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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2808 35acf78f-673a-0410-8e92-d51de3d6d3f4

master
gdisirio 2011-03-08 10:09:57 +00:00
parent c3cb79bec3
commit 18fb8f676f
51 changed files with 1152 additions and 1183 deletions
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2
demos/ARM7-AT91SAM7X-UIP-GCC/web/webthread.c
View File

@ -69,7 +69,7 @@ static size_t network_device_read(void) {
if (macWaitReceiveDescriptor(&ETH1, &rd, TIME_IMMEDIATE) != RDY_OK) if (macWaitReceiveDescriptor(&ETH1, &rd, TIME_IMMEDIATE) != RDY_OK)
return 0; return 0;
size = rd.rd_size; size = rd.size;
macReadReceiveDescriptor(&rd, uip_buf, size); macReadReceiveDescriptor(&rd, uip_buf, size);
macReleaseReceiveDescriptor(&rd); macReleaseReceiveDescriptor(&rd);
return size; return size;

4
demos/ARMCM3-STM32F103-FATFS-GCC/main.c
View File

@ -310,8 +310,8 @@ int main(void) {
* Normal main() thread activity, in this demo it does nothing except * Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and listen for events. * sleeping in a loop and listen for events.
*/ */
chEvtRegister(&MMCD1.mmc_inserted_event, &el0, 0); chEvtRegister(&MMCD1.inserted_event, &el0, 0);
chEvtRegister(&MMCD1.mmc_removed_event, &el1, 1); chEvtRegister(&MMCD1.removed_event, &el1, 1);
while (TRUE) { while (TRUE) {
if (!shelltp) if (!shelltp)
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO); shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);

55
os/hal/include/adc.h
View File

@ -92,9 +92,9 @@ typedef enum {
* @notapi * @notapi
*/ */
#define _adc_reset_i(adcp) { \ #define _adc_reset_i(adcp) { \
if ((adcp)->ad_thread != NULL) { \ if ((adcp)->thread != NULL) { \
Thread *tp = (adcp)->ad_thread; \ Thread *tp = (adcp)->thread; \
(adcp)->ad_thread = NULL; \ (adcp)->thread = NULL; \
tp->p_u.rdymsg = RDY_RESET; \ tp->p_u.rdymsg = RDY_RESET; \
chSchReadyI(tp); \ chSchReadyI(tp); \
} \ } \
@ -108,9 +108,9 @@ typedef enum {
* @notapi * @notapi
*/ */
#define _adc_reset_s(adcp) { \ #define _adc_reset_s(adcp) { \
if ((adcp)->ad_thread != NULL) { \ if ((adcp)->thread != NULL) { \
Thread *tp = (adcp)->ad_thread; \ Thread *tp = (adcp)->thread; \
(adcp)->ad_thread = NULL; \ (adcp)->thread = NULL; \
chSchWakeupS(tp, RDY_RESET); \ chSchWakeupS(tp, RDY_RESET); \
} \ } \
} }
@ -123,9 +123,9 @@ typedef enum {
* @notapi * @notapi
*/ */
#define _adc_wakeup_isr(adcp) { \ #define _adc_wakeup_isr(adcp) { \
if ((adcp)->ad_thread != NULL) { \ if ((adcp)->thread != NULL) { \
Thread *tp = (adcp)->ad_thread; \ Thread *tp = (adcp)->thread; \
(adcp)->ad_thread = NULL; \ (adcp)->thread = NULL; \
chSysLockFromIsr(); \ chSysLockFromIsr(); \
tp->p_u.rdymsg = RDY_OK; \ tp->p_u.rdymsg = RDY_OK; \
chSchReadyI(tp); \ chSchReadyI(tp); \
@ -152,9 +152,8 @@ typedef enum {
* @notapi * @notapi
*/ */
#define _adc_isr_half_code(adcp) { \ #define _adc_isr_half_code(adcp) { \
if ((adcp)->ad_grpp->acg_endcb != NULL) { \ if ((adcp)->grpp->end_cb != NULL) { \
(adcp)->ad_grpp->acg_endcb(adcp, (adcp)->ad_samples, \ (adcp)->grpp->end_cb(adcp, (adcp)->samples, (adcp)->depth / 2); \
(adcp)->ad_depth / 2); \
} \ } \
} }
@ -173,40 +172,38 @@ typedef enum {
* @notapi * @notapi
*/ */
#define _adc_isr_full_code(adcp) { \ #define _adc_isr_full_code(adcp) { \
if ((adcp)->ad_grpp->acg_circular) { \ if ((adcp)->grpp->circular) { \
/* Callback handling.*/ \ /* Callback handling.*/ \
if ((adcp)->ad_grpp->acg_endcb != NULL) { \ if ((adcp)->grpp->end_cb != NULL) { \
if ((adcp)->ad_depth > 1) { \ if ((adcp)->depth > 1) { \
/* Invokes the callback passing the 2nd half of the buffer.*/ \ /* Invokes the callback passing the 2nd half of the buffer.*/ \
size_t half = (adcp)->ad_depth / 2; \ size_t half = (adcp)->depth / 2; \
(adcp)->ad_grpp->acg_endcb(adcp, (adcp)->ad_samples + half, half); \ (adcp)->grpp->end_cb(adcp, (adcp)->samples + half, half); \
} \ } \
else { \ else { \
/* Invokes the callback passing the whole buffer.*/ \ /* Invokes the callback passing the whole buffer.*/ \
(adcp)->ad_grpp->acg_endcb(adcp, (adcp)->ad_samples, \ (adcp)->grpp->end_cb(adcp, (adcp)->samples, (adcp)->depth); \
(adcp)->ad_depth); \
} \ } \
} \ } \
} \ } \
else { \ else { \
/* End conversion.*/ \ /* End conversion.*/ \
adc_lld_stop_conversion(adcp); \ adc_lld_stop_conversion(adcp); \
if ((adcp)->ad_grpp->acg_endcb != NULL) { \ if ((adcp)->grpp->end_cb != NULL) { \
(adcp)->ad_state = ADC_COMPLETE; \ (adcp)->state = ADC_COMPLETE; \
if ((adcp)->ad_depth > 1) { \ if ((adcp)->depth > 1) { \
/* Invokes the callback passing the 2nd half of the buffer.*/ \ /* Invokes the callback passing the 2nd half of the buffer.*/ \
size_t half = (adcp)->ad_depth / 2; \ size_t half = (adcp)->depth / 2; \
(adcp)->ad_grpp->acg_endcb(adcp, (adcp)->ad_samples + half, half); \ (adcp)->grpp->end_cb(adcp, (adcp)->samples + half, half); \
} \ } \
else { \ else { \
/* Invokes the callback passing the whole buffer.*/ \ /* Invokes the callback passing the whole buffer.*/ \
(adcp)->ad_grpp->acg_endcb(adcp, (adcp)->ad_samples, \ (adcp)->grpp->end_cb(adcp, (adcp)->samples, (adcp)->depth); \
(adcp)->ad_depth); \
} \ } \
if ((adcp)->ad_state == ADC_COMPLETE) \ if ((adcp)->state == ADC_COMPLETE) \
(adcp)->ad_state = ADC_READY; \ (adcp)->state = ADC_READY; \
} \ } \
(adcp)->ad_grpp = NULL; \ (adcp)->grpp = NULL; \
_adc_wakeup_isr(adcp); \ _adc_wakeup_isr(adcp); \
} \ } \
} }

2
os/hal/include/can.h
View File

@ -103,7 +103,7 @@ typedef enum {
* *
* @iclass * @iclass
*/ */
#define canAddFlagsI(canp, mask) ((canp)->cd_status |= (mask)) #define canAddFlagsI(canp, mask) ((canp)->status |= (mask))
/*===========================================================================*/ /*===========================================================================*/
/* External declarations. */ /* External declarations. */

2
os/hal/include/mac.h
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@ -64,7 +64,7 @@
* @api * @api
*/ */
#if CH_USE_EVENTS || defined(__DOXYGEN__) #if CH_USE_EVENTS || defined(__DOXYGEN__)
#define macGetReceiveEventSource(macp) (&(macp)->md_rdevent) #define macGetReceiveEventSource(macp) (&(macp)->rdevent)
#endif #endif
/** /**

28
os/hal/include/mmc_spi.h
View File

@ -18,7 +18,7 @@
*/ */
/** /**
* @file mmc_spi.h * @file spi.h
* @brief MMC over SPI driver header. * @brief MMC over SPI driver header.
* *
* @addtogroup MMC_SPI * @addtogroup MMC_SPI
@ -133,47 +133,47 @@ typedef struct {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
mmcstate_t mmc_state; mmcstate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const MMCConfig *mmc_config; const MMCConfig *config;
/** /**
* @brief SPI driver associated to this MMC driver. * @brief SPI driver associated to this MMC driver.
*/ */
SPIDriver *mmc_spip; SPIDriver *spip;
/** /**
* @brief SPI low speed configuration used during initialization. * @brief SPI low speed configuration used during initialization.
*/ */
const SPIConfig *mmc_lscfg; const SPIConfig *lscfg;
/** /**
* @brief SPI high speed configuration used during transfers. * @brief SPI high speed configuration used during transfers.
*/ */
const SPIConfig *mmc_hscfg; const SPIConfig *hscfg;
/** /**
* @brief Write protect status query function. * @brief Write protect status query function.
*/ */
mmcquery_t mmc_is_protected; mmcquery_t is_protected;
/** /**
* @brief Insertion status query function. * @brief Insertion status query function.
*/ */
mmcquery_t mmc_is_inserted; mmcquery_t is_inserted;
/** /**
* @brief Card insertion event source. * @brief Card insertion event source.
*/ */
EventSource mmc_inserted_event; EventSource inserted_event;
/** /**
* @brief Card removal event source. * @brief Card removal event source.
*/ */
EventSource mmc_removed_event; EventSource removed_event;
/** /**
* @brief MMC insertion polling timer. * @brief MMC insertion polling timer.
*/ */
VirtualTimer mmc_vt; VirtualTimer vt;
/** /**
* @brief Insertion counter. * @brief Insertion counter.
*/ */
uint_fast8_t mmc_cnt; uint_fast8_t cnt;
} MMCDriver; } MMCDriver;
/*===========================================================================*/ /*===========================================================================*/
@ -188,7 +188,7 @@ typedef struct {
* *
* @api * @api
*/ */
#define mmcGetDriverState(mmcp) ((mmcp)->mmc_state) #define mmcGetDriverState(mmcp) ((mmcp)->state)
/** /**
* @brief Returns the write protect status. * @brief Returns the write protect status.
@ -200,7 +200,7 @@ typedef struct {
* *
* @api * @api
*/ */
#define mmcIsWriteProtected(mmcp) ((mmcp)->mmc_is_protected()) #define mmcIsWriteProtected(mmcp) ((mmcp)->is_protected())
/*===========================================================================*/ /*===========================================================================*/
/* External declarations. */ /* External declarations. */

6
os/hal/include/pal.h
View File

@ -123,17 +123,17 @@ typedef struct {
/** /**
* @brief Port identifier. * @brief Port identifier.
*/ */
ioportid_t bus_portid; ioportid_t portid;
/** /**
* @brief Bus mask aligned to port bit 0. * @brief Bus mask aligned to port bit 0.
* @note The bus mask implicitly define the bus width. A logical AND is * @note The bus mask implicitly define the bus width. A logical AND is
* performed on the bus data. * performed on the bus data.
*/ */
ioportmask_t bus_mask; ioportmask_t mask;
/** /**
* @brief Offset, within the port, of the least significant bit of the bus. * @brief Offset, within the port, of the least significant bit of the bus.
*/ */
uint_fast8_t bus_offset; uint_fast8_t offset;
} IOBus; } IOBus;
/*===========================================================================*/ /*===========================================================================*/

10
os/hal/include/serial_usb.h
View File

@ -85,23 +85,23 @@ typedef struct {
/** /**
* @brief USB driver to use. * @brief USB driver to use.
*/ */
USBDriver *usbp; USBDriver *usbp;
/** /**
* @brief USB driver configuration structure. * @brief USB driver configuration structure.
*/ */
USBConfig usb_config; USBConfig usb_config;
/* /*
* @brief Endpoint used for data transmission. * @brief Endpoint used for data transmission.
*/ */
usbep_t data_request_ep; usbep_t data_request_ep;
/* /*
* @brief Endpoint used for data reception. * @brief Endpoint used for data reception.
*/ */
usbep_t data_available_ep; usbep_t data_available_ep;
/* /*
* @brief Endpoint used for interrupt request. * @brief Endpoint used for interrupt request.
*/ */
usbep_t interrupt_request_ep; usbep_t interrupt_request_ep;
} SerialUSBConfig; } SerialUSBConfig;
/** /**

28
os/hal/include/spi.h
View File

@ -120,7 +120,7 @@ typedef enum {
* @iclass * @iclass
*/ */
#define spiStartIgnoreI(spip, n) { \ #define spiStartIgnoreI(spip, n) { \
(spip)->spd_state = SPI_ACTIVE; \ (spip)->state = SPI_ACTIVE; \
spi_lld_ignore(spip, n); \ spi_lld_ignore(spip, n); \
} }
@ -142,7 +142,7 @@ typedef enum {
* @iclass * @iclass
*/ */
#define spiStartExchangeI(spip, n, txbuf, rxbuf) { \ #define spiStartExchangeI(spip, n, txbuf, rxbuf) { \
(spip)->spd_state = SPI_ACTIVE; \ (spip)->state = SPI_ACTIVE; \
spi_lld_exchange(spip, n, txbuf, rxbuf); \ spi_lld_exchange(spip, n, txbuf, rxbuf); \
} }
@ -162,7 +162,7 @@ typedef enum {
* @iclass * @iclass
*/ */
#define spiStartSendI(spip, n, txbuf) { \ #define spiStartSendI(spip, n, txbuf) { \
(spip)->spd_state = SPI_ACTIVE; \ (spip)->state = SPI_ACTIVE; \
spi_lld_send(spip, n, txbuf); \ spi_lld_send(spip, n, txbuf); \
} }
@ -182,7 +182,7 @@ typedef enum {
* @iclass * @iclass
*/ */
#define spiStartReceiveI(spip, n, rxbuf) { \ #define spiStartReceiveI(spip, n, rxbuf) { \
(spip)->spd_state = SPI_ACTIVE; \ (spip)->state = SPI_ACTIVE; \
spi_lld_receive(spip, n, rxbuf); \ spi_lld_receive(spip, n, rxbuf); \
} }
@ -215,9 +215,9 @@ typedef enum {
* @notapi * @notapi
*/ */
#define _spi_wait_s(spip) { \ #define _spi_wait_s(spip) { \
chDbgAssert((spip)->spd_thread == NULL, \ chDbgAssert((spip)->thread == NULL, \
"_spi_wait(), #1", "already waiting"); \ "_spi_wait(), #1", "already waiting"); \
(spip)->spd_thread = chThdSelf(); \ (spip)->thread = chThdSelf(); \
chSchGoSleepS(THD_STATE_SUSPENDED); \ chSchGoSleepS(THD_STATE_SUSPENDED); \
} }
@ -229,9 +229,9 @@ typedef enum {
* @notapi * @notapi
*/ */
#define _spi_wakeup_isr(spip) { \ #define _spi_wakeup_isr(spip) { \
if ((spip)->spd_thread != NULL) { \ if ((spip)->thread != NULL) { \
Thread *tp = (spip)->spd_thread; \ Thread *tp = (spip)->thread; \
(spip)->spd_thread = NULL; \ (spip)->thread = NULL; \
chSysLockFromIsr(); \ chSysLockFromIsr(); \
chSchReadyI(tp); \ chSchReadyI(tp); \
chSysUnlockFromIsr(); \ chSysUnlockFromIsr(); \
@ -257,11 +257,11 @@ typedef enum {
* @notapi * @notapi
*/ */
#define _spi_isr_code(spip) { \ #define _spi_isr_code(spip) { \
if ((spip)->spd_config->spc_endcb) { \ if ((spip)->config->end_cb) { \
(spip)->spd_state = SPI_COMPLETE; \ (spip)->state = SPI_COMPLETE; \
(spip)->spd_config->spc_endcb(spip); \ (spip)->config->end_cb(spip); \
if ((spip)->spd_state == SPI_COMPLETE) \ if ((spip)->state == SPI_COMPLETE) \
(spip)->spd_state = SPI_READY; \ (spip)->state = SPI_READY; \
} \ } \
_spi_wakeup_isr(spip); \ _spi_wakeup_isr(spip); \
} }

44
os/hal/platforms/AT91SAM7/mac_lld.c
View File

@ -100,9 +100,9 @@ static void serve_interrupt(void) {
if ((isr & AT91C_EMAC_RCOMP) || (rsr & RSR_BITS)) { if ((isr & AT91C_EMAC_RCOMP) || (rsr & RSR_BITS)) {
if (rsr & AT91C_EMAC_REC) { if (rsr & AT91C_EMAC_REC) {
chSysLockFromIsr(); chSysLockFromIsr();
chSemResetI(&ETH1.md_rdsem, 0); chSemResetI(&ETH1.rdsem, 0);
#if CH_USE_EVENTS #if CH_USE_EVENTS
chEvtBroadcastI(&ETH1.md_rdevent); chEvtBroadcastI(&ETH1.rdevent);
#endif #endif
chSysUnlockFromIsr(); chSysUnlockFromIsr();
} }
@ -112,7 +112,7 @@ static void serve_interrupt(void) {
if ((isr & AT91C_EMAC_TCOMP) || (tsr & TSR_BITS)) { if ((isr & AT91C_EMAC_TCOMP) || (tsr & TSR_BITS)) {
if (tsr & AT91C_EMAC_COMP) { if (tsr & AT91C_EMAC_COMP) {
chSysLockFromIsr(); chSysLockFromIsr();
chSemResetI(&ETH1.md_tdsem, 0); chSemResetI(&ETH1.tdsem, 0);
chSysUnlockFromIsr(); chSysUnlockFromIsr();
} }
AT91C_BASE_EMAC->EMAC_TSR = TSR_BITS; AT91C_BASE_EMAC->EMAC_TSR = TSR_BITS;
@ -291,9 +291,9 @@ msg_t max_lld_get_transmit_descriptor(MACDriver *macp,
else else
edp->w2 = W2_T_LOCKED | W2_T_USED | W2_T_LAST_BUFFER; edp->w2 = W2_T_LOCKED | W2_T_USED | W2_T_LAST_BUFFER;
chSysUnlock(); chSysUnlock();
tdp->td_offset = 0; tdp->offset = 0;
tdp->td_size = EMAC_TRANSMIT_BUFFERS_SIZE; tdp->size = EMAC_TRANSMIT_BUFFERS_SIZE;
tdp->td_physdesc = edp; tdp->physdesc = edp;
return RDY_OK; return RDY_OK;
} }
@ -315,13 +315,13 @@ size_t mac_lld_write_transmit_descriptor(MACTransmitDescriptor *tdp,
uint8_t *buf, uint8_t *buf,
size_t size) { size_t size) {
if (size > tdp->td_size - tdp->td_offset) if (size > tdp->size - tdp->offset)
size = tdp->td_size - tdp->td_offset; size = tdp->size - tdp->offset;
if (size > 0) { if (size > 0) {
memcpy((uint8_t *)(tdp->td_physdesc->w1 & W1_T_ADDRESS_MASK) + memcpy((uint8_t *)(tdp->physdesc->w1 & W1_T_ADDRESS_MASK) +
tdp->td_offset, tdp->offset,
buf, size); buf, size);
tdp->td_offset += size; tdp->offset += size;
} }
return size; return size;
} }
@ -337,9 +337,9 @@ size_t mac_lld_write_transmit_descriptor(MACTransmitDescriptor *tdp,
void mac_lld_release_transmit_descriptor(MACTransmitDescriptor *tdp) { void mac_lld_release_transmit_descriptor(MACTransmitDescriptor *tdp) {
chSysLock(); chSysLock();
tdp->td_physdesc->w2 = (tdp->td_physdesc->w2 & tdp->physdesc->w2 = (tdp->physdesc->w2 &
~(W2_T_LOCKED | W2_T_USED | W2_T_LENGTH_MASK)) | ~(W2_T_LOCKED | W2_T_USED | W2_T_LENGTH_MASK)) |
tdp->td_offset; tdp->offset;
AT91C_BASE_EMAC->EMAC_NCR |= AT91C_EMAC_TSTART; AT91C_BASE_EMAC->EMAC_NCR |= AT91C_EMAC_TSTART;
chSysUnlock(); chSysUnlock();
} }
@ -400,9 +400,9 @@ restart:
* End Of Frame found. * End Of Frame found.
*/ */
if (rxptr->w2 & W2_R_FRAME_END) { if (rxptr->w2 & W2_R_FRAME_END) {
rdp->rd_offset = 0; rdp->offset = 0;
rdp->rd_size = rxptr->w2 & W2_T_LENGTH_MASK; rdp->size = rxptr->w2 & W2_T_LENGTH_MASK;
rdp->rd_physdesc = edp; rdp->physdesc = edp;
return RDY_OK; return RDY_OK;
} }
@ -435,11 +435,11 @@ restart:
size_t mac_lld_read_receive_descriptor(MACReceiveDescriptor *rdp, size_t mac_lld_read_receive_descriptor(MACReceiveDescriptor *rdp,
uint8_t *buf, uint8_t *buf,
size_t size) { size_t size) {
if (size > rdp->rd_size - rdp->rd_offset) if (size > rdp->size - rdp->offset)
size = rdp->rd_size - rdp->rd_offset; size = rdp->size - rdp->offset;
if (size > 0) { if (size > 0) {
uint8_t *src = (uint8_t *)(rdp->rd_physdesc->w1 & W1_R_ADDRESS_MASK) + uint8_t *src = (uint8_t *)(rdp->physdesc->w1 & W1_R_ADDRESS_MASK) +
rdp->rd_offset; rdp->offset;
uint8_t *limit = &rb[EMAC_RECEIVE_DESCRIPTORS * EMAC_RECEIVE_BUFFERS_SIZE]; uint8_t *limit = &rb[EMAC_RECEIVE_DESCRIPTORS * EMAC_RECEIVE_BUFFERS_SIZE];
if (src >= limit) if (src >= limit)
src -= EMAC_RECEIVE_DESCRIPTORS * EMAC_RECEIVE_BUFFERS_SIZE; src -= EMAC_RECEIVE_DESCRIPTORS * EMAC_RECEIVE_BUFFERS_SIZE;
@ -449,7 +449,7 @@ size_t mac_lld_read_receive_descriptor(MACReceiveDescriptor *rdp,
} }
else else
memcpy(buf, src, size); memcpy(buf, src, size);
rdp->rd_offset += size; rdp->offset += size;
} }
return size; return size;
} }
@ -465,7 +465,7 @@ size_t mac_lld_read_receive_descriptor(MACReceiveDescriptor *rdp,
*/ */
void mac_lld_release_receive_descriptor(MACReceiveDescriptor *rdp) { void mac_lld_release_receive_descriptor(MACReceiveDescriptor *rdp) {
bool_t done; bool_t done;
EMACDescriptor *edp = rdp->rd_physdesc; EMACDescriptor *edp = rdp->physdesc;
unsigned n = EMAC_RECEIVE_DESCRIPTORS; unsigned n = EMAC_RECEIVE_DESCRIPTORS;
do { do {

25
os/hal/platforms/AT91SAM7/mac_lld.h
View File

@ -66,7 +66,7 @@
#define W1_T_ADDRESS_MASK 0xFFFFFFFF #define W1_T_ADDRESS_MASK 0xFFFFFFFF
#define W2_T_LENGTH_MASK 0x000007FF #define W2_T_LENGTH_MASK 0x000007FF
#define W2_T_LOCKED 0x00000800 /* Not an EMAC flag, used by the driver */ #define W2_T_LOCKED 0x00000800 /* Not an EMAC flag. */
#define W2_T_RFU1 0x00003000 #define W2_T_RFU1 0x00003000
#define W2_T_LAST_BUFFER 0x00008000 #define W2_T_LAST_BUFFER 0x00008000
#define W2_T_NO_CRC 0x00010000 #define W2_T_NO_CRC 0x00010000
@ -130,10 +130,10 @@ typedef struct {
* @brief Structure representing a MAC driver. * @brief Structure representing a MAC driver.
*/ */
typedef struct { typedef struct {
Semaphore md_tdsem; /**< Transmit semaphore. */ Semaphore tdsem; /**< Transmit semaphore. */
Semaphore md_rdsem; /**< Receive semaphore. */ Semaphore rdsem; /**< Receive semaphore. */
#if CH_USE_EVENTS #if CH_USE_EVENTS
EventSource md_rdevent; /**< Receive event source. */ EventSource rdevent; /**< Receive event source. */
#endif #endif
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
} MACDriver; } MACDriver;
@ -142,22 +142,23 @@ typedef struct {
* @brief Structure representing a transmit descriptor. * @brief Structure representing a transmit descriptor.
*/ */
typedef struct { typedef struct {
size_t td_offset; /**< Current write offset. */ size_t offset; /**< Current write offset. */
size_t td_size; /**< Available space size. */ size_t size; /**< Available space size. */
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
EMACDescriptor *td_physdesc; /**< Pointer to the physical EMACDescriptor *physdesc; /**< Pointer to the physical
descriptor. */ descriptor. */
} MACTransmitDescriptor; } MACTransmitDescriptor;
/** /**
* @brief Structure representing a receive descriptor. * @brief Structure representing a receive descriptor.
*/ */
typedef struct { typedef struct {
size_t rd_offset; /**< Current read offset. */ size_t offset; /**< Current read offset. */
size_t rd_size; /**< Available data size. */ size_t size; /**< Available data size. */
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
EMACDescriptor *rd_physdesc; /**< Pointer to the first descriptor EMACDescriptor *physdesc; /**< Pointer to the first
of the buffers chain. */ descriptor of the buffers
chain. */
} MACReceiveDescriptor; } MACReceiveDescriptor;
/*===========================================================================*/ /*===========================================================================*/

88
os/hal/platforms/AT91SAM7/spi_lld.c
View File

@ -121,14 +121,14 @@ __attribute__((noinline))
* @param[in] spip pointer to the @p SPIDriver object * @param[in] spip pointer to the @p SPIDriver object
*/ */
static void spi_lld_serve_interrupt(SPIDriver *spip) { static void spi_lld_serve_interrupt(SPIDriver *spip) {
uint32_t sr = spip->spd_spi->SPI_SR; uint32_t sr = spip->spi->SPI_SR;
if ((sr & AT91C_SPI_ENDRX) != 0) { if ((sr & AT91C_SPI_ENDRX) != 0) {
(void)spip->spd_spi->SPI_RDR; /* Clears eventual overflow.*/ (void)spip->spi->SPI_RDR; /* Clears eventual overflow.*/
spip->spd_spi->SPI_PTCR = AT91C_PDC_RXTDIS | spip->spi->SPI_PTCR = AT91C_PDC_RXTDIS |
AT91C_PDC_TXTDIS; /* PDC disabled. */ AT91C_PDC_TXTDIS; /* PDC disabled. */
spip->spd_spi->SPI_IDR = AT91C_SPI_ENDRX; /* Interrupt disabled. */ spip->spi->SPI_IDR = AT91C_SPI_ENDRX; /* Interrupt disabled. */
spip->spd_spi->SPI_CR = AT91C_SPI_SPIDIS; /* SPI disabled. */ spip->spi->SPI_CR = AT91C_SPI_SPIDIS; /* SPI disabled. */
/* Portable SPI ISR code defined in the high level driver, note, it is /* Portable SPI ISR code defined in the high level driver, note, it is
a macro.*/ a macro.*/
_spi_isr_code(spip); _spi_isr_code(spip);
@ -182,7 +182,7 @@ void spi_lld_init(void) {
#if AT91SAM7_SPI_USE_SPI0 #if AT91SAM7_SPI_USE_SPI0
spiObjectInit(&SPID1); spiObjectInit(&SPID1);
SPID1.spd_spi = AT91C_BASE_SPI0; SPID1.spi = AT91C_BASE_SPI0;
spi_init(AT91C_BASE_SPI0); spi_init(AT91C_BASE_SPI0);
AT91C_BASE_PIOA->PIO_PDR = SPI0_MISO | SPI0_MOSI | SPI0_SCK; AT91C_BASE_PIOA->PIO_PDR = SPI0_MISO | SPI0_MOSI | SPI0_SCK;
AT91C_BASE_PIOA->PIO_ASR = SPI0_MISO | SPI0_MOSI | SPI0_SCK; AT91C_BASE_PIOA->PIO_ASR = SPI0_MISO | SPI0_MOSI | SPI0_SCK;
@ -194,7 +194,7 @@ void spi_lld_init(void) {
#if AT91SAM7_SPI_USE_SPI1 #if AT91SAM7_SPI_USE_SPI1
spiObjectInit(&SPID2); spiObjectInit(&SPID2);
SPID2.spd_spi = AT91C_BASE_SPI1; SPID2.spi = AT91C_BASE_SPI1;
spi_init(AT91C_BASE_SPI1); spi_init(AT91C_BASE_SPI1);
AT91C_BASE_PIOA->PIO_PDR = SPI1_MISO | SPI1_MOSI | SPI1_SCK; AT91C_BASE_PIOA->PIO_PDR = SPI1_MISO | SPI1_MOSI | SPI1_SCK;
AT91C_BASE_PIOA->PIO_BSR = SPI1_MISO | SPI1_MOSI | SPI1_SCK; AT91C_BASE_PIOA->PIO_BSR = SPI1_MISO | SPI1_MOSI | SPI1_SCK;
@ -214,7 +214,7 @@ void spi_lld_init(void) {
*/ */
void spi_lld_start(SPIDriver *spip) { void spi_lld_start(SPIDriver *spip) {
if (spip->spd_state == SPI_STOP) { if (spip->state == SPI_STOP) {
#if AT91SAM7_SPI_USE_SPI0 #if AT91SAM7_SPI_USE_SPI0
if (&SPID1 == spip) { if (&SPID1 == spip) {
/* Clock activation.*/ /* Clock activation.*/
@ -233,7 +233,7 @@ void spi_lld_start(SPIDriver *spip) {
#endif #endif
} }
/* Configuration.*/ /* Configuration.*/
spip->spd_spi->SPI_CSR[0] = spip->spd_config->spc_csr; spip->spi->SPI_CSR[0] = spip->config->csr;
} }
/** /**
@ -245,7 +245,7 @@ void spi_lld_start(SPIDriver *spip) {
*/ */
void spi_lld_stop(SPIDriver *spip) { void spi_lld_stop(SPIDriver *spip) {
if (spip->spd_state != SPI_STOP) { if (spip->state != SPI_STOP) {
#if AT91SAM7_SPI_USE_SPI0 #if AT91SAM7_SPI_USE_SPI0
if (&SPID1 == spip) { if (&SPID1 == spip) {
AT91C_BASE_PMC->PMC_PCDR = (1 << AT91C_ID_SPI0); AT91C_BASE_PMC->PMC_PCDR = (1 << AT91C_ID_SPI0);
@ -270,7 +270,7 @@ void spi_lld_stop(SPIDriver *spip) {
*/ */
void spi_lld_select(SPIDriver *spip) { void spi_lld_select(SPIDriver *spip) {
palClearPad(spip->spd_config->spc_ssport, spip->spd_config->spc_sspad); palClearPad(spip->config->ssport, spip->config->sspad);
} }
/** /**
@ -283,7 +283,7 @@ void spi_lld_select(SPIDriver *spip) {
*/ */
void spi_lld_unselect(SPIDriver *spip) { void spi_lld_unselect(SPIDriver *spip) {
palSetPad(spip->spd_config->spc_ssport, spip->spd_config->spc_sspad); palSetPad(spip->config->ssport, spip->config->sspad);
} }
/** /**
@ -299,13 +299,13 @@ void spi_lld_unselect(SPIDriver *spip) {
*/ */
void spi_lld_ignore(SPIDriver *spip, size_t n) { void spi_lld_ignore(SPIDriver *spip, size_t n) {
spip->spd_spi->SPI_TCR = n; spip->spi->SPI_TCR = n;
spip->spd_spi->SPI_RCR = n; spip->spi->SPI_RCR = n;
spip->spd_spi->SPI_TPR = (AT91_REG)idle_buf; spip->spi->SPI_TPR = (AT91_REG)idle_buf;
spip->spd_spi->SPI_RPR = (AT91_REG)idle_buf; spip->spi->SPI_RPR = (AT91_REG)idle_buf;
spip->spd_spi->SPI_IER = AT91C_SPI_ENDRX; spip->spi->SPI_IER = AT91C_SPI_ENDRX;
spip->spd_spi->SPI_CR = AT91C_SPI_SPIEN; spip->spi->SPI_CR = AT91C_SPI_SPIEN;
spip->spd_spi->SPI_PTCR = AT91C_PDC_RXTEN | AT91C_PDC_TXTEN; spip->spi->SPI_PTCR = AT91C_PDC_RXTEN | AT91C_PDC_TXTEN;
} }
/** /**
@ -323,13 +323,13 @@ void spi_lld_ignore(SPIDriver *spip, size_t n) {
void spi_lld_exchange(SPIDriver *spip, size_t n, void spi_lld_exchange(SPIDriver *spip, size_t n,
const void *txbuf, void *rxbuf) { const void *txbuf, void *rxbuf) {
spip->spd_spi->SPI_TCR = n; spip->spi->SPI_TCR = n;
spip->spd_spi->SPI_RCR = n; spip->spi->SPI_RCR = n;
spip->spd_spi->SPI_TPR = (AT91_REG)txbuf; spip->spi->SPI_TPR = (AT91_REG)txbuf;
spip->spd_spi->SPI_RPR = (AT91_REG)rxbuf; spip->spi->SPI_RPR = (AT91_REG)rxbuf;
spip->spd_spi->SPI_IER = AT91C_SPI_ENDRX; spip->spi->SPI_IER = AT91C_SPI_ENDRX;
spip->spd_spi->SPI_CR = AT91C_SPI_SPIEN; spip->spi->SPI_CR = AT91C_SPI_SPIEN;
spip->spd_spi->SPI_PTCR = AT91C_PDC_RXTEN | AT91C_PDC_TXTEN; spip->spi->SPI_PTCR = AT91C_PDC_RXTEN | AT91C_PDC_TXTEN;
} }
/** /**
@ -344,13 +344,13 @@ void spi_lld_exchange(SPIDriver *spip, size_t n,
*/ */
void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) { void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
spip->spd_spi->SPI_TCR = n; spip->spi->SPI_TCR = n;
spip->spd_spi->SPI_RCR = n; spip->spi->SPI_RCR = n;
spip->spd_spi->SPI_TPR = (AT91_REG)txbuf; spip->spi->SPI_TPR = (AT91_REG)txbuf;
spip->spd_spi->SPI_RPR = (AT91_REG)idle_buf; spip->spi->SPI_RPR = (AT91_REG)idle_buf;
spip->spd_spi->SPI_IER = AT91C_SPI_ENDRX; spip->spi->SPI_IER = AT91C_SPI_ENDRX;
spip->spd_spi->SPI_CR = AT91C_SPI_SPIEN; spip->spi->SPI_CR = AT91C_SPI_SPIEN;
spip->spd_spi->SPI_PTCR = AT91C_PDC_RXTEN | AT91C_PDC_TXTEN; spip->spi->SPI_PTCR = AT91C_PDC_RXTEN | AT91C_PDC_TXTEN;
} }
/** /**
@ -365,13 +365,13 @@ void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
*/ */
void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) { void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
spip->spd_spi->SPI_TCR = n; spip->spi->SPI_TCR = n;
spip->spd_spi->SPI_RCR = n; spip->spi->SPI_RCR = n;
spip->spd_spi->SPI_TPR = (AT91_REG)idle_buf; spip->spi->SPI_TPR = (AT91_REG)idle_buf;
spip->spd_spi->SPI_RPR = (AT91_REG)rxbuf; spip->spi->SPI_RPR = (AT91_REG)rxbuf;
spip->spd_spi->SPI_IER = AT91C_SPI_ENDRX; spip->spi->SPI_IER = AT91C_SPI_ENDRX;
spip->spd_spi->SPI_CR = AT91C_SPI_SPIEN; spip->spi->SPI_CR = AT91C_SPI_SPIEN;
spip->spd_spi->SPI_PTCR = AT91C_PDC_RXTEN | AT91C_PDC_TXTEN; spip->spi->SPI_PTCR = AT91C_PDC_RXTEN | AT91C_PDC_TXTEN;
} }
/** /**
@ -388,11 +388,11 @@ void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
*/ */
uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) { uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) {
spip->spd_spi->SPI_CR = AT91C_SPI_SPIEN; spip->spi->SPI_CR = AT91C_SPI_SPIEN;
spip->spd_spi->SPI_TDR = frame; spip->spi->SPI_TDR = frame;
while ((spip->spd_spi->SPI_SR & AT91C_SPI_RDRF) == 0) while ((spip->spi->SPI_SR & AT91C_SPI_RDRF) == 0)
; ;
return spip->spd_spi->SPI_RDR; return spip->spi->SPI_RDR;
} }
#endif /* HAL_USE_SPI */ #endif /* HAL_USE_SPI */

20
os/hal/platforms/AT91SAM7/spi_lld.h
View File

@ -127,20 +127,20 @@ typedef struct {
/** /**
* @brief Operation complete callback or @p NULL. * @brief Operation complete callback or @p NULL.
*/ */
spicallback_t spc_endcb; spicallback_t end_cb;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
/** /**
* @brief The chip select line port. * @brief The chip select line port.
*/ */
ioportid_t spc_ssport; ioportid_t ssport;
/** /**
* @brief The chip select line pad number. * @brief The chip select line pad number.
*/ */
uint16_t spc_sspad; uint16_t sspad;
/** /**
* @brief SPI Chip Select Register initialization data. * @brief SPI Chip Select Register initialization data.
*/ */
uint32_t spc_csr; uint32_t csr;
} SPIConfig; } SPIConfig;
/** /**
@ -150,25 +150,25 @@ struct SPIDriver {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
spistate_t spd_state; spistate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const SPIConfig *spd_config; const SPIConfig *config;
#if SPI_USE_WAIT || defined(__DOXYGEN__) #if SPI_USE_WAIT || defined(__DOXYGEN__)
/** /**
* @brief Waiting thread. * @brief Waiting thread.
*/ */
Thread *spd_thread; Thread *thread;
#endif /* SPI_USE_WAIT */ #endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) #if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
#if CH_USE_MUTEXES || defined(__DOXYGEN__) #if CH_USE_MUTEXES || defined(__DOXYGEN__)
/** /**
* @brief Mutex protecting the bus. * @brief Mutex protecting the bus.
*/ */
Mutex spd_mutex; Mutex mutex;
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
Semaphore spd_semaphore; Semaphore semaphore;
#endif #endif
#endif /* SPI_USE_MUTUAL_EXCLUSION */ #endif /* SPI_USE_MUTUAL_EXCLUSION */
#if defined(SPI_DRIVER_EXT_FIELDS) #if defined(SPI_DRIVER_EXT_FIELDS)
@ -178,7 +178,7 @@ struct SPIDriver {
/** /**
* @brief Pointer to the SPIx registers block. * @brief Pointer to the SPIx registers block.
*/ */
AT91PS_SPI spd_spi; AT91PS_SPI spi;
}; };
/*===========================================================================*/ /*===========================================================================*/

102
os/hal/platforms/LPC11xx/spi_lld.c
View File

@ -58,27 +58,27 @@ SPIDriver SPID2;
* @param[in] spip pointer to the @p SPIDriver object * @param[in] spip pointer to the @p SPIDriver object
*/ */
static void ssp_fifo_preload(SPIDriver *spip) { static void ssp_fifo_preload(SPIDriver *spip) {
LPC_SSP_TypeDef *ssp = spip->spd_ssp; LPC_SSP_TypeDef *ssp = spip->ssp;
uint32_t n = spip->spd_txcnt > LPC11xx_SSP_FIFO_DEPTH ? uint32_t n = spip->txcnt > LPC11xx_SSP_FIFO_DEPTH ?
LPC11xx_SSP_FIFO_DEPTH : spip->spd_txcnt; LPC11xx_SSP_FIFO_DEPTH : spip->txcnt;
while(((ssp->SR & SR_TNF) != 0) && (n > 0)) { while(((ssp->SR & SR_TNF) != 0) && (n > 0)) {
if (spip->spd_txptr != NULL) { if (spip->txptr != NULL) {
if ((ssp->CR0 & CR0_DSSMASK) > CR0_DSS8BIT) { if ((ssp->CR0 & CR0_DSSMASK) > CR0_DSS8BIT) {
const uint16_t *p = spip->spd_txptr; const uint16_t *p = spip->txptr;
ssp->DR = *p++; ssp->DR = *p++;
spip->spd_txptr = p; spip->txptr = p;
} }
else { else {
const uint8_t *p = spip->spd_txptr; const uint8_t *p = spip->txptr;
ssp->DR = *p++; ssp->DR = *p++;
spip->spd_txptr = p; spip->txptr = p;
} }
} }
else else
ssp->DR = 0xFFFFFFFF; ssp->DR = 0xFFFFFFFF;
n--; n--;
spip->spd_txcnt--; spip->txcnt--;
} }
} }
@ -88,7 +88,7 @@ static void ssp_fifo_preload(SPIDriver *spip) {
* @param[in] spip pointer to the @p SPIDriver object * @param[in] spip pointer to the @p SPIDriver object
*/ */
static void spi_serve_interrupt(SPIDriver *spip) { static void spi_serve_interrupt(SPIDriver *spip) {
LPC_SSP_TypeDef *ssp = spip->spd_ssp; LPC_SSP_TypeDef *ssp = spip->ssp;
if ((ssp->MIS & MIS_ROR) != 0) { if ((ssp->MIS & MIS_ROR) != 0) {
/* The overflow condition should never happen because priority is given /* The overflow condition should never happen because priority is given
@ -97,22 +97,22 @@ static void spi_serve_interrupt(SPIDriver *spip) {
} }
ssp->ICR = ICR_RT | ICR_ROR; ssp->ICR = ICR_RT | ICR_ROR;
while ((ssp->SR & SR_RNE) != 0) { while ((ssp->SR & SR_RNE) != 0) {
if (spip->spd_rxptr != NULL) { if (spip->rxptr != NULL) {
if ((ssp->CR0 & CR0_DSSMASK) > CR0_DSS8BIT) { if ((ssp->CR0 & CR0_DSSMASK) > CR0_DSS8BIT) {
uint16_t *p = spip->spd_rxptr; uint16_t *p = spip->rxptr;
*p++ = ssp->DR; *p++ = ssp->DR;
spip->spd_rxptr = p; spip->rxptr = p;
} }
else { else {
uint8_t *p = spip->spd_rxptr; uint8_t *p = spip->rxptr;
*p++ = ssp->DR; *p++ = ssp->DR;
spip->spd_rxptr = p; spip->rxptr = p;
} }
} }
else else
(void)ssp->DR; (void)ssp->DR;
if (--spip->spd_rxcnt == 0) { if (--spip->rxcnt == 0) {
chDbgAssert(spip->spd_txcnt == 0, chDbgAssert(spip->txcnt == 0,
"spi_serve_interrupt(), #1", "counter out of synch"); "spi_serve_interrupt(), #1", "counter out of synch");
/* Stops the IRQ sources.*/ /* Stops the IRQ sources.*/
ssp->IMSC = 0; ssp->IMSC = 0;
@ -123,7 +123,7 @@ static void spi_serve_interrupt(SPIDriver *spip) {
} }
} }
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
if (spip->spd_txcnt == 0) if (spip->txcnt == 0)
ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_RX; ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_RX;
} }
@ -176,7 +176,7 @@ void spi_lld_init(void) {
#if LPC11xx_SPI_USE_SSP0 #if LPC11xx_SPI_USE_SSP0
spiObjectInit(&SPID1); spiObjectInit(&SPID1);
SPID1.spd_ssp = LPC_SSP0; SPID1.ssp = LPC_SSP0;
LPC_IOCON->SCK_LOC = LPC11xx_SPI_SCK0_SELECTOR; LPC_IOCON->SCK_LOC = LPC11xx_SPI_SCK0_SELECTOR;
#if LPC11xx_SPI_SCK0_SELECTOR == SCK0_IS_PIO0_10 #if LPC11xx_SPI_SCK0_SELECTOR == SCK0_IS_PIO0_10
LPC_IOCON->JTAG_TCK_PIO0_10 = 0xC2; /* SCK0 without resistors. */ LPC_IOCON->JTAG_TCK_PIO0_10 = 0xC2; /* SCK0 without resistors. */
@ -191,7 +191,7 @@ void spi_lld_init(void) {
#if LPC11xx_SPI_USE_SSP1 #if LPC11xx_SPI_USE_SSP1
spiObjectInit(&SPID2); spiObjectInit(&SPID2);
SPID2.spd_ssp = LPC_SSP1; SPID2.ssp = LPC_SSP1;
LPC_IOCON->PIO2_1 = 0xC2; /* SCK1 without resistors. */ LPC_IOCON->PIO2_1 = 0xC2; /* SCK1 without resistors. */
LPC_IOCON->PIO2_2 = 0xC2; /* MISO1 without resistors. */ LPC_IOCON->PIO2_2 = 0xC2; /* MISO1 without resistors. */
LPC_IOCON->PIO2_3 = 0xC2; /* MOSI1 without resistors. */ LPC_IOCON->PIO2_3 = 0xC2; /* MOSI1 without resistors. */
@ -207,7 +207,7 @@ void spi_lld_init(void) {
*/ */
void spi_lld_start(SPIDriver *spip) { void spi_lld_start(SPIDriver *spip) {
if (spip->spd_state == SPI_STOP) { if (spip->state == SPI_STOP) {
/* Clock activation.*/ /* Clock activation.*/
#if LPC11xx_SPI_USE_SSP0 #if LPC11xx_SPI_USE_SSP0
if (&SPID1 == spip) { if (&SPID1 == spip) {
@ -229,11 +229,11 @@ void spi_lld_start(SPIDriver *spip) {
#endif #endif
} }
/* Configuration.*/ /* Configuration.*/
spip->spd_ssp->CR1 = 0; spip->ssp->CR1 = 0;
spip->spd_ssp->ICR = ICR_RT | ICR_ROR; spip->ssp->ICR = ICR_RT | ICR_ROR;
spip->spd_ssp->CR0 = spip->spd_config->spc_cr0; spip->ssp->CR0 = spip->config->cr0;
spip->spd_ssp->CPSR = spip->spd_config->spc_cpsr; spip->ssp->CPSR = spip->config->cpsr;
spip->spd_ssp->CR1 = CR1_SSE; spip->ssp->CR1 = CR1_SSE;
} }
/** /**
@ -245,10 +245,10 @@ void spi_lld_start(SPIDriver *spip) {
*/ */
void spi_lld_stop(SPIDriver *spip) { void spi_lld_stop(SPIDriver *spip) {
if (spip->spd_state != SPI_STOP) { if (spip->state != SPI_STOP) {
spip->spd_ssp->CR1 = 0; spip->ssp->CR1 = 0;
spip->spd_ssp->CR0 = 0; spip->ssp->CR0 = 0;
spip->spd_ssp->CPSR = 0; spip->ssp->CPSR = 0;
#if LPC11xx_SPI_USE_SSP0 #if LPC11xx_SPI_USE_SSP0
if (&SPID1 == spip) { if (&SPID1 == spip) {
LPC_SYSCON->PRESETCTRL &= ~1; LPC_SYSCON->PRESETCTRL &= ~1;
@ -277,7 +277,7 @@ void spi_lld_stop(SPIDriver *spip) {
*/ */
void spi_lld_select(SPIDriver *spip) { void spi_lld_select(SPIDriver *spip) {
palClearPad(spip->spd_config->spc_ssport, spip->spd_config->spc_sspad); palClearPad(spip->config->ssport, spip->config->sspad);
} }
/** /**
@ -290,7 +290,7 @@ void spi_lld_select(SPIDriver *spip) {
*/ */
void spi_lld_unselect(SPIDriver *spip) { void spi_lld_unselect(SPIDriver *spip) {
palSetPad(spip->spd_config->spc_ssport, spip->spd_config->spc_sspad); palSetPad(spip->config->ssport, spip->config->sspad);
} }
/** /**
@ -306,11 +306,11 @@ void spi_lld_unselect(SPIDriver *spip) {
*/ */
void spi_lld_ignore(SPIDriver *spip, size_t n) { void spi_lld_ignore(SPIDriver *spip, size_t n) {
spip->spd_rxptr = NULL; spip->rxptr = NULL;
spip->spd_txptr = NULL; spip->txptr = NULL;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
spip->spd_ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX; spip->ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX;
} }
/** /**
@ -331,11 +331,11 @@ void spi_lld_ignore(SPIDriver *spip, size_t n) {
void spi_lld_exchange(SPIDriver *spip, size_t n, void spi_lld_exchange(SPIDriver *spip, size_t n,
const void *txbuf, void *rxbuf) { const void *txbuf, void *rxbuf) {
spip->spd_rxptr = rxbuf; spip->rxptr = rxbuf;
spip->spd_txptr = txbuf; spip->txptr = txbuf;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
spip->spd_ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX; spip->ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX;
} }
/** /**
@ -353,11 +353,11 @@ void spi_lld_exchange(SPIDriver *spip, size_t n,
*/ */
void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) { void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
spip->spd_rxptr = NULL; spip->rxptr = NULL;
spip->spd_txptr = txbuf; spip->txptr = txbuf;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
spip->spd_ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX; spip->ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX;
} }
/** /**
@ -375,11 +375,11 @@ void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
*/ */
void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) { void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
spip->spd_rxptr = rxbuf; spip->rxptr = rxbuf;
spip->spd_txptr = NULL; spip->txptr = NULL;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
spip->spd_ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX; spip->ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX;
} }
/** /**
@ -396,10 +396,10 @@ void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
*/ */
uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) { uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) {
spip->spd_ssp->DR = (uint32_t)frame; spip->ssp->DR = (uint32_t)frame;
while ((spip->spd_ssp->SR & SR_RNE) == 0) while ((spip->ssp->SR & SR_RNE) == 0)
; ;
return (uint16_t)spip->spd_ssp->DR; return (uint16_t)spip->ssp->DR;
} }
#endif /* HAL_USE_SPI */ #endif /* HAL_USE_SPI */

34
os/hal/platforms/LPC11xx/spi_lld.h
View File

@ -194,13 +194,13 @@
/** /**
* @brief SSP0 clock. * @brief SSP0 clock.
*/ */
#define LPC11xx_SERIAL_SSP0_PCLK \ #define LPC11xx_SERIAL_SSP0_PCLK \
(LPC11xx_MAINCLK / LPC11xx_SERIAL_SSP0CLKDIV) (LPC11xx_MAINCLK / LPC11xx_SERIAL_SSP0CLKDIV)
/** /**
* @brief SSP1 clock. * @brief SSP1 clock.
*/ */
#define LPC11xx_SERIAL_SSP1_PCLK \ #define LPC11xx_SERIAL_SSP1_PCLK \
(LPC11xx_MAINCLK / LPC11xx_SERIAL_SSP1CLKDIV) (LPC11xx_MAINCLK / LPC11xx_SERIAL_SSP1CLKDIV)
/*===========================================================================*/ /*===========================================================================*/
@ -227,24 +227,24 @@ typedef struct {
/** /**
* @brief Operation complete callback or @p NULL. * @brief Operation complete callback or @p NULL.
*/ */
spicallback_t spc_endcb; spicallback_t end_cb;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
/** /**
* @brief The chip select line port. * @brief The chip select line port.
*/ */
ioportid_t spc_ssport; ioportid_t ssport;
/** /**
* @brief The chip select line pad number. * @brief The chip select line pad number.
*/ */
uint16_t spc_sspad; uint16_t sspad;
/** /**
* @brief SSP CR0 initialization data. * @brief SSP CR0 initialization data.
*/ */
uint16_t spc_cr0; uint16_t cr0;
/** /**
* @brief SSP CPSR initialization data. * @brief SSP CPSR initialization data.
*/ */
uint32_t spc_cpsr; uint32_t cpsr;
} SPIConfig; } SPIConfig;
/** /**
@ -254,25 +254,25 @@ struct SPIDriver {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
spistate_t spd_state; spistate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const SPIConfig *spd_config; const SPIConfig *config;
#if SPI_USE_WAIT || defined(__DOXYGEN__) #if SPI_USE_WAIT || defined(__DOXYGEN__)
/** /**
* @brief Waiting thread. * @brief Waiting thread.
*/ */
Thread *spd_thread; Thread *thread;
#endif /* SPI_USE_WAIT */ #endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) #if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
#if CH_USE_MUTEXES || defined(__DOXYGEN__) #if CH_USE_MUTEXES || defined(__DOXYGEN__)
/** /**
* @brief Mutex protecting the bus. * @brief Mutex protecting the bus.
*/ */
Mutex spd_mutex; Mutex mutex;
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
Semaphore spd_semaphore; Semaphore semaphore;
#endif #endif
#endif /* SPI_USE_MUTUAL_EXCLUSION */ #endif /* SPI_USE_MUTUAL_EXCLUSION */
#if defined(SPI_DRIVER_EXT_FIELDS) #if defined(SPI_DRIVER_EXT_FIELDS)
@ -282,23 +282,23 @@ struct SPIDriver {
/** /**
* @brief Pointer to the SSP registers block. * @brief Pointer to the SSP registers block.
*/ */
LPC_SSP_TypeDef *spd_ssp; LPC_SSP_TypeDef *ssp;
/** /**
* @brief Number of bytes yet to be received. * @brief Number of bytes yet to be received.
*/ */
uint32_t spd_rxcnt; uint32_t rxcnt;
/** /**
* @brief Receive pointer or @p NULL. * @brief Receive pointer or @p NULL.
*/ */
void *spd_rxptr; void *rxptr;
/** /**
* @brief Number of bytes yet to be transmitted. * @brief Number of bytes yet to be transmitted.
*/ */
uint32_t spd_txcnt; uint32_t txcnt;
/** /**
* @brief Transmit pointer or @p NULL. * @brief Transmit pointer or @p NULL.
*/ */
const void *spd_txptr; const void *txptr;
}; };
/*===========================================================================*/ /*===========================================================================*/

100
os/hal/platforms/LPC13xx/spi_lld.c
View File

@ -53,27 +53,27 @@ SPIDriver SPID1;
* @param[in] spip pointer to the @p SPIDriver object * @param[in] spip pointer to the @p SPIDriver object
*/ */
static void ssp_fifo_preload(SPIDriver *spip) { static void ssp_fifo_preload(SPIDriver *spip) {
LPC_SSP_TypeDef *ssp = spip->spd_ssp; LPC_SSP_TypeDef *ssp = spip->ssp;
uint32_t n = spip->spd_txcnt > LPC13xx_SSP_FIFO_DEPTH ? uint32_t n = spip->txcnt > LPC13xx_SSP_FIFO_DEPTH ?
LPC13xx_SSP_FIFO_DEPTH : spip->spd_txcnt; LPC13xx_SSP_FIFO_DEPTH : spip->txcnt;
while(((ssp->SR & SR_TNF) != 0) && (n > 0)) { while(((ssp->SR & SR_TNF) != 0) && (n > 0)) {
if (spip->spd_txptr != NULL) { if (spip->txptr != NULL) {
if ((ssp->CR0 & CR0_DSSMASK) > CR0_DSS8BIT) { if ((ssp->CR0 & CR0_DSSMASK) > CR0_DSS8BIT) {
const uint16_t *p = spip->spd_txptr; const uint16_t *p = spip->txptr;
ssp->DR = *p++; ssp->DR = *p++;
spip->spd_txptr = p; spip->txptr = p;
} }
else { else {
const uint8_t *p = spip->spd_txptr; const uint8_t *p = spip->txptr;
ssp->DR = *p++; ssp->DR = *p++;
spip->spd_txptr = p; spip->txptr = p;
} }
} }
else else
ssp->DR = 0xFFFFFFFF; ssp->DR = 0xFFFFFFFF;
n--; n--;
spip->spd_txcnt--; spip->txcnt--;
} }
} }
@ -83,7 +83,7 @@ static void ssp_fifo_preload(SPIDriver *spip) {
* @param[in] spip pointer to the @p SPIDriver object * @param[in] spip pointer to the @p SPIDriver object
*/ */
static void spi_serve_interrupt(SPIDriver *spip) { static void spi_serve_interrupt(SPIDriver *spip) {
LPC_SSP_TypeDef *ssp = spip->spd_ssp; LPC_SSP_TypeDef *ssp = spip->ssp;
if ((ssp->MIS & MIS_ROR) != 0) { if ((ssp->MIS & MIS_ROR) != 0) {
/* The overflow condition should never happen because priority is given /* The overflow condition should never happen because priority is given
@ -92,22 +92,22 @@ static void spi_serve_interrupt(SPIDriver *spip) {
} }
ssp->ICR = ICR_RT | ICR_ROR; ssp->ICR = ICR_RT | ICR_ROR;
while ((ssp->SR & SR_RNE) != 0) { while ((ssp->SR & SR_RNE) != 0) {
if (spip->spd_rxptr != NULL) { if (spip->rxptr != NULL) {
if ((ssp->CR0 & CR0_DSSMASK) > CR0_DSS8BIT) { if ((ssp->CR0 & CR0_DSSMASK) > CR0_DSS8BIT) {
uint16_t *p = spip->spd_rxptr; uint16_t *p = spip->rxptr;
*p++ = ssp->DR; *p++ = ssp->DR;
spip->spd_rxptr = p; spip->rxptr = p;
} }
else { else {
uint8_t *p = spip->spd_rxptr; uint8_t *p = spip->rxptr;
*p++ = ssp->DR; *p++ = ssp->DR;
spip->spd_rxptr = p; spip->rxptr = p;
} }
} }
else else
(void)ssp->DR; (void)ssp->DR;
if (--spip->spd_rxcnt == 0) { if (--spip->rxcnt == 0) {
chDbgAssert(spip->spd_txcnt == 0, chDbgAssert(spip->txcnt == 0,
"spi_serve_interrupt(), #1", "counter out of synch"); "spi_serve_interrupt(), #1", "counter out of synch");
/* Stops the IRQ sources.*/ /* Stops the IRQ sources.*/
ssp->IMSC = 0; ssp->IMSC = 0;
@ -118,7 +118,7 @@ static void spi_serve_interrupt(SPIDriver *spip) {
} }
} }
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
if (spip->spd_txcnt == 0) if (spip->txcnt == 0)
ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_RX; ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_RX;
} }
@ -155,7 +155,7 @@ void spi_lld_init(void) {
#if LPC13xx_SPI_USE_SSP0 #if LPC13xx_SPI_USE_SSP0
spiObjectInit(&SPID1); spiObjectInit(&SPID1);
SPID1.spd_ssp = LPC_SSP; SPID1.ssp = LPC_SSP;
LPC_IOCON->SCKLOC = LPC13xx_SPI_SCK0_SELECTOR; LPC_IOCON->SCKLOC = LPC13xx_SPI_SCK0_SELECTOR;
#if LPC13xx_SPI_SCK0_SELECTOR == SCK0_IS_PIO0_10 #if LPC13xx_SPI_SCK0_SELECTOR == SCK0_IS_PIO0_10
LPC_IOCON->JTAG_TCK_PIO0_10 = 0xC2; /* SCK0 without resistors. */ LPC_IOCON->JTAG_TCK_PIO0_10 = 0xC2; /* SCK0 without resistors. */
@ -178,7 +178,7 @@ void spi_lld_init(void) {
*/ */
void spi_lld_start(SPIDriver *spip) { void spi_lld_start(SPIDriver *spip) {
if (spip->spd_state == SPI_STOP) { if (spip->state == SPI_STOP) {
/* Clock activation.*/ /* Clock activation.*/
#if LPC13xx_SPI_USE_SSP0 #if LPC13xx_SPI_USE_SSP0
if (&SPID1 == spip) { if (&SPID1 == spip) {
@ -191,11 +191,11 @@ void spi_lld_start(SPIDriver *spip) {
#endif #endif
} }
/* Configuration.*/ /* Configuration.*/
spip->spd_ssp->CR1 = 0; spip->ssp->CR1 = 0;
spip->spd_ssp->ICR = ICR_RT | ICR_ROR; spip->ssp->ICR = ICR_RT | ICR_ROR;
spip->spd_ssp->CR0 = spip->spd_config->spc_cr0; spip->ssp->CR0 = spip->config->cr0;
spip->spd_ssp->CPSR = spip->spd_config->spc_cpsr; spip->ssp->CPSR = spip->config->cpsr;
spip->spd_ssp->CR1 = CR1_SSE; spip->ssp->CR1 = CR1_SSE;
} }
/** /**
@ -207,10 +207,10 @@ void spi_lld_start(SPIDriver *spip) {
*/ */
void spi_lld_stop(SPIDriver *spip) { void spi_lld_stop(SPIDriver *spip) {
if (spip->spd_state != SPI_STOP) { if (spip->state != SPI_STOP) {
spip->spd_ssp->CR1 = 0; spip->ssp->CR1 = 0;
spip->spd_ssp->CR0 = 0; spip->ssp->CR0 = 0;
spip->spd_ssp->CPSR = 0; spip->ssp->CPSR = 0;
#if LPC13xx_SPI_USE_SSP0 #if LPC13xx_SPI_USE_SSP0
if (&SPID1 == spip) { if (&SPID1 == spip) {
LPC_SYSCON->PRESETCTRL &= ~1; LPC_SYSCON->PRESETCTRL &= ~1;
@ -231,7 +231,7 @@ void spi_lld_stop(SPIDriver *spip) {
*/ */
void spi_lld_select(SPIDriver *spip) { void spi_lld_select(SPIDriver *spip) {
palClearPad(spip->spd_config->spc_ssport, spip->spd_config->spc_sspad); palClearPad(spip->config->ssport, spip->config->sspad);
} }
/** /**
@ -244,7 +244,7 @@ void spi_lld_select(SPIDriver *spip) {
*/ */
void spi_lld_unselect(SPIDriver *spip) { void spi_lld_unselect(SPIDriver *spip) {
palSetPad(spip->spd_config->spc_ssport, spip->spd_config->spc_sspad); palSetPad(spip->config->ssport, spip->config->sspad);
} }
/** /**
@ -260,11 +260,11 @@ void spi_lld_unselect(SPIDriver *spip) {
*/ */
void spi_lld_ignore(SPIDriver *spip, size_t n) { void spi_lld_ignore(SPIDriver *spip, size_t n) {
spip->spd_rxptr = NULL; spip->rxptr = NULL;
spip->spd_txptr = NULL; spip->txptr = NULL;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
spip->spd_ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX; spip->ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX;
} }
/** /**
@ -285,11 +285,11 @@ void spi_lld_ignore(SPIDriver *spip, size_t n) {
void spi_lld_exchange(SPIDriver *spip, size_t n, void spi_lld_exchange(SPIDriver *spip, size_t n,
const void *txbuf, void *rxbuf) { const void *txbuf, void *rxbuf) {
spip->spd_rxptr = rxbuf; spip->rxptr = rxbuf;
spip->spd_txptr = txbuf; spip->txptr = txbuf;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
spip->spd_ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX; spip->ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX;
} }
/** /**
@ -307,11 +307,11 @@ void spi_lld_exchange(SPIDriver *spip, size_t n,
*/ */
void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) { void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
spip->spd_rxptr = NULL; spip->rxptr = NULL;
spip->spd_txptr = txbuf; spip->txptr = txbuf;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
spip->spd_ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX; spip->ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX;
} }
/** /**
@ -329,11 +329,11 @@ void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
*/ */
void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) { void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
spip->spd_rxptr = rxbuf; spip->rxptr = rxbuf;
spip->spd_txptr = NULL; spip->txptr = NULL;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
spip->spd_ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX; spip->ssp->IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX;
} }
/** /**
@ -350,10 +350,10 @@ void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
*/ */
uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) { uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) {
spip->spd_ssp->DR = (uint32_t)frame; spip->ssp->DR = (uint32_t)frame;
while ((spip->spd_ssp->SR & SR_RNE) == 0) while ((spip->ssp->SR & SR_RNE) == 0)
; ;
return (uint16_t)spip->spd_ssp->DR; return (uint16_t)spip->ssp->DR;
} }
#endif /* HAL_USE_SPI */ #endif /* HAL_USE_SPI */

32
os/hal/platforms/LPC13xx/spi_lld.h
View File

@ -167,7 +167,7 @@
/** /**
* @brief SSP0 clock. * @brief SSP0 clock.
*/ */
#define LPC13xx_SERIAL_SSP0_PCLK \ #define LPC13xx_SERIAL_SSP0_PCLK \
(LPC13xx_MAINCLK / LPC13xx_SERIAL_SSP0CLKDIV) (LPC13xx_MAINCLK / LPC13xx_SERIAL_SSP0CLKDIV)
/*===========================================================================*/ /*===========================================================================*/
@ -194,24 +194,24 @@ typedef struct {
/** /**
* @brief Operation complete callback or @p NULL. * @brief Operation complete callback or @p NULL.
*/ */
spicallback_t spc_endcb; spicallback_t end_cb;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
/** /**
* @brief The chip select line port. * @brief The chip select line port.
*/ */
ioportid_t spc_ssport; ioportid_t ssport;
/** /**
* @brief The chip select line pad number. * @brief The chip select line pad number.
*/ */
uint16_t spc_sspad; uint16_t sspad;
/** /**
* @brief SSP CR0 initialization data. * @brief SSP CR0 initialization data.
*/ */
uint16_t spc_cr0; uint16_t cr0;
/** /**
* @brief SSP CPSR initialization data. * @brief SSP CPSR initialization data.
*/ */
uint32_t spc_cpsr; uint32_t cpsr;
} SPIConfig; } SPIConfig;
/** /**
@ -221,25 +221,25 @@ struct SPIDriver {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
spistate_t spd_state; spistate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const SPIConfig *spd_config; const SPIConfig *config;
#if SPI_USE_WAIT || defined(__DOXYGEN__) #if SPI_USE_WAIT || defined(__DOXYGEN__)
/** /**
* @brief Waiting thread. * @brief Waiting thread.
*/ */
Thread *spd_thread; Thread *thread;
#endif /* SPI_USE_WAIT */ #endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) #if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
#if CH_USE_MUTEXES || defined(__DOXYGEN__) #if CH_USE_MUTEXES || defined(__DOXYGEN__)
/** /**
* @brief Mutex protecting the bus. * @brief Mutex protecting the bus.
*/ */
Mutex spd_mutex; Mutex mutex;
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
Semaphore spd_semaphore; Semaphore semaphore;
#endif #endif
#endif /* SPI_USE_MUTUAL_EXCLUSION */ #endif /* SPI_USE_MUTUAL_EXCLUSION */
#if defined(SPI_DRIVER_EXT_FIELDS) #if defined(SPI_DRIVER_EXT_FIELDS)
@ -249,23 +249,23 @@ struct SPIDriver {
/** /**
* @brief Pointer to the SSP registers block. * @brief Pointer to the SSP registers block.
*/ */
LPC_SSP_TypeDef *spd_ssp; LPC_SSP_TypeDef *ssp;
/** /**
* @brief Number of bytes yet to be received. * @brief Number of bytes yet to be received.
*/ */
uint32_t spd_rxcnt; uint32_t rxcnt;
/** /**
* @brief Receive pointer or @p NULL. * @brief Receive pointer or @p NULL.
*/ */
void *spd_rxptr; void *rxptr;
/** /**
* @brief Number of bytes yet to be transmitted. * @brief Number of bytes yet to be transmitted.
*/ */
uint32_t spd_txcnt; uint32_t txcnt;
/** /**
* @brief Transmit pointer or @p NULL. * @brief Transmit pointer or @p NULL.
*/ */
const void *spd_txptr; const void *txptr;
}; };
/*===========================================================================*/ /*===========================================================================*/

96
os/hal/platforms/LPC214x/spi_lld.c
View File

@ -53,21 +53,21 @@ SPIDriver SPID1;
* @param[in] spip pointer to the @p SPIDriver object * @param[in] spip pointer to the @p SPIDriver object
*/ */
static void ssp_fifo_preload(SPIDriver *spip) { static void ssp_fifo_preload(SPIDriver *spip) {
SSP *ssp = spip->spd_ssp; SSP *ssp = spip->ssp;
uint32_t n = spip->spd_txcnt > LPC214x_SSP_FIFO_DEPTH ? uint32_t n = spip->txcnt > LPC214x_SSP_FIFO_DEPTH ?
LPC214x_SSP_FIFO_DEPTH : spip->spd_txcnt; LPC214x_SSP_FIFO_DEPTH : spip->txcnt;
while(((ssp->SSP_SR & SR_TNF) != 0) && (n > 0)) { while(((ssp->SSP_SR & SR_TNF) != 0) && (n > 0)) {
if (spip->spd_txptr != NULL) { if (spip->txptr != NULL) {
if ((ssp->SSP_CR0 & CR0_DSSMASK) > CR0_DSS8BIT) if ((ssp->SSP_CR0 & CR0_DSSMASK) > CR0_DSS8BIT)
ssp->SSP_DR = *(uint16_t *)spip->spd_txptr++; ssp->SSP_DR = *(uint16_t *)spip->txptr++;
else else
ssp->SSP_DR = *(uint8_t *)spip->spd_txptr++; ssp->SSP_DR = *(uint8_t *)spip->txptr++;
} }
else else
ssp->SSP_DR = 0xFFFFFFFF; ssp->SSP_DR = 0xFFFFFFFF;
n--; n--;
spip->spd_txcnt--; spip->txcnt--;
} }
} }
@ -80,7 +80,7 @@ __attribute__((noinline))
* @param[in] spip pointer to the @p SPIDriver object * @param[in] spip pointer to the @p SPIDriver object
*/ */
static void serve_interrupt(SPIDriver *spip) { static void serve_interrupt(SPIDriver *spip) {
SSP *ssp = spip->spd_ssp; SSP *ssp = spip->ssp;
if ((ssp->SSP_MIS & MIS_ROR) != 0) { if ((ssp->SSP_MIS & MIS_ROR) != 0) {
/* The overflow condition should never happen because priority is given /* The overflow condition should never happen because priority is given
@ -89,16 +89,16 @@ static void serve_interrupt(SPIDriver *spip) {
} }
ssp->SSP_ICR = ICR_RT | ICR_ROR; ssp->SSP_ICR = ICR_RT | ICR_ROR;
while ((ssp->SSP_SR & SR_RNE) != 0) { while ((ssp->SSP_SR & SR_RNE) != 0) {
if (spip->spd_rxptr != NULL) { if (spip->rxptr != NULL) {
if ((ssp->SSP_CR0 & CR0_DSSMASK) > CR0_DSS8BIT) if ((ssp->SSP_CR0 & CR0_DSSMASK) > CR0_DSS8BIT)
*(uint16_t *)spip->spd_rxptr++ = ssp->SSP_DR; *(uint16_t *)spip->rxptr++ = ssp->SSP_DR;
else else
*(uint8_t *)spip->spd_rxptr++ = ssp->SSP_DR; *(uint8_t *)spip->rxptr++ = ssp->SSP_DR;
} }
else else
(void)ssp->SSP_DR; (void)ssp->SSP_DR;
if (--spip->spd_rxcnt == 0) { if (--spip->rxcnt == 0) {
chDbgAssert(spip->spd_txcnt == 0, chDbgAssert(spip->txcnt == 0,
"spi_serve_interrupt(), #1", "counter out of synch"); "spi_serve_interrupt(), #1", "counter out of synch");
/* Stops the IRQ sources.*/ /* Stops the IRQ sources.*/
ssp->SSP_IMSC = 0; ssp->SSP_IMSC = 0;
@ -109,7 +109,7 @@ static void serve_interrupt(SPIDriver *spip) {
} }
} }
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
if (spip->spd_txcnt == 0) if (spip->txcnt == 0)
ssp->SSP_IMSC = IMSC_ROR | IMSC_RT | IMSC_RX; ssp->SSP_IMSC = IMSC_ROR | IMSC_RT | IMSC_RX;
} }
@ -147,7 +147,7 @@ void spi_lld_init(void) {
#if LPC214x_SPI_USE_SSP #if LPC214x_SPI_USE_SSP
spiObjectInit(&SPID1); spiObjectInit(&SPID1);
SPID1.spd_ssp = SSPBase; SPID1.ssp = SSPBase;
SetVICVector(SPI1IrqHandler, LPC214x_SPI_SSP_IRQ_PRIORITY, SOURCE_SPI1); SetVICVector(SPI1IrqHandler, LPC214x_SPI_SSP_IRQ_PRIORITY, SOURCE_SPI1);
#endif #endif
} }
@ -161,7 +161,7 @@ void spi_lld_init(void) {
*/ */
void spi_lld_start(SPIDriver *spip) { void spi_lld_start(SPIDriver *spip) {
if (spip->spd_state == SPI_STOP) { if (spip->state == SPI_STOP) {
/* Clock activation.*/ /* Clock activation.*/
#if LPC214x_SPI_USE_SSP #if LPC214x_SPI_USE_SSP
if (&SPID1 == spip) { if (&SPID1 == spip) {
@ -171,14 +171,14 @@ void spi_lld_start(SPIDriver *spip) {
#endif #endif
} }
/* Configuration.*/ /* Configuration.*/
spip->spd_ssp->SSP_CR1 = 0; spip->ssp->SSP_CR1 = 0;
/* Emptying the receive FIFO, it happens to not be empty while debugging.*/ /* Emptying the receive FIFO, it happens to not be empty while debugging.*/
while (spip->spd_ssp->SSP_SR & SR_RNE) while (spip->ssp->SSP_SR & SR_RNE)
(void) spip->spd_ssp->SSP_DR; (void) spip->ssp->SSP_DR;
spip->spd_ssp->SSP_ICR = ICR_RT | ICR_ROR; spip->ssp->SSP_ICR = ICR_RT | ICR_ROR;
spip->spd_ssp->SSP_CR0 = spip->spd_config->spc_cr0; spip->ssp->SSP_CR0 = spip->config->cr0;
spip->spd_ssp->SSP_CPSR = spip->spd_config->spc_cpsr; spip->ssp->SSP_CPSR = spip->config->cpsr;
spip->spd_ssp->SSP_CR1 = CR1_SSE; spip->ssp->SSP_CR1 = CR1_SSE;
} }
/** /**
@ -190,10 +190,10 @@ void spi_lld_start(SPIDriver *spip) {
*/ */
void spi_lld_stop(SPIDriver *spip) { void spi_lld_stop(SPIDriver *spip) {
if (spip->spd_state != SPI_STOP) { if (spip->state != SPI_STOP) {
spip->spd_ssp->SSP_CR1 = 0; spip->ssp->SSP_CR1 = 0;
spip->spd_ssp->SSP_CR0 = 0; spip->ssp->SSP_CR0 = 0;
spip->spd_ssp->SSP_CPSR = 0; spip->ssp->SSP_CPSR = 0;
#if LPC214x_SPI_USE_SSP #if LPC214x_SPI_USE_SSP
if (&SPID1 == spip) { if (&SPID1 == spip) {
PCONP = (PCONP & PCALL) & ~PCSPI1; PCONP = (PCONP & PCALL) & ~PCSPI1;
@ -212,7 +212,7 @@ void spi_lld_stop(SPIDriver *spip) {
*/ */
void spi_lld_select(SPIDriver *spip) { void spi_lld_select(SPIDriver *spip) {
palClearPad(spip->spd_config->spc_ssport, spip->spd_config->spc_sspad); palClearPad(spip->config->ssport, spip->config->sspad);
} }
/** /**
@ -225,7 +225,7 @@ void spi_lld_select(SPIDriver *spip) {
*/ */
void spi_lld_unselect(SPIDriver *spip) { void spi_lld_unselect(SPIDriver *spip) {
palSetPad(spip->spd_config->spc_ssport, spip->spd_config->spc_sspad); palSetPad(spip->config->ssport, spip->config->sspad);
} }
/** /**
@ -241,11 +241,11 @@ void spi_lld_unselect(SPIDriver *spip) {
*/ */
void spi_lld_ignore(SPIDriver *spip, size_t n) { void spi_lld_ignore(SPIDriver *spip, size_t n) {
spip->spd_rxptr = NULL; spip->rxptr = NULL;
spip->spd_txptr = NULL; spip->txptr = NULL;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
spip->spd_ssp->SSP_IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX; spip->ssp->SSP_IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX;
} }
/** /**
@ -266,11 +266,11 @@ void spi_lld_ignore(SPIDriver *spip, size_t n) {
void spi_lld_exchange(SPIDriver *spip, size_t n, void spi_lld_exchange(SPIDriver *spip, size_t n,
const void *txbuf, void *rxbuf) { const void *txbuf, void *rxbuf) {
spip->spd_rxptr = rxbuf; spip->rxptr = rxbuf;
spip->spd_txptr = txbuf; spip->txptr = txbuf;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
spip->spd_ssp->SSP_IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX; spip->ssp->SSP_IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX;
} }
/** /**
@ -288,11 +288,11 @@ void spi_lld_exchange(SPIDriver *spip, size_t n,
*/ */
void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) { void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
spip->spd_rxptr = NULL; spip->rxptr = NULL;
spip->spd_txptr = txbuf; spip->txptr = txbuf;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
spip->spd_ssp->SSP_IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX; spip->ssp->SSP_IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX;
} }
/** /**
@ -310,11 +310,11 @@ void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
*/ */
void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) { void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
spip->spd_rxptr = rxbuf; spip->rxptr = rxbuf;
spip->spd_txptr = NULL; spip->txptr = NULL;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
ssp_fifo_preload(spip); ssp_fifo_preload(spip);
spip->spd_ssp->SSP_IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX; spip->ssp->SSP_IMSC = IMSC_ROR | IMSC_RT | IMSC_TX | IMSC_RX;
} }
/** /**
@ -331,10 +331,10 @@ void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
*/ */
uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) { uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) {
spip->spd_ssp->SSP_DR = (uint32_t)frame; spip->ssp->SSP_DR = (uint32_t)frame;
while ((spip->spd_ssp->SSP_SR & SR_RNE) == 0) while ((spip->ssp->SSP_SR & SR_RNE) == 0)
; ;
return (uint16_t)spip->spd_ssp->SSP_DR; return (uint16_t)spip->ssp->SSP_DR;
} }
#endif /* HAL_USE_SPI */ #endif /* HAL_USE_SPI */

30
os/hal/platforms/LPC214x/spi_lld.h
View File

@ -99,24 +99,24 @@ typedef struct {
/** /**
* @brief Operation complete callback or @p NULL. * @brief Operation complete callback or @p NULL.
*/ */
spicallback_t spc_endcb; spicallback_t end_cb;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
/** /**
* @brief The chip select line port. * @brief The chip select line port.
*/ */
ioportid_t spc_ssport; ioportid_t ssport;
/** /**
* @brief The chip select line pad number. * @brief The chip select line pad number.
*/ */
uint16_t spc_sspad; uint16_t sspad;
/** /**
* @brief SSP CR0 initialization data. * @brief SSP CR0 initialization data.
*/ */
uint16_t spc_cr0; uint16_t cr0;
/** /**
* @brief SSP CPSR initialization data. * @brief SSP CPSR initialization data.
*/ */
uint32_t spc_cpsr; uint32_t cpsr;
} SPIConfig; } SPIConfig;
/** /**
@ -126,25 +126,25 @@ struct SPIDriver {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
spistate_t spd_state; spistate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const SPIConfig *spd_config; const SPIConfig *config;
#if SPI_USE_WAIT || defined(__DOXYGEN__) #if SPI_USE_WAIT || defined(__DOXYGEN__)
/** /**
* @brief Waiting thread. * @brief Waiting thread.
*/ */
Thread *spd_thread; Thread *thread;
#endif /* SPI_USE_WAIT */ #endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) #if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
#if CH_USE_MUTEXES || defined(__DOXYGEN__) #if CH_USE_MUTEXES || defined(__DOXYGEN__)
/** /**
* @brief Mutex protecting the bus. * @brief Mutex protecting the bus.
*/ */
Mutex spd_mutex; Mutex mutex;
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
Semaphore spd_semaphore; Semaphore semaphore;
#endif #endif
#endif /* SPI_USE_MUTUAL_EXCLUSION */ #endif /* SPI_USE_MUTUAL_EXCLUSION */
#if defined(SPI_DRIVER_EXT_FIELDS) #if defined(SPI_DRIVER_EXT_FIELDS)
@ -154,23 +154,23 @@ struct SPIDriver {
/** /**
* @brief Pointer to the SSP registers block. * @brief Pointer to the SSP registers block.
*/ */
SSP *spd_ssp; SSP *ssp;
/** /**
* @brief Number of bytes yet to be received. * @brief Number of bytes yet to be received.
*/ */
uint32_t spd_rxcnt; uint32_t rxcnt;
/** /**
* @brief Receive pointer or @p NULL. * @brief Receive pointer or @p NULL.
*/ */
void *spd_rxptr; void *rxptr;
/** /**
* @brief Number of bytes yet to be transmitted. * @brief Number of bytes yet to be transmitted.
*/ */
uint32_t spd_txcnt; uint32_t txcnt;
/** /**
* @brief Transmit pointer or @p NULL. * @brief Transmit pointer or @p NULL.
*/ */
const void *spd_txptr; const void *txptr;
}; };
/*===========================================================================*/ /*===========================================================================*/

50
os/hal/platforms/STM32/adc_lld.c
View File

@ -95,9 +95,9 @@ void adc_lld_init(void) {
#if STM32_ADC_USE_ADC1 #if STM32_ADC_USE_ADC1
/* Driver initialization.*/ /* Driver initialization.*/
adcObjectInit(&ADCD1); adcObjectInit(&ADCD1);
ADCD1.ad_adc = ADC1; ADCD1.adc = ADC1;
ADCD1.ad_dmachp = STM32_DMA1_CH1; ADCD1.dmachp = STM32_DMA1_CH1;
ADCD1.ad_dmaccr = (STM32_ADC_ADC1_DMA_PRIORITY << 12) | ADCD1.dmaccr = (STM32_ADC_ADC1_DMA_PRIORITY << 12) |
DMA_CCR1_EN | DMA_CCR1_MSIZE_0 | DMA_CCR1_PSIZE_0 | DMA_CCR1_EN | DMA_CCR1_MSIZE_0 | DMA_CCR1_PSIZE_0 |
DMA_CCR1_MINC | DMA_CCR1_TCIE | DMA_CCR1_TEIE; DMA_CCR1_MINC | DMA_CCR1_TCIE | DMA_CCR1_TEIE;
@ -132,21 +132,21 @@ void adc_lld_init(void) {
void adc_lld_start(ADCDriver *adcp) { void adc_lld_start(ADCDriver *adcp) {
/* If in stopped state then enables the ADC and DMA clocks.*/ /* If in stopped state then enables the ADC and DMA clocks.*/
if (adcp->ad_state == ADC_STOP) { if (adcp->state == ADC_STOP) {
#if STM32_ADC_USE_ADC1 #if STM32_ADC_USE_ADC1
if (&ADCD1 == adcp) { if (&ADCD1 == adcp) {
dmaEnable(DMA1_ID); /* NOTE: Must be enabled before the IRQs.*/ dmaEnable(DMA1_ID); /* NOTE: Must be enabled before the IRQs.*/
NVICEnableVector(DMA1_Channel1_IRQn, NVICEnableVector(DMA1_Channel1_IRQn,
CORTEX_PRIORITY_MASK(STM32_ADC_ADC1_IRQ_PRIORITY)); CORTEX_PRIORITY_MASK(STM32_ADC_ADC1_IRQ_PRIORITY));
dmaChannelSetPeripheral(adcp->ad_dmachp, &ADC1->DR); dmaChannelSetPeripheral(adcp->dmachp, &ADC1->DR);
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
} }
#endif #endif
/* ADC setup, the calibration procedure has already been performed /* ADC setup, the calibration procedure has already been performed
during initialization.*/ during initialization.*/
adcp->ad_adc->CR1 = ADC_CR1_SCAN; adcp->adc->CR1 = ADC_CR1_SCAN;
adcp->ad_adc->CR2 = 0; adcp->adc->CR2 = 0;
} }
} }
@ -160,7 +160,7 @@ void adc_lld_start(ADCDriver *adcp) {
void adc_lld_stop(ADCDriver *adcp) { void adc_lld_stop(ADCDriver *adcp) {
/* If in ready state then disables the ADC clock.*/ /* If in ready state then disables the ADC clock.*/
if (adcp->ad_state == ADC_READY) { if (adcp->state == ADC_READY) {
#if STM32_ADC_USE_ADC1 #if STM32_ADC_USE_ADC1
if (&ADCD1 == adcp) { if (&ADCD1 == adcp) {
ADC1->CR1 = 0; ADC1->CR1 = 0;
@ -182,34 +182,34 @@ void adc_lld_stop(ADCDriver *adcp) {
*/ */
void adc_lld_start_conversion(ADCDriver *adcp) { void adc_lld_start_conversion(ADCDriver *adcp) {
uint32_t ccr, n; uint32_t ccr, n;
const ADCConversionGroup *grpp = adcp->ad_grpp; const ADCConversionGroup *grpp = adcp->grpp;
/* DMA setup.*/ /* DMA setup.*/
ccr = adcp->ad_dmaccr; ccr = adcp->dmaccr;
if (grpp->acg_circular) if (grpp->circular)
ccr |= DMA_CCR1_CIRC; ccr |= DMA_CCR1_CIRC;
if (adcp->ad_depth > 1) { if (adcp->depth > 1) {
/* If the buffer depth is greater than one then the half transfer interrupt /* If the buffer depth is greater than one then the half transfer interrupt
interrupt is enabled in order to allows streaming processing.*/ interrupt is enabled in order to allows streaming processing.*/
ccr |= DMA_CCR1_HTIE; ccr |= DMA_CCR1_HTIE;
n = (uint32_t)grpp->acg_num_channels * (uint32_t)adcp->ad_depth; n = (uint32_t)grpp->num_channels * (uint32_t)adcp->depth;
} }
else else
n = (uint32_t)grpp->acg_num_channels; n = (uint32_t)grpp->num_channels;
dmaChannelSetup(adcp->ad_dmachp, n, adcp->ad_samples, ccr); dmaChannelSetup(adcp->dmachp, n, adcp->samples, ccr);
/* ADC setup.*/ /* ADC setup.*/
adcp->ad_adc->CR1 = grpp->acg_cr1 | ADC_CR1_SCAN; adcp->adc->CR1 = grpp->cr1 | ADC_CR1_SCAN;
adcp->ad_adc->CR2 = grpp->acg_cr2 | ADC_CR2_DMA | adcp->adc->CR2 = grpp->cr2 | ADC_CR2_DMA |
ADC_CR2_CONT | ADC_CR2_ADON; ADC_CR2_CONT | ADC_CR2_ADON;
adcp->ad_adc->SMPR1 = grpp->acg_smpr1; adcp->adc->SMPR1 = grpp->smpr1;
adcp->ad_adc->SMPR2 = grpp->acg_smpr2; adcp->adc->SMPR2 = grpp->smpr2;
adcp->ad_adc->SQR1 = grpp->acg_sqr1; adcp->adc->SQR1 = grpp->sqr1;
adcp->ad_adc->SQR2 = grpp->acg_sqr2; adcp->adc->SQR2 = grpp->sqr2;
adcp->ad_adc->SQR3 = grpp->acg_sqr3; adcp->adc->SQR3 = grpp->sqr3;
/* ADC start by writing ADC_CR2_ADON a second time.*/ /* ADC start by writing ADC_CR2_ADON a second time.*/
adcp->ad_adc->CR2 = grpp->acg_cr2 | ADC_CR2_DMA | adcp->adc->CR2 = grpp->cr2 | ADC_CR2_DMA |
ADC_CR2_CONT | ADC_CR2_ADON; ADC_CR2_CONT | ADC_CR2_ADON;
} }
@ -222,8 +222,8 @@ void adc_lld_start_conversion(ADCDriver *adcp) {
*/ */
void adc_lld_stop_conversion(ADCDriver *adcp) { void adc_lld_stop_conversion(ADCDriver *adcp) {
dmaChannelDisable(adcp->ad_dmachp); dmaChannelDisable(adcp->dmachp);
adcp->ad_adc->CR2 = 0; adcp->adc->CR2 = 0;
} }
#endif /* HAL_USE_ADC */ #endif /* HAL_USE_ADC */

46
os/hal/platforms/STM32/adc_lld.h
View File

@ -94,8 +94,8 @@
/** /**
* @brief ADC1 DMA error hook. * @brief ADC1 DMA error hook.
* @note The default action for DMA errors is a system halt because DMA error * @note The default action for DMA errors is a system halt because DMA
* can only happen because programming errors. * error can only happen because programming errors.
*/ */
#if !defined(STM32_ADC1_DMA_ERROR_HOOK) || defined(__DOXYGEN__) #if !defined(STM32_ADC1_DMA_ERROR_HOOK) || defined(__DOXYGEN__)
#define STM32_ADC1_DMA_ERROR_HOOK() chSysHalt() #define STM32_ADC1_DMA_ERROR_HOOK() chSysHalt()
@ -154,56 +154,56 @@ typedef struct {
/** /**
* @brief Enables the circular buffer mode for the group. * @brief Enables the circular buffer mode for the group.
*/ */
bool_t acg_circular; bool_t circular;
/** /**
* @brief Number of the analog channels belonging to the conversion group. * @brief Number of the analog channels belonging to the conversion group.
*/ */
adc_channels_num_t acg_num_channels; adc_channels_num_t num_channels;
/** /**
* @brief Callback function associated to the group or @p NULL. * @brief Callback function associated to the group or @p NULL.
*/ */
adccallback_t acg_endcb; adccallback_t end_cb;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
/** /**
* @brief ADC CR1 register initialization data. * @brief ADC CR1 register initialization data.
* @note All the required bits must be defined into this field except * @note All the required bits must be defined into this field except
* @p ADC_CR1_SCAN that is enforced inside the driver. * @p ADC_CR1_SCAN that is enforced inside the driver.
*/ */
uint32_t acg_cr1; uint32_t cr1;
/** /**
* @brief ADC CR2 register initialization data. * @brief ADC CR2 register initialization data.
* @note All the required bits must be defined into this field except * @note All the required bits must be defined into this field except
* @p ADC_CR2_DMA, @p ADC_CR2_CONT and @p ADC_CR2_ADON that are * @p ADC_CR2_DMA, @p ADC_CR2_CONT and @p ADC_CR2_ADON that are
* enforced inside the driver. * enforced inside the driver.
*/ */
uint32_t acg_cr2; uint32_t cr2;
/** /**
* @brief ADC SMPR1 register initialization data. * @brief ADC SMPR1 register initialization data.
* @details In this field must be specified the sample times for channels * @details In this field must be specified the sample times for channels
* 10...17. * 10...17.
*/ */
uint32_t acg_smpr1; uint32_t smpr1;
/** /**
* @brief ADC SMPR2 register initialization data. * @brief ADC SMPR2 register initialization data.
* @details In this field must be specified the sample times for channels * @details In this field must be specified the sample times for channels
* 0...9. * 0...9.
*/ */
uint32_t acg_smpr2; uint32_t smpr2;
/** /**
* @brief ADC SQR1 register initialization data. * @brief ADC SQR1 register initialization data.
* @details Conversion group sequence 13...16 + sequence length. * @details Conversion group sequence 13...16 + sequence length.
*/ */
uint32_t acg_sqr1; uint32_t sqr1;
/** /**
* @brief ADC SQR2 register initialization data. * @brief ADC SQR2 register initialization data.
* @details Conversion group sequence 7...12. * @details Conversion group sequence 7...12.
*/ */
uint32_t acg_sqr2; uint32_t sqr2;
/** /**
* @brief ADC SQR3 register initialization data. * @brief ADC SQR3 register initialization data.
* @details Conversion group sequence 0...6. * @details Conversion group sequence 0...6.
*/ */
uint32_t acg_sqr3; uint32_t sqr3;
} ADCConversionGroup; } ADCConversionGroup;
/** /**
@ -221,37 +221,37 @@ struct ADCDriver {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
adcstate_t ad_state; adcstate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const ADCConfig *ad_config; const ADCConfig *config;
/** /**
* @brief Current samples buffer pointer or @p NULL. * @brief Current samples buffer pointer or @p NULL.
*/ */
adcsample_t *ad_samples; adcsample_t *samples;
/** /**
* @brief Current samples buffer depth or @p 0. * @brief Current samples buffer depth or @p 0.
*/ */
size_t ad_depth; size_t depth;
/** /**
* @brief Current conversion group pointer or @p NULL. * @brief Current conversion group pointer or @p NULL.
*/ */
const ADCConversionGroup *ad_grpp; const ADCConversionGroup *grpp;
#if ADC_USE_WAIT || defined(__DOXYGEN__) #if ADC_USE_WAIT || defined(__DOXYGEN__)
/** /**
* @brief Waiting thread. * @brief Waiting thread.
*/ */
Thread *ad_thread; Thread *thread;
#endif #endif
#if ADC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) #if ADC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
#if CH_USE_MUTEXES || defined(__DOXYGEN__) #if CH_USE_MUTEXES || defined(__DOXYGEN__)
/** /**
* @brief Mutex protecting the peripheral. * @brief Mutex protecting the peripheral.
*/ */
Mutex ad_mutex; Mutex mutex;
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
Semaphore ad_semaphore; Semaphore semaphore;
#endif #endif
#endif /* ADC_USE_MUTUAL_EXCLUSION */ #endif /* ADC_USE_MUTUAL_EXCLUSION */
#if defined(ADC_DRIVER_EXT_FIELDS) #if defined(ADC_DRIVER_EXT_FIELDS)
@ -261,15 +261,15 @@ struct ADCDriver {
/** /**
* @brief Pointer to the ADCx registers block. * @brief Pointer to the ADCx registers block.
*/ */
ADC_TypeDef *ad_adc; ADC_TypeDef *adc;
/** /**
* @brief Pointer to the DMA registers block. * @brief Pointer to the DMA registers block.
*/ */
stm32_dma_channel_t *ad_dmachp; stm32_dma_channel_t *dmachp;
/** /**
* @brief DMA CCR register bit mask. * @brief DMA CCR register bit mask.
*/ */
uint32_t ad_dmaccr; uint32_t dmaccr;
}; };
/*===========================================================================*/ /*===========================================================================*/

136
os/hal/platforms/STM32/can_lld.c
View File

@ -63,9 +63,9 @@ CH_IRQ_HANDLER(CAN1_TX_IRQHandler) {
/* No more events until a message is transmitted.*/ /* No more events until a message is transmitted.*/
CAN1->TSR = CAN_TSR_RQCP0 | CAN_TSR_RQCP1 | CAN_TSR_RQCP2; CAN1->TSR = CAN_TSR_RQCP0 | CAN_TSR_RQCP1 | CAN_TSR_RQCP2;
chSysLockFromIsr(); chSysLockFromIsr();
while (chSemGetCounterI(&CAND1.cd_txsem) < 0) while (chSemGetCounterI(&CAND1.txsem) < 0)
chSemSignalI(&CAND1.cd_txsem); chSemSignalI(&CAND1.txsem);
chEvtBroadcastI(&CAND1.cd_txempty_event); chEvtBroadcastI(&CAND1.txempty_event);
chSysUnlockFromIsr(); chSysUnlockFromIsr();
CH_IRQ_EPILOGUE(); CH_IRQ_EPILOGUE();
@ -86,9 +86,9 @@ CH_IRQ_HANDLER(CAN1_RX0_IRQHandler) {
/* No more receive events until the queue 0 has been emptied.*/ /* No more receive events until the queue 0 has been emptied.*/
CAN1->IER &= ~CAN_IER_FMPIE0; CAN1->IER &= ~CAN_IER_FMPIE0;
chSysLockFromIsr(); chSysLockFromIsr();
while (chSemGetCounterI(&CAND1.cd_rxsem) < 0) while (chSemGetCounterI(&CAND1.rxsem) < 0)
chSemSignalI(&CAND1.cd_rxsem); chSemSignalI(&CAND1.rxsem);
chEvtBroadcastI(&CAND1.cd_rxfull_event); chEvtBroadcastI(&CAND1.rxfull_event);
chSysUnlockFromIsr(); chSysUnlockFromIsr();
} }
if ((rf0r & CAN_RF0R_FOVR0) > 0) { if ((rf0r & CAN_RF0R_FOVR0) > 0) {
@ -96,7 +96,7 @@ CH_IRQ_HANDLER(CAN1_RX0_IRQHandler) {
CAN1->RF0R = CAN_RF0R_FOVR0; CAN1->RF0R = CAN_RF0R_FOVR0;
canAddFlagsI(&CAND1, CAN_OVERFLOW_ERROR); canAddFlagsI(&CAND1, CAN_OVERFLOW_ERROR);
chSysLockFromIsr(); chSysLockFromIsr();
chEvtBroadcastI(&CAND1.cd_error_event); chEvtBroadcastI(&CAND1.error_event);
chSysUnlockFromIsr(); chSysUnlockFromIsr();
} }
@ -132,7 +132,7 @@ CH_IRQ_HANDLER(CAN1_SCE_IRQHandler) {
/* Wakeup event.*/ /* Wakeup event.*/
if (msr & CAN_MSR_WKUI) { if (msr & CAN_MSR_WKUI) {
chSysLockFromIsr(); chSysLockFromIsr();
chEvtBroadcastI(&CAND1.cd_wakeup_event); chEvtBroadcastI(&CAND1.wakeup_event);
chSysUnlockFromIsr(); chSysUnlockFromIsr();
} }
/* Error event.*/ /* Error event.*/
@ -146,7 +146,7 @@ CH_IRQ_HANDLER(CAN1_SCE_IRQHandler) {
flags |= CAN_FRAMING_ERROR; flags |= CAN_FRAMING_ERROR;
chSysLockFromIsr(); chSysLockFromIsr();
canAddFlagsI(&CAND1, flags | (canstatus_t)(flags < 16)); canAddFlagsI(&CAND1, flags | (canstatus_t)(flags < 16));
chEvtBroadcastI(&CAND1.cd_error_event); chEvtBroadcastI(&CAND1.error_event);
chSysUnlockFromIsr(); chSysUnlockFromIsr();
} }
@ -167,7 +167,7 @@ void can_lld_init(void) {
#if STM32_CAN_USE_CAN1 #if STM32_CAN_USE_CAN1
/* Driver initialization.*/ /* Driver initialization.*/
canObjectInit(&CAND1); canObjectInit(&CAND1);
CAND1.cd_can = CAN1; CAND1.can = CAN1;
#endif #endif
} }
@ -196,37 +196,37 @@ void can_lld_start(CANDriver *canp) {
#endif #endif
/* Entering initialization mode. */ /* Entering initialization mode. */
canp->cd_state = CAN_STARTING; canp->state = CAN_STARTING;
canp->cd_can->MCR = CAN_MCR_INRQ; canp->can->MCR = CAN_MCR_INRQ;
while ((canp->cd_can->MSR & CAN_MSR_INAK) == 0) while ((canp->can->MSR & CAN_MSR_INAK) == 0)
chThdSleepS(1); chThdSleepS(1);
/* BTR initialization.*/ /* BTR initialization.*/
canp->cd_can->BTR = canp->cd_config->cc_btr; canp->can->BTR = canp->config->btr;
/* MCR initialization.*/ /* MCR initialization.*/
canp->cd_can->MCR = canp->cd_config->cc_mcr; canp->can->MCR = canp->config->mcr;
/* Filters initialization.*/ /* Filters initialization.*/
canp->cd_can->FMR |= CAN_FMR_FINIT; canp->can->FMR |= CAN_FMR_FINIT;
if (canp->cd_config->cc_num > 0) { if (canp->config->num > 0) {
uint32_t i, fmask; uint32_t i, fmask;
CAN_FilterRegister_TypeDef *cfp; CAN_FilterRegister_TypeDef *cfp;
canp->cd_can->FA1R = 0; canp->can->FA1R = 0;
canp->cd_can->FM1R = 0; canp->can->FM1R = 0;
canp->cd_can->FS1R = 0; canp->can->FS1R = 0;
canp->cd_can->FFA1R = 0; canp->can->FFA1R = 0;
cfp = canp->cd_can->sFilterRegister; cfp = canp->can->sFilterRegister;
fmask = 1; fmask = 1;
for (i = 0; i < CAN_MAX_FILTERS; i++) { for (i = 0; i < CAN_MAX_FILTERS; i++) {
if (i < canp->cd_config->cc_num) { if (i < canp->config->num) {
if (canp->cd_config->cc_filters[i].cf_mode) if (canp->config->filters[i].mode)
canp->cd_can->FM1R |= fmask; canp->can->FM1R |= fmask;
if (canp->cd_config->cc_filters[i].cf_scale) if (canp->config->filters[i].scale)
canp->cd_can->FS1R |= fmask; canp->can->FS1R |= fmask;
if (canp->cd_config->cc_filters[i].cf_assignment) if (canp->config->filters[i].assignment)
canp->cd_can->FFA1R |= fmask; canp->can->FFA1R |= fmask;
cfp->FR1 = canp->cd_config->cc_filters[i].cf_register1; cfp->FR1 = canp->config->filters[i].register1;
cfp->FR2 = canp->cd_config->cc_filters[i].cf_register2; cfp->FR2 = canp->config->filters[i].register2;
canp->cd_can->FA1R |= fmask; canp->can->FA1R |= fmask;
} }
else { else {
cfp->FR1 = 0; cfp->FR1 = 0;
@ -241,16 +241,16 @@ void can_lld_start(CANDriver *canp) {
} }
else { else {
/* Setup a default filter.*/ /* Setup a default filter.*/
canp->cd_can->sFilterRegister[0].FR1 = 0; canp->can->sFilterRegister[0].FR1 = 0;
canp->cd_can->sFilterRegister[0].FR2 = 0; canp->can->sFilterRegister[0].FR2 = 0;
canp->cd_can->FM1R = 0; canp->can->FM1R = 0;
canp->cd_can->FFA1R = 0; canp->can->FFA1R = 0;
canp->cd_can->FS1R = 1; canp->can->FS1R = 1;
canp->cd_can->FA1R = 1; canp->can->FA1R = 1;
} }
canp->cd_can->FMR &= ~CAN_FMR_FINIT; canp->can->FMR &= ~CAN_FMR_FINIT;
/* Interrupt sources initialization.*/ /* Interrupt sources initialization.*/
canp->cd_can->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1 | canp->can->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1 |
CAN_IER_WKUIE | CAN_IER_ERRIE | CAN_IER_LECIE | CAN_IER_WKUIE | CAN_IER_ERRIE | CAN_IER_LECIE |
CAN_IER_BOFIE | CAN_IER_EPVIE | CAN_IER_EWGIE | CAN_IER_BOFIE | CAN_IER_EPVIE | CAN_IER_EWGIE |
CAN_IER_FOVIE0 | CAN_IER_FOVIE1; CAN_IER_FOVIE0 | CAN_IER_FOVIE1;
@ -266,7 +266,7 @@ void can_lld_start(CANDriver *canp) {
void can_lld_stop(CANDriver *canp) { void can_lld_stop(CANDriver *canp) {
/* If in ready state then disables the CAN peripheral.*/ /* If in ready state then disables the CAN peripheral.*/
if (canp->cd_state == CAN_READY) { if (canp->state == CAN_READY) {
#if STM32_CAN_USE_CAN1 #if STM32_CAN_USE_CAN1
if (&CAND1 == canp) { if (&CAND1 == canp) {
CAN1->MCR = 0x00010002; /* Register reset value. */ CAN1->MCR = 0x00010002; /* Register reset value. */
@ -294,7 +294,7 @@ void can_lld_stop(CANDriver *canp) {
*/ */
bool_t can_lld_can_transmit(CANDriver *canp) { bool_t can_lld_can_transmit(CANDriver *canp) {
return (canp->cd_can->TSR & CAN_TSR_TME) != 0; return (canp->can->TSR & CAN_TSR_TME) != 0;
} }
/** /**
@ -310,18 +310,18 @@ void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {
CAN_TxMailBox_TypeDef *tmbp; CAN_TxMailBox_TypeDef *tmbp;
/* Pointer to a free transmission mailbox.*/ /* Pointer to a free transmission mailbox.*/
tmbp = &canp->cd_can->sTxMailBox[(canp->cd_can->TSR & CAN_TSR_CODE) >> 24]; tmbp = &canp->can->sTxMailBox[(canp->can->TSR & CAN_TSR_CODE) >> 24];
/* Preparing the message.*/ /* Preparing the message.*/
if (ctfp->cf_IDE) if (ctfp->IDE)
tir = ((uint32_t)ctfp->cf_EID << 3) | ((uint32_t)ctfp->cf_RTR << 1) | tir = ((uint32_t)ctfp->EID << 3) | ((uint32_t)ctfp->RTR << 1) |
CAN_TI0R_IDE; CAN_TI0R_IDE;
else else
tir = ((uint32_t)ctfp->cf_SID << 21) | ((uint32_t)ctfp->cf_RTR << 1); tir = ((uint32_t)ctfp->SID << 21) | ((uint32_t)ctfp->RTR << 1);
tmbp->TDTR = ctfp->cf_DLC; tmbp->TDTR = ctfp->DLC;
tmbp->TDLR = ctfp->cf_data32[0]; tmbp->TDLR = ctfp->data32[0];
tmbp->TDHR = ctfp->cf_data32[1]; tmbp->TDHR = ctfp->data32[1];
tmbp->TIR = tir | CAN_TI0R_TXRQ; tmbp->TIR = tir | CAN_TI0R_TXRQ;
} }
/** /**
@ -337,7 +337,7 @@ void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {
*/ */
bool_t can_lld_can_receive(CANDriver *canp) { bool_t can_lld_can_receive(CANDriver *canp) {
return (canp->cd_can->RF0R & CAN_RF0R_FMP0) > 0; return (canp->can->RF0R & CAN_RF0R_FMP0) > 0;
} }
/** /**
@ -352,27 +352,27 @@ void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
uint32_t r; uint32_t r;
/* Fetches the message.*/ /* Fetches the message.*/
r = canp->cd_can->sFIFOMailBox[0].RIR; r = canp->can->sFIFOMailBox[0].RIR;
crfp->cf_RTR = (r & CAN_RI0R_RTR) >> 1; crfp->RTR = (r & CAN_RI0R_RTR) >> 1;
crfp->cf_IDE = (r & CAN_RI0R_IDE) >> 2; crfp->IDE = (r & CAN_RI0R_IDE) >> 2;
if (crfp->cf_IDE) if (crfp->IDE)
crfp->cf_EID = r >> 3; crfp->EID = r >> 3;
else else
crfp->cf_SID = r >> 21; crfp->SID = r >> 21;
r = canp->cd_can->sFIFOMailBox[0].RDTR; r = canp->can->sFIFOMailBox[0].RDTR;
crfp->cf_DLC = r & CAN_RDT0R_DLC; crfp->DLC = r & CAN_RDT0R_DLC;
crfp->cf_FMI = (uint8_t)(r >> 8); crfp->FMI = (uint8_t)(r >> 8);
crfp->cf_TIME = (uint16_t)(r >> 16); crfp->TIME = (uint16_t)(r >> 16);
crfp->cf_data32[0] = canp->cd_can->sFIFOMailBox[0].RDLR; crfp->data32[0] = canp->can->sFIFOMailBox[0].RDLR;
crfp->cf_data32[1] = canp->cd_can->sFIFOMailBox[0].RDHR; crfp->data32[1] = canp->can->sFIFOMailBox[0].RDHR;
/* Releases the mailbox.*/ /* Releases the mailbox.*/
canp->cd_can->RF0R = CAN_RF0R_RFOM0; canp->can->RF0R = CAN_RF0R_RFOM0;
/* If the queue is empty re-enables the interrupt in order to generate /* If the queue is empty re-enables the interrupt in order to generate
events again.*/ events again.*/
if ((canp->cd_can->RF0R & CAN_RF0R_FMP0) == 0) if ((canp->can->RF0R & CAN_RF0R_FMP0) == 0)
canp->cd_can->IER |= CAN_IER_FMPIE0; canp->can->IER |= CAN_IER_FMPIE0;
} }
#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__) #if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
@ -385,7 +385,7 @@ void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
*/ */
void can_lld_sleep(CANDriver *canp) { void can_lld_sleep(CANDriver *canp) {
canp->cd_can->MCR |= CAN_MCR_SLEEP; canp->can->MCR |= CAN_MCR_SLEEP;
} }
/** /**
@ -397,7 +397,7 @@ void can_lld_sleep(CANDriver *canp) {
*/ */
void can_lld_wakeup(CANDriver *canp) { void can_lld_wakeup(CANDriver *canp) {
canp->cd_can->MCR &= ~CAN_MCR_SLEEP; canp->can->MCR &= ~CAN_MCR_SLEEP;
} }
#endif /* CAN_USE_SLEEP_MODE */ #endif /* CAN_USE_SLEEP_MODE */

80
os/hal/platforms/STM32/can_lld.h
View File

@ -121,22 +121,22 @@ typedef uint32_t canstatus_t;
*/ */
typedef struct { typedef struct {
struct { struct {
uint8_t cf_DLC:4; /**< @brief Data length. */ uint8_t DLC:4; /**< @brief Data length. */
uint8_t cf_RTR:1; /**< @brief Frame type. */ uint8_t RTR:1; /**< @brief Frame type. */
uint8_t cf_IDE:1; /**< @brief Identifier type. */ uint8_t IDE:1; /**< @brief Identifier type. */
}; };
union { union {
struct { struct {
uint32_t cf_SID:11; /**< @brief Standard identifier.*/ uint32_t SID:11; /**< @brief Standard identifier.*/
}; };
struct { struct {
uint32_t cf_EID:29; /**< @brief Extended identifier.*/ uint32_t EID:29; /**< @brief Extended identifier.*/
}; };
}; };
union { union {
uint8_t cf_data8[8]; /**< @brief Frame data. */ uint8_t data8[8]; /**< @brief Frame data. */
uint16_t cf_data16[4]; /**< @brief Frame data. */ uint16_t data16[4]; /**< @brief Frame data. */
uint32_t cf_data32[2]; /**< @brief Frame data. */ uint32_t data32[2]; /**< @brief Frame data. */
}; };
} CANTxFrame; } CANTxFrame;
@ -147,26 +147,26 @@ typedef struct {
*/ */
typedef struct { typedef struct {
struct { struct {
uint8_t cf_FMI; /**< @brief Filter id. */ uint8_t FMI; /**< @brief Filter id. */
uint16_t cf_TIME; /**< @brief Time stamp. */ uint16_t TIME; /**< @brief Time stamp. */
}; };
struct { struct {
uint8_t cf_DLC:4; /**< @brief Data length. */ uint8_t DLC:4; /**< @brief Data length. */
uint8_t cf_RTR:1; /**< @brief Frame type. */ uint8_t RTR:1; /**< @brief Frame type. */
uint8_t cf_IDE:1; /**< @brief Identifier type. */ uint8_t IDE:1; /**< @brief Identifier type. */
}; };
union { union {
struct { struct {
uint32_t cf_SID:11; /**< @brief Standard identifier.*/ uint32_t SID:11; /**< @brief Standard identifier.*/
}; };
struct { struct {
uint32_t cf_EID:29; /**< @brief Extended identifier.*/ uint32_t EID:29; /**< @brief Extended identifier.*/
}; };
}; };
union { union {
uint8_t cf_data8[8]; /**< @brief Frame data. */ uint8_t data8[8]; /**< @brief Frame data. */
uint16_t cf_data16[4]; /**< @brief Frame data. */ uint16_t data16[4]; /**< @brief Frame data. */
uint32_t cf_data32[2]; /**< @brief Frame data. */ uint32_t data32[2]; /**< @brief Frame data. */
}; };
} CANRxFrame; } CANRxFrame;
@ -180,27 +180,27 @@ typedef struct {
* @note This bit represent the CAN_FM1R register bit associated to this * @note This bit represent the CAN_FM1R register bit associated to this
* filter (0=mask mode, 1=list mode). * filter (0=mask mode, 1=list mode).
*/ */
uint32_t cf_mode:1; uint32_t mode:1;
/** /**
* @brief Filter sclae. * @brief Filter sclae.
* @note This bit represent the CAN_FS1R register bit associated to this * @note This bit represent the CAN_FS1R register bit associated to this
* filter (0=16 bits mode, 1=32 bits mode). * filter (0=16 bits mode, 1=32 bits mode).
*/ */
uint32_t cf_scale:1; uint32_t scale:1;
/** /**
* @brief Filter mode. * @brief Filter mode.
* @note This bit represent the CAN_FFA1R register bit associated to this * @note This bit represent the CAN_FFA1R register bit associated to this
* filter, must be set to zero in this version of the driver. * filter, must be set to zero in this version of the driver.
*/ */
uint32_t cf_assignment:1; uint32_t assignment:1;
/** /**
* @brief Filter register 1 (identifier). * @brief Filter register 1 (identifier).
*/ */
uint32_t cf_register1; uint32_t register1;
/** /**
* @brief Filter register 2 (mask/identifier depending on cf_mode=0/1). * @brief Filter register 2 (mask/identifier depending on mode=0/1).
*/ */
uint32_t cf_register2; uint32_t register2;
} CANFilter; } CANFilter;
/** /**
@ -212,25 +212,25 @@ typedef struct {
* @note Some bits in this register are enforced by the driver regardless * @note Some bits in this register are enforced by the driver regardless
* their status in this field. * their status in this field.
*/ */
uint32_t cc_mcr; uint32_t mcr;
/** /**
* @brief CAN BTR register initialization data. * @brief CAN BTR register initialization data.
* @note Some bits in this register are enforced by the driver regardless * @note Some bits in this register are enforced by the driver regardless
* their status in this field. * their status in this field.
*/ */
uint32_t cc_btr; uint32_t btr;
/** /**
* @brief Number of elements into the filters array. * @brief Number of elements into the filters array.
* @note By setting this field to zero a default filter is enabled that * @note By setting this field to zero a default filter is enabled that
* allows all frames, this should be adequate for simple applications. * allows all frames, this should be adequate for simple applications.
*/ */
uint32_t cc_num; uint32_t num;
/** /**
* @brief Pointer to an array of @p CANFilter structures. * @brief Pointer to an array of @p CANFilter structures.
* @note This field can be set to @p NULL if the field @p cc_num is set to * @note This field can be set to @p NULL if the field @p num is set to
* zero. * zero.
*/ */
const CANFilter *cc_filters; const CANFilter *filters;
} CANConfig; } CANConfig;
/** /**
@ -240,19 +240,19 @@ typedef struct {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
canstate_t cd_state; canstate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const CANConfig *cd_config; const CANConfig *config;
/** /**
* @brief Transmission queue semaphore. * @brief Transmission queue semaphore.
*/ */
Semaphore cd_txsem; Semaphore txsem;
/** /**
* @brief Receive queue semaphore. * @brief Receive queue semaphore.
*/ */
Semaphore cd_rxsem; Semaphore rxsem;
/** /**
* @brief One or more frames become available. * @brief One or more frames become available.
* @note After broadcasting this event it will not be broadcasted again * @note After broadcasting this event it will not be broadcasted again
@ -262,34 +262,34 @@ typedef struct {
* invoking @p chReceive() when listening to this event. This behavior * invoking @p chReceive() when listening to this event. This behavior
* minimizes the interrupt served by the system because CAN traffic. * minimizes the interrupt served by the system because CAN traffic.
*/ */
EventSource cd_rxfull_event; EventSource rxfull_event;
/** /**
* @brief One or more transmission slots become available. * @brief One or more transmission slots become available.
*/ */
EventSource cd_txempty_event; EventSource txempty_event;
/** /**
* @brief A CAN bus error happened. * @brief A CAN bus error happened.
*/ */
EventSource cd_error_event; EventSource error_event;
/** /**
* @brief Error flags set when an error event is broadcasted. * @brief Error flags set when an error event is broadcasted.
*/ */
canstatus_t cd_status; canstatus_t status;
#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__) #if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)
/** /**
* @brief Entering sleep state event. * @brief Entering sleep state event.
*/ */
EventSource cd_sleep_event; EventSource sleep_event;
/** /**
* @brief Exiting sleep state event. * @brief Exiting sleep state event.
*/ */
EventSource cd_wakeup_event; EventSource wakeup_event;
#endif /* CAN_USE_SLEEP_MODE */ #endif /* CAN_USE_SLEEP_MODE */
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
/** /**
* @brief Pointer to the CAN registers. * @brief Pointer to the CAN registers.
*/ */
CAN_TypeDef *cd_can; CAN_TypeDef *can;
} CANDriver; } CANDriver;
/*===========================================================================*/ /*===========================================================================*/

140
os/hal/platforms/STM32/pwm_lld.c
View File

@ -107,20 +107,20 @@ PWMDriver PWMD5;
static void serve_interrupt(PWMDriver *pwmp) { static void serve_interrupt(PWMDriver *pwmp) {
uint16_t sr; uint16_t sr;
sr = pwmp->pd_tim->SR; sr = pwmp->tim->SR;
sr &= pwmp->pd_tim->DIER; sr &= pwmp->tim->DIER;
pwmp->pd_tim->SR = ~(TIM_SR_CC1IF | TIM_SR_CC2IF | TIM_SR_CC3IF | pwmp->tim->SR = ~(TIM_SR_CC1IF | TIM_SR_CC2IF | TIM_SR_CC3IF |
TIM_SR_CC4IF | TIM_SR_UIF); TIM_SR_CC4IF | TIM_SR_UIF);
if ((sr & TIM_SR_CC1IF) != 0) if ((sr & TIM_SR_CC1IF) != 0)
pwmp->pd_config->pc_channels[0].pcc_callback(pwmp); pwmp->config->channels[0].callback(pwmp);
if ((sr & TIM_SR_CC2IF) != 0) if ((sr & TIM_SR_CC2IF) != 0)
pwmp->pd_config->pc_channels[1].pcc_callback(pwmp); pwmp->config->channels[1].callback(pwmp);
if ((sr & TIM_SR_CC3IF) != 0) if ((sr & TIM_SR_CC3IF) != 0)
pwmp->pd_config->pc_channels[2].pcc_callback(pwmp); pwmp->config->channels[2].callback(pwmp);
if ((sr & TIM_SR_CC4IF) != 0) if ((sr & TIM_SR_CC4IF) != 0)
pwmp->pd_config->pc_channels[3].pcc_callback(pwmp); pwmp->config->channels[3].callback(pwmp);
if ((sr & TIM_SR_UIF) != 0) if ((sr & TIM_SR_UIF) != 0)
pwmp->pd_config->pc_callback(pwmp); pwmp->config->callback(pwmp);
} }
#endif /* STM32_PWM_USE_TIM2 || ... || STM32_PWM_USE_TIM5 */ #endif /* STM32_PWM_USE_TIM2 || ... || STM32_PWM_USE_TIM5 */
@ -142,7 +142,7 @@ CH_IRQ_HANDLER(TIM1_UP_IRQHandler) {
CH_IRQ_PROLOGUE(); CH_IRQ_PROLOGUE();
TIM1->SR = ~TIM_SR_UIF; TIM1->SR = ~TIM_SR_UIF;
PWMD1.pd_config->pc_callback(&PWMD1); PWMD1.config->callback(&PWMD1);
CH_IRQ_EPILOGUE(); CH_IRQ_EPILOGUE();
} }
@ -163,13 +163,13 @@ CH_IRQ_HANDLER(TIM1_CC_IRQHandler) {
sr = TIM1->SR & TIM1->DIER; sr = TIM1->SR & TIM1->DIER;
TIM1->SR = ~(TIM_SR_CC1IF | TIM_SR_CC2IF | TIM_SR_CC3IF | TIM_SR_CC4IF); TIM1->SR = ~(TIM_SR_CC1IF | TIM_SR_CC2IF | TIM_SR_CC3IF | TIM_SR_CC4IF);
if ((sr & TIM_SR_CC1IF) != 0) if ((sr & TIM_SR_CC1IF) != 0)
PWMD1.pd_config->pc_channels[0].pcc_callback(&PWMD1); PWMD1.config->channels[0].callback(&PWMD1);
if ((sr & TIM_SR_CC2IF) != 0) if ((sr & TIM_SR_CC2IF) != 0)
PWMD1.pd_config->pc_channels[1].pcc_callback(&PWMD1); PWMD1.config->channels[1].callback(&PWMD1);
if ((sr & TIM_SR_CC3IF) != 0) if ((sr & TIM_SR_CC3IF) != 0)
PWMD1.pd_config->pc_channels[2].pcc_callback(&PWMD1); PWMD1.config->channels[2].callback(&PWMD1);
if ((sr & TIM_SR_CC4IF) != 0) if ((sr & TIM_SR_CC4IF) != 0)
PWMD1.pd_config->pc_channels[3].pcc_callback(&PWMD1); PWMD1.config->channels[3].callback(&PWMD1);
CH_IRQ_EPILOGUE(); CH_IRQ_EPILOGUE();
} }
@ -253,36 +253,36 @@ void pwm_lld_init(void) {
#if STM32_PWM_USE_TIM1 #if STM32_PWM_USE_TIM1
/* Driver initialization.*/ /* Driver initialization.*/
pwmObjectInit(&PWMD1); pwmObjectInit(&PWMD1);
PWMD1.pd_enabled_channels = 0; PWMD1.enabled_channels = 0;
PWMD1.pd_tim = TIM1; PWMD1.tim = TIM1;
#endif #endif
#if STM32_PWM_USE_TIM2 #if STM32_PWM_USE_TIM2
/* Driver initialization.*/ /* Driver initialization.*/
pwmObjectInit(&PWMD2); pwmObjectInit(&PWMD2);
PWMD2.pd_enabled_channels = 0; PWMD2.enabled_channels = 0;
PWMD2.pd_tim = TIM2; PWMD2.tim = TIM2;
#endif #endif
#if STM32_PWM_USE_TIM3 #if STM32_PWM_USE_TIM3
/* Driver initialization.*/ /* Driver initialization.*/
pwmObjectInit(&PWMD3); pwmObjectInit(&PWMD3);
PWMD3.pd_enabled_channels = 0; PWMD3.enabled_channels = 0;
PWMD3.pd_tim = TIM3; PWMD3.tim = TIM3;
#endif #endif
#if STM32_PWM_USE_TIM4 #if STM32_PWM_USE_TIM4
/* Driver initialization.*/ /* Driver initialization.*/
pwmObjectInit(&PWMD4); pwmObjectInit(&PWMD4);
PWMD4.pd_enabled_channels = 0; PWMD4.enabled_channels = 0;
PWMD4.pd_tim = TIM4; PWMD4.tim = TIM4;
#endif #endif
#if STM32_PWM_USE_TIM5 #if STM32_PWM_USE_TIM5
/* Driver initialization.*/ /* Driver initialization.*/
pwmObjectInit(&PWMD5); pwmObjectInit(&PWMD5);
PWMD5.pd_enabled_channels = 0; PWMD5.enabled_channels = 0;
PWMD5.pd_tim = TIM5; PWMD5.tim = TIM5;
#endif #endif
} }
@ -297,9 +297,9 @@ void pwm_lld_start(PWMDriver *pwmp) {
uint16_t ccer; uint16_t ccer;
/* Reset channels.*/ /* Reset channels.*/
pwmp->pd_enabled_channels = 0; /* All channels disabled. */ pwmp->enabled_channels = 0; /* All channels disabled. */
if (pwmp->pd_state == PWM_STOP) { if (pwmp->state == PWM_STOP) {
/* Clock activation and timer reset.*/ /* Clock activation and timer reset.*/
#if STM32_PWM_USE_TIM1 #if STM32_PWM_USE_TIM1
if (&PWMD1 == pwmp) { if (&PWMD1 == pwmp) {
@ -352,11 +352,11 @@ void pwm_lld_start(PWMDriver *pwmp) {
/* All channels configured in PWM1 mode with preload enabled and will /* All channels configured in PWM1 mode with preload enabled and will
stay that way until the driver is stopped.*/ stay that way until the driver is stopped.*/
pwmp->pd_tim->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | pwmp->tim->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 |
TIM_CCMR1_OC1PE | TIM_CCMR1_OC1PE |
TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2 |
TIM_CCMR1_OC2PE; TIM_CCMR1_OC2PE;
pwmp->pd_tim->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 | pwmp->tim->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 |
TIM_CCMR2_OC3PE | TIM_CCMR2_OC3PE |
TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 |
TIM_CCMR2_OC4PE; TIM_CCMR2_OC4PE;
@ -364,23 +364,23 @@ void pwm_lld_start(PWMDriver *pwmp) {
else { else {
/* Driver re-configuration scenario, it must be stopped first.*/ /* Driver re-configuration scenario, it must be stopped first.*/
/* Really required ?????????? */ /* Really required ?????????? */
pwmp->pd_tim->CR1 = 0; /* Timer stopped. */ pwmp->tim->CR1 = 0; /* Timer stopped. */
pwmp->pd_tim->CR2 = 0; /* Timer stopped. */ pwmp->tim->CR2 = 0; /* Timer stopped. */
pwmp->pd_tim->SMCR = 0; /* Slave mode disabled. */ pwmp->tim->SMCR = 0; /* Slave mode disabled. */
pwmp->pd_tim->CCR1 = 0; /* Comparator 1 disabled. */ pwmp->tim->CCR1 = 0; /* Comparator 1 disabled. */
pwmp->pd_tim->CCR2 = 0; /* Comparator 2 disabled. */ pwmp->tim->CCR2 = 0; /* Comparator 2 disabled. */
pwmp->pd_tim->CCR3 = 0; /* Comparator 3 disabled. */ pwmp->tim->CCR3 = 0; /* Comparator 3 disabled. */
pwmp->pd_tim->CCR4 = 0; /* Comparator 4 disabled. */ pwmp->tim->CCR4 = 0; /* Comparator 4 disabled. */
pwmp->pd_tim->CNT = 0; pwmp->tim->CNT = 0;
} }
/* Timer configuration.*/ /* Timer configuration.*/
pwmp->pd_tim->CR2 = pwmp->pd_config->pc_cr2; pwmp->tim->CR2 = pwmp->config->cr2;
pwmp->pd_tim->PSC = pwmp->pd_config->pc_psc; pwmp->tim->PSC = pwmp->config->psc;
pwmp->pd_tim->ARR = pwmp->pd_config->pc_arr; pwmp->tim->ARR = pwmp->config->arr;
/* Output enables and polarities setup.*/ /* Output enables and polarities setup.*/
ccer = 0; ccer = 0;
switch (pwmp->pd_config->pc_channels[0].pcc_mode) { switch (pwmp->config->channels[0].mode) {
case PWM_OUTPUT_ACTIVE_LOW: case PWM_OUTPUT_ACTIVE_LOW:
ccer |= TIM_CCER_CC1P; ccer |= TIM_CCER_CC1P;
case PWM_OUTPUT_ACTIVE_HIGH: case PWM_OUTPUT_ACTIVE_HIGH:
@ -388,7 +388,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
default: default:
; ;
} }
switch (pwmp->pd_config->pc_channels[1].pcc_mode) { switch (pwmp->config->channels[1].mode) {
case PWM_OUTPUT_ACTIVE_LOW: case PWM_OUTPUT_ACTIVE_LOW:
ccer |= TIM_CCER_CC2P; ccer |= TIM_CCER_CC2P;
case PWM_OUTPUT_ACTIVE_HIGH: case PWM_OUTPUT_ACTIVE_HIGH:
@ -396,7 +396,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
default: default:
; ;
} }
switch (pwmp->pd_config->pc_channels[2].pcc_mode) { switch (pwmp->config->channels[2].mode) {
case PWM_OUTPUT_ACTIVE_LOW: case PWM_OUTPUT_ACTIVE_LOW:
ccer |= TIM_CCER_CC3P; ccer |= TIM_CCER_CC3P;
case PWM_OUTPUT_ACTIVE_HIGH: case PWM_OUTPUT_ACTIVE_HIGH:
@ -404,7 +404,7 @@ void pwm_lld_start(PWMDriver *pwmp) {
default: default:
; ;
} }
switch (pwmp->pd_config->pc_channels[3].pcc_mode) { switch (pwmp->config->channels[3].mode) {
case PWM_OUTPUT_ACTIVE_LOW: case PWM_OUTPUT_ACTIVE_LOW:
ccer |= TIM_CCER_CC4P; ccer |= TIM_CCER_CC4P;
case PWM_OUTPUT_ACTIVE_HIGH: case PWM_OUTPUT_ACTIVE_HIGH:
@ -412,13 +412,13 @@ void pwm_lld_start(PWMDriver *pwmp) {
default: default:
; ;
} }
pwmp->pd_tim->CCER = ccer; pwmp->tim->CCER = ccer;
pwmp->pd_tim->EGR = TIM_EGR_UG; /* Update event. */ pwmp->tim->EGR = TIM_EGR_UG; /* Update event. */
pwmp->pd_tim->SR = 0; /* Clear pending IRQs. */ pwmp->tim->SR = 0; /* Clear pending IRQs. */
pwmp->pd_tim->DIER = pwmp->pd_config->pc_callback == NULL ? 0 : TIM_DIER_UIE; pwmp->tim->DIER = pwmp->config->callback == NULL ? 0 : TIM_DIER_UIE;
pwmp->pd_tim->BDTR = TIM_BDTR_MOE; pwmp->tim->BDTR = TIM_BDTR_MOE;
/* Timer configured and started.*/ /* Timer configured and started.*/
pwmp->pd_tim->CR1 = TIM_CR1_ARPE | TIM_CR1_URS | TIM_CR1_CEN; pwmp->tim->CR1 = TIM_CR1_ARPE | TIM_CR1_URS | TIM_CR1_CEN;
} }
/** /**
@ -431,19 +431,19 @@ void pwm_lld_start(PWMDriver *pwmp) {
void pwm_lld_stop(PWMDriver *pwmp) { void pwm_lld_stop(PWMDriver *pwmp) {
/* If in ready state then disables the PWM clock.*/ /* If in ready state then disables the PWM clock.*/
if (pwmp->pd_state == PWM_READY) { if (pwmp->state == PWM_READY) {
pwmp->pd_enabled_channels = 0; /* All channels disabled. */ pwmp->enabled_channels = 0; /* All channels disabled. */
pwmp->pd_tim->CR1 = 0; pwmp->tim->CR1 = 0;
pwmp->pd_tim->CR2 = 0; pwmp->tim->CR2 = 0;
pwmp->pd_tim->CCER = 0; /* Outputs disabled. */ pwmp->tim->CCER = 0; /* Outputs disabled. */
pwmp->pd_tim->CCR1 = 0; /* Comparator 1 disabled. */ pwmp->tim->CCR1 = 0; /* Comparator 1 disabled. */
pwmp->pd_tim->CCR2 = 0; /* Comparator 2 disabled. */ pwmp->tim->CCR2 = 0; /* Comparator 2 disabled. */
pwmp->pd_tim->CCR3 = 0; /* Comparator 3 disabled. */ pwmp->tim->CCR3 = 0; /* Comparator 3 disabled. */
pwmp->pd_tim->CCR4 = 0; /* Comparator 4 disabled. */ pwmp->tim->CCR4 = 0; /* Comparator 4 disabled. */
pwmp->pd_tim->BDTR = 0; pwmp->tim->BDTR = 0;
pwmp->pd_tim->DIER = 0; pwmp->tim->DIER = 0;
pwmp->pd_tim->SR = 0; pwmp->tim->SR = 0;
pwmp->pd_tim->EGR = TIM_EGR_UG; /* Update event. */ pwmp->tim->EGR = TIM_EGR_UG; /* Update event. */
#if STM32_PWM_USE_TIM1 #if STM32_PWM_USE_TIM1
if (&PWMD1 == pwmp) { if (&PWMD1 == pwmp) {
@ -492,15 +492,15 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
pwmchannel_t channel, pwmchannel_t channel,
pwmcnt_t width) { pwmcnt_t width) {
*(&pwmp->pd_tim->CCR1 + (channel * 2)) = width; /* New duty cycle. */ *(&pwmp->tim->CCR1 + (channel * 2)) = width; /* New duty cycle. */
if ((pwmp->pd_enabled_channels & (1 << channel)) == 0) { if ((pwmp->enabled_channels & (1 << channel)) == 0) {
/* The channel is not enabled yet.*/ /* The channel is not enabled yet.*/
pwmp->pd_enabled_channels |= (1 << channel); pwmp->enabled_channels |= (1 << channel);
/* If there is a callback associated to the channel then the proper /* If there is a callback associated to the channel then the proper
interrupt is cleared and enabled.*/ interrupt is cleared and enabled.*/
if (pwmp->pd_config->pc_channels[channel].pcc_callback) { if (pwmp->config->channels[channel].callback) {
pwmp->pd_tim->SR = ~(2 << channel); pwmp->tim->SR = ~(2 << channel);
pwmp->pd_tim->DIER |= (2 << channel); pwmp->tim->DIER |= (2 << channel);
} }
} }
} }
@ -517,9 +517,9 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
*/ */
void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) { void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
*(&pwmp->pd_tim->CCR1 + (channel * 2)) = 0; *(&pwmp->tim->CCR1 + (channel * 2)) = 0;
pwmp->pd_tim->DIER &= ~(2 << channel); pwmp->tim->DIER &= ~(2 << channel);
pwmp->pd_enabled_channels &= ~(1 << channel); pwmp->enabled_channels &= ~(1 << channel);
} }
#endif /* HAL_USE_PWM */ #endif /* HAL_USE_PWM */

28
os/hal/platforms/STM32/pwm_lld.h
View File

@ -186,13 +186,13 @@ typedef struct {
/** /**
* @brief Channel active logic level. * @brief Channel active logic level.
*/ */
pwmmode_t pcc_mode; pwmmode_t mode;
/** /**
* @brief Channel callback pointer. * @brief Channel callback pointer.
* @note This callback is invoked on the channel compare event. If set to * @note This callback is invoked on the channel compare event. If set to
* @p NULL then the callback is disabled. * @p NULL then the callback is disabled.
*/ */
pwmcallback_t pcc_callback; pwmcallback_t callback;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
} PWMChannelConfig; } PWMChannelConfig;
@ -205,25 +205,25 @@ typedef struct {
* @note This callback is invoked on PWM counter reset. If set to * @note This callback is invoked on PWM counter reset. If set to
* @p NULL then the callback is disabled. * @p NULL then the callback is disabled.
*/ */
pwmcallback_t pc_callback; pwmcallback_t callback;
/** /**
* @brief Channels configurations. * @brief Channels configurations.
*/ */
PWMChannelConfig pc_channels[PWM_CHANNELS]; PWMChannelConfig channels[PWM_CHANNELS];
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
/** /**
* @brief TIM PSC (pre-scaler) register initialization data. * @brief TIM PSC (pre-scaler) register initialization data.
*/ */
uint16_t pc_psc; uint16_t psc;
/** /**
* @brief TIM ARR (auto-reload) register initialization data. * @brief TIM ARR (auto-reload) register initialization data.
*/ */
uint16_t pc_arr; uint16_t arr;
/** /**
* @brief TIM CR2 register initialization data. * @brief TIM CR2 register initialization data.
* @note The value of this field should normally be equal to zero. * @note The value of this field should normally be equal to zero.
*/ */
uint16_t pc_cr2; uint16_t cr2;
} PWMConfig; } PWMConfig;
/** /**
@ -233,11 +233,11 @@ struct PWMDriver {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
pwmstate_t pd_state; pwmstate_t state;
/** /**
* @brief Current driver configuration data. * @brief Current driver configuration data.
*/ */
const PWMConfig *pd_config; const PWMConfig *config;
#if defined(PWM_DRIVER_EXT_FIELDS) #if defined(PWM_DRIVER_EXT_FIELDS)
PWM_DRIVER_EXT_FIELDS PWM_DRIVER_EXT_FIELDS
#endif #endif
@ -245,11 +245,11 @@ struct PWMDriver {
/** /**
* @brief Bit mask of the enabled channels. * @brief Bit mask of the enabled channels.
*/ */
uint32_t pd_enabled_channels; uint32_t enabled_channels;
/** /**
* @brief Pointer to the TIMx registers block. * @brief Pointer to the TIMx registers block.
*/ */
TIM_TypeDef *pd_tim; TIM_TypeDef *tim;
}; };
/*===========================================================================*/ /*===========================================================================*/
@ -272,7 +272,7 @@ struct PWMDriver {
* and/or the STM32 Reference Manual for the right clock * and/or the STM32 Reference Manual for the right clock
* source. * source.
* @param[in] pwmclk PWM clock frequency in cycles * @param[in] pwmclk PWM clock frequency in cycles
* @return The value to be stored in the @p pc_psc field of the * @return The value to be stored in the @p psc field of the
* @p PWMConfig structure. * @p PWMConfig structure.
*/ */
#define PWM_COMPUTE_PSC(clksrc, pwmclk) \ #define PWM_COMPUTE_PSC(clksrc, pwmclk) \
@ -284,7 +284,7 @@ struct PWMDriver {
* *
* @param[in] pwmclk PWM clock frequency in cycles * @param[in] pwmclk PWM clock frequency in cycles
* @param[in] pwmperiod PWM cycle period in nanoseconds * @param[in] pwmperiod PWM cycle period in nanoseconds
* @return The value to be stored in the @p pc_arr field of the * @return The value to be stored in the @p arr field of the
* @p PWMConfig structure. * @p PWMConfig structure.
*/ */
#define PWM_COMPUTE_ARR(pwmclk, pwmperiod) \ #define PWM_COMPUTE_ARR(pwmclk, pwmperiod) \
@ -305,7 +305,7 @@ struct PWMDriver {
* @api * @api
*/ */
#define PWM_FRACTION_TO_WIDTH(pwmp, numerator, denominator) \ #define PWM_FRACTION_TO_WIDTH(pwmp, numerator, denominator) \
((uint16_t)((((uint32_t)(pwmp)->pd_config->pc_arr + 1UL) * \ ((uint16_t)((((uint32_t)(pwmp)->config->arr + 1UL) * \
(uint32_t)(denominator)) / (uint32_t)(numerator))) (uint32_t)(denominator)) / (uint32_t)(numerator)))
/** /**

96
os/hal/platforms/STM32/spi_lld.c
View File

@ -66,8 +66,8 @@ static uint16_t dummyrx;
* @param[in] spip pointer to the @p SPIDriver object * @param[in] spip pointer to the @p SPIDriver object
*/ */
#define dma_stop(spip) { \ #define dma_stop(spip) { \
dmaChannelDisable(spip->spd_dmatx); \ dmaChannelDisable(spip->dmatx); \
dmaChannelDisable(spip->spd_dmarx); \ dmaChannelDisable(spip->dmarx); \
} }
/** /**
@ -76,8 +76,8 @@ static uint16_t dummyrx;
* @param[in] spip pointer to the @p SPIDriver object * @param[in] spip pointer to the @p SPIDriver object
*/ */
#define dma_start(spip) { \ #define dma_start(spip) { \
dmaChannelEnable((spip)->spd_dmarx); \ dmaChannelEnable((spip)->dmarx); \
dmaChannelEnable((spip)->spd_dmatx); \ dmaChannelEnable((spip)->dmatx); \
} }
/** /**
@ -219,26 +219,26 @@ void spi_lld_init(void) {
#if STM32_SPI_USE_SPI1 #if STM32_SPI_USE_SPI1
spiObjectInit(&SPID1); spiObjectInit(&SPID1);
SPID1.spd_thread = NULL; SPID1.thread = NULL;
SPID1.spd_spi = SPI1; SPID1.spi = SPI1;
SPID1.spd_dmarx = STM32_DMA1_CH2; SPID1.dmarx = STM32_DMA1_CH2;
SPID1.spd_dmatx = STM32_DMA1_CH3; SPID1.dmatx = STM32_DMA1_CH3;
#endif #endif
#if STM32_SPI_USE_SPI2 #if STM32_SPI_USE_SPI2
spiObjectInit(&SPID2); spiObjectInit(&SPID2);
SPID2.spd_thread = NULL; SPID2.thread = NULL;
SPID2.spd_spi = SPI2; SPID2.spi = SPI2;
SPID2.spd_dmarx = STM32_DMA1_CH4; SPID2.dmarx = STM32_DMA1_CH4;
SPID2.spd_dmatx = STM32_DMA1_CH5; SPID2.dmatx = STM32_DMA1_CH5;
#endif #endif
#if STM32_SPI_USE_SPI3 #if STM32_SPI_USE_SPI3
spiObjectInit(&SPID3); spiObjectInit(&SPID3);
SPID3.spd_thread = NULL; SPID3.thread = NULL;
SPID3.spd_spi = SPI3; SPID3.spi = SPI3;
SPID3.spd_dmarx = STM32_DMA2_CH1; SPID3.dmarx = STM32_DMA2_CH1;
SPID3.spd_dmatx = STM32_DMA2_CH2; SPID3.dmatx = STM32_DMA2_CH2;
#endif #endif
} }
@ -252,7 +252,7 @@ void spi_lld_init(void) {
void spi_lld_start(SPIDriver *spip) { void spi_lld_start(SPIDriver *spip) {
/* If in stopped state then enables the SPI and DMA clocks.*/ /* If in stopped state then enables the SPI and DMA clocks.*/
if (spip->spd_state == SPI_STOP) { if (spip->state == SPI_STOP) {
#if STM32_SPI_USE_SPI1 #if STM32_SPI_USE_SPI1
if (&SPID1 == spip) { if (&SPID1 == spip) {
dmaEnable(DMA1_ID); /* NOTE: Must be enabled before the IRQs.*/ dmaEnable(DMA1_ID); /* NOTE: Must be enabled before the IRQs.*/
@ -285,23 +285,23 @@ void spi_lld_start(SPIDriver *spip) {
#endif #endif
/* DMA setup.*/ /* DMA setup.*/
dmaChannelSetPeripheral(spip->spd_dmarx, &spip->spd_spi->DR); dmaChannelSetPeripheral(spip->dmarx, &spip->spi->DR);
dmaChannelSetPeripheral(spip->spd_dmatx, &spip->spd_spi->DR); dmaChannelSetPeripheral(spip->dmatx, &spip->spi->DR);
} }
/* More DMA setup.*/ /* More DMA setup.*/
if ((spip->spd_config->spc_cr1 & SPI_CR1_DFF) == 0) if ((spip->config->cr1 & SPI_CR1_DFF) == 0)
spip->spd_dmaccr = (STM32_SPI_SPI2_DMA_PRIORITY << 12) | spip->dmaccr = (STM32_SPI_SPI2_DMA_PRIORITY << 12) |
DMA_CCR1_TEIE; /* 8 bits transfers. */ DMA_CCR1_TEIE; /* 8 bits transfers. */
else else
spip->spd_dmaccr = (STM32_SPI_SPI2_DMA_PRIORITY << 12) | spip->dmaccr = (STM32_SPI_SPI2_DMA_PRIORITY << 12) |
DMA_CCR1_TEIE | DMA_CCR1_MSIZE_0 | DMA_CCR1_TEIE | DMA_CCR1_MSIZE_0 |
DMA_CCR1_PSIZE_0; /* 16 bits transfers. */ DMA_CCR1_PSIZE_0; /* 16 bits transfers. */
/* SPI setup and enable.*/ /* SPI setup and enable.*/
spip->spd_spi->CR1 = 0; spip->spi->CR1 = 0;
spip->spd_spi->CR2 = SPI_CR2_SSOE | SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN; spip->spi->CR2 = SPI_CR2_SSOE | SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN;
spip->spd_spi->CR1 = spip->spd_config->spc_cr1 | SPI_CR1_MSTR | SPI_CR1_SPE; spip->spi->CR1 = spip->config->cr1 | SPI_CR1_MSTR | SPI_CR1_SPE;
} }
/** /**
@ -314,10 +314,10 @@ void spi_lld_start(SPIDriver *spip) {
void spi_lld_stop(SPIDriver *spip) { void spi_lld_stop(SPIDriver *spip) {
/* If in ready state then disables the SPI clock.*/ /* If in ready state then disables the SPI clock.*/
if (spip->spd_state == SPI_READY) { if (spip->state == SPI_READY) {
/* SPI disable.*/ /* SPI disable.*/
spip->spd_spi->CR1 = 0; spip->spi->CR1 = 0;
#if STM32_SPI_USE_SPI1 #if STM32_SPI_USE_SPI1
if (&SPID1 == spip) { if (&SPID1 == spip) {
@ -355,7 +355,7 @@ void spi_lld_stop(SPIDriver *spip) {
*/ */
void spi_lld_select(SPIDriver *spip) { void spi_lld_select(SPIDriver *spip) {
palClearPad(spip->spd_config->spc_ssport, spip->spd_config->spc_sspad); palClearPad(spip->config->ssport, spip->config->sspad);
} }
/** /**
@ -368,7 +368,7 @@ void spi_lld_select(SPIDriver *spip) {
*/ */
void spi_lld_unselect(SPIDriver *spip) { void spi_lld_unselect(SPIDriver *spip) {
palSetPad(spip->spd_config->spc_ssport, spip->spd_config->spc_sspad); palSetPad(spip->config->ssport, spip->config->sspad);
} }
/** /**
@ -384,10 +384,10 @@ void spi_lld_unselect(SPIDriver *spip) {
*/ */
void spi_lld_ignore(SPIDriver *spip, size_t n) { void spi_lld_ignore(SPIDriver *spip, size_t n) {
dmaChannelSetup(spip->spd_dmarx, n, &dummyrx, dmaChannelSetup(spip->dmarx, n, &dummyrx,
spip->spd_dmaccr | DMA_CCR1_TCIE | DMA_CCR1_EN); spip->dmaccr | DMA_CCR1_TCIE | DMA_CCR1_EN);
dmaChannelSetup(spip->spd_dmatx, n, &dummytx, dmaChannelSetup(spip->dmatx, n, &dummytx,
spip->spd_dmaccr | DMA_CCR1_DIR | DMA_CCR1_EN); spip->dmaccr | DMA_CCR1_DIR | DMA_CCR1_EN);
} }
/** /**
@ -408,11 +408,11 @@ void spi_lld_ignore(SPIDriver *spip, size_t n) {
void spi_lld_exchange(SPIDriver *spip, size_t n, void spi_lld_exchange(SPIDriver *spip, size_t n,
const void *txbuf, void *rxbuf) { const void *txbuf, void *rxbuf) {
dmaChannelSetup(spip->spd_dmarx, n, rxbuf, dmaChannelSetup(spip->dmarx, n, rxbuf,
spip->spd_dmaccr | DMA_CCR1_TCIE | DMA_CCR1_MINC | spip->dmaccr | DMA_CCR1_TCIE | DMA_CCR1_MINC |
DMA_CCR1_EN); DMA_CCR1_EN);
dmaChannelSetup(spip->spd_dmatx, n, txbuf, dmaChannelSetup(spip->dmatx, n, txbuf,
spip->spd_dmaccr | DMA_CCR1_DIR | DMA_CCR1_MINC | spip->dmaccr | DMA_CCR1_DIR | DMA_CCR1_MINC |
DMA_CCR1_EN); DMA_CCR1_EN);
} }
@ -431,10 +431,10 @@ void spi_lld_exchange(SPIDriver *spip, size_t n,
*/ */
void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) { void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
dmaChannelSetup(spip->spd_dmarx, n, &dummyrx, dmaChannelSetup(spip->dmarx, n, &dummyrx,
spip->spd_dmaccr | DMA_CCR1_TCIE | DMA_CCR1_EN); spip->dmaccr | DMA_CCR1_TCIE | DMA_CCR1_EN);
dmaChannelSetup(spip->spd_dmatx, n, txbuf, dmaChannelSetup(spip->dmatx, n, txbuf,
spip->spd_dmaccr | DMA_CCR1_DIR | DMA_CCR1_MINC | spip->dmaccr | DMA_CCR1_DIR | DMA_CCR1_MINC |
DMA_CCR1_EN); DMA_CCR1_EN);
} }
@ -453,11 +453,11 @@ void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
*/ */
void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) { void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
dmaChannelSetup(spip->spd_dmarx, n, rxbuf, dmaChannelSetup(spip->dmarx, n, rxbuf,
spip->spd_dmaccr | DMA_CCR1_TCIE | DMA_CCR1_MINC | spip->dmaccr | DMA_CCR1_TCIE | DMA_CCR1_MINC |
DMA_CCR1_EN); DMA_CCR1_EN);
dmaChannelSetup(spip->spd_dmatx, n, &dummytx, dmaChannelSetup(spip->dmatx, n, &dummytx,
spip->spd_dmaccr | DMA_CCR1_DIR | DMA_CCR1_EN); spip->dmaccr | DMA_CCR1_DIR | DMA_CCR1_EN);
} }
/** /**
@ -474,10 +474,10 @@ void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
*/ */
uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) { uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) {
spip->spd_spi->DR = frame; spip->spi->DR = frame;
while ((spip->spd_spi->SR & SPI_SR_RXNE) == 0) while ((spip->spi->SR & SPI_SR_RXNE) == 0)
; ;
return spip->spd_spi->DR; return spip->spi->DR;
} }
#endif /* HAL_USE_SPI */ #endif /* HAL_USE_SPI */

26
os/hal/platforms/STM32/spi_lld.h
View File

@ -187,20 +187,20 @@ typedef struct {
/** /**
* @brief Operation complete callback or @p NULL. * @brief Operation complete callback or @p NULL.
*/ */
spicallback_t spc_endcb; spicallback_t end_cb;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
/** /**
* @brief The chip select line port. * @brief The chip select line port.
*/ */
ioportid_t spc_ssport; ioportid_t ssport;
/** /**
* @brief The chip select line pad number. * @brief The chip select line pad number.
*/ */
uint16_t spc_sspad; uint16_t sspad;
/** /**
* @brief SPI initialization data. * @brief SPI initialization data.
*/ */
uint16_t spc_cr1; uint16_t cr1;
} SPIConfig; } SPIConfig;
/** /**
@ -210,25 +210,25 @@ struct SPIDriver{
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
spistate_t spd_state; spistate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const SPIConfig *spd_config; const SPIConfig *config;
#if SPI_USE_WAIT || defined(__DOXYGEN__) #if SPI_USE_WAIT || defined(__DOXYGEN__)
/** /**
* @brief Waiting thread. * @brief Waiting thread.
*/ */
Thread *spd_thread; Thread *thread;
#endif /* SPI_USE_WAIT */ #endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) #if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
#if CH_USE_MUTEXES || defined(__DOXYGEN__) #if CH_USE_MUTEXES || defined(__DOXYGEN__)
/** /**
* @brief Mutex protecting the bus. * @brief Mutex protecting the bus.
*/ */
Mutex spd_mutex; Mutex mutex;
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
Semaphore spd_semaphore; Semaphore semaphore;
#endif #endif
#endif /* SPI_USE_MUTUAL_EXCLUSION */ #endif /* SPI_USE_MUTUAL_EXCLUSION */
#if defined(SPI_DRIVER_EXT_FIELDS) #if defined(SPI_DRIVER_EXT_FIELDS)
@ -238,19 +238,19 @@ struct SPIDriver{
/** /**
* @brief Pointer to the SPIx registers block. * @brief Pointer to the SPIx registers block.
*/ */
SPI_TypeDef *spd_spi; SPI_TypeDef *spi;
/** /**
* @brief Pointer to the receive DMA channel registers block. * @brief Pointer to the receive DMA channel registers block.
*/ */
stm32_dma_channel_t *spd_dmarx; stm32_dma_channel_t *dmarx;
/** /**
* @brief Pointer to the transmit DMA channel registers block. * @brief Pointer to the transmit DMA channel registers block.
*/ */
stm32_dma_channel_t *spd_dmatx; stm32_dma_channel_t *dmatx;
/** /**
* @brief DMA priority bit mask. * @brief DMA priority bit mask.
*/ */
uint32_t spd_dmaccr; uint32_t dmaccr;
}; };
/*===========================================================================*/ /*===========================================================================*/

168
os/hal/platforms/STM32/uart_lld.c
View File

@ -90,13 +90,13 @@ static void set_rx_idle_loop(UARTDriver *uartp) {
/* RX DMA channel preparation, if the char callback is defined then the /* RX DMA channel preparation, if the char callback is defined then the
TCIE interrupt is enabled too.*/ TCIE interrupt is enabled too.*/
if (uartp->ud_config->uc_rxchar == NULL) if (uartp->config->rxchar_cb == NULL)
ccr = DMA_CCR1_CIRC | DMA_CCR1_TEIE; ccr = DMA_CCR1_CIRC | DMA_CCR1_TEIE;
else else
ccr = DMA_CCR1_CIRC | DMA_CCR1_TEIE | DMA_CCR1_TCIE; ccr = DMA_CCR1_CIRC | DMA_CCR1_TEIE | DMA_CCR1_TCIE;
dmaSetupChannel(uartp->ud_dmap, uartp->ud_dmarx, 1, dmaSetupChannel(uartp->dmap, uartp->dmarx, 1,
&uartp->ud_rxbuf, uartp->ud_dmaccr | ccr); &uartp->rxbuf, uartp->dmaccr | ccr);
dmaEnableChannel(uartp->ud_dmap, uartp->ud_dmarx); dmaEnableChannel(uartp->dmap, uartp->dmarx);
} }
/** /**
@ -108,15 +108,15 @@ static void set_rx_idle_loop(UARTDriver *uartp) {
static void usart_stop(UARTDriver *uartp) { static void usart_stop(UARTDriver *uartp) {
/* Stops RX and TX DMA channels.*/ /* Stops RX and TX DMA channels.*/
dmaDisableChannel(uartp->ud_dmap, uartp->ud_dmarx); dmaDisableChannel(uartp->dmap, uartp->dmarx);
dmaDisableChannel(uartp->ud_dmap, uartp->ud_dmatx); dmaDisableChannel(uartp->dmap, uartp->dmatx);
dmaClearChannel(uartp->ud_dmap, uartp->ud_dmarx); dmaClearChannel(uartp->dmap, uartp->dmarx);
dmaClearChannel(uartp->ud_dmap, uartp->ud_dmatx); dmaClearChannel(uartp->dmap, uartp->dmatx);
/* Stops USART operations.*/ /* Stops USART operations.*/
uartp->ud_usart->CR1 = 0; uartp->usart->CR1 = 0;
uartp->ud_usart->CR2 = 0; uartp->usart->CR2 = 0;
uartp->ud_usart->CR3 = 0; uartp->usart->CR3 = 0;
} }
/** /**
@ -127,16 +127,16 @@ static void usart_stop(UARTDriver *uartp) {
*/ */
static void usart_start(UARTDriver *uartp) { static void usart_start(UARTDriver *uartp) {
uint16_t cr1; uint16_t cr1;
USART_TypeDef *u = uartp->ud_usart; USART_TypeDef *u = uartp->usart;
/* Defensive programming, starting from a clean state.*/ /* Defensive programming, starting from a clean state.*/
usart_stop(uartp); usart_stop(uartp);
/* Baud rate setting.*/ /* Baud rate setting.*/
if (uartp->ud_usart == USART1) if (uartp->usart == USART1)
u->BRR = STM32_PCLK2 / uartp->ud_config->uc_speed; u->BRR = STM32_PCLK2 / uartp->config->speed;
else else
u->BRR = STM32_PCLK1 / uartp->ud_config->uc_speed; u->BRR = STM32_PCLK1 / uartp->config->speed;
/* Resetting eventual pending status flags.*/ /* Resetting eventual pending status flags.*/
(void)u->SR; /* SR reset step 1.*/ (void)u->SR; /* SR reset step 1.*/
@ -145,14 +145,14 @@ static void usart_start(UARTDriver *uartp) {
/* Note that some bits are enforced because required for correct driver /* Note that some bits are enforced because required for correct driver
operations.*/ operations.*/
if (uartp->ud_config->uc_txend2 == NULL) if (uartp->config->txend2_cb == NULL)
cr1 = USART_CR1_UE | USART_CR1_PEIE | USART_CR1_TE | USART_CR1_RE; cr1 = USART_CR1_UE | USART_CR1_PEIE | USART_CR1_TE | USART_CR1_RE;
else else
cr1 = USART_CR1_UE | USART_CR1_PEIE | USART_CR1_TE | USART_CR1_RE | cr1 = USART_CR1_UE | USART_CR1_PEIE | USART_CR1_TE | USART_CR1_RE |
USART_CR1_TCIE; USART_CR1_TCIE;
u->CR1 = uartp->ud_config->uc_cr1 | cr1; u->CR1 = uartp->config->cr1 | cr1;
u->CR2 = uartp->ud_config->uc_cr2 | USART_CR2_LBDIE; u->CR2 = uartp->config->cr2 | USART_CR2_LBDIE;
u->CR3 = uartp->ud_config->uc_cr3 | USART_CR3_DMAT | USART_CR3_DMAR | u->CR3 = uartp->config->cr3 | USART_CR3_DMAT | USART_CR3_DMAR |
USART_CR3_EIE; USART_CR3_EIE;
/* Starting the receiver idle loop.*/ /* Starting the receiver idle loop.*/
@ -166,13 +166,13 @@ static void usart_start(UARTDriver *uartp) {
*/ */
static void serve_rx_end_irq(UARTDriver *uartp) { static void serve_rx_end_irq(UARTDriver *uartp) {
uartp->ud_rxstate = UART_RX_COMPLETE; uartp->rxstate = UART_RX_COMPLETE;
if (uartp->ud_config->uc_rxend != NULL) if (uartp->config->rxend_cb != NULL)
uartp->ud_config->uc_rxend(uartp); uartp->config->rxend_cb(uartp);
/* If the callback didn't explicitly change state then the receiver /* If the callback didn't explicitly change state then the receiver
automatically returns to the idle state.*/ automatically returns to the idle state.*/
if (uartp->ud_rxstate == UART_RX_COMPLETE) { if (uartp->rxstate == UART_RX_COMPLETE) {
uartp->ud_rxstate = UART_RX_IDLE; uartp->rxstate = UART_RX_IDLE;
set_rx_idle_loop(uartp); set_rx_idle_loop(uartp);
} }
} }
@ -185,13 +185,13 @@ static void serve_rx_end_irq(UARTDriver *uartp) {
static void serve_tx_end_irq(UARTDriver *uartp) { static void serve_tx_end_irq(UARTDriver *uartp) {
/* A callback is generated, if enabled, after a completed transfer.*/ /* A callback is generated, if enabled, after a completed transfer.*/
uartp->ud_txstate = UART_TX_COMPLETE; uartp->txstate = UART_TX_COMPLETE;
if (uartp->ud_config->uc_txend1 != NULL) if (uartp->config->txend1_cb != NULL)
uartp->ud_config->uc_txend1(uartp); uartp->config->txend1_cb(uartp);
/* If the callback didn't explicitly change state then the transmitter /* If the callback didn't explicitly change state then the transmitter
automatically returns to the idle state.*/ automatically returns to the idle state.*/
if (uartp->ud_txstate == UART_TX_COMPLETE) if (uartp->txstate == UART_TX_COMPLETE)
uartp->ud_txstate = UART_TX_IDLE; uartp->txstate = UART_TX_IDLE;
} }
/** /**
* @brief USART common service routine. * @brief USART common service routine.
@ -200,21 +200,21 @@ static void serve_tx_end_irq(UARTDriver *uartp) {
*/ */
static void serve_usart_irq(UARTDriver *uartp) { static void serve_usart_irq(UARTDriver *uartp) {
uint16_t sr; uint16_t sr;
USART_TypeDef *u = uartp->ud_usart; USART_TypeDef *u = uartp->usart;
sr = u->SR; /* SR reset step 1.*/ sr = u->SR; /* SR reset step 1.*/
(void)u->DR; /* SR reset step 2.*/ (void)u->DR; /* SR reset step 2.*/
if (sr & (USART_SR_LBD | USART_SR_ORE | USART_SR_NE | if (sr & (USART_SR_LBD | USART_SR_ORE | USART_SR_NE |
USART_SR_FE | USART_SR_PE)) { USART_SR_FE | USART_SR_PE)) {
u->SR = ~USART_SR_LBD; u->SR = ~USART_SR_LBD;
if (uartp->ud_config->uc_rxerr != NULL) if (uartp->config->rxerr_cb != NULL)
uartp->ud_config->uc_rxerr(uartp, translate_errors(sr)); uartp->config->rxerr_cb(uartp, translate_errors(sr));
} }
if (sr & USART_SR_TC) { if (sr & USART_SR_TC) {
u->SR = ~USART_SR_TC; u->SR = ~USART_SR_TC;
/* End of transmission, a callback is generated.*/ /* End of transmission, a callback is generated.*/
if (uartp->ud_config->uc_txend2 != NULL) if (uartp->config->txend2_cb != NULL)
uartp->ud_config->uc_txend2(uartp); uartp->config->txend2_cb(uartp);
} }
} }
@ -237,13 +237,13 @@ CH_IRQ_HANDLER(DMA1_Ch5_IRQHandler) {
if ((STM32_DMA1->ISR & DMA_ISR_TEIF5) != 0) { if ((STM32_DMA1->ISR & DMA_ISR_TEIF5) != 0) {
STM32_UART_USART1_DMA_ERROR_HOOK(); STM32_UART_USART1_DMA_ERROR_HOOK();
} }
if (uartp->ud_rxstate == UART_RX_IDLE) { if (uartp->rxstate == UART_RX_IDLE) {
dmaClearChannel(STM32_DMA1, STM32_DMA_CHANNEL_5); dmaClearChannel(STM32_DMA1, STM32_DMA_CHANNEL_5);
/* Fast IRQ path, this is why it is not centralized in serve_rx_end_irq().*/ /* Fast IRQ path, this is why it is not centralized in serve_rx_end_irq().*/
/* Receiver in idle state, a callback is generated, if enabled, for each /* Receiver in idle state, a callback is generated, if enabled, for each
received character and then the driver stays in the same state.*/ received character and then the driver stays in the same state.*/
if (uartp->ud_config->uc_rxchar != NULL) if (uartp->config->rxchar_cb != NULL)
uartp->ud_config->uc_rxchar(uartp, uartp->ud_rxbuf); uartp->config->rxchar_cb(uartp, uartp->rxbuf);
} }
else { else {
/* Receiver in active state, a callback is generated, if enabled, after /* Receiver in active state, a callback is generated, if enabled, after
@ -305,13 +305,13 @@ CH_IRQ_HANDLER(DMA1_Ch6_IRQHandler) {
if ((STM32_DMA1->ISR & DMA_ISR_TEIF6) != 0) { if ((STM32_DMA1->ISR & DMA_ISR_TEIF6) != 0) {
STM32_UART_USART2_DMA_ERROR_HOOK(); STM32_UART_USART2_DMA_ERROR_HOOK();
} }
if (uartp->ud_rxstate == UART_RX_IDLE) { if (uartp->rxstate == UART_RX_IDLE) {
dmaClearChannel(STM32_DMA1, STM32_DMA_CHANNEL_6); dmaClearChannel(STM32_DMA1, STM32_DMA_CHANNEL_6);
/* Fast IRQ path, this is why it is not centralized in serve_rx_end_irq().*/ /* Fast IRQ path, this is why it is not centralized in serve_rx_end_irq().*/
/* Receiver in idle state, a callback is generated, if enabled, for each /* Receiver in idle state, a callback is generated, if enabled, for each
received character and then the driver stays in the same state.*/ received character and then the driver stays in the same state.*/
if (uartp->ud_config->uc_rxchar != NULL) if (uartp->config->rxchar_cb != NULL)
uartp->ud_config->uc_rxchar(uartp, uartp->ud_rxbuf); uartp->config->rxchar_cb(uartp, uartp->rxbuf);
} }
else { else {
/* Receiver in active state, a callback is generated, if enabled, after /* Receiver in active state, a callback is generated, if enabled, after
@ -373,13 +373,13 @@ CH_IRQ_HANDLER(DMA1_Ch3_IRQHandler) {
if ((STM32_DMA1->ISR & DMA_ISR_TEIF3) != 0) { if ((STM32_DMA1->ISR & DMA_ISR_TEIF3) != 0) {
STM32_UART_USART1_DMA_ERROR_HOOK(); STM32_UART_USART1_DMA_ERROR_HOOK();
} }
if (uartp->ud_rxstate == UART_RX_IDLE) { if (uartp->rxstate == UART_RX_IDLE) {
dmaClearChannel(STM32_DMA1, STM32_DMA_CHANNEL_3); dmaClearChannel(STM32_DMA1, STM32_DMA_CHANNEL_3);
/* Fast IRQ path, this is why it is not centralized in serve_rx_end_irq().*/ /* Fast IRQ path, this is why it is not centralized in serve_rx_end_irq().*/
/* Receiver in idle state, a callback is generated, if enabled, for each /* Receiver in idle state, a callback is generated, if enabled, for each
received character and then the driver stays in the same state.*/ received character and then the driver stays in the same state.*/
if (uartp->ud_config->uc_rxchar != NULL) if (uartp->config->rxchar_cb != NULL)
uartp->ud_config->uc_rxchar(uartp, uartp->ud_rxbuf); uartp->config->rxchar_cb(uartp, uartp->rxbuf);
} }
else { else {
/* Receiver in active state, a callback is generated, if enabled, after /* Receiver in active state, a callback is generated, if enabled, after
@ -439,29 +439,29 @@ void uart_lld_init(void) {
#if STM32_UART_USE_USART1 #if STM32_UART_USE_USART1
uartObjectInit(&UARTD1); uartObjectInit(&UARTD1);
UARTD1.ud_usart = USART1; UARTD1.usart = USART1;
UARTD1.ud_dmap = STM32_DMA1; UARTD1.dmap = STM32_DMA1;
UARTD1.ud_dmarx = STM32_DMA_CHANNEL_5; UARTD1.dmarx = STM32_DMA_CHANNEL_5;
UARTD1.ud_dmatx = STM32_DMA_CHANNEL_4; UARTD1.dmatx = STM32_DMA_CHANNEL_4;
UARTD1.ud_dmaccr = 0; UARTD1.dmaccr = 0;
#endif #endif
#if STM32_UART_USE_USART2 #if STM32_UART_USE_USART2
uartObjectInit(&UARTD2); uartObjectInit(&UARTD2);
UARTD2.ud_usart = USART2; UARTD2.usart = USART2;
UARTD2.ud_dmap = STM32_DMA1; UARTD2.dmap = STM32_DMA1;
UARTD2.ud_dmarx = STM32_DMA_CHANNEL_6; UARTD2.dmarx = STM32_DMA_CHANNEL_6;
UARTD2.ud_dmatx = STM32_DMA_CHANNEL_7; UARTD2.dmatx = STM32_DMA_CHANNEL_7;
UARTD2.ud_dmaccr = 0; UARTD2.dmaccr = 0;
#endif #endif
#if STM32_UART_USE_USART3 #if STM32_UART_USE_USART3
uartObjectInit(&UARTD3); uartObjectInit(&UARTD3);
UARTD3.ud_usart = USART3; UARTD3.usart = USART3;
UARTD3.ud_dmap = STM32_DMA1; UARTD3.dmap = STM32_DMA1;
UARTD3.ud_dmarx = STM32_DMA_CHANNEL_3; UARTD3.dmarx = STM32_DMA_CHANNEL_3;
UARTD3.ud_dmatx = STM32_DMA_CHANNEL_2; UARTD3.dmatx = STM32_DMA_CHANNEL_2;
UARTD3.ud_dmaccr = 0; UARTD3.dmaccr = 0;
#endif #endif
} }
@ -474,7 +474,7 @@ void uart_lld_init(void) {
*/ */
void uart_lld_start(UARTDriver *uartp) { void uart_lld_start(UARTDriver *uartp) {
if (uartp->ud_state == UART_STOP) { if (uartp->state == UART_STOP) {
#if STM32_UART_USE_USART1 #if STM32_UART_USE_USART1
if (&UARTD1 == uartp) { if (&UARTD1 == uartp) {
dmaEnable(DMA1_ID); /* NOTE: Must be enabled before the IRQs.*/ dmaEnable(DMA1_ID); /* NOTE: Must be enabled before the IRQs.*/
@ -516,18 +516,18 @@ void uart_lld_start(UARTDriver *uartp) {
/* Static DMA setup, the transfer size depends on the USART settings, /* Static DMA setup, the transfer size depends on the USART settings,
it is 16 bits if M=1 and PCE=0 else it is 8 bits.*/ it is 16 bits if M=1 and PCE=0 else it is 8 bits.*/
uartp->ud_dmaccr = STM32_UART_USART1_DMA_PRIORITY << 12; uartp->dmaccr = STM32_UART_USART1_DMA_PRIORITY << 12;
if ((uartp->ud_config->uc_cr1 & (USART_CR1_M | USART_CR1_PCE)) == USART_CR1_M) if ((uartp->config->cr1 & (USART_CR1_M | USART_CR1_PCE)) == USART_CR1_M)
uartp->ud_dmaccr |= DMA_CCR1_MSIZE_0 | DMA_CCR1_PSIZE_0; uartp->dmaccr |= DMA_CCR1_MSIZE_0 | DMA_CCR1_PSIZE_0;
dmaChannelSetPeripheral(&uartp->ud_dmap->channels[uartp->ud_dmarx], dmaChannelSetPeripheral(&uartp->dmap->channels[uartp->dmarx],
&uartp->ud_usart->DR); &uartp->usart->DR);
dmaChannelSetPeripheral(&uartp->ud_dmap->channels[uartp->ud_dmatx], dmaChannelSetPeripheral(&uartp->dmap->channels[uartp->dmatx],
&uartp->ud_usart->DR); &uartp->usart->DR);
uartp->ud_rxbuf = 0; uartp->rxbuf = 0;
} }
uartp->ud_rxstate = UART_RX_IDLE; uartp->rxstate = UART_RX_IDLE;
uartp->ud_txstate = UART_TX_IDLE; uartp->txstate = UART_TX_IDLE;
usart_start(uartp); usart_start(uartp);
} }
@ -540,7 +540,7 @@ void uart_lld_start(UARTDriver *uartp) {
*/ */
void uart_lld_stop(UARTDriver *uartp) { void uart_lld_stop(UARTDriver *uartp) {
if (uartp->ud_state == UART_READY) { if (uartp->state == UART_READY) {
usart_stop(uartp); usart_stop(uartp);
#if STM32_UART_USE_USART1 #if STM32_UART_USE_USART1
@ -592,10 +592,10 @@ void uart_lld_stop(UARTDriver *uartp) {
void uart_lld_start_send(UARTDriver *uartp, size_t n, const void *txbuf) { void uart_lld_start_send(UARTDriver *uartp, size_t n, const void *txbuf) {
/* TX DMA channel preparation and start.*/ /* TX DMA channel preparation and start.*/
dmaSetupChannel(uartp->ud_dmap, uartp->ud_dmatx, n, txbuf, dmaSetupChannel(uartp->dmap, uartp->dmatx, n, txbuf,
uartp->ud_dmaccr | DMA_CCR1_DIR | DMA_CCR1_MINC | uartp->dmaccr | DMA_CCR1_DIR | DMA_CCR1_MINC |
DMA_CCR1_TEIE | DMA_CCR1_TCIE); DMA_CCR1_TEIE | DMA_CCR1_TCIE);
dmaEnableChannel(uartp->ud_dmap, uartp->ud_dmatx); dmaEnableChannel(uartp->dmap, uartp->dmatx);
} }
/** /**
@ -611,9 +611,9 @@ void uart_lld_start_send(UARTDriver *uartp, size_t n, const void *txbuf) {
*/ */
size_t uart_lld_stop_send(UARTDriver *uartp) { size_t uart_lld_stop_send(UARTDriver *uartp) {
dmaDisableChannel(uartp->ud_dmap, uartp->ud_dmatx); dmaDisableChannel(uartp->dmap, uartp->dmatx);
dmaClearChannel(uartp->ud_dmap, uartp->ud_dmatx); dmaClearChannel(uartp->dmap, uartp->dmatx);
return (size_t)uartp->ud_dmap->channels[uartp->ud_dmatx].CNDTR; return (size_t)uartp->dmap->channels[uartp->dmatx].CNDTR;
} }
/** /**
@ -630,14 +630,14 @@ size_t uart_lld_stop_send(UARTDriver *uartp) {
void uart_lld_start_receive(UARTDriver *uartp, size_t n, void *rxbuf) { void uart_lld_start_receive(UARTDriver *uartp, size_t n, void *rxbuf) {
/* Stopping previous activity (idle state).*/ /* Stopping previous activity (idle state).*/
dmaDisableChannel(uartp->ud_dmap, uartp->ud_dmarx); dmaDisableChannel(uartp->dmap, uartp->dmarx);
dmaClearChannel(uartp->ud_dmap, uartp->ud_dmarx); dmaClearChannel(uartp->dmap, uartp->dmarx);
/* RX DMA channel preparation and start.*/ /* RX DMA channel preparation and start.*/
dmaSetupChannel(uartp->ud_dmap, uartp->ud_dmarx, n, rxbuf, dmaSetupChannel(uartp->dmap, uartp->dmarx, n, rxbuf,
uartp->ud_dmaccr | DMA_CCR1_MINC | uartp->dmaccr | DMA_CCR1_MINC |
DMA_CCR1_TEIE | DMA_CCR1_TCIE); DMA_CCR1_TEIE | DMA_CCR1_TCIE);
dmaEnableChannel(uartp->ud_dmap, uartp->ud_dmarx); dmaEnableChannel(uartp->dmap, uartp->dmarx);
} }
/** /**
@ -654,9 +654,9 @@ void uart_lld_start_receive(UARTDriver *uartp, size_t n, void *rxbuf) {
size_t uart_lld_stop_receive(UARTDriver *uartp) { size_t uart_lld_stop_receive(UARTDriver *uartp) {
size_t n; size_t n;
dmaDisableChannel(uartp->ud_dmap, uartp->ud_dmarx); dmaDisableChannel(uartp->dmap, uartp->dmarx);
dmaClearChannel(uartp->ud_dmap, uartp->ud_dmarx); dmaClearChannel(uartp->dmap, uartp->dmarx);
n = (size_t)uartp->ud_dmap->channels[uartp->ud_dmarx].CNDTR; n = (size_t)uartp->dmap->channels[uartp->dmarx].CNDTR;
set_rx_idle_loop(uartp); set_rx_idle_loop(uartp);
return n; return n;
} }

50
os/hal/platforms/STM32/uart_lld.h
View File

@ -117,8 +117,8 @@
/** /**
* @brief USART1 DMA error hook. * @brief USART1 DMA error hook.
* @note The default action for DMA errors is a system halt because DMA error * @note The default action for DMA errors is a system halt because DMA
* can only happen because programming errors. * error can only happen because programming errors.
*/ */
#if !defined(STM32_UART_USART1_DMA_ERROR_HOOK) || defined(__DOXYGEN__) #if !defined(STM32_UART_USART1_DMA_ERROR_HOOK) || defined(__DOXYGEN__)
#define STM32_UART_USART1_DMA_ERROR_HOOK() chSysHalt() #define STM32_UART_USART1_DMA_ERROR_HOOK() chSysHalt()
@ -126,8 +126,8 @@
/** /**
* @brief USART2 DMA error hook. * @brief USART2 DMA error hook.
* @note The default action for DMA errors is a system halt because DMA error * @note The default action for DMA errors is a system halt because DMA
* can only happen because programming errors. * error can only happen because programming errors.
*/ */
#if !defined(STM32_UART_USART2_DMA_ERROR_HOOK) || defined(__DOXYGEN__) #if !defined(STM32_UART_USART2_DMA_ERROR_HOOK) || defined(__DOXYGEN__)
#define STM32_UART_USART2_DMA_ERROR_HOOK() chSysHalt() #define STM32_UART_USART2_DMA_ERROR_HOOK() chSysHalt()
@ -135,8 +135,8 @@
/** /**
* @brief USART3 DMA error hook. * @brief USART3 DMA error hook.
* @note The default action for DMA errors is a system halt because DMA error * @note The default action for DMA errors is a system halt because DMA
* can only happen because programming errors. * error can only happen because programming errors.
*/ */
#if !defined(STM32_UART_USART3_DMA_ERROR_HOOK) || defined(__DOXYGEN__) #if !defined(STM32_UART_USART3_DMA_ERROR_HOOK) || defined(__DOXYGEN__)
#define STM32_UART_USART3_DMA_ERROR_HOOK() chSysHalt() #define STM32_UART_USART3_DMA_ERROR_HOOK() chSysHalt()
@ -208,40 +208,40 @@ typedef struct {
/** /**
* @brief End of transmission buffer callback. * @brief End of transmission buffer callback.
*/ */
uartcb_t uc_txend1; uartcb_t txend1_cb;
/** /**
* @brief Physical end of transmission callback. * @brief Physical end of transmission callback.
*/ */
uartcb_t uc_txend2; uartcb_t txend2_cb;
/** /**
* @brief Receive buffer filled callback. * @brief Receive buffer filled callback.
*/ */
uartcb_t uc_rxend; uartcb_t rxend_cb;
/** /**
* @brief Character received while out if the @p UART_RECEIVE state. * @brief Character received while out if the @p UART_RECEIVE state.
*/ */
uartccb_t uc_rxchar; uartccb_t rxchar_cb;
/** /**
* @brief Receive error callback. * @brief Receive error callback.
*/ */
uartecb_t uc_rxerr; uartecb_t rxerr_cb;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
/** /**
* @brief Bit rate. * @brief Bit rate.
*/ */
uint32_t uc_speed; uint32_t speed;
/** /**
* @brief Initialization value for the CR1 register. * @brief Initialization value for the CR1 register.
*/ */
uint16_t uc_cr1; uint16_t cr1;
/** /**
* @brief Initialization value for the CR2 register. * @brief Initialization value for the CR2 register.
*/ */
uint16_t uc_cr2; uint16_t cr2;
/** /**
* @brief Initialization value for the CR3 register. * @brief Initialization value for the CR3 register.
*/ */
uint16_t uc_cr3; uint16_t cr3;
} UARTConfig; } UARTConfig;
/** /**
@ -251,19 +251,19 @@ struct UARTDriver {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
uartstate_t ud_state; uartstate_t state;
/** /**
* @brief Transmitter state. * @brief Transmitter state.
*/ */
uarttxstate_t ud_txstate; uarttxstate_t txstate;
/** /**
* @brief Receiver state. * @brief Receiver state.
*/ */
uartrxstate_t ud_rxstate; uartrxstate_t rxstate;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const UARTConfig *ud_config; const UARTConfig *config;
#if defined(UART_DRIVER_EXT_FIELDS) #if defined(UART_DRIVER_EXT_FIELDS)
UART_DRIVER_EXT_FIELDS UART_DRIVER_EXT_FIELDS
#endif #endif
@ -271,27 +271,27 @@ struct UARTDriver {
/** /**
* @brief Pointer to the USART registers block. * @brief Pointer to the USART registers block.
*/ */
USART_TypeDef *ud_usart; USART_TypeDef *usart;
/** /**
* @brief Pointer to the DMA registers block. * @brief Pointer to the DMA registers block.
*/ */
stm32_dma_t *ud_dmap; stm32_dma_t *dmap;
/** /**
* @brief DMA priority bit mask. * @brief DMA priority bit mask.
*/ */
uint32_t ud_dmaccr; uint32_t dmaccr;
/** /**
* @brief Receive DMA channel. * @brief Receive DMA channel.
*/ */
uint8_t ud_dmarx; uint8_t dmarx;
/** /**
* @brief Transmit DMA channel. * @brief Transmit DMA channel.
*/ */
uint8_t ud_dmatx; uint8_t dmatx;
/** /**
* @brief Default receive buffer while into @p UART_RX_IDLE state. * @brief Default receive buffer while into @p UART_RX_IDLE state.
*/ */
volatile uint16_t ud_rxbuf; volatile uint16_t rxbuf;
}; };
/*===========================================================================*/ /*===========================================================================*/

42
os/hal/platforms/STM8S/spi_lld.c
View File

@ -70,12 +70,12 @@ CH_IRQ_HANDLER(10) {
handle the case where a frame arrives immediately after reading the handle the case where a frame arrives immediately after reading the
DR register.*/ DR register.*/
while ((SPI->SR & SPI_SR_RXNE) != 0) { while ((SPI->SR & SPI_SR_RXNE) != 0) {
if (SPID1.spd_rxptr != NULL) if (SPID1.rxptr != NULL)
*SPID1.spd_rxptr++ = SPI->DR; *SPID1.rxptr++ = SPI->DR;
else else
(void)SPI->DR; (void)SPI->DR;
if (--SPID1.spd_rxcnt == 0) { if (--SPID1.rxcnt == 0) {
chDbgAssert(SPID1.spd_txcnt == 0, chDbgAssert(SPID1.txcnt == 0,
"IRQ10, #1", "counter out of synch"); "IRQ10, #1", "counter out of synch");
/* Stops all the IRQ sources.*/ /* Stops all the IRQ sources.*/
SPI->ICR = 0; SPI->ICR = 0;
@ -89,8 +89,8 @@ CH_IRQ_HANDLER(10) {
} }
/* Loading the DR register.*/ /* Loading the DR register.*/
if ((SPI->SR & SPI_SR_TXE) != 0) { if ((SPI->SR & SPI_SR_TXE) != 0) {
if (SPID1.spd_txptr != NULL) if (SPID1.txptr != NULL)
SPI->DR = *SPID1.spd_txptr++; SPI->DR = *SPID1.txptr++;
else else
SPI->DR = 0xFF; SPI->DR = 0xFF;
} }
@ -130,7 +130,7 @@ void spi_lld_start(SPIDriver *spip) {
/* Configuration.*/ /* Configuration.*/
SPI->CR2 = 0; SPI->CR2 = 0;
SPI->CR1 = spip->spd_config->spc_cr1 | SPI_CR1_MSTR | SPI_CR1_SPE; SPI->CR1 = spip->config->cr1 | SPI_CR1_MSTR | SPI_CR1_SPE;
} }
/** /**
@ -162,7 +162,7 @@ void spi_lld_stop(SPIDriver *spip) {
*/ */
void spi_lld_select(SPIDriver *spip) { void spi_lld_select(SPIDriver *spip) {
palClearPad(spip->spd_config->spc_ssport, spip->spd_config->spc_sspad); palClearPad(spip->config->ssport, spip->config->sspad);
} }
/** /**
@ -175,7 +175,7 @@ void spi_lld_select(SPIDriver *spip) {
*/ */
void spi_lld_unselect(SPIDriver *spip) { void spi_lld_unselect(SPIDriver *spip) {
palSetPad(spip->spd_config->spc_ssport, spip->spd_config->spc_sspad); palSetPad(spip->config->ssport, spip->config->sspad);
} }
/** /**
@ -191,9 +191,9 @@ void spi_lld_unselect(SPIDriver *spip) {
*/ */
void spi_lld_ignore(SPIDriver *spip, size_t n) { void spi_lld_ignore(SPIDriver *spip, size_t n) {
spip->spd_rxptr = NULL; spip->rxptr = NULL;
spip->spd_txptr = NULL; spip->txptr = NULL;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
SPI->ICR = SPI_ICR_TXEI | SPI_ICR_RXEI | SPI_ICR_ERRIE; SPI->ICR = SPI_ICR_TXEI | SPI_ICR_RXEI | SPI_ICR_ERRIE;
} }
@ -215,9 +215,9 @@ void spi_lld_ignore(SPIDriver *spip, size_t n) {
void spi_lld_exchange(SPIDriver *spip, size_t n, void spi_lld_exchange(SPIDriver *spip, size_t n,
const void *txbuf, void *rxbuf) { const void *txbuf, void *rxbuf) {
spip->spd_rxptr = rxbuf; spip->rxptr = rxbuf;
spip->spd_txptr = txbuf; spip->txptr = txbuf;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
SPI->ICR = SPI_ICR_TXEI | SPI_ICR_RXEI | SPI_ICR_ERRIE; SPI->ICR = SPI_ICR_TXEI | SPI_ICR_RXEI | SPI_ICR_ERRIE;
} }
@ -236,9 +236,9 @@ void spi_lld_exchange(SPIDriver *spip, size_t n,
*/ */
void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) { void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
spip->spd_rxptr = NULL; spip->rxptr = NULL;
spip->spd_txptr = txbuf; spip->txptr = txbuf;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
SPI->ICR = SPI_ICR_TXEI | SPI_ICR_RXEI | SPI_ICR_ERRIE; SPI->ICR = SPI_ICR_TXEI | SPI_ICR_RXEI | SPI_ICR_ERRIE;
} }
@ -257,9 +257,9 @@ void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {
*/ */
void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) { void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
spip->spd_rxptr = rxbuf; spip->rxptr = rxbuf;
spip->spd_txptr = NULL; spip->txptr = NULL;
spip->spd_rxcnt = spip->spd_txcnt = n; spip->rxcnt = spip->txcnt = n;
SPI->ICR = SPI_ICR_TXEI | SPI_ICR_RXEI | SPI_ICR_ERRIE; SPI->ICR = SPI_ICR_TXEI | SPI_ICR_RXEI | SPI_ICR_ERRIE;
} }

26
os/hal/platforms/STM8S/spi_lld.h
View File

@ -87,20 +87,20 @@ typedef struct {
/** /**
* @brief Operation complete callback or @p NULL. * @brief Operation complete callback or @p NULL.
*/ */
spicallback_t spc_endcb; spicallback_t end_cb;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
/** /**
* @brief The chip select line port. * @brief The chip select line port.
*/ */
ioportid_t spc_ssport; ioportid_t ssport;
/** /**
* @brief The chip select line pad number. * @brief The chip select line pad number.
*/ */
uint16_t spc_sspad; uint16_t sspad;
/** /**
* @brief SPI initialization data. * @brief SPI initialization data.
*/ */
uint8_t spc_cr1; uint8_t cr1;
} SPIConfig; } SPIConfig;
/** /**
@ -110,25 +110,25 @@ struct SPIDriver {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
spistate_t spd_state; spistate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const SPIConfig *spd_config; const SPIConfig *config;
#if SPI_USE_WAIT || defined(__DOXYGEN__) #if SPI_USE_WAIT || defined(__DOXYGEN__)
/** /**
* @brief Waiting thread. * @brief Waiting thread.
*/ */
Thread *spd_thread; Thread *thread;
#endif /* SPI_USE_WAIT */ #endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) #if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
#if CH_USE_MUTEXES || defined(__DOXYGEN__) #if CH_USE_MUTEXES || defined(__DOXYGEN__)
/** /**
* @brief Mutex protecting the bus. * @brief Mutex protecting the bus.
*/ */
Mutex spd_mutex; Mutex mutex;
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
Semaphore spd_semaphore; Semaphore semaphore;
#endif #endif
#endif /* SPI_USE_MUTUAL_EXCLUSION */ #endif /* SPI_USE_MUTUAL_EXCLUSION */
#if defined(SPI_DRIVER_EXT_FIELDS) #if defined(SPI_DRIVER_EXT_FIELDS)
@ -138,19 +138,19 @@ struct SPIDriver {
/** /**
* @brief Number of bytes yet to be received. * @brief Number of bytes yet to be received.
*/ */
uint16_t spd_rxcnt; uint16_t rxcnt;
/** /**
* @brief Receive pointer or @p NULL. * @brief Receive pointer or @p NULL.
*/ */
uint8_t *spd_rxptr; uint8_t *rxptr;
/** /**
* @brief Number of bytes yet to be transmitted. * @brief Number of bytes yet to be transmitted.
*/ */
uint16_t spd_txcnt; uint16_t txcnt;
/** /**
* @brief Transmit pointer or @p NULL. * @brief Transmit pointer or @p NULL.
*/ */
const uint8_t *spd_txptr; const uint8_t *txptr;
}; };
/*===========================================================================*/ /*===========================================================================*/

78
os/hal/src/adc.c
View File

@ -67,19 +67,19 @@ void adcInit(void) {
*/ */
void adcObjectInit(ADCDriver *adcp) { void adcObjectInit(ADCDriver *adcp) {
adcp->ad_state = ADC_STOP; adcp->state = ADC_STOP;
adcp->ad_config = NULL; adcp->config = NULL;
adcp->ad_samples = NULL; adcp->samples = NULL;
adcp->ad_depth = 0; adcp->depth = 0;
adcp->ad_grpp = NULL; adcp->grpp = NULL;
#if ADC_USE_WAIT #if ADC_USE_WAIT
adcp->ad_thread = NULL; adcp->thread = NULL;
#endif /* ADC_USE_WAIT */ #endif /* ADC_USE_WAIT */
#if ADC_USE_MUTUAL_EXCLUSION #if ADC_USE_MUTUAL_EXCLUSION
#if CH_USE_MUTEXES #if CH_USE_MUTEXES
chMtxInit(&adcp->ad_mutex); chMtxInit(&adcp->mutex);
#else #else
chSemInit(&adcp->ad_semaphore, 1); chSemInit(&adcp->semaphore, 1);
#endif #endif
#endif /* ADC_USE_MUTUAL_EXCLUSION */ #endif /* ADC_USE_MUTUAL_EXCLUSION */
#if defined(ADC_DRIVER_EXT_INIT_HOOK) #if defined(ADC_DRIVER_EXT_INIT_HOOK)
@ -101,11 +101,11 @@ void adcStart(ADCDriver *adcp, const ADCConfig *config) {
chDbgCheck(adcp != NULL, "adcStart"); chDbgCheck(adcp != NULL, "adcStart");
chSysLock(); chSysLock();
chDbgAssert((adcp->ad_state == ADC_STOP) || (adcp->ad_state == ADC_READY), chDbgAssert((adcp->state == ADC_STOP) || (adcp->state == ADC_READY),
"adcStart(), #1", "invalid state"); "adcStart(), #1", "invalid state");
adcp->ad_config = config; adcp->config = config;
adc_lld_start(adcp); adc_lld_start(adcp);
adcp->ad_state = ADC_READY; adcp->state = ADC_READY;
chSysUnlock(); chSysUnlock();
} }
@ -121,10 +121,10 @@ void adcStop(ADCDriver *adcp) {
chDbgCheck(adcp != NULL, "adcStop"); chDbgCheck(adcp != NULL, "adcStop");
chSysLock(); chSysLock();
chDbgAssert((adcp->ad_state == ADC_STOP) || (adcp->ad_state == ADC_READY), chDbgAssert((adcp->state == ADC_STOP) || (adcp->state == ADC_READY),
"adcStop(), #1", "invalid state"); "adcStop(), #1", "invalid state");
adc_lld_stop(adcp); adc_lld_stop(adcp);
adcp->ad_state = ADC_STOP; adcp->state = ADC_STOP;
chSysUnlock(); chSysUnlock();
} }
@ -179,13 +179,13 @@ void adcStartConversionI(ADCDriver *adcp,
((depth == 1) || ((depth & 1) == 0)), ((depth == 1) || ((depth & 1) == 0)),
"adcStartConversionI"); "adcStartConversionI");
chDbgAssert((adcp->ad_state == ADC_READY) || chDbgAssert((adcp->state == ADC_READY) ||
(adcp->ad_state == ADC_COMPLETE), (adcp->state == ADC_COMPLETE),
"adcStartConversionI(), #1", "not ready"); "adcStartConversionI(), #1", "not ready");
adcp->ad_samples = samples; adcp->samples = samples;
adcp->ad_depth = depth; adcp->depth = depth;
adcp->ad_grpp = grpp; adcp->grpp = grpp;
adcp->ad_state = ADC_ACTIVE; adcp->state = ADC_ACTIVE;
adc_lld_start_conversion(adcp); adc_lld_start_conversion(adcp);
} }
@ -204,13 +204,13 @@ void adcStopConversion(ADCDriver *adcp) {
chDbgCheck(adcp != NULL, "adcStopConversion"); chDbgCheck(adcp != NULL, "adcStopConversion");
chSysLock(); chSysLock();
chDbgAssert((adcp->ad_state == ADC_READY) || chDbgAssert((adcp->state == ADC_READY) ||
(adcp->ad_state == ADC_ACTIVE), (adcp->state == ADC_ACTIVE),
"adcStopConversion(), #1", "invalid state"); "adcStopConversion(), #1", "invalid state");
if (adcp->ad_state != ADC_READY) { if (adcp->state != ADC_READY) {
adc_lld_stop_conversion(adcp); adc_lld_stop_conversion(adcp);
adcp->ad_grpp = NULL; adcp->grpp = NULL;
adcp->ad_state = ADC_READY; adcp->state = ADC_READY;
_adc_reset_s(adcp); _adc_reset_s(adcp);
} }
chSysUnlock(); chSysUnlock();
@ -230,14 +230,14 @@ void adcStopConversionI(ADCDriver *adcp) {
chDbgCheck(adcp != NULL, "adcStopConversionI"); chDbgCheck(adcp != NULL, "adcStopConversionI");
chDbgAssert((adcp->ad_state == ADC_READY) || chDbgAssert((adcp->state == ADC_READY) ||
(adcp->ad_state == ADC_ACTIVE) || (adcp->state == ADC_ACTIVE) ||
(adcp->ad_state == ADC_COMPLETE), (adcp->state == ADC_COMPLETE),
"adcStopConversionI(), #1", "invalid state"); "adcStopConversionI(), #1", "invalid state");
if (adcp->ad_state != ADC_READY) { if (adcp->state != ADC_READY) {
adc_lld_stop_conversion(adcp); adc_lld_stop_conversion(adcp);
adcp->ad_grpp = NULL; adcp->grpp = NULL;
adcp->ad_state = ADC_READY; adcp->state = ADC_READY;
_adc_reset_i(adcp); _adc_reset_i(adcp);
} }
} }
@ -271,9 +271,9 @@ msg_t adcConvert(ADCDriver *adcp,
msg_t msg; msg_t msg;
chSysLock(); chSysLock();
chDbgAssert(grpp->acg_endcb == NULL, "adcConvert(), #1", "has callback"); chDbgAssert(grpp->end_cb == NULL, "adcConvert(), #1", "has callback");
adcStartConversionI(adcp, grpp, samples, depth); adcStartConversionI(adcp, grpp, samples, depth);
(adcp)->ad_thread = chThdSelf(); (adcp)->thread = chThdSelf();
chSchGoSleepS(THD_STATE_SUSPENDED); chSchGoSleepS(THD_STATE_SUSPENDED);
msg = chThdSelf()->p_u.rdymsg; msg = chThdSelf()->p_u.rdymsg;
chSysUnlock(); chSysUnlock();
@ -286,8 +286,8 @@ msg_t adcConvert(ADCDriver *adcp,
* @brief Gains exclusive access to the ADC peripheral. * @brief Gains exclusive access to the ADC peripheral.
* @details This function tries to gain ownership to the ADC bus, if the bus * @details This function tries to gain ownership to the ADC bus, if the bus
* is already being used then the invoking thread is queued. * is already being used then the invoking thread is queued.
* @pre In order to use this function the option @p ADC_USE_MUTUAL_EXCLUSION * @pre In order to use this function the option
* must be enabled. * @p ADC_USE_MUTUAL_EXCLUSION must be enabled.
* *
* @param[in] adcp pointer to the @p ADCDriver object * @param[in] adcp pointer to the @p ADCDriver object
* *
@ -298,16 +298,16 @@ void adcAcquireBus(ADCDriver *adcp) {
chDbgCheck(adcp != NULL, "adcAcquireBus"); chDbgCheck(adcp != NULL, "adcAcquireBus");
#if CH_USE_MUTEXES #if CH_USE_MUTEXES
chMtxLock(&adcp->ad_mutex); chMtxLock(&adcp->mutex);
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
chSemWait(&adcp->ad_semaphore); chSemWait(&adcp->semaphore);
#endif #endif
} }
/** /**
* @brief Releases exclusive access to the ADC peripheral. * @brief Releases exclusive access to the ADC peripheral.
* @pre In order to use this function the option @p ADC_USE_MUTUAL_EXCLUSION * @pre In order to use this function the option
* must be enabled. * @p ADC_USE_MUTUAL_EXCLUSION must be enabled.
* *
* @param[in] adcp pointer to the @p ADCDriver object * @param[in] adcp pointer to the @p ADCDriver object
* *
@ -321,7 +321,7 @@ void adcReleaseBus(ADCDriver *adcp) {
(void)adcp; (void)adcp;
chMtxUnlock(); chMtxUnlock();
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
chSemSignal(&adcp->ad_semaphore); chSemSignal(&adcp->semaphore);
#endif #endif
} }
#endif /* ADC_USE_MUTUAL_EXCLUSION */ #endif /* ADC_USE_MUTUAL_EXCLUSION */

80
os/hal/src/can.c
View File

@ -67,17 +67,17 @@ void canInit(void) {
*/ */
void canObjectInit(CANDriver *canp) { void canObjectInit(CANDriver *canp) {
canp->cd_state = CAN_STOP; canp->state = CAN_STOP;
canp->cd_config = NULL; canp->config = NULL;
chSemInit(&canp->cd_txsem, 0); chSemInit(&canp->txsem, 0);
chSemInit(&canp->cd_rxsem, 0); chSemInit(&canp->rxsem, 0);
chEvtInit(&canp->cd_rxfull_event); chEvtInit(&canp->rxfull_event);
chEvtInit(&canp->cd_txempty_event); chEvtInit(&canp->txempty_event);
chEvtInit(&canp->cd_error_event); chEvtInit(&canp->error_event);
canp->cd_status = 0; canp->status = 0;
#if CAN_USE_SLEEP_MODE #if CAN_USE_SLEEP_MODE
chEvtInit(&canp->cd_sleep_event); chEvtInit(&canp->sleep_event);
chEvtInit(&canp->cd_wakeup_event); chEvtInit(&canp->wakeup_event);
#endif /* CAN_USE_SLEEP_MODE */ #endif /* CAN_USE_SLEEP_MODE */
} }
@ -98,16 +98,16 @@ void canStart(CANDriver *canp, const CANConfig *config) {
chDbgCheck(canp != NULL, "canStart"); chDbgCheck(canp != NULL, "canStart");
chSysLock(); chSysLock();
chDbgAssert((canp->cd_state == CAN_STOP) || chDbgAssert((canp->state == CAN_STOP) ||
(canp->cd_state == CAN_STARTING) || (canp->state == CAN_STARTING) ||
(canp->cd_state == CAN_READY), (canp->state == CAN_READY),
"canStart(), #1", "invalid state"); "canStart(), #1", "invalid state");
while (canp->cd_state == CAN_STARTING) while (canp->state == CAN_STARTING)
chThdSleepS(1); chThdSleepS(1);
if (canp->cd_state == CAN_STOP) { if (canp->state == CAN_STOP) {
canp->cd_config = config; canp->config = config;
can_lld_start(canp); can_lld_start(canp);
canp->cd_state = CAN_READY; canp->state = CAN_READY;
} }
chSysUnlock(); chSysUnlock();
} }
@ -124,14 +124,14 @@ void canStop(CANDriver *canp) {
chDbgCheck(canp != NULL, "canStop"); chDbgCheck(canp != NULL, "canStop");
chSysLock(); chSysLock();
chDbgAssert((canp->cd_state == CAN_STOP) || (canp->cd_state == CAN_READY), chDbgAssert((canp->state == CAN_STOP) || (canp->state == CAN_READY),
"canStop(), #1", "invalid state"); "canStop(), #1", "invalid state");
can_lld_stop(canp); can_lld_stop(canp);
chSemResetI(&canp->cd_rxsem, 0); chSemResetI(&canp->rxsem, 0);
chSemResetI(&canp->cd_txsem, 0); chSemResetI(&canp->txsem, 0);
chSchRescheduleS(); chSchRescheduleS();
canp->cd_state = CAN_STOP; canp->state = CAN_STOP;
canp->cd_status = 0; canp->status = 0;
chSysUnlock(); chSysUnlock();
} }
@ -142,7 +142,7 @@ void canStop(CANDriver *canp) {
* @note Trying to transmit while in sleep mode simply enqueues the thread. * @note Trying to transmit while in sleep mode simply enqueues the thread.
* *
* @param[in] canp pointer to the @p CANDriver object * @param[in] canp pointer to the @p CANDriver object
* @param[in] ctfp pointer to the CAN frame to be transmitted * @param[in] ctfp pointer to the CAN frame to be transmitted
* @param[in] timeout the number of ticks before the operation timeouts, * @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed: * the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout. * - @a TIME_IMMEDIATE immediate timeout.
@ -160,10 +160,10 @@ msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {
chDbgCheck((canp != NULL) && (ctfp != NULL), "canTransmit"); chDbgCheck((canp != NULL) && (ctfp != NULL), "canTransmit");
chSysLock(); chSysLock();
chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP), chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"canTransmit(), #1", "invalid state"); "canTransmit(), #1", "invalid state");
while ((canp->cd_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) { while ((canp->state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {
msg_t msg = chSemWaitTimeoutS(&canp->cd_txsem, timeout); msg_t msg = chSemWaitTimeoutS(&canp->txsem, timeout);
if (msg != RDY_OK) { if (msg != RDY_OK) {
chSysUnlock(); chSysUnlock();
return msg; return msg;
@ -200,10 +200,10 @@ msg_t canReceive(CANDriver *canp, CANRxFrame *crfp, systime_t timeout) {
chDbgCheck((canp != NULL) && (crfp != NULL), "canReceive"); chDbgCheck((canp != NULL) && (crfp != NULL), "canReceive");
chSysLock(); chSysLock();
chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP), chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"canReceive(), #1", "invalid state"); "canReceive(), #1", "invalid state");
while ((canp->cd_state == CAN_SLEEP) || !can_lld_can_receive(canp)) { while ((canp->state == CAN_SLEEP) || !can_lld_can_receive(canp)) {
msg_t msg = chSemWaitTimeoutS(&canp->cd_rxsem, timeout); msg_t msg = chSemWaitTimeoutS(&canp->rxsem, timeout);
if (msg != RDY_OK) { if (msg != RDY_OK) {
chSysUnlock(); chSysUnlock();
return msg; return msg;
@ -226,8 +226,8 @@ canstatus_t canGetAndClearFlags(CANDriver *canp) {
canstatus_t status; canstatus_t status;
chSysLock(); chSysLock();
status = canp->cd_status; status = canp->status;
canp->cd_status = 0; canp->status = 0;
chSysUnlock(); chSysUnlock();
return status; return status;
} }
@ -236,7 +236,7 @@ canstatus_t canGetAndClearFlags(CANDriver *canp) {
/** /**
* @brief Enters the sleep mode. * @brief Enters the sleep mode.
* @details This function puts the CAN driver in sleep mode and broadcasts * @details This function puts the CAN driver in sleep mode and broadcasts
* the @p cd_sleep_event event source. * the @p sleep_event event source.
* @pre In order to use this function the option @p CAN_USE_SLEEP_MODE must * @pre In order to use this function the option @p CAN_USE_SLEEP_MODE must
* be enabled and the @p CAN_SUPPORTS_SLEEP mode must be supported * be enabled and the @p CAN_SUPPORTS_SLEEP mode must be supported
* by the low level driver. * by the low level driver.
@ -250,12 +250,12 @@ void canSleep(CANDriver *canp) {
chDbgCheck(canp != NULL, "canSleep"); chDbgCheck(canp != NULL, "canSleep");
chSysLock(); chSysLock();
chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP), chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"canSleep(), #1", "invalid state"); "canSleep(), #1", "invalid state");
if (canp->cd_state == CAN_READY) { if (canp->state == CAN_READY) {
can_lld_sleep(canp); can_lld_sleep(canp);
canp->cd_state = CAN_SLEEP; canp->state = CAN_SLEEP;
chEvtBroadcastI(&canp->cd_sleep_event); chEvtBroadcastI(&canp->sleep_event);
chSchRescheduleS(); chSchRescheduleS();
} }
chSysUnlock(); chSysUnlock();
@ -273,12 +273,12 @@ void canWakeup(CANDriver *canp) {
chDbgCheck(canp != NULL, "canWakeup"); chDbgCheck(canp != NULL, "canWakeup");
chSysLock(); chSysLock();
chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP), chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"canWakeup(), #1", "invalid state"); "canWakeup(), #1", "invalid state");
if (canp->cd_state == CAN_SLEEP) { if (canp->state == CAN_SLEEP) {
can_lld_wakeup(canp); can_lld_wakeup(canp);
canp->cd_state = CAN_READY; canp->state = CAN_READY;
chEvtBroadcastI(&canp->cd_wakeup_event); chEvtBroadcastI(&canp->wakeup_event);
chSchRescheduleS(); chSchRescheduleS();
} }
chSysUnlock(); chSysUnlock();

10
os/hal/src/mac.c
View File

@ -71,10 +71,10 @@ void macInit(void) {
*/ */
void macObjectInit(MACDriver *macp) { void macObjectInit(MACDriver *macp) {
chSemInit(&macp->md_tdsem, 0); chSemInit(&macp->tdsem, 0);
chSemInit(&macp->md_rdsem, 0); chSemInit(&macp->rdsem, 0);
#if CH_USE_EVENTS #if CH_USE_EVENTS
chEvtInit(&macp->md_rdevent); chEvtInit(&macp->rdevent);
#endif #endif
} }
@ -123,7 +123,7 @@ msg_t macWaitTransmitDescriptor(MACDriver *macp,
(time > 0)) { (time > 0)) {
chSysLock(); chSysLock();
systime_t now = chTimeNow(); systime_t now = chTimeNow();
if ((msg = chSemWaitTimeoutS(&macp->md_tdsem, time)) == RDY_TIMEOUT) { if ((msg = chSemWaitTimeoutS(&macp->tdsem, time)) == RDY_TIMEOUT) {
chSysUnlock(); chSysUnlock();
break; break;
} }
@ -175,7 +175,7 @@ msg_t macWaitReceiveDescriptor(MACDriver *macp,
(time > 0)) { (time > 0)) {
chSysLock(); chSysLock();
systime_t now = chTimeNow(); systime_t now = chTimeNow();
if ((msg = chSemWaitTimeoutS(&macp->md_rdsem, time)) == RDY_TIMEOUT) { if ((msg = chSemWaitTimeoutS(&macp->rdsem, time)) == RDY_TIMEOUT) {
chSysUnlock(); chSysUnlock();
break; break;
} }

199
os/hal/src/mmc_spi.c
View File

@ -18,7 +18,7 @@
*/ */
/** /**
* @file mmc_spi.c * @file spi.c
* @brief MMC over SPI driver code. * @brief MMC over SPI driver code.
* *
* @addtogroup MMC_SPI * @addtogroup MMC_SPI
@ -52,24 +52,24 @@
static void tmrfunc(void *p) { static void tmrfunc(void *p) {
MMCDriver *mmcp = p; MMCDriver *mmcp = p;
if (mmcp->mmc_cnt > 0) { if (mmcp->cnt > 0) {
if (mmcp->mmc_is_inserted()) { if (mmcp->is_inserted()) {
if (--mmcp->mmc_cnt == 0) { if (--mmcp->cnt == 0) {
mmcp->mmc_state = MMC_INSERTED; mmcp->state = MMC_INSERTED;
chEvtBroadcastI(&mmcp->mmc_inserted_event); chEvtBroadcastI(&mmcp->inserted_event);
} }
} }
else else
mmcp->mmc_cnt = MMC_POLLING_INTERVAL; mmcp->cnt = MMC_POLLING_INTERVAL;
} }
else { else {
if (!mmcp->mmc_is_inserted()) { if (!mmcp->is_inserted()) {
mmcp->mmc_state = MMC_WAIT; mmcp->state = MMC_WAIT;
mmcp->mmc_cnt = MMC_POLLING_INTERVAL; mmcp->cnt = MMC_POLLING_INTERVAL;
chEvtBroadcastI(&mmcp->mmc_removed_event); chEvtBroadcastI(&mmcp->removed_event);
} }
} }
chVTSetI(&mmcp->mmc_vt, MS2ST(MMC_POLLING_DELAY), tmrfunc, mmcp); chVTSetI(&mmcp->vt, MS2ST(MMC_POLLING_DELAY), tmrfunc, mmcp);
} }
/** /**
@ -84,13 +84,13 @@ static void wait(MMCDriver *mmcp) {
uint8_t buf[4]; uint8_t buf[4];
for (i = 0; i < 16; i++) { for (i = 0; i < 16; i++) {
spiReceive(mmcp->mmc_spip, 1, buf); spiReceive(mmcp->spip, 1, buf);
if (buf[0] == 0xFF) if (buf[0] == 0xFF)
break; break;
} }
/* Looks like it is a long wait.*/ /* Looks like it is a long wait.*/
while (TRUE) { while (TRUE) {
spiReceive(mmcp->mmc_spip, 1, buf); spiReceive(mmcp->spip, 1, buf);
if (buf[0] == 0xFF) if (buf[0] == 0xFF)
break; break;
#ifdef MMC_NICE_WAITING #ifdef MMC_NICE_WAITING
@ -121,7 +121,7 @@ static void send_hdr(MMCDriver *mmcp, uint8_t cmd, uint32_t arg) {
buf[3] = arg >> 8; buf[3] = arg >> 8;
buf[4] = arg; buf[4] = arg;
buf[5] = 0x95; /* Valid for CMD0 ignored by other commands. */ buf[5] = 0x95; /* Valid for CMD0 ignored by other commands. */
spiSend(mmcp->mmc_spip, 6, buf); spiSend(mmcp->spip, 6, buf);
} }
/** /**
@ -138,7 +138,7 @@ static uint8_t recvr1(MMCDriver *mmcp) {
uint8_t r1[1]; uint8_t r1[1];
for (i = 0; i < 9; i++) { for (i = 0; i < 9; i++) {
spiReceive(mmcp->mmc_spip, 1, r1); spiReceive(mmcp->spip, 1, r1);
if (r1[0] != 0xFF) if (r1[0] != 0xFF)
return r1[0]; return r1[0];
} }
@ -159,10 +159,10 @@ static uint8_t recvr1(MMCDriver *mmcp) {
static uint8_t send_command(MMCDriver *mmcp, uint8_t cmd, uint32_t arg) { static uint8_t send_command(MMCDriver *mmcp, uint8_t cmd, uint32_t arg) {
uint8_t r1; uint8_t r1;
spiSelect(mmcp->mmc_spip); spiSelect(mmcp->spip);
send_hdr(mmcp, cmd, arg); send_hdr(mmcp, cmd, arg);
r1 = recvr1(mmcp); r1 = recvr1(mmcp);
spiUnselect(mmcp->mmc_spip); spiUnselect(mmcp->spip);
return r1; return r1;
} }
@ -176,16 +176,16 @@ static uint8_t send_command(MMCDriver *mmcp, uint8_t cmd, uint32_t arg) {
static void sync(MMCDriver *mmcp) { static void sync(MMCDriver *mmcp) {
uint8_t buf[1]; uint8_t buf[1];
spiSelect(mmcp->mmc_spip); spiSelect(mmcp->spip);
while (TRUE) { while (TRUE) {
spiReceive(mmcp->mmc_spip, 1, buf); spiReceive(mmcp->spip, 1, buf);
if (buf[0] == 0xFF) if (buf[0] == 0xFF)
break; break;
#ifdef MMC_NICE_WAITING #ifdef MMC_NICE_WAITING
chThdSleep(1); /* Trying to be nice with the other threads.*/ chThdSleep(1); /* Trying to be nice with the other threads.*/
#endif #endif
} }
spiUnselect(mmcp->mmc_spip); spiUnselect(mmcp->spip);
} }
/*===========================================================================*/ /*===========================================================================*/
@ -221,15 +221,15 @@ void mmcObjectInit(MMCDriver *mmcp, SPIDriver *spip,
const SPIConfig *lscfg, const SPIConfig *hscfg, const SPIConfig *lscfg, const SPIConfig *hscfg,
mmcquery_t is_protected, mmcquery_t is_inserted) { mmcquery_t is_protected, mmcquery_t is_inserted) {
mmcp->mmc_state = MMC_STOP; mmcp->state = MMC_STOP;
mmcp->mmc_config = NULL; mmcp->config = NULL;
mmcp->mmc_spip = spip; mmcp->spip = spip;
mmcp->mmc_lscfg = lscfg; mmcp->lscfg = lscfg;
mmcp->mmc_hscfg = hscfg; mmcp->hscfg = hscfg;
mmcp->mmc_is_protected = is_protected; mmcp->is_protected = is_protected;
mmcp->mmc_is_inserted = is_inserted; mmcp->is_inserted = is_inserted;
chEvtInit(&mmcp->mmc_inserted_event); chEvtInit(&mmcp->inserted_event);
chEvtInit(&mmcp->mmc_removed_event); chEvtInit(&mmcp->removed_event);
} }
/** /**
@ -245,11 +245,11 @@ void mmcStart(MMCDriver *mmcp, const MMCConfig *config) {
chDbgCheck((mmcp != NULL) && (config == NULL), "mmcStart"); chDbgCheck((mmcp != NULL) && (config == NULL), "mmcStart");
chSysLock(); chSysLock();
chDbgAssert(mmcp->mmc_state == MMC_STOP, "mmcStart(), #1", "invalid state"); chDbgAssert(mmcp->state == MMC_STOP, "mmcStart(), #1", "invalid state");
mmcp->mmc_config = config; mmcp->config = config;
mmcp->mmc_state = MMC_WAIT; mmcp->state = MMC_WAIT;
mmcp->mmc_cnt = MMC_POLLING_INTERVAL; mmcp->cnt = MMC_POLLING_INTERVAL;
chVTSetI(&mmcp->mmc_vt, MS2ST(MMC_POLLING_DELAY), tmrfunc, mmcp); chVTSetI(&mmcp->vt, MS2ST(MMC_POLLING_DELAY), tmrfunc, mmcp);
chSysUnlock(); chSysUnlock();
} }
@ -265,17 +265,16 @@ void mmcStop(MMCDriver *mmcp) {
chDbgCheck(mmcp != NULL, "mmcStop"); chDbgCheck(mmcp != NULL, "mmcStop");
chSysLock(); chSysLock();
chDbgAssert((mmcp->mmc_state != MMC_UNINIT) && chDbgAssert((mmcp->state != MMC_UNINIT) &&
(mmcp->mmc_state != MMC_READING) && (mmcp->state != MMC_READING) &&
(mmcp->mmc_state != MMC_WRITING), (mmcp->state != MMC_WRITING),
"mmcStop(), #1", "mmcStop(), #1", "invalid state");
"invalid state"); if (mmcp->state != MMC_STOP) {
if (mmcp->mmc_state != MMC_STOP) { mmcp->state = MMC_STOP;
mmcp->mmc_state = MMC_STOP; chVTResetI(&mmcp->vt);
chVTResetI(&mmcp->mmc_vt);
} }
chSysUnlock(); chSysUnlock();
spiStop(mmcp->mmc_spip); spiStop(mmcp->spip);
} }
/** /**
@ -300,15 +299,13 @@ bool_t mmcConnect(MMCDriver *mmcp) {
chDbgCheck(mmcp != NULL, "mmcConnect"); chDbgCheck(mmcp != NULL, "mmcConnect");
chDbgAssert((mmcp->mmc_state != MMC_UNINIT) && chDbgAssert((mmcp->state != MMC_UNINIT) && (mmcp->state != MMC_STOP),
(mmcp->mmc_state != MMC_STOP), "mmcConnect(), #1", "invalid state");
"mmcConnect(), #1",
"invalid state");
if (mmcp->mmc_state == MMC_INSERTED) { if (mmcp->state == MMC_INSERTED) {
/* Slow clock mode and 128 clock pulses.*/ /* Slow clock mode and 128 clock pulses.*/
spiStart(mmcp->mmc_spip, mmcp->mmc_lscfg); spiStart(mmcp->spip, mmcp->lscfg);
spiIgnore(mmcp->mmc_spip, 16); spiIgnore(mmcp->spip, 16);
/* SPI mode selection.*/ /* SPI mode selection.*/
i = 0; i = 0;
@ -334,7 +331,7 @@ bool_t mmcConnect(MMCDriver *mmcp) {
} }
/* Initialization complete, full speed. */ /* Initialization complete, full speed. */
spiStart(mmcp->mmc_spip, mmcp->mmc_hscfg); spiStart(mmcp->spip, mmcp->hscfg);
/* Setting block size.*/ /* Setting block size.*/
if (send_command(mmcp, MMC_CMDSETBLOCKLEN, MMC_SECTOR_SIZE) != 0x00) if (send_command(mmcp, MMC_CMDSETBLOCKLEN, MMC_SECTOR_SIZE) != 0x00)
@ -342,8 +339,8 @@ bool_t mmcConnect(MMCDriver *mmcp) {
/* Transition to MMC_READY state (if not extracted).*/ /* Transition to MMC_READY state (if not extracted).*/
chSysLock(); chSysLock();
if (mmcp->mmc_state == MMC_INSERTED) { if (mmcp->state == MMC_INSERTED) {
mmcp->mmc_state = MMC_READY; mmcp->state = MMC_READY;
result = FALSE; result = FALSE;
} }
else else
@ -351,7 +348,7 @@ bool_t mmcConnect(MMCDriver *mmcp) {
chSysUnlock(); chSysUnlock();
return result; return result;
} }
if (mmcp->mmc_state == MMC_READY) if (mmcp->state == MMC_READY)
return FALSE; return FALSE;
/* Any other state is invalid.*/ /* Any other state is invalid.*/
return TRUE; return TRUE;
@ -373,24 +370,22 @@ bool_t mmcDisconnect(MMCDriver *mmcp) {
chDbgCheck(mmcp != NULL, "mmcDisconnect"); chDbgCheck(mmcp != NULL, "mmcDisconnect");
chDbgAssert((mmcp->mmc_state != MMC_UNINIT) && chDbgAssert((mmcp->state != MMC_UNINIT) && (mmcp->state != MMC_STOP),
(mmcp->mmc_state != MMC_STOP), "mmcDisconnect(), #1", "invalid state");
"mmcDisconnect(), #1", switch (mmcp->state) {
"invalid state");
switch (mmcp->mmc_state) {
case MMC_READY: case MMC_READY:
/* Wait for the pending write operations to complete.*/ /* Wait for the pending write operations to complete.*/
sync(mmcp); sync(mmcp);
chSysLock(); chSysLock();
if (mmcp->mmc_state == MMC_READY) if (mmcp->state == MMC_READY)
mmcp->mmc_state = MMC_INSERTED; mmcp->state = MMC_INSERTED;
chSysUnlock(); chSysUnlock();
case MMC_INSERTED: case MMC_INSERTED:
status = FALSE; status = FALSE;
default: default:
status = TRUE; status = TRUE;
} }
spiStop(mmcp->mmc_spip); spiStop(mmcp->spip);
return status; return status;
} }
@ -410,21 +405,21 @@ bool_t mmcStartSequentialRead(MMCDriver *mmcp, uint32_t startblk) {
chDbgCheck(mmcp != NULL, "mmcStartSequentialRead"); chDbgCheck(mmcp != NULL, "mmcStartSequentialRead");
chSysLock(); chSysLock();
if (mmcp->mmc_state != MMC_READY) { if (mmcp->state != MMC_READY) {
chSysUnlock(); chSysUnlock();
return TRUE; return TRUE;
} }
mmcp->mmc_state = MMC_READING; mmcp->state = MMC_READING;
chSysUnlock(); chSysUnlock();
spiStart(mmcp->mmc_spip, mmcp->mmc_hscfg); spiStart(mmcp->spip, mmcp->hscfg);
spiSelect(mmcp->mmc_spip); spiSelect(mmcp->spip);
send_hdr(mmcp, MMC_CMDREADMULTIPLE, startblk * MMC_SECTOR_SIZE); send_hdr(mmcp, MMC_CMDREADMULTIPLE, startblk * MMC_SECTOR_SIZE);
if (recvr1(mmcp) != 0x00) { if (recvr1(mmcp) != 0x00) {
spiUnselect(mmcp->mmc_spip); spiUnselect(mmcp->spip);
chSysLock(); chSysLock();
if (mmcp->mmc_state == MMC_READING) if (mmcp->state == MMC_READING)
mmcp->mmc_state = MMC_READY; mmcp->state = MMC_READY;
chSysUnlock(); chSysUnlock();
return TRUE; return TRUE;
} }
@ -448,26 +443,26 @@ bool_t mmcSequentialRead(MMCDriver *mmcp, uint8_t *buffer) {
chDbgCheck((mmcp != NULL) && (buffer != NULL), "mmcSequentialRead"); chDbgCheck((mmcp != NULL) && (buffer != NULL), "mmcSequentialRead");
chSysLock(); chSysLock();
if (mmcp->mmc_state != MMC_READING) { if (mmcp->state != MMC_READING) {
chSysUnlock(); chSysUnlock();
return TRUE; return TRUE;
} }
chSysUnlock(); chSysUnlock();
for (i = 0; i < MMC_WAIT_DATA; i++) { for (i = 0; i < MMC_WAIT_DATA; i++) {
spiReceive(mmcp->mmc_spip, 1, buffer); spiReceive(mmcp->spip, 1, buffer);
if (buffer[0] == 0xFE) { if (buffer[0] == 0xFE) {
spiReceive(mmcp->mmc_spip, MMC_SECTOR_SIZE, buffer); spiReceive(mmcp->spip, MMC_SECTOR_SIZE, buffer);
/* CRC ignored. */ /* CRC ignored. */
spiIgnore(mmcp->mmc_spip, 2); spiIgnore(mmcp->spip, 2);
return FALSE; return FALSE;
} }
} }
/* Timeout.*/ /* Timeout.*/
spiUnselect(mmcp->mmc_spip); spiUnselect(mmcp->spip);
chSysLock(); chSysLock();
if (mmcp->mmc_state == MMC_READING) if (mmcp->state == MMC_READING)
mmcp->mmc_state = MMC_READY; mmcp->state = MMC_READY;
chSysUnlock(); chSysUnlock();
return TRUE; return TRUE;
} }
@ -489,22 +484,22 @@ bool_t mmcStopSequentialRead(MMCDriver *mmcp) {
chDbgCheck(mmcp != NULL, "mmcStopSequentialRead"); chDbgCheck(mmcp != NULL, "mmcStopSequentialRead");
chSysLock(); chSysLock();
if (mmcp->mmc_state != MMC_READING) { if (mmcp->state != MMC_READING) {
chSysUnlock(); chSysUnlock();
return TRUE; return TRUE;
} }
chSysUnlock(); chSysUnlock();
spiSend(mmcp->mmc_spip, sizeof(stopcmd), stopcmd); spiSend(mmcp->spip, sizeof(stopcmd), stopcmd);
/* result = recvr1(mmcp) != 0x00;*/ /* result = recvr1(mmcp) != 0x00;*/
/* Note, ignored r1 response, it can be not zero, unknown issue.*/ /* Note, ignored r1 response, it can be not zero, unknown issue.*/
recvr1(mmcp); recvr1(mmcp);
result = FALSE; result = FALSE;
spiUnselect(mmcp->mmc_spip); spiUnselect(mmcp->spip);
chSysLock(); chSysLock();
if (mmcp->mmc_state == MMC_READING) if (mmcp->state == MMC_READING)
mmcp->mmc_state = MMC_READY; mmcp->state = MMC_READY;
chSysUnlock(); chSysUnlock();
return result; return result;
} }
@ -525,21 +520,21 @@ bool_t mmcStartSequentialWrite(MMCDriver *mmcp, uint32_t startblk) {
chDbgCheck(mmcp != NULL, "mmcStartSequentialWrite"); chDbgCheck(mmcp != NULL, "mmcStartSequentialWrite");
chSysLock(); chSysLock();
if (mmcp->mmc_state != MMC_READY) { if (mmcp->state != MMC_READY) {
chSysUnlock(); chSysUnlock();
return TRUE; return TRUE;
} }
mmcp->mmc_state = MMC_WRITING; mmcp->state = MMC_WRITING;
chSysUnlock(); chSysUnlock();
spiStart(mmcp->mmc_spip, mmcp->mmc_hscfg); spiStart(mmcp->spip, mmcp->hscfg);
spiSelect(mmcp->mmc_spip); spiSelect(mmcp->spip);
send_hdr(mmcp, MMC_CMDWRITEMULTIPLE, startblk * MMC_SECTOR_SIZE); send_hdr(mmcp, MMC_CMDWRITEMULTIPLE, startblk * MMC_SECTOR_SIZE);
if (recvr1(mmcp) != 0x00) { if (recvr1(mmcp) != 0x00) {
spiUnselect(mmcp->mmc_spip); spiUnselect(mmcp->spip);
chSysLock(); chSysLock();
if (mmcp->mmc_state == MMC_WRITING) if (mmcp->state == MMC_WRITING)
mmcp->mmc_state = MMC_READY; mmcp->state = MMC_READY;
chSysUnlock(); chSysUnlock();
return TRUE; return TRUE;
} }
@ -564,26 +559,26 @@ bool_t mmcSequentialWrite(MMCDriver *mmcp, const uint8_t *buffer) {
chDbgCheck((mmcp != NULL) && (buffer != NULL), "mmcSequentialWrite"); chDbgCheck((mmcp != NULL) && (buffer != NULL), "mmcSequentialWrite");
chSysLock(); chSysLock();
if (mmcp->mmc_state != MMC_WRITING) { if (mmcp->state != MMC_WRITING) {
chSysUnlock(); chSysUnlock();
return TRUE; return TRUE;
} }
chSysUnlock(); chSysUnlock();
spiSend(mmcp->mmc_spip, sizeof(start), start); /* Data prologue. */ spiSend(mmcp->spip, sizeof(start), start); /* Data prologue. */
spiSend(mmcp->mmc_spip, MMC_SECTOR_SIZE, buffer); /* Data. */ spiSend(mmcp->spip, MMC_SECTOR_SIZE, buffer); /* Data. */
spiIgnore(mmcp->mmc_spip, 2); /* CRC ignored. */ spiIgnore(mmcp->spip, 2); /* CRC ignored. */
spiReceive(mmcp->mmc_spip, 1, b); spiReceive(mmcp->spip, 1, b);
if ((b[0] & 0x1F) == 0x05) { if ((b[0] & 0x1F) == 0x05) {
wait(mmcp); wait(mmcp);
return FALSE; return FALSE;
} }
/* Error.*/ /* Error.*/
spiUnselect(mmcp->mmc_spip); spiUnselect(mmcp->spip);
chSysLock(); chSysLock();
if (mmcp->mmc_state == MMC_WRITING) if (mmcp->state == MMC_WRITING)
mmcp->mmc_state = MMC_READY; mmcp->state = MMC_READY;
chSysUnlock(); chSysUnlock();
return TRUE; return TRUE;
} }
@ -604,18 +599,18 @@ bool_t mmcStopSequentialWrite(MMCDriver *mmcp) {
chDbgCheck(mmcp != NULL, "mmcStopSequentialWrite"); chDbgCheck(mmcp != NULL, "mmcStopSequentialWrite");
chSysLock(); chSysLock();
if (mmcp->mmc_state != MMC_WRITING) { if (mmcp->state != MMC_WRITING) {
chSysUnlock(); chSysUnlock();
return TRUE; return TRUE;
} }
chSysUnlock(); chSysUnlock();
spiSend(mmcp->mmc_spip, sizeof(stop), stop); spiSend(mmcp->spip, sizeof(stop), stop);
spiUnselect(mmcp->mmc_spip); spiUnselect(mmcp->spip);
chSysLock(); chSysLock();
if (mmcp->mmc_state == MMC_WRITING) { if (mmcp->state == MMC_WRITING) {
mmcp->mmc_state = MMC_READY; mmcp->state = MMC_READY;
chSysUnlock(); chSysUnlock();
return FALSE; return FALSE;
} }

12
os/hal/src/pal.c
View File

@ -64,9 +64,9 @@
ioportmask_t palReadBus(IOBus *bus) { ioportmask_t palReadBus(IOBus *bus) {
chDbgCheck((bus != NULL) && chDbgCheck((bus != NULL) &&
(bus->bus_offset > PAL_IOPORTS_WIDTH), "palReadBus"); (bus->offset > PAL_IOPORTS_WIDTH), "palReadBus");
return palReadGroup(bus->bus_portid, bus->bus_mask, bus->bus_offset); return palReadGroup(bus->portid, bus->mask, bus->offset);
} }
/** /**
@ -89,9 +89,9 @@ ioportmask_t palReadBus(IOBus *bus) {
void palWriteBus(IOBus *bus, ioportmask_t bits) { void palWriteBus(IOBus *bus, ioportmask_t bits) {
chDbgCheck((bus != NULL) && chDbgCheck((bus != NULL) &&
(bus->bus_offset > PAL_IOPORTS_WIDTH), "palWriteBus"); (bus->offset > PAL_IOPORTS_WIDTH), "palWriteBus");
palWriteGroup(bus->bus_portid, bus->bus_mask, bus->bus_offset, bits); palWriteGroup(bus->portid, bus->mask, bus->offset, bits);
} }
/** /**
@ -112,9 +112,9 @@ void palWriteBus(IOBus *bus, ioportmask_t bits) {
void palSetBusMode(IOBus *bus, uint_fast8_t mode) { void palSetBusMode(IOBus *bus, uint_fast8_t mode) {
chDbgCheck((bus != NULL) && chDbgCheck((bus != NULL) &&
(bus->bus_offset > PAL_IOPORTS_WIDTH), "palSetBusMode"); (bus->offset > PAL_IOPORTS_WIDTH), "palSetBusMode");
palSetGroupMode(bus->bus_portid, bus->bus_mask, mode); palSetGroupMode(bus->portid, bus->mask, mode);
} }
#endif /* HAL_USE_PAL */ #endif /* HAL_USE_PAL */

18
os/hal/src/pwm.c
View File

@ -67,8 +67,8 @@ void pwmInit(void) {
*/ */
void pwmObjectInit(PWMDriver *pwmp) { void pwmObjectInit(PWMDriver *pwmp) {
pwmp->pd_state = PWM_STOP; pwmp->state = PWM_STOP;
pwmp->pd_config = NULL; pwmp->config = NULL;
#if defined(PWM_DRIVER_EXT_INIT_HOOK) #if defined(PWM_DRIVER_EXT_INIT_HOOK)
PWM_DRIVER_EXT_INIT_HOOK(pwmp); PWM_DRIVER_EXT_INIT_HOOK(pwmp);
#endif #endif
@ -87,11 +87,11 @@ void pwmStart(PWMDriver *pwmp, const PWMConfig *config) {
chDbgCheck((pwmp != NULL) && (config != NULL), "pwmStart"); chDbgCheck((pwmp != NULL) && (config != NULL), "pwmStart");
chSysLock(); chSysLock();
chDbgAssert((pwmp->pd_state == PWM_STOP) || (pwmp->pd_state == PWM_READY), chDbgAssert((pwmp->state == PWM_STOP) || (pwmp->state == PWM_READY),
"pwmStart(), #1", "invalid state"); "pwmStart(), #1", "invalid state");
pwmp->pd_config = config; pwmp->config = config;
pwm_lld_start(pwmp); pwm_lld_start(pwmp);
pwmp->pd_state = PWM_READY; pwmp->state = PWM_READY;
chSysUnlock(); chSysUnlock();
} }
@ -107,10 +107,10 @@ void pwmStop(PWMDriver *pwmp) {
chDbgCheck(pwmp != NULL, "pwmStop"); chDbgCheck(pwmp != NULL, "pwmStop");
chSysLock(); chSysLock();
chDbgAssert((pwmp->pd_state == PWM_STOP) || (pwmp->pd_state == PWM_READY), chDbgAssert((pwmp->state == PWM_STOP) || (pwmp->state == PWM_READY),
"pwmStop(), #1", "invalid state"); "pwmStop(), #1", "invalid state");
pwm_lld_stop(pwmp); pwm_lld_stop(pwmp);
pwmp->pd_state = PWM_STOP; pwmp->state = PWM_STOP;
chSysUnlock(); chSysUnlock();
} }
@ -132,7 +132,7 @@ void pwmEnableChannel(PWMDriver *pwmp,
"pwmEnableChannel"); "pwmEnableChannel");
chSysLock(); chSysLock();
chDbgAssert(pwmp->pd_state == PWM_READY, chDbgAssert(pwmp->state == PWM_READY,
"pwmEnableChannel(), #1", "not ready"); "pwmEnableChannel(), #1", "not ready");
pwm_lld_enable_channel(pwmp, channel, width); pwm_lld_enable_channel(pwmp, channel, width);
chSysUnlock(); chSysUnlock();
@ -154,7 +154,7 @@ void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel) {
"pwmEnableChannel"); "pwmEnableChannel");
chSysLock(); chSysLock();
chDbgAssert(pwmp->pd_state == PWM_READY, chDbgAssert(pwmp->state == PWM_READY,
"pwmDisableChannel(), #1", "not ready"); "pwmDisableChannel(), #1", "not ready");
pwm_lld_disable_channel(pwmp, channel); pwm_lld_disable_channel(pwmp, channel);
chSysUnlock(); chSysUnlock();

77
os/hal/src/spi.c
View File

@ -67,16 +67,16 @@ void spiInit(void) {
*/ */
void spiObjectInit(SPIDriver *spip) { void spiObjectInit(SPIDriver *spip) {
spip->spd_state = SPI_STOP; spip->state = SPI_STOP;
spip->spd_config = NULL; spip->config = NULL;
#if SPI_USE_WAIT #if SPI_USE_WAIT
spip->spd_thread = NULL; spip->thread = NULL;
#endif /* SPI_USE_WAIT */ #endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION #if SPI_USE_MUTUAL_EXCLUSION
#if CH_USE_MUTEXES #if CH_USE_MUTEXES
chMtxInit(&spip->spd_mutex); chMtxInit(&spip->mutex);
#else #else
chSemInit(&spip->spd_semaphore, 1); chSemInit(&spip->semaphore, 1);
#endif #endif
#endif /* SPI_USE_MUTUAL_EXCLUSION */ #endif /* SPI_USE_MUTUAL_EXCLUSION */
#if defined(SPI_DRIVER_EXT_INIT_HOOK) #if defined(SPI_DRIVER_EXT_INIT_HOOK)
@ -97,11 +97,11 @@ void spiStart(SPIDriver *spip, const SPIConfig *config) {
chDbgCheck((spip != NULL) && (config != NULL), "spiStart"); chDbgCheck((spip != NULL) && (config != NULL), "spiStart");
chSysLock(); chSysLock();
chDbgAssert((spip->spd_state == SPI_STOP) || (spip->spd_state == SPI_READY), chDbgAssert((spip->state == SPI_STOP) || (spip->state == SPI_READY),
"spiStart(), #1", "invalid state"); "spiStart(), #1", "invalid state");
spip->spd_config = config; spip->config = config;
spi_lld_start(spip); spi_lld_start(spip);
spip->spd_state = SPI_READY; spip->state = SPI_READY;
chSysUnlock(); chSysUnlock();
} }
@ -119,11 +119,11 @@ void spiStop(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiStop"); chDbgCheck(spip != NULL, "spiStop");
chSysLock(); chSysLock();
chDbgAssert((spip->spd_state == SPI_STOP) || (spip->spd_state == SPI_READY), chDbgAssert((spip->state == SPI_STOP) || (spip->state == SPI_READY),
"spiStop(), #1", "invalid state"); "spiStop(), #1", "invalid state");
spi_lld_unselect(spip); spi_lld_unselect(spip);
spi_lld_stop(spip); spi_lld_stop(spip);
spip->spd_state = SPI_STOP; spip->state = SPI_STOP;
chSysUnlock(); chSysUnlock();
} }
@ -139,8 +139,7 @@ void spiSelect(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiSelect"); chDbgCheck(spip != NULL, "spiSelect");
chSysLock(); chSysLock();
chDbgAssert(spip->spd_state == SPI_READY, chDbgAssert(spip->state == SPI_READY, "spiSelect(), #1", "not ready");
"spiSelect(), #1", "not ready");
spiSelectI(spip); spiSelectI(spip);
chSysUnlock(); chSysUnlock();
} }
@ -158,8 +157,7 @@ void spiUnselect(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiUnselect"); chDbgCheck(spip != NULL, "spiUnselect");
chSysLock(); chSysLock();
chDbgAssert(spip->spd_state == SPI_READY, chDbgAssert(spip->state == SPI_READY, "spiUnselect(), #1", "not ready");
"spiUnselect(), #1", "not ready");
spiUnselectI(spip); spiUnselectI(spip);
chSysUnlock(); chSysUnlock();
} }
@ -182,8 +180,7 @@ void spiStartIgnore(SPIDriver *spip, size_t n) {
chDbgCheck((spip != NULL) && (n > 0), "spiStartIgnore"); chDbgCheck((spip != NULL) && (n > 0), "spiStartIgnore");
chSysLock(); chSysLock();
chDbgAssert(spip->spd_state == SPI_READY, chDbgAssert(spip->state == SPI_READY, "spiStartIgnore(), #1", "not ready");
"spiStartIgnore(), #1", "not ready");
spiStartIgnoreI(spip, n); spiStartIgnoreI(spip, n);
chSysUnlock(); chSysUnlock();
} }
@ -212,8 +209,7 @@ void spiStartExchange(SPIDriver *spip, size_t n,
"spiStartExchange"); "spiStartExchange");
chSysLock(); chSysLock();
chDbgAssert(spip->spd_state == SPI_READY, chDbgAssert(spip->state == SPI_READY, "spiStartExchange(), #1", "not ready");
"spiStartExchange(), #1", "not ready");
spiStartExchangeI(spip, n, txbuf, rxbuf); spiStartExchangeI(spip, n, txbuf, rxbuf);
chSysUnlock(); chSysUnlock();
} }
@ -239,8 +235,7 @@ void spiStartSend(SPIDriver *spip, size_t n, const void *txbuf) {
"spiStartSend"); "spiStartSend");
chSysLock(); chSysLock();
chDbgAssert(spip->spd_state == SPI_READY, chDbgAssert(spip->state == SPI_READY, "spiStartSend(), #1", "not ready");
"spiStartSend(), #1", "not ready");
spiStartSendI(spip, n, txbuf); spiStartSendI(spip, n, txbuf);
chSysUnlock(); chSysUnlock();
} }
@ -266,8 +261,7 @@ void spiStartReceive(SPIDriver *spip, size_t n, void *rxbuf) {
"spiStartReceive"); "spiStartReceive");
chSysLock(); chSysLock();
chDbgAssert(spip->spd_state == SPI_READY, chDbgAssert(spip->state == SPI_READY, "spiStartReceive(), #1", "not ready");
"spiStartReceive(), #1", "not ready");
spiStartReceiveI(spip, n, rxbuf); spiStartReceiveI(spip, n, rxbuf);
chSysUnlock(); chSysUnlock();
} }
@ -280,7 +274,7 @@ void spiStartReceive(SPIDriver *spip, size_t n, void *rxbuf) {
* @pre In order to use this function the option @p SPI_USE_WAIT must be * @pre In order to use this function the option @p SPI_USE_WAIT must be
* enabled. * enabled.
* @pre In order to use this function the driver must have been configured * @pre In order to use this function the driver must have been configured
* without callbacks (@p spc_endcb = @p NULL). * without callbacks (@p end_cb = @p NULL).
* *
* @param[in] spip pointer to the @p SPIDriver object * @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to be ignored * @param[in] n number of words to be ignored
@ -292,10 +286,8 @@ void spiIgnore(SPIDriver *spip, size_t n) {
chDbgCheck((spip != NULL) && (n > 0), "spiIgnoreWait"); chDbgCheck((spip != NULL) && (n > 0), "spiIgnoreWait");
chSysLock(); chSysLock();
chDbgAssert(spip->spd_state == SPI_READY, chDbgAssert(spip->state == SPI_READY, "spiIgnore(), #1", "not ready");
"spiIgnore(), #1", "not ready"); chDbgAssert(spip->config->end_cb == NULL, "spiIgnore(), #2", "has callback");
chDbgAssert(spip->spd_config->spc_endcb == NULL,
"spiIgnore(), #2", "has callback");
spiStartIgnoreI(spip, n); spiStartIgnoreI(spip, n);
_spi_wait_s(spip); _spi_wait_s(spip);
chSysUnlock(); chSysUnlock();
@ -308,7 +300,7 @@ void spiIgnore(SPIDriver *spip, size_t n) {
* @pre In order to use this function the option @p SPI_USE_WAIT must be * @pre In order to use this function the option @p SPI_USE_WAIT must be
* enabled. * enabled.
* @pre In order to use this function the driver must have been configured * @pre In order to use this function the driver must have been configured
* without callbacks (@p spc_endcb = @p NULL). * without callbacks (@p end_cb = @p NULL).
* @note The buffers are organized as uint8_t arrays for data sizes below * @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays. * or equal to 8 bits else it is organized as uint16_t arrays.
* *
@ -326,9 +318,8 @@ void spiExchange(SPIDriver *spip, size_t n,
"spiExchange"); "spiExchange");
chSysLock(); chSysLock();
chDbgAssert(spip->spd_state == SPI_READY, chDbgAssert(spip->state == SPI_READY, "spiExchange(), #1", "not ready");
"spiExchange(), #1", "not ready"); chDbgAssert(spip->config->end_cb == NULL,
chDbgAssert(spip->spd_config->spc_endcb == NULL,
"spiExchange(), #2", "has callback"); "spiExchange(), #2", "has callback");
spiStartExchangeI(spip, n, txbuf, rxbuf); spiStartExchangeI(spip, n, txbuf, rxbuf);
_spi_wait_s(spip); _spi_wait_s(spip);
@ -341,7 +332,7 @@ void spiExchange(SPIDriver *spip, size_t n,
* @pre In order to use this function the option @p SPI_USE_WAIT must be * @pre In order to use this function the option @p SPI_USE_WAIT must be
* enabled. * enabled.
* @pre In order to use this function the driver must have been configured * @pre In order to use this function the driver must have been configured
* without callbacks (@p spc_endcb = @p NULL). * without callbacks (@p end_cb = @p NULL).
* @note The buffers are organized as uint8_t arrays for data sizes below * @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays. * or equal to 8 bits else it is organized as uint16_t arrays.
* *
@ -353,14 +344,11 @@ void spiExchange(SPIDriver *spip, size_t n,
*/ */
void spiSend(SPIDriver *spip, size_t n, const void *txbuf) { void spiSend(SPIDriver *spip, size_t n, const void *txbuf) {
chDbgCheck((spip != NULL) && (n > 0) && (txbuf != NULL), chDbgCheck((spip != NULL) && (n > 0) && (txbuf != NULL), "spiSend");
"spiSend");
chSysLock(); chSysLock();
chDbgAssert(spip->spd_state == SPI_READY, chDbgAssert(spip->state == SPI_READY, "spiSend(), #1", "not ready");
"spiSend(), #1", "not ready"); chDbgAssert(spip->config->end_cb == NULL, "spiSend(), #2", "has callback");
chDbgAssert(spip->spd_config->spc_endcb == NULL,
"spiSend(), #2", "has callback");
spiStartSendI(spip, n, txbuf); spiStartSendI(spip, n, txbuf);
_spi_wait_s(spip); _spi_wait_s(spip);
chSysUnlock(); chSysUnlock();
@ -372,7 +360,7 @@ void spiSend(SPIDriver *spip, size_t n, const void *txbuf) {
* @pre In order to use this function the option @p SPI_USE_WAIT must be * @pre In order to use this function the option @p SPI_USE_WAIT must be
* enabled. * enabled.
* @pre In order to use this function the driver must have been configured * @pre In order to use this function the driver must have been configured
* without callbacks (@p spc_endcb = @p NULL). * without callbacks (@p end_cb = @p NULL).
* @note The buffers are organized as uint8_t arrays for data sizes below * @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays. * or equal to 8 bits else it is organized as uint16_t arrays.
* *
@ -388,9 +376,8 @@ void spiReceive(SPIDriver *spip, size_t n, void *rxbuf) {
"spiReceive"); "spiReceive");
chSysLock(); chSysLock();
chDbgAssert(spip->spd_state == SPI_READY, chDbgAssert(spip->state == SPI_READY, "spiReceive(), #1", "not ready");
"spiReceive(), #1", "not ready"); chDbgAssert(spip->config->end_cb == NULL,
chDbgAssert(spip->spd_config->spc_endcb == NULL,
"spiReceive(), #2", "has callback"); "spiReceive(), #2", "has callback");
spiStartReceiveI(spip, n, rxbuf); spiStartReceiveI(spip, n, rxbuf);
_spi_wait_s(spip); _spi_wait_s(spip);
@ -415,9 +402,9 @@ void spiAcquireBus(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiAcquireBus"); chDbgCheck(spip != NULL, "spiAcquireBus");
#if CH_USE_MUTEXES #if CH_USE_MUTEXES
chMtxLock(&spip->spd_mutex); chMtxLock(&spip->mutex);
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
chSemWait(&spip->spd_semaphore); chSemWait(&spip->semaphore);
#endif #endif
} }
@ -438,7 +425,7 @@ void spiReleaseBus(SPIDriver *spip) {
(void)spip; (void)spip;
chMtxUnlock(); chMtxUnlock();
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
chSemSignal(&spip->spd_semaphore); chSemSignal(&spip->semaphore);
#endif #endif
} }
#endif /* SPI_USE_MUTUAL_EXCLUSION */ #endif /* SPI_USE_MUTUAL_EXCLUSION */

97
os/hal/src/uart.c
View File

@ -67,10 +67,10 @@ void uartInit(void) {
*/ */
void uartObjectInit(UARTDriver *uartp) { void uartObjectInit(UARTDriver *uartp) {
uartp->ud_state = UART_STOP; uartp->state = UART_STOP;
uartp->ud_txstate = UART_TX_IDLE; uartp->txstate = UART_TX_IDLE;
uartp->ud_rxstate = UART_RX_IDLE; uartp->rxstate = UART_RX_IDLE;
uartp->ud_config = NULL; uartp->config = NULL;
/* Optional, user-defined initializer.*/ /* Optional, user-defined initializer.*/
#if defined(UART_DRIVER_EXT_INIT_HOOK) #if defined(UART_DRIVER_EXT_INIT_HOOK)
UART_DRIVER_EXT_INIT_HOOK(uartp); UART_DRIVER_EXT_INIT_HOOK(uartp);
@ -90,14 +90,12 @@ void uartStart(UARTDriver *uartp, const UARTConfig *config) {
chDbgCheck((uartp != NULL) && (config != NULL), "uartStart"); chDbgCheck((uartp != NULL) && (config != NULL), "uartStart");
chSysLock(); chSysLock();
chDbgAssert((uartp->ud_state == UART_STOP) || chDbgAssert((uartp->state == UART_STOP) || (uartp->state == UART_READY),
(uartp->ud_state == UART_READY), "uartStart(), #1", "invalid state");
"uartStart(), #1",
"invalid state");
uartp->ud_config = config; uartp->config = config;
uart_lld_start(uartp); uart_lld_start(uartp);
uartp->ud_state = UART_READY; uartp->state = UART_READY;
chSysUnlock(); chSysUnlock();
} }
@ -113,15 +111,13 @@ void uartStop(UARTDriver *uartp) {
chDbgCheck(uartp != NULL, "uartStop"); chDbgCheck(uartp != NULL, "uartStop");
chSysLock(); chSysLock();
chDbgAssert((uartp->ud_state == UART_STOP) || chDbgAssert((uartp->state == UART_STOP) || (uartp->state == UART_READY),
(uartp->ud_state == UART_READY), "uartStop(), #1", "invalid state");
"uartStop(), #1",
"invalid state");
uart_lld_stop(uartp); uart_lld_stop(uartp);
uartp->ud_state = UART_STOP; uartp->state = UART_STOP;
uartp->ud_txstate = UART_TX_IDLE; uartp->txstate = UART_TX_IDLE;
uartp->ud_rxstate = UART_RX_IDLE; uartp->rxstate = UART_RX_IDLE;
chSysUnlock(); chSysUnlock();
} }
@ -142,13 +138,11 @@ void uartStartSend(UARTDriver *uartp, size_t n, const void *txbuf) {
"uartStartSend"); "uartStartSend");
chSysLock(); chSysLock();
chDbgAssert((uartp->ud_state == UART_READY) && chDbgAssert((uartp->state == UART_READY) && (uartp->txstate == UART_TX_IDLE),
(uartp->ud_txstate == UART_TX_IDLE), "uartStartSend(), #1", "not active");
"uartStartSend(), #1",
"not active");
uart_lld_start_send(uartp, n, txbuf); uart_lld_start_send(uartp, n, txbuf);
uartp->ud_txstate = UART_TX_ACTIVE; uartp->txstate = UART_TX_ACTIVE;
chSysUnlock(); chSysUnlock();
} }
@ -169,12 +163,11 @@ void uartStartSendI(UARTDriver *uartp, size_t n, const void *txbuf) {
chDbgCheck((uartp != NULL) && (n > 0) && (txbuf != NULL), chDbgCheck((uartp != NULL) && (n > 0) && (txbuf != NULL),
"uartStartSendI"); "uartStartSendI");
chDbgAssert((uartp->ud_state == UART_READY) && chDbgAssert((uartp->state == UART_READY) &&
(uartp->ud_txstate != UART_TX_ACTIVE), (uartp->txstate != UART_TX_ACTIVE),
"uartStartSendI(), #1", "uartStartSendI(), #1", "not active");
"not active");
uart_lld_start_send(uartp, n, txbuf); uart_lld_start_send(uartp, n, txbuf);
uartp->ud_txstate = UART_TX_ACTIVE; uartp->txstate = UART_TX_ACTIVE;
} }
/** /**
@ -195,13 +188,11 @@ size_t uartStopSend(UARTDriver *uartp) {
chDbgCheck(uartp != NULL, "uartStopSend"); chDbgCheck(uartp != NULL, "uartStopSend");
chSysLock(); chSysLock();
chDbgAssert(uartp->ud_state == UART_READY, chDbgAssert(uartp->state == UART_READY, "uartStopSend(), #1", "not active");
"uartStopSend(), #1",
"not active");
if (uartp->ud_txstate == UART_TX_ACTIVE) { if (uartp->txstate == UART_TX_ACTIVE) {
n = uart_lld_stop_send(uartp); n = uart_lld_stop_send(uartp);
uartp->ud_txstate = UART_TX_IDLE; uartp->txstate = UART_TX_IDLE;
} }
else else
n = 0; n = 0;
@ -226,13 +217,11 @@ size_t uartStopSendI(UARTDriver *uartp) {
chDbgCheck(uartp != NULL, "uartStopSendI"); chDbgCheck(uartp != NULL, "uartStopSendI");
chDbgAssert(uartp->ud_state == UART_READY, chDbgAssert(uartp->state == UART_READY, "uartStopSendI(), #1", "not active");
"uartStopSendI(), #1",
"not active");
if (uartp->ud_txstate == UART_TX_ACTIVE) { if (uartp->txstate == UART_TX_ACTIVE) {
size_t n = uart_lld_stop_send(uartp); size_t n = uart_lld_stop_send(uartp);
uartp->ud_txstate = UART_TX_IDLE; uartp->txstate = UART_TX_IDLE;
return n; return n;
} }
return 0; return 0;
@ -255,13 +244,11 @@ void uartStartReceive(UARTDriver *uartp, size_t n, void *rxbuf) {
"uartStartReceive"); "uartStartReceive");
chSysLock(); chSysLock();
chDbgAssert((uartp->ud_state == UART_READY) && chDbgAssert((uartp->state == UART_READY) && (uartp->rxstate == UART_RX_IDLE),
(uartp->ud_rxstate == UART_RX_IDLE), "uartStartReceive(), #1", "not active");
"uartStartReceive(), #1",
"not active");
uart_lld_start_receive(uartp, n, rxbuf); uart_lld_start_receive(uartp, n, rxbuf);
uartp->ud_rxstate = UART_RX_ACTIVE; uartp->rxstate = UART_RX_ACTIVE;
chSysUnlock(); chSysUnlock();
} }
@ -282,13 +269,11 @@ void uartStartReceiveI(UARTDriver *uartp, size_t n, void *rxbuf) {
chDbgCheck((uartp != NULL) && (n > 0) && (rxbuf != NULL), chDbgCheck((uartp != NULL) && (n > 0) && (rxbuf != NULL),
"uartStartReceiveI"); "uartStartReceiveI");
chDbgAssert((uartp->ud_state == UART_READY) && chDbgAssert((uartp->state == UART_READY) && (uartp->rxstate == UART_RX_IDLE),
(uartp->ud_rxstate == UART_RX_IDLE), "uartStartReceiveI(), #1", "not active");
"uartStartReceiveI(), #1",
"not active");
uart_lld_start_receive(uartp, n, rxbuf); uart_lld_start_receive(uartp, n, rxbuf);
uartp->ud_rxstate = UART_RX_ACTIVE; uartp->rxstate = UART_RX_ACTIVE;
} }
/** /**
@ -309,13 +294,12 @@ size_t uartStopReceive(UARTDriver *uartp) {
chDbgCheck(uartp != NULL, "uartStopReceive"); chDbgCheck(uartp != NULL, "uartStopReceive");
chSysLock(); chSysLock();
chDbgAssert(uartp->ud_state == UART_READY, chDbgAssert(uartp->state == UART_READY,
"uartStopReceive(), #1", "uartStopReceive(), #1", "not active");
"not active");
if (uartp->ud_rxstate == UART_RX_ACTIVE) { if (uartp->rxstate == UART_RX_ACTIVE) {
n = uart_lld_stop_receive(uartp); n = uart_lld_stop_receive(uartp);
uartp->ud_rxstate = UART_RX_IDLE; uartp->rxstate = UART_RX_IDLE;
} }
else else
n = 0; n = 0;
@ -339,13 +323,12 @@ size_t uartStopReceive(UARTDriver *uartp) {
size_t uartStopReceiveI(UARTDriver *uartp) { size_t uartStopReceiveI(UARTDriver *uartp) {
chDbgCheck(uartp != NULL, "uartStopReceiveI"); chDbgCheck(uartp != NULL, "uartStopReceiveI");
chDbgAssert(uartp->ud_state == UART_READY, chDbgAssert(uartp->state == UART_READY,
"uartStopReceiveI(), #1", "uartStopReceiveI(), #1", "not active");
"not active");
if (uartp->ud_rxstate == UART_RX_ACTIVE) { if (uartp->rxstate == UART_RX_ACTIVE) {
size_t n = uart_lld_stop_receive(uartp); size_t n = uart_lld_stop_receive(uartp);
uartp->ud_rxstate = UART_RX_IDLE; uartp->rxstate = UART_RX_IDLE;
return n; return n;
} }
return 0; return 0;

2
os/hal/templates/adc_lld.c
View File

@ -83,7 +83,7 @@ void adc_lld_start(ADCDriver *adcp) {
*/ */
void adc_lld_stop(ADCDriver *adcp) { void adc_lld_stop(ADCDriver *adcp) {
if (adcp->ad_state == ADC_READY) { if (adcp->state == ADC_READY) {
/* Clock de-activation.*/ /* Clock de-activation.*/
} }

22
os/hal/templates/adc_lld.h
View File

@ -86,15 +86,15 @@ typedef struct {
/** /**
* @brief Enables the circular buffer mode for the group. * @brief Enables the circular buffer mode for the group.
*/ */
bool_t acg_circular; bool_t circular;
/** /**
* @brief Number of the analog channels belonging to the conversion group. * @brief Number of the analog channels belonging to the conversion group.
*/ */
adc_channels_num_t acg_num_channels; adc_channels_num_t num_channels;
/** /**
* @brief Callback function associated to the group or @p NULL. * @brief Callback function associated to the group or @p NULL.
*/ */
adccallback_t acg_endcb; adccallback_t end_cb;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
} ADCConversionGroup; } ADCConversionGroup;
@ -117,37 +117,37 @@ struct ADCDriver {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
adcstate_t ad_state; adcstate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const ADCConfig *ad_config; const ADCConfig *config;
/** /**
* @brief Current samples buffer pointer or @p NULL. * @brief Current samples buffer pointer or @p NULL.
*/ */
adcsample_t *ad_samples; adcsample_t *samples;
/** /**
* @brief Current samples buffer depth or @p 0. * @brief Current samples buffer depth or @p 0.
*/ */
size_t ad_depth; size_t depth;
/** /**
* @brief Current conversion group pointer or @p NULL. * @brief Current conversion group pointer or @p NULL.
*/ */
const ADCConversionGroup *ad_grpp; const ADCConversionGroup *grpp;
#if ADC_USE_WAIT || defined(__DOXYGEN__) #if ADC_USE_WAIT || defined(__DOXYGEN__)
/** /**
* @brief Waiting thread. * @brief Waiting thread.
*/ */
Thread *ad_thread; Thread *thread;
#endif /* SPI_USE_WAIT */ #endif /* SPI_USE_WAIT */
#if ADC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) #if ADC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
#if CH_USE_MUTEXES || defined(__DOXYGEN__) #if CH_USE_MUTEXES || defined(__DOXYGEN__)
/** /**
* @brief Mutex protecting the peripheral. * @brief Mutex protecting the peripheral.
*/ */
Mutex ad_mutex; Mutex mutex;
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
Semaphore ad_semaphore; Semaphore semaphore;
#endif #endif
#endif /* ADC_USE_MUTUAL_EXCLUSION */ #endif /* ADC_USE_MUTUAL_EXCLUSION */
#if defined(ADC_DRIVER_EXT_FIELDS) #if defined(ADC_DRIVER_EXT_FIELDS)

2
os/hal/templates/can_lld.c
View File

@ -80,7 +80,7 @@ void can_lld_start(CANDriver *canp) {
void can_lld_stop(CANDriver *canp) { void can_lld_stop(CANDriver *canp) {
/* If in ready state then disables the CAN peripheral.*/ /* If in ready state then disables the CAN peripheral.*/
if (canp->cd_state == CAN_READY) { if (canp->state == CAN_READY) {
} }
} }

52
os/hal/templates/can_lld.h
View File

@ -82,22 +82,22 @@ typedef uint32_t canstatus_t;
*/ */
typedef struct { typedef struct {
struct { struct {
uint8_t cf_DLC:4; /**< @brief Data length. */ uint8_t DLC:4; /**< @brief Data length. */
uint8_t cf_RTR:1; /**< @brief Frame type. */ uint8_t RTR:1; /**< @brief Frame type. */
uint8_t cf_IDE:1; /**< @brief Identifier type. */ uint8_t IDE:1; /**< @brief Identifier type. */
}; };
union { union {
struct { struct {
uint32_t cf_SID:11; /**< @brief Standard identifier.*/ uint32_t SID:11; /**< @brief Standard identifier.*/
}; };
struct { struct {
uint32_t cf_EID:29; /**< @brief Extended identifier.*/ uint32_t EID:29; /**< @brief Extended identifier.*/
}; };
}; };
union { union {
uint8_t cf_data8[8]; /**< @brief Frame data. */ uint8_t data8[8]; /**< @brief Frame data. */
uint16_t cf_data16[4]; /**< @brief Frame data. */ uint16_t data16[4]; /**< @brief Frame data. */
uint32_t cf_data32[2]; /**< @brief Frame data. */ uint32_t data32[2]; /**< @brief Frame data. */
}; };
} CANTxFrame; } CANTxFrame;
@ -109,22 +109,22 @@ typedef struct {
*/ */
typedef struct { typedef struct {
struct { struct {
uint8_t cf_DLC:4; /**< @brief Data length. */ uint8_t DLC:4; /**< @brief Data length. */
uint8_t cf_RTR:1; /**< @brief Frame type. */ uint8_t RTR:1; /**< @brief Frame type. */
uint8_t cf_IDE:1; /**< @brief Identifier type. */ uint8_t IDE:1; /**< @brief Identifier type. */
}; };
union { union {
struct { struct {
uint32_t cf_SID:11; /**< @brief Standard identifier.*/ uint32_t SID:11; /**< @brief Standard identifier.*/
}; };
struct { struct {
uint32_t cf_EID:29; /**< @brief Extended identifier.*/ uint32_t EID:29; /**< @brief Extended identifier.*/
}; };
}; };
union { union {
uint8_t cf_data8[8]; /**< @brief Frame data. */ uint8_t data8[8]; /**< @brief Frame data. */
uint16_t cf_data16[4]; /**< @brief Frame data. */ uint16_t data16[4]; /**< @brief Frame data. */
uint32_t cf_data32[2]; /**< @brief Frame data. */ uint32_t data32[2]; /**< @brief Frame data. */
}; };
} CANRxFrame; } CANRxFrame;
@ -155,19 +155,19 @@ typedef struct {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
canstate_t cd_state; canstate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const CANConfig *cd_config; const CANConfig *config;
/** /**
* @brief Transmission queue semaphore. * @brief Transmission queue semaphore.
*/ */
Semaphore cd_txsem; Semaphore txsem;
/** /**
* @brief Receive queue semaphore. * @brief Receive queue semaphore.
*/ */
Semaphore cd_rxsem; Semaphore rxsem;
/** /**
* @brief One or more frames become available. * @brief One or more frames become available.
* @note After broadcasting this event it will not be broadcasted again * @note After broadcasting this event it will not be broadcasted again
@ -177,28 +177,28 @@ typedef struct {
* invoking @p chReceive() when listening to this event. This behavior * invoking @p chReceive() when listening to this event. This behavior
* minimizes the interrupt served by the system because CAN traffic. * minimizes the interrupt served by the system because CAN traffic.
*/ */
EventSource cd_rxfull_event; EventSource rxfull_event;
/** /**
* @brief One or more transmission slots become available. * @brief One or more transmission slots become available.
*/ */
EventSource cd_txempty_event; EventSource txempty_event;
/** /**
* @brief A CAN bus error happened. * @brief A CAN bus error happened.
*/ */
EventSource cd_error_event; EventSource error_event;
/** /**
* @brief Error flags set when an error event is broadcasted. * @brief Error flags set when an error event is broadcasted.
*/ */
canstatus_t cd_status; canstatus_t status;
#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__) #if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)
/** /**
* @brief Entering sleep state event. * @brief Entering sleep state event.
*/ */
EventSource cd_sleep_event; EventSource sleep_event;
/** /**
* @brief Exiting sleep state event. * @brief Exiting sleep state event.
*/ */
EventSource cd_wakeup_event; EventSource wakeup_event;
#endif /* CAN_USE_SLEEP_MODE */ #endif /* CAN_USE_SLEEP_MODE */
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
} CANDriver; } CANDriver;

14
os/hal/templates/mac_lld.h
View File

@ -73,10 +73,10 @@
* architecture dependent, fields. * architecture dependent, fields.
*/ */
typedef struct { typedef struct {
Semaphore md_tdsem; /**< Transmit semaphore. */ Semaphore tdsem; /**< Transmit semaphore. */
Semaphore md_rdsem; /**< Receive semaphore. */ Semaphore rdsem; /**< Receive semaphore. */
#if CH_USE_EVENTS #if CH_USE_EVENTS
EventSource md_rdevent; /**< Receive event source. */ EventSource rdevent; /**< Receive event source. */
#endif #endif
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
} MACDriver; } MACDriver;
@ -87,8 +87,8 @@ typedef struct {
* architecture dependent, fields. * architecture dependent, fields.
*/ */
typedef struct { typedef struct {
size_t td_offset; /**< Current write offset. */ size_t offset; /**< Current write offset. */
size_t td_size; /**< Available space size. */ size_t size; /**< Available space size. */
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
} MACTransmitDescriptor; } MACTransmitDescriptor;
@ -98,8 +98,8 @@ typedef struct {
* architecture dependent, fields. * architecture dependent, fields.
*/ */
typedef struct { typedef struct {
size_t rd_offset; /**< Current read offset. */ size_t offset; /**< Current read offset. */
size_t rd_size; /**< Available data size. */ size_t size; /**< Available data size. */
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
} MACReceiveDescriptor; } MACReceiveDescriptor;

2
os/hal/templates/pwm_lld.c
View File

@ -68,7 +68,7 @@ void pwm_lld_init(void) {
*/ */
void pwm_lld_start(PWMDriver *pwmp) { void pwm_lld_start(PWMDriver *pwmp) {
if (pwmp->pd_state == PWM_STOP) { if (pwmp->state == PWM_STOP) {
/* Clock activation.*/ /* Clock activation.*/
} }
/* Configuration.*/ /* Configuration.*/

12
os/hal/templates/pwm_lld.h
View File

@ -84,13 +84,13 @@ typedef struct {
/** /**
* @brief Channel active logic level. * @brief Channel active logic level.
*/ */
pwmmode_t pcc_mode; pwmmode_t mode;
/** /**
* @brief Channel callback pointer. * @brief Channel callback pointer.
* @note This callback is invoked on the channel compare event. If set to * @note This callback is invoked on the channel compare event. If set to
* @p NULL then the callback is disabled. * @p NULL then the callback is disabled.
*/ */
pwmcallback_t pcc_callback; pwmcallback_t callback;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
} PWMChannelConfig; } PWMChannelConfig;
@ -105,11 +105,11 @@ typedef struct {
* @note This callback is invoked on PWM counter reset. If set to * @note This callback is invoked on PWM counter reset. If set to
* @p NULL then the callback is disabled. * @p NULL then the callback is disabled.
*/ */
pwmcallback_t pc_callback; pwmcallback_t callback;
/** /**
* @brief Channels configurations. * @brief Channels configurations.
*/ */
PWMChannelConfig pc_channels[PWM_CHANNELS]; PWMChannelConfig channels[PWM_CHANNELS];
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
} PWMConfig; } PWMConfig;
@ -122,11 +122,11 @@ struct PWMDriver {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
pwmstate_t pd_state; pwmstate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const PWMConfig *pd_config; const PWMConfig *config;
#if defined(PWM_DRIVER_EXT_FIELDS) #if defined(PWM_DRIVER_EXT_FIELDS)
PWM_DRIVER_EXT_FIELDS PWM_DRIVER_EXT_FIELDS
#endif #endif

2
os/hal/templates/spi_lld.c
View File

@ -68,7 +68,7 @@ void spi_lld_init(void) {
*/ */
void spi_lld_start(SPIDriver *spip) { void spi_lld_start(SPIDriver *spip) {
if (spip->spd_state == SPI_STOP) { if (spip->state == SPI_STOP) {
/* Clock activation.*/ /* Clock activation.*/
} }
/* Configuration.*/ /* Configuration.*/

12
os/hal/templates/spi_lld.h
View File

@ -68,7 +68,7 @@ typedef struct {
/** /**
* @brief Operation complete callback. * @brief Operation complete callback.
*/ */
spicallback_t spc_endcb; spicallback_t end_cb;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
} SPIConfig; } SPIConfig;
@ -81,25 +81,25 @@ struct SPIDriver {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
spistate_t spd_state; spistate_t state;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const SPIConfig *spd_config; const SPIConfig *config;
#if SPI_USE_WAIT || defined(__DOXYGEN__) #if SPI_USE_WAIT || defined(__DOXYGEN__)
/** /**
* @brief Waiting thread. * @brief Waiting thread.
*/ */
Thread *spd_thread; Thread *thread;
#endif /* SPI_USE_WAIT */ #endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) #if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
#if CH_USE_MUTEXES || defined(__DOXYGEN__) #if CH_USE_MUTEXES || defined(__DOXYGEN__)
/** /**
* @brief Mutex protecting the bus. * @brief Mutex protecting the bus.
*/ */
Mutex spd_mutex; Mutex mutex;
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
Semaphore spd_semaphore; Semaphore semaphore;
#endif #endif
#endif /* SPI_USE_MUTUAL_EXCLUSION */ #endif /* SPI_USE_MUTUAL_EXCLUSION */
#if defined(SPI_DRIVER_EXT_FIELDS) #if defined(SPI_DRIVER_EXT_FIELDS)

18
os/hal/templates/uart_lld.h
View File

@ -90,23 +90,23 @@ typedef struct {
/** /**
* @brief End of transmission buffer callback. * @brief End of transmission buffer callback.
*/ */
uartcb_t uc_txend1; uartcb_t txend1_cb;
/** /**
* @brief Physical end of transmission callback. * @brief Physical end of transmission callback.
*/ */
uartcb_t uc_txend2; uartcb_t txend2_cb;
/** /**
* @brief Receive buffer filled callback. * @brief Receive buffer filled callback.
*/ */
uartcb_t uc_rxend; uartcb_t rxend_cb;
/** /**
* @brief Character received while out if the @p UART_RECEIVE state. * @brief Character received while out if the @p UART_RECEIVE state.
*/ */
uartccb_t uc_rxchar; uartccb_t rxchar_cb;
/** /**
* @brief Receive error callback. * @brief Receive error callback.
*/ */
uartecb_t uc_rxerr; uartecb_t rxerr_cb;
/* End of the mandatory fields.*/ /* End of the mandatory fields.*/
} UARTConfig; } UARTConfig;
@ -119,19 +119,19 @@ struct UARTDriver {
/** /**
* @brief Driver state. * @brief Driver state.
*/ */
uartstate_t ud_state; uartstate_t state;
/** /**
* @brief Transmitter state. * @brief Transmitter state.
*/ */
uarttxstate_t ud_txstate; uarttxstate_t txstate;
/** /**
* @brief Receiver state. * @brief Receiver state.
*/ */
uartrxstate_t ud_rxstate; uartrxstate_t rxstate;
/** /**
* @brief Current configuration data. * @brief Current configuration data.
*/ */
const UARTConfig *ud_config; const UARTConfig *config;
#if defined(UART_DRIVER_EXT_FIELDS) #if defined(UART_DRIVER_EXT_FIELDS)
UART_DRIVER_EXT_FIELDS UART_DRIVER_EXT_FIELDS
#endif #endif

14
readme.txt
View File

@ -61,13 +61,19 @@
+--test/ - Kernel test suite source code. +--test/ - Kernel test suite source code.
| +--coverage/ - Code coverage project. | +--coverage/ - Code coverage project.
+--testhal/ - HAL integration test demos. +--testhal/ - HAL integration test demos.
+--STM32/ - STM32 HAL demos. +--LPC11xx/ - LPC11xx HAL test demos.
+--STM8S/ - STM8S HAL demos. +--LPC13xx/ - LPC13xx HAL test demos.
+--STM32/ - STM32 HAL test demos.
+--STM8S/ - STM8S HAL test demos.
***************************************************************************** *****************************************************************************
*** Releases *** *** Releases ***
***************************************************************************** *****************************************************************************
*** 2.3.1 ***
- CHANGE: Removed all the prefixes from the structure/union field names
in the HAL subsystem.
*** 2.3.0 *** *** 2.3.0 ***
- FIX: Fixed race condition in CM0 ports, the fix also improves the - FIX: Fixed race condition in CM0 ports, the fix also improves the
ISR latency (bug 3193062)(backported to 2.2.2). ISR latency (bug 3193062)(backported to 2.2.2).
@ -84,10 +90,10 @@
2.2.1). 2.2.1).
- FIX: Error in MAC driver (bug 3179783)(backported to 2.2.1). - FIX: Error in MAC driver (bug 3179783)(backported to 2.2.1).
- FIX: Fixed wrong serial driver macros (bug 3173336)(backported to 2.2.1). - FIX: Fixed wrong serial driver macros (bug 3173336)(backported to 2.2.1).
- NEW: Inproved preemption implementation for the Cortex-M0, now it uses - NEW: Improved preemption implementation for the Cortex-M0, now it uses
the NMI vector in order to restore the original context. The change makes the NMI vector in order to restore the original context. The change makes
IRQ handling faster and also saves some RAM/ROM space. The GCC port code IRQ handling faster and also saves some RAM/ROM space. The GCC port code
now does not inline the epilogue code in each ISR saving significan ROM now does not inline the epilogue code in each ISR saving significant ROM
space for each interrupt handler in the system (backported to 2.2.3). space for each interrupt handler in the system (backported to 2.2.3).
- NEW: Added "IRQ STORM" long duration tests for the STM32, LPC11xx and - NEW: Added "IRQ STORM" long duration tests for the STM32, LPC11xx and
LPC11xx. The test demonstrates the system stability in a thread-intensive, LPC11xx. The test demonstrates the system stability in a thread-intensive,

16
testhal/STM32/CAN/main.c
View File

@ -42,7 +42,7 @@ static msg_t can_rx(void *p) {
CANRxFrame rxmsg; CANRxFrame rxmsg;
(void)p; (void)p;
chEvtRegister(&CAND1.cd_rxfull_event, &el, 0); chEvtRegister(&CAND1.rxfull_event, &el, 0);
while(!chThdShouldTerminate()) { while(!chThdShouldTerminate()) {
if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0) if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
continue; continue;
@ -51,7 +51,7 @@ static msg_t can_rx(void *p) {
palTogglePad(IOPORT3, GPIOC_LED); palTogglePad(IOPORT3, GPIOC_LED);
} }
} }
chEvtUnregister(&CAND1.cd_rxfull_event, &el); chEvtUnregister(&CAND1.rxfull_event, &el);
return 0; return 0;
} }
@ -63,12 +63,12 @@ static msg_t can_tx(void * p) {
CANTxFrame txmsg; CANTxFrame txmsg;
(void)p; (void)p;
txmsg.cf_IDE = CAN_IDE_EXT; txmsg.IDE = CAN_IDE_EXT;
txmsg.cf_EID = 0x01234567; txmsg.EID = 0x01234567;
txmsg.cf_RTR = CAN_RTR_DATA; txmsg.RTR = CAN_RTR_DATA;
txmsg.cf_DLC = 8; txmsg.DLC = 8;
txmsg.cf_data32[0] = 0x55AA55AA; txmsg.data32[0] = 0x55AA55AA;
txmsg.cf_data32[1] = 0x00FF00FF; txmsg.data32[1] = 0x00FF00FF;
while (!chThdShouldTerminate()) { while (!chThdShouldTerminate()) {
canTransmit(&CAND1, &txmsg, MS2ST(100)); canTransmit(&CAND1, &txmsg, MS2ST(100));