/*!
* \brief Software interrupt control.
*
* \param cmd Control command.
* - NUT_IRQCTL_INIT Initialize and disable interrupt.
* - NUT_IRQCTL_STATUS Query interrupt status.
* - NUT_IRQCTL_ENABLE Enable interrupt.
* - NUT_IRQCTL_DISABLE Disable interrupt.
* - NUT_IRQCTL_GETPRIO Query interrupt priority.
* - NUT_IRQCTL_SETPRIO Set interrupt priority.
* - NUT_IRQCTL_GETCOUNT Query and clear interrupt counter.
* \param param Pointer to optional parameter.
*
* \return 0 on success, -1 otherwise.
*/
static int SoftwareIrqCtl(int cmd, void *param)
{
int rc = 0;
unsigned int *ival = (unsigned int *)param;
int_fast8_t enabled = inr(AIC_IMR) & _BV(SWIRQ_ID);
/* Disable interrupt. */
if (enabled) {
outr(AIC_IDCR, _BV(SWIRQ_ID));
}
switch(cmd) {
case NUT_IRQCTL_INIT:
/* Set the vector. */
outr(AIC_SVR(SWIRQ_ID), (unsigned int)SoftwareIrqEntry);
/* Initialize to edge triggered with defined priority. */
outr(AIC_SMR(SWIRQ_ID), AIC_SRCTYPE_INT_EDGE_TRIGGERED | NUT_IRQPRI_SWIRQ);
/* Clear interrupt */
outr(AIC_ICCR, _BV(SWIRQ_ID));
break;
case NUT_IRQCTL_STATUS:
if (enabled) {
*ival |= 1;
}
else {
*ival &= ~1;
}
break;
case NUT_IRQCTL_ENABLE:
enabled = 1;
break;
case NUT_IRQCTL_DISABLE:
enabled = 0;
break;
case NUT_IRQCTL_GETPRIO:
*ival = inr(AIC_SMR(SWIRQ_ID)) & AIC_PRIOR;
break;
case NUT_IRQCTL_SETPRIO:
outr(AIC_SMR(SWIRQ_ID), (inr(AIC_SMR(SWIRQ_ID)) & ~AIC_PRIOR) | *ival);
break;
#ifdef NUT_PERFMON
case NUT_IRQCTL_GETCOUNT:
*ival = (unsigned int)sig_SWIRQ.ir_count;
sig_SWIRQ.ir_count = 0;
break;
#endif
default:
rc = -1;
break;
}
/* Enable interrupt. */
if (enabled) {
outr(AIC_IECR, _BV(SWIRQ_ID));
}
return rc;
}
/**
* Timer couter setup.
*
* This function apply to select timer couter all needed settings.
* Every settings are stored in stepper_timers[].
*/
void stepper_tc_setup(int index, stepper_isr_t callback, struct Stepper *motor)
{
ASSERT(index < CONFIG_TC_STEPPER_MAX_NUM);
motor->timer = &stepper_timers[index];
//Disable PIO controller and enable TIO function
TIO_PIO_PDR = BV(motor->timer->tio_pin);
TIO_PIO_ABSR = BV(motor->timer->tio_pin);
/*
* Sets timer counter in waveform mode.
* We set as default:
* - Waveform mode 00 (see datasheet for more detail.)
* - Master clock prescaler to STEPPER_MCK_PRESCALER
* - Set none external event
* - Clear pin output on comp_reg
* - None effect on reg C compare
*/
*motor->timer->chl_mode_reg = BV(TC_WAVE);
*motor->timer->chl_mode_reg |= motor->timer->ext_event_set;
*motor->timer->chl_mode_reg &= ~TC_WAVSEL_MASK;
*motor->timer->chl_mode_reg |= TC_WAVSEL_UP;
*motor->timer->chl_mode_reg |= STEPPER_MCK_PRESCALER;
*motor->timer->chl_mode_reg |= motor->timer->comp_effect_clear;
*motor->timer->chl_mode_reg &= ~motor->timer->comp_effect_c_mask;
//Reset comp_reg and C compare register
*motor->timer->comp_reg = 0;
*motor->timer->comp_c_reg = 0;
//Register interrupt vector
cpu_flags_t flags;
IRQ_SAVE_DISABLE(flags);
/*
* Warning: To guarantee a correct management of interrupt event, we must
* trig the interrupt on level sensitive. This becouse, we have only a common
* line for interrupt request, and if we have at the same time two interrupt
* request could be that the is service normaly but the second will never
* been detected and interrupt will stay active but never serviced.
*/
AIC_SVR(motor->timer->timer_id) = motor->timer->isr;
AIC_SMR(motor->timer->timer_id) = AIC_SRCTYPE_INT_LEVEL_SENSITIVE;
AIC_IECR = BV(motor->timer->timer_id);
// Disable interrupt on select timer counter
stepper_tc_irq_disable(motor->timer);
IRQ_RESTORE(flags);
//Register callback
motor->timer->callback = callback;
motor->timer->motor = motor;
}
static void __INIT__ at91_aic_init(void)
{
int irq;
for(irq = 0; irq < 32; irq++) {
at91_aic_writel(AIC_SVR(irq), irq);
at91_aic_writel(AIC_SMR(irq), (0 << 5) | 0);
irq_assoc_intctl(irq, &at91sam926x_aic_intctrl);
irq_set_handler(irq, irq_handle_level, 0);
}
// at91_aic_writel(AIC_SPU, MAX_IRQ_NUM);
// at91_aic_writel(AIC_DCR, 0);
// at91_aic_writel(AIC_IDCR, ~0UL);
// at91_aic_writel(AIC_ICCR, ~0UL);
}
void aic_atmel_init()
{
int irqno;
// Disable all interrupts
outl(0xFFFFFFFF, AIC_IDCR);
// Clear all interrupts
outl(0xFFFFFFFF, AIC_ICCR);
for ( irqno = 0 ; irqno < 32 ; irqno++ ) {
outl(irqno, AIC_EOICR);
}
for ( irqno = 0 ; irqno < 32 ; irqno++ ) {
outl((atmel_irq_prtable[irqno] >> 5) | atmel_irq_type[irqno],
AIC_SMR(irqno));
}
for ( irqno = 0 ; irqno < 32 ; irqno++ ) {
outl(0, AIC_SVR(irqno));
}
}
int eth_init()
{
cpu_flags_t flags;
emac_reset();
emac_start();
event_initGeneric(&recv_wait);
event_initGeneric(&send_wait);
// Register interrupt vector
IRQ_SAVE_DISABLE(flags);
/* Disable all emac interrupts */
EMAC_IDR = 0xFFFFFFFF;
#if CPU_ARM_AT91
// TODO: define sysirq_set...
/* Set the vector. */
AIC_SVR(EMAC_ID) = emac_irqHandler;
/* Initialize to edge triggered with defined priority. */
AIC_SMR(EMAC_ID) = AIC_SRCTYPE_INT_EDGE_TRIGGERED;
/* Clear pending interrupt */
AIC_ICCR = BV(EMAC_ID);
/* Enable the system IRQ */
AIC_IECR = BV(EMAC_ID);
#else
sysirq_setHandler(INT_EMAC, emac_irqHandler);
#endif
/* Enable interrupts */
EMAC_IER = EMAC_RX_INTS | EMAC_TX_INTS;
IRQ_RESTORE(flags);
return 0;
}
/*!
* \brief Timer/Counter 0 interrupt control.
*
* \param cmd Control command.
* - NUT_IRQCTL_INIT Initialize and disable interrupt.
* - NUT_IRQCTL_STATUS Query interrupt status.
* - NUT_IRQCTL_ENABLE Enable interrupt.
* - NUT_IRQCTL_DISABLE Disable interrupt.
* - NUT_IRQCTL_GETMODE Query interrupt mode.
* - NUT_IRQCTL_SETMODE Set interrupt mode (NUT_IRQMODE_LEVEL or NUT_IRQMODE_EDGE).
* - NUT_IRQCTL_GETPRIO Query interrupt priority.
* - NUT_IRQCTL_SETPRIO Set interrupt priority.
* - NUT_IRQCTL_GETCOUNT Query and clear interrupt counter.
* \param param Pointer to optional parameter.
*
* \return 0 on success, -1 otherwise.
*/
static int TimerCounter0IrqCtl(int cmd, void *param)
{
int rc = 0;
unsigned int *ival = (unsigned int *)param;
int_fast8_t enabled = inr(AIC_IMR) & _BV(TC0_ID);
/* Disable interrupt. */
if (enabled) {
outr(AIC_IDCR, _BV(TC0_ID));
}
switch(cmd) {
case NUT_IRQCTL_INIT:
/* Set the vector. */
outr(AIC_SVR(TC0_ID), (unsigned int)TimerCounter0IrqEntry);
/* Initialize to edge triggered with defined priority. */
outr(AIC_SMR(TC0_ID), AIC_SRCTYPE_INT_EDGE_TRIGGERED | NUT_IRQPRI_TC0);
/* Clear interrupt */
outr(AIC_ICCR, _BV(TC0_ID));
break;
case NUT_IRQCTL_STATUS:
if (enabled) {
*ival |= 1;
}
else {
*ival &= ~1;
}
break;
case NUT_IRQCTL_ENABLE:
enabled = 1;
break;
case NUT_IRQCTL_DISABLE:
enabled = 0;
break;
case NUT_IRQCTL_GETMODE:
{
unsigned int val = inr(AIC_SMR(TC0_ID)) & AIC_SRCTYPE;
if (val == AIC_SRCTYPE_INT_LEVEL_SENSITIVE || val == AIC_SRCTYPE_EXT_HIGH_LEVEL) {
*ival = NUT_IRQMODE_LEVEL;
} else {
*ival = NUT_IRQMODE_EDGE;
}
}
break;
case NUT_IRQCTL_SETMODE:
if (*ival == NUT_IRQMODE_LEVEL) {
outr(AIC_SMR(TC0_ID), (inr(AIC_SMR(TC0_ID)) & ~AIC_SRCTYPE) | AIC_SRCTYPE_INT_LEVEL_SENSITIVE);
} else if (*ival == NUT_IRQMODE_EDGE) {
outr(AIC_SMR(TC0_ID), (inr(AIC_SMR(TC0_ID)) & ~AIC_SRCTYPE) | AIC_SRCTYPE_INT_EDGE_TRIGGERED);
} else {
rc = -1;
}
break;
case NUT_IRQCTL_GETPRIO:
*ival = inr(AIC_SMR(TC0_ID)) & AIC_PRIOR;
break;
case NUT_IRQCTL_SETPRIO:
outr(AIC_SMR(TC0_ID), (inr(AIC_SMR(TC0_ID)) & ~AIC_PRIOR) | *ival);
break;
#ifdef NUT_PERFMON
case NUT_IRQCTL_GETCOUNT:
*ival = (unsigned int)sig_TC0.ir_count;
sig_TC0.ir_count = 0;
break;
#endif
default:
rc = -1;
break;
}
/* Enable interrupt. */
if (enabled) {
outr(AIC_IECR, _BV(TC0_ID));
}
return rc;
}
/*!
* \brief Initialize system timer.
*
* This function is automatically called by Nut/OS
* during system initialization.
*
* Nut/OS uses on-chip timer 0 for its timer services.
* Applications should not modify any registers of this
* timer, but make use of the Nut/OS timer API. Timer 1
* and timer 2 are available to applications.
*/
void NutRegisterTimer(void (*handler) (void *))
{
os_handler = handler;
#if defined(MCU_AT91R40008)
/* Disable the Clock Counter */
outr(TC0_CCR, TC_CLKDIS);
/* Disable all interrupts */
outr(TC0_IDR, 0xFFFFFFFF);
/* Clear the status register. */
dummy = inr(TC0_SR);
/* Select divider and compare trigger */
outr(TC0_CMR, TC_CLKS_MCK32 | TC_CPCTRG);
/* Enable the Clock counter */
outr(TC0_CCR, TC_CLKEN);
/* Validate the RC compare interrupt */
outr(TC0_IER, TC_CPCS);
/* Disable timer 0 interrupts. */
outr(AIC_IDCR, _BV(TC0_ID));
/* Set the TC0 IRQ handler address */
outr(AIC_SVR(4), (unsigned int)Timer0Entry);
/* Set the trigg and priority for timer 0 interrupt */
/* Level 7 is highest, level 0 lowest. */
outr(AIC_SMR(4), (AIC_SRCTYPE_INT_LEVEL_SENSITIVE | 0x4));
/* Clear timer 0 interrupt */
outr(AIC_ICCR, _BV(TC0_ID));
/* Enable timer 0 interrupts */
outr(AIC_IECR, _BV(TC0_ID));
/* Set compare value for 1 ms. */
outr(TC0_RC, 0x80F);
/* Software trigger starts the clock. */
outr(TC0_CCR, TC_SWTRG);
#elif defined(MCU_S3C4510B)
INT_DISABLE(IRQ_TIMER);
CSR_WRITE(TCNT0, 0);
CSR_WRITE(TDATA0, CLOCK_TICK_RATE);
CSR_WRITE(TMOD, TMOD_TIMER0_VAL);
CLEAR_PEND_INT(IRQ_TIMER);
NutRegisterIrqHandler(
&InterruptHandlers[IRQ_TIMER], handler, 0);
INT_ENABLE(IRQ_TIMER);
#elif defined(MCU_GBA)
/* Disable master interrupt. */
outw(REG_IME, 0);
/* Set global interrupt vector. */
NutRegisterIrqHandler(&sig_TMR3, Timer3Entry, 0);
/* Enable timer and timer interrupts. */
outdw(REG_TMR3CNT, TMR_IRQ_ENA | TMR_ENA | 48756);
/* Enable timer 3 interrupts. */
outw(REG_IE, inw(REG_IE) | INT_TMR3);
/* Enable master interrupt. */
outw(REG_IME, 1);
#else
#warning "MCU not defined"
#endif
}
/*!
* \brief External interrupt 0 control.
*
* \param cmd Control command.
* - NUT_IRQCTL_INIT Initialize and disable interrupt.
* - NUT_IRQCTL_STATUS Query interrupt status.
* - NUT_IRQCTL_ENABLE Enable interrupt.
* - NUT_IRQCTL_DISABLE Disable interrupt.
* - NUT_IRQCTL_GETPRIO Query interrupt priority.
* - NUT_IRQCTL_SETPRIO Set interrupt priority.
* - NUT_IRQCTL_GETCOUNT Query and clear interrupt counter.
* \param param Pointer to optional parameter.
*
* \return 0 on success, -1 otherwise.
*/
static int Interrupt0Ctl(int cmd, void *param)
{
int rc = 0;
unsigned int *ival = (unsigned int *)param;
int_fast8_t enabled = inr(AIC_IMR) & _BV(IRQ0_ID);
/* Disable interrupt. */
if (enabled) {
outr(AIC_IDCR, _BV(IRQ0_ID));
}
switch(cmd) {
case NUT_IRQCTL_INIT:
/* Set the vector. */
outr(AIC_SVR(IRQ0_ID), (unsigned int)Interrupt0Entry);
/* Initialize to edge triggered with defined priority. */
outr(AIC_SMR(IRQ0_ID), AIC_SRCTYPE_EXT_NEGATIVE_EDGE | NUT_IRQPRI_IRQ0);
/* Clear interrupt */
outr(AIC_ICCR, _BV(IRQ0_ID));
break;
case NUT_IRQCTL_STATUS:
if (enabled) {
*ival |= 1;
}
else {
*ival &= ~1;
}
break;
case NUT_IRQCTL_ENABLE:
enabled = 1;
break;
case NUT_IRQCTL_DISABLE:
enabled = 0;
break;
case NUT_IRQCTL_GETMODE:
{
unsigned int val = inr(AIC_SMR(IRQ0_ID)) & AIC_SRCTYPE;
if (val == AIC_SRCTYPE_EXT_LOW_LEVEL) {
*ival = NUT_IRQMODE_LOWLEVEL;
} else if (val == AIC_SRCTYPE_EXT_HIGH_LEVEL) {
*ival = NUT_IRQMODE_HIGHLEVEL;
} else if (val == AIC_SRCTYPE_EXT_POSITIVE_EDGE) {
*ival = NUT_IRQMODE_RISINGEDGE;
} else {
*ival = NUT_IRQMODE_FALLINGEDGE;
}
}
break;
case NUT_IRQCTL_SETMODE:
if (*ival == NUT_IRQMODE_LOWLEVEL) {
outr(AIC_SMR(IRQ0_ID), (inr(AIC_SMR(IRQ0_ID)) & ~AIC_SRCTYPE) | AIC_SRCTYPE_EXT_LOW_LEVEL);
} else if (*ival == NUT_IRQMODE_HIGHLEVEL) {
outr(AIC_SMR(IRQ0_ID), (inr(AIC_SMR(IRQ0_ID)) & ~AIC_SRCTYPE) | AIC_SRCTYPE_EXT_HIGH_LEVEL);
} else if (*ival == NUT_IRQMODE_FALLINGEDGE) {
outr(AIC_SMR(IRQ0_ID), (inr(AIC_SMR(IRQ0_ID)) & ~AIC_SRCTYPE) | AIC_SRCTYPE_EXT_NEGATIVE_EDGE);
} else if (*ival == NUT_IRQMODE_RISINGEDGE) {
outr(AIC_SMR(IRQ0_ID), (inr(AIC_SMR(IRQ0_ID)) & ~AIC_SRCTYPE) | AIC_SRCTYPE_EXT_POSITIVE_EDGE);
} else {
rc = -1;
}
break;
case NUT_IRQCTL_GETPRIO:
*ival = inr(AIC_SMR(IRQ0_ID)) & AIC_PRIOR;
break;
case NUT_IRQCTL_SETPRIO:
outr(AIC_SMR(IRQ0_ID), (inr(AIC_SMR(IRQ0_ID)) & ~AIC_PRIOR) | *ival);
break;
#ifdef NUT_PERFMON
case NUT_IRQCTL_GETCOUNT:
*ival = (unsigned int)sig_INTERRUPT0.ir_count;
sig_INTERRUPT0.ir_count = 0;
break;
#endif
default:
rc = -1;
break;
}
/* Enable interrupt. */
if (enabled) {
outr(AIC_IECR, _BV(IRQ0_ID));
#if defined(PMC_PCER)
outr(PMC_PCER, _BV(IRQ0_ID));
#endif
}
return rc;
}