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ChibiOS-Contrib/os/hal/ports/TIVA/LLD/hal_pal_lld.c

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/*
Copyright (C) 2014..2016 Marco Veeneman
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/**
* @file TIVA/LLD/pal_lld.c
* @brief TM4C123x/TM4C129x PAL subsystem low level driver.
*
* @addtogroup PAL
* @{
*/
#include "hal.h"
#if HAL_USE_PAL || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
#if TIVA_HAS_GPIOA || defined(__DOXYGEN__)
#define GPIOA_BIT (1 << 0)
#if TIVA_GPIO_GPIOA_USE_AHB && defined(TM4C123x)
#define GPIOA_AHB_BIT (1 << 0)
#else
#define GPIOA_AHB_BIT 0
#endif
#else
#define GPIOA_BIT 0
#define GPIOA_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOB || defined(__DOXYGEN__)
#define GPIOB_BIT (1 << 1)
#if TIVA_GPIO_GPIOB_USE_AHB && defined(TM4C123x)
#define GPIOB_AHB_BIT (1 << 1)
#else
#define GPIOB_AHB_BIT 0
#endif
#else
#define GPIOB_BIT 0
#define GPIOB_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOC || defined(__DOXYGEN__)
#define GPIOC_BIT (1 << 2)
#if TIVA_GPIO_GPIOC_USE_AHB && defined(TM4C123x)
#define GPIOC_AHB_BIT (1 << 2)
#else
#define GPIOC_AHB_BIT 0
#endif
#else
#define GPIOC_BIT 0
#define GPIOC_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOD || defined(__DOXYGEN__)
#define GPIOD_BIT (1 << 3)
#if TIVA_GPIO_GPIOD_USE_AHB && defined(TM4C123x)
#define GPIOD_AHB_BIT (1 << 3)
#else
#define GPIOD_AHB_BIT 0
#endif
#else
#define GPIOD_BIT 0
#define GPIOD_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOE || defined(__DOXYGEN__)
#define GPIOE_BIT (1 << 4)
#if TIVA_GPIO_GPIOE_USE_AHB && defined(TM4C123x)
#define GPIOE_AHB_BIT (1 << 4)
#else
#define GPIOE_AHB_BIT 0
#endif
#else
#define GPIOE_BIT 0
#define GPIOE_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOF || defined(__DOXYGEN__)
#define GPIOF_BIT (1 << 5)
#if TIVA_GPIO_GPIOF_USE_AHB && defined(TM4C123x)
#define GPIOF_AHB_BIT (1 << 5)
#else
#define GPIOF_AHB_BIT 0
#endif
#else
#define GPIOF_BIT 0
#define GPIOF_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOG || defined(__DOXYGEN__)
#define GPIOG_BIT (1 << 6)
#if TIVA_GPIO_GPIOG_USE_AHB && defined(TM4C123x)
#define GPIOG_AHB_BIT (1 << 6)
#else
#define GPIOG_AHB_BIT 0
#endif
#else
#define GPIOG_BIT 0
#define GPIOG_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOH || defined(__DOXYGEN__)
#define GPIOH_BIT (1 << 7)
#if TIVA_GPIO_GPIOH_USE_AHB && defined(TM4C123x)
#define GPIOH_AHB_BIT (1 << 7)
#else
#define GPIOH_AHB_BIT 0
#endif
#else
#define GPIOH_BIT 0
#define GPIOH_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOJ || defined(__DOXYGEN__)
#define GPIOJ_BIT (1 << 8)
#if TIVA_GPIO_GPIOJ_USE_AHB && defined(TM4C123x)
#define GPIOJ_AHB_BIT (1 << 8)
#else
#define GPIOJ_AHB_BIT 0
#endif
#else
#define GPIOJ_BIT 0
#define GPIOJ_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOK || defined(__DOXYGEN__)
#define GPIOK_BIT (1 << 9)
#define GPIOK_AHB_BIT (1 << 9)
#else
#define GPIOK_BIT 0
#define GPIOK_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOL || defined(__DOXYGEN__)
#define GPIOL_BIT (1 << 10)
#define GPIOL_AHB_BIT (1 << 10)
#else
#define GPIOL_BIT 0
#define GPIOL_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOM || defined(__DOXYGEN__)
#define GPIOM_BIT (1 << 11)
#define GPIOM_AHB_BIT (1 << 11)
#else
#define GPIOM_BIT 0
#define GPIOM_AHB_BIT 0
#endif
#if TIVA_HAS_GPION || defined(__DOXYGEN__)
#define GPION_BIT (1 << 12)
#define GPION_AHB_BIT (1 << 12)
#else
#define GPION_BIT 0
#define GPION_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOP || defined(__DOXYGEN__)
#define GPIOP_BIT (1 << 13)
#define GPIOP_AHB_BIT (1 << 13)
#else
#define GPIOP_BIT 0
#define GPIOP_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOQ || defined(__DOXYGEN__)
#define GPIOQ_BIT (1 << 14)
#define GPIOQ_AHB_BIT (1 << 14)
#else
#define GPIOQ_BIT 0
#define GPIOQ_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOR || defined(__DOXYGEN__)
#define GPIOR_BIT (1 << 15)
#define GPIOR_AHB_BIT (1 << 15)
#else
#define GPIOR_BIT 0
#define GPIOR_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOS || defined(__DOXYGEN__)
#define GPIOS_BIT (1 << 16)
#define GPIOS_AHB_BIT (1 << 16)
#else
#define GPIOS_BIT 0
#define GPIOS_AHB_BIT 0
#endif
#if TIVA_HAS_GPIOT || defined(__DOXYGEN__)
#define GPIOT_BIT (1 << 17)
#define GPIOT_AHB_BIT (1 << 17)
#else
#define GPIOT_BIT 0
#define GPIOT_AHB_BIT 0
#endif
#define RCGCGPIO_MASK (GPIOA_BIT | GPIOB_BIT | GPIOC_BIT | GPIOD_BIT | \
GPIOE_BIT | GPIOF_BIT | GPIOG_BIT | GPIOH_BIT | \
GPIOJ_BIT | GPIOK_BIT | GPIOL_BIT | GPIOM_BIT | \
GPION_BIT | GPIOP_BIT | GPIOQ_BIT | GPIOR_BIT | \
GPIOS_BIT | GPIOR_BIT)
#define GPIOHBCTL_MASK (GPIOA_AHB_BIT | GPIOB_AHB_BIT | GPIOC_AHB_BIT | \
GPIOD_AHB_BIT | GPIOE_AHB_BIT | GPIOF_AHB_BIT | \
GPIOG_AHB_BIT | GPIOH_AHB_BIT | GPIOJ_AHB_BIT | \
GPIOK_AHB_BIT | GPIOL_AHB_BIT | GPIOM_AHB_BIT | \
GPION_AHB_BIT | GPIOP_AHB_BIT | GPIOQ_AHB_BIT | \
GPIOR_AHB_BIT | GPIOS_AHB_BIT | GPIOT_AHB_BIT)
/* GPIO lock password.*/
#define TIVA_GPIO_LOCK_PWD 0x4C4F434B
#define GPIOC_JTAG_MASK (0x0F)
#define GPIOD_NMI_MASK (0x80)
#define GPIOF_NMI_MASK (0x01)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/**
* @brief Initializes the port with the port configuration.
*
* @param[in] port the port identifier
* @param[in] config the port configuration
*/
static void gpio_init(ioportid_t port, const tiva_gpio_setup_t *config)
{
port->DATA = config->data;
port->DIR = config->dir;
port->AFSEL = config->afsel;
port->DR2R = config->dr2r;
port->DR4R = config->dr4r;
port->DR8R = config->dr8r;
port->ODR = config->odr;
port->PUR = config->pur;
port->PDR = config->pdr;
port->SLR = config->slr;
port->DEN = config->den;
port->AMSEL = config->amsel;
port->PCTL = config->pctl;
}
/**
* @brief Unlocks the masked pins of the GPIO peripheral.
* @note This function is only useful for PORTC0-3, PORTD7 and PORTF0.
*
* @param[in] port the port identifier
* @param[in] mask the pin mask
*/
static void gpio_unlock(ioportid_t port, ioportmask_t mask)
{
port->LOCK = TIVA_GPIO_LOCK_PWD;
port->CR = mask;
}
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Tiva I/O ports configuration.
* @details Ports A-F (G, H, J, K, L, M, N, P, Q, R, S, T) clocks enabled.
*
* @param[in] config the Tiva ports configuration
*
* @notapi
*/
void _pal_lld_init(const PALConfig *config)
{
/*
* Enables all GPIO clocks.
*/
SYSCTL->RCGCGPIO = RCGCGPIO_MASK;
#if defined(TM4C123x)
SYSCTL->GPIOHBCTL = GPIOHBCTL_MASK;
#endif
/* Wait until all GPIO modules are ready */
while (!((SYSCTL->PRGPIO & RCGCGPIO_MASK) == RCGCGPIO_MASK))
;
#if TIVA_HAS_GPIOA
gpio_init(GPIOA, &config->PAData);
#endif
#if TIVA_HAS_GPIOB
gpio_init(GPIOB, &config->PBData);
#endif
#if TIVA_HAS_GPIOC
/* Unlock JTAG pins.*/
gpio_unlock(GPIOC, GPIOC_JTAG_MASK);
gpio_init(GPIOC, &config->PCData);
#endif
#if TIVA_HAS_GPIOD
/* Unlock NMI pin.*/
gpio_unlock(GPIOD, GPIOD_NMI_MASK);
gpio_init(GPIOD, &config->PDData);
#endif
#if TIVA_HAS_GPIOE
gpio_init(GPIOE, &config->PEData);
#endif
#if TIVA_HAS_GPIOF
/* Unlock NMI pin.*/
gpio_unlock(GPIOF, GPIOF_NMI_MASK);
gpio_init(GPIOF, &config->PFData);
#endif
#if TIVA_HAS_GPIOG || defined(__DOXYGEN__)
gpio_init(GPIOG, &config->PGData);
#endif
#if TIVA_HAS_GPIOH || defined(__DOXYGEN__)
gpio_init(GPIOH, &config->PHData);
#endif
#if TIVA_HAS_GPIOJ || defined(__DOXYGEN__)
gpio_init(GPIOJ, &config->PJData);
#endif
#if TIVA_HAS_GPIOK || defined(__DOXYGEN__)
gpio_init(GPIOK, &config->PKData);
#endif
#if TIVA_HAS_GPIOL || defined(__DOXYGEN__)
gpio_init(GPIOL, &config->PLData);
#endif
#if TIVA_HAS_GPIOM || defined(__DOXYGEN__)
gpio_init(GPIOM, &config->PMData);
#endif
#if TIVA_HAS_GPION || defined(__DOXYGEN__)
gpio_init(GPION, &config->PNData);
#endif
#if TIVA_HAS_GPIOP || defined(__DOXYGEN__)
gpio_init(GPIOP, &config->PPData);
#endif
#if TIVA_HAS_GPIOQ || defined(__DOXYGEN__)
gpio_init(GPIOQ, &config->PQData);
#endif
#if TIVA_HAS_GPIOR || defined(__DOXYGEN__)
gpio_init(GPIOR, &config->PRData);
#endif
#if TIVA_HAS_GPIOS || defined(__DOXYGEN__)
gpio_init(GPIOS, &config->PSData);
#endif
#if TIVA_HAS_GPIOT || defined(__DOXYGEN__)
gpio_init(GPIOT, &config->PTData);
#endif
}
/**
* @brief Pads mode setup.
* @details This function programs a pads group belonging to the same port
* with the specified mode.
*
* @param[in] port the port identifier
* @param[in] mask the group mask
* @param[in] mode the mode
*
* @notapi
*/
void _pal_lld_setgroupmode(ioportid_t port, ioportmask_t mask, iomode_t mode)
{
uint32_t dir = (mode & PAL_TIVA_DIR_MASK) >> 0;
uint32_t afsel = (mode & PAL_TIVA_AFSEL_MASK) >> 1;
uint32_t dr2r = (mode & PAL_TIVA_DR2R_MASK) >> 2;
uint32_t dr4r = (mode & PAL_TIVA_DR4R_MASK) >> 3;
uint32_t dr8r = (mode & PAL_TIVA_DR8R_MASK) >> 4;
uint32_t odr = (mode & PAL_TIVA_ODR_MASK) >> 5;
uint32_t pur = (mode & PAL_TIVA_PUR_MASK) >> 6;
uint32_t pdr = (mode & PAL_TIVA_PDR_MASK) >> 7;
uint32_t slr = (mode & PAL_TIVA_SLR_MASK) >> 8;
uint32_t den = (mode & PAL_TIVA_DEN_MASK) >> 9;
uint32_t amsel = (mode & PAL_TIVA_AMSEL_MASK) >> 10;
uint32_t pctl = (mode & PAL_TIVA_PCTL_MASK) >> 11;
uint32_t bit = 0;
while(TRUE) {
uint32_t pctl_mask = (7 << (4 * bit));
uint32_t bit_mask = (1 << bit);
if ((mask & 1) != 0) {
port->DIR = (port->DIR & ~bit_mask) | dir;
port->AFSEL = (port->AFSEL & ~bit_mask) | afsel;
port->DR2R = (port->DR2R & ~bit_mask) | dr2r;
port->DR4R = (port->DR4R & ~bit_mask) | dr4r;
port->DR8R = (port->DR8R & ~bit_mask) | dr8r;
port->ODR = (port->ODR & ~bit_mask) | odr;
port->PUR = (port->PUR & ~bit_mask) | pur;
port->PDR = (port->PDR & ~bit_mask) | pdr;
port->SLR = (port->SLR & ~bit_mask) | slr;
port->DEN = (port->DEN & ~bit_mask) | den;
port->AMSEL = (port->AMSEL & ~bit_mask) | amsel;
port->PCTL = (port->PCTL & ~pctl_mask) | pctl;
}
mask >>= 1;
if (!mask) {
return;
}
dir <<= 1;
afsel <<= 1;
dr2r <<= 1;
dr4r <<= 1;
dr8r <<= 1;
odr <<= 1;
pur <<= 1;
pdr <<= 1;
slr <<= 1;
den <<= 1;
amsel <<= 1;
pctl <<= 4;
bit++;
}
}
#endif /* HAL_USE_PAL */
/**
* @}
*/
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