diff options
Diffstat (limited to 'os/hal/platforms')
-rw-r--r-- | os/hal/platforms/AT91SAM7/ext_lld.c | 238 | ||||
-rw-r--r-- | os/hal/platforms/AT91SAM7/ext_lld.h | 249 | ||||
-rw-r--r-- | os/hal/platforms/AT91SAM7/platform.mk | 1 |
3 files changed, 488 insertions, 0 deletions
diff --git a/os/hal/platforms/AT91SAM7/ext_lld.c b/os/hal/platforms/AT91SAM7/ext_lld.c new file mode 100644 index 000000000..2dbfc1562 --- /dev/null +++ b/os/hal/platforms/AT91SAM7/ext_lld.c @@ -0,0 +1,238 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio,
+ 2011 Florian Goebe, Chair for Computer Science 11,
+ RWTH Aachen University
+
+ 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/ext_lld.c
+ * @brief STM32 EXT subsystem low level driver source.
+ *
+ * @addtogroup EXT
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#if HAL_USE_EXT || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief EXTDA driver identifier.
+ */
+EXTDriver EXTDA;
+
+#if (SAM7_PLATFORM == SAM7X128) || (SAM7_PLATFORM == SAM7X256) || \
+ (SAM7_PLATFORM == SAM7X512)
+/**
+ * @brief EXTDB driver identifier.
+ */
+EXTDriver EXTDB;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Handles external interrupts.
+ *
+ * @param[in] extp pointer to the driver that received the interrupt
+ */
+static void ext_lld_serveInterrupt(EXTDriver *extp) {
+ uint32_t irqFlags;
+ uint32_t ch;
+
+ chSysLockFromIsr();
+
+ /* Read flags of pending PIO interrupts.*/
+ irqFlags = extp->pio->PIO_ISR;
+
+ /* Call callback function for any pending interrupt.*/
+ for(ch = 0; ch < 32; ch++) {
+
+ /* Check if the channel is activated and if its IRQ flag is set.*/
+ if((extp->config->channels[ch].mode &
+ EXT_CH_MODE_ENABLED & EXT_CH_MODE_EDGES_MASK)
+ && ((1 << ch) & irqFlags)) {
+ (extp->config->channels[ch].cb)(extp, ch);
+ }
+ }
+
+ chSysUnlockFromIsr();
+
+ AT91C_BASE_AIC->AIC_EOICR = 0;
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+/**
+ * @brief EXTI[0] interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(EXTIA_IRQHandler) {
+
+ CH_IRQ_PROLOGUE();
+
+ ext_lld_serveInterrupt(&EXTDA);
+
+ CH_IRQ_EPILOGUE();
+}
+
+#if (SAM7_PLATFORM == SAM7X128) || (SAM7_PLATFORM == SAM7X256) || \
+ (SAM7_PLATFORM == SAM7X512)
+/**
+ * @brief EXTI[1] interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(EXTIB_IRQHandler) {
+ CH_IRQ_PROLOGUE();
+
+ ext_lld_serveInterrupt(&EXTDB);
+
+ CH_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level EXT driver initialization.
+ *
+ * @notapi
+ */
+void ext_lld_init(void) {
+
+ /* Driver initialization.*/
+ extObjectInit(&EXTDA);
+
+ /* Set PIO base addresses.*/
+ EXTDA.pio = AT91C_BASE_PIOA;
+
+ /* Set peripheral IDs.*/
+ EXTDA.pid = AT91C_ID_PIOA;
+
+#if (SAM7_PLATFORM == SAM7X128) || (SAM7_PLATFORM == SAM7X256) || \
+ (SAM7_PLATFORM == SAM7X512)
+ /* Aame for PIOB.*/
+ extObjectInit(&EXTDB);
+ EXTDB.pio = AT91C_BASE_PIOB;
+ EXTDB.pid = AT91C_ID_PIOB;
+#endif
+}
+
+/**
+ * @brief Configures and activates the EXT peripheral.
+ *
+ * @param[in] extp pointer to the @p EXTDriver object
+ *
+ * @notapi
+ */
+void ext_lld_start(EXTDriver *extp) {
+ uint16_t ch;
+ uint32_t ier = 0;
+ const EXTConfig *config = extp->config;
+
+ switch(extp->pid) {
+ case AT91C_ID_PIOA:
+ AIC_ConfigureIT(AT91C_ID_PIOA, SAM7_computeSMR(config->mode,
+ config->priority),
+ EXTIA_IRQHandler);
+ break;
+#if (SAM7_PLATFORM == SAM7X128) || (SAM7_PLATFORM == SAM7X256) || \
+ (SAM7_PLATFORM == SAM7X512)
+ case AT91C_ID_PIOB:
+ AIC_ConfigureIT(AT91C_ID_PIOB, SAM7_computeSMR(config->mode,
+ config->priority),
+ EXTIB_IRQHandler);
+ break;
+#endif
+ }
+
+ /* Enable and Disable channels with respect to config.*/
+ for(ch = 0; ch < EXT_MAX_CHANNELS; ch++) {
+ ier |= (config->channels[ch].mode & EXT_CH_MODE_EDGES_MASK & EXT_CH_MODE_ENABLED ? 1 : 0) << ch;
+ }
+ extp->pio->PIO_IER = ier;
+ extp->pio->PIO_IDR = ~ier;
+
+ /* Enable interrupt on corresponding PIO port in AIC.*/
+ AIC_EnableIT(extp->pid);
+}
+
+/**
+ * @brief Deactivates the EXT peripheral.
+ *
+ * @param[in] extp pointer to the @p EXTDriver object
+ *
+ * @notapi
+ */
+void ext_lld_stop(EXTDriver *extp) {
+
+ /* Disable interrupt on corresponding PIO port in AIC.*/
+ AIC_DisableIT(extp->pid);
+}
+
+/**
+ * @brief Enables an EXT channel.
+ *
+ * @param[in] extp pointer to the @p EXTDriver object
+ * @param[in] channel channel to be enabled
+ *
+ * @notapi
+ */
+void ext_lld_channel_enable(EXTDriver *extp, expchannel_t channel) {
+
+ extp->pio->PIO_IER = (1 << channel);
+}
+
+/**
+ * @brief Disables an EXT channel.
+ *
+ * @param[in] extp pointer to the @p EXTDriver object
+ * @param[in] channel channel to be disabled
+ *
+ * @notapi
+ */
+void ext_lld_channel_disable(EXTDriver *extp, expchannel_t channel) {
+
+ extp->pio->PIO_IDR = (1 << channel);
+}
+
+#endif /* HAL_USE_EXT */
+
+/** @} */
diff --git a/os/hal/platforms/AT91SAM7/ext_lld.h b/os/hal/platforms/AT91SAM7/ext_lld.h new file mode 100644 index 000000000..4c8442481 --- /dev/null +++ b/os/hal/platforms/AT91SAM7/ext_lld.h @@ -0,0 +1,249 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio,
+ 2011 Florian Goebe, Chair for Computer Science 11,
+ RWTH Aachen University
+
+ 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/ext_lld.h
+ * @brief AT91SAM7 EXT subsystem low level driver header.
+ *
+ * @addtogroup EXT
+ * @{
+ */
+
+#ifndef _EXT_LLD_H_
+#define _EXT_LLD_H_
+
+#if HAL_USE_EXT || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief Pointer to the SAM7 AIC register block. + */
+#define SAM7_EXT_AIC ((AT91PS_AIC *)AT91C_BASE_AIC)
+
+/**
+ * @brief Number of channels within one ext driver. + */
+#define EXT_MAX_CHANNELS 32
+
+/**
+ * @brief Mask of priority bits in interrupt mode register. + */
+#define SAM7_EXT_PRIORITY_MASK 0x00000007
+
+/**
+ * @brief Shifter for priority bits in interrupt mode register. + */
+#define SAM7_EXT_PRIORITY_SHIFTER 0
+
+/**
+ * @brief Shifter for mode bits in interrupt mode register.
+ */
+#define SAM7_EXT_MODE_SHIFTER 5
+
+/*
+ * On the SAM7 architecture, a single channel can only be enables or disabled
+ * Hence, undefine the other channel mode constants + */
+#ifdef EXT_CH_MODE_RISING_EDGE
+#undef EXT_CH_MODE_RISING_EDGE
+#endif
+
+#ifdef EXT_CH_MODE_FALLING_EDGE
+#undef EXT_CH_MODE_FALLING_EDGE
+#endif
+
+#ifdef EXT_CH_MODE_BOTH_EDGES
+#undef EXT_CH_MODE_BOTH_EDGES
+#endif
+
+/**
+ * @name EXT channels mode
+ * @{
+ */
+#define EXT_CH_MODE_ENABLED 1 /**< @brief Channel is enabled. */
+/** @} */
+
+/**
+ * @name EXT drivers mode
+ * @{
+ */
+/**
+ * @brief Mask for modes.
+ */
+#define SAM7_EXT_MODE_MASK AT91C_AIC_SRCTYPE
+/**
+ * @brief Falling edge callback.
+ */
+#define SAM7_EXT_MODE_FALLING_EDGE AT91C_AIC_SRCTYPE_EXT_NEGATIVE_EDGE
+/**
+ * @brief Rising edge callback.
+ */
+#define SAM7_EXT_MODE_RISING_EDGE AT91C_AIC_SRCTYPE_POSITIVE_EDGE
+/**
+ * @brief High-level callback.
+ */
+#define SAM7_EXT_MODE_HIGH_LEVEL AT91C_AIC_SRCTYPE_HIGH_LEVEL
+/**
+ * @brief Low-level callback.
+ */
+#define SAM7_EXT_MODE_LOW_LEVEL AT91C_AIC_SRCTYPE_EXT_LOW_LEVEL
+/** @} */
+
+/**
+ * @name EXT drivers priorities
+ * @{ + */
+#define SAM7_EXT_PRIOR_HIGHEST AT91C_AIC_PRIOR_HIGHEST
+#define SAM7_EXT_PRIOR_LOWEST AT91C_AIC_PRIOR_LOWEST
+/** @} */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief EXT channel identifier.
+ */
+typedef uint32_t expchannel_t;
+
+/**
+ * @brief Type of an EXT generic notification callback.
+ *
+ * @param[in] extp pointer to the @p EXPDriver object triggering the
+ * callback
+ */
+typedef void (*extcallback_t)(EXTDriver *extp, expchannel_t channel);
+
+/**
+ * @brief Channel configuration structure.
+ */
+typedef struct {
+ /**
+ * @brief Channel mode.
+ */
+ uint32_t mode;
+ /**
+ * @brief Channel callback.
+ * @details In the STM32 implementation a @p NULL callback pointer is
+ * valid and configures the channel as an event sources instead
+ * of an interrupt source.
+ */
+ extcallback_t cb;
+} EXTChannelConfig;
+
+/**
+ * @brief Driver configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+ /**
+ * @brief Channel configurations.
+ */
+ EXTChannelConfig channels[EXT_MAX_CHANNELS];
+ /* End of the mandatory fields.*/
+
+ /**
+ * @brief interrupt mode.
+ */
+ uint32_t mode;
+
+ /**
+ * @brief interrupt priority. + */
+ uint32_t priority;
+} EXTConfig;
+
+/**
+ * @brief Structure representing an EXT driver.
+ */
+struct EXTDriver {
+ /**
+ * @brief Driver state.
+ */
+ extstate_t state;
+ /**
+ * @brief Current configuration data.
+ */
+ const EXTConfig *config;
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Pointer to the corresponding PIO registers block. + */
+ AT91PS_PIO pio;
+ /**
+ * @brief peripheral ID of the corresponding PIO block. + */
+ uint32_t pid;
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Computes the content for the interrupt source mode register. + */
+#define SAM7_computeSMR(mode, prio) ( \
+ ((mode & SAM7_EXT_MODE_MASK) << SAM7_EXT_MODE_SHIFTER) | \
+ ((prio & SAM7_EXT_PRIORITY_MASK) << SAM7_EXT_PRIORITY_SHIFTER) \
+)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if !defined(__DOXYGEN__)
+extern EXTDriver EXTDA;
+#if (SAM7_PLATFORM == SAM7X128) || (SAM7_PLATFORM == SAM7X256) || \
+ (SAM7_PLATFORM == SAM7X512)
+extern EXTDriver EXTDB;
+#endif
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void ext_lld_init(void);
+ void ext_lld_start(EXTDriver *extp);
+ void ext_lld_stop(EXTDriver *extp);
+ void ext_lld_channel_enable(EXTDriver *extp, expchannel_t channel);
+ void ext_lld_channel_disable(EXTDriver *extp, expchannel_t channel);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_EXT */
+
+#endif /* _EXT_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/platforms/AT91SAM7/platform.mk b/os/hal/platforms/AT91SAM7/platform.mk index 9a5bba436..83b53491a 100644 --- a/os/hal/platforms/AT91SAM7/platform.mk +++ b/os/hal/platforms/AT91SAM7/platform.mk @@ -1,6 +1,7 @@ # List of all the AT91SAM7 platform files.
PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/AT91SAM7/hal_lld.c \
${CHIBIOS}/os/hal/platforms/AT91SAM7/pal_lld.c \
+ ${CHIBIOS}/os/hal/platforms/AT91SAM7/ext_lld.c \
${CHIBIOS}/os/hal/platforms/AT91SAM7/serial_lld.c \
${CHIBIOS}/os/hal/platforms/AT91SAM7/spi_lld.c \
${CHIBIOS}/os/hal/platforms/AT91SAM7/mac_lld.c \
|