DSPI and DMA-MUX support for SPC5xx.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5830 35acf78f-673a-0410-8e92-d51de3d6d3f4

9 files changed, 296 insertions, 23 deletions

diff --git a/docs/Doxyfile_chm b/docs/Doxyfile_chm
index c809b3cbe..8b2f242f9 100644
--- a/docs/Doxyfile_chm
+++ b/docs/Doxyfile_chm
@@ -31,7 +31,7 @@ PROJECT_NAME           = ChibiOS/RT
 # This could be handy for archiving the generated documentation or

 # if some version control system is used.

 

-PROJECT_NUMBER         = 2.5.2

+PROJECT_NUMBER         = 2.7.0

 

 # Using the PROJECT_BRIEF tag one can provide an optional one line description

 # for a project that appears at the top of each page and should give viewer

diff --git a/docs/Doxyfile_html b/docs/Doxyfile_html
index 0c1f8acb8..d18b5eb97 100644
--- a/docs/Doxyfile_html
+++ b/docs/Doxyfile_html
@@ -31,7 +31,7 @@ PROJECT_NAME           = ChibiOS/RT
 # This could be handy for archiving the generated documentation or

 # if some version control system is used.

 

-PROJECT_NUMBER         = 2.5.2

+PROJECT_NUMBER         = 2.7.0

 

 # Using the PROJECT_BRIEF tag one can provide an optional one line description

 # for a project that appears at the top of each page and should give viewer

diff --git a/os/hal/platforms/SPC560Pxx/spc560p_registry.h b/os/hal/platforms/SPC560Pxx/spc560p_registry.h
index f4d9462e5..18107f065 100644
--- a/os/hal/platforms/SPC560Pxx/spc560p_registry.h
+++ b/os/hal/platforms/SPC560Pxx/spc560p_registry.h
@@ -90,6 +90,9 @@
 #define SPC5_HAS_DSPI1                      TRUE

 #define SPC5_HAS_DSPI2                      TRUE

 #define SPC5_DSPI_FIFO_DEPTH                5

+#define SPC5_DSPI0_PCTL                     4

+#define SPC5_DSPI1_PCTL                     5

+#define SPC5_DSPI2_PCTL                     6

 #define SPC5_DSPI0_TX1_DMA_DEV_ID           1

 #define SPC5_DSPI0_TX2_DMA_DEV_ID           0

 #define SPC5_DSPI0_RX_DMA_DEV_ID            2

@@ -105,35 +108,47 @@
 #define SPC5_DSPI1_TFFF_NUMBER              96

 #define SPC5_DSPI2_TFFF_HANDLER             vector116

 #define SPC5_DSPI2_TFFF_NUMBER              116

-#define SPC5_DSPI0_ENABLE_CLOCK()

-#define SPC5_DSPI0_DISABLE_CLOCK()

-#define SPC5_DSPI1_ENABLE_CLOCK()

-#define SPC5_DSPI1_DISABLE_CLOCK()

-#define SPC5_DSPI2_ENABLE_CLOCK()

-#define SPC5_DSPI2_DISABLE_CLOCK()

+#define SPC5_DSPI0_ENABLE_CLOCK()                                           \

+  halSPCSetPeripheralClockMode(SPC5_DSPI0_PCTL, SPC5_SPI_DSPI0_START_PCTL)

+#define SPC5_DSPI0_DISABLE_CLOCK()                                          \

+  halSPCSetPeripheralClockMode(SPC5_DSPI0_PCTL, SPC5_SPI_DSPI0_STOP_PCTL)

+#define SPC5_DSPI1_ENABLE_CLOCK()                                           \

+  halSPCSetPeripheralClockMode(SPC5_DSPI1_PCTL, SPC5_SPI_DSPI1_START_PCTL)

+#define SPC5_DSPI1_DISABLE_CLOCK()                                          \

+  halSPCSetPeripheralClockMode(SPC5_DSPI1_PCTL, SPC5_SPI_DSPI1_STOP_PCTL)

+#define SPC5_DSPI2_ENABLE_CLOCK()                                           \

+  halSPCSetPeripheralClockMode(SPC5_DSPI2_PCTL, SPC5_SPI_DSPI2_START_PCTL)

+#define SPC5_DSPI2_DISABLE_CLOCK()                                          \

+  halSPCSetPeripheralClockMode(SPC5_DSPI2_PCTL, SPC5_SPI_DSPI2_STOP_PCTL)

 

 #if defined(_SPC560PXX_MEDIUM_) || defined(_SPC560PXX_LARGE_)

 #define SPC5_HAS_DSPI3                      TRUE

+#define SPC5_DSPI3_PCTL                     7

 #define SPC5_DSPI3_TX1_DMA_DEV_ID           7

 #define SPC5_DSPI3_TX2_DMA_DEV_ID           0

 #define SPC5_DSPI3_RX_DMA_DEV_ID            8

 #define SPC5_DSPI3_TFFF_HANDLER             vector219

 #define SPC5_DSPI3_TFFF_NUMBER              219

-#define SPC5_DSPI3_ENABLE_CLOCK()

-#define SPC5_DSPI3_DISABLE_CLOCK()

+#define SPC5_DSPI3_ENABLE_CLOCK()                                           \

+  halSPCSetPeripheralClockMode(SPC5_DSPI3_PCTL, SPC5_SPI_DSPI3_START_PCTL)

+#define SPC5_DSPI3_DISABLE_CLOCK()                                          \

+  halSPCSetPeripheralClockMode(SPC5_DSPI3_PCTL, SPC5_SPI_DSPI3_STOP_PCTL)

 #else

 #define SPC5_HAS_DSPI3                      FALSE

 #endif

 

 #if defined(_SPC560PXX_LARGE_)

 #define SPC5_HAS_DSPI4                      TRUE

+#define SPC5_DSPI4_PCTL                     8

 #define SPC5_DSPI4_TX1_DMA_DEV_ID           15

 #define SPC5_DSPI4_TX2_DMA_DEV_ID           0

 #define SPC5_DSPI4_RX_DMA_DEV_ID            21

 #define SPC5_DSPI4_TFFF_HANDLER             vector258

 #define SPC5_DSPI4_TFFF_NUMBER              258

-#define SPC5_DSPI4_ENABLE_CLOCK()

-#define SPC5_DSPI4_DISABLE_CLOCK()

+#define SPC5_DSPI4_ENABLE_CLOCK()                                           \

+  halSPCSetPeripheralClockMode(SPC5_DSPI4_PCTL, SPC5_SPI_DSPI4_START_PCTL)

+#define SPC5_DSPI4_DISABLE_CLOCK()                                          \

+  halSPCSetPeripheralClockMode(SPC5_DSPI0_PCTL, SPC5_SPI_DSPI4_STOP_PCTL)

 #else

 #define SPC5_HAS_DSPI4                      FALSE

 #endif

@@ -279,8 +294,10 @@
 #define SPC5_FLEXCAN0_FLEXCAN_BUF_08_11_NUMBER              70

 #define SPC5_FLEXCAN0_FLEXCAN_BUF_12_15_NUMBER              71

 #define SPC5_FLEXCAN0_FLEXCAN_BUF_16_31_NUMBER              72

-#define SPC5_FLEXCAN0_ENABLE_CLOCK()                        halSPCSetPeripheralClockMode(SPC5_FLEXCAN0_PCTL, SPC5_CAN_FLEXCAN0_START_PCTL);

-#define SPC5_FLEXCAN0_DISABLE_CLOCK()                       halSPCSetPeripheralClockMode(SPC5_FLEXCAN0_PCTL, SPC5_CAN_FLEXCAN0_STOP_PCTL);

+#define SPC5_FLEXCAN0_ENABLE_CLOCK()                                        \

+  halSPCSetPeripheralClockMode(SPC5_FLEXCAN0_PCTL, SPC5_CAN_FLEXCAN0_START_PCTL)

+#define SPC5_FLEXCAN0_DISABLE_CLOCK()                                       \

+  halSPCSetPeripheralClockMode(SPC5_FLEXCAN0_PCTL, SPC5_CAN_FLEXCAN0_STOP_PCTL)

 /** @} */

 

 #endif /* _SPC560P_REGISTRY_H_ */

diff --git a/os/hal/platforms/SPC5xx/DSPI_v1/spi_lld.c b/os/hal/platforms/SPC5xx/DSPI_v1/spi_lld.c
index f4c0bef9e..fd7222509 100644
--- a/os/hal/platforms/SPC5xx/DSPI_v1/spi_lld.c
+++ b/os/hal/platforms/SPC5xx/DSPI_v1/spi_lld.c
@@ -78,6 +78,13 @@ SPIDriver SPID3;
 SPIDriver SPID4;

 #endif

 

+/**

+ * @brief   SPID5 driver identifier.

+ */

+#if SPC5_SPI_USE_DSPI4 || defined(__DOXYGEN__)

+SPIDriver SPID5;

+#endif

+

 /*===========================================================================*/

 /* Driver local variables and types.                                         */

 /*===========================================================================*/

@@ -186,6 +193,32 @@ static const edma_channel_config_t spi_dspi3_rx_dma_config = {
 };

 #endif /* SPC5_SPI_USE_DSPI3 */

 

+#if SPC5_SPI_USE_DSPI4 || defined(__DOXYGEN__)

+/**

+ * @brief   DMA configuration for DSPI4 TX1.

+ */

+static const edma_channel_config_t spi_dspi4_tx1_dma_config = {

+  SPC5_DSPI4_TX1_DMA_DEV_ID, SPC5_SPI_DSPI4_DMA_PRIO, SPC5_SPI_DSPI4_DMA_IRQ_PRIO,

+  spi_serve_tx_irq, spi_serve_dma_error_irq, &SPID5

+};

+

+/**

+ * @brief   DMA configuration for DSPI4 TX2.

+ */

+static const edma_channel_config_t spi_dspi4_tx2_dma_config = {

+  SPC5_DSPI4_TX2_DMA_DEV_ID, SPC5_SPI_DSPI4_DMA_PRIO, SPC5_SPI_DSPI4_DMA_IRQ_PRIO,

+  spi_serve_tx_irq, spi_serve_dma_error_irq, &SPID5

+};

+

+/**

+ * @brief   DMA configuration for DSPI4 RX.

+ */

+static const edma_channel_config_t spi_dspi4_rx_dma_config = {

+  SPC5_DSPI4_RX_DMA_DEV_ID, SPC5_SPI_DSPI4_DMA_PRIO, SPC5_SPI_DSPI4_DMA_IRQ_PRIO,

+  spi_serve_rx_irq, spi_serve_dma_error_irq, &SPID5

+};

+#endif /* SPC5_SPI_USE_DSPI4 */

+

 /*===========================================================================*/

 /* Driver local functions.                                                   */

 /*===========================================================================*/

@@ -699,6 +732,35 @@ CH_IRQ_HANDLER(SPC5_DSPI3_TFFF_HANDLER) {
 }

 #endif /* SPC5_SPI_USE_DSPI3 */

 

+#if SPC5_SPI_USE_DSPI4 || defined(__DOXYGEN__)

+#if !defined(SPC5_DSPI4_TFFF_HANDLER)

+#error "SPC5_DSPI4_TFFF_HANDLER not defined"

+#endif

+/**

+ * @brief   DSPI4 TFFF interrupt handler.

+ *

+ * @isr

+ */

+CH_IRQ_HANDLER(SPC5_DSPI4_TFFF_HANDLER) {

+

+  CH_IRQ_PROLOGUE();

+

+  chSysLockFromIsr();

+

+  /* Interrupt served and back to DMA mode.*/

+  SPC5_DSPI4.RSER.B.TFFFDIRS = 1;

+  SPC5_DSPI4.SR.B.TFFF = 1;

+

+  /* Pushing last frame.*/

+  SPC5_DSPI4.PUSHR.R = (SPID5.config->pushr | SPID5.tx_last | SPC5_PUSHR_EOQ) &

+                        ~SPC5_PUSHR_CONT;

+

+  chSysUnlockFromIsr();

+

+  CH_IRQ_EPILOGUE();

+}

+#endif /* SPC5_SPI_USE_DSPI4 */

+

 /*===========================================================================*/

 /* Driver exported functions.                                                */

 /*===========================================================================*/

@@ -717,8 +779,10 @@ void spi_lld_init(void) {
   SPID1.tx1_channel = EDMA_ERROR;

   SPID1.tx2_channel = EDMA_ERROR;

   SPID1.rx_channel  = EDMA_ERROR;

+  SPC5_DSPI0_ENABLE_CLOCK();

   SPC5_DSPI0.MCR.R  = SPC5_MCR_MSTR | SPC5_MCR_HALT | SPC5_MCR_MDIS |

                       SPC5_SPI_DSPI0_MCR;

+  SPC5_DSPI0_DISABLE_CLOCK();

   INTC.PSR[SPC5_DSPI0_TFFF_NUMBER].R = SPC5_SPI_DSPI0_IRQ_PRIO;

 #endif /* SPC5_SPI_USE_DSPI0 */

 

@@ -729,8 +793,10 @@ void spi_lld_init(void) {
   SPID2.tx1_channel = EDMA_ERROR;

   SPID2.tx2_channel = EDMA_ERROR;

   SPID2.rx_channel  = EDMA_ERROR;

+  SPC5_DSPI1_ENABLE_CLOCK();

   SPC5_DSPI1.MCR.R  = SPC5_MCR_MSTR | SPC5_MCR_HALT | SPC5_MCR_MDIS |

                       SPC5_SPI_DSPI1_MCR;

+  SPC5_DSPI1_DISABLE_CLOCK();

   INTC.PSR[SPC5_DSPI1_TFFF_NUMBER].R = SPC5_SPI_DSPI1_IRQ_PRIO;

 #endif /* SPC5_SPI_USE_DSPI1 */

 

@@ -741,22 +807,40 @@ void spi_lld_init(void) {
   SPID3.tx1_channel = EDMA_ERROR;

   SPID3.tx2_channel = EDMA_ERROR;

   SPID3.rx_channel  = EDMA_ERROR;

+  SPC5_DSPI2_ENABLE_CLOCK();

   SPC5_DSPI2.MCR.R  = SPC5_MCR_MSTR | SPC5_MCR_HALT | SPC5_MCR_MDIS |

                       SPC5_SPI_DSPI2_MCR;

+  SPC5_DSPI2_DISABLE_CLOCK();

   INTC.PSR[SPC5_DSPI2_TFFF_NUMBER].R = SPC5_SPI_DSPI2_IRQ_PRIO;

 #endif /* SPC5_SPI_USE_DSPI2 */

 

-#if SPC5_SPI_USE_DSPI03

+#if SPC5_SPI_USE_DSPI3

   /* Driver initialization.*/

   spiObjectInit(&SPID4);

   SPID4.dspi = &SPC5_DSPI3;

   SPID4.tx1_channel = EDMA_ERROR;

   SPID4.tx2_channel = EDMA_ERROR;

   SPID4.rx_channel  = EDMA_ERROR;

+  SPC5_DSPI3_ENABLE_CLOCK();

   SPC5_DSPI3.MCR.R  = SPC5_MCR_MSTR | SPC5_MCR_HALT | SPC5_MCR_MDIS |

                       SPC5_SPI_DSPI3_MCR;

+  SPC5_DSPI3_DISABLE_CLOCK();

   INTC.PSR[SPC5_DSPI3_TFFF_NUMBER].R = SPC5_SPI_DSPI3_IRQ_PRIO;

 #endif /* SPC5_SPI_USE_DSPI3 */

+

+#if SPC5_SPI_USE_DSPI4

+  /* Driver initialization.*/

+  spiObjectInit(&SPID5);

+  SPID5.dspi = &SPC5_DSPI4;

+  SPID5.tx1_channel = EDMA_ERROR;

+  SPID5.tx2_channel = EDMA_ERROR;

+  SPID5.rx_channel  = EDMA_ERROR;

+  SPC5_DSPI4_ENABLE_CLOCK();

+  SPC5_DSPI4.MCR.R  = SPC5_MCR_MSTR | SPC5_MCR_HALT | SPC5_MCR_MDIS |

+                      SPC5_SPI_DSPI4_MCR;

+  SPC5_DSPI4_DISABLE_CLOCK();

+  INTC.PSR[SPC5_DSPI4_TFFF_NUMBER].R = SPC5_SPI_DSPI4_IRQ_PRIO;

+#endif /* SPC5_SPI_USE_DSPI4 */

 }

 

 /**

@@ -810,6 +894,15 @@ void spi_lld_start(SPIDriver *spip) {
     }

 #endif /* SPC5_SPI_USE_DSPI3 */

 

+#if SPC5_SPI_USE_DSPI4

+    if (&SPID5 == spip) {

+      SPC5_DSPI4_ENABLE_CLOCK();

+      spip->tx1_channel = edmaChannelAllocate(&spi_dspi4_tx1_dma_config);

+      spip->tx2_channel = edmaChannelAllocate(&spi_dspi4_tx2_dma_config);

+      spip->rx_channel = edmaChannelAllocate(&spi_dspi4_rx_dma_config);

+    }

+#endif /* SPC5_SPI_USE_DSPI5 */

+

     chDbgAssert((spip->tx1_channel != EDMA_ERROR) &&

                 (spip->tx2_channel != EDMA_ERROR) &&

                 (spip->rx_channel != EDMA_ERROR),

@@ -870,6 +963,12 @@ void spi_lld_stop(SPIDriver *spip) {
       SPC5_DSPI3_DISABLE_CLOCK();

     }

 #endif /* SPC5_SPI_USE_DSPI3 */

+

+#if SPC5_SPI_USE_DSPI4

+    if (&SPID5 == spip) {

+      SPC5_DSPI4_DISABLE_CLOCK();

+    }

+#endif /* SPC5_SPI_USE_DSPI4 */

   }

 }

 

diff --git a/os/hal/platforms/SPC5xx/DSPI_v1/spi_lld.h b/os/hal/platforms/SPC5xx/DSPI_v1/spi_lld.h
index dd92d06e3..1f4b62572 100644
--- a/os/hal/platforms/SPC5xx/DSPI_v1/spi_lld.h
+++ b/os/hal/platforms/SPC5xx/DSPI_v1/spi_lld.h
@@ -386,6 +386,116 @@
 #if !defined(SPC5_SPI_DSPI3_IRQ_PRIO) || defined(__DOXYGEN__)

 #define SPC5_SPI_DSPI3_IRQ_PRIO             10

 #endif

+

+/**

+ * @brief   DSPI0 peripheral configuration when started.

+ * @note    The default configuration is 1 (always run) in run mode and

+ *          2 (only halt) in low power mode. The defaults of the run modes

+ *          are defined in @p hal_lld.h.

+ */

+#if !defined(SPC5_SPI_DSPI0_START_PCTL) || defined(__DOXYGEN__)

+#define SPC5_SPI_DSPI0_START_PCTL           (SPC5_ME_PCTL_RUN(1) |          \

+                                             SPC5_ME_PCTL_LP(2))

+#endif

+

+/**

+ * @brief   DSPI0 peripheral configuration when stopped.

+ * @note    The default configuration is 0 (never run) in run mode and

+ *          0 (never run) in low power mode. The defaults of the run modes

+ *          are defined in @p hal_lld.h.

+ */

+#if !defined(SPC5_SPI_DSPI0_STOP_PCTL) || defined(__DOXYGEN__)

+#define SPC5_SPI_DSPI0_STOP_PCTL            (SPC5_ME_PCTL_RUN(0) |          \

+                                             SPC5_ME_PCTL_LP(0))

+#endif

+

+/**

+ * @brief   DSPI1 peripheral configuration when started.

+ * @note    The default configuration is 1 (always run) in run mode and

+ *          2 (only halt) in low power mode. The defaults of the run modes

+ *          are defined in @p hal_lld.h.

+ */

+#if !defined(SPC5_SPI_DSPI1_START_PCTL) || defined(__DOXYGEN__)

+#define SPC5_SPI_DSPI1_START_PCTL           (SPC5_ME_PCTL_RUN(1) |          \

+                                             SPC5_ME_PCTL_LP(2))

+#endif

+

+/**

+ * @brief   DSPI1 peripheral configuration when stopped.

+ * @note    The default configuration is 0 (never run) in run mode and

+ *          0 (never run) in low power mode. The defaults of the run modes

+ *          are defined in @p hal_lld.h.

+ */

+#if !defined(SPC5_SPI_DSPI1_STOP_PCTL) || defined(__DOXYGEN__)

+#define SPC5_SPI_DSPI1_STOP_PCTL            (SPC5_ME_PCTL_RUN(0) |          \

+                                             SPC5_ME_PCTL_LP(0))

+#endif

+

+/**

+ * @brief   DSPI2 peripheral configuration when started.

+ * @note    The default configuration is 1 (always run) in run mode and

+ *          2 (only halt) in low power mode. The defaults of the run modes

+ *          are defined in @p hal_lld.h.

+ */

+#if !defined(SPC5_SPI_DSPI2_START_PCTL) || defined(__DOXYGEN__)

+#define SPC5_SPI_DSPI2_START_PCTL           (SPC5_ME_PCTL_RUN(1) |          \

+                                             SPC5_ME_PCTL_LP(2))

+#endif

+

+/**

+ * @brief   DSPI2 peripheral configuration when stopped.

+ * @note    The default configuration is 0 (never run) in run mode and

+ *          0 (never run) in low power mode. The defaults of the run modes

+ *          are defined in @p hal_lld.h.

+ */

+#if !defined(SPC5_SPI_DSPI2_STOP_PCTL) || defined(__DOXYGEN__)

+#define SPC5_SPI_DSPI2_STOP_PCTL            (SPC5_ME_PCTL_RUN(0) |          \

+                                             SPC5_ME_PCTL_LP(0))

+#endif

+

+/**

+ * @brief   DSPI3 peripheral configuration when started.

+ * @note    The default configuration is 1 (always run) in run mode and

+ *          2 (only halt) in low power mode. The defaults of the run modes

+ *          are defined in @p hal_lld.h.

+ */

+#if !defined(SPC5_SPI_DSPI3_START_PCTL) || defined(__DOXYGEN__)

+#define SPC5_SPI_DSPI3_START_PCTL           (SPC5_ME_PCTL_RUN(1) |          \

+                                             SPC5_ME_PCTL_LP(2))

+#endif

+

+/**

+ * @brief   DSPI3 peripheral configuration when stopped.

+ * @note    The default configuration is 0 (never run) in run mode and

+ *          0 (never run) in low power mode. The defaults of the run modes

+ *          are defined in @p hal_lld.h.

+ */

+#if !defined(SPC5_SPI_DSPI3_STOP_PCTL) || defined(__DOXYGEN__)

+#define SPC5_SPI_DSPI3_STOP_PCTL            (SPC5_ME_PCTL_RUN(0) |          \

+                                             SPC5_ME_PCTL_LP(0))

+#endif

+

+/**

+ * @brief   DSPI4 peripheral configuration when started.

+ * @note    The default configuration is 1 (always run) in run mode and

+ *          2 (only halt) in low power mode. The defaults of the run modes

+ *          are defined in @p hal_lld.h.

+ */

+#if !defined(SPC5_SPI_DSPI4_START_PCTL) || defined(__DOXYGEN__)

+#define SPC5_SPI_DSPI4_START_PCTL           (SPC5_ME_PCTL_RUN(1) |          \

+                                             SPC5_ME_PCTL_LP(2))

+#endif

+

+/**

+ * @brief   DSPI4 peripheral configuration when stopped.

+ * @note    The default configuration is 0 (never run) in run mode and

+ *          0 (never run) in low power mode. The defaults of the run modes

+ *          are defined in @p hal_lld.h.

+ */

+#if !defined(SPC5_SPI_DSPI4_STOP_PCTL) || defined(__DOXYGEN__)

+#define SPC5_SPI_DSPI4_STOP_PCTL            (SPC5_ME_PCTL_RUN(0) |          \

+                                             SPC5_ME_PCTL_LP(0))

+#endif

 /** @} */

 

 /*===========================================================================*/

@@ -408,8 +518,13 @@
 #error "DSPI3 not present in the selected device"

 #endif

 

+#if SPC5_SPI_USE_DSPI4 && !SPC5_HAS_DSPI4

+#error "DSPI4 not present in the selected device"

+#endif

+

 #if !SPC5_SPI_USE_DSPI0 && !SPC5_SPI_USE_DSPI1 &&                           \

-    !SPC5_SPI_USE_DSPI2 && !SPC5_SPI_USE_DSPI3

+    !SPC5_SPI_USE_DSPI2 && !SPC5_SPI_USE_DSPI3 &&                           \

+    !SPC5_SPI_USE_DSPI4

 #error "SPI driver activated but no DSPI peripheral assigned"

 #endif

 

@@ -547,6 +662,10 @@ extern SPIDriver SPID3;
 extern SPIDriver SPID4;

 #endif

 

+#if SPC5_SPI_USE_DSPI4 && !defined(__DOXYGEN__)

+extern SPIDriver SPID5;

+#endif

+

 #ifdef __cplusplus

 extern "C" {

 #endif

diff --git a/os/hal/platforms/SPC5xx/EDMA_v1/spc5_edma.c b/os/hal/platforms/SPC5xx/EDMA_v1/spc5_edma.c
index a0538ca78..3561a73e7 100644
--- a/os/hal/platforms/SPC5xx/EDMA_v1/spc5_edma.c
+++ b/os/hal/platforms/SPC5xx/EDMA_v1/spc5_edma.c
@@ -1314,12 +1314,22 @@ edma_channel_t edmaChannelAllocate(const edma_channel_config_t *ccfg) {
              "edmaChannelAllocate");

 

 #if SPC5_EDMA_HAS_MUX

-  /* TODO: MUX handling.*/

-  channel = 0;

+  /* Searching for a free channel, we have the MUX so any channel is

+     acceptable.*/

+  for (channel = 0; channel < SPC5_EDMA_NCHANNELS; channel++)

+    if (channels[channel] == NULL)

+      break;

+  if (channel >= SPC5_EDMA_NCHANNELS)

+    return EDMA_ERROR;                          /* No free channels.        */

+

+  /* Programming the MUX.*/

+  SPC5_DMAMUX.CHCONFIG[channel].R = (uint8_t)(0x80 | ccfg->dma_periph);

 #else /* !SPC5_EDMA_HAS_MUX */

+  /* There is no MUX so we can just check that the specified channels is

+     available.*/

   channel = (edma_channel_t)ccfg->dma_periph;

   if (channels[channel] != NULL)

-    return EDMA_ERROR;  /* Already taken.*/

+    return EDMA_ERROR;                          /* Already taken.           */

 #endif /* !SPC5_EDMA_HAS_MUX */

 

   /* Associating the configuration to the channel.*/

@@ -1354,6 +1364,11 @@ void edmaChannelRelease(edma_channel_t channel) {
   /* Enforcing a stop.*/

   edmaChannelStop(channel);

 

+#if SPC5_EDMA_HAS_MUX

+  /* Disabling the MUX slot.*/

+  SPC5_DMAMUX.CHCONFIG[channel].R = 0;

+#endif

+

   /* Clearing ISR sources for the channel.*/

   SPC5_EDMA.CIRQR.R = channel;

   SPC5_EDMA.CEEIR.R = channel;

diff --git a/os/hal/platforms/SPC5xx/EDMA_v1/spc5_edma.h b/os/hal/platforms/SPC5xx/EDMA_v1/spc5_edma.h
index 2830556f5..97437fbac 100644
--- a/os/hal/platforms/SPC5xx/EDMA_v1/spc5_edma.h
+++ b/os/hal/platforms/SPC5xx/EDMA_v1/spc5_edma.h
@@ -609,6 +609,22 @@ typedef struct {
   edma_tcd_t TCD[64];

 } edma_t;

 

+#if SPC5_EDMA_HAS_MUX || defined(__DOXYGEN__)

+/**

+ * @brief   Type of a DMA-MUX peripheral.

+ */

+typedef struct {

+  union {

+    vuint8_t R;

+    struct {

+      vuint8_t ENBL:1;

+      vuint8_t TRIG:1;

+      vuint8_t SOURCE:6;

+    } B;

+  } CHCONFIG[SPC5_EDMA_NCHANNELS];

+} dma_mux_t;

+#endif /* SPC5_EDMA_HAS_MUX */

+

 /**

  * @brief   DMA callback type.

  *

@@ -650,12 +666,17 @@ typedef struct {
 /*===========================================================================*/

 

 /**

- * @name    eDMA units references

+ * @name    Peripherals references

+ *

  * @{

  */

 #if SPC5_HAS_EDMA || defined(__DOXYGEN__)

 #define SPC5_EDMA       (*(edma_t *)0xFFF44000U)

 #endif

+

+#if SPC5_EDMA_HAS_MUX || defined(__DOXYGEN__)

+#define SPC5_DMAMUX     (*(dma_mux_t *)0xFFFDC000UL)

+#endif

 /** @} */

 

 /**

diff --git a/os/kernel/include/ch.h b/os/kernel/include/ch.h
index eac0b6500..db7c45501 100644
--- a/os/kernel/include/ch.h
+++ b/os/kernel/include/ch.h
@@ -40,7 +40,7 @@
 /**

  * @brief   Kernel version string.

  */

-#define CH_KERNEL_VERSION       "2.5.2unstable"

+#define CH_KERNEL_VERSION       "2.7.0unstable"

 

 /**

  * @name    Kernel version

@@ -54,12 +54,12 @@
 /**

  * @brief   Kernel version minor number.

  */

-#define CH_KERNEL_MINOR         5

+#define CH_KERNEL_MINOR         7

 

 /**

  * @brief   Kernel version patch number.

  */

-#define CH_KERNEL_PATCH         2

+#define CH_KERNEL_PATCH         0

 /** @} */

 

 /**

diff --git a/readme.txt b/readme.txt
index df99a5009..21820003f 100644
--- a/readme.txt
+++ b/readme.txt
@@ -93,6 +93,8 @@
   (backported to 2.6.0).

 - FIX: Fixed MS2ST() and US2ST() macros error (bug #415)(backported to 2.6.0,

   2.4.4, 2.2.10, NilRTOS).

+- NEW: SPI driver for SPC560Pxx, SPC563Mxx, SPC564Axx.

+- NEW: DMA-MUX support for SPC5xx devices.

 

 *** 2.5.2 ***

 - FIX: Fixed lwipthread.h should explicitly include lwip/opts.h (bug #414).