git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3443 35acf78f-673a-0410-8e92-d51de3d6d3f4

boards/OLIMEX_AVR_CAN/board.c

@@ -44,6 +44,12 @@ const PALConfig pal_default_config =
 #if defined(PORTE)
   {VAL_PORTE, VAL_DDRE},
 #endif
+#if defined(PORTF)
+  {VAL_PORTF, VAL_DDRF},
+#endif
+#if defined(PORTG)
+  {VAL_PORTG, VAL_DDRG},
+#endif
 };
 #endif /* HAL_USE_PAL */
 

boards/OLIMEX_AVR_MT_128/board.c

@@ -44,6 +44,12 @@ const PALConfig pal_default_config =
 #if defined(PORTE)
   {VAL_PORTE, VAL_DDRE},
 #endif
+#if defined(PORTF)
+  {VAL_PORTF, VAL_DDRF},
+#endif
+#if defined(PORTG)
+  {VAL_PORTG, VAL_DDRG},
+#endif
 };
 #endif /* HAL_USE_PAL */
 

os/hal/platforms/AVR/pal_lld.c

@@ -85,6 +85,16 @@ void _pal_lld_init(const PALConfig *config) {
   PORTE = config->porte.out;
   DDRE = config->porte.dir;
 #endif
+
+#if defined(PORTF) || defined(__DOXYGEN__)
+  PORTF = config->portf.out;
+  DDRF = config->portf.dir;
+#endif
+
+#if defined(PORTG) || defined(__DOXYGEN__)
+  PORTG = config->portg.out;
+  DDRG = config->portg.dir;
+#endif
 }
 
 /**

os/hal/platforms/AVR/pal_lld.h

@@ -43,24 +43,30 @@
 /*===========================================================================*/
 
 /**
- * @brief Width, in bits, of an I/O port.
+ * @brief   Width, in bits, of an I/O port.
  */
 #define PAL_IOPORTS_WIDTH 8
 
 /**
- * @brief Whole port mask.
+ * @brief   Whole port mask.
- * @brief This macro specifies all the valid bits into a port.
+ * @details This macro specifies all the valid bits into a port.
  */
 #define PAL_WHOLE_PORT ((ioportmask_t)0xFF)
 
 /**
- * @brief AVR setup registers.
+ * @brief   AVR setup registers.
  */
 typedef struct  {
   uint8_t  out;
   uint8_t  dir;
 } avr_gpio_setup_t;
 
+/**
+ * @brief   AVR registers block.
+ * @note    On some devices registers do not follow this layout on some
+ *          ports, the ports with abnormal layout cannot be used through
+ *          the PAL driver. Example: PORT F on Mega128.
+ */
 typedef struct  {
   volatile uint8_t  in;
   volatile uint8_t  dir;
@@ -90,6 +96,12 @@ typedef struct {
 #if defined(PORTE) || defined(__DOXYGEN__)
   avr_gpio_setup_t porte;
 #endif
+#if defined(PORTF) || defined(__DOXYGEN__)
+  avr_gpio_setup_t portf;
+#endif
+#if defined(PORTG) || defined(__DOXYGEN__)
+  avr_gpio_setup_t portg;
+#endif
 } PALConfig;
 
 /**
@@ -149,6 +161,20 @@ typedef avr_gpio_registers_t *ioportid_t;
 #define IOPORT5			((volatile avr_gpio_registers_t *)&PINE)
 #endif
 
+#if defined(PORTF) || defined(__DOXYGEN__)
+/**
+ * @brief   GPIO port F identifier.
+ */
+#define IOPORT6			((volatile avr_gpio_registers_t *)&PINF)
+#endif
+
+#if defined(PORTG) || defined(__DOXYGEN__)
+/**
+ * @brief   GPIO port G identifier.
+ */
+#define IOPORT7			((volatile avr_gpio_registers_t *)&PING)
+#endif
+
 /*===========================================================================*/
 /* Implementation, some of the following macros could be implemented as      */
 /* functions, if so please put them in pal_lld.c.                            */

os/hal/platforms/AVR/platform.dox

@@ -37,14 +37,49 @@
 
 /**
  * @defgroup AVR_PAL AVR PAL Support
- * @details The AVR PAL driver uses the GPIO peripherals.
+ * @details The AVR PAL driver uses the PORT peripherals.
  *
  * @section avr_pal_1 Supported HW resources
- * - GPIOA.
+ * - PORTA.
- * - GPIOB.
+ * - PORTB.
- * - GPIOC.
+ * - PORTC.
- * - GPIOD.
+ * - PORTD.
- * - GPIOE.
+ * - PORTE.
+ * - PORTF.
+ * - PORTG.
+ * .
+ * @section avr_pal_2 AVR PAL driver implementation features
+ * The AVR PAL driver implementation fully supports the following hardware
+ * capabilities:
+ * - 8 bits wide ports.
+ * - Atomic set/reset functions.
+ * - Output latched regardless of the pad setting.
+ * - Direct read of input pads regardless of the pad setting.
+ * .
+ * @section avr_pal_3 Supported PAL setup modes
+ * The AVR PAL driver supports the following I/O modes:
+ * - @p PAL_MODE_RESET.
+ * - @p PAL_MODE_UNCONNECTED.
+ * - @p PAL_MODE_INPUT.
+ * - @p PAL_MODE_INPUT_PULLUP.
+ * - @p PAL_MODE_INPUT_ANALOG.
+ * - @p PAL_MODE_OUTPUT_PUSHPULL.
+ * .
+ * Any attempt to setup an invalid mode is ignored.
+ *
+ * @section avr_pal_4 Suboptimal behavior
+ * The AVR PORT is less than optimal in several areas, the limitations
+ * should be taken in account while using the PAL driver:
+ * - Pad/port toggling operations are not atomic.
+ * - Pad/group mode setup is not atomic.
+ * - Group set+reset function is not atomic.
+ * - Writing on pads/groups/ports programmed as input with pull-up
+ *   resistor changes the resistor setting because the output latch is
+ *   used for resistor selection.
+ * - The PORT registers layout on some devices is not regular (it does
+ *   not have contiguous PIN, DDR, PORT registers in this order), such
+ *   ports cannot be accessed using the PAL driver. For example, PORT F
+ *   on ATmega128. Verify the user manual of your device.
  * .
  * @ingroup AVR_DRIVERS
  */