cpu/atmega128rfa1: ATmega128rfa1 MCU support

boards/common/atmega/include/periph_conf_atmega_common.h

@@ -121,7 +121,7 @@ extern "C" {
     #define TIMER_1_ISRA        TIMER3_COMPA_vect
     #define TIMER_1_ISRB        TIMER3_COMPB_vect
     #define TIMER_1_ISRC        TIMER3_COMPC_vect
-#elif defined(CPU_ATMEGA256RFR2)
+#elif defined(CPU_ATMEGA128RFA1) || defined(CPU_ATMEGA256RFR2)
     #define TIMER_NUMOF         (3U)
     #define TIMER_CHANNELS      (3)
 
@@ -203,7 +203,8 @@ extern "C" {
  */
 
 #ifndef UART_NUMOF
-#if defined(CPU_ATMEGA256RFR2) || defined(CPU_ATMEGA1281) || defined(CPU_ATMEGA1284P) || defined(CPU_ATMEGA2560)
+#if defined(CPU_ATMEGA128RFA1) || defined(CPU_ATMEGA256RFR2) || \
+    defined(CPU_ATMEGA1281) || defined(CPU_ATMEGA1284P) || defined(CPU_ATMEGA2560)
     #define UART_NUMOF          (2U)
 
     /* UART0 is used for stdio */
@@ -295,7 +296,8 @@ extern "C" {
  * @{
  */
 #ifndef ADC_NUMOF
-#if defined(CPU_ATMEGA256RFR2) || defined(CPU_ATMEGA328P) || defined(CPU_ATMEGA1281) || defined(CPU_ATMEGA1284P) || defined(CPU_ATMEGA32U4)
+#if defined(CPU_ATMEGA128RFA1) || defined(CPU_ATMEGA256RFR2) || defined(CPU_ATMEGA328P) ||  \
+    defined(CPU_ATMEGA1281) || defined(CPU_ATMEGA1284P) || defined(CPU_ATMEGA32U4)
     #define ADC_NUMOF           (8U)
 #elif defined (CPU_ATMEGA2560)
     #define ADC_NUMOF           (16U)

cpu/atmega128rfa1/Makefile

@@ -0,0 +1,7 @@
+# define the module that is build
+MODULE = cpu
+
+# add a list of subdirectories, that should also be build
+DIRS = periph $(RIOTCPU)/atmega_common/
+
+include $(RIOTBASE)/Makefile.base

cpu/atmega128rfa1/Makefile.dep

@@ -0,0 +1,6 @@
+# additional PCINTs for atmega128rfa1
+ifneq (,$(filter atmega_pcint,$(USEMODULE)))
+  USEMODULE += atmega_pcint1
+endif
+
+include $(RIOTCPU)/atmega_common/Makefile.dep

cpu/atmega128rfa1/Makefile.features

@@ -0,0 +1,9 @@
+include $(RIOTCPU)/atmega_common/Makefile.features
+# common feature are defined in atmega_common/Makefile.features
+# Only add Additional features
+
+# additional PCINT for atmega128rfa1
+FEATURES_PROVIDED += atmega_pcint1
+
+# Various other features (if any)
+FEATURES_PROVIDED += periph_cpuid

cpu/atmega128rfa1/Makefile.include

@@ -0,0 +1,16 @@
+# tell the build system that the CPU depends on the atmega common files
+USEMODULE += atmega_common
+
+#include periph module
+USEMODULE += periph
+
+RAM_LEN = 16K
+ROM_LEN = 128K
+
+# expand atmega_pcint for atmega128rfa1
+ifneq (,$(filter atmega_pcint,$(USEMODULE)))
+  USEMODULE += atmega_pcint1
+endif
+
+# CPU depends on the atmega common module, so include it
+include $(RIOTCPU)/atmega_common/Makefile.include

cpu/atmega128rfa1/doc.txt

@@ -0,0 +1,5 @@
+/**
+ * @defgroup        cpu_atmega128rfa1 Atmel ATmega128rfa1
+ * @ingroup         cpu
+ * @brief           Implementation of Atmel's ATmega128rfa1 MCU
+ */

cpu/atmega128rfa1/include/atmega_pcint.h

@@ -0,0 +1,15 @@
+#ifndef ATMEGA_PCINT_H
+#define ATMEGA_PCINT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ATMEGA_PCINT_MAP_PCINT0 GPIO_PIN(PORT_B, 0), GPIO_PIN(PORT_B, 1), GPIO_PIN(PORT_B, 2), GPIO_PIN(PORT_B, 3), GPIO_PIN(PORT_B, 4), GPIO_PIN(PORT_B, 5), GPIO_PIN(PORT_B, 6), GPIO_PIN(PORT_B, 7)
+#define ATMEGA_PCINT_MAP_PCINT1 GPIO_PIN(PORT_E, 0), GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ATMEGA_PCINT_H */

cpu/atmega128rfa1/include/periph_cpu.h

@@ -0,0 +1,83 @@
+/*
+ * Copyright (C) Josua Arndt, Steffen Robertz 2017 RWTH Aachen
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup         cpu_atmega128rfa1
+ * @{
+ *
+ * @file
+ * @brief           CPU specific definitions for internal peripheral handling
+ *
+ * @author          Josua Arndt <jarndt@ias.rwth-aachen.de>
+ * @author          Steffen Robertz <steffen.robertz@rwth-aachen.de>
+ */
+
+#ifndef PERIPH_CPU_H
+#define PERIPH_CPU_H
+
+#include "periph_cpu_common.h"
+#include "atmega_regs_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name   Length of the CPU_ID in octets
+ * @{
+ */
+#define CPUID_LEN           (8U)
+/** @} */
+
+/**
+ * @name   Available ports on the ATmega128rfa1 MCU
+ * @{
+ */
+enum {
+    PORT_B  = 1,        /**< port B */
+    PORT_D  = 3,        /**< port D */
+    PORT_E  = 4,        /**< port E */
+    PORT_F  = 5,        /**< port F */
+    PORT_G  = 6,        /**< port G */
+};
+
+/**
+ * @brief   Available external interrupt pins on the ATmega128rfa1 MCU
+ *
+ * In order of their interrupt number.
+ */
+#define CPU_ATMEGA_EXT_INTS    { GPIO_PIN(PORT_D, 0), \
+                                 GPIO_PIN(PORT_D, 1), \
+                                 GPIO_PIN(PORT_D, 2), \
+                                 GPIO_PIN(PORT_D, 3), \
+                                 GPIO_PIN(PORT_E, 4), \
+                                 GPIO_PIN(PORT_E, 5), \
+                                 GPIO_PIN(PORT_E, 6), \
+                                 GPIO_PIN(PORT_E, 7) }
+
+/**
+ * @name   Defines for the I2C interface
+ * @{
+ */
+#define I2C_PORT_REG            PORTD
+#define I2C_PIN_MASK            (1 << PORTD1) | (1 << PORTD0)
+/** @} */
+
+/**
+ * @name    EEPROM configuration
+ * @{
+ */
+#define EEPROM_SIZE             (4096U)  /* 4kB */
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PERIPH_CPU_H */
+/** @} */

cpu/atmega128rfa1/ldscripts_compat/README.md

@@ -0,0 +1,14 @@
+avr linkerscript
+================
+
+Starting from avr-binutils 2.26, the linker defines symbol that can be
+overriden to configure ROM and RAM length.
+
+This ldscript is used for supporting older versions on avr-binutils like on
+ubuntu xenial.
+
+Generated by extracting the output of
+
+    avr-gcc -Wl,--verbose -mmcu=$(CPU)
+
+With avr-binutils 2.26

cpu/atmega128rfa1/ldscripts_compat/avr_2.26.ld

@@ -0,0 +1,262 @@
+/* Script for -n: mix text and data on same page */
+/* Copyright (C) 2014-2015 Free Software Foundation, Inc.
+   Copying and distribution of this script, with or without modification,
+   are permitted in any medium without royalty provided the copyright
+   notice and this notice are preserved.  */
+OUTPUT_FORMAT("elf32-avr","elf32-avr","elf32-avr")
+OUTPUT_ARCH(avr:51)
+__TEXT_REGION_LENGTH__ = DEFINED(__TEXT_REGION_LENGTH__) ? __TEXT_REGION_LENGTH__ : 128K;
+__DATA_REGION_LENGTH__ = DEFINED(__DATA_REGION_LENGTH__) ? __DATA_REGION_LENGTH__ : 0xff00;
+__EEPROM_REGION_LENGTH__ = DEFINED(__EEPROM_REGION_LENGTH__) ? __EEPROM_REGION_LENGTH__ : 64K;
+__FUSE_REGION_LENGTH__ = DEFINED(__FUSE_REGION_LENGTH__) ? __FUSE_REGION_LENGTH__ : 1K;
+__LOCK_REGION_LENGTH__ = DEFINED(__LOCK_REGION_LENGTH__) ? __LOCK_REGION_LENGTH__ : 1K;
+__SIGNATURE_REGION_LENGTH__ = DEFINED(__SIGNATURE_REGION_LENGTH__) ? __SIGNATURE_REGION_LENGTH__ : 1K;
+__USER_SIGNATURE_REGION_LENGTH__ = DEFINED(__USER_SIGNATURE_REGION_LENGTH__) ? __USER_SIGNATURE_REGION_LENGTH__ : 1K;
+MEMORY
+{
+  text   (rx)   : ORIGIN = 0, LENGTH = __TEXT_REGION_LENGTH__
+  data   (rw!x) : ORIGIN = 0x800200, LENGTH = __DATA_REGION_LENGTH__
+  eeprom (rw!x) : ORIGIN = 0x810000, LENGTH = __EEPROM_REGION_LENGTH__
+  fuse      (rw!x) : ORIGIN = 0x820000, LENGTH = __FUSE_REGION_LENGTH__
+  lock      (rw!x) : ORIGIN = 0x830000, LENGTH = __LOCK_REGION_LENGTH__
+  signature (rw!x) : ORIGIN = 0x840000, LENGTH = __SIGNATURE_REGION_LENGTH__
+  user_signatures (rw!x) : ORIGIN = 0x850000, LENGTH = __USER_SIGNATURE_REGION_LENGTH__
+}
+SECTIONS
+{
+  /* Read-only sections, merged into text segment: */
+  .hash          : { *(.hash)		}
+  .dynsym        : { *(.dynsym)		}
+  .dynstr        : { *(.dynstr)		}
+  .gnu.version   : { *(.gnu.version)	}
+  .gnu.version_d   : { *(.gnu.version_d)	}
+  .gnu.version_r   : { *(.gnu.version_r)	}
+  .rel.init      : { *(.rel.init)		}
+  .rela.init     : { *(.rela.init)	}
+  .rel.text      :
+    {
+      *(.rel.text)
+      *(.rel.text.*)
+      *(.rel.gnu.linkonce.t*)
+    }
+  .rela.text     :
+    {
+      *(.rela.text)
+      *(.rela.text.*)
+      *(.rela.gnu.linkonce.t*)
+    }
+  .rel.fini      : { *(.rel.fini)		}
+  .rela.fini     : { *(.rela.fini)	}
+  .rel.rodata    :
+    {
+      *(.rel.rodata)
+      *(.rel.rodata.*)
+      *(.rel.gnu.linkonce.r*)
+    }
+  .rela.rodata   :
+    {
+      *(.rela.rodata)
+      *(.rela.rodata.*)
+      *(.rela.gnu.linkonce.r*)
+    }
+  .rel.data      :
+    {
+      *(.rel.data)
+      *(.rel.data.*)
+      *(.rel.gnu.linkonce.d*)
+    }
+  .rela.data     :
+    {
+      *(.rela.data)
+      *(.rela.data.*)
+      *(.rela.gnu.linkonce.d*)
+    }
+  .rel.ctors     : { *(.rel.ctors)	}
+  .rela.ctors    : { *(.rela.ctors)	}
+  .rel.dtors     : { *(.rel.dtors)	}
+  .rela.dtors    : { *(.rela.dtors)	}
+  .rel.got       : { *(.rel.got)		}
+  .rela.got      : { *(.rela.got)		}
+  .rel.bss       : { *(.rel.bss)		}
+  .rela.bss      : { *(.rela.bss)		}
+  .rel.plt       : { *(.rel.plt)		}
+  .rela.plt      : { *(.rela.plt)		}
+  /* Internal text space or external memory.  */
+  .text   :
+  {
+    *(.vectors)
+    KEEP(*(.vectors))
+    /* For data that needs to reside in the lower 64k of progmem.  */
+     *(.progmem.gcc*)
+    /* PR 13812: Placing the trampolines here gives a better chance
+       that they will be in range of the code that uses them.  */
+    . = ALIGN(2);
+     __trampolines_start = . ;
+    /* The jump trampolines for the 16-bit limited relocs will reside here.  */
+    *(.trampolines)
+     *(.trampolines*)
+     __trampolines_end = . ;
+    /* avr-libc expects these data to reside in lower 64K. */
+     *libprintf_flt.a:*(.progmem.data)
+     *libc.a:*(.progmem.data)
+     *(.progmem*)
+    . = ALIGN(2);
+    /* For future tablejump instruction arrays for 3 byte pc devices.
+       We don't relax jump/call instructions within these sections.  */
+    *(.jumptables)
+     *(.jumptables*)
+    /* For code that needs to reside in the lower 128k progmem.  */
+    *(.lowtext)
+     *(.lowtext*)
+     __ctors_start = . ;
+     *(.ctors)
+     __ctors_end = . ;
+     __dtors_start = . ;
+     *(.dtors)
+     __dtors_end = . ;
+    KEEP(SORT(*)(.ctors))
+    KEEP(SORT(*)(.dtors))
+    /* From this point on, we don't bother about wether the insns are
+       below or above the 16 bits boundary.  */
+    *(.init0)  /* Start here after reset.  */
+    KEEP (*(.init0))
+    *(.init1)
+    KEEP (*(.init1))
+    *(.init2)  /* Clear __zero_reg__, set up stack pointer.  */
+    KEEP (*(.init2))
+    *(.init3)
+    KEEP (*(.init3))
+    *(.init4)  /* Initialize data and BSS.  */
+    KEEP (*(.init4))
+    *(.init5)
+    KEEP (*(.init5))
+    *(.init6)  /* C++ constructors.  */
+    KEEP (*(.init6))
+    *(.init7)
+    KEEP (*(.init7))
+    *(.init8)
+    KEEP (*(.init8))
+    *(.init9)  /* Call main().  */
+    KEEP (*(.init9))
+    *(.text)
+    . = ALIGN(2);
+     *(.text.*)
+    . = ALIGN(2);
+    *(.fini9)  /* _exit() starts here.  */
+    KEEP (*(.fini9))
+    *(.fini8)
+    KEEP (*(.fini8))
+    *(.fini7)
+    KEEP (*(.fini7))
+    *(.fini6)  /* C++ destructors.  */
+    KEEP (*(.fini6))
+    *(.fini5)
+    KEEP (*(.fini5))
+    *(.fini4)
+    KEEP (*(.fini4))
+    *(.fini3)
+    KEEP (*(.fini3))
+    *(.fini2)
+    KEEP (*(.fini2))
+    *(.fini1)
+    KEEP (*(.fini1))
+    *(.fini0)  /* Infinite loop after program termination.  */
+    KEEP (*(.fini0))
+     _etext = . ;
+  }  > text
+  .data          :
+  {
+     PROVIDE (__data_start = .) ;
+    *(.data)
+     *(.data*)
+    *(.rodata)  /* We need to include .rodata here if gcc is used */
+     *(.rodata*) /* with -fdata-sections.  */
+    *(.gnu.linkonce.d*)
+    . = ALIGN(2);
+     _edata = . ;
+     PROVIDE (__data_end = .) ;
+  }  > data AT> text
+  .bss  ADDR(.data) + SIZEOF (.data)   : AT (ADDR (.bss))
+  {
+     PROVIDE (__bss_start = .) ;
+    *(.bss)
+     *(.bss*)
+    *(COMMON)
+     PROVIDE (__bss_end = .) ;
+  }  > data
+   __data_load_start = LOADADDR(.data);
+   __data_load_end = __data_load_start + SIZEOF(.data);
+  /* Global data not cleared after reset.  */
+  .noinit  ADDR(.bss) + SIZEOF (.bss)  :  AT (ADDR (.noinit))
+  {
+     PROVIDE (__noinit_start = .) ;
+    *(.noinit*)
+     PROVIDE (__noinit_end = .) ;
+     _end = . ;
+     PROVIDE (__heap_start = .) ;
+  }  > data
+  .eeprom  :
+  {
+    /* See .data above...  */
+    KEEP(*(.eeprom*))
+     __eeprom_end = . ;
+  }  > eeprom
+  .fuse  :
+  {
+    KEEP(*(.fuse))
+    KEEP(*(.lfuse))
+    KEEP(*(.hfuse))
+    KEEP(*(.efuse))
+  }  > fuse
+  .lock  :
+  {
+    KEEP(*(.lock*))
+  }  > lock
+  .signature  :
+  {
+    KEEP(*(.signature*))
+  }  > signature
+  .user_signatures  :
+  {
+    KEEP(*(.user_signatures*))
+  }  > user_signatures
+  /* Stabs debugging sections.  */
+  .stab 0 : { *(.stab) }
+  .stabstr 0 : { *(.stabstr) }
+  .stab.excl 0 : { *(.stab.excl) }
+  .stab.exclstr 0 : { *(.stab.exclstr) }
+  .stab.index 0 : { *(.stab.index) }
+  .stab.indexstr 0 : { *(.stab.indexstr) }
+  .comment 0 : { *(.comment) }
+  .note.gnu.build-id : { *(.note.gnu.build-id) }
+  /* DWARF debug sections.
+     Symbols in the DWARF debugging sections are relative to the beginning
+     of the section so we begin them at 0.  */
+  /* DWARF 1 */
+  .debug          0 : { *(.debug) }
+  .line           0 : { *(.line) }
+  /* GNU DWARF 1 extensions */
+  .debug_srcinfo  0 : { *(.debug_srcinfo) }
+  .debug_sfnames  0 : { *(.debug_sfnames) }
+  /* DWARF 1.1 and DWARF 2 */
+  .debug_aranges  0 : { *(.debug_aranges) }
+  .debug_pubnames 0 : { *(.debug_pubnames) }
+  /* DWARF 2 */
+  .debug_info     0 : { *(.debug_info .gnu.linkonce.wi.*) }
+  .debug_abbrev   0 : { *(.debug_abbrev) }
+  .debug_line     0 : { *(.debug_line .debug_line.* .debug_line_end ) }
+  .debug_frame    0 : { *(.debug_frame) }
+  .debug_str      0 : { *(.debug_str) }
+  .debug_loc      0 : { *(.debug_loc) }
+  .debug_macinfo  0 : { *(.debug_macinfo) }
+  /* SGI/MIPS DWARF 2 extensions */
+  .debug_weaknames 0 : { *(.debug_weaknames) }
+  .debug_funcnames 0 : { *(.debug_funcnames) }
+  .debug_typenames 0 : { *(.debug_typenames) }
+  .debug_varnames  0 : { *(.debug_varnames) }
+  /* DWARF 3 */
+  .debug_pubtypes 0 : { *(.debug_pubtypes) }
+  .debug_ranges   0 : { *(.debug_ranges) }
+  /* DWARF Extension.  */
+  .debug_macro    0 : { *(.debug_macro) }
+}

cpu/atmega128rfa1/periph/Makefile

@@ -0,0 +1 @@
+include $(RIOTMAKE)/periph.mk

cpu/atmega128rfa1/periph/cpuid.c

@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2018 RWTH Aachen, Josua Arndt, Steffen Robertz
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     cpu_atmega128rfa1
+ * @{
+ *
+ * @file
+ * @brief       Low-level CPUID driver implementation
+ *
+ * @author      Steffen Robertz <steffen.robertz@rwth-aachen.de>
+ * @author      Josua Arndt <jarndt@ias.rwth-aachen.de>
+ *
+ * @}
+ */
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "periph/cpuid.h"
+
+#include "atmega_regs_common.h"
+#include "avr/boot.h"
+
+#define ENABLE_DEBUG (0)
+#include "debug.h"
+
+/**
+ * @brief CPU_ID build from MCU register
+ *
+ *  CPIUD is taken from MCU Control Register and Signature bytes.
+ *  CPUID:  1e a8 02 1f 94 03 ff ff
+ *  CPUID:  1e a8 02 1f 94 92 XX XX
+ *  MEGA62/128/256_RFR2 [MANUAL] p.505
+ *  MEGA62/128/256_RFR2 [MANUAL] p.138
+ *  MEGA62/128/256_RFR2 [MANUAL] p.492
+ *
+ *  usr_sign_0/1 are configurable values on flash page 1.
+ */
+void cpuid_get(void *id)
+{
+    uint8_t  signature_0 = boot_signature_byte_get(0x00);
+    uint8_t  signature_1 = boot_signature_byte_get(0x02);
+    uint8_t  signature_2 = boot_signature_byte_get(0x04);
+
+    uint8_t  usr_sign_0 = boot_signature_byte_get(0x0100);
+    uint8_t  usr_sign_1 = boot_signature_byte_get(0x0102);
+
+    uint8_t addr[CPUID_LEN] = {
+            signature_0,        /* 0x1E Atmel manufacturer ID */
+            signature_1,        /* 0xA8 Part Number high byte */
+            signature_2,        /* 0x02 Part Number low byte */
+            MAN_ID_0,            /* 0x1F Atmel JEDEC manufacturer ID */
+            PART_NUM,           /* 0x94 PART_NUM  Identification */
+            VERSION_NUM,        /* 0x02 VERSION_NUM  Identification */
+/* last two bytes can be set to flash page 1. for differentiation of different boards */
+            usr_sign_0,         /* user signature 0 */
+            usr_sign_1,         /* user signature 1 */
+    };
+
+#if defined(ENABLE_DEBUG)
+    DEBUG("CPUID: " );
+    for (uint8_t i=0; i<CPUID_LEN; i++)
+    {
+        DEBUG(" %02x ", addr[i] );
+    }
+    DEBUG("\n" );
+#endif
+
+    memcpy( id , addr, CPUID_LEN);
+}

cpu/atmega_common/cpu.c

@@ -170,7 +170,7 @@ ISR(BADISR_vect)
                   "STOP Execution.\n"));
 }
 
-#if defined (CPU_ATMEGA256RFR2)
+#if defined(CPU_ATMEGA128RFA1) || defined (CPU_ATMEGA256RFR2)
 ISR(BAT_LOW_vect, ISR_BLOCK)
 {
     __enter_isr();

cpu/atmega_common/periph/adc.c

@@ -114,7 +114,7 @@ int adc_sample(adc_t line, adc_res_t res)
 #if defined(CPU_ATMEGA328P) || defined(CPU_ATMEGA1281) || defined(CPU_ATMEGA1284P) || defined(CPU_ATMEGA32U4)
     ADMUX &= 0xf0;
     ADMUX |= line;
-#elif defined(CPU_ATMEGA2560) || defined(CPU_ATMEGA256RFR2)
+#elif defined(CPU_ATMEGA2560) || defined(CPU_ATMEGA128RFA1) || defined(CPU_ATMEGA256RFR2)
     if (line < 8) {
         ADCSRB &= ~(1 << MUX5);
         ADMUX &= 0xf0;

cpu/atmega_common/periph/spi.c

@@ -62,7 +62,7 @@ void spi_init_pins(spi_t bus)
 #if defined (CPU_ATMEGA1284P)
     DDRB |= ((1 << DDB4) | (1 << DDB5) | (1 << DDB7));
 #endif
-#if defined (CPU_ATMEGA256RFR2)
+#if defined(CPU_ATMEGA128RFA1) || defined(CPU_ATMEGA256RFR2)
     /* Master: PB3 MISO set to out
      *         PB2 MOSI set to input by hardware
      *         PB1 SCK  set to out