zephyr/drivers/timer/arcv2_timer0.c

/*
 * Copyright (c) 2014-2015 Wind River Systems, Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

/**
 * @file
 * @brief ARC Timer0 device driver
 *
 * This module implements a kernel device driver for the ARCv2 processor Timer0
 * and provides the standard "system clock driver" interfaces.
 *
 * If the TICKLESS_IDLE kernel configuration option is enabled, the timer may
 * be programmed to wake the system in N >= TICKLESS_IDLE_THRESH ticks. The
 * kernel invokes _timer_idle_enter() to program the up counter to trigger an
 * interrupt in N ticks.  When the timer expires (or when another interrupt is
 * detected), the kernel's interrupt stub invokes _timer_idle_exit() to leave
 * the tickless idle state.
 *
 * @internal
 * The ARCv2 processor timer provides a 32-bit incrementing, wrap-to-zero
 * counter.
 *
 * Factors that increase the driver's tickless idle complexity:
 * 1. As the Timer0 up-counter is a 32-bit value, the number of ticks for which
 * the system can be in tickless idle is limited to 'max_system_ticks'.
 *
 * 2. The act of entering tickless idle may potentially straddle a tick
 * boundary. This can be detected in _timer_idle_enter() after Timer0 is
 * programmed with the new limit and acted upon in _timer_idle_exit().
 *
 * 3. Tickless idle may be prematurely aborted due to a straddled tick. See
 * previous factor.
 *
 * 4. Tickless idle may end naturally.  This is detected and handled in
 * _timer_idle_exit().
 *
 * 5. Tickless idle may be prematurely aborted due to a non-timer interrupt.
 * If this occurs, Timer0 is reprogrammed to trigger at the next tick.
 * @endinternal
 */

#include <nanokernel.h>
#include <arch/cpu.h>
#include <toolchain.h>
#include <sections.h>
#include <misc/__assert.h>
#include <arch/arc/v2/aux_regs.h>
#include <sys_clock.h>
#include <drivers/system_timer.h>
#include <stdbool.h>
#include <misc/__assert.h>

/*
 * note: This implementation assumes Timer0 is present. Be sure
 * to build the ARC CPU with Timer0.
 */

#include <board.h>

#define _ARC_V2_TMR_CTRL_IE 0x1 /* interrupt enable */
#define _ARC_V2_TMR_CTRL_NH 0x2 /* count only while not halted */
#define _ARC_V2_TMR_CTRL_W  0x4 /* watchdog mode enable */
#define _ARC_V2_TMR_CTRL_IP 0x8 /* interrupt pending flag */

/* running total of timer count */
static uint32_t __noinit cycles_per_tick;
static uint32_t accumulated_cycle_count;

#ifdef CONFIG_TICKLESS_IDLE
static uint32_t __noinit max_system_ticks;
static uint32_t __noinit programmed_limit;
static uint32_t __noinit programmed_ticks;
static bool     straddled_tick_on_idle_enter = false;
extern int32_t _sys_idle_elapsed_ticks;
#endif

/**
 *
 * @brief Get contents of Timer0 count register
 *
 * @return Current Timer0 count
 */
static ALWAYS_INLINE uint32_t timer0_count_register_get(void)
{
	return _arc_v2_aux_reg_read(_ARC_V2_TMR0_COUNT);
}

/**
 *
 * @brief Set Timer0 count register to the specified value
 *
 * @return N/A
 */
static ALWAYS_INLINE void timer0_count_register_set(uint32_t value)
{
	_arc_v2_aux_reg_write(_ARC_V2_TMR0_COUNT, value);
}

/**
 *
 * @brief Get contents of Timer0 control register
 *
 * @return N/A
 */
static ALWAYS_INLINE uint32_t timer0_control_register_get(void)
{
	return _arc_v2_aux_reg_read(_ARC_V2_TMR0_CONTROL);
}

/**
 *
 * @brief Set Timer0 control register to the specified value
 *
 * @return N/A
 */
static ALWAYS_INLINE void timer0_control_register_set(uint32_t value)
{
	_arc_v2_aux_reg_write(_ARC_V2_TMR0_CONTROL, value);
}

/**
 *
 * @brief Set Timer0 limit register to the specified value
 *
 * @return N/A
 */
static ALWAYS_INLINE void timer0_limit_register_set(uint32_t count)
{
	_arc_v2_aux_reg_write(_ARC_V2_TMR0_LIMIT, count);
}

#ifdef CONFIG_TICKLESS_IDLE
static ALWAYS_INLINE void update_accumulated_count(void)
{
	accumulated_cycle_count += (_sys_idle_elapsed_ticks * cycles_per_tick);
}
#else /* CONFIG_TICKLESS_IDLE */
static ALWAYS_INLINE void update_accumulated_count(void)
{
	accumulated_cycle_count += cycles_per_tick;
}
#endif /* CONFIG_TICKLESS_IDLE */

/**
 *
 * @brief System clock periodic tick handler
 *
 * This routine handles the system clock periodic tick interrupt. It always
 * announces one tick.
 *
 * @return N/A
 */
void _timer_int_handler(void *unused)
{
	ARG_UNUSED(unused);

	/* clear the interrupt by writing 0 to IP bit of the control register */
	timer0_control_register_set(_ARC_V2_TMR_CTRL_NH | _ARC_V2_TMR_CTRL_IE);

#if defined(CONFIG_TICKLESS_IDLE)
	timer0_limit_register_set(cycles_per_tick - 1);
	__ASSERT_EVAL({},
		      uint32_t timer_count = timer0_count_register_get(),
		      timer_count <= (cycles_per_tick - 1),
		      "timer_count: %d, limit %d\n", timer_count, cycles_per_tick - 1);

	_sys_clock_final_tick_announce();
#else
	_sys_clock_tick_announce();
#endif

	update_accumulated_count();
}

#if defined(CONFIG_TICKLESS_IDLE)
/*
 * @brief initialize the tickless idle feature
 *
 * This routine initializes the tickless idle feature.
 *
 * @return N/A
 */

static void tickless_idle_init(void)
{
	/* calculate the max number of ticks with this 32-bit H/W counter */
	max_system_ticks = 0xffffffff / cycles_per_tick;
}

/*
 * @brief Place the system timer into idle state
 *
 * Re-program the timer to enter into the idle state for either the given
 * number of ticks or the maximum number of ticks that can be programmed
 * into hardware.
 *
 * @return N/A
 */

void _timer_idle_enter(int32_t ticks)
{
	uint32_t  status;

	if ((ticks == TICKS_UNLIMITED) || (ticks > max_system_ticks)) {
		/*
		 * The number of cycles until the timer must fire next might not fit
		 * in the 32-bit counter register. To work around this, program
		 * the counter to fire in the maximum number of ticks.
		 */
		ticks = max_system_ticks;
	}

	programmed_ticks = ticks;
	programmed_limit = (programmed_ticks * cycles_per_tick) - 1;

	timer0_limit_register_set(programmed_limit);

	/*
	 * If Timer0's IP bit is set, then it is known that we have straddled
	 * a tick boundary while entering tickless idle.
	 */

	status = timer0_control_register_get();
	if (status & _ARC_V2_TMR_CTRL_IP) {
		straddled_tick_on_idle_enter = true;
	}
	__ASSERT_EVAL({},
		      uint32_t timer_count = timer0_count_register_get(),
		      timer_count <= programmed_limit,
		      "timer_count: %d, limit %d\n", timer_count, programmed_limit);
}

/*
 * @brief handling of tickless idle when interrupted
 *
 * The routine, called by _SysPowerSaveIdleExit, is responsible for taking the
 * timer out of idle mode and generating an interrupt at the next tick
 * interval.  It is expected that interrupts have been disabled.
 *
 * RETURNS: N/A
 */

void _timer_idle_exit(void)
{
	if (straddled_tick_on_idle_enter) {
		/* Aborting the tickless idle due to a straddled tick. */
		straddled_tick_on_idle_enter = false;
		__ASSERT_EVAL({},
			      uint32_t timer_count = timer0_count_register_get(),
			      timer_count <= programmed_limit,
			      "timer_count: %d, limit %d\n", timer_count, programmed_limit);
		return;
	}

	uint32_t  control;
	uint32_t  current_count;

	current_count = timer0_count_register_get();
	control = timer0_control_register_get();
	if (control & _ARC_V2_TMR_CTRL_IP) {
		/*
		 * The timer has expired. The handler _timer_int_handler() is
		 * guaranteed to execute. Track the number of elapsed ticks. The
		 * handler _timer_int_handler() will account for the final tick.
		 */

		_sys_idle_elapsed_ticks = programmed_ticks - 1;
		update_accumulated_count();
		_sys_clock_tick_announce();

		__ASSERT_EVAL({},
			      uint32_t timer_count = timer0_count_register_get(),
			      timer_count <= programmed_limit,
			      "timer_count: %d, limit %d\n", timer_count, programmed_limit);
		return;
	}

	/*
	 * A non-timer interrupt occurred.  Announce any
	 * ticks that have elapsed during the tickless idle.
	 */
	_sys_idle_elapsed_ticks = current_count / cycles_per_tick;
	if (_sys_idle_elapsed_ticks > 0) {
		update_accumulated_count();
		_sys_clock_tick_announce();
	}

	/*
	 * Ensure the timer will expire at the end of the next tick in case
	 * the ISR makes any tasks and/or fibers ready to run.
	 */
	timer0_limit_register_set(cycles_per_tick - 1);
	timer0_count_register_set(current_count % cycles_per_tick);

	__ASSERT_EVAL({},
		      uint32_t timer_count = timer0_count_register_get(),
		      timer_count <= (cycles_per_tick - 1),
		      "timer_count: %d, limit %d\n", timer_count, cycles_per_tick-1);
}
#else
static void tickless_idle_init(void) {}
#endif /* CONFIG_TICKLESS_IDLE */


/**
 *
 * @brief Initialize and enable the system clock
 *
 * This routine is used to program the ARCv2 timer to deliver interrupts at the
 * rate specified via the 'sys_clock_us_per_tick' global variable.
 *
 * @return 0
 */
int _sys_clock_driver_init(struct device *device)
{
	ARG_UNUSED(device);

	/* ensure that the timer will not generate interrupts */
	timer0_control_register_set(0);
	timer0_count_register_set(0);

	cycles_per_tick = sys_clock_hw_cycles_per_tick;

	IRQ_CONNECT(IRQ_TIMER0, CONFIG_ARCV2_TIMER_IRQ_PRIORITY,
		    _timer_int_handler, NULL, 0);

	/*
	 * Set the reload value to achieve the configured tick rate, enable the
	 * counter and interrupt generation.
	 */

	tickless_idle_init();

	timer0_limit_register_set(cycles_per_tick - 1);
	timer0_control_register_set(_ARC_V2_TMR_CTRL_NH | _ARC_V2_TMR_CTRL_IE);

	/* everything has been configured: safe to enable the interrupt */

	irq_enable(IRQ_TIMER0);

	return 0;
}

/**
 *
 * @brief Read the platform's timer hardware
 *
 * This routine returns the current time in terms of timer hardware clock
 * cycles.
 *
 * @return up counter of elapsed clock cycles
 */
uint32_t sys_cycle_get_32(void)
{
	return (accumulated_cycle_count + timer0_count_register_get());
}

#if defined(CONFIG_SYSTEM_CLOCK_DISABLE)
/**
 *
 * @brief Stop announcing ticks into the kernel
 *
 * This routine disables timer interrupt generation and delivery.
 * Note that the timer's counting cannot be stopped by software.
 *
 * @return N/A
 */
void sys_clock_disable(void)
{
	unsigned int key;  /* interrupt lock level */
	uint32_t control; /* timer control register value */

	key = irq_lock();

	/* disable interrupt generation */

	control = timer0_control_register_get();
	timer0_control_register_set(control & ~_ARC_V2_TMR_CTRL_IE);

	irq_unlock(key);

	/* disable interrupt in the interrupt controller */

	irq_disable(CONFIG_ARCV2_TIMER0_INT_LVL);
}
#endif /* CONFIG_SYSTEM_CLOCK_DISABLE */