[rtems commit] bsp/atsam: System initialization for PIO IRQs
Sebastian Huber
sebh at rtems.org
Fri Dec 16 10:29:10 UTC 2016
Module: rtems
Branch: master
Commit: a4936b59cb0afe55fb1a31754293586bbde38115
Changeset: http://git.rtems.org/rtems/commit/?id=a4936b59cb0afe55fb1a31754293586bbde38115
Author: Sebastian Huber <sebastian.huber at embedded-brains.de>
Date: Thu Dec 15 14:55:45 2016 +0100
bsp/atsam: System initialization for PIO IRQs
---
.../arm/atsam/libraries/libchip/include/pio_it.h | 26 ++-
.../arm/atsam/libraries/libchip/source/pio_it.c | 217 +++++++++------------
c/src/lib/libbsp/shared/include/fatal.h | 8 +-
3 files changed, 127 insertions(+), 124 deletions(-)
diff --git a/c/src/lib/libbsp/arm/atsam/libraries/libchip/include/pio_it.h b/c/src/lib/libbsp/arm/atsam/libraries/libchip/include/pio_it.h
index 4235ec9..b03973c 100644
--- a/c/src/lib/libbsp/arm/atsam/libraries/libchip/include/pio_it.h
+++ b/c/src/lib/libbsp/arm/atsam/libraries/libchip/include/pio_it.h
@@ -77,11 +77,31 @@ extern "C" {
extern void PIO_InitializeInterrupts(uint32_t dwPriority);
-extern void PIO_ConfigureIt(const Pin *pPin, void (*handler)(const Pin *));
+extern void PIO_ConfigureIt(const Pin *pPin,
+ void (*handler)(const Pin *, void *arg), void *arg);
-extern void PIO_EnableIt(const Pin *pPin);
-extern void PIO_DisableIt(const Pin *pPin);
+/**
+ * Enables the given interrupt source if it has been configured. The status
+ * register of the corresponding PIO controller is cleared prior to enabling
+ * the interrupt.
+ * \param pPin Interrupt source to enable.
+ */
+static inline void PIO_EnableIt(const Pin *pPin)
+{
+ pPin->pio->PIO_ISR;
+ pPin->pio->PIO_IER = pPin->mask;
+}
+
+/**
+ * Disables a given interrupt source, with no added side effects.
+ *
+ * \param pPin Interrupt source to disable.
+ */
+static inline void PIO_DisableIt(const Pin *pPin)
+{
+ pPin->pio->PIO_IDR = pPin->mask;
+}
extern void PIO_IT_InterruptHandler(void);
diff --git a/c/src/lib/libbsp/arm/atsam/libraries/libchip/source/pio_it.c b/c/src/lib/libbsp/arm/atsam/libraries/libchip/source/pio_it.c
index 61f0db2..7176288 100644
--- a/c/src/lib/libbsp/arm/atsam/libraries/libchip/source/pio_it.c
+++ b/c/src/lib/libbsp/arm/atsam/libraries/libchip/source/pio_it.c
@@ -37,7 +37,9 @@
#include "chip.h"
-#include <assert.h>
+#include <rtems/irq-extension.h>
+#include <rtems/sysinit.h>
+#include <bsp/fatal.h>
/*----------------------------------------------------------------------------
* Local definitions
@@ -61,7 +63,9 @@ typedef struct _InterruptSource {
const Pin *pPin;
/* Interrupt handler. */
- void (*handler)(const Pin *);
+ void (*handler)(const Pin *, void *arg);
+
+ void *arg;
} InterruptSource;
/*----------------------------------------------------------------------------
@@ -83,37 +87,25 @@ static uint32_t _dwNumSources = 0;
* \param id PIO controller ID.
* \param pPio PIO controller base address.
*/
-extern void PioInterruptHandler(uint32_t id, Pio *pPio)
+static void PIO_Interrupt(Pio *pPio, uint32_t id)
{
uint32_t status;
- uint32_t i;
+ size_t i;
- /* Read PIO controller status */
status = pPio->PIO_ISR;
status &= pPio->PIO_IMR;
- /* Check pending events */
- if (status != 0) {
- TRACE_DEBUG("PIO interrupt on PIO controller #%d\n\r", id);
-
- /* Find triggering source */
- i = 0;
-
- while (status != 0) {
- /* There cannot be an un-configured source enabled. */
- assert(i < _dwNumSources);
-
- /* Source is configured on the same controller */
- if (_aIntSources[i].pPin->id == id) {
- /* Source has PIOs whose statuses have changed */
- if ((status & _aIntSources[i].pPin->mask) != 0) {
- TRACE_DEBUG("Interrupt source #%d triggered\n\r", i);
- _aIntSources[i].handler(_aIntSources[i].pPin);
- status &= ~(_aIntSources[i].pPin->mask);
- }
- }
+ for (i = 0; status != 0 && i < MAX_INTERRUPT_SOURCES; ++i) {
+ const InterruptSource *is = &_aIntSources[i];
+ const Pin *pin = is->pPin;;
+
+ if (pin->id == id) {
+ uint32_t mask = pin->mask;
- i++;
+ if ((status & mask) != 0) {
+ status &= ~mask;
+ (*is->handler)(pin, is->arg);
+ }
}
}
}
@@ -126,27 +118,27 @@ extern void PioInterruptHandler(uint32_t id, Pio *pPio)
* \brief Parallel IO Controller A interrupt handler
* \Redefined PIOA interrupt handler for NVIC interrupt table.
*/
-extern void PIOA_Handler(void)
+static void PIOA_Interrupt(void *arg)
{
- PioInterruptHandler(ID_PIOA, PIOA);
+ PIO_Interrupt(arg, ID_PIOA);
}
/**
* \brief Parallel IO Controller B interrupt handler
* \Redefined PIOB interrupt handler for NVIC interrupt table.
*/
-extern void PIOB_Handler(void)
+static void PIOB_Interrupt(void *arg)
{
- PioInterruptHandler(ID_PIOB, PIOB);
+ PIO_Interrupt(arg, ID_PIOB);
}
/**
* \brief Parallel IO Controller C interrupt handler
* \Redefined PIOC interrupt handler for NVIC interrupt table.
*/
-extern void PIOC_Handler(void)
+static void PIOC_Interrupt(void *arg)
{
- PioInterruptHandler(ID_PIOC, PIOC);
+ PIO_Interrupt(arg, ID_PIOC);
}
@@ -154,83 +146,106 @@ extern void PIOC_Handler(void)
* \brief Parallel IO Controller D interrupt handler
* \Redefined PIOD interrupt handler for NVIC interrupt table.
*/
-extern void PIOD_Handler(void)
+static void PIOD_Interrupt(void *arg)
{
- PioInterruptHandler(ID_PIOD, PIOD);
+ PIO_Interrupt(arg, ID_PIOD);
}
/**
* \brief Parallel IO Controller E interrupt handler
* \Redefined PIOE interrupt handler for NVIC interrupt table.
*/
-extern void PIOE_Handler(void)
+static void PIOE_Interrupt(void *arg)
{
- PioInterruptHandler(ID_PIOE, PIOE);
+ PIO_Interrupt(arg, ID_PIOE);
}
-/**
- * \brief Initializes the PIO interrupt management logic
- *
- * The desired priority of PIO interrupts must be provided.
- * Calling this function multiple times result in the reset of currently
- * configured interrupts.
- *
- * \param priority PIO controller interrupts priority.
- */
-extern void PIO_InitializeInterrupts(uint32_t dwPriority)
+static void PIO_SysInitializeInterrupts(void)
{
- TRACE_DEBUG("PIO_Initialize()\n\r");
+ rtems_status_code sc;
- /* Reset sources */
- _dwNumSources = 0;
+ 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;
- NVIC_DisableIRQ(PIOA_IRQn);
- NVIC_ClearPendingIRQ(PIOA_IRQn);
- NVIC_SetPriority(PIOA_IRQn, dwPriority);
- NVIC_EnableIRQ(PIOA_IRQn);
+ 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;
- NVIC_DisableIRQ(PIOB_IRQn);
- NVIC_ClearPendingIRQ(PIOB_IRQn);
- NVIC_SetPriority(PIOB_IRQn, dwPriority);
- NVIC_EnableIRQ(PIOB_IRQn);
+ 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;
- NVIC_DisableIRQ(PIOC_IRQn);
- NVIC_ClearPendingIRQ(PIOC_IRQn);
- NVIC_SetPriority(PIOC_IRQn, dwPriority);
- NVIC_EnableIRQ(PIOC_IRQn);
+ 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;
- NVIC_DisableIRQ(PIOD_IRQn);
- NVIC_ClearPendingIRQ(PIOD_IRQn);
- NVIC_SetPriority(PIOD_IRQn, dwPriority);
- NVIC_EnableIRQ(PIOD_IRQn);
+ 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;
- NVIC_DisableIRQ(PIOE_IRQn);
- NVIC_ClearPendingIRQ(PIOE_IRQn);
- NVIC_SetPriority(PIOE_IRQn, dwPriority);
- NVIC_EnableIRQ(PIOE_IRQn);
+ 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);
+ }
}
+RTEMS_SYSINIT_ITEM(PIO_SysInitializeInterrupts, RTEMS_SYSINIT_BSP_START,
+ RTEMS_SYSINIT_ORDER_LAST);
+
/**
* 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
@@ -239,25 +254,33 @@ extern void PIO_InitializeInterrupts(uint32_t dwPriority)
* \param pPin Pointer to a Pin instance.
* \param handler Interrupt handler function pointer.
*/
-extern void PIO_ConfigureIt(const Pin *pPin, void (*handler)(const Pin *))
+void PIO_ConfigureIt(const Pin *pPin, void (*handler)(const Pin *, void *arg),
+ void *arg)
{
Pio *pio;
InterruptSource *pSource;
+ rtems_interrupt_level level;
TRACE_DEBUG("PIO_ConfigureIt()\n\r");
- assert(pPin);
pio = pPin->pio;
- assert(_dwNumSources < MAX_INTERRUPT_SOURCES);
- /* Define new source */
- TRACE_DEBUG("PIO_ConfigureIt: Defining new source #%d.\n\r", _dwNumSources);
+ 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;
_dwNumSources++;
+ rtems_interrupt_enable(level);
+
+ /* Define new source */
+ TRACE_DEBUG("PIO_ConfigureIt: Defining new source #%d.\n\r", _dwNumSources);
+
/* PIO3 with additional interrupt support
* Configure additional interrupt mode registers */
if (pPin->attribute & PIO_IT_AIME) {
@@ -280,49 +303,3 @@ extern void PIO_ConfigureIt(const Pin *pPin, void (*handler)(const Pin *))
pio->PIO_AIMDR = pPin->mask;
}
}
-
-/**
- * Enables the given interrupt source if it has been configured. The status
- * register of the corresponding PIO controller is cleared prior to enabling
- * the interrupt.
- * \param pPin Interrupt source to enable.
- */
-extern void PIO_EnableIt(const Pin *pPin)
-{
- uint32_t i = 0;
- uint32_t dwFound = 0;
-
- TRACE_DEBUG("PIO_EnableIt()\n\r");
-
- assert(pPin != NULL);
-
-#ifndef NOASSERT
-
- while ((i < _dwNumSources) && !dwFound) {
- if (_aIntSources[i].pPin == pPin)
- dwFound = 1;
-
- i++;
- }
-
- assert(dwFound != 0);
-#endif
-
- pPin->pio->PIO_ISR;
- pPin->pio->PIO_IER = pPin->mask;
-}
-
-/**
- * Disables a given interrupt source, with no added side effects.
- *
- * \param pPin Interrupt source to disable.
- */
-extern void PIO_DisableIt(const Pin *pPin)
-{
- assert(pPin != NULL);
-
- TRACE_DEBUG("PIO_DisableIt()\n\r");
-
- pPin->pio->PIO_IDR = pPin->mask;
-}
-
diff --git a/c/src/lib/libbsp/shared/include/fatal.h b/c/src/lib/libbsp/shared/include/fatal.h
index 1336c78..fd8b678 100644
--- a/c/src/lib/libbsp/shared/include/fatal.h
+++ b/c/src/lib/libbsp/shared/include/fatal.h
@@ -127,7 +127,13 @@ typedef enum {
QORIQ_FATAL_RESTART_INTERRUPT_FAILED,
/* ATSAM fatal codes */
- ATSAM_FATAL_XDMA_IRQ_INSTALL = BSP_FATAL_CODE_BLOCK(11)
+ ATSAM_FATAL_XDMA_IRQ_INSTALL = BSP_FATAL_CODE_BLOCK(11),
+ ATSAM_FATAL_PIO_IRQ_A,
+ ATSAM_FATAL_PIO_IRQ_B,
+ ATSAM_FATAL_PIO_IRQ_C,
+ ATSAM_FATAL_PIO_IRQ_D,
+ ATSAM_FATAL_PIO_IRQ_E,
+ ATSAM_FATAL_PIO_CONFIGURE_IT
} bsp_fatal_code;
RTEMS_NO_RETURN static inline void
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