From 50b0e64179d55478206b7a3a6fc8e852d12d373d Mon Sep 17 00:00:00 2001 From: Giovanni Di Sirio Date: Sat, 2 Apr 2016 09:43:49 +0000 Subject: AVR HAL LLD files renamed. git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9219 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/hal/ports/AVR/adc_lld.c | 190 ------------- os/hal/ports/AVR/adc_lld.h | 198 ------------- os/hal/ports/AVR/gpt_lld.c | 350 ----------------------- os/hal/ports/AVR/gpt_lld.h | 221 --------------- os/hal/ports/AVR/hal_adc_lld.c | 190 +++++++++++++ os/hal/ports/AVR/hal_adc_lld.h | 198 +++++++++++++ os/hal/ports/AVR/hal_gpt_lld.c | 350 +++++++++++++++++++++++ os/hal/ports/AVR/hal_gpt_lld.h | 221 +++++++++++++++ os/hal/ports/AVR/hal_i2c_lld.c | 266 ++++++++++++++++++ os/hal/ports/AVR/hal_i2c_lld.h | 220 +++++++++++++++ os/hal/ports/AVR/hal_icu_lld.c | 336 ++++++++++++++++++++++ os/hal/ports/AVR/hal_icu_lld.h | 195 +++++++++++++ os/hal/ports/AVR/hal_pal_lld.c | 156 +++++++++++ os/hal/ports/AVR/hal_pal_lld.h | 336 ++++++++++++++++++++++ os/hal/ports/AVR/hal_pwm_lld.c | 566 ++++++++++++++++++++++++++++++++++++++ os/hal/ports/AVR/hal_pwm_lld.h | 233 ++++++++++++++++ os/hal/ports/AVR/hal_serial_lld.c | 378 +++++++++++++++++++++++++ os/hal/ports/AVR/hal_serial_lld.h | 158 +++++++++++ os/hal/ports/AVR/hal_spi_lld.c | 420 ++++++++++++++++++++++++++++ os/hal/ports/AVR/hal_spi_lld.h | 226 +++++++++++++++ os/hal/ports/AVR/hal_st_lld.c | 222 +++++++++++++++ os/hal/ports/AVR/hal_st_lld.h | 157 +++++++++++ os/hal/ports/AVR/i2c_lld.c | 266 ------------------ os/hal/ports/AVR/i2c_lld.h | 220 --------------- os/hal/ports/AVR/icu_lld.c | 336 ---------------------- os/hal/ports/AVR/icu_lld.h | 195 ------------- os/hal/ports/AVR/pal_lld.c | 156 ----------- os/hal/ports/AVR/pal_lld.h | 336 ---------------------- os/hal/ports/AVR/platform.mk | 18 +- os/hal/ports/AVR/pwm_lld.c | 566 -------------------------------------- os/hal/ports/AVR/pwm_lld.h | 233 ---------------- os/hal/ports/AVR/serial_lld.c | 378 ------------------------- os/hal/ports/AVR/serial_lld.h | 158 ----------- os/hal/ports/AVR/spi_lld.c | 420 ---------------------------- os/hal/ports/AVR/spi_lld.h | 226 --------------- os/hal/ports/AVR/st_lld.c | 222 --------------- os/hal/ports/AVR/st_lld.h | 157 ----------- 37 files changed, 4837 insertions(+), 4837 deletions(-) delete mode 100644 os/hal/ports/AVR/adc_lld.c delete mode 100644 os/hal/ports/AVR/adc_lld.h delete mode 100644 os/hal/ports/AVR/gpt_lld.c delete mode 100644 os/hal/ports/AVR/gpt_lld.h create mode 100644 os/hal/ports/AVR/hal_adc_lld.c create mode 100644 os/hal/ports/AVR/hal_adc_lld.h create mode 100644 os/hal/ports/AVR/hal_gpt_lld.c create mode 100644 os/hal/ports/AVR/hal_gpt_lld.h create mode 100644 os/hal/ports/AVR/hal_i2c_lld.c create mode 100644 os/hal/ports/AVR/hal_i2c_lld.h create mode 100644 os/hal/ports/AVR/hal_icu_lld.c create mode 100644 os/hal/ports/AVR/hal_icu_lld.h create mode 100644 os/hal/ports/AVR/hal_pal_lld.c create mode 100644 os/hal/ports/AVR/hal_pal_lld.h create mode 100644 os/hal/ports/AVR/hal_pwm_lld.c create mode 100644 os/hal/ports/AVR/hal_pwm_lld.h create mode 100644 os/hal/ports/AVR/hal_serial_lld.c create mode 100644 os/hal/ports/AVR/hal_serial_lld.h create mode 100644 os/hal/ports/AVR/hal_spi_lld.c create mode 100644 os/hal/ports/AVR/hal_spi_lld.h create mode 100644 os/hal/ports/AVR/hal_st_lld.c create mode 100644 os/hal/ports/AVR/hal_st_lld.h delete mode 100644 os/hal/ports/AVR/i2c_lld.c delete mode 100644 os/hal/ports/AVR/i2c_lld.h delete mode 100644 os/hal/ports/AVR/icu_lld.c delete mode 100644 os/hal/ports/AVR/icu_lld.h delete mode 100644 os/hal/ports/AVR/pal_lld.c delete mode 100644 os/hal/ports/AVR/pal_lld.h delete mode 100644 os/hal/ports/AVR/pwm_lld.c delete mode 100644 os/hal/ports/AVR/pwm_lld.h delete mode 100644 os/hal/ports/AVR/serial_lld.c delete mode 100644 os/hal/ports/AVR/serial_lld.h delete mode 100644 os/hal/ports/AVR/spi_lld.c delete mode 100644 os/hal/ports/AVR/spi_lld.h delete mode 100644 os/hal/ports/AVR/st_lld.c delete mode 100644 os/hal/ports/AVR/st_lld.h (limited to 'os/hal') diff --git a/os/hal/ports/AVR/adc_lld.c b/os/hal/ports/AVR/adc_lld.c deleted file mode 100644 index 807411155..000000000 --- a/os/hal/ports/AVR/adc_lld.c +++ /dev/null @@ -1,190 +0,0 @@ -/* - 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 AVR/adc_lld.c - * @brief ADC Driver subsystem low level driver source. - * - * @addtogroup ADC - * @{ - */ - -#include "hal.h" - -#if HAL_USE_ADC || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver local definitions. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ -/** @brief ADC1 driver identifier.*/ -#if AVR_ADC_USE_ADC1 || defined(__DOXYGEN__) -ADCDriver ADCD1; -#endif -/*===========================================================================*/ -/* Driver local variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local functions. */ -/*===========================================================================*/ - -static size_t getAdcChannelNumberFromMask(uint8_t mask, uint8_t currentChannel) { - - for (uint8_t i = 0; mask > 0; i++) { - if (mask & 0x01) { - if (!currentChannel) - return i; - currentChannel--; - } - mask >>= 1; - } - - /* error, should never reach this line */ -} - -static void setAdcChannel(uint8_t channelNum) { - - ADMUX = (ADMUX & 0xf8) | (channelNum & 0x07); - -} - -/*===========================================================================*/ -/* Driver interrupt handlers. */ -/*===========================================================================*/ - -#include - -OSAL_IRQ_HANDLER(ADC_vect) { - - OSAL_IRQ_PROLOGUE(); - uint8_t low = ADCL; - uint8_t high = ADCH; - uint16_t result = (high << 8) | low; - - ADCD1.samples[ADCD1.currentBufferPosition] = result; - ADCD1.currentBufferPosition++; - - size_t bufferSize = ADCD1.depth * ADCD1.grpp->num_channels; - size_t currentChannel = ADCD1.currentBufferPosition % ADCD1.grpp->num_channels; - size_t currentIteration = ADCD1.currentBufferPosition / ADCD1.grpp->num_channels; - if (ADCD1.grpp->circular && currentChannel == 0 && currentIteration == ADCD1.depth/2) { - _adc_isr_half_code(&ADCD1); - } - - if (ADCD1.currentBufferPosition == bufferSize) { - _adc_isr_full_code(&ADCD1); - } else { - setAdcChannel(getAdcChannelNumberFromMask(ADCD1.grpp->channelsMask,currentChannel)); - ADCSRA |= 1 << ADSC; - } - - OSAL_IRQ_EPILOGUE(); -} - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief Low level ADC driver initialization. - * - * @notapi - */ -void adc_lld_init(void) { - - adcObjectInit(&ADCD1); - - //prescaler 128, only value possible at 20Mhz, interrupt - ADCSRA = (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0) | (1 << ADIE); - - ADCSRB = 0; //single shot - - //uso aref, only valid for arduino. arduino ha aref collegato - ADMUX = (0 << REFS1) | (0 << REFS0); - -} - -/** - * @brief Configures and activates the ADC peripheral. - * - * @param[in] adcp pointer to the @p ADCDriver object - * - * @notapi - */ -void adc_lld_start(ADCDriver *adcp) { - - if (adcp->state == ADC_STOP) { - /* Clock activation.*/ - ADCSRA |= (1 << ADEN); - } - - if (adcp->config != NULL) { - ADMUX = (adcp->config->analog_reference << REFS0); - } -} - -/** - * @brief Deactivates the ADC peripheral. - * - * @param[in] adcp pointer to the @p ADCDriver object - * - * @notapi - */ -void adc_lld_stop(ADCDriver *adcp) { - - if (adcp->state == ADC_READY) { - /* Clock de-activation.*/ - ADCSRA &= ~(1 << ADEN); - } - -} - -/** - * @brief Starts an ADC conversion. - * - * @param[in] adcp pointer to the @p ADCDriver object - * - * @notapi - */ -void adc_lld_start_conversion(ADCDriver *adcp) { - - adcp->currentBufferPosition=0; - - setAdcChannel(getAdcChannelNumberFromMask(adcp->grpp->channelsMask,0)); - ADCSRA |= 1 << ADSC; - -} - -/** - * @brief Stops an ongoing conversion. - * - * @param[in] adcp pointer to the @p ADCDriver object - * - * @notapi - */ -void adc_lld_stop_conversion(ADCDriver *adcp) { - - ADCSRA &= ~(1 << ADSC); - -} - -#endif /* HAL_USE_ADC */ - -/** @} */ diff --git a/os/hal/ports/AVR/adc_lld.h b/os/hal/ports/AVR/adc_lld.h deleted file mode 100644 index 9e9ac6b8a..000000000 --- a/os/hal/ports/AVR/adc_lld.h +++ /dev/null @@ -1,198 +0,0 @@ -/* - 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 AVR/adc_lld.h - * @brief ADC Driver subsystem low level driver source. - * - * @addtogroup ADC - * @{ - */ - -#ifndef _ADC_LLD_H_ -#define _ADC_LLD_H_ - -#if HAL_USE_ADC || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver constants. */ -/*===========================================================================*/ - -#define ANALOG_REFERENCE_AREF 0 -#define ANALOG_REFERENCE_AVCC 1 -#define ANALOG_REFERENCE_1V1 2 -#define ANALOG_REFERENCE_2V56 3 - -/*===========================================================================*/ -/* Driver pre-compile time settings. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -#if !CH_USE_SEMAPHORES -#error "the ADC driver requires CH_USE_SEMAPHORES" -#endif - -/*===========================================================================*/ -/* Driver data structures and types. */ -/*===========================================================================*/ - -/** - * @brief ADC sample data type. - */ -typedef uint16_t adcsample_t; - -/** - * @brief Channels number in a conversion group. - */ -typedef uint16_t adc_channels_num_t; - -/** - * @brief Type of a structure representing an ADC driver. - */ -typedef struct ADCDriver ADCDriver; - -/** - * @brief ADC notification callback type. - * - * @param[in] adcp pointer to the @p ADCDriver object triggering the - * callback - * @param[in] buffer pointer to the most recent samples data - * @param[in] n number of buffer rows available starting from @p buffer - */ -typedef void (*adccallback_t)(ADCDriver *adcp, adcsample_t *buffer, size_t n); - -/** - * @brief Conversion group configuration structure. - * @details This implementation-dependent structure describes a conversion - * operation. - * @note Implementations may extend this structure to contain more, - * architecture dependent, fields. - */ -typedef struct { - /** - * @brief Enables the circular buffer mode for the group. - */ - bool_t circular; - /** - * @brief Number of the analog channels belonging to the conversion group. - */ - adc_channels_num_t num_channels; - /** - * @brief Callback function associated to the group or @p NULL. - */ - adccallback_t end_cb; - /* End of the mandatory fields.*/ - - uint8_t channelsMask; - -} ADCConversionGroup; - -/** - * @brief Driver configuration structure. - * @note Implementations may extend this structure to contain more, - * architecture dependent, fields. - * @note It could be empty on some architectures. - */ -typedef struct { - - uint8_t analog_reference; - -} ADCConfig; - -/** - * @brief Structure representing an ADC driver. - * @note Implementations may extend this structure to contain more, - * architecture dependent, fields. - */ -struct ADCDriver { - /** - * @brief Driver state. - */ - adcstate_t state; - /** - * @brief Current configuration data. - */ - const ADCConfig *config; - /** - * @brief Current samples buffer pointer or @p NULL. - */ - adcsample_t *samples; - /** - * @brief Current samples buffer depth or @p 0. - */ - size_t depth; - /** - * @brief Current conversion group pointer or @p NULL. - */ - const ADCConversionGroup *grpp; -#if ADC_USE_WAIT || defined(__DOXYGEN__) - /** - * @brief Waiting thread. - */ - Thread *thread; -#endif /* ADC_USE_WAIT */ -#if ADC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) -#if CH_USE_MUTEXES || defined(__DOXYGEN__) - /** - * @brief Mutex protecting the peripheral. - */ - Mutex mutex; -#elif CH_USE_SEMAPHORES - Semaphore semaphore; -#endif -#endif /* ADC_USE_MUTUAL_EXCLUSION */ -#if defined(ADC_DRIVER_EXT_FIELDS) - ADC_DRIVER_EXT_FIELDS -#endif - /* End of the mandatory fields.*/ - /** - * @brief Current position in the buffer. - */ - size_t currentBufferPosition; -}; - -/*===========================================================================*/ -/* Driver macros. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* External declarations. */ -/*===========================================================================*/ - -#if AVR_ADC_USE_ADC1 && !defined(__DOXYGEN__) -extern ADCDriver ADCD1; -#endif - -#ifdef __cplusplus -extern "C" { -#endif - void adc_lld_init(void); - void adc_lld_start(ADCDriver *adcp); - void adc_lld_stop(ADCDriver *adcp); - void adc_lld_start_conversion(ADCDriver *adcp); - void adc_lld_stop_conversion(ADCDriver *adcp); -#ifdef __cplusplus -} -#endif - -#endif /* HAL_USE_ADC */ - -#endif /* _ADC_LLD_H_ */ - -/** @} */ diff --git a/os/hal/ports/AVR/gpt_lld.c b/os/hal/ports/AVR/gpt_lld.c deleted file mode 100644 index 8bf0f13cf..000000000 --- a/os/hal/ports/AVR/gpt_lld.c +++ /dev/null @@ -1,350 +0,0 @@ -/* - 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. -*/ - -/* - This driver is based on the work done by Matteo Serva available at - http://github.com/matteoserva/ChibiOS-AVR -*/ - -/** - * @file AVR/gpt_lld.c - * @brief AVR GPT driver subsystem low level driver. - * - * @addtogroup GPT - * @{ - */ - -#include "hal.h" - -#if HAL_USE_GPT || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver local definitions. */ -/*===========================================================================*/ - -#define PRESCALER_SIZE_BASE 5 -#define PRESCALER_SIZE_EXTENDED 7 - -// FIXME: could use better names here! -typedef struct { - volatile uint8_t *tccra; - volatile uint8_t *tccrb; - volatile uint8_t *ocr1; - volatile uint8_t *ocr2; - volatile uint8_t *tcnt1; - volatile uint8_t *tcnt2; - volatile uint8_t *tifr; - volatile uint8_t *timsk; -} timer_registers_t; - -const timer_registers_t regs_table[] = { -#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) - { &TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &TCNT1H, &TCNT1L, &TIFR1, &TIMSK1 }, -#endif -#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) - { &TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &TCNT2, &TCNT2, &TIFR2, &TIMSK2 }, -#endif -#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) - { &TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &TCNT3H, &TCNT3L, &TIFR3, &TIMSK3 }, -#endif -#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) - { &TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &TCNT4H, &TCNT4L, &TIFR4, &TIMSK4 }, -#endif -#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) - { &TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &TCNT5H, &TCNT5L, &TIFR5, &TIMSK5 }, -#endif -}; - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) -GPTDriver GPTD1; -#endif -#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) -GPTDriver GPTD2; -#endif -#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) -GPTDriver GPTD3; -#endif -#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) -GPTDriver GPTD4; -#endif -#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) -GPTDriver GPTD5; -#endif - -/*===========================================================================*/ -/* Driver local variables. */ -/*===========================================================================*/ - -static uint16_t ratio_base[] = { 1024, 256, 64, 8, 1 }; -static uint8_t clock_source_base[]= { 5, 4, 3, 2, 1 }; -static uint16_t ratio_extended[] = { 1024, 256, 128, 64, 32, 8, 1 }; -static uint8_t clock_source_extended[] = { 7, 6, 5, 4, 3, 2, 1 }; - -/*===========================================================================*/ -/* Driver local functions. */ -/*===========================================================================*/ - -static uint8_t prescaler(uint16_t freq, uint16_t *ratio, uint8_t n) -{ - uint8_t i; - for (i = 0; i < n; ++i) { - uint32_t result = F_CPU / ratio[i] / freq; - if (result > 256UL) - return i - 1; - if ((result * ratio[i] * freq) == F_CPU) - return i; - } -} - -static void gpt_lld_serve_interrupt(GPTDriver *gptp) -{ - gptp->counter++; - if (gptp->counter == gptp->period) { - gptp->counter = 0; - if (gptp->state == GPT_ONESHOT) { - gptp->state = GPT_READY; /* Back in GPT_READY state. */ - gpt_lld_stop_timer(gptp); /* Timer automatically stopped. */ - } - gptp->callback(gptp); - } -} - -static void gpt_lld_dummy_callback(GPTDriver *gptp) -{ -} - -static uint8_t getTimerIndex(GPTDriver *gptp) -{ - uint8_t index = 0; -#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) - if (gptp == &GPTD1) return index; - else index++; -#endif -#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) - if (gptp == &GPTD2) return index; - else index++; -#endif -#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) - if (gptp == &GPTD3) return index; - else index++; -#endif -#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) - if (gptp == &GPTD4) return index; - else index++; -#endif -#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) - if (gptp == &GPTD5) return index; - else index++; -#endif -} - -/*===========================================================================*/ -/* Driver interrupt handlers. */ -/*===========================================================================*/ - -#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER1_COMPA_vect) -{ - OSAL_IRQ_PROLOGUE(); - gpt_lld_serve_interrupt(&GPTD1); - OSAL_IRQ_EPILOGUE(); -} -#endif - -#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER2_COMPA_vect) -{ - OSAL_IRQ_PROLOGUE(); - gpt_lld_serve_interrupt(&GPTD2); - OSAL_IRQ_EPILOGUE(); -} -#endif - -#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER3_COMPA_vect) -{ - OSAL_IRQ_PROLOGUE(); - gpt_lld_serve_interrupt(&GPTD3); - OSAL_IRQ_EPILOGUE(); -} -#endif - -#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER4_COMPA_vect) -{ - OSAL_IRQ_PROLOGUE(); - gpt_lld_serve_interrupt(&GPTD4); - OSAL_IRQ_EPILOGUE(); -} -#endif - -#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER5_COMPA_vect) -{ - OSAL_IRQ_PROLOGUE(); - gpt_lld_serve_interrupt(&GPTD5); - OSAL_IRQ_EPILOGUE(); -} -#endif - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief Low level GPT driver initialization. - * - * @notapi - */ -void gpt_lld_init(void) -{ -#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) - gptObjectInit(&GPTD1); -#endif -#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) - gptObjectInit(&GPTD2); -#endif -#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) - gptObjectInit(&GPTD3); -#endif -#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) - gptObjectInit(&GPTD4); -#endif -#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) - gptObjectInit(&GPTD5); -#endif -} - -/** - * @brief Configures and activates the GPT peripheral. - * - * @param[in] gptp pointer to the @p GPTDriver object - * - * @notapi - */ -void gpt_lld_start(GPTDriver *gptp) -{ - uint8_t psc; - - if (gptp->state == GPT_STOP) { - /* Clock activation.*/ - } - - /* Configuration.*/ - -#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) - if (gptp == &GPTD2) { - psc = prescaler(gptp->config->frequency, ratio_extended, PRESCALER_SIZE_EXTENDED); - gptp->clock_source = clock_source_extended[psc] & 0x07; - TCCR2A = (1 << WGM21) | (0 << WGM20); - TCCR2B = (0 << WGM22); - OCR2A = F_CPU / ratio_extended[psc] /gptp->config->frequency - 1; - return; - } -#endif - - uint8_t i = getTimerIndex(gptp); - psc = prescaler(gptp->config->frequency, ratio_base, PRESCALER_SIZE_BASE); - gptp->clock_source = clock_source_base[psc] & 0x07; - *regs_table[i].tccra = (0 << WGM11) | - (0 << WGM10) | - (0 << COM1A1) | - (0 << COM1A0) | - (0 << COM1B1) | - (0 << COM1B0); - *regs_table[i].tccrb = (1 << WGM12); - *regs_table[i].ocr1 = 0; - *regs_table[i].ocr2 = F_CPU / ratio_base[psc] / gptp->config->frequency - 1; -} - -/** - * @brief Deactivates the GPT peripheral. - * - * @param[in] gptp pointer to the @p GPTDriver object - * - * @notapi - */ -void gpt_lld_stop(GPTDriver *gptp) -{ - /* nothing to be done */ - if (gptp->state == GPT_READY) { - /* Clock de-activation.*/ - } - gpt_lld_stop_timer(gptp); -} - -/** - * @brief Starts the timer in continuous mode. - * - * @param[in] gptp pointer to the @p GPTDriver object - * @param[in] period period in ticks - * - * @notapi - */ -void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t period) -{ - gptp->callback = gptp->config->callback; - gptp->period = period; - gptp->counter = 0; - - uint8_t i = getTimerIndex(gptp); - *regs_table[i].tcnt1 = 0; - *regs_table[i].tcnt2 = 0; - *regs_table[i].tifr = (1 << OCF1A); - *regs_table[i].timsk = (1 << OCIE1A); - *regs_table[i].tccrb |= (gptp->clock_source << CS10); -} - -/** - * @brief Stops the timer. - * - * @param[in] gptp pointer to the @p GPTDriver object - * - * @notapi - */ -void gpt_lld_stop_timer(GPTDriver *gptp) -{ - uint8_t i = getTimerIndex(gptp); - *regs_table[i].tccrb &= ~((7 << CS10) | (1 << OCIE1A)); - *regs_table[i].tifr = (1 << OCF1A); -} - -/** - * @brief Starts the timer in one shot mode and waits for completion. - * @details This function specifically polls the timer waiting for completion - * in order to not have extra delays caused by interrupt servicing, - * this function is only recommended for short delays. - * - * @param[in] gptp pointer to the @p GPTDriver object - * @param[in] interval time interval in ticks - * - * @notapi - */ -void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval) -{ - gptp->callback = gpt_lld_dummy_callback; - gpt_lld_start_timer(gptp, interval); - //FIX - while (gptp->state != GPT_READY) {} -} - -#endif /* HAL_USE_GPT */ - -/** @} */ diff --git a/os/hal/ports/AVR/gpt_lld.h b/os/hal/ports/AVR/gpt_lld.h deleted file mode 100644 index 6e16ccf90..000000000 --- a/os/hal/ports/AVR/gpt_lld.h +++ /dev/null @@ -1,221 +0,0 @@ -/* - 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. -*/ - -/* - This driver is based on the work done by Matteo Serva available at - http://github.com/matteoserva/ChibiOS-AVR -*/ - -/** - * @file AVR/gpt_lld.h - * @brief AVR GPT driver subsystem low level driver. - * - * @addtogroup GPT - * @{ - */ - -#ifndef _GPT_LLD_H_ -#define _GPT_LLD_H_ - -#if HAL_USE_GPT || defined(__DOXYGEN__) - -#include "avr_timers.h" - -/*===========================================================================*/ -/* Driver constants. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver pre-compile time settings. */ -/*===========================================================================*/ - -/** - * @brief GPT1 driver enable switch. - * @details If set to @p TRUE the support for GPT1 is included. - * @note The default is @p FALSE. - */ -#if !defined(AVR_GPT_USE_TIM1) -#define AVR_GPT_USE_TIM1 FALSE -#endif - -/** - * @brief GPT2 driver enable switch. - * @details If set to @p TRUE the support for GPT2 is included. - * @note The default is @p FALSE. - */ -#if !defined(AVR_GPT_USE_TIM2) -#define AVR_GPT_USE_TIM2 FALSE -#endif - -/** - * @brief GPT3 driver enable switch. - * @details If set to @p TRUE the support for GPT3 is included. - * @note The default is @p FALSE. - */ -#if !defined(AVR_GPT_USE_TIM3) -#define AVR_GPT_USE_TIM3 FALSE -#endif - -/** - * @brief GPT4 driver enable switch. - * @details If set to @p TRUE the support for GPT4 is included. - * @note The default is @p FALSE. - */ -#if !defined(AVR_GPT_USE_TIM4) -#define AVR_GPT_USE_TIM4 FALSE -#endif - -/** - * @brief GPT5 driver enable switch. - * @details If set to @p TRUE the support for GPT5 is included. - * @note The default is @p FALSE. - */ -#if !defined(AVR_GPT_USE_TIM5) -#define AVR_GPT_USE_TIM5 FALSE -#endif - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver data structures and types. */ -/*===========================================================================*/ - -/** - * @brief GPT frequency type. - */ -typedef uint32_t gptfreq_t; - -/** - * @brief GPT counter type. - */ -typedef uint16_t gptcnt_t; - -/** - * @brief Driver configuration structure. - * @note It could be empty on some architectures. - */ -typedef struct { - /** - * @brief Timer clock in Hz. - * @note The low level can use assertions in order to catch invalid - * frequency specifications. - */ - gptfreq_t frequency; - /** - * @brief Timer callback pointer. - * @note This callback is invoked on GPT counter events. - */ - gptcallback_t callback; - /* End of the mandatory fields.*/ -} GPTConfig; - -/** - * @brief Structure representing a GPT driver. - */ -struct GPTDriver { - /** - * @brief Driver state. - */ - volatile gptstate_t state; - /** - * @brief Current configuration data. - */ - const GPTConfig *config; - -#if defined(GPT_DRIVER_EXT_FIELDS) - GPT_DRIVER_EXT_FIELDS -#endif - - /* End of the mandatory fields.*/ - /** - * @brief input clock from prescaler - */ - uint8_t clock_source; - /** - * @brief Lenght of the period in clock ticks - */ - gptcnt_t period; - /** - * @brief Current clock tick. - */ - gptcnt_t counter; - /** - * @brief Function called from the interrupt service routine - */ - gptcallback_t callback; -}; - -/*===========================================================================*/ -/* Driver macros. */ -/*===========================================================================*/ - -/** - * @brief Changes the interval of GPT peripheral. - * @details This function changes the interval of a running GPT unit. - * @pre The GPT unit must have been activated using @p gptStart(). - * @pre The GPT unit must have been running in continuous mode using - * @p gptStartContinuous(). - * @post The GPT unit interval is changed to the new value. - * @note The function has effect at the next cycle start. - * - * @param[in] gptp pointer to a @p GPTDriver object - * @param[in] interval new cycle time in timer ticks - * @notapi - */ - -// FIXME: placeholder to enable compile, should be implemented! -#define gpt_lld_change_interval(gptp, interval) - -/*===========================================================================*/ -/* External declarations. */ -/*===========================================================================*/ - -#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) -extern GPTDriver GPTD1; -#endif -#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) -extern GPTDriver GPTD2; -#endif -#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) -extern GPTDriver GPTD3; -#endif -#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) -extern GPTDriver GPTD4; -#endif -#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) -extern GPTDriver GPTD5; -#endif - -#ifdef __cplusplus -extern "C" { -#endif - void gpt_lld_init(void); - void gpt_lld_start(GPTDriver *gptp); - void gpt_lld_stop(GPTDriver *gptp); - void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t interval); - void gpt_lld_stop_timer(GPTDriver *gptp); - void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval); -#ifdef __cplusplus -} -#endif - -#endif /* HAL_USE_GPT */ - -#endif /* _GPT_LLD_H_ */ - -/** @} */ diff --git a/os/hal/ports/AVR/hal_adc_lld.c b/os/hal/ports/AVR/hal_adc_lld.c new file mode 100644 index 000000000..807411155 --- /dev/null +++ b/os/hal/ports/AVR/hal_adc_lld.c @@ -0,0 +1,190 @@ +/* + 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 AVR/adc_lld.c + * @brief ADC Driver subsystem low level driver source. + * + * @addtogroup ADC + * @{ + */ + +#include "hal.h" + +#if HAL_USE_ADC || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ +/** @brief ADC1 driver identifier.*/ +#if AVR_ADC_USE_ADC1 || defined(__DOXYGEN__) +ADCDriver ADCD1; +#endif +/*===========================================================================*/ +/* Driver local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static size_t getAdcChannelNumberFromMask(uint8_t mask, uint8_t currentChannel) { + + for (uint8_t i = 0; mask > 0; i++) { + if (mask & 0x01) { + if (!currentChannel) + return i; + currentChannel--; + } + mask >>= 1; + } + + /* error, should never reach this line */ +} + +static void setAdcChannel(uint8_t channelNum) { + + ADMUX = (ADMUX & 0xf8) | (channelNum & 0x07); + +} + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +#include + +OSAL_IRQ_HANDLER(ADC_vect) { + + OSAL_IRQ_PROLOGUE(); + uint8_t low = ADCL; + uint8_t high = ADCH; + uint16_t result = (high << 8) | low; + + ADCD1.samples[ADCD1.currentBufferPosition] = result; + ADCD1.currentBufferPosition++; + + size_t bufferSize = ADCD1.depth * ADCD1.grpp->num_channels; + size_t currentChannel = ADCD1.currentBufferPosition % ADCD1.grpp->num_channels; + size_t currentIteration = ADCD1.currentBufferPosition / ADCD1.grpp->num_channels; + if (ADCD1.grpp->circular && currentChannel == 0 && currentIteration == ADCD1.depth/2) { + _adc_isr_half_code(&ADCD1); + } + + if (ADCD1.currentBufferPosition == bufferSize) { + _adc_isr_full_code(&ADCD1); + } else { + setAdcChannel(getAdcChannelNumberFromMask(ADCD1.grpp->channelsMask,currentChannel)); + ADCSRA |= 1 << ADSC; + } + + OSAL_IRQ_EPILOGUE(); +} + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level ADC driver initialization. + * + * @notapi + */ +void adc_lld_init(void) { + + adcObjectInit(&ADCD1); + + //prescaler 128, only value possible at 20Mhz, interrupt + ADCSRA = (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0) | (1 << ADIE); + + ADCSRB = 0; //single shot + + //uso aref, only valid for arduino. arduino ha aref collegato + ADMUX = (0 << REFS1) | (0 << REFS0); + +} + +/** + * @brief Configures and activates the ADC peripheral. + * + * @param[in] adcp pointer to the @p ADCDriver object + * + * @notapi + */ +void adc_lld_start(ADCDriver *adcp) { + + if (adcp->state == ADC_STOP) { + /* Clock activation.*/ + ADCSRA |= (1 << ADEN); + } + + if (adcp->config != NULL) { + ADMUX = (adcp->config->analog_reference << REFS0); + } +} + +/** + * @brief Deactivates the ADC peripheral. + * + * @param[in] adcp pointer to the @p ADCDriver object + * + * @notapi + */ +void adc_lld_stop(ADCDriver *adcp) { + + if (adcp->state == ADC_READY) { + /* Clock de-activation.*/ + ADCSRA &= ~(1 << ADEN); + } + +} + +/** + * @brief Starts an ADC conversion. + * + * @param[in] adcp pointer to the @p ADCDriver object + * + * @notapi + */ +void adc_lld_start_conversion(ADCDriver *adcp) { + + adcp->currentBufferPosition=0; + + setAdcChannel(getAdcChannelNumberFromMask(adcp->grpp->channelsMask,0)); + ADCSRA |= 1 << ADSC; + +} + +/** + * @brief Stops an ongoing conversion. + * + * @param[in] adcp pointer to the @p ADCDriver object + * + * @notapi + */ +void adc_lld_stop_conversion(ADCDriver *adcp) { + + ADCSRA &= ~(1 << ADSC); + +} + +#endif /* HAL_USE_ADC */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_adc_lld.h b/os/hal/ports/AVR/hal_adc_lld.h new file mode 100644 index 000000000..9e9ac6b8a --- /dev/null +++ b/os/hal/ports/AVR/hal_adc_lld.h @@ -0,0 +1,198 @@ +/* + 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 AVR/adc_lld.h + * @brief ADC Driver subsystem low level driver source. + * + * @addtogroup ADC + * @{ + */ + +#ifndef _ADC_LLD_H_ +#define _ADC_LLD_H_ + +#if HAL_USE_ADC || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define ANALOG_REFERENCE_AREF 0 +#define ANALOG_REFERENCE_AVCC 1 +#define ANALOG_REFERENCE_1V1 2 +#define ANALOG_REFERENCE_2V56 3 + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !CH_USE_SEMAPHORES +#error "the ADC driver requires CH_USE_SEMAPHORES" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief ADC sample data type. + */ +typedef uint16_t adcsample_t; + +/** + * @brief Channels number in a conversion group. + */ +typedef uint16_t adc_channels_num_t; + +/** + * @brief Type of a structure representing an ADC driver. + */ +typedef struct ADCDriver ADCDriver; + +/** + * @brief ADC notification callback type. + * + * @param[in] adcp pointer to the @p ADCDriver object triggering the + * callback + * @param[in] buffer pointer to the most recent samples data + * @param[in] n number of buffer rows available starting from @p buffer + */ +typedef void (*adccallback_t)(ADCDriver *adcp, adcsample_t *buffer, size_t n); + +/** + * @brief Conversion group configuration structure. + * @details This implementation-dependent structure describes a conversion + * operation. + * @note Implementations may extend this structure to contain more, + * architecture dependent, fields. + */ +typedef struct { + /** + * @brief Enables the circular buffer mode for the group. + */ + bool_t circular; + /** + * @brief Number of the analog channels belonging to the conversion group. + */ + adc_channels_num_t num_channels; + /** + * @brief Callback function associated to the group or @p NULL. + */ + adccallback_t end_cb; + /* End of the mandatory fields.*/ + + uint8_t channelsMask; + +} ADCConversionGroup; + +/** + * @brief Driver configuration structure. + * @note Implementations may extend this structure to contain more, + * architecture dependent, fields. + * @note It could be empty on some architectures. + */ +typedef struct { + + uint8_t analog_reference; + +} ADCConfig; + +/** + * @brief Structure representing an ADC driver. + * @note Implementations may extend this structure to contain more, + * architecture dependent, fields. + */ +struct ADCDriver { + /** + * @brief Driver state. + */ + adcstate_t state; + /** + * @brief Current configuration data. + */ + const ADCConfig *config; + /** + * @brief Current samples buffer pointer or @p NULL. + */ + adcsample_t *samples; + /** + * @brief Current samples buffer depth or @p 0. + */ + size_t depth; + /** + * @brief Current conversion group pointer or @p NULL. + */ + const ADCConversionGroup *grpp; +#if ADC_USE_WAIT || defined(__DOXYGEN__) + /** + * @brief Waiting thread. + */ + Thread *thread; +#endif /* ADC_USE_WAIT */ +#if ADC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) +#if CH_USE_MUTEXES || defined(__DOXYGEN__) + /** + * @brief Mutex protecting the peripheral. + */ + Mutex mutex; +#elif CH_USE_SEMAPHORES + Semaphore semaphore; +#endif +#endif /* ADC_USE_MUTUAL_EXCLUSION */ +#if defined(ADC_DRIVER_EXT_FIELDS) + ADC_DRIVER_EXT_FIELDS +#endif + /* End of the mandatory fields.*/ + /** + * @brief Current position in the buffer. + */ + size_t currentBufferPosition; +}; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if AVR_ADC_USE_ADC1 && !defined(__DOXYGEN__) +extern ADCDriver ADCD1; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void adc_lld_init(void); + void adc_lld_start(ADCDriver *adcp); + void adc_lld_stop(ADCDriver *adcp); + void adc_lld_start_conversion(ADCDriver *adcp); + void adc_lld_stop_conversion(ADCDriver *adcp); +#ifdef __cplusplus +} +#endif + +#endif /* HAL_USE_ADC */ + +#endif /* _ADC_LLD_H_ */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_gpt_lld.c b/os/hal/ports/AVR/hal_gpt_lld.c new file mode 100644 index 000000000..8bf0f13cf --- /dev/null +++ b/os/hal/ports/AVR/hal_gpt_lld.c @@ -0,0 +1,350 @@ +/* + 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. +*/ + +/* + This driver is based on the work done by Matteo Serva available at + http://github.com/matteoserva/ChibiOS-AVR +*/ + +/** + * @file AVR/gpt_lld.c + * @brief AVR GPT driver subsystem low level driver. + * + * @addtogroup GPT + * @{ + */ + +#include "hal.h" + +#if HAL_USE_GPT || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +#define PRESCALER_SIZE_BASE 5 +#define PRESCALER_SIZE_EXTENDED 7 + +// FIXME: could use better names here! +typedef struct { + volatile uint8_t *tccra; + volatile uint8_t *tccrb; + volatile uint8_t *ocr1; + volatile uint8_t *ocr2; + volatile uint8_t *tcnt1; + volatile uint8_t *tcnt2; + volatile uint8_t *tifr; + volatile uint8_t *timsk; +} timer_registers_t; + +const timer_registers_t regs_table[] = { +#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) + { &TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &TCNT1H, &TCNT1L, &TIFR1, &TIMSK1 }, +#endif +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) + { &TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &TCNT2, &TCNT2, &TIFR2, &TIMSK2 }, +#endif +#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) + { &TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &TCNT3H, &TCNT3L, &TIFR3, &TIMSK3 }, +#endif +#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) + { &TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &TCNT4H, &TCNT4L, &TIFR4, &TIMSK4 }, +#endif +#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) + { &TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &TCNT5H, &TCNT5L, &TIFR5, &TIMSK5 }, +#endif +}; + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) +GPTDriver GPTD1; +#endif +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) +GPTDriver GPTD2; +#endif +#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) +GPTDriver GPTD3; +#endif +#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) +GPTDriver GPTD4; +#endif +#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) +GPTDriver GPTD5; +#endif + +/*===========================================================================*/ +/* Driver local variables. */ +/*===========================================================================*/ + +static uint16_t ratio_base[] = { 1024, 256, 64, 8, 1 }; +static uint8_t clock_source_base[]= { 5, 4, 3, 2, 1 }; +static uint16_t ratio_extended[] = { 1024, 256, 128, 64, 32, 8, 1 }; +static uint8_t clock_source_extended[] = { 7, 6, 5, 4, 3, 2, 1 }; + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static uint8_t prescaler(uint16_t freq, uint16_t *ratio, uint8_t n) +{ + uint8_t i; + for (i = 0; i < n; ++i) { + uint32_t result = F_CPU / ratio[i] / freq; + if (result > 256UL) + return i - 1; + if ((result * ratio[i] * freq) == F_CPU) + return i; + } +} + +static void gpt_lld_serve_interrupt(GPTDriver *gptp) +{ + gptp->counter++; + if (gptp->counter == gptp->period) { + gptp->counter = 0; + if (gptp->state == GPT_ONESHOT) { + gptp->state = GPT_READY; /* Back in GPT_READY state. */ + gpt_lld_stop_timer(gptp); /* Timer automatically stopped. */ + } + gptp->callback(gptp); + } +} + +static void gpt_lld_dummy_callback(GPTDriver *gptp) +{ +} + +static uint8_t getTimerIndex(GPTDriver *gptp) +{ + uint8_t index = 0; +#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) + if (gptp == &GPTD1) return index; + else index++; +#endif +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) + if (gptp == &GPTD2) return index; + else index++; +#endif +#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) + if (gptp == &GPTD3) return index; + else index++; +#endif +#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) + if (gptp == &GPTD4) return index; + else index++; +#endif +#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) + if (gptp == &GPTD5) return index; + else index++; +#endif +} + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER1_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + gpt_lld_serve_interrupt(&GPTD1); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER2_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + gpt_lld_serve_interrupt(&GPTD2); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER3_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + gpt_lld_serve_interrupt(&GPTD3); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER4_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + gpt_lld_serve_interrupt(&GPTD4); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER5_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + gpt_lld_serve_interrupt(&GPTD5); + OSAL_IRQ_EPILOGUE(); +} +#endif + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level GPT driver initialization. + * + * @notapi + */ +void gpt_lld_init(void) +{ +#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) + gptObjectInit(&GPTD1); +#endif +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) + gptObjectInit(&GPTD2); +#endif +#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) + gptObjectInit(&GPTD3); +#endif +#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) + gptObjectInit(&GPTD4); +#endif +#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) + gptObjectInit(&GPTD5); +#endif +} + +/** + * @brief Configures and activates the GPT peripheral. + * + * @param[in] gptp pointer to the @p GPTDriver object + * + * @notapi + */ +void gpt_lld_start(GPTDriver *gptp) +{ + uint8_t psc; + + if (gptp->state == GPT_STOP) { + /* Clock activation.*/ + } + + /* Configuration.*/ + +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) + if (gptp == &GPTD2) { + psc = prescaler(gptp->config->frequency, ratio_extended, PRESCALER_SIZE_EXTENDED); + gptp->clock_source = clock_source_extended[psc] & 0x07; + TCCR2A = (1 << WGM21) | (0 << WGM20); + TCCR2B = (0 << WGM22); + OCR2A = F_CPU / ratio_extended[psc] /gptp->config->frequency - 1; + return; + } +#endif + + uint8_t i = getTimerIndex(gptp); + psc = prescaler(gptp->config->frequency, ratio_base, PRESCALER_SIZE_BASE); + gptp->clock_source = clock_source_base[psc] & 0x07; + *regs_table[i].tccra = (0 << WGM11) | + (0 << WGM10) | + (0 << COM1A1) | + (0 << COM1A0) | + (0 << COM1B1) | + (0 << COM1B0); + *regs_table[i].tccrb = (1 << WGM12); + *regs_table[i].ocr1 = 0; + *regs_table[i].ocr2 = F_CPU / ratio_base[psc] / gptp->config->frequency - 1; +} + +/** + * @brief Deactivates the GPT peripheral. + * + * @param[in] gptp pointer to the @p GPTDriver object + * + * @notapi + */ +void gpt_lld_stop(GPTDriver *gptp) +{ + /* nothing to be done */ + if (gptp->state == GPT_READY) { + /* Clock de-activation.*/ + } + gpt_lld_stop_timer(gptp); +} + +/** + * @brief Starts the timer in continuous mode. + * + * @param[in] gptp pointer to the @p GPTDriver object + * @param[in] period period in ticks + * + * @notapi + */ +void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t period) +{ + gptp->callback = gptp->config->callback; + gptp->period = period; + gptp->counter = 0; + + uint8_t i = getTimerIndex(gptp); + *regs_table[i].tcnt1 = 0; + *regs_table[i].tcnt2 = 0; + *regs_table[i].tifr = (1 << OCF1A); + *regs_table[i].timsk = (1 << OCIE1A); + *regs_table[i].tccrb |= (gptp->clock_source << CS10); +} + +/** + * @brief Stops the timer. + * + * @param[in] gptp pointer to the @p GPTDriver object + * + * @notapi + */ +void gpt_lld_stop_timer(GPTDriver *gptp) +{ + uint8_t i = getTimerIndex(gptp); + *regs_table[i].tccrb &= ~((7 << CS10) | (1 << OCIE1A)); + *regs_table[i].tifr = (1 << OCF1A); +} + +/** + * @brief Starts the timer in one shot mode and waits for completion. + * @details This function specifically polls the timer waiting for completion + * in order to not have extra delays caused by interrupt servicing, + * this function is only recommended for short delays. + * + * @param[in] gptp pointer to the @p GPTDriver object + * @param[in] interval time interval in ticks + * + * @notapi + */ +void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval) +{ + gptp->callback = gpt_lld_dummy_callback; + gpt_lld_start_timer(gptp, interval); + //FIX + while (gptp->state != GPT_READY) {} +} + +#endif /* HAL_USE_GPT */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_gpt_lld.h b/os/hal/ports/AVR/hal_gpt_lld.h new file mode 100644 index 000000000..6e16ccf90 --- /dev/null +++ b/os/hal/ports/AVR/hal_gpt_lld.h @@ -0,0 +1,221 @@ +/* + 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. +*/ + +/* + This driver is based on the work done by Matteo Serva available at + http://github.com/matteoserva/ChibiOS-AVR +*/ + +/** + * @file AVR/gpt_lld.h + * @brief AVR GPT driver subsystem low level driver. + * + * @addtogroup GPT + * @{ + */ + +#ifndef _GPT_LLD_H_ +#define _GPT_LLD_H_ + +#if HAL_USE_GPT || defined(__DOXYGEN__) + +#include "avr_timers.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @brief GPT1 driver enable switch. + * @details If set to @p TRUE the support for GPT1 is included. + * @note The default is @p FALSE. + */ +#if !defined(AVR_GPT_USE_TIM1) +#define AVR_GPT_USE_TIM1 FALSE +#endif + +/** + * @brief GPT2 driver enable switch. + * @details If set to @p TRUE the support for GPT2 is included. + * @note The default is @p FALSE. + */ +#if !defined(AVR_GPT_USE_TIM2) +#define AVR_GPT_USE_TIM2 FALSE +#endif + +/** + * @brief GPT3 driver enable switch. + * @details If set to @p TRUE the support for GPT3 is included. + * @note The default is @p FALSE. + */ +#if !defined(AVR_GPT_USE_TIM3) +#define AVR_GPT_USE_TIM3 FALSE +#endif + +/** + * @brief GPT4 driver enable switch. + * @details If set to @p TRUE the support for GPT4 is included. + * @note The default is @p FALSE. + */ +#if !defined(AVR_GPT_USE_TIM4) +#define AVR_GPT_USE_TIM4 FALSE +#endif + +/** + * @brief GPT5 driver enable switch. + * @details If set to @p TRUE the support for GPT5 is included. + * @note The default is @p FALSE. + */ +#if !defined(AVR_GPT_USE_TIM5) +#define AVR_GPT_USE_TIM5 FALSE +#endif + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief GPT frequency type. + */ +typedef uint32_t gptfreq_t; + +/** + * @brief GPT counter type. + */ +typedef uint16_t gptcnt_t; + +/** + * @brief Driver configuration structure. + * @note It could be empty on some architectures. + */ +typedef struct { + /** + * @brief Timer clock in Hz. + * @note The low level can use assertions in order to catch invalid + * frequency specifications. + */ + gptfreq_t frequency; + /** + * @brief Timer callback pointer. + * @note This callback is invoked on GPT counter events. + */ + gptcallback_t callback; + /* End of the mandatory fields.*/ +} GPTConfig; + +/** + * @brief Structure representing a GPT driver. + */ +struct GPTDriver { + /** + * @brief Driver state. + */ + volatile gptstate_t state; + /** + * @brief Current configuration data. + */ + const GPTConfig *config; + +#if defined(GPT_DRIVER_EXT_FIELDS) + GPT_DRIVER_EXT_FIELDS +#endif + + /* End of the mandatory fields.*/ + /** + * @brief input clock from prescaler + */ + uint8_t clock_source; + /** + * @brief Lenght of the period in clock ticks + */ + gptcnt_t period; + /** + * @brief Current clock tick. + */ + gptcnt_t counter; + /** + * @brief Function called from the interrupt service routine + */ + gptcallback_t callback; +}; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/** + * @brief Changes the interval of GPT peripheral. + * @details This function changes the interval of a running GPT unit. + * @pre The GPT unit must have been activated using @p gptStart(). + * @pre The GPT unit must have been running in continuous mode using + * @p gptStartContinuous(). + * @post The GPT unit interval is changed to the new value. + * @note The function has effect at the next cycle start. + * + * @param[in] gptp pointer to a @p GPTDriver object + * @param[in] interval new cycle time in timer ticks + * @notapi + */ + +// FIXME: placeholder to enable compile, should be implemented! +#define gpt_lld_change_interval(gptp, interval) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__) +extern GPTDriver GPTD1; +#endif +#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__) +extern GPTDriver GPTD2; +#endif +#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__) +extern GPTDriver GPTD3; +#endif +#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__) +extern GPTDriver GPTD4; +#endif +#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__) +extern GPTDriver GPTD5; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void gpt_lld_init(void); + void gpt_lld_start(GPTDriver *gptp); + void gpt_lld_stop(GPTDriver *gptp); + void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t interval); + void gpt_lld_stop_timer(GPTDriver *gptp); + void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval); +#ifdef __cplusplus +} +#endif + +#endif /* HAL_USE_GPT */ + +#endif /* _GPT_LLD_H_ */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_i2c_lld.c b/os/hal/ports/AVR/hal_i2c_lld.c new file mode 100644 index 000000000..9d5bd4df0 --- /dev/null +++ b/os/hal/ports/AVR/hal_i2c_lld.c @@ -0,0 +1,266 @@ +/* + 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 AVR/i2c_lld.c + * @brief AVR I2C subsystem low level driver source. + * + * @addtogroup I2C + * @{ + */ + +#include "hal.h" + +#if HAL_USE_I2C || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** @brief I2C driver identifier.*/ +#if AVR_I2C_USE_I2C1 || defined(__DOXYGEN__) +I2CDriver I2CD1; +#endif + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +#if AVR_I2C_USE_I2C1 || defined(__DOXYGEN__) +/** + * @brief I2C event interrupt handler. + * + * @notapi + */ +OSAL_IRQ_HANDLER(TWI_vect) { + OSAL_IRQ_PROLOGUE(); + + I2CDriver *i2cp = &I2CD1; + + switch (TWSR & 0xF8) { + case TWI_START: + case TWI_REPEAT_START: + TWDR = (i2cp->addr << 1); + if ((i2cp->txbuf == NULL) || (i2cp->txbytes == 0) || (i2cp->txidx == i2cp->txbytes)) { + TWDR |= 0x01; + } + TWCR = ((1 << TWINT) | (1 << TWEN) | (1 << TWIE)); + break; + case TWI_MASTER_TX_ADDR_ACK: + case TWI_MASTER_TX_DATA_ACK: + if (i2cp->txidx < i2cp->txbytes) { + TWDR = i2cp->txbuf[i2cp->txidx++]; + TWCR = ((1 << TWINT) | (1 << TWEN) | (1 << TWIE)); + } else { + if (i2cp->rxbuf && i2cp->rxbytes) { + TWCR = ((1 << TWSTA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE)); + } else { + TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN)); + _i2c_wakeup_isr(i2cp); + } + } + break; + case TWI_MASTER_RX_ADDR_ACK: + if (i2cp->rxidx == (i2cp->rxbytes - 1)) { + TWCR = ((1 << TWINT) | (1 << TWEN) | (1 << TWIE)); + } else { + TWCR = ((1 << TWEA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE)); + } + break; + case TWI_MASTER_RX_DATA_ACK: + i2cp->rxbuf[i2cp->rxidx++] = TWDR; + if (i2cp->rxidx == (i2cp->rxbytes - 1)) { + TWCR = ((1 << TWINT) | (1 << TWEN) | (1 << TWIE)); + } else { + TWCR = ((1 << TWEA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE)); + } + break; + case TWI_MASTER_RX_DATA_NACK: + i2cp->rxbuf[i2cp->rxidx] = TWDR; + TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN)); + _i2c_wakeup_isr(i2cp); + case TWI_MASTER_TX_ADDR_NACK: + case TWI_MASTER_TX_DATA_NACK: + case TWI_MASTER_RX_ADDR_NACK: + i2cp->errors |= I2C_ACK_FAILURE; + break; + case TWI_ARBITRATION_LOST: + i2cp->errors |= I2C_ARBITRATION_LOST; + break; + case TWI_BUS_ERROR: + i2cp->errors |= I2C_BUS_ERROR; + break; + default: + /* FIXME: only gets here if there are other MASTERs in the bus */ + TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN)); + _i2c_wakeup_error_isr(i2cp); + } + + if (i2cp->errors != I2C_NO_ERROR) { + TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN)); + _i2c_wakeup_error_isr(i2cp); + } + + OSAL_IRQ_EPILOGUE(); +} +#endif /* AVR_I2C_USE_I2C1 */ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level I2C driver initialization. + * + * @notapi + */ +void i2c_lld_init(void) { + i2cObjectInit(&I2CD1); + I2CD1.thread = NULL; +} + +/** + * @brief Configures and activates the I2C peripheral. + * + * @param[in] i2cp pointer to the @p I2CDriver object + * + * @notapi + */ +void i2c_lld_start(I2CDriver *i2cp) { + uint32_t clock_speed = 100000; + + /* TODO: Test TWI without external pull-ups (use internal) */ + + /* Configure prescaler to 1 */ + TWSR &= 0xF8; + + if (i2cp->config != NULL) + clock_speed = i2cp->config->clock_speed; + + /* Configure baudrate */ + TWBR = ((F_CPU / clock_speed) - 16) / 2; +} + +/** + * @brief Deactivates the I2C peripheral. + * + * @param[in] i2cp pointer to the @p I2CDriver object + * + * @notapi + */ +void i2c_lld_stop(I2CDriver *i2cp) { + + if (i2cp->state != I2C_STOP) { + /* Disable TWI subsystem and stop all operations */ + TWCR &= ~(1 << TWEN); + } +} + +/** + * @brief Receives data via the I2C bus as master. + * + * @param[in] i2cp pointer to the @p I2CDriver object + * @param[in] addr slave device address + * @param[out] rxbuf pointer to the receive buffer + * @param[in] rxbytes number of bytes to be received + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_INFINITE no timeout. + * . + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. After a + * timeout the driver must be stopped and restarted + * because the bus is in an uncertain state. + * + * @notapi + */ +msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr, + uint8_t *rxbuf, size_t rxbytes, + systime_t timeout) { + i2cp->errors = I2C_NO_ERROR; + i2cp->addr = addr; + i2cp->txbuf = NULL; + i2cp->txbytes = 0; + i2cp->txidx = 0; + i2cp->rxbuf = rxbuf; + i2cp->rxbytes = rxbytes; + i2cp->rxidx = 0; + + /* Send START */ + TWCR = ((1 << TWSTA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE)); + + return osalThreadSuspendTimeoutS(&i2cp->thread, TIME_INFINITE); +} + +/** + * @brief Transmits data via the I2C bus as master. + * + * @param[in] i2cp pointer to the @p I2CDriver object + * @param[in] addr slave device address + * @param[in] txbuf pointer to the transmit buffer + * @param[in] txbytes number of bytes to be transmitted + * @param[out] rxbuf pointer to the receive buffer + * @param[in] rxbytes number of bytes to be received + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_INFINITE no timeout. + * . + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. After a + * timeout the driver must be stopped and restarted + * because the bus is in an uncertain state. + * + * @notapi + */ +msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr, + const uint8_t *txbuf, size_t txbytes, + uint8_t *rxbuf, size_t rxbytes, + systime_t timeout) { + i2cp->errors = I2C_NO_ERROR; + i2cp->addr = addr; + i2cp->txbuf = txbuf; + i2cp->txbytes = txbytes; + i2cp->txidx = 0; + i2cp->rxbuf = rxbuf; + i2cp->rxbytes = rxbytes; + i2cp->rxidx = 0; + + TWCR = ((1 << TWSTA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE)); + + return osalThreadSuspendTimeoutS(&i2cp->thread, TIME_INFINITE); +} + +#endif /* HAL_USE_I2C */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_i2c_lld.h b/os/hal/ports/AVR/hal_i2c_lld.h new file mode 100644 index 000000000..d9623647b --- /dev/null +++ b/os/hal/ports/AVR/hal_i2c_lld.h @@ -0,0 +1,220 @@ +/* + 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 AVR/i2c_lld.h + * @brief AVR I2C subsystem low level driver header. + * + * @addtogroup I2C + * @{ + */ + +#ifndef _I2C_LLD_H_ +#define _I2C_LLD_H_ + +#if HAL_USE_I2C || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** @brief START transmitted.*/ +#define TWI_START 0x08 +/** @brief Repeated START transmitted.*/ +#define TWI_REPEAT_START 0x10 +/** @brief Arbitration Lost.*/ +#define TWI_ARBITRATION_LOST 0x38 +/** @brief Bus errors.*/ +#define TWI_BUS_ERROR 0x00 + +/** @brief SLA+W transmitted with ACK response.*/ +#define TWI_MASTER_TX_ADDR_ACK 0x18 +/** @brief SLA+W transmitted with NACK response.*/ +#define TWI_MASTER_TX_ADDR_NACK 0x20 +/** @brief DATA transmitted with ACK response.*/ +#define TWI_MASTER_TX_DATA_ACK 0x28 +/** @brief DATA transmitted with NACK response.*/ +#define TWI_MASTER_TX_DATA_NACK 0x30 + +/** @brief SLA+R transmitted with ACK response.*/ +#define TWI_MASTER_RX_ADDR_ACK 0x40 +/** @brief SLA+R transmitted with NACK response.*/ +#define TWI_MASTER_RX_ADDR_NACK 0x48 +/** @brief DATA received with ACK response.*/ +#define TWI_MASTER_RX_DATA_ACK 0x50 +/** @brief DATA received with NACK response.*/ +#define TWI_MASTER_RX_DATA_NACK 0x58 + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief I2C driver enable switch. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p FALSE. + */ +#if !defined(AVR_I2C_USE_I2C1) || defined(__DOXYGEN__) +#define AVR_I2C_USE_I2C1 FALSE +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Type representing I2C address. + */ +typedef uint8_t i2caddr_t; + +/** + * @brief I2C Driver condition flags type. + */ +typedef uint8_t i2cflags_t; + +/** + * @brief Driver configuration structure. + * @note Implementations may extend this structure to contain more, + * architecture dependent, fields. + */ +typedef struct { + + /** + * @brief Specifies the I2C clock frequency. + */ + uint32_t clock_speed; + +} I2CConfig; + +/** + * @brief Structure representing an I2C driver. + */ +struct I2CDriver { + /** + * @brief Driver state. + */ + i2cstate_t state; + /** + * @brief Current configuration data. + */ + const I2CConfig *config; + /** + * @brief Error flags. + */ + i2cflags_t errors; +#if I2C_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) + /** + * @brief Mutex protecting the bus. + */ + mutex_t mutex; +#endif /* I2C_USE_MUTUAL_EXCLUSION */ +#if defined(I2C_DRIVER_EXT_FIELDS) + I2C_DRIVER_EXT_FIELDS +#endif + /* End of the mandatory fields.*/ + /** + * @brief Thread waiting for I/O completion. + */ + thread_reference_t thread; + /** + * @brief Address of slave device. + */ + i2caddr_t addr; + /** + * @brief Pointer to the buffer with data to send. + */ + const uint8_t *txbuf; + /** + * @brief Number of bytes of data to send. + */ + size_t txbytes; + /** + * @brief Current index in buffer when sending data. + */ + size_t txidx; + /** + * @brief Pointer to the buffer to put received data. + */ + uint8_t *rxbuf; + /** + * @brief Number of bytes of data to receive. + */ + size_t rxbytes; + /** + * @brief Current index in buffer when receiving data. + */ + size_t rxidx; +}; + +/** + * @brief Type of a structure representing an I2C driver. + */ +typedef struct I2CDriver I2CDriver; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/** + * @brief Get errors from I2C driver. + * + * @param[in] i2cp pointer to the @p I2CDriver object + * + * @notapi + */ +#define i2c_lld_get_errors(i2cp) ((i2cp)->errors) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if !defined(__DOXYGEN__) +#if AVR_I2C_USE_I2C1 +extern I2CDriver I2CD1; +#endif +#endif /* !defined(__DOXYGEN__) */ + +#ifdef __cplusplus +extern "C" { +#endif + void i2c_lld_init(void); + void i2c_lld_start(I2CDriver *i2cp); + void i2c_lld_stop(I2CDriver *i2cp); + msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr, + const uint8_t *txbuf, size_t txbytes, + uint8_t *rxbuf, size_t rxbytes, + systime_t timeout); + msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr, + uint8_t *rxbuf, size_t rxbytes, + systime_t timeout); +#ifdef __cplusplus +} +#endif + +#endif /* HAL_USE_I2C */ + +#endif /* _I2C_LLD_H_ */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_icu_lld.c b/os/hal/ports/AVR/hal_icu_lld.c new file mode 100644 index 000000000..2cdd1bc3c --- /dev/null +++ b/os/hal/ports/AVR/hal_icu_lld.c @@ -0,0 +1,336 @@ +/* + 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 AVR/icu_lld.c + * @brief AVR ICU driver subsystem low level driver source. + * + * @addtogroup ICU + * @{ + */ + +#include "hal.h" + +#if HAL_USE_ICU || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +typedef struct { + volatile uint8_t *tccra; + volatile uint8_t *tccrb; + volatile uint16_t *tcnt; + volatile uint8_t *timsk; +} icu_registers_t; + +static icu_registers_t regs_table[]= +{ +#if AVR_ICU_USE_TIM1 || defined(__DOXYGEN__) + {&TCCR1A, &TCCR1B, &TCNT1, &TIMSK1}, +#endif +#if AVR_ICU_USE_TIM3 || defined(__DOXYGEN__) + {&TCCR3A, &TCCR3B, &TCNT3, &TIMSK3}, +#endif +#if AVR_ICU_USE_TIM4 || defined(__DOXYGEN__) + {&TCCR4A, &TCCR4B, &TCNT4, &TIMSK4}, +#endif +#if AVR_ICU_USE_TIM5 || defined(__DOXYGEN__) + {&TCCR5A, &TCCR5B, &TCNT5, &TIMSK5}, +#endif +}; + + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** + * @brief ICU1 driver identifier. + */ +#if AVR_ICU_USE_TIM1 || defined(__DOXYGEN__) +ICUDriver ICUD1; +#endif +/** + * @brief ICU3 driver identifier. + */ +#if AVR_ICU_USE_TIM3 || defined(__DOXYGEN__) +ICUDriver ICUD3; +#endif +/** + * @brief ICU4 driver identifier. + */ +#if AVR_ICU_USE_TIM4 || defined(__DOXYGEN__) +ICUDriver ICUD4; +#endif +/** + * @brief ICU5 driver identifier. + */ +#if AVR_ICU_USE_TIM5 || defined(__DOXYGEN__) +ICUDriver ICUD5; +#endif + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static inline void handle_capture_isr(ICUDriver *icup, + volatile uint16_t *icr, + volatile uint8_t *tccrb, + volatile uint16_t *tcnt) +{ + uint16_t value = *icr; + uint8_t rising = (*tccrb & (1 << ICES1)) ? 1 : 0; + *tccrb ^= (1 << ICES1); + if ((icup->config->mode == ICU_INPUT_ACTIVE_HIGH && rising) || + (icup->config->mode == ICU_INPUT_ACTIVE_LOW && !rising)) { + icup->width = value; + if (icup->config->width_cb != NULL) + icup->config->width_cb(icup); + } else { + icup->period = value; + if (icup->config->period_cb != NULL) + icup->config->period_cb(icup); + /* Reset counter at the end of every cycle */ + *tcnt = 0; + } +} + +static uint8_t index(ICUDriver *icup) +{ + uint8_t index = 0; +#if AVR_ICU_USE_TIM1 || defined(__DOXYGEN__) + if (icup == &ICUD1) return index; + else index++; +#endif +#if AVR_ICU_USE_TIM3 || defined(__DOXYGEN__) + if (icup == &ICUD3) return index; + else index++; +#endif +#if AVR_ICU_USE_TIM4 || defined(__DOXYGEN__) + if (icup == &ICUD4) return index; + else index++; +#endif +#if AVR_ICU_USE_TIM5 || defined(__DOXYGEN__) + if (icup == &ICUD5) return index; + else index++; +#endif +} + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +#if AVR_ICU_USE_TIM1 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER1_CAPT_vect) +{ + OSAL_IRQ_PROLOGUE(); + handle_capture_isr(&ICUD1, &ICR1, &TCCR1B, &TCNT1); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER1_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + ICUD1.config->overflow_cb(&ICUD1); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_ICU_USE_TIM3 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER3_CAPT_vect) +{ + OSAL_IRQ_PROLOGUE(); + handle_capture_isr(&ICUD3, &ICR3, &TCCR3B, &TCNT3); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER3_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + ICUD3.config->overflow_cb(&ICUD3); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_ICU_USE_TIM4 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER4_CAPT_vect) +{ + OSAL_IRQ_PROLOGUE(); + handle_capture_isr(&ICUD4, &ICR4, &TCCR4B, &TCNT4); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER4_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + ICUD4.config->overflow_cb(&ICUD4); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_ICU_USE_TIM5 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER5_CAPT_vect) +{ + OSAL_IRQ_PROLOGUE(); + handle_capture_isr(&ICUD5, &ICR5, &TCCR5B, &TCNT5); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER5_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + ICUD5.config->overflow_cb(&ICUD5); + OSAL_IRQ_EPILOGUE(); +} +#endif + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level ICU driver initialization. + * + * @notapi + */ +void icu_lld_init(void) { + +#if AVR_ICU_USE_TIM1 + icuObjectInit(&ICUD1); +#endif +#if AVR_ICU_USE_TIM3 + icuObjectInit(&ICUD3); +#endif +#if AVR_ICU_USE_TIM4 + icuObjectInit(&ICUD4); +#endif +#if AVR_ICU_USE_TIM5 + icuObjectInit(&ICUD5); +#endif +} + +/** + * @brief Configures and activates the ICU peripheral. + * + * @param[in] icup pointer to the @p ICUDriver object + * + * @notapi + */ +void icu_lld_start(ICUDriver *icup) { + + if (icup->state == ICU_STOP) { + uint8_t i = index(icup); + /* Normal waveform generation (counts from 0 to 0xFFFF) */ + *regs_table[i].tccra &= ~((1 << WGM11) | (1 << WGM10)); + *regs_table[i].tccrb &= ~((1 << WGM13) | (1 << WGM12)); + /* Enable noise canceler, set prescale to CLK/1024 */ + *regs_table[i].tccrb |= (1 << ICNC1) | (1 << CS12) | (1 << CS10); + if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH) + *regs_table[i].tccrb |= (1 << ICES1); + else + *regs_table[i].tccrb &= ~(1 << ICES1); + } +} + +/** + * @brief Deactivates the ICU peripheral. + * + * @param[in] icup pointer to the @p ICUDriver object + * + * @notapi + */ +void icu_lld_stop(ICUDriver *icup) { + + if (icup->state == ICU_READY) { + /* Resets the peripheral.*/ + + /* Disables the peripheral.*/ +#if AVR_ICU_USE_TIM1 + if (&ICUD1 == icup) { + + } +#endif /* AVR_ICU_USE_TIM1 */ + } +} + +/** + * @brief Enables the input capture. + * + * @param[in] icup pointer to the @p ICUDriver object + * + * @notapi + */ +void icu_lld_enable(ICUDriver *icup) { + + uint8_t i = index(icup); + icup->width = icup->period = 0; + *regs_table[i].tcnt = 0; + *regs_table[i].timsk |= (1 << ICIE1); + if (icup->config->overflow_cb != NULL) + *regs_table[i].timsk |= (1 << TOIE1); +} + +/** + * @brief Disables the input capture. + * + * @param[in] icup pointer to the @p ICUDriver object + * + * @notapi + */ +void icu_lld_disable(ICUDriver *icup) { + + uint8_t i = index(icup); + *regs_table[i].timsk &= ~((1 << ICIE1) | (1 << TOIE1)); +} + +/** + * @brief Returns the width of the latest pulse. + * @details The pulse width is defined as number of ticks between the start + * edge and the stop edge. + * + * @param[in] icup pointer to the @p ICUDriver object + * @return The number of ticks. + * + * @notapi + */ +icucnt_t icu_lld_get_width(ICUDriver *icup) { + + return icup->width; +} + +/** + * @brief Returns the width of the latest cycle. + * @details The cycle width is defined as number of ticks between a start + * edge and the next start edge. + * + * @param[in] icup pointer to the @p ICUDriver object + * @return The number of ticks. + * + * @notapi + */ +icucnt_t icu_lld_get_period(ICUDriver *icup) { + + return icup->period; +} + +#endif /* HAL_USE_ICU */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_icu_lld.h b/os/hal/ports/AVR/hal_icu_lld.h new file mode 100644 index 000000000..d6abdc4c0 --- /dev/null +++ b/os/hal/ports/AVR/hal_icu_lld.h @@ -0,0 +1,195 @@ +/* + 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 AVR/icu_lld.h + * @brief AVR ICU driver subsystem low level driver header. + * + * @addtogroup ICU + * @{ + */ + +#ifndef _ICU_LLD_H_ +#define _ICU_LLD_H_ + +#if HAL_USE_ICU || defined(__DOXYGEN__) + +#include "avr_timers.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief ICU driver enable switch. + * @details If set to @p TRUE the support for ICU1 is included. + */ +#if !defined(AVR_ICU_USE_TIM1) || defined(__DOXYGEN__) +#define AVR_ICU_USE_TIM1 FALSE +#endif +/** + * @brief ICU driver enable switch. + * @details If set to @p TRUE the support for ICU3 is included. + */ +#if !defined(AVR_ICU_USE_TIM3) || defined(__DOXYGEN__) +#define AVR_ICU_USE_TIM3 FALSE +#endif +/** + * @brief ICU driver enable switch. + * @details If set to @p TRUE the support for ICU4 is included. + */ +#if !defined(AVR_ICU_USE_TIM4) || defined(__DOXYGEN__) +#define AVR_ICU_USE_TIM4 FALSE +#endif +/** + * @brief ICU driver enable switch. + * @details If set to @p TRUE the support for ICU5 is included. + */ +#if !defined(AVR_ICU_USE_TIM5) || defined(__DOXYGEN__) +#define AVR_ICU_USE_TIM5 FALSE +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief ICU driver mode. + */ +typedef enum { + ICU_INPUT_ACTIVE_HIGH = 0, /**< Trigger on rising edge. */ + ICU_INPUT_ACTIVE_LOW = 1, /**< Trigger on falling edge. */ +} icumode_t; + +/** + * @brief ICU frequency type. + */ +typedef uint16_t icufreq_t; + +/** + * @brief ICU counter type. + */ +typedef uint16_t icucnt_t; + +/** + * @brief Driver configuration structure. + * @note It could be empty on some architectures. + */ +typedef struct { + /** + * @brief Driver mode. + */ + icumode_t mode; + /** + * @brief Timer clock in Hz. + * @note The low level can use assertions in order to catch invalid + * frequency specifications. + */ + icufreq_t frequency; + /** + * @brief Callback for pulse width measurement. + */ + icucallback_t width_cb; + /** + * @brief Callback for cycle period measurement. + */ + icucallback_t period_cb; + /** + * @brief Callback for timer overflow. + */ + icucallback_t overflow_cb; + /* End of the mandatory fields.*/ +} ICUConfig; + +/** + * @brief Structure representing an ICU driver. + */ +struct ICUDriver { + /** + * @brief Driver state. + */ + icustate_t state; + /** + * @brief Current configuration data. + */ + const ICUConfig *config; +#if defined(ICU_DRIVER_EXT_FIELDS) + ICU_DRIVER_EXT_FIELDS +#endif + /* End of the mandatory fields.*/ + /** + * @brief Width value read by ISR. + */ + icucnt_t width; + /** + * @brief Period value read by ISR. + */ + icucnt_t period; +}; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if AVR_ICU_USE_TIM1 && !defined(__DOXYGEN__) +extern ICUDriver ICUD1; +#endif +#if AVR_ICU_USE_TIM3 && !defined(__DOXYGEN__) +extern ICUDriver ICUD3; +#endif +#if AVR_ICU_USE_TIM4 && !defined(__DOXYGEN__) +extern ICUDriver ICUD4; +#endif +#if AVR_ICU_USE_TIM5 && !defined(__DOXYGEN__) +extern ICUDriver ICUD5; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void icu_lld_init(void); + void icu_lld_start(ICUDriver *icup); + void icu_lld_stop(ICUDriver *icup); + void icu_lld_enable(ICUDriver *icup); + void icu_lld_disable(ICUDriver *icup); + icucnt_t icu_lld_get_width(ICUDriver *icup); + icucnt_t icu_lld_get_period(ICUDriver *icup); +#ifdef __cplusplus +} +#endif + +#endif /* HAL_USE_ICU */ + +#endif /* _ICU_LLD_H_ */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_pal_lld.c b/os/hal/ports/AVR/hal_pal_lld.c new file mode 100644 index 000000000..795be84ad --- /dev/null +++ b/os/hal/ports/AVR/hal_pal_lld.c @@ -0,0 +1,156 @@ +/* + 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 AVR/pal_lld.c + * @brief AVR GPIO low level driver code. + * + * @addtogroup PAL + * @{ + */ + +#include "hal.h" + +#if HAL_USE_PAL || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief AVR GPIO ports configuration. + * @details GPIO registers initialization. + * + * @param[in] config the AVR ports configuration + * + * @notapi + */ +void _pal_lld_init(const PALConfig *config) { + +#if defined(PORTA) || defined(__DOXYGEN__) + PORTA = config->porta.out; + DDRA = config->porta.dir; +#endif + +#if defined(PORTB) || defined(__DOXYGEN__) + PORTB = config->portb.out; + DDRB = config->portb.dir; +#endif + +#if defined(PORTC) || defined(__DOXYGEN__) + PORTC = config->portc.out; + DDRC = config->portc.dir; +#endif + +#if defined(PORTD) || defined(__DOXYGEN__) + PORTD = config->portd.out; + DDRD = config->portd.dir; +#endif + +#if defined(PORTE) || defined(__DOXYGEN__) + PORTE = config->porte.out; + DDRE = config->porte.dir; +#endif + +#if defined(PORTF) || defined(__DOXYGEN__) + PORTF = config->portf.out; + DDRF = config->portf.dir; +#endif + +#if defined(PORTG) || defined(__DOXYGEN__) + PORTG = config->portg.out; + DDRG = config->portg.dir; +#endif + +#if defined(PORTH) || defined(__DOXYGEN__) + PORTH = config->porth.out; + DDRH = config->porth.dir; +#endif + +#if defined(PORTJ) || defined(__DOXYGEN__) + PORTJ = config->portj.out; + DDRJ = config->portj.dir; +#endif + +#if defined(PORTK) || defined(__DOXYGEN__) + PORTK = config->portk.out; + DDRK = config->portk.dir; +#endif + +#if defined(PORTL) || defined(__DOXYGEN__) + PORTL = config->portl.out; + DDRL = config->portl.dir; +#endif +} + +/** + * @brief Pads mode setup. + * @details This function programs a pads group belonging to the same port + * with the specified mode. + * + * @param[in] port the port identifier + * @param[in] mask the group mask + * @param[in] mode the mode + * + * @note This function is not meant to be invoked directly by the application + * code. + * @note @p PAL_MODE_UNCONNECTED is implemented as output as recommended by + * the AVR Family User's Guide. Unconnected pads are set to input + * with pull-up by default. + * + * @notapi + */ +void _pal_lld_setgroupmode(ioportid_t port, + ioportmask_t mask, + iomode_t mode) { + + switch (mode) { + case PAL_MODE_RESET: + case PAL_MODE_INPUT: + case PAL_MODE_INPUT_ANALOG: + port->dir &= ~mask; + port->out &= ~mask; + break; + case PAL_MODE_UNCONNECTED: + case PAL_MODE_INPUT_PULLUP: + port->dir &= ~mask; + port->out |= mask; + break; + case PAL_MODE_OUTPUT_PUSHPULL: + port->dir |= mask; + break; + } +} + +#endif /* HAL_USE_PAL */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_pal_lld.h b/os/hal/ports/AVR/hal_pal_lld.h new file mode 100644 index 000000000..b6994d8b4 --- /dev/null +++ b/os/hal/ports/AVR/hal_pal_lld.h @@ -0,0 +1,336 @@ +/* + 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 AVR/pal_lld.h + * @brief AVR GPIO low level driver header. + * + * @addtogroup PAL + * @{ + */ + +#ifndef _PAL_LLD_H_ +#define _PAL_LLD_H_ + +#include "avr_pins.h" + +#if HAL_USE_PAL || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Unsupported modes and specific modes */ +/*===========================================================================*/ + +#undef PAL_MODE_INPUT_PULLDOWN +#undef PAL_MODE_OUTPUT_OPENDRAIN + +/*===========================================================================*/ +/* I/O Ports Types and constants. */ +/*===========================================================================*/ + +/** + * @brief Width, in bits, of an I/O port. + */ +#define PAL_IOPORTS_WIDTH 8 + +/** + * @brief Whole port mask. + * @details This macro specifies all the valid bits into a port. + */ +#define PAL_WHOLE_PORT ((ioportmask_t)0xFF) + +/** + * @brief AVR setup registers. + */ +typedef struct { + uint8_t out; + uint8_t dir; +} avr_gpio_setup_t; + +/** + * @brief AVR registers block. + * @note On some devices registers do not follow this layout on some + * ports, the ports with abnormal layout cannot be used through + * PAL driver. Example: PORT F on Mega128. + */ +typedef struct { + volatile uint8_t in; + volatile uint8_t dir; + volatile uint8_t out; +} avr_gpio_registers_t; + +/** + * @brief Generic I/O ports static initializer. + * @details An instance of this structure must be passed to @p palInit() at + * system startup time in order to initialized the digital I/O + * subsystem. This represents only the initial setup, specific pads + * or whole ports can be reprogrammed at later time. + */ +typedef struct { +#if defined(PORTA) || defined(__DOXYGEN__) + avr_gpio_setup_t porta; +#endif +#if defined(PORTB) || defined(__DOXYGEN__) + avr_gpio_setup_t portb; +#endif +#if defined(PORTC) || defined(__DOXYGEN__) + avr_gpio_setup_t portc; +#endif +#if defined(PORTD) || defined(__DOXYGEN__) + avr_gpio_setup_t portd; +#endif +#if defined(PORTE) || defined(__DOXYGEN__) + avr_gpio_setup_t porte; +#endif +#if defined(PORTF) || defined(__DOXYGEN__) + avr_gpio_setup_t portf; +#endif +#if defined(PORTG) || defined(__DOXYGEN__) + avr_gpio_setup_t portg; +#endif +#if defined(PORTH) || defined(__DOXYGEN__) + avr_gpio_setup_t porth; +#endif +#if defined(PORTJ) || defined(__DOXYGEN__) + avr_gpio_setup_t portj; +#endif +#if defined(PORTK) || defined(__DOXYGEN__) + avr_gpio_setup_t portk; +#endif +#if defined(PORTL) || defined(__DOXYGEN__) + avr_gpio_setup_t portl; +#endif +} PALConfig; + +/** + * @brief Digital I/O port sized unsigned type. + */ +typedef uint8_t ioportmask_t; + +/** + * @brief Digital I/O modes. + */ +typedef uint8_t iomode_t; + +/** + * @brief Port Identifier. + * @details This type can be a scalar or some kind of pointer, do not make + * any assumption about it, use the provided macros when populating + * variables of this type. + */ +typedef volatile avr_gpio_registers_t * ioportid_t; + +/*===========================================================================*/ +/* I/O Ports Identifiers. */ +/*===========================================================================*/ + +#if defined(PORTA) || defined(__DOXYGEN__) +/** + * @brief GPIO port A identifier. + */ +#define IOPORT1 ((volatile avr_gpio_registers_t *)&PINA) +#endif + +#if defined(PORTB) || defined(__DOXYGEN__) +/** + * @brief GPIO port B identifier. + */ +#define IOPORT2 ((volatile avr_gpio_registers_t *)&PINB) +#endif + +#if defined(PORTC) || defined(__DOXYGEN__) +/** + * @brief GPIO port C identifier. + */ +#define IOPORT3 ((volatile avr_gpio_registers_t *)&PINC) +#endif + +#if defined(PORTD) || defined(__DOXYGEN__) +/** + * @brief GPIO port D identifier. + */ +#define IOPORT4 ((volatile avr_gpio_registers_t *)&PIND) +#endif + +#if defined(PORTE) || defined(__DOXYGEN__) +/** + * @brief GPIO port E identifier. + */ +#define IOPORT5 ((volatile avr_gpio_registers_t *)&PINE) +#endif + +#if defined(PORTF) || defined(__DOXYGEN__) +/** + * @brief GPIO port F identifier. + */ +#define IOPORT6 ((volatile avr_gpio_registers_t *)&PINF) +#endif + +#if defined(PORTG) || defined(__DOXYGEN__) +/** + * @brief GPIO port G identifier. + */ +#define IOPORT7 ((volatile avr_gpio_registers_t *)&PING) +#endif + +#if defined(PORTH) || defined(__DOXYGEN__) +/** + * @brief GPIO port H identifier. + */ +#define IOPORT8 ((volatile avr_gpio_registers_t *)&PINH) +#endif + +#if defined(PORTJ) || defined(__DOXYGEN__) +/** + * @brief GPIO port J identifier. + */ +#define IOPORT9 ((volatile avr_gpio_registers_t *)&PINJ) +#endif + +#if defined(PORTK) || defined(__DOXYGEN__) +/** + * @brief GPIO port K identifier. + */ +#define IOPORT10 ((volatile avr_gpio_registers_t *)&PINK) +#endif + +#if defined(PORTL) || defined(__DOXYGEN__) +/** + * @brief GPIO port L identifier. + */ +#define IOPORT11 ((volatile avr_gpio_registers_t *)&PINL) +#endif + +#if defined(PORTADC) || defined(__DOXYGEN__) +/** + * @brief GPIO port ADC identifier. + */ +#define IOPORTADC ((volatile avr_gpio_registers_t *)&PINADC) +#endif + +#if defined(PORT_SPI1) || defined(__DOXYGEN__) +/** + * @brief GPIO port SPI1 identifier. + */ +#define IOPORTSPI1 ((volatile avr_gpio_registers_t *)&PIN_SPI1) +#endif + + +/*===========================================================================*/ +/* Implementation, some of the following macros could be implemented as */ +/* functions, if so please put them in pal_lld.c. */ +/*===========================================================================*/ + +/** + * @brief Low level PAL subsystem initialization. + * + * @param[in] config the architecture-dependent ports configuration + * + * @notapi + */ +#define pal_lld_init(config) _pal_lld_init(config) + +/** + * @brief Reads the physical I/O port states. + * + * @param[in] port port identifier + * @return The port bits. + * + * @notapi + */ +#define pal_lld_readport(port) ((port)->in) + +/** + * @brief Reads the output latch. + * @details The purpose of this function is to read back the latched output + * value. + * + * @param[in] port port identifier + * @return The latched logical states. + * + * @notapi + */ +#define pal_lld_readlatch(port) ((port)->out) + +/** + * @brief Writes a bits mask on a I/O port. + * + * @param[in] port port identifier + * @param[in] bits bits to be written on the specified port + * + * @notapi + */ +#define pal_lld_writeport(port, bits) ((port)->out = bits) + +/** + * @brief Pads group mode setup. + * @details This function programs a pads group belonging to the same port + * with the specified mode. + * @note Programming an unknown or unsupported mode is silently ignored. + * + * @param[in] port port identifier + * @param[in] mask group mask + * @param[in] offset group bit offset within the port + * @param[in] mode group mode + * + * @notapi + */ +#define pal_lld_setgroupmode(port, mask, offset, mode) \ + _pal_lld_setgroupmode(port, mask << offset, mode) + +/** + * @brief Sets a pad logical state to @p PAL_HIGH. + * + * @param[in] port port identifier + * @param[in] pad pad number within the port + * + * @notapi + */ +#define pal_lld_setpad(port, pad) \ +__asm__ __volatile__( \ + "sbi %0,%1\n\t" :: "I" (_SFR_IO_ADDR(port->out)), "I" (pad) \ +) + +/** + * @brief Clears a pad logical state to @p PAL_LOW. + * + * @param[in] port port identifier + * @param[in] pad pad number within the port + * + * @notapi + */ +#define pal_lld_clearpad(port, pad) \ +__asm__ __volatile__( \ + "cbi %0,%1\n\t" :: "I" (_SFR_IO_ADDR(port->out)), "I" (pad) \ +) + +extern ROMCONST PALConfig pal_default_config; + +#ifdef __cplusplus +extern "C" { +#endif + void _pal_lld_init(const PALConfig *config); + void _pal_lld_setgroupmode(ioportid_t port, + ioportmask_t mask, + iomode_t mode); +#ifdef __cplusplus +} +#endif + +#endif /* HAL_USE_PAL */ + +#endif /* _PAL_LLD_H_ */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_pwm_lld.c b/os/hal/ports/AVR/hal_pwm_lld.c new file mode 100644 index 000000000..49d637e63 --- /dev/null +++ b/os/hal/ports/AVR/hal_pwm_lld.c @@ -0,0 +1,566 @@ +/* + 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. +*/ + +/* + This driver is based on the work done by Matteo Serva available at + http://github.com/matteoserva/ChibiOS-AVR +*/ + +/** + * @file AVR/pwm_lld.c + * @brief AVR PWM driver subsystem low level driver. + * + * @addtogroup PWM + * @{ + */ + +#include "hal.h" + +#if HAL_USE_PWM || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +typedef struct { + volatile uint8_t *tccra; + volatile uint8_t *tccrb; + volatile uint8_t *ocrah; + volatile uint8_t *ocral; + volatile uint8_t *ocrbh; + volatile uint8_t *ocrbl; + volatile uint8_t *ocrch; + volatile uint8_t *ocrcl; + volatile uint8_t *tifr; + volatile uint8_t *timsk; +} timer_registers_t; + +static timer_registers_t regs_table[]= +{ +#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) +#if defined(OCR1C) + {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, &OCR1CH, &OCR1CL, &TIFR1, &TIMSK1}, +#else + {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, NULL, NULL, &TIFR1, &TIMSK1}, +#endif +#endif +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) + {&TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &OCR2B, &OCR2B, NULL, NULL, &TIFR2, &TIMSK2}, +#endif +#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) + {&TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &OCR3BH, &OCR3BL, &OCR3CH, &OCR3CL, &TIFR3, &TIMSK3}, +#endif +#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) + {&TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &OCR4CH, &OCR4CL, &OCR4CH, &OCR4CL, &TIFR4, &TIMSK4}, +#endif +#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) + {&TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &OCR5BH, &OCR5BL, &OCR5CH, &OCR5CL, &TIFR5, &TIMSK5}, +#endif +}; + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** @brief PWM driver identifiers.*/ +#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) +PWMDriver PWMD1; +#endif +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) +PWMDriver PWMD2; +#endif +#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) +PWMDriver PWMD3; +#endif +#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) +PWMDriver PWMD4; +#endif +#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) +PWMDriver PWMD5; +#endif + +/*===========================================================================*/ +/* Driver local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static void config_channel(volatile uint8_t *tccra, + uint8_t com1, + uint8_t com0, + pwmmode_t mode) +{ + *tccra &= ~((1 << com1) | (1 << com0)); + if (mode == PWM_OUTPUT_ACTIVE_HIGH) + *tccra |= ((1 << com1) | (0 << com0)); /* non inverting mode */ + else if (mode == PWM_OUTPUT_ACTIVE_LOW) + *tccra |= (1 << com1) | (1 << com0); /* inverting mode */ +} + +static uint8_t timer_index(PWMDriver *pwmp) +{ + uint8_t index = 0; + +#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) + if (pwmp == &PWMD1) return index; + else index++; +#endif +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) + if (pwmp == &PWMD2) return index; + else index++; +#endif +#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) + if (pwmp == &PWMD3) return index; + else index++; +#endif +#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) + if (pwmp == &PWMD4) return index; + else index++; +#endif +#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) + if (pwmp == &PWMD5) return index; + else index++; +#endif + + /* This is an error! */ + return index; +} + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +/* + * interrupt for compare1&2 and clock overflow. pwmd1 & pwmd2 + */ +#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER1_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD1.config->callback(&PWMD1); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER1_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD1.config->channels[0].callback(&PWMD1); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER1_COMPB_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD1.config->channels[1].callback(&PWMD1); + OSAL_IRQ_EPILOGUE(); +} +#if PWM_CHANNELS > 2 +OSAL_IRQ_HANDLER(TIMER1_COMPC_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD1.config->channels[2].callback(&PWMD1); + OSAL_IRQ_EPILOGUE(); +} +#endif +#endif + +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER2_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD2.config->callback(&PWMD2); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER2_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD2.config->channels[0].callback(&PWMD2); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER2_COMPB_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD2.config->channels[1].callback(&PWMD2); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER3_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD3.config->callback(&PWMD3); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER3_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD3.config->channels[0].callback(&PWMD3); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER3_COMPB_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD3.config->channels[1].callback(&PWMD3); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER3_COMPC_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD3.config->channels[2].callback(&PWMD3); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER4_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD4.config->callback(&PWMD4); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER4_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD4.config->channels[0].callback(&PWMD4); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER4_COMPB_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD4.config->channels[1].callback(&PWMD4); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER4_COMPC_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD4.config->channels[2].callback(&PWMD4); + OSAL_IRQ_EPILOGUE(); +} +#endif + +#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) +OSAL_IRQ_HANDLER(TIMER5_OVF_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD5.config->callback(&PWMD5); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER5_COMPA_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD5.config->channels[0].callback(&PWMD5); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER5_COMPB_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD5.config->channels[1].callback(&PWMD5); + OSAL_IRQ_EPILOGUE(); +} + +OSAL_IRQ_HANDLER(TIMER5_COMPC_vect) +{ + OSAL_IRQ_PROLOGUE(); + PWMD5.config->channels[2].callback(&PWMD5); + OSAL_IRQ_EPILOGUE(); +} +#endif + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level PWM driver initialization. + * + * @notapi + */ +void pwm_lld_init(void) +{ +#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) + pwmObjectInit(&PWMD1); + PWMD1.channels = PWM_CHANNELS; + TCCR1A = (1 << WGM11) | (1 << WGM10); + TCCR1B = (0 << WGM13) | (1 << WGM12); +#endif + +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) + pwmObjectInit(&PWMD2); + PWMD2.channels = PWM_CHANNELS; + TCCR2A = (1 << WGM21) | (1 << WGM20); + TCCR2B = (0 << WGM22); +#endif + +#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) + pwmObjectInit(&PWMD3); + PWMD3.channels = PWM_CHANNELS; + TCCR3A = (1 << WGM31) | (1 << WGM30); + TCCR3B = (0 << WGM33) | (1 << WGM32); +#endif + +#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) + pwmObjectInit(&PWMD4); + PWMD4.channels = PWM_CHANNELS; + TCCR4A = (1 << WGM41) | (1 << WGM40); + TCCR4B = (0 << WGM43) | (1 << WGM42); +#endif + +#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) + pwmObjectInit(&PWMD5); + PWMD5.channels = PWM_CHANNELS; + TCCR5A = (1 << WGM51) | (1 << WGM50); + TCCR5B = (0 << WGM53) | (1 << WGM52); +#endif +} + +/** + * @brief Configures and activates the PWM peripheral. + * + * @param[in] pwmp pointer to the @p PWMDriver object + * + * @notapi + */ +void pwm_lld_start(PWMDriver *pwmp) +{ + if (pwmp->state == PWM_STOP) { + +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) + if (pwmp == &PWMD2) { + TCCR2B &= ~((1 << CS22) | (1 << CS21)); + TCCR2B |= (1 << CS20); + if (pwmp->config->callback != NULL) + TIMSK2 |= (1 << TOIE2); + return; + } +#endif + + uint8_t i = timer_index(pwmp); + + /* TODO: support other prescaler options */ + + *regs_table[i].tccrb &= ~(1 << CS11); + *regs_table[i].tccrb |= (1 << CS12) | (1 << CS10); + if (pwmp->config->callback != NULL) + *regs_table[i].timsk = (1 << TOIE1); + } +} + +/** + * @brief Deactivates the PWM peripheral. + * + * @param[in] pwmp pointer to the @p PWMDriver object + * + * @notapi + */ +void pwm_lld_stop(PWMDriver *pwmp) +{ + uint8_t i = timer_index(pwmp); + *regs_table[i].tccrb &= ~((1 << CS12) | (1 << CS11) | (1 << CS10)); + *regs_table[i].timsk = 0; +} + +/** + * @brief Changes the period the PWM peripheral. + * @details This function changes the period of a PWM unit that has already + * been activated using @p pwmStart(). + * @pre The PWM unit must have been activated using @p pwmStart(). + * @post The PWM unit period is changed to the new value. + * @note The function has effect at the next cycle start. + * @note If a period is specified that is shorter than the pulse width + * programmed in one of the channels then the behavior is not + * guaranteed. + * + * @param[in] pwmp pointer to a @p PWMDriver object + * @param[in] period new cycle time in ticks + * + * @notapi + */ +void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period) +{ +} + +/** + * @brief Enables a PWM channel. + * @pre The PWM unit must have been activated using @p pwmStart(). + * @post The channel is active using the specified configuration. + * @note Depending on the hardware implementation this function has + * effect starting on the next cycle (recommended implementation) + * or immediately (fallback implementation). + * + * @param[in] pwmp pointer to a @p PWMDriver object + * @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1) + * @param[in] width PWM pulse width as clock pulses number + * + * @notapi + */ +void pwm_lld_enable_channel(PWMDriver *pwmp, + pwmchannel_t channel, + pwmcnt_t width) +{ + uint16_t val = width; + if (val > MAX_PWM_VALUE) + val = MAX_PWM_VALUE; + +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) + if (pwmp == &PWMD2) { + config_channel(&TCCR2A, + 7 - 2*channel, + 6 - 2*channel, + pwmp->config->channels[channel].mode); + TIMSK2 |= (1 << (channel + 1)); + /* Timer 2 is 8 bit */ + if (val > 0xFF) + val = 0xFF; + if (pwmp->config->channels[channel].callback) { + switch (channel) { + case 0: OCR2A = val; break; + case 1: OCR2B = val; break; + } + } + return; + } +#endif + + uint8_t i = timer_index(pwmp); + config_channel(regs_table[i].tccra, + 7 - 2*channel, + 6 - 2*channel, + pwmp->config->channels[channel].mode); + volatile uint8_t *ocrh, *ocrl; + switch (channel) { + case 1: + ocrh = regs_table[i].ocrbh; + ocrl = regs_table[i].ocrbl; + break; + case 2: + ocrh = regs_table[i].ocrch; + ocrl = regs_table[i].ocrcl; + break; + default: + ocrh = regs_table[i].ocrah; + ocrl = regs_table[i].ocral; + } + *ocrh = val >> 8; + *ocrl = val & 0xFF; + *regs_table[i].tifr |= (1 << (channel + 1)); + if (pwmp->config->channels[channel].callback != NULL) + *regs_table[i].timsk |= (1 << (channel + 1)); +} + +/** + * @brief Disables a PWM channel. + * @pre The PWM unit must have been activated using @p pwmStart(). + * @post The channel is disabled and its output line returned to the + * idle state. + * @note Depending on the hardware implementation this function has + * effect starting on the next cycle (recommended implementation) + * or immediately (fallback implementation). + * + * @param[in] pwmp pointer to a @p PWMDriver object + * @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1) + * + * @notapi + */ +void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) +{ + uint8_t i = timer_index(pwmp); + config_channel(regs_table[i].tccra, + 7 - 2*channel, + 6 - 2*channel, + PWM_OUTPUT_DISABLED); + *regs_table[i].timsk &= ~(1 << (channel + 1)); +} + +/** + * @brief Enables the periodic activation edge notification. + * @pre The PWM unit must have been activated using @p pwmStart(). + * @note If the notification is already enabled then the call has no effect. + * + * @param[in] pwmp pointer to a @p PWMDriver object + * + * @notapi + */ +void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) { + uint8_t i = timer_index(pwmp); + *regs_table[i].timsk |= (1 << TOIE1); +} + +/** + * @brief Disables the periodic activation edge notification. + * @pre The PWM unit must have been activated using @p pwmStart(). + * @note If the notification is already disabled then the call has no effect. + * + * @param[in] pwmp pointer to a @p PWMDriver object + * + * @notapi + */ +void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) { + uint8_t i = timer_index(pwmp); + *regs_table[i].timsk &= ~(1 << TOIE1); +} + +/** + * @brief Enables a channel de-activation edge notification. + * @pre The PWM unit must have been activated using @p pwmStart(). + * @pre The channel must have been activated using @p pwmEnableChannel(). + * @note If the notification is already enabled then the call has no effect. + * + * @param[in] pwmp pointer to a @p PWMDriver object + * @param[in] channel PWM channel identifier (0...channels-1) + * + * @notapi + */ +void pwm_lld_enable_channel_notification(PWMDriver *pwmp, + pwmchannel_t channel) { + uint8_t i = timer_index(pwmp); + *regs_table[i].timsk |= (1 << (channel + 1)); +} + +/** + * @brief Disables a channel de-activation edge notification. + * @pre The PWM unit must have been activated using @p pwmStart(). + * @pre The channel must have been activated using @p pwmEnableChannel(). + * @note If the notification is already disabled then the call has no effect. + * + * @param[in] pwmp pointer to a @p PWMDriver object + * @param[in] channel PWM channel identifier (0...channels-1) + * + * @notapi + */ +void pwm_lld_disable_channel_notification(PWMDriver *pwmp, + pwmchannel_t channel) { + + uint8_t i = timer_index(pwmp); + *regs_table[i].timsk &= ~(1 << (channel + 1)); +} + + +#endif /* HAL_USE_PWM */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_pwm_lld.h b/os/hal/ports/AVR/hal_pwm_lld.h new file mode 100644 index 000000000..ae61f86c9 --- /dev/null +++ b/os/hal/ports/AVR/hal_pwm_lld.h @@ -0,0 +1,233 @@ +/* + 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. +*/ + +/* + This driver is based on the work done by Matteo Serva available at + http://github.com/matteoserva/ChibiOS-AVR +*/ + +/** + * @file AVR/pwm_lld.h + * @brief AVR PWM driver subsystem low level driver. + * + * @addtogroup PWM + * @{ + */ + +#ifndef _PWM_LLD_H_ +#define _PWM_LLD_H_ + +#if HAL_USE_PWM || defined(__DOXYGEN__) + +#include "avr_timers.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#if !defined(AVR_PWM_USE_TIM1) +#define AVR_PWM_USE_TIM1 FALSE +#endif +#if !defined(AVR_PWM_USE_TIM2) +#define AVR_PWM_USE_TIM2 FALSE +#endif +#if !defined(AVR_PWM_USE_TIM3) +#define AVR_PWM_USE_TIM3 FALSE +#endif +#if !defined(AVR_PWM_USE_TIM4) +#define AVR_PWM_USE_TIM4 FALSE +#endif +#if !defined(AVR_PWM_USE_TIM5) +#define AVR_PWM_USE_TIM5 FALSE +#endif + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @brief Number of PWM channels per PWM driver. + */ +#if !defined(PWM_CHANNELS) || defined(__DOXYGEN__) + #if defined(TIMER1_COMPC_vect) + #define PWM_CHANNELS 3 + #else + #define PWM_CHANNELS 2 + #endif +#endif + +#define MAX_PWM_VALUE 0x3FF + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief PWM mode type. + */ +typedef uint8_t pwmmode_t; + +/** + * @brief PWM channel type. + */ +typedef uint8_t pwmchannel_t; + +/** + * @brief Type of a channels mask. + */ +typedef uint8_t pwmchnmsk_t; + +/** + * @brief PWM counter type. + */ +typedef uint16_t pwmcnt_t; + +/** + * @brief PWM driver channel configuration structure. + * @note Some architectures may not be able to support the channel mode + * or the callback, in this case the fields are ignored. + */ +typedef struct { + /** + * @brief Channel active logic level. + */ + pwmmode_t mode; + /** + * @brief Channel callback pointer. + * @note This callback is invoked on the channel compare event. If set to + * @p NULL then the callback is disabled. + */ + pwmcallback_t callback; + /* End of the mandatory fields.*/ +} PWMChannelConfig; + +/** + * @brief Driver configuration structure. + * @note Implementations may extend this structure to contain more, + * architecture dependent, fields. + */ +typedef struct { + /** + * @brief Timer clock in Hz. + * @note The low level can use assertions in order to catch invalid + * frequency specifications. + */ + uint16_t frequency; + /** + * @brief PWM period in ticks. + * @note The low level can use assertions in order to catch invalid + * period specifications. + */ + pwmcnt_t period; + /** + * @brief Periodic callback pointer. + * @note This callback is invoked on PWM counter reset. If set to + * @p NULL then the callback is disabled. + */ + pwmcallback_t callback; + /** + * @brief Channels configurations. + */ + PWMChannelConfig channels[PWM_CHANNELS]; + /* End of the mandatory fields.*/ +} PWMConfig; + +/** + * @brief Structure representing an PWM driver. + * @note Implementations may extend this structure to contain more, + * architecture dependent, fields. + */ +struct PWMDriver { + /** + * @brief Driver state. + */ + pwmstate_t state; + /** + * @brief Current configuration data. + */ + const PWMConfig *config; + /** + * @brief Current PWM period in ticks. + */ + pwmcnt_t period; + /** + * @brief Mask of the enabled channels. + */ + pwmchnmsk_t enabled; + /** + * @brief Number of channels in this instance. + */ + pwmchannel_t channels; +#if defined(PWM_DRIVER_EXT_FIELDS) + PWM_DRIVER_EXT_FIELDS +#endif + /* End of the mandatory fields.*/ +}; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) +extern PWMDriver PWMD1; +#endif +#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) +extern PWMDriver PWMD2; +#endif +#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) +extern PWMDriver PWMD3; +#endif +#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) +extern PWMDriver PWMD4; +#endif +#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) +extern PWMDriver PWMD5; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void pwm_lld_init(void); + void pwm_lld_start(PWMDriver *pwmp); + void pwm_lld_stop(PWMDriver *pwmp); + void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period); + void pwm_lld_enable_channel(PWMDriver *pwmp, + pwmchannel_t channel, + pwmcnt_t width); + void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel); + void pwm_lld_enable_periodic_notification(PWMDriver *pwmp); + void pwm_lld_disable_periodic_notification(PWMDriver *pwmp); + void pwm_lld_enable_channel_notification(PWMDriver *pwmp, + pwmchannel_t channel); + void pwm_lld_disable_channel_notification(PWMDriver *pwmp, + pwmchannel_t channel); +#ifdef __cplusplus +} +#endif + +#endif /* HAL_USE_PWM */ + +#endif /* _PWM_LLD_H_ */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_serial_lld.c b/os/hal/ports/AVR/hal_serial_lld.c new file mode 100644 index 000000000..bf1e65729 --- /dev/null +++ b/os/hal/ports/AVR/hal_serial_lld.c @@ -0,0 +1,378 @@ +/* + 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 AVR/serial_lld.c + * @brief AVR low level serial driver code. + * + * @addtogroup SERIAL + * @{ + */ + +#include "hal.h" + +#if HAL_USE_SERIAL || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** + * @brief USART0 serial driver identifier. + * @note The name does not follow the convention used in the other ports + * (COMn) because a name conflict with the AVR headers. + */ +#if AVR_SERIAL_USE_USART0 || defined(__DOXYGEN__) +SerialDriver SD1; + + /* USARTs are not consistently named across the AVR range */ + #ifdef USART0_RX_vect + #define AVR_SD1_RX_VECT USART0_RX_vect + #define AVR_SD1_TX_VECT USART0_UDRE_vect + #elif defined(USART_RX_vect) + #define AVR_SD1_RX_VECT USART_RX_vect + #define AVR_SD1_TX_VECT USART_UDRE_vect + #else + #error "Cannot find USART to use for SD1" + #endif +#endif /* AVR_SERIAL_USE_USART0 */ + +/** + * @brief USART1 serial driver identifier. + * @note The name does not follow the convention used in the other ports + * (COMn) because a name conflict with the AVR headers. + */ +#if AVR_SERIAL_USE_USART1 || defined(__DOXYGEN__) +SerialDriver SD2; + + /* Check if USART1 exists for this MCU */ + #ifdef USART1_RX_vect + #define AVR_SD2_RX_VECT USART1_RX_vect + #define AVR_SD2_TX_VECT USART1_UDRE_vect + #else + #error "Cannot find USART to use for SD2" + #endif +#endif /* AVR_SERIAL_USE_USART1 */ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/** + * @brief Driver default configuration. + */ +static const SerialConfig default_config = { + UBRR(SERIAL_DEFAULT_BITRATE), + USART_CHAR_SIZE_8 +}; + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static void set_error(uint8_t sra, SerialDriver *sdp) { + eventflags_t sts = 0; + uint8_t dor = 0; + uint8_t upe = 0; + uint8_t fe = 0; + +#if AVR_SERIAL_USE_USART0 + if (&SD1 == sdp) { + dor = (1 << DOR0); + upe = (1 << UPE0); + fe = (1 << FE0); + } +#endif + +#if AVR_SERIAL_USE_USART1 + if (&SD2 == sdp) { + dor = (1 << DOR1); + upe = (1 << UPE1); + fe = (1 << FE1); + } +#endif + + if (sra & dor) + sts |= SD_OVERRUN_ERROR; + if (sra & upe) + sts |= SD_PARITY_ERROR; + if (sra & fe) + sts |= SD_FRAMING_ERROR; + osalSysLockFromISR(); + chnAddFlagsI(sdp, sts); + osalSysUnlockFromISR(); +} + +#if AVR_SERIAL_USE_USART0 || defined(__DOXYGEN__) +static void notify1(io_queue_t *qp) { + + (void)qp; + UCSR0B |= (1 << UDRIE0); +} + +/** + * @brief USART0 initialization. + * + * @param[in] config the architecture-dependent serial driver configuration + */ +static void usart0_init(const SerialConfig *config) { + + UBRR0L = config->sc_brr; + UBRR0H = config->sc_brr >> 8; + UCSR0A = 0; + UCSR0B = (1 << RXEN0) | (1 << TXEN0) | (1 << RXCIE0); + switch (config->sc_bits_per_char) { + case USART_CHAR_SIZE_5: + UCSR0C = 0; + break; + case USART_CHAR_SIZE_6: + UCSR0C = (1 << UCSZ00); + break; + case USART_CHAR_SIZE_7: + UCSR0C = (1 << UCSZ01); + break; + case USART_CHAR_SIZE_9: + UCSR0B |= (1 << UCSZ02); + UCSR0C = (1 << UCSZ00) | (1 << UCSZ01); + break; + case USART_CHAR_SIZE_8: + default: + UCSR0C = (1 << UCSZ00) | (1 << UCSZ01); + } +} + +/** + * @brief USART0 de-initialization. + */ +static void usart0_deinit(void) { + + UCSR0A = 0; + UCSR0B = 0; + UCSR0C = 0; +} +#endif + +#if AVR_SERIAL_USE_USART1 || defined(__DOXYGEN__) +static void notify2(io_queue_t *qp) { + + (void)qp; + UCSR1B |= (1 << UDRIE1); +} + +/** + * @brief USART1 initialization. + * + * @param[in] config the architecture-dependent serial driver configuration + */ +static void usart1_init(const SerialConfig *config) { + + UBRR1L = config->sc_brr; + UBRR1H = config->sc_brr >> 8; + UCSR1A = 0; + UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1); + switch (config->sc_bits_per_char) { + case USART_CHAR_SIZE_5: + UCSR1C = 0; + break; + case USART_CHAR_SIZE_6: + UCSR1C = (1 << UCSZ10); + break; + case USART_CHAR_SIZE_7: + UCSR1C = (1 << UCSZ11); + break; + case USART_CHAR_SIZE_9: + UCSR1B |= (1 << UCSZ12); + UCSR1C = (1 << UCSZ10) | (1 << UCSZ11); + break; + case USART_CHAR_SIZE_8: + default: + UCSR1C = (1 << UCSZ10) | (1 << UCSZ11); + } +} + +/** + * @brief USART1 de-initialization. + */ +static void usart1_deinit(void) { + + UCSR1A = 0; + UCSR1B = 0; + UCSR1C = 0; +} +#endif + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +#if AVR_SERIAL_USE_USART0 || defined(__DOXYGEN__) +/** + * @brief USART0 RX interrupt handler. + * + * @isr + */ +OSAL_IRQ_HANDLER(AVR_SD1_RX_VECT) { + uint8_t sra; + + OSAL_IRQ_PROLOGUE(); + + sra = UCSR0A; + if (sra & ((1 << DOR0) | (1 << UPE0) | (1 << FE0))) + set_error(sra, &SD1); + osalSysLockFromISR(); + sdIncomingDataI(&SD1, UDR0); + osalSysUnlockFromISR(); + + OSAL_IRQ_EPILOGUE(); +} + +/** + * @brief USART0 TX interrupt handler. + * + * @isr + */ +OSAL_IRQ_HANDLER(AVR_SD1_TX_VECT) { + msg_t b; + + OSAL_IRQ_PROLOGUE(); + + osalSysLockFromISR(); + b = sdRequestDataI(&SD1); + osalSysUnlockFromISR(); + if (b < MSG_OK) + UCSR0B &= ~(1 << UDRIE0); + else + UDR0 = b; + + OSAL_IRQ_EPILOGUE(); +} +#endif /* AVR_SERIAL_USE_USART0 */ + +#if AVR_SERIAL_USE_USART1 || defined(__DOXYGEN__) +/** + * @brief USART1 RX interrupt handler. + * + * @isr + */ +OSAL_IRQ_HANDLER(AVR_SD2_RX_VECT) { + uint8_t sra; + + OSAL_IRQ_PROLOGUE(); + + sra = UCSR1A; + if (sra & ((1 << DOR1) | (1 << UPE1) | (1 << FE1))) + set_error(sra, &SD2); + osalSysLockFromISR(); + sdIncomingDataI(&SD2, UDR1); + osalSysUnlockFromISR(); + + OSAL_IRQ_EPILOGUE(); +} + +/** + * @brief USART1 TX interrupt handler. + * + * @isr + */ +OSAL_IRQ_HANDLER(AVR_SD2_TX_VECT) { + msg_t b; + + OSAL_IRQ_PROLOGUE(); + + osalSysLockFromISR(); + b = sdRequestDataI(&SD2); + osalSysUnlockFromISR(); + if (b < MSG_OK) + UCSR1B &= ~(1 << UDRIE1); + else + UDR1 = b; + + OSAL_IRQ_EPILOGUE(); +} +#endif /* AVR_SERIAL_USE_USART1 */ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level serial driver initialization. + * + * @notapi + */ +void sd_lld_init(void) { + +#if AVR_SERIAL_USE_USART0 + sdObjectInit(&SD1, NULL, notify1); +#endif +#if AVR_SERIAL_USE_USART1 + sdObjectInit(&SD2, NULL, notify2); +#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. + * + * @notapi + */ +void sd_lld_start(SerialDriver *sdp, const SerialConfig *config) { + + if (config == NULL) + config = &default_config; + +#if AVR_SERIAL_USE_USART0 + if (&SD1 == sdp) { + usart0_init(config); + return; + } +#endif +#if AVR_SERIAL_USE_USART1 + if (&SD2 == sdp) { + usart1_init(config); + 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 + * + * @notapi + */ +void sd_lld_stop(SerialDriver *sdp) { + +#if AVR_SERIAL_USE_USART0 + if (&SD1 == sdp) + usart0_deinit(); +#endif +#if AVR_SERIAL_USE_USART1 + if (&SD2 == sdp) + usart1_deinit(); +#endif +} + +#endif /* HAL_USE_SERIAL */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_serial_lld.h b/os/hal/ports/AVR/hal_serial_lld.h new file mode 100644 index 000000000..a12cb8e59 --- /dev/null +++ b/os/hal/ports/AVR/hal_serial_lld.h @@ -0,0 +1,158 @@ +/* + 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 AVR/serial_lld.h + * @brief AVR low level serial driver header. + * + * @addtogroup SERIAL + * @{ + */ + +#ifndef _SERIAL_LLD_H_ +#define _SERIAL_LLD_H_ + +#if HAL_USE_SERIAL || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @brief USART0 driver enable switch. + * @details If set to @p TRUE the support for USART0 is included. + * @note The default is @p FALSE. + */ +#if !defined(AVR_SERIAL_USE_USART0) || defined(__DOXYGEN__) + #define AVR_SERIAL_USE_USART0 TRUE +#endif + +/** + * @brief USART1 driver enable switch. + * @details If set to @p TRUE the support for USART1 is included. + * @note The default is @p TRUE. + */ +#if !defined(AVR_SERIAL_USE_USART1) || defined(__DOXYGEN__) +#define AVR_SERIAL_USE_USART1 TRUE +#endif + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief AVR Serial Driver configuration structure. + * @details An instance of this structure must be passed to @p sdStart() + * in order to configure and start a serial driver operations. + */ +typedef struct { + /** + * @brief Initialization value for the BRR register. + */ + uint16_t sc_brr; + /** + * @brief Number of bits per character (USART_CHAR_SIZE_5 to USART_CHAR_SIZE_9). + */ + uint8_t sc_bits_per_char; +} SerialConfig; + +/** + * @brief @p SerialDriver specific data. + */ +#define _serial_driver_data \ + _base_asynchronous_channel_data \ + /* Driver state.*/ \ + sdstate_t state; \ + /* Input queue.*/ \ + input_queue_t iqueue; \ + /* Output queue.*/ \ + output_queue_t oqueue; \ + /* Input circular buffer.*/ \ + uint8_t ib[SERIAL_BUFFERS_SIZE]; \ + /* Output circular buffer.*/ \ + uint8_t ob[SERIAL_BUFFERS_SIZE]; \ + /* End of the mandatory fields.*/ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/** + * @brief Macro for baud rate computation. + * @note Make sure the final baud rate is within tolerance. + */ +#define UBRR(b) (((F_CPU / b) >> 4) - 1) + +/** + * @brief Macro for baud rate computation when U2Xn == 1. + * @note Make sure the final baud rate is within tolerance. + */ +#define UBRR2x(b) (((F_CPU / b) >> 3) - 1) + +/** +* @brief Macro for baud rate computation. +* @note Make sure the final baud rate is within tolerance. +* @note This version uses floating point math for greater accuracy. +*/ +#define UBRR_F(b) ((((double) F_CPU / (double) b) / 16.0) - 0.5) + +/** +* @brief Macro for baud rate computation when U2Xn == 1. +* @note Make sure the final baud rate is within tolerance. +* @note This version uses floating point math for greater accuracy. +*/ +#define UBRR2x_F(b) ((((double) F_CPU / (double) b) / 8.0) - 0.5) + +#define USART_CHAR_SIZE_5 0 +#define USART_CHAR_SIZE_6 1 +#define USART_CHAR_SIZE_7 2 +#define USART_CHAR_SIZE_8 3 +#define USART_CHAR_SIZE_9 4 + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if AVR_SERIAL_USE_USART0 && !defined(__DOXYGEN__) +extern SerialDriver SD1; +#endif +#if AVR_SERIAL_USE_USART1 && !defined(__DOXYGEN__) +extern SerialDriver SD2; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void sd_lld_init(void); + void sd_lld_start(SerialDriver *sdp, const SerialConfig *config); + void sd_lld_stop(SerialDriver *sdp); +#ifdef __cplusplus +} +#endif + +#endif /* HAL_USE_SERIAL */ + +#endif /* _SERIAL_LLD_H_ */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_spi_lld.c b/os/hal/ports/AVR/hal_spi_lld.c new file mode 100644 index 000000000..6a89ce112 --- /dev/null +++ b/os/hal/ports/AVR/hal_spi_lld.c @@ -0,0 +1,420 @@ +/* + 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 AVR/spi_lld.c + * @brief AVR SPI subsystem low level driver source. + * + * @addtogroup SPI + * @{ + */ + +#include "hal.h" + +#if HAL_USE_SPI || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** + * @brief SPI1 driver identifier. + */ +#if AVR_SPI_USE_SPI1 || defined(__DOXYGEN__) +SPIDriver SPID1; +#endif + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +#if AVR_SPI_USE_SPI1 || defined(__DOXYGEN__) +/** + * @brief SPI event interrupt handler. + * + * @notapi + */ +OSAL_IRQ_HANDLER(SPI_STC_vect) { + OSAL_IRQ_PROLOGUE(); + + SPIDriver *spip = &SPID1; + + /* spi_lld_exchange or spi_lld_receive */ + if (spip->rxbuf && spip->rxidx < spip->rxbytes) { + spip->rxbuf[spip->rxidx++] = SPDR; // receive + } + + /* spi_lld_exchange, spi_lld_send or spi_lld_ignore */ + if (spip->txidx < spip->txbytes) { + if (spip->txbuf) { + SPDR = spip->txbuf[spip->txidx++]; // send + } else { + SPDR = 0; spip->txidx++; // dummy send + } + } + + /* spi_lld_send */ + else if (spip->rxidx < spip->rxbytes) { /* rx not done */ + SPDR = 0; // dummy send to keep the clock going + } + + /* rx done and tx done */ + if (spip->rxidx >= spip->rxbytes && spip->txidx >= spip->txbytes) { + _spi_isr_code(spip); + } + + OSAL_IRQ_EPILOGUE(); +} +#endif /* AVR_SPI_USE_SPI1 */ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level SPI driver initialization. + * + * @notapi + */ +void spi_lld_init(void) { + +#if AVR_SPI_USE_SPI1 + /* Driver initialization.*/ + spiObjectInit(&SPID1); +#endif /* AVR_SPI_USE_SPI1 */ +} + +/** + * @brief Configures and activates the SPI peripheral. + * + * @param[in] spip pointer to the @p SPIDriver object + * + * @notapi + */ +void spi_lld_start(SPIDriver *spip) { + + uint8_t dummy; + + /* Configures the peripheral.*/ + + if (spip->state == SPI_STOP) { + /* Enables the peripheral.*/ +#if AVR_SPI_USE_SPI1 + if (&SPID1 == spip) { + /* Enable SPI clock using Power Reduction Register */ +#if defined(PRR0) + PRR0 &= ~(1 << PRSPI); +#elif defined(PRR) + PRR &= ~(1 << PRSPI); +#endif + + /* SPI enable, SPI interrupt enable */ + SPCR |= ((1 << SPE) | (1 << SPIE)); + + SPCR |= (1 << MSTR); + DDR_SPI1 |= ((1 << SPI1_MOSI) | (1 << SPI1_SCK)); + DDR_SPI1 &= ~(1 << SPI1_MISO); + spip->config->ssport->dir |= (1 << spip->config->sspad); + + switch (spip->config->bitorder) { + case SPI_LSB_FIRST: + SPCR |= (1 << DORD); + break; + case SPI_MSB_FIRST: /* fallthrough */ + default: + SPCR &= ~(1 << DORD); + break; + } + + SPCR &= ~((1 << CPOL) | (1 << CPHA)); + switch (spip->config->mode) { + case SPI_MODE_1: + SPCR |= (1 << CPHA); + break; + case SPI_MODE_2: + SPCR |= (1 << CPOL); + break; + case SPI_MODE_3: + SPCR |= ((1 << CPOL) | (1 << CPHA)); + break; + case SPI_MODE_0: /* fallthrough */ + default: break; + } + + SPCR &= ~((1 << SPR1) | (1 << SPR0)); + SPSR &= ~(1 << SPI2X); + switch (spip->config->clockrate) { + case SPI_SCK_FOSC_2: + SPSR |= (1 << SPI2X); + break; + case SPI_SCK_FOSC_8: + SPSR |= (1 << SPI2X); + SPCR |= (1 << SPR0); + break; + case SPI_SCK_FOSC_16: + SPCR |= (1 << SPR0); + break; + case SPI_SCK_FOSC_32: + SPSR |= (1 << SPI2X); + SPCR |= (1 << SPR1); + break; + case SPI_SCK_FOSC_64: + SPCR |= (1 << SPR1); + break; + case SPI_SCK_FOSC_128: + SPCR |= ((1 << SPR1) | (1 << SPR0)); + break; + case SPI_SCK_FOSC_4: /* fallthrough */ + default: break; + } + + /* dummy reads before enabling interrupt */ + dummy = SPSR; + dummy = SPDR; + (void) dummy; /* suppress warning about unused variable */ + SPCR |= (1 << SPIE); + } +#endif /* AVR_SPI_USE_SPI1 */ + } +} + +/** + * @brief Deactivates the SPI peripheral. + * + * @param[in] spip pointer to the @p SPIDriver object + * + * @notapi + */ +void spi_lld_stop(SPIDriver *spip) { + + if (spip->state == SPI_READY) { + /* Resets the peripheral.*/ + + /* Disables the peripheral.*/ +#if AVR_SPI_USE_SPI1 + if (&SPID1 == spip) { + SPCR &= ((1 << SPIE) | (1 << SPE)); + spip->config->ssport->dir &= ~(1 << spip->config->sspad); + } +/* Disable SPI clock using Power Reduction Register */ +#if defined(PRR0) + PRR0 |= (1 << PRSPI); +#elif defined(PRR) + PRR |= (1 << PRSPI); +#endif +#endif /* AVR_SPI_USE_SPI1 */ + } +} + +/** + * @brief Asserts the slave select signal and prepares for transfers. + * + * @param[in] spip pointer to the @p SPIDriver object + * + * @notapi + */ +void spi_lld_select(SPIDriver *spip) { + + /** + * NOTE: This should only be called in master mode. + */ + spip->config->ssport->out &= ~(1 << spip->config->sspad); + +} + +/** + * @brief Deasserts the slave select signal. + * @details The previously selected peripheral is unselected. + * + * @param[in] spip pointer to the @p SPIDriver object + * + * @notapi + */ +void spi_lld_unselect(SPIDriver *spip) { + + /** + * NOTE: This should only be called in master mode. + */ + spip->config->ssport->out |= (1 << spip->config->sspad); + +} + +/** + * @brief Ignores data on the SPI bus. + * @details This asynchronous function starts the transmission of a series of + * idle words on the SPI bus and ignores the received data. + * @post At the end of the operation the configured callback is invoked. + * + * @param[in] spip pointer to the @p SPIDriver object + * @param[in] n number of words to be ignored + * + * @notapi + */ +void spi_lld_ignore(SPIDriver *spip, size_t n) { + + spip->rxbuf = spip->txbuf = NULL; + spip->txbytes = n; + spip->txidx = 0; + + SPDR = 0; +} + +/** + * @brief Exchanges data on the SPI bus. + * @details This asynchronous function starts a simultaneous transmit/receive + * operation. + * @post At the end of the operation the configured callback is invoked. + * @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] spip pointer to the @p SPIDriver object + * @param[in] n number of words to be exchanged + * @param[in] txbuf the pointer to the transmit buffer + * @param[out] rxbuf the pointer to the receive buffer + * + * @notapi + */ +void spi_lld_exchange(SPIDriver *spip, size_t n, + const void *txbuf, void *rxbuf) { + + spip->rxbuf = rxbuf; + spip->txbuf = txbuf; + spip->txbytes = spip->rxbytes = n; + spip->txidx = spip->rxidx = 0; + + SPDR = spip->txbuf[spip->txidx++]; +} + +/** + * @brief Sends data over the SPI bus. + * @details This asynchronous function starts a transmit operation. + * @post At the end of the operation the configured callback is invoked. + * @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] spip pointer to the @p SPIDriver object + * @param[in] n number of words to send + * @param[in] txbuf the pointer to the transmit buffer + * + * @notapi + */ +void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) { + + spip->rxbuf = NULL; + spip->txbuf = txbuf; + spip->txbytes = n; + spip->txidx = 0; + + SPDR = spip->txbuf[spip->txidx++]; +} + +/** + * @brief Receives data from the SPI bus. + * @details This asynchronous function starts a receive operation. + * @post At the end of the operation the configured callback is invoked. + * @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] spip pointer to the @p SPIDriver object + * @param[in] n number of words to receive + * @param[out] rxbuf the pointer to the receive buffer + * + * @notapi + */ +void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) { + + spip->txbuf = NULL; + spip->rxbuf = rxbuf; + spip->rxbytes = n; + spip->rxidx = 0; + + /* Write dummy byte to start communication */ + SPDR = 0; +} + +/** + * @brief Exchanges one frame using a polled wait. + * @details This synchronous function exchanges one frame using a polled + * synchronization method. This function is useful when exchanging + * small amount of data on high speed channels, usually in this + * situation is much more efficient just wait for completion using + * polling than suspending the thread waiting for an interrupt. + * + * @param[in] spip pointer to the @p SPIDriver object + * @param[in] frame the data frame to send over the SPI bus + * @return The received data frame from the SPI bus. + */ +#if AVR_SPI_USE_16BIT_POLLED_EXCHANGE +uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) { + + uint16_t spdr = 0; + uint8_t dummy; + + /* disable interrupt */ + SPCR &= ~(1 << SPIE); + + SPDR = frame >> 8; + while (!(SPSR & (1 << SPIF))) ; + spdr = SPDR << 8; + + SPDR = frame & 0xFF; + while (!(SPSR & (1 << SPIF))) ; + spdr |= SPDR; + + dummy = SPSR; + dummy = SPDR; + (void) dummy; /* suppress warning about unused variable */ + SPCR |= (1 << SPIE); + + return spdr; +} +#else /* AVR_SPI_USE_16BIT_POLLED_EXCHANGE */ +uint8_t spi_lld_polled_exchange(SPIDriver *spip, uint8_t frame) { + + uint8_t spdr = 0; + uint8_t dummy; + + /* disable interrupt */ + SPCR &= ~(1 << SPIE); + + SPDR = frame; + while (!(SPSR & (1 << SPIF))) ; + spdr = SPDR; + + dummy = SPSR; + dummy = SPDR; + (void) dummy; /* suppress warning about unused variable */ + SPCR |= (1 << SPIE); + + return spdr; +} +#endif /* AVR_SPI_USE_16BIT_POLLED_EXCHANGE */ + +#endif /* HAL_USE_SPI */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_spi_lld.h b/os/hal/ports/AVR/hal_spi_lld.h new file mode 100644 index 000000000..5f3a6c2c5 --- /dev/null +++ b/os/hal/ports/AVR/hal_spi_lld.h @@ -0,0 +1,226 @@ +/* + 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 AVR/spi_lld.h + * @brief AVR SPI subsystem low level driver header. + * + * @addtogroup SPI + * @{ + */ + +#ifndef _SPI_LLD_H_ +#define _SPI_LLD_H_ + +#if HAL_USE_SPI || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** @brief SPI Mode (Polarity/Phase) */ +#define SPI_CPOL0_CPHA0 0 +#define SPI_CPOL0_CPHA1 1 +#define SPI_CPOL1_CPHA0 2 +#define SPI_CPOL1_CPHA1 3 + +#define SPI_MODE_0 SPI_CPOL0_CPHA0 +#define SPI_MODE_1 SPI_CPOL0_CPHA1 +#define SPI_MODE_2 SPI_CPOL1_CPHA0 +#define SPI_MODE_3 SPI_CPOL1_CPHA1 + +/** @brief Bit order */ +#define SPI_LSB_FIRST 0 +#define SPI_MSB_FIRST 1 + +/** @brief SPI clock rate FOSC/x */ +#define SPI_SCK_FOSC_2 0 +#define SPI_SCK_FOSC_4 1 +#define SPI_SCK_FOSC_8 2 +#define SPI_SCK_FOSC_16 3 +#define SPI_SCK_FOSC_32 4 +#define SPI_SCK_FOSC_64 5 +#define SPI_SCK_FOSC_128 6 + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief SPI driver enable switch. + * @details If set to @p TRUE the support for SPI1 is included. + */ +#if !defined(AVR_SPI_USE_SPI1) || defined(__DOXYGEN__) +#define AVR_SPI_USE_SPI1 FALSE +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Type of a structure representing an SPI driver. + */ +typedef struct SPIDriver SPIDriver; + +/** + * @brief SPI notification callback type. + * + * @param[in] spip pointer to the @p SPIDriver object triggering the + * callback + */ +typedef void (*spicallback_t)(SPIDriver *spip); + +/** + * @brief Driver configuration structure. + * @note Implementations may extend this structure to contain more, + * architecture dependent, fields. + */ +typedef struct { + /** + * @brief Port used of Slave Select + */ + ioportid_t ssport; + /** + * @brief Pad used of Slave Select + */ + uint8_t sspad; + /** + * @brief Polarity/Phase mode + */ + uint8_t mode; + /** + * @brief Use MSB/LSB first? + */ + uint8_t bitorder; + /** + * @brief Clock rate of the subsystem + */ + uint8_t clockrate; + /** + * @brief Operation complete callback. + */ + spicallback_t end_cb; + /* End of the mandatory fields.*/ +} SPIConfig; + +/** + * @brief Structure representing an SPI driver. + * @note Implementations may extend this structure to contain more, + * architecture dependent, fields. + */ +struct SPIDriver { + /** + * @brief Driver state. + */ + spistate_t state; + /** + * @brief Current configuration data. + */ + SPIConfig *config; +#if SPI_USE_WAIT || defined(__DOXYGEN__) + /** + * @brief Waiting thread. + */ + thread_reference_t thread; +#endif /* SPI_USE_WAIT */ +#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) + /** + * @brief Mutex protecting the bus. + */ + mutex_t mutex; +#endif /* SPI_USE_MUTUAL_EXCLUSION */ +#if defined(SPI_DRIVER_EXT_FIELDS) + SPI_DRIVER_EXT_FIELDS +#endif + /* End of the mandatory fields.*/ + /** + * @brief Pointer to the buffer with data to send. + */ + uint8_t *txbuf; + /** + * @brief Number of bytes of data to send. + */ + size_t txbytes; + /** + * @brief Current index in buffer when sending data. + */ + size_t txidx; + /** + * @brief Pointer to the buffer to put received data. + */ + uint8_t *rxbuf; + /** + * @brief Number of bytes of data to receive. + */ + size_t rxbytes; + /** + * @brief Current index in buffer when receiving data. + */ + size_t rxidx; +}; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if AVR_SPI_USE_SPI1 && !defined(__DOXYGEN__) +extern SPIDriver SPID1; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void spi_lld_init(void); + void spi_lld_start(SPIDriver *spip); + void spi_lld_stop(SPIDriver *spip); + void spi_lld_select(SPIDriver *spip); + void spi_lld_unselect(SPIDriver *spip); + void spi_lld_ignore(SPIDriver *spip, size_t n); + void spi_lld_exchange(SPIDriver *spip, size_t n, + const void *txbuf, void *rxbuf); + void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf); + void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf); + +#if AVR_SPI_USE_16BIT_POLLED_EXCHANGE + uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame); +#else + uint8_t spi_lld_polled_exchange(SPIDriver *spip, uint8_t frame); +#endif + + +#ifdef __cplusplus +} +#endif + +#endif /* HAL_USE_SPI */ + +#endif /* _SPI_LLD_H_ */ + +/** @} */ diff --git a/os/hal/ports/AVR/hal_st_lld.c b/os/hal/ports/AVR/hal_st_lld.c new file mode 100644 index 000000000..4d5b545e8 --- /dev/null +++ b/os/hal/ports/AVR/hal_st_lld.c @@ -0,0 +1,222 @@ +/* + 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 AVR/st_lld.c + * @brief ST Driver subsystem low level driver code. + * + * @addtogroup ST + * @{ + */ + +#include "hal.h" + +#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/** + * @brief Timer maximum value + */ +#define AVR_TIMER_COUNTER_MAX 255 + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__) + +/* Work out what the timer interrupt is called on this MCU */ +#ifdef TIMER0_COMPA_vect + #define AVR_TIMER_VECT TIMER0_COMPA_vect +#elif defined(TIMER_COMPA_vect) + #define AVR_TIMER_VECT TIMER_COMPA_vect +#elif defined(TIMER0_COMP_vect) + #define AVR_TIMER_VECT TIMER0_COMP_vect +#else + #error "Cannot find interrupt vector name for timer" +#endif + +/* Find the most suitable prescaler setting for the desired OSAL_ST_FREQUENCY */ +#if ((F_CPU / OSAL_ST_FREQUENCY) <= AVR_TIMER_COUNTER_MAX) + #define AVR_TIMER_PRESCALER 1 + #define AVR_TIMER_PRESCALER_BITS (0<addr << 1); - if ((i2cp->txbuf == NULL) || (i2cp->txbytes == 0) || (i2cp->txidx == i2cp->txbytes)) { - TWDR |= 0x01; - } - TWCR = ((1 << TWINT) | (1 << TWEN) | (1 << TWIE)); - break; - case TWI_MASTER_TX_ADDR_ACK: - case TWI_MASTER_TX_DATA_ACK: - if (i2cp->txidx < i2cp->txbytes) { - TWDR = i2cp->txbuf[i2cp->txidx++]; - TWCR = ((1 << TWINT) | (1 << TWEN) | (1 << TWIE)); - } else { - if (i2cp->rxbuf && i2cp->rxbytes) { - TWCR = ((1 << TWSTA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE)); - } else { - TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN)); - _i2c_wakeup_isr(i2cp); - } - } - break; - case TWI_MASTER_RX_ADDR_ACK: - if (i2cp->rxidx == (i2cp->rxbytes - 1)) { - TWCR = ((1 << TWINT) | (1 << TWEN) | (1 << TWIE)); - } else { - TWCR = ((1 << TWEA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE)); - } - break; - case TWI_MASTER_RX_DATA_ACK: - i2cp->rxbuf[i2cp->rxidx++] = TWDR; - if (i2cp->rxidx == (i2cp->rxbytes - 1)) { - TWCR = ((1 << TWINT) | (1 << TWEN) | (1 << TWIE)); - } else { - TWCR = ((1 << TWEA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE)); - } - break; - case TWI_MASTER_RX_DATA_NACK: - i2cp->rxbuf[i2cp->rxidx] = TWDR; - TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN)); - _i2c_wakeup_isr(i2cp); - case TWI_MASTER_TX_ADDR_NACK: - case TWI_MASTER_TX_DATA_NACK: - case TWI_MASTER_RX_ADDR_NACK: - i2cp->errors |= I2C_ACK_FAILURE; - break; - case TWI_ARBITRATION_LOST: - i2cp->errors |= I2C_ARBITRATION_LOST; - break; - case TWI_BUS_ERROR: - i2cp->errors |= I2C_BUS_ERROR; - break; - default: - /* FIXME: only gets here if there are other MASTERs in the bus */ - TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN)); - _i2c_wakeup_error_isr(i2cp); - } - - if (i2cp->errors != I2C_NO_ERROR) { - TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN)); - _i2c_wakeup_error_isr(i2cp); - } - - OSAL_IRQ_EPILOGUE(); -} -#endif /* AVR_I2C_USE_I2C1 */ - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief Low level I2C driver initialization. - * - * @notapi - */ -void i2c_lld_init(void) { - i2cObjectInit(&I2CD1); - I2CD1.thread = NULL; -} - -/** - * @brief Configures and activates the I2C peripheral. - * - * @param[in] i2cp pointer to the @p I2CDriver object - * - * @notapi - */ -void i2c_lld_start(I2CDriver *i2cp) { - uint32_t clock_speed = 100000; - - /* TODO: Test TWI without external pull-ups (use internal) */ - - /* Configure prescaler to 1 */ - TWSR &= 0xF8; - - if (i2cp->config != NULL) - clock_speed = i2cp->config->clock_speed; - - /* Configure baudrate */ - TWBR = ((F_CPU / clock_speed) - 16) / 2; -} - -/** - * @brief Deactivates the I2C peripheral. - * - * @param[in] i2cp pointer to the @p I2CDriver object - * - * @notapi - */ -void i2c_lld_stop(I2CDriver *i2cp) { - - if (i2cp->state != I2C_STOP) { - /* Disable TWI subsystem and stop all operations */ - TWCR &= ~(1 << TWEN); - } -} - -/** - * @brief Receives data via the I2C bus as master. - * - * @param[in] i2cp pointer to the @p I2CDriver object - * @param[in] addr slave device address - * @param[out] rxbuf pointer to the receive buffer - * @param[in] rxbytes number of bytes to be received - * @param[in] timeout the number of ticks before the operation timeouts, - * the following special values are allowed: - * - @a TIME_INFINITE no timeout. - * . - * @return The operation status. - * @retval MSG_OK if the function succeeded. - * @retval MSG_RESET if one or more I2C errors occurred, the errors can - * be retrieved using @p i2cGetErrors(). - * @retval MSG_TIMEOUT if a timeout occurred before operation end. After a - * timeout the driver must be stopped and restarted - * because the bus is in an uncertain state. - * - * @notapi - */ -msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr, - uint8_t *rxbuf, size_t rxbytes, - systime_t timeout) { - i2cp->errors = I2C_NO_ERROR; - i2cp->addr = addr; - i2cp->txbuf = NULL; - i2cp->txbytes = 0; - i2cp->txidx = 0; - i2cp->rxbuf = rxbuf; - i2cp->rxbytes = rxbytes; - i2cp->rxidx = 0; - - /* Send START */ - TWCR = ((1 << TWSTA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE)); - - return osalThreadSuspendTimeoutS(&i2cp->thread, TIME_INFINITE); -} - -/** - * @brief Transmits data via the I2C bus as master. - * - * @param[in] i2cp pointer to the @p I2CDriver object - * @param[in] addr slave device address - * @param[in] txbuf pointer to the transmit buffer - * @param[in] txbytes number of bytes to be transmitted - * @param[out] rxbuf pointer to the receive buffer - * @param[in] rxbytes number of bytes to be received - * @param[in] timeout the number of ticks before the operation timeouts, - * the following special values are allowed: - * - @a TIME_INFINITE no timeout. - * . - * @return The operation status. - * @retval MSG_OK if the function succeeded. - * @retval MSG_RESET if one or more I2C errors occurred, the errors can - * be retrieved using @p i2cGetErrors(). - * @retval MSG_TIMEOUT if a timeout occurred before operation end. After a - * timeout the driver must be stopped and restarted - * because the bus is in an uncertain state. - * - * @notapi - */ -msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr, - const uint8_t *txbuf, size_t txbytes, - uint8_t *rxbuf, size_t rxbytes, - systime_t timeout) { - i2cp->errors = I2C_NO_ERROR; - i2cp->addr = addr; - i2cp->txbuf = txbuf; - i2cp->txbytes = txbytes; - i2cp->txidx = 0; - i2cp->rxbuf = rxbuf; - i2cp->rxbytes = rxbytes; - i2cp->rxidx = 0; - - TWCR = ((1 << TWSTA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE)); - - return osalThreadSuspendTimeoutS(&i2cp->thread, TIME_INFINITE); -} - -#endif /* HAL_USE_I2C */ - -/** @} */ diff --git a/os/hal/ports/AVR/i2c_lld.h b/os/hal/ports/AVR/i2c_lld.h deleted file mode 100644 index d9623647b..000000000 --- a/os/hal/ports/AVR/i2c_lld.h +++ /dev/null @@ -1,220 +0,0 @@ -/* - 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 AVR/i2c_lld.h - * @brief AVR I2C subsystem low level driver header. - * - * @addtogroup I2C - * @{ - */ - -#ifndef _I2C_LLD_H_ -#define _I2C_LLD_H_ - -#if HAL_USE_I2C || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver constants. */ -/*===========================================================================*/ - -/** @brief START transmitted.*/ -#define TWI_START 0x08 -/** @brief Repeated START transmitted.*/ -#define TWI_REPEAT_START 0x10 -/** @brief Arbitration Lost.*/ -#define TWI_ARBITRATION_LOST 0x38 -/** @brief Bus errors.*/ -#define TWI_BUS_ERROR 0x00 - -/** @brief SLA+W transmitted with ACK response.*/ -#define TWI_MASTER_TX_ADDR_ACK 0x18 -/** @brief SLA+W transmitted with NACK response.*/ -#define TWI_MASTER_TX_ADDR_NACK 0x20 -/** @brief DATA transmitted with ACK response.*/ -#define TWI_MASTER_TX_DATA_ACK 0x28 -/** @brief DATA transmitted with NACK response.*/ -#define TWI_MASTER_TX_DATA_NACK 0x30 - -/** @brief SLA+R transmitted with ACK response.*/ -#define TWI_MASTER_RX_ADDR_ACK 0x40 -/** @brief SLA+R transmitted with NACK response.*/ -#define TWI_MASTER_RX_ADDR_NACK 0x48 -/** @brief DATA received with ACK response.*/ -#define TWI_MASTER_RX_DATA_ACK 0x50 -/** @brief DATA received with NACK response.*/ -#define TWI_MASTER_RX_DATA_NACK 0x58 - -/*===========================================================================*/ -/* Driver pre-compile time settings. */ -/*===========================================================================*/ - -/** - * @name Configuration options - * @{ - */ -/** - * @brief I2C driver enable switch. - * @details If set to @p TRUE the support for I2C is included. - * @note The default is @p FALSE. - */ -#if !defined(AVR_I2C_USE_I2C1) || defined(__DOXYGEN__) -#define AVR_I2C_USE_I2C1 FALSE -#endif -/** @} */ - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver data structures and types. */ -/*===========================================================================*/ - -/** - * @brief Type representing I2C address. - */ -typedef uint8_t i2caddr_t; - -/** - * @brief I2C Driver condition flags type. - */ -typedef uint8_t i2cflags_t; - -/** - * @brief Driver configuration structure. - * @note Implementations may extend this structure to contain more, - * architecture dependent, fields. - */ -typedef struct { - - /** - * @brief Specifies the I2C clock frequency. - */ - uint32_t clock_speed; - -} I2CConfig; - -/** - * @brief Structure representing an I2C driver. - */ -struct I2CDriver { - /** - * @brief Driver state. - */ - i2cstate_t state; - /** - * @brief Current configuration data. - */ - const I2CConfig *config; - /** - * @brief Error flags. - */ - i2cflags_t errors; -#if I2C_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) - /** - * @brief Mutex protecting the bus. - */ - mutex_t mutex; -#endif /* I2C_USE_MUTUAL_EXCLUSION */ -#if defined(I2C_DRIVER_EXT_FIELDS) - I2C_DRIVER_EXT_FIELDS -#endif - /* End of the mandatory fields.*/ - /** - * @brief Thread waiting for I/O completion. - */ - thread_reference_t thread; - /** - * @brief Address of slave device. - */ - i2caddr_t addr; - /** - * @brief Pointer to the buffer with data to send. - */ - const uint8_t *txbuf; - /** - * @brief Number of bytes of data to send. - */ - size_t txbytes; - /** - * @brief Current index in buffer when sending data. - */ - size_t txidx; - /** - * @brief Pointer to the buffer to put received data. - */ - uint8_t *rxbuf; - /** - * @brief Number of bytes of data to receive. - */ - size_t rxbytes; - /** - * @brief Current index in buffer when receiving data. - */ - size_t rxidx; -}; - -/** - * @brief Type of a structure representing an I2C driver. - */ -typedef struct I2CDriver I2CDriver; - -/*===========================================================================*/ -/* Driver macros. */ -/*===========================================================================*/ - -/** - * @brief Get errors from I2C driver. - * - * @param[in] i2cp pointer to the @p I2CDriver object - * - * @notapi - */ -#define i2c_lld_get_errors(i2cp) ((i2cp)->errors) - -/*===========================================================================*/ -/* External declarations. */ -/*===========================================================================*/ - -#if !defined(__DOXYGEN__) -#if AVR_I2C_USE_I2C1 -extern I2CDriver I2CD1; -#endif -#endif /* !defined(__DOXYGEN__) */ - -#ifdef __cplusplus -extern "C" { -#endif - void i2c_lld_init(void); - void i2c_lld_start(I2CDriver *i2cp); - void i2c_lld_stop(I2CDriver *i2cp); - msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr, - const uint8_t *txbuf, size_t txbytes, - uint8_t *rxbuf, size_t rxbytes, - systime_t timeout); - msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr, - uint8_t *rxbuf, size_t rxbytes, - systime_t timeout); -#ifdef __cplusplus -} -#endif - -#endif /* HAL_USE_I2C */ - -#endif /* _I2C_LLD_H_ */ - -/** @} */ diff --git a/os/hal/ports/AVR/icu_lld.c b/os/hal/ports/AVR/icu_lld.c deleted file mode 100644 index 2cdd1bc3c..000000000 --- a/os/hal/ports/AVR/icu_lld.c +++ /dev/null @@ -1,336 +0,0 @@ -/* - 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 AVR/icu_lld.c - * @brief AVR ICU driver subsystem low level driver source. - * - * @addtogroup ICU - * @{ - */ - -#include "hal.h" - -#if HAL_USE_ICU || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver local definitions. */ -/*===========================================================================*/ - -typedef struct { - volatile uint8_t *tccra; - volatile uint8_t *tccrb; - volatile uint16_t *tcnt; - volatile uint8_t *timsk; -} icu_registers_t; - -static icu_registers_t regs_table[]= -{ -#if AVR_ICU_USE_TIM1 || defined(__DOXYGEN__) - {&TCCR1A, &TCCR1B, &TCNT1, &TIMSK1}, -#endif -#if AVR_ICU_USE_TIM3 || defined(__DOXYGEN__) - {&TCCR3A, &TCCR3B, &TCNT3, &TIMSK3}, -#endif -#if AVR_ICU_USE_TIM4 || defined(__DOXYGEN__) - {&TCCR4A, &TCCR4B, &TCNT4, &TIMSK4}, -#endif -#if AVR_ICU_USE_TIM5 || defined(__DOXYGEN__) - {&TCCR5A, &TCCR5B, &TCNT5, &TIMSK5}, -#endif -}; - - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -/** - * @brief ICU1 driver identifier. - */ -#if AVR_ICU_USE_TIM1 || defined(__DOXYGEN__) -ICUDriver ICUD1; -#endif -/** - * @brief ICU3 driver identifier. - */ -#if AVR_ICU_USE_TIM3 || defined(__DOXYGEN__) -ICUDriver ICUD3; -#endif -/** - * @brief ICU4 driver identifier. - */ -#if AVR_ICU_USE_TIM4 || defined(__DOXYGEN__) -ICUDriver ICUD4; -#endif -/** - * @brief ICU5 driver identifier. - */ -#if AVR_ICU_USE_TIM5 || defined(__DOXYGEN__) -ICUDriver ICUD5; -#endif - -/*===========================================================================*/ -/* Driver local variables and types. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local functions. */ -/*===========================================================================*/ - -static inline void handle_capture_isr(ICUDriver *icup, - volatile uint16_t *icr, - volatile uint8_t *tccrb, - volatile uint16_t *tcnt) -{ - uint16_t value = *icr; - uint8_t rising = (*tccrb & (1 << ICES1)) ? 1 : 0; - *tccrb ^= (1 << ICES1); - if ((icup->config->mode == ICU_INPUT_ACTIVE_HIGH && rising) || - (icup->config->mode == ICU_INPUT_ACTIVE_LOW && !rising)) { - icup->width = value; - if (icup->config->width_cb != NULL) - icup->config->width_cb(icup); - } else { - icup->period = value; - if (icup->config->period_cb != NULL) - icup->config->period_cb(icup); - /* Reset counter at the end of every cycle */ - *tcnt = 0; - } -} - -static uint8_t index(ICUDriver *icup) -{ - uint8_t index = 0; -#if AVR_ICU_USE_TIM1 || defined(__DOXYGEN__) - if (icup == &ICUD1) return index; - else index++; -#endif -#if AVR_ICU_USE_TIM3 || defined(__DOXYGEN__) - if (icup == &ICUD3) return index; - else index++; -#endif -#if AVR_ICU_USE_TIM4 || defined(__DOXYGEN__) - if (icup == &ICUD4) return index; - else index++; -#endif -#if AVR_ICU_USE_TIM5 || defined(__DOXYGEN__) - if (icup == &ICUD5) return index; - else index++; -#endif -} - -/*===========================================================================*/ -/* Driver interrupt handlers. */ -/*===========================================================================*/ - -#if AVR_ICU_USE_TIM1 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER1_CAPT_vect) -{ - OSAL_IRQ_PROLOGUE(); - handle_capture_isr(&ICUD1, &ICR1, &TCCR1B, &TCNT1); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER1_OVF_vect) -{ - OSAL_IRQ_PROLOGUE(); - ICUD1.config->overflow_cb(&ICUD1); - OSAL_IRQ_EPILOGUE(); -} -#endif - -#if AVR_ICU_USE_TIM3 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER3_CAPT_vect) -{ - OSAL_IRQ_PROLOGUE(); - handle_capture_isr(&ICUD3, &ICR3, &TCCR3B, &TCNT3); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER3_OVF_vect) -{ - OSAL_IRQ_PROLOGUE(); - ICUD3.config->overflow_cb(&ICUD3); - OSAL_IRQ_EPILOGUE(); -} -#endif - -#if AVR_ICU_USE_TIM4 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER4_CAPT_vect) -{ - OSAL_IRQ_PROLOGUE(); - handle_capture_isr(&ICUD4, &ICR4, &TCCR4B, &TCNT4); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER4_OVF_vect) -{ - OSAL_IRQ_PROLOGUE(); - ICUD4.config->overflow_cb(&ICUD4); - OSAL_IRQ_EPILOGUE(); -} -#endif - -#if AVR_ICU_USE_TIM5 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER5_CAPT_vect) -{ - OSAL_IRQ_PROLOGUE(); - handle_capture_isr(&ICUD5, &ICR5, &TCCR5B, &TCNT5); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER5_OVF_vect) -{ - OSAL_IRQ_PROLOGUE(); - ICUD5.config->overflow_cb(&ICUD5); - OSAL_IRQ_EPILOGUE(); -} -#endif - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief Low level ICU driver initialization. - * - * @notapi - */ -void icu_lld_init(void) { - -#if AVR_ICU_USE_TIM1 - icuObjectInit(&ICUD1); -#endif -#if AVR_ICU_USE_TIM3 - icuObjectInit(&ICUD3); -#endif -#if AVR_ICU_USE_TIM4 - icuObjectInit(&ICUD4); -#endif -#if AVR_ICU_USE_TIM5 - icuObjectInit(&ICUD5); -#endif -} - -/** - * @brief Configures and activates the ICU peripheral. - * - * @param[in] icup pointer to the @p ICUDriver object - * - * @notapi - */ -void icu_lld_start(ICUDriver *icup) { - - if (icup->state == ICU_STOP) { - uint8_t i = index(icup); - /* Normal waveform generation (counts from 0 to 0xFFFF) */ - *regs_table[i].tccra &= ~((1 << WGM11) | (1 << WGM10)); - *regs_table[i].tccrb &= ~((1 << WGM13) | (1 << WGM12)); - /* Enable noise canceler, set prescale to CLK/1024 */ - *regs_table[i].tccrb |= (1 << ICNC1) | (1 << CS12) | (1 << CS10); - if (icup->config->mode == ICU_INPUT_ACTIVE_HIGH) - *regs_table[i].tccrb |= (1 << ICES1); - else - *regs_table[i].tccrb &= ~(1 << ICES1); - } -} - -/** - * @brief Deactivates the ICU peripheral. - * - * @param[in] icup pointer to the @p ICUDriver object - * - * @notapi - */ -void icu_lld_stop(ICUDriver *icup) { - - if (icup->state == ICU_READY) { - /* Resets the peripheral.*/ - - /* Disables the peripheral.*/ -#if AVR_ICU_USE_TIM1 - if (&ICUD1 == icup) { - - } -#endif /* AVR_ICU_USE_TIM1 */ - } -} - -/** - * @brief Enables the input capture. - * - * @param[in] icup pointer to the @p ICUDriver object - * - * @notapi - */ -void icu_lld_enable(ICUDriver *icup) { - - uint8_t i = index(icup); - icup->width = icup->period = 0; - *regs_table[i].tcnt = 0; - *regs_table[i].timsk |= (1 << ICIE1); - if (icup->config->overflow_cb != NULL) - *regs_table[i].timsk |= (1 << TOIE1); -} - -/** - * @brief Disables the input capture. - * - * @param[in] icup pointer to the @p ICUDriver object - * - * @notapi - */ -void icu_lld_disable(ICUDriver *icup) { - - uint8_t i = index(icup); - *regs_table[i].timsk &= ~((1 << ICIE1) | (1 << TOIE1)); -} - -/** - * @brief Returns the width of the latest pulse. - * @details The pulse width is defined as number of ticks between the start - * edge and the stop edge. - * - * @param[in] icup pointer to the @p ICUDriver object - * @return The number of ticks. - * - * @notapi - */ -icucnt_t icu_lld_get_width(ICUDriver *icup) { - - return icup->width; -} - -/** - * @brief Returns the width of the latest cycle. - * @details The cycle width is defined as number of ticks between a start - * edge and the next start edge. - * - * @param[in] icup pointer to the @p ICUDriver object - * @return The number of ticks. - * - * @notapi - */ -icucnt_t icu_lld_get_period(ICUDriver *icup) { - - return icup->period; -} - -#endif /* HAL_USE_ICU */ - -/** @} */ diff --git a/os/hal/ports/AVR/icu_lld.h b/os/hal/ports/AVR/icu_lld.h deleted file mode 100644 index d6abdc4c0..000000000 --- a/os/hal/ports/AVR/icu_lld.h +++ /dev/null @@ -1,195 +0,0 @@ -/* - 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 AVR/icu_lld.h - * @brief AVR ICU driver subsystem low level driver header. - * - * @addtogroup ICU - * @{ - */ - -#ifndef _ICU_LLD_H_ -#define _ICU_LLD_H_ - -#if HAL_USE_ICU || defined(__DOXYGEN__) - -#include "avr_timers.h" - -/*===========================================================================*/ -/* Driver constants. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver pre-compile time settings. */ -/*===========================================================================*/ - -/** - * @name Configuration options - * @{ - */ -/** - * @brief ICU driver enable switch. - * @details If set to @p TRUE the support for ICU1 is included. - */ -#if !defined(AVR_ICU_USE_TIM1) || defined(__DOXYGEN__) -#define AVR_ICU_USE_TIM1 FALSE -#endif -/** - * @brief ICU driver enable switch. - * @details If set to @p TRUE the support for ICU3 is included. - */ -#if !defined(AVR_ICU_USE_TIM3) || defined(__DOXYGEN__) -#define AVR_ICU_USE_TIM3 FALSE -#endif -/** - * @brief ICU driver enable switch. - * @details If set to @p TRUE the support for ICU4 is included. - */ -#if !defined(AVR_ICU_USE_TIM4) || defined(__DOXYGEN__) -#define AVR_ICU_USE_TIM4 FALSE -#endif -/** - * @brief ICU driver enable switch. - * @details If set to @p TRUE the support for ICU5 is included. - */ -#if !defined(AVR_ICU_USE_TIM5) || defined(__DOXYGEN__) -#define AVR_ICU_USE_TIM5 FALSE -#endif -/** @} */ - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver data structures and types. */ -/*===========================================================================*/ - -/** - * @brief ICU driver mode. - */ -typedef enum { - ICU_INPUT_ACTIVE_HIGH = 0, /**< Trigger on rising edge. */ - ICU_INPUT_ACTIVE_LOW = 1, /**< Trigger on falling edge. */ -} icumode_t; - -/** - * @brief ICU frequency type. - */ -typedef uint16_t icufreq_t; - -/** - * @brief ICU counter type. - */ -typedef uint16_t icucnt_t; - -/** - * @brief Driver configuration structure. - * @note It could be empty on some architectures. - */ -typedef struct { - /** - * @brief Driver mode. - */ - icumode_t mode; - /** - * @brief Timer clock in Hz. - * @note The low level can use assertions in order to catch invalid - * frequency specifications. - */ - icufreq_t frequency; - /** - * @brief Callback for pulse width measurement. - */ - icucallback_t width_cb; - /** - * @brief Callback for cycle period measurement. - */ - icucallback_t period_cb; - /** - * @brief Callback for timer overflow. - */ - icucallback_t overflow_cb; - /* End of the mandatory fields.*/ -} ICUConfig; - -/** - * @brief Structure representing an ICU driver. - */ -struct ICUDriver { - /** - * @brief Driver state. - */ - icustate_t state; - /** - * @brief Current configuration data. - */ - const ICUConfig *config; -#if defined(ICU_DRIVER_EXT_FIELDS) - ICU_DRIVER_EXT_FIELDS -#endif - /* End of the mandatory fields.*/ - /** - * @brief Width value read by ISR. - */ - icucnt_t width; - /** - * @brief Period value read by ISR. - */ - icucnt_t period; -}; - -/*===========================================================================*/ -/* Driver macros. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* External declarations. */ -/*===========================================================================*/ - -#if AVR_ICU_USE_TIM1 && !defined(__DOXYGEN__) -extern ICUDriver ICUD1; -#endif -#if AVR_ICU_USE_TIM3 && !defined(__DOXYGEN__) -extern ICUDriver ICUD3; -#endif -#if AVR_ICU_USE_TIM4 && !defined(__DOXYGEN__) -extern ICUDriver ICUD4; -#endif -#if AVR_ICU_USE_TIM5 && !defined(__DOXYGEN__) -extern ICUDriver ICUD5; -#endif - -#ifdef __cplusplus -extern "C" { -#endif - void icu_lld_init(void); - void icu_lld_start(ICUDriver *icup); - void icu_lld_stop(ICUDriver *icup); - void icu_lld_enable(ICUDriver *icup); - void icu_lld_disable(ICUDriver *icup); - icucnt_t icu_lld_get_width(ICUDriver *icup); - icucnt_t icu_lld_get_period(ICUDriver *icup); -#ifdef __cplusplus -} -#endif - -#endif /* HAL_USE_ICU */ - -#endif /* _ICU_LLD_H_ */ - -/** @} */ diff --git a/os/hal/ports/AVR/pal_lld.c b/os/hal/ports/AVR/pal_lld.c deleted file mode 100644 index 795be84ad..000000000 --- a/os/hal/ports/AVR/pal_lld.c +++ /dev/null @@ -1,156 +0,0 @@ -/* - 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 AVR/pal_lld.c - * @brief AVR GPIO low level driver code. - * - * @addtogroup PAL - * @{ - */ - -#include "hal.h" - -#if HAL_USE_PAL || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local variables and types. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local functions. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver interrupt handlers. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief AVR GPIO ports configuration. - * @details GPIO registers initialization. - * - * @param[in] config the AVR ports configuration - * - * @notapi - */ -void _pal_lld_init(const PALConfig *config) { - -#if defined(PORTA) || defined(__DOXYGEN__) - PORTA = config->porta.out; - DDRA = config->porta.dir; -#endif - -#if defined(PORTB) || defined(__DOXYGEN__) - PORTB = config->portb.out; - DDRB = config->portb.dir; -#endif - -#if defined(PORTC) || defined(__DOXYGEN__) - PORTC = config->portc.out; - DDRC = config->portc.dir; -#endif - -#if defined(PORTD) || defined(__DOXYGEN__) - PORTD = config->portd.out; - DDRD = config->portd.dir; -#endif - -#if defined(PORTE) || defined(__DOXYGEN__) - PORTE = config->porte.out; - DDRE = config->porte.dir; -#endif - -#if defined(PORTF) || defined(__DOXYGEN__) - PORTF = config->portf.out; - DDRF = config->portf.dir; -#endif - -#if defined(PORTG) || defined(__DOXYGEN__) - PORTG = config->portg.out; - DDRG = config->portg.dir; -#endif - -#if defined(PORTH) || defined(__DOXYGEN__) - PORTH = config->porth.out; - DDRH = config->porth.dir; -#endif - -#if defined(PORTJ) || defined(__DOXYGEN__) - PORTJ = config->portj.out; - DDRJ = config->portj.dir; -#endif - -#if defined(PORTK) || defined(__DOXYGEN__) - PORTK = config->portk.out; - DDRK = config->portk.dir; -#endif - -#if defined(PORTL) || defined(__DOXYGEN__) - PORTL = config->portl.out; - DDRL = config->portl.dir; -#endif -} - -/** - * @brief Pads mode setup. - * @details This function programs a pads group belonging to the same port - * with the specified mode. - * - * @param[in] port the port identifier - * @param[in] mask the group mask - * @param[in] mode the mode - * - * @note This function is not meant to be invoked directly by the application - * code. - * @note @p PAL_MODE_UNCONNECTED is implemented as output as recommended by - * the AVR Family User's Guide. Unconnected pads are set to input - * with pull-up by default. - * - * @notapi - */ -void _pal_lld_setgroupmode(ioportid_t port, - ioportmask_t mask, - iomode_t mode) { - - switch (mode) { - case PAL_MODE_RESET: - case PAL_MODE_INPUT: - case PAL_MODE_INPUT_ANALOG: - port->dir &= ~mask; - port->out &= ~mask; - break; - case PAL_MODE_UNCONNECTED: - case PAL_MODE_INPUT_PULLUP: - port->dir &= ~mask; - port->out |= mask; - break; - case PAL_MODE_OUTPUT_PUSHPULL: - port->dir |= mask; - break; - } -} - -#endif /* HAL_USE_PAL */ - -/** @} */ diff --git a/os/hal/ports/AVR/pal_lld.h b/os/hal/ports/AVR/pal_lld.h deleted file mode 100644 index b6994d8b4..000000000 --- a/os/hal/ports/AVR/pal_lld.h +++ /dev/null @@ -1,336 +0,0 @@ -/* - 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 AVR/pal_lld.h - * @brief AVR GPIO low level driver header. - * - * @addtogroup PAL - * @{ - */ - -#ifndef _PAL_LLD_H_ -#define _PAL_LLD_H_ - -#include "avr_pins.h" - -#if HAL_USE_PAL || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Unsupported modes and specific modes */ -/*===========================================================================*/ - -#undef PAL_MODE_INPUT_PULLDOWN -#undef PAL_MODE_OUTPUT_OPENDRAIN - -/*===========================================================================*/ -/* I/O Ports Types and constants. */ -/*===========================================================================*/ - -/** - * @brief Width, in bits, of an I/O port. - */ -#define PAL_IOPORTS_WIDTH 8 - -/** - * @brief Whole port mask. - * @details This macro specifies all the valid bits into a port. - */ -#define PAL_WHOLE_PORT ((ioportmask_t)0xFF) - -/** - * @brief AVR setup registers. - */ -typedef struct { - uint8_t out; - uint8_t dir; -} avr_gpio_setup_t; - -/** - * @brief AVR registers block. - * @note On some devices registers do not follow this layout on some - * ports, the ports with abnormal layout cannot be used through - * PAL driver. Example: PORT F on Mega128. - */ -typedef struct { - volatile uint8_t in; - volatile uint8_t dir; - volatile uint8_t out; -} avr_gpio_registers_t; - -/** - * @brief Generic I/O ports static initializer. - * @details An instance of this structure must be passed to @p palInit() at - * system startup time in order to initialized the digital I/O - * subsystem. This represents only the initial setup, specific pads - * or whole ports can be reprogrammed at later time. - */ -typedef struct { -#if defined(PORTA) || defined(__DOXYGEN__) - avr_gpio_setup_t porta; -#endif -#if defined(PORTB) || defined(__DOXYGEN__) - avr_gpio_setup_t portb; -#endif -#if defined(PORTC) || defined(__DOXYGEN__) - avr_gpio_setup_t portc; -#endif -#if defined(PORTD) || defined(__DOXYGEN__) - avr_gpio_setup_t portd; -#endif -#if defined(PORTE) || defined(__DOXYGEN__) - avr_gpio_setup_t porte; -#endif -#if defined(PORTF) || defined(__DOXYGEN__) - avr_gpio_setup_t portf; -#endif -#if defined(PORTG) || defined(__DOXYGEN__) - avr_gpio_setup_t portg; -#endif -#if defined(PORTH) || defined(__DOXYGEN__) - avr_gpio_setup_t porth; -#endif -#if defined(PORTJ) || defined(__DOXYGEN__) - avr_gpio_setup_t portj; -#endif -#if defined(PORTK) || defined(__DOXYGEN__) - avr_gpio_setup_t portk; -#endif -#if defined(PORTL) || defined(__DOXYGEN__) - avr_gpio_setup_t portl; -#endif -} PALConfig; - -/** - * @brief Digital I/O port sized unsigned type. - */ -typedef uint8_t ioportmask_t; - -/** - * @brief Digital I/O modes. - */ -typedef uint8_t iomode_t; - -/** - * @brief Port Identifier. - * @details This type can be a scalar or some kind of pointer, do not make - * any assumption about it, use the provided macros when populating - * variables of this type. - */ -typedef volatile avr_gpio_registers_t * ioportid_t; - -/*===========================================================================*/ -/* I/O Ports Identifiers. */ -/*===========================================================================*/ - -#if defined(PORTA) || defined(__DOXYGEN__) -/** - * @brief GPIO port A identifier. - */ -#define IOPORT1 ((volatile avr_gpio_registers_t *)&PINA) -#endif - -#if defined(PORTB) || defined(__DOXYGEN__) -/** - * @brief GPIO port B identifier. - */ -#define IOPORT2 ((volatile avr_gpio_registers_t *)&PINB) -#endif - -#if defined(PORTC) || defined(__DOXYGEN__) -/** - * @brief GPIO port C identifier. - */ -#define IOPORT3 ((volatile avr_gpio_registers_t *)&PINC) -#endif - -#if defined(PORTD) || defined(__DOXYGEN__) -/** - * @brief GPIO port D identifier. - */ -#define IOPORT4 ((volatile avr_gpio_registers_t *)&PIND) -#endif - -#if defined(PORTE) || defined(__DOXYGEN__) -/** - * @brief GPIO port E identifier. - */ -#define IOPORT5 ((volatile avr_gpio_registers_t *)&PINE) -#endif - -#if defined(PORTF) || defined(__DOXYGEN__) -/** - * @brief GPIO port F identifier. - */ -#define IOPORT6 ((volatile avr_gpio_registers_t *)&PINF) -#endif - -#if defined(PORTG) || defined(__DOXYGEN__) -/** - * @brief GPIO port G identifier. - */ -#define IOPORT7 ((volatile avr_gpio_registers_t *)&PING) -#endif - -#if defined(PORTH) || defined(__DOXYGEN__) -/** - * @brief GPIO port H identifier. - */ -#define IOPORT8 ((volatile avr_gpio_registers_t *)&PINH) -#endif - -#if defined(PORTJ) || defined(__DOXYGEN__) -/** - * @brief GPIO port J identifier. - */ -#define IOPORT9 ((volatile avr_gpio_registers_t *)&PINJ) -#endif - -#if defined(PORTK) || defined(__DOXYGEN__) -/** - * @brief GPIO port K identifier. - */ -#define IOPORT10 ((volatile avr_gpio_registers_t *)&PINK) -#endif - -#if defined(PORTL) || defined(__DOXYGEN__) -/** - * @brief GPIO port L identifier. - */ -#define IOPORT11 ((volatile avr_gpio_registers_t *)&PINL) -#endif - -#if defined(PORTADC) || defined(__DOXYGEN__) -/** - * @brief GPIO port ADC identifier. - */ -#define IOPORTADC ((volatile avr_gpio_registers_t *)&PINADC) -#endif - -#if defined(PORT_SPI1) || defined(__DOXYGEN__) -/** - * @brief GPIO port SPI1 identifier. - */ -#define IOPORTSPI1 ((volatile avr_gpio_registers_t *)&PIN_SPI1) -#endif - - -/*===========================================================================*/ -/* Implementation, some of the following macros could be implemented as */ -/* functions, if so please put them in pal_lld.c. */ -/*===========================================================================*/ - -/** - * @brief Low level PAL subsystem initialization. - * - * @param[in] config the architecture-dependent ports configuration - * - * @notapi - */ -#define pal_lld_init(config) _pal_lld_init(config) - -/** - * @brief Reads the physical I/O port states. - * - * @param[in] port port identifier - * @return The port bits. - * - * @notapi - */ -#define pal_lld_readport(port) ((port)->in) - -/** - * @brief Reads the output latch. - * @details The purpose of this function is to read back the latched output - * value. - * - * @param[in] port port identifier - * @return The latched logical states. - * - * @notapi - */ -#define pal_lld_readlatch(port) ((port)->out) - -/** - * @brief Writes a bits mask on a I/O port. - * - * @param[in] port port identifier - * @param[in] bits bits to be written on the specified port - * - * @notapi - */ -#define pal_lld_writeport(port, bits) ((port)->out = bits) - -/** - * @brief Pads group mode setup. - * @details This function programs a pads group belonging to the same port - * with the specified mode. - * @note Programming an unknown or unsupported mode is silently ignored. - * - * @param[in] port port identifier - * @param[in] mask group mask - * @param[in] offset group bit offset within the port - * @param[in] mode group mode - * - * @notapi - */ -#define pal_lld_setgroupmode(port, mask, offset, mode) \ - _pal_lld_setgroupmode(port, mask << offset, mode) - -/** - * @brief Sets a pad logical state to @p PAL_HIGH. - * - * @param[in] port port identifier - * @param[in] pad pad number within the port - * - * @notapi - */ -#define pal_lld_setpad(port, pad) \ -__asm__ __volatile__( \ - "sbi %0,%1\n\t" :: "I" (_SFR_IO_ADDR(port->out)), "I" (pad) \ -) - -/** - * @brief Clears a pad logical state to @p PAL_LOW. - * - * @param[in] port port identifier - * @param[in] pad pad number within the port - * - * @notapi - */ -#define pal_lld_clearpad(port, pad) \ -__asm__ __volatile__( \ - "cbi %0,%1\n\t" :: "I" (_SFR_IO_ADDR(port->out)), "I" (pad) \ -) - -extern ROMCONST PALConfig pal_default_config; - -#ifdef __cplusplus -extern "C" { -#endif - void _pal_lld_init(const PALConfig *config); - void _pal_lld_setgroupmode(ioportid_t port, - ioportmask_t mask, - iomode_t mode); -#ifdef __cplusplus -} -#endif - -#endif /* HAL_USE_PAL */ - -#endif /* _PAL_LLD_H_ */ - -/** @} */ diff --git a/os/hal/ports/AVR/platform.mk b/os/hal/ports/AVR/platform.mk index d91d334ff..7181924bc 100644 --- a/os/hal/ports/AVR/platform.mk +++ b/os/hal/ports/AVR/platform.mk @@ -1,14 +1,14 @@ # List of all the AVR platform files. PLATFORMSRC = ${CHIBIOS}/os/hal/ports/AVR/hal_lld.c \ - ${CHIBIOS}/os/hal/ports/AVR/pal_lld.c \ - ${CHIBIOS}/os/hal/ports/AVR/serial_lld.c \ - ${CHIBIOS}/os/hal/ports/AVR/adc_lld.c \ - ${CHIBIOS}/os/hal/ports/AVR/i2c_lld.c \ - ${CHIBIOS}/os/hal/ports/AVR/spi_lld.c \ - ${CHIBIOS}/os/hal/ports/AVR/gpt_lld.c \ - ${CHIBIOS}/os/hal/ports/AVR/pwm_lld.c \ - ${CHIBIOS}/os/hal/ports/AVR/icu_lld.c \ - ${CHIBIOS}/os/hal/ports/AVR/st_lld.c + ${CHIBIOS}/os/hal/ports/AVR/hal_pal_lld.c \ + ${CHIBIOS}/os/hal/ports/AVR/hal_serial_lld.c \ + ${CHIBIOS}/os/hal/ports/AVR/hal_adc_lld.c \ + ${CHIBIOS}/os/hal/ports/AVR/hal_i2c_lld.c \ + ${CHIBIOS}/os/hal/ports/AVR/hal_spi_lld.c \ + ${CHIBIOS}/os/hal/ports/AVR/hal_gpt_lld.c \ + ${CHIBIOS}/os/hal/ports/AVR/hal_pwm_lld.c \ + ${CHIBIOS}/os/hal/ports/AVR/hal_icu_lld.c \ + ${CHIBIOS}/os/hal/ports/AVR/hal_st_lld.c # Required include directories PLATFORMINC = ${CHIBIOS}/os/hal/ports/AVR diff --git a/os/hal/ports/AVR/pwm_lld.c b/os/hal/ports/AVR/pwm_lld.c deleted file mode 100644 index 49d637e63..000000000 --- a/os/hal/ports/AVR/pwm_lld.c +++ /dev/null @@ -1,566 +0,0 @@ -/* - 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. -*/ - -/* - This driver is based on the work done by Matteo Serva available at - http://github.com/matteoserva/ChibiOS-AVR -*/ - -/** - * @file AVR/pwm_lld.c - * @brief AVR PWM driver subsystem low level driver. - * - * @addtogroup PWM - * @{ - */ - -#include "hal.h" - -#if HAL_USE_PWM || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver local definitions. */ -/*===========================================================================*/ - -typedef struct { - volatile uint8_t *tccra; - volatile uint8_t *tccrb; - volatile uint8_t *ocrah; - volatile uint8_t *ocral; - volatile uint8_t *ocrbh; - volatile uint8_t *ocrbl; - volatile uint8_t *ocrch; - volatile uint8_t *ocrcl; - volatile uint8_t *tifr; - volatile uint8_t *timsk; -} timer_registers_t; - -static timer_registers_t regs_table[]= -{ -#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) -#if defined(OCR1C) - {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, &OCR1CH, &OCR1CL, &TIFR1, &TIMSK1}, -#else - {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, NULL, NULL, &TIFR1, &TIMSK1}, -#endif -#endif -#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) - {&TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &OCR2B, &OCR2B, NULL, NULL, &TIFR2, &TIMSK2}, -#endif -#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) - {&TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &OCR3BH, &OCR3BL, &OCR3CH, &OCR3CL, &TIFR3, &TIMSK3}, -#endif -#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) - {&TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &OCR4CH, &OCR4CL, &OCR4CH, &OCR4CL, &TIFR4, &TIMSK4}, -#endif -#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) - {&TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &OCR5BH, &OCR5BL, &OCR5CH, &OCR5CL, &TIFR5, &TIMSK5}, -#endif -}; - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -/** @brief PWM driver identifiers.*/ -#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) -PWMDriver PWMD1; -#endif -#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) -PWMDriver PWMD2; -#endif -#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) -PWMDriver PWMD3; -#endif -#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) -PWMDriver PWMD4; -#endif -#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) -PWMDriver PWMD5; -#endif - -/*===========================================================================*/ -/* Driver local variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local functions. */ -/*===========================================================================*/ - -static void config_channel(volatile uint8_t *tccra, - uint8_t com1, - uint8_t com0, - pwmmode_t mode) -{ - *tccra &= ~((1 << com1) | (1 << com0)); - if (mode == PWM_OUTPUT_ACTIVE_HIGH) - *tccra |= ((1 << com1) | (0 << com0)); /* non inverting mode */ - else if (mode == PWM_OUTPUT_ACTIVE_LOW) - *tccra |= (1 << com1) | (1 << com0); /* inverting mode */ -} - -static uint8_t timer_index(PWMDriver *pwmp) -{ - uint8_t index = 0; - -#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) - if (pwmp == &PWMD1) return index; - else index++; -#endif -#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) - if (pwmp == &PWMD2) return index; - else index++; -#endif -#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) - if (pwmp == &PWMD3) return index; - else index++; -#endif -#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) - if (pwmp == &PWMD4) return index; - else index++; -#endif -#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) - if (pwmp == &PWMD5) return index; - else index++; -#endif - - /* This is an error! */ - return index; -} - -/*===========================================================================*/ -/* Driver interrupt handlers. */ -/*===========================================================================*/ - -/* - * interrupt for compare1&2 and clock overflow. pwmd1 & pwmd2 - */ -#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER1_OVF_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD1.config->callback(&PWMD1); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER1_COMPA_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD1.config->channels[0].callback(&PWMD1); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER1_COMPB_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD1.config->channels[1].callback(&PWMD1); - OSAL_IRQ_EPILOGUE(); -} -#if PWM_CHANNELS > 2 -OSAL_IRQ_HANDLER(TIMER1_COMPC_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD1.config->channels[2].callback(&PWMD1); - OSAL_IRQ_EPILOGUE(); -} -#endif -#endif - -#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER2_OVF_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD2.config->callback(&PWMD2); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER2_COMPA_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD2.config->channels[0].callback(&PWMD2); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER2_COMPB_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD2.config->channels[1].callback(&PWMD2); - OSAL_IRQ_EPILOGUE(); -} -#endif - -#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER3_OVF_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD3.config->callback(&PWMD3); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER3_COMPA_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD3.config->channels[0].callback(&PWMD3); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER3_COMPB_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD3.config->channels[1].callback(&PWMD3); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER3_COMPC_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD3.config->channels[2].callback(&PWMD3); - OSAL_IRQ_EPILOGUE(); -} -#endif - -#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER4_OVF_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD4.config->callback(&PWMD4); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER4_COMPA_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD4.config->channels[0].callback(&PWMD4); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER4_COMPB_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD4.config->channels[1].callback(&PWMD4); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER4_COMPC_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD4.config->channels[2].callback(&PWMD4); - OSAL_IRQ_EPILOGUE(); -} -#endif - -#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) -OSAL_IRQ_HANDLER(TIMER5_OVF_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD5.config->callback(&PWMD5); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER5_COMPA_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD5.config->channels[0].callback(&PWMD5); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER5_COMPB_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD5.config->channels[1].callback(&PWMD5); - OSAL_IRQ_EPILOGUE(); -} - -OSAL_IRQ_HANDLER(TIMER5_COMPC_vect) -{ - OSAL_IRQ_PROLOGUE(); - PWMD5.config->channels[2].callback(&PWMD5); - OSAL_IRQ_EPILOGUE(); -} -#endif - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief Low level PWM driver initialization. - * - * @notapi - */ -void pwm_lld_init(void) -{ -#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) - pwmObjectInit(&PWMD1); - PWMD1.channels = PWM_CHANNELS; - TCCR1A = (1 << WGM11) | (1 << WGM10); - TCCR1B = (0 << WGM13) | (1 << WGM12); -#endif - -#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) - pwmObjectInit(&PWMD2); - PWMD2.channels = PWM_CHANNELS; - TCCR2A = (1 << WGM21) | (1 << WGM20); - TCCR2B = (0 << WGM22); -#endif - -#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) - pwmObjectInit(&PWMD3); - PWMD3.channels = PWM_CHANNELS; - TCCR3A = (1 << WGM31) | (1 << WGM30); - TCCR3B = (0 << WGM33) | (1 << WGM32); -#endif - -#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) - pwmObjectInit(&PWMD4); - PWMD4.channels = PWM_CHANNELS; - TCCR4A = (1 << WGM41) | (1 << WGM40); - TCCR4B = (0 << WGM43) | (1 << WGM42); -#endif - -#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) - pwmObjectInit(&PWMD5); - PWMD5.channels = PWM_CHANNELS; - TCCR5A = (1 << WGM51) | (1 << WGM50); - TCCR5B = (0 << WGM53) | (1 << WGM52); -#endif -} - -/** - * @brief Configures and activates the PWM peripheral. - * - * @param[in] pwmp pointer to the @p PWMDriver object - * - * @notapi - */ -void pwm_lld_start(PWMDriver *pwmp) -{ - if (pwmp->state == PWM_STOP) { - -#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) - if (pwmp == &PWMD2) { - TCCR2B &= ~((1 << CS22) | (1 << CS21)); - TCCR2B |= (1 << CS20); - if (pwmp->config->callback != NULL) - TIMSK2 |= (1 << TOIE2); - return; - } -#endif - - uint8_t i = timer_index(pwmp); - - /* TODO: support other prescaler options */ - - *regs_table[i].tccrb &= ~(1 << CS11); - *regs_table[i].tccrb |= (1 << CS12) | (1 << CS10); - if (pwmp->config->callback != NULL) - *regs_table[i].timsk = (1 << TOIE1); - } -} - -/** - * @brief Deactivates the PWM peripheral. - * - * @param[in] pwmp pointer to the @p PWMDriver object - * - * @notapi - */ -void pwm_lld_stop(PWMDriver *pwmp) -{ - uint8_t i = timer_index(pwmp); - *regs_table[i].tccrb &= ~((1 << CS12) | (1 << CS11) | (1 << CS10)); - *regs_table[i].timsk = 0; -} - -/** - * @brief Changes the period the PWM peripheral. - * @details This function changes the period of a PWM unit that has already - * been activated using @p pwmStart(). - * @pre The PWM unit must have been activated using @p pwmStart(). - * @post The PWM unit period is changed to the new value. - * @note The function has effect at the next cycle start. - * @note If a period is specified that is shorter than the pulse width - * programmed in one of the channels then the behavior is not - * guaranteed. - * - * @param[in] pwmp pointer to a @p PWMDriver object - * @param[in] period new cycle time in ticks - * - * @notapi - */ -void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period) -{ -} - -/** - * @brief Enables a PWM channel. - * @pre The PWM unit must have been activated using @p pwmStart(). - * @post The channel is active using the specified configuration. - * @note Depending on the hardware implementation this function has - * effect starting on the next cycle (recommended implementation) - * or immediately (fallback implementation). - * - * @param[in] pwmp pointer to a @p PWMDriver object - * @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1) - * @param[in] width PWM pulse width as clock pulses number - * - * @notapi - */ -void pwm_lld_enable_channel(PWMDriver *pwmp, - pwmchannel_t channel, - pwmcnt_t width) -{ - uint16_t val = width; - if (val > MAX_PWM_VALUE) - val = MAX_PWM_VALUE; - -#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) - if (pwmp == &PWMD2) { - config_channel(&TCCR2A, - 7 - 2*channel, - 6 - 2*channel, - pwmp->config->channels[channel].mode); - TIMSK2 |= (1 << (channel + 1)); - /* Timer 2 is 8 bit */ - if (val > 0xFF) - val = 0xFF; - if (pwmp->config->channels[channel].callback) { - switch (channel) { - case 0: OCR2A = val; break; - case 1: OCR2B = val; break; - } - } - return; - } -#endif - - uint8_t i = timer_index(pwmp); - config_channel(regs_table[i].tccra, - 7 - 2*channel, - 6 - 2*channel, - pwmp->config->channels[channel].mode); - volatile uint8_t *ocrh, *ocrl; - switch (channel) { - case 1: - ocrh = regs_table[i].ocrbh; - ocrl = regs_table[i].ocrbl; - break; - case 2: - ocrh = regs_table[i].ocrch; - ocrl = regs_table[i].ocrcl; - break; - default: - ocrh = regs_table[i].ocrah; - ocrl = regs_table[i].ocral; - } - *ocrh = val >> 8; - *ocrl = val & 0xFF; - *regs_table[i].tifr |= (1 << (channel + 1)); - if (pwmp->config->channels[channel].callback != NULL) - *regs_table[i].timsk |= (1 << (channel + 1)); -} - -/** - * @brief Disables a PWM channel. - * @pre The PWM unit must have been activated using @p pwmStart(). - * @post The channel is disabled and its output line returned to the - * idle state. - * @note Depending on the hardware implementation this function has - * effect starting on the next cycle (recommended implementation) - * or immediately (fallback implementation). - * - * @param[in] pwmp pointer to a @p PWMDriver object - * @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1) - * - * @notapi - */ -void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) -{ - uint8_t i = timer_index(pwmp); - config_channel(regs_table[i].tccra, - 7 - 2*channel, - 6 - 2*channel, - PWM_OUTPUT_DISABLED); - *regs_table[i].timsk &= ~(1 << (channel + 1)); -} - -/** - * @brief Enables the periodic activation edge notification. - * @pre The PWM unit must have been activated using @p pwmStart(). - * @note If the notification is already enabled then the call has no effect. - * - * @param[in] pwmp pointer to a @p PWMDriver object - * - * @notapi - */ -void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) { - uint8_t i = timer_index(pwmp); - *regs_table[i].timsk |= (1 << TOIE1); -} - -/** - * @brief Disables the periodic activation edge notification. - * @pre The PWM unit must have been activated using @p pwmStart(). - * @note If the notification is already disabled then the call has no effect. - * - * @param[in] pwmp pointer to a @p PWMDriver object - * - * @notapi - */ -void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) { - uint8_t i = timer_index(pwmp); - *regs_table[i].timsk &= ~(1 << TOIE1); -} - -/** - * @brief Enables a channel de-activation edge notification. - * @pre The PWM unit must have been activated using @p pwmStart(). - * @pre The channel must have been activated using @p pwmEnableChannel(). - * @note If the notification is already enabled then the call has no effect. - * - * @param[in] pwmp pointer to a @p PWMDriver object - * @param[in] channel PWM channel identifier (0...channels-1) - * - * @notapi - */ -void pwm_lld_enable_channel_notification(PWMDriver *pwmp, - pwmchannel_t channel) { - uint8_t i = timer_index(pwmp); - *regs_table[i].timsk |= (1 << (channel + 1)); -} - -/** - * @brief Disables a channel de-activation edge notification. - * @pre The PWM unit must have been activated using @p pwmStart(). - * @pre The channel must have been activated using @p pwmEnableChannel(). - * @note If the notification is already disabled then the call has no effect. - * - * @param[in] pwmp pointer to a @p PWMDriver object - * @param[in] channel PWM channel identifier (0...channels-1) - * - * @notapi - */ -void pwm_lld_disable_channel_notification(PWMDriver *pwmp, - pwmchannel_t channel) { - - uint8_t i = timer_index(pwmp); - *regs_table[i].timsk &= ~(1 << (channel + 1)); -} - - -#endif /* HAL_USE_PWM */ - -/** @} */ diff --git a/os/hal/ports/AVR/pwm_lld.h b/os/hal/ports/AVR/pwm_lld.h deleted file mode 100644 index ae61f86c9..000000000 --- a/os/hal/ports/AVR/pwm_lld.h +++ /dev/null @@ -1,233 +0,0 @@ -/* - 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. -*/ - -/* - This driver is based on the work done by Matteo Serva available at - http://github.com/matteoserva/ChibiOS-AVR -*/ - -/** - * @file AVR/pwm_lld.h - * @brief AVR PWM driver subsystem low level driver. - * - * @addtogroup PWM - * @{ - */ - -#ifndef _PWM_LLD_H_ -#define _PWM_LLD_H_ - -#if HAL_USE_PWM || defined(__DOXYGEN__) - -#include "avr_timers.h" - -/*===========================================================================*/ -/* Driver constants. */ -/*===========================================================================*/ - -#if !defined(AVR_PWM_USE_TIM1) -#define AVR_PWM_USE_TIM1 FALSE -#endif -#if !defined(AVR_PWM_USE_TIM2) -#define AVR_PWM_USE_TIM2 FALSE -#endif -#if !defined(AVR_PWM_USE_TIM3) -#define AVR_PWM_USE_TIM3 FALSE -#endif -#if !defined(AVR_PWM_USE_TIM4) -#define AVR_PWM_USE_TIM4 FALSE -#endif -#if !defined(AVR_PWM_USE_TIM5) -#define AVR_PWM_USE_TIM5 FALSE -#endif - -/*===========================================================================*/ -/* Driver pre-compile time settings. */ -/*===========================================================================*/ - -/** - * @brief Number of PWM channels per PWM driver. - */ -#if !defined(PWM_CHANNELS) || defined(__DOXYGEN__) - #if defined(TIMER1_COMPC_vect) - #define PWM_CHANNELS 3 - #else - #define PWM_CHANNELS 2 - #endif -#endif - -#define MAX_PWM_VALUE 0x3FF - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver data structures and types. */ -/*===========================================================================*/ - -/** - * @brief PWM mode type. - */ -typedef uint8_t pwmmode_t; - -/** - * @brief PWM channel type. - */ -typedef uint8_t pwmchannel_t; - -/** - * @brief Type of a channels mask. - */ -typedef uint8_t pwmchnmsk_t; - -/** - * @brief PWM counter type. - */ -typedef uint16_t pwmcnt_t; - -/** - * @brief PWM driver channel configuration structure. - * @note Some architectures may not be able to support the channel mode - * or the callback, in this case the fields are ignored. - */ -typedef struct { - /** - * @brief Channel active logic level. - */ - pwmmode_t mode; - /** - * @brief Channel callback pointer. - * @note This callback is invoked on the channel compare event. If set to - * @p NULL then the callback is disabled. - */ - pwmcallback_t callback; - /* End of the mandatory fields.*/ -} PWMChannelConfig; - -/** - * @brief Driver configuration structure. - * @note Implementations may extend this structure to contain more, - * architecture dependent, fields. - */ -typedef struct { - /** - * @brief Timer clock in Hz. - * @note The low level can use assertions in order to catch invalid - * frequency specifications. - */ - uint16_t frequency; - /** - * @brief PWM period in ticks. - * @note The low level can use assertions in order to catch invalid - * period specifications. - */ - pwmcnt_t period; - /** - * @brief Periodic callback pointer. - * @note This callback is invoked on PWM counter reset. If set to - * @p NULL then the callback is disabled. - */ - pwmcallback_t callback; - /** - * @brief Channels configurations. - */ - PWMChannelConfig channels[PWM_CHANNELS]; - /* End of the mandatory fields.*/ -} PWMConfig; - -/** - * @brief Structure representing an PWM driver. - * @note Implementations may extend this structure to contain more, - * architecture dependent, fields. - */ -struct PWMDriver { - /** - * @brief Driver state. - */ - pwmstate_t state; - /** - * @brief Current configuration data. - */ - const PWMConfig *config; - /** - * @brief Current PWM period in ticks. - */ - pwmcnt_t period; - /** - * @brief Mask of the enabled channels. - */ - pwmchnmsk_t enabled; - /** - * @brief Number of channels in this instance. - */ - pwmchannel_t channels; -#if defined(PWM_DRIVER_EXT_FIELDS) - PWM_DRIVER_EXT_FIELDS -#endif - /* End of the mandatory fields.*/ -}; - -/*===========================================================================*/ -/* Driver macros. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* External declarations. */ -/*===========================================================================*/ - -#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__) -extern PWMDriver PWMD1; -#endif -#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__) -extern PWMDriver PWMD2; -#endif -#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__) -extern PWMDriver PWMD3; -#endif -#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__) -extern PWMDriver PWMD4; -#endif -#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__) -extern PWMDriver PWMD5; -#endif - -#ifdef __cplusplus -extern "C" { -#endif - void pwm_lld_init(void); - void pwm_lld_start(PWMDriver *pwmp); - void pwm_lld_stop(PWMDriver *pwmp); - void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period); - void pwm_lld_enable_channel(PWMDriver *pwmp, - pwmchannel_t channel, - pwmcnt_t width); - void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel); - void pwm_lld_enable_periodic_notification(PWMDriver *pwmp); - void pwm_lld_disable_periodic_notification(PWMDriver *pwmp); - void pwm_lld_enable_channel_notification(PWMDriver *pwmp, - pwmchannel_t channel); - void pwm_lld_disable_channel_notification(PWMDriver *pwmp, - pwmchannel_t channel); -#ifdef __cplusplus -} -#endif - -#endif /* HAL_USE_PWM */ - -#endif /* _PWM_LLD_H_ */ - -/** @} */ diff --git a/os/hal/ports/AVR/serial_lld.c b/os/hal/ports/AVR/serial_lld.c deleted file mode 100644 index bf1e65729..000000000 --- a/os/hal/ports/AVR/serial_lld.c +++ /dev/null @@ -1,378 +0,0 @@ -/* - 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 AVR/serial_lld.c - * @brief AVR low level serial driver code. - * - * @addtogroup SERIAL - * @{ - */ - -#include "hal.h" - -#if HAL_USE_SERIAL || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -/** - * @brief USART0 serial driver identifier. - * @note The name does not follow the convention used in the other ports - * (COMn) because a name conflict with the AVR headers. - */ -#if AVR_SERIAL_USE_USART0 || defined(__DOXYGEN__) -SerialDriver SD1; - - /* USARTs are not consistently named across the AVR range */ - #ifdef USART0_RX_vect - #define AVR_SD1_RX_VECT USART0_RX_vect - #define AVR_SD1_TX_VECT USART0_UDRE_vect - #elif defined(USART_RX_vect) - #define AVR_SD1_RX_VECT USART_RX_vect - #define AVR_SD1_TX_VECT USART_UDRE_vect - #else - #error "Cannot find USART to use for SD1" - #endif -#endif /* AVR_SERIAL_USE_USART0 */ - -/** - * @brief USART1 serial driver identifier. - * @note The name does not follow the convention used in the other ports - * (COMn) because a name conflict with the AVR headers. - */ -#if AVR_SERIAL_USE_USART1 || defined(__DOXYGEN__) -SerialDriver SD2; - - /* Check if USART1 exists for this MCU */ - #ifdef USART1_RX_vect - #define AVR_SD2_RX_VECT USART1_RX_vect - #define AVR_SD2_TX_VECT USART1_UDRE_vect - #else - #error "Cannot find USART to use for SD2" - #endif -#endif /* AVR_SERIAL_USE_USART1 */ - -/*===========================================================================*/ -/* Driver local variables and types. */ -/*===========================================================================*/ - -/** - * @brief Driver default configuration. - */ -static const SerialConfig default_config = { - UBRR(SERIAL_DEFAULT_BITRATE), - USART_CHAR_SIZE_8 -}; - -/*===========================================================================*/ -/* Driver local functions. */ -/*===========================================================================*/ - -static void set_error(uint8_t sra, SerialDriver *sdp) { - eventflags_t sts = 0; - uint8_t dor = 0; - uint8_t upe = 0; - uint8_t fe = 0; - -#if AVR_SERIAL_USE_USART0 - if (&SD1 == sdp) { - dor = (1 << DOR0); - upe = (1 << UPE0); - fe = (1 << FE0); - } -#endif - -#if AVR_SERIAL_USE_USART1 - if (&SD2 == sdp) { - dor = (1 << DOR1); - upe = (1 << UPE1); - fe = (1 << FE1); - } -#endif - - if (sra & dor) - sts |= SD_OVERRUN_ERROR; - if (sra & upe) - sts |= SD_PARITY_ERROR; - if (sra & fe) - sts |= SD_FRAMING_ERROR; - osalSysLockFromISR(); - chnAddFlagsI(sdp, sts); - osalSysUnlockFromISR(); -} - -#if AVR_SERIAL_USE_USART0 || defined(__DOXYGEN__) -static void notify1(io_queue_t *qp) { - - (void)qp; - UCSR0B |= (1 << UDRIE0); -} - -/** - * @brief USART0 initialization. - * - * @param[in] config the architecture-dependent serial driver configuration - */ -static void usart0_init(const SerialConfig *config) { - - UBRR0L = config->sc_brr; - UBRR0H = config->sc_brr >> 8; - UCSR0A = 0; - UCSR0B = (1 << RXEN0) | (1 << TXEN0) | (1 << RXCIE0); - switch (config->sc_bits_per_char) { - case USART_CHAR_SIZE_5: - UCSR0C = 0; - break; - case USART_CHAR_SIZE_6: - UCSR0C = (1 << UCSZ00); - break; - case USART_CHAR_SIZE_7: - UCSR0C = (1 << UCSZ01); - break; - case USART_CHAR_SIZE_9: - UCSR0B |= (1 << UCSZ02); - UCSR0C = (1 << UCSZ00) | (1 << UCSZ01); - break; - case USART_CHAR_SIZE_8: - default: - UCSR0C = (1 << UCSZ00) | (1 << UCSZ01); - } -} - -/** - * @brief USART0 de-initialization. - */ -static void usart0_deinit(void) { - - UCSR0A = 0; - UCSR0B = 0; - UCSR0C = 0; -} -#endif - -#if AVR_SERIAL_USE_USART1 || defined(__DOXYGEN__) -static void notify2(io_queue_t *qp) { - - (void)qp; - UCSR1B |= (1 << UDRIE1); -} - -/** - * @brief USART1 initialization. - * - * @param[in] config the architecture-dependent serial driver configuration - */ -static void usart1_init(const SerialConfig *config) { - - UBRR1L = config->sc_brr; - UBRR1H = config->sc_brr >> 8; - UCSR1A = 0; - UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1); - switch (config->sc_bits_per_char) { - case USART_CHAR_SIZE_5: - UCSR1C = 0; - break; - case USART_CHAR_SIZE_6: - UCSR1C = (1 << UCSZ10); - break; - case USART_CHAR_SIZE_7: - UCSR1C = (1 << UCSZ11); - break; - case USART_CHAR_SIZE_9: - UCSR1B |= (1 << UCSZ12); - UCSR1C = (1 << UCSZ10) | (1 << UCSZ11); - break; - case USART_CHAR_SIZE_8: - default: - UCSR1C = (1 << UCSZ10) | (1 << UCSZ11); - } -} - -/** - * @brief USART1 de-initialization. - */ -static void usart1_deinit(void) { - - UCSR1A = 0; - UCSR1B = 0; - UCSR1C = 0; -} -#endif - -/*===========================================================================*/ -/* Driver interrupt handlers. */ -/*===========================================================================*/ - -#if AVR_SERIAL_USE_USART0 || defined(__DOXYGEN__) -/** - * @brief USART0 RX interrupt handler. - * - * @isr - */ -OSAL_IRQ_HANDLER(AVR_SD1_RX_VECT) { - uint8_t sra; - - OSAL_IRQ_PROLOGUE(); - - sra = UCSR0A; - if (sra & ((1 << DOR0) | (1 << UPE0) | (1 << FE0))) - set_error(sra, &SD1); - osalSysLockFromISR(); - sdIncomingDataI(&SD1, UDR0); - osalSysUnlockFromISR(); - - OSAL_IRQ_EPILOGUE(); -} - -/** - * @brief USART0 TX interrupt handler. - * - * @isr - */ -OSAL_IRQ_HANDLER(AVR_SD1_TX_VECT) { - msg_t b; - - OSAL_IRQ_PROLOGUE(); - - osalSysLockFromISR(); - b = sdRequestDataI(&SD1); - osalSysUnlockFromISR(); - if (b < MSG_OK) - UCSR0B &= ~(1 << UDRIE0); - else - UDR0 = b; - - OSAL_IRQ_EPILOGUE(); -} -#endif /* AVR_SERIAL_USE_USART0 */ - -#if AVR_SERIAL_USE_USART1 || defined(__DOXYGEN__) -/** - * @brief USART1 RX interrupt handler. - * - * @isr - */ -OSAL_IRQ_HANDLER(AVR_SD2_RX_VECT) { - uint8_t sra; - - OSAL_IRQ_PROLOGUE(); - - sra = UCSR1A; - if (sra & ((1 << DOR1) | (1 << UPE1) | (1 << FE1))) - set_error(sra, &SD2); - osalSysLockFromISR(); - sdIncomingDataI(&SD2, UDR1); - osalSysUnlockFromISR(); - - OSAL_IRQ_EPILOGUE(); -} - -/** - * @brief USART1 TX interrupt handler. - * - * @isr - */ -OSAL_IRQ_HANDLER(AVR_SD2_TX_VECT) { - msg_t b; - - OSAL_IRQ_PROLOGUE(); - - osalSysLockFromISR(); - b = sdRequestDataI(&SD2); - osalSysUnlockFromISR(); - if (b < MSG_OK) - UCSR1B &= ~(1 << UDRIE1); - else - UDR1 = b; - - OSAL_IRQ_EPILOGUE(); -} -#endif /* AVR_SERIAL_USE_USART1 */ - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief Low level serial driver initialization. - * - * @notapi - */ -void sd_lld_init(void) { - -#if AVR_SERIAL_USE_USART0 - sdObjectInit(&SD1, NULL, notify1); -#endif -#if AVR_SERIAL_USE_USART1 - sdObjectInit(&SD2, NULL, notify2); -#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. - * - * @notapi - */ -void sd_lld_start(SerialDriver *sdp, const SerialConfig *config) { - - if (config == NULL) - config = &default_config; - -#if AVR_SERIAL_USE_USART0 - if (&SD1 == sdp) { - usart0_init(config); - return; - } -#endif -#if AVR_SERIAL_USE_USART1 - if (&SD2 == sdp) { - usart1_init(config); - 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 - * - * @notapi - */ -void sd_lld_stop(SerialDriver *sdp) { - -#if AVR_SERIAL_USE_USART0 - if (&SD1 == sdp) - usart0_deinit(); -#endif -#if AVR_SERIAL_USE_USART1 - if (&SD2 == sdp) - usart1_deinit(); -#endif -} - -#endif /* HAL_USE_SERIAL */ - -/** @} */ diff --git a/os/hal/ports/AVR/serial_lld.h b/os/hal/ports/AVR/serial_lld.h deleted file mode 100644 index a12cb8e59..000000000 --- a/os/hal/ports/AVR/serial_lld.h +++ /dev/null @@ -1,158 +0,0 @@ -/* - 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 AVR/serial_lld.h - * @brief AVR low level serial driver header. - * - * @addtogroup SERIAL - * @{ - */ - -#ifndef _SERIAL_LLD_H_ -#define _SERIAL_LLD_H_ - -#if HAL_USE_SERIAL || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver constants. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver pre-compile time settings. */ -/*===========================================================================*/ - -/** - * @brief USART0 driver enable switch. - * @details If set to @p TRUE the support for USART0 is included. - * @note The default is @p FALSE. - */ -#if !defined(AVR_SERIAL_USE_USART0) || defined(__DOXYGEN__) - #define AVR_SERIAL_USE_USART0 TRUE -#endif - -/** - * @brief USART1 driver enable switch. - * @details If set to @p TRUE the support for USART1 is included. - * @note The default is @p TRUE. - */ -#if !defined(AVR_SERIAL_USE_USART1) || defined(__DOXYGEN__) -#define AVR_SERIAL_USE_USART1 TRUE -#endif - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver data structures and types. */ -/*===========================================================================*/ - -/** - * @brief AVR Serial Driver configuration structure. - * @details An instance of this structure must be passed to @p sdStart() - * in order to configure and start a serial driver operations. - */ -typedef struct { - /** - * @brief Initialization value for the BRR register. - */ - uint16_t sc_brr; - /** - * @brief Number of bits per character (USART_CHAR_SIZE_5 to USART_CHAR_SIZE_9). - */ - uint8_t sc_bits_per_char; -} SerialConfig; - -/** - * @brief @p SerialDriver specific data. - */ -#define _serial_driver_data \ - _base_asynchronous_channel_data \ - /* Driver state.*/ \ - sdstate_t state; \ - /* Input queue.*/ \ - input_queue_t iqueue; \ - /* Output queue.*/ \ - output_queue_t oqueue; \ - /* Input circular buffer.*/ \ - uint8_t ib[SERIAL_BUFFERS_SIZE]; \ - /* Output circular buffer.*/ \ - uint8_t ob[SERIAL_BUFFERS_SIZE]; \ - /* End of the mandatory fields.*/ - -/*===========================================================================*/ -/* Driver macros. */ -/*===========================================================================*/ - -/** - * @brief Macro for baud rate computation. - * @note Make sure the final baud rate is within tolerance. - */ -#define UBRR(b) (((F_CPU / b) >> 4) - 1) - -/** - * @brief Macro for baud rate computation when U2Xn == 1. - * @note Make sure the final baud rate is within tolerance. - */ -#define UBRR2x(b) (((F_CPU / b) >> 3) - 1) - -/** -* @brief Macro for baud rate computation. -* @note Make sure the final baud rate is within tolerance. -* @note This version uses floating point math for greater accuracy. -*/ -#define UBRR_F(b) ((((double) F_CPU / (double) b) / 16.0) - 0.5) - -/** -* @brief Macro for baud rate computation when U2Xn == 1. -* @note Make sure the final baud rate is within tolerance. -* @note This version uses floating point math for greater accuracy. -*/ -#define UBRR2x_F(b) ((((double) F_CPU / (double) b) / 8.0) - 0.5) - -#define USART_CHAR_SIZE_5 0 -#define USART_CHAR_SIZE_6 1 -#define USART_CHAR_SIZE_7 2 -#define USART_CHAR_SIZE_8 3 -#define USART_CHAR_SIZE_9 4 - -/*===========================================================================*/ -/* External declarations. */ -/*===========================================================================*/ - -#if AVR_SERIAL_USE_USART0 && !defined(__DOXYGEN__) -extern SerialDriver SD1; -#endif -#if AVR_SERIAL_USE_USART1 && !defined(__DOXYGEN__) -extern SerialDriver SD2; -#endif - -#ifdef __cplusplus -extern "C" { -#endif - void sd_lld_init(void); - void sd_lld_start(SerialDriver *sdp, const SerialConfig *config); - void sd_lld_stop(SerialDriver *sdp); -#ifdef __cplusplus -} -#endif - -#endif /* HAL_USE_SERIAL */ - -#endif /* _SERIAL_LLD_H_ */ - -/** @} */ diff --git a/os/hal/ports/AVR/spi_lld.c b/os/hal/ports/AVR/spi_lld.c deleted file mode 100644 index 6a89ce112..000000000 --- a/os/hal/ports/AVR/spi_lld.c +++ /dev/null @@ -1,420 +0,0 @@ -/* - 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 AVR/spi_lld.c - * @brief AVR SPI subsystem low level driver source. - * - * @addtogroup SPI - * @{ - */ - -#include "hal.h" - -#if HAL_USE_SPI || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver local definitions. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -/** - * @brief SPI1 driver identifier. - */ -#if AVR_SPI_USE_SPI1 || defined(__DOXYGEN__) -SPIDriver SPID1; -#endif - -/*===========================================================================*/ -/* Driver local variables and types. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local functions. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver interrupt handlers. */ -/*===========================================================================*/ - -#if AVR_SPI_USE_SPI1 || defined(__DOXYGEN__) -/** - * @brief SPI event interrupt handler. - * - * @notapi - */ -OSAL_IRQ_HANDLER(SPI_STC_vect) { - OSAL_IRQ_PROLOGUE(); - - SPIDriver *spip = &SPID1; - - /* spi_lld_exchange or spi_lld_receive */ - if (spip->rxbuf && spip->rxidx < spip->rxbytes) { - spip->rxbuf[spip->rxidx++] = SPDR; // receive - } - - /* spi_lld_exchange, spi_lld_send or spi_lld_ignore */ - if (spip->txidx < spip->txbytes) { - if (spip->txbuf) { - SPDR = spip->txbuf[spip->txidx++]; // send - } else { - SPDR = 0; spip->txidx++; // dummy send - } - } - - /* spi_lld_send */ - else if (spip->rxidx < spip->rxbytes) { /* rx not done */ - SPDR = 0; // dummy send to keep the clock going - } - - /* rx done and tx done */ - if (spip->rxidx >= spip->rxbytes && spip->txidx >= spip->txbytes) { - _spi_isr_code(spip); - } - - OSAL_IRQ_EPILOGUE(); -} -#endif /* AVR_SPI_USE_SPI1 */ - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief Low level SPI driver initialization. - * - * @notapi - */ -void spi_lld_init(void) { - -#if AVR_SPI_USE_SPI1 - /* Driver initialization.*/ - spiObjectInit(&SPID1); -#endif /* AVR_SPI_USE_SPI1 */ -} - -/** - * @brief Configures and activates the SPI peripheral. - * - * @param[in] spip pointer to the @p SPIDriver object - * - * @notapi - */ -void spi_lld_start(SPIDriver *spip) { - - uint8_t dummy; - - /* Configures the peripheral.*/ - - if (spip->state == SPI_STOP) { - /* Enables the peripheral.*/ -#if AVR_SPI_USE_SPI1 - if (&SPID1 == spip) { - /* Enable SPI clock using Power Reduction Register */ -#if defined(PRR0) - PRR0 &= ~(1 << PRSPI); -#elif defined(PRR) - PRR &= ~(1 << PRSPI); -#endif - - /* SPI enable, SPI interrupt enable */ - SPCR |= ((1 << SPE) | (1 << SPIE)); - - SPCR |= (1 << MSTR); - DDR_SPI1 |= ((1 << SPI1_MOSI) | (1 << SPI1_SCK)); - DDR_SPI1 &= ~(1 << SPI1_MISO); - spip->config->ssport->dir |= (1 << spip->config->sspad); - - switch (spip->config->bitorder) { - case SPI_LSB_FIRST: - SPCR |= (1 << DORD); - break; - case SPI_MSB_FIRST: /* fallthrough */ - default: - SPCR &= ~(1 << DORD); - break; - } - - SPCR &= ~((1 << CPOL) | (1 << CPHA)); - switch (spip->config->mode) { - case SPI_MODE_1: - SPCR |= (1 << CPHA); - break; - case SPI_MODE_2: - SPCR |= (1 << CPOL); - break; - case SPI_MODE_3: - SPCR |= ((1 << CPOL) | (1 << CPHA)); - break; - case SPI_MODE_0: /* fallthrough */ - default: break; - } - - SPCR &= ~((1 << SPR1) | (1 << SPR0)); - SPSR &= ~(1 << SPI2X); - switch (spip->config->clockrate) { - case SPI_SCK_FOSC_2: - SPSR |= (1 << SPI2X); - break; - case SPI_SCK_FOSC_8: - SPSR |= (1 << SPI2X); - SPCR |= (1 << SPR0); - break; - case SPI_SCK_FOSC_16: - SPCR |= (1 << SPR0); - break; - case SPI_SCK_FOSC_32: - SPSR |= (1 << SPI2X); - SPCR |= (1 << SPR1); - break; - case SPI_SCK_FOSC_64: - SPCR |= (1 << SPR1); - break; - case SPI_SCK_FOSC_128: - SPCR |= ((1 << SPR1) | (1 << SPR0)); - break; - case SPI_SCK_FOSC_4: /* fallthrough */ - default: break; - } - - /* dummy reads before enabling interrupt */ - dummy = SPSR; - dummy = SPDR; - (void) dummy; /* suppress warning about unused variable */ - SPCR |= (1 << SPIE); - } -#endif /* AVR_SPI_USE_SPI1 */ - } -} - -/** - * @brief Deactivates the SPI peripheral. - * - * @param[in] spip pointer to the @p SPIDriver object - * - * @notapi - */ -void spi_lld_stop(SPIDriver *spip) { - - if (spip->state == SPI_READY) { - /* Resets the peripheral.*/ - - /* Disables the peripheral.*/ -#if AVR_SPI_USE_SPI1 - if (&SPID1 == spip) { - SPCR &= ((1 << SPIE) | (1 << SPE)); - spip->config->ssport->dir &= ~(1 << spip->config->sspad); - } -/* Disable SPI clock using Power Reduction Register */ -#if defined(PRR0) - PRR0 |= (1 << PRSPI); -#elif defined(PRR) - PRR |= (1 << PRSPI); -#endif -#endif /* AVR_SPI_USE_SPI1 */ - } -} - -/** - * @brief Asserts the slave select signal and prepares for transfers. - * - * @param[in] spip pointer to the @p SPIDriver object - * - * @notapi - */ -void spi_lld_select(SPIDriver *spip) { - - /** - * NOTE: This should only be called in master mode. - */ - spip->config->ssport->out &= ~(1 << spip->config->sspad); - -} - -/** - * @brief Deasserts the slave select signal. - * @details The previously selected peripheral is unselected. - * - * @param[in] spip pointer to the @p SPIDriver object - * - * @notapi - */ -void spi_lld_unselect(SPIDriver *spip) { - - /** - * NOTE: This should only be called in master mode. - */ - spip->config->ssport->out |= (1 << spip->config->sspad); - -} - -/** - * @brief Ignores data on the SPI bus. - * @details This asynchronous function starts the transmission of a series of - * idle words on the SPI bus and ignores the received data. - * @post At the end of the operation the configured callback is invoked. - * - * @param[in] spip pointer to the @p SPIDriver object - * @param[in] n number of words to be ignored - * - * @notapi - */ -void spi_lld_ignore(SPIDriver *spip, size_t n) { - - spip->rxbuf = spip->txbuf = NULL; - spip->txbytes = n; - spip->txidx = 0; - - SPDR = 0; -} - -/** - * @brief Exchanges data on the SPI bus. - * @details This asynchronous function starts a simultaneous transmit/receive - * operation. - * @post At the end of the operation the configured callback is invoked. - * @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] spip pointer to the @p SPIDriver object - * @param[in] n number of words to be exchanged - * @param[in] txbuf the pointer to the transmit buffer - * @param[out] rxbuf the pointer to the receive buffer - * - * @notapi - */ -void spi_lld_exchange(SPIDriver *spip, size_t n, - const void *txbuf, void *rxbuf) { - - spip->rxbuf = rxbuf; - spip->txbuf = txbuf; - spip->txbytes = spip->rxbytes = n; - spip->txidx = spip->rxidx = 0; - - SPDR = spip->txbuf[spip->txidx++]; -} - -/** - * @brief Sends data over the SPI bus. - * @details This asynchronous function starts a transmit operation. - * @post At the end of the operation the configured callback is invoked. - * @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] spip pointer to the @p SPIDriver object - * @param[in] n number of words to send - * @param[in] txbuf the pointer to the transmit buffer - * - * @notapi - */ -void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) { - - spip->rxbuf = NULL; - spip->txbuf = txbuf; - spip->txbytes = n; - spip->txidx = 0; - - SPDR = spip->txbuf[spip->txidx++]; -} - -/** - * @brief Receives data from the SPI bus. - * @details This asynchronous function starts a receive operation. - * @post At the end of the operation the configured callback is invoked. - * @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] spip pointer to the @p SPIDriver object - * @param[in] n number of words to receive - * @param[out] rxbuf the pointer to the receive buffer - * - * @notapi - */ -void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) { - - spip->txbuf = NULL; - spip->rxbuf = rxbuf; - spip->rxbytes = n; - spip->rxidx = 0; - - /* Write dummy byte to start communication */ - SPDR = 0; -} - -/** - * @brief Exchanges one frame using a polled wait. - * @details This synchronous function exchanges one frame using a polled - * synchronization method. This function is useful when exchanging - * small amount of data on high speed channels, usually in this - * situation is much more efficient just wait for completion using - * polling than suspending the thread waiting for an interrupt. - * - * @param[in] spip pointer to the @p SPIDriver object - * @param[in] frame the data frame to send over the SPI bus - * @return The received data frame from the SPI bus. - */ -#if AVR_SPI_USE_16BIT_POLLED_EXCHANGE -uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) { - - uint16_t spdr = 0; - uint8_t dummy; - - /* disable interrupt */ - SPCR &= ~(1 << SPIE); - - SPDR = frame >> 8; - while (!(SPSR & (1 << SPIF))) ; - spdr = SPDR << 8; - - SPDR = frame & 0xFF; - while (!(SPSR & (1 << SPIF))) ; - spdr |= SPDR; - - dummy = SPSR; - dummy = SPDR; - (void) dummy; /* suppress warning about unused variable */ - SPCR |= (1 << SPIE); - - return spdr; -} -#else /* AVR_SPI_USE_16BIT_POLLED_EXCHANGE */ -uint8_t spi_lld_polled_exchange(SPIDriver *spip, uint8_t frame) { - - uint8_t spdr = 0; - uint8_t dummy; - - /* disable interrupt */ - SPCR &= ~(1 << SPIE); - - SPDR = frame; - while (!(SPSR & (1 << SPIF))) ; - spdr = SPDR; - - dummy = SPSR; - dummy = SPDR; - (void) dummy; /* suppress warning about unused variable */ - SPCR |= (1 << SPIE); - - return spdr; -} -#endif /* AVR_SPI_USE_16BIT_POLLED_EXCHANGE */ - -#endif /* HAL_USE_SPI */ - -/** @} */ diff --git a/os/hal/ports/AVR/spi_lld.h b/os/hal/ports/AVR/spi_lld.h deleted file mode 100644 index 5f3a6c2c5..000000000 --- a/os/hal/ports/AVR/spi_lld.h +++ /dev/null @@ -1,226 +0,0 @@ -/* - 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 AVR/spi_lld.h - * @brief AVR SPI subsystem low level driver header. - * - * @addtogroup SPI - * @{ - */ - -#ifndef _SPI_LLD_H_ -#define _SPI_LLD_H_ - -#if HAL_USE_SPI || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver constants. */ -/*===========================================================================*/ - -/** @brief SPI Mode (Polarity/Phase) */ -#define SPI_CPOL0_CPHA0 0 -#define SPI_CPOL0_CPHA1 1 -#define SPI_CPOL1_CPHA0 2 -#define SPI_CPOL1_CPHA1 3 - -#define SPI_MODE_0 SPI_CPOL0_CPHA0 -#define SPI_MODE_1 SPI_CPOL0_CPHA1 -#define SPI_MODE_2 SPI_CPOL1_CPHA0 -#define SPI_MODE_3 SPI_CPOL1_CPHA1 - -/** @brief Bit order */ -#define SPI_LSB_FIRST 0 -#define SPI_MSB_FIRST 1 - -/** @brief SPI clock rate FOSC/x */ -#define SPI_SCK_FOSC_2 0 -#define SPI_SCK_FOSC_4 1 -#define SPI_SCK_FOSC_8 2 -#define SPI_SCK_FOSC_16 3 -#define SPI_SCK_FOSC_32 4 -#define SPI_SCK_FOSC_64 5 -#define SPI_SCK_FOSC_128 6 - -/*===========================================================================*/ -/* Driver pre-compile time settings. */ -/*===========================================================================*/ - -/** - * @name Configuration options - * @{ - */ -/** - * @brief SPI driver enable switch. - * @details If set to @p TRUE the support for SPI1 is included. - */ -#if !defined(AVR_SPI_USE_SPI1) || defined(__DOXYGEN__) -#define AVR_SPI_USE_SPI1 FALSE -#endif -/** @} */ - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver data structures and types. */ -/*===========================================================================*/ - -/** - * @brief Type of a structure representing an SPI driver. - */ -typedef struct SPIDriver SPIDriver; - -/** - * @brief SPI notification callback type. - * - * @param[in] spip pointer to the @p SPIDriver object triggering the - * callback - */ -typedef void (*spicallback_t)(SPIDriver *spip); - -/** - * @brief Driver configuration structure. - * @note Implementations may extend this structure to contain more, - * architecture dependent, fields. - */ -typedef struct { - /** - * @brief Port used of Slave Select - */ - ioportid_t ssport; - /** - * @brief Pad used of Slave Select - */ - uint8_t sspad; - /** - * @brief Polarity/Phase mode - */ - uint8_t mode; - /** - * @brief Use MSB/LSB first? - */ - uint8_t bitorder; - /** - * @brief Clock rate of the subsystem - */ - uint8_t clockrate; - /** - * @brief Operation complete callback. - */ - spicallback_t end_cb; - /* End of the mandatory fields.*/ -} SPIConfig; - -/** - * @brief Structure representing an SPI driver. - * @note Implementations may extend this structure to contain more, - * architecture dependent, fields. - */ -struct SPIDriver { - /** - * @brief Driver state. - */ - spistate_t state; - /** - * @brief Current configuration data. - */ - SPIConfig *config; -#if SPI_USE_WAIT || defined(__DOXYGEN__) - /** - * @brief Waiting thread. - */ - thread_reference_t thread; -#endif /* SPI_USE_WAIT */ -#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) - /** - * @brief Mutex protecting the bus. - */ - mutex_t mutex; -#endif /* SPI_USE_MUTUAL_EXCLUSION */ -#if defined(SPI_DRIVER_EXT_FIELDS) - SPI_DRIVER_EXT_FIELDS -#endif - /* End of the mandatory fields.*/ - /** - * @brief Pointer to the buffer with data to send. - */ - uint8_t *txbuf; - /** - * @brief Number of bytes of data to send. - */ - size_t txbytes; - /** - * @brief Current index in buffer when sending data. - */ - size_t txidx; - /** - * @brief Pointer to the buffer to put received data. - */ - uint8_t *rxbuf; - /** - * @brief Number of bytes of data to receive. - */ - size_t rxbytes; - /** - * @brief Current index in buffer when receiving data. - */ - size_t rxidx; -}; - -/*===========================================================================*/ -/* Driver macros. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* External declarations. */ -/*===========================================================================*/ - -#if AVR_SPI_USE_SPI1 && !defined(__DOXYGEN__) -extern SPIDriver SPID1; -#endif - -#ifdef __cplusplus -extern "C" { -#endif - void spi_lld_init(void); - void spi_lld_start(SPIDriver *spip); - void spi_lld_stop(SPIDriver *spip); - void spi_lld_select(SPIDriver *spip); - void spi_lld_unselect(SPIDriver *spip); - void spi_lld_ignore(SPIDriver *spip, size_t n); - void spi_lld_exchange(SPIDriver *spip, size_t n, - const void *txbuf, void *rxbuf); - void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf); - void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf); - -#if AVR_SPI_USE_16BIT_POLLED_EXCHANGE - uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame); -#else - uint8_t spi_lld_polled_exchange(SPIDriver *spip, uint8_t frame); -#endif - - -#ifdef __cplusplus -} -#endif - -#endif /* HAL_USE_SPI */ - -#endif /* _SPI_LLD_H_ */ - -/** @} */ diff --git a/os/hal/ports/AVR/st_lld.c b/os/hal/ports/AVR/st_lld.c deleted file mode 100644 index 4d5b545e8..000000000 --- a/os/hal/ports/AVR/st_lld.c +++ /dev/null @@ -1,222 +0,0 @@ -/* - 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 AVR/st_lld.c - * @brief ST Driver subsystem low level driver code. - * - * @addtogroup ST - * @{ - */ - -#include "hal.h" - -#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver local definitions. */ -/*===========================================================================*/ - -/** - * @brief Timer maximum value - */ -#define AVR_TIMER_COUNTER_MAX 255 - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local types. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local variables and types. */ -/*===========================================================================*/ - -#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__) - -/* Work out what the timer interrupt is called on this MCU */ -#ifdef TIMER0_COMPA_vect - #define AVR_TIMER_VECT TIMER0_COMPA_vect -#elif defined(TIMER_COMPA_vect) - #define AVR_TIMER_VECT TIMER_COMPA_vect -#elif defined(TIMER0_COMP_vect) - #define AVR_TIMER_VECT TIMER0_COMP_vect -#else - #error "Cannot find interrupt vector name for timer" -#endif - -/* Find the most suitable prescaler setting for the desired OSAL_ST_FREQUENCY */ -#if ((F_CPU / OSAL_ST_FREQUENCY) <= AVR_TIMER_COUNTER_MAX) - #define AVR_TIMER_PRESCALER 1 - #define AVR_TIMER_PRESCALER_BITS (0<