202 lines
6.2 KiB
C
202 lines
6.2 KiB
C
|
/*
|
||
|
|
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||
|
|
2011,2012,2013 Giovanni Di Sirio.
|
||
|
|
|
||
|
|
This file is part of ChibiOS/RT.
|
||
|
|
|
||
|
|
ChibiOS/RT is free software; you can redistribute it and/or modify
|
||
|
|
it under the terms of the GNU General Public License as published by
|
||
|
|
the Free Software Foundation; either version 3 of the License, or
|
||
|
|
(at your option) any later version.
|
||
|
|
|
||
|
|
ChibiOS/RT is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
A special exception to the GPL can be applied should you wish to distribute
|
||
|
|
a combined work that includes ChibiOS/RT, without being obliged to provide
|
||
|
|
the source code for any proprietary components. See the file exception.txt
|
||
|
|
for full details of how and when the exception can be applied.
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @file hal.c
|
||
|
|
* @brief HAL subsystem code.
|
||
|
|
*
|
||
|
|
* @addtogroup HAL
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "ch.h"
|
||
|
|
#include "hal.h"
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver local definitions. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver exported variables. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver local variables and types. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver local functions. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver exported functions. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief HAL initialization.
|
||
|
|
* @details This function invokes the low level initialization code then
|
||
|
|
* initializes all the drivers enabled in the HAL. Finally the
|
||
|
|
* board-specific initialization is performed by invoking
|
||
|
|
* @p boardInit() (usually defined in @p board.c).
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
void halInit(void) {
|
||
|
|
|
||
|
|
hal_lld_init();
|
||
|
|
|
||
|
|
#if HAL_USE_TM || defined(__DOXYGEN__)
|
||
|
|
tmInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_PAL || defined(__DOXYGEN__)
|
||
|
|
palInit(&pal_default_config);
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_ADC || defined(__DOXYGEN__)
|
||
|
|
adcInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_CAN || defined(__DOXYGEN__)
|
||
|
|
canInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_EXT || defined(__DOXYGEN__)
|
||
|
|
extInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_GPT || defined(__DOXYGEN__)
|
||
|
|
gptInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_I2C || defined(__DOXYGEN__)
|
||
|
|
i2cInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_ICU || defined(__DOXYGEN__)
|
||
|
|
icuInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_MAC || defined(__DOXYGEN__)
|
||
|
|
macInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_PWM || defined(__DOXYGEN__)
|
||
|
|
pwmInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_SERIAL || defined(__DOXYGEN__)
|
||
|
|
sdInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_SDC || defined(__DOXYGEN__)
|
||
|
|
sdcInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_SPI || defined(__DOXYGEN__)
|
||
|
|
spiInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_UART || defined(__DOXYGEN__)
|
||
|
|
uartInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_USB || defined(__DOXYGEN__)
|
||
|
|
usbInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_MMC_SPI || defined(__DOXYGEN__)
|
||
|
|
mmcInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_SERIAL_USB || defined(__DOXYGEN__)
|
||
|
|
sduInit();
|
||
|
|
#endif
|
||
|
|
#if HAL_USE_RTC || defined(__DOXYGEN__)
|
||
|
|
rtcInit();
|
||
|
|
#endif
|
||
|
|
/* Board specific initialization.*/
|
||
|
|
boardInit();
|
||
|
|
}
|
||
|
|
|
||
|
|
#if HAL_IMPLEMENTS_COUNTERS || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Realtime window test.
|
||
|
|
* @details This function verifies if the current realtime counter value
|
||
|
|
* lies within the specified range or not. The test takes care
|
||
|
|
* of the realtime counter wrapping to zero on overflow.
|
||
|
|
* @note When start==end then the function returns always true because the
|
||
|
|
* whole time range is specified.
|
||
|
|
* @note This is an optional service that could not be implemented in
|
||
|
|
* all HAL implementations.
|
||
|
|
* @note This function can be called from any context.
|
||
|
|
*
|
||
|
|
* @par Example 1
|
||
|
|
* Example of a guarded loop using the realtime counter. The loop implements
|
||
|
|
* a timeout after one second.
|
||
|
|
* @code
|
||
|
|
* halrtcnt_t start = halGetCounterValue();
|
||
|
|
* halrtcnt_t timeout = start + S2RTT(1);
|
||
|
|
* while (my_condition) {
|
||
|
|
* if (!halIsCounterWithin(start, timeout)
|
||
|
|
* return TIMEOUT;
|
||
|
|
* // Do something.
|
||
|
|
* }
|
||
|
|
* // Continue.
|
||
|
|
* @endcode
|
||
|
|
*
|
||
|
|
* @par Example 2
|
||
|
|
* Example of a loop that lasts exactly 50 microseconds.
|
||
|
|
* @code
|
||
|
|
* halrtcnt_t start = halGetCounterValue();
|
||
|
|
* halrtcnt_t timeout = start + US2RTT(50);
|
||
|
|
* while (halIsCounterWithin(start, timeout)) {
|
||
|
|
* // Do something.
|
||
|
|
* }
|
||
|
|
* // Continue.
|
||
|
|
* @endcode
|
||
|
|
*
|
||
|
|
* @param[in] start the start of the time window (inclusive)
|
||
|
|
* @param[in] end the end of the time window (non inclusive)
|
||
|
|
* @retval TRUE current time within the specified time window.
|
||
|
|
* @retval FALSE current time not within the specified time window.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
bool_t halIsCounterWithin(halrtcnt_t start, halrtcnt_t end) {
|
||
|
|
halrtcnt_t now = halGetCounterValue();
|
||
|
|
|
||
|
|
return end > start ? (now >= start) && (now < end) :
|
||
|
|
(now >= start) || (now < end);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Polled delay.
|
||
|
|
* @note The real delays is always few cycles in excess of the specified
|
||
|
|
* value.
|
||
|
|
* @note This is an optional service that could not be implemented in
|
||
|
|
* all HAL implementations.
|
||
|
|
* @note This function can be called from any context.
|
||
|
|
*
|
||
|
|
* @param[in] ticks number of ticks
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
void halPolledDelay(halrtcnt_t ticks) {
|
||
|
|
halrtcnt_t start = halGetCounterValue();
|
||
|
|
halrtcnt_t timeout = start + (ticks);
|
||
|
|
while (halIsCounterWithin(start, timeout))
|
||
|
|
;
|
||
|
|
}
|
||
|
|
#endif /* HAL_IMPLEMENTS_COUNTERS */
|
||
|
|
|
||
|
|
/** @} */
|