Add AVR32 system timer

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3021 42af7a65-404d-4744-a932-0658087f49c3

7 files changed, 405 insertions, 19 deletions

diff --git a/nuttx/arch/avr/src/at91uc3/Make.defs b/nuttx/arch/avr/src/at91uc3/Make.defs
index 4318ccf38..30600515a 100755
--- a/nuttx/arch/avr/src/at91uc3/Make.defs
+++ b/nuttx/arch/avr/src/at91uc3/Make.defs
@@ -52,7 +52,8 @@ CMN_CSRCS	= up_assert.c up_allocateheap.c up_blocktask.c up_copystate.c \
 
 CHIP_ASRCS	=
 CHIP_CSRCS	= at91uc3_clkinit.c at91uc3_gpio.c at91uc3_irq.c \
-		  at91uc3_lowconsole.c at91uc3_lowinit.c at91uc3_serial.c
+		  at91uc3_lowconsole.c at91uc3_lowinit.c at91uc3_serial.c \
+		  at91uc3_timerisr.c
 
 # Configuration-dependent AT91UC3 files
 
diff --git a/nuttx/arch/avr/src/at91uc3/at91uc3_clkinit.c b/nuttx/arch/avr/src/at91uc3/at91uc3_clkinit.c
index 34cf9112f..5fa707600 100644
--- a/nuttx/arch/avr/src/at91uc3/at91uc3_clkinit.c
+++ b/nuttx/arch/avr/src/at91uc3/at91uc3_clkinit.c
@@ -73,18 +73,43 @@
  **************************************************************************/
 
 /**************************************************************************
- * Public Functions
+ * Name: up_enableosc32
+ *
+ * Description:
+ *   Initialiaze the 32KHz oscillaor.  This oscillaor is used by the RTC
+ *   logic to provide the sysem timer.
+ *
  **************************************************************************/
 
-/************************************************************************************
- * Name: up_clkinit
+static inline void up_enableosc32(void)
+{
+  uint32_t regval;
+ 
+  /* Select the 32KHz oscillator crystal */
+
+  regval = getreg32(AVR32_PM_OSCCTRL32);
+  regval &= ~PM_OSCCTRL32_MODE_MASK;
+  regval |= PM_OSCCTRL32_MODE_XTAL;
+  putreg32(regval, AVR32_PM_OSCCTRL32);
+
+  /* Enable the 32-kHz clock */
+
+  regval = getreg32(AVR32_PM_OSCCTRL32);
+  regval &= ~PM_OSCCTRL_STARTUP_MASK;
+  regval |= PM_OSCCTRL32_EN|(AVR32_OSC32STARTUP << PM_OSCCTRL_STARTUP_SHIFT);
+  putreg32(regval, AVR32_PM_OSCCTRL32);
+}
+
+/**************************************************************************
+ * Name: up_enableosc0
  *
  * Description:
- *   Initialiaze clock/PLL settings per the definitions in the board.h file.
+ *   Initialiaze clock/PLL settings per the definitions in the board.h
+ *   file.
  *
- ************************************************************************************/
+ **************************************************************************/
 
-void up_clkinitialize(void)
+static inline void up_enableosc0(void)
 {
   uint32_t regval;
 
@@ -121,16 +146,60 @@ void up_clkinitialize(void)
   /* Wait for CLK0 to be ready */
 
   while ((getreg32(AVR32_PM_POSCSR) & PM_POSCSR_OSC0RDY) == 0);
+}
 
-  /* Then switch the main clock to OSC0 */
+/**************************************************************************
+ * Name: up_mainclk
+ *
+ * Description:
+ *   Initialiaze clock/PLL settings per the definitions in the board.h
+ *   file.
+ *
+ **************************************************************************/
 
+static inline void up_mainclk(uint32_t mcsel)
+{
+  uint32_t regval;
+ 
   regval = getreg32(AVR32_PM_MCCTRL);
   regval &= ~PM_MCCTRL_MCSEL_MASK;
-  regval |= PM_MCCTRL_MCSEL_OSC0;
+  regval |= mcsel;
   putreg32(regval, AVR32_PM_MCCTRL);
+}
+
+/**************************************************************************
+ * Public Functions
+ **************************************************************************/
 
- /* Now, enable PLL0 */
-#warning "Missing Logic"
+/**************************************************************************
+ * Name: up_clkinit
+ *
+ * Description:
+ *   Initialiaze clock/PLL settings per the definitions in the board.h
+ *   file.
+ *
+ **************************************************************************/
+
+void up_clkinitialize(void)
+{
+  /* Enable the 32KHz oscillator (need by the RTC module) */
+
+  up_enableosc32();
+
+#if defined(AVR32_CLOCK_OSC0)
+  /* Enable OSC0 using the settings in board.h */
+
+  up_enableosc0();
+ 
+  /* Then switch the main clock to OSC0 */
+
+  up_mainclk(PM_MCCTRL_MCSEL_OSC0);
+
+#elif defined(AVR32_CLOCK_PLL0)
+#  warning "Missing Logic"
+#else
+#  error "No main clock"
+#endif
 }
 
 
diff --git a/nuttx/arch/avr/src/at91uc3/at91uc3_pm.h b/nuttx/arch/avr/src/at91uc3/at91uc3_pm.h
index 27f7d0b03..162c3b055 100755
--- a/nuttx/arch/avr/src/at91uc3/at91uc3_pm.h
+++ b/nuttx/arch/avr/src/at91uc3/at91uc3_pm.h
@@ -149,9 +149,9 @@
 #  define PM_PLL_PLLOPT_WBWDIS     (4 << PM_PLL_PLLOPT_SHIFT) /* Disable the Wide-Bandwidth mode */
 #define PM_PLL_PLLDIV_SHIFT        (8)       /* Bits 8-11: PLL Division Factor */
 #define PM_PLL_PLLDIV_MASK         (15 << PM_PLL_PLLDIV_SHIFT)
-#define PM_PLL_PLLMUL_SHIFT        (16)       /* Bits 16-19: PLL Multiply Factor */
+#define PM_PLL_PLLMUL_SHIFT        (16)      /* Bits 16-19: PLL Multiply Factor */
 #define PM_PLL_PLLMUL_MASK         (15 << PM_PLL_PLLMUL_SHIFT)
-#define PM_PLL_PLLCOUNT_SHIFT      (24)       /* Bits 24-29: PLL Count */
+#define PM_PLL_PLLCOUNT_SHIFT      (24)      /* Bits 24-29: PLL Count */
 #define PM_PLL_PLLCOUNT_MASK       (0x3f << PM_PLL_PLLCOUNT_SHIFT)
 
 /* Oscillator 0/1 Control Register Bit-field Definitions */
@@ -179,7 +179,7 @@
 #define PM_OSCCTRL32_MODE_SHIFT     (8)       /* Bits 8-10: Oscillator Mode */
 #define PM_OSCCTRL32_MODE_MASK      (7 << PM_OSCCTRL32_MODE_SHIFT)
 #  define PM_OSCCTRL32_MODE_EXT     (0 << PM_OSCCTRL32_MODE_SHIFT) /* External clock */
-#  define PM_OSCCTRL32_MODE_XTALp9  (1 << PM_OSCCTRL32_MODE_SHIFT) /* Crystal */
+#  define PM_OSCCTRL32_MODE_XTAL    (1 << PM_OSCCTRL32_MODE_SHIFT) /* Crystal */
 #define PM_OSCCTRL32_STARTUPSHIFT   (16)      /* Bits 16-18: Oscillator Startup Time */
 #define PM_OSCCTRL32_STARTUP_MASK   (7 << PM_OSCCTRL32_STARTUP_SHIFT)
 #  define PM_OSCCTRL32_STARTUP_0    (0 << PM_OSCCTRL32_STARTUP_SHIFT) /* Num RCOsc cycles */
@@ -196,7 +196,6 @@
 /* Interrupt Status Register Bit-field Definitions */
 /* Interrupt Clear Register Bit-field Definitions */
 
-
 #define PM_INT_LOCK0               (1 << 0)  /* Bit 0:  PLL0 locked */
 #define PM_INT_LOCK1               (1 << 1)  /* Bit 1:  PLL1 locked */
 #define PM_INT_CKRDY               (1 << 5)  /* Bit 5:  Clock Ready */
diff --git a/nuttx/arch/avr/src/at91uc3/at91uc3_serial.c b/nuttx/arch/avr/src/at91uc3/at91uc3_serial.c
index e6f7fbb8d..80b9a8658 100644
--- a/nuttx/arch/avr/src/at91uc3/at91uc3_serial.c
+++ b/nuttx/arch/avr/src/at91uc3/at91uc3_serial.c
@@ -733,7 +733,9 @@ static bool up_txready(struct uart_dev_s *dev)
  * Description:
  *   Performs the low level USART initialization early in debug so that the
  *   serial console will be available during bootup.  This must be called
- *   before up_serialinit.
+ *   before up_serialinit.  NOTE:  This function depends on GPIO pin
+ *   configuration performed in up_consoleinit() and main clock iniialization
+ *   performed in up_clkinitialize().
  *
  ****************************************************************************/
 
diff --git a/nuttx/arch/avr/src/at91uc3/at91uc3_timerisr.c b/nuttx/arch/avr/src/at91uc3/at91uc3_timerisr.c
new file mode 100644
index 000000000..e38648952
--- /dev/null
+++ b/nuttx/arch/avr/src/at91uc3/at91uc3_timerisr.c
@@ -0,0 +1,190 @@
+/****************************************************************************
+ * arch/avr/src/at91uc3/at91uc3_timerisr.c
+ *
+ *   Copyright (C) 2010 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <debug.h>
+#include <nuttx/arch.h>
+#include <arch/board/board.h>
+
+#include "up_arch.h"
+
+#include "chip.h"
+#include "at91uc3_internal.h"
+#include "at91uc3_rtc.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/* The desired timer interrupt frequency is normally provided by the
+ * definition CLK_TCK (see include/time.h).  CLK_TCK defines the desired
+ * number of system clock ticks per second.  That value is a user configurable
+ * setting that defaults to 100 (100 ticks per second = 10 MS interval).
+ *
+ * However, the AVR RTC does not support that default value well and so, we
+ * will insist that default is over-ridden by CONFIG_TICKS_PER_MSEC in the
+ * configuration file.  Further, we will insist that CONFIG_TICKS_PER_MSEC
+ * have the value 8 (see reasoning below).
+ */
+
+#if defined(CONFIG_MSEC_PER_TICK) && CONFIG_MSEC_PER_TICK != 10
+#  error "Only a 100KHz system clock is supported"
+#endif
+
+/* The frequency of the RTC is given by:
+ *
+ * fRTC = fINPUT / 2**(PSEL + 1)
+ *
+ * Using the 32KHz clock, various RTC counting can be obtained:
+ *
+ * fRTC = 32000 / 2**16 = 32000/65536 = 0.49Hz  -> 2048 ms per tick
+ * fRTC = 32000 / 2**15 = 32000/32768 = 0.98Hz  -> 1024 ms per tick
+ * fRTC = 32000 / 2**14 = 32000/16384 = 1.95Hz  ->  512 ms per tick
+ * fRTC = 32000 / 2**13 = 32000/8192  = 3.9Hz   ->  256 ms per tick
+ * fRTC = 32000 / 2**12 = 32000/4096  = 7.8Hz   ->  128 ms per tick
+ * fRTC = 32000 / 2**11 = 32000/2048  = 15.6Hz  ->   64 ms per tick
+ * fRTC = 32000 / 2**10 = 32000/1024  = 31.3Hz  ->   32 ms per tick
+ * fRTC = 32000 / 2**9  = 32000/512   = 62.5Hz  ->   16 ms per tick
+ * fRTC = 32000 / 2**8  = 32000/256   = 125Hz   ->    8 ms per tick
+ * fRTC = 32000 / 2**7  = 32000/128   = 250Hz   ->    4 ms per tick
+ * fRTC = 32000 / 2**6  = 32000/64    = 500Hz   ->    2 ms per tick
+ * fRTC = 32000 / 2**5  = 32000/32    = 1KHz    ->    1 ms per tick
+ * fRTC = 32000 / 2**4  = 32000/16    = 2KHz    ->  500 us per tick
+ * fRTC = 32000 / 2**3  = 32000/8     = 4KHz    ->  250 us per tick
+ * fRTC = 32000 / 2**2  = 32000/4     = 8KHz    ->  125 us per tick
+ * fRTC = 32000 / 2                   = 16KHz   -> 62.5 us per tick
+ *
+ * We'll use PSEL == 1 (fRTC == 125ns) and we will set TOP to 79.
+ * Therefore, the TOP interrupt should occur after 79+1=80 counts
+ * at a rate of 125us x 80 = 10 ms
+ */
+ 
+#define AV32_PSEL 15
+#define AV32_TOP (80-1)
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function:  rtc_busy
+ *
+ * Description:
+ *   Make sure that the RTC is no busy before trying to operate on it.  If
+ *   the RTC is busy, it will discard writes to TOP, VAL, and CTRL.
+ *
+ ****************************************************************************/
+
+static void rtc_waitnotbusy(void)
+{
+  while ((getreg32(AVR32_RTC_CTRL) & RTC_CTRL_BUSY) == 0);
+}
+
+/****************************************************************************
+ * Global Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function:  up_timerisr
+ *
+ * Description:
+ *   The timer ISR will perform a variety of services for various portions
+ *   of the systems.
+ *
+ ****************************************************************************/
+
+int up_timerisr(int irq, uint32_t *regs)
+{
+   /* Clear the pending timer interrupt */
+ 
+   putreg32(RTC_INT_TOPI, AVR32_RTC_ICR);
+
+   /* Process timer interrupt */
+
+   sched_process_timer();
+   return 0;
+}
+
+/****************************************************************************
+ * Function:  up_timerinit
+ *
+ * Description:
+ *   This function is called during start-up to initialize the timer
+ *   interrupt.  NOTE:  This function depends on setup of OSC32 by
+ *   up_clkinitialize().
+ *
+ ****************************************************************************/
+
+void up_timerinit(void)
+{
+  uint32_t regval;
+
+  /* Configure the RTC.  Source == 32KHz OSC32 */
+
+  rtc_waitnotbusy();
+  putreg32((RTC_CTRL_CLK32 | (AV32_PSEL << RTC_CTRL_PSEL_SHIFT) | RTC_CTRL_CLKEN),
+           AVR32_RTC_CTRL);
+
+  /* Set the counter value to zero and the TOP value to AVR32_TOP (see above) */
+
+  rtc_waitnotbusy();
+  putreg32(0, AVR32_RTC_VAL);
+  putreg32(AV32_TOP, AVR32_RTC_TOP);
+
+  /* Attach the timer interrupt vector */
+
+  (void)irq_attach(AVR32_IRQ_RTC, (xcpt_t)up_timerisr);
+
+  /* Enable RTC interrupts */
+
+  putreg32(RTC_INT_TOPI, AVR32_RTC_IER);
+  
+  /* Enable the RTC */
+
+  rtc_waitnotbusy();
+  regval = getreg32(AVR32_RTC_CTRL);
+  regval |= RTC_CTRL_EN;
+  putreg32(regval, AVR32_RTC_CTRL);
+}
diff --git a/nuttx/arch/avr/src/avr32/up_nommuhead.S b/nuttx/arch/avr/src/avr32/up_nommuhead.S
index 7a4f2ae49..9ac92e217 100644
--- a/nuttx/arch/avr/src/avr32/up_nommuhead.S
+++ b/nuttx/arch/avr/src/avr32/up_nommuhead.S
@@ -57,7 +57,7 @@
 #endif
 	.global		up_lowinit		/* Perform low level initialization */
 	.global		os_start		/* NuttX entry point */
-	.global		vectors			/* Vector base address */
+	.global		vectortab		/* Vector base address */
 
 /****************************************************************************
  * Macros
@@ -85,7 +85,7 @@ __start:
 
 	/* Set up the vector base address so interrupts can be enabled. */
 
-	lda.w		r0, vectors
+	lda.w		r0, .Lvectortab
 	mtsr		AVR32_EVBA, r0
 
 	/* Enable exception processing */
@@ -137,7 +137,9 @@ __start:
 	rjmp		os_start
 
 .Lstackbase:
-	.long	_ebss+CONFIG_IDLETHREAD_STACKSIZE-4
+	.word	_ebss+CONFIG_IDLETHREAD_STACKSIZE-4
+.Lvectortab:
+    .word   vectortab
 	.size	__start, .-__start
 
 	/* This global variable is unsigned long g_heapbase and is
diff --git a/nuttx/arch/avr/src/avr32/up_switchcontext.S b/nuttx/arch/avr/src/avr32/up_switchcontext.S
new file mode 100755
index 000000000..8ecfbe2cd
--- /dev/null
+++ b/nuttx/arch/avr/src/avr32/up_switchcontext.S
@@ -0,0 +1,123 @@
+/************************************************************************************
+ * arch/avr/src/avr32/up_switchcontext.S
+ *
+ *   Copyright (C) 2010 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#include <arch/irq.h>
+#include <arch/avr32/avr32.h>
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Global Symbols
+ ************************************************************************************/
+
+	.file		"up_switchcontext.S"
+
+/************************************************************************************
+ * Macros
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: up_switchcontext
+ *
+ * Description:
+ *   Save the current thread context and restore the specified context.  The full
+ *   C function prototype is:
+ *
+ *   void up_switchcontext(uint32_t *saveregs, uint32_t *restoreregs);
+ *
+ * Return:
+ *   up_switchcontext forces a context switch to the task "canned" in restoreregs.
+ *   It does not 'return' in the normal sense, rather, it will context switch back
+ *   to the function point.  When it does 'return,' it is because the blocked
+ *   task hat was "pickeled" in the saveregs "can" is again ready to run and has
+ *   execution priority.
+ *
+ * Assumptions:
+ *   global interrupts disabled by the caller.
+ *
+ ************************************************************************************/
+
+	.text
+	.globl		up_switchcontext
+	.type		up_switchcontext, @function
+up_switchcontext:
+	/* "Pickle" the current thread context in the saveregs "can."  r12=saveregs.    */
+	/*     xx xx xx xx xx xx xx xx xx xx xx xx xx xx xx xx xx                       */
+	/*     ^r12                                                                     */
+	/* Sample SR and set r12 to just after the LR storage location.                 */
+	/*     xx xx xx xx xx xx xx xx xx xx xx xx xx xx xx xx xx                       */
+	/*                                         ^r12                                 */
+
+	mfsr	r10, AVR32_SR
+	sub		r12, -4*(REG_LR+1)
+
+	/* Then "push" PC=LR, LR, SR, and SP as ther are on entry.                      */
+	/*     xx xx xx xx xx xx xx xx SP SR PC LR xx xx xx xx xx                       */
+	/*                             ^r12                                             */
+
+	st.w	--r12, lr
+	st.w	--r12, lr
+	st.w	--r12, r10
+	st.w	--r12, sp
+
+	/* Save the preserved/static registers, r0-r7.  There is no reason to save the  */
+	/* scratch/volatile registers, r8-r12, in this context.                         */
+	/*     07 06 05 04 03 02 01 00 SP SR PC LR xx xx xx xx xx                       */
+	/*     ^r12                                                                     */
+
+	stm		--r12, r0-r7
+
+	/* Finally, let up_fullcontextrestore handling the re-instatement of the thread */
+	/* "canned" in restoregs.                                                       */
+
+	mov		r12, r11
+	lddpc	pc, .Lup_fullcontextrestore
+
+.Lup_fullcontextrestore:
+	.word	up_fullcontextrestore
+	.size	up_switchcontext, .-up_switchcontext
+	.end
+