1406 lines
33 KiB
C
1406 lines
33 KiB
C
/**
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* \file
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* <!--
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* This file is part of BeRTOS.
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*
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* Bertos is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* As a special exception, you may use this file as part of a free software
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* library without restriction. Specifically, if other files instantiate
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* templates or use macros or inline functions from this file, or you compile
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* this file and link it with other files to produce an executable, this
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* file does not by itself cause the resulting executable to be covered by
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* the GNU General Public License. This exception does not however
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* invalidate any other reasons why the executable file might be covered by
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* the GNU General Public License.
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*
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* Copyright 2003, 2004, 2010 Develer S.r.l. (http://www.develer.com/)
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* Copyright 2000 Bernie Innocenti <bernie@codewiz.org>
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*
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* -->
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*
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* \brief AVR MEGA UART and SPI I/O driver (Implementation)
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*
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* \author Bernie Innocenti <bernie@codewiz.org>
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* \author Stefano Fedrigo <aleph@develer.com>
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* \author Luca Ottaviano <lottaviano@develer.com>
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*/
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#include "hw/hw_ser.h" /* Required for bus macros overrides */
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#include <hw/hw_cpufreq.h> /* CPU_FREQ */
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#include "cfg/cfg_ser.h"
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#include <cfg/macros.h> /* DIV_ROUND */
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#include <cfg/debug.h>
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#include <cfg/cfg_arch.h> // ARCH_NIGHTTEST
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#include <drv/ser.h>
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#include <drv/ser_p.h>
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#include <drv/timer.h>
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#include <struct/fifobuf.h>
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#include <avr/io.h>
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#if defined(__AVR_LIBC_VERSION__) && (__AVR_LIBC_VERSION__ >= 10400UL)
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#include <avr/interrupt.h>
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#else
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#include <avr/signal.h>
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#endif
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#if !CONFIG_SER_HWHANDSHAKE
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/**
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* \name Hardware handshake (RTS/CTS).
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* \{
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*/
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#define RTS_ON do {} while (0)
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#define RTS_OFF do {} while (0)
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#define IS_CTS_ON true
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#define EIMSKF_CTS 0 /**< Dummy value, must be overridden */
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/*\}*/
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#endif
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#if CPU_AVR_ATMEGA1281 || CPU_AVR_ATMEGA1280 || CPU_AVR_ATMEGA2560
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#define BIT_RXCIE0 RXCIE0
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#define BIT_RXEN0 RXEN0
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#define BIT_TXEN0 TXEN0
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#define BIT_UDRIE0 UDRIE0
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#define BIT_RXCIE1 RXCIE1
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#define BIT_RXEN1 RXEN1
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#define BIT_TXEN1 TXEN1
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#define BIT_UDRIE1 UDRIE1
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#if CPU_AVR_ATMEGA1280 || CPU_AVR_ATMEGA2560
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#define BIT_RXCIE2 RXCIE2
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#define BIT_RXEN2 RXEN2
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#define BIT_TXEN2 TXEN2
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#define BIT_UDRIE2 UDRIE2
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#define BIT_RXCIE3 RXCIE3
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#define BIT_RXEN3 RXEN3
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#define BIT_TXEN3 TXEN3
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#define BIT_UDRIE3 UDRIE3
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#endif
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#elif CPU_AVR_ATMEGA168 || CPU_AVR_ATMEGA328P
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#define BIT_RXCIE0 RXCIE0
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#define BIT_RXEN0 RXEN0
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#define BIT_TXEN0 TXEN0
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#define BIT_UDRIE0 UDRIE0
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#define BIT_RXCIE1 RXCIE0
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#define BIT_RXEN1 RXEN0
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#define BIT_TXEN1 TXEN0
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#define BIT_UDRIE1 UDRIE0
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#else
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#define BIT_RXCIE0 RXCIE
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#define BIT_RXEN0 RXEN
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#define BIT_TXEN0 TXEN
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#define BIT_UDRIE0 UDRIE
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#define BIT_RXCIE1 RXCIE
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#define BIT_RXEN1 RXEN
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#define BIT_TXEN1 TXEN
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#define BIT_UDRIE1 UDRIE
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#endif
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/**
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* \name Overridable serial bus hooks
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*
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* These can be redefined in hw.h to implement
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* special bus policies such as half-duplex, 485, etc.
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*
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*
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* \code
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* TXBEGIN TXCHAR TXEND TXOFF
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* | __________|__________ | |
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* | | | | | | | | |
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* v v v v v v v v v
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* ______ __ __ __ __ __ __ ________________
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* \/ \/ \/ \/ \/ \/ \/
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* ______/\__/\__/\__/\__/\__/\__/
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*
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* \endcode
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*
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* \{
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*/
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#ifndef SER_UART0_BUS_TXINIT
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/**
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* Default TXINIT macro - invoked in uart0_init()
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*
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* - Enable both the receiver and the transmitter
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* - Enable only the RX complete interrupt
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*/
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#define SER_UART0_BUS_TXINIT do { \
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UCSR0A = 0; /* The Arduino Uno bootloader turns on U2X0 */ \
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UCSR0B = BV(BIT_RXCIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0); \
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} while (0)
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#endif
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#ifndef SER_UART0_BUS_TXBEGIN
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/**
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* Invoked before starting a transmission
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*
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* - Enable both the receiver and the transmitter
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* - Enable both the RX complete and UDR empty interrupts
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*/
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#define SER_UART0_BUS_TXBEGIN do { \
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UCSR0B = BV(BIT_RXCIE0) | BV(BIT_UDRIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0); \
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} while (0)
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#endif
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#ifndef SER_UART0_BUS_TXCHAR
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/**
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* Invoked to send one character.
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*/
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#define SER_UART0_BUS_TXCHAR(c) do { \
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UDR0 = (c); \
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} while (0)
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#endif
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#ifndef SER_UART0_BUS_TXEND
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/**
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* Invoked as soon as the txfifo becomes empty
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*
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* - Keep both the receiver and the transmitter enabled
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* - Keep the RX complete interrupt enabled
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* - Disable the UDR empty interrupt
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*/
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#define SER_UART0_BUS_TXEND do { \
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UCSR0B = BV(BIT_RXCIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0); \
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} while (0)
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#endif
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#ifndef SER_UART0_BUS_TXOFF
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/**
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* \def SER_UART0_BUS_TXOFF
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*
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* Invoked after the last character has been transmitted
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*
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* The default is no action.
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*/
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#ifdef __doxygen__
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#define SER_UART0_BUS_TXOFF
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#endif
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#endif
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#ifndef SER_UART1_BUS_TXINIT
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/** \sa SER_UART0_BUS_TXINIT */
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#define SER_UART1_BUS_TXINIT do { \
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UCSR1B = BV(BIT_RXCIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1); \
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} while (0)
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#endif
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#ifndef SER_UART1_BUS_TXBEGIN
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/** \sa SER_UART0_BUS_TXBEGIN */
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#define SER_UART1_BUS_TXBEGIN do { \
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UCSR1B = BV(BIT_RXCIE1) | BV(BIT_UDRIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1); \
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} while (0)
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#endif
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#ifndef SER_UART1_BUS_TXCHAR
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/** \sa SER_UART0_BUS_TXCHAR */
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#define SER_UART1_BUS_TXCHAR(c) do { \
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UDR1 = (c); \
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} while (0)
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#endif
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#ifndef SER_UART1_BUS_TXEND
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/** \sa SER_UART0_BUS_TXEND */
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#define SER_UART1_BUS_TXEND do { \
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UCSR1B = BV(BIT_RXCIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1); \
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} while (0)
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#endif
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#ifndef SER_UART1_BUS_TXOFF
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/**
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* \def SER_UART1_BUS_TXOFF
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*
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* \see SER_UART0_BUS_TXOFF
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*/
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#ifdef __doxygen__
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#define SER_UART1_BUS_TXOFF
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#endif
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#endif
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#ifndef SER_UART2_BUS_TXINIT
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/** \sa SER_UART0_BUS_TXINIT */
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#define SER_UART2_BUS_TXINIT do { \
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UCSR2B = BV(BIT_RXCIE2) | BV(BIT_RXEN2) | BV(BIT_TXEN2); \
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} while (0)
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#endif
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#ifndef SER_UART2_BUS_TXBEGIN
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/** \sa SER_UART0_BUS_TXBEGIN */
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#define SER_UART2_BUS_TXBEGIN do { \
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UCSR2B = BV(BIT_RXCIE2) | BV(BIT_UDRIE2) | BV(BIT_RXEN2) | BV(BIT_TXEN2); \
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} while (0)
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#endif
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#ifndef SER_UART2_BUS_TXCHAR
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/** \sa SER_UART0_BUS_TXCHAR */
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#define SER_UART2_BUS_TXCHAR(c) do { \
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UDR2 = (c); \
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} while (0)
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#endif
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#ifndef SER_UART2_BUS_TXEND
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/** \sa SER_UART0_BUS_TXEND */
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#define SER_UART2_BUS_TXEND do { \
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UCSR2B = BV(BIT_RXCIE2) | BV(BIT_RXEN2) | BV(BIT_TXEN2); \
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} while (0)
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#endif
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#ifndef SER_UART2_BUS_TXOFF
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/**
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* \def SER_UART2_BUS_TXOFF
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*
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* \see SER_UART0_BUS_TXOFF
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*/
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#ifdef __doxygen__
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#define SER_UART2_BUS_TXOFF
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#endif
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#endif
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#ifndef SER_UART3_BUS_TXINIT
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/** \sa SER_UART0_BUS_TXINIT */
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#define SER_UART3_BUS_TXINIT do { \
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UCSR3B = BV(BIT_RXCIE3) | BV(BIT_RXEN3) | BV(BIT_TXEN3); \
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} while (0)
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#endif
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#ifndef SER_UART3_BUS_TXBEGIN
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/** \sa SER_UART0_BUS_TXBEGIN */
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#define SER_UART3_BUS_TXBEGIN do { \
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UCSR3B = BV(BIT_RXCIE3) | BV(BIT_UDRIE3) | BV(BIT_RXEN3) | BV(BIT_TXEN3); \
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} while (0)
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#endif
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#ifndef SER_UART3_BUS_TXCHAR
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/** \sa SER_UART0_BUS_TXCHAR */
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#define SER_UART3_BUS_TXCHAR(c) do { \
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UDR3 = (c); \
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} while (0)
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#endif
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#ifndef SER_UART3_BUS_TXEND
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/** \sa SER_UART0_BUS_TXEND */
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#define SER_UART3_BUS_TXEND do { \
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UCSR3B = BV(BIT_RXCIE3) | BV(BIT_RXEN3) | BV(BIT_TXEN3); \
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} while (0)
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#endif
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#ifndef SER_UART3_BUS_TXOFF
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/**
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* \def SER_UART3_BUS_TXOFF
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*
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* \see SER_UART0_BUS_TXOFF
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*/
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#ifdef __doxygen__
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#define SER_UART3_BUS_TXOFF
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#endif
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#endif
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/*\}*/
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/**
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* \name Overridable SPI hooks
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*
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* These can be redefined in hw.h to implement
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* special bus policies such as slave select pin handling, etc.
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*
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* \{
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*/
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#ifndef SER_SPI_BUS_TXINIT
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/**
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* Default TXINIT macro - invoked in spi_init()
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* The default is no action.
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*/
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#define SER_SPI_BUS_TXINIT
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#endif
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#ifndef SER_SPI_BUS_TXCLOSE
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/**
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* Invoked after the last character has been transmitted.
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* The default is no action.
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*/
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#define SER_SPI_BUS_TXCLOSE
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#endif
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/*\}*/
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/* SPI port and pin configuration */
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#if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA103 || CPU_AVR_ATMEGA1281 \
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|| CPU_AVR_ATMEGA1280 || CPU_AVR_ATMEGA2560
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#define SPI_PORT PORTB
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#define SPI_DDR DDRB
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#define SPI_SS_BIT PB0
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#define SPI_SCK_BIT PB1
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#define SPI_MOSI_BIT PB2
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#define SPI_MISO_BIT PB3
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// TODO: these bits are the same as ATMEGA8 but the defines in avr-gcc are different.
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// They should be the same!
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#elif CPU_AVR_ATMEGA328P
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#define SPI_PORT PORTB
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#define SPI_DDR DDRB
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#define SPI_SS_BIT PORTB2
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#define SPI_SCK_BIT PORTB5
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#define SPI_MOSI_BIT PORTB3
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#define SPI_MISO_BIT PORTB4
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#elif CPU_AVR_ATMEGA8 || CPU_AVR_ATMEGA168
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#define SPI_PORT PORTB
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#define SPI_DDR DDRB
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#define SPI_SS_BIT PB2
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#define SPI_SCK_BIT PB5
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#define SPI_MOSI_BIT PB3
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#define SPI_MISO_BIT PB4
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#elif CPU_AVR_ATMEGA32
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#define SPI_PORT PORTB
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#define SPI_DDR DDRB
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#define SPI_SS_BIT PB4
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#define SPI_SCK_BIT PB7
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#define SPI_MOSI_BIT PB5
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#define SPI_MISO_BIT PB6
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#else
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#error Unknown architecture
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#endif
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/* USART register definitions */
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#if CPU_AVR_ATMEGA1280 || CPU_AVR_ATMEGA2560
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#define AVR_HAS_UART1 1
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#define AVR_HAS_UART2 1
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#define AVR_HAS_UART3 1
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#elif CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA1281
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#define AVR_HAS_UART1 1
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#define AVR_HAS_UART2 0
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#define AVR_HAS_UART3 0
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#elif CPU_AVR_ATMEGA168 || CPU_AVR_ATMEGA328P
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#define AVR_HAS_UART1 0
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#define AVR_HAS_UART2 0
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#define AVR_HAS_UART3 0
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#define USART0_UDRE_vect USART_UDRE_vect
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#define USART0_RX_vect USART_RX_vect
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#define USART0_TX_vect USART_TX_vect
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#elif CPU_AVR_ATMEGA8 || CPU_AVR_ATMEGA32
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#define AVR_HAS_UART1 0
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#define AVR_HAS_UART2 0
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#define AVR_HAS_UART3 0
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#define UCSR0A UCSRA
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#define UCSR0B UCSRB
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#define UCSR0C UCSRC
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#define UDR0 UDR
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#define UBRR0L UBRRL
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#define UBRR0H UBRRH
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#define UPM01 UPM1
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#define UPM00 UPM0
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#define USART0_UDRE_vect USART_UDRE_vect
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#define USART0_RX_vect USART_RXC_vect
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#define USART0_TX_vect USART_TXC_vect
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#elif CPU_AVR_ATMEGA103
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#define AVR_HAS_UART1 0
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#define AVR_HAS_UART2 0
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#define AVR_HAS_UART3 0
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#define UCSR0B UCR
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#define UDR0 UDR
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#define UCSR0A USR
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#define UBRR0L UBRR
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#define USART0_UDRE_vect USART_UDRE_vect
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#define USART0_RX_vect USART_RX_vect
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#define USART0_TX_vect USART_TX_vect
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#else
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#error Unknown architecture
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#endif
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/* From the high-level serial driver */
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extern struct Serial *ser_handles[SER_CNT];
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/* TX and RX buffers */
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static unsigned char uart0_txbuffer[CONFIG_UART0_TXBUFSIZE];
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static unsigned char uart0_rxbuffer[CONFIG_UART0_RXBUFSIZE];
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#if AVR_HAS_UART1
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static unsigned char uart1_txbuffer[CONFIG_UART1_TXBUFSIZE];
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static unsigned char uart1_rxbuffer[CONFIG_UART1_RXBUFSIZE];
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#endif
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#if AVR_HAS_UART2
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static unsigned char uart2_txbuffer[CONFIG_UART2_TXBUFSIZE];
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static unsigned char uart2_rxbuffer[CONFIG_UART2_RXBUFSIZE];
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#endif
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#if AVR_HAS_UART3
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static unsigned char uart3_txbuffer[CONFIG_UART3_TXBUFSIZE];
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static unsigned char uart3_rxbuffer[CONFIG_UART3_RXBUFSIZE];
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#endif
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static unsigned char spi_txbuffer[CONFIG_SPI_TXBUFSIZE];
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static unsigned char spi_rxbuffer[CONFIG_SPI_RXBUFSIZE];
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/**
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* Internal hardware state structure
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*
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* The \a sending variable is true while the transmission
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* interrupt is retriggering itself.
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*
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* For the USARTs the \a sending flag is useful for taking specific
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* actions before sending a burst of data, at the start of a trasmission
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* but not before every char sent.
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*
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* For the SPI, this flag is necessary because the SPI sends and receives
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* bytes at the same time and the SPI IRQ is unique for send/receive.
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* The only way to start transmission is to write data in SPDR (this
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* is done by spi_starttx()). We do this *only* if a transfer is
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* not already started.
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*/
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struct AvrSerial
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{
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struct SerialHardware hw;
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volatile bool sending;
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};
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static uint16_t uart_period(unsigned long bps)
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{
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uint16_t period = DIV_ROUND(CPU_FREQ / 16UL, bps) - 1;
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#ifdef _DEBUG
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//long skew = bps - (long)(period + 1) * (CPU_FREQ / 16);
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/* 8N1 is reliable within 3% skew */
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//if ((unsigned long)ABS(skew) > bps / (100 / 3)) kprintf("Baudrate off by %ldbps\n", skew);
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#endif
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//DB(kprintf("uart_period(bps=%lu): period=%u\n", bps, period);)
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return period;
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}
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/*
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* Callbacks
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*/
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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.
|
|
*/
|
|
|
|
// Squelching this warning
|
|
// #warning FIXME:SPI SS pin set as output for proper operation, check schematics for possible conflicts.
|
|
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;
|
|
}
|