diff options
Diffstat (limited to 'os/hal/ports/KINETIS/LLD')
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/ext_lld.c | 73 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/gpt_lld.c | 391 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/gpt_lld.h | 333 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/i2c_lld.c | 5 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/i2c_lld.h | 30 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/pal_lld.c | 245 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/pal_lld.h | 386 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/serial_lld.c | 583 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/serial_lld.h | 220 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/st_lld.c | 98 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/st_lld.h | 156 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/usb_lld.c | 832 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/usb_lld.h | 428 |
13 files changed, 3776 insertions, 4 deletions
diff --git a/os/hal/ports/KINETIS/LLD/ext_lld.c b/os/hal/ports/KINETIS/LLD/ext_lld.c index e85f032..21bb6e0 100644 --- a/os/hal/ports/KINETIS/LLD/ext_lld.c +++ b/os/hal/ports/KINETIS/LLD/ext_lld.c @@ -89,6 +89,19 @@ 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_HAS_COMMON_BCDE_IRQ
+#if (KINETIS_EXT_PORTB_WIDTH > 0) || (KINETIS_EXT_PORTC_WIDTH > 0) \
+ || (KINETIS_EXT_PORTD_WIDTH > 0) || (KINETIS_EXT_PORTE_WIDTH > 0)
+ nvicEnableVector(PINBCDE_IRQn, KINETIS_EXT_PORTD_IRQ_PRIORITY);
+#endif
+
+#elif KINETIS_EXT_HAS_COMMON_CD_IRQ /* KINETIS_EXT_HAS_COMMON_BCDE_IRQ */
+#if (KINETIS_EXT_PORTC_WIDTH > 0) || (KINETIS_EXT_PORTD_WIDTH > 0)
+ nvicEnableVector(PINCD_IRQn, KINETIS_EXT_PORTD_IRQ_PRIORITY);
+#endif
+
+#else /* KINETIS_EXT_HAS_COMMON_CD_IRQ */
#if KINETIS_EXT_PORTB_WIDTH > 0
nvicEnableVector(PINB_IRQn, KINETIS_EXT_PORTB_IRQ_PRIORITY);
#endif
@@ -101,6 +114,7 @@ static void ext_lld_exti_irq_enable(void) { #if KINETIS_EXT_PORTE_WIDTH > 0
nvicEnableVector(PINE_IRQn, KINETIS_EXT_PORTE_IRQ_PRIORITY);
#endif
+#endif /* !KINETIS_EXT_HAS_COMMON_CD_IRQ */
}
/**
@@ -113,6 +127,19 @@ static void ext_lld_exti_irq_disable(void) { #if KINETIS_EXT_PORTA_WIDTH > 0
nvicDisableVector(PINA_IRQn);
#endif
+
+#if KINETIS_EXT_HAS_COMMON_BCDE_IRQ
+#if (KINETIS_EXT_PORTB_WIDTH > 0) || (KINETIS_EXT_PORTC_WIDTH > 0) \
+ || (KINETIS_EXT_PORTD_WIDTH > 0) || (KINETIS_EXT_PORTE_WIDTH > 0)
+ nvicDisableVector(PINBCDE_IRQn);
+#endif
+
+#elif KINETIS_EXT_HAS_COMMON_CD_IRQ /* KINETIS_EXT_HAS_COMMON_BCDE_IRQ */
+#if (KINETIS_EXT_PORTC_WIDTH > 0) || (KINETIS_EXT_PORTD_WIDTH > 0)
+ nvicDisableVector(PINCD_IRQn);
+#endif
+
+#else /* KINETIS_EXT_HAS_COMMON_CD_IRQ */
#if KINETIS_EXT_PORTB_WIDTH > 0
nvicDisableVector(PINB_IRQn);
#endif
@@ -125,6 +152,7 @@ static void ext_lld_exti_irq_disable(void) { #if KINETIS_EXT_PORTE_WIDTH > 0
nvicDisableVector(PINE_IRQn);
#endif
+#endif /* !KINETIS_EXT_HAS_COMMON_CD_IRQ */
}
/*===========================================================================*/
@@ -164,6 +192,49 @@ OSAL_IRQ_HANDLER(KINETIS_PORTA_IRQ_VECTOR) { }
#endif /* KINETIS_EXT_PORTA_WIDTH > 0 */
+#if KINETIS_EXT_HAS_COMMON_BCDE_IRQ
+
+#if defined(KINETIS_PORTD_IRQ_VECTOR)
+OSAL_IRQ_HANDLER(KINETIS_PORTD_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+
+#if (KINETIS_EXT_PORTB_WIDTH > 0)
+ irq_handler(PORTB, KINETIS_EXT_PORTB_WIDTH, portb_channel_map);
+#endif
+#if (KINETIS_EXT_PORTC_WIDTH > 0)
+ irq_handler(PORTC, KINETIS_EXT_PORTC_WIDTH, portc_channel_map);
+#endif
+#if (KINETIS_EXT_PORTD_WIDTH > 0)
+ irq_handler(PORTD, KINETIS_EXT_PORTD_WIDTH, portd_channel_map);
+#endif
+#if (KINETIS_EXT_PORTE_WIDTH > 0)
+ irq_handler(PORTE, KINETIS_EXT_PORTE_WIDTH, porte_channel_map);
+#endif
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* defined(KINETIS_PORTD_IRQ_VECTOR) */
+
+#elif KINETIS_EXT_HAS_COMMON_CD_IRQ /* KINETIS_EXT_HAS_COMMON_BCDE_IRQ */
+
+#if defined(KINETIS_PORTD_IRQ_VECTOR)
+OSAL_IRQ_HANDLER(KINETIS_PORTD_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+
+#if (KINETIS_EXT_PORTC_WIDTH > 0)
+ irq_handler(PORTC, KINETIS_EXT_PORTC_WIDTH, portc_channel_map);
+#endif
+#if (KINETIS_EXT_PORTD_WIDTH > 0)
+ irq_handler(PORTD, KINETIS_EXT_PORTD_WIDTH, portd_channel_map);
+#endif
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* defined(KINETIS_PORTD_IRQ_VECTOR) */
+
+
+#else /* KINETIS_EXT_HAS_COMMON_CD_IRQ */
+
/**
* @brief PORTB interrupt handler.
*
@@ -224,6 +295,8 @@ OSAL_IRQ_HANDLER(KINETIS_PORTE_IRQ_VECTOR) { }
#endif /* KINETIS_EXT_PORTE_WIDTH > 0 */
+#endif /* !KINETIS_EXT_HAS_COMMON_CD_IRQ */
+
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
diff --git a/os/hal/ports/KINETIS/LLD/gpt_lld.c b/os/hal/ports/KINETIS/LLD/gpt_lld.c new file mode 100644 index 0000000..6e88f88 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/gpt_lld.c @@ -0,0 +1,391 @@ +/*
+ 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/gpt_lld.c
+ * @brief KINETIS GPT subsystem low level driver source.
+ *
+ * @addtogroup GPT
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_GPT || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief GPTD1 driver identifier.
+ * @note The driver GPTD1 allocates the complex timer PIT0 when enabled.
+ */
+#if KINETIS_GPT_USE_PIT0 || defined(__DOXYGEN__)
+GPTDriver GPTD1;
+#endif
+
+/**
+ * @brief GPTD2 driver identifier.
+ * @note The driver GPTD2 allocates the timer PIT1 when enabled.
+ */
+#if KINETIS_GPT_USE_PIT1 || defined(__DOXYGEN__)
+GPTDriver GPTD2;
+#endif
+
+/**
+ * @brief GPTD3 driver identifier.
+ * @note The driver GPTD3 allocates the timer PIT2 when enabled.
+ */
+#if KINETIS_GPT_USE_PIT2 || defined(__DOXYGEN__)
+GPTDriver GPTD3;
+#endif
+
+/**
+ * @brief GPTD4 driver identifier.
+ * @note The driver GPTD4 allocates the timer PIT3 when enabled.
+ */
+#if KINETIS_GPT_USE_PIT3 || defined(__DOXYGEN__)
+GPTDriver GPTD4;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+#if KINETIS_HAS_PIT_COMMON_IRQ
+static uint8_t active_channels = 0;
+#endif /* KINETIS_HAS_PIT_COMMON_IRQ */
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Shared IRQ handler.
+ *
+ * @param[in] gptp pointer to a @p GPTDriver object
+ */
+static void gpt_lld_serve_interrupt(GPTDriver *gptp) {
+
+ /* Clear the interrupt */
+ gptp->channel->TFLG |= PIT_TFLGn_TIF;
+
+ if (gptp->state == GPT_ONESHOT) {
+ gptp->state = GPT_READY; /* Back in GPT_READY state. */
+ gpt_lld_stop_timer(gptp); /* Timer automatically stopped. */
+ }
+ gptp->config->callback(gptp);
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if !KINETIS_HAS_PIT_COMMON_IRQ
+
+#if KINETIS_GPT_USE_PIT0
+/**
+ * @brief PIT1 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_PIT0_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD1);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* KINETIS_GPT_USE_PIT0 */
+
+#if KINETIS_GPT_USE_PIT1
+/**
+ * @brief PIT1 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_PIT1_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD2);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* KINETIS_GPT_USE_PIT1 */
+
+#if KINETIS_GPT_USE_PIT2
+/**
+ * @brief PIT2 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_PIT2_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD3);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* KINETIS_GPT_USE_PIT2 */
+
+#if KINETIS_GPT_USE_PIT3
+/**
+ * @brief PIT3 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_PIT3_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ gpt_lld_serve_interrupt(&GPTD4);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* KINETIS_GPT_USE_PIT3 */
+
+#else /* !KINETIS_HAS_PIT_COMMON_IRQ */
+/**
+ * @brief Common PIT interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_PIT_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+#if KINETIS_GPT_USE_PIT0
+ if(GPTD1.channel->TFLG & PIT_TFLGn_TIF)
+ gpt_lld_serve_interrupt(&GPTD1);
+#endif /* KINETIS_GPT_USE_PIT0 */
+#if KINETIS_GPT_USE_PIT1
+ if(GPTD2.channel->TFLG & PIT_TFLGn_TIF)
+ gpt_lld_serve_interrupt(&GPTD2);
+#endif /* KINETIS_GPT_USE_PIT1 */
+#if KINETIS_GPT_USE_PIT2
+ if(GPTD3.channel->TFLG & PIT_TFLGn_TIF)
+ gpt_lld_serve_interrupt(&GPTD3);
+#endif /* KINETIS_GPT_USE_PIT2 */
+#if KINETIS_GPT_USE_PIT3
+ if(GPTD4.channel->TFLG & PIT_TFLGn_TIF)
+ gpt_lld_serve_interrupt(&GPTD4);
+#endif /* KINETIS_GPT_USE_PIT3 */
+ OSAL_IRQ_EPILOGUE();
+}
+
+#endif /* !KINETIS_HAS_PIT_COMMON_IRQ */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level GPT driver initialization.
+ *
+ * @notapi
+ */
+void gpt_lld_init(void) {
+
+#if KINETIS_GPT_USE_PIT0
+ /* Driver initialization.*/
+ GPTD1.channel = &PIT->CHANNEL[0];
+ gptObjectInit(&GPTD1);
+#endif
+
+#if KINETIS_GPT_USE_PIT1
+ /* Driver initialization.*/
+ GPTD2.channel = &PIT->CHANNEL[1];
+ gptObjectInit(&GPTD2);
+#endif
+
+#if KINETIS_GPT_USE_PIT2
+ /* Driver initialization.*/
+ GPTD3.channel = &PIT->CHANNEL[2];
+ gptObjectInit(&GPTD3);
+#endif
+
+#if KINETIS_GPT_USE_PIT3
+ /* Driver initialization.*/
+ GPTD4.channel = &PIT->CHANNEL[3];
+ gptObjectInit(&GPTD4);
+#endif
+}
+
+/**
+ * @brief Configures and activates the GPT peripheral.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_start(GPTDriver *gptp) {
+ uint16_t psc;
+
+ if (gptp->state == GPT_STOP) {
+ /* Clock activation.*/
+ SIM->SCGC6 |= SIM_SCGC6_PIT;
+ gptp->clock = KINETIS_SYSCLK_FREQUENCY;
+
+#if !KINETIS_HAS_PIT_COMMON_IRQ
+
+#if KINETIS_GPT_USE_PIT0
+ if (&GPTD1 == gptp) {
+ nvicEnableVector(PITChannel0_IRQn, KINETIS_GPT_PIT0_IRQ_PRIORITY);
+ }
+#endif
+#if KINETIS_GPT_USE_PIT1
+ if (&GPTD2 == gptp) {
+ nvicEnableVector(PITChannel1_IRQn, KINETIS_GPT_PIT1_IRQ_PRIORITY);
+ }
+#endif
+#if KINETIS_GPT_USE_PIT2
+ if (&GPTD3 == gptp) {
+ nvicEnableVector(PITChannel2_IRQn, KINETIS_GPT_PIT2_IRQ_PRIORITY);
+ }
+#endif
+#if KINETIS_GPT_USE_PIT3
+ if (&GPTD4 == gptp) {
+ nvicEnableVector(PITChannel3_IRQn, KINETIS_GPT_PIT3_IRQ_PRIORITY);
+ }
+#endif
+
+#else /* !KINETIS_HAS_PIT_COMMON_IRQ */
+ nvicEnableVector(PIT_IRQn, KINETIS_GPT_PIT_IRQ_PRIORITY);
+ active_channels++;
+#endif /* !KINETIS_HAS_PIT_COMMON_IRQ */
+ }
+
+ /* Prescaler value calculation.*/
+ psc = (uint16_t)((gptp->clock / gptp->config->frequency) - 1);
+ osalDbgAssert(((uint32_t)(psc + 1) * gptp->config->frequency) == gptp->clock,
+ "invalid frequency");
+
+ /* Enable the PIT */
+ PIT->MCR = 0;
+}
+
+/**
+ * @brief Deactivates the GPT peripheral.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_stop(GPTDriver *gptp) {
+
+ if (gptp->state == GPT_READY) {
+ SIM->SCGC6 &= ~SIM_SCGC6_PIT;
+
+ /* Disable the channel */
+ gptp->channel->TCTRL = 0;
+
+ /* Clear pending interrupts */
+ gptp->channel->TFLG |= PIT_TFLGn_TIF;
+
+#if !KINETIS_HAS_PIT_COMMON_IRQ
+
+#if KINETIS_GPT_USE_PIT0
+ if (&GPTD1 == gptp) {
+ nvicDisableVector(PITChannel0_IRQn);
+ }
+#endif
+#if KINETIS_GPT_USE_PIT1
+ if (&GPTD2 == gptp) {
+ nvicDisableVector(PITChannel1_IRQn);
+ }
+#endif
+#if KINETIS_GPT_USE_PIT2
+ if (&GPTD3 == gptp) {
+ nvicDisableVector(PITChannel2_IRQn);
+ }
+#endif
+#if KINETIS_GPT_USE_PIT3
+ if (&GPTD4 == gptp) {
+ nvicDisableVector(PITChannel3_IRQn);
+ }
+#endif
+
+#else /* !KINETIS_HAS_PIT_COMMON_IRQ */
+ if(--active_channels == 0)
+ nvicDisableVector(PIT_IRQn);
+#endif /* !KINETIS_HAS_PIT_COMMON_IRQ */
+ }
+}
+
+/**
+ * @brief Starts the timer in continuous mode.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ * @param[in] interval period in ticks
+ *
+ * @notapi
+ */
+void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t interval) {
+
+ /* Clear pending interrupts */
+ gptp->channel->TFLG |= PIT_TFLGn_TIF;
+
+ /* Set the interval */
+ gpt_lld_change_interval(gptp, interval);
+
+ /* Start the timer */
+ gptp->channel->TCTRL |= PIT_TCTRLn_TIE | PIT_TCTRLn_TEN;
+}
+
+/**
+ * @brief Stops the timer.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_stop_timer(GPTDriver *gptp) {
+
+ /* Stop the timer */
+ gptp->channel->TCTRL = 0;
+}
+
+/**
+ * @brief Starts the timer in one shot mode and waits for completion.
+ * @details This function specifically polls the timer waiting for completion
+ * in order to not have extra delays caused by interrupt servicing,
+ * this function is only recommended for short delays.
+ *
+ * @param[in] gptp pointer to the @p GPTDriver object
+ * @param[in] interval time interval in ticks
+ *
+ * @notapi
+ */
+void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval) {
+ struct PIT_CHANNEL *channel = gptp->channel;
+
+ /* Disable timer and disable interrupts */
+ channel->TCTRL = 0;
+
+ /* Clear the interrupt flag */
+ channel->TFLG |= PIT_TFLGn_TIF;
+
+ /* Set the interval */
+ channel->LDVAL = (gptp->clock / gptp->config->frequency) * interval;
+
+ /* Enable Timer but keep interrupts disabled */
+ channel->TCTRL = PIT_TCTRLn_TEN;
+
+ /* Wait for the interrupt flag to be set */
+ while (!(channel->TFLG & PIT_TFLGn_TIF))
+ ;
+
+ /* Disable timer and disable interrupts */
+ channel->TCTRL = 0;
+}
+
+#endif /* HAL_USE_GPT */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/gpt_lld.h b/os/hal/ports/KINETIS/LLD/gpt_lld.h new file mode 100644 index 0000000..5c3e233 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/gpt_lld.h @@ -0,0 +1,333 @@ +/*
+ 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/gpt_lld.h
+ * @brief KINETIS GPT subsystem low level driver header.
+ *
+ * @addtogroup GPT
+ * @{
+ */
+
+#ifndef _GPT_LLD_H_
+#define _GPT_LLD_H_
+
+#if HAL_USE_GPT || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief GPTD1 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD1 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(KINETIS_GPT_USE_PIT0) || defined(__DOXYGEN__)
+#define KINETIS_GPT_USE_PIT0 FALSE
+#endif
+
+/**
+ * @brief GPTD2 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD2 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(KINETIS_GPT_USE_PIT1) || defined(__DOXYGEN__)
+#define KINETIS_GPT_USE_PIT1 FALSE
+#endif
+
+/**
+ * @brief GPTD3 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD3 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(KINETIS_GPT_USE_PIT2) || defined(__DOXYGEN__)
+#define KINETIS_GPT_USE_PIT2 FALSE
+#endif
+
+/**
+ * @brief GPTD4 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD4 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(KINETIS_GPT_USE_PIT3) || defined(__DOXYGEN__)
+#define KINETIS_GPT_USE_PIT3 FALSE
+#endif
+
+/**
+ * @brief GPTD1 interrupt priority level setting.
+ */
+#if !defined(KINETIS_GPT_PIT0_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_GPT_PIT0_IRQ_PRIORITY 7
+#endif
+
+/**
+ * @brief GPTD2 interrupt priority level setting.
+ */
+#if !defined(KINETIS_GPT_PIT1_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_GPT_PIT1_IRQ_PRIORITY 7
+#endif
+
+/**
+ * @brief GPTD3 interrupt priority level setting.
+ */
+#if !defined(KINETIS_GPT_PIT2_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_GPT_PIT2_IRQ_PRIORITY 7
+#endif
+
+/**
+ * @brief GPTD4 interrupt priority level setting.
+ */
+#if !defined(KINETIS_GPT_PIT3_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_GPT_PIT3_IRQ_PRIORITY 7
+#endif
+
+/**
+ * @brief GPTD* common interrupt priority level setting.
+ */
+#if (KINETIS_HAS_PIT_COMMON_IRQ && !defined(KINETIS_GPT_PIT_IRQ_PRIORITY)) \
+ || defined(__DOXYGEN__)
+#define KINETIS_GPT_PIT_IRQ_PRIORITY 2
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if KINETIS_GPT_USE_PIT0 && !KINETIS_HAS_PIT0
+#error "PIT0 not present in the selected device"
+#endif
+
+#if KINETIS_GPT_USE_PIT1 && !KINETIS_HAS_PIT1
+#error "PIT1 not present in the selected device"
+#endif
+
+#if KINETIS_GPT_USE_PIT2 && !KINETIS_HAS_PIT2
+#error "PIT2 not present in the selected device"
+#endif
+
+#if KINETIS_GPT_USE_PIT3 && !KINETIS_HAS_PIT3
+#error "PIT3 not present in the selected device"
+#endif
+
+#if !KINETIS_GPT_USE_PIT0 && !KINETIS_GPT_USE_PIT1 && \
+ !KINETIS_GPT_USE_PIT2 && !KINETIS_GPT_USE_PIT3
+#error "GPT driver activated but no PIT peripheral assigned"
+#endif
+
+#if KINETIS_GPT_USE_PIT0 && !KINETIS_HAS_PIT_COMMON_IRQ && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_GPT_PIT0_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PIT0"
+#endif
+
+#if KINETIS_GPT_USE_PIT1 && !KINETIS_HAS_PIT_COMMON_IRQ && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_GPT_PIT1_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PIT1"
+#endif
+
+#if KINETIS_GPT_USE_PIT2 && !KINETIS_HAS_PIT_COMMON_IRQ && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_GPT_PIT2_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PIT2"
+#endif
+
+#if KINETIS_GPT_USE_PIT3 && !KINETIS_HAS_PIT_COMMON_IRQ && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_GPT_PIT3_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PIT3"
+#endif
+
+#if KINETIS_HAS_PIT_COMMON_IRQ && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_GPT_PIT_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to PIT"
+#endif
+
+#if KINETIS_GPT_USE_PIT0 && !defined(KINETIS_PIT0_IRQ_VECTOR) && \
+ !KINETIS_HAS_PIT_COMMON_IRQ
+#error "KINETIS_PIT0_IRQ_VECTOR not defined"
+#endif
+
+#if KINETIS_GPT_USE_PIT1 && !defined(KINETIS_PIT1_IRQ_VECTOR) && \
+ !KINETIS_HAS_PIT_COMMON_IRQ
+#error "KINETIS_PIT1_IRQ_VECTOR not defined"
+#endif
+
+#if KINETIS_GPT_USE_PIT2 && !defined(KINETIS_PIT2_IRQ_VECTOR) && \
+ !KINETIS_HAS_PIT_COMMON_IRQ
+#error "KINETIS_PIT2_IRQ_VECTOR not defined"
+#endif
+
+#if KINETIS_GPT_USE_PIT3 && !defined(KINETIS_PIT3_IRQ_VECTOR) && \
+ !KINETIS_HAS_PIT_COMMON_IRQ
+#error "KINETIS_PIT3_IRQ_VECTOR not defined"
+#endif
+
+#if KINETIS_HAS_PIT_COMMON_IRQ && !defined(KINETIS_PIT_IRQ_VECTOR)
+#error "KINETIS_PIT_IRQ_VECTOR not defined"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief GPT frequency type.
+ */
+typedef uint32_t gptfreq_t;
+
+/**
+ * @brief GPT counter type.
+ */
+typedef uint32_t gptcnt_t;
+
+/**
+ * @brief Driver configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+ /**
+ * @brief Timer clock in Hz.
+ * @note The low level can use assertions in order to catch invalid
+ * frequency specifications.
+ */
+ gptfreq_t frequency;
+ /**
+ * @brief Timer callback pointer.
+ * @note This callback is invoked on GPT counter events.
+ * @note This callback can be set to @p NULL but in that case the
+ * one-shot mode cannot be used.
+ */
+ gptcallback_t callback;
+ /* End of the mandatory fields.*/
+} GPTConfig;
+
+/**
+ * @brief Structure representing a GPT driver.
+ */
+struct GPTDriver {
+ /**
+ * @brief Driver state.
+ */
+ gptstate_t state;
+ /**
+ * @brief Current configuration data.
+ */
+ const GPTConfig *config;
+#if defined(GPT_DRIVER_EXT_FIELDS)
+ GPT_DRIVER_EXT_FIELDS
+#endif
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Timer base clock.
+ */
+ uint32_t clock;
+ /**
+ * @brief Channel structure in PIT registers block.
+ */
+ struct PIT_CHANNEL *channel;
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Changes the interval of GPT peripheral.
+ * @details This function changes the interval of a running GPT unit.
+ * @pre The GPT unit must be running in continuous mode.
+ * @post The GPT unit interval is changed to the new value.
+ * @note The function has effect at the next cycle start.
+ *
+ * @param[in] gptp pointer to a @p GPTDriver object
+ * @param[in] interval new cycle time in timer ticks
+ *
+ * @notapi
+ */
+#define gpt_lld_change_interval(gptp, interval) \
+ ((gptp)->channel->LDVAL = (uint32_t)( \
+ ( (gptp)->clock / (gptp)->config->frequency ) * \
+ ( interval ) ))
+
+/**
+ * @brief Returns the interval of GPT peripheral.
+ * @pre The GPT unit must be running in continuous mode.
+ *
+ * @param[in] gptp pointer to a @p GPTDriver object
+ * @return The current interval.
+ *
+ * @notapi
+ */
+#define gpt_lld_get_interval(gptp) \
+ ((uint32_t)( ( (uint64_t)(gptp)->channel->LDVAL * (gptp)->config->frequency ) / \
+ ( (uint32_t)(gptp)->clock ) ))
+
+/**
+ * @brief Returns the counter value of GPT peripheral.
+ * @pre The GPT unit must be running in continuous mode.
+ * @note The nature of the counter is not defined, it may count upward
+ * or downward, it could be continuously running or not.
+ *
+ * @param[in] gptp pointer to a @p GPTDriver object
+ * @return The current counter value.
+ *
+ * @notapi
+ */
+#define gpt_lld_get_counter(gptp) ((gptcnt_t)(gptp)->pit->CHANNEL[gptp->channel].CVAL)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if KINETIS_GPT_USE_PIT0 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD1;
+#endif
+
+#if KINETIS_GPT_USE_PIT1 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD2;
+#endif
+
+#if KINETIS_GPT_USE_PIT2 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD3;
+#endif
+
+#if KINETIS_GPT_USE_PIT3 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD4;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void gpt_lld_init(void);
+ void gpt_lld_start(GPTDriver *gptp);
+ void gpt_lld_stop(GPTDriver *gptp);
+ void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t period);
+ void gpt_lld_stop_timer(GPTDriver *gptp);
+ void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_GPT */
+
+#endif /* _GPT_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/i2c_lld.c b/os/hal/ports/KINETIS/LLD/i2c_lld.c index 4e42d16..3659a93 100644 --- a/os/hal/ports/KINETIS/LLD/i2c_lld.c +++ b/os/hal/ports/KINETIS/LLD/i2c_lld.c @@ -15,7 +15,7 @@ */
/**
- * @file KINETIS/i2c_lld.c
+ * @file KINETIS/LLD/i2c_lld.c
* @brief KINETIS I2C subsystem low level driver source.
*
* @addtogroup I2C
@@ -191,8 +191,7 @@ OSAL_IRQ_HANDLER(KINETIS_I2C0_IRQ_VECTOR) { #if KINETIS_I2C_USE_I2C1 || defined(__DOXYGEN__)
-/* FIXME: KL2x has I2C1 on Vector64; K2x don't have I2C1! */
-OSAL_IRQ_HANDLER(Vector64) {
+OSAL_IRQ_HANDLER(KINETIS_I2C1_IRQ_VECTOR) {
OSAL_IRQ_PROLOGUE();
serve_interrupt(&I2CD2);
diff --git a/os/hal/ports/KINETIS/LLD/i2c_lld.h b/os/hal/ports/KINETIS/LLD/i2c_lld.h index 11de3ae..5f1ed87 100644 --- a/os/hal/ports/KINETIS/LLD/i2c_lld.h +++ b/os/hal/ports/KINETIS/LLD/i2c_lld.h @@ -15,7 +15,7 @@ */
/**
- * @file KINETIS/i2c_lld.h
+ * @file KINETIS/LLD/i2c_lld.h
* @brief KINETIS I2C subsystem low level driver header.
*
* @addtogroup I2C
@@ -63,10 +63,38 @@ #endif
/** @} */
+/**
+ * @brief I2C0 interrupt priority level setting.
+ */
+#if !defined(KINETIS_I2C_I2C0_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_I2C_I2C0_PRIORITY 12
+#endif
+
+/**
+ * @brief I2C1 interrupt priority level setting.
+ */
+#if !defined(KINETIS_I2C_I2C1_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_I2C_I2C1_PRIORITY 12
+#endif
+
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
+/** @brief error checks */
+#if KINETIS_I2C_USE_I2C0 && !KINETIS_HAS_I2C0
+#error "I2C0 not present in the selected device"
+#endif
+
+#if KINETIS_I2C_USE_I2C1 && !KINETIS_HAS_I2C1
+#error "I2C1 not present in the selected device"
+#endif
+
+
+#if !(KINETIS_I2C_USE_I2C0 || KINETIS_I2C_USE_I2C1)
+#error "I2C driver activated but no I2C peripheral assigned"
+#endif
+
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
diff --git a/os/hal/ports/KINETIS/LLD/pal_lld.c b/os/hal/ports/KINETIS/LLD/pal_lld.c new file mode 100644 index 0000000..b307833 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/pal_lld.c @@ -0,0 +1,245 @@ +/*
+ 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/LLD/pal_lld.c
+ * @brief PAL subsystem low level driver.
+ *
+ * @addtogroup PAL
+ * @{
+ */
+
+#include "osal.h"
+#include "hal.h"
+
+#if HAL_USE_PAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Reads a logical state from an I/O pad.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ *
+ * @param[in] port port identifier
+ * @param[in] pad pad number within the port
+ * @return The logical state.
+ * @retval PAL_LOW low logical state.
+ * @retval PAL_HIGH high logical state.
+ *
+ * @notapi
+ */
+uint8_t _pal_lld_readpad(ioportid_t port,
+ uint8_t pad) {
+
+ return (port->PDIR & ((uint32_t) 1 << pad)) ? PAL_HIGH : PAL_LOW;
+}
+
+/**
+ * @brief Writes a logical state on an output pad.
+ * @note This function is not meant to be invoked directly by the
+ * application code.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ *
+ * @param[in] port port identifier
+ * @param[in] pad pad number within the port
+ * @param[in] bit logical value, the value must be @p PAL_LOW or
+ * @p PAL_HIGH
+ *
+ * @notapi
+ */
+void _pal_lld_writepad(ioportid_t port,
+ uint8_t pad,
+ uint8_t bit) {
+
+ if (bit == PAL_HIGH)
+ port->PDOR |= ((uint32_t) 1 << pad);
+ else
+ port->PDOR &= ~((uint32_t) 1 << pad);
+}
+
+/**
+ * @brief Pad mode setup.
+ * @details This function programs a pad with the specified mode.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ * @note Programming an unknown or unsupported mode is silently ignored.
+ *
+ * @param[in] port port identifier
+ * @param[in] pad pad number within the port
+ * @param[in] mode pad mode
+ *
+ * @notapi
+ */
+void _pal_lld_setpadmode(ioportid_t port,
+ uint8_t pad,
+ iomode_t mode) {
+
+ PORT_TypeDef *portcfg = NULL;
+
+ chDbgAssert(pad < PADS_PER_PORT, "pal_lld_setpadmode() #1, invalid pad");
+
+ if (mode == PAL_MODE_OUTPUT_PUSHPULL)
+ port->PDDR |= ((uint32_t) 1 << pad);
+ else
+ port->PDDR &= ~((uint32_t) 1 << pad);
+
+ if (port == IOPORT1)
+ portcfg = PORTA;
+ else if (port == IOPORT2)
+ portcfg = PORTB;
+ else if (port == IOPORT3)
+ portcfg = PORTC;
+ else if (port == IOPORT4)
+ portcfg = PORTD;
+ else if (port == IOPORT5)
+ portcfg = PORTE;
+
+ chDbgAssert(portcfg != NULL, "pal_lld_setpadmode() #2, invalid port");
+
+ switch (mode) {
+ case PAL_MODE_RESET:
+ case PAL_MODE_INPUT:
+ case PAL_MODE_OUTPUT_PUSHPULL:
+ portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(1);
+ break;
+#if KINETIS_GPIO_HAS_OPENDRAIN
+ case PAL_MODE_OUTPUT_OPENDRAIN:
+ portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(1) |
+ PORTx_PCRn_ODE;
+ break;
+#else
+#undef PAL_MODE_OUTPUT_OPENDRAIN
+#endif
+ case PAL_MODE_INPUT_PULLUP:
+ portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(1) |
+ PORTx_PCRn_PE |
+ PORTx_PCRn_PS;
+ break;
+ case PAL_MODE_INPUT_PULLDOWN:
+ portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(1) |
+ PORTx_PCRn_PE;
+ break;
+ case PAL_MODE_UNCONNECTED:
+ case PAL_MODE_INPUT_ANALOG:
+ portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(0);
+ break;
+ case PAL_MODE_ALTERNATIVE_1:
+ portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(1);
+ break;
+ case PAL_MODE_ALTERNATIVE_2:
+ portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(2);
+ break;
+ case PAL_MODE_ALTERNATIVE_3:
+ portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(3);
+ break;
+ case PAL_MODE_ALTERNATIVE_4:
+ portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(4);
+ break;
+ case PAL_MODE_ALTERNATIVE_5:
+ portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(5);
+ break;
+ case PAL_MODE_ALTERNATIVE_6:
+ portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(6);
+ break;
+ case PAL_MODE_ALTERNATIVE_7:
+ portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(7);
+ break;
+ }
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Kinetis I/O ports configuration.
+ * @details Ports A-E clocks enabled.
+ *
+ * @param[in] config the Kinetis ports configuration
+ *
+ * @notapi
+ */
+void _pal_lld_init(const PALConfig *config) {
+
+ int i, j;
+
+ /* Enable clocking on all Ports */
+ SIM->SCGC5 |= SIM_SCGC5_PORTA |
+ SIM_SCGC5_PORTB |
+ SIM_SCGC5_PORTC |
+ SIM_SCGC5_PORTD |
+ SIM_SCGC5_PORTE;
+
+ /* Initial PORT and GPIO setup */
+ for (i = 0; i < TOTAL_PORTS; i++) {
+ for (j = 0; j < PADS_PER_PORT; j++) {
+ pal_lld_setpadmode(config->ports[i].port,
+ j,
+ config->ports[i].pads[j]);
+ }
+ }
+}
+
+/**
+ * @brief Pads mode setup.
+ * @details This function programs a pads group belonging to the same port
+ * with the specified mode.
+ *
+ * @param[in] port the port identifier
+ * @param[in] mask the group mask
+ * @param[in] mode the mode
+ *
+ * @notapi
+ */
+void _pal_lld_setgroupmode(ioportid_t port,
+ ioportmask_t mask,
+ iomode_t mode) {
+
+ int i;
+
+ (void)mask;
+
+ for (i = 0; i < PADS_PER_PORT; i++) {
+ pal_lld_setpadmode(port, i, mode);
+ }
+}
+
+#endif /* HAL_USE_PAL */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/pal_lld.h b/os/hal/ports/KINETIS/LLD/pal_lld.h new file mode 100644 index 0000000..2bd9872 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/pal_lld.h @@ -0,0 +1,386 @@ +/*
+ 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/LLD/pal_lld.h
+ * @brief PAL subsystem low level driver header.
+ *
+ * @addtogroup PAL
+ * @{
+ */
+
+#ifndef _PAL_LLD_H_
+#define _PAL_LLD_H_
+
+#if HAL_USE_PAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Unsupported modes and specific modes */
+/*===========================================================================*/
+
+#define PAL_MODE_ALTERNATIVE_1 0x10
+#define PAL_MODE_ALTERNATIVE_2 0x11
+#define PAL_MODE_ALTERNATIVE_3 0x12
+#define PAL_MODE_ALTERNATIVE_4 0x13
+#define PAL_MODE_ALTERNATIVE_5 0x14
+#define PAL_MODE_ALTERNATIVE_6 0x15
+#define PAL_MODE_ALTERNATIVE_7 0x16
+
+#define PIN_MUX_ALTERNATIVE(x) PORTx_PCRn_MUX(x)
+
+/*===========================================================================*/
+/* I/O Ports Types and constants. */
+/*===========================================================================*/
+
+#define TOTAL_PORTS 5
+#define PADS_PER_PORT 32
+
+/**
+ * @brief Width, in bits, of an I/O port.
+ */
+#define PAL_IOPORTS_WIDTH 32
+
+/**
+ * @brief Whole port mask.
+ * @brief This macro specifies all the valid bits into a port.
+ */
+#define PAL_WHOLE_PORT ((ioportmask_t)0xFFFFFFFF)
+
+/**
+ * @brief Digital I/O port sized unsigned type.
+ */
+typedef uint32_t ioportmask_t;
+
+/**
+ * @brief Digital I/O modes.
+ */
+typedef uint32_t iomode_t;
+
+/**
+ * @brief Port Identifier.
+ * @details This type can be a scalar or some kind of pointer, do not make
+ * any assumption about it, use the provided macros when populating
+ * variables of this type.
+ */
+typedef GPIO_TypeDef *ioportid_t;
+
+/**
+ * @brief Port Configuration.
+ * @details This structure stores the configuration parameters of all pads
+ * belonging to a port.
+ */
+typedef struct {
+ ioportid_t port;
+ iomode_t pads[PADS_PER_PORT];
+} PortConfig;
+
+/**
+ * @brief Generic I/O ports static initializer.
+ * @details An instance of this structure must be passed to @p palInit() at
+ * system startup time in order to initialized the digital I/O
+ * subsystem. This represents only the initial setup, specific pads
+ * or whole ports can be reprogrammed at later time.
+ * @note Implementations may extend this structure to contain more,
+ * architecture dependent, fields.
+ */
+typedef struct {
+ PortConfig ports[TOTAL_PORTS];
+} PALConfig;
+
+/*===========================================================================*/
+/* I/O Ports Identifiers. */
+/*===========================================================================*/
+
+/**
+ * @brief GPIO port A identifier.
+ */
+#define IOPORT1 GPIOA
+
+/**
+ * @brief GPIO port B identifier.
+ */
+#define IOPORT2 GPIOB
+
+/**
+ * @brief GPIO port C identifier.
+ */
+#define IOPORT3 GPIOC
+
+/**
+ * @brief GPIO port D identifier.
+ */
+#define IOPORT4 GPIOD
+
+/**
+ * @brief GPIO port E identifier.
+ */
+#define IOPORT5 GPIOE
+
+/*===========================================================================*/
+/* Implementation, some of the following macros could be implemented as */
+/* functions, if so please put them in pal_lld.c. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level PAL subsystem initialization.
+ *
+ * @param[in] config architecture-dependent ports configuration
+ *
+ * @notapi
+ */
+#define pal_lld_init(config) _pal_lld_init(config)
+
+/**
+ * @brief Reads the physical I/O port states.
+ *
+ * @param[in] port port identifier
+ * @return The port bits.
+ *
+ * @notapi
+ */
+#define pal_lld_readport(port) \
+ (port)->PDIR
+
+/**
+ * @brief Reads the output latch.
+ * @details The purpose of this function is to read back the latched output
+ * value.
+ *
+ * @param[in] port port identifier
+ * @return The latched logical states.
+ *
+ * @notapi
+ */
+#define pal_lld_readlatch(port) \
+ (port)->PDOR
+
+/**
+ * @brief Writes a bits mask on a I/O port.
+ *
+ * @param[in] port port identifier
+ * @param[in] bits bits to be written on the specified port
+ *
+ * @notapi
+ */
+#define pal_lld_writeport(port, bits) \
+ (port)->PDOR = (bits)
+
+/**
+ * @brief Sets a bits mask on a I/O port.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ *
+ * @param[in] port port identifier
+ * @param[in] bits bits to be ORed on the specified port
+ *
+ * @notapi
+ */
+#define pal_lld_setport(port, bits) \
+ (port)->PSOR = (bits)
+
+/**
+ * @brief Clears a bits mask on a I/O port.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ *
+ * @param[in] port port identifier
+ * @param[in] bits bits to be cleared on the specified port
+ *
+ * @notapi
+ */
+#define pal_lld_clearport(port, bits) \
+ (port)->PCOR = (bits)
+
+/**
+ * @brief Toggles a bits mask on a I/O port.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ *
+ * @param[in] port port identifier
+ * @param[in] bits bits to be toggled on the specified port
+ *
+ * @notapi
+ */
+#define pal_lld_toggleport(port, bits) \
+ (port)->PTOR = (bits)
+
+/**
+ * @brief Reads a group of bits.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ *
+ * @param[in] port port identifier
+ * @param[in] mask group mask
+ * @param[in] offset group bit offset within the port
+ * @return The group logical states.
+ *
+ * @notapi
+ */
+#define pal_lld_readgroup(port, mask, offset) 0
+
+/**
+ * @brief Writes a group of bits.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ *
+ * @param[in] port port identifier
+ * @param[in] mask group mask
+ * @param[in] offset group bit offset within the port
+ * @param[in] bits bits to be written. Values exceeding the group width
+ * are masked.
+ *
+ * @notapi
+ */
+#define pal_lld_writegroup(port, mask, offset, bits) (void)bits
+
+/**
+ * @brief Pads group mode setup.
+ * @details This function programs a pads group belonging to the same port
+ * with the specified mode.
+ * @note Programming an unknown or unsupported mode is silently ignored.
+ *
+ * @param[in] port port identifier
+ * @param[in] mask group mask
+ * @param[in] offset group bit offset within the port
+ * @param[in] mode group mode
+ *
+ * @notapi
+ */
+#define pal_lld_setgroupmode(port, mask, offset, mode) \
+ _pal_lld_setgroupmode(port, mask << offset, mode)
+
+/**
+ * @brief Reads a logical state from an I/O pad.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ *
+ * @param[in] port port identifier
+ * @param[in] pad pad number within the port
+ * @return The logical state.
+ * @retval PAL_LOW low logical state.
+ * @retval PAL_HIGH high logical state.
+ *
+ * @notapi
+ */
+#define pal_lld_readpad(port, pad) _pal_lld_readpad(port, pad)
+
+/**
+ * @brief Writes a logical state on an output pad.
+ * @note This function is not meant to be invoked directly by the
+ * application code.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ *
+ * @param[in] port port identifier
+ * @param[in] pad pad number within the port
+ * @param[in] bit logical value, the value must be @p PAL_LOW or
+ * @p PAL_HIGH
+ *
+ * @notapi
+ */
+#define pal_lld_writepad(port, pad, bit) _pal_lld_writepad(port, pad, bit)
+
+/**
+ * @brief Sets a pad logical state to @p PAL_HIGH.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ *
+ * @param[in] port port identifier
+ * @param[in] pad pad number within the port
+ *
+ * @notapi
+ */
+#define pal_lld_setpad(port, pad) (port)->PSOR = ((uint32_t) 1 << (pad))
+
+/**
+ * @brief Clears a pad logical state to @p PAL_LOW.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ *
+ * @param[in] port port identifier
+ * @param[in] pad pad number within the port
+ *
+ * @notapi
+ */
+#define pal_lld_clearpad(port, pad) (port)->PCOR = ((uint32_t) 1 << (pad))
+
+/**
+ * @brief Toggles a pad logical state.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ *
+ * @param[in] port port identifier
+ * @param[in] pad pad number within the port
+ *
+ * @notapi
+ */
+#define pal_lld_togglepad(port, pad) (port)->PTOR = ((uint32_t) 1 << (pad))
+
+/**
+ * @brief Pad mode setup.
+ * @details This function programs a pad with the specified mode.
+ * @note The @ref PAL provides a default software implementation of this
+ * functionality, implement this function if can optimize it by using
+ * special hardware functionalities or special coding.
+ * @note Programming an unknown or unsupported mode is silently ignored.
+ *
+ * @param[in] port port identifier
+ * @param[in] pad pad number within the port
+ * @param[in] mode pad mode
+ *
+ * @notapi
+ */
+#define pal_lld_setpadmode(port, pad, mode) \
+ _pal_lld_setpadmode(port, pad, mode)
+
+#if !defined(__DOXYGEN__)
+extern const PALConfig pal_default_config;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void _pal_lld_init(const PALConfig *config);
+ void _pal_lld_setgroupmode(ioportid_t port,
+ ioportmask_t mask,
+ iomode_t mode);
+ void _pal_lld_setpadmode(ioportid_t port,
+ uint8_t pad,
+ iomode_t mode);
+ uint8_t _pal_lld_readpad(ioportid_t port,
+ uint8_t pad);
+ void _pal_lld_writepad(ioportid_t port,
+ uint8_t pad,
+ uint8_t bit);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_PAL */
+
+#endif /* _PAL_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/serial_lld.c b/os/hal/ports/KINETIS/LLD/serial_lld.c new file mode 100644 index 0000000..c80cf22 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/serial_lld.c @@ -0,0 +1,583 @@ +/*
+ ChibiOS - Copyright (C) 2013-2015 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 KL2x/serial_lld.c
+ * @brief Kinetis KL2x Serial Driver subsystem low level driver source.
+ *
+ * @addtogroup SERIAL
+ * @{
+ */
+
+#include "osal.h"
+#include "hal.h"
+
+#if HAL_USE_SERIAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief SD1 driver identifier.
+ */
+#if KINETIS_SERIAL_USE_UART0 || defined(__DOXYGEN__)
+SerialDriver SD1;
+#endif
+
+#if KINETIS_SERIAL_USE_UART1 || defined(__DOXYGEN__)
+SerialDriver SD2;
+#endif
+
+#if KINETIS_SERIAL_USE_UART2 || defined(__DOXYGEN__)
+SerialDriver SD3;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Driver default configuration.
+ */
+static const SerialConfig default_config = {
+ 38400
+};
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+/**
+ * @brief Error handling routine.
+ *
+ * @param[in] sdp pointer to a @p SerialDriver object
+ * @param[in] isr UART s1 register value
+ */
+static void set_error(SerialDriver *sdp, uint8_t s1) {
+ eventflags_t sts = 0;
+
+ if (s1 & UARTx_S1_OR)
+ sts |= SD_OVERRUN_ERROR;
+ if (s1 & UARTx_S1_PF)
+ sts |= SD_PARITY_ERROR;
+ if (s1 & UARTx_S1_FE)
+ sts |= SD_FRAMING_ERROR;
+ if (s1 & UARTx_S1_NF)
+ sts |= SD_NOISE_ERROR;
+ osalSysLockFromISR();
+ chnAddFlagsI(sdp, sts);
+ osalSysUnlockFromISR();
+}
+
+/**
+ * @brief Common error IRQ handler.
+ *
+ * @param[in] sdp communication channel associated to the UART
+ */
+static void serve_error_interrupt(SerialDriver *sdp) {
+ UART_w_TypeDef *u = &(sdp->uart);
+ uint8_t s1 = *(u->s1_p);
+
+ /* S1 bits are write-1-to-clear for UART0 on KL2x. */
+ /* Clearing on K20x and KL2x/UART>0 is done by reading S1 and
+ * then reading D.*/
+
+#if defined(KL2x) && KINETIS_SERIAL_USE_UART0
+ if(sdp == &SD1) {
+ if(s1 & UARTx_S1_IDLE) {
+ *(u->s1_p) |= UARTx_S1_IDLE;
+ }
+
+ if(s1 & (UARTx_S1_OR | UARTx_S1_NF | UARTx_S1_FE | UARTx_S1_PF)) {
+ set_error(sdp, s1);
+ *(u->s1_p) |= UARTx_S1_OR | UARTx_S1_NF | UARTx_S1_FE | UARTx_S1_PF;
+ }
+ return;
+ }
+#endif /* KL2x && KINETIS_SERIAL_USE_UART0 */
+
+ if(s1 & UARTx_S1_IDLE) {
+ (void)*(u->d_p);
+ }
+
+ if(s1 & (UARTx_S1_OR | UARTx_S1_NF | UARTx_S1_FE | UARTx_S1_PF)) {
+ set_error(sdp, s1);
+ (void)*(u->d_p);
+ }
+}
+
+/**
+ * @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] sdp communication channel associated to the UART
+ */
+static void serve_interrupt(SerialDriver *sdp) {
+ UART_w_TypeDef *u = &(sdp->uart);
+ uint8_t s1 = *(u->s1_p);
+
+ if (s1 & UARTx_S1_RDRF) {
+ osalSysLockFromISR();
+ if (iqIsEmptyI(&sdp->iqueue))
+ chnAddFlagsI(sdp, CHN_INPUT_AVAILABLE);
+ if (iqPutI(&sdp->iqueue, *(u->d_p)) < Q_OK)
+ chnAddFlagsI(sdp, SD_OVERRUN_ERROR);
+ osalSysUnlockFromISR();
+ }
+
+ if (s1 & UARTx_S1_TDRE) {
+ msg_t b;
+
+ osalSysLockFromISR();
+ b = oqGetI(&sdp->oqueue);
+ osalSysUnlockFromISR();
+
+ if (b < Q_OK) {
+ osalSysLockFromISR();
+ chnAddFlagsI(sdp, CHN_OUTPUT_EMPTY);
+ osalSysUnlockFromISR();
+ *(u->c2_p) &= ~UARTx_C2_TIE;
+ } else {
+ *(u->d_p) = b;
+ }
+ }
+
+ serve_error_interrupt(sdp);
+}
+
+/**
+ * @brief Attempts a TX preload
+ */
+static void preload(SerialDriver *sdp) {
+ UART_w_TypeDef *u = &(sdp->uart);
+
+ if (*(u->s1_p) & UARTx_S1_TDRE) {
+ msg_t b = oqGetI(&sdp->oqueue);
+ if (b < Q_OK) {
+ chnAddFlagsI(sdp, CHN_OUTPUT_EMPTY);
+ return;
+ }
+ *(u->d_p) = b;
+ *(u->c2_p) |= UARTx_C2_TIE;
+ }
+}
+
+/**
+ * @brief Driver output notification.
+ */
+#if KINETIS_SERIAL_USE_UART0 || defined(__DOXYGEN__)
+static void notify1(io_queue_t *qp)
+{
+ (void)qp;
+ preload(&SD1);
+}
+#endif
+
+#if KINETIS_SERIAL_USE_UART1 || defined(__DOXYGEN__)
+static void notify2(io_queue_t *qp)
+{
+ (void)qp;
+ preload(&SD2);
+}
+#endif
+
+#if KINETIS_SERIAL_USE_UART2 || defined(__DOXYGEN__)
+static void notify3(io_queue_t *qp)
+{
+ (void)qp;
+ preload(&SD3);
+}
+#endif
+
+/**
+ * @brief Common UART configuration.
+ *
+ */
+static void configure_uart(SerialDriver *sdp, const SerialConfig *config) {
+
+ UART_w_TypeDef *uart = &(sdp->uart);
+ uint32_t divisor;
+
+ /* Discard any incoming data. */
+ while (*(uart->s1_p) & UARTx_S1_RDRF) {
+ (void)*(uart->d_p);
+ }
+
+ /* Disable UART while configuring */
+ *(uart->c2_p) &= ~(UARTx_C2_RE | UARTx_C2_TE);
+
+ /* The clock sources for various UARTs can be different. */
+ divisor=KINETIS_BUSCLK_FREQUENCY;
+
+#if defined(KL2x)
+
+#if KINETIS_SERIAL_USE_UART0
+ if (sdp == &SD1) {
+ /* UART0 can be clocked from several sources on KL2x. */
+ divisor = KINETIS_UART0_CLOCK_FREQ;
+ /* FIXME: change fixed OSR = 16 to dynamic value based on baud */
+ /* Note: OSR only works on KL2x/UART0; further UARTs have fixed 16. */
+ *(uart->c4_p) = UARTx_C4_OSR(16 - 1);
+ }
+#endif /* KINETIS_SERIAL_USE_UART0 */
+
+#elif defined(K20x) /* KL2x */
+
+ /* UARTs 0 and 1 are clocked from SYSCLK, others from BUSCLK on K20x. */
+#if KINETIS_SERIAL_USE_UART0
+ if(sdp == &SD1)
+ divisor = KINETIS_SYSCLK_FREQUENCY;
+#endif /* KINETIS_SERIAL_USE_UART0 */
+#if KINETIS_SERIAL_USE_UART1
+ if(sdp == &SD2)
+ divisor = KINETIS_SYSCLK_FREQUENCY;
+#endif /* KINETIS_SERIAL_USE_UART1 */
+
+#else /* K20x */
+#error Baud rate selection not implemented for this MCU type
+#endif /* K20x */
+
+ divisor = (divisor * 2 + 1) / config->sc_speed;
+
+ *(uart->bdh_p) = UARTx_BDH_SBR(divisor >> 13) | (*(uart->bdh_p) & ~UARTx_BDH_SBR_MASK);
+ *(uart->bdl_p) = UARTx_BDL_SBR(divisor >> 5);
+#if defined(K20x)
+ *(uart->c4_p) = UARTx_C4_BRFA(divisor) | (*(uart->c4_p) & ~UARTx_C4_BRFA_MASK);
+#endif /* K20x */
+
+ /* Line settings. */
+ *(uart->c1_p) = 0;
+ /* Enable error event interrupts (overrun, noise, framing, parity) */
+ *(uart->c3_p) = UARTx_C3_ORIE | UARTx_C3_NEIE | UARTx_C3_FEIE | UARTx_C3_PEIE;
+ /* Enable the peripheral; including receive interrupts. */
+ *(uart->c2_p) |= UARTx_C2_RE | UARTx_C2_RIE | UARTx_C2_TE;
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if KINETIS_SERIAL_USE_UART0 || defined(__DOXYGEN__)
+OSAL_IRQ_HANDLER(KINETIS_SERIAL0_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ serve_interrupt(&SD1);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if KINETIS_SERIAL_USE_UART1 || defined(__DOXYGEN__)
+OSAL_IRQ_HANDLER(KINETIS_SERIAL1_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ serve_interrupt(&SD2);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if KINETIS_SERIAL_USE_UART2 || defined(__DOXYGEN__)
+OSAL_IRQ_HANDLER(KINETIS_SERIAL2_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ serve_interrupt(&SD3);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if KINETIS_HAS_SERIAL_ERROR_IRQ
+
+#if KINETIS_SERIAL_USE_UART0 || defined(__DOXYGEN__)
+OSAL_IRQ_HANDLER(KINETIS_SERIAL0_ERROR_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ serve_error_interrupt(&SD1);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if KINETIS_SERIAL_USE_UART1 || defined(__DOXYGEN__)
+OSAL_IRQ_HANDLER(KINETIS_SERIAL1_ERROR_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ serve_error_interrupt(&SD2);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if KINETIS_SERIAL_USE_UART2 || defined(__DOXYGEN__)
+OSAL_IRQ_HANDLER(KINETIS_SERIAL2_ERROR_IRQ_VECTOR) {
+ OSAL_IRQ_PROLOGUE();
+ serve_error_interrupt(&SD3);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#endif /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level serial driver initialization.
+ *
+ * @notapi
+ */
+void sd_lld_init(void) {
+
+#if KINETIS_SERIAL_USE_UART0
+ /* Driver initialization.*/
+ sdObjectInit(&SD1, NULL, notify1);
+#if ! KINETIS_SERIAL0_IS_LPUART
+ SD1.uart.bdh_p = &(UART0->BDH);
+ SD1.uart.bdl_p = &(UART0->BDL);
+ SD1.uart.c1_p = &(UART0->C1);
+ SD1.uart.c2_p = &(UART0->C2);
+ SD1.uart.c3_p = &(UART0->C3);
+ SD1.uart.c4_p = &(UART0->C4);
+ SD1.uart.s1_p = (volatile uint8_t *)&(UART0->S1);
+ SD1.uart.s2_p = &(UART0->S2);
+ SD1.uart.d_p = &(UART0->D);
+#else /* ! KINETIS_SERIAL0_IS_LPUART */
+ /* little endian! */
+ SD1.uart.bdh_p = ((uint8_t *)&(LPUART0->BAUD)) + 1; /* BDH: BAUD, byte 3 */
+ SD1.uart.bdl_p = ((uint8_t *)&(LPUART0->BAUD)) + 0; /* BDL: BAUD, byte 4 */
+ SD1.uart.c1_p = ((uint8_t *)&(LPUART0->CTRL)) + 0; /* C1: CTRL, byte 4 */
+ SD1.uart.c2_p = ((uint8_t *)&(LPUART0->CTRL)) + 2; /* C2: CTRL, byte 2 */
+ SD1.uart.c3_p = ((uint8_t *)&(LPUART0->CTRL)) + 3; /* C3: CTRL, byte 1 */
+ SD1.uart.c4_p = ((uint8_t *)&(LPUART0->BAUD)) + 3; /* C4: BAUD, byte 1 */
+ SD1.uart.s1_p = ((uint8_t *)&(LPUART0->STAT)) + 2; /* S1: STAT, byte 2 */
+ SD1.uart.s2_p = ((uint8_t *)&(LPUART0->STAT)) + 3; /* S2: STAT, byte 1 */
+ SD1.uart.d_p = ((uint8_t *)&(LPUART0->DATA)) + 0; /* D: DATA, byte 4 */
+#endif /* ! KINETIS_SERIAL0_IS_LPUART */
+#if KINETIS_SERIAL0_IS_UARTLP
+ SD1.uart.uartlp_p = UART0;
+ SD1.uart.uart_p = NULL;
+#elif KINETIS_SERIAL0_IS_LPUART
+ SD1.uart.lpuart_p = LPUART0;
+ SD1.uart.uart_p = NULL;
+#else /* KINETIS_SERIAL0_IS_LPUART */
+ SD1.uart.uart_p = UART0;
+#endif /* KINETIS_SERIAL0_IS_LPUART */
+#endif /* KINETIS_SERIAL_USE_UART0 */
+
+#if KINETIS_SERIAL_USE_UART1
+ /* Driver initialization.*/
+ sdObjectInit(&SD2, NULL, notify2);
+#if ! KINETIS_SERIAL1_IS_LPUART
+ SD2.uart.bdh_p = &(UART1->BDH);
+ SD2.uart.bdl_p = &(UART1->BDL);
+ SD2.uart.c1_p = &(UART1->C1);
+ SD2.uart.c2_p = &(UART1->C2);
+ SD2.uart.c3_p = &(UART1->C3);
+ SD2.uart.c4_p = &(UART1->C4);
+ SD2.uart.s1_p = (volatile uint8_t *)&(UART1->S1);
+ SD2.uart.s2_p = &(UART1->S2);
+ SD2.uart.d_p = &(UART1->D);
+ SD2.uart.uart_p = UART1;
+#else /* ! KINETIS_SERIAL1_IS_LPUART */
+ /* little endian! */
+ SD2.uart.bdh_p = ((uint8_t *)&(LPUART1->BAUD)) + 1; /* BDH: BAUD, byte 3 */
+ SD2.uart.bdl_p = ((uint8_t *)&(LPUART1->BAUD)) + 0; /* BDL: BAUD, byte 4 */
+ SD2.uart.c1_p = ((uint8_t *)&(LPUART1->CTRL)) + 0; /* C1: CTRL, byte 4 */
+ SD2.uart.c2_p = ((uint8_t *)&(LPUART1->CTRL)) + 2; /* C2: CTRL, byte 2 */
+ SD2.uart.c3_p = ((uint8_t *)&(LPUART1->CTRL)) + 3; /* C3: CTRL, byte 1 */
+ SD2.uart.c4_p = ((uint8_t *)&(LPUART1->BAUD)) + 3; /* C4: BAUD, byte 1 */
+ SD2.uart.s1_p = ((uint8_t *)&(LPUART1->STAT)) + 2; /* S1: STAT, byte 2 */
+ SD2.uart.s2_p = ((uint8_t *)&(LPUART1->STAT)) + 3; /* S2: STAT, byte 1 */
+ SD2.uart.d_p = ((uint8_t *)&(LPUART1->DATA)) + 0; /* D: DATA, byte 4 */
+ SD2.uart.lpuart_p = LPUART1;
+ SD2.uart.uart_p = NULL;
+#endif /* ! KINETIS_SERIAL1_IS_LPUART */
+#endif /* KINETIS_SERIAL_USE_UART1 */
+
+#if KINETIS_SERIAL_USE_UART2
+ /* Driver initialization.*/
+ sdObjectInit(&SD3, NULL, notify3);
+ SD3.uart.bdh_p = &(UART2->BDH);
+ SD3.uart.bdl_p = &(UART2->BDL);
+ SD3.uart.c1_p = &(UART2->C1);
+ SD3.uart.c2_p = &(UART2->C2);
+ SD3.uart.c3_p = &(UART2->C3);
+ SD3.uart.c4_p = &(UART2->C4);
+ SD3.uart.s1_p = (volatile uint8_t *)&(UART2->S1);
+ SD3.uart.s2_p = &(UART2->S2);
+ SD3.uart.d_p = &(UART2->D);
+ SD3.uart.uart_p = UART2;
+#endif /* KINETIS_SERIAL_USE_UART2 */
+}
+
+/**
+ * @brief Low level serial driver configuration and (re)start.
+ *
+ * @param[in] sdp pointer to a @p SerialDriver object
+ * @param[in] config the architecture-dependent serial driver configuration.
+ * If this parameter is set to @p NULL then a default
+ * configuration is used.
+ *
+ * @notapi
+ */
+void sd_lld_start(SerialDriver *sdp, const SerialConfig *config) {
+
+ if (config == NULL)
+ config = &default_config;
+
+ if (sdp->state == SD_STOP) {
+ /* Enables the peripheral.*/
+
+#if KINETIS_SERIAL_USE_UART0
+ if (sdp == &SD1) {
+#if KINETIS_SERIAL0_IS_LPUART
+ SIM->SCGC5 |= SIM_SCGC5_LPUART0;
+ SIM->SOPT2 =
+ (SIM->SOPT2 & ~SIM_SOPT2_LPUART0SRC_MASK) |
+ SIM_SOPT2_LPUART0SRC(KINETIS_UART0_CLOCK_SRC);
+#else /* KINETIS_SERIAL0_IS_LPUART */
+ SIM->SCGC4 |= SIM_SCGC4_UART0;
+#endif /* KINETIS_SERIAL0_IS_LPUART */
+#if KINETIS_SERIAL0_IS_UARTLP
+ SIM->SOPT2 =
+ (SIM->SOPT2 & ~SIM_SOPT2_UART0SRC_MASK) |
+ SIM_SOPT2_UART0SRC(KINETIS_UART0_CLOCK_SRC);
+#endif /* KINETIS_SERIAL0_IS_UARTLP */
+ configure_uart(sdp, config);
+#if KINETIS_HAS_SERIAL_ERROR_IRQ
+ nvicEnableVector(UART0Status_IRQn, KINETIS_SERIAL_UART0_PRIORITY);
+ nvicEnableVector(UART0Error_IRQn, KINETIS_SERIAL_UART0_PRIORITY);
+#else /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+#if KINETIS_SERIAL0_IS_LPUART
+ nvicEnableVector(LPUART0_IRQn, KINETIS_SERIAL_UART0_PRIORITY);
+#else /* KINETIS_SERIAL0_IS_LPUART */
+ nvicEnableVector(UART0_IRQn, KINETIS_SERIAL_UART0_PRIORITY);
+#endif /* KINETIS_SERIAL0_IS_LPUART */
+#endif /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+ }
+#endif /* KINETIS_SERIAL_USE_UART0 */
+
+#if KINETIS_SERIAL_USE_UART1
+ if (sdp == &SD2) {
+#if KINETIS_SERIAL1_IS_LPUART
+ SIM->SCGC5 |= SIM_SCGC5_LPUART1;
+ SIM->SOPT2 =
+ (SIM->SOPT2 & ~SIM_SOPT2_LPUART1SRC_MASK) |
+ SIM_SOPT2_LPUART1SRC(KINETIS_UART1_CLOCK_SRC);
+#else /* KINETIS_SERIAL1_IS_LPUART */
+ SIM->SCGC4 |= SIM_SCGC4_UART1;
+#endif /* KINETIS_SERIAL1_IS_LPUART */
+ configure_uart(sdp, config);
+#if KINETIS_HAS_SERIAL_ERROR_IRQ
+ nvicEnableVector(UART1Status_IRQn, KINETIS_SERIAL_UART1_PRIORITY);
+ nvicEnableVector(UART1Error_IRQn, KINETIS_SERIAL_UART0_PRIORITY);
+#else /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+#if KINETIS_SERIAL1_IS_LPUART
+ nvicEnableVector(LPUART1_IRQn, KINETIS_SERIAL_UART1_PRIORITY);
+#else /* KINETIS_SERIAL1_IS_LPUART */
+ nvicEnableVector(UART1_IRQn, KINETIS_SERIAL_UART1_PRIORITY);
+#endif /* KINETIS_SERIAL1_IS_LPUART */
+#endif /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+ }
+#endif /* KINETIS_SERIAL_USE_UART1 */
+
+#if KINETIS_SERIAL_USE_UART2
+ if (sdp == &SD3) {
+ SIM->SCGC4 |= SIM_SCGC4_UART2;
+ configure_uart(sdp, config);
+#if KINETIS_HAS_SERIAL_ERROR_IRQ
+ nvicEnableVector(UART2Status_IRQn, KINETIS_SERIAL_UART2_PRIORITY);
+ nvicEnableVector(UART2Error_IRQn, KINETIS_SERIAL_UART0_PRIORITY);
+#else /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+ nvicEnableVector(UART2_IRQn, KINETIS_SERIAL_UART2_PRIORITY);
+#endif /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+ }
+#endif /* KINETIS_SERIAL_USE_UART2 */
+
+ }
+ /* Configures the peripheral.*/
+
+}
+
+/**
+ * @brief Low level serial driver stop.
+ * @details De-initializes the USART, stops the associated clock, resets the
+ * interrupt vector.
+ *
+ * @param[in] sdp pointer to a @p SerialDriver object
+ *
+ * @notapi
+ */
+void sd_lld_stop(SerialDriver *sdp) {
+
+ if (sdp->state == SD_READY) {
+ /* TODO: Resets the peripheral.*/
+
+#if KINETIS_SERIAL_USE_UART0
+ if (sdp == &SD1) {
+#if KINETIS_HAS_SERIAL_ERROR_IRQ
+ nvicDisableVector(UART0Status_IRQn);
+ nvicDisableVector(UART0Error_IRQn);
+#else /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+#if KINETIS_SERIAL0_IS_LPUART
+ nvicDisableVector(LPUART0_IRQn);
+#else /* KINETIS_SERIAL0_IS_LPUART */
+ nvicDisableVector(UART0_IRQn);
+#endif /* KINETIS_SERIAL0_IS_LPUART */
+#endif /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+#if KINETIS_SERIAL0_IS_LPUART
+ SIM->SCGC5 &= ~SIM_SCGC5_LPUART0;
+#else /* KINETIS_SERIAL0_IS_LPUART */
+ SIM->SCGC4 &= ~SIM_SCGC4_UART0;
+#endif /* KINETIS_SERIAL0_IS_LPUART */
+ }
+#endif
+
+#if KINETIS_SERIAL_USE_UART1
+ if (sdp == &SD2) {
+#if KINETIS_HAS_SERIAL_ERROR_IRQ
+ nvicDisableVector(UART1Status_IRQn);
+ nvicDisableVector(UART1Error_IRQn);
+#else /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+#if KINETIS_SERIAL1_IS_LPUART
+ nvicDisableVector(LPUART1_IRQn);
+#else /* KINETIS_SERIAL1_IS_LPUART */
+ nvicDisableVector(UART1_IRQn);
+#endif /* KINETIS_SERIAL1_IS_LPUART */
+#endif /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+#if KINETIS_SERIAL1_IS_LPUART
+ SIM->SCGC5 &= ~SIM_SCGC5_LPUART1;
+#else /* KINETIS_SERIAL1_IS_LPUART */
+ SIM->SCGC4 &= ~SIM_SCGC4_UART1;
+#endif /* KINETIS_SERIAL1_IS_LPUART */
+ }
+#endif
+
+#if KINETIS_SERIAL_USE_UART2
+ if (sdp == &SD3) {
+#if KINETIS_HAS_SERIAL_ERROR_IRQ
+ nvicDisableVector(UART2Status_IRQn);
+ nvicDisableVector(UART2Error_IRQn);
+#else /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+ nvicDisableVector(UART2_IRQn);
+#endif /* KINETIS_HAS_SERIAL_ERROR_IRQ */
+ SIM->SCGC4 &= ~SIM_SCGC4_UART2;
+ }
+#endif
+ }
+}
+
+#endif /* HAL_USE_SERIAL */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/serial_lld.h b/os/hal/ports/KINETIS/LLD/serial_lld.h new file mode 100644 index 0000000..cc66eb3 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/serial_lld.h @@ -0,0 +1,220 @@ +/*
+ ChibiOS - Copyright (C) 2013-2015 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 KL2x/serial_lld.h
+ * @brief Kinetis KL2x Serial Driver subsystem low level driver header.
+ *
+ * @addtogroup SERIAL
+ * @{
+ */
+
+#ifndef _SERIAL_LLD_H_
+#define _SERIAL_LLD_H_
+
+#if HAL_USE_SERIAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief SD1 driver enable switch.
+ * @details If set to @p TRUE the support for SD1 is included.
+ */
+#if !defined(KINETIS_SERIAL_USE_UART0) || defined(__DOXYGEN__)
+#define KINETIS_SERIAL_USE_UART0 FALSE
+#endif
+/**
+ * @brief SD2 driver enable switch.
+ * @details If set to @p TRUE the support for SD2 is included.
+ */
+#if !defined(KINETIS_SERIAL_USE_UART1) || defined(__DOXYGEN__)
+#define KINETIS_SERIAL_USE_UART1 FALSE
+#endif
+/**
+ * @brief SD3 driver enable switch.
+ * @details If set to @p TRUE the support for SD3 is included.
+ */
+#if !defined(KINETIS_SERIAL_USE_UART2) || defined(__DOXYGEN__)
+#define KINETIS_SERIAL_USE_UART2 FALSE
+#endif
+
+/**
+ * @brief UART0 interrupt priority level setting.
+ */
+#if !defined(KINETIS_SERIAL_UART0_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_SERIAL_UART0_PRIORITY 12
+#endif
+
+/**
+ * @brief UART1 interrupt priority level setting.
+ */
+#if !defined(KINETIS_SERIAL_UART1_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_SERIAL_UART1_PRIORITY 12
+#endif
+
+/**
+ * @brief UART2 interrupt priority level setting.
+ */
+#if !defined(KINETIS_SERIAL_UART2_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_SERIAL_UART2_PRIORITY 12
+#endif
+
+/**
+ * @brief UART0 clock source.
+ */
+#if !defined(KINETIS_UART0_CLOCK_SRC) || defined(__DOXYGEN__)
+#define KINETIS_UART0_CLOCK_SRC 1 /* MCGFLLCLK clock, or MCGPLLCLK/2; or IRC48M */
+#endif
+
+/**
+ * @brief UART1 clock source.
+ */
+#if !defined(KINETIS_UART1_CLOCK_SRC) || defined(__DOXYGEN__)
+#define KINETIS_UART1_CLOCK_SRC 1 /* IRC48M */
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/** @brief error checks */
+#if KINETIS_SERIAL_USE_UART0 && !KINETIS_HAS_SERIAL0
+#error "UART0 not present in the selected device"
+#endif
+
+#if KINETIS_SERIAL_USE_UART1 && !KINETIS_HAS_SERIAL1
+#error "UART1 not present in the selected device"
+#endif
+
+#if KINETIS_SERIAL_USE_UART2 && !KINETIS_HAS_SERIAL2
+#error "UART2 not present in the selected device"
+#endif
+
+#if !(KINETIS_SERIAL_USE_UART0 || KINETIS_SERIAL_USE_UART1 || \
+ KINETIS_SERIAL_USE_UART2)
+#error "Serial driver activated but no UART peripheral assigned"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Generic Serial Driver configuration structure.
+ * @details An instance of this structure must be passed to @p sdStart()
+ * in order to configure and start a serial driver operations.
+ * @note Implementations may extend this structure to contain more,
+ * architecture dependent, fields.
+ */
+typedef struct {
+ /**
+ * @brief Bit rate.
+ */
+ uint32_t sc_speed;
+ /* End of the mandatory fields.*/
+} SerialConfig;
+
+/**
+ * @brief Generic UART register structure.
+ * @note Individual UART register blocks (even within the same chip) can differ.
+ */
+
+typedef struct {
+ volatile uint8_t* bdh_p;
+ volatile uint8_t* bdl_p;
+ volatile uint8_t* c1_p;
+ volatile uint8_t* c2_p;
+ volatile uint8_t* c3_p;
+ volatile uint8_t* c4_p;
+ volatile uint8_t* s1_p;
+ volatile uint8_t* s2_p;
+ volatile uint8_t* d_p;
+ UART_TypeDef *uart_p;
+#if KINETIS_SERIAL_USE_UART0 && KINETIS_SERIAL0_IS_UARTLP
+ UARTLP_TypeDef *uartlp_p;
+#endif /* KINETIS_SERIAL_USE_UART0 && KINETIS_SERIAL0_IS_UARTLP */
+#if (KINETIS_SERIAL_USE_UART0 && KINETIS_SERIAL0_IS_LPUART) \
+ || (KINETIS_SERIAL_USE_UART1 && KINETIS_SERIAL1_IS_LPUART)
+ LPUART_TypeDef *lpuart_p;
+#endif /* KINETIS_SERIAL_USE_UART0 && KINETIS_SERIAL0_IS_LPUART */
+} UART_w_TypeDef;
+
+/**
+ * @brief @p SerialDriver specific data.
+ */
+#define _serial_driver_data \
+ _base_asynchronous_channel_data \
+ /* Driver state.*/ \
+ sdstate_t state; \
+ /* Input queue.*/ \
+ input_queue_t iqueue; \
+ /* Output queue.*/ \
+ output_queue_t oqueue; \
+ /* Input circular buffer.*/ \
+ uint8_t ib[SERIAL_BUFFERS_SIZE]; \
+ /* Output circular buffer.*/ \
+ uint8_t ob[SERIAL_BUFFERS_SIZE]; \
+ /* End of the mandatory fields.*/ \
+ /* Pointer to the UART registers block.*/ \
+ UART_w_TypeDef uart;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if KINETIS_SERIAL_USE_UART0 && !defined(__DOXYGEN__)
+extern SerialDriver SD1;
+#endif
+
+#if KINETIS_SERIAL_USE_UART1 && !defined(__DOXYGEN__)
+extern SerialDriver SD2;
+#endif
+
+#if KINETIS_SERIAL_USE_UART2 && !defined(__DOXYGEN__)
+extern SerialDriver SD3;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void sd_lld_init(void);
+ void sd_lld_start(SerialDriver *sdp, const SerialConfig *config);
+ void sd_lld_stop(SerialDriver *sdp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_SERIAL */
+
+#endif /* _SERIAL_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/st_lld.c b/os/hal/ports/KINETIS/LLD/st_lld.c new file mode 100644 index 0000000..e6ed9e5 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/st_lld.c @@ -0,0 +1,98 @@ +/*
+ 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/LLD/st_lld.c
+ * @brief ST Driver subsystem low level driver code.
+ *
+ * @addtogroup ST
+ * @{
+ */
+
+#include "hal.h"
+
+#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)
+/**
+ * @brief System Timer vector.
+ * @details This interrupt is used for system tick in periodic mode.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(SysTick_Handler) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ osalSysLockFromISR();
+ osalOsTimerHandlerI();
+ osalSysUnlockFromISR();
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level ST driver initialization.
+ *
+ * @notapi
+ */
+void st_lld_init(void) {
+#if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC
+ /* Periodic systick mode, the Cortex-Mx internal systick timer is used
+ in this mode.*/
+ SysTick->LOAD = (KINETIS_SYSCLK_FREQUENCY / OSAL_ST_FREQUENCY) - 1;
+ SysTick->VAL = 0;
+ SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
+ SysTick_CTRL_ENABLE_Msk |
+ SysTick_CTRL_TICKINT_Msk;
+
+ /* IRQ enabled.*/
+ nvicSetSystemHandlerPriority(HANDLER_SYSTICK, KINETIS_ST_IRQ_PRIORITY);
+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
+}
+
+#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/st_lld.h b/os/hal/ports/KINETIS/LLD/st_lld.h new file mode 100644 index 0000000..c67a5d0 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/st_lld.h @@ -0,0 +1,156 @@ +/*
+ 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/LLD/st_lld.h
+ * @brief ST Driver subsystem low level driver header.
+ * @details This header is designed to be include-able without having to
+ * include other files from the HAL.
+ *
+ * @addtogroup ST
+ * @{
+ */
+
+#ifndef _ST_LLD_H_
+#define _ST_LLD_H_
+
+#include "mcuconf.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief SysTick timer IRQ priority.
+ */
+#if !defined(KINETIS_ST_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define KINETIS_ST_IRQ_PRIORITY 8
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void st_lld_init(void);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Driver inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Returns the time counter value.
+ *
+ * @return The counter value.
+ *
+ * @notapi
+ */
+static inline systime_t st_lld_get_counter(void) {
+
+ return (systime_t)0;
+}
+
+/**
+ * @brief Starts the alarm.
+ * @note Makes sure that no spurious alarms are triggered after
+ * this call.
+ *
+ * @param[in] time the time to be set for the first alarm
+ *
+ * @notapi
+ */
+static inline void st_lld_start_alarm(systime_t time) {
+
+ (void)time;
+}
+
+/**
+ * @brief Stops the alarm interrupt.
+ *
+ * @notapi
+ */
+static inline void st_lld_stop_alarm(void) {
+
+}
+
+/**
+ * @brief Sets the alarm time.
+ *
+ * @param[in] time the time to be set for the next alarm
+ *
+ * @notapi
+ */
+static inline void st_lld_set_alarm(systime_t time) {
+
+ (void)time;
+}
+
+/**
+ * @brief Returns the current alarm time.
+ *
+ * @return The currently set alarm time.
+ *
+ * @notapi
+ */
+static inline systime_t st_lld_get_alarm(void) {
+
+ return (systime_t)0;
+}
+
+/**
+ * @brief Determines if the alarm is active.
+ *
+ * @return The alarm status.
+ * @retval false if the alarm is not active.
+ * @retval true is the alarm is active
+ *
+ * @notapi
+ */
+static inline bool st_lld_is_alarm_active(void) {
+
+ return false;
+}
+
+#endif /* _ST_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/usb_lld.c b/os/hal/ports/KINETIS/LLD/usb_lld.c new file mode 100644 index 0000000..159aef9 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/usb_lld.c @@ -0,0 +1,832 @@ +/*
+ ChibiOS - Copyright (C) 2015 RedoX https://github.com/RedoXyde/
+ (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+
+ 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/usb_lld.c
+ * @brief KINETIS USB subsystem low level driver source.
+ *
+ * @addtogroup USB
+ * @{
+ */
+
+#include <string.h>
+
+#include "hal.h"
+
+#if HAL_USE_USB || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/** @brief USB0 driver identifier.*/
+#if KINETIS_USB_USE_USB0 || defined(__DOXYGEN__)
+USBDriver USBD1;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/**
+ * @brief IN EP0 state.
+ */
+USBInEndpointState ep0in;
+
+/**
+ * @brief OUT EP0 state.
+ */
+USBOutEndpointState ep0out;
+
+/**
+ * @brief Buffer for the EP0 setup packets.
+ */
+static uint8_t ep0setup_buffer[8];
+
+/**
+ * @brief EP0 initialization structure.
+ */
+static const USBEndpointConfig ep0config = {
+ USB_EP_MODE_TYPE_CTRL,
+ _usb_ep0setup,
+ _usb_ep0in,
+ _usb_ep0out,
+ 64,
+ 64,
+ &ep0in,
+ &ep0out,
+ 1,
+ ep0setup_buffer
+};
+
+/*
+ * Buffer Descriptor Table (BDT)
+ */
+
+/*
+ * Buffer Descriptor (BD)
+ * */
+typedef struct {
+ uint32_t desc;
+ uint8_t* addr;
+} bd_t;
+
+/*
+ * Buffer Descriptor fields - p.889
+ */
+#define BDT_OWN 0x80
+#define BDT_DATA 0x40
+#define BDT_KEEP 0x20
+#define BDT_NINC 0x10
+#define BDT_DTS 0x08
+#define BDT_STALL 0x04
+
+#define BDT_DESC(bc, data) (BDT_OWN | BDT_DTS | ((data&0x1)<<6) | ((bc) << 16))
+
+/*
+ * BDT PID - p.891
+ */
+#define BDT_PID_OUT 0x01
+#define BDT_PID_IN 0x09
+#define BDT_PID_SETUP 0x0D
+#define BDT_TOK_PID(n) (((n)>>2)&0xF)
+
+/*
+ * BDT index fields
+ */
+#define DATA0 0
+#define DATA1 1
+
+#define RX 0
+#define TX 1
+
+#define EVEN 0
+#define ODD 1
+
+#define BDT_INDEX(endpoint, tx, odd) (((endpoint)<<2) | ((tx)<<1) | (odd))
+/*
+ * Get RX-ed/TX-ed bytes count from BDT entry
+ */
+#define BDT_BC(n) (((n)>>16)&0x3FF)
+
+/* The USB-FS needs 2 BDT entry per endpoint direction
+ * that adds to: 2*2*16 BDT entries for 16 bi-directional EP
+ */
+static volatile bd_t _bdt[(KINETIS_USB_ENDPOINTS)*2*2] __attribute__((aligned(512)));
+
+/* FIXME later with dyn alloc
+ * 16 EP
+ * 2 directions per EP
+ * 2 buffer per direction
+ * => 64 buffers
+ */
+static uint8_t _usbb[KINETIS_USB_ENDPOINTS*4][64] __attribute__((aligned(4)));
+static volatile uint8_t _usbbn=0;
+uint8_t* usb_alloc(uint8_t size)
+{
+ (void)size;
+ if(_usbbn < (KINETIS_USB_ENDPOINTS)*4)
+ return _usbb[_usbbn++];
+ while(1); /* Should not happen, ever */
+}
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/* Called from locked ISR. */
+void usb_packet_transmit(USBDriver *usbp, usbep_t ep, size_t n)
+{
+ const USBEndpointConfig *epc = usbp->epc[ep];
+ USBInEndpointState *isp = epc->in_state;
+
+ bd_t *bd = (bd_t *)&_bdt[BDT_INDEX(ep, TX, isp->odd_even)];
+
+ if (n > (size_t)epc->in_maxsize)
+ n = (size_t)epc->in_maxsize;
+
+ /* Copy from buf to _usbb[] */
+ size_t i=0;
+ for(i=0;i<n;i++)
+ bd->addr[i] = isp->txbuf[i];
+
+ /* Update the Buffer status */
+ bd->desc = BDT_DESC(n, isp->data_bank);
+ /* Toggle the odd and data bits for next TX */
+ isp->data_bank ^= DATA1;
+ isp->odd_even ^= ODD;
+}
+
+/* Called from locked ISR. */
+void usb_packet_receive(USBDriver *usbp, usbep_t ep, size_t n)
+{
+ const USBEndpointConfig *epc = usbp->epc[ep];
+ USBOutEndpointState *osp = epc->out_state;
+
+ bd_t *bd = (bd_t *)&_bdt[BDT_INDEX(ep, RX, osp->odd_even)];
+
+ if (n > (size_t)epc->out_maxsize)
+ n = (size_t)epc->out_maxsize;
+
+ /* Copy from _usbb[] to buf */
+ size_t i=0;
+ for(i=0;i<n;i++)
+ osp->rxbuf[i] = bd->addr[i];
+
+ /* Update the Buffer status
+ * Set current buffer to same DATA bank and then toggle.
+ * Since even/odd buffers are ping-pong and setup re-initialized them
+ * this should work correctly */
+ bd->desc = BDT_DESC(epc->out_maxsize, osp->data_bank);
+ osp->data_bank ^= DATA1;
+ usb_lld_start_out(usbp, ep);
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*============================================================================*/
+
+#if KINETIS_USB_USE_USB0 || defined(__DOXYGEN__)
+/**
+ * @brief USB interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_USB_IRQ_VECTOR) {
+ USBDriver *usbp = &USBD1;
+ uint8_t istat = USB0->ISTAT;
+
+ OSAL_IRQ_PROLOGUE();
+
+ /* 04 - Bit2 - Start Of Frame token received */
+ if(istat & USBx_ISTAT_SOFTOK) {
+ _usb_isr_invoke_sof_cb(usbp);
+ USB0->ISTAT = USBx_ISTAT_SOFTOK;
+ }
+
+ /* 08 - Bit3 - Token processing completed */
+ while(istat & USBx_ISTAT_TOKDNE) {
+ uint8_t stat = USB0->STAT;
+ uint8_t ep = stat >> 4;
+ if(ep > KINETIS_USB_ENDPOINTS) {
+ OSAL_IRQ_EPILOGUE();
+ return;
+ }
+ const USBEndpointConfig *epc = usbp->epc[ep];
+
+ /* Get the correct BDT entry */
+ uint8_t odd_even = (stat & USBx_STAT_ODD_MASK) >> USBx_STAT_ODD_SHIFT;
+ uint8_t tx_rx = (stat & USBx_STAT_TX_MASK) >> USBx_STAT_TX_SHIFT;
+ bd_t *bd = (bd_t*)&_bdt[BDT_INDEX(ep,tx_rx,odd_even)];
+
+ /* Update the ODD/EVEN state for RX */
+ if(tx_rx == RX && epc->out_state != NULL)
+ epc->out_state->odd_even = odd_even;
+
+ switch(BDT_TOK_PID(bd->desc))
+ {
+ case BDT_PID_SETUP: // SETUP
+ {
+ /* Clear any pending IN stuff */
+ _bdt[BDT_INDEX(ep, TX, EVEN)].desc = 0;
+ _bdt[BDT_INDEX(ep, TX, ODD)].desc = 0;
+ /* Also in the chibios state machine */
+ (usbp)->receiving &= ~1;
+ /* After a SETUP, IN is always DATA1 */
+ usbp->epc[ep]->in_state->data_bank = DATA1;
+
+ /* Call SETUP function (ChibiOS core), which sends back stuff */
+ _usb_isr_invoke_setup_cb(usbp, ep);
+ /* Buffer is released by the above callback. */
+ /* from Paul: "unfreeze the USB, now that we're ready" */
+ USB0->CTL = USBx_CTL_USBENSOFEN;
+ } break;
+ case BDT_PID_IN: // IN
+ {
+ if(epc->in_state == NULL)
+ break;
+ /* Special case for SetAddress for EP0 */
+ if(ep == 0 && (((uint16_t)usbp->setup[0]<<8)|usbp->setup[1]) == 0x0500)
+ {
+ usbp->address = usbp->setup[2];
+ usb_lld_set_address(usbp);
+ _usb_isr_invoke_event_cb(usbp, USB_EVENT_ADDRESS);
+ usbp->state = USB_SELECTED;
+ }
+ uint16_t txed = BDT_BC(bd->desc);
+ epc->in_state->txcnt += txed;
+ if(epc->in_state->txcnt < epc->in_state->txsize)
+ {
+ epc->in_state->txbuf += txed;
+ osalSysLockFromISR();
+ usb_packet_transmit(usbp,ep,epc->in_state->txsize - epc->in_state->txcnt);
+ osalSysUnlockFromISR();
+ }
+ else
+ {
+ if(epc->in_cb != NULL)
+ _usb_isr_invoke_in_cb(usbp,ep);
+ }
+ } break;
+ case BDT_PID_OUT: // OUT
+ {
+ if(epc->out_state == NULL)
+ break;
+ uint16_t rxed = BDT_BC(bd->desc);
+
+ osalSysLockFromISR();
+ usb_packet_receive(usbp,ep,rxed);
+ osalSysUnlockFromISR();
+ if(rxed)
+ {
+ epc->out_state->rxbuf += rxed;
+
+ /* Update transaction data */
+ epc->out_state->rxcnt += rxed;
+ epc->out_state->rxsize -= rxed;
+ epc->out_state->rxpkts -= 1;
+
+ /* The transaction is completed if the specified number of packets
+ has been received or the current packet is a short packet.*/
+ if ((rxed < epc->out_maxsize) || (epc->out_state->rxpkts == 0))
+ {
+ if(epc->out_cb != NULL)
+ _usb_isr_invoke_out_cb(usbp, ep);
+ }
+ }
+ } break;
+ default:
+ break;
+ }
+ USB0->ISTAT = USBx_ISTAT_TOKDNE;
+ istat = USB0->ISTAT;
+ }
+
+ /* 01 - Bit0 - Valid USB Reset received */
+ if(istat & USBx_ISTAT_USBRST) {
+ _usb_reset(usbp);
+ USB0->ISTAT = USBx_ISTAT_USBRST;
+ OSAL_IRQ_EPILOGUE();
+ return;
+ }
+
+ /* 80 - Bit7 - STALL handshake received */
+ if(istat & USBx_ISTAT_STALL) {
+ USB0->ISTAT = USBx_ISTAT_STALL;
+ }
+
+ /* 02 - Bit1 - ERRSTAT condition triggered */
+ if(istat & USBx_ISTAT_ERROR) {
+ uint8_t err = USB0->ERRSTAT;
+ USB0->ERRSTAT = err;
+ USB0->ISTAT = USBx_ISTAT_ERROR;
+ }
+
+ /* 10 - Bit4 - Constant IDLE on USB bus detected */
+ if(istat & USBx_ISTAT_SLEEP) {
+ /* This seems to fire a few times before the device is
+ * configured - need to ignore those occurences somehow. */
+ /* The other option would be to only activate INTEN_SLEEPEN
+ * on CONFIGURED event, but that would need to be done in
+ * user firmware. */
+ if(usbp->state == USB_ACTIVE) {
+ _usb_suspend(usbp);
+ /* Enable interrupt on resume */
+ USB0->INTEN |= USBx_INTEN_RESUMEEN;
+ }
+
+ // low-power version (check!):
+ // enable wakeup interrupt on resume USB signaling
+ // (check that it was a wakeup int with USBx_USBTRC0_USB_RESUME_INT)
+ //? USB0->USBTRC0 |= USBx_USBTRC0_USBRESMEN
+ // suspend the USB module
+ //? USB0->USBCTRL |= USBx_USBCTRL_SUSP;
+
+ USB0->ISTAT = USBx_ISTAT_SLEEP;
+ }
+
+ /* 20 - Bit5 - Resume - Only allowed in sleep=suspend mode */
+ if(istat & USBx_ISTAT_RESUME) {
+ /* Disable interrupt on resume (should be disabled
+ * during normal operation according to datasheet). */
+ USB0->INTEN &= ~USBx_INTEN_RESUMEEN;
+
+ // low power version (check!):
+ // desuspend the USB module
+ //? USB0->USBCTRL &= ~USBx_USBCTRL_SUSP;
+ // maybe also
+ //? USB0->CTL = USBx_CTL_USBENSOFEN;
+ _usb_wakeup(usbp);
+ USB0->ISTAT = USBx_ISTAT_RESUME;
+ }
+
+ /* 40 - Bit6 - ATTACH - used */
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* KINETIS_USB_USE_USB0 */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level USB driver initialization.
+ *
+ * @notapi
+ */
+void usb_lld_init(void) {
+ /* Driver initialization.*/
+ usbObjectInit(&USBD1);
+
+#if KINETIS_USB_USE_USB0
+
+ SIM->SOPT2 |= SIM_SOPT2_USBSRC;
+
+#if defined(K20x5) || defined(K20x7)
+
+#if KINETIS_MCG_MODE == KINETIS_MCG_MODE_FEI
+
+ /* MCGOUTCLK is the SYSCLK frequency, so don't divide for USB clock */
+ SIM->CLKDIV2 = SIM_CLKDIV2_USBDIV(0);
+
+#elif KINETIS_MCG_MODE == KINETIS_MCG_MODE_PEE
+
+ #define KINETIS_USBCLK_FREQUENCY 48000000UL
+ uint32_t i,j;
+ for(i=0; i < 2; i++) {
+ for(j=0; j < 8; j++) {
+ if((KINETIS_PLLCLK_FREQUENCY * (i+1)) == (KINETIS_USBCLK_FREQUENCY*(j+1))) {
+ SIM->CLKDIV2 = i | SIM_CLKDIV2_USBDIV(j);
+ goto usbfrac_match_found;
+ }
+ }
+ }
+ usbfrac_match_found:
+ chDbgAssert(i<2 && j <8,"USB Init error");
+
+#else /* KINETIS_MCG_MODE == KINETIS_MCG_MODE_PEE */
+#error USB clock setting not implemented for this KINETIS_MCG_MODE
+#endif /* KINETIS_MCG_MODE == ... */
+
+#elif defined(KL25) || defined (KL26) || defined(KL27)
+
+ /* No extra clock dividers for USB clock */
+
+#else /* defined(KL25) || defined (KL26) || defined(KL27) */
+#error USB driver not implemented for your MCU type
+#endif
+
+#endif /* KINETIS_USB_USE_USB0 */
+}
+
+/**
+ * @brief Configures and activates the USB peripheral.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ *
+ * @notapi
+ */
+void usb_lld_start(USBDriver *usbp) {
+ if (usbp->state == USB_STOP) {
+#if KINETIS_USB_USE_USB0
+ if (&USBD1 == usbp) {
+ /* Clear BDT */
+ uint8_t i;
+ for(i=0;i<KINETIS_USB_ENDPOINTS;i++) {
+ _bdt[i].desc=0;
+ _bdt[i].addr=0;
+ }
+
+ /* Enable Clock */
+#if KINETIS_USB0_IS_USBOTG
+ SIM->SCGC4 |= SIM_SCGC4_USBOTG;
+#else /* KINETIS_USB0_IS_USBOTG */
+ SIM->SCGC4 |= SIM_SCGC4_USBFS;
+#endif /* KINETIS_USB0_IS_USBOTG */
+
+#if KINETIS_HAS_USB_CLOCK_RECOVERY
+ USB0->CLK_RECOVER_IRC_EN |= USBx_CLK_RECOVER_IRC_EN_IRC_EN;
+ USB0->CLK_RECOVER_CTRL |= USBx_CLK_RECOVER_CTRL_CLOCK_RECOVER_EN;
+#endif /* KINETIS_HAS_USB_CLOCK_RECOVERY */
+
+ /* Reset USB module, wait for completion */
+ USB0->USBTRC0 |= USBx_USBTRC0_USBRESET;
+ while ((USB0->USBTRC0 & USBx_USBTRC0_USBRESET));
+
+ /* Set BDT Address */
+ USB0->BDTPAGE1 = ((uint32_t)_bdt) >> 8;
+ USB0->BDTPAGE2 = ((uint32_t)_bdt) >> 16;
+ USB0->BDTPAGE3 = ((uint32_t)_bdt) >> 24;
+
+ /* Clear all ISR flags */
+ USB0->ISTAT = 0xFF;
+ USB0->ERRSTAT = 0xFF;
+#if KINETIS_USB0_IS_USBOTG
+ USB0->OTGISTAT = 0xFF;
+#endif /* KINETIS_USB0_IS_USBOTG */
+ USB0->USBTRC0 |= 0x40; //a hint was given that this is an undocumented interrupt bit
+
+ /* Enable USB */
+ USB0->CTL = USBx_CTL_ODDRST | USBx_CTL_USBENSOFEN;
+ USB0->USBCTRL = 0;
+
+ /* Enable reset interrupt */
+ USB0->INTEN |= USBx_INTEN_USBRSTEN;
+
+ /* Enable interrupt in NVIC */
+#if KINETIS_USB0_IS_USBOTG
+ nvicEnableVector(USB_OTG_IRQn, KINETIS_USB_USB0_IRQ_PRIORITY);
+#else /* KINETIS_USB0_IS_USBOTG */
+ nvicEnableVector(USB_IRQn, KINETIS_USB_USB0_IRQ_PRIORITY);
+#endif /* KINETIS_USB0_IS_USBOTG */
+ }
+#endif /* KINETIS_USB_USE_USB0 */
+ }
+}
+
+/**
+ * @brief Deactivates the USB peripheral.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ *
+ * @notapi
+ */
+void usb_lld_stop(USBDriver *usbp) {
+ /* TODO: If in ready state then disables the USB clock.*/
+ if (usbp->state == USB_STOP) {
+#if KINETIS_USB_USE_USB0
+ if (&USBD1 == usbp) {
+#if KINETIS_USB0_IS_USBOTG
+ nvicDisableVector(USB_OTG_IRQn);
+#else /* KINETIS_USB0_IS_USBOTG */
+ nvicDisableVector(USB_IRQn);
+#endif /* KINETIS_USB0_IS_USBOTG */
+ }
+#endif /* KINETIS_USB_USE_USB0 */
+ }
+}
+
+/**
+ * @brief USB low level reset routine.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ *
+ * @notapi
+ */
+void usb_lld_reset(USBDriver *usbp) {
+ // FIXME, dyn alloc
+ _usbbn = 0;
+
+#if KINETIS_USB_USE_USB0
+
+ /* Reset BDT ODD/EVEN bits */
+ USB0->CTL = USBx_CTL_ODDRST;
+
+ /* EP0 initialization.*/
+ usbp->epc[0] = &ep0config;
+ usb_lld_init_endpoint(usbp, 0);
+
+ /* Clear all pending interrupts */
+ USB0->ERRSTAT = 0xFF;
+ USB0->ISTAT = 0xFF;
+
+ /* Set the address to zero during enumeration */
+ usbp->address = 0;
+ USB0->ADDR = 0;
+
+ /* Enable other interrupts */
+ USB0->ERREN = 0xFF;
+ USB0->INTEN = USBx_INTEN_TOKDNEEN |
+ USBx_INTEN_SOFTOKEN |
+ USBx_INTEN_STALLEN |
+ USBx_INTEN_ERROREN |
+ USBx_INTEN_USBRSTEN |
+ USBx_INTEN_SLEEPEN;
+
+ /* "is this necessary?", Paul from PJRC */
+ USB0->CTL = USBx_CTL_USBENSOFEN;
+#endif /* KINETIS_USB_USE_USB0 */
+}
+
+/**
+ * @brief Sets the USB address.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ *
+ * @notapi
+ */
+void usb_lld_set_address(USBDriver *usbp) {
+
+#if KINETIS_USB_USE_USB0
+ USB0->ADDR = usbp->address&0x7F;
+#endif /* KINETIS_USB_USE_USB0 */
+}
+
+/**
+ * @brief Enables an endpoint.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ * @param[in] ep endpoint number
+ *
+ * @notapi
+ */
+void usb_lld_init_endpoint(USBDriver *usbp, usbep_t ep) {
+
+ if(ep > KINETIS_USB_ENDPOINTS)
+ return;
+
+ const USBEndpointConfig *epc = usbp->epc[ep];
+ uint8_t mask=0;
+
+ if(epc->out_state != NULL)
+ {
+ /* OUT Endpoint */
+ epc->out_state->odd_even = EVEN;
+ epc->out_state->data_bank = DATA0;
+ /* RXe */
+ _bdt[BDT_INDEX(ep, RX, EVEN)].desc = BDT_DESC(epc->out_maxsize, DATA0);
+ _bdt[BDT_INDEX(ep, RX, EVEN)].addr = usb_alloc(epc->out_maxsize);
+ /* RXo */
+ _bdt[BDT_INDEX(ep, RX, ODD)].desc = BDT_DESC(epc->out_maxsize, DATA1);
+ _bdt[BDT_INDEX(ep, RX, ODD)].addr = usb_alloc(epc->out_maxsize);
+ /* Enable OUT direction */
+ mask |= USBx_ENDPTn_EPRXEN;
+ }
+ if(epc->in_state != NULL)
+ {
+ /* IN Endpoint */
+ epc->in_state->odd_even = EVEN;
+ epc->in_state->data_bank = DATA0;
+ /* TXe, not used yet */
+ _bdt[BDT_INDEX(ep, TX, EVEN)].desc = 0;
+ _bdt[BDT_INDEX(ep, TX, EVEN)].addr = usb_alloc(epc->in_maxsize);
+ /* TXo, not used yet */
+ _bdt[BDT_INDEX(ep, TX, ODD)].desc = 0;
+ _bdt[BDT_INDEX(ep, TX, ODD)].addr = usb_alloc(epc->in_maxsize);
+ /* Enable IN direction */
+ mask |= USBx_ENDPTn_EPTXEN;
+ }
+
+ /* EPHSHK should be set for CTRL, BULK, INTR not for ISOC*/
+ if((epc->ep_mode & USB_EP_MODE_TYPE) != USB_EP_MODE_TYPE_ISOC)
+ mask |= USBx_ENDPTn_EPHSHK;
+ /* Endpoint is not a CTRL endpoint, disable SETUP transfers */
+ if((epc->ep_mode & USB_EP_MODE_TYPE) != USB_EP_MODE_TYPE_CTRL)
+ mask |= USBx_ENDPTn_EPCTLDIS;
+
+#if KINETIS_USB_USE_USB0
+ USB0->ENDPT[ep].V = mask;
+#endif /* KINETIS_USB_USE_USB0 */
+}
+
+/**
+ * @brief Disables all the active endpoints except the endpoint zero.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ *
+ * @notapi
+ */
+void usb_lld_disable_endpoints(USBDriver *usbp) {
+ (void)usbp;
+ uint8_t i;
+#if KINETIS_USB_USE_USB0
+ for(i=1;i<KINETIS_USB_ENDPOINTS;i++)
+ USB0->ENDPT[i].V = 0;
+#endif /* KINETIS_USB_USE_USB0 */
+}
+
+/**
+ * @brief Returns the status of an OUT endpoint.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ * @param[in] ep endpoint number
+ * @return The endpoint status.
+ * @retval EP_STATUS_DISABLED The endpoint is not active.
+ * @retval EP_STATUS_STALLED The endpoint is stalled.
+ * @retval EP_STATUS_ACTIVE The endpoint is active.
+ *
+ * @notapi
+ */
+usbepstatus_t usb_lld_get_status_out(USBDriver *usbp, usbep_t ep) {
+ (void)usbp;
+#if KINETIS_USB_USE_USB0
+ if(ep > USB_MAX_ENDPOINTS)
+ return EP_STATUS_DISABLED;
+ if(!(USB0->ENDPT[ep].V & (USBx_ENDPTn_EPRXEN)))
+ return EP_STATUS_DISABLED;
+ else if(USB0->ENDPT[ep].V & USBx_ENDPTn_EPSTALL)
+ return EP_STATUS_STALLED;
+ return EP_STATUS_ACTIVE;
+#endif /* KINETIS_USB_USE_USB0 */
+}
+
+/**
+ * @brief Returns the status of an IN endpoint.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ * @param[in] ep endpoint number
+ * @return The endpoint status.
+ * @retval EP_STATUS_DISABLED The endpoint is not active.
+ * @retval EP_STATUS_STALLED The endpoint is stalled.
+ * @retval EP_STATUS_ACTIVE The endpoint is active.
+ *
+ * @notapi
+ */
+usbepstatus_t usb_lld_get_status_in(USBDriver *usbp, usbep_t ep) {
+ (void)usbp;
+ if(ep > USB_MAX_ENDPOINTS)
+ return EP_STATUS_DISABLED;
+#if KINETIS_USB_USE_USB0
+ if(!(USB0->ENDPT[ep].V & (USBx_ENDPTn_EPTXEN)))
+ return EP_STATUS_DISABLED;
+ else if(USB0->ENDPT[ep].V & USBx_ENDPTn_EPSTALL)
+ return EP_STATUS_STALLED;
+ return EP_STATUS_ACTIVE;
+#endif /* KINETIS_USB_USE_USB0 */
+}
+
+/**
+ * @brief Reads a setup packet from the dedicated packet buffer.
+ * @details This function must be invoked in the context of the @p setup_cb
+ * callback in order to read the received setup packet.
+ * @pre In order to use this function the endpoint must have been
+ * initialized as a control endpoint.
+ * @post The endpoint is ready to accept another packet.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ * @param[in] ep endpoint number
+ * @param[out] buf buffer where to copy the packet data
+ *
+ * @notapi
+ */
+void usb_lld_read_setup(USBDriver *usbp, usbep_t ep, uint8_t *buf) {
+ /* Get the BDT entry */
+ USBOutEndpointState *os = usbp->epc[ep]->out_state;
+ bd_t *bd = (bd_t*)&_bdt[BDT_INDEX(ep, RX, os->odd_even)];
+ /* Copy the 8 bytes of data */
+ uint8_t n;
+ for (n = 0; n < 8; n++) {
+ buf[n] = bd->addr[n];
+ }
+ /* Release the buffer
+ * Setup packet is always DATA0
+ * Initialize buffers so current expects DATA0 & opposite DATA1 */
+ bd->desc = BDT_DESC(usbp->epc[ep]->out_maxsize,DATA0);
+ _bdt[BDT_INDEX(ep, RX, os->odd_even^ODD)].desc = BDT_DESC(usbp->epc[ep]->out_maxsize,DATA1);
+ os->data_bank = DATA1;
+}
+
+/**
+ * @brief Starts a receive operation on an OUT endpoint.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ * @param[in] ep endpoint number
+ *
+ * @notapi
+ */
+void usb_lld_start_out(USBDriver *usbp, usbep_t ep) {
+ USBOutEndpointState *osp = usbp->epc[ep]->out_state;
+ /* Transfer initialization.*/
+ if (osp->rxsize == 0) /* Special case for zero sized packets.*/
+ osp->rxpkts = 1;
+ else
+ osp->rxpkts = (uint16_t)((osp->rxsize + usbp->epc[ep]->out_maxsize - 1) /
+ usbp->epc[ep]->out_maxsize);
+}
+
+/**
+ * @brief Starts a transmit operation on an IN endpoint.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ * @param[in] ep endpoint number
+ *
+ * @note Called from ISR and locked zone.
+ * @notapi
+ */
+void usb_lld_start_in(USBDriver *usbp, usbep_t ep) {
+ (void)usbp;
+ (void)ep;
+ usb_packet_transmit(usbp,ep,usbp->epc[ep]->in_state->txsize);
+}
+
+/**
+ * @brief Brings an OUT endpoint in the stalled state.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ * @param[in] ep endpoint number
+ *
+ * @notapi
+ */
+void usb_lld_stall_out(USBDriver *usbp, usbep_t ep) {
+ (void)usbp;
+#if KINETIS_USB_USE_USB0
+ USB0->ENDPT[ep].V |= USBx_ENDPTn_EPSTALL;
+#endif /* KINETIS_USB_USE_USB0 */
+}
+
+/**
+ * @brief Brings an IN endpoint in the stalled state.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ * @param[in] ep endpoint number
+ *
+ * @notapi
+ */
+void usb_lld_stall_in(USBDriver *usbp, usbep_t ep) {
+ (void)usbp;
+#if KINETIS_USB_USE_USB0
+ USB0->ENDPT[ep].V |= USBx_ENDPTn_EPSTALL;
+#endif /* KINETIS_USB_USE_USB0 */
+}
+
+/**
+ * @brief Brings an OUT endpoint in the active state.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ * @param[in] ep endpoint number
+ *
+ * @notapi
+ */
+void usb_lld_clear_out(USBDriver *usbp, usbep_t ep) {
+ (void)usbp;
+#if KINETIS_USB_USE_USB0
+ USB0->ENDPT[ep].V &= ~USBx_ENDPTn_EPSTALL;
+#endif /* KINETIS_USB_USE_USB0 */
+}
+
+/**
+ * @brief Brings an IN endpoint in the active state.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ * @param[in] ep endpoint number
+ *
+ * @notapi
+ */
+void usb_lld_clear_in(USBDriver *usbp, usbep_t ep) {
+ (void)usbp;
+#if KINETIS_USB_USE_USB0
+ USB0->ENDPT[ep].V &= ~USBx_ENDPTn_EPSTALL;
+#endif /* KINETIS_USB_USE_USB0 */
+}
+
+#endif /* HAL_USE_USB */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/usb_lld.h b/os/hal/ports/KINETIS/LLD/usb_lld.h new file mode 100644 index 0000000..978e8a6 --- /dev/null +++ b/os/hal/ports/KINETIS/LLD/usb_lld.h @@ -0,0 +1,428 @@ +/*
+ ChibiOS - Copyright (C) 2015 RedoX https://github.com/RedoXyde/
+ (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+
+ 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/usb_lld.h
+ * @brief KINETIS USB subsystem low level driver header.
+ *
+ * @addtogroup USB
+ * @{
+ */
+
+#ifndef _USB_LLD_H_
+#define _USB_LLD_H_
+
+#if HAL_USE_USB || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief Maximum endpoint address.
+ */
+#define USB_MAX_ENDPOINTS 15
+
+/**
+ * @brief Status stage handling method.
+ */
+#define USB_EP0_STATUS_STAGE USB_EP0_STATUS_STAGE_SW
+
+/**
+ * @brief Address ack handling
+ */
+#define USB_SET_ADDRESS_ACK_HANDLING USB_SET_ADDRESS_ACK_SW
+
+/**
+ * @brief This device requires the address change after the status packet.
+ */
+#define USB_SET_ADDRESS_MODE USB_LATE_SET_ADDRESS
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief USB1 driver enable switch.
+ * @details If set to @p TRUE the support for USB1 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(KINETIS_USB_USE_USB0) || defined(__DOXYGEN__)
+#define KINETIS_USB_USE_USB0 FALSE
+#endif
+
+/**
+ * @brief USB1 interrupt priority level setting.
+ */
+#if !defined(KINETIS_USB_USB0_IRQ_PRIORITY)|| defined(__DOXYGEN__)
+#define KINETIS_USB_USB0_IRQ_PRIORITY 5
+#endif
+
+#if !defined(KINETIS_USB_ENDPOINTS) || defined(__DOXYGEN__)
+ #define KINETIS_USB_ENDPOINTS USB_MAX_ENDPOINTS+1
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if KINETIS_USB_USE_USB0 && !KINETIS_HAS_USB
+#error "USB not present in the selected device"
+#endif
+
+#if !KINETIS_USB_USE_USB0
+#error "USB driver activated but no USB peripheral assigned"
+#endif
+
+#if KINETIS_USB_USE_USB0 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_USB_USB0_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to KINETIS_USB_USB0_IRQ_PRIORITY"
+#endif
+
+#if !defined(KINETIS_USB_IRQ_VECTOR)
+#error "KINETIS_USB_IRQ_VECTOR not defined"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of an IN endpoint state structure.
+ */
+typedef struct {
+ /**
+ * @brief Requested transmit transfer size.
+ */
+ size_t txsize;
+ /**
+ * @brief Transmitted bytes so far.
+ */
+ size_t txcnt;
+ /**
+ * @brief Pointer to the transmission linear buffer.
+ */
+ const uint8_t *txbuf;
+#if (USB_USE_WAIT == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @brief Waiting thread.
+ */
+ thread_reference_t thread;
+#endif
+ /* End of the mandatory fields.*/
+ /* */
+ bool odd_even; /* ODD / EVEN */
+ /* */
+ bool data_bank; /* DATA0 / DATA1 */
+} USBInEndpointState;
+
+/**
+ * @brief Type of an OUT endpoint state structure.
+ */
+typedef struct {
+ /**
+ * @brief Requested receive transfer size.
+ */
+ size_t rxsize;
+ /**
+ * @brief Received bytes so far.
+ */
+ size_t rxcnt;
+ /**
+ * @brief Pointer to the receive linear buffer.
+ */
+ uint8_t *rxbuf;
+#if (USB_USE_WAIT == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @brief Waiting thread.
+ */
+ thread_reference_t thread;
+#endif
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Number of packets to receive.
+ */
+ uint16_t rxpkts;
+ /* */
+ bool odd_even; /* ODD / EVEN */
+ /* */
+ bool data_bank; /* DATA0 / DATA1 */
+} USBOutEndpointState;
+
+/**
+ * @brief Type of an USB endpoint configuration structure.
+ * @note Platform specific restrictions may apply to endpoints.
+ */
+typedef struct {
+ /**
+ * @brief Type and mode of the endpoint.
+ */
+ uint32_t ep_mode;
+ /**
+ * @brief Setup packet notification callback.
+ * @details This callback is invoked when a setup packet has been
+ * received.
+ * @post The application must immediately call @p usbReadPacket() in
+ * order to access the received packet.
+ * @note This field is only valid for @p USB_EP_MODE_TYPE_CTRL
+ * endpoints, it should be set to @p NULL for other endpoint
+ * types.
+ */
+ usbepcallback_t setup_cb;
+ /**
+ * @brief IN endpoint notification callback.
+ * @details This field must be set to @p NULL if callback is not required.
+ */
+ usbepcallback_t in_cb;
+ /**
+ * @brief OUT endpoint notification callback.
+ * @details This field must be set to @p NULL if callback is not required.
+ */
+ usbepcallback_t out_cb;
+ /**
+ * @brief IN endpoint maximum packet size.
+ * @details This field must be set to zero if the IN endpoint is not used.
+ */
+ uint16_t in_maxsize;
+ /**
+ * @brief OUT endpoint maximum packet size.
+ * @details This field must be set to zero if the OUT endpoint is not used.
+ */
+ uint16_t out_maxsize;
+ /**
+ * @brief @p USBEndpointState associated to the IN endpoint.
+ * @details This field must be set to @p NULL if the IN endpoint is not
+ * used.
+ */
+ USBInEndpointState *in_state;
+ /**
+ * @brief @p USBEndpointState associated to the OUT endpoint.
+ * @details This field must be set to @p NULL if the OUT endpoint is not
+ * used.
+ */
+ USBOutEndpointState *out_state;
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Reserved field, not currently used.
+ * @note Initialize this field to 1 in order to be forward compatible.
+ */
+ uint16_t ep_buffers;
+ /**
+ * @brief Pointer to a buffer for setup packets.
+ * @details Setup packets require a dedicated 8-bytes buffer, set this
+ * field to @p NULL for non-control endpoints.
+ */
+ uint8_t *setup_buf;
+} USBEndpointConfig;
+
+/**
+ * @brief Type of an USB driver configuration structure.
+ */
+typedef struct {
+ /**
+ * @brief USB events callback.
+ * @details This callback is invoked when an USB driver event is registered.
+ */
+ usbeventcb_t event_cb;
+ /**
+ * @brief Device GET_DESCRIPTOR request callback.
+ * @note This callback is mandatory and cannot be set to @p NULL.
+ */
+ usbgetdescriptor_t get_descriptor_cb;
+ /**
+ * @brief Requests hook callback.
+ * @details This hook allows to be notified of standard requests or to
+ * handle non standard requests.
+ */
+ usbreqhandler_t requests_hook_cb;
+ /**
+ * @brief Start Of Frame callback.
+ */
+ usbcallback_t sof_cb;
+ /* End of the mandatory fields.*/
+} USBConfig;
+
+/**
+ * @brief Structure representing an USB driver.
+ */
+struct USBDriver {
+ /**
+ * @brief Driver state.
+ */
+ usbstate_t state;
+ /**
+ * @brief Current configuration data.
+ */
+ const USBConfig *config;
+ /**
+ * @brief Bit map of the transmitting IN endpoints.
+ */
+ uint16_t transmitting;
+ /**
+ * @brief Bit map of the receiving OUT endpoints.
+ */
+ uint16_t receiving;
+ /**
+ * @brief Active endpoints configurations.
+ */
+ const USBEndpointConfig *epc[USB_MAX_ENDPOINTS + 1];
+ /**
+ * @brief Fields available to user, it can be used to associate an
+ * application-defined handler to an IN endpoint.
+ * @note The base index is one, the endpoint zero does not have a
+ * reserved element in this array.
+ */
+ void *in_params[USB_MAX_ENDPOINTS];
+ /**
+ * @brief Fields available to user, it can be used to associate an
+ * application-defined handler to an OUT endpoint.
+ * @note The base index is one, the endpoint zero does not have a
+ * reserved element in this array.
+ */
+ void *out_params[USB_MAX_ENDPOINTS];
+ /**
+ * @brief Endpoint 0 state.
+ */
+ usbep0state_t ep0state;
+ /**
+ * @brief Next position in the buffer to be transferred through endpoint 0.
+ */
+ uint8_t *ep0next;
+ /**
+ * @brief Number of bytes yet to be transferred through endpoint 0.
+ */
+ size_t ep0n;
+ /**
+ * @brief Endpoint 0 end transaction callback.
+ */
+ usbcallback_t ep0endcb;
+ /**
+ * @brief Setup packet buffer.
+ */
+ uint8_t setup[8];
+ /**
+ * @brief Current USB device status.
+ */
+ uint16_t status;
+ /**
+ * @brief Assigned USB address.
+ */
+ uint8_t address;
+ /**
+ * @brief Current USB device configuration.
+ */
+ uint8_t configuration;
+#if defined(USB_DRIVER_EXT_FIELDS)
+ USB_DRIVER_EXT_FIELDS
+#endif
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Pointer to the next address in the packet memory.
+ */
+ uint32_t pmnext;
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Returns the current frame number.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ * @return The current frame number.
+ *
+ * @notapi
+ */
+#define usb_lld_get_frame_number(usbp) ((USB0->FRMNUMH<<8)|USB0->FRMNUML)
+
+/**
+ * @brief Returns the exact size of a receive transaction.
+ * @details The received size can be different from the size specified in
+ * @p usbStartReceiveI() because the last packet could have a size
+ * different from the expected one.
+ * @pre The OUT endpoint must have been configured in transaction mode
+ * in order to use this function.
+ *
+ * @param[in] usbp pointer to the @p USBDriver object
+ * @param[in] ep endpoint number
+ * @return Received data size.
+ *
+ * @notapi
+ */
+#define usb_lld_get_transaction_size(usbp, ep) \
+ ((usbp)->epc[ep]->out_state->rxcnt)
+
+/**
+ * @brief Connects the USB device.
+ *
+ * @api
+ */
+#if !defined(usb_lld_connect_bus)
+#define usb_lld_connect_bus(usbp) (USB0->CONTROL |= USBx_CONTROL_DPPULLUPNONOTG)
+#endif
+
+/**
+ * @brief Disconnect the USB device.
+ *
+ * @api
+ */
+#if !defined(usb_lld_disconnect_bus)
+/* Writing to USB0->CONTROL causes an unhandled exception when USB module is not clocked. */
+#if KINETIS_USB0_IS_USBOTG
+#define usb_lld_disconnect_bus(usbp) if(SIM->SCGC4 & SIM_SCGC4_USBOTG) {USB0->CONTROL &= ~USBx_CONTROL_DPPULLUPNONOTG;} else {}
+#else /* KINETIS_USB0_IS_USBOTG */
+#define usb_lld_disconnect_bus(usbp) if(SIM->SCGC4 & SIM_SCGC4_USBFS) {USB0->CONTROL &= ~USBx_CONTROL_DPPULLUPNONOTG;} else {}
+#endif /* KINETIS_USB0_IS_USBOTG */
+#endif
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if KINETIS_USB_USE_USB0 && !defined(__DOXYGEN__)
+extern USBDriver USBD1;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void usb_lld_init(void);
+ void usb_lld_start(USBDriver *usbp);
+ void usb_lld_stop(USBDriver *usbp);
+ void usb_lld_reset(USBDriver *usbp);
+ void usb_lld_set_address(USBDriver *usbp);
+ void usb_lld_init_endpoint(USBDriver *usbp, usbep_t ep);
+ void usb_lld_disable_endpoints(USBDriver *usbp);
+ usbepstatus_t usb_lld_get_status_in(USBDriver *usbp, usbep_t ep);
+ usbepstatus_t usb_lld_get_status_out(USBDriver *usbp, usbep_t ep);
+ void usb_lld_read_setup(USBDriver *usbp, usbep_t ep, uint8_t *buf);
+ void usb_lld_start_out(USBDriver *usbp, usbep_t ep);
+ void usb_lld_start_in(USBDriver *usbp, usbep_t ep);
+ void usb_lld_stall_out(USBDriver *usbp, usbep_t ep);
+ void usb_lld_stall_in(USBDriver *usbp, usbep_t ep);
+ void usb_lld_clear_out(USBDriver *usbp, usbep_t ep);
+ void usb_lld_clear_in(USBDriver *usbp, usbep_t ep);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_USB */
+
+#endif /* _USB_LLD_H_ */
+
+/** @} */
|