в модуле времени добавила функцию получения тиков. в папке variants добавила функции для работы с прерываниями. добавлена рыба библиотеки softserial

libraries/SoftwareSerial/src/SoftwareSerial.cpp

@@ -0,0 +1,486 @@
+/*
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+The latest version of this library can always be found at
+http://arduiniana.org.
+*/
+
+// When set, _DEBUG co-opts pins 11 and 13 for debugging with an
+// oscilloscope or logic analyzer.  Beware: it also slightly modifies
+// the bit times, so don't rely on it too much at high baud rates
+#define _DEBUG 0
+#define _DEBUG_PIN1 11
+#define _DEBUG_PIN2 13
+
+#define MAX_SOFT_SERIAL_SPEED 115200
+#define MIN_SOFT_SERIAL_SPEED 300
+// 
+// Includes
+// 
+// #include <avr/pgmspace.h>
+#include <Arduino.h>
+#include <SoftwareSerial.h>
+#include "mik32_hal_irq.h" 
+#include "mik32_hal_gpio.h"
+
+//
+// Statics
+//
+SoftwareSerial *SoftwareSerial::active_object = 0;
+uint8_t SoftwareSerial::_receive_buffer[_SS_MAX_RX_BUFF]; 
+volatile uint8_t SoftwareSerial::_receive_buffer_tail = 0;
+volatile uint8_t SoftwareSerial::_receive_buffer_head = 0;
+
+//
+// Debugging
+//
+// This function generates a brief pulse
+// for debugging or measuring on an oscilloscope.
+// #if _DEBUG
+// inline void DebugPulse(uint8_t pin, uint8_t count)
+// {
+//   volatile uint8_t *pport = portOutputRegister(digitalPinToPort(pin));
+
+//   uint8_t val = *pport;
+//   while (count--)
+//   {
+//     *pport = val | digitalPinToBitMask(pin);
+//     *pport = val;
+//   }
+// }
+// #else
+// inline void DebugPulse(uint8_t, uint8_t) {}
+// #endif
+
+//
+// Private methods
+//
+
+/* static */ 
+inline void SoftwareSerial::tunedDelay(uint16_t delayTicks)
+{ 
+  uint64_t startTicks = SysTick_GetTicks();
+  while ((SysTick_GetTicks() - startTicks) < delayTicks)
+    ;
+}
+
+// This function sets the current object as the "listening"
+// one and returns true if it replaces another 
+bool SoftwareSerial::listen()
+{
+  if (!_rx_delay_stopbit)
+    return false;
+
+  if (active_object != this)
+  {
+    if (active_object)
+      active_object->stopListening();
+
+    _buffer_overflow = false;
+    _receive_buffer_head = _receive_buffer_tail = 0;
+    active_object = this;
+
+    setRxIntMsk(true);
+    return true;
+  }
+
+  return false;
+}
+
+// Stop listening. Returns true if we were actually listening.
+bool SoftwareSerial::stopListening()
+{
+  if (active_object == this)
+  {
+    setRxIntMsk(false);
+    active_object = NULL;
+    return true;
+  }
+  return false;
+}
+
+//
+// The receive routine called by the interrupt handler
+//
+void SoftwareSerial::recv()
+{
+
+// #if GCC_VERSION < 40302
+// // Work-around for avr-gcc 4.3.0 OSX version bug
+// // Preserve the registers that the compiler misses
+// // (courtesy of Arduino forum user *etracer*)
+//   asm volatile(
+//     "push r18 \n\t"
+//     "push r19 \n\t"
+//     "push r20 \n\t"
+//     "push r21 \n\t"
+//     "push r22 \n\t"
+//     "push r23 \n\t"
+//     "push r26 \n\t"
+//     "push r27 \n\t"
+//     ::);
+// #endif  
+
+  // uint8_t data = 0;
+
+  // // If RX line is high, then we don't see any start bit
+  // // so interrupt is probably not for us
+  // if (_inverse_logic ? rx_pin_read() : !rx_pin_read())
+  // {
+  //   // Disable further interrupts during reception, this prevents
+  //   // triggering another interrupt directly after we return, which can
+  //   // cause problems at higher baudrates.
+  //   setRxIntMsk(false);
+
+  //   // Wait approximately 1/2 of a bit width to "center" the sample
+  //   tunedDelay(_rx_delay_centering);
+  //   DebugPulse(_DEBUG_PIN2, 1);
+
+  //   // Read each of the 8 bits
+  //   for (uint8_t i=8; i > 0; --i)
+  //   {
+  //     tunedDelay(_rx_delay_intrabit);
+  //     data >>= 1;
+  //     DebugPulse(_DEBUG_PIN2, 1);
+  //     if (rx_pin_read())
+  //       data |= 0x80;
+  //   }
+
+  //   if (_inverse_logic)
+  //     data = ~data;
+
+  //   // if buffer full, set the overflow flag and return
+  //   uint8_t next = (_receive_buffer_tail + 1) % _SS_MAX_RX_BUFF;
+  //   if (next != _receive_buffer_head)
+  //   {
+  //     // save new data in buffer: tail points to where byte goes
+  //     _receive_buffer[_receive_buffer_tail] = data; // save new byte
+  //     _receive_buffer_tail = next;
+  //   } 
+  //   else 
+  //   {
+  //     DebugPulse(_DEBUG_PIN1, 1);
+  //     _buffer_overflow = true;
+  //   }
+
+  //   // skip the stop bit
+  //   tunedDelay(_rx_delay_stopbit);
+  //   DebugPulse(_DEBUG_PIN1, 1);
+
+  //   // Re-enable interrupts when we're sure to be inside the stop bit
+  //   setRxIntMsk(true);
+
+  // }
+
+// #if GCC_VERSION < 40302
+// // Work-around for avr-gcc 4.3.0 OSX version bug
+// // Restore the registers that the compiler misses
+//   asm volatile(
+//     "pop r27 \n\t"
+//     "pop r26 \n\t"
+//     "pop r23 \n\t"
+//     "pop r22 \n\t"
+//     "pop r21 \n\t"
+//     "pop r20 \n\t"
+//     "pop r19 \n\t"
+//     "pop r18 \n\t"
+//     ::);
+// #endif
+}
+
+uint8_t SoftwareSerial::rx_pin_read()
+{
+  return (uint8_t)HAL_GPIO_ReadPin((GPIO_TypeDef *)_receivePortRegister, (HAL_PinsTypeDef)_receivePin);
+}
+
+//
+// Interrupt handling
+//
+
+/* static */
+inline void SoftwareSerial::handle_interrupt() // todo унести в обработчик прерываний
+{
+  if (active_object)
+  {
+    active_object->recv();
+  }
+}
+
+// #if defined(PCINT0_vect)
+// ISR(PCINT0_vect)
+// {
+//   SoftwareSerial::handle_interrupt();
+// }
+// #endif
+
+//
+// Constructor
+//
+SoftwareSerial::SoftwareSerial(uint8_t receivePin, uint8_t transmitPin, bool inverse_logic /* = false */) : 
+  _rx_delay_centering(0),
+  _rx_delay_intrabit(0),
+  _rx_delay_stopbit(0),
+  _tx_delay(0),
+  _buffer_overflow(false),
+  _inverse_logic(inverse_logic)
+{
+  setTX(transmitPin);
+  setRX(receivePin);
+}
+
+//
+// Destructor
+//
+SoftwareSerial::~SoftwareSerial()
+{
+  end();
+}
+
+void SoftwareSerial::setTX(uint8_t tx)
+{
+  // First write, then set output. If we do this the other way around,
+  // the pin would be output low for a short while before switching to
+  // output high. Now, it is input with pullup for a short while, which
+  // is fine. With inverse logic, either order is fine.
+  digitalWrite(tx, _inverse_logic ? LOW : HIGH); // todo проверить, что правда выставляется до конфигурации
+  pinMode(tx, OUTPUT);
+  _transmitBitMask = (uint16_t)digitalPinToBitMask(tx);   // save tx bit mask
+  _transmitPortRegister = (uint32_t)digitalPinToPort(tx); // save tx port adress
+}
+
+void SoftwareSerial::setRX(uint8_t rx)
+{
+  if (!_inverse_logic)
+    pinMode(rx, INPUT_PULLUP);  // pullup for normal logic
+  else
+    pinMode(rx, INPUT);
+  _receivePin = rx; // save rx digital pin number
+  _receiveBitMask = (uint16_t)digitalPinToBitMask(rx);    // save rx bit mask
+  _receivePortRegister = (uint32_t)digitalPinToPort(rx);  // save rx port adress
+}
+
+uint16_t SoftwareSerial::subtract_cap(uint16_t num, uint16_t sub) 
+{
+  if (num > sub)
+    return num - sub;
+  else
+    return 1;
+}
+
+//
+// Public methods
+//
+void SoftwareSerial::begin(long speed)
+{
+  _rx_delay_centering = _rx_delay_intrabit = _rx_delay_stopbit = _tx_delay = 0;
+
+  // limit speed
+  if (speed > MAX_SOFT_SERIAL_SPEED) speed = MAX_SOFT_SERIAL_SPEED;
+  if (speed < MIN_SOFT_SERIAL_SPEED) speed = MIN_SOFT_SERIAL_SPEED;
+
+  // Precalculate the various delays in number of ticks
+  uint32_t bit_delay = F_CPU / speed;
+
+  // 12 (gcc 4.8.2) or 13 (gcc 4.3.2) cycles from start bit to first bit,
+  // 15 (gcc 4.8.2) or 16 (gcc 4.3.2) cycles between bits,
+  // 12 (gcc 4.8.2) or 14 (gcc 4.3.2) cycles from last bit to stop bit
+  // These are all close enough to just use 15 cycles, since the inter-bit
+  // timings are the most critical (deviations stack 8 times)
+  _tx_delay = subtract_cap(bit_delay, 15);
+
+  // Only setup rx when we have a valid INT for this pin
+  if (digitalPinToInterrupt(_receivePin) != NOT_AN_INTERRUPT) 
+  {
+    #if GCC_VERSION > 40800
+    // Timings counted from gcc 4.8.2 output. This works up to 115200 on
+    // 16Mhz and 57600 on 8Mhz.
+    //
+    // When the start bit occurs, there are 3 or 4 cycles before the
+    // interrupt flag is set, 4 cycles before the PC is set to the right
+    // interrupt vector address and the old PC is pushed on the stack,
+    // and then 75 cycles of instructions (including the RJMP in the
+    // ISR vector table) until the first delay. After the delay, there
+    // are 17 more cycles until the pin value is read (excluding the
+    // delay in the loop).
+    // We want to have a total delay of 1.5 bit time. Inside the loop,
+    // we already wait for 1 bit time - 23 cycles, so here we wait for
+    // 0.5 bit time - (71 + 18 - 22) cycles.
+    _rx_delay_centering = subtract_cap(bit_delay / 2, (4 + 4 + 75 + 17 - 23));
+
+    // There are 23 cycles in each loop iteration (excluding the delay)
+    _rx_delay_intrabit = subtract_cap(bit_delay, 23);
+
+    // There are 37 cycles from the last bit read to the start of
+    // stopbit delay and 11 cycles from the delay until the interrupt
+    // mask is enabled again (which _must_ happen during the stopbit).
+    // This delay aims at 3/4 of a bit time, meaning the end of the
+    // delay will be at 1/4th of the stopbit. This allows some extra
+    // time for ISR cleanup, which makes 115200 baud at 16Mhz work more
+    // reliably
+    _rx_delay_stopbit = subtract_cap(bit_delay * 3 / 4, (37 + 11));
+    #else // Timings counted from gcc 4.3.2 output
+    // Note that this code is a _lot_ slower, mostly due to bad register
+    // allocation choices of gcc. This works up to 57600 on 16Mhz and
+    // 38400 on 8Mhz.
+    _rx_delay_centering = subtract_cap(bit_delay / 2, (4 + 4 + 97 + 29 - 11));
+    _rx_delay_intrabit = subtract_cap(bit_delay, 11);
+    _rx_delay_stopbit = subtract_cap(bit_delay * 3 / 4, (44 + 17));
+    #endif
+
+    // Enable the INT for the entire port here, but never disable it
+    // (others might also need it, so we disable the interrupt by using
+    // the per-pin PCMSK register).
+    if (_inverse_logic)
+      _int_mode = GPIO_INT_MODE_RISING;   // start bit: low to high
+    else 
+      _int_mode = GPIO_INT_MODE_FALLING;  // start bit: high to low
+    // Save gpio_mux and gpio_line for on/off interrupts
+    _int_maskMux = digitalPinToGpioIntMux(_receivePin);   // gpio mux value
+    _int_maskLine = digitalPinToGpioIntLine(_receivePin); // gpio irq line value
+    HAL_EPIC_MaskEdgeSet(HAL_EPIC_GPIO_IRQ_MASK);         // turn on the mask in EPIC
+
+    // *digitalPinToPCICR((int8_t)_receivePin) |= _BV(digitalPinToPCICRbit(_receivePin));
+    // _pcint_maskreg = digitalPinToPCMSK(_receivePin);
+    // _pcint_maskvalue = _BV(digitalPinToPCMSKbit(_receivePin));
+
+    tunedDelay(_tx_delay); // if we were low this establishes the end
+  }
+
+// #if _DEBUG
+//   pinMode(_DEBUG_PIN1, OUTPUT);
+//   pinMode(_DEBUG_PIN2, OUTPUT);
+// #endif
+
+  listen();
+}
+
+void SoftwareSerial::setRxIntMsk(bool enable)
+{
+    if (enable)
+      HAL_GPIO_InitInterruptLine((HAL_GPIO_Line_Config)_int_maskMux, (HAL_GPIO_InterruptMode)_int_mode);
+      // *_pcint_maskreg |= _pcint_maskvalue;
+    else
+      HAL_GPIO_DeInitInterruptLine((HAL_GPIO_Line)_int_maskLine);
+      // *_pcint_maskreg &= ~_pcint_maskvalue;
+}
+
+void SoftwareSerial::end()
+{
+  stopListening();
+}
+
+
+// Read data from buffer
+int SoftwareSerial::read()
+{
+  if (!isListening())
+    return -1;
+
+  // Empty buffer?
+  if (_receive_buffer_head == _receive_buffer_tail)
+    return -1;
+
+  // Read from "head"
+  uint8_t data = _receive_buffer[_receive_buffer_head]; // grab next byte
+  _receive_buffer_head = (_receive_buffer_head + 1) % _SS_MAX_RX_BUFF;
+  return data;
+}
+
+int SoftwareSerial::available()
+{
+  if (!isListening())
+    return 0;
+
+  return ((unsigned int)(_receive_buffer_tail + _SS_MAX_RX_BUFF - _receive_buffer_head)) % _SS_MAX_RX_BUFF;
+}
+
+size_t SoftwareSerial::write(uint8_t byte)
+{
+  if (_tx_delay == 0) 
+  {
+    setWriteError();
+    return 0;
+  }
+
+  // By declaring these as local variables, the compiler will put them
+  // in registers _before_ disabling interrupts and entering the
+  // critical timing sections below, which makes it a lot easier to
+  // verify the cycle timings
+  uint8_t bit_mask = _transmitBitMask; // битовая маска в порту
+
+  bool inv = _inverse_logic;
+  uint16_t delay = _tx_delay;
+
+  if (inv)
+    byte = ~byte;
+
+  noInterrupts();  // turn off interrupts for a clean txmit
+
+  // Write the start bit
+  if (inv)
+  // todo проверить, можно ли так выставлять через адрес порта
+    HAL_GPIO_WritePin((GPIO_TypeDef *)_transmitPortRegister, (HAL_PinsTypeDef)bit_mask, GPIO_PIN_HIGH);
+    // *reg |= reg_mask; // бит tx в 1
+  else
+    HAL_GPIO_WritePin((GPIO_TypeDef *)_transmitPortRegister, (HAL_PinsTypeDef)bit_mask, GPIO_PIN_LOW);
+    // *reg &= inv_mask; // бит tx в 0
+
+  tunedDelay(delay);
+
+  // Write each of the 8 bits
+  for (uint8_t i = 8; i > 0; --i)
+  {
+    if (byte & 1) // choose bit
+      // *reg |= reg_mask; // send 1
+      HAL_GPIO_WritePin((GPIO_TypeDef *)_transmitPortRegister, (HAL_PinsTypeDef)bit_mask, GPIO_PIN_HIGH);
+    else
+      // *reg &= inv_mask; // send 0
+      HAL_GPIO_WritePin((GPIO_TypeDef *)_transmitPortRegister, (HAL_PinsTypeDef)bit_mask, GPIO_PIN_LOW);
+
+    tunedDelay(delay);
+    byte >>= 1;
+  }
+
+  // restore pin to natural state
+  if (inv)
+    HAL_GPIO_WritePin((GPIO_TypeDef *)_transmitPortRegister, (HAL_PinsTypeDef)bit_mask, GPIO_PIN_LOW);
+    // *reg &= inv_mask; // бит tx в 0
+  else
+    HAL_GPIO_WritePin((GPIO_TypeDef *)_transmitPortRegister, (HAL_PinsTypeDef)bit_mask, GPIO_PIN_HIGH);
+    // *reg |= reg_mask; // бит tx в 1
+
+  interrupts(); // enable interrupts
+  tunedDelay(_tx_delay);
+  
+  return 1;
+}
+
+void SoftwareSerial::flush()
+{
+  // There is no tx buffering, simply return
+}
+
+int SoftwareSerial::peek()
+{
+  if (!isListening())
+    return -1;
+
+  // Empty buffer?
+  if (_receive_buffer_head == _receive_buffer_tail)
+    return -1;
+
+  // Read from "head"
+  return _receive_buffer[_receive_buffer_head];
+}