git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@197 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 248 insertions, 12 deletions

diff --git a/demos/ARM7-AT91SAM7X-GCC/Makefile b/demos/ARM7-AT91SAM7X-GCC/Makefile
index 737752687..b5768f619 100644
--- a/demos/ARM7-AT91SAM7X-GCC/Makefile
+++ b/demos/ARM7-AT91SAM7X-GCC/Makefile
@@ -62,7 +62,7 @@ UDEFS =
 UADEFS =

 

 # List ARM-mode C source files here

-ASRC = ../../ports/ARM7-AT91SAM7X/GCC/chcore.c \

+ASRC = ../../ports/ARM7-AT91SAM7X/GCC/chcore.c ../../ports\ARM7-AT91SAM7X\GCC\sam7x_serial.c \

        ../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \

        ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \

        ../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \

diff --git a/demos/ARM7-AT91SAM7X-GCC/board.c b/demos/ARM7-AT91SAM7X-GCC/board.c
index aef835ffa..4231780bf 100644
--- a/demos/ARM7-AT91SAM7X-GCC/board.c
+++ b/demos/ARM7-AT91SAM7X-GCC/board.c
@@ -20,6 +20,7 @@
 #include <ch.h>

 

 #include "board.h"

+#include "sam7x_serial.h"

 #include "at91lib/aic.h"

 

 extern void FiqHandler(void);

@@ -39,7 +40,6 @@ static void SYSIrqHandler(void) {
   chSysIRQEnterI();

 

   if (AT91C_BASE_PITC->PITC_PISR & AT91C_PITC_PITS) {

-//    AT91C_BASE_PIOB->PIO_SODR = PIOB_LCD_BL;            // LCD on.

     chSysTimerHandlerI();

     (void) AT91C_BASE_PITC->PITC_PIVR;

   }

@@ -90,9 +90,9 @@ void hwinit(void) {
   /*

    * I/O setup, enable clocks, initially all pins are inputs with pullups.

    */

-  AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_PIOA) | (1 << AT91C_ID_PIOB);

-  AT91C_BASE_PIOA->PIO_PER = 0xFFFFFFFF;

-  AT91C_BASE_PIOB->PIO_PER = 0xFFFFFFFF;

+  AT91C_BASE_PMC->PMC_PCER   = (1 << AT91C_ID_PIOA) | (1 << AT91C_ID_PIOB);

+  AT91C_BASE_PIOA->PIO_PER   = 0xFFFFFFFF;

+  AT91C_BASE_PIOB->PIO_PER   = 0xFFFFFFFF;

 

   /*

    * Default AIC setup, the device drivers will modify it as needed.

@@ -110,30 +110,38 @@ void hwinit(void) {
    */

   AT91C_BASE_PIOB->PIO_CODR   = PIOB_LCD_BL;    // Set to low.

   AT91C_BASE_PIOB->PIO_OER    = PIOB_LCD_BL;    // Configure as output.

-  AT91C_BASE_SYS->PIOA_PPUDR  = PIOB_LCD_BL;    // Disable internal pullup resistor.

+  AT91C_BASE_PIOA->PIO_PPUDR  = PIOB_LCD_BL;    // Disable internal pullup resistor.

 

   AT91C_BASE_PIOA->PIO_SODR   = PIOA_LCD_RESET; // Set to high.

   AT91C_BASE_PIOA->PIO_OER    = PIOA_LCD_RESET; // Configure as output.

-  AT91C_BASE_SYS->PIOB_PPUDR  = PIOA_LCD_RESET; // Disable internal pullup resistor.

+  AT91C_BASE_PIOA->PIO_PPUDR  = PIOA_LCD_RESET; // Disable internal pullup resistor.

 

   /*

    * Joystick and buttons, disable pullups, already inputs.

    */

-  AT91C_BASE_SYS->PIOA_PPUDR  = PIOA_B1 | PIOA_B2 | PIOA_B3 | PIOA_B4 | PIOA_B5;

-  AT91C_BASE_SYS->PIOB_PPUDR  = PIOB_SW1 | PIOB_SW2;

+  AT91C_BASE_PIOA->PIO_PPUDR = PIOA_B1 | PIOA_B2 | PIOA_B3 | PIOA_B4 | PIOA_B5;

+  AT91C_BASE_PIOB->PIO_PPUDR = PIOB_SW1 | PIOB_SW2;

 

   /*

    * MMC/SD slot, disable pullups, already inputs.

    */

-  AT91C_BASE_SYS->PIOB_PPUDR  = PIOB_MMC_WP | PIOB_MMC_CP;

+  AT91C_BASE_SYS->PIOB_PPUDR = PIOB_MMC_WP | PIOB_MMC_CP;

 

   /*

    * PIT Initialization.

    */

   AIC_ConfigureIT(AT91C_ID_SYS,

-                  AT91C_AIC_SRCTYPE_POSITIVE_EDGE | (AT91C_AIC_PRIOR_HIGHEST -1),

+                  AT91C_AIC_SRCTYPE_HIGH_LEVEL | (AT91C_AIC_PRIOR_HIGHEST - 1),

                   SYSIrqHandler);

   AIC_EnableIT(AT91C_ID_SYS);

   AT91C_BASE_PITC->PITC_PIMR = (MCK / 16 / CH_FREQUENCY) - 1;

   AT91C_BASE_PITC->PITC_PIMR |= AT91C_PITC_PITEN | AT91C_PITC_PITIEN;

+

+  /*

+   * Serial driver initialization, RTS/CTS pins enabled for USART0 only.

+   */

+  InitSerial(AT91C_AIC_PRIOR_HIGHEST - 2, AT91C_AIC_PRIOR_HIGHEST - 2);

+  AT91C_BASE_PIOA->PIO_PDR   = AT91C_PA3_RTS0 | AT91C_PA4_CTS0;

+  AT91C_BASE_PIOA->PIO_ASR   = AT91C_PIO_PA3 | AT91C_PIO_PA4;

+  AT91C_BASE_PIOA->PIO_PPUDR = AT91C_PIO_PA3 | AT91C_PIO_PA4;

 }

diff --git a/demos/ARM7-AT91SAM7X-GCC/main.c b/demos/ARM7-AT91SAM7X-GCC/main.c
index 80eab874e..67031c421 100644
--- a/demos/ARM7-AT91SAM7X-GCC/main.c
+++ b/demos/ARM7-AT91SAM7X-GCC/main.c
@@ -20,6 +20,7 @@
 #include <ch.h>

 

 #include "board.h"

+#include "sam7x_serial.h"

 

 static WorkingArea(waThread1, 64);

 static t_msg Thread1(void *arg) {

@@ -37,6 +38,7 @@ static t_msg Thread1(void *arg) {
  * Entry point, the interrupts are disabled on entry.

  */

 int main(int argc, char **argv) {

+  t_msg TestThread(void *p);

 

   /*

    * The main() function becomes a thread here then the interrupts are

@@ -47,7 +49,11 @@ int main(int argc, char **argv) {
   chThdCreate(NORMALPRIO, 0, waThread1, sizeof(waThread1), Thread1, NULL);

 

   while (TRUE) {

-    chThdSleep(1000);

+    chThdSleep(500);

+    if (!(AT91C_BASE_PIOB->PIO_PDSR & PIOB_SW1))

+      chFDDWrite(&COM1, (BYTE8 *)"Hello World!\r\n", 14);

+    if (!(AT91C_BASE_PIOB->PIO_PDSR & PIOB_SW2))

+      TestThread(&COM1);

   }

 

   return 0;

diff --git a/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.c b/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.c
new file mode 100644
index 000000000..e7a882cb7
--- /dev/null
+++ b/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.c
@@ -0,0 +1,180 @@
+/*

+    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;

+BYTE8 ib1[SERIAL_BUFFERS_SIZE];

+BYTE8 ob1[SERIAL_BUFFERS_SIZE];

+

+FullDuplexDriver COM2;

+BYTE8 ib2[SERIAL_BUFFERS_SIZE];

+BYTE8 ob2[SERIAL_BUFFERS_SIZE];

+

+static void SetError(AT91_REG csr, FullDuplexDriver *com) {

+  UWORD16 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);

+}

+

+/*

+ * Tries hard to clear all the pending interrupt sources, we dont want to

+ * go through the whole ISR and have another interrupt soon after.

+ */

+static void ServeInterrupt(AT91PS_USART u, FullDuplexDriver *com) {

+

+  while (u->US_CSR & u->US_IMR) {

+

+    if (u->US_CSR & AT91C_US_RXRDY) {

+      chFDDIncomingDataI(com, u->US_RHR);

+    }

+    else 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;

+    }

+    else {

+      SetError(u->US_CSR, com);

+      u->US_CR = AT91C_US_RSTSTA;

+    }

+  }

+}

+

+__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);

+}

diff --git a/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.h b/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.h
new file mode 100644
index 000000000..396aaeaf1
--- /dev/null
+++ b/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.h
@@ -0,0 +1,42 @@
+/*

+    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/>.

+*/

+

+#ifndef _SAM7X_SERIAL_H_

+#define _SAM7X_SERIAL_H_

+

+/*

+ * Configuration parameter, you can change the depth of the queue buffers

+ * depending on the requirements of your application.

+ */

+#define SERIAL_BUFFERS_SIZE 128

+

+#ifdef __cplusplus

+}

+#endif

+  void InitSerial(int prio0, int prio1);

+  void UART0IrqHandler(void);

+  void UART1IrqHandler(void);

+  void SetUSARTI(AT91PS_USART u, int speed, int mode);

+#ifdef __cplusplus

+}

+#endif

+

+extern FullDuplexDriver COM1, COM2;

+

+#endif /* _SAM7X_SERIAL_H_ */