static int stm32_cap_setisr(FAR struct stm32_cap_dev_s *dev, xcpt_t handler, void *arg)
{
const struct stm32_cap_priv_s *priv = (const struct stm32_cap_priv_s *)dev;
int irq;
#ifdef USE_ADVENCED_TIM
int irq_of;
#endif
DEBUGASSERT(dev != NULL);
irq = priv->irq;
#ifdef USE_ADVENCED_TIM
irq_of = priv->irq_of;
#endif
/* Disable interrupt when callback is removed */
if (!handler)
{
up_disable_irq(irq);
irq_detach(irq);
#ifdef USE_ADVENCED_TIM
if (priv->irq_of)
{
up_disable_irq(irq_of);
irq_detach(irq_of);
}
#endif
return OK;
}
/* Otherwise set callback and enable interrupt */
irq_attach(irq, handler, arg);
up_enable_irq(irq);
#ifdef USE_ADVENCED_TIM
if (priv->irq_of)
{
irq_attach(priv->irq_of, handler, arg);
up_enable_irq(priv->irq_of);
}
#endif
#ifdef CONFIG_ARCH_IRQPRIO
/* Set the interrupt priority */
up_prioritize_irq(irq, NVIC_SYSH_PRIORITY_DEFAULT);
# ifdef USE_ADVENCED_TIM
if (priv->irq_of)
{
up_prioritize_irq(irq_of, NVIC_SYSH_PRIORITY_DEFAULT);
}
# endif
#endif
return OK;
}
static void z8_detach(FAR struct uart_dev_s *dev)
{
struct z8_uart_s *priv = (struct z8_uart_s*)dev->priv;
up_disable_irq(priv->rxirq);
up_disable_irq(priv->txirq);
irq_detach(priv->rxirq);
irq_detach(priv->txirq);
}
static void usart0_detach(struct uart_dev_s *dev)
{
/* Disable all USART0 interrupts */
usart0_disableusartint(NULL);
/* Detach the USART0 IRQs */
(void)irq_detach(ATMEGA_IRQ_U0RX);
(void)irq_detach(ATMEGA_IRQ_U0DRE);
// (void)irq_detach(ATMEGA_IRQ_U0TX);
}
static void usart1_detach(struct uart_dev_s *dev)
{
/* Disable USART1 interrupts */
usart1_disableusartint(NULL);
/* Detach USART1 interrupts */
(void)irq_detach(AT90USB_IRQ_U1RX);
(void)irq_detach(AT90USB_IRQ_U1DRE);
// (void)irq_detach(AT90USB_IRQ_U1TX);
}
static void up_detach(struct uart_dev_s *dev)
{
struct up_dev_s *priv = (struct up_dev_s *)dev->priv;
#if defined(CONFIG_ARCH_CHIP_IMX1) || defined(CONFIG_ARCH_CHIP_IMXL)
up_disable_irq(priv->rxirq);
up_disable_irq(priv->txirq);
irq_detach(priv->rxirq);
irq_detach(priv->txirq);
#else
up_disable_irq(priv->irq);
irq_detach(priv->irq);
#endif
}
/**
* Uninitialise an I2C device
*/
int up_i2cuninitialize(struct i2c_dev_s *dev)
{
irqstate_t flags;
i2cvdbg("Deinit I2C port\n");
flags = irqsave();
if (!refcount)
goto out;
if (--refcount)
goto out;
tsb_release_pinshare(TSB_PIN_GPIO21 | TSB_PIN_GPIO22);
/* Detach Interrupt Handler */
irq_detach(TSB_IRQ_I2C);
wd_delete(g_timeout);
out:
irqrestore(flags);
return 0;
}
/**
* @brief Close SPI device
*
* This function is called when the caller is no longer using this driver. It
* should release or close all resources that were allocated by the open()
* function. This function should be called after the open() function. If the
* device is not opened yet, this function should return without any operations.
*
* @param dev pointer to structure of device data
*/
static void tsb_spi_dev_close(struct device *dev)
{
int i;
struct tsb_spi_dev_info *info = NULL;
/* check input parameter */
if (!dev || !device_get_private(dev)) {
return;
}
info = device_get_private(dev);
sem_wait(&info->lock);
up_disable_irq(TSB_IRQ_SPI);
irq_detach(TSB_IRQ_SPI);
tsb_spi_hw_deinit(info);
for (i = 0; i < info->num_boards; i++) {
device_close(info->dev_spi_board[i]);
info->dev_spi_board[i] = NULL;
}
info->state = TSB_SPI_STATE_CLOSED;
sem_post(&info->lock);
}
static void ssp_cdirqsetup(int irq, xcpt_t irqhandler)
{
irqstate_t flags;
/* Disable interrupts until we are done */
flags = irqsave();
/* Configure the interrupt. Either attach and enable the new
* interrupt or disable and detach the old interrupt handler.
*/
if (irqhandler)
{
/* Attach then enable the new interrupt handler */
(void)irq_attach(irq, irqhandler);
up_enable_irq(irq);
}
else
{
/* Disable then detach the old interrupt handler */
up_disable_irq(irq);
(void)irq_detach(irq);
}
}
static int uart_detach_irq(struct uart *uart) {
if (uart->params.irq) {
return irq_detach(uart->irq_num, uart);
}
return 0;
}
static int stm32_tim_setisr(FAR struct stm32_tim_dev_s *dev, int (*handler)(int irq, void *context), int source)
{
int vectorno;
ASSERT(dev);
ASSERT(source==0);
switch( ((struct stm32_tim_priv_s *)dev)->base ) {
#if CONFIG_STM32_TIM2
case STM32_TIM2_BASE: vectorno = STM32_IRQ_TIM2; break;
#endif
#if CONFIG_STM32_TIM3
case STM32_TIM3_BASE: vectorno = STM32_IRQ_TIM3; break;
#endif
#if CONFIG_STM32_TIM4
case STM32_TIM4_BASE: vectorno = STM32_IRQ_TIM4; break;
#endif
#if CONFIG_STM32_TIM5
case STM32_TIM5_BASE: vectorno = STM32_IRQ_TIM5; break;
#endif
#if STM32_NBTIM > 0
#if CONFIG_STM32_TIM6
case STM32_TIM6_BASE: vectorno = STM32_IRQ_TIM6; break;
#endif
#endif
#if STM32_NBTIM > 1
#if CONFIG_STM32_TIM7
case STM32_TIM7_BASE: vectorno = STM32_IRQ_TIM7; break;
#endif
#endif
#if STM32_NATIM > 0
/** \todo add support for multiple sources and callbacks */
#if CONFIG_STM32_TIM1
case STM32_TIM1_BASE: vectorno = STM32_IRQ_TIM1UP; break;
#endif
#if CONFIG_STM32_TIM8
case STM32_TIM8_BASE: vectorno = STM32_IRQ_TIM8UP; break;
#endif
#endif
default: return ERROR;
}
/* Disable interrupt when callback is removed */
if (!handler) {
up_disable_irq(vectorno);
irq_detach(vectorno);
return OK;
}
/* Otherwise set callback and enable interrupt */
irq_attach(vectorno, handler);
up_enable_irq(vectorno);
// up_prioritize_irq(vectorno, NVIC_SYSH_PRIORITY_DEFAULT);
return OK;
}
xcpt_t board_button_irq(int id, xcpt_t irqhandler)
{
xcpt_t oldhandler = NULL;
if (id >=0 && id < NUM_BUTTONS)
{
irqstate_t flags;
/* Disable interrupts until we are done. This guarantees that the
* following operations are atomic.
*/
flags = enter_critical_section();
/* Get/set the old button handler
*
* REVISIT: Keeping copies of the hander in RAM seems wasteful
* since the OS already has this information internally.
*/
#if 0 /* REVISIT */
oldhandler = g_button_handlers[id];
g_button_handlers[id] = irqhandler;
#else
oldhandler = NULL;
#endif
/* Are we attaching or detaching? */
if (irqhandler != NULL)
{
/* Configure the interrupt */
efm32_gpioirq(g_button_configs[id]);
/* Attach and enable the interrupt */
(void)irq_attach(g_button_irqs[id], irqhandler);
efm32_gpioirqenable(g_button_irqs[id]);
}
else
{
/* Disable and detach the interrupt */
efm32_gpioirqdisable(g_button_irqs[id]);
(void)irq_detach(g_button_irqs[id]);
}
leave_critical_section(flags);
}
/* Return the old button handler (so that it can be restored) */
return oldhandler;
}
/****************************************************************************
* Name: adc_shutdown
*
* Description:
* Disable the ADC. This method is called when the ADC device is closed.
* This method reverses the operation the setup method.
*
* Input Parameters:
*
* Returned Value:
*
****************************************************************************/
static void adc_shutdown(FAR struct adc_dev_s *dev)
{
/* Disable interrupt */
putreg32(ADC_INT_DISABLE, S5J_ADC_INT);
/* Disable ADC interrupts and detach the ADC interrupt handler */
up_disable_irq(IRQ_ADC);
irq_detach(IRQ_ADC);
/* Reset ADC */
putreg32(ADC_CON1_SOFTRESET_RESET, S5J_ADC_CON1);
}
xcpt_t board_button_irq(int id, xcpt_t irqhandler)
{
xcpt_t oldhandler = NULL;
irqstate_t flags;
int irq;
/* Verify that the button ID is within range */
if ((unsigned)id < BOARD_NUM_BUTTONS)
{
/* Get the IRQ number for the button; A value of zero indicates that
* the button does not support the interrupt function.
*/
irq = g_buttonirq[id];
if (irq > 0)
{
/* Disable interrupts until we are done */
flags = irqsave();
/* Return the current button handler and set the new interrupt handler */
oldhandler = g_buttonisr[id];
g_buttonisr[id] = irqhandler;
/* Configure the interrupt. Either attach and enable the new
* interrupt or disable and detach the old interrupt handler.
*/
if (irqhandler)
{
/* Attach then enable the new interrupt handler */
(void)irq_attach(irq, irqhandler);
up_enable_irq(irq);
}
else
{
/* Disable then detach the old interrupt handler */
up_disable_irq(irq);
(void)irq_detach(irq);
}
irqrestore(flags);
}
}
return oldhandler;
}
xcpt_t board_button_irq(int id, xcpt_t irqhandler)
{
xcpt_t rethandler = NULL;
irqstate_t flags;
int ret;
/* Interrupts are supported on KEY5 only */
if (id == BOARD_BUTTON_5)
{
/* Return the previous value of the interrupt handler */
flags = irqsave();
rethandler = g_oldhandler;
g_oldhandler = irqhandler;
/* Attach or detach the interrupt handler for KEY5. */
if (irqhandler)
{
/* Configure KEY5 as an interrupting input */
lpc17_configgpio(ZKITARM_INT_KEY5);
/* Attach the new interrupt handler and enable the interrupt */
ret = irq_attach(ZKITARM_KEY5_IRQ, irqhandler);
if (ret == OK)
{
up_enable_irq(ZKITARM_KEY5_IRQ);
}
}
else
{
/* Disable the interrupt and detach the handler */
up_disable_irq(ZKITARM_KEY5_IRQ);
(void)irq_detach(ZKITARM_KEY5_IRQ);
/* Configure KEY5 as a non-interrupting input */
lpc17_configgpio(ZKITARM_KEY5);
}
irqrestore(flags);
}
return rethandler;
}
void tiva_adc_irq_detach(uint8_t adc, uint8_t sse)
{
uint32_t ret = 0;
int irq = sse2irq[SSE_IDX(adc, sse)];
/* Disable ADC interrupts at the level of the AIC */
up_disable_irq(irq);
/* Then detach the ADC interrupt handler. */
ret = irq_detach(irq);
if (ret < 0)
{
aerr("ERROR: Failed to detach IRQ %d: %d\n", irq, ret);
return;
}
}
xcpt_t board_button_irq(int id, xcpt_t irqhandler)
{
xcpt_t oldhandler = NULL;
if (id == BUTTON_USER)
{
irqstate_t flags;
/* Disable interrupts until we are done. This guarantees that the
* following operations are atomic.
*/
flags = irqsave();
/* Get the old button interrupt handler and save the new one */
oldhandler = g_irquser1;
g_irquser1 = irqhandler;
/* Are we attaching or detaching? */
if (irqhandler != NULL)
{
/* Configure the interrupt */
sam_pioirq(PIO_BTN_USER);
(void)irq_attach(IRQ_BTN_USER, irqhandler);
sam_pioirqenable(IRQ_BTN_USER);
}
else
{
/* Disable and detach the interrupt */
sam_pioirqdisable(IRQ_BTN_USER);
(void)irq_detach(IRQ_BTN_USER);
}
irqrestore(flags);
}
/* Return the old button handler (so that it can be restored) */
return oldhandler;
}
PX4IO_serial::~PX4IO_serial()
{
if (_tx_dma != nullptr) {
stm32_dmastop(_tx_dma);
stm32_dmafree(_tx_dma);
}
if (_rx_dma != nullptr) {
stm32_dmastop(_rx_dma);
stm32_dmafree(_rx_dma);
}
/* reset the UART */
rCR1 = 0;
rCR2 = 0;
rCR3 = 0;
/* detach our interrupt handler */
up_disable_irq(PX4IO_SERIAL_VECTOR);
irq_detach(PX4IO_SERIAL_VECTOR);
/* restore the GPIOs */
stm32_unconfiggpio(PX4IO_SERIAL_TX_GPIO);
stm32_unconfiggpio(PX4IO_SERIAL_RX_GPIO);
/* and kill our semaphores */
sem_destroy(&_completion_semaphore);
sem_destroy(&_bus_semaphore);
perf_free(_pc_txns);
perf_free(_pc_dmasetup);
perf_free(_pc_retries);
perf_free(_pc_timeouts);
perf_free(_pc_crcerrs);
perf_free(_pc_dmaerrs);
perf_free(_pc_protoerrs);
perf_free(_pc_uerrs);
perf_free(_pc_idle);
perf_free(_pc_badidle);
if (g_interface == this) {
g_interface = nullptr;
}
}
xcpt_t board_button_irq(int id, xcpt_t irqhandler)
{
xcpt_t oldhandler = NULL;
irqstate_t flags;
int irq;
/* Verify that the button ID is within range */
if ((unsigned)id < BOARD_NUM_BUTTONS)
{
/* Return the current button handler and set the new interrupt handler */
oldhandler = g_buttonisr[id];
g_buttonisr[id] = irqhandler;
/* Disable interrupts until we are done */
flags = enter_critical_section();
/* Configure the interrupt. Either attach and enable the new
* interrupt or disable and detach the old interrupt handler.
*/
irq = g_buttonirq[id];
if (irqhandler)
{
/* Attach then enable the new interrupt handler */
(void)irq_attach(irq, irqhandler);
up_enable_irq(irq);
}
else
{
/* Disable then detach the old interrupt handler */
up_disable_irq(irq);
(void)irq_detach(irq);
}
leave_critical_section(flags);
}
return oldhandler;
}
static int z8_attach(FAR struct uart_dev_s *dev)
{
struct z8_uart_s *priv = (struct z8_uart_s*)dev->priv;
int ret;
/* Attach the RX IRQ */
ret = irq_attach(priv->rxirq, z8_rxinterrupt);
if (ret == OK)
{
/* Attach the TX IRQ */
ret = irq_attach(priv->txirq, z8_txinterrupt);
if (ret != OK)
{
irq_detach(priv->rxirq);
}
}
return ret;
}
static xcpt_t board_button_irqx(gpio_pinset_t pinset, int irq,
xcpt_t irqhandler, xcpt_t *store)
{
xcpt_t oldhandler;
irqstate_t flags;
/* Disable interrupts until we are done. This guarantees that the following
* operations are atomic.
*/
flags = irqsave();
/* Get the old button interrupt handler and save the new one */
oldhandler = *store;
*store = irqhandler;
/* Are we attaching or detaching? */
if (irqhandler != NULL)
{
/* Configure the interrupt */
sam_gpioirq(pinset);
(void)irq_attach(irq, irqhandler);
sam_gpioirqenable(irq);
}
else
{
/* Detach and disable the interrupt */
(void)irq_detach(irq);
sam_gpioirqdisable(irq);
}
irqrestore(flags);
/* Return the old button handler (so that it can be restored) */
return oldhandler;
}
int board_button_irq(int id, xcpt_t irqhandler, FAR void *arg)
{
if (id >=0 && id < NUM_BUTTONS)
{
irqstate_t flags;
/* Disable interrupts until we are done. This guarantees that the
* following operations are atomic.
*/
flags = enter_critical_section();
/* Are we attaching or detaching? */
if (irqhandler != NULL)
{
/* Configure the interrupt */
efm32_gpioirq(g_button_configs[id]);
/* Attach and enable the interrupt */
(void)irq_attach(g_button_irqs[id], irqhandler, arg);
efm32_gpioirqenable(g_button_irqs[id]);
}
else
{
/* Disable and detach the interrupt */
efm32_gpioirqdisable(g_button_irqs[id]);
(void)irq_detach(g_button_irqs[id]);
}
leave_critical_section(flags);
}
/* Return the old button handler (so that it can be restored) */
return OK;
}
static int up_attach(struct uart_dev_s *dev)
{
struct up_dev_s *priv = (struct up_dev_s *)dev->priv;
int ret;
/* Attach and enable the IRQ */
#if defined(CONFIG_ARCH_CHIP_IMX1) || defined(CONFIG_ARCH_CHIP_IMXL)
ret = irq_attach(priv->rxirq, up_interrupt);
if (ret < 0)
{
return ret;
}
ret = irq_attach(priv->txirq, up_interrupt);
if (ret < 0)
{
irq_detach(priv->rxirq);
return ret;
}
/* Enable the interrupts (interrupts are still disabled in the UART) */
up_enable_irq(priv->rxirq);
up_enable_irq(priv->txirq);
#else
ret = irq_attach(priv->irq, up_interrupt);
if (ret == OK)
{
/* Enable the interrupt (RX and TX interrupts are still disabled
* in the UART
*/
up_enable_irq(priv->irq);
}
#endif
return ret;
}
int board_button_irq(int id, xcpt_t irqhandler, FAR void *arg)
{
irqstate_t flags;
int irq;
/* Verify that the button ID is within range */
if ((unsigned)id < NUM_BUTTONS)
{
/* Disable interrupts until we are done */
flags = enter_critical_section();
/* Configure the interrupt. Either attach and enable the new
* interrupt or disable and detach the old interrupt handler.
*/
irq = g_buttonirq[id];
if (irqhandler)
{
/* Attach then enable the new interrupt handler */
(void)irq_attach(irq, irqhandler, arg);
up_enable_irq(irq);
}
else
{
/* Disable then detach the old interrupt handler */
up_disable_irq(irq);
(void)irq_detach(irq);
}
leave_critical_section(flags);
}
return OK;
}
static void ez80_detach(struct uart_dev_s *dev)
{
struct ez80_dev_s *priv = (struct ez80_dev_s*)dev->priv;
ez80_disableuartint(priv);
irq_detach(priv->irq);
}
static int stm32_tim_setisr(FAR struct stm32_tim_dev_s *dev,
int (*handler)(int irq, void *context),
int source)
{
int vectorno;
DEBUGASSERT(dev != NULL);
DEBUGASSERT(source == 0);
switch (((struct stm32_tim_priv_s *)dev)->base)
{
#ifdef CONFIG_STM32F7_TIM1
case STM32_TIM1_BASE:
vectorno = STM32_IRQ_TIM1UP;
break;
#endif
#ifdef CONFIG_STM32F7_TIM2
case STM32_TIM2_BASE:
vectorno = STM32_IRQ_TIM2;
break;
#endif
#ifdef CONFIG_STM32F7_TIM3
case STM32_TIM3_BASE:
vectorno = STM32_IRQ_TIM3;
break;
#endif
#ifdef CONFIG_STM32F7_TIM4
case STM32_TIM4_BASE:
vectorno = STM32_IRQ_TIM4;
break;
#endif
#ifdef CONFIG_STM32F7_TIM5
case STM32_TIM5_BASE:
vectorno = STM32_IRQ_TIM5;
break;
#endif
#ifdef CONFIG_STM32F7_TIM6
case STM32_TIM6_BASE:
vectorno = STM32_IRQ_TIM6;
break;
#endif
#ifdef CONFIG_STM32F7_TIM7
case STM32_TIM7_BASE:
vectorno = STM32_IRQ_TIM7;
break;
#endif
#ifdef CONFIG_STM32F7_TIM8
case STM32_TIM8_BASE:
vectorno = STM32_IRQ_TIM8UP;
break;
#endif
#ifdef CONFIG_STM32F7_TIM9
case STM32_TIM9_BASE:
vectorno = STM32_IRQ_TIM9;
break;
#endif
#ifdef CONFIG_STM32F7_TIM10
case STM32_TIM10_BASE:
vectorno = STM32_IRQ_TIM10;
break;
#endif
#ifdef CONFIG_STM32F7_TIM11
case STM32_TIM11_BASE:
vectorno = STM32_IRQ_TIM11;
break;
#endif
#ifdef CONFIG_STM32F7_TIM12
case STM32_TIM12_BASE:
vectorno = STM32_IRQ_TIM12;
break;
#endif
#ifdef CONFIG_STM32F7_TIM13
case STM32_TIM13_BASE:
vectorno = STM32_IRQ_TIM13;
break;
#endif
#ifdef CONFIG_STM32F7_TIM14
case STM32_TIM14_BASE:
vectorno = STM32_IRQ_TIM14;
break;
#endif
default:
return -EINVAL;
}
/* Disable interrupt when callback is removed */
if (!handler)
{
up_disable_irq(vectorno);
irq_detach(vectorno);
return OK;
}
/* Otherwise set callback and enable interrupt */
irq_attach(vectorno, handler);
up_enable_irq(vectorno);
#ifdef CONFIG_ARCH_IRQPRIO
/* Set the interrupt priority */
up_prioritize_irq(vectorno, NVIC_SYSH_PRIORITY_DEFAULT);
#endif
return OK;
}
PX4IO_serial_f7::PX4IO_serial_f7() :
_tx_dma(nullptr),
_rx_dma(nullptr),
_current_packet(nullptr),
_rx_dma_status(_dma_status_inactive),
_completion_semaphore(SEM_INITIALIZER(0)),
#if 0
_pc_dmasetup(perf_alloc(PC_ELAPSED, "io_dmasetup ")),
_pc_dmaerrs(perf_alloc(PC_COUNT, "io_dmaerrs "))
#else
_pc_dmasetup(nullptr),
_pc_dmaerrs(nullptr)
#endif
{
}
PX4IO_serial_f7::~PX4IO_serial_f7()
{
if (_tx_dma != nullptr) {
stm32_dmastop(_tx_dma);
stm32_dmafree(_tx_dma);
}
if (_rx_dma != nullptr) {
stm32_dmastop(_rx_dma);
stm32_dmafree(_rx_dma);
}
/* reset the UART */
rCR1 = 0;
rCR2 = 0;
rCR3 = 0;
/* detach our interrupt handler */
up_disable_irq(PX4IO_SERIAL_VECTOR);
irq_detach(PX4IO_SERIAL_VECTOR);
/* restore the GPIOs */
px4_arch_unconfiggpio(PX4IO_SERIAL_TX_GPIO);
px4_arch_unconfiggpio(PX4IO_SERIAL_RX_GPIO);
/* Disable APB clock for the USART peripheral */
modifyreg32(PX4IO_SERIAL_RCC_REG, PX4IO_SERIAL_RCC_EN, 0);
/* and kill our semaphores */
px4_sem_destroy(&_completion_semaphore);
perf_free(_pc_dmasetup);
perf_free(_pc_dmaerrs);
}
int
PX4IO_serial_f7::init()
{
/* initialize base implementation */
int r;
if ((r = PX4IO_serial::init((IOPacket *)ROUND_UP_TO_POW2_CT((uintptr_t)_io_buffer_storage, CACHE_LINE_SIZE))) != 0) {
return r;
}
/* allocate DMA */
_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
_rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP);
if ((_tx_dma == nullptr) || (_rx_dma == nullptr)) {
return -1;
}
/* Enable the APB clock for the USART peripheral */
modifyreg32(PX4IO_SERIAL_RCC_REG, 0, PX4IO_SERIAL_RCC_EN);
/* configure pins for serial use */
px4_arch_configgpio(PX4IO_SERIAL_TX_GPIO);
px4_arch_configgpio(PX4IO_SERIAL_RX_GPIO);
/* reset & configure the UART */
rCR1 = 0;
rCR2 = 0;
rCR3 = 0;
/* clear data that may be in the RDR and clear overrun error: */
if (rISR & USART_ISR_RXNE) {
(void)rRDR;
}
rICR = rISR & rISR_ERR_FLAGS_MASK; /* clear the flags */
/* configure line speed */
uint32_t usartdiv32 = (PX4IO_SERIAL_CLOCK + (PX4IO_SERIAL_BITRATE) / 2) / (PX4IO_SERIAL_BITRATE);
rBRR = usartdiv32;
/* attach serial interrupt handler */
irq_attach(PX4IO_SERIAL_VECTOR, _interrupt, this);
up_enable_irq(PX4IO_SERIAL_VECTOR);
/* enable UART in DMA mode, enable error and line idle interrupts */
rCR3 = USART_CR3_EIE;
/* TODO: maybe use DDRE */
rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE;
/* TODO: maybe we need to adhere to the procedure as described in the reference manual page 1251 (34.5.2) */
/* create semaphores */
px4_sem_init(&_completion_semaphore, 0, 0);
/* _completion_semaphore use case is a signal */
px4_sem_setprotocol(&_completion_semaphore, SEM_PRIO_NONE);
/* XXX this could try talking to IO */
return 0;
}
PX4IO_serial_f4::PX4IO_serial_f4() :
_tx_dma(nullptr),
_rx_dma(nullptr),
_current_packet(nullptr),
_rx_dma_status(_dma_status_inactive),
_completion_semaphore(SEM_INITIALIZER(0)),
#if 0
_pc_dmasetup(perf_alloc(PC_ELAPSED, "io_dmasetup ")),
_pc_dmaerrs(perf_alloc(PC_COUNT, "io_dmaerrs "))
#else
_pc_dmasetup(nullptr),
_pc_dmaerrs(nullptr)
#endif
{
}
PX4IO_serial_f4::~PX4IO_serial_f4()
{
if (_tx_dma != nullptr) {
stm32_dmastop(_tx_dma);
stm32_dmafree(_tx_dma);
}
if (_rx_dma != nullptr) {
stm32_dmastop(_rx_dma);
stm32_dmafree(_rx_dma);
}
/* reset the UART */
rCR1 = 0;
rCR2 = 0;
rCR3 = 0;
/* detach our interrupt handler */
up_disable_irq(PX4IO_SERIAL_VECTOR);
irq_detach(PX4IO_SERIAL_VECTOR);
/* restore the GPIOs */
px4_arch_unconfiggpio(PX4IO_SERIAL_TX_GPIO);
px4_arch_unconfiggpio(PX4IO_SERIAL_RX_GPIO);
/* Disable APB clock for the USART peripheral */
modifyreg32(PX4IO_SERIAL_RCC_REG, PX4IO_SERIAL_RCC_EN, 0);
/* and kill our semaphores */
px4_sem_destroy(&_completion_semaphore);
perf_free(_pc_dmasetup);
perf_free(_pc_dmaerrs);
}
int
PX4IO_serial_f4::init()
{
/* initialize base implementation */
int r;
if ((r = PX4IO_serial::init(&_io_buffer_storage)) != 0) {
return r;
}
/* allocate DMA */
_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
_rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP);
if ((_tx_dma == nullptr) || (_rx_dma == nullptr)) {
return -1;
}
/* Enable the APB clock for the USART peripheral */
modifyreg32(PX4IO_SERIAL_RCC_REG, 0, PX4IO_SERIAL_RCC_EN);
/* configure pins for serial use */
px4_arch_configgpio(PX4IO_SERIAL_TX_GPIO);
px4_arch_configgpio(PX4IO_SERIAL_RX_GPIO);
/* reset & configure the UART */
rCR1 = 0;
rCR2 = 0;
rCR3 = 0;
/* eat any existing interrupt status */
(void)rSR;
(void)rDR;
/* configure line speed */
uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2);
uint32_t mantissa = usartdiv32 >> 5;
uint32_t fraction = (usartdiv32 - (mantissa << 5) + 1) >> 1;
rBRR = (mantissa << USART_BRR_MANT_SHIFT) | (fraction << USART_BRR_FRAC_SHIFT);
/* attach serial interrupt handler */
irq_attach(PX4IO_SERIAL_VECTOR, _interrupt, this);
up_enable_irq(PX4IO_SERIAL_VECTOR);
/* enable UART in DMA mode, enable error and line idle interrupts */
rCR3 = USART_CR3_EIE;
rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE;
/* create semaphores */
px4_sem_init(&_completion_semaphore, 0, 0);
/* _completion_semaphore use case is a signal */
px4_sem_setprotocol(&_completion_semaphore, SEM_PRIO_NONE);
/* XXX this could try talking to IO */
return 0;
}
xcpt_t arch_phy_irq(FAR const char *intf, xcpt_t handler, phy_enable_t *enable)
{
irqstate_t flags;
xcpt_t *phandler;
xcpt_t oldhandler;
pio_pinset_t pinset;
phy_enable_t enabler;
int irq;
DEBUGASSERT(intf);
nvdbg("%s: handler=%p\n", intf, handler);
#ifdef CONFIG_SAMA5_EMACA
phydbg("EMAC: devname=%s\n", SAMA5_EMAC_DEVNAME);
#endif
#ifdef CONFIG_SAMA5_GMAC
phydbg("GMAC: devname=%s\n", SAMA5_GMAC_DEVNAME);
#endif
#ifdef CONFIG_SAMA5_EMACA
if (strcmp(intf, SAMA5_EMAC_DEVNAME) == 0)
{
phydbg("Select EMAC\n");
phandler = &g_emac_handler;
pinset = PIO_INT_ETH1;
irq = IRQ_INT_ETH1;
enabler = sam_emac_phy_enable;
}
else
#endif
#ifdef CONFIG_SAMA5_GMAC
if (strcmp(intf, SAMA5_GMAC_DEVNAME) == 0)
{
phydbg("Select GMAC\n");
phandler = &g_gmac_handler;
pinset = PIO_INT_ETH0;
irq = IRQ_INT_ETH0;
enabler = sam_gmac_phy_enable;
}
else
#endif
{
ndbg("Unsupported interface: %s\n", intf);
return NULL;
}
/* Disable interrupts until we are done. This guarantees that the
* following operations are atomic.
*/
flags = irqsave();
/* Get the old interrupt handler and save the new one */
oldhandler = *phandler;
*phandler = handler;
/* Configure the interrupt */
if (handler)
{
phydbg("Configure pin: %08x\n", pinset);
sam_pioirq(pinset);
phydbg("Attach IRQ%d\n", irq);
(void)irq_attach(irq, handler);
}
else
{
phydbg("Detach IRQ%d\n", irq);
(void)irq_detach(irq);
enabler = NULL;
}
/* Return with the interrupt disabled in either case */
sam_pioirqdisable(irq);
/* Return the enabling function pointer */
if (enable)
{
*enable = enabler;
}
/* Return the old handler (so that it can be restored) */
irqrestore(flags);
return oldhandler;
}
xcpt_t arch_phy_irq(FAR const char *intf, xcpt_t handler, phy_enable_t *enable)
{
irqstate_t flags;
xcpt_t *phandler;
xcpt_t oldhandler;
gpio_pinset_t pinset;
phy_enable_t enabler;
int irq;
DEBUGASSERT(intf);
ninfo("%s: handler=%p\n", intf, handler);
phyinfo("EMAC0: devname=%s\n", SAMV7_EMAC0_DEVNAME);
if (strcmp(intf, SAMV7_EMAC0_DEVNAME) == 0)
{
phyinfo("Select EMAC0\n");
phandler = &g_emac0_handler;
pinset = GPIO_EMAC0_INT;
irq = IRQ_EMAC0_INT;
enabler = sam_emac0_phy_enable;
}
else
{
nerr("ERROR: Unsupported interface: %s\n", intf);
return NULL;
}
/* Disable interrupts until we are done. This guarantees that the
* following operations are atomic.
*/
flags = enter_critical_section();
/* Get the old interrupt handler and save the new one */
oldhandler = *phandler;
*phandler = handler;
/* Configure the interrupt */
if (handler)
{
phyinfo("Configure pin: %08x\n", pinset);
sam_gpioirq(pinset);
phyinfo("Attach IRQ%d\n", irq);
(void)irq_attach(irq, handler);
}
else
{
phyinfo("Detach IRQ%d\n", irq);
(void)irq_detach(irq);
enabler = NULL;
}
/* Return with the interrupt disabled in either case */
sam_gpioirqdisable(irq);
/* Return the enabling function pointer */
if (enable)
{
*enable = enabler;
}
/* Return the old handler (so that it can be restored) */
leave_critical_section(flags);
return oldhandler;
}