ATmega128 support

ATmega/vendor/libraries/TimerOne/README.md

@@ -0,0 +1,33 @@
+#TimerOne Library
+
+Paul Stoffregen's modified TimerOne.  This version provides 2 main benefits:
+
+1: Optimized inline functions - much faster for the most common usage  
+2: Support for more boards (including ATTiny85 except for the PWM functionality)
+
+http://www.pjrc.com/teensy/td_libs_TimerOne.html
+
+https://github.com/PaulStoffregen/TimerOne
+
+Original code
+
+http://playground.arduino.cc/Code/Timer1
+
+Open Source License
+
+TimerOne is free software. You can redistribute it and/or modify it under
+the terms of Creative Commons Attribution 3.0 United States License.
+To view a copy of this license, visit
+
+http://creativecommons.org/licenses/by/3.0/us/
+
+Paul Stoffregen forked this version from an early copy of TimerOne/TimerThree
+which was licensed "Creative Commons Attribution 3.0" and has maintained
+the original "CC BY 3.0 US" license terms.
+
+Other, separately developed updates to TimerOne have been released by other
+authors under the GNU GPLv2 license.  Multiple copies of this library, bearing
+the same name but distributed under different license terms, is unfortunately
+confusing.  This copy, with nearly all the code redesigned as inline functions,
+is provided under the "CC BY 3.0 US" license terms.
+

ATmega/vendor/libraries/TimerOne/TimerOne.h

@@ -6,11 +6,12 @@
  *  Modified April 2012 by Paul Stoffregen - portable to other AVR chips, use inline functions
  *  Modified again, June 2014 by Paul Stoffregen - support Teensy 3.x & even more AVR chips
  *  Modified July 2017 by Stoyko Dimitrov - added support for ATTiny85 except for the PWM functionality
- *
+ *  Modified August 2024 by Nathan Cheek - added support for ATmega128
+ *  
  *
  *  This is free software. You can redistribute it and/or modify it under
- *  the terms of Creative Commons Attribution 3.0 United States License.
- *  To view a copy of this license, visit http://creativecommons.org/licenses/by/3.0/us/
+ *  the terms of Creative Commons Attribution 3.0 United States License. 
+ *  To view a copy of this license, visit http://creativecommons.org/licenses/by/3.0/us/ 
  *  or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California, 94105, USA.
  *
  */
@@ -52,7 +53,7 @@ class TimerOne
 	TIMSK |= _BV(OCIE1A);           //enable interrupt when OCR1A matches the timer value
 	setPeriod(microseconds);
     }
-    void setPeriod(unsigned long microseconds) __attribute__((always_inline)) {
+    void setPeriod(unsigned long microseconds) __attribute__((always_inline)) {		
 	const unsigned long cycles = microseconds * ratio;
 	if (cycles < TIMER1_RESOLUTION) {
 		clockSelectBits = _BV(CS10);
@@ -121,13 +122,13 @@ class TimerOne
 	OCR1C = pwmPeriod;
 	TCCR1 = _BV(CTC1) | clockSelectBits;
     }
-
+	
     //****************************
     //  Run Control
-    //****************************
+    //****************************	
     void start() __attribute__((always_inline)) {
 	TCCR1 = 0;
-	TCNT1 = 0;
+	TCNT1 = 0;		
 	resume();
     }
     void stop() __attribute__((always_inline)) {
@@ -139,13 +140,13 @@ class TimerOne
     void resume() __attribute__((always_inline)) {
 	TCCR1 = _BV(CTC1) | clockSelectBits;
     }
-
+	
     //****************************
     //  PWM outputs
     //****************************
 	//Not implemented yet for ATTiny85
 	//TO DO
-
+	
     //****************************
     //  Interrupt Function
     //****************************
@@ -168,21 +169,21 @@ class TimerOne
     static unsigned short pwmPeriod;
     static unsigned char clockSelectBits;
     static const byte ratio = (F_CPU)/ ( 1000000 );
-
+	
 #elif defined(__AVR__)
 
 #if defined (__AVR_ATmega8__) || defined (__AVR_ATmega128__)
   //in some io definitions for older microcontrollers TIMSK is used instead of TIMSK1
   #define TIMSK1 TIMSK
 #endif
-
+	
   public:
     //****************************
     //  Configuration
     //****************************
     void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) {
 	TCCR1B = _BV(WGM13);        // set mode as phase and frequency correct pwm, stop the timer
-	TCCR1A = 0;                 // clear control register A
+	TCCR1A = 0;                 // clear control register A 
 	setPeriod(microseconds);
     }
     void setPeriod(unsigned long microseconds) __attribute__((always_inline)) {
@@ -275,26 +276,25 @@ class TimerOne
     //****************************
     //  Interrupt Function
     //****************************
-
+	
     void attachInterrupt(void (*isr)()) __attribute__((always_inline)) {
 	isrCallback = isr;
-
 	#if defined(__AVR_ATmega128__)
-		TIMSK1 |= _BV(TOIE1);
-		TIMSK1 &= ~(_BV(TICIE1) | _BV(OCIE1A) | _BV(OCIE1B));
+	TIMSK1 |= _BV(TOIE1);
+	TIMSK1 &= ~(_BV(TICIE1) | _BV(OCIE1A) | _BV(OCIE1B));
 	#else
-		TIMSK1 = _BV(TOIE1);
+	TIMSK1 = _BV(TOIE1);
 	#endif
     }
     void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) {
 	if(microseconds > 0) setPeriod(microseconds);
 	attachInterrupt(isr);
     }
     void detachInterrupt() __attribute__((always_inline)) {
-    #if defined(__AVR_ATmega128__)
-		TIMSK1 &= ~(_BV(TOIE1) | _BV(TICIE1) | _BV(OCIE1A) | _BV(OCIE1B));
+	#if defined(__AVR_ATmega128__)
+	TIMSK1 &= ~(_BV(TOIE1) | _BV(TICIE1) | _BV(OCIE1A) | _BV(OCIE1B));
 	#else
-		TIMSK1 = 0;
+	TIMSK1 = 0;
 	#endif
     }
     static void (*isrCallback)();
@@ -339,10 +339,10 @@ class TimerOne
   // This is like a binary serch tree and no more than 3 conditions are evaluated.
   // I haven't checked if this becomes significantly longer ASM than the simple ladder.
   // It looks very similar to the ladder tho: same # of if's and else's
-
+ 
   /*
   // This code does not work properly in all cases :(
-  // https://github.com/PaulStoffregen/TimerOne/issues/17
+  // https://github.com/PaulStoffregen/TimerOne/issues/17 
   if (cycles < TIMER1_RESOLUTION * 16) {
     if (cycles < TIMER1_RESOLUTION * 4) {
       if (cycles < TIMER1_RESOLUTION) {

ATmega/vendor/libraries/TimerOne/config/known_16bit_timers.h

@@ -48,7 +48,7 @@
   #define TIMER3_A_PIN   32
   #define TIMER3_B_PIN   25
   #define TIMER3_ICP_PIN 32
-
+  
 // Teensy 3.5 / Teensy 3.6
 //
 #elif defined(__MK64FX512__) || defined(__MK66FX1M0__)
@@ -58,7 +58,7 @@
   #define TIMER3_A_PIN   29
   #define TIMER3_B_PIN   30
   #define TIMER3_ICP_PIN 29
-
+  
 // Teensy-LC
 //
 #elif defined(__MKL26Z64__)
@@ -121,7 +121,7 @@
   #define TIMER1_B_PIN   10
   #define TIMER1_ICP_PIN 8
   #define TIMER1_CLK_PIN 5
-#elif defined(__AVR_ATmega328PB__)
+#elif defined(__AVR_ATmega328PB__) 
   #define TIMER1_A_PIN   9
   #define TIMER1_B_PIN   10
   #define TIMER1_ICP_PIN 8
@@ -142,6 +142,13 @@
   #define TIMER1_B_PIN   11
   //#define TIMER1_ICP_PIN 8
   //#define TIMER1_CLK_PIN 5
+
+#elif defined (__AVR_ATmega128__)
+  #define TIMER1_A_PIN   13  // PB5
+  #define TIMER1_B_PIN   14  // PB6
+  #define TIMER1_C_PIN   15  // PB7
+  #define TIMER1_ICP_PIN 22  // PD4
+  #define TIMER1_CLK_PIN 24  // PD6
 
 // Sanguino
 //

ATmega/vendor/libraries/TimerOne/library.properties

@@ -1,6 +1,6 @@
 name=TimerOne
-version=1.1
-author=Stoyko Dimitrov, Jesse Tane, Jérôme Despatis, Michael Polli, Dan Clemens, Paul Stoffregen
+version=1.1.1
+author=Stoyko Dimitrov, Jesse Tane, Jérôme Despatis, Michael Polli, Dan Clemens, Nathan Cheek, Paul Stoffregen
 maintainer=Paul Stoffregen
 sentence=Use hardware Timer1 for finer PWM control and/or running an periodic interrupt function
 paragraph=

Arduino/Drv/HardwareRateDriver/CMakeLists.txt

@@ -20,7 +20,7 @@ elseif (IS_TEENSY)
     target_use_arduino_libraries("IntervalTimer")
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/HardwareRateDriverTeensy.cpp")
 elseif (IS_ATMEGA)
-    target_use_arduino_libraries("TimerOne")
+    list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/../../../ATmega/vendor/libraries/TimerOne/TimerOne.cpp")
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/HardwareRateDriverAvr.cpp")
 else()
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/HardwareRateDriverBasic.cpp")

Arduino/Drv/HardwareRateDriver/HardwareRateDriver.hpp

@@ -14,13 +14,13 @@ namespace Arduino {
         public:
             /**
              * Construct the rate driver. Takes in a name (if configured) and a
-             * rate at witch to drive.
+             * rate at which to drive.
              * \param const char* compName: name of the component (only supply if configured)
              */
             HardwareRateDriver(const char* compName);
 
             /**
-             * Configure theis component with the interval time in milliseconds.
+             * Configure this component with the interval time in milliseconds.
              * \param U32 intervalMs: interval to ping in milliseconds
              */
             void configure(U32 intervalMs);

Arduino/Drv/HardwareRateDriver/HardwareRateDriverAvr.cpp

@@ -1,7 +1,7 @@
 #include <Fw/Types/BasicTypes.hpp>
 #include <ATmega/Drv/HardwareRateDriver/HardwareRateDriver.hpp>
 #include <Arduino.h>
-#include <TimerOne.h>
+#include <ATmega/vendor/libraries/TimerOne/TimerOne.h>
 
 namespace Arduino {
 

cmake/toolchain/ATmega128.cmake

@@ -2,7 +2,7 @@
 # ATmega128.cmake:
 #
 # Arduino MegaCore ATmega128 support file. This file ensures that the
-# ATmega128 can be useds as a target for the CMake system's output. This
+# ATmega128 can be used as a target for the CMake system's output. This
 # sets the Arduino target to be the MegaCore ATmega128.
 ####
 
@@ -13,11 +13,13 @@ set(CMAKE_SYSTEM_PROCESSOR "avr")
 set(CMAKE_CROSSCOMPILING 1)
 set(FPRIME_PLATFORM "ArduinoFw")
 set(FPRIME_USE_BAREMETAL_SCHEDULER ON)
-# set(ARDUINO_LIBRARIES "SPI.h" "Wire.h" "TimerOne.h")
-# set(ARDUINO_BUILD_PROPERTIES "build.extra_flags=-DTIMER1_A_PIN=13 -DTIMSK1=TIMSK")
+set(ARDUINO_BUILD_PROPERTIES "build.extra_flags=-flto -mrelax -mcall-prologues")
+set(ARDUINO_BOARD_OPTIONS "clock=7_3728MHz_external")
+set(ARDUINO_LINKER_FLAGS "-Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff")
 
 set(ARDUINO_FQBN "MegaCore:avr:128")
 add_compile_options(-DATMEGA)
 # Run the base arduino setup which should detect settings!
 include("${CMAKE_CURRENT_LIST_DIR}/support/arduino-support.cmake")
-# include_directories("${CMAKE_CURRENT_LIST_DIR}/../../ATmega/vendor/libraries/TimerOne")
+# Use the ranlib wrapper which adds the appropriate --plugin option for the compiler
+SET(CMAKE_RANLIB "${CMAKE_CXX_COMPILER_RANLIB}")

cmake/toolchain/support/arduino-support.cmake

@@ -40,7 +40,7 @@ function(set_arduino_build_settings)
     # If it was not found, generate it
     if (NOT FOUND_LOCATION)
         set(FOUND_LOCATION "${ARDUINO_WRAPPER_JSON_OUTPUT}")
-        run_arduino_wrapper("-b" "${ARDUINO_FQBN}" "--properties" ${ARDUINO_BUILD_PROPERTIES} -j "${FOUND_LOCATION}")
+        run_arduino_wrapper("-b" "${ARDUINO_FQBN}" "--properties" ${ARDUINO_BUILD_PROPERTIES} "--board-options" ${ARDUINO_BOARD_OPTIONS} -j "${FOUND_LOCATION}")
     endif()
     file(READ "${FOUND_LOCATION}" WRAPPER_OUTPUT)
     # Compilers detection
@@ -64,6 +64,11 @@ function(set_arduino_build_settings)
         string(REPLACE ";" " " "${LIST_VARIABLE}" "${${LIST_VARIABLE}}")
     endforeach()
 
+    # Add additional linker flags if provided
+    if (ARDUINO_LINKER_FLAGS)
+        string(APPEND CMAKE_EXE_LINKER_FLAGS_INIT " ${ARDUINO_LINKER_FLAGS}")
+    endif()
+
     read_json(INCLUDES "${WRAPPER_OUTPUT}" includes CXX)
     include_directories(${INCLUDES})
     if (NOT TARGET fprime_arduino_libraries)
@@ -116,7 +121,9 @@ function(setup_arduino_libraries)
     prevent_prescan(${ARDUINO_LIBRARY_LIST_LOCAL} fprime_arduino_patcher fprime_arduino_loose_object_library)
     run_arduino_wrapper(
         -b "${ARDUINO_FQBN}"
-        --properties ${ARDUINO_BUILD_PROPERTIES} -j "${ARDUINO_WRAPPER_JSON_OUTPUT}"
+        --properties ${ARDUINO_BUILD_PROPERTIES}
+        --board-options ${ARDUINO_BOARD_OPTIONS}
+        -j "${ARDUINO_WRAPPER_JSON_OUTPUT}"
         --generate-code
         --libraries ${ARDUINO_LIBRARY_LIST_LOCAL}
     )
@@ -134,7 +141,7 @@ function(setup_arduino_libraries)
         set_property(TARGET fprime_arduino_patcher PROPERTY LINK_LIBRARIES ${TARGET_LIBRARIES})
     endif()
 
-    # Setup  library to capture loose object files from arduino-cli compile
+    # Setup library to capture loose object files from arduino-cli compile
     if (NOT TARGET fprime_arduino_loose_object_library)
         add_library(fprime_arduino_loose_object_library OBJECT IMPORTED GLOBAL)
         set_target_properties(fprime_arduino_loose_object_library PROPERTIES IMPORTED_OBJECTS "${OBJECTS}")

cmake/toolchain/support/arduino-wrapper.cmake

@@ -77,7 +77,7 @@ endfunction(run_arduino_wrapper)
 ###
 # Function `read_json`:
 #
-# A wrapper to help read JOSN data as native-cmake types.
+# A wrapper to help read JSON data as native-cmake types.
 #
 # Args:
 #  VARIABLE_NAME: variable to set