fix: 32bit tick timer based on TC0 and TC1 (#653)

TC1 counts the number of TC0 overflows (carry bits).
In random conditions TC1 would return or stay at zero,
instead of counting up. This due to the behavior of the
reset signal.

SAM7S Series Datasheet, 33.5.6 Trigger:
Regardless of the trigger used, it will be taken into account
at the following active edge of the selected clock. This means
that the counter value can be read differently from zero just
after a trigger, especially when a low frequency signal is
selected as the clock.

The new code first prepares TC1 and asserts TC1 trigger and
then prepares TC0 and asserts TC0 trigger. The TC0 start-up
will reset TC1.

diff --git a/armsrc/util.c b/armsrc/util.c
index 59dfe07b45987250ae74b0495de38636e293560d..8a8d66576d4172e2611bf5d156bb340ce4087c58 100644 (file)
--- a/armsrc/util.c
+++ b/armsrc/util.c
@@ -448,31 +448,52 @@ uint32_t RAMFUNC GetCountSspClk(){
 
 
 //  -------------------------------------------------------------------------
 
 
 //  -------------------------------------------------------------------------

-//  Timer for bitbanging,  or LF stuff when you need a very precis timer
+//  Timer for bitbanging, or LF stuff when you need a very precis timer

 //  1us = 1.5ticks
 //  -------------------------------------------------------------------------
 void StartTicks(void){
 //  1us = 1.5ticks
 //  -------------------------------------------------------------------------
 void StartTicks(void){

-       //initialization of the timer
-       // tc1 is higher 0xFFFF0000
-       // tc0 is lower 0x0000FFFF
+       // initialization of the timer

        AT91C_BASE_PMC->PMC_PCER |= (1 << AT91C_ID_TC0) | (1 << AT91C_ID_TC1);
        AT91C_BASE_TCB->TCB_BMR = AT91C_TCB_TC0XC0S_NONE | AT91C_TCB_TC1XC1S_TIOA0 | AT91C_TCB_TC2XC2S_NONE;
        AT91C_BASE_PMC->PMC_PCER |= (1 << AT91C_ID_TC0) | (1 << AT91C_ID_TC1);
        AT91C_BASE_TCB->TCB_BMR = AT91C_TCB_TC0XC0S_NONE | AT91C_TCB_TC1XC1S_TIOA0 | AT91C_TCB_TC2XC2S_NONE;

+
+       // disable TC0 and TC1 for re-configuration

        AT91C_BASE_TC0->TC_CCR = AT91C_TC_CLKDIS;
        AT91C_BASE_TC0->TC_CCR = AT91C_TC_CLKDIS;

+       AT91C_BASE_TC1->TC_CCR = AT91C_TC_CLKDIS;
+
+       // first configure TC1 (higher, 0xFFFF0000) 16 bit counter
+       AT91C_BASE_TC1->TC_CMR = AT91C_TC_CLKS_XC1; // just connect to TIOA0 from TC0
+       AT91C_BASE_TC1->TC_CCR = AT91C_TC_CLKEN | AT91C_TC_SWTRG; // re-enable timer and wait for TC0
+
+       // second configure TC0 (lower, 0x0000FFFF) 16 bit counter

        AT91C_BASE_TC0->TC_CMR = AT91C_TC_CLKS_TIMER_DIV3_CLOCK | // MCK(48MHz) / 32 
        AT91C_BASE_TC0->TC_CMR = AT91C_TC_CLKS_TIMER_DIV3_CLOCK | // MCK(48MHz) / 32 

-                                                               AT91C_TC_WAVE | AT91C_TC_WAVESEL_UP_AUTO | AT91C_TC_ACPA_CLEAR |
-                                                               AT91C_TC_ACPC_SET | AT91C_TC_ASWTRG_SET;
-       AT91C_BASE_TC0->TC_RA = 1;
-       AT91C_BASE_TC0->TC_RC = 0; 
+                                AT91C_TC_WAVE | AT91C_TC_WAVESEL_UP_AUTO |
+                                AT91C_TC_ACPA_CLEAR | // RA comperator clears TIOA (carry bit)
+                                AT91C_TC_ACPC_SET |   // RC comperator sets TIOA (carry bit)
+                                AT91C_TC_ASWTRG_SET;  // SWTriger sets TIOA (carry bit)
+       AT91C_BASE_TC0->TC_RC  = 0; // set TIOA (carry bit) on overflow, return to zero
+       AT91C_BASE_TC0->TC_RA  = 1; // clear carry bit on next clock cycle
+       AT91C_BASE_TC0->TC_CCR = AT91C_TC_CLKEN | AT91C_TC_SWTRG; // reset and re-enable timer
+
+       // synchronized startup procedure
+       while (AT91C_BASE_TC0->TC_CV > 0); // wait until TC0 returned to zero
+       while (AT91C_BASE_TC0->TC_CV < 2); // and has started (TC_CV > TC_RA, now TC1 is cleared)
+
+       // return to zero
+       AT91C_BASE_TC1->TC_CCR = AT91C_TC_SWTRG;
+       AT91C_BASE_TC0->TC_CCR = AT91C_TC_SWTRG;
+       while (AT91C_BASE_TC0->TC_CV > 0);
+}

 
 

-       AT91C_BASE_TC1->TC_CCR = AT91C_TC_CLKDIS;       // timer disable  
-       AT91C_BASE_TC1->TC_CMR = AT91C_TC_CLKS_XC1; // from TC0
-       
-       AT91C_BASE_TC0->TC_CCR = AT91C_TC_CLKEN | AT91C_TC_SWTRG;
-       AT91C_BASE_TC1->TC_CCR = AT91C_TC_CLKEN | AT91C_TC_SWTRG;
-       AT91C_BASE_TCB->TCB_BCR = 1;
-       
-       // wait until timer becomes zero.
-       while (AT91C_BASE_TC1->TC_CV > 0);
+
+uint32_t GetTicks(void) {
+       uint32_t hi, lo;
+
+       do {
+               hi = AT91C_BASE_TC1->TC_CV;
+               lo = AT91C_BASE_TC0->TC_CV;
+       } while(hi != AT91C_BASE_TC1->TC_CV);
+
+       return (hi << 16) | lo;

 }
 
 
 }
 
 


@@ -480,30 +501,28 @@ void StartTicks(void){
 // if called with a high number, this will trigger the WDT...
 void WaitTicks(uint32_t ticks){
        if ( ticks == 0 ) return;
 // if called with a high number, this will trigger the WDT...
 void WaitTicks(uint32_t ticks){
        if ( ticks == 0 ) return;

-       ticks += GET_TICKS;     
-       while (GET_TICKS < ticks);
+       ticks += GetTicks();
+       while (GetTicks() < ticks);

 }
 
 
 // Wait / Spindelay in us (microseconds) 
 // 1us = 1.5ticks.
 void WaitUS(uint16_t us){
 }
 
 
 // Wait / Spindelay in us (microseconds) 
 // 1us = 1.5ticks.
 void WaitUS(uint16_t us){

-       if ( us == 0 ) return;

        WaitTicks( (uint32_t)us * 3 / 2 ) ;
 }
 
 
 void WaitMS(uint16_t ms){
        WaitTicks( (uint32_t)us * 3 / 2 ) ;
 }
 
 
 void WaitMS(uint16_t ms){

-       if (ms == 0) return;

        WaitTicks( (uint32_t)ms * 1500 );
 }
 
 
 // Starts Clock and waits until its reset
 void ResetTicks(void){
        WaitTicks( (uint32_t)ms * 1500 );
 }
 
 
 // Starts Clock and waits until its reset
 void ResetTicks(void){

-       AT91C_BASE_TC0->TC_CCR = AT91C_TC_CLKEN | AT91C_TC_SWTRG;

        AT91C_BASE_TC1->TC_CCR = AT91C_TC_CLKEN | AT91C_TC_SWTRG;
        AT91C_BASE_TC1->TC_CCR = AT91C_TC_CLKEN | AT91C_TC_SWTRG;

-       while (AT91C_BASE_TC1->TC_CV > 0);
+       AT91C_BASE_TC0->TC_CCR = AT91C_TC_CLKEN | AT91C_TC_SWTRG;
+       while (AT91C_BASE_TC0->TC_CV > 0);

 }
 
 
 }
 
 

diff --git a/armsrc/util.h b/armsrc/util.h
index 0148e1dd43b270d441321ec6490c350a8776e24e..58dcdd522a80d727a5df6c80b674820aca7195aa 100644 (file)
--- a/armsrc/util.h
+++ b/armsrc/util.h
@@ -44,7 +44,7 @@ void FormatVersionInformation(char *dst, int len, const char *prefix, void *vers
 
 //iceman's ticks.h
 #ifndef GET_TICKS
 
 //iceman's ticks.h
 #ifndef GET_TICKS

-# define GET_TICKS   (uint32_t)((AT91C_BASE_TC1->TC_CV << 16) | AT91C_BASE_TC0->TC_CV)
+# define GET_TICKS GetTicks()

 #endif
 
 void SpinDelay(int ms);
 #endif
 
 void SpinDelay(int ms);


@@ -62,6 +62,7 @@ void ResetSspClk(void);
 uint32_t RAMFUNC GetCountSspClk();
 
 extern void StartTicks(void);
 uint32_t RAMFUNC GetCountSspClk();
 
 extern void StartTicks(void);

+extern uint32_t GetTicks(void);

 extern void WaitTicks(uint32_t ticks);
 extern void WaitUS(uint16_t us);
 extern void WaitMS(uint16_t ms);
 extern void WaitTicks(uint32_t ticks);
 extern void WaitUS(uint16_t us);
 extern void WaitMS(uint16_t ms);