Merge branch 'master' into usbh_devel

6 files changed, 593 insertions, 1 deletions

diff --git a/os/hal/ports/TIVA/LLD/ADC/driver.mk b/os/hal/ports/TIVA/LLD/ADC/driver.mk
new file mode 100644
index 0000000..5a1c80b
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/ADC/driver.mk
@@ -0,0 +1,9 @@
+ifeq ($(USE_SMART_BUILD),yes)
+ifneq ($(findstring HAL_USE_ADC TRUE,$(HALCONF)),)
+PLATFORMSRC += $(CHIBIOS_CONTRIB)/os/hal/ports/TIVA/LLD/ADC/hal_adc_lld.c
+endif
+else
+PLATFORMSRC += $(CHIBIOS_CONTRIB)/os/hal/ports/TIVA/LLD/ADC/hal_adc_lld.c
+endif
+
+PLATFORMINC += $(CHIBIOS_CONTRIB)/os/hal/ports/TIVA/LLD/ADC
diff --git a/os/hal/ports/TIVA/LLD/ADC/hal_adc_lld.c b/os/hal/ports/TIVA/LLD/ADC/hal_adc_lld.c
new file mode 100644
index 0000000..6c1be30
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/ADC/hal_adc_lld.c
@@ -0,0 +1,351 @@
+/*
+    Copyright (C) 2014..2017 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    hal_adc_lld.c
+ * @brief   PLATFORM ADC subsystem low level driver source.
+ *
+ * @addtogroup ADC
+ * @{
+ */
+
+#include "hal.h"
+
+#if (HAL_USE_ADC == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/** @brief   ADC0 driver identifier.*/
+#if TIVA_ADC_USE_ADC0 || defined(__DOXYGEN__)
+ADCDriver ADCD1;
+#endif
+
+/** @brief   ADC1 driver identifier.*/
+#if TIVA_ADC_USE_ADC1 || defined(__DOXYGEN__)
+ADCDriver ADCD2;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/**
+ * @brief   Common IRQ handler.
+ *
+ * @param[in] adcp      pointer to the @p ADCDriver object
+ */
+static void serve_interrupt(ADCDriver *adcp)
+{
+  tiva_udma_table_entry_t *pri = &udmaControlTable.primary[adcp->dmanr];
+  tiva_udma_table_entry_t *alt = &udmaControlTable.alternate[adcp->dmanr];
+
+  if ((pri->chctl & UDMA_CHCTL_XFERMODE_M) == UDMA_CHCTL_XFERMODE_STOP) {
+    /* Primary is used only for circular transfers */
+    if (adcp->grpp->circular) {
+      if (adcp->depth > 1) {
+        _adc_isr_half_code(adcp);
+      }
+
+      /* Reconfigure DMA for new lower half transfer */
+      pri->chctl = adcp->prictl;
+    }
+  }
+
+  if ((alt->chctl & UDMA_CHCTL_XFERMODE_M) == UDMA_CHCTL_XFERMODE_STOP) {
+    /* Alternate is used for both linear and circular transfers */
+    _adc_isr_full_code(adcp);
+
+    if (adcp->grpp->circular) {
+      /* Reconfigure DMA for new upper half transfer */
+      alt->chctl = adcp->altctl;
+    }
+  }
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+#if TIVA_ADC_USE_ADC0
+/**
+ * @brief   ADC0 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_ADC0_SEQ0_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  serve_interrupt(&ADCD1);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_ADC_USE_ADC1
+/**
+ * @brief   ADC1 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_ADC1_SEQ0_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  serve_interrupt(&ADCD2);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level ADC driver initialization.
+ *
+ * @notapi
+ */
+void adc_lld_init(void)
+{
+#if TIVA_ADC_USE_ADC0
+  /* Driver initialization.*/
+  adcObjectInit(&ADCD1);
+  ADCD1.adc = ADC0_BASE;
+  ADCD1.dmanr = TIVA_ADC_ADC0_SS0_UDMA_CHANNEL;
+  ADCD1.chnmap = TIVA_ADC_ADC0_SS0_UDMA_MAPPING;
+#endif
+
+#if TIVA_ADC_USE_ADC1
+  /* Driver initialization.*/
+  adcObjectInit(&ADCD2);
+  ADCD2.adc = ADC1_BASE;
+  ADCD2.dmanr = TIVA_ADC_ADC1_SS0_UDMA_CHANNEL;
+  ADCD2.chnmap = TIVA_ADC_ADC1_SS0_UDMA_MAPPING;
+#endif
+}
+
+/**
+ * @brief   Configures and activates the ADC peripheral.
+ *
+ * @param[in] adcp      pointer to the @p ADCDriver object
+ *
+ * @notapi
+ */
+void adc_lld_start(ADCDriver *adcp)
+{
+  if (adcp->state == ADC_STOP) {
+    /* Enables the peripheral.*/
+#if TIVA_ADC_USE_ADC0
+    if (&ADCD1 == adcp) {
+      bool b;
+      b = udmaChannelAllocate(adcp->dmanr);
+      osalDbgAssert(!b, "channel already allocated");
+
+      HWREG(SYSCTL_RCGCADC) |= (1 << 0);
+
+      while (!(HWREG(SYSCTL_PRADC) & (1 << 0)))
+        ;
+
+      /* Only sequencer 0 is supported */
+      nvicEnableVector(TIVA_ADC0_SEQ0_NUMBER, TIVA_ADC0_SEQ0_PRIORITY);
+    }
+#endif
+
+#if TIVA_ADC_USE_ADC1
+    if (&ADCD2 == adcp) {
+      bool b;
+      b = udmaChannelAllocate(adcp->dmanr);
+      osalDbgAssert(!b, "channel already allocated");
+
+      HWREG(SYSCTL_RCGCADC) |= (1 << 1);
+
+      while (!(HWREG(SYSCTL_PRADC) & (1 << 1)))
+        ;
+
+      /* Only sequencer 0 is supported */
+      nvicEnableVector(TIVA_ADC1_SEQ0_NUMBER, TIVA_ADC1_SEQ0_PRIORITY);
+    }
+#endif
+
+    HWREG(UDMA_CHMAP0 + (adcp->dmanr / 8) * 4) |= (adcp->chnmap << (adcp->dmanr % 8));
+  }
+}
+
+/**
+ * @brief   Deactivates the ADC peripheral.
+ *
+ * @param[in] adcp      pointer to the @p ADCDriver object
+ *
+ * @notapi
+ */
+void adc_lld_stop(ADCDriver *adcp)
+{
+  if (adcp->state == ADC_READY) {
+    /* Resets the peripheral.*/
+
+    udmaChannelRelease(adcp->dmanr);
+
+    /* Disables the peripheral.*/
+#if TIVA_ADC_USE_ADC0
+    if (&ADCD1 == adcp) {
+      nvicDisableVector(TIVA_ADC0_SEQ0_NUMBER);
+    }
+#endif
+
+#if TIVA_ADC_USE_ADC1
+    if (&ADCD2 == adcp) {
+      nvicDisableVector(TIVA_ADC1_SEQ0_NUMBER);
+    }
+#endif
+  }
+}
+
+/**
+ * @brief   Starts an ADC conversion.
+ *
+ * @param[in] adcp      pointer to the @p ADCDriver object
+ *
+ * @notapi
+ */
+void adc_lld_start_conversion(ADCDriver *adcp)
+{
+  uint32_t adc = adcp->adc;
+  tiva_udma_table_entry_t *primary = &udmaControlTable.primary[adcp->dmanr];
+  tiva_udma_table_entry_t *alternate = &udmaControlTable.alternate[adcp->dmanr];
+
+  /* Disable sample sequencer 0 */
+  HWREG(adc + ADC_O_ACTSS) &= (1 << 0);
+
+  /* Configure the sample sequencer 0 trigger */
+  HWREG(adc + ADC_O_EMUX) = adcp->grpp->emux & 0xff;
+
+  /* If pwm is used as trigger, select in which block the pwm generator is
+     located */
+  if (adcp->grpp->emux >= 6 && adcp->grpp->emux <= 9) {
+    HWREG(adc + ADC_O_TSSEL) = 0;
+  }
+
+  /* For each sample in the sample sequencer, select the input source */
+  HWREG(adc + ADC_O_SSMUX0) = adcp->grpp->ssmux;
+
+  /* Configure the sample control bits */
+  HWREG(adc + ADC_O_SSCTL0) = adcp->grpp->ssctl | 0x44444444; /* Enforce IEn bits */
+
+  /* Alternate source endpoint is the same for all transfers */
+  alternate->srcendp = (void *)(adcp->adc + ADC_O_SSFIFO0);
+
+  /* Configure DMA */
+  if ((adcp->grpp->circular) && (adcp->depth > 1)) {
+    /* Configure DMA in ping-pong mode.
+       Ping (1st half) is configured in the primary control structure.
+       Pong (2nd half) is configured in the alternate control structure. */
+
+    uint32_t ctl;
+
+    /* configure the primary source endpoint */
+    primary->srcendp = (void *)(adcp->adc + ADC_O_SSFIFO0);
+
+    /* sample buffer is split in half, the upper half is used here */
+    primary->dstendp = (void *)(adcp->samples +
+                               (adcp->grpp->num_channels * adcp->depth / 2) - 1);
+    /* the lower half is used here */
+    alternate->dstendp = (void *)(adcp->samples +
+                                 (adcp->grpp->num_channels * adcp->depth) - 1);
+
+    ctl = UDMA_CHCTL_DSTSIZE_32 | UDMA_CHCTL_DSTINC_32 |
+          UDMA_CHCTL_SRCSIZE_32 | UDMA_CHCTL_SRCINC_NONE |
+          UDMA_CHCTL_ARBSIZE_1 |
+          UDMA_CHCTL_XFERSIZE(adcp->grpp->num_channels * adcp->depth / 2) |
+          UDMA_CHCTL_XFERMODE_PINGPONG;
+
+    adcp->prictl = ctl;
+    adcp->altctl = ctl;
+
+    dmaChannelPrimary(adcp->dmanr);
+  }
+  else {
+    /* Configure the DMA in basic mode.
+       This is used for both circular buffers with a depth of 1 and linear
+       buffers.*/
+    alternate->dstendp = (void *)(adcp->samples +
+                                 (adcp->grpp->num_channels * adcp->depth) - 1);
+    adcp->prictl = UDMA_CHCTL_XFERMODE_STOP;
+    adcp->altctl = UDMA_CHCTL_DSTSIZE_32 | UDMA_CHCTL_DSTINC_32 |
+                   UDMA_CHCTL_SRCSIZE_32 | UDMA_CHCTL_SRCINC_NONE |
+                   UDMA_CHCTL_ARBSIZE_1 |
+                   UDMA_CHCTL_XFERSIZE(adcp->grpp->num_channels * adcp->depth) |
+                   UDMA_CHCTL_XFERMODE_BASIC;
+
+    dmaChannelAlternate(adcp->dmanr);
+  }
+
+  /* Configure primary and alternate channel control fields */
+  primary->chctl = adcp->prictl;
+  alternate->chctl = adcp->altctl;
+
+  /* Configure DMA channel */
+  dmaChannelBurstOnly(adcp->dmanr);
+  dmaChannelPriorityDefault(adcp->dmanr);
+  dmaChannelEnableRequest(adcp->dmanr);
+
+  /* Enable DMA channel */
+  dmaChannelEnable(adcp->dmanr);
+
+  /* Enable the sample sequencer */
+  HWREG(adc + ADC_O_ACTSS) |= (1 << 0);
+
+  /* Enable DMA on the sample sequencer, is this for 129x only?*/
+  //HWREG(adc + ADC_O_ACTSS) |= (1 << 8);
+
+  /* Start conversion if configured for CPU trigger */
+  if ((adcp->grpp->emux & 0xff) == 0) {
+    HWREG(adc + ADC_O_PSSI) = ADC_PSSI_SS0;
+  }
+}
+
+/**
+ * @brief   Stops an ongoing conversion.
+ *
+ * @param[in] adcp      pointer to the @p ADCDriver object
+ *
+ * @notapi
+ */
+void adc_lld_stop_conversion(ADCDriver *adcp)
+{
+  uint32_t adc = adcp->adc;
+
+  /* Stop ongoing DMA transfer */
+  dmaChannelDisable(adcp->dmanr);
+
+  /* Stop ongoing ADC conversion by disabling the active sample sequencer */
+  HWREG(adc + ADC_O_ACTSS) &= ~(1 << 0);
+}
+
+#endif /* HAL_USE_ADC == TRUE */
+
+/** @} */
diff --git a/os/hal/ports/TIVA/LLD/ADC/hal_adc_lld.h b/os/hal/ports/TIVA/LLD/ADC/hal_adc_lld.h
new file mode 100644
index 0000000..81916b8
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/ADC/hal_adc_lld.h
@@ -0,0 +1,230 @@
+/*
+    Copyright (C) 2014..2017 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    hal_adc_lld.h
+ * @brief   PLATFORM ADC subsystem low level driver header.
+ *
+ * @addtogroup ADC
+ * @{
+ */
+
+#ifndef HAL_ADC_LLD_H
+#define HAL_ADC_LLD_H
+
+#if (HAL_USE_ADC == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    PLATFORM configuration options
+ * @{
+ */
+/**
+ * @brief   ADC1 driver enable switch.
+ * @details If set to @p TRUE the support for ADC1 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(PLATFORM_ADC_USE_ADC1) || defined(__DOXYGEN__)
+#define PLATFORM_ADC_USE_ADC1                  FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if !defined(TIVA_UDMA_REQUIRED)
+#define TIVA_UDMA_REQUIRED
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   ADC sample data type.
+ */
+typedef uint32_t adcsample_t;
+
+/**
+ * @brief   Channels number in a conversion group.
+ */
+typedef uint16_t adc_channels_num_t;
+
+/**
+ * @brief   Possible ADC failure causes.
+ * @note    Error codes are architecture dependent and should not relied
+ *          upon.
+ */
+typedef enum {
+  ADC_ERR_DMAFAILURE = 0,                   /**< DMA operations failure.    */
+  ADC_ERR_OVERFLOW = 1,                     /**< ADC overflow condition.    */
+  ADC_ERR_AWD = 2                           /**< Analog watchdog triggered. */
+} adcerror_t;
+
+/**
+ * @brief   Type of a structure representing an ADC driver.
+ */
+typedef struct ADCDriver ADCDriver;
+
+/**
+ * @brief   ADC notification callback type.
+ *
+ * @param[in] adcp      pointer to the @p ADCDriver object triggering the
+ *                      callback
+ * @param[in] buffer    pointer to the most recent samples data
+ * @param[in] n         number of buffer rows available starting from @p buffer
+ */
+typedef void (*adccallback_t)(ADCDriver *adcp, adcsample_t *buffer, size_t n);
+
+/**
+ * @brief   ADC error callback type.
+ *
+ * @param[in] adcp      pointer to the @p ADCDriver object triggering the
+ *                      callback
+ * @param[in] err       ADC error code
+ */
+typedef void (*adcerrorcallback_t)(ADCDriver *adcp, adcerror_t err);
+
+/**
+ * @brief   Conversion group configuration structure.
+ * @details This implementation-dependent structure describes a conversion
+ *          operation.
+ * @note    The use of this configuration structure requires knowledge of
+ *          PLATFORM ADC cell registers interface, please refer to the PLATFORM
+ *          reference manual for details.
+ */
+typedef struct {
+  /**
+   * @brief   Enables the circular buffer mode for the group.
+   */
+  bool                      circular;
+  /**
+   * @brief   Number of the analog channels belonging to the conversion group.
+   */
+  adc_channels_num_t        num_channels;
+  /**
+   * @brief   Callback function associated to the group or @p NULL.
+   */
+  adccallback_t             end_cb;
+  /**
+   * @brief   Error callback or @p NULL.
+   */
+  adcerrorcallback_t        error_cb;
+  /* End of the mandatory fields.*/
+  uint32_t                  emux;
+  uint32_t                  ssmux;
+  uint32_t                  ssctl;
+} ADCConversionGroup;
+
+/**
+ * @brief   Driver configuration structure.
+ * @note    It could be empty on some architectures.
+ */
+typedef struct {
+  uint32_t                  dummy;
+} ADCConfig;
+
+/**
+ * @brief   Structure representing an ADC driver.
+ */
+struct ADCDriver {
+  /**
+   * @brief Driver state.
+   */
+  adcstate_t                state;
+  /**
+   * @brief Current configuration data.
+   */
+  const ADCConfig           *config;
+  /**
+   * @brief Current samples buffer pointer or @p NULL.
+   */
+  adcsample_t               *samples;
+  /**
+   * @brief Current samples buffer depth or @p 0.
+   */
+  size_t                    depth;
+  /**
+   * @brief Current conversion group pointer or @p NULL.
+   */
+  const ADCConversionGroup  *grpp;
+#if (ADC_USE_WAIT == TRUE) || defined(__DOXYGEN__)
+  /**
+   * @brief Waiting thread.
+   */
+  thread_reference_t        thread;
+#endif
+#if (ADC_USE_MUTUAL_EXCLUSION == TRUE) || defined(__DOXYGEN__)
+  /**
+   * @brief Mutex protecting the peripheral.
+   */
+  mutex_t                   mutex;
+#endif
+#if defined(ADC_DRIVER_EXT_FIELDS)
+  ADC_DRIVER_EXT_FIELDS
+#endif
+  /* End of the mandatory fields.*/
+  /**
+   * @brief Pointer to the ADC registers block.
+   */
+  uint32_t                  adc;
+  uint8_t                   dmanr;
+  uint8_t                   chnmap;
+  uint32_t                  prictl;
+  uint32_t                  altctl;
+};
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#if TIVA_ADC_USE_ADC0 && !defined(__DOXYGEN__)
+extern ADCDriver ADCD1;
+#endif
+
+#if TIVA_ADC_USE_ADC1 && !defined(__DOXYGEN__)
+extern ADCDriver ADCD2;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void adc_lld_init(void);
+  void adc_lld_start(ADCDriver *adcp);
+  void adc_lld_stop(ADCDriver *adcp);
+  void adc_lld_start_conversion(ADCDriver *adcp);
+  void adc_lld_stop_conversion(ADCDriver *adcp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_ADC == TRUE */
+
+#endif /* HAL_ADC_LLD_H */
+
+/** @} */
diff --git a/os/hal/ports/TIVA/LLD/uDMA/tiva_udma.h b/os/hal/ports/TIVA/LLD/uDMA/tiva_udma.h
index cf90399..a473f6c 100644
--- a/os/hal/ports/TIVA/LLD/uDMA/tiva_udma.h
+++ b/os/hal/ports/TIVA/LLD/uDMA/tiva_udma.h
@@ -32,7 +32,7 @@
 /**
  * @brief   CHCTL XFERSIZE helper.
  */
-#define UDMA_CHCTL_XFERSIZE(n)          ((n-1) << 4)
+#define UDMA_CHCTL_XFERSIZE(n)          (((n)-1) << 4)
 
 /*===========================================================================*/
 /* Driver pre-compile time settings.                                         */
diff --git a/os/hal/ports/TIVA/TM4C123x/platform.mk b/os/hal/ports/TIVA/TM4C123x/platform.mk
index 2544696..de482d0 100644
--- a/os/hal/ports/TIVA/TM4C123x/platform.mk
+++ b/os/hal/ports/TIVA/TM4C123x/platform.mk
@@ -11,6 +11,7 @@ HALCONF := $(strip $(shell cat halconf.h | egrep -e "\#define"))
 endif
 
 # Drivers compatible with the platform.
+include $(CHIBIOS_CONTRIB)/os/hal/ports/TIVA/LLD/ADC/driver.mk
 include $(CHIBIOS_CONTRIB)/os/hal/ports/TIVA/LLD/GPIO/driver.mk
 include $(CHIBIOS_CONTRIB)/os/hal/ports/TIVA/LLD/GPTM/driver.mk
 include $(CHIBIOS_CONTRIB)/os/hal/ports/TIVA/LLD/I2C/driver.mk
diff --git a/os/hal/ports/TIVA/TM4C129x/platform.mk b/os/hal/ports/TIVA/TM4C129x/platform.mk
index fb2dc4a..8e4c9fa 100644
--- a/os/hal/ports/TIVA/TM4C129x/platform.mk
+++ b/os/hal/ports/TIVA/TM4C129x/platform.mk
@@ -11,6 +11,7 @@ HALCONF := $(strip $(shell cat halconf.h | egrep -e "\#define"))
 endif
 
 # Drivers compatible with the platform.
+include $(CHIBIOS_CONTRIB)/os/hal/ports/TIVA/LLD/ADC/driver.mk
 include $(CHIBIOS_CONTRIB)/os/hal/ports/TIVA/LLD/GPIO/driver.mk
 include $(CHIBIOS_CONTRIB)/os/hal/ports/TIVA/LLD/GPTM/driver.mk
 include $(CHIBIOS_CONTRIB)/os/hal/ports/TIVA/LLD/I2C/driver.mk