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NUMICRO NUC126: fixes for the SysTick priority, PLL setup and PAL modes #460

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NUMICRO NUC126: fixes for the SysTick priority, PLL setup and PAL modes #460

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2ab39db
NUMICRO NUC126: valid default SysTick priority and IRQ priority checks
mdmower Oct 24, 2026
aa541d8
NUMICRO NUC126: fix PLL setup in CLK_SetCoreClock
mdmower Oct 24, 2026
26a083a
NUMICRO NUC126: fix PAL mode mapping and the HXT clock frequency
mdmower Oct 24, 2026
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38 changes: 24 additions & 14 deletions os/hal/ports/NUMICRO/LLD/GPIOv2/hal_pal_lld.c
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Original file line number Diff line number Diff line change
Expand Up @@ -191,26 +191,36 @@ void _pal_lld_setgroupmode(ioportid_t port,
ioportmask_t mask,
iomode_t mode) {

uint32_t nucMode = 0;

if (mode == PAL_MODE_INPUT)
nucMode = GPIO_MODE_INPUT;
else if (mode == PAL_MODE_OUTPUT_OPENDRAIN)
nucMode = GPIO_MODE_OPEN_DRAIN;
else if (mode == PAL_MODE_OUTPUT_PUSHPULL)
nucMode = GPIO_MODE_OUTPUT;
else /* mode == PAL_MODE_INPUT_PULLUP */
nucMode = GPIO_MODE_QUASI;
uint32_t nucMode;

switch (mode) {
case PAL_MODE_INPUT:
case PAL_MODE_INPUT_ANALOG:
nucMode = GPIO_MODE_INPUT;
break;
case PAL_MODE_OUTPUT_PUSHPULL:
nucMode = GPIO_MODE_OUTPUT;
break;
case PAL_MODE_OUTPUT_OPENDRAIN:
nucMode = GPIO_MODE_OPEN_DRAIN;
break;
case PAL_MODE_RESET:
case PAL_MODE_UNCONNECTED:
case PAL_MODE_INPUT_PULLUP:
/* Quasi-bidirectional mode drives the pin low while DOUT is 0. */
port->DOUT |= (uint32_t)(uint16_t)mask;
nucMode = GPIO_MODE_QUASI;
break;
default:
/* PAL_MODE_INPUT_PULLDOWN (the chip has no pull-down) and unknown modes. */
return;
}

for (uint32_t i = 0; i < PAL_IOPORTS_WIDTH; i++) {
if (mask & (1 << i)) {
port->MODE = (port->MODE & ~(0x03ul << (i << 1))) | (nucMode << (i << 1));
}
}

if (nucMode == GPIO_MODE_QUASI) {
port->DOUT |= (uint32_t)(uint16_t)mask;
}
}

#endif /* HAL_USE_PAL == TRUE */
Expand Down
24 changes: 1 addition & 23 deletions os/hal/ports/NUMICRO/LLD/GPIOv2/hal_pal_lld.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,27 +47,6 @@
#define GPIO_MODE_OPEN_DRAIN 0x02ul /*!< Open-Drain Mode */
#define GPIO_MODE_QUASI 0x03ul /*!< Quasi-bidirectional Mode */

/**
* @brief NUC126 specific alternate input mode.
*/
#define PAL_MODE_NUC126_ALTERNATE_INPUT GPIO_MODE_INPUT

/**
* @brief NUC126 specific alternate push-pull output mode.
*/
#define PAL_MODE_NUC126_ALTERNATE_OUTPUT GPIO_MODE_OUTPUT
/** @} */

/**
* @brief NUC126 specific alternate output mode.
*/
#define PAL_MODE_NUC126_ALTERNATE_OPEN_DRAIN GPIO_MODE_OPEN_DRAIN
/** @} */

/**
* @brief NUC126 specific alternate output mode.
*/
#define PAL_MODE_NUC126_ALTERNATE_QUASI GPIO_MODE_QUASI
/** @} */

/**
Expand Down Expand Up @@ -907,8 +886,7 @@
* @brief Whole port mask.
* @details This macro specifies all the valid bits into a port.
*/
/* #define PAL_WHOLE_PORT ((ioportmask_t)0xFFFFU) */
#define PAL_WHOLE_PORT ((ioportmask_t)(2^PAL_IOPORTS_WIDTH) - 1)
#define PAL_WHOLE_PORT ((ioportmask_t)0xFFFFU)
/** @} */

/**
Expand Down
6 changes: 5 additions & 1 deletion os/hal/ports/NUMICRO/LLD/TIMv2/hal_st_lld.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@
* @brief SysTick timer IRQ priority.
*/
#if !defined(NUC126_ST_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define NUC126_ST_IRQ_PRIORITY 8
#define NUC126_ST_IRQ_PRIORITY 2
#endif

/**
Expand All @@ -79,6 +79,10 @@
/* Derived constants and error checks. */
/*===========================================================================*/

#if !OSAL_IRQ_IS_VALID_PRIORITY(NUC126_ST_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to ST"
#endif

#if (NUC126_ST_USE_TIMER == 2)
#if !NUC126_HAS_TIM2
#error "TIM2 not present"
Expand Down
4 changes: 4 additions & 0 deletions os/hal/ports/NUMICRO/LLD/USBv2/hal_usb_lld.h
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,10 @@
#error "NUC126 USB subsystem enabled, but no driver configured"
#endif

#if NUC126_USB_USE_USB1 && !OSAL_IRQ_IS_VALID_PRIORITY(NUC126_USB_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to USB1"
#endif

/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
Expand Down
10 changes: 7 additions & 3 deletions os/hal/ports/NUMICRO/NUC126/hal_lld.c
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@

#define CLK_PLLCTL_72MHz_HXT CLK_PLLCTL(NUC126_PLLSRC_HSE, 4, 48, 2) /*!< Predefined PLLCTL setting for 72MHz PLL output with HXT(12MHz X'tal) */
#define CLK_PLLCTL_144MHz_HXT CLK_PLLCTL(NUC126_PLLSRC_HSE, 4, 48, 1) /*!< Predefined PLLCTL setting for 144MHz PLL output with HXT(12MHz X'tal) */
#define CLK_PLLCTL_72MHz_HIRC CLK_PLLCTL(NUC126_PLLSRC_HSE, 8, 52, 2) /*!< Predefined PLLCTL setting for 71.8848MHz PLL output with HIRC(22.1184MHz IRC) */
#define CLK_PLLCTL_72MHz_HIRC CLK_PLLCTL(NUC126_PLLSRC_HSI, 8, 52, 2) /*!< Predefined PLLCTL setting for 71.8848MHz PLL output with HIRC(22.1184MHz IRC) */

/*===========================================================================*/
/* Driver exported variables. */
Expand All @@ -65,7 +65,11 @@ uint32_t CyclesPerUs = (__HSI / 1000000); /*!< Cycles per micro second
#if NUC126_PLL_ENABLED
uint32_t PllClock = __HSI; /*!< PLL Output Clock Frequency */
#endif
#if NUC126_HSE_ENABLED
const uint32_t gau32ClkSrcTbl[] = {NUC126_HSECLK, __LXT, __HSI, __LIRC, __HIRC48, 0UL, 0UL, __HIRC};
#else
const uint32_t gau32ClkSrcTbl[] = {__HXT, __LXT, __HSI, __LIRC, __HIRC48, 0UL, 0UL, __HIRC};
#endif

#if (NUC126_CONFIG_ENABLED == TRUE)

Expand Down Expand Up @@ -351,7 +355,7 @@ uint32_t CLK_EnablePLL(uint32_t pllSrc, uint32_t pllFreq)
}

/* Enable and apply new PLL setting. */
CLK->PLLCTL = CLK_PLLCTL(pllSrc, NO, bestNR, bestNF);
CLK->PLLCTL = CLK_PLLCTL(pllSrc, bestNR, bestNF, NO);

/* Wait for PLL clock stable */
CLK_WaitClockReady(CLK_STATUS_PLLSTB_Msk);
Expand Down Expand Up @@ -406,7 +410,7 @@ uint32_t CLK_SetCoreClock(uint32_t u32Hclk)
}

/* Set HCLK clock source to PLL */
CLK_SetHCLK(NUC126_HCLKSRC_PLL, CLK_CLKDIV0_HCLK(1));
CLK_SetHCLK(NUC126_HCLKSRC_PLL, CLK_CLKDIV0_HCLK(2));

/* Disable HIRC if HIRC was disabled before we started */
if(u32HIRCSTB == 0) {
Expand Down