cpu: atmega2560: Initial import

cpu/atmega2560/Makefile

@@ -0,0 +1,5 @@
+# define the module that is build
+MODULE = cpu
+# add a list of subdirectories, that should also be build
+DIRS = periph $(ATMEGA_COMMON)
+include $(RIOTBASE)/Makefile.base

cpu/atmega2560/Makefile.include

@@ -0,0 +1,28 @@
+
+# this CPU implementation is using the new core/CPU interface
+export CFLAGS += -DCOREIF_NG=1
+
+# tell the build system that the CPU depends on the atmega common files
+export USEMODULE += atmega_common
+
+# define path to atmega common module, which is needed for this CPU
+export ATMEGA_COMMON = $(RIOTCPU)/atmega_common/
+
+# define the linker script to use for this CPU
+#export LINKERSCRIPT = $(RIOTCPU)/$(CPU)/atmega2560_linkerscript.ld
+
+# include CPU specific includes
+export INCLUDES += -I$(RIOTCPU)/$(CPU)/include
+
+# explicitly tell the linker to link the syscalls and startup code.
+#   Without this the interrupt vectors will not be linked correctly!
+export UNDEF += $(BINDIR)cpu/startup.o
+
+# export the peripheral drivers to be linked into the final binary
+export USEMODULE += periph
+
+# the uart implementation uses ringbuffer and therefore needs lib
+export USEMODULE += lib
+
+# CPU depends on the atmega common module, so include it
+include $(ATMEGA_COMMON)Makefile.include

cpu/atmega2560/cpu.c

@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     cpu_atmega2560
+ * @{
+ *
+ * @file        cpu.c
+ * @brief       Implementation of the CPU initialization
+ *
+ * @author      Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ * @}
+ */
+
+#include "cpu.h"
+
+/**
+ * @brief Initialize the CPU, set IRQ priorities
+ */
+void cpu_init(void)
+{
+    /* Right now we need to do nothing here */
+    ;
+}

cpu/atmega2560/doc.txt

@@ -0,0 +1,10 @@
+/**
+ * @defgroup        cpu_atmega2560 Atmel ATmega2560
+ * @ingroup         cpu
+ * @brief           Implementation of Atmel's ATmega2560 MCU
+ */
+
+/**
+ * @defgroup        cpu_atmega2560_definitions Atmel ATmega2560 Definitions
+ * @ingroup         cpu_atmega2560
+ */

cpu/atmega2560/hwtimer_arch.c

@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     cpu_atmega2560
+ * @{
+ *
+ * @file        hwtimer_arch.c
+ * @brief       Implementation of the kernels hwtimer interface
+ *
+ * The hardware timer implementation uses the ATmega2560 build-in system timer as back-end.
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author      Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include "arch/hwtimer_arch.h"
+#include "board.h"
+#include "periph/timer.h"
+#include "thread.h"
+
+
+void irq_handler(int channel);
+void (*timeout_handler)(int);
+
+
+void hwtimer_arch_init(void (*handler)(int), uint32_t fcpu)
+{
+    timeout_handler = handler;
+    timer_init(HW_TIMER, 1, &irq_handler);
+}
+
+void hwtimer_arch_enable_interrupt(void)
+{
+    timer_irq_enable(HW_TIMER);
+}
+
+void hwtimer_arch_disable_interrupt(void)
+{
+    timer_irq_disable(HW_TIMER);
+}
+
+void hwtimer_arch_set(unsigned long offset, short timer)
+{
+    timer_set(HW_TIMER, timer, offset);
+}
+
+void hwtimer_arch_set_absolute(unsigned long value, short timer)
+{
+    timer_set_absolute(HW_TIMER, timer, value);
+}
+
+void hwtimer_arch_unset(short timer)
+{
+    timer_clear(HW_TIMER, timer);
+}
+
+unsigned long hwtimer_arch_now(void)
+{
+    return timer_read(HW_TIMER);
+}
+
+void irq_handler(int channel)
+{
+    timeout_handler((short)(channel));
+}

cpu/atmega2560/include/cpu-conf.h

@@ -0,0 +1,52 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @{
+ *
+ * @file
+ * @brief           Implementation specific CPU configuration options
+ *
+ * @author          Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author          Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ */
+
+#ifndef __CPU_CONF_H
+#define __CPU_CONF_H
+
+
+
+/**
+ * @name Kernel configuration
+ *
+ * Since printf seems to get memory allocated by the linker/avr-libc the stack
+ * size tested sucessfully even with pretty small stacks.k
+ * @{
+ */
+#define KERNEL_CONF_STACKSIZE_PRINTF    (128)
+
+#ifndef KERNEL_CONF_STACKSIZE_DEFAULT
+#define KERNEL_CONF_STACKSIZE_DEFAULT   (256)
+#endif
+
+#define KERNEL_CONF_STACKSIZE_IDLE      (128)
+/** @} */
+
+/**
+ * @name UART0 buffer size definition for compatibility reasons
+ *
+ * TODO: remove once the remodeling of the uart0 driver is done
+ * @{
+ */
+#ifndef UART0_BUFSIZE
+#define UART0_BUFSIZE                   (128)
+#endif
+/** @} */
+
+#endif /* __CPU_CONF_H */
+/** @} */

cpu/atmega2560/include/hwtimer_cpu.h

@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup         cpu_atmega2560
+ * @{
+ *
+ * @file
+ * @brief           CPU specific hwtimer configuration options
+ *
+ * @author          Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ */
+
+#ifndef __HWTIMER_CPU_H
+#define __HWTIMER_CPU_H
+
+/**
+ * @name Hardware timer configuration
+ * @{
+ */
+#define HWTIMER_MAXTIMERS   3           /**< the CPU implementation supports 3 HW timers */
+#define HWTIMER_SPEED       1000000     /**< the HW timer runs with 1MHz */
+#define HWTIMER_MAXTICKS    (0xFFFF)    /**< 16-bit timer */
+/** @} */
+
+#endif /* __HWTIMER_CPU_H */
+/** @} */

cpu/atmega2560/io_arch.c

@@ -0,0 +1,35 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     cpu_atmega2560
+ * @{
+ *
+ * @file        io_arch.c
+ * @brief       Implementation of the kernel's architecture dependent IO interface
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author      Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+
+#include "arch/io_arch.h"
+
+int io_arch_puts(char *data, int size)
+{
+    int i = 0;
+
+    for (; i < size; i++) {
+        putchar(data[i]);
+    }
+
+    return i;
+}

cpu/atmega2560/lpm_arch.c

@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     cpu_atmega2560
+ * @{
+ *
+ * @file        lpm_arch.c
+ * @brief       Implementation of the kernels power management interface
+ *
+ * @author      Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include "arch/lpm_arch.h"
+
+void lpm_arch_init(void)
+{
+    /* TODO */
+}
+
+enum lpm_mode lpm_arch_set(enum lpm_mode target)
+{
+    /* TODO */
+    return 0;
+}
+
+enum lpm_mode lpm_arch_get(void)
+{
+    /* TODO */
+    return 0;
+}
+
+void lpm_arch_awake(void)
+{
+    /* TODO */
+}
+
+void lpm_arch_begin_awake(void)
+{
+    /* TODO */
+}
+
+void lpm_arch_end_awake(void)
+{
+    /* TODO */
+}

cpu/atmega2560/periph/Makefile

@@ -0,0 +1,2 @@
+MODULE = periph
+include $(RIOTBASE)/Makefile.base

cpu/atmega2560/periph/gpio.c

@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     driver_periph
+ * @{
+ *
+ * @file        gpio.c
+ * @brief       Low-level GPIO driver implementation
+ *
+ * @author      Hauke Petersen <mail@haukepetersen.de>
+ *
+ * @}
+ */
+
+/*
+ * TODO: Implement GPIO interface
+ */
+
+#include "cpu.h"
+#include "periph/gpio.h"
+#include "periph_conf.h"
+
+typedef struct {
+    void (*cb)(void);
+} gpio_state_t;
+
+/*static gpio_state_t config[GPIO_NUMOF]; */
+
+
+
+int gpio_init_out(gpio_t dev, gpio_pp_t pushpull)
+{
+    return -1;
+}
+
+int gpio_init_in(gpio_t dev, gpio_pp_t pushpull)
+{
+    return -1;
+}
+
+int gpio_init_int(gpio_t dev, gpio_pp_t pushpull, gpio_flank_t flank, gpio_cb_t cb, void *arg)
+{
+    return -1;
+}
+
+int gpio_read(gpio_t dev)
+{
+    return -1;
+}
+
+void gpio_set(gpio_t dev)
+{
+}
+
+void  gpio_clear(gpio_t dev)
+{
+}
+
+void gpio_toggle(gpio_t dev)
+{
+}
+
+void gpio_write(gpio_t dev, int value)
+{
+}

cpu/atmega2560/periph/timer.c

@@ -0,0 +1,672 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     driver_periph
+ * @{
+ *
+ * @file        timer.c
+ * @brief       Low-level timer driver implementation for the ATmega2560 CPU
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author      Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+
+#include <avr/interrupt.h>
+
+#include "board.h"
+#include "cpu.h"
+
+#include "periph/timer.h"
+#include "periph_conf.h"
+
+static inline int __set_timer(tim_t dev,
+                              int channel,
+                              unsigned int timeout,
+                              unsigned int interval
+                             );
+
+#define IRQ_DISABLED 0x00
+
+typedef struct {
+    void (*cb)(int);
+    volatile uint8_t ctr_a;
+    volatile uint8_t ctr_b;
+    volatile uint8_t ctr_c;
+    uint8_t limit;
+    uint16_t timeout_a;
+    uint16_t timeout_b;
+    uint16_t timeout_c;
+} timer_conf_t;
+
+/**
+ * @brief Timer state memory
+ */
+timer_conf_t config[TIMER_NUMOF];
+
+/**
+ * @brief Setup the given timer
+ *
+ */
+int timer_init(tim_t dev, unsigned int ticks_per_us, void (*callback)(int))
+{
+    /* reject impossible ticks_per_us values */
+    if ((ticks_per_us > 16) && (ticks_per_us == 0)) {
+        return -1;
+    }
+
+    config[dev].limit = 16 / ticks_per_us;
+    config[dev].ctr_a = 0x00;
+    config[dev].ctr_b = 0x00;
+    config[dev].ctr_c = 0x00;
+
+    /* select the timer and enable the timer specific peripheral clocks */
+    switch (dev) {
+#if TIMER_0_EN
+
+        case TIMER_0:
+            TIMER0_COUNTER   = 0;
+            TIMER0_CONTROL_B |= TIMER0_FREQ_16MHZ;
+            break;
+#endif
+#if TIMER_1_EN
+
+        case TIMER_1:
+            TIMER1_COUNTER   = 0;
+            TIMER1_CONTROL_B |= TIMER1_FREQ_16MHZ;
+            break;
+#endif
+#if TIMER_2_EN
+
+        case TIMER_2:
+            TIMER2_COUNTER   = 0;
+            TIMER2_CONTROL_B |= TIMER2_FREQ_16MHZ;
+            break;
+#endif
+
+        case TIMER_UNDEFINED:
+        default:
+            return -1;
+    }
+
+    /* save callback */
+    config[dev].cb = callback;
+
+    return 0;
+}
+
+int timer_set(tim_t dev, int channel, unsigned int timeout)
+{
+    return __set_timer(dev, channel, timer_read(dev) + timeout, timeout);
+}
+
+int timer_set_absolute(tim_t dev, int channel, unsigned int timeout)
+{
+    return __set_timer(dev, channel, timeout, timeout);
+}
+
+int timer_clear(tim_t dev, int channel)
+{
+
+    switch (dev) {
+#if TIMER_0_DIS
+
+        case TIMER_0:
+            switch (channel) {
+                case 0:
+                    TIMER0_IRQ_FLAG_REG &= ~(1 << TIMER0_COMP_A_FLAG);
+                    config[dev].timeout_a = IRQ_DISABLED;
+                    break;
+
+                case 1:
+                    TIMER0_IRQ_FLAG_REG &= ~(1 << TIMER0_COMP_B_FLAG);
+                    config[dev].timeout_b = IRQ_DISABLED;
+                    break;
+
+                case 2:
+                    TIMER0_IRQ_FLAG_REG &= ~(1 << TIMER0_COMP_C_FLAG);
+                    config[dev].timeout_c = IRQ_DISABLED;
+                    break;
+
+                default:
+                    return -1;
+            }
+
+            break;
+#endif
+#if TIMER_1_DIS
+
+        case TIMER_1:
+            switch (channel) {
+                case 0:
+                    TIMER1_IRQ_FLAG_REG &= ~(1 << TIMER1_COMP_A_FLAG);
+                    config[dev].timeout_a = IRQ_DISABLED;
+                    break;
+
+                case 1:
+                    TIMER1_IRQ_FLAG_REG &= ~(1 << TIMER1_COMP_B_FLAG);
+                    config[dev].timeout_b = IRQ_DISABLED;
+                    break;
+
+                case 2:
+                    TIMER1_IRQ_FLAG_REG &= ~(1 << TIMER1_COMP_C_FLAG);
+                    config[dev].timeout_c = IRQ_DISABLED;
+                    break;
+
+                default:
+                    return -1;
+                    break;
+            }
+
+            break;
+#endif
+#if TIMER_2_DIS
+
+        case TIMER_2:
+            switch (channel) {
+                case 0:
+                    TIMER2_IRQ_FLAG_REG &= ~(1 << TIMER2_COMP_A_FLAG);
+                    config[dev].timeout_a = IRQ_DISABLED;
+                    break;
+
+                case 1:
+                    TIMER2_IRQ_FLAG_REG &= ~(1 << TIMER2_COMP_B_FLAG);
+                    config[dev].timeout_b = IRQ_DISABLED;
+                    break;
+
+                case 2:
+                    TIMER2_IRQ_FLAG_REG &= ~(1 << TIMER2_COMP_C_FLAG);
+                    config[dev].timeout_c = IRQ_DISABLED;
+                    break;
+
+                default:
+                    return -1;
+                    break;
+            }
+
+            break;
+#endif
+
+        case TIMER_UNDEFINED:
+        default:
+            return -1;
+    }
+
+    timer_irq_disable(dev);
+    return 1;
+}
+
+unsigned int timer_read(tim_t dev)
+{
+    uint16_t value;
+    /*
+     * Disabling interrupts globally because read from 16 Bit register can
+     * otherwise be messed up
+     */
+    disableIRQ();
+
+    switch (dev) {
+#if TIMER_0_EN
+
+        case TIMER_0:
+            value = TIMER0_COUNTER;
+            break;
+#endif
+#if TIMER_1_EN
+
+        case TIMER_1:
+            value = TIMER1_COUNTER;
+            break;
+#endif
+#if TIMER_2_EN
+
+        case TIMER_2:
+            value = TIMER2_COUNTER;
+            break;
+#endif
+
+        case TIMER_UNDEFINED:
+        default:
+            value = 0;
+            enableIRQ();
+    }
+
+    enableIRQ();
+    return value;
+}
+
+void timer_stop(tim_t dev)
+{
+    switch (dev) {
+#if TIMER_0_EN
+
+        case TIMER_0:
+            TIMER0_CONTROL_B = TIMER0_FREQ_DISABLE;
+            break;
+#endif
+#if TIMER_1_EN
+
+        case TIMER_1:
+            TIMER1_CONTROL_B = TIMER1_FREQ_DISABLE;
+            break;
+#endif
+#if TIMER_2_EN
+
+        case TIMER_2:
+            TIMER2_CONTROL_B = TIMER2_FREQ_DISABLE;
+            break;
+#endif
+
+        case TIMER_UNDEFINED:
+            break;
+    }
+}
+
+void timer_start(tim_t dev)
+{
+    switch (dev) {
+#if TIMER_0_EN
+
+        case TIMER_0:
+            TIMER0_CONTROL_B |= TIMER0_FREQ_16MHZ;
+            break;
+#endif
+#if TIMER_1_EN
+
+        case TIMER_1:
+            TIMER1_CONTROL_B |= TIMER1_FREQ_16MHZ;
+            break;
+#endif
+#if TIMER_2_EN
+
+        case TIMER_2:
+            TIMER1_CONTROL_B |= TIMER1_FREQ_16MHZ;
+            break;
+#endif
+
+        case TIMER_UNDEFINED:
+            break;
+    }
+}
+
+void timer_irq_enable(tim_t dev)
+{
+    switch (dev) {
+#if TIMER_0_EN
+
+        case TIMER_0:
+            if (config[dev].timeout_a != IRQ_DISABLED) {
+                TIMER0_IRQ_MASK_REG |= (1 << TIMER0_COMP_A_EN);
+            }
+
+            if (config[dev].timeout_b != IRQ_DISABLED) {
+                TIMER0_IRQ_MASK_REG |= (1 << TIMER0_COMP_B_EN);
+            }
+
+            if (config[dev].timeout_c != IRQ_DISABLED) {
+                TIMER0_IRQ_MASK_REG |= (1 << TIMER0_COMP_C_EN);
+            }
+
+            break;
+#endif
+#if TIMER_1_EN
+
+        case TIMER_1:
+            if (config[dev].timeout_a != IRQ_DISABLED) {
+                TIMER1_IRQ_MASK_REG |= (1 << TIMER1_COMP_A_EN);
+            }
+
+            if (config[dev].timeout_b != IRQ_DISABLED) {
+                TIMER1_IRQ_MASK_REG |= (1 << TIMER1_COMP_B_EN);
+            }
+
+            if (config[dev].timeout_c != IRQ_DISABLED) {
+                TIMER1_IRQ_MASK_REG |= (1 << TIMER1_COMP_C_EN);
+            }
+
+            break;
+#endif
+#if TIMER_2_EN
+
+        case TIMER_2:
+            if (config[dev].timeout_a != IRQ_DISABLED) {
+                TIMER2_IRQ_MASK_REG |= (1 << TIMER2_COMP_A_EN);
+            }
+
+            if (config[dev].timeout_b != IRQ_DISABLED) {
+                TIMER2_IRQ_MASK_REG |= (1 << TIMER2_COMP_B_EN);
+            }
+
+            if (config[dev].timeout_c != IRQ_DISABLED) {
+                TIMER2_IRQ_MASK_REG |= (1 << TIMER2_COMP_C_EN);
+            }
+
+            break;
+#endif
+
+        case TIMER_UNDEFINED:
+            break;
+    }
+
+    enableIRQ();
+}
+
+void timer_irq_disable(tim_t dev)
+{
+    switch (dev) {
+#if TIMER_0_EN
+
+        case TIMER_0:
+            if (config[dev].timeout_a == IRQ_DISABLED) {
+                TIMER0_IRQ_MASK_REG &= ~(1 << TIMER0_COMP_A_EN);
+            }
+
+            if (config[dev].timeout_b == IRQ_DISABLED) {
+                TIMER0_IRQ_MASK_REG &= ~(1 << TIMER0_COMP_B_EN);
+            }
+
+            if (config[dev].timeout_c == IRQ_DISABLED) {
+                TIMER0_IRQ_MASK_REG &= ~(1 << TIMER0_COMP_C_EN);
+            }
+
+            break;
+#endif
+#if TIMER_1_EN
+
+        case TIMER_1:
+            if (config[dev].timeout_a == IRQ_DISABLED) {
+                TIMER1_IRQ_MASK_REG &= ~(1 << TIMER1_COMP_A_EN);
+            }
+
+            if (config[dev].timeout_b == IRQ_DISABLED) {
+                TIMER1_IRQ_MASK_REG &= ~(1 << TIMER1_COMP_B_EN);
+            }
+
+            if (config[dev].timeout_c == IRQ_DISABLED) {
+                TIMER1_IRQ_MASK_REG &= ~(1 << TIMER1_COMP_C_EN);
+            }
+
+            break;
+#endif
+#if TIMER_2_EN
+
+        case TIMER_2:
+            if (config[dev].timeout_a == IRQ_DISABLED) {
+                TIMER2_IRQ_MASK_REG &= ~(1 << TIMER2_COMP_A_EN);
+            }
+
+            if (config[dev].timeout_b == IRQ_DISABLED) {
+                TIMER2_IRQ_MASK_REG &= ~(1 << TIMER2_COMP_B_EN);
+            }
+
+            if (config[dev].timeout_c == IRQ_DISABLED) {
+                TIMER2_IRQ_MASK_REG &= ~(1 << TIMER2_COMP_C_EN);
+            }
+
+            break;
+#endif
+
+        case TIMER_UNDEFINED:
+            break;
+    }
+}
+
+void timer_reset(tim_t dev)
+{
+    switch (dev) {
+#if TIMER_0_EN
+
+        case TIMER_0:
+            TIMER0_COUNTER = 0;
+            break;
+#endif
+#if TIMER_1_EN
+
+        case TIMER_1:
+            TIMER1_COUNTER = 0;
+            break;
+#endif
+#if TIMER_2_EN
+
+        case TIMER_2:
+            TIMER2_COUNTER = 0;
+            break;
+#endif
+
+        case TIMER_UNDEFINED:
+            break;
+    }
+}
+
+inline int __set_timer(tim_t dev, int channel, unsigned int timeout, unsigned int interval)
+{
+    /*
+     * Disabling interrupts globally because write to 16 Bit register can
+     * otherwise be messed up
+     */
+    disableIRQ();
+
+    switch (dev) {
+#if TIMER_0_EN
+
+        case TIMER_0:
+            switch (channel) {
+                case 0:
+                    TIMER0_COMP_A = (uint16_t) timeout * config[dev].limit;
+                    config[dev].timeout_a = interval;
+                    break;
+
+                case 1:
+                    TIMER0_COMP_B = (uint16_t) timeout * config[dev].limit;
+                    config[dev].timeout_b = interval;
+                    break;
+
+                case 2:
+                    TIMER0_COMP_C = (uint16_t) timeout * config[dev].limit;
+                    config[dev].timeout_c = interval;
+                    break;
+
+                default:
+                    enableIRQ();
+                    return -1;
+            }
+
+            break;
+#endif
+#if TIMER_1_EN
+
+        case TIMER_1:
+            switch (channel) {
+                case 0:
+                    TIMER1_COMP_A = (uint16_t) timeout * config[dev].limit;
+                    config[dev].timeout_a = interval;
+                    break;
+
+                case 1:
+                    TIMER1_COMP_B = (uint16_t) timeout * config[dev].limit;
+                    config[dev].timeout_b = interval;
+                    break;
+
+                case 2:
+                    TIMER1_COMP_C = (uint16_t) timeout * config[dev].limit;
+                    config[dev].timeout_c = interval;
+                    break;
+
+                default:
+                    enableIRQ();
+                    return -1;
+            }
+
+            break;
+#endif
+#if TIMER_2_EN
+
+        case TIMER_2:
+            switch (channel) {
+                case 0:
+                    TIMER2_COMP_A = (uint16_t) timeout * config[dev].limit;
+                    config[dev].timeout_a = interval;
+                    break;
+
+                case 1:
+                    TIMER2_COMP_B = (uint16_t) timeout * config[dev].limit;
+                    config[dev].timeout_b = interval;
+                    break;
+
+                case 2:
+                    TIMER2_COMP_C = (uint16_t) timeout * config[dev].limit;
+                    config[dev].timeout_c = interval;
+                    break;
+
+                default:
+                    enableIRQ();
+                    return -1;
+            }
+
+            break;
+#endif
+
+        case TIMER_UNDEFINED:
+        default:
+            enableIRQ();
+            return -1;
+    }
+
+    /* enable interrupts for given timer */
+    timer_irq_enable(dev);
+    enableIRQ();
+
+    return 1;
+}
+#if TIMER_0_EN
+ISR(TIMER0_COMPA_ISR, ISR_BLOCK)
+{
+    config[TIMER_0].ctr_a++;
+
+    if (config[TIMER_0].ctr_a >= config[TIMER_0].limit) {
+        config[TIMER_0].limit = 0;
+        config[TIMER_0].cb(0);
+        TIMER0_COMP_A = TIMER0_COMP_A + config[TIMER_0].timeout_a * config[TIMER_0].limit;
+    }
+}
+ISR(TIMER0_COMPB_ISR, ISR_BLOCK)
+{
+    config[TIMER_0].ctr_b++;
+
+    if (config[TIMER_0].ctr_b >= config[TIMER_0].limit) {
+        config[TIMER_0].limit = 0;
+        config[TIMER_0].cb(1);
+        TIMER0_COMP_B = TIMER0_COMP_B + config[TIMER_0].timeout_b * config[TIMER_0].limit;
+    }
+}
+ISR(TIMER0_COMPC_ISR, ISR_BLOCK)
+{
+    config[TIMER_0].ctr_c++;
+
+    if (config[TIMER_0].ctr_c >= config[TIMER_0].limit) {
+        config[TIMER_0].limit = 0;
+        config[TIMER_0].cb(2);
+        TIMER0_COMP_C = TIMER0_COMP_C + config[TIMER_0].timeout_c * config[TIMER_0].limit;
+    }
+}
+#endif /* TIMER_0_EN */
+
+#if TIMER_1_EN
+ISR(TIMER1_COMPA_ISR, ISR_BLOCK)
+{
+    config[TIMER_1].ctr_a++;
+
+    if (config[TIMER_1].ctr_a >= config[TIMER_1].limit) {
+        config[TIMER_1].limit = 0;
+        config[TIMER_1].cb(0);
+        TIMER1_COMP_A = TIMER1_COMP_A + config[TIMER_1].timeout_a * config[TIMER_1].limit;
+    }
+
+    if (sched_context_switch_request) {
+        thread_yield();
+    }
+}
+ISR(TIMER1_COMPB_ISR, ISR_BLOCK)
+{
+    config[TIMER_1].ctr_b++;
+
+    if (config[TIMER_1].ctr_b >= config[TIMER_1].limit) {
+        config[TIMER_1].limit = 0;
+        config[TIMER_1].cb(1);
+        TIMER1_COMP_B = TIMER1_COMP_B + config[TIMER_1].timeout_b * config[TIMER_1].limit;
+    }
+
+    if (sched_context_switch_request) {
+        thread_yield();
+    }
+}
+ISR(TIMER1_COMPC_ISR, ISR_BLOCK)
+{
+    config[TIMER_1].ctr_c++;
+
+    if (config[TIMER_1].ctr_c >= config[TIMER_1].limit) {
+        config[TIMER_1].limit = 0;
+        config[TIMER_1].cb(2);
+        TIMER1_COMP_C = TIMER1_COMP_C + config[TIMER_1].timeout_c * config[TIMER_1].limit;
+    }
+
+    if (sched_context_switch_request) {
+        thread_yield();
+    }
+}
+#endif /* TIMER_1_EN */
+
+#if TIMER_2_EN
+ISR(TIMER2_COMPA_ISR, ISR_BLOCK)
+{
+    config[TIMER_2].ctr_a++;
+
+    if (config[TIMER_2].ctr_a >= config[TIMER_2].limit) {
+        config[TIMER_2].limit = 0;
+        config[TIMER_2].cb(0);
+        TIMER2_COMP_A = TIMER2_COMP_A + config[TIMER_2].timeout_a * config[TIMER_2].limit;
+    }
+
+    if (sched_context_switch_request) {
+        thread_yield();
+    }
+}
+ISR(TIMER2_COMPB_ISR, ISR_BLOCK)
+{
+    config[TIMER_2].ctr_b++;
+
+    if (config[TIMER_2].ctr_b >= config[TIMER_2].limit) {
+        config[TIMER_2].limit = 0;
+        config[TIMER_2].cb(1);
+        TIMER2_COMP_B = TIMER2_COMP_B + config[TIMER_2].timeout_b * config[TIMER_2].limit;
+    }
+
+    if (sched_context_switch_request) {
+        thread_yield();
+    }
+}
+ISR(TIMER2_COMPC_ISR, ISR_BLOCK)
+{
+    config[TIMER_2].ctr_c++;
+
+    if (config[TIMER_2].ctr_c >= config[TIMER_2].limit) {
+        config[TIMER_2].limit = 0;
+        config[TIMER_2].cb(2);
+        TIMER2_COMP_C = TIMER2_COMP_C + config[TIMER_2].timeout_c * config[TIMER_2].limit;
+    }
+
+    if (sched_context_switch_request) {
+        thread_yield();
+    }
+}
+#endif /* TIMER_2_EN */

cpu/atmega2560/periph/uart.c

@@ -0,0 +1,317 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     driver_periph
+ * @{
+ *
+ * @file        uart.c
+ * @brief       Low-level UART driver implementation
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author      Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include "board.h"
+#include "cpu.h"
+#include "thread.h"
+#include "sched.h"
+
+#include "periph/uart.h"
+#include "periph_conf.h"
+
+
+/**
+ * @brief Each UART device has to store two callbacks.
+ */
+typedef struct {
+    uart_rx_cb_t rx_cb;
+    uart_tx_cb_t tx_cb;
+    void *arg;
+} uart_conf_t;
+
+/**
+ * @brief Allocate memory to store the callback functions.
+ */
+static uart_conf_t config[UART_NUMOF];
+
+int uart_init(uart_t uart, uint32_t baudrate, uart_rx_cb_t rx_cb, uart_tx_cb_t tx_cb, void *arg)
+{
+    /* initialize basic functionality */
+    int res = uart_init_blocking(uart, baudrate);
+
+    if (res != 0) {
+        return res;
+    }
+
+    /* register callbacks */
+    config[uart].rx_cb = rx_cb;
+    config[uart].tx_cb = tx_cb;
+    config[uart].arg = arg;
+
+    /* configure interrupts and enable RX interrupt */
+    switch (uart) {
+#if UART_0_EN
+
+        case UART_0:
+            UART0_RX_IRQ_EN;
+            break;
+#endif /* UART_0_EN */
+#if UART_1_EN
+
+        case UART_1:
+            UART1_RX_IRQ_EN;
+            break;
+#endif /* UART_1_EN */
+#if UART_2_EN
+
+        case UART_2:
+            UART2_RX_IRQ_EN;
+            break;
+#endif /* UART_2_EN */
+#if UART_3_EN
+
+        case UART_3:
+            UART3_RX_IRQ_EN;
+            break;
+#endif /* UART_3_EN */
+    }
+
+    return 0;
+}
+
+int uart_init_blocking(uart_t uart, uint32_t baudrate)
+{
+    uint16_t clock_divider = F_CPU / (16 * baudrate);
+
+    switch (uart) {
+#if UART_0_EN
+
+        case UART_0:
+            /* enable RX and TX */
+            UART0_RX_TX_EN;
+            /* use 8 Bit characters */
+            UART0_SET_8BIT_SIZE;
+
+            /* set clock divider */
+            UART0_BAUD_RATE_L = clock_divider;
+            UART0_BAUD_RATE_H = (clock_divider >> 8);
+            break;
+#endif /* UART_0 */
+#if UART_1_EN
+
+        case UART_1:
+            /* enable RX and TX */
+            UART1_RX_TX_EN;
+            /* use 8 Bit characters */
+            UART1_SET_8BIT_SIZE;
+
+            /* set clock divider */
+            UART1_BAUD_RATE_L = clock_divider;
+            UART1_BAUD_RATE_H = (clock_divider >> 8);
+            break;
+#endif /* UART_1 */
+#if UART_2_EN
+
+        case UART_2:
+            /* enable RX and TX */
+            UART2_RX_TX_EN;
+            /* use 8 Bit characters */
+            UART2_SET_8BIT_SIZE;
+
+            /* set clock divider */
+            UART2_BAUD_RATE_L = clock_divider;
+            UART2_BAUD_RATE_H = (clock_divider >> 8);
+            break;
+#endif /* UART_2 */
+#if UART_3_EN
+
+        case UART_3:
+            /* enable RX and TX */
+            UART3_RX_TX_EN;
+            /* use 8 Bit characters */
+            UART3_SET_8BIT_SIZE;
+
+            /* set clock divider */
+            UART3_BAUD_RATE_L = clock_divider;
+            UART3_BAUD_RATE_H = (clock_divider >> 8);
+            break;
+#endif /* UART_3 */
+    }
+
+    return 0;
+}
+
+void uart_tx_begin(uart_t uart)
+{
+
+}
+
+void uart_tx_end(uart_t uart)
+{
+
+}
+
+int uart_write(uart_t uart, char data)
+{
+    switch (uart) {
+#if UART_0_EN
+
+        case UART_0:
+            UART0_DATA_REGISTER = data;
+            break;
+#endif /* UART_0_EN */
+#if UART_1_EN
+
+        case UART_1:
+            UART1_DATA_REGISTER = data;
+            break;
+#endif /* UART_1_EN */
+#if UART_2_EN
+
+        case UART_2:
+            UART2_DATA_REGISTER = data;
+            break;
+#endif /* UART_2_EN */
+#if UART_3_EN
+
+        case UART_3:
+            UART3_DATA_REGISTER = data;
+            break;
+#endif /* UART_3_EN */
+    }
+
+    return 1;
+}
+
+int uart_read_blocking(uart_t uart, char *data)
+{
+    switch (uart) {
+#if UART_0_EN
+
+        case UART_0:
+            while (!UART0_RECEIVED_DATA);
+
+            *data = (char) UART0_DATA_REGISTER;
+            break;
+#endif /* UART_0_EN */
+#if UART_1_EN
+
+        case UART_1:
+            while (!UART1_RECEIVED_DATA);
+
+            *data = (char) UART1_DATA_REGISTER;
+            break;
+#endif /* UART_1_EN */
+#if UART_2_EN
+
+        case UART_2:
+            while (!UART2_RECEIVED_DATA);
+
+            *data = (char) UART2_DATA_REGISTER;
+            break;
+#endif /* UART_2_EN */
+#if UART_3_EN
+
+        case UART_3:
+            while (!UART3_RECEIVED_DATA);
+
+            *data = (char) UART3_DATA_REGISTER;
+            break;
+#endif /* UART_3_EN */
+    }
+
+    return 1;
+}
+
+int uart_write_blocking(uart_t uart, char data)
+{
+    switch (uart) {
+#if UART_0_EN
+
+        case UART_0:
+            while (!UART0_DTREG_EMPTY);
+
+            UART0_DATA_REGISTER = data;
+            break;
+#endif /* UART_0_EN */
+#if UART_1_EN
+
+        case UART_1:
+            while (!UART1_DTREG_EMPTY);
+
+            UART1_DATA_REGISTER = data;
+            break;
+#endif /* UART_1_EN */
+#if UART_2_EN
+
+        case UART_2:
+            while (!UART2_DTREG_EMPTY);
+
+            UART2_DATA_REGISTER = data;
+            break;
+#endif /* UART_2_EN */
+#if UART_3_EN
+
+        case UART_3:
+            while (!UART3_DTREG_EMPTY);
+
+            UART3_DATA_REGISTER = data;
+            break;
+#endif /* UART_3_EN */
+    }
+
+    return 1;
+}
+
+
+#if UART_0_EN
+ISR(USART0_RX_vect, ISR_BLOCK)
+{
+    config[UART_0].rx_cb(config[UART_0].arg, UART0_DATA_REGISTER);
+
+    if (sched_context_switch_request) {
+        thread_yield();
+    }
+}
+#endif /* UART_0_EN */
+
+#if UART_1_EN
+ISR(USART1_RX_vect, ISR_BLOCK)
+{
+    config[UART_1].rx_cb(config[UART_1].arg, UART0_DATA_REGISTER);
+
+    if (sched_context_switch_request) {
+        thread_yield();
+    }
+}
+#endif /* UART_1_EN */
+
+#if UART_1_EN
+ISR(USART2_RX_vect, ISR_BLOCK)
+{
+    config[UART_2].rx_cb(config[UART_2].arg, UART0_DATA_REGISTER);
+
+    if (sched_context_switch_request) {
+        thread_yield();
+    }
+}
+#endif /* UART_2_EN */
+
+#if UART_2_EN
+ISR(USART2_RX_vect, ISR_BLOCK)
+{
+    config[UART_3].rx_cb(config[UART_3].arg, UART0_DATA_REGISTER);
+
+    if (sched_context_switch_request) {
+        thread_yield();
+    }
+}
+#endif /* UART_3_EN */

cpu/atmega2560/reboot_arch.c

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     cpu_atmega2560
+ * @{
+ *
+ * @file        reboot_arch.c
+ * @brief       Implementation of the kernels reboot interface
+ *
+ * @author      Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+#include <avr/wdt.h>
+
+#include "arch/reboot_arch.h"
+#include "cpu.h"
+
+
+int reboot_arch(int mode)
+{
+    printf("Going into reboot, mode %i\n", mode);
+
+    /*
+     * Since the AVR doesn't support a real software reset, we set the Watchdog
+     * Timer on a 250ms timeout. Consider this a kludge.
+     */
+    wdt_enable(WDTO_250MS);
+
+
+    return 0;
+}

cpu/atmega2560/startup.c

@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2014 Freie Universität Berlin, Hinnerk van Bruinehsen
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     cpu_atmega2560
+ * @{
+ *
+ * @file        startup.c
+ * @brief       Startup code and interrupt vector definition
+ *
+ * @author     Hinnerk van Bruinehsen <h.v.bruinehsen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include <stdint.h>
+#include <avr/interrupt.h>
+#include <avr/io.h>
+
+/* For Catchall-Loop */
+#include "board.h"
+#include <util/delay.h>
+#include <stdio.h>
+
+
+/**
+ * @brief functions for initializing the board, std-lib and kernel
+ */
+extern void board_init(void);
+extern void kernel_init(void);
+extern void __libc_init_array(void);
+
+/**
+ * @brief This pair of functions hook circumvent the call to main
+ *
+ * avr-libc normally uses the .init9 section for a call to main. This call
+ * seems to be not replaceable without hacking inside the library. We
+ * circumvent the call to main by using section .init7 to call the function
+ * reset_handler which therefore is the real entry point and  section .init8
+ * which should never be reached but just in case jumps to exit.
+ * This way there should be no way to call main directly.
+ */
+void init7_ovr(void) __attribute__((naked)) __attribute__((section(".init7")));
+void init8_ovr(void) __attribute__((naked)) __attribute__((section(".init8")));
+
+
+void init7_ovr(void)
+{
+    asm("call reset_handler");
+}
+
+void init8_ovr(void)
+{
+    asm("jmp exit");
+}
+/**
+