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author | Gregory Nutt <gnutt@nuttx.org> | 2014-06-30 14:26:09 -0600 |
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committer | Gregory Nutt <gnutt@nuttx.org> | 2014-06-30 14:26:09 -0600 |
commit | 5de8bacfb5dc8af0e3c64de0e632a4d151b46b54 (patch) | |
tree | d4075f864f3cd4d6efd006877d6314577ac86ff2 /nuttx/arch | |
parent | 9cac2c93ce2a22dc9b6df08ca0993fb2a9b01254 (diff) | |
download | px4-nuttx-5de8bacfb5dc8af0e3c64de0e632a4d151b46b54.tar.gz px4-nuttx-5de8bacfb5dc8af0e3c64de0e632a4d151b46b54.tar.bz2 px4-nuttx-5de8bacfb5dc8af0e3c64de0e632a4d151b46b54.zip |
SAM3/4: Important bugfix. Values read from PIO input pins do not change unless clocking to the PIO block is enabled
Diffstat (limited to 'nuttx/arch')
-rw-r--r-- | nuttx/arch/arm/src/sama5/sam_hsmci.c | 24 | ||||
-rw-r--r-- | nuttx/arch/arm/src/sama5/sam_pio.c | 176 | ||||
-rw-r--r-- | nuttx/arch/arm/src/sama5/sam_pioirq.c | 1 |
3 files changed, 188 insertions, 13 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; } |