PAL

Data Structures
struct	PortConfig
	Port Configuration. More...
struct	PALConfig
	Generic I/O ports static initializer. More...

Typedefs
typedef uint32_t	ioportmask_t
	Digital I/O port sized unsigned type.
typedef uint32_t	iomode_t
	Digital I/O modes.
typedef uint32_t	ioline_t
	Type of an I/O line.
typedef uint32_t	ioeventmode_t
	Type of an event mode.
typedef GPIO_TypeDef *	ioportid_t
	Port Identifier.
typedef uint32_t	iopadid_t
	Type of an pad identifier.

Functions
void	dmaInit (void)
void	_pal_lld_irq_handler (PORT_Type *base)
PORT_TypeDef *	_pal_lld_get_port_config (ioportid_t port)
uint8_t	_pal_lld_readpad (ioportid_t port, uint8_t pad)
	Reads a logical state from an I/O pad.
void	_pal_lld_writepad (ioportid_t port, uint8_t pad, uint8_t bit)
	Writes a logical state on an output pad.
void	_pal_lld_setpadmode (ioportid_t port, uint8_t pad, iomode_t mode)
	Pad mode setup.
void	_pal_lld_init (void)
	Kinetis I/O ports configuration.
void	_pal_lld_init (const PALConfig *config)
void	_pal_lld_setgroupmode (ioportid_t port, ioportmask_t mask, iomode_t mode)
	Pads mode setup.
void	_pal_lld_enablepadevent (ioportid_t port, iopadid_t pad, ioeventmode_t mode)
void	_pal_lld_disablepadevent (ioportid_t port, iopadid_t pad)

Variables
palevent_t	_pal_events [KINETIS_GPIO_NUM_LINES]
	Event records for the 16 GPIO EXTI channels.
palevent_t	_pal_events [KINETIS_GPIO_NUM_LINES]
	Event records for the 16 GPIO EXTI channels.

Detailed Description

Typedef Documentation

ioeventmode_t

typedef uint32_t ioeventmode_t

Type of an event mode.

Definition at line 93 of file hal_pal_lld.h.

ioline_t

typedef uint32_t ioline_t

Type of an I/O line.

Definition at line 88 of file hal_pal_lld.h.

iomode_t

typedef uint32_t iomode_t

Digital I/O modes.

Definition at line 83 of file hal_pal_lld.h.

iopadid_t

typedef uint32_t iopadid_t

Type of an pad identifier.

Definition at line 107 of file hal_pal_lld.h.

ioportid_t

typedef GPIO_TypeDef* ioportid_t

Port Identifier.

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.

Definition at line 102 of file hal_pal_lld.h.

ioportmask_t

typedef uint32_t ioportmask_t

Digital I/O port sized unsigned type.

Definition at line 78 of file hal_pal_lld.h.

Function Documentation

_pal_lld_disablepadevent()

void _pal_lld_disablepadevent	(	ioportid_t	port,
		iopadid_t	pad
	)

Definition at line 325 of file hal_pal_lld.c.

                                                              {
    PORT_TypeDef *portcfg = _pal_lld_get_port_config(port);
    PORT_SetPinInterruptConfig(portcfg, pad, PAL_EVENT_MODE_DISABLED);
    PORT_ClearPinsInterruptFlags(portcfg, 0xffffffff);
}

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_pal_lld_enablepadevent()

void _pal_lld_enablepadevent	(	ioportid_t	port,
		iopadid_t	pad,
		ioeventmode_t	mode
	)

Definition at line 301 of file hal_pal_lld.c.

                                                 {
  port_interrupt_t cfg;
  switch (mode) {
  case PAL_EVENT_MODE_RISING_EDGE:
    cfg = kPORT_InterruptRisingEdge;
    break;
  case PAL_EVENT_MODE_FALLING_EDGE:
    cfg = kPORT_InterruptFallingEdge;
    break;
  case PAL_EVENT_MODE_BOTH_EDGES:
    cfg = kPORT_InterruptEitherEdge;
    break;
  case PAL_EVENT_MODE_DISABLED:
  default:
    cfg = kPORT_InterruptOrDMADisabled;
  }
  
  PORT_TypeDef *portcfg = _pal_lld_get_port_config(port);
  PORT_SetPinInterruptConfig(portcfg, pad, cfg);
 
}

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_pal_lld_get_port_config()

PORT_TypeDef * _pal_lld_get_port_config

(

ioportid_t

port

)

Definition at line 71 of file hal_pal_lld.c.

                                                        {
  PORT_TypeDef *portcfg = NULL;
  if (port == IOPORT1)
    portcfg = PORTA;
  else if (port == IOPORT2)
    portcfg = PORTB;
  else if (port == IOPORT3)
    portcfg = PORTC;
  else if (port == IOPORT4)
    portcfg = PORTD;
  else if (port == IOPORT5)
    portcfg = PORTE;
  return portcfg;
}

Referenced by _pal_lld_disablepadevent(), _pal_lld_enablepadevent(), and _pal_lld_setpadmode().

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_pal_lld_init() [1/2]

void _pal_lld_init

(

const PALConfig *

config

)

Definition at line 253 of file hal_pal_lld.c.

                                            {
 
  int i, j;
 
  /* Enable clocking on all Ports */
  SIM->SCGC5 |= SIM_SCGC5_PORTA |
                SIM_SCGC5_PORTB |
                SIM_SCGC5_PORTC |
                SIM_SCGC5_PORTD |
                SIM_SCGC5_PORTE;
 
  /* Initial PORT and GPIO setup */
  for (i = 0; i < TOTAL_PORTS; i++) {
    for (j = 0; j < PADS_PER_PORT; j++) {
      pal_lld_setpadmode(config->ports[i].port,
                         j,
                         config->ports[i].pads[j]);
    }
  }
}

_pal_lld_init() [2/2]

void _pal_lld_init

(

void

)

Kinetis I/O ports configuration.

Ports A-E clocks enabled.

Parameters

[in]

config

the Kinetis ports configuration

@notapi

Definition at line 238 of file hal_pal_lld.c.

                         {
  /* Enable clocking on all Ports */
  PCC->CLKCFG[PCC_PORTA_INDEX] |= PCC_CLKCFG_CGC_MASK;
  PCC->CLKCFG[PCC_PORTB_INDEX] |= PCC_CLKCFG_CGC_MASK;
  PCC->CLKCFG[PCC_PORTC_INDEX] |= PCC_CLKCFG_CGC_MASK;
  PCC->CLKCFG[PCC_PORTD_INDEX] |= PCC_CLKCFG_CGC_MASK;
  PCC->CLKCFG[PCC_PORTE_INDEX] |= PCC_CLKCFG_CGC_MASK;
 
  nvicEnableVector(PORTA_IRQn, KINETIS_GPIO_IRQ_PRIORITY);
  nvicEnableVector(PORTB_IRQn, KINETIS_GPIO_IRQ_PRIORITY);
  nvicEnableVector(PORTC_IRQn, KINETIS_GPIO_IRQ_PRIORITY);
  nvicEnableVector(PORTD_IRQn, KINETIS_GPIO_IRQ_PRIORITY);
  nvicEnableVector(PORTE_IRQn, KINETIS_GPIO_IRQ_PRIORITY);
}

_pal_lld_irq_handler()

void _pal_lld_irq_handler

(

PORT_Type *

base

)

Definition at line 58 of file hal_pal_lld.c.

                                           {
    uint32_t flags = PORT_GetPinsInterruptFlags(base);
    for (int i = 0; i < 16; i++) {
        if (flags & (1 << i)) {
            // todo: add port-dependent lines?
            _pal_isr_code(i);
        }
    }
    PORT_ClearPinsInterruptFlags(base, flags);
}

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_pal_lld_readpad()

uint8_t _pal_lld_readpad	(	ioportid_t	port,
		uint8_t	pad
	)

Reads a logical state from an I/O pad.

Note

The PAL provides a default software implementation of this functionality, implement this function if can optimize it by using special hardware functionalities or special coding.

Parameters

[in]	port	port identifier
[in]	pad	pad number within the port

Returns

The logical state.

Return values

PAL_LOW	low logical state.
PAL_HIGH	high logical state.

@notapi

Definition at line 100 of file hal_pal_lld.c.

                                      {
 
  return (port->PDIR & ((uint32_t) 1 << pad)) ? PAL_HIGH : PAL_LOW;
}

_pal_lld_setgroupmode()

void _pal_lld_setgroupmode	(	ioportid_t	port,
		ioportmask_t	mask,
		iomode_t	mode
	)

Pads mode setup.

This function programs a pads group belonging to the same port with the specified mode.

Parameters

[in]	port	the port identifier
[in]	mask	the group mask
[in]	mode	the mode

@notapi

Definition at line 286 of file hal_pal_lld.c.

                                          {
 
  int i;
 
  (void)mask;
 
  for (i = 0; i < PADS_PER_PORT; i++) {
    pal_lld_setpadmode(port, i, mode);
  }
}

_pal_lld_setpadmode()

void _pal_lld_setpadmode	(	ioportid_t	port,
		uint8_t	pad,
		iomode_t	mode
	)

Pad mode setup.

This function programs a pad with the specified mode.

Note

The PAL provides a default software implementation of this functionality, implement this function if can optimize it by using special hardware functionalities or special coding.

Programming an unknown or unsupported mode is silently ignored.

Parameters

[in]	port	port identifier
[in]	pad	pad number within the port
[in]	mode	pad mode

@notapi

Definition at line 145 of file hal_pal_lld.c.

                                        {
 
  osalDbgAssert(pad < PADS_PER_PORT, "pal_lld_setpadmode() #1, invalid pad");
 
  if (mode == PAL_MODE_OUTPUT_PUSHPULL || mode == PAL_MODE_OUTPUT_OPENDRAIN)
    port->PDDR |= ((uint32_t) 1 << pad);
  else
    port->PDDR &= ~((uint32_t) 1 << pad);
 
  PORT_TypeDef *portcfg = _pal_lld_get_port_config(port);
  osalDbgAssert(portcfg != NULL, "pal_lld_setpadmode() #2, invalid port");
 
  switch (mode) {
  case PAL_MODE_RESET:
  case PAL_MODE_INPUT:
  case PAL_MODE_OUTPUT_PUSHPULL:
    portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(1);
    break;
#if KINETIS_GPIO_HAS_OPENDRAIN
  case PAL_MODE_OUTPUT_OPENDRAIN:
    portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(1) |
                        PORTx_PCRn_ODE;
    break;
#else
#undef PAL_MODE_OUTPUT_OPENDRAIN
#endif
  case PAL_MODE_INPUT_PULLUP:
    portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(1) |
                        PORTx_PCRn_PE |
                        PORTx_PCRn_PS;
      break;
  case PAL_MODE_INPUT_PULLDOWN:
    portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(1) |
                        PORTx_PCRn_PE;
      break;
  case PAL_MODE_UNCONNECTED:
  case PAL_MODE_INPUT_ANALOG:
    portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(0);
    break;
  case PAL_MODE_ALTERNATIVE_1:
    portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(1);
    break;
  case PAL_MODE_ALTERNATIVE_2:
    portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(2);
    break;
  case PAL_MODE_ALTERNATIVE_3:
    portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(3);
    break;
  case PAL_MODE_ALTERNATIVE_4:
    portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(4);
    break;
  case PAL_MODE_ALTERNATIVE_5:
    portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(5);
    break;
  case PAL_MODE_ALTERNATIVE_6:
    portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(6);
    break;
  case PAL_MODE_ALTERNATIVE_7:
    portcfg->PCR[pad] = PIN_MUX_ALTERNATIVE(7);
    break;
  }
  
  // a little 'hack' for complex pin modes like MISO+PULLUP
  if (mode & PAL_STM32_PUPDR_PULLUP) {
    portcfg->PCR[pad] |= PAL_STM32_PUPDR_PULLUP;
  }
 
  // enable high-current drive strength for push-pull outputs (Kinetis-specific feature)
  if (mode & PAL_MODE_OUTPUT_PUSHPULL) {
    // todo: Not all pins are capable of high-drive. Is is a problem?
    PORT_SetPinDriveStrength(portcfg, pad, kPORT_HighDriveStrength);
  }
}

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_pal_lld_writepad()

void _pal_lld_writepad	(	ioportid_t	port,
		uint8_t	pad,
		uint8_t	bit
	)

Writes a logical state on an output pad.

Note

This function is not meant to be invoked directly by the application code.

The PAL provides a default software implementation of this functionality, implement this function if can optimize it by using special hardware functionalities or special coding.

Parameters

[in]	port	port identifier
[in]	pad	pad number within the port
[in]	bit	logical value, the value must be PAL_LOW or PAL_HIGH

@notapi

Definition at line 121 of file hal_pal_lld.c.

                                    {
 
  if (bit == PAL_HIGH)
    port->PDOR |= ((uint32_t) 1 << pad);
  else
    port->PDOR &= ~((uint32_t) 1 << pad);
}

dmaInit()

void dmaInit

(

void

)

Definition at line 31 of file kinetis_dma.c.

                   {
    DMAMUX_Init(DMAMUX);
 
    edma_config_t eConfig;
    EDMA_GetDefaultConfig(&eConfig); 
    eConfig.enableHaltOnError = false;
    //eConfig.enableDebugMode = false;
    EDMA_Init(DMA0, &eConfig); 
}

Referenced by hal_lld_init().

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Variable Documentation

_pal_events [1/2]

palevent_t _pal_events[KINETIS_GPIO_NUM_LINES]

Event records for the 16 GPIO EXTI channels.

Definition at line 45 of file hal_pal_lld.c.

_pal_events [2/2]

palevent_t _pal_events[KINETIS_GPIO_NUM_LINES]

extern

Event records for the 16 GPIO EXTI channels.

Definition at line 45 of file hal_pal_lld.c.