1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
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) {
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;
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) {
msg_t 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) {
msg_t 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
}
|
