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Merge pull request #3412 from bigmagic123/raspi_add_coretimer

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Raspi add coretimer
This commit is contained in:
Bernard Xiong authored and GitHub committed 2020-02-26 17:32:21 +08:00
2 parents 05bd0c0797 53211b3c6e
commit 93b006e734
7 files changed
+156 -273
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bsp/raspberry-pi/raspi3-64/.config
+43 -5
View File
@@ -67,12 +67,9 @@ CONFIG_RT_USING_DEVICE_OPS=y
CONFIG_RT_USING_CONSOLE=y
CONFIG_RT_CONSOLEBUF_SIZE=128
CONFIG_RT_CONSOLE_DEVICE_NAME="uart1"
CONFIG_RT_VER_NUM=0x40002
CONFIG_RT_VER_NUM=0x40003
CONFIG_ARCH_CPU_64BIT=y
CONFIG_ARCH_ARM=y
# CONFIG_RT_USING_CPU_FFS is not set
CONFIG_ARCH_ARM_CORTEX_AARCH64=y
CONFIG_ARCH_ARM_CORTEX_A53=y
# CONFIG_ARCH_CPU_STACK_GROWS_UPWARD is not set
#
@@ -150,6 +147,8 @@ CONFIG_RT_USING_PIN=y
# CONFIG_RT_USING_SENSOR is not set
# CONFIG_RT_USING_TOUCH is not set
# CONFIG_RT_USING_HWCRYPTO is not set
# CONFIG_RT_USING_PULSE_ENCODER is not set
# CONFIG_RT_USING_INPUT_CAPTURE is not set
# CONFIG_RT_USING_WIFI is not set
#
@@ -216,6 +215,7 @@ CONFIG_RT_USING_POSIX=y
# CONFIG_PKG_USING_WEBCLIENT is not set
# CONFIG_PKG_USING_WEBNET is not set
# CONFIG_PKG_USING_MONGOOSE is not set
# CONFIG_PKG_USING_MYMQTT is not set
# CONFIG_PKG_USING_WEBTERMINAL is not set
# CONFIG_PKG_USING_CJSON is not set
# CONFIG_PKG_USING_JSMN is not set
@@ -269,6 +269,7 @@ CONFIG_RT_USING_POSIX=y
# CONFIG_PKG_USING_DLT645 is not set
# CONFIG_PKG_USING_QXWZ is not set
# CONFIG_PKG_USING_SMTP_CLIENT is not set
# CONFIG_PKG_USING_ABUP_FOTA is not set
#
# security packages
@@ -306,6 +307,10 @@ CONFIG_RT_USING_POSIX=y
# CONFIG_PKG_USING_ADBD is not set
# CONFIG_PKG_USING_COREMARK is not set
# CONFIG_PKG_USING_DHRYSTONE is not set
# CONFIG_PKG_USING_NR_MICRO_SHELL is not set
# CONFIG_PKG_USING_CHINESE_FONT_LIBRARY is not set
# CONFIG_PKG_USING_LUNAR_CALENDAR is not set
# CONFIG_PKG_USING_BS8116A is not set
#
# system packages
@@ -324,6 +329,7 @@ CONFIG_RT_USING_POSIX=y
# CONFIG_PKG_USING_LITTLEFS is not set
# CONFIG_PKG_USING_THREAD_POOL is not set
# CONFIG_PKG_USING_ROBOTS is not set
# CONFIG_PKG_USING_EV is not set
#
# peripheral libraries and drivers
@@ -331,6 +337,7 @@ CONFIG_RT_USING_POSIX=y
# CONFIG_PKG_USING_SENSORS_DRIVERS is not set
# CONFIG_PKG_USING_REALTEK_AMEBA is not set
# CONFIG_PKG_USING_SHT2X is not set
# CONFIG_PKG_USING_SHT3X is not set
# CONFIG_PKG_USING_STM32_SDIO is not set
# CONFIG_PKG_USING_ICM20608 is not set
# CONFIG_PKG_USING_U8G2 is not set
@@ -352,9 +359,9 @@ CONFIG_RT_USING_POSIX=y
# CONFIG_PKG_USING_I2C_TOOLS is not set
# CONFIG_PKG_USING_NRF24L01 is not set
# CONFIG_PKG_USING_TOUCH_DRIVERS is not set
# CONFIG_PKG_USING_LCD_DRIVERS is not set
# CONFIG_PKG_USING_MAX17048 is not set
# CONFIG_PKG_USING_RPLIDAR is not set
# CONFIG_PKG_USING_AS608 is not set
#
# miscellaneous packages
@@ -391,6 +398,36 @@ CONFIG_RT_USING_POSIX=y
# CONFIG_PKG_USING_VT100 is not set
# CONFIG_PKG_USING_ULAPACK is not set
# CONFIG_PKG_USING_UKAL is not set
#
# Privated Packages of RealThread
#
# CONFIG_PKG_USING_CODEC is not set
# CONFIG_PKG_USING_PLAYER is not set
# CONFIG_PKG_USING_MPLAYER is not set
# CONFIG_PKG_USING_PERSIMMON_SRC is not set
# CONFIG_PKG_USING_JS_PERSIMMON is not set
# CONFIG_PKG_USING_JERRYSCRIPT_WIN32 is not set
#
# Network Utilities
#
# CONFIG_PKG_USING_WICED is not set
# CONFIG_PKG_USING_CLOUDSDK is not set
# CONFIG_PKG_USING_POWER_MANAGER is not set
# CONFIG_PKG_USING_RT_OTA is not set
# CONFIG_PKG_USING_RDBD_SRC is not set
# CONFIG_PKG_USING_RTINSIGHT is not set
# CONFIG_PKG_USING_SMARTCONFIG is not set
# CONFIG_PKG_USING_RTX is not set
# CONFIG_RT_USING_TESTCASE is not set
# CONFIG_PKG_USING_NGHTTP2 is not set
# CONFIG_PKG_USING_AVS is not set
# CONFIG_PKG_USING_JOYLINK is not set
# CONFIG_PKG_USING_STS is not set
# CONFIG_PKG_USING_DLMS is not set
# CONFIG_PKG_USING_AUDIO_FRAMEWORK is not set
# CONFIG_PKG_USING_ZBAR is not set
CONFIG_BCM2836_SOC=y
# CONFIG_BSP_SUPPORT_FPU is not set
@@ -405,6 +442,7 @@ CONFIG_BSP_USING_UART=y
# CONFIG_RT_USING_UART0 is not set
CONFIG_RT_USING_UART1=y
CONFIG_BSP_USING_PIN=y
CONFIG_BSP_USING_CORETIMER=y
# CONFIG_BSP_USING_SYSTIMER is not set
# CONFIG_BSP_USING_I2C is not set
# CONFIG_BSP_USING_SPI is not set
bsp/raspberry-pi/raspi3-64/driver/Kconfig
+13 -8
View File
@@ -25,18 +25,23 @@ menu "Hardware Drivers Config"
select RT_USING_PIN
default y
config BSP_USING_CORETIMER
bool "Using core timer"
select RT_USING_CORETIMER
default y
menuconfig BSP_USING_SYSTIMER
bool "Enable SYSTIMER"
select RT_USING_SYSTIMER
select BSP_USING_SYSTIMER
default n
if RT_USING_SYSTIMER
config RT_USING_SYSTIMER1
bool "Enable sys timer1"
default n
config RT_USING_SYSTIMER3
bool "Enable sys timer3"
default n
if BSP_USING_SYSTIMER
config RT_USING_SYSTIMER1
bool "Enable sys timer1"
default n
config RT_USING_SYSTIMER3
bool "Enable sys timer3"
default n
endif
menuconfig BSP_USING_I2C
bsp/raspberry-pi/raspi3-64/driver/bcm283x.h
+10
View File
@@ -201,6 +201,16 @@ enum i2c_reason_codes
#define IRQ_DISABLE2 HWREG32(IRQ_BASE + 0x20)
#define IRQ_DISABLE_BASIC HWREG32(IRQ_BASE + 0x24)
/*
* Gtimer IRQ flag
*/
#define SYSTEM_TIMER_IRQ_0 (1 << 0)
#define SYSTEM_TIMER_IRQ_1 (1 << 1)
#define SYSTEM_TIMER_IRQ_2 (1 << 2)
#define SYSTEM_TIMER_IRQ_3 (1 << 3)
#define NON_SECURE_TIMER_IRQ (1 << 1)
/*
* System Timer
*/
bsp/raspberry-pi/raspi3-64/driver/board.c
+34 -5
View File
@@ -18,6 +18,20 @@
#include "cp15.h"
#include "mmu.h"
#ifdef BSP_USING_CORETIMER
static rt_uint64_t timerStep;
#define CORE0_TIMER_IRQ_CTRL HWREG32(0x40000040)
int rt_hw_get_gtimer_frq(void);
void rt_hw_set_gtimer_val(rt_uint64_t value);
void rt_hw_gtimer_enable(void);
void core0_timer_enable_interrupt_controller()
{
CORE0_TIMER_IRQ_CTRL |= NON_SECURE_TIMER_IRQ;
}
#endif
#ifdef RT_USING_SMP
extern void rt_hw_ipi_handler_install(int ipi_vector, rt_isr_handler_t ipi_isr_handler);
@@ -28,15 +42,29 @@ void ipi_handler(){
void rt_hw_timer_isr(int vector, void *parameter)
{
#ifdef BSP_USING_CORETIMER
rt_hw_set_gtimer_val(timerStep);
#else
ARM_TIMER_IRQCLR = 0;
#endif
rt_tick_increase();
}
int rt_hw_timer_init()
void rt_hw_timer_init(void)
{
__DSB();
rt_hw_interrupt_install(IRQ_ARM_TIMER, rt_hw_timer_isr, RT_NULL, "tick");
rt_hw_interrupt_umask(IRQ_ARM_TIMER);
#ifdef BSP_USING_CORETIMER
__ISB();
timerStep = rt_hw_get_gtimer_frq();
__DSB();
timerStep /= RT_TICK_PER_SECOND;
rt_hw_gtimer_enable();
rt_hw_set_gtimer_val(timerStep);
core0_timer_enable_interrupt_controller();
#else
__DSB();
/* timer_clock = apb_clock/(pre_divider + 1) */
ARM_TIMER_PREDIV = (250 - 1);
@@ -50,7 +78,7 @@ int rt_hw_timer_init()
/* 23-bit counter, enable interrupt, enable timer */
ARM_TIMER_CTRL = (1 << 1) | (1 << 5) | (1 << 7);
return 0;
#endif
}
void idle_wfi(void)
@@ -68,8 +96,9 @@ void rt_hw_board_init(void)
armv8_map(0, 0, 0x800000, MEM_ATTR_MEMORY);
armv8_map(0x3f00B000, 0x3f00B000, 0x1000, MEM_ATTR_IO);//timer
armv8_map(0x3f200000, 0x3f200000, 0x16000, MEM_ATTR_IO);//uart
armv8_map(0x40000000, 0x40000000, 0x1000, MEM_ATTR_IO);//core timer
mmu_enable();
/* initialize hardware interrupt */
rt_hw_interrupt_init(); // in libcpu/interrupt.c. Set some data structures, no operation on device
rt_hw_vector_init(); // in libcpu/interrupt.c. == rt_cpu_vector_set_base((rt_ubase_t)&system_vectors);
@@ -80,7 +109,7 @@ void rt_hw_board_init(void)
rt_hw_timer_init();
rt_thread_idle_sethook(idle_wfi);
#ifdef RT_USING_CONSOLE
#ifdef RT_USING_CONSOLE
/* set console device */
rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
#endif /* RT_USING_CONSOLE */
bsp/raspberry-pi/raspi3-64/rtconfig.h
+8 -209
View File
File diff suppressed because it is too large. Load diff
libcpu/aarch64/cortex-a53/context_gcc.S
+25
View File
@@ -8,6 +8,31 @@
* 2018-10-06 ZhaoXiaowei the first version
*/
/*
*enable gtimer
*/
.globl rt_hw_gtimer_enable
rt_hw_gtimer_enable:
MOV X0,#1
MSR CNTP_CTL_EL0,X0
RET
/*
*set gtimer CNTP_TVAL_EL0 value
*/
.globl rt_hw_set_gtimer_val
rt_hw_set_gtimer_val:
MSR CNTP_TVAL_EL0,X0
RET
/*
*get gtimer frq value
*/
.globl rt_hw_get_gtimer_frq
rt_hw_get_gtimer_frq:
MRS X0,CNTFRQ_EL0
RET
.macro SAVE_CONTEXT
/* Switch to use the EL0 stack pointer. */
libcpu/aarch64/cortex-a53/trap.c
+23 -46
View File
@@ -26,16 +26,16 @@ extern long list_thread(void);
void rt_hw_show_register(struct rt_hw_exp_stack *regs)
{
rt_kprintf("Execption:\n");
rt_kprintf("r00:0x%16.16llx r01:0x%16.16llx r02:0x%16.16llx r03:0x%16.16llx\n", regs->x0, regs->x1, regs->x2, regs->x3);
rt_kprintf("r04:0x%16.16llx r05:0x%16.16llx r06:0x%16.16llx r07:0x%16.16llx\n", regs->x4, regs->x5, regs->x6, regs->x7);
rt_kprintf("r08:0x%16.16llx r09:0x%16.16llx r10:0x%16.16llx r11:0x%16.16llx\n", regs->x8, regs->x9, regs->x10, regs->x11);
rt_kprintf("r12:0x%16.16llx r13:0x%16.16llx r14:0x%16.16llx r15:0x%16.16llx\n", regs->x12, regs->x13, regs->x14, regs->x15);
rt_kprintf("r16:0x%16.16llx r17:0x%16.16llx r18:0x%16.16llx r19:0x%16.16llx\n", regs->x16, regs->x17, regs->x18, regs->x19);
rt_kprintf("r20:0x%16.16llx r21:0x%16.16llx r22:0x%16.16llx r23:0x%16.16llx\n", regs->x20, regs->x21, regs->x22, regs->x23);
rt_kprintf("r24:0x%16.16llx r25:0x%16.16llx r26:0x%16.16llx r27:0x%16.16llx\n", regs->x24, regs->x25, regs->x26, regs->x27);
rt_kprintf("r28:0x%16.16llx r29:0x%16.16llx r30:0x%16.16llx", regs->x28, regs->x29, regs->x30);
rt_kprintf("spsr:0x%16.16llx", regs->spsr);
rt_kprintf("return pc:0x%16.16llx", regs->pc);
rt_kprintf("r00:0x%16.16lx r01:0x%16.16lx r02:0x%16.16lx r03:0x%16.16lx\n", regs->x0, regs->x1, regs->x2, regs->x3);
rt_kprintf("r04:0x%16.16lx r05:0x%16.16lx r06:0x%16.16lx r07:0x%16.16lx\n", regs->x4, regs->x5, regs->x6, regs->x7);
rt_kprintf("r08:0x%16.16lx r09:0x%16.16lx r10:0x%16.16lx r11:0x%16.16lx\n", regs->x8, regs->x9, regs->x10, regs->x11);
rt_kprintf("r12:0x%16.16lx r13:0x%16.16lx r14:0x%16.16lx r15:0x%16.16lx\n", regs->x12, regs->x13, regs->x14, regs->x15);
rt_kprintf("r16:0x%16.16lx r17:0x%16.16lx r18:0x%16.16lx r19:0x%16.16lx\n", regs->x16, regs->x17, regs->x18, regs->x19);
rt_kprintf("r20:0x%16.16lx r21:0x%16.16lx r22:0x%16.16lx r23:0x%16.16lx\n", regs->x20, regs->x21, regs->x22, regs->x23);
rt_kprintf("r24:0x%16.16lx r25:0x%16.16lx r26:0x%16.16lx r27:0x%16.16lx\n", regs->x24, regs->x25, regs->x26, regs->x27);
rt_kprintf("r28:0x%16.16lx r29:0x%16.16lx r30:0x%16.16lx\n", regs->x28, regs->x29, regs->x30);
rt_kprintf("spsr:0x%16.16lx\n", regs->spsr);
rt_kprintf("return pc:0x%16.16lx\n", regs->pc);
}
/**
@@ -56,7 +56,8 @@ void rt_hw_trap_error(struct rt_hw_exp_stack *regs)
rt_hw_cpu_shutdown();
}
#define GIC_ACK_INTID_MASK 0x000003ff
#define GIC_ACK_INTID_MASK (0x000003ff)
#define CORE0_IRQ_SOURCE (0x40000060)
void rt_hw_trap_irq(void)
{
@@ -66,44 +67,20 @@ void rt_hw_trap_irq(void)
extern struct rt_irq_desc isr_table[];
uint32_t value = 0;
value = IRQ_PEND_BASIC & 0x3ff;
#ifdef RT_USING_SMP
uint32_t mailbox_data;
uint32_t cpu_id = rt_hw_cpu_id();
uint32_t int_source = CORE_IRQSOURCE(cpu_id);
mailbox_data = IPI_MAILBOX_CLEAR(cpu_id);
if (int_source & 0x0f)
#ifdef BSP_USING_CORETIMER
uint32_t int_source = HWREG32(CORE0_IRQ_SOURCE) & 0x3ff;
if (int_source & 0x02)
{
if (int_source & 0x08){
isr_func = isr_table[IRQ_ARM_TIMER].handler;
#ifdef RT_USING_INTERRUPT_INFO
isr_table[IRQ_ARM_TIMER].counter++;
#endif
if (isr_func)
{
param = isr_table[IRQ_ARM_TIMER].param;
isr_func(IRQ_ARM_TIMER, param);
}
isr_func = isr_table[IRQ_ARM_TIMER].handler;
#ifdef RT_USING_INTERRUPT_INFO
isr_table[IRQ_ARM_TIMER].counter++;
#endif
if (isr_func)
{
param = isr_table[IRQ_ARM_TIMER].param;
isr_func(IRQ_ARM_TIMER, param);
}
}
if (int_source & 0xf0)
{
/*it's a ipi interrupt*/
if (mailbox_data & 0x1){
/* clear mailbox */
IPI_MAILBOX_CLEAR(cpu_id) = mailbox_data;
isr_func = isr_table[IRQ_ARM_MAILBOX].handler;
#ifdef RT_USING_INTERRUPT_INFO
isr_table[IRQ_ARM_MAILBOX].counter++;
#endif
if (isr_func)
{
param = isr_table[IRQ_ARM_MAILBOX].param;
isr_func(IRQ_ARM_MAILBOX, param);
}
}
else
CORE_MAILBOX3_CLEAR(cpu_id) = mailbox_data;
}
#endif
/* local interrupt*/
if (value)