--- /dev/null
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2007 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \version $Id$
+ *
+ * \author Francesco Sacchi <batt@develer.com>
+ *
+ * \brief Low-level kdebug module for ARM (inplementation).
+ */
+
+#include <cpu/detect.h>
+
+#if CPU_ARM_AT91
+ #include "kdebug_at91.c"
+/*#elif Add other ARM families here */
+#else
+ #error Unknown CPU
+#endif
--- /dev/null
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2007 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \brief ARM debug support (implementation).
+ *
+ * \version $Id$
+ * \author Francesco Sacchi <batt@develer.com>
+ */
+
+#include "kdebug_at91.h"
+#include <cpu/cpu.h>
+#include <cfg/macros.h> /* for BV() */
+#include <appconfig.h>
+#include <hw_cpu.h> /* for CLOCK_FREQ */
+#include <hw_ser.h> /* Required for bus macros overrides */
+
+#include <io/arm.h>
+
+#if CONFIG_KDEBUG_PORT == KDEBUG_PORT_DBGU
+ #define KDBG_WAIT_READY() while (!(DBGU_SR & BV(US_TXRDY))) {}
+ #define KDBG_WAIT_TXDONE() while (!(DBGU_SR & BV(US_TXEMPTY))) {}
+
+ #define KDBG_WRITE_CHAR(c) do { DBGU_THR = (c); } while(0)
+
+ /* Debug unit is used only for debug purposes so does not generate interrupts. */
+ #define KDBG_MASK_IRQ(old) do { (void)old; } while(0)
+
+ /* Debug unit is used only for debug purposes so does not generate interrupts. */
+ #define KDBG_RESTORE_IRQ(old) do { (void)old; } while(0)
+
+ typedef uint32_t kdbg_irqsave_t;
+
+#else
+ #error CONFIG_KDEBUG_PORT should be KDEBUG_PORT_DBGU
+#endif
+
+
+INLINE void kdbg_hw_init(void)
+{
+ #if CONFIG_KDEBUG_PORT == KDEBUG_PORT_DBGU
+ /* Disable all DBGU interrupts. */
+ DBGU_IDR = 0xFFFFFFFF;
+ /* Reset DBGU */
+ DBGU_CR = BV(US_RSTRX) | BV(US_RSTTX) | BV(US_RXDIS) | BV(US_TXDIS);
+ /* Set baudrate */
+ DBGU_BRGR = (CLOCK_FREQ + (16 * CONFIG_KDEBUG_BAUDRATE) / 2) / (16 * CONFIG_KDEBUG_BAUDRATE);
+ /* Set DBGU mode to 8 data bits, no parity and 1 stop bit. */
+ DBGU_MR = US_CHMODE_NORMAL | US_CHRL_8 | US_PAR_NO | US_NBSTOP_1;
+ /* Enable DBGU transmitter. */
+ DBGU_CR = BV(US_TXEN);
+ /* Disable PIO on DGBU tx pin. */
+ #if CPU_ARM_AT91SAM7S256
+ PIOA_PDR = BV(10);
+ PIOA_ASR = BV(10);
+ #else
+ #warning Check Debug Unit AT91 pins on datasheet!
+ #endif
+
+ #if 0 /* Disable Rx for now */
+ /* Enable DBGU receiver. */
+ DBGU_CR = BV(US_RXEN);
+ /* Disable PIO on DGBU rx pin. */
+ #if CPU_ARM_AT91SAM7S256
+ PIOA_PDR = BV(9);
+ PIOA_ASR = BV(9);
+ #else
+ #warning Check Debug pins on datasheet!
+ #endif
+ #endif
+ #else
+ #error CONFIG_KDEBUG_PORT should be KDEBUG_PORT_DBGU
+ #endif /* CONFIG_KDEBUG_PORT == KDEBUG_PORT_DBGU */
+}
--- /dev/null
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2007 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \version $Id$
+ *
+ * \author Francesco Sacchi <batt@develer.com>
+ *
+ * \brief ARM debug support (interface).
+ */
+
+#ifndef DRV_KDEBUG_AT91_H
+#define DRV_KDEBUG_AT91_H
+
+#include <appconfig.h> /* CONFIG_TIMER */
+#include <cfg/compiler.h> /* uint8_t */
+#include <hw_cpu.h> /* CLOCK_FREQ */
+
+/**
+ * \name Values for CONFIG_KDEBUG_PORT.
+ *
+ * Select which hardware UART to use for system debug.
+ *
+ * \{
+ */
+#define KDEBUG_PORT_DBGU 0 ///< Debug on Debug Unit.
+
+#define KDEBUG_PORT_DEFAULT KDEBUG_PORT_DBGU ///< Default debug port.
+/* \} */
+
+#endif /* DRV_KDEBUG_AT91_H */
--- /dev/null
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos 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 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2007 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \version $Id$
+ *
+ * \author Francesco Sacchi <batt@develer.com>
+ *
+ * AT91 Debug unit.
+ * This file is based on NUT/OS implementation. See license below.
+ */
+
+/*
+ * Copyright (C) 2005-2006 by egnite Software GmbH. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the copyright holders nor the names of
+ * contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY EGNITE SOFTWARE GMBH AND CONTRIBUTORS
+ * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL EGNITE
+ * SOFTWARE GMBH OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+ * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * For additional information see http://www.ethernut.de/
+ */
+#ifndef AT91_DBGU_H
+#define AT91_DBGU_H
+
+#define DBGU_CR (*((reg32_t *)(DBGU_BASE + US_CR_OFF))) ///<DBGU control register address.
+#define DBGU_MR (*((reg32_t *)(DBGU_BASE + US_MR_OFF))) ///<DBGU mode register address.
+#define DBGU_IER (*((reg32_t *)(DBGU_BASE + US_IER_OFF))) ///<DBGU interrupt enable register address.
+#define DBGU_IDR (*((reg32_t *)(DBGU_BASE + US_IDR_OFF))) ///<DBGU interrupt disable register address.
+#define DBGU_IMR (*((reg32_t *)(DBGU_BASE + US_IMR_OFF))) ///<DBGU interrupt mask register address.
+#define DBGU_SR (*((reg32_t *)(DBGU_BASE + US_CSR_OFF))) ///<DBGU status register address.
+#define DBGU_RHR (*((reg32_t *)(DBGU_BASE + US_RHR_OFF))) ///<DBGU receiver holding register address.
+#define DBGU_THR (*((reg32_t *)(DBGU_BASE + US_THR_OFF))) ///<DBGU transmitter holding register address.
+#define DBGU_BRGR (*((reg32_t *)(DBGU_BASE + US_BRGR_OFF))) ///<DBGU baud rate register address.
+
+#define DBGU_CIDR_OFF 0x00000040 ///<DBGU chip ID register offset.
+#define DBGU_CIDR (*((reg32_t *)(DBGU_BASE + DBGU_CIDR_OFF))) ///<DBGU chip ID register.
+
+#define DBGU_EXID_OFF 0x00000044 ///<DBGU chip ID extension register offset.
+#define DBGU_EXID (*((reg32_t *)(DBGU_BASE + DBGU_EXID_OFF))) ///<DBGU chip ID extension register.
+
+#define DBGU_FNR_OFF 0x00000048 ///<DBGU force NTRST register offset.
+#define DBGU_FNR (*((reg32_t *)(DBGU_BASE + DBGU_FNR_OFF))) ///<DBGU force NTRST register.
+
+#if defined(DBGU_HAS_PDC)
+#define DBGU_RPR (*((reg32_t *)(DBGU_BASE + PERIPH_RPR_OFF))) ///<PDC receive pointer register.
+#define DBGU_RCR (*((reg32_t *)(DBGU_BASE + PERIPH_RCR_OFF))) ///<PDC receive counter register.
+#define DBGU_TPR (*((reg32_t *)(DBGU_BASE + PERIPH_TPR_OFF))) ///<PDC transmit pointer register.
+#define DBGU_TCR (*((reg32_t *)(DBGU_BASE + PERIPH_TCR_OFF))) ///<PDC transmit counter register.
+#define DBGU_RNPR (*((reg32_t *)(DBGU_BASE + PERIPH_RNPR_OFF))) ///<PDC receive next pointer register.
+#define DBGU_RNCR (*((reg32_t *)(DBGU_BASE + PERIPH_RNCR_OFF))) ///<PDC receive next counter register.
+#define DBGU_TNPR (*((reg32_t *)(DBGU_BASE + PERIPH_TNPR_OFF))) ///<PDC transmit next pointer register.
+#define DBGU_TNCR (*((reg32_t *)(DBGU_BASE + PERIPH_TNCR_OFF))) ///<PDC transmit next counter register.
+#define DBGU_PTCR (*((reg32_t *)(DBGU_BASE + PERIPH_PTCR_OFF))) ///<PDC transfer control register.
+#define DBGU_PTSR (*((reg32_t *)(DBGU_BASE + PERIPH_PTSR_OFF))) ///<PDC transfer status register.
+#endif
+
+#endif /* AT91_DBGU_H */
#define PIO_HAS_PERIPHERALSELECT 1
#define PIO_HAS_OUTPUTWRITEENABLE 1
+#define DBGU_HAS_PDC 1
+#define SPI_HAS_PDC 1
+#define SSC_HAS_PDC 1
+#define USART_HAS_PDC 1
+
#include "at91_aic.h"
#include "at91_pit.h"
#include "at91_pmc.h"
#include "at91_wdt.h"
#include "at91_rstc.h"
#include "at91_pio.h"
+#include "at91_us.h"
+#include "at91_dbgu.h"
//TODO: add other peripherals
/** Peripheral Identifiers and Interrupts */
#define PDC_TXTEN 0x00000100 ///< Transmitter transfer enable.
#define PDC_TXTDIS 0x00000200 ///< Transmitter transfer disable.
-#define DBGU_HAS_PDC 1
-#define SPI_HAS_PDC 1
-#define SSC_HAS_PDC 1
-#define USART_HAS_PDC 1
-
/** Historical SPI0 Peripheral Multiplexing Names */
/*\{*/
#define SPI0_NPCS0_PA12A 12 ///< Port bit number on PIO-A Perpheral A.
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