aboutsummaryrefslogtreecommitdiffstats
path: root/os/hal/include/hal_pal.h
blob: 3df8414530b8c251af1033270bc1d1d5adae50c4 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
/*
    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    hal_pal.h
 * @brief   I/O Ports Abstraction Layer macros, types and structures.
 *
 * @addtogroup PAL
 * @{
 */

#ifndef HAL_PAL_H
#define HAL_PAL_H

#if (HAL_USE_PAL == TRUE) || defined(__DOXYGEN__)

/*===========================================================================*/
/* Driver constants.                                                         */
/*===========================================================================*/

/**
 * @name    Pads mode constants
 * @{
 */
/**
 * @brief   After reset state.
 * @details The state itself is not specified and is architecture dependent,
 *          it is guaranteed to be equal to the after-reset state. It is
 *          usually an input state.
 */
#define PAL_MODE_RESET                  0U

/**
 * @brief   Safe state for <b>unconnected</b> pads.
 * @details The state itself is not specified and is architecture dependent,
 *          it may be mapped on @p PAL_MODE_INPUT_PULLUP,
 *          @p PAL_MODE_INPUT_PULLDOWN or @p PAL_MODE_OUTPUT_PUSHPULL for
 *          example.
 */
#define PAL_MODE_UNCONNECTED            1U

/**
 * @brief   Regular input high-Z pad.
 */
#define PAL_MODE_INPUT                  2U

/**
 * @brief   Input pad with weak pull up resistor.
 */
#define PAL_MODE_INPUT_PULLUP           3U

/**
 * @brief   Input pad with weak pull down resistor.
 */
#define PAL_MODE_INPUT_PULLDOWN         4U

/**
 * @brief   Analog input mode.
 */
#define PAL_MODE_INPUT_ANALOG           5U

/**
 * @brief   Push-pull output pad.
 */
#define PAL_MODE_OUTPUT_PUSHPULL        6U

/**
 * @brief   Open-drain output pad.
 */
#define PAL_MODE_OUTPUT_OPENDRAIN       7U
/** @} */

/**
 * @name    Logic level constants
 * @{
 */
/**
 * @brief   Logical low state.
 */
#define PAL_LOW                         0U

/**
 * @brief   Logical high state.
 */
#define PAL_HIGH                        1U
/** @} */

/*===========================================================================*/
/* Driver pre-compile time settings.                                         */
/*===========================================================================*/

/*===========================================================================*/
/* Derived constants and error checks.                                       */
/*===========================================================================*/

/*===========================================================================*/
/* Driver data structures and types.                                         */
/*===========================================================================*/

#include "hal_pal_lld.h"

/**
 * @brief   I/O bus descriptor.
 * @details This structure describes a group of contiguous digital I/O lines
 *          that have to be handled as bus.
 * @note    I/O operations on a bus do not affect I/O lines on the same port but
 *          not belonging to the bus.
 */
typedef struct {
  /**
   * @brief Port identifier.
   */
  ioportid_t            portid;
  /**
   * @brief Bus mask aligned to port bit 0.
   * @note  The bus mask implicitly define the bus width. A logic AND is
   *        performed on the bus data.
   */
  ioportmask_t          mask;
  /**
   * @brief Offset, within the port, of the least significant bit of the bus.
   */
  uint_fast8_t          offset;
} IOBus;

/*===========================================================================*/
/* Driver macros.                                                            */
/*===========================================================================*/

/**
 * @brief   Port bit helper macro.
 * @details This macro calculates the mask of a bit within a port.
 *
 * @param[in] n         bit position within the port
 * @return              The bit mask.
 */
#if !defined(PAL_PORT_BIT) || defined(__DOXYGEN__)
#define PAL_PORT_BIT(n) ((ioportmask_t)(1U << (n)))
#endif

/**
 * @brief   Bits group mask helper.
 * @details This macro calculates the mask of a bits group.
 *
 * @param[in] width         group width
 * @return                  The group mask.
 */
#if !defined(PAL_GROUP_MASK) || defined(__DOXYGEN__)
#define PAL_GROUP_MASK(width) ((ioportmask_t)(1U << (width)) - 1U)
#endif

/**
 * @brief   Data part of a static I/O bus initializer.
 * @details This macro should be used when statically initializing an I/O bus
 *          that is part of a bigger structure.
 *
 * @param[in] name      name of the IOBus variable
 * @param[in] port      I/O port descriptor
 * @param[in] width     bus width in bits
 * @param[in] offset     bus bit offset within the port
 */
#define _IOBUS_DATA(name, port, width, offset)                              \
  {port, PAL_GROUP_MASK(width), offset}

/**
 * @brief   Static I/O bus initializer.
 *
 * @param[in] name      name of the IOBus variable
 * @param[in] port      I/O port descriptor
 * @param[in] width     bus width in bits
 * @param[in] offset    bus bit offset within the port
 */
#define IOBUS_DECL(name, port, width, offset)                               \
  IOBus name = _IOBUS_DATA(name, port, width, offset)

/**
 * @name    Macro Functions
 * @{
 */
/**
 * @brief   PAL subsystem initialization.
 * @note    This function is implicitly invoked by @p halInit(), there is
 *          no need to explicitly initialize the driver.
 *
 * @param[in] config pointer to an architecture specific configuration
 *            structure. This structure is defined in the low level driver
 *            header.
 *
 * @init
 */
#define palInit(config) pal_lld_init(config)

/**
 * @brief   Reads the physical I/O port states.
 * @note    The default implementation always return zero and computes the
 *          parameter eventual side effects.
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @return              The port logic states.
 *
 * @special
 */
#if !defined(pal_lld_readport) || defined(__DOXYGEN__)
#define palReadPort(port) ((void)(port), 0U)
#else
#define palReadPort(port) pal_lld_readport(port)
#endif

/**
 * @brief   Reads the output latch.
 * @details The purpose of this function is to read back the latched output
 *          value.
 * @note    The default implementation always return zero and computes the
 *          parameter eventual side effects.
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @return              The latched logic states.
 *
 * @special
 */
#if !defined(pal_lld_readlatch) || defined(__DOXYGEN__)
#define palReadLatch(port) ((void)(port), 0U)
#else
#define palReadLatch(port) pal_lld_readlatch(port)
#endif

/**
 * @brief   Writes a bits mask on a I/O port.
 * @note    The default implementation does nothing except computing the
 *          parameters eventual side effects.
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] bits      bits to be written on the specified port
 *
 * @special
 */
#if !defined(pal_lld_writeport) || defined(__DOXYGEN__)
#define palWritePort(port, bits) ((void)(port), (void)(bits))
#else
#define palWritePort(port, bits) pal_lld_writeport(port, bits)
#endif

/**
 * @brief   Sets a bits mask on a I/O port.
 * @note    The operation is not guaranteed to be atomic on all the
 *          architectures, for atomicity and/or portability reasons you may
 *          need to enclose port I/O operations between @p osalSysLock() and
 *          @p osalSysUnlock().
 * @note    The default implementation is non atomic and not necessarily
 *          optimal. Low level drivers may  optimize the function by using
 *          specific hardware or coding.
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] bits      bits to be ORed on the specified port
 *
 * @special
 */
#if !defined(pal_lld_setport) || defined(__DOXYGEN__)
#define palSetPort(port, bits)                                              \
  palWritePort(port, palReadLatch(port) | (bits))
#else
#define palSetPort(port, bits) pal_lld_setport(port, bits)
#endif

/**
 * @brief   Clears a bits mask on a I/O port.
 * @note    The operation is not guaranteed to be atomic on all the
 *          architectures,  for atomicity and/or portability reasons you may
 *          need to enclose port I/O operations between @p osalSysLock() and
 *          @p osalSysUnlock().
 * @note    The default implementation is non atomic and not necessarily
 *          optimal. Low level drivers may  optimize the function by using
 *          specific hardware or coding.
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] bits      bits to be cleared on the specified port
 *
 * @special
 */
#if !defined(pal_lld_clearport) || defined(__DOXYGEN__)
#define palClearPort(port, bits)                                            \
  palWritePort(port, palReadLatch(port) & ~(bits))
#else
#define palClearPort(port, bits) pal_lld_clearport(port, bits)
#endif

/**
 * @brief   Toggles a bits mask on a I/O port.
 * @note    The operation is not guaranteed to be atomic on all the
 *          architectures, for atomicity and/or portability reasons you may
 *          need to enclose port I/O operations between @p osalSysLock() and
 *          @p osalSysUnlock().
 * @note    The default implementation is non atomic and not necessarily
 *          optimal. Low level drivers may  optimize the function by using
 *          specific hardware or coding.
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] bits      bits to be XORed on the specified port
 *
 * @special
 */
#if !defined(pal_lld_toggleport) || defined(__DOXYGEN__)
#define palTogglePort(port, bits)                                           \
  palWritePort(port, palReadLatch(port) ^ (bits))
#else
#define palTogglePort(port, bits) pal_lld_toggleport(port, bits)
#endif

/**
 * @brief   Reads a group of bits.
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] mask      group mask, a logic AND is performed on the input
 *                      data
 * @param[in] offset    group bit offset within the port
 * @return              The group logic states.
 *
 * @special
 */
#if !defined(pal_lld_readgroup) || defined(__DOXYGEN__)
#define palReadGroup(port, mask, offset)                                    \
  ((palReadPort(port) >> (offset)) & (mask))
#else
#define palReadGroup(port, mask, offset) pal_lld_readgroup(port, mask, offset)
#endif

/**
 * @brief   Writes a group of bits.
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] mask      group mask, a logic AND is performed on the
 *                      output  data
 * @param[in] offset    group bit offset within the port
 * @param[in] bits      bits to be written. Values exceeding the group
 *                      width are masked.
 *
 * @special
 */
#if !defined(pal_lld_writegroup) || defined(__DOXYGEN__)
#define palWriteGroup(port, mask, offset, bits)                             \
  palWritePort(port, (palReadLatch(port) & ~((mask) << (offset))) |         \
                     (((bits) & (mask)) << (offset)))
#else
#define palWriteGroup(port, mask, offset, bits)                             \
  pal_lld_writegroup(port, mask, offset, bits)
#endif


/**
 * @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.
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] mask      group mask
 * @param[in] offset    group bit offset within the port
 * @param[in] mode      group mode
 *
 * @special
 */
#if !defined(pal_lld_setgroupmode) || defined(__DOXYGEN__)
#define palSetGroupMode(port, mask, offset, mode)
#else
#define palSetGroupMode(port, mask, offset, mode)                           \
  pal_lld_setgroupmode(port, mask, offset, mode)
#endif

/**
 * @brief   Reads an input pad logic state.
 * @note    The default implementation not necessarily optimal. Low level
 *          drivers may  optimize the function by using specific hardware
 *          or coding.
 * @note    The default implementation internally uses the @p palReadPort().
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] pad       pad number within the port
 * @return              The logic state.
 * @retval PAL_LOW      low logic state.
 * @retval PAL_HIGH     high logic state.
 *
 * @special
 */
#if !defined(pal_lld_readpad) || defined(__DOXYGEN__)
#define palReadPad(port, pad) ((palReadPort(port) >> (pad)) & 1U)
#else
#define palReadPad(port, pad) pal_lld_readpad(port, pad)
#endif

/**
 * @brief   Writes a logic state on an output pad.
 * @note    The operation is not guaranteed to be atomic on all the
 *          architectures, for atomicity and/or portability reasons you may
 *          need to enclose port I/O operations between @p osalSysLock() and
 *          @p osalSysUnlock().
 * @note    The default implementation is non atomic and not necessarily
 *          optimal. Low level drivers may  optimize the function by using
 *          specific hardware or coding.
 * @note    The default implementation internally uses the @p palReadLatch()
 *          and @p palWritePort().
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] pad       pad number within the port
 * @param[in] bit       logic value, the value must be @p PAL_LOW or
 *                      @p PAL_HIGH
 *
 * @special
 */
#if !defined(pal_lld_writepad) || defined(__DOXYGEN__)
#define palWritePad(port, pad, bit)                                         \
  palWritePort(port, (palReadLatch(port) & ~PAL_PORT_BIT(pad)) |            \
                     (((bit) & 1U) << pad))
#else
#define palWritePad(port, pad, bit) pal_lld_writepad(port, pad, bit)
#endif

/**
 * @brief   Sets a pad logic state to @p PAL_HIGH.
 * @note    The operation is not guaranteed to be atomic on all the
 *          architectures, for atomicity and/or portability reasons you may
 *          need to enclose port I/O operations between @p osalSysLock() and
 *          @p osalSysUnlock().
 * @note    The default implementation is non atomic and not necessarily
 *          optimal. Low level drivers may  optimize the function by using
 *          specific hardware or coding.
 * @note    The default implementation internally uses the @p palSetPort().
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] pad       pad number within the port
 *
 * @special
 */
#if !defined(pal_lld_setpad) || defined(__DOXYGEN__)
#define palSetPad(port, pad) palSetPort(port, PAL_PORT_BIT(pad))
#else
#define palSetPad(port, pad) pal_lld_setpad(port, pad)
#endif

/**
 * @brief   Clears a pad logic state to @p PAL_LOW.
 * @note    The operation is not guaranteed to be atomic on all the
 *          architectures, for atomicity and/or portability reasons you may
 *          need to enclose port I/O operations between @p osalSysLock() and
 *          @p osalSysUnlock().
 * @note    The default implementation is non atomic and not necessarily
 *          optimal. Low level drivers may  optimize the function by using
 *          specific hardware or coding.
 * @note    The default implementation internally uses the @p palClearPort().
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] pad       pad number within the port
 *
 * @special
 */
#if !defined(pal_lld_clearpad) || defined(__DOXYGEN__)
#define palClearPad(port, pad) palClearPort(port, PAL_PORT_BIT(pad))
#else
#define palClearPad(port, pad) pal_lld_clearpad(port, pad)
#endif

/**
 * @brief   Toggles a pad logic state.
 * @note    The operation is not guaranteed to be atomic on all the
 *          architectures, for atomicity and/or portability reasons you may
 *          need to enclose port I/O operations between @p osalSysLock() and
 *          @p osalSysUnlock().
 * @note    The default implementation is non atomic and not necessarily
 *          optimal. Low level drivers may  optimize the function by using
 *          specific hardware or coding.
 * @note    The default implementation internally uses the @p palTogglePort().
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] pad       pad number within the port
 *
 * @special
 */
#if !defined(pal_lld_togglepad) || defined(__DOXYGEN__)
#define palTogglePad(port, pad) palTogglePort(port, PAL_PORT_BIT(pad))
#else
#define palTogglePad(port, pad) pal_lld_togglepad(port, pad)
#endif

/**
 * @brief   Pad mode setup.
 * @details This function programs a pad with the specified mode.
 * @note    The default implementation not necessarily optimal. Low level
 *          drivers may  optimize the function by using specific hardware
 *          or coding.
 * @note    Programming an unknown or unsupported mode is silently ignored.
 * @note    The function can be called from any context.
 *
 * @param[in] port      port identifier
 * @param[in] pad       pad number within the port
 * @param[in] mode      pad mode
 *
 * @special
 */
#if !defined(pal_lld_setpadmode) || defined(__DOXYGEN__)
#define palSetPadMode(port, pad, mode)                                      \
  palSetGroupMode(port, PAL_PORT_BIT(pad), 0U, mode)
#else
#define palSetPadMode(port, pad, mode) pal_lld_setpadmode(port, pad, mode)
#endif

/**
 * @brief   Reads an input line logic state.
 * @note    The function can be called from any context.
 *
 * @param[in] line      line identifier
 * @return              The logic state.
 * @retval PAL_LOW      low logic state.
 * @retval PAL_HIGH     high logic state.
 *
 * @special
 */
#if !defined(pal_lld_readline) || defined(__DOXYGEN__)
#define palReadLine(line) palReadPad(PAL_PORT(line), PAL_PAD(line))
#else
#define palReadLine(line) pal_lld_readline(line)
#endif

/**
 * @brief   Writes a logic state on an output line.
 * @note    The function can be called from any context.
 *
 * @param[in] line      line identifier
 * @param[in] bit       logic value, the value must be @p PAL_LOW or
 *                      @p PAL_HIGH
 *
 * @special
 */
#if !defined(pal_lld_writeline) || defined(__DOXYGEN__)
#define palWriteLine(line, bit) palWritePad(PAL_PORT(line), PAL_PAD(line), bit)
#else
#define palWriteLine(line, bit) pal_lld_writeline(line, bit)
#endif

/**
 * @brief   Sets a line logic state to @p PAL_HIGH.
 * @note    The function can be called from any context.
 *
 * @param[in] line      line identifier
 *
 * @special
 */
#if !defined(pal_lld_setline) || defined(__DOXYGEN__)
#define palSetLine(line) palSetPad(PAL_PORT(line), PAL_PAD(line))
#else
#define palSetLine(line) pal_lld_setline(line)
#endif

/**
 * @brief   Clears a line logic state to @p PAL_LOW.
 * @note    The function can be called from any context.
 *
 * @param[in] line      line identifier
 *
 * @special
 */
#if !defined(pal_lld_clearline) || defined(__DOXYGEN__)
#define palClearLine(line) palClearPad(PAL_PORT(line), PAL_PAD(line))
#else
#define palClearLine(line) pal_lld_clearline(line)
#endif

/**
 * @brief   Toggles a line logic state.
 * @note    The function can be called from any context.
 *
 * @param[in] line      line identifier
 *
 * @special
 */
#if !defined(pal_lld_toggleline) || defined(__DOXYGEN__)
#define palToggleLine(line) palTogglePad(PAL_PORT(line), PAL_PAD(line))
#else
#define palToggleLine(line) pal_lld_toggleline(line)
#endif

/**
 * @brief   Line mode setup.
 * @note    The function can be called from any context.
 *
 * @param[in] line      line identifier
 * @param[in] mode      pad mode
 *
 * @special
 */
#if !defined(pal_lld_setlinemode) || defined(__DOXYGEN__)
#define palSetLineMode(line, mode)                                          \
  palSetPadMode(PAL_PORT(line), PAL_PAD(line), mode)
#else
#define palSetLineMode(line, mode) pal_lld_setlinemode(line, mode)
#endif
/** @} */

/*===========================================================================*/
/* External declarations.                                                    */
/*===========================================================================*/

#ifdef __cplusplus
extern "C" {
#endif
  ioportmask_t palReadBus(IOBus *bus);
  void palWriteBus(IOBus *bus, ioportmask_t bits);
  void palSetBusMode(IOBus *bus, iomode_t mode);
#ifdef __cplusplus
}
#endif

#endif /* HAL_PAL_H */

#endif /* HAL_USE_PAL == TRUE */

/** @} */