ser_mega.c

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#include "hw/hw_ser.h"  /* Required for bus macros overrides */
#include <hw/hw_cpufreq.h>  /* CPU_FREQ */

#include "cfg/cfg_ser.h"

#include <cfg/macros.h> /* DIV_ROUND */
#include <cfg/debug.h>
#include <cfg/cfg_arch.h> // ARCH_NIGHTTEST

#include <drv/ser.h>
#include <drv/ser_p.h>
#include <drv/timer.h>

#include <struct/fifobuf.h>

#include <avr/io.h>

#if defined(__AVR_LIBC_VERSION__) && (__AVR_LIBC_VERSION__ >= 10400UL)
    #include <avr/interrupt.h>
#else
    #include <avr/signal.h>
#endif


#if !CONFIG_SER_HWHANDSHAKE

    #define RTS_ON      do {} while (0)
    #define RTS_OFF     do {} while (0)
    #define IS_CTS_ON   true
    #define EIMSKF_CTS  0 
    /*\}*/
#endif

#if CPU_AVR_ATMEGA1281 || CPU_AVR_ATMEGA1280 || CPU_AVR_ATMEGA2560
    #define BIT_RXCIE0 RXCIE0
    #define BIT_RXEN0  RXEN0
    #define BIT_TXEN0  TXEN0
    #define BIT_UDRIE0 UDRIE0

    #define BIT_RXCIE1 RXCIE1
    #define BIT_RXEN1  RXEN1
    #define BIT_TXEN1  TXEN1
    #define BIT_UDRIE1 UDRIE1
    #if CPU_AVR_ATMEGA1280 || CPU_AVR_ATMEGA2560
        #define BIT_RXCIE2 RXCIE2
        #define BIT_RXEN2  RXEN2
        #define BIT_TXEN2  TXEN2
        #define BIT_UDRIE2 UDRIE2

        #define BIT_RXCIE3 RXCIE3
        #define BIT_RXEN3  RXEN3
        #define BIT_TXEN3  TXEN3
        #define BIT_UDRIE3 UDRIE3
    #endif
#elif CPU_AVR_ATMEGA168 || CPU_AVR_ATMEGA328P
    #define BIT_RXCIE0 RXCIE0
    #define BIT_RXEN0  RXEN0
    #define BIT_TXEN0  TXEN0
    #define BIT_UDRIE0 UDRIE0

    #define BIT_RXCIE1 RXCIE0
    #define BIT_RXEN1  RXEN0
    #define BIT_TXEN1  TXEN0
    #define BIT_UDRIE1 UDRIE0
#else
    #define BIT_RXCIE0 RXCIE
    #define BIT_RXEN0  RXEN
    #define BIT_TXEN0  TXEN
    #define BIT_UDRIE0 UDRIE

    #define BIT_RXCIE1 RXCIE
    #define BIT_RXEN1  RXEN
    #define BIT_TXEN1  TXEN
    #define BIT_UDRIE1 UDRIE
#endif


#ifndef SER_UART0_BUS_TXINIT

    #define SER_UART0_BUS_TXINIT do { \
        UCSR0A = 0; /* The Arduino Uno bootloader turns on U2X0 */ \
        UCSR0B = BV(BIT_RXCIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0); \
    } while (0)
#endif

#ifndef SER_UART0_BUS_TXBEGIN

    #define SER_UART0_BUS_TXBEGIN do { \
        UCSR0B = BV(BIT_RXCIE0) | BV(BIT_UDRIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0); \
    } while (0)
#endif

#ifndef SER_UART0_BUS_TXCHAR

    #define SER_UART0_BUS_TXCHAR(c) do { \
        UDR0 = (c); \
    } while (0)
#endif

#ifndef SER_UART0_BUS_TXEND

    #define SER_UART0_BUS_TXEND do { \
        UCSR0B = BV(BIT_RXCIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0); \
    } while (0)
#endif

#ifndef SER_UART0_BUS_TXOFF

    #ifdef __doxygen__
    #define SER_UART0_BUS_TXOFF
    #endif
#endif

#ifndef SER_UART1_BUS_TXINIT

    #define SER_UART1_BUS_TXINIT do { \
        UCSR1B = BV(BIT_RXCIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1); \
    } while (0)
#endif
#ifndef SER_UART1_BUS_TXBEGIN

    #define SER_UART1_BUS_TXBEGIN do { \
        UCSR1B = BV(BIT_RXCIE1) | BV(BIT_UDRIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1); \
    } while (0)
#endif
#ifndef SER_UART1_BUS_TXCHAR

    #define SER_UART1_BUS_TXCHAR(c) do { \
        UDR1 = (c); \
    } while (0)
#endif
#ifndef SER_UART1_BUS_TXEND

    #define SER_UART1_BUS_TXEND do { \
        UCSR1B = BV(BIT_RXCIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1); \
    } while (0)
#endif
#ifndef SER_UART1_BUS_TXOFF

    #ifdef __doxygen__
    #define SER_UART1_BUS_TXOFF
    #endif
#endif

#ifndef SER_UART2_BUS_TXINIT

    #define SER_UART2_BUS_TXINIT do { \
        UCSR2B = BV(BIT_RXCIE2) | BV(BIT_RXEN2) | BV(BIT_TXEN2); \
    } while (0)
#endif
#ifndef SER_UART2_BUS_TXBEGIN

    #define SER_UART2_BUS_TXBEGIN do { \
        UCSR2B = BV(BIT_RXCIE2) | BV(BIT_UDRIE2) | BV(BIT_RXEN2) | BV(BIT_TXEN2); \
    } while (0)
#endif
#ifndef SER_UART2_BUS_TXCHAR

    #define SER_UART2_BUS_TXCHAR(c) do { \
        UDR2 = (c); \
    } while (0)
#endif
#ifndef SER_UART2_BUS_TXEND

    #define SER_UART2_BUS_TXEND do { \
        UCSR2B = BV(BIT_RXCIE2) | BV(BIT_RXEN2) | BV(BIT_TXEN2); \
    } while (0)
#endif
#ifndef SER_UART2_BUS_TXOFF

    #ifdef __doxygen__
    #define SER_UART2_BUS_TXOFF
    #endif
#endif

#ifndef SER_UART3_BUS_TXINIT

    #define SER_UART3_BUS_TXINIT do { \
        UCSR3B = BV(BIT_RXCIE3) | BV(BIT_RXEN3) | BV(BIT_TXEN3); \
    } while (0)
#endif
#ifndef SER_UART3_BUS_TXBEGIN

    #define SER_UART3_BUS_TXBEGIN do { \
        UCSR3B = BV(BIT_RXCIE3) | BV(BIT_UDRIE3) | BV(BIT_RXEN3) | BV(BIT_TXEN3); \
    } while (0)
#endif
#ifndef SER_UART3_BUS_TXCHAR

    #define SER_UART3_BUS_TXCHAR(c) do { \
        UDR3 = (c); \
    } while (0)
#endif
#ifndef SER_UART3_BUS_TXEND

    #define SER_UART3_BUS_TXEND do { \
        UCSR3B = BV(BIT_RXCIE3) | BV(BIT_RXEN3) | BV(BIT_TXEN3); \
    } while (0)
#endif
#ifndef SER_UART3_BUS_TXOFF

    #ifdef __doxygen__
    #define SER_UART3_BUS_TXOFF
    #endif
#endif
/*\}*/


#ifndef SER_SPI_BUS_TXINIT

    #define SER_SPI_BUS_TXINIT
#endif

#ifndef SER_SPI_BUS_TXCLOSE

    #define SER_SPI_BUS_TXCLOSE
#endif
/*\}*/


/* SPI port and pin configuration */
#if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA103 || CPU_AVR_ATMEGA1281 \
    || CPU_AVR_ATMEGA1280 || CPU_AVR_ATMEGA2560
    #define SPI_PORT      PORTB
    #define SPI_DDR       DDRB
    #define SPI_SS_BIT    PB0
    #define SPI_SCK_BIT   PB1
    #define SPI_MOSI_BIT  PB2
    #define SPI_MISO_BIT  PB3
// TODO: these bits are the same as ATMEGA8 but the defines in avr-gcc are different.
// They should be the same!
#elif CPU_AVR_ATMEGA328P
    #define SPI_PORT      PORTB
    #define SPI_DDR       DDRB
    #define SPI_SS_BIT    PORTB2
    #define SPI_SCK_BIT   PORTB5
    #define SPI_MOSI_BIT  PORTB3
    #define SPI_MISO_BIT  PORTB4
#elif CPU_AVR_ATMEGA8 || CPU_AVR_ATMEGA168
    #define SPI_PORT      PORTB
    #define SPI_DDR       DDRB
    #define SPI_SS_BIT    PB2
    #define SPI_SCK_BIT   PB5
    #define SPI_MOSI_BIT  PB3
    #define SPI_MISO_BIT  PB4
#elif CPU_AVR_ATMEGA32
    #define SPI_PORT      PORTB
    #define SPI_DDR       DDRB
    #define SPI_SS_BIT    PB4
    #define SPI_SCK_BIT   PB7
    #define SPI_MOSI_BIT  PB5
    #define SPI_MISO_BIT  PB6
#else
    #error Unknown architecture
#endif

/* USART register definitions */
#if CPU_AVR_ATMEGA1280 || CPU_AVR_ATMEGA2560
    #define AVR_HAS_UART1 1
    #define AVR_HAS_UART2 1
    #define AVR_HAS_UART3 1
#elif CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA1281
    #define AVR_HAS_UART1 1
    #define AVR_HAS_UART2 0
    #define AVR_HAS_UART3 0
#elif CPU_AVR_ATMEGA168 || CPU_AVR_ATMEGA328P
    #define AVR_HAS_UART1 0
    #define AVR_HAS_UART2 0
    #define AVR_HAS_UART3 0
    #define USART0_UDRE_vect USART_UDRE_vect
    #define USART0_RX_vect USART_RX_vect
    #define USART0_TX_vect USART_TX_vect
#elif CPU_AVR_ATMEGA8 || CPU_AVR_ATMEGA32
    #define AVR_HAS_UART1 0
    #define AVR_HAS_UART2 0
    #define AVR_HAS_UART3 0
    #define UCSR0A UCSRA
    #define UCSR0B UCSRB
    #define UCSR0C UCSRC
    #define UDR0   UDR
    #define UBRR0L UBRRL
    #define UBRR0H UBRRH
    #define UPM01  UPM1
    #define UPM00  UPM0
    #define USART0_UDRE_vect USART_UDRE_vect
    #define USART0_RX_vect USART_RXC_vect
    #define USART0_TX_vect USART_TXC_vect
#elif CPU_AVR_ATMEGA103
    #define AVR_HAS_UART1 0
    #define AVR_HAS_UART2 0
    #define AVR_HAS_UART3 0
    #define UCSR0B UCR
    #define UDR0   UDR
    #define UCSR0A USR
    #define UBRR0L UBRR
    #define USART0_UDRE_vect USART_UDRE_vect
    #define USART0_RX_vect USART_RX_vect
    #define USART0_TX_vect USART_TX_vect
#else
    #error Unknown architecture
#endif


/* From the high-level serial driver */
extern struct Serial *ser_handles[SER_CNT];

/* TX and RX buffers */
static unsigned char uart0_txbuffer[CONFIG_UART0_TXBUFSIZE];
static unsigned char uart0_rxbuffer[CONFIG_UART0_RXBUFSIZE];
#if AVR_HAS_UART1
    static unsigned char uart1_txbuffer[CONFIG_UART1_TXBUFSIZE];
    static unsigned char uart1_rxbuffer[CONFIG_UART1_RXBUFSIZE];
#endif
#if AVR_HAS_UART2
    static unsigned char uart2_txbuffer[CONFIG_UART2_TXBUFSIZE];
    static unsigned char uart2_rxbuffer[CONFIG_UART2_RXBUFSIZE];
#endif
#if AVR_HAS_UART3
    static unsigned char uart3_txbuffer[CONFIG_UART3_TXBUFSIZE];
    static unsigned char uart3_rxbuffer[CONFIG_UART3_RXBUFSIZE];
#endif
static unsigned char spi_txbuffer[CONFIG_SPI_TXBUFSIZE];
static unsigned char spi_rxbuffer[CONFIG_SPI_RXBUFSIZE];


struct AvrSerial
{
    struct SerialHardware hw;
    volatile bool sending;
};

static uint16_t uart_period(unsigned long bps)
{
    uint16_t period = DIV_ROUND(CPU_FREQ / 16UL, bps) - 1;

    #ifdef _DEBUG
        long skew = bps - (long)(period + 1) * (CPU_FREQ / 16);
        /* 8N1 is reliable within 3% skew */
        if ((unsigned long)ABS(skew) > bps / (100 / 3))
            kprintf("Baudrate off by %ldbps\n", skew);
    #endif

    //DB(kprintf("uart_period(bps=%lu): period=%u\n", bps, period);)
    return period;
}

/*
 * Callbacks
 */
static void uart0_init(
    UNUSED_ARG(struct SerialHardware *, _hw),
    UNUSED_ARG(struct Serial *, ser))
{
    SER_UART0_BUS_TXINIT;
    RTS_ON;
    SER_STROBE_INIT;
}

static void uart0_cleanup(UNUSED_ARG(struct SerialHardware *, _hw))
{
    UCSR0B = 0;
}

static void uart0_enabletxirq(struct SerialHardware *_hw)
{
    struct AvrSerial *hw = (struct AvrSerial *)_hw;

    /*
     * WARNING: racy code here!  The tx interrupt sets hw->sending to false
     * when it runs with an empty fifo.  The order of statements in the
     * if-block matters.
     */
    if (!hw->sending)
    {
        hw->sending = true;
        SER_UART0_BUS_TXBEGIN;
    }
}

static void uart0_setbaudrate(UNUSED_ARG(struct SerialHardware *, _hw), unsigned long rate)
{
    uint16_t period = uart_period(rate);

#if !CPU_AVR_ATMEGA103
    UBRR0H = period >> 8;
#endif
    UBRR0L = period;
}

static void uart0_setparity(UNUSED_ARG(struct SerialHardware *, _hw), int parity)
{
#if !CPU_AVR_ATMEGA103
    UCSR0C = (UCSR0C & ~(BV(UPM01) | BV(UPM00))) | ((parity) << UPM00);
#endif
}

#if AVR_HAS_UART1

static void uart1_init(
    UNUSED_ARG(struct SerialHardware *, _hw),
    UNUSED_ARG(struct Serial *, ser))
{
    SER_UART1_BUS_TXINIT;
    RTS_ON;
    SER_STROBE_INIT;
}

static void uart1_cleanup(UNUSED_ARG(struct SerialHardware *, _hw))
{
    UCSR1B = 0;
}

static void uart1_enabletxirq(struct SerialHardware *_hw)
{
    struct AvrSerial *hw = (struct AvrSerial *)_hw;

    /*
     * WARNING: racy code here!  The tx interrupt
     * sets hw->sending to false when it runs with
     * an empty fifo.  The order of the statements
     * in the if-block matters.
     */
    if (!hw->sending)
    {
        hw->sending = true;
        SER_UART1_BUS_TXBEGIN;
    }
}

static void uart1_setbaudrate(UNUSED_ARG(struct SerialHardware *, _hw), unsigned long rate)
{
    uint16_t period = uart_period(rate);
    UBRR1H = period >> 8;
    UBRR1L = period;
}

static void uart1_setparity(UNUSED_ARG(struct SerialHardware *, _hw), int parity)
{
    UCSR1C = (UCSR1C & ~(BV(UPM11) | BV(UPM10))) | ((parity) << UPM10);
}

#endif // AVR_HAS_UART1

#if AVR_HAS_UART2

static void uart2_init(
    UNUSED_ARG(struct SerialHardware *, _hw),
    UNUSED_ARG(struct Serial *, ser))
{
    SER_UART2_BUS_TXINIT;
    RTS_ON;
    SER_STROBE_INIT;
}

static void uart2_cleanup(UNUSED_ARG(struct SerialHardware *, _hw))
{
    UCSR2B = 0;
}

static void uart2_enabletxirq(struct SerialHardware *_hw)
{
    struct AvrSerial *hw = (struct AvrSerial *)_hw;

    /*
     * WARNING: racy code here!  The tx interrupt
     * sets hw->sending to false when it runs with
     * an empty fifo.  The order of the statements
     * in the if-block matters.
     */
    if (!hw->sending)
    {
        hw->sending = true;
        SER_UART2_BUS_TXBEGIN;
    }
}

static void uart2_setbaudrate(UNUSED_ARG(struct SerialHardware *, _hw), unsigned long rate)
{
    uint16_t period = uart_period(rate);
    UBRR2H = period >> 8;
    UBRR2L = period;
}

static void uart2_setparity(UNUSED_ARG(struct SerialHardware *, _hw), int parity)
{
    UCSR2C = (UCSR2C & ~(BV(UPM21) | BV(UPM20))) | ((parity) << UPM20);
}

#endif // AVR_HAS_UART2

#if AVR_HAS_UART3

static void uart3_init(
    UNUSED_ARG(struct SerialHardware *, _hw),
    UNUSED_ARG(struct Serial *, ser))
{
    SER_UART3_BUS_TXINIT;
    RTS_ON;
    SER_STROBE_INIT;
}

static void uart3_cleanup(UNUSED_ARG(struct SerialHardware *, _hw))
{
    UCSR3B = 0;
}

static void uart3_enabletxirq(struct SerialHardware *_hw)
{
    struct AvrSerial *hw = (struct AvrSerial *)_hw;

    /*
     * WARNING: racy code here!  The tx interrupt
     * sets hw->sending to false when it runs with
     * an empty fifo.  The order of the statements
     * in the if-block matters.
     */
    if (!hw->sending)
    {
        hw->sending = true;
        SER_UART3_BUS_TXBEGIN;
    }
}

static void uart3_setbaudrate(UNUSED_ARG(struct SerialHardware *, _hw), unsigned long rate)
{
    uint16_t period = uart_period(rate);
    UBRR3H = period >> 8;
    UBRR3L = period;
}

static void uart3_setparity(UNUSED_ARG(struct SerialHardware *, _hw), int parity)
{
    UCSR3C = (UCSR3C & ~(BV(UPM31) | BV(UPM30))) | ((parity) << UPM30);
}

#endif // AVR_HAS_UART3


static void spi_init(UNUSED_ARG(struct SerialHardware *, _hw), UNUSED_ARG(struct Serial *, ser))
{
    /*
     * Set MOSI and SCK ports out, MISO in.
     *
     * The ATmega64/128 datasheet explicitly states that the input/output
     * state of the SPI pins is not significant, as when the SPI is
     * active the I/O port are overrided.
     * This is *blatantly FALSE*.
     *
     * Moreover, the MISO pin on the board_kc *must* be in high impedance
     * state even when the SPI is off, because the line is wired together
     * with the KBus serial RX, and the transmitter of the slave boards
     * would be unable to drive the line.
     */
    ATOMIC(SPI_DDR |= (BV(SPI_MOSI_BIT) | BV(SPI_SCK_BIT)));

    /*
     * If the SPI master mode is activated and the SS pin is in input and tied low,
     * the SPI hardware will automatically switch to slave mode!
     * For proper communication this pins should therefore be:
     * - as output
     * - as input but tied high forever!
     * This driver set the pin as output.
     */
    #warning FIXME:SPI SS pin set as output for proper operation, check schematics for possible conflicts.
    ATOMIC(SPI_DDR |= BV(SPI_SS_BIT));

    ATOMIC(SPI_DDR &= ~BV(SPI_MISO_BIT));
    /* Enable SPI, IRQ on, Master */
    SPCR = BV(SPE) | BV(SPIE) | BV(MSTR);

    /* Set data order */
    #if CONFIG_SPI_DATA_ORDER == SER_LSB_FIRST
        SPCR |= BV(DORD);
    #endif

    /* Set SPI clock rate */
    #if CONFIG_SPI_CLOCK_DIV == 128
        SPCR |= (BV(SPR1) | BV(SPR0));
    #elif (CONFIG_SPI_CLOCK_DIV == 64 || CONFIG_SPI_CLOCK_DIV == 32)
        SPCR |= BV(SPR1);
    #elif (CONFIG_SPI_CLOCK_DIV == 16 || CONFIG_SPI_CLOCK_DIV == 8)
        SPCR |= BV(SPR0);
    #elif (CONFIG_SPI_CLOCK_DIV == 4 || CONFIG_SPI_CLOCK_DIV == 2)
        // SPR0 & SDPR1 both at 0
    #else
        #error Unsupported SPI clock division factor.
    #endif

    /* Set SPI2X bit (spi double frequency) */
    #if (CONFIG_SPI_CLOCK_DIV == 128 || CONFIG_SPI_CLOCK_DIV == 64 \
      || CONFIG_SPI_CLOCK_DIV == 16 || CONFIG_SPI_CLOCK_DIV == 4)
        SPSR &= ~BV(SPI2X);
    #elif (CONFIG_SPI_CLOCK_DIV == 32 || CONFIG_SPI_CLOCK_DIV == 8 || CONFIG_SPI_CLOCK_DIV == 2)
        SPSR |= BV(SPI2X);
    #else
        #error Unsupported SPI clock division factor.
    #endif

    /* Set clock polarity */
    #if CONFIG_SPI_CLOCK_POL == 1
        SPCR |= BV(CPOL);
    #endif

    /* Set clock phase */
    #if CONFIG_SPI_CLOCK_PHASE == 1
        SPCR |= BV(CPHA);
    #endif
    SER_SPI_BUS_TXINIT;

    SER_STROBE_INIT;
}

static void spi_cleanup(UNUSED_ARG(struct SerialHardware *, _hw))
{
    SPCR = 0;

    SER_SPI_BUS_TXCLOSE;

    /* Set all pins as inputs */
    ATOMIC(SPI_DDR &= ~(BV(SPI_MISO_BIT) | BV(SPI_MOSI_BIT) | BV(SPI_SCK_BIT) | BV(SPI_SS_BIT)));
}

static void spi_starttx(struct SerialHardware *_hw)
{
    struct AvrSerial *hw = (struct AvrSerial *)_hw;

    cpu_flags_t flags;
    IRQ_SAVE_DISABLE(flags);

    /* Send data only if the SPI is not already transmitting */
    if (!hw->sending && !fifo_isempty(&ser_handles[SER_SPI]->txfifo))
    {
        hw->sending = true;
        SPDR = fifo_pop(&ser_handles[SER_SPI]->txfifo);
    }

    IRQ_RESTORE(flags);
}

static void spi_setbaudrate(
    UNUSED_ARG(struct SerialHardware *, _hw),
    UNUSED_ARG(unsigned long, rate))
{
    // nop
}

static void spi_setparity(UNUSED_ARG(struct SerialHardware *, _hw), UNUSED_ARG(int, parity))
{
    // nop
}

static bool tx_sending(struct SerialHardware* _hw)
{
    struct AvrSerial *hw = (struct AvrSerial *)_hw;
    return hw->sending;
}



// FIXME: move into compiler.h?  Ditch?
#if COMPILER_C99
    #define C99INIT(name,val) .name = val
#elif defined(__GNUC__)
    #define C99INIT(name,val) name: val
#else
    #warning No designated initializers, double check your code
    #define C99INIT(name,val) (val)
#endif

/*
 * High-level interface data structures
 */
static const struct SerialHardwareVT UART0_VT =
{
    C99INIT(init, uart0_init),
    C99INIT(cleanup, uart0_cleanup),
    C99INIT(setBaudrate, uart0_setbaudrate),
    C99INIT(setParity, uart0_setparity),
    C99INIT(txStart, uart0_enabletxirq),
    C99INIT(txSending, tx_sending),
};

#if AVR_HAS_UART1
static const struct SerialHardwareVT UART1_VT =
{
    C99INIT(init, uart1_init),
    C99INIT(cleanup, uart1_cleanup),
    C99INIT(setBaudrate, uart1_setbaudrate),
    C99INIT(setParity, uart1_setparity),
    C99INIT(txStart, uart1_enabletxirq),
    C99INIT(txSending, tx_sending),
};
#endif // AVR_HAS_UART1

#if AVR_HAS_UART2
static const struct SerialHardwareVT UART2_VT =
{
    C99INIT(init, uart2_init),
    C99INIT(cleanup, uart2_cleanup),
    C99INIT(setBaudrate, uart2_setbaudrate),
    C99INIT(setParity, uart2_setparity),
    C99INIT(txStart, uart2_enabletxirq),
    C99INIT(txSending, tx_sending),
};
#endif // AVR_HAS_UART2

#if AVR_HAS_UART3
static const struct SerialHardwareVT UART3_VT =
{
    C99INIT(init, uart3_init),
    C99INIT(cleanup, uart3_cleanup),
    C99INIT(setBaudrate, uart3_setbaudrate),
    C99INIT(setParity, uart3_setparity),
    C99INIT(txStart, uart3_enabletxirq),
    C99INIT(txSending, tx_sending),
};
#endif // AVR_HAS_UART3

static const struct SerialHardwareVT SPI_VT =
{
    C99INIT(init, spi_init),
    C99INIT(cleanup, spi_cleanup),
    C99INIT(setBaudrate, spi_setbaudrate),
    C99INIT(setParity, spi_setparity),
    C99INIT(txStart, spi_starttx),
    C99INIT(txSending, tx_sending),
};

static struct AvrSerial UARTDescs[SER_CNT] =
{
    {
        C99INIT(hw, ) {
            C99INIT(table, &UART0_VT),
            C99INIT(txbuffer, uart0_txbuffer),
            C99INIT(rxbuffer, uart0_rxbuffer),
            C99INIT(txbuffer_size, sizeof(uart0_txbuffer)),
            C99INIT(rxbuffer_size, sizeof(uart0_rxbuffer)),
        },
        C99INIT(sending, false),
    },
#if AVR_HAS_UART1
    {
        C99INIT(hw, ) {
            C99INIT(table, &UART1_VT),
            C99INIT(txbuffer, uart1_txbuffer),
            C99INIT(rxbuffer, uart1_rxbuffer),
            C99INIT(txbuffer_size, sizeof(uart1_txbuffer)),
            C99INIT(rxbuffer_size, sizeof(uart1_rxbuffer)),
        },
        C99INIT(sending, false),
    },
#endif
#if AVR_HAS_UART2
    {
        C99INIT(hw, ) {
            C99INIT(table, &UART2_VT),
            C99INIT(txbuffer, uart2_txbuffer),
            C99INIT(rxbuffer, uart2_rxbuffer),
            C99INIT(txbuffer_size, sizeof(uart2_txbuffer)),
            C99INIT(rxbuffer_size, sizeof(uart2_rxbuffer)),
        },
        C99INIT(sending, false),
    },
#endif
#if AVR_HAS_UART3
    {
        C99INIT(hw, ) {
            C99INIT(table, &UART3_VT),
            C99INIT(txbuffer, uart3_txbuffer),
            C99INIT(rxbuffer, uart3_rxbuffer),
            C99INIT(txbuffer_size, sizeof(uart3_txbuffer)),
            C99INIT(rxbuffer_size, sizeof(uart3_rxbuffer)),
        },
        C99INIT(sending, false),
    },
#endif
    {
        C99INIT(hw, ) {
            C99INIT(table, &SPI_VT),
            C99INIT(txbuffer, spi_txbuffer),
            C99INIT(rxbuffer, spi_rxbuffer),
            C99INIT(txbuffer_size, sizeof(spi_txbuffer)),
            C99INIT(rxbuffer_size, sizeof(spi_rxbuffer)),
        },
        C99INIT(sending, false),
    }
};

struct SerialHardware *ser_hw_getdesc(int unit)
{
    ASSERT(unit < SER_CNT);
    return &UARTDescs[unit].hw;
}


/*
 * Interrupt handlers
 */

#if CONFIG_SER_HWHANDSHAKE

DECLARE_ISR(SIG_CTS)
{
    // Re-enable UDR empty interrupt and TX, then disable CTS interrupt
    UCSR0B = BV(BIT_RXCIE0) | BV(BIT_UDRIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0);
    EIMSK &= ~EIMSKF_CTS;
}

#endif // CONFIG_SER_HWHANDSHAKE


DECLARE_ISR(USART0_UDRE_vect)
{
    SER_STROBE_ON;

    struct FIFOBuffer * const txfifo = &ser_handles[SER_UART0]->txfifo;

    if (fifo_isempty(txfifo))
    {
        SER_UART0_BUS_TXEND;
#ifndef SER_UART0_BUS_TXOFF
        UARTDescs[SER_UART0].sending = false;
#endif
    }
#if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA103
    else if (!IS_CTS_ON)
    {
        // Disable rx interrupt and tx, enable CTS interrupt
        // UNTESTED
        UCSR0B = BV(BIT_RXCIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0);
        EIFR |= EIMSKF_CTS;
        EIMSK |= EIMSKF_CTS;
    }
#endif
    else
    {
        char c = fifo_pop(txfifo);
        SER_UART0_BUS_TXCHAR(c);
    }

    SER_STROBE_OFF;
}

#ifdef SER_UART0_BUS_TXOFF

DECLARE_ISR(USART0_TX_vect)
{
    SER_STROBE_ON;

    struct FIFOBuffer * const txfifo = &ser_handles[SER_UART0]->txfifo;
    if (fifo_isempty(txfifo))
    {
        SER_UART0_BUS_TXOFF;
        UARTDescs[SER_UART0].sending = false;
    }
    else
        UCSR0B = BV(BIT_RXCIE0) | BV(BIT_UDRIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0);

    SER_STROBE_OFF;
}
#endif /* SER_UART0_BUS_TXOFF */


#if AVR_HAS_UART1

DECLARE_ISR(USART1_UDRE_vect)
{
    SER_STROBE_ON;

    struct FIFOBuffer * const txfifo = &ser_handles[SER_UART1]->txfifo;

    if (fifo_isempty(txfifo))
    {
        SER_UART1_BUS_TXEND;
#ifndef SER_UART1_BUS_TXOFF
        UARTDescs[SER_UART1].sending = false;
#endif
    }
#if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA103
    else if (!IS_CTS_ON)
    {
        // Disable rx interrupt and tx, enable CTS interrupt
        // UNTESTED
        UCSR1B = BV(BIT_RXCIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1);
        EIFR |= EIMSKF_CTS;
        EIMSK |= EIMSKF_CTS;
    }
#endif
    else
    {
        char c = fifo_pop(txfifo);
        SER_UART1_BUS_TXCHAR(c);
    }

    SER_STROBE_OFF;
}

#ifdef SER_UART1_BUS_TXOFF

DECLARE_ISR(USART1_TX_vect)
{
    SER_STROBE_ON;

    struct FIFOBuffer * const txfifo = &ser_handles[SER_UART1]->txfifo;
    if (fifo_isempty(txfifo))
    {
        SER_UART1_BUS_TXOFF;
        UARTDescs[SER_UART1].sending = false;
    }
    else
        UCSR1B = BV(BIT_RXCIE1) | BV(BIT_UDRIE1) | BV(BIT_RXEN1) | BV(BIT_TXEN1);

    SER_STROBE_OFF;
}
#endif /* SER_UART1_BUS_TXOFF */

#endif // AVR_HAS_UART1

#if AVR_HAS_UART2

DECLARE_ISR(USART2_UDRE_vect)
{
    SER_STROBE_ON;

    struct FIFOBuffer * const txfifo = &ser_handles[SER_UART2]->txfifo;

    if (fifo_isempty(txfifo))
    {
        SER_UART2_BUS_TXEND;
#ifndef SER_UART2_BUS_TXOFF
        UARTDescs[SER_UART2].sending = false;
#endif
    }
    else
    {
        char c = fifo_pop(txfifo);
        SER_UART2_BUS_TXCHAR(c);
    }

    SER_STROBE_OFF;
}

#ifdef SER_UART2_BUS_TXOFF

DECLARE_ISR(USART2_TX_vect)
{
    SER_STROBE_ON;

    struct FIFOBuffer * const txfifo = &ser_handles[SER_UART2]->txfifo;
    if (fifo_isempty(txfifo))
    {
        SER_UART2_BUS_TXOFF;
        UARTDescs[SER_UART2].sending = false;
    }
    else
        UCSR2B = BV(BIT_RXCIE2) | BV(BIT_UDRIE2) | BV(BIT_RXEN2) | BV(BIT_TXEN2);

    SER_STROBE_OFF;
}
#endif /* SER_UART2_BUS_TXOFF */

#endif // AVR_HAS_UART2

#if AVR_HAS_UART3

DECLARE_ISR(USART3_UDRE_vect)
{
    SER_STROBE_ON;

    struct FIFOBuffer * const txfifo = &ser_handles[SER_UART3]->txfifo;

    if (fifo_isempty(txfifo))
    {
        SER_UART3_BUS_TXEND;
#ifndef SER_UART3_BUS_TXOFF
        UARTDescs[SER_UART3].sending = false;
#endif
    }
    else
    {
        char c = fifo_pop(txfifo);
        SER_UART3_BUS_TXCHAR(c);
    }

    SER_STROBE_OFF;
}

#ifdef SER_UART3_BUS_TXOFF

DECLARE_ISR(USART3_TX_vect)
{
    SER_STROBE_ON;

    struct FIFOBuffer * const txfifo = &ser_handles[SER_UART3]->txfifo;
    if (fifo_isempty(txfifo))
    {
        SER_UART3_BUS_TXOFF;
        UARTDescs[SER_UART3].sending = false;
    }
    else
        UCSR3B = BV(BIT_RXCIE3) | BV(BIT_UDRIE3) | BV(BIT_RXEN3) | BV(BIT_TXEN3);

    SER_STROBE_OFF;
}
#endif /* SER_UART3_BUS_TXOFF */

#endif // AVR_HAS_UART3


DECLARE_ISR(USART0_RX_vect)
{
    SER_STROBE_ON;

    /* Disable Recv complete IRQ */
    //UCSR0B &= ~BV(RXCIE);
    //IRQ_ENABLE;

    /* Should be read before UDR */
    ser_handles[SER_UART0]->status |= UCSR0A & (SERRF_RXSROVERRUN | SERRF_FRAMEERROR);

    /* To clear the RXC flag we must _always_ read the UDR even when we're
     * not going to accept the incoming data, otherwise a new interrupt
     * will occur once the handler terminates.
     */
    char c = UDR0;
    struct FIFOBuffer * const rxfifo = &ser_handles[SER_UART0]->rxfifo;

    if (fifo_isfull(rxfifo))
        ser_handles[SER_UART0]->status |= SERRF_RXFIFOOVERRUN;
    else
    {
        fifo_push(rxfifo, c);
#if CONFIG_SER_HWHANDSHAKE
        if (fifo_isfull(rxfifo))
            RTS_OFF;
#endif
    }

    /* Reenable receive complete int */
    //IRQ_DISABLE;
    //UCSR0B |= BV(RXCIE);

    SER_STROBE_OFF;
}


#if AVR_HAS_UART1

DECLARE_ISR(USART1_RX_vect)
{
    SER_STROBE_ON;

    /* Disable Recv complete IRQ */
    //UCSR1B &= ~BV(RXCIE);
    //IRQ_ENABLE;

    /* Should be read before UDR */
    ser_handles[SER_UART1]->status |= UCSR1A & (SERRF_RXSROVERRUN | SERRF_FRAMEERROR);

    /* To avoid an IRQ storm, we must _always_ read the UDR even when we're
     * not going to accept the incoming data
     */
    char c = UDR1;
    struct FIFOBuffer * const rxfifo = &ser_handles[SER_UART1]->rxfifo;
    //ASSERT_VALID_FIFO(rxfifo);

    if (UNLIKELY(fifo_isfull(rxfifo)))
        ser_handles[SER_UART1]->status |= SERRF_RXFIFOOVERRUN;
    else
    {
        fifo_push(rxfifo, c);
#if CONFIG_SER_HWHANDSHAKE
        if (fifo_isfull(rxfifo))
            RTS_OFF;
#endif
    }
    /* Re-enable receive complete int */
    //IRQ_DISABLE;
    //UCSR1B |= BV(RXCIE);

    SER_STROBE_OFF;
}

#endif // AVR_HAS_UART1

#if AVR_HAS_UART2

DECLARE_ISR(USART2_RX_vect)
{
    SER_STROBE_ON;

    /* Disable Recv complete IRQ */
    //UCSR1B &= ~BV(RXCIE);
    //IRQ_ENABLE;

    /* Should be read before UDR */
    ser_handles[SER_UART2]->status |= UCSR2A & (SERRF_RXSROVERRUN | SERRF_FRAMEERROR);

    /* To avoid an IRQ storm, we must _always_ read the UDR even when we're
     * not going to accept the incoming data
     */
    char c = UDR2;
    struct FIFOBuffer * const rxfifo = &ser_handles[SER_UART2]->rxfifo;
    //ASSERT_VALID_FIFO(rxfifo);

    if (UNLIKELY(fifo_isfull(rxfifo)))
        ser_handles[SER_UART2]->status |= SERRF_RXFIFOOVERRUN;
    else
    {
        fifo_push(rxfifo, c);
#if CONFIG_SER_HWHANDSHAKE
        if (fifo_isfull(rxfifo))
            RTS_OFF;
#endif
    }
    /* Re-enable receive complete int */
    //IRQ_DISABLE;
    //UCSR1B |= BV(RXCIE);

    SER_STROBE_OFF;
}

#endif // AVR_HAS_UART2

#if AVR_HAS_UART3

DECLARE_ISR(USART3_RX_vect)
{
    SER_STROBE_ON;

    /* Disable Recv complete IRQ */
    //UCSR1B &= ~BV(RXCIE);
    //IRQ_ENABLE;

    /* Should be read before UDR */
    ser_handles[SER_UART3]->status |= UCSR3A & (SERRF_RXSROVERRUN | SERRF_FRAMEERROR);

    /* To avoid an IRQ storm, we must _always_ read the UDR even when we're
     * not going to accept the incoming data
     */
    char c = UDR3;
    struct FIFOBuffer * const rxfifo = &ser_handles[SER_UART3]->rxfifo;
    //ASSERT_VALID_FIFO(rxfifo);

    if (UNLIKELY(fifo_isfull(rxfifo)))
        ser_handles[SER_UART3]->status |= SERRF_RXFIFOOVERRUN;
    else
    {
        fifo_push(rxfifo, c);
#if CONFIG_SER_HWHANDSHAKE
        if (fifo_isfull(rxfifo))
            RTS_OFF;
#endif
    }
    /* Re-enable receive complete int */
    //IRQ_DISABLE;
    //UCSR1B |= BV(RXCIE);

    SER_STROBE_OFF;
}

#endif // AVR_HAS_UART3


DECLARE_ISR(SPI_STC_vect)
{
    SER_STROBE_ON;

    /* Read incoming byte. */
    if (!fifo_isfull(&ser_handles[SER_SPI]->rxfifo))
        fifo_push(&ser_handles[SER_SPI]->rxfifo, SPDR);
    /*
     * FIXME
    else
        ser_handles[SER_SPI]->status |= SERRF_RXFIFOOVERRUN;
    */

    /* Send */
    if (!fifo_isempty(&ser_handles[SER_SPI]->txfifo))
        SPDR = fifo_pop(&ser_handles[SER_SPI]->txfifo);
    else
        UARTDescs[SER_SPI].sending = false;

    SER_STROBE_OFF;
}