Finalized AVR PAL driver.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3441 35acf78f-673a-0410-8e92-d51de3d6d3f4

7 files changed, 61 insertions, 88 deletions

diff --git a/boards/OLIMEX_AVR_CAN/board.c b/boards/OLIMEX_AVR_CAN/board.c
index de1af241c..cd84a8086 100644
--- a/boards/OLIMEX_AVR_CAN/board.c
+++ b/boards/OLIMEX_AVR_CAN/board.c
@@ -21,6 +21,32 @@
 #include "ch.h"

 #include "hal.h"

 

+/**

+ * @brief   PAL setup.

+ * @details Digital I/O ports static configuration as defined in @p board.h.

+ *          This variable is used by the HAL when initializing the PAL driver.

+ */

+#if HAL_USE_PAL || defined(__DOXYGEN__)

+const PALConfig pal_default_config =

+{

+#if defined(PORTA)

+  {VAL_PORTA, VAL_DDRA},

+#endif

+#if defined(PORTA)

+  {VAL_PORTB, VAL_DDRB},

+#endif

+#if defined(PORTA)

+  {VAL_PORTC, VAL_DDRC},

+#endif

+#if defined(PORTA)

+  {VAL_PORTD, VAL_DDRD},

+#endif

+#if defined(PORTA)

+  {VAL_PORTE, VAL_DDRE},

+#endif

+};

+#endif /* HAL_USE_PAL */

+

 CH_IRQ_HANDLER(TIMER0_COMP_vect) {

 

   CH_IRQ_PROLOGUE();

@@ -38,24 +64,6 @@ CH_IRQ_HANDLER(TIMER0_COMP_vect) {
 void boardInit(void) {

 

   /*

-   * I/O ports setup.

-   */

-  DDRA   = VAL_DDRA;

-  PORTA  = VAL_PORTA;

-  DDRB   = VAL_DDRB;

-  PORTB  = VAL_PORTB;

-  DDRC   = VAL_DDRC;

-  PORTC  = VAL_PORTC;

-  DDRD   = VAL_DDRD;

-  PORTD  = VAL_PORTD;

-  DDRE   = VAL_DDRE;

-  PORTE  = VAL_PORTE;

-  DDRF   = VAL_DDRF;

-  PORTF  = VAL_PORTF;

-  DDRG   = VAL_DDRG;

-  PORTG  = VAL_PORTG;

-

-  /*

    * External interrupts setup, all disabled initially.

    */

   EICRA  = 0x00;

diff --git a/boards/OLIMEX_AVR_CAN/board.h b/boards/OLIMEX_AVR_CAN/board.h
index b1d6038c3..c4db2338a 100644
--- a/boards/OLIMEX_AVR_CAN/board.h
+++ b/boards/OLIMEX_AVR_CAN/board.h
@@ -87,8 +87,8 @@
 #define VAL_DDRG  0x00

 #define VAL_PORTG 0x07

 

-#define PORTE_LED               (1 << 4)

-#define PORTE_BUTTON            (1 << 5)

+#define PORTE_LED               4

+#define PORTE_BUTTON            5

 

 #if !defined(_FROM_ASM_)

 #ifdef __cplusplus

diff --git a/demos/AVR-AT90CANx-GCC/main.c b/demos/AVR-AT90CANx-GCC/main.c
index d039c6cf6..50d43a7f9 100644
--- a/demos/AVR-AT90CANx-GCC/main.c
+++ b/demos/AVR-AT90CANx-GCC/main.c
@@ -20,34 +20,22 @@
 

 #include "ch.h"

 #include "hal.h"

-#include "evtimer.h"

+#include "test.h"

 

 static WORKING_AREA(waThread1, 32);

 static msg_t Thread1(void *arg) {

 

   while (TRUE) {

-    PORTE ^= PORTE_LED;

-    chThdSleepMilliseconds(500);

+    palTogglePad(IOPORT5, PORTE_LED);

+     chThdSleepMilliseconds(500);

   }

   return 0;

 }

 

-static void TimerHandler(eventid_t id) {

-  msg_t TestThread(void *p);

-

-  if (!(PORTE & PORTE_BUTTON))

-    TestThread(&SD2);

-}

-

 /*

  * Application entry point.

  */

 int main(void) {

-  static EvTimer evt;

-  static evhandler_t handlers[1] = {

-    TimerHandler

-  };

-  static EventListener el0;

 

   /*

    * System initializations.

@@ -65,19 +53,15 @@ int main(void) {
   sdStart(&SD2, NULL);

 

   /*

-   * Event Timer initialization.

-   */

-  evtInit(&evt, MS2ST(500));            /* Initializes an event timer object.   */

-  evtStart(&evt);                       /* Starts the event timer.              */

-  chEvtRegister(&evt.et_es, &el0, 0);   /* Registers on the timer event source. */

-

-  /*

    * Starts the LED blinker thread.

    */

   chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);

 

-  while(TRUE)

-    chEvtDispatch(handlers, chEvtWaitOne(ALL_EVENTS));

+  while(TRUE) {

+    if (!palReadPad(IOPORT5, PORTE_BUTTON))

+      TestThread(&SD2);

+    chThdSleepMilliseconds(500);

+  }

 

   return 0;

 }

diff --git a/demos/AVR-ATmega128-GCC/main.c b/demos/AVR-ATmega128-GCC/main.c
index cd982d1b9..36b482c4b 100644
--- a/demos/AVR-ATmega128-GCC/main.c
+++ b/demos/AVR-ATmega128-GCC/main.c
@@ -20,7 +20,7 @@
 

 #include "ch.h"

 #include "hal.h"

-#include "evtimer.h"

+#include "test.h"

 

 #include "lcd.h"

 

@@ -35,22 +35,10 @@ static msg_t Thread1(void *arg) {
   return 0;

 }

 

-static void TimerHandler(eventid_t id) {

-  msg_t TestThread(void *p);

-

-  if (!palReadPad(IOPORT1, PORTA_BUTTON1))

-    TestThread(&SD2);

-}

-

 /*

  * Application entry point.

  */

 int main(void) {

-  static EvTimer evt;

-  static evhandler_t handlers[1] = {

-    TimerHandler

-  };

-  static EventListener el0;

 

   /*

    * System initializations.

@@ -77,19 +65,13 @@ int main(void) {
   lcdPuts(LCD_LINE2, "  Hello World!  ");

 

   /*

-   * Event Timer initialization.

-   */

-  evtInit(&evt, MS2ST(500));            /* Initializes an event timer object.   */

-  evtStart(&evt);                       /* Starts the event timer.              */

-  chEvtRegister(&evt.et_es, &el0, 0);   /* Registers on the timer event source. */

-

-  /*

    * Starts the LED blinker thread.

    */

   chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);

 

-  while(TRUE)

-    chEvtDispatch(handlers, chEvtWaitOne(ALL_EVENTS));

-

-  return 0;

+  while(TRUE) {

+    if (!palReadPad(IOPORT1, PORTA_BUTTON1))

+      TestThread(&SD2);

+    chThdSleepMilliseconds(500);

+  }

 }

diff --git a/docs/reports/ATmega128-16.txt b/docs/reports/ATmega128-16.txt
index 2317da5c7..8b2c21f4a 100644
--- a/docs/reports/ATmega128-16.txt
+++ b/docs/reports/ATmega128-16.txt
@@ -5,10 +5,12 @@ Settings: F_CPU=16000000
 

 *** ChibiOS/RT test suite

 ***

-*** Kernel:       2.1.6unstable

-*** GCC Version:  4.3.0

+*** Kernel:       2.3.4unstable

+*** Compiled:     Oct  9 2011 - 10:47:27

+*** Compiler:     GCC 4.3.0

 *** Architecture: AVR

 *** Core Variant: MegaAVR

+*** Port Info:    None

 *** Platform:     ATmega128

 *** Test Board:   Olimex AVR-MT-128

 

@@ -83,31 +85,31 @@ Settings: F_CPU=16000000
 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.1 (Benchmark, messages #1)

---- Score : 31125 msgs/S, 62250 ctxswc/S

+--- Score : 31561 msgs/S, 63122 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.2 (Benchmark, messages #2)

---- Score : 24979 msgs/S, 49958 ctxswc/S

+--- Score : 24980 msgs/S, 49960 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.3 (Benchmark, messages #3)

---- Score : 24979 msgs/S, 49958 ctxswc/S

+--- Score : 24980 msgs/S, 49960 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.4 (Benchmark, context switch)

---- Score : 89904 ctxswc/S

+--- Score : 88896 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.5 (Benchmark, threads, full cycle)

---- Score : 21054 threads/S

+--- Score : 19766 threads/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.6 (Benchmark, threads, create only)

---- Score : 27121 threads/S

+--- Score : 25179 threads/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.7 (Benchmark, mass reschedule, 5 threads)

---- Score : 7970 reschedules/S, 47820 ctxswc/S

+--- Score : 7891 reschedules/S, 47346 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.8 (Benchmark, round robin context switching)

@@ -115,31 +117,31 @@ Settings: F_CPU=16000000
 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.9 (Benchmark, I/O Queues throughput)

---- Score : 80180 bytes/S

+--- Score : 96364 bytes/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.10 (Benchmark, virtual timers set/reset)

---- Score : 81522 timers/S

+--- Score : 85724 timers/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.11 (Benchmark, semaphores wait/signal)

---- Score : 227560 wait+signal/S

+--- Score : 227568 wait+signal/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.12 (Benchmark, mutexes lock/unlock)

---- Score : 116720 lock+unlock/S

+--- Score : 116724 lock+unlock/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.13 (Benchmark, RAM footprint)

---- System: 230 bytes

---- Thread: 29 bytes

+--- System: 234 bytes

+--- Thread: 31 bytes

 --- Timer : 10 bytes

 --- Semaph: 5 bytes

 --- EventS: 2 bytes

 --- EventL: 5 bytes

 --- Mutex : 8 bytes

 --- CondV.: 4 bytes

---- Queue : 15 bytes

+--- Queue : 16 bytes

 --- MailB.: 18 bytes

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

diff --git a/os/hal/platforms/AVR/pal_lld.c b/os/hal/platforms/AVR/pal_lld.c
index 4bfd7bd04..2f3174934 100644
--- a/os/hal/platforms/AVR/pal_lld.c
+++ b/os/hal/platforms/AVR/pal_lld.c
@@ -103,8 +103,6 @@ void _pal_lld_init(const PALConfig *config) {
  *       with pull-up by default.

  *

  * @notapi

- *

- * TODO: check PAL_MODE_UNCONNECTED mode recommended for AVR

  */

 void _pal_lld_setgroupmode(ioportid_t port,

                            ioportmask_t mask,

@@ -113,8 +111,6 @@ void _pal_lld_setgroupmode(ioportid_t port,
   switch (mode) {

   case PAL_MODE_RESET:

   case PAL_MODE_INPUT:

-    port->dir &= ~mask;

-    break;

   case PAL_MODE_INPUT_ANALOG:

     port->dir &= ~mask;

     port->out &= ~mask;

diff --git a/readme.txt b/readme.txt
index 58316233c..3b365809d 100644
--- a/readme.txt
+++ b/readme.txt
@@ -82,6 +82,7 @@
   together with sources, also implemented a simplified output log mode.

   Now makefiles and load script files are requirements and trigger a

   rebuild if touched.

+- NEW: Updated AVR demos to use the new PAL driver.

 - CHANGE: Moved the STM32 DMA helper drivers files under the sub-family

   specific directories because documentation issues.