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Diffstat (limited to 'os/hal/include/hal_pal.h')
| -rw-r--r-- | os/hal/include/hal_pal.h | 642 |
1 files changed, 642 insertions, 0 deletions
diff --git a/os/hal/include/hal_pal.h b/os/hal/include/hal_pal.h new file mode 100644 index 000000000..df22f3e94 --- /dev/null +++ b/os/hal/include/hal_pal.h @@ -0,0 +1,642 @@ +/*
+ 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 pal.h
+ * @brief I/O Ports Abstraction Layer macros, types and structures.
+ *
+ * @addtogroup PAL
+ * @{
+ */
+
+#ifndef _PAL_H_
+#define _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 "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 /* _PAL_H_ */
+
+#endif /* HAL_USE_PAL == TRUE */
+
+/** @} */
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