/*
* MPC5x00 MSCAN device initialization
*/
rtems_device_driver mscan_initialize(rtems_device_major_number major,
rtems_device_minor_number minor, void *arg)
{
rtems_status_code status;
/* Initialization requested via RTEMS */
if ((status = mscan_channel_initialize(major, MSCAN_A)) != RTEMS_SUCCESSFUL)
bsp_fatal(MPC5200_FATAL_MSCAN_A_INIT);
if ((status = mscan_channel_initialize(major, MSCAN_B)) != RTEMS_SUCCESSFUL)
bsp_fatal(MPC5200_FATAL_MSCAN_B_INIT);
if ((status =
mpc5200_mscan_set_mode(MSCAN_A,
MSCAN_INIT_NORMAL_MODE)) != RTEMS_SUCCESSFUL)
bsp_fatal(MPC5200_FATAL_MSCAN_A_SET_MODE);
if ((status =
mpc5200_mscan_set_mode(MSCAN_B,
MSCAN_INIT_NORMAL_MODE)) != RTEMS_SUCCESSFUL)
bsp_fatal(MPC5200_FATAL_MSCAN_B_SET_MODE);
return status;
}
static void mpc55xx_clock_initialize(void)
{
volatile struct EMIOS_CH_tag *regs = &EMIOS.CH [MPC55XX_CLOCK_EMIOS_CHANNEL];
union EMIOS_CCR_tag ccr = MPC55XX_ZERO_FLAGS;
union EMIOS_CSR_tag csr = MPC55XX_ZERO_FLAGS;
unsigned prescaler = mpc55xx_emios_global_prescaler();
uint64_t reference_clock = bsp_clock_speed;
uint64_t us_per_tick = rtems_configuration_get_microseconds_per_tick();
uint64_t interval = (reference_clock * us_per_tick) / 1000000;
/* Apply prescaler */
if (prescaler > 0) {
interval /= (uint64_t) prescaler;
} else {
bsp_fatal(MPC55XX_FATAL_CLOCK_EMIOS_PRESCALER);
}
/* Check interval */
if (interval == 0 || interval > MPC55XX_EMIOS_VALUE_MAX) {
bsp_fatal(MPC55XX_FATAL_CLOCK_EMIOS_INTERVAL);
}
/* Configure eMIOS channel */
/* Set channel in GPIO mode */
ccr.B.MODE = MPC55XX_EMIOS_MODE_GPIO_INPUT;
regs->CCR.R = ccr.R;
/* Clear status flags */
csr.B.OVR = 1;
csr.B.OVFL = 1;
csr.B.FLAG = 1;
regs->CSR.R = csr.R;
/* Set internal counter start value */
regs->CCNTR.R = 1;
/* Set timer period */
regs->CADR.R = (uint32_t) interval - 1;
/* Set control register */
#if MPC55XX_CHIP_FAMILY == 551
ccr.B.MODE = MPC55XX_EMIOS_MODE_MCB_UP_INT_CLK;
#else
ccr.B.MODE = MPC55XX_EMIOS_MODE_MC_UP_INT_CLK;
#endif
ccr.B.UCPREN = 1;
ccr.B.FEN = 1;
ccr.B.FREN = 1;
regs->CCR.R = ccr.R;
rtems_timecounter_simple_install(
&mpc55xx_tc,
reference_clock,
interval,
mpc55xx_tc_get_timecount
);
}
/**
* Configures a PIO or a group of PIO to generate an interrupt on status
* change. The provided interrupt handler will be called with the triggering
* pin as its parameter (enabling different pin instances to share the same
* handler).
* \param pPin Pointer to a Pin instance.
* \param handler Interrupt handler function pointer.
* \param arg Pointer to interrupt handler argument
*/
void PIO_ConfigureIt(const Pin *pPin, void (*handler)(const Pin *, void *arg),
void *arg)
{
InterruptSource *pSource;
rtems_interrupt_level level;
TRACE_DEBUG("PIO_ConfigureIt()\n\r");
rtems_interrupt_disable(level);
if (_dwNumSources == MAX_INTERRUPT_SOURCES) {
bsp_fatal(ATSAM_FATAL_PIO_CONFIGURE_IT);
}
pSource = &(_aIntSources[_dwNumSources]);
pSource->pPin = pPin;
pSource->handler = handler;
pSource->arg = arg;
_dwNumSources++;
rtems_interrupt_enable(level);
/* Define new source */
TRACE_DEBUG("PIO_ConfigureIt: Defining new source #%d.\n\r", _dwNumSources);
}
rtems_device_driver console_initialize(
rtems_device_major_number major,
rtems_device_minor_number minor,
void *arg
)
{
rtems_status_code status;
int i;
char console_name[16];
rtems_termios_initialize();
/* Find UARTs */
leon3_console_scan_uarts();
/* Update syscon_uart_index to index used as /dev/console
* Let user select System console by setting syscon_uart_index. If the
* BSP is to provide the default UART (syscon_uart_index==0):
* non-MP: APBUART[0] is system console
* MP: LEON CPU index select UART
*/
if (syscon_uart_index == 0) {
#if defined(RTEMS_MULTIPROCESSING)
syscon_uart_index = LEON3_Cpu_Index;
#else
syscon_uart_index = 0;
#endif
} else {
syscon_uart_index = syscon_uart_index - 1; /* User selected sys-console */
}
/* Register Device Names
*
* 0 /dev/console - APBUART[USER-SELECTED, DEFAULT=APBUART[0]]
* 1 /dev/console_a - APBUART[0] (by default not present because is console)
* 2 /dev/console_b - APBUART[1]
* ...
*
* On a MP system one should not open UARTs that other OS instances use.
*/
if (syscon_uart_index < uarts) {
status = rtems_io_register_name("/dev/console", major, 0);
if (status != RTEMS_SUCCESSFUL)
bsp_fatal(LEON3_FATAL_CONSOLE_REGISTER_DEV);
}
strcpy(console_name,"/dev/console_a");
for (i = 0; i < uarts; i++) {
if (i == syscon_uart_index)
continue; /* skip UART that is registered as /dev/console */
console_name[13] = 'a' + i;
rtems_io_register_name( console_name, major, i+1);
}
return RTEMS_SUCCESSFUL;
}
void mpc55xx_edma_init(void)
{
rtems_status_code sc = RTEMS_SUCCESSFUL;
unsigned channel_remaining = EDMA_CHANNEL_COUNT;
unsigned module = 0;
unsigned group = 0;
for (module = 0; module < EDMA_MODULE_COUNT; ++module) {
volatile struct EDMA_tag *edma = edma_get_regs_by_module(module);
unsigned channel_count = channel_remaining < EDMA_CHANNELS_PER_MODULE ?
channel_remaining : EDMA_CHANNELS_PER_MODULE;
unsigned channel = 0;
channel_remaining -= channel_count;
/* Disable requests */
edma->CERQR.B.CERQ = 0x40;
/* Arbitration mode: group round robin, channel fixed */
edma->CR.B.ERGA = 1;
edma->CR.B.ERCA = 0;
for (channel = 0; channel < channel_count; ++channel) {
volatile struct tcd_t *tcd = &edma->TCD [channel];
edma->CPR [channel].R = 0x80U | (channel & 0xfU);
/* Initialize TCD, stop channel first */
tcd->BMF.R = 0;
tcd->SADDR = 0;
tcd->SDF.R = 0;
tcd->NBYTES = 0;
tcd->SLAST = 0;
tcd->DADDR = 0;
tcd->CDF.R = 0;
tcd->DLAST_SGA = 0;
}
/* Clear interrupt requests */
edma->CIRQR.B.CINT = 0x40;
edma->CER.B.CERR = 0x40;
}
for (group = 0; group < EDMA_GROUP_COUNT; ++group) {
sc = mpc55xx_interrupt_handler_install(
MPC55XX_IRQ_EDMA_ERROR(group),
"eDMA Error",
RTEMS_INTERRUPT_UNIQUE,
MPC55XX_INTC_DEFAULT_PRIORITY,
edma_interrupt_error_handler,
NULL
);
if (sc != RTEMS_SUCCESSFUL) {
bsp_fatal(MPC55XX_FATAL_EDMA_IRQ_INSTALL);
}
}
}
uint32_t _CPU_SMP_Initialize( void )
{
if ( !leon3_data_cache_snooping_enabled() )
bsp_fatal( LEON3_FATAL_INVALID_CACHE_CONFIG_MAIN_PROCESSOR );
if ( rtems_configuration_get_maximum_processors() > 1 ) {
LEON_Unmask_interrupt(LEON3_mp_irq);
set_vector(bsp_inter_processor_interrupt, LEON_TRAP_TYPE(LEON3_mp_irq), 1);
}
return leon3_get_cpu_count(LEON3_IrqCtrl_Regs);
}
/**
* @brief Serial drivers init function
*
* Initialize all serial drivers specified in driver_context_table
*
* @param[in] major
* @param[in] minor
* @param[in] arg
* @retval RTEMS_SUCCESSFUL Initialization completed
*/
rtems_device_driver console_initialize(
rtems_device_major_number major,
rtems_device_minor_number minor,
void *arg
)
{
rtems_status_code sc;
#if CONSOLE_USE_INTERRUPTS
const rtems_termios_device_handler *handler = &tms570_sci_handler_interrupt;
#else
const rtems_termios_device_handler *handler = &tms570_sci_handler_polled;
#endif
/*
* Initialize the Termios infrastructure. If Termios has already
* been initialized by another device driver, then this call will
* have no effect.
*/
rtems_termios_initialize();
/* Initialize each device */
for (
minor = 0;
minor < RTEMS_ARRAY_SIZE(driver_context_table);
++minor
) {
tms570_sci_context *ctx = &driver_context_table[minor];
/*
* Install this device in the file system and Termios. In order
* to use the console (i.e. being able to do printf, scanf etc.
* on stdin, stdout and stderr), one device must be registered as
* "/dev/console" (CONSOLE_DEVICE_NAME).
*/
sc = rtems_termios_device_install(
ctx->device_name,
major,
minor,
handler,
NULL,
&ctx->base
);
if ( sc != RTEMS_SUCCESSFUL ) {
bsp_fatal(BSP_FATAL_CONSOLE_NO_DEV);
}
}
return RTEMS_SUCCESSFUL;
}
static void mpc55xx_clock_handler_install(rtems_isr_entry isr)
{
rtems_status_code sc = RTEMS_SUCCESSFUL;
sc = mpc55xx_interrupt_handler_install(
MPC55XX_IRQ_EMIOS(MPC55XX_CLOCK_EMIOS_CHANNEL),
"clock",
RTEMS_INTERRUPT_UNIQUE,
MPC55XX_INTC_MIN_PRIORITY,
(rtems_interrupt_handler) isr,
NULL
);
if (sc != RTEMS_SUCCESSFUL) {
bsp_fatal(MPC55XX_FATAL_CLOCK_EMIOS_IRQ_INSTALL);
}
}
void mpc55xx_edma_release_channel(edma_channel_context *ctx)
{
rtems_status_code sc = RTEMS_SUCCESSFUL;
unsigned channel_index = edma_channel_index_of_tcd(ctx->edma_tcd);
mpc55xx_edma_release_channel_by_tcd(ctx->edma_tcd);
rtems_chain_extract(&ctx->node);
sc = rtems_interrupt_handler_remove(
MPC55XX_IRQ_EDMA(channel_index),
edma_interrupt_handler,
ctx
);
if (sc != RTEMS_SUCCESSFUL) {
bsp_fatal(MPC55XX_FATAL_EDMA_IRQ_REMOVE);
}
}
void _CPU_SMP_Finalize_initialization(uint32_t cpu_count)
{
if (cpu_count > 1) {
rtems_status_code sc;
sc = rtems_interrupt_handler_install(
QORIQ_IRQ_IPI_0 + IPI_INDEX,
"IPI",
RTEMS_INTERRUPT_UNIQUE,
bsp_inter_processor_interrupt,
NULL
);
if (sc != RTEMS_SUCCESSFUL) {
bsp_fatal(QORIQ_FATAL_SMP_IPI_HANDLER_INSTALL);
}
}
}
void bsp_interrupt_initialize(void)
{
rtems_status_code sc = RTEMS_SUCCESSFUL;
size_t i = 0;
/* Initialize handler table */
for (i = 0; i < BSP_INTERRUPT_HANDLER_TABLE_SIZE; ++i) {
bsp_interrupt_handler_table [i].handler = bsp_interrupt_handler_empty;
bsp_interrupt_handler_table [i].arg = (void *) i;
}
sc = bsp_interrupt_facility_initialize();
if (sc != RTEMS_SUCCESSFUL) {
bsp_fatal(BSP_FATAL_INTERRUPT_INITIALIZATION);
}
bsp_interrupt_set_initialized();
}
static void armv7m_cpu_counter_initialize(void)
{
bool cyccnt_enabled;
cyccnt_enabled = _ARMV7M_DWT_Enable_CYCCNT();
if (cyccnt_enabled) {
#ifdef BSP_ARMV7M_SYSTICK_FREQUENCY
uint64_t freq = BSP_ARMV7M_SYSTICK_FREQUENCY;
#else
volatile ARMV7M_Systick *systick = _ARMV7M_Systick;
uint64_t freq = ARMV7M_SYSTICK_CALIB_TENMS_GET(systick->calib) * 100ULL;
#endif
rtems_counter_initialize_converter(freq);
} else {
bsp_fatal(BSP_ARM_ARMV7M_CPU_COUNTER_INIT);
}
}
void _CPU_SMP_Finalize_initialization(uint32_t cpu_count)
{
if (rtems_configuration_get_maximum_processors() > 0) {
mmu_config_undo();
}
if (cpu_count > 1) {
rtems_status_code sc;
sc = rtems_interrupt_handler_install(
QORIQ_IRQ_IPI_0,
"IPI",
RTEMS_INTERRUPT_UNIQUE,
bsp_inter_processor_interrupt,
NULL
);
if (sc != RTEMS_SUCCESSFUL) {
bsp_fatal(QORIQ_FATAL_SMP_IPI_HANDLER_INSTALL);
}
}
}
static void ppc_exc_fatal_error(void)
{
bsp_fatal(PPC_FATAL_EXCEPTION_INITIALIZATION);
}
static void PIO_SysInitializeInterrupts(void)
{
rtems_status_code sc;
TRACE_DEBUG("PIO_Initialize()\n\r");
/* Configure PIO interrupt sources */
TRACE_DEBUG("PIO_Initialize: Configuring PIOA\n\r");
PMC_EnablePeripheral(ID_PIOA);
PIOA->PIO_ISR;
PIOA->PIO_IDR = 0xFFFFFFFF;
sc = rtems_interrupt_handler_install(
PIOA_IRQn,
"PIO A",
RTEMS_INTERRUPT_UNIQUE,
PIOA_Interrupt,
PIOA
);
if (sc != RTEMS_SUCCESSFUL) {
bsp_fatal(ATSAM_FATAL_PIO_IRQ_A);
}
TRACE_DEBUG("PIO_Initialize: Configuring PIOB\n\r");
PMC_EnablePeripheral(ID_PIOB);
PIOB->PIO_ISR;
PIOB->PIO_IDR = 0xFFFFFFFF;
sc = rtems_interrupt_handler_install(
PIOB_IRQn,
"PIO B",
RTEMS_INTERRUPT_UNIQUE,
PIOB_Interrupt,
PIOB
);
if (sc != RTEMS_SUCCESSFUL) {
bsp_fatal(ATSAM_FATAL_PIO_IRQ_B);
}
TRACE_DEBUG("PIO_Initialize: Configuring PIOC\n\r");
PMC_EnablePeripheral(ID_PIOC);
PIOC->PIO_ISR;
PIOC->PIO_IDR = 0xFFFFFFFF;
sc = rtems_interrupt_handler_install(
PIOC_IRQn,
"PIO C",
RTEMS_INTERRUPT_UNIQUE,
PIOC_Interrupt,
PIOC
);
if (sc != RTEMS_SUCCESSFUL) {
bsp_fatal(ATSAM_FATAL_PIO_IRQ_C);
}
TRACE_DEBUG("PIO_Initialize: Configuring PIOD\n\r");
PMC_EnablePeripheral(ID_PIOD);
PIOD->PIO_ISR;
PIOD->PIO_IDR = 0xFFFFFFFF;
sc = rtems_interrupt_handler_install(
PIOD_IRQn,
"PIO D",
RTEMS_INTERRUPT_UNIQUE,
PIOD_Interrupt,
PIOD
);
if (sc != RTEMS_SUCCESSFUL) {
bsp_fatal(ATSAM_FATAL_PIO_IRQ_D);
}
TRACE_DEBUG("PIO_Initialize: Configuring PIOE\n\r");
PMC_EnablePeripheral(ID_PIOE);
PIOE->PIO_ISR;
PIOE->PIO_IDR = 0xFFFFFFFF;
sc = rtems_interrupt_handler_install(
PIOE_IRQn,
"PIO E",
RTEMS_INTERRUPT_UNIQUE,
PIOE_Interrupt,
PIOE
);
if (sc != RTEMS_SUCCESSFUL) {
bsp_fatal(ATSAM_FATAL_PIO_IRQ_E);
}
}
/**
* @brief Serial drivers init function
*
* Initialize all serial drivers specified in driver_context_table
*
* @param[in] major
* @param[in] minor
* @param[in] arg
* @retval RTEMS_SUCCESSFUL Initialization completed
*/
rtems_device_driver console_initialize(
rtems_device_major_number major,
rtems_device_minor_number minor,
void *arg
)
{
rtems_status_code sc;
#if CONSOLE_USE_INTERRUPTS
const rtems_termios_device_handler *handler = &tms570_sci_handler_interrupt;
#else
const rtems_termios_device_handler *handler = &tms570_sci_handler_polled;
#endif
/*
* Initialize the Termios infrastructure. If Termios has already
* been initialized by another device driver, then this call will
* have no effect.
*/
rtems_termios_initialize();
/* Initialize each device */
for (
minor = 0;
minor < RTEMS_ARRAY_SIZE(driver_context_table);
++minor
) {
tms570_sci_context *ctx = &driver_context_table[minor];
uint32_t rx_pin = 1 << 1;
uint32_t tx_pin = 1 << 2;
/* Resec SCI peripheral */
ctx->regs->GCR0 = TMS570_SCI_GCR0_RESET * 0;
ctx->regs->GCR0 = TMS570_SCI_GCR0_RESET * 1;
/* Clear all interrupt sources */
ctx->regs->CLEARINT = 0xffffffff;
/* Map all interrupts to SCI INT0 line */
ctx->regs->CLEARINTLVL = 0xffffffff;
ctx->regs->GCR1 = TMS570_SCI_GCR1_TXENA * 0 |
TMS570_SCI_GCR1_RXENA * 0 |
TMS570_SCI_GCR1_CONT * 0 | /* continue operation when debugged */
TMS570_SCI_GCR1_LOOP_BACK * 0 |
TMS570_SCI_GCR1_POWERDOWN * 0 |
TMS570_SCI_GCR1_SLEEP * 0 |
TMS570_SCI_GCR1_SWnRST * 0 | /* reset state */
TMS570_SCI_GCR1_CLOCK * 1 | /* internal clock */
TMS570_SCI_GCR1_TIMING_MODE * 1 |
TMS570_SCI_GCR1_COMM_MODE * 0;
/* Setup connection of SCI peripheral Rx and Tx pins */
ctx->regs->PIO0 = rx_pin * 1 | tx_pin * 1; /* Rx and Tx pins are not GPIO */
ctx->regs->PIO3 = rx_pin * 0 | tx_pin * 0; /* Default output low */
ctx->regs->PIO1 = rx_pin * 0 | tx_pin * 0; /* Input when not used by SCI */
ctx->regs->PIO6 = rx_pin * 0 | tx_pin * 0; /* No open drain */
ctx->regs->PIO7 = rx_pin * 0 | tx_pin * 0; /* Pull-up/down enabled */
ctx->regs->PIO8 = rx_pin * 1 | tx_pin * 1; /* Select pull-up */
/* Bring device out of software reset */
ctx->regs->GCR1 |= TMS570_SCI_GCR1_SWnRST;
/*
* Install this device in the file system and Termios. In order
* to use the console (i.e. being able to do printf, scanf etc.
* on stdin, stdout and stderr), one device must be registered as
* "/dev/console" (CONSOLE_DEVICE_NAME).
*/
sc = rtems_termios_device_install(
ctx->device_name,
major,
minor,
handler,
NULL,
&ctx->base
);
if ( sc != RTEMS_SUCCESSFUL ) {
bsp_fatal(BSP_FATAL_CONSOLE_NO_DEV);
}
}
return RTEMS_SUCCESSFUL;
}