feat: add RTC time driver

6 files changed, 216 insertions, 2 deletions

diff --git a/embassy-nxp/Cargo.toml b/embassy-nxp/Cargo.toml
index 2644b0fa9..9fa48c4b9 100644
--- a/embassy-nxp/Cargo.toml
+++ b/embassy-nxp/Cargo.toml
@@ -50,6 +50,9 @@ log = ["dep:log"]
 ## Use Periodic Interrupt Timer (PIT) as the time driver for `embassy-time`, with a tick rate of 1 MHz
 time-driver-pit = ["_time_driver", "embassy-time?/tick-hz-1_000_000"]
 
+## Use Real Time Clock (RTC) as the time driver for `embassy-time`, with a tick rate of 32768 Hz
+time-driver-rtc = ["_time_driver", "embassy-time?/tick-hz-32_768"]
+
 ## Reexport the PAC for the currently enabled chip at `embassy_nxp::pac` (unstable)
 unstable-pac = []
 # This is unstable because semver-minor (non-breaking) releases of embassy-nxp may major-bump (breaking) the PAC version.
diff --git a/embassy-nxp/src/lib.rs b/embassy-nxp/src/lib.rs
index 5e77fc0db..b2e910f7e 100644
--- a/embassy-nxp/src/lib.rs
+++ b/embassy-nxp/src/lib.rs
@@ -9,6 +9,7 @@ pub mod pint;
 
 #[cfg(feature = "_time_driver")]
 #[cfg_attr(feature = "time-driver-pit", path = "time_driver/pit.rs")]
+#[cfg_attr(feature = "time-driver-rtc", path = "time_driver/rtc.rs")]
 mod time_driver;
 
 // This mod MUST go last, so that it sees all the `impl_foo!` macros
diff --git a/embassy-nxp/src/time_driver/rtc.rs b/embassy-nxp/src/time_driver/rtc.rs
new file mode 100644
index 000000000..94272e9c2
--- /dev/null
+++ b/embassy-nxp/src/time_driver/rtc.rs
@@ -0,0 +1,172 @@
+use core::cell::{Cell, RefCell};
+use core::task::Waker;
+
+use critical_section::CriticalSection;
+use embassy_hal_internal::interrupt::{InterruptExt, Priority};
+use embassy_sync::blocking_mutex::CriticalSectionMutex as Mutex;
+use embassy_time_driver::{time_driver_impl, Driver};
+use embassy_time_queue_utils::Queue;
+use lpc55_pac::{interrupt, PMC, RTC, SYSCON};
+struct AlarmState {
+    timestamp: Cell<u64>,
+}
+
+unsafe impl Send for AlarmState {}
+
+impl AlarmState {
+    const fn new() -> Self {
+        Self {
+            timestamp: Cell::new(u64::MAX),
+        }
+    }
+}
+
+pub struct RtcDriver {
+    alarms: Mutex<AlarmState>,
+    queue: Mutex<RefCell<Queue>>,
+}
+
+time_driver_impl!(static DRIVER: RtcDriver = RtcDriver {
+    alarms: Mutex::new(AlarmState::new()),
+    queue: Mutex::new(RefCell::new(Queue::new())),
+});
+impl RtcDriver {
+    fn init(&'static self) {
+        let syscon = unsafe { &*SYSCON::ptr() };
+        let pmc = unsafe { &*PMC::ptr() };
+        let rtc = unsafe { &*RTC::ptr() };
+
+        syscon.ahbclkctrl0.modify(|_, w| w.rtc().enable());
+
+        // By default the RTC enters software reset. If for some reason it is
+        // not in reset, we enter and them promptly leave.q
+        rtc.ctrl.modify(|_, w| w.swreset().set_bit());
+        rtc.ctrl.modify(|_, w| w.swreset().clear_bit());
+
+        // Select clock source - either XTAL or FRO
+        // pmc.rtcosc32k.write(|w| w.sel().xtal32k());
+        pmc.rtcosc32k.write(|w| w.sel().fro32k());
+
+        // Start the RTC peripheral
+        rtc.ctrl.modify(|_, w| w.rtc_osc_pd().power_up());
+
+        // rtc.ctrl.modify(|_, w| w.rtc_en().clear_bit()); // EXTRA
+
+        //reset/clear(?) counter
+        rtc.count.reset();
+        //en rtc main counter
+        rtc.ctrl.modify(|_, w| w.rtc_en().set_bit());
+        rtc.ctrl.modify(|_, w| w.rtc1khz_en().set_bit());
+        // subsec counter enable
+        rtc.ctrl.modify(|_, w| w.rtc_subsec_ena().set_bit());
+
+        // enable irq
+        unsafe {
+            interrupt::RTC.set_priority(Priority::from(3));
+            interrupt::RTC.enable();
+        }
+    }
+
+    fn set_alarm(&self, cs: CriticalSection, timestamp: u64) -> bool {
+        let rtc = unsafe { &*RTC::ptr() };
+        let alarm = &self.alarms.borrow(cs);
+        alarm.timestamp.set(timestamp);
+        let now = self.now();
+
+        if timestamp <= now {
+            alarm.timestamp.set(u64::MAX);
+            return false;
+        }
+
+        //time diff in sub-sec not ticks (32kHz)
+        let diff = timestamp - now;
+        let sec = (diff / 32768) as u32;
+        let subsec = (diff % 32768) as u32;
+
+        let current_sec = rtc.count.read().val().bits();
+        let target_sec = current_sec.wrapping_add(sec as u32);
+
+        rtc.match_.write(|w| unsafe { w.matval().bits(target_sec) });
+        rtc.wake.write(|w| unsafe {
+            let ms = (subsec * 1000) / 32768;
+            w.val().bits(ms as u16)
+        });
+        if subsec > 0 {
+            let ms = (subsec * 1000) / 32768;
+            rtc.wake.write(|w| unsafe { w.val().bits(ms as u16) });
+        }
+        rtc.ctrl.modify(|_, w| w.alarm1hz().clear_bit().wake1khz().clear_bit());
+        true
+    }
+
+    fn on_interrupt(&self) {
+        critical_section::with(|cs| {
+            let rtc = unsafe { &*RTC::ptr() };
+            let flags = rtc.ctrl.read();
+            if flags.alarm1hz().bit_is_clear() {
+                rtc.ctrl.modify(|_, w| w.alarm1hz().set_bit());
+                self.trigger_alarm(cs);
+            }
+
+            if flags.wake1khz().bit_is_clear() {
+                rtc.ctrl.modify(|_, w| w.wake1khz().set_bit());
+                self.trigger_alarm(cs);
+            }
+        });
+    }
+
+    fn trigger_alarm(&self, cs: CriticalSection) {
+        let alarm = &self.alarms.borrow(cs);
+        alarm.timestamp.set(u64::MAX);
+        let mut next = self.queue.borrow(cs).borrow_mut().next_expiration(self.now());
+        if next == u64::MAX {
+            // no scheduled events, skipping
+            return;
+        }
+        while !self.set_alarm(cs, next) {
+            next = self.queue.borrow(cs).borrow_mut().next_expiration(self.now());
+            if next == u64::MAX {
+                //no next event found after retry
+                return;
+            }
+        }
+    }
+}
+
+impl Driver for RtcDriver {
+    fn now(&self) -> u64 {
+        let rtc = unsafe { &*RTC::ptr() };
+
+        loop {
+            let sec1 = rtc.count.read().val().bits() as u64;
+            let sub1 = rtc.subsec.read().subsec().bits() as u64;
+            let sec2 = rtc.count.read().val().bits() as u64;
+            let sub2 = rtc.subsec.read().subsec().bits() as u64;
+
+            if sec1 == sec2 && sub1 == sub2 {
+                return sec1 * 32768 + sub1;
+            }
+        }
+    }
+
+    fn schedule_wake(&self, at: u64, waker: &Waker) {
+        critical_section::with(|cs| {
+            let mut queue = self.queue.borrow(cs).borrow_mut();
+
+            if queue.schedule_wake(at, waker) {
+                let mut next = queue.next_expiration(self.now());
+                while !self.set_alarm(cs, next) {
+                    next = queue.next_expiration(self.now());
+                }
+            }
+        })
+    }
+}
+#[cortex_m_rt::interrupt]
+fn RTC() {
+    DRIVER.on_interrupt();
+}
+
+pub fn init() {
+    DRIVER.init();
+}
diff --git a/examples/lpc55s69/Cargo.toml b/examples/lpc55s69/Cargo.toml
index 5faec13da..f9bd409e2 100644
--- a/examples/lpc55s69/Cargo.toml
+++ b/examples/lpc55s69/Cargo.toml
@@ -6,10 +6,10 @@ license = "MIT OR Apache-2.0"
 
 
 [dependencies]
-embassy-nxp = { version = "0.1.0", path = "../../embassy-nxp", features = ["lpc55", "rt", "defmt"] }
+embassy-nxp = { version = "0.1.0", path = "../../embassy-nxp", features = ["lpc55", "rt", "defmt", "time-driver-rtc"] }
 embassy-executor = { version = "0.8.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt"] }
 embassy-sync = { version = "0.7.0", path = "../../embassy-sync", features = ["defmt"] }
-embassy-time = { version = "0.4.0", path = "../../embassy-time", features = ["defmt"] }
+embassy-time = { version = "0.4.0", path = "../../embassy-time", features = ["defmt", "tick-hz-32_768"] }
 panic-halt = "1.0.0"
 cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
 cortex-m-rt = { version = "0.7.0"}
diff --git a/examples/lpc55s69/README.md b/examples/lpc55s69/README.md
new file mode 100644
index 000000000..d200f4f99
--- /dev/null
+++ b/examples/lpc55s69/README.md
@@ -0,0 +1,12 @@
+# LPC55S69 Examples
+
+## Available examples:
+- blinky_nop: Blink the integrated RED LED using nops as delay. Useful for flashing simple and known-good software on board.
+- button_executor: Turn on/off an LED by pressing the USER button. Demonstrates how to use the PINT and GPIO drivers.
+- blinky_embassy_time: Blink the integrated RED LED using `embassy-time`. Demonstrates how to use the time-driver that uses RTC. 
+
+## Important Notes
+
+On older version of probe-rs, some examples (such as `blinky_embassy_time`) do not work directly after flashing and the board must be reset after flashing. It is reccomended to update the version of probe-rs to the latest one.
+
+When developing drivers for this board, probe-rs might not be able to flash the board after entering a fault. Either reset the board to clear the fault, or use NXP's proprietary software `LinkServer`/`LinkFlash` to bring the board back to a known-good state.
\ No newline at end of file
diff --git a/examples/lpc55s69/src/bin/blinky_embassy_time.rs b/examples/lpc55s69/src/bin/blinky_embassy_time.rs
new file mode 100644
index 000000000..adc3d8bd3
--- /dev/null
+++ b/examples/lpc55s69/src/bin/blinky_embassy_time.rs
@@ -0,0 +1,26 @@
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_nxp::gpio::{Level, Output};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_halt as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_nxp::init(Default::default());
+    info!("Initialization complete");
+    let mut led = Output::new(p.PIO1_6, Level::Low);
+
+    info!("Entering main loop");
+    loop {
+        info!("led off!");
+        led.set_high();
+        Timer::after_millis(500).await;
+
+        info!("led on!");
+        led.set_low();
+        Timer::after_millis(500).await;
+    }
+}