[KINETIS] Move from main repo to contrib

6 files changed, 1790 insertions, 0 deletions

diff --git a/os/hal/ports/KINETIS/LLD/adc_lld.c b/os/hal/ports/KINETIS/LLD/adc_lld.c
new file mode 100644
index 0000000..c0904c8
--- /dev/null
+++ b/os/hal/ports/KINETIS/LLD/adc_lld.c
@@ -0,0 +1,258 @@
+/*

+    ChibiOS - Copyright (C) 2014 Derek Mulcahy

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    KINETIS/LLD/adc_lld.c

+ * @brief   KINETIS ADC subsystem low level driver source.

+ *

+ * @addtogroup ADC

+ * @{

+ */

+

+#include "hal.h"

+

+#if HAL_USE_ADC || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+#define ADC_CHANNEL_MASK                    0x1f

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/** @brief ADC1 driver identifier.*/

+#if KINETIS_ADC_USE_ADC0 || defined(__DOXYGEN__)

+ADCDriver ADCD1;

+#endif

+

+/*===========================================================================*/

+/* Driver local variables and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+static void calibrate(ADCDriver *adcp) {

+

+  /* Clock Divide by 8, Use Bus Clock Div 2 */

+  /* At 48MHz this results in ADCCLK of 48/8/2 == 3MHz */

+  adcp->adc->CFG1 = ADCx_CFG1_ADIV(ADCx_CFG1_ADIV_DIV_8) |

+      ADCx_CFG1_ADICLK(ADCx_CFG1_ADIVCLK_BUS_CLOCK_DIV_2);

+

+  /* Use software trigger and disable DMA etc. */

+  adcp->adc->SC2 = 0;

+

+  /* Enable Hardware Average, Average 32 Samples, Calibrate */

+  adcp->adc->SC3 = ADCx_SC3_AVGE |

+      ADCx_SC3_AVGS(ADCx_SC3_AVGS_AVERAGE_32_SAMPLES) |

+      ADCx_SC3_CAL;

+

+  /* FIXME: May take several ms. Use an interrupt instead of busy wait */

+  /* Wait for calibration completion */

+  while (!(adcp->adc->SC1A & ADCx_SC1n_COCO))

+    ;

+

+  uint16_t gain = ((adcp->adc->CLP0 + adcp->adc->CLP1 + adcp->adc->CLP2 +

+      adcp->adc->CLP3 + adcp->adc->CLP4 + adcp->adc->CLPS) / 2) | 0x8000;

+  adcp->adc->PG = gain;

+

+  gain = ((adcp->adc->CLM0 + adcp->adc->CLM1 + adcp->adc->CLM2 +

+      adcp->adc->CLM3 + adcp->adc->CLM4 + adcp->adc->CLMS) / 2) | 0x8000;

+  adcp->adc->MG = gain;

+

+}

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+#if KINETIS_ADC_USE_ADC0 || defined(__DOXYGEN__)

+/**

+ * @brief   ADC interrupt handler.

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(KINETIS_ADC0_IRQ_VECTOR) {

+  OSAL_IRQ_PROLOGUE();

+

+  ADCDriver *adcp = &ADCD1;

+

+  /* Disable Interrupt, Disable Channel */

+  adcp->adc->SC1A = ADCx_SC1n_ADCH(ADCx_SC1n_ADCH_DISABLED);

+

+  /* Read the sample into the buffer */

+  adcp->samples[adcp->current_index++] = adcp->adc->RA;

+

+  bool more = true;

+

+  /*  At the end of the buffer then we may be finished */

+  if (adcp->current_index == adcp->number_of_samples) {

+    _adc_isr_full_code(&ADCD1);

+

+    adcp->current_index = 0;

+

+    /* We are never finished in circular mode */

+    more = ADCD1.grpp->circular;

+  }

+

+  if (more) {

+

+    /* Signal half completion in circular mode. */

+    if (ADCD1.grpp->circular &&

+        (adcp->current_index == (adcp->number_of_samples / 2))) {

+

+        _adc_isr_half_code(&ADCD1);

+    }

+

+    /* Skip to the next channel */

+    do {

+      adcp->current_channel = (adcp->current_channel + 1) & ADC_CHANNEL_MASK;

+    } while (((1 << adcp->current_channel) & adcp->grpp->channel_mask) == 0);

+

+    /* Enable Interrupt, Select the Channel */

+    adcp->adc->SC1A = ADCx_SC1n_AIEN | ADCx_SC1n_ADCH(adcp->current_channel);

+  }

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level ADC driver initialization.

+ *

+ * @notapi

+ */

+void adc_lld_init(void) {

+

+#if KINETIS_ADC_USE_ADC0

+  /* Driver initialization.*/

+  adcObjectInit(&ADCD1);

+#endif

+

+  /* The shared vector is initialized on driver initialization and never

+     disabled.*/

+  nvicEnableVector(ADC0_IRQn, KINETIS_ADC_IRQ_PRIORITY);

+}

+

+/**

+ * @brief   Configures and activates the ADC peripheral.

+ *

+ * @param[in] adcp      pointer to the @p ADCDriver object

+ *

+ * @notapi

+ */

+void adc_lld_start(ADCDriver *adcp) {

+

+  /* If in stopped state then enables the ADC clock.*/

+  if (adcp->state == ADC_STOP) {

+    SIM->SCGC6 |= SIM_SCGC6_ADC0;

+

+#if KINETIS_ADC_USE_ADC0

+    if (&ADCD1 == adcp) {

+      adcp->adc = ADC0;

+      if (adcp->config->calibrate) {

+        calibrate(adcp);

+      }

+    }

+#endif /* KINETIS_ADC_USE_ADC0 */

+  }

+}

+

+/**

+ * @brief   Deactivates the ADC peripheral.

+ *

+ * @param[in] adcp      pointer to the @p ADCDriver object

+ *

+ * @notapi

+ */

+void adc_lld_stop(ADCDriver *adcp) {

+

+  /* If in ready state then disables the ADC clock.*/

+  if (adcp->state == ADC_READY) {

+    SIM->SCGC6 &= ~SIM_SCGC6_ADC0;

+

+#if KINETIS_ADC_USE_ADC0

+    if (&ADCD1 == adcp) {

+      /* Disable Interrupt, Disable Channel */

+      adcp->adc->SC1A = ADCx_SC1n_ADCH(ADCx_SC1n_ADCH_DISABLED);

+    }

+#endif

+  }

+}

+

+/**

+ * @brief   Starts an ADC conversion.

+ *

+ * @param[in] adcp      pointer to the @p ADCDriver object

+ *

+ * @notapi

+ */

+void adc_lld_start_conversion(ADCDriver *adcp) {

+  const ADCConversionGroup *grpp = adcp->grpp;

+

+  /* Enable the Bandgap Buffer if channel mask includes BANDGAP */

+  if (grpp->channel_mask & ADC_BANDGAP) {

+    PMC->REGSC |= PMC_REGSC_BGBE;

+  }

+

+  adcp->number_of_samples = adcp->depth * grpp->num_channels;

+  adcp->current_index = 0;

+

+  /* Skip to the next channel */

+  adcp->current_channel = 0;

+  while (((1 << adcp->current_channel) & grpp->channel_mask) == 0) {

+    adcp->current_channel = (adcp->current_channel + 1) & ADC_CHANNEL_MASK;

+  }

+

+  /* Set clock speed and conversion size */

+  adcp->adc->CFG1 = grpp->cfg1;

+

+  /* Set averaging */

+  adcp->adc->SC3 = grpp->sc3;

+

+  /* Enable Interrupt, Select Channel */

+  adcp->adc->SC1A = ADCx_SC1n_AIEN | ADCx_SC1n_ADCH(adcp->current_channel);

+}

+

+/**

+ * @brief   Stops an ongoing conversion.

+ *

+ * @param[in] adcp      pointer to the @p ADCDriver object

+ *

+ * @notapi

+ */

+void adc_lld_stop_conversion(ADCDriver *adcp) {

+  const ADCConversionGroup *grpp = adcp->grpp;

+

+  /* Disable the Bandgap buffer if channel mask includes BANDGAP */

+  if (grpp->channel_mask & ADC_BANDGAP) {

+    /* Clear BGBE, ACKISO is w1c, avoid setting */

+    PMC->REGSC &= ~(PMC_REGSC_BGBE | PMC_REGSC_ACKISO);

+  }

+

+}

+

+#endif /* HAL_USE_ADC */

+

+/** @} */

diff --git a/os/hal/ports/KINETIS/LLD/adc_lld.h b/os/hal/ports/KINETIS/LLD/adc_lld.h
new file mode 100644
index 0000000..22db2c0
--- /dev/null
+++ b/os/hal/ports/KINETIS/LLD/adc_lld.h
@@ -0,0 +1,360 @@
+/*

+    ChibiOS - Copyright (C) 2014 Derek Mulcahy

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    KINETIS/LLD/adc_lld.h

+ * @brief   KINETIS ADC subsystem low level driver header.

+ *

+ * @addtogroup ADC

+ * @{

+ */

+

+#ifndef _ADC_LLD_H_

+#define _ADC_LLD_H_

+

+#if HAL_USE_ADC || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/**

+ * @name    Absolute Maximum Ratings

+ * @{

+ */

+/**

+ * @brief   Minimum ADC clock frequency.

+ */

+#define KINETIS_ADCCLK_MIN      600000

+

+/**

+ * @brief   Maximum ADC clock frequency.

+ */

+#define KINETIS_ADCCLK_MAX        36000000

+

+#define ADCx_SC3_AVGS_AVERAGE_4_SAMPLES     0

+#define ADCx_SC3_AVGS_AVERAGE_8_SAMPLES     1

+#define ADCx_SC3_AVGS_AVERAGE_16_SAMPLES    2

+#define ADCx_SC3_AVGS_AVERAGE_32_SAMPLES    3

+

+#define ADCx_CFG1_ADIV_DIV_1                0

+#define ADCx_CFG1_ADIV_DIV_2                1

+#define ADCx_CFG1_ADIV_DIV_4                2

+#define ADCx_CFG1_ADIV_DIV_8                3

+

+#define ADCx_CFG1_ADIVCLK_BUS_CLOCK         0

+#define ADCx_CFG1_ADIVCLK_BUS_CLOCK_DIV_2   1

+#define ADCx_CFG1_ADIVCLK_BUS_ALTCLK        2

+#define ADCx_CFG1_ADIVCLK_BUS_ADACK         3

+

+#define ADCx_CFG1_MODE_8_OR_9_BITS          0

+#define ADCx_CFG1_MODE_12_OR_13_BITS        1

+#define ADCx_CFG1_MODE_10_OR_11_BITS        2

+#define ADCx_CFG1_MODE_16_BITS              3

+

+#define ADCx_SC1n_ADCH_DAD0             0

+#define ADCx_SC1n_ADCH_DAD1             1

+#define ADCx_SC1n_ADCH_DAD2             2

+#define ADCx_SC1n_ADCH_DAD3             3

+#define ADCx_SC1n_ADCH_DADP0            0

+#define ADCx_SC1n_ADCH_DADP1            1

+#define ADCx_SC1n_ADCH_DADP2            2

+#define ADCx_SC1n_ADCH_DADP3            3

+#define ADCx_SC1n_ADCH_AD4              4

+#define ADCx_SC1n_ADCH_AD5              5

+#define ADCx_SC1n_ADCH_AD6              6

+#define ADCx_SC1n_ADCH_AD7              7

+#define ADCx_SC1n_ADCH_AD8              8

+#define ADCx_SC1n_ADCH_AD9              9

+#define ADCx_SC1n_ADCH_AD10             10

+#define ADCx_SC1n_ADCH_AD11             11

+#define ADCx_SC1n_ADCH_AD12             12

+#define ADCx_SC1n_ADCH_AD13             13

+#define ADCx_SC1n_ADCH_AD14             14

+#define ADCx_SC1n_ADCH_AD15             15

+#define ADCx_SC1n_ADCH_AD16             16

+#define ADCx_SC1n_ADCH_AD17             17

+#define ADCx_SC1n_ADCH_AD18             18

+#define ADCx_SC1n_ADCH_AD19             19

+#define ADCx_SC1n_ADCH_AD20             20

+#define ADCx_SC1n_ADCH_AD21             21

+#define ADCx_SC1n_ADCH_AD22             22

+#define ADCx_SC1n_ADCH_AD23             23

+#define ADCx_SC1n_ADCH_TEMP_SENSOR      26

+#define ADCx_SC1n_ADCH_BANDGAP          27

+#define ADCx_SC1n_ADCH_VREFSH           29

+#define ADCx_SC1n_ADCH_VREFSL           30

+#define ADCx_SC1n_ADCH_DISABLED         31

+

+#define ADC_DAD0                        (1 << ADCx_SC1n_ADCH_DAD0)

+#define ADC_DAD1                        (1 << ADCx_SC1n_ADCH_DAD1)

+#define ADC_DAD2                        (1 << ADCx_SC1n_ADCH_DAD2)

+#define ADC_DAD3                        (1 << ADCx_SC1n_ADCH_DAD3)

+#define ADC_DADP0                       (1 << ADCx_SC1n_ADCH_DADP0)

+#define ADC_DADP1                       (1 << ADCx_SC1n_ADCH_DADP1)

+#define ADC_DADP2                       (1 << ADCx_SC1n_ADCH_DADP2)

+#define ADC_DADP3                       (1 << ADCx_SC1n_ADCH_DADP3)

+#define ADC_AD4                         (1 << ADCx_SC1n_ADCH_AD4)

+#define ADC_AD5                         (1 << ADCx_SC1n_ADCH_AD5)

+#define ADC_AD6                         (1 << ADCx_SC1n_ADCH_AD6)

+#define ADC_AD7                         (1 << ADCx_SC1n_ADCH_AD7)

+#define ADC_AD8                         (1 << ADCx_SC1n_ADCH_AD8)

+#define ADC_AD9                         (1 << ADCx_SC1n_ADCH_AD9)

+#define ADC_AD10                        (1 << ADCx_SC1n_ADCH_AD10)

+#define ADC_AD11                        (1 << ADCx_SC1n_ADCH_AD11)

+#define ADC_AD12                        (1 << ADCx_SC1n_ADCH_AD12)

+#define ADC_AD13                        (1 << ADCx_SC1n_ADCH_AD13)

+#define ADC_AD14                        (1 << ADCx_SC1n_ADCH_AD14)

+#define ADC_AD15                        (1 << ADCx_SC1n_ADCH_AD15)

+#define ADC_AD16                        (1 << ADCx_SC1n_ADCH_AD16)

+#define ADC_AD17                        (1 << ADCx_SC1n_ADCH_AD17)

+#define ADC_AD18                        (1 << ADCx_SC1n_ADCH_AD18)

+#define ADC_AD19                        (1 << ADCx_SC1n_ADCH_AD19)

+#define ADC_AD20                        (1 << ADCx_SC1n_ADCH_AD20)

+#define ADC_AD21                        (1 << ADCx_SC1n_ADCH_AD21)

+#define ADC_AD22                        (1 << ADCx_SC1n_ADCH_AD22)

+#define ADC_AD23                        (1 << ADCx_SC1n_ADCH_AD23)

+#define ADC_TEMP_SENSOR                 (1 << ADCx_SC1n_ADCH_TEMP_SENSOR)

+#define ADC_BANDGAP                     (1 << ADCx_SC1n_ADCH_BANDGAP)

+#define ADC_VREFSH                      (1 << ADCx_SC1n_ADCH_VREFSH)

+#define ADC_VREFSL                      (1 << ADCx_SC1n_ADCH_VREFSL)

+#define ADC_DISABLED                    (1 << ADCx_SC1n_ADCH_DISABLED)

+

+/** @} */

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/**

+ * @name    Configuration options

+ * @{

+ */

+

+/**

+ * @brief   ADC1 driver enable switch.

+ * @details If set to @p TRUE the support for ADC1 is included.

+ * @note    The default is @p TRUE.

+ */

+#if !defined(KINETIS_ADC_USE_ADC0) || defined(__DOXYGEN__)

+#define KINETIS_ADC_USE_ADC0                FALSE

+#endif

+

+/**

+ * @brief   ADC interrupt priority level setting.

+ */

+#if !defined(KINETIS_ADC_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define KINETIS_ADC_IRQ_PRIORITY            5

+#endif

+

+/** @} */

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+#if KINETIS_ADC_USE_ADC0 && !KINETIS_HAS_ADC0

+#error "ADC1 not present in the selected device"

+#endif

+

+#if !KINETIS_ADC_USE_ADC0

+#error "ADC driver activated but no ADC peripheral assigned"

+#endif

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   ADC sample data type.

+ */

+typedef uint16_t adcsample_t;

+

+/**

+ * @brief   Channels number in a conversion group.

+ */

+typedef uint16_t adc_channels_num_t;

+

+/**

+ * @brief   Possible ADC failure causes.

+ * @note    Error codes are architecture dependent and should not relied

+ *          upon.

+ */

+typedef enum {

+  ADC_ERR_DMAFAILURE = 0,                   /**< DMA operations failure.    */

+  ADC_ERR_OVERFLOW = 1                      /**< ADC overflow condition.    */

+} adcerror_t;

+

+/**

+ * @brief   Type of a structure representing an ADC driver.

+ */

+typedef struct ADCDriver ADCDriver;

+

+/**

+ * @brief   ADC notification callback type.

+ *

+ * @param[in] adcp      pointer to the @p ADCDriver object triggering the

+ *                      callback

+ * @param[in] buffer    pointer to the most recent samples data

+ * @param[in] n         number of buffer rows available starting from @p buffer

+ */

+typedef void (*adccallback_t)(ADCDriver *adcp, adcsample_t *buffer, size_t n);

+

+/**

+ * @brief   ADC error callback type.

+ *

+ * @param[in] adcp      pointer to the @p ADCDriver object triggering the

+ *                      callback

+ * @param[in] err       ADC error code

+ */

+typedef void (*adcerrorcallback_t)(ADCDriver *adcp, adcerror_t err);

+

+/**

+ * @brief   Conversion group configuration structure.

+ * @details This implementation-dependent structure describes a conversion

+ *          operation.

+ */

+typedef struct {

+  /**

+   * @brief   Enables the circular buffer mode for the group.

+   */

+  bool                      circular;

+  /**

+   * @brief   Number of the analog channels belonging to the conversion group.

+   */

+  adc_channels_num_t        num_channels;

+  /**

+   * @brief   Callback function associated to the group or @p NULL.

+   */

+  adccallback_t             end_cb;

+  /**

+   * @brief   Error callback or @p NULL.

+   */

+  adcerrorcallback_t        error_cb;

+  /* End of the mandatory fields.*/

+  /**

+   * @brief   Bitmask of channels for ADC conversion.

+   */

+  uint32_t                  channel_mask;

+  /**

+   * @brief   ADC CFG1 register initialization data.

+   * @note    All the required bits must be defined into this field.

+   */

+  uint32_t                  cfg1;

+  /**

+   * @brief   ADC SC3 register initialization data.

+   * @note    All the required bits must be defined into this field.

+   */

+  uint32_t                  sc3;

+} ADCConversionGroup;

+

+/**

+ * @brief   Driver configuration structure.

+ * @note    It could be empty on some architectures.

+ */

+typedef struct {

+  /* Perform first time calibration */

+  bool                      calibrate;

+} ADCConfig;

+

+/**

+ * @brief   Structure representing an ADC driver.

+ */

+struct ADCDriver {

+  /**

+   * @brief Driver state.

+   */

+  adcstate_t                state;

+  /**

+   * @brief Current configuration data.

+   */

+  const ADCConfig           *config;

+  /**

+   * @brief Current samples buffer pointer or @p NULL.

+   */

+  adcsample_t               *samples;

+  /**

+   * @brief Current samples buffer depth or @p 0.

+   */

+  size_t                    depth;

+  /**

+   * @brief Current conversion group pointer or @p NULL.

+   */

+  const ADCConversionGroup  *grpp;

+#if ADC_USE_WAIT || defined(__DOXYGEN__)

+  /**

+   * @brief Waiting thread.

+   */

+  thread_reference_t        thread;

+#endif

+#if ADC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)

+  /**

+   * @brief Mutex protecting the peripheral.

+   */

+  mutex_t                   mutex;

+#endif /* ADC_USE_MUTUAL_EXCLUSION */

+#if defined(ADC_DRIVER_EXT_FIELDS)

+  ADC_DRIVER_EXT_FIELDS

+#endif

+  /* End of the mandatory fields.*/

+  /**

+   * @brief Pointer to the ADCx registers block.

+   */

+  ADC_TypeDef               *adc;

+  /**

+   * @brief Number of samples expected.

+   */

+  size_t                    number_of_samples;

+  /**

+   * @brief Current position in the buffer.

+   */

+  size_t                    current_index;

+  /**

+   * @brief Current channel index into group channel_mask.

+   */

+  size_t                    current_channel;

+};

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#if KINETIS_ADC_USE_ADC0 && !defined(__DOXYGEN__)

+extern ADCDriver ADCD1;

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void adc_lld_init(void);

+  void adc_lld_start(ADCDriver *adcp);

+  void adc_lld_stop(ADCDriver *adcp);

+  void adc_lld_start_conversion(ADCDriver *adcp);

+  void adc_lld_stop_conversion(ADCDriver *adcp);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_ADC */

+

+#endif /* _ADC_LLD_H_ */

+

+/** @} */

diff --git a/os/hal/ports/KINETIS/LLD/ext_lld.c b/os/hal/ports/KINETIS/LLD/ext_lld.c
new file mode 100644
index 0000000..e85f032
--- /dev/null
+++ b/os/hal/ports/KINETIS/LLD/ext_lld.c
@@ -0,0 +1,361 @@
+/*

+    ChibiOS - Copyright (C) 2014 Derek Mulcahy

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    KINETIS/LLD/ext_lld.c

+ * @brief   KINETIS EXT subsystem low level driver source.

+ *

+ * @addtogroup EXT

+ * @{

+ */

+

+#include "hal.h"

+

+#if HAL_USE_EXT || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+#define PCR_IRQC_DISABLED           0x0

+#define PCR_IRQC_DMA_RISING_EDGE    0x1

+#define PCR_IRQC_DMA_FALLING_EDGE   0x2

+#define PCR_IRQC_DMA_EITHER_EDGE    0x3

+

+#define PCR_IRQC_LOGIC_ZERO         0x8

+#define PCR_IRQC_RISING_EDGE        0x9

+#define PCR_IRQC_FALLING_EDGE       0xA

+#define PCR_IRQC_EITHER_EDGE        0xB

+#define PCR_IRQC_LOGIC_ONE          0xC

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   EXTD1 driver identifier.

+ */

+EXTDriver EXTD1;

+

+/*===========================================================================*/

+/* Driver local variables and types.                                         */

+/*===========================================================================*/

+

+/* A channel map for each channel.

+ *

+ * The index is the pin number.

+ * The result is the channel for that pin.

+ */

+#if KINETIS_EXT_PORTA_WIDTH > 0

+uint8_t porta_channel_map[KINETIS_EXT_PORTA_WIDTH];

+#endif

+#if KINETIS_EXT_PORTB_WIDTH > 0

+uint8_t portb_channel_map[KINETIS_EXT_PORTB_WIDTH];

+#endif

+#if KINETIS_EXT_PORTC_WIDTH > 0

+uint8_t portc_channel_map[KINETIS_EXT_PORTC_WIDTH];

+#endif

+#if KINETIS_EXT_PORTD_WIDTH > 0

+uint8_t portd_channel_map[KINETIS_EXT_PORTD_WIDTH];

+#endif

+#if KINETIS_EXT_PORTE_WIDTH > 0

+uint8_t porte_channel_map[KINETIS_EXT_PORTE_WIDTH];

+#endif

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+/**

+ * @brief   Enables EXTI IRQ sources.

+ *

+ * @notapi

+ */

+static void ext_lld_exti_irq_enable(void) {

+

+#if KINETIS_EXT_PORTA_WIDTH > 0

+  nvicEnableVector(PINA_IRQn, KINETIS_EXT_PORTA_IRQ_PRIORITY);

+#endif

+#if KINETIS_EXT_PORTB_WIDTH > 0

+  nvicEnableVector(PINB_IRQn, KINETIS_EXT_PORTB_IRQ_PRIORITY);

+#endif

+#if KINETIS_EXT_PORTC_WIDTH > 0

+  nvicEnableVector(PINC_IRQn, KINETIS_EXT_PORTC_IRQ_PRIORITY);

+#endif

+#if KINETIS_EXT_PORTD_WIDTH > 0

+  nvicEnableVector(PIND_IRQn, KINETIS_EXT_PORTD_IRQ_PRIORITY);

+#endif

+#if KINETIS_EXT_PORTE_WIDTH > 0

+  nvicEnableVector(PINE_IRQn, KINETIS_EXT_PORTE_IRQ_PRIORITY);

+#endif

+}

+

+/**

+ * @brief   Disables EXTI IRQ sources.

+ *

+ * @notapi

+ */

+static void ext_lld_exti_irq_disable(void) {

+

+#if KINETIS_EXT_PORTA_WIDTH > 0

+  nvicDisableVector(PINA_IRQn);

+#endif

+#if KINETIS_EXT_PORTB_WIDTH > 0

+  nvicDisableVector(PINB_IRQn);

+#endif

+#if KINETIS_EXT_PORTC_WIDTH > 0

+  nvicDisableVector(PINC_IRQn);

+#endif

+#if KINETIS_EXT_PORTD_WIDTH > 0

+  nvicDisableVector(PIND_IRQn);

+#endif

+#if KINETIS_EXT_PORTE_WIDTH > 0

+  nvicDisableVector(PINE_IRQn);

+#endif

+}

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+/*

+ * Generic interrupt handler.

+ */

+static inline void irq_handler(PORT_TypeDef * const port, const unsigned port_width, const uint8_t *channel_map) {

+  unsigned pin;

+  uint32_t isfr = port->ISFR;

+

+  /* Clear all pending interrupts on this port. */

+  port->ISFR = 0xFFFFFFFF;

+

+  for (pin = 0; pin < port_width; pin++) {

+    if (isfr & (1 << pin)) {

+      expchannel_t channel = channel_map[pin];

+      EXTD1.config->channels[channel].cb(&EXTD1, channel);

+    }

+  }

+}

+

+/**

+ * @brief   PORTA interrupt handler.

+ *

+ * @isr

+ */

+#if defined(KINETIS_PORTA_IRQ_VECTOR) && KINETIS_EXT_PORTA_WIDTH > 0

+OSAL_IRQ_HANDLER(KINETIS_PORTA_IRQ_VECTOR) {

+  OSAL_IRQ_PROLOGUE();

+

+  irq_handler(PORTA, KINETIS_EXT_PORTA_WIDTH, porta_channel_map);

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif /* KINETIS_EXT_PORTA_WIDTH > 0 */

+

+/**

+ * @brief   PORTB interrupt handler.

+ *

+ * @isr

+ */

+#if defined(KINETIS_PORTB_IRQ_VECTOR) && KINETIS_EXT_PORTB_WIDTH > 0

+OSAL_IRQ_HANDLER(KINETIS_PORTB_IRQ_VECTOR) {

+  OSAL_IRQ_PROLOGUE();

+

+  irq_handler(PORTB, KINETIS_EXT_PORTB_WIDTH, portb_channel_map);

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif /* KINETIS_EXT_PORTB_WIDTH > 0 */

+

+/**

+ * @brief   PORTC interrupt handler.

+ *

+ * @isr

+ */

+#if defined(KINETIS_PORTC_IRQ_VECTOR) && KINETIS_EXT_PORTC_WIDTH > 0

+OSAL_IRQ_HANDLER(KINETIS_PORTC_IRQ_VECTOR) {

+  OSAL_IRQ_PROLOGUE();

+

+  irq_handler(PORTC, KINETIS_EXT_PORTC_WIDTH, portc_channel_map);

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif /* KINETIS_EXT_PORTC_WIDTH > 0 */

+

+/**

+ * @brief   PORTD interrupt handler.

+ *

+ * @isr

+ */

+#if defined(KINETIS_PORTD_IRQ_VECTOR) && KINETIS_EXT_PORTD_WIDTH > 0

+OSAL_IRQ_HANDLER(KINETIS_PORTD_IRQ_VECTOR) {

+  OSAL_IRQ_PROLOGUE();

+

+  irq_handler(PORTD, KINETIS_EXT_PORTD_WIDTH, portd_channel_map);

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif /* KINETIS_EXT_PORTD_WIDTH > 0 */

+

+/**

+ * @brief   PORTE interrupt handler.

+ *

+ * @isr

+ */

+#if defined(KINETIS_PORTE_IRQ_VECTOR) && KINETIS_EXT_PORTE_WIDTH > 0

+OSAL_IRQ_HANDLER(KINETIS_PORTE_IRQ_VECTOR) {

+  OSAL_IRQ_PROLOGUE();

+

+  irq_handler(PORTE, KINETIS_EXT_PORTE_WIDTH, porte_channel_map);

+

+  OSAL_IRQ_EPILOGUE();

+}

+#endif /* KINETIS_EXT_PORTE_WIDTH > 0 */

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level EXT driver initialization.

+ *

+ * @notapi

+ */

+void ext_lld_init(void) {

+

+  /* Driver initialization.*/

+  extObjectInit(&EXTD1);

+}

+

+/**

+ * @brief   Configures and activates the EXT peripheral.

+ *

+ * @param[in] extp      pointer to the @p EXTDriver object

+ *

+ * @notapi

+ */

+void ext_lld_start(EXTDriver *extp) {

+  expchannel_t channel;

+

+  if (extp->state == EXT_STOP)

+    ext_lld_exti_irq_enable();

+

+  /* Configuration of automatic channels.*/

+  for (channel = 0; channel < EXT_MAX_CHANNELS; channel++) {

+

+    uint32_t mode = extp->config->channels[channel].mode;

+    PORT_TypeDef *port = extp->config->channels[channel].port;

+    uint32_t pin = extp->config->channels[channel].pin;

+

+    /* Initialize the channel map */

+#if KINETIS_EXT_PORTA_WIDTH > 0

+    if (port == PORTA)

+      porta_channel_map[pin] = channel;

+    else

+#endif

+#if KINETIS_EXT_PORTB_WIDTH > 0

+    if (port == PORTB)

+      portb_channel_map[pin] = channel;

+    else

+#endif

+#if KINETIS_EXT_PORTC_WIDTH > 0

+    if (port == PORTC)

+      portc_channel_map[pin] = channel;

+    else

+#endif

+#if KINETIS_EXT_PORTD_WIDTH > 0

+    if (port == PORTD)

+      portd_channel_map[pin] = channel;

+    else

+#endif

+#if KINETIS_EXT_PORTE_WIDTH > 0

+    if (port == PORTE)

+      porte_channel_map[pin] = channel;

+    else

+#endif

+    {}

+

+    if (mode & EXT_CH_MODE_AUTOSTART)

+      ext_lld_channel_enable(extp, channel);

+    else if (port != NULL)

+      ext_lld_channel_disable(extp, channel);

+  }

+}

+

+/**

+ * @brief   Deactivates the EXT peripheral.

+ *

+ * @param[in] extp      pointer to the @p EXTDriver object

+ *

+ * @notapi

+ */

+void ext_lld_stop(EXTDriver *extp) {

+

+  if (extp->state == EXT_ACTIVE)

+    ext_lld_exti_irq_disable();

+}

+

+/**

+ * @brief   Enables an EXT channel.

+ *

+ * @param[in] extp      pointer to the @p EXTDriver object

+ * @param[in] channel   channel to be enabled

+ *

+ * @notapi

+ */

+void ext_lld_channel_enable(EXTDriver *extp, expchannel_t channel) {

+

+  uint32_t irqc;

+  uint32_t mode = extp->config->channels[channel].mode;

+  if (mode & EXT_CH_MODE_RISING_EDGE)

+    irqc = PCR_IRQC_RISING_EDGE;

+  else if (extp->config->channels[channel].mode & EXT_CH_MODE_FALLING_EDGE)

+    irqc = PCR_IRQC_FALLING_EDGE;

+  else if (extp->config->channels[channel].mode & EXT_CH_MODE_BOTH_EDGES)

+    irqc = PCR_IRQC_EITHER_EDGE;

+  else

+    irqc = PCR_IRQC_DISABLED;

+

+  PORT_TypeDef *port = extp->config->channels[channel].port;

+  uint32_t pin = extp->config->channels[channel].pin;

+

+  uint32_t pcr = port->PCR[pin];

+

+  /* Clear all the IRQC bits */

+  pcr &= ~PORTx_PCRn_IRQC_MASK;

+  /* Set the required IRQC bits */

+  pcr |= PORTx_PCRn_IRQC(irqc);

+

+  port->PCR[pin] = pcr;

+}

+

+/**

+ * @brief   Disables an EXT channel.

+ *

+ * @param[in] extp      pointer to the @p EXTDriver object

+ * @param[in] channel   channel to be disabled

+ *

+ * @notapi

+ */

+void ext_lld_channel_disable(EXTDriver *extp, expchannel_t channel) {

+

+  PORT_TypeDef *port = extp->config->channels[channel].port;

+  uint32_t pin = extp->config->channels[channel].pin;

+  port->PCR[pin] |= PORTx_PCRn_IRQC(PCR_IRQC_DISABLED);

+}

+

+#endif /* HAL_USE_EXT */

+

+/** @} */

diff --git a/os/hal/ports/KINETIS/LLD/ext_lld.h b/os/hal/ports/KINETIS/LLD/ext_lld.h
new file mode 100644
index 0000000..465bb89
--- /dev/null
+++ b/os/hal/ports/KINETIS/LLD/ext_lld.h
@@ -0,0 +1,188 @@
+/*

+    ChibiOS - Copyright (C) 2014 Derek Mulcahy

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    KINETIS/LLD/ext_lld.h

+ * @brief   KINETIS EXT subsystem low level driver header.

+ *

+ * @addtogroup EXT

+ * @{

+ */

+

+#ifndef _EXT_LLD_H_

+#define _EXT_LLD_H_

+

+#if HAL_USE_EXT || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   Number of EXT channels required.

+ */

+#define EXT_MAX_CHANNELS    KINETIS_EXTI_NUM_CHANNELS

+

+/**

+ * @name    KINETIS-specific EXT channel modes

+ * @{

+ */

+/** @} */

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/**

+ * @name    Configuration options

+ * @{

+ */

+/**

+ * @brief   PORTA interrupt priority level setting.

+ */

+#if !defined(KINETIS_EXT_PORTA_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define KINETIS_EXT_PORTA_IRQ_PRIORITY      3

+#endif

+

+/**

+ * @brief   PORTB interrupt priority level setting.

+ */

+#if !defined(KINETIS_EXT_PORTB_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define KINETIS_EXT_PORTB_IRQ_PRIORITY      3

+#endif

+

+/**

+ * @brief   PORTC interrupt priority level setting.

+ */

+#if !defined(KINETIS_EXT_PORTC_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define KINETIS_EXT_PORTC_IRQ_PRIORITY      3

+#endif

+

+/**

+ * @brief   PORTD interrupt priority level setting.

+ */

+#if !defined(KINETIS_EXT_PORTD_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define KINETIS_EXT_PORTD_IRQ_PRIORITY       3

+#endif

+

+/**

+ * @brief   PORTE interrupt priority level setting.

+ */

+#if !defined(KINETIS_EXT_PORTE_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define KINETIS_EXT_PORTE_IRQ_PRIORITY       3

+#endif

+/** @} */

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   EXT channel identifier.

+ */

+typedef uint32_t expchannel_t;

+

+/**

+ * @brief   Type of an EXT generic notification callback.

+ *

+ * @param[in] extp      pointer to the @p EXPDriver object triggering the

+ *                      callback

+ */

+typedef void (*extcallback_t)(EXTDriver *extp, expchannel_t channel);

+

+/**

+ * @brief   Channel configuration structure.

+ */

+typedef struct {

+  /**

+   * @brief Channel mode.

+   */

+  uint32_t              mode;

+  /**

+   * @brief Channel callback.

+   */

+  extcallback_t         cb;

+

+  /**

+   * @brief Port.

+   */

+  PORT_TypeDef          *port;

+

+  /**

+   * @brief Pin.

+   */

+  uint32_t              pin;

+} EXTChannelConfig;

+

+/**

+ * @brief   Driver configuration structure.

+ * @note    It could be empty on some architectures.

+ */

+typedef struct {

+  /**

+   * @brief Channel configurations.

+   */

+  EXTChannelConfig      channels[EXT_MAX_CHANNELS];

+  /* End of the mandatory fields.*/

+} EXTConfig;

+

+/**

+ * @brief   Structure representing an EXT driver.

+ */

+struct EXTDriver {

+  /**

+   * @brief Driver state.

+   */

+  extstate_t                state;

+  /**

+   * @brief Current configuration data.

+   */

+  const EXTConfig           *config;

+  /* End of the mandatory fields.*/

+};

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#if !defined(__DOXYGEN__)

+extern EXTDriver EXTD1;

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void ext_lld_init(void);

+  void ext_lld_start(EXTDriver *extp);

+  void ext_lld_stop(EXTDriver *extp);

+  void ext_lld_channel_enable(EXTDriver *extp, expchannel_t channel);

+  void ext_lld_channel_disable(EXTDriver *extp, expchannel_t channel);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_EXT */

+

+#endif /* _EXT_LLD_H_ */

+

+/** @} */

diff --git a/os/hal/ports/KINETIS/LLD/i2c_lld.c b/os/hal/ports/KINETIS/LLD/i2c_lld.c
new file mode 100644
index 0000000..4e42d16
--- /dev/null
+++ b/os/hal/ports/KINETIS/LLD/i2c_lld.c
@@ -0,0 +1,415 @@
+/*

+    ChibiOS - Copyright (C) 2014-2015 Fabio Utzig

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    KINETIS/i2c_lld.c

+ * @brief   KINETIS I2C subsystem low level driver source.

+ *

+ * @addtogroup I2C

+ * @{

+ */

+

+#include "osal.h"

+#include "hal.h"

+

+#if HAL_USE_I2C || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   I2C0 driver identifier.

+ */

+#if KINETIS_I2C_USE_I2C0 || defined(__DOXYGEN__)

+I2CDriver I2CD1;

+#endif

+

+/**

+ * @brief   I2C1 driver identifier.

+ */

+#if KINETIS_I2C_USE_I2C1 || defined(__DOXYGEN__)

+I2CDriver I2CD2;

+#endif

+

+/*===========================================================================*/

+/* Driver local variables and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+void config_frequency(I2CDriver *i2cp) {

+

+  /* Each index in the table corresponds to a a frequency

+   * divider used to generate the SCL clock from the main

+   * system clock.

+   */

+  uint16_t icr_table[] = {

+    /* 0x00 - 0x0F */

+    20,22,24,26,28,30,34,40,28,32,36,40,44,48,56,68,

+    /* 0x10 - 0x1F */

+    48,56,64,72,80,88,104,128,80,96,112,128,144,160,192,240,

+    /* 0x20 - 0x2F */

+    160,192,224,256,288,320,384,480,320,384,448,512,576,640,768,960,

+    /* 0x30 - 0x3F */

+    640,768,896,1024,1152,1280,1536,1920,1280,1536,1792,2048,2304,2560,3072,3840,

+  };

+

+  int length = sizeof(icr_table) / sizeof(icr_table[0]);

+  uint16_t divisor;

+  uint8_t i = 0, index = 0;

+  uint16_t best, diff;

+

+  if (i2cp->config != NULL)

+    divisor = KINETIS_SYSCLK_FREQUENCY / i2cp->config->clock;

+  else

+    divisor = KINETIS_SYSCLK_FREQUENCY / 100000;

+

+  best = ~0;

+  index = 0;

+  /* Tries to find the SCL clock which is the closest

+   * approximation to the clock passed in config. To

+   * stay on the safe side, only values that generate

+   * lower frequency are used.

+   */

+  for (i = 0; i < length; i++) {

+    if (icr_table[i] >= divisor) {

+      diff = icr_table[i] - divisor;

+      if (diff < best) {

+        best = diff;

+        index = i;

+      }

+    }

+  }

+

+  i2cp->i2c->F = index;

+}

+

+/**

+ * @brief   Common IRQ handler.

+ * @note    Tries hard to clear all the pending interrupt sources, we don't

+ *          want to go through the whole ISR and have another interrupt soon

+ *          after.

+ *

+ * @param[in] i2cp         pointer to an I2CDriver

+ */

+static void serve_interrupt(I2CDriver *i2cp) {

+

+  I2C_TypeDef *i2c = i2cp->i2c;

+  intstate_t state = i2cp->intstate;

+

+  if (i2c->S & I2Cx_S_ARBL) {

+

+    i2cp->errors |= I2C_ARBITRATION_LOST;

+    i2c->S |= I2Cx_S_ARBL;

+

+  } else if (state == STATE_SEND) {

+

+    if (i2c->S & I2Cx_S_RXAK)

+      i2cp->errors |= I2C_ACK_FAILURE;

+    else if (i2cp->txbuf != NULL && i2cp->txidx < i2cp->txbytes)

+      i2c->D = i2cp->txbuf[i2cp->txidx++];

+    else

+      i2cp->intstate = STATE_STOP;

+

+  } else if (state == STATE_DUMMY) {

+

+    if (i2c->S & I2Cx_S_RXAK)

+      i2cp->errors |= I2C_ACK_FAILURE;

+    else {

+      i2c->C1 &= ~I2Cx_C1_TX;

+

+      if (i2cp->rxbytes > 1)

+        i2c->C1 &= ~I2Cx_C1_TXAK;

+      else

+        i2c->C1 |= I2Cx_C1_TXAK;

+      (void) i2c->D;

+      i2cp->intstate = STATE_RECV;

+    }

+

+  } else if (state == STATE_RECV) {

+

+    if (i2cp->rxbytes > 1) {

+      if (i2cp->rxidx == (i2cp->rxbytes - 2))

+        i2c->C1 |= I2Cx_C1_TXAK;

+      else

+        i2c->C1 &= ~I2Cx_C1_TXAK;

+    }

+

+    if (i2cp->rxidx == i2cp->rxbytes - 1)

+      i2c->C1 &= ~(I2Cx_C1_TX | I2Cx_C1_MST);

+

+    i2cp->rxbuf[i2cp->rxidx++] = i2c->D;

+

+    if (i2cp->rxidx == i2cp->rxbytes)

+      i2cp->intstate = STATE_STOP;

+  }

+

+  /* Reset interrupt flag */

+  i2c->S |= I2Cx_S_IICIF;

+

+  if (i2cp->errors != I2C_NO_ERROR)

+    _i2c_wakeup_error_isr(i2cp);

+

+  if (i2cp->intstate == STATE_STOP)

+    _i2c_wakeup_isr(i2cp);

+}

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+#if KINETIS_I2C_USE_I2C0 || defined(__DOXYGEN__)

+

+OSAL_IRQ_HANDLER(KINETIS_I2C0_IRQ_VECTOR) {

+

+  OSAL_IRQ_PROLOGUE();

+  serve_interrupt(&I2CD1);

+  OSAL_IRQ_EPILOGUE();

+}

+

+#endif

+

+#if KINETIS_I2C_USE_I2C1 || defined(__DOXYGEN__)

+

+/* FIXME: KL2x has I2C1 on Vector64; K2x don't have I2C1! */

+OSAL_IRQ_HANDLER(Vector64) {

+

+  OSAL_IRQ_PROLOGUE();

+  serve_interrupt(&I2CD2);

+  OSAL_IRQ_EPILOGUE();

+}

+

+#endif

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level I2C driver initialization.

+ *

+ * @notapi

+ */

+void i2c_lld_init(void) {

+

+#if KINETIS_I2C_USE_I2C0

+  i2cObjectInit(&I2CD1);

+  I2CD1.thread = NULL;

+  I2CD1.i2c = I2C0;

+#endif

+

+#if KINETIS_I2C_USE_I2C1

+  i2cObjectInit(&I2CD2);

+  I2CD2.thread = NULL;

+  I2CD2.i2c = I2C1;

+#endif

+

+}

+

+/**

+ * @brief   Configures and activates the I2C peripheral.

+ *

+ * @param[in] i2cp      pointer to the @p I2CDriver object

+ *

+ * @notapi

+ */

+void i2c_lld_start(I2CDriver *i2cp) {

+

+  if (i2cp->state == I2C_STOP) {

+

+  /* TODO:

+   *   The PORT must be enabled somewhere. The PIN multiplexer

+   *   will map the I2C functionality to some PORT which must

+   *   than be enabled. The easier way is enabling all PORTs at

+   *   startup, which is currently being done in __early_init.

+   */

+

+#if KINETIS_I2C_USE_I2C0

+    if (&I2CD1 == i2cp) {

+      SIM->SCGC4 |= SIM_SCGC4_I2C0;

+      nvicEnableVector(I2C0_IRQn, KINETIS_I2C_I2C0_PRIORITY);

+    }

+#endif

+

+#if KINETIS_I2C_USE_I2C1

+    if (&I2CD2 == i2cp) {

+      SIM->SCGC4 |= SIM_SCGC4_I2C1;

+      nvicEnableVector(I2C1_IRQn, KINETIS_I2C_I2C1_PRIORITY);

+    }

+#endif

+

+  }

+

+  config_frequency(i2cp);

+  i2cp->i2c->C1 |= I2Cx_C1_IICEN | I2Cx_C1_IICIE;

+  i2cp->intstate = STATE_STOP;

+}

+

+/**

+ * @brief   Deactivates the I2C peripheral.

+ *

+ * @param[in] i2cp      pointer to the @p I2CDriver object

+ *

+ * @notapi

+ */

+void i2c_lld_stop(I2CDriver *i2cp) {

+

+  if (i2cp->state != I2C_STOP) {

+

+    i2cp->i2c->C1 &= ~(I2Cx_C1_IICEN | I2Cx_C1_IICIE);

+

+#if KINETIS_I2C_USE_I2C0

+    if (&I2CD1 == i2cp) {

+      SIM->SCGC4 &= ~SIM_SCGC4_I2C0;

+      nvicDisableVector(I2C0_IRQn);

+    }

+#endif

+

+#if KINETIS_I2C_USE_I2C1

+    if (&I2CD2 == i2cp) {

+      SIM->SCGC4 &= ~SIM_SCGC4_I2C1;

+      nvicDisableVector(I2C1_IRQn);

+    }

+#endif

+

+  }

+}

+

+static inline msg_t _i2c_txrx_timeout(I2CDriver *i2cp, i2caddr_t addr,

+                                      const uint8_t *txbuf, size_t txbytes,

+                                      uint8_t *rxbuf, size_t rxbytes,

+                                      systime_t timeout) {

+

+  (void)timeout;

+  msg_t msg;

+

+  uint8_t op = (i2cp->intstate == STATE_SEND) ? 0 : 1;

+

+  i2cp->errors = I2C_NO_ERROR;

+  i2cp->addr = addr;

+

+  i2cp->txbuf = txbuf;

+  i2cp->txbytes = txbytes;

+  i2cp->txidx = 0;

+

+  i2cp->rxbuf = rxbuf;

+  i2cp->rxbytes = rxbytes;

+  i2cp->rxidx = 0;

+

+  /* send START */

+  i2cp->i2c->C1 |= I2Cx_C1_MST;

+  i2cp->i2c->C1 |= I2Cx_C1_TX;

+

+  /* FIXME: should not use busy waiting! */

+  while (!(i2cp->i2c->S & I2Cx_S_BUSY));

+

+  i2cp->i2c->D = addr << 1 | op;

+

+  msg = osalThreadSuspendTimeoutS(&i2cp->thread, TIME_INFINITE);

+

+  /* FIXME */

+  //if (i2cp->i2c->S & I2Cx_S_RXAK)

+  //  i2cp->errors |= I2C_ACK_FAILURE;

+

+  if (msg == MSG_OK && txbuf != NULL && rxbuf != NULL) {

+    i2cp->i2c->C1 |= I2Cx_C1_RSTA;

+    /* FIXME */

+    while (!(i2cp->i2c->S & I2Cx_S_BUSY));

+

+    i2cp->intstate = STATE_DUMMY;

+    i2cp->i2c->D = i2cp->addr << 1 | 1;

+

+    msg = osalThreadSuspendTimeoutS(&i2cp->thread, TIME_INFINITE);

+  }

+

+  i2cp->i2c->C1 &= ~(I2Cx_C1_TX | I2Cx_C1_MST);

+  /* FIXME */

+  while (i2cp->i2c->S & I2Cx_S_BUSY);

+

+  return msg;

+}

+

+/**

+ * @brief   Receives data via the I2C bus as master.

+ *

+ * @param[in] i2cp      pointer to the @p I2CDriver object

+ * @param[in] addr      slave device address

+ * @param[out] rxbuf    pointer to the receive buffer

+ * @param[in] rxbytes   number of bytes to be received

+ * @param[in] timeout   the number of ticks before the operation timeouts,

+ *                      the following special values are allowed:

+ *                      - @a TIME_INFINITE no timeout.

+ *                      .

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end. <b>After a

+ *                      timeout the driver must be stopped and restarted

+ *                      because the bus is in an uncertain state</b>.

+ *

+ * @notapi

+ */

+msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,

+                                     uint8_t *rxbuf, size_t rxbytes,

+                                     systime_t timeout) {

+

+  i2cp->intstate = STATE_DUMMY;

+  return _i2c_txrx_timeout(i2cp, addr, NULL, 0, rxbuf, rxbytes, timeout);

+}

+

+/**

+ * @brief   Transmits data via the I2C bus as master.

+ *

+ * @param[in] i2cp      pointer to the @p I2CDriver object

+ * @param[in] addr      slave device address

+ * @param[in] txbuf     pointer to the transmit buffer

+ * @param[in] txbytes   number of bytes to be transmitted

+ * @param[out] rxbuf    pointer to the receive buffer

+ * @param[in] rxbytes   number of bytes to be received

+ * @param[in] timeout   the number of ticks before the operation timeouts,

+ *                      the following special values are allowed:

+ *                      - @a TIME_INFINITE no timeout.

+ *                      .

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end. <b>After a

+ *                      timeout the driver must be stopped and restarted

+ *                      because the bus is in an uncertain state</b>.

+ *

+ * @notapi

+ */

+msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,

+                                      const uint8_t *txbuf, size_t txbytes,

+                                      uint8_t *rxbuf, size_t rxbytes,

+                                      systime_t timeout) {

+

+  i2cp->intstate = STATE_SEND;

+  return _i2c_txrx_timeout(i2cp, addr, txbuf, txbytes, rxbuf, rxbytes, timeout);

+}

+

+#endif /* HAL_USE_I2C */

+

+/** @} */

diff --git a/os/hal/ports/KINETIS/LLD/i2c_lld.h b/os/hal/ports/KINETIS/LLD/i2c_lld.h
new file mode 100644
index 0000000..11de3ae
--- /dev/null
+++ b/os/hal/ports/KINETIS/LLD/i2c_lld.h
@@ -0,0 +1,208 @@
+/*

+    ChibiOS - Copyright (C) 2014-2015 Fabio Utzig

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    KINETIS/i2c_lld.h

+ * @brief   KINETIS I2C subsystem low level driver header.

+ *

+ * @addtogroup I2C

+ * @{

+ */

+

+#ifndef _I2C_LLD_H_

+#define _I2C_LLD_H_

+

+#if HAL_USE_I2C || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+#define STATE_STOP    0x00

+#define STATE_SEND    0x01

+#define STATE_RECV    0x02

+#define STATE_DUMMY   0x03

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/**

+ * @name    Configuration options

+ * @{

+ */

+/**

+ * @brief   I2C0 driver enable switch.

+ * @details If set to @p TRUE the support for I2C0 is included.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(KINETIS_I2C_USE_I2C0) || defined(__DOXYGEN__)

+#define KINETIS_I2C_USE_I2C0               FALSE

+#endif

+

+/**

+ * @brief   I2C1 driver enable switch.

+ * @details If set to @p TRUE the support for I2C1 is included.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(KINETIS_I2C_USE_I2C1) || defined(__DOXYGEN__)

+#define KINETIS_I2C_USE_I2C1               FALSE

+#endif

+/** @} */

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/* @brief Type representing I2C address. */

+typedef uint8_t i2caddr_t;

+

+/* @brief Type of I2C Driver condition flags. */

+typedef uint32_t i2cflags_t;

+

+/* @brief Type used to control the ISR state machine. */

+typedef uint8_t intstate_t;

+

+/**

+ * @brief   Driver configuration structure.

+ * @note    Implementations may extend this structure to contain more,

+ *          architecture dependent, fields.

+ */

+

+/**

+ * @brief Driver configuration structure.

+ */

+typedef struct {

+

+  /* @brief Clock to be used for the I2C bus. */

+  uint32_t             clock;

+

+} I2CConfig;

+

+/**

+ * @brief   Type of a structure representing an I2C driver.

+ */

+typedef struct I2CDriver I2CDriver;

+

+/**

+ * @brief Structure representing an I2C driver.

+ */

+struct I2CDriver {

+  /**

+   * @brief   Driver state.

+   */

+  i2cstate_t                state;

+  /**

+   * @brief   Current configuration data.

+   */

+  const I2CConfig           *config;

+  /**

+   * @brief   Error flags.

+   */

+  i2cflags_t                errors;

+#if I2C_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)

+#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)

+  /**

+   * @brief   Mutex protecting the bus.

+   */

+  mutex_t                   mutex;

+#elif CH_CFG_USE_SEMAPHORES

+  semaphore_t               semaphore;

+#endif

+#endif /* I2C_USE_MUTUAL_EXCLUSION */

+#if defined(I2C_DRIVER_EXT_FIELDS)

+  I2C_DRIVER_EXT_FIELDS

+#endif

+  /* @brief Thread waiting for I/O completion. */

+  thread_reference_t        thread;

+  /* @brief     Current slave address without R/W bit. */

+  i2caddr_t                 addr;

+

+  /* End of the mandatory fields.*/

+

+  /* @brief Pointer to the buffer with data to send. */

+  const uint8_t             *txbuf;

+  /* @brief Number of bytes of data to send. */

+  size_t                    txbytes;

+  /* @brief Current index in buffer when sending data. */

+  size_t                    txidx;

+  /* @brief Pointer to the buffer to put received data. */

+  uint8_t                   *rxbuf;

+  /* @brief Number of bytes of data to receive. */

+  size_t                    rxbytes;

+  /* @brief Current index in buffer when receiving data. */

+  size_t                    rxidx;

+  /* @brief Tracks current ISR state. */

+  intstate_t                intstate;

+  /* @brief Low-level register access. */

+  I2C_TypeDef               *i2c;

+};

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+/**

+ * @brief   Get errors from I2C driver.

+ *

+ * @param[in] i2cp      pointer to the @p I2CDriver object

+ *

+ * @notapi

+ */

+#define i2c_lld_get_errors(i2cp) ((i2cp)->errors)

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#if !defined(__DOXYGEN__)

+

+#if KINETIS_I2C_USE_I2C0

+extern I2CDriver I2CD1;

+#endif

+

+#if KINETIS_I2C_USE_I2C1

+extern I2CDriver I2CD2;

+#endif

+

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void i2c_lld_init(void);

+  void i2c_lld_start(I2CDriver *i2cp);

+  void i2c_lld_stop(I2CDriver *i2cp);

+  msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,

+                                        const uint8_t *txbuf, size_t txbytes,

+                                        uint8_t *rxbuf, size_t rxbytes,

+                                        systime_t timeout);

+  msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,

+                                       uint8_t *rxbuf, size_t rxbytes,

+                                       systime_t timeout);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_I2C */

+

+#endif /* _I2C_LLD_H_ */

+

+/** @} */