Merge pull request #68 from awygle/msp430x

MSP430X DMA Support, EXP430FR6989 Demo + Makefile Updates

5 files changed, 437 insertions, 4 deletions

diff --git a/os/hal/ports/MSP430X/hal_dma_lld.c b/os/hal/ports/MSP430X/hal_dma_lld.c
new file mode 100644
index 0000000..58293ca
--- /dev/null
+++ b/os/hal/ports/MSP430X/hal_dma_lld.c
@@ -0,0 +1,244 @@
+/*

+    ChibiOS - Copyright (C) 2016 Andrew Wygle aka awygle

+

+    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    MSP430X hal_dma_lld.c

+ * @brief   MSP430X DMA subsystem low level driver source.

+ *

+ * @addtogroup MSP430X_DMA

+ * @{

+ */

+

+#include "hal.h"

+#include "ch.h"

+#include "hal_dma_lld.h"

+

+#if (HAL_USE_DMA == TRUE) || defined(__DOXYGEN__)

+

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

+/* Driver local definitions.                                                 */

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

+

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

+/* Driver exported variables.                                                */

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

+

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

+/* Driver local variables and types.                                         */

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

+

+/* TODO make sure this is right... */

+static msp430x_dma_ch_reg_t * const dma_channels = (msp430x_dma_ch_reg_t *)&DMA0CTL;

+static uint8_t * const dma_ctls = (uint8_t *)&DMACTL0;

+

+static msp430x_dma_cb_t callbacks[MSP430X_DMA_CHANNELS];

+#if CH_CFG_USE_SEMAPHORES

+static semaphore_t dma_lock;

+#endif

+

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

+/* Driver local functions.                                                   */

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

+

+static void init_request(const msp430x_dma_req_t * request, uint8_t index) {

+  

+    dma_ctls[index] = request->trigger;

+    callbacks[index] = request->callback;

+    msp430x_dma_ch_reg_t * ch = &dma_channels[index];

+    ch->sa = (uintptr_t)request->source_addr;

+    ch->da = (uintptr_t)request->dest_addr;

+    ch->sz = request->size;

+    ch->ctl = DMAREQ | DMAIE | DMAEN | request->data_mode | request->addr_mode

+      | request->transfer_mode; 

+}

+

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

+/* Driver interrupt handlers.                                                */

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

+

+PORT_IRQ_HANDLER(DMA_VECTOR) {

+  uint8_t index;

+  OSAL_IRQ_PROLOGUE();

+  

+  index = (DMAIV >> 1) - 1;

+  

+  if (index < MSP430X_DMA_CHANNELS) {

+    msp430x_dma_cb_t * cb = &callbacks[index];

+    

+    /* WARNING: CALLBACKS ARE CALLED IN AN ISR CONTEXT! */

+    if (cb->callback != NULL) {

+      cb->callback(cb->args);

+    }

+  

+  } 

+  

+  OSAL_IRQ_EPILOGUE();

+}

+

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

+/* Driver exported functions.                                                */

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

+

+/**

+ * @brief Initialize the DMA engine.

+ * 

+ * @init

+ */

+void dmaInit(void) {

+#if CH_CFG_USE_SEMAPHORES

+  chSemObjectInit(&dma_lock, MSP430X_DMA_CHANNELS);

+#endif

+}

+

+/**

+ * @brief   Requests a DMA transfer operation from the DMA engine.

+ * @note    The DMA engine uses unclaimed DMA channels to provide DMA services

+ *          for one-off or infrequent uses. If all channels are busy, and

+ *          semaphores are enabled, the calling thread will sleep until a

+ *          channel is available or the request times out. If semaphores are

+ *          disabled, the calling thread will busy-wait instead of sleeping.

+ */

+bool dmaRequest(msp430x_dma_req_t * request, systime_t timeout) {

+  /* Check if a DMA channel is available */

+#if CH_CFG_USE_SEMAPHORES

+  msg_t semresult = chSemWaitTimeout(&dma_lock, timeout);

+  if (semresult != MSG_OK)

+    return true;

+#endif

+  

+#if !(CH_CFG_USE_SEMAPHORES)

+  systime_t start = chVTGetSystemTimeX();

+  

+  do {

+#endif

+  /* Grab the correct DMA channel to use */

+  int i = 0;

+  for (i = 0; i < MSP430X_DMA_CHANNELS; i++) {

+    if (!(dma_channels[i].ctl & DMAEN)) {

+      break;

+    }

+  }

+#if !(CH_CFG_USE_SEMAPHORES)

+  while (chVTTimeElapsedSinceX(start) < timeout);

+#endif

+  

+#if !(CH_CFG_USE_SEMAPHORES)

+  if (i == MSP430X_DMA_CHANNELS) {

+    return true;

+  }

+#endif

+  

+  /* Make the request */

+  init_request(request, i);

+  

+#if CH_CFG_USE_SEMAPHORES

+  chSemSignal(&dma_lock);

+#endif

+  

+  return false;

+}

+

+/**

+ * @brief   Acquires exclusive control of a DMA channel.

+ * @pre     The channel must not be already acquired or an error is returned.

+ * @note    If the channel is in use by the DMA engine, blocks until acquired.

+ * @post    This channel must be interacted with using only the functions 

+ *          defined in this module.

+ *          

+ * @param[out] channel    The channel handle. Must be pre-allocated.

+ * @param[in]  index      The index of the channel (< MSP430X_DMA_CHANNELS).

+ * @return                The operation status.

+ * @retval false          no error, channel acquired.

+ * @retval true           error, channel already acquired.

+ */

+bool dmaAcquire(msp430x_dma_ch_t * channel, uint8_t index) {

+  /* Acquire the channel in an idle mode */

+  

+  /* Is the channel already acquired? */

+  osalDbgAssert(index < MSP430X_DMA_CHANNELS, "invalid channel index");

+  if (dma_channels[index].ctl & DMADT_4) {

+    return true;

+  }

+  

+  /* Increment the DMA counter */

+#if CH_CFG_USE_SEMAPHORES

+  msg_t semresult = chSemWait(&dma_lock);

+  if (semresult != MSG_OK)

+    return true;

+#endif

+  

+  while (dma_channels[index].ctl & DMAEN) ;

+  

+  dma_ctls[index] = DMA_TRIGGER_MNEM(DMAREQ);

+  dma_channels[index].sz = 0;

+  dma_channels[index].ctl = DMAEN | DMAABORT | DMADT_4;

+  

+  channel->registers = dma_channels + index;

+  channel->ctl = dma_ctls + index;

+  channel->cb = callbacks + index;

+  

+  return false;

+}

+

+/**

+ * @brief   Initiates a DMA transfer operation using an acquired channel.

+ * @pre     The channel must have been acquired using @p dmaAcquire().

+ * 

+ * @param[in] channel   pointer to a DMA channel from @p dmaAcquire().

+ * @param[in] request   pointer to a DMA request object.

+ */

+void dmaTransfer(msp430x_dma_ch_t * channel, msp430x_dma_req_t * request) {

+  

+    *(channel->ctl) = request->trigger;

+    

+    channel->cb->callback = request->callback.callback;

+    channel->cb->args = request->callback.args;

+    

+    chSysLock();

+    channel->registers->ctl &= (~DMAEN);

+    channel->registers->sa = (uintptr_t)request->source_addr;

+    channel->registers->da = (uintptr_t)request->dest_addr;

+    channel->registers->sz = request->size;

+    channel->registers->ctl = DMAIE | request->data_mode | request->addr_mode

+      | request->transfer_mode | DMADT_4 | DMAEN | DMAREQ; /* repeated transfers */

+    chSysUnlock();

+}

+

+/**

+ * @brief   Releases exclusive control of a DMA channel.

+ * @details The channel is released from control and returned to the DMA engine

+ *          pool. Trying to release an unallocated channel is an illegal

+ *          operation and is trapped if assertions are enabled.

+ * @pre     The channel must have been acquired using @p dmaAcquire().

+ * @post    The channel is returned to the DMA engine pool.

+ */

+void dmaRelease(msp430x_dma_ch_t * channel) {

+  

+  osalDbgCheck(channel != NULL);

+  osalDbgAssert(channel->registers->ctl & DMADT_4, "not acquired");

+  

+  /* Release the channel in an idle mode */

+  channel->registers->ctl = DMAABORT;

+  

+  /* release the DMA counter */

+#if CH_CFG_USE_SEMAPHORES

+  chSemSignal(&dma_lock);

+#endif

+}

+

+#endif /* HAL_USE_DMA == TRUE */

+

+/** @} */

diff --git a/os/hal/ports/MSP430X/hal_dma_lld.h b/os/hal/ports/MSP430X/hal_dma_lld.h
new file mode 100644
index 0000000..2cce85d
--- /dev/null
+++ b/os/hal/ports/MSP430X/hal_dma_lld.h
@@ -0,0 +1,174 @@
+/*

+    ChibiOS - Copyright (C) 2016 Andrew Wygle aka awygle

+

+    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    MSP430X/hal_dma_lld.c

+ * @brief   MSP430X DMA subsystem low level driver header.

+ * @note    This driver is used as a DMA engine for the other

+ *          low level drivers.

+ *

+ * @addtogroup MSP430X_DMA

+ * @{

+ */

+

+#ifndef HAL_MSP430X_DMA_H

+#define HAL_MSP430X_DMA_H

+

+#if (HAL_USE_DMA == TRUE) || defined(__DOXYGEN__)

+

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

+/* Driver constants.                                                         */

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

+

+#define MSP430X_DMA_SINGLE DMADT_0

+#define MSP430X_DMA_BLOCK  DMADT_1

+#define MSP430X_DMA_BURST  DMADT_2

+

+#define MSP430X_DMA_SRCINCR   DMASRCINCR_3

+#define MSP430X_DMA_SRCDECR   DMASRCINCR_2

+#define MSP430X_DMA_DSTINCR   DMADSTINCR_3

+#define MSP430X_DMA_DSTDECR   DMADSTINCR_2

+

+#define MSP430X_DMA_SRCBYTE   DMASRCBYTE

+#define MSP430X_DMA_DSTBYTE   DMADSTBYTE

+#define MSP430X_DMA_SRCWORD   0

+#define MSP430X_DMA_DSTWORD   0

+

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

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

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

+

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

+/* Derived constants and error checks.                                       */

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

+

+#if !defined(DMA_BASE) && !defined(MSP430X_DMA_SOFTWARE)

+  #error "The MSP430 device in use does not support DMA. Explicitly enable"

+  #error "software support by defining MSP430X_DMA_SOFTWARE."

+#endif

+

+#if defined(__MSP430_HAS_DMAX_1__) || defined(__MSP430X_HAS_DMA_1__)

+#define MSP430X_DMA_CHANNELS 1

+#elif defined(__MSP430_HAS_DMAX_3__) || defined(__MSP430X_HAS_DMA_3__)

+#define MSP430X_DMA_CHANNELS 3

+#elif defined(__MSP430_HAS_DMAX_6__) || defined(__MSP430X_HAS_DMA_6__)

+#define MSP430X_DMA_CHANNELS 6

+#else

+  #error "Unexpected error - how many DMA channels does your MSP have?"

+#endif

+

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

+/* Driver data structures and types.                                         */

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

+

+/**

+ * @brief     Type of DMA callback function pointer.

+ */

+typedef void (*msp430x_dma_cbp_t)(void *args);

+

+/**

+ * @brief     DMA callback, function and argument.

+ */

+typedef struct {

+  msp430x_dma_cbp_t   callback; /**< @brief Callback function pointer   */

+  void *              args;     /**< @brief Callback function arguments */

+} msp430x_dma_cb_t;

+

+/**

+ * @brief     MSP430X DMA request structure.

+ */

+typedef struct {

+  void *    source_addr;    /**< @brief Source address                       */

+  void *    dest_addr;      /**< @brief Destination address                  */

+  uint16_t  size;           /**< @brief Number of values to transfer         */

+  uint16_t  addr_mode;      /**< @brief Address manipulation mode            */

+  uint16_t  data_mode;      /**< @brief Data sizes (b2b, w2w, b2w, w2b)      */

+  uint16_t  transfer_mode;  /**< @brief Transfer mode (single, block, burst) */

+  uint16_t  trigger;        /**< @brief Triggering event (see datasheet)     */

+  msp430x_dma_cb_t callback;/**< @brief Callback function and arguments      */

+} msp430x_dma_req_t;

+

+/**

+ * @brief     MSP430X DMA channel register structure.

+ */

+typedef struct {

+  volatile uint16_t ctl; /**< @brief Control register             */

+  volatile uint32_t sa;  /**< @brief Source address register      */

+  volatile uint32_t da;  /**< @brief Destination address register */

+  volatile uint16_t sz;  /**< @brief Size register                */

+  volatile uint16_t pad1;

+  volatile uint16_t pad2;

+} msp430x_dma_ch_reg_t;

+

+/**

+ * @brief     MSP430X DMA controller register structure.

+ */

+typedef struct {

+  volatile uint8_t tsel0; /**< @brief Trigger select for channel 0 */

+  volatile uint8_t tsel1; /**< @brief Trigger select for channel 1 */

+  volatile uint8_t tsel2; /**< @brief Trigger select for channel 2 */

+  volatile uint8_t tsel3; /**< @brief Trigger select for channel 3 */

+  volatile uint8_t tsel4; /**< @brief Trigger select for channel 4 */

+  volatile uint8_t tsel5; /**< @brief Trigger select for channel 5 */

+  volatile uint8_t tsel6; /**< @brief Trigger select for channel 6 */

+  volatile uint8_t tsel7; /**< @brief Trigger select for channel 7 */

+  volatile uint16_t ctl4; /**< @brief Controller register 4        */

+} msp430x_dma_ctl_reg_t;

+

+/**

+ * @brief     MSP430X DMA channel structure.

+ */

+typedef struct {

+  msp430x_dma_ch_reg_t * registers; /**< @brief Pointer to channel registers */

+  volatile uint8_t * ctl; /**< @brief Pointer to channel control register    */

+  msp430x_dma_cb_t * cb; /**< @brief Pointer to callback function  and args  */

+} msp430x_dma_ch_t;

+

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

+/* Driver macros.                                                            */

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

+

+/**

+ * @brief     Identifies a DMA trigger using a mnemonic.

+ * 

+ * @param[in] mnem    The mnemonic for the trigger, e.g. UCA0RXIFG to trigger

+ *                    on UART receive.

+ */

+#define DMA_TRIGGER_MNEM(mnem) DMA0TSEL__ ## mnem

+

+/** @} */

+

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

+/* External declarations.                                                    */

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

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void dmaInit(void);

+  bool dmaRequest(msp430x_dma_req_t * request, systime_t timeout);

+  bool dmaAcquire(msp430x_dma_ch_t * channel, uint8_t index);

+  void dmaTransfer(msp430x_dma_ch_t * channel, msp430x_dma_req_t * request); 

+  void dmaRelease(msp430x_dma_ch_t * channel);

+  

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_DMA == true */

+

+#endif /* HAL_MSP430X_DMA_H */

+

diff --git a/os/hal/ports/MSP430X/hal_pal_lld.c b/os/hal/ports/MSP430X/hal_pal_lld.c
index 4cfff3b..97ad170 100644
--- a/os/hal/ports/MSP430X/hal_pal_lld.c
+++ b/os/hal/ports/MSP430X/hal_pal_lld.c
@@ -68,6 +68,7 @@ void _pal_lld_init(const PALConfig *config) {
   PASEL1 = config->porta.sel1;

   PAIES = config->porta.ies;

   PAIE = config->porta.ie;

+  PAIFG = 0;

 #endif

 #if defined(PB_BASE) || defined(__DOXYGEN__)

   PBOUT = config->portb.out;

@@ -77,6 +78,7 @@ void _pal_lld_init(const PALConfig *config) {
   PBSEL1 = config->portb.sel1;

   PBIES = config->portb.ies;

   PBIE = config->portb.ie;

+  PBIFG = 0;

 #endif

 #if defined(PC_BASE) || defined(__DOXYGEN__)

   PCOUT = config->portc.out;

@@ -84,8 +86,11 @@ void _pal_lld_init(const PALConfig *config) {
   PCREN = config->portc.ren;

   PCSEL0 = config->portc.sel0;

   PCSEL1 = config->portc.sel1;

+#if defined(PCIE) || defined(__DOXYGEN__)

   PCIES = config->portc.ies;

   PCIE = config->portc.ie;

+  PCIFG = 0;

+#endif

 #endif

 #if defined(PD_BASE) || defined(__DOXYGEN__)

   PDOUT = config->portd.out;

@@ -93,8 +98,11 @@ void _pal_lld_init(const PALConfig *config) {
   PDREN = config->portd.ren;

   PDSEL0 = config->portd.sel0;

   PDSEL1 = config->portd.sel1;

+#if defined(PDIE) || defined(__DOXYGEN__)

   PDIES = config->portd.ies;

   PDIE = config->portd.ie;

+  PDIFG = 0;

+#endif

 #endif

 #if defined(PE_BASE) || defined(__DOXYGEN__)

   PEOUT = config->porte.out;

@@ -102,8 +110,11 @@ void _pal_lld_init(const PALConfig *config) {
   PEREN = config->porte.ren;

   PESEL0 = config->porte.sel0;

   PESEL1 = config->porte.sel1;

+#if defined(PEIE) || defined(__DOXYGEN__)

   PEIES = config->porte.ies;

   PEIE = config->porte.ie;

+  PEIFG = 0;

+#endif

 #endif

 #if defined(PF_BASE) || defined(__DOXYGEN__)

   PFOUT = config->portf.out;

@@ -111,8 +122,11 @@ void _pal_lld_init(const PALConfig *config) {
   PFREN = config->portf.ren;

   PFSEL0 = config->portf.sel0;

   PFSEL1 = config->portf.sel1;

+#if defined(PFIE) || defined(__DOXYGEN__)

   PFIES = config->portf.ies;

   PFIE = config->portf.ie;

+  PFIFG = 0;

+#endif

 #endif

   PJOUT = config->portj.out;

   PJDIR = config->portj.dir;

diff --git a/os/hal/ports/MSP430X/hal_serial_lld.c b/os/hal/ports/MSP430X/hal_serial_lld.c
index 277f6d2..bc002cb 100644
--- a/os/hal/ports/MSP430X/hal_serial_lld.c
+++ b/os/hal/ports/MSP430X/hal_serial_lld.c
@@ -223,10 +223,10 @@ static void usart1_init(const SerialConfig *config) {
   UCA1STATW = 0;

   UCA1ABCTL = 0;

   UCA1IRCTL = 0;

-  UCA1IE = UCRXIE;

   UCA1CTLW0 = (MSP430X_USART1_PARITY << 14) | (MSP430X_USART1_ORDER << 13) | \

               (MSP430X_USART1_SIZE << 12) | (MSP430X_USART1_STOP << 11) | \

               (MSP430X_USART1_UCSSEL);

+  UCA1IE = UCRXIE;

 }

 #endif

 

@@ -237,10 +237,10 @@ static void usart2_init(const SerialConfig *config) {
   UCA2STATW = 0;

   UCA2ABCTL = 0;

   UCA2IRCTL = 0;

-  UCA2IE = UCRXIE;

   UCA2CTLW0 = (MSP430X_USART2_PARITY << 14) | (MSP430X_USART2_ORDER << 13) | \

               (MSP430X_USART2_SIZE << 12) | (MSP430X_USART2_STOP << 11) | \

               (MSP430X_USART2_UCSSEL);

+  UCA2IE = UCRXIE;

 }

 #endif

 

@@ -251,10 +251,10 @@ static void usart3_init(const SerialConfig *config) {
   UCA3STATW = 0;

   UCA3ABCTL = 0;

   UCA3IRCTL = 0;

-  UCA3IE = UCRXIE;

   UCA3CTLW0 = (MSP430X_USART3_PARITY << 14) | (MSP430X_USART3_ORDER << 13) | \

               (MSP430X_USART3_SIZE << 12) | (MSP430X_USART3_STOP << 11) | \

               (MSP430X_USART3_UCSSEL);

+  UCA3IE = UCRXIE;

 }

 #endif

 

diff --git a/os/hal/ports/MSP430X/platform.mk b/os/hal/ports/MSP430X/platform.mk
index b0f256e..6947785 100644
--- a/os/hal/ports/MSP430X/platform.mk
+++ b/os/hal/ports/MSP430X/platform.mk
@@ -2,7 +2,8 @@
 PLATFORMSRC = ${CHIBIOS_CONTRIB}/os/hal/ports/MSP430X/hal_lld.c \

               ${CHIBIOS_CONTRIB}/os/hal/ports/MSP430X/hal_st_lld.c \

               ${CHIBIOS_CONTRIB}/os/hal/ports/MSP430X/hal_serial_lld.c \

-              ${CHIBIOS_CONTRIB}/os/hal/ports/MSP430X/hal_pal_lld.c 

+              ${CHIBIOS_CONTRIB}/os/hal/ports/MSP430X/hal_pal_lld.c \

+              ${CHIBIOS_CONTRIB}/os/hal/ports/MSP430X/hal_dma_lld.c 

 

 # Required include directories

 PLATFORMINC = ${CHIBIOS_CONTRIB}/os/hal/ports/MSP430X