diff options
| -rw-r--r-- | os/hal/ports/SAMA/LLD/USARTv1/hal_uart_lld.c | 803 | ||||
| -rw-r--r-- | os/hal/ports/SAMA/LLD/USARTv1/hal_uart_lld.h | 360 |
2 files changed, 1163 insertions, 0 deletions
diff --git a/os/hal/ports/SAMA/LLD/USARTv1/hal_uart_lld.c b/os/hal/ports/SAMA/LLD/USARTv1/hal_uart_lld.c new file mode 100644 index 000000000..ef8b6aff3 --- /dev/null +++ b/os/hal/ports/SAMA/LLD/USARTv1/hal_uart_lld.c @@ -0,0 +1,803 @@ +/*
+ ChibiOS - Copyright (C) 2006..2016 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 USARTv1/hal_uart_lld.c
+ * @brief SAMA low level UART driver code.
+ *
+ * @addtogroup UART
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_UART || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/** @brief UART0 UART driver identifier.*/
+#if SAMA_UART_USE_UART0 || defined(__DOXYGEN__)
+UARTDriver UARTD0;
+#endif
+
+/** @brief USART1 UART driver identifier.*/
+#if SAMA_UART_USE_UART1 || defined(__DOXYGEN__)
+UARTDriver UARTD1;
+#endif
+
+/** @brief USART2 UART driver identifier.*/
+#if SAMA_UART_USE_UART2 || defined(__DOXYGEN__)
+UARTDriver UARTD2;
+#endif
+
+/** @brief UART3 UART driver identifier.*/
+#if SAMA_UART_USE_UART3 || defined(__DOXYGEN__)
+UARTDriver UARTD3;
+#endif
+
+/** @brief UART4 UART driver identifier.*/
+#if SAMA_UART_USE_UART4 || defined(__DOXYGEN__)
+UARTDriver UARTD4;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+/**
+ * @brief Linked List view0 word aligned
+ */
+ ALIGNED_VAR(4) static lld_view0 descriptor0;
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Status bits translation.
+ *
+ * @param[in] isr UART ISR register value
+ *
+ * @return The error flags.
+ */
+static uartflags_t translate_errors(uint32_t isr) {
+ uartflags_t sts = 0;
+
+ if (isr & UART_SR_OVRE)
+ sts |= UART_OVERRUN_ERROR;
+ if (isr & UART_SR_PARE)
+ sts |= UART_PARITY_ERROR;
+ if (isr & UART_SR_FRAME)
+ sts |= UART_SR_FRAME;
+ return sts;
+}
+
+/**
+ * @brief Puts the receiver in the UART_RX_IDLE state.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ */
+static void uart_enter_rx_idle_loop(UARTDriver *uartp) {
+
+ /* Disabling BIE interrupt if rx callback is null */
+ if (uartp->config->rxchar_cb == NULL)
+ uartp->dmarx->xdmac->XDMAC_CHID[uartp->dmarx->chid].XDMAC_CID = XDMAC_CID_BID;
+
+ descriptor0.mbr_ubc = XDMA_UBC_NVIEW_NDV0 | XDMA_UBC_NDEN_UPDATED |
+ XDMA_UBC_NDE_FETCH_EN | XDMA_UBC_UBLEN(1);
+ descriptor0.mbr_nda = &descriptor0;
+ descriptor0.mbr_ta = (uint32_t*)&uartp->rxbuf;
+
+ /* Configure First Descriptor Address CNCDAx */
+ uartp->dmarx->xdmac->XDMAC_CHID[uartp->dmarx->chid].XDMAC_CNDA =
+ (((uint32_t)&descriptor0) & 0xFFFFFFFC);
+ /* Configure the XDMAC_CNDCx register */
+ uartp->dmarx->xdmac->XDMAC_CHID[uartp->dmarx->chid].XDMAC_CNDC =
+ XDMAC_CNDC_NDE_DSCR_FETCH_EN | XDMAC_CNDC_NDDUP_DST_PARAMS_UPDATED | XDMAC_CNDC_NDVIEW_NDV0;
+
+ dmaChannelEnable(uartp->dmarx);
+}
+
+/**
+ * @brief UART de-initialization.
+ * @details This function must be invoked with interrupts disabled.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ */
+static void uart_stop(UARTDriver *uartp) {
+
+ /* Stops RX and TX DMA channels.*/
+ dmaChannelDisable(uartp->dmarx);
+ dmaChannelDisable(uartp->dmatx);
+
+ /* Stops UART operations.*/
+ uartp->uart->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX;
+
+ /* Resets UART's register */
+ uartp->uart->UART_MR = 0;
+}
+
+/**
+ * @brief UART initialization.
+ * @details This function must be invoked with interrupts disabled.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ */
+static void uart_start(UARTDriver *uartp) {
+ uint32_t cr;
+ const uint32_t tmo = uartp->config->timeout;
+ Uart *u = uartp->uart;
+
+ /* Defensive programming, starting from a clean state.*/
+ uart_stop(uartp);
+
+ /* Baud rate setting.*/
+ u->UART_BRGR = UART_BRGR_CD(uartp->clock / (16 * uartp->config->speed));
+
+ /* Clearing pending flags */
+ u->UART_CR = UART_CR_RSTSTA;
+
+ /* Enabling interrupts */
+ u->UART_IER = UART_IER_OVRE | UART_IER_FRAME | UART_IER_PARE;
+
+ cr = UART_CR_RXEN | UART_CR_TXEN;
+ u->UART_CR = uartp->config->cr | cr;
+ u->UART_MR = uartp->config->mr;
+
+ /* Set receive timeout and checks if it is really applied.*/
+ if (tmo > 0) {
+ /*
+ * TODO: insert Function parameters check
+ */
+ u->UART_RTOR = tmo;
+ }
+
+ /* Starting the receiver idle loop.*/
+ uart_enter_rx_idle_loop(uartp);
+}
+
+/**
+ * @brief RX DMA common service routine.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ * @param[in] flags pre-shifted content of the ISR register
+ */
+static void uart_lld_serve_rx_end_irq(UARTDriver *uartp, uint32_t flags) {
+
+ /* DMA errors handling.*/
+#if defined(SAMA_UART_DMA_ERROR_HOOK)
+ if ((flags & (XDMAC_CIS_RBEIS | XDMAC_CIS_ROIS)) != 0) {
+ SAMA_UART_DMA_ERROR_HOOK(uartp);
+ }
+#else
+ (void)flags;
+#endif
+
+ if (uartp->rxstate == UART_RX_IDLE) {
+ /* Receiver in idle state, a callback is generated, if enabled, for each
+ received character and then the driver stays in the same state.*/
+ _uart_rx_idle_code(uartp);
+ }
+ else {
+ /* Receiver in active state, a callback is generated, if enabled, after
+ a completed transfer.*/
+ dmaChannelDisable(uartp->dmarx);
+ _uart_rx_complete_isr_code(uartp);
+ }
+}
+
+/**
+ * @brief TX DMA common service routine.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ * @param[in] flags pre-shifted content of the ISR register
+ */
+static void uart_lld_serve_tx_end_irq(UARTDriver *uartp, uint32_t flags) {
+
+ /* DMA errors handling.*/
+#if defined(STM32_UART_DMA_ERROR_HOOK)
+ if ((flags & (XDMAC_CIS_WBEIS | XDMAC_CIS_ROIS)) != 0) {
+ SAMA_UART_DMA_ERROR_HOOK(uartp);
+ }
+#else
+ (void)flags;
+#endif
+
+ dmaChannelDisable(uartp->dmatx);
+
+ /* A callback is generated, if enabled, after a completed transfer.*/
+ _uart_tx1_isr_code(uartp);
+}
+
+/**
+ * @brief UART common service routine.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ */
+static void serve_uart_irq(UARTDriver *uartp) {
+ Uart *u = uartp->uart;
+ uint32_t imr = u->UART_IMR;
+ uint32_t sr;
+
+ /* Reading and clearing status.*/
+ sr = u->UART_SR;
+ u->UART_CR |= UART_CR_RSTSTA;
+
+ if (sr & (UART_SR_OVRE | UART_SR_FRAME | UART_SR_PARE)) {
+ _uart_rx_error_isr_code(uartp, translate_errors(sr));
+ }
+
+ if ((imr & UART_IMR_TXEMPTY) && (sr & (UART_SR_TXRDY | UART_SR_TXEMPTY))) {
+ /* TC interrupt disabled.*/
+ u->UART_IDR |= UART_IDR_TXEMPTY;
+
+ /* End of transmission, a callback is generated.*/
+ _uart_tx2_isr_code(uartp);
+ }
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if SAMA_UART_USE_UART0 || defined(__DOXYGEN__)
+/**
+ * @brief UART0 IRQ handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(SAMA_UART0_HANDLER) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ serve_uart_irq(&UARTD0);
+ aicAckInt();
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* SAMA_UART_USE_UART0 */
+
+#if SAMA_UART_USE_UART1 || defined(__DOXYGEN__)
+/**
+ * @brief UART1 IRQ handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(SAMA_UART1_HANDLER) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ serve_uart_irq(&UARTD1);
+ aicAckInt();
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* SAMA_UART_USE_UART1 */
+
+#if SAMA_UART_USE_UART2 || defined(__DOXYGEN__)
+/**
+ * @brief UART2 IRQ handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(SAMA_UART2_HANDLER) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ serve_uart_irq(&UARTD2);
+ aicAckInt();
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* SAMA_UART_USE_UART2 */
+
+#if SAMA_UART_USE_UART3 || defined(__DOXYGEN__)
+/**
+ * @brief UART3 IRQ handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(SAMA_UART3_HANDLER) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ serve_uart_irq(&UARTD3);
+ aicAckInt();
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* SAMA_UART_USE_UART3 */
+
+#if SAMA_UART_USE_UART4 || defined(__DOXYGEN__)
+/**
+ * @brief UART4 IRQ handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(SAMA_UART4_HANDLER) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ serve_uart_irq(&UARTD4);
+ aicAckInt();
+ OSAL_IRQ_EPILOGUE();
+}
+#endif /* SAMA_UART_USE_UART4 */
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level UART driver initialization.
+ *
+ * @notapi
+ */
+void uart_lld_init(void) {
+
+#if SAMA_UART_USE_UART0
+ uartObjectInit(&UARTD0);
+ UARTD0.uart = UART0;
+ UARTD0.clock = SAMA_UART0CLK;
+ UARTD0.rxdmamode = XDMAC_CC_TYPE_PER_TRAN |
+ XDMAC_CC_MBSIZE_SINGLE |
+ XDMAC_CC_DSYNC_PER2MEM |
+ XDMAC_CC_PROT_SEC |
+ XDMAC_CC_CSIZE_CHK_1 |
+ XDMAC_CC_DWIDTH_BYTE |
+ XDMAC_CC_SIF_AHB_IF1 |
+ XDMAC_CC_DIF_AHB_IF0 |
+ XDMAC_CC_SAM_FIXED_AM |
+ XDMAC_CC_DAM_INCREMENTED_AM |
+ XDMAC_CC_PERID(PERID_UART0_RX);
+ UARTD0.txdmamode = XDMAC_CC_TYPE_PER_TRAN |
+ XDMAC_CC_MBSIZE_SINGLE |
+ XDMAC_CC_DSYNC_MEM2PER |
+ XDMAC_CC_PROT_SEC |
+ XDMAC_CC_CSIZE_CHK_1 |
+ XDMAC_CC_DWIDTH_BYTE |
+ XDMAC_CC_SIF_AHB_IF0 |
+ XDMAC_CC_DIF_AHB_IF1 |
+ XDMAC_CC_SAM_INCREMENTED_AM |
+ XDMAC_CC_DAM_FIXED_AM |
+ XDMAC_CC_PERID(PERID_UART0_TX);
+ UARTD0.dmarx = 0;
+ UARTD0.dmatx = 0;
+#endif
+
+#if SAMA_UART_USE_UART1
+ uartObjectInit(&UARTD1);
+ UARTD1.uart = UART1;
+ UARTD1.clock = SAMA_UART1CLK;
+ UARTD1.rxdmamode = XDMAC_CC_TYPE_PER_TRAN |
+ XDMAC_CC_MBSIZE_SINGLE |
+ XDMAC_CC_DSYNC_PER2MEM |
+ XDMAC_CC_PROT_SEC |
+ XDMAC_CC_CSIZE_CHK_1 |
+ XDMAC_CC_DWIDTH_BYTE |
+ XDMAC_CC_SIF_AHB_IF1 |
+ XDMAC_CC_DIF_AHB_IF0 |
+ XDMAC_CC_SAM_FIXED_AM |
+ XDMAC_CC_DAM_INCREMENTED_AM |
+ XDMAC_CC_PERID(PERID_UART1_RX);
+ UARTD1.txdmamode = XDMAC_CC_TYPE_PER_TRAN |
+ XDMAC_CC_MBSIZE_SINGLE |
+ XDMAC_CC_DSYNC_MEM2PER |
+ XDMAC_CC_PROT_SEC |
+ XDMAC_CC_CSIZE_CHK_1 |
+ XDMAC_CC_DWIDTH_BYTE |
+ XDMAC_CC_SIF_AHB_IF0 |
+ XDMAC_CC_DIF_AHB_IF1 |
+ XDMAC_CC_SAM_INCREMENTED_AM |
+ XDMAC_CC_DAM_FIXED_AM |
+ XDMAC_CC_PERID(PERID_UART1_TX);
+ UARTD1.dmarx = 0;
+ UARTD1.dmatx = 0;
+#endif
+
+#if SAMA_UART_USE_UART2
+ uartObjectInit(&UARTD2);
+ UARTD2.uart = UART2;
+ UARTD2.clock = SAMA_UART2CLK;
+ UARTD2.rxdmamode = XDMAC_CC_TYPE_PER_TRAN |
+ XDMAC_CC_MBSIZE_SINGLE |
+ XDMAC_CC_DSYNC_PER2MEM |
+ XDMAC_CC_PROT_SEC |
+ XDMAC_CC_CSIZE_CHK_1 |
+ XDMAC_CC_DWIDTH_BYTE |
+ XDMAC_CC_SIF_AHB_IF1 |
+ XDMAC_CC_DIF_AHB_IF0 |
+ XDMAC_CC_SAM_FIXED_AM |
+ XDMAC_CC_DAM_INCREMENTED_AM |
+ XDMAC_CC_PERID(PERID_UART2_RX);
+ UARTD2.txdmamode = XDMAC_CC_TYPE_PER_TRAN |
+ XDMAC_CC_MBSIZE_SINGLE |
+ XDMAC_CC_DSYNC_MEM2PER |
+ XDMAC_CC_PROT_SEC |
+ XDMAC_CC_CSIZE_CHK_1 |
+ XDMAC_CC_DWIDTH_BYTE |
+ XDMAC_CC_SIF_AHB_IF0 |
+ XDMAC_CC_DIF_AHB_IF1 |
+ XDMAC_CC_SAM_INCREMENTED_AM |
+ XDMAC_CC_DAM_FIXED_AM |
+ XDMAC_CC_PERID(PERID_UART2_TX);
+ UARTD2.dmarx = 0;
+ UARTD2.dmatx = 0;
+#endif
+
+#if SAMA_UART_USE_UART3
+ uartObjectInit(&UARTD3);
+ UARTD3.uart = UART3;
+ UARTD3.clock = SAMA_UART3CLK;
+ UARTD3.rxdmamode = XDMAC_CC_TYPE_PER_TRAN |
+ XDMAC_CC_MBSIZE_SINGLE |
+ XDMAC_CC_DSYNC_PER2MEM |
+ XDMAC_CC_PROT_SEC |
+ XDMAC_CC_CSIZE_CHK_1 |
+ XDMAC_CC_DWIDTH_BYTE |
+ XDMAC_CC_SIF_AHB_IF1 |
+ XDMAC_CC_DIF_AHB_IF0 |
+ XDMAC_CC_SAM_FIXED_AM |
+ XDMAC_CC_DAM_INCREMENTED_AM |
+ XDMAC_CC_PERID(PERID_UART3_RX);
+ UARTD3.txdmamode = XDMAC_CC_TYPE_PER_TRAN |
+ XDMAC_CC_MBSIZE_SINGLE |
+ XDMAC_CC_DSYNC_MEM2PER |
+ XDMAC_CC_PROT_SEC |
+ XDMAC_CC_CSIZE_CHK_1 |
+ XDMAC_CC_DWIDTH_BYTE |
+ XDMAC_CC_SIF_AHB_IF0 |
+ XDMAC_CC_DIF_AHB_IF1 |
+ XDMAC_CC_SAM_INCREMENTED_AM |
+ XDMAC_CC_DAM_FIXED_AM |
+ XDMAC_CC_PERID(PERID_UART3_TX);
+ UARTD3.dmarx = 0;
+ UARTD3.dmatx = 0;
+#endif
+
+#if SAMA_UART_USE_UART4
+ uartObjectInit(&UARTD4);
+ UARTD4.uart = UART4;
+ UARTD4.clock = SAMA_UART4CLK;
+ UARTD4.rxdmamode = XDMAC_CC_TYPE_PER_TRAN |
+ XDMAC_CC_MBSIZE_SINGLE |
+ XDMAC_CC_DSYNC_PER2MEM |
+ XDMAC_CC_PROT_SEC |
+ XDMAC_CC_CSIZE_CHK_1 |
+ XDMAC_CC_DWIDTH_BYTE |
+ XDMAC_CC_SIF_AHB_IF1 |
+ XDMAC_CC_DIF_AHB_IF0 |
+ XDMAC_CC_SAM_FIXED_AM |
+ XDMAC_CC_DAM_INCREMENTED_AM |
+ XDMAC_CC_PERID(PERID_UART4_RX);
+ UARTD4.txdmamode = XDMAC_CC_TYPE_PER_TRAN |
+ XDMAC_CC_MBSIZE_SINGLE |
+ XDMAC_CC_DSYNC_MEM2PER |
+ XDMAC_CC_PROT_SEC |
+ XDMAC_CC_CSIZE_CHK_1 |
+ XDMAC_CC_DWIDTH_BYTE |
+ XDMAC_CC_SIF_AHB_IF0 |
+ XDMAC_CC_DIF_AHB_IF1 |
+ XDMAC_CC_SAM_INCREMENTED_AM |
+ XDMAC_CC_DAM_FIXED_AM |
+ XDMAC_CC_PERID(PERID_UART4_TX);
+ UARTD4.dmarx = 0;
+ UARTD4.dmatx = 0;
+#endif
+
+}
+
+/**
+ * @brief Configures and activates the UART peripheral.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ *
+ * @notapi
+ */
+void uart_lld_start(UARTDriver *uartp) {
+
+ if (uartp->state == UART_STOP) {
+#if SAMA_UART_USE_UART0
+ if (&UARTD0 == uartp) {
+ uartp->dmarx = dmaChannelAllocate(SAMA_UART_UART0_IRQ_PRIORITY,
+ (sama_dmaisr_t)uart_lld_serve_rx_end_irq,
+ (void *)uartp);
+
+ uartp->dmatx = dmaChannelAllocate(SAMA_UART_UART0_IRQ_PRIORITY,
+ (sama_dmaisr_t)uart_lld_serve_tx_end_irq,
+ (void *)uartp);
+ pmcEnableUART0();
+ aicSetSourcePriority(ID_UART0, SAMA_UART_UART0_IRQ_PRIORITY);
+ aicSetSourceHandler(ID_UART0, SAMA_UART0_HANDLER);
+ aicEnableInt(ID_UART0);
+
+ /* Configuring destination and mode of txdma channel*/
+ dmaChannelSetDestination(uartp->dmatx, &uartp->uart->UART_THR);
+ dmaChannelSetMode(uartp->dmatx, uartp->txdmamode);
+
+ /* Configuring source and mode of rxdma channel*/
+ dmaChannelSetSource(uartp->dmarx, &uartp->uart->UART_RHR);
+ dmaChannelSetMode(uartp->dmarx, uartp->rxdmamode);
+ }
+#endif
+
+#if SAMA_UART_USE_UART1
+ if (&UARTD1 == uartp) {
+ uartp->dmarx = dmaChannelAllocate(SAMA_UART_UART1_IRQ_PRIORITY,
+ (sama_dmaisr_t)uart_lld_serve_rx_end_irq,
+ (void *)uartp);
+
+ uartp->dmatx = dmaChannelAllocate(SAMA_UART_UART1_IRQ_PRIORITY,
+ (sama_dmaisr_t)uart_lld_serve_tx_end_irq,
+ (void *)uartp);
+ pmcEnableUART1();
+ aicSetSourcePriority(ID_UART1, SAMA_UART_UART1_IRQ_PRIORITY);
+ aicSetSourceHandler(ID_UART1, SAMA_UART1_HANDLER);
+ aicEnableInt(ID_UART1);
+
+ /* Configuring destination and mode of txdma channel*/
+ dmaChannelSetDestination(uartp->dmatx, &uartp->uart->UART_THR);
+ dmaChannelSetMode(uartp->dmatx, uartp->txdmamode);
+
+ /* Configuring source and mode of rxdma channel*/
+ dmaChannelSetSource(uartp->dmarx, &uartp->uart->UART_RHR);
+ dmaChannelSetMode(uartp->dmarx, uartp->rxdmamode);
+ }
+#endif
+
+#if SAMA_UART_USE_UART2
+ if (&UARTD2 == uartp) {
+ uartp->dmarx = dmaChannelAllocate(SAMA_UART_UART2_IRQ_PRIORITY,
+ (sama_dmaisr_t)uart_lld_serve_rx_end_irq,
+ (void *)uartp);
+
+ uartp->dmatx = dmaChannelAllocate(SAMA_UART_UART2_IRQ_PRIORITY,
+ (sama_dmaisr_t)uart_lld_serve_tx_end_irq,
+ (void *)uartp);
+ pmcEnableUART2();
+ aicSetSourcePriority(ID_UART2, SAMA_UART_UART2_IRQ_PRIORITY);
+ aicSetSourceHandler(ID_UART2, SAMA_UART2_HANDLER);
+ aicEnableInt(ID_UART2);
+
+ /* Configuring destination and mode of txdma channel*/
+ dmaChannelSetDestination(uartp->dmatx, &uartp->uart->UART_THR);
+ dmaChannelSetMode(uartp->dmatx, uartp->txdmamode);
+
+ /* Configuring source and mode of rxdma channel*/
+ dmaChannelSetSource(uartp->dmarx, &uartp->uart->UART_RHR);
+ dmaChannelSetMode(uartp->dmarx, uartp->rxdmamode);
+ }
+#endif
+
+#if SAMA_UART_USE_UART3
+ if (&UARTD3 == uartp) {
+ uartp->dmarx = dmaChannelAllocate(SAMA_UART_UART3_IRQ_PRIORITY,
+ (sama_dmaisr_t)uart_lld_serve_rx_end_irq,
+ (void *)uartp);
+
+ uartp->dmatx = dmaChannelAllocate(SAMA_UART_UART3_IRQ_PRIORITY,
+ (sama_dmaisr_t)uart_lld_serve_tx_end_irq,
+ (void *)uartp);
+ pmcEnableUART3();
+ aicSetSourcePriority(ID_UART3, SAMA_UART_UART3_IRQ_PRIORITY);
+ aicSetSourceHandler(ID_UART3, SAMA_UART3_HANDLER);
+ aicEnableInt(ID_UART3);
+
+ /* Configuring destination and mode of txdma channel*/
+ dmaChannelSetDestination(uartp->dmatx, &uartp->uart->UART_THR);
+ dmaChannelSetMode(uartp->dmatx, uartp->txdmamode);
+
+ /* Configuring source and mode of rxdma channel*/
+ dmaChannelSetSource(uartp->dmarx, &uartp->uart->UART_RHR);
+ dmaChannelSetMode(uartp->dmarx, uartp->rxdmamode);
+ }
+#endif
+
+#if SAMA_UART_USE_UART4
+ if (&UARTD4 == uartp) {
+ uartp->dmarx = dmaChannelAllocate(SAMA_UART_UART4_IRQ_PRIORITY,
+ (sama_dmaisr_t)uart_lld_serve_rx_end_irq,
+ (void *)uartp);
+
+ uartp->dmatx = dmaChannelAllocate(SAMA_UART_UART4_IRQ_PRIORITY,
+ (sama_dmaisr_t)uart_lld_serve_tx_end_irq,
+ (void *)uartp);
+ pmcEnableUART4();
+ aicSetSourcePriority(ID_UART4, SAMA_UART_UART4_IRQ_PRIORITY);
+ aicSetSourceHandler(ID_UART4, SAMA_UART4_HANDLER);
+ aicEnableInt(ID_UART4);
+
+ /* Configuring destination and mode of txdma channel*/
+ dmaChannelSetDestination(uartp->dmatx, &uartp->uart->UART_THR);
+ dmaChannelSetMode(uartp->dmatx, uartp->txdmamode);
+
+ /* Configuring source and mode of rxdma channel*/
+ dmaChannelSetSource(uartp->dmarx, &uartp->uart->UART_RHR);
+ dmaChannelSetMode(uartp->dmarx, uartp->rxdmamode);
+ }
+#endif
+
+ /* Static DMA setup, the transfer size depends on the USART settings,
+ it is 16 bits if M=1 and PCE=0 else it is 8 bits.*/
+ // if ((uartp->config->cr1 & (USART_CR1_M | USART_CR1_PCE)) == USART_CR1_M0)
+ // uartp->dmamode |= STM32_DMA_CR_PSIZE_HWORD | STM32_DMA_CR_MSIZE_HWORD;
+
+ uartp->rxbuf = 0;
+ }
+
+ uartp->rxstate = UART_RX_IDLE;
+ uartp->txstate = UART_TX_IDLE;
+ uart_start(uartp);
+}
+
+/**
+ * @brief Deactivates the UART peripheral.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ *
+ * @notapi
+ */
+void uart_lld_stop(UARTDriver *uartp) {
+
+ if (uartp->state == UART_READY) {
+ uart_stop(uartp);
+ dmaChannelRelease(uartp->dmarx);
+ dmaChannelRelease(uartp->dmatx);
+
+#if SAMA_UART_USE_UART0
+ if (&UARTD0 == uartp) {
+ pmcDisableUART0();
+ return;
+ }
+#endif
+
+#if SAMA_UART_USE_UART1
+ if (&UARTD1 == uartp) {
+ pmcDisableUART1();
+ return;
+ }
+#endif
+
+#if SAMA_UART_USE_UART2
+ if (&UARTD2 == uartp) {
+ pmcDisableUART2();
+ return;
+ }
+#endif
+
+#if SAMA_UART_USE_UART3
+ if (&UARTD3 == uartp) {
+ pmcDisableUART3();
+ return;
+ }
+#endif
+
+#if SAMA_UART_USE_UART4
+ if (&UARTD4 == uartp) {
+ pmcDisableUART4();
+ return;
+ }
+#endif
+
+ }
+}
+
+/**
+ * @brief Starts a transmission on the UART peripheral.
+ * @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] uartp pointer to the @p UARTDriver object
+ * @param[in] n number of data frames to send
+ * @param[in] txbuf the pointer to the transmit buffer
+ *
+ * @notapi
+ */
+void uart_lld_start_send(UARTDriver *uartp, size_t n, const void *txbuf) {
+
+ /* TX DMA channel preparation.*/
+ dmaChannelSetSource(uartp->dmatx, txbuf);
+ dmaChannelSetTransactionSize(uartp->dmatx, n);
+
+ /* Only enable TC interrupt if there's a callback attached to it.
+ Also we need to clear TC flag which could be set before. */
+ if (uartp->config->txend2_cb != NULL) {
+ uartp->uart->UART_IER = UART_IER_TXEMPTY;
+ }
+
+ /* Starting transfer.*/
+ dmaChannelEnable(uartp->dmatx);
+}
+
+/**
+ * @brief Stops any ongoing transmission.
+ * @note Stopping a transmission also suppresses the transmission callbacks.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ *
+ * @return The number of data frames not transmitted by the
+ * stopped transmit operation.
+ *
+ * @notapi
+ */
+size_t uart_lld_stop_send(UARTDriver *uartp) {
+
+ dmaChannelDisable(uartp->dmatx);
+ /* number of data frames not transmitted is always zero */
+ return 0;
+}
+
+/**
+ * @brief Starts a receive operation on the UART peripheral.
+ * @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] uartp pointer to the @p UARTDriver object
+ * @param[in] n number of data frames to send
+ * @param[out] rxbuf the pointer to the receive buffer
+ *
+ * @notapi
+ */
+void uart_lld_start_receive(UARTDriver *uartp, size_t n, void *rxbuf) {
+
+ /* Stopping previous activity (idle state).*/
+ dmaChannelDisable(uartp->dmarx);
+
+ /* Enabling BIE interrupt if disabled */
+ if ((uartp->dmarx->xdmac->XDMAC_CHID[uartp->dmarx->chid].XDMAC_CIM & XDMAC_CIM_BIM) == 0) {
+ uartp->dmarx->xdmac->XDMAC_CHID[uartp->dmarx->chid].XDMAC_CIE = XDMAC_CIE_BIE;
+ }
+
+ /* Resetting the XDMAC_CNCDAx */
+ uartp->dmarx->xdmac->XDMAC_CHID[uartp->dmarx->chid].XDMAC_CNDA = 0;
+ /* resetting the XDMAC_CNDCx register */
+ uartp->dmarx->xdmac->XDMAC_CHID[uartp->dmarx->chid].XDMAC_CNDC = 0;
+
+ /* RX DMA channel preparation.*/
+ dmaChannelSetSource(uartp->dmarx, &uartp->uart->UART_RHR);
+ dmaChannelSetDestination(uartp->dmarx, rxbuf);
+ dmaChannelSetTransactionSize(uartp->dmarx, n);
+ dmaChannelSetMode(uartp->dmarx, uartp->rxdmamode);
+
+ /* Starting transfer.*/
+ dmaChannelEnable(uartp->dmarx);
+}
+
+/**
+ * @brief Stops any ongoing receive operation.
+ * @note Stopping a receive operation also suppresses the receive callbacks.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ *
+ * @return The number of data frames not received by the
+ * stopped receive operation.
+ *
+ * @notapi
+ */
+size_t uart_lld_stop_receive(UARTDriver *uartp) {
+ size_t n;
+
+ dmaChannelDisable(uartp->dmarx);
+ n = 0;
+ uart_enter_rx_idle_loop(uartp);
+
+ return n;
+}
+
+#endif /* HAL_USE_UART */
+
+/** @} */
diff --git a/os/hal/ports/SAMA/LLD/USARTv1/hal_uart_lld.h b/os/hal/ports/SAMA/LLD/USARTv1/hal_uart_lld.h new file mode 100644 index 000000000..985d0dca7 --- /dev/null +++ b/os/hal/ports/SAMA/LLD/USARTv1/hal_uart_lld.h @@ -0,0 +1,360 @@ +/*
+ ChibiOS - Copyright (C) 2006..2016 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 USARTv1/hal_uart_lld.h
+ * @brief SAMA low level UART driver header.
+ *
+ * @addtogroup UART
+ * @{
+ */
+
+#ifndef HAL_UART_LLD_H
+#define HAL_UART_LLD_H
+
+#if HAL_USE_UART || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief UART driver on UART0 enable switch.
+ * @details If set to @p TRUE the support for USART1 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(SAMA_UART_USE_UART0) || defined(__DOXYGEN__)
+#define SAMA_UART_USE_UART0 FALSE
+#endif
+
+/**
+ * @brief UART driver on UART1 enable switch.
+ * @details If set to @p TRUE the support for UART1 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(SAMA_UART_USE_UART1) || defined(__DOXYGEN__)
+#define SAMA_UART_USE_UART1 FALSE
+#endif
+
+/**
+ * @brief UART driver on UART2 enable switch.
+ * @details If set to @p TRUE the support for UART2 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(SAMA_UART_USE_UART2) || defined(__DOXYGEN__)
+#define SAMA_UART_USE_UART2 FALSE
+#endif
+
+/**
+ * @brief UART driver on UART3 enable switch.
+ * @details If set to @p TRUE the support for UART4 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(SAMA_UART_USE_UART3) || defined(__DOXYGEN__)
+#define SAMA_UART_USE_UART3 FALSE
+#endif
+
+/**
+ * @brief UART driver on UART4 enable switch.
+ * @details If set to @p TRUE the support for UART4 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(SAMA_UART_USE_UART4) || defined(__DOXYGEN__)
+#define SAMA_UART_USE_UART4 FALSE
+#endif
+
+/**
+ * @brief UART0 interrupt priority level setting.
+ */
+#if !defined(SAMA_UART_UART0_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define SAMA_UART_UART0_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @brief UART1 interrupt priority level setting.
+ */
+#if !defined(SAMA_UART_UART1_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define SAMA_UART_UART1_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @brief UART2 interrupt priority level setting.
+ */
+#if !defined(SAMA_UART_UART2_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define SAMA_UART_UART2_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @brief UART3 interrupt priority level setting.
+ */
+#if !defined(SAMA_UART_UART3_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define SAMA_UART_UART3_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @brief UART4 interrupt priority level setting.
+ */
+#if !defined(SAMA_UART_UART4_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define SAMA_UART_UART4_IRQ_PRIORITY 4
+#endif
+
+/**
+ * @brief UART DMA error hook.
+ * @note The default action for DMA errors is a system halt because DMA
+ * error can only happen because programming errors.
+ */
+#if !defined(SAMA_UART_DMA_ERROR_HOOK) || defined(__DOXYGEN__)
+#define SAMA_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*TODO: check every peripheral */
+#if SAMA_UART_USE_UART0 && SAMA_SERIAL_USE_UART0
+#error "UART0 already in use"
+#endif
+
+#if !SAMA_UART_USE_UART0 && !SAMA_UART_USE_UART1 && \
+ !SAMA_UART_USE_UART2 && !SAMA_UART_USE_UART3 && \
+ !SAMA_UART_USE_UART4
+#error "UART driver activated but no USART/UART peripheral assigned"
+#endif
+
+#if !defined(SAMA_DMA_REQUIRED)
+#define SAMA_DMA_REQUIRED
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief UART driver condition flags type.
+ */
+typedef uint32_t uartflags_t;
+
+/**
+ * @brief Structure representing an UART driver.
+ */
+typedef struct UARTDriver UARTDriver;
+
+/**
+ * @brief Generic UART notification callback type.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ */
+typedef void (*uartcb_t)(UARTDriver *uartp);
+
+/**
+ * @brief Character received UART notification callback type.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ * @param[in] c received character
+ */
+typedef void (*uartccb_t)(UARTDriver *uartp, uint16_t c);
+
+/**
+ * @brief Receive error UART notification callback type.
+ *
+ * @param[in] uartp pointer to the @p UARTDriver object
+ * @param[in] e receive error mask
+ */
+typedef void (*uartecb_t)(UARTDriver *uartp, uartflags_t e);
+
+/**
+ * @brief Driver configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+ /**
+ * @brief End of transmission buffer callback.
+ */
+ uartcb_t txend1_cb;
+ /**
+ * @brief Physical end of transmission callback.
+ */
+ uartcb_t txend2_cb;
+ /**
+ * @brief Receive buffer filled callback.
+ */
+ uartcb_t rxend_cb;
+ /**
+ * @brief Character received while out if the @p UART_RECEIVE state.
+ */
+ uartccb_t rxchar_cb;
+ /**
+ * @brief Receive error callback.
+ */
+ uartecb_t rxerr_cb;
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Receiver timeout callback.
+ * @details Handles both idle and timeout interrupts depending on configured
+ * flags in CR registers and supported hardware features.
+ */
+ uartcb_t timeout_cb;
+ /**
+ * @brief Receiver timeout value in terms of number of bit duration.
+ * @details Set it to 0 when you want to handle idle interrupt instead of
+ * hardware timeout.
+ */
+ uint32_t timeout;
+ /**
+ * @brief Bit rate.
+ */
+ uint32_t speed;
+ /**
+ * @brief Initialization value for the CR register.
+ */
+ uint32_t cr;
+ /**
+ * @brief Initialization value for the MR register.
+ */
+ uint32_t mr;
+} UARTConfig;
+
+/**
+ * @brief Structure representing an UART driver.
+ */
+struct UARTDriver {
+ /**
+ * @brief Driver state.
+ */
+ uartstate_t state;
+ /**
+ * @brief Transmitter state.
+ */
+ uarttxstate_t txstate;
+ /**
+ * @brief Receiver state.
+ */
+ uartrxstate_t rxstate;
+ /**
+ * @brief Current configuration data.
+ */
+ const UARTConfig *config;
+#if (UART_USE_WAIT == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @brief Synchronization flag for transmit operations.
+ */
+ bool early;
+ /**
+ * @brief Waiting thread on RX.
+ */
+ thread_reference_t threadrx;
+ /**
+ * @brief Waiting thread on TX.
+ */
+ thread_reference_t threadtx;
+#endif /* UART_USE_WAIT */
+#if (UART_USE_MUTUAL_EXCLUSION == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @brief Mutex protecting the peripheral.
+ */
+ mutex_t mutex;
+#endif /* UART_USE_MUTUAL_EXCLUSION */
+#if defined(UART_DRIVER_EXT_FIELDS)
+ UART_DRIVER_EXT_FIELDS
+#endif
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Pointer to the UART registers block.
+ */
+ Uart *uart;
+ /**
+ * @brief Clock frequency for the associated USART/UART.
+ */
+ uint32_t clock;
+ /**
+ * @brief DMA mode bit mask.
+ */
+ uint32_t rxdmamode;
+ /**
+ * @brief DMA mode bit mask.
+ */
+ uint32_t txdmamode;
+ /**
+ * @brief Receive DMA channel.
+ */
+ sama_dma_channel_t *dmarx;
+ /**
+ * @brief Transmit DMA channel.
+ */
+ sama_dma_channel_t *dmatx;
+ /**
+ * @brief Default receive buffer while into @p UART_RX_IDLE state.
+ */
+ volatile uint16_t rxbuf;
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if SAMA_UART_USE_UART0 && !defined(__DOXYGEN__)
+extern UARTDriver UARTD0;
+#endif
+
+#if SAMA_UART_USE_UART1 && !defined(__DOXYGEN__)
+extern UARTDriver UARTD1;
+#endif
+
+#if SAMA_UART_USE_UART2 && !defined(__DOXYGEN__)
+extern UARTDriver UARTD2;
+#endif
+
+#if SAMA_UART_USE_UART3 && !defined(__DOXYGEN__)
+extern UARTDriver UARTD3;
+#endif
+
+#if SAMA_UART_USE_UART4 && !defined(__DOXYGEN__)
+extern UARTDriver UARTD4;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void uart_lld_init(void);
+ void uart_lld_start(UARTDriver *uartp);
+ void uart_lld_stop(UARTDriver *uartp);
+ void uart_lld_start_send(UARTDriver *uartp, size_t n, const void *txbuf);
+ size_t uart_lld_stop_send(UARTDriver *uartp);
+ void uart_lld_start_receive(UARTDriver *uartp, size_t n, void *rxbuf);
+ size_t uart_lld_stop_receive(UARTDriver *uartp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_UART */
+
+#endif /* HAL_UART_LLD_H */
+
+/** @} */
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