rtimer-arch.c

#include <stdio.h>

#include "rtimer-arch.h"

#include "cpu.h"
#include "nvic.h"

#include "contiki-conf.h"

#ifdef SYSTICK_DEBUG
#include "gpio.h"
#endif

/*---------------------------------------------------------------------------*/
static volatile rtimer_clock_t next_trigger;
/*---------------------------------------------------------------------------*/

void
rtimer_arch_init(void)
{       
        /* TPM0 already configured and counting. */
        return;
}

void
rtimer_arch_schedule(rtimer_clock_t t)
{
        rtimer_clock_t now;
                
        /* Sanity check Value. */
        now = RTIMER_NOW();
        //if((rtimer_clock_t)(t - now) < 14) {
        //      t = now + 14;   
        //}

        TPM0_C0V = t;                                           /* Set TPM0_C0V Channel 0 compare value. */
        next_trigger = t;                                       /* Store the value. */
        
        NVIC_EnableIRQ(TPM0_IRQn);                      /* Enable TPM0 interrupt in NVIC. */
        TPM0_C0SC = TPM_CnSC_CHF_MASK           /* Enable channel interrupt & clear flag. */
                                | TPM_CnSC_CHIE_MASK 
                                | TPM_CnSC_MSA_MASK;
                
}


rtimer_clock_t
rtimer_arch_now(void)
{
        /* Return the TPM value. */
        return TPM0_CNT;
}

rtimer_clock_t
rtimer_arch_next_trigger(void)
{
  return next_trigger;
}

/*-----------------------------------------------------------------------------------------------------------------------------------*/
/* Interrupt Handler */
void TPM0_IRQHandler(void)
{
        gpio_tgl_pin(SYSTICK_DEBUG_GPIO, port_pin_to_mask(SYSTICK_DEBUG_PIN));
        
        cpu_run();
        
        ENERGEST_ON(ENERGEST_TYPE_IRQ);
        next_trigger = 0;
        
        //TPM0_C0SC = (TPM0_C0SC & ~(TPM_CnSC_CHIE_MASK)) | TPM_CnSC_CHF_MASK; /* Acknowledge interrupt & disable */
        NVIC_ClearPendingIRQ(TPM0_IRQn);                        /* Clear the pending bit in NVIC. */
        NVIC_DisableIRQ(TPM0_IRQn);                                     /* Disable TPM0 interrupt in NVIC. */
        
        rtimer_run_next();
        
        ENERGEST_OFF(ENERGEST_TYPE_IRQ);
}