X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=drv%2Fser_avr.c;h=02a3427e0ac185a3a7be92eac099b67c9ea20965;hb=f52e46baa21748f30f30a9e725edbf90b420ed24;hp=2e94c2192520bf912cd9f3fb4c353d7f61495964;hpb=7197a9a2071752d47d0822152ecc39420b8f70b5;p=bertos.git diff --git a/drv/ser_avr.c b/drv/ser_avr.c index 2e94c219..02a3427e 100755 --- a/drv/ser_avr.c +++ b/drv/ser_avr.c @@ -1,9 +1,9 @@ -/*! +/** * \file * * * \brief AVR UART and SPI I/O driver @@ -36,72 +36,298 @@ * \author Stefano Fedrigo */ -/* - * $Log$ - * Revision 1.8 2004/07/29 22:57:09 bernie - * Several tweaks to reduce code size on ATmega8. - * - * Revision 1.7 2004/07/18 21:54:23 bernie - * Add ATmega8 support. +/*#* + *#* $Log$ + *#* Revision 1.33 2006/09/13 18:21:24 bernie + *#* Add configurable SPI pin mapping. + *#* + *#* Revision 1.32 2006/07/19 12:56:26 bernie + *#* Convert to new Doxygen style. + *#* + *#* Revision 1.31 2006/05/18 00:37:29 bernie + *#* Use hw_ser.h instead of ubiquitous hw.h. + *#* + *#* Revision 1.30 2006/02/17 22:23:06 bernie + *#* Update POSIX serial emulator. + *#* + *#* Revision 1.29 2005/11/27 23:31:48 bernie + *#* Support avr-libc 1.4. + *#* + *#* Revision 1.28 2005/11/04 16:20:02 bernie + *#* Fix reference to README.devlib in header. + *#* + *#* Revision 1.27 2005/07/03 15:19:31 bernie + *#* Doxygen fix. + *#* + *#* Revision 1.26 2005/04/11 19:10:27 bernie + *#* Include top-level headers from cfg/ subdir. + *#* + *#* Revision 1.25 2005/01/25 08:37:26 bernie + *#* CONFIG_SER_HWHANDSHAKE fixes. + *#* + *#* Revision 1.24 2005/01/14 00:49:16 aleph + *#* Rename callbacks; SerialHardwareVT.txSending: New callback; Add SPI_BUS macros. + *#* + *#* Revision 1.23 2005/01/11 18:09:07 aleph + *#* Add ATmega8 SPI port definitions; Fix transmit complete IRQ bug; add strobe macros to uart1 and spi + *#* + *#* Revision 1.22 2004/12/31 17:47:45 bernie + *#* Rename UNUSED() to UNUSED_ARG(). + *#* + *#* Revision 1.21 2004/12/13 12:07:06 bernie + *#* DISABLE_IRQSAVE/ENABLE_IRQRESTORE: Convert to IRQ_SAVE_DISABLE/IRQ_RESTORE. + *#* + *#* Revision 1.20 2004/12/13 11:51:43 bernie + *#* Fix a latent bug with reentrant serial IRQs. + *#* + *#* Revision 1.19 2004/12/13 11:51:08 bernie + *#* DISABLE_INTS/ENABLE_INTS: Convert to IRQ_DISABLE/IRQ_ENABLE. + *#* + *#* Revision 1.18 2004/12/08 08:03:48 bernie + *#* Doxygen fixes. + *#* + *#* Revision 1.17 2004/10/19 07:52:35 bernie + *#* Reset parity bits before overwriting them (Fixed by batt in project_ks). + *#* + *#* Revision 1.16 2004/10/03 18:45:48 bernie + *#* Convert to new-style config macros; Allow compiling with a C++ compiler (mostly). + *#* + *#* Revision 1.15 2004/09/14 21:05:36 bernie + *#* Use debug.h instead of kdebug.h; Use new AVR pin names; Spelling fixes. + *#* + *#* Revision 1.14 2004/09/06 21:50:00 bernie + *#* Spelling fixes. + *#* + *#* Revision 1.13 2004/09/06 21:40:50 bernie + *#* Move buffer handling in chip-specific driver. + *#* + *#* Revision 1.12 2004/08/29 22:06:10 bernie + *#* Fix a bug in the (unused) RTS/CTS code; Clarify documentation. + *#* + *#* Revision 1.10 2004/08/10 06:30:41 bernie + *#* Major redesign of serial bus policy handling. + *#* + *#* Revision 1.9 2004/08/02 20:20:29 aleph + *#* Merge from project_ks + *#* + *#* Revision 1.8 2004/07/29 22:57:09 bernie + *#* Several tweaks to reduce code size on ATmega8. + *#* + *#* Revision 1.7 2004/07/18 21:54:23 bernie + *#* Add ATmega8 support. + *#* + *#* Revision 1.5 2004/06/27 15:25:40 aleph + *#* Add missing callbacks for SPI; + *#* Change UNUSED() macro to new version with two args; + *#* Use TX line filling only on the correct KBUS serial port; + *#* Fix nasty IRQ disabling bug in recv complete hander for port 1. + *#* + *#* Revision 1.4 2004/06/03 11:27:09 bernie + *#* Add dual-license information. + *#* + *#* Revision 1.3 2004/06/02 21:35:24 aleph + *#* Serial enhancements: interruptible receive handler and 8 bit serial status for AVR; remove volatile attribute to FIFOBuffer, useless for new fifobuf routens + *#* + *#* Revision 1.2 2004/05/23 18:21:53 bernie + *#* Trim CVS logs and cleanup header info. + *#* + *#*/ + +#include "ser.h" +#include "ser_p.h" +#include "hw_ser.h" /* Required for bus macros overrides */ +#include + +#include +#include +#include + +#include +#if defined(__AVR_LIBC_VERSION__) && (__AVR_LIBC_VERSION__ >= 10400UL) + #include +#else + #include +#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 + + +/** + * \name Overridable serial bus hooks * - * Revision 1.5 2004/06/27 15:25:40 aleph - * Add missing callbacks for SPI; - * Change UNUSED() macro to new version with two args; - * Use TX line filling only on the correct KBUS serial port; - * Fix nasty IRQ disabling bug in recv complete hander for port 1. + * These can be redefined in hw.h to implement + * special bus policies such as half-duplex, 485, etc. * - * Revision 1.4 2004/06/03 11:27:09 bernie - * Add dual-license information. * - * Revision 1.3 2004/06/02 21:35:24 aleph - * Serial enhancements: interruptible receive handler and 8 bit serial status for AVR; remove volatile attribute to FIFOBuffer, useless for new fifobuf routens + * \code + * TXBEGIN TXCHAR TXEND TXOFF + * | __________|__________ | | + * | | | | | | | | | + * v v v v v v v v v + * ______ __ __ __ __ __ __ ________________ + * \/ \/ \/ \/ \/ \/ \/ + * ______/\__/\__/\__/\__/\__/\__/ * - * Revision 1.2 2004/05/23 18:21:53 bernie - * Trim CVS logs and cleanup header info. + * \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 { \ + UCSR0B = BV(RXCIE) | BV(RXEN) | BV(TXEN); \ + } while (0) +#endif -#include "ser.h" -#include "ser_p.h" -#include "kdebug.h" -#include "config.h" -#include "hw.h" -#include +#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(RXCIE) | BV(UDRIE) | BV(RXEN) | BV(TXEN); \ + } 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 -#include +#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(RXCIE) | BV(RXEN) | BV(TXEN); \ + } 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 -/* Hardware handshake (RTS/CTS). */ -#ifndef RTS_ON -#define RTS_ON do {} while (0) +#ifndef SER_UART1_BUS_TXINIT + /** \sa SER_UART0_BUS_TXINIT */ + #define SER_UART1_BUS_TXINIT do { \ + UCSR1B = BV(RXCIE) | BV(RXEN) | BV(TXEN); \ + } while (0) #endif -#ifndef RTS_OFF -#define RTS_OFF do {} while (0) +#ifndef SER_UART1_BUS_TXBEGIN + /** \sa SER_UART0_BUS_TXBEGIN */ + #define SER_UART1_BUS_TXBEGIN do { \ + UCSR1B = BV(RXCIE) | BV(UDRIE) | BV(RXEN) | BV(TXEN); \ + } while (0) #endif -#ifndef IS_CTS_ON -#define IS_CTS_ON true +#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(RXCIE) | BV(RXEN) | BV(TXEN); \ + } 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 +/*\}*/ -/* External 485 transceiver on UART0 (to be overridden in "hw.h"). */ -#ifndef SER_UART0_485_INIT -#define SER_UART0_485_INIT do {} while (0) + +/** + * \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_UART0_485_TX -#define SER_UART0_485_TX do {} while (0) + +#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 */ -#define SPI_PORT PORTB -#define SPI_DDR DDRB -#define SPI_SCK_BIT PORTB1 -#define SPI_MOSI_BIT PORTB2 -#define SPI_MISO_BIT PORTB3 - +#if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA103 + #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 +#elif CPU_AVR_ATMEGA8 + #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 +#else + #error Unknown architecture +#endif -#if defined(__AVR_ATmega64__) || defined(__AVR_ATmega128__) +/* USART register definitions */ +#if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 #define AVR_HAS_UART1 1 -#elif defined(__AVR_ATmega8__) +#elif CPU_AVR_ATMEGA8 #define AVR_HAS_UART1 0 #define UCSR0A UCSRA #define UCSR0B UCSRB @@ -111,7 +337,8 @@ #define UBRR0H UBRRH #define SIG_UART0_DATA SIG_UART_DATA #define SIG_UART0_RECV SIG_UART_RECV -#elif defined(__AVR_ATmega103__) + #define SIG_UART0_TRANS SIG_UART_TRANS +#elif CPU_AVR_ATMEGA103 #define AVR_HAS_UART1 0 #define UCSR0B UCR #define UDR0 UDR @@ -119,25 +346,72 @@ #define UBRR0L UBRR #define SIG_UART0_DATA SIG_UART_DATA #define SIG_UART0_RECV SIG_UART_RECV + #define SIG_UART0_TRANS SIG_UART_TRANS #else #error Unknown architecture #endif -/* Transmission fill byte */ -#define SER_FILL_BYTE 0xAA +/** + * \def CONFIG_SER_STROBE + * + * This is a debug facility that can be used to + * monitor SER interrupt activity on an external pin. + * + * To use strobes, redefine the macros SER_STROBE_ON, + * SER_STROBE_OFF and SER_STROBE_INIT and set + * CONFIG_SER_STROBE to 1. + */ +#if !defined(CONFIG_SER_STROBE) || !CONFIG_SER_STROBE + #define SER_STROBE_ON do {/*nop*/} while(0) + #define SER_STROBE_OFF do {/*nop*/} while(0) + #define SER_STROBE_INIT do {/*nop*/} while(0) +#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 +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; +}; + + /* - * These are to trick GCC into *not* using - * absolute addressing mode when accessing - * ser_handles, which is very expensive. + * These are to trick GCC into *not* using absolute addressing mode + * when accessing ser_handles, which is very expensive. * - * Accessing through these pointers generates - * much shorter (and hopefully faster) code. + * Accessing through these pointers generates much shorter + * (and hopefully faster) code. */ struct Serial *ser_uart0 = &ser_handles[SER_UART0]; #if AVR_HAS_UART1 @@ -146,130 +420,112 @@ struct Serial *ser_uart1 = &ser_handles[SER_UART1]; struct Serial *ser_spi = &ser_handles[SER_SPI]; -static void uart0_enabletxirq(UNUSED(struct SerialHardware *, ctx)) -{ -#if CONFIG_SER_TXFILL && (CONFIG_KBUS_PORT == 0) - UCSR0B = BV(RXCIE) | BV(UDRIE) | BV(RXEN) | BV(TXEN) | BV(UCSZ2); -#elif defined(SER_UART0_485_TX) - /* Disable receiver, enable transmitter, switch 485 transceiver. */ - UCSR0B = BV(UDRIE) | BV(TXEN); - SER_UART0_485_TX; -#else - UCSR0B = BV(RXCIE) | BV(UDRIE) | BV(RXEN) | BV(TXEN); -#endif -} -static void uart0_init(UNUSED(struct SerialHardware *, _hw), UNUSED(struct Serial *, ser)) +/* + * Callbacks + */ +static void uart0_init( + UNUSED_ARG(struct SerialHardware *, _hw), + UNUSED_ARG(struct Serial *, ser)) { -#if defined(ARCH_BOARD_KS) && (ARCH & ARCH_BOARD_KS) - /* Set TX port as input with pull-up enabled to avoid - noise on the remote RX when TX is disabled. */ - cpuflags_t flags; - DISABLE_IRQSAVE(flags); - DDRE &= ~BV(PORTE1); - PORTE |= BV(PORTE1); - ENABLE_IRQRESTORE(flags); -#endif /* ARCH_BOARD_KS */ - -#if CONFIG_SER_TXFILL && (CONFIG_KBUS_PORT == 0) - /*! - * Set multiprocessor mode and 9 bit data frame. - * The receiver keep MPCM bit always on. When useful data - * is trasmitted the ninth bit is set and the receiver receive - * the frame. - * When useless fill bytes are sent the ninth bit is cleared - * and the receiver will ignore them. - */ - UCSR0A = BV(MPCM); - UCSR0B = BV(RXCIE) | BV(RXEN) | BV(UCSZ2); -#else - UCSR0B = BV(RXCIE) | BV(RXEN); -#endif - - SER_UART0_485_INIT; + SER_UART0_BUS_TXINIT; RTS_ON; + SER_STROBE_INIT; } -static void uart0_cleanup(UNUSED(struct SerialHardware *, _hw)) +static void uart0_cleanup(UNUSED_ARG(struct SerialHardware *, _hw)) { UCSR0B = 0; } -static void uart0_setbaudrate(UNUSED(struct SerialHardware *, _hw), unsigned long rate) +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) { /* Compute baud-rate period */ uint16_t period = (((CLOCK_FREQ / 16UL) + (rate / 2)) / rate) - 1; - DB(kprintf("uart0_setbaudrate(rate=%lu): period=%d\n", rate, period);) -#ifndef __AVR_ATmega103__ +#if !CPU_AVR_ATMEGA103 UBRR0H = (period) >> 8; #endif UBRR0L = (period); + + //DB(kprintf("uart0_setbaudrate(rate=%lu): period=%d\n", rate, period);) } -static void uart0_setparity(UNUSED(struct SerialHardware *, _hw), int parity) +static void uart0_setparity(UNUSED_ARG(struct SerialHardware *, _hw), int parity) { -#ifndef __AVR_ATmega103__ - UCSR0C |= (parity) << UPM0; +#if !CPU_AVR_ATMEGA103 + UCSR0C = (UCSR0C & ~(BV(UPM1) | BV(UPM0))) | ((parity) << UPM0); #endif } #if AVR_HAS_UART1 -static void uart1_enabletxirq(UNUSED(struct SerialHardware *, _hw)) +static void uart1_init( + UNUSED_ARG(struct SerialHardware *, _hw), + UNUSED_ARG(struct Serial *, ser)) { -#if CONFIG_SER_TXFILL && (CONFIG_KBUS_PORT == 1) - UCSR1B = BV(RXCIE) | BV(UDRIE) | BV(RXEN) | BV(TXEN) | BV(UCSZ2); -#else - UCSR1B = BV(RXCIE) | BV(UDRIE) | BV(RXEN) | BV(TXEN); -#endif + SER_UART1_BUS_TXINIT; + RTS_ON; + SER_STROBE_INIT; } -static void uart1_init(UNUSED(struct SerialHardware *, _hw), UNUSED(struct Serial *, ser)) +static void uart1_cleanup(UNUSED_ARG(struct SerialHardware *, _hw)) { - /* Set TX port as input with pull-up enabled to avoid - * noise on the remote RX when TX is disabled */ - cpuflags_t flags; - DISABLE_IRQSAVE(flags); - DDRD &= ~BV(PORTD3); - PORTD |= BV(PORTD3); - ENABLE_IRQRESTORE(flags); - -#if CONFIG_SER_TXFILL && (CONFIG_KBUS_PORT == 1) - /*! See comment in uart0_init() */ - UCSR1A = BV(MPCM); - UCSR1B = BV(RXCIE) | BV(RXEN) | BV(UCSZ2); -#else - UCSR1B = BV(RXCIE) | BV(RXEN); -#endif - - RTS_ON; + UCSR1B = 0; } -static void uart1_cleanup(UNUSED(struct SerialHardware *, _hw)) +static void uart1_enabletxirq(struct SerialHardware *_hw) { - UCSR1B = 0; + 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(struct SerialHardware *, _hw), unsigned long rate) +static void uart1_setbaudrate(UNUSED_ARG(struct SerialHardware *, _hw), unsigned long rate) { /* Compute baud-rate period */ uint16_t period = (((CLOCK_FREQ / 16UL) + (rate / 2)) / rate) - 1; - DB(kprintf("uart1_setbaudrate(rate=%ld): period=%d\n", rate, period);) UBRR1H = (period) >> 8; UBRR1L = (period); + + //DB(kprintf("uart1_setbaudrate(rate=%ld): period=%d\n", rate, period);) } -static void uart1_setparity(UNUSED(struct SerialHardware *, _hw), int parity) +static void uart1_setparity(UNUSED_ARG(struct SerialHardware *, _hw), int parity) { - UCSR1C |= (parity) << UPM0; + UCSR1C = (UCSR1C & ~(BV(UPM1) | BV(UPM0))) | ((parity) << UPM0); } #endif // AVR_HAS_UART1 - -static void spi_init(UNUSED(struct SerialHardware *, _hw), UNUSED(struct Serial *, ser)) +static void spi_init(UNUSED_ARG(struct SerialHardware *, _hw), UNUSED_ARG(struct Serial *, ser)) { /* * Set MOSI and SCK ports out, MISO in. @@ -284,93 +540,254 @@ static void spi_init(UNUSED(struct SerialHardware *, _hw), UNUSED(struct Serial * with the KBus serial RX, and the transmitter of the slave boards * would be unable to drive the line. */ - SPI_DDR |= BV(SPI_MOSI_BIT) | BV(SPI_SCK_BIT); - SPI_DDR &= ~BV(SPI_MISO_BIT); - /* Enable SPI, IRQ on, Master, CPU_CLOCK/16 */ - SPCR = BV(SPE) | BV(SPIE) | BV(MSTR) | BV(SPR0); + 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. + */ + #warning 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(struct SerialHardware *, _hw)) +static void spi_cleanup(UNUSED_ARG(struct SerialHardware *, _hw)) { SPCR = 0; + + SER_SPI_BUS_TXCLOSE; + /* Set all pins as inputs */ - SPI_DDR &= ~(BV(SPI_MISO_BIT) | BV(SPI_MOSI_BIT) | BV(SPI_SCK_BIT)); + ATOMIC(SPI_DDR &= ~(BV(SPI_MISO_BIT) | BV(SPI_MOSI_BIT) | BV(SPI_SCK_BIT) | BV(SPI_SS_BIT))); } -static void spi_setbaudrate(UNUSED(struct SerialHardware *, _hw), UNUSED(unsigned long, rate)) +static void spi_starttx(struct SerialHardware *_hw) +{ + struct AvrSerial *hw = (struct AvrSerial *)_hw; + + cpuflags_t flags; + IRQ_SAVE_DISABLE(flags); + + /* Send data only if the SPI is not already transmitting */ + if (!hw->sending && !fifo_isempty(&ser_spi->txfifo)) + { + hw->sending = true; + SPDR = fifo_pop(&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(struct SerialHardware *, _hw), UNUSED(int, parity)) +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 + +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 + { + 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 +/// This interrupt is triggered when the CTS line goes high SIGNAL(SIG_CTS) { // Re-enable UDR empty interrupt and TX, then disable CTS interrupt UCSR0B = BV(RXCIE) | BV(UDRIE) | BV(RXEN) | BV(TXEN); - cbi(EIMSK, EIMSKB_CTS); + EIMSK &= ~EIMSKF_CTS; } #endif // CONFIG_SER_HWHANDSHAKE -/*! +/** * Serial 0 TX interrupt handler */ SIGNAL(SIG_UART0_DATA) { + SER_STROBE_ON; + struct FIFOBuffer * const txfifo = &ser_uart0->txfifo; if (fifo_isempty(txfifo)) { -#if CONFIG_SER_TXFILL && (CONFIG_KBUS_PORT == 0) - /* - * To avoid audio interference: always transmit useless char. - * Send the byte with the ninth bit cleared, the receiver in MCPM mode - * will ignore it. - */ - UCSR0B &= ~BV(TXB8); - UDR0 = SER_FILL_BYTE; -#elif defined(SER_UART0_485_RX) - /* - * - Disable UDR empty interrupt - * - Disable the transmitter (the in-progress transfer will complete) - * - Enable the transmit complete interrupt for the 485 tranceiver. - */ - UCSR0B = BV(TXCIE); -#else - /* Disable UDR empty interrupt and transmitter */ - UCSR0B = BV(RXCIE) | BV(RXEN); + SER_UART0_BUS_TXEND; +#ifndef SER_UART0_BUS_TXOFF + UARTDescs[SER_UART0].sending = false; #endif } -#if CONFIG_SER_HWHANDSHAKE +#if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA103 else if (!IS_CTS_ON) { // Disable rx interrupt and tx, enable CTS interrupt - UCSR0B = BV(RXCIE) | BV(RXEN); - sbi(EIFR, EIMSKB_CTS); - sbi(EIMSK, EIMSKB_CTS); + // UNTESTED + UCSR0B = BV(RXCIE) | BV(RXEN) | BV(TXEN); + EIFR |= EIMSKF_CTS; + EIMSK |= EIMSKF_CTS; } -#endif // CONFIG_SER_HWHANDSHAKE +#endif else { -#if CONFIG_SER_TXFILL && (CONFIG_KBUS_PORT == 0) - /* Send with ninth bit set. Receiver in MCPM mode will receive it */ - UCSR0B |= BV(TXB8); -#endif - UDR0 = fifo_pop(txfifo); + char c = fifo_pop(txfifo); + SER_UART0_BUS_TXCHAR(c); } + + SER_STROBE_OFF; } -#ifdef SER_UART0_485_RX -/*! +#ifdef SER_UART0_BUS_TXOFF +/** * Serial port 0 TX complete interrupt handler. * * This IRQ is usually disabled. The UDR-empty interrupt @@ -378,64 +795,95 @@ SIGNAL(SIG_UART0_DATA) * 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. */ SIGNAL(SIG_UART0_TRANS) { - /* Turn the 485 tranceiver into receive mode. */ - SER_UART0_485_RX; + SER_STROBE_ON; - /* Enable UART receiver and receive interrupt. */ - UCSR0B = BV(RXCIE) | BV(RXEN); + struct FIFOBuffer * const txfifo = &ser_uart0->txfifo; + if (fifo_isempty(txfifo)) + { + SER_UART0_BUS_TXOFF; + UARTDescs[SER_UART0].sending = false; + } + else + UCSR0B = BV(RXCIE) | BV(UDRIE) | BV(RXEN) | BV(TXEN); + + SER_STROBE_OFF; } -#endif /* SER_UART0_485_RX */ +#endif /* SER_UART0_BUS_TXOFF */ #if AVR_HAS_UART1 -/*! +/** * Serial 1 TX interrupt handler */ SIGNAL(SIG_UART1_DATA) { + SER_STROBE_ON; + struct FIFOBuffer * const txfifo = &ser_uart1->txfifo; if (fifo_isempty(txfifo)) { -#if CONFIG_SER_TXFILL && (CONFIG_KBUS_PORT == 1) - /* - * To avoid audio interference: always transmit useless char. - * Send the byte with the ninth bit cleared, the receiver in MCPM mode - * will ignore it. - */ - UCSR1B &= ~BV(TXB8); - UDR1 = SER_FILL_BYTE; -#else - /* Disable UDR empty interrupt and transmitter */ - UCSR1B = BV(RXCIE) | BV(RXEN); + SER_UART1_BUS_TXEND; +#ifndef SER_UART1_BUS_TXOFF + UARTDescs[SER_UART1].sending = false; #endif } -#if CONFIG_SER_HWHANDSHAKE - else if (IS_CTS_OFF) +#if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA103 + else if (!IS_CTS_ON) { // Disable rx interrupt and tx, enable CTS interrupt - UCSR1B = BV(RXCIE) | BV(RXEN); - sbi(EIFR, EIMSKB_CTS); - sbi(EIMSK, EIMSKB_CTS); + // UNTESTED + UCSR1B = BV(RXCIE) | BV(RXEN) | BV(TXEN); + EIFR |= EIMSKF_CTS; + EIMSK |= EIMSKF_CTS; } -#endif // CONFIG_SER_HWHANDSHAKE +#endif else { -#if CONFIG_SER_TXFILL && (CONFIG_KBUS_PORT == 1) - /* Send with ninth bit set. Receiver in MCPM mode will receive it */ - UCSR1B |= BV(TXB8); -#endif - UDR1 = fifo_pop(txfifo); + 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. + */ +SIGNAL(SIG_UART1_TRANS) +{ + SER_STROBE_ON; + + struct FIFOBuffer * const txfifo = &ser_uart1->txfifo; + if (fifo_isempty(txfifo)) + { + SER_UART1_BUS_TXOFF; + UARTDescs[SER_UART1].sending = false; } + else + UCSR1B = BV(RXCIE) | BV(UDRIE) | BV(RXEN) | BV(TXEN); + + SER_STROBE_OFF; } +#endif /* SER_UART1_BUS_TXOFF */ + #endif // AVR_HAS_UART1 -/*! +/** * Serial 0 RX complete interrupt handler. * * This handler is interruptible. @@ -443,12 +891,20 @@ SIGNAL(SIG_UART1_DATA) * 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. */ SIGNAL(SIG_UART0_RECV) { + SER_STROBE_ON; + /* Disable Recv complete IRQ */ - UCSR0B &= ~BV(RXCIE); - ENABLE_INTS; + //UCSR0B &= ~BV(RXCIE); + //IRQ_ENABLE; /* Should be read before UDR */ ser_uart0->status |= UCSR0A & (SERRF_RXSROVERRUN | SERRF_FRAMEERROR); @@ -472,13 +928,16 @@ SIGNAL(SIG_UART0_RECV) } /* Reenable receive complete int */ - UCSR0B |= BV(RXCIE); + //IRQ_DISABLE; + //UCSR0B |= BV(RXCIE); + + SER_STROBE_OFF; } #if AVR_HAS_UART1 -/*! +/** * Serial 1 RX complete interrupt handler. * * This handler is interruptible. @@ -486,12 +945,16 @@ SIGNAL(SIG_UART0_RECV) * 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 SIGNAL(SIG_UART0_RECV) */ SIGNAL(SIG_UART1_RECV) { + SER_STROBE_ON; + /* Disable Recv complete IRQ */ - UCSR1B &= ~BV(RXCIE); - ENABLE_INTS; + //UCSR1B &= ~BV(RXCIE); + //IRQ_ENABLE; /* Should be read before UDR */ ser_uart1->status |= UCSR1A & (SERRF_RXSROVERRUN | SERRF_FRAMEERROR); @@ -501,8 +964,9 @@ SIGNAL(SIG_UART1_RECV) */ char c = UDR1; struct FIFOBuffer * const rxfifo = &ser_uart1->rxfifo; + //ASSERT_VALID_FIFO(rxfifo); - if (fifo_isfull(rxfifo)) + if (UNLIKELY(fifo_isfull(rxfifo))) ser_uart1->status |= SERRF_RXFIFOOVERRUN; else { @@ -512,45 +976,23 @@ SIGNAL(SIG_UART1_RECV) RTS_OFF; #endif } - /* Reenable receive complete int */ - UCSR1B |= BV(RXCIE); + /* Re-enable receive complete int */ + //IRQ_DISABLE; + //UCSR1B |= BV(RXCIE); + + SER_STROBE_OFF; } #endif // AVR_HAS_UART1 -/* - * SPI Flag: true if we are transmitting/receiving with the SPI. - * - * This kludge 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. - */ -static volatile bool spi_sending = false; - -static void spi_starttx(UNUSED(struct SerialHardware *, ctx)) -{ - cpuflags_t flags; - - DISABLE_IRQSAVE(flags); - - /* Send data only if the SPI is not already transmitting */ - if (!spi_sending && !fifo_isempty(&ser_spi->txfifo)) - { - SPDR = fifo_pop(&ser_spi->txfifo); - spi_sending = true; - } - - ENABLE_IRQRESTORE(flags); -} - -/*! +/** * SPI interrupt handler */ SIGNAL(SIG_SPI) { + SER_STROBE_ON; + /* Read incoming byte. */ if (!fifo_isfull(&ser_spi->rxfifo)) fifo_push(&ser_spi->rxfifo, SPDR); @@ -564,50 +1006,7 @@ SIGNAL(SIG_SPI) if (!fifo_isempty(&ser_spi->txfifo)) SPDR = fifo_pop(&ser_spi->txfifo); else - spi_sending = false; -} - - -static const struct SerialHardwareVT UART0_VT = -{ - .init = uart0_init, - .cleanup = uart0_cleanup, - .setbaudrate = uart0_setbaudrate, - .setparity = uart0_setparity, - .enabletxirq = uart0_enabletxirq, -}; + UARTDescs[SER_SPI].sending = false; -#if AVR_HAS_UART1 -static const struct SerialHardwareVT UART1_VT = -{ - .init = uart1_init, - .cleanup = uart1_cleanup, - .setbaudrate = uart1_setbaudrate, - .setparity = uart1_setparity, - .enabletxirq = uart1_enabletxirq, -}; -#endif // AVR_HAS_UART1 - -static const struct SerialHardwareVT SPI_VT = -{ - .init = spi_init, - .cleanup = spi_cleanup, - .setbaudrate = spi_setbaudrate, - .setparity = spi_setparity, - .enabletxirq = spi_starttx, -}; - -static struct SerialHardware UARTDescs[SER_CNT] = -{ - { .table = &UART0_VT }, -#if AVR_HAS_UART1 - { .table = &UART1_VT }, -#endif - { .table = &SPI_VT }, -}; - -struct SerialHardware* ser_hw_getdesc(int unit) -{ - ASSERT(unit < SER_CNT); - return &UARTDescs[unit]; + SER_STROBE_OFF; }