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-rw-r--r--demos/ARM7-AT91SAM7X-GCC/Makefile2
-rw-r--r--demos/ARM7-AT91SAM7X-GCC/board.c28
-rw-r--r--demos/ARM7-AT91SAM7X-GCC/main.c8
-rw-r--r--ports/ARM7-AT91SAM7X/GCC/sam7x_serial.c180
-rw-r--r--ports/ARM7-AT91SAM7X/GCC/sam7x_serial.h42
5 files changed, 248 insertions, 12 deletions
diff --git a/demos/ARM7-AT91SAM7X-GCC/Makefile b/demos/ARM7-AT91SAM7X-GCC/Makefile
index 737752687..b5768f619 100644
--- a/demos/ARM7-AT91SAM7X-GCC/Makefile
+++ b/demos/ARM7-AT91SAM7X-GCC/Makefile
@@ -62,7 +62,7 @@ UDEFS =
UADEFS =
# List ARM-mode C source files here
-ASRC = ../../ports/ARM7-AT91SAM7X/GCC/chcore.c \
+ASRC = ../../ports/ARM7-AT91SAM7X/GCC/chcore.c ../../ports\ARM7-AT91SAM7X\GCC\sam7x_serial.c \
../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \
../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \
diff --git a/demos/ARM7-AT91SAM7X-GCC/board.c b/demos/ARM7-AT91SAM7X-GCC/board.c
index aef835ffa..4231780bf 100644
--- a/demos/ARM7-AT91SAM7X-GCC/board.c
+++ b/demos/ARM7-AT91SAM7X-GCC/board.c
@@ -20,6 +20,7 @@
#include <ch.h>
#include "board.h"
+#include "sam7x_serial.h"
#include "at91lib/aic.h"
extern void FiqHandler(void);
@@ -39,7 +40,6 @@ static void SYSIrqHandler(void) {
chSysIRQEnterI();
if (AT91C_BASE_PITC->PITC_PISR & AT91C_PITC_PITS) {
-// AT91C_BASE_PIOB->PIO_SODR = PIOB_LCD_BL; // LCD on.
chSysTimerHandlerI();
(void) AT91C_BASE_PITC->PITC_PIVR;
}
@@ -90,9 +90,9 @@ void hwinit(void) {
/*
* I/O setup, enable clocks, initially all pins are inputs with pullups.
*/
- AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_PIOA) | (1 << AT91C_ID_PIOB);
- AT91C_BASE_PIOA->PIO_PER = 0xFFFFFFFF;
- AT91C_BASE_PIOB->PIO_PER = 0xFFFFFFFF;
+ AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_PIOA) | (1 << AT91C_ID_PIOB);
+ AT91C_BASE_PIOA->PIO_PER = 0xFFFFFFFF;
+ AT91C_BASE_PIOB->PIO_PER = 0xFFFFFFFF;
/*
* Default AIC setup, the device drivers will modify it as needed.
@@ -110,30 +110,38 @@ void hwinit(void) {
*/
AT91C_BASE_PIOB->PIO_CODR = PIOB_LCD_BL; // Set to low.
AT91C_BASE_PIOB->PIO_OER = PIOB_LCD_BL; // Configure as output.
- AT91C_BASE_SYS->PIOA_PPUDR = PIOB_LCD_BL; // Disable internal pullup resistor.
+ AT91C_BASE_PIOA->PIO_PPUDR = PIOB_LCD_BL; // Disable internal pullup resistor.
AT91C_BASE_PIOA->PIO_SODR = PIOA_LCD_RESET; // Set to high.
AT91C_BASE_PIOA->PIO_OER = PIOA_LCD_RESET; // Configure as output.
- AT91C_BASE_SYS->PIOB_PPUDR = PIOA_LCD_RESET; // Disable internal pullup resistor.
+ AT91C_BASE_PIOA->PIO_PPUDR = PIOA_LCD_RESET; // Disable internal pullup resistor.
/*
* Joystick and buttons, disable pullups, already inputs.
*/
- AT91C_BASE_SYS->PIOA_PPUDR = PIOA_B1 | PIOA_B2 | PIOA_B3 | PIOA_B4 | PIOA_B5;
- AT91C_BASE_SYS->PIOB_PPUDR = PIOB_SW1 | PIOB_SW2;
+ AT91C_BASE_PIOA->PIO_PPUDR = PIOA_B1 | PIOA_B2 | PIOA_B3 | PIOA_B4 | PIOA_B5;
+ AT91C_BASE_PIOB->PIO_PPUDR = PIOB_SW1 | PIOB_SW2;
/*
* MMC/SD slot, disable pullups, already inputs.
*/
- AT91C_BASE_SYS->PIOB_PPUDR = PIOB_MMC_WP | PIOB_MMC_CP;
+ AT91C_BASE_SYS->PIOB_PPUDR = PIOB_MMC_WP | PIOB_MMC_CP;
/*
* PIT Initialization.
*/
AIC_ConfigureIT(AT91C_ID_SYS,
- AT91C_AIC_SRCTYPE_POSITIVE_EDGE | (AT91C_AIC_PRIOR_HIGHEST -1),
+ AT91C_AIC_SRCTYPE_HIGH_LEVEL | (AT91C_AIC_PRIOR_HIGHEST - 1),
SYSIrqHandler);
AIC_EnableIT(AT91C_ID_SYS);
AT91C_BASE_PITC->PITC_PIMR = (MCK / 16 / CH_FREQUENCY) - 1;
AT91C_BASE_PITC->PITC_PIMR |= AT91C_PITC_PITEN | AT91C_PITC_PITIEN;
+
+ /*
+ * Serial driver initialization, RTS/CTS pins enabled for USART0 only.
+ */
+ InitSerial(AT91C_AIC_PRIOR_HIGHEST - 2, AT91C_AIC_PRIOR_HIGHEST - 2);
+ AT91C_BASE_PIOA->PIO_PDR = AT91C_PA3_RTS0 | AT91C_PA4_CTS0;
+ AT91C_BASE_PIOA->PIO_ASR = AT91C_PIO_PA3 | AT91C_PIO_PA4;
+ AT91C_BASE_PIOA->PIO_PPUDR = AT91C_PIO_PA3 | AT91C_PIO_PA4;
}
diff --git a/demos/ARM7-AT91SAM7X-GCC/main.c b/demos/ARM7-AT91SAM7X-GCC/main.c
index 80eab874e..67031c421 100644
--- a/demos/ARM7-AT91SAM7X-GCC/main.c
+++ b/demos/ARM7-AT91SAM7X-GCC/main.c
@@ -20,6 +20,7 @@
#include <ch.h>
#include "board.h"
+#include "sam7x_serial.h"
static WorkingArea(waThread1, 64);
static t_msg Thread1(void *arg) {
@@ -37,6 +38,7 @@ static t_msg Thread1(void *arg) {
* Entry point, the interrupts are disabled on entry.
*/
int main(int argc, char **argv) {
+ t_msg TestThread(void *p);
/*
* The main() function becomes a thread here then the interrupts are
@@ -47,7 +49,11 @@ int main(int argc, char **argv) {
chThdCreate(NORMALPRIO, 0, waThread1, sizeof(waThread1), Thread1, NULL);
while (TRUE) {
- chThdSleep(1000);
+ chThdSleep(500);
+ if (!(AT91C_BASE_PIOB->PIO_PDSR & PIOB_SW1))
+ chFDDWrite(&COM1, (BYTE8 *)"Hello World!\r\n", 14);
+ if (!(AT91C_BASE_PIOB->PIO_PDSR & PIOB_SW2))
+ TestThread(&COM1);
}
return 0;
diff --git a/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.c b/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.c
new file mode 100644
index 000000000..e7a882cb7
--- /dev/null
+++ b/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.c
@@ -0,0 +1,180 @@
+/*
+ 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/>.
+*/
+
+#include <ch.h>
+
+#include "board.h"
+#include "sam7x_serial.h"
+#include "at91lib/aic.h"
+
+FullDuplexDriver COM1;
+BYTE8 ib1[SERIAL_BUFFERS_SIZE];
+BYTE8 ob1[SERIAL_BUFFERS_SIZE];
+
+FullDuplexDriver COM2;
+BYTE8 ib2[SERIAL_BUFFERS_SIZE];
+BYTE8 ob2[SERIAL_BUFFERS_SIZE];
+
+static void SetError(AT91_REG csr, FullDuplexDriver *com) {
+ UWORD16 sts = 0;
+
+ if (csr & AT91C_US_OVRE)
+ sts |= SD_OVERRUN_ERROR;
+ if (csr & AT91C_US_PARE)
+ sts |= SD_PARITY_ERROR;
+ if (csr & AT91C_US_FRAME)
+ sts |= SD_FRAMING_ERROR;
+ if (csr & AT91C_US_RXBRK)
+ sts |= SD_BREAK_DETECTED;
+ chFDDAddFlagsI(com, sts);
+}
+
+/*
+ * Tries hard to clear all the pending interrupt sources, we dont want to
+ * go through the whole ISR and have another interrupt soon after.
+ */
+static void ServeInterrupt(AT91PS_USART u, FullDuplexDriver *com) {
+
+ while (u->US_CSR & u->US_IMR) {
+
+ if (u->US_CSR & AT91C_US_RXRDY) {
+ chFDDIncomingDataI(com, u->US_RHR);
+ }
+ else if (u->US_CSR & AT91C_US_TXRDY) {
+ t_msg b = chFDDRequestDataI(com);
+ if (b < Q_OK)
+ u->US_IDR = AT91C_US_TXRDY;
+ else
+ u->US_THR = b;
+ }
+ else {
+ SetError(u->US_CSR, com);
+ u->US_CR = AT91C_US_RSTSTA;
+ }
+ }
+}
+
+__attribute__((naked, weak))
+void USART0IrqHandler(void) {
+
+ chSysIRQEnterI();
+
+ ServeInterrupt(AT91C_BASE_US0, &COM1);
+
+ chSysIRQExitI();
+}
+
+__attribute__((naked, weak))
+void USART1IrqHandler(void) {
+
+ chSysIRQEnterI();
+
+ ServeInterrupt(AT91C_BASE_US1, &COM2);
+
+ chSysIRQExitI();
+}
+
+/*
+ * Invoked by the high driver when one or more bytes are inserted in the
+ * output queue.
+ */
+static void OutNotify1(void) {
+
+ AT91C_BASE_US0->US_IER = AT91C_US_TXRDY;
+}
+
+/*
+ * Invoked by the high driver when one or more bytes are inserted in the
+ * output queue.
+ */
+static void OutNotify2(void) {
+
+ AT91C_BASE_US1->US_IER = AT91C_US_TXRDY;
+}
+
+/*
+ * USART setup, must be invoked with interrupts disabled.
+ * NOTE: Does not reset I/O queues.
+ */
+void SetUSARTI(AT91PS_USART u, int speed, int mode) {
+
+ /* Disables IRQ sources and stop operations.*/
+ u->US_IDR = 0xFFFFFFFF;
+ u->US_CR = AT91C_US_RSTRX | AT91C_US_RSTTX | AT91C_US_RSTSTA;
+
+ /* New parameters setup.*/
+ if (mode & AT91C_US_OVER)
+ u->US_BRGR = MCK / (speed * 8);
+ else
+ u->US_BRGR = MCK / (speed * 16);
+ u->US_MR = mode;
+ u->US_RTOR = 0;
+ u->US_TTGR = 0;
+
+ /* Enables operations and IRQ sources.*/
+ u->US_CR = AT91C_US_RXEN | AT91C_US_TXEN | AT91C_US_DTREN | AT91C_US_RTSEN;
+ u->US_IER = AT91C_US_RXRDY | AT91C_US_OVRE | AT91C_US_FRAME | AT91C_US_PARE |
+ AT91C_US_RXBRK;
+}
+
+/*
+ * Serial subsystem initialization.
+ * NOTE: Handshake pins are not switched to their function because they may have
+ * another use. Enable them externally if needed.
+ */
+void InitSerial(int prio0, int prio1) {
+
+ /* I/O queues setup.*/
+ chFDDInit(&COM1, ib1, sizeof ib1, NULL, ob1, sizeof ob1, OutNotify1);
+ chFDDInit(&COM2, ib2, sizeof ib2, NULL, ob2, sizeof ob2, OutNotify2);
+
+ /* Switches the I/O pins to the peripheral function A, disables pullups.*/
+ AT91C_BASE_PIOA->PIO_PDR = AT91C_PA0_RXD0 | AT91C_PA1_TXD0 |
+ AT91C_PA5_RXD1 | AT91C_PA6_TXD1;
+ AT91C_BASE_PIOA->PIO_ASR = AT91C_PIO_PA0 | AT91C_PIO_PA1 |
+ AT91C_PIO_PA5 | AT91C_PIO_PA6;
+ AT91C_BASE_PIOA->PIO_PPUDR = AT91C_PIO_PA0 | AT91C_PIO_PA1 |
+ AT91C_PIO_PA5 | AT91C_PIO_PA6;
+
+ /* Starts the clock and clears possible sources of immediate interrupts.*/
+ AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_US0) | (1 << AT91C_ID_US1);
+ AT91C_BASE_US0->US_CR = AT91C_US_RSTRX | AT91C_US_RSTTX | AT91C_US_RSTSTA;
+ AT91C_BASE_US1->US_CR = AT91C_US_RSTRX | AT91C_US_RSTTX | AT91C_US_RSTSTA;
+
+ /* Interrupts setup.*/
+ AIC_ConfigureIT(AT91C_ID_US0,
+ AT91C_AIC_SRCTYPE_HIGH_LEVEL | prio0,
+ USART0IrqHandler);
+ AIC_EnableIT(AT91C_ID_US0);
+ AIC_ConfigureIT(AT91C_ID_US1,
+ AT91C_AIC_SRCTYPE_HIGH_LEVEL | prio1,
+ USART1IrqHandler);
+ AIC_EnableIT(AT91C_ID_US1);
+
+ SetUSARTI(AT91C_BASE_US0, 38400, AT91C_US_USMODE_NORMAL |
+ AT91C_US_CLKS_CLOCK |
+ AT91C_US_CHRL_8_BITS |
+ AT91C_US_PAR_NONE |
+ AT91C_US_NBSTOP_1_BIT);
+ SetUSARTI(AT91C_BASE_US1, 38400, AT91C_US_USMODE_NORMAL |
+ AT91C_US_CLKS_CLOCK |
+ AT91C_US_CHRL_8_BITS |
+ AT91C_US_PAR_NONE |
+ AT91C_US_NBSTOP_1_BIT);
+}
diff --git a/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.h b/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.h
new file mode 100644
index 000000000..396aaeaf1
--- /dev/null
+++ b/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.h
@@ -0,0 +1,42 @@
+/*
+ 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/>.
+*/
+
+#ifndef _SAM7X_SERIAL_H_
+#define _SAM7X_SERIAL_H_
+
+/*
+ * Configuration parameter, you can change the depth of the queue buffers
+ * depending on the requirements of your application.
+ */
+#define SERIAL_BUFFERS_SIZE 128
+
+#ifdef __cplusplus
+}
+#endif
+ void InitSerial(int prio0, int prio1);
+ void UART0IrqHandler(void);
+ void UART1IrqHandler(void);
+ void SetUSARTI(AT91PS_USART u, int speed, int mode);
+#ifdef __cplusplus
+}
+#endif
+
+extern FullDuplexDriver COM1, COM2;
+
+#endif /* _SAM7X_SERIAL_H_ */
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-10 22:58:11 +0000