git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1258 35acf78f-673a-0410-8e92-d51de3d6d3f4

12 files changed, 151 insertions, 53 deletions

diff --git a/demos/ARM7-AT91SAM7X-GCC/board.c b/demos/ARM7-AT91SAM7X-GCC/board.c
index 31e362845..3faae501a 100644
--- a/demos/ARM7-AT91SAM7X-GCC/board.c
+++ b/demos/ARM7-AT91SAM7X-GCC/board.c
@@ -25,7 +25,7 @@
 #include "at91lib/aic.h"

 

 /*

- * FIQ Handler weak symbol defined in vectors.s.
+ * FIQ Handler weak symbol defined in vectors.s.

  */

 void FiqHandler(void);

 

@@ -123,6 +123,7 @@ void hwinit1(void) {
    * Default AIC setup, the device drivers will modify it as needed.

    */

   AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;

+  AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;

   AT91C_BASE_AIC->AIC_SVR[0] = (AT91_REG)FiqHandler;

   for (i = 1; i < 31; i++) {

     AT91C_BASE_AIC->AIC_SVR[i] = (AT91_REG)NULL;

diff --git a/demos/ARM7-AT91SAM7X-LWIP-GCC/board.c b/demos/ARM7-AT91SAM7X-LWIP-GCC/board.c
index 5b95524f8..e988aaa86 100644
--- a/demos/ARM7-AT91SAM7X-LWIP-GCC/board.c
+++ b/demos/ARM7-AT91SAM7X-LWIP-GCC/board.c
@@ -26,7 +26,7 @@
 #include "at91lib/aic.h"

 

 /*

- * FIQ Handler weak symbol defined in vectors.s.
+ * FIQ Handler weak symbol defined in vectors.s.

  */

 void FiqHandler(void);

 

@@ -124,6 +124,7 @@ void hwinit1(void) {
    * Default AIC setup, the device drivers will modify it as needed.

    */

   AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;

+  AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;

   AT91C_BASE_AIC->AIC_SVR[0] = (AT91_REG)FiqHandler;

   for (i = 1; i < 31; i++) {

     AT91C_BASE_AIC->AIC_SVR[i] = (AT91_REG)NULL;

diff --git a/demos/ARM7-AT91SAM7X-UIP-GCC/board.c b/demos/ARM7-AT91SAM7X-UIP-GCC/board.c
index 348f4bb99..9dbd5f0e4 100644
--- a/demos/ARM7-AT91SAM7X-UIP-GCC/board.c
+++ b/demos/ARM7-AT91SAM7X-UIP-GCC/board.c
@@ -27,7 +27,7 @@
 

 

 /*

- * FIQ Handler weak symbol defined in vectors.s.
+ * FIQ Handler weak symbol defined in vectors.s.

  */

 void FiqHandler(void);

 

@@ -125,6 +125,7 @@ void hwinit1(void) {
    * Default AIC setup, the device drivers will modify it as needed.

    */

   AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;

+  AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;

   AT91C_BASE_AIC->AIC_SVR[0] = (AT91_REG)FiqHandler;

   for (i = 1; i < 31; i++) {

     AT91C_BASE_AIC->AIC_SVR[i] = (AT91_REG)NULL;

diff --git a/os/io/io.dox b/os/io/io.dox
index 1c1ccda9b..f53bb3271 100644
--- a/os/io/io.dox
+++ b/os/io/io.dox
@@ -116,7 +116,7 @@
 

 /**

  * @defgroup SERIAL Serial Driver

- * @brief Generic Serial Drivers.

+ * @brief Generic Serial Driver.

  * @details This module implements a generic full duplex serial driver. The

  * driver implements a @p SerialDriver interface and uses I/O Queues for

  * communication between the upper and the lower driver. Event flags are used

@@ -137,6 +137,46 @@
  */

 

 /**

+ * @defgroup SPI SPI Driver

+ * @brief Generic SPI Driver.

+ * @details This module implements a generic SPI driver. The driver implements

+ *          a state machine internally:

+ * @dot

+  digraph example {

+      rankdir="LR";

+      node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];

+      edge [fontname=Helvetica, fontsize=8];

+      uninit [label="SPI_UNINIT", style="bold"];

+      stop  [label="SPI_STOP\nLow Power"];

+      ready [label="SPI_IDLE\nClock Enabled"];

+      active [label="SPI_ACTIVE\nBus Active"];

+      uninit -> stop [label="spiInit()"];

+      stop -> ready [label="spiStart()"];

+      ready -> ready [label="spiStart()"];

+      ready -> stop [label="spiStop()"];

+      stop -> stop [label="spiStop()"];

+      ready -> active [label="spiSelect()"];

+      active -> ready [label="spiUnselect()"];

+      active -> active [label="spiExchange()\nspiSend()\nspiReceive()"];

+  }

+ * @enddot

+ *

+ * The driver is not thread safe for performance reasons, if you need to access

+ * the SPI bus from multiple thread then use the @p spiAcquireBus() and

+ * @p spiReleaseBus() APIs in order to gain exclusive access.

+ *

+ * @ingroup IO

+ */

+

+/**

+ * @defgroup SPI_LLD SPI Low Level Driver

+ * @brief @ref SPI low level driver template.

+ * @details This file is a template for a SPI low level driver.

+ *

+ * @ingroup SPI

+ */

+

+/**

  * @defgroup MAC MAC Driver

  * @brief Generic MAC driver.

  * @details This module implements a generic interface for MAC (Media

diff --git a/os/io/platforms/STM32/spi_lld.c b/os/io/platforms/STM32/spi_lld.c
index d0a84ddf7..fb3021d80 100644
--- a/os/io/platforms/STM32/spi_lld.c
+++ b/os/io/platforms/STM32/spi_lld.c
@@ -179,7 +179,6 @@ void spi_lld_init(void) {
   SPID1.spd_dmarx   = DMA1_Channel2;

   SPID1.spd_dmatx   = DMA1_Channel3;

   SPID1.spd_dmaprio = SPI1_DMA_PRIORITY << 12;

-  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;

   GPIOA->CRH = (GPIOA->CRH & 0x000FFFFF) | 0xB4B00000;

 #endif

 

@@ -190,17 +189,30 @@ void spi_lld_init(void) {
   SPID2.spd_dmarx   = DMA1_Channel4;

   SPID2.spd_dmatx   = DMA1_Channel5;

   SPID2.spd_dmaprio = SPI2_DMA_PRIORITY << 12;

-  RCC->APB1ENR |= RCC_APB1ENR_SPI2EN;

   GPIOB->CRL = (GPIOB->CRL & 0x000FFFFF) | 0xB4B00000;

 #endif

 }

 

 /**

- * @brief Low level SPI bus setup.

- *
+ * @brief Configures and activates the SPI peripheral.

+ *

  * @param[in] spip pointer to the @p SPIDriver object

  */

-void spi_lld_setup(SPIDriver *spip) {

+void spi_lld_start(SPIDriver *spip) {

+

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

+  if (spip->spd_state == SPI_STOP) {

+#if USE_STM32_SPI1

+    if (&SPID1 == spip) {

+      RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;

+    }

+#endif

+#if USE_STM32_SPI2

+    if (&SPID2 == spip) {

+      RCC->APB1ENR |= RCC_APB1ENR_SPI2EN;

+    }

+#endif

+  }

 

   /* SPI setup.*/

   spip->spd_spi->CR1 = spip->spd_config->spc_cr1 | SPI_CR1_MSTR;

@@ -226,6 +238,28 @@ void spi_lld_setup(SPIDriver *spip) {
 }

 

 /**

+ * @brief Deactivates the SPI peripheral.

+ *

+ * @param[in] spip pointer to the @p SPIDriver object

+ */

+void spi_lld_stop(SPIDriver *spip) {

+

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

+  if (spip->spd_state == SPI_READY) {

+#if USE_STM32_SPI1

+    if (&SPID1 == spip) {

+      RCC->APB2ENR &= ~RCC_APB2ENR_SPI1EN;

+    }

+#endif

+#if USE_STM32_SPI2

+    if (&SPID2 == spip) {

+      RCC->APB1ENR &= ~RCC_APB1ENR_SPI2EN;

+    }

+#endif

+  }

+}

+

+/**

  * @brief Asserts the slave select signal and prepares for transfers.

  *

  * @param[in] spip pointer to the @p SPIDriver object

@@ -236,7 +270,7 @@ void spi_lld_select(SPIDriver *spip) {
 }

 

 /**

- * @brief De-asserts the slave select signal.

+ * @brief Deasserts the slave select signal.

  * @details The previously selected peripheral is unselected.

  *

  * @param[in] spip pointer to the @p SPIDriver object

diff --git a/os/io/platforms/STM32/spi_lld.h b/os/io/platforms/STM32/spi_lld.h
index 5775b67db..7348b72a6 100644
--- a/os/io/platforms/STM32/spi_lld.h
+++ b/os/io/platforms/STM32/spi_lld.h
@@ -82,15 +82,6 @@
 /*===========================================================================*/

 

 /**

- * @brief Driver state machine possible states.
- */

-typedef enum {

-  SPI_UNINIT = 0,//!< SPI_UNINIT

-  SPI_IDLE = 1,  //!< SPI_IDLE

-  SPI_ACTIVE = 2 //!< SPI_ACTIVE

-} spistate_t;

-

-/**

  * @brief Driver configuration structure.
  */

 typedef struct {

@@ -175,7 +166,8 @@ extern SPIDriver SPID2;
 extern "C" {

 #endif

   void spi_lld_init(void);

-  void spi_lld_setup(SPIDriver *spip);

+  void spi_lld_start(SPIDriver *spip);

+  void spi_lld_stop(SPIDriver *spip);

   void spi_lld_select(SPIDriver *spip);

   void spi_lld_unselect(SPIDriver *spip);

   msg_t spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);

diff --git a/os/io/spi.c b/os/io/spi.c
index be34c469d..5cf51e76e 100644
--- a/os/io/spi.c
+++ b/os/io/spi.c
@@ -42,7 +42,7 @@ void spiInit(void) {
  */

 void spiObjectInit(SPIDriver *spip) {

 

-  spip->spd_state = SPI_IDLE;

+  spip->spd_state = SPI_STOP;

 #if CH_USE_MUTEXES

   chMtxInit(&spip->spd_mutex);

 #elif CH_USE_SEMAPHORES

@@ -52,20 +52,37 @@ void spiObjectInit(SPIDriver *spip) {
 }

 

 /**

- * @brief Configures the SPI bus.

+ * @brief Configures and activates the SPI peripheral.

  *

  * @param[in] spip pointer to the @p SPIDriver object

  * @param config pointer to the @p SPIConfig object

  */

-void spiSetup(SPIDriver *spip, const SPIConfig *config) {

+void spiStart(SPIDriver *spip, const SPIConfig *config) {

 

-  chDbgCheck((spip != NULL) && (config != NULL), "spiSetup");

-  chDbgAssert(spip->spd_state == SPI_IDLE,

-              "spiSetup(), #1",

-              "not idle");

+  chDbgCheck((spip != NULL) && (config != NULL), "spiStart");

+  chDbgAssert((spip->spd_state == SPI_STOP) || (spip->spd_state == SPI_READY),

+              "spiStart(), #1",

+              "invalid state");

 

   spip->spd_config = config;

-  spi_lld_setup(spip);

+  spi_lld_start(spip);

+  spip->spd_state = SPI_READY;

+}

+

+/**

+ * @brief Deactivates the SPI peripheral.

+ *

+ * @param[in] spip pointer to the @p SPIDriver object

+ */

+void spiStop(SPIDriver *spip) {

+

+  chDbgCheck(spip != NULL, "spiStop");

+  chDbgAssert((spip->spd_state == SPI_STOP) || (spip->spd_state == SPI_READY),

+              "spiStop(), #1",

+              "invalid state");

+

+  spi_lld_stop(spip);

+  spip->spd_state = SPI_STOP;

 }

 

 /**

@@ -77,19 +94,16 @@ void spiSelect(SPIDriver *spip) {
 

   chDbgCheck(spip != NULL, "spiSelect");

 

-  chSysLock();

-

-  chDbgAssert(spip->spd_state == SPI_IDLE,

+  chDbgAssert(spip->spd_state == SPI_READY,

               "spiSelect(), #1",

               "not idle");

 

   spi_lld_select(spip);

   spip->spd_state = SPI_ACTIVE;

-  chSysUnlock();

 }

 

 /**

- * @brief De-asserts the slave select signal.

+ * @brief Deasserts the slave select signal.

  * @details The previously selected peripheral is unselected.

  *
  * @param[in] spip pointer to the @p SPIDriver object

@@ -98,15 +112,12 @@ void spiUnselect(SPIDriver *spip) {
 

   chDbgCheck(spip != NULL, "spiUnselect");

 

-  chSysLock();

-

   chDbgAssert(spip->spd_state == SPI_ACTIVE,

               "spiUnselect(), #1",

               "not locked");

 

   spi_lld_unselect(spip);

-  spip->spd_state = SPI_IDLE;

-  chSysUnlock();

+  spip->spd_state = SPI_READY;

 }

 

 /**

diff --git a/os/io/spi.h b/os/io/spi.h
index 816e9f6d4..e0a163db2 100644
--- a/os/io/spi.h
+++ b/os/io/spi.h
@@ -38,6 +38,16 @@
 #error "SPI_USE_MUTUAL_EXCLUSION requires CH_USE_MUTEXES and/or CH_USE_SEMAPHORES"

 #endif

 

+/**

+ * @brief Driver state machine possible states.

+ */

+typedef enum {

+  SPI_UNINIT = 0,                           /**< @brief Not initialized.    */

+  SPI_STOP = 1,                             /**< @brief Stopped.            */

+  SPI_READY = 2,                            /**< @brief Ready.              */

+  SPI_ACTIVE = 3                            /**< @brief Slave selected.     */

+} spistate_t;

+

 #include "spi_lld.h"

 

 #ifdef __cplusplus

@@ -45,7 +55,8 @@ extern "C" {
 #endif

   void spiInit(void);

   void spiObjectInit(SPIDriver *spip);

-  void spiSetup(SPIDriver *spip, const SPIConfig *config);

+  void spiStart(SPIDriver *spip, const SPIConfig *config);

+  void spiStop(SPIDriver *spip);

   void spiSelect(SPIDriver *spip);

   void spiUnselect(SPIDriver *spip);

   msg_t spiExchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);

diff --git a/os/io/templates/spi_lld.c b/os/io/templates/spi_lld.c
index e31dffc4b..c212946e0 100644
--- a/os/io/templates/spi_lld.c
+++ b/os/io/templates/spi_lld.c
@@ -47,11 +47,24 @@ void spi_lld_init(void) {
 }

 

 /**

- * @brief Low level SPI bus setup.

- *
+ * @brief Configures and activates the SPI peripheral.

+ *

+ * @param[in] spip pointer to the @p SPIDriver object

+ */

+void spi_lld_start(SPIDriver *spip) {

+

+  if (spip->spd_state == SPI_STOP) {

+    /* Clock activation.*/

+  }

+  /* Configuration.*/

+}

+

+/**

+ * @brief Deactivates the SPI peripheral.

+ *

  * @param[in] spip pointer to the @p SPIDriver object

  */

-void spi_lld_setup(SPIDriver *spip) {

+void spi_lld_stop(SPIDriver *spip) {

 

 }

 

@@ -65,7 +78,7 @@ void spi_lld_select(SPIDriver *spip) {
 }

 

 /**

- * @brief De-asserts the slave select signal.

+ * @brief Deasserts the slave select signal.

  * @details The previously selected peripheral is unselected.

  *

  * @param[in] spip pointer to the @p SPIDriver object

diff --git a/os/io/templates/spi_lld.h b/os/io/templates/spi_lld.h
index a8479c008..4017d2418 100644
--- a/os/io/templates/spi_lld.h
+++ b/os/io/templates/spi_lld.h
@@ -47,15 +47,6 @@
 /*===========================================================================*/

 

 /**

- * @brief Driver state machine possible states.
- */

-typedef enum {

-  SPI_UNINIT = 0,

-  SPI_IDLE = 1,

-  SPI_ACTIVE = 2

-} spistate_t;

-

-/**

  * @brief Driver configuration structure.
  */

 typedef struct {

@@ -99,7 +90,8 @@ typedef struct {
 extern "C" {

 #endif

   void spi_lld_init(void);

-  void spi_lld_setup(SPIDriver *spip);

+  void spi_lld_start(SPIDriver *spip);

+  void spi_lld_stop(SPIDriver *spip);

   void spi_lld_select(SPIDriver *spip);

   void spi_lld_unselect(SPIDriver *spip);

   msg_t spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);

diff --git a/os/kernel/src/chheap.c b/os/kernel/src/chheap.c
index d1dab1580..203d69d13 100644
--- a/os/kernel/src/chheap.c
+++ b/os/kernel/src/chheap.c
@@ -255,7 +255,7 @@ size_t chHeapStatus(MemoryHeap *heapp, size_t *sizep) {
 

 #if CH_USE_MUTEXES

 #define H_LOCK()        chMtxLock(&hmtx)

-#define H_UNLOCK()      chMtxLock(&hmtx)

+#define H_UNLOCK()      chMtxUnock()

 static Mutex            hmtx;

 #elif CH_USE_SEMAPHORES

 #define H_LOCK()        chSemWait(&hsem)

diff --git a/os/kernel/src/chschd.c b/os/kernel/src/chschd.c
index 150169481..87c2e2f8c 100644
--- a/os/kernel/src/chschd.c
+++ b/os/kernel/src/chschd.c
@@ -268,7 +268,9 @@ void chSchDoYieldS(void) {
 
     /* Pick the first thread from the ready queue and makes it current.*/
     (currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR;
+#if CH_TIME_QUANTUM > 0
     rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
     chDbgTrace(otp, currp);
     chSysSwitchI(otp, currp);
   }