Tiva. WDG. Added watchdog low level driver.

3 files changed, 430 insertions, 1 deletions

diff --git a/os/hal/ports/TIVA/LLD/hal_wdg_lld.c b/os/hal/ports/TIVA/LLD/hal_wdg_lld.c
new file mode 100644
index 0000000..6b986f8
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/hal_wdg_lld.c
@@ -0,0 +1,241 @@
+/*
+    Copyright (C) 2014 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/wdg_lld.c
+ * @brief   WDG Driver subsystem low level driver source.
+ *
+ * @addtogroup WDG
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_WDG || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+#if TIVA_WDG_USE_WDT0 || defined(__DOXYGEN__)
+WDGDriver WDGD1;
+#endif /* TIVA_WDG_USE_WDT0 */
+
+#if TIVA_WDG_USE_WDT1 || defined(__DOXYGEN__)
+WDGDriver WDGD2;
+#endif /* TIVA_WDG_USE_WDT1 */
+
+/*===========================================================================*/
+/* Driver local variables.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/**
+ * @brief   Shared IRQ handler.
+ *
+ * @param[in] wdgp      pointer to @p WDGDriver object.
+ */
+static void serve_interrupt(WDGDriver *wdgp)
+{
+  uint32_t mis;
+
+  mis = wdgp->wdt->MIS;
+
+  if (mis & MIS_WDTMIS) {
+    /* Invoke callback, if any */
+    if (wdgp->config->callback) {
+      if (wdgp->config->callback(wdgp)) {
+        /* Clear interrupt */
+        wdgp->wdt->ICR = 0;
+        wdgTivaSyncWrite(wdgp);
+      }
+    }
+  }
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+#if TIVA_WDG_USE_WDT0 || TIVA_WDG_USE_WDT1
+/**
+ * @brief   WDT0/WDT1 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_WDT_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+#if TIVA_WDG_USE_WDT0
+  serve_interrupt(&WDGD1);
+#endif
+
+#if TIVA_WDG_USE_WDT1
+  serve_interrupt(&WDGD2);
+#endif
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif /* TIVA_WDG_USE_WDT0 || TIVA_WDG_USE_WDT1 */
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level WDG driver initialization.
+ *
+ * @notapi
+ */
+void wdg_lld_init(void)
+{
+#if TIVA_WDG_USE_WDT0
+  WDGD1.state = WDG_STOP;
+  WDGD1.wdt = WDT0;
+#endif /* TIVA_WDG_USE_WDT0 */
+
+#if TIVA_WDG_USE_WDT1
+  WDGD2.state = WDG_STOP;
+  WDGD2.wdt = WDT1;
+#endif /* TIVA_WDG_USE_WDT1 */
+
+  /* The shared vector is initialized on driver initialization and never
+     disabled because it is shared between the Watchdog Timers.*/
+  nvicEnableVector(TIVA_WDT_NUMBER, TIVA_WDG_WDT_IRQ_PRIORITY);
+}
+
+/**
+ * @brief   Configures and activates the WDG peripheral.
+ *
+ * @param[in] wdgp      pointer to the @p WDGDriver object
+ *
+ * @notapi
+ */
+void wdg_lld_start(WDGDriver *wdgp)
+{
+#if TIVA_WDG_USE_WDT0
+  if (&WDGD1 == wdgp) {
+    SYSCTL->RCGCWD |= (1 << 0);
+
+    while (!(SYSCTL->PRWD & (1 << 0)))
+      ;
+  }
+#endif /* TIVA_WDG_USE_WDT0 */
+
+#if TIVA_WDG_USE_WDT1
+  if (&WDGD2 == wdgp) {
+    SYSCTL->RCGCWD |= (1 << 1);
+
+    while (!(SYSCTL->PRWD & (1 << 1)))
+      ;
+  }
+#endif /* TIVA_WDG_USE_WDT1 */
+
+  wdgp->wdt->LOAD = wdgp->config->load;
+  wdgTivaSyncWrite(wdgp);
+
+  wdgp->wdt->TEST = wdgp->config->test;
+  wdgTivaSyncWrite(wdgp);
+
+  wdgp->wdt->CTL |= CTL_RESEN;
+  wdgTivaSyncWrite(wdgp);
+
+  wdgp->wdt->CTL |= CTL_INTEN;
+  wdgTivaSyncWrite(wdgp);
+}
+
+/**
+ * @brief   Deactivates the WDG peripheral.
+ *
+ * @param[in] wdgp      pointer to the @p WDGDriver object
+ *
+ * @api
+ */
+void wdg_lld_stop(WDGDriver *wdgp)
+{
+#if TIVA_WDG_USE_WDT0
+  if (&WDGD1 == wdgp) {
+    SYSCTL->SRWD |= (1 << 0);
+    SYSCTL->SRWD &= ~(1 << 0);
+  }
+#endif /* TIVA_WDG_USE_WDT0 */
+
+#if TIVA_WDG_USE_WDT1
+  if (&WDGD2 == wdgp) {
+    SYSCTL->SRWD |= (1 << 1);
+    SYSCTL->SRWD &= ~(1 << 1);
+  }
+#endif /* TIVA_WDG_USE_WDT1 */
+}
+
+/**
+ * @brief   Reloads WDG's counter.
+ *
+ * @param[in] wdgp      pointer to the @p WDGDriver object
+ *
+ * @notapi
+ */
+void wdg_lld_reset(WDGDriver *wdgp)
+{
+#if defined(TM4C123_USE_REVISION_6_FIX) || defined(TM4C123_USE_REVISION_7_FIX)
+
+#if TIVA_WDG_USE_WDT1
+  if (&WDGD2 == wdgp) {
+    /* Number:      WDT#02
+     * Description: Periodically reloading the count value into the Watchdog
+     *              Timer Load (WDTLOAD) register of the Watchdog Timer 1
+     *              module will not restart the count, as specified in the data
+     *              sheet.
+     * Workaround:  Disable the Watchdog Timer 1 module by setting the
+     *              appropriate bit in the Watchdog Timer Software Reset (SRWD)
+     *              register before reprogramming the counter.*/
+    wdg_lld_stop(wdgp);
+    wdg_lld_start(wdgp);
+    return;
+  }
+#endif /* TIVA_WDG_USE_WDT1 */
+
+#endif /* defined(TM4C123_USE_REVISION_6_FIX) ||
+          defined(TM4C123_USE_REVISION_7_FIX) */
+  wdgp->wdt->LOAD = wdgp->config->load;
+  wdgTivaSyncWrite(wdgp);
+}
+
+#endif /* HAL_USE_WDG */
+
+#if TIVA_WDG_USE_WDT1
+/**
+ * @brief   synchronize after a write to a watchdog register.
+ *
+ * @param[in] wdgp      pointer to the @p WDGDriver object.
+ */
+void wdgTivaSyncWrite(WDGDriver *wdgp)
+{
+  if (&WDGD2 == wdgp) {
+    while (!(wdgp->wdt->CTL & CTL_WRC)) {
+      ;
+    }
+  }
+}
+#endif /* TIVA_WDG_USE_WDT1 */
+
+/** @} */
diff --git a/os/hal/ports/TIVA/LLD/hal_wdg_lld.h b/os/hal/ports/TIVA/LLD/hal_wdg_lld.h
new file mode 100644
index 0000000..36244f5
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/hal_wdg_lld.h
@@ -0,0 +1,187 @@
+/*
+    Copyright (C) 2014 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/wdg_lld.h
+ * @brief   WDG Driver subsystem low level driver header.
+ *
+ * @addtogroup WDG
+ * @{
+ */
+
+#ifndef _WDG_LLD_H_
+#define _WDG_LLD_H_
+
+#if HAL_USE_WDG || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+#define LOCK_UNLOCK        0x1ACCE551U
+#define LOCK_LOCK          0x00000000U
+
+#define LOCK_IS_UNLOCKED   0U
+#define LOCK_IS_LOCKED     1U
+
+#define TEST_STALL         (1 << 8)
+
+#define MIS_WDTMIS         (1 << 0)
+#define RIS_WDTRIS         (1 << 0)
+#define ICR_WDTICR         (1 << 0)
+
+#define CTL_INTEN          (1 << 0)
+#define CTL_RESEN          (1 << 1)
+#define CTL_INTTYPE        (1 << 2)
+#define CTL_WRC            (1 << 31)
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+/**
+ * @brief   WDT driver enable switch.
+ * @details If set to @p TRUE the support for WDT is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_WDG_USE_WDT) || defined(__DOXYGEN__)
+#define TIVA_WDG_USE_WDT                  FALSE
+#endif
+
+/**
+ * @brief   WDT interrupt priority level setting.
+ */
+#if !defined(TIVA_WDG_WDT_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_WDG_WDT_IRQ_PRIORITY          5
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if TIVA_WDG_USE_WDT0 && !TIVA_HAS_WDT0
+#error "WDT0 not present in the selected device"
+#endif
+
+#if TIVA_WDG_USE_WDT1 && !TIVA_HAS_WDT1
+#error "WDT1 not present in the selected device"
+#endif
+
+#if !TIVA_WDG_USE_WDT0 && !TIVA_WDG_USE_WDT1
+#error "WDG driver activated but no WDT peripheral assigned"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Type of a structure representing an WDG driver.
+ */
+typedef struct WDGDriver WDGDriver;
+
+/**
+ * @brief   WDG timeout callback type.
+ *
+ * @param[in] wdgp      pointer to the @p WDGDriver object triggering the callback.
+ */
+typedef bool (*wdgcallback_t)(WDGDriver *wdgp);
+
+/**
+ * @brief   Driver configuration structure.
+ * @note    It could be empty on some architectures.
+ */
+typedef struct
+{
+  /**
+   * @brief   Interval value used by the WDT.
+   */
+  uint32_t                  load;
+  /**
+   * @brief   Timeout callback pointer.
+   * @note    This callback is invoked on the first WDT timeout. If set to
+   *          @p NULL then the callback is disabled.
+   */
+   wdgcallback_t            callback;
+   /**
+    * @brief   Test register configuration value.
+    */
+   uint16_t                 test;
+} WDGConfig;
+
+/**
+ * @brief   Structure representing an WDG driver.
+ */
+struct WDGDriver
+{
+  /**
+   * @brief   Driver state.
+   */
+  wdgstate_t                state;
+  /**
+   * @brief   Current configuration data.
+   */
+  const WDGConfig           *config;
+  /* End of the mandatory fields.*/
+  /**
+   * @brief   Pointer to the WDT registers block.
+   */
+  WDT_TypeDef               *wdt;
+};
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+#if !TIVA_WDG_USE_WDT1
+#define wdgTivaSyncWrite(wdt)
+#endif
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#if TIVA_WDG_USE_WDT0 && !defined(__DOXYGEN__)
+extern WDGDriver WDGD1;
+#endif
+
+#if TIVA_WDG_USE_WDT1 && !defined(__DOXYGEN__)
+extern WDGDriver WDGD2;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void wdg_lld_init(void);
+  void wdg_lld_start(WDGDriver *wdgp);
+  void wdg_lld_stop(WDGDriver *wdgp);
+  void wdg_lld_reset(WDGDriver *wdgp);
+#if TIVA_WDG_USE_WDT1
+  void wdgTivaSyncWrite(WDGDriver *wdgp);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_WDG */
+
+#endif /* _WDG_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/TIVA/TM4C123x/platform.mk b/os/hal/ports/TIVA/TM4C123x/platform.mk
index 1b8d9ac..0abafcc 100644
--- a/os/hal/ports/TIVA/TM4C123x/platform.mk
+++ b/os/hal/ports/TIVA/TM4C123x/platform.mk
@@ -9,7 +9,8 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
               ${CHIBIOS_CONTRIB}/os/hal/ports/TIVA/LLD/hal_pwm_lld.c \
               ${CHIBIOS_CONTRIB}/os/hal/ports/TIVA/LLD/hal_spi_lld.c \
               ${CHIBIOS_CONTRIB}/os/hal/ports/TIVA/LLD/tiva_udma.c \
-              ${CHIBIOS_CONTRIB}/os/hal/ports/TIVA/LLD/hal_ext_lld.c
+              ${CHIBIOS_CONTRIB}/os/hal/ports/TIVA/LLD/hal_ext_lld.c \
+              ${CHIBIOS_CONTRIB}/os/hal/ports/TIVA/LLD/hal_wdg_lld.c
 
 # Required include directories
 PLATFORMINC = ${CHIBIOS}/os/hal/ports/common/ARMCMx \