Таймер 0 тактируется внешними тактовым сигналом.
Устанавливаю регистры таймера RA,RB,RC. Разрешаю прерывания по сравнению для всех трех регистров. Фактически срабатывает только прерывания RA и RC, а RB - нет. Никак не могу понять - почему?
Ниже привожу код запуска таймера:
PORT_COUNTER->PIO_PDR = BIT_COUNTER; // config PB10 - input timer0
PORT_COUNTER->PIO_ASR = BIT_COUNTER;
AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_TC0); /* Enable periph clock for the PIO controller */
/* Disable the clock and the interrupts */
AT91C_BASE_TC0->TC_CCR = AT91C_TC_CLKDIS;
AT91C_BASE_TC0->TC_IDR = 0xFFFFFFFF;
/* Clear status bit */
temp = AT91C_BASE_TC0->TC_SR;
/* Set the Mode of the Timer Counter */
//AT91C_BASE_TC0->TC_CMR = AT91C_TC_CLKS_XC1|AT91C_TC_WAVESEL_UP|AT91C_TC_WAVE;
AT91C_BASE_TC0->TC_CMR = AT91C_TC_CLKI|AT91C_TC_CLKS_XC1|AT91C_TC_WAVESEL_UP|AT91C_TC_WAVE;
AT91C_BASE_TC0->TC_RA = 50;
AT91C_BASE_TC0->TC_RB = 150;
AT91C_BASE_TC0->TC_RC = 200;
/* Enable interrupts */
/* Disable the interrupt on the interrupt controller */
AT91C_BASE_AIC->AIC_IDCR = (1 << AT91C_ID_TC0);
/* Save the interrupt handler routine pointer and the interrupt priority */
AT91C_BASE_AIC->AIC_SVR[AT91C_ID_TC0] = (unsigned long) timer_handler;
/* Store the Source Mode Register */
AT91C_BASE_AIC->AIC_SMR[AT91C_ID_TC0] = AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL | (AT91C_AIC_PRIOR&PRIORITY_TCO);
/* Clear the interrupt on the interrupt controller */
AT91C_BASE_AIC->AIC_ICCR = (1 << AT91C_ID_TC0);
AT91C_BASE_TC0->TC_IER = AT91C_TC_CPAS;
AT91C_BASE_TC0->TC_IER = AT91C_TC_CPCS;
AT91C_BASE_TC0->TC_IER = AT91C_TC_CPBS;
AT91C_BASE_TC0->TC_IER = AT91C_TC_COVFS;
/* Enable the interrupt on the interrupt controller */
AT91C_BASE_AIC->AIC_IECR = (1 << AT91C_ID_TC0);
/* Clock is started */
AT91C_BASE_TC0->TC_CCR = AT91C_TC_CLKEN;
/* Counter is reset and the clock is started */
AT91C_BASE_TC0->TC_CCR = AT91C_TC_SWTRG;
ОБработчик прерывания от таймера:
void timer_handler(void)
{ volatile unsigned long dummy;
dummy = AT91C_BASE_TC0->TC_SR; /* Clear status bit */
if( (dummy&AT91C_TC_CPAS) && (AT91C_BASE_TC0->TC_IMR&AT91C_TC_CPAS) ) {
#ifndef NDEBUG
Set_Led(4);
#endif
AT91C_BASE_TC0->TC_IDR = AT91C_TC_CPAS; /* Disable interrupt CPAS*/
pSD->Speed = pSD->Speed_max;
pSD->CPRD = (AT91B_MCK>>1)/pSD->Speed;
pSD->State = RUN;
AT91C_BASE_PWMC->PWMC_IER = AT91C_PWMC_CHID2;
}
if( (dummy&AT91C_TC_CPBS) && (AT91C_BASE_TC0->TC_IMR&AT91C_TC_CPBS) ) {
AT91C_BASE_TC0->TC_IDR = AT91C_TC_CPBS;
pSD->Accel_factor = 0x00000000-pSD->Accel_factor;
pSD->State = DECEL;
#ifndef NDEBUG
Set_Led(5);
#endif
}
if( (dummy&AT91C_TC_CPCS) && (AT91C_BASE_TC0->TC_IMR&AT91C_TC_CPCS) ) {// End of DECELERATION. STOP.
Stop();
}
if( dummy&AT91C_TC_COVFS ) {// increment high_timer counters
pSD->Counter += 0x00010000;
TESTCNT(pSD->Accel_cnt, AT91C_TC_CPAS);
TESTCNT(pSD->Decel_cnt, AT91C_TC_CPBS);
TESTCNT(pSD->End_cnt, AT91C_TC_CPCS);
}
}