diff options
| -rw-r--r-- | demos/GNU-Linux-GCC/halconf.h | 2 | ||||
| -rw-r--r-- | demos/Win32-MinGW/halconf.h | 2 | ||||
| -rw-r--r-- | os/hal/platforms/Linux/pal_lld.c | 98 | ||||
| -rw-r--r-- | os/hal/platforms/Linux/pal_lld.h | 202 | ||||
| -rw-r--r-- | os/hal/platforms/Linux/platform.mk | 3 | ||||
| -rw-r--r-- | os/hal/platforms/Win32/hal_lld.c | 9 | ||||
| -rw-r--r-- | os/hal/platforms/Win32/pal_lld.c | 98 | ||||
| -rw-r--r-- | os/hal/platforms/Win32/pal_lld.h | 202 | ||||
| -rw-r--r-- | os/hal/platforms/Win32/platform.mk | 1 |
9 files changed, 614 insertions, 3 deletions
diff --git a/demos/GNU-Linux-GCC/halconf.h b/demos/GNU-Linux-GCC/halconf.h index 40264527c..b325b7238 100644 --- a/demos/GNU-Linux-GCC/halconf.h +++ b/demos/GNU-Linux-GCC/halconf.h @@ -48,7 +48,7 @@ * @brief Enables the PAL subsystem.
*/
#if !defined(CH_HAL_USE_PAL) || defined(__DOXYGEN__)
-#define CH_HAL_USE_PAL FALSE
+#define CH_HAL_USE_PAL TRUE
#endif
/*===========================================================================*/
diff --git a/demos/Win32-MinGW/halconf.h b/demos/Win32-MinGW/halconf.h index 40264527c..b325b7238 100644 --- a/demos/Win32-MinGW/halconf.h +++ b/demos/Win32-MinGW/halconf.h @@ -48,7 +48,7 @@ * @brief Enables the PAL subsystem.
*/
#if !defined(CH_HAL_USE_PAL) || defined(__DOXYGEN__)
-#define CH_HAL_USE_PAL FALSE
+#define CH_HAL_USE_PAL TRUE
#endif
/*===========================================================================*/
diff --git a/os/hal/platforms/Linux/pal_lld.c b/os/hal/platforms/Linux/pal_lld.c new file mode 100644 index 000000000..7e4221929 --- /dev/null +++ b/os/hal/platforms/Linux/pal_lld.c @@ -0,0 +1,98 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 Posix/pal_lld.c
+ * @brief Posix low level simulated PAL driver code.
+ *
+ * @addtogroup POSIX_PAL
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_PAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief VIO1 simulated port. + */
+sim_vio_port_t vio_port_1;
+
+/**
+ * @brief VIO2 simulated port.
+ */
+sim_vio_port_t vio_port_2;
+
+/*===========================================================================*/
+/* Driver local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Pads 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 mode
+ *
+ * @note This function is not meant to be invoked directly by the application
+ * code.
+ * @note @p PAL_MODE_UNCONNECTED is implemented as push pull output with high
+ * state.
+ * @note This function does not alter the @p PINSELx registers. Alternate
+ * functions setup must be handled by device-specific code.
+ */
+void _pal_lld_setgroupmode(ioportid_t port,
+ ioportmask_t mask,
+ uint_fast8_t mode) {
+
+ switch (mode) {
+ case PAL_MODE_RESET:
+ case PAL_MODE_INPUT:
+ port->dir &= ~mask;
+ break;
+ case PAL_MODE_UNCONNECTED:
+ port->latch |= mask;
+ case PAL_MODE_OUTPUT_PUSHPULL:
+ port->dir |= mask;
+ break;
+ }
+}
+
+#endif /* CH_HAL_USE_PAL */
+
+/** @} */
diff --git a/os/hal/platforms/Linux/pal_lld.h b/os/hal/platforms/Linux/pal_lld.h new file mode 100644 index 000000000..8386d7279 --- /dev/null +++ b/os/hal/platforms/Linux/pal_lld.h @@ -0,0 +1,202 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 Posix/pal_lld.h
+ * @brief Posix low level simulated PAL driver header.
+ *
+ * @addtogroup POSIX_PAL
+ * @{
+ */
+
+#ifndef _PAL_LLD_H_
+#define _PAL_LLD_H_
+
+#if CH_HAL_USE_PAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Unsupported modes and specific modes */
+/*===========================================================================*/
+
+#undef PAL_MODE_INPUT_PULLUP
+#undef PAL_MODE_INPUT_PULLDOWN
+#undef PAL_MODE_OUTPUT_OPENDRAIN
+#undef PAL_MODE_INPUT_ANALOG
+
+/*===========================================================================*/
+/* I/O Ports Types and constants. */
+/*===========================================================================*/
+
+/**
+ * @brief VIO port structure.
+ */
+typedef struct {
+ /**
+ * @brief VIO_LATCH register.
+ * @details This register represents the output latch of the VIO port.
+ */
+ uint32_t latch;
+ /**
+ * @brief VIO_PIN register.
+ * @details This register represents the logical level at the VIO port
+ * pin level.
+ */
+ uint32_t pin;
+ /**
+ * @brief VIO_DIR register.
+ * @details Direction of the VIO port bits, 0=input, 1=output.
+ */
+ uint32_t dir;
+} sim_vio_port_t;
+
+/**
+ * @brief Virtual I/O ports static initializer.
+ * @details An instance of this structure must be passed to @p palInit() at
+ * system startup time in order to initialized the digital I/O
+ * subsystem. This represents only the initial setup, specific pads
+ * or whole ports can be reprogrammed at later time.
+ */
+typedef struct {
+ /**
+ * @brief Virtual port 1 setup data.
+ */
+ sim_vio_port_t VP1Data;
+ /**
+ * @brief Virtual port 2 setup data.
+ */
+ sim_vio_port_t VP2Data;
+} VIOConfig;
+
+/**
+ * @brief Width, in bits, of an I/O port.
+ */
+#define PAL_IOPORTS_WIDTH 32
+
+/**
+ * @brief Whole port mask.
+ * @brief This macro specifies all the valid bits into a port.
+ */
+#define PAL_WHOLE_PORT ((ioportmask_t)0xFFFFFFFF)
+
+/**
+ * @brief Digital I/O port sized unsigned type.
+ */
+typedef uint32_t ioportmask_t;
+
+/**
+ * @brief Port Identifier.
+ */
+typedef sim_vio_port_t *ioportid_t;
+
+/*===========================================================================*/
+/* I/O Ports Identifiers. */
+/*===========================================================================*/
+
+/**
+ * @brief VIO port 1 identifier.
+ */
+#define IOPORT1 (&vio_port_1)
+
+/**
+ * @brief VIO port 2 identifier.
+ */
+#define IOPORT2 (&vio_port_2)
+
+/*===========================================================================*/
+/* Implementation, some of the following macros could be implemented as */
+/* functions, if so please put them in pal_lld.c. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level PAL subsystem initialization.
+ *
+ * @param[in] config architecture-dependent ports configuration
+ */
+#define pal_lld_init(config) { \
+ vio_port_1 = (config)->VP1Data; \
+ vio_port_2 = (config)->VP2Data; \
+}
+
+/**
+ * @brief Reads the physical I/O port states.
+ * @note This function is not meant to be invoked directly by the
+ * application code.
+ *
+ * @param[in] port port identifier
+ * @return The port bits.
+ */
+#define pal_lld_readport(port) ((port)->pin)
+
+/**
+ * @brief Reads the output latch.
+ * @details The purpose of this function is to read back the latched output
+ * value.
+ * @note This function is not meant to be invoked directly by the
+ * application code.
+ *
+ * @param[in] port port identifier
+ * @return The latched logical states.
+ */
+#define pal_lld_readlatch(port) ((port)->latch)
+
+/**
+ * @brief Writes a bits mask on a I/O port.
+ * @note This function is not meant to be invoked directly by the
+ * application code.
+ *
+ * @param[in] port port identifier
+ * @param[in] bits bits to be written on the specified port
+ */
+#define pal_lld_writeport(port, bits) ((port)->latch = (bits))
+
+/**
+ * @brief Pads group mode setup.
+ * @details This function programs a pads group belonging to the same port
+ * with the specified mode.
+ * @note This function is not meant to be invoked directly by the
+ * application code.
+ * @note Programming an unknown or unsupported mode is silently ignored.
+ *
+ * @param[in] port port identifier
+ * @param[in] mask group mask
+ * @param[in] mode group mode
+ */
+#define pal_lld_setgroupmode(port, mask, mode)
+
+#if !defined(__DOXYGEN__)
+extern sim_vio_port_t vio_port_1;
+extern sim_vio_port_t vio_port_2;
+extern const VIOConfig pal_default_config;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void _pal_lld_setgroupmode(ioportid_t port,
+ ioportmask_t mask,
+ uint_fast8_t mode);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CH_HAL_USE_PAL */
+
+#endif /* _PAL_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/platforms/Linux/platform.mk b/os/hal/platforms/Linux/platform.mk index d1d5ab87d..018ee3e41 100644 --- a/os/hal/platforms/Linux/platform.mk +++ b/os/hal/platforms/Linux/platform.mk @@ -1,5 +1,6 @@ -# List of all the Win32 platform files.
+# List of all the Posix platform files.
PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/Linux/hal_lld.c \
+ ${CHIBIOS}/os/hal/platforms/Linux/pal_lld.c \
${CHIBIOS}/os/hal/platforms/Linux/serial_lld.c
# Required include directories
diff --git a/os/hal/platforms/Win32/hal_lld.c b/os/hal/platforms/Win32/hal_lld.c index a38d356d8..31e2b9a87 100644 --- a/os/hal/platforms/Win32/hal_lld.c +++ b/os/hal/platforms/Win32/hal_lld.c @@ -38,6 +38,15 @@ static LARGE_INTEGER nextcnt;
static LARGE_INTEGER slice;
+/**
+ * @brief PAL setup.
+ * @details Digital I/O ports static configuration as defined in @p board.h.
+ */
+const VIOConfig pal_default_config = {
+ {0, 0, 0},
+ {0, 0, 0}
+};
+
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
diff --git a/os/hal/platforms/Win32/pal_lld.c b/os/hal/platforms/Win32/pal_lld.c new file mode 100644 index 000000000..e83050ece --- /dev/null +++ b/os/hal/platforms/Win32/pal_lld.c @@ -0,0 +1,98 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 Win32/pal_lld.c
+ * @brief Win32 low level simulated PAL driver code.
+ *
+ * @addtogroup WIN32_PAL
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#if CH_HAL_USE_PAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief VIO1 simulated port. + */
+sim_vio_port_t vio_port_1;
+
+/**
+ * @brief VIO2 simulated port.
+ */
+sim_vio_port_t vio_port_2;
+
+/*===========================================================================*/
+/* Driver local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Pads 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 mode
+ *
+ * @note This function is not meant to be invoked directly by the application
+ * code.
+ * @note @p PAL_MODE_UNCONNECTED is implemented as push pull output with high
+ * state.
+ * @note This function does not alter the @p PINSELx registers. Alternate
+ * functions setup must be handled by device-specific code.
+ */
+void _pal_lld_setgroupmode(ioportid_t port,
+ ioportmask_t mask,
+ uint_fast8_t mode) {
+
+ switch (mode) {
+ case PAL_MODE_RESET:
+ case PAL_MODE_INPUT:
+ port->dir &= ~mask;
+ break;
+ case PAL_MODE_UNCONNECTED:
+ port->latch |= mask;
+ case PAL_MODE_OUTPUT_PUSHPULL:
+ port->dir |= mask;
+ break;
+ }
+}
+
+#endif /* CH_HAL_USE_PAL */
+
+/** @} */
diff --git a/os/hal/platforms/Win32/pal_lld.h b/os/hal/platforms/Win32/pal_lld.h new file mode 100644 index 000000000..d2d857184 --- /dev/null +++ b/os/hal/platforms/Win32/pal_lld.h @@ -0,0 +1,202 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 Win32/pal_lld.h
+ * @brief Win32 low level simulated PAL driver header.
+ *
+ * @addtogroup WIN32_PAL
+ * @{
+ */
+
+#ifndef _PAL_LLD_H_
+#define _PAL_LLD_H_
+
+#if CH_HAL_USE_PAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Unsupported modes and specific modes */
+/*===========================================================================*/
+
+#undef PAL_MODE_INPUT_PULLUP
+#undef PAL_MODE_INPUT_PULLDOWN
+#undef PAL_MODE_OUTPUT_OPENDRAIN
+#undef PAL_MODE_INPUT_ANALOG
+
+/*===========================================================================*/
+/* I/O Ports Types and constants. */
+/*===========================================================================*/
+
+/**
+ * @brief VIO port structure.
+ */
+typedef struct {
+ /**
+ * @brief VIO_LATCH register.
+ * @details This register represents the output latch of the VIO port.
+ */
+ uint32_t latch;
+ /**
+ * @brief VIO_PIN register.
+ * @details This register represents the logical level at the VIO port
+ * pin level.
+ */
+ uint32_t pin;
+ /**
+ * @brief VIO_DIR register.
+ * @details Direction of the VIO port bits, 0=input, 1=output.
+ */
+ uint32_t dir;
+} sim_vio_port_t;
+
+/**
+ * @brief Virtual I/O ports static initializer.
+ * @details An instance of this structure must be passed to @p palInit() at
+ * system startup time in order to initialized the digital I/O
+ * subsystem. This represents only the initial setup, specific pads
+ * or whole ports can be reprogrammed at later time.
+ */
+typedef struct {
+ /**
+ * @brief Virtual port 1 setup data.
+ */
+ sim_vio_port_t VP1Data;
+ /**
+ * @brief Virtual port 2 setup data.
+ */
+ sim_vio_port_t VP2Data;
+} VIOConfig;
+
+/**
+ * @brief Width, in bits, of an I/O port.
+ */
+#define PAL_IOPORTS_WIDTH 32
+
+/**
+ * @brief Whole port mask.
+ * @brief This macro specifies all the valid bits into a port.
+ */
+#define PAL_WHOLE_PORT ((ioportmask_t)0xFFFFFFFF)
+
+/**
+ * @brief Digital I/O port sized unsigned type.
+ */
+typedef uint32_t ioportmask_t;
+
+/**
+ * @brief Port Identifier.
+ */
+typedef sim_vio_port_t *ioportid_t;
+
+/*===========================================================================*/
+/* I/O Ports Identifiers. */
+/*===========================================================================*/
+
+/**
+ * @brief VIO port 1 identifier.
+ */
+#define IOPORT1 (&vio_port_1)
+
+/**
+ * @brief VIO port 2 identifier.
+ */
+#define IOPORT2 (&vio_port_2)
+
+/*===========================================================================*/
+/* Implementation, some of the following macros could be implemented as */
+/* functions, if so please put them in pal_lld.c. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level PAL subsystem initialization.
+ *
+ * @param[in] config architecture-dependent ports configuration
+ */
+#define pal_lld_init(config) { \
+ vio_port_1 = (config)->VP1Data; \
+ vio_port_2 = (config)->VP2Data; \
+}
+
+/**
+ * @brief Reads the physical I/O port states.
+ * @note This function is not meant to be invoked directly by the
+ * application code.
+ *
+ * @param[in] port port identifier
+ * @return The port bits.
+ */
+#define pal_lld_readport(port) ((port)->pin)
+
+/**
+ * @brief Reads the output latch.
+ * @details The purpose of this function is to read back the latched output
+ * value.
+ * @note This function is not meant to be invoked directly by the
+ * application code.
+ *
+ * @param[in] port port identifier
+ * @return The latched logical states.
+ */
+#define pal_lld_readlatch(port) ((port)->latch)
+
+/**
+ * @brief Writes a bits mask on a I/O port.
+ * @note This function is not meant to be invoked directly by the
+ * application code.
+ *
+ * @param[in] port port identifier
+ * @param[in] bits bits to be written on the specified port
+ */
+#define pal_lld_writeport(port, bits) ((port)->latch = (bits))
+
+/**
+ * @brief Pads group mode setup.
+ * @details This function programs a pads group belonging to the same port
+ * with the specified mode.
+ * @note This function is not meant to be invoked directly by the
+ * application code.
+ * @note Programming an unknown or unsupported mode is silently ignored.
+ *
+ * @param[in] port port identifier
+ * @param[in] mask group mask
+ * @param[in] mode group mode
+ */
+#define pal_lld_setgroupmode(port, mask, mode)
+
+#if !defined(__DOXYGEN__)
+extern sim_vio_port_t vio_port_1;
+extern sim_vio_port_t vio_port_2;
+extern const VIOConfig pal_default_config;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void _pal_lld_setgroupmode(ioportid_t port,
+ ioportmask_t mask,
+ uint_fast8_t mode);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CH_HAL_USE_PAL */
+
+#endif /* _PAL_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/platforms/Win32/platform.mk b/os/hal/platforms/Win32/platform.mk index a35edc669..0887c1ae3 100644 --- a/os/hal/platforms/Win32/platform.mk +++ b/os/hal/platforms/Win32/platform.mk @@ -1,5 +1,6 @@ # List of all the Win32 platform files.
PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/Win32/hal_lld.c \
+ ${CHIBIOS}/os/hal/platforms/Win32/pal_lld.c \
${CHIBIOS}/os/hal/platforms/Win32/serial_lld.c
# Required include directories
|