arch/arm/src/am335x: Add clock module registers definition. Switch to…

… DMTIMER1 for systick.
PX4 · Jul 3, 2019 · 55026f2 · 55026f2
1 parent 03fe07c
commit 55026f2
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Showing 3 changed files with 404 additions and 23 deletions.
diff --git a/arch/arm/src/am335x/am335x_clockconfig.c b/arch/arm/src/am335x/am335x_clockconfig.c
@@ -40,13 +40,39 @@
 #include <nuttx/config.h>
 
 #include "up_arch.h"
-#if 0
-/* TODO: add clock register module */
-#include "hardware/am335x_ccm.h"
-#endif
+#include "hardware/am335x_cm.h"
 #include "am335x_config.h"
 #include "am335x_clockconfig.h"
 
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: am335x_dmtimer1ms_clockconfig
+ ****************************************************************************/
+
+static inline void am335x_dmtimer1ms_clockconfig(void)
+{
+  putreg32(CM_DPLL_DMTIMER1_CLKSEL_CLK_M_OSC,
+           AM335X_CM_DPLL_CLKSEL_TIMER1MS_CLK);
+
+  while ((getreg32(AM335X_CM_DPLL_CLKSEL_TIMER1MS_CLK) &
+          CM_DPLL_DMTIMER1MS_CLKSEL_MASK)
+          != CM_DPLL_DMTIMER1_CLKSEL_CLK_M_OSC)
+    {
+    }
+
+  modifyreg32(AM335X_CM_WKUP_TIMER1_CLKCTRL, CM_WKUP_CLKCTRL_MODULEMODE_MASK,
+              CM_WKUP_CLKCTRL_MODULEMODE_ENABLE);
+
+  while ((getreg32(AM335X_CM_WKUP_TIMER1_CLKCTRL) &
+          (CM_WKUP_CLKCTRL_MODULEMODE_MASK | CM_WKUP_CLKCTRL_IDLEST_MASK))
+         != (CM_WKUP_CLKCTRL_MODULEMODE_ENABLE | CM_WKUP_CLKCTRL_IDLEST_FUNC))
+    {
+    }
+}
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -75,6 +101,8 @@ void am335x_clockconfig(void)
    * 792MHz.
    */
 
+  am335x_dmtimer1ms_clockconfig();
+
 #ifndef CONFIG_AM335X_BOOT_SDRAM
 #  warning Missing logic
 #endif

diff --git a/arch/arm/src/am335x/am335x_timerisr.c b/arch/arm/src/am335x/am335x_timerisr.c
@@ -51,20 +51,15 @@
 #include "up_arch.h"
 #include "hardware/am335x_timer.h"
 
+#define USE_TIMER1MS
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
 
-#ifdef USE_TIMER1MS
-/* Timer 1 clock selects the external 32.768 KHz oscillator/clock */
-
-#  define TMR_CLOCK             (32768)
-
-#else
 /* Timer clock selects system clock CLK_M_OSC (24MHz) */
 
 #  define TMR_CLOCK             (24000000ll)
-#endif
 
 /* The desired timer interrupt frequency is provided by the definition
  * CLK_TCK (see include/time.h).  CLK_TCK defines the desired number of
@@ -78,21 +73,12 @@
 #define TMR_TLDR                (0xffffffff - (TMR_CLOCK / CLK_TCK) + 1)
 #define TMR_TCRR                (0xffffffff - (TMR_CLOCK / CLK_TCK) + 1)
 
-#ifdef USE_TIMER1MS
-#  define TMR_TPIR \
-    (((TMR_CLOCK / CLK_TCK + 1) * 1000000l) - \
-     (TMR_CLOCK * (1000000l / CLK_TCK)))
-#  define TMR_TNIR \
-    (((TMR_CLOCK / CLK_TCK) * 1000000l) - \
-     (TMR_CLOCK * (1000000l / CLK_TCK)))
-#else
-#  define TMR_TPIR \
+#define TMR_TPIR \
     (((TMR_CLOCK / CLK_TCK + 1) * 1000000ll) - \
      (TMR_CLOCK * (1000000ll / CLK_TCK)))
-#  define TMR_TNIR \
+#define TMR_TNIR \
     (((TMR_CLOCK / CLK_TCK) * 1000000ll) - \
      (TMR_CLOCK * (1000000ll / CLK_TCK)))
-#endif
 
 /****************************************************************************
  * Private Functions
@@ -214,6 +200,5 @@ void arm_timer_initialize(void)
   /* And enable the timer interrupt */
 
   up_enable_irq(AM335X_IRQ_TIMER2);
-
 #endif
 }