bsps: Convert clock drivers to use a timecounter

Update #2271.

12 files changed, 110 insertions, 138 deletions

diff --git a/c/src/lib/libbsp/arm/beagle/clock.c b/c/src/lib/libbsp/arm/beagle/clock.c
index 66aba1b84b..912d904197 100644
--- a/c/src/lib/libbsp/arm/beagle/clock.c
+++ b/c/src/lib/libbsp/arm/beagle/clock.c
@@ -15,11 +15,12 @@
  */
 
 #include <rtems.h>
+#include <rtems/timecounter.h>
 #include <bsp.h>
 
 #include <libcpu/omap_timer.h>
 
-#ifdef ARM_MULTILIB_ARCH_V4
+static struct timecounter beagle_clock_tc;
 
 static omap_timer_registers_t regs_v1 = {
   .TIDR = OMAP3_TIMER_TIDR,
@@ -115,8 +116,6 @@ static struct omap_timer *timer = &am335x_timer;
 
 #endif
 
-static int done = 0;
-
 #if IS_AM335X
 #define FRCLOCK_HZ (16*1500000)
 #endif
@@ -181,20 +180,14 @@ omap3_frclock_init(void)
   /* Start timer, without prescaler */
   mmio_set(fr_timer->base + fr_timer->regs->TCLR,
       OMAP3_TCLR_OVF_TRG | OMAP3_TCLR_AR | OMAP3_TCLR_ST);
-  done = 1;
 }
 
-static inline uint32_t
-read_frc(void)
+static uint32_t
+beagle_clock_get_timecount(struct timecounter *tc)
 {
-  if (done == 0) {
-    return 0;
-  }
   return mmio_read(fr_timer->base + fr_timer->regs->TCRR);
 }
 
-static uint32_t last_tick_nanoseconds;
-
 static void
 beagle_clock_initialize(void)
 {
@@ -262,12 +255,16 @@ beagle_clock_initialize(void)
   while(mmio_read(AM335X_WDT_BASE+AM335X_WDT_WWPS) != 0) ;
 #endif
 
+  /* Install timecounter */ \
+  beagle_clock_tc.tc_get_timecount = beagle_clock_get_timecount;
+  beagle_clock_tc.tc_counter_mask = 0xffffffff;
+  beagle_clock_tc.tc_frequency = FRCLOCK_HZ;
+  beagle_clock_tc.tc_quality = RTEMS_TIMECOUNTER_QUALITY_CLOCK_DRIVER;
+  rtems_timecounter_install(&beagle_clock_tc);
 }
 
 static void beagle_clock_at_tick(void)
 {
-  last_tick_nanoseconds = read_frc();
-
   mmio_write(timer->base + timer->regs->TISR,
     OMAP3_TISR_MAT_IT_FLAG | OMAP3_TISR_OVF_IT_FLAG |
       OMAP3_TISR_TCAR_IT_FLAG);
@@ -315,14 +312,6 @@ static void beagle_clock_cleanup(void)
   mmio_clear(fr_timer->base + fr_timer->regs->TCLR, OMAP3_TCLR_ST);
 }
 
-static inline uint32_t beagle_clock_nanoseconds_since_last_tick(void)
-{
-  /* this arithmetic also works if read_frc() wraps around, as long
-   * as the subtraction wraps around too
-   */
-  return (read_frc() - (uint64_t) last_tick_nanoseconds) * 1000000000 / FRCLOCK_HZ;
-}
-
 #define Clock_driver_support_at_tick() beagle_clock_at_tick()
 #define Clock_driver_support_initialize_hardware() beagle_clock_initialize()
 #define Clock_driver_support_install_isr(isr, old_isr) \
@@ -332,10 +321,6 @@ static inline uint32_t beagle_clock_nanoseconds_since_last_tick(void)
   } while (0)
 
 #define Clock_driver_support_shutdown_hardware() beagle_clock_cleanup()
-#define Clock_driver_nanoseconds_since_last_tick \
-  beagle_clock_nanoseconds_since_last_tick
 
 /* Include shared source clock driver code */
 #include "../../shared/clockdrv_shell.h"
-
-#endif /* ARM_MULTILIB_ARCH_V4 */
diff --git a/c/src/lib/libbsp/arm/edb7312/clock/clockdrv.c b/c/src/lib/libbsp/arm/edb7312/clock/clockdrv.c
index 499a27904c..121b2c9d32 100644
--- a/c/src/lib/libbsp/arm/edb7312/clock/clockdrv.c
+++ b/c/src/lib/libbsp/arm/edb7312/clock/clockdrv.c
@@ -68,4 +68,6 @@ void Clock_isr(void * arg);
     assert(status == RTEMS_SUCCESSFUL);             \
   } while (0)
 
+#define CLOCK_DRIVER_USE_DUMMY_TIMECOUNTER
+
 #include "../../../shared/clockdrv_shell.h"
diff --git a/c/src/lib/libbsp/arm/gba/clock/clockdrv.c b/c/src/lib/libbsp/arm/gba/clock/clockdrv.c
index 72d0b81e32..ff171110b9 100644
--- a/c/src/lib/libbsp/arm/gba/clock/clockdrv.c
+++ b/c/src/lib/libbsp/arm/gba/clock/clockdrv.c
@@ -92,4 +92,6 @@ void Clock_driver_support_initialize_hardware(void)
   GBA_REG_TM3CNT = (0x00c0|GBA_TMCNT_PS);
 }
 
+#define CLOCK_DRIVER_USE_DUMMY_TIMECOUNTER
+
 #include "../../../shared/clockdrv_shell.h"
diff --git a/c/src/lib/libbsp/arm/lpc176x/include/lpc-clock-config.h b/c/src/lib/libbsp/arm/lpc176x/include/lpc-clock-config.h
index c72575f719..3eef02152e 100644
--- a/c/src/lib/libbsp/arm/lpc176x/include/lpc-clock-config.h
+++ b/c/src/lib/libbsp/arm/lpc176x/include/lpc-clock-config.h
@@ -33,6 +33,7 @@ extern "C" {
 
 #define LPC_CLOCK_INTERRUPT LPC176X_IRQ_TIMER_0
 #define LPC_CLOCK_TIMER_BASE TMR0_BASE_ADDR
+#define LPC_CLOCK_TIMECOUNTER_BASE TMR1_BASE_ADDR
 #define LPC_CLOCK_REFERENCE LPC176X_PCLK
 #define LPC_CLOCK_MODULE_ENABLE() \
   lpc176x_module_enable( LPC176X_MODULE_TIMER_0, LPC176X_MODULE_PCLK_DEFAULT )
diff --git a/c/src/lib/libbsp/arm/lpc24xx/include/lpc-clock-config.h b/c/src/lib/libbsp/arm/lpc24xx/include/lpc-clock-config.h
index 1edab4eb02..5e6b469e0f 100644
--- a/c/src/lib/libbsp/arm/lpc24xx/include/lpc-clock-config.h
+++ b/c/src/lib/libbsp/arm/lpc24xx/include/lpc-clock-config.h
@@ -35,6 +35,8 @@ extern "C" {
 
 #define LPC_CLOCK_TIMER_BASE TMR0_BASE_ADDR
 
+#define LPC_CLOCK_TIMECOUNTER_BASE TMR1_BASE_ADDR
+
 #define LPC_CLOCK_REFERENCE LPC24XX_PCLK
 
 #define LPC_CLOCK_MODULE_ENABLE() \
diff --git a/c/src/lib/libbsp/arm/lpc32xx/include/lpc-clock-config.h b/c/src/lib/libbsp/arm/lpc32xx/include/lpc-clock-config.h
index accd0d256a..2b676b433f 100644
--- a/c/src/lib/libbsp/arm/lpc32xx/include/lpc-clock-config.h
+++ b/c/src/lib/libbsp/arm/lpc32xx/include/lpc-clock-config.h
@@ -44,6 +44,8 @@ extern "C" {
 
 #define LPC_CLOCK_TIMER_BASE LPC32XX_BASE_TIMER_0
 
+#define LPC_CLOCK_TIMECOUNTER_BASE LPC32XX_BASE_TIMER_1
+
 #define LPC_CLOCK_REFERENCE LPC32XX_PERIPH_CLK
 
 #define LPC_CLOCK_MODULE_ENABLE()
diff --git a/c/src/lib/libbsp/arm/nds/clock/clock.c b/c/src/lib/libbsp/arm/nds/clock/clock.c
index a24f8cc788..1e239d44d9 100644
--- a/c/src/lib/libbsp/arm/nds/clock/clock.c
+++ b/c/src/lib/libbsp/arm/nds/clock/clock.c
@@ -81,4 +81,6 @@ void Clock_driver_support_initialize_hardware (void)
   TIMER_DATA (0) = TIMER_FREQ_64 ((uint16_t) freq);
 }
 
+#define CLOCK_DRIVER_USE_DUMMY_TIMECOUNTER
+
 #include "../../../shared/clockdrv_shell.h"
diff --git a/c/src/lib/libbsp/arm/raspberrypi/clock/clockdrv.c b/c/src/lib/libbsp/arm/raspberrypi/clock/clockdrv.c
index 533873cf19..f765485570 100644
--- a/c/src/lib/libbsp/arm/raspberrypi/clock/clockdrv.c
+++ b/c/src/lib/libbsp/arm/raspberrypi/clock/clockdrv.c
@@ -72,14 +72,6 @@ static void raspberrypi_clock_cleanup(void)
   }
 }
 
-/*
- *  Return the nanoseconds since last tick
- */
-static uint32_t raspberrypi_clock_nanoseconds_since_last_tick(void)
-{
-  return 0;
-}
-
 #define Clock_driver_support_at_tick() raspberrypi_clock_at_tick()
 
 #define Clock_driver_support_initialize_hardware() raspberrypi_clock_initialize()
@@ -92,8 +84,6 @@ static uint32_t raspberrypi_clock_nanoseconds_since_last_tick(void)
 
 #define Clock_driver_support_shutdown_hardware() raspberrypi_clock_cleanup()
 
-#define Clock_driver_nanoseconds_since_last_tick \
-  raspberrypi_clock_nanoseconds_since_last_tick
-
+#define CLOCK_DRIVER_USE_DUMMY_TIMECOUNTER
 
 #include "../../../shared/clockdrv_shell.h"
diff --git a/c/src/lib/libbsp/arm/shared/arm-a9mpcore-clock-config.c b/c/src/lib/libbsp/arm/shared/arm-a9mpcore-clock-config.c
index f2ce07e3b6..8e2e153b46 100644
--- a/c/src/lib/libbsp/arm/shared/arm-a9mpcore-clock-config.c
+++ b/c/src/lib/libbsp/arm/shared/arm-a9mpcore-clock-config.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013-2014 embedded brains GmbH.  All rights reserved.
+ * Copyright (c) 2013-2015 embedded brains GmbH.  All rights reserved.
  *
  *  embedded brains GmbH
  *  Dornierstr. 4
@@ -17,14 +17,11 @@
 #include <bsp/irq.h>
 #include <bsp/arm-a9mpcore-regs.h>
 #include <bsp/arm-a9mpcore-clock.h>
+#include <rtems/timecounter.h>
 
 #define A9MPCORE_GT ((volatile a9mpcore_gt *) BSP_ARM_A9MPCORE_GT_BASE)
 
-static uint64_t a9mpcore_clock_last_tick_k;
-
-static uint32_t a9mpcore_clock_last_tick_cmpvallower;
-
-static uint32_t a9mpcore_clock_autoinc;
+static struct timecounter a9mpcore_tc;
 
 /* This is defined in clockdrv_shell.h */
 void Clock_isr(rtems_irq_hdl_param arg);
@@ -39,13 +36,6 @@ static void a9mpcore_clock_at_tick(void)
 {
   volatile a9mpcore_gt *gt = A9MPCORE_GT;
 
-  /*
-   * FIXME: Now the _TOD_Get_with_nanoseconds() yields wrong values until
-   * _TOD_Tickle_ticks() managed to update the uptime.  See also PR2180.
-   */
-  a9mpcore_clock_last_tick_cmpvallower =
-    gt->cmpvallower - a9mpcore_clock_autoinc;
-
   gt->irqst = A9MPCORE_GT_IRQST_EFLG;
 }
 
@@ -80,6 +70,13 @@ static uint64_t a9mpcore_clock_get_counter(volatile a9mpcore_gt *gt)
   return ((uint64_t) cu2 << 32) | cl;
 }
 
+static uint32_t a9mpcore_clock_get_timecount(struct timecounter *tc)
+{
+  volatile a9mpcore_gt *gt = A9MPCORE_GT;
+
+  return gt->cntrlower;
+}
+
 static void a9mpcore_clock_initialize(void)
 {
   volatile a9mpcore_gt *gt = A9MPCORE_GT;
@@ -98,14 +95,16 @@ static void a9mpcore_clock_initialize(void)
   gt->cmpvalupper = (uint32_t) (cmpval >> 32);
   gt->autoinc = interval;
 
-  a9mpcore_clock_last_tick_k = (UINT64_C(1000000000) << 32) / periphclk;
-  a9mpcore_clock_last_tick_cmpvallower = (uint32_t) cmpval - interval;
-  a9mpcore_clock_autoinc = interval;
-
   gt->ctrl = A9MPCORE_GT_CTRL_AUTOINC_EN
     | A9MPCORE_GT_CTRL_IRQ_EN
     | A9MPCORE_GT_CTRL_COMP_EN
     | A9MPCORE_GT_CTRL_TMR_EN;
+
+  a9mpcore_tc.tc_get_timecount = a9mpcore_clock_get_timecount;
+  a9mpcore_tc.tc_counter_mask = 0xffffffff;
+  a9mpcore_tc.tc_frequency = periphclk;
+  a9mpcore_tc.tc_quality = RTEMS_TIMECOUNTER_QUALITY_CLOCK_DRIVER;
+  rtems_timecounter_install(&a9mpcore_tc);
 }
 
 CPU_Counter_ticks _CPU_Counter_read(void)
@@ -147,16 +146,6 @@ static void a9mpcore_clock_cleanup(void)
   }
 }
 
-static uint32_t a9mpcore_clock_nanoseconds_since_last_tick(void)
-{
-  volatile a9mpcore_gt *gt = A9MPCORE_GT;
-  uint64_t k = a9mpcore_clock_last_tick_k;
-  uint32_t n = a9mpcore_clock_last_tick_cmpvallower;
-  uint32_t c = gt->cntrlower;
-
-  return (uint32_t) (((c - n) * k) >> 32);
-}
-
 #define Clock_driver_support_at_tick() \
   a9mpcore_clock_at_tick()
 
@@ -165,15 +154,12 @@ static uint32_t a9mpcore_clock_nanoseconds_since_last_tick(void)
 
 #define Clock_driver_support_install_isr(isr, old_isr) \
   do { \
-    a9mpcore_clock_handler_install();	\
+    a9mpcore_clock_handler_install(); \
     old_isr = NULL; \
   } while (0)
 
 #define Clock_driver_support_shutdown_hardware() \
   a9mpcore_clock_cleanup()
 
-#define Clock_driver_nanoseconds_since_last_tick \
-  a9mpcore_clock_nanoseconds_since_last_tick
-
 /* Include shared source clock driver code */
 #include "../../shared/clockdrv_shell.h"
diff --git a/c/src/lib/libbsp/arm/shared/armv7m/clock/armv7m-clock-config.c b/c/src/lib/libbsp/arm/shared/armv7m/clock/armv7m-clock-config.c
index 8e4ae338f8..e78684c8d2 100644
--- a/c/src/lib/libbsp/arm/shared/armv7m/clock/armv7m-clock-config.c
+++ b/c/src/lib/libbsp/arm/shared/armv7m/clock/armv7m-clock-config.c
@@ -13,6 +13,7 @@
  */
 
 #include <rtems.h>
+#include <rtems/timecounter.h>
 #include <rtems/score/armv7m.h>
 
 #include <bsp.h>
@@ -22,15 +23,35 @@
 /* This is defined in clockdrv_shell.h */
 static void Clock_isr(void *arg);
 
-#define _ARMV7M_Systick_get_factor(freq) \
-  ((1000000000ULL << 32) / (freq))
+static rtems_timecounter_simple _ARMV7M_TC;
 
-#ifdef BSP_ARMV7M_SYSTICK_FREQUENCY
-  #define _ARMV7M_Systick_factor \
-    _ARMV7M_Systick_get_factor(BSP_ARMV7M_SYSTICK_FREQUENCY)
-#else
-  static uint64_t _ARMV7M_Systick_factor;
-#endif
+static uint32_t _ARMV7M_TC_get(rtems_timecounter_simple *tc)
+{
+  volatile ARMV7M_Systick *systick = _ARMV7M_Systick;
+
+  return systick->cvr;
+}
+
+static bool _ARMV7M_TC_is_pending(rtems_timecounter_simple *tc)
+{
+  volatile ARMV7M_SCB *scb = _ARMV7M_SCB;
+
+  return ((scb->icsr & ARMV7M_SCB_ICSR_PENDSTSET) != 0);
+}
+
+static uint32_t _ARMV7M_TC_get_timecount(struct timecounter *tc)
+{
+  return rtems_timecounter_simple_downcounter_get(
+    tc,
+    _ARMV7M_TC_get,
+    _ARMV7M_TC_is_pending
+  );
+}
+
+static void _ARMV7M_TC_tick(void)
+{
+  rtems_timecounter_simple_downcounter_tick(&_ARMV7M_TC, _ARMV7M_TC_get);
+}
 
 static void _ARMV7M_Systick_at_tick(void)
 {
@@ -67,15 +88,18 @@ static void _ARMV7M_Systick_initialize(void)
   uint64_t us_per_tick = rtems_configuration_get_microseconds_per_tick();
   uint64_t interval = (freq * us_per_tick) / 1000000ULL;
 
-  #ifndef BSP_ARMV7M_SYSTICK_FREQUENCY
-    _ARMV7M_Systick_factor = _ARMV7M_Systick_get_factor(freq);
-  #endif
-
   systick->rvr = (uint32_t) interval;
   systick->cvr = 0;
   systick->csr = ARMV7M_SYSTICK_CSR_ENABLE
     | ARMV7M_SYSTICK_CSR_TICKINT
     | ARMV7M_SYSTICK_CSR_CLKSOURCE;
+
+  rtems_timecounter_simple_install(
+    &_ARMV7M_TC,
+    freq,
+    interval,
+    _ARMV7M_TC_get_timecount
+  );
 }
 
 static void _ARMV7M_Systick_cleanup(void)
@@ -85,19 +109,7 @@ static void _ARMV7M_Systick_cleanup(void)
   systick->csr = 0;
 }
 
-static uint32_t _ARMV7M_Systick_nanoseconds_since_last_tick(void)
-{
-  volatile ARMV7M_Systick *systick = _ARMV7M_Systick;
-  volatile ARMV7M_SCB *scb = _ARMV7M_SCB;
-  uint32_t rvr = systick->rvr;
-  uint32_t c = rvr - systick->cvr;
-
-  if ((scb->icsr & ARMV7M_SCB_ICSR_PENDSTSET) != 0) {
-    c = rvr - systick->cvr + rvr;
-  }
-
-  return (uint32_t) ((c * _ARMV7M_Systick_factor) >> 32);
-}
+#define Clock_driver_timecounter_tick() _ARMV7M_TC_tick()
 
 #define Clock_driver_support_at_tick() \
   _ARMV7M_Systick_at_tick()
@@ -114,9 +126,6 @@ static uint32_t _ARMV7M_Systick_nanoseconds_since_last_tick(void)
 #define Clock_driver_support_shutdown_hardware() \
   _ARMV7M_Systick_cleanup()
 
-#define Clock_driver_nanoseconds_since_last_tick \
-  _ARMV7M_Systick_nanoseconds_since_last_tick
-
 /* Include shared source clock driver code */
 #include "../../../../shared/clockdrv_shell.h"
 
diff --git a/c/src/lib/libbsp/arm/shared/lpc/clock/lpc-clock-config.c b/c/src/lib/libbsp/arm/shared/lpc/clock/lpc-clock-config.c
index 05c94a6b2c..a55ba0e33c 100644
--- a/c/src/lib/libbsp/arm/shared/lpc/clock/lpc-clock-config.c
+++ b/c/src/lib/libbsp/arm/shared/lpc/clock/lpc-clock-config.c
@@ -7,10 +7,10 @@
  */
 
 /*
- * Copyright (c) 2009-2012 embedded brains GmbH.  All rights reserved.
+ * Copyright (c) 2009-2015 embedded brains GmbH.  All rights reserved.
  *
  *  embedded brains GmbH
- *  Obere Lagerstr. 30
+ *  Dornierstr. 4
  *  82178 Puchheim
  *  Germany
  *  <rtems@embedded-brains.de>
@@ -21,6 +21,7 @@
  */
 
 #include <rtems.h>
+#include <rtems/timecounter.h>
 
 #include <bsp/lpc-clock-config.h>
 #include <bsp/lpc-timer.h>
@@ -33,6 +34,16 @@ void Clock_isr(rtems_irq_hdl_param arg);
 static volatile lpc_timer *const lpc_clock =
   (volatile lpc_timer *) LPC_CLOCK_TIMER_BASE;
 
+static volatile lpc_timer *const lpc_timecounter =
+  (volatile lpc_timer *) LPC_CLOCK_TIMECOUNTER_BASE;
+
+static struct timecounter lpc_clock_tc;
+
+static uint32_t lpc_clock_tc_get_timecount(struct timecounter *tc)
+{
+  return lpc_timecounter->tc;
+}
+
 static void lpc_clock_at_tick(void)
 {
   lpc_clock->ir = LPC_TIMER_IR_MR0;
@@ -56,6 +67,7 @@ static void lpc_clock_handler_install(void)
 
 static void lpc_clock_initialize(void)
 {
+  uint32_t mask;
   uint64_t interval = ((uint64_t) LPC_CLOCK_REFERENCE
     * (uint64_t) rtems_configuration_get_microseconds_per_tick()) / 1000000;
 
@@ -85,6 +97,13 @@ static void lpc_clock_initialize(void)
 
   /* Enable timer */
   lpc_clock->tcr = LPC_TIMER_TCR_EN;
+
+  /* Install timecounter */
+  lpc_clock_tc.tc_get_timecount = lpc_clock_tc_get_timecount;
+  lpc_clock_tc.tc_counter_mask = 0xffffffff;
+  lpc_clock_tc.tc_frequency = LPC_CLOCK_REFERENCE;
+  lpc_clock_tc.tc_quality = RTEMS_TIMECOUNTER_QUALITY_CLOCK_DRIVER;
+  rtems_timecounter_install(&lpc_clock_tc);
 }
 
 static void lpc_clock_cleanup(void)
@@ -105,18 +124,6 @@ static void lpc_clock_cleanup(void)
   }
 }
 
-static uint32_t lpc_clock_nanoseconds_since_last_tick(void)
-{
-  uint64_t k = (1000000000ULL << 32) / LPC_CLOCK_REFERENCE;
-  uint64_t c = lpc_clock->tc;
-
-  if ((lpc_clock->ir & LPC_TIMER_IR_MR0) != 0) {
-    c = lpc_clock->tc + lpc_clock->mr0;
-  }
-
-  return (uint32_t) ((c * k) >> 32);
-}
-
 #define Clock_driver_support_at_tick() lpc_clock_at_tick()
 #define Clock_driver_support_initialize_hardware() lpc_clock_initialize()
 #define Clock_driver_support_install_isr(isr, old_isr) \
@@ -126,8 +133,6 @@ static uint32_t lpc_clock_nanoseconds_since_last_tick(void)
   } while (0)
 
 #define Clock_driver_support_shutdown_hardware() lpc_clock_cleanup()
-#define Clock_driver_nanoseconds_since_last_tick \
-  lpc_clock_nanoseconds_since_last_tick
 
 /* Include shared source clock driver code */
 #include "../../../../shared/clockdrv_shell.h"
diff --git a/c/src/lib/libbsp/arm/tms570/clock/clock.c b/c/src/lib/libbsp/arm/tms570/clock/clock.c
index 4dba949c86..d438a3da34 100644
--- a/c/src/lib/libbsp/arm/tms570/clock/clock.c
+++ b/c/src/lib/libbsp/arm/tms570/clock/clock.c
@@ -30,13 +30,14 @@
 #include <bsp/irq.h>
 #include <bsp/tms570-rti.h>
 #include <rtems/counter.h>
+#include <rtems/timecounter.h>
 
-/**
- *  holds HW counter value since last interrupt event
- *  sets in tms570_clock_driver_support_at_tick
- *  used in tms570_clock_driver_nanoseconds_since_last_tick
- */
-static uint32_t tms570_rti_last_tick_fcr0;
+static struct timecounter tms570_rti_tc;
+
+static uint32_t tms570_rti_get_timecount(struct timecounter tc)
+{
+  return TMS570_RTI.RTIFRC0;
+}
 
 /**
  *  @brief Initialize the HW peripheral for clock driver
@@ -72,6 +73,12 @@ static void tms570_clock_driver_support_initialize_hardware( void )
   TMS570_RTI.RTISETINTENA = 0x1;
   /* enable timer */
   TMS570_RTI.RTIGCTRL = 1;
+  /* set timecounter */
+  tms570_rti_tc.tc_get_timecount = tms570_rti_get_timecount;
+  tms570_rti_tc.tc_counter_mask = 0xffffffff;
+  tms570_rti_tc.tc_frequency = BSP_PLL_OUT_CLOCK;
+  tms570_rti_tc.tc_quality = RTEMS_TIMECOUNTER_QUALITY_CLOCK_DRIVER;
+  rtems_timecounter_install(&tms570_rti_tc);
 }
 
 /**
@@ -82,7 +89,6 @@ static void tms570_clock_driver_support_initialize_hardware( void )
 static void tms570_clock_driver_support_at_tick( void )
 {
   TMS570_RTI.RTIINTFLAG = 0x00000001;
-  tms570_rti_last_tick_fcr0 = TMS570_RTI.RTICOMP0 - TMS570_RTI.RTIUDCP0;
 }
 
 /**
@@ -124,24 +130,6 @@ static void tms570_clock_driver_support_shutdown_hardware( void )
   TMS570_RTI.RTICLEARINTENA = 0x20000;
 }
 
-/**
- * @brief returns the nanoseconds since last tick
- *
- * Return the nanoseconds since last tick
- *
- * @retval x nanoseconds
- *
- */
-static uint32_t tms570_clock_driver_nanoseconds_since_last_tick( void )
-{
-  uint32_t actual_fcr0 = TMS570_RTI.RTIFRC0;
-  uint32_t usec_since_tick;
-
-  usec_since_tick = actual_fcr0 - tms570_rti_last_tick_fcr0;
-
-  return usec_since_tick * 1000;
-}
-
 #define Clock_driver_support_initialize_hardware \
                         tms570_clock_driver_support_initialize_hardware
 #define Clock_driver_support_at_tick \
@@ -150,8 +138,6 @@ static uint32_t tms570_clock_driver_nanoseconds_since_last_tick( void )
                         tms570_clock_driver_support_initialize_hardware
 #define Clock_driver_support_shutdown_hardware \
                         tms570_clock_driver_support_shutdown_hardware
-#define Clock_driver_nanoseconds_since_last_tick \
-                        tms570_clock_driver_nanoseconds_since_last_tick
 
 #define Clock_driver_support_install_isr(Clock_isr, Old_ticker ) \
               tms570_clock_driver_support_install_isr( Clock_isr )