Re: Problem setting up an ISR for a K60 PORT

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Re: Problem setting up an ISR for a K60 PORT

Lambrecht Jürgen
Hi Michael,

first of all, I think your message should be sent to ecos-discuss
instead (so I put it in cc).

I put some comments below - it is a long time ago I coded ISR/DSR, so I
just looked to some working code of ours to compare.

On 02/19/2013 01:12 AM, Michael Jones wrote:

> I am struggling to setup an ISR/DSR for a PORT on the K60. My goal is to get an ISR/DSR when Pin 19 of PORTA transitions from high to low. This is pin PTA19 of the device.
>
> My non-working code and complete code below.
>
> What the code tries to do is setup PORTA PIN19 as input. Then take the PCR register and set the interrupt to work off a falling edge.
>
> Then create the ISR/DSR.
>
> When I toggle the pin, nothing happens.
>
> FYI the hardware works with MQX, so I know the hardware is ok. I use it the same way under MQX where I get an ISR from a negative edge. And I have put a scope on it to make sure there is an edge. So I am quite sure the problem is the code.
>
> This code was generated by trying to understand the Kinetis code, but things were not clear to me. Some macros use __pin to mean different things. So this is my best guess.
>
> Does anyone know how to do this?
>
> PORT SETUP CODE
> ================
>
>      cyghwr_hal_kinetis_port_t *port_p;
>
> CYGHWR_HAL_KINETIS_GPIO_PIN_DDR_IN(ALERT_PORT, ALERT_PIN);
>
>      // Get address for PORTA
>      port_p = Ports[0];
>
>      // 0xA means interrupt on falling edge.
>      // Read modify write PCR
>      port_p->pcr[ALERT_PIN] =
>       (port_p->pcr[ALERT_PIN]&  0xFFF0FFFF) |
> (0xA<<  16);
>
>      // Create an ISR/DSR for PORTA.
>      // Assuming the priority is what the DSR will run at.
>      // No data passed.
> cyg_interrupt_create(
> CYGNUM_HAL_INTERRUPT_PORTA, // Vector
> 3, // Priority
> (cyg_addrword_t)0, // Data
> alert_isr, // ISR
> alert_dsr, // DSR
> &alert_handle, // Handle
> &alert_interrupt); // INTR
> cyg_thread_suspend(cyg_thread_self());
After our 'interrupt_create', we also have those calls (we use IRQ2
instead of your PORTA):
   cyg_interrupt_attach(t_intrhandle);
   cyg_interrupt_configure(CYGNUM_HAL_INTERRUPT_IRQ2, TLV_FALSE, TLV_FALSE);
   cyg_interrupt_acknowledge(CYGNUM_HAL_INTERRUPT_IRQ2);
   cyg_interrupt_unmask(CYGNUM_HAL_INTERRUPT_IRQ2);

Why do you call 'cyg_thread_suspend...' ? I do not see code that creates
a thread. And when I create a thread, I do cyg_thread_create(...);
cyg_thread_resume(..);.

Why do you need a thread when your code is run by interrupts?

> }
>
> ALL CODE
> =========
>
> #ifndef ALERT_H_
> #define ALERT_H_
>
> #include<cyg/kernel/kapi.h>
> #include<cyg/hal/var_io_gpio.h>
> #include<cyg/hal/drv_api.h>
> #include<cyg/hal/var_io.h>
>
> #define ALERT_PORT A
> #define ALERT_PIN 19
>
> extern void start_alert(cyg_addrword_t data);
>
> #endif
>
> #include "alert.h"
>
> cyg_handle_t alert_handle;
> cyg_interrupt alert_interrupt;
>
> cyghwr_hal_kinetis_port_t * const Ports[] = {
>      CYGHWR_HAL_KINETIS_PORTA_P, CYGHWR_HAL_KINETIS_PORTB_P,
>      CYGHWR_HAL_KINETIS_PORTC_P, CYGHWR_HAL_KINETIS_PORTD_P,
>      CYGHWR_HAL_KINETIS_PORTE_P
> };
>
> cyg_uint32 alert_isr( cyg_vector_t vector,
>                                cyg_addrword_t data
> )
> {
> return CYG_ISR_HANDLED | CYG_ISR_CALL_DSR;
No need for:
   cyg_interrupt_mask(CYGNUM_HAL_INTERRUPT_IRQ2);
   cyg_interrupt_acknowledge(CYGNUM_HAL_INTERRUPT_IRQ2);
?
> }
>
> void alert_dsr( cyg_vector_t vector,
>                          cyg_ucount32 count,
>                          cyg_addrword_t data
>                        )
> {
I guess you still need to add code here.
No need for this at the end:
   cyg_interrupt_unmask(CYGNUM_HAL_INTERRUPT_IRQ2);
?

I hope this helps. Kind regards,
Jürgen

> }
>
> void pmbus_alert_callback(void)
> {
>
>
> }
>
> void start_alert(cyg_addrword_t data)
> {
>      cyghwr_hal_kinetis_port_t *port_p;
>
> CYGHWR_HAL_KINETIS_GPIO_PIN_DDR_IN(ALERT_PORT, ALERT_PIN);
>
>      // Get address for PORTA
>      port_p = Ports[0];
>
>      // 0xA means interrupt on falling edge.
>      // Read modify write PCR
>      port_p->pcr[ALERT_PIN] =
>       (port_p->pcr[ALERT_PIN]&  0xFFF0FFFF) |
> (0xA<<  16);
>
>      // Create an ISR/DSR for PORTA.
>      // Assuming the priority is what the DSR will run at.
>      // No data passed.
> cyg_interrupt_create(
> CYGNUM_HAL_INTERRUPT_PORTA, // Vector
> 3, // Priority
> (cyg_addrword_t)0, // Data
> alert_isr, // ISR
> alert_dsr, // DSR
> &alert_handle, // Handle
> &alert_interrupt); // INTR
> cyg_thread_suspend(cyg_thread_self());
> }
>
>


--
Jürgen Lambrecht
R&D Associate
Tel: +32 (0)51 303045    Fax: +32 (0)51 310670
http://www.televic-rail.com
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Company number 0825.539.581 - RPR Kortrijk

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Re: Problem setting up an ISR for a K60 PORT

Michael Jones
>>
>>
> After our 'interrupt_create', we also have those calls (we use IRQ2
> instead of your PORTA):
>   cyg_interrupt_attach(t_intrhandle);
>   cyg_interrupt_configure(CYGNUM_HAL_INTERRUPT_IRQ2, TLV_FALSE, TLV_FALSE);
>   cyg_interrupt_acknowledge(CYGNUM_HAL_INTERRUPT_IRQ2);
>   cyg_interrupt_unmask(CYGNUM_HAL_INTERRUPT_IRQ2);
>
> Why do you call 'cyg_thread_suspend...' ? I do not see code that creates
> a thread. And when I create a thread, I do cyg_thread_create(...);
> cyg_thread_resume(..);.
>
> Why do you need a thread when your code is run by interrupts?

I am creating all my threads from cyg_user_start. Each "task" (thread) has its own file and interface (psuedo OO). The overall app has multiple threads, one of them handling telemetry, and a higher priority one handling ALERTB problems using a PMBus (I2C). Once the interrupt works and the DSR is called, the DSR code will do an ARA (get addresses vis I2C), get STATUS_WORD for all address that ALERTed, and then send events so that the alert thread can respond by interacting over the PMBus. I just suspended the thread until I get the ISR to work, then I will add then event and processing code.

I could do all the work in the DSR as long as I can call I2C from the DSR. However, I am porting an application from MQX and maintaining its structure, and in MQX I don't have a DSR, so in that version the ARA and read of STATUS_WORD is all in the task code.

I tried making some I2C calls from a DSR by using a timer, and the code locked up somewhere. I did not have time to track down the problem. It could have gotten in trouble on a mutex, in the driver, etc. So I may have to put all the code in the task/thread anyway until I have a better understanding of what code can execute in the DSR. I just have to dig through the eCos Ref Manual.

Seeing your code, brought something to mind. I had assumed that the interrupt was enabled in the Kinetis HAL and all I had to do was configure the port. Perhaps that is not the case. I'll try to use your example and see what happens.

Thanks


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Re: Problem setting up an ISR for a K60 PORT

Ilija Kocho [Илија Кочо]
Mike

There isn't a general interrupt enable in Kinetis HAL. Actually there's
no GPIO interrupt support yet.

Just one note regarding interrupt priority numbering. Kinetis implements
4 bits, and by Cortex-M interrupt priority arbitration scheme it's 4
most significant bits (out of 8). Therefore your interrupt priority
should be something like 0x30. Priority 3 effectively is same as 0. For
relevant Kinetis priority numbers look for /Interrupt Priority Scheme/
in configtool.

Ilija


On 19.02.2013 15:51, Michael Jones wrote:

>>>
>> After our 'interrupt_create', we also have those calls (we use IRQ2
>> instead of your PORTA):
>>   cyg_interrupt_attach(t_intrhandle);
>>   cyg_interrupt_configure(CYGNUM_HAL_INTERRUPT_IRQ2, TLV_FALSE, TLV_FALSE);
>>   cyg_interrupt_acknowledge(CYGNUM_HAL_INTERRUPT_IRQ2);
>>   cyg_interrupt_unmask(CYGNUM_HAL_INTERRUPT_IRQ2);
>>
>> Why do you call 'cyg_thread_suspend...' ? I do not see code that creates
>> a thread. And when I create a thread, I do cyg_thread_create(...);
>> cyg_thread_resume(..);.
>>
>> Why do you need a thread when your code is run by interrupts?
>
> Seeing your code, brought something to mind. I had assumed that the interrupt was enabled in the Kinetis HAL and all I had to do was configure the port. Perhaps that is not the case. I'll try to use your example and see what happens.

Indeed, there isn't a general interrupt enable in Kinetis HAL.


>
> Thanks
>
>


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Re: Problem setting up an ISR for a K60 PORT

Michael Jones
Thanks for the help.

I have put working code below. I will now try to move the code to the Kinetis HAL.

Is there any GPIO/PORT API in the HAL I should be aware of?

Include file
---------------

#ifndef ALERT_H_
#define ALERT_H_

#include <cyg/kernel/kapi.h>
#include <cyg/hal/var_io_gpio.h>
#include <cyg/hal/drv_api.h>
#include <cyg/hal/var_io.h>

#define ALERT_PORT A
#define ALERT_PIN 19

#define CYGHWR_HAL_KINETIS_GPIO_PORTA_C ((cyghwr_hal_kinetis_gpio_t*)0x40049000u)
#define CYGHWR_HAL_KINETIS_GPIO_PORTB_C ((cyghwr_hal_kinetis_gpio_t*)0x4004A040u)
#define CYGHWR_HAL_KINETIS_GPIO_PORTC_C ((cyghwr_hal_kinetis_gpio_t*)0x4004B080u)
#define CYGHWR_HAL_KINETIS_GPIO_PORTD_C ((cyghwr_hal_kinetis_gpio_t*)0x4004C0C0u)
#define CYGHWR_HAL_KINETIS_GPIO_PORTE_C ((cyghwr_hal_kinetis_gpio_t*)0x4004D100u)

#define CYGHWR_HAL_KINETIS_GPIO_DDR_GET(__port)  \
  CYGHWR_HAL_KINETIS_GPIO(__port, pddr)

#define CYG_HAL_KINETIS_GPIO_ISFR(__port)  \
        *((cyg_uint32*)(((cyg_uint32)CYGHWR_HAL_KINETIS_GPIO_PORT##__port##_C) + ((cyg_uint32)0xA0)))

#define CYGHWR_HAL_KINETIS_GPIO_ISFR_CLEAR(__port, __pin)  \
        CYG_HAL_KINETIS_GPIO_ISFR(__port) |= BIT_(__pin)

#define CYGHWR_HAL_KINETIS_GPIO_IFSR_GET(__port)  \
        CYG_HAL_KINETIS_GPIO_ISFR(__port)

extern void start_alert(cyg_addrword_t data);

#endif

code file
------------

#include "alert.h"

cyg_handle_t alert_handle;
cyg_interrupt alert_interrupt;

cyghwr_hal_kinetis_port_t * const Ports[] = {
    CYGHWR_HAL_KINETIS_PORTA_P, CYGHWR_HAL_KINETIS_PORTB_P,
    CYGHWR_HAL_KINETIS_PORTC_P, CYGHWR_HAL_KINETIS_PORTD_P,
    CYGHWR_HAL_KINETIS_PORTE_P
};

cyg_uint32 alert_isr( cyg_vector_t vector,
                              cyg_addrword_t data
)
{
    cyghwr_hal_kinetis_port_t *port_p;
        cyg_uint32 *pifsr;
        cyg_uint32 ifsr;
        cyg_uint32 *ppcr;
        cyg_uint32 pcr;

        cyg_interrupt_mask(CYGNUM_HAL_INTERRUPT_PORTA);

    port_p = Ports[0];

    pifsr = &CYGHWR_HAL_KINETIS_GPIO_IFSR_GET(ALERT_PORT);
    ifsr = CYGHWR_HAL_KINETIS_GPIO_IFSR_GET(ALERT_PORT);
    ppcr = &port_p->pcr[ALERT_PIN];
    pcr = port_p->pcr[ALERT_PIN];

        // No HAL implementation for this
        //cyg_interrupt_acknowledge(CYGNUM_HAL_INTERRUPT_PORTA);
    {
    // Manual implementation of cyg_interrupt_acknowledge
                // Get address for PORTA
                port_p->pcr[ALERT_PIN] |= BIT_(24);

                CYGHWR_HAL_KINETIS_GPIO_ISFR_CLEAR(ALERT_PORT, ALERT_PIN);
    }
        return CYG_ISR_HANDLED | CYG_ISR_CALL_DSR;
}

void alert_dsr( cyg_vector_t vector,
                        cyg_ucount32 count,
                        cyg_addrword_t data
                      )
{
         cyg_interrupt_unmask(CYGNUM_HAL_INTERRUPT_PORTA);
}

void pmbus_alert_callback(void)
{


}

void start_alert(cyg_addrword_t data)
{
    cyghwr_hal_kinetis_port_t *port_p;

    // Create an ISR/DSR for PORTA.
    // Assuming the priority is what the DSR will run at.
    // No data passed.
    // This is normally done at setup before things run, so this code may need
    // to move to cyg_user_start() or disable other interrupts while doing this.
    // Priority 0xA is lower than I2C so that transactions can complete without an
    // ALERTB interfering, but higher than the Real Time clock, etc.
        cyg_interrupt_create(
                        CYGNUM_HAL_INTERRUPT_PORTA, // Vector
                        0xA0, // Priority
                        (cyg_addrword_t)0, // Data
                        alert_isr, // ISR
                        alert_dsr, // DSR
                        &alert_handle, // Handle
                        &alert_interrupt); // INTR

        cyg_interrupt_attach(alert_handle);

        //cyg_interrupt_configure(CYGNUM_HAL_INTERRUPT_PORTA, true, true);
        {
                // Manual implementation of cyg_interrupt_configure(CYGNUM_HAL_INTERRUPT_PORTA, true, true);

                CYGHWR_HAL_KINETIS_GPIO_PIN_DDR_IN(ALERT_PORT, ALERT_PIN);

                // Get address for PORTA
            port_p = Ports[0];
            //                        Neg Edge      No Lock    GPIO
            port_p->pcr[ALERT_PIN] = (0xA << 16) | (0 << 15) | (0x1 << 8) | 0x00;

            // Print registers for debug.
            printf("PDDR 0x%x 0x%x\n", &CYGHWR_HAL_KINETIS_GPIO_DDR_GET(ALERT_PORT), CYGHWR_HAL_KINETIS_GPIO_DDR_GET(ALERT_PORT));
            printf("PCR 0x%x 0x%x\n", &port_p->pcr[ALERT_PIN], port_p->pcr[ALERT_PIN]);
        }

        // No HAL implementation for this
        //cyg_interrupt_acknowledge(CYGNUM_HAL_INTERRUPT_PORTA);

        // In case the default is masked.
        cyg_interrupt_unmask(CYGNUM_HAL_INTERRUPT_PORTA);

        cyg_thread_suspend(cyg_thread_self());
}






On Feb 19, 2013, at 12:29 PM, Ilija Kocho <[hidden email]> wrote:

> Mike
>
> There isn't a general interrupt enable in Kinetis HAL. Actually there's
> no GPIO interrupt support yet.
>
> Just one note regarding interrupt priority numbering. Kinetis implements
> 4 bits, and by Cortex-M interrupt priority arbitration scheme it's 4
> most significant bits (out of 8). Therefore your interrupt priority
> should be something like 0x30. Priority 3 effectively is same as 0. For
> relevant Kinetis priority numbers look for /Interrupt Priority Scheme/
> in configtool.
>
> Ilija
>
>
> On 19.02.2013 15:51, Michael Jones wrote:
>>>>
>>> After our 'interrupt_create', we also have those calls (we use IRQ2
>>> instead of your PORTA):
>>>  cyg_interrupt_attach(t_intrhandle);
>>>  cyg_interrupt_configure(CYGNUM_HAL_INTERRUPT_IRQ2, TLV_FALSE, TLV_FALSE);
>>>  cyg_interrupt_acknowledge(CYGNUM_HAL_INTERRUPT_IRQ2);
>>>  cyg_interrupt_unmask(CYGNUM_HAL_INTERRUPT_IRQ2);
>>>
>>> Why do you call 'cyg_thread_suspend...' ? I do not see code that creates
>>> a thread. And when I create a thread, I do cyg_thread_create(...);
>>> cyg_thread_resume(..);.
>>>
>>> Why do you need a thread when your code is run by interrupts?
>>
>> Seeing your code, brought something to mind. I had assumed that the interrupt was enabled in the Kinetis HAL and all I had to do was configure the port. Perhaps that is not the case. I'll try to use your example and see what happens.
>
> Indeed, there isn't a general interrupt enable in Kinetis HAL.
>
>
>>
>> Thanks
>>
>>
>
>
> --
> Before posting, please read the FAQ: http://ecos.sourceware.org/fom/ecos
> and search the list archive: http://ecos.sourceware.org/ml/ecos-discuss
>


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