diff options
| author | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2009-11-29 08:40:11 +0000 |
|---|---|---|
| committer | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2009-11-29 08:40:11 +0000 |
| commit | 544117e9eb5a5ca827f1fbf62814459503b36e9e (patch) | |
| tree | 0fa5bc94f3f8939eb1a5f7986136e7048d9d881e /os/io | |
| parent | 3dc0fb372d94f4dc35150be02cc02ce582d55f41 (diff) | |
| download | ChibiOS-544117e9eb5a5ca827f1fbf62814459503b36e9e.tar.gz ChibiOS-544117e9eb5a5ca827f1fbf62814459503b36e9e.tar.bz2 ChibiOS-544117e9eb5a5ca827f1fbf62814459503b36e9e.zip | |
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1347 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/io')
30 files changed, 687 insertions, 104 deletions
diff --git a/os/io/hal.mk b/os/io/hal.mk new file mode 100644 index 000000000..638a72f23 --- /dev/null +++ b/os/io/hal.mk @@ -0,0 +1,13 @@ +# List of all the ChibiOS/RT HAL files, there is no need to remove the files
+# from this list, you can disable parts of the kernel by editing halconf.h.
+HALSRC = ${CHIBIOS}/os/hal/src/hal.c \
+ ${CHIBIOS}/os/hal/src/adc.c \
+ ${CHIBIOS}/os/hal/src/can.c \
+ ${CHIBIOS}/os/hal/src/mac.c \
+ ${CHIBIOS}/os/hal/src/pal.c \
+ ${CHIBIOS}/os/hal/src/serial.c \
+ ${CHIBIOS}/os/hal/src/spi.c \
+ ${CHIBIOS}/os/hal/src/mmc_spi.c
+
+# Required include directories
+HALINC = ${CHIBIOS}/os/hal/include
diff --git a/os/io/include/adc.h b/os/io/include/adc.h index 08e83caa2..67ebf5ca2 100644 --- a/os/io/include/adc.h +++ b/os/io/include/adc.h @@ -27,6 +27,8 @@ #ifndef _ADC_H_
#define _ADC_H_
+#if CH_HAL_USE_ADC
+
#if !CH_USE_SEMAPHORES
#error "ADC driver requires CH_USE_SEMAPHORES"
#endif
@@ -38,7 +40,8 @@ typedef enum { ADC_UNINIT = 0, /**< @brief Not initialized. */
ADC_STOP = 1, /**< @brief Stopped. */
ADC_READY = 2, /**< @brief Ready. */
- ADC_RUNNING = 3 /**< @brief Conversion running. */
+ ADC_RUNNING = 3, /**< @brief Conversion running. */
+ ADC_COMPLETE = 4 /**< @brief Conversion complete.*/
} adcstate_t;
#include "adc_lld.h"
@@ -61,6 +64,8 @@ extern "C" { }
#endif
+#endif /* CH_HAL_USE_ADC */
+
#endif /* _ADC_H_ */
/** @} */
diff --git a/os/io/include/can.h b/os/io/include/can.h index 9d9462f86..2a8ffc7e0 100644 --- a/os/io/include/can.h +++ b/os/io/include/can.h @@ -27,6 +27,8 @@ #ifndef _CAN_H_
#define _CAN_H_
+#if CH_HAL_USE_CAN
+
/**
* @brief Driver state machine possible states.
*/
@@ -56,6 +58,8 @@ extern "C" { }
#endif
+#endif /* CH_HAL_USE_CAN */
+
#endif /* _CAN_H_ */
/** @} */
diff --git a/os/io/include/mac.h b/os/io/include/mac.h index 9a83cc2b8..ae2d3a42e 100644 --- a/os/io/include/mac.h +++ b/os/io/include/mac.h @@ -27,6 +27,8 @@ #ifndef _MAC_H_
#define _MAC_H_
+#if CH_HAL_USE_MAC
+
#include "mac_lld.h"
/**
@@ -84,6 +86,8 @@ extern "C" { }
#endif
+#endif /* CH_HAL_USE_MAC */
+
#endif /* _MAC_H_ */
/** @} */
diff --git a/os/io/include/mmc_spi.h b/os/io/include/mmc_spi.h index 96e5e3ec5..e77dbe7dc 100644 --- a/os/io/include/mmc_spi.h +++ b/os/io/include/mmc_spi.h @@ -19,7 +19,7 @@ /**
* @file mmc_spi.h
- * @brief MMC over SPI driver header
+ * @brief MMC over SPI driver header.
* @addtogroup MMC_SPI
* @{
*/
@@ -27,6 +27,8 @@ #ifndef _MMC_SPI_H_
#define _MMC_SPI_H_
+#if CH_HAL_USE_MMC_SPI
+
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
@@ -199,6 +201,8 @@ extern "C" { }
#endif
+#endif /* CH_HAL_USE_MMC_SPI */
+
#endif /* _MMC_SPI_H_ */
/** @} */
diff --git a/os/io/include/pal.h b/os/io/include/pal.h index 67bc424b1..2ea625d5e 100644 --- a/os/io/include/pal.h +++ b/os/io/include/pal.h @@ -27,6 +27,8 @@ #ifndef _PAL_H_
#define _PAL_H_
+#if CH_HAL_USE_PAL
+
/**
* @brief Bits in a mode word dedicated as mode selector.
* @details The other bits are not defined and may be used as device-specific
@@ -81,9 +83,7 @@ */
#define PAL_MODE_OUTPUT_OPENDRAIN 7
-#ifndef _PAL_LLD_H_
#include "pal_lld.h"
-#endif
/**
* @brief Logical low state. @@ -464,4 +464,6 @@ extern "C" { #endif /* _PAL_H_ */
+#endif /* CH_HAL_USE_PAL */
+
/** @} */
diff --git a/os/io/include/serial.h b/os/io/include/serial.h index 6324a5f5b..54e8b33a9 100644 --- a/os/io/include/serial.h +++ b/os/io/include/serial.h @@ -27,6 +27,8 @@ #ifndef _SERIAL_H_
#define _SERIAL_H_
+#if CH_HAL_USE_SERIAL
+
/** No pending conditions.*/
#define SD_NO_ERROR 0
/** Connection happened.*/
@@ -188,6 +190,8 @@ extern "C" { */
#define sdRead(sdp, b, n) chIQRead(&(sdp)->d2.iqueue, b, n)
+#endif /* CH_HAL_USE_SERIAL */
+
#endif /* _SERIAL_H_ */
/** @} */
diff --git a/os/io/include/spi.h b/os/io/include/spi.h index cebde453f..6f17f69c2 100644 --- a/os/io/include/spi.h +++ b/os/io/include/spi.h @@ -27,6 +27,8 @@ #ifndef _SPI_H_
#define _SPI_H_
+#if CH_HAL_USE_SPI
+
/**
* @brief Enables the mutual exclusion APIs on the SPI bus.
*/
@@ -71,6 +73,8 @@ extern "C" { }
#endif
+#endif /* CH_HAL_USE_SPI */
+
#endif /* _SPI_H_ */
/** @} */
diff --git a/os/io/platforms/STM32/adc_lld.c b/os/io/platforms/STM32/adc_lld.c index 1aac86fe7..abfdb0a43 100644 --- a/os/io/platforms/STM32/adc_lld.c +++ b/os/io/platforms/STM32/adc_lld.c @@ -24,10 +24,10 @@ * @{
*/
-#include <ch.h>
-#include <adc.h>
-#include <stm32_dma.h>
-#include <nvic.h>
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_ADC
/*===========================================================================*/
/* Low Level Driver exported variables. */
@@ -60,6 +60,8 @@ CH_IRQ_HANDLER(Vector6C) { CH_IRQ_PROLOGUE();
isr = DMA1->ISR;
+ DMA1->IFCR |= DMA_IFCR_CGIF1 | DMA_IFCR_CTCIF1 |
+ DMA_IFCR_CHTIF1 | DMA_IFCR_CTEIF1;
if ((isr & DMA_ISR_HTIF1) != 0) {
/* Half transfer processing.*/
if (ADCD1.ad_callback != NULL) {
@@ -73,8 +75,10 @@ CH_IRQ_HANDLER(Vector6C) { /* End conversion.*/
adc_lld_stop_conversion(&ADCD1);
ADCD1.ad_grpp = NULL;
- ADCD1.ad_state = ADC_READY;
+ ADCD1.ad_state = ADC_COMPLETE;
+ chSysLockFromIsr();
chSemResetI(&ADCD1.ad_sem, 0);
+ chSysUnlockFromIsr();
}
/* Callback handling.*/
if (ADCD1.ad_callback != NULL) {
@@ -84,7 +88,7 @@ CH_IRQ_HANDLER(Vector6C) { ADCD1.ad_callback(ADCD1.ad_samples + half, half);
}
else {
- /* Invokes the callback passing the while buffer.*/
+ /* Invokes the callback passing the whole buffer.*/
ADCD1.ad_callback(ADCD1.ad_samples, ADCD1.ad_depth);
}
}
@@ -93,8 +97,6 @@ CH_IRQ_HANDLER(Vector6C) { /* DMA error processing.*/
STM32_ADC1_DMA_ERROR_HOOK();
}
- DMA1->IFCR |= DMA_IFCR_CGIF1 | DMA_IFCR_CTCIF1 |
- DMA_IFCR_CHTIF1 | DMA_IFCR_CTEIF1;
CH_IRQ_EPILOGUE();
}
@@ -110,6 +112,10 @@ CH_IRQ_HANDLER(Vector6C) { void adc_lld_init(void) {
#if USE_STM32_ADC1
+ /* ADC reset, ensures reset state in order to avoid truouble with JTAGs.*/
+ RCC->APB2RSTR = RCC_APB2RSTR_ADC1RST;
+ RCC->APB2RSTR = 0;
+
/* Driver initialization.*/
adcObjectInit(&ADCD1);
ADCD1.ad_adc = ADC1;
@@ -169,7 +175,7 @@ void adc_lld_start(ADCDriver *adcp) { */
void adc_lld_stop(ADCDriver *adcp) {
- /* If in ready state then disables the SPI clock.*/
+ /* If in ready state then disables the ADC clock.*/
if (adcp->ad_state == ADC_READY) {
#if USE_STM32_ADC1
if (&ADCD1 == adcp) {
@@ -233,4 +239,6 @@ void adc_lld_stop_conversion(ADCDriver *adcp) { adcp->ad_dma->CCR = 0;
}
+#endif /* CH_HAL_USE_ADC */
+
/** @} */
diff --git a/os/io/platforms/STM32/adc_lld.h b/os/io/platforms/STM32/adc_lld.h index d6fe8948f..c9b282685 100644 --- a/os/io/platforms/STM32/adc_lld.h +++ b/os/io/platforms/STM32/adc_lld.h @@ -27,11 +27,7 @@ #ifndef _ADC_LLD_H_
#define _ADC_LLD_H_
-#undef FALSE
-#undef TRUE
-#include <stm32f10x.h>
-#define FALSE 0
-#define TRUE (!FALSE)
+#if CH_HAL_USE_ADC
/*===========================================================================*/
/* Driver pre-compile time settings. */
@@ -74,7 +70,7 @@ /* Driver constants. */
/*===========================================================================*/
-#define ADC_CR2_EXTSEL_SRC(n) (n << 17) /**< @brief Trigger source. */
+#define ADC_CR2_EXTSEL_SRC(n) ((n) << 17) /**< @brief Trigger source. */
#define ADC_CR2_EXTSEL_SWSTART (7 << 17) /**< @brief Software trigger. */
#define ADC_CHANNEL_IN0 0 /**< @brief External analog input 0. */
@@ -96,26 +92,26 @@ #define ADC_CHANNEL_SENSOR 16 /**< @brief Internal temperature sensor.*/
#define ADC_CHANNEL_VREFINT 17 /**< @brief Internal reference. */
-#define ADC_SQR1_NUM_CH(n) (n << 20)
+#define ADC_SQR1_NUM_CH(n) (((n) - 1) << 20)
-#define ADC_SQR3_SQ0_N(n) (n << 0)
-#define ADC_SQR3_SQ1_N(n) (n << 5)
-#define ADC_SQR3_SQ2_N(n) (n << 10)
-#define ADC_SQR3_SQ3_N(n) (n << 15)
-#define ADC_SQR3_SQ4_N(n) (n << 20)
-#define ADC_SQR3_SQ5_N(n) (n << 25)
+#define ADC_SQR3_SQ0_N(n) ((n) << 0)
+#define ADC_SQR3_SQ1_N(n) ((n) << 5)
+#define ADC_SQR3_SQ2_N(n) ((n) << 10)
+#define ADC_SQR3_SQ3_N(n) ((n) << 15)
+#define ADC_SQR3_SQ4_N(n) ((n) << 20)
+#define ADC_SQR3_SQ5_N(n) ((n) << 25)
-#define ADC_SQR2_SQ6_N(n) (n << 0)
-#define ADC_SQR2_SQ7_N(n) (n << 5)
-#define ADC_SQR2_SQ8_N(n) (n << 10)
-#define ADC_SQR2_SQ9_N(n) (n << 15)
-#define ADC_SQR2_SQ10_N(n) (n << 20)
-#define ADC_SQR2_SQ11_N(n) (n << 25)
+#define ADC_SQR2_SQ6_N(n) ((n) << 0)
+#define ADC_SQR2_SQ7_N(n) ((n) << 5)
+#define ADC_SQR2_SQ8_N(n) ((n) << 10)
+#define ADC_SQR2_SQ9_N(n) ((n) << 15)
+#define ADC_SQR2_SQ10_N(n) ((n) << 20)
+#define ADC_SQR2_SQ11_N(n) ((n) << 25)
-#define ADC_SQR1_SQ13_N(n) (n << 0)
-#define ADC_SQR1_SQ14_N(n) (n << 5)
-#define ADC_SQR1_SQ15_N(n) (n << 10)
-#define ADC_SQR1_SQ16_N(n) (n << 15)
+#define ADC_SQR1_SQ13_N(n) ((n) << 0)
+#define ADC_SQR1_SQ14_N(n) ((n) << 5)
+#define ADC_SQR1_SQ15_N(n) ((n) << 10)
+#define ADC_SQR1_SQ16_N(n) ((n) << 15)
/*===========================================================================*/
/* Driver data structures and types. */
@@ -271,6 +267,8 @@ extern "C" { #endif
/** @endcond*/
+#endif /* CH_HAL_USE_ADC */
+
#endif /* _ADC_LLD_H_ */
/** @} */
diff --git a/os/io/platforms/STM32/can_lld.c b/os/io/platforms/STM32/can_lld.c new file mode 100644 index 000000000..40450a071 --- /dev/null +++ b/os/io/platforms/STM32/can_lld.c @@ -0,0 +1,159 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file STM32/can_lld.c
+ * @brief STM32 CAN subsystem low level driver source
+ * @addtogroup STM32_CAN
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_CAN
+
+/*===========================================================================*/
+/* Low Level Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level CAN driver initialization.
+ */
+void can_lld_init(void) {
+
+}
+
+/**
+ * @brief Configures and activates the CAN peripheral.
+ *
+ * @param[in] canp pointer to the @p CANDriver object
+ */
+void can_lld_start(CANDriver *canp) {
+
+ if (canp->can_state == CAN_STOP) {
+ /* Clock activation.*/
+ }
+ /* Configuration.*/
+}
+
+/**
+ * @brief Deactivates the CAN peripheral.
+ *
+ * @param[in] canp pointer to the @p CANDriver object
+ */
+void can_lld_stop(CANDriver *canp) {
+
+}
+
+/**
+ * @brief Determines whether a frame can be transmitted.
+ * + * @param[in] canp pointer to the @p CANDriver object
+ *
+ * @return The queue space availability.
+ * @retval FALSE no space in the transmit queue.
+ * @retval TRUE transmit slot available. + */
+bool_t can_lld_can_transmit(CANDriver *canp) {
+
+ return FALSE;
+}
+
+/**
+ * @brief Inserts a frame into the transmit queue.
+ * + * @param[in] canp pointer to the @p CANDriver object
+ * @param[in] cfp pointer to the CAN frame to be transmitted
+ *
+ * @return The operation status.
+ * @retval RDY_OK frame transmitted. + */
+msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp) {
+
+ return RDY_OK;
+}
+
+/**
+ * @brief Determines whether a frame has been received.
+ *
+ * @param[in] canp pointer to the @p CANDriver object
+ *
+ * @return The queue space availability.
+ * @retval FALSE no space in the transmit queue.
+ * @retval TRUE transmit slot available.
+ */
+bool_t can_lld_can_receive(CANDriver *canp) {
+
+ return FALSE;
+}
+
+/**
+ * @brief Receives a frame from the input queue.
+ * + * @param[in] canp pointer to the @p CANDriver object
+ * @param[out] cfp pointer to the buffer where the CAN frame is copied
+ *
+ * @return The operation status.
+ * @retval RDY_OK frame received.
+ */
+msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp) {
+
+ return RDY_OK;
+}
+
+#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
+/**
+ * @brief Enters the sleep mode.
+ *
+ * @param[in] canp pointer to the @p CANDriver object
+ */
+void can_lld_sleep(CANDriver *canp) {
+
+}
+
+/**
+ * @brief Enforces leaving the sleep mode.
+ *
+ * @param[in] canp pointer to the @p CANDriver object
+ */
+void can_lld_wakeup(CANDriver *canp) {
+
+}
+#endif /* CAN_USE_SLEEP_MODE */
+
+#endif /* CH_HAL_USE_CAN */
+
+/** @} */
diff --git a/os/io/platforms/STM32/can_lld.h b/os/io/platforms/STM32/can_lld.h new file mode 100644 index 000000000..54572ba64 --- /dev/null +++ b/os/io/platforms/STM32/can_lld.h @@ -0,0 +1,154 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file STM32/can_lld.h
+ * @brief STM32 CAN subsystem low level driver header
+ * @addtogroup STM32_CAN
+ * @{
+ */
+
+#ifndef _CAN_LLD_H_
+#define _CAN_LLD_H_
+
+#if CH_HAL_USE_CAN
+
+/**
+ * @brief This switch defines whether the driver implementation supports
+ * a low power switch mode with automatic an wakeup feature. + */
+#define CAN_SUPPORTS_SLEEP TRUE
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Sleep mode related APIs inclusion switch.
+ * @note This switch is enforced to @p FALSE if the driver implementation
+ * does not support the sleep mode. + */
+#if CAN_SUPPORTS_SLEEP || defined(__DOXYGEN__)
+#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
+#define CAN_USE_SLEEP_MODE TRUE
+#endif
+#else /* !CAN_SUPPORTS_SLEEP */
+#define CAN_USE_SLEEP_MODE FALSE
+#endif /* !CAN_SUPPORTS_SLEEP */
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief CAN frame.
+ * @note Accessing the frame data as word16 or word32 is not portable because
+ * machine data endianness, it can be still useful for a quick filling. + */
+typedef struct {
+ uint8_t cf_DLC:4; /**< @brief Data length. */
+ uint8_t cf_IDE:1; /**< @brief Identifier type. */
+ uint8_t cf_RTR:1; /**< @brief Frame type. */
+ uint32_t cf_id; /**< @brief Frame identifier. */
+ union {
+ uint8_t cf_data8[8]; /**< @brief Frame data. */
+ uint16_t cf_data16[4]; /**< @brief Frame data. */
+ uint32_t cf_data32[2]; /**< @brief Frame data. */
+ };
+} CANFrame;
+
+/**
+ * @brief Driver configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+} CANConfig;
+
+/**
+ * @brief Structure representing an CAN driver.
+ */
+typedef struct {
+ /**
+ * @brief Driver state.
+ */
+ canstate_t can_state;
+ /**
+ * @brief Current configuration data.
+ */
+ const CANConfig *can_config;
+ /**
+ * @brief Transmission queue semaphore. + */
+ Semaphore can_txsem;
+ /**
+ * @brief Receive queue semaphore.
+ */
+ Semaphore can_rxsem;
+ /**
+ * @brief One or more frames become available. + */
+ EventSource can_rxfull_event;
+ /**
+ * @brief One or more transmission slots become available. + */
+ EventSource can_txempty_event;
+#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)
+ /**
+ * @brief Entering sleep state event. + */
+ EventSource can_sleep_event;
+ /**
+ * @brief Exiting sleep state event. + */
+ EventSource can_wakeup_event;
+#endif /* CAN_USE_SLEEP_MODE */
+ /* End of the mandatory fields.*/
+} CANDriver;
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void can_lld_init(void);
+ void can_lld_start(CANDriver *canp);
+ void can_lld_stop(CANDriver *canp);
+ bool_t can_lld_can_transmit(CANDriver *canp);
+ msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp);
+ bool_t can_lld_can_receive(CANDriver *canp);
+ msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp);
+#if CAN_USE_SLEEP_MODE
+ void can_lld_sleep(CANDriver *canp);
+ void can_lld_wakeup(CANDriver *canp);
+#endif /* CAN_USE_SLEEP_MODE */
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CH_HAL_USE_CAN */
+
+#endif /* _CAN_LLD_H_ */
+
+/** @} */
diff --git a/os/io/platforms/STM32/hal_lld.c b/os/io/platforms/STM32/hal_lld.c new file mode 100644 index 000000000..cce126c8e --- /dev/null +++ b/os/io/platforms/STM32/hal_lld.c @@ -0,0 +1,128 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file STM32/hal_lld.c
+ * @brief STM32 HAL subsystem low level driver source
+ * @addtogroup STM32_HAL
+ * @{
+ */
+
+#include <ch.h>
+#include <hal.h>
+
+#define AIRCR_VECTKEY 0x05FA0000
+
+/*===========================================================================*/
+/* Low Level Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver local variables. */
+/*===========================================================================*/
+
+/*
+ * Digital I/O ports static configuration as defined in @p board.h.
+ */
+const STM32GPIOConfig pal_default_config =
+{
+ {VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH},
+ {VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH},
+ {VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH},
+ {VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH},
+#if !defined(STM32F10X_LD)
+ {VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH},
+#endif
+#if defined(STM32F10X_HD)
+ {VAL_GPIOFODR, VAL_GPIOFCRL, VAL_GPIOFCRH},
+ {VAL_GPIOGODR, VAL_GPIOGCRL, VAL_GPIOGCRH},
+#endif
+};
+
+/*===========================================================================*/
+/* Low Level Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Low Level Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level HAL driver initialization.
+ */
+void hal_lld_init(void) {
+
+#if CH_HAL_USE_ADC || CH_HAL_USE_SPI
+ dmaInit();
+#endif
+}
+
+/**
+ * @brief STM32 clocks and PLL initialization.
+ * @note All the involved constants come from the file @p board.h.
+ */
+void stm32_clock_init(void) {
+
+ /* HSI setup.*/
+ RCC->CR = RCC_CR_HSITRIM_RESET_BITS | RCC_CR_HSION;
+ while (!(RCC->CR & RCC_CR_HSIRDY))
+ ; /* Waits until HSI stable. */
+ /* HSE setup.*/
+ RCC->CR |= RCC_CR_HSEON;
+ while (!(RCC->CR & RCC_CR_HSERDY))
+ ; /* Waits until HSE stable. */
+ /* PLL setup.*/
+ RCC->CFGR = RCC_CFGR_PLLSRC_HSE_BITS | PLLPREBITS | PLLMULBITS;
+ RCC->CR |= RCC_CR_PLLON;
+ while (!(RCC->CR & RCC_CR_PLLRDY))
+ ; /* Waits until PLL stable. */
+ /* Clock sources.*/
+ RCC->CFGR |= RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE1_DIV2 |
+ RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_ADCPRE_DIV8 |
+ RCC_CFGR_MCO_NOCLOCK | USBPREBITS;
+
+ /* Flash setup and final clock selection. */
+ FLASH->ACR = FLASHBITS; /* Flash wait states depending on clock. */
+ RCC->CFGR |= RCC_CFGR_SW_PLL; /* Switches the PLL clock ON. */
+ while ((RCC->CFGR & RCC_CFGR_SW) != RCC_CFGR_SW_PLL)
+ ;
+}
+
+/**
+ * @brief STM32 NVIC/SCB/SYSTICK initialization.
+ * @note All the involved constants come from the file @p board.h.
+ */
+void stm32_nvic_init(void) {
+
+ /* Note: PRIGROUP 4:0 (4:4).*/
+ SCB->AIRCR = AIRCR_VECTKEY | SCB_AIRCR_PRIGROUP_0 | SCB_AIRCR_PRIGROUP_1;
+ NVICSetSystemHandlerPriority(HANDLER_SVCALL, PRIORITY_SVCALL);
+ NVICSetSystemHandlerPriority(HANDLER_SYSTICK, PRIORITY_SYSTICK);
+ NVICSetSystemHandlerPriority(HANDLER_PENDSV, PRIORITY_PENDSV);
+
+ SysTick->LOAD = SYSCLK / (8000000 / CH_FREQUENCY) - 1;
+ SysTick->VAL = 0;
+ SysTick->CTRL = SysTick_CTRL_ENABLE | SysTick_CTRL_TICKINT;
+}
+
+/** @} */
diff --git a/os/io/platforms/STM32/hal_lld.h b/os/io/platforms/STM32/hal_lld.h new file mode 100644 index 000000000..fc29c2824 --- /dev/null +++ b/os/io/platforms/STM32/hal_lld.h @@ -0,0 +1,61 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file STM32/hal_lld.h
+ * @brief STM32 HAL subsystem low level driver header
+ * @addtogroup STM32_HAL
+ * @{
+ */
+
+#ifndef _HAL_LLD_H_
+#define _HAL_LLD_H_
+
+#include "nvic.h"
+#include "stm32_dma.h"
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void hal_lld_init(void);
+ void stm32_clock_init(void);
+ void stm32_nvic_init(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _HAL_LLD_H_ */
+
+/** @} */
diff --git a/os/io/platforms/STM32/pal_lld.c b/os/io/platforms/STM32/pal_lld.c index 83b51f014..16050e6e2 100644 --- a/os/io/platforms/STM32/pal_lld.c +++ b/os/io/platforms/STM32/pal_lld.c @@ -24,8 +24,10 @@ * @{
*/
-#include <ch.h>
-#include <pal.h>
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_PAL
#if defined(STM32F10X_LD)
#define APB2_RST_MASK (RCC_APB2RSTR_IOPARST | RCC_APB2RSTR_IOPBRST | \
@@ -156,4 +158,6 @@ void _pal_lld_setgroupmode(ioportid_t port, port->CRL = (port->CRL & ml) | crl;
}
+#endif /* CH_HAL_USE_PAL */
+
/** @} */
diff --git a/os/io/platforms/STM32/pal_lld.h b/os/io/platforms/STM32/pal_lld.h index 479b5e856..74116a7a1 100644 --- a/os/io/platforms/STM32/pal_lld.h +++ b/os/io/platforms/STM32/pal_lld.h @@ -27,11 +27,7 @@ #ifndef _PAL_LLD_H_
#define _PAL_LLD_H_
-#undef FALSE
-#undef TRUE
-#include <stm32f10x.h>
-#define FALSE 0
-#define TRUE (!FALSE)
+#if CH_HAL_USE_PAL
/*===========================================================================*/
/* I/O Ports Types and constants. */
@@ -296,6 +292,8 @@ extern "C" { }
#endif
+#endif /* CH_HAL_USE_PAL */
+
#endif /* _PAL_LLD_H_ */
/** @} */
diff --git a/os/io/platforms/STM32/platform.mk b/os/io/platforms/STM32/platform.mk new file mode 100644 index 000000000..e31325ccc --- /dev/null +++ b/os/io/platforms/STM32/platform.mk @@ -0,0 +1,11 @@ +# List of all the STM32 platform files.
+PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/STM32/hal_lld.c \
+ ${CHIBIOS}/os/hal/platforms/STM32/adc_lld.c \
+ ${CHIBIOS}/os/hal/platforms/STM32/can_lld.c \
+ ${CHIBIOS}/os/hal/platforms/STM32/pal_lld.c \
+ ${CHIBIOS}/os/hal/platforms/STM32/serial_lld.c \
+ ${CHIBIOS}/os/hal/platforms/STM32/spi_lld.c \
+ ${CHIBIOS}/os/hal/platforms/STM32/stm32_dma.c
+
+# Required include directories
+PLATFORMINC = ${CHIBIOS}/os/hal/platforms/STM32
diff --git a/os/io/platforms/STM32/serial_lld.c b/os/io/platforms/STM32/serial_lld.c index bccef28f0..5337c4dfa 100644 --- a/os/io/platforms/STM32/serial_lld.c +++ b/os/io/platforms/STM32/serial_lld.c @@ -24,10 +24,10 @@ * @{
*/
-#include <ch.h>
-#include <serial.h>
-#include <nvic.h>
-#include <board.h>
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_SERIAL
#if USE_STM32_USART1 || defined(__DOXYGEN__)
/** @brief USART1 serial driver identifier.*/
@@ -300,4 +300,6 @@ void sd_lld_stop(SerialDriver *sdp) { #endif
}
+#endif /* CH_HAL_USE_SERIAL */
+
/** @} */
diff --git a/os/io/platforms/STM32/serial_lld.h b/os/io/platforms/STM32/serial_lld.h index b5d32d605..983ae406d 100644 --- a/os/io/platforms/STM32/serial_lld.h +++ b/os/io/platforms/STM32/serial_lld.h @@ -27,11 +27,7 @@ #ifndef _SERIAL_LLD_H_
#define _SERIAL_LLD_H_
-#undef FALSE
-#undef TRUE
-#include <stm32f10x.h>
-#define FALSE 0
-#define TRUE (!FALSE)
+#if CH_HAL_USE_SERIAL
/*===========================================================================*/
/* Driver pre-compile time settings. */
@@ -195,6 +191,8 @@ extern "C" { #endif
/** @endcond*/
+#endif /* CH_HAL_USE_SERIAL */
+
#endif /* _SERIAL_LLD_H_ */
/** @} */
diff --git a/os/io/platforms/STM32/spi_lld.c b/os/io/platforms/STM32/spi_lld.c index e91fe44a0..0adbe4d8a 100644 --- a/os/io/platforms/STM32/spi_lld.c +++ b/os/io/platforms/STM32/spi_lld.c @@ -24,10 +24,10 @@ * @{
*/
-#include <ch.h>
-#include <spi.h>
-#include <stm32_dma.h>
-#include <nvic.h>
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_SPI
/*===========================================================================*/
/* Low Level Driver exported variables. */
@@ -184,6 +184,8 @@ void spi_lld_init(void) { dummytx = 0xFFFF;
#if USE_STM32_SPI1
+ RCC->APB2RSTR = RCC_APB2RSTR_SPI1RST;
+ RCC->APB2RSTR = 0;
spiObjectInit(&SPID1);
SPID1.spd_thread = NULL;
SPID1.spd_spi = SPI1;
@@ -194,6 +196,8 @@ void spi_lld_init(void) { #endif
#if USE_STM32_SPI2
+ RCC->APB1RSTR = RCC_APB1RSTR_SPI2RST;
+ RCC->APB1RSTR = 0;
spiObjectInit(&SPID2);
SPID2.spd_thread = NULL;
SPID2.spd_spi = SPI2;
@@ -359,4 +363,6 @@ void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) { spi_start_wait(spip, n, &dummytx, rxbuf);
}
+#endif /* CH_HAL_USE_SPI */
+
/** @} */
diff --git a/os/io/platforms/STM32/spi_lld.h b/os/io/platforms/STM32/spi_lld.h index 1cba01b42..e065ed2d4 100644 --- a/os/io/platforms/STM32/spi_lld.h +++ b/os/io/platforms/STM32/spi_lld.h @@ -27,13 +27,7 @@ #ifndef _SPI_LLD_H_
#define _SPI_LLD_H_
-#include <pal.h>
-
-#undef FALSE
-#undef TRUE
-#include <stm32f10x.h>
-#define FALSE 0
-#define TRUE (!FALSE)
+#if CH_HAL_USE_SPI
/*===========================================================================*/
/* Driver pre-compile time settings. */
@@ -209,6 +203,8 @@ extern "C" { #endif
/** @endcond*/
+#endif /* CH_HAL_USE_SPI */
+
#endif /* _SPI_LLD_H_ */
/** @} */
diff --git a/os/io/platforms/STM32/stm32_dma.c b/os/io/platforms/STM32/stm32_dma.c index 9593a5f51..e7574b75d 100644 --- a/os/io/platforms/STM32/stm32_dma.c +++ b/os/io/platforms/STM32/stm32_dma.c @@ -24,15 +24,8 @@ * @{
*/
-#include <ch.h>
-
-#include "stm32_dma.h"
-
-#undef FALSE
-#undef TRUE
-#include <stm32f10x.h>
-#define FALSE 0
-#define TRUE (!FALSE)
+#include "ch.h"
+#include "hal.h"
static cnt_t dmacnt1;
#if defined(STM32F10X_HD) || defined (STM32F10X_CL)
diff --git a/os/io/platforms/STM32/stm32_dma.h b/os/io/platforms/STM32/stm32_dma.h index c22ff0100..fdc646004 100644 --- a/os/io/platforms/STM32/stm32_dma.h +++ b/os/io/platforms/STM32/stm32_dma.h @@ -27,12 +27,6 @@ #ifndef _STM32_DMA_H_
#define _STM32_DMA_H_
-#undef FALSE
-#undef TRUE
-#include <stm32f10x.h>
-#define FALSE 0
-#define TRUE (!FALSE)
-
/** @brief DMA1 identifier.*/
#define DMA1_ID 0
diff --git a/os/io/src/adc.c b/os/io/src/adc.c index af4508ab7..c074c0224 100644 --- a/os/io/src/adc.c +++ b/os/io/src/adc.c @@ -24,8 +24,10 @@ * @{
*/
-#include <ch.h>
-#include <adc.h>
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_ADC
/**
* @brief ADC Driver initialization.
@@ -132,7 +134,8 @@ bool_t adcStartConversion(ADCDriver *adcp, chSysLock();
chDbgAssert((adcp->ad_state == ADC_READY) ||
- (adcp->ad_state == ADC_RUNNING),
+ (adcp->ad_state == ADC_RUNNING) ||
+ (adcp->ad_state == ADC_COMPLETE),
"adcStartConversion(), #1",
"invalid state");
if (adcp->ad_state == ADC_RUNNING) {
@@ -160,19 +163,26 @@ void adcStopConversion(ADCDriver *adcp) { chSysLock();
chDbgAssert((adcp->ad_state == ADC_READY) ||
- (adcp->ad_state == ADC_RUNNING),
+ (adcp->ad_state == ADC_RUNNING) ||
+ (adcp->ad_state == ADC_COMPLETE),
"adcStopConversion(), #1",
"invalid state");
if (adcp->ad_state == ADC_RUNNING) {
adc_lld_stop_conversion(adcp);
adcp->ad_grpp = NULL;
adcp->ad_state = ADC_READY;
+ chSemResetI(&adcp->ad_sem, 0);
+ chSchRescheduleS();
}
+ else
+ adcp->ad_state = ADC_READY;
chSysUnlock();
}
/**
* @brief Waits for completion.
+ * @details If the conversion is not completed or not yet started then the
+ * invoking thread waits for a conversion completion event.
* * @param[in] adcp pointer to the @p ADCDriver object
* @param[in] timeout the number of ticks before the operation timeouts,
@@ -181,17 +191,18 @@ void adcStopConversion(ADCDriver *adcp) { * - @a TIME_INFINITE no timeout.
* .
* @return The operation result.
- * @retval RDY_OK conversion finished (or not started).
+ * @retval RDY_OK conversion finished.
* @retval RDY_TIMEOUT conversion not finished within the specified time. */
msg_t adcWaitConversion(ADCDriver *adcp, systime_t timeout) {
chSysLock();
chDbgAssert((adcp->ad_state == ADC_READY) ||
- (adcp->ad_state == ADC_RUNNING),
+ (adcp->ad_state == ADC_RUNNING) ||
+ (adcp->ad_state == ADC_COMPLETE),
"adcWaitConversion(), #1",
"invalid state");
- if (adcp->ad_state == ADC_RUNNING) {
+ if (adcp->ad_state != ADC_COMPLETE) {
if (chSemWaitTimeoutS(&adcp->ad_sem, timeout) == RDY_TIMEOUT) {
chSysUnlock();
return RDY_TIMEOUT;
@@ -201,4 +212,6 @@ msg_t adcWaitConversion(ADCDriver *adcp, systime_t timeout) { return RDY_OK;
}
+#endif /* CH_HAL_USE_ADC */
+
/** @} */
diff --git a/os/io/src/can.c b/os/io/src/can.c index 4c88f9c71..bb3e0d1a5 100644 --- a/os/io/src/can.c +++ b/os/io/src/can.c @@ -24,8 +24,10 @@ * @{
*/
-#include <ch.h>
-#include <can.h>
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_CAN
/**
* @brief CAN Driver initialization.
@@ -44,8 +46,8 @@ void canObjectInit(CANDriver *canp) { canp->can_state = CAN_STOP;
canp->can_config = NULL;
- chSemInit(&canp->can_txsem);
- chSemInit(&canp->can_rxsem);
+ chSemInit(&canp->can_txsem, 0);
+ chSemInit(&canp->can_rxsem, 0);
chEvtInit(&canp->can_rxfull_event);
chEvtInit(&canp->can_txempty_event);
#if CAN_USE_SLEEP_MODE
@@ -183,7 +185,7 @@ void canSleep(CANDriver *canp) { chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
"canSleep(), #1",
"invalid state");
- if (canp->can_state = CAN_READY) {
+ if (canp->can_state == CAN_READY) {
can_lld_sleep(canp);
canp->can_state = CAN_SLEEP;
chEvtBroadcastI(&canp->can_sleep_event);
@@ -207,7 +209,7 @@ void canWakeup(CANDriver *canp) { chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
"canWakeup(), #1",
"invalid state");
- if (canp->can_state = CAN_SLEEP) {
+ if (canp->can_state == CAN_SLEEP) {
can_lld_wakeup(canp);
canp->can_state = CAN_READY;
chEvtBroadcastI(&canp->can_wakeup_event);
@@ -217,4 +219,6 @@ void canWakeup(CANDriver *canp) { }
#endif /* CAN_USE_SLEEP_MODE */
+#endif /* CH_HAL_USE_CAN */
+
/** @} */
diff --git a/os/io/src/mac.c b/os/io/src/mac.c index 01541682e..8dfb400aa 100644 --- a/os/io/src/mac.c +++ b/os/io/src/mac.c @@ -24,8 +24,10 @@ * @{
*/
-#include <ch.h>
-#include <mac.h>
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_MAC
/**
* @brief MAC Driver initialization. @@ -171,4 +173,6 @@ bool_t macPollLinkStatus(MACDriver *macp) { return mac_lld_poll_link_status(macp);
}
+#endif /* CH_HAL_USE_MAC */
+
/** @} */
diff --git a/os/io/src/mii.c b/os/io/src/mii.c index da36db9d2..4618ecbbb 100644 --- a/os/io/src/mii.c +++ b/os/io/src/mii.c @@ -24,14 +24,14 @@ * @{
*/
-#include <ch.h>
-#include <mac.h>
-#include <mii.h>
+#include "ch.h"
+#include "mac.h"
+#include "mii.h"
/*
- * Currently there is no code, everything is done in the header, you may
+ * Currently there is no code, everything is done in the header, you may
* omit this file from the project but this may change in future releases.
* The file is here because the driver's naming pattern.
*/
-
+
/** @} */
diff --git a/os/io/src/pal.c b/os/io/src/pal.c index f7645f621..1f9d058d5 100644 --- a/os/io/src/pal.c +++ b/os/io/src/pal.c @@ -24,8 +24,10 @@ * @{
*/
-#include <ch.h>
-#include <pal.h>
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_PAL
/**
* @brief Read from an I/O bus.
@@ -91,4 +93,6 @@ void palSetBusMode(IOBus *bus, uint_fast8_t mode) { palSetGroupMode(bus->bus_portid, bus->bus_mask, mode);
}
+#endif /* CH_HAL_USE_PAL */
+
/** @} */
diff --git a/os/io/src/serial.c b/os/io/src/serial.c index 9c398f5f0..2944a98ab 100644 --- a/os/io/src/serial.c +++ b/os/io/src/serial.c @@ -24,8 +24,10 @@ * @{
*/
-#include <ch.h>
-#include <serial.h>
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_SERIAL
/*
* Interface implementation, the following functions just invoke the equivalent
@@ -194,4 +196,6 @@ sdflags_t sdGetAndClearFlags(SerialDriver *sd) { return mask;
}
+#endif /* CH_HAL_USE_SERIAL */
+
/** @} */
diff --git a/os/io/src/spi.c b/os/io/src/spi.c index 4d45d217d..8b8ea6f32 100644 --- a/os/io/src/spi.c +++ b/os/io/src/spi.c @@ -24,8 +24,10 @@ * @{
*/
-#include <ch.h>
-#include <spi.h>
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_SPI
/**
* @brief SPI Driver initialization.
@@ -255,4 +257,6 @@ void spiReleaseBus(SPIDriver *spip) { }
#endif /*SPI_USE_MUTUAL_EXCLUSION */
+#endif /* CH_HAL_USE_SPI */
+
/** @} */
|