void vInitialiseTimerForIntQueueTest( void )
{
const uint32_t ulDivider = 128UL, ulTCCLKS = 3UL;
/* Enable the TC clocks. */
PMC->PMC_PCER0 = 1 << ID_TC0;
PMC->PMC_PCER0 = 1 << ID_TC1;
/* Configure TC0 channel 0 for a tmrTIMER_0_FREQUENCY frequency and trigger
on RC compare. */
TC_Configure( TC0, tmrTC0_CHANNEL_0, ulTCCLKS | TC_CMR_CPCTRG );
TC0->TC_CHANNEL[ tmrTC0_CHANNEL_0 ].TC_RC = BOARD_MCK / ( tmrTIMER_0_FREQUENCY * ulDivider );
TC0->TC_CHANNEL[ tmrTC0_CHANNEL_0 ].TC_IER = TC_IER_CPCS;
/* Configure TC0 channel 1 for a tmrTIMER_1_FREQUENCY frequency and trigger
on RC compare. */
TC_Configure( TC0, tmrTC0_CHANNEL_1, ulTCCLKS | TC_CMR_CPCTRG );
TC0->TC_CHANNEL[ tmrTC0_CHANNEL_1 ].TC_RC = BOARD_MCK / ( tmrTIMER_1_FREQUENCY * ulDivider );
TC0->TC_CHANNEL[ tmrTC0_CHANNEL_1 ].TC_IER = TC_IER_CPCS;
/* Configure TC1 channel 0 tmrTIMER_2_FREQUENCY frequency and trigger on
RC compare. */
TC_Configure( TC1, tmrTC1_CHANNEL_0, ulTCCLKS | TC_CMR_CPCTRG );
TC1->TC_CHANNEL[ tmrTC1_CHANNEL_0 ].TC_RC = BOARD_MCK / ( tmrTIMER_2_FREQUENCY * ulDivider );
TC1->TC_CHANNEL[ tmrTC1_CHANNEL_0 ].TC_IER = TC_IER_CPCS;
/* Enable interrupts and start the timers. */
IRQ_ConfigureIT( ID_TC0, tmrLOWER_PRIORITY, prvTC0_Handler );
IRQ_ConfigureIT( ID_TC1, tmrHIGHER_PRIORITY, prvTC1_Handler );
IRQ_EnableIT( ID_TC0 );
IRQ_EnableIT( ID_TC1 );
TC_Start( TC0, tmrTC0_CHANNEL_0 );
TC_Start( TC0, tmrTC0_CHANNEL_1 );
TC_Start( TC1, tmrTC1_CHANNEL_0 );
}
//------------------------------------------------------------------------------
/// Invoked after the USB driver has been initialized. By default, configures
/// the UDP/UDPHS interrupt.
//------------------------------------------------------------------------------
void USBDCallbacks_Initialized(void)
{
#if defined(BOARD_USB_UDP)
// Configure and enable the UDP interrupt
IRQ_ConfigureIT(AT91C_ID_UDP, USB_PRIORITY, USBD_InterruptHandler);
IRQ_EnableIT(AT91C_ID_UDP);
#elif defined(BOARD_USB_UDPHS)
// Configure and enable the UDPHS interrupt
IRQ_ConfigureIT(AT91C_ID_UDPHS, USB_PRIORITY, USBD_InterruptHandler);
IRQ_EnableIT(AT91C_ID_UDPHS);
#else
#error Unsupported controller.
#endif
}
void usb_init() {
// If they are present, configure Vbus & Wake-up pins
unsigned int priority = 0;
#ifdef AT91C_ID_PIOD_E
AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOD_E;
AT91C_BASE_PIOD->PIO_ISR;
AT91C_BASE_PIOD->PIO_IDR = 0xFFFFFFFF;
AT91C_BASE_PIOE->PIO_ISR;
AT91C_BASE_PIOE->PIO_IDR = 0xFFFFFFFF;
IRQ_ConfigureIT(AT91C_ID_PIOD_E, priority, PIO_IT_InterruptHandler);
IRQ_EnableIT(AT91C_ID_PIOD_E);
#endif
// If there is on board power, switch it off
#ifdef PIN_USB_POWER_ENB
{ const Pin pinUsbPwr = PIN_USB_POWER_ENB;
PIO_Configure(&pinUsbPwr, 1);
}
#endif
// BOT driver initialization
CDCDSerialDriver_Initialize();
// connect if needed
VBUS_CONFIGURE();
// Connect pull-up, wait for configuration
USBD_Connect();
}
/*
* The application must provide a function that configures a peripheral to
* create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT()
* in FreeRTOSConfig.h to call the function. This file contains a function
* that is suitable for use on the Atmel SAMA5.
*/
void vConfigureTickInterrupt( void )
{
/* NOTE: The PIT interrupt is cleared by the configCLEAR_TICK_INTERRUPT()
macro in FreeRTOSConfig.h. */
/* Enable the PIT clock. */
PMC->PMC_PCER0 = 1 << ID_PIT;
/* Initialize the PIT to the desired frequency - specified in uS. */
PIT_Init( 1000000UL / configTICK_RATE_HZ, BOARD_MCK / 1000000 );
/* Configure interrupt on PIT. Note this is on the system interrupt, which
is shared with other system peripherals, so System_Handler() must be
installed in place of FreeRTOS_Tick_Handler() if other system handlers are
required. The tick must be given the lowest priority (0 in the SAMA5 AIC) */
IRQ_ConfigureIT( ID_PIT, AIC_SMR_SRCTYPE_EXT_POSITIVE_EDGE, FreeRTOS_Tick_Handler );
/* See commend directly above IRQ_ConfigureIT( ID_PIT, 0, System_Handler ); */
IRQ_EnableIT( ID_PIT );
PIT_EnableIT();
/* Enable the pit. */
PIT_Enable();
/* Prevent compiler warnings in the case where System_Handler() is not used
as the handler. See the comments above the System_Handler() function
prototype at the top of this file. */
( void ) System_Handler;
}
void pot_init(void) {
//sets up interrupts to trigger on every sucessful conversion
IRQ_ConfigureIT(AT91C_ID_ADC, 0, ISR_ADC);
//initilize ADC
ADC_Initialize(AT91C_BASE_ADC,
AT91C_ID_ADC,
AT91C_ADC_TRGEN_DIS,
0,
AT91C_ADC_SLEEP_NORMAL_MODE,
AT91C_ADC_LOWRES_10_BIT,
BOARD_MCK,
BOARD_ADC_FREQ,
10,
1200);
ADC_EnableDataReadyIt(AT91C_BASE_ADC);
ADC_EnableChannel(AT91C_BASE_ADC, POT_CHANNEL);
IRQ_EnableIT(AT91C_ID_ADC);
ADC_EnableIt(AT91C_BASE_ADC, POT_CHANNEL);
//Starts the adc
ADC_StartConversion(AT91C_BASE_ADC);
}
//------------------------------------------------------------------------------
/// Initializes the DMA controller.
/// \param channel Particular channel number
/// \param defaultHandler Using the default dmad interrupt handler.
//------------------------------------------------------------------------------
void DMAD_Initialize(unsigned char channel, unsigned char defaultHandler)
{
unsigned int status;
unsigned int flag;
// Enable peripheral clock
#if !defined(at91sam9rl64)
AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_HDMA;
#endif
// Read the channel handler status to ensure the channel is a free channel.
status = DMA_GetChannelStatus();
TRACE_INFO ("DMAD_Initialize channel %x \n\r", channel);
SANITY_CHECK(!(status & (1 << channel)));
// Clear any pending interrupts on the channel.
DMA_GetStatus();
// Disble the channel.
DMA_DisableChannel(channel);
// Disable the interrupt
flag = 0xffffff;
DMA_DisableIt(flag);
// Enable DMA.
DMA_Enable();
if(defaultHandler)
{
IRQ_ConfigureIT(AT91C_ID_HDMA, 0, DMAD_Handler);
IRQ_EnableIT(AT91C_ID_HDMA);
}
// Initialize transfer instance.
dmad.transfers[channel].transferSize = 0;
}
void initadc(int autos)
{
// printf("-- Basic ADC Project %s --\n\r", SOFTPACK_VERSION);
// printf("-- %s\n\r", BOARD_NAME);
// printf("-- Compiled: %s %s --\n\r", __DATE__, __TIME__);
if(autos)
autosample=1;
#ifdef PINS_ADC
PIO_Configure(pinsADC, PIO_LISTSIZE(pinsADC));
#endif
ADC12_Initialize( AT91C_BASE_ADC,
AT91C_ID_ADC,
AT91C_ADC_TRGEN_DIS,
0,
AT91C_ADC_SLEEP_NORMAL_MODE,
AT91C_ADC_LOWRES_12_BIT,
BOARD_MCK,
BOARD_ADC_FREQ,
10,
1200);
//int i;
/* for(i=0;i<7;i++)
if ((1<<chns[i]) & enchan)
ADC12_EnableChannel(AT91C_BASE_ADC, chns[i]);
*/
ADC12_EnableChannel(AT91C_BASE_ADC, ADC_NUM_1);
ADC12_EnableChannel(AT91C_BASE_ADC, ADC_NUM_2);
ADC12_EnableChannel(AT91C_BASE_ADC, ADC_NUM_3);
// ADC12_EnableChannel(AT91C_BASE_ADC, ADC_NUM_4);
ADC12_EnableChannel(AT91C_BASE_ADC, ADC_NUM_5);
// ADC12_EnableChannel(AT91C_BASE_ADC, ADC_NUM_6);
// ADC12_EnableChannel(AT91C_BASE_ADC, ADC_NUM_7);
IRQ_ConfigureIT(AT91C_ID_ADC, ADCC0_IRQ_PRIORITY, ADCC0_IrqHandler);
IRQ_EnableIT(AT91C_ID_ADC);
ADC12_EnableIt(AT91C_BASE_ADC, 1<<ADC_NUM_1);
ADC12_EnableIt(AT91C_BASE_ADC, 1<<ADC_NUM_2);
ADC12_EnableIt(AT91C_BASE_ADC, 1<<ADC_NUM_3);
// ADC12_EnableIt(AT91C_BASE_ADC, 1<<ADC_NUM_4);
ADC12_EnableIt(AT91C_BASE_ADC, 1<<ADC_NUM_5);
// ADC12_EnableIt(AT91C_BASE_ADC, 1<<ADC_NUM_6);
// ADC12_EnableIt(AT91C_BASE_ADC, 1<<ADC_NUM_7);
/*
for(i=0;i<7;i++)
if ((1<<chns[i]) & enchan)
ADC12_EnableIt(AT91C_BASE_ADC, 1<<chns[i]);
*/
conversionDone=0;
ADC12_StartConversion(AT91C_BASE_ADC);
//printf("adc init done\n");
}
void USBDCallbacks_Initialized( void )
{
/* CDC specific re-implementation of weak callback function. Invoked after
the USB driver has been initialised. By default, configures the UDP/UDPHS
interrupt. The interrupt priority is set to the highest to ensure the
interrupt nesting tests interfer as little as possible with the USB. */
IRQ_ConfigureIT( ID_UDPHS, 7, USBD_IrqHandler );
IRQ_EnableIT( ID_UDPHS );
}
//------------------------------------------------------------------------------
/// Invoked after the USB driver has been initialized. By default, configures
/// the UDP/UDPHS interrupt.
//------------------------------------------------------------------------------
void USBDCallbacks_Initialized(void)
{
#if defined(CHIP_USB_UDP)
// Configure and enable the UDP interrupt
IRQ_ConfigureIT(AT91C_ID_UDP, 0, USBD_IrqHandler);
IRQ_EnableIT(AT91C_ID_UDP);
#elif defined(CHIP_USB_UDPHS)
// Configure and enable the UDPHS interrupt
IRQ_ConfigureIT(AT91C_ID_UDPHS, 0, USBD_IrqHandler);
IRQ_EnableIT(AT91C_ID_UDPHS);
#elif defined(CHIP_USB_OTGHS)
IRQ_ConfigureIT(AT91C_ID_OTGHS, 1, (void*) 0);
IRQ_EnableIT(AT91C_ID_OTGHS);
#else
#error Unsupported controller.
#endif
}
//------------------------------------------------------------------------------
/// Initialize EEPROM device.
//------------------------------------------------------------------------------
static void EepromInit()
{
TRACE_INFO("Init TWI EEPROM %s\n\r", NAME_REF);
// Configure Pins
PIO_Configure(pins, PIO_LISTSIZE(pins));
// Configure TWI
AT91C_BASE_PMC->PMC_PCER = 1 << BOARD_ID_TWI;
TWI_ConfigureMaster(BOARD_BASE_TWI, TWCK, BOARD_MCK);
TWID_Initialize(&twid, BOARD_BASE_TWI);
IRQ_ConfigureIT(BOARD_ID_TWI, 0, ISR_Twi);
IRQ_EnableIT(BOARD_ID_TWI);
}
/*
* See the serial2.h header file.
*/
xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
{
xComPortHandle xReturn = serHANDLE;
extern void ( vUART_ISR )( void );
const Pin xUSART_Pins[] = { BOARD_PIN_USART_RXD, BOARD_PIN_USART_TXD };
/* Create the queues used to hold Rx and Tx characters. */
xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
xCharsForTx = xQueueCreate( uxQueueLength + 1, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
/* If the queues were created correctly then setup the serial port
hardware. */
if( ( xRxedChars != serINVALID_QUEUE ) && ( xCharsForTx != serINVALID_QUEUE ) )
{
portENTER_CRITICAL();
{
/* Enable the peripheral clock in the PMC. */
PMC_EnablePeripheral( BOARD_ID_USART );
/* Configure the USART. */
USART_Configure( BOARD_USART_BASE, AT91C_US_CHRL_8_BITS | AT91C_US_PAR_NONE | AT91C_US_NBSTOP_1_BIT, ulWantedBaud, configCPU_CLOCK_HZ );
/* Configure the interrupt. Note the pre-emption priority is set
in bits [8:15] of the priority value passed as the parameter. */
IRQ_ConfigureIT( BOARD_ID_USART, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 8 ), vSerialISR );
IRQ_EnableIT( BOARD_ID_USART );
/* Enable receiver & transmitter. */
USART_SetTransmitterEnabled( BOARD_USART_BASE, pdTRUE );
USART_SetReceiverEnabled( BOARD_USART_BASE, pdTRUE );
/* Configure IO for USART use. */
PIO_Configure( xUSART_Pins, PIO_LISTSIZE( xUSART_Pins ) );
}
portEXIT_CRITICAL();
}
else
{
xReturn = ( xComPortHandle ) 0;
}
/* This demo file only supports a single port but we have to return
something to comply with the standard demo header file. */
return xReturn;
}
BOOL CPU_INTC_InterruptEnable(UINT32 Irq_Index)
{
BOOL WasEnabled;
if (Irq_Index >= ID_PERIPH_COUNT)
return FALSE;
GLOBAL_LOCK(irq);
AIC->AIC_SSR = Irq_Index;
WasEnabled = ((AIC->AIC_IMR & AIC_IMR_INTM) != 0) ? TRUE : FALSE;
IRQ_EnableIT(Irq_Index);
return WasEnabled;
}
//------------------------------------------------------------------------------
/// Configures the PIT to generate 1ms ticks.
//------------------------------------------------------------------------------
static void ConfigurePit(void)
{
// Initialize and enable the PIT
PIT_Init(PIT_PERIOD, BOARD_MCK / 1000000);
// Disable the interrupt on the interrupt controller
IRQ_DisableIT(AT91C_ID_SYS);
// Configure the AIC for PIT interrupts
IRQ_ConfigureIT(AT91C_ID_SYS, 0, ISR_Pit);
// Enable the interrupt on the interrupt controller
IRQ_EnableIT(AT91C_ID_SYS);
// Enable the interrupt on the pit
PIT_EnableIT();
// Enable the pit
PIT_Enable();
}
//--------------------------------------------------
// Init Timer 1 for Soft PWM (Hotend 1 & 2)
//--------------------------------------------------
void ConfigureTc_1(void)
{
// Enable peripheral clock
AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_TC1;
unsigned int freq=10000;
// Configure TC for a 10 kHz frequency and trigger on RC compare
//TC_FindMckDivisor(freq, BOARD_MCK, &div, &tcclks);
TC_Configure(AT91C_BASE_TC1, 3 | AT91C_TC_CPCTRG);
AT91C_BASE_TC1->TC_RB = 3;
AT91C_BASE_TC1->TC_RC = (BOARD_MCK / 128) / freq; // timerFreq / desiredFreq
// Configure and enable interrupt on RC compare
//IRQ_ConfigureIT(AT91C_ID_TC1, 2, TC1_IrqHandler);
AT91C_BASE_TC1->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPBS;
IRQ_EnableIT(AT91C_ID_TC1);
// Start the counter if LED is enabled.
TC_Start(AT91C_BASE_TC1);
}
BOOL CPU_INTC_ActivateInterrupt(UINT32 Irq_Index, HAL_CALLBACK_FPN ISR, void* ISR_Param)
{
// figure out the interrupt
IRQ_VECTORING* IsrVector = IRQToIRQVector(Irq_Index);
if (!IsrVector)
return FALSE;
GLOBAL_LOCK(irq);
IRQ_DisableIT(Irq_Index);
IRQ_ClearIT(Irq_Index);
// set the vector
IsrVector->Handler.Initialize(ISR, ISR_Param);
IRQ_EnableIT(Irq_Index);
return TRUE;
}
//------------------------------------------------------------------------------
/// Initializes a Media instance and the associated physical interface
/// \param media Pointer to the Media instance to initialize
/// \return 1 if success.
//------------------------------------------------------------------------------
unsigned char MEDSdusb_Initialize(Media *media, unsigned char mciID)
{
TRACE_INFO("MEDSdusb init\n\r");
// Initialize SDcard
//--------------------------------------------------------------------------
if (!CardIsConnected(mciID)) return 0;
// Configure SDcard pins
ConfigurePIO(mciID);
#if defined(MCI2_INTERFACE)
DMAD_Initialize(BOARD_MCI_DMA_CHANNEL, DMAD_NO_DEFAULT_IT);
#endif
// Initialize the MCI driver
if(mciID == 0) {
IRQ_ConfigureIT(BOARD_SD_MCI_ID, MCI0_IRQ_PRIORITY, MCI0_IrqHandler);
MCI_Init(mciDrv, BOARD_SD_MCI_BASE, BOARD_SD_MCI_ID, BOARD_SD_SLOT, MCI_INTERRUPT_MODE);
IRQ_EnableIT(BOARD_SD_MCI_ID);
} else {
#ifdef BOARD_SD_MCI1_ID
IRQ_ConfigureIT(BOARD_SD_MCI1_ID, MCI0_IRQ_PRIORITY, MCI0_IrqHandler);
MCI_Init(mciDrv, BOARD_SD_MCI1_BASE, BOARD_SD_MCI1_ID, BOARD_SD_SLOT, MCI_INTERRUPT_MODE);
IRQ_EnableIT(BOARD_SD_MCI1_ID);
#else
TRACE_ERROR("SD/MMC card initialization failed (MCI1 not supported)\n\r");
#endif
}
#if MCI_BUSY_CHECK_FIX && defined(BOARD_SD_DAT0)
MCI_SetBusyFix(mciDrv, &pinSdDAT0);
#endif
// Initialize the SD card driver
if (SD_Init(sdDrv, (SdDriver *)mciDrv)) {
TRACE_ERROR("SD/MMC card initialization failed\n\r");
return 0;
}
else {
TRACE_INFO("SD/MMC card initialization successful\n\r");
TRACE_INFO("Card size: %d MB\n\r", (int)(MMC_GetTotalSizeKB(sdDrv)/1024));
}
MCI_SetSpeed(mciDrv, sdDrv->transSpeed, sdDrv->transSpeed, BOARD_MCK);
// Initialize media fields
//--------------------------------------------------------------------------
media->interface = sdDrv;
media->write = MEDSdusb_Write;
media->read = MEDSdusb_Read;
media->lock = 0;
media->unlock = 0;
media->handler = 0;
media->flush = 0;
media->blockSize = SD_BLOCK_SIZE;
media->baseAddress = 0;
media->size = SD_TOTAL_BLOCK(sdDrv);
media->mappedRD = 0;
media->mappedWR = 0;
media->writeProtected = CardIsProtected(mciID);
media->removable = 1;
media->state = MED_STATE_READY;
media->transfer.data = 0;
media->transfer.address = 0;
media->transfer.length = 0;
media->transfer.callback = 0;
media->transfer.argument = 0;
return 1;
}
