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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1357 35acf78f-673a-0410-8e92-d51de3d6d3f4

master
gdisirio 2009-11-29 13:37:19 +00:00
parent 03933a5925
commit 937efbc9b6
16 changed files with 340 additions and 115 deletions
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13
demos/ARM7-AT91SAM7X-GCC/Makefile
View File

@ -44,6 +44,8 @@ LDSCRIPT= ch.ld
# Imported source files
CHIBIOS = ../..
include ${CHIBIOS}/os/hal/hal.mk
include ${CHIBIOS}/os/hal/platforms/AT91SAM7/platform.mk
include ${CHIBIOS}/os/ports/GCC/ARM7/port.mk
include ${CHIBIOS}/os/kernel/kernel.mk
include ${CHIBIOS}/test/test.mk
@ -53,11 +55,8 @@ include ${CHIBIOS}/test/test.mk
CSRC = ${PORTSRC} \
${KERNSRC} \
${TESTSRC} \
${CHIBIOS}/os/io/pal.c \
${CHIBIOS}/os/io/serial.c \
${CHIBIOS}/os/io/platforms/AT91SAM7/pal_lld.c \
${CHIBIOS}/os/io/platforms/AT91SAM7/serial_lld.c \
${CHIBIOS}/os/io/platforms/AT91SAM7/at91lib/aic.c \
${HALSRC} \
${PLATFORMSRC} \
board.c main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
@ -88,9 +87,7 @@ TCPPSRC =
ASMSRC = $(PORTASM) \
${CHIBIOS}/os/ports/GCC/ARM7/AT91SAM7/vectors.s
INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
${CHIBIOS}/os/io \
${CHIBIOS}/os/io/platforms/AT91SAM7 \
INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) $(HALINC) $(PLATFORMINC) \
${CHIBIOS}/os/various \
${CHIBIOS}/os/ports/GCC/ARM7/AT91SAM7

86
demos/ARM7-AT91SAM7X-GCC/board.c
View File

@ -17,26 +17,8 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <ch.h>
#include <pal.h>
#include <serial.h>
#include "board.h"
#include "at91lib/aic.h"
/*
* FIQ Handler weak symbol defined in vectors.s.
*/
void FiqHandler(void);
static CH_IRQ_HANDLER(SpuriousHandler) {
CH_IRQ_PROLOGUE();
AT91C_BASE_AIC->AIC_EOICR = 0;
CH_IRQ_EPILOGUE();
}
#include "ch.h"
#include "hal.h"
/*
* SYS IRQ handling here.
@ -56,61 +38,14 @@ static CH_IRQ_HANDLER(SYSIrqHandler) {
CH_IRQ_EPILOGUE();
}
/*
* Digital I/O ports static configuration as defined in @p board.h.
*/
static const AT91SAM7PIOConfig config =
{
{VAL_PIOA_ODSR, VAL_PIOA_OSR, VAL_PIOA_PUSR},
#if defined(SAM7X128) || defined(SAM7X256) || defined(SAM7X512)
{VAL_PIOB_ODSR, VAL_PIOB_OSR, VAL_PIOB_PUSR}
#endif
};
/*
* Early initialization code.
* This initialization is performed just after reset before BSS and DATA
* segments initialization.
*/
void hwinit0(void) {
/*
* Flash Memory: 1 wait state, about 50 cycles in a microsecond.
*/
AT91C_BASE_MC->MC_FMR = (AT91C_MC_FMCN & (50 << 16)) | AT91C_MC_FWS_1FWS;
/*
* Watchdog disabled.
*/
AT91C_BASE_WDTC->WDTC_WDMR = AT91C_WDTC_WDDIS;
/*
* Enables the main oscillator and waits 56 slow cycles as startup time.
*/
AT91C_BASE_PMC->PMC_MOR = (AT91C_CKGR_OSCOUNT & (7 << 8)) | AT91C_CKGR_MOSCEN;
while (!(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_MOSCS))
;
/*
* PLL setup: DIV = 14, MUL = 72, PLLCOUNT = 10
* PLLfreq = 96109714 Hz (rounded)
*/
AT91C_BASE_PMC->PMC_PLLR = (AT91C_CKGR_DIV & 14) |
(AT91C_CKGR_PLLCOUNT & (10 << 8)) |
(AT91C_CKGR_MUL & (72 << 16));
while (!(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_LOCK))
;
/*
* Master clock = PLLfreq / 2 = 48054858 Hz (rounded)
*/
AT91C_BASE_PMC->PMC_MCKR = AT91C_PMC_CSS_PLL_CLK | AT91C_PMC_PRES_CLK_2;
while (!(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_MCKRDY))
;
/*
* PIO initialization.
*/
palInit(&config);
at91sam7_clock_init();
}
/*
@ -119,19 +54,11 @@ void hwinit0(void) {
* and before invoking the main() function.
*/
void hwinit1(void) {
int i;
/*
* Default AIC setup, the device drivers will modify it as needed.
* HAL initialization.
*/
AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;
AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;
AT91C_BASE_AIC->AIC_SVR[0] = (AT91_REG)FiqHandler;
for (i = 1; i < 31; i++) {
AT91C_BASE_AIC->AIC_SVR[i] = (AT91_REG)NULL;
AT91C_BASE_AIC->AIC_EOICR = (AT91_REG)i;
}
AT91C_BASE_AIC->AIC_SPU = (AT91_REG)SpuriousHandler;
halInit();
/*
* LCD pins setup.
@ -169,9 +96,8 @@ void hwinit1(void) {
AT91C_BASE_PITC->PITC_PIMR |= AT91C_PITC_PITEN | AT91C_PITC_PITIEN;
/*
* Serial driver initialization, RTS/CTS pins enabled for USART0 only.
* RTS/CTS pins enabled for USART0 only.
*/
sdInit();
AT91C_BASE_PIOA->PIO_PDR = AT91C_PA3_RTS0 | AT91C_PA4_CTS0;
AT91C_BASE_PIOA->PIO_ASR = AT91C_PIO_PA3 | AT91C_PIO_PA4;
AT91C_BASE_PIOA->PIO_PPUDR = AT91C_PIO_PA3 | AT91C_PIO_PA4;

88
demos/ARM7-AT91SAM7X-GCC/halconf.h Normal file
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@ -0,0 +1,88 @@
/*
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/halconf.h
* @brief HAL configuration header.
* @addtogroup HAL
* @{
*/
#ifndef _HALCONF_H_
#define _HALCONF_H_
/**
* @brief Enables the PAL subsystem.
*/
#if !defined(CH_HAL_USE_PAL) || defined(__DOXYGEN__)
#define CH_HAL_USE_PAL TRUE
#endif
/**
* @brief Enables the ADC subsystem.
*/
#if !defined(CH_HAL_USE_ADC) || defined(__DOXYGEN__)
#define CH_HAL_USE_ADC FALSE
#endif
/**
* @brief Enables the CAN subsystem.
*/
#if !defined(CH_HAL_USE_CAN) || defined(__DOXYGEN__)
#define CH_HAL_USE_CAN FALSE
#endif
/**
* @brief Enables the MAC subsystem.
*/
#if !defined(CH_HAL_USE_MAC) || defined(__DOXYGEN__)
#define CH_HAL_USE_MAC FALSE
#endif
/**
* @brief Enables the MII subsystem.
*/
#if !defined(CH_HAL_USE_MII) || defined(__DOXYGEN__)
#define CH_HAL_USE_MII FALSE
#endif
/**
* @brief Enables the SERIAL subsystem.
*/
#if !defined(CH_HAL_USE_SERIAL) || defined(__DOXYGEN__)
#define CH_HAL_USE_SERIAL TRUE
#endif
/**
* @brief Enables the SPI subsystem.
*/
#if !defined(CH_HAL_USE_SPI) || defined(__DOXYGEN__)
#define CH_HAL_USE_SPI FALSE
#endif
/**
* @brief Enables the MMC_SPI subsystem.
*/
#if !defined(CH_HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
#define CH_HAL_USE_MMC_SPI FALSE
#endif
#endif /* _HALCONF_H_ */
/** @} */

9
demos/ARM7-AT91SAM7X-GCC/main.c
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@ -17,12 +17,9 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <ch.h>
#include <pal.h>
#include <serial.h>
#include <test.h>
#include "board.h"
#include "ch.h"
#include "hal.h"
#include "test.h"
static WORKING_AREA(waThread1, 64);
static msg_t Thread1(void *p) {

2
os/hal/include/hal.h
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@ -44,8 +44,6 @@
/* External declarations. */
/*===========================================================================*/
extern const STM32GPIOConfig pal_default_config;
#ifdef __cplusplus
extern "C" {
#endif

125
os/hal/platforms/AT91SAM7/hal_lld.c Normal file
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@ -0,0 +1,125 @@
/*
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 AT91SAM7/hal_lld.c
* @brief AT91SAM7 HAL subsystem low level driver source
* @addtogroup AT91SAM7_HAL
* @{
*/
#include "ch.h"
#include "hal.h"
/*===========================================================================*/
/* Low Level Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver local variables. */
/*===========================================================================*/
/*
* Digital I/O ports static configuration as defined in @p board.h.
*/
const AT91SAM7PIOConfig pal_default_config =
{
{VAL_PIOA_ODSR, VAL_PIOA_OSR, VAL_PIOA_PUSR},
#if (SAM7_PLATFORM == SAM7X128) || (SAM7_PLATFORM == SAM7X256) || \
(SAM7_PLATFORM == SAM7X512)
{VAL_PIOB_ODSR, VAL_PIOB_OSR, VAL_PIOB_PUSR}
#endif
};
/*===========================================================================*/
/* Low Level Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver interrupt handlers. */
/*===========================================================================*/
static CH_IRQ_HANDLER(spurious_handler) {
CH_IRQ_PROLOGUE();
AT91SAM7_SPURIOUS_HANDLER_HOOK();
AT91C_BASE_AIC->AIC_EOICR = 0;
CH_IRQ_EPILOGUE();
}
/*===========================================================================*/
/* Low Level Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level HAL driver initialization.
*/
void hal_lld_init(void) {
unsigned i;
/* FIQ Handler weak symbol defined in vectors.s.*/
void FiqHandler(void);
/* Default AIC setup, the device drivers will modify it as needed.*/
AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;
AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;
AT91C_BASE_AIC->AIC_SVR[0] = (AT91_REG)FiqHandler;
for (i = 1; i < 31; i++) {
AT91C_BASE_AIC->AIC_SVR[i] = (AT91_REG)NULL;
AT91C_BASE_AIC->AIC_EOICR = (AT91_REG)i;
}
AT91C_BASE_AIC->AIC_SPU = (AT91_REG)spurious_handler;
}
/**
* @brief AT91SAM7 clocks and PLL initialization.
* @note All the involved constants come from the file @p board.h.
*/
void at91sam7_clock_init(void) {
/* Flash Memory: 1 wait state, about 50 cycles in a microsecond.*/
AT91C_BASE_MC->MC_FMR = (AT91C_MC_FMCN & (50 << 16)) | AT91C_MC_FWS_1FWS;
/* Watchdog disabled.*/
AT91C_BASE_WDTC->WDTC_WDMR = AT91C_WDTC_WDDIS;
/* Enables the main oscillator and waits 56 slow cycles as startup time.*/
AT91C_BASE_PMC->PMC_MOR = (AT91C_CKGR_OSCOUNT & (7 << 8)) | AT91C_CKGR_MOSCEN;
while (!(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_MOSCS))
;
/* PLL setup: DIV = 14, MUL = 72, PLLCOUNT = 10
PLLfreq = 96109714 Hz (rounded).*/
AT91C_BASE_PMC->PMC_PLLR = (AT91C_CKGR_DIV & 14) |
(AT91C_CKGR_PLLCOUNT & (10 << 8)) |
(AT91C_CKGR_MUL & (72 << 16));
while (!(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_LOCK))
;
/* Master clock = PLLfreq / 2 = 48054858 Hz (rounded).*/
AT91C_BASE_PMC->PMC_MCKR = AT91C_PMC_CSS_PLL_CLK | AT91C_PMC_PRES_CLK_2;
while (!(AT91C_BASE_PMC->PMC_SR & AT91C_PMC_MCKRDY))
;
}
/** @} */

67
os/hal/platforms/AT91SAM7/hal_lld.h Normal file
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@ -0,0 +1,67 @@
/*
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 AT91SAM7/hal_lld.h
* @brief AT91SAM7 HAL subsystem low level driver header
* @addtogroup AT91SAM7_HAL
* @{
*/
#ifndef _HAL_LLD_H_
#define _HAL_LLD_H_
#include "at91sam7.h"
#include "at91lib/aic.h"
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @brief Default action for the spurious handler, nothing.
*/
#if !defined(AT91SAM7_SPURIOUS_HANDLER_HOOK) || defined(__DOXYGEN__)
#define AT91SAM7_SPURIOUS_HANDLER_HOOK()
#endif
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void hal_lld_init(void);
void at91sam7_clock_init(void);
#ifdef __cplusplus
}
#endif
#endif /* _HAL_LLD_H_ */
/** @} */

9
os/hal/platforms/AT91SAM7/mac_lld.c
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@ -26,11 +26,10 @@
#include <string.h>
#include <ch.h>
#include <mac.h>
#include <mii.h>
#include "ch.h"
#include "mac.h"
#include "at91lib/aic.h"
#if CH_HAL_USE_MAC || defined(__DOXYGEN__)
/**
* @brief Ethernet driver 1.
@ -481,4 +480,6 @@ bool_t mac_lld_poll_link_status(MACDriver *macp) {
return link_up = TRUE;
}
#endif /* CH_HAL_USE_MAC */
/** @} */

4
os/hal/platforms/AT91SAM7/mac_lld.h
View File

@ -27,6 +27,8 @@
#ifndef _MAC_LLD_H_
#define _MAC_LLD_H_
#if CH_HAL_USE_MAC || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
@ -187,6 +189,8 @@ extern "C" {
#endif
/** @endcond*/
#endif /* CH_HAL_USE_MAC */
#endif /* _MAC_LLD_H_ */
/** @} */

14
os/hal/platforms/AT91SAM7/pal_lld.c
View File

@ -24,10 +24,10 @@
* @{
*/
#include <ch.h>
#include <pal.h>
#include "ch.h"
#include "hal.h"
#include "board.h"
#if CH_HAL_USE_PAL || defined(__DOXYGEN__)
/**
* @brief AT91SAM7 I/O ports configuration.
@ -37,9 +37,9 @@
*/
void _pal_lld_init(const AT91SAM7PIOConfig *config) {
unsigned int ports = (1 << AT91C_ID_PIOA);
uint32_t ports = (1 << AT91C_ID_PIOA);
#if (SAM7_PLATFORM == SAM7X128) || (SAM7_PLATFORM == SAM7X256) || \
(SAM7_PLATFORM == SAM7X256)
(SAM7_PLATFORM == SAM7X512)
ports |= (1 << AT91C_ID_PIOB);
#endif
AT91C_BASE_PMC->PMC_PCER = ports;
@ -63,7 +63,7 @@ void _pal_lld_init(const AT91SAM7PIOConfig *config) {
* PIOB setup.
*/
#if (SAM7_PLATFORM == SAM7X128) || (SAM7_PLATFORM == SAM7X256) || \
(SAM7_PLATFORM == SAM7X256)
(SAM7_PLATFORM == SAM7X512)
AT91C_BASE_PIOB->PIO_PPUER = config->P1Data.pusr; /* Pull-up as spec.*/
AT91C_BASE_PIOB->PIO_PPUDR = ~config->P1Data.pusr;
AT91C_BASE_PIOB->PIO_PER = 0xFFFFFFFF; /* PIO enabled.*/
@ -124,4 +124,6 @@ void _pal_lld_setgroupmode(ioportid_t port,
}
}
#endif /* CH_HAL_USE_PAL */
/** @} */

10
os/hal/platforms/AT91SAM7/pal_lld.h
View File

@ -27,7 +27,7 @@
#ifndef _PAL_LLD_H_
#define _PAL_LLD_H_
#include "board.h"
#if CH_HAL_USE_PAL || defined(__DOXYGEN__)
/*===========================================================================*/
/* Unsupported modes and specific modes */
@ -62,7 +62,7 @@ typedef struct {
/** @brief Port 0 setup data.*/
at91sam7_pio_setup_t P0Data;
#if (SAM7_PLATFORM == SAM7X128) || (SAM7_PLATFORM == SAM7X256) || \
(SAM7_PLATFORM == SAM7X256) || defined(__DOXYGEN__)
(SAM7_PLATFORM == SAM7X512) || defined(__DOXYGEN__)
/** @brief Port 1 setup data.*/
at91sam7_pio_setup_t P1Data;
#endif
@ -99,7 +99,7 @@ typedef AT91PS_PIO ioportid_t;
* @brief PIO port B identifier.
*/
#if (SAM7_PLATFORM == SAM7X128) || (SAM7_PLATFORM == SAM7X256) || \
(SAM7_PLATFORM == SAM7X256) || defined(__DOXYGEN__)
(SAM7_PLATFORM == SAM7X512) || defined(__DOXYGEN__)
#define IOPORT2 AT91C_BASE_PIOB
#endif
@ -235,6 +235,8 @@ typedef AT91PS_PIO ioportid_t;
*/
#define pal_lld_writepad(port, pad, bit) pal_lld_writegroup(port, 1, pad, bit)
extern const AT91SAM7PIOConfig pal_default_config;
#ifdef __cplusplus
extern "C" {
#endif
@ -246,6 +248,8 @@ extern "C" {
}
#endif
#endif /* CH_HAL_USE_PAL */
#endif /* _PAL_LLD_H_ */
/** @} */

9
os/hal/platforms/AT91SAM7/platform.mk Normal file
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@ -0,0 +1,9 @@
# List of all the AT91SAM7 platform files.
PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/AT91SAM7/hal_lld.c \
${CHIBIOS}/os/hal/platforms/AT91SAM7/pal_lld.c \
${CHIBIOS}/os/hal/platforms/AT91SAM7/serial_lld.c \
${CHIBIOS}/os/hal/platforms/AT91SAM7/mac_lld.c \
${CHIBIOS}/os/hal/platforms/AT91SAM7/at91lib/aic.c
# Required include directories
PLATFORMINC = ${CHIBIOS}/os/hal/platforms/AT91SAM7

9
os/hal/platforms/AT91SAM7/serial_lld.c
View File

@ -24,11 +24,10 @@
* @{
*/
#include <ch.h>
#include <serial.h>
#include "ch.h"
#include "hal.h"
#include "at91lib/aic.h"
#include "at91sam7.h"
#if CH_HAL_USE_SERIAL || defined(__DOXYGEN__)
#if SAM7_PLATFORM == SAM7S256
@ -295,4 +294,6 @@ void sd_lld_stop(SerialDriver *sdp) {
#endif
}
#endif /* CH_HAL_USE_SPI */
/** @} */

4
os/hal/platforms/AT91SAM7/serial_lld.h
View File

@ -27,6 +27,8 @@
#ifndef _SERIAL_LLD_H_
#define _SERIAL_LLD_H_
#if CH_HAL_USE_SERIAL || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
@ -152,6 +154,8 @@ extern "C" {
#endif
/** @endcond*/
#endif /* CH_HAL_USE_SPI */
#endif /* _SERIAL_LLD_H_ */
/** @} */

4
os/hal/platforms/STM32/hal_lld.c
View File

@ -24,8 +24,8 @@
* @{
*/
#include <ch.h>
#include <hal.h>
#include "ch.h"
#include "hal.h"
#define AIRCR_VECTKEY 0x05FA0000

2
os/hal/platforms/STM32/pal_lld.h
View File

@ -281,6 +281,8 @@ typedef GPIO_TypeDef * ioportid_t;
*/
#define pal_lld_writepad(port, pad, bit) pal_lld_writegroup(port, 1, pad, bit)
extern const STM32GPIOConfig pal_default_config;
#ifdef __cplusplus
extern "C" {
#endif