/****************************************************************************/ /* Copyright 2003-2016 MBARI */ /****************************************************************************/ /* Summary : System Ticker and RTC Routines for OASIS5 on PIC32MX470F512L */ /* Filename : timer.c */ /* Author : Robert Herlien (rah) */ /* Project : OASIS Mooring Replacement (OASIS5) */ /* Revision : 1.0 */ /* Created : 01/13/2003 */ /* */ /* MBARI provides this documentation and code "as is", with no warranty, */ /* express or implied, of its quality or consistency. It is provided without*/ /* support and without obligation on the part of the Monterey Bay Aquarium */ /* Research Institute to assist in its use, correction, modification, or */ /* enhancement. This information should not be published or distributed to */ /* third parties without specific written permission from MBARI. */ /* */ /****************************************************************************/ /* Modification History: */ /* 13jan2003 rah - created */ /* 20apr2016 rah - ported to OASIS5 from OASIS4 clock.c */ /****************************************************************************/ /* This module implements the RTC clock ticker and sleep handler */ /* The tick and RTC interrupt handlers are in FreeRTOS/PIC32/port_asm.S */ /* The tick handler calls the system millisecond ticker in FreeRTOS/PIC32/port.c*/ /* It also incrments clkMs, to maintain RTC time to millisecond accuracy */ /* The RTC interrupt handler calls _RTCInterrupt in this module */ /****************************************************************************/ #include "GenericTypeDefs.h" #include #include #include #include #include #include #include #include /* MIN_SLEEP_TIME */ #include #include /* FreeRTOS definitions */ #include /********************************/ /* External Data */ /********************************/ Extern Int16 gmtOffset; Extern TaskHandle_t oasisTask; /********************************/ /* Global Data */ /********************************/ /* clkMs is global so system ms tick handler can increment it */ volatile UINT16 clkMs; /* Milliseconds of time of day */ /********************************/ /* Module Local Data */ /********************************/ static volatile time_t clkTod; /* Current time of day, seconds */ /************************************************************************/ /* Function : tmrBusyWaitUs */ /* Purpose : Delay a number of microseconds */ /* Input : Microsecs to delay */ /* Outputs : None */ /************************************************************************/ void tmrBusyWaitUs(UINT32 us) { UINT32 stCnt = _CP0_GET_COUNT(); if (us > 1) while ((_CP0_GET_COUNT() - stCnt) < (((us-1)*(SYSCLK/1000000))/2)) ; /* wait for usecs to expire */ } /************************************************************************/ /* Function : clkInit */ /* Purpose : Initialize system time of day clock */ /* Input : None */ /* Outputs : 0 if OK, -1 if RTC time was bogus */ /************************************************************************/ int clkInit(void) { struct tm curTm; time_t tmpTod; BYTE clkRegs[4]; #ifdef PROTO INT4R = 0; /* INT4 = RPD3 = pin 78 */ #else INT4R = 7; /* INT4 = RPC13 = pin 73 */ #endif INTCONCLR = _INTCON_INT4EP_MASK; /* Interrupt on negative edge */ IPC4bits.INT4IP = 2; /* RTC interrupt priority */ IPC4bits.INT4IS = 0; picUnlock(); OSCCONSET = _OSCCON_SLPEN_MASK; /* Set sleep bit */ picLock(); rtcSetAlarm1(0); /* Set Alarm Regs to once/second */ do { IFS0CLR = _IFS0_INT4IF_MASK; clkMs = 0; /* Init ms to zero */ clkTod = rtcTime(&curTm); /* Get real time of day */ } while (IFS0bits.INT4IF); /* If got new second, try again */ IEC0SET = _IEC0_INT4IE_MASK; /* Enable one-second ints */ if ((curTm.tm_mon > 11) || (curTm.tm_mday < 1) || (curTm.tm_mday > 31) || (curTm.tm_hour > 23) || (curTm.tm_min >= 60) || (curTm.tm_sec > 60)) return(-1); return(0); } /************************************************************************/ /* Function : clkTime */ /* Purpose : Return time of day */ /* Input : None */ /* Outputs : Current time of day */ /************************************************************************/ time_t clkTime(void) { return(clkTod); } /* clkTime() */ /************************************************************************/ /* Function : clkGetTime */ /* Purpose : Get time of day with milliseconds */ /* Input : Ptrs to time_t and ms */ /* Outputs : Current time of day */ /************************************************************************/ time_t clkGetTime(time_t *todp, UINT16 *ms) { if (todp) *todp = clkTod; if (ms) *ms = clkMs; return(clkTod); } /* clkTime() */ /************************************************************************/ /* Function : clkSetTime */ /* Purpose : Set Date and Time to system and RTC */ /* Input : time_t for new time */ /* Outputs : None */ /************************************************************************/ int clkSetTime(time_t newTod) { rtcSetTime(newTod); clkTod = newTod; clkMs = 0; } /* clkSetTime() */ /************************************************************************/ /* Function : clkPrintTime */ /* Purpose : Print date & time to serial port */ /* Input : Ptr to time to print. NULL means now */ /* Outputs : None */ /************************************************************************/ void clkPrintTime(time_t *tod) { struct tm *tmptr; if (tod != NULL) tmptr = localtime(tod); else tmptr = localtime((time_t *)&clkTod); xprintf("%04d/%02d/%02d %02d:%02d:%02d", tmptr->tm_year + 1900, tmptr->tm_mon+1, tmptr->tm_mday, tmptr-> tm_hour, tmptr->tm_min, tmptr->tm_sec); if (tod == NULL) xprintf(".%03u", clkMs); } /* clkPrintTime() */ /************************************************************************/ /* Function : clkLocalHour */ /* Purpose : Get hour in local time zone */ /* Input : None */ /* Outputs : Hour (0 - 23) */ /************************************************************************/ Nat16 clkLocalHour(void) { struct tm curTm; rtcTime(&curTm); /* Get real time of day */ return((curTm.tm_hour + gmtOffset + 24) % 24); } /* clkLocalHour() */ /************************************************************************/ /* Function : tmrSleep */ /* Purpose : Sleep for given number of seconds */ /* Input : Time to sleep */ /* Outputs : None */ /* Comments : This version used by diagnostic utilities */ /************************************************************************/ void tmrSleep(UINT32 secs) { time_t now; if (secs < MIN_SLEEP_TIME) /* If < min, just return */ return; if (secs > MAX_SLEEP_TIME) /* Limit sleep to max sleep time*/ secs = MAX_SLEEP_TIME; if (serAnyTxActive()) /* If any Tx active, don't sleep*/ return; IEC0CLR = _IEC0_INT4IE_MASK; /* Turn off RTC int */ digTx0Dis(); /* Turn off Tx */ digBlinkyOff(); /* Turn off Blinky */ now = rtcTime(NULL); /* Get current time_t */ if (rtcSetAlarm1(now + secs) == OK) /* Set alarm */ { IEC0CLR = _IEC0_INT4IE_MASK; /* Turn off ms int */ IEC0SET = _IEC0_INT4IE_MASK; /* Enable RTC int */ setupConsoleWakeFromSleep(); /* Set up hardware for console wakeup*/ _wait(); /* Wait for int */ IEC0CLR = _IEC0_INT4IE_MASK; /* Disable RTC ints again */ clkMs = 0; /* Init ms to zero */ clkTod = rtcTime(NULL); /* Resync time of day */ } rtcSetAlarm1(0); /* Restore 1 Hz RTC ints */ clearConsoleWakeFromSleep(); /* Restore console */ digTx0En(); /* Turn on Tx */ IEC0SET = (_IEC0_T1IE_MASK | _IEC0_INT4IE_MASK); /* Restore ms and RTC ints */ } /* tmrSleep() */ /************************************************************************/ /* Function : tmrRtosSleep */ /* Purpose : Sleep for given number of seconds */ /* Input : Time to sleep */ /* Outputs : None */ /* Comments : This version used for FreeRTOS Tickless sleep */ /************************************************************************/ void tmrRtosSleep(TickType_t slpTicks) { time_t todSave; Nat32 slpSecs; TickType_t msSave; eSleepModeStatus sleepSts; slpSecs = (slpTicks + TICKS_PER_SEC/2) / TICKS_PER_SEC; if (slpSecs < MIN_SLEEP_TIME) /* If < min, just return */ return; if (slpSecs > MAX_SLEEP_TIME) /* Limit sleep to max sleep time*/ slpSecs = MAX_SLEEP_TIME; INTDisableInterrupts(); sleepSts = eTaskConfirmSleepModeStatus(); INTEnableInterrupts(); IEC0CLR = _IEC0_INT4IE_MASK; /* Turn off RTC int */ todSave = rtcTime(NULL); /* Get starting seconds */ if (sleepSts != eAbortSleep) { setRtosRunMode(FALSE); /* OS scheduler is turned off*/ /* before calling this func */ if (rtcSetAlarm1(todSave + slpSecs) == OK) /* Set alarm */ { IEC0CLR = _IEC0_T1IE_MASK; /* Turn off ms int */ msSave = (TickType_t)clkMs; /* Get starting ms */ digTx0Dis(); /* Turn off Tx */ setupConsoleWakeFromSleep(); /* Set up hardware for serial wakeup*/ IEC0SET = _IEC0_INT4IE_MASK; /* Enable RTC int */ _wait(); /* Wait for int */ wakeupPinOn(); IEC0CLR = _IEC0_INT4IE_MASK; /* Disable RTC ints again */ clkMs = 0; /* Init ms to zero */ clkTod = rtcTime(NULL); /* Resync time of day */ clearConsoleWakeFromSleep(); /* Restore serial ports */ vTaskStepTick((TICKS_PER_SEC * (clkTod-todSave)) - msSave); } rtcSetAlarm1(0); /* Restore 1 Hz RTC ints */ IEC0SET = (_IEC0_T1IE_MASK | _IEC0_INT4IE_MASK); /* Turn on ms and RTC ints */ } setRtosRunMode(TRUE); /* Show scheduler running again*/ xTaskNotifyGive(oasisTask); /* Wake up Oasis Scheduler */ wakeupPinOff(); } /************************************************************************/ /********** ISRs *********/ /************************************************************************/ /************************************************************************/ /* Function : RTCack */ /* Purpose : Interrupt Completion routine for RTC */ /* Input : None */ /************************************************************************/ static void RTCack(void) { rtcTaskPinOn(); /* For debugging */ rtcWriteReg(RTC_CTRLSTAT, 0x00); /* Clear the int in the RTC */ #if (configUSE_PREEMPTION == 0) /* If no preemption, we can get */ clkTod = rtcTime(NULL); /* locked out and lose time */ #endif /* so we re-read time every sec*/ rtcTaskPinOff(); /* For debugging */ } /************************************************************************/ /* Function : _RTCInterrupt */ /* Purpose : External Interrupt 4, servicing the RTC 1/sec interrupt*/ /* Input : None */ /* Comment : Called from assembly language wrapper in port_asm.S */ /************************************************************************/ void _RTCInterrupt(void) { BaseType_t xHigherPriorityTaskWoken; rtcPinOn(); clkTod++; /* increment time of day */ clkMs = 0; /* clear ms count */ xHigherPriorityTaskWoken = pdFALSE; xTimerPendFunctionCallFromISR(RTCack, NULL, 0, &xHigherPriorityTaskWoken); portEND_SWITCHING_ISR(xHigherPriorityTaskWoken); IFS0CLR = _IFS0_INT4IF_MASK; /* clear the interrupt flag */ rtcPinOff(); }