[KINETIS] Initial K20 serial driver (Not working yet - WIP)

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7147 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 517 insertions, 0 deletions

diff --git a/os/hal/ports/KINETIS/K20x/platform.mk b/os/hal/ports/KINETIS/K20x/platform.mk
index c556a0853..71735aaf5 100644
--- a/os/hal/ports/KINETIS/K20x/platform.mk
+++ b/os/hal/ports/KINETIS/K20x/platform.mk
@@ -2,6 +2,7 @@
 PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \

               ${CHIBIOS}/os/hal/ports/KINETIS/K20x/hal_lld.c \

               ${CHIBIOS}/os/hal/ports/KINETIS/K20x/pal_lld.c \

+              ${CHIBIOS}/os/hal/ports/KINETIS/K20x/serial_lld.c \

               ${CHIBIOS}/os/hal/ports/KINETIS/K20x/st_lld.c

 

 # Required include directories

diff --git a/os/hal/ports/KINETIS/K20x/serial_lld.c b/os/hal/ports/KINETIS/K20x/serial_lld.c
new file mode 100644
index 000000000..921613315
--- /dev/null
+++ b/os/hal/ports/KINETIS/K20x/serial_lld.c
@@ -0,0 +1,353 @@
+/*

+    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    K20x/serial_lld.c

+ * @brief   Kinetis K20x Serial Driver subsystem low level driver source.

+ *

+ * @addtogroup SERIAL

+ * @{

+ */

+

+#include "osal.h"

+#include "hal.h"

+

+#if HAL_USE_SERIAL || defined(__DOXYGEN__)

+

+#include "mk20d5.h"

+

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

+/* Driver local definitions.                                                 */

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

+

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

+/* Driver exported variables.                                                */

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

+

+/**

+ * @brief   SD1 driver identifier.

+ */

+#if KINETIS_SERIAL_USE_UART0 || defined(__DOXYGEN__)

+SerialDriver SD1;

+#endif

+

+#if KINETIS_SERIAL_USE_UART1 || defined(__DOXYGEN__)

+SerialDriver SD2;

+#endif

+

+#if KINETIS_SERIAL_USE_UART2 || defined(__DOXYGEN__)

+SerialDriver SD3;

+#endif

+

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

+/* Driver local variables and types.                                         */

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

+

+/**

+ * @brief   Driver default configuration.

+ */

+static const SerialConfig default_config = {

+  38400

+};

+

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

+/* Driver local functions.                                                   */

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

+

+/**

+ * @brief   Common IRQ handler.

+ * @note    Tries hard to clear all the pending interrupt sources, we don't

+ *          want to go through the whole ISR and have another interrupt soon

+ *          after.

+ *

+ * @param[in] u         pointer to an UART I/O block

+ * @param[in] sdp       communication channel associated to the UART

+ */

+static void serve_interrupt(SerialDriver *sdp) {

+  UART_TypeDef *u = sdp->uart;

+  uint8_t s1 = u->S1;

+

+  if (s1 & UARTx_S1_RDRF) {

+    osalSysLockFromISR();

+    if (chIQIsEmptyI(&sdp->iqueue))

+      chnAddFlagsI(sdp, CHN_INPUT_AVAILABLE);

+    if (chIQPutI(&sdp->iqueue, u->D) < Q_OK)

+      chnAddFlagsI(sdp, SD_OVERRUN_ERROR);

+    osalSysUnlockFromISR();

+  }

+

+  if (s1 & UARTx_S1_TDRE) {

+    msg_t b;

+

+    osalSysLockFromISR();

+    b = chOQGetI(&sdp->oqueue);

+    osalSysUnlockFromISR();

+

+    if (b < Q_OK) {

+      osalSysLockFromISR();

+      chnAddFlagsI(sdp, CHN_OUTPUT_EMPTY);

+      osalSysUnlockFromISR();

+      u->C2 &= ~UARTx_C2_TIE;

+    } else {

+       u->D = b;

+    }

+  }

+

+  while (u->S1)

+    (void)u->D;

+}

+

+/**

+ * @brief   Attempts a TX preload

+ */

+static void preload(SerialDriver *sdp) {

+  UART_TypeDef *u = sdp->uart;

+

+  if (u->S1 & UARTx_S1_TDRE) {

+    msg_t b = chOQGetI(&sdp->oqueue);

+    if (b < Q_OK) {

+      chnAddFlagsI(sdp, CHN_OUTPUT_EMPTY);

+      return;

+    }

+    u->D = b;

+    u->C2 |= UARTx_C2_TIE;

+  }

+}

+

+/**

+ * @brief   Driver output notification.

+ */

+#if KINETIS_SERIAL_USE_UART0 || defined(__DOXYGEN__)

+static void notify1(io_queue_t *qp)

+{

+  (void)qp;

+  preload(&SD1);

+}

+#endif

+

+#if KINETIS_SERIAL_USE_UART1 || defined(__DOXYGEN__)

+static void notify2(io_queue_t *qp)

+{

+  (void)qp;

+  preload(&SD2);

+}

+#endif

+

+#if KINETIS_SERIAL_USE_UART2 || defined(__DOXYGEN__)

+static void notify3(io_queue_t *qp)

+{

+  (void)qp;

+  preload(&SD3);

+}

+#endif

+

+/**

+ * @brief   Common UART configuration.

+ *

+ */

+static void configure_uart(UART_TypeDef *uart, const SerialConfig *config)

+{

+  uint16_t sbr, brfa;

+  uint32_t clock;

+

+  /* Disable UART while configuring */

+  uart->C2 &= ~(UARTx_C2_RE | UARTx_C2_TE);

+  uart->C1 = 0;

+  //while (uart->S1 & UARTx_S1_RDRF) {

+  //  (void)uart->D;

+  //}

+

+  clock = KINETIS_SYSCLK_FREQUENCY / 4;

+

+  sbr = (uint16_t) clock / (config->sc_speed * 16);

+  brfa = (uint16_t) (2 * clock * config->sc_speed) - (sbr * 32);

+

+  //uart->BDH = UARTx_BDH_SBR(sbr >> 8) | (uart->BDH & ~UARTx_BDH_SBR_MASK);

+  uart->BDH = 0;

+  uart->BDL = sbr;

+  uart->C4 = UARTx_C4_BRFA(brfa) | (uart->C4 & ~UARTx_C4_BRFA_MASK);

+

+  uart->TWFIFO = 1;

+  uart->RWFIFO = 1;

+

+  //uart->C2 |= UARTx_C2_RE | UARTx_C2_RIE | UARTx_C2_TE;

+  uart->C2 |= UARTx_C2_RE | UARTx_C2_TE;

+  uart->C3 = 0;

+

+  while (!(uart->S1 & UARTx_S1_TDRE));

+  uart->D = '1';

+  while (!(uart->S1 & UARTx_S1_TDRE));

+  uart->D = '2';

+  while (!(uart->S1 & UARTx_S1_TDRE));

+  uart->D = '3';

+

+  //uart->C3 = UARTx_C3_ORIE | UARTx_C3_NEIE | UARTx_C3_FEIE | UARTx_C3_PEIE;

+}

+

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

+/* Driver interrupt handlers.                                                */

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

+

+/* TODO:

+ *   UART0_Error is Vector84

+ *   UART1_Error is Vector8C

+ *   UART2_Error is Vector94

+ */

+

+#if KINETIS_SERIAL_USE_UART0 || defined(__DOXYGEN__)

+CH_IRQ_HANDLER(Vector80) {

+

+  CH_IRQ_PROLOGUE();

+  serve_interrupt(&SD1);

+  CH_IRQ_EPILOGUE();

+}

+#endif

+

+#if KINETIS_SERIAL_USE_UART1 || defined(__DOXYGEN__)

+CH_IRQ_HANDLER(Vector88) {

+

+  CH_IRQ_PROLOGUE();

+  serve_interrupt(&SD2);

+  CH_IRQ_EPILOGUE();

+}

+#endif

+

+#if KINETIS_SERIAL_USE_UART2 || defined(__DOXYGEN__)

+CH_IRQ_HANDLER(Vector90) {

+

+  CH_IRQ_PROLOGUE();

+  serve_interrupt(&SD3);

+  CH_IRQ_EPILOGUE();

+}

+#endif

+

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

+/* Driver exported functions.                                                */

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

+

+/**

+ * @brief   Low level serial driver initialization.

+ *

+ * @notapi

+ */

+void sd_lld_init(void) {

+

+#if KINETIS_SERIAL_USE_UART0

+  /* Driver initialization.*/

+  sdObjectInit(&SD1, NULL, notify1);

+  SD1.uart = UART0;

+#endif

+

+#if KINETIS_SERIAL_USE_UART1

+  /* Driver initialization.*/

+  sdObjectInit(&SD2, NULL, notify2);

+  SD2.uart = UART1;

+#endif

+

+#if KINETIS_SERIAL_USE_UART2

+  /* Driver initialization.*/

+  sdObjectInit(&SD3, NULL, notify3);

+  SD3.uart = UART2;

+#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 (sdp->state == SD_STOP) {

+    /* Enables the peripheral.*/

+

+#if KINETIS_SERIAL_USE_UART0

+    if (sdp == &SD1) {

+      SIM->SCGC4 |= SIM_SCGC4_UART0;

+      configure_uart(sdp->uart, config);

+      //nvicEnableVector(UART0Status_IRQn, KINETIS_SERIAL_UART0_PRIORITY);

+    }

+#endif /* KINETIS_SERIAL_USE_UART0 */

+

+#if KINETIS_SERIAL_USE_UART1

+    if (sdp == &SD2) {

+      SIM->SCGC4 |= SIM_SCGC4_UART1;

+      configure_uart(sdp->uart, config);

+      nvicEnableVector(UART1Status_IRQn, KINETIS_SERIAL_UART1_PRIORITY);

+    }

+#endif /* KINETIS_SERIAL_USE_UART1 */

+

+#if KINETIS_SERIAL_USE_UART2

+    if (sdp == &SD3) {

+      SIM->SCGC4 |= SIM_SCGC4_UART2;

+      configure_uart(sdp->uart, config);

+      nvicEnableVector(UART2Status_IRQn, KINETIS_SERIAL_UART2_PRIORITY);

+    }

+#endif /* KINETIS_SERIAL_USE_UART2 */

+

+  }

+  /* Configures the peripheral.*/

+

+}

+

+/**

+ * @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 (sdp->state == SD_READY) {

+    /* TODO: Resets the peripheral.*/

+

+#if KINETIS_SERIAL_USE_UART0

+    if (sdp == &SD1) {

+      nvicDisableVector(UART0Status_IRQn);

+      SIM->SCGC4 &= ~SIM_SCGC4_UART0;

+    }

+#endif

+

+#if KINETIS_SERIAL_USE_UART1

+    if (sdp == &SD2) {

+      nvicDisableVector(UART1Status_IRQn);

+      SIM->SCGC4 &= ~SIM_SCGC4_UART1;

+    }

+#endif

+

+#if KINETIS_SERIAL_USE_UART2

+    if (sdp == &SD3) {

+      nvicDisableVector(UART2Status_IRQn);

+      SIM->SCGC4 &= ~SIM_SCGC4_UART2;

+    }

+#endif

+  }

+}

+

+#endif /* HAL_USE_SERIAL */

+

+/** @} */

diff --git a/os/hal/ports/KINETIS/K20x/serial_lld.h b/os/hal/ports/KINETIS/K20x/serial_lld.h
new file mode 100644
index 000000000..25c800056
--- /dev/null
+++ b/os/hal/ports/KINETIS/K20x/serial_lld.h
@@ -0,0 +1,163 @@
+/*

+    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    K20x/serial_lld.h

+ * @brief   Kinetis K20x Serial Driver subsystem low level 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.                                         */

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

+

+/**

+ * @name    Configuration options

+ * @{

+ */

+/**

+ * @brief   SD1 driver enable switch.

+ * @details If set to @p TRUE the support for SD1 is included.

+ */

+#if !defined(KINETIS_SERIAL_USE_UART0) || defined(__DOXYGEN__)

+#define KINETIS_SERIAL_USE_UART0             FALSE

+#endif

+/**

+ * @brief   SD2 driver enable switch.

+ * @details If set to @p TRUE the support for SD2 is included.

+ */

+#if !defined(KINETIS_SERIAL_USE_UART1) || defined(__DOXYGEN__)

+#define KINETIS_SERIAL_USE_UART1             FALSE

+#endif

+/**

+ * @brief   SD3 driver enable switch.

+ * @details If set to @p TRUE the support for SD3 is included.

+ */

+#if !defined(KINETIS_SERIAL_USE_UART2) || defined(__DOXYGEN__)

+#define KINETIS_SERIAL_USE_UART2             FALSE

+#endif

+

+/**

+ * @brief   UART0 interrupt priority level setting.

+ */

+#if !defined(KINETIS_SERIAL_UART0_PRIORITY) || defined(__DOXYGEN__)

+#define KINETIS_SERIAL_UART0_PRIORITY        12

+#endif

+

+/**

+ * @brief   UART1 interrupt priority level setting.

+ */

+#if !defined(KINETIS_SERIAL_UART1_PRIORITY) || defined(__DOXYGEN__)

+#define KINETIS_SERIAL_UART1_PRIORITY        12

+#endif

+

+/**

+ * @brief   UART2 interrupt priority level setting.

+ */

+#if !defined(KINETIS_SERIAL_UART2_PRIORITY) || defined(__DOXYGEN__)

+#define KINETIS_SERIAL_UART2_PRIORITY        12

+#endif

+

+/** @} */

+

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

+/* Derived constants and error checks.                                       */

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

+

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

+/* Driver data structures and types.                                         */

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

+

+/**

+ * @brief   Generic 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.

+ * @note    Implementations may extend this structure to contain more,

+ *          architecture dependent, fields.

+ */

+typedef struct {

+  /**

+   * @brief Bit rate.

+   */

+  uint32_t                  sc_speed;

+  /* End of the mandatory fields.*/

+} SerialConfig;

+

+/**

+ * @brief @p SerialDriver specific data.

+ */

+#define _serial_driver_data                                                 \

+  _base_asynchronous_channel_data                                           \

+  /* Driver state.*/                                                        \

+  sdstate_t                 state;                                          \

+  /* Input queue.*/                                                         \

+  input_queue_t             iqueue;                                         \

+  /* Output queue.*/                                                        \

+  output_queue_t            oqueue;                                         \

+  /* Input circular buffer.*/                                               \

+  uint8_t                   ib[SERIAL_BUFFERS_SIZE];                        \

+  /* Output circular buffer.*/                                              \

+  uint8_t                   ob[SERIAL_BUFFERS_SIZE];                        \

+  /* End of the mandatory fields.*/                                         \

+  /* Pointer to the UART registers block.*/                                 \

+  UART_TypeDef            *uart;

+

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

+/* Driver macros.                                                            */

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

+

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

+/* External declarations.                                                    */

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

+

+#if KINETIS_SERIAL_USE_UART0 && !defined(__DOXYGEN__)

+extern SerialDriver SD1;

+#endif

+

+#if KINETIS_SERIAL_USE_UART1 && !defined(__DOXYGEN__)

+extern SerialDriver SD2;

+#endif

+

+#if KINETIS_SERIAL_USE_UART2 && !defined(__DOXYGEN__)

+extern SerialDriver SD3;

+#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_ */

+

+/** @} */