git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3410 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 414 insertions, 0 deletions

diff --git a/os/hal/platforms/AVR/pal_lld.c b/os/hal/platforms/AVR/pal_lld.c
new file mode 100644
index 000000000..4bfd7bd04
--- /dev/null
+++ b/os/hal/platforms/AVR/pal_lld.c
@@ -0,0 +1,134 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

+                 2011 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    AVR/pal_lld.c

+ * @brief   AVR GPIO low level driver code.

+ *

+ * @addtogroup PAL

+ * @{

+ */

+

+#include "ch.h"

+#include "hal.h"

+

+#if HAL_USE_PAL || defined(__DOXYGEN__)

+

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

+/* Driver exported variables.                                                */

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

+

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

+/* Driver local variables.                                                   */

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

+

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

+/* Driver local functions.                                                   */

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

+

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

+/* Driver interrupt handlers.                                                */

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

+

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

+/* Driver exported functions.                                                */

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

+

+/**

+ * @brief   AVR GPIO ports configuration.

+ * @details GPIO registers initialization.

+ *

+ * @param[in] config    the AVR ports configuration

+ *

+ * @notapi

+ */

+void _pal_lld_init(const PALConfig *config) {

+

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

+  PORTA = config->porta.out;

+  DDRA = config->porta.dir;

+#endif

+

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

+  PORTB = config->portb.out;

+  DDRB = config->portb.dir;

+#endif

+

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

+  PORTC = config->portc.out;

+  DDRC = config->portc.dir;

+#endif

+

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

+  PORTD = config->portd.out;

+  DDRD = config->portd.dir;

+#endif

+

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

+  PORTE = config->porte.out;

+  DDRE = config->porte.dir;

+#endif

+}

+

+/**

+ * @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

+ *

+ * @note This function is not meant to be invoked directly by the application

+ *       code.

+ * @note @p PAL_MODE_UNCONNECTED is implemented as output as recommended by

+ *       the AVR Family User's Guide. Unconnected pads are set to input

+ *       with pull-up by default.

+ *

+ * @notapi

+ *

+ * TODO: check PAL_MODE_UNCONNECTED mode recommended for AVR

+ */

+void _pal_lld_setgroupmode(ioportid_t port,

+                           ioportmask_t mask,

+                           iomode_t mode) {

+

+  switch (mode) {

+  case PAL_MODE_RESET:

+  case PAL_MODE_INPUT:

+    port->dir &= ~mask;

+    break;

+  case PAL_MODE_INPUT_ANALOG:

+    port->dir &= ~mask;

+    port->out &= ~mask;

+	break;

+  case PAL_MODE_UNCONNECTED:

+  case PAL_MODE_INPUT_PULLUP:

+    port->dir &= ~mask;

+    port->out |= mask;

+  case PAL_MODE_OUTPUT_PUSHPULL:

+    port->dir |= mask;

+    break;

+  }

+}

+

+#endif /* HAL_USE_PAL */

+

+/** @} */

diff --git a/os/hal/platforms/AVR/pal_lld.h b/os/hal/platforms/AVR/pal_lld.h
new file mode 100644
index 000000000..a2d1f8714
--- /dev/null
+++ b/os/hal/platforms/AVR/pal_lld.h
@@ -0,0 +1,265 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

+                 2011 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file	AVR/pal_lld.h

+ * @brief	AVR GPIO 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                                      */

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

+

+#undef PAL_MODE_INPUT_PULLDOWN

+#undef PAL_MODE_OUTPUT_OPENDRAIN

+

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

+/* I/O Ports Types and constants.                                            */

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

+

+/**

+ * @brief Width, in bits, of an I/O port.

+ */

+#define PAL_IOPORTS_WIDTH 8

+

+/**

+ * @brief Whole port mask.

+ * @brief This macro specifies all the valid bits into a port.

+ */

+#define PAL_WHOLE_PORT ((ioportmask_t)0xFF)

+

+/**

+ * @brief AVR setup registers.

+ */

+typedef struct  {

+  uint8_t  out;

+  uint8_t  dir;

+} avr_gpio_setup_t;

+

+typedef struct  {

+  volatile uint8_t  in;

+  volatile uint8_t  dir;

+  volatile uint8_t  out;

+} avr_gpio_registers_t;

+

+/**

+ * @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.

+ */

+typedef struct {

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

+  avr_gpio_setup_t porta;

+#endif

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

+  avr_gpio_setup_t portb;

+#endif

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

+  avr_gpio_setup_t portc;

+#endif

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

+  avr_gpio_setup_t portd;

+#endif

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

+  avr_gpio_setup_t porte;

+#endif

+} PALConfig;

+

+/**

+ * @brief   Digital I/O port sized unsigned type.
+ */

+typedef uint8_t ioportmask_t;

+

+/**

+ * @brief   Digital I/O modes.

+ */

+typedef uint8_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 avr_gpio_registers_t *ioportid_t;

+

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

+/* I/O Ports Identifiers.                                                    */

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

+

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

+/**

+ * @brief   GPIO port A identifier.

+ */

+#define IOPORT1			((volatile avr_gpio_registers_t *)&PINA)

+#endif

+

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

+/**

+ * @brief   GPIO port B identifier.

+ */

+#define IOPORT2			((volatile avr_gpio_registers_t *)&PINB)

+#endif

+

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

+/**

+ * @brief   GPIO port C identifier.

+ */

+#define IOPORT3			((volatile avr_gpio_registers_t *)&PINC)

+#endif

+

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

+/**

+ * @brief   GPIO port D identifier.

+ */

+#define IOPORT4			((volatile avr_gpio_registers_t *)&PIND)

+#endif

+

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

+/**

+ * @brief   GPIO port E identifier.

+ */

+#define IOPORT5			((volatile avr_gpio_registers_t *)&PINE)

+#endif

+

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

+/* 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 the 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      the port identifier

+ * @return              The port bits.

+ *

+ * @notapi

+ */

+#define pal_lld_readport(port) ((port)->in)

+

+/**

+ * @brief   Reads the output latch.

+ * @details The purpose of this function is to read back the latched output

+ *          value.

+ *

+ * @param[in] port      the port identifier

+ * @return              The latched logical states.

+ *

+ * @notapi

+ */

+#define pal_lld_readlatch(port) ((port)->out)

+

+/**

+ * @brief   Writes a bits mask on a I/O port.

+ *

+ * @param[in] port      the port identifier

+ * @param[in] bits      the bits to be written on the specified port

+ *

+ * @notapi

+ */

+#define pal_lld_writeport(port, bits) ((port)->out = 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      the port identifier

+ * @param[in] mask      the group mask

+ * @param[in] mode      the mode

+ *

+ * @notapi

+ */

+#define pal_lld_setgroupmode(port, mask, mode) _pal_lld_setgroupmode(port, mask, mode)

+

+/**

+ * @brief   Sets a pad logical state to @p PAL_HIGH.

+ *

+ * @param[in] port      the port identifier

+ * @param[in] pad       the pad number within the port

+ *

+ * @notapi

+ */

+#define pal_lld_setpad(port, pad)                                           \

+__asm__ __volatile__                                                        \

+(                                                                           \

+	"sbi %0,%1\n\t"                                                         \

+	:                                                                       \

+	: "I" (_SFR_IO_ADDR(port->out)),                                        \

+	  "I" (pad)                                                             \

+								                                            \

+)

+

+/**

+ * @brief   Clears a pad logical state to @p PAL_LOW.

+ *

+ * @param[in] port      the port identifier

+ * @param[in] pad       the pad number within the port

+ *

+ * @notapi

+ */

+#define pal_lld_clearpad(port, pad)                                         \

+__asm__ __volatile__                                                        \

+(                                                                           \

+	"cbi %0,%1\n\t"                                                         \

+	:                                                                       \

+	: "I" (_SFR_IO_ADDR(port->out)),                                        \

+	  "I" (pad)                                                             \

+								                                            \

+)

+

+extern ROMCONST PALConfig pal_default_config;

+

+#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);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_PAL */

+

+#endif /* _PAL_LLD_H_ */

+

+/** @} */

diff --git a/os/hal/platforms/AVR/platform.dox b/os/hal/platforms/AVR/platform.dox
index bc29954b6..2ac2256b9 100644
--- a/os/hal/platforms/AVR/platform.dox
+++ b/os/hal/platforms/AVR/platform.dox
@@ -36,6 +36,20 @@
  */

 

 /**

+ * @defgroup AVR_PAL AVR PAL Support

+ * @details The AVR PAL driver uses the GPIO peripherals.

+ *

+ * @section avr_pal_1 Supported HW resources

+ * - GPIOA.

+ * - GPIOB.

+ * - GPIOC.

+ * - GPIOD.

+ * - GPIOE.

+ * .

+ * @ingroup AVR_DRIVERS

+ */

+

+/**

  * @defgroup AVR_SERIAL AVR Serial Support

  * @details The AVR Serial driver uses the USART peripherals in a

  *          buffered, interrupt driven, implementation.

diff --git a/os/hal/platforms/AVR/platform.mk b/os/hal/platforms/AVR/platform.mk
index fdc5390bb..e31413c79 100644
--- a/os/hal/platforms/AVR/platform.mk
+++ b/os/hal/platforms/AVR/platform.mk
@@ -1,5 +1,6 @@
 # List of all the AVR platform files.

 PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/AVR/hal_lld.c \

+              ${CHIBIOS}/os/hal/platforms/AVR/pal_lld.c \

               ${CHIBIOS}/os/hal/platforms/AVR/serial_lld.c

 

 # Required include directories