motors/util.h

#ifndef MOTORS_UTIL_H_
#define MOTORS_UTIL_H_

#include <stdint.h>
#include <stddef.h>

#include "motors/core/kinetis.h"

#ifdef __cplusplus
extern "C"
{
#endif

// This bitband register for a specific bit of a given peripheral register.
//
// reg must be an address in one of the peripheral modules (on AIPS0, AIPS1, or
// GPIO) (0x40000000 - 0x400FFFFF).
#define PERIPHERAL_BITBAND(reg, bit)                                       \
  (*(volatile uint32_t *)(((uint32_t) & (reg)-0x40000000) * 32 + (bit)*4 + \
                          0x42000000))

#define NVIC_SET_SANE_PRIORITY(irqnum, priority) \
  NVIC_SET_PRIORITY(irqnum, ((priority)&0xF) << 4)
#define NVIC_GET_SANE_PRIORITY(irqnum) (NVIC_GET_PRIORITY(irqnum) >> 4)

// Definitions for the bits in some registers that are missing.
#define CAN_MCR_MDIS ((uint32_t)(1 << 31))
#define CAN_MCR_FRZ ((uint32_t)(1 << 30))
#define CAN_MCR_RFEN ((uint32_t)(1 << 29))
#define CAN_MCR_HALT ((uint32_t)(1 << 28))
#define CAN_MCR_NOTRDY ((uint32_t)(1 << 27))
#define CAN_MCR_WAKMSK ((uint32_t)(1 << 26))
#define CAN_MCR_SOFTRST ((uint32_t)(1 << 25))
#define CAN_MCR_FRZACK ((uint32_t)(1 << 24))
#define CAN_MCR_SUPV ((uint32_t)(1 << 23))
#define CAN_MCR_SLFWAK ((uint32_t)(1 << 22))
#define CAN_MCR_WRNEN ((uint32_t)(1 << 21))
#define CAN_MCR_LPMACK ((uint32_t)(1 << 20))
#define CAN_MCR_WAKSRC ((uint32_t)(1 << 19))
#define CAN_MCR_SRXDIS ((uint32_t)(1 << 17))
#define CAN_MCR_IRMQ ((uint32_t)(1 << 16))
#define CAN_MCR_LPRIOEN ((uint32_t)(1 << 13))
#define CAN_MCR_AEN ((uint32_t)(1 << 12))
#define CAN_MCR_IDAM(n) ((uint32_t)(((n) & 3) << 8))
#define CAN_MCR_MAXMB(n) ((uint32_t)((n) & 0x7F))
#define CAN_CTRL1_PRESDIV(n) ((uint32_t)(((n) & 0xFF) << 24))
#define CAN_CTRL1_RJW(n) ((uint32_t)(((n) & 3) << 22))
#define CAN_CTRL1_PSEG1(n) ((uint32_t)(((n) & 7) << 19))
#define CAN_CTRL1_PSEG2(n) ((uint32_t)(((n) & 7) << 16))
#define CAN_CTRL1_BOFFMSK ((uint32_t)(1 << 15))
#define CAN_CTRL1_ERRMSK ((uint32_t)(1 << 14))
#define CAN_CTRL1_CLKSRC ((uint32_t)(1 << 13))
#define CAN_CTRL1_LPB ((uint32_t)(1 << 12))
#define CAN_CTRL1_TWRNMSK ((uint32_t)((1 << 11))
#define CAN_CTRL1_RWRNMSK ((uint32_t)((1 << 10))
#define CAN_CTRL1_SMP ((uint32_t)(1 << 7))
#define CAN_CTRL1_BOFFREC ((uint32_t)(1 << 6)
#define CAN_CTRL1_TSYN ((uint32_t)(1 << 5))
#define CAN_CTRL1_LBUF ((uint32_t)(1 << 4))
#define CAN_CTRL1_LOM ((uint32_t)(1 << 3))
#define CAN_CTRL1_PROPSEG(n) ((uint32_t)((n) & 7))
#define CAN_ESR1_SYNCH ((uint32_t)(1 << 18))
#define CAN_ESR1_TWRNINT ((uint32_t)(1 << 17))
#define CAN_ESR1_RWRNINT ((uint32_t)(1 << 16))
#define CAN_ESR1_BIT1ERR ((uint32_t)(1 << 15))
#define CAN_ESR1_BIT0ERR ((uint32_t)(1 << 14))
#define CAN_ESR1_ACKERR ((uint32_t)(1 << 13))
#define CAN_ESR1_CRCERR ((uint32_t)(1 << 12))
#define CAN_ESR1_FRMERR ((uint32_t)(1 << 11))
#define CAN_ESR1_STFERR ((uint32_t)(1 << 10))
#define CAN_ESR1_TXWRN ((uint32_t)(1 << 9))
#define CAN_ESR1_RXWRN ((uint32_t)(1 << 8))
#define CAN_ESR1_IDLE ((uint32_t)(1 << 7))
#define CAN_ESR1_TX ((uint32_t)(1 << 6))
#define CAN_ESR1_RX ((uint32_t)(1 << 3))
#define CAN_ESR1_BOFFINT ((uint32_t)(1 << 2))
#define CAN_ESR1_ERRINT ((uint32_t)(1 << 1))
#define CAN_ESR1_WAKINT ((uint32_t)1)
#define CAN_CTRL2_WRMFRZ ((uint32_t)(1 << 28))
#define CAN_CTRL2_RFFN(n) ((uint32_t)(((n) & 0xF) << 24))
#define CAN_CTRL2_TASD(n) ((uint32_t)(((n) & 0x1F) << 19))
#define CAN_CTRL2_MRP ((uint32_t)(1 << 18))
#define CAN_CTRL2_RRS ((uint32_t)(1 << 17))
#define CAN_CTRL2_EACEN ((uint32_t)(1 << 16))
#define CAN_ESR2_VPS ((uint32_t)(1 << 14))
#define CAN_ESR2_IMB ((uint32_t)(1 << 13))

typedef struct {
  // Timestamp is the lower 16 bits.
  uint32_t control_timestamp;
  uint32_t prio_id;
  uint32_t data[2];
} CanMessageBuffer;
#define CAN0_MESSAGES ((volatile CanMessageBuffer *)0x40024080)
#define CAN0_RXIMRS ((volatile uint32_t *)0x40024880)
#define CAN1_MESSAGES ((volatile CanMessageBuffer *)0x400A4080)
#define CAN1_RXIMRS ((volatile uint32_t *)0x400A4880)
#define CAN_MB_CONTROL_INSERT_DLC(dlc) ((uint32_t)(((dlc) & 0xF) << 16))
#define CAN_MB_CONTROL_EXTRACT_DLC(control_timestamp) \
  ((control_timestamp >> 16) & 0xF)
#define CAN_MB_CONTROL_RTR ((uint32_t)(1 << 20))
#define CAN_MB_CONTROL_IDE ((uint32_t)(1 << 21))
#define CAN_MB_CONTROL_SRR ((uint32_t)(1 << 22))
#define CAN_MB_CONTROL_INSERT_CODE(n) ((uint32_t)(((n) & 0xF) << 24))
#define CAN_MB_CONTROL_EXTRACT_CODE(n) ((uint32_t)(((n) >> 24) & 0xF))
#define CAN_MB_CONTROL_CODE_BUSY_MASK CAN_MB_CONTROL_INSERT_CODE(1)
#define CAN_MB_PRIO_ID_PRIORITY_MASK ((uint32_t)((1 << 29) - 1))
#define CAN_MB_CODE_RX_INACTIVE 0
#define CAN_MB_CODE_RX_EMPTY 4
#define CAN_MB_CODE_RX_FULL 2
#define CAN_MB_CODE_RX_OVERRUN 6
#define CAN_MB_CODE_RX_RANSWER 0xA
#define CAN_MB_CODE_TX_INACTIVE 8
#define CAN_MB_CODE_TX_ABORT 9
#define CAN_MB_CODE_TX_DATA 0xC
#define CAN_MB_CODE_TX_REMOTE 0xC
#define CAN_MB_CODE_TX_TANSWER 0xE
#define CAN_MB_CODE_IS_BUSY(code) ((code) & 1)

// We have to define these, and leave them defined, because the C preprocessor
// is annoying...
#define REALLY_DO_CONCATENATE(x, y, z) x ## y ## z
#define DO_CONCATENATE(x, y, z) REALLY_DO_CONCATENATE(x, y, z)

// Index-parameterized access to various registers from various peripherals.
// This only includes ones somebody thought might be useful; add more if you
// want them.
#define DMA_TCDn_SADDR(n) DO_CONCATENATE(DMA_TCD, n, _SADDR)
#define DMA_TCDn_SOFF(n) DO_CONCATENATE(DMA_TCD, n, _SOFF)
#define DMA_TCDn_ATTR(n) DO_CONCATENATE(DMA_TCD, n, _ATTR)
#define DMA_TCDn_NBYTES_MLNO(n) DO_CONCATENATE(DMA_TCD, n, _NBYTES_MLNO)
#define DMA_TCDn_NBYTES_MLOFFNO(n) DO_CONCATENATE(DMA_TCD, n, _NBYTES_MLOFFNO)
#define DMA_TCDn_NBYTES_MLOFFYES(n) DO_CONCATENATE(DMA_TCD, n, _NBYTES_MLOFFYES)
#define DMA_TCDn_SLAST(n) DO_CONCATENATE(DMA_TCD, n, _SLAST)
#define DMA_TCDn_DADDR(n) DO_CONCATENATE(DMA_TCD, n, _DADDR)
#define DMA_TCDn_DOFF(n) DO_CONCATENATE(DMA_TCD, n, _DOFF)
#define DMA_TCDn_CITER_ELINKYES(n) DO_CONCATENATE(DMA_TCD, n, _CITER_ELINKYES)
#define DMA_TCDn_CITER_ELINKNO(n) DO_CONCATENATE(DMA_TCD, n, _CITER_ELINKNO)
#define DMA_TCDn_DLASTSGA(n) DO_CONCATENATE(DMA_TCD, n, _DLASTSGA)
#define DMA_TCDn_CSR(n) DO_CONCATENATE(DMA_TCD, n, _CSR)
#define DMA_TCDn_BITER_ELINKYES(n) DO_CONCATENATE(DMA_TCD, n, _BITER_ELINKYES)
#define DMA_TCDn_BITER_ELINKNO(n) DO_CONCATENATE(DMA_TCD, n, _BITER_ELINKNO)
#define SPIn_MCR(n) DO_CONCATENATE(SPI, n, _MCR)
#define SPIn_TCR(n) DO_CONCATENATE(SPI, n, _TCR)
#define SPIn_CTAR0(n) DO_CONCATENATE(SPI, n, _CTAR0)
#define SPIn_SR(n) DO_CONCATENATE(SPI, n, _SR)
#define SPIn_RSER(n) DO_CONCATENATE(SPI, n, _RSER)
#define SPIn_PUSHR(n) DO_CONCATENATE(SPI, n, _PUSHR)
#define SPIn_POPR(n) DO_CONCATENATE(SPI, n, _POPR)
#define DMAMUX0_CHCFGn(n) DO_CONCATENATE(DMAMUX0, _CHCFG, n)
#define DMAMUX_SOURCE_SPIn_RX(n) DO_CONCATENATE(DMAMUX_SOURCE_SPI, n, _RX)
#define DMAMUX_SOURCE_SPIn_TX(n) DO_CONCATENATE(DMAMUX_SOURCE_SPI, n, _TX)
#define dma_chN_isr(n) DO_CONCATENATE(dma_ch, n, _isr)
#define IRQ_DMA_CHn(n) DO_CONCATENATE(IRQ_DMA, _CH, n)

#define USB0_ENDPTn(n) (*(volatile uint8_t *)(0x400720C0 + ((n)*4)))

#ifdef __cplusplus
// RAII class to disable interrupts temporarily.
class DisableInterrupts {
 public:
  DisableInterrupts() { __disable_irq(); }
  ~DisableInterrupts() { __enable_irq(); }

  DisableInterrupts(const DisableInterrupts &) = delete;
  DisableInterrupts &operator=(const DisableInterrupts &) = delete;
};
#endif  // __cplusplus

typedef struct {
	uint32_t saddr;
	uint16_t soff;
	uint16_t attr;
	uint32_t nbytes_mlno;
	uint32_t slast;
	uint32_t daddr;
	uint16_t doff;
	uint16_t citer;
	uint32_t dlastsga;
	uint32_t _reserved;
} DmaTcd __attribute__((aligned(0x20)));
#ifdef __cplusplus
static_assert(sizeof(DmaTcd) == 0x20, "DMA TCD is the wrong size");
#endif

#define ALL_FTM_REGISTERS         \
  FOR_BOTH_FTM_REGISTER(SC)       \
  FOR_BOTH_FTM_REGISTER(CNT)      \
  FOR_BOTH_FTM_REGISTER(MOD)      \
  FOR_BOTH_FTM_REGISTER(C0SC)     \
  FOR_BOTH_FTM_REGISTER(C0V)      \
  FOR_BOTH_FTM_REGISTER(C1SC)     \
  FOR_BOTH_FTM_REGISTER(C1V)      \
  FOR_BIG_FTM_REGISTER(C2SC)      \
  FOR_BIG_FTM_REGISTER(C2V)       \
  FOR_BIG_FTM_REGISTER(C3SC)      \
  FOR_BIG_FTM_REGISTER(C3V)       \
  FOR_BIG_FTM_REGISTER(C4SC)      \
  FOR_BIG_FTM_REGISTER(C4V)       \
  FOR_BIG_FTM_REGISTER(C5SC)      \
  FOR_BIG_FTM_REGISTER(C5V)       \
  FOR_BIG_FTM_REGISTER(C6SC)      \
  FOR_BIG_FTM_REGISTER(C6V)       \
  FOR_BIG_FTM_REGISTER(C7SC)      \
  FOR_BIG_FTM_REGISTER(C7V)       \
  FOR_BOTH_FTM_REGISTER(CNTIN)    \
  FOR_BOTH_FTM_REGISTER(STATUS)   \
  FOR_BOTH_FTM_REGISTER(MODE)     \
  FOR_BOTH_FTM_REGISTER(SYNC)     \
  FOR_BOTH_FTM_REGISTER(OUTINIT)  \
  FOR_BOTH_FTM_REGISTER(OUTMASK)  \
  FOR_BOTH_FTM_REGISTER(COMBINE)  \
  FOR_BOTH_FTM_REGISTER(DEADTIME) \
  FOR_BOTH_FTM_REGISTER(EXTTRIG)  \
  FOR_BOTH_FTM_REGISTER(POL)      \
  FOR_BOTH_FTM_REGISTER(FMS)      \
  FOR_BOTH_FTM_REGISTER(FILTER)   \
  FOR_BOTH_FTM_REGISTER(FLTCTRL)  \
  FOR_LITTLE_FTM_REGISTER(QDCTRL) \
  FOR_BOTH_FTM_REGISTER(CONF)     \
  FOR_BOTH_FTM_REGISTER(FLTPOL)   \
  FOR_BOTH_FTM_REGISTER(SYNCONF)  \
  FOR_BOTH_FTM_REGISTER(INVCTRL)  \
  FOR_BOTH_FTM_REGISTER(SWOCTRL)  \
  FOR_BOTH_FTM_REGISTER(PWMLOAD)

typedef struct {
#define FOR_BIG_FTM_REGISTER(name) volatile uint32_t name;
#define FOR_BOTH_FTM_REGISTER(name) volatile uint32_t name;
#define FOR_LITTLE_FTM_REGISTER(name) const uint32_t _reserved_##name;
  ALL_FTM_REGISTERS
#undef FOR_BIG_FTM_REGISTER
#undef FOR_LITTLE_FTM_REGISTER
} BigFTM;

typedef struct {
#define FOR_BIG_FTM_REGISTER(name) const uint32_t _reserved_##name;
#define FOR_LITTLE_FTM_REGISTER(name) volatile uint32_t name;
        ALL_FTM_REGISTERS
#undef FOR_BIG_FTM_REGISTER
#undef FOR_LITTLE_FTM_REGISTER
#undef FOR_BOTH_FTM_REGISTER
} LittleFTM;

#define FTM0 ((BigFTM *)0x40038000)
#define FTM1 ((LittleFTM *)0x40039000)
#define FTM2 ((LittleFTM *)0x400B8000)
#define FTM3 ((BigFTM *)0x400B9000)

#ifdef __cplusplus
#define FOR_BIG_FTM_REGISTER(name)                                           \
  static_assert(offsetof(BigFTM, name) ==                                    \
                    (reinterpret_cast<const volatile char *>(&FTM0_##name) - \
                     reinterpret_cast<volatile char *>(FTM0)),               \
                #name " is at the wrong place");                             \
  static_assert(offsetof(BigFTM, name) ==                                    \
                    (reinterpret_cast<const volatile char *>(&FTM3_##name) - \
                     reinterpret_cast<volatile char *>(FTM3)),               \
                #name " is at the wrong place");
#define FOR_LITTLE_FTM_REGISTER(name)                                        \
  static_assert(offsetof(LittleFTM, name) ==                                 \
                    (reinterpret_cast<const volatile char *>(&FTM1_##name) - \
                     reinterpret_cast<volatile char *>(FTM1)),               \
                #name " is at the wrong place");                             \
  static_assert(offsetof(LittleFTM, name) ==                                 \
                    (reinterpret_cast<const volatile char *>(&FTM2_##name) - \
                     reinterpret_cast<volatile char *>(FTM2)),               \
                #name " is at the wrong place");
#define FOR_BOTH_FTM_REGISTER(name) \
  FOR_BIG_FTM_REGISTER(name)        \
  FOR_LITTLE_FTM_REGISTER(name)
ALL_FTM_REGISTERS
#undef FOR_BIG_FTM_REGISTER
#undef FOR_LITTLE_FTM_REGISTER
#undef FOR_BOTH_FTM_REGISTER
#endif

#undef ALL_FTM_REGISTERS

#ifdef __cplusplus
}
#endif

#endif  // MOTORS_UTIL_H_