SAM3/4: Important bugfix. Values read from PIO input pins do not change unless clocking to the PIO block is enabled

5 files changed, 243 insertions, 27 deletions

diff --git a/nuttx/arch/arm/src/sama5/sam_hsmci.c b/nuttx/arch/arm/src/sama5/sam_hsmci.c
index c3983145c..cf90f292c 100644
--- a/nuttx/arch/arm/src/sama5/sam_hsmci.c
+++ b/nuttx/arch/arm/src/sama5/sam_hsmci.c
@@ -2953,17 +2953,19 @@ FAR struct sdio_dev_s *sdio_initialize(int slotno)
       /* Configure PIOs for 4-bit, wide-bus operation.  NOTE: (1) the chip
        * is capable of 8-bit wide bus operation but D4-D7 are not configured,
        * (2) any card detection PIOs must be set up in board-specific logic.
+       *
+       * REVISIT: What about Slot B?
        */
 
       sam_configpio(PIO_MCI0_DA0);   /* Data 0 of Slot A */
       sam_configpio(PIO_MCI0_DA1);   /* Data 1 of Slot A */
       sam_configpio(PIO_MCI0_DA2);   /* Data 2 of Slot A */
       sam_configpio(PIO_MCI0_DA3);   /* Data 3 of Slot A */
-      sam_configpio(PIO_MCI0_CK);    /* SD clock */
-      sam_configpio(PIO_MCI0_CDA);   /* Command/Response */
+      sam_configpio(PIO_MCI0_CK);    /* Common SD clock */
+      sam_configpio(PIO_MCI0_CDA);   /* Command/Response of Slot A*/
 
       /* Enable the HSMCI0 peripheral clock.  This really should be done in
-       * sam_enable (as well as disabling peripheal clocks in sam_disable().
+       * sam_enable (as well as disabling peripheral clocks in sam_disable().
        */
 
       sam_hsmci0_enableclk();
@@ -2990,17 +2992,19 @@ FAR struct sdio_dev_s *sdio_initialize(int slotno)
       /* Configure PIOs for 4-bit, wide-bus operation.  NOTE: (1) the chip
        * is capable of 8-bit wide bus operation but D4-D7 are not configured,
        * (2) any card detection PIOs must be set up in board-specific logic.
+       *
+       * REVISIT: What about Slot B?
        */
 
       sam_configpio(PIO_MCI1_DA0);   /* Data 0 of Slot A */
       sam_configpio(PIO_MCI1_DA1);   /* Data 1 of Slot A */
       sam_configpio(PIO_MCI1_DA2);   /* Data 2 of Slot A */
       sam_configpio(PIO_MCI1_DA3);   /* Data 3 of Slot A */
-      sam_configpio(PIO_MCI1_CK);    /* SD clock */
-      sam_configpio(PIO_MCI1_CDA);   /* Command/Response */
+      sam_configpio(PIO_MCI1_CK);    /* Common SD clock */
+      sam_configpio(PIO_MCI1_CDA);   /* Command/Response of Slot A */
 
       /* Enable the HSMCI1 peripheral clock  This really should be done in
-       * sam_enable (as well as disabling peripheal clocks in sam_disable().
+       * sam_enable (as well as disabling peripheral clocks in sam_disable().
        */
 
       sam_hsmci1_enableclk();
@@ -3027,17 +3031,19 @@ FAR struct sdio_dev_s *sdio_initialize(int slotno)
       /* Configure PIOs for 4-bit, wide-bus operation.  NOTE: (1) the chip
        * is capable of 8-bit wide bus operation but D4-D7 are not configured,
        * (2) any card detection PIOs must be set up in board-specific logic.
+       *
+       * REVISIT: What about Slot B?
        */
 
       sam_configpio(PIO_MCI2_DA0);   /* Data 0 of Slot A */
       sam_configpio(PIO_MCI2_DA1);   /* Data 1 of Slot A */
       sam_configpio(PIO_MCI2_DA2);   /* Data 2 of Slot A */
       sam_configpio(PIO_MCI1_DA3);   /* Data 3 of Slot A */
-      sam_configpio(PIO_MCI2_DA3);    /* SD clock */
-      sam_configpio(PIO_MCI2_CDA);   /* Command/Response */
+      sam_configpio(PIO_MCI2_CK);    /* Common SD clock */
+      sam_configpio(PIO_MCI2_CDA);   /* Command/Response of Slot A */
 
       /* Enable the HSMCI2 peripheral clock  This really should be done in
-       * sam_enable (as well as disabling peripheal clocks in sam_disable().
+       * sam_enable (as well as disabling peripheral clocks in sam_disable().
        */
 
       sam_hsmci1_enableclk();
diff --git a/nuttx/arch/arm/src/sama5/sam_pio.c b/nuttx/arch/arm/src/sama5/sam_pio.c
index 44d1f0103..1dc135fa6 100644
--- a/nuttx/arch/arm/src/sama5/sam_pio.c
+++ b/nuttx/arch/arm/src/sama5/sam_pio.c
@@ -51,9 +51,11 @@
 #include "up_internal.h"
 #include "up_arch.h"
 
+#include "chip/sam_pio.h"
+
 #include "chip.h"
+#include "sam_periphclks.h"
 #include "sam_pio.h"
-#include "chip/sam_pio.h"
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -66,6 +68,7 @@
 /****************************************************************************
  * Private Data
  ****************************************************************************/
+/* Maps a port number to the standard port character */
 
 #ifdef CONFIG_DEBUG_GPIO
   static const char g_portchar[SAM_NPIO] =
@@ -74,6 +77,49 @@
   };
 #endif
 
+/* Map a PIO number to the PIO peripheral identifier (PID) */
+
+static const uint8_t g_piopid[SAM_NPIO] =
+{
+  SAM_PID_PIOA, SAM_PID_PIOB, SAM_PID_PIOC, SAM_PID_PIOD, SAM_PID_PIOE
+};
+
+/* Used to determine if a PIO port is configured to support interrupts */
+
+static const bool g_piointterrupts[SAM_NPIO] =
+{
+#ifdef CONFIG_SAMA5_PIOA_IRQ
+  true,
+#else
+  false,
+#endif
+#ifdef CONFIG_SAMA5_PIOB_IRQ
+  true,
+#else
+  false,
+#endif
+#ifdef CONFIG_SAMA5_PIOC_IRQ
+  true,
+#else
+  false,
+#endif
+#ifdef CONFIG_SAMA5_PIOD_IRQ
+  true,
+#else
+  false,
+#endif
+#ifdef CONFIG_SAMA5_PIOE_IRQ
+  true,
+#else
+  false,
+#endif
+#ifdef CONFIG_SAMA5_PIOF_IRQ
+  true,
+#else
+  false,
+#endif
+};
+
 /* SAM_PION_VBASE will only be defined if the PIO register blocks are
  * contiguous.  If not defined, then we need to do a table lookup.
  */
@@ -117,7 +163,7 @@ static inline uintptr_t sam_piobase(pio_pinset_t cfgset)
  * Name: sam_piopin
  *
  * Description:
- *   Returun the base address of the PIO register set
+ *   Return the base address of the PIO register set
  *
  ****************************************************************************/
 
@@ -127,6 +173,102 @@ static inline int sam_piopin(pio_pinset_t cfgset)
 }
 
 /****************************************************************************
+ * Name: sam_pio_enableclk
+ *
+ * Description:
+ *   Enable clocking on the selected PIO
+ *
+ ****************************************************************************/
+
+static void sam_pio_enableclk(pio_pinset_t cfgset)
+{
+  int port = (cfgset & PIO_PORT_MASK) >> PIO_PORT_SHIFT;
+  int pid;
+
+  if (port < SAM_NPIO)
+    {
+      /* Get the peripheral ID associated with the PIO port and enable
+       * clocking to the PIO block.
+       */
+
+      pid = g_piopid[port];
+      if (pid < 32)
+        {
+          sam_enableperiph0(pid);
+        }
+      else
+        {
+          sam_enableperiph1(pid);
+        }
+    }
+}
+
+/****************************************************************************
+ * Name: sam_pio_disableclk
+ *
+ * Description:
+ *   Disable clocking on the selected PIO if we can.  We can that if:
+ *
+ *   1) No pins are configured as PIO inputs (peripheral inputs don't need
+ *      clocking, and
+ *   2) Glitch and debounce filtering are not enabled.  Currently, this can
+ *      only happen if the the pin is a PIO input, but we may need to
+ *      implement glitch filtering on peripheral inputs as well in the
+ *      future???
+ *   3) The port is not configured for PIO interrupts.  At present, the logic
+ *      always keeps clocking on to ports that are configured for interrupts,
+ *      but that could be dynamically controlled as well be keeping track
+ *      of which PIOs have interrupts enabled.
+ *
+ * My!  Wouldn't is be much easier to just keep all of the PIO clocks
+ * enabled?  Is there a power management downside?
+ *
+ ****************************************************************************/
+
+static void sam_pio_disableclk(pio_pinset_t cfgset)
+{
+  int port = (cfgset & PIO_PORT_MASK) >> PIO_PORT_SHIFT;
+  uintptr_t base;
+  int pid;
+
+  /* Leave clocking enabled for configured interrupt ports */
+
+  if (port < SAM_NPIO && !g_piointerrupt[port])
+    {
+      /* Get the base address of the PIO port */
+
+      base = g_piobase[port];
+
+      /* Are any pins configured as PIO inputs?
+       *
+       * PSR - A bit set to "1" means that the corresponding pin is a PIO
+       * OSR - A bit set to "1" means that the corresponding pin is an output
+       */
+
+      if ((getreg32(base + SAM_PIO_PSR_OFFSET) &
+           ~getreg32(base + SAM_PIO_PSR_OFFSET)) == 0)
+        {
+          /* Any remaining configured pins are either not PIOs or all not
+           * PIO inputs.  Disable clocking to this PIO block.
+           *
+           * Get the peripheral ID associated with the PIO port and disable
+           * clocking to the PIO block.
+           */
+
+          pid = g_piopid[port];
+          if (pid < 32)
+            {
+              sam_disableperiph0(pid);
+            }
+          else
+            {
+              sam_disableperiph1(pid);
+            }
+        }
+    }
+}
+
+/****************************************************************************
  * Name: sam_configinput
  *
  * Description:
@@ -198,6 +340,7 @@ static inline int sam_configinput(uintptr_t base, uint32_t pin,
     {
       regval &= ~pin;
     }
+
   putreg32(regval, base + SAM_PIO_SCHMITT_OFFSET);
 #endif
 
@@ -234,7 +377,13 @@ static inline int sam_configinput(uintptr_t base, uint32_t pin,
    *         another, new API... perhaps sam_configfilter()
    */
 
- return OK;
+  /* "Reading the I/O line levels requires the clock of the PIO Controller
+   * to be enabled, otherwise PIO_PDSR reads the levels present on the I/O
+   * line at the time the clock was disabled."
+   */
+
+  sam_pio_enableclk(cfgset);
+  return OK;
 }
 
 /****************************************************************************
@@ -276,7 +425,11 @@ static inline int sam_configoutput(uintptr_t base, uint32_t pin,
     }
 #endif
 
-  /* Enable the open drain driver if requrested */
+  /* Disable glitch filtering */
+
+  putreg32(pin, base + SAM_PIO_IFDR_OFFSET);
+
+  /* Enable the open drain driver if requested */
 
   if ((cfgset & PIO_CFG_OPENDRAIN) != 0)
     {
@@ -302,6 +455,10 @@ static inline int sam_configoutput(uintptr_t base, uint32_t pin,
 
   putreg32(pin, base + SAM_PIO_OER_OFFSET);
   putreg32(pin, base + SAM_PIO_PER_OFFSET);
+
+  /* Clocking to the PIO block may no longer be necessary. */
+
+  sam_pio_disableclk(cfgset);
   return OK;
 }
 
@@ -347,6 +504,10 @@ static inline int sam_configperiph(uintptr_t base, uint32_t pin,
     }
 #endif
 
+  /* Disable glitch filtering */
+
+  putreg32(pin, base + SAM_PIO_IFDR_OFFSET);
+
 #ifdef PIO_HAVE_PERIPHCD
   /* Configure pin, depending upon the peripheral A, B, C or D
    *
@@ -366,6 +527,7 @@ static inline int sam_configperiph(uintptr_t base, uint32_t pin,
     {
       regval |= pin;
     }
+
   putreg32(regval, base + SAM_PIO_ABCDSR1_OFFSET);
 
   regval = getreg32(base + SAM_PIO_ABCDSR2_OFFSET);
@@ -378,6 +540,7 @@ static inline int sam_configperiph(uintptr_t base, uint32_t pin,
     {
       regval |= pin;
     }
+
   putreg32(regval, base + SAM_PIO_ABCDSR2_OFFSET);
 
 #else
@@ -396,12 +559,17 @@ static inline int sam_configperiph(uintptr_t base, uint32_t pin,
     {
       regval |= pin;
     }
+
   putreg32(regval, base + SAM_PIO_ABSR_OFFSET);
 #endif
 
   /* Disable PIO functionality */
 
   putreg32(pin, base + SAM_PIO_PDR_OFFSET);
+
+  /* Clocking to the PIO block may no longer be necessary. */
+
+  sam_pio_disableclk(cfgset);
   return OK;
 }
 
diff --git a/nuttx/arch/arm/src/sama5/sam_pioirq.c b/nuttx/arch/arm/src/sama5/sam_pioirq.c
index 4557eb48f..f48fc106d 100644
--- a/nuttx/arch/arm/src/sama5/sam_pioirq.c
+++ b/nuttx/arch/arm/src/sama5/sam_pioirq.c
@@ -196,6 +196,7 @@ static int sam_piointerrupt(uint32_t base, int irq0, void *context)
           pending &= ~bit;
         }
     }
+
   return OK;
 }
 
diff --git a/nuttx/configs/sama5d4-ek/README.txt b/nuttx/configs/sama5d4-ek/README.txt
index 168fb3d71..8a4d27b70 100644
--- a/nuttx/configs/sama5d4-ek/README.txt
+++ b/nuttx/configs/sama5d4-ek/README.txt
@@ -3330,15 +3330,21 @@ Configurations
        will need to install a battery in the battery holder (J12) and close
        the jumper, JP13.
 
-    8. Support for HSMCI0 and HSMCI1 is built-in by default. The SAMA4D4-EK
-       provides a two SD memory card slots:  (1) a full size SD card slot
-       (J10), and (2) a microSD memory card slot (J11).  The full size SD
-       card slot connects via HSMCI0; the microSD connects vi HSMCI1.
-       Support for both SD slots can be enabled with the settings provided
+    8. Support for HSMCI0 is built-in by default. The SAMA4D4-EK provides
+       two SD memory card slots:  (1) a full size SD card slot (J10), and
+       (2) a microSD memory card slot (J11).  The full size SD card slot
+       connects via HSMCI0; the microSD connects vi HSMCI1.  Support for
+       the microSD slot could also be enabled with the settings provided
        in the paragraph entitled "HSMCI Card Slots" above.
 
        NOTE:  For now I am boot off the microSD slot so, unless are booting
-       in a different manner, this HSMCI1 slot may not be useful to you.
+       in a different manner, this HSMCI1 slot may not be useful to you
+       anyway.
+
+       STATUS:  There is an unresolved issue with HSMCI0 as of this writing.
+       No errors are reported so most the handshaking signals and command
+       transfers are working, but all data transfers return the value zero
+       (with or without DMA).  This seems like some pin configuration issue.
 
     9. The SAMA5D4-EK includes for an AT25 serial DataFlash.  That support is
        NOT enabled in this configuration.  Support for that serial FLASH can
@@ -3437,7 +3443,11 @@ To-Do List
 
 2) HSCMI TX DMA support is currently commented out.
 
-3) Some drivers may require some adjustments if you intend to run from SDRAM.
+3) Currently HSMCI1 does not work correctly.  No errors are reported so all of
+   the card handshakes must be working, but only zero values are read from the
+   card (with or without DMA).  Sounds like a pin configuration issue.
+
+4) Some drivers may require some adjustments if you intend to run from SDRAM.
    That is because in this case macros like BOARD_MCK_FREQUENCY are not constants
    but are instead function calls:  The MCK clock frequency is not known in
    advance but instead has to be calculated from the bootloader PLL configuration.
diff --git a/nuttx/configs/sama5d4-ek/nsh/defconfig b/nuttx/configs/sama5d4-ek/nsh/defconfig
index f4e0641ce..1312c31eb 100644
--- a/nuttx/configs/sama5d4-ek/nsh/defconfig
+++ b/nuttx/configs/sama5d4-ek/nsh/defconfig
@@ -119,6 +119,8 @@ CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y
 # CONFIG_ARMV7A_TOOLCHAIN_GNU_EABIW is not set
 # CONFIG_ARMV7A_TOOLCHAIN_GNU_OABI is not set
 # CONFIG_ARMV7A_DECODEFIQ is not set
+CONFIG_SDIO_DMA=y
+# CONFIG_SDIO_WIDTH_D1_ONLY is not set
 
 #
 # SAMA5 Configuration Options
@@ -187,7 +189,7 @@ CONFIG_SAMA5_USART4=y
 # CONFIG_SAMA5_TWI1 is not set
 # CONFIG_SAMA5_TWI2 is not set
 # CONFIG_SAMA5_TWI3 is not set
-# CONFIG_SAMA5_HSMCI0 is not set
+CONFIG_SAMA5_HSMCI0=y
 # CONFIG_SAMA5_HSMCI1 is not set
 # CONFIG_SAMA5_SBM is not set
 # CONFIG_SAMA5_SFC is not set
@@ -200,7 +202,7 @@ CONFIG_SAMA5_USART4=y
 # CONFIG_SAMA5_PWM is not set
 # CONFIG_SAMA5_ADC is not set
 # CONFIG_SAMA5_XDMAC0 is not set
-# CONFIG_SAMA5_XDMAC1 is not set
+CONFIG_SAMA5_XDMAC1=y
 # CONFIG_SAMA5_UHPHS is not set
 # CONFIG_SAMA5_UDPHS is not set
 # CONFIG_SAMA5_EMACB is not set
@@ -214,7 +216,19 @@ CONFIG_SAMA5_TRNG=y
 # CONFIG_SAMA5_FUSE is not set
 # CONFIG_SAMA5_MPDDRC is not set
 # CONFIG_SAMA5_VDEC is not set
-# CONFIG_SAMA5_PIO_IRQ is not set
+CONFIG_SAMA5_PIO_IRQ=y
+# CONFIG_SAMA5_PIOA_IRQ is not set
+# CONFIG_SAMA5_PIOB_IRQ is not set
+# CONFIG_SAMA5_PIOC_IRQ is not set
+# CONFIG_SAMA5_PIOD_IRQ is not set
+CONFIG_SAMA5_PIOE_IRQ=y
+
+#
+# HSMCI device driver options
+#
+CONFIG_SAMA5_HSMCI0_XDMAC1=y
+# CONFIG_SAMA5_HSMCI_RDPROOF is not set
+# CONFIG_SAMA5_HSMCI_WRPROOF is not set
 
 #
 # External Memory Configuration
@@ -238,7 +252,7 @@ CONFIG_SAMA5_ISRAM_HEAP=y
 #
 # CONFIG_ARCH_NOINTC is not set
 # CONFIG_ARCH_VECNOTIRQ is not set
-# CONFIG_ARCH_DMA is not set
+CONFIG_ARCH_DMA=y
 CONFIG_ARCH_HAVE_IRQPRIO=y
 # CONFIG_CUSTOM_STACK is not set
 # CONFIG_ADDRENV is not set
@@ -300,6 +314,7 @@ CONFIG_ARCH_HAVE_BUTTONS=y
 # CONFIG_ARCH_BUTTONS is not set
 CONFIG_ARCH_HAVE_IRQBUTTONS=y
 CONFIG_NSH_MMCSDMINOR=0
+CONFIG_NSH_MMCSDSLOTNO=0
 
 #
 # Board-Specific Options
@@ -381,6 +396,7 @@ CONFIG_SIG_SIGUSR1=1
 CONFIG_SIG_SIGUSR2=2
 CONFIG_SIG_SIGALARM=3
 CONFIG_SIG_SIGCONDTIMEDOUT=16
+CONFIG_SIG_SIGWORK=17
 
 #
 # POSIX Message Queue Options
@@ -424,7 +440,17 @@ CONFIG_RTC_DATETIME=y
 # CONFIG_BCH is not set
 # CONFIG_INPUT is not set
 # CONFIG_LCD is not set
-# CONFIG_MMCSD is not set
+CONFIG_MMCSD=y
+CONFIG_MMCSD_NSLOTS=1
+# CONFIG_MMCSD_READONLY is not set
+# CONFIG_MMCSD_MULTIBLOCK_DISABLE is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+CONFIG_MMCSD_HAVECARDDETECT=y
+CONFIG_ARCH_HAVE_SDIO=y
+CONFIG_MMCSD_SDIO=y
+# CONFIG_SDIO_PREFLIGHT is not set
+# CONFIG_SDIO_MUXBUS is not set
+CONFIG_SDIO_BLOCKSETUP=y
 # CONFIG_MTD is not set
 # CONFIG_PIPES is not set
 # CONFIG_PM is not set
@@ -602,7 +628,12 @@ CONFIG_LIB_SENDFILE_BUFSIZE=512
 #
 # Non-standard Library Support
 #
-# CONFIG_SCHED_WORKQUEUE is not set
+CONFIG_SCHED_WORKQUEUE=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_WORKPRIORITY=192
+CONFIG_SCHED_WORKPERIOD=50000
+CONFIG_SCHED_WORKSTACKSIZE=2048
+# CONFIG_SCHED_LPWORK is not set
 # CONFIG_LIB_KBDCODEC is not set
 # CONFIG_LIB_SLCDCODEC is not set
 
@@ -807,7 +838,7 @@ CONFIG_NSH_CONSOLE=y
 # USB Trace Support
 #
 # CONFIG_NSH_ALTCONDEV is not set
-# CONFIG_NSH_ARCHINIT is not set
+CONFIG_NSH_ARCHINIT=y
 
 #
 # NxWidgets/NxWM