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MicroAPRS/bertos/cpu/avr/drv/ser_mega.c

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Working
2014-04-03 14:21:37 -06:00
/**
* \file
* <!--
* This file is part of BeRTOS.
*
* Bertos 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 2 of the License, or
* (at your option) any later version.
*
* This program 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, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* As a special exception, you may use this file as part of a free software
* library without restriction. Specifically, if other files instantiate
* templates or use macros or inline functions from this file, or you compile
* this file and link it with other files to produce an executable, this
* file does not by itself cause the resulting executable to be covered by
* the GNU General Public License. This exception does not however
* invalidate any other reasons why the executable file might be covered by
* the GNU General Public License.
*
* Copyright 2003, 2004, 2010 Develer S.r.l. (http://www.develer.com/)
* Copyright 2000 Bernie Innocenti <bernie@codewiz.org>
*
* -->
*
* \brief AVR MEGA UART and SPI I/O driver (Implementation)
*
* \author Bernie Innocenti <bernie@codewiz.org>
* \author Stefano Fedrigo <aleph@develer.com>
* \author Luca Ottaviano <lottaviano@develer.com>
*/
#include "hw/hw_ser.h" /* Required for bus macros overrides */
#include <hw/hw_cpufreq.h> /* CPU_FREQ */
#include "cfg/cfg_ser.h"
#include <cfg/macros.h> /* DIV_ROUND */
#include <cfg/debug.h>
#include <cfg/cfg_arch.h> // ARCH_NIGHTTEST
#include <drv/ser.h>
#include <drv/ser_p.h>
#include <drv/timer.h>
#include <struct/fifobuf.h>
#include <avr/io.h>
#if defined(__AVR_LIBC_VERSION__) && (__AVR_LIBC_VERSION__ >= 10400UL)
#include <avr/interrupt.h>
#else
#include <avr/signal.h>
#endif
#if !CONFIG_SER_HWHANDSHAKE
/**
* \name Hardware handshake (RTS/CTS).
* \{
*/
#define RTS_ON do {} while (0)
#define RTS_OFF do {} while (0)
#define IS_CTS_ON true
#define EIMSKF_CTS 0 /**< Dummy value, must be overridden */
/*\}*/
#endif
#if CPU_AVR_ATMEGA1281 || CPU_AVR_ATMEGA1280 || CPU_AVR_ATMEGA2560
#define BIT_RXCIE0 RXCIE0
#define BIT_RXEN0 RXEN0
#define BIT_TXEN0 TXEN0
#define BIT_UDRIE0 UDRIE0
#define BIT_RXCIE1 RXCIE1
#define BIT_RXEN1 RXEN1
#define BIT_TXEN1 TXEN1
#define BIT_UDRIE1 UDRIE1
#if CPU_AVR_ATMEGA1280 || CPU_AVR_ATMEGA2560
#define BIT_RXCIE2 RXCIE2
#define BIT_RXEN2 RXEN2
#define BIT_TXEN2 TXEN2
#define BIT_UDRIE2 UDRIE2
#define BIT_RXCIE3 RXCIE3
#define BIT_RXEN3 RXEN3
#define BIT_TXEN3 TXEN3
#define BIT_UDRIE3 UDRIE3
#endif
#elif CPU_AVR_ATMEGA168 || CPU_AVR_ATMEGA328P
#define BIT_RXCIE0 RXCIE0
#define BIT_RXEN0 RXEN0
#define BIT_TXEN0 TXEN0
#define BIT_UDRIE0 UDRIE0
#define BIT_RXCIE1 RXCIE0
#define BIT_RXEN1 RXEN0
#define BIT_TXEN1 TXEN0
#define BIT_UDRIE1 UDRIE0
#else
#define BIT_RXCIE0 RXCIE
#define BIT_RXEN0 RXEN
#define BIT_TXEN0 TXEN
#define BIT_UDRIE0 UDRIE
#define BIT_RXCIE1 RXCIE
#define BIT_RXEN1 RXEN
#define BIT_TXEN1 TXEN
#define BIT_UDRIE1 UDRIE
#endif
/**
* \name Overridable serial bus hooks
*
* These can be redefined in hw.h to implement
* special bus policies such as half-duplex, 485, etc.
*
*
* \code
* TXBEGIN TXCHAR TXEND TXOFF
* | __________|__________ | |
* | | | | | | | | |
* v v v v v v v v v
* ______ __ __ __ __ __ __ ________________
* \/ \/ \/ \/ \/ \/ \/
* ______/\__/\__/\__/\__/\__/\__/
*
* \endcode
*
* \{
*/
#ifndef SER_UART0_BUS_TXINIT
/**
* Default TXINIT macro - invoked in uart0_init()
*
* - Enable both the receiver and the transmitter
* - Enable only the RX complete interrupt
*/
#define SER_UART0_BUS_TXINIT do { \
UCSR0A = 0; /* The Arduino Uno bootloader turns on U2X0 */ \
UCSR0B = BV(BIT_RXCIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0); \
} while (0)
#endif
#ifndef SER_UART0_BUS_TXBEGIN
/**
* Invoked before starting a transmission
*
* - Enable both the receiver and the transmitter
* - Enable both the RX complete and UDR empty interrupts
*/
#define SER_UART0_BUS_TXBEGIN do { \
UCSR0B = BV(BIT_RXCIE0) | BV(BIT_UDRIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0); \
} while (0)
#endif
#ifndef SER_UART0_BUS_TXCHAR
/**
* Invoked to send one character.
*/
#define SER_UART0_BUS_TXCHAR(c) do { \
UDR0 = (c); \
} while (0)
#endif
#ifndef SER_UART0_BUS_TXEND
/**
* Invoked as soon as the txfifo becomes empty
*
* - Keep both the receiver and the transmitter enabled
* - Keep the RX complete interrupt enabled
* - Disable the UDR empty interrupt
*/
#define SER_UART0_BUS_TXEND do { \
UCSR0B = BV(BIT_RXCIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0); \
} while (0)
#endif
#ifndef SER_UART0_BUS_TXOFF
/**
* \def SER_UART0_BUS_TXOFF
*
* Invoked after the last character has been transmitted
*
* The default is no action.
*/
#ifdef __doxygen__
#define SER_UART0_BUS_TXOFF
#endif
#endif
#ifndef SER_UART1_BUS_TXINIT
/** \sa SER_UART0_BUS_TXINIT */
#define SER_UART1_BUS_TXINIT do { \
UCSR1B = BV(BIT_RXCIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1); \
} while (0)
#endif
#ifndef SER_UART1_BUS_TXBEGIN
/** \sa SER_UART0_BUS_TXBEGIN */
#define SER_UART1_BUS_TXBEGIN do { \
UCSR1B = BV(BIT_RXCIE1) | BV(BIT_UDRIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1); \
} while (0)
#endif
#ifndef SER_UART1_BUS_TXCHAR
/** \sa SER_UART0_BUS_TXCHAR */
#define SER_UART1_BUS_TXCHAR(c) do { \
UDR1 = (c); \
} while (0)
#endif
#ifndef SER_UART1_BUS_TXEND
/** \sa SER_UART0_BUS_TXEND */
#define SER_UART1_BUS_TXEND do { \
UCSR1B = BV(BIT_RXCIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1); \
} while (0)
#endif
#ifndef SER_UART1_BUS_TXOFF
/**
* \def SER_UART1_BUS_TXOFF
*
* \see SER_UART0_BUS_TXOFF
*/
#ifdef __doxygen__
#define SER_UART1_BUS_TXOFF
#endif
#endif
#ifndef SER_UART2_BUS_TXINIT
/** \sa SER_UART0_BUS_TXINIT */
#define SER_UART2_BUS_TXINIT do { \
UCSR2B = BV(BIT_RXCIE2) | BV(BIT_RXEN2) | BV(BIT_TXEN2); \
} while (0)
#endif
#ifndef SER_UART2_BUS_TXBEGIN
/** \sa SER_UART0_BUS_TXBEGIN */
#define SER_UART2_BUS_TXBEGIN do { \
UCSR2B = BV(BIT_RXCIE2) | BV(BIT_UDRIE2) | BV(BIT_RXEN2) | BV(BIT_TXEN2); \
} while (0)
#endif
#ifndef SER_UART2_BUS_TXCHAR
/** \sa SER_UART0_BUS_TXCHAR */
#define SER_UART2_BUS_TXCHAR(c) do { \
UDR2 = (c); \
} while (0)
#endif
#ifndef SER_UART2_BUS_TXEND
/** \sa SER_UART0_BUS_TXEND */
#define SER_UART2_BUS_TXEND do { \
UCSR2B = BV(BIT_RXCIE2) | BV(BIT_RXEN2) | BV(BIT_TXEN2); \
} while (0)
#endif
#ifndef SER_UART2_BUS_TXOFF
/**
* \def SER_UART2_BUS_TXOFF
*
* \see SER_UART0_BUS_TXOFF
*/
#ifdef __doxygen__
#define SER_UART2_BUS_TXOFF
#endif
#endif
#ifndef SER_UART3_BUS_TXINIT
/** \sa SER_UART0_BUS_TXINIT */
#define SER_UART3_BUS_TXINIT do { \
UCSR3B = BV(BIT_RXCIE3) | BV(BIT_RXEN3) | BV(BIT_TXEN3); \
} while (0)
#endif
#ifndef SER_UART3_BUS_TXBEGIN
/** \sa SER_UART0_BUS_TXBEGIN */
#define SER_UART3_BUS_TXBEGIN do { \
UCSR3B = BV(BIT_RXCIE3) | BV(BIT_UDRIE3) | BV(BIT_RXEN3) | BV(BIT_TXEN3); \
} while (0)
#endif
#ifndef SER_UART3_BUS_TXCHAR
/** \sa SER_UART0_BUS_TXCHAR */
#define SER_UART3_BUS_TXCHAR(c) do { \
UDR3 = (c); \
} while (0)
#endif
#ifndef SER_UART3_BUS_TXEND
/** \sa SER_UART0_BUS_TXEND */
#define SER_UART3_BUS_TXEND do { \
UCSR3B = BV(BIT_RXCIE3) | BV(BIT_RXEN3) | BV(BIT_TXEN3); \
} while (0)
#endif
#ifndef SER_UART3_BUS_TXOFF
/**
* \def SER_UART3_BUS_TXOFF
*
* \see SER_UART0_BUS_TXOFF
*/
#ifdef __doxygen__
#define SER_UART3_BUS_TXOFF
#endif
#endif
/*\}*/
/**
* \name Overridable SPI hooks
*
* These can be redefined in hw.h to implement
* special bus policies such as slave select pin handling, etc.
*
* \{
*/
#ifndef SER_SPI_BUS_TXINIT
/**
* Default TXINIT macro - invoked in spi_init()
* The default is no action.
*/
#define SER_SPI_BUS_TXINIT
#endif
#ifndef SER_SPI_BUS_TXCLOSE
/**
* Invoked after the last character has been transmitted.
* The default is no action.
*/
#define SER_SPI_BUS_TXCLOSE
#endif
/*\}*/
/* SPI port and pin configuration */
#if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA103 || CPU_AVR_ATMEGA1281 \
|| CPU_AVR_ATMEGA1280 || CPU_AVR_ATMEGA2560
#define SPI_PORT PORTB
#define SPI_DDR DDRB
#define SPI_SS_BIT PB0
#define SPI_SCK_BIT PB1
#define SPI_MOSI_BIT PB2
#define SPI_MISO_BIT PB3
// TODO: these bits are the same as ATMEGA8 but the defines in avr-gcc are different.
// They should be the same!
#elif CPU_AVR_ATMEGA328P
#define SPI_PORT PORTB
#define SPI_DDR DDRB
#define SPI_SS_BIT PORTB2
#define SPI_SCK_BIT PORTB5
#define SPI_MOSI_BIT PORTB3
#define SPI_MISO_BIT PORTB4
#elif CPU_AVR_ATMEGA8 || CPU_AVR_ATMEGA168
#define SPI_PORT PORTB
#define SPI_DDR DDRB
#define SPI_SS_BIT PB2
#define SPI_SCK_BIT PB5
#define SPI_MOSI_BIT PB3
#define SPI_MISO_BIT PB4
#elif CPU_AVR_ATMEGA32
#define SPI_PORT PORTB
#define SPI_DDR DDRB
#define SPI_SS_BIT PB4
#define SPI_SCK_BIT PB7
#define SPI_MOSI_BIT PB5
#define SPI_MISO_BIT PB6
#else
#error Unknown architecture
#endif
/* USART register definitions */
#if CPU_AVR_ATMEGA1280 || CPU_AVR_ATMEGA2560
#define AVR_HAS_UART1 1
#define AVR_HAS_UART2 1
#define AVR_HAS_UART3 1
#elif CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA1281
#define AVR_HAS_UART1 1
#define AVR_HAS_UART2 0
#define AVR_HAS_UART3 0
#elif CPU_AVR_ATMEGA168 || CPU_AVR_ATMEGA328P
#define AVR_HAS_UART1 0
#define AVR_HAS_UART2 0
#define AVR_HAS_UART3 0
#define USART0_UDRE_vect USART_UDRE_vect
#define USART0_RX_vect USART_RX_vect
#define USART0_TX_vect USART_TX_vect
#elif CPU_AVR_ATMEGA8 || CPU_AVR_ATMEGA32
#define AVR_HAS_UART1 0
#define AVR_HAS_UART2 0
#define AVR_HAS_UART3 0
#define UCSR0A UCSRA
#define UCSR0B UCSRB
#define UCSR0C UCSRC
#define UDR0 UDR
#define UBRR0L UBRRL
#define UBRR0H UBRRH
#define UPM01 UPM1
#define UPM00 UPM0
#define USART0_UDRE_vect USART_UDRE_vect
#define USART0_RX_vect USART_RXC_vect
#define USART0_TX_vect USART_TXC_vect
#elif CPU_AVR_ATMEGA103
#define AVR_HAS_UART1 0
#define AVR_HAS_UART2 0
#define AVR_HAS_UART3 0
#define UCSR0B UCR
#define UDR0 UDR
#define UCSR0A USR
#define UBRR0L UBRR
#define USART0_UDRE_vect USART_UDRE_vect
#define USART0_RX_vect USART_RX_vect
#define USART0_TX_vect USART_TX_vect
#else
#error Unknown architecture
#endif
/* From the high-level serial driver */
extern struct Serial *ser_handles[SER_CNT];
/* TX and RX buffers */
static unsigned char uart0_txbuffer[CONFIG_UART0_TXBUFSIZE];
static unsigned char uart0_rxbuffer[CONFIG_UART0_RXBUFSIZE];
#if AVR_HAS_UART1
static unsigned char uart1_txbuffer[CONFIG_UART1_TXBUFSIZE];
static unsigned char uart1_rxbuffer[CONFIG_UART1_RXBUFSIZE];
#endif
#if AVR_HAS_UART2
static unsigned char uart2_txbuffer[CONFIG_UART2_TXBUFSIZE];
static unsigned char uart2_rxbuffer[CONFIG_UART2_RXBUFSIZE];
#endif
#if AVR_HAS_UART3
static unsigned char uart3_txbuffer[CONFIG_UART3_TXBUFSIZE];
static unsigned char uart3_rxbuffer[CONFIG_UART3_RXBUFSIZE];
#endif
static unsigned char spi_txbuffer[CONFIG_SPI_TXBUFSIZE];
static unsigned char spi_rxbuffer[CONFIG_SPI_RXBUFSIZE];
/**
* Internal hardware state structure
*
* The \a sending variable is true while the transmission
* interrupt is retriggering itself.
*
* For the USARTs the \a sending flag is useful for taking specific
* actions before sending a burst of data, at the start of a trasmission
* but not before every char sent.
*
* For the SPI, this flag is necessary because the SPI sends and receives
* bytes at the same time and the SPI IRQ is unique for send/receive.
* The only way to start transmission is to write data in SPDR (this
* is done by spi_starttx()). We do this *only* if a transfer is
* not already started.
*/
struct AvrSerial
{
struct SerialHardware hw;
volatile bool sending;
};
static uint16_t uart_period(unsigned long bps)
{
uint16_t period = DIV_ROUND(CPU_FREQ / 16UL, bps) - 1;
#ifdef _DEBUG
Implemented easy location update sending
2014-06-19 07:36:12 -06:00
//long skew = bps - (long)(period + 1) * (CPU_FREQ / 16);
Working
2014-04-03 14:21:37 -06:00
/* 8N1 is reliable within 3% skew */
Various simplifications and serial control improvements
2014-06-19 05:11:53 -06:00
//if ((unsigned long)ABS(skew) > bps / (100 / 3)) kprintf("Baudrate off by %ldbps\n", skew);
Working
2014-04-03 14:21:37 -06:00
#endif
//DB(kprintf("uart_period(bps=%lu): period=%u\n", bps, period);)
return period;
}
/*
* Callbacks
*/
static void uart0_init(
UNUSED_ARG(struct SerialHardware *, _hw),
UNUSED_ARG(struct Serial *, ser))
{
SER_UART0_BUS_TXINIT;
RTS_ON;
SER_STROBE_INIT;
}
static void uart0_cleanup(UNUSED_ARG(struct SerialHardware *, _hw))
{
UCSR0B = 0;
}
static void uart0_enabletxirq(struct SerialHardware *_hw)
{
struct AvrSerial *hw = (struct AvrSerial *)_hw;
/*
* WARNING: racy code here! The tx interrupt sets hw->sending to false
* when it runs with an empty fifo. The order of statements in the
* if-block matters.
*/
if (!hw->sending)
{
hw->sending = true;
SER_UART0_BUS_TXBEGIN;
}
}
static void uart0_setbaudrate(UNUSED_ARG(struct SerialHardware *, _hw), unsigned long rate)
{
uint16_t period = uart_period(rate);
#if !CPU_AVR_ATMEGA103
UBRR0H = period >> 8;
#endif
UBRR0L = period;
}
static void uart0_setparity(UNUSED_ARG(struct SerialHardware *, _hw), int parity)
{
#if !CPU_AVR_ATMEGA103
UCSR0C = (UCSR0C & ~(BV(UPM01) | BV(UPM00))) | ((parity) << UPM00);
#endif
}
#if AVR_HAS_UART1
static void uart1_init(
UNUSED_ARG(struct SerialHardware *, _hw),
UNUSED_ARG(struct Serial *, ser))
{
SER_UART1_BUS_TXINIT;
RTS_ON;
SER_STROBE_INIT;
}
static void uart1_cleanup(UNUSED_ARG(struct SerialHardware *, _hw))
{
UCSR1B = 0;
}
static void uart1_enabletxirq(struct SerialHardware *_hw)
{
struct AvrSerial *hw = (struct AvrSerial *)_hw;
/*
* WARNING: racy code here! The tx interrupt
* sets hw->sending to false when it runs with
* an empty fifo. The order of the statements
* in the if-block matters.
*/
if (!hw->sending)
{
hw->sending = true;
SER_UART1_BUS_TXBEGIN;
}
}
static void uart1_setbaudrate(UNUSED_ARG(struct SerialHardware *, _hw), unsigned long rate)
{
uint16_t period = uart_period(rate);
UBRR1H = period >> 8;
UBRR1L = period;
}
static void uart1_setparity(UNUSED_ARG(struct SerialHardware *, _hw), int parity)
{
UCSR1C = (UCSR1C & ~(BV(UPM11) | BV(UPM10))) | ((parity) << UPM10);
}
#endif // AVR_HAS_UART1
#if AVR_HAS_UART2
static void uart2_init(
UNUSED_ARG(struct SerialHardware *, _hw),
UNUSED_ARG(struct Serial *, ser))
{
SER_UART2_BUS_TXINIT;
RTS_ON;
SER_STROBE_INIT;
}
static void uart2_cleanup(UNUSED_ARG(struct SerialHardware *, _hw))
{
UCSR2B = 0;
}
static void uart2_enabletxirq(struct SerialHardware *_hw)
{
struct AvrSerial *hw = (struct AvrSerial *)_hw;
/*
* WARNING: racy code here! The tx interrupt
* sets hw->sending to false when it runs with
* an empty fifo. The order of the statements
* in the if-block matters.
*/
if (!hw->sending)
{
hw->sending = true;
SER_UART2_BUS_TXBEGIN;
}
}
static void uart2_setbaudrate(UNUSED_ARG(struct SerialHardware *, _hw), unsigned long rate)
{
uint16_t period = uart_period(rate);
UBRR2H = period >> 8;
UBRR2L = period;
}
static void uart2_setparity(UNUSED_ARG(struct SerialHardware *, _hw), int parity)
{
UCSR2C = (UCSR2C & ~(BV(UPM21) | BV(UPM20))) | ((parity) << UPM20);
}
#endif // AVR_HAS_UART2
#if AVR_HAS_UART3
static void uart3_init(
UNUSED_ARG(struct SerialHardware *, _hw),
UNUSED_ARG(struct Serial *, ser))
{
SER_UART3_BUS_TXINIT;
RTS_ON;
SER_STROBE_INIT;
}
static void uart3_cleanup(UNUSED_ARG(struct SerialHardware *, _hw))
{
UCSR3B = 0;
}
static void uart3_enabletxirq(struct SerialHardware *_hw)
{
struct AvrSerial *hw = (struct AvrSerial *)_hw;
/*
* WARNING: racy code here! The tx interrupt
* sets hw->sending to false when it runs with
* an empty fifo. The order of the statements
* in the if-block matters.
*/
if (!hw->sending)
{
hw->sending = true;
SER_UART3_BUS_TXBEGIN;
}
}
static void uart3_setbaudrate(UNUSED_ARG(struct SerialHardware *, _hw), unsigned long rate)
{
uint16_t period = uart_period(rate);
UBRR3H = period >> 8;
UBRR3L = period;
}
static void uart3_setparity(UNUSED_ARG(struct SerialHardware *, _hw), int parity)
{
UCSR3C = (UCSR3C & ~(BV(UPM31) | BV(UPM30))) | ((parity) << UPM30);
}
#endif // AVR_HAS_UART3
static void spi_init(UNUSED_ARG(struct SerialHardware *, _hw), UNUSED_ARG(struct Serial *, ser))
{
/*
* Set MOSI and SCK ports out, MISO in.
*
* The ATmega64/128 datasheet explicitly states that the input/output
* state of the SPI pins is not significant, as when the SPI is
* active the I/O port are overrided.
* This is *blatantly FALSE*.
*
* Moreover, the MISO pin on the board_kc *must* be in high impedance
* state even when the SPI is off, because the line is wired together
* with the KBus serial RX, and the transmitter of the slave boards
* would be unable to drive the line.
*/
ATOMIC(SPI_DDR |= (BV(SPI_MOSI_BIT) | BV(SPI_SCK_BIT)));
/*
* If the SPI master mode is activated and the SS pin is in input and tied low,
* the SPI hardware will automatically switch to slave mode!
* For proper communication this pins should therefore be:
* - as output
* - as input but tied high forever!
* This driver set the pin as output.
*/
Fixed escape char bug
2014-04-16 09:28:16 -06:00
// Squelching this warning
// #warning FIXME:SPI SS pin set as output for proper operation, check schematics for possible conflicts.
Working
2014-04-03 14:21:37 -06:00
ATOMIC(SPI_DDR |= BV(SPI_SS_BIT));
ATOMIC(SPI_DDR &= ~BV(SPI_MISO_BIT));
/* Enable SPI, IRQ on, Master */
SPCR = BV(SPE) | BV(SPIE) | BV(MSTR);
/* Set data order */
#if CONFIG_SPI_DATA_ORDER == SER_LSB_FIRST
SPCR |= BV(DORD);
#endif
/* Set SPI clock rate */
#if CONFIG_SPI_CLOCK_DIV == 128
SPCR |= (BV(SPR1) | BV(SPR0));
#elif (CONFIG_SPI_CLOCK_DIV == 64 || CONFIG_SPI_CLOCK_DIV == 32)
SPCR |= BV(SPR1);
#elif (CONFIG_SPI_CLOCK_DIV == 16 || CONFIG_SPI_CLOCK_DIV == 8)
SPCR |= BV(SPR0);
#elif (CONFIG_SPI_CLOCK_DIV == 4 || CONFIG_SPI_CLOCK_DIV == 2)
// SPR0 & SDPR1 both at 0
#else
#error Unsupported SPI clock division factor.
#endif
/* Set SPI2X bit (spi double frequency) */
#if (CONFIG_SPI_CLOCK_DIV == 128 || CONFIG_SPI_CLOCK_DIV == 64 \
|| CONFIG_SPI_CLOCK_DIV == 16 || CONFIG_SPI_CLOCK_DIV == 4)
SPSR &= ~BV(SPI2X);
#elif (CONFIG_SPI_CLOCK_DIV == 32 || CONFIG_SPI_CLOCK_DIV == 8 || CONFIG_SPI_CLOCK_DIV == 2)
SPSR |= BV(SPI2X);
#else
#error Unsupported SPI clock division factor.
#endif
/* Set clock polarity */
#if CONFIG_SPI_CLOCK_POL == 1
SPCR |= BV(CPOL);
#endif
/* Set clock phase */
#if CONFIG_SPI_CLOCK_PHASE == 1
SPCR |= BV(CPHA);
#endif
SER_SPI_BUS_TXINIT;
SER_STROBE_INIT;
}
static void spi_cleanup(UNUSED_ARG(struct SerialHardware *, _hw))
{
SPCR = 0;
SER_SPI_BUS_TXCLOSE;
/* Set all pins as inputs */
ATOMIC(SPI_DDR &= ~(BV(SPI_MISO_BIT) | BV(SPI_MOSI_BIT) | BV(SPI_SCK_BIT) | BV(SPI_SS_BIT)));
}
static void spi_starttx(struct SerialHardware *_hw)
{
struct AvrSerial *hw = (struct AvrSerial *)_hw;
cpu_flags_t flags;
IRQ_SAVE_DISABLE(flags);
/* Send data only if the SPI is not already transmitting */
if (!hw->sending && !fifo_isempty(&ser_handles[SER_SPI]->txfifo))
{
hw->sending = true;
SPDR = fifo_pop(&ser_handles[SER_SPI]->txfifo);
}
IRQ_RESTORE(flags);
}
static void spi_setbaudrate(
UNUSED_ARG(struct SerialHardware *, _hw),
UNUSED_ARG(unsigned long, rate))
{
// nop
}
static void spi_setparity(UNUSED_ARG(struct SerialHardware *, _hw), UNUSED_ARG(int, parity))
{
// nop
}
static bool tx_sending(struct SerialHardware* _hw)
{
struct AvrSerial *hw = (struct AvrSerial *)_hw;
return hw->sending;
}
// FIXME: move into compiler.h? Ditch?
#if COMPILER_C99
#define C99INIT(name,val) .name = val
#elif defined(__GNUC__)
#define C99INIT(name,val) name: val
#else
#warning No designated initializers, double check your code
#define C99INIT(name,val) (val)
#endif
/*
* High-level interface data structures
*/
static const struct SerialHardwareVT UART0_VT =
{
C99INIT(init, uart0_init),
C99INIT(cleanup, uart0_cleanup),
C99INIT(setBaudrate, uart0_setbaudrate),
C99INIT(setParity, uart0_setparity),
C99INIT(txStart, uart0_enabletxirq),
C99INIT(txSending, tx_sending),
};
#if AVR_HAS_UART1
static const struct SerialHardwareVT UART1_VT =
{
C99INIT(init, uart1_init),
C99INIT(cleanup, uart1_cleanup),
C99INIT(setBaudrate, uart1_setbaudrate),
C99INIT(setParity, uart1_setparity),
C99INIT(txStart, uart1_enabletxirq),
C99INIT(txSending, tx_sending),
};
#endif // AVR_HAS_UART1
#if AVR_HAS_UART2
static const struct SerialHardwareVT UART2_VT =
{
C99INIT(init, uart2_init),
C99INIT(cleanup, uart2_cleanup),
C99INIT(setBaudrate, uart2_setbaudrate),
C99INIT(setParity, uart2_setparity),
C99INIT(txStart, uart2_enabletxirq),
C99INIT(txSending, tx_sending),
};
#endif // AVR_HAS_UART2
#if AVR_HAS_UART3
static const struct SerialHardwareVT UART3_VT =
{
C99INIT(init, uart3_init),
C99INIT(cleanup, uart3_cleanup),
C99INIT(setBaudrate, uart3_setbaudrate),
C99INIT(setParity, uart3_setparity),
C99INIT(txStart, uart3_enabletxirq),
C99INIT(txSending, tx_sending),
};
#endif // AVR_HAS_UART3
static const struct SerialHardwareVT SPI_VT =
{
C99INIT(init, spi_init),
C99INIT(cleanup, spi_cleanup),
C99INIT(setBaudrate, spi_setbaudrate),
C99INIT(setParity, spi_setparity),
C99INIT(txStart, spi_starttx),
C99INIT(txSending, tx_sending),
};
static struct AvrSerial UARTDescs[SER_CNT] =
{
{
C99INIT(hw, /**/) {
C99INIT(table, &UART0_VT),
C99INIT(txbuffer, uart0_txbuffer),
C99INIT(rxbuffer, uart0_rxbuffer),
C99INIT(txbuffer_size, sizeof(uart0_txbuffer)),
C99INIT(rxbuffer_size, sizeof(uart0_rxbuffer)),
},
C99INIT(sending, false),
},
#if AVR_HAS_UART1
{
C99INIT(hw, /**/) {
C99INIT(table, &UART1_VT),
C99INIT(txbuffer, uart1_txbuffer),
C99INIT(rxbuffer, uart1_rxbuffer),
C99INIT(txbuffer_size, sizeof(uart1_txbuffer)),
C99INIT(rxbuffer_size, sizeof(uart1_rxbuffer)),
},
C99INIT(sending, false),
},
#endif
#if AVR_HAS_UART2
{
C99INIT(hw, /**/) {
C99INIT(table, &UART2_VT),
C99INIT(txbuffer, uart2_txbuffer),
C99INIT(rxbuffer, uart2_rxbuffer),
C99INIT(txbuffer_size, sizeof(uart2_txbuffer)),
C99INIT(rxbuffer_size, sizeof(uart2_rxbuffer)),
},
C99INIT(sending, false),
},
#endif
#if AVR_HAS_UART3
{
C99INIT(hw, /**/) {
C99INIT(table, &UART3_VT),
C99INIT(txbuffer, uart3_txbuffer),
C99INIT(rxbuffer, uart3_rxbuffer),
C99INIT(txbuffer_size, sizeof(uart3_txbuffer)),
C99INIT(rxbuffer_size, sizeof(uart3_rxbuffer)),
},
C99INIT(sending, false),
},
#endif
{
C99INIT(hw, /**/) {
C99INIT(table, &SPI_VT),
C99INIT(txbuffer, spi_txbuffer),
C99INIT(rxbuffer, spi_rxbuffer),
C99INIT(txbuffer_size, sizeof(spi_txbuffer)),
C99INIT(rxbuffer_size, sizeof(spi_rxbuffer)),
},
C99INIT(sending, false),
}
};
struct SerialHardware *ser_hw_getdesc(int unit)
{
ASSERT(unit < SER_CNT);
return &UARTDescs[unit].hw;
}
/*
* Interrupt handlers
*/
#if CONFIG_SER_HWHANDSHAKE
/// This interrupt is triggered when the CTS line goes high
DECLARE_ISR(SIG_CTS)
{
// Re-enable UDR empty interrupt and TX, then disable CTS interrupt
UCSR0B = BV(BIT_RXCIE0) | BV(BIT_UDRIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0);
EIMSK &= ~EIMSKF_CTS;
}
#endif // CONFIG_SER_HWHANDSHAKE
/**
* Serial 0 TX interrupt handler
*/
DECLARE_ISR(USART0_UDRE_vect)
{
SER_STROBE_ON;
struct FIFOBuffer * const txfifo = &ser_handles[SER_UART0]->txfifo;
if (fifo_isempty(txfifo))
{
SER_UART0_BUS_TXEND;
#ifndef SER_UART0_BUS_TXOFF
UARTDescs[SER_UART0].sending = false;
#endif
}
#if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA103
else if (!IS_CTS_ON)
{
// Disable rx interrupt and tx, enable CTS interrupt
// UNTESTED
UCSR0B = BV(BIT_RXCIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0);
EIFR |= EIMSKF_CTS;
EIMSK |= EIMSKF_CTS;
}
#endif
else
{
char c = fifo_pop(txfifo);
SER_UART0_BUS_TXCHAR(c);
}
SER_STROBE_OFF;
}
#ifdef SER_UART0_BUS_TXOFF
/**
* Serial port 0 TX complete interrupt handler.
*
* This IRQ is usually disabled. The UDR-empty interrupt
* enables it when there's no more data to transmit.
* We need to wait until the last character has been
* transmitted before switching the 485 transceiver to
* receive mode.
*
* The txfifo might have been refilled by putchar() while
* we were waiting for the transmission complete interrupt.
* In this case, we must restart the UDR empty interrupt,
* otherwise we'd stop the serial port with some data
* still pending in the buffer.
*/
DECLARE_ISR(USART0_TX_vect)
{
SER_STROBE_ON;
struct FIFOBuffer * const txfifo = &ser_handles[SER_UART0]->txfifo;
if (fifo_isempty(txfifo))
{
SER_UART0_BUS_TXOFF;
UARTDescs[SER_UART0].sending = false;
}
else
UCSR0B = BV(BIT_RXCIE0) | BV(BIT_UDRIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0);
SER_STROBE_OFF;
}
#endif /* SER_UART0_BUS_TXOFF */
#if AVR_HAS_UART1
/**
* Serial 1 TX interrupt handler
*/
DECLARE_ISR(USART1_UDRE_vect)
{
SER_STROBE_ON;
struct FIFOBuffer * const txfifo = &ser_handles[SER_UART1]->txfifo;
if (fifo_isempty(txfifo))
{
SER_UART1_BUS_TXEND;
#ifndef SER_UART1_BUS_TXOFF
UARTDescs[SER_UART1].sending = false;
#endif
}
#if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA103
else if (!IS_CTS_ON)
{
// Disable rx interrupt and tx, enable CTS interrupt
// UNTESTED
UCSR1B = BV(BIT_RXCIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1);
EIFR |= EIMSKF_CTS;
EIMSK |= EIMSKF_CTS;
}
#endif
else
{
char c = fifo_pop(txfifo);
SER_UART1_BUS_TXCHAR(c);
}
SER_STROBE_OFF;
}
#ifdef SER_UART1_BUS_TXOFF
/**
* Serial port 1 TX complete interrupt handler.
*
* \sa port 0 TX complete handler.
*/
DECLARE_ISR(USART1_TX_vect)
{
SER_STROBE_ON;
struct FIFOBuffer * const txfifo = &ser_handles[SER_UART1]->txfifo;
if (fifo_isempty(txfifo))
{
SER_UART1_BUS_TXOFF;
UARTDescs[SER_UART1].sending = false;
}
else
UCSR1B = BV(BIT_RXCIE1) | BV(BIT_UDRIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1);
SER_STROBE_OFF;
}
#endif /* SER_UART1_BUS_TXOFF */
#endif // AVR_HAS_UART1
#if AVR_HAS_UART2
/**
* Serial 2 TX interrupt handler
*/
DECLARE_ISR(USART2_UDRE_vect)
{
SER_STROBE_ON;
struct FIFOBuffer * const txfifo = &ser_handles[SER_UART2]->txfifo;
if (fifo_isempty(txfifo))
{
SER_UART2_BUS_TXEND;
#ifndef SER_UART2_BUS_TXOFF
UARTDescs[SER_UART2].sending = false;
#endif
}
else
{
char c = fifo_pop(txfifo);
SER_UART2_BUS_TXCHAR(c);
}
SER_STROBE_OFF;
}
#ifdef SER_UART2_BUS_TXOFF
/**
* Serial port 2 TX complete interrupt handler.
*
* \sa port 0 TX complete handler.
*/
DECLARE_ISR(USART2_TX_vect)
{
SER_STROBE_ON;
struct FIFOBuffer * const txfifo = &ser_handles[SER_UART2]->txfifo;
if (fifo_isempty(txfifo))
{
SER_UART2_BUS_TXOFF;
UARTDescs[SER_UART2].sending = false;
}
else
UCSR2B = BV(BIT_RXCIE2) | BV(BIT_UDRIE2) | BV(BIT_RXEN2) | BV(BIT_TXEN2);
SER_STROBE_OFF;
}
#endif /* SER_UART2_BUS_TXOFF */
#endif // AVR_HAS_UART2
#if AVR_HAS_UART3
/**
* Serial 3 TX interrupt handler
*/
DECLARE_ISR(USART3_UDRE_vect)
{
SER_STROBE_ON;
struct FIFOBuffer * const txfifo = &ser_handles[SER_UART3]->txfifo;
if (fifo_isempty(txfifo))
{
SER_UART3_BUS_TXEND;
#ifndef SER_UART3_BUS_TXOFF
UARTDescs[SER_UART3].sending = false;
#endif
}
else
{
char c = fifo_pop(txfifo);
SER_UART3_BUS_TXCHAR(c);
}
SER_STROBE_OFF;
}
#ifdef SER_UART3_BUS_TXOFF
/**
* Serial port 3 TX complete interrupt handler.
*
* \sa port 0 TX complete handler.
*/
DECLARE_ISR(USART3_TX_vect)
{
SER_STROBE_ON;
struct FIFOBuffer * const txfifo = &ser_handles[SER_UART3]->txfifo;
if (fifo_isempty(txfifo))
{
SER_UART3_BUS_TXOFF;
UARTDescs[SER_UART3].sending = false;
}
else
UCSR3B = BV(BIT_RXCIE3) | BV(BIT_UDRIE3) | BV(BIT_RXEN3) | BV(BIT_TXEN3);
SER_STROBE_OFF;
}
#endif /* SER_UART3_BUS_TXOFF */
#endif // AVR_HAS_UART3
/**
* Serial 0 RX complete interrupt handler.
*
* This handler is interruptible.
* Interrupt are reenabled as soon as recv complete interrupt is
* disabled. Using INTERRUPT() is troublesome when the serial
* is heavily loaded, because an interrupt could be retriggered
* when executing the handler prologue before RXCIE is disabled.
*
* \note The code that re-enables interrupts is commented out
* because in some nasty cases the interrupt is retriggered.
* This is probably due to the RXC flag being set before
* RXCIE is cleared. Unfortunately the RXC flag is read-only
* and can't be cleared by code.
*/
DECLARE_ISR(USART0_RX_vect)
{
SER_STROBE_ON;
/* Disable Recv complete IRQ */
//UCSR0B &= ~BV(RXCIE);
//IRQ_ENABLE;
/* Should be read before UDR */
ser_handles[SER_UART0]->status |= UCSR0A & (SERRF_RXSROVERRUN | SERRF_FRAMEERROR);
/* To clear the RXC flag we must _always_ read the UDR even when we're
* not going to accept the incoming data, otherwise a new interrupt
* will occur once the handler terminates.
*/
char c = UDR0;
struct FIFOBuffer * const rxfifo = &ser_handles[SER_UART0]->rxfifo;
if (fifo_isfull(rxfifo))
ser_handles[SER_UART0]->status |= SERRF_RXFIFOOVERRUN;
else
{
fifo_push(rxfifo, c);
#if CONFIG_SER_HWHANDSHAKE
if (fifo_isfull(rxfifo))
RTS_OFF;
#endif
}
/* Reenable receive complete int */
//IRQ_DISABLE;
//UCSR0B |= BV(RXCIE);
SER_STROBE_OFF;
}
#if AVR_HAS_UART1
/**
* Serial 1 RX complete interrupt handler.
*
* This handler is interruptible.
* Interrupt are reenabled as soon as recv complete interrupt is
* disabled. Using INTERRUPT() is troublesome when the serial
* is heavily loaded, because an interrupt could be retriggered
* when executing the handler prologue before RXCIE is disabled.
*
* \see DECLARE_ISR(USART1_RX_vect)
*/
DECLARE_ISR(USART1_RX_vect)
{
SER_STROBE_ON;
/* Disable Recv complete IRQ */
//UCSR1B &= ~BV(RXCIE);
//IRQ_ENABLE;
/* Should be read before UDR */
ser_handles[SER_UART1]->status |= UCSR1A & (SERRF_RXSROVERRUN | SERRF_FRAMEERROR);
/* To avoid an IRQ storm, we must _always_ read the UDR even when we're
* not going to accept the incoming data
*/
char c = UDR1;
struct FIFOBuffer * const rxfifo = &ser_handles[SER_UART1]->rxfifo;
//ASSERT_VALID_FIFO(rxfifo);
if (UNLIKELY(fifo_isfull(rxfifo)))
ser_handles[SER_UART1]->status |= SERRF_RXFIFOOVERRUN;
else
{
fifo_push(rxfifo, c);
#if CONFIG_SER_HWHANDSHAKE
if (fifo_isfull(rxfifo))
RTS_OFF;
#endif
}
/* Re-enable receive complete int */
//IRQ_DISABLE;
//UCSR1B |= BV(RXCIE);
SER_STROBE_OFF;
}
#endif // AVR_HAS_UART1
#if AVR_HAS_UART2
/**
* Serial 2 RX complete interrupt handler.
*
* This handler is interruptible.
* Interrupt are reenabled as soon as recv complete interrupt is
* disabled. Using INTERRUPT() is troublesome when the serial
* is heavily loaded, because an interrupt could be retriggered
* when executing the handler prologue before RXCIE is disabled.
*
* \see DECLARE_ISR(USART2_RX_vect)
*/
DECLARE_ISR(USART2_RX_vect)
{
SER_STROBE_ON;
/* Disable Recv complete IRQ */
//UCSR1B &= ~BV(RXCIE);
//IRQ_ENABLE;
/* Should be read before UDR */
ser_handles[SER_UART2]->status |= UCSR2A & (SERRF_RXSROVERRUN | SERRF_FRAMEERROR);
/* To avoid an IRQ storm, we must _always_ read the UDR even when we're
* not going to accept the incoming data
*/
char c = UDR2;
struct FIFOBuffer * const rxfifo = &ser_handles[SER_UART2]->rxfifo;
//ASSERT_VALID_FIFO(rxfifo);
if (UNLIKELY(fifo_isfull(rxfifo)))
ser_handles[SER_UART2]->status |= SERRF_RXFIFOOVERRUN;
else
{
fifo_push(rxfifo, c);
#if CONFIG_SER_HWHANDSHAKE
if (fifo_isfull(rxfifo))
RTS_OFF;
#endif
}
/* Re-enable receive complete int */
//IRQ_DISABLE;
//UCSR1B |= BV(RXCIE);
SER_STROBE_OFF;
}
#endif // AVR_HAS_UART2
#if AVR_HAS_UART3
/**
* Serial 3 RX complete interrupt handler.
*
* This handler is interruptible.
* Interrupt are reenabled as soon as recv complete interrupt is
* disabled. Using INTERRUPT() is troublesome when the serial
* is heavily loaded, because an interrupt could be retriggered
* when executing the handler prologue before RXCIE is disabled.
*
* \see DECLARE_ISR(USART3_RX_vect)
*/
DECLARE_ISR(USART3_RX_vect)
{
SER_STROBE_ON;
/* Disable Recv complete IRQ */
//UCSR1B &= ~BV(RXCIE);
//IRQ_ENABLE;
/* Should be read before UDR */
ser_handles[SER_UART3]->status |= UCSR3A & (SERRF_RXSROVERRUN | SERRF_FRAMEERROR);
/* To avoid an IRQ storm, we must _always_ read the UDR even when we're
* not going to accept the incoming data
*/
char c = UDR3;
struct FIFOBuffer * const rxfifo = &ser_handles[SER_UART3]->rxfifo;
//ASSERT_VALID_FIFO(rxfifo);
if (UNLIKELY(fifo_isfull(rxfifo)))
ser_handles[SER_UART3]->status |= SERRF_RXFIFOOVERRUN;
else
{
fifo_push(rxfifo, c);
#if CONFIG_SER_HWHANDSHAKE
if (fifo_isfull(rxfifo))
RTS_OFF;
#endif
}
/* Re-enable receive complete int */
//IRQ_DISABLE;
//UCSR1B |= BV(RXCIE);
SER_STROBE_OFF;
}
#endif // AVR_HAS_UART3
/**
* SPI interrupt handler
*/
DECLARE_ISR(SPI_STC_vect)
{
SER_STROBE_ON;
/* Read incoming byte. */
if (!fifo_isfull(&ser_handles[SER_SPI]->rxfifo))
fifo_push(&ser_handles[SER_SPI]->rxfifo, SPDR);
/*
* FIXME
else
ser_handles[SER_SPI]->status |= SERRF_RXFIFOOVERRUN;
*/
/* Send */
if (!fifo_isempty(&ser_handles[SER_SPI]->txfifo))
SPDR = fifo_pop(&ser_handles[SER_SPI]->txfifo);
else
UARTDescs[SER_SPI].sending = false;
SER_STROBE_OFF;
}