From 8203b6596a8774bd5c6f01f1b31bf313ee66655d Mon Sep 17 00:00:00 2001 From: utzig Date: Thu, 7 Aug 2014 02:03:36 +0000 Subject: [KINETIS] Initial K20 serial driver (Not working yet - WIP) git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7147 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/hal/ports/KINETIS/K20x/platform.mk | 1 + os/hal/ports/KINETIS/K20x/serial_lld.c | 353 +++++++++++++++++++++++++++++++++ os/hal/ports/KINETIS/K20x/serial_lld.h | 163 +++++++++++++++ 3 files changed, 517 insertions(+) create mode 100644 os/hal/ports/KINETIS/K20x/serial_lld.c create mode 100644 os/hal/ports/KINETIS/K20x/serial_lld.h (limited to 'os') diff --git a/os/hal/ports/KINETIS/K20x/platform.mk b/os/hal/ports/KINETIS/K20x/platform.mk index c556a0853..71735aaf5 100644 --- a/os/hal/ports/KINETIS/K20x/platform.mk +++ b/os/hal/ports/KINETIS/K20x/platform.mk @@ -2,6 +2,7 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \ ${CHIBIOS}/os/hal/ports/KINETIS/K20x/hal_lld.c \ ${CHIBIOS}/os/hal/ports/KINETIS/K20x/pal_lld.c \ + ${CHIBIOS}/os/hal/ports/KINETIS/K20x/serial_lld.c \ ${CHIBIOS}/os/hal/ports/KINETIS/K20x/st_lld.c # Required include directories diff --git a/os/hal/ports/KINETIS/K20x/serial_lld.c b/os/hal/ports/KINETIS/K20x/serial_lld.c new file mode 100644 index 000000000..921613315 --- /dev/null +++ b/os/hal/ports/KINETIS/K20x/serial_lld.c @@ -0,0 +1,353 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2014 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 K20x/serial_lld.c + * @brief Kinetis K20x Serial Driver subsystem low level driver source. + * + * @addtogroup SERIAL + * @{ + */ + +#include "osal.h" +#include "hal.h" + +#if HAL_USE_SERIAL || defined(__DOXYGEN__) + +#include "mk20d5.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** + * @brief SD1 driver identifier. + */ +#if KINETIS_SERIAL_USE_UART0 || defined(__DOXYGEN__) +SerialDriver SD1; +#endif + +#if KINETIS_SERIAL_USE_UART1 || defined(__DOXYGEN__) +SerialDriver SD2; +#endif + +#if KINETIS_SERIAL_USE_UART2 || defined(__DOXYGEN__) +SerialDriver SD3; +#endif + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/** + * @brief Driver default configuration. + */ +static const SerialConfig default_config = { + 38400 +}; + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/** + * @brief Common IRQ handler. + * @note Tries hard to clear all the pending interrupt sources, we don't + * want to go through the whole ISR and have another interrupt soon + * after. + * + * @param[in] u pointer to an UART I/O block + * @param[in] sdp communication channel associated to the UART + */ +static void serve_interrupt(SerialDriver *sdp) { + UART_TypeDef *u = sdp->uart; + uint8_t s1 = u->S1; + + if (s1 & UARTx_S1_RDRF) { + osalSysLockFromISR(); + if (chIQIsEmptyI(&sdp->iqueue)) + chnAddFlagsI(sdp, CHN_INPUT_AVAILABLE); + if (chIQPutI(&sdp->iqueue, u->D) < Q_OK) + chnAddFlagsI(sdp, SD_OVERRUN_ERROR); + osalSysUnlockFromISR(); + } + + if (s1 & UARTx_S1_TDRE) { + msg_t b; + + osalSysLockFromISR(); + b = chOQGetI(&sdp->oqueue); + osalSysUnlockFromISR(); + + if (b < Q_OK) { + osalSysLockFromISR(); + chnAddFlagsI(sdp, CHN_OUTPUT_EMPTY); + osalSysUnlockFromISR(); + u->C2 &= ~UARTx_C2_TIE; + } else { + u->D = b; + } + } + + while (u->S1) + (void)u->D; +} + +/** + * @brief Attempts a TX preload + */ +static void preload(SerialDriver *sdp) { + UART_TypeDef *u = sdp->uart; + + if (u->S1 & UARTx_S1_TDRE) { + msg_t b = chOQGetI(&sdp->oqueue); + if (b < Q_OK) { + chnAddFlagsI(sdp, CHN_OUTPUT_EMPTY); + return; + } + u->D = b; + u->C2 |= UARTx_C2_TIE; + } +} + +/** + * @brief Driver output notification. + */ +#if KINETIS_SERIAL_USE_UART0 || defined(__DOXYGEN__) +static void notify1(io_queue_t *qp) +{ + (void)qp; + preload(&SD1); +} +#endif + +#if KINETIS_SERIAL_USE_UART1 || defined(__DOXYGEN__) +static void notify2(io_queue_t *qp) +{ + (void)qp; + preload(&SD2); +} +#endif + +#if KINETIS_SERIAL_USE_UART2 || defined(__DOXYGEN__) +static void notify3(io_queue_t *qp) +{ + (void)qp; + preload(&SD3); +} +#endif + +/** + * @brief Common UART configuration. + * + */ +static void configure_uart(UART_TypeDef *uart, const SerialConfig *config) +{ + uint16_t sbr, brfa; + uint32_t clock; + + /* Disable UART while configuring */ + uart->C2 &= ~(UARTx_C2_RE | UARTx_C2_TE); + uart->C1 = 0; + //while (uart->S1 & UARTx_S1_RDRF) { + // (void)uart->D; + //} + + clock = KINETIS_SYSCLK_FREQUENCY / 4; + + sbr = (uint16_t) clock / (config->sc_speed * 16); + brfa = (uint16_t) (2 * clock * config->sc_speed) - (sbr * 32); + + //uart->BDH = UARTx_BDH_SBR(sbr >> 8) | (uart->BDH & ~UARTx_BDH_SBR_MASK); + uart->BDH = 0; + uart->BDL = sbr; + uart->C4 = UARTx_C4_BRFA(brfa) | (uart->C4 & ~UARTx_C4_BRFA_MASK); + + uart->TWFIFO = 1; + uart->RWFIFO = 1; + + //uart->C2 |= UARTx_C2_RE | UARTx_C2_RIE | UARTx_C2_TE; + uart->C2 |= UARTx_C2_RE | UARTx_C2_TE; + uart->C3 = 0; + + while (!(uart->S1 & UARTx_S1_TDRE)); + uart->D = '1'; + while (!(uart->S1 & UARTx_S1_TDRE)); + uart->D = '2'; + while (!(uart->S1 & UARTx_S1_TDRE)); + uart->D = '3'; + + //uart->C3 = UARTx_C3_ORIE | UARTx_C3_NEIE | UARTx_C3_FEIE | UARTx_C3_PEIE; +} + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +/* TODO: + * UART0_Error is Vector84 + * UART1_Error is Vector8C + * UART2_Error is Vector94 + */ + +#if KINETIS_SERIAL_USE_UART0 || defined(__DOXYGEN__) +CH_IRQ_HANDLER(Vector80) { + + CH_IRQ_PROLOGUE(); + serve_interrupt(&SD1); + CH_IRQ_EPILOGUE(); +} +#endif + +#if KINETIS_SERIAL_USE_UART1 || defined(__DOXYGEN__) +CH_IRQ_HANDLER(Vector88) { + + CH_IRQ_PROLOGUE(); + serve_interrupt(&SD2); + CH_IRQ_EPILOGUE(); +} +#endif + +#if KINETIS_SERIAL_USE_UART2 || defined(__DOXYGEN__) +CH_IRQ_HANDLER(Vector90) { + + CH_IRQ_PROLOGUE(); + serve_interrupt(&SD3); + CH_IRQ_EPILOGUE(); +} +#endif + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level serial driver initialization. + * + * @notapi + */ +void sd_lld_init(void) { + +#if KINETIS_SERIAL_USE_UART0 + /* Driver initialization.*/ + sdObjectInit(&SD1, NULL, notify1); + SD1.uart = UART0; +#endif + +#if KINETIS_SERIAL_USE_UART1 + /* Driver initialization.*/ + sdObjectInit(&SD2, NULL, notify2); + SD2.uart = UART1; +#endif + +#if KINETIS_SERIAL_USE_UART2 + /* Driver initialization.*/ + sdObjectInit(&SD3, NULL, notify3); + SD3.uart = UART2; +#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 (sdp->state == SD_STOP) { + /* Enables the peripheral.*/ + +#if KINETIS_SERIAL_USE_UART0 + if (sdp == &SD1) { + SIM->SCGC4 |= SIM_SCGC4_UART0; + configure_uart(sdp->uart, config); + //nvicEnableVector(UART0Status_IRQn, KINETIS_SERIAL_UART0_PRIORITY); + } +#endif /* KINETIS_SERIAL_USE_UART0 */ + +#if KINETIS_SERIAL_USE_UART1 + if (sdp == &SD2) { + SIM->SCGC4 |= SIM_SCGC4_UART1; + configure_uart(sdp->uart, config); + nvicEnableVector(UART1Status_IRQn, KINETIS_SERIAL_UART1_PRIORITY); + } +#endif /* KINETIS_SERIAL_USE_UART1 */ + +#if KINETIS_SERIAL_USE_UART2 + if (sdp == &SD3) { + SIM->SCGC4 |= SIM_SCGC4_UART2; + configure_uart(sdp->uart, config); + nvicEnableVector(UART2Status_IRQn, KINETIS_SERIAL_UART2_PRIORITY); + } +#endif /* KINETIS_SERIAL_USE_UART2 */ + + } + /* Configures the peripheral.*/ + +} + +/** + * @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 (sdp->state == SD_READY) { + /* TODO: Resets the peripheral.*/ + +#if KINETIS_SERIAL_USE_UART0 + if (sdp == &SD1) { + nvicDisableVector(UART0Status_IRQn); + SIM->SCGC4 &= ~SIM_SCGC4_UART0; + } +#endif + +#if KINETIS_SERIAL_USE_UART1 + if (sdp == &SD2) { + nvicDisableVector(UART1Status_IRQn); + SIM->SCGC4 &= ~SIM_SCGC4_UART1; + } +#endif + +#if KINETIS_SERIAL_USE_UART2 + if (sdp == &SD3) { + nvicDisableVector(UART2Status_IRQn); + SIM->SCGC4 &= ~SIM_SCGC4_UART2; + } +#endif + } +} + +#endif /* HAL_USE_SERIAL */ + +/** @} */ diff --git a/os/hal/ports/KINETIS/K20x/serial_lld.h b/os/hal/ports/KINETIS/K20x/serial_lld.h new file mode 100644 index 000000000..25c800056 --- /dev/null +++ b/os/hal/ports/KINETIS/K20x/serial_lld.h @@ -0,0 +1,163 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2014 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 K20x/serial_lld.h + * @brief Kinetis K20x Serial Driver subsystem low level 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. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief SD1 driver enable switch. + * @details If set to @p TRUE the support for SD1 is included. + */ +#if !defined(KINETIS_SERIAL_USE_UART0) || defined(__DOXYGEN__) +#define KINETIS_SERIAL_USE_UART0 FALSE +#endif +/** + * @brief SD2 driver enable switch. + * @details If set to @p TRUE the support for SD2 is included. + */ +#if !defined(KINETIS_SERIAL_USE_UART1) || defined(__DOXYGEN__) +#define KINETIS_SERIAL_USE_UART1 FALSE +#endif +/** + * @brief SD3 driver enable switch. + * @details If set to @p TRUE the support for SD3 is included. + */ +#if !defined(KINETIS_SERIAL_USE_UART2) || defined(__DOXYGEN__) +#define KINETIS_SERIAL_USE_UART2 FALSE +#endif + +/** + * @brief UART0 interrupt priority level setting. + */ +#if !defined(KINETIS_SERIAL_UART0_PRIORITY) || defined(__DOXYGEN__) +#define KINETIS_SERIAL_UART0_PRIORITY 12 +#endif + +/** + * @brief UART1 interrupt priority level setting. + */ +#if !defined(KINETIS_SERIAL_UART1_PRIORITY) || defined(__DOXYGEN__) +#define KINETIS_SERIAL_UART1_PRIORITY 12 +#endif + +/** + * @brief UART2 interrupt priority level setting. + */ +#if !defined(KINETIS_SERIAL_UART2_PRIORITY) || defined(__DOXYGEN__) +#define KINETIS_SERIAL_UART2_PRIORITY 12 +#endif + +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Generic 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. + * @note Implementations may extend this structure to contain more, + * architecture dependent, fields. + */ +typedef struct { + /** + * @brief Bit rate. + */ + uint32_t sc_speed; + /* End of the mandatory fields.*/ +} 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.*/ \ + /* Pointer to the UART registers block.*/ \ + UART_TypeDef *uart; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if KINETIS_SERIAL_USE_UART0 && !defined(__DOXYGEN__) +extern SerialDriver SD1; +#endif + +#if KINETIS_SERIAL_USE_UART1 && !defined(__DOXYGEN__) +extern SerialDriver SD2; +#endif + +#if KINETIS_SERIAL_USE_UART2 && !defined(__DOXYGEN__) +extern SerialDriver SD3; +#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_ */ + +/** @} */ -- cgit v1.2.3