saf1761_otg: Port to RTEMS.

5 files changed, 111 insertions, 4 deletions

diff --git a/freebsd/sys/dev/usb/controller/saf1761_otg.c b/freebsd/sys/dev/usb/controller/saf1761_otg.c
index 3ce693b4..f9d28a63 100644
--- a/freebsd/sys/dev/usb/controller/saf1761_otg.c
+++ b/freebsd/sys/dev/usb/controller/saf1761_otg.c
@@ -44,14 +44,14 @@
 #else
 #include <sys/stdint.h>
 #include <sys/stddef.h>
-#include <rtems/bsd/sys/param.h>
+#include <sys/param.h>
 #include <sys/queue.h>
 #include <sys/types.h>
 #include <sys/systm.h>
 #include <sys/kernel.h>
 #include <sys/bus.h>
 #include <sys/module.h>
-#include <rtems/bsd/sys/lock.h>
+#include <sys/lock.h>
 #include <sys/mutex.h>
 #include <sys/condvar.h>
 #include <sys/sysctl.h>
@@ -82,6 +82,13 @@
 
 #include <dev/usb/controller/saf1761_otg.h>
 #include <dev/usb/controller/saf1761_otg_reg.h>
+#ifdef __rtems__
+#include <rtems.h>
+#include <bsp.h>
+#ifdef LIBBSP_ARM_ATSAM_BSP_H
+#include <bsp/pin-config.h>
+#endif /* LIBBSP_ARM_ATSAM_BSP_H */
+#endif /* __rtems__ */
 
 #define	SAF1761_OTG_BUS2SC(bus) \
    ((struct saf1761_otg_softc *)(((uint8_t *)(bus)) - \
@@ -518,7 +525,29 @@ saf1761_host_bulk_data_rx(struct saf1761_otg_softc *sc, struct saf1761_otg_td *t
 		DPRINTFN(5, "STATUS=0x%08x\n", status);
 
 		if (status & SOTG_PTD_DW3_ACTIVE) {
+#ifndef __rtems__
 			goto busy;
+#else /* __rtems__ */
+			temp = saf1761_peek_host_status_le_4(sc,
+			    pdt_addr + SOTG_PTD_DW0);
+			if (temp & SOTG_PTD_DW0_VALID) {
+				goto busy;
+			} else {
+				status = saf1761_peek_host_status_le_4(sc,
+				    pdt_addr + SOTG_PTD_DW3);
+
+				/* check if still active */
+				if (status & SOTG_PTD_DW3_ACTIVE) {
+					saf1761_host_channel_free(sc, td);
+					goto retry;
+				} else if (status & SOTG_PTD_DW3_HALTED) {
+					if (!(status & SOTG_PTD_DW3_ERRORS))
+						td->error_stall = 1;
+					td->error_any = 1;
+					goto complete;
+				}
+			}
+#endif /* __rtems__ */
 		} else if (status & SOTG_PTD_DW3_HALTED) {
 			if (!(status & SOTG_PTD_DW3_ERRORS))
 				td->error_stall = 1;
@@ -562,6 +591,9 @@ saf1761_host_bulk_data_rx(struct saf1761_otg_softc *sc, struct saf1761_otg_td *t
 		}
 		saf1761_host_channel_free(sc, td);
 	}
+#ifdef __rtems__
+retry:
+#endif /* __rtems__ */
 	if (saf1761_host_channel_alloc(sc, td))
 		goto busy;
 
@@ -1591,6 +1623,10 @@ saf1761_otg_filter_interrupt(void *arg)
 	(void) SAF1761_READ_LE_4(sc, SOTG_INT_PTD_DONE_PTD);
 	(void) SAF1761_READ_LE_4(sc, SOTG_ISO_PTD_DONE_PTD);
 
+#ifdef __rtems__
+	DPRINTFN(9, "HCINTERRUPT=0x%08x DCINTERRUPT=0x%08x\n", hcstat, status);
+
+#endif /* __rtems__ */
 	if (status & SOTG_DCINTERRUPT_IEPSOF) {
 		if ((sc->sc_host_async_busy_map[1] | sc->sc_host_async_busy_map[0] |
 		     sc->sc_host_intr_busy_map[1] | sc->sc_host_intr_busy_map[0] |
@@ -1623,6 +1659,15 @@ saf1761_otg_filter_interrupt(void *arg)
 
 	USB_BUS_SPIN_UNLOCK(&sc->sc_bus);
 
+#ifdef __rtems__
+#ifdef LIBBSP_ARM_ATSAM_BSP_H
+	const Pio *saf_irq_pio = PIOC;
+	/* The PIOC is used only by the SAF1761. So we can just reset the status
+	 * without any further handling. */
+	(void) saf_irq_pio->PIO_ISR;
+#endif /* LIBBSP_ARM_ATSAM_BSP_H */
+
+#endif /* __rtems__ */
 	return (retval);
 }
 
@@ -2448,10 +2493,15 @@ saf1761_otg_init(struct saf1761_otg_softc *sc)
 	 */
 	SAF1761_WRITE_LE_4(sc, SOTG_CTRL_SET_CLR,
 	    SOTG_CTRL_CLR(0xFFFF));
+#ifdef __rtems__
+	SAF1761_WRITE_LE_4(sc, SOTG_CTRL_SET_CLR,
+	    SOTG_CTRL_SET(SOTG_CTRL_SEL_CP_EXT | SOTG_CTRL_VBUS_DRV));
+#else /* __rtems__ */
 	SAF1761_WRITE_LE_4(sc, SOTG_CTRL_SET_CLR,
 	    SOTG_CTRL_SET(SOTG_CTRL_SW_SEL_HC_DC |
 	    SOTG_CTRL_BDIS_ACON_EN | SOTG_CTRL_SEL_CP_EXT |
 	    SOTG_CTRL_VBUS_DRV));
+#endif /* __rtems__ */
 
 	/* disable device address */
 	SAF1761_WRITE_LE_4(sc, SOTG_ADDRESS, 0);
diff --git a/freebsd/sys/dev/usb/controller/saf1761_otg_fdt.c b/freebsd/sys/dev/usb/controller/saf1761_otg_fdt.c
index c1e8ff80..32b6b92c 100644
--- a/freebsd/sys/dev/usb/controller/saf1761_otg_fdt.c
+++ b/freebsd/sys/dev/usb/controller/saf1761_otg_fdt.c
@@ -36,14 +36,14 @@
 #else
 #include <sys/stdint.h>
 #include <sys/stddef.h>
-#include <rtems/bsd/sys/param.h>
+#include <sys/param.h>
 #include <sys/queue.h>
 #include <sys/types.h>
 #include <sys/systm.h>
 #include <sys/kernel.h>
 #include <sys/bus.h>
 #include <sys/module.h>
-#include <rtems/bsd/sys/lock.h>
+#include <sys/lock.h>
 #include <sys/mutex.h>
 #include <sys/condvar.h>
 #include <sys/sysctl.h>
@@ -77,6 +77,13 @@
 
 #include <dev/usb/controller/saf1761_otg.h>
 #include <dev/usb/controller/saf1761_otg_reg.h>
+#ifdef __rtems__
+#include <rtems.h>
+#include <bsp.h>
+#ifdef LIBBSP_ARM_ATSAM_BSP_H
+#include <bsp/pin-config.h>
+#endif /* LIBBSP_ARM_ATSAM_BSP_H */
+#endif /* __rtems__ */
 
 static device_probe_t saf1761_otg_fdt_probe;
 static device_attach_t saf1761_otg_fdt_attach;
@@ -102,17 +109,26 @@ static driver_t saf1761_otg_driver = {
 
 static devclass_t saf1761_otg_devclass;
 
+#ifndef __rtems__
 DRIVER_MODULE(saf1761otg, simplebus, saf1761_otg_driver, saf1761_otg_devclass, 0, 0);
+#else /* __rtems__ */
+DRIVER_MODULE(saf1761otg, nexus, saf1761_otg_driver, saf1761_otg_devclass, 0, 0);
+#endif /* __rtems__ */
 MODULE_DEPEND(saf1761otg, usb, 1, 1, 1);
 
 static int
 saf1761_otg_fdt_probe(device_t dev)
 {
+#ifndef __rtems__
 	if (!ofw_bus_status_okay(dev))
 		return (ENXIO);
 
 	if (!ofw_bus_is_compatible(dev, "nxp,usb-isp1761"))
 		return (ENXIO);
+#else /* __rtems__ */
+	if (device_get_unit(dev) != 0)
+		return (ENXIO);
+#endif /* __rtems__ */
 
 	device_set_desc(dev, "ISP1761/SAF1761 DCI USB 2.0 Device Controller");
 
@@ -127,6 +143,7 @@ saf1761_otg_fdt_attach(device_t dev)
 	int err;
 	int rid;
 
+#ifndef __rtems__
 	/* get configuration from FDT */
 
 	/* get bus-width, if any */
@@ -171,6 +188,10 @@ saf1761_otg_fdt_attach(device_t dev)
 		sc->sc_interrupt_cfg |= SOTG_INTERRUPT_CFG_INTLVL;
 		sc->sc_hw_mode |= SOTG_HW_MODE_CTRL_INTR_LEVEL;
 	}
+#else /* __rtems__ */
+	/* set 16-bit data bus */
+	sc->sc_hw_mode = 0;
+#endif /* __rtems__ */
 
 	/* initialise some bus fields */
 	sc->sc_bus.parent = dev;
@@ -213,6 +234,15 @@ saf1761_otg_fdt_attach(device_t dev)
 
 	device_set_ivars(sc->sc_bus.bdev, &sc->sc_bus);
 
+#ifdef __rtems__
+#ifdef LIBBSP_ARM_ATSAM_BSP_H
+	const Pin saf_irq = {PIO_PC16, PIOC, ID_PIOC, PIO_INPUT, PIO_PULLUP | PIO_IT_LOW_LEVEL};
+	/* Activate pin interrupt. Add a default handler that just clears the
+	 * status. */
+	PIO_Configure(&saf_irq, 1);
+	PIO_EnableIt(&saf_irq);
+#endif /* LIBBSP_ARM_ATSAM_BSP_H */
+#endif /* __rtems__ */
 	err = bus_setup_intr(dev, sc->sc_irq_res, INTR_TYPE_TTY | INTR_MPSAFE,
 	    &saf1761_otg_filter_interrupt, &saf1761_otg_interrupt, sc, &sc->sc_intr_hdl);
 	if (err) {
diff --git a/libbsd.py b/libbsd.py
index a69c1186..a9549321 100644
--- a/libbsd.py
+++ b/libbsd.py
@@ -700,6 +700,8 @@ def dev_usb_controller(mm):
             'sys/dev/usb/controller/xhcireg.h',
             'sys/dev/usb/controller/dwc_otg.h',
             'sys/dev/usb/controller/dwc_otgreg.h',
+            'sys/dev/usb/controller/saf1761_otg.h',
+            'sys/dev/usb/controller/saf1761_otg_reg.h',
         ]
     )
     mod.addKernelSpaceSourceFiles(
@@ -708,6 +710,8 @@ def dev_usb_controller(mm):
             'sys/dev/usb/controller/ehci.c',
             'sys/dev/usb/controller/usb_controller.c',
             'sys/dev/usb/controller/dwc_otg.c',
+            'sys/dev/usb/controller/saf1761_otg.c',
+            'sys/dev/usb/controller/saf1761_otg_fdt.c',
         ],
         mm.generator['source']()
     )
diff --git a/libbsd_waf.py b/libbsd_waf.py
index 74da7131..dcf06d34 100644
--- a/libbsd_waf.py
+++ b/libbsd_waf.py
@@ -1876,6 +1876,8 @@ def build(bld):
               'freebsd/sys/dev/usb/controller/ehci.c',
               'freebsd/sys/dev/usb/controller/musb_otg.c',
               'freebsd/sys/dev/usb/controller/ohci.c',
+              'freebsd/sys/dev/usb/controller/saf1761_otg.c',
+              'freebsd/sys/dev/usb/controller/saf1761_otg_fdt.c',
               'freebsd/sys/dev/usb/controller/usb_controller.c',
               'freebsd/sys/dev/usb/input/atp.c',
               'freebsd/sys/dev/usb/input/uep.c',
diff --git a/rtemsbsd/include/machine/rtems-bsd-nexus-bus.h b/rtemsbsd/include/machine/rtems-bsd-nexus-bus.h
index 42fa9b63..251309ae 100644
--- a/rtemsbsd/include/machine/rtems-bsd-nexus-bus.h
+++ b/rtemsbsd/include/machine/rtems-bsd-nexus-bus.h
@@ -255,6 +255,27 @@ extern "C" {
     SYSINIT_DRIVER_REFERENCE(umass, uhub)
 #endif /* RTEMS_BSD_DRIVER_USB_MASS */
 
+/*
+ * USB SAF1761 host controller driver.
+ */
+#if !defined(RTEMS_BSD_DRIVER_USB_SAF1761_OTG)
+  #define RTEMS_BSD_DRIVER_USB_SAF1761_OTG(_base, _irq)                  \
+    static const rtems_bsd_device_resource usb_saf1761_otg_res[] = {     \
+      {                                                                  \
+        .type = RTEMS_BSD_RES_MEMORY,                                    \
+        .start_request = 0,                                              \
+        .start_actual = (_base)                                          \
+      }, {                                                               \
+        .type = RTEMS_BSD_RES_IRQ,                                       \
+        .start_request = 0,                                              \
+        .start_actual = (_irq)                                           \
+      }                                                                  \
+    };                                                                   \
+    RTEMS_BSD_DEFINE_NEXUS_DEVICE(saf1761otg, 0,                         \
+                                  RTEMS_ARRAY_SIZE(usb_saf1761_otg_res), \
+                                  &usb_saf1761_otg_res[0])
+#endif /* RTEMS_BSD_DRIVER_USB_SAF1761_OTG */
+
 /**
  ** Networking
  **/