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import ChibiOS 2.0.8

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This commit is contained in:
NIIBE Yutaka
2010-11-30 13:54:43 +09:00
parent 27543cfeca
commit c560d0ad0c
1982 changed files with 5318 additions and 4046 deletions
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242
ChibiOS_2.0.8/os/hal/src/adc.c Normal file
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file adc.c
* @brief ADC Driver code.
*
* @addtogroup ADC
* @{
*/
#include "ch.h"
#include "hal.h"
#if CH_HAL_USE_ADC || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief ADC Driver initialization.
*/
void adcInit(void) {
adc_lld_init();
}
/**
* @brief Initializes the standard part of a @p ADCDriver structure.
*
* @param[in] adcp pointer to the @p ADCDriver object
*/
void adcObjectInit(ADCDriver *adcp) {
adcp->ad_state = ADC_STOP;
adcp->ad_config = NULL;
adcp->ad_callback = NULL;
adcp->ad_samples = NULL;
adcp->ad_depth = 0;
adcp->ad_grpp = NULL;
chSemInit(&adcp->ad_sem, 0);
}
/**
* @brief Configures and activates the ADC peripheral.
*
* @param[in] adcp pointer to the @p ADCDriver object
* @param[in] config pointer to the @p ADCConfig object
*/
void adcStart(ADCDriver *adcp, const ADCConfig *config) {
chDbgCheck((adcp != NULL) && (config != NULL), "adcStart");
chSysLock();
chDbgAssert((adcp->ad_state == ADC_STOP) || (adcp->ad_state == ADC_READY),
"adcStart(), #1",
"invalid state");
adcp->ad_config = config;
adc_lld_start(adcp);
adcp->ad_state = ADC_READY;
chSysUnlock();
}
/**
* @brief Deactivates the ADC peripheral.
*
* @param[in] adcp pointer to the @p ADCDriver object
*/
void adcStop(ADCDriver *adcp) {
chDbgCheck(adcp != NULL, "adcStop");
chSysLock();
chDbgAssert((adcp->ad_state == ADC_STOP) ||
(adcp->ad_state == ADC_READY) ||
(adcp->ad_state == ADC_COMPLETE),
"adcStop(), #1",
"invalid state");
adc_lld_stop(adcp);
adcp->ad_state = ADC_STOP;
chSysUnlock();
}
/**
* @brief Starts an ADC conversion.
* @details Starts a conversion operation, there are two kind of conversion
* modes:
* - <b>LINEAR</b>, in this mode the buffer is filled once and then
* the conversion stops automatically.
* - <b>CIRCULAR</b>, in this mode the conversion never stops and
* the buffer is filled circularly.<br>
* During the conversion the callback function is invoked when
* the buffer is 50% filled and when the buffer is 100% filled,
* this way is possible to process the conversion stream in real
* time. This kind of conversion can only be stopped by explicitly
* invoking @p adcStopConversion().
* .
* @note The buffer is organized as a matrix of M*N elements where M is the
* channels number configured into the conversion group and N is the
* buffer depth. The samples are sequentially written into the buffer
* with no gaps.
*
* @param[in] adcp pointer to the @p ADCDriver object
* @param[in] grpp pointer to a @p ADCConversionGroup object
* @param[out] samples pointer to the samples buffer
* @param[in] depth buffer depth (matrix rows number). The buffer depth
* must be one or an even number.
* @param[in] callback pointer to the conversion callback function, this
* parameter can be @p NULL if a callback is not required
* @return The operation status.
* @retval FALSE the conversion has been started.
* @retval TRUE the driver is busy, conversion not started.
*/
bool_t adcStartConversion(ADCDriver *adcp,
const ADCConversionGroup *grpp,
adcsample_t *samples,
size_t depth,
adccallback_t callback) {
chDbgCheck((adcp != NULL) && (grpp != NULL) && (samples != NULL) &&
((depth == 1) || ((depth & 1) == 0)),
"adcStartConversion");
chSysLock();
chDbgAssert((adcp->ad_state == ADC_READY) ||
(adcp->ad_state == ADC_RUNNING) ||
(adcp->ad_state == ADC_COMPLETE),
"adcStartConversion(), #1",
"invalid state");
if (adcp->ad_state == ADC_RUNNING) {
chSysUnlock();
return TRUE;
}
adcp->ad_callback = callback;
adcp->ad_samples = samples;
adcp->ad_depth = depth;
adcp->ad_grpp = grpp;
adc_lld_start_conversion(adcp);
adcp->ad_state = ADC_RUNNING;
chSysUnlock();
return FALSE;
}
/**
* @brief Stops an ongoing conversion.
*
* @param[in] adcp pointer to the @p ADCDriver object
*/
void adcStopConversion(ADCDriver *adcp) {
chDbgCheck(adcp != NULL, "adcStopConversion");
chSysLock();
chDbgAssert((adcp->ad_state == ADC_READY) ||
(adcp->ad_state == ADC_RUNNING) ||
(adcp->ad_state == ADC_COMPLETE),
"adcStopConversion(), #1",
"invalid state");
if (adcp->ad_state == ADC_RUNNING) {
adc_lld_stop_conversion(adcp);
adcp->ad_grpp = NULL;
adcp->ad_state = ADC_READY;
chSemResetI(&adcp->ad_sem, 0);
chSchRescheduleS();
}
else
adcp->ad_state = ADC_READY;
chSysUnlock();
}
/**
* @brief Waits for completion.
* @details If the conversion is not completed or not yet started then the
* invoking thread waits for a conversion completion event.
*
* @param[in] adcp pointer to the @p ADCDriver object
* @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
* .
* @return The operation result.
* @retval RDY_OK conversion finished.
* @retval RDY_TIMEOUT conversion not finished within the specified time.
*/
msg_t adcWaitConversion(ADCDriver *adcp, systime_t timeout) {
chSysLock();
chDbgAssert((adcp->ad_state == ADC_READY) ||
(adcp->ad_state == ADC_RUNNING) ||
(adcp->ad_state == ADC_COMPLETE),
"adcWaitConversion(), #1",
"invalid state");
if (adcp->ad_state != ADC_COMPLETE) {
if (chSemWaitTimeoutS(&adcp->ad_sem, timeout) == RDY_TIMEOUT) {
chSysUnlock();
return RDY_TIMEOUT;
}
}
chSysUnlock();
return RDY_OK;
}
#endif /* CH_HAL_USE_ADC */
/** @} */

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ChibiOS_2.0.8/os/hal/src/can.c Normal file
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file can.c
* @brief CAN Driver code.
*
* @addtogroup CAN
* @{
*/
#include "ch.h"
#include "hal.h"
#if CH_HAL_USE_CAN || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief CAN Driver initialization.
*/
void canInit(void) {
can_lld_init();
}
/**
* @brief Initializes the standard part of a @p CANDriver structure.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void canObjectInit(CANDriver *canp) {
canp->cd_state = CAN_STOP;
canp->cd_config = NULL;
chSemInit(&canp->cd_txsem, 0);
chSemInit(&canp->cd_rxsem, 0);
chEvtInit(&canp->cd_rxfull_event);
chEvtInit(&canp->cd_txempty_event);
chEvtInit(&canp->cd_error_event);
canp->cd_status = 0;
#if CAN_USE_SLEEP_MODE
chEvtInit(&canp->cd_sleep_event);
chEvtInit(&canp->cd_wakeup_event);
#endif /* CAN_USE_SLEEP_MODE */
}
/**
* @brief Configures and activates the CAN peripheral.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] config pointer to the @p CANConfig object
*/
void canStart(CANDriver *canp, const CANConfig *config) {
chDbgCheck((canp != NULL) && (config != NULL), "canStart");
chSysLock();
chDbgAssert((canp->cd_state == CAN_STOP) ||
(canp->cd_state == CAN_STARTING) ||
(canp->cd_state == CAN_READY),
"canStart(), #1",
"invalid state");
while (canp->cd_state == CAN_STARTING)
chThdSleepS(1);
if (canp->cd_state == CAN_STOP) {
canp->cd_config = config;
can_lld_start(canp);
canp->cd_state = CAN_READY;
}
chSysUnlock();
}
/**
* @brief Deactivates the CAN peripheral.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void canStop(CANDriver *canp) {
chDbgCheck(canp != NULL, "canStop");
chSysLock();
chDbgAssert((canp->cd_state == CAN_STOP) || (canp->cd_state == CAN_READY),
"canStop(), #1",
"invalid state");
can_lld_stop(canp);
chSemResetI(&canp->cd_rxsem, 0);
chSemResetI(&canp->cd_txsem, 0);
chSchRescheduleS();
canp->cd_state = CAN_STOP;
canp->cd_status = 0;
chSysUnlock();
}
/**
* @brief Can frame transmission.
* @details The specified frame is queued for transmission, if the hardware
* queue is full then the invoking thread is queued.
* @note Trying to transmit while in sleep mode simply enqueues the thread.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] ctfp pointer to the CAN frame to be transmitted
* @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
* .
* @return The operation result.
* @retval RDY_OK the frame has been queued for transmission.
* @retval RDY_TIMEOUT operation not finished within the specified time.
* @retval RDY_RESET driver stopped while waiting.
*/
msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {
chDbgCheck((canp != NULL) && (ctfp != NULL), "canTransmit");
chSysLock();
chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
"canTransmit(), #1",
"invalid state");
while ((canp->cd_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {
msg_t msg = chSemWaitTimeoutS(&canp->cd_txsem, timeout);
if (msg != RDY_OK) {
chSysUnlock();
return msg;
}
}
can_lld_transmit(canp, ctfp);
chSysUnlock();
return RDY_OK;
}
/**
* @brief Can frame receive.
* @details The function waits until a frame is received.
* @note Trying to receive while in sleep mode simply enqueues the thread.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[out] crfp pointer to the buffer where the CAN frame is copied
* @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout (useful in an
* event driven scenario where a thread never blocks
* for I/O).
* - @a TIME_INFINITE no timeout.
* .
* @return The operation result.
* @retval RDY_OK a frame has been received and placed in the buffer.
* @retval RDY_TIMEOUT operation not finished within the specified time or
* frame not immediately available if invoked using
* @p TIME_IMMEDIATE.
* @retval RDY_RESET driver stopped while waiting.
*/
msg_t canReceive(CANDriver *canp, CANRxFrame *crfp, systime_t timeout) {
chDbgCheck((canp != NULL) && (crfp != NULL), "canReceive");
chSysLock();
chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
"canReceive(), #1",
"invalid state");
while ((canp->cd_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {
msg_t msg = chSemWaitTimeoutS(&canp->cd_rxsem, timeout);
if (msg != RDY_OK) {
chSysUnlock();
return msg;
}
}
can_lld_receive(canp, crfp);
chSysUnlock();
return RDY_OK;
}
/**
* @brief Returns the current status mask and clears it.
*
* @param[in] canp pointer to the @p CANDriver object
* @return The status flags mask.
*/
canstatus_t canGetAndClearFlags(CANDriver *canp) {
canstatus_t status;
chSysLock();
status = canp->cd_status;
canp->cd_status = 0;
chSysUnlock();
return status;
}
#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
/**
* @brief Enters the sleep mode.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void canSleep(CANDriver *canp) {
chDbgCheck(canp != NULL, "canSleep");
chSysLock();
chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
"canSleep(), #1",
"invalid state");
if (canp->cd_state == CAN_READY) {
can_lld_sleep(canp);
canp->cd_state = CAN_SLEEP;
chEvtBroadcastI(&canp->cd_sleep_event);
chSchRescheduleS();
}
chSysUnlock();
}
/**
* @brief Enforces leaving the sleep mode.
* @note The sleep mode is supposed to be usually exited automatically by
* an hardware event.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void canWakeup(CANDriver *canp) {
chDbgCheck(canp != NULL, "canWakeup");
chSysLock();
chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
"canWakeup(), #1",
"invalid state");
if (canp->cd_state == CAN_SLEEP) {
can_lld_wakeup(canp);
canp->cd_state = CAN_READY;
chEvtBroadcastI(&canp->cd_wakeup_event);
chSchRescheduleS();
}
chSysUnlock();
}
#endif /* CAN_USE_SLEEP_MODE */
#endif /* CH_HAL_USE_CAN */
/** @} */

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ChibiOS_2.0.8/os/hal/src/hal.c Normal file
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file hal.c
* @brief HAL subsystem code.
*
* @addtogroup HAL
* @{
*/
#include "ch.h"
#include "hal.h"
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief HAL initialization.
*/
void halInit(void) {
hal_lld_init();
#if CH_HAL_USE_PAL
palInit(&pal_default_config);
#endif
#if CH_HAL_USE_ADC
adcInit();
#endif
#if CH_HAL_USE_CAN
canInit();
#endif
#if CH_HAL_USE_MAC
macInit();
#endif
#if CH_HAL_USE_PWM
pwmInit();
#endif
#if CH_HAL_USE_SERIAL
sdInit();
#endif
#if CH_HAL_USE_SPI
spiInit();
#endif
#if CH_HAL_USE_MMC_SPI
mmcInit();
#endif
}
/** @} */

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ChibiOS_2.0.8/os/hal/src/mac.c Normal file
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file mac.c
* @brief MAC Driver code.
*
* @addtogroup MAC
* @{
*/
#include "ch.h"
#include "hal.h"
#if CH_HAL_USE_MAC || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief MAC Driver initialization.
*/
void macInit(void) {
mac_lld_init();
}
/**
* @brief Initialize the standard part of a @p MACDriver structure.
*
* @param[in] macp pointer to the @p MACDriver object
*/
void macObjectInit(MACDriver *macp) {
chSemInit(&macp->md_tdsem, 0);
chSemInit(&macp->md_rdsem, 0);
#if CH_USE_EVENTS
chEvtInit(&macp->md_rdevent);
#endif
}
/**
* @brief MAC address setup.
* @note This function must be invoked only with the driver in the stopped
* state. If invoked on an active interface then it is ignored.
*
* @param[in] macp pointer to the @p MACDriver object
* @param[in] p pointer to a six bytes buffer containing the MAC
* address. If this parameter is set to @p NULL then MAC
* a system default is used.
*
*/
void macSetAddress(MACDriver *macp, const uint8_t *p) {
mac_lld_set_address(macp, p);
}
/**
* @brief Allocates a transmission descriptor.
* @details One of the available transmission descriptors is locked and
* returned. If a descriptor is not currently available then the
* invoking thread is queued until one is freed.
*
* @param[in] macp pointer to the @p MACDriver object
* @param[out] tdp pointer to a @p MACTransmitDescriptor structure
* @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
* .
* @return The operation status.
* @retval RDY_OK the descriptor was obtained.
* @retval RDY_TIMEOUT the operation timed out, descriptor not initialized.
*/
msg_t macWaitTransmitDescriptor(MACDriver *macp,
MACTransmitDescriptor *tdp,
systime_t time) {
msg_t msg;
while (((msg = max_lld_get_transmit_descriptor(macp, tdp)) != RDY_OK) &&
(time > 0)) {
chSysLock();
systime_t now = chTimeNow();
if ((msg = chSemWaitTimeoutS(&macp->md_tdsem, time)) == RDY_TIMEOUT)
break;
if (time != TIME_INFINITE)
time -= (chTimeNow() - now);
chSysUnlock();
}
return msg;
}
/**
* @brief Releases a transmit descriptor and starts the transmission of the
* enqueued data as a single frame.
*
* @param[in] tdp the pointer to the @p MACTransmitDescriptor structure
*/
void macReleaseTransmitDescriptor(MACTransmitDescriptor *tdp) {
mac_lld_release_transmit_descriptor(tdp);
}
/**
* @brief Waits for a received frame.
* @details Stops until a frame is received and buffered. If a frame is
* not immediately available then the invoking thread is queued
* until one is received.
*
* @param[in] macp pointer to the @p MACDriver object
* @param[out] rdp pointer to a @p MACReceiveDescriptor structure
* @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
* .
* @return The operation status.
* @retval RDY_OK the descriptor was obtained.
* @retval RDY_TIMEOUT the operation timed out, descriptor not initialized.
*/
msg_t macWaitReceiveDescriptor(MACDriver *macp,
MACReceiveDescriptor *rdp,
systime_t time) {
msg_t msg;
while (((msg = max_lld_get_receive_descriptor(macp, rdp)) != RDY_OK) &&
(time > 0)) {
chSysLock();
systime_t now = chTimeNow();
if ((msg = chSemWaitTimeoutS(&macp->md_rdsem, time)) == RDY_TIMEOUT)
break;
if (time != TIME_INFINITE)
time -= (chTimeNow() - now);
chSysUnlock();
}
return msg;
}
/**
* @brief Releases a receive descriptor.
* @details The descriptor and its buffer are made available for more incoming
* frames.
*
* @param[in] rdp the pointer to the @p MACReceiveDescriptor structure
*/
void macReleaseReceiveDescriptor(MACReceiveDescriptor *rdp) {
mac_lld_release_receive_descriptor(rdp);
}
/**
* @brief Updates and returns the link status.
*
* @param[in] macp pointer to the @p MACDriver object
* @return The link status.
* @retval TRUE if the link is active.
* @retval FALSE if the link is down.
*/
bool_t macPollLinkStatus(MACDriver *macp) {
return mac_lld_poll_link_status(macp);
}
#endif /* CH_HAL_USE_MAC */
/** @} */

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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file mmc_spi.c
* @brief MMC over SPI driver code.
*
* @addtogroup MMC_SPI
* @{
*/
#include "ch.h"
#include "hal.h"
#if CH_HAL_USE_MMC_SPI || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/**
* @brief Inserion monitor timer callback function.
*
* @param[in] p pointer to the @p MMCDriver object
*/
void tmrfunc(void *p) {
MMCDriver *mmcp = p;
if (mmcp->mmc_cnt > 0) {
if (mmcp->mmc_is_inserted()) {
if (--mmcp->mmc_cnt == 0) {
mmcp->mmc_state = MMC_INSERTED;
chEvtBroadcastI(&mmcp->mmc_inserted_event);
}
}
else
mmcp->mmc_cnt = MMC_POLLING_INTERVAL;
}
else {
if (!mmcp->mmc_is_inserted()) {
mmcp->mmc_state = MMC_WAIT;
mmcp->mmc_cnt = MMC_POLLING_INTERVAL;
chEvtBroadcastI(&mmcp->mmc_removed_event);
}
}
chVTSetI(&mmcp->mmc_vt, MS2ST(MMC_POLLING_DELAY), tmrfunc, mmcp);
}
/**
* @brief Waits an idle condition.
*
* @param[in] mmcp pointer to the @p MMCDriver object
*/
static void wait(MMCDriver *mmcp) {
int i;
uint8_t buf[4];
for (i = 0; i < 16; i++) {
spiReceive(mmcp->mmc_spip, 1, buf);
if (buf[0] == 0xFF)
break;
}
/* Looks like it is a long wait.*/
while (TRUE) {
spiReceive(mmcp->mmc_spip, 1, buf);
if (buf[0] == 0xFF)
break;
#ifdef MMC_NICE_WAITING
/* Trying to be nice with the other threads.*/
chThdSleep(1);
#endif
}
}
/**
* @brief Sends a command header.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @param cmd[in] the command id
* @param arg[in] the command argument
*/
static void send_hdr(MMCDriver *mmcp, uint8_t cmd, uint32_t arg) {
uint8_t buf[6];
/* Wait for the bus to become idle if a write operation was in progress. */
wait(mmcp);
buf[0] = 0x40 | cmd;
buf[1] = arg >> 24;
buf[2] = arg >> 16;
buf[3] = arg >> 8;
buf[4] = arg;
buf[5] = 0x95; /* Valid for CMD0 ignored by other commands. */
spiSend(mmcp->mmc_spip, 6, buf);
}
/**
* @brief Receives a single byte response.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @return The response as an @p uint8_t value.
* @retval 0xFF timed out.
*/
static uint8_t recvr1(MMCDriver *mmcp) {
int i;
uint8_t r1[1];
for (i = 0; i < 9; i++) {
spiReceive(mmcp->mmc_spip, 1, r1);
if (r1[0] != 0xFF)
return r1[0];
}
return 0xFF;
}
/**
* @brief Sends a command an returns a single byte response.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @param cmd[in] the command id
* @param arg[in] the command argument
* @return The response as an @p uint8_t value.
* @retval 0xFF timed out.
*/
static uint8_t send_command(MMCDriver *mmcp, uint8_t cmd, uint32_t arg) {
uint8_t r1;
spiSelect(mmcp->mmc_spip);
send_hdr(mmcp, cmd, arg);
r1 = recvr1(mmcp);
spiUnselect(mmcp->mmc_spip);
return r1;
}
/**
* @brief Waits that the card reaches an idle state.
*
* @param[in] mmcp pointer to the @p MMCDriver object
*/
static void sync(MMCDriver *mmcp) {
uint8_t buf[1];
spiSelect(mmcp->mmc_spip);
while (TRUE) {
spiReceive(mmcp->mmc_spip, 1, buf);
if (buf[0] == 0xFF)
break;
#ifdef MMC_NICE_WAITING
chThdSleep(1); /* Trying to be nice with the other threads.*/
#endif
}
spiUnselect(mmcp->mmc_spip);
}
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief MMC over SPI driver initialization.
*/
void mmcInit(void) {
}
/**
* @brief Initializes an instance.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @param[in] spip pointer to the SPI driver to be used as interface
* @param[in] lscfg low speed configuration for the SPI driver
* @param[in] hscfg high speed configuration for the SPI driver
* @param[in] is_protected function that returns the card write protection
* setting
* @param[in] is_inserted function that returns the card insertion sensor
* status
*/
void mmcObjectInit(MMCDriver *mmcp, SPIDriver *spip,
const SPIConfig *lscfg, const SPIConfig *hscfg,
mmcquery_t is_protected, mmcquery_t is_inserted) {
mmcp->mmc_state = MMC_STOP;
mmcp->mmc_config = NULL;
mmcp->mmc_spip = spip;
mmcp->mmc_lscfg = lscfg;
mmcp->mmc_hscfg = hscfg;
mmcp->mmc_is_protected = is_protected;
mmcp->mmc_is_inserted = is_inserted;
chEvtInit(&mmcp->mmc_inserted_event);
chEvtInit(&mmcp->mmc_removed_event);
}
/**
* @brief Configures and activates the MMC peripheral.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @param[in] config pointer to the @p MMCConfig object
*/
void mmcStart(MMCDriver *mmcp, const MMCConfig *config) {
chDbgCheck((mmcp != NULL) && (config != NULL), "mmcStart");
chSysLock();
chDbgAssert(mmcp->mmc_state == MMC_STOP, "mmcStart(), #1", "invalid state");
mmcp->mmc_config = config;
mmcp->mmc_state = MMC_WAIT;
mmcp->mmc_cnt = MMC_POLLING_INTERVAL;
chVTSetI(&mmcp->mmc_vt, MS2ST(MMC_POLLING_DELAY), tmrfunc, mmcp);
chSysUnlock();
}
/**
* @brief Disables the MMC peripheral.
*
* @param[in] mmcp pointer to the @p MMCDriver object
*/
void mmcStop(MMCDriver *mmcp) {
chDbgCheck(mmcp != NULL, "mmcStop");
chSysLock();
chDbgAssert((mmcp->mmc_state != MMC_UNINIT) &&
(mmcp->mmc_state != MMC_READING) &&
(mmcp->mmc_state != MMC_WRITING),
"mmcStop(), #1",
"invalid state");
if (mmcp->mmc_state != MMC_STOP) {
mmcp->mmc_state = MMC_STOP;
chVTResetI(&mmcp->mmc_vt);
}
chSysUnlock();
spiStop(mmcp->mmc_spip);
}
/**
* @brief Performs the initialization procedure on the inserted card.
* @details This function should be invoked when a card is inserted and
* brings the driver in the @p MMC_READY state where it is possible
* to perform read and write operations.
* @note It is possible to invoke this function from the insertion event
* handler.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @return The operation status.
* @retval FALSE the operation was successful and the driver is now
* in the @p MMC_READY state.
* @retval TRUE the operation failed.
*/
bool_t mmcConnect(MMCDriver *mmcp) {
unsigned i;
bool_t result;
chDbgCheck(mmcp != NULL, "mmcConnect");
chDbgAssert((mmcp->mmc_state != MMC_UNINIT) &&
(mmcp->mmc_state != MMC_STOP),
"mmcConnect(), #1",
"invalid state");
if (mmcp->mmc_state == MMC_INSERTED) {
/* Slow clock mode and 128 clock pulses.*/
spiStart(mmcp->mmc_spip, mmcp->mmc_lscfg);
spiIgnore(mmcp->mmc_spip, 16);
/* SPI mode selection.*/
i = 0;
while (TRUE) {
if (send_command(mmcp, MMC_CMDGOIDLE, 0) == 0x01)
break;
if (++i >= MMC_CMD0_RETRY)
return TRUE;
chThdSleepMilliseconds(10);
}
/* Initialization. */
i = 0;
while (TRUE) {
uint8_t b = send_command(mmcp, MMC_CMDINIT, 0);
if (b == 0x00)
break;
if (b != 0x01)
return TRUE;
if (++i >= MMC_CMD1_RETRY)
return TRUE;
chThdSleepMilliseconds(10);
}
/* Initialization complete, full speed. */
spiStart(mmcp->mmc_spip, mmcp->mmc_hscfg);
/* Setting block size.*/
if (send_command(mmcp, MMC_CMDSETBLOCKLEN, MMC_SECTOR_SIZE) != 0x00)
return TRUE;
/* Transition to MMC_READY state (if not extracted).*/
chSysLock();
if (mmcp->mmc_state == MMC_INSERTED) {
mmcp->mmc_state = MMC_READY;
result = FALSE;
}
else
result = TRUE;
chSysUnlock();
return result;
}
if (mmcp->mmc_state == MMC_READY)
return FALSE;
/* Any other state is invalid.*/
return TRUE;
}
/**
* @brief Brings the driver in a state safe for card removal.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @return The operation status.
* @retval FALSE the operation was successful and the driver is now
* in the @p MMC_INSERTED state.
* @retval TRUE the operation failed.
*/
bool_t mmcDisconnect(MMCDriver *mmcp) {
bool_t status;
chDbgCheck(mmcp != NULL, "mmcDisconnect");
chDbgAssert((mmcp->mmc_state != MMC_UNINIT) &&
(mmcp->mmc_state != MMC_STOP),
"mmcDisconnect(), #1",
"invalid state");
switch (mmcp->mmc_state) {
case MMC_READY:
/* Wait for the pending write operations to complete.*/
sync(mmcp);
chSysLock();
if (mmcp->mmc_state == MMC_READY)
mmcp->mmc_state = MMC_INSERTED;
chSysUnlock();
case MMC_INSERTED:
status = FALSE;
default:
status = TRUE;
}
spiStop(mmcp->mmc_spip);
return status;
}
/**
* @brief Starts a sequential read.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @param[in] startblk first block to read
* @return The operation status.
* @retval FALSE the operation was successful.
* @retval TRUE the operation failed.
*/
bool_t mmcStartSequentialRead(MMCDriver *mmcp, uint32_t startblk) {
chDbgCheck(mmcp != NULL, "mmcStartSequentialRead");
chSysLock();
if (mmcp->mmc_state != MMC_READY) {
chSysUnlock();
return TRUE;
}
mmcp->mmc_state = MMC_READING;
chSysUnlock();
spiStart(mmcp->mmc_spip, mmcp->mmc_hscfg);
spiSelect(mmcp->mmc_spip);
send_hdr(mmcp, MMC_CMDREADMULTIPLE, startblk * MMC_SECTOR_SIZE);
if (recvr1(mmcp) != 0x00) {
spiUnselect(mmcp->mmc_spip);
chSysLock();
if (mmcp->mmc_state == MMC_READING)
mmcp->mmc_state = MMC_READY;
chSysUnlock();
return TRUE;
}
return FALSE;
}
/**
* @brief Reads a block within a sequential read operation.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @param[out] buffer pointer to the read buffer
* @return The operation status.
* @retval FALSE the operation was successful.
* @retval TRUE the operation failed.
*/
bool_t mmcSequentialRead(MMCDriver *mmcp, uint8_t *buffer) {
int i;
chDbgCheck((mmcp != NULL) && (buffer != NULL), "mmcSequentialRead");
chSysLock();
if (mmcp->mmc_state != MMC_READING) {
chSysUnlock();
return TRUE;
}
chSysUnlock();
for (i = 0; i < MMC_WAIT_DATA; i++) {
spiReceive(mmcp->mmc_spip, 1, buffer);
if (buffer[0] == 0xFE) {
spiReceive(mmcp->mmc_spip, MMC_SECTOR_SIZE, buffer);
/* CRC ignored. */
spiIgnore(mmcp->mmc_spip, 2);
return FALSE;
}
}
/* Timeout.*/
spiUnselect(mmcp->mmc_spip);
chSysLock();
if (mmcp->mmc_state == MMC_READING)
mmcp->mmc_state = MMC_READY;
chSysUnlock();
return TRUE;
}
/**
* @brief Stops a sequential read gracefully.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @return The operation status.
* @retval FALSE the operation was successful.
* @retval TRUE the operation failed.
*/
bool_t mmcStopSequentialRead(MMCDriver *mmcp) {
static const uint8_t stopcmd[] = {0x40 | MMC_CMDSTOP, 0, 0, 0, 0, 1, 0xFF};
bool_t result;
chDbgCheck(mmcp != NULL, "mmcStopSequentialRead");
chSysLock();
if (mmcp->mmc_state != MMC_READING) {
chSysUnlock();
return TRUE;
}
chSysUnlock();
spiSend(mmcp->mmc_spip, sizeof(stopcmd), stopcmd);
/* result = recvr1(mmcp) != 0x00;*/
/* Note, ignored r1 response, it can be not zero, unknown issue.*/
recvr1(mmcp);
result = FALSE;
spiUnselect(mmcp->mmc_spip);
chSysLock();
if (mmcp->mmc_state == MMC_READING)
mmcp->mmc_state = MMC_READY;
chSysUnlock();
return result;
}
/**
* @brief Starts a sequential write.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @param[in] startblk first block to write
* @return The operation status.
* @retval FALSE the operation was successful.
* @retval TRUE the operation failed.
*/
bool_t mmcStartSequentialWrite(MMCDriver *mmcp, uint32_t startblk) {
chDbgCheck(mmcp != NULL, "mmcStartSequentialWrite");
chSysLock();
if (mmcp->mmc_state != MMC_READY) {
chSysUnlock();
return TRUE;
}
mmcp->mmc_state = MMC_WRITING;
chSysUnlock();
spiStart(mmcp->mmc_spip, mmcp->mmc_hscfg);
spiSelect(mmcp->mmc_spip);
send_hdr(mmcp, MMC_CMDWRITEMULTIPLE, startblk * MMC_SECTOR_SIZE);
if (recvr1(mmcp) != 0x00) {
spiUnselect(mmcp->mmc_spip);
chSysLock();
if (mmcp->mmc_state == MMC_WRITING)
mmcp->mmc_state = MMC_READY;
chSysUnlock();
return TRUE;
}
return FALSE;
}
/**
* @brief Writes a block within a sequential write operation.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @param[out] buffer pointer to the write buffer
* @return The operation status.
* @retval FALSE the operation was successful.
* @retval TRUE the operation failed.
*/
bool_t mmcSequentialWrite(MMCDriver *mmcp, const uint8_t *buffer) {
static const uint8_t start[] = {0xFF, 0xFC};
uint8_t b[1];
chDbgCheck((mmcp != NULL) && (buffer != NULL), "mmcSequentialWrite");
chSysLock();
if (mmcp->mmc_state != MMC_WRITING) {
chSysUnlock();
return TRUE;
}
chSysUnlock();
spiSend(mmcp->mmc_spip, sizeof(start), start); /* Data prologue. */
spiSend(mmcp->mmc_spip, MMC_SECTOR_SIZE, buffer); /* Data. */
spiIgnore(mmcp->mmc_spip, 2); /* CRC ignored. */
spiReceive(mmcp->mmc_spip, 1, b);
if ((b[0] & 0x1F) == 0x05) {
wait(mmcp);
return FALSE;
}
/* Error.*/
spiUnselect(mmcp->mmc_spip);
chSysLock();
if (mmcp->mmc_state == MMC_WRITING)
mmcp->mmc_state = MMC_READY;
chSysUnlock();
return TRUE;
}
/**
* @brief Stops a sequential write gracefully.
*
* @param[in] mmcp pointer to the @p MMCDriver object
* @return The operation status.
* @retval FALSE the operation was successful.
* @retval TRUE the operation failed.
*/
bool_t mmcStopSequentialWrite(MMCDriver *mmcp) {
static const uint8_t stop[] = {0xFD, 0xFF};
chDbgCheck(mmcp != NULL, "mmcStopSequentialWrite");
chSysLock();
if (mmcp->mmc_state != MMC_WRITING) {
chSysUnlock();
return TRUE;
}
chSysUnlock();
spiSend(mmcp->mmc_spip, sizeof(stop), stop);
spiUnselect(mmcp->mmc_spip);
chSysLock();
if (mmcp->mmc_state == MMC_WRITING) {
mmcp->mmc_state = MMC_READY;
chSysUnlock();
return FALSE;
}
chSysUnlock();
return TRUE;
}
#endif /* CH_HAL_USE_MMC_SPI */
/** @} */

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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file pal.c
* @brief I/O Ports Abstraction Layer code.
*
* @addtogroup PAL
* @{
*/
#include "ch.h"
#include "hal.h"
#if CH_HAL_USE_PAL || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Read from an I/O bus.
* @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 function internally uses the @p palReadGroup() macro. The use
* of this function is preferred when you value code size, readability
* and error checking over speed.
*
* @param[in] bus the I/O bus, pointer to a @p IOBus structure
* @return The bus logical states.
*/
ioportmask_t palReadBus(IOBus *bus) {
chDbgCheck((bus != NULL) &&
(bus->bus_offset > PAL_IOPORTS_WIDTH), "palReadBus");
return palReadGroup(bus->bus_portid, bus->bus_mask, bus->bus_offset);
}
/**
* @brief Write to an I/O bus.
* @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] bus the I/O bus, pointer to a @p IOBus structure
* @param[in] bits the bits to be written on the I/O bus. Values exceeding
* the bus width are masked so most significant bits are
* lost.
*/
void palWriteBus(IOBus *bus, ioportmask_t bits) {
chDbgCheck((bus != NULL) &&
(bus->bus_offset > PAL_IOPORTS_WIDTH), "palWriteBus");
palWriteGroup(bus->bus_portid, bus->bus_mask, bus->bus_offset, bits);
}
/**
* @brief Programs a bus with the specified mode.
* @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] bus the I/O bus, pointer to a @p IOBus structure
* @param[in] mode the mode
*/
void palSetBusMode(IOBus *bus, uint_fast8_t mode) {
chDbgCheck((bus != NULL) &&
(bus->bus_offset > PAL_IOPORTS_WIDTH), "palSetBusMode");
palSetGroupMode(bus->bus_portid, bus->bus_mask, mode);
}
#endif /* CH_HAL_USE_PAL */
/** @} */

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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file pwm.c
* @brief PWM Driver code.
*
* @addtogroup PWM
* @{
*/
#include "ch.h"
#include "hal.h"
#if CH_HAL_USE_PWM || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief PWM Driver initialization.
*/
void pwmInit(void) {
pwm_lld_init();
}
/**
* @brief Initializes the standard part of a @p PWMDriver structure.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*/
void pwmObjectInit(PWMDriver *pwmp) {
pwmp->pd_state = PWM_STOP;
pwmp->pd_config = NULL;
#if defined(PWM_DRIVER_EXT_INIT_HOOK)
PWM_DRIVER_EXT_INIT_HOOK(pwmp);
#endif
}
/**
* @brief Configures and activates the PWM peripheral.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] config pointer to a @p PWMConfig object
*/
void pwmStart(PWMDriver *pwmp, const PWMConfig *config) {
chDbgCheck((pwmp != NULL) && (config != NULL), "pwmStart");
chSysLock();
chDbgAssert((pwmp->pd_state == PWM_STOP) || (pwmp->pd_state == PWM_READY),
"pwmStart(), #1", "invalid state");
pwmp->pd_config = config;
pwm_lld_start(pwmp);
pwmp->pd_state = PWM_READY;
chSysUnlock();
}
/**
* @brief Deactivates the PWM peripheral.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*/
void pwmStop(PWMDriver *pwmp) {
chDbgCheck(pwmp != NULL, "pwmStop");
chSysLock();
chDbgAssert((pwmp->pd_state == PWM_STOP) || (pwmp->pd_state == PWM_READY),
"pwmStop(), #1", "invalid state");
pwm_lld_stop(pwmp);
pwmp->pd_state = PWM_STOP;
chSysUnlock();
}
/**
* @brief Enables a PWM channel.
* @details Programs (or reprograms) a PWM channel.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
* @param[in] width PWM pulse width as clock pulses number
*/
void pwmEnableChannel(PWMDriver *pwmp,
pwmchannel_t channel,
pwmcnt_t width) {
chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS),
"pwmEnableChannel");
chSysLock();
chDbgAssert(pwmp->pd_state == PWM_READY,
"pwmEnableChannel(), #1", "not ready");
pwm_lld_enable_channel(pwmp, channel, width);
chSysUnlock();
}
/**
* @brief Disables a PWM channel.
* @details The channel is disabled and its output line returned to the
* idle state.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
*/
void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel) {
chDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS),
"pwmEnableChannel");
chSysLock();
chDbgAssert(pwmp->pd_state == PWM_READY,
"pwmDisableChannel(), #1", "not ready");
pwm_lld_disable_channel(pwmp, channel);
chSysUnlock();
}
#endif /* CH_HAL_USE_PWM */
/** @} */

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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file serial.c
* @brief Serial Driver code.
*
* @addtogroup SERIAL
* @{
*/
#include "ch.h"
#include "hal.h"
#if CH_HAL_USE_SERIAL || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*
* Interface implementation, the following functions just invoke the equivalent
* queue-level function or macro.
*/
static size_t writes(void *ip, const uint8_t *bp, size_t n) {
return chOQWriteTimeout(&((SerialDriver *)ip)->oqueue, bp,
n, TIME_INFINITE);
}
static size_t reads(void *ip, uint8_t *bp, size_t n) {
return chIQReadTimeout(&((SerialDriver *)ip)->iqueue, bp,
n, TIME_INFINITE);
}
static bool_t putwouldblock(void *ip) {
return chOQIsFull(&((SerialDriver *)ip)->oqueue);
}
static bool_t getwouldblock(void *ip) {
return chIQIsEmpty(&((SerialDriver *)ip)->iqueue);
}
static msg_t putt(void *ip, uint8_t b, systime_t timeout) {
return chOQPutTimeout(&((SerialDriver *)ip)->oqueue, b, timeout);
}
static msg_t gett(void *ip, systime_t timeout) {
return chIQGetTimeout(&((SerialDriver *)ip)->iqueue, timeout);
}
static size_t writet(void *ip, const uint8_t *bp, size_t n, systime_t time) {
return chOQWriteTimeout(&((SerialDriver *)ip)->oqueue, bp, n, time);
}
static size_t readt(void *ip, uint8_t *bp, size_t n, systime_t time) {
return chIQReadTimeout(&((SerialDriver *)ip)->iqueue, bp, n, time);
}
static const struct SerialDriverVMT vmt = {
writes, reads, putwouldblock, getwouldblock, putt, gett, writet, readt
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Serial Driver initialization.
*/
void sdInit(void) {
sd_lld_init();
}
/**
* @brief Initializes a generic full duplex driver object.
* @details The HW dependent part of the initialization has to be performed
* outside, usually in the hardware initialization code.
*
* @param[out] sdp pointer to a @p SerialDriver structure
* @param[in] inotify pointer to a callback function that is invoked when
* some data is read from the Queue. The value can be
* @p NULL.
* @param[in] onotify pointer to a callback function that is invoked when
* some data is written in the Queue. The value can be
* @p NULL.
*/
void sdObjectInit(SerialDriver *sdp, qnotify_t inotify, qnotify_t onotify) {
sdp->vmt = &vmt;
chEvtInit(&sdp->ievent);
chEvtInit(&sdp->oevent);
chEvtInit(&sdp->sevent);
sdp->state = SD_STOP;
sdp->flags = SD_NO_ERROR;
chIQInit(&sdp->iqueue, sdp->ib, SERIAL_BUFFERS_SIZE, inotify);
chOQInit(&sdp->oqueue, sdp->ob, SERIAL_BUFFERS_SIZE, onotify);
}
/**
* @brief Configures and starts the driver.
*
* @param[in] sdp pointer to a @p SerialDriver object
* @param[in] config the architecture-dependent serial driver configuration.
* If this parameter is set to @p NULL then a default
* configuration is used.
*/
void sdStart(SerialDriver *sdp, const SerialConfig *config) {
chDbgCheck(sdp != NULL, "sdStart");
chSysLock();
chDbgAssert((sdp->state == SD_STOP) || (sdp->state == SD_READY),
"sdStart(), #1",
"invalid state");
sd_lld_start(sdp, config);
sdp->state = SD_READY;
chSysUnlock();
}
/**
* @brief Stops the driver.
* @details Any thread waiting on the driver's queues will be awakened with
* the message @p Q_RESET.
*
* @param[in] sdp pointer to a @p SerialDrive object
*/
void sdStop(SerialDriver *sdp) {
chDbgCheck(sdp != NULL, "sdStop");
chSysLock();
chDbgAssert((sdp->state == SD_STOP) || (sdp->state == SD_READY),
"sdStop(), #1",
"invalid state");
sd_lld_stop(sdp);
sdp->state = SD_STOP;
chOQResetI(&sdp->oqueue);
chIQResetI(&sdp->iqueue);
chSchRescheduleS();
chSysUnlock();
}
/**
* @brief Handles incoming data.
* @details This function must be called from the input interrupt service
* routine in order to enqueue incoming data and generate the
* related events.
* @note The incoming data event is only generated when the input queue
* becomes non-empty.
* @note In order to gain some performance it is suggested to not use
* this function directly but copy this code directly into the
* interrupt service routine.
*
* @param[in] sdp pointer to a @p SerialDriver structure
* @param[in] b the byte to be written in the driver's Input Queue
*/
void sdIncomingDataI(SerialDriver *sdp, uint8_t b) {
chDbgCheck(sdp != NULL, "sdIncomingDataI");
if (chIQIsEmpty(&sdp->iqueue))
chEvtBroadcastI(&sdp->ievent);
if (chIQPutI(&sdp->iqueue, b) < Q_OK)
sdAddFlagsI(sdp, SD_OVERRUN_ERROR);
}
/**
* @brief Handles outgoing data.
* @details Must be called from the output interrupt service routine in order
* to get the next byte to be transmitted.
* @note In order to gain some performance it is suggested to not use
* this function directly but copy this code directly into the
* interrupt service routine.
*
* @param[in] sdp pointer to a @p SerialDriver structure
* @return The byte value read from the driver's output queue.
* @retval Q_EMPTY if the queue is empty (the lower driver usually
* disables the interrupt source when this happens).
*/
msg_t sdRequestDataI(SerialDriver *sdp) {
msg_t b;
chDbgCheck(sdp != NULL, "sdRequestDataI");
b = chOQGetI(&sdp->oqueue);
if (b < Q_OK)
chEvtBroadcastI(&sdp->oevent);
return b;
}
/**
* @brief Handles communication events/errors.
* @details Must be called from the I/O interrupt service routine in order to
* notify I/O conditions as errors, signals change etc.
*
* @param[in] sdp pointer to a @p SerialDriver structure
* @param[in] mask condition flags to be added to the mask
*/
void sdAddFlagsI(SerialDriver *sdp, sdflags_t mask) {
chDbgCheck(sdp != NULL, "sdAddFlagsI");
sdp->flags |= mask;
chEvtBroadcastI(&sdp->sevent);
}
/**
* @brief Returns and clears the errors mask associated to the driver.
*
* @param[in] sdp pointer to a @p SerialDriver structure
* @return The condition flags modified since last time this
* function was invoked.
*/
sdflags_t sdGetAndClearFlags(SerialDriver *sdp) {
sdflags_t mask;
chDbgCheck(sdp != NULL, "sdGetAndClearFlags");
chSysLock();
mask = sdp->flags;
sdp->flags = SD_NO_ERROR;
chSysUnlock();
return mask;
}
#endif /* CH_HAL_USE_SERIAL */
/** @} */

284
ChibiOS_2.0.8/os/hal/src/spi.c Normal file
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@@ -0,0 +1,284 @@
/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file spi.c
* @brief SPI Driver code.
*
* @addtogroup SPI
* @{
*/
#include "ch.h"
#include "hal.h"
#if CH_HAL_USE_SPI || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief SPI Driver initialization.
*/
void spiInit(void) {
spi_lld_init();
}
/**
* @brief Initializes the standard part of a @p SPIDriver structure.
*
* @param[in] spip pointer to the @p SPIDriver object
*/
void spiObjectInit(SPIDriver *spip) {
spip->spd_state = SPI_STOP;
#if SPI_USE_MUTUAL_EXCLUSION
#if CH_USE_MUTEXES
chMtxInit(&spip->spd_mutex);
#else
chSemInit(&spip->spd_semaphore, 1);
#endif
#endif /* SPI_USE_MUTUAL_EXCLUSION */
spip->spd_config = NULL;
}
/**
* @brief Configures and activates the SPI peripheral.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] config pointer to the @p SPIConfig object
*/
void spiStart(SPIDriver *spip, const SPIConfig *config) {
chDbgCheck((spip != NULL) && (config != NULL), "spiStart");
chSysLock();
chDbgAssert((spip->spd_state == SPI_STOP) || (spip->spd_state == SPI_READY),
"spiStart(), #1",
"invalid state");
spip->spd_config = config;
spi_lld_start(spip);
spip->spd_state = SPI_READY;
chSysUnlock();
}
/**
* @brief Deactivates the SPI peripheral.
*
* @param[in] spip pointer to the @p SPIDriver object
*/
void spiStop(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiStop");
chSysLock();
chDbgAssert((spip->spd_state == SPI_STOP) || (spip->spd_state == SPI_READY),
"spiStop(), #1",
"invalid state");
spi_lld_stop(spip);
spip->spd_state = SPI_STOP;
chSysUnlock();
}
/**
* @brief Asserts the slave select signal and prepares for transfers.
*
* @param[in] spip pointer to the @p SPIDriver object
*/
void spiSelect(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiSelect");
chSysLock();
chDbgAssert((spip->spd_state == SPI_READY) ||
(spip->spd_state == SPI_ACTIVE),
"spiSelect(), #1",
"not idle");
spi_lld_select(spip);
spip->spd_state = SPI_ACTIVE;
chSysUnlock();
}
/**
* @brief Deasserts the slave select signal.
* @details The previously selected peripheral is unselected.
*
* @param[in] spip pointer to the @p SPIDriver object
*/
void spiUnselect(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiUnselect");
chSysLock();
chDbgAssert((spip->spd_state == SPI_READY) ||
(spip->spd_state == SPI_ACTIVE),
"spiUnselect(), #1",
"not locked");
spi_lld_unselect(spip);
spip->spd_state = SPI_READY;
chSysUnlock();
}
/**
* @brief Ignores data on the SPI bus.
* @details This function transmits a series of idle words on the SPI bus and
* ignores the received data. This function can be invoked even
* when a slave select signal has not been yet asserted.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to be ignored
*/
void spiIgnore(SPIDriver *spip, size_t n) {
chDbgCheck((spip != NULL) && (n > 0), "spiIgnore");
chDbgAssert((spip->spd_state == SPI_READY) || (spip->spd_state == SPI_ACTIVE),
"spiIgnore(), #1",
"not active");
spi_lld_ignore(spip, n);
}
/**
* @brief Exchanges data on the SPI bus.
* @details This function performs a simultaneous transmit/receive operation.
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to be exchanged
* @param[in] txbuf the pointer to the transmit buffer
* @param[out] rxbuf the pointer to the receive buffer
*/
void spiExchange(SPIDriver *spip, size_t n, const void *txbuf, void *rxbuf) {
chDbgCheck((spip != NULL) && (n > 0) && (rxbuf != NULL) && (txbuf != NULL),
"spiExchange");
chDbgAssert(spip->spd_state == SPI_ACTIVE,
"spiExchange(), #1",
"not active");
spi_lld_exchange(spip, n, txbuf, rxbuf);
}
/**
* @brief Sends data over the SPI bus.
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to send
* @param[in] txbuf the pointer to the transmit buffer
*/
void spiSend(SPIDriver *spip, size_t n, const void *txbuf) {
chDbgCheck((spip != NULL) && (n > 0) && (txbuf != NULL),
"spiSend");
chDbgAssert(spip->spd_state == SPI_ACTIVE,
"spiSend(), #1",
"not active");
spi_lld_send(spip, n, txbuf);
}
/**
* @brief Receives data from the SPI bus.
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to receive
* @param[out] rxbuf the pointer to the receive buffer
*/
void spiReceive(SPIDriver *spip, size_t n, void *rxbuf) {
chDbgCheck((spip != NULL) && (n > 0) && (rxbuf != NULL),
"spiReceive");
chDbgAssert(spip->spd_state == SPI_ACTIVE,
"spiReceive(), #1",
"not active");
spi_lld_receive(spip, n, rxbuf);
}
#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
/**
* @brief Gains exclusive access to the SPI bus.
* @details This function tries to gain ownership to the SPI bus, if the bus
* is already being used then the invoking thread is queued.
* @note This function is only available when the @p SPI_USE_MUTUAL_EXCLUSION
* option is set to @p TRUE.
*
* @param[in] spip pointer to the @p SPIDriver object
*
*/
void spiAcquireBus(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiAcquireBus");
#if CH_USE_MUTEXES
chMtxLock(&spip->spd_mutex);
#elif CH_USE_SEMAPHORES
chSemWait(&spip->spd_semaphore);
#endif
}
/**
* @brief Releases exclusive access to the SPI bus.
* @note This function is only available when the @p SPI_USE_MUTUAL_EXCLUSION
* option is set to @p TRUE.
*
* @param[in] spip pointer to the @p SPIDriver object
*/
void spiReleaseBus(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiReleaseBus");
#if CH_USE_MUTEXES
(void)spip;
chMtxUnlock();
#elif CH_USE_SEMAPHORES
chSemSignal(&spip->spd_semaphore);
#endif
}
#endif /* SPI_USE_MUTUAL_EXCLUSION */
#endif /* CH_HAL_USE_SPI */
/** @} */