void irq_handler(){
uint32_t pending = inw(VIC_VBASE+INTERRUPT_STATUS);
uint32_t irq = 0;
while(pending > 0){
irq = inw(VIC_VBASE+INTERRUPT_NUMBER);
if(actions[irq].handler){
(*actions[irq].handler)(irq, actions[irq].opaque);
}else{
pic_disable(irq);
}
pending = inw(VIC_VBASE+INTERRUPT_STATUS);
}
#if 0
if(status & (1<<TIMER0_IRQ)){
//kprintf("@");
ticks++;
//assert(pls_read(current) != NULL);
run_timer_list();
clock_clear();
}
if( status & (1<<UART_IRQ) ){
//if ((c = cons_getc()) == 13) {
// debug_monitor(tf);
//}
//else {
extern void dev_stdin_write(char c);
char c = cons_getc();
dev_stdin_write(c);
//}
//kprintf("#");
serial_clear();
}
#endif
}
/** Note: Must _not_ be called twice! */
WINDOW *initscr(void)
{
int i;
// newterm(name, stdout, stdin);
// def_prog_mode();
for (i = 0; i < 128; i++)
acs_map[i] = (chtype) i | A_ALTCHARSET;
#if IS_ENABLED(CONFIG_LP_SERIAL_CONSOLE)
if (curses_flags & F_ENABLE_SERIAL) {
serial_clear();
}
#endif
#if IS_ENABLED(CONFIG_LP_VIDEO_CONSOLE)
if (curses_flags & F_ENABLE_CONSOLE) {
/* Clear the screen and kill the cursor */
video_console_clear();
video_console_cursor_enable(0);
}
#endif
// Speaker init?
stdscr = newwin(SCREEN_Y, SCREEN_X, 0, 0);
// TODO: curscr, newscr?
werase(stdscr);
return stdscr;
}
/*
* 串口波特率设置
*/
int serial_set_baudrate(urg_serial_t *serial, long baudrate)
{
long baudrate_value = -1;
switch (baudrate) {
case 4800:
baudrate_value = B4800;
break;
case 9600:
baudrate_value = B9600;
break;
case 19200:
baudrate_value = B19200;
break;
case 38400:
baudrate_value = B38400;
break;
case 57600:
baudrate_value = B57600;
break;
case 115200:
baudrate_value = B115200;
break;
default:
return -1;
}
/* 设置输入输出波特率(Linux系统调用) */
cfsetospeed(&serial->sio, baudrate_value);
cfsetispeed(&serial->sio, baudrate_value);
/* 设置终端属性 */
tcsetattr(serial->fd, TCSADRAIN, &serial->sio);
serial_clear(serial);
return 0;
}
/* �{�[���[�g�̐ݒ� */
int serial_setBaudrate(serial_t *serial, long baudrate)
{
long baudrate_value = -1;
switch (baudrate) {
case 4800:
baudrate_value = B4800;
break;
case 9600:
baudrate_value = B9600;
break;
case 19200:
baudrate_value = B19200;
break;
case 38400:
baudrate_value = B38400;
break;
case 57600:
baudrate_value = B57600;
break;
case 115200:
baudrate_value = B115200;
break;
default:
return SerialSetBaudrateFail;
}
/* �{�[���[�g�ύX */
cfsetospeed(&serial->sio_, baudrate_value);
cfsetispeed(&serial->sio_, baudrate_value);
tcsetattr(serial->fd_, TCSADRAIN, &serial->sio_);
serial_clear(serial);
return 0;
}
static int urg_firstConnection(urg_t *urg, long baudrate)
{
long try_baudrates[] = { 115200, 19200, 38400 };
int try_size = sizeof(try_baudrates) / sizeof(try_baudrates[0]);
long pre_ticks;
int reply = 0;
int ret;
int i;
/* The baud rate to be connected is replaced with the first element
of the array. */
for (i = 1; i < try_size; ++i) {
if (baudrate == try_baudrates[i]) {
long swap_tmp = try_baudrates[i];
try_baudrates[i] = try_baudrates[0];
try_baudrates[0] = swap_tmp;
break;
}
}
/* Try to connect with the specified baudrate , and check for response */
for (i = 0; i < try_size; ++i) {
/* Change host side baudrate */
ret = serial_setBaudrate(&urg->serial_, try_baudrates[i]);
if (ret < 0) {
return ret;
}
serial_clear(&urg->serial_);
/* Send QT command */
ret = scip_qt(&urg->serial_, &reply, ScipWaitReply);
if (ret == UrgSerialRecvFail) {
/* If there is no response, consider that there is mismatch in baudrate */
continue;
}
if ((ret == UrgMismatchResponse) && (reply != -0xE)) {
/* Process when response from MD/MS command is received */
/* Read out all data and then proceed for the next one */
/* (reply == -0xE) means SCIP1.1 error 'E' */
serial_clear(&urg->serial_);
serial_skip(&urg->serial_, ScipTimeout, EachTimeout);
reply = 0x00;
}
/* If the response is returned, consider that sensor is already in SCIP2.0
mode and no need to send SCIP2.0 */
if (reply != 0x00) {
if ((ret = scip_scip20(&urg->serial_)) < 0) {
/* If there is no response , continue with other baudrate */
continue;
}
if (ret == 12) {
/* SCIP1.1 protocol */
return UrgScip10;
}
}
/* Returns if there is no need to change baudrate */
if (baudrate == try_baudrates[i]) {
return 0;
}
/* Change the baud rate as specified by URG */
pre_ticks = urg_ticks();
if (scip_ss(&urg->serial_, baudrate) < 0) {
return UrgSsFail;
} else {
/* In case of serial communication, it is necessary to wait for
one scan after baud rate is changed. */
long reply_msec = urg_ticks() - pre_ticks;
urg_delay((reply_msec * 4 / 3) + 10);
return serial_setBaudrate(&urg->serial_, baudrate);
}
}
return UrgAdjustBaudrateFail;
}
void serial_init(serial_t *obj, PinName tx, PinName rx)
{
uint32_t uart_ctrl = 0;
/* Determine the UART to use */
UARTName uart_tx = (UARTName)pinmap_peripheral(tx, PinMap_UART_TX);
UARTName uart_rx = (UARTName)pinmap_peripheral(rx, PinMap_UART_RX);
UARTName uart = (UARTName)pinmap_merge(uart_tx, uart_rx);
if ((int)uart == NC) {
error("Serial pinout mapping failed");
return;
}
obj->uart = (CMSDK_UART_TypeDef *)uart;
if (tx != NC) {
uart_ctrl = 0x01; /* TX enable */
}
if (rx != NC) {
uart_ctrl |= 0x02; /* RX enable */
}
switch (uart) {
case UART_0:
CMSDK_UART0->CTRL = uart_ctrl;
obj->index = 0;
break;
case UART_1:
CMSDK_UART1->CTRL = uart_ctrl;
obj->index = 1;
break;
case UART_2:
CMSDK_UART2->CTRL = 0;
obj->index = 2;
pin_function(tx, ALTERNATE_FUNC);
pin_function(rx, ALTERNATE_FUNC);
CMSDK_UART2->CTRL = uart_ctrl;
break;
case UART_3:
CMSDK_UART3->CTRL = 0;
obj->index = 3;
pin_function(tx, ALTERNATE_FUNC);
pin_function(rx, ALTERNATE_FUNC);
CMSDK_UART3->CTRL = uart_ctrl;
break;
case UART_4:
CMSDK_UART4->CTRL = 0;
obj->index = 4;
pin_function(tx, ALTERNATE_FUNC);
pin_function(rx, ALTERNATE_FUNC);
CMSDK_UART4->CTRL = uart_ctrl;
break;
}
/* Set default baud rate and format */
serial_baud(obj, 9600);
/*
* The CMSDK APB UART doesn't have support for flow control.
* Ref. DDI0479C_cortex_m_system_design_kit_r1p0_trm.pdf
*/
uart_data[obj->index].sw_rts.pin = NC;
uart_data[obj->index].sw_cts.pin = NC;
if (uart == STDIO_UART) {
stdio_uart_inited = 1;
memcpy(&stdio_uart, obj, sizeof(serial_t));
}
/* Clear UART */
serial_clear(obj);
}
