Board amc2c: added BSP support for hw::mtx (#389)

robotology · Jun 12, 2023 · 25728f0 · 25728f0
1 parent d8f068d
commit 25728f0
Show file tree

Hide file tree

Showing 2 changed files with 200 additions and 0 deletions.
diff --git a/emBODY/eBcode/arch-arm/board/amc2c/bsp/embot_hw_mtx_bsp_amc2c.cpp b/emBODY/eBcode/arch-arm/board/amc2c/bsp/embot_hw_mtx_bsp_amc2c.cpp
@@ -0,0 +1,174 @@
+
+/*
+ * Copyright (C) 2023 iCub Tech - Istituto Italiano di Tecnologia
+ * Author:  Marco Accame
+ * email:   [email protected]
+*/
+
+
+// --------------------------------------------------------------------------------------------------------------------
+// - public interface
+// --------------------------------------------------------------------------------------------------------------------
+
+#include "embot_hw_mtx_bsp_amc2c.h"
+
+// --------------------------------------------------------------------------------------------------------------------
+// - external dependencies
+// --------------------------------------------------------------------------------------------------------------------
+
+#include <cstring>
+#include <vector>
+#include <array>
+
+#include "embot_core_binary.h"
+#include "embot_core.h"
+
+#if defined(USE_STM32HAL)
+    #include "stm32hal.h"
+#else
+    #warning this implementation is only for stm32hal
+#endif
+
+
+using namespace std;
+using namespace embot::core::binary;
+
+// --------------------------------------------------------------------------------------------------------------------
+// - configuration of peripherals and chips. it is done board by board. it contains a check vs correct STM32HAL_BOARD_*
+// --------------------------------------------------------------------------------------------------------------------
+
+#include "embot_hw_bsp_amc2c_config.h"
+
+
+// --------------------------------------------------------------------------------------------------------------------
+// - support maps
+// --------------------------------------------------------------------------------------------------------------------
+
+
+// - support map: begin of embot::hw::mtx
+
+#include "embot_hw_mtx_bsp.h"
+#include "embot_hw_mtx.h"
+
+#if !defined(EMBOT_ENABLE_hw_mtx)
+
+namespace embot::hw::mtx::bsp {
+
+    constexpr BSP thebsp {};
+    void BSP::init(embot::hw::MTX h) const {}
+    const BSP & getBSP() { return thebsp; }     
+
+}
+
+#elif defined(EMBOT_ENABLE_hw_mtx)
+
+namespace embot::hw::mtx::bsp {
+
+    volatile bool clkinitted {false};
+    volatile bool irqinitted {false};   
+
+    // HSEM values are [0, 31].
+    // i dont use 0 because it is reserved to booting mechanism. So far ... 
+
+    constexpr PROP m01 = { 1 };
+    constexpr PROP m02 = { 2 };
+    constexpr PROP m03 = { 3 };
+    constexpr PROP m04 = { 4 };
+    constexpr PROP m05 = { 5 };
+    constexpr PROP m06 = { 6 };
+    constexpr PROP m07 = { 7 };
+    constexpr PROP m08 = { 8 };
+    constexpr PROP m09 = { 9 };
+    constexpr PROP m10 = {10 };
+    constexpr PROP m11 = {11 };
+    constexpr PROP m12 = {12 };
+    constexpr PROP m13 = {13 };
+    constexpr PROP m14 = {14 };
+    constexpr PROP m15 = {15 };
+    constexpr PROP m16 = {16 };
+    constexpr PROP m17 = {17 };
+    constexpr PROP m18 = {18 };
+    constexpr PROP m19 = {19 };
+    constexpr PROP m20 = {20 };
+    constexpr PROP m21 = {21 };
+    constexpr PROP m22 = {22 };
+    constexpr PROP m23 = {23 };
+    constexpr PROP m24 = {24 };
+
+    constexpr BSP thebsp {        
+        // maskofsupported
+        mask::pos2mask<uint32_t>(MTX::one) | mask::pos2mask<uint32_t>(MTX::two) | 
+        mask::pos2mask<uint32_t>(MTX::three) | mask::pos2mask<uint32_t>(MTX::four) |
+        mask::pos2mask<uint32_t>(MTX::five) | mask::pos2mask<uint32_t>(MTX::six) |
+        mask::pos2mask<uint32_t>(MTX::seven) | mask::pos2mask<uint32_t>(MTX::eight) |
+        mask::pos2mask<uint32_t>(MTX::nine) | mask::pos2mask<uint32_t>(MTX::ten) |
+        mask::pos2mask<uint32_t>(MTX::eleven) |  mask::pos2mask<uint32_t>(MTX::twelve) |
+        mask::pos2mask<uint32_t>(MTX::thirteen) | mask::pos2mask<uint32_t>(MTX::fourteen) |
+        mask::pos2mask<uint32_t>(MTX::fifteen) | mask::pos2mask<uint32_t>(MTX::sixteen) |
+        mask::pos2mask<uint32_t>(MTX::seventeen) | mask::pos2mask<uint32_t>(MTX::eighteen) |
+        mask::pos2mask<uint32_t>(MTX::nineteen) | mask::pos2mask<uint32_t>(MTX::twenty) |
+        mask::pos2mask<uint32_t>(MTX::twentyone) | mask::pos2mask<uint32_t>(MTX::twentytwo) |
+        mask::pos2mask<uint32_t>(MTX::twentythree) | mask::pos2mask<uint32_t>(MTX::twentyfour),        
+        // properties
+        {{
+            &m01, &m02, &m03, &m04, &m05, &m06, &m07, &m08, &m09, &m10, 
+            &m11, &m12, &m13, &m14, &m15, &m16, &m17, &m18, &m19, &m20,
+            &m21, &m22, &m23, &m24            
+        }}        
+    };
+
+
+    void BSP::init(embot::hw::MTX h) const
+    {
+        if(false == clkinitted)
+        {
+            __HAL_RCC_HSEM_CLK_ENABLE();
+            clkinitted = true;
+        }
+
+        if(false == irqinitted)
+        {
+            HAL_NVIC_SetPriority(HSEM1_IRQn, 10, 0);
+            HAL_NVIC_EnableIRQ(HSEM1_IRQn);
+            HAL_NVIC_SetPriority(HSEM2_IRQn, 10, 0);
+            HAL_NVIC_EnableIRQ(HSEM2_IRQn);            
+            irqinitted = true;
+        }           
+    }    
+
+    const BSP & getBSP() 
+    {
+        return thebsp;
+    }    
+
+} // namespace embot::hw::mtx::bsp {
+
+
+#endif // #elif defined(EMBOT_ENABLE_hw_mtx)
+
+// in here the required C functions
+
+extern "C" {
+
+    // the IRQ handler used by embot::hw::mtx
+
+    void HSEM2_IRQHandler(void)
+    {
+        HAL_HSEM_IRQHandler();	  
+    }    
+
+    void HSEM1_IRQHandler(void)
+    {
+        HAL_HSEM_IRQHandler();	  
+    }  
+
+    // important note:
+    // void HAL_HSEM_FreeCallback(uint32_t SemMask) is inside the driver embot_hw_mtx.cpp file    
+}
+
+
+// - support map: end of embot::hw::mtx
+
+
+// - end-of-file (leave a blank line after)----------------------------------------------------------------------------
+
diff --git a/emBODY/eBcode/arch-arm/board/amc2c/bsp/embot_hw_mtx_bsp_amc2c.h b/emBODY/eBcode/arch-arm/board/amc2c/bsp/embot_hw_mtx_bsp_amc2c.h
@@ -0,0 +1,26 @@
+
+/*
+ * Copyright (C) 2023 iCub Tech - Istituto Italiano di Tecnologia
+ * Author:  Marco Accame
+ * email:   [email protected]
+*/
+
+// - include guard ----------------------------------------------------------------------------------------------------
+
+#ifndef __EMBOT_HW_MTX_BSP_AMC2C_H_
+#define __EMBOT_HW_MTX_BSP_AMC2C_H_
+
+#include "embot_hw_bsp.h"
+#include "embot_hw_mtx_bsp.h"
+
+namespace embot::hw::mtx::bsp {
+
+}
+
+#endif  // include-guard
+
+
+// - end-of-file (leave a blank line after)----------------------------------------------------------------------------
+
+
+