Improvement in GPIOTimer output mode, now it is working even there are few details to fix

Signed-off-by: Fabiano Riccardi <fabiuz4@hotmail.it>

miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/gpio_timer.cpp

@@ -11,6 +11,7 @@
 #include "miosix.h"
 #include <cstdlib>
 #include <cstdio>
+#include "../../../../debugpin.h"
 using namespace miosix;
 
 GPIOtimer& GPIOtimer::instance(){
@@ -82,16 +83,41 @@ bool GPIOtimer::absoluteWaitTrigger(long long tick){
     FastInterruptDisableLock dLock;
     b.setModeGPIOTimer(false);    //output timer 
     setPinMode(false);	    //output pin
-    if(b.IRQsetNextInterrupt2(tick)){
-	return true;
-    }
+    if(!b.IRQsetNextInterrupt2(tick)){
 	return false;
     }
+    return true;
+}
 
 bool GPIOtimer::waitTrigger(long long tick){
     return absoluteWaitTrigger(b.getCurrentTick()+tick);
 }
 
+bool GPIOtimer::absoluteSyncWaitTrigger(long long tick){
+    {	
+	FastInterruptDisableLock dLock;
+	b.setModeGPIOTimer(false);	//output timer 
+	setPinMode(false);		//output pin
+	if(!b.IRQsetNextInterrupt2(tick)){
+	    return false;
+	}
+    
+	do {
+	    tWaitingGPIO=Thread::IRQgetCurrentThread();
+	    Thread::IRQwait();
+	    {
+		FastInterruptEnableLock eLock(dLock);
+		Thread::yield();
+	    }
+	} while(tWaitingGPIO && tick>b.getCurrentTick());
+    }
+    return true;
+}
+
+bool GPIOtimer::syncWaitTrigger(long long tick){
+    return absoluteSyncWaitTrigger(b.getCurrentTick()+tick); 
+}
+
 long long GPIOtimer::aux1=0;
 GPIOtimer::~GPIOtimer() {}
 

miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/gpio_timer.h

@@ -51,6 +51,8 @@ namespace miosix {
         */
         bool absoluteWaitTrigger(long long tick);
         bool waitTrigger(long long tick);
+        bool absoluteSyncWaitTrigger(long long tick);
+        bool syncWaitTrigger(long long tick);
         
         
         

miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/high_resolution_timer_base.cpp

@@ -17,6 +17,7 @@
 #include "high_resolution_timer_base.h"
 #include "kernel/timeconversion.h"
 #include "gpio_timer.h"
+#include "../../../../debugpin.h"
 
 using namespace miosix;
 
@@ -54,17 +55,21 @@ inline void interruptGPIOTimerRoutine(){
     TIMER1->IFC = TIMER_IFC_CC2;
     TIMER3->IFC = TIMER_IFC_CC2;
     if(TIMER1->CC[2].CTRL & TIMER_CC_CTRL_MODE_OUTPUTCOMPARE){
-	expansion::gpio10::high();
-    }else if(TIMER1->CC[2].CTRL & TIMER_CC_CTRL_MODE_INPUTCAPTURE){
+	//keep high for at least x Us
+	delayUs(1);
+	TIMER1->CC[2].CTRL = (TIMER1->CC[2].CTRL & ~_TIMER_CC_CTRL_CMOA_MASK) | TIMER_CC_CTRL_CMOA_CLEAR;
+	//I don't need to enable the interrupt because "output" is separated
+	//10 tick are enought to 
+	TIMER1->CC[2].CCV = static_cast<unsigned int>(TIMER1->CNT+10);//static_cast<unsigned int>(tick & 0xFFFF);
+    }
     //Reactivating the thread that is waiting for the event.
-	if(GPIOtimer::tWaitingGPIO)
-        {
+    if(GPIOtimer::tWaitingGPIO){
 	GPIOtimer::tWaitingGPIO->IRQwakeup();
 	if(GPIOtimer::tWaitingGPIO->IRQgetPriority()>Thread::IRQgetCurrentThread()->IRQgetPriority())
 	    Scheduler::IRQfindNextThread();
 	GPIOtimer::tWaitingGPIO=nullptr;
     }
-    }
+    
 }
 
 static inline void callScheduler(){
@@ -98,13 +103,15 @@ static inline void setupTimers(){
     // If the most significant 32bit aren't match wait for TIM3 to overflow!
 }
 
-static inline void setupTimers2(){
+static inline bool setupTimers2(){
     // We assume that this function is called only when the checkpoint is in future
     if (ms32chkp[2] == ms32time){
         // If the most significant 32bit matches, enable TIM3
         TIMER3->IFC = TIMER_IFC_CC2;
         TIMER3->IEN |= TIMER_IEN_CC2;
-        if (static_cast<unsigned short>(TIMER3->CNT) >= static_cast<unsigned short>(TIMER3->CC[2].CCV) + 1){
+	unsigned short temp=static_cast<unsigned short>(TIMER3->CC[2].CCV) + 1;
+        if (static_cast<unsigned short>(TIMER3->CNT) >= temp){
+            TIMER1->CC[2].CTRL = (TIMER1->CC[2].CTRL & ~_TIMER_CC_CTRL_CMOA_MASK) | TIMER_CC_CTRL_CMOA_SET;
 	    // If TIM3 matches by the time it is being enabled, disable it right away
             TIMER3->IFC = TIMER_IFC_CC2;
             TIMER3->IEN &= ~TIMER_IEN_CC2;
@@ -112,11 +119,15 @@ static inline void setupTimers2(){
             TIMER1->IFC = TIMER_IFC_CC2;
             TIMER1->IEN |= TIMER_IEN_CC2;
             if (TIMER1->CNT >= TIMER1->CC[2].CCV){
+                //This line introduce a delay of 10ticks... it should be revised
+		TIMER1->CC[2].CCV = static_cast<unsigned int>(10+TIMER1->CNT);
 		// If TIM1 matches by the time it is being enabled, call the scheduler right away
 		interruptGPIOTimerRoutine();
+		return false;
             }
         }
     }
+    return true;
     // If the most significant 32bit aren't match wait for TIM3 to overflow!
 }
 
@@ -164,13 +175,18 @@ void __attribute__((used)) cstirqhnd3(){
     //This if is to manage the GPIOtimer in OUTPUT Mode
     if ((TIMER3->IEN & TIMER_IEN_CC2) && (TIMER3->IF & TIMER_IF_CC2)){
         TIMER3->IFC = TIMER_IFC_CC2;
-        if (static_cast<unsigned short>(TIMER3->CNT) >= static_cast<unsigned short>(TIMER3->CC[2].CCV) + 1){
+	unsigned short temp=static_cast<unsigned short>(TIMER3->CC[2].CCV) + 1;
+        if (static_cast<unsigned short>(TIMER3->CNT) >= temp){
+            //Set the mode to raise the pin
+	    TIMER1->CC[2].CTRL = (TIMER1->CC[2].CTRL & ~_TIMER_CC_CTRL_CMOA_MASK) | TIMER_CC_CTRL_CMOA_SET;
 	    // Should happen if and only if most significant 32 bits have been matched
             TIMER3->IEN &= ~ TIMER_IEN_CC2;
             // Enable TIM1 since TIM3 has been already matched
             TIMER1->IFC = TIMER_IFC_CC2;
             TIMER1->IEN |= TIMER_IEN_CC2;
             if (TIMER1->CNT >= TIMER1->CC[2].CCV){
+		//This line introduce a delay of 10ticks... it should be revised
+		TIMER1->CC[2].CCV = static_cast<unsigned int>(10+TIMER1->CNT);
                 // If TIM1 matches by the time it is being enabled, call the scheduler right away
                 interruptGPIOTimerRoutine();
             }
@@ -298,36 +314,6 @@ void HighResolutionTimerBase::setCCInterrupt2Tim1(bool enable){
         TIMER1->IEN&=~TIMER_IEN_CC2;
 }
 
-// In this function I prepare the timer, but i don't enable the timer.
-// Set true to get the input mode: wait for the raising of the pin and timestamp the time in which occurs
-// Set false to get the output mode: When the time set is reached, raise the pin!
-void HighResolutionTimerBase::setModeGPIOTimer(bool input){    
-    if(input){
-	//Connect TIMER1->CC2 to PIN PE12, meaning GPIO10 on wandstem
-	TIMER1->ROUTE=TIMER_ROUTE_CC2PEN
-                | TIMER_ROUTE_LOCATION_LOC1;
-	//Configuro la modalità input
-	TIMER1->CC[2].CTRL=TIMER_CC_CTRL_MODE_INPUTCAPTURE |
-                          TIMER_CC_CTRL_ICEDGE_RISING |
-                          TIMER_CC_CTRL_INSEL_PIN; 
-	
-	//Config PRS: Timer3 has to be a consumer, Timer1 a producer, TIMER3 keeps the most significative part
-	//TIMER1->CC2 as producer, i have to specify the event i'm interest in    
-	PRS->CH[0].CTRL|=PRS_CH_CTRL_SOURCESEL_TIMER1
-			|PRS_CH_CTRL_SIGSEL_TIMER1CC2;
-
-	//TIMER3->CC2 as consumer
-	TIMER3->CC[2].CTRL=TIMER_CC_CTRL_PRSSEL_PRSCH0
-			|   TIMER_CC_CTRL_INSEL_PRS
-			|   TIMER_CC_CTRL_ICEDGE_BOTH
-			|   TIMER_CC_CTRL_MODE_INPUTCAPTURE;
-	
-    }else{
-        TIMER1->CC[2].CTRL = TIMER_CC_CTRL_MODE_OUTPUTCOMPARE;
-        TIMER3->CC[2].CTRL = TIMER_CC_CTRL_MODE_OUTPUTCOMPARE;
-    }
-    
-}
 long long HighResolutionTimerBase::getCurrentTick(){
     bool interrupts=areInterruptsEnabled();
     //TODO: optimization opportunity, if we can guarantee that no call to this
@@ -341,46 +327,31 @@ long long HighResolutionTimerBase::getCurrentTick(){
 }
 
 bool HighResolutionTimerBase::IRQsetNextInterrupt0(long long tick){
-    ms32chkp[0] = tick & upperMask;
-    TIMER3->CC[0].CCV = static_cast<unsigned int>((tick & 0xFFFF0000)>>16);
-    TIMER1->CC[0].CCV = static_cast<unsigned int>(tick & 0xFFFF);
-    /*
-    In order to prevent back to back interrupts due to a checkpoint
-    set in the past, raise lateIrq flag to indicate this IRQ should
-    be processed only once
-    */
-    if(IRQgetCurrentTick() >= IRQgetSetTimeCCV0())
-    {
-	//Now we should set TIMER3->IFS=TIMER_IFS_CC0
-        NVIC_SetPendingIRQ(TIMER3_IRQn);
-        lateIrq=true;
     return false;
 } 
-    return true;
-} 
 
-bool HighResolutionTimerBase::IRQsetNextInterrupt1(long long tick){
+void HighResolutionTimerBase::IRQsetNextInterrupt1(long long tick){
     // First off, disable timers to prevent unnecessary IRQ
     // when IRQsetNextInterrupt is called multiple times consecutively.
     TIMER1->IEN &= ~TIMER_IEN_CC1;
     TIMER3->IEN &= ~TIMER_IEN_CC1;
 
     long long curTick = IRQgetTick();
-    if(curTick >= tick)
-    {
+    if(curTick >= tick){
 	// The interrupt is in the past => call timerInt immediately
 	callScheduler(); //TODO: It could cause multiple invocations of sched.
-	return false;
     }else{
 	// Apply the new interrupt on to the timer channels
 	TIMER1->CC[1].CCV = static_cast<unsigned int>(tick & 0xFFFF);
 	TIMER3->CC[1].CCV = static_cast<unsigned int>((tick & 0xFFFF0000)>>16)-1;
 	ms32chkp[1] = tick & upperMask;
 	setupTimers();
-	return true;
     }
 }
 
+/*
+ Return true if the pin is going to raise, otherwise false, the pin remain low because the command arrived too late
+ */
 bool HighResolutionTimerBase::IRQsetNextInterrupt2(long long tick){
     TIMER1->IEN &= ~TIMER_IEN_CC2;
     TIMER3->IEN &= ~TIMER_IEN_CC2;
@@ -394,8 +365,37 @@ bool HighResolutionTimerBase::IRQsetNextInterrupt2(long long tick){
 	ms32chkp[2] = tick & upperMask;
 	TIMER3->CC[2].CCV = static_cast<unsigned int>((tick & 0xFFFF0000)>>16)-1;
 	TIMER1->CC[2].CCV = static_cast<unsigned int>(tick & 0xFFFF);
-	setupTimers2();
-	return true;
+	return setupTimers2();
+    }
+}
+
+// In this function I prepare the timer, but i don't enable the timer.
+// Set true to get the input mode: wait for the raising of the pin and timestamp the time in which occurs
+// Set false to get the output mode: When the time set is reached, raise the pin!
+void HighResolutionTimerBase::setModeGPIOTimer(bool input){    
+    //Connect TIMER1->CC2 to PIN PE12, meaning GPIO10 on wandstem
+    TIMER1->ROUTE=TIMER_ROUTE_CC2PEN
+	    | TIMER_ROUTE_LOCATION_LOC1;
+    if(input){
+	//Configuro la modalità input
+	TIMER1->CC[2].CTRL = TIMER_CC_CTRL_MODE_INPUTCAPTURE |
+			  TIMER_CC_CTRL_ICEDGE_RISING |
+                          TIMER_CC_CTRL_INSEL_PIN; 
+	
+	//Config PRS: Timer3 has to be a consumer, Timer1 a producer, TIMER3 keeps the most significative part
+	//TIMER1->CC2 as producer, i have to specify the event i'm interest in    
+	PRS->CH[0].CTRL|=PRS_CH_CTRL_SOURCESEL_TIMER1
+			|PRS_CH_CTRL_SIGSEL_TIMER1CC2;
+
+	//TIMER3->CC2 as consumer
+	TIMER3->CC[2].CTRL=TIMER_CC_CTRL_PRSSEL_PRSCH0
+			|   TIMER_CC_CTRL_INSEL_PRS
+			|   TIMER_CC_CTRL_ICEDGE_BOTH
+			|   TIMER_CC_CTRL_MODE_INPUTCAPTURE;
+	
+    }else{
+        TIMER1->CC[2].CTRL = TIMER_CC_CTRL_MODE_OUTPUTCOMPARE;
+        TIMER3->CC[2].CTRL = TIMER_CC_CTRL_MODE_OUTPUTCOMPARE; 
     } 
 }
 

miosix/arch/cortexM3_efm32gg/efm32gg332f1024_wandstem/interfaces-impl/high_resolution_timer_base.h

@@ -37,7 +37,7 @@ public:
      * \param tick the time when the interrupt will be fired, in timer ticks
      */
     bool IRQsetNextInterrupt0(long long tick);
-    bool IRQsetNextInterrupt1(long long tick);
+    void IRQsetNextInterrupt1(long long tick);
     bool IRQsetNextInterrupt2(long long tick);
     
     /**