diff options
| author | utzig <utzig@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2014-06-29 23:06:17 +0000 |
|---|---|---|
| committer | utzig <utzig@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2014-06-29 23:06:17 +0000 |
| commit | 766a2388d46f49e07ec0280fa4f3d254367850d1 (patch) | |
| tree | f7c116f3a638a861575a16467703ad19fd26255c /os/hal | |
| parent | 5eb1ae8cc3f4d2584d31e2d9672162bf8bfc0274 (diff) | |
| download | ChibiOS-766a2388d46f49e07ec0280fa4f3d254367850d1.tar.gz ChibiOS-766a2388d46f49e07ec0280fa4f3d254367850d1.tar.bz2 ChibiOS-766a2388d46f49e07ec0280fa4f3d254367850d1.zip | |
AVR HAL ported from RT-2 (serial/pal/hal tested)
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@6999 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/hal')
| -rw-r--r-- | os/hal/ports/AVR/adc_lld.c | 190 | ||||
| -rw-r--r-- | os/hal/ports/AVR/adc_lld.h | 198 | ||||
| -rw-r--r-- | os/hal/ports/AVR/avr_pins.h | 94 | ||||
| -rw-r--r-- | os/hal/ports/AVR/avr_timers.h | 48 | ||||
| -rw-r--r-- | os/hal/ports/AVR/gpt_lld.c | 350 | ||||
| -rw-r--r-- | os/hal/ports/AVR/gpt_lld.h | 221 | ||||
| -rw-r--r-- | os/hal/ports/AVR/hal_lld.c | 103 | ||||
| -rw-r--r-- | os/hal/ports/AVR/hal_lld.h | 117 | ||||
| -rw-r--r-- | os/hal/ports/AVR/i2c_lld.c | 288 | ||||
| -rw-r--r-- | os/hal/ports/AVR/i2c_lld.h | 224 | ||||
| -rw-r--r-- | os/hal/ports/AVR/icu_lld.c | 336 | ||||
| -rw-r--r-- | os/hal/ports/AVR/icu_lld.h | 195 | ||||
| -rw-r--r-- | os/hal/ports/AVR/pal_lld.c | 156 | ||||
| -rw-r--r-- | os/hal/ports/AVR/pal_lld.h | 346 | ||||
| -rw-r--r-- | os/hal/ports/AVR/platform.mk | 14 | ||||
| -rw-r--r-- | os/hal/ports/AVR/pwm_lld.c | 491 | ||||
| -rw-r--r-- | os/hal/ports/AVR/pwm_lld.h | 214 | ||||
| -rw-r--r-- | os/hal/ports/AVR/serial_lld.c | 378 | ||||
| -rw-r--r-- | os/hal/ports/AVR/serial_lld.h | 158 | ||||
| -rw-r--r-- | os/hal/ports/AVR/spi_lld.c | 429 | ||||
| -rw-r--r-- | os/hal/ports/AVR/spi_lld.h | 237 | ||||
| -rw-r--r-- | os/hal/ports/AVR/st_lld.c | 67 | ||||
| -rw-r--r-- | os/hal/ports/AVR/st_lld.h | 141 |
23 files changed, 4995 insertions, 0 deletions
diff --git a/os/hal/ports/AVR/adc_lld.c b/os/hal/ports/AVR/adc_lld.c new file mode 100644 index 000000000..e41a2122e --- /dev/null +++ b/os/hal/ports/AVR/adc_lld.c @@ -0,0 +1,190 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/adc_lld.c
+ * @brief ADC Driver subsystem low level driver source.
+ *
+ * @addtogroup ADC
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_ADC || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+/** @brief ADC1 driver identifier.*/
+#if AVR_ADC_USE_ADC1 || defined(__DOXYGEN__)
+ADCDriver ADCD1;
+#endif
+/*===========================================================================*/
+/* Driver local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+static size_t getAdcChannelNumberFromMask(uint8_t mask, uint8_t currentChannel) {
+
+ for (uint8_t i = 0; mask > 0; i++) {
+ if (mask & 0x01) {
+ if (!currentChannel)
+ return i;
+ currentChannel--;
+ }
+ mask >>= 1;
+ }
+
+ /* error, should never reach this line */
+}
+
+static void setAdcChannel(uint8_t channelNum) {
+
+ ADMUX = (ADMUX & 0xf8) | (channelNum & 0x07);
+
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#include <util/delay.h>
+
+OSAL_IRQ_HANDLER(ADC_vect) {
+
+ OSAL_IRQ_PROLOGUE();
+ uint8_t low = ADCL;
+ uint8_t high = ADCH;
+ uint16_t result = (high << 8) | low;
+
+ ADCD1.samples[ADCD1.currentBufferPosition] = result;
+ ADCD1.currentBufferPosition++;
+
+ size_t bufferSize = ADCD1.depth * ADCD1.grpp->num_channels;
+ size_t currentChannel = ADCD1.currentBufferPosition % ADCD1.grpp->num_channels;
+ size_t currentIteration = ADCD1.currentBufferPosition / ADCD1.grpp->num_channels;
+ if (ADCD1.grpp->circular && currentChannel == 0 && currentIteration == ADCD1.depth/2) {
+ _adc_isr_half_code(&ADCD1);
+ }
+
+ if (ADCD1.currentBufferPosition == bufferSize) {
+ _adc_isr_full_code(&ADCD1);
+ } else {
+ setAdcChannel(getAdcChannelNumberFromMask(ADCD1.grpp->channelsMask,currentChannel));
+ ADCSRA |= 1 << ADSC;
+ }
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level ADC driver initialization.
+ *
+ * @notapi
+ */
+void adc_lld_init(void) {
+
+ adcObjectInit(&ADCD1);
+
+ //prescaler 128, only value possible at 20Mhz, interrupt
+ ADCSRA = (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0) | (1 << ADIE);
+
+ ADCSRB = 0; //single shot
+
+ //uso aref, only valid for arduino. arduino ha aref collegato
+ ADMUX = (0 << REFS1) | (0 << REFS0);
+
+}
+
+/**
+ * @brief Configures and activates the ADC peripheral.
+ *
+ * @param[in] adcp pointer to the @p ADCDriver object
+ *
+ * @notapi
+ */
+void adc_lld_start(ADCDriver *adcp) {
+
+ if (adcp->state == ADC_STOP) {
+ /* Clock activation.*/
+ ADCSRA |= (1 << ADEN);
+ }
+
+ if (adcp->config != NULL) {
+ ADMUX = (adcp->config->analog_reference << REFS0);
+ }
+}
+
+/**
+ * @brief Deactivates the ADC peripheral.
+ *
+ * @param[in] adcp pointer to the @p ADCDriver object
+ *
+ * @notapi
+ */
+void adc_lld_stop(ADCDriver *adcp) {
+
+ if (adcp->state == ADC_READY) {
+ /* Clock de-activation.*/
+ ADCSRA &= ~(1 << ADEN);
+ }
+
+}
+
+/**
+ * @brief Starts an ADC conversion.
+ *
+ * @param[in] adcp pointer to the @p ADCDriver object
+ *
+ * @notapi
+ */
+void adc_lld_start_conversion(ADCDriver *adcp) {
+
+ adcp->currentBufferPosition=0;
+
+ setAdcChannel(getAdcChannelNumberFromMask(adcp->grpp->channelsMask,0));
+ ADCSRA |= 1 << ADSC;
+
+}
+
+/**
+ * @brief Stops an ongoing conversion.
+ *
+ * @param[in] adcp pointer to the @p ADCDriver object
+ *
+ * @notapi
+ */
+void adc_lld_stop_conversion(ADCDriver *adcp) {
+
+ ADCSRA &= ~(1 << ADSC);
+
+}
+
+#endif /* HAL_USE_ADC */
+
+/** @} */
diff --git a/os/hal/ports/AVR/adc_lld.h b/os/hal/ports/AVR/adc_lld.h new file mode 100644 index 000000000..0126f2d3e --- /dev/null +++ b/os/hal/ports/AVR/adc_lld.h @@ -0,0 +1,198 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/adc_lld.h
+ * @brief ADC Driver subsystem low level driver source.
+ *
+ * @addtogroup ADC
+ * @{
+ */
+
+#ifndef _ADC_LLD_H_
+#define _ADC_LLD_H_
+
+#if HAL_USE_ADC || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+#define ANALOG_REFERENCE_AREF 0
+#define ANALOG_REFERENCE_AVCC 1
+#define ANALOG_REFERENCE_1V1 2
+#define ANALOG_REFERENCE_2V56 3
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if !CH_USE_SEMAPHORES
+#error "the ADC driver requires CH_USE_SEMAPHORES"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief ADC sample data type.
+ */
+typedef uint16_t adcsample_t;
+
+/**
+ * @brief Channels number in a conversion group.
+ */
+typedef uint16_t adc_channels_num_t;
+
+/**
+ * @brief Type of a structure representing an ADC driver.
+ */
+typedef struct ADCDriver ADCDriver;
+
+/**
+ * @brief ADC notification callback type.
+ *
+ * @param[in] adcp pointer to the @p ADCDriver object triggering the
+ * callback
+ * @param[in] buffer pointer to the most recent samples data
+ * @param[in] n number of buffer rows available starting from @p buffer
+ */
+typedef void (*adccallback_t)(ADCDriver *adcp, adcsample_t *buffer, size_t n);
+
+/**
+ * @brief Conversion group configuration structure.
+ * @details This implementation-dependent structure describes a conversion
+ * operation.
+ * @note Implementations may extend this structure to contain more,
+ * architecture dependent, fields.
+ */
+typedef struct {
+ /**
+ * @brief Enables the circular buffer mode for the group.
+ */
+ bool_t circular;
+ /**
+ * @brief Number of the analog channels belonging to the conversion group.
+ */
+ adc_channels_num_t num_channels;
+ /**
+ * @brief Callback function associated to the group or @p NULL.
+ */
+ adccallback_t end_cb;
+ /* End of the mandatory fields.*/
+
+ uint8_t channelsMask;
+
+} ADCConversionGroup;
+
+/**
+ * @brief Driver configuration structure.
+ * @note Implementations may extend this structure to contain more,
+ * architecture dependent, fields.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+
+ uint8_t analog_reference;
+
+} ADCConfig;
+
+/**
+ * @brief Structure representing an ADC driver.
+ * @note Implementations may extend this structure to contain more,
+ * architecture dependent, fields.
+ */
+struct ADCDriver {
+ /**
+ * @brief Driver state.
+ */
+ adcstate_t state;
+ /**
+ * @brief Current configuration data.
+ */
+ const ADCConfig *config;
+ /**
+ * @brief Current samples buffer pointer or @p NULL.
+ */
+ adcsample_t *samples;
+ /**
+ * @brief Current samples buffer depth or @p 0.
+ */
+ size_t depth;
+ /**
+ * @brief Current conversion group pointer or @p NULL.
+ */
+ const ADCConversionGroup *grpp;
+#if ADC_USE_WAIT || defined(__DOXYGEN__)
+ /**
+ * @brief Waiting thread.
+ */
+ Thread *thread;
+#endif /* ADC_USE_WAIT */
+#if ADC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
+#if CH_USE_MUTEXES || defined(__DOXYGEN__)
+ /**
+ * @brief Mutex protecting the peripheral.
+ */
+ Mutex mutex;
+#elif CH_USE_SEMAPHORES
+ Semaphore semaphore;
+#endif
+#endif /* ADC_USE_MUTUAL_EXCLUSION */
+#if defined(ADC_DRIVER_EXT_FIELDS)
+ ADC_DRIVER_EXT_FIELDS
+#endif
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Current position in the buffer.
+ */
+ size_t currentBufferPosition;
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if AVR_ADC_USE_ADC1 && !defined(__DOXYGEN__)
+extern ADCDriver ADCD1;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void adc_lld_init(void);
+ void adc_lld_start(ADCDriver *adcp);
+ void adc_lld_stop(ADCDriver *adcp);
+ void adc_lld_start_conversion(ADCDriver *adcp);
+ void adc_lld_stop_conversion(ADCDriver *adcp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_ADC */
+
+#endif /* _ADC_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/AVR/avr_pins.h b/os/hal/ports/AVR/avr_pins.h new file mode 100644 index 000000000..fbdbfb703 --- /dev/null +++ b/os/hal/ports/AVR/avr_pins.h @@ -0,0 +1,94 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio + + 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. +*/ + +#ifndef _AVR_PINS_H_ +#define _AVR_PINS_H_ + +#include <avr/io.h> + +#if AVR_SPI_USE_SPI1 + +#if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) + #define PIN_SPI1 PINB + #define PORT_SPI1 PORTB + #define DDR_SPI1 DDRB + #define SPI1_SS 4 + #define SPI1_SCK 7 + #define SPI1_MOSI 5 + #define SPI1_MISO 6 +#elif defined(__AVR_ATmega328P__) + #define PIN_SPI1 PINB + #define PORT_SPI1 PORTB + #define DDR_SPI1 DDRB + #define SPI1_SS 2 + #define SPI1_SCK 5 + #define SPI1_MOSI 3 + #define SPI1_MISO 4 +#elif defined(__AVR_ATmega2560__) || \ + defined(__AVR_ATmega1280__) || \ + defined(__AVR_ATmega128__) + #define PIN_SPI1 PINB + #define PORT_SPI1 PORTB + #define DDR_SPI1 DDRB + #define SPI1_SS 0 + #define SPI1_SCK 1 + #define SPI1_MOSI 2 + #define SPI1_MISO 3 +#elif defined(__AVR_AT90CAN128__) || \ + defined(__AVR_AT90CAN64__) || \ + defined(__AVR_AT90CAN32__) + #define PIN_SPI1 PINB + #define PORT_SPI1 PORTB + #define DDR_SPI1 DDRB + #define SPI1_SS 0 + #define SPI1_SCK 1 + #define SPI1_MOSI 2 + #define SPI1_MISO 3 +#else + #warning "Device not supported by SPI driver" +#endif + +#endif /* AVR_SPI_USE_SPI1 */ + +#if AVR_ADC_USE_ADC1 + +#if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) + #define PINADC PINA + #define PORTADC PORTA + #define DDRADC DDRA +#elif defined(__AVR_ATmega328P__) + #define PINADC PINC + #define PORTADC PORTC + #define DDRADC DDRC +#elif defined(__AVR_ATmega2560__) || \ + defined(__AVR_ATmega1280__) || \ + defined(__AVR_ATmega128__) + #define PINADC PINF + #define PORTADC PORTF + #define DDRADC DDRF +#elif defined(__AVR_AT90CAN128__) || \ + defined(__AVR_AT90CAN64__) || \ + defined(__AVR_AT90CAN32__) + #define PINADC PINF + #define PORTADC PORTF + #define DDRADC DDRF +#else + #warning "Device not supported by ADC driver" +#endif + +#endif /* AVR_ADC_USE_ADC1 */ + +#endif /* _AVR_PINS_H_ */ diff --git a/os/hal/ports/AVR/avr_timers.h b/os/hal/ports/AVR/avr_timers.h new file mode 100644 index 000000000..5eb08cace --- /dev/null +++ b/os/hal/ports/AVR/avr_timers.h @@ -0,0 +1,48 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio + + 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. +*/ + +#ifndef _AVR_TIMERS_H_ +#define _AVR_TIMERS_H_ + +#if ((AVR_GPT_USE_TIM1 && AVR_PWM_USE_TIM1) || \ + (AVR_GPT_USE_TIM1 && AVR_ICU_USE_TIM1) || \ + (AVR_PWM_USE_TIM1 && AVR_ICU_USE_TIM1)) + #error "Timer 1 cannot simultaneously be used by multiple drivers." +#endif + +#if ((AVR_GPT_USE_TIM2 && AVR_PWM_USE_TIM2)) + #error "Timer 2 cannot simultaneously be used by multiple drivers." +#endif + +#if ((AVR_GPT_USE_TIM3 && AVR_PWM_USE_TIM3) || \ + (AVR_GPT_USE_TIM3 && AVR_ICU_USE_TIM3) || \ + (AVR_PWM_USE_TIM3 && AVR_ICU_USE_TIM3)) + #error "Timer 3 cannot simultaneously be used by multiple drivers." +#endif + +#if ((AVR_GPT_USE_TIM4 && AVR_PWM_USE_TIM4) || \ + (AVR_GPT_USE_TIM4 && AVR_ICU_USE_TIM4) || \ + (AVR_PWM_USE_TIM4 && AVR_ICU_USE_TIM4)) + #error "Timer 4 cannot simultaneously be used by multiple drivers." +#endif + +#if ((AVR_GPT_USE_TIM5 && AVR_PWM_USE_TIM5) || \ + (AVR_GPT_USE_TIM5 && AVR_ICU_USE_TIM5) || \ + (AVR_PWM_USE_TIM5 && AVR_ICU_USE_TIM5)) + #error "Timer 5 cannot simultaneously be used by multiple drivers." +#endif + +#endif /* _AVR_TIMERS_H_ */ diff --git a/os/hal/ports/AVR/gpt_lld.c b/os/hal/ports/AVR/gpt_lld.c new file mode 100644 index 000000000..7eca439b0 --- /dev/null +++ b/os/hal/ports/AVR/gpt_lld.c @@ -0,0 +1,350 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio + + 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. +*/ + +/* + This driver is based on the work done by Matteo Serva available at + http://github.com/matteoserva/ChibiOS-AVR +*/ + +/** + * @file AVR/gpt_lld.c + * @brief AVR GPT driver subsystem low level driver. + * + * @addtogroup GPT + * @{ + */ + +#include "hal.h" + +#if HAL_USE_GPT || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +#define PRESCALER_SIZE_BASE 5 +#define PRESCALER_SIZE_EXTENDED 7 + +// FIXME: could use better names here! +typedef struct { + volatile uint8_t *tccra; + volatile uint8_t *tccrb; + volatile uint8_t *ocr1; + volatile uint8_t *ocr2; + volatile uint8_t *tcnt1; + volatile uint8_t *tcnt2; + volatile uint8_t *tifr; + volatile uint8_t *timsk; +} timer_registers_t; + +const timer_registers_t regs_table[] = { +#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) + { &TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &TCNT1H, &TCNT1L, &TIFR1, &TIMSK1 }, +#endif +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) + { &TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &TCNT2, &TCNT2, &TIFR2, &TIMSK2 }, +#endif +#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) + { &TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &TCNT3H, &TCNT3L, &TIFR3, &TIMSK3 }, +#endif +#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) + { &TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &TCNT4H, &TCNT4L, &TIFR4, &TIMSK4 }, +#endif +#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) + { &TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &TCNT5H, &TCNT5L, &TIFR5, &TIMSK5 }, +#endif +}; + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) +GPTDriver GPTD1; +#endif +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) +GPTDriver GPTD2; +#endif +#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) +GPTDriver GPTD3; +#endif +#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) +GPTDriver GPTD4; +#endif +#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) +GPTDriver GPTD5; +#endif + +/*===========================================================================*/ +/* Driver local variables. */ +/*===========================================================================*/ + +static uint16_t ratio_base[] = { 1024, 256, 64, 8, 1 }; +static uint8_t clock_source_base[]= { 5, 4, 3, 2, 1 }; +static uint16_t ratio_extended[] = { 1024, 256, 128, 64, 32, 8, 1 }; +static uint8_t clock_source_extended[] = { 7, 6, 5, 4, 3, 2, 1 }; + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static uint8_t prescaler(uint16_t freq, uint16_t *ratio, uint8_t n) +{ + uint8_t i; + for (i = 0; i < n; ++i) { + uint32_t result = F_CPU / ratio[i] / freq; + if (result > 256UL) + return i - 1; + if ((result * ratio[i] * freq) == F_CPU) + return i; + } +} + +static void gpt_lld_serve_interrupt(GPTDriver *gptp) +{ + gptp->counter++; + if (gptp->counter == gptp->period) { + gptp->counter = 0; + if (gptp->state == GPT_ONESHOT) { + gptp->state = GPT_READY; /* Back in GPT_READY state. */ + gpt_lld_stop_timer(gptp); /* Timer automatically stopped. */ + } + gptp->callback(gptp); + } +} + +static void gpt_lld_dummy_callback(GPTDriver *gptp) +{ +} + +static uint8_t getTimerIndex(GPTDriver *gptp) +{ + uint8_t index = 0; +#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) + if (gptp == &GPTD1) return index; + else index++; +#endif +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) + if (gptp == &GPTD2) return index; + else index++; +#endif +#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) + if (gptp == &GPTD3) return index; + else index++; +#endif +#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) + if (gptp == &GPTD4) return index; + else index++; +#endif +#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) + if (gptp == &GPTD5) return index; + else index++; +#endif +} + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER1_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + gpt_lld_serve_interrupt(&GPTD1); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER2_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + gpt_lld_serve_interrupt(&GPTD2); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER3_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + gpt_lld_serve_interrupt(&GPTD3); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER4_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + gpt_lld_serve_interrupt(&GPTD4); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER5_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + gpt_lld_serve_interrupt(&GPTD5); + OSAL_IRQ_EPILOGUE(); +} +#endif + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level GPT driver initialization. + * + * @notapi + */ +void gpt_lld_init(void) +{ +#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) + gptObjectInit(&GPTD1); +#endif +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) + gptObjectInit(&GPTD2); +#endif +#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) + gptObjectInit(&GPTD3); +#endif +#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) + gptObjectInit(&GPTD4); +#endif +#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) + gptObjectInit(&GPTD5); +#endif +} + +/** + * @brief Configures and activates the GPT peripheral. + * + * @param[in] gptp pointer to the @p GPTDriver object + * + * @notapi + */ +void gpt_lld_start(GPTDriver *gptp) +{ + uint8_t psc; + + if (gptp->state == GPT_STOP) { + /* Clock activation.*/ + } + + /* Configuration.*/ + +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) + if (gptp == &GPTD2) { + psc = prescaler(gptp->config->frequency, ratio_extended, PRESCALER_SIZE_EXTENDED); + gptp->clock_source = clock_source_extended[psc] & 0x07; + TCCR2A = (1 << WGM21) | (0 << WGM20); + TCCR2B = (0 << WGM22); + OCR2A = F_CPU / ratio_extended[psc] /gptp->config->frequency - 1; + return; + } +#endif + + uint8_t i = getTimerIndex(gptp); + psc = prescaler(gptp->config->frequency, ratio_base, PRESCALER_SIZE_BASE); + gptp->clock_source = clock_source_base[psc] & 0x07; + *regs_table[i].tccra = (0 << WGM11) | + (0 << WGM10) | + (0 << COM1A1) | + (0 << COM1A0) | + (0 << COM1B1) | + (0 << COM1B0); + *regs_table[i].tccrb = (1 << WGM12); + *regs_table[i].ocr1 = 0; + *regs_table[i].ocr2 = F_CPU / ratio_base[psc] / gptp->config->frequency - 1; +} + +/** + * @brief Deactivates the GPT peripheral. + * + * @param[in] gptp pointer to the @p GPTDriver object + * + * @notapi + */ +void gpt_lld_stop(GPTDriver *gptp) +{ + /* nothing to be done */ + if (gptp->state == GPT_READY) { + /* Clock de-activation.*/ + } + gpt_lld_stop_timer(gptp); +} + +/** + * @brief Starts the timer in continuous mode. + * + * @param[in] gptp pointer to the @p GPTDriver object + * @param[in] period period in ticks + * + * @notapi + */ +void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t period) +{ + gptp->callback = gptp->config->callback; + gptp->period = period; + gptp->counter = 0; + + uint8_t i = getTimerIndex(gptp); + *regs_table[i].tcnt1 = 0; + *regs_table[i].tcnt2 = 0; + *regs_table[i].tifr = (1 << OCF1A); + *regs_table[i].timsk = (1 << OCIE1A); + *regs_table[i].tccrb |= (gptp->clock_source << CS10); +} + +/** + * @brief Stops the timer. + * + * @param[in] gptp pointer to the @p GPTDriver object + * + * @notapi + */ +void gpt_lld_stop_timer(GPTDriver *gptp) +{ + uint8_t i = getTimerIndex(gptp); + *regs_table[i].tccrb &= ~((7 << CS10) | (1 << OCIE1A)); + *regs_table[i].tifr = (1 << OCF1A); +} + +/** + * @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) +{ + gptp->callback = gpt_lld_dummy_callback; + gpt_lld_start_timer(gptp, interval); + //FIX + while (gptp->state != GPT_READY) {} +} + +#endif /* HAL_USE_GPT */ + +/** @} */ diff --git a/os/hal/ports/AVR/gpt_lld.h b/os/hal/ports/AVR/gpt_lld.h new file mode 100644 index 000000000..ecc2a167f --- /dev/null +++ b/os/hal/ports/AVR/gpt_lld.h @@ -0,0 +1,221 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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.
+*/
+
+/*
+ This driver is based on the work done by Matteo Serva available at
+ http://github.com/matteoserva/ChibiOS-AVR
+*/
+
+/**
+ * @file AVR/gpt_lld.h
+ * @brief AVR GPT driver subsystem low level driver.
+ *
+ * @addtogroup GPT
+ * @{
+ */
+
+#ifndef _GPT_LLD_H_
+#define _GPT_LLD_H_
+
+#if HAL_USE_GPT || defined(__DOXYGEN__)
+
+#include "avr_timers.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief GPT1 driver enable switch.
+ * @details If set to @p TRUE the support for GPT1 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(AVR_GPT_USE_TIM1)
+#define AVR_GPT_USE_TIM1 FALSE
+#endif
+
+/**
+ * @brief GPT2 driver enable switch.
+ * @details If set to @p TRUE the support for GPT2 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(AVR_GPT_USE_TIM2)
+#define AVR_GPT_USE_TIM2 FALSE
+#endif
+
+/**
+ * @brief GPT3 driver enable switch.
+ * @details If set to @p TRUE the support for GPT3 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(AVR_GPT_USE_TIM3)
+#define AVR_GPT_USE_TIM3 FALSE
+#endif
+
+/**
+ * @brief GPT4 driver enable switch.
+ * @details If set to @p TRUE the support for GPT4 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(AVR_GPT_USE_TIM4)
+#define AVR_GPT_USE_TIM4 FALSE
+#endif
+
+/**
+ * @brief GPT5 driver enable switch.
+ * @details If set to @p TRUE the support for GPT5 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(AVR_GPT_USE_TIM5)
+#define AVR_GPT_USE_TIM5 FALSE
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief GPT frequency type.
+ */
+typedef uint32_t gptfreq_t;
+
+/**
+ * @brief GPT counter type.
+ */
+typedef uint16_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.
+ */
+ gptcallback_t callback;
+ /* End of the mandatory fields.*/
+} GPTConfig;
+
+/**
+ * @brief Structure representing a GPT driver.
+ */
+struct GPTDriver {
+ /**
+ * @brief Driver state.
+ */
+ volatile 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 input clock from prescaler
+ */
+ uint8_t clock_source;
+ /**
+ * @brief Lenght of the period in clock ticks
+ */
+ gptcnt_t period;
+ /**
+ * @brief Current clock tick.
+ */
+ gptcnt_t counter;
+ /**
+ * @brief Function called from the interrupt service routine
+ */
+ gptcallback_t callback;
+};
+
+/*===========================================================================*/
+/* 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 have been activated using @p gptStart().
+ * @pre The GPT unit must have been running in continuous mode using
+ * @p gptStartContinuous().
+ * @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
+ */
+
+// FIXME: placeholder to enable compile, should be implemented!
+#define gpt_lld_change_interval(gptp, interval)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)
+extern GPTDriver GPTD1;
+#endif
+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
+extern GPTDriver GPTD2;
+#endif
+#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)
+extern GPTDriver GPTD3;
+#endif
+#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)
+extern GPTDriver GPTD4;
+#endif
+#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)
+extern GPTDriver GPTD5;
+#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 interval);
+ 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/AVR/hal_lld.c b/os/hal/ports/AVR/hal_lld.c new file mode 100644 index 000000000..5ff05a67c --- /dev/null +++ b/os/hal/ports/AVR/hal_lld.c @@ -0,0 +1,103 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/hal_lld.c
+ * @brief AVR HAL subsystem low level driver code.
+ *
+ * @addtogroup HAL
+ * @{
+ */
+
+#include "hal.h"
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+/**
+ * @brief Timer0 interrupt handler.
+ */
+OSAL_IRQ_HANDLER(AVR_TIMER_VECT) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ osalSysLockFromISR();
+ osalOsTimerHandlerI();
+ osalSysUnlockFromISR();
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level HAL driver initialization.
+ *
+ * @notapi
+ */
+void hal_lld_init(void) {
+
+ /*
+ * Timer 0 setup.
+ */
+#if defined(TCCR0B) /* Timer has multiple output comparators */
+ TCCR0A = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
+ (0 << COM0A1) | (0 << COM0A0) | /* OC0A disabled. */
+ (0 << COM0B1) | (0 << COM0B0); /* OC0B disabled. */
+ TCCR0B = (0 << WGM02) | AVR_TIMER_PRESCALER_BITS; /* CTC mode. */
+ OCR0A = AVR_TIMER_COUNTER - 1;
+ TCNT0 = 0; /* Reset counter. */
+ TIFR0 = (1 << OCF0A); /* Reset pending. */
+ TIMSK0 = (1 << OCIE0A); /* IRQ on compare. */
+
+#elif defined(TCCR0A) /* AT90CAN doesn't have TCCR0B and slightly different TCCR0A */
+ TCCR0A = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
+ (0 << COM0A1) | (0 << COM0A0); /* OC0A disabled. */
+ OCR0A = AVR_TIMER_COUNTER - 1;
+ TCNT0 = 0; /* Reset counter. */
+ TIFR0 = (1 << OCF0A); /* Reset pending. */
+ TIMSK0 = (1 << OCIE0A); /* IRQ on compare. */
+
+#elif defined(TCCR0) /* Timer has single output comparator */
+ TCCR0 = (1 << WGM01) | (0 << WGM00) | /* CTC mode. */
+ (0 << COM01) | (0 << COM00) | /* OC0A disabled. */
+ AVR_TIMER_PRESCALER_BITS;
+ OCR0 = AVR_TIMER_COUNTER - 1;
+ TCNT0 = 0; /* Reset counter. */
+ TIFR = (1 << OCF0); /* Reset pending. */
+ TIMSK = (1 << OCIE0); /* IRQ on compare. */
+#else
+ #error "Neither TCCR0A nor TCCR0 registers are defined"
+#endif
+}
+
+/** @} */
diff --git a/os/hal/ports/AVR/hal_lld.h b/os/hal/ports/AVR/hal_lld.h new file mode 100644 index 000000000..94daa5b6e --- /dev/null +++ b/os/hal/ports/AVR/hal_lld.h @@ -0,0 +1,117 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/hal_lld.h
+ * @brief AVR HAL subsystem low level driver header.
+ *
+ * @addtogroup HAL
+ * @{
+ */
+
+#ifndef _HAL_LLD_H_
+#define _HAL_LLD_H_
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief Defines the support for realtime counters in the HAL.
+ */
+#define HAL_IMPLEMENTS_COUNTERS FALSE
+
+/**
+ * @brief Platform name.
+ */
+#define PLATFORM_NAME "AVR"
+
+/**
+ * @brief Timer maximum value
+ */
+#define AVR_TIMER_COUNTER_MAX 255
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/* Work out what the timer interrupt is called on this MCU */
+#ifdef TIMER0_COMPA_vect
+ #define AVR_TIMER_VECT TIMER0_COMPA_vect
+#elif defined(TIMER_COMPA_vect)
+ #define AVR_TIMER_VECT TIMER_COMPA_vect
+#elif defined(TIMER0_COMP_vect)
+ #define AVR_TIMER_VECT TIMER0_COMP_vect
+#else
+ #error "Cannot find interrupt vector name for timer"
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/* Find the most suitable prescaler setting for the desired CH_CFG_ST_FREQUENCY */
+#if ((F_CPU / CH_CFG_ST_FREQUENCY) <= AVR_TIMER_COUNTER_MAX)
+ #define AVR_TIMER_PRESCALER 1
+ #define AVR_TIMER_PRESCALER_BITS (0 << CS02) | (0 << CS01) | (1 << CS00); /* CLK */
+#elif ((F_CPU / CH_CFG_ST_FREQUENCY / 8) <= AVR_TIMER_COUNTER_MAX)
+ #define AVR_TIMER_PRESCALER 8
+ #define AVR_TIMER_PRESCALER_BITS (0 << CS02) | (1 << CS01) | (0 << CS00); /* CLK/8 */
+#elif ((F_CPU / CH_CFG_ST_FREQUENCY / 64) <= AVR_TIMER_COUNTER_MAX)
+ #define AVR_TIMER_PRESCALER 64
+ #define AVR_TIMER_PRESCALER_BITS (0 << CS02) | (1 << CS01) | (1 << CS00); /* CLK/64 */
+#elif ((F_CPU / CH_CFG_ST_FREQUENCY / 256) <= AVR_TIMER_COUNTER_MAX)
+ #define AVR_TIMER_PRESCALER 256
+ #define AVR_TIMER_PRESCALER_BITS (1 << CS02) | (0 << CS01) | (0 << CS00); /* CLK/256 */
+#elif ((F_CPU / CH_CFG_ST_FREQUENCY / 1024) <= AVR_TIMER_COUNTER_MAX)
+ #define AVR_TIMER_PRESCALER 1024
+ #define AVR_TIMER_PRESCALER_BITS (1 << CS02) | (0 << CS01) | (1 << CS00); /* CLK/1024 */
+#else
+ #error "Frequency too low for timer, please set CH_CFG_ST_FREQUENCY to a higher value"
+#endif
+
+#define AVR_TIMER_COUNTER (F_CPU / CH_CFG_ST_FREQUENCY / AVR_TIMER_PRESCALER)
+
+/* Test if CH_CFG_ST_FREQUENCY can be matched exactly using this timer */
+#define F_CPU_ (AVR_TIMER_COUNTER * AVR_TIMER_PRESCALER * CH_CFG_ST_FREQUENCY)
+#if (F_CPU_ != F_CPU)
+ #warning "CH_CFG_ST_FREQUENCY cannot be generated exactly using timer"
+#endif
+#undef F_CPU_
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void hal_lld_init(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _HAL_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/AVR/i2c_lld.c b/os/hal/ports/AVR/i2c_lld.c new file mode 100644 index 000000000..fb528a313 --- /dev/null +++ b/os/hal/ports/AVR/i2c_lld.c @@ -0,0 +1,288 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/i2c_lld.c
+ * @brief AVR I2C subsystem low level driver source.
+ *
+ * @addtogroup I2C
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_I2C || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/** @brief I2C driver identifier.*/
+#if AVR_I2C_USE_I2C1 || defined(__DOXYGEN__)
+I2CDriver I2CD1;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Wakes up the waiting thread.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ * @param[in] msg wakeup message
+ *
+ * @notapi
+ */
+#define wakeup_isr(i2cp, msg) { \
+ osalSysLockFromISR(); \
+ if ((i2cp)->thread != NULL) { \
+ thread_t *tp = (i2cp)->thread; \
+ (i2cp)->thread = NULL; \
+ tp->p_u.rdymsg = (msg); \
+ chSchReadyI(tp); \
+ } \
+ osalSysUnlockFromISR(); \
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if AVR_I2C_USE_I2C1 || defined(__DOXYGEN__)
+/**
+ * @brief I2C event interrupt handler.
+ *
+ * @notapi
+ */
+OSAL_IRQ_HANDLER(TWI_vect) {
+ OSAL_IRQ_PROLOGUE();
+
+ I2CDriver *i2cp = &I2CD1;
+
+ switch (TWSR & 0xF8) {
+ case TWI_START:
+ case TWI_REPEAT_START:
+ TWDR = (i2cp->addr << 1);
+ if ((i2cp->txbuf == NULL) || (i2cp->txbytes == 0) || (i2cp->txidx == i2cp->txbytes)) {
+ TWDR |= 0x01;
+ }
+ TWCR = ((1 << TWINT) | (1 << TWEN) | (1 << TWIE));
+ break;
+ case TWI_MASTER_TX_ADDR_ACK:
+ case TWI_MASTER_TX_DATA_ACK:
+ if (i2cp->txidx < i2cp->txbytes) {
+ TWDR = i2cp->txbuf[i2cp->txidx++];
+ TWCR = ((1 << TWINT) | (1 << TWEN) | (1 << TWIE));
+ } else {
+ if (i2cp->rxbuf && i2cp->rxbytes) {
+ TWCR = ((1 << TWSTA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE));
+ } else {
+ TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN));
+ wakeup_isr(i2cp, MSG_OK);
+ }
+ }
+ break;
+ case TWI_MASTER_RX_ADDR_ACK:
+ if (i2cp->rxidx == (i2cp->rxbytes - 1)) {
+ TWCR = ((1 << TWINT) | (1 << TWEN) | (1 << TWIE));
+ } else {
+ TWCR = ((1 << TWEA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE));
+ }
+ break;
+ case TWI_MASTER_RX_DATA_ACK:
+ i2cp->rxbuf[i2cp->rxidx++] = TWDR;
+ if (i2cp->rxidx == (i2cp->rxbytes - 1)) {
+ TWCR = ((1 << TWINT) | (1 << TWEN) | (1 << TWIE));
+ } else {
+ TWCR = ((1 << TWEA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE));
+ }
+ break;
+ case TWI_MASTER_RX_DATA_NACK:
+ i2cp->rxbuf[i2cp->rxidx] = TWDR;
+ TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN));
+ wakeup_isr(i2cp, MSG_OK);
+ case TWI_MASTER_TX_ADDR_NACK:
+ case TWI_MASTER_TX_DATA_NACK:
+ case TWI_MASTER_RX_ADDR_NACK:
+ i2cp->errors |= I2CD_ACK_FAILURE;
+ break;
+ case TWI_ARBITRATION_LOST:
+ i2cp->errors |= I2CD_ARBITRATION_LOST;
+ break;
+ case TWI_BUS_ERROR:
+ i2cp->errors |= I2CD_BUS_ERROR;
+ break;
+ default:
+ /* FIXME: only gets here if there are other MASTERs in the bus */
+ TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN));
+ wakeup_isr(i2cp, MSG_RESET);
+ }
+
+ if (i2cp->errors != I2CD_NO_ERROR) {
+ TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN));
+ wakeup_isr(i2cp, MSG_RESET);
+ }
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* AVR_I2C_USE_I2C1 */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level I2C driver initialization.
+ *
+ * @notapi
+ */
+void i2c_lld_init(void) {
+ i2cObjectInit(&I2CD1);
+}
+
+/**
+ * @brief Configures and activates the I2C peripheral.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ *
+ * @notapi
+ */
+void i2c_lld_start(I2CDriver *i2cp) {
+
+ /* TODO: Test TWI without external pull-ups (use internal) */
+
+ /* Configure prescaler to 1 */
+ TWSR &= 0xF8;
+
+ /* Configure baudrate */
+ TWBR = ((F_CPU / i2cp->config->clock_speed) - 16) / 2;
+}
+
+/**
+ * @brief Deactivates the I2C peripheral.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ *
+ * @notapi
+ */
+void i2c_lld_stop(I2CDriver *i2cp) {
+
+ if (i2cp->state != I2C_STOP) {
+ /* Disable TWI subsystem and stop all operations */
+ TWCR &= ~(1 << TWEN);
+ }
+}
+
+/**
+ * @brief Receives data via the I2C bus as master.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ * @param[in] addr slave device address
+ * @param[out] rxbuf pointer to the receive buffer
+ * @param[in] rxbytes number of bytes to be received
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end. <b>After a
+ * timeout the driver must be stopped and restarted
+ * because the bus is in an uncertain state</b>.
+ *
+ * @notapi
+ */
+msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
+ uint8_t *rxbuf, size_t rxbytes,
+ systime_t timeout) {
+ i2cp->addr = addr;
+ i2cp->txbuf = NULL;
+ i2cp->txbytes = 0;
+ i2cp->txidx = 0;
+ i2cp->rxbuf = rxbuf;
+ i2cp->rxbytes = rxbytes;
+ i2cp->rxidx = 0;
+
+ /* Send START */
+ TWCR = ((1 << TWSTA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE));
+
+ osalSysLock();
+ i2cp->thread = chThdGetSelfX();
+ chSchGoSleepS(THD_STATE_SUSPENDED);
+ chSysUnlock();
+
+ return chThdGetSelfX()->p_u.rdymsg;
+}
+
+/**
+ * @brief Transmits data via the I2C bus as master.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ * @param[in] addr slave device address
+ * @param[in] txbuf pointer to the transmit buffer
+ * @param[in] txbytes number of bytes to be transmitted
+ * @param[out] rxbuf pointer to the receive buffer
+ * @param[in] rxbytes number of bytes to be received
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end. <b>After a
+ * timeout the driver must be stopped and restarted
+ * because the bus is in an uncertain state</b>.
+ *
+ * @notapi
+ */
+msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
+ const uint8_t *txbuf, size_t txbytes,
+ uint8_t *rxbuf, size_t rxbytes,
+ systime_t timeout) {
+ i2cp->addr = addr;
+ i2cp->txbuf = txbuf;
+ i2cp->txbytes = txbytes;
+ i2cp->txidx = 0;
+ i2cp->rxbuf = rxbuf;
+ i2cp->rxbytes = rxbytes;
+ i2cp->rxidx = 0;
+
+ TWCR = ((1 << TWSTA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE));
+
+ chSysLock();
+ i2cp->thread = chThdGetSelfX();
+ chSchGoSleepS(THD_STATE_SUSPENDED);
+ chSysUnlock();
+
+ return chThdGetSelfX()->p_u.rdymsg;
+}
+
+#endif /* HAL_USE_I2C */
+
+/** @} */
diff --git a/os/hal/ports/AVR/i2c_lld.h b/os/hal/ports/AVR/i2c_lld.h new file mode 100644 index 000000000..6b38bc48e --- /dev/null +++ b/os/hal/ports/AVR/i2c_lld.h @@ -0,0 +1,224 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/i2c_lld.h
+ * @brief AVR I2C subsystem low level driver header.
+ *
+ * @addtogroup I2C
+ * @{
+ */
+
+#ifndef _I2C_LLD_H_
+#define _I2C_LLD_H_
+
+#if HAL_USE_I2C || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/** @brief START transmitted.*/
+#define TWI_START 0x08
+/** @brief Repeated START transmitted.*/
+#define TWI_REPEAT_START 0x10
+/** @brief Arbitration Lost.*/
+#define TWI_ARBITRATION_LOST 0x38
+/** @brief Bus errors.*/
+#define TWI_BUS_ERROR 0x00
+
+/** @brief SLA+W transmitted with ACK response.*/
+#define TWI_MASTER_TX_ADDR_ACK 0x18
+/** @brief SLA+W transmitted with NACK response.*/
+#define TWI_MASTER_TX_ADDR_NACK 0x20
+/** @brief DATA transmitted with ACK response.*/
+#define TWI_MASTER_TX_DATA_ACK 0x28
+/** @brief DATA transmitted with NACK response.*/
+#define TWI_MASTER_TX_DATA_NACK 0x30
+
+/** @brief SLA+R transmitted with ACK response.*/
+#define TWI_MASTER_RX_ADDR_ACK 0x40
+/** @brief SLA+R transmitted with NACK response.*/
+#define TWI_MASTER_RX_ADDR_NACK 0x48
+/** @brief DATA received with ACK response.*/
+#define TWI_MASTER_RX_DATA_ACK 0x50
+/** @brief DATA received with NACK response.*/
+#define TWI_MASTER_RX_DATA_NACK 0x58
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief I2C driver enable switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(AVR_I2C_USE_I2C1) || defined(__DOXYGEN__)
+#define AVR_I2C_USE_I2C1 FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type representing I2C address.
+ */
+typedef uint8_t i2caddr_t;
+
+/**
+ * @brief I2C Driver condition flags type.
+ */
+typedef uint8_t i2cflags_t;
+
+/**
+ * @brief Driver configuration structure.
+ * @note Implementations may extend this structure to contain more,
+ * architecture dependent, fields.
+ */
+typedef struct {
+
+ /**
+ * @brief Specifies the I2C clock frequency.
+ */
+ uint32_t clock_speed;
+
+} I2CConfig;
+
+/**
+ * @brief Structure representing an I2C driver.
+ */
+struct I2CDriver {
+ /**
+ * @brief Driver state.
+ */
+ i2cstate_t state;
+ /**
+ * @brief Current configuration data.
+ */
+ const I2CConfig *config;
+ /**
+ * @brief Error flags.
+ */
+ i2cflags_t errors;
+#if I2C_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
+#if CH_USE_MUTEXES || defined(__DOXYGEN__)
+ /**
+ * @brief Mutex protecting the bus.
+ */
+ Mutex mutex;
+#elif CH_USE_SEMAPHORES
+ Semaphore semaphore;
+#endif
+#endif /* I2C_USE_MUTUAL_EXCLUSION */
+#if defined(I2C_DRIVER_EXT_FIELDS)
+ I2C_DRIVER_EXT_FIELDS
+#endif
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Thread waiting for I/O completion.
+ */
+ Thread *thread;
+ /**
+ * @brief Address of slave device.
+ */
+ i2caddr_t addr;
+ /**
+ * @brief Pointer to the buffer with data to send.
+ */
+ const uint8_t *txbuf;
+ /**
+ * @brief Number of bytes of data to send.
+ */
+ size_t txbytes;
+ /**
+ * @brief Current index in buffer when sending data.
+ */
+ size_t txidx;
+ /**
+ * @brief Pointer to the buffer to put received data.
+ */
+ uint8_t *rxbuf;
+ /**
+ * @brief Number of bytes of data to receive.
+ */
+ size_t rxbytes;
+ /**
+ * @brief Current index in buffer when receiving data.
+ */
+ size_t rxidx;
+};
+
+/**
+ * @brief Type of a structure representing an I2C driver.
+ */
+typedef struct I2CDriver I2CDriver;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Get errors from I2C driver.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ *
+ * @notapi
+ */
+#define i2c_lld_get_errors(i2cp) ((i2cp)->errors)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if !defined(__DOXYGEN__)
+#if AVR_I2C_USE_I2C1
+extern I2CDriver I2CD1;
+#endif
+#endif /* !defined(__DOXYGEN__) */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void i2c_lld_init(void);
+ void i2c_lld_start(I2CDriver *i2cp);
+ void i2c_lld_stop(I2CDriver *i2cp);
+ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
+ const uint8_t *txbuf, size_t txbytes,
+ uint8_t *rxbuf, size_t rxbytes,
+ systime_t timeout);
+ msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
+ uint8_t *rxbuf, size_t rxbytes,
+ systime_t timeout);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_I2C */
+
+#endif /* _I2C_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/AVR/icu_lld.c b/os/hal/ports/AVR/icu_lld.c new file mode 100644 index 000000000..bfdc6f1cf --- /dev/null +++ b/os/hal/ports/AVR/icu_lld.c @@ -0,0 +1,336 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/icu_lld.c
+ * @brief AVR ICU driver subsystem low level driver source.
+ *
+ * @addtogroup ICU
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_ICU || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+typedef struct {
+ volatile uint8_t *tccra;
+ volatile uint8_t *tccrb;
+ volatile uint16_t *tcnt;
+ volatile uint8_t *timsk;
+} icu_registers_t;
+
+static icu_registers_t regs_table[]=
+{
+#if AVR_ICU_USE_TIM1 || defined(__DOXYGEN__)
+ {&TCCR1A, &TCCR1B, &TCNT1, &TIMSK1},
+#endif
+#if AVR_ICU_USE_TIM3 || defined(__DOXYGEN__)
+ {&TCCR3A, &TCCR3B, &TCNT3, &TIMSK3},
+#endif
+#if AVR_ICU_USE_TIM4 || defined(__DOXYGEN__)
+ {&TCCR4A, &TCCR4B, &TCNT4, &TIMSK4},
+#endif
+#if AVR_ICU_USE_TIM5 || defined(__DOXYGEN__)
+ {&TCCR5A, &TCCR5B, &TCNT5, &TIMSK5},
+#endif
+};
+
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief ICU1 driver identifier.
+ */
+#if AVR_ICU_USE_TIM1 || defined(__DOXYGEN__)
+ICUDriver ICUD1;
+#endif
+/**
+ * @brief ICU3 driver identifier.
+ */
+#if AVR_ICU_USE_TIM3 || defined(__DOXYGEN__)
+ICUDriver ICUD3;
+#endif
+/**
+ * @brief ICU4 driver identifier.
+ */
+#if AVR_ICU_USE_TIM4 || defined(__DOXYGEN__)
+ICUDriver ICUD4;
+#endif
+/**
+ * @brief ICU5 driver identifier.
+ */
+#if AVR_ICU_USE_TIM5 || defined(__DOXYGEN__)
+ICUDriver ICUD5;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+static inline void handle_capture_isr(ICUDriver *icup,
+ volatile uint16_t *icr,
+ volatile uint8_t *tccrb,
+ volatile uint16_t *tcnt)
+{
+ uint16_t value = *icr;
+ uint8_t rising = (*tccrb & (1 << ICES1)) ? 1 : 0;
+ *tccrb ^= (1 << ICES1);
+ if ((icup->config->mode == ICU_INPUT_ACTIVE_HIGH && rising) ||
+ (icup->config->mode == ICU_INPUT_ACTIVE_LOW && !rising)) {
+ icup->width = value;
+ if (icup->config->width_cb != NULL)
+ icup->config->width_cb(icup);
+ } else {
+ icup->period = value;
+ if (icup->config->period_cb != NULL)
+ icup->config->period_cb(icup);
+ /* Reset counter at the end of every cycle */
+ *tcnt = 0;
+ }
+}
+
+static uint8_t index(ICUDriver *icup)
+{
+ uint8_t index = 0;
+#if AVR_ICU_USE_TIM1 || defined(__DOXYGEN__)
+ if (icup == &ICUD1) return index;
+ else index++;
+#endif
+#if AVR_ICU_USE_TIM3 || defined(__DOXYGEN__)
+ if (icup == &ICUD3) return index;
+ else index++;
+#endif
+#if AVR_ICU_USE_TIM4 || defined(__DOXYGEN__)
+ if (icup == &ICUD4) return index;
+ else index++;
+#endif
+#if AVR_ICU_USE_TIM5 || defined(__DOXYGEN__)
+ if (icup == &ICUD5) return index;
+ else index++;
+#endif
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if AVR_ICU_USE_TIM1 || defined(__DOXYGEN__)
+OSAL_IRQ_HANDLER(TIMER1_CAPT_vect)
+{
+ OSAL_IRQ_PROLOGUE();
+ handle_capture_isr(&ICUD1, &ICR1, &TCCR1B, &TCNT1);
+ OSAL_IRQ_EPILOGUE();
+}
+
+OSAL_IRQ_HANDLER(TIMER1_OVF_vect)
+{
+ OSAL_IRQ_PROLOGUE();
+ ICUD1.config->overflow_cb(&ICUD1);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if AVR_ICU_USE_TIM3 || defined(__DOXYGEN__)
+OSAL_IRQ_HANDLER(TIMER3_CAPT_vect)
+{
+ OSAL_IRQ_PROLOGUE();
+ handle_capture_isr(&ICUD3, &ICR3, &TCCR3B, &TCNT3);
+ OSAL_IRQ_EPILOGUE();
+}
+
+OSAL_IRQ_HANDLER(TIMER3_OVF_vect)
+{
+ OSAL_IRQ_PROLOGUE();
+ ICUD3.config->overflow_cb(&ICUD3);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if AVR_ICU_USE_TIM4 || defined(__DOXYGEN__)
+OSAL_IRQ_HANDLER(TIMER4_CAPT_vect)
+{
+ OSAL_IRQ_PROLOGUE();
+ handle_capture_isr(&ICUD4, &ICR4, &TCCR4B, &TCNT4);
+ OSAL_IRQ_EPILOGUE();
+}
+
+OSAL_IRQ_HANDLER(TIMER4_OVF_vect)
+{
+ OSAL_IRQ_PROLOGUE();
+ ICUD4.config->overflow_cb(&ICUD4);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if AVR_ICU_USE_TIM5 || defined(__DOXYGEN__)
+OSAL_IRQ_HANDLER(TIMER5_CAPT_vect)
+{
+ OSAL_IRQ_PROLOGUE();
+ handle_capture_isr(&ICUD5, &ICR5, &TCCR5B, &TCNT5);
+ OSAL_IRQ_EPILOGUE();
+}
+
+OSAL_IRQ_HANDLER(TIMER5_OVF_vect)
+{
+ OSAL_IRQ_PROLOGUE();
+ ICUD5.config->overflow_cb(&ICUD5);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level ICU driver initialization.
+ *
+ * @notapi
+ */
+void icu_lld_init(void) {
+
+#if AVR_ICU_USE_TIM1
+ icuObjectInit(&ICUD1);
+#endif
+#if AVR_ICU_USE_TIM3
+ icuObjectInit(&ICUD3);
+#endif
+#if AVR_ICU_USE_TIM4
+ icuObjectInit(&ICUD4);
+#endif
+#if AVR_ICU_USE_TIM5
+ icuObjectInit(&ICUD5);
+#endif
+}
+
+/**
+ * @brief Configures and activates the ICU peripheral.
+ *
+ * @param[in] icup pointer to the @p ICUDriver object
+ *
+ * @notapi
+ */
+void icu_lld_start(ICUDriver *icup) {
+
+ if (icup->state == ICU_STOP) {
+ uint8_t i = index(icup);
+ /* Normal waveform generation (counts from 0 to 0xFFFF) */
+ *regs_table[i].tccra &= ~((1 << WGM11) | (1 << WGM10));
+ *regs_table[i].tccrb &= ~((1 << WGM13) | (1 << WGM12));
+ /* Enable noise canceler, set prescale to CLK/1024 */
+ *regs_table[i].tccrb |= (1 << ICNC1) | (1 << CS12) | (1 << CS10);
+ if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH)
+ *regs_table[i].tccrb |= (1 << ICES1);
+ else
+ *regs_table[i].tccrb &= ~(1 << ICES1);
+ }
+}
+
+/**
+ * @brief Deactivates the ICU peripheral.
+ *
+ * @param[in] icup pointer to the @p ICUDriver object
+ *
+ * @notapi
+ */
+void icu_lld_stop(ICUDriver *icup) {
+
+ if (icup->state == ICU_READY) {
+ /* Resets the peripheral.*/
+
+ /* Disables the peripheral.*/
+#if AVR_ICU_USE_TIM1
+ if (&ICUD1 == icup) {
+
+ }
+#endif /* AVR_ICU_USE_TIM1 */
+ }
+}
+
+/**
+ * @brief Enables the input capture.
+ *
+ * @param[in] icup pointer to the @p ICUDriver object
+ *
+ * @notapi
+ */
+void icu_lld_enable(ICUDriver *icup) {
+
+ uint8_t i = index(icup);
+ icup->width = icup->period = 0;
+ *regs_table[i].tcnt = 0;
+ *regs_table[i].timsk |= (1 << ICIE1);
+ if (icup->config->overflow_cb != NULL)
+ *regs_table[i].timsk |= (1 << TOIE1);
+}
+
+/**
+ * @brief Disables the input capture.
+ *
+ * @param[in] icup pointer to the @p ICUDriver object
+ *
+ * @notapi
+ */
+void icu_lld_disable(ICUDriver *icup) {
+
+ uint8_t i = index(icup);
+ *regs_table[i].timsk &= ~((1 << ICIE1) | (1 << TOIE1));
+}
+
+/**
+ * @brief Returns the width of the latest pulse.
+ * @details The pulse width is defined as number of ticks between the start
+ * edge and the stop edge.
+ *
+ * @param[in] icup pointer to the @p ICUDriver object
+ * @return The number of ticks.
+ *
+ * @notapi
+ */
+icucnt_t icu_lld_get_width(ICUDriver *icup) {
+
+ return icup->width;
+}
+
+/**
+ * @brief Returns the width of the latest cycle.
+ * @details The cycle width is defined as number of ticks between a start
+ * edge and the next start edge.
+ *
+ * @param[in] icup pointer to the @p ICUDriver object
+ * @return The number of ticks.
+ *
+ * @notapi
+ */
+icucnt_t icu_lld_get_period(ICUDriver *icup) {
+
+ return icup->period;
+}
+
+#endif /* HAL_USE_ICU */
+
+/** @} */
diff --git a/os/hal/ports/AVR/icu_lld.h b/os/hal/ports/AVR/icu_lld.h new file mode 100644 index 000000000..5daf66f0c --- /dev/null +++ b/os/hal/ports/AVR/icu_lld.h @@ -0,0 +1,195 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/icu_lld.h
+ * @brief AVR ICU driver subsystem low level driver header.
+ *
+ * @addtogroup ICU
+ * @{
+ */
+
+#ifndef _ICU_LLD_H_
+#define _ICU_LLD_H_
+
+#if HAL_USE_ICU || defined(__DOXYGEN__)
+
+#include "avr_timers.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief ICU driver enable switch.
+ * @details If set to @p TRUE the support for ICU1 is included.
+ */
+#if !defined(AVR_ICU_USE_TIM1) || defined(__DOXYGEN__)
+#define AVR_ICU_USE_TIM1 FALSE
+#endif
+/**
+ * @brief ICU driver enable switch.
+ * @details If set to @p TRUE the support for ICU3 is included.
+ */
+#if !defined(AVR_ICU_USE_TIM3) || defined(__DOXYGEN__)
+#define AVR_ICU_USE_TIM3 FALSE
+#endif
+/**
+ * @brief ICU driver enable switch.
+ * @details If set to @p TRUE the support for ICU4 is included.
+ */
+#if !defined(AVR_ICU_USE_TIM4) || defined(__DOXYGEN__)
+#define AVR_ICU_USE_TIM4 FALSE
+#endif
+/**
+ * @brief ICU driver enable switch.
+ * @details If set to @p TRUE the support for ICU5 is included.
+ */
+#if !defined(AVR_ICU_USE_TIM5) || defined(__DOXYGEN__)
+#define AVR_ICU_USE_TIM5 FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief ICU driver mode.
+ */
+typedef enum {
+ ICU_INPUT_ACTIVE_HIGH = 0, /**< Trigger on rising edge. */
+ ICU_INPUT_ACTIVE_LOW = 1, /**< Trigger on falling edge. */
+} icumode_t;
+
+/**
+ * @brief ICU frequency type.
+ */
+typedef uint16_t icufreq_t;
+
+/**
+ * @brief ICU counter type.
+ */
+typedef uint16_t icucnt_t;
+
+/**
+ * @brief Driver configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+ /**
+ * @brief Driver mode.
+ */
+ icumode_t mode;
+ /**
+ * @brief Timer clock in Hz.
+ * @note The low level can use assertions in order to catch invalid
+ * frequency specifications.
+ */
+ icufreq_t frequency;
+ /**
+ * @brief Callback for pulse width measurement.
+ */
+ icucallback_t width_cb;
+ /**
+ * @brief Callback for cycle period measurement.
+ */
+ icucallback_t period_cb;
+ /**
+ * @brief Callback for timer overflow.
+ */
+ icucallback_t overflow_cb;
+ /* End of the mandatory fields.*/
+} ICUConfig;
+
+/**
+ * @brief Structure representing an ICU driver.
+ */
+struct ICUDriver {
+ /**
+ * @brief Driver state.
+ */
+ icustate_t state;
+ /**
+ * @brief Current configuration data.
+ */
+ const ICUConfig *config;
+#if defined(ICU_DRIVER_EXT_FIELDS)
+ ICU_DRIVER_EXT_FIELDS
+#endif
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Width value read by ISR.
+ */
+ icucnt_t width;
+ /**
+ * @brief Period value read by ISR.
+ */
+ icucnt_t period;
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if AVR_ICU_USE_TIM1 && !defined(__DOXYGEN__)
+extern ICUDriver ICUD1;
+#endif
+#if AVR_ICU_USE_TIM3 && !defined(__DOXYGEN__)
+extern ICUDriver ICUD3;
+#endif
+#if AVR_ICU_USE_TIM4 && !defined(__DOXYGEN__)
+extern ICUDriver ICUD4;
+#endif
+#if AVR_ICU_USE_TIM5 && !defined(__DOXYGEN__)
+extern ICUDriver ICUD5;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void icu_lld_init(void);
+ void icu_lld_start(ICUDriver *icup);
+ void icu_lld_stop(ICUDriver *icup);
+ void icu_lld_enable(ICUDriver *icup);
+ void icu_lld_disable(ICUDriver *icup);
+ icucnt_t icu_lld_get_width(ICUDriver *icup);
+ icucnt_t icu_lld_get_period(ICUDriver *icup);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_ICU */
+
+#endif /* _ICU_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/AVR/pal_lld.c b/os/hal/ports/AVR/pal_lld.c new file mode 100644 index 000000000..f2f5393eb --- /dev/null +++ b/os/hal/ports/AVR/pal_lld.c @@ -0,0 +1,156 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/pal_lld.c
+ * @brief AVR GPIO low level driver code.
+ *
+ * @addtogroup PAL
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_PAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* 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
+
+#if defined(PORTF) || defined(__DOXYGEN__)
+ PORTF = config->portf.out;
+ DDRF = config->portf.dir;
+#endif
+
+#if defined(PORTG) || defined(__DOXYGEN__)
+ PORTG = config->portg.out;
+ DDRG = config->portg.dir;
+#endif
+
+#if defined(PORTH) || defined(__DOXYGEN__)
+ PORTH = config->porth.out;
+ DDRH = config->porth.dir;
+#endif
+
+#if defined(PORTJ) || defined(__DOXYGEN__)
+ PORTJ = config->portj.out;
+ DDRJ = config->portj.dir;
+#endif
+
+#if defined(PORTK) || defined(__DOXYGEN__)
+ PORTK = config->portk.out;
+ DDRK = config->portk.dir;
+#endif
+
+#if defined(PORTL) || defined(__DOXYGEN__)
+ PORTL = config->portl.out;
+ DDRL = config->portl.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
+ */
+void _pal_lld_setgroupmode(ioportid_t port,
+ ioportmask_t mask,
+ iomode_t mode) {
+
+ switch (mode) {
+ case PAL_MODE_RESET:
+ case PAL_MODE_INPUT:
+ 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;
+ break;
+ case PAL_MODE_OUTPUT_PUSHPULL:
+ port->dir |= mask;
+ break;
+ }
+}
+
+#endif /* HAL_USE_PAL */
+
+/** @} */
diff --git a/os/hal/ports/AVR/pal_lld.h b/os/hal/ports/AVR/pal_lld.h new file mode 100644 index 000000000..8862452f7 --- /dev/null +++ b/os/hal/ports/AVR/pal_lld.h @@ -0,0 +1,346 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/pal_lld.h
+ * @brief AVR GPIO low level driver header.
+ *
+ * @addtogroup PAL
+ * @{
+ */
+
+#ifndef _PAL_LLD_H_
+#define _PAL_LLD_H_
+
+#include "avr_pins.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.
+ * @details 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;
+
+/**
+ * @brief AVR registers block.
+ * @note On some devices registers do not follow this layout on some
+ * ports, the ports with abnormal layout cannot be used through
+ * PAL driver. Example: PORT F on Mega128.
+ */
+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
+#if defined(PORTF) || defined(__DOXYGEN__)
+ avr_gpio_setup_t portf;
+#endif
+#if defined(PORTG) || defined(__DOXYGEN__)
+ avr_gpio_setup_t portg;
+#endif
+#if defined(PORTH) || defined(__DOXYGEN__)
+ avr_gpio_setup_t porth;
+#endif
+#if defined(PORTJ) || defined(__DOXYGEN__)
+ avr_gpio_setup_t portj;
+#endif
+#if defined(PORTK) || defined(__DOXYGEN__)
+ avr_gpio_setup_t portk;
+#endif
+#if defined(PORTL) || defined(__DOXYGEN__)
+ avr_gpio_setup_t portl;
+#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
+
+#if defined(PORTF) || defined(__DOXYGEN__)
+/**
+ * @brief GPIO port F identifier.
+ */
+#define IOPORT6 ((volatile avr_gpio_registers_t *)&PINF)
+#endif
+
+#if defined(PORTG) || defined(__DOXYGEN__)
+/**
+ * @brief GPIO port G identifier.
+ */
+#define IOPORT7 ((volatile avr_gpio_registers_t *)&PING)
+#endif
+
+#if defined(PORTH) || defined(__DOXYGEN__)
+/**
+ * @brief GPIO port H identifier.
+ */
+#define IOPORT8 ((volatile avr_gpio_registers_t *)&PINH)
+#endif
+
+#if defined(PORTJ) || defined(__DOXYGEN__)
+/**
+ * @brief GPIO port J identifier.
+ */
+#define IOPORT9 ((volatile avr_gpio_registers_t *)&PINJ)
+#endif
+
+#if defined(PORTK) || defined(__DOXYGEN__)
+/**
+ * @brief GPIO port K identifier.
+ */
+#define IOPORT10 ((volatile avr_gpio_registers_t *)&PINK)
+#endif
+
+#if defined(PORTL) || defined(__DOXYGEN__)
+/**
+ * @brief GPIO port L identifier.
+ */
+#define IOPORT11 ((volatile avr_gpio_registers_t *)&PINL)
+#endif
+
+#if defined(PORTADC) || defined(__DOXYGEN__)
+/**
+ * @brief GPIO port ADC identifier.
+ */
+#define IOPORTADC ((volatile avr_gpio_registers_t *)&PINADC)
+#endif
+
+#if defined(PORT_SPI1) || defined(__DOXYGEN__)
+/**
+ * @brief GPIO port SPI1 identifier.
+ */
+#define IOPORTSPI1 ((volatile avr_gpio_registers_t *)&PIN_SPI1)
+#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 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 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 port identifier
+ * @param[in] bits 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 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 Sets a pad logical state to @p PAL_HIGH.
+ *
+ * @param[in] port port identifier
+ * @param[in] pad 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 port identifier
+ * @param[in] pad 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/ports/AVR/platform.mk b/os/hal/ports/AVR/platform.mk new file mode 100644 index 000000000..d91d334ff --- /dev/null +++ b/os/hal/ports/AVR/platform.mk @@ -0,0 +1,14 @@ +# List of all the AVR platform files.
+PLATFORMSRC = ${CHIBIOS}/os/hal/ports/AVR/hal_lld.c \
+ ${CHIBIOS}/os/hal/ports/AVR/pal_lld.c \
+ ${CHIBIOS}/os/hal/ports/AVR/serial_lld.c \
+ ${CHIBIOS}/os/hal/ports/AVR/adc_lld.c \
+ ${CHIBIOS}/os/hal/ports/AVR/i2c_lld.c \
+ ${CHIBIOS}/os/hal/ports/AVR/spi_lld.c \
+ ${CHIBIOS}/os/hal/ports/AVR/gpt_lld.c \
+ ${CHIBIOS}/os/hal/ports/AVR/pwm_lld.c \
+ ${CHIBIOS}/os/hal/ports/AVR/icu_lld.c \
+ ${CHIBIOS}/os/hal/ports/AVR/st_lld.c
+
+# Required include directories
+PLATFORMINC = ${CHIBIOS}/os/hal/ports/AVR
diff --git a/os/hal/ports/AVR/pwm_lld.c b/os/hal/ports/AVR/pwm_lld.c new file mode 100644 index 000000000..44454d502 --- /dev/null +++ b/os/hal/ports/AVR/pwm_lld.c @@ -0,0 +1,491 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio + + 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. +*/ + +/* + This driver is based on the work done by Matteo Serva available at + http://github.com/matteoserva/ChibiOS-AVR +*/ + +/** + * @file AVR/pwm_lld.c + * @brief AVR PWM driver subsystem low level driver. + * + * @addtogroup PWM + * @{ + */ + +#include "hal.h" + +#if HAL_USE_PWM || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +typedef struct { + volatile uint8_t *tccra; + volatile uint8_t *tccrb; + volatile uint8_t *ocrah; + volatile uint8_t *ocral; + volatile uint8_t *ocrbh; + volatile uint8_t *ocrbl; + volatile uint8_t *ocrch; + volatile uint8_t *ocrcl; + volatile uint8_t *tifr; + volatile uint8_t *timsk; +} timer_registers_t; + +static timer_registers_t regs_table[]= +{ +#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) +#if defined(OCR1C) + {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, &OCR1CH, &OCR1CL, &TIFR1, &TIMSK1}, +#else + {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, NULL, NULL, &TIFR1, &TIMSK1}, +#endif +#endif +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) + {&TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &OCR2B, &OCR2B, NULL, NULL, &TIFR2, &TIMSK2}, +#endif +#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) + {&TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &OCR3BH, &OCR3BL, &OCR3CH, &OCR3CL, &TIFR3, &TIMSK3}, +#endif +#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) + {&TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &OCR4CH, &OCR4CL, &OCR4CH, &OCR4CL, &TIFR4, &TIMSK4}, +#endif +#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) + {&TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &OCR5BH, &OCR5BL, &OCR5CH, &OCR5CL, &TIFR5, &TIMSK5}, +#endif +}; + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** @brief PWM driver identifiers.*/ +#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) +PWMDriver PWMD1; +#endif +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) +PWMDriver PWMD2; +#endif +#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) +PWMDriver PWMD3; +#endif +#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) +PWMDriver PWMD4; +#endif +#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) +PWMDriver PWMD5; +#endif + +/*===========================================================================*/ +/* Driver local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static void config_channel(volatile uint8_t *tccra, + uint8_t com1, + uint8_t com0, + pwmmode_t mode) +{ + *tccra &= ~((1 << com1) | (1 << com0)); + if (mode == PWM_OUTPUT_ACTIVE_HIGH) + *tccra |= ((1 << com1) | (0 << com0)); /* non inverting mode */ + else if (mode == PWM_OUTPUT_ACTIVE_LOW) + *tccra |= (1 << com1) | (1 << com0); /* inverting mode */ +} + +static uint8_t timer_index(PWMDriver *pwmp) +{ + uint8_t index = 0; +#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) + if (pwmp == &PWMD1) return index; + else index++; +#endif +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) + if (pwmp == &PWMD2) return index; + else index++; +#endif +#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) + if (pwmp == &PWMD3) return index; + else index++; +#endif +#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) + if (pwmp == &PWMD4) return index; + else index++; +#endif +#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) + if (pwmp == &PWMD5) return index; + else index++; +#endif +} + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +/* + * interrupt for compare1&2 and clock overflow. pwmd1 & pwmd2 + */ +#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER1_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD1.config->callback(&PWMD1); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER1_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD1.config->channels[0].callback(&PWMD1); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER1_COMPB_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD1.config->channels[1].callback(&PWMD1); + OSAL_IRQ_EPILOGUE(); +} +#if PWM_CHANNELS > 2 +OSAL_IRQ_HANDLER(TIMER1_COMPC_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD1.config->channels[2].callback(&PWMD1); + OSAL_IRQ_EPILOGUE(); +} +#endif +#endif + +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER2_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD2.config->callback(&PWMD2); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER2_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD2.config->channels[0].callback(&PWMD2); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER2_COMPB_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD2.config->channels[1].callback(&PWMD2); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER3_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD3.config->callback(&PWMD3); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER3_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD3.config->channels[0].callback(&PWMD3); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER3_COMPB_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD3.config->channels[1].callback(&PWMD3); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER3_COMPC_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD3.config->channels[2].callback(&PWMD3); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER4_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD4.config->callback(&PWMD4); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER4_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD4.config->channels[0].callback(&PWMD4); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER4_COMPB_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD4.config->channels[1].callback(&PWMD4); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER4_COMPC_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD4.config->channels[2].callback(&PWMD4); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER5_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD5.config->callback(&PWMD5); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER5_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD5.config->channels[0].callback(&PWMD5); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER5_COMPB_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD5.config->channels[1].callback(&PWMD5); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER5_COMPC_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD5.config->channels[2].callback(&PWMD5); + OSAL_IRQ_EPILOGUE(); +} +#endif + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level PWM driver initialization. + * + * @notapi + */ +void pwm_lld_init(void) +{ +#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) + pwmObjectInit(&PWMD1); + TCCR1A = (1 << WGM11) | (1 << WGM10); + TCCR1B = (0 << WGM13) | (1 << WGM12); +#endif + +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) + pwmObjectInit(&PWMD2); + TCCR2A = (1 << WGM21) | (1 << WGM20); + TCCR2B = (0 << WGM22); +#endif + +#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) + pwmObjectInit(&PWMD3); + TCCR3A = (1 << WGM31) | (1 << WGM30); + TCCR3B = (0 << WGM33) | (1 << WGM32); +#endif + +#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) + pwmObjectInit(&PWMD4); + TCCR4A = (1 << WGM41) | (1 << WGM40); + TCCR4B = (0 << WGM43) | (1 << WGM42); +#endif + +#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) + pwmObjectInit(&PWMD5); + TCCR5A = (1 << WGM51) | (1 << WGM50); + TCCR5B = (0 << WGM53) | (1 << WGM52); +#endif +} + +/** + * @brief Configures and activates the PWM peripheral. + * + * @param[in] pwmp pointer to the @p PWMDriver object + * + * @notapi + */ +void pwm_lld_start(PWMDriver *pwmp) +{ + if (pwmp->state == PWM_STOP) { + +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) + if (pwmp == &PWMD2) { + TCCR2B &= ~((1 << CS22) | (1 << CS21)); + TCCR2B |= (1 << CS20); + if (pwmp->config->callback != NULL) + TIMSK2 |= (1 << TOIE2); + return; + } +#endif + + /* TODO: support other prescaler options */ + + uint8_t i = timer_index(pwmp); + *regs_table[i].tccrb &= ~(1 << CS11); + *regs_table[i].tccrb |= (1 << CS12) | (1 << CS10); + *regs_table[i].timsk = (1 << TOIE1); + } +} + +/** + * @brief Deactivates the PWM peripheral. + * + * @param[in] pwmp pointer to the @p PWMDriver object + * + * @notapi + */ +void pwm_lld_stop(PWMDriver *pwmp) +{ + uint8_t i = timer_index(pwmp); + *regs_table[i].tccrb &= ~((1 << CS12) | (1 << CS11) | (1 << CS10)); + *regs_table[i].timsk = 0; +} + +/** + * @brief Changes the period the PWM peripheral. + * @details This function changes the period of a PWM unit that has already + * been activated using @p pwmStart(). + * @pre The PWM unit must have been activated using @p pwmStart(). + * @post The PWM unit period is changed to the new value. + * @note The function has effect at the next cycle start. + * @note If a period is specified that is shorter than the pulse width + * programmed in one of the channels then the behavior is not + * guaranteed. + * + * @param[in] pwmp pointer to a @p PWMDriver object + * @param[in] period new cycle time in ticks + * + * @notapi + */ +void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period) +{ +} + +/** + * @brief Enables a PWM channel. + * @pre The PWM unit must have been activated using @p pwmStart(). + * @post The channel is active using the specified configuration. + * @note Depending on the hardware implementation this function has + * effect starting on the next cycle (recommended implementation) + * or immediately (fallback implementation). + * + * @param[in] pwmp pointer to a @p PWMDriver object + * @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1) + * @param[in] width PWM pulse width as clock pulses number + * + * @notapi + */ +void pwm_lld_enable_channel(PWMDriver *pwmp, + pwmchannel_t channel, + pwmcnt_t width) +{ + uint16_t val = width; + if (val > MAX_PWM_VALUE) + val = MAX_PWM_VALUE; + +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) + if (pwmp == &PWMD2) { + config_channel(&TCCR2A, + 7 - 2*channel, + 6 - 2*channel, + pwmp->config->channels[channel].mode); + TIMSK2 |= (1 << (channel + 1)); + /* Timer 2 is 8 bit */ + if (val > 0xFF) + val = 0xFF; + if (pwmp->config->channels[channel].callback) { + switch (channel) { + case 0: OCR2A = val; break; + case 1: OCR2B = val; break; + } + } + return; + } +#endif + + uint8_t i = timer_index(pwmp); + config_channel(regs_table[i].tccra, + 7 - 2*channel, + 6 - 2*channel, + pwmp->config->channels[channel].mode); + volatile uint8_t *ocrh, *ocrl; + switch (channel) { + case 1: + ocrh = regs_table[i].ocrbh; + ocrl = regs_table[i].ocrbl; + break; + case 2: + ocrh = regs_table[i].ocrch; + ocrl = regs_table[i].ocrcl; + break; + default: + ocrh = regs_table[i].ocrah; + ocrl = regs_table[i].ocral; + } + *ocrh = val >> 8; + *ocrl = val & 0xFF; + *regs_table[i].tifr |= (1 << (channel + 1)); + if (pwmp->config->channels[channel].callback) + *regs_table[i].timsk |= (1 << (channel + 1)); +} + +/** + * @brief Disables a PWM channel. + * @pre The PWM unit must have been activated using @p pwmStart(). + * @post The channel is disabled and its output line returned to the + * idle state. + * @note Depending on the hardware implementation this function has + * effect starting on the next cycle (recommended implementation) + * or immediately (fallback implementation). + * + * @param[in] pwmp pointer to a @p PWMDriver object + * @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1) + * + * @notapi + */ +void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) +{ + uint8_t i = timer_index(pwmp); + config_channel(regs_table[i].tccra, + 7 - 2*channel, + 6 - 2*channel, + PWM_OUTPUT_DISABLED); + *regs_table[i].timsk &= ~(1 << (channel + 1)); +} + +#endif /* HAL_USE_PWM */ + +/** @} */ diff --git a/os/hal/ports/AVR/pwm_lld.h b/os/hal/ports/AVR/pwm_lld.h new file mode 100644 index 000000000..3be2008b5 --- /dev/null +++ b/os/hal/ports/AVR/pwm_lld.h @@ -0,0 +1,214 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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.
+*/
+
+/*
+ This driver is based on the work done by Matteo Serva available at
+ http://github.com/matteoserva/ChibiOS-AVR
+*/
+
+/**
+ * @file AVR/pwm_lld.h
+ * @brief AVR PWM driver subsystem low level driver.
+ *
+ * @addtogroup PWM
+ * @{
+ */
+
+#ifndef _PWM_LLD_H_
+#define _PWM_LLD_H_
+
+#if HAL_USE_PWM || defined(__DOXYGEN__)
+
+#include "avr_timers.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+#if !defined(AVR_PWM_USE_TIM1)
+#define AVR_PWM_USE_TIM1 FALSE
+#endif
+#if !defined(AVR_PWM_USE_TIM2)
+#define AVR_PWM_USE_TIM2 FALSE
+#endif
+#if !defined(AVR_PWM_USE_TIM3)
+#define AVR_PWM_USE_TIM3 FALSE
+#endif
+#if !defined(AVR_PWM_USE_TIM4)
+#define AVR_PWM_USE_TIM4 FALSE
+#endif
+#if !defined(AVR_PWM_USE_TIM5)
+#define AVR_PWM_USE_TIM5 FALSE
+#endif
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Number of PWM channels per PWM driver.
+ */
+#if !defined(PWM_CHANNELS) || defined(__DOXYGEN__)
+ #if defined(TIMER1_COMPC_vect)
+ #define PWM_CHANNELS 3
+ #else
+ #define PWM_CHANNELS 2
+ #endif
+#endif
+
+#define MAX_PWM_VALUE 0x3FF
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief PWM mode type.
+ */
+typedef uint8_t pwmmode_t;
+
+/**
+ * @brief PWM channel type.
+ */
+typedef uint8_t pwmchannel_t;
+
+/**
+ * @brief PWM counter type.
+ */
+typedef uint16_t pwmcnt_t;
+
+/**
+ * @brief PWM driver channel configuration structure.
+ * @note Some architectures may not be able to support the channel mode
+ * or the callback, in this case the fields are ignored.
+ */
+typedef struct {
+ /**
+ * @brief Channel active logic level.
+ */
+ pwmmode_t mode;
+ /**
+ * @brief Channel callback pointer.
+ * @note This callback is invoked on the channel compare event. If set to
+ * @p NULL then the callback is disabled.
+ */
+ pwmcallback_t callback;
+ /* End of the mandatory fields.*/
+} PWMChannelConfig;
+
+/**
+ * @brief Driver configuration structure.
+ * @note Implementations may extend this structure to contain more,
+ * architecture dependent, fields.
+ */
+typedef struct {
+ /**
+ * @brief Timer clock in Hz.
+ * @note The low level can use assertions in order to catch invalid
+ * frequency specifications.
+ */
+ uint16_t frequency;
+ /**
+ * @brief PWM period in ticks.
+ * @note The low level can use assertions in order to catch invalid
+ * period specifications.
+ */
+ pwmcnt_t period;
+ /**
+ * @brief Periodic callback pointer.
+ * @note This callback is invoked on PWM counter reset. If set to
+ * @p NULL then the callback is disabled.
+ */
+ pwmcallback_t callback;
+ /**
+ * @brief Channels configurations.
+ */
+ PWMChannelConfig channels[PWM_CHANNELS];
+ /* End of the mandatory fields.*/
+} PWMConfig;
+
+/**
+ * @brief Structure representing an PWM driver.
+ * @note Implementations may extend this structure to contain more,
+ * architecture dependent, fields.
+ */
+struct PWMDriver {
+ /**
+ * @brief Driver state.
+ */
+ pwmstate_t state;
+ /**
+ * @brief Current configuration data.
+ */
+ const PWMConfig *config;
+ /**
+ * @brief Current PWM period in ticks.
+ */
+ pwmcnt_t period;
+#if defined(PWM_DRIVER_EXT_FIELDS)
+ PWM_DRIVER_EXT_FIELDS
+#endif
+ /* End of the mandatory fields.*/
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
+extern PWMDriver PWMD1;
+#endif
+#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
+extern PWMDriver PWMD2;
+#endif
+#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
+extern PWMDriver PWMD3;
+#endif
+#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
+extern PWMDriver PWMD4;
+#endif
+#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
+extern PWMDriver PWMD5;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void pwm_lld_init(void);
+ void pwm_lld_start(PWMDriver *pwmp);
+ void pwm_lld_stop(PWMDriver *pwmp);
+ void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period);
+ void pwm_lld_enable_channel(PWMDriver *pwmp,
+ pwmchannel_t channel,
+ pwmcnt_t width);
+ void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_PWM */
+
+#endif /* _PWM_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/AVR/serial_lld.c b/os/hal/ports/AVR/serial_lld.c new file mode 100644 index 000000000..688e132c1 --- /dev/null +++ b/os/hal/ports/AVR/serial_lld.c @@ -0,0 +1,378 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/serial_lld.c
+ * @brief AVR low level serial driver code.
+ *
+ * @addtogroup SERIAL
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_SERIAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief USART0 serial driver identifier.
+ * @note The name does not follow the convention used in the other ports
+ * (COMn) because a name conflict with the AVR headers.
+ */
+#if AVR_SERIAL_USE_USART0 || defined(__DOXYGEN__)
+SerialDriver SD1;
+
+ /* USARTs are not consistently named across the AVR range */
+ #ifdef USART0_RX_vect
+ #define AVR_SD1_RX_VECT USART0_RX_vect
+ #define AVR_SD1_TX_VECT USART0_UDRE_vect
+ #elif defined(USART_RX_vect)
+ #define AVR_SD1_RX_VECT USART_RX_vect
+ #define AVR_SD1_TX_VECT USART_UDRE_vect
+ #else
+ #error "Cannot find USART to use for SD1"
+ #endif
+#endif /* AVR_SERIAL_USE_USART0 */
+
+/**
+ * @brief USART1 serial driver identifier.
+ * @note The name does not follow the convention used in the other ports
+ * (COMn) because a name conflict with the AVR headers.
+ */
+#if AVR_SERIAL_USE_USART1 || defined(__DOXYGEN__)
+SerialDriver SD2;
+
+ /* Check if USART1 exists for this MCU */
+ #ifdef USART1_RX_vect
+ #define AVR_SD2_RX_VECT USART1_RX_vect
+ #define AVR_SD2_TX_VECT USART1_UDRE_vect
+ #else
+ #error "Cannot find USART to use for SD2"
+ #endif
+#endif /* AVR_SERIAL_USE_USART1 */
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Driver default configuration.
+ */
+static const SerialConfig default_config = {
+ UBRR(SERIAL_DEFAULT_BITRATE),
+ USART_CHAR_SIZE_8
+};
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+static void set_error(uint8_t sra, SerialDriver *sdp) {
+ eventflags_t sts = 0;
+ uint8_t dor = 0;
+ uint8_t upe = 0;
+ uint8_t fe = 0;
+
+#if AVR_SERIAL_USE_USART0
+ if (&SD1 == sdp) {
+ dor = (1 << DOR0);
+ upe = (1 << UPE0);
+ fe = (1 << FE0);
+ }
+#endif
+
+#if AVR_SERIAL_USE_USART1
+ if (&SD2 == sdp) {
+ dor = (1 << DOR1);
+ upe = (1 << UPE1);
+ fe = (1 << FE1);
+ }
+#endif
+
+ if (sra & dor)
+ sts |= SD_OVERRUN_ERROR;
+ if (sra & upe)
+ sts |= SD_PARITY_ERROR;
+ if (sra & fe)
+ sts |= SD_FRAMING_ERROR;
+ osalSysLockFromISR();
+ chnAddFlagsI(sdp, sts);
+ osalSysUnlockFromISR();
+}
+
+#if AVR_SERIAL_USE_USART0 || defined(__DOXYGEN__)
+static void notify1(GenericQueue *qp) {
+
+ (void)qp;
+ UCSR0B |= (1 << UDRIE0);
+}
+
+/**
+ * @brief USART0 initialization.
+ *
+ * @param[in] config the architecture-dependent serial driver configuration
+ */
+static void usart0_init(const SerialConfig *config) {
+
+ UBRR0L = config->sc_brr;
+ UBRR0H = config->sc_brr >> 8;
+ UCSR0A = 0;
+ UCSR0B = (1 << RXEN0) | (1 << TXEN0) | (1 << RXCIE0);
+ switch (config->sc_bits_per_char) {
+ case USART_CHAR_SIZE_5:
+ UCSR0C = 0;
+ break;
+ case USART_CHAR_SIZE_6:
+ UCSR0C = (1 << UCSZ00);
+ break;
+ case USART_CHAR_SIZE_7:
+ UCSR0C = (1 << UCSZ01);
+ break;
+ case USART_CHAR_SIZE_9:
+ UCSR0B |= (1 << UCSZ02);
+ UCSR0C = (1 << UCSZ00) | (1 << UCSZ01);
+ break;
+ case USART_CHAR_SIZE_8:
+ default:
+ UCSR0C = (1 << UCSZ00) | (1 << UCSZ01);
+ }
+}
+
+/**
+ * @brief USART0 de-initialization.
+ */
+static void usart0_deinit(void) {
+
+ UCSR0A = 0;
+ UCSR0B = 0;
+ UCSR0C = 0;
+}
+#endif
+
+#if AVR_SERIAL_USE_USART1 || defined(__DOXYGEN__)
+static void notify2(GenericQueue *qp) {
+
+ (void)qp;
+ UCSR1B |= (1 << UDRIE1);
+}
+
+/**
+ * @brief USART1 initialization.
+ *
+ * @param[in] config the architecture-dependent serial driver configuration
+ */
+static void usart1_init(const SerialConfig *config) {
+
+ UBRR1L = config->sc_brr;
+ UBRR1H = config->sc_brr >> 8;
+ UCSR1A = 0;
+ UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1);
+ switch (config->sc_bits_per_char) {
+ case USART_CHAR_SIZE_5:
+ UCSR1C = 0;
+ break;
+ case USART_CHAR_SIZE_6:
+ UCSR1C = (1 << UCSZ10);
+ break;
+ case USART_CHAR_SIZE_7:
+ UCSR1C = (1 << UCSZ11);
+ break;
+ case USART_CHAR_SIZE_9:
+ UCSR1B |= (1 << UCSZ12);
+ UCSR1C = (1 << UCSZ10) | (1 << UCSZ11);
+ break;
+ case USART_CHAR_SIZE_8:
+ default:
+ UCSR1C = (1 << UCSZ10) | (1 << UCSZ11);
+ }
+}
+
+/**
+ * @brief USART1 de-initialization.
+ */
+static void usart1_deinit(void) {
+
+ UCSR1A = 0;
+ UCSR1B = 0;
+ UCSR1C = 0;
+}
+#endif
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if AVR_SERIAL_USE_USART0 || defined(__DOXYGEN__)
+/**
+ * @brief USART0 RX interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(AVR_SD1_RX_VECT) {
+ uint8_t sra;
+
+ OSAL_IRQ_PROLOGUE();
+
+ sra = UCSR0A;
+ if (sra & ((1 << DOR0) | (1 << UPE0) | (1 << FE0)))
+ set_error(sra, &SD1);
+ osalSysLockFromISR();
+ sdIncomingDataI(&SD1, UDR0);
+ osalSysUnlockFromISR();
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+/**
+ * @brief USART0 TX interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(AVR_SD1_TX_VECT) {
+ msg_t b;
+
+ OSAL_IRQ_PROLOGUE();
+
+ osalSysLockFromISR();
+ b = sdRequestDataI(&SD1);
+ osalSysUnlockFromISR();
+ if (b < Q_OK)
+ UCSR0B &= ~(1 << UDRIE0);
+ else
+ UDR0 = b;
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* AVR_SERIAL_USE_USART0 */
+
+#if AVR_SERIAL_USE_USART1 || defined(__DOXYGEN__)
+/**
+ * @brief USART1 RX interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(AVR_SD2_RX_VECT) {
+ uint8_t sra;
+
+ OSAL_IRQ_PROLOGUE();
+
+ sra = UCSR1A;
+ if (sra & ((1 << DOR1) | (1 << UPE1) | (1 << FE1)))
+ set_error(sra, &SD2);
+ osalSysLockFromISR();
+ sdIncomingDataI(&SD2, UDR1);
+ osalSysUnlockFromISR();
+
+ OSAL_IRQ_EPILOGUE();
+}
+
+/**
+ * @brief USART1 TX interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(AVR_SD2_TX_VECT) {
+ msg_t b;
+
+ OSAL_IRQ_PROLOGUE();
+
+ osalSysLockFromISR();
+ b = sdRequestDataI(&SD2);
+ osalSysUnlockFromISR();
+ if (b < Q_OK)
+ UCSR1B &= ~(1 << UDRIE1);
+ else
+ UDR1 = b;
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* AVR_SERIAL_USE_USART1 */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level serial driver initialization.
+ *
+ * @notapi
+ */
+void sd_lld_init(void) {
+
+#if AVR_SERIAL_USE_USART0
+ sdObjectInit(&SD1, NULL, notify1);
+#endif
+#if AVR_SERIAL_USE_USART1
+ sdObjectInit(&SD2, NULL, notify2);
+#endif
+}
+
+/**
+ * @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 AVR_SERIAL_USE_USART0
+ if (&SD1 == sdp) {
+ usart0_init(config);
+ return;
+ }
+#endif
+#if AVR_SERIAL_USE_USART1
+ if (&SD2 == sdp) {
+ usart1_init(config);
+ return;
+ }
+#endif
+}
+
+/**
+ * @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 AVR_SERIAL_USE_USART0
+ if (&SD1 == sdp)
+ usart0_deinit();
+#endif
+#if AVR_SERIAL_USE_USART1
+ if (&SD2 == sdp)
+ usart1_deinit();
+#endif
+}
+
+#endif /* HAL_USE_SERIAL */
+
+/** @} */
diff --git a/os/hal/ports/AVR/serial_lld.h b/os/hal/ports/AVR/serial_lld.h new file mode 100644 index 000000000..eeb0fe384 --- /dev/null +++ b/os/hal/ports/AVR/serial_lld.h @@ -0,0 +1,158 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/serial_lld.h
+ * @brief AVR low level serial 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. */
+/*===========================================================================*/
+
+/**
+ * @brief USART0 driver enable switch.
+ * @details If set to @p TRUE the support for USART0 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(AVR_SERIAL_USE_USART0) || defined(__DOXYGEN__)
+ #define AVR_SERIAL_USE_USART0 TRUE
+#endif
+
+/**
+ * @brief USART1 driver enable switch.
+ * @details If set to @p TRUE the support for USART1 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(AVR_SERIAL_USE_USART1) || defined(__DOXYGEN__)
+#define AVR_SERIAL_USE_USART1 TRUE
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief AVR 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.
+ */
+typedef struct {
+ /**
+ * @brief Initialization value for the BRR register.
+ */
+ uint16_t sc_brr;
+ /**
+ * @brief Number of bits per character (USART_CHAR_SIZE_5 to USART_CHAR_SIZE_9).
+ */
+ uint8_t sc_bits_per_char;
+} SerialConfig;
+
+/**
+ * @brief @p SerialDriver specific data.
+ */
+#define _serial_driver_data \
+ _base_asynchronous_channel_data \
+ /* Driver state.*/ \
+ sdstate_t state; \
+ /* Input queue.*/ \
+ InputQueue iqueue; \
+ /* Output queue.*/ \
+ OutputQueue oqueue; \
+ /* Input circular buffer.*/ \
+ uint8_t ib[SERIAL_BUFFERS_SIZE]; \
+ /* Output circular buffer.*/ \
+ uint8_t ob[SERIAL_BUFFERS_SIZE]; \
+ /* End of the mandatory fields.*/
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Macro for baud rate computation.
+ * @note Make sure the final baud rate is within tolerance.
+ */
+#define UBRR(b) (((F_CPU / b) >> 4) - 1)
+
+/**
+ * @brief Macro for baud rate computation when U2Xn == 1.
+ * @note Make sure the final baud rate is within tolerance.
+ */
+#define UBRR2x(b) (((F_CPU / b) >> 3) - 1)
+
+/**
+* @brief Macro for baud rate computation.
+* @note Make sure the final baud rate is within tolerance.
+* @note This version uses floating point math for greater accuracy.
+*/
+#define UBRR_F(b) ((((double) F_CPU / (double) b) / 16.0) - 0.5)
+
+/**
+* @brief Macro for baud rate computation when U2Xn == 1.
+* @note Make sure the final baud rate is within tolerance.
+* @note This version uses floating point math for greater accuracy.
+*/
+#define UBRR2x_F(b) ((((double) F_CPU / (double) b) / 8.0) - 0.5)
+
+#define USART_CHAR_SIZE_5 0
+#define USART_CHAR_SIZE_6 1
+#define USART_CHAR_SIZE_7 2
+#define USART_CHAR_SIZE_8 3
+#define USART_CHAR_SIZE_9 4
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if AVR_SERIAL_USE_USART0 && !defined(__DOXYGEN__)
+extern SerialDriver SD1;
+#endif
+#if AVR_SERIAL_USE_USART1 && !defined(__DOXYGEN__)
+extern SerialDriver SD2;
+#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/AVR/spi_lld.c b/os/hal/ports/AVR/spi_lld.c new file mode 100644 index 000000000..e87687563 --- /dev/null +++ b/os/hal/ports/AVR/spi_lld.c @@ -0,0 +1,429 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/spi_lld.c
+ * @brief AVR SPI subsystem low level driver source.
+ *
+ * @addtogroup SPI
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_SPI || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief SPI1 driver identifier.
+ */
+#if AVR_SPI_USE_SPI1 || defined(__DOXYGEN__)
+SPIDriver SPID1;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if AVR_SPI_USE_SPI1 || defined(__DOXYGEN__)
+/**
+ * @brief SPI event interrupt handler.
+ *
+ * @notapi
+ */
+OSAL_IRQ_HANDLER(SPI_STC_vect) {
+ OSAL_IRQ_PROLOGUE();
+
+ SPIDriver *spip = &SPID1;
+
+ /* spi_lld_exchange or spi_lld_receive */
+ if (spip->rxbuf && spip->rxidx < spip->rxbytes) {
+ spip->rxbuf[spip->rxidx++] = SPDR; // receive
+ }
+
+ /* spi_lld_exchange, spi_lld_send or spi_lld_ignore */
+ if (spip->txidx < spip->txbytes) {
+ if (spip->txbuf) {
+ SPDR = spip->txbuf[spip->txidx++]; // send
+ } else {
+ SPDR = 0; spip->txidx++; // dummy send
+ }
+ }
+
+ /* spi_lld_send */
+ else if (spip->rxidx < spip->rxbytes) { /* rx not done */
+ SPDR = 0; // dummy send to keep the clock going
+ }
+
+ /* rx done and tx done */
+ if (spip->rxidx >= spip->rxbytes && spip->txidx >= spip->txbytes) {
+ _spi_isr_code(spip);
+ }
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* AVR_SPI_USE_SPI1 */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level SPI driver initialization.
+ *
+ * @notapi
+ */
+void spi_lld_init(void) {
+
+#if AVR_SPI_USE_SPI1
+ /* Driver initialization.*/
+ spiObjectInit(&SPID1);
+#endif /* AVR_SPI_USE_SPI1 */
+}
+
+/**
+ * @brief Configures and activates the SPI peripheral.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ *
+ * @notapi
+ */
+void spi_lld_start(SPIDriver *spip) {
+
+ uint8_t dummy;
+
+ /* Configures the peripheral.*/
+
+ if (spip->state == SPI_STOP) {
+ /* Enables the peripheral.*/
+#if AVR_SPI_USE_SPI1
+ if (&SPID1 == spip) {
+ /* Enable SPI clock using Power Reduction Register */
+#if defined(PRR0)
+ PRR0 &= ~(1 << PRSPI);
+#elif defined(PRR)
+ PRR &= ~(1 << PRSPI);
+#endif
+
+ /* SPI enable, SPI interrupt enable */
+ SPCR |= ((1 << SPE) | (1 << SPIE));
+
+ switch (spip->config->role) {
+ case SPI_ROLE_SLAVE:
+ SPCR &= ~(1 << MSTR); /* master mode */
+ DDR_SPI1 |= (1 << SPI1_MISO); /* output */
+ DDR_SPI1 &= ~((1 << SPI1_MOSI) | (1 << SPI1_SCK) | (1 << SPI1_SS)); /* input */
+ break;
+ case SPI_ROLE_MASTER: /* fallthrough */
+ default:
+ SPCR |= (1 << MSTR); /* slave mode */
+ DDR_SPI1 |= ((1 << SPI1_MOSI) | (1 << SPI1_SCK)); /* output */
+ DDR_SPI1 &= ~(1 << SPI1_MISO); /* input */
+ spip->config->ssport->dir |= (1 << spip->config->sspad);
+ }
+
+ switch (spip->config->bitorder) {
+ case SPI_LSB_FIRST:
+ SPCR |= (1 << DORD);
+ break;
+ case SPI_MSB_FIRST: /* fallthrough */
+ default:
+ SPCR &= ~(1 << DORD);
+ break;
+ }
+
+ SPCR &= ~((1 << CPOL) | (1 << CPHA));
+ switch (spip->config->mode) {
+ case SPI_MODE_1:
+ SPCR |= (1 << CPHA);
+ break;
+ case SPI_MODE_2:
+ SPCR |= (1 << CPOL);
+ break;
+ case SPI_MODE_3:
+ SPCR |= ((1 << CPOL) | (1 << CPHA));
+ break;
+ case SPI_MODE_0: /* fallthrough */
+ default: break;
+ }
+
+ SPCR &= ~((1 << SPR1) | (1 << SPR0));
+ SPSR &= ~(1 << SPI2X);
+ switch (spip->config->clockrate) {
+ case SPI_SCK_FOSC_2:
+ SPSR |= (1 << SPI2X);
+ break;
+ case SPI_SCK_FOSC_8:
+ SPSR |= (1 << SPI2X);
+ SPCR |= (1 << SPR0);
+ break;
+ case SPI_SCK_FOSC_16:
+ SPCR |= (1 << SPR0);
+ break;
+ case SPI_SCK_FOSC_32:
+ SPSR |= (1 << SPI2X);
+ SPCR |= (1 << SPR1);
+ break;
+ case SPI_SCK_FOSC_64:
+ SPCR |= (1 << SPR1);
+ break;
+ case SPI_SCK_FOSC_128:
+ SPCR |= ((1 << SPR1) | (1 << SPR0));
+ break;
+ case SPI_SCK_FOSC_4: /* fallthrough */
+ default: break;
+ }
+
+ /* dummy reads before enabling interrupt */
+ dummy = SPSR;
+ dummy = SPDR;
+ (void) dummy; /* suppress warning about unused variable */
+ SPCR |= (1 << SPIE);
+ }
+#endif /* AVR_SPI_USE_SPI1 */
+ }
+}
+
+/**
+ * @brief Deactivates the SPI peripheral.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ *
+ * @notapi
+ */
+void spi_lld_stop(SPIDriver *spip) {
+
+ if (spip->state == SPI_READY) {
+ /* Resets the peripheral.*/
+
+ /* Disables the peripheral.*/
+#if AVR_SPI_USE_SPI1
+ if (&SPID1 == spip) {
+ SPCR &= ((1 << SPIE) | (1 << SPE));
+ spip->config->ssport->dir &= ~(1 << spip->config->sspad);
+ }
+/* Disable SPI clock using Power Reduction Register */
+#if defined(PRR0)
+ PRR0 |= (1 << PRSPI);
+#elif defined(PRR)
+ PRR |= (1 << PRSPI);
+#endif
+#endif /* AVR_SPI_USE_SPI1 */
+ }
+}
+
+/**
+ * @brief Asserts the slave select signal and prepares for transfers.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ *
+ * @notapi
+ */
+void spi_lld_select(SPIDriver *spip) {
+
+ /**
+ * NOTE: This should only be called in master mode
+ */
+ spip->config->ssport->out &= ~(1 << spip->config->sspad);
+
+}
+
+/**
+ * @brief Deasserts the slave select signal.
+ * @details The previously selected peripheral is unselected.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ *
+ * @notapi
+ */
+void spi_lld_unselect(SPIDriver *spip) {
+
+ /**
+ * NOTE: This should only be called in master mode
+ */
+ spip->config->ssport->out |= (1 << spip->config->sspad);
+
+}
+
+/**
+ * @brief Ignores data on the SPI bus.
+ * @details This asynchronous function starts the transmission of a series of
+ * idle words on the SPI bus and ignores the received data.
+ * @post At the end of the operation the configured callback is invoked.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ * @param[in] n number of words to be ignored
+ *
+ * @notapi
+ */
+void spi_lld_ignore(SPIDriver *spip, size_t n) {
+
+ spip->rxbuf = spip->txbuf = NULL;
+ spip->txbytes = n;
+ spip->txidx = 0;
+
+ SPDR = 0;
+}
+
+/**
+ * @brief Exchanges data on the SPI bus.
+ * @details This asynchronous function starts a simultaneous transmit/receive
+ * operation.
+ * @post At the end of the operation the configured callback is invoked.
+ * @note The buffers are organized as uint8_t arrays for data sizes below or
+ * equal to 8 bits else it is organized as uint16_t arrays.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ * @param[in] n number of words to be exchanged
+ * @param[in] txbuf the pointer to the transmit buffer
+ * @param[out] rxbuf the pointer to the receive buffer
+ *
+ * @notapi
+ */
+void spi_lld_exchange(SPIDriver *spip, size_t n,
+ const void *txbuf, void *rxbuf) {
+
+ spip->rxbuf = rxbuf;
+ spip->txbuf = txbuf;
+ spip->txbytes = spip->rxbytes = n;
+ spip->txidx = spip->rxidx = 0;
+
+ SPDR = spip->txbuf[spip->txidx++];
+}
+
+/**
+ * @brief Sends data over the SPI bus.
+ * @details This asynchronous function starts a transmit operation.
+ * @post At the end of the operation the configured callback is invoked.
+ * @note The buffers are organized as uint8_t arrays for data sizes below or
+ * equal to 8 bits else it is organized as uint16_t arrays.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ * @param[in] n number of words to send
+ * @param[in] txbuf the pointer to the transmit buffer
+ *
+ * @notapi
+ */
+void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
+
+ spip->rxbuf = NULL;
+ spip->txbuf = txbuf;
+ spip->txbytes = n;
+ spip->txidx = 0;
+
+ SPDR = spip->txbuf[spip->txidx++];
+}
+
+/**
+ * @brief Receives data from the SPI bus.
+ * @details This asynchronous function starts a receive operation.
+ * @post At the end of the operation the configured callback is invoked.
+ * @note The buffers are organized as uint8_t arrays for data sizes below or
+ * equal to 8 bits else it is organized as uint16_t arrays.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ * @param[in] n number of words to receive
+ * @param[out] rxbuf the pointer to the receive buffer
+ *
+ * @notapi
+ */
+void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
+
+ spip->txbuf = NULL;
+ spip->rxbuf = rxbuf;
+ spip->rxbytes = n;
+ spip->rxidx = 0;
+
+ /* Write dummy byte to start communication */
+ SPDR = 0;
+}
+
+/**
+ * @brief Exchanges one frame using a polled wait.
+ * @details This synchronous function exchanges one frame using a polled
+ * synchronization method. This function is useful when exchanging
+ * small amount of data on high speed channels, usually in this
+ * situation is much more efficient just wait for completion using
+ * polling than suspending the thread waiting for an interrupt.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ * @param[in] frame the data frame to send over the SPI bus
+ * @return The received data frame from the SPI bus.
+ */
+#if AVR_SPI_USE_16BIT_POLLED_EXCHANGE
+uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) {
+
+ uint16_t spdr = 0;
+ uint8_t dummy;
+
+ /* disable interrupt */
+ SPCR &= ~(1 << SPIE);
+
+ SPDR = frame >> 8;
+ while (!(SPSR & (1 << SPIF))) ;
+ spdr = SPDR << 8;
+
+ SPDR = frame & 0xFF;
+ while (!(SPSR & (1 << SPIF))) ;
+ spdr |= SPDR;
+
+ dummy = SPSR;
+ dummy = SPDR;
+ (void) dummy; /* suppress warning about unused variable */
+ SPCR |= (1 << SPIE);
+
+ return spdr;
+}
+#else /* AVR_SPI_USE_16BIT_POLLED_EXCHANGE */
+uint8_t spi_lld_polled_exchange(SPIDriver *spip, uint8_t frame) {
+
+ uint8_t spdr = 0;
+ uint8_t dummy;
+
+ /* disable interrupt */
+ SPCR &= ~(1 << SPIE);
+
+ SPDR = frame;
+ while (!(SPSR & (1 << SPIF))) ;
+ spdr = SPDR;
+
+ dummy = SPSR;
+ dummy = SPDR;
+ (void) dummy; /* suppress warning about unused variable */
+ SPCR |= (1 << SPIE);
+
+ return spdr;
+}
+#endif /* AVR_SPI_USE_16BIT_POLLED_EXCHANGE */
+
+#endif /* HAL_USE_SPI */
+
+/** @} */
diff --git a/os/hal/ports/AVR/spi_lld.h b/os/hal/ports/AVR/spi_lld.h new file mode 100644 index 000000000..3cc3e1adc --- /dev/null +++ b/os/hal/ports/AVR/spi_lld.h @@ -0,0 +1,237 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/spi_lld.h
+ * @brief AVR SPI subsystem low level driver header.
+ *
+ * @addtogroup SPI
+ * @{
+ */
+
+#ifndef _SPI_LLD_H_
+#define _SPI_LLD_H_
+
+#if HAL_USE_SPI || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/** @brief SPI Mode (Polarity/Phase) */
+#define SPI_ROLE_MASTER 0
+#define SPI_ROLE_SLAVE 1
+
+/** @brief SPI Mode (Polarity/Phase) */
+#define SPI_CPOL0_CPHA0 0
+#define SPI_CPOL0_CPHA1 1
+#define SPI_CPOL1_CPHA0 2
+#define SPI_CPOL1_CPHA1 3
+
+#define SPI_MODE_0 SPI_CPOL0_CPHA0
+#define SPI_MODE_1 SPI_CPOL0_CPHA1
+#define SPI_MODE_2 SPI_CPOL1_CPHA0
+#define SPI_MODE_3 SPI_CPOL1_CPHA1
+
+/** @brief Bit order */
+#define SPI_LSB_FIRST 0
+#define SPI_MSB_FIRST 1
+
+/** @brief SPI clock rate FOSC/x */
+#define SPI_SCK_FOSC_2 0
+#define SPI_SCK_FOSC_4 1
+#define SPI_SCK_FOSC_8 2
+#define SPI_SCK_FOSC_16 3
+#define SPI_SCK_FOSC_32 4
+#define SPI_SCK_FOSC_64 5
+#define SPI_SCK_FOSC_128 6
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief SPI driver enable switch.
+ * @details If set to @p TRUE the support for SPI1 is included.
+ */
+#if !defined(AVR_SPI_USE_SPI1) || defined(__DOXYGEN__)
+#define AVR_SPI_USE_SPI1 FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of a structure representing an SPI driver.
+ */
+typedef struct SPIDriver SPIDriver;
+
+/**
+ * @brief SPI notification callback type.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object triggering the
+ * callback
+ */
+typedef void (*spicallback_t)(SPIDriver *spip);
+
+/**
+ * @brief Driver configuration structure.
+ * @note Implementations may extend this structure to contain more,
+ * architecture dependent, fields.
+ */
+typedef struct {
+ /**
+ * @brief Role: Master or Slave
+ */
+ uint8_t role;
+ /**
+ * @brief Port used of Slave Select
+ */
+ ioportid_t ssport;
+ /**
+ * @brief Pad used of Slave Select
+ */
+ uint8_t sspad;
+ /**
+ * @brief Polarity/Phase mode
+ */
+ uint8_t mode;
+ /**
+ * @brief Use MSB/LSB first?
+ */
+ uint8_t bitorder;
+ /**
+ * @brief Clock rate of the subsystem
+ */
+ uint8_t clockrate;
+ /**
+ * @brief Operation complete callback.
+ */
+ spicallback_t end_cb;
+ /* End of the mandatory fields.*/
+} SPIConfig;
+
+/**
+ * @brief Structure representing an SPI driver.
+ * @note Implementations may extend this structure to contain more,
+ * architecture dependent, fields.
+ */
+struct SPIDriver {
+ /**
+ * @brief Driver state.
+ */
+ spistate_t state;
+ /**
+ * @brief Current configuration data.
+ */
+ SPIConfig *config;
+#if SPI_USE_WAIT || defined(__DOXYGEN__)
+ /**
+ * @brief Waiting thread.
+ */
+ Thread *thread;
+#endif /* SPI_USE_WAIT */
+#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
+#if CH_USE_MUTEXES || defined(__DOXYGEN__)
+ /**
+ * @brief Mutex protecting the bus.
+ */
+ Mutex mutex;
+#elif CH_USE_SEMAPHORES
+ Semaphore semaphore;
+#endif
+#endif /* SPI_USE_MUTUAL_EXCLUSION */
+#if defined(SPI_DRIVER_EXT_FIELDS)
+ SPI_DRIVER_EXT_FIELDS
+#endif
+ /**
+ * @brief Pointer to the buffer with data to send.
+ */
+ uint8_t *txbuf;
+ /**
+ * @brief Number of bytes of data to send.
+ */
+ size_t txbytes;
+ /**
+ * @brief Current index in buffer when sending data.
+ */
+ size_t txidx;
+ /**
+ * @brief Pointer to the buffer to put received data.
+ */
+ uint8_t *rxbuf;
+ /**
+ * @brief Number of bytes of data to receive.
+ */
+ size_t rxbytes;
+ /**
+ * @brief Current index in buffer when receiving data.
+ */
+ size_t rxidx;
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if AVR_SPI_USE_SPI1 && !defined(__DOXYGEN__)
+extern SPIDriver SPID1;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void spi_lld_init(void);
+ void spi_lld_start(SPIDriver *spip);
+ void spi_lld_stop(SPIDriver *spip);
+ void spi_lld_select(SPIDriver *spip);
+ void spi_lld_unselect(SPIDriver *spip);
+ void spi_lld_ignore(SPIDriver *spip, size_t n);
+ void spi_lld_exchange(SPIDriver *spip, size_t n,
+ const void *txbuf, void *rxbuf);
+ void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf);
+ void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf);
+
+#if AVR_SPI_USE_16BIT_POLLED_EXCHANGE
+ uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame);
+#else
+ uint8_t spi_lld_polled_exchange(SPIDriver *spip, uint8_t frame);
+#endif
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_SPI */
+
+#endif /* _SPI_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/AVR/st_lld.c b/os/hal/ports/AVR/st_lld.c new file mode 100644 index 000000000..ebbe0eec2 --- /dev/null +++ b/os/hal/ports/AVR/st_lld.c @@ -0,0 +1,67 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/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. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level ST driver initialization.
+ *
+ * @notapi
+ */
+void st_lld_init(void) {
+}
+
+#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */
+
+/** @} */
diff --git a/os/hal/ports/AVR/st_lld.h b/os/hal/ports/AVR/st_lld.h new file mode 100644 index 000000000..beefb9165 --- /dev/null +++ b/os/hal/ports/AVR/st_lld.h @@ -0,0 +1,141 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
+
+ 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 AVR/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 AVR
+ * @{
+ */
+
+#ifndef _ST_LLD_H_
+#define _ST_LLD_H_
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* 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_ */
+
+/** @} */
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