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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/>.

+*/

+

+/**

+ * @file pal.h

+ * @brief I/O Ports Abstraction Layer macros, types and structures

+ * @addtogroup PAL

+ * @{

+ */

+

+#ifndef _PAL_H_

+#define _PAL_H_

+

+/**

+ * @brief Bits in a mode word dedicated as mode selector.

+ * @details The other bits are not defined and may be used as device-specific

+ *          option bits.
+ */

+#define PAL_MODE_MASK                   0xF

+

+/**

+ * @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                  0

+

+/**

+ * @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 as

+ *          example.

+ */

+#define PAL_MODE_UNCONNECTED            1

+

+/**

+ * @brief Regular input high-Z pad.

+ */

+#define PAL_MODE_INPUT                  2

+

+/**

+ * @brief Input pad with weak pull up resistor.
+ */

+#define PAL_MODE_INPUT_PULLUP           3

+

+/**

+ * @brief Input pad with weak pull down resistor.

+ */

+#define PAL_MODE_INPUT_PULLDOWN         4

+

+/**

+ * @brief Push-pull output pad.

+ */

+#define PAL_MODE_OUTPUT_PUSHPULL        5

+

+/**

+ * @brief Open-drain output pad.

+ */

+#define PAL_MODE_OUTPUT_OPENDRAIN       6

+

+#ifndef _PAL_LLD_H_

+#include "pal_lld.h"

+#endif

+

+/**

+ * @brief Logical low state.
+ */

+#define PAL_LOW 0

+

+/**

+ * @brief Logical high state.

+ */

+#define PAL_HIGH 1

+

+/**

+ * @brief Port bit helper macro.

+ * @details This macro calculates the mask of a bit within a port.

+ *

+ * @param[in] n the bit position within the port

+ * @return The bit mask.
+ */

+#define PAL_PORT_BIT(n) ((ioportmask_t)(1 << (n)))

+

+

+/**

+ * @brief Bits group mask helper.

+ * @details This macro calculates the mask of a bits group.

+ *

+ * @param[in] width the group width
+ * @return The group mask.

+ */

+#define PAL_GROUP_MASK(width) ((ioportmask_t)(1 << (width)) - 1)

+

+/**

+ * @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 name the name of the IOBus variable

+ * @param port the I/O port descriptor

+ * @param width the bus width in bits

+ * @param offset the 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 name the name of the IOBus variable

+ * @param port the I/O port descriptor

+ * @param width the bus width in bits

+ * @param offset the bus bit offset within the port

+ */

+#define IOBUS_DECL(name, port, width, offset)                           \

+  IOBus name = _IOBUS_DATA(name, port, width, offset)

+

+/**

+ * @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 {

+  /** Port identifier. */

+  ioportid_t            bus_portid;

+  /** Bus mask aligned to port bit 0. The bus mask implicitly define the bus

+   *  width. */

+  ioportmask_t          bus_mask;

+  /** Offset, within the port, of the least significant bit of the bus. */

+  uint_fast8_t          bus_offset;

+} IOBus;

+

+/**

+ * @brief PAL subsystem initialization.

+ *

+ * @param[in] config pointer to an architecture specific configuration

+ *            structure. This structure is defined in the low level driver

+ *            header.
+ */

+#define palInit(config) pal_lld_init(config)

+

+/**

+ * @brief Reads the physical I/O port states.

+ *

+ * @param[in] port the port identifier

+ * @return The port logical states.

+ *

+ * @note The default implementation always return zero and computes the

+ *       parameter eventual side effects.

+ */

+#if !defined(pal_lld_readport) || defined(__DOXYGEN__)

+#define palReadPort(port) ((void)(port), 0)

+#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.

+ *
+ * @param[in] port the port identifier

+ * @return The latched logical states.

+ *

+ * @note The default implementation always return zero and computes the

+ *       parameter eventual side effects.

+ */

+#if !defined(pal_lld_readlatch) || defined(__DOXYGEN__)

+#define palReadLatch(port) ((void)(port), 0)

+#else

+#define palReadLatch(port) pal_lld_readlatch(port)

+#endif

+

+/**

+ * @brief Writes a bits mask on a I/O port.

+ *

+ * @param[in] port the port identifier

+ * @param[in] bits the bits to be written on the specified port

+ *

+ * @note The default implementation does nothing except computing the

+ *       parameters eventual side effects.

+ */

+#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.

+ *

+ * @param[in] port the port identifier

+ * @param[in] bits the bits to be ORed on the specified 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 chSysLock() and @p chSysUnlock().

+ * @note The default implementation is non atomic and not necessarily

+ *       optimal. Low level drivers may  optimize the function by using

+ *       specific hardware or coding.

+ */

+#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.

+ *

+ * @param[in] port the port identifier

+ * @param[in] bits the bits to be cleared on the specified 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 chSysLock() and @p chSysUnlock().

+ * @note The default implementation is non atomic and not necessarily

+ *       optimal. Low level drivers may  optimize the function by using

+ *       specific hardware or coding.

+ */

+#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.

+ *

+ * @param[in] port the port identifier

+ * @param[in] bits the bits to be XORed on the specified 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 chSysLock() and @p chSysUnlock().

+ * @note The default implementation is non atomic and not necessarily

+ *       optimal. Low level drivers may  optimize the function by using

+ *       specific hardware or coding.

+ */

+#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.

+ *
+ * @param[in] port the port identifier

+ * @param[in] mask the group mask

+ * @param[in] offset the group bit offset within the port

+ * @return The group logical states.

+ */

+#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.

+ *

+ * @param[in] port the port identifier

+ * @param[in] mask the group mask

+ * @param[in] offset the group bit offset within the port

+ * @param[in] bits the bits to be written. Values exceeding the group width

+ *            are masked.

+ */

+#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.

+ *

+ * @param[in] port the port identifier

+ * @param[in] mask the group mask

+ * @param[in] mode the setup mode

+ *

+ * @note Programming an unknown or unsupported mode is silently ignored.

+ */

+#if !defined(pal_lld_setgroupmode) || defined(__DOXYGEN__)

+#define palSetGroupMode(port, mask, mode)

+#else

+#define palSetGroupMode(port, mask, mode) pal_lld_setgroupmode(port, mask, mode)

+#endif

+

+/**

+ * @brief Reads an input pad logical state.

+ *

+ * @param[in] port the port identifier

+ * @param[in] pad the pad number within the port

+ * @return The logical state.

+ * @retval 0 low logical state.

+ * @retval 1 high logical 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().

+ */

+#if !defined(pal_lld_readpad) || defined(__DOXYGEN__)

+#define palReadPad(port, pad) ((palReadPort(port) >> (pad)) & 1)

+#else

+#define palReadPad(port, pad) pal_lld_readpad(port, pad)

+#endif

+

+/**

+ * @brief Writes a logical state on an output pad.

+ *

+ * @param[in] port the port identifier

+ * @param[in] pad the pad number within the port

+ * @param[out] bit the logical value, the value must be @p 0 or @p 1

+ *

+ * @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 chSysLock() and @p chSysUnlock().

+ * @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().

+ */

+#if !defined(pal_lld_writepad) || defined(__DOXYGEN__)

+#define palWritePad(port, pad, bit) {                                   \

+  palWritePort(port, (palReadLatch(port) & ~PAL_PORT_BIT(pad)) |        \

+                     (((bit) & 1) << pad));                             \

+}

+#else

+#define palWritePad(port, pad, bit) pal_lld_writepad(port, pad, bit)

+#endif

+

+/**

+ * @brief Sets a pad logical state to @p 1.

+ *

+ * @param[in] port the port identifier

+ * @param[in] pad the pad number within the 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 chSysLock() and @p chSysUnlock().

+ * @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().

+ */

+#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 logical state to @p 0.

+ *

+ * @param[in] port the port identifier

+ * @param[in] pad the pad number within the 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 chSysLock() and @p chSysUnlock().

+ * @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().

+ */

+#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 logical state.

+ *

+ * @param[in] port the port identifier

+ * @param[in] pad the pad number within the 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 chSysLock() and @p chSysUnlock().

+ * @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().

+ */

+#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.

+ *

+ * @param[in] port the port identifier

+ * @param[in] pad the pad number within the port

+ * @param[in] mode the setup 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.

+ */

+#if !defined(pal_lld_setpadmode) || defined(__DOXYGEN__)

+#define palSetPadMode(port, pad, mode)                                  \

+  palSetGroupMode(port, PAL_PORT_BIT(pad), mode)

+#else

+#define palSetPadMode(port, pad, mode) pal_lld_setpadmode(port, pad, mode)

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  ioportmask_t palReadBus(IOBus *bus);

+  void palWriteBus(IOBus *bus, ioportmask_t bits);

+  void palSetBusMode(IOBus *bus, uint_fast8_t mode);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* _PAL_H_ */

+

+/** @} */