Arduino Mega support.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@4379 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 137 insertions, 18 deletions

diff --git a/os/hal/platforms/AVR/pal_lld.c b/os/hal/platforms/AVR/pal_lld.c
index fa2c647df..c5a4785b7 100644
--- a/os/hal/platforms/AVR/pal_lld.c
+++ b/os/hal/platforms/AVR/pal_lld.c
@@ -95,6 +95,26 @@ void _pal_lld_init(const PALConfig *config) {
   PORTG = config->portg.out;

   DDRG = config->portg.dir;

 #endif

+

+#if defined(PORTH) || defined(__DOXYGEN__)

+  PORTH = config->porth.out;

+  DDRH = config->porth.dir;

+#endif

+

+#if defined(PORTJ) || defined(__DOXYGEN__)

+  PORTJ = config->portj.out;

+  DDRJ = config->portj.dir;

+#endif

+

+#if defined(PORTK) || defined(__DOXYGEN__)

+  PORTK = config->portk.out;

+  DDRK = config->portk.dir;

+#endif

+

+#if defined(PORTL) || defined(__DOXYGEN__)

+  PORTL = config->portl.out;

+  DDRL = config->portl.dir;

+#endif

 }

 

 /**

diff --git a/os/hal/platforms/AVR/pal_lld.h b/os/hal/platforms/AVR/pal_lld.h
index b0592d816..e07e2ccc3 100644
--- a/os/hal/platforms/AVR/pal_lld.h
+++ b/os/hal/platforms/AVR/pal_lld.h
@@ -102,6 +102,18 @@ typedef struct {
 #if defined(PORTG) || defined(__DOXYGEN__)

   avr_gpio_setup_t portg;

 #endif

+#if defined(PORTH) || defined(__DOXYGEN__)

+  avr_gpio_setup_t porth;

+#endif

+#if defined(PORTJ) || defined(__DOXYGEN__)

+  avr_gpio_setup_t portj;

+#endif

+#if defined(PORTK) || defined(__DOXYGEN__)

+  avr_gpio_setup_t portk;

+#endif

+#if defined(PORTL) || defined(__DOXYGEN__)

+  avr_gpio_setup_t portl;

+#endif

 } PALConfig;

 

 /**

@@ -175,6 +187,34 @@ typedef avr_gpio_registers_t *ioportid_t;
 #define IOPORT7			((volatile avr_gpio_registers_t *)&PING)

 #endif

 

+#if defined(PORTH) || defined(__DOXYGEN__)

+/**

+ * @brief   GPIO port H identifier.

+ */

+#define IOPORT8         ((volatile avr_gpio_registers_t *)&PINH)

+#endif

+

+#if defined(PORTJ) || defined(__DOXYGEN__)

+/**

+ * @brief   GPIO port J identifier.

+ */

+#define IOPORT9         ((volatile avr_gpio_registers_t *)&PINJ)

+#endif

+

+#if defined(PORTK) || defined(__DOXYGEN__)

+/**

+ * @brief   GPIO port K identifier.

+ */

+#define IOPORT10        ((volatile avr_gpio_registers_t *)&PINK)

+#endif

+

+#if defined(PORTL) || defined(__DOXYGEN__)

+/**

+ * @brief   GPIO port L identifier.

+ */

+#define IOPORT11        ((volatile avr_gpio_registers_t *)&PINL)

+#endif

+

 /*===========================================================================*/

 /* Implementation, some of the following macros could be implemented as      */

 /* functions, if so please put them in pal_lld.c.                            */

diff --git a/os/hal/platforms/AVR/serial_lld.c b/os/hal/platforms/AVR/serial_lld.c
index e070d5448..c35cdca4b 100644
--- a/os/hal/platforms/AVR/serial_lld.c
+++ b/os/hal/platforms/AVR/serial_lld.c
@@ -62,7 +62,7 @@ SerialDriver SD2;
  */

 static const SerialConfig default_config = {

   UBRR(SERIAL_DEFAULT_BITRATE),

-  (1 << UCSZ1) | (1 << UCSZ0)

+  USART_CHAR_SIZE_8

 };

 

 /*===========================================================================*/

@@ -71,12 +71,31 @@ static const SerialConfig default_config = {
 

 static void set_error(uint8_t sra, SerialDriver *sdp) {

   chnflags_t sts = 0;

+  uint8_t dor = 0;

+  uint8_t upe = 0;

+  uint8_t fe = 0;

 

-  if (sra & (1 << DOR))

+#if USE_AVR_USART0

+  if (&SD1 == sdp) {

+    dor = (1 << DOR0);

+    upe = (1 << UPE0);

+    fe = (1 << FE0);

+  }

+#endif

+

+#if USE_AVR_USART1

+  if (&SD2 == sdp) {

+    dor = (1 << DOR1);

+    upe = (1 << UPE1);

+    fe = (1 << FE1);

+  }

+#endif

+

+  if (sra & dor)

     sts |= SD_OVERRUN_ERROR;

-  if (sra & (1 << UPE))

+  if (sra & upe)

     sts |= SD_PARITY_ERROR;

-  if (sra & (1 << FE))

+  if (sra & fe)

     sts |= SD_FRAMING_ERROR;

   chSysLockFromIsr();

   chnAddFlagsI(sdp, sts);

@@ -87,7 +106,7 @@ static void set_error(uint8_t sra, SerialDriver *sdp) {
 static void notify1(GenericQueue *qp) {

 

   (void)qp;

-  UCSR0B |= (1 << UDRIE);

+  UCSR0B |= (1 << UDRIE0);

 }

 

 /**

@@ -100,8 +119,25 @@ static void usart0_init(const SerialConfig *config) {
   UBRR0L = config->sc_brr;

   UBRR0H = config->sc_brr >> 8;

   UCSR0A = 0;

-  UCSR0B = (1 << RXEN) | (1 << TXEN) | (1 << RXCIE);

-  UCSR0C = config->sc_csrc;

+  UCSR0B = (1 << RXEN0) | (1 << TXEN0) | (1 << RXCIE0);

+  switch (config->sc_bits_per_char) {

+  case USART_CHAR_SIZE_5:

+    UCSR0C = 0;

+    break;

+  case USART_CHAR_SIZE_6:

+    UCSR0C = (1 << UCSZ00);

+    break;

+  case USART_CHAR_SIZE_7:

+    UCSR0C = (1 << UCSZ01);

+    break;

+  case USART_CHAR_SIZE_9:

+    UCSR0B |= (1 << UCSZ02);

+    UCSR0C = (1 << UCSZ00) | (1 << UCSZ01);

+    break;

+  case USART_CHAR_SIZE_8:

+  default:

+    UCSR0C = (1 << UCSZ00) | (1 << UCSZ01);

+  }

 }

 

 /**

@@ -119,7 +155,7 @@ static void usart0_deinit(void) {
 static void notify2(GenericQueue *qp) {

 

   (void)qp;

-  UCSR1B |= (1 << UDRIE);

+  UCSR1B |= (1 << UDRIE1);

 }

 

 /**

@@ -132,8 +168,25 @@ static void usart1_init(const SerialConfig *config) {
   UBRR1L = config->sc_brr;

   UBRR1H = config->sc_brr >> 8;

   UCSR1A = 0;

-  UCSR1B = (1 << RXEN) | (1 << TXEN) | (1 << RXCIE);

-  UCSR1C = config->sc_csrc;

+  UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1);

+  switch (config->sc_bits_per_char) {

+  case USART_CHAR_SIZE_5:

+    UCSR1C = 0;

+    break;

+  case USART_CHAR_SIZE_6:

+    UCSR1C = (1 << UCSZ10);

+    break;

+  case USART_CHAR_SIZE_7:

+    UCSR1C = (1 << UCSZ11);

+    break;

+  case USART_CHAR_SIZE_9:

+    UCSR1B |= (1 << UCSZ12);

+    UCSR1C = (1 << UCSZ10) | (1 << UCSZ11);

+    break;

+  case USART_CHAR_SIZE_8:

+  default:

+    UCSR1C = (1 << UCSZ10) | (1 << UCSZ11);

+  }

 }

 

 /**

@@ -163,7 +216,7 @@ CH_IRQ_HANDLER(USART0_RX_vect) {
   CH_IRQ_PROLOGUE();

 

   sra = UCSR0A;

-  if (sra & ((1 << DOR) | (1 << UPE) | (1 << FE)))

+  if (sra & ((1 << DOR0) | (1 << UPE0) | (1 << FE0)))

     set_error(sra, &SD1);

   chSysLockFromIsr();

   sdIncomingDataI(&SD1, UDR0);

@@ -186,7 +239,7 @@ CH_IRQ_HANDLER(USART0_UDRE_vect) {
   b = sdRequestDataI(&SD1);

   chSysUnlockFromIsr();

   if (b < Q_OK)

-    UCSR0B &= ~(1 << UDRIE);

+    UCSR0B &= ~(1 << UDRIE0);

   else

     UDR0 = b;

 

@@ -206,7 +259,7 @@ CH_IRQ_HANDLER(USART1_RX_vect) {
   CH_IRQ_PROLOGUE();

 

   sra = UCSR1A;

-  if (sra & ((1 << DOR) | (1 << UPE) | (1 << FE)))

+  if (sra & ((1 << DOR1) | (1 << UPE1) | (1 << FE1)))

     set_error(sra, &SD2);

   chSysLockFromIsr();

   sdIncomingDataI(&SD2, UDR1);

@@ -229,7 +282,7 @@ CH_IRQ_HANDLER(USART1_UDRE_vect) {
   b = sdRequestDataI(&SD2);

   chSysUnlockFromIsr();

   if (b < Q_OK)

-    UCSR1B &= ~(1 << UDRIE);

+    UCSR1B &= ~(1 << UDRIE1);

   else

     UDR1 = b;

 

diff --git a/os/hal/platforms/AVR/serial_lld.h b/os/hal/platforms/AVR/serial_lld.h
index f7bea9568..d6f893e74 100644
--- a/os/hal/platforms/AVR/serial_lld.h
+++ b/os/hal/platforms/AVR/serial_lld.h
@@ -76,9 +76,9 @@ typedef struct {
    */

   uint16_t                  sc_brr;

   /**

-   * @brief Initialization value for the CSRC register.

+   * @brief Number of bits per character (USART_CHAR_SIZE_5 to USART_CHAR_SIZE_9).

    */

-  uint8_t                   sc_csrc;

+  uint8_t                   sc_bits_per_char;

 } SerialConfig;

 

 /**

@@ -112,7 +112,7 @@ typedef struct {
  * @brief   Macro for baud rate computation when U2Xn == 1.

  * @note    Make sure the final baud rate is within tolerance.

  */

-#define UBRR2(b)    (((F_CPU / b) >> 3) - 1)

+#define UBRR2x(b)    (((F_CPU / b) >> 3) - 1)

 

 /**

 * @brief   Macro for baud rate computation.

@@ -126,7 +126,13 @@ typedef struct {
 * @note    Make sure the final baud rate is within tolerance.

 * @note    This version uses floating point math for greater accuracy.

 */

-#define UBRR2_F(b)  ((((double) F_CPU / (double) b) / 8.0) - 0.5)

+#define UBRR2x_F(b)  ((((double) F_CPU / (double) b) / 8.0) - 0.5)

+

+#define USART_CHAR_SIZE_5      0

+#define USART_CHAR_SIZE_6      1

+#define USART_CHAR_SIZE_7      2

+#define USART_CHAR_SIZE_8      3

+#define USART_CHAR_SIZE_9      4

 

 /*===========================================================================*/

 /* External declarations.                                                    */