watchrobot/modules/ChibiOS/os/hal/ports/SPC5/SPC56ELxx/hal_lld.h

/*
    SPC5 HAL - Copyright (C) 2013 STMicroelectronics

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

/**
 * @file    SPC56ELxx/hal_lld.h
 * @brief   SPC56ELxx HAL subsystem low level driver header.
 * @pre     This module requires the following macros to be defined in the
 *          @p board.h file:
 *          - SPC5_XOSC_CLK.
 *          - SPC5_OSC_BYPASS (optionally).
 *          .
 *
 * @addtogroup HAL
 * @{
 */

#ifndef HAL_LLD_H
#define HAL_LLD_H

#include "registers.h"
#include "spc5_registry.h"

/*===========================================================================*/
/* Driver constants.                                                         */
/*===========================================================================*/

/**
 * @brief   Defines the support for realtime counters in the HAL.
 */
#define HAL_IMPLEMENTS_COUNTERS     TRUE

/**
 * @name    Platform identification
 * @{
 */
#define PLATFORM_NAME               "SPC56ELxx Chassis and Safety"
/** @} */

/**
 * @name    Absolute Maximum Ratings
 * @{
 */
/**
 * @brief   Maximum XOSC clock frequency.
 */
#define SPC5_XOSC_CLK_MAX           40000000

/**
 * @brief   Minimum XOSC clock frequency.
 */
#define SPC5_XOSC_CLK_MIN           4000000

/**
 * @brief   Maximum FMPLLs input clock frequency.
 */
#define SPC5_FMPLLIN_MIN            4000000

/**
 * @brief   Maximum FMPLLs input clock frequency.
 */
#define SPC5_FMPLLIN_MAX            40000000

/**
 * @brief   Maximum FMPLLs VCO clock frequency.
 */
#define SPC5_FMPLLVCO_MAX           512000000

/**
 * @brief   Maximum FMPLLs VCO clock frequency.
 */
#define SPC5_FMPLLVCO_MIN           256000000

/**
 * @brief   Maximum FMPLL0 output clock frequency.
 */
#define SPC5_FMPLL0_CLK_MAX         120000000

/**
 * @brief   Maximum FMPLL1 output clock frequency.
 */
#define SPC5_FMPLL1_CLK_MAX         120000000

/**
 * @brief   Maximum FMPLL1 1D1 output clock frequency.
 */
#define SPC5_FMPLL1_1D1_CLK_MAX     80000000
/** @} */

/**
 * @name    Internal clock sources
 * @{
 */
#define SPC5_IRC_CLK                16000000    /**< Internal RC oscillator.*/
/** @} */

/**
 * @name    FMPLLs register bits definitions
 * @{
 */
#define SPC5_FMPLL_SRC_IRC          (0U << 24)
#define SPC5_FMPLL_SRC_XOSC         (1U << 24)
/** @} */

/**
 * @name    FMPLL_CR register bits definitions
 * @{
 */
#define SPC5_FMPLL_ODF_DIV2         (0U << 24)
#define SPC5_FMPLL_ODF_DIV4         (1U << 24)
#define SPC5_FMPLL_ODF_DIV8         (2U << 24)
#define SPC5_FMPLL_ODF_DIV16        (3U << 24)
/** @} */

/**
 * @name    Clock selectors used in the various GCM SC registers
 * @{
 */
#define SPC5_CGM_SS_MASK            (15U << 24)
#define SPC5_CGM_SS_IRC             (0U << 24)
#define SPC5_CGM_SS_XOSC            (2U << 24)
#define SPC5_CGM_SS_FMPLL0          (4U << 24)
#define SPC5_CGM_SS_FMPLL1          (5U << 24)
#define SPC5_CGM_SS_FMPLL1_1D1      (8U << 24)
/** @} */

/**
 * @name    ME_GS register bits definitions
 * @{
 */
#define SPC5_ME_GS_SYSCLK_MASK      (15U << 0)
#define SPC5_ME_GS_SYSCLK_IRC       (0U << 0)
#define SPC5_ME_GS_SYSCLK_XOSC      (2U << 0)
#define SPC5_ME_GS_SYSCLK_FMPLL0    (4U << 0)
/** @} */

/**
 * @name    ME_ME register bits definitions
 * @{
 */
#define SPC5_ME_ME_RESET            (1U << 0)
#define SPC5_ME_ME_SAFE             (1U << 2)
#define SPC5_ME_ME_DRUN             (1U << 3)
#define SPC5_ME_ME_RUN0             (1U << 4)
#define SPC5_ME_ME_RUN1             (1U << 5)
#define SPC5_ME_ME_RUN2             (1U << 6)
#define SPC5_ME_ME_RUN3             (1U << 7)
#define SPC5_ME_ME_HALT0            (1U << 8)
#define SPC5_ME_ME_STOP0            (1U << 10)
/** @} */

/**
 * @name    ME_xxx_MC registers bits definitions
 * @{
 */
#define SPC5_ME_MC_SYSCLK_MASK      (15U << 0)
#define SPC5_ME_MC_SYSCLK(n)        ((n) << 0)
#define SPC5_ME_MC_SYSCLK_IRC       SPC5_ME_MC_SYSCLK(0)
#define SPC5_ME_MC_SYSCLK_XOSC      SPC5_ME_MC_SYSCLK(2)
#define SPC5_ME_MC_SYSCLK_FMPLL0    SPC5_ME_MC_SYSCLK(4)
#define SPC5_ME_MC_SYSCLK_DISABLED  SPC5_ME_MC_SYSCLK(15)
#define SPC5_ME_MC_IRCON            (1U << 4)
#define SPC5_ME_MC_XOSC0ON          (1U << 5)
#define SPC5_ME_MC_PLL0ON           (1U << 6)
#define SPC5_ME_MC_PLL1ON           (1U << 7)
#define SPC5_ME_MC_FLAON_MASK       ((3U << 16) | (3U << 18))
#define SPC5_ME_MC_FLAON(n)         (((n) << 16) | ((n) << 18))
#define SPC5_ME_MC_FLAON_PD         ((1U << 16) | (1U << 18))
#define SPC5_ME_MC_FLAON_LP         ((2U << 16) | (2U << 18))
#define SPC5_ME_MC_FLAON_NORMAL     ((3U << 16) | (3U << 18))
#define SPC5_ME_MC_MVRON            (1U << 20)
#define SPC5_ME_MC_PDO              (1U << 23)
/** @} */

/**
 * @name    ME_MCTL register bits definitions
 * @{
 */
#define SPC5_ME_MCTL_KEY            0x5AF0U
#define SPC5_ME_MCTL_KEY_INV        0xA50FU
#define SPC5_ME_MCTL_MODE_MASK      (15U << 28)
#define SPC5_ME_MCTL_MODE(n)        ((n) << 28)
/** @} */

/**
 * @name    ME_RUN_PCx registers bits definitions
 * @{
 */
#define SPC5_ME_RUN_PC_SAFE         (1U << 2)
#define SPC5_ME_RUN_PC_DRUN         (1U << 3)
#define SPC5_ME_RUN_PC_RUN0         (1U << 4)
#define SPC5_ME_RUN_PC_RUN1         (1U << 5)
#define SPC5_ME_RUN_PC_RUN2         (1U << 6)
#define SPC5_ME_RUN_PC_RUN3         (1U << 7)
/** @} */

/**
 * @name    ME_LP_PCx registers bits definitions
 * @{
 */
#define SPC5_ME_LP_PC_HALT0         (1U << 8)
#define SPC5_ME_LP_PC_STOP0         (1U << 10)
/** @} */

/**
 * @name    ME_PCTL registers bits definitions
 * @{
 */
#define SPC5_ME_PCTL_RUN_MASK       (7U << 0)
#define SPC5_ME_PCTL_RUN(n)         ((n) << 0)
#define SPC5_ME_PCTL_LP_MASK        (7U << 3)
#define SPC5_ME_PCTL_LP(n)          ((n) << 3)
#define SPC5_ME_PCTL_DBG            (1U << 6)
/** @} */

/*===========================================================================*/
/* Driver pre-compile time settings.                                         */
/*===========================================================================*/

/**
 * @brief   Disables the clocks initialization in the HAL.
 */
#if !defined(SPC5_NO_INIT) || defined(__DOXYGEN__)
#define SPC5_NO_INIT                        FALSE
#endif

/**
 * @brief   Disables the overclock checks.
 */
#if !defined(SPC5_ALLOW_OVERCLOCK) || defined(__DOXYGEN__)
#define SPC5_ALLOW_OVERCLOCK                FALSE
#endif

/**
 * @brief   Disables the watchdog on start.
 */
#if !defined(SPC5_DISABLE_WATCHDOG) || defined(__DOXYGEN__)
#define SPC5_DISABLE_WATCHDOG               TRUE
#endif

/**
 * @brief   FMPLL0 Clock source.
 */
#if !defined(SPC5_FMPLL0_CLK_SRC) || defined(__DOXYGEN__)
#define SPC5_FMPLL0_CLK_SRC                 SPC5_FMPLL_SRC_XOSC
#endif

/**
 * @brief   FMPLL0 IDF divider value.
 * @note    The default value is calculated for XOSC=40MHz and PHI=120MHz.
 */
#if !defined(SPC5_FMPLL0_IDF_VALUE) || defined(__DOXYGEN__)
#define SPC5_FMPLL0_IDF_VALUE               5
#endif

/**
 * @brief   FMPLL0 NDIV divider value.
 * @note    The default value is calculated for XOSC=40MHz and PHI=120MHz.
 */
#if !defined(SPC5_FMPLL0_NDIV_VALUE) || defined(__DOXYGEN__)
#define SPC5_FMPLL0_NDIV_VALUE              60
#endif

/**
 * @brief   FMPLL0 ODF divider value.
 * @note    The default value is calculated for XOSC=40MHz and PHI=120MHz.
 */
#if !defined(SPC5_FMPLL0_ODF) || defined(__DOXYGEN__)
#define SPC5_FMPLL0_ODF                     SPC5_FMPLL_ODF_DIV4
#endif

/**
 * @brief   FMPLL1 Clock source.
 */
#if !defined(SPC5_FMPLL1_CLK_SRC) || defined(__DOXYGEN__)
#define SPC5_FMPLL1_CLK_SRC                 SPC5_FMPLL_SRC_XOSC
#endif

/**
 * @brief   FMPLL1 IDF divider value.
 * @note    The default value is calculated for XOSC=40MHz and PHI=120MHz.
 */
#if !defined(SPC5_FMPLL1_IDF_VALUE) || defined(__DOXYGEN__)
#define SPC5_FMPLL1_IDF_VALUE               5
#endif

/**
 * @brief   FMPLL1 NDIV divider value.
 * @note    The default value is calculated for XOSC=40MHz and PHI=120MHz.
 */
#if !defined(SPC5_FMPLL1_NDIV_VALUE) || defined(__DOXYGEN__)
#define SPC5_FMPLL1_NDIV_VALUE              60
#endif

/**
 * @brief   FMPLL1 ODF divider value.
 * @note    The default value is calculated for XOSC=40MHz and PHI=120MHz.
 */
#if !defined(SPC5_FMPLL1_ODF) || defined(__DOXYGEN__)
#define SPC5_FMPLL1_ODF                     SPC5_FMPLL_ODF_DIV4
#endif

/**
 * @brief   System clock divider value.
 * @note    Zero means disabled clock.
 */
#if !defined(SPC5_SYSCLK_DIVIDER_VALUE) || defined(__DOXYGEN__)
#define SPC5_SYSCLK_DIVIDER_VALUE           2
#endif

/**
 * @brief   AUX0 clock source.
 */
#if !defined(SPC5_AUX0CLK_SRC) || defined(__DOXYGEN__)
#define SPC5_AUX0CLK_SRC                    SPC5_CGM_SS_FMPLL1
#endif

/**
 * @brief   Motor Control clock divider value.
 * @note    Zero means disabled clock.
 */
#if !defined(SPC5_MCONTROL_DIVIDER_VALUE) || defined(__DOXYGEN__)
#define SPC5_MCONTROL_DIVIDER_VALUE         2
#endif

/**
 * @brief   SWG clock divider value.
 * @note    Zero means disabled clock.
 */
#if !defined(SPC5_SWG_DIVIDER_VALUE) || defined(__DOXYGEN__)
#define SPC5_SWG_DIVIDER_VALUE              2
#endif

/**
 * @brief   AUX1 clock source.
 * @note    Used by Flexray.
 */
#if !defined(SPC5_AUX1CLK_SRC) || defined(__DOXYGEN__)
#define SPC5_AUX1CLK_SRC                    SPC5_CGM_SS_FMPLL1
#endif

/**
 * @brief   Flexray clock divider value.
 * @note    Zero means disabled clock.
 */
#if !defined(SPC5_FLEXRAY_DIVIDER_VALUE) || defined(__DOXYGEN__)
#define SPC5_FLEXRAY_DIVIDER_VALUE          2
#endif

/**
 * @brief   AUX2 clock source.
 * @note    Used by FlexCAN.
 */
#if !defined(SPC5_AUX2CLK_SRC) || defined(__DOXYGEN__)
#define SPC5_AUX2CLK_SRC                    SPC5_CGM_SS_FMPLL1
#endif

/**
 * @brief   FlexCAN clock divider value.
 * @note    Zero means disabled clock.
 */
#if !defined(SPC5_FLEXCAN_DIVIDER_VALUE) || defined(__DOXYGEN__)
#define SPC5_FLEXCAN_DIVIDER_VALUE          2
#endif

/**
 * @brief   Active run modes in ME_ME register.
 * @note    Modes RESET, SAFE, DRUN, and RUN0 modes are always enabled, there
 *          is no need to specify them.
 */
#if !defined(SPC5_ME_ME_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_ME_BITS                     (SPC5_ME_ME_RUN1 |              \
                                             SPC5_ME_ME_RUN2 |              \
                                             SPC5_ME_ME_RUN3 |              \
                                             SPC5_ME_ME_HALT0 |             \
                                             SPC5_ME_ME_STOP0)
#endif

/**
 * @brief   SAFE mode settings.
 */
#if !defined(SPC5_ME_SAFE_MC_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_SAFE_MC_BITS                (SPC5_ME_MC_PDO)
#endif

/**
 * @brief   DRUN mode settings.
 */
#if !defined(SPC5_ME_DRUN_MC_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_DRUN_MC_BITS                (SPC5_ME_MC_SYSCLK_FMPLL0 |     \
                                             SPC5_ME_MC_IRCON |             \
                                             SPC5_ME_MC_XOSC0ON |           \
                                             SPC5_ME_MC_PLL0ON |            \
                                             SPC5_ME_MC_PLL1ON |            \
                                             SPC5_ME_MC_FLAON_NORMAL |      \
                                             SPC5_ME_MC_MVRON)
#endif

/**
 * @brief   RUN0 mode settings.
 */
#if !defined(SPC5_ME_RUN0_MC_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_RUN0_MC_BITS                (SPC5_ME_MC_SYSCLK_FMPLL0 |     \
                                             SPC5_ME_MC_IRCON |             \
                                             SPC5_ME_MC_XOSC0ON |           \
                                             SPC5_ME_MC_PLL0ON |            \
                                             SPC5_ME_MC_PLL1ON |            \
                                             SPC5_ME_MC_FLAON_NORMAL |      \
                                             SPC5_ME_MC_MVRON)
#endif

/**
 * @brief   RUN1 mode settings.
 */
#if !defined(SPC5_ME_RUN1_MC_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_RUN1_MC_BITS                (SPC5_ME_MC_SYSCLK_FMPLL0 |     \
                                             SPC5_ME_MC_IRCON |             \
                                             SPC5_ME_MC_XOSC0ON |           \
                                             SPC5_ME_MC_PLL0ON |            \
                                             SPC5_ME_MC_PLL1ON |            \
                                             SPC5_ME_MC_FLAON_NORMAL |      \
                                             SPC5_ME_MC_MVRON)
#endif

/**
 * @brief   RUN2 mode settings.
 */
#if !defined(SPC5_ME_RUN2_MC_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_RUN2_MC_BITS                (SPC5_ME_MC_SYSCLK_FMPLL0 |     \
                                             SPC5_ME_MC_IRCON |             \
                                             SPC5_ME_MC_XOSC0ON |           \
                                             SPC5_ME_MC_PLL0ON |            \
                                             SPC5_ME_MC_PLL1ON |            \
                                             SPC5_ME_MC_FLAON_NORMAL |      \
                                             SPC5_ME_MC_MVRON)
#endif

/**
 * @brief   RUN3 mode settings.
 */
#if !defined(SPC5_ME_RUN3_MC_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_RUN3_MC_BITS                (SPC5_ME_MC_SYSCLK_FMPLL0 |     \
                                             SPC5_ME_MC_IRCON |             \
                                             SPC5_ME_MC_XOSC0ON |           \
                                             SPC5_ME_MC_PLL0ON |            \
                                             SPC5_ME_MC_PLL1ON |            \
                                             SPC5_ME_MC_FLAON_NORMAL |      \
                                             SPC5_ME_MC_MVRON)
#endif

/**
 * @brief   HALT0 mode settings.
 */
#if !defined(SPC5_ME_HALT0_MC_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_HALT0_MC_BITS               (SPC5_ME_MC_SYSCLK_FMPLL0 |     \
                                             SPC5_ME_MC_IRCON |             \
                                             SPC5_ME_MC_XOSC0ON |           \
                                             SPC5_ME_MC_PLL0ON |            \
                                             SPC5_ME_MC_PLL1ON |            \
                                             SPC5_ME_MC_FLAON_NORMAL |      \
                                             SPC5_ME_MC_MVRON)
#endif

/**
 * @brief   STOP0 mode settings.
 */
#if !defined(SPC5_ME_STOP0_MC_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_STOP0_MC_BITS               (SPC5_ME_MC_SYSCLK_FMPLL0 |     \
                                             SPC5_ME_MC_IRCON |             \
                                             SPC5_ME_MC_XOSC0ON |           \
                                             SPC5_ME_MC_PLL0ON |            \
                                             SPC5_ME_MC_PLL1ON |            \
                                             SPC5_ME_MC_FLAON_NORMAL |      \
                                             SPC5_ME_MC_MVRON)
#endif

/**
 * @brief   Peripheral mode 0 (run mode).
 * @note    Do not change this setting, it is expected to be the "never run"
 *          mode.
 */
#if !defined(SPC5_ME_RUN_PC0_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_RUN_PC0_BITS                0
#endif

/**
 * @brief   Peripheral mode 1 (run mode).
 * @note    Do not change this setting, it is expected to be the "always run"
 *          mode.
 */
#if !defined(SPC5_ME_RUN_PC1_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_RUN_PC1_BITS                (SPC5_ME_RUN_PC_SAFE |          \
                                             SPC5_ME_RUN_PC_DRUN |          \
                                             SPC5_ME_RUN_PC_RUN0 |          \
                                             SPC5_ME_RUN_PC_RUN1 |          \
                                             SPC5_ME_RUN_PC_RUN2 |          \
                                             SPC5_ME_RUN_PC_RUN3)
#endif

/**
 * @brief   Peripheral mode 2 (run mode).
 * @note    Do not change this setting, it is expected to be the "only during
 *          normal run" mode.
 */
#if !defined(SPC5_ME_RUN_PC2_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_RUN_PC2_BITS                (SPC5_ME_RUN_PC_DRUN |          \
                                             SPC5_ME_RUN_PC_RUN0 |          \
                                             SPC5_ME_RUN_PC_RUN1 |          \
                                             SPC5_ME_RUN_PC_RUN2 |          \
                                             SPC5_ME_RUN_PC_RUN3)
#endif

/**
 * @brief   Peripheral mode 3 (run mode).
 * @note    Not defined, available to application-specific modes.
 */
#if !defined(SPC5_ME_RUN_PC3_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_RUN_PC3_BITS                (SPC5_ME_RUN_PC_RUN0 |          \
                                             SPC5_ME_RUN_PC_RUN1 |          \
                                             SPC5_ME_RUN_PC_RUN2 |          \
                                             SPC5_ME_RUN_PC_RUN3)
#endif

/**
 * @brief   Peripheral mode 4 (run mode).
 * @note    Not defined, available to application-specific modes.
 */
#if !defined(SPC5_ME_RUN_PC4_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_RUN_PC4_BITS                (SPC5_ME_RUN_PC_RUN0 |          \
                                             SPC5_ME_RUN_PC_RUN1 |          \
                                             SPC5_ME_RUN_PC_RUN2 |          \
                                             SPC5_ME_RUN_PC_RUN3)
#endif

/**
 * @brief   Peripheral mode 5 (run mode).
 * @note    Not defined, available to application-specific modes.
 */
#if !defined(SPC5_ME_RUN_PC5_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_RUN_PC5_BITS                (SPC5_ME_RUN_PC_RUN0 |          \
                                             SPC5_ME_RUN_PC_RUN1 |          \
                                             SPC5_ME_RUN_PC_RUN2 |          \
                                             SPC5_ME_RUN_PC_RUN3)
#endif

/**
 * @brief   Peripheral mode 6 (run mode).
 * @note    Not defined, available to application-specific modes.
 */
#if !defined(SPC5_ME_RUN_PC6_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_RUN_PC6_BITS                (SPC5_ME_RUN_PC_RUN0 |          \
                                             SPC5_ME_RUN_PC_RUN1 |          \
                                             SPC5_ME_RUN_PC_RUN2 |          \
                                             SPC5_ME_RUN_PC_RUN3)
#endif

/**
 * @brief   Peripheral mode 7 (run mode).
 * @note    Not defined, available to application-specific modes.
 */
#if !defined(SPC5_ME_RUN_PC7_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_RUN_PC7_BITS                (SPC5_ME_RUN_PC_RUN0 |          \
                                             SPC5_ME_RUN_PC_RUN1 |          \
                                             SPC5_ME_RUN_PC_RUN2 |          \
                                             SPC5_ME_RUN_PC_RUN3)
#endif

/**
 * @brief   Peripheral mode 0 (low power mode).
 * @note    Do not change this setting, it is expected to be the "never run"
 *          mode.
 */
#if !defined(SPC5_ME_LP_PC0_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_LP_PC0_BITS                 0
#endif

/**
 * @brief   Peripheral mode 1 (low power mode).
 * @note    Do not change this setting, it is expected to be the "always run"
 *          mode.
 */
#if !defined(SPC5_ME_LP_PC1_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_LP_PC1_BITS                 (SPC5_ME_LP_PC_HALT0 |          \
                                             SPC5_ME_LP_PC_STOP0)
#endif

/**
 * @brief   Peripheral mode 2 (low power mode).
 * @note    Do not change this setting, it is expected to be the "halt only"
 *          mode.
 */
#if !defined(SPC5_ME_LP_PC2_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_LP_PC2_BITS                 (SPC5_ME_LP_PC_HALT0)
#endif

/**
 * @brief   Peripheral mode 3 (low power mode).
 * @note    Do not change this setting, it is expected to be the "stop only"
 *          mode.
 */
#if !defined(SPC5_ME_LP_PC3_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_LP_PC3_BITS                 (SPC5_ME_LP_PC_STOP0)
#endif

/**
 * @brief   Peripheral mode 4 (low power mode).
 * @note    Not defined, available to application-specific modes.
 */
#if !defined(SPC5_ME_LP_PC4_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_LP_PC4_BITS                 (SPC5_ME_LP_PC_HALT0 |          \
                                             SPC5_ME_LP_PC_STOP0)
#endif

/**
 * @brief   Peripheral mode 5 (low power mode).
 * @note    Not defined, available to application-specific modes.
 */
#if !defined(SPC5_ME_LP_PC5_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_LP_PC5_BITS                 (SPC5_ME_LP_PC_HALT0 |          \
                                             SPC5_ME_LP_PC_STOP0)
#endif

/**
 * @brief   Peripheral mode 6 (low power mode).
 * @note    Not defined, available to application-specific modes.
 */
#if !defined(SPC5_ME_LP_PC6_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_LP_PC6_BITS                 (SPC5_ME_LP_PC_HALT0 |          \
                                             SPC5_ME_LP_PC_STOP0)
#endif

/**
 * @brief   Peripheral mode 7 (low power mode).
 * @note    Not defined, available to application-specific modes.
 */
#if !defined(SPC5_ME_LP_PC7_BITS) || defined(__DOXYGEN__)
#define SPC5_ME_LP_PC7_BITS                 (SPC5_ME_LP_PC_HALT0 |          \
                                             SPC5_ME_LP_PC_STOP0)
#endif

/**
 * @brief   Clock initialization failure hook.
 * @note    The default is to stop the system and let the RTC restart it.
 * @note    The hook code must not return.
 */
#if !defined(SPC5_CLOCK_FAILURE_HOOK) || defined(__DOXYGEN__)
#define SPC5_CLOCK_FAILURE_HOOK()           osalSysHalt("clock failure")
#endif

/*===========================================================================*/
/* Derived constants and error checks.                                       */
/*===========================================================================*/

/*
 * Configuration-related checks.
 */
#if !defined(SPC56ELxx_MCUCONF)
#error "Using a wrong mcuconf.h file, SPC56ELxx_MCUCONF not defined"
#endif

/* Check on the XOSC frequency.*/
#if (SPC5_XOSC_CLK < SPC5_XOSC_CLK_MIN) ||                                  \
    (SPC5_XOSC_CLK > SPC5_XOSC_CLK_MAX)
#error "invalid SPC5_XOSC_CLK value specified"
#endif

/* Check on SPC5_FMPLL0_CLOCK_SOURCE.*/
#if SPC5_FMPLL0_CLK_SRC == SPC5_FMPLL_SRC_IRC
#define SPC5_FMPLL0_INPUT_CLK   SPC5_IRC_CLK
#elif SPC5_FMPLL0_CLK_SRC == SPC5_FMPLL_SRC_XOSC
#define SPC5_FMPLL0_INPUT_CLK   SPC5_XOSC_CLK
#else
#error "invalid SPC5_FMPLL0_CLK_SRC value specified"
#endif

/* Check on SPC5_FMPLL0_IDF_VALUE.*/
#if (SPC5_FMPLL0_IDF_VALUE < 1) || (SPC5_FMPLL0_IDF_VALUE > 15)
#error "invalid SPC5_FMPLL0_IDF_VALUE value specified"
#endif

/* Check on SPC5_FMPLL0_NDIV_VALUE.*/
#if (SPC5_FMPLL0_NDIV_VALUE < 32) || (SPC5_FMPLL0_NDIV_VALUE > 96)
#error "invalid SPC5_FMPLL0_NDIV_VALUE value specified"
#endif

/* Check on SPC5_FMPLL0_ODF.*/
#if (SPC5_FMPLL0_ODF == SPC5_FMPLL_ODF_DIV2)
#define SPC5_FMPLL0_ODF_VALUE    2
#elif (SPC5_FMPLL0_ODF == SPC5_FMPLL_ODF_DIV4)
#define SPC5_FMPLL0_ODF_VALUE    4
#elif (SPC5_FMPLL0_ODF == SPC5_FMPLL_ODF_DIV8)
#define SPC5_FMPLL0_ODF_VALUE    8
#elif (SPC5_FMPLL0_ODF == SPC5_FMPLL_ODF_DIV16)
#define SPC5_FMPLL0_ODF_VALUE    16
#else
#error "invalid SPC5_FMPLL0_ODF value specified"
#endif

/**
 * @brief   SPC5_FMPLL0_VCO_CLK clock point.
 */
#define SPC5_FMPLL0_VCO_CLK                                                 \
  ((SPC5_FMPLL0_INPUT_CLK / SPC5_FMPLL0_IDF_VALUE) * SPC5_FMPLL0_NDIV_VALUE)

/* Check on FMPLL0 VCO output.*/
#if (SPC5_FMPLL0_VCO_CLK < SPC5_FMPLLVCO_MIN) ||                            \
    (SPC5_FMPLL0_VCO_CLK > SPC5_FMPLLVCO_MAX)
#error "SPC5_FMPLL0_VCO_CLK outside acceptable range (SPC5_FMPLLVCO_MIN...SPC5_FMPLLVCO_MAX)"
#endif

/**
 * @brief   SPC5_FMPLL0_CLK clock point.
 */
#define SPC5_FMPLL0_CLK                                                     \
  (SPC5_FMPLL0_VCO_CLK / SPC5_FMPLL0_ODF_VALUE)

/* Check on SPC5_FMPLL0_CLK.*/
#if (SPC5_FMPLL0_CLK > SPC5_FMPLL0_CLK_MAX) && !SPC5_ALLOW_OVERCLOCK
#error "SPC5_FMPLL0_CLK outside acceptable range (0...SPC5_FMPLL0_CLK_MAX)"
#endif

/* Check on SPC5_FMPLL1_CLOCK_SOURCE.*/
#if SPC5_FMPLL1_CLK_SRC == SPC5_FMPLL_SRC_IRC
#define SPC5_FMPLL1_INPUT_CLK   SPC5_IRC_CLK
#elif SPC5_FMPLL1_CLK_SRC == SPC5_FMPLL_SRC_XOSC
#define SPC5_FMPLL1_INPUT_CLK   SPC5_XOSC_CLK
#else
#error "invalid SPC5_FMPLL1_CLK_SRC value specified"
#endif

/* Check on SPC5_FMPLL1_IDF_VALUE.*/
#if (SPC5_FMPLL1_IDF_VALUE < 1) || (SPC5_FMPLL1_IDF_VALUE > 15)
#error "invalid SPC5_FMPLL1_IDF_VALUE value specified"
#endif

/* Check on SPC5_FMPLL1_NDIV_VALUE.*/
#if (SPC5_FMPLL1_NDIV_VALUE < 32) || (SPC5_FMPLL1_NDIV_VALUE > 96)
#error "invalid SPC5_FMPLL1_NDIV_VALUE value specified"
#endif

/* Check on SPC5_FMPLL1_ODF.*/
#if (SPC5_FMPLL1_ODF == SPC5_FMPLL_ODF_DIV2)
#define SPC5_FMPLL1_ODF_VALUE   2
#elif (SPC5_FMPLL1_ODF == SPC5_FMPLL_ODF_DIV4)
#define SPC5_FMPLL1_ODF_VALUE   4
#elif (SPC5_FMPLL1_ODF == SPC5_FMPLL_ODF_DIV8)
#define SPC5_FMPLL1_ODF_VALUE   8
#elif (SPC5_FMPLL1_ODF == SPC5_FMPLL_ODF_DIV16)
#define SPC5_FMPLL1_ODF_VALUE   16
#else
#error "invalid SPC5_FMPLL1_ODF value specified"
#endif

/**
 * @brief   SPC5_FMPLL1_VCO_CLK clock point.
 */
#define SPC5_FMPLL1_VCO_CLK                                                 \
  ((SPC5_FMPLL1_INPUT_CLK / SPC5_FMPLL1_IDF_VALUE) * SPC5_FMPLL1_NDIV_VALUE)

/* Check on FMPLL1 VCO output.*/
#if (SPC5_FMPLL1_VCO_CLK < SPC5_FMPLLVCO_MIN) ||                            \
    (SPC5_FMPLL1_VCO_CLK > SPC5_FMPLLVCO_MAX)
#error "SPC5_FMPLL1_VCO_CLK outside acceptable range (SPC5_FMPLLVCO_MIN...SPC5_FMPLLVCO_MAX)"
#endif

/**
 * @brief   SPC5_FMPLL1_CLK clock point.
 */
#define SPC5_FMPLL1_CLK                                                     \
  (SPC5_FMPLL1_VCO_CLK / SPC5_FMPLL1_ODF_VALUE)

/**
 * @brief   SPC5_FMPLL1_1D1_CLK clock point.
 */
#define SPC5_FMPLL1_1D1_CLK                                                 \
  (SPC5_FMPLL1_VCO_CLK / 6)

/* Check on SPC5_FMPLL1_CLK.*/
#if (SPC5_FMPLL1_CLK > SPC5_FMPLL1_CLK_MAX) && !SPC5_ALLOW_OVERCLOCK
#error "SPC5_FMPLL1_CLK outside acceptable range (0...SPC5_FMPLL1_CLK_MAX)"
#endif

/* Check on the system divider settings.*/
#if SPC5_SYSCLK_DIVIDER_VALUE == 0
#define SPC5_CGM_SC_DC0         0
#elif (SPC5_SYSCLK_DIVIDER_VALUE >= 1) && (SPC5_SYSCLK_DIVIDER_VALUE <= 16)
#define SPC5_CGM_SC_DC0         (0x80 | (SPC5_SYSCLK_DIVIDER_VALUE - 1))
#else
#error "invalid SPC5_SYSCLK_DIVIDER_VALUE value specified"
#endif

/**
 * @brief   AUX0 clock point.
 */
#if (SPC5_AUX0CLK_SRC == SPC5_CGM_SS_IRC) || defined(__DOXYGEN__)
#define SPC5_AUX0_CLK           SPC5_IRC_CLK
#elif SPC5_AUX0CLK_SRC == SPC5_CGM_SS_XOSC
#define SPC5_AUX0_CLK           SPC5_XOSC_CLK
#elif SPC5_AUX0CLK_SRC == SPC5_CGM_SS_FMPLL0
#define SPC5_AUX0_CLK           SPC5_FMPLL0_CLK
#elif SPC5_AUX0CLK_SRC == SPC5_CGM_SS_FMPLL1
#define SPC5_AUX0_CLK           SPC5_FMPLL1_CLK
#elif SPC5_AUX0CLK_SRC == SPC5_CGM_SS_FMPLL1_1D1
#define SPC5_AUX0_CLK           SPC5_FMPLL1_1D1_CLK
#else
#error "invalid SPC5_AUX0CLK_SRC value specified"
#endif

/* Check on the AUX0 divider 0 settings.*/
#if SPC5_MCONTROL_DIVIDER_VALUE == 0
#define SPC5_CGM_AC0_DC0        0
#elif (SPC5_MCONTROL_DIVIDER_VALUE >= 1) && (SPC5_MCONTROL_DIVIDER_VALUE <= 16)
#define SPC5_CGM_AC0_DC0        ((0x80U | (SPC5_MCONTROL_DIVIDER_VALUE - 1)) << 24)
#else
#error "invalid SPC5_MCONTROL_DIVIDER_VALUE value specified"
#endif

/* Check on the AUX0 divider 1 settings.*/
#if SPC5_SWG_DIVIDER_VALUE == 0
#define SPC5_CGM_AC0_DC1        0
#elif (SPC5_SWG_DIVIDER_VALUE >= 1) && (SPC5_SWG_DIVIDER_VALUE <= 16)
#define SPC5_CGM_AC0_DC1        ((0x80U | (SPC5_SWG_DIVIDER_VALUE - 1)) << 16)
#else
#error "invalid SPC5_SWG_DIVIDER_VALUE value specified"
#endif

/**
 * @brief   Motor Control clock point.
 */
#if (SPC5_MCONTROL_DIVIDER_VALUE) != 0 || defined(__DOXYGEN)
#define SPC5_MCONTROL_CLK       (SPC5_AUX0_CLK / SPC5_MCONTROL_DIVIDER_VALUE)
#else
#define SPC5_MCONTROL_CLK       0
#endif

/**
 * @brief   SWG clock point.
 */
#if (SPC5_SWG_DIVIDER_VALUE) != 0 || defined(__DOXYGEN)
#define SPC5_SWG_CLK            (SPC5_AUX0_CLK / SPC5_SWG_DIVIDER_VALUE)
#else
#define SPC5_SWG_CLK            0
#endif

/**
 * @brief   AUX1 clock point.
 */
#if (SPC5_AUX1CLK_SRC == SPC5_CGM_SS_FMPLL0) || defined(__DOXYGEN__)
#define SPC5_AUX1_CLK           SPC5_FMPLL0_CLK
#elif SPC5_AUX1CLK_SRC == SPC5_CGM_SS_FMPLL1
#define SPC5_AUX1_CLK           SPC5_FMPLL1_CLK
#elif SPC5_AUX1CLK_SRC == SPC5_CGM_SS_FMPLL1_1D1
#define SPC5_AUX1_CLK           SPC5_FMPLL1_1D1_CLK
#else
#error "invalid SPC5_AUX1CLK_SRC value specified"
#endif

/* Check on the AUX1 divider 0 settings.*/
#if SPC5_FLEXRAY_DIVIDER_VALUE == 0
#define SPC5_CGM_AC1_DC0        0
#elif (SPC5_FLEXRAY_DIVIDER_VALUE >= 1) && (SPC5_FLEXRAY_DIVIDER_VALUE <= 16)
#define SPC5_CGM_AC1_DC0        ((0x80U | (SPC5_FLEXRAY_DIVIDER_VALUE - 1)) << 24)
#else
#error "invalid SPC5_FLEXRAY_DIVIDER_VALUE value specified"
#endif

/**
 * @brief   Flexray clock point.
 */
#if (SPC5_FLEXRAY_DIVIDER_VALUE) != 0 || defined(__DOXYGEN)
#define SPC5_FLEXRAY_CLK        (SPC5_AUX2_CLK / SPC5_FLEXRAY_DIVIDER_VALUE)
#else
#define SPC5_FLEXRAY_CLK        0
#endif

/**
 * @brief   AUX2 clock point.
 */
#if (SPC5_AUX2CLK_SRC == SPC5_CGM_SS_FMPLL0) || defined(__DOXYGEN__)
#define SPC5_AUX2_CLK           SPC5_FMPLL0_CLK
#elif SPC5_AUX2CLK_SRC == SPC5_CGM_SS_FMPLL1
#define SPC5_AUX2_CLK           SPC5_FMPLL1_CLK
#elif SPC5_AUX2CLK_SRC == SPC5_CGM_SS_FMPLL1_1D1
#define SPC5_AUX2_CLK           SPC5_FMPLL1_1D1_CLK
#else
#error "invalid SPC5_AUX2CLK_SRC value specified"
#endif

/* Check on the AUX2 divider 0 settings.*/
#if SPC5_FLEXCAN_DIVIDER_VALUE == 0
#define SPC5_CGM_AC2_DC0        0
#elif (SPC5_FLEXCAN_DIVIDER_VALUE >= 1) && (SPC5_FLEXCAN_DIVIDER_VALUE <= 16)
#define SPC5_CGM_AC2_DC0        ((0x80U | (SPC5_FLEXCAN_DIVIDER_VALUE - 1)) << 24)
#else
#error "invalid SPC5_FLEXCAN_DIVIDER_VALUE value specified"
#endif

/**
 * @brief   FlexCAN clock point.
 */
#if (SPC5_FLEXCAN_DIVIDER_VALUE) != 0 || defined(__DOXYGEN)
#define SPC5_FLEXCAN_CLK        (SPC5_AUX2_CLK / SPC5_FLEXCAN_DIVIDER_VALUE)
#else
#define SPC5_FLEXCAN_CLK        0
#endif

/*===========================================================================*/
/* Driver data structures and types.                                         */
/*===========================================================================*/

/**
 * @brief   Type representing a system clock frequency.
 */
typedef uint32_t halclock_t;

/**
 * @brief   Type of the realtime free counter value.
 */
typedef uint32_t halrtcnt_t;

/**
 * @brief   Run modes.
 */
typedef enum {
  SPC5_RUNMODE_SAFE  = 2,
  SPC5_RUNMODE_DRUN  = 3,
  SPC5_RUNMODE_RUN0  = 4,
  SPC5_RUNMODE_RUN1  = 5,
  SPC5_RUNMODE_RUN2  = 6,
  SPC5_RUNMODE_RUN3  = 7,
  SPC5_RUNMODE_HALT0 = 8,
  SPC5_RUNMODE_STOP0 = 10
} spc5_runmode_t;

/*===========================================================================*/
/* Driver macros.                                                            */
/*===========================================================================*/

/**
 * @brief   Returns the current value of the system free running counter.
 * @note    This service is implemented by returning the content of the
 *          TBL register.
 *
 * @return              The value of the system free running counter of
 *                      type halrtcnt_t.
 *
 * @notapi
 */
static inline
halrtcnt_t hal_lld_get_counter_value(void) {
  halrtcnt_t cnt;

  asm volatile ("mfspr   %[cnt], 284" : [cnt] "=r" (cnt) : : );
  return cnt;
}

/**
 * @brief   Realtime counter frequency.
 *
 * @return              The realtime counter frequency of type halclock_t.
 *
 * @notapi
 */
#define hal_lld_get_counter_frequency() (halclock_t)halSPCGetSystemClock()

/*===========================================================================*/
/* External declarations.                                                    */
/*===========================================================================*/

#include "spc5_edma.h"

#ifdef __cplusplus
extern "C" {
#endif
  void hal_lld_init(void);
  void spc_clock_init(void);
  bool halSPCSetRunMode(spc5_runmode_t mode);
  void halSPCSetPeripheralClockMode(uint32_t n, uint32_t pctl);
#if !SPC5_NO_INIT
  uint32_t halSPCGetSystemClock(void);
#endif
#ifdef __cplusplus
}
#endif

#endif /* HAL_LLD_H */

/** @} */