522 lines
18 KiB
C
522 lines
18 KiB
C
/*
|
|
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
|
2011 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 pal.h
|
|
* @brief I/O Ports Abstraction Layer macros, types and structures.
|
|
*
|
|
* @addtogroup PAL
|
|
* @{
|
|
*/
|
|
|
|
#ifndef _PAL_H_
|
|
#define _PAL_H_
|
|
|
|
#if HAL_USE_PAL || defined(__DOXYGEN__)
|
|
|
|
/*===========================================================================*/
|
|
/* Driver constants. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief After reset state.
|
|
* @details The state itself is not specified and is architecture dependent,
|
|
* it is guaranteed to be equal to the after-reset state. It is
|
|
* usually an input state.
|
|
*/
|
|
#define PAL_MODE_RESET 0
|
|
|
|
/**
|
|
* @brief Safe state for <b>unconnected</b> pads.
|
|
* @details The state itself is not specified and is architecture dependent,
|
|
* it may be mapped on @p PAL_MODE_INPUT_PULLUP,
|
|
* @p PAL_MODE_INPUT_PULLDOWN or @p PAL_MODE_OUTPUT_PUSHPULL as
|
|
* example.
|
|
*/
|
|
#define PAL_MODE_UNCONNECTED 1
|
|
|
|
/**
|
|
* @brief Regular input high-Z pad.
|
|
*/
|
|
#define PAL_MODE_INPUT 2
|
|
|
|
/**
|
|
* @brief Input pad with weak pull up resistor.
|
|
*/
|
|
#define PAL_MODE_INPUT_PULLUP 3
|
|
|
|
/**
|
|
* @brief Input pad with weak pull down resistor.
|
|
*/
|
|
#define PAL_MODE_INPUT_PULLDOWN 4
|
|
|
|
/**
|
|
* @brief Analog input mode.
|
|
*/
|
|
#define PAL_MODE_INPUT_ANALOG 5
|
|
|
|
/**
|
|
* @brief Push-pull output pad.
|
|
*/
|
|
#define PAL_MODE_OUTPUT_PUSHPULL 6
|
|
|
|
/**
|
|
* @brief Open-drain output pad.
|
|
*/
|
|
#define PAL_MODE_OUTPUT_OPENDRAIN 7
|
|
|
|
/**
|
|
* @brief Logical low state.
|
|
*/
|
|
#define PAL_LOW 0
|
|
|
|
/**
|
|
* @brief Logical high state.
|
|
*/
|
|
#define PAL_HIGH 1
|
|
|
|
/*===========================================================================*/
|
|
/* Driver pre-compile time settings. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Derived constants and error checks. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Driver data structures and types. */
|
|
/*===========================================================================*/
|
|
|
|
#include "pal_lld.h"
|
|
|
|
/**
|
|
* @brief I/O bus descriptor.
|
|
* @details This structure describes a group of contiguous digital I/O lines
|
|
* that have to be handled as bus.
|
|
* @note I/O operations on a bus do not affect I/O lines on the same port but
|
|
* not belonging to the bus.
|
|
*/
|
|
typedef struct {
|
|
/**
|
|
* @brief Port identifier.
|
|
*/
|
|
ioportid_t portid;
|
|
/**
|
|
* @brief Bus mask aligned to port bit 0.
|
|
* @note The bus mask implicitly define the bus width. A logical AND is
|
|
* performed on the bus data.
|
|
*/
|
|
ioportmask_t mask;
|
|
/**
|
|
* @brief Offset, within the port, of the least significant bit of the bus.
|
|
*/
|
|
uint_fast8_t offset;
|
|
} IOBus;
|
|
|
|
/*===========================================================================*/
|
|
/* Driver macros. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief Port bit helper macro.
|
|
* @details This macro calculates the mask of a bit within a port.
|
|
*
|
|
* @param[in] n bit position within the port
|
|
* @return The bit mask.
|
|
*/
|
|
#define PAL_PORT_BIT(n) ((ioportmask_t)(1 << (n)))
|
|
|
|
|
|
/**
|
|
* @brief Bits group mask helper.
|
|
* @details This macro calculates the mask of a bits group.
|
|
*
|
|
* @param[in] width group width
|
|
* @return The group mask.
|
|
*/
|
|
#define PAL_GROUP_MASK(width) ((ioportmask_t)(1 << (width)) - 1)
|
|
|
|
/**
|
|
* @brief Data part of a static I/O bus initializer.
|
|
* @details This macro should be used when statically initializing an I/O bus
|
|
* that is part of a bigger structure.
|
|
*
|
|
* @param[in] name name of the IOBus variable
|
|
* @param[in] port I/O port descriptor
|
|
* @param[in] width bus width in bits
|
|
* @param[in] offset bus bit offset within the port
|
|
*/
|
|
#define _IOBUS_DATA(name, port, width, offset) \
|
|
{port, PAL_GROUP_MASK(width), offset}
|
|
|
|
/**
|
|
* @brief Static I/O bus initializer.
|
|
*
|
|
* @param[in] name name of the IOBus variable
|
|
* @param[in] port I/O port descriptor
|
|
* @param[in] width bus width in bits
|
|
* @param[in] offset bus bit offset within the port
|
|
*/
|
|
#define IOBUS_DECL(name, port, width, offset) \
|
|
IOBus name = _IOBUS_DATA(name, port, width, offset)
|
|
|
|
/**
|
|
* @brief PAL subsystem initialization.
|
|
* @note This function is implicitly invoked by @p halInit(), there is
|
|
* no need to explicitly initialize the driver.
|
|
*
|
|
* @param[in] config pointer to an architecture specific configuration
|
|
* structure. This structure is defined in the low level driver
|
|
* header.
|
|
*
|
|
* @init
|
|
*/
|
|
#define palInit(config) pal_lld_init(config)
|
|
|
|
/**
|
|
* @brief Reads the physical I/O port states.
|
|
* @note The default implementation always return zero and computes the
|
|
* parameter eventual side effects.
|
|
*
|
|
* @param[in] port port identifier
|
|
* @return The port logical states.
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_readport) || defined(__DOXYGEN__)
|
|
#define palReadPort(port) ((void)(port), 0)
|
|
#else
|
|
#define palReadPort(port) pal_lld_readport(port)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Reads the output latch.
|
|
* @details The purpose of this function is to read back the latched output
|
|
* value.
|
|
* @note The default implementation always return zero and computes the
|
|
* parameter eventual side effects.
|
|
*
|
|
* @param[in] port port identifier
|
|
* @return The latched logical states.
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_readlatch) || defined(__DOXYGEN__)
|
|
#define palReadLatch(port) ((void)(port), 0)
|
|
#else
|
|
#define palReadLatch(port) pal_lld_readlatch(port)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Writes a bits mask on a I/O port.
|
|
* @note The default implementation does nothing except computing the
|
|
* parameters eventual side effects.
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] bits bits to be written on the specified port
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_writeport) || defined(__DOXYGEN__)
|
|
#define palWritePort(port, bits) ((void)(port), (void)(bits))
|
|
#else
|
|
#define palWritePort(port, bits) pal_lld_writeport(port, bits)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Sets a bits mask on a I/O port.
|
|
* @note The operation is not guaranteed to be atomic on all the
|
|
* architectures, for atomicity and/or portability reasons you may
|
|
* need to enclose port I/O operations between @p chSysLock() and
|
|
* @p chSysUnlock().
|
|
* @note The default implementation is non atomic and not necessarily
|
|
* optimal. Low level drivers may optimize the function by using
|
|
* specific hardware or coding.
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] bits bits to be ORed on the specified port
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_setport) || defined(__DOXYGEN__)
|
|
#define palSetPort(port, bits) \
|
|
palWritePort(port, palReadLatch(port) | (bits))
|
|
#else
|
|
#define palSetPort(port, bits) pal_lld_setport(port, bits)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Clears a bits mask on a I/O port.
|
|
* @note The operation is not guaranteed to be atomic on all the
|
|
* architectures, for atomicity and/or portability reasons you may
|
|
* need to enclose port I/O operations between @p chSysLock() and
|
|
* @p chSysUnlock().
|
|
* @note The default implementation is non atomic and not necessarily
|
|
* optimal. Low level drivers may optimize the function by using
|
|
* specific hardware or coding.
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] bits bits to be cleared on the specified port
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_clearport) || defined(__DOXYGEN__)
|
|
#define palClearPort(port, bits) \
|
|
palWritePort(port, palReadLatch(port) & ~(bits))
|
|
#else
|
|
#define palClearPort(port, bits) pal_lld_clearport(port, bits)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Toggles a bits mask on a I/O port.
|
|
* @note The operation is not guaranteed to be atomic on all the
|
|
* architectures, for atomicity and/or portability reasons you may
|
|
* need to enclose port I/O operations between @p chSysLock() and
|
|
* @p chSysUnlock().
|
|
* @note The default implementation is non atomic and not necessarily
|
|
* optimal. Low level drivers may optimize the function by using
|
|
* specific hardware or coding.
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] bits bits to be XORed on the specified port
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_toggleport) || defined(__DOXYGEN__)
|
|
#define palTogglePort(port, bits) \
|
|
palWritePort(port, palReadLatch(port) ^ (bits))
|
|
#else
|
|
#define palTogglePort(port, bits) pal_lld_toggleport(port, bits)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Reads a group of bits.
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] mask group mask, a logical AND is performed on the input
|
|
* data
|
|
* @param[in] offset group bit offset within the port
|
|
* @return The group logical states.
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_readgroup) || defined(__DOXYGEN__)
|
|
#define palReadGroup(port, mask, offset) \
|
|
((palReadPort(port) >> (offset)) & (mask))
|
|
#else
|
|
#define palReadGroup(port, mask, offset) pal_lld_readgroup(port, mask, offset)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Writes a group of bits.
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] mask group mask, a logical AND is performed on the
|
|
* output data
|
|
* @param[in] offset group bit offset within the port
|
|
* @param[in] bits bits to be written. Values exceeding the group
|
|
* width are masked.
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_writegroup) || defined(__DOXYGEN__)
|
|
#define palWriteGroup(port, mask, offset, bits) \
|
|
palWritePort(port, (palReadLatch(port) & ~((mask) << (offset))) | \
|
|
(((bits) & (mask)) << (offset)))
|
|
#else
|
|
#define palWriteGroup(port, mask, offset, bits) \
|
|
pal_lld_writegroup(port, mask, offset, bits)
|
|
#endif
|
|
|
|
|
|
/**
|
|
* @brief Pads group mode setup.
|
|
* @details This function programs a pads group belonging to the same port
|
|
* with the specified mode.
|
|
* @note Programming an unknown or unsupported mode is silently ignored.
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] mask group mask
|
|
* @param[in] mode group mode
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_setgroupmode) || defined(__DOXYGEN__)
|
|
#define palSetGroupMode(port, mask, mode)
|
|
#else
|
|
#define palSetGroupMode(port, mask, mode) pal_lld_setgroupmode(port, mask, mode)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Reads an input pad logical state.
|
|
* @note The default implementation not necessarily optimal. Low level
|
|
* drivers may optimize the function by using specific hardware
|
|
* or coding.
|
|
* @note The default implementation internally uses the @p palReadPort().
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] pad pad number within the port
|
|
* @return The logical state.
|
|
* @retval PAL_LOW low logical state.
|
|
* @retval PAL_HIGH high logical state.
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_readpad) || defined(__DOXYGEN__)
|
|
#define palReadPad(port, pad) ((palReadPort(port) >> (pad)) & 1)
|
|
#else
|
|
#define palReadPad(port, pad) pal_lld_readpad(port, pad)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Writes a logical state on an output pad.
|
|
* @note The operation is not guaranteed to be atomic on all the
|
|
* architectures, for atomicity and/or portability reasons you may
|
|
* need to enclose port I/O operations between @p chSysLock() and
|
|
* @p chSysUnlock().
|
|
* @note The default implementation is non atomic and not necessarily
|
|
* optimal. Low level drivers may optimize the function by using
|
|
* specific hardware or coding.
|
|
* @note The default implementation internally uses the @p palReadLatch()
|
|
* and @p palWritePort().
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] pad pad number within the port
|
|
* @param[in] bit logical value, the value must be @p PAL_LOW or
|
|
* @p PAL_HIGH
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_writepad) || defined(__DOXYGEN__)
|
|
#define palWritePad(port, pad, bit) \
|
|
palWritePort(port, (palReadLatch(port) & ~PAL_PORT_BIT(pad)) | \
|
|
(((bit) & 1) << pad))
|
|
#else
|
|
#define palWritePad(port, pad, bit) pal_lld_writepad(port, pad, bit)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Sets a pad logical state to @p PAL_HIGH.
|
|
* @note The operation is not guaranteed to be atomic on all the
|
|
* architectures, for atomicity and/or portability reasons you may
|
|
* need to enclose port I/O operations between @p chSysLock() and
|
|
* @p chSysUnlock().
|
|
* @note The default implementation is non atomic and not necessarily
|
|
* optimal. Low level drivers may optimize the function by using
|
|
* specific hardware or coding.
|
|
* @note The default implementation internally uses the @p palSetPort().
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] pad pad number within the port
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_setpad) || defined(__DOXYGEN__)
|
|
#define palSetPad(port, pad) palSetPort(port, PAL_PORT_BIT(pad))
|
|
#else
|
|
#define palSetPad(port, pad) pal_lld_setpad(port, pad)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Clears a pad logical state to @p PAL_LOW.
|
|
* @note The operation is not guaranteed to be atomic on all the
|
|
* architectures, for atomicity and/or portability reasons you may
|
|
* need to enclose port I/O operations between @p chSysLock() and
|
|
* @p chSysUnlock().
|
|
* @note The default implementation is non atomic and not necessarily
|
|
* optimal. Low level drivers may optimize the function by using
|
|
* specific hardware or coding.
|
|
* @note The default implementation internally uses the @p palClearPort().
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] pad pad number within the port
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_clearpad) || defined(__DOXYGEN__)
|
|
#define palClearPad(port, pad) palClearPort(port, PAL_PORT_BIT(pad))
|
|
#else
|
|
#define palClearPad(port, pad) pal_lld_clearpad(port, pad)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Toggles a pad logical state.
|
|
* @note The operation is not guaranteed to be atomic on all the
|
|
* architectures, for atomicity and/or portability reasons you may
|
|
* need to enclose port I/O operations between @p chSysLock() and
|
|
* @p chSysUnlock().
|
|
* @note The default implementation is non atomic and not necessarily
|
|
* optimal. Low level drivers may optimize the function by using
|
|
* specific hardware or coding.
|
|
* @note The default implementation internally uses the @p palTogglePort().
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] pad pad number within the port
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_togglepad) || defined(__DOXYGEN__)
|
|
#define palTogglePad(port, pad) palTogglePort(port, PAL_PORT_BIT(pad))
|
|
#else
|
|
#define palTogglePad(port, pad) pal_lld_togglepad(port, pad)
|
|
#endif
|
|
|
|
|
|
/**
|
|
* @brief Pad mode setup.
|
|
* @details This function programs a pad with the specified mode.
|
|
* @note The default implementation not necessarily optimal. Low level
|
|
* drivers may optimize the function by using specific hardware
|
|
* or coding.
|
|
* @note Programming an unknown or unsupported mode is silently ignored.
|
|
*
|
|
* @param[in] port port identifier
|
|
* @param[in] pad pad number within the port
|
|
* @param[in] mode pad mode
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(pal_lld_setpadmode) || defined(__DOXYGEN__)
|
|
#define palSetPadMode(port, pad, mode) \
|
|
palSetGroupMode(port, PAL_PORT_BIT(pad), mode)
|
|
#else
|
|
#define palSetPadMode(port, pad, mode) pal_lld_setpadmode(port, pad, mode)
|
|
#endif
|
|
|
|
/*===========================================================================*/
|
|
/* External declarations. */
|
|
/*===========================================================================*/
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
ioportmask_t palReadBus(IOBus *bus);
|
|
void palWriteBus(IOBus *bus, ioportmask_t bits);
|
|
void palSetBusMode(IOBus *bus, iomode_t mode);
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* _PAL_H_ */
|
|
|
|
#endif /* HAL_USE_PAL */
|
|
|
|
/** @} */
|