[PING][PATCH] LPC176x: Add CAN, PWM, ADC and UART1/2/3 support to the BSP.
Martin Galvan
martin.galvan at tallertechnologies.com
Thu Mar 19 00:11:04 UTC 2015
This patch adds support for the following devices to the LPC176x BSP:
* CAN
* PWM
* ADC
It also adds the probe routines for UART1/2/3 to the console_device_table in console-config.c, and enables UART1 in configure.ac.
---
c/src/lib/libbsp/arm/lpc176x/Makefile.am | 16 +
c/src/lib/libbsp/arm/lpc176x/adc/adc.c | 244 ++++++++++
c/src/lib/libbsp/arm/lpc176x/can/can.c | 542 +++++++++++++++++++++
c/src/lib/libbsp/arm/lpc176x/configure.ac | 3 +
.../libbsp/arm/lpc176x/console/console-config.c | 42 +-
c/src/lib/libbsp/arm/lpc176x/include/adc-defs.h | 96 ++++
c/src/lib/libbsp/arm/lpc176x/include/adc.h | 60 +++
c/src/lib/libbsp/arm/lpc176x/include/can-defs.h | 183 +++++++
c/src/lib/libbsp/arm/lpc176x/include/can.h | 179 +++++++
.../lib/libbsp/arm/lpc176x/include/common-types.h | 1 +
c/src/lib/libbsp/arm/lpc176x/include/io-defs.h | 19 +
c/src/lib/libbsp/arm/lpc176x/include/io.h | 13 +-
c/src/lib/libbsp/arm/lpc176x/include/lpc176x.h | 8 +-
c/src/lib/libbsp/arm/lpc176x/include/mbed-pinmap.h | 50 ++
c/src/lib/libbsp/arm/lpc176x/include/pwmout-defs.h | 105 ++++
c/src/lib/libbsp/arm/lpc176x/include/pwmout.h | 73 +++
c/src/lib/libbsp/arm/lpc176x/misc/io.c | 15 +
c/src/lib/libbsp/arm/lpc176x/preinstall.am | 28 ++
c/src/lib/libbsp/arm/lpc176x/pwmout/pwmout.c | 210 ++++++++
c/src/lib/libbsp/shared/include/uart-output-char.h | 4 +-
20 files changed, 1881 insertions(+), 10 deletions(-)
create mode 100755 c/src/lib/libbsp/arm/lpc176x/adc/adc.c
create mode 100755 c/src/lib/libbsp/arm/lpc176x/can/can.c
create mode 100755 c/src/lib/libbsp/arm/lpc176x/include/adc-defs.h
create mode 100755 c/src/lib/libbsp/arm/lpc176x/include/adc.h
create mode 100755 c/src/lib/libbsp/arm/lpc176x/include/can-defs.h
create mode 100755 c/src/lib/libbsp/arm/lpc176x/include/can.h
create mode 100755 c/src/lib/libbsp/arm/lpc176x/include/mbed-pinmap.h
create mode 100755 c/src/lib/libbsp/arm/lpc176x/include/pwmout-defs.h
create mode 100755 c/src/lib/libbsp/arm/lpc176x/include/pwmout.h
create mode 100755 c/src/lib/libbsp/arm/lpc176x/pwmout/pwmout.c
diff --git a/c/src/lib/libbsp/arm/lpc176x/Makefile.am b/c/src/lib/libbsp/arm/lpc176x/Makefile.am
index 3f60f23..50a7e79 100644
--- a/c/src/lib/libbsp/arm/lpc176x/Makefile.am
+++ b/c/src/lib/libbsp/arm/lpc176x/Makefile.am
@@ -42,6 +42,12 @@ include_bsp_HEADERS += include/io.h
include_bsp_HEADERS += include/common-types.h
include_bsp_HEADERS += include/gpio-defs.h
include_bsp_HEADERS += include/gpio.h
+include_bsp_HEADERS += include/can.h
+include_bsp_HEADERS += include/can-defs.h
+include_bsp_HEADERS += include/pwmout.h
+include_bsp_HEADERS += include/pwmout-defs.h
+include_bsp_HEADERS += include/adc.h
+include_bsp_HEADERS += include/adc-defs.h
include_bsp_HEADERS += include/timer-defs.h
include_bsp_HEADERS += include/timer.h
include_bsp_HEADERS += include/watchdog.h
@@ -50,6 +56,7 @@ include_bsp_HEADERS += include/irq.h
include_bsp_HEADERS += include/lpc176x.h
include_bsp_HEADERS += include/lpc-clock-config.h
include_bsp_HEADERS += include/system-clocks.h
+include_bsp_HEADERS += include/mbed-pinmap.h
include_HEADERS += ../../shared/include/tm27.h
@@ -126,6 +133,15 @@ libbsp_a_SOURCES += ../../shared/tod.c \
# GPIO
libbsp_a_SOURCES += gpio/gpio.c
+# CAN
+libbsp_a_SOURCES += can/can.c
+
+# PWMOUT
+libbsp_a_SOURCES += pwmout/pwmout.c
+
+# ADC
+libbsp_a_SOURCES += adc/adc.c
+
# Timer
libbsp_a_SOURCES += timer/timer.c
diff --git a/c/src/lib/libbsp/arm/lpc176x/adc/adc.c b/c/src/lib/libbsp/arm/lpc176x/adc/adc.c
new file mode 100755
index 0000000..7cf003a
--- /dev/null
+++ b/c/src/lib/libbsp/arm/lpc176x/adc/adc.c
@@ -0,0 +1,244 @@
+/**
+ * @file adc.c
+ *
+ * @ingroup lpc176x
+ *
+ * @brief ADC library for the lpc176x bsp.
+ */
+
+/*
+ * Copyright (c) 2014 Taller Technologies.
+ *
+ * @author Diaz Marcos (marcos.diaz at tallertechnologies.com)
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.com/license/LICENSE.
+ */
+#include <rtems/status-checks.h>
+#include <bsp/adc.h>
+#include <bsp/adc-defs.h>
+
+static lpc176x_adc_device *const adc_device = AD0_BASE_ADDR;
+
+static const lpc176x_adc_pin_map adc_pinmap[ ADC_DEVICES_COUNT ] =
+{
+ {
+ .pin_number = 23u,
+ .pin_function = LPC176X_PIN_FUNCTION_01
+ },
+ {
+ .pin_number = 24u,
+ .pin_function = LPC176X_PIN_FUNCTION_01
+ },
+ {
+ .pin_number = 25u,
+ .pin_function = LPC176X_PIN_FUNCTION_01
+ },
+ {
+ .pin_number = 26u,
+ .pin_function = LPC176X_PIN_FUNCTION_01
+ },
+ {
+ .pin_number = 62u,
+ .pin_function = LPC176X_PIN_FUNCTION_11
+ },
+ {
+ .pin_number = 63u,
+ .pin_function = LPC176X_PIN_FUNCTION_11
+ },
+ {
+ .pin_number = 3u,
+ .pin_function = LPC176X_PIN_FUNCTION_10
+ },
+ {
+ .pin_number = 2u,
+ .pin_function = LPC176X_PIN_FUNCTION_10
+ }
+};
+
+/**
+ * @brief Checks for a valid pin number for an ADC
+ *
+ * @param pin_number The pin to check
+ * @param adc_number The returned ADC device corresponding to that pin.
+ *
+ * @return true if valid, false otherwise.
+ */
+static bool valid_pin_number (
+ const lpc176x_pin_number pin_number,
+ lpc176x_adc_number *const adc_number
+ )
+{
+ bool found = false;
+ lpc176x_adc_number adc_device = ADC_0;
+
+ while (!found && (adc_device < ADC_DEVICES_COUNT))
+ {
+ if (adc_pinmap[adc_device].pin_number == pin_number)
+ {
+ *adc_number = adc_device;
+ found = true;
+ }
+ ++adc_device;
+ }
+
+ return found;
+}
+
+/**
+ * @brief Turns on the device and sets its clock divisor.
+ *
+ */
+static void turn_on_and_set_clkdiv( void )
+{
+ const uint32_t clkdiv = LPC176X_CCLK / ( LPC176X_PCLKDIV * MAX_ADC_CLK );
+
+ adc_device->ADCR = ADC_CR_PDN | ADC_CR_CLKDIV( clkdiv );
+}
+
+rtems_status_code adc_open( const lpc176x_pin_number pin_number )
+{
+ rtems_status_code sc = RTEMS_INVALID_NUMBER;
+ lpc176x_adc_number adc_number = 0;
+ if ( valid_pin_number( pin_number, &adc_number ) ) {
+ sc =
+ lpc176x_module_enable( LPC176X_MODULE_ADC, LPC176X_MODULE_PCLK_DEFAULT );
+ RTEMS_CHECK_SC( sc, "enable adc module" );
+
+ turn_on_and_set_clkdiv();
+ lpc176x_pin_select( adc_pinmap[ adc_number ].pin_number,
+ adc_pinmap[ adc_number ].pin_function );
+ lpc176x_pin_set_mode( adc_pinmap[ adc_number ].pin_number,
+ LPC176X_PIN_MODE_NONE );
+ }
+
+ return sc;
+}
+
+rtems_status_code adc_close( void )
+{
+ adc_device->ADCR &= ~ADC_CR_PDN;
+
+ return lpc176x_module_disable( LPC176X_MODULE_ADC );
+}
+
+/**
+ * @brief Starts the conversion for the given channel.
+ *
+ * @param number The channel to start the conversion.
+ */
+static inline void start_conversion( const lpc176x_adc_number number )
+{
+ adc_device->ADCR =
+ ADC_CR_SEL_SET( adc_device->ADCR, ( 1 << number ) ) | ADC_CR_START_NOW;
+}
+
+/**
+ * @brief Stops the conversion.
+ *
+ */
+static inline void stop_conversion( void )
+{
+ adc_device->ADCR &= ~ADC_CR_START_NOW;
+}
+
+/**
+ * @brief Gets float percentage of the result of a conversion.
+ *
+ * @param data The result of a conversion.
+ * @return A float percentage (between 0.0f and 1.0f).
+ */
+static inline float get_float( const uint32_t data )
+{
+ return ( (float) data / (float) ADC_RANGE );
+}
+
+
+/**
+ * @brief Reads the ADC value for the given ADC number.
+ *
+ * @param adc_number Which ADC device read.
+ * @return The read value.
+ */
+static uint32_t read( const lpc176x_adc_number adc_number )
+{
+ uint32_t data;
+
+ start_conversion( adc_number );
+
+ do {
+ data = adc_device->ADGDR;
+ } while ( !ADC_DATA_CONVERSION_DONE( data ) );
+
+ stop_conversion();
+
+ return ADC_DR_VALUE( data );
+}
+
+/**
+ * @brief Checks if the passed parameters are ordered from lowest
+ * to highest.
+ *
+ * @param a The suggested lowest value.
+ * @param b The suggested middle value.
+ * @param c The suggested highest value.
+ * @return True if it is in the right order, false otherwise.
+ */
+static inline bool lowest_to_highest_ordered(
+ const uint32_t a,
+ const uint32_t b,
+ const uint32_t c
+)
+{
+ return ( ( a <= b ) && ( b <= c ) );
+}
+
+/**
+ * @brief Gets median value from the three passed parameters.
+ *
+ * @param a The first parameter.
+ * @param b The second parameter.
+ * @param c The third parameter.
+ *
+ * @return The median of the three parameters.
+ */
+static uint32_t get_median(
+ const uint32_t a,
+ const uint32_t b,
+ const uint32_t c
+)
+{
+ uint32_t median;
+
+ if ( lowest_to_highest_ordered( a, b, c)
+ || lowest_to_highest_ordered( c, b, a ) ) {
+ median = b;
+ } else if ( lowest_to_highest_ordered( b, a, c )
+ || lowest_to_highest_ordered( c, a, b ) ) {
+ median = a;
+ } else {
+ median = c;
+ }
+
+ return median;
+}
+
+rtems_status_code adc_read(
+ const lpc176x_pin_number pin_number ,
+ float *const result
+)
+{
+ rtems_status_code sc = RTEMS_INVALID_NUMBER;
+ lpc176x_adc_number adc_number = 0;
+ if ( valid_pin_number( pin_number, &adc_number ) ) {
+ const uint32_t first = read( adc_number );
+ const uint32_t second = read( adc_number );
+ const uint32_t third = read( adc_number );
+ const uint32_t median = get_median( first, second, third );
+ *result = get_float( median );
+ sc = RTEMS_SUCCESSFUL;
+ }
+
+ return sc;
+}
diff --git a/c/src/lib/libbsp/arm/lpc176x/can/can.c b/c/src/lib/libbsp/arm/lpc176x/can/can.c
new file mode 100755
index 0000000..8bb20f4
--- /dev/null
+++ b/c/src/lib/libbsp/arm/lpc176x/can/can.c
@@ -0,0 +1,542 @@
+/**
+ * @file can.c
+ *
+ * @ingroup lpc176x
+ *
+ * @brief CAN controller for the mbed lpc1768 board.
+ */
+
+/*
+ * Copyright (c) 2014 Taller Technologies.
+ *
+ * @author Diaz Marcos (marcos.diaz at tallertechnologies.com)
+ * @author Daniel Chicco (daniel.chicco at tallertechnologies.com)
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.com/license/LICENSE.
+ */
+
+#include <rtems/status-checks.h>
+#include <bsp/irq.h>
+#include <bsp/can.h>
+#include <bsp/can-defs.h>
+#include <bsp/mbed-pinmap.h>
+
+/**
+ * @brief The standard isr to be installed for all the can devices.
+ *
+ * @param arg unused.
+ */
+static void can_isr( void *arg );
+
+/**
+ * @brief Vector of isr for the can_driver .
+ */
+lpc176x_can_isr_vector isr_vector;
+
+/**
+ * @brief Represents all the can devices, and useful things for initialization.
+ */
+static const can_driver_entry can_driver_table[ CAN_DEVICES_NUMBER ] =
+{
+ {
+ .device = (can_device *) CAN1_BASE_ADDR,
+ .module = LPC176X_MODULE_CAN_0,
+ .pconp_pin = LPC176X_SCB_PCONP_CAN_1,
+ .pins = { DIP9, DIP10 },
+ .pinfunction = LPC176X_PIN_FUNCTION_01
+ },
+ {
+ .device = (can_device *) CAN2_BASE_ADDR,
+ .module = LPC176X_MODULE_CAN_1,
+ .pconp_pin = LPC176X_SCB_PCONP_CAN_2,
+ .pins = { DIP30, DIP29 },
+ .pinfunction = LPC176X_PIN_FUNCTION_10
+ }
+};
+
+/**
+ * @brief The CAN acceptance filter.
+ */
+can_acceptance_filter *const acceptance_filter_device =
+ (can_acceptance_filter *) CAN_ACCEPT_BASE_ADDR;
+
+/**
+ * @brief Sets RX and TX pins for the passed can device number.
+ *
+ * @param cannumber CAN controller to be used.
+ */
+static inline void setpins( const lpc176x_can_number cannumber )
+{
+ const can_driver_entry *const can_driver = &can_driver_table[ cannumber ];
+
+ lpc176x_pin_select( can_driver->pins[ CAN_TX_PIN ],
+ can_driver->pinfunction );
+ lpc176x_pin_select( can_driver->pins[ CAN_RX_PIN ],
+ can_driver->pinfunction );
+}
+
+rtems_status_code can_close( const lpc176x_can_number minor )
+{
+ rtems_status_code sc = RTEMS_INVALID_NUMBER;
+
+ if ( CAN_DRIVER_IS_MINOR_VALID( minor ) ) {
+ sc = RTEMS_SUCCESSFUL;
+ const can_driver_entry *const can_driver = &can_driver_table[ minor ];
+ lpc176x_module_disable( can_driver->module );
+ }
+
+ /*else wrong parameters. return RTEMS_INVALID_NUMBER*/
+
+ return sc;
+}
+
+/**
+ * @brief Enables CAN device.
+ *
+ * @param obj The device to be enabled.
+ */
+static inline void can_enable( const can_driver_entry *const obj )
+{
+ if ( obj->device->MOD & CAN_MOD_RM ) {
+ obj->device->MOD &= ~( CAN_MOD_RM );
+ }
+}
+
+/**
+ * @brief Disables CAN device to set parameters, and returns the previous value
+ * of the MOD register.
+ *
+ * @param obj The device to disable.
+ * @return The previous status of MOD register.
+ */
+static inline uint32_t can_disable( const can_driver_entry *const obj )
+{
+ const uint32_t sm = obj->device->MOD;
+
+ obj->device->MOD |= CAN_MOD_RM;
+
+ return sm;
+}
+
+/**
+ * @brief Resets the error count.
+ *
+ * @param obj which device reset.
+ */
+static inline void can_reset( const can_driver_entry *const obj )
+{
+ can_disable( obj );
+ obj->device->GSR = 0; /* Reset error counter when CANxMOD is in reset*/
+}
+
+/**
+ * @brief This table has the sampling points as close to 75% as possible.
+ * The first value is TSEG1, the second is TSEG2.
+ */
+static const unsigned int timing_pts[ MAX_TSEG1_TSEG2_BITS +
+ 1 ][ CAN_NUMBER_OF_TSEG ] = {
+ { 0x0, 0x0 }, /* 2, 50%*/
+ { 0x1, 0x0 }, /* 3, 67%*/
+ { 0x2, 0x0 }, /* 4, 75%*/
+ { 0x3, 0x0 }, /* 5, 80%*/
+ { 0x3, 0x1 }, /* 6, 67%*/
+ { 0x4, 0x1 }, /* 7, 71%*/
+ { 0x5, 0x1 }, /* 8, 75%*/
+ { 0x6, 0x1 }, /* 9, 78%*/
+ { 0x6, 0x2 }, /* 10, 70%*/
+ { 0x7, 0x2 }, /* 11, 73%*/
+ { 0x8, 0x2 }, /* 12, 75%*/
+ { 0x9, 0x2 }, /* 13, 77%*/
+ { 0x9, 0x3 }, /* 14, 71%*/
+ { 0xA, 0x3 }, /* 15, 73%*/
+ { 0xB, 0x3 }, /* 16, 75%*/
+ { 0xC, 0x3 }, /* 17, 76%*/
+ { 0xD, 0x3 }, /* 18, 78%*/
+ { 0xD, 0x4 }, /* 19, 74%*/
+ { 0xE, 0x4 }, /* 20, 75%*/
+ { 0xF, 0x4 }, /* 21, 76%*/
+ { 0xF, 0x5 }, /* 22, 73%*/
+ { 0xF, 0x6 }, /* 23, 70%*/
+ { 0xF, 0x7 }, /* 24, 67%*/
+};
+
+/**
+ * @brief Checks if divisor is a divisor of value.
+ *
+ * @param value The number to be divided.
+ * @param divisor The divisor to check.
+ *
+ * @return true if "number" is divided by "divisor"; false otherwise.
+ */
+static inline bool is_divisor(
+ const uint32_t value,
+ const uint16_t divisor
+)
+{
+ return ( ( value % divisor ) == 0 );
+}
+
+/**
+ * @brief Gets the size of the two tseg values added according to the given
+ * bitwidth and brp (The CAN prescaler).
+ *
+ * @param bitwidth The total bitwidth of a CAN bit (in pclk clocks).
+ * @param brp The CAN clock prescaler.
+ *
+ * @return The value of tseg1 + tseg2 of the CAN bit. It is useful
+ * to serve for index for timing_pts array).
+ */
+static inline uint32_t get_tseg_bit_size(
+ const uint32_t bitwidth,
+ const uint16_t brp
+)
+{
+ return ( ( bitwidth / ( brp + CAN_BRP_EXTRA_BIT ) ) - CAN_TSEG_EXTRA_BITS );
+}
+
+/**
+ * @brief Gets the brp and tsegbitsize in order to achieve the desired bitwidth.
+ * @details The following must be fullfilled:
+ *(brp + CAN_BRP_EXTRA_BIT) * (tsegbitsize + CAN_TSEG_EXTRA_BITS) == bitwidth
+ *
+ * @param bitwidth The bitwidth that we need to achieve.
+ * @param brp Here it returns the calculated brp value.
+ * @param tsegbitsize Here it returns the calculated tseg bit size value.
+ * @return true if brp and tsegbitsize have been calculated.
+ */
+static inline bool get_brp_and_bitsize(
+ const uint32_t bitwidth,
+ uint16_t *const brp,
+ uint32_t *const tsegbitsize
+)
+{
+ bool hit = false;
+
+ while ( ( !hit ) && ( *brp < bitwidth / MIN_NUMBER_OF_CAN_BITS ) ) {
+ if ( ( is_divisor( bitwidth, *brp + CAN_BRP_EXTRA_BIT ) )
+ && ( get_tseg_bit_size( bitwidth, *brp ) < MAX_TSEG1_TSEG2_BITS ) ) {
+ hit = true;
+ *tsegbitsize = get_tseg_bit_size( bitwidth, *brp );
+ } else { /*Correct values not found, keep looking*/
+ ( *brp )++;
+ }
+ }
+
+ return hit;
+}
+
+/**
+ * @brief Constructs the btr register with the passed arguments.
+ *
+ * @param tsegbitsize The size tseg bits to set.
+ * @param psjw The sjw to set.
+ * @param brp The prescaler value to set.
+ * @return The constructed btr register.
+ */
+static inline uint32_t get_btr(
+ const uint32_t tsegbitsize,
+ const unsigned char psjw,
+ const uint32_t brp
+)
+{
+ const uint32_t tseg2_value_masked =
+ ( ( timing_pts[ tsegbitsize ][ CAN_TSEG2 ] << CAN_BTR_TSEG2_SHIFT ) &
+ CAN_BTR_TSEG2_MASK );
+ const uint32_t tseg1_value_masked =
+ ( ( timing_pts[ tsegbitsize ][ CAN_TSEG1 ] <<
+ CAN_BTR_TSEG1_SHIFT ) & CAN_BTR_TSEG1_MASK );
+ const uint32_t psjw_value_masked =
+ ( ( psjw << CAN_BTR_SJW_SHIFT ) & CAN_BTR_SJW_MASK );
+ const uint32_t brp_value_masked =
+ ( ( brp << CAN_BTR_BRP_SHIFT ) & CAN_BTR_BRP_MASK );
+
+ return tseg1_value_masked | tseg2_value_masked |
+ psjw_value_masked | brp_value_masked;
+}
+
+/**
+ * @brief Calculates and returns a bit timing register (btr) for the desired
+ * canclk frequency using the passed psjw, system clock and peripheral clock.
+ *
+ * @param systemclk The clock of the system (in Hz).
+ * @param pclkdiv The peripheral clock divisor for the can device.
+ * @param canclk The desired frequency for CAN (in Hz).
+ * @param psjw The desired psjw.
+ * @return The btr register value if found, WRONG_BTR_VALUE otherwise.
+ */
+static inline unsigned int can_speed(
+ const unsigned int systemclk,
+ const unsigned int pclkdiv,
+ const unsigned int canclk,
+ const unsigned char psjw
+)
+{
+ uint32_t btr = WRONG_BTR_VALUE;
+ const uint32_t bitwidth = systemclk / ( pclkdiv * canclk );
+
+ /* This is for the brp (prescaler) to start searching a reachable multiple.*/
+ uint16_t brp = bitwidth / MAX_NUMBER_OF_CAN_BITS;
+ uint32_t tsegbitsize;
+
+ if ( get_brp_and_bitsize( bitwidth, &brp, &tsegbitsize ) ) {
+ btr = get_btr( tsegbitsize, psjw, brp );
+ }
+
+ return btr;
+}
+
+/**
+ * @brief Configures the desired CAN device with the desired frequency.
+ *
+ * @param obj The can device to configure.
+ * @param f The desired frequency.
+ *
+ * @return RTEMS_SUCCESSFUL if could be set, RTEMS_INVALID_NUMBER otherwise.
+ */
+static rtems_status_code can_frequency(
+ const can_driver_entry *const obj,
+ const can_freq freq
+)
+{
+ rtems_status_code sc = RTEMS_INVALID_NUMBER;
+ const uint32_t btr = can_speed( LPC176X_CCLK, LPC176X_PCLKDIV, freq, 1 );
+
+ if ( btr != WRONG_BTR_VALUE ) {
+ sc = RTEMS_SUCCESSFUL;
+ uint32_t modmask = can_disable( obj );
+ obj->device->BTR = btr;
+ obj->device->MOD = modmask;
+ } /*else couldnt found a good timing for the desired frequency,
+ return RTEMS_INVALID_NUMBER.*/
+
+ return sc;
+}
+
+/**
+ * @brief Installs the interrupt handler in rtems.
+ */
+static inline rtems_status_code can_initialize( void )
+{
+ return rtems_interrupt_handler_install(
+ LPC176X_IRQ_CAN,
+ "can_interrupt",
+ RTEMS_INTERRUPT_UNIQUE,
+ can_isr,
+ NULL
+ );
+}
+
+rtems_status_code can_open( const lpc176x_can_number minor, can_freq freq )
+{
+ const can_driver_entry *const can_driver = &can_driver_table[ minor ];
+ rtems_status_code sc = RTEMS_INVALID_NUMBER;
+
+ if ( CAN_DRIVER_IS_MINOR_VALID( minor ) ) {
+ /*Enable CAN and acceptance filter modules.*/
+ sc =
+ lpc176x_module_enable( can_driver->module, LPC176X_MODULE_PCLK_DEFAULT );
+ RTEMS_CHECK_SC( sc, "enable can module" );
+ sc = lpc176x_module_enable( LPC176X_MODULE_ACCF,
+ LPC176X_MODULE_PCLK_DEFAULT );
+ RTEMS_CHECK_SC( sc, "enable acceptance filter" );
+ /*Set pin functions.*/
+ setpins( minor );
+
+ can_reset( can_driver );
+ can_driver->device->IER = CAN_DEFAULT_INTERRUPT_CONFIGURATION;
+ sc = can_frequency( can_driver, freq );
+ RTEMS_CHECK_SC( sc, "Configure CAN frequency" );
+ can_initialize();
+
+ acceptance_filter_device->AFMR = CAN_ACCF_AFMR_ACCBP; /*Bypass Filter.*/
+ }
+
+ return sc;
+}
+
+/**
+ * @brief Calls the installed isrs, according to the active interrupts.
+ *
+ * @param vector The read vector of active interrupts.
+ * @param number The CAN device to look for interruptions.
+ */
+static inline void call_isrs(
+ const uint32_t vector,
+ const lpc176x_can_number number
+)
+{
+ can_irq_type i;
+
+ for ( i = IRQ_RX; i < CAN_IRQ_NUMBER; ++i ) {
+ if ( ( isr_vector[ i ] != NULL ) && ( vector & ( 1 << i ) ) )
+ isr_vector[ i ]( number );
+
+ /* else this interrupt has not been raised or it hasn't got a handler,
+ so do nothing.*/
+ }
+}
+
+/**
+ * @brief Checks if the passed CAN device is enabled and if it is checks for
+ * active interrupts and calls its installed isr.
+ *
+ * @param number The CAN device to check for interrupts rised.
+ */
+static inline void search_and_call_int( const lpc176x_can_number number )
+{
+ const can_driver_entry *const driver = &can_driver_table[ number ];
+
+ if ( LPC176X_SCB.pconp & driver->pconp_pin ) {
+ /*We must read the whole register at once because it resets when read.*/
+ const uint32_t int_vector = driver->device->ICR & CAN_INTERRUPT_TYPE_MASK;
+ call_isrs( int_vector, number );
+ }
+
+ /*else the device is shut down so we must do nothing.*/
+}
+
+/**
+ * @brief The standard isr to be installed for all the CAN devices.
+ *
+ * @param arg unused.
+ */
+static void can_isr( void *arg )
+{
+ lpc176x_can_number i;
+
+ for ( i = CAN_0; i < CAN_DEVICES_NUMBER; ++i ) {
+ search_and_call_int( i );
+ }
+}
+
+rtems_status_code can_read(
+ const lpc176x_can_number minor,
+ can_message *message
+)
+{
+ rtems_status_code sc = RTEMS_IO_ERROR;
+ const can_driver_entry *const can_driver = &can_driver_table[ minor ];
+ can_device *const dev = can_driver->device;
+ registers_can_message *const msg = &( message->registers );
+
+ can_enable( can_driver );
+
+ if ( dev->GSR & CAN_GSR_RBS_MASK ) {
+ sc = RTEMS_SUCCESSFUL;
+ *msg = dev->receive;
+ dev->CMR = CAN_CMR_RRB_MASK; /* release receive buffer. */
+ } /* else Message not received.*/
+
+ return sc;
+}
+
+/**
+ * @brief Array of masks and control bits for the transmit buffers.
+ * It's used for each transmit buffer in order to see if it's available and to
+ * send data to them.
+ */
+static const can_transmit_info transmit_info[ CAN_NUMBER_OF_TRANSMIT_BUFFERS ]
+ =
+ {
+ {
+ .can_status_mask = 0x00000004U,
+ .not_cc_cmr_value = 0x21U
+ },
+ {
+ .can_status_mask = 0x00000400U,
+ .not_cc_cmr_value = 0x41U
+ },
+ {
+ .can_status_mask = 0x00040000U,
+ .not_cc_cmr_value = 0x81U
+ }
+ };
+
+rtems_status_code can_write(
+ const lpc176x_can_number minor,
+ const can_message *const message
+)
+{
+ const can_driver_entry *const can_driver = &can_driver_table[ minor ];
+ can_device *const obj = can_driver->device;
+ const uint32_t CANStatus = obj->SR;
+
+ const registers_can_message *const msg = &( message->registers );
+ rtems_status_code sc = RTEMS_IO_ERROR;
+ can_transmit_number transmit_buffer;
+
+ can_enable( can_driver );
+
+ for ( transmit_buffer = CAN_TRANSMIT1;
+ ( sc != RTEMS_SUCCESSFUL ) && ( transmit_buffer <
+ CAN_NUMBER_OF_TRANSMIT_BUFFERS );
+ ++transmit_buffer ) {
+ if ( CANStatus & transmit_info[ transmit_buffer ].can_status_mask ) {
+ sc = RTEMS_SUCCESSFUL;
+ obj->transmit[ transmit_buffer ] = *msg;
+ obj->CMR = transmit_info[ transmit_buffer ].not_cc_cmr_value;
+ } /*else can buffer busy, try with the next.*/
+ }
+
+ return sc;
+}
+
+/**
+ * @brief Enables the interrupt type passed to the desired CAN device.
+ *
+ * @param number The CAN device to enable the interrupts.
+ * @param type The type of interrupt to enable.
+ */
+static inline void can_enable_interrupt(
+ const lpc176x_can_number number,
+ const can_irq_type type
+)
+{
+ const can_driver_entry *const driver = &can_driver_table[ number ];
+ const uint32_t ier = 1 << type;
+
+ can_disable( driver );
+ driver->device->IER |= ier;
+ can_enable( driver );
+}
+
+rtems_status_code can_register_isr(
+ const lpc176x_can_number number,
+ const can_irq_type type,
+ const lpc176x_can_isr isr
+)
+{
+ rtems_status_code sc = RTEMS_INVALID_NUMBER;
+
+ if ( ( 0 <= type ) && ( type < CAN_IRQ_NUMBER ) ) {
+ sc = RTEMS_SUCCESSFUL;
+ isr_vector[ type ] = isr;
+ can_enable_interrupt( number, type );
+ }
+
+ return sc;
+}
+
+rtems_status_code create_can_message(
+ can_message *const msg,
+ const int _id,
+ const char *const _data,
+ const char _len
+)
+{
+ rtems_status_code sc = RTEMS_INVALID_NUMBER;
+
+ if ( ( _len <= CAN_MAXIMUM_DATA_SIZE ) && ( _id <= CAN10_MAXIMUM_ID ) ) {
+ sc = RTEMS_SUCCESSFUL;
+ msg->low_level.dlc = _len;
+ msg->low_level.type = CANStandard;
+ msg->low_level.rtr = CANData;
+ msg->low_level.id = _id;
+ memcpy( msg->low_level.data, _data, _len );
+ }
+
+ return sc;
+}
+
diff --git a/c/src/lib/libbsp/arm/lpc176x/configure.ac b/c/src/lib/libbsp/arm/lpc176x/configure.ac
index 7fd04f8..c03013f 100644
--- a/c/src/lib/libbsp/arm/lpc176x/configure.ac
+++ b/c/src/lib/libbsp/arm/lpc176x/configure.ac
@@ -49,6 +49,9 @@ RTEMS_BSPOPTS_HELP([LPC176X_PCLKDIV],[clock divider for default
RTEMS_BSPOPTS_SET([LPC176X_UART_BAUD],[*],[9600U])
RTEMS_BSPOPTS_HELP([LPC176X_UART_BAUD],[baud for UARTs])
+RTEMS_BSPOPTS_SET([LPC176X_CONFIG_UART_1],[*],[1])
+RTEMS_BSPOPTS_HELP([LPC176X_CONFIG_UART_1],[Use Uart 1])
+
RTEMS_BSPOPTS_SET([LPC176X_CONFIG_CONSOLE],[*],[0])
RTEMS_BSPOPTS_HELP([LPC176X_CONFIG_CONSOLE],[configuration
for console (UART 0)])
diff --git a/c/src/lib/libbsp/arm/lpc176x/console/console-config.c b/c/src/lib/libbsp/arm/lpc176x/console/console-config.c
index 3b56a2c..6e1ebc2 100644
--- a/c/src/lib/libbsp/arm/lpc176x/console/console-config.c
+++ b/c/src/lib/libbsp/arm/lpc176x/console/console-config.c
@@ -62,6 +62,42 @@ static inline void lpc176x_uart_set_register(
reg[ i ] = val;
}
+static bool lpc176x_uart1_probe(rtems_termios_device_context *ctx)
+{
+ (void)ctx;
+
+ lpc176x_module_enable( LPC176X_MODULE_UART_1, LPC176X_MODULE_PCLK_DEFAULT );
+
+ lpc176x_pin_select( LPC176X_PIN_UART_1_TXD, LPC176X_PIN_FUNCTION_01 );
+ lpc176x_pin_select( LPC176X_PIN_UART_1_RXD, LPC176X_PIN_FUNCTION_01 );
+
+ return true;
+}
+
+static bool lpc176x_uart2_probe(rtems_termios_device_context *ctx)
+{
+ (void)ctx;
+
+ lpc176x_module_enable( LPC176X_MODULE_UART_2, LPC176X_MODULE_PCLK_DEFAULT );
+
+ lpc176x_pin_select( LPC176X_PIN_UART_2_TXD, LPC176X_PIN_FUNCTION_01 );
+ lpc176x_pin_select( LPC176X_PIN_UART_2_RXD, LPC176X_PIN_FUNCTION_01 );
+
+ return true;
+}
+
+static bool lpc176x_uart3_probe(rtems_termios_device_context *ctx)
+{
+ (void)ctx;
+
+ lpc176x_module_enable( LPC176X_MODULE_UART_3, LPC176X_MODULE_PCLK_DEFAULT );
+
+ lpc176x_pin_select( LPC176X_PIN_UART_3_TXD, LPC176X_PIN_FUNCTION_10 );
+ lpc176x_pin_select( LPC176X_PIN_UART_3_RXD, LPC176X_PIN_FUNCTION_10 );
+
+ return true;
+}
+
#ifdef LPC176X_CONFIG_CONSOLE
static ns16550_context lpc176x_uart_context_0 = {
.base = RTEMS_TERMIOS_DEVICE_CONTEXT_INITIALIZER("UART 0"),
@@ -126,7 +162,7 @@ const console_device console_device_table[] = {
#ifdef LPC176X_CONFIG_UART_1
{
.device_file = "/dev/ttyS1",
- .probe = ns16550_probe,
+ .probe = lpc176x_uart1_probe,
.handler = &ns16550_handler_interrupt,
.context = &lpc176x_uart_context_1.base
},
@@ -134,7 +170,7 @@ const console_device console_device_table[] = {
#ifdef LPC176X_CONFIG_UART_2
{
.device_file = "/dev/ttyS2",
- .probe = ns16550_probe,
+ .probe = lpc176x_uart2_probe,
.handler = &ns16550_handler_interrupt,
.context = &lpc176x_uart_context_2.base
},
@@ -142,7 +178,7 @@ const console_device console_device_table[] = {
#ifdef LPC176X_CONFIG_UART_3
{
.device_file = "/dev/ttyS3",
- .probe = ns16550_probe,
+ .probe = lpc176x_uart3_probe,
.handler = &ns16550_handler_interrupt,
.context = &lpc176x_uart_context_3.base
},
diff --git a/c/src/lib/libbsp/arm/lpc176x/include/adc-defs.h b/c/src/lib/libbsp/arm/lpc176x/include/adc-defs.h
new file mode 100755
index 0000000..04e6a29
--- /dev/null
+++ b/c/src/lib/libbsp/arm/lpc176x/include/adc-defs.h
@@ -0,0 +1,96 @@
+/**
+ * @file adc-defs.h
+ *
+ * @ingroup lpc176x
+ *
+ * @brief ADC library for the lpc176x bsp.
+ */
+
+/*
+ * Copyright (c) 2014 Taller Technologies.
+ *
+ * @author Diaz Marcos (marcos.diaz at tallertechnologies.com)
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.com/license/LICENSE.
+ */
+#ifndef LPC176X_ADC_DEFS_H
+#define LPC176X_ADC_DEFS_H
+
+#include <bsp.h>
+#include <bsp/io.h>
+#include <bsp/lpc176x.h>
+#include <bsp/adc.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+ * @brief The ADC inputs of the board.
+ */
+typedef enum {
+ ADC_0,
+ ADC_1,
+ ADC_2,
+ ADC_3,
+ ADC_4,
+ ADC_5,
+ ADC_6,
+ ADC_7,
+ ADC_DEVICES_COUNT
+} lpc176x_adc_number;
+
+#define MAX_ADC_CLK 13000000u
+
+#define ADC_RANGE 0xFFFu
+
+#define ADC_NUMBER_VALID( number ) ( ( (uint32_t) number ) < \
+ ADC_DEVICES_COUNT )
+
+#define ADC_CR_SEL( val ) BSP_FLD32( val, 0, 7 )
+#define ADC_CR_SEL_GET( val ) BSP_FLD32GET( val, 0, 7 )
+#define ADC_CR_SEL_SET( reg, val ) BSP_FLD32SET( reg, val, 0, 7 )
+#define ADC_CR_CLKDIV( val ) BSP_FLD32( val, 8, 15 )
+#define ADC_CR_CLKDIV_GET( reg ) BSP_FLD32GET( reg, 8, 15 )
+#define ADC_CR_CLKDIV_SET( reg, val ) BSP_FLD32SET( reg, val, 8, 15 )
+#define ADC_CR_BURST BSP_BIT32( 16 )
+#define ADC_CR_CLKS( val ) BSP_FLD32( val, 17, 19 )
+#define ADC_CR_PDN BSP_BIT32( 21 )
+#define ADC_CR_START_NOW BSP_BIT32( 24 )
+#define ADC_CR_START( val ) BSP_FLD32( val, 24, 26 )
+#define ADC_CR_EDGE BSP_BIT32( 27 )
+
+#define ADC_DR_VALUE( reg ) BSP_FLD32GET( reg, 4, 15 )
+#define ADC_DR_OVERRUN BSP_BIT32( 30 )
+#define ADC_DR_DONE BSP_BIT32( 31 )
+
+#define ADC_DATA_CONVERSION_DONE( val ) ( ( val & ADC_DR_DONE ) != 0u )
+
+/**
+ * @brief The ADC low-level device.
+ */
+typedef struct {
+ volatile uint32_t ADCR;
+ volatile uint32_t ADGDR;
+ volatile uint32_t RESERVED0;
+ volatile uint32_t ADINTEN;
+ volatile uint32_t ADDR[ ADC_DEVICES_COUNT ];
+ volatile uint32_t ADSTAT;
+ volatile uint32_t ADTRM;
+} lpc176x_adc_device;
+
+/**
+ * @brief Represents the pin and function for each ADC input.
+ */
+typedef struct {
+ uint32_t pin_number;
+ lpc176x_pin_function pin_function;
+} lpc176x_adc_pin_map;
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif
diff --git a/c/src/lib/libbsp/arm/lpc176x/include/adc.h b/c/src/lib/libbsp/arm/lpc176x/include/adc.h
new file mode 100755
index 0000000..b8eef42
--- /dev/null
+++ b/c/src/lib/libbsp/arm/lpc176x/include/adc.h
@@ -0,0 +1,60 @@
+/**
+ * @file adc.h
+ *
+ * @ingroup lpc176x
+ *
+ * @brief ADC library for the lpc176x bsp.
+ */
+
+/*
+ * Copyright (c) 2014 Taller Technologies.
+ *
+ * @author Diaz Marcos (marcos.diaz at tallertechnologies.com)
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.com/license/LICENSE.
+ */
+
+#ifndef LPC176X_ADC_H
+#define LPC176X_ADC_H
+
+#include <bsp.h>
+#include <bsp/common-types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+ * @brief Opens and initializes the ADC device.
+ *
+ * @param adc_number The ADC pin number to be initialized.
+ * @return RTEMS_SUCCESSFUL if the initialization was succesful,
+ * RTEMS_INVALID_NUMBER if wrong parameter.
+ */
+rtems_status_code adc_open( const lpc176x_pin_number pin_number );
+
+/**
+ * @brief Closes the ADC device.
+ *
+ * @return RTEMS_SUCCESSFUL if closed succesfully.
+ */
+rtems_status_code adc_close( void );
+
+/**
+ * @brief Starts a conversion, waits for it to finish and reads the value.
+ *
+ * @param pin_number The port to read the value.
+ * @param result The read result. (In a percentage between 0.0f and 1.0f).
+ */
+rtems_status_code adc_read(
+ const lpc176x_pin_number pin_number ,
+ float *const result
+);
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif
diff --git a/c/src/lib/libbsp/arm/lpc176x/include/can-defs.h b/c/src/lib/libbsp/arm/lpc176x/include/can-defs.h
new file mode 100755
index 0000000..aee980a
--- /dev/null
+++ b/c/src/lib/libbsp/arm/lpc176x/include/can-defs.h
@@ -0,0 +1,183 @@
+/**
+ * @file can-defs.h
+ *
+ * @ingroup lpc176x
+ *
+ * @brief CAN controller for the lpc176x controller.
+ */
+
+/*
+ * Copyright (c) 2014 Taller Technologies.
+ *
+ * @author Diaz Marcos (marcos.diaz at tallertechnologies.com)
+ * @author Daniel Chicco (daniel.chicco at tallertechnologies.com)
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.com/license/LICENSE.
+ */
+
+#ifndef LPC176X_TIMER_DEFS_H
+#define LPC176X_TIMER_DEFS_H
+
+#include <bsp/common-types.h>
+#include <bsp/can.h>
+
+/* CAN ACCEPTANCE FILTER */
+#define CAN_ACCEPT_BASE_ADDR 0x4003C000
+
+#define CAN_DRIVER_IS_MINOR_VALID( minor ) ( minor < CAN_DEVICES_NUMBER )
+#define CAN_DEFAULT_BAUD_RATE 1000000u
+#define CAN_DEFAULT_INTERRUPT_CONFIGURATION 0
+
+#define MAX_NUMBER_OF_CAN_BITS 25u
+#define MIN_NUMBER_OF_CAN_BITS 4u
+#define CAN_BRP_EXTRA_BIT 1u
+#define CAN_TSEG_EXTRA_BITS 3u
+#define MAX_TSEG1_TSEG2_BITS 22u
+
+#define CAN_GSR_RBS_MASK 1u
+#define CAN_CMR_RRB_MASK 4u
+
+#define CAN_MAXIMUM_DATA_SIZE 8u
+#define CAN10_MAXIMUM_ID 0x7FFu
+
+/**
+ * @brief The Time segments of a CAN bit.
+ */
+typedef enum {
+ CAN_TSEG1,
+ CAN_TSEG2,
+ CAN_NUMBER_OF_TSEG,
+} can_tseg_number;
+
+#define CAN_BTR_TSEG1_SHIFT 16u
+#define CAN_BTR_TSEG2_SHIFT 20u
+#define CAN_BTR_SJW_SHIFT 14u
+#define CAN_BTR_BRP_SHIFT 0u
+
+#define CAN_BTR_TSEG1_MASK 0x000F0000U
+#define CAN_BTR_TSEG2_MASK 0x00700000U
+#define CAN_BTR_SJW_MASK 0x0000C000U
+#define CAN_BTR_BRP_MASK 0x000003FFU
+
+#define WRONG_BTR_VALUE 0xFFFFFFFF
+
+/**
+ * @brief The transmit buffers of the CAN device.
+ */
+typedef enum {
+ CAN_TRANSMIT1,
+ CAN_TRANSMIT2,
+ CAN_TRANSMIT3,
+ CAN_NUMBER_OF_TRANSMIT_BUFFERS
+} can_transmit_number;
+
+/**
+ * @brief The CAN status and control masks to send a message
+ * for each transmit buffer.
+ */
+typedef struct {
+ uint32_t can_status_mask;
+ uint32_t not_cc_cmr_value;
+} can_transmit_info;
+
+/** @brief Represents the CAN controller registers.*/
+typedef struct {
+ volatile uint32_t MOD;
+ volatile uint32_t CMR;
+ volatile uint32_t GSR;
+ volatile uint32_t ICR;
+ volatile uint32_t IER;
+ volatile uint32_t BTR;
+ volatile uint32_t EWL;
+ volatile uint32_t SR;
+ volatile registers_can_message receive;
+ volatile registers_can_message transmit[ CAN_NUMBER_OF_TRANSMIT_BUFFERS ];
+} can_device;
+
+/**
+ * @brief A TX or RX pin for each CAN device .
+ */
+typedef enum {
+ CAN_TX_PIN,
+ CAN_RX_PIN,
+ NUMBER_OF_CAN_PINS
+} can_pin_number;
+
+/**
+ * @brief A driver entry for each low level device.
+ */
+typedef struct {
+ can_device *const device;
+ const lpc176x_module module;
+ const uint32_t pconp_pin;
+ const uint32_t pins[ NUMBER_OF_CAN_PINS ];
+ const lpc176x_pin_function pinfunction;
+} can_driver_entry;
+
+/** @brief Represents the CAN centralized registers. */
+typedef struct {
+ volatile uint32_t TX_SR;
+ volatile uint32_t RX_SR;
+ volatile uint32_t MSR;
+} can_central;
+
+/** @brief Represents the acceptance filter registers. */
+typedef struct {
+ volatile uint32_t AFMR;
+ volatile uint32_t SFF_SA;
+ volatile uint32_t SFF_GRP_SA;
+ volatile uint32_t EFF_SA;
+ volatile uint32_t EFF_GRP_SA;
+ volatile uint32_t EOT;
+ volatile uint32_t LUT_ERR_ADR;
+ volatile uint32_t LUT_ERR;
+ volatile uint32_t FCANIE;
+ volatile uint32_t FCANIC0;
+ volatile uint32_t FCANIC1;
+} can_acceptance_filter;
+
+/**
+ * @brief The possible CAN formats for a message.
+ */
+typedef enum {
+ CANStandard = 0,
+ CANExtended = 1,
+ CANAny = 2
+} can_format;
+
+/**
+ * @brief The types of message.
+ */
+typedef enum {
+ CANData = 0,
+ CANRemote = 1
+} can_type;
+
+#define CAN_INTERRUPT_TYPE_MASK 0x1ffu
+
+/**
+ * @brief The vector with all the callbacks for the CAN isr.
+ */
+typedef lpc176x_can_isr lpc176x_can_isr_vector[ CAN_IRQ_NUMBER ];
+
+#define CAN_MOD_RM 0x00000001U
+
+#define CAN_ACCF_AFMR_ACCOF 0x00000001U
+#define CAN_ACCF_AFMR_ACCBP 0x00000002U
+#define CAN_ACCF_AFMR_EFCAN 0x00000004U
+
+#define CAN_IER_RIE 0x000000001U
+#define CAN_IER_TIE1 0x000000002U
+#define CAN_IER_EIE 0x000000004U
+#define CAN_IER_DOIE 0x000000008U
+#define CAN_IER_WUIE 0x000000010U
+#define CAN_IER_EPIEX 0x000000020U
+#define CAN_IER_ALIEX 0x000000040U
+#define CAN_IER_BEIEX 0x000000080U
+#define CAN_IER_IDIEX 0x000000100U
+#define CAN_IER_TIE2 0x000000200U
+#define CAN_IER_TIE3 0x000000400U
+
+#endif /*LPC176X_TIMER_DEFS_H*/
diff --git a/c/src/lib/libbsp/arm/lpc176x/include/can.h b/c/src/lib/libbsp/arm/lpc176x/include/can.h
new file mode 100755
index 0000000..de3fa55
--- /dev/null
+++ b/c/src/lib/libbsp/arm/lpc176x/include/can.h
@@ -0,0 +1,179 @@
+/**
+ * @file can.h
+ *
+ * @ingroup lpc176x
+ *
+ * @brief CAN controller for the mbed lpc1768 board.
+ */
+
+/*
+ * Copyright (c) 2014 Taller Technologies.
+ *
+ * @author Diaz Marcos (marcos.diaz at tallertechnologies.com)
+ * @author Daniel Chicco (daniel.chicco at tallertechnologies.com)
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.com/license/LICENSE.
+ */
+
+#ifndef LPC176X_CAN_H
+#define LPC176X_CAN_H
+
+#include <bsp.h>
+#include <bsp/io.h>
+#include <bsp/lpc176x.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+ * @brief The CAN devices of the board.
+ */
+typedef enum {
+ CAN_0,
+ CAN_1,
+ CAN_DEVICES_NUMBER
+} lpc176x_can_number;
+
+/**
+ * @brief A CAN message represented for the registers of the device.
+ */
+typedef struct {
+ uint32_t info;
+ uint32_t id;
+ uint32_t data_a;
+ uint32_t data_b;
+} registers_can_message;
+
+/**
+ * @brief A CAN message represented with each logical parts
+ */
+typedef struct {
+ unsigned int reserved1 : 16;
+ unsigned int dlc : 4; /* Bits 16..19: DLC - Data Length Counter*/
+ unsigned int reserved0 : 10;
+ unsigned int rtr : 1; /* Bit 30: Set if this is a RTR message*/
+ unsigned int type : 1; /* Bit 31: Set if this is a 29-bit ID message*/
+ unsigned int id; /* CAN Message ID (11-bit or 29-bit)*/
+ unsigned char data[ 8 ]; /* CAN Message Data Bytes 0-7*/
+} low_level_can_message;
+
+/**
+ * @brief A CAN message represented of both forms.
+ */
+typedef union {
+ low_level_can_message low_level;
+ registers_can_message registers;
+} can_message;
+
+/**
+ * @brief The possible interrupt sources for CAN.
+ */
+typedef enum {
+ IRQ_RX = 0,
+ IRQ_TX,
+ IRQ_ERROR,
+ IRQ_OVERRUN,
+ IRQ_WAKEUP,
+ IRQ_PASSIVE,
+ IRQ_ARB,
+ IRQ_BUS,
+ IRQ_READY,
+ CAN_IRQ_NUMBER
+} can_irq_type;
+
+/**
+ * @brief An isr for a CAN interrupt
+ *
+ * @param number The CAN which rised the interrupt.
+ */
+typedef void (*lpc176x_can_isr) ( lpc176x_can_number number );
+
+/**
+ * @brief A CAN frequency value
+ */
+typedef unsigned int can_freq;
+
+/**
+ * @brief Opens CAN device.
+ * @details It enables the module and gives it a clock, sets the pins,
+ * disables the interrupts, sets the frequency and bypasses
+ * the acceptance filter.
+ *
+ * @param minor The device to open.
+ * @param freq The desired frequency.
+ * @return RTEMS_SUCCESFUL on success.
+ */
+rtems_status_code can_open( lpc176x_can_number minor, can_freq freq );
+
+/**
+ * @brief Closes the passed CAN device and shut it down.
+ *
+ * @param minor The device to close.
+ * @return RTEMS_SUCCESSFUL if ok, RTEMS_INVALID_NUMBER for a bad parameter.
+ */
+rtems_status_code can_close( lpc176x_can_number minor );
+
+/**
+ * @brief Reads the CAN device.
+ *
+ * @param minor The CAN device to read.
+ * @param message The read message.
+ * @return RTEMS_SUCCESSFUL if read ok, RTEMS_IO_ERROR otherwise.
+ */
+rtems_status_code can_read(
+ const lpc176x_can_number minor,
+ can_message *message
+);
+
+/**
+ * @brief Writes the passed CAN message into the selected CAN device.
+ *
+ * @param minor The device to write.
+ * @param message The message to write.
+ * @return RTEMS_SUCCESFUL if write ok. RTEMS_IO_ERROR otherwise.
+ */
+rtems_status_code can_write(
+ const lpc176x_can_number minor,
+ const can_message *const message
+);
+
+/**
+ * @brief Registers an isr in the driver vector, and enables the interrupt
+* in the device.
+ *
+ * @param number The CAN device to set
+ * @param type The interrupt type.
+ * @param isr The isr to register.
+ * @return RTEMS_SUCCESSFUL if ok RTEMS_INVALID_NUMBER otherwise.
+ */
+rtems_status_code can_register_isr(
+ const lpc176x_can_number number,
+ const can_irq_type type,
+ const lpc176x_can_isr isr
+);
+
+/**
+ * @brief Creates a CAN message.
+ * @details [long description]
+ *
+ * @param msg The created message.
+ * @param _id The can id for the message.
+ * @param _data The data of the message.
+ * @param _len The lenght of the message.
+ * @return RTEMS_SUCCESFUL if created, RTEMS_INVALID_NUMBER otherwise.
+ */
+rtems_status_code create_can_message(
+ can_message *const msg,
+ const int _id,
+ const char *const _data,
+ const char _len
+);
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* ifndef LPC176X_CAN_H */
diff --git a/c/src/lib/libbsp/arm/lpc176x/include/common-types.h b/c/src/lib/libbsp/arm/lpc176x/include/common-types.h
index dec487c..ad6b4ed 100644
--- a/c/src/lib/libbsp/arm/lpc176x/include/common-types.h
+++ b/c/src/lib/libbsp/arm/lpc176x/include/common-types.h
@@ -46,6 +46,7 @@ typedef enum {
LPC176X_MODULE_ADC,
LPC176X_MODULE_CAN_0,
LPC176X_MODULE_CAN_1,
+ LPC176X_MODULE_ACCF,
LPC176X_MODULE_DAC,
LPC176X_MODULE_GPDMA,
LPC176X_MODULE_GPIO,
diff --git a/c/src/lib/libbsp/arm/lpc176x/include/io-defs.h b/c/src/lib/libbsp/arm/lpc176x/include/io-defs.h
index a0afdf4..fd8fcf6 100644
--- a/c/src/lib/libbsp/arm/lpc176x/include/io-defs.h
+++ b/c/src/lib/libbsp/arm/lpc176x/include/io-defs.h
@@ -43,6 +43,12 @@ extern "C" {
#define LPC176X_PIN_SELECT_MASK_SIZE 2U
#define LPC176X_PIN_UART_0_TXD 2U
#define LPC176X_PIN_UART_0_RXD 3U
+#define LPC176X_PIN_UART_1_TXD 15U
+#define LPC176X_PIN_UART_1_RXD 16U
+#define LPC176X_PIN_UART_2_TXD 10U
+#define LPC176X_PIN_UART_2_RXD 11U
+#define LPC176X_PIN_UART_3_TXD 0U
+#define LPC176X_PIN_UART_3_RXD 1U
#define LPC176X_MODULE_BITS_COUNT 32U
#define LPC176X_MODULE_COUNT ( LPC176X_MODULE_USB + 1U )
@@ -69,6 +75,19 @@ typedef enum {
lpc176x_pin_function;
/**
+ * @brief Defines the pin modes.
+ *
+ */
+typedef enum {
+ LPC176X_PIN_MODE_PULLUP,
+ LPC176X_PIN_MODE_REPEATER,
+ LPC176X_PIN_MODE_NONE,
+ LPC176X_PIN_MODE_PULLDOWN,
+ LPC176X_PIN_MODE_COUNT
+}
+lpc176x_pin_mode;
+
+/**
* @brief Defines all type of pins.
*
* Enumerated type to define the set of pin type for a io device.
diff --git a/c/src/lib/libbsp/arm/lpc176x/include/io.h b/c/src/lib/libbsp/arm/lpc176x/include/io.h
index e7c0dd0..9538372 100644
--- a/c/src/lib/libbsp/arm/lpc176x/include/io.h
+++ b/c/src/lib/libbsp/arm/lpc176x/include/io.h
@@ -31,7 +31,7 @@ extern "C" {
#endif /* __cplusplus */
/**
- * @brief Set pin to the selected function.
+ * @brief Sets pin to the selected function.
*
* @param pin The pin to set.
* @param function Defines the function to set.
@@ -42,6 +42,17 @@ void lpc176x_pin_select(
);
/**
+ * @brief Sets pin to the selected mode.
+ *
+ * @param pin The pin to set.
+ * @param mode Defines the mode to set.
+ */
+void lpc176x_pin_set_mode(
+ const uint32_t pin,
+ const lpc176x_pin_mode mode
+);
+
+/**
* @brief Enables the module power and clock.
*
* @param module Represents the module to be enabled.
diff --git a/c/src/lib/libbsp/arm/lpc176x/include/lpc176x.h b/c/src/lib/libbsp/arm/lpc176x/include/lpc176x.h
index 951c33b..99395b8 100644
--- a/c/src/lib/libbsp/arm/lpc176x/include/lpc176x.h
+++ b/c/src/lib/libbsp/arm/lpc176x/include/lpc176x.h
@@ -176,12 +176,12 @@ typedef struct {
#define LPC176X_SCB_PBOOST_BOOST BSP_BIT32( 0 )
#define LPC176X_SCB_CLKOUTCFG_CLKOUTSEL( val ) BSP_FLD32( val, 3, 0 )
#define LPC176X_SCB_CLKOUTCFG_CLKOUTSEL_GET( reg ) BSP_FLD32GET( reg, 3, 0 )
-#define LPC176X_SCB_CLKOUTCFG_CLKOUTSEL_SET( reg, val ) BSP_FLD32SET( reg, val, \
- 3, 0 )
+#define LPC176X_SCB_CLKOUTCFG_CLKOUTSEL_SET( reg, val ) BSP_FLD32SET( reg, \
+ val, 3, 0 )
#define LPC176X_SCB_CLKOUTCFG_CLKOUTDIV( val ) BSP_FLD32( val, 7, 4 )
#define LPC176X_SCB_CLKOUTCFG_CLKOUTDIV_GET( reg ) BSP_FLD32GET( reg, 7, 4 )
-#define LPC176X_SCB_CLKOUTCFG_CLKOUTDIV_SET( reg, val ) BSP_FLD32SET( reg, val, \
- 7, 4 )
+#define LPC176X_SCB_CLKOUTCFG_CLKOUTDIV_SET( reg, val ) BSP_FLD32SET( reg, \
+ val, 7, 4 )
#define LPC176X_SCB_CLKOUTCFG_CLKOUT_EN BSP_BIT32( 8 )
#define LPC176X_SCB_CLKOUTCFG_CLKOUT_ACT BSP_BIT32( 9 )
diff --git a/c/src/lib/libbsp/arm/lpc176x/include/mbed-pinmap.h b/c/src/lib/libbsp/arm/lpc176x/include/mbed-pinmap.h
new file mode 100755
index 0000000..9534334
--- /dev/null
+++ b/c/src/lib/libbsp/arm/lpc176x/include/mbed-pinmap.h
@@ -0,0 +1,50 @@
+/**
+ * @file mbed-pinmap.h
+ *
+ * @ingroup lpc176x
+ *
+ * @brief Pins of the mbed lpc1768
+ * See http://mbed.org/media/uploads/chris/mbed-005.1.pdf for references
+ */
+
+/*
+ * Copyright (c) 2014 Taller Technologies.
+ *
+ * @author Diaz Marcos (marcos.diaz at tallertechnologies.com)
+ * @author Daniel Chicco (daniel.chicco at tallertechnologies.com)
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.com/license/LICENSE.
+ */
+
+#define DIP5 9U
+#define DIP6 8U
+#define DIP7 7U
+#define DIP8 6U
+#define DIP9 0U
+#define DIP10 1U
+#define DIP11 18U
+#define DIP12 17U
+#define DIP13 15U
+#define DIP14 16U
+#define DIP15 23U
+#define DIP16 24U
+#define DIP17 25U
+#define DIP18 26U
+#define DIP19 62U
+#define DIP20 63U
+#define DIP21 69U
+#define DIP22 68U
+#define DIP23 67U
+#define DIP24 66U
+#define DIP25 65U
+#define DIP26 64U
+#define DIP27 11U
+#define DIP28 10U
+#define DIP29 5U
+#define DIP30 4U
+#define LED1 50U
+#define LED2 52U
+#define LED3 53U
+#define LED4 55U
diff --git a/c/src/lib/libbsp/arm/lpc176x/include/pwmout-defs.h b/c/src/lib/libbsp/arm/lpc176x/include/pwmout-defs.h
new file mode 100755
index 0000000..414e8b7
--- /dev/null
+++ b/c/src/lib/libbsp/arm/lpc176x/include/pwmout-defs.h
@@ -0,0 +1,105 @@
+/**
+ * @file pwmout-defs.h
+ *
+ * @ingroup lpc176x
+ *
+ * @brief PWM-Out controller for the mbed lpc1768 board.
+ */
+
+/*
+ * Copyright (c) 2014 Taller Technologies.
+ *
+ * @author Diaz Marcos (marcos.diaz at tallertechnologies.com)
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.com/license/LICENSE.
+ */
+
+#ifndef LPC176X_PWMOUT_DEFS_H
+#define LPC176X_PWMOUT_DEFS_H
+
+#include <bsp/lpc176x.h>
+#include <bsp/pwmout.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+#define PWM_DEFAULT_PERIOD 20000u
+#define PWM_DEFAULT_PULSEWIDTH 0u
+
+#define PWM_PRESCALER_USECOND ( LPC176X_CCLK / 1000000 )
+#define PWM_MCR_RESET_ON_MATCH0 ( 1 << 1 )
+#define PWM_PCR_ENABLE_PWM( pwmout ) ( 1 << ( 9 + pwmout ) )
+#define PWM_TCR_RESET ( 1 << 1 )
+#define PWM_TCR_ENABLE ( 1u )
+#define PWM_TCR_PWM ( 1 << 3 )
+#define PWM_LER_LATCH_MATCH_0 1u
+#define PWM_LER_LATCH( match ) ( 1 << ( ( match ) + 1 ) )
+
+/**
+ * @brief The low-level PWM output device.
+ */
+typedef struct {
+ volatile uint32_t IR;
+ volatile uint32_t TCR;
+ volatile uint32_t TC;
+ volatile uint32_t PR;
+ volatile uint32_t PC;
+ volatile uint32_t MCR;
+ volatile uint32_t MR0;
+ volatile uint32_t MR1;
+ volatile uint32_t MR2;
+ volatile uint32_t MR3;
+ volatile uint32_t CCR;
+ volatile uint32_t CR0;
+ volatile uint32_t CR1;
+ volatile uint32_t CR2;
+ volatile uint32_t CR3;
+ volatile uint32_t RESERVED0;
+ volatile uint32_t MR4;
+ volatile uint32_t MR5;
+ volatile uint32_t MR6;
+ volatile uint32_t PCR;
+ volatile uint32_t LER;
+ volatile uint32_t RESERVED1[ 7 ];
+ volatile uint32_t CTCR;
+} lpc176x_pwm_device;
+
+/**
+ * @brief Represents one pin and the respective function to be set
+ * for each PWM output.
+ */
+typedef struct {
+ uint32_t pin_number;
+ lpc176x_pin_function pin_function;
+} lpc176x_pwm_pin;
+
+/**
+ * @brief The PWM outputs of the board.
+ */
+typedef enum {
+ PWMO_1,
+ PWMO_2,
+ PWMO_3,
+ PWMO_4,
+ PWMO_5,
+ PWMO_6,
+ PWM_OUTPUT_NUMBER
+} lpc176x_pwm_number;
+
+/**
+ * @brief A pin for each PWM output.
+ */
+typedef enum {
+ PWM_FIRST_PIN,
+ PWM_SECOND_PIN,
+ PWM_NUMBER_OF_PINS
+} lpc176x_pwm_pin_number;
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif
diff --git a/c/src/lib/libbsp/arm/lpc176x/include/pwmout.h b/c/src/lib/libbsp/arm/lpc176x/include/pwmout.h
new file mode 100755
index 0000000..4c18700
--- /dev/null
+++ b/c/src/lib/libbsp/arm/lpc176x/include/pwmout.h
@@ -0,0 +1,73 @@
+/**
+ * @file pwmout.h
+ *
+ * @ingroup lpc176x
+ *
+ * @brief PWM-Out controller for the mbed lpc1768 board.
+ */
+
+/*
+ * Copyright (c) 2014 Taller Technologies.
+ *
+ * @author Diaz Marcos (marcos.diaz at tallertechnologies.com)
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.com/license/LICENSE.
+ */
+
+#ifndef LPC176X_PWMOUT_H
+#define LPC176X_PWMOUT_H
+
+#include <bsp.h>
+#include <bsp/io.h>
+#include <bsp/lpc176x.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+ * @brief Initializes the PWM output device and sets an initial period
+ * of 20000us.
+ *
+ * @param pin_number The PWM output pin.
+ * @return RTEMS_SUCCESSFULL if the PWM initialization was OK,
+ * RTEMS_INVALID_NUMBER for a wrong parameter.
+ */
+rtems_status_code pwm_init( const lpc176x_pin_number pin_number );
+
+/**
+ * @brief Sets a period for the PWM output. (Note that this changes the period
+ * for all the PWM outputs.)
+ *
+ * @param pin_number The pin whose period we want to change.
+ * @param period The desired period in microseconds.
+ *
+ * @return RTEMS_SUCCESSFULL if the period's setting was OK,
+ * RTEMS_INVALID_NUMBER for a bad parameter.
+ */
+rtems_status_code pwm_period(
+ const lpc176x_pin_number pin_number,
+ const lpc176x_microseconds period
+);
+
+/**
+ * @brief Sets a pulsewidth for the PWM output.
+ *
+ * @param pin_number The pin whose pulsewidth we want to change.
+ * @param pwidth The desired pulsewidth in microseconds.
+ *
+ * @return RTEMS_SUCCESSFULL if the pulsewidth's setting was OK,
+ * RTEMS_INVALID_NUMBER for a wrong parameter.
+ */
+rtems_status_code pwm_pulsewidth(
+ const lpc176x_pin_number pin_number,
+ const lpc176x_microseconds pwidth
+);
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif
diff --git a/c/src/lib/libbsp/arm/lpc176x/misc/io.c b/c/src/lib/libbsp/arm/lpc176x/misc/io.c
index 59b357d..7acab0a 100644
--- a/c/src/lib/libbsp/arm/lpc176x/misc/io.c
+++ b/c/src/lib/libbsp/arm/lpc176x/misc/io.c
@@ -33,6 +33,7 @@ static const lpc176x_module_entry lpc176x_module_table[] = {
LPC176X_MODULE_ENTRY( LPC176X_MODULE_ADC, 1, 1, 12 ),
LPC176X_MODULE_ENTRY( LPC176X_MODULE_CAN_0, 1, 1, 13 ),
LPC176X_MODULE_ENTRY( LPC176X_MODULE_CAN_1, 1, 1, 14 ),
+ LPC176X_MODULE_ENTRY(LPC176X_MODULE_ACCF, 0, 1, 15),
LPC176X_MODULE_ENTRY( LPC176X_MODULE_DAC, 0, 1, 11 ),
LPC176X_MODULE_ENTRY( LPC176X_MODULE_GPDMA, 1, 1, 29 ),
LPC176X_MODULE_ENTRY( LPC176X_MODULE_GPIO, 0, 1, 15 ),
@@ -70,6 +71,20 @@ inline void lpc176x_pin_select(
LPC176X_PIN_SELECT_MASK << shift, shift );
}
+void lpc176x_pin_set_mode(
+ const uint32_t pin,
+ const lpc176x_pin_mode mode
+)
+{
+ assert( pin <= LPC176X_IO_INDEX_MAX
+ && mode < LPC176X_PIN_MODE_COUNT );
+ const uint32_t pin_selected = LPC176X_PIN_SELECT( pin );
+ volatile uint32_t *const pinmode = &LPC176X_PINMODE[ pin_selected ];
+ const uint32_t shift = LPC176X_PIN_SELECT_SHIFT( pin );
+ *pinmode = SET_FIELD( *pinmode, mode,
+ LPC176X_PIN_SELECT_MASK << shift, shift );
+}
+
/**
* @brief Checks if the module has power.
*
diff --git a/c/src/lib/libbsp/arm/lpc176x/preinstall.am b/c/src/lib/libbsp/arm/lpc176x/preinstall.am
index f28c8d5..5c86c8b 100644
--- a/c/src/lib/libbsp/arm/lpc176x/preinstall.am
+++ b/c/src/lib/libbsp/arm/lpc176x/preinstall.am
@@ -117,6 +117,30 @@ $(PROJECT_INCLUDE)/bsp/gpio.h: include/gpio.h $(PROJECT_INCLUDE)/bsp/$(dirstamp)
$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/bsp/gpio.h
PREINSTALL_FILES += $(PROJECT_INCLUDE)/bsp/gpio.h
+$(PROJECT_INCLUDE)/bsp/can.h: include/can.h $(PROJECT_INCLUDE)/bsp/$(dirstamp)
+ $(INSTALL_DATA) $< $(PROJECT_INCLUDE)/bsp/can.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/bsp/can.h
+
+$(PROJECT_INCLUDE)/bsp/can-defs.h: include/can-defs.h $(PROJECT_INCLUDE)/bsp/$(dirstamp)
+ $(INSTALL_DATA) $< $(PROJECT_INCLUDE)/bsp/can-defs.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/bsp/can-defs.h
+
+$(PROJECT_INCLUDE)/bsp/pwmout.h: include/pwmout.h $(PROJECT_INCLUDE)/bsp/$(dirstamp)
+ $(INSTALL_DATA) $< $(PROJECT_INCLUDE)/bsp/pwmout.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/bsp/pwmout.h
+
+$(PROJECT_INCLUDE)/bsp/pwmout-defs.h: include/pwmout-defs.h $(PROJECT_INCLUDE)/bsp/$(dirstamp)
+ $(INSTALL_DATA) $< $(PROJECT_INCLUDE)/bsp/pwmout-defs.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/bsp/pwmout-defs.h
+
+$(PROJECT_INCLUDE)/bsp/adc.h: include/adc.h $(PROJECT_INCLUDE)/bsp/$(dirstamp)
+ $(INSTALL_DATA) $< $(PROJECT_INCLUDE)/bsp/adc.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/bsp/adc.h
+
+$(PROJECT_INCLUDE)/bsp/adc-defs.h: include/adc-defs.h $(PROJECT_INCLUDE)/bsp/$(dirstamp)
+ $(INSTALL_DATA) $< $(PROJECT_INCLUDE)/bsp/adc-defs.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/bsp/adc-defs.h
+
$(PROJECT_INCLUDE)/bsp/timer-defs.h: include/timer-defs.h $(PROJECT_INCLUDE)/bsp/$(dirstamp)
$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/bsp/timer-defs.h
PREINSTALL_FILES += $(PROJECT_INCLUDE)/bsp/timer-defs.h
@@ -149,6 +173,10 @@ $(PROJECT_INCLUDE)/bsp/system-clocks.h: include/system-clocks.h $(PROJECT_INCLUD
$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/bsp/system-clocks.h
PREINSTALL_FILES += $(PROJECT_INCLUDE)/bsp/system-clocks.h
+$(PROJECT_INCLUDE)/bsp/mbed-pinmap.h: include/mbed-pinmap.h $(PROJECT_INCLUDE)/bsp/$(dirstamp)
+ $(INSTALL_DATA) $< $(PROJECT_INCLUDE)/bsp/mbed-pinmap.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/bsp/mbed-pinmap.h
+
$(PROJECT_INCLUDE)/tm27.h: ../../shared/include/tm27.h $(PROJECT_INCLUDE)/$(dirstamp)
$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/tm27.h
PREINSTALL_FILES += $(PROJECT_INCLUDE)/tm27.h
diff --git a/c/src/lib/libbsp/arm/lpc176x/pwmout/pwmout.c b/c/src/lib/libbsp/arm/lpc176x/pwmout/pwmout.c
new file mode 100755
index 0000000..a368386
--- /dev/null
+++ b/c/src/lib/libbsp/arm/lpc176x/pwmout/pwmout.c
@@ -0,0 +1,210 @@
+/**
+ * @file pwmout.c
+ *
+ * @ingroup lpc176x
+ *
+ * @brief PWM-Out controller for the mbed lpc1768 board.
+ */
+
+/*
+ * Copyright (c) 2014 Taller Technologies.
+ *
+ * @author Diaz Marcos (marcos.diaz at tallertechnologies.com)
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.com/license/LICENSE.
+ */
+
+#include <rtems/status-checks.h>
+#include <bsp/pwmout.h>
+#include <bsp/pwmout-defs.h>
+
+/**
+ * @brief The low level device.
+ */
+static lpc176x_pwm_device *const pwm_device = PWM1_BASE_ADDR;
+
+/**
+ * @brief The possible output pins for each PWM output.
+ */
+static const lpc176x_pwm_pin pwm_pins[ PWM_OUTPUT_NUMBER ][ PWM_NUMBER_OF_PINS
+] =
+{
+ { { 50u, LPC176X_PIN_FUNCTION_10 }, { 64u, LPC176X_PIN_FUNCTION_01 } },
+ { { 52u, LPC176X_PIN_FUNCTION_10 }, { 65u, LPC176X_PIN_FUNCTION_01 } },
+ { { 53u, LPC176X_PIN_FUNCTION_10 }, { 66u, LPC176X_PIN_FUNCTION_01 } },
+ { { 55u, LPC176X_PIN_FUNCTION_10 }, { 67u, LPC176X_PIN_FUNCTION_01 } },
+ { { 56u, LPC176X_PIN_FUNCTION_10 }, { 68u, LPC176X_PIN_FUNCTION_01 } },
+ { { 58u, LPC176X_PIN_FUNCTION_10 }, { 69u, LPC176X_PIN_FUNCTION_01 } },
+};
+
+/**
+ * @brief The pointers to the low level match registers for each PWM output.
+ */
+static volatile uint32_t *const pwm_match[ PWM_OUTPUT_NUMBER ] = {
+ &PWM1MR1,
+ &PWM1MR2,
+ &PWM1MR3,
+ &PWM1MR4,
+ &PWM1MR5,
+ &PWM1MR6
+};
+
+/**
+ * @brief Checks if a pin number is valid for the given PWM,
+ * and sets the corresponding pin function for that pin.
+ *
+ * @param pin_number The pin number to search.
+ * @param pwm In which PWM search for the pin number.
+ * @param pin_function If the pin number is found, here we return
+ * the pin function for that pin number.
+ * @return True if found, false otherwise.
+ */
+static inline bool is_found_in_this_pwm(
+ const lpc176x_pin_number pin_number,
+ const lpc176x_pwm_number pwm,
+ lpc176x_pin_function *const pin_function
+)
+{
+ lpc176x_pwm_pin_number pnumber = PWM_FIRST_PIN;
+ bool found = false;
+
+ while (!found && ( pnumber < PWM_NUMBER_OF_PINS ))
+ {
+ if ( pwm_pins[ pwm ][ pnumber ].pin_number == pin_number ) {
+ found = true;
+ *pin_function = pwm_pins[ pwm ][ pnumber ].pin_function;
+ }/*else implies that the pin number was not found. Keep looking.*/
+ ++pnumber;
+ }
+ return found;
+}
+
+/**
+ * @brief Checks if a pin number is valid for any PWM,
+ * and sets the corresponding pin function for that pin.
+ *
+ * @param pin_number The pin number to search.
+ * @param pwm If is found here we return in which PWM was found.
+ * @param pin_function If the pin number is found the pin function
+ * for this pin number one will be returned.
+ * @return True if found, false otherwise.
+ */
+static bool is_valid_pin_number(
+ const lpc176x_pin_number pin_number,
+ lpc176x_pwm_number *const pwm,
+ lpc176x_pin_function *const pin_function
+)
+{
+ bool found = false;
+ lpc176x_pwm_number pwm_local = PWMO_1;
+ while(!found && ( pwm_local < PWM_OUTPUT_NUMBER ))
+ {
+ if ( is_found_in_this_pwm( pin_number, pwm_local, pin_function ) ) {
+ *pwm = pwm_local;
+ found = true;
+ } /*else implies that the pin number was not found. Keep looking.*/
+ ++pwm_local;
+ }
+
+ return found;
+}
+
+/**
+ * @brief Sets the period for the given PWM.
+ *
+ * @param pwm The PWM output in which the period will be set.
+ * @param period The period to set.
+ */
+static void set_period(
+ const lpc176x_pwm_number pwm,
+ const lpc176x_microseconds period
+)
+{
+ pwm_device->TCR = PWM_TCR_RESET;
+ pwm_device->MR0 = period * PWM_PRESCALER_USECOND;
+ pwm_device->LER |= PWM_LER_LATCH_MATCH_0;
+ pwm_device->TCR = PWM_TCR_PWM | PWM_TCR_ENABLE;
+}
+
+/**
+ * @brief Sets the pulsewidth for the given PWM.
+ *
+ * @param pwm The PWM output in which the pulsewidth will be set.
+ * @param pwidth The pulse width to set.
+ */
+static void set_pulsewidth(
+ const lpc176x_pwm_number pwm,
+ lpc176x_microseconds pwidth
+)
+{
+ pwidth *= PWM_PRESCALER_USECOND;
+
+ if ( pwm_device->MR0 == pwidth ) {
+ ++pwidth;
+ } /* Not the same as the period, do nothing.*/
+
+ *( pwm_match[ pwm ] ) = pwidth;
+ pwm_device->LER |= PWM_LER_LATCH( pwm );
+}
+
+rtems_status_code pwm_init( const lpc176x_pin_number pin_number )
+{
+ rtems_status_code sc = RTEMS_INVALID_NUMBER;
+ lpc176x_pin_function pin_function;
+ lpc176x_pwm_number pwm;
+
+ if ( is_valid_pin_number( pin_number, &pwm, &pin_function ) ) {
+ sc = lpc176x_module_enable( LPC176X_MODULE_PWM_1,
+ LPC176X_MODULE_PCLK_DEFAULT );
+ RTEMS_CHECK_SC( sc, "enable pwm module" );
+
+ pwm_device->PR = 0;
+ pwm_device->MCR = PWM_MCR_RESET_ON_MATCH0;
+ pwm_device->PCR |= PWM_PCR_ENABLE_PWM( pwm );
+
+ set_period( pwm, PWM_DEFAULT_PERIOD );
+ set_pulsewidth( pwm, PWM_DEFAULT_PULSEWIDTH );
+
+ lpc176x_pin_select( pin_number, pin_function );
+ } /* else implies that the pin number is not valid.
+ So, a RTEMS_INVALID_NUMBER will be returned.*/
+
+ return sc;
+}
+
+rtems_status_code pwm_period(
+ const lpc176x_pin_number pin_number,
+ const lpc176x_microseconds period
+)
+{
+ rtems_status_code sc = RTEMS_INVALID_NUMBER;
+ lpc176x_pin_function pin_function;
+ lpc176x_pwm_number pwm;
+
+ if ( is_valid_pin_number( pin_number, &pwm, &pin_function ) ) {
+ sc = RTEMS_SUCCESSFUL;
+ set_period( pwm, period );
+ } /* else implies that the pin number is not valid.
+ So, a RTEMS_INVALID_NUMBER will be returned.*/
+
+ return sc;
+}
+
+rtems_status_code pwm_pulsewidth(
+ const lpc176x_pin_number pin_number,
+ const lpc176x_microseconds pwidth
+)
+{
+ rtems_status_code sc = RTEMS_INVALID_NUMBER;
+ lpc176x_pin_function pin_function;
+ lpc176x_pwm_number pwm;
+
+ if ( is_valid_pin_number( pin_number, &pwm, &pin_function ) ) {
+ sc = RTEMS_SUCCESSFUL;
+ set_pulsewidth( pwm, pwidth );
+ } /* Else wrong pin_number return RTEMS_INVALID_NUMBER*/
+
+ return sc;
+}
diff --git a/c/src/lib/libbsp/shared/include/uart-output-char.h b/c/src/lib/libbsp/shared/include/uart-output-char.h
index 4242901..a6648d1 100644
--- a/c/src/lib/libbsp/shared/include/uart-output-char.h
+++ b/c/src/lib/libbsp/shared/include/uart-output-char.h
@@ -51,8 +51,8 @@
CONSOLE_LCR = 0x00; \
CONSOLE_IER = 0x00; \
CONSOLE_LCR = 0x80; \
- CONSOLE_DLL = (dll); \
- CONSOLE_DLM = 0x00; \
+ CONSOLE_DLL = (dll & 0xFF); \
+ CONSOLE_DLM = (dll >> 8); \
CONSOLE_LCR = 0x03; \
CONSOLE_FCR = 0x07; \
} while (0)
--
2.3.2
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