drivers: timer: grtc: Update GRTC driver

This commit aligns the GRTC driver to changes introduced in
hal_nordic. Some of the features regarding GRTC sleep/wakeup
functionality has been modified and moved out to the nrfx
driver's code.

Signed-off-by: Adam Kondraciuk <adam.kondraciuk@nordicsemi.no>

drivers/timer/Kconfig.nrf_grtc

@@ -41,9 +41,20 @@ config NRF_GRTC_TIMER_CLOCK_MANAGEMENT
 	  the GRTC. Usually this is only needed by the processor that is starting
 	  the SYSCOUNTER, but can be shared by multiple processors in the system.
 
-config NRF_GRTC_SLEEP_MINIMUM_LATENCY
+config NRF_GRTC_SYSCOUNTER_SLEEP_MINIMUM_LATENCY
 	int
 	default 1000
 	depends on NRF_GRTC_SLEEP_ALLOWED
+	help
+	  The value (in us) ensures that the wakeup event will not fire
+	  too early. In other words, applying SYSCOUNTER sleep state for less than
+	  NRF_GRTC_SYSCOUNTER_SLEEP_MINIMUM_LATENCY period makes no sense.
+
+config NRF_GRTC_TIMER_AUTO_KEEP_ALIVE
+	bool
+	default y if NRF_GRTC_START_SYSCOUNTER
+	help
+	  This feature prevents the SYSCOUNTER to sleep when any core is in
+	  active state.
 
 endif # NRF_GRTC_TIMER

drivers/timer/nrf_grtc_timer.c

@@ -29,12 +29,6 @@
 
 #define CHAN_COUNT     NRFX_GRTC_CONFIG_NUM_OF_CC_CHANNELS
 #define EXT_CHAN_COUNT (CHAN_COUNT - 1)
-/* The reset value of waketime is 1, which doesn't seem to work.
- * It's being looked into, but for the time being use 4.
- * Timeout must always be higher than waketime, so setting that to 5.
- */
-#define WAKETIME       (4)
-#define TIMEOUT        (WAKETIME + 1)
 
 #ifndef GRTC_SYSCOUNTERL_VALUE_Msk
 #define GRTC_SYSCOUNTERL_VALUE_Msk GRTC_SYSCOUNTER_SYSCOUNTERL_VALUE_Msk
@@ -55,8 +49,7 @@
 
 #define MAX_CYCLES (MAX_TICKS * CYC_PER_TICK)
 
-/* The maximum SYSCOUNTERVALID settling time equals 1x32k cycles + 20x1MHz cycles. */
+#define LFCLK_FREQUENCY_HZ 32768
-#define GRTC_SYSCOUNTERVALID_SETTLE_MAX_TIME_US 51
 
 #if defined(CONFIG_TEST)
 const int32_t z_sys_timer_irq_for_test = DT_IRQN(GRTC_NODE);
@@ -78,36 +71,6 @@ static nrfx_grtc_channel_t system_clock_channel_data = {
 	__ASSERT_NO_MSG((NRFX_GRTC_CONFIG_ALLOWED_CC_CHANNELS_MASK & (1UL << (chan))) &&           \
 			((chan) != system_clock_channel_data.channel))
 
-static inline void grtc_active_set(void)
-{
-#if defined(NRF_GRTC_HAS_SYSCOUNTER_ARRAY) && (NRF_GRTC_HAS_SYSCOUNTER_ARRAY == 1)
-	nrfy_grtc_sys_counter_active_set(NRF_GRTC, true);
-	while (!nrfy_grtc_sys_conter_ready_check(NRF_GRTC)) {
-	}
-#else
-	nrfy_grtc_sys_counter_active_state_request_set(NRF_GRTC, true);
-	k_busy_wait(GRTC_SYSCOUNTERVALID_SETTLE_MAX_TIME_US);
-#endif
-}
-
-static inline void grtc_wakeup(void)
-{
-	if (IS_ENABLED(CONFIG_NRF_GRTC_SLEEP_ALLOWED)) {
-		grtc_active_set();
-	}
-}
-
-static inline void grtc_sleep(void)
-{
-	if (IS_ENABLED(CONFIG_NRF_GRTC_SLEEP_ALLOWED)) {
-#if defined(NRF_GRTC_HAS_SYSCOUNTER_ARRAY) && (NRF_GRTC_HAS_SYSCOUNTER_ARRAY == 1)
-		nrfy_grtc_sys_counter_active_set(NRF_GRTC, false);
-#else
-		nrfy_grtc_sys_counter_active_state_request_set(NRF_GRTC, false);
-#endif
-	}
-}
-
 static inline uint64_t counter_sub(uint64_t a, uint64_t b)
 {
 	return (a - b);
@@ -116,10 +79,7 @@ static inline uint64_t counter_sub(uint64_t a, uint64_t b)
 static inline uint64_t counter(void)
 {
 	uint64_t now;
-
-	grtc_wakeup();
 	nrfx_grtc_syscounter_get(&now);
-	grtc_sleep();
 	return now;
 }
 
@@ -143,10 +103,8 @@ static inline int get_comparator(uint32_t chan, uint64_t *cc)
 static void system_timeout_set_relative(uint64_t value)
 {
 	if (value <= NRF_GRTC_SYSCOUNTER_CCADD_MASK) {
-		grtc_wakeup();
 		nrfx_grtc_syscounter_cc_relative_set(&system_clock_channel_data, value, true,
 						     NRFX_GRTC_CC_RELATIVE_SYSCOUNTER);
-		grtc_sleep();
 	} else {
 		nrfx_grtc_syscounter_cc_absolute_set(&system_clock_channel_data, value + counter(),
 						     true);
@@ -386,6 +344,7 @@ int z_nrf_grtc_timer_capture_read(int32_t chan, uint64_t *captured_time)
 	 */
 
 	uint64_t capt_time;
+	nrfx_err_t result;
 
 	IS_CHANNEL_ALLOWED_ASSERT(chan);
 
@@ -396,8 +355,10 @@ int z_nrf_grtc_timer_capture_read(int32_t chan, uint64_t *captured_time)
 		 */
 		return -EBUSY;
 	}
-
+	result = nrfx_grtc_syscounter_cc_value_read(chan, &capt_time);
-	capt_time = nrfy_grtc_sys_counter_cc_get(NRF_GRTC, chan);
+	if (result != NRFX_SUCCESS) {
+		return -EPERM;
+	}
 
 	__ASSERT_NO_MSG(capt_time < COUNTER_SPAN);
 
@@ -412,16 +373,23 @@ int z_nrf_grtc_wakeup_prepare(uint64_t wake_time_us)
 	nrfx_err_t err_code;
 	static uint8_t systemoff_channel;
 	uint64_t now = counter();
+	nrfx_grtc_sleep_config_t sleep_cfg;
 	/* Minimum time that ensures valid execution of system-off procedure. */
-	uint32_t minimum_latency_us = nrfy_grtc_waketime_get(NRF_GRTC) +
+	uint32_t minimum_latency_us;
-				      nrfy_grtc_timeout_get(NRF_GRTC) +
-				      CONFIG_NRF_GRTC_SLEEP_MINIMUM_LATENCY;
 	uint32_t chan;
 	int ret;
 
+	nrfx_grtc_sleep_configuration_get(&sleep_cfg);
+	minimum_latency_us = (sleep_cfg.waketime + sleep_cfg.timeout) *
+		USEC_PER_SEC / LFCLK_FREQUENCY_HZ +
+		CONFIG_NRF_GRTC_SYSCOUNTER_SLEEP_MINIMUM_LATENCY;
+	sleep_cfg.auto_mode = false;
+	nrfx_grtc_sleep_configure(&sleep_cfg);
+
 	if (minimum_latency_us > wake_time_us) {
 		return -EINVAL;
 	}
+
 	k_spinlock_key_t key = k_spin_lock(&lock);
 
 	err_code = nrfx_grtc_channel_alloc(&systemoff_channel);
@@ -430,7 +398,9 @@ int z_nrf_grtc_wakeup_prepare(uint64_t wake_time_us)
 		return -ENOMEM;
 	}
 	(void)nrfx_grtc_syscounter_cc_int_disable(systemoff_channel);
-	ret = compare_set(systemoff_channel, now + wake_time_us, NULL, NULL);
+	ret = compare_set(systemoff_channel,
+			  now + wake_time_us * sys_clock_hw_cycles_per_sec() / USEC_PER_SEC, NULL,
+			  NULL);
 	if (ret < 0) {
 		k_spin_unlock(&lock, key);
 		return ret;
@@ -446,7 +416,7 @@ int z_nrf_grtc_wakeup_prepare(uint64_t wake_time_us)
 	}
 
 	/* Make sure that wake_time_us was not triggered yet. */
-	if (nrfy_grtc_sys_counter_compare_event_check(NRF_GRTC, systemoff_channel)) {
+	if (nrfx_grtc_syscounter_compare_event_check(systemoff_channel)) {
 		k_spin_unlock(&lock, key);
 		return -EINVAL;
 	}
@@ -457,7 +427,7 @@ int z_nrf_grtc_wakeup_prepare(uint64_t wake_time_us)
 		MAX_CC_LATCH_WAIT_TIME_US;
 	k_busy_wait(wait_time);
 #if NRF_GRTC_HAS_CLKSEL
-	nrfy_grtc_clksel_set(NRF_GRTC, NRF_GRTC_CLKSEL_LFXO);
+	nrfx_grtc_clock_source_set(NRF_GRTC_CLKSEL_LFXO);
 #endif
 	k_spin_unlock(&lock, key);
 	return 0;
@@ -498,16 +468,9 @@ static int sys_clock_driver_init(void)
 #if defined(CONFIG_NRF_GRTC_TIMER_CLOCK_MANAGEMENT) &&                                             \
 	(defined(NRF_GRTC_HAS_CLKSEL) && (NRF_GRTC_HAS_CLKSEL == 1))
 	/* Use System LFCLK as the low-frequency clock source. */
-	nrfy_grtc_clksel_set(NRF_GRTC, NRF_GRTC_CLKSEL_LFCLK);
+	nrfx_grtc_clock_source_set(NRF_GRTC_CLKSEL_LFCLK);
 #endif
 
-#if defined(CONFIG_NRF_GRTC_START_SYSCOUNTER)
-	/* SYSCOUNTER needs to be turned off before initialization. */
-	nrfy_grtc_sys_counter_set(NRF_GRTC, false);
-	nrfy_grtc_timeout_set(NRF_GRTC, TIMEOUT);
-	nrfy_grtc_waketime_set(NRF_GRTC, WAKETIME);
-#endif /* CONFIG_NRF_GRTC_START_SYSCOUNTER */
-
 	IRQ_CONNECT(DT_IRQN(GRTC_NODE), DT_IRQ(GRTC_NODE, priority), nrfx_isr,
 		    nrfx_grtc_irq_handler, 0);
 
@@ -521,9 +484,6 @@ static int sys_clock_driver_init(void)
 	if (err_code != NRFX_SUCCESS) {
 		return err_code == NRFX_ERROR_NO_MEM ? -ENOMEM : -EPERM;
 	}
-	if (IS_ENABLED(CONFIG_NRF_GRTC_SLEEP_ALLOWED)) {
-		nrfy_grtc_sys_counter_auto_mode_set(NRF_GRTC, false);
-	}
 #else
 	err_code = nrfx_grtc_channel_alloc(&system_clock_channel_data.channel);
 	if (err_code != NRFX_SUCCESS) {
@@ -531,10 +491,6 @@ static int sys_clock_driver_init(void)
 	}
 #endif /* CONFIG_NRF_GRTC_START_SYSCOUNTER */
 
-	if (!IS_ENABLED(CONFIG_NRF_GRTC_SLEEP_ALLOWED)) {
-		grtc_active_set();
-	}
-
 	int_mask = NRFX_GRTC_CONFIG_ALLOWED_CC_CHANNELS_MASK;
 	if (!IS_ENABLED(CONFIG_TICKLESS_KERNEL)) {
 		system_timeout_set_relative(CYC_PER_TICK);

include/zephyr/drivers/timer/nrf_grtc_timer.h

@@ -171,6 +171,7 @@ int z_nrf_grtc_timer_capture_prepare(int32_t chan);
  *
  * @retval 0 if the timestamp was successfully caught and read.
  * @retval -EBUSY if capturing has not been triggered.
+ * @retval -EPERM if either channel is unavailable or SYSCOUNTER is not running.
  */
 int z_nrf_grtc_timer_capture_read(int32_t chan, uint64_t *captured_time);
 

modules/hal_nordic/nrfx/CMakeLists.txt

@@ -131,10 +131,6 @@ if(CONFIG_NRFX_TWI OR CONFIG_NRFX_TWIM)
   zephyr_library_sources(${SRC_DIR}/nrfx_twi_twim.c)
 endif()
 
-if (CONFIG_NRF_GRTC_TIMER AND CONFIG_NRF_GRTC_TIMER_CLOCK_MANAGEMENT)
-  zephyr_compile_definitions(NRF_GRTC_HAS_EXTENDED=1)
-endif()
-
 # Inject HAL "CONFIG_NFCT_PINS_AS_GPIOS" definition if user requests to
 # configure the NFCT pins as GPIOS. Do the same with "CONFIG_GPIO_AS_PINRESET"
 # to configure the reset GPIO as nRESET. This way, the HAL will take care of

modules/hal_nordic/nrfx/nrfx_config.h

@@ -120,6 +120,19 @@
 #define NRFX_GRTC_CONFIG_LOG_ENABLED 1
 #endif
 
+#ifdef CONFIG_NRF_GRTC_TIMER_CLOCK_MANAGEMENT
+#define NRF_GRTC_HAS_EXTENDED 1
+#endif
+#ifdef CONFIG_NRF_GRTC_SLEEP_ALLOWED
+#define NRFX_GRTC_CONFIG_SLEEP_ALLOWED 1
+#endif
+#ifdef CONFIG_NRF_GRTC_TIMER_AUTO_KEEP_ALIVE
+#define NRFX_GRTC_CONFIG_AUTOEN 1
+#endif
+#ifdef CONFIG_NRF_GRTC_START_SYSCOUNTER
+#define NRFX_GRTC_CONFIG_AUTOSTART 1
+#endif
+
 #ifdef CONFIG_NRFX_GPIOTE
 #define NRFX_GPIOTE_ENABLED 1
 #endif