50 lines
1.1 KiB
C
50 lines
1.1 KiB
C
#include "rtimer-arch.h"
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#include <AT91SAM7S64.h>
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#include "rtimer-arch-interrupt.h"
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#define DEBUG 1
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#if DEBUG
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#include <stdio.h>
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#define PRINTF(...) printf(__VA_ARGS__)
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#else
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#define PRINTF(...)
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#endif
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static rtimer_clock_t offset;
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void
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rtimer_arch_init(void)
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{
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offset = 0;
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RTIMER_ARCH_TIMER_BASE->TC_CMR =
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(AT91C_TC_WAVE | AT91C_TC_WAVESEL_UP | AT91C_TC_CLKS_TIMER_DIV5_CLOCK);
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RTIMER_ARCH_TIMER_BASE->TC_RA = 0xffff;
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RTIMER_ARCH_TIMER_BASE->TC_IER = AT91C_TC_CPAS;
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*AT91C_PMC_PCER = (1 << RTIMER_ARCH_TIMER_ID);
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AT91C_AIC_SMR[RTIMER_ARCH_TIMER_ID] =
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AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE | 6;
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AT91C_AIC_SVR[RTIMER_ARCH_TIMER_ID] = (unsigned long)rtimer_interrupt;
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*AT91C_AIC_IECR = (1 << RTIMER_ARCH_TIMER_ID);
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RTIMER_ARCH_TIMER_BASE->TC_CCR = AT91C_TC_SWTRG | AT91C_TC_CLKEN;
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PRINTF("rtimer_arch_init: Done\n");
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}
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void
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rtimer_arch_schedule(rtimer_clock_t t)
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{
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RTIMER_ARCH_TIMER_BASE->TC_RA = t + offset;
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PRINTF("rtimer_arch_schedule: %d\n",t);
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}
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void
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rtimer_arch_set(rtimer_clock_t t)
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{
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offset = t - RTIMER_ARCH_TIMER_BASE->TC_CV;
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}
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rtimer_clock_t
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rtimer_arch_now(void)
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{
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return RTIMER_ARCH_TIMER_BASE->TC_CV + offset;
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}
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