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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1334 35acf78f-673a-0410-8e92-d51de3d6d3f4

master
gdisirio 2009-11-28 14:18:38 +00:00
parent 16178e1c45
commit 8b412a5a70
16 changed files with 616 additions and 14 deletions
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2
os/hal/include/hal.h
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@ -30,6 +30,8 @@
#include "halconf.h" #include "halconf.h"
#include "board.h" #include "board.h"
#include "hal_lld.h"
#include "pal.h" #include "pal.h"
#include "adc.h" #include "adc.h"
#include "can.h" #include "can.h"

2
os/hal/platforms/STM32/adc_lld.c
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@ -26,8 +26,6 @@
#include "ch.h" #include "ch.h"
#include "hal.h" #include "hal.h"
#include "stm32_dma.h"
#include "nvic.h"
#if CH_HAL_USE_ADC #if CH_HAL_USE_ADC

128
os/hal/platforms/STM32/hal_lld.c Normal file
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@ -0,0 +1,128 @@
/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file templates/hal_lld.c
* @brief HAL Driver subsystem low level driver source template
* @addtogroup HAL_LLD
* @{
*/
#include <ch.h>
#include <hal.h>
#define AIRCR_VECTKEY 0x05FA0000
/*===========================================================================*/
/* Low Level Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver local variables. */
/*===========================================================================*/
/*
* Digital I/O ports static configuration as defined in @p board.h.
*/
const STM32GPIOConfig pal_default_config =
{
{VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH},
{VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH},
{VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH},
{VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH},
#if !defined(STM32F10X_LD)
{VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH},
#endif
#if defined(STM32F10X_HD)
{VAL_GPIOFODR, VAL_GPIOFCRL, VAL_GPIOFCRH},
{VAL_GPIOGODR, VAL_GPIOGCRL, VAL_GPIOGCRH},
#endif
};
/*===========================================================================*/
/* Low Level Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver interrupt handlers. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level HAL driver initialization.
*/
void hal_lld_init(void) {
#if CH_HAL_USE_ADC || CH_HAL_USE_SPI
dmaInit();
#endif
}
/**
* @brief STM32 clocks and PLL initialization.
* @note All the involved constants come from the file @p board.h.
*/
void stm32_clock_init(void) {
/* HSI setup.*/
RCC->CR = RCC_CR_HSITRIM_RESET_BITS | RCC_CR_HSION;
while (!(RCC->CR & RCC_CR_HSIRDY))
; /* Waits until HSI stable. */
/* HSE setup.*/
RCC->CR |= RCC_CR_HSEON;
while (!(RCC->CR & RCC_CR_HSERDY))
; /* Waits until HSE stable. */
/* PLL setup.*/
RCC->CFGR = RCC_CFGR_PLLSRC_HSE_BITS | PLLPREBITS | PLLMULBITS;
RCC->CR |= RCC_CR_PLLON;
while (!(RCC->CR & RCC_CR_PLLRDY))
; /* Waits until PLL stable. */
/* Clock sources.*/
RCC->CFGR |= RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE1_DIV2 |
RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_ADCPRE_DIV8 |
RCC_CFGR_MCO_NOCLOCK | USBPREBITS;
/* Flash setup and final clock selection. */
FLASH->ACR = FLASHBITS; /* Flash wait states depending on clock. */
RCC->CFGR |= RCC_CFGR_SW_PLL; /* Switches the PLL clock ON. */
while ((RCC->CFGR & RCC_CFGR_SW) != RCC_CFGR_SW_PLL)
;
}
/**
* @brief STM32 NVIC/SCB/SYSTICK initialization.
* @note All the involved constants come from the file @p board.h.
*/
void stm32_nvic_init(void) {
/* Note: PRIGROUP 4:0 (4:4).*/
SCB->AIRCR = AIRCR_VECTKEY | SCB_AIRCR_PRIGROUP_0 | SCB_AIRCR_PRIGROUP_1;
NVICSetSystemHandlerPriority(HANDLER_SVCALL, PRIORITY_SVCALL);
NVICSetSystemHandlerPriority(HANDLER_SYSTICK, PRIORITY_SYSTICK);
NVICSetSystemHandlerPriority(HANDLER_PENDSV, PRIORITY_PENDSV);
SysTick->LOAD = SYSCLK / (8000000 / CH_FREQUENCY) - 1;
SysTick->VAL = 0;
SysTick->CTRL = SysTick_CTRL_ENABLE | SysTick_CTRL_TICKINT;
}
/** @} */

61
os/hal/platforms/STM32/hal_lld.h Normal file
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@ -0,0 +1,61 @@
/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file templates/hal_lld.h
* @brief HAL subsystem low level driver header template
* @addtogroup HAL_LLD
* @{
*/
#ifndef _HAL_LLD_H_
#define _HAL_LLD_H_
#include "nvic.h"
#include "stm32_dma.h"
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void hal_lld_init(void);
void stm32_clock_init(void);
void stm32_nvic_init(void);
#ifdef __cplusplus
}
#endif
#endif /* _HAL_LLD_H_ */
/** @} */

5
os/hal/platforms/STM32/platform.mk
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@ -1,10 +1,11 @@
# List of all the STM32 platform files. # List of all the STM32 platform files.
PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/STM32/stm32_dma.c \ PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/STM32/hal_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/adc_lld.c \ ${CHIBIOS}/os/hal/platforms/STM32/adc_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/can_lld.c \ ${CHIBIOS}/os/hal/platforms/STM32/can_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/pal_lld.c \ ${CHIBIOS}/os/hal/platforms/STM32/pal_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/serial_lld.c \ ${CHIBIOS}/os/hal/platforms/STM32/serial_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/spi_lld.c ${CHIBIOS}/os/hal/platforms/STM32/spi_lld.c \
${CHIBIOS}/os/hal/platforms/STM32/stm32_dma.c
# Required include directories # Required include directories
PLATFORMINC = ${CHIBIOS}/os/hal/platforms/STM32 PLATFORMINC = ${CHIBIOS}/os/hal/platforms/STM32

1
os/hal/platforms/STM32/serial_lld.c
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@ -26,7 +26,6 @@
#include "ch.h" #include "ch.h"
#include "hal.h" #include "hal.h"
#include "nvic.h"
#if CH_HAL_USE_SERIAL #if CH_HAL_USE_SERIAL

2
os/hal/platforms/STM32/spi_lld.c
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@ -26,8 +26,6 @@
#include "ch.h" #include "ch.h"
#include "hal.h" #include "hal.h"
#include "nvic.h"
#include "stm32_dma.h"
#if CH_HAL_USE_SPI #if CH_HAL_USE_SPI

8
os/hal/platforms/STM32/stm32_dma.c
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@ -25,13 +25,7 @@
*/ */
#include "ch.h" #include "ch.h"
#include "stm32_dma.h" #include "hal.h"
#undef FALSE
#undef TRUE
#include <stm32f10x.h>
#define FALSE 0
#define TRUE (!FALSE)
static cnt_t dmacnt1; static cnt_t dmacnt1;
#if defined(STM32F10X_HD) || defined (STM32F10X_CL) #if defined(STM32F10X_HD) || defined (STM32F10X_CL)

5
os/hal/src/hal.c
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@ -27,8 +27,13 @@
#include "ch.h" #include "ch.h"
#include "hal.h" #include "hal.h"
/**
* @brief HAL initialization.
*/
void halInit(void) { void halInit(void) {
hal_lld_init();
#if CH_HAL_USE_PAL #if CH_HAL_USE_PAL
palInit(&pal_default_config); palInit(&pal_default_config);
#endif #endif

57
os/hal/templates/hal_lld.c Normal file
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@ -0,0 +1,57 @@
/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file templates/hal_lld.c
* @brief HAL Driver subsystem low level driver source template
* @addtogroup HAL_LLD
* @{
*/
#include <ch.h>
#include <hal.h>
/*===========================================================================*/
/* Low Level Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver interrupt handlers. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level HAL driver initialization.
*/
void hal_lld_init(void) {
}
/** @} */

56
os/hal/templates/hal_lld.h Normal file
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@ -0,0 +1,56 @@
/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file templates/hal_lld.h
* @brief HAL subsystem low level driver header template
* @addtogroup HAL_LLD
* @{
*/
#ifndef _HAL_LLD_H_
#define _HAL_LLD_H_
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void hal_lld_init(void);
#ifdef __cplusplus
}
#endif
#endif /* _HAL_LLD_H_ */
/** @} */

87
os/hal/templates/meta/driver.c Normal file
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@ -0,0 +1,87 @@
/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file XXX.c
* @brief XXX Driver code.
* @addtogroup XXX
* @{
*/
#include <ch.h>
#include <xxx.h>
/**
* @brief XXX Driver initialization.
*/
void xxxInit(void) {
xxx_lld_init();
}
/**
* @brief Initializes the standard part of a @p XXXDriver structure.
*
* @param[in] xxxp pointer to the @p XXXDriver object
*/
void xxxObjectInit(XXXDriver *xxxp) {
xxxp->xxx_state = XXX_STOP;
xxxp->xxx_config = NULL;
}
/**
* @brief Configures and activates the XXX peripheral.
*
* @param[in] xxxp pointer to the @p XXXDriver object
* @param[in] config pointer to the @p XXXConfig object
*/
void xxxStart(XXXDriver *xxxp, const XXXConfig *config) {
chDbgCheck((xxxp != NULL) && (config != NULL), "xxxStart");
chSysLock();
chDbgAssert((xxxp->xxx_state == XXX_STOP) || (xxxp->xxx_state == XXX_READY),
"xxxStart(), #1",
"invalid state");
xxxp->xxx_config = config;
xxx_lld_start(xxxp);
xxxp->xxx_state = XXX_READY;
chSysUnlock();
}
/**
* @brief Deactivates the XXX peripheral.
*
* @param[in] xxxp pointer to the @p XXXDriver object
*/
void xxxStop(XXXDriver *xxxp) {
chDbgCheck(xxxp != NULL, "xxxStop");
chSysLock();
chDbgAssert((xxxp->xxx_state == XXX_STOP) || (xxxp->xxx_state == XXX_READY),
"xxxStop(), #1",
"invalid state");
xxx_lld_stop(xxxp);
xxxp->xxx_state = XXX_STOP;
chSysUnlock();
}
/** @} */

54
os/hal/templates/meta/driver.h Normal file
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@ -0,0 +1,54 @@
/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file xxx.h
* @brief XXX Driver macros and structures.
* @addtogroup XXX
* @{
*/
#ifndef _XXX_H_
#define _XXX_H_
/**
* @brief Driver state machine possible states.
*/
typedef enum {
XXX_UNINIT = 0, /**< @brief Not initialized. */
XXX_STOP = 1, /**< @brief Stopped. */
XXX_READY = 2, /**< @brief Ready. */
} xxxstate_t;
#include "xxx_lld.h"
#ifdef __cplusplus
extern "C" {
#endif
void xxxInit(void);
void xxxObjectInit(XXXDriver *xxxp);
void xxxStart(XXXDriver *xxxp, const XXXConfig *config);
void xxxStop(XXXDriver *xxxp);
#ifdef __cplusplus
}
#endif
#endif /* _XXX_H_ */
/** @} */

79
os/hal/templates/meta/driver_lld.c Normal file
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@ -0,0 +1,79 @@
/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file templates/xxx_lld.c
* @brief XXX Driver subsystem low level driver source template
* @addtogroup XXX_LLD
* @{
*/
#include <ch.h>
#include <xxx.h>
/*===========================================================================*/
/* Low Level Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver interrupt handlers. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level XXX driver initialization.
*/
void xxx_lld_init(void) {
}
/**
* @brief Configures and activates the XXX peripheral.
*
* @param[in] xxxp pointer to the @p XXXDriver object
*/
void xxx_lld_start(XXXDriver *xxxp) {
if (xxxp->xxx_state == XXX_STOP) {
/* Clock activation.*/
}
/* Configuration.*/
}
/**
* @brief Deactivates the XXX peripheral.
*
* @param[in] xxxp pointer to the @p XXXDriver object
*/
void xxx_lld_stop(XXXDriver *xxxp) {
}
/** @} */

81
os/hal/templates/meta/driver_lld.h Normal file
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@ -0,0 +1,81 @@
/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file templates/xxx_lld.h
* @brief XXX Driver subsystem low level driver header template
* @addtogroup XXX_LLD
* @{
*/
#ifndef _XXX_LLD_H_
#define _XXX_LLD_H_
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief Driver configuration structure.
* @note It could be empty on some architectures.
*/
typedef struct {
} XXXConfig;
/**
* @brief Structure representing an XXX driver.
*/
typedef struct {
/**
* @brief Driver state.
*/
xxxstate_t xxx_state;
/**
* @brief Current configuration data.
*/
const XXXConfig *xxx_config;
/* End of the mandatory fields.*/
} XXXDriver;
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void xxx_lld_init(void);
void xxx_lld_start(XXXDriver *xxxp);
void xxx_lld_stop(XXXDriver *xxxp);
#ifdef __cplusplus
}
#endif
#endif /* _XXX_LLD_H_ */
/** @} */

2
os/various/syscalls.c
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@ -107,7 +107,9 @@ int _lseek_r(struct _reent *r, int file, int ptr, int dir)
int _write_r(struct _reent *r, int file, char * ptr, int len) int _write_r(struct _reent *r, int file, char * ptr, int len)
{ {
#if defined(STDOUT_SD)
int n; int n;
#endif
(void)r; (void)r;
(void)file; (void)file;