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ChibiOS
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Magic carpet handling functioning. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5156 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
gdisirio 2013-02-12 10:23:01 +00:00
parent 0c9df1d3fd
commit 07decf05f9
2 changed files with 208 additions and 37 deletions
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36
os/hal/platforms/SPC56ELxx/hal_lld.c
View File

@ -55,7 +55,7 @@ void hal_lld_init(void) {
/* The system is switched to the RUN0 mode, the default for normal /* The system is switched to the RUN0 mode, the default for normal
operations.*/ operations.*/
if (halSPCSetRunMode(SPC5_RUNMODE_RUN0) == CH_FAILED) if (halSPCSetRunMode(SPC5_RUNMODE_RUN0) == CH_FAILED)
chSysHalt(); chSysHalt(); /* TODO: Add handling.*/
/* Down-counter timer initialized for system tick use, TB enabled for debug /* Down-counter timer initialized for system tick use, TB enabled for debug
and measurements.*/ and measurements.*/
@ -85,8 +85,6 @@ void hal_lld_init(void) {
*/ */
void spc_early_init(void) { void spc_early_init(void) {
/* TODO: Check for an invalid ME mode on entry.*/
/* Waiting for IRC stabilization before attempting anything else.*/ /* Waiting for IRC stabilization before attempting anything else.*/
while (!ME.GS.B.S_IRCOSC) while (!ME.GS.B.S_IRCOSC)
; ;
@ -121,6 +119,10 @@ void spc_early_init(void) {
AIPS.OPACR80_87.R = 0; AIPS.OPACR80_87.R = 0;
AIPS.OPACR88_95.R = 0; AIPS.OPACR88_95.R = 0;
/* Check on a safe condition.*/
if (ME.GS.B.S_CURRENT_MODE != SPC5_RUNMODE_DRUN)
chSysHalt(); /* TODO: Add handling.*/
#if defined(SPC5_OSC_BYPASS) #if defined(SPC5_OSC_BYPASS)
/* If the board is equipped with an oscillator instead of a crystal then the /* If the board is equipped with an oscillator instead of a crystal then the
bypass must be activated.*/ bypass must be activated.*/
@ -129,13 +131,12 @@ void spc_early_init(void) {
/* Setting the various dividers and source selectors.*/ /* Setting the various dividers and source selectors.*/
CGM.SC_DC0.R = SPC5_CGM_SC_DC0; CGM.SC_DC0.R = SPC5_CGM_SC_DC0;
CGM.AC0_DC0_3.R = SPC5_CGM_AC0_DC0 | SPC5_CGM_AC0_DC1;
/*CGM.AC0_DC0_3.R = 0x80808080; CGM.AC0_SC.R = SPC5_AUX0CLK_SRC;
CGM.AC1_DC0_3.R = 0x80808080; CGM.AC1_DC0_3.R = SPC5_CGM_AC1_DC0;
CGM.AC2_DC0_3.R = 0x85808080; CGM.AC1_SC.R = SPC5_AUX1CLK_SRC;
CGM.AC0_SC.R = 0x04000000; CGM.AC2_DC0_3.R = SPC5_CGM_AC2_DC0;
CGM.AC2_SC.R = 0x04000000;*/ CGM.AC2_SC.R = SPC5_AUX2CLK_SRC;
/* PLLs clock sources.*/
CGM.AC3_SC.R = SPC5_FMPLL0_CLK_SRC; CGM.AC3_SC.R = SPC5_FMPLL0_CLK_SRC;
CGM.AC4_SC.R = SPC5_FMPLL1_CLK_SRC; CGM.AC4_SC.R = SPC5_FMPLL1_CLK_SRC;
@ -143,7 +144,7 @@ void spc_early_init(void) {
ME.DRUN.R = SPC5_ME_MC_SYSCLK_IRC | SPC5_ME_MC_IRCON | SPC5_ME_MC_XOSC0ON | \ ME.DRUN.R = SPC5_ME_MC_SYSCLK_IRC | SPC5_ME_MC_IRCON | SPC5_ME_MC_XOSC0ON | \
SPC5_ME_MC_FLAON_NORMAL | SPC5_ME_MC_MVRON; SPC5_ME_MC_FLAON_NORMAL | SPC5_ME_MC_MVRON;
if (halSPCSetRunMode(SPC5_RUNMODE_DRUN) == CH_FAILED) if (halSPCSetRunMode(SPC5_RUNMODE_DRUN) == CH_FAILED)
chSysHalt(); chSysHalt(); /* TODO: Add handling.*/
/* Initialization of the FMPLLs settings.*/ /* Initialization of the FMPLLs settings.*/
CGM.FMPLL[0].CR.R = SPC5_FMPLL0_ODF | CGM.FMPLL[0].CR.R = SPC5_FMPLL0_ODF |
@ -184,16 +185,15 @@ void spc_early_init(void) {
ME.LPPC[6].R = SPC5_ME_LP_PC6_BITS; ME.LPPC[6].R = SPC5_ME_LP_PC6_BITS;
ME.LPPC[7].R = SPC5_ME_LP_PC7_BITS; ME.LPPC[7].R = SPC5_ME_LP_PC7_BITS;
/* CFLASH settings calculated for a maximum clock of 64MHz.*/ /* CFLASH settings calculated for a maximum clock of 120MHz.*/
/* CFLASH.PFCR0.B.BK0_APC = 2; CFLASH.PFCR0.B.B02_APC = 3;
CFLASH.PFCR0.B.BK0_RWSC = 2; CFLASH.PFCR0.B.B02_WWSC = 3;
CFLASH.PFCR1.B.BK1_APC = 2; CFLASH.PFCR0.B.B02_RWSC = 3;
CFLASH.PFCR1.B.BK1_RWSC = 2;*/
/* Switches again to DRUN mode (current mode) in order to update the /* Switches again to DRUN mode (current mode) in order to update the
settings.*/ settings.*/
if (halSPCSetRunMode(SPC5_RUNMODE_DRUN) == CH_FAILED) if (halSPCSetRunMode(SPC5_RUNMODE_DRUN) == CH_FAILED)
chSysHalt(); chSysHalt(); /* TODO: Add handling.*/
#endif /* !SPC5_NO_INIT */ #endif /* !SPC5_NO_INIT */
} }
@ -216,7 +216,7 @@ bool_t halSPCSetRunMode(spc5_runmode_t mode) {
ME.MCTL.R = SPC5_ME_MCTL_MODE(mode) | SPC5_ME_MCTL_KEY; ME.MCTL.R = SPC5_ME_MCTL_MODE(mode) | SPC5_ME_MCTL_KEY;
ME.MCTL.R = SPC5_ME_MCTL_MODE(mode) | SPC5_ME_MCTL_KEY_INV; ME.MCTL.R = SPC5_ME_MCTL_MODE(mode) | SPC5_ME_MCTL_KEY_INV;
/* Waits for the mode switch.*/ /* Waits for the mode switch or an error condition.*/
while (TRUE) { while (TRUE) {
uint32_t r = ME.IS.R; uint32_t r = ME.IS.R;
if (r & 1) if (r & 1)

181
os/hal/platforms/SPC56ELxx/hal_lld.h
View File

@ -131,7 +131,7 @@
#define SPC5_CGM_SS_XOSC (2U << 24) #define SPC5_CGM_SS_XOSC (2U << 24)
#define SPC5_CGM_SS_FMPLL0 (4U << 24) #define SPC5_CGM_SS_FMPLL0 (4U << 24)
#define SPC5_CGM_SS_FMPLL1 (5U << 24) #define SPC5_CGM_SS_FMPLL1 (5U << 24)
#define SPC5_CGM_SS_FMPLL1_DIV6 (8U << 24) #define SPC5_CGM_SS_FMPLL1_1D1 (8U << 24)
/** @} */ /** @} */
/** /**
@ -312,11 +312,59 @@
#endif #endif
/** /**
* @brief System clock source. * @brief AUX0 clock source.
*/ */
/*#if !defined(SPC5_SYSCLK_SRC) || defined(__DOXYGEN__) #if !defined(SPC5_AUX0CLK_SRC) || defined(__DOXYGEN__)
#define SPC5_SYSCLK_SRC SPC5_CGM_SS_FMPLL0 #define SPC5_AUX0CLK_SRC SPC5_CGM_SS_FMPLL1
#endif*/ #endif
/**
* @brief Motor Control clock divider value.
* @note Zero means disabled clock.
*/
#if !defined(SPC5_MCONTROL_DIVIDER_VALUE) || defined(__DOXYGEN__)
#define SPC5_MCONTROL_DIVIDER_VALUE 2
#endif
/**
* @brief SWG clock divider value.
* @note Zero means disabled clock.
*/
#if !defined(SPC5_SWG_DIVIDER_VALUE) || defined(__DOXYGEN__)
#define SPC5_SWG_DIVIDER_VALUE 2
#endif
/**
* @brief AUX1 clock source.
* @note Used by Flexray.
*/
#if !defined(SPC5_AUX1CLK_SRC) || defined(__DOXYGEN__)
#define SPC5_AUX1CLK_SRC SPC5_CGM_SS_FMPLL1
#endif
/**
* @brief Flexray clock divider value.
* @note Zero means disabled clock.
*/
#if !defined(SPC5_FLEXRAY_DIVIDER_VALUE) || defined(__DOXYGEN__)
#define SPC5_FLEXRAY_DIVIDER_VALUE 2
#endif
/**
* @brief AUX2 clock source.
* @note Used by FlexCAN.
*/
#if !defined(SPC5_AUX2CLK_SRC) || defined(__DOXYGEN__)
#define SPC5_AUX2CLK_SRC SPC5_CGM_SS_FMPLL1
#endif
/**
* @brief FlexCAN clock divider value.
* @note Zero means disabled clock.
*/
#if !defined(SPC5_FLEXCAN_DIVIDER_VALUE) || defined(__DOXYGEN__)
#define SPC5_FLEXCAN_DIVIDER_VALUE 2
#endif
/** /**
* @brief Active run modes in ME_ME register. * @brief Active run modes in ME_ME register.
@ -724,6 +772,12 @@
#define SPC5_FMPLL1_CLK \ #define SPC5_FMPLL1_CLK \
(SPC5_FMPLL1_VCO_CLK / SPC5_FMPLL1_ODF_VALUE) (SPC5_FMPLL1_VCO_CLK / SPC5_FMPLL1_ODF_VALUE)
/**
* @brief SPC5_FMPLL1_1D1_CLK clock point.
*/
#define SPC5_FMPLL1_1D1_CLK \
(SPC5_FMPLL1_VCO_CLK / 6)
/* Check on SPC5_FMPLL1_CLK.*/ /* Check on SPC5_FMPLL1_CLK.*/
#if (SPC5_FMPLL1_CLK > SPC5_FMPLL1_CLK_MAX) && !SPC5_ALLOW_OVERCLOCK #if (SPC5_FMPLL1_CLK > SPC5_FMPLL1_CLK_MAX) && !SPC5_ALLOW_OVERCLOCK
#error "SPC5_FMPLL1_CLK outside acceptable range (0...SPC5_FMPLL1_CLK_MAX)" #error "SPC5_FMPLL1_CLK outside acceptable range (0...SPC5_FMPLL1_CLK_MAX)"
@ -738,6 +792,123 @@
#error "invalid SPC5_SYSCLK_DIVIDER_VALUE value specified" #error "invalid SPC5_SYSCLK_DIVIDER_VALUE value specified"
#endif #endif
/**
* @brief AUX0 clock point.
*/
#if (SPC5_AUX0CLK_SRC == SPC5_CGM_SS_IRC) || defined(__DOXYGEN__)
#define SPC5_AUX0_CLK SPC5_FMPLL_SRC_IRC
#elif SPC5_AUX0CLK_SRC == SPC5_CGM_SS_XOSC
#define SPC5_AUX0_CLK SPC5_FMPLL_SRC_XOSC
#elif SPC5_AUX0CLK_SRC == SPC5_CGM_SS_FMPLL0
#define SPC5_AUX0_CLK SPC5_FMPLL0_CLK
#elif SPC5_AUX0CLK_SRC == SPC5_CGM_SS_FMPLL1
#define SPC5_AUX0_CLK SPC5_FMPLL1_CLK
#elif SPC5_AUX0CLK_SRC == SPC5_CGM_SS_FMPLL1_1D1
#define SPC5_AUX0_CLK SPC5_FMPLL1_1D1_CLK
#else
#error "invalid SPC5_AUX0CLK_SRC value specified"
#endif
/* Check on the AUX0 divider 0 settings.*/
#if SPC5_MCONTROL_DIVIDER_VALUE == 0
#define SPC5_CGM_AC0_DC0 0
#elif (SPC5_MCONTROL_DIVIDER_VALUE >= 1) && (SPC5_MCONTROL_DIVIDER_VALUE <= 16)
#define SPC5_CGM_AC0_DC0 ((0x80U | (SPC5_MCONTROL_DIVIDER_VALUE - 1)) << 24)
#else
#error "invalid SPC5_MCONTROL_DIVIDER_VALUE value specified"
#endif
/* Check on the AUX0 divider 1 settings.*/
#if SPC5_SWG_DIVIDER_VALUE == 0
#define SPC5_CGM_AC0_DC1 0
#elif (SPC5_SWG_DIVIDER_VALUE >= 1) && (SPC5_SWG_DIVIDER_VALUE <= 16)
#define SPC5_CGM_AC0_DC1 ((0x80U | (SPC5_SWG_DIVIDER_VALUE - 1)) << 16)
#else
#error "invalid SPC5_SWG_DIVIDER_VALUE value specified"
#endif
/**
* @brief Motor Control clock point.
*/
#if (SPC5_SWG_DIVIDER_VALUE) != 0 || defined(__DOXYGEN)
#define SPC5_MCONTROL_CLK (SPC5_AUX0_CLK / SPC5_MCONTROL_DIVIDER_VALUE)
#else
#define SPC5_MCONTROL_CLK 0
_
#endif
/**
* @brief SWG clock point.
*/
#if (SPC5_SWG_DIVIDER_VALUE) != 0 || defined(__DOXYGEN)
#define SPC5_SWG_CLK (SPC5_AUX0_CLK / SPC5_SWG_DIVIDER_VALUE)
#else
#define SPC5_SWG_CLK 0
#endif
/**
* @brief AUX1 clock point.
*/
#if (SPC5_AUX1CLK_SRC == SPC5_CGM_SS_FMPLL0) || defined(__DOXYGEN__)
#define SPC5_AUX1_CLK SPC5_FMPLL0_CLK
#elif SPC5_AUX1CLK_SRC == SPC5_CGM_SS_FMPLL1
#define SPC5_AUX1_CLK SPC5_FMPLL1_CLK
#elif SPC5_AUX1CLK_SRC == SPC5_CGM_SS_FMPLL1_1D1
#define SPC5_AUX1_CLK SPC5_FMPLL1_1D1_CLK
#else
#error "invalid SPC5_AUX1CLK_SRC value specified"
#endif
/* Check on the AUX1 divider 0 settings.*/
#if SPC5_FLEXRAY_DIVIDER_VALUE == 0
#define SPC5_CGM_AC1_DC0 0
#elif (SPC5_FLEXRAY_DIVIDER_VALUE >= 1) && (SPC5_FLEXRAY_DIVIDER_VALUE <= 16)
#define SPC5_CGM_AC1_DC0 ((0x80U | (SPC5_FLEXRAY_DIVIDER_VALUE - 1)) << 24)
#else
#error "invalid SPC5_FLEXRAY_DIVIDER_VALUE value specified"
#endif
/**
* @brief Flexray clock point.
*/
#if (SPC5_FLEXRAY_DIVIDER_VALUE) != 0 || defined(__DOXYGEN)
#define SPC5_FLEXRAY_CLK (SPC5_AUX2_CLK / SPC5_FLEXRAY_DIVIDER_VALUE)
#else
#define SPC5_FLEXRAY_CLK 0
#endif
/**
* @brief AUX2 clock point.
*/
#if (SPC5_AUX2CLK_SRC == SPC5_CGM_SS_FMPLL0) || defined(__DOXYGEN__)
#define SPC5_AUX2_CLK SPC5_FMPLL0_CLK
#elif SPC5_AUX2CLK_SRC == SPC5_CGM_SS_FMPLL1
#define SPC5_AUX2_CLK SPC5_FMPLL1_CLK
#elif SPC5_AUX2CLK_SRC == SPC5_CGM_SS_FMPLL1_1D1
#define SPC5_AUX2_CLK SPC5_FMPLL1_1D1_CLK
#else
#error "invalid SPC5_AUX2CLK_SRC value specified"
#endif
/* Check on the AUX2 divider 0 settings.*/
#if SPC5_FLEXCAN_DIVIDER_VALUE == 0
#define SPC5_CGM_AC2_DC0 0
#elif (SPC5_FLEXCAN_DIVIDER_VALUE >= 1) && (SPC5_FLEXCAN_DIVIDER_VALUE <= 16)
#define SPC5_CGM_AC2_DC0 ((0x80U | (SPC5_FLEXCAN_DIVIDER_VALUE - 1)) << 24)
#else
#error "invalid SPC5_FLEXCAN_DIVIDER_VALUE value specified"
#endif
/**
* @brief FlexCAN clock point.
*/
#if (SPC5_FLEXCAN_DIVIDER_VALUE) != 0 || defined(__DOXYGEN)
#define SPC5_FLEXCAN_CLK (SPC5_AUX2_CLK / SPC5_FLEXCAN_DIVIDER_VALUE)
#else
#define SPC5_FLEXCAN_CLK 0
#endif
/*===========================================================================*/ /*===========================================================================*/
/* Driver data structures and types. */ /* Driver data structures and types. */
/*===========================================================================*/ /*===========================================================================*/