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ChibiOS
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@4729 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2012-10-01 13:54:54 +00:00
parent 2a74bb8d6c
commit 4becbef6de
10 changed files with 189 additions and 23 deletions
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18
boards/GENERIC_SPC560P/board.c
View File

@ -24,14 +24,16 @@
#if HAL_USE_PAL || defined(__DOXYGEN__)
/* Initial setup of all defined pads, the list is terminated by a {0, 0}.*/
static const spc560p_siu_init_t spc560p_siu_init[] = {
{PCR(PD, PD_BUTTON1), PAL_LOW, PAL_MODE_INPUT},
{PCR(PD, PD_BUTTON2), PAL_LOW, PAL_MODE_INPUT},
{PCR(PD, PD_BUTTON3), PAL_LOW, PAL_MODE_INPUT},
{PCR(PD, PD_BUTTON4), PAL_LOW, PAL_MODE_INPUT},
{PCR(PD, PD_LED1), PAL_HIGH, PAL_MODE_OUTPUT_PUSHPULL},
{PCR(PD, PD_LED2), PAL_HIGH, PAL_MODE_OUTPUT_PUSHPULL},
{PCR(PD, PD_LED3), PAL_HIGH, PAL_MODE_OUTPUT_PUSHPULL},
{PCR(PD, PD_LED4), PAL_HIGH, PAL_MODE_OUTPUT_PUSHPULL},
{PCR(PB, PB_LIN0_TDX), PAL_HIGH, PAL_MODE_OUTPUT_ALTERNATE(1)},
{PCR(PB, PB_LIN0_RDX), PAL_HIGH, PAL_MODE_INPUT},
{PCR(PD, PD_BUTTON1), PAL_LOW, PAL_MODE_INPUT},
{PCR(PD, PD_BUTTON2), PAL_LOW, PAL_MODE_INPUT},
{PCR(PD, PD_BUTTON3), PAL_LOW, PAL_MODE_INPUT},
{PCR(PD, PD_BUTTON4), PAL_LOW, PAL_MODE_INPUT},
{PCR(PD, PD_LED1), PAL_HIGH, PAL_MODE_OUTPUT_PUSHPULL},
{PCR(PD, PD_LED2), PAL_HIGH, PAL_MODE_OUTPUT_PUSHPULL},
{PCR(PD, PD_LED3), PAL_HIGH, PAL_MODE_OUTPUT_PUSHPULL},
{PCR(PD, PD_LED4), PAL_HIGH, PAL_MODE_OUTPUT_PUSHPULL},
{0, 0, 0}
};

3
boards/GENERIC_SPC560P/board.h
View File

@ -41,6 +41,9 @@
/*
* I/O definitions.
*/
#define PB_LIN0_TDX 2
#define PB_LIN0_RDX 3
#define PD_BUTTON1 0
#define PD_BUTTON2 1
#define PD_BUTTON3 2

8
demos/PPC-SPC560P-GCC/Makefile
View File

@ -51,7 +51,7 @@ include $(CHIBIOS)/os/hal/platforms/SPC560Pxx/platform.mk
include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/ports/GCC/PPC/SPC560Pxx/port.mk
include $(CHIBIOS)/os/kernel/kernel.mk
#include $(CHIBIOS)/test/test.mk
include $(CHIBIOS)/test/test.mk
# Define linker script file here
LDSCRIPT= $(PORTLD)/SPC560P44.ld
@ -63,10 +63,10 @@ CSRC = $(PORTSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
$(CHIBIOS)/os/various/evtimer.c \
$(CHIBIOS)/os/various/shell.c \
$(CHIBIOS)/os/various/chprintf.c \
main.c
# $(CHIBIOS)/os/various/evtimer.c \
# $(CHIBIOS)/os/various/shell.c \
# $(CHIBIOS)/os/various/chprintf.c \
# C++ sources here.
CPPSRC =

82
demos/PPC-SPC560P-GCC/main.c
View File

@ -20,6 +20,75 @@
#include "ch.h"
#include "hal.h"
#include "test.h"
#include "shell.h"
#include "chprintf.h"
#define SHELL_WA_SIZE THD_WA_SIZE(1024)
#define TEST_WA_SIZE THD_WA_SIZE(256)
static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
size_t n, size;
(void)argv;
if (argc > 0) {
chprintf(chp, "Usage: mem\r\n");
return;
}
n = chHeapStatus(NULL, &size);
chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus());
chprintf(chp, "heap fragments : %u\r\n", n);
chprintf(chp, "heap free total : %u bytes\r\n", size);
}
static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
static const char *states[] = {THD_STATE_NAMES};
Thread *tp;
(void)argv;
if (argc > 0) {
chprintf(chp, "Usage: threads\r\n");
return;
}
chprintf(chp, " addr stack prio refs state time\r\n");
tp = chRegFirstThread();
do {
chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n",
(uint32_t)tp, (uint32_t)tp->p_ctx.sp,
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state], (uint32_t)tp->p_time);
tp = chRegNextThread(tp);
} while (tp != NULL);
}
static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) {
Thread *tp;
(void)argv;
if (argc > 0) {
chprintf(chp, "Usage: test\r\n");
return;
}
tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(),
TestThread, chp);
if (tp == NULL) {
chprintf(chp, "out of memory\r\n");
return;
}
chThdWait(tp);
}
static const ShellCommand commands[] = {
{"mem", cmd_mem},
{"threads", cmd_threads},
{"test", cmd_test},
{NULL, NULL}
};
static const ShellConfig shell_cfg1 = {
(BaseSequentialStream *)&SD1,
commands
};
/*
* LEDs blinker thread, times are in milliseconds.
@ -95,6 +164,7 @@ static msg_t Thread1(void *arg) {
* Application entry point.
*/
int main(void) {
Thread *shelltp = NULL;
/*
* System initializations.
@ -106,6 +176,11 @@ int main(void) {
halInit();
chSysInit();
/*
* Activates the serial driver 1 using the driver default configuration.
*/
sdStart(&SD1, NULL);
/*
* Creates the blinker thread.
*/
@ -115,6 +190,13 @@ int main(void) {
* Normal main() thread activity.
*/
while (TRUE) {
if (!shelltp)
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminated(shelltp)) {
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
shelltp = NULL; /* Triggers spawning of a new shell. */
}
chThdSleepMilliseconds(1000);
}
return 0;

2
os/hal/platforms/SPC560Pxx/hal_lld.c
View File

@ -125,7 +125,7 @@ void spc560p_clock_init(void) {
/* Initialization of the FMPLLs settings.*/
CGM.FMPLL[0].CR.R = SPC5_FMPLL0_ODF |
(SPC5_FMPLL0_IDF_VALUE << 26) |
((SPC5_FMPLL0_IDF_VALUE - 1) << 26) |
(SPC5_FMPLL0_NDIV_VALUE << 16);
CGM.FMPLL[0].MR.R = 0; /* TODO: Add a setting. */
CGM.FMPLL[1].CR.R = SPC5_FMPLL1_ODF |

4
os/hal/platforms/SPC560Pxx/hal_lld.h
View File

@ -290,7 +290,9 @@
* is no need to specify them.
*/
#if !defined(SPC5_ME_ME_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_ME_BITS 0
#define SPC5_ME_ME_BITS (SPC5_ME_ME_RUN1 | SPC5_ME_ME_RUN2 | \
SPC5_ME_ME_RUN3 | SPC5_ME_ME_HALT0 | \
SPC5_ME_ME_STOP0)
#endif
/**

2
os/hal/platforms/SPC560Pxx/spc560p_registry.h
View File

@ -39,6 +39,7 @@
*/
/* LINFlex attributes.*/
#define SPC5_HAS_LINFLEX0 TRUE
#define SPC5_LINFLEX0_PCTL 48
#define SPC5_LINFLEX0_RXI_HANDLER vector79
#define SPC5_LINFLEX0_TXI_HANDLER vector80
#define SPC5_LINFLEX0_ERR_HANDLER vector81
@ -47,6 +48,7 @@
#define SPC5_LINFLEX0_ERR_NUMBER 81
#define SPC5_HAS_LINFLEX1 TRUE
#define SPC5_LINFLEX1_PCTL 49
#define SPC5_LINFLEX1_RXI_HANDLER vector99
#define SPC5_LINFLEX1_TXI_HANDLER vector100
#define SPC5_LINFLEX1_ERR_HANDLER vector101

41
os/hal/platforms/SPC5xx/LINFlex_v1/serial_lld.c
View File

@ -72,7 +72,7 @@ SerialDriver SD4;
*/
static const SerialConfig default_config = {
SERIAL_DEFAULT_BITRATE,
0
SD_MODE_8BITS_PARITY_NONE
};
/*===========================================================================*/
@ -95,12 +95,12 @@ static void spc5_linflex_init(SerialDriver *sdp, const SerialConfig *config) {
/* Configures the LINFlex in UART mode with all the required
parameters.*/
div = halSPC560PGetSystemClock() / (16 * config->speed);
linflexp->UARTCR.R = SPC5_UARTCR_UART; /* UART mode FIRST. */
linflexp->UARTCR.R = SPC5_UARTCR_UART | SPC5_UARTCR_RXEN | config->mode;
div = halSPC560PGetSystemClock() / config->speed;
linflexp->LINFBRR.R = (uint16_t)(div & 15); /* Fractional divider. */
linflexp->LINIBRR.R = (uint16_t)(div >> 4); /* Integer divider. */
linflexp->UARTSR.R = 0xFFFF; /* Clearing UARTSR register.*/
linflexp->UARTCR.R = config->mode |
SPC5_UARTCR_RXEN | SPC5_UARTCR_UART;
linflexp->LINIER.R = SPC5_LINIER_DTIE | SPC5_LINIER_DRIE |
SPC5_LINIER_BOIE | SPC5_LINIER_FEIE |
SPC5_LINIER_SZIE; /* Interrupts enabled. */
@ -152,7 +152,7 @@ static void spc5xx_serve_rxi_interrupt(SerialDriver *sdp) {
chSysUnlockFromIsr();
}
if (sr & SPC5_UARTSR_DRF) {
sdIncomingDataI(sdp, sdp->linflexp->BDRL.B.DATA0);
sdIncomingDataI(sdp, sdp->linflexp->BDRM.B.DATA4);
sdp->linflexp->UARTSR.R = SPC5_UARTSR_RMB;
}
}
@ -331,7 +331,6 @@ void sd_lld_init(void) {
#if SPC5_SERIAL_USE_LINFLEX0
sdObjectInit(&SD1, NULL, notify1);
SD1.linflexp = &LINFLEX_0;
// ESCI_A.CR2.R = 0x8000; /* MDIS ON. */
INTC.PSR[SPC5_LINFLEX0_RXI_NUMBER].R = SPC5_SERIAL_LINFLEX0_PRIORITY;
INTC.PSR[SPC5_LINFLEX0_TXI_NUMBER].R = SPC5_SERIAL_LINFLEX0_PRIORITY;
INTC.PSR[SPC5_LINFLEX0_ERR_NUMBER].R = SPC5_SERIAL_LINFLEX0_PRIORITY;
@ -340,7 +339,6 @@ void sd_lld_init(void) {
#if SPC5_SERIAL_USE_LINFLEX1
sdObjectInit(&SD2, NULL, notify2);
SD2.linflexp = &LINFLEX_1;
// ESCI_B.CR2.R = 0x8000; /* MDIS ON. */
INTC.PSR[SPC5_LINFLEX1_RXI_NUMBER].R = SPC5_SERIAL_LINFLEX1_PRIORITY;
INTC.PSR[SPC5_LINFLEX1_TXI_NUMBER].R = SPC5_SERIAL_LINFLEX1_PRIORITY;
INTC.PSR[SPC5_LINFLEX1_ERR_NUMBER].R = SPC5_SERIAL_LINFLEX1_PRIORITY;
@ -361,6 +359,19 @@ void sd_lld_start(SerialDriver *sdp, const SerialConfig *config) {
if (config == NULL)
config = &default_config;
if (sdp->state == SD_STOP) {
#if SPC5_SERIAL_USE_LINFLEX0
if (&SD1 == sdp) {
ME.PCTL[SPC5_LINFLEX0_PCTL].R = SPC5_SERIAL_LINFLEX0_START_PCTL;
}
#endif
#if SPC5_SERIAL_USE_LINFLEX1
if (&SD2 == sdp) {
ME.PCTL[SPC5_LINFLEX1_PCTL].R = SPC5_SERIAL_LINFLEX1_START_PCTL;
}
#endif
}
spc5_linflex_init(sdp, config);
}
@ -373,8 +384,22 @@ void sd_lld_start(SerialDriver *sdp, const SerialConfig *config) {
*/
void sd_lld_stop(SerialDriver *sdp) {
if (sdp->state == SD_READY)
if (sdp->state == SD_READY) {
spc5_linflex_deinit(sdp->linflexp);
#if SPC5_SERIAL_USE_LINFLEX0
if (&SD1 == sdp) {
ME.PCTL[SPC5_LINFLEX0_PCTL].R = SPC5_SERIAL_LINFLEX0_STOP_PCTL;
return;
}
#endif
#if SPC5_SERIAL_USE_LINFLEX1
if (&SD2 == sdp) {
ME.PCTL[SPC5_LINFLEX1_PCTL].R = SPC5_SERIAL_LINFLEX1_STOP_PCTL;
return;
}
#endif
}
}
#endif /* HAL_USE_SERIAL */

46
os/hal/platforms/SPC5xx/LINFlex_v1/serial_lld.h
View File

@ -91,7 +91,7 @@
* @name Serial driver allowable modes
* @{
*/
#define SD_MODE_8BITS_PARITY_NONE 0
#define SD_MODE_8BITS_PARITY_NONE (SPC5_UARTCR_WL)
#define SD_MODE_8BITS_PARITY_EVEN (SPC5_UARTCR_WL | \
SPC5_UARTCR_PCE)
#define SD_MODE_8BITS_PARITY_ODD (SPC5_UARTCR_WL | \
@ -133,6 +133,50 @@
#define SPC5_SERIAL_LINFLEX1_PRIORITY 8
#endif
/**
* @brief LINFlex-0 peripheral configuration when started.
* @note The default configuration is 0 (always run) in run mode and
* 2 (only halt) in low power mode. The defaults of the run modes
* are defined in @p hal_lld.h.
*/
#if !defined(SPC5_SERIAL_LINFLEX0_START_PCTL) || defined(__DOXYGEN__)
#define SPC5_SERIAL_LINFLEX0_START_PCTL (SPC5_ME_PCTL_RUN(0) | \
SPC5_ME_PCTL_LP(2))
#endif
/**
* @brief LINFlex-0 peripheral configuration when stopped.
* @note The default configuration is 1 (never run) in run mode and
* 1 (never run) in low power mode. The defaults of the run modes
* are defined in @p hal_lld.h.
*/
#if !defined(SPC5_SERIAL_LINFLEX0_STOP_PCTL) || defined(__DOXYGEN__)
#define SPC5_SERIAL_LINFLEX0_STOP_PCTL (SPC5_ME_PCTL_RUN(1) | \
SPC5_ME_PCTL_LP(1))
#endif
/**
* @brief LINFlex-1 peripheral configuration when started.
* @note The default configuration is 0 (always run) in run mode and
* 2 (only halt) in low power mode. The defaults of the run modes
* are defined in @p hal_lld.h.
*/
#if !defined(SPC5_SERIAL_LINFLEX1_START_PCTL) || defined(__DOXYGEN__)
#define SPC5_SERIAL_LINFLEX1_START_PCTL (SPC5_ME_PCTL_RUN(0) | \
SPC5_ME_PCTL_LP(2))
#endif
/**
* @brief LINFlex-1 peripheral configuration when stopped.
* @note The default configuration is 1 (never run) in run mode and
* 1 (never run) in low power mode. The defaults of the run modes
* are defined in @p hal_lld.h.
*/
#if !defined(SPC5_SERIAL_LINFLEX1_STOP_PCTL) || defined(__DOXYGEN__)
#define SPC5_SERIAL_LINFLEX1_STOP_PCTL (SPC5_ME_PCTL_RUN(1) | \
SPC5_ME_PCTL_LP(1))
#endif
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/

6
os/hal/platforms/SPC5xx/SIUL_v1/pal_lld.h
View File

@ -105,6 +105,12 @@
*/
#define PAL_MODE_OUTPUT_OPENDRAIN (PAL_SPC5_IBE | PAL_SPC5_OBE | \
PAL_SPC5_ODE)
/**
* @brief Alternate "n" output pad.
*/
#define PAL_MODE_OUTPUT_ALTERNATE(n) (PAL_SPC5_IBE | PAL_SPC5_OBE | \
PAL_SPC5_PA(n))
/** @} */
/*===========================================================================*/