983 lines
32 KiB
C
983 lines
32 KiB
C
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//###########################################################################
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//
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// FILE: cla.h
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//
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// TITLE: CLA Driver Implementation File
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//
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//###########################################################################
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// $Copyright:
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// Copyright (C) 2022 Texas Instruments Incorporated - http://www.ti.com
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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//
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// Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the
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// distribution.
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//
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// Neither the name of Texas Instruments Incorporated nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// $
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//###########################################################################
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#ifndef CLA_H
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#define CLA_H
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//*****************************************************************************
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//
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// If building with a C++ compiler, make all of the definitions in this header
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// have a C binding.
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//
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//*****************************************************************************
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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//*****************************************************************************
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//
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//! \addtogroup cla_api CLA
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//! \brief This module is used for configurating CLA.
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//! @{
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//
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//*****************************************************************************
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#include <stdint.h>
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#include <stdbool.h>
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#include "cpu.h"
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#include "debug.h"
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#include "inc/hw_cla.h"
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#include "inc/hw_memmap.h"
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#include "inc/hw_sysctl.h"
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#include "inc/hw_types.h"
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//*****************************************************************************
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//
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// Useful defines used within the driver functions. Not intended for use by
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// application code.
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//
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//*****************************************************************************
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#define CLA_NUM_EOT_INTERRUPTS (8U)
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//*****************************************************************************
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//
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// Values that can be passed to CLA_clearTaskFlags(), CLA_forceTasks(),
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// and CLA_enableTasks(), CLA_disableTasks(), and CLA_enableSoftwareInterrupt()
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// as the taskFlags parameter.
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//
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//*****************************************************************************
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#define CLA_TASKFLAG_1 (0x01U) //!< CLA Task 1 Flag
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#define CLA_TASKFLAG_2 (0x02U) //!< CLA Task 2 Flag
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#define CLA_TASKFLAG_3 (0x04U) //!< CLA Task 3 Flag
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#define CLA_TASKFLAG_4 (0x08U) //!< CLA Task 4 Flag
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#define CLA_TASKFLAG_5 (0x10U) //!< CLA Task 5 Flag
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#define CLA_TASKFLAG_6 (0x20U) //!< CLA Task 6 Flag
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#define CLA_TASKFLAG_7 (0x40U) //!< CLA Task 7 Flag
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#define CLA_TASKFLAG_8 (0x80U) //!< CLA Task 8 Flag
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#define CLA_TASKFLAG_ALL (0xFFU) //!< CLA All Task Flag
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//*****************************************************************************
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//
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//! Values that can be passed to CLA_getPendingTaskFlag(),
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//! CLA_getTaskOverflowFlag(), CLA_getTaskRunStatus(), CLA_setTriggerSource(),
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//! CLA_registerEndOfTaskInterrupt(), and CLA_unregisterEndOfTaskInterrupt()
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//! as the taskNumber parameter.
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//
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//*****************************************************************************
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typedef enum
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{
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CLA_TASK_1, //!< CLA Task 1
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CLA_TASK_2, //!< CLA Task 2
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CLA_TASK_3, //!< CLA Task 3
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CLA_TASK_4, //!< CLA Task 4
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CLA_TASK_5, //!< CLA Task 5
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CLA_TASK_6, //!< CLA Task 6
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CLA_TASK_7, //!< CLA Task 7
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CLA_TASK_8 //!< CLA Task 8
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} CLA_TaskNumber;
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#ifdef __TMS320C28XX__ // These enums are only accessible by C28x
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//*****************************************************************************
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//
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//! Values that can be passed to CLA_mapTaskVector() as the \e claIntVect
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//! parameter.
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//
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//*****************************************************************************
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typedef enum
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{
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CLA_MVECT_1 = CLA_O_MVECT1, //!< Task Interrupt Vector 1
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CLA_MVECT_2 = CLA_O_MVECT2, //!< Task Interrupt Vector 2
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CLA_MVECT_3 = CLA_O_MVECT3, //!< Task Interrupt Vector 3
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CLA_MVECT_4 = CLA_O_MVECT4, //!< Task Interrupt Vector 4
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CLA_MVECT_5 = CLA_O_MVECT5, //!< Task Interrupt Vector 5
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CLA_MVECT_6 = CLA_O_MVECT6, //!< Task Interrupt Vector 6
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CLA_MVECT_7 = CLA_O_MVECT7, //!< Task Interrupt Vector 7
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CLA_MVECT_8 = CLA_O_MVECT8 //!< Task Interrupt Vector 8
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} CLA_MVECTNumber;
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//*****************************************************************************
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//
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//! Values that can be passed to CLA_setTriggerSource() as the \e trigger
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//! parameter.
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//
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//*****************************************************************************
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typedef enum
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{
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CLA_TRIGGER_SOFTWARE = 0U, //!< CLA Task Trigger Source is Software
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CLA_TRIGGER_ADCA1 = 1U, //!< CLA Task Trigger Source is ADCA1
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CLA_TRIGGER_ADCA2 = 2U, //!< CLA Task Trigger Source is ADCA2
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CLA_TRIGGER_ADCA3 = 3U, //!< CLA Task Trigger Source is ADCA3
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CLA_TRIGGER_ADCA4 = 4U, //!< CLA Task Trigger Source is ADCA4
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CLA_TRIGGER_ADCAEVT = 5U, //!< CLA Task Trigger Source is ADCAEVT
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CLA_TRIGGER_ADCB1 = 6U, //!< CLA Task Trigger Source is ADCB1
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CLA_TRIGGER_ADCB2 = 7U, //!< CLA Task Trigger Source is ADCB2
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CLA_TRIGGER_ADCB3 = 8U, //!< CLA Task Trigger Source is ADCB3
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CLA_TRIGGER_ADCB4 = 9U, //!< CLA Task Trigger Source is ADCB4
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CLA_TRIGGER_ADCBEVT = 10U, //!< CLA Task Trigger Source is ADCBEVT
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CLA_TRIGGER_ADCC1 = 11U, //!< CLA Task Trigger Source is ADCC1
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CLA_TRIGGER_ADCC2 = 12U, //!< CLA Task Trigger Source is ADCC2
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CLA_TRIGGER_ADCC3 = 13U, //!< CLA Task Trigger Source is ADCC3
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CLA_TRIGGER_ADCC4 = 14U, //!< CLA Task Trigger Source is ADCC4
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CLA_TRIGGER_ADCCEVT = 15U, //!< CLA Task Trigger Source is ADCCEVT
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CLA_TRIGGER_ADCD1 = 16U, //!< CLA Task Trigger Source is ADCD1
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CLA_TRIGGER_ADCD2 = 17U, //!< CLA Task Trigger Source is ADCD2
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CLA_TRIGGER_ADCD3 = 18U, //!< CLA Task Trigger Source is ADCD3
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CLA_TRIGGER_ADCD4 = 19U, //!< CLA Task Trigger Source is ADCD4
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CLA_TRIGGER_ADCDEVT = 20U, //!< CLA Task Trigger Source is ADCDEVT
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CLA_TRIGGER_XINT1 = 29U, //!< CLA Task Trigger Source is XINT1
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CLA_TRIGGER_XINT2 = 30U, //!< CLA Task Trigger Source is XINT2
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CLA_TRIGGER_XINT3 = 31U, //!< CLA Task Trigger Source is XINT3
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CLA_TRIGGER_XINT4 = 32U, //!< CLA Task Trigger Source is XINT4
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CLA_TRIGGER_XINT5 = 33U, //!< CLA Task Trigger Source is XINT5
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CLA_TRIGGER_EPWM1INT = 36U, //!< CLA Task Trigger Source is EPWM1INT
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CLA_TRIGGER_EPWM2INT = 37U, //!< CLA Task Trigger Source is EPWM2INT
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CLA_TRIGGER_EPWM3INT = 38U, //!< CLA Task Trigger Source is EPWM3INT
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CLA_TRIGGER_EPWM4INT = 39U, //!< CLA Task Trigger Source is EPWM4INT
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CLA_TRIGGER_EPWM5INT = 40U, //!< CLA Task Trigger Source is EPWM5INT
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CLA_TRIGGER_EPWM6INT = 41U, //!< CLA Task Trigger Source is EPWM6INT
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CLA_TRIGGER_EPWM7INT = 42U, //!< CLA Task Trigger Source is EPWM7INT
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CLA_TRIGGER_EPWM8INT = 43U, //!< CLA Task Trigger Source is EPWM8INT
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CLA_TRIGGER_EPWM9INT = 44U, //!< CLA Task Trigger Source is EPWM9INT
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CLA_TRIGGER_EPWM10INT = 45U, //!< CLA Task Trigger Source is EPWM10INT
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CLA_TRIGGER_EPWM11INT = 46U, //!< CLA Task Trigger Source is EPWM11INT
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CLA_TRIGGER_EPWM12INT = 47U, //!< CLA Task Trigger Source is EPWM12INT
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CLA_TRIGGER_TINT0 = 68U, //!< CLA Task Trigger Source is TINT0
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CLA_TRIGGER_TINT1 = 69U, //!< CLA Task Trigger Source is TINT1
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CLA_TRIGGER_TINT2 = 70U, //!< CLA Task Trigger Source is TINT2
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CLA_TRIGGER_MXINTA = 71U, //!< CLA Task Trigger Source is MXINTA
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CLA_TRIGGER_MRINTA = 72U, //!< CLA Task Trigger Source is MRINTA
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CLA_TRIGGER_MXINTB = 73U, //!< CLA Task Trigger Source is MXINTB
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CLA_TRIGGER_MRINTB = 74U, //!< CLA Task Trigger Source is MRINTB
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CLA_TRIGGER_ECAP1INT = 75U, //!< CLA Task Trigger Source is ECAP1INT
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CLA_TRIGGER_ECAP2INT = 76U, //!< CLA Task Trigger Source is ECAP2INT
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CLA_TRIGGER_ECAP3INT = 77U, //!< CLA Task Trigger Source is ECAP3INT
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CLA_TRIGGER_ECAP4INT = 78U, //!< CLA Task Trigger Source is ECAP4INT
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CLA_TRIGGER_ECAP5INT = 79U, //!< CLA Task Trigger Source is ECAP5INT
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CLA_TRIGGER_ECAP6INT = 80U, //!< CLA Task Trigger Source is ECAP6INT
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CLA_TRIGGER_EQEP1INT = 83U, //!< CLA Task Trigger Source is EQEP1INT
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CLA_TRIGGER_EQEP2INT = 84U, //!< CLA Task Trigger Source is EQEP2INT
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CLA_TRIGGER_EQEP3INT = 85U, //!< CLA Task Trigger Source is EQEP3INT
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CLA_TRIGGER_SDFM1INT = 95U, //!< CLA Task Trigger Source is SDFM1INT
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CLA_TRIGGER_SDFM2INT = 96U, //!< CLA Task Trigger Source is SDFM2INT
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CLA_TRIGGER_UPP1INT = 107U, //!< CLA Task Trigger Source is UPP1INT
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CLA_TRIGGER_SPITXAINT = 109U, //!< CLA Task Trigger Source is SPITXAINT
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CLA_TRIGGER_SPIRXAINT = 110U, //!< CLA Task Trigger Source is SPIRXAINT
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CLA_TRIGGER_SPITXBINT = 111U, //!< CLA Task Trigger Source is SPITXBINT
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CLA_TRIGGER_SPIRXBINT = 112U, //!< CLA Task Trigger Source is SPIRXBINT
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CLA_TRIGGER_SPITXCINT = 113U, //!< CLA Task Trigger Source is SPITXCINT
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CLA_TRIGGER_SPIRXCINT = 114U, //!< CLA Task Trigger Source is SPIRXCINT
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CLA_TRIGGER_CLB1INT = 127, //!< CLA Task Trigger Source is CLB1INT
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CLA_TRIGGER_CLB2INT = 128, //!< CLA Task Trigger Source is CLB2INT
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CLA_TRIGGER_CLB3INT = 129, //!< CLA Task Trigger Source is CLB3INT
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CLA_TRIGGER_CLB4INT = 130, //!< CLA Task Trigger Source is CLB4INT
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} CLA_Trigger;
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#endif // __TMS320C28XX__
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//*****************************************************************************
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//
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// Prototypes for the APIs.
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//
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//*****************************************************************************
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//*****************************************************************************
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//
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//! \internal
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//! Checks a CLA base address.
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//!
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//! \param base is the base address of the CLA controller.
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//!
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//! This function determines if a CLA controller base address is valid.
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//!
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//! \return Returns \b true if the base address is valid and \b false
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//! otherwise.
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//
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//*****************************************************************************
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#ifdef DEBUG
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static inline bool
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CLA_isBaseValid(uint32_t base)
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{
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return(base == CLA1_BASE);
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}
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#endif
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#ifdef __TMS320C28XX__ // These functions are only accessible from the C28x
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//*****************************************************************************
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//
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//! Map CLA Task Interrupt Vector
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//!
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//! \param base is the base address of the CLA controller.
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//! \param claIntVect is CLA interrupt vector (MVECT1 to MVECT8)
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//! the value of claIntVect can be any of the following:
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//! - \b CLA_MVECT_1 - Task Interrupt Vector 1
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//! - \b CLA_MVECT_2 - Task Interrupt Vector 2
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//! - \b CLA_MVECT_3 - Task Interrupt Vector 3
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//! - \b CLA_MVECT_4 - Task Interrupt Vector 4
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//! - \b CLA_MVECT_5 - Task Interrupt Vector 5
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//! - \b CLA_MVECT_6 - Task Interrupt Vector 6
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//! - \b CLA_MVECT_7 - Task Interrupt Vector 7
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//! - \b CLA_MVECT_8 - Task Interrupt Vector 8
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//! \param claTaskAddr is the start address of the code for task
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//!
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//! Each CLA Task (1 to 8) has its own MVECTx register. When a task is
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//! triggered, the CLA loads the MVECTx register of the task in question
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//! to the MPC (CLA program counter) and begins execution from that point.
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//! The CLA has a 16-bit address bus, and can therefore, access the lower
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//! 64 KW space. The MVECTx registers take an address anywhere in this space.
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//!
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//! \return None.
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//
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//*****************************************************************************
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static inline void
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CLA_mapTaskVector(uint32_t base, CLA_MVECTNumber claIntVect,
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uint16_t claTaskAddr)
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{
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//
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// Check the arguments.
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//
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||
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ASSERT(CLA_isBaseValid(base));
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//
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// Modify protected register
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//
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EALLOW;
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HWREGH(base + (uint16_t)claIntVect) = claTaskAddr;
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EDIS;
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}
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//*****************************************************************************
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||
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//
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||
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//! Hard Reset
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||
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//!
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||
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//! \param base is the base address of the CLA controller.
|
||
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//!
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||
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//! This function will cause a hard reset of the CLA and set all CLA registers
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//! to their default state.
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||
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//!
|
||
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//! \return None.
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||
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//
|
||
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|
//*****************************************************************************
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||
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static inline void
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CLA_performHardReset(uint32_t base)
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{
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//
|
||
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// Check the arguments.
|
||
|
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//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
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|
||
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//
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||
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// Modify protected register
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||
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//
|
||
|
|
EALLOW;
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||
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|
||
|
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//
|
||
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// Hard reset of the CLA
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||
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|
//
|
||
|
|
HWREGH(base + CLA_O_MCTL) |= CLA_MCTL_HARDRESET;
|
||
|
|
|
||
|
|
EDIS;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Wait for few cycles till the reset is complete
|
||
|
|
//
|
||
|
|
NOP;
|
||
|
|
NOP;
|
||
|
|
NOP;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Soft Reset
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//!
|
||
|
|
//! This function will cause a soft reset of the CLA. This will stop the
|
||
|
|
//! current task, clear the MIRUN flag and clear all bits in the MIER register.
|
||
|
|
//!
|
||
|
|
//! \return None.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline void
|
||
|
|
CLA_performSoftReset(uint32_t base)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Modify protected register
|
||
|
|
//
|
||
|
|
EALLOW;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Soft reset of the CLA
|
||
|
|
//
|
||
|
|
HWREGH(base + CLA_O_MCTL) |= CLA_MCTL_SOFTRESET;
|
||
|
|
|
||
|
|
EDIS;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Wait for few cycles till the reset is complete
|
||
|
|
//
|
||
|
|
NOP;
|
||
|
|
NOP;
|
||
|
|
NOP;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! IACK enable
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//!
|
||
|
|
//! This function enables the main CPU to use the IACK #16bit instruction to
|
||
|
|
//! set MIFR bits in the same manner as writing to the MIFRC register.
|
||
|
|
//!
|
||
|
|
//! \return None.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline void
|
||
|
|
CLA_enableIACK(uint32_t base)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Modify protected register
|
||
|
|
//
|
||
|
|
EALLOW;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Enable the main CPU to use the IACK #16bit instruction
|
||
|
|
//
|
||
|
|
HWREGH(base + CLA_O_MCTL) |= CLA_MCTL_IACKE;
|
||
|
|
|
||
|
|
EDIS;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! IACK disable
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//!
|
||
|
|
//! This function disables the main CPU to use the IACK #16bit instruction to
|
||
|
|
//! set MIFR bits in the same manner as writing to the MIFRC register.
|
||
|
|
//!
|
||
|
|
//! \return None.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline void
|
||
|
|
CLA_disableIACK(uint32_t base)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Modify protected register
|
||
|
|
//
|
||
|
|
EALLOW;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Enable the main CPU to use the IACK #16bit instruction
|
||
|
|
//
|
||
|
|
HWREGH(base + CLA_O_MCTL) &= ~CLA_MCTL_IACKE;
|
||
|
|
|
||
|
|
EDIS;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Query task N to see if it is flagged and pending execution
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//! \param taskNumber is the number of the task CLA_TASK_N where N is a number
|
||
|
|
//! from 1 to 8. Do not use CLA_TASKFLAG_ALL.
|
||
|
|
//!
|
||
|
|
//! This function gets the status of each bit in the interrupt flag register
|
||
|
|
//! corresponds to a CLA task. The corresponding bit is automatically set
|
||
|
|
//! when the task is triggered (either from a peripheral, through software, or
|
||
|
|
//! through the MIFRC register). The bit gets cleared when the CLA starts to
|
||
|
|
//! execute the flagged task.
|
||
|
|
//!
|
||
|
|
//! \return \b True if the queried task has been triggered but pending
|
||
|
|
//! execution.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline bool
|
||
|
|
CLA_getPendingTaskFlag(uint32_t base, CLA_TaskNumber taskNumber)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Read the run status register and return the appropriate value.
|
||
|
|
//
|
||
|
|
return(((HWREGH(base + CLA_O_MIFR) >> (uint16_t)taskNumber) & 1U) != 0U);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Get status of All Task Interrupt Flag
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//!
|
||
|
|
//! This function gets the value of the interrupt flag register (MIFR)
|
||
|
|
//!
|
||
|
|
//! \return the value of Interrupt Flag Register (MIFR)
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline uint16_t
|
||
|
|
CLA_getAllPendingTaskFlags(uint32_t base)
|
||
|
|
{
|
||
|
|
uint16_t status;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Just return the Interrupt Flag Register (MIFR) since that is what was
|
||
|
|
// requested.
|
||
|
|
//
|
||
|
|
status = HWREGH(base + CLA_O_MIFR);
|
||
|
|
|
||
|
|
//
|
||
|
|
// Return the Interrupt Flag Register value
|
||
|
|
//
|
||
|
|
return(status);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Get status of Task n Interrupt Overflow Flag
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//! \param taskNumber is the number of the task CLA_TASK_N where N is a number
|
||
|
|
//! from 1 to 8. Do not use CLA_TASKFLAG_ALL.
|
||
|
|
//!
|
||
|
|
//! This function gets the status of each bit in the overflow flag register
|
||
|
|
//! corresponds to a CLA task, This bit is set when an interrupt overflow event
|
||
|
|
//! has occurred for the specific task.
|
||
|
|
//!
|
||
|
|
//! \return True if any of task interrupt overflow has occurred.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline bool
|
||
|
|
CLA_getTaskOverflowFlag(uint32_t base, CLA_TaskNumber taskNumber)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Read the run status register and return the appropriate value.
|
||
|
|
//
|
||
|
|
return(((HWREGH(base + CLA_O_MIOVF) >> (uint16_t)taskNumber) & 1U) != 0U);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Get status of All Task Interrupt Overflow Flag
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//!
|
||
|
|
//! This function gets the value of the Interrupt Overflow Flag Register
|
||
|
|
//!
|
||
|
|
//! \return the value of Interrupt Overflow Flag Register(MIOVF)
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline uint16_t
|
||
|
|
CLA_getAllTaskOverflowFlags(uint32_t base)
|
||
|
|
{
|
||
|
|
uint16_t status;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Just return Interrupt Overflow Flag Register(MIOVF) since that is what
|
||
|
|
// was requested.
|
||
|
|
//
|
||
|
|
status = HWREGH(base + CLA_O_MIOVF);
|
||
|
|
|
||
|
|
//
|
||
|
|
// Return the Interrupt Overflow Flag Register
|
||
|
|
//
|
||
|
|
return(status);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Clear the task interrupt flag
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//! \param taskFlags is the bitwise OR of the tasks' flags to be cleared
|
||
|
|
//! CLA_TASKFLAG_N where N is the task number from 1 to 8, or CLA_TASKFLAG_ALL
|
||
|
|
//! to clear all flags.
|
||
|
|
//!
|
||
|
|
//! This function is used to manually clear bits in the interrupt
|
||
|
|
//! flag (MIFR) register
|
||
|
|
//!
|
||
|
|
//! \return None.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline void
|
||
|
|
CLA_clearTaskFlags(uint32_t base, uint16_t taskFlags)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
//Modify protected register
|
||
|
|
//
|
||
|
|
EALLOW;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Clear the task interrupt flag
|
||
|
|
//
|
||
|
|
HWREGH(base + CLA_O_MICLR) |= taskFlags;
|
||
|
|
|
||
|
|
EDIS;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Force a CLA Task
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//! \param taskFlags is the bitwise OR of the tasks' flags to be forced
|
||
|
|
//! CLA_TASKFLAG_N where N is the task number from 1 to 8, or CLA_TASKFLAG_ALL
|
||
|
|
//! to force all tasks.
|
||
|
|
//!
|
||
|
|
//! This function forces a task through software.
|
||
|
|
//!
|
||
|
|
//! \return None.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline void
|
||
|
|
CLA_forceTasks(uint32_t base, uint16_t taskFlags)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Modify protected register
|
||
|
|
//
|
||
|
|
EALLOW;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Force the task interrupt.
|
||
|
|
//
|
||
|
|
HWREGH(base + CLA_O_MIFRC) |= taskFlags;
|
||
|
|
|
||
|
|
EDIS;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Enable CLA task(s)
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//! \param taskFlags is the bitwise OR of the tasks' flags to be enabled
|
||
|
|
//! CLA_TASKFLAG_N where N is the task number from 1 to 8, or CLA_TASKFLAG_ALL
|
||
|
|
//! to enable all tasks
|
||
|
|
//!
|
||
|
|
//! This function allows an incoming interrupt or main CPU software to
|
||
|
|
//! start the corresponding CLA task.
|
||
|
|
//!
|
||
|
|
//! \return None.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline void
|
||
|
|
CLA_enableTasks(uint32_t base, uint16_t taskFlags)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Modify protected register
|
||
|
|
//
|
||
|
|
EALLOW;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Enable CLA task
|
||
|
|
//
|
||
|
|
HWREGH(base + CLA_O_MIER) |= taskFlags;
|
||
|
|
|
||
|
|
EDIS;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Disable CLA task interrupt
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//! \param taskFlags is the bitwise OR of the tasks' flags to be disabled
|
||
|
|
//! CLA_TASKFLAG_N where N is the task number from 1 to 8, or CLA_TASKFLAG_ALL
|
||
|
|
//! to disable all tasks
|
||
|
|
//!
|
||
|
|
//! This function disables CLA task interrupt by setting the MIER register bit
|
||
|
|
//! to 0, while the corresponding task is executing this will have no effect
|
||
|
|
//! on the task. The task will continue to run until it hits the MSTOP
|
||
|
|
//! instruction.
|
||
|
|
//!
|
||
|
|
//! \return None.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline void
|
||
|
|
CLA_disableTasks(uint32_t base, uint16_t taskFlags)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Modify protected register
|
||
|
|
//
|
||
|
|
EALLOW;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Disable CLA task interrupt
|
||
|
|
//
|
||
|
|
HWREGH(base + CLA_O_MIER) &= ~taskFlags;
|
||
|
|
|
||
|
|
EDIS;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Get the value of a task run status
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//! \param taskNumber is the number of the task CLA_TASK_N where N is a number
|
||
|
|
//! from 1 to 8. Do not use CLA_TASKFLAG_ALL.
|
||
|
|
//!
|
||
|
|
//! This function gets the status of each bit in the Interrupt Run Status
|
||
|
|
//! Register which indicates whether the task is currently executing
|
||
|
|
//!
|
||
|
|
//! \return True if the task is executing.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline bool
|
||
|
|
CLA_getTaskRunStatus(uint32_t base, CLA_TaskNumber taskNumber)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Read the run status register and return the appropriate value.
|
||
|
|
//
|
||
|
|
return(((HWREGH(base + CLA_O_MIRUN) >> (uint16_t)taskNumber) & 1U) != 0U);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Get the value of all task run status
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//!
|
||
|
|
//! This function indicates which task is currently executing.
|
||
|
|
//!
|
||
|
|
//! \return the value of Interrupt Run Status Register (MIRUN)
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline uint16_t
|
||
|
|
CLA_getAllTaskRunStatus(uint32_t base)
|
||
|
|
{
|
||
|
|
uint16_t status;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Just return the Interrupt Run Status Register since that is what was
|
||
|
|
// requested.
|
||
|
|
//
|
||
|
|
status = HWREGH(base + CLA_O_MIRUN);
|
||
|
|
|
||
|
|
//
|
||
|
|
// Return the Interrupt Run Status Register (MIRUN)
|
||
|
|
//
|
||
|
|
return(status);
|
||
|
|
}
|
||
|
|
#endif // #ifdef __TMS320C28XX__
|
||
|
|
|
||
|
|
//
|
||
|
|
// These functions are accessible only from the CLA (Type - 1/2)
|
||
|
|
//
|
||
|
|
#if defined(__TMS320C28XX_CLA1__) || defined(__TMS320C28XX_CLA2__)
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Enable the Software Interrupt for a given CLA Task
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//! \param taskFlags is the bitwise OR of the tasks for which software
|
||
|
|
//! interrupts are to be enabled, CLA_TASKFLAG_N where N is the task number
|
||
|
|
//! from 1 to 8, or CLA_TASKFLAG_ALL to enable software interrupts of all tasks
|
||
|
|
//!
|
||
|
|
//! This function enables the Software Interrupt for a single, or set of, CLA
|
||
|
|
//! task(s). It does this by writing a 1 to the task's bit in the
|
||
|
|
//! CLA1SOFTINTEN register. By setting a task's SOFTINT bit, you disable its
|
||
|
|
//! ability to generate an end-of-task interrupt
|
||
|
|
//! For example, if we enable Task 2's SOFTINT bit, we disable its ability to
|
||
|
|
//! generate an end-of-task interrupt, but now any running CLA task has the
|
||
|
|
//! ability to force task 2's interrupt (through the CLA1INTFRC register) to
|
||
|
|
//! the main CPU. This interrupt will be handled by the End-of-Task 2 interrupt
|
||
|
|
//! handler even though the interrupt was not caused by Task 2 running to
|
||
|
|
//! completion. This allows programmers to generate interrupts while a control
|
||
|
|
//! task is running.
|
||
|
|
//!
|
||
|
|
//! \note
|
||
|
|
//! -# The CLA1SOFTINTEN and CLA1INTFRC are only writable from the CLA.
|
||
|
|
//! -# Enabling a given task's software interrupt enable bit disables that
|
||
|
|
//! task's ability to generate an End-of-Task interrupt to the main CPU,
|
||
|
|
//! however, should another task force its interrupt (through the CLA1INTFRC
|
||
|
|
//! register), it will be handled by that task's End-of-Task Interrupt Handler.
|
||
|
|
//!
|
||
|
|
//! \return None.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline void
|
||
|
|
CLA_enableSoftwareInterrupt(uint32_t base, uint16_t taskFlags)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Modify protected register
|
||
|
|
//
|
||
|
|
__meallow();
|
||
|
|
|
||
|
|
//
|
||
|
|
// Enable Software Interrupt
|
||
|
|
//
|
||
|
|
HWREGH(base + CLA_O_SOFTINTEN) |= taskFlags;
|
||
|
|
|
||
|
|
__medis();
|
||
|
|
}
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Disable the Software Interrupt for a given CLA Task
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//! \param taskFlags is the bitwise OR of the tasks for which software
|
||
|
|
//! interrupts are to be disabled, CLA_TASKFLAG_N where N is the task number
|
||
|
|
//! from 1 to 8, or CLA_TASKFLAG_ALL to disable software interrupts of all
|
||
|
|
//! tasks
|
||
|
|
//!
|
||
|
|
//! This function disables the Software Interrupt for a single, or set of, CLA
|
||
|
|
//! task(s). It does this by writing a 0 to the task's bit in the
|
||
|
|
//! CLA1SOFTINTEN register.
|
||
|
|
//!
|
||
|
|
//! \note
|
||
|
|
//! -# The CLA1SOFTINTEN and CLA1INTFRC are only writable from the CLA.
|
||
|
|
//! -# Disabling a given task's software interrupt ability allows that
|
||
|
|
//! task to generate an End-of-Task interrupt to the main CPU.
|
||
|
|
//!
|
||
|
|
//! \return None.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline void
|
||
|
|
CLA_disableSoftwareInterrupt(uint32_t base, uint16_t taskFlags)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Modify protected register
|
||
|
|
//
|
||
|
|
__meallow();
|
||
|
|
|
||
|
|
//
|
||
|
|
// Enable Software Interrupt
|
||
|
|
//
|
||
|
|
HWREGH(base + CLA_O_SOFTINTEN) &= ~taskFlags;
|
||
|
|
|
||
|
|
__medis();
|
||
|
|
}
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Force a particular Task's Software Interrupt
|
||
|
|
//!
|
||
|
|
//! \param base is the base address of the CLA controller.
|
||
|
|
//! \param taskFlags is the bitwise OR of the task's whose software
|
||
|
|
//! interrupts are to be forced, CLA_TASKFLAG_N where N is the task number
|
||
|
|
//! from 1 to 8, or CLA_TASKFLAG_ALL to force software interrupts for all tasks
|
||
|
|
//!
|
||
|
|
//! This function forces the Software Interrupt for a single, or set of, CLA
|
||
|
|
//! task(s). It does this by writing a 1 to the task's bit in the
|
||
|
|
//! CLA1INTFRC register.
|
||
|
|
//! For example, if we enable Task 2's SOFTINT bit, we disable its ability to
|
||
|
|
//! generate an end-of-task interrupt, but now any running CLA task has the
|
||
|
|
//! ability to force task 2's interrupt (through the CLA1INTFRC register) to
|
||
|
|
//! the main CPU. This interrupt will be handled by the End-of-Task 2 interrupt
|
||
|
|
//! handler even though the interrupt was not caused by Task 2 running to
|
||
|
|
//! completion. This allows programmers to generate interrupts while a control
|
||
|
|
//! task is running.
|
||
|
|
//!
|
||
|
|
//! \note
|
||
|
|
//! -# The CLA1SOFTINTEN and CLA1INTFRC are only writable from the CLA.
|
||
|
|
//! -# Enabling a given task's software interrupt enable bit disables that
|
||
|
|
//! task's ability to generate an End-of-Task interrupt to the main CPU,
|
||
|
|
//! however, should another task force its interrupt (through the CLA1INTFRC
|
||
|
|
//! register), it will be handled by that task's End-of-Task Interrupt Handler.
|
||
|
|
//! -# This function will set the INTFRC bit for a task, but does not check
|
||
|
|
//! that its SOFTINT bit is set. It falls to the user to ensure that software
|
||
|
|
//! interrupt for a given task is enabled before it can be forced.
|
||
|
|
//!
|
||
|
|
//! \return None.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
static inline void
|
||
|
|
CLA_forceSoftwareInterrupt(uint32_t base, uint16_t taskFlags)
|
||
|
|
{
|
||
|
|
//
|
||
|
|
// Check the arguments.
|
||
|
|
//
|
||
|
|
ASSERT(CLA_isBaseValid(base));
|
||
|
|
|
||
|
|
//
|
||
|
|
// Modify protected register
|
||
|
|
//
|
||
|
|
__meallow();
|
||
|
|
|
||
|
|
//
|
||
|
|
// Force Software Interrupt
|
||
|
|
//
|
||
|
|
HWREGH(base + CLA_O_SOFTINTFRC) |= taskFlags;
|
||
|
|
|
||
|
|
__medis();
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif // #if defined(__TMS320C28XX_CLA1__) || defined(__TMS320C28XX_CLA2__)
|
||
|
|
|
||
|
|
//
|
||
|
|
// These functions can only be called from the C28x
|
||
|
|
//
|
||
|
|
#ifdef __TMS320C28XX__
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
//! Configures CLA task triggers.
|
||
|
|
//!
|
||
|
|
//! \param taskNumber is the number of the task CLA_TASK_N where N is a number
|
||
|
|
//! from 1 to 8.
|
||
|
|
//! \param trigger is the trigger source to be assigned to the selected task.
|
||
|
|
//!
|
||
|
|
//! This function configures the trigger source of a CLA task. The
|
||
|
|
//! \e taskNumber parameter indicates which task is being configured, and the
|
||
|
|
//! \e trigger parameter is the interrupt source from a specific peripheral
|
||
|
|
//! interrupt (or software) that will trigger the task.
|
||
|
|
//!
|
||
|
|
//! \return None.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
extern void
|
||
|
|
CLA_setTriggerSource(CLA_TaskNumber taskNumber, CLA_Trigger trigger);
|
||
|
|
|
||
|
|
#endif //#ifdef __TMS320C28XX__
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// Close the Doxygen group.
|
||
|
|
//! @}
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// Mark the end of the C bindings section for C++ compilers.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif // CLA_H
|