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/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <ch.h>
#include "board.h"
#include "sam7x_serial.h"
#include "at91lib/aic.h"
FullDuplexDriver COM1;
static uint8_t ib1[SERIAL_BUFFERS_SIZE];
static uint8_t ob1[SERIAL_BUFFERS_SIZE];
FullDuplexDriver COM2;
static uint8_t ib2[SERIAL_BUFFERS_SIZE];
static uint8_t ob2[SERIAL_BUFFERS_SIZE];
static void SetError(AT91_REG csr, FullDuplexDriver *com) {
uint16_t sts = 0;
if (csr & AT91C_US_OVRE)
sts |= SD_OVERRUN_ERROR;
if (csr & AT91C_US_PARE)
sts |= SD_PARITY_ERROR;
if (csr & AT91C_US_FRAME)
sts |= SD_FRAMING_ERROR;
if (csr & AT91C_US_RXBRK)
sts |= SD_BREAK_DETECTED;
chFDDAddFlagsI(com, sts);
}
/*
* Serves the pending sources on the USART.
*/
static void ServeInterrupt(AT91PS_USART u, FullDuplexDriver *com) {
if (u->US_CSR & AT91C_US_RXRDY)
chFDDIncomingDataI(com, u->US_RHR);
if (u->US_CSR & AT91C_US_TXRDY) {
t_msg b = chFDDRequestDataI(com);
if (b < Q_OK)
u->US_IDR = AT91C_US_TXRDY;
else
u->US_THR = b;
}
if (u->US_CSR & (AT91C_US_OVRE | AT91C_US_FRAME | AT91C_US_PARE | AT91C_US_RXBRK)) {
SetError(u->US_CSR, com);
u->US_CR = AT91C_US_RSTSTA;
}
AT91C_BASE_AIC->AIC_EOICR = 0; \
}
__attribute__((naked, weak))
void USART0IrqHandler(void) {
chSysIRQEnterI();
ServeInterrupt(AT91C_BASE_US0, &COM1);
chSysIRQExitI();
}
__attribute__((naked, weak))
void USART1IrqHandler(void) {
chSysIRQEnterI();
ServeInterrupt(AT91C_BASE_US1, &COM2);
chSysIRQExitI();
}
/*
* Invoked by the high driver when one or more bytes are inserted in the
* output queue.
*/
static void OutNotify1(void) {
AT91C_BASE_US0->US_IER = AT91C_US_TXRDY;
}
/*
* Invoked by the high driver when one or more bytes are inserted in the
* output queue.
*/
static void OutNotify2(void) {
AT91C_BASE_US1->US_IER = AT91C_US_TXRDY;
}
/*
* USART setup, must be invoked with interrupts disabled.
* NOTE: Does not reset I/O queues.
*/
void SetUSARTI(AT91PS_USART u, int speed, int mode) {
/* Disables IRQ sources and stop operations.*/
u->US_IDR = 0xFFFFFFFF;
u->US_CR = AT91C_US_RSTRX | AT91C_US_RSTTX | AT91C_US_RSTSTA;
/* New parameters setup.*/
if (mode & AT91C_US_OVER)
u->US_BRGR = MCK / (speed * 8);
else
u->US_BRGR = MCK / (speed * 16);
u->US_MR = mode;
u->US_RTOR = 0;
u->US_TTGR = 0;
/* Enables operations and IRQ sources.*/
u->US_CR = AT91C_US_RXEN | AT91C_US_TXEN | AT91C_US_DTREN | AT91C_US_RTSEN;
u->US_IER = AT91C_US_RXRDY | AT91C_US_OVRE | AT91C_US_FRAME | AT91C_US_PARE |
AT91C_US_RXBRK;
}
/*
* Serial subsystem initialization.
* NOTE: Handshake pins are not switched to their function because they may have
* another use. Enable them externally if needed.
*/
void InitSerial(int prio0, int prio1) {
/* I/O queues setup.*/
chFDDInit(&COM1, ib1, sizeof ib1, NULL, ob1, sizeof ob1, OutNotify1);
chFDDInit(&COM2, ib2, sizeof ib2, NULL, ob2, sizeof ob2, OutNotify2);
/* Switches the I/O pins to the peripheral function A, disables pullups.*/
AT91C_BASE_PIOA->PIO_PDR = AT91C_PA0_RXD0 | AT91C_PA1_TXD0 |
AT91C_PA5_RXD1 | AT91C_PA6_TXD1;
AT91C_BASE_PIOA->PIO_ASR = AT91C_PIO_PA0 | AT91C_PIO_PA1 |
AT91C_PIO_PA5 | AT91C_PIO_PA6;
AT91C_BASE_PIOA->PIO_PPUDR = AT91C_PIO_PA0 | AT91C_PIO_PA1 |
AT91C_PIO_PA5 | AT91C_PIO_PA6;
/* Starts the clock and clears possible sources of immediate interrupts.*/
AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_US0) | (1 << AT91C_ID_US1);
AT91C_BASE_US0->US_CR = AT91C_US_RSTRX | AT91C_US_RSTTX | AT91C_US_RSTSTA;
AT91C_BASE_US1->US_CR = AT91C_US_RSTRX | AT91C_US_RSTTX | AT91C_US_RSTSTA;
/* Interrupts setup.*/
AIC_ConfigureIT(AT91C_ID_US0,
AT91C_AIC_SRCTYPE_HIGH_LEVEL | prio0,
USART0IrqHandler);
AIC_EnableIT(AT91C_ID_US0);
AIC_ConfigureIT(AT91C_ID_US1,
AT91C_AIC_SRCTYPE_HIGH_LEVEL | prio1,
USART1IrqHandler);
AIC_EnableIT(AT91C_ID_US1);
SetUSARTI(AT91C_BASE_US0, 38400, AT91C_US_USMODE_NORMAL |
AT91C_US_CLKS_CLOCK |
AT91C_US_CHRL_8_BITS |
AT91C_US_PAR_NONE |
AT91C_US_NBSTOP_1_BIT);
SetUSARTI(AT91C_BASE_US1, 38400, AT91C_US_USMODE_NORMAL |
AT91C_US_CLKS_CLOCK |
AT91C_US_CHRL_8_BITS |
AT91C_US_PAR_NONE |
AT91C_US_NBSTOP_1_BIT);
}
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