kopia lustrzana https://github.com/bristol-seds/pico-tracker
[lftimer->rtc] replace LF timer with always-running RTC timer
Richard Meadows
rodzic
77f29a5f74
commit
17d87503b8
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@ -125,6 +125,9 @@ void init(enum init_type init_t)
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/* Configure the Power Manager */
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powermananger_init();
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/* Start the RTC */
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rtc_init();
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/* We've done good things, kick wdt */
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kick_the_watchdog();
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@ -42,6 +42,7 @@
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#include "backlog.h"
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#include "pips.h"
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#include "xosc.h"
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#include "rtc.h"
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#include "sequencer.h"
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#include "thermistor.h"
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@ -257,9 +258,7 @@ void pips_telemetry(void)
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* Timing helpers
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* =============================================================================
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*/
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volatile uint8_t run_flag = 1; /* run immediately after init */
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uint32_t hibernate_time_s = 1;
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uint8_t in_cold_out = 1; /* test temperature immediately after init */
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uint32_t cold_out_count = 0;
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@ -269,35 +268,32 @@ uint32_t cold_out_count = 0;
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*/
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void set_hibernate_time(uint8_t cold_out)
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{
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if (cold_out == 0) { /* Normal operations */
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if (gps_is_locked() == GPS_NO_LOCK) { /* no lock */
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hibernate_time_s = 0; /* shortest hibernate */
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uint32_t hibernate_time_s;
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if (cold_out == 0) { /* Normal operations */
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if (gps_is_locked() == GPS_NO_LOCK) { /* no lock */
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hibernate_time_s = 0; /* shortest hibernate */
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} else if (gps_get_flight_state() == GPS_FLIGHT_STATE_LAUNCH) {
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hibernate_time_s = 60-20; /* approx every minute */
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hibernate_time_s = CYCLE_TIME_FAST;
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} else {
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hibernate_time_s = 240-20; /* approx every 4 minutes */
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hibernate_time_s = CYCLE_TIME_SLOW;
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}
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} else { /* cold out */
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hibernate_time_s = COLD_OUT_SECONDS;
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}
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/* set this */
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rtc_hibernate_time(hibernate_time_s);
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}
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/**
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* Called on each tick of the low frequency clock
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* Called when it's time to run again
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*/
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void lf_tick(uint32_t tick)
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void run_kick(void)
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{
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/* When we're due to run again */
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/* Called at 2Hz */
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if (tick >= 2*hibernate_time_s) {
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/* Stop */
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lf_tick_stop();
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/* Raise the run flag */
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run_flag = 1;
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}
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/* Raise the run flag */
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run_flag = 1;
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}
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/**
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@ -344,7 +340,7 @@ int main(void)
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run_sequencer(n++); /* run for the first time! */
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}
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} else {
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run_sequencer(n++); /* Run */
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run_sequencer(n++); /* Run */
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}
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/* Clocks off */
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@ -359,9 +355,8 @@ int main(void)
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gclk0_to_lf_clock();
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hf_clock_disable();
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/* LF timing */
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/* Hibernate timing */
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set_hibernate_time(in_cold_out);
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lf_tick_start();
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}
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/* Idle */
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@ -54,13 +54,29 @@ void rtc_init(void)
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/* Enable interrupts */
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RTC->MODE1.INTENSET.reg |= RTC_MODE1_INTENSET_OVF; /* Overflow interrupt */
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irq_register_handler(RTC_IRQn, RTC_INT_PRIO); /* Highest Priority */
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irq_register_handler(RTC_IRQn, RTC_INT_PRIO); /* Lowest Priority */
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/* Enable */
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rtc_count_enable();
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rtc_count_set_period(0); /* overflow on every tick */
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}
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/**
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* Tick functions
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* =============================================================================
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*/
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uint32_t tick = 0;
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uint32_t hibernate_time_s = 0;
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void run_kick(void);
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/**
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* Set hibernate time
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*/
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void rtc_hibernate_time(uint32_t time_s)
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{
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hibernate_time_s = time_s;
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}
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/**
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* Interrupt for RTC, called at 1Hz
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*/
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@ -69,6 +85,16 @@ void RTC_Handler(void)
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if (RTC->MODE1.INTFLAG.reg & RTC_MODE1_INTFLAG_OVF) {
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RTC->MODE1.INTFLAG.reg |= RTC_MODE1_INTFLAG_OVF; /* Clear flag */
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/* Do something */
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/* Check sleep time */
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if (tick >= hibernate_time_s) {
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/* Zero tick */
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tick = 0;
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/* Do something */
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} else {
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/* Increment tick */
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tick++;
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}
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}
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}
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@ -370,9 +370,6 @@ void timepulse_extint_event_source_disable(void)
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*/
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void lftimer_event_source(void)
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{
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/* Start the RTC */
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rtc_init();
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/* Route the RTC PER7 event to event channel 0 */
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events_allocate(0,
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EVENTS_EDGE_DETECT_NONE, /* Don't care for async path */
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@ -516,49 +513,50 @@ void TC2_Handler(void)
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* LF Tick =======================================================
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* =============================================================================
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*/
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void lf_tick(uint32_t tick);
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uint32_t lf_tick_count;
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/* All this currently runs in sleep */
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/* void lf_tick(uint32_t tick); */
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/* uint32_t lf_tick_count; */
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void lf_tick_start(void) {
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/* void lf_tick_start(void) { */
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/* Timer 4 runs on GCLK0 */
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bool t4_capture_channel_enables[] = {false, false};
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uint32_t t4_compare_channel_values[] = {64, 0x0000};
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/* Divide by 64*256 = 16384 */
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tc_init(TC4,
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GCLK_GENERATOR_0,
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TC_COUNTER_SIZE_16BIT,
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TC_CLOCK_PRESCALER_DIV256,
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TC_WAVE_GENERATION_MATCH_FREQ,
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TC_RELOAD_ACTION_GCLK,
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TC_COUNT_DIRECTION_UP,
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TC_WAVEFORM_INVERT_OUTPUT_NONE,
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false, /* Oneshot */
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true, /* Run in standby */
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0x0000, /* Initial value */
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0x0000, /* Top value */
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t4_capture_channel_enables, /* Capture Channel Enables */
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t4_compare_channel_values); /* Compare Channels Values */
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/* /\* Timer 4 runs on GCLK0 *\/ */
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/* bool t4_capture_channel_enables[] = {false, false}; */
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/* uint32_t t4_compare_channel_values[] = {64, 0x0000}; */
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/* /\* Divide by 64*256 = 16384 *\/ */
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/* tc_init(TC4, */
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/* GCLK_GENERATOR_0, */
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/* TC_COUNTER_SIZE_16BIT, */
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/* TC_CLOCK_PRESCALER_DIV256, */
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/* TC_WAVE_GENERATION_MATCH_FREQ, */
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/* TC_RELOAD_ACTION_GCLK, */
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/* TC_COUNT_DIRECTION_UP, */
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/* TC_WAVEFORM_INVERT_OUTPUT_NONE, */
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/* false, /\* Oneshot *\/ */
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/* true, /\* Run in standby *\/ */
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/* 0x0000, /\* Initial value *\/ */
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/* 0x0000, /\* Top value *\/ */
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/* t4_capture_channel_enables, /\* Capture Channel Enables *\/ */
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/* t4_compare_channel_values); /\* Compare Channels Values *\/ */
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/* Enable Interrupt */
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TC4->COUNT16.INTENSET.reg = TC_INTENSET_MC0;
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irq_register_handler(TC4_IRQn, TC4_INT_PRIO); /* Low Priority */
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/* /\* Enable Interrupt *\/ */
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/* TC4->COUNT16.INTENSET.reg = TC_INTENSET_MC0; */
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/* irq_register_handler(TC4_IRQn, TC4_INT_PRIO); /\* Low Priority *\/ */
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tc_enable(TC4);
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tc_start_counter(TC4);
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/* tc_enable(TC4); */
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/* tc_start_counter(TC4); */
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lf_tick_count = 1;
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}
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void lf_tick_stop(void) {
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tc_stop_counter(TC4);
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tc_disable(TC4);
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}
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void TC4_Handler(void)
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{
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if (tc_get_status(TC4) & TC_STATUS_CHANNEL_0_MATCH) {
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tc_clear_status(TC4, TC_STATUS_CHANNEL_0_MATCH);
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/* lf_tick_count = 1; */
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/* } */
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/* void lf_tick_stop(void) { */
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/* tc_stop_counter(TC4); */
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/* tc_disable(TC4); */
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/* } */
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/* void TC4_Handler(void) */
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/* { */
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/* if (tc_get_status(TC4) & TC_STATUS_CHANNEL_0_MATCH) { */
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/* tc_clear_status(TC4, TC_STATUS_CHANNEL_0_MATCH); */
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lf_tick(lf_tick_count++);
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}
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}
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/* lf_tick(lf_tick_count++); */
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/* } */
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/* } */
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