- first working tested version if system_irq demux

- fix minor issues with PIT timer code
- make new led blinkcode implementation work


git-svn-id: https://svn.openpcd.org:2342/trunk@257 6dc7ffe9-61d6-0310-9af1-9938baff3ed1

5 files changed, 98 insertions, 57 deletions

diff --git a/firmware/src/os/blinkcode.c b/firmware/src/os/blinkcode.c
index 8485392..22d4b25 100644
--- a/firmware/src/os/blinkcode.c
+++ b/firmware/src/os/blinkcode.c
@@ -19,14 +19,15 @@ enum blinkcode_state {
 	BLINKCODE_STATE_DONE,
 };
 
-#define TIME_SILENT	(1000)
-#define TIME_INIT	(1000)
-#define TIME_BLINK	(100)
+#define TIME_SILENT	(1*HZ)
+#define TIME_INIT	(1*HZ)
+#define TIME_BLINK	(HZ/4)
 
 struct blinker {
 	struct timer_list timer;
 	enum blinkcode_state state;
-	int8_t num;
+	int num;
+	int cur;
 	u_int8_t led;
 };
 
@@ -36,12 +37,15 @@ static void blinkcode_cb(void *data)
 {
 	/* we got called back by the timer */
 	struct blinker *bl = data;
-
+	
+	DEBUGPCRF("(jiffies=%lu, data=%p, state=%u)",
+		  jiffies, data, bl->state);
 	switch (bl->state) {
 	case BLINKCODE_STATE_NONE:
 		led_switch(bl->led, 0);
 		bl->state = BLINKCODE_STATE_SILENT;
 		bl->timer.expires = jiffies + TIME_SILENT;
+		bl->cur = bl->num;
 		break;
 	case BLINKCODE_STATE_SILENT:
 		/* we've finished the period of silence, turn led on */
@@ -53,22 +57,27 @@ static void blinkcode_cb(void *data)
 		/* we've finished the period of init */
 		led_switch(bl->led, 0);
 		bl->state = BLINKCODE_STATE_BLINK_OFF;
-		bl->timer.expires = jiffies + TIME_BLINK;
+		bl->timer.expires = jiffies + TIME_INIT;
 		break;
 	case BLINKCODE_STATE_BLINK_OFF:
 		/* we've been off, turn on */
 		led_switch(bl->led, 1);
 		bl->state = BLINKCODE_STATE_BLINK_ON;
-		bl->num--;
-		if (bl->num <= 0) {
-			bl->state = BLINKCODE_STATE_NONE;
-			return;
-		}
+		bl->cur--;
+		bl->timer.expires = jiffies + TIME_BLINK;
+		if (bl->cur <= 0)
+			bl->state = BLINKCODE_STATE_DONE;
 		break;
 	case BLINKCODE_STATE_BLINK_ON:
 		/* we've been on, turn off */
 		led_switch(bl->led, 0);
 		bl->state = BLINKCODE_STATE_BLINK_OFF;
+		bl->timer.expires = jiffies + TIME_BLINK;
+		break;
+	case BLINKCODE_STATE_DONE:
+		/* we've been on, turn off */
+		led_switch(bl->led, 0);
+		return;
 		break;
 	}
 	/* default case: re-add the timer */
@@ -77,13 +86,16 @@ static void blinkcode_cb(void *data)
 
 void blinkcode_set(int led, enum blinkcode_num num)
 {
-	if (led >= NUM_LEDS)
+	DEBUGPCRF("(jiffies=%lu, led=%u, num=%u)", jiffies, led, num);
+
+	if (--led > NUM_LEDS)
 		return;
 
 	timer_del(&blink_state[led].timer);
 
 	blink_state[led].num = num;
 	blink_state[led].state = BLINKCODE_STATE_NONE;
+	blink_state[led].timer.expires = jiffies;
 
 	if (num != BLINKCODE_NONE)
 		timer_add(&blink_state[led].timer);
@@ -97,5 +109,7 @@ void blinkcode_init(void)
 		blink_state[i].num = 0;
 		blink_state[i].state = BLINKCODE_STATE_NONE;
 		blink_state[i].led = i+1;
+		blink_state[i].timer.data = &blink_state[i];
+		blink_state[i].timer.function = &blinkcode_cb;
 	}
 }
diff --git a/firmware/src/os/main.c b/firmware/src/os/main.c
index f39234b..0cc9d99 100644
--- a/firmware/src/os/main.c
+++ b/firmware/src/os/main.c
@@ -23,8 +23,12 @@
 #include <include/lib_AT91SAM7.h>
 #include <os/dbgu.h>
 #include <os/led.h>
+#include <os/blinkcode.h>
 #include <os/main.h>
 #include <os/power.h>
+#include <os/system_irq.h>
+#include <os/pit.h>
+#include <os/wdt.h>
 #include <os/usbcmd_generic.h>
 #include <os/pcd_enumerate.h>
 #include "../openpcd.h"
@@ -47,6 +51,7 @@ int main(void)
 	AT91F_PIOA_CfgPMC();
 	wdt_init();
 	pit_init();
+	blinkcode_init();
 
 	/* initialize USB */
 	req_ctx_init();
@@ -73,7 +78,7 @@ int main(void)
 		/* Call application specific main idle function */
 		_main_func();
 		dbgu_rb_flush();
-		wdt_restart();
+		//wdt_restart();
 #ifdef CONFIG_IDLE
 		//cpu_idle();
 #endif
diff --git a/firmware/src/os/pit.c b/firmware/src/os/pit.c
index 8bf13ba..6b68e84 100644
--- a/firmware/src/os/pit.c
+++ b/firmware/src/os/pit.c
@@ -26,6 +26,7 @@
 #include <lib_AT91SAM7.h>
 #include <AT91SAM7.h>
 #include <os/pit.h>
+#include <os/dbgu.h>
 #include <os/system_irq.h>
 
 #include "../openpcd.h"
@@ -35,7 +36,7 @@
 
 static struct timer_list *timers;
 
-unsigned long jiffies;
+volatile unsigned long jiffies;
 
 static void __timer_insert(struct timer_list *new)
 {
@@ -63,7 +64,7 @@ static void __timer_insert(struct timer_list *new)
 	}
 }
 
-static void __timer_remove(struct timer_list *old)
+static int __timer_remove(struct timer_list *old)
 {
 	struct timer_list *tl, *tl_prev = NULL;
 
@@ -73,18 +74,24 @@ static void __timer_remove(struct timer_list *old)
 				timers = tl->next;
 			else
 				tl_prev->next = tl->next;
+			return 1;
 		}
 		tl_prev = tl;
 	}
+
+	return 0;
 }
 
 int timer_del(struct timer_list *tl)
 {
 	unsigned long flags;
+	int ret;
 
 	local_irq_save(flags);
-	__timer_remove(tl);
+	ret = __timer_remove(tl);
 	local_irq_restore(flags);
+
+	return ret;
 }
 
 void timer_add(struct timer_list *tl)
@@ -98,21 +105,23 @@ void timer_add(struct timer_list *tl)
 
 static void pit_irq(u_int32_t sr)
 {
-	struct timer_list *tl;
+	struct timer_list *tl, *next;
 	unsigned long flags;
 
-	jiffies += *AT91C_PITC_PIVR;
+	if (!(sr & 0x1))
+		return;
+
+	jiffies += *AT91C_PITC_PIVR >> 20;
 
 	/* this is the most simple/stupid algorithm one can come up with, but
 	 * hey, we're on a small embedded platform with only a hand ful
 	 * of timers, at all */
-	for (tl = timers; tl != 0; tl = tl->next) {
-		if (tl->expires >= jiffies) {
-			tl->function(tl->data);
-			local_irq_save(flags);
+	for (tl = timers; tl != NULL; tl = next) {
+		next = tl->next;
+		if (tl->expires <= jiffies) {
 			/* delete timer from list */
-			__timer_remove(tl);
-			local_irq_restore(flags);
+			timer_del(tl);
+			tl->function(tl->data);
 		}
 	}
 }
@@ -130,7 +139,7 @@ void pit_init(void)
 {
 	AT91F_PITC_CfgPMC();
 
-	AT91F_PITInit(AT91C_BASE_PITC, 1000 /* uS */, 48 /* MHz */);
+	AT91F_PITInit(AT91C_BASE_PITC, 1000000/HZ /* uS */, 48 /* MHz */);
 
 	sysirq_register(AT91SAM7_SYSIRQ_PIT, &pit_irq);	
 
diff --git a/firmware/src/os/pit.h b/firmware/src/os/pit.h
index e941aeb..4a25cc1 100644
--- a/firmware/src/os/pit.h
+++ b/firmware/src/os/pit.h
@@ -3,6 +3,8 @@
 
 #include <sys/types.h>
 
+#define HZ	100
+
 /* This API (but not the code) is modelled after the Linux API */
 
 struct timer_list {
@@ -12,7 +14,7 @@ struct timer_list {
 	void *data;
 };
 
-extern unsigned long jiffies;
+extern volatile unsigned long jiffies;
 
 extern void timer_add(struct timer_list *timer);
 extern int timer_del(struct timer_list *timer);
diff --git a/firmware/src/os/system_irq.c b/firmware/src/os/system_irq.c
index 455791c..dc787eb 100644
--- a/firmware/src/os/system_irq.c
+++ b/firmware/src/os/system_irq.c
@@ -33,7 +33,7 @@ static sysirq_hdlr *sysirq_hdlrs[AT91SAM7_SYSIRQ_COUNT];
 static void sys_irq(void)
 {
 	u_int32_t sr;
-	DEBUGP("sys_irq: ");
+	DEBUGP("sys_irq ");
 
 	/* Somehow Atmel decided to do really stupid interrupt sharing
 	 * for commonly-used interrupts such as the timer irq */
@@ -41,9 +41,8 @@ static void sys_irq(void)
 	/* dbgu */
 	if (*AT91C_DBGU_IMR) {
 		sr = *AT91C_DBGU_CSR;
-		DEBUGP("DBGU(");
 		if (sr & *AT91C_DBGU_IMR) {
-			DEBUGP("found ");
+			DEBUGP("DBGU(");
 			if (sysirq_hdlrs[AT91SAM7_SYSIRQ_DBGU]) {
 				DEBUGP("handler ");
 				sysirq_hdlrs[AT91SAM7_SYSIRQ_DBGU](sr);
@@ -51,96 +50,108 @@ static void sys_irq(void)
 				*AT91C_DBGU_IDR = *AT91C_DBGU_IMR;
 				DEBUGP("no handler ");
 			}
+			DEBUGP(") ");
 		}
-		DEBUGP(") ");
 	}
 	
 	/* pit_irq */
 	if (*AT91C_PITC_PIMR & AT91C_PITC_PITIEN) {
 		sr = *AT91C_PITC_PISR;
-		DEBUGP("PIT(");
 		if (sr & AT91C_PITC_PITS) {
-			DEBUGP("found ");
 			if (sysirq_hdlrs[AT91SAM7_SYSIRQ_PIT]) {
-				DEBUGP("handler ");
 				sysirq_hdlrs[AT91SAM7_SYSIRQ_PIT](sr);
 			} else {
+				DEBUGP("no handler DISABLE_PIT ");
 				*AT91C_PITC_PIMR &= ~AT91C_PITC_PITIEN;
-				DEBUGP("no handler ");
 			}
 		}
-		DEBUGP(") ");
 	}
 
 	/* rtt_irq */
 	if (*AT91C_RTTC_RTMR & (AT91C_RTTC_ALMIEN|AT91C_RTTC_RTTINCIEN)) {
 		sr = *AT91C_RTTC_RTSR;
-		DEBUGP("RTT(");
 		if (sr) {
-			if (sysirq_hdlrs[AT91SAM7_SYSIRQ_RTT])
+			DEBUGP("RTT(");
+			if (sysirq_hdlrs[AT91SAM7_SYSIRQ_RTT]) {
+				DEBUGP("handler ");
 				sysirq_hdlrs[AT91SAM7_SYSIRQ_RTT](sr);
-			else
+			} else {
 				*AT91C_RTTC_RTMR &= ~(AT91C_RTTC_ALMIEN|
 						      AT91C_RTTC_RTTINCIEN);
+				DEBUGP("no handler ");
+			}
+			DEBUGP(") ");
 		}
-		DEBUGP(") ");
 	}
 
 	/* pmc_irq */
 	if (*AT91C_PMC_IMR) {
 		sr = *AT91C_PMC_SR;
-		DEBUGP("PMC(");
 		if (sr & *AT91C_PMC_IMR) {
-			if (sysirq_hdlrs[AT91SAM7_SYSIRQ_PMC])
+			DEBUGP("PMC(");
+			if (sysirq_hdlrs[AT91SAM7_SYSIRQ_PMC]) {
+				DEBUGP("handler ");
 				sysirq_hdlrs[AT91SAM7_SYSIRQ_PMC](sr);
-			else
+			} else {
 				*AT91C_PMC_IDR = *AT91C_PMC_IMR;
+				DEBUGP("no handler ");
+			}
+			DEBUGP(") ");
 		}
-		DEBUGP(") ");
 	}
 
 	/* rstc_irq */
 	if (*AT91C_RSTC_RMR & (AT91C_RSTC_URSTIEN|AT91C_RSTC_BODIEN)) {
 		sr = *AT91C_RSTC_RSR;
-		DEBUGP("RSTC(");
 		if (sr & (AT91C_RSTC_URSTS|AT91C_RSTC_BODSTS)) {
-			if (sysirq_hdlrs[AT91SAM7_SYSIRQ_RSTC])
+			DEBUGP("RSTC(");
+			if (sysirq_hdlrs[AT91SAM7_SYSIRQ_RSTC]) {
+				DEBUGP("handler ");
 				sysirq_hdlrs[AT91SAM7_SYSIRQ_RSTC](sr);
-			else
+			} else {
 				*AT91C_RSTC_RMR &= ~(AT91C_RSTC_URSTIEN|
 						     AT91C_RSTC_BODIEN);
+				DEBUGP("no handler ");
+			}
+			DEBUGP(") ");
 		}
-		DEBUGP(") ");
 	}
 
 	/* mc_irq */
 	if (*AT91C_MC_FMR & (AT91C_MC_LOCKE | AT91C_MC_PROGE)) {
 		sr = *AT91C_MC_FSR;
-		DEBUGP("EFC(");
 		if ((*AT91C_MC_FMR & AT91C_MC_LOCKE && (sr & AT91C_MC_LOCKE))||
 		    (*AT91C_MC_FMR & AT91C_MC_PROGE && (sr & AT91C_MC_PROGE))){
-			if (sysirq_hdlrs[AT91SAM7_SYSIRQ_EFC])
+			DEBUGP("EFC(");
+			if (sysirq_hdlrs[AT91SAM7_SYSIRQ_EFC]) {
+				DEBUGP("handler ");
 		    		sysirq_hdlrs[AT91SAM7_SYSIRQ_EFC](sr);
-			else
+			} else {
 				*AT91C_MC_FMR &= ~(AT91C_MC_LOCKE |
 						   AT91C_MC_PROGE);
+				DEBUGP("no handler ");
+			}
+			DEBUGP(") ");
 		}
-		DEBUGP(") ");
 	}
 	    
 	/* wdt_irq */
 	if (*AT91C_WDTC_WDMR & AT91C_WDTC_WDFIEN) {
 		sr = *AT91C_WDTC_WDSR;
-		DEBUGP("WDT(");
 		if (sr) {
-			if (sysirq_hdlrs[AT91SAM7_SYSIRQ_WDT])
+			DEBUGP("WDT(");
+			if (sysirq_hdlrs[AT91SAM7_SYSIRQ_WDT]) {
+				DEBUGP("handler ");
 				sysirq_hdlrs[AT91SAM7_SYSIRQ_WDT](sr);
-			/* we can't disable it... */
+			} else {
+				/* we can't disable it... */
+				DEBUGP("no handler ");
+			}
+			DEBUGP(") ");
 		}
-		DEBUGP(") ");
 	}
 	AT91F_AIC_ClearIt(AT91C_BASE_AIC, AT91C_ID_SYS);
-	DEBUGPCR("");
+	DEBUGPCR("END");
 }
 
 void sysirq_register(enum sysirqs irq, sysirq_hdlr *hdlr)
@@ -155,7 +166,7 @@ void sysirq_init(void)
 {
 	AT91F_AIC_ConfigureIt(AT91C_BASE_AIC, AT91C_ID_SYS,
 			      OPENPCD_IRQ_PRIO_SYS,
-			      AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE,
+			      AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL,
 			      &sys_irq);
 	AT91F_AIC_EnableIt(AT91C_BASE_AIC, AT91C_ID_SYS);
 }