1 files changed, 66 insertions, 0 deletions
diff --git a/src/atsamd/timer.c b/src/atsamd/timer.c
new file mode 100644
index 00000000..882b4c10
--- /dev/null
+++ b/src/atsamd/timer.c
@@ -0,0 +1,66 @@
+// SAMD21 timer interrupt scheduling
+//
+// Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include "board/irq.h" // irq_disable
+#include "board/misc.h" // timer_read_time
+#include "board/timer_irq.h" // timer_dispatch_many
+#include "internal.h" // enable_pclock
+#include "samd21.h" // TC4
+#include "sched.h" // DECL_INIT
+
+// Set the next irq time
+static void
+timer_set(uint32_t value)
+{
+    TC4->COUNT32.CC[0].reg = value;
+    TC4->COUNT32.INTFLAG.reg = TC_INTFLAG_MC0;
+}
+
+// Return the current time (in absolute clock ticks).
+uint32_t
+timer_read_time(void)
+{
+    return TC4->COUNT32.COUNT.reg;
+}
+
+// Activate timer dispatch as soon as possible
+void
+timer_kick(void)
+{
+    timer_set(timer_read_time() + 50);
+}
+
+void
+timer_init(void)
+{
+    // Supply power and clock to the timer
+    enable_pclock(TC3_GCLK_ID, PM_APBCMASK_TC3);
+    enable_pclock(TC4_GCLK_ID, PM_APBCMASK_TC4);
+
+    // Configure the timer
+    TcCount32 *tc = &TC4->COUNT32;
+    irqstatus_t flag = irq_save();
+    tc->CTRLA.reg = 0;
+    tc->CTRLA.reg = TC_CTRLA_MODE_COUNT32;
+    NVIC_SetPriority(TC4_IRQn, 2);
+    NVIC_EnableIRQ(TC4_IRQn);
+    tc->INTENSET.reg = TC_INTENSET_MC0;
+    tc->COUNT.reg = 0;
+    timer_kick();
+    tc->CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_ENABLE;
+    irq_restore(flag);
+}
+DECL_INIT(timer_init);
+
+// IRQ handler
+void __visible __aligned(16) // aligning helps stabilize perf benchmarks
+TC4_Handler(void)
+{
+    irq_disable();
+    uint32_t next = timer_dispatch_many();
+    timer_set(next);
+    irq_enable();
+}