Skip to content

Commit 30f126f

Browse files
author
Tavish Naruka
committed
drivers: timer: add TMS570 RTI timer as system timer
Adds the RTI timer for TI TMS570 SoC and enables it as the system timer for enabling multithreading. Signed-off-by: Tavish Naruka <[email protected]>
1 parent 178b272 commit 30f126f

File tree

6 files changed

+148
-0
lines changed

6 files changed

+148
-0
lines changed

‎drivers/timer/CMakeLists.txt‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -41,6 +41,7 @@ zephyr_library_sources_ifdef(CONFIG_SAM0_RTC_TIMER sam0_rtc_timer.c)
4141
zephyr_library_sources_ifdef(CONFIG_SILABS_SLEEPTIMER_TIMER silabs_sleeptimer_timer.c)
4242
zephyr_library_sources_ifdef(CONFIG_STM32_LPTIM_TIMER stm32_lptim_timer.c)
4343
zephyr_library_sources_ifdef(CONFIG_TI_DM_TIMER ti_dmtimer.c)
44+
zephyr_library_sources_ifdef(CONFIG_TMS570_RTI_TIMER tms570_rti_timer.c)
4445
zephyr_library_sources_ifdef(CONFIG_XLNX_PSTTC_TIMER xlnx_psttc_timer.c)
4546
zephyr_library_sources_ifdef(CONFIG_XTENSA_TIMER xtensa_sys_timer.c)
4647
zephyr_library_sources_ifdef(CONFIG_SMARTBOND_TIMER smartbond_timer.c)

‎drivers/timer/Kconfig‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -99,6 +99,7 @@ source "drivers/timer/Kconfig.silabs"
9999
source "drivers/timer/Kconfig.smartbond"
100100
source "drivers/timer/Kconfig.stm32_lptim"
101101
source "drivers/timer/Kconfig.ti_dm_timer"
102+
source "drivers/timer/Kconfig.tms570_rti_timer"
102103
source "drivers/timer/Kconfig.xlnx_psttc"
103104
source "drivers/timer/Kconfig.xtensa"
104105
source "drivers/timer/Kconfig.mtk_adsp"

‎drivers/timer/Kconfig.tms570_rti_timer‎

Lines changed: 11 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,11 @@
1+
# Copyright (C) 2025 ispace, inc.
2+
#
3+
# SPDX-License-Identifier: Apache-2.0
4+
5+
config TMS570_RTI_TIMER
6+
bool "TI TMS570 RTI Timer"
7+
default y
8+
depends on SOC_TI_TMS570LC43X
9+
help
10+
This module implements a kernel device driver for the TI TMS570 RTI
11+
timer.

‎drivers/timer/tms570_rti_timer.c‎

Lines changed: 121 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,121 @@
1+
/*
2+
* Copyright (c) 2025 ispace, inc.
3+
*
4+
* SPDX-License-Identifier: Apache-2.0
5+
*/
6+
7+
#include <soc.h>
8+
#include <zephyr/init.h>
9+
#include <zephyr/spinlock.h>
10+
#include <zephyr/drivers/timer/system_timer.h>
11+
#include <zephyr/irq.h>
12+
13+
#define DT_DRV_COMPAT ti_tms570_rti
14+
15+
#define REG_RTI DT_INST_REG_ADDR_BY_IDX(0, 0)
16+
#define RTI_CLK_FREQ DT_PROP(DT_NODELABEL(clk_rticlk), clock_frequency)
17+
18+
#define RTI_INTFLAG_COMP0 BIT(0)
19+
#define RTI_INTENA_COMP0 BIT(0)
20+
21+
#define RTI_INTCLR_ALL (BIT(18) | BIT(17) | BIT(16) | \
22+
BIT(3) | BIT(2) | BIT(1) | BIT(0))
23+
24+
#define RTIGCTRL (REG_RTI + 0x00)
25+
#define RTITBCTRL (REG_RTI + 0x04)
26+
#define RTICAPCTRL (REG_RTI + 0x08)
27+
#define RTICOMPCTRL (REG_RTI + 0x0C)
28+
#define RTISETINTENA (REG_RTI + 0x80)
29+
#define RTICLEARINTENA (REG_RTI + 0x84)
30+
#define RTIINTFLAG (REG_RTI + 0x88)
31+
#define RTIFRC0 (REG_RTI + 0x10)
32+
#define RTIUC0 (REG_RTI + 0x14)
33+
#define RTICPUC0 (REG_RTI + 0x18)
34+
#define RTICAFRC0 (REG_RTI + 0x20)
35+
#define RTICAUC0 (REG_RTI + 0x24)
36+
#define RTICOMP0 (REG_RTI + 0x50)
37+
#define RTIUDCP0 (REG_RTI + 0x54)
38+
39+
#define RTIGCTRL_COS_OFFSET (15)
40+
#define CNT1EN BIT(1)
41+
#define CNT0EN BIT(0)
42+
43+
static struct k_spinlock ticks_lock;
44+
static volatile uint64_t ticks;
45+
46+
uint32_t sys_clock_elapsed(void)
47+
{
48+
return 0;
49+
}
50+
51+
uint32_t sys_clock_cycle_get_32(void)
52+
{
53+
return sys_read32(RTIFRC0);
54+
}
55+
56+
static void rti_compare0_isr(const void *arg)
57+
{
58+
ARG_UNUSED(arg);
59+
60+
K_SPINLOCK(&ticks_lock) {
61+
ticks += k_ticks_to_cyc_floor32(1);
62+
}
63+
64+
sys_write32(RTI_INTFLAG_COMP0, RTIINTFLAG);
65+
sys_clock_announce(1);
66+
}
67+
68+
static int rti_timer_init(void)
69+
{
70+
/**
71+
* TODO Counter block 0 can be synchronized with Network Time (NTU),
72+
* we can make use of that.
73+
*/
74+
75+
/* disable counters and interrupts */
76+
sys_write32(1 << RTIGCTRL_COS_OFFSET, RTIGCTRL);
77+
sys_write32(RTI_INTCLR_ALL, RTICLEARINTENA);
78+
79+
/**
80+
* We use counter 0 and compare register 0.
81+
*/
82+
83+
/* default compare control and capture control */
84+
sys_write32(0, RTICOMPCTRL);
85+
sys_write32(0, RTICAPCTRL);
86+
87+
/* Initialize counter 0 */
88+
sys_write32(0, RTIUC0);
89+
sys_write32(0, RTIFRC0);
90+
sys_write32(0, RTITBCTRL);
91+
92+
/**
93+
* Set up free running counter interrupt cycle.
94+
* UCx - up-counter or prescale counter - driven by RTICLK
95+
* CPUCx - compare up-counter, it acts like a prescaler over UCx
96+
* FRCx - when CPUCx value matches UCx, this reg is incremented by one
97+
* COMPx - this is compared with FRCx, a match generates an interrupt
98+
* UDCPx - UDCPx is added to COMPx when a match occues (COMPx matches FRCx),
99+
* so that we can generate periodic interrupts1
100+
*/
101+
sys_write32(RTI_CLK_FREQ / CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC - 1U, RTICPUC0);
102+
/* free running counter, compare match period = 10 ms */
103+
sys_write32(CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC / CONFIG_SYS_CLOCK_TICKS_PER_SEC, RTICOMP0);
104+
sys_write32(CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC / CONFIG_SYS_CLOCK_TICKS_PER_SEC, RTIUDCP0);
105+
106+
/* Clear all pending interrupts */
107+
sys_write32(RTI_INTCLR_ALL, RTIINTFLAG);
108+
109+
/* connect irq */
110+
IRQ_CONNECT(IRQ_RTI_COMPARE_0, IRQ_RTI_COMPARE_0, rti_compare0_isr, NULL, 0);
111+
irq_enable(IRQ_RTI_COMPARE_0);
112+
113+
/* Enable interrupt */
114+
sys_write32(RTI_INTENA_COMP0, RTISETINTENA);
115+
/* Enable timer */
116+
sys_write32(sys_read32(RTIGCTRL) | CNT1EN | CNT0EN, RTIGCTRL);
117+
118+
return 0;
119+
}
120+
121+
SYS_INIT(rti_timer_init, PRE_KERNEL_2, CONFIG_SYSTEM_CLOCK_INIT_PRIORITY);

‎dts/arm/ti/tms570.dtsi‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -62,6 +62,12 @@
6262
<0xFFFFEC00 44>; /* DCC */
6363
};
6464

65+
rti: rti@fffffc00 {
66+
compatible = "ti,tms570-rti";
67+
reg = <0xfffffc00 256>;
68+
status = "okay";
69+
};
70+
6571
sram0: memory@8000000 {
6672
compatible = "mmio-sram";
6773
reg = <0x08000000 DT_SIZE_K(512)>;

‎dts/bindings/timer/ti,tms570-rti.yaml‎

Lines changed: 8 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,8 @@
1+
# Copyright (c) 2025 ispace, inc.
2+
# SPDX-License-Identifier: Apache-2.0
3+
4+
description: Real-time interrupt for TMS570
5+
6+
compatible: "ti,tms570-rti"
7+
8+
include: [base.yaml]

0 commit comments

Comments
 (0)