| /* |
| * Copyright (c) 2015-2016, Texas Instruments Incorporated |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * |
| * * Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * |
| * * 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. |
| * |
| * * Neither the name of Texas Instruments Incorporated 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. |
| */ |
| |
| /* |
| * ======== ClockP_freertos.c ======== |
| */ |
| |
| #include <ti/drivers/dpl/ClockP.h> |
| #include <FreeRTOS.h> |
| #include <timers.h> |
| |
| #include <stdint.h> |
| #include <stdbool.h> |
| #include <stdlib.h> |
| |
| static TickType_t ticksToWait = portMAX_DELAY; |
| |
| void ClockP_callbackFxn(uintptr_t arg); |
| |
| typedef struct ClockP_FreeRTOSObj { |
| TimerHandle_t timer; |
| ClockP_Fxn fxn; |
| uintptr_t arg; |
| } ClockP_FreeRTOSObj; |
| |
| /* |
| * ======== ClockP_callbackFxn ======== |
| */ |
| void ClockP_callbackFxn(uintptr_t arg) |
| { |
| TimerHandle_t handle = (TimerHandle_t)arg; |
| ClockP_FreeRTOSObj *obj; |
| |
| obj = (ClockP_FreeRTOSObj *)pvTimerGetTimerID(handle); |
| (obj->fxn)(obj->arg); |
| } |
| |
| /* |
| * ======== ClockP_create ======== |
| */ |
| ClockP_Handle ClockP_create(ClockP_Fxn clockFxn, ClockP_Params *params) |
| { |
| ClockP_Params defaultParams; |
| ClockP_FreeRTOSObj *pObj; |
| TimerHandle_t handle = NULL; |
| |
| if (params == NULL) { |
| params = &defaultParams; |
| ClockP_Params_init(&defaultParams); |
| } |
| |
| if ((pObj = pvPortMalloc(sizeof(ClockP_FreeRTOSObj))) == NULL) { |
| return (NULL); |
| } |
| |
| handle = xTimerCreate(params->name, 1, 0, (void *)pObj, |
| (TimerCallbackFunction_t)ClockP_callbackFxn); |
| |
| if (handle == NULL) { |
| vPortFree(pObj); |
| return (NULL); |
| } |
| |
| pObj->timer = handle; |
| pObj->fxn = clockFxn; |
| pObj->arg = params->arg; |
| |
| return ((ClockP_Handle)pObj); |
| } |
| |
| /* |
| * ======== ClockP_delete ======== |
| */ |
| ClockP_Status ClockP_delete(ClockP_Handle handle) |
| { |
| ClockP_FreeRTOSObj *pObj = (ClockP_FreeRTOSObj *)handle; |
| BaseType_t status; |
| |
| status = xTimerDelete((TimerHandle_t)pObj->timer, ticksToWait); |
| |
| if (status != pdPASS) { |
| return (ClockP_FAILURE); |
| } |
| |
| vPortFree(pObj); |
| |
| return (ClockP_OK); |
| } |
| |
| /* |
| * ======== ClockP_getCpuFreq ======== |
| */ |
| void ClockP_getCpuFreq(ClockP_FreqHz *freq) |
| { |
| unsigned long configCpuFreq; |
| |
| /* |
| * configCPU_CLOCK_HZ is #define'd in the target's header file, |
| * eg, in FreeRTOS/Demo/ARM7_AT91FR40008_GCC/FreeRTOSConfig.h. |
| * Sometimes configCPU_CLOCK_HZ is #define'd to a specific value, |
| * or to an extern uint32_t variable, eg: |
| * |
| * #define configCPU_CLOCK_HZ ( SystemFrequency ) // extern uint32_t |
| * |
| * #define configCPU_CLOCK_HZ ( ( unsigned long ) 8000000 ) |
| */ |
| |
| configCpuFreq = (unsigned long)configCPU_CLOCK_HZ; |
| freq->lo = (uint32_t)configCpuFreq; |
| freq->hi = 0; |
| // freq->hi = (uint32_t)(configCpuFreq >> 32); |
| } |
| |
| /* |
| * ======== ClockP_getSystemTickPeriod ======== |
| */ |
| uint32_t ClockP_getSystemTickPeriod() |
| { |
| uint32_t tickPeriodUs; |
| |
| /* |
| * Tick period in microseconds. configTICK_RATE_HZ is defined in the |
| * application's FreeRTOSConfig.h, which is include by FreeRTOS.h |
| */ |
| tickPeriodUs = 1000000 / configTICK_RATE_HZ; |
| |
| return (tickPeriodUs); |
| } |
| |
| /* |
| * ======== ClockP_getSystemTicks ======== |
| * TODO determine if we ever call this from an ISR |
| */ |
| uint32_t ClockP_getSystemTicks() |
| { |
| return ((uint32_t)xTaskGetTickCount()); |
| } |
| |
| /* |
| * ======== ClockP_Params_init ======== |
| */ |
| void ClockP_Params_init(ClockP_Params *params) |
| { |
| params->name = NULL; |
| params->arg = (uintptr_t)0; |
| } |
| |
| /* |
| * ======== ClockP_start ======== |
| */ |
| ClockP_Status ClockP_start(ClockP_Handle handle, uint32_t timeout) |
| { |
| ClockP_FreeRTOSObj *pObj = (ClockP_FreeRTOSObj *)handle; |
| BaseType_t status; |
| |
| status = xTimerChangePeriod(pObj->timer, (TickType_t)timeout, ticksToWait); |
| |
| if (status != pdPASS) { |
| return (ClockP_FAILURE); |
| } |
| status = xTimerStart(pObj->timer, ticksToWait); |
| |
| if (status != pdPASS) { |
| return (ClockP_FAILURE); |
| } |
| |
| return (ClockP_OK); |
| } |
| |
| /* |
| * ======== ClockP_startFromISR ======== |
| */ |
| ClockP_Status ClockP_startFromISR(ClockP_Handle handle, uint32_t timeout) |
| { |
| ClockP_FreeRTOSObj *pObj = (ClockP_FreeRTOSObj *)handle; |
| BaseType_t xHigherPriorityTaskWoken; |
| BaseType_t status; |
| |
| status = xTimerChangePeriodFromISR(pObj->timer, (TickType_t)timeout, |
| &xHigherPriorityTaskWoken); |
| if (status != pdPASS) { |
| return (ClockP_FAILURE); |
| } |
| status = xTimerStartFromISR(pObj->timer, &xHigherPriorityTaskWoken); |
| |
| if (status != pdPASS) { |
| return (ClockP_FAILURE); |
| } |
| |
| return (ClockP_OK); |
| } |
| |
| /* |
| * ======== ClockP_stop ======== |
| */ |
| ClockP_Status ClockP_stop(ClockP_Handle handle) |
| { |
| ClockP_FreeRTOSObj *pObj = (ClockP_FreeRTOSObj *)handle; |
| BaseType_t status; |
| |
| status = xTimerStop(pObj->timer, ticksToWait); |
| |
| if (status != pdPASS) { |
| return (ClockP_FAILURE); |
| } |
| return (ClockP_OK); |
| } |
| |
| /* |
| * ======== ClockP_stopFromISR ======== |
| */ |
| ClockP_Status ClockP_stopFromISR(ClockP_Handle handle) |
| { |
| ClockP_FreeRTOSObj *pObj = (ClockP_FreeRTOSObj *)handle; |
| BaseType_t xHigherPriorityTaskWoken; |
| BaseType_t status; |
| |
| status = xTimerStopFromISR(pObj->timer, &xHigherPriorityTaskWoken); |
| |
| if (status != pdPASS) { |
| return (ClockP_FAILURE); |
| } |
| return (ClockP_OK); |
| } |
| |
| /* |
| * ======== ClockP_sleep ======== |
| */ |
| ClockP_Status ClockP_sleep(uint32_t sec) |
| { |
| uint32_t msecs = sec * 1000; |
| TickType_t xDelay; |
| |
| /* Take the ceiling */ |
| xDelay = (msecs + portTICK_PERIOD_MS - 1) / portTICK_PERIOD_MS; |
| |
| vTaskDelay(xDelay); |
| |
| return (ClockP_OK); |
| } |
| |
| /* |
| * ======== ClockP_usleep ======== |
| */ |
| ClockP_Status ClockP_usleep(uint32_t usec) |
| { |
| uint32_t msecs = (usec + 999) / 1000; |
| TickType_t xDelay; |
| |
| /* Take the ceiling */ |
| xDelay = (msecs + portTICK_PERIOD_MS - 1) / portTICK_PERIOD_MS; |
| |
| vTaskDelay(xDelay); |
| |
| return (ClockP_OK); |
| } |