ADD: mada timer driver

driver/mada/timer/CMakeLists.txt

@@ -0,0 +1,7 @@
+
+add_library(mada_timer STATIC mada_timer.c)
+
+target_include_directories(mada_timer PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+target_link_libraries(mada_timer PUBLIC rocketcore)
+target_link_libraries(mada_timer PUBLIC metal)

driver/mada/timer/mada_timer.c

@@ -0,0 +1 @@
+#include "mada_timer.h"

driver/mada/timer/mada_timer.h

@@ -0,0 +1,54 @@
+#ifndef __MADA_TIMER_H
+#define __MADA_TIMER_H
+
+#include "metal.h"
+
+/*
+register map
+0x00: control and status
+0x04: counter value (r)
+0x08: auto-reload value (rw)
+0x0c: prescaler value (rw)
+0x10: capture and control 0 (rw)
+0x14: capture and control 1 (rw)
+0x18: capture and control 2 (rw)
+0x1c: capture and control 3 (rw)
+*/
+
+typedef struct {
+    uint32_t MD_TM_CSR;
+    uint32_t MD_TM_COUNTER_VAL;
+    uint32_t MD_TM_AUTO_RELAOD;
+    uint32_t MD_TM_PRESCALER;
+    uint32_t MD_TM_CCR0;
+    uint32_t MD_TM_CCR1;
+    uint32_t MD_TM_CCR2;
+} MadaTimerType;
+
+#define MADA_ADDR 0x11000000
+#define MADA_ENCODER0 ((MadaTimerType*)MADA_ADDR)
+
+static inline void mada_timer_enable(MadaTimerType *timer){
+    timer->MD_TM_CSR = 0x1;
+}
+
+static inline void mada_timer_disable(MadaTimerType *timer){
+    timer->MD_TM_CSR = 0x0;
+}
+
+static inline uint32_t mada_timer_read_raw_counter(MadaTimerType *timer){
+    return timer->MD_TM_COUNTER_VAL;
+}
+
+static inline void mada_timer_configure(MadaTimerType* timer, uint32_t auto_reload, uint32_t prescaler){
+    timer->MD_TM_AUTO_RELAOD = auto_reload;
+    timer->MD_TM_PRESCALER = prescaler;
+}
+
+static inline void mada_timer_pwm_set(MadaTimerType* timer, uint32_t ccr0, uint32_t ccr1, uint32_t ccr2){
+    timer->MD_TM_CCR0 = ccr0;
+    timer->MD_TM_CCR1 = ccr1;
+    timer->MD_TM_CCR2 = ccr2;
+}
+
+#endif