88 lines
2.2 KiB
C
88 lines
2.2 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT 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 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT 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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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <ch.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "board.h"
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#include "avr_serial.h"
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ISR(TIMER0_COMP_vect) {
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chSysIRQEnterI();
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chSysTimerHandlerI();
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chSysIRQExitI();
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}
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/*
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* Board initialization code.
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*/
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void hwinit(void) {
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/*
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* I/O ports setup.
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*/
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DDRA = VAL_DDRA;
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PORTA = VAL_PORTA;
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DDRB = VAL_DDRB;
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PORTB = VAL_PORTB;
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DDRC = VAL_DDRC;
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PORTC = VAL_PORTC;
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DDRD = VAL_DDRD;
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PORTD = VAL_PORTD;
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DDRE = VAL_DDRE;
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PORTE = VAL_PORTE;
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DDRF = VAL_DDRF;
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PORTF = VAL_PORTF;
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DDRG = VAL_DDRG;
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PORTG = VAL_PORTG;
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/*
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* External interrupts setup, all disabled initially.
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*/
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EICRA = 0x00;
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EICRB = 0x00;
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EIMSK = 0x00;
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/*
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* Enables Idle mode for SLEEP instruction.
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*/
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MCUCR = (1 << SE);
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/*
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* Timer 0 setup.
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*/
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TCCR0 = (1 << WGM01) | (0 << WGM00) | // CTC mode.
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(0 << COM01) | (0 << COM00) | // OC0A disabled (normal I/O).
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(1 << CS02) | (0 << CS01) | (0 << CS00); // CLK/64 clock source.
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OCR0 = F_CPU / 64 / CH_FREQUENCY - 1;
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TCNT0 = 0; // Reset counter.
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TIFR = (1 << OCF0); // Reset pending (if any).
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TIMSK = (1 << OCIE0); // Interrupt on compare.
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/*
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* Other initializations.
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*/
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InitSerial();
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}
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