diff --git a/armsrc/ticks.c b/armsrc/ticks.c index 22c5d5be1..ac76f99e3 100644 --- a/armsrc/ticks.c +++ b/armsrc/ticks.c @@ -9,12 +9,14 @@ // Timers, Clocks functions used in LF or Legic where you would need detailed time. //----------------------------------------------------------------------------- #include "ticks.h" -// attempt at high resolution microsecond timer -// beware: timer counts in 21.3uS increments (1024/48Mhz) + +// timer counts in 21.3uS increments (1024/48Mhz), rounding applies +// WARNING: timer can't measure more than 1.39s (21.3uS * 0xffff) void SpinDelayUs(int us) { - int ticks = (48 * us) >> 10; + int ticks = (48 * us + 512) >> 10; // Borrow a PWM unit for my real-time clock + // This resets PWMC_CPRDR as well AT91C_BASE_PWMC->PWMC_ENA = PWM_CHANNEL(0); // 48 MHz / 1024 gives 46.875 kHz @@ -26,14 +28,19 @@ void SpinDelayUs(int us) { for (;;) { uint16_t now = AT91C_BASE_PWMC_CH0->PWMC_CCNTR; - if (now == (uint16_t)(start + ticks)) + if (now >= (uint16_t)(start + ticks)) return; WDT_HIT(); } } +// WARNING: timer can't measure more than 1.39s (21.3uS * 0xffff) void SpinDelay(int ms) { + if (ms > 1390) { + Dbprintf(_RED_("Error, SpinDelay called with %i > 1390"), ms); + ms = 1390; + } // convert to uS and call microsecond delay function SpinDelayUs(ms * 1000); } @@ -49,9 +56,10 @@ void SpinDelay(int ms) { void StartTickCount(void) { // This timer is based on the slow clock. The slow clock frequency is between 22kHz and 40kHz. // We can determine the actual slow clock frequency by looking at the Main Clock Frequency Register. - uint16_t mainf = AT91C_BASE_PMC->PMC_MCFR & 0xffff; // = 16 * main clock frequency (16MHz) / slow clock frequency - // set RealTimeCounter divider to count at 1kHz: - AT91C_BASE_RTTC->RTTC_RTMR = AT91C_RTTC_RTTRST | ((256000 + (mainf / 2)) / mainf); + while ((AT91C_BASE_PMC->PMC_MCFR & AT91C_CKGR_MAINRDY) == 0); // Wait for MAINF value to become available... + uint16_t mainf = AT91C_BASE_PMC->PMC_MCFR & AT91C_CKGR_MAINF; // Get # main clocks within 16 slow clocks + // set RealTimeCounter divider to count at 1kHz, should be 32 if RC is exactly at 32kHz: + AT91C_BASE_RTTC->RTTC_RTMR = AT91C_RTTC_RTTRST | ((((16000000 / 1000 * 16) + (mainf / 2)) / mainf) & AT91C_RTTC_RTPRES); // note: worst case precision is approx 2.5% } diff --git a/armsrc/util.c b/armsrc/util.c index cad2d2ac5..3deb97b6d 100644 --- a/armsrc/util.c +++ b/armsrc/util.c @@ -176,6 +176,12 @@ void SpinUp(uint32_t speed) { // double click, otherwise it will waste 500ms -- use BUTTON_HELD instead int BUTTON_CLICKED(int ms) { // Up to 500ms in between clicks to mean a double click + // timer counts in 21.3uS increments (1024/48Mhz) + // WARNING: timer can't measure more than 1.39s (21.3uS * 0xffff) + if (ms > 1390) { + Dbprintf(_RED_("Error, BUTTON_CLICKED called with %i > 1390"), ms); + ms = 1390; + } int ticks = (48000 * (ms ? ms : 1000)) >> 10; // If we're not even pressed, forget about it! @@ -183,6 +189,7 @@ int BUTTON_CLICKED(int ms) { return BUTTON_NO_CLICK; // Borrow a PWM unit for my real-time clock + // This resets PWMC_CPRDR as well AT91C_BASE_PWMC->PWMC_ENA = PWM_CHANNEL(0); // 48 MHz / 1024 gives 46.875 kHz AT91C_BASE_PWMC_CH0->PWMC_CMR = PWM_CH_MODE_PRESCALER(10); @@ -209,7 +216,7 @@ int BUTTON_CLICKED(int ms) { // Still haven't let it off else // Have we held down a full second? - if (now == (uint16_t)(start + ticks)) + if (now >= (uint16_t)(start + ticks)) return BUTTON_HOLD; } @@ -220,7 +227,7 @@ int BUTTON_CLICKED(int ms) { return BUTTON_DOUBLE_CLICK; // Have we ran out of time to double click? - else if (now == (uint16_t)(start + ticks)) + else if (now >= (uint16_t)(start + ticks)) // At least we did a single click return BUTTON_SINGLE_CLICK; @@ -233,6 +240,12 @@ int BUTTON_CLICKED(int ms) { // Determine if a button is held down int BUTTON_HELD(int ms) { + // timer counts in 21.3uS increments (1024/48Mhz) + // WARNING: timer can't measure more than 1.39s (21.3uS * 0xffff) + if (ms > 1390) { + Dbprintf(_RED_("Error, BUTTON_HELD called with %i > 1390"), ms); + ms = 1390; + } // If button is held for one second int ticks = (48000 * (ms ? ms : 1000)) >> 10; @@ -241,6 +254,7 @@ int BUTTON_HELD(int ms) { return BUTTON_NO_CLICK; // Borrow a PWM unit for my real-time clock + // This resets PWMC_CPRDR as well AT91C_BASE_PWMC->PWMC_ENA = PWM_CHANNEL(0); // 48 MHz / 1024 gives 46.875 kHz AT91C_BASE_PWMC_CH0->PWMC_CMR = PWM_CH_MODE_PRESCALER(10); @@ -257,7 +271,7 @@ int BUTTON_HELD(int ms) { return BUTTON_SINGLE_CLICK; // Have we waited the full second? - else if (now == (uint16_t)(start + ticks)) + else if (now >= (uint16_t)(start + ticks)) return BUTTON_HOLD; WDT_HIT(); diff --git a/common/usb_cdc.c b/common/usb_cdc.c index 25a5d80d9..073fa80f2 100644 --- a/common/usb_cdc.c +++ b/common/usb_cdc.c @@ -446,9 +446,11 @@ AT91S_CDC_LINE_CODING line = { // purely informative, actual values don't matter 8 // 8 Data bits }; +// timer counts in 21.3uS increments (1024/48Mhz), rounding applies +// WARNING: timer can't measure more than 1.39s (21.3uS * 0xffff) static void SpinDelay(int ms) { int us = ms * 1000; - int ticks = (48 * us) >> 10; + int ticks = (48 * us + 512) >> 10; // Borrow a PWM unit for my real-time clock AT91C_BASE_PWMC->PWMC_ENA = PWM_CHANNEL(0);