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/*
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;
osalDbgAssert(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;
osalDbgAssert(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 */
/** @} */
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