/**
* Starts the timeout timer
*
* @param timeout Number of microseconds to wait
*/
static inline void startTimer(unsigned int timeout) {
WriteTimer6(0);
PR6 = US_TO_TICKS(timeout);
_T6IF = 0;
EnableIntT6;
}
void
utimer_sleep(uint32_t microseconds)
{
utimer_entry_t entry =
{ L4_KDB_GetTick(), (uint32_t) US_TO_TICKS(microseconds)};
L4_Msg_t msg; L4_MsgClear(&msg);
L4_MsgAppendWord(&msg, (uintptr_t) &entry);
L4_MsgLoad(&msg);
L4_Call(utimer_tid);
}
void motor_start(MOTOR *p)
{
p->state = STATE_START;
p->phase = 1;
p->start_counter = 0;
*(p->phase_a_pwm) = 800;
*(p->phase_b_pwm) = 800;
*(p->phase_c_pwm) = 800;
p->start_comm_period = US_TO_TICKS(10000);
commutate(p);
// TIM_ITConfig(TIM10, TIM_IT_CC1, ENABLE);
TIM10->DIER |= TIM_IT_CC1;
*(p->commutate_timer) = *(p->commutate_counter) + p->start_comm_period;
p->prev_comm_ticks = *(p->commutate_timer);
p->start_comm_period = ((p->start_comm_period * 15) >> 4);
}
PUBLIC IX_STATUS
ixOsalSemaphoreWait (IxOsalOsSemaphore *sid, INT32 timeout)
{
VALID_HANDLE(sid);
struct semaphore *sem = *sid;
UINT32 start, duration;
if (timeout == IX_OSAL_WAIT_FOREVER)
return ixOsalSemaphoreWaitInternal(sem, /* wait */ true);
IX_STATUS ixStatus = ixOsalSemaphoreWaitInternal(sem, /* wait */ false);
if (!timeout || ixStatus == IX_SUCCESS)
return ixStatus;
start = IX_OSAL_OEM_TIMESTAMP_GET();
duration = US_TO_TICKS(timeout * 1000);
do {
ixOsalYield();
ixStatus = ixOsalSemaphoreWaitInternal(sem, /* wait */ false);
} while (ixStatus != IX_SUCCESS
&& IX_OSAL_OEM_TIMESTAMP_GET() - start < duration);
return ixStatus;
}
void ux500_rtcrtt_next(u32 time_us)
{
writel(US_TO_TICKS(time_us), rtc_base + RTC_TLR1);
}
