diff options
Diffstat (limited to 'os/hal/ports/AVR/MEGA/EXTv1/hal_ext_lld.c')
| -rw-r--r-- | os/hal/ports/AVR/MEGA/EXTv1/hal_ext_lld.c | 548 |
1 files changed, 548 insertions, 0 deletions
diff --git a/os/hal/ports/AVR/MEGA/EXTv1/hal_ext_lld.c b/os/hal/ports/AVR/MEGA/EXTv1/hal_ext_lld.c new file mode 100644 index 000000000..c7875e690 --- /dev/null +++ b/os/hal/ports/AVR/MEGA/EXTv1/hal_ext_lld.c @@ -0,0 +1,548 @@ +/*
+ EXT Low Level Driver for ChibiOS
+ Copyright (C) 2015 Igor Stoppa <igor.stoppa@gmail.com>
+ Copyright (C) 2016 Theodore Ateba
+
+ 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 hal_ext_lld.c
+ * @brief AVR EXT subsystem low level driver source.
+ *
+ * @addtogroup EXT
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_EXT || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+#define EXT_EICRA_LOW_LEVEL 0
+#define EXT_EICRA_BOTH_EDGES 1
+#define EXT_EICRA_FALLING_EDGE 2
+#define EXT_EICRA_RISING_EDGE 3
+
+/**
+ * @brief Declares the isr for the ext channel specified
+ *
+ * @param[in] channel number of the channel
+ *
+ * @notapi
+ */
+#define declare_extint_isr(channel) \
+OSAL_IRQ_HANDLER(INT##channel##_vect) \
+{ \
+ OSAL_IRQ_PROLOGUE(); \
+ EXTD1.config->channels[EXT_INT##channel##_CHANNEL]. \
+ cb(&EXTD1, EXT_INT##channel##_CHANNEL); \
+ OSAL_IRQ_EPILOGUE(); \
+}
+
+/**
+ * @brief Declares the isr for the pc channel specified
+ *
+ * @param[in] port number of the port
+ *
+ * @notapi
+ */
+#define declare_pcint_isr(index) \
+OSAL_IRQ_HANDLER(PCINT##index##_vect) { \
+ uint8_t changed_pins; \
+ uint8_t i; \
+ \
+ OSAL_IRQ_PROLOGUE(); \
+ EXTD1.pc_current_values[index] = (*(PINS[index])) & (*(PCMSK[index])); \
+ \
+ /* XOR to find the changed pin(s) */ \
+ changed_pins = EXTD1.pc_current_values[index] ^ EXTD1.pc_old_values[index];\
+ \
+ for (i = 0; i < 8; i++) { \
+ if (changed_pins & (1 << i)) { \
+ const EXTChannelConfig *chn = \
+ &EXTD1.config->channels[EXT_PCINT##index##_INDEX + i]; \
+ \
+ if (((chn->mode & EXT_CH_MODE_RISING_EDGE) && \
+ ((EXTD1.pc_current_values[index] & (1 << i)) > 0)) || \
+ ((chn->mode & EXT_CH_MODE_FALLING_EDGE) && \
+ ((EXTD1.pc_current_values[index] & (1 << i)) == 0))) { \
+ chn->cb(&EXTD1, EXT_PCINT##index##_INDEX + i - EXT_PCINT_MIN_INDEX); \
+ } \
+ } \
+ } \
+ \
+ EXTD1.pc_old_values[index] = EXTD1.pc_current_values[index]; \
+ OSAL_IRQ_EPILOGUE(); \
+}
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief EXT1 driver identifier.
+ */
+EXTDriver EXTD1;
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+#if EXT_PC_NUM_PORTS > 0
+/**
+ * @brief Vector with addresses of Ports available.
+ */
+volatile uint8_t * const PINS[EXT_PC_NUM_PORTS] = {
+#if AVR_EXT_USE_PCINT0
+ (volatile uint8_t *const)&PCINT0_PIN,
+#endif
+#if AVR_EXT_USE_PCINT1
+ (volatile uint8_t *const)&PCINT1_PIN,
+#endif
+#if AVR_EXT_USE_PCINT2
+(volatile uint8_t *const)&PCINT2_PIN,
+#endif
+#if AVR_EXT_USE_PCINT3
+(volatile uint8_t *const)&PCINT3_PIN,
+#endif
+#if AVR_EXT_USE_PCINT4
+(volatile uint8_t *const)&PCINT4_PIN,
+#endif
+#if AVR_EXT_USE_PCINT5
+(volatile uint8_t *const)&PCINT5_PIN,
+#endif
+#if AVR_EXT_USE_PCINT6
+(volatile uint8_t *const)&PCINT6_PIN,
+#endif
+#if AVR_EXT_USE_PCINT7
+(volatile uint8_t *const)&PCINT7_PIN,
+#endif
+#if AVR_EXT_USE_PCINT8
+(volatile uint8_t *const)&PCINT8_PIN,
+#endif
+#if AVR_EXT_USE_PCINT9
+(volatile uint8_t *const)&PCINT9_PIN,
+#endif
+#if AVR_EXT_USE_PCINT10
+(volatile uint8_t *const)&PCINT10_PIN,
+#endif
+};
+
+/**
+ * @brief Vector with addresses of Port Masks available.
+ */
+volatile uint8_t * const PCMSK[EXT_PC_NUM_PORTS] = {
+#if AVR_EXT_USE_PCINT0
+ (volatile uint8_t *const)&PCMSK0,
+#endif
+#if AVR_EXT_USE_PCINT1
+ (volatile uint8_t *const)&PCMSK1,
+#endif
+#if AVR_EXT_USE_PCINT2
+ (volatile uint8_t *const)&PCMSK2,
+#endif
+#if AVR_EXT_USE_PCINT3
+ (volatile uint8_t *const)&PCMSK3,
+#endif
+#if AVR_EXT_USE_PCINT4
+ (volatile uint8_t *const)&PCMSK4,
+#endif
+#if AVR_EXT_USE_PCINT5
+ (volatile uint8_t *const)&PCMSK5,
+#endif
+#if AVR_EXT_USE_PCINT6
+ (volatile uint8_t *const)&PCMSK6,
+#endif
+#if AVR_EXT_USE_PCINT7
+ (volatile uint8_t *const)&PCMSK7,
+#endif
+#if AVR_EXT_USE_PCINT8
+ (volatile uint8_t *const)&PCMSK8,
+#endif
+#if AVR_EXT_USE_PCINT9
+ (volatile uint8_t *const)&PCMSK9,
+#endif
+#if AVR_EXT_USE_PCINT10
+ (volatile uint8_t *const)&PCMSK10,
+#endif
+};
+#endif
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if EXT_PC_NUM_PORTS > 0
+/**
+ * @brief Configures and activates the Pin Change inputs.
+ *
+ * @param[in] extp pointer to the @p EXTDriver object
+ *
+ * @notapi
+ */
+static void start_pc(EXTDriver *extp) {
+ uint8_t icr = 0;
+ uint8_t i;
+
+ /* For every pin */
+ for (i = 0; i < EXT_PC_NUM_CHANNELS; i++) {
+ uint8_t mode = extp->config->channels[i + EXT_PC_MIN_CHANNEL].mode;
+
+ /* Only start if autostart and not disabled */
+ if ((mode & EXT_CH_MODE_AUTOSTART) && ((mode & EXT_CH_MODE_EDGES_MASK) != EXT_CH_MODE_DISABLED)) {
+ (*(PCMSK[i/8])) |= _BV(i & 0x07);
+ }
+ }
+
+ /* For every port */
+ for (i = 0; i < EXT_PC_NUM_PORTS; i++) {
+ /* Only enable interrupt if at least 1 bit in the mask is set */
+ if ((*(PCMSK[i])) != 0) {
+ /* Enable interrupt */
+ icr |= (_BV(i));
+ }
+ }
+
+ /* Enables/disables the peripheral, as requested. */
+#if defined(__AVR_ATmega162__)
+ GICR &= ~(0x03 << 3);
+ GICR |= (icr << 3);
+#else
+ PCICR = icr;
+#endif
+}
+
+/**
+ * @brief Deactivates the PC interrupts.
+ *
+ * @param[in] extp pointer to the @p EXTDriver object
+ */
+static void stop_pc(EXTDriver *extp) {
+ uint8_t i;
+ (void)extp;
+
+ /* Disable pin change interrupts */
+#if defined(__AVR_ATmega162__)
+ GICR &= ~(0x03 << 3);
+#else
+ PCICR = 0;
+#endif
+
+ /* Clear masks */
+ for (i = 0; i < EXT_PC_NUM_PORTS; i++) {
+ (*(PCMSK[i])) = 0;
+ }
+}
+#endif
+
+#if EXT_INT_NUM_CHANNELS > 0
+/**
+ * @brief Configures and activates the INT inputs.
+ *
+ * @param[in] extp pointer to the @p EXTDriver object
+ *
+ * @notapi
+ */
+static void start_ext(EXTDriver *extp) {
+#if EXT_INT_NUM_CHANNELS < 4
+ uint8_t icr = 0;
+#else
+ uint16_t icr = 0;
+#endif
+ uint8_t msk = 0;
+ for (expchannel_t channel = EXT_INT_MIN_CHANNEL;
+ channel <= EXT_INT_MAX_CHANNEL; channel++) {
+ /* Determines the triggering condition for each channel. */
+ switch(extp->config->channels[channel].mode &
+ ~(EXT_CH_MODE_AUTOSTART | EXT_CH_MODE_INTERNAL_PULLUP)) {
+ case EXT_CH_MODE_LOW_LEVEL:
+ icr |= (EXT_EICRA_LOW_LEVEL << (2 * (channel - EXT_INT_MIN_CHANNEL)));
+ break;
+ case EXT_CH_MODE_BOTH_EDGES:
+ icr |= (EXT_EICRA_BOTH_EDGES << (2 * (channel - EXT_INT_MIN_CHANNEL)));
+ break;
+ case EXT_CH_MODE_RISING_EDGE:
+ icr |= (EXT_EICRA_RISING_EDGE << (2 * (channel - EXT_INT_MIN_CHANNEL)));
+ break;
+ case EXT_CH_MODE_FALLING_EDGE:
+ icr |= (EXT_EICRA_FALLING_EDGE << (2 * (channel - EXT_INT_MIN_CHANNEL)));
+ break;
+ default: osalDbgAssert(FALSE, "unsupported mode");
+ }
+
+ /* Determines which channel must be started right away. */
+ if (extp->config->channels[channel].mode & EXT_CH_MODE_AUTOSTART) {
+ msk |= (1 << (channel - EXT_INT_MIN_CHANNEL));
+ }
+ }
+ /* Configures the peripheral. */
+#if defined(__AVR_ATmega162__)
+ MCUCR |= (icr & 0x0f);
+
+ icr >>= 4;
+ osalDbgAssert(((icr & 0x02) == EXT_EICRA_RISING_EDGE) || ((icr & 0x02) == EXT_EICRA_FALLING_EDGE), "INT2 only supports rising or falling edge, not both.");
+ EMCUCR |= icr & 0x01;
+
+ GICR |= ((msk & 0x03) << 6);
+ if (icr & 0x01) {
+ /* Enable INT2 */
+ GICR |= (1 << 5);
+ }
+#else
+ EICRA = icr & 0xff;
+#if EXT_INT_NUM_CHANNELS > 4
+ EICRB = icr >> 8;
+#endif
+ /* Enables/disables the peripheral, as requested. */
+ EIMSK = msk;
+#endif
+}
+
+/**
+ * @brief Deactivates the INT interrupts.
+ *
+ * @param[in] extp pointer to the @p EXTDriver object
+ */
+static void stop_ext(EXTDriver *extp) {
+ (void)extp;
+#if defined(__AVR_ATmega162__)
+ MCUCR &= ~(0x0f);
+ EMCUCR &= ~(0x01);
+ GICR |= ~(0x07 << 5);
+#else
+ EICRA = 0;
+#if EXT_INT_NUM_CHANNELS > 4
+ EICRB = 0;
+#endif
+ /* Enables/disables the peripheral, as requested. */
+ EIMSK = 0;
+#endif
+}
+#endif
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+/*
+ * Interrupt handlers for PC-type interrupts.
+ */
+#define EXT_PCINT_MIN_INDEX EXT_PC_MIN_PORT
+
+#if 0 < EXT_PC_NUM_PORTS
+#define EXT_PCINT0_INDEX EXT_PCINT_MIN_INDEX
+declare_pcint_isr(0);
+#endif
+#if 1 < EXT_PC_NUM_PORTS
+#define EXT_PCINT1_INDEX (EXT_PCINT0_INDEX + 1)
+declare_pcint_isr(1);
+#endif
+#if 2 < EXT_PC_NUM_PORTS
+#define EXT_PCINT2_INDEX (EXT_PCINT1_INDEX + 1)
+declare_pcint_isr(2);
+#endif
+#if 3 < EXT_PC_NUM_PORTS
+#define EXT_PCINT3_INDEX (EXT_PCINT2_INDEX + 1)
+declare_pcint_isr(3);
+#endif
+#if 4 < EXT_PC_NUM_PORTS
+#define EXT_PCINT4_INDEX (EXT_PCINT3_INDEX + 1)
+declare_pcint_isr(4);
+#endif
+#if 5 < EXT_PC_NUM_PORTS
+#define EXT_PCINT5_INDEX (EXT_PCINT4_INDEX + 1)
+declare_pcint_isr(5);
+#endif
+#if 6 < EXT_PC_NUM_PORTS
+#define EXT_PCINT6_INDEX (EXT_PCINT5_INDEX + 1)
+declare_pcint_isr(6);
+#endif
+#if 7 < EXT_PC_NUM_PORTS
+#define EXT_PCINT7_INDEX (EXT_PCINT6_INDEX + 1)
+declare_pcint_isr(7);
+#endif
+#if 8 < EXT_PC_NUM_PORTS
+#define EXT_PCINT8_INDEX (EXT_PCINT7_INDEX + 1)
+declare_pcint_isr(8);
+#endif
+#if 9 < EXT_PC_NUM_PORTS
+#define EXT_PCINT9_INDEX (EXT_PCINT8_INDEX + 1)
+declare_pcint_isr(9);
+#endif
+
+/*
+ * Interrupt handlers for INT-type interrupts.
+ */
+#if 0 < EXT_INT_NUM_CHANNELS
+declare_extint_isr(0);
+#endif
+#if 1 < EXT_INT_NUM_CHANNELS
+declare_extint_isr(1);
+#endif
+#if 2 < EXT_INT_NUM_CHANNELS
+declare_extint_isr(2);
+#endif
+#if 3 < EXT_INT_NUM_CHANNELS
+declare_extint_isr(3);
+#endif
+#if 4 < EXT_INT_NUM_CHANNELS
+declare_extint_isr(4);
+#endif
+#if 5 < EXT_INT_NUM_CHANNELS
+declare_extint_isr(5);
+#endif
+
+/*===========================================================================*/
+/* Driver functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level EXT driver initialization.
+ *
+ * @notapi
+ */
+void ext_lld_init(void) {
+ /* Driver initialization.*/
+ extObjectInit(&EXTD1);
+#if EXT_PC_NUM_PORTS > 0
+ for (int i = 0; i < EXT_PC_NUM_PORTS; i++) {
+ EXTD1.pc_old_values[i] = 0;
+ }
+#endif
+}
+
+/**
+ * @brief Configures and activates the EXT peripheral.
+ *
+ * @param[in] extp pointer to the @p EXTDriver object
+ *
+ * @notapi
+ */
+void ext_lld_start(EXTDriver *extp) {
+#if EXT_INT_NUM_CHANNELS > 0
+ start_ext(extp);
+#endif
+#if EXT_PC_NUM_PORTS > 0
+ start_pc(extp);
+#endif
+}
+
+/**
+ * @brief Deactivates the EXT peripheral.
+ *
+ * @param[in] extp pointer to the @p EXTDriver object
+ *
+ * @notapi
+ */
+void ext_lld_stop(EXTDriver *extp) {
+
+ if (extp->state == EXT_ACTIVE) {
+ /* Disables the peripheral.*/
+#if EXT_INT_NUM_CHANNELS > 0
+ stop_ext(extp);
+#endif
+#if EXT_PC_NUM_PORTS > 0
+ stop_pc(extp);
+#endif
+ }
+}
+
+/**
+ * @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) {
+ (void)extp;
+#if EXT_PC_NUM_CHANNELS > 0
+ if (EXT_PC_MIN_CHANNEL <= channel && channel <= EXT_PC_MAX_CHANNEL) {
+ uint8_t port = (channel - EXT_PC_MIN_CHANNEL) / 8;
+
+ /* Enable bit in mask */
+ (*(PCMSK[port])) |= _BV((channel - EXT_PC_MIN_CHANNEL) % 8);
+
+ /* Always enable interrupt */
+#if defined(__AVR_ATmega162__)
+ GICR |= (_BV(port) << 3);
+#else
+ PCICR |= _BV(port);
+#endif
+ }
+#endif
+#if EXT_PC_NUM_CHANNELS > 0 && EXT_INT_NUM_CHANNELS > 0
+ else
+#endif
+#if EXT_INT_NUM_CHANNELS > 0
+ if (channel <= EXT_INT_MAX_CHANNEL) {
+#if defined(__AVR_ATmega162__)
+ GICR |= ((1 << channel) << 5);
+#else
+ /* Enables/disables the peripheral, as requested. */
+ EIMSK |= (1 << channel);
+#endif
+ }
+#endif
+}
+
+/**
+ * @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) {
+ (void)extp;
+#if EXT_PC_NUM_CHANNELS > 0
+ if (EXT_PC_MIN_CHANNEL <= channel && channel <= EXT_PC_MAX_CHANNEL) {
+ uint8_t port = (channel - EXT_PC_MIN_CHANNEL) / 8;
+
+ /* Clear bit in mask */
+ (*(PCMSK[port])) &= ~(_BV((channel - EXT_PC_MIN_CHANNEL) % 8));
+
+ /* Disable interrupt if no bits are set */
+ if ((*(PCMSK[port])) == 0) {
+#if defined(__AVR_ATmega162__)
+ GICR &= ~(_BV(port) << 3);
+#else
+ PCICR |= ~(_BV(port));
+#endif
+ }
+ }
+#endif
+#if EXT_PC_NUM_CHANNELS > 0 && EXT_INT_NUM_CHANNELS > 0
+ else
+#endif
+#if EXT_INT_NUM_CHANNELS > 0
+ if (channel <= EXT_INT_MAX_CHANNEL) {
+#if defined(__AVR_ATmega162__)
+ GICR &= ~((1 << channel) << 5);
+#else
+ /* Enables/disables the peripheral, as requested. */
+ EIMSK &= ~(1 << channel);
+#endif
+ }
+#endif
+}
+
+#endif /* HAL_USE_EXT */
+
+/** @} */
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