Merge pull request #11122 from ibr-cm/hartung/atmega-pin-change-interrupt-pseudomodules

cpu/atmega_common: pseudomodule-based pin change interrupt implementation
2019-08-02 13:41:37 +02:00 · 2019-08-02 13:41:37 +02:00 · e612d3d71b
commit e612d3d71b
parent c8e87e7854 c8d460eefe
32 changed files with 524 additions and 10 deletions
--- a/boards/arduino-mega2560/doc.txt
+++ b/boards/arduino-mega2560/doc.txt
@ -46,6 +46,11 @@ This should take care of everything!
 We use the open `avrdude` tool to write the new code into the ATmega2560's
 flash

+## Pin Change Interrupts
+
+More pins can be used for hardware interrupts using the Pin Change
+Interrupt feature. See @ref boards_common_atmega for details.
+
 ## State
 While there is basic support in RIOT, there are still some parts missing:
 * Timer implementation needs love (ideally simulate a 32bit timer by adding
--- a/boards/arduino-mega2560/include/atmega_pcint.h
+++ b/boards/arduino-mega2560/include/atmega_pcint.h
@ -0,0 +1,16 @@
+#ifndef ATMEGA_PCINT_H
+#define ATMEGA_PCINT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ATMEGA_PCINT_MAP_PCINT0 GPIO_PIN(PORT_B, 0), GPIO_PIN(PORT_B, 1), GPIO_PIN(PORT_B, 2), GPIO_PIN(PORT_B, 3), GPIO_PIN(PORT_B, 4), GPIO_PIN(PORT_B, 5), GPIO_PIN(PORT_B, 6), GPIO_PIN(PORT_B, 7)
+#define ATMEGA_PCINT_MAP_PCINT1 GPIO_PIN(PORT_E, 0), GPIO_PIN(PORT_J, 0), GPIO_PIN(PORT_J, 1), GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF
+#define ATMEGA_PCINT_MAP_PCINT2 GPIO_PIN(PORT_K, 0), GPIO_PIN(PORT_K, 1), GPIO_PIN(PORT_K, 2), GPIO_PIN(PORT_K, 3), GPIO_PIN(PORT_K, 4), GPIO_PIN(PORT_K, 5), GPIO_PIN(PORT_K, 6), GPIO_PIN(PORT_K, 7)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ATMEGA_PCINT_H */
--- a/boards/arduino-uno/doc.txt
+++ b/boards/arduino-uno/doc.txt
@ -37,6 +37,11 @@ This should take care of everything!
 We use the open `avrdude` tool to write the new code into the ATmega328p's
 flash

+## Pin Change Interrupts
+
+More pins can be used for hardware interrupts using the Pin Change
+Interrupt feature. See @ref boards_common_atmega for details.
+
 ##Caution
 Don't expect having a working network stack due to very limited resources.
 */
--- a/boards/common/atmega/doc.txt
+++ b/boards/common/atmega/doc.txt
@ -0,0 +1,17 @@
+/**
+@defgroup    boards_common_atmega ATmega common
+@ingroup     boards
+@brief       Shared files and configuration for ATmega-based boards
+
+### Pin Change Interrupts
+
+Pin Change Interrupts (PCINTs) can be enabled using pseudo modules. To provide
+a low-memory overhead implementation, the PCINTs are grouped into **banks**.
+Each banks corresponds to one PCINT on the ATmega (PCINT0, ..., PCINT3).
+
+To enable only a specific bank, simply add `USEMODULE += atmega_pcintN` to your
+Makefile. To enable all interrupts you can use `USEMODULE += atmega_pcint`.
+
+In case you want to add a new CPU, simply provide an `atmega_pcint.h` with your
+CPU and adapt your Makefile.dep and Makefile.featues files.
+ */
--- a/boards/jiminy-mega256rfr2/doc.txt
+++ b/boards/jiminy-mega256rfr2/doc.txt
@ -173,4 +173,9 @@ the clocks for all peripherals are enabled and set to the smallest divider (high
 power consumption. When the device should be put into deep sleep it is recommended to use the internal RC oscillator
 as system clock source.

+## Pin Change Interrupts
+
+More pins can be used for hardware interrupts using the Pin Change
+Interrupt feature. See @ref boards_common_atmega for details.
+
 */
--- a/boards/mega-xplained/doc.txt
+++ b/boards/mega-xplained/doc.txt
@ -34,4 +34,10 @@ It will be used automatically with `make term`:
 ```
     make BOARD=mega-xplained -C examples/hello-world term
 ```
+
+### Pin Change Interrupts
+
+More pins can be used for hardware interrupts using the Pin Change
+Interrupt feature. See @ref boards_common_atmega for details.
+
 */
--- a/boards/waspmote-pro/doc.txt
+++ b/boards/waspmote-pro/doc.txt
@ -2,4 +2,10 @@
@defgroup    boards_waspmote-pro Waspmote PRO v1.2
@ingroup     boards
@brief       Support for the Waspmote PRO v1.2 board.
+
+## Pin Change Interrupts
+
+More pins can be used for hardware interrupts using the Pin Change
+Interrupt feature. See @ref boards_common_atmega for details.
+
 */
--- a/cpu/atmega1281/Makefile.features
+++ b/cpu/atmega1281/Makefile.features
@ -1 +1,3 @@
-include $(RIOTCPU)/atmega_common/Makefile.features
+FEATURES_PROVIDED += atmega_pcint1 atmega_pcint2
+
+include $(RIOTCPU)/atmega_common/Makefile.features
--- a/cpu/atmega1281/Makefile.include
+++ b/cpu/atmega1281/Makefile.include
@ -4,5 +4,10 @@ USEMODULE += atmega_common
 RAM_LEN = 8K
 ROM_LEN = 128K

+# expand atmega_pcint for additional PCINTs of atmega1281
+ifneq (,$(filter atmega_pcint,$(USEMODULE)))
+  USEMODULE += atmega_pcint1 atmega_pcint2
+endif
+
 # CPU depends on the atmega common module, so include it
 include $(RIOTCPU)/atmega_common/Makefile.include
--- a/cpu/atmega1281/include/atmega_pcint.h
+++ b/cpu/atmega1281/include/atmega_pcint.h
@ -0,0 +1,16 @@
+#ifndef ATMEGA_PCINT_H
+#define ATMEGA_PCINT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ATMEGA_PCINT_MAP_PCINT0 GPIO_PIN(PORT_B, 0), GPIO_PIN(PORT_B, 1), GPIO_PIN(PORT_B, 2), GPIO_PIN(PORT_B, 3), GPIO_PIN(PORT_B, 4), GPIO_PIN(PORT_B, 5), GPIO_PIN(PORT_B, 6), GPIO_PIN(PORT_B, 7)
+#define ATMEGA_PCINT_MAP_PCINT1 GPIO_PIN(PORT_E, 0), GPIO_PIN(PORT_J, 0), GPIO_PIN(PORT_J, 1), GPIO_PIN(PORT_J, 2), GPIO_PIN(PORT_J, 3), GPIO_PIN(PORT_J, 4), GPIO_PIN(PORT_J, 5), GPIO_PIN(PORT_J, 6)
+#define ATMEGA_PCINT_MAP_PCINT2 GPIO_PIN(PORT_K, 0), GPIO_PIN(PORT_K, 1), GPIO_PIN(PORT_K, 2), GPIO_PIN(PORT_K, 3), GPIO_PIN(PORT_K, 4), GPIO_PIN(PORT_K, 5), GPIO_PIN(PORT_K, 6), GPIO_PIN(PORT_K, 7)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ATMEGA_PCINT_H */
--- a/cpu/atmega1284p/Makefile.dep
+++ b/cpu/atmega1284p/Makefile.dep
@ -0,0 +1,6 @@
+# additional PCINTs for atmega1284p
+ifneq (,$(filter atmega_pcint,$(USEMODULE)))
+  USEMODULE += atmega_pcint1 atmega_pcint2 atmega_pcint3
+endif
+
+include $(RIOTCPU)/atmega_common/Makefile.dep
--- a/cpu/atmega1284p/Makefile.features
+++ b/cpu/atmega1284p/Makefile.features
@ -1 +1,4 @@
-include $(RIOTCPU)/atmega_common/Makefile.features
+# additional PCINTs for atmega1284p
+FEATURES_PROVIDED += atmega_pcint1 atmega_pcint2 atmega_pcint3
+
+include $(RIOTCPU)/atmega_common/Makefile.features
--- a/cpu/atmega1284p/Makefile.include
+++ b/cpu/atmega1284p/Makefile.include
@ -4,5 +4,10 @@ USEMODULE += atmega_common
 RAM_LEN = 16K
 ROM_LEN = 128K

+# expand atmega_pcint for atmega1284p
+ifneq (,$(filter atmega_pcint,$(USEMODULE)))
+  USEMODULE += atmega_pcint1 atmega_pcint2 atmega_pcint3
+endif
+
 # CPU depends on the atmega common module, so include it
 include $(RIOTCPU)/atmega_common/Makefile.include
--- a/cpu/atmega1284p/include/atmega_pcint.h
+++ b/cpu/atmega1284p/include/atmega_pcint.h
@ -0,0 +1,17 @@
+#ifndef ATMEGA_PCINT_H
+#define ATMEGA_PCINT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ATMEGA_PCINT_MAP_PCINT0 GPIO_PIN(PORT_A, 0), GPIO_PIN(PORT_A, 1), GPIO_PIN(PORT_A, 2), GPIO_PIN(PORT_A, 3), GPIO_PIN(PORT_A, 4), GPIO_PIN(PORT_A, 5), GPIO_PIN(PORT_A, 6), GPIO_PIN(PORT_A, 7)
+#define ATMEGA_PCINT_MAP_PCINT1 GPIO_PIN(PORT_B, 0), GPIO_PIN(PORT_B, 1), GPIO_PIN(PORT_B, 2), GPIO_PIN(PORT_B, 3), GPIO_PIN(PORT_B, 4), GPIO_PIN(PORT_B, 5), GPIO_PIN(PORT_B, 6), GPIO_PIN(PORT_B, 7)
+#define ATMEGA_PCINT_MAP_PCINT2 GPIO_PIN(PORT_C, 0), GPIO_PIN(PORT_C, 1), GPIO_PIN(PORT_C, 2), GPIO_PIN(PORT_C, 3), GPIO_PIN(PORT_C, 4), GPIO_PIN(PORT_C, 5), GPIO_PIN(PORT_C, 6), GPIO_PIN(PORT_C, 7)
+#define ATMEGA_PCINT_MAP_PCINT3 GPIO_PIN(PORT_D, 0), GPIO_PIN(PORT_D, 1), GPIO_PIN(PORT_D, 2), GPIO_PIN(PORT_D, 3), GPIO_PIN(PORT_D, 4), GPIO_PIN(PORT_D, 5), GPIO_PIN(PORT_D, 6), GPIO_PIN(PORT_D, 7)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ATMEGA_PCINT_H */
--- a/cpu/atmega2560/Makefile.dep
+++ b/cpu/atmega2560/Makefile.dep
@ -0,0 +1,6 @@
+# additional PCINTs for atmega2560
+ifneq (,$(filter atmega_pcint,$(USEMODULE)))
+  USEMODULE += atmega_pcint1 atmega_pcint2
+endif
+
+include $(RIOTCPU)/atmega_common/Makefile.dep
--- a/cpu/atmega2560/Makefile.features
+++ b/cpu/atmega2560/Makefile.features
@ -1 +1,3 @@
-include $(RIOTCPU)/atmega_common/Makefile.features
+FEATURES_PROVIDED += atmega_pcint1 atmega_pcint2
+
+include $(RIOTCPU)/atmega_common/Makefile.features
--- a/cpu/atmega2560/Makefile.include
+++ b/cpu/atmega2560/Makefile.include
@ -4,5 +4,10 @@ USEMODULE += atmega_common
 RAM_LEN = 8K
 ROM_LEN = 256K

+# expand atmega_pcint with additional PCINTs for atmega2560
+ifneq (,$(filter atmega_pcint,$(USEMODULE)))
+  USEMODULE += atmega_pcint1 atmega_pcint2
+endif
+
 # CPU depends on the atmega common module, so include it
 include $(RIOTCPU)/atmega_common/Makefile.include
--- a/cpu/atmega2560/include/atmega_pcint.h
+++ b/cpu/atmega2560/include/atmega_pcint.h
@ -0,0 +1,16 @@
+#ifndef ATMEGA_PCINT_H
+#define ATMEGA_PCINT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ATMEGA_PCINT_MAP_PCINT0 GPIO_PIN(PORT_B, 0), GPIO_PIN(PORT_B, 1), GPIO_PIN(PORT_B, 2), GPIO_PIN(PORT_B, 3), GPIO_PIN(PORT_B, 4), GPIO_PIN(PORT_B, 5), GPIO_PIN(PORT_B, 6), GPIO_PIN(PORT_B, 7)
+#define ATMEGA_PCINT_MAP_PCINT1 GPIO_PIN(PORT_E, 0), GPIO_PIN(PORT_J, 0), GPIO_PIN(PORT_J, 1), GPIO_PIN(PORT_J, 2), GPIO_PIN(PORT_J, 3), GPIO_PIN(PORT_J, 4), GPIO_PIN(PORT_J, 5), GPIO_PIN(PORT_J, 6)
+#define ATMEGA_PCINT_MAP_PCINT2 GPIO_PIN(PORT_K, 0), GPIO_PIN(PORT_K, 1), GPIO_PIN(PORT_K, 2), GPIO_PIN(PORT_K, 3), GPIO_PIN(PORT_K, 4), GPIO_PIN(PORT_K, 5), GPIO_PIN(PORT_K, 6), GPIO_PIN(PORT_K, 7)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ATMEGA_PCINT_H */
--- a/cpu/atmega256rfr2/Makefile.dep
+++ b/cpu/atmega256rfr2/Makefile.dep
@ -0,0 +1,6 @@
+# additional PCINTs for atmega256rfr2
+ifneq (,$(filter atmega_pcint,$(USEMODULE)))
+  USEMODULE += atmega_pcint1
+endif
+
+include $(RIOTCPU)/atmega_common/Makefile.dep
--- a/cpu/atmega256rfr2/Makefile.features
+++ b/cpu/atmega256rfr2/Makefile.features
@ -1,7 +1,9 @@
 include $(RIOTCPU)/atmega_common/Makefile.features
-
 # common feature are defined in atmega_common/Makefile.features
 # Only add Additional features

+# additional PCINT for atmega256rfr2
+FEATURES_PROVIDED += atmega_pcint1
+
 # Various other features (if any)
 FEATURES_PROVIDED += periph_cpuid
--- a/cpu/atmega256rfr2/Makefile.include
+++ b/cpu/atmega256rfr2/Makefile.include
@ -7,5 +7,10 @@ USEMODULE += periph
 RAM_LEN = 32K
 ROM_LEN = 256K

+# expand atmega_pcint for atmega256rfr2
+ifneq (,$(filter atmega_pcint,$(USEMODULE)))
+  USEMODULE += atmega_pcint1
+endif
+
 # CPU depends on the atmega common module, so include it
 include $(RIOTCPU)/atmega_common/Makefile.include
--- a/cpu/atmega256rfr2/include/atmega_pcint.h
+++ b/cpu/atmega256rfr2/include/atmega_pcint.h
@ -0,0 +1,15 @@
+#ifndef ATMEGA_PCINT_H
+#define ATMEGA_PCINT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ATMEGA_PCINT_MAP_PCINT0 GPIO_PIN(PORT_B, 0), GPIO_PIN(PORT_B, 1), GPIO_PIN(PORT_B, 2), GPIO_PIN(PORT_B, 3), GPIO_PIN(PORT_B, 4), GPIO_PIN(PORT_B, 5), GPIO_PIN(PORT_B, 6), GPIO_PIN(PORT_B, 7)
+#define ATMEGA_PCINT_MAP_PCINT1 GPIO_PIN(PORT_E, 0), GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF, GPIO_UNDEF
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ATMEGA_PCINT_H */
--- a/cpu/atmega328p/Makefile.features
+++ b/cpu/atmega328p/Makefile.features
@ -1 +1,3 @@
-include $(RIOTCPU)/atmega_common/Makefile.features
+FEATURES_PROVIDED += atmega_pcint1 atmega_pcint2
+
+include $(RIOTCPU)/atmega_common/Makefile.features
--- a/cpu/atmega328p/Makefile.include
+++ b/cpu/atmega328p/Makefile.include
@ -4,5 +4,10 @@ USEMODULE += atmega_common
 RAM_LEN = 2K
 ROM_LEN = 32K

+# additional PCINTs for atmega328p
+ifneq (,$(filter atmega_pcint,$(USEMODULE)))
+  USEMODULE += atmega_pcint1 atmega_pcint2
+endif
+
 # CPU depends on the atmega common module, so include it
 include $(RIOTCPU)/atmega_common/Makefile.include
--- a/cpu/atmega328p/include/atmega_pcint.h
+++ b/cpu/atmega328p/include/atmega_pcint.h
@ -0,0 +1,16 @@
+#ifndef ATMEGA_PCINT_H
+#define ATMEGA_PCINT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ATMEGA_PCINT_MAP_PCINT0 GPIO_PIN(PORT_B, 0), GPIO_PIN(PORT_B, 1), GPIO_PIN(PORT_B, 2), GPIO_PIN(PORT_B, 3), GPIO_PIN(PORT_B, 4), GPIO_PIN(PORT_B, 5), GPIO_PIN(PORT_B, 6), GPIO_PIN(PORT_B, 7)
+#define ATMEGA_PCINT_MAP_PCINT1 GPIO_PIN(PORT_C, 0), GPIO_PIN(PORT_C, 1), GPIO_PIN(PORT_C, 2), GPIO_PIN(PORT_C, 3), GPIO_PIN(PORT_C, 4), GPIO_PIN(PORT_C, 5), GPIO_PIN(PORT_C, 6), GPIO_UNDEF
+#define ATMEGA_PCINT_MAP_PCINT2 GPIO_PIN(PORT_D, 0), GPIO_PIN(PORT_D, 1), GPIO_PIN(PORT_D, 2), GPIO_PIN(PORT_D, 3), GPIO_PIN(PORT_D, 4), GPIO_PIN(PORT_D, 5), GPIO_PIN(PORT_D, 6), GPIO_PIN(PORT_D, 7)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ATMEGA_PCINT_H */
--- a/cpu/atmega32u4/Makefile.dep
+++ b/cpu/atmega32u4/Makefile.dep
@ -0,0 +1,2 @@
+# common Makefile.dep expand the atmega_pcint pseudo module
+include $(RIOTCPU)/atmega_common/Makefile.dep
--- a/cpu/atmega32u4/Makefile.features
+++ b/cpu/atmega32u4/Makefile.features
@ -1 +1,2 @@
-include $(RIOTCPU)/atmega_common/Makefile.features
+# atmega_common provides atmega_pcint0
+include $(RIOTCPU)/atmega_common/Makefile.features
--- a/cpu/atmega32u4/include/atmega_pcint.h
+++ b/cpu/atmega32u4/include/atmega_pcint.h
@ -0,0 +1,14 @@
+#ifndef ATMEGA_PCINT_H
+#define ATMEGA_PCINT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ATMEGA_PCINT_MAP_PCINT0 GPIO_PIN(PORT_B, 0), GPIO_PIN(PORT_B, 1), GPIO_PIN(PORT_B, 2), GPIO_PIN(PORT_B, 3), GPIO_PIN(PORT_B, 4), GPIO_PIN(PORT_B, 5), GPIO_PIN(PORT_B, 6), GPIO_PIN(PORT_B, 7)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ATMEGA_PCINT_H */
--- a/cpu/atmega_common/Makefile.dep
+++ b/cpu/atmega_common/Makefile.dep
@ -0,0 +1,24 @@
+# expand atmega_pcint module
+ifneq (,$(filter atmega_pcint,$(USEMODULE)))
+  USEMODULE += atmega_pcint0
+endif
+
+# feature for atmega_pcint0 module
+ifneq (,$(filter atmega_pcint0,$(USEMODULE)))
+  FEATURES_REQUIRED += atmega_pcint0
+endif
+
+# feature for atmega_pcint1 module
+ifneq (,$(filter atmega_pcint1,$(USEMODULE)))
+  FEATURES_REQUIRED += atmega_pcint1
+endif
+
+# feature for atmega_pcint2 module
+ifneq (,$(filter atmega_pcint2,$(USEMODULE)))
+  FEATURES_REQUIRED += atmega_pcint2
+endif
+
+# feature for atmega_pcint3 module
+ifneq (,$(filter atmega_pcint3,$(USEMODULE)))
+  FEATURES_REQUIRED += atmega_pcint3
+endif
--- a/cpu/atmega_common/Makefile.features
+++ b/cpu/atmega_common/Makefile.features
@ -1,2 +1,4 @@
 FEATURES_PROVIDED += periph_eeprom
 FEATURES_PROVIDED += periph_pm
+
+FEATURES_PROVIDED += atmega_pcint0
--- a/cpu/atmega_common/Makefile.include
+++ b/cpu/atmega_common/Makefile.include
@ -6,4 +6,34 @@ export INCLUDES += -I$(RIOTCPU)/atmega_common/include \
 # avr libc needs some RIOT-specific support code
 USEMODULE += avr_libc_extra

+PSEUDOMODULES += atmega_pcint
+PSEUDOMODULES += atmega_pcint%
+
+# expand atmega_pcint module
+# atmega16u4 only features atmega_pcint0, therefore additional pseudomodules
+# are activated in each CPU's Makefile.include
+ifneq (,$(filter atmega_pcint,$(USEMODULE)))
+  USEMODULE += atmega_pcint0
+endif
+
+# feature for atmega_pcint0 module
+ifneq (,$(filter atmega_pcint0,$(USEMODULE)))
+  FEATURES_REQUIRED += atmega_pcint0
+endif
+
+# feature for atmega_pcint1 module
+ifneq (,$(filter atmega_pcint1,$(USEMODULE)))
+  FEATURES_REQUIRED += atmega_pcint1
+endif
+
+# feature for atmega_pcint2 module
+ifneq (,$(filter atmega_pcint2,$(USEMODULE)))
+  FEATURES_REQUIRED += atmega_pcint2
+endif
+
+# feature for atmega_pcint3 module
+ifneq (,$(filter atmega_pcint3,$(USEMODULE)))
+  FEATURES_REQUIRED += atmega_pcint3
+endif
+
 include $(RIOTMAKE)/arch/atmega.inc.mk
--- a/cpu/atmega_common/periph/gpio.c
+++ b/cpu/atmega_common/periph/gpio.c
@ -19,6 +19,9 @@
 * @author      René Herthel <rene-herthel@outlook.de>
 * @author      Francisco Acosta <francisco.acosta@inria.fr>
 * @author      Laurent Navet <laurent.navet@gmail.com>
+ * @author      Robert Hartung <hartung@ibr.cs.tu-bs.de>
+ * @author      Torben Petersen <petersen@ibr.cs.tu-bs.de>
+ * @author      Marian Buschsieweke <marian.buschsieweke@ovgu.de>
 *
 * @}
 */
@ -28,10 +31,14 @@
 #include <avr/interrupt.h>

 #include "cpu.h"
+#include "board.h"
 #include "periph/gpio.h"
 #include "periph_conf.h"
 #include "periph_cpu.h"

+#define ENABLE_DEBUG            (0)
+#include "debug.h"
+
 #define GPIO_BASE_PORT_A        (0x20)
 #define GPIO_OFFSET_PORT_H      (0xCB)
 #define GPIO_OFFSET_PIN_PORT    (0x02)
@ -42,6 +49,7 @@
 * @brief     Define GPIO interruptions for an specific atmega CPU, by default
 *            2 (for small atmega CPUs)
 */
+
 #if defined(INT7_vect)
 #define GPIO_EXT_INT_NUMOF      (8U)
 #elif defined(INT6_vect)
@ -59,6 +67,104 @@
 #endif

 static gpio_isr_ctx_t config[GPIO_EXT_INT_NUMOF];
+
+/**
+ * @brief detects ammount of possible PCINTs
+ */
+#if defined(MODULE_ATMEGA_PCINT0) || defined(MODULE_ATMEGA_PCINT1) || \
+    defined(MODULE_ATMEGA_PCINT2) || defined(MODULE_ATMEGA_PCINT3)
+#include "atmega_pcint.h"
+
+/**
+ * @brief check which pcints should be enabled!
+ */
+#ifdef MODULE_ATMEGA_PCINT0
+#ifndef ATMEGA_PCINT_MAP_PCINT0
+#error \
+    Either mapping for pin change interrupt bank 0 is missing or not supported by the MCU
+#else
+#define PCINT0_IDX (0)
+#define _COUNTER0  (1)
+#endif /* ATMEGA_PCINT_MAP_PCINT0 */
+#else
+#define _COUNTER0  (0)
+#endif /* MODULE_ATMEGA_PCINT0 */
+
+#ifdef MODULE_ATMEGA_PCINT1
+#ifndef ATMEGA_PCINT_MAP_PCINT1
+#error \
+    Either mapping for pin change interrupt bank 1 is missing or not supported by the MCU
+#else
+#define PCINT1_IDX _COUNTER0
+#define _COUNTER1 (_COUNTER0 + 1)
+#endif /* ATMEGA_PCINT_MAP_PCINT1 */
+#else
+#define _COUNTER1 _COUNTER0
+#endif /* MODULE_ATMEGA_PCINT1 */
+
+#ifdef MODULE_ATMEGA_PCINT2
+#ifndef ATMEGA_PCINT_MAP_PCINT2
+#error \
+    Either mapping for pin change interrupt bank 2 is missing or not supported by the MCU
+#else
+#define PCINT2_IDX _COUNTER1
+#define _COUNTER2 (_COUNTER1 + 1)
+#endif /* ATMEGA_PCINT_MAP_PCINT2 */
+#else
+#define _COUNTER2 _COUNTER1
+#endif /* MODULE_ATMEGA_PCINT2 */
+
+#ifdef MODULE_ATMEGA_PCINT3
+#ifndef ATMEGA_PCINT_MAP_PCINT3
+#error \
+    Either mapping for pin change interrupt bank 3 is missing or not supported by the MCU
+#else
+#define PCINT3_IDX _COUNTER2
+#define _COUNTER3 (_COUNTER2 + 1)
+#endif /* ATMEGA_PCINT_MAP_PCINT3 */
+#else
+#define _COUNTER3 _COUNTER2
+#endif /* MODULE_ATMEGA_PCINT3 */
+
+#define PCINT_NUM_BANKS (_COUNTER3)
+
+/**
+ * @brief stores the last pcint state of each port
+ */
+static uint8_t pcint_state[PCINT_NUM_BANKS];
+
+/**
+ * @brief stores all cb and args for all defined pcint.
+ */
+typedef struct {
+    gpio_flank_t flank;     /**< type of interrupt the flank should be triggered on */
+    gpio_cb_t cb;           /**< interrupt callback */
+    void *arg;              /**< optional argument */
+} gpio_isr_ctx_pcint_t;
+
+/**
+ * @brief
+ */
+static const gpio_t pcint_mapping[] = {
+#ifdef PCINT0_IDX
+    ATMEGA_PCINT_MAP_PCINT0,
+#endif /* PCINT0_IDX */
+#ifdef PCINT1_IDX
+    ATMEGA_PCINT_MAP_PCINT1,
+#endif /* PCINT1_IDX */
+#ifdef PCINT2_IDX
+    ATMEGA_PCINT_MAP_PCINT2,
+#endif /* PCINT2_IDX */
+#ifdef PCINT3_IDX
+    ATMEGA_PCINT_MAP_PCINT3,
+#endif /* PCINT3_IDX */
+};
+/**
+ * @brief
+ */
+static gpio_isr_ctx_pcint_t pcint_config[8 * PCINT_NUM_BANKS];
+#endif  /* MODULE_ATMEGA_PCINTn */
+
 #endif  /* MODULE_PERIPH_GPIO_IRQ */

 /**
@ -115,6 +221,7 @@ static inline uint16_t _pin_addr(gpio_t pin)
 int gpio_init(gpio_t pin, gpio_mode_t mode)
 {
    uint8_t pin_mask = (1 << _pin_num(pin));
+
    switch (mode) {
        case GPIO_OUT:
            _SFR_MEM8(_ddr_addr(pin)) |= pin_mask;
@ -195,8 +302,82 @@ int gpio_init_int(gpio_t pin, gpio_mode_t mode, gpio_flank_t flank,
        return -1;
    }

-    /* not a valid interrupt pin */
+    /* not a valid interrupt pin. Set as pcint instead if pcints are enabled */
    if (int_num < 0) {
+        /* If pin change interrupts are enabled, enable mask and interrupt */
+ #ifdef PCINT_NUM_BANKS
+        int8_t offset = -1;
+        uint8_t pin_num = _pin_num(pin);
+
+        for (unsigned i = 0;
+             i < sizeof(pcint_mapping) / sizeof(pcint_mapping[0]); i++) {
+            if (pin != GPIO_UNDEF && pin == pcint_mapping[i]) {
+                offset = i;
+                break;
+            }
+        }
+
+        /* if pcint was not found: return -1  */
+        if (offset < 0) {
+            return offset;
+        }
+
+        uint8_t bank = offset / 8;
+        uint8_t bank_idx = offset % 8;
+        DEBUG("PCINT enabled for bank %u offset %u\n",
+              (unsigned)bank, (unsigned)offset);
+
+        /* save configuration for pin change interrupt */
+        pcint_config[offset].flank = flank;
+        pcint_config[offset].arg = arg;
+        pcint_config[offset].cb = cb;
+
+        /* init gpio */
+        gpio_init(pin, mode);
+        /* configure pcint */
+        cli();
+        switch (bank) {
+#ifdef PCINT0_IDX
+            case PCINT0_IDX:
+                PCMSK0 |= (1 << bank_idx);
+                PCICR |= (1 << PCIE0);
+                break;
+#endif /* PCINT0_IDX */
+#ifdef PCINT1_IDX
+            case PCINT1_IDX:
+                PCMSK1 |= (1 << bank_idx);
+                PCICR |= (1 << PCIE1);
+                break;
+#endif /* PCINT1_IDX */
+#ifdef PCINT2_IDX
+            case PCINT2_IDX:
+                PCMSK2 |= (1 << bank_idx);
+                PCICR |= (1 << PCIE2);
+                break;
+#endif /* PCINT2_IDX */
+#ifdef PCINT3_IDX
+            case PCINT3_IDX:
+                PCMSK3 |= (1 << pin_num);
+                PCICR |= (1 << PCIE3);
+                break;
+#endif /* PCINT3_IDX */
+            default:
+                return -1;
+                break;
+        }
+        /* As ports are mixed in a bank (e.g. PCINT0), we can only save a single bit here! */
+        uint8_t port_value = (_SFR_MEM8(_pin_addr( pin )));
+        uint8_t pin_mask = (1 << pin_num);
+        uint8_t pin_value = ((port_value & pin_mask) != 0);
+        if (pin_value) {
+            pcint_state[bank] |= pin_mask;
+        }
+        else {
+            pcint_state[bank] &= ~pin_mask;
+        }
+        sei();
+        return 0;
+        #endif /* GPIO_PC_INT_NUMOF */
        return -1;
    }

@ -219,12 +400,12 @@ int gpio_init_int(gpio_t pin, gpio_mode_t mode, gpio_flank_t flank,
        EICRA &= ~(0x3 << (int_num * 2));
        EICRA |= (flank << (int_num * 2));
    }
-#if defined(EICRB)
+    #if defined(EICRB)
    else {
        EICRB &= ~(0x3 << ((int_num % 4) * 2));
        EICRB |= (flank << ((int_num % 4) * 2));
    }
-#endif
+    #endif

    /* set callback */
    config[int_num].cb = cb;
@ -254,6 +435,72 @@ static inline void irq_handler(uint8_t int_num)
    __exit_isr();
 }

+#ifdef PCINT_NUM_BANKS
+/* inline function that is used by the PCINT ISR */
+static inline void pcint_handler(uint8_t bank, uint8_t enabled_pcints)
+{
+    __enter_isr();
+    /* Find right item */
+    uint8_t idx = 0;
+
+    while (enabled_pcints > 0) {
+        /* check if this pin is enabled & has changed */
+        if (enabled_pcints & 0x1) {
+            /* get pin from mapping (assumes 8 entries per bank!) */
+            gpio_t pin = pcint_mapping[bank * 8 + idx];
+            /* re-construct mask from pin */
+            uint8_t pin_mask = (1 << (_pin_num(pin)));
+            uint8_t idx_mask = (1 << idx);
+            uint8_t port_value = (_SFR_MEM8(_pin_addr( pin )));
+            uint8_t pin_value = ((port_value & pin_mask) != 0);
+            uint8_t old_state = ((pcint_state[bank] & idx_mask) != 0);
+            gpio_isr_ctx_pcint_t *conf = &pcint_config[bank * 8 + idx];
+            if (old_state != pin_value) {
+                pcint_state[bank] ^= idx_mask;
+                if ((conf->flank == GPIO_BOTH ||
+                     (pin_value && conf->flank == GPIO_RISING) ||
+                     (!pin_value && conf->flank == GPIO_FALLING))) {
+                    /* execute callback routine */
+                    conf->cb(conf->arg);
+                }
+            }
+        }
+        enabled_pcints = enabled_pcints >> 1;
+        idx++;
+    }
+
+    __exit_isr();
+}
+#if defined(PCINT0_IDX)
+ISR(PCINT0_vect, ISR_BLOCK)
+{
+    pcint_handler(PCINT0_IDX, PCMSK0);
+}
+#endif /* PCINT0_IDX */
+
+#if defined(PCINT1_IDX)
+ISR(PCINT1_vect, ISR_BLOCK)
+{
+    pcint_handler(PCINT1_IDX, PCMSK1);
+}
+#endif  /* PCINT1_IDX */
+
+#if defined(PCINT2_IDX)
+ISR(PCINT2_vect, ISR_BLOCK)
+{
+    pcint_handler(PCINT2_IDX, PCMSK2);
+}
+#endif  /* PCINT2_IDX */
+
+#if defined(PCINT3_IDX)
+ISR(PCINT3_vect, ISR_BLOCK)
+{
+    pcint_handler(PCINT3_IDX, PCMSK3);
+}
+#endif  /* PCINT3_IDX */
+
+#endif  /* GPIO_PC_INT_NUMOF */
+
 ISR(INT0_vect, ISR_BLOCK)
 {
    irq_handler(0); /**< predefined interrupt pin */