pal_lld.h

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/*
    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
                 2011,2012 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/>.
*/

/**
 * @file  AVR/pal_lld.h
 * @brief AVR GPIO low level driver header.
 *
 * @addtogroup PAL
 * @{
 */

#ifndef _PAL_LLD_H_
#define _PAL_LLD_H_

#if HAL_USE_PAL || defined(__DOXYGEN__)

/*===========================================================================*/
/* Unsupported modes and specific modes                                      */
/*===========================================================================*/

#undef PAL_MODE_INPUT_PULLDOWN
#undef PAL_MODE_OUTPUT_OPENDRAIN

/*===========================================================================*/
/* I/O Ports Types and constants.                                            */
/*===========================================================================*/

/**
 * @brief   Width, in bits, of an I/O port.
 */
#define PAL_IOPORTS_WIDTH 8

/**
 * @brief   Whole port mask.
 * @details This macro specifies all the valid bits into a port.
 */
#define PAL_WHOLE_PORT ((ioportmask_t)0xFF)

/**
 * @brief   AVR setup registers.
 */
typedef struct  {
  uint8_t  out;
  uint8_t  dir;
} avr_gpio_setup_t;

/**
 * @brief   AVR registers block.
 * @note    On some devices registers do not follow this layout on some
 *          ports, the ports with abnormal layout cannot be used through
 *          PAL driver. Example: PORT F on Mega128.
 */
typedef struct  {
  volatile uint8_t  in;
  volatile uint8_t  dir;
  volatile uint8_t  out;
} avr_gpio_registers_t;

/**
 * @brief   Generic I/O ports static initializer.
 * @details An instance of this structure must be passed to @p palInit() at
 *          system startup time in order to initialized the digital I/O
 *          subsystem. This represents only the initial setup, specific pads
 *          or whole ports can be reprogrammed at later time.
 */
typedef struct {
#if defined(PORTA) || defined(__DOXYGEN__)
  avr_gpio_setup_t porta;
#endif
#if defined(PORTB) || defined(__DOXYGEN__)
  avr_gpio_setup_t portb;
#endif
#if defined(PORTC) || defined(__DOXYGEN__)
  avr_gpio_setup_t portc;
#endif
#if defined(PORTD) || defined(__DOXYGEN__)
  avr_gpio_setup_t portd;
#endif
#if defined(PORTE) || defined(__DOXYGEN__)
  avr_gpio_setup_t porte;
#endif
#if defined(PORTF) || defined(__DOXYGEN__)
  avr_gpio_setup_t portf;
#endif
#if defined(PORTG) || defined(__DOXYGEN__)
  avr_gpio_setup_t portg;
#endif
#if defined(PORTH) || defined(__DOXYGEN__)
  avr_gpio_setup_t porth;
#endif
#if defined(PORTJ) || defined(__DOXYGEN__)
  avr_gpio_setup_t portj;
#endif
#if defined(PORTK) || defined(__DOXYGEN__)
  avr_gpio_setup_t portk;
#endif
#if defined(PORTL) || defined(__DOXYGEN__)
  avr_gpio_setup_t portl;
#endif
} PALConfig;

/**
 * @brief   Digital I/O port sized unsigned type.
 */
typedef uint8_t ioportmask_t;

/**
 * @brief   Digital I/O modes.
 */
typedef uint8_t iomode_t;

/**
 * @brief   Port Identifier.
 * @details This type can be a scalar or some kind of pointer, do not make
 *          any assumption about it, use the provided macros when populating
 *          variables of this type.
 */
typedef avr_gpio_registers_t *ioportid_t;

/*===========================================================================*/
/* I/O Ports Identifiers.                                                    */
/*===========================================================================*/

#if defined(PORTA) || defined(__DOXYGEN__)
/**
 * @brief   GPIO port A identifier.
 */
#define IOPORT1     ((volatile avr_gpio_registers_t *)&PINA)
#endif

#if defined(PORTB) || defined(__DOXYGEN__)
/**
 * @brief   GPIO port B identifier.
 */
#define IOPORT2     ((volatile avr_gpio_registers_t *)&PINB)
#endif

#if defined(PORTC) || defined(__DOXYGEN__)
/**
 * @brief   GPIO port C identifier.
 */
#define IOPORT3     ((volatile avr_gpio_registers_t *)&PINC)
#endif

#if defined(PORTD) || defined(__DOXYGEN__)
/**
 * @brief   GPIO port D identifier.
 */
#define IOPORT4     ((volatile avr_gpio_registers_t *)&PIND)
#endif

#if defined(PORTE) || defined(__DOXYGEN__)
/**
 * @brief   GPIO port E identifier.
 */
#define IOPORT5     ((volatile avr_gpio_registers_t *)&PINE)
#endif

#if defined(PORTF) || defined(__DOXYGEN__)
/**
 * @brief   GPIO port F identifier.
 */
#define IOPORT6     ((volatile avr_gpio_registers_t *)&PINF)
#endif

#if defined(PORTG) || defined(__DOXYGEN__)
/**
 * @brief   GPIO port G identifier.
 */
#define IOPORT7     ((volatile avr_gpio_registers_t *)&PING)
#endif

#if defined(PORTH) || defined(__DOXYGEN__)
/**
 * @brief   GPIO port H identifier.
 */
#define IOPORT8         ((volatile avr_gpio_registers_t *)&PINH)
#endif

#if defined(PORTJ) || defined(__DOXYGEN__)
/**
 * @brief   GPIO port J identifier.
 */
#define IOPORT9         ((volatile avr_gpio_registers_t *)&PINJ)
#endif

#if defined(PORTK) || defined(__DOXYGEN__)
/**
 * @brief   GPIO port K identifier.
 */
#define IOPORT10        ((volatile avr_gpio_registers_t *)&PINK)
#endif

#if defined(PORTL) || defined(__DOXYGEN__)
/**
 * @brief   GPIO port L identifier.
 */
#define IOPORT11        ((volatile avr_gpio_registers_t *)&PINL)
#endif

/*===========================================================================*/
/* Implementation, some of the following macros could be implemented as      */
/* functions, if so please put them in pal_lld.c.                            */
/*===========================================================================*/

/**
 * @brief   Low level PAL subsystem initialization.
 *
 * @param[in] config the architecture-dependent ports configuration
 *
 * @notapi
 */
#define pal_lld_init(config) _pal_lld_init(config)

/**
 * @brief   Reads the physical I/O port states.
 *
 * @param[in] port      port identifier
 * @return              The port bits.
 *
 * @notapi
 */
#define pal_lld_readport(port) ((port)->in)

/**
 * @brief   Reads the output latch.
 * @details The purpose of this function is to read back the latched output
 *          value.
 *
 * @param[in] port      port identifier
 * @return              The latched logical states.
 *
 * @notapi
 */
#define pal_lld_readlatch(port) ((port)->out)

/**
 * @brief   Writes a bits mask on a I/O port.
 *
 * @param[in] port      port identifier
 * @param[in] bits      bits to be written on the specified port
 *
 * @notapi
 */
#define pal_lld_writeport(port, bits) ((port)->out = bits)

/**
 * @brief   Pads group mode setup.
 * @details This function programs a pads group belonging to the same port
 *          with the specified mode.
 * @note    Programming an unknown or unsupported mode is silently ignored.
 *
 * @param[in] port      port identifier
 * @param[in] mask      group mask
 * @param[in] offset    group bit offset within the port
 * @param[in] mode      group mode
 *
 * @notapi
 */
#define pal_lld_setgroupmode(port, mask, offset, mode)                      \
  _pal_lld_setgroupmode(port, mask << offset, mode)

/**
 * @brief   Sets a pad logical state to @p PAL_HIGH.
 *
 * @param[in] port      port identifier
 * @param[in] pad       pad number within the port
 *
 * @notapi
 */
#define pal_lld_setpad(port, pad)                                           \
__asm__ __volatile__                                                        \
(                                                                           \
  "sbi %0,%1\n\t"                                                         \
  :                                                                       \
  : "I" (_SFR_IO_ADDR(port->out)),                                        \
    "I" (pad)                                                             \
                                                            \
)

/**
 * @brief   Clears a pad logical state to @p PAL_LOW.
 *
 * @param[in] port      port identifier
 * @param[in] pad       pad number within the port
 *
 * @notapi
 */
#define pal_lld_clearpad(port, pad)                                         \
__asm__ __volatile__                                                        \
(                                                                           \
  "cbi %0,%1\n\t"                                                         \
  :                                                                       \
  : "I" (_SFR_IO_ADDR(port->out)),                                        \
    "I" (pad)                                                             \
                                                            \
)

extern ROMCONST PALConfig pal_default_config;

#ifdef __cplusplus
extern "C" {
#endif
  void _pal_lld_init(const PALConfig *config);
  void _pal_lld_setgroupmode(ioportid_t port,
                             ioportmask_t mask,
                             iomode_t mode);
#ifdef __cplusplus
}
#endif

#endif /* HAL_USE_PAL */

#endif /* _PAL_LLD_H_ */

/** @} */