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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"
extern void FiqHandler(void);
__attribute__((naked))
static void SpuriousHandler(void) {
chSysIRQEnterI();
AT91C_BASE_AIC->AIC_EOICR = 0;
chSysIRQExitI();
}
/*
* SYS IRQ handling here.
*/
__attribute__((naked))
static void SYSIrqHandler(void) {
chSysIRQEnterI();
if (AT91C_BASE_PITC->PITC_PISR & AT91C_PITC_PITS) {
(void) AT91C_BASE_PITC->PITC_PIVR;
chSysTimerHandlerI();
}
AT91C_BASE_AIC->AIC_EOICR = 0; \
chSysIRQExitI();
}
/*
* Board initialization code.
*/
void hwinit(void) {
int i;
/*
* Flash Memory: 1 wait state, about 50 cycles in a microsecond.
*/
AT91C_BASE_MC->MC_FMR = (AT91C_MC_FMCN & (50 << 16)) | AT91C_MC_FWS_1FWS;
/*
* Watchdog disabled.
*/
AT91C_BASE_WDTC->WDTC_WDMR = AT91C_WDTC_WDDIS;
/*
* Enables the main oscillator and waits 56 slow cycles as startup time.
*/
AT91C_BASE_PMC->PMC_MOR = (AT91C_CKGR_OSCOUNT & (7 << 8)) | AT91C_CKGR_MOSCEN;
while (!(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_MOSCS))
;
/*
* PLL setup: DIV = 14, MUL = 72, PLLCOUNT = 10
* PLLfreq = 96109714 Hz (rounded)
*/
AT91C_BASE_PMC->PMC_PLLR = (AT91C_CKGR_DIV & 14) |
(AT91C_CKGR_PLLCOUNT & (10 << 8)) |
(AT91C_CKGR_MUL & (72 << 16));
while (!(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_LOCK))
;
/*
* Master clock = PLLfreq / 2 = 48054858 Hz (rounded)
*/
AT91C_BASE_PMC->PMC_MCKR = AT91C_PMC_CSS_PLL_CLK | AT91C_PMC_PRES_CLK_2;
while (!(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_MCKRDY))
;
/*
* 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;
/*
* Default AIC setup, the device drivers will modify it as needed.
*/
AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;
AT91C_BASE_AIC->AIC_SVR[0] = (AT91_REG)FiqHandler;
for (i = 1; i < 31; i++) {
AT91C_BASE_AIC->AIC_SVR[i] = (AT91_REG)NULL;
AT91C_BASE_AIC->AIC_EOICR = (AT91_REG)i;
}
AT91C_BASE_AIC->AIC_SPU = (AT91_REG)SpuriousHandler;
/*
* LCD pins setup.
*/
AT91C_BASE_PIOB->PIO_CODR = PIOB_LCD_BL; // Set to low.
AT91C_BASE_PIOB->PIO_OER = PIOB_LCD_BL; // Configure as output.
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_PIOA->PIO_PPUDR = PIOA_LCD_RESET; // Disable internal pullup resistor.
/*
* Joystick and buttons, disable pullups, already inputs.
*/
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;
/*
* PIT Initialization.
*/
AIC_ConfigureIT(AT91C_ID_SYS,
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;
}
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