ChibiOS 2.6.8, until I can figure out where to get it from git.

2025-08-23 13:08:13 +00:00 · 2015-07-08 08:40:23 -07:00
parent dc6fee8370
commit e1eea8e08a
1929 changed files with 575326 additions and 0 deletions
--- a/firmware/chibios/boards/OLIMEX_SAM7_EX256/board.c
+++ b/firmware/chibios/boards/OLIMEX_SAM7_EX256/board.c
@@ -0,0 +1,137 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "ch.h"
+#include "hal.h"
+
+/**
+ * @brief   PAL setup.
+ * @details Digital I/O ports static configuration as defined in @p board.h.
+ *          This variable is used by the HAL when initializing the PAL driver.
+ */
+#if HAL_USE_PAL || defined(__DOXYGEN__)
+const PALConfig pal_default_config =
+{
+  {VAL_PIOA_ODSR, VAL_PIOA_OSR, VAL_PIOA_PUSR},
+#if (SAM7_PLATFORM == SAM7X128) || (SAM7_PLATFORM == SAM7X256) || \
+    (SAM7_PLATFORM == SAM7X512) || (SAM7_PLATFORM == SAM7A3)
+  {VAL_PIOB_ODSR, VAL_PIOB_OSR, VAL_PIOB_PUSR}
+#endif
+};
+#endif
+
+/*
+ * SYS IRQ handling here.
+ */
+static CH_IRQ_HANDLER(SYSIrqHandler) {
+
+  CH_IRQ_PROLOGUE();
+
+  if (AT91C_BASE_PITC->PITC_PISR & AT91C_PITC_PITS) {
+    (void) AT91C_BASE_PITC->PITC_PIVR;
+    chSysLockFromIsr();
+    chSysTimerHandlerI();
+    chSysUnlockFromIsr();
+  }
+  
+#if USE_SAM7_DBGU_UART
+  if (AT91C_BASE_DBGU->DBGU_CSR &
+      (AT91C_US_RXRDY | AT91C_US_TXRDY | AT91C_US_PARE | AT91C_US_FRAME |
+       AT91C_US_OVRE | AT91C_US_RXBRK)) {
+    sd_lld_serve_interrupt(&SDDBG);
+  }
+#endif
+  AT91C_BASE_AIC->AIC_EOICR = 0;
+  CH_IRQ_EPILOGUE();
+}
+
+/*
+ * Early initialization code.
+ * This initialization must be performed just after stack setup and before
+ * any other initialization.
+ */
+void __early_init(void) {
+  
+  /* Watchdog disabled.*/
+  AT91C_BASE_WDTC->WDTC_WDMR = AT91C_WDTC_WDDIS;
+  
+  at91sam7_clock_init();
+}
+
+#if HAL_USE_MMC_SPI
+/* Board-related functions related to the MMC_SPI driver.*/
+bool_t mmc_lld_is_card_inserted(MMCDriver *mmcp) {
+
+  (void)mmcp;
+  return !palReadPad(IOPORT2, PIOB_MMC_CP);
+}
+
+bool_t mmc_lld_is_write_protected(MMCDriver *mmcp) {
+
+  (void)mmcp;
+  return palReadPad(IOPORT2, PIOB_MMC_WP);
+}
+#endif
+
+/*
+ * Board-specific initialization code.
+ */
+void boardInit(void) {
+
+  /*
+   * LCD pins setup.
+   */
+  palClearPad(IOPORT2, PIOB_LCD_BL);
+  palSetPadMode(IOPORT2, PIOB_LCD_BL, PAL_MODE_OUTPUT_PUSHPULL);
+
+  palSetPad(IOPORT1, PIOA_LCD_RESET);
+  palSetPadMode(IOPORT1, PIOA_LCD_RESET, PAL_MODE_OUTPUT_PUSHPULL);
+
+  /*
+   * Joystick and buttons setup.
+   */
+  palSetGroupMode(IOPORT1,
+                  PIOA_B1_MASK | PIOA_B2_MASK | PIOA_B3_MASK |
+                  PIOA_B4_MASK | PIOA_B5_MASK,
+                  0,
+                  PAL_MODE_INPUT);
+  palSetGroupMode(IOPORT2, PIOB_SW1_MASK | PIOB_SW2_MASK, 0, PAL_MODE_INPUT);
+
+  /*
+   * MMC/SD slot setup.
+   */
+  palSetGroupMode(IOPORT2,
+                  PIOB_MMC_WP_MASK | PIOB_MMC_CP_MASK,
+                  0,
+                  PAL_MODE_INPUT);
+
+  /*
+   * PIT Initialization.
+   */
+  AIC_ConfigureIT(AT91C_ID_SYS,
+                  AT91C_AIC_SRCTYPE_HIGH_LEVEL | (AT91C_AIC_PRIOR_HIGHEST - 1),
+                  SYSIrqHandler);
+  AIC_EnableIT(AT91C_ID_SYS);
+  AT91C_BASE_PITC->PITC_PIMR = (MCK / 16 / CH_FREQUENCY) - 1;
+  AT91C_BASE_PITC->PITC_PIMR |= AT91C_PITC_PITEN | AT91C_PITC_PITIEN;
+
+  /*
+   * RTS/CTS pins enabled for USART0 only.
+   */
+  AT91C_BASE_PIOA->PIO_PDR   = AT91C_PA3_RTS0 | AT91C_PA4_CTS0;
+  AT91C_BASE_PIOA->PIO_ASR   = AT91C_PIO_PA3 | AT91C_PIO_PA4;
+  AT91C_BASE_PIOA->PIO_PPUDR = AT91C_PIO_PA3 | AT91C_PIO_PA4;
+}