diff options
Diffstat (limited to 'os/io')
| -rw-r--r-- | os/io/platforms/AVR/platform.dox | 95 | ||||
| -rw-r--r-- | os/io/platforms/AVR/serial_lld.c | 256 | ||||
| -rw-r--r-- | os/io/platforms/AVR/serial_lld.h | 165 |
3 files changed, 516 insertions, 0 deletions
diff --git a/os/io/platforms/AVR/platform.dox b/os/io/platforms/AVR/platform.dox new file mode 100644 index 000000000..90f7970b5 --- /dev/null +++ b/os/io/platforms/AVR/platform.dox @@ -0,0 +1,95 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @defgroup AVR MegaAVR
+ * @details AVR port details. This section how the ChibiOS/RT features are
+ * implemented on this architecture.
+ *
+ * @section AVR_STATES Mapping of the System States in the AVR port
+ * The ChibiOS/RT logical @ref system_states are mapped as follow in the AVR
+ * port:
+ * - <b>Init</b>. This state is represented by the startup code and the
+ * initialization code before @p chSysInit() is executed. It has not a
+ * special hardware state associated.
+ * - <b>Normal</b>. This is the state the system has after executing
+ * @p chSysInit(). Interrupts are enabled.
+ * - <b>Suspended</b>. Interrupts are disabled.
+ * - <b>Disabled</b>. Interrupts are enabled. This state is equivalent to the
+ * Suspended state because there are no fast interrupts in this architecture.
+ * - <b>Sleep</b>. This state is entered with the execution of the specific
+ * instruction @p <b>sleep</b>.
+ * - <b>S-Locked</b>. Interrupts are disabled.
+ * - <b>I-Locked</b>. This state is equivalent to the SRI state, the
+ * @p chSysLockI() and @p chSysUnlockI() APIs do nothing (still use them in
+ * order to formally change state because this may change).
+ * - <b>Serving Regular Interrupt</b>. Normal interrupt service code.
+ * - <b>Serving Fast Interrupt</b>. Not present in this architecture.
+ * - <b>Serving Non-Maskable Interrupt</b>. Not present in this architecture.
+ * - <b>Halted</b>. Implemented as an infinite loop with interrupts disabled.
+ * .
+ * @section AVR_NOTES The AVR port notes
+ * - The AVR does not have a dedicated interrupt stack, make sure to reserve
+ * enough stack space for interrupts in each thread stack. This can be done
+ * by modifying the @p INT_REQUIRED_STACK macro into
+ * <b>./ports/AVR/chcore.h</b>.
+ * .
+ * @ingroup Ports
+ */
+
+/**
+ * @defgroup AVR_CONF Configuration Options
+ * @brief AVR Configuration Options.
+ * @details The AVR port allows some architecture-specific configurations
+ * settingsthat can be specified externally, as example on the compiler
+ * command line:
+ * - @p INT_REQUIRED_STACK, this value represent the amount of stack space
+ * used by the interrupt handlers.<br>
+ * The default for this value is @p 32, this space is allocated for each
+ * thread so be careful in order to not waste precious RAM space.<br>
+ * The default value is set into <b>./ports/AVR/chcore.h</b>.
+ * .
+ * @ingroup AVR
+ */
+
+/**
+ * @defgroup AVR_CORE AVR Core Implementation
+ * @brief AVR specific port code, structures and macros.
+ *
+ * @ingroup AVR
+ * @file AVR/chtypes.h Port types.
+ * @file AVR/chcore.h Port related structures and macros.
+ * @file AVR/chcore.c Port related code.
+ */
+
+/**
+ * @defgroup AVR_DRIVERS AVR Drivers
+ * @brief Device drivers included in the AVR support.
+ *
+ * @ingroup AVR
+ */
+
+/**
+ * @defgroup AVR_SERIAL USART Support
+ * @brief USART support.
+ * @details The serial driver supports both the AVR USARTs in asynchronous
+ * mode.
+ *
+ * @ingroup AVR_DRIVERS
+ */
diff --git a/os/io/platforms/AVR/serial_lld.c b/os/io/platforms/AVR/serial_lld.c new file mode 100644 index 000000000..e0e711242 --- /dev/null +++ b/os/io/platforms/AVR/serial_lld.c @@ -0,0 +1,256 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file templates/serial_lld.c
+ * @brief Serial Driver subsystem low level driver source template
+ * @addtogroup SERIAL_LLD
+ * @{
+ */
+
+#include <ch.h>
+#include <serial.h>
+
+#if USE_AVR_USART0 || defined(__DOXYGEN__)
+/**
+ * @brief USART0 serial driver identifier.
+ * @note The name does not follow the convention used in the other ports
+ * (COMn) because a name conflict with the AVR headers.
+ */
+SerialDriver SD1;
+#endif
+#if USE_AVR_USART1 || defined(__DOXYGEN__)
+/**
+ * @brief USART1 serial driver identifier.
+ * @note The name does not follow the convention used in the other ports
+ * (COMn) because a name conflict with the AVR headers.
+ */
+SerialDriver SD2;
+#endif
+
+/** @brief Driver default configuration.*/
+static const SerialDriverConfig default_config = {
+ UBRR(DEFAULT_USART_BITRATE),
+ (1 << UCSZ1) | (1 << UCSZ0)
+};
+
+/*===========================================================================*/
+/* Low Level Driver local functions. */
+/*===========================================================================*/
+
+static void set_error(uint8_t sra, SerialDriver *sdp) {
+ dflags_t sts = 0;
+
+ if (sra & (1 << DOR))
+ sts |= SD_OVERRUN_ERROR;
+ if (sra & (1 << UPE))
+ sts |= SD_PARITY_ERROR;
+ if (sra & (1 << FE))
+ sts |= SD_FRAMING_ERROR;
+ chSysLockFromIsr();
+ sdAddFlagsI(sdp, sts);
+ chSysUnlockFromIsr();
+}
+
+#if USE_AVR_USART0 || defined(__DOXYGEN__)
+static void notify1(void) {
+
+ UCSR0B |= (1 << UDRIE);
+}
+
+/**
+ * @brief USART0 initialization.
+ * @param[in] config the architecture-dependent serial driver configuration
+ */
+void usart0_init(SerialDriverConfig *config) {
+
+ UBRR0L = config->brr;
+ UBRR0H = config->brr >> 8;
+ UCSR0A = 0;
+ UCSR0B = (1 << RXEN) | (1 << TXEN) | (1 << RXCIE);
+ UCSR0C = config->csrc;
+}
+
+/**
+ * @brief USART0 de-initialization.
+ */
+void usart0_deinit(void) {
+
+ UCSR0A = 0;
+ UCSR0B = 0;
+ UCSR0C = 0;
+}
+#endif
+
+#if USE_AVR_USART1 || defined(__DOXYGEN__)
+static void notify2(void) {
+
+ UCSR1B |= (1 << UDRIE);
+}
+
+/**
+ * @brief USART1 initialization.
+ * @param[in] config the architecture-dependent serial driver configuration
+ */
+void usart1_init(SerialDriverConfig *config) {
+
+ UBRR1L = config->brr;
+ UBRR1H = config->brr >> 8;
+ UCSR1A = 0;
+ UCSR1B = (1 << RXEN) | (1 << TXEN) | (1 << RXCIE);
+ UCSR1C = config->csrc;
+}
+
+/**
+ * @brief USART1 de-initialization.
+ */
+void usart1_deinit(void) {
+
+ UCSR1A = 0;
+ UCSR1B = 0;
+ UCSR1C = 0;
+}
+#endif
+
+/*===========================================================================*/
+/* Low Level Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if USE_AVR_USART0 || defined(__DOXYGEN__)
+CH_IRQ_HANDLER(USART0_RX_vect) {
+ uint8_t sra;
+
+ CH_IRQ_PROLOGUE();
+
+ sra = UCSR0A;
+ if (sra & ((1 << DOR) | (1 << UPE) | (1 << FE)))
+ set_error(sra, &SER1);
+ chSysLockFromIsr();
+ sdIncomingDataI(&SER1, UDR0);
+ chSysUnlockFromIsr();
+
+ CH_IRQ_EPILOGUE();
+}
+
+CH_IRQ_HANDLER(USART0_UDRE_vect) {
+ msg_t b;
+
+ CH_IRQ_PROLOGUE();
+
+ chSysLockFromIsr();
+ b = sdRequestDataI(&SER1);
+ chSysUnlockFromIsr();
+ if (b < Q_OK)
+ UCSR0B &= ~(1 << UDRIE);
+ else
+ UDR0 = b;
+
+ CH_IRQ_EPILOGUE();
+}
+#endif /* USE_AVR_USART0 */
+
+#if USE_AVR_USART1 || defined(__DOXYGEN__)
+CH_IRQ_HANDLER(USART1_RX_vect) {
+ uint8_t sra;
+
+ CH_IRQ_PROLOGUE();
+
+ sra = UCSR1A;
+ if (sra & ((1 << DOR) | (1 << UPE) | (1 << FE)))
+ set_error(sra, &SER2);
+ chSysLockFromIsr();
+ sdIncomingDataI(&SER2, UDR1);
+ chSysUnlockFromIsr();
+
+ CH_IRQ_EPILOGUE();
+}
+
+CH_IRQ_HANDLER(USART1_UDRE_vect) {
+ msg_t b;
+
+ CH_IRQ_PROLOGUE();
+
+ chSysLockFromIsr();
+ b = sdRequestDataI(&SER2);
+ chSysUnlockFromIsr();
+ if (b < Q_OK)
+ UCSR1B &= ~(1 << UDRIE);
+ else
+ UDR1 = b;
+
+ CH_IRQ_EPILOGUE();
+}
+#endif /* USE_AVR_USART1 */
+
+/*===========================================================================*/
+/* Low Level Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * Low level serial driver initialization. + */
+void sd_lld_init(void) {
+
+#if USE_MSP430_USART0
+ sdObjectInit(&COM1, NULL, notify1);
+#endif
+#if USE_MSP430_USART1
+ sdObjectInit(&COM2, NULL, notify2);
+#endif
+}
+
+/**
+ * @brief Low level serial driver configuration and (re)start.
+ *
+ * @param[in] sdp pointer to a @p SerialDriver object
+ * @param[in] config the architecture-dependent serial driver configuration.
+ * If this parameter is set to @p NULL then a default
+ * configuration is used.
+ */
+void sd_lld_start(SerialDriver *sdp, const SerialDriverConfig *config) {
+
+ if (config == NULL)
+ config = &default_config;
+
+#if USE_AVR_USART0
+ usart0_init(config);
+#endif
+#if USE_AVR_USART1
+ usart1_init(config);
+#endif
+}
+
+/**
+ * @brief Low level serial driver stop.
+ * @details De-initializes the USART, stops the associated clock, resets the
+ * interrupt vector.
+ *
+ * @param[in] sdp pointer to a @p SerialDriver object
+ */
+void sd_lld_stop(SerialDriver *sdp) {
+
+#if USE_AVR_USART0
+ usart0_deinit();
+#endif
+#if USE_AVR_USART1
+ usart1_deinit();
+#endif
+}
+
+/** @} */
diff --git a/os/io/platforms/AVR/serial_lld.h b/os/io/platforms/AVR/serial_lld.h new file mode 100644 index 000000000..374c9836e --- /dev/null +++ b/os/io/platforms/AVR/serial_lld.h @@ -0,0 +1,165 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file templates/serial_lld.h
+ * @brief Serial Driver subsystem low level driver header template
+ * @addtogroup SERIAL_LLD
+ * @{
+ */
+
+#ifndef _SERIAL_LLD_H_
+#define _SERIAL_LLD_H_
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Serial buffers size.
+ * @details Configuration parameter, you can change the depth of the queue
+ * buffers depending on the requirements of your application.
+ * @note The default is 32 bytes for both the transmission and receive buffers.
+ */
+#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_BUFFERS_SIZE 32
+#endif
+
+/**
+ * @brief Default bit rate.
+ * @details Configuration parameter, at startup the UARTs are configured at
+ * this speed.
+ * @note It is possible to use @p SetUART() in order to change the working
+ * parameters at runtime.
+ */
+#if !defined(DEFAULT_USART_BITRATE) || defined(__DOXYGEN__)
+#define DEFAULT_USART_BITRATE 38400
+#endif
+
+
+/**
+ * @brief USART0 driver enable switch.
+ * @details If set to @p TRUE the support for USART0 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(USE_AVR_USART0) || defined(__DOXYGEN__)
+#define USE_AVR_USART0 FALSE
+#endif
+
+/**
+ * @brief USART1 driver enable switch.
+ * @details If set to @p TRUE the support for USART1 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(USE_AVR_USART1) || defined(__DOXYGEN__)
+#define USE_AVR_USART1 TRUE
+#endif
+
+/*===========================================================================*/
+/* Unsupported event flags and custom events. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * Serial Driver condition flags type.
+ */
+typedef uint8_t sdflags_t;
+
+/**
+ * @brief @p SerialDriver specific data.
+ */
+struct _serial_driver_data {
+ /**
+ * Input queue, incoming data can be read from this input queue by
+ * using the queues APIs.
+ */
+ InputQueue iqueue;
+ /**
+ * Output queue, outgoing data can be written to this output queue by
+ * using the queues APIs.
+ */
+ OutputQueue oqueue;
+ /**
+ * Status Change @p EventSource. This event is generated when one or more
+ * condition flags change.
+ */
+ EventSource sevent;
+ /**
+ * I/O driver status flags.
+ */
+ sdflags_t flags;
+ /**
+ * Input circular buffer. + */
+ uint8_t ib[SERIAL_BUFFERS_SIZE];
+ /**
+ * Output circular buffer. + */
+ uint8_t ob[SERIAL_BUFFERS_SIZE];
+};
+
+/**
+ * @brief Macro for baud rate computation.
+ * @note Make sure the final baud rate is within tolerance.
+ */
+#define UBRR(b) ((F_CPU / (b << 4)) - 1)
+
+/**
+ * @brief Generic Serial Driver static initializer.
+ * @details An instance of this structure must be passed to @p sdStart()
+ * in order to configure and start a serial driver operations.
+ *
+ * @note This structure content is architecture dependent, each driver
+ * implementation defines its own version and the custom static
+ * initializers.
+ */
+typedef struct {
+ uint16_t brr;
+ uint8_t csrc;
+} SerialDriverConfig;
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+/** @cond never*/
+#if USE_AVR_USART0
+extern SerialDriver SD1;
+#endif
+#if USE_AVR_USART1
+extern SerialDriver SD2;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void sd_lld_init(void);
+ void sd_lld_start(SerialDriver *sdp, const SerialDriverConfig *config);
+ void sd_lld_stop(SerialDriver *sdp);
+#ifdef __cplusplus
+}
+#endif
+/** @endcond*/
+
+#endif /* _SERIAL_LLD_H_ */
+
+/** @} */
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