experiments/src/main.rs

@@ -7,6 +7,7 @@
 extern crate alloc;
 
 use alloc::collections::BTreeMap;
+use embedded_hal::blocking::delay::DelayUs;
 use libasync::{
     delay,
     smoltcp::{Sockets, TcpStream},
@@ -25,6 +26,7 @@ use libboard_zynq::{
         wire::{EthernetAddress, IpAddress, IpCidr},
     },
     time::Milliseconds,
+    timer::GlobalTimer,
 };
 #[cfg(feature = "target_zc706")]
 use libboard_zynq::print;
@@ -61,10 +63,19 @@ interrupt_handler!(IRQ, irq, __irq_stack0_start, __irq_stack1_start, {
     let id = gic.get_interrupt_id();
     match MPIDR.read().cpu_id(){
         0 => {
-            if id.0 == 0 {
-                println!("Interrupting core0...");
-                gic.end_interrupt(id);
-                return;
+            match id.0 {
+                0 => {
+                    println!("Interrupting core0...");
+                    gic.end_interrupt(id);
+                    return;
+                },
+                27 => {
+                    println!("GlobalTimer interrupting core0...");
+                    GlobalTimer::clear_isr();
+                    gic.end_interrupt(id);
+                    return;
+                },
+                _ => {},
             }
         },
         1 => {
@@ -137,13 +148,24 @@ pub fn main_core0() {
         clocks.cpu_1x()
     );
 
-    let timer = libboard_zynq::timer::GlobalTimer::start();
+    let mut timer = GlobalTimer::start_with_interrupt(100_000);
 
     let mut ddr = zynq::ddr::DdrRam::ddrram();
     #[cfg(not(feature = "target_zc706"))]
     ddr.memtest();
     ram::init_alloc_ddr(&mut ddr);
 
+    info!("Enable GlobalTimer interrupt on core0");
+    interrupt_controller.enable(
+        gic::InterruptId(27),
+        gic::CPUCore::Core0,
+        gic::InterruptSensitivity::Edge,
+        0,
+    );
+    timer.delay_us(100_000);
+    interrupt_controller.disable(gic::InterruptId(27));
+    info!("Disable GlobalTimer interrupt");
+
     info!("Send software interrupt to core0");
     interrupt_controller.send_sgi(gic::InterruptId(0), gic::CPUCore::Core0.into());
     info!("Core0 returned from interrupt");

libboard_zynq/src/gic.rs

@@ -95,6 +95,26 @@ impl InterruptController {
         }.sgiintid(id.0).satt(false));
     }
 
+    /// disable the interrupt
+    pub fn disable(&mut self, id: InterruptId){
+
+        // disable
+        let m = (id.0 >> 5) as usize;
+        let n = (id.0 & 0x1F) as usize;
+        assert!(m < 3);
+        unsafe {
+            self.mpcore.icdicer[m].modify(|mut icdicer| *icdicer.set_bit(n, true));
+        }
+
+        // remove CPUs from interrupt
+        let m = (id.0 >> 2) as usize;
+        let n = (8 * (id.0 & 3)) as usize;
+        unsafe {
+            self.mpcore.icdiptr[m].modify(|mut icdiptr| *icdiptr.set_bits(n..=n+1, 0));
+        }
+    }
+
+
     /// enable the interrupt *for this core*.
     /// Not needed for SGI.
     pub fn enable(&mut self, id: InterruptId, target_cpu: CPUCore, sensitivity: InterruptSensitivity, priority: u8) {

libboard_zynq/src/mpcore.rs

@@ -96,12 +96,8 @@ pub struct RegisterBlock {
     /// Interrupt Set-enable Registers
     pub icdiser: [RW<u32>; 3],
     unused9: [u32; 29],
-    /// Interrupt Clear-Enable Register 0
-    pub icdicer0: RW<u32>,
-    /// Interrupt Clear-Enable Register 1
-    pub icdicer1: RW<u32>,
-    /// Interrupt Clear-Enable Register 2
-    pub icdicer2: RW<u32>,
+    /// Interrupt Clear-Enable Register
+    pub icdicer: [RW<u32>; 3],
     unused10: [u32; 29],
     /// Interrupt Set-pending Register
     pub icdispr0: RW<u32>,
@@ -262,7 +258,7 @@ register!(global_timer_control, GlobalTimerControl, RW, u32);
 register_bits!(global_timer_control, prescaler, u8, 8, 15);
 register_bit!(global_timer_control, auto_increment_mode, 3);
 register_bit!(global_timer_control, irq_enable, 2);
-register_bit!(global_timer_control, comp_enablea, 1);
+register_bit!(global_timer_control, comp_enable, 1);
 register_bit!(global_timer_control, timer_enable, 0);
 
 register!(global_timer_interrupt_status, GlobalTimerInterruptStatusRegister, RW, u32);

libboard_zynq/src/timer/global.rs

@@ -24,6 +24,43 @@ impl GlobalTimer {
     pub fn start() -> GlobalTimer {
         let mut regs = mpcore::RegisterBlock::mpcore();
         Self::reset(&mut regs);
+
+        // Start
+        regs.global_timer_control.write(
+            mpcore::GlobalTimerControl::zeroed()
+                .prescaler((Self::get_prescaler() - 1) as u8)
+                .auto_increment_mode(true)
+                .timer_enable(true)
+        );
+        GlobalTimer { regs }
+    }
+
+    // Get the timer with a reset and interrupt
+    pub fn start_with_interrupt(interrupt_period_us: u64) -> GlobalTimer {
+        let mut regs = mpcore::RegisterBlock::mpcore();
+        Self::reset(&mut regs);
+
+        let prescaler = Self::get_prescaler() as u64;
+        let clocks = Clocks::get();
+        let increment_val:u32 = (interrupt_period_us * clocks.cpu_3x2x() as u64  / (1_000_000 * (prescaler + 1))) as u32;
+        
+        // When auto-increment and comp enable bits are set, an IRQ is generated periodically
+        unsafe{
+            regs.auto_increment.write(increment_val);
+        }
+        
+        // Clear event flag
+        Self::clear_isr();
+        
+        // Start
+        regs.global_timer_control.write(
+            mpcore::GlobalTimerControl::zeroed()
+                .prescaler((prescaler - 1) as u8)
+                .auto_increment_mode(true)
+                .comp_enable(true)
+                .irq_enable(true)
+                .timer_enable(true)
+        );
         GlobalTimer { regs }
     }
 
@@ -40,21 +77,24 @@ impl GlobalTimer {
         regs.global_timer_counter1.write(
             mpcore::ValueRegister::zeroed()
         );
+    }
 
+    pub fn clear_isr(){
+        let regs = mpcore::RegisterBlock::mpcore();
+        regs.global_timer_interrupt_status.write(
+            mpcore::GlobalTimerInterruptStatusRegister::zeroed()
+            .event_flag(true)
+        );
+    }
+
+    fn get_prescaler() -> u32 {
         // find a prescaler value that matches CPU speed / 2 to us
         let clocks = Clocks::get();
         let mut prescaler = clocks.cpu_3x2x() / 1_000_000;
         while prescaler > 256 {
             prescaler /= 2;
         }
-
-        // Start
-        regs.global_timer_control.write(
-            mpcore::GlobalTimerControl::zeroed()
-                .prescaler((prescaler - 1) as u8)
-                .auto_increment_mode(true)
-                .timer_enable(true)
-        );
+        prescaler
     }
 
     /// read the raw counter value