xyControl  0.1
Quadrotor Flight Controller on AVR Basis
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xmem.c
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1 /*
2  * xmem.c
3  *
4  * Copyright (c) 2013, Thomas Buck <xythobuz@me.com>
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * - Redistributions of source code must retain the above copyright notice,
12  * this list of conditions and the following disclaimer.
13  *
14  * - Redistributions in binary form must reproduce the above copyright
15  * notice, this list of conditions and the following disclaimer in the
16  * documentation and/or other materials provided with the distribution.
17  *
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
19  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
20  * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
21  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
22  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
23  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
24  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
25  * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
26  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
27  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
28  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
29  */
30 #include <avr/io.h>
31 #include <stdint.h>
32 #include <stdlib.h>
33 
34 #include <xmem.h>
35 #include <config.h>
36 
47 uint8_t currentBank = 0;
49 extern void *__brkval;
50 extern void *__flp;
55 void saveState(uint8_t bank) {
56  states[bank].start = __malloc_heap_start;
57  states[bank].end = __malloc_heap_end;
58  states[bank].val = __brkval;
59  states[bank].fl = __flp;
60 }
61 
65 void restoreState(uint8_t bank) {
66  __malloc_heap_start = states[bank].start;
67  __malloc_heap_end = states[bank].end;
68  __brkval = states[bank].val;
69  __flp = states[bank].fl;
70 }
71 
72 void xmemInit(void) {
73  BANK0DDR |= (1 << BANK0PIN);
74  BANK1DDR |= (1 << BANK1PIN);
75  BANK2DDR |= (1 << BANK2PIN);
76  BANK0PORT &= ~(1 << BANK0PIN);
77  BANK1PORT &= ~(1 << BANK1PIN);
78  BANK2PORT &= ~(1 << BANK2PIN);
79 
80  XMCRB = 0; // Use full address space
81  XMCRA = (1 << SRW11) | (1 << SRW10); // 3 Wait cycles
82  XMCRA |= (1 << SRE); // Enable XMEM
83 
84  for (uint8_t i = 0; i < MEMBANKS; i++) {
85  saveState(i);
86  }
87 }
88 
89 void xmemSetBank(uint8_t bank) {
90  if (bank < MEMBANKS) {
92 
93  BANK0PORT &= ~(1 << BANK0PIN);
94  BANK1PORT &= ~(1 << BANK1PIN);
95  BANK2PORT &= ~(1 << BANK2PIN);
96  BANK0PORT |= ((bank & 0x01) << BANK0PIN);
97  BANK1PORT |= (((bank & 0x02) >> 1) << BANK1PIN);
98  BANK2PORT |= (((bank & 0x04) >> 2) << BANK2PIN);
99 
100  currentBank = bank;
101  restoreState(bank);
102  }
103 }
104 
105 uint8_t xmemGetBank(void) {
106  return currentBank;
107 }