1 files changed, 160 insertions, 0 deletions
diff --git a/ports/AVR/avr_serial.c b/ports/AVR/avr_serial.c
new file mode 100644
index 000000000..535c6d88f
--- /dev/null
+++ b/ports/AVR/avr_serial.c
@@ -0,0 +1,160 @@
+/*
+    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/>.
+*/
+
+#include <ch.h>
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#include "avr_serial.h"
+
+static void SetError(uint8_t sra, FullDuplexDriver *com) {
+  uint16_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;
+  chFDDAddFlagsI(com, sts);
+}
+
+#ifdef USE_AVR_USART0
+FullDuplexDriver SER1;
+static uint8_t ib1[SERIAL_BUFFERS_SIZE];
+static uint8_t ob1[SERIAL_BUFFERS_SIZE];
+
+ISR(USART0_RX_vect) {
+  uint8_t sra = UCSR0A;
+
+  chSysIRQEnterI();
+
+  if (sra & ((1 << DOR) | (1 << UPE) | (1 << FE)))
+    SetError(sra, &SER1);
+  chFDDIncomingDataI(&SER1, UDR0);
+
+  chSysIRQExitI();
+}
+
+ISR(USART0_UDRE_vect) {
+  t_msg b;
+
+  chSysIRQEnterI();
+
+  b = chFDDRequestDataI(&SER1);
+  if (b < Q_OK)
+    UCSR0B &= ~(1 << UDRIE);
+  else
+    UDR0 = b;
+
+  chSysIRQExitI();
+}
+
+/*
+ * Invoked by the high driver when one or more bytes are inserted in the
+ * output queue.
+ */
+static void OutNotify1(void) {
+
+  UCSR0B |= (1 << UDRIE);
+}
+
+/*
+ * USART setup, must be invoked with interrupts disabled.
+ * NOTE: Does not reset I/O queues.
+ */
+void SetUSART0I(uint16_t brr, uint8_t csrc) {
+
+  UBRR0L = brr;
+  UBRR0H = brr >> 8;
+  UCSR0A = 0;
+  UCSR0B = (1 << RXEN) | (1 << TXEN) | (1 << RXCIE);
+  UCSR0C = csrc;
+}
+#endif /* USE_AVR_USART0 */
+
+#ifdef USE_AVR_USART1
+FullDuplexDriver SER2;
+static uint8_t ib2[SERIAL_BUFFERS_SIZE];
+static uint8_t ob2[SERIAL_BUFFERS_SIZE];
+
+ISR(USART1_RX_vect) {
+
+  uint8_t sra = UCSR1A;
+
+  chSysIRQEnterI();
+
+  if (sra & ((1 << DOR) | (1 << UPE) | (1 << FE)))
+    SetError(sra, &SER2);
+  chFDDIncomingDataI(&SER2, UDR1);
+
+  chSysIRQExitI();
+}
+
+ISR(USART1_UDRE_vect) {
+  t_msg b;
+
+  chSysIRQEnterI();
+
+  b = chFDDRequestDataI(&SER2);
+  if (b < Q_OK)
+    UCSR1B &= ~(1 << UDRIE);
+  else
+    UDR1 = b;
+
+  chSysIRQExitI();
+}
+
+/*
+ * Invoked by the high driver when one or more bytes are inserted in the
+ * output queue.
+ */
+static void OutNotify2(void) {
+
+  UCSR1B |= (1 << UDRIE);
+}
+
+/*
+ * USART setup, must be invoked with interrupts disabled.
+ * NOTE: Does not reset I/O queues.
+ */
+void SetUSART1I(uint16_t brr, uint8_t csrc) {
+
+  UBRR1L = brr;
+  UBRR1H = brr >> 8;
+  UCSR1A = 0;
+  UCSR1B = (1 << RXEN) | (1 << TXEN) | (1 << RXCIE);
+  UCSR1C = csrc;
+}
+#endif /* USE_AVR_USART1 */
+
+void InitSerial(void) {
+
+#ifdef USE_AVR_USART0
+  /* I/O queues setup.*/
+  chFDDInit(&SER1, ib1, sizeof ib1, NULL, ob1, sizeof ob1, OutNotify1);
+  SetUSART0I(UBRR(38400), 0);
+#endif
+
+#ifdef USE_AVR_USART1
+  chFDDInit(&SER2, ib2, sizeof ib2, NULL, ob2, sizeof ob2, OutNotify2);
+  SetUSART1I(UBRR(38400), 0);
+#endif
+}