diff options
Diffstat (limited to 'os/hal/platforms/AT91SAM7/serial_lld.c')
| -rw-r--r-- | os/hal/platforms/AT91SAM7/serial_lld.c | 298 |
1 files changed, 298 insertions, 0 deletions
diff --git a/os/hal/platforms/AT91SAM7/serial_lld.c b/os/hal/platforms/AT91SAM7/serial_lld.c new file mode 100644 index 000000000..91a0558c0 --- /dev/null +++ b/os/hal/platforms/AT91SAM7/serial_lld.c @@ -0,0 +1,298 @@ +/*
+ 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 AT91SAM7/serial_lld.c
+ * @brief AT91SAM7 low level serial driver code
+ * @addtogroup AT91SAM7_SERIAL
+ * @{
+ */
+
+#include <ch.h>
+#include <serial.h>
+
+#include "at91lib/aic.h"
+#include "at91sam7.h"
+
+#if SAM7_PLATFORM == SAM7S256
+
+#define SAM7_USART0_RX AT91C_PA5_RXD0
+#define SAM7_USART0_TX AT91C_PA6_TXD0
+#define SAM7_USART1_RX AT91C_PA21_RXD1
+#define SAM7_USART1_TX AT91C_PA22_TXD1
+
+#elif SAM7_PLATFORM == SAM7X256
+
+#define SAM7_USART0_RX AT91C_PA0_RXD0
+#define SAM7_USART0_TX AT91C_PA1_TXD0
+#define SAM7_USART1_RX AT91C_PA5_RXD1
+#define SAM7_USART1_TX AT91C_PA6_TXD1
+
+#else
+#error "serial lines not defined for this SAM7 version"
+#endif
+
+#if USE_SAM7_USART0 || defined(__DOXYGEN__)
+/** @brief USART0 serial driver identifier.*/
+SerialDriver SD1;
+#endif
+
+#if USE_SAM7_USART1 || defined(__DOXYGEN__)
+/** @brief USART1 serial driver identifier.*/
+SerialDriver SD2;
+#endif
+
+/** @brief Driver default configuration.*/
+static const SerialDriverConfig default_config = {
+ 38400,
+ AT91C_US_USMODE_NORMAL | AT91C_US_CLKS_CLOCK |
+ AT91C_US_CHRL_8_BITS | AT91C_US_PAR_NONE | AT91C_US_NBSTOP_1_BIT
+};
+
+/*===========================================================================*/
+/* Low Level Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief USART initialization.
+ * @param[in] u pointer to an USART I/O block
+ * @param[in] config the architecture-dependent serial driver configuration
+ */
+static void usart_init(AT91PS_USART u, const SerialDriverConfig *config) {
+
+ /* 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 (config->mr & AT91C_US_OVER)
+ u->US_BRGR = MCK / (config->speed * 8);
+ else
+ u->US_BRGR = MCK / (config->speed * 16);
+ u->US_MR = config->mr;
+ 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;
+}
+
+/**
+ * @brief USART de-initialization.
+ * @param[in] u pointer to an USART I/O block
+ */
+static void usart_deinit(AT91PS_USART u) {
+
+ /* Disables IRQ sources and stop operations.*/
+ u->US_IDR = 0xFFFFFFFF;
+ u->US_CR = AT91C_US_RSTRX | AT91C_US_RSTTX | AT91C_US_RSTSTA;
+ u->US_MR = 0;
+ u->US_RTOR = 0;
+ u->US_TTGR = 0;
+}
+
+/**
+ * @brief Error handling routine.
+ * @param[in] err USART CSR register value
+ * @param[in] sdp communication channel associated to the USART
+ */
+static void set_error(AT91_REG csr, SerialDriver *sdp) {
+ sdflags_t 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;
+ chSysLockFromIsr();
+ sdAddFlagsI(sdp, sts);
+ chSysUnlockFromIsr();
+}
+
+#if defined(__GNU__)
+__attribute__((noinline))
+#endif
+/**
+ * @brief Common IRQ handler.
+ * @param[in] u pointer to an USART I/O block
+ * @param[in] com communication channel associated to the USART
+ */
+static void serve_interrupt(AT91PS_USART u, SerialDriver *sdp) {
+
+ if (u->US_CSR & AT91C_US_RXRDY) {
+ chSysLockFromIsr();
+ sdIncomingDataI(sdp, u->US_RHR);
+ chSysUnlockFromIsr();
+ }
+ if (u->US_CSR & AT91C_US_TXRDY) {
+ chSysLockFromIsr();
+ msg_t b = sdRequestDataI(sdp);
+ chSysUnlockFromIsr();
+ if (b < Q_OK)
+ u->US_IDR = AT91C_US_TXRDY;
+ else
+ u->US_THR = b;
+ }
+ if (u->US_CSR & (AT91C_US_OVRE | AT91C_US_FRAME | AT91C_US_PARE | AT91C_US_RXBRK)) {
+ set_error(u->US_CSR, sdp);
+ u->US_CR = AT91C_US_RSTSTA;
+ }
+ AT91C_BASE_AIC->AIC_EOICR = 0;
+}
+
+#if USE_SAM7_USART0 || defined(__DOXYGEN__)
+static void notify1(void) {
+
+ AT91C_BASE_US0->US_IER = AT91C_US_TXRDY;
+}
+#endif
+
+#if USE_SAM7_USART1 || defined(__DOXYGEN__)
+static void notify2(void) {
+
+ AT91C_BASE_US1->US_IER = AT91C_US_TXRDY;
+}
+#endif
+
+/*===========================================================================*/
+/* Low Level Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if USE_SAM7_USART0 || defined(__DOXYGEN__)
+CH_IRQ_HANDLER(USART0IrqHandler) {
+
+ CH_IRQ_PROLOGUE();
+
+ serve_interrupt(AT91C_BASE_US0, &SD1);
+
+ CH_IRQ_EPILOGUE();
+}
+#endif
+
+#if USE_SAM7_USART1 || defined(__DOXYGEN__)
+CH_IRQ_HANDLER(USART1IrqHandler) {
+
+ CH_IRQ_PROLOGUE();
+
+ serve_interrupt(AT91C_BASE_US1, &SD2);
+
+ CH_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Low Level Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * Low level serial driver initialization. + */
+void sd_lld_init(void) {
+
+#if USE_SAM7_USART0
+ sdObjectInit(&SD1, NULL, notify1);
+ AT91C_BASE_PIOA->PIO_PDR = SAM7_USART0_RX | SAM7_USART0_TX;
+ AT91C_BASE_PIOA->PIO_ASR = SAM7_USART0_RX | SAM7_USART0_TX;
+ AT91C_BASE_PIOA->PIO_PPUDR = SAM7_USART0_RX | SAM7_USART0_TX;
+ AIC_ConfigureIT(AT91C_ID_US0,
+ AT91C_AIC_SRCTYPE_HIGH_LEVEL | SAM7_USART0_PRIORITY,
+ USART0IrqHandler);
+#endif
+
+#if USE_SAM7_USART1
+ sdObjectInit(&SD2, NULL, notify2);
+ AT91C_BASE_PIOA->PIO_PDR = SAM7_USART1_RX | SAM7_USART1_TX;
+ AT91C_BASE_PIOA->PIO_ASR = SAM7_USART1_RX | SAM7_USART1_TX;
+ AT91C_BASE_PIOA->PIO_PPUDR = SAM7_USART1_RX | SAM7_USART1_TX;
+ AIC_ConfigureIT(AT91C_ID_US1,
+ AT91C_AIC_SRCTYPE_HIGH_LEVEL | SAM7_USART1_PRIORITY,
+ USART1IrqHandler);
+#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.
+ */
+void sd_lld_start(SerialDriver *sdp, const SerialDriverConfig *config) {
+
+ if (config == NULL)
+ config = &default_config;
+
+#if USE_SAM7_USART0
+ if (&SD1 == sdp) {
+ /* Starts the clock and clears possible sources of immediate interrupts.*/
+ AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_US0);
+ /* USART initialization.*/
+ usart_init(AT91C_BASE_US0, config);
+ /* Enables associated interrupt vector.*/
+ AIC_EnableIT(AT91C_ID_US0);
+ return;
+ }
+#endif
+#if USE_SAM7_USART1
+ if (&SD2 == sdp) {
+ /* Starts the clock and clears possible sources of immediate interrupts.*/
+ AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_US1);
+ /* USART initialization.*/
+ usart_init(AT91C_BASE_US1, config);
+ /* Enables associated interrupt vector.*/
+ AIC_EnableIT(AT91C_ID_US1);
+ return;
+ }
+#endif
+}
+
+/**
+ * @brief Low level serial driver stop.
+ * @details De-initializes the USART, stops the associated clock, resets the
+ * interrupt vector.
+ *
+ * @param[in] sdp pointer to a @p SerialDriver object
+ */
+void sd_lld_stop(SerialDriver *sdp) {
+
+#if USE_SAM7_USART0
+ if (&SD1 == sdp) {
+ usart_deinit(AT91C_BASE_US0);
+ AT91C_BASE_PMC->PMC_PCDR = (1 << AT91C_ID_US0);
+ AIC_DisableIT(AT91C_ID_US0);
+ return;
+ }
+#endif
+#if USE_SAM7_USART1
+ if (&SD2 == sdp) {
+ usart_deinit(AT91C_BASE_US1);
+ AT91C_BASE_PMC->PMC_PCDR = (1 << AT91C_ID_US1);
+ AIC_DisableIT(AT91C_ID_US1);
+ return;
+ }
+#endif
+}
+
+/** @} */
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