Merge pull request #670 from ckormanyos/more_multichan_gpt

Use more multi-channel GPT also on am6254

Author: ckormanyos

ref_app/src/mcal/am6254_soc/mcal_gpt.cpp

@@ -9,13 +9,38 @@
 
 #include <core_macros.h>
 
-void mcal::gpt::init(const config_type*) { }
-
-mcal::gpt::value_type mcal::gpt::secure::get_time_elapsed()
+auto mcal::gpt::secure::get_time_elapsed() -> mcal::gpt::value_type
 {
   // Get the system tick from the system counter register.
-  const value_type consistent_microsecond_tick = (value_type) ARM64_READ_SYSREG(CNTPCT_EL0);
+  const value_type consistent_microsecond_tick = static_cast<value_type>(ARM64_READ_SYSREG(CNTPCT_EL0));
 
   // Convert the consistent tick to microseconds.
   return static_cast<value_type>(static_cast<value_type>(consistent_microsecond_tick + UINT64_C(100)) / UINT64_C(200));
 }
+
+auto mcal::gpt::secure::get_time_elapsed_core1() -> mcal::gpt::value_type_core1
+{
+  // Get the system tick from the system counter register.
+  const value_type_core1 consistent_microsecond_tick = static_cast<value_type_core1>(ARM64_READ_SYSREG(CNTPCT_EL0));
+
+  // Convert the consistent tick to microseconds.
+  return static_cast<value_type_core1>(static_cast<value_type_core1>(consistent_microsecond_tick + UINT64_C(100)) / UINT64_C(200));
+}
+
+auto mcal::gpt::secure::get_time_elapsed_core2() -> mcal::gpt::value_type_core2
+{
+  // Get the system tick from the system counter register.
+  const value_type_core2 consistent_microsecond_tick = static_cast<value_type_core2>(ARM64_READ_SYSREG(CNTPCT_EL0));
+
+  // Convert the consistent tick to microseconds.
+  return static_cast<value_type_core2>(static_cast<value_type_core2>(consistent_microsecond_tick + UINT64_C(100)) / UINT64_C(200));
+}
+
+auto mcal::gpt::secure::get_time_elapsed_core3() -> mcal::gpt::value_type_core3
+{
+  // Get the system tick from the system counter register.
+  const value_type_core3 consistent_microsecond_tick = static_cast<value_type_core3>(ARM64_READ_SYSREG(CNTPCT_EL0));
+
+  // Convert the consistent tick to microseconds.
+  return static_cast<value_type_core3>(static_cast<value_type_core3>(consistent_microsecond_tick + UINT64_C(100)) / UINT64_C(200));
+}

ref_app/src/mcal/am6254_soc/mcal_gpt.h

@@ -16,12 +16,18 @@
     {
       using config_type = void;
       using value_type  = std::uint64_t;
+      using value_type_core1 = value_type;
+      using value_type_core2 = value_type;
+      using value_type_core3 = value_type;
 
-      auto init(const config_type*) -> void;
+      inline auto init(const config_type*) -> void { }
 
       struct secure final
       {
         static auto get_time_elapsed() -> value_type;
+        static auto get_time_elapsed_core1() -> value_type_core1;
+        static auto get_time_elapsed_core2() -> value_type_core2;
+        static auto get_time_elapsed_core3() -> value_type_core3;
       };
     }
   }

ref_app/src/mcal/nxp_imxrt1062/mcal_gpt.h

@@ -12,13 +12,6 @@
 
   #include <mcal/mcal_gpt_arm_sys_tick.h>
 
-  // Forward declaration of the util::timer template class.
-  namespace util
-  {
-    template<typename unsigned_tick_type>
-    class default_timer_backend;
-  }
-
   namespace mcal
   {
     namespace gpt

ref_app/src/mcal/xtensa_esp32_s3/mcal_cpu.cpp

@@ -30,10 +30,10 @@ namespace local
 {
   auto main_worker_core1(mcal::led::led_base& my_led) -> void;
 
-  template<typename unsigned_tick_type>
+  template<typename UnsignedTickType>
   struct timer_core1_backend
   {
-    using tick_type = unsigned_tick_type;
+    using tick_type = UnsignedTickType;
 
     constexpr static auto get_now() -> tick_type
     {
@@ -170,13 +170,22 @@ auto local::main_worker_core1(mcal::led::led_base& my_led) -> void
 {
   my_led.toggle();
 
+  using local_timer_type = util::timer<std::uint32_t, local::timer_core1_backend<std::uint32_t>>;
+  using local_tick_type = typename local_timer_type::tick_type;
+
+  constexpr local_tick_type led_time_1sec { local_timer_type::seconds(local_tick_type { UINT8_C(1) }) };
+
+  local_timer_type led_timer { led_time_1sec };
+
   for(;;)
   {
-    using local_timer_type = util::timer<std::uint32_t, local::timer_core1_backend<std::uint32_t>>;
-    using local_tick_type = typename local_timer_type::tick_type;
-
-    local_timer_type::blocking_delay(local_timer_type::seconds(local_tick_type { UINT8_C(1) }));
+    while(!led_timer.timeout())
+    {
+      mcal::cpu::nop();
+    }
 
     my_led.toggle();
+
+    led_timer.start_interval(led_time_1sec);
   }
 }

ref_app/src/mcal/xtensa_esp32_s3/mcal_gpt.cpp

@@ -23,6 +23,9 @@ namespace
 {
   volatile mcal::gpt::value_type system_tick[std::size_t { UINT8_C(2) }];
 
+  template<const std::size_t CoreIndex>
+  auto get_consistent_tick() -> mcal::gpt::value_type;
+
   template<const std::size_t CoreIndex>
   auto get_consistent_tick() -> mcal::gpt::value_type
   {
@@ -58,24 +61,17 @@ namespace
 
 extern "C" void __system_tick_handler()
 {
-  // Reload the private timer1 for the running core.
+  // Reload the private timer1 for the running core,
+  // which could be either core0 or core1.
   set_cpu_private_timer1(mcal::gpt::detail::timer1_reload());
 
-  const bool is_core0 { (get_core_id() == std::uint32_t { UINT8_C(0) }) };
+  const std::size_t core_id { static_cast<std::size_t>(get_core_id()) };
 
-  // Increment the 64-bit system tick (on core0). Here, we
-  // service the system tick for core0 only. This is because
-  // there is only one tick but it is used in the timer
-  // facility by both cores.
+  // Increment the 64-bit system tick (on the appropriate core).
+  // Here, we service the system tick for either core0 or core1,
+  // depending on the running core.
 
-  if(is_core0)
-  {
-    system_tick[std::size_t { UINT8_C(0) }] += mcal::gpt::detail::timer1_max();
-  }
-  else
-  {
-    system_tick[std::size_t { UINT8_C(1) }] += mcal::gpt::detail::timer1_max();
-  }
+  system_tick[core_id] += mcal::gpt::detail::timer1_max();
 }
 
 auto mcal::gpt::init(const config_type*) -> void

ref_app/src/util/utility/util_time.h

@@ -16,40 +16,49 @@
 
   namespace util
   {
-    template<typename unsigned_tick_type>
+    template<typename UnsignedTickType>
     struct default_timer_backend;
 
-    template<typename unsigned_tick_type,
-             typename BackendType = default_timer_backend<unsigned_tick_type>>
+    template<typename UnsignedTickType,
+             typename BackendType = default_timer_backend<UnsignedTickType>>
     class timer;
 
-    template<typename unsigned_tick_type>
+    template<typename UnsignedTickType>
     struct default_timer_backend
     {
-      using tick_type = unsigned_tick_type;
+      using tick_type = UnsignedTickType;
 
       constexpr static auto get_now() -> tick_type
       {
         return static_cast<tick_type>(mcal::gpt::secure::get_time_elapsed());
       }
     };
 
-    template<typename unsigned_tick_type,
+    template<typename UnsignedTickType,
              typename BackendType>
     class timer
     {
     private:
-      static constexpr auto timer_mask =
-        static_cast<unsigned_tick_type>
-        (
-          (UINTMAX_C(1) << static_cast<unsigned>(std::numeric_limits<unsigned_tick_type>::digits - 1)) - UINTMAX_C(1)
-        );
-
       using backend_type = BackendType;
 
     public:
       using tick_type = typename backend_type::tick_type;
 
+    private:
+      static constexpr auto timer_mask =
+        static_cast<tick_type>
+        (
+          static_cast<std::uintmax_t>
+          (
+              static_cast<std::uintmax_t>
+              (
+                UINTMAX_C(1) << static_cast<unsigned>(std::numeric_limits<tick_type>::digits - 1)
+              )
+            - UINTMAX_C(1)
+          )
+        );
+
+    public:
       template<typename other_tick_type> static constexpr auto microseconds(other_tick_type value_microseconds) noexcept -> tick_type { return static_cast<tick_type>(value_microseconds); }
       template<typename other_tick_type> static constexpr auto milliseconds(other_tick_type value_milliseconds) noexcept -> tick_type { return static_cast<tick_type>(UINT16_C(1000)) * microseconds(value_milliseconds); }
       template<typename other_tick_type> static constexpr auto seconds     (other_tick_type value_seconds)      noexcept -> tick_type { return static_cast<tick_type>(UINT16_C(1000)) * milliseconds(value_seconds     ); }

ref_app/target/micros/am6254_soc/Code/Appli/Core/a53/main_cores.cpp

@@ -17,36 +17,92 @@
 
 namespace local
 {
+  template<typename UnsignedTickType, const unsigned CoreId>
+  struct timer_core_x_backend
+  {
+    using tick_type = UnsignedTickType;
+
+    constexpr static auto get_now() -> tick_type
+    {
+      return static_cast<tick_type>(mcal::gpt::secure::get_time_elapsed());
+    }
+  };
+
+  template<typename UnsignedTickType>
+  struct timer_core_x_backend<UnsignedTickType, 1U>
+  {
+    using tick_type = UnsignedTickType;
+
+    constexpr static auto get_now() -> tick_type
+    {
+      return static_cast<tick_type>(mcal::gpt::secure::get_time_elapsed_core1());
+    }
+  };
+
+  template<typename UnsignedTickType>
+  struct timer_core_x_backend<UnsignedTickType, 2U>
+  {
+    using tick_type = UnsignedTickType;
+
+    constexpr static auto get_now() -> tick_type
+    {
+      return static_cast<tick_type>(mcal::gpt::secure::get_time_elapsed_core2());
+    }
+  };
+
+  template<typename UnsignedTickType>
+  struct timer_core_x_backend<UnsignedTickType, 3U>
+  {
+    using tick_type = UnsignedTickType;
+
+    constexpr static auto get_now() -> tick_type
+    {
+      return static_cast<tick_type>(mcal::gpt::secure::get_time_elapsed_core3());
+    }
+  };
+
+  template<const unsigned CoreId>
   auto main_worker_core_x(mcal::led::led_base& my_led) -> void;
+
+  template<const unsigned CoreId>
+  auto main_worker_core_x(mcal::led::led_base& my_led) -> void
+  {
+    my_led.toggle();
+
+    using local_timer_backend_type = timer_core_x_backend<std::uint64_t, CoreId>;
+    using local_tick_type = typename local_timer_backend_type::tick_type;
+    using local_timer_type = util::timer<local_tick_type, local_timer_backend_type>;
+
+    constexpr local_tick_type led_time_1sec { local_timer_type::seconds(local_tick_type { UINT8_C(1) }) };
+
+    local_timer_type led_timer { led_time_1sec };
+
+    for(;;)
+    {
+      while(!led_timer.timeout())
+      {
+        mcal::cpu::nop();
+      }
+
+      my_led.toggle();
+
+      led_timer.start_interval(led_time_1sec);
+    }
+  }
 }
 
 extern "C" auto main_core1(void) -> void;
 extern "C" auto main_core2(void) -> void;
 extern "C" auto main_core3(void) -> void;
 extern "C" auto main_core0_init(void) -> void;
 
-extern "C" auto main_core1(void) -> void { local::main_worker_core_x(mcal::led::led1()); }
-extern "C" auto main_core2(void) -> void { local::main_worker_core_x(mcal::led::led2()); }
-extern "C" auto main_core3(void) -> void { local::main_worker_core_x(mcal::led::led3()); }
+extern "C" auto main_core1(void) -> void { local::main_worker_core_x<1U>(mcal::led::led1()); }
+extern "C" auto main_core2(void) -> void { local::main_worker_core_x<2U>(mcal::led::led2()); }
+extern "C" auto main_core3(void) -> void { local::main_worker_core_x<3U>(mcal::led::led3()); }
 
 extern "C" auto main_core0_init(void) -> void
 {
   mcal::wdg::init (nullptr);
   mcal::port::init(nullptr);
   mcal::osc::init (nullptr);
 }
-
-auto local::main_worker_core_x(mcal::led::led_base& my_led) -> void
-{
-  my_led.toggle();
-
-  for(;;)
-  {
-    using local_timer_type = util::timer<std::uint64_t>;
-    using local_tick_type = typename local_timer_type::tick_type;
-
-    local_timer_type::blocking_delay(local_timer_type::seconds(local_tick_type { UINT8_C(1) }));
-
-    my_led.toggle();
-  }
-}