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e0365e0bf9
RIOT/boards/waspmote-pro/include/board.h
Jon Thacker e0365e0bf9 atmega: use software interrupt for context swap 
Fixes #5745
For AVR based boards, three defines must be defined AVR_CONTEXT_SWAP_INIT,
AVR_CONTEXT_SWAP_INTERRUPT_VECT, and AVR_CONTEXT_SWAP_TRIGGER.
These defines are used to trigger a software interrupt used for context
switching.

When AVR_CONTEXT_SWAP_INTERRUPT_VECT is handled, the scheduler is run
and a context swap will happen if necessary, with the resulting thread
starting following the reti instruction. This results in threads running
at normal priority instead of at interrupt priority.

Atmega devices do provide a pure software interrupt. The method used
here for waspmote-pro and arduino-mega2560 is to use pin change
interrupts, set the pin to act as an output, and toggle the value to
simulate a software interrupt. The main limitation here is that a
physical pin is now occupied and must be defined for each board
supported by RIOT. On the plus side, it provides an easy method for
detecting context swaps with an oscilloscope.
2016-09-07 14:35:53 -05:00

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/*
* Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
*
* 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.
*/
/**
* @defgroup boards_waspmote-pro Waspmote PRO v1.2
* @ingroup boards
* @brief Board specific files for the Waspmote PRO v1.2 board.
* @{
*
* @file
* @brief Board specific definitions for the Waspmote PRO v1.2 board.
*
* @author Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
* @author Francisco Acosta <francisco.acosta@inria.fr>
*/
#ifndef BOARD_H_
#define BOARD_H_
#include "cpu.h"
#include "waspmote_pinmap.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief As the CPU is too slow to handle 115200 baud, we set the default
* baudrate to 9600 for this board
*/
#define UART_STDIO_BAUDRATE (9600U)
/** @} */
/**
* @brief Use the UART 0 for STDIO on this board, if the XBee socket is not
* being used
*/
#ifdef XBEE_UART
#if XBEE_UART == 0
#define UART_STDIO_DEV (UART_DEV(1))
#else
#define UART_STDIO_DEV (UART_DEV(0))
#endif
#endif
/** @} */
/**
* @name LED pin definitions
* @{
*/
#define LED0_PORT PORTD
#define LED1_PORT PORTC
#define LED0_PIN (1 << 6)
#define LED1_PIN (1 << 1)
/** @} */
/**
* @name Macros for controlling the on-board LEDs.
* @{
*/
#define LED0_ENABLE_PORT DDRD |= (1 << DDD6)
#define LED0_ON LED0_PORT |= LED0_PIN
#define LED0_OFF LED0_PORT &= ~LED0_PIN
#define LED0_TOGGLE LED0_PORT ^= LED0_PIN;
#define LED1_ENABLE_PORT DDRC |= (1 << DDC1)
#define LED1_ON LED1_PORT |= LED1_PIN
#define LED1_OFF LED1_PORT &= ~LED1_PIN
#define LED1_TOGGLE LED1_PORT ^= LED1_PIN;
/* for compatibility to other boards */
#define LED_GREEN_ON LED1_ON
#define LED_GREEN_OFF LED1_OFF
#define LED_GREEN_TOGGLE LED1_TOGGLE
#define LED_RED_ON LED0_ON
#define LED_RED_OFF LED0_OFF
#define LED_RED_TOGGLE LED0_TOGGLE
/** @} */
/**
* @name Macros for controlling the on-board MUXes.
* @{
*/
#define MUX_PW_PORT PORTD
#define MUX0_PORT PORTB
#define MUX1_PORT PORTB
#define MUX_USB_XBEE_PORT PORTD
#define MUX_PW_PIN (1 << 7)
#define MUX0_PIN (1 << 6)
#define MUX1_PIN (1 << 7)
#define MUX_USB_XBEE_PIN (1 << 5)
#define MUX_PW_ENABLE_PORT DDRD |= (1 << DDD7);
#define MUX_PW_ON MUX_PW_PORT |= MUX_PW_PIN
#define MUX_PW_OFF MUX_PW_PORT &= ~MUX_PW_PIN
#define MUX0_ENABLE_PORT DDRB |= (1 << DDB6)
#define MUX0_ON MUX0_PORT |= MUX0_PIN
#define MUX0_OFF MUX0_PORT &= ~MUX0_PIN
#define MUX1_ENABLE_PORT DDRB |= (1 << DDB7)
#define MUX1_ON MUX1_PORT |= MUX1_PIN
#define MUX1_OFF MUX1_PORT &= ~MUX1_PIN
#define MUX_USB_XBEE_ENABLE_PORT DDRD |= (1 << DDD5)
#define MUX_USB_XBEE_ON MUX_USB_XBEE_PORT |= MUX_USB_XBEE_PIN
#define MUX_USB_XBEE_OFF MUX_USB_XBEE_PORT &= ~MUX_USB_XBEE_PIN
/* Multiplexer settings to enable UART1 on the desired module
*
* --------------
* MUX0_OFF & MUX1_ON ---> GPS MODULE
* MUX0_ON & MUX1_ON ---> SOCKET1
* MUX0_ON & MUX1_OFF ---> AUX1 MODULE
* MUX0_OFF & MUX1_OFF ---> AUX2 MODULE
*
* Multiplexer setting to enable UART0 to the desired module
*
* --------------
* MUX_USB_XBEE_OFF ---> USB MODULE
* MUX_USB_XBEE_ON ---> SOCKET0
*
*/
#define SET_MUX_GPS MUX_PW_ENABLE_PORT; MUX_PW_ON; \
MUX0_ENABLE_PORT; MUX1_ENABLE_PORT; \
MUX0_OFF; MUX1_ON
#define SET_MUX_SOCKET1 MUX_PW_ENABLE_PORT; MUX_PW_ON; \
MUX0_ENABLE_PORT; MUX1_ENABLE_PORT; \
MUX0_ON; MUX1_ON
#define SET_MUX_AUX1_MODULE MUX_PW_ENABLE_PORT; MUX_PW_ON; \
MUX0_ENABLE_PORT; MUX1_ENABLE_PORT; \
MUX0_ON; MUX1_OFF
#define SET_MUX_AUX2_MODULE MUX_PW_ENABLE_PORT; MUX_PW_ON; \
MUX0_ENABLE_PORT; MUX1_ENABLE_PORT; \
MUX0_OFF; MUX1_OFF
#define SET_MUX_USB_MODULE MUX_PW_ENABLE_PORT; MUX_PW_ON; \
MUX_USB_XBEE_ENABLE_PORT; \
MUX_USB_XBEE_OFF
#define SET_MUX_SOCKET0 MUX_PW_ENABLE_PORT; MUX_PW_ON; \
MUX_USB_XBEE_ENABLE_PORT; \
MUX_USB_XBEE_ON
/** @} */
/**
* Context swap defines
* Setup to use PB5 which is pin change interrupt 5
* This emulates a software triggered interrupt
**/
#define AVR_CONTEXT_SWAP_INIT do { \
DDRB |= (1 << PB5); \
PCICR |= (1 << PCIE0); \
PCMSK0 |= (1 << PCINT5); \
} while (0)
#define AVR_CONTEXT_SWAP_INTERRUPT_VECT PCINT0_vect
#define AVR_CONTEXT_SWAP_TRIGGER PORTB ^= (1 << PB5)
/**
* @brief xtimer configuration values
* @{
*/
#define XTIMER_WIDTH (16)
#define XTIMER_SHIFT (4)
#define XTIMER_BACKOFF (40)
#define XTIMER_TICKS_INIT (921600ul)
/** @} */
/**
* @brief Initialize board specific hardware, including clock, LEDs and std-IO
*/
void board_init(void);
#ifdef __cplusplus
}
#endif
#endif /* BOARD_H_ */
/** @} */
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