++ b/nuttx/arch/arm/src/sama5/sam_tc.h
@@ -55,12 +55,15 @@
 
 /* The timer/counter and channel arguments to sam_tc_allocate() */
 
-#define TC_CHAN0     0
+#define TC_CHAN0     0  /* TC0 */
 #define TC_CHAN1     1
 #define TC_CHAN2     2
-#define TC_CHAN3     3
+#define TC_CHAN3     3  /* TC1 */
 #define TC_CHAN4     4
 #define TC_CHAN5     5
+#define TC_CHAN6     6  /* TC2 */
+#define TC_CHAN7     7
+#define TC_CHAN8     8
 
 /* Register identifier used with sam_tc_setregister */
 
@@ -71,9 +74,21 @@
 /****************************************************************************
  * Public Types
  ****************************************************************************/
+/* An opaque handle used to represent a timer channel */
 
 typedef void *TC_HANDLE;
 
+/* Timer interrupt callback.  When a timer interrup expires, the client will
+ * receive:
+ *
+ *   handle - The handle that represents the timer state
+ *   arg    - An opaque argument provided when the interrupt was registered
+ *   sr     - The value of the timer interrupt status register at the time
+ *            that the interrupt occurred.
+ */
+
+typedef void (*tc_handler_t)(TC_HANDLE handle, void *arg, uint32_t sr);
+
 /****************************************************************************
  * Public Data
  ****************************************************************************/
@@ -145,6 +160,33 @@ void sam_tc_free(TC_HANDLE handle);
 void sam_tc_start(TC_HANDLE handle);
 
 /****************************************************************************
+ * Name: sam_tc_attach/sam_tc_detach
+ *
+ * Description:
+ *   Attach or detach an interrupt handler to the timer interrupt.  The
+ *   interrupt is detached if the handler argument is NULL.
+ *
+ * Input Parameters:
+ *   handle  The handle that represents the timer state
+ *   handler The interrupt handler that will be invoked when the interrupt
+ *           condition occurs
+ *   arg     An opaque argument that will be provided when the interrupt
+ *           handler callback is executed.  Ignored if handler is NULL.
+ *   mask    The value of the timer interrupt mask register that defines
+ *           which interrupts should be disabled.  Ignored if handler is
+ *           NULL.
+ *
+ * Returned Value:
+ *   The address of the previous handler, if any.
+ *
+ ****************************************************************************/
+
+tc_handler_t sam_tc_attach(TC_HANDLE handle, tc_handler_t handler,
+                           void *arg, uint32_t mask);
+
+#define sam_tc_detach(h)  sam_tc_attach(h, NULL, NULL, 0)
+
+/****************************************************************************
  * Name: sam_tc_stop
  *
  * Description:
@@ -166,7 +208,7 @@ void sam_tc_stop(TC_HANDLE handle);
  *    Set TC_RA, TC_RB, or TC_RB using the provided divisor.  The actual
  *    setting in the register will be the TC input frequency divided by
  *    the provided divider (which should derive from the divider returned
- *    by sam_tc_divider).
+ *    by sam_tc_divisor).
  *
  *
  * Input Parameters:
@@ -206,7 +248,7 @@ uint32_t sam_tc_frequency(void);
  *     (Ftc / (div * 65536)) <= freq <= (Ftc / dev)
  *
  *   where:
- *     freq - the desitred frequency
+ *     freq - the desired frequency
  *     Ftc  - The timer/counter input frequency
  *     div  - With DIV being the highest possible value.
  *
diff --git a/nuttx/include/nuttx/watchdog.h b/nuttx/include/nuttx/watchdog.h
index fd92ac7ad..2daa38142 100644
--- a/nuttx/include/nuttx/watchdog.h
+++ b/nuttx/include/nuttx/watchdog.h
@@ -197,7 +197,8 @@ struct watchdog_lowerhalf_s
 
 #ifdef __cplusplus
 #define EXTERN extern "C"
-extern "C" {
+extern "C"
+{
 #else
 #define EXTERN extern
 #endif
@@ -235,8 +236,8 @@ extern "C" {
  *
  ****************************************************************************/
 
-EXTERN FAR void *watchdog_register(FAR const char *path,
-                                   FAR struct watchdog_lowerhalf_s *lower);
+FAR void *watchdog_register(FAR const char *path,
+                            FAR struct watchdog_lowerhalf_s *lower);
 
 /****************************************************************************
  * Name: watchdog_unregister
@@ -253,7 +254,7 @@ EXTERN FAR void *watchdog_register(FAR const char *path,
  *
  ****************************************************************************/
 
-EXTERN void watchdog_unregister(FAR void *handle);
+void watchdog_unregister(FAR void *handle);
 
 /****************************************************************************
  * Platform-Independent "Lower-Half" Watchdog Driver Interfaces
@@ -282,7 +283,7 @@ EXTERN void watchdog_unregister(FAR void *handle);
  *
  ****************************************************************************/
 
-EXTERN int up_wdginitialize(void);
+int up_wdginitialize(void);
 
 #undef EXTERN
 #ifdef __cplusplus