forked from Archive/PX4-Autopilot
Build system updates to match the NuttX merge.
This commit is contained in:
px4dev
parent
dc50d96b5d
commit
eaf1d8063c
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@ -1,379 +0,0 @@
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/****************************************************************************
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* Driver for Calypso keypad hardware
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*
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* Copyright (C) 2011 Stefan Richter. All rights reserved.
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* Author: Stefan Richter <ichgeh@l--putt.de>
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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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* 1. 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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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* 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
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/arch.h>
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#include <nuttx/irq.h>
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#include <nuttx/fs/fs.h>
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#include <stdint.h>
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#include <semaphore.h>
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#include <errno.h>
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#include <unistd.h>
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#include <sched.h>
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#include <arch/calypso/defines.h>
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#include <arch/calypso/memory.h>
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#include <arch/calypso/timer.h>
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/****************************************************************************
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* HW access
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****************************************************************************/
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#define BASE_ADDR_ARMIO 0xfffe4800
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#define ARMIO_REG(x) ((void *)BASE_ADDR_ARMIO + (x))
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enum armio_reg
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{
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LATCH_IN = 0x00,
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LATCH_OUT = 0x02,
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IO_CNTL = 0x04,
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CNTL_REG = 0x06,
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LOAD_TIM = 0x08,
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KBR_LATCH_REG = 0x0a,
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KBC_REG = 0x0c,
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BUZZ_LIGHT_REG = 0x0e,
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LIGHT_LEVEL = 0x10,
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BUZZER_LEVEL = 0x12,
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GPIO_EVENT_MODE = 0x14,
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KBD_GPIO_INT = 0x16,
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KBD_GPIO_MASKIT = 0x18,
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GPIO_DEBOUNCING = 0x1a,
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GPIO_LATCH = 0x1c,
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};
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#define KBD_INT (1 << 0)
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#define GPIO_INT (1 << 1)
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/****************************************************************************
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* Decoder functions for matrix and power button
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****************************************************************************/
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static int btn_dec(uint32_t * btn_state, uint8_t col, uint8_t reg,
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char *buf, size_t buflen, size_t * len)
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{
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uint8_t diff = (*btn_state ^ reg) & 0x1f;
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while (diff)
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{
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uint8_t val = diff & ~(diff - 1);
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uint8_t sc = val >> 1;
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sc |= sc << 2;
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sc += col;
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sc += (sc & 0x20) ? 0x26 : 0x3f;
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if (reg & val)
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{
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sc |= 0x20;
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}
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/* Check for space in buffer and dispatch */
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if (*len < buflen)
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{
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buf[(*len)++] = sc;
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}
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else
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{
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break;
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}
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/* Only change diff if dispatched/buffer not full */
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diff ^= val;
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}
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/* Store new state of the buttons (but only if they where dispatch) */
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*btn_state >>= 5;
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#ifdef INCLUDE_ALL_COLS
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*btn_state |= (reg ^ diff) << 20;
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#else
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*btn_state |= (reg ^ diff) << 15;
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#endif
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return diff;
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}
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static int pwr_btn_dec(uint32_t * state, uint8_t reg, char *buf, size_t * len)
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{
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if (reg)
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{
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/* Check for pressed power button. If pressed, ignore other
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* buttons since it collides with an entire row.
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*/
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if (~*state & 0x80000000)
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{
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buf[0] = 'z';
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*len = 1;
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*state |= 0x80000000;
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}
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return 1; // break loop in caller
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}
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else
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{
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/* Check for released power button. */
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if (*state & 0x80000000)
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{
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buf[0] = 'Z';
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*len = 1;
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*state &= 0x7fffffff;
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/* Don't scan others when released; might trigger
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* false keystrokes otherwise
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*/
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return 1;
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}
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}
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return 0; // continue with other columns
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}
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/****************************************************************************
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* Keypad: Fileops Prototypes and Structures
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****************************************************************************/
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typedef FAR struct file file_t;
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static int keypad_open(file_t * filep);
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static int keypad_close(file_t * filep);
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static ssize_t keypad_read(file_t * filep, FAR char *buffer, size_t buflen);
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#ifndef CONFIG_DISABLE_POLL
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static int keypad_poll(file_t * filep, FAR struct pollfd *fds, bool setup);
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#endif
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static const struct file_operations keypad_ops =
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{
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keypad_open, /* open */
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keypad_close, /* close */
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keypad_read, /* read */
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0, /* write */
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0, /* seek */
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0, /* ioctl */
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#ifndef CONFIG_DISABLE_POLL
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keypad_poll /* poll */
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#endif
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};
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static sem_t kbdsem;
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/****************************************************************************
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* Keypad: Fileops
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****************************************************************************/
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static int keypad_open(file_t * filep)
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{
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register uint16_t reg;
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/* Unmask keypad interrupt */
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reg = readw(ARMIO_REG(KBD_GPIO_MASKIT));
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writew(reg & ~KBD_INT, ARMIO_REG(KBD_GPIO_MASKIT));
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return OK;
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}
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static int keypad_close(file_t * filep)
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{
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register uint16_t reg;
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/* Mask keypad interrupt */
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reg = readw(ARMIO_REG(KBD_GPIO_MASKIT));
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writew(reg | KBD_INT, ARMIO_REG(KBD_GPIO_MASKIT));
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return OK;
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}
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static ssize_t keypad_read(file_t * filep, FAR char *buf, size_t buflen)
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{
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static uint32_t btn_state = 0;
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register uint16_t reg;
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uint16_t col, col_mask;
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size_t len = 0;
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if (buf == NULL || buflen < 1)
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{
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/* Well... nothing to do */
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return -EINVAL;
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}
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retry:
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col = 1;
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col_mask = 0x1e;
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if (!btn_state)
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{
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/* Drive all cols low such that all buttons cause events */
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writew(0, ARMIO_REG(KBC_REG));
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/* No button currently pressed, use IRQ */
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reg = readw(ARMIO_REG(KBD_GPIO_MASKIT));
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writew(reg & ~KBD_INT, ARMIO_REG(KBD_GPIO_MASKIT));
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sem_wait(&kbdsem);
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}
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else
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{
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writew(0x1f, ARMIO_REG(KBC_REG));
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usleep(80000);
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}
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/* Scan columns */
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#ifdef INCLUDE_ALL_COLS
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while (col <= 6)
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{
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#else
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while (col <= 5)
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{
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#endif
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/* Read keypad latch and immediately set new column since
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* synchronization takes about 5usec. For the 1st round, the
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* interrupt has prepared this and the context switch takes
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* long enough to serve as a delay.
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*/
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reg = readw(ARMIO_REG(KBR_LATCH_REG));
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writew(col_mask, ARMIO_REG(KBC_REG));
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/* Turn pressed buttons into 1s */
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reg = 0x1f & ~reg;
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if (col == 1)
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{
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/* Power/End switch */
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if (pwr_btn_dec(&btn_state, reg, buf, &len))
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{
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break;
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}
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}
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else
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{
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/* Non-power switches */
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if (btn_dec(&btn_state, col, reg, buf, buflen, &len))
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{
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break;
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}
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}
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/* Select next column and respective mask */
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col_mask = 0x1f & ~(1 << col++);
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/* We have to wait for synchronization of the inputs. The
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* processing is too fast if no/few buttons are processed.
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*/
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usleep(5);
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/* XXX: usleep seems to suffer hugh overhead. Better this!?
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* If nothing else can be done, it's overhead still wastes
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* time 'usefully'.
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*/
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/* sched_yield(); up_udelay(2); */
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}
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/* If we don't have anything to return, retry to avoid EOF */
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if (!len)
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{
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goto retry;
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}
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return len;
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}
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/****************************************************************************
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* Keypad interrupt handler
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* mask interrupts
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* prepare column drivers for scan
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* posts keypad semaphore
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****************************************************************************/
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inline int calypso_kbd_irq(int irq, uint32_t * regs)
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{
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register uint16_t reg;
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/* Mask keypad interrupt */
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reg = readw(ARMIO_REG(KBD_GPIO_MASKIT));
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writew(reg | KBD_INT, ARMIO_REG(KBD_GPIO_MASKIT));
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/* Turn off column drivers */
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writew(0x1f, ARMIO_REG(KBC_REG));
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/* Let the userspace know */
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sem_post(&kbdsem);
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return 0;
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}
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/****************************************************************************
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* Initialize device, add /dev/... nodes
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****************************************************************************/
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void up_keypad(void)
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{
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/* Semaphore; helps leaving IRQ ctx as soon as possible */
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sem_init(&kbdsem, 0, 0);
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/* Drive cols low in idle state such that all buttons cause events */
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writew(0, ARMIO_REG(KBC_REG));
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(void)register_driver("/dev/keypad", &keypad_ops, 0444, NULL);
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}
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int keypad_kbdinit(void)
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{
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calypso_armio();
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up_keypad();
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return OK;
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}
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@ -39,12 +39,15 @@
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# Make.defs in the per-config directories.
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#
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include ${TOPDIR}/tools/Config.mk
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#
|
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# We only support building with the ARM bare-metal toolchain from
|
||||
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
|
||||
#
|
||||
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
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CROSSDEV = arm-none-eabi-
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include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
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CC = $(CROSSDEV)gcc
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CXX = $(CROSSDEV)g++
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|
@ -166,25 +169,34 @@ OBJEXT = .o
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LIBEXT = .a
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EXEEXT =
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|
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define PREPROCESS
|
||||
@echo "CPP: $1->$2"
|
||||
@$(CPP) $(CPPFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
define COMPILE
|
||||
@echo "CC: $1"
|
||||
$(Q)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
define COMPILEXX
|
||||
@echo "CXX: $1"
|
||||
$(Q)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
define ASSEMBLE
|
||||
@echo "AS: $1"
|
||||
$(Q)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
#define PREPROCESS
|
||||
# @echo "CPP: $1->$2"
|
||||
# @$(CPP) $(CPPFLAGS) $(abspath $1) -o $2
|
||||
#endef
|
||||
#
|
||||
#define COMPILE
|
||||
# @echo "CC: $1"
|
||||
# $(Q)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
|
||||
#endef
|
||||
#
|
||||
#define COMPILEXX
|
||||
# @echo "CXX: $1"
|
||||
# $(Q)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
|
||||
#endef
|
||||
#
|
||||
#define ASSEMBLE
|
||||
# @echo "AS: $1"
|
||||
# $(Q)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
|
||||
#endef
|
||||
#
|
||||
#define ARCHIVE
|
||||
# echo "AR: $2"; \
|
||||
# $(AR) $1 $2 || { echo "$(AR) $1 $2 FAILED!" ; exit 1 ; }
|
||||
#endef
|
||||
#
|
||||
#define CLEAN
|
||||
# @rm -f *.o *.a
|
||||
#endef
|
||||
|
||||
# produce partially-linked $1 from files in $2
|
||||
define PRELINK
|
||||
|
|
@ -192,15 +204,6 @@ define PRELINK
|
|||
@$(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
define ARCHIVE
|
||||
echo "AR: $2"; \
|
||||
$(AR) $1 $2 || { echo "$(AR) $1 $2 FAILED!" ; exit 1 ; }
|
||||
endef
|
||||
|
||||
define CLEAN
|
||||
@rm -f *.o *.a
|
||||
endef
|
||||
|
||||
HOSTCC = gcc
|
||||
HOSTINCLUDES = -I.
|
||||
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
|
||||
|
|
|
|||
|
|
@ -767,6 +767,8 @@ CONFIG_FS_ROMFS=y
|
|||
# CONFIG_MMCSD_SPICLOCK - Maximum SPI clock to drive MMC/SD card.
|
||||
# Default is 20MHz, current setting 24 MHz
|
||||
#
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SPI=y
|
||||
CONFIG_MMCSD_NSLOTS=1
|
||||
CONFIG_MMCSD_READONLY=n
|
||||
CONFIG_MMCSD_SPICLOCK=24000000
|
||||
|
|
|
|||
|
|
@ -64,23 +64,21 @@ $(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
libboard$(LIBEXT): $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $@, $${obj}); \
|
||||
done ; )
|
||||
touch $@
|
||||
$(call ARCHIVE, $@, $(OBJS))
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f libboard$(LIBEXT) *~ .*.swp
|
||||
$(call DELFILE, libboard$(LIBEXT))
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
|
|
|
|||
|
|
@ -39,12 +39,15 @@
|
|||
# Make.defs in the per-config directories.
|
||||
#
|
||||
|
||||
include ${TOPDIR}/tools/Config.mk
|
||||
|
||||
#
|
||||
# We only support building with the ARM bare-metal toolchain from
|
||||
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
|
||||
#
|
||||
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
|
||||
|
||||
CROSSDEV = arm-none-eabi-
|
||||
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
|
||||
|
||||
CC = $(CROSSDEV)gcc
|
||||
CXX = $(CROSSDEV)g++
|
||||
|
|
@ -160,46 +163,10 @@ OBJEXT = .o
|
|||
LIBEXT = .a
|
||||
EXEEXT =
|
||||
|
||||
# If VERBOSE is set, don't hide the compiler invocations.
|
||||
ifeq ($(VERBOSE),YES)
|
||||
_v =
|
||||
else
|
||||
_v = @
|
||||
endif
|
||||
|
||||
define PREPROCESS
|
||||
@echo "CPP: $1->$2"
|
||||
@$(CPP) $(CPPFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
define COMPILE
|
||||
@echo "CC: $1"
|
||||
$(_v)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
define COMPILEXX
|
||||
@echo "CXX: $1"
|
||||
$(_v)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
define ASSEMBLE
|
||||
@echo "AS: $1"
|
||||
$(_v)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# produce partially-linked $1 from files in $2
|
||||
define PRELINK
|
||||
@echo "PRELINK: $1"
|
||||
@$(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
define ARCHIVE
|
||||
echo "AR: $2"; \
|
||||
$(AR) $1 $2 || { echo "$(AR) $1 $2 FAILED!" ; exit 1 ; }
|
||||
endef
|
||||
|
||||
define CLEAN
|
||||
@rm -f *.o *.a
|
||||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
HOSTCC = gcc
|
||||
|
|
|
|||
|
|
@ -65,9 +65,7 @@ $(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
libboard$(LIBEXT): $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $@, $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $@, $(OBJS))
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
|
|
@ -76,10 +74,11 @@ libboard$(LIBEXT): $(OBJS)
|
|||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f libboard$(LIBEXT) *~ .*.swp
|
||||
$(call DELFILE, libboard$(LIBEXT))
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
|||
|
|
@ -254,7 +254,7 @@ static inline ssize_t uart_irqwrite(FAR uart_dev_t *dev, FAR const char *buffer,
|
|||
{
|
||||
int ch = *buffer++;
|
||||
|
||||
/* assume that this is console text output and always do \n -> \r\n conversion */
|
||||
/* If this is the console, then we should replace LF with CR-LF */
|
||||
|
||||
if (ch == '\n')
|
||||
{
|
||||
|
|
|
|||
|
|
@ -109,6 +109,9 @@
|
|||
#define PARODD (1 << 5) /* Bit 5: Odd parity, else even */
|
||||
#define HUPCL (1 << 6) /* Bit 6: Hang up on last close */
|
||||
#define CLOCAL (1 << 7) /* Bit 7: Ignore modem status lines */
|
||||
#define CCTS_OFLOW (1 << 8) /* Bit 8: CTS flow control of output */
|
||||
#define CRTSCTS CCTS_OFLOW
|
||||
#define CRTS_IFLOW (1 << 9) /* Bit 9: RTS flow control of input */
|
||||
|
||||
/* Local Modes (c_lflag in the termios structure) */
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue