Merge pull request #1 from PaulStoffregen/master

Update to my fork

teensy4/EventResponder.cpp

@@ -336,8 +336,11 @@ void MillisTimer::runFromTimer()
 
 // TODO: this doesn't work for IMXRT - no longer using predefined names
 extern "C" volatile uint32_t systick_millis_count;
+extern "C" volatile uint32_t systick_cycle_count;
+extern "C" uint32_t systick_safe_read; // micros() synchronization
 extern "C" void systick_isr(void)
 {
+	systick_cycle_count = ARM_DWT_CYCCNT;
 	systick_millis_count++;
 	MillisTimer::runFromTimer();
 }

teensy4/IPAddress.cpp

@@ -0,0 +1,65 @@
+/*
+  IPAddress.cpp - Base class that provides IPAddress
+  Copyright (c) 2011 Adrian McEwen.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include <Arduino.h>
+#include "IPAddress.h"
+
+size_t IPAddress::printTo(Print& p) const
+{
+	int i=0;
+	while (1) {
+		p.print(_address.bytes[i], DEC);
+		if (++i >= 4) return 4;
+		p.write('.');
+	}
+}
+
+bool IPAddress::fromString(const char *address)
+{
+	unsigned int acc = 0; // Accumulator
+	unsigned int dots = 0;
+
+	while (*address) {
+		char c = *address++;
+		if (c >= '0' && c <= '9') {
+			acc = acc * 10 + (c - '0');
+			if (acc > 255) {
+				// Value out of [0..255] range
+				return false;
+			}
+		} else if (c == '.') {
+			if (dots == 3) {
+				// Too much dots (there must be 3 dots)
+				return false;
+			}
+			_address.bytes[dots++] = acc;
+			acc = 0;
+		} else {
+			// Invalid char
+			return false;
+		}
+	}
+	if (dots != 3) {
+		// Too few dots (there must be 3 dots)
+		return false;
+	}
+	_address.bytes[3] = acc;
+	return true;
+}
+

teensy4/delay.c

@@ -1,8 +1,11 @@
 #include "core_pins.h"
+#include "arm_math.h"	// micros() synchronization
 
 //volatile uint32_t F_CPU = 396000000;
 //volatile uint32_t F_BUS = 132000000;
 volatile uint32_t systick_millis_count = 0;
+volatile uint32_t systick_cycle_count = 0;
+uint32_t systick_safe_read;	 // micros() synchronization
 
 // page 411 says "24 MHz XTALOSC can be the external clock source of SYSTICK"
 // Testing shows the frequency is actually 100 kHz - but how?  Did NXP really
@@ -61,6 +64,20 @@ void delay(uint32_t msec)
 	// TODO...
 }
 
+uint32_t micros(void)
+{
+	uint32_t ccdelta, usec, smc, scc;
+  do {
+    __LDREXW(&systick_safe_read);
+		smc = systick_millis_count;
+		scc = systick_cycle_count;
+  } while ( __STREXW(1, &systick_safe_read));
+	ccdelta = ARM_DWT_CYCCNT - scc;
+	usec = 1000*smc + (ccdelta/(F_CPU_ACTUAL/1000000));
+	return usec;
+}
+
+#if 0 // kept to compare test to cycle count micro()
 uint32_t micros(void)
 {
 	uint32_t msec, tick, elapsed, istatus, usec;
@@ -118,4 +135,4 @@ uint32_t micros(void)
 	prev_usec = usec;
 	return usec;
 }
-
+#endif

teensy4/imxrt.h

@@ -2945,35 +2945,35 @@ typedef struct {
 #define FLEXIO3_SHIFTBUFNIS1		(IMXRT_FLEXIO3_b.offset384)
 #define FLEXIO3_SHIFTBUFNIS2		(IMXRT_FLEXIO3_b.offset388)
 #define FLEXIO3_SHIFTBUFNIS3		(IMXRT_FLEXIO3_b.offset38C)
-#define FLEXIO_CTRL_DOZEN			((uint16_t)(1<<31))
-#define FLEXIO_CTRL_DBGE			((uint16_t)(1<<30))
-#define FLEXIO_CTRL_FASTACC			((uint16_t)(1<<2))
-#define FLEXIO_CTRL_SWRST			((uint16_t)(1<<1))
-#define FLEXIO_CTRL_FLEXEN			((uint16_t)(1<<0))
-#define FLEXIO_SHIFTCTL_TIMSEL(n)		((uint16_t)(((n) & 0x03) << 24))
-#define FLEXIO_SHIFTCTL_TIMPOL			((uint16_t)(1<<23))
-#define FLEXIO_SHIFTCTL_PINCFG(n)		((uint16_t)(((n) & 0x03) << 16))
-#define FLEXIO_SHIFTCTL_PINSEL(n)		((uint16_t)(((n) & 0x1F) << 8))
-#define FLEXIO_SHIFTCTL_PINPOL			((uint16_t)(1<<7))
-#define FLEXIO_SHIFTCTL_SMOD(n)			((uint16_t)(((n) & 0x07) << 0))
-#define FLEXIO_SHIFTCFG_PWIDTH(n)		((uint16_t)(((n) & 0x1F) << 16))
-#define FLEXIO_SHIFTCFG_INSRC			((uint16_t)(1<<8))
-#define FLEXIO_SHIFTCFG_SSTOP(n)		((uint16_t)(((n) & 0x03) << 4))
-#define FLEXIO_SHIFTCFG_SSTART(n)		((uint16_t)(((n) & 0x03) << 0))
-#define FLEXIO_TIMCTL_TRGSEL(n)			((uint16_t)(((n) & 0x3F) << 24))
-#define FLEXIO_TIMCTL_TRGPOL			((uint16_t)(1<<23))
-#define FLEXIO_TIMCTL_TRGSRC			((uint16_t)(1<<22))
-#define FLEXIO_TIMCTL_PINCFG(n)			((uint16_t)(((n) & 0x03) << 16))
-#define FLEXIO_TIMCTL_PINSEL(n)			((uint16_t)(((n) & 0x1F) << 8))
-#define FLEXIO_TIMCTL_PINPOL			((uint16_t)(1<<7))
-#define FLEXIO_TIMCTL_TIMOD(n)			((uint16_t)(((n) & 0x03) << 0))
-#define FLEXIO_TIMCFG_TIMOUT(n)			((uint16_t)(((n) & 0x03) << 24))
-#define FLEXIO_TIMCFG_TIMDEC(n)			((uint16_t)(((n) & 0x03) << 20))
-#define FLEXIO_TIMCFG_TIMRST(n)			((uint16_t)(((n) & 0x07) << 16))
-#define FLEXIO_TIMCFG_TIMDIS(n)			((uint16_t)(((n) & 0x07) << 12))
-#define FLEXIO_TIMCFG_TIMENA(n)			((uint16_t)(((n) & 0x07) << 8))
-#define FLEXIO_TIMCFG_TSTOP(n)			((uint16_t)(((n) & 0x03) << 4))
-#define FLEXIO_TIMCFG_TSTART			((uint16_t)(1<<1))
+#define FLEXIO_CTRL_DOZEN			((uint32_t)(1<<31))
+#define FLEXIO_CTRL_DBGE			((uint32_t)(1<<30))
+#define FLEXIO_CTRL_FASTACC			((uint32_t)(1<<2))
+#define FLEXIO_CTRL_SWRST			((uint32_t)(1<<1))
+#define FLEXIO_CTRL_FLEXEN			((uint32_t)(1<<0))
+#define FLEXIO_SHIFTCTL_TIMSEL(n)		((uint32_t)(((n) & 0x03) << 24))
+#define FLEXIO_SHIFTCTL_TIMPOL			((uint32_t)(1<<23))
+#define FLEXIO_SHIFTCTL_PINCFG(n)		((uint32_t)(((n) & 0x03) << 16))
+#define FLEXIO_SHIFTCTL_PINSEL(n)		((uint32_t)(((n) & 0x1F) << 8))
+#define FLEXIO_SHIFTCTL_PINPOL			((uint32_t)(1<<7))
+#define FLEXIO_SHIFTCTL_SMOD(n)			((uint32_t)(((n) & 0x07) << 0))
+#define FLEXIO_SHIFTCFG_PWIDTH(n)		((uint32_t)(((n) & 0x1F) << 16))
+#define FLEXIO_SHIFTCFG_INSRC			((uint32_t)(1<<8))
+#define FLEXIO_SHIFTCFG_SSTOP(n)		((uint32_t)(((n) & 0x03) << 4))
+#define FLEXIO_SHIFTCFG_SSTART(n)		((uint32_t)(((n) & 0x03) << 0))
+#define FLEXIO_TIMCTL_TRGSEL(n)			((uint32_t)(((n) & 0x3F) << 24))
+#define FLEXIO_TIMCTL_TRGPOL			((uint32_t)(1<<23))
+#define FLEXIO_TIMCTL_TRGSRC			((uint32_t)(1<<22))
+#define FLEXIO_TIMCTL_PINCFG(n)			((uint32_t)(((n) & 0x03) << 16))
+#define FLEXIO_TIMCTL_PINSEL(n)			((uint32_t)(((n) & 0x1F) << 8))
+#define FLEXIO_TIMCTL_PINPOL			((uint32_t)(1<<7))
+#define FLEXIO_TIMCTL_TIMOD(n)			((uint32_t)(((n) & 0x03) << 0))
+#define FLEXIO_TIMCFG_TIMOUT(n)			((uint32_t)(((n) & 0x03) << 24))
+#define FLEXIO_TIMCFG_TIMDEC(n)			((uint32_t)(((n) & 0x03) << 20))
+#define FLEXIO_TIMCFG_TIMRST(n)			((uint32_t)(((n) & 0x07) << 16))
+#define FLEXIO_TIMCFG_TIMDIS(n)			((uint32_t)(((n) & 0x07) << 12))
+#define FLEXIO_TIMCFG_TIMENA(n)			((uint32_t)(((n) & 0x07) << 8))
+#define FLEXIO_TIMCFG_TSTOP(n)			((uint32_t)(((n) & 0x03) << 4))
+#define FLEXIO_TIMCFG_TSTART			((uint32_t)(1<<1))
 
 // 28.4.1: page 1354
 typedef struct {

teensy4/pwm.c

@@ -162,7 +162,7 @@ void analogWrite(uint8_t pin, int val)
 		  case 0: flexpwm = &IMXRT_FLEXPWM1; break;
 		  case 1: flexpwm = &IMXRT_FLEXPWM2; break;
 		  case 2: flexpwm = &IMXRT_FLEXPWM3; break;
-		  case 3: flexpwm = &IMXRT_FLEXPWM4;
+		  default: flexpwm = &IMXRT_FLEXPWM4;
 		}
 		flexpwmWrite(flexpwm, info->module & 0x03, info->channel, val);
 	} else if (info->type == 2) {
@@ -172,7 +172,7 @@ void analogWrite(uint8_t pin, int val)
 		  case 0: qtimer = &IMXRT_TMR1; break;
 		  case 1: qtimer = &IMXRT_TMR2; break;
 		  case 2: qtimer = &IMXRT_TMR3; break;
-		  case 3: qtimer = &IMXRT_TMR4;
+		  default: qtimer = &IMXRT_TMR4;
 		}
 		quadtimerWrite(qtimer, info->module & 0x03, val);
 	} else {
@@ -196,7 +196,7 @@ void analogWriteFrequency(uint8_t pin, float frequency)
 		  case 0: flexpwm = &IMXRT_FLEXPWM1; break;
 		  case 1: flexpwm = &IMXRT_FLEXPWM2; break;
 		  case 2: flexpwm = &IMXRT_FLEXPWM3; break;
-		  case 3: flexpwm = &IMXRT_FLEXPWM4;
+		  default: flexpwm = &IMXRT_FLEXPWM4;
 		}
 		flexpwmFrequency(flexpwm, info->module & 0x03, info->channel, frequency);
 	} else if (info->type == 2) {
@@ -206,7 +206,7 @@ void analogWriteFrequency(uint8_t pin, float frequency)
 		  case 0: qtimer = &IMXRT_TMR1; break;
 		  case 1: qtimer = &IMXRT_TMR2; break;
 		  case 2: qtimer = &IMXRT_TMR3; break;
-		  case 3: qtimer = &IMXRT_TMR4;
+		  default: qtimer = &IMXRT_TMR4;
 		}
 		quadtimerFrequency(qtimer, info->module & 0x03, frequency);
 	}

teensy4/startup.c

@@ -21,6 +21,7 @@ void (* _VectorsRam[NVIC_NUM_INTERRUPTS+16])(void);
 static void memory_copy(uint32_t *dest, const uint32_t *src, uint32_t *dest_end);
 static void memory_clear(uint32_t *dest, uint32_t *dest_end);
 static void configure_systick(void);
+static void reset_PFD();
 extern void systick_isr(void);
 extern void pendablesrvreq_isr(void);
 void configure_cache(void);
@@ -60,6 +61,8 @@ void ResetHandler(void)
 	for (i=0; i < NVIC_NUM_INTERRUPTS; i++) NVIC_SET_PRIORITY(i, 128);
 	SCB_VTOR = (uint32_t)_VectorsRam;
 
+	reset_PFD();
+	
 	// Configure clocks
 	// TODO: make sure all affected peripherals are turned off!
 	// PIT & GPT timers to run from 24 MHz clock (independent of CPU speed)
@@ -74,8 +77,9 @@ void ResetHandler(void)
 
 	configure_cache();
 	configure_systick();
-	usb_pll_start();
-
+	usb_pll_start();	
+	reset_PFD(); //TODO: is this really needed?
+	
 	set_arm_clock(600000000);
 	//set_arm_clock(984000000); Ludicrous Speed
 
@@ -111,6 +115,7 @@ void ResetHandler(void)
 // the ARM clock to run at different speeds.
 #define SYSTICK_EXT_FREQ 100000
 
+extern volatile uint32_t systick_cycle_count;
 static void configure_systick(void)
 {
 	_VectorsRam[14] = pendablesrvreq_isr;
@@ -121,6 +126,7 @@ static void configure_systick(void)
 	SCB_SHPR3 = 0x20000000;  // Systick = priority 32
 	ARM_DEMCR |= ARM_DEMCR_TRCENA;
 	ARM_DWT_CTRL |= ARM_DWT_CTRL_CYCCNTENA; // turn on cycle counter
+	systick_cycle_count = ARM_DWT_CYCCNT; // compiled 0, corrected w/1st systick
 }
 
 
@@ -236,6 +242,16 @@ void usb_pll_start()
 	}
 }
 
+__attribute__((section(".progmem")))
+void reset_PFD()
+{	
+	//Reset PLL2 PFDs, set default frequencies:
+	CCM_ANALOG_PFD_528_SET = (1 << 31) | (1 << 23) | (1 << 15) | (1 << 7);
+	CCM_ANALOG_PFD_528 = 0x2018101B; // PFD0:352, PFD1:594, PFD2:396, PFD3:297 MHz 	
+	//PLL3:
+	CCM_ANALOG_PFD_480_SET = (1 << 31) | (1 << 23) | (1 << 15) | (1 << 7);	
+	CCM_ANALOG_PFD_480 = 0x13110D0C; // PFD0:720, PFD1:664, PFD2:508, PFD3:454 MHz
+}
 
 // Stack frame
 //  xPSR
@@ -246,6 +262,7 @@ void usb_pll_start()
 //  R2
 //  R1
 //  R0
+__attribute__((weak))
 void unused_interrupt_vector(void)
 {
 	// TODO: polling Serial to complete buffered transmits
@@ -285,6 +302,8 @@ void unused_interrupt_vector(void)
 	printf(" %x\n", addr);
 #endif
 #if 1
+	if ( F_CPU_ACTUAL >= 600000000 )
+		set_arm_clock(100000000);
 	IOMUXC_SW_MUX_CTL_PAD_GPIO_B0_03 = 5; // pin 13
 	IOMUXC_SW_PAD_CTL_PAD_GPIO_B0_03 = IOMUXC_PAD_DSE(7);
 	GPIO2_GDIR |= (1<<3);
@@ -292,11 +311,13 @@ void unused_interrupt_vector(void)
 	while (1) {
 		volatile uint32_t n;
 		GPIO2_DR_SET = (1<<3); //digitalWrite(13, HIGH);
-		for (n=0; n < 2000000; n++) ;
+		for (n=0; n < 2000000/6; n++) ;
 		GPIO2_DR_CLEAR = (1<<3); //digitalWrite(13, LOW);
-		for (n=0; n < 1500000; n++) ;
+		for (n=0; n < 1500000/6; n++) ;
 	}
 #else
+	if ( F_CPU_ACTUAL >= 600000000 )
+		set_arm_clock(100000000);
 	while (1) {
 	}
 #endif