diff --git a/Makefile b/Makefile
deleted file mode 100644
index 66571b377d2edf30c19b0635609cbaef70d00d07..0000000000000000000000000000000000000000
--- a/Makefile
+++ /dev/null
@@ -1,81 +0,0 @@
-PROJECT=bioloid_exp
-########################################################
-# afegir tots els fitxers que s'han de compilar aquÃ
-########################################################
-SOURCES=src/main.c src/dyn_slave_se.c src/dyn_slave_diff.c src/mem.c src/dyn_common.c src/ports.c src/adc.c src/i2c.c src/compass.c
-
-timer1_use=uart_usb#possible values are dac or uart_usb
-timer3_use=uart_ttl#possible values are pwm or uart_ttl
-
-defines=
-
-ifeq ($(timer1_use),dac)
- SOURCES+=src/dac.c
- defines+=-D_DAC
-else
- SOURCES+=src/uart_usb.c
- defines+=-D_UART_USB
-endif
-
-ifeq ($(timer3_use),pwm)
- SOURCES+=src/pwm.c
- defines+=-D_PWM
-else
- SOURCES+=src/uart_ttl.c
- defines+=-D_UART_TTL
-endif
-
-OBJS=$(SOURCES:.c=.o)
-SRC_DIR=./src/
-INCLUDE_DIR=./include/
-BUILD_DIR=./build/
-BIN_DIR=./bin/
-CC=avr-gcc
-OBJCOPY=avr-objcopy
-MMCU=atmega128
-
-CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
-
-LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map -DF_CPU=16000000UL
-#LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map,--section-start,.eeprom=810000 -DF_CPU=16000000UL
-
-HEX_FLASH_FLAGS = -R .eeprom -R .fuse -R .lock -R .signature
-HEX_EEPROM_FLAGS = -j .eeprom --change-section-lma .eeprom=0
-
-.PHONY: all
-
-all: $(PROJECT).hex $(PROJECT)_eeprom.hex
-
-$(PROJECT).hex: $(PROJECT).elf
- $(OBJCOPY) -O ihex $(HEX_FLASH_FLAGS) $< $@
-$(PROJECT)_eeprom.hex: $(PROJECT).elf
- $(OBJCOPY) -O ihex $(HEX_EEPROM_FLAGS) $< $@
-$(PROJECT).elf: $(OBJS)
- $(CC) $(LDFLAGS) $(OBJS) $(LIB_DIRS) $(LIBS) -o $(PROJECT).elf
-%.o:%.c
- $(CC) -c $(CFLAGS) -I$(INCLUDE_DIR) -o $@ $<
-
-download: $(MAIN_OUT_HEX)
- avrdude -c avr109 -P /dev/ttyUSB0 -b 19200 -p m128 -U flash:w:$(PROJECT).hex
- avrdude -c avr109 -P /dev/ttyUSB0 -b 19200 -p m128 -U eeprom:w:$(PROJECT)_eeprom.hex
-
-bootloader: bootloader_hex
- -$(MAKE) -C remote-controlled-socket/uc/avrprog_boot_v0_85/ program
-
-bootloader_hex:
- @if [ ! -d "./remote-controlled-socket" ] ; then \
- echo "AVR bootloader not found"; \
- hg clone https://bitbucket.org/befi/remote-controlled-socket; \
- patch remote-controlled-socket/uc/avrprog_boot_v0_85/main.c < patches/main.c.patch; \
- patch remote-controlled-socket/uc/avrprog_boot_v0_85/makefile < patches/makefile.patch; \
- patch remote-controlled-socket/uc/avrprog_boot_v0_85/chipdef.h < patches/chipdef.h.patch; \
- cp patches/uart_usb.c remote-controlled-socket/uc/avrprog_boot_v0_85/; \
- fi
- $(MAKE) -C remote-controlled-socket/uc/avrprog_boot_v0_85/
-
-clean:
- -rm $(PROJECT).*
- -rm $(PROJECT)_eeprom.*
- -rm $(OBJS)
- -rm src/*.lst
- -rm -rf remote-controlled-socket
diff --git a/README b/README
new file mode 100755
index 0000000000000000000000000000000000000000..fb24089f480a340b207fd7e239a643c3ccaf6260
--- /dev/null
+++ b/README
@@ -0,0 +1,6 @@
+Biloid expansion board
+ by Sergi Hernandez Juan
+
+http://apollo.upc.es/humanoide/trac/wiki/BioloidPremiumSensorExtensionBoard
+
+The Humanoid Lab <humanoide@iri.upc.edu>
diff --git a/a2d.c b/a2d.c
new file mode 100755
index 0000000000000000000000000000000000000000..610228877a69765499fee257f8c22d6e308793d3
--- /dev/null
+++ b/a2d.c
@@ -0,0 +1,188 @@
+/*! \file a2d.c \brief Analog-to-Digital converter function library. */
+//*****************************************************************************
+//
+// File Name : 'a2d.c'
+// Title : Analog-to-digital converter functions
+// Author : Pascal Stang - Copyright (C) 2002
+// Created : 2002-04-08
+// Revised : 2002-09-30
+// Version : 1.1
+// Target MCU : Atmel AVR series
+// Editor Tabs : 4
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#include "global.h"
+#include "a2d.h"
+
+// global variables
+
+// number of channels to convert
+#define NUM_CH 8
+
+// number of samples to average
+#define NUM_SAMPLES 16
+
+// current channel
+volatile unsigned char current_ch;
+// list of channels to convert
+const unsigned char list_ch[NUM_CH]={0,1,2,3,4,5,6,7};
+// channel data
+volatile short int adc_data[NUM_CH];
+// averaged channel data
+volatile short int ch1_data[NUM_SAMPLES];
+volatile short int ch2_data[NUM_SAMPLES];
+volatile short int ch3_data[NUM_SAMPLES];
+volatile short int ch4_data[NUM_SAMPLES];
+volatile short int ch5_data[NUM_SAMPLES];
+volatile short int ch6_data[NUM_SAMPLES];
+volatile short int ch7_data[NUM_SAMPLES];
+volatile short int ch8_data[NUM_SAMPLES];
+volatile unsigned char current_sample;
+
+// functions
+
+// initialize a2d converter
+void a2dInit(void)
+{
+ // configure the analog inputs
+ DDRF = 0x00;
+ PORTF = 0x00;
+
+ sbi(ADCSR, ADEN); // enable ADC (turn on ADC power)
+ cbi(ADCSR, ADFR); // default to single sample convert mode
+ a2dSetPrescaler(ADC_PRESCALE); // set default prescaler
+ a2dSetReference(ADC_REFERENCE); // set default reference
+ cbi(ADMUX, ADLAR); // set to right-adjusted result
+
+ // set the initial channel to convert
+ current_ch=0;
+ current_sample=0;
+ a2dSetChannel(list_ch[current_ch]);
+
+ // start conversion
+ a2dStartConvert();
+
+ sbi(ADCSR, ADIE); // enable ADC interrupts
+}
+
+// turn off a2d converter
+void a2dOff(void)
+{
+ cbi(ADCSR, ADIE); // disable ADC interrupts
+ cbi(ADCSR, ADEN); // disable ADC (turn off ADC power)
+}
+
+// configure A2D converter clock division (prescaling)
+void a2dSetPrescaler(unsigned char prescale)
+{
+ outb(ADCSR, ((inb(ADCSR) & ~ADC_PRESCALE_MASK) | prescale));
+}
+
+// configure A2D converter voltage reference
+void a2dSetReference(unsigned char ref)
+{
+ outb(ADMUX, ((inb(ADMUX) & ~ADC_REFERENCE_MASK) | (ref<<6)));
+}
+
+// sets the a2d input channel
+void a2dSetChannel(unsigned char ch)
+{
+ outb(ADMUX, (inb(ADMUX) & ~ADC_MUX_MASK) | (ch & ADC_MUX_MASK)); // set channel
+}
+
+// start a conversion on the current a2d input channel
+void a2dStartConvert(void)
+{
+ sbi(ADCSR, ADIF); // clear hardware "conversion complete" flag
+ sbi(ADCSR, ADSC); // start conversion
+}
+
+// return TRUE if conversion is complete
+u08 a2dIsComplete(void)
+{
+ return bit_is_set(ADCSR, ADSC);
+}
+
+//! Interrupt handler for ADC complete interrupt.
+SIGNAL(ADC_vect)
+{
+ short int data;
+
+ // save data
+ data=(inb(ADCL) | (inb(ADCH)<<8));
+ adc_data[current_ch]=data;
+ switch(current_ch)
+ {
+ case 0: ch1_data[current_sample]=data;
+ break;
+ case 1: ch2_data[current_sample]=data;
+ break;
+ case 2: ch3_data[current_sample]=data;
+ break;
+ case 3: ch4_data[current_sample]=data;
+ break;
+ case 4: ch5_data[current_sample]=data;
+ break;
+ case 5: ch6_data[current_sample]=data;
+ break;
+ case 6: ch7_data[current_sample]=data;
+ break;
+ case 7: ch8_data[current_sample]=data;
+ break;
+ }
+ // prepare for next channel
+ if(current_ch==(NUM_CH-1))
+ current_sample=(current_sample+1)%NUM_SAMPLES;
+ current_ch=(current_ch+1)%NUM_CH;
+ a2dSetChannel(list_ch[current_ch]);
+ a2dStartConvert();
+}
+
+unsigned short int adc_get_channel(unsigned char ch_id)
+{
+ if(ch_id>=0 && ch_id<=7)
+ return adc_data[ch_id];
+ else
+ return 0xFFFF;
+}
+
+unsigned short int adc_get_averaged_channel(unsigned char ch_id)
+{
+ short int *data_pointer;
+ short int average=0;
+ unsigned char i;
+
+ switch(ch_id)
+ {
+ case 0: data_pointer=ch1_data;
+ break;
+ case 1: data_pointer=ch2_data;
+ break;
+ case 2: data_pointer=ch3_data;
+ break;
+ case 3: data_pointer=ch4_data;
+ break;
+ case 4: data_pointer=ch5_data;
+ break;
+ case 5: data_pointer=ch6_data;
+ break;
+ case 6: data_pointer=ch7_data;
+ break;
+ case 7: data_pointer=ch8_data;
+ break;
+ default: return 0xFFFF;
+ break;
+ }
+ for(i=0;i<NUM_SAMPLES;i++)
+ average=average+data_pointer[i];
+ average=average/NUM_SAMPLES;
+
+ return average;
+}
diff --git a/a2d.h b/a2d.h
new file mode 100755
index 0000000000000000000000000000000000000000..076a6545b542e6b52c2de1f2055f2d1817572c64
--- /dev/null
+++ b/a2d.h
@@ -0,0 +1,147 @@
+/*! \file a2d.h \brief Analog-to-Digital converter function library. */
+//*****************************************************************************
+//
+// File Name : 'a2d.h'
+// Title : Analog-to-digital converter functions
+// Author : Pascal Stang - Copyright (C) 2002
+// Created : 4/08/2002
+// Revised : 4/30/2002
+// Version : 1.1
+// Target MCU : Atmel AVR series
+// Editor Tabs : 4
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+/// \ingroup driver_avr
+/// \defgroup a2d A/D Converter Function Library (a2d.c)
+/// \code #include "a2d.h" \endcode
+/// \par Overview
+/// This library provides an easy interface to the analog-to-digital
+/// converter available on many AVR processors. Updated to support
+/// the ATmega128.
+//
+//****************************************************************************
+//@{
+
+#ifndef A2D_H
+#define A2D_H
+
+// defines
+
+// A2D clock prescaler select
+// *selects how much the CPU clock frequency is divided
+// to create the A2D clock frequency
+// *lower division ratios make conversion go faster
+// *higher division ratios make conversions more accurate
+#define ADC_PRESCALE_DIV2 0x00 ///< 0x01,0x00 -> CPU clk/2
+#define ADC_PRESCALE_DIV4 0x02 ///< 0x02 -> CPU clk/4
+#define ADC_PRESCALE_DIV8 0x03 ///< 0x03 -> CPU clk/8
+#define ADC_PRESCALE_DIV16 0x04 ///< 0x04 -> CPU clk/16
+#define ADC_PRESCALE_DIV32 0x05 ///< 0x05 -> CPU clk/32
+#define ADC_PRESCALE_DIV64 0x06 ///< 0x06 -> CPU clk/64
+#define ADC_PRESCALE_DIV128 0x07 ///< 0x07 -> CPU clk/128
+// default value
+#define ADC_PRESCALE ADC_PRESCALE_DIV64
+// do not change the mask value
+#define ADC_PRESCALE_MASK 0x07
+
+// A2D voltage reference select
+// *this determines what is used as the
+// full-scale voltage point for A2D conversions
+#define ADC_REFERENCE_AREF 0x00 ///< 0x00 -> AREF pin, internal VREF turned off
+#define ADC_REFERENCE_AVCC 0x01 ///< 0x01 -> AVCC pin, internal VREF turned off
+#define ADC_REFERENCE_RSVD 0x02 ///< 0x02 -> Reserved
+#define ADC_REFERENCE_256V 0x03 ///< 0x03 -> Internal 2.56V VREF
+// default value
+#define ADC_REFERENCE ADC_REFERENCE_AVCC
+// do not change the mask value
+#define ADC_REFERENCE_MASK 0xC0
+
+// bit mask for A2D channel multiplexer
+#define ADC_MUX_MASK 0x1F
+
+// channel defines (for reference and use in code)
+// these channels supported by all AVRs with A2D
+#define ADC_CH_ADC0 0x00
+#define ADC_CH_ADC1 0x01
+#define ADC_CH_ADC2 0x02
+#define ADC_CH_ADC3 0x03
+#define ADC_CH_ADC4 0x04
+#define ADC_CH_ADC5 0x05
+#define ADC_CH_ADC6 0x06
+#define ADC_CH_ADC7 0x07
+#define ADC_CH_122V 0x1E ///< 1.22V voltage reference
+#define ADC_CH_AGND 0x1F ///< AGND
+// these channels supported only in ATmega128
+// differential with gain
+#define ADC_CH_0_0_DIFF10X 0x08
+#define ADC_CH_1_0_DIFF10X 0x09
+#define ADC_CH_0_0_DIFF200X 0x0A
+#define ADC_CH_1_0_DIFF200X 0x0B
+#define ADC_CH_2_2_DIFF10X 0x0C
+#define ADC_CH_3_2_DIFF10X 0x0D
+#define ADC_CH_2_2_DIFF200X 0x0E
+#define ADC_CH_3_2_DIFF200X 0x0F
+// differential
+#define ADC_CH_0_1_DIFF1X 0x10
+#define ADC_CH_1_1_DIFF1X 0x11
+#define ADC_CH_2_1_DIFF1X 0x12
+#define ADC_CH_3_1_DIFF1X 0x13
+#define ADC_CH_4_1_DIFF1X 0x14
+#define ADC_CH_5_1_DIFF1X 0x15
+#define ADC_CH_6_1_DIFF1X 0x16
+#define ADC_CH_7_1_DIFF1X 0x17
+
+#define ADC_CH_0_2_DIFF1X 0x18
+#define ADC_CH_1_2_DIFF1X 0x19
+#define ADC_CH_2_2_DIFF1X 0x1A
+#define ADC_CH_3_2_DIFF1X 0x1B
+#define ADC_CH_4_2_DIFF1X 0x1C
+#define ADC_CH_5_2_DIFF1X 0x1D
+
+// compatibility for new Mega processors
+// ADCSR hack apparently no longer necessary in new AVR-GCC
+#ifdef ADCSRA
+#ifndef ADCSR
+ #define ADCSR ADCSRA
+#endif
+#endif
+#ifdef ADATE
+ #define ADFR ADATE
+#endif
+
+// function prototypes
+
+//! Initializes the A/D converter.
+/// Turns ADC on and prepares it for use.
+void a2dInit(void);
+
+//! Turn off A/D converter
+void a2dOff(void);
+
+//! Sets the division ratio of the A/D converter clock.
+/// This function is automatically called from a2dInit()
+/// with a default value.
+void a2dSetPrescaler(unsigned char prescale);
+
+//! Configures which voltage reference the A/D converter uses.
+/// This function is automatically called from a2dInit()
+/// with a default value.
+void a2dSetReference(unsigned char ref);
+
+//! sets the a2d input channel
+void a2dSetChannel(unsigned char ch);
+
+//! start a conversion on the current a2d input channel
+void a2dStartConvert(void);
+
+//! return TRUE if conversion is complete
+u08 a2dIsComplete(void);
+
+unsigned short int adc_get_channel(unsigned char ch_id);
+
+unsigned short int adc_get_averaged_channel(unsigned char ch_id);
+
+#endif
+//@}
diff --git a/avrlibdefs.h b/avrlibdefs.h
new file mode 100755
index 0000000000000000000000000000000000000000..a8dea50342b2dd159ebb5035ae658f9b79816c97
--- /dev/null
+++ b/avrlibdefs.h
@@ -0,0 +1,83 @@
+/*! \file avrlibdefs.h \brief AVRlib global defines and macros. */
+//*****************************************************************************
+//
+// File Name : 'avrlibdefs.h'
+// Title : AVRlib global defines and macros include file
+// Author : Pascal Stang
+// Created : 7/12/2001
+// Revised : 9/30/2002
+// Version : 1.1
+// Target MCU : Atmel AVR series
+// Editor Tabs : 4
+//
+// Description : This include file is designed to contain items useful to all
+// code files and projects, regardless of specific implementation.
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+
+#ifndef AVRLIBDEFS_H
+#define AVRLIBDEFS_H
+
+// Code compatibility to new AVR-libc
+// outb(), inb(), inw(), outw(), BV(), sbi(), cbi(), sei(), cli()
+#ifndef outb
+ #define outb(addr, data) addr = (data)
+#endif
+#ifndef inb
+ #define inb(addr) (addr)
+#endif
+#ifndef outw
+ #define outw(addr, data) addr = (data)
+#endif
+#ifndef inw
+ #define inw(addr) (addr)
+#endif
+#ifndef BV
+ #define BV(bit) (1<<(bit))
+#endif
+#ifndef cbi
+ #define cbi(reg,bit) reg &= ~(BV(bit))
+#endif
+#ifndef sbi
+ #define sbi(reg,bit) reg |= (BV(bit))
+#endif
+#ifndef cli
+ #define cli() __asm__ __volatile__ ("cli" ::)
+#endif
+#ifndef sei
+ #define sei() __asm__ __volatile__ ("sei" ::)
+#endif
+
+// support for individual port pin naming in the mega128
+// see port128.h for details
+#ifdef __AVR_ATmega128__
+// not currently necessary due to inclusion
+// of these defines in newest AVR-GCC
+// do a quick test to see if include is needed
+#ifndef PD0
+ #include "port128.h"
+#endif
+#endif
+
+// use this for packed structures
+// (this is seldom necessary on an 8-bit architecture like AVR,
+// but can assist in code portability to AVR)
+#define GNUC_PACKED __attribute__((packed))
+
+// port address helpers
+#define DDR(x) ((x)-1) // address of data direction register of port x
+#define PIN(x) ((x)-2) // address of input register of port x
+
+// MIN/MAX/ABS macros
+#define MIN(a,b) ((a<b)?(a):(b))
+#define MAX(a,b) ((a>b)?(a):(b))
+#define ABS(x) ((x>0)?(x):(-x))
+
+// constants
+#define PI 3.14159265359
+
+#endif
diff --git a/avrlibtypes.h b/avrlibtypes.h
new file mode 100755
index 0000000000000000000000000000000000000000..4d44ac56223bd8fb421a64ef3cab79779c376b7d
--- /dev/null
+++ b/avrlibtypes.h
@@ -0,0 +1,84 @@
+/*! \file avrlibtypes.h \brief AVRlib global types and typedefines. */
+//*****************************************************************************
+//
+// File Name : 'avrlibtypes.h'
+// Title : AVRlib global types and typedefines include file
+// Author : Pascal Stang
+// Created : 7/12/2001
+// Revised : 9/30/2002
+// Version : 1.0
+// Target MCU : Atmel AVR series
+// Editor Tabs : 4
+//
+// Description : Type-defines required and used by AVRlib. Most types are also
+// generally useful.
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+
+#ifndef AVRLIBTYPES_H
+#define AVRLIBTYPES_H
+
+#ifndef WIN32
+ // true/false defines
+ #define FALSE 0
+ #define TRUE -1
+#endif
+
+// datatype definitions macros
+typedef unsigned char u08;
+typedef signed char s08;
+typedef unsigned short u16;
+typedef signed short s16;
+typedef unsigned long u32;
+typedef signed long s32;
+typedef unsigned long long u64;
+typedef signed long long s64;
+
+/* use inttypes.h instead
+// C99 standard integer type definitions
+typedef unsigned char uint8_t;
+typedef signed char int8_t;
+typedef unsigned short uint16_t;
+typedef signed short int16_t;
+typedef unsigned long uint32_t;
+typedef signed long int32_t;
+typedef unsigned long uint64_t;
+typedef signed long int64_t;
+*/
+// maximum value that can be held
+// by unsigned data types (8,16,32bits)
+#define MAX_U08 255
+#define MAX_U16 65535
+#define MAX_U32 4294967295
+
+// maximum values that can be held
+// by signed data types (8,16,32bits)
+#define MIN_S08 -128
+#define MAX_S08 127
+#define MIN_S16 -32768
+#define MAX_S16 32767
+#define MIN_S32 -2147483648
+#define MAX_S32 2147483647
+
+#ifndef WIN32
+ // more type redefinitions
+ typedef unsigned char BOOL;
+ typedef unsigned char BYTE;
+ typedef unsigned int WORD;
+ typedef unsigned long DWORD;
+
+ typedef unsigned char UCHAR;
+ typedef unsigned int UINT;
+ typedef unsigned short USHORT;
+ typedef unsigned long ULONG;
+
+ typedef char CHAR;
+ typedef int INT;
+ typedef long LONG;
+#endif
+
+#endif
diff --git a/buffer.c b/buffer.c
new file mode 100755
index 0000000000000000000000000000000000000000..304221f39baa32bd9dd2fb4e00167a3e8a27ca6d
--- /dev/null
+++ b/buffer.c
@@ -0,0 +1,163 @@
+/*! \file buffer.c \brief Multipurpose byte buffer structure and methods. */
+//*****************************************************************************
+//
+// File Name : 'buffer.c'
+// Title : Multipurpose byte buffer structure and methods
+// Author : Pascal Stang - Copyright (C) 2001-2002
+// Created : 9/23/2001
+// Revised : 9/23/2001
+// Version : 1.0
+// Target MCU : any
+// Editor Tabs : 4
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#include "buffer.h"
+#include "global.h"
+#include "avr/io.h"
+
+#ifndef CRITICAL_SECTION_START
+#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli()
+#define CRITICAL_SECTION_END SREG = _sreg
+#endif
+
+// global variables
+
+// initialization
+
+void bufferInit(cBuffer* buffer, unsigned char *start, unsigned short size)
+{
+ // begin critical section
+ CRITICAL_SECTION_START;
+ // set start pointer of the buffer
+ buffer->dataptr = start;
+ buffer->size = size;
+ // initialize index and length
+ buffer->dataindex = 0;
+ buffer->datalength = 0;
+ // end critical section
+ CRITICAL_SECTION_END;
+}
+
+// access routines
+unsigned char bufferGetFromFront(cBuffer* buffer)
+{
+ unsigned char data = 0;
+ // begin critical section
+ CRITICAL_SECTION_START;
+ // check to see if there's data in the buffer
+ if(buffer->datalength)
+ {
+ // get the first character from buffer
+ data = buffer->dataptr[buffer->dataindex];
+ // move index down and decrement length
+ buffer->dataindex++;
+ if(buffer->dataindex >= buffer->size)
+ {
+ buffer->dataindex -= buffer->size;
+ }
+ buffer->datalength--;
+ }
+ // end critical section
+ CRITICAL_SECTION_END;
+ // return
+ return data;
+}
+
+void bufferDumpFromFront(cBuffer* buffer, unsigned short numbytes)
+{
+ // begin critical section
+ CRITICAL_SECTION_START;
+ // dump numbytes from the front of the buffer
+ // are we dumping less than the entire buffer?
+ if(numbytes < buffer->datalength)
+ {
+ // move index down by numbytes and decrement length by numbytes
+ buffer->dataindex += numbytes;
+ if(buffer->dataindex >= buffer->size)
+ {
+ buffer->dataindex -= buffer->size;
+ }
+ buffer->datalength -= numbytes;
+ }
+ else
+ {
+ // flush the whole buffer
+ buffer->datalength = 0;
+ }
+ // end critical section
+ CRITICAL_SECTION_END;
+}
+
+unsigned char bufferGetAtIndex(cBuffer* buffer, unsigned short index)
+{
+ // begin critical section
+ CRITICAL_SECTION_START;
+ // return character at index in buffer
+ unsigned char data = buffer->dataptr[(buffer->dataindex+index)%(buffer->size)];
+ // end critical section
+ CRITICAL_SECTION_END;
+ return data;
+}
+
+unsigned char bufferAddToEnd(cBuffer* buffer, unsigned char data)
+{
+ // begin critical section
+ CRITICAL_SECTION_START;
+ // make sure the buffer has room
+ if(buffer->datalength < buffer->size)
+ {
+ // save data byte at end of buffer
+ buffer->dataptr[(buffer->dataindex + buffer->datalength) % buffer->size] = data;
+ // increment the length
+ buffer->datalength++;
+ // end critical section
+ CRITICAL_SECTION_END;
+ // return success
+ return -1;
+ }
+ // end critical section
+ CRITICAL_SECTION_END;
+ // return failure
+ return 0;
+}
+
+unsigned short bufferIsNotFull(cBuffer* buffer)
+{
+ // begin critical section
+ CRITICAL_SECTION_START;
+ // check to see if the buffer has room
+ // return true if there is room
+ unsigned short bytesleft = (buffer->size - buffer->datalength);
+ // end critical section
+ CRITICAL_SECTION_END;
+ return bytesleft;
+}
+
+unsigned short bufferIsEmpty(cBuffer *buffer)
+{
+ // begin critical section
+ CRITICAL_SECTION_START;
+ // check to see if the buffer has room
+ // return true if there is room
+ unsigned short bytes = buffer->datalength;
+ // end critical section
+ CRITICAL_SECTION_END;
+ if(bytes==0) return TRUE;
+ else return FALSE;
+
+}
+
+void bufferFlush(cBuffer* buffer)
+{
+ // begin critical section
+ CRITICAL_SECTION_START;
+ // flush contents of the buffer
+ buffer->datalength = 0;
+ // end critical section
+ CRITICAL_SECTION_END;
+}
+
diff --git a/buffer.h b/buffer.h
new file mode 100755
index 0000000000000000000000000000000000000000..40b35d1fa9ea256d1cd7c8eef855d39264948908
--- /dev/null
+++ b/buffer.h
@@ -0,0 +1,76 @@
+/*! \file buffer.h \brief Multipurpose byte buffer structure and methods. */
+//*****************************************************************************
+//
+// File Name : 'buffer.h'
+// Title : Multipurpose byte buffer structure and methods
+// Author : Pascal Stang - Copyright (C) 2001-2002
+// Created : 9/23/2001
+// Revised : 11/16/2002
+// Version : 1.1
+// Target MCU : any
+// Editor Tabs : 4
+//
+/// \ingroup general
+/// \defgroup buffer Circular Byte-Buffer Structure and Function Library (buffer.c)
+/// \code #include "buffer.h" \endcode
+/// \par Overview
+/// This byte-buffer structure provides an easy and efficient way to store
+/// and process a stream of bytes. You can create as many buffers as you
+/// like (within memory limits), and then use this common set of functions to
+/// access each buffer. The buffers are designed for FIFO operation (first
+/// in, first out). This means that the first byte you put in the buffer
+/// will be the first one you get when you read out the buffer. Supported
+/// functions include buffer initialize, get byte from front of buffer, add
+/// byte to end of buffer, check if buffer is full, and flush buffer. The
+/// buffer uses a circular design so no copying of data is ever necessary.
+/// This buffer is not dynamically allocated, it has a user-defined fixed
+/// maximum size. This buffer is used in many places in the avrlib code.
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+//@{
+
+#ifndef BUFFER_H
+#define BUFFER_H
+
+// structure/typdefs
+
+//! cBuffer structure
+typedef struct struct_cBuffer
+{
+ unsigned char *dataptr; ///< the physical memory address where the buffer is stored
+ unsigned short size; ///< the allocated size of the buffer
+ unsigned short datalength; ///< the length of the data currently in the buffer
+ unsigned short dataindex; ///< the index into the buffer where the data starts
+} cBuffer;
+
+// function prototypes
+
+//! initialize a buffer to start at a given address and have given size
+void bufferInit(cBuffer* buffer, unsigned char *start, unsigned short size);
+
+//! get the first byte from the front of the buffer
+unsigned char bufferGetFromFront(cBuffer* buffer);
+
+//! dump (discard) the first numbytes from the front of the buffer
+void bufferDumpFromFront(cBuffer* buffer, unsigned short numbytes);
+
+//! get a byte at the specified index in the buffer (kind of like array access)
+// ** note: this does not remove the byte that was read from the buffer
+unsigned char bufferGetAtIndex(cBuffer* buffer, unsigned short index);
+
+//! add a byte to the end of the buffer
+unsigned char bufferAddToEnd(cBuffer* buffer, unsigned char data);
+
+//! check if the buffer is full/not full (returns zero value if full)
+unsigned short bufferIsNotFull(cBuffer* buffer);
+
+//! flush (clear) the contents of the buffer
+void bufferFlush(cBuffer* buffer);
+
+unsigned short bufferIsEmpty(cBuffer *buffer);
+
+#endif
+//@}
diff --git a/compass.c b/compass.c
new file mode 100755
index 0000000000000000000000000000000000000000..973d8d50e5430c69e358ae9e1db19c49ef1793f1
--- /dev/null
+++ b/compass.c
@@ -0,0 +1,136 @@
+#include "compass.h"
+#include "avr/io.h"
+#include "i2c.h"
+
+volatile unsigned short int compass_heading;
+volatile unsigned short int compass_heading_averaged;
+volatile unsigned char waiting_data;
+
+void CompassInit(void)
+{
+ unsigned char cmd=COMPASS_HEADING;
+
+ calibrate=FALSE;
+ calibrating=FALSE;
+ compass_heading=0;
+ compass_heading_averaged=0;
+ // the I2C peripheral must be initialized before calling this function
+ i2cMasterSend(COMPASS_ADDR, 1, &cmd);
+ waiting_data=FALSE;
+}
+
+void compass_avrg(unsigned short int heading)
+{
+ static unsigned long int new_average,first_value;
+ static unsigned char num_data=0;
+ unsigned long int diff=0;
+
+ if(num_data==0)
+ {
+ num_data=num_data+1;
+ first_value=(long int)heading;
+ }
+ else
+ {
+ diff=heading+3600-first_value;
+ if(diff<1800)
+ diff=diff+3600;
+ else if(diff>5400)
+ diff=diff-3600;
+ new_average=new_average+diff;
+ num_data=num_data+1;
+ if(num_data==17)
+ {
+ new_average=new_average/16;
+ new_average=new_average+first_value;
+ compass_heading_averaged=(unsigned short int)new_average;
+ if(compass_heading_averaged>3600)
+ compass_heading_averaged=compass_heading_averaged-3600;
+ new_average=0;
+ num_data=0;
+ }
+ }
+}
+
+void compass_periodic_call(void)
+{
+ unsigned char cmd,heading[2];
+ static int count=0;
+
+ if(i2cGetState()==I2C_IDLE)
+ {
+ if(waiting_data)
+ {
+ if(calibrate)
+ {
+ calibrating=TRUE;
+ calibrate=FALSE;
+ count=100;
+ }
+ else if(calibrating)
+ {
+ if(count>0)
+ count--;
+ else
+ {
+ cmd=COMPASS_START_CAL;
+ i2cMasterSend(COMPASS_ADDR, 1, &cmd);
+ waiting_data=FALSE;
+ }
+ }
+ else
+ {
+ if(count>0)
+ count--;
+ else
+ {
+ i2c_get_data(2,heading);
+ compass_heading=heading[1]+(heading[0]<<8);
+ compass_avrg(compass_heading);
+ cmd=COMPASS_HEADING;
+ i2cMasterSend(COMPASS_ADDR, 1, &cmd);
+ waiting_data=FALSE;
+ count = 10;
+ }
+ }
+ }
+ else
+ {
+ if(calibrating)
+ {
+ count++;
+ if(count==30000)
+ {
+ cmd=COMPASS_STOP_CAL;
+ i2cMasterSend(COMPASS_ADDR, 1, &cmd);
+ waiting_data=TRUE;
+ calibrate=FALSE;
+ calibrating=FALSE;
+ count = 100;
+ }
+ }
+ else
+ {
+ if(count>0)
+ count--;
+ else
+ {
+ i2cMasterReceive(COMPASS_ADDR,2);
+ waiting_data=TRUE;
+ }
+ }
+ }
+ }
+}
+
+unsigned short int compass_get_heading(void)
+{
+ return compass_heading;
+}
+
+unsigned short int compass_get_averaged_heading(void)
+{
+ return compass_heading_averaged;
+}
+
+
diff --git a/compass.h b/compass.h
new file mode 100755
index 0000000000000000000000000000000000000000..85a28567e1bfd526a379aecfe20e3281232adf65
--- /dev/null
+++ b/compass.h
@@ -0,0 +1,20 @@
+#ifndef _COMPASS_H
+#define _COMPASS_H
+
+// compass address
+#define COMPASS_ADDR 0x42
+
+// compass commands
+#define COMPASS_HEADING 0x41
+#define COMPASS_START_CAL 0x43
+#define COMPASS_STOP_CAL 0x45
+
+volatile unsigned char calibrate;
+volatile unsigned char calibrating;
+
+void CompassInit(void);
+void compass_periodic_call(void);
+unsigned short int compass_get_heading(void);
+unsigned short int compass_get_averaged_heading(void);
+
+#endif
diff --git a/default/Makefile b/default/Makefile
new file mode 100755
index 0000000000000000000000000000000000000000..ab0cc842eb22e5812dcbdacf311d52985d25e208
--- /dev/null
+++ b/default/Makefile
@@ -0,0 +1,101 @@
+###############################################################################
+# Makefile for the project expansion_board
+###############################################################################
+
+## General Flags
+PROJECT = expansion_board
+MCU = atmega128
+TARGET = expansion_board.elf
+CC = avr-gcc
+
+CPP = avr-g++
+
+## Options common to compile, link and assembly rules
+COMMON = -mmcu=$(MCU)
+
+## Compile options common for all C compilation units.
+CFLAGS = $(COMMON)
+CFLAGS += -Wall -gdwarf-2 -std=gnu99 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d
+
+## Assembly specific flags
+ASMFLAGS = $(COMMON)
+ASMFLAGS += $(CFLAGS)
+ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
+
+## Linker flags
+LDFLAGS = $(COMMON)
+LDFLAGS += -Wl,-Map=expansion_board.map
+
+
+## Intel Hex file production flags
+HEX_FLASH_FLAGS = -R .eeprom -R .fuse -R .lock -R .signature
+
+HEX_EEPROM_FLAGS = -j .eeprom
+HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
+HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0 --no-change-warnings
+
+
+## Objects that must be built in order to link
+OBJECTS = expansion_board.o dynamixel.o timer128.o compass.o i2c.o a2d.o buffer.o uartsw.o ports.o
+
+## Objects explicitly added by the user
+LINKONLYOBJECTS =
+
+## Build
+all: $(TARGET) expansion_board.hex expansion_board.eep expansion_board.lss size
+
+## Compile
+expansion_board.o: ../expansion_board.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+dynamixel.o: ../dynamixel.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+timer128.o: ../timer128.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+compass.o: ../compass.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+i2c.o: ../i2c.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+a2d.o: ../a2d.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+buffer.o: ../buffer.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+uartsw.o: ../uartsw.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+ports.o: ../ports.c
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+##Link
+$(TARGET): $(OBJECTS)
+ $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
+
+%.hex: $(TARGET)
+ avr-objcopy -O ihex $(HEX_FLASH_FLAGS) $< $@
+
+%.eep: $(TARGET)
+ -avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@ || exit 0
+
+%.lss: $(TARGET)
+ avr-objdump -h -S $< > $@
+
+size: ${TARGET}
+ @echo
+ @avr-size -C --mcu=${MCU} ${TARGET}
+
+## Clean target
+.PHONY: clean
+clean:
+ -rm -rf $(OBJECTS) expansion_board.elf dep/* expansion_board.hex expansion_board.eep expansion_board.lss expansion_board.map
+
+
+## Other dependencies
+-include $(shell mkdir dep 2>NUL) $(wildcard dep/*)
+
diff --git a/default/NUL b/default/NUL
new file mode 100644
index 0000000000000000000000000000000000000000..1b1fbad9c42db259c5c68748ac9f62539bd0abff
--- /dev/null
+++ b/default/NUL
@@ -0,0 +1 @@
+mkdir: cannot create directory ‘dep’: File exists
diff --git a/default/expansion_board.aps b/default/expansion_board.aps
new file mode 100755
index 0000000000000000000000000000000000000000..b5a5f596c0bae8eb041c2e04ab900f020634e5ef
--- /dev/null
+++ b/default/expansion_board.aps
@@ -0,0 +1 @@
+<AVRStudio><MANAGEMENT><ProjectName>expansion_board</ProjectName><Created>21-Jan-2011 15:23:22</Created><LastEdit>18-Jul-2011 12:33:48</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>21-Jan-2011 15:23:22</Created><Version>4</Version><Build>4, 18, 0, 685</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\expansion_board.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>\\VBOXSVR\shared\Software\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET></CURRENT_TARGET><CURRENT_PART></CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM></COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>expansion_board.c</SOURCEFILE><SOURCEFILE>dynamixel.c</SOURCEFILE><SOURCEFILE>timer128.c</SOURCEFILE><SOURCEFILE>compass.c</SOURCEFILE><SOURCEFILE>i2c.c</SOURCEFILE><SOURCEFILE>a2d.c</SOURCEFILE><SOURCEFILE>buffer.c</SOURCEFILE><SOURCEFILE>uartsw.c</SOURCEFILE><SOURCEFILE>ports.c</SOURCEFILE><HEADERFILE>utils.h</HEADERFILE><HEADERFILE>dynamixel.h</HEADERFILE><HEADERFILE>global.h</HEADERFILE><HEADERFILE>timer128.h</HEADERFILE><HEADERFILE>avrlibtypes.h</HEADERFILE><HEADERFILE>avrlibdefs.h</HEADERFILE><HEADERFILE>port128.h</HEADERFILE><HEADERFILE>compass.h</HEADERFILE><HEADERFILE>i2c.h</HEADERFILE><HEADERFILE>i2cconf.h</HEADERFILE><HEADERFILE>memory_map.h</HEADERFILE><HEADERFILE>a2d.h</HEADERFILE><HEADERFILE>buffer.h</HEADERFILE><HEADERFILE>uartsw.h</HEADERFILE><HEADERFILE>uartswconf.h</HEADERFILE><HEADERFILE>ports.h</HEADERFILE><OTHERFILE>default\expansion_board.lss</OTHERFILE><OTHERFILE>default\expansion_board.map</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega128</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>expansion_board.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>buffer.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>dynamixel.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>expansion_board.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>timer128.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>uart2.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -std=gnu99 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\WinAVR-20100110\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\WinAVR-20100110\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><ProjectFiles><Files><Name>\\VBOXSVR\shared\Software\utils.h</Name><Name>\\VBOXSVR\shared\Software\dynamixel.h</Name><Name>\\VBOXSVR\shared\Software\global.h</Name><Name>\\VBOXSVR\shared\Software\timer128.h</Name><Name>\\VBOXSVR\shared\Software\avrlibtypes.h</Name><Name>\\VBOXSVR\shared\Software\avrlibdefs.h</Name><Name>\\VBOXSVR\shared\Software\port128.h</Name><Name>\\VBOXSVR\shared\Software\compass.h</Name><Name>\\VBOXSVR\shared\Software\i2c.h</Name><Name>\\VBOXSVR\shared\Software\i2cconf.h</Name><Name>\\VBOXSVR\shared\Software\memory_map.h</Name><Name>\\VBOXSVR\shared\Software\a2d.h</Name><Name>\\VBOXSVR\shared\Software\buffer.h</Name><Name>\\VBOXSVR\shared\Software\uartsw.h</Name><Name>\\VBOXSVR\shared\Software\uartswconf.h</Name><Name>\\VBOXSVR\shared\Software\ports.h</Name><Name>\\VBOXSVR\shared\Software\expansion_board.c</Name><Name>\\VBOXSVR\shared\Software\dynamixel.c</Name><Name>\\VBOXSVR\shared\Software\timer128.c</Name><Name>\\VBOXSVR\shared\Software\compass.c</Name><Name>\\VBOXSVR\shared\Software\i2c.c</Name><Name>\\VBOXSVR\shared\Software\a2d.c</Name><Name>\\VBOXSVR\shared\Software\buffer.c</Name><Name>\\VBOXSVR\shared\Software\uartsw.c</Name><Name>\\VBOXSVR\shared\Software\ports.c</Name></Files></ProjectFiles><IOView><usergroups/><sort sorted="0" column="0" ordername="0" orderaddress="0" ordergroup="0"/></IOView><Files><File00000><FileId>00000</FileId><FileName>expansion_board.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>uartsw.h</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>uartsw.c</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>uartswconf.h</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>buffer.h</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>compass.c</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>dynamixel.c</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>dynamixel.h</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>ports.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>ports.c</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>port128.h</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>i2c.c</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>compass.h</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>buffer.c</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>a2d.c</FileName><Status>1</Status></File00014></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>
diff --git a/default/expansion_board.aws b/default/expansion_board.aws
new file mode 100755
index 0000000000000000000000000000000000000000..351856dd9e369b31b6960a6674e81ec68689e037
--- /dev/null
+++ b/default/expansion_board.aws
@@ -0,0 +1 @@
+<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name=""/><Files><File00000 Name="\\Vboxsvr\shared\Software\expansion_board.c" Position="201 89 894 404" LineCol="146 14" State="Maximized"/><File00001 Name="\\Vboxsvr\shared\Software\uartsw.h" Position="223 116 908 401" LineCol="0 0" State="Maximized"/><File00002 Name="\\Vboxsvr\shared\Software\uartsw.c" Position="245 138 930 423" LineCol="49 0" State="Maximized"/><File00003 Name="\\Vboxsvr\shared\Software\uartswconf.h" Position="267 160 952 445" LineCol="40 0" State="Maximized"/><File00004 Name="\\Vboxsvr\shared\Software\buffer.h" Position="289 182 974 467" LineCol="0 0" State="Maximized"/><File00005 Name="\\Vboxsvr\shared\Software\compass.c" Position="311 204 996 489" LineCol="19 0" State="Maximized"/><File00006 Name="\\Vboxsvr\shared\Software\dynamixel.c" Position="333 226 1018 511" LineCol="226 0" State="Maximized"/><File00007 Name="\\Vboxsvr\shared\Software\dynamixel.h" Position="201 94 886 379" LineCol="26 0" State="Maximized"/><File00008 Name="\\Vboxsvr\shared\Software\ports.h" Position="223 116 908 401" LineCol="21 0" State="Maximized"/><File00009 Name="\\Vboxsvr\shared\Software\ports.c" Position="245 138 930 423" LineCol="22 0" State="Maximized"/><File00010 Name="\\Vboxsvr\shared\Software\port128.h" Position="267 160 952 445" LineCol="0 0" State="Maximized"/><File00011 Name="\\Vboxsvr\shared\Software\i2c.c" Position="289 182 974 467" LineCol="0 0" State="Maximized"/><File00012 Name="\\Vboxsvr\shared\Software\compass.h" Position="311 204 996 489" LineCol="12 35" State="Maximized"/><File00013 Name="\\Vboxsvr\shared\Software\buffer.c" Position="333 226 1018 511" LineCol="0 0" State="Maximized"/><File00014 Name="\\Vboxsvr\shared\Software\a2d.c" Position="201 94 886 379" LineCol="0 0" State="Maximized"/><File00015 Name="\\Vboxsvr\shared\Software\memory_map.h" Position="197 71 1026 519" LineCol="0 0" State="Maximized"/></Files></AVRWorkspace>
diff --git a/default/expansion_board.c b/default/expansion_board.c
new file mode 100755
index 0000000000000000000000000000000000000000..482b8152e8b03e4447af2fd05c45227985728795
--- /dev/null
+++ b/default/expansion_board.c
@@ -0,0 +1,352 @@
+#include "memory_map.h"
+#include "dynamixel.h"
+#include "timer128.h"
+#include "compass.h"
+#include "uartsw.h"
+#include "avr/io.h"
+#include "ports.h"
+#include "a2d.h"
+#include "i2c.h"
+
+void periodic_calls(void)
+{
+ static short int count=0;
+
+ sei();
+ outb(TCNT0,0x7F);
+ compass_periodic_call();
+ count++;
+ if(count==1000)
+ {
+ if(PINE&0x04)
+ cbi(PORTE,2);
+ else
+ sbi(PORTE,2);
+ count=0;
+ }
+}
+
+int main(void)
+{
+ unsigned char data[128],id,length,instruction,answer[2],status;
+ // selected address
+ unsigned char rs485_address;
+ // adc conversion result
+ unsigned short int adc_value;
+ // heading value
+ unsigned short int compass_heading;
+ // serial port variables
+ unsigned char data_available;
+ unsigned char serial_data;
+ // gpio identifier
+ unsigned char gpio_id;
+ // pwm identifier
+ unsigned char pwm_id;
+ // pwm value
+ unsigned short int pwm_value;
+
+ // initialize the IO ports
+ init_ports();
+
+ // initialize the RS485 interface
+ init_RS485();
+ get_RS485_address(&rs485_address);
+
+ // initialize the analog to digital converter
+ a2dInit();
+
+ // initialize the i2c peripheral
+ i2cInit();
+
+ // initialize the compass
+ CompassInit();
+
+ // initialize timer to execute periodic functions
+ timer0Init();
+ // set the period to 1ms
+ timer0SetPrescaler(TIMER_CLK_DIV1024);
+ outb(TCNT0,0x7F);
+ timerAttach(TIMER0OVERFLOW_INT, periodic_calls);
+
+ // initialize the timer 3 to generate RC PWM
+ timer3Init();
+ timer3SetPrescaler(TIMER_CLK_DIV8);
+ timer3PWMInitICR(40000);// set a 50 Hz freq
+
+ // initialize the timer 1 to generate analog signals
+ timer1Init();
+ timer1SetPrescaler(TIMER_CLK_DIV1);
+ timer1PWMInitICR(16000);// set a a kHz freq
+
+ // initialize the software serial port
+// uartswInit();
+
+ sei();// turn on interrupts (if not already on)
+
+ while(1)
+ {
+ status=RxRS485Packet(RS485_single_ended,&id,&instruction,&length,data);
+ if(status==CHECK_ERROR)
+ TxRS485Packet(RS485_single_ended,rs485_address,CHECKSUM_ERROR,0,NULL);
+ else if(status==CORRECT)
+ {
+ if(id==rs485_address)
+ {
+ switch(instruction)
+ {
+ case INST_PING: TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ break;
+ case INST_READ: if(data[0]>=0x00 && data[0]<=0x07)
+ {
+ if(length==2)
+ {
+ adc_value=adc_get_channel(data[0]);
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,2,(unsigned char *)&adc_value);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ if(data[0]>=0x08 && data[0]<=0x0F)
+ {
+ if(length==2)
+ {
+ adc_value=adc_get_averaged_channel(data[0]-8);
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,2,(unsigned char *)&adc_value);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x10)
+ {
+ if(length==2)
+ {
+ compass_heading=compass_get_heading();
+ answer[0]=compass_heading&0xFF;
+ answer[1]=(compass_heading>>8)&0xFF;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,2,answer);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x11)
+ {
+ if(length==2)
+ {
+ compass_heading=compass_get_averaged_heading();
+ answer[0]=compass_heading&0xFF;
+ answer[1]=(compass_heading>>8)&0xFF;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,2,answer);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x12)
+ {
+ if(length==2)
+ {
+ if(!calibrate && !calibrating)
+ answer[0]=0x00;
+ else
+ answer[0]=0x01;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,1,answer);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+
+ }
+ else if(data[0]==0x21)
+ {
+ if(length==2)
+ {
+ data_available=uartswReceiveByte(&serial_data);
+ answer[0]=data_available;
+ answer[1]=serial_data;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,2,answer);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]>=0x30 && data[0]<=0x55)
+ {
+ if(length==2)
+ {
+ gpio_id=(data[0]-0x30)>>1;
+ if((data[0]%2)==0x00)// configuration register
+ answer[0]=get_port_config(gpio_id);
+ else// data register
+ {
+ answer[0]=read_port(gpio_id);
+
+ }
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,1,answer);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x61 || data[0]==0x63 || data[0]==0x65 || data[0]==0x67)
+ {
+ if(length==2)
+ {
+ pwm_id=(data[0]-0x61)>>1;
+ answer[0]=0x00;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,1,answer);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ break;
+ case INST_WRITE: if(data[0]==0x12)
+ {
+ if(length==2)
+ {
+ if(!calibrate)
+ calibrate=TRUE;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x20)
+ {
+ if(length==2)
+ {
+ uartswSendByte(data[1]);
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]>=0x30 && data[0]<=0x55)
+ {
+ if(length==2)
+ {
+ gpio_id=(data[0]-0x30)>>1;
+ if((data[0]%2)==0x00)// configuration register
+ {
+ config_port(gpio_id,data[1]);
+ answer[0]=DDRA;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else// value register
+ {
+ if(data[1]==0x00)
+ clear_port(gpio_id);
+ else
+ set_port(gpio_id);
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x60 || data[0]==0x62 || data[0]==0x64 || data[0]==0x66)
+ {
+ if(length==3)
+ {
+ pwm_id=(data[0]-0x60)>>1;
+ pwm_value=data[1]+data[2]*256;
+ if(pwm_value>40000)
+ pwm_value=40000;
+ switch(pwm_id)
+ {
+ case 0: timer3PWMASet(pwm_value);
+ break;
+ case 1: timer3PWMBSet(pwm_value);
+ break;
+ case 2: timer3PWMCSet(pwm_value);
+ break;
+ case 3: timer1PWMCSet(pwm_value);
+ break;
+ }
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x61 || data[0]==0x63 || data[0]==0x65 || data[0]==0x67)
+ {
+ if(length==2)
+ {
+ pwm_id=(data[0]-0x61)>>1;
+ switch(pwm_id)
+ {
+ case 0: if(data[1]==0x00)
+ timer3PWMAOff();
+ else
+ timer3PWMAOn();
+ break;
+ case 1: if(data[1]==0x00)
+ timer3PWMBOff();
+ else
+ timer3PWMBOn();
+ break;
+ case 2: if(data[1]==0x00)
+ timer3PWMCOff();
+ else
+ timer3PWMCOn();
+ break;
+ case 3: if(data[1]==0x00)
+ timer1PWMCOff();
+ else
+ timer1PWMCOn();
+ break;
+ }
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x70 || data[0]==0x72)
+ {
+ if(length==3)
+ {
+ pwm_id=(data[0]-0x70)>>1;
+ pwm_value=data[1]+data[2]*256;
+ if(pwm_value>16000)
+ pwm_value=16000;
+ if(pwm_id==0)
+ timer1PWMASet(pwm_value);
+ else
+ timer1PWMBSet(pwm_value);
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x71 || data[0]==0x73)
+ {
+ if(length==2)
+ {
+ pwm_id=(data[0]-0x71)>>1;
+ if(pwm_id==0)
+ {
+ if(data[1]==0x00)
+ timer1PWMAOff();
+ else
+ timer1PWMAOn();
+ }
+ else
+ {
+ if(data[1]==0x00)
+ timer1PWMBOff();
+ else
+ timer1PWMBOn();
+ }
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ case INST_SYNC_WRITE: // do nothing to avoid desynchronization with the controller
+ break;
+ default: //TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ break;
+ }
+ }
+ }
+ }
+}
diff --git a/dynamixel.c b/dynamixel.c
new file mode 100755
index 0000000000000000000000000000000000000000..bd8b85f71b1f05438b2174b07d21e2a1ba4409a7
--- /dev/null
+++ b/dynamixel.c
@@ -0,0 +1,245 @@
+#include <avr/interrupt.h>
+#include "dynamixel.h"
+#include "timer128.h"
+#include "buffer.h"
+#include <avr/io.h>
+
+// receive buffers
+volatile unsigned char rs485_se_data[RX_BUFFER_SIZE];
+volatile unsigned char rs485_se_read_ptr;
+volatile unsigned char rs485_se_write_ptr;
+volatile unsigned char rs485_se_num;
+volatile unsigned char rs485_diff_data[RX_BUFFER_SIZE];
+volatile unsigned char rs485_diff_read_ptr;
+volatile unsigned char rs485_diff_write_ptr;
+volatile unsigned char rs485_diff_num;
+
+unsigned char RS485_is_tx_ready(unsigned char nUart)
+{
+ if(nUart)
+ return (UCSR1A & (1<<UDRE));
+ else
+ return (UCSR0A & (1<<UDRE));
+}
+
+unsigned char RS485_is_rx_ready(unsigned char nUart)
+{
+ unsigned char status;
+ cli();
+ if(nUart)
+ {
+ if(rs485_se_num==0) status=FALSE;
+ else status=TRUE;
+ }
+ else
+ {
+ if(rs485_diff_num==0) status=FALSE;
+ else status=TRUE;
+ }
+ sei();
+
+ return status;
+}
+
+void RS485_set_tx_done(unsigned char nUart)
+{
+ if(nUart)
+ sbi(UCSR1A,6);
+ else
+ sbi(UCSR0A,6);
+}
+
+unsigned char RS485_is_tx_done(unsigned char nUart)
+{
+ if(nUart)
+ return bit_is_set(UCSR1A,6);
+ else
+ return bit_is_set(UCSR0A,6);
+}
+
+void RS485_send(unsigned char nUart,unsigned char data)
+{
+ RS485_set_tx_done(nUart);
+ while(!RS485_is_tx_ready(nUart));
+ if(nUart)
+ UDR1=data;
+ else
+ UDR0=data;
+}
+
+void RS485_receive(unsigned char nUart,unsigned char *data)
+{
+ while(!RS485_is_rx_ready(nUart));
+ cli();
+ if(nUart)
+ {
+ (*data) = rs485_se_data[rs485_se_read_ptr];
+ rs485_se_read_ptr=(rs485_se_read_ptr+1)%RX_BUFFER_SIZE;
+ rs485_se_num--;
+ }
+ else
+ {
+ (*data) = rs485_diff_data[rs485_diff_read_ptr];
+ rs485_diff_read_ptr=(rs485_diff_read_ptr+1)%RX_BUFFER_SIZE;
+ rs485_diff_num--;
+ }
+ sei();
+}
+
+void init_RS485(void)
+{
+ // configure the IO ports
+ DDRD=DDRD|0xC8;// RX_en, TX_en, TX are outputs
+ DDRD=DDRD&0xFB;// RX is an input
+
+ // configure the address selection bits
+ DDRG=DDRG&0xE7;// they are inputs
+
+ // configure the ports to receive data
+ SET_RS485_RXD;
+
+ // initialize the rs485 ports
+ UCSR0A = 0;// Single (not double) the USART transmission speed
+ UBRR0H = 0;
+ UBRR0L = 0;// BAUD = 1000000bps at U2X=0, Fosc=16MHz => UBRR=0
+ outb(UCSR0B, BV(RXCIE)|BV(RXEN)|BV(TXEN));
+ UCSR0C = 0x86; // 8 bit data, no parity (and URSEL must be 1)
+
+ UCSR1A = 0;// Single (not double) the USART transmission speed
+ UBRR1H = 0;
+ UBRR1L = 0;// BAUD = 1000000bps at U2X=0, Fosc=16MHz => UBRR=0
+ outb(UCSR1B, BV(RXCIE)|BV(RXEN)|BV(TXEN));
+ UCSR1C = 0x86; // 8 bit data, no parity (and URSEL must be 1)
+
+ // initialize receive buffer for both interfaces
+ rs485_se_read_ptr=0;
+ rs485_se_write_ptr=0;
+ rs485_se_num=0;
+
+ rs485_diff_read_ptr=0;
+ rs485_diff_write_ptr=0;
+ rs485_diff_num=0;
+}
+
+void get_RS485_address(unsigned char *address)
+{
+ unsigned char sel;
+
+ sel=(PING&0x18);
+ switch(sel)
+ {
+ case 0x00: (*address)=0x45;
+ break;
+ case 0x10: (*address)=0x80;
+ break;
+ case 0x08: (*address)=0xC0;
+ break;
+ case 0x18: (*address)=0xFD;
+ break;
+ default: (*address)=0x45;
+ break;
+ }
+}
+
+void TxRS485Packet(unsigned char nUart,unsigned char id, unsigned char instruction, unsigned char param_len, unsigned char *params)
+{
+ unsigned char checksum=0,i=0;
+
+ SET_RS485_TXD;
+ RS485_send(nUart,0xFF);
+ RS485_send(nUart,0xFF);
+ RS485_send(nUart,id);
+ checksum+=id;
+ RS485_send(nUart,param_len+2);
+ checksum+=param_len+2;
+ RS485_send(nUart,instruction);
+ checksum+=instruction;
+ for(i=0;i<param_len;i++)
+ {
+ RS485_send(nUart,params[i]);
+ checksum+=params[i];
+ }
+ RS485_send(nUart,~checksum);
+ while(!RS485_is_tx_done(nUart));// wait util the data is sent
+ SET_RS485_RXD;
+}
+
+unsigned char RxRS485Packet(unsigned char nUart,unsigned char *id,unsigned char *instruction, unsigned char *param_len, unsigned char *params)
+{
+ static unsigned char checksum=0,read_params=0;
+ static dyn_states state=dyn_header1;
+ unsigned char byte;
+
+ if(RS485_is_rx_ready(nUart))
+ {
+ switch(state)
+ {
+ case dyn_header1: RS485_receive(nUart,&byte);
+ if(byte==0xFF) state=dyn_header2;
+ else state=dyn_header1;
+ break;
+ case dyn_header2: RS485_receive(nUart,&byte);
+ if(byte==0xFF)
+ {
+ state=dyn_id;
+ checksum=0;
+ }
+ else state=dyn_header1;
+ break;
+ case dyn_id: RS485_receive(nUart,id);
+ checksum+=(*id);
+ state=dyn_length;
+ break;
+ case dyn_length: RS485_receive(nUart,param_len);
+ checksum+=(*param_len);
+ (*param_len)=(*param_len)-2;
+ state=dyn_inst;
+ break;
+ case dyn_inst: RS485_receive(nUart,instruction);
+ checksum+=(*instruction);
+ if((*param_len)==0) state=dyn_checksum;
+ else state=dyn_params;
+ read_params=0;
+ break;
+ case dyn_params: RS485_receive(nUart,¶ms[read_params]);
+ checksum+=params[read_params];
+ read_params++;
+ if(read_params==(*param_len))
+ state=dyn_checksum;
+ else
+ state=dyn_params;
+ break;
+ case dyn_checksum: RS485_receive(nUart,&byte);
+ checksum+=byte;
+ state=dyn_header1;
+ //if(checksum==0xFF)
+ return CORRECT;
+ //else
+ //{
+ // return CHECK_ERROR;
+ //}
+ break;
+ }
+ }
+
+ return INCOMPLETE;
+
+}
+
+UART_INTERRUPT_HANDLER(UART0_RX_vect)
+{
+ // service UART0 receive interrupt
+ rs485_diff_data[rs485_diff_write_ptr]=inb(UDR0);
+ rs485_diff_write_ptr=(rs485_diff_write_ptr+1)%RX_BUFFER_SIZE;
+ rs485_diff_num++;
+}
+
+UART_INTERRUPT_HANDLER(UART1_RX_vect)
+{
+ // service UART1 receive interrupt
+ rs485_se_data[rs485_se_write_ptr]=inb(UDR1);
+ rs485_se_write_ptr=(rs485_se_write_ptr+1)%RX_BUFFER_SIZE;
+ rs485_se_num=rs485_se_num+1;
+}
+
+
diff --git a/dynamixel.h b/dynamixel.h
new file mode 100755
index 0000000000000000000000000000000000000000..c1503e4db1903c634b55ce4e06ed3f75a52494e3
--- /dev/null
+++ b/dynamixel.h
@@ -0,0 +1,66 @@
+#ifndef _DYNAMIXEL_H
+#define _DYNAMIXEL_H
+
+#include "global.h"
+#include "utils.h"
+
+//! Type of interrupt handler to use for uart interrupts.
+/// Value may be SIGNAL or INTERRUPT.
+/// \warning Do not change unless you know what you're doing.
+#ifndef UART_INTERRUPT_HANDLER
+#define UART_INTERRUPT_HANDLER SIGNAL
+#endif
+
+// receive buffers length
+#define RX_BUFFER_SIZE 128
+
+// Instruction identifiers
+#define INST_PING 0x01
+#define INST_READ 0x02
+#define INST_WRITE 0x03
+#define INST_REG_WRITE 0x04
+#define INST_ACTION 0x05
+#define INST_RESET 0x06
+#define INST_DIGITAL_RESET 0x07
+#define INST_SYSTEM_READ 0x0C
+#define INST_SYSTEM_WRITE 0x0D
+#define INST_SYNC_WRITE 0x83
+#define INST_SYNC_REG_WRITE 0x84
+
+// bus errors
+#define INSTRUCTION_ERROR 0x40
+#define OVERLOAD_ERROR 0x20
+#define CHECKSUM_ERROR 0x10
+#define RANGE_ERROR 0x08
+#define OVERHEATING_ERROR 0x04
+#define ANGLE_LIMIT_ERROR 0x02
+#define VOLTAGE_ERROR 0x01
+#define NO_ERROR 0x00
+
+#define RS485_single_ended 1
+#define RS485_differential 0
+
+// instructions to configure the data direction on the RS485 interface
+#define SET_RS485_TXD PORTD &= ~_BV(PD7),PORTD |= _BV(PD6)
+#define SET_RS485_RXD PORTD &= ~_BV(PD6),PORTD |= _BV(PD7)
+
+// broadcasting address
+#define BROADCASTING_ID 0xFE
+
+// possible packet status
+#define CORRECT 0
+#define INCOMPLETE 1
+#define CHECK_ERROR 2
+
+typedef enum {dyn_header1,dyn_header2,dyn_id,dyn_length,dyn_inst,dyn_params,dyn_checksum} dyn_states;
+
+// function to initialize the RS485 interface
+void init_RS485(void);
+// function to set the rs485 device address
+void get_RS485_address(unsigned char *address);
+// function to send a packet through the RS485 interface
+void TxRS485Packet(unsigned char nUart,unsigned char id, unsigned char instruction, unsigned char param_len, unsigned char *params);
+// function to receive a packet through the RS485 interface using interrupts
+unsigned char RxRS485Packet(unsigned char nUart,unsigned char *id, unsigned char *instruction, unsigned char *param_len, unsigned char *params);
+
+#endif
diff --git a/expansion_board.aps b/expansion_board.aps
new file mode 100755
index 0000000000000000000000000000000000000000..b5a5f596c0bae8eb041c2e04ab900f020634e5ef
--- /dev/null
+++ b/expansion_board.aps
@@ -0,0 +1 @@
+<AVRStudio><MANAGEMENT><ProjectName>expansion_board</ProjectName><Created>21-Jan-2011 15:23:22</Created><LastEdit>18-Jul-2011 12:33:48</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>21-Jan-2011 15:23:22</Created><Version>4</Version><Build>4, 18, 0, 685</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\expansion_board.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>\\VBOXSVR\shared\Software\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET></CURRENT_TARGET><CURRENT_PART></CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM></COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>expansion_board.c</SOURCEFILE><SOURCEFILE>dynamixel.c</SOURCEFILE><SOURCEFILE>timer128.c</SOURCEFILE><SOURCEFILE>compass.c</SOURCEFILE><SOURCEFILE>i2c.c</SOURCEFILE><SOURCEFILE>a2d.c</SOURCEFILE><SOURCEFILE>buffer.c</SOURCEFILE><SOURCEFILE>uartsw.c</SOURCEFILE><SOURCEFILE>ports.c</SOURCEFILE><HEADERFILE>utils.h</HEADERFILE><HEADERFILE>dynamixel.h</HEADERFILE><HEADERFILE>global.h</HEADERFILE><HEADERFILE>timer128.h</HEADERFILE><HEADERFILE>avrlibtypes.h</HEADERFILE><HEADERFILE>avrlibdefs.h</HEADERFILE><HEADERFILE>port128.h</HEADERFILE><HEADERFILE>compass.h</HEADERFILE><HEADERFILE>i2c.h</HEADERFILE><HEADERFILE>i2cconf.h</HEADERFILE><HEADERFILE>memory_map.h</HEADERFILE><HEADERFILE>a2d.h</HEADERFILE><HEADERFILE>buffer.h</HEADERFILE><HEADERFILE>uartsw.h</HEADERFILE><HEADERFILE>uartswconf.h</HEADERFILE><HEADERFILE>ports.h</HEADERFILE><OTHERFILE>default\expansion_board.lss</OTHERFILE><OTHERFILE>default\expansion_board.map</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega128</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>expansion_board.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>buffer.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>dynamixel.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>expansion_board.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>timer128.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>uart2.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -std=gnu99 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\WinAVR-20100110\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\WinAVR-20100110\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><ProjectFiles><Files><Name>\\VBOXSVR\shared\Software\utils.h</Name><Name>\\VBOXSVR\shared\Software\dynamixel.h</Name><Name>\\VBOXSVR\shared\Software\global.h</Name><Name>\\VBOXSVR\shared\Software\timer128.h</Name><Name>\\VBOXSVR\shared\Software\avrlibtypes.h</Name><Name>\\VBOXSVR\shared\Software\avrlibdefs.h</Name><Name>\\VBOXSVR\shared\Software\port128.h</Name><Name>\\VBOXSVR\shared\Software\compass.h</Name><Name>\\VBOXSVR\shared\Software\i2c.h</Name><Name>\\VBOXSVR\shared\Software\i2cconf.h</Name><Name>\\VBOXSVR\shared\Software\memory_map.h</Name><Name>\\VBOXSVR\shared\Software\a2d.h</Name><Name>\\VBOXSVR\shared\Software\buffer.h</Name><Name>\\VBOXSVR\shared\Software\uartsw.h</Name><Name>\\VBOXSVR\shared\Software\uartswconf.h</Name><Name>\\VBOXSVR\shared\Software\ports.h</Name><Name>\\VBOXSVR\shared\Software\expansion_board.c</Name><Name>\\VBOXSVR\shared\Software\dynamixel.c</Name><Name>\\VBOXSVR\shared\Software\timer128.c</Name><Name>\\VBOXSVR\shared\Software\compass.c</Name><Name>\\VBOXSVR\shared\Software\i2c.c</Name><Name>\\VBOXSVR\shared\Software\a2d.c</Name><Name>\\VBOXSVR\shared\Software\buffer.c</Name><Name>\\VBOXSVR\shared\Software\uartsw.c</Name><Name>\\VBOXSVR\shared\Software\ports.c</Name></Files></ProjectFiles><IOView><usergroups/><sort sorted="0" column="0" ordername="0" orderaddress="0" ordergroup="0"/></IOView><Files><File00000><FileId>00000</FileId><FileName>expansion_board.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>uartsw.h</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>uartsw.c</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>uartswconf.h</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>buffer.h</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>compass.c</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>dynamixel.c</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>dynamixel.h</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>ports.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>ports.c</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>port128.h</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>i2c.c</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>compass.h</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>buffer.c</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>a2d.c</FileName><Status>1</Status></File00014></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>
diff --git a/expansion_board.aws b/expansion_board.aws
new file mode 100755
index 0000000000000000000000000000000000000000..351856dd9e369b31b6960a6674e81ec68689e037
--- /dev/null
+++ b/expansion_board.aws
@@ -0,0 +1 @@
+<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name=""/><Files><File00000 Name="\\Vboxsvr\shared\Software\expansion_board.c" Position="201 89 894 404" LineCol="146 14" State="Maximized"/><File00001 Name="\\Vboxsvr\shared\Software\uartsw.h" Position="223 116 908 401" LineCol="0 0" State="Maximized"/><File00002 Name="\\Vboxsvr\shared\Software\uartsw.c" Position="245 138 930 423" LineCol="49 0" State="Maximized"/><File00003 Name="\\Vboxsvr\shared\Software\uartswconf.h" Position="267 160 952 445" LineCol="40 0" State="Maximized"/><File00004 Name="\\Vboxsvr\shared\Software\buffer.h" Position="289 182 974 467" LineCol="0 0" State="Maximized"/><File00005 Name="\\Vboxsvr\shared\Software\compass.c" Position="311 204 996 489" LineCol="19 0" State="Maximized"/><File00006 Name="\\Vboxsvr\shared\Software\dynamixel.c" Position="333 226 1018 511" LineCol="226 0" State="Maximized"/><File00007 Name="\\Vboxsvr\shared\Software\dynamixel.h" Position="201 94 886 379" LineCol="26 0" State="Maximized"/><File00008 Name="\\Vboxsvr\shared\Software\ports.h" Position="223 116 908 401" LineCol="21 0" State="Maximized"/><File00009 Name="\\Vboxsvr\shared\Software\ports.c" Position="245 138 930 423" LineCol="22 0" State="Maximized"/><File00010 Name="\\Vboxsvr\shared\Software\port128.h" Position="267 160 952 445" LineCol="0 0" State="Maximized"/><File00011 Name="\\Vboxsvr\shared\Software\i2c.c" Position="289 182 974 467" LineCol="0 0" State="Maximized"/><File00012 Name="\\Vboxsvr\shared\Software\compass.h" Position="311 204 996 489" LineCol="12 35" State="Maximized"/><File00013 Name="\\Vboxsvr\shared\Software\buffer.c" Position="333 226 1018 511" LineCol="0 0" State="Maximized"/><File00014 Name="\\Vboxsvr\shared\Software\a2d.c" Position="201 94 886 379" LineCol="0 0" State="Maximized"/><File00015 Name="\\Vboxsvr\shared\Software\memory_map.h" Position="197 71 1026 519" LineCol="0 0" State="Maximized"/></Files></AVRWorkspace>
diff --git a/expansion_board.c b/expansion_board.c
new file mode 100755
index 0000000000000000000000000000000000000000..482b8152e8b03e4447af2fd05c45227985728795
--- /dev/null
+++ b/expansion_board.c
@@ -0,0 +1,352 @@
+#include "memory_map.h"
+#include "dynamixel.h"
+#include "timer128.h"
+#include "compass.h"
+#include "uartsw.h"
+#include "avr/io.h"
+#include "ports.h"
+#include "a2d.h"
+#include "i2c.h"
+
+void periodic_calls(void)
+{
+ static short int count=0;
+
+ sei();
+ outb(TCNT0,0x7F);
+ compass_periodic_call();
+ count++;
+ if(count==1000)
+ {
+ if(PINE&0x04)
+ cbi(PORTE,2);
+ else
+ sbi(PORTE,2);
+ count=0;
+ }
+}
+
+int main(void)
+{
+ unsigned char data[128],id,length,instruction,answer[2],status;
+ // selected address
+ unsigned char rs485_address;
+ // adc conversion result
+ unsigned short int adc_value;
+ // heading value
+ unsigned short int compass_heading;
+ // serial port variables
+ unsigned char data_available;
+ unsigned char serial_data;
+ // gpio identifier
+ unsigned char gpio_id;
+ // pwm identifier
+ unsigned char pwm_id;
+ // pwm value
+ unsigned short int pwm_value;
+
+ // initialize the IO ports
+ init_ports();
+
+ // initialize the RS485 interface
+ init_RS485();
+ get_RS485_address(&rs485_address);
+
+ // initialize the analog to digital converter
+ a2dInit();
+
+ // initialize the i2c peripheral
+ i2cInit();
+
+ // initialize the compass
+ CompassInit();
+
+ // initialize timer to execute periodic functions
+ timer0Init();
+ // set the period to 1ms
+ timer0SetPrescaler(TIMER_CLK_DIV1024);
+ outb(TCNT0,0x7F);
+ timerAttach(TIMER0OVERFLOW_INT, periodic_calls);
+
+ // initialize the timer 3 to generate RC PWM
+ timer3Init();
+ timer3SetPrescaler(TIMER_CLK_DIV8);
+ timer3PWMInitICR(40000);// set a 50 Hz freq
+
+ // initialize the timer 1 to generate analog signals
+ timer1Init();
+ timer1SetPrescaler(TIMER_CLK_DIV1);
+ timer1PWMInitICR(16000);// set a a kHz freq
+
+ // initialize the software serial port
+// uartswInit();
+
+ sei();// turn on interrupts (if not already on)
+
+ while(1)
+ {
+ status=RxRS485Packet(RS485_single_ended,&id,&instruction,&length,data);
+ if(status==CHECK_ERROR)
+ TxRS485Packet(RS485_single_ended,rs485_address,CHECKSUM_ERROR,0,NULL);
+ else if(status==CORRECT)
+ {
+ if(id==rs485_address)
+ {
+ switch(instruction)
+ {
+ case INST_PING: TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ break;
+ case INST_READ: if(data[0]>=0x00 && data[0]<=0x07)
+ {
+ if(length==2)
+ {
+ adc_value=adc_get_channel(data[0]);
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,2,(unsigned char *)&adc_value);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ if(data[0]>=0x08 && data[0]<=0x0F)
+ {
+ if(length==2)
+ {
+ adc_value=adc_get_averaged_channel(data[0]-8);
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,2,(unsigned char *)&adc_value);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x10)
+ {
+ if(length==2)
+ {
+ compass_heading=compass_get_heading();
+ answer[0]=compass_heading&0xFF;
+ answer[1]=(compass_heading>>8)&0xFF;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,2,answer);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x11)
+ {
+ if(length==2)
+ {
+ compass_heading=compass_get_averaged_heading();
+ answer[0]=compass_heading&0xFF;
+ answer[1]=(compass_heading>>8)&0xFF;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,2,answer);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x12)
+ {
+ if(length==2)
+ {
+ if(!calibrate && !calibrating)
+ answer[0]=0x00;
+ else
+ answer[0]=0x01;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,1,answer);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+
+ }
+ else if(data[0]==0x21)
+ {
+ if(length==2)
+ {
+ data_available=uartswReceiveByte(&serial_data);
+ answer[0]=data_available;
+ answer[1]=serial_data;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,2,answer);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]>=0x30 && data[0]<=0x55)
+ {
+ if(length==2)
+ {
+ gpio_id=(data[0]-0x30)>>1;
+ if((data[0]%2)==0x00)// configuration register
+ answer[0]=get_port_config(gpio_id);
+ else// data register
+ {
+ answer[0]=read_port(gpio_id);
+
+ }
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,1,answer);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x61 || data[0]==0x63 || data[0]==0x65 || data[0]==0x67)
+ {
+ if(length==2)
+ {
+ pwm_id=(data[0]-0x61)>>1;
+ answer[0]=0x00;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,1,answer);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ break;
+ case INST_WRITE: if(data[0]==0x12)
+ {
+ if(length==2)
+ {
+ if(!calibrate)
+ calibrate=TRUE;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x20)
+ {
+ if(length==2)
+ {
+ uartswSendByte(data[1]);
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]>=0x30 && data[0]<=0x55)
+ {
+ if(length==2)
+ {
+ gpio_id=(data[0]-0x30)>>1;
+ if((data[0]%2)==0x00)// configuration register
+ {
+ config_port(gpio_id,data[1]);
+ answer[0]=DDRA;
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else// value register
+ {
+ if(data[1]==0x00)
+ clear_port(gpio_id);
+ else
+ set_port(gpio_id);
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x60 || data[0]==0x62 || data[0]==0x64 || data[0]==0x66)
+ {
+ if(length==3)
+ {
+ pwm_id=(data[0]-0x60)>>1;
+ pwm_value=data[1]+data[2]*256;
+ if(pwm_value>40000)
+ pwm_value=40000;
+ switch(pwm_id)
+ {
+ case 0: timer3PWMASet(pwm_value);
+ break;
+ case 1: timer3PWMBSet(pwm_value);
+ break;
+ case 2: timer3PWMCSet(pwm_value);
+ break;
+ case 3: timer1PWMCSet(pwm_value);
+ break;
+ }
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x61 || data[0]==0x63 || data[0]==0x65 || data[0]==0x67)
+ {
+ if(length==2)
+ {
+ pwm_id=(data[0]-0x61)>>1;
+ switch(pwm_id)
+ {
+ case 0: if(data[1]==0x00)
+ timer3PWMAOff();
+ else
+ timer3PWMAOn();
+ break;
+ case 1: if(data[1]==0x00)
+ timer3PWMBOff();
+ else
+ timer3PWMBOn();
+ break;
+ case 2: if(data[1]==0x00)
+ timer3PWMCOff();
+ else
+ timer3PWMCOn();
+ break;
+ case 3: if(data[1]==0x00)
+ timer1PWMCOff();
+ else
+ timer1PWMCOn();
+ break;
+ }
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x70 || data[0]==0x72)
+ {
+ if(length==3)
+ {
+ pwm_id=(data[0]-0x70)>>1;
+ pwm_value=data[1]+data[2]*256;
+ if(pwm_value>16000)
+ pwm_value=16000;
+ if(pwm_id==0)
+ timer1PWMASet(pwm_value);
+ else
+ timer1PWMBSet(pwm_value);
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else if(data[0]==0x71 || data[0]==0x73)
+ {
+ if(length==2)
+ {
+ pwm_id=(data[0]-0x71)>>1;
+ if(pwm_id==0)
+ {
+ if(data[1]==0x00)
+ timer1PWMAOff();
+ else
+ timer1PWMAOn();
+ }
+ else
+ {
+ if(data[1]==0x00)
+ timer1PWMBOff();
+ else
+ timer1PWMBOn();
+ }
+ TxRS485Packet(RS485_single_ended,rs485_address,NO_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ }
+ else
+ TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ case INST_SYNC_WRITE: // do nothing to avoid desynchronization with the controller
+ break;
+ default: //TxRS485Packet(RS485_single_ended,rs485_address,INSTRUCTION_ERROR,0,NULL);
+ break;
+ }
+ }
+ }
+ }
+}
diff --git a/global.h b/global.h
new file mode 100755
index 0000000000000000000000000000000000000000..075dfe6423d6854ca7ff608197ec53ef7a8ac667
--- /dev/null
+++ b/global.h
@@ -0,0 +1,40 @@
+/*! \file global.h \brief AVRlib project global include. */
+//*****************************************************************************
+//
+// File Name : 'global.h'
+// Title : AVRlib project global include
+// Author : Pascal Stang - Copyright (C) 2001-2002
+// Created : 7/12/2001
+// Revised : 9/30/2002
+// Version : 1.1
+// Target MCU : Atmel AVR series
+// Editor Tabs : 4
+//
+// Description : This include file is designed to contain items useful to all
+// code files and projects.
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#ifndef GLOBAL_H
+#define GLOBAL_H
+
+// global AVRLIB defines
+#include "avrlibdefs.h"
+// global AVRLIB types definitions
+#include "avrlibtypes.h"
+
+// project/system dependent defines
+
+// CPU clock speed
+#define F_CPU 16000000 // 16MHz processor
+//#define F_CPU 14745000 // 14.745MHz processor
+//#define F_CPU 8000000 // 8MHz processor
+//#define F_CPU 7372800 // 7.37MHz processor
+//#define F_CPU 4000000 // 4MHz processor
+//#define F_CPU 3686400 // 3.69MHz processor
+#define CYCLES_PER_US ((F_CPU+500000)/1000000) // cpu cycles per microsecond
+
+#endif
diff --git a/i2c.c b/i2c.c
new file mode 100755
index 0000000000000000000000000000000000000000..1ca4b20f95e0eabe5e0b0db0f3fad27a0178d6b7
--- /dev/null
+++ b/i2c.c
@@ -0,0 +1,606 @@
+/*! \file i2c.c \brief I2C interface using AVR Two-Wire Interface (TWI) hardware. */
+//*****************************************************************************
+//
+// File Name : 'i2c.c'
+// Title : I2C interface using AVR Two-Wire Interface (TWI) hardware
+// Author : Pascal Stang - Copyright (C) 2002-2003
+// Created : 2002.06.25
+// Revised : 2003.03.02
+// Version : 0.9
+// Target MCU : Atmel AVR series
+// Editor Tabs : 4
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#include "i2c.h"
+
+// Standard I2C bit rates are:
+// 100KHz for slow speed
+// 400KHz for high speed
+
+//#define I2C_DEBUG
+
+// I2C state and address variables
+static volatile eI2cStateType I2cState;
+static u08 I2cDeviceAddrRW;
+// send/transmit buffer (outgoing data)
+static u08 I2cSendData[I2C_SEND_DATA_BUFFER_SIZE];
+static u08 I2cSendDataIndex;
+static u08 I2cSendDataLength;
+// receive buffer (incoming data)
+static u08 I2cReceiveData[I2C_RECEIVE_DATA_BUFFER_SIZE];
+static u08 I2cReceiveDataIndex;
+static u08 I2cReceiveDataLength;
+
+// function pointer to i2c receive routine
+//! I2cSlaveReceive is called when this processor
+// is addressed as a slave for writing
+static void (*i2cSlaveReceive)(u08 receiveDataLength, u08* recieveData);
+//! I2cSlaveTransmit is called when this processor
+// is addressed as a slave for reading
+static u08 (*i2cSlaveTransmit)(u08 transmitDataLengthMax, u08* transmitData);
+
+// functions
+void i2cInit(void)
+{
+ // set pull-up resistors on I2C bus pins
+ // TODO: should #ifdef these
+// sbi(PORTC, 5); // i2c SCL on ATmega163,323,16,32,etc
+// sbi(PORTC, 4); // i2c SDA on ATmega163,323,16,32,etc
+// sbi(PORTD, 0); // i2c SCL on ATmega128,64
+// sbi(PORTD, 1); // i2c SDA on ATmega128,64
+
+ // clear SlaveReceive and SlaveTransmit handler to null
+ i2cSlaveReceive = 0;
+ i2cSlaveTransmit = 0;
+ // set i2c bit rate to 100KHz
+ i2cSetBitrate(100);
+ // enable TWI (two-wire interface)
+ sbi(TWCR, TWEN);
+ // set state
+ I2cState = I2C_IDLE;
+ // enable TWI interrupt and slave address ACK
+ sbi(TWCR, TWIE);
+ sbi(TWCR, TWEA);
+ //outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
+}
+
+void i2cSetBitrate(u16 bitrateKHz)
+{
+ u08 bitrate_div;
+ // set i2c bitrate
+ // SCL freq = F_CPU/(16+2*TWBR))
+ #ifdef TWPS0
+ // for processors with additional bitrate division (mega128)
+ // SCL freq = F_CPU/(16+2*TWBR*4^TWPS)
+ // set TWPS to zero
+ cbi(TWSR, TWPS0);
+ cbi(TWSR, TWPS1);
+ #endif
+ // calculate bitrate division
+ bitrate_div = ((F_CPU/1000l)/bitrateKHz);
+ if(bitrate_div >= 16)
+ bitrate_div = (bitrate_div-16)/2;
+ outb(TWBR, bitrate_div);
+}
+
+void i2cSetLocalDeviceAddr(u08 deviceAddr, u08 genCallEn)
+{
+ // set local device address (used in slave mode only)
+ outb(TWAR, ((deviceAddr&0xFE) | (genCallEn?1:0)) );
+}
+
+void i2cSetSlaveReceiveHandler(void (*i2cSlaveRx_func)(u08 receiveDataLength, u08* recieveData))
+{
+ i2cSlaveReceive = i2cSlaveRx_func;
+}
+
+void i2cSetSlaveTransmitHandler(u08 (*i2cSlaveTx_func)(u08 transmitDataLengthMax, u08* transmitData))
+{
+ i2cSlaveTransmit = i2cSlaveTx_func;
+}
+
+inline void i2cSendStart(void)
+{
+ // send start condition
+ outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWSTA));
+}
+
+inline void i2cSendStop(void)
+{
+ // transmit stop condition
+ // leave with TWEA on for slave receiving
+ outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA)|BV(TWSTO));
+}
+
+inline void i2cWaitForComplete(void)
+{
+ // wait for i2c interface to complete operation
+ while( !(inb(TWCR) & BV(TWINT)) );
+}
+
+inline void i2cSendByte(u08 data)
+{
+ // save data to the TWDR
+ outb(TWDR, data);
+ // begin send
+ outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT));
+}
+
+inline void i2cReceiveByte(u08 ackFlag)
+{
+ // begin receive over i2c
+ if( ackFlag )
+ {
+ // ackFlag = TRUE: ACK the recevied data
+ outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
+ }
+ else
+ {
+ // ackFlag = FALSE: NACK the recevied data
+ outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT));
+ }
+}
+
+inline u08 i2cGetReceivedByte(void)
+{
+ // retieve received data byte from i2c TWDR
+ return( inb(TWDR) );
+}
+
+inline u08 i2cGetStatus(void)
+{
+ // retieve current i2c status from i2c TWSR
+ return( inb(TWSR) );
+}
+
+void i2cMasterSend(u08 deviceAddr, u08 length, u08* data)
+{
+ u08 i;
+ // wait for interface to be ready
+ while(I2cState);
+ // set state
+ I2cState = I2C_MASTER_TX;
+ // save data
+ I2cDeviceAddrRW = (deviceAddr & 0xFE); // RW cleared: write operation
+ for(i=0; i<length; i++)
+ I2cSendData[i] = *data++;
+ I2cSendDataIndex = 0;
+ I2cSendDataLength = length;
+ // send start condition
+ i2cSendStart();
+}
+
+void i2cMasterReceive(u08 deviceAddr, u08 length)//, u08* data)
+{
+// u08 i;
+ // wait for interface to be ready
+ while(I2cState);
+ // set state
+ I2cState = I2C_MASTER_RX;
+ // save data
+ I2cDeviceAddrRW = (deviceAddr|0x01); // RW set: read operation
+ I2cReceiveDataIndex = 0;
+ I2cReceiveDataLength = length;
+ // send start condition
+ i2cSendStart();
+ // wait for data
+// while(I2cState);
+ // return data
+// for(i=0; i<length; i++)
+// *data++ = I2cReceiveData[i];
+}
+
+u08 i2cMasterSendNI(u08 deviceAddr, u08 length, u08* data)
+{
+ u08 retval = I2C_OK;
+
+ // disable TWI interrupt
+ cbi(TWCR, TWIE);
+
+ // send start condition
+ i2cSendStart();
+ i2cWaitForComplete();
+
+ // send device address with write
+ i2cSendByte( deviceAddr & 0xFE );
+ i2cWaitForComplete();
+
+ // check if device is present and live
+ if( inb(TWSR) == TW_MT_SLA_ACK)
+ {
+ // send data
+ while(length)
+ {
+ i2cSendByte( *data++ );
+ i2cWaitForComplete();
+ length--;
+ }
+ }
+ else
+ {
+ // device did not ACK it's address,
+ // data will not be transferred
+ // return error
+ retval = I2C_ERROR_NODEV;
+ }
+
+ // transmit stop condition
+ // leave with TWEA on for slave receiving
+ i2cSendStop();
+ while( !(inb(TWCR) & BV(TWSTO)) );
+
+ // enable TWI interrupt
+ sbi(TWCR, TWIE);
+
+ return retval;
+}
+
+u08 i2cMasterReceiveNI(u08 deviceAddr, u08 length, u08 *data)
+{
+ u08 retval = I2C_OK;
+
+ // disable TWI interrupt
+ cbi(TWCR, TWIE);
+
+ // send start condition
+ i2cSendStart();
+ i2cWaitForComplete();
+
+ // send device address with read
+ i2cSendByte( deviceAddr | 0x01 );
+ i2cWaitForComplete();
+
+ // check if device is present and live
+ if( inb(TWSR) == TW_MR_SLA_ACK)
+ {
+ // accept receive data and ack it
+ while(length > 1)
+ {
+ i2cReceiveByte(TRUE);
+ i2cWaitForComplete();
+ *data++ = i2cGetReceivedByte();
+ // decrement length
+ length--;
+ }
+
+ // accept receive data and nack it (last-byte signal)
+ i2cReceiveByte(FALSE);
+ i2cWaitForComplete();
+ *data++ = i2cGetReceivedByte();
+ }
+ else
+ {
+ // device did not ACK it's address,
+ // data will not be transferred
+ // return error
+ retval = I2C_ERROR_NODEV;
+ }
+
+ // transmit stop condition
+ // leave with TWEA on for slave receiving
+ i2cSendStop();
+
+ // enable TWI interrupt
+ sbi(TWCR, TWIE);
+
+ return retval;
+}
+/*
+void i2cMasterTransferNI(u08 deviceAddr, u08 sendlength, u08* senddata, u08 receivelength, u08* receivedata)
+{
+ // disable TWI interrupt
+ cbi(TWCR, TWIE);
+
+ // send start condition
+ i2cSendStart();
+ i2cWaitForComplete();
+
+ // if there's data to be sent, do it
+ if(sendlength)
+ {
+ // send device address with write
+ i2cSendByte( deviceAddr & 0xFE );
+ i2cWaitForComplete();
+
+ // send data
+ while(sendlength)
+ {
+ i2cSendByte( *senddata++ );
+ i2cWaitForComplete();
+ sendlength--;
+ }
+ }
+
+ // if there's data to be received, do it
+ if(receivelength)
+ {
+ // send repeated start condition
+ i2cSendStart();
+ i2cWaitForComplete();
+
+ // send device address with read
+ i2cSendByte( deviceAddr | 0x01 );
+ i2cWaitForComplete();
+
+ // accept receive data and ack it
+ while(receivelength > 1)
+ {
+ i2cReceiveByte(TRUE);
+ i2cWaitForComplete();
+ *receivedata++ = i2cGetReceivedByte();
+ // decrement length
+ receivelength--;
+ }
+
+ // accept receive data and nack it (last-byte signal)
+ i2cReceiveByte(TRUE);
+ i2cWaitForComplete();
+ *receivedata++ = i2cGetReceivedByte();
+ }
+
+ // transmit stop condition
+ // leave with TWEA on for slave receiving
+ i2cSendStop();
+ while( !(inb(TWCR) & BV(TWSTO)) );
+
+ // enable TWI interrupt
+ sbi(TWCR, TWIE);
+}
+*/
+
+//! I2C (TWI) interrupt service routine
+SIGNAL(TWI_vect)
+{
+ // read status bits
+ u08 status = inb(TWSR) & TWSR_STATUS_MASK;
+
+ switch(status)
+ {
+ // Master General
+ case TW_START: // 0x08: Sent start condition
+ case TW_REP_START: // 0x10: Sent repeated start condition
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: M->START\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // send device address
+ i2cSendByte(I2cDeviceAddrRW);
+ break;
+
+ // Master Transmitter & Receiver status codes
+ case TW_MT_SLA_ACK: // 0x18: Slave address acknowledged
+ case TW_MT_DATA_ACK: // 0x28: Data acknowledged
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: MT->SLA_ACK or DATA_ACK\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ if(I2cSendDataIndex < I2cSendDataLength)
+ {
+ // send data
+ i2cSendByte( I2cSendData[I2cSendDataIndex++] );
+ }
+ else
+ {
+ // transmit stop condition, enable SLA ACK
+ i2cSendStop();
+ // set state
+ I2cState = I2C_IDLE;
+ }
+ break;
+ case TW_MR_DATA_NACK: // 0x58: Data received, NACK reply issued
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: MR->DATA_NACK\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // store final received data byte
+ I2cReceiveData[I2cReceiveDataIndex++] = inb(TWDR);
+ // continue to transmit STOP condition
+ case TW_MR_SLA_NACK: // 0x48: Slave address not acknowledged
+ case TW_MT_SLA_NACK: // 0x20: Slave address not acknowledged
+ case TW_MT_DATA_NACK: // 0x30: Data not acknowledged
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: MTR->SLA_NACK or MT->DATA_NACK\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // transmit stop condition, enable SLA ACK
+ i2cSendStop();
+ // set state
+ I2cState = I2C_IDLE;
+ break;
+ case TW_MT_ARB_LOST: // 0x38: Bus arbitration lost
+ //case TW_MR_ARB_LOST: // 0x38: Bus arbitration lost
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: MT->ARB_LOST\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // release bus
+ outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT));
+ // set state
+ I2cState = I2C_IDLE;
+ // release bus and transmit start when bus is free
+ //outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWSTA));
+ break;
+ case TW_MR_DATA_ACK: // 0x50: Data acknowledged
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: MR->DATA_ACK\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // store received data byte
+ I2cReceiveData[I2cReceiveDataIndex++] = inb(TWDR);
+ // fall-through to see if more bytes will be received
+ case TW_MR_SLA_ACK: // 0x40: Slave address acknowledged
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: MR->SLA_ACK\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ if(I2cReceiveDataIndex < (I2cReceiveDataLength-1))
+ // data byte will be received, reply with ACK (more bytes in transfer)
+ i2cReceiveByte(TRUE);
+ else
+ // data byte will be received, reply with NACK (final byte in transfer)
+ i2cReceiveByte(FALSE);
+ break;
+
+ // Slave Receiver status codes
+ case TW_SR_SLA_ACK: // 0x60: own SLA+W has been received, ACK has been returned
+ case TW_SR_ARB_LOST_SLA_ACK: // 0x68: own SLA+W has been received, ACK has been returned
+ case TW_SR_GCALL_ACK: // 0x70: GCA+W has been received, ACK has been returned
+ case TW_SR_ARB_LOST_GCALL_ACK: // 0x78: GCA+W has been received, ACK has been returned
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: SR->SLA_ACK\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // we are being addressed as slave for writing (data will be received from master)
+ // set state
+ I2cState = I2C_SLAVE_RX;
+ // prepare buffer
+ I2cReceiveDataIndex = 0;
+ // receive data byte and return ACK
+ outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
+ break;
+ case TW_SR_DATA_ACK: // 0x80: data byte has been received, ACK has been returned
+ case TW_SR_GCALL_DATA_ACK: // 0x90: data byte has been received, ACK has been returned
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: SR->DATA_ACK\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // get previously received data byte
+ I2cReceiveData[I2cReceiveDataIndex++] = inb(TWDR);
+ // check receive buffer status
+ if(I2cReceiveDataIndex < I2C_RECEIVE_DATA_BUFFER_SIZE)
+ {
+ // receive data byte and return ACK
+ i2cReceiveByte(TRUE);
+ //outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
+ }
+ else
+ {
+ // receive data byte and return NACK
+ i2cReceiveByte(FALSE);
+ //outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT));
+ }
+ break;
+ case TW_SR_DATA_NACK: // 0x88: data byte has been received, NACK has been returned
+ case TW_SR_GCALL_DATA_NACK: // 0x98: data byte has been received, NACK has been returned
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: SR->DATA_NACK\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // receive data byte and return NACK
+ i2cReceiveByte(FALSE);
+ //outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT));
+ break;
+ case TW_SR_STOP: // 0xA0: STOP or REPEATED START has been received while addressed as slave
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: SR->SR_STOP\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // switch to SR mode with SLA ACK
+ outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
+ // i2c receive is complete, call i2cSlaveReceive
+ if(i2cSlaveReceive) i2cSlaveReceive(I2cReceiveDataIndex, I2cReceiveData);
+ // set state
+ I2cState = I2C_IDLE;
+ break;
+
+ // Slave Transmitter
+ case TW_ST_SLA_ACK: // 0xA8: own SLA+R has been received, ACK has been returned
+ case TW_ST_ARB_LOST_SLA_ACK: // 0xB0: GCA+R has been received, ACK has been returned
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: ST->SLA_ACK\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // we are being addressed as slave for reading (data must be transmitted back to master)
+ // set state
+ I2cState = I2C_SLAVE_TX;
+ // request data from application
+ if(i2cSlaveTransmit) I2cSendDataLength = i2cSlaveTransmit(I2C_SEND_DATA_BUFFER_SIZE, I2cSendData);
+ // reset data index
+ I2cSendDataIndex = 0;
+ // fall-through to transmit first data byte
+ case TW_ST_DATA_ACK: // 0xB8: data byte has been transmitted, ACK has been received
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: ST->DATA_ACK\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // transmit data byte
+ outb(TWDR, I2cSendData[I2cSendDataIndex++]);
+ if(I2cSendDataIndex < I2cSendDataLength)
+ // expect ACK to data byte
+ outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
+ else
+ // expect NACK to data byte
+ outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT));
+ break;
+ case TW_ST_DATA_NACK: // 0xC0: data byte has been transmitted, NACK has been received
+ case TW_ST_LAST_DATA: // 0xC8:
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: ST->DATA_NACK or LAST_DATA\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // all done
+ // switch to open slave
+ outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
+ // set state
+ I2cState = I2C_IDLE;
+ break;
+
+ // Misc
+ case TW_NO_INFO: // 0xF8: No relevant state information
+ // do nothing
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: NO_INFO\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ break;
+ case TW_BUS_ERROR: // 0x00: Bus error due to illegal start or stop condition
+ #ifdef I2C_DEBUG
+ rprintfInit(uart1AddToTxBuffer);
+ rprintf("I2C: BUS_ERROR\r\n");
+ rprintfInit(uart1SendByte);
+ #endif
+ // reset internal hardware and release bus
+ outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWSTO)|BV(TWEA));
+ // set state
+ I2cState = I2C_IDLE;
+ break;
+ }
+}
+
+eI2cStateType i2cGetState(void)
+{
+ return I2cState;
+}
+
+void i2c_get_data(unsigned char length, unsigned char *data)
+{
+ unsigned char i;
+
+ for(i=0;i<length;i++)
+ {
+ data[i]=I2cReceiveData[i];
+ }
+}
+
diff --git a/i2c.h b/i2c.h
new file mode 100755
index 0000000000000000000000000000000000000000..21b68e3140e6bd8baec6378242161e66f26be2d1
--- /dev/null
+++ b/i2c.h
@@ -0,0 +1,178 @@
+/*! \file i2c.h \brief I2C interface using AVR Two-Wire Interface (TWI) hardware. */
+//*****************************************************************************
+//
+// File Name : 'i2c.h'
+// Title : I2C interface using AVR Two-Wire Interface (TWI) hardware
+// Author : Pascal Stang - Copyright (C) 2002-2003
+// Created : 2002.06.25
+// Revised : 2003.03.03
+// Version : 0.9
+// Target MCU : Atmel AVR series
+// Editor Tabs : 4
+//
+/// \ingroup driver_avr
+/// \defgroup i2c I2C Serial Interface Function Library (i2c.c)
+/// \code #include "i2c.h" \endcode
+/// \par Overview
+/// This library provides the high-level functions needed to use the I2C
+/// serial interface supported by the hardware of several AVR processors.
+/// The library is functional but has not been exhaustively tested yet and is
+/// still expanding. Thanks to the standardization of the I2C protocol and
+/// register access, the send and receive commands are everything you need to
+/// talk to thousands of different I2C devices including: EEPROMS, Flash memory,
+/// MP3 players, A/D and D/A converters, electronic potentiometers, etc.
+///
+/// \par About I2C
+/// I2C (pronounced "eye-squared-see") is a two-wire bidirectional
+/// network designed for easy transfer of information between a wide variety
+/// of intelligent devices. Many of the Atmel AVR series processors have
+/// hardware support for transmitting and receiving using an I2C-type bus.
+/// In addition to the AVRs, there are thousands of other parts made by
+/// manufacturers like Philips, Maxim, National, TI, etc that use I2C as
+/// their primary means of communication and control. Common device types
+/// are A/D & D/A converters, temp sensors, intelligent battery monitors,
+/// MP3 decoder chips, EEPROM chips, multiplexing switches, etc.
+///
+/// I2C uses only two wires (SDA and SCL) to communicate bidirectionally
+/// between devices. I2C is a multidrop network, meaning that you can have
+/// several devices on a single bus. Because I2C uses a 7-bit number to
+/// identify which device it wants to talk to, you cannot have more than
+/// 127 devices on a single bus.
+///
+/// I2C ordinarily requires two 4.7K pull-up resistors to power (one each on
+/// SDA and SCL), but for small numbers of devices (maybe 1-4), it is enough
+/// to activate the internal pull-up resistors in the AVR processor. To do
+/// this, set the port pins, which correspond to the I2C pins SDA/SCL, high.
+/// For example, on the mega163, sbi(PORTC, 0); sbi(PORTC, 1);.
+///
+/// For complete information about I2C, see the Philips Semiconductor
+/// website. They created I2C and have the largest family of devices that
+/// work with I2C.
+///
+/// \Note: Many manufacturers market I2C bus devices under a different or generic
+/// bus name like "Two-Wire Interface". This is because Philips still holds
+/// "I2C" as a trademark. For example, SMBus and SMBus devices are hardware
+/// compatible and closely related to I2C. They can be directly connected
+/// to an I2C bus along with other I2C devices are are generally accessed in
+/// the same way as I2C devices. SMBus is often found on modern motherboards
+/// for temp sensing and other low-level control tasks.
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#ifndef I2C_H
+#define I2C_H
+
+#include "global.h"
+
+// include project-specific configuration
+#include "i2cconf.h"
+
+// TWSR values (not bits)
+// (taken from avr-libc twi.h - thank you Marek Michalkiewicz)
+// Master
+#define TW_START 0x08
+#define TW_REP_START 0x10
+// Master Transmitter
+#define TW_MT_SLA_ACK 0x18
+#define TW_MT_SLA_NACK 0x20
+#define TW_MT_DATA_ACK 0x28
+#define TW_MT_DATA_NACK 0x30
+#define TW_MT_ARB_LOST 0x38
+// Master Receiver
+#define TW_MR_ARB_LOST 0x38
+#define TW_MR_SLA_ACK 0x40
+#define TW_MR_SLA_NACK 0x48
+#define TW_MR_DATA_ACK 0x50
+#define TW_MR_DATA_NACK 0x58
+// Slave Transmitter
+#define TW_ST_SLA_ACK 0xA8
+#define TW_ST_ARB_LOST_SLA_ACK 0xB0
+#define TW_ST_DATA_ACK 0xB8
+#define TW_ST_DATA_NACK 0xC0
+#define TW_ST_LAST_DATA 0xC8
+// Slave Receiver
+#define TW_SR_SLA_ACK 0x60
+#define TW_SR_ARB_LOST_SLA_ACK 0x68
+#define TW_SR_GCALL_ACK 0x70
+#define TW_SR_ARB_LOST_GCALL_ACK 0x78
+#define TW_SR_DATA_ACK 0x80
+#define TW_SR_DATA_NACK 0x88
+#define TW_SR_GCALL_DATA_ACK 0x90
+#define TW_SR_GCALL_DATA_NACK 0x98
+#define TW_SR_STOP 0xA0
+// Misc
+#define TW_NO_INFO 0xF8
+#define TW_BUS_ERROR 0x00
+
+// defines and constants
+#define TWCR_CMD_MASK 0x0F
+#define TWSR_STATUS_MASK 0xF8
+
+// return values
+#define I2C_OK 0x00
+#define I2C_ERROR_NODEV 0x01
+
+// types
+typedef enum
+{
+ I2C_IDLE = 0, I2C_BUSY = 1,
+ I2C_MASTER_TX = 2, I2C_MASTER_RX = 3,
+ I2C_SLAVE_TX = 4, I2C_SLAVE_RX = 5
+} eI2cStateType;
+
+// functions
+
+//! Initialize I2C (TWI) interface
+void i2cInit(void);
+
+//! Set the I2C transaction bitrate (in KHz)
+void i2cSetBitrate(u16 bitrateKHz);
+
+// I2C setup and configurations commands
+//! Set the local (AVR processor's) I2C device address
+void i2cSetLocalDeviceAddr(u08 deviceAddr, u08 genCallEn);
+
+//! Set the user function which handles receiving (incoming) data as a slave
+void i2cSetSlaveReceiveHandler(void (*i2cSlaveRx_func)(u08 receiveDataLength, u08* recieveData));
+//! Set the user function which handles transmitting (outgoing) data as a slave
+void i2cSetSlaveTransmitHandler(u08 (*i2cSlaveTx_func)(u08 transmitDataLengthMax, u08* transmitData));
+
+// Low-level I2C transaction commands
+//! Send an I2C start condition in Master mode
+void i2cSendStart(void);
+//! Send an I2C stop condition in Master mode
+void i2cSendStop(void);
+//! Wait for current I2C operation to complete
+void i2cWaitForComplete(void);
+//! Send an (address|R/W) combination or a data byte over I2C
+void i2cSendByte(u08 data);
+//! Receive a data byte over I2C
+// ackFlag = TRUE if recevied data should be ACK'ed
+// ackFlag = FALSE if recevied data should be NACK'ed
+void i2cReceiveByte(u08 ackFlag);
+//! Pick up the data that was received with i2cReceiveByte()
+u08 i2cGetReceivedByte(void);
+//! Get current I2c bus status from TWSR
+u08 i2cGetStatus(void);
+
+// high-level I2C transaction commands
+
+//! send I2C data to a device on the bus
+void i2cMasterSend(u08 deviceAddr, u08 length, u08 *data);
+//! receive I2C data from a device on the bus
+void i2cMasterReceive(u08 deviceAddr, u08 length);//, u08* data);
+
+//! send I2C data to a device on the bus (non-interrupt based)
+u08 i2cMasterSendNI(u08 deviceAddr, u08 length, u08* data);
+//! receive I2C data from a device on the bus (non-interrupt based)
+u08 i2cMasterReceiveNI(u08 deviceAddr, u08 length, u08 *data);
+
+//! Get the current high-level state of the I2C interface
+eI2cStateType i2cGetState(void);
+
+void i2c_get_data(unsigned char length, unsigned char *data);
+
+#endif
diff --git a/i2cconf.h b/i2cconf.h
new file mode 100755
index 0000000000000000000000000000000000000000..81521675be5df58f2cd4db2520c3ae661bee5040
--- /dev/null
+++ b/i2cconf.h
@@ -0,0 +1,28 @@
+/*! \file i2cconf.h \brief I2C (TWI) interface configuration. */
+//*****************************************************************************
+//
+// File Name : 'i2cconf.h'
+// Title : I2C (TWI) interface configuration
+// Author : Pascal Stang - Copyright (C) 2002-2003
+// Created : 2002.06.25
+// Revised : 2003.03.02
+// Version : 0.7
+// Target MCU : Atmel AVR series
+// Editor Tabs : 4
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#ifndef I2CCONF_H
+#define I2CCONF_H
+
+// define I2C data buffer sizes
+// These buffers are used in interrupt-driven Master sending and receiving,
+// and in slave sending and receiving. They must be large enough to store
+// the largest I2C packet you expect to send and receive, respectively.
+#define I2C_SEND_DATA_BUFFER_SIZE 0x20
+#define I2C_RECEIVE_DATA_BUFFER_SIZE 0x20
+
+#endif
diff --git a/include/adc.h b/include/adc.h
deleted file mode 100644
index c79e8cb1219993819b5b4488feccf52858900f63..0000000000000000000000000000000000000000
--- a/include/adc.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef _ADC_H
-#define _ADC_H
-
-#include <avr/io.h>
-#include <avr/interrupt.h>
-
-void adc_init(void);
-void adc_start(void);
-void adc_stop(void);
-void adc_set_num_samples(uint8_t num);
-void adc_set_sample_period(uint8_t time_ms);
-void adc_loop(void);
-
-#endif
diff --git a/include/compass.h b/include/compass.h
deleted file mode 100644
index 8a739de1abdb505c3def20e798cbe0da0bcb778e..0000000000000000000000000000000000000000
--- a/include/compass.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#ifndef _COMPASS_H
-#define _COMPASS_H
-
-#include <avr/io.h>
-#include <avr/interrupt.h>
-
-// compass address
-#define COMPASS_ADDR 0x42
-
-// compass commands
-#define COMPASS_HEADING 0x41
-#define COMPASS_START_CAL 0x43
-#define COMPASS_STOP_CAL 0x45
-
-void compass_init(void);
-void compass_start(void);
-void compass_stop(void);
-void compass_start_calibration(void);
-void compass_stop_calibration(void);
-void compass_set_num_samples(uint8_t num);
-void compass_loop(void);
-
-#endif
diff --git a/include/dac.h b/include/dac.h
deleted file mode 100644
index 45b7f3b897eb7ae5c68c80ea925f7b7fb6c8afeb..0000000000000000000000000000000000000000
--- a/include/dac.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#ifndef _DAC_H
-#define _DAC_H
-
-#include <avr/io.h>
-#include <avr/interrupt.h>
-
-typedef enum {dac0=0,dac1=1} dac_ch_t;
-
-void dac_init(void);
-void dac_start(void);
-void dac_stop(void);
-void dac_enable_channel(dac_ch_t ch);
-void dac_disable_channel(dac_ch_t ch);
-void dac_set_voltage(dac_ch_t ch,uint16_t voltage);
-
-#endif
diff --git a/include/dyn_common.h b/include/dyn_common.h
deleted file mode 100644
index 72a1d88b6af832cdedef82e3592c680ebc0288f6..0000000000000000000000000000000000000000
--- a/include/dyn_common.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#ifndef _DYN_COMMON_H
-#define _DYN_COMMON_H
-
-#include <avr/io.h>
-#include <avr/interrupt.h>
-
-// Instruction identifiers
-#define INST_PING 0x01
-#define INST_READ 0x02
-#define INST_WRITE 0x03
-#define INST_REG_WRITE 0x04
-#define INST_ACTION 0x05
-#define INST_RESET 0x06
-#define INST_SYNC_READ 0x82
-#define INST_SYNC_WRITE 0x83
-#define INST_BULK_READ 0x92
-#define INST_BULK_WRITE 0x93
-
-// bus errors
-#define INSTRUCTION_ERROR 0x40
-#define OVERLOAD_ERROR 0x20
-#define CHECKSUM_ERROR 0x10
-#define RANGE_ERROR 0x08
-#define OVERHEATING_ERROR 0x04
-#define ANGLE_LIMIT_ERROR 0x02
-#define VOLTAGE_ERROR 0x01
-#define NO_ERROR 0x00
-
-uint8_t do_write(uint8_t address,uint8_t length,uint8_t *data);
-uint8_t do_read(uint8_t address,uint8_t length,uint8_t **data);
-
-#endif
diff --git a/include/dyn_slave_diff.h b/include/dyn_slave_diff.h
deleted file mode 100644
index c3978a5ba0815b197def619daf743c51f98d7b16..0000000000000000000000000000000000000000
--- a/include/dyn_slave_diff.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#ifndef DYN_SLAVE_DIFF_H
-#define DYN_SLAVE_DIFF_H
-
-#include <avr/interrupt.h>
-#include <avr/io.h>
-#include "dyn_common.h"
-
-void dyn_slave_diff_init(uint8_t baudrate,uint8_t id);
-void dyn_slave_diff_set_baudrate(uint8_t baudrate);
-void dyn_slave_diff_set_id(uint8_t id);
-void dyn_slave_diff_loop(void);
-void dyn_slave_diff_set_error(uint8_t error);
-void dyn_slave_diff_clear_error(void);
-
-#endif
diff --git a/include/dyn_slave_se.h b/include/dyn_slave_se.h
deleted file mode 100644
index 3c29692e5708f7eb6934a74ccd409d6cef146158..0000000000000000000000000000000000000000
--- a/include/dyn_slave_se.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#ifndef DYN_SLAVE_SE_H
-#define DYN_SLAVE_SE_H
-
-#include <avr/interrupt.h>
-#include <avr/io.h>
-#include "dyn_common.h"
-
-void dyn_slave_se_init(uint8_t baudrate,uint8_t id);
-void dyn_slave_se_set_baudrate(uint8_t baudrate);
-void dyn_slave_se_set_id(uint8_t id);
-void dyn_slave_se_loop(void);
-void dyn_slave_se_set_error(uint8_t error);
-void dyn_slave_se_clear_error(void);
-
-#endif
diff --git a/include/i2c.h b/include/i2c.h
deleted file mode 100644
index 923ceb8efd72f4a1dd63512abf21e081d8a4a75f..0000000000000000000000000000000000000000
--- a/include/i2c.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#ifndef I2C_H
-#define I2C_H
-
-// TWSR values (not bits)
-// (taken from avr-libc twi.h - thank you Marek Michalkiewicz)
-// Master
-#define TW_START 0x08
-#define TW_REP_START 0x10
-// Master Transmitter
-#define TW_MT_SLA_ACK 0x18
-#define TW_MT_SLA_NACK 0x20
-#define TW_MT_DATA_ACK 0x28
-#define TW_MT_DATA_NACK 0x30
-#define TW_MT_ARB_LOST 0x38
-// Master Receiver
-#define TW_MR_ARB_LOST 0x38
-#define TW_MR_SLA_ACK 0x40
-#define TW_MR_SLA_NACK 0x48
-#define TW_MR_DATA_ACK 0x50
-#define TW_MR_DATA_NACK 0x58
-// Misc
-#define TW_NO_INFO 0xF8
-#define TW_BUS_ERROR 0x00
-
-// defines and constants
-#define TWCR_CMD_MASK 0x0F
-#define TWSR_STATUS_MASK 0xF8
-
-// return values
-#define I2C_OK 0x00
-#define I2C_ERROR_NODEV 0x01
-
-// types
-typedef enum {I2C_IDLE=0,I2C_BUSY=1,I2C_MASTER_TX=2,I2C_MASTER_RX=3} i2c_states_t;
-
-/* public functions */
-void i2c_init(uint16_t bitrate_khz);
-void i2c_set_bitrate(uint16_t bitrate_khz);
-void i2c_master_send(uint8_t deviceAddr, uint8_t length, uint8_t *data);
-void i2c_master_receive(uint8_t deviceAddr, uint8_t length);
-void i2c_get_data(unsigned char length, unsigned char *data);
-i2c_states_t i2c_get_state(void);
-
-#endif
diff --git a/include/mem.h b/include/mem.h
deleted file mode 100644
index 54b80f57597cd23ac26771d68bf74139cbc6cfb6..0000000000000000000000000000000000000000
--- a/include/mem.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#ifndef _MEM_H
-#define _MEM_H
-
-#include <avr/io.h>
-#include "memory_map.h"
-
-extern uint8_t ram_data[RAM_SIZE];
-
-void ram_init(void);
-uint8_t ram_read(uint8_t address, uint8_t length, uint8_t **data);
-uint8_t ram_write(uint8_t address, uint8_t length, uint8_t *data);
-
-#endif
diff --git a/include/memory_map.h b/include/memory_map.h
deleted file mode 100644
index 015a029fc125120dfa4b51a8fcda2df29750402f..0000000000000000000000000000000000000000
--- a/include/memory_map.h
+++ /dev/null
@@ -1,188 +0,0 @@
-#ifndef _MEMORY_MAP_H
-#define _MEMORY_MAP_H
-
-// Register Id EEPROM - declared in dynamixel
-#define Model_Number_L 0X00 //0 - 0X0C R - Lowest byte of model number
-#define Model_Number_H 0X01 //1 - 0X00 R - Highest byte of model number
-#define Version_Firmware 0X02 //2 - 0X00 R - Information on the version of firmware
-#define ID 0X03 //3 - 0X03 R/W - ID of Dynamixel
-#define Baud_Rate 0X04 //4 - 0X01 R/W - Baud Rate of Dynamixel
-#define Return_Delay_Time 0X05 //5 - 0XFA R/W - Return Delay Time (value*2us) currently not implemented
-#define Status_Return_Level 0X10 //16 - 0x10 R/W - Level os reply information
-// EEPROM end at 0x1F
-// RAM starts at 0x20
-#define ADC_CONTROL 0x20 //32 - 0x20 R/W ADC control bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // running stop start
-#define ADC_NUM_SAMPLES 0x21 //33 - 0x21 R/W Number of sample to average
-#define ADC_SAMPLE_PERIOD 0x22 //33 - 0x22 R/W ADC sample period in ms
-#define GPIO0_config 0x30 //48 - 0x30 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO0_data 0x31 //49 - 0x31 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO1_config 0x32 //50 - 0x32 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO1_data 0x33 //51 - 0x33 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO2_config 0x34 //52 - 0x34 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO2_data 0x35 //53 - 0x35 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO3_config 0x36 //54 - 0x36 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO3_data 0x37 //55 - 0x37 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO4_config 0x38 //56 - 0x38 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO4_data 0x39 //57 - 0x39 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO5_config 0x3A //58 - 0x3A R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO5_data 0x3B //59 - 0x3B R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO6_config 0x3C //60 - 0x3C R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO6_data 0x3D //61 - 0x3D R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO7_config 0x3E //62 - 0x3E R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO7_data 0x3F //63 - 0x3F R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO8_config 0x40 //64 - 0x40 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO8_data 0x41 //65 - 0x41 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO9_config 0x41 //66 - 0x42 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO9_data 0x43 //67 - 0x43 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO10_config 0x44 //68 - 0x44 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO10_data 0x45 //69 - 0x45 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO11_config 0x46 //70 - 0x46 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO11_data 0x47 //71 - 0x47 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO12_config 0x48 //72 - 0x48 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO12_data 0x49 //73 - 0x49 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO13_config 0x4A //74 - 0x4A R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO13_data 0x4B //75 - 0x4B R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO14_config 0x4C //76 - 0x4C R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO14_data 0x4D //77 - 0x4D R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO15_config 0x4E //78 - 0x4E R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO15_data 0x4F //79 - 0x4F R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO16_config 0x50 //80 - 0x50 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO16_data 0x51 //81 - 0x51 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO17_config 0x52 //82 - 0x52 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO17_data 0x53 //83 - 0x53 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define GPIO18_config 0x54 //84 - 0x54 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // mode (0 -> input, 1 -> output)
-#define GPIO18_data 0x55 //85 - 0x55 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current input value (input mode)
- // output value (output mode)
-#define LED 0x56 //86 - 0x56 R/W Auxiliary LED bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current value
-#define SWITCHES 0x57 //87 - 0x57 R Auxiliary Switches bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // current switches value
-#define ADC_CHANNEL0_L 0x58
-#define ADC_CHANNEL0_H 0x59
-#define ADC_CHANNEL1_L 0x5A
-#define ADC_CHANNEL1_H 0x5B
-#define ADC_CHANNEL2_L 0x5C
-#define ADC_CHANNEL2_H 0x5D
-#define ADC_CHANNEL3_L 0x5E
-#define ADC_CHANNEL3_H 0x5F
-#define ADC_CHANNEL4_L 0x60
-#define ADC_CHANNEL4_H 0x61
-#define ADC_CHANNEL5_L 0x62
-#define ADC_CHANNEL5_H 0x63
-#define ADC_CHANNEL6_L 0x64
-#define ADC_CHANNEL6_H 0x65
-#define ADC_CHANNEL7_L 0x66
-#define ADC_CHANNEL7_H 0x67
-#define ADC_AVG_CHANNEL0_L 0x68
-#define ADC_AVG_CHANNEL0_H 0x69
-#define ADC_AVG_CHANNEL1_L 0x6A
-#define ADC_AVG_CHANNEL1_H 0x6B
-#define ADC_AVG_CHANNEL2_L 0x6C
-#define ADC_AVG_CHANNEL2_H 0x6D
-#define ADC_AVG_CHANNEL3_L 0x6E
-#define ADC_AVG_CHANNEL3_H 0x6F
-#define ADC_AVG_CHANNEL4_L 0x70
-#define ADC_AVG_CHANNEL4_H 0x71
-#define ADC_AVG_CHANNEL5_L 0x72
-#define ADC_AVG_CHANNEL5_H 0x73
-#define ADC_AVG_CHANNEL6_L 0x74
-#define ADC_AVG_CHANNEL6_H 0x75
-#define ADC_AVG_CHANNEL7_L 0x76
-#define ADC_AVG_CHANNEL7_H 0x77
-#define PWM_CONTROL 0x78 // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // ch3_enabled ch2_enabled ch1_enabled ch0_enabled running stop start
-#define PWM_ENABLE 0x79 // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // dis_ch3 dis_ch2 dis_ch1 dis_ch0 en_ch3 en_ch2 en_ch1 en_ch0
-#define PWM_FREQ_L 0x7A
-#define PWM_FREQ_H 0x7B
-#define PWM_CH0_DUTY 0x7C
-#define PWM_CH1_DUTY 0x7D
-#define PWM_CH2_DUTY 0x7E
-#define PWM_CH3_DUTY 0x7F
-#define DAC_CONTROL 0x80 // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // ch1_enabled ch0_enabled running stop start
-#define DAC_ENABLE 0x81 // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
-#define DAC_CH0_VOLTAGE_L 0x82 // dis_ch1 dis_ch0 en_ch1 en_ch0
-#define DAC_CH0_VOLTAGE_H 0x83
-#define DAC_CH1_VOLTAGE_L 0x84
-#define DAC_CH1_VOLTAGE_H 0x85
-#define COMPASS_CONTROL 0x86 // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // calibrating running stop cal start cal stop start
-#define COMPASS_HEADING_VAL_L 0x87
-#define COMPASS_HEADING_VAL_H 0x88
-#define COMPASS_AVG_HEADING_VAL_L 0x89
-#define COMPASS_AVG_HEADING_VAL_H 0x8A
-#define COMPASS_NUM_SAMPLES 0x8B
-#define UART_TTL_CONTROL 0x8C // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // data_available sending running send stop start
-#define UART_TTL_TX_DATA 0x8D
-#define UART_TTL_RX_DATA 0x8E
-#define UART_TTL_BAUDRATE_L 0x8F
-#define UART_TTL_BAUDRATE_H 0x90
-#define UART_USB_CONTROL 0x91 // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // data_available sending running send stop start
-#define UART_USB_TX_DATA 0x92
-#define UART_USB_RX_DATA 0x93
-#define UART_USB_BAUDRATE_L 0x94
-#define UART_USB_BAUDRATE_H 0x95
-
-#define RAM_SIZE 150
-
-#endif
diff --git a/include/ports.h b/include/ports.h
deleted file mode 100644
index ed792f76d99de785917880a769df7b4531cacd24..0000000000000000000000000000000000000000
--- a/include/ports.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#ifndef _PORTS_H
-#define _PORTS_H
-
-#define NUM_GPIO 19
-
-#define INPUT 0x00
-#define OUTPUT 0x01
-
-typedef struct
-{
- volatile uint8_t *dir_reg;
- volatile uint8_t *write_reg;
- volatile uint8_t *read_reg;
- uint8_t bit;
-}TGPIO;
-
-void init_ports(void);
-void config_port(uint8_t port_id,uint8_t dir);
-uint8_t get_port_config(uint8_t port_id);
-void set_port(uint8_t port_id);
-void clear_port(uint8_t port_id);
-uint8_t read_port(uint8_t port_id);
-void set_led(void);
-void clear_led(void);
-void toggle_led(void);
-uint8_t get_selector_value(void);
-
-#endif
diff --git a/include/pwm.h b/include/pwm.h
deleted file mode 100644
index f63ca7bdfbf3d02fb13793c7221b14f869ae5db7..0000000000000000000000000000000000000000
--- a/include/pwm.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef _PWM_H
-#define _PWM_H
-
-#include <avr/io.h>
-#include <avr/interrupt.h>
-
-typedef enum {pwm0=0,pwm1=1,pwm2=2,pwm3=3} pwm_id_t;
-
-void pwm_init(void);
-void pwm_start(void);
-void pwm_stop(void);
-void pwm_enable_ch(pwm_id_t id);
-void pwm_disable_ch(pwm_id_t id);
-void pwm_set_frequency(uint16_t freq_hz);
-void pwm_set_duty_cycle(pwm_id_t id,uint8_t duty);
-
-#endif
diff --git a/include/uart_ttl.h b/include/uart_ttl.h
deleted file mode 100644
index cd9d6131985a79641fcc6ea6a627a596da5c83c0..0000000000000000000000000000000000000000
--- a/include/uart_ttl.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef UART_TTL_H
-#define UART_TTL_H
-
-/* public functions */
-void uart_ttl_init(void);
-void uart_ttl_start(void);
-void uart_ttl_stop(void);
-void uart_ttl_set_baudrate(uint32_t baudrate);
-void uart_ttl_send_byte(uint8_t data);
-uint8_t uart_ttl_is_sending(void);
-uint8_t uart_ttl_receive_byte(uint8_t* data);
-uint8_t uart_ttl_is_data_available(void);
-
-#endif
diff --git a/include/uart_usb.h b/include/uart_usb.h
deleted file mode 100644
index 069b63f085cb707d36864ffe17fd6006f15166d3..0000000000000000000000000000000000000000
--- a/include/uart_usb.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef UART_USB_H
-#define UART_USB_H
-
-/* public functions */
-void uart_usb_init(void);
-void uart_usb_start(void);
-void uart_usb_stop(void);
-void uart_usb_set_baudrate(uint32_t baudrate);
-void uart_usb_send_byte(uint8_t data);
-uint8_t uart_usb_is_sending(void);
-uint8_t uart_usb_receive_byte(uint8_t* data);
-uint8_t uart_usb_is_data_available(void);
-
-#endif
diff --git a/legacy/expansion_board.hex b/legacy/expansion_board.hex
new file mode 100755
index 0000000000000000000000000000000000000000..dfb655c8d9945a4079a171cb11b2703ca2961a63
--- /dev/null
+++ b/legacy/expansion_board.hex
@@ -0,0 +1,614 @@
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+:1023F0000190F081E02DE081E82309F0E1E08E2FEB
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+:0A25B0008F4F9F4F0895F894FFCF5E
+:1025BA0000010203040506073A003B003900003A0D
+:1025CA00003B003900013A003B003900023A003B67
+:1025DA00003900033A003B003900043A003B003955
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diff --git a/memory_map.h b/memory_map.h
new file mode 100755
index 0000000000000000000000000000000000000000..c8165758d15bdf4b2cc68c3872fccd0e75a270d9
--- /dev/null
+++ b/memory_map.h
@@ -0,0 +1,86 @@
+#ifndef _MEMORY_MAP
+#define _MEMORY_MAP
+
+// Expansio board memory map
+
+// register access function
+// 0x00 R ADC0
+// 0x01 R ADC1
+// 0x02 R ADC2
+// 0x03 R ADC3
+// 0x04 R ADC4
+// 0x05 R ADC5
+// 0x06 R ADC6
+// 0x07 R ADC7
+// 0x08 R ADC0 averaged (16 samples)
+// 0x09 R ADC1 averaged (16 samples)
+// 0x0A R ADC2 averaged (16 samples)
+// 0x0B R ADC3 averaged (16 samples)
+// 0x0C R ADC4 averaged (16 samples)
+// 0x0D R ADC5 averaged (16 samples)
+// 0x0E R ADC6 averaged (16 samples)
+// 0x0F R ADC7 averaged (16 samples)
+
+
+// 0x10 R compass raw
+// 0x11 R compass averaged
+
+// 0x20 W send a byte through the serial port (FTDI)
+// 0x21 R receive a byte through the serial port (FTDI)
+
+// 0x30 R/W GPIO 0 configuration
+// 0x31 R/W GPIO 0 data
+// 0x32 R/W GPIO 1 configuration
+// 0x33 R/W GPIO 1 data
+// 0x34 R/W GPIO 2 configuration
+// 0x35 R/W GPIO 2 data
+// 0x36 R/W GPIO 3 configuration
+// 0x37 R/W GPIO 3 data
+// 0x38 R/W GPIO 4 configuration
+// 0x39 R/W GPIO 4 data
+// 0x3A R/W GPIO 5 configuration
+// 0x3B R/W GPIO 5 data
+// 0x3C R/W GPIO 6 configuration
+// 0x3D R/W GPIO 6 data
+// 0x3E R/W GPIO 7 configuration
+// 0x3F R/W GPIO 7 data
+// 0x40 R/W GPIO 8 configuration
+// 0x41 R/W GPIO 8 data
+// 0x41 R/W GPIO 9 configuration
+// 0x43 R/W GPIO 9 data
+// 0x44 R/W GPIO 10 configuration
+// 0x45 R/W GPIO 10 data
+// 0x46 R/W GPIO 11 configuration
+// 0x47 R/W GPIO 11 data
+// 0x48 R/W GPIO 12 configuration
+// 0x49 R/W GPIO 12 data
+// 0x4A R/W GPIO 13 configuration
+// 0x4B R/W GPIO 13 data
+// 0x4C R/W GPIO 14 configuration
+// 0x4D R/W GPIO 14 data
+// 0x4E R/W GPIO 15 configuration
+// 0x4F R/W GPIO 15 data
+// 0x50 R/W GPIO 16 configuration
+// 0x51 R/W GPIO 16 data
+// 0x52 R/W GPIO 17 configuration
+// 0x53 R/W GPIO 17 data
+// 0x54 R/W GPIO 18 configuration
+// 0x55 R/W GPIO 18 data
+
+// 0x60 W PWM 1 duty cycle
+// 0x61 W PWM 1 on/off
+// 0x62 W PWM 2 duty cycle
+// 0x63 W PWM 2 on/off
+// 0x64 W PWM 3 duty cycle
+// 0x65 W PWM 3 on/off
+// 0x66 W PWM 4 duty cycle
+// 0x67 W PWM 4 on/off
+
+// 0x70 W D/A 1 value
+// 0x71 W D/A 1 on/off
+// 0x72 W D/A 2 value
+// 0x73 W D/A 2 on/off
+
+
+
+#endif
diff --git a/patches/chipdef.h.patch b/patches/chipdef.h.patch
deleted file mode 100644
index e6a380eedb8051da64d04648906c21e24e83845b..0000000000000000000000000000000000000000
--- a/patches/chipdef.h.patch
+++ /dev/null
@@ -1,18 +0,0 @@
-diff -r 407d6aac41dc uc/avrprog_boot_v0_85/chipdef.h
---- a/uc/avrprog_boot_v0_85/chipdef.h Sun Apr 01 13:47:42 2012 +0200
-+++ b/uc/avrprog_boot_v0_85/chipdef.h Tue Nov 10 10:52:39 2015 +0100
-@@ -12,11 +12,13 @@
-
- #if defined (SPMCSR)
- #define SPM_REG SPMCSR
--#elif defined (SPMCR)
-+#else
-+#if defined (SPMCR)
- #define SPM_REG SPMCR
- #else
- #error "AVR processor does not provide bootloader support!"
- #endif
-+#endif
-
- #define APP_END (FLASHEND - (BOOTSIZE * 2))
-
diff --git a/patches/main.c.patch b/patches/main.c.patch
deleted file mode 100644
index fc1803e6a56fd0622357451d64531b2122a95989..0000000000000000000000000000000000000000
--- a/patches/main.c.patch
+++ /dev/null
@@ -1,169 +0,0 @@
-diff -r 407d6aac41dc uc/avrprog_boot_v0_85/main.c
---- a/uc/avrprog_boot_v0_85/main.c Sun Apr 01 13:47:42 2012 +0200
-+++ b/uc/avrprog_boot_v0_85/main.c Tue Nov 10 10:52:26 2015 +0100
-@@ -51,8 +51,8 @@
- #endif
-
- /* UART Baudrate */
-- #define BAUDRATE 19200
- // #define BAUDRATE 19200
-+#define BAUDRATE 19200
- //#define BAUDRATE 115200
-
- /* use "Double Speed Operation" */
-@@ -167,6 +167,7 @@
- #include <avr/interrupt.h>
- #include <util/delay.h>
-
-+#include "uart_usb.h"
- #include "chipdef.h"
-
- uint8_t gBuffer[SPM_PAGESIZE];
-@@ -180,14 +181,20 @@
-
- static void sendchar(uint8_t data)
- {
-- while (!(UART_STATUS & (1<<UART_TXREADY)));
-- UART_DATA = data;
-+// while (!(UART_STATUS & (1<<UART_TXREADY)));
-+// UART_DATA = data;
-+ uart_usb_send_byte(data);
- }
-
- static uint8_t recvchar(void)
- {
-- while (!(UART_STATUS & (1<<UART_RXREADY)));
-- return UART_DATA;
-+ uint8_t data;
-+
-+// while (!(UART_STATUS & (1<<UART_RXREADY)));
-+// return UART_DATA;
-+ while(!uart_usb_is_data_available());
-+ uart_usb_receive_byte(&data);
-+ return data;
- }
-
- static inline void eraseFlash(void)
-@@ -205,7 +212,7 @@
- static inline void recvBuffer(pagebuf_t size)
- {
- pagebuf_t cnt;
-- uint8_t *tmp = gBuffer;
-+ uint8_t *tmp = gBuffer;
-
- for (cnt = 0; cnt < sizeof(gBuffer); cnt++) {
- *tmp++ = (cnt < size) ? recvchar() : 0xFF;
-@@ -331,11 +338,27 @@
-
- static void (*jump_to_app)(void) = 0x0000;
-
-+static void enter_app(void)
-+{
-+ cli();
-+ MCUCR = (1<<IVCE); //Enable change of interrupt vectors
-+ MCUCR = (0<<IVSEL); //Move interrupts to start flash section
-+ sei();
-+ jump_to_app();
-+}
-+
- int main(void)
- {
- uint16_t address = 0;
- uint8_t device = 0, val;
-
-+ MCUCR = (1<<IVCE); //Enable change of interrupt vectors
-+ MCUCR = (1<<IVSEL); //Move interrupts to boot flash section
-+
-+ uart_usb_init();
-+ uart_usb_set_baudrate(19200);
-+ uart_usb_start();
-+
- #ifdef DISABLE_WDT_AT_STARTUP
- #ifdef WDT_OFF_SPECIAL
- #warning "using target specific watchdog_off"
-@@ -346,24 +369,25 @@
- wdt_disable();
- #endif
- #endif
-+ sei();// enable interrupts for the software serial port.
-
- #ifdef START_POWERSAVE
- uint8_t OK = 1;
- #endif
-
-- BLDDR &= ~(1<<BLPNUM); // set as Input
-- BLPORT |= (1<<BLPNUM); // Enable pullup
-+// BLDDR &= ~(1<<BLPNUM); // set as Input
-+// BLPORT |= (1<<BLPNUM); // Enable pullup
-
- // Set baud rate
-- UART_BAUD_HIGH = (UART_CALC_BAUDRATE(BAUDRATE)>>8) & 0xFF;
-- UART_BAUD_LOW = (UART_CALC_BAUDRATE(BAUDRATE) & 0xFF);
-+// UART_BAUD_HIGH = (UART_CALC_BAUDRATE(BAUDRATE)>>8) & 0xFF;
-+// UART_BAUD_LOW = (UART_CALC_BAUDRATE(BAUDRATE) & 0xFF);
-
- #ifdef UART_DOUBLESPEED
-- UART_STATUS = ( 1<<UART_DOUBLE );
-+// UART_STATUS = ( 1<<UART_DOUBLE );
- #endif
-
-- UART_CTRL = UART_CTRL_DATA;
-- UART_CTRL2 = UART_CTRL2_DATA;
-+// UART_CTRL = UART_CTRL_DATA;
-+// UART_CTRL2 = UART_CTRL2_DATA;
-
- #if defined(START_POWERSAVE)
- /*
-@@ -376,10 +400,11 @@
- if ((BLPIN & (1<<BLPNUM))) {
- // jump to main app if pin is not grounded
- BLPORT &= ~(1<<BLPNUM); // set to default
--#ifdef UART_DOUBLESPEED
-- UART_STATUS &= ~( 1<<UART_DOUBLE );
--#endif
-- jump_to_app(); // Jump to application sector
-+//#ifdef UART_DOUBLESPEED
-+// UART_STATUS &= ~( 1<<UART_DOUBLE );
-+//#endif
-+// jump_to_app(); // Jump to application sector
-+ enter_app();
-
- } else {
- val = recvchar();
-@@ -405,10 +430,11 @@
- if ((BLPIN & (1<<BLPNUM))) {
- // jump to main app if pin is not grounded
- BLPORT &= ~(1<<BLPNUM); // set to default
--#ifdef UART_DOUBLESPEED
-- UART_STATUS &= ~( 1<<UART_DOUBLE );
--#endif
-- jump_to_app(); // Jump to application sector
-+//#ifdef UART_DOUBLESPEED
-+// UART_STATUS &= ~( 1<<UART_DOUBLE );
-+//#endif
-+// jump_to_app(); // Jump to application sector
-+ enter_app();
- }
-
- #elif defined(START_WAIT)
-@@ -416,13 +442,17 @@
- uint16_t cnt = 0;
-
- while (1) {
-- if (UART_STATUS & (1<<UART_RXREADY))
-- if (UART_DATA == START_WAIT_UARTCHAR)
-+// if (UART_STATUS & (1<<UART_RXREADY))
-+// if (UART_DATA == START_WAIT_UARTCHAR)
-+// break;
-+ if(uart_usb_is_data_available())
-+ if(recvchar()==START_WAIT_UARTCHAR)
- break;
-
- if (cnt++ >= WAIT_VALUE) {
- BLPORT &= ~(1<<BLPNUM); // set to default
-- jump_to_app(); // Jump to application sector
-+// jump_to_app(); // Jump to application sector
-+ enter_app();
- }
-
- _delay_ms(10);
diff --git a/patches/makefile.patch b/patches/makefile.patch
deleted file mode 100644
index 960cf152cf67881e5cfad39e374059f919b6fd8b..0000000000000000000000000000000000000000
--- a/patches/makefile.patch
+++ /dev/null
@@ -1,77 +0,0 @@
-diff -r 407d6aac41dc uc/avrprog_boot_v0_85/makefile
---- a/uc/avrprog_boot_v0_85/makefile Sun Apr 01 13:47:42 2012 +0200
-+++ b/uc/avrprog_boot_v0_85/makefile Tue Nov 10 10:52:17 2015 +0100
-@@ -37,7 +37,7 @@
- # user defined values
-
- # MCU name
--MCU = atmega8
-+# MCU = atmega8
- ## MCU = atmega16
- ## MCU = atmega162
- ## MCU = atmega169
-@@ -46,7 +46,7 @@
- ## MCU = atmega64
- ## MCU = atmega644
- ## MCU = atmega644p
--## MCU = atmega128
-+MCU = atmega128
- ## MCU = at90can128
-
- ################## BOOTLOADER ######################
-@@ -59,15 +59,16 @@
- #/* Select Boot Size in Words (select one, comment out the others) */
- ## NO! BOOTSIZE=128
- ## NO! BOOTSIZE=256
--BOOTSIZE=512
--##BOOTSIZE=1024
-+## BOOTSIZE=512
-+## BOOTSIZE=1024
- ## BOOTSIZE=2048
-+BOOTSIZE=4096
-
- # /* Select if bootloader should include the inverrupt-vectors
- # when selecting 'no' here, the bootloader must not use
- # any interrupts and the modified linker-scripts are used. */
--##BOOTINTVEC=yes
--BOOTINTVEC=no
-+BOOTINTVEC=yes
-+## BOOTINTVEC=no
-
- ##
- ifeq ($(MCU), atmega8)
-@@ -266,7 +267,7 @@
-
-
- # List C source files here. (C dependencies are automatically generated.)
--SRC = $(TARGET).c
-+SRC = $(TARGET).c uart_usb.c
-
-
- # List Assembler source files here.
-@@ -292,7 +293,7 @@
-
- # List any extra directories to look for include files here.
- # Each directory must be seperated by a space.
--EXTRAINCDIRS =
-+EXTRAINCDIRS = ../../../include
-
-
- # Compiler flag to set the C Standard level.
-@@ -303,7 +304,7 @@
- CSTANDARD = -std=gnu99
-
- # Place -D or -U options here
--CDEFS = -DBOOTSIZE=$(BOOTSIZE)
-+CDEFS = -DBOOTSIZE=$(BOOTSIZE) -DF_CPU=16000000
-
- # Place -I options here
- CINCS =
-@@ -405,7 +406,7 @@
- AVRDUDE_PORT = usb # programmer connected to serial device
- #AVRDUDE_PORT = /dev/ttyS0 # programmer connected to serial device
-
--AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex -U lfuse:w:0xe4:m -U hfuse:w:0xda:m
-+AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex -U lfuse:w:0xff:m -U hfuse:w:0xd8:m
- #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
-
diff --git a/patches/uart_usb.c b/patches/uart_usb.c
deleted file mode 100644
index 1c007d5c2f07e635beae8a044171e812343ee6c0..0000000000000000000000000000000000000000
--- a/patches/uart_usb.c
+++ /dev/null
@@ -1,241 +0,0 @@
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include "uart_usb.h"
-
-#define UART_USB_DEFAULT_BAUDRATE 9600
-
-#define UART_USB_RX_BUFFER_SIZE 0x20
-
-#define UART_USB_TX_PORT PORTD
-#define UART_USB_TX_DDR DDRD
-#define UART_USB_TX_PIN PD5
-
-#define UART_USB_RX_PORT PORTD
-#define UART_USB_RX_DDR DDRD
-#define UART_USB_RX_PORTIN PIND
-#define UART_USB_RX_PIN PD4
-
-// uartsw transmit status and data variables
-volatile uint8_t uart_usb_tx_busy;
-volatile uint8_t uart_usb_tx_data;
-volatile uint8_t uart_usb_tx_bit_num;
-
-// baud rate common to transmit and receive
-volatile uint16_t uart_usb_baudrate_div;
-
-// uartsw receive status and data variables
-volatile uint8_t uart_usb_rx_busy;
-volatile uint8_t uart_usb_rx_data;
-volatile uint8_t uart_usb_rx_bit_num;
-
-/* rx buffer */
-unsigned char uart_usb_rx_data_buffer[UART_USB_RX_BUFFER_SIZE];
-unsigned char uart_usb_rx_read_ptr;
-unsigned char uart_usb_rx_write_ptr;
-unsigned char uart_usb_rx_num_data;
-
-/* private functions */
-
-/* interrupt handlers */
-ISR(TIMER1_CAPT_vect)//RX
-{
- uint16_t capture;
- // clear ICP interrupt flag
- TIFR|=(1<<ICF1);
-
- if(!uart_usb_rx_busy)
- {
- // disable input capture interrutps
- TIMSK&=~(1<<TICIE1);
- capture=TCNT1+uart_usb_baudrate_div + uart_usb_baudrate_div/2;
- // schedule data bit sampling 1.5 bit periods from now
- OCR1BH=(capture>>8)&0xFF;
- OCR1BL=capture&0xFF;
- // clear OC1B interrupt flag
- TIFR|=(1<<OCF1B);
- // enable OC1B interrupt
- TIMSK|=(1<<OCIE1B);
- // set start bit flag
- uart_usb_rx_busy = 0x01;
- // reset bit counter
- uart_usb_rx_bit_num = 0;
- // reset data
- uart_usb_rx_data = 0;
- }
-}
-
-ISR(TIMER1_COMPB_vect)//RX
-{
- uint16_t capture;
-
- // clear OC1B interrupt flag
- TIFR|=(1<<OCF1B);
- // shift data byte to make room for new bit
- uart_usb_rx_data = uart_usb_rx_data>>1;
-
- if(UART_USB_RX_PORTIN&(1<<UART_USB_RX_PIN))
- uart_usb_rx_data |= 0x80;
-
- // increment bit counter
- uart_usb_rx_bit_num++;
- // schedule next bit sample
- capture=OCR1B+uart_usb_baudrate_div;
- OCR1BH=(capture>>8)&0xFF;
- OCR1BL=capture&0xFF;
-
- // check if we have a full byte
- if(uart_usb_rx_bit_num >= 8)
- {
- // save data in receive buffer
- uart_usb_rx_data_buffer[uart_usb_rx_write_ptr]=uart_usb_rx_data;
- uart_usb_rx_write_ptr=(uart_usb_rx_write_ptr+1)%UART_USB_RX_BUFFER_SIZE;
- uart_usb_rx_num_data++;
- // disable OC1B interrupt
- TIMSK&=~(1<<OCIE1B);
- // enable ICP interrupt
- TIMSK|=(1<<TICIE1);
- // clear start bit flag
- uart_usb_rx_busy = 0x00;
- }
-}
-
-ISR(TIMER1_COMPA_vect)//TX
-{
- uint16_t capture;
-
- // clear OC1B interrupt flag
- TIFR|=(1<<OCF1A);
- if(uart_usb_tx_bit_num)
- {
- if(uart_usb_tx_bit_num>1)
- {
- // transmit data bits (inverted, LSB first)
- if((uart_usb_tx_data&0x01))
- UART_USB_TX_PORT|=(1<<UART_USB_TX_PIN);
- else
- UART_USB_TX_PORT&=~(1<<UART_USB_TX_PIN);
- // shift bits down
- uart_usb_tx_data = uart_usb_tx_data>>1;
- }
- else
- UART_USB_TX_PORT|=(1<<UART_USB_TX_PIN);
- // schedule the next bit
- capture=OCR1A+uart_usb_baudrate_div;
- OCR1AH=(capture>>8)&0xFF;
- OCR1AL=capture&0xFF;
- // count down
- uart_usb_tx_bit_num--;
- }
- else
- {
- // enable OC1A interrupt
- TIMSK&=~(1<<OCIE1A);
- uart_usb_tx_busy = 0x00;
- }
-}
-
-/* public functions */
-void uart_usb_init(void)
-{
- // configure GPIO ports
- UART_USB_TX_DDR|=(1<<UART_USB_TX_PIN);// output
- UART_USB_RX_DDR&=~(1<<UART_USB_RX_PIN);//input
- // set input to 0
- UART_USB_RX_PORT&=~(1<<UART_USB_RX_PIN);
- // initialize baud rate
- uart_usb_set_baudrate(UART_USB_DEFAULT_BAUDRATE);
-
- // setup the transmitter
- uart_usb_tx_busy = 0x00;
- TIMSK&=~(1<<OCIE1A);
-
- // setup the receiver
- uart_usb_rx_busy = 0x00;
- TIMSK&=~(1<<OCIE1B);
- // trigger on falling edge
- TCCR1B&=~(1<<ICES1);
- // enable ICP interrupt
- TIMSK|=(1<<TICIE1);
-
- /* initlaize buffer variables */
- uart_usb_rx_read_ptr=0;
- uart_usb_rx_write_ptr=0;
- uart_usb_rx_num_data=0;
-}
-
-void uart_usb_start(void)
-{
- TIMSK&=~(1<<OCIE1A);
- TIMSK&=~(1<<OCIE1B);
- // clear ICP interrupt flag
- TIFR|=(1<<ICF1);
- TIMSK|=(1<<TICIE1);
-}
-
-void uart_usb_stop(void)
-{
- // disable interrupts
- TIMSK&=~(1<<OCIE1A);
- TIMSK&=~(1<<OCIE1B);
- TIMSK&=~(1<<TICIE1);
-}
-
-void uart_usb_set_baudrate(uint32_t baudrate)
-{
- TCCR1B&=0xF8;
- TCCR1B|=0x01;
- // calculate division factor for requested baud rate, and set it
- uart_usb_baudrate_div = (uint16_t)((F_CPU+(baudrate/2L))/(baudrate*1L));
-}
-
-void uart_usb_send_byte(uint8_t data)
-{
- uint16_t capture;
-
- // wait until uart is ready
- while(uart_usb_tx_busy);
- // set busy flag
- uart_usb_tx_busy = 0x01;
- // save data
- uart_usb_tx_data = data;
- // set number of bits (+1 for stop bit)
- uart_usb_tx_bit_num = 9;
-
- UART_USB_TX_PORT&=~(1<<UART_USB_TX_PIN);
-
- capture=TCNT1+uart_usb_baudrate_div;
- OCR1AH=(capture>>8)&0xFF;
- OCR1AL=capture&0xFF;
- // clear interrupts
- TIFR|=(1<<OCF1A);
- // enable OC1A interrupt
- TIMSK|=(1<<OCIE1A);
-}
-
-uint8_t uart_usb_is_sending(void)
-{
- return uart_usb_tx_busy;
-}
-
-uint8_t uart_usb_receive_byte(uint8_t* data)
-{
- // make sure we have a receive buffer
- if(uart_usb_rx_num_data>0)
- {
- *data=uart_usb_rx_data_buffer[uart_usb_rx_read_ptr];
- uart_usb_rx_read_ptr=(uart_usb_rx_read_ptr+1)%UART_USB_RX_BUFFER_SIZE;
- uart_usb_rx_num_data--;
- // make sure we have data
- return 0x01;
- }
- else
- return 0x00;
-}
-
-uint8_t uart_usb_is_data_available(void)
-{
- if(uart_usb_rx_num_data>0)
- return 0x01;
- else
- return 0x00;
-}
diff --git a/port128.h b/port128.h
new file mode 100755
index 0000000000000000000000000000000000000000..41617aa15019546fc766fd5fe68ca96205edaa19
--- /dev/null
+++ b/port128.h
@@ -0,0 +1,98 @@
+/*! \file port128.h \brief Additional include for Mega128 to define individual port pins. */
+//*****************************************************************************
+//
+// File Name : 'port128.h'
+// Title : Additional include for Mega128 to define individual port pins
+// Author : Pascal Stang
+// Created : 11/18/2002
+// Revised : 11/18/2002
+// Version : 1.1
+// Target MCU : Atmel AVR series
+// Editor Tabs : 4
+//
+// Description : This include file contains additional port and pin defines
+// to help make code transparently compatible with the mega128. As in
+// the other AVR processors, using defines like PD2 to denote PORTD, pin2
+// is not absolutely necessary but enhances readability. The mega128 io.h
+// no longer defines individual pins of ports (like PD2 or PA5, for
+// example). Instead, port pins are defines universally for all ports as
+// PORT0 through PORT7. However, this renaming causes a code-portability
+// issue from non-mega128 AVRs to the mega128. Including this file will
+// replace the missing defines.
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#ifndef PORT128_H
+#define PORT128_H
+
+// Mega128 individual port defines
+// (using these is technically unnecessary but improves code compatibility to
+// the mega128 from other AVR processors where these values were still defined
+// in the io.h for that processor)
+
+// PORTA
+#define PA0 PORT0
+#define PA1 PORT1
+#define PA2 PORT2
+#define PA3 PORT3
+#define PA4 PORT4
+#define PA5 PORT5
+#define PA6 PORT6
+#define PA7 PORT7
+// PORTB
+#define PB0 PORT0
+#define PB1 PORT1
+#define PB2 PORT2
+#define PB3 PORT3
+#define PB4 PORT4
+#define PB5 PORT5
+#define PB6 PORT6
+#define PB7 PORT7
+// PORTC
+#define PC0 PORT0
+#define PC1 PORT1
+#define PC2 PORT2
+#define PC3 PORT3
+#define PC4 PORT4
+#define PC5 PORT5
+#define PC6 PORT6
+#define PC7 PORT7
+// PORTD
+#define PD0 PORT0
+#define PD1 PORT1
+#define PD2 PORT2
+#define PD3 PORT3
+#define PD4 PORT4
+#define PD5 PORT5
+#define PD6 PORT6
+#define PD7 PORT7
+// PORTE
+#define PE0 PORT0
+#define PE1 PORT1
+#define PE2 PORT2
+#define PE3 PORT3
+#define PE4 PORT4
+#define PE5 PORT5
+#define PE6 PORT6
+#define PE7 PORT7
+// PORTF
+#define PF0 PORT0
+#define PF1 PORT1
+#define PF2 PORT2
+#define PF3 PORT3
+#define PF4 PORT4
+#define PF5 PORT5
+#define PF6 PORT6
+#define PF7 PORT7
+// PORTG
+#define PG0 PORT0
+#define PG1 PORT1
+#define PG2 PORT2
+#define PG3 PORT3
+#define PG4 PORT4
+#define PG5 PORT5
+
+#endif
diff --git a/ports.c b/ports.c
new file mode 100755
index 0000000000000000000000000000000000000000..bbaa59403c5efc978f792902cb4758c7b6fe1d44
--- /dev/null
+++ b/ports.c
@@ -0,0 +1,105 @@
+#include <avr/io.h>
+#include "ports.h"
+#include "global.h"
+
+TGPIO gpio_bits[NUM_GPIO]={{&DDRA,&PORTA,&PINA,0},
+ {&DDRA,&PORTA,&PINA,1},
+ {&DDRA,&PORTA,&PINA,2},
+ {&DDRA,&PORTA,&PINA,3},
+ {&DDRA,&PORTA,&PINA,4},
+ {&DDRA,&PORTA,&PINA,5},
+ {&DDRA,&PORTA,&PINA,6},
+ {&DDRA,&PORTA,&PINA,7},
+ {&DDRG,&PORTG,&PING,2},
+ {&DDRC,&PORTC,&PINC,7},
+ {&DDRC,&PORTC,&PINC,6},
+ {&DDRC,&PORTC,&PINC,5},
+ {&DDRC,&PORTC,&PINC,4},
+ {&DDRC,&PORTC,&PINC,3},
+ {&DDRC,&PORTC,&PINC,2},
+ {&DDRC,&PORTC,&PINC,1},
+ {&DDRC,&PORTC,&PINC,0},
+ {&DDRG,&PORTG,&PING,1},
+ {&DDRG,&PORTG,&PING,0}};
+
+void init_ports(void)
+{
+ //auxiliar LED
+ sbi(DDRE,2);
+ sbi(PORTE,2);
+
+ // configure as outputs the pwm pins
+ sbi(DDRE,3);
+ sbi(DDRE,4);
+ sbi(DDRE,5);
+ sbi(DDRB,7);
+
+ // configure as outputs the DA pins
+ sbi(DDRB,5);
+ sbi(DDRB,6);
+
+ // general purpose input/output
+ // all inputs by default
+ DDRA=0x00;
+ DDRC=0x00;
+ DDRG=DDRG&0xF8;
+
+}
+
+void config_port(unsigned char port_id,unsigned char dir)
+{
+ if(port_id>=0 && port_id<NUM_GPIO)
+ {
+ if(dir==OUTPUT)// configure as an output
+ sbi(*(gpio_bits[port_id].dir_reg),gpio_bits[port_id].bit);
+ else// configure as an input
+ cbi(*(gpio_bits[port_id].dir_reg),gpio_bits[port_id].bit);
+ }
+}
+
+unsigned char get_port_config(unsigned char port_id)
+{
+ unsigned char dir;
+
+ if(port_id>=0 && port_id<NUM_GPIO)
+ {
+ dir=(*(gpio_bits[port_id].dir_reg)&(0x01<<gpio_bits[port_id].bit));
+ if(dir==0x00)
+ return INPUT;
+ else
+ return OUTPUT;
+ }
+ else
+ return INPUT;
+}
+
+void set_port(unsigned char port_id)
+{
+ if(port_id>=0 && port_id<NUM_GPIO)
+ {
+ sbi(*(gpio_bits[port_id].write_reg),gpio_bits[port_id].bit);
+ }
+}
+
+void clear_port(unsigned char port_id)
+{
+ if(port_id>=0 && port_id<NUM_GPIO)
+ {
+ cbi(*(gpio_bits[port_id].write_reg),gpio_bits[port_id].bit);
+ }
+}
+
+unsigned char read_port(unsigned char port_id)
+{
+ unsigned char value;
+ if(port_id>=0 && port_id<NUM_GPIO)
+ {
+ value=((*(gpio_bits[port_id].read_reg))&(0x01<<gpio_bits[port_id].bit));
+ if(value==0x00)
+ return 0x00;
+ else
+ return 0x01;
+ }
+ else
+ return 0x00;
+}
diff --git a/ports.h b/ports.h
new file mode 100755
index 0000000000000000000000000000000000000000..45cdfb9f9a7509cd8166796511222898aa37974f
--- /dev/null
+++ b/ports.h
@@ -0,0 +1,24 @@
+#ifndef _PORTS_H
+#define _PORTS_H
+
+#define NUM_GPIO 19
+
+#define INPUT 0x00
+#define OUTPUT 0x01
+
+typedef struct
+{
+ unsigned char *dir_reg;
+ unsigned char *write_reg;
+ unsigned char *read_reg;
+ unsigned char bit;
+}TGPIO;
+
+void init_ports(void);
+void config_port(unsigned char port_id,unsigned char dir);
+unsigned char get_port_config(unsigned char port_id);
+void set_port(unsigned char port_id);
+void clear_port(unsigned char port_id);
+unsigned char read_port(unsigned char port_id);
+
+#endif
diff --git a/src/adc.c b/src/adc.c
deleted file mode 100644
index 6615ac5510792c607f209df78f2f5b7e034b3c54..0000000000000000000000000000000000000000
--- a/src/adc.c
+++ /dev/null
@@ -1,181 +0,0 @@
-#include "adc.h"
-#include "mem.h"
-#include "ports.h"
-
-// number of channels to convert
-#define NUM_CH 8
-// number of samples to average
-#define ADC_MAX_NUM_SAMPLES 16
-
-// private variables
-volatile uint8_t adc_sample_period_ms;
-// current channel
-volatile uint8_t adc_current_ch;
-// channel data
-volatile int16_t adc_data[NUM_CH];
-// averaged channel data
-volatile int16_t adc_ch_data[NUM_CH][ADC_MAX_NUM_SAMPLES];
-volatile uint8_t adc_current_sample;
-volatile uint8_t adc_num_samples;
-volatile uint8_t adc_running;
-volatile uint8_t adc_prescaler_mask;
-
-/* private functions */
-void adc_set_channel(uint8_t ch_id)
-{
- ADMUX&=0xF8;
- ADMUX|= (ch_id&0x07);
-}
-
-void adc_start_conv(void)
-{
- ADCSRA|=(1<<ADSC);
-}
-
-uint8_t adc_is_conversion_done(void)
-{
- if(ADCSRA&(1<<ADIF))
- return 0x01;
- else
- return 0x00;
-}
-
-uint8_t adc_is_period_done(void)
-{
- if(TIFR&(1<<OCF2))
- return 0x01;
- else
- return 0x00;
-}
-
-/* public functions */
-void adc_init(void)
-{
- // configure the analog inputs
- DDRF = 0x00;
- PORTF = 0x00;
-
- ADMUX = (1<<REFS0);// use AVCC as reference, Right justified, channel 0
- ADCSRA = (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0); // free running mode disabled, interrupts enabled, prescaler to 128
-
- // clear any pending interrupt
- ADCSRA|=(1<<ADIF);
-
- // set the initial channel to convert
- adc_current_ch=0;
- adc_current_sample=0;
- adc_running=0;
- adc_num_samples=ADC_MAX_NUM_SAMPLES;
- ram_data[ADC_NUM_SAMPLES]=ADC_MAX_NUM_SAMPLES;
- adc_sample_period_ms=0x01;
- ram_data[ADC_SAMPLE_PERIOD]=0x01;
- adc_set_sample_period(adc_sample_period_ms);
-
- // configure the timer 2 to perform periodic conversions (1 ms period)
- TCCR2=(1<<WGM21);// CTC mode, no output, prescaler to 0 (no clock source)
- TCNT2=0x00;// start from 0
- TIMSK=0x00;// interrupts not enabled
-}
-
-void adc_start(void)
-{
- // enable the ADC
- ADCSRA|=(1<<ADEN);
- // enable the timer 2 interrupts
- TCNT2=0x00;// start from 0
- TIMSK=0x00;// interrupts not enabled
- // clear interrupts
- TIFR|=(1<<OCF2);
- TIFR|=(1<<TOV2);
- // configure the timer prescaler and count value
- adc_running=0x01;
- adc_set_sample_period(adc_sample_period_ms);
- ram_data[ADC_CONTROL]|=0x04;
-}
-
-void adc_stop(void)
-{
- TCCR2&=0xF8;// set prescaler to 0 (no clock source)
- // disable the ADC
- ADCSRA&=~(1<<ADEN);
- adc_running=0x00;
- ram_data[ADC_CONTROL]&=0xFB;
-}
-
-void adc_set_num_samples(uint8_t num)
-{
- if(num>ADC_MAX_NUM_SAMPLES)
- adc_num_samples=ADC_MAX_NUM_SAMPLES;
- else
- {
- if(num<=0)
- adc_num_samples=1;
- else
- adc_num_samples=num;
- }
- if(adc_current_sample>num)
- adc_current_sample=0;
- ram_data[ADC_NUM_SAMPLES]=num;
-}
-
-void adc_set_sample_period(uint8_t time_ms)
-{
- uint16_t prescaler_values[5]={1,8,64,256,1024};
- uint16_t compare_value;
- uint8_t i;
-
- for(i=0;i<5;i++)
- {
- compare_value=(((F_CPU/1000)*time_ms)/(prescaler_values[i]*NUM_CH))-1;
- if(compare_value<256)
- {
- OCR2=(uint8_t)compare_value;
- if(adc_running)
- {
- TCCR2&=0xF8;
- TCCR2|=(i+1);
- }
- else
- adc_prescaler_mask=i+1;
- break;
- }
- }
- ram_data[ADC_SAMPLE_PERIOD]=time_ms;
-}
-
-void adc_loop(void)
-{
- uint8_t i;
- uint16_t data;
-
- if(adc_is_period_done())
- {
- TIFR|=(1<<OCF2);// clear interrupt flag
- TIFR|=(1<<TOV2);
- TCNT2=0x00;// start from 0
- // start a new conversion
- adc_set_channel(adc_current_ch);
- adc_start_conv();
- }
- else
- {
- if(adc_is_conversion_done())
- {
- ADCSRA|=(1<<ADIF);// clear interrupt flag
- data=(ADCL | (ADCH<<8));
- ram_data[ADC_CHANNEL0_L+adc_current_ch*2]=data%256;
- ram_data[ADC_CHANNEL0_H+adc_current_ch*2]=data/256;
- adc_ch_data[adc_current_ch][adc_current_sample]=data;
- // compute the average for the current channel
- data=0;
- for(i=0;i<adc_num_samples;i++)
- data+=adc_ch_data[adc_current_ch][i];
- data=data/adc_num_samples;
- ram_data[ADC_AVG_CHANNEL0_L+adc_current_ch*2]=data%256;
- ram_data[ADC_AVG_CHANNEL0_H+adc_current_ch*2]=data/256;
- if(adc_current_ch==NUM_CH-1)// last channel
- adc_current_sample=(adc_current_sample+1)%adc_num_samples;
- adc_current_ch=(adc_current_ch+1)%NUM_CH;
- }
- }
-}
diff --git a/src/compass.c b/src/compass.c
deleted file mode 100644
index ffb186fe6c394c8b85893bbbdd60a75f98ed2f93..0000000000000000000000000000000000000000
--- a/src/compass.c
+++ /dev/null
@@ -1,252 +0,0 @@
-#include "compass.h"
-#include "i2c.h"
-#include "mem.h"
-#include "ports.h"
-
-#define COMPASS_MAX_NUM_SAMPLES 16
-
-typedef enum {idle,get_data,get_data_delay,read_data,start_cal,calibrating,calibration_delay,stop_cal} compass_states_t;
-
-/* private variables */
-volatile uint8_t compass_current_sample;
-volatile uint8_t compass_num_samples;
-
-volatile uint8_t compass_start_cal;
-volatile uint8_t compass_stop_cal;
-volatile uint8_t compass_stop_op;
-volatile uint8_t compass_start_op;
-volatile compass_states_t compass_state;
-// time control variables
-volatile uint8_t compass_delay_done;
-
-/* private functions */
-void compass_avrg(uint16_t heading)
-{
- static unsigned long int new_average,first_value;
- unsigned long int diff=0;
-
- if(compass_current_sample==0)
- {
- compass_current_sample++;
- first_value=(long int)heading;
- }
- else
- {
- diff=heading+3600-first_value;
- if(diff<1800)
- diff=diff+3600;
- else if(diff>5400)
- diff=diff-3600;
- new_average=new_average+diff;
- compass_current_sample++;
- if(compass_current_sample==compass_num_samples)
- {
- new_average=new_average/(compass_num_samples-1);
- new_average=new_average+first_value;
- if(new_average>3600)
- new_average-=3600;
- ram_data[COMPASS_AVG_HEADING_VAL_L]=new_average%256;
- ram_data[COMPASS_AVG_HEADING_VAL_H]=new_average/256;
- new_average=0;
- compass_current_sample=0;
- }
- }
-}
-
-void compass_start_time_delay(uint8_t delay_ms)
-{
- TCNT0=0x00;// reset counter
- OCR0=delay_ms*16;// set count value
- TCCR0&=0xF8;
- TCCR0|=0x07;// enable clock
- compass_delay_done=0x00;
-}
-
-uint8_t compass_is_delay_done(void)
-{
- return compass_delay_done;
-}
-
-/* interrupt handlers */
-ISR(TIMER0_COMP_vect)
-{
- compass_delay_done=0x01;
- // disable clock
- TCCR0&=0xF8;
-}
-
-/* public functions */
-void compass_init(void)
-{
- /* initialize private variables */
- compass_start_cal=0;
- compass_stop_cal=0;
- compass_stop_op=0;
- compass_start_op=0;
- compass_delay_done=0x00;
- compass_state=idle;
- compass_current_sample=0;
- compass_num_samples=COMPASS_MAX_NUM_SAMPLES;
- ram_data[COMPASS_NUM_SAMPLES]=COMPASS_MAX_NUM_SAMPLES;
-
- /* use timer 0 to control the operation delay */
- TCCR0=(1<<WGM01);//campare mode, output disable, prescaler 0
- ASSR=0x00;// disable assynchronous operation
- TIMSK=(1<<OCIE0);// enable interrupts
- OCR0=0xFF;
- TCNT0=0x00;
-
- /* initialize i2c peripheral */
- i2c_init(100);
-}
-
-void compass_start(void)
-{
- compass_stop_op=0;
- compass_start_op=1;
- ram_data[COMPASS_CONTROL]|=0x40;
-}
-
-void compass_stop(void)
-{
- compass_stop_op=1;
- compass_start_op=0;
-}
-
-void compass_start_calibration(void)
-{
- compass_start_cal=1;
- compass_stop_cal=0;
-}
-
-void compass_stop_calibration(void)
-{
- compass_start_cal=0;
- compass_stop_cal=1;
-}
-
-void compass_set_num_samples(uint8_t num)
-{
- if(num>COMPASS_MAX_NUM_SAMPLES)
- compass_num_samples=COMPASS_MAX_NUM_SAMPLES;
- else if(num<=2)
- compass_num_samples=2;
- else
- compass_num_samples=num;
- ram_data[COMPASS_NUM_SAMPLES]=compass_num_samples;
-}
-
-void compass_loop(void)
-{
- uint8_t cmd,heading[2];
- unsigned short int compass_heading;
- static compass_states_t prev_state=idle;
-
- switch(compass_state)
- {
- case idle: if(compass_start_op==1)
- {
- compass_state=get_data;
- compass_start_op=0;
- }
- else
- {
- if(compass_start_cal==1)
- {
- compass_start_cal=0;
- compass_state=start_cal;
- prev_state=idle;
- }
- else
- compass_state=idle;
- }
- break;
- case get_data: if(i2c_get_state()==I2C_IDLE)
- {
- cmd=COMPASS_HEADING;
- i2c_master_send(COMPASS_ADDR,1,&cmd);
- compass_start_time_delay(10);
- compass_state=get_data_delay;
- }
- else
- compass_state=get_data;
- break;
- case get_data_delay: if(compass_is_delay_done()==1)
- {
- if(i2c_get_state()==I2C_IDLE)
- {
- i2c_master_receive(COMPASS_ADDR,2);
- compass_state=read_data;
- }
- else
- compass_state=get_data_delay;
- }
- else
- compass_state=get_data_delay;
- break;
- case read_data: if(i2c_get_state()==I2C_IDLE)
- {
- i2c_get_data(2,heading);
- compass_heading=heading[1]+(heading[0]<<8);
- ram_data[COMPASS_HEADING_VAL_L]=heading[1];
- ram_data[COMPASS_HEADING_VAL_H]=heading[0];
- compass_avrg(compass_heading);
- if(compass_stop_op==1)
- {
- compass_stop_op=0;
- compass_state=idle;
- ram_data[COMPASS_CONTROL]&=0xBF;
- }
- else
- {
- if(compass_start_cal==1)
- {
- compass_start_cal=0;
- compass_state=start_cal;
- prev_state=get_data;
- }
- else
- compass_state=get_data;
- }
- }
- else
- compass_state=read_data;
- break;
- case start_cal: if(i2c_get_state()==I2C_IDLE)
- {
- cmd=COMPASS_START_CAL;
- i2c_master_send(COMPASS_ADDR,1,&cmd);
- ram_data[COMPASS_CONTROL]|=0x80;
- compass_state=calibrating;
- }
- else
- compass_state=start_cal;
- break;
- case calibrating: if(compass_stop_cal==1)
- {
- compass_state=stop_cal;
- compass_stop_cal=0;
- }
- else
- compass_state=calibrating;
- break;
- case stop_cal: if(i2c_get_state()==I2C_IDLE)
- {
- cmd=COMPASS_STOP_CAL;
- i2c_master_send(COMPASS_ADDR,1,&cmd);
- compass_start_time_delay(20);
- compass_state=calibration_delay;
- }
- else
- compass_state=stop_cal;
- break;
- case calibration_delay: if(compass_is_delay_done()==1)
- {
- compass_state=prev_state;
- ram_data[COMPASS_CONTROL]&=0x7F;
- }
- else
- compass_state=calibration_delay;
- break;
- }
-}
diff --git a/src/dac.c b/src/dac.c
deleted file mode 100644
index 77d9f1086f0ff1543d06fb0b728bdf1105a5ff64..0000000000000000000000000000000000000000
--- a/src/dac.c
+++ /dev/null
@@ -1,102 +0,0 @@
-#include "dac.h"
-#include "mem.h"
-
-#define DAC_TOP_VALUE ((uint32_t)1600)
-#define DAC_PRESCALE_MASK 1
-#define DAC_MAX_VOLTAGE ((uint32_t)40960) //5V in 3|13 fixed point format
-
-/* private variables */
-uint8_t dac_running;
-
-/* public functions */
-void dac_init(void)
-{
- // configure as outputs the DA pins
- DDRB|=0x60;
-
- /* initialize internal variables */
- dac_running=0;
- OCR1AH=0x00;
- OCR1AL=0x00;
- OCR1BH=0x00;
- OCR1BL=0x00;
- /* set the top value */
- ICR1H=(DAC_TOP_VALUE>>8)&0xFF;
- ICR1L=(DAC_TOP_VALUE)&0xFF;
-
- /* configure the timer 3 */
- TCNT1H=0x00;
- TCNT1L=0x00;
- /* set the timer mode */
- TCCR1A=(1<<WGM11);// all three channels in fast PWM mode, output disabled
- TCCR1B=(1<<WGM13)|(1<<WGM12);// no clock source, fast PWM mode
-}
-
-void dac_start(void)
-{
- TCNT1H=0x00;
- TCNT1L=0x00;
- /* set the prescaler value */
- TCCR1B&=0xF8;
- TCCR1B|=DAC_PRESCALE_MASK;
- dac_running=0x01;
- ram_data[DAC_CONTROL]|=0x10;
-}
-
-void dac_stop(void)
-{
- /* set the prescaler to 0 (no clock source) */
- TCCR1B&=0xF8;
- dac_running=0x00;
- ram_data[DAC_CONTROL]&=0xEF;
-}
-
-void dac_enable_channel(dac_ch_t ch)
-{
- switch(ch)
- {
- case dac0: TCCR1A|=(1<<COMA1);
- ram_data[DAC_CONTROL]|=0x40;
- break;
- case dac1: TCCR1A|=(1<<COMB1);
- ram_data[DAC_CONTROL]|=0x80;
- break;
- }
-}
-
-void dac_disable_channel(dac_ch_t ch)
-{
- switch(ch)
- {
- case dac0: TCCR1A&=~(1<<COMA1);
- ram_data[DAC_CONTROL]&=0xBF;
- break;
- case dac1: TCCR1A&=~(1<<COMB1);
- ram_data[DAC_CONTROL]|=0x7F;
- break;
- }
-}
-
-void dac_set_voltage(dac_ch_t ch,uint16_t voltage)
-{
- uint32_t compare_value;
-
- if(voltage>DAC_MAX_VOLTAGE)
- voltage=DAC_MAX_VOLTAGE;
- compare_value=(voltage*DAC_TOP_VALUE)/DAC_MAX_VOLTAGE;
-
- switch(ch)
- {
- case dac0: OCR1AH=(compare_value>>8)&0xFF;
- OCR1AL=(compare_value)&0xFF;
- ram_data[DAC_CH0_VOLTAGE_L]=voltage%256;
- ram_data[DAC_CH0_VOLTAGE_H]=voltage/256;
- break;
- case dac1: OCR1BH=(compare_value>>8)&0xFF;
- OCR1BL=(compare_value)&0xFF;
- ram_data[DAC_CH1_VOLTAGE_L]=voltage%256;
- ram_data[DAC_CH1_VOLTAGE_H]=voltage/256;
- break;
- }
-}
-
diff --git a/src/dyn_common.c b/src/dyn_common.c
deleted file mode 100644
index 076333f70240c7356d68680dc9e8ade13a4776a7..0000000000000000000000000000000000000000
--- a/src/dyn_common.c
+++ /dev/null
@@ -1,226 +0,0 @@
-#include "dyn_common.h"
-#include "dyn_slave_se.h"
-#include "mem.h"
-#include "ports.h"
-#include "adc.h"
-#ifdef _PWM
-#include "pwm.h"
-#endif
-#ifdef _DAC
-#include "dac.h"
-#endif
-#include "compass.h"
-#ifdef _UART_TTL
-#include "uart_ttl.h"
-#endif
-#ifdef _UART_USB
-#include "uart_usb.h"
-#endif
-
-uint8_t do_write(uint8_t address,uint8_t length,uint8_t *data)
-{
- uint8_t i,num=0;
- uint8_t low_byte=0x00;
-
- for(i=address;i<address+length;i++)
- {
- /* dynamixel interface */
- if(i==ID)
- dyn_slave_se_set_id(data[num]);
- else if(i==Baud_Rate)
- dyn_slave_se_set_baudrate(data[num]);
- /* gpio interface */
- else if(i>=GPIO0_config && i<=GPIO18_data)
- {
- if((i%2)==0)// config register
- config_port((i-GPIO0_config)>>1,data[num]);
- else// data register
- {
- if(data[num]==0x00)
- clear_port((i-GPIO0_data)>>1);
- else
- set_port((i-GPIO0_data)>>1);
- }
- }
- else if(i==LED)
- {
- if(data[num]==0x00)
- clear_led();
- else
- set_led();
- }
- /* ADC interface */
- else if(i==ADC_CONTROL)
- {
- if(data[num]&0x01)
- adc_start();
- else if(data[num]&0x02)
- adc_stop();
- }
- else if(i==ADC_NUM_SAMPLES)
- adc_set_num_samples(data[num]);
- else if(i==ADC_SAMPLE_PERIOD)
- adc_set_sample_period(data[num]);
- #ifdef _PWM
- /* PWM interface */
- else if(i==PWM_CONTROL)
- {
- if(data[num]&0x01)
- pwm_start();
- else if(data[num]&0x02)
- pwm_stop();
- }
- else if(i==PWM_ENABLE)
- {
- if(data[num]&0x01)
- pwm_enable_ch(pwm0);
- else if(data[num]&0x10)
- pwm_disable_ch(pwm0);
- if(data[num]&0x02)
- pwm_enable_ch(pwm1);
- else if(data[num]&0x20)
- pwm_disable_ch(pwm1);
- if(data[num]&0x04)
- pwm_enable_ch(pwm2);
- else if(data[num]&0x40)
- pwm_disable_ch(pwm2);
- if(data[num]&0x08)
- pwm_enable_ch(pwm3);
- else if(data[num]&0x80)
- pwm_disable_ch(pwm3);
- }
- else if(i==PWM_FREQ_L)
- low_byte=data[num];
- else if(i==PWM_FREQ_H)
- pwm_set_frequency(low_byte+data[num]*256);
- else if(i>=PWM_CH0_DUTY && i<=PWM_CH3_DUTY)
- pwm_set_duty_cycle((pwm_id_t)(i-PWM_CH0_DUTY),data[num]);
- #endif
- #ifdef _DAC
- /* dac interface */
- else if(i==DAC_CONTROL)
- {
- if(data[num]&0x01)
- dac_start();
- else if(data[num]&0x02)
- dac_stop();
- }
- else if(i==DAC_ENABLE)
- {
- if(data[num]&0x01)
- dac_enable_channel(dac0);
- else if(data[num]&0x04)
- dac_disable_channel(dac0);
- if(data[num]&0x02)
- dac_enable_channel(dac1);
- else if(data[num]&0x08)
- dac_disable_channel(dac1);
- }
- else if(i==DAC_CH0_VOLTAGE_L)
- low_byte=data[num];
- else if(i==DAC_CH0_VOLTAGE_H)
- dac_set_voltage(dac0,low_byte+data[num]*256);
- else if(i==DAC_CH1_VOLTAGE_L)
- low_byte=data[num];
- else if(i==DAC_CH1_VOLTAGE_H)
- dac_set_voltage(dac1,low_byte+data[num]*256);
- #endif
- /* compass interface */
- else if(i==COMPASS_CONTROL)
- {
- if(data[num]&0x01)
- compass_start();
- else if(data[num]&0x02)
- compass_stop();
- else if(data[num]&0x04)
- compass_start_calibration();
- else if(data[num]&0x08)
- compass_stop_calibration();
- }
- else if(i==COMPASS_NUM_SAMPLES)
- compass_set_num_samples(data[num]);
- #ifdef _UART_TTL
- /* uart TTL interface */
- else if(i==UART_TTL_CONTROL)
- {
- if(data[num]&0x01)
- uart_ttl_start();
- else if(data[num]&0x02)
- uart_ttl_stop();
- }
- else if(i==UART_TTL_TX_DATA)
- uart_ttl_send_byte(data[num]);
- else if(i==UART_TTL_BAUDRATE_L)
- low_byte=data[num];
- else if(i==UART_TTL_BAUDRATE_H)
- uart_ttl_set_baudrate(low_byte+data[num]*256);
- #endif
- #ifdef _UART_USB
- /* uart TTL interface */
- else if(i==UART_USB_CONTROL)
- {
- if(data[num]&0x01)
- uart_usb_start();
- else if(data[num]&0x02)
- uart_usb_stop();
- }
- else if(i==UART_USB_TX_DATA)
- uart_usb_send_byte(data[num]);
- else if(i==UART_USB_BAUDRATE_L)
- low_byte=data[num];
- else if(i==UART_USB_BAUDRATE_H)
- uart_usb_set_baudrate(low_byte+data[num]*256);
- #endif
- num++;
- }
-
- return 0x01;
-}
-
-uint8_t do_read(uint8_t address,uint8_t length,uint8_t **data)
-{
- uint8_t i=0;
-
- /* perform operations before reading the ram */
- for(i=address;i<address+length;i++)
- {
- if(i>=GPIO0_config && i<=GPIO18_data)
- {
- if((i%2)!=0) // data register
- read_port((i-GPIO0_config)>>1);
- }
- else if(i==SWITCHES)
- get_selector_value();
- #ifdef _UART_TTL
- else if(i==UART_TTL_CONTROL)
- {
- if(uart_ttl_is_data_available())
- ram_data[UART_TTL_CONTROL]|=0x80;
- else
- ram_data[UART_TTL_CONTROL]&=0x7F;
- if(uart_ttl_is_sending())
- ram_data[UART_TTL_CONTROL]|=0x40;
- else
- ram_data[UART_TTL_CONTROL]&=0xBF;
- }
- else if(i==UART_TTL_RX_DATA)
- uart_ttl_receive_byte(&ram_data[UART_TTL_RX_DATA]);
- #endif
- #ifdef _UART_USB
- else if(i==UART_USB_CONTROL)
- {
- if(uart_usb_is_data_available())
- ram_data[UART_USB_CONTROL]|=0x80;
- else
- ram_data[UART_USB_CONTROL]&=0x7F;
- if(uart_usb_is_sending())
- ram_data[UART_USB_CONTROL]|=0x40;
- else
- ram_data[UART_USB_CONTROL]&=0xBF;
- }
- else if(i==UART_USB_RX_DATA)
- uart_usb_receive_byte(&ram_data[UART_USB_RX_DATA]);
- #endif
- }
- return ram_read(address,length,data);
-}
diff --git a/src/dyn_slave_diff.c b/src/dyn_slave_diff.c
deleted file mode 100644
index 6b7206aca40822b574b48be1c5e3414cedb8c40e..0000000000000000000000000000000000000000
--- a/src/dyn_slave_diff.c
+++ /dev/null
@@ -1,427 +0,0 @@
-#include <avr/interrupt.h>
-#include <avr/io.h>
-#include "dyn_slave_diff.h"
-#include "mem.h"
-
-/* private variables */
-uint8_t dyn_slave_diff_id;
-uint8_t dyn_slave_diff_data[128];
-uint8_t dyn_slave_diff_num_rx_bytes;
-uint8_t dyn_slave_diff_num_tx_bytes;
-uint8_t dyn_slave_diff_packet_ready;
-uint8_t dyn_slave_diff_send_done;
-uint8_t dyn_slave_diff_error;
-uint8_t dyn_slave_diff_tmp_data[RAM_SIZE];
-uint8_t dyn_slave_diff_tmp_address;
-uint8_t dyn_slave_diff_tmp_length;
-uint8_t dyn_slave_diff_reg_pending;
-uint8_t dyn_slave_diff_sync_read_pending;
-uint8_t dyn_slave_diff_sync_read_previous;
-uint8_t dyn_slave_diff_bulk_read_pending;
-uint8_t dyn_slave_diff_bulk_read_previous;
-
-inline void dyn_slave_diff_set_rx(void)
-{
- PORTB &= 0xEF;
-}
-
-inline void dyn_slave_diff_set_tx(void)
-{
- PORTB |= 0x10;
-}
-
-/* interrupt handlers */
-ISR(USART0_TX_vect)
-{
- if(dyn_slave_diff_num_tx_bytes==dyn_slave_diff_data[3]+4)
- {
- dyn_slave_diff_set_rx();
- dyn_slave_diff_send_done=1;
- }
- else
- {
- UDR0=dyn_slave_diff_data[dyn_slave_diff_num_tx_bytes];
- dyn_slave_diff_num_tx_bytes++;
- }
-}
-
-ISR(USART0_RX_vect)
-{
- static uint8_t length;
-
- cli();// disable any other interrupt
- dyn_slave_diff_data[dyn_slave_diff_num_rx_bytes]=UDR0;
- switch(dyn_slave_diff_num_rx_bytes)
- {
- case 0: if(dyn_slave_diff_data[dyn_slave_diff_num_rx_bytes]==0xFF)
- dyn_slave_diff_num_rx_bytes++;
- break;
- case 1: if(dyn_slave_diff_data[dyn_slave_diff_num_rx_bytes]==0xFF)
- dyn_slave_diff_num_rx_bytes++;
- else
- dyn_slave_diff_num_rx_bytes--;
- break;
- case 2: dyn_slave_diff_num_rx_bytes++;
- break;
- case 3: length=dyn_slave_diff_data[dyn_slave_diff_num_rx_bytes]+3;
- dyn_slave_diff_num_rx_bytes++;
- break;
- default: if(dyn_slave_diff_num_rx_bytes==length)
- {
- dyn_slave_diff_num_rx_bytes=0;
- dyn_slave_diff_packet_ready=1;
- }
- else
- dyn_slave_diff_num_rx_bytes++;
- break;
- }
- sei();// enable all interrutps
-}
-
-/* private functions */
-uint8_t dyn_slave_diff_is_packet_ready(void)
-{
- if(dyn_slave_diff_packet_ready==0x01)
- {
- dyn_slave_diff_packet_ready=0x00;
- return 0x01;
- }
- else
- return 0x00;
-}
-
-uint8_t dyn_slave_diff_check_id(void)
-{
- if(dyn_slave_diff_id==dyn_slave_diff_data[2] || dyn_slave_diff_data[2]==0xFE)
- return 0x01;
- else
- {
- dyn_slave_diff_num_rx_bytes=0;
- return 0x00;
- }
-}
-
-uint8_t dyn_slave_diff_check_checksum(void)
-{
- uint8_t i,cs=0x00;
-
- for(i=2;i<dyn_slave_diff_data[3]+4;i++)
- cs+=dyn_slave_diff_data[i];
- if(cs==0xFF)
- return 0x01;
- else
- return 0x00;
-}
-
-inline uint8_t dyn_slave_diff_get_instruction(void)
-{
- return dyn_slave_diff_data[4];
-}
-
-inline uint8_t dyn_slave_diff_get_received_id(void)
-{
- return dyn_slave_diff_data[2];
-}
-
-// read operation
-inline uint8_t dyn_slave_diff_get_address(void)
-{
- return dyn_slave_diff_data[5];
-}
-
-inline uint8_t dyn_slave_diff_get_read_length(void)
-{
- return dyn_slave_diff_data[6];
-}
-
-// write operation
-inline uint8_t dyn_slave_diff_get_write_length(void)
-{
- return dyn_slave_diff_data[3]-3;
-}
-
-inline uint8_t *dyn_slave_diff_get_write_data(void)
-{
- return &dyn_slave_diff_data[6];
-}
-
-// sync read operation
-uint8_t dyn_slave_diff_sync_read_id_present(void)
-{
- uint8_t i,num;
-
- num=dyn_slave_diff_data[3]-4;
- for(i=0;i<num;i++)
- {
- if(dyn_slave_diff_data[7+i]==dyn_slave_diff_id)
- {
- if(i==0)
- return 0x00;
- else
- return dyn_slave_diff_data[6+i];
- }
- }
- return 0xFF;
-}
-
-// sync write operation
-uint8_t dyn_slave_diff_sync_write_id_present(uint8_t **data)
-{
- uint8_t i,num;
-
- num=(dyn_slave_diff_data[3]-4)/(dyn_slave_diff_data[6]+1);
- for(i=0;i<num;i++)
- {
- if(dyn_slave_diff_data[7+i*(dyn_slave_diff_data[6]+1)]==dyn_slave_diff_id)
- {
- (*data)=&dyn_slave_diff_data[7+i*(dyn_slave_diff_data[6]+1)+1];
- return 0x01;
- }
- }
- return 0x00;
-}
-
-// bulk read operation
-uint8_t dyn_slave_diff_bulk_read_id_present(uint8_t *address,uint8_t *length)
-{
- uint8_t i,num;
-
- num=(dyn_slave_diff_data[3]-2)/3;
- for(i=0;i<num;i++)
- {
- if(dyn_slave_diff_data[5+i*3]==dyn_slave_diff_id)
- {
- (*address)=dyn_slave_diff_data[6+i*3];
- (*length)=dyn_slave_diff_data[7+i*3];
- if(i==0)
- return 0x00;
- else
- return dyn_slave_diff_data[5+(i-1)*3];
- }
- }
- return 0xFF;
-}
-
-// bulk write operation
-uint8_t dyn_slave_diff_bulk_write_id_present(uint8_t *address,uint8_t *length,uint8_t **data)
-{
- uint8_t i,num;
-
- num=dyn_slave_diff_data[3]+4;
- for(i=5;i<num;)
- {
- if(dyn_slave_diff_data[i]==dyn_slave_diff_id)
- {
- (*address)=dyn_slave_diff_data[i+1];
- (*length)=dyn_slave_diff_data[i+2];
- (*data)=&dyn_slave_diff_data[i+3];
- return 0x01;
- }
- else
- i+=dyn_slave_diff_data[i+2]+3;
- }
- return 0x00;
-}
-
-void dyn_slave_diff_send_status(uint8_t error,uint8_t length, uint8_t *data)
-{
- uint8_t i,cs=0;
-
- if(dyn_slave_diff_data[2]!=0xFE)
- {
- if(dyn_slave_diff_data[4]==INST_PING || ((dyn_slave_diff_data[4]==INST_READ ||
- dyn_slave_diff_data[4]==INST_SYNC_READ || dyn_slave_diff_data[4]==INST_BULK_READ) &&
- ram_data[Status_Return_Level]!=0x00) || ram_data[Status_Return_Level]==0x02)
- dyn_slave_diff_data[0]=0xFF;
- dyn_slave_diff_data[1]=0xFF;
- dyn_slave_diff_data[2]=dyn_slave_diff_id;
- cs+=dyn_slave_diff_id;
- dyn_slave_diff_data[3]=length+2;
- cs+=length+2;
- dyn_slave_diff_data[4]=error;
- cs+=error;
- for(i=0;i<length;i++)
- {
- dyn_slave_diff_data[5+i]=data[i];
- cs+=data[i];
- }
- dyn_slave_diff_data[5+i]=~cs;
- // set in tex mode
- dyn_slave_diff_set_tx();
- // start transmission
- dyn_slave_diff_num_tx_bytes=1;
- UDR0=dyn_slave_diff_data[0];
- }
-}
-
-inline uint8_t dyn_slave_diff_is_send_done(void)
-{
- return dyn_slave_diff_send_done;
-}
-
-/* public functions */
-void dyn_slave_diff_init(uint8_t baudrate,uint8_t id)
-{
- DDRE=DDRE|0x01;// TX (0) are outputs 0x01=00000001
- DDRE=DDRE&0xFD;// RX(1) is an input 0xFE=11111101
-
- DDRB=DDRB|0x10;// DIR (4) are outputs 0x10=00010000
- // configure the ports to receive data
- dyn_slave_diff_set_rx();
-
- // initialize the rs485 ports
- UCSR0A = (1<<U2X);// double USART transmission speed
- dyn_slave_diff_set_baudrate(baudrate);
- UCSR0A|=0x40;// clear any pending interrupt
- UCSR0B = (1<<RXEN)|(1<<TXEN)|(1<<RXCIE)|(1<<TXCIE);
- UCSR0C = (1<<UCSZ1)|(1<< UCSZ0); // 8 bit data, no parity, 1 stop bit
-
- dyn_slave_diff_set_id(id);
- // initialize private variables
- dyn_slave_diff_num_tx_bytes=0;
- dyn_slave_diff_num_rx_bytes=0;
- dyn_slave_diff_packet_ready=0;
- dyn_slave_diff_send_done=0;
- dyn_slave_diff_error=NO_ERROR;
- dyn_slave_diff_tmp_address=0x00;
- dyn_slave_diff_tmp_length=0x00;
- dyn_slave_diff_reg_pending=0x00;
- dyn_slave_diff_sync_read_pending=0x00;
- dyn_slave_diff_bulk_read_pending=0x00;
-}
-
-void dyn_slave_diff_set_baudrate(uint8_t baudrate)
-{
- UBRR0H = 0;
- UBRR0L = baudrate;
-}
-
-void dyn_slave_diff_set_id(uint8_t id)
-{
- dyn_slave_diff_id=id;
-}
-
-void dyn_slave_diff_loop(void)
-{
- static uint8_t *data,i;
-
- if(dyn_slave_diff_is_packet_ready())
- {
- if(dyn_slave_diff_check_id())
- {
- if(dyn_slave_diff_check_checksum())
- {
- switch(dyn_slave_diff_get_instruction())
- {
- case INST_PING: dyn_slave_diff_send_status(dyn_slave_diff_error|NO_ERROR,0x00,0x00000000);
- break;
- case INST_READ: if(do_read(dyn_slave_diff_get_address(),dyn_slave_diff_get_read_length(),&data))
- dyn_slave_diff_send_status(dyn_slave_diff_error|NO_ERROR,dyn_slave_diff_get_read_length(),data);
- else
- dyn_slave_diff_send_status(dyn_slave_diff_error|INSTRUCTION_ERROR,0x00,0x00000000);
- break;
- case INST_WRITE: if(do_write(dyn_slave_diff_get_address(),dyn_slave_diff_get_write_length(),dyn_slave_diff_get_write_data()))
- dyn_slave_diff_send_status(dyn_slave_diff_error|NO_ERROR,0x00,0x00000000);
- else
- dyn_slave_diff_send_status(dyn_slave_diff_error|INSTRUCTION_ERROR,0x00,0x00000000);
- break;
- case INST_REG_WRITE: dyn_slave_diff_tmp_address=dyn_slave_diff_get_address();
- dyn_slave_diff_tmp_length=dyn_slave_diff_get_write_length();
- data=dyn_slave_diff_get_write_data();
- for(i=0;i<dyn_slave_diff_tmp_length;i++)
- dyn_slave_diff_tmp_data[i]=data[i];
- dyn_slave_diff_reg_pending=0x01;
- dyn_slave_diff_send_status(dyn_slave_diff_error|NO_ERROR,0x00,0x00000000);
- break;
- case INST_ACTION: if(dyn_slave_diff_reg_pending)
- {
- if(do_write(dyn_slave_diff_tmp_address,dyn_slave_diff_tmp_length,dyn_slave_diff_tmp_data))
- dyn_slave_diff_send_status(dyn_slave_diff_error|NO_ERROR,0x00,0x00000000);
- }
- else
- dyn_slave_diff_send_status(dyn_slave_diff_error|INSTRUCTION_ERROR,0x00,0x00000000);
- break;
- case INST_RESET:
- break;
- case INST_SYNC_READ: dyn_slave_diff_sync_read_previous=dyn_slave_diff_sync_read_id_present();
- if(dyn_slave_diff_sync_read_previous!=0xFF)
- {
- if(dyn_slave_diff_sync_read_previous==0x00)// first device on the list
- {
- if(do_read(dyn_slave_diff_get_address(),dyn_slave_diff_get_read_length(),&data))
- dyn_slave_diff_send_status(dyn_slave_diff_error|NO_ERROR,dyn_slave_diff_get_read_length(),data);
- else
- dyn_slave_diff_send_status(dyn_slave_diff_error|INSTRUCTION_ERROR,0x00,0x00000000);
- }
- else// sync read pending
- {
- dyn_slave_diff_tmp_address=dyn_slave_diff_get_address();
- dyn_slave_diff_tmp_length=dyn_slave_diff_get_read_length();
- dyn_slave_diff_sync_read_pending=0x01;
- }
- }
- break;
- case INST_SYNC_WRITE: if(dyn_slave_diff_sync_write_id_present(&data))
- do_write(dyn_slave_diff_get_address(),dyn_slave_diff_get_read_length(),data);
- break;
- case INST_BULK_READ: dyn_slave_diff_bulk_read_previous=dyn_slave_diff_bulk_read_id_present(&dyn_slave_diff_tmp_address,&dyn_slave_diff_tmp_length);
- if(dyn_slave_diff_bulk_read_previous!=0xFF)
- {
- if(dyn_slave_diff_bulk_read_previous==0x00)// first device on the list
- {
- if(do_read(dyn_slave_diff_tmp_address,dyn_slave_diff_tmp_length,&data))
- dyn_slave_diff_send_status(dyn_slave_diff_error|NO_ERROR,dyn_slave_diff_tmp_length,data);
- else
- dyn_slave_diff_send_status(dyn_slave_diff_error|INSTRUCTION_ERROR,0x00,0x00000000);
- }
- else// sync read pending
- dyn_slave_diff_bulk_read_pending=0x01;
- }
- break;
- case INST_BULK_WRITE: if(dyn_slave_diff_bulk_write_id_present(&dyn_slave_diff_tmp_address,&dyn_slave_diff_tmp_length,&data))
- do_write(dyn_slave_diff_tmp_address,dyn_slave_diff_tmp_length,data);
- break;
- default: dyn_slave_diff_send_status(dyn_slave_diff_error|INSTRUCTION_ERROR,0x00,0x00000000);
- break;
- }
- }
- else
- dyn_slave_diff_send_status(dyn_slave_diff_error|CHECKSUM_ERROR,0x00,0x00000000);
- }
- else
- {
- if(dyn_slave_diff_sync_read_pending)
- {
- if(dyn_slave_diff_get_received_id()==dyn_slave_diff_sync_read_previous)
- {
- dyn_slave_diff_sync_read_pending=0x00;
- if(do_read(dyn_slave_diff_tmp_address,dyn_slave_diff_tmp_length,&data))
- dyn_slave_diff_send_status(dyn_slave_diff_error|NO_ERROR,dyn_slave_diff_tmp_length,data);
- else
- dyn_slave_diff_send_status(dyn_slave_diff_error|INSTRUCTION_ERROR,0x00,0x00000000);
- }
- }
- if(dyn_slave_diff_bulk_read_pending)
- {
- if(dyn_slave_diff_get_received_id()==dyn_slave_diff_bulk_read_previous)
- {
- dyn_slave_diff_bulk_read_pending=0x00;
- if(do_read(dyn_slave_diff_tmp_address,dyn_slave_diff_tmp_length,&data))
- dyn_slave_diff_send_status(dyn_slave_diff_error|NO_ERROR,dyn_slave_diff_tmp_length,data);
- else
- dyn_slave_diff_send_status(dyn_slave_diff_error|INSTRUCTION_ERROR,0x00,0x00000000);
- }
- }
- }
- }
-}
-
-void dyn_slave_diff_set_error(uint8_t error)
-{
- dyn_slave_diff_error|=error;
-}
-
-void dyn_slave_diff_clear_error(void)
-{
- dyn_slave_diff_error=NO_ERROR;
-}
diff --git a/src/dyn_slave_se.c b/src/dyn_slave_se.c
deleted file mode 100644
index 14432c099ea244cf8986d0d4ede7f3e036b0a406..0000000000000000000000000000000000000000
--- a/src/dyn_slave_se.c
+++ /dev/null
@@ -1,431 +0,0 @@
-#include <avr/interrupt.h>
-#include <avr/io.h>
-#include "dyn_slave_se.h"
-#include "mem.h"
-
-/* private variables */
-uint8_t dyn_slave_se_id;
-uint8_t dyn_slave_se_data[128];
-uint8_t dyn_slave_se_num_rx_bytes;
-uint8_t dyn_slave_se_num_tx_bytes;
-uint8_t dyn_slave_se_packet_ready;
-uint8_t dyn_slave_se_send_done;
-uint8_t dyn_slave_se_error;
-uint8_t dyn_slave_se_tmp_data[RAM_SIZE];
-uint8_t dyn_slave_se_tmp_address;
-uint8_t dyn_slave_se_tmp_length;
-uint8_t dyn_slave_se_reg_pending;
-uint8_t dyn_slave_se_sync_read_pending;
-uint8_t dyn_slave_se_sync_read_previous;
-uint8_t dyn_slave_se_bulk_read_pending;
-uint8_t dyn_slave_se_bulk_read_previous;
-
-inline void dyn_slave_se_set_rx(void)
-{
- PORTD &= 0xBF;
- PORTD |= 0x80;
-}
-
-inline void dyn_slave_se_set_tx(void)
-{
- PORTD &= 0x7F;
- PORTD |= 0x40;
-}
-
-/* interrupt handlers */
-ISR(USART1_TX_vect)
-{
- if(dyn_slave_se_num_tx_bytes==dyn_slave_se_data[3]+4)
- {
- dyn_slave_se_set_rx();
- dyn_slave_se_send_done=1;
- }
- else
- {
- UDR1=dyn_slave_se_data[dyn_slave_se_num_tx_bytes];
- dyn_slave_se_num_tx_bytes++;
- }
-}
-
-ISR(USART1_RX_vect)
-{
- static uint8_t length;
-
- cli();// disable any other interrupt
- dyn_slave_se_data[dyn_slave_se_num_rx_bytes]=UDR1;
- switch(dyn_slave_se_num_rx_bytes)
- {
- case 0: if(dyn_slave_se_data[dyn_slave_se_num_rx_bytes]==0xFF)
- dyn_slave_se_num_rx_bytes++;
- break;
- case 1: if(dyn_slave_se_data[dyn_slave_se_num_rx_bytes]==0xFF)
- dyn_slave_se_num_rx_bytes++;
- else
- dyn_slave_se_num_rx_bytes--;
- break;
- case 2: dyn_slave_se_num_rx_bytes++;
- break;
- case 3: length=dyn_slave_se_data[dyn_slave_se_num_rx_bytes]+3;
- dyn_slave_se_num_rx_bytes++;
- break;
- default: if(dyn_slave_se_num_rx_bytes==length)
- {
- dyn_slave_se_num_rx_bytes=0;
- dyn_slave_se_packet_ready=1;
- }
- else
- dyn_slave_se_num_rx_bytes++;
- break;
- }
- sei();// enable all interrutps
-}
-
-/* private functions */
-uint8_t dyn_slave_se_is_packet_ready(void)
-{
- if(dyn_slave_se_packet_ready==0x01)
- {
- dyn_slave_se_packet_ready=0x00;
- return 0x01;
- }
- else
- return 0x00;
-}
-
-uint8_t dyn_slave_se_check_id(void)
-{
- if(dyn_slave_se_id==dyn_slave_se_data[2] || dyn_slave_se_data[2]==0xFE)
- return 0x01;
- else
- {
- dyn_slave_se_num_rx_bytes=0;
- return 0x00;
- }
-}
-
-uint8_t dyn_slave_se_check_checksum(void)
-{
- uint8_t i,cs=0x00;
-
- for(i=2;i<dyn_slave_se_data[3]+4;i++)
- cs+=dyn_slave_se_data[i];
- if(cs==0xFF)
- return 0x01;
- else
- return 0x00;
-}
-
-inline uint8_t dyn_slave_se_get_instruction(void)
-{
- return dyn_slave_se_data[4];
-}
-
-inline uint8_t dyn_slave_se_get_received_id(void)
-{
- return dyn_slave_se_data[2];
-}
-
-// read operation
-inline uint8_t dyn_slave_se_get_address(void)
-{
- return dyn_slave_se_data[5];
-}
-
-inline uint8_t dyn_slave_se_get_read_length(void)
-{
- return dyn_slave_se_data[6];
-}
-
-// write operation
-inline uint8_t dyn_slave_se_get_write_length(void)
-{
- return dyn_slave_se_data[3]-3;
-}
-
-inline uint8_t *dyn_slave_se_get_write_data(void)
-{
- return &dyn_slave_se_data[6];
-}
-
-// sync read operation
-uint8_t dyn_slave_se_sync_read_id_present(void)
-{
- uint8_t i,num;
-
- num=dyn_slave_se_data[3]-4;
- for(i=0;i<num;i++)
- {
- if(dyn_slave_se_data[7+i]==dyn_slave_se_id)
- {
- if(i==0)
- return 0x00;
- else
- return dyn_slave_se_data[6+i];
- }
- }
- return 0xFF;
-}
-
-// sync write operation
-uint8_t dyn_slave_se_sync_write_id_present(uint8_t **data)
-{
- uint8_t i,num;
-
- num=(dyn_slave_se_data[3]-4)/(dyn_slave_se_data[6]+1);
- for(i=0;i<num;i++)
- {
- if(dyn_slave_se_data[7+i*(dyn_slave_se_data[6]+1)]==dyn_slave_se_id)
- {
- (*data)=&dyn_slave_se_data[7+i*(dyn_slave_se_data[6]+1)+1];
- return 0x01;
- }
- }
- return 0x00;
-}
-
-// bulk read operation
-uint8_t dyn_slave_se_bulk_read_id_present(uint8_t *address,uint8_t *length)
-{
- uint8_t i,num;
-
- num=(dyn_slave_se_data[3]-2)/3;
- for(i=0;i<num;i++)
- {
- if(dyn_slave_se_data[5+i*3]==dyn_slave_se_id)
- {
- (*address)=dyn_slave_se_data[6+i*3];
- (*length)=dyn_slave_se_data[7+i*3];
- if(i==0)
- return 0x00;
- else
- return dyn_slave_se_data[5+(i-1)*3];
- }
- }
- return 0xFF;
-}
-
-// bulk write operation
-uint8_t dyn_slave_se_bulk_write_id_present(uint8_t *address,uint8_t *length,uint8_t **data)
-{
- uint8_t i,num;
-
- num=dyn_slave_se_data[3]+4;
- for(i=5;i<num;)
- {
- if(dyn_slave_se_data[i]==dyn_slave_se_id)
- {
- (*address)=dyn_slave_se_data[i+1];
- (*length)=dyn_slave_se_data[i+2];
- (*data)=&dyn_slave_se_data[i+3];
- return 0x01;
- }
- else
- i+=dyn_slave_se_data[i+2]+3;
- }
- return 0x00;
-}
-
-void dyn_slave_se_send_status(uint8_t error,uint8_t length, uint8_t *data)
-{
- uint8_t i,cs=0;
-
- if(dyn_slave_se_data[2]!=0xFE)
- {
- if(dyn_slave_se_data[4]==INST_PING || ((dyn_slave_se_data[4]==INST_READ ||
- dyn_slave_se_data[4]==INST_SYNC_READ || dyn_slave_se_data[4]==INST_BULK_READ) &&
- ram_data[Status_Return_Level]!=0x00) || ram_data[Status_Return_Level]==0x02)
- dyn_slave_se_data[0]=0xFF;
- dyn_slave_se_data[1]=0xFF;
- dyn_slave_se_data[2]=dyn_slave_se_id;
- cs+=dyn_slave_se_id;
- dyn_slave_se_data[3]=length+2;
- cs+=length+2;
- dyn_slave_se_data[4]=error;
- cs+=error;
- for(i=0;i<length;i++)
- {
- dyn_slave_se_data[5+i]=data[i];
- cs+=data[i];
- }
- dyn_slave_se_data[5+i]=~cs;
- // set in tex mode
- dyn_slave_se_set_tx();
- // start transmission
- dyn_slave_se_num_tx_bytes=1;
- UDR1=dyn_slave_se_data[0];
- }
-}
-
-inline uint8_t dyn_slave_se_is_send_done(void)
-{
- return dyn_slave_se_send_done;
-}
-
-/* public functions */
-void dyn_slave_se_init(uint8_t baudrate,uint8_t id)
-{
- // DDRD - Port D Data Direction Register
- DDRD=DDRD|0xC8;// RX_en (7), TX_en (6), TX (3) are outputs 0xC2=11000010
- DDRD=DDRD&0xFB;// RX(2) is an input 0xFE=11111110
-
- // configure the ports to receive data
- dyn_slave_se_set_rx();
-
- // initialize the rs485 ports
- UCSR1A = (1<<U2X);// double USART transmission speed
- dyn_slave_se_set_baudrate(baudrate);
- UCSR1A|=0x40;// clear any pending interrupt
- UCSR1B = (1<<RXEN)|(1<<TXEN)|(1<<RXCIE)|(1<<TXCIE);
- UCSR1C = (1<<UCSZ1)|(1<< UCSZ0); // 8 bit data, no parity, 1 stop bit
-
- dyn_slave_se_set_id(id);
- // initialize private variables
- dyn_slave_se_num_tx_bytes=0;
- dyn_slave_se_num_rx_bytes=0;
- dyn_slave_se_packet_ready=0;
- dyn_slave_se_send_done=0;
- dyn_slave_se_error=NO_ERROR;
- dyn_slave_se_tmp_address=0x00;
- dyn_slave_se_tmp_length=0x00;
- dyn_slave_se_reg_pending=0x00;
- dyn_slave_se_sync_read_pending=0x00;
- dyn_slave_se_bulk_read_pending=0x00;
-}
-
-void dyn_slave_se_set_baudrate(uint8_t baudrate)
-{
- UBRR1H = 0;
- UBRR1L = baudrate;
- ram_data[Baud_Rate]=baudrate;
-}
-
-void dyn_slave_se_set_id(uint8_t id)
-{
- dyn_slave_se_id=id;
- ram_data[ID]=id;
-}
-
-void dyn_slave_se_loop(void)
-{
- static uint8_t *data,i;
-
- if(dyn_slave_se_is_packet_ready())
- {
- if(dyn_slave_se_check_id())
- {
- if(dyn_slave_se_check_checksum())
- {
- switch(dyn_slave_se_get_instruction())
- {
- case INST_PING: dyn_slave_se_send_status(dyn_slave_se_error|NO_ERROR,0x00,0x00000000);
- break;
- case INST_READ: if(do_read(dyn_slave_se_get_address(),dyn_slave_se_get_read_length(),&data))
- dyn_slave_se_send_status(dyn_slave_se_error|NO_ERROR,dyn_slave_se_get_read_length(),data);
- else
- dyn_slave_se_send_status(dyn_slave_se_error|INSTRUCTION_ERROR,0x00,0x00000000);
- break;
- case INST_WRITE: if(do_write(dyn_slave_se_get_address(),dyn_slave_se_get_write_length(),dyn_slave_se_get_write_data()))
- dyn_slave_se_send_status(dyn_slave_se_error|NO_ERROR,0x00,0x00000000);
- else
- dyn_slave_se_send_status(dyn_slave_se_error|INSTRUCTION_ERROR,0x00,0x00000000);
- break;
- case INST_REG_WRITE: dyn_slave_se_tmp_address=dyn_slave_se_get_address();
- dyn_slave_se_tmp_length=dyn_slave_se_get_write_length();
- data=dyn_slave_se_get_write_data();
- for(i=0;i<dyn_slave_se_tmp_length;i++)
- dyn_slave_se_tmp_data[i]=data[i];
- dyn_slave_se_reg_pending=0x01;
- dyn_slave_se_send_status(dyn_slave_se_error|NO_ERROR,0x00,0x00000000);
- break;
- case INST_ACTION: if(dyn_slave_se_reg_pending)
- {
- if(do_write(dyn_slave_se_tmp_address,dyn_slave_se_tmp_length,dyn_slave_se_tmp_data))
- dyn_slave_se_send_status(dyn_slave_se_error|NO_ERROR,0x00,0x00000000);
- }
- else
- dyn_slave_se_send_status(dyn_slave_se_error|INSTRUCTION_ERROR,0x00,0x00000000);
- break;
- case INST_RESET:
- break;
- case INST_SYNC_READ: dyn_slave_se_sync_read_previous=dyn_slave_se_sync_read_id_present();
- if(dyn_slave_se_sync_read_previous!=0xFF)
- {
- if(dyn_slave_se_sync_read_previous==0x00)// first device on the list
- {
- if(do_read(dyn_slave_se_get_address(),dyn_slave_se_get_read_length(),&data))
- dyn_slave_se_send_status(dyn_slave_se_error|NO_ERROR,dyn_slave_se_get_read_length(),data);
- else
- dyn_slave_se_send_status(dyn_slave_se_error|INSTRUCTION_ERROR,0x00,0x00000000);
- }
- else// sync read pending
- {
- dyn_slave_se_tmp_address=dyn_slave_se_get_address();
- dyn_slave_se_tmp_length=dyn_slave_se_get_read_length();
- dyn_slave_se_sync_read_pending=0x01;
- }
- }
- break;
- case INST_SYNC_WRITE: if(dyn_slave_se_sync_write_id_present(&data))
- do_write(dyn_slave_se_get_address(),dyn_slave_se_get_read_length(),data);
- break;
- case INST_BULK_READ: dyn_slave_se_bulk_read_previous=dyn_slave_se_bulk_read_id_present(&dyn_slave_se_tmp_address,&dyn_slave_se_tmp_length);
- if(dyn_slave_se_bulk_read_previous!=0xFF)
- {
- if(dyn_slave_se_bulk_read_previous==0x00)// first device on the list
- {
- if(do_read(dyn_slave_se_tmp_address,dyn_slave_se_tmp_length,&data))
- dyn_slave_se_send_status(dyn_slave_se_error|NO_ERROR,dyn_slave_se_tmp_length,data);
- else
- dyn_slave_se_send_status(dyn_slave_se_error|INSTRUCTION_ERROR,0x00,0x00000000);
- }
- else// sync read pending
- dyn_slave_se_bulk_read_pending=0x01;
- }
- break;
- case INST_BULK_WRITE: if(dyn_slave_se_bulk_write_id_present(&dyn_slave_se_tmp_address,&dyn_slave_se_tmp_length,&data))
- do_write(dyn_slave_se_tmp_address,dyn_slave_se_tmp_length,data);
- break;
- default: dyn_slave_se_send_status(dyn_slave_se_error|INSTRUCTION_ERROR,0x00,0x00000000);
- break;
- }
- }
- else
- dyn_slave_se_send_status(dyn_slave_se_error|CHECKSUM_ERROR,0x00,0x00000000);
- }
- else
- {
- if(dyn_slave_se_sync_read_pending)
- {
- if(dyn_slave_se_get_received_id()==dyn_slave_se_sync_read_previous)
- {
- dyn_slave_se_sync_read_pending=0x00;
- if(do_read(dyn_slave_se_tmp_address,dyn_slave_se_tmp_length,&data))
- dyn_slave_se_send_status(dyn_slave_se_error|NO_ERROR,dyn_slave_se_tmp_length,data);
- else
- dyn_slave_se_send_status(dyn_slave_se_error|INSTRUCTION_ERROR,0x00,0x00000000);
- }
- }
- if(dyn_slave_se_bulk_read_pending)
- {
- if(dyn_slave_se_get_received_id()==dyn_slave_se_bulk_read_previous)
- {
- dyn_slave_se_bulk_read_pending=0x00;
- if(do_read(dyn_slave_se_tmp_address,dyn_slave_se_tmp_length,&data))
- dyn_slave_se_send_status(dyn_slave_se_error|NO_ERROR,dyn_slave_se_tmp_length,data);
- else
- dyn_slave_se_send_status(dyn_slave_se_error|INSTRUCTION_ERROR,0x00,0x00000000);
- }
- }
- }
- }
-}
-
-void dyn_slave_se_set_error(uint8_t error)
-{
- dyn_slave_se_error|=error;
-}
-
-void dyn_slave_se_clear_error(void)
-{
- dyn_slave_se_error=NO_ERROR;
-}
diff --git a/src/i2c.c b/src/i2c.c
deleted file mode 100644
index 1b44ba02bc4e4398fb130e73722ff4ac98413098..0000000000000000000000000000000000000000
--- a/src/i2c.c
+++ /dev/null
@@ -1,217 +0,0 @@
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include "i2c.h"
-
-#define I2C_RX_BUFFER_LEN 32
-#define I2C_TX_BUFFER_LEN 32
-
-/* private variables */
-static volatile i2c_states_t i2c_state;
-static uint8_t i2c_device_address;
-// send/transmit buffer (outgoing data)
-static uint8_t i2c_tx_data[I2C_RX_BUFFER_LEN];
-static uint8_t i2c_tx_data_ptr;
-static uint8_t i2c_tx_length;
-// receive buffer (incoming data)
-static uint8_t i2c_rx_data[I2C_TX_BUFFER_LEN];
-static uint8_t i2c_rx_data_ptr;
-static uint8_t i2c_rx_length;
-
-/* private functions */
-inline void i2c_send_start(void)
-{
- // send start condition
- TWCR=(TWCR&TWCR_CMD_MASK)|(1<<TWINT)|(1<<TWSTA);
-}
-
-inline void i2c_send_stop(void)
-{
- // transmit stop condition
- // leave with TWEA on for slave receiving
- TWCR=(TWCR&TWCR_CMD_MASK)|(1<<TWINT)|(1<<TWEA)|(1<<TWSTO);
-}
-
-inline void i2c_wait_for_complete(void)
-{
- // wait for i2c interface to complete operation
- while((TWCR&(1<<TWINT))==0x00);
-}
-
-inline void i2c_send_byte(uint8_t data)
-{
- // save data to the TWDR
- TWDR=data;
- // begin send
- TWCR=(TWCR&TWCR_CMD_MASK)|(1<<TWINT);
-}
-
-inline void i2c_receive_byte(uint8_t ackFlag)
-{
- // begin receive over i2c
- if( ackFlag )
- {
- // ackFlag = TRUE: ACK the recevied data
- TWCR=(TWCR&TWCR_CMD_MASK)|(1<<TWINT)|(1<<TWEA);
- }
- else
- {
- // ackFlag = FALSE: NACK the recevied data
- TWCR=(TWCR&TWCR_CMD_MASK)|(1<<TWINT);
- }
-}
-
-inline uint8_t i2c_get_byte(void)
-{
- // retieve received data byte from i2c TWDR
- return TWDR;
-}
-
-i2c_states_t i2c_get_state(void)
-{
- // retieve current i2c status from i2c TWSR
- return i2c_state;
-}
-
-/* interrupt handlers */
-ISR(TWI_vect)
-{
- // read status bits
- uint8_t status = TWSR&TWSR_STATUS_MASK;
-
- switch(status)
- {
- // Master General
- case TW_START://0x08: Sent start condition
- case TW_REP_START:// 0x10: Sent repeated start condition
- // send device address
- i2c_send_byte(i2c_device_address);
- break;
- // Master Transmitter & Receiver status codes
- case TW_MT_SLA_ACK:// 0x18: Slave address acknowledged
- case TW_MT_DATA_ACK:// 0x28: Data acknowledged
- if(i2c_tx_data_ptr < i2c_tx_length)
- {
- // send data
- i2c_send_byte( i2c_tx_data[i2c_tx_data_ptr++] );
- }
- else
- {
- // transmit stop condition, enable SLA ACK
- i2c_send_stop();
- // set state
- i2c_state = I2C_IDLE;
- }
- break;
- case TW_MR_DATA_NACK:// 0x58: Data received, NACK reply issued
- // store final received data byte
- i2c_rx_data[i2c_rx_data_ptr++] = TWDR;
- // continue to transmit STOP condition
- case TW_MR_SLA_NACK:// 0x48: Slave address not acknowledged
- case TW_MT_SLA_NACK:// 0x20: Slave address not acknowledged
- case TW_MT_DATA_NACK:// 0x30: Data not acknowledged
- // transmit stop condition, enable SLA ACK
- i2c_send_stop();
- // set state
- i2c_state = I2C_IDLE;
- break;
- case TW_MT_ARB_LOST:// 0x38: Bus arbitration lost
- // release bus
- TWCR=(TWCR&TWCR_CMD_MASK)|(1<<TWINT);
- // set state
- i2c_state = I2C_IDLE;
- break;
- case TW_MR_DATA_ACK:// 0x50: Data acknowledged
- // store received data byte
- i2c_rx_data[i2c_rx_data_ptr++] = TWDR;
- // fall-through to see if more bytes will be received
- case TW_MR_SLA_ACK:// 0x40: Slave address acknowledged
- if(i2c_rx_data_ptr < (i2c_rx_length-1))
- // data byte will be received, reply with ACK (more bytes in transfer)
- i2c_receive_byte(0x01);
- else
- // data byte will be received, reply with NACK (final byte in transfer)
- i2c_receive_byte(0x00);
- break;
- // Misc
- case TW_NO_INFO:// 0xF8: No relevant state information
- // do nothing
- break;
- case TW_BUS_ERROR:// 0x00: Bus error due to illegal start or stop condition
- // reset internal hardware and release bus
- TWCR=(TWCR&TWCR_CMD_MASK)|(1<<TWINT)|(1<<TWSTO)|(1<<TWEA);
- // set state
- i2c_state = I2C_IDLE;
- break;
- }
-}
-
-/* public functions */
-void i2c_init(uint16_t bitrate_khz)
-{
- /* configure the io ports */
- //DDRD|=0x03;
- // set i2c bit rate to 100KHz
- i2c_set_bitrate(bitrate_khz);
-
- /* initialize the internal variables */
- i2c_tx_data_ptr=0;
- i2c_tx_length=0;
- i2c_rx_data_ptr=0;
- i2c_rx_length=0;
- i2c_state=I2C_IDLE;
-
- TWCR=(1<<TWEN)|(1<<TWIE)|(1<<TWEA);
-}
-
-void i2c_set_bitrate(uint16_t bitrate_khz)
-{
- uint8_t bitrate_div;
-
- TWSR&=~((1<<TWPS0)|(1<<TWPS1));
- // calculate bitrate division
- bitrate_div = ((F_CPU/1000l)/bitrate_khz);
- if(bitrate_div >= 16)
- bitrate_div = (bitrate_div-16)/2;
- TWBR=bitrate_div;
-}
-
-void i2c_master_send(uint8_t deviceAddr, uint8_t length, uint8_t* data)
-{
- uint8_t i;
- // wait for interface to be ready
- while(i2c_state);
- // set state
- i2c_state = I2C_MASTER_TX;
- // save data
- i2c_device_address = (deviceAddr & 0xFE); // RW cleared: write operation
- for(i=0; i<length; i++)
- i2c_tx_data[i] = *data++;
- i2c_tx_data_ptr = 0;
- i2c_tx_length = length;
- // send start condition
- i2c_send_start();
-}
-
-void i2c_master_receive(uint8_t deviceAddr, uint8_t length)//, uint8_t* data)
-{
- // uint8_t i;
- // wait for interface to be ready
- while(i2c_state);
- // set state
- i2c_state = I2C_MASTER_RX;
- // save data
- i2c_device_address = (deviceAddr|0x01); // RW set: read operation
- i2c_rx_data_ptr = 0;
- i2c_rx_length = length;
- // send start condition
- i2c_send_start();
-}
-
-void i2c_get_data(unsigned char length, unsigned char *data)
-{
- unsigned char i;
-
- for(i=0;i<length;i++)
- data[i]=i2c_rx_data[i];
-}
-
diff --git a/src/main.c b/src/main.c
deleted file mode 100755
index 3acf8c99280f93a12a5f3d1a33c731823839ad08..0000000000000000000000000000000000000000
--- a/src/main.c
+++ /dev/null
@@ -1,52 +0,0 @@
-#include <avr/io.h>
-#include <util/delay.h>
-#include <avr/interrupt.h>
-#include "dyn_slave_se.h"
-#include "dyn_slave_diff.h"
-#include "mem.h"
-#include "ports.h"
-#include "adc.h"
-#ifdef _PWM
-#include "pwm.h"
-#endif
-#ifdef _DAC
-#include "dac.h"
-#endif
-#include "compass.h"
-#ifdef _UART_TTL
-#include "uart_ttl.h"
-#endif
-#ifdef _UART_USB
-#include "uart_usb.h"
-#endif
-
-int16_t main(void)
-{
- ram_init();
- dyn_slave_se_init(ram_data[Baud_Rate],ram_data[ID]);
- dyn_slave_diff_init(ram_data[Baud_Rate],ram_data[ID]);
- init_ports();
- adc_init();
- #ifdef _PWM
- pwm_init();
- #endif
- #ifdef _DAC
- dac_init();
- #endif
- compass_init();
- #ifdef _UART_TTL
- uart_ttl_init();
- #endif
- #ifdef _UART_USB
- uart_usb_init();
- #endif
- sei();
-
- while (1)
- {
- adc_loop();
- compass_loop();
- dyn_slave_se_loop();
- dyn_slave_diff_loop();
- }
-}
diff --git a/src/mem.c b/src/mem.c
deleted file mode 100644
index b6e29bc31f4bf82798a53ee63e23535c0a974c96..0000000000000000000000000000000000000000
--- a/src/mem.c
+++ /dev/null
@@ -1,48 +0,0 @@
-#include "mem.h"
-#include <avr/eeprom.h>
-
-// dynamixel RAM variables
-uint8_t ram_data[RAM_SIZE];
-
-// Dynamixel EEPROM variables
-uint8_t EEMEM eeprom_data[17]={0x1C,0x00,0x00,0xC0,0x01,0xFA,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x02};
-
-void ram_init(void)
-{
- uint8_t i;
-
- for(i=0;i<=Return_Delay_Time;i++)
- ram_data[i]=eeprom_read_byte(&eeprom_data[i]);
- for(;i<RAM_SIZE;i++)
- ram_data[i]=0x00;
-}
-
-uint8_t ram_read(uint8_t address, uint8_t length, uint8_t **data)
-{
- if((address+length)>RAM_SIZE)
- return 0x00;
- else
- {
- (*data)=&ram_data[address];
- return 0x01;
- }
-}
-
-uint8_t ram_write(uint8_t address, uint8_t length, uint8_t *data)
-{
- uint8_t i,num=0;
-
- if((address+length)>RAM_SIZE)
- return 0x00;
- else
- {
- for(i=address;i<address+length;i++)
- {
- if(i<=Return_Delay_Time)
- eeprom_write_byte(&eeprom_data[i],data[num]);
- ram_data[i]=data[num];
- num++;
- }
- return 0x01;
- }
-}
diff --git a/src/ports.c b/src/ports.c
deleted file mode 100644
index ad16eccc572feb85f80663c392b80a47869e3cc1..0000000000000000000000000000000000000000
--- a/src/ports.c
+++ /dev/null
@@ -1,136 +0,0 @@
-#include <avr/io.h>
-#include "ports.h"
-#include "mem.h"
-
-TGPIO gpio_bits[NUM_GPIO]={{&DDRA,&PORTA,&PINA,0},
- {&DDRA,&PORTA,&PINA,1},
- {&DDRA,&PORTA,&PINA,2},
- {&DDRA,&PORTA,&PINA,3},
- {&DDRA,&PORTA,&PINA,4},
- {&DDRA,&PORTA,&PINA,5},
- {&DDRA,&PORTA,&PINA,6},
- {&DDRA,&PORTA,&PINA,7},
- {&DDRG,&PORTG,&PING,2},
- {&DDRC,&PORTC,&PINC,7},
- {&DDRC,&PORTC,&PINC,6},
- {&DDRC,&PORTC,&PINC,5},
- {&DDRC,&PORTC,&PINC,4},
- {&DDRC,&PORTC,&PINC,3},
- {&DDRC,&PORTC,&PINC,2},
- {&DDRC,&PORTC,&PINC,1},
- {&DDRC,&PORTC,&PINC,0},
- {&DDRG,&PORTG,&PING,1},
- {&DDRG,&PORTG,&PING,0}};
-
-void init_ports(void)
-{
- //auxiliar LED
- DDRE|=0x04;
- clear_led();
-
- // general purpose input/output
- // all inputs by default
- DDRA=0x00;
- DDRC=0x00;
- DDRG&=0xF8;
-
- // input selector
- DDRG&=0xE7;
-}
-
-void config_port(uint8_t port_id,uint8_t dir)
-{
- if(port_id>=0 && port_id<NUM_GPIO)
- {
- if(dir==OUTPUT)// configure as an output
- {
- *(gpio_bits[port_id].dir_reg)|=0x01<<gpio_bits[port_id].bit;
- ram_data[GPIO0_config+port_id*2]=0x01;
- }
- else// configure as an input
- {
- *(gpio_bits[port_id].dir_reg)&=~(0x01<<gpio_bits[port_id].bit);
- ram_data[GPIO0_config+port_id*2]=0x00;
- }
- }
-}
-
-uint8_t get_port_config(uint8_t port_id)
-{
- uint8_t dir;
-
- if(port_id>=0 && port_id<NUM_GPIO)
- {
- dir=(*(gpio_bits[port_id].dir_reg)&(0x01<<gpio_bits[port_id].bit));
- if(dir==0x00)
- return INPUT;
- else
- return OUTPUT;
- }
- else
- return INPUT;
-}
-
-void set_port(uint8_t port_id)
-{
- if(port_id>=0 && port_id<NUM_GPIO)
- {
- *(gpio_bits[port_id].write_reg)|=0x01<<gpio_bits[port_id].bit;
- ram_data[GPIO0_data+port_id*2]=0x01;
- }
-}
-
-void clear_port(uint8_t port_id)
-{
- if(port_id>=0 && port_id<NUM_GPIO)
- {
- *(gpio_bits[port_id].write_reg)&=~(0x01<<gpio_bits[port_id].bit);
- ram_data[GPIO0_data+port_id*2]=0x00;
- }
-}
-
-uint8_t read_port(uint8_t port_id)
-{
- uint8_t value;
- if(port_id>=0 && port_id<NUM_GPIO)
- {
- value=((*(gpio_bits[port_id].read_reg))&(0x01<<gpio_bits[port_id].bit));
- if(value==0x00)
- {
- ram_data[GPIO0_data+port_id]=0x00;
- return 0x00;
- }
- else
- {
- ram_data[GPIO0_data+port_id]=0x01;
- return 0x01;
- }
- }
- else
- return 0x00;
-}
-
-void set_led(void)
-{
- PORTE&=0xFB;
- ram_data[LED]=0x01;
-}
-
-void clear_led(void)
-{
- PORTE|=0x04;
- ram_data[LED]=0x00;
-}
-
-void toggle_led(void)
-{
- PORTE^=0x04;
- ram_data[LED]^=0x01;
-}
-
-uint8_t get_selector_value(void)
-{
- ram_data[SWITCHES]=(PING&0x18)>>3;
- return ((PING&0x18)>>3);
-}
-
diff --git a/src/pwm.c b/src/pwm.c
deleted file mode 100644
index 3d882ca6acfafee9adabf68616d36f7f8a295bc3..0000000000000000000000000000000000000000
--- a/src/pwm.c
+++ /dev/null
@@ -1,162 +0,0 @@
-#include "pwm.h"
-#include "mem.h"
-#include "ports.h"
-
-#define DEFAULT_PWM_FREQ 50// Hz
-#define DEFAULT_PWM_DUTY 50// %
-
-#define PWM_MAX_CHANNELS 4
-
-/* private variables */
-uint32_t pwm_top_value;
-uint8_t pwm_prescaler_mask;
-uint8_t pwm_running;
-uint8_t pwm_duty_cycle[PWM_MAX_CHANNELS];
-
-/* public functions */
-void pwm_init(void)
-{
- /* configure the IO pins */
- DDRE|=0x38;
- DDRB|=0x80;
-
- /* initialize internal variables */
- pwm_top_value=40000;
- ram_data[PWM_FREQ_L]=50;
- ram_data[PWM_FREQ_H]=0;
- pwm_prescaler_mask=2;
- pwm_running=0x00;
-
- pwm_set_duty_cycle(pwm0,DEFAULT_PWM_DUTY);
- pwm_set_duty_cycle(pwm1,DEFAULT_PWM_DUTY);
- pwm_set_duty_cycle(pwm2,DEFAULT_PWM_DUTY);
- pwm_set_duty_cycle(pwm3,DEFAULT_PWM_DUTY);
-
- /* configure the timer 3 */
- TCNT3H=0x00;
- TCNT3L=0x00;
- /* set the timer mode */
- TCCR3A=(1<<WGM31);// all three channels in fast PWM mode, output disabled
- TCCR3B=(1<<WGM33)|(1<<WGM32);// no clock source, fast PWM mode
- // no interrupts enabled
-}
-
-void pwm_start(void)
-{
- TCNT3H=0x00;
- TCNT3L=0x00;
- // set the prescaler value to the correct value
- /* set the prescaler value */
- TCCR3B&=0xF8;
- TCCR3B|=pwm_prescaler_mask;
- /* set the top value */
- ICR3H=(pwm_top_value>>8)&0xFF;
- ICR3L=(pwm_top_value)&0xFF;
- pwm_running=0x01;
- ram_data[PWM_CONTROL]|=0x04;
-}
-
-void pwm_stop(void)
-{
- /* set the prescaler to 0 (no clock source) */
- TCCR3B&=0xF8;
- pwm_running=0x00;
- ram_data[PWM_CONTROL]&=0xFB;
-}
-
-void pwm_enable_ch(pwm_id_t id)
-{
- switch(id)
- {
- case pwm0: TCCR3A|=(1<<COMA1);
- ram_data[PWM_CONTROL]|=0x10;
- break;
- case pwm1: TCCR3A|=(1<<COMB1);
- ram_data[PWM_CONTROL]|=0x20;
- break;
- case pwm2: TCCR3A|=(1<<COMC1);
- ram_data[PWM_CONTROL]|=0x40;
- break;
- case pwm3: break;
- }
-}
-
-void pwm_disable_ch(pwm_id_t id)
-{
- switch(id)
- {
- case pwm0: TCCR3A&=~(1<<COMA1);
- ram_data[PWM_CONTROL]&=0xEF;
- break;
- case pwm1: TCCR3A&=~(1<<COMB1);
- ram_data[PWM_CONTROL]&=0xDF;
- break;
- case pwm2: TCCR3A&=~(1<<COMC1);
- ram_data[PWM_CONTROL]&=0xBF;
- break;
- case pwm3: break;
- }
-}
-
-void pwm_set_frequency(uint16_t freq_hz)
-{
- uint32_t prescaler_values[5]={1,8,64,256,1024};
- uint32_t den;
- uint8_t i;
-
- for(i=0;i<5;i++)
- {
- den=freq_hz*prescaler_values[i];
- pwm_top_value=(((uint32_t)16000000)/den)-1;
- if(pwm_top_value<65536)
- {
- /* adjust the duty cyle */
- pwm_set_duty_cycle(pwm0,pwm_duty_cycle[0]);
- pwm_set_duty_cycle(pwm1,pwm_duty_cycle[1]);
- pwm_set_duty_cycle(pwm2,pwm_duty_cycle[2]);
- pwm_set_duty_cycle(pwm3,pwm_duty_cycle[3]);
- if(pwm_running)
- {
- /* set the prescaler value */
- TCCR3B&=0xF8;
- TCCR3B|=(i+1);
- /* set the top value */
- ICR3H=(pwm_top_value>>8)&0xFF;
- ICR3L=(pwm_top_value)&0xFF;
- }
- else
- pwm_prescaler_mask=(i+1);
- ram_data[PWM_FREQ_L]=freq_hz%256;
- ram_data[PWM_FREQ_H]=freq_hz/256;
- break;
- }
- }
-}
-
-void pwm_set_duty_cycle(pwm_id_t id,uint8_t duty)
-{
- uint16_t compare_value;
-
- compare_value=(pwm_top_value/100)*duty;
-
- switch(id)
- {
- case pwm0: OCR3AH=(compare_value>>8)&0xFF;
- OCR3AL=(compare_value&0xFF);
- pwm_duty_cycle[0]=duty;
- ram_data[PWM_CH0_DUTY]=duty;
- break;
- case pwm1: OCR3BH=(compare_value>>8)&0xFF;
- OCR3BL=(compare_value&0xFF);
- pwm_duty_cycle[1]=duty;
- ram_data[PWM_CH1_DUTY]=duty;
- break;
- case pwm2: OCR3CH=(compare_value>>8)&0xFF;
- OCR3CL=(compare_value&0xFF);
- pwm_duty_cycle[2]=duty;
- ram_data[PWM_CH2_DUTY]=duty;
- break;
- case pwm3: break;
- }
-}
-
diff --git a/src/uart_ttl.c b/src/uart_ttl.c
deleted file mode 100644
index ef05e726cb4955a885a31bfb6a41f78547e9a7f2..0000000000000000000000000000000000000000
--- a/src/uart_ttl.c
+++ /dev/null
@@ -1,246 +0,0 @@
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include "uart_ttl.h"
-#include "mem.h"
-
-#define UART_TTL_DEFAULT_BAUDRATE 9600
-
-#define UART_TTL_RX_BUFFER_SIZE 0x20
-
-#define UART_TTL_TX_PORT PORTE
-#define UART_TTL_TX_DDR DDRE
-#define UART_TTL_TX_PIN PE6
-
-#define UART_TLL_RX_PORT PORTE
-#define UART_TTL_RX_DDR DDRE
-#define UART_TLL_RX_PORTIN PINE
-#define UART_TTL_RX_PIN PE7
-
-// uartsw transmit status and data variables
-volatile uint8_t uart_ttl_tx_busy;
-volatile uint8_t uart_ttl_tx_data;
-volatile uint8_t uart_ttl_tx_bit_num;
-
-// baud rate common to transmit and receive
-volatile uint16_t uart_ttl_baudrate_div;
-
-// uartsw receive status and data variables
-volatile uint8_t uart_ttl_rx_busy;
-volatile uint8_t uart_ttl_rx_data;
-volatile uint8_t uart_ttl_rx_bit_num;
-
-/* rx buffer */
-unsigned char uart_ttl_rx_data_buffer[UART_TTL_RX_BUFFER_SIZE];
-unsigned char uart_ttl_rx_read_ptr;
-unsigned char uart_ttl_rx_write_ptr;
-unsigned char uart_ttl_rx_num_data;
-
-/* private functions */
-
-/* interrupt handlers */
-ISR(TIMER3_CAPT_vect)//RX
-{
- uint16_t capture;
- // clear ICP interrupt flag
- ETIFR|=(1<<ICF3);
-
- if(!uart_ttl_rx_busy)
- {
- // disable input capture interrutps
- ETIMSK&=~(1<<TICIE3);
- capture=TCNT3+uart_ttl_baudrate_div + uart_ttl_baudrate_div/2;
- // schedule data bit sampling 1.5 bit periods from now
- OCR3BH=(capture>>8)&0xFF;
- OCR3BL=capture&0xFF;
- // clear OC1B interrupt flag
- ETIFR|=(1<<OCF3B);
- // enable OC1B interrupt
- ETIMSK|=(1<<OCIE3B);
- // set start bit flag
- uart_ttl_rx_busy = 0x01;
- // reset bit counter
- uart_ttl_rx_bit_num = 0;
- // reset data
- uart_ttl_rx_data = 0;
- }
-}
-
-ISR(TIMER3_COMPB_vect)//RX
-{
- uint16_t capture;
-
- // clear OC1B interrupt flag
- ETIFR|=(1<<OCF3B);
- // shift data byte to make room for new bit
- uart_ttl_rx_data = uart_ttl_rx_data>>1;
-
- if(UART_TLL_RX_PORTIN&(1<<UART_TTL_RX_PIN))
- uart_ttl_rx_data |= 0x80;
-
- // increment bit counter
- uart_ttl_rx_bit_num++;
- // schedule next bit sample
- capture=OCR3B+uart_ttl_baudrate_div;
- OCR3BH=(capture>>8)&0xFF;
- OCR3BL=capture&0xFF;
-
- // check if we have a full byte
- if(uart_ttl_rx_bit_num >= 8)
- {
- // save data in receive buffer
- uart_ttl_rx_data_buffer[uart_ttl_rx_write_ptr]=uart_ttl_rx_data;
- uart_ttl_rx_write_ptr=(uart_ttl_rx_write_ptr+1)%UART_TTL_RX_BUFFER_SIZE;
- uart_ttl_rx_num_data++;
- // disable OC1B interrupt
- ETIMSK&=~(1<<OCIE3B);
- // enable ICP interrupt
- ETIMSK|=(1<<TICIE3);
- // clear start bit flag
- uart_ttl_rx_busy = 0x00;
- }
-}
-
-ISR(TIMER3_COMPA_vect)//TX
-{
- uint16_t capture;
-
- // clear OC1B interrupt flag
- ETIFR|=(1<<OCF3A);
- if(uart_ttl_tx_bit_num)
- {
- if(uart_ttl_tx_bit_num>1)
- {
- // transmit data bits (inverted, LSB first)
- if((uart_ttl_tx_data&0x01))
- UART_TTL_TX_PORT|=(1<<UART_TTL_TX_PIN);
- else
- UART_TTL_TX_PORT&=~(1<<UART_TTL_TX_PIN);
- // shift bits down
- uart_ttl_tx_data = uart_ttl_tx_data>>1;
- }
- else
- UART_TTL_TX_PORT|=(1<<UART_TTL_TX_PIN);
- // schedule the next bit
- capture=OCR3A+uart_ttl_baudrate_div;
- OCR3AH=(capture>>8)&0xFF;
- OCR3AL=capture&0xFF;
- // count down
- uart_ttl_tx_bit_num--;
- }
- else
- {
- // enable OC1A interrupt
- ETIMSK&=~(1<<OCIE3A);
- uart_ttl_tx_busy = 0x00;
- }
-}
-
-/* public functions */
-void uart_ttl_init(void)
-{
- // configure GPIO ports
- UART_TTL_TX_DDR|=(1<<UART_TTL_TX_PIN);// output
- UART_TTL_RX_DDR&=~(1<<UART_TTL_RX_PIN);//input
- // set input to 0
- UART_TLL_RX_PORT&=~(1<<UART_TTL_RX_PIN);
- // initialize baud rate
- uart_ttl_set_baudrate(UART_TTL_DEFAULT_BAUDRATE);
- ram_data[UART_TTL_BAUDRATE_L]=UART_TTL_DEFAULT_BAUDRATE%256;
- ram_data[UART_TTL_BAUDRATE_H]=UART_TTL_DEFAULT_BAUDRATE/256;
-
- // setup the transmitter
- uart_ttl_tx_busy = 0x00;
- ETIMSK&=~(1<<OCIE3A);
-
- // setup the receiver
- uart_ttl_rx_busy = 0x00;
- ETIMSK&=~(1<<OCIE3B);
- // trigger on falling edge
- TCCR3B&=~(1<<ICES3);
- // disable ICP interrupt
- ETIMSK&=~(1<<TICIE3);
-
- /* initlaize buffer variables */
- uart_ttl_rx_read_ptr=0;
- uart_ttl_rx_write_ptr=0;
- uart_ttl_rx_num_data=0;
-}
-
-void uart_ttl_start(void)
-{
- ETIMSK&=~(1<<OCIE3A);
- ETIMSK&=~(1<<OCIE3B);
- // clear ICP interrupt flag
- ETIFR|=(1<<ICF3);
- ETIMSK|=(1<<TICIE3);
- ram_data[UART_TTL_CONTROL]|=0x20;
-}
-
-void uart_ttl_stop(void)
-{
- // disable interrupts
- ETIMSK&=~(1<<OCIE3A);
- ETIMSK&=~(1<<OCIE3B);
- ETIMSK&=~(1<<TICIE3);
- ram_data[UART_TTL_CONTROL]&=0xDF;
-}
-
-void uart_ttl_set_baudrate(uint32_t baudrate)
-{
- TCCR3B&=0xF8;
- TCCR3B|=0x01;
- // calculate division factor for requested baud rate, and set it
- uart_ttl_baudrate_div = (uint16_t)((F_CPU+(baudrate/2L))/(baudrate*1L));
-}
-
-void uart_ttl_send_byte(uint8_t data)
-{
- uint16_t capture;
-
- // wait until uart is ready
- while(uart_ttl_tx_busy);
- // set busy flag
- uart_ttl_tx_busy = 0x01;
- // save data
- uart_ttl_tx_data = data;
- // set number of bits (+1 for stop bit)
- uart_ttl_tx_bit_num = 9;
-
- UART_TTL_TX_PORT&=~(1<<UART_TTL_TX_PIN);
-
- capture=TCNT3+uart_ttl_baudrate_div;
- OCR3AH=(capture>>8)&0xFF;
- OCR3AL=capture&0xFF;
- // clear interrupts
- ETIFR|=(1<<OCF3A);
- // enable OC1A interrupt
- ETIMSK|=(1<<OCIE3A);
-}
-
-uint8_t uart_ttl_is_sending(void)
-{
- return uart_ttl_tx_busy;
-}
-
-uint8_t uart_ttl_receive_byte(uint8_t* data)
-{
- // make sure we have a receive buffer
- if(uart_ttl_rx_num_data>0)
- {
- *data=uart_ttl_rx_data_buffer[uart_ttl_rx_read_ptr];
- uart_ttl_rx_read_ptr=(uart_ttl_rx_read_ptr+1)%UART_TTL_RX_BUFFER_SIZE;
- uart_ttl_rx_num_data--;
- // make sure we have data
- return 0x01;
- }
- else
- return 0x00;
-}
-
-uint8_t uart_ttl_is_data_available(void)
-{
- if(uart_ttl_rx_num_data>0)
- return 0x01;
- else
- return 0x00;
-}
diff --git a/src/uart_usb.c b/src/uart_usb.c
deleted file mode 100644
index 8c82b88e76fad855cc4d7b0ddbd58928b987eef8..0000000000000000000000000000000000000000
--- a/src/uart_usb.c
+++ /dev/null
@@ -1,246 +0,0 @@
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include "uart_usb.h"
-#include "mem.h"
-
-#define UART_USB_DEFAULT_BAUDRATE 9600
-
-#define UART_USB_RX_BUFFER_SIZE 0x20
-
-#define UART_USB_TX_PORT PORTD
-#define UART_USB_TX_DDR DDRD
-#define UART_USB_TX_PIN PD5
-
-#define UART_USB_RX_PORT PORTD
-#define UART_USB_RX_DDR DDRD
-#define UART_USB_RX_PORTIN PIND
-#define UART_USB_RX_PIN PD4
-
-// uartsw transmit status and data variables
-volatile uint8_t uart_usb_tx_busy;
-volatile uint8_t uart_usb_tx_data;
-volatile uint8_t uart_usb_tx_bit_num;
-
-// baud rate common to transmit and receive
-volatile uint16_t uart_usb_baudrate_div;
-
-// uartsw receive status and data variables
-volatile uint8_t uart_usb_rx_busy;
-volatile uint8_t uart_usb_rx_data;
-volatile uint8_t uart_usb_rx_bit_num;
-
-/* rx buffer */
-unsigned char uart_usb_rx_data_buffer[UART_USB_RX_BUFFER_SIZE];
-unsigned char uart_usb_rx_read_ptr;
-unsigned char uart_usb_rx_write_ptr;
-unsigned char uart_usb_rx_num_data;
-
-/* private functions */
-
-/* interrupt handlers */
-ISR(TIMER1_CAPT_vect)//RX
-{
- uint16_t capture;
- // clear ICP interrupt flag
- TIFR|=(1<<ICF1);
-
- if(!uart_usb_rx_busy)
- {
- // disable input capture interrutps
- TIMSK&=~(1<<TICIE1);
- capture=TCNT1+uart_usb_baudrate_div + uart_usb_baudrate_div/2;
- // schedule data bit sampling 1.5 bit periods from now
- OCR1BH=(capture>>8)&0xFF;
- OCR1BL=capture&0xFF;
- // clear OC1B interrupt flag
- TIFR|=(1<<OCF1B);
- // enable OC1B interrupt
- TIMSK|=(1<<OCIE1B);
- // set start bit flag
- uart_usb_rx_busy = 0x01;
- // reset bit counter
- uart_usb_rx_bit_num = 0;
- // reset data
- uart_usb_rx_data = 0;
- }
-}
-
-ISR(TIMER1_COMPB_vect)//RX
-{
- uint16_t capture;
-
- // clear OC1B interrupt flag
- TIFR|=(1<<OCF1B);
- // shift data byte to make room for new bit
- uart_usb_rx_data = uart_usb_rx_data>>1;
-
- if(UART_USB_RX_PORTIN&(1<<UART_USB_RX_PIN))
- uart_usb_rx_data |= 0x80;
-
- // increment bit counter
- uart_usb_rx_bit_num++;
- // schedule next bit sample
- capture=OCR1B+uart_usb_baudrate_div;
- OCR1BH=(capture>>8)&0xFF;
- OCR1BL=capture&0xFF;
-
- // check if we have a full byte
- if(uart_usb_rx_bit_num >= 8)
- {
- // save data in receive buffer
- uart_usb_rx_data_buffer[uart_usb_rx_write_ptr]=uart_usb_rx_data;
- uart_usb_rx_write_ptr=(uart_usb_rx_write_ptr+1)%UART_USB_RX_BUFFER_SIZE;
- uart_usb_rx_num_data++;
- // disable OC1B interrupt
- TIMSK&=~(1<<OCIE1B);
- // enable ICP interrupt
- TIMSK|=(1<<TICIE1);
- // clear start bit flag
- uart_usb_rx_busy = 0x00;
- }
-}
-
-ISR(TIMER1_COMPA_vect)//TX
-{
- uint16_t capture;
-
- // clear OC1B interrupt flag
- TIFR|=(1<<OCF1A);
- if(uart_usb_tx_bit_num)
- {
- if(uart_usb_tx_bit_num>1)
- {
- // transmit data bits (inverted, LSB first)
- if((uart_usb_tx_data&0x01))
- UART_USB_TX_PORT|=(1<<UART_USB_TX_PIN);
- else
- UART_USB_TX_PORT&=~(1<<UART_USB_TX_PIN);
- // shift bits down
- uart_usb_tx_data = uart_usb_tx_data>>1;
- }
- else
- UART_USB_TX_PORT|=(1<<UART_USB_TX_PIN);
- // schedule the next bit
- capture=OCR1A+uart_usb_baudrate_div;
- OCR1AH=(capture>>8)&0xFF;
- OCR1AL=capture&0xFF;
- // count down
- uart_usb_tx_bit_num--;
- }
- else
- {
- // enable OC1A interrupt
- TIMSK&=~(1<<OCIE1A);
- uart_usb_tx_busy = 0x00;
- }
-}
-
-/* public functions */
-void uart_usb_init(void)
-{
- // configure GPIO ports
- UART_USB_TX_DDR|=(1<<UART_USB_TX_PIN);// output
- UART_USB_RX_DDR&=~(1<<UART_USB_RX_PIN);//input
- // set input to 0
- UART_USB_RX_PORT&=~(1<<UART_USB_RX_PIN);
- // initialize baud rate
- uart_usb_set_baudrate(UART_USB_DEFAULT_BAUDRATE);
- ram_data[UART_TTL_BAUDRATE_L]=UART_USB_DEFAULT_BAUDRATE%256;
- ram_data[UART_TTL_BAUDRATE_H]=UART_USB_DEFAULT_BAUDRATE/256;
-
- // setup the transmitter
- uart_usb_tx_busy = 0x00;
- TIMSK&=~(1<<OCIE1A);
-
- // setup the receiver
- uart_usb_rx_busy = 0x00;
- TIMSK&=~(1<<OCIE1B);
- // trigger on falling edge
- TCCR1B&=~(1<<ICES1);
- // enable ICP interrupt
- TIMSK|=(1<<TICIE1);
-
- /* initlaize buffer variables */
- uart_usb_rx_read_ptr=0;
- uart_usb_rx_write_ptr=0;
- uart_usb_rx_num_data=0;
-}
-
-void uart_usb_start(void)
-{
- TIMSK&=~(1<<OCIE1A);
- TIMSK&=~(1<<OCIE1B);
- // clear ICP interrupt flag
- TIFR|=(1<<ICF1);
- TIMSK|=(1<<TICIE1);
- ram_data[UART_USB_CONTROL]|=0x20;
-}
-
-void uart_usb_stop(void)
-{
- // disable interrupts
- TIMSK&=~(1<<OCIE1A);
- TIMSK&=~(1<<OCIE1B);
- TIMSK&=~(1<<TICIE1);
- ram_data[UART_USB_CONTROL]&=0xDF;
-}
-
-void uart_usb_set_baudrate(uint32_t baudrate)
-{
- TCCR1B&=0xF8;
- TCCR1B|=0x01;
- // calculate division factor for requested baud rate, and set it
- uart_usb_baudrate_div = (uint16_t)((F_CPU+(baudrate/2L))/(baudrate*1L));
-}
-
-void uart_usb_send_byte(uint8_t data)
-{
- uint16_t capture;
-
- // wait until uart is ready
- while(uart_usb_tx_busy);
- // set busy flag
- uart_usb_tx_busy = 0x01;
- // save data
- uart_usb_tx_data = data;
- // set number of bits (+1 for stop bit)
- uart_usb_tx_bit_num = 9;
-
- UART_USB_TX_PORT&=~(1<<UART_USB_TX_PIN);
-
- capture=TCNT1+uart_usb_baudrate_div;
- OCR1AH=(capture>>8)&0xFF;
- OCR1AL=capture&0xFF;
- // clear interrupts
- TIFR|=(1<<OCF1A);
- // enable OC1A interrupt
- TIMSK|=(1<<OCIE1A);
-}
-
-uint8_t uart_usb_is_sending(void)
-{
- return uart_usb_tx_busy;
-}
-
-uint8_t uart_usb_receive_byte(uint8_t* data)
-{
- // make sure we have a receive buffer
- if(uart_usb_rx_num_data>0)
- {
- *data=uart_usb_rx_data_buffer[uart_usb_rx_read_ptr];
- uart_usb_rx_read_ptr=(uart_usb_rx_read_ptr+1)%UART_USB_RX_BUFFER_SIZE;
- uart_usb_rx_num_data--;
- // make sure we have data
- return 0x01;
- }
- else
- return 0x00;
-}
-
-uint8_t uart_usb_is_data_available(void)
-{
- if(uart_usb_rx_num_data>0)
- return 0x01;
- else
- return 0x00;
-}
diff --git a/timer128.c b/timer128.c
new file mode 100755
index 0000000000000000000000000000000000000000..eb608737ccb9c137d898cf401258c743e8a020ae
--- /dev/null
+++ b/timer128.c
@@ -0,0 +1,687 @@
+/*! \file timer128.c \brief System Timer function library for Mega128. */
+//*****************************************************************************
+//
+// File Name : 'timer128.c'
+// Title : System Timer function library for Mega128
+// Author : Pascal Stang - Copyright (C) 2000-2003
+// Created : 11/22/2000
+// Revised : 02/24/2003
+// Version : 1.2
+// Target MCU : Atmel AVR Series
+// Editor Tabs : 4
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <avr/sleep.h>
+
+#include "global.h"
+#include "timer128.h"
+
+// Program ROM constants
+// the prescale division values stored in order of timer control register index
+// STOP, CLK, CLK/8, CLK/64, CLK/256, CLK/1024
+const unsigned short __attribute__ ((progmem)) TimerPrescaleFactor[] = {0,1,8,64,256,1024};
+// the prescale division values stored in order of timer control register index
+// STOP, CLK, CLK/8, CLK/32, CLK/64, CLK/128, CLK/256, CLK/1024
+const unsigned short __attribute__ ((progmem)) TimerRTCPrescaleFactor[] = {0,1,8,32,64,128,256,1024};
+
+// Global variables
+// time registers
+volatile unsigned long TimerPauseReg;
+volatile unsigned long Timer0Reg0;
+volatile unsigned long Timer0Reg1;
+volatile unsigned long Timer2Reg0;
+volatile unsigned long Timer2Reg1;
+
+typedef void (*voidFuncPtr)(void);
+volatile static voidFuncPtr TimerIntFunc[TIMER_NUM_INTERRUPTS];
+
+// delay for a minimum of <us> microseconds
+// the time resolution is dependent on the time the loop takes
+// e.g. with 4Mhz and 5 cycles per loop, the resolution is 1.25 us
+void delay_us(unsigned short time_us)
+{
+ unsigned short delay_loops;
+ register unsigned short i;
+
+ delay_loops = (time_us+3)/5*CYCLES_PER_US; // +3 for rounding up (dirty)
+
+ // one loop takes 5 cpu cycles
+ for (i=0; i < delay_loops; i++) {};
+}
+/*
+void delay_ms(unsigned char time_ms)
+{
+ unsigned short delay_count = F_CPU / 4000;
+
+ unsigned short cnt;
+ asm volatile ("\n"
+ "L_dl1%=:\n\t"
+ "mov %A0, %A2\n\t"
+ "mov %B0, %B2\n"
+ "L_dl2%=:\n\t"
+ "sbiw %A0, 1\n\t"
+ "brne L_dl2%=\n\t"
+ "dec %1\n\t" "brne L_dl1%=\n\t":"=&w" (cnt)
+ :"r"(time_ms), "r"((unsigned short) (delay_count))
+ );
+}
+*/
+void timerInit(void)
+{
+ u08 intNum;
+ // detach all user functions from interrupts
+ for(intNum=0; intNum<TIMER_NUM_INTERRUPTS; intNum++)
+ timerDetach(intNum);
+
+ // initialize all timers
+ timer0Init();
+ timer1Init();
+ timer2Init();
+ timer3Init();
+}
+
+void timer0Init()
+{
+ // initialize timer 0
+ timer0SetPrescaler( TIMER0PRESCALE ); // set prescaler
+ outb(TCNT0, 0); // reset TCNT0
+ sbi(TIMSK, TOIE0); // enable TCNT0 overflow interrupt
+
+ timer0ClearOverflowCount(); // initialize time registers
+}
+
+void timer1Init(void)
+{
+ // initialize timer 1
+ timer1SetPrescaler( TIMER1PRESCALE ); // set prescaler
+ outb(TCNT1H, 0); // reset TCNT1
+ outb(TCNT1L, 0);
+ sbi(TIMSK, TOIE1); // enable TCNT1 overflow
+}
+
+void timer2Init(void)
+{
+ // initialize timer 2
+ timer2SetPrescaler( TIMER2PRESCALE ); // set prescaler
+ outb(TCNT2, 0); // reset TCNT2
+ sbi(TIMSK, TOIE2); // enable TCNT2 overflow
+
+ timer2ClearOverflowCount(); // initialize time registers
+}
+
+void timer3Init(void)
+{
+ // initialize timer 3
+ timer3SetPrescaler( TIMER3PRESCALE ); // set prescaler
+ outb(TCNT3H, 0); // reset TCNT3
+ outb(TCNT3L, 0);
+ sbi(ETIMSK, TOIE3); // enable TCNT3 overflow
+}
+
+void timer0SetPrescaler(u08 prescale)
+{
+ // set prescaler on timer 0
+ outb(TCCR0, (inb(TCCR0) & ~TIMER_PRESCALE_MASK) | prescale);
+}
+
+void timer1SetPrescaler(u08 prescale)
+{
+ // set prescaler on timer 1
+ outb(TCCR1B, (inb(TCCR1B) & ~TIMER_PRESCALE_MASK) | prescale);
+}
+
+void timer2SetPrescaler(u08 prescale)
+{
+ // set prescaler on timer 2
+ outb(TCCR2, (inb(TCCR2) & ~TIMER_PRESCALE_MASK) | prescale);
+}
+
+void timer3SetPrescaler(u08 prescale)
+{
+ // set prescaler on timer 2
+ outb(TCCR3B, (inb(TCCR3B) & ~TIMER_PRESCALE_MASK) | prescale);
+}
+
+u16 timer0GetPrescaler(void)
+{
+ // get the current prescaler setting
+ return (pgm_read_word(TimerPrescaleFactor+(inb(TCCR0) & TIMER_PRESCALE_MASK)));
+}
+
+u16 timer1GetPrescaler(void)
+{
+ // get the current prescaler setting
+ return (pgm_read_word(TimerPrescaleFactor+(inb(TCCR1B) & TIMER_PRESCALE_MASK)));
+}
+
+u16 timer2GetPrescaler(void)
+{
+ // get the current prescaler setting
+ return (pgm_read_word(TimerPrescaleFactor+(inb(TCCR2) & TIMER_PRESCALE_MASK)));
+}
+
+u16 timer3GetPrescaler(void)
+{
+ // get the current prescaler setting
+ return (pgm_read_word(TimerPrescaleFactor+(inb(TCCR3B) & TIMER_PRESCALE_MASK)));
+}
+
+void timerAttach(u08 interruptNum, void (*userFunc)(void) )
+{
+ // make sure the interrupt number is within bounds
+ if(interruptNum < TIMER_NUM_INTERRUPTS)
+ {
+ // set the interrupt function to run
+ // the supplied user's function
+ TimerIntFunc[interruptNum] = userFunc;
+ }
+}
+
+void timerDetach(u08 interruptNum)
+{
+ // make sure the interrupt number is within bounds
+ if(interruptNum < TIMER_NUM_INTERRUPTS)
+ {
+ // set the interrupt function to run nothing
+ TimerIntFunc[interruptNum] = 0;
+ }
+}
+
+void timerPause(unsigned short pause_ms)
+{
+ // pauses for exactly <pause_ms> number of milliseconds
+ u08 timerThres;
+ u32 ticRateHz;
+ u32 pause;
+
+ // capture current pause timer value
+ timerThres = inb(TCNT2);
+ // reset pause timer overflow count
+ TimerPauseReg = 0;
+ // calculate delay for [pause_ms] milliseconds
+ // prescaler division = 1<<(pgm_read_byte(TimerPrescaleFactor+inb(TCCR2)))
+ ticRateHz = F_CPU/timer2GetPrescaler();
+ // precision management
+ // prevent overflow and precision underflow
+ // -could add more conditions to improve accuracy
+ if( ((ticRateHz < 429497) && (pause_ms <= 10000)) )
+ pause = (pause_ms*ticRateHz)/1000;
+ else
+ pause = pause_ms*(ticRateHz/1000);
+
+ // loop until time expires
+ while( ((TimerPauseReg<<8) | inb(TCNT2)) < (pause+timerThres) )
+ {
+ if( TimerPauseReg < (pause>>8));
+ {
+ // save power by idling the processor
+ set_sleep_mode(SLEEP_MODE_IDLE);
+ sleep_mode();
+ }
+ }
+}
+
+void timer0ClearOverflowCount(void)
+{
+ // clear the timer overflow counter registers
+ Timer0Reg0 = 0; // initialize time registers
+ Timer0Reg1 = 0; // initialize time registers
+}
+
+long timer0GetOverflowCount(void)
+{
+ // return the current timer overflow count
+ // (this is since the last timer0ClearOverflowCount() command was called)
+ return Timer0Reg0;
+}
+
+void timer2ClearOverflowCount(void)
+{
+ // clear the timer overflow counter registers
+ Timer2Reg0 = 0; // initialize time registers
+ Timer2Reg1 = 0; // initialize time registers
+}
+
+long timer2GetOverflowCount(void)
+{
+ // return the current timer overflow count
+ // (this is since the last timer2ClearOverflowCount() command was called)
+ return Timer2Reg0;
+}
+
+
+void timer1PWMInit(u08 bitRes)
+{
+ // configures timer1 for use with PWM output
+ // on pins OC1A, OC1B, and OC1C
+
+ // enable Timer1 as 8,9,10bit PWM
+ if(bitRes == 9)
+ { // 9bit mode
+ sbi(TCCR1A,WGMA1);
+ cbi(TCCR1A,WGMA0);
+ }
+ else if( bitRes == 10 )
+ { // 10bit mode
+ sbi(TCCR1A,WGMA1);
+ sbi(TCCR1A,WGMA0);
+ }
+ else
+ { // default 8bit mode
+ cbi(TCCR1A,WGMA1);
+ sbi(TCCR1A,WGMA0);
+ }
+
+ // set clear-timer-on-compare-match
+ //cbi(TCCR1B,CTC1);
+ // clear output compare value A
+ outb(OCR1AH, 0);
+ outb(OCR1AL, 0);
+ // clear output compare value B
+ outb(OCR1BH, 0);
+ outb(OCR1BL, 0);
+ // clear output compare value C
+ outb(OCR1CH, 0);
+ outb(OCR1CL, 0);
+}
+
+void timer1PWMInitICR(u16 topcount)
+{
+ // set PWM mode with ICR top-count
+ cbi(TCCR1A,WGM10);
+ sbi(TCCR1A,WGM11);
+ sbi(TCCR1B,WGM12);
+ sbi(TCCR1B,WGM13);
+
+ // set top count value
+ ICR1H = (u08)(topcount>>8);
+ ICR1L = (u08)topcount;
+
+ // clear output compare value A
+ outb(OCR1AH, 0);
+ outb(OCR1AL, 0);
+ // clear output compare value B
+ outb(OCR1BH, 0);
+ outb(OCR1BL, 0);
+ // clear output compare value C
+ outb(OCR1CH, 0);
+ outb(OCR1CL, 0);
+}
+
+void timer1PWMOff(void)
+{
+ // turn off PWM on Timer1
+ cbi(TCCR1A,WGMA1);
+ cbi(TCCR1A,WGMA0);
+ // clear (disable) clear-timer-on-compare-match
+ //cbi(TCCR1B,CTC1);
+ // set PWM1A/B/C (OutputCompare action) to none
+ timer1PWMAOff();
+ timer1PWMBOff();
+ timer1PWMCOff();
+}
+
+void timer1PWMAOn(void)
+{
+ // turn on channel A (OC1A) PWM output
+ // set OC1A as non-inverted PWM
+ sbi(TCCR1A,COMA1);
+ cbi(TCCR1A,COMA0);
+}
+
+void timer1PWMBOn(void)
+{
+ // turn on channel B (OC1B) PWM output
+ // set OC1B as non-inverted PWM
+ sbi(TCCR1A,COMB1);
+ cbi(TCCR1A,COMB0);
+}
+
+void timer1PWMCOn(void)
+{
+ // turn on channel C (OC1C) PWM output
+ // set OC1C as non-inverted PWM
+ sbi(TCCR1A,COMC1);
+ cbi(TCCR1A,COMC0);
+}
+
+void timer1PWMAOff(void)
+{
+ // turn off channel A (OC1A) PWM output
+ // set OC1A (OutputCompare action) to none
+ cbi(TCCR1A,COMA1);
+ cbi(TCCR1A,COMA0);
+}
+
+void timer1PWMBOff(void)
+{
+ // turn off channel B (OC1B) PWM output
+ // set OC1B (OutputCompare action) to none
+ cbi(TCCR1A,COMB1);
+ cbi(TCCR1A,COMB0);
+}
+
+void timer1PWMCOff(void)
+{
+ // turn off channel C (OC1C) PWM output
+ // set OC1C (OutputCompare action) to none
+ cbi(TCCR1A,COMC1);
+ cbi(TCCR1A,COMC0);
+}
+
+void timer1PWMASet(u16 pwmDuty)
+{
+ // set PWM (output compare) duty for channel A
+ // this PWM output is generated on OC1A pin
+ // NOTE: pwmDuty should be in the range 0-255 for 8bit PWM
+ // pwmDuty should be in the range 0-511 for 9bit PWM
+ // pwmDuty should be in the range 0-1023 for 10bit PWM
+ outb(OCR1AH, (pwmDuty>>8)); // set the high 8bits of OCR1A
+ outb(OCR1AL, (pwmDuty&0x00FF)); // set the low 8bits of OCR1A
+}
+
+void timer1PWMBSet(u16 pwmDuty)
+{
+ // set PWM (output compare) duty for channel B
+ // this PWM output is generated on OC1B pin
+ // NOTE: pwmDuty should be in the range 0-255 for 8bit PWM
+ // pwmDuty should be in the range 0-511 for 9bit PWM
+ // pwmDuty should be in the range 0-1023 for 10bit PWM
+ outb(OCR1BH, (pwmDuty>>8)); // set the high 8bits of OCR1B
+ outb(OCR1BL, (pwmDuty&0x00FF)); // set the low 8bits of OCR1B
+}
+
+void timer1PWMCSet(u16 pwmDuty)
+{
+ // set PWM (output compare) duty for channel C
+ // this PWM output is generated on OC1C pin
+ // NOTE: pwmDuty should be in the range 0-255 for 8bit PWM
+ // pwmDuty should be in the range 0-511 for 9bit PWM
+ // pwmDuty should be in the range 0-1023 for 10bit PWM
+ outb(OCR1CH, (pwmDuty>>8)); // set the high 8bits of OCR1C
+ outb(OCR1CL, (pwmDuty&0x00FF)); // set the low 8bits of OCR1C
+}
+
+
+void timer3PWMInit(u08 bitRes)
+{
+ // configures timer1 for use with PWM output
+ // on pins OC3A, OC3B, and OC3C
+
+ // enable Timer3 as 8,9,10bit PWM
+ if(bitRes == 9)
+ { // 9bit mode
+ sbi(TCCR3A,WGMA1);
+ cbi(TCCR3A,WGMA0);
+ }
+ else if( bitRes == 10 )
+ { // 10bit mode
+ sbi(TCCR3A,WGMA1);
+ sbi(TCCR3A,WGMA0);
+ }
+ else
+ { // default 8bit mode
+ cbi(TCCR3A,WGMA1);
+ sbi(TCCR3A,WGMA0);
+ }
+
+ // set clear-timer-on-compare-match
+ //cbi(TCCR3B,CTC1);
+ // clear output compare value A
+ outb(OCR3AH, 0);
+ outb(OCR3AL, 0);
+ // clear output compare value B
+ outb(OCR3BH, 0);
+ outb(OCR3BL, 0);
+ // clear output compare value B
+ outb(OCR3CH, 0);
+ outb(OCR3CL, 0);
+}
+
+void timer3PWMInitICR(u16 topcount)
+{
+ // set PWM mode with ICR top-count
+ cbi(TCCR3A,WGM30);
+ sbi(TCCR3A,WGM31);
+ sbi(TCCR3B,WGM32);
+ sbi(TCCR3B,WGM33);
+
+ // set top count value
+ ICR3H = (u08)(topcount>>8);
+ ICR3L = (u08)topcount;
+
+ // clear output compare value A
+ outb(OCR3AH, 0);
+ outb(OCR3AL, 0);
+ // clear output compare value B
+ outb(OCR3BH, 0);
+ outb(OCR3BL, 0);
+ // clear output compare value C
+ outb(OCR3CH, 0);
+ outb(OCR3CL, 0);
+}
+
+void timer3PWMOff(void)
+{
+ // turn off PWM mode on Timer3
+ cbi(TCCR3A,WGMA1);
+ cbi(TCCR3A,WGMA0);
+ // clear (disable) clear-timer-on-compare-match
+ //cbi(TCCR3B,CTC1);
+ // set OC3A/B/C (OutputCompare action) to none
+ timer3PWMAOff();
+ timer3PWMBOff();
+ timer3PWMCOff();
+}
+
+void timer3PWMAOn(void)
+{
+ // turn on channel A (OC3A) PWM output
+ // set OC3A as non-inverted PWM
+ sbi(TCCR3A,COMA1);
+ cbi(TCCR3A,COMA0);
+}
+
+void timer3PWMBOn(void)
+{
+ // turn on channel B (OC3B) PWM output
+ // set OC3B as non-inverted PWM
+ sbi(TCCR3A,COMB1);
+ cbi(TCCR3A,COMB0);
+}
+
+void timer3PWMCOn(void)
+{
+ // turn on channel C (OC3C) PWM output
+ // set OC3C as non-inverted PWM
+ sbi(TCCR3A,COMC1);
+ cbi(TCCR3A,COMC0);
+}
+
+void timer3PWMAOff(void)
+{
+ // turn off channel A (OC3A) PWM output
+ // set OC3A (OutputCompare action) to none
+ cbi(TCCR3A,COMA1);
+ cbi(TCCR3A,COMA0);
+}
+
+void timer3PWMBOff(void)
+{
+ // turn off channel B (OC3B) PWM output
+ // set OC3B (OutputCompare action) to none
+ cbi(TCCR3A,COMB1);
+ cbi(TCCR3A,COMB0);
+}
+
+void timer3PWMCOff(void)
+{
+ // turn off channel C (OC3C) PWM output
+ // set OC3C (OutputCompare action) to none
+ cbi(TCCR3A,COMC1);
+ cbi(TCCR3A,COMC0);
+}
+
+void timer3PWMASet(u16 pwmDuty)
+{
+ // set PWM (output compare) duty for channel A
+ // this PWM output is generated on OC3A pin
+ // NOTE: pwmDuty should be in the range 0-255 for 8bit PWM
+ // pwmDuty should be in the range 0-511 for 9bit PWM
+ // pwmDuty should be in the range 0-1023 for 10bit PWM
+ outb(OCR3AH, (pwmDuty>>8)); // set the high 8bits of OCR3A
+ outb(OCR3AL, (pwmDuty&0x00FF)); // set the low 8bits of OCR3A
+}
+
+void timer3PWMBSet(u16 pwmDuty)
+{
+ // set PWM (output compare) duty for channel B
+ // this PWM output is generated on OC3B pin
+ // NOTE: pwmDuty should be in the range 0-255 for 8bit PWM
+ // pwmDuty should be in the range 0-511 for 9bit PWM
+ // pwmDuty should be in the range 0-1023 for 10bit PWM
+ outb(OCR3BH, (pwmDuty>>8)); // set the high 8bits of OCR3B
+ outb(OCR3BL, (pwmDuty&0x00FF)); // set the low 8bits of OCR3B
+}
+
+void timer3PWMCSet(u16 pwmDuty)
+{
+ // set PWM (output compare) duty for channel B
+ // this PWM output is generated on OC3C pin
+ // NOTE: pwmDuty should be in the range 0-255 for 8bit PWM
+ // pwmDuty should be in the range 0-511 for 9bit PWM
+ // pwmDuty should be in the range 0-1023 for 10bit PWM
+ outb(OCR3CH, (pwmDuty>>8)); // set the high 8bits of OCR3C
+ outb(OCR3CL, (pwmDuty&0x00FF)); // set the low 8bits of OCR3C
+}
+
+
+//! Interrupt handler for tcnt0 overflow interrupt
+TIMER_INTERRUPT_HANDLER(TIMER0_OVF_vect)
+{
+ Timer0Reg0++; // increment low-order counter
+ if(!Timer0Reg0) // if low-order counter rollover
+ Timer0Reg1++; // increment high-order counter
+
+ // if a user function is defined, execute it too
+ if(TimerIntFunc[TIMER0OVERFLOW_INT])
+ TimerIntFunc[TIMER0OVERFLOW_INT]();
+}
+
+//! Interrupt handler for Timer1 overflow interrupt
+TIMER_INTERRUPT_HANDLER(TIMER1_OVF_vect)
+{
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER1OVERFLOW_INT])
+ TimerIntFunc[TIMER1OVERFLOW_INT]();
+}
+
+//! Interrupt handler for Timer2 overflow interrupt
+TIMER_INTERRUPT_HANDLER(TIMER2_OVF_vect)
+{
+ Timer2Reg0++; // increment low-order counter
+ if(!Timer2Reg0) // if low-order counter rollover
+ Timer2Reg1++; // increment high-order counter
+
+ // increment pause counter
+ TimerPauseReg++;
+
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER2OVERFLOW_INT])
+ TimerIntFunc[TIMER2OVERFLOW_INT]();
+}
+
+//! Interrupt handler for Timer3 overflow interrupt
+TIMER_INTERRUPT_HANDLER(TIMER3_OVF_vect)
+{
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER3OVERFLOW_INT])
+ TimerIntFunc[TIMER3OVERFLOW_INT]();
+}
+
+//! Interrupt handler for OutputCompare0 match (OC0) interrupt
+TIMER_INTERRUPT_HANDLER(TIMER0_COMP_vect)
+{
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER0OUTCOMPARE_INT])
+ TimerIntFunc[TIMER0OUTCOMPARE_INT]();
+}
+
+//! Interrupt handler for OutputCompare1A match (OC1A) interrupt
+TIMER_INTERRUPT_HANDLER(TIMER1_COMPA_vect)
+{
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER1OUTCOMPAREA_INT])
+ TimerIntFunc[TIMER1OUTCOMPAREA_INT]();
+}
+
+//! Interrupt handler for OutputCompare1B match (OC1B) interrupt
+TIMER_INTERRUPT_HANDLER(TIMER1_COMPB_vect)
+{
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER1OUTCOMPAREB_INT])
+ TimerIntFunc[TIMER1OUTCOMPAREB_INT]();
+}
+
+//! Interrupt handler for OutputCompare1C match (OC1C) interrupt
+TIMER_INTERRUPT_HANDLER(TIMER1_COMPC_vect)
+{
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER1OUTCOMPAREC_INT])
+ TimerIntFunc[TIMER1OUTCOMPAREC_INT]();
+}
+
+//! Interrupt handler for InputCapture1(IC1) interrupt
+TIMER_INTERRUPT_HANDLER(TIMER1_CAPT_vect)
+{
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER1INPUTCAPTURE_INT])
+ TimerIntFunc[TIMER1INPUTCAPTURE_INT]();
+}
+
+//! Interrupt handler for OutputCompare2 match (OC2) interrupt
+TIMER_INTERRUPT_HANDLER(TIMER2_COMP_vect)
+{
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER2OUTCOMPARE_INT])
+ TimerIntFunc[TIMER2OUTCOMPARE_INT]();
+}
+
+//! Interrupt handler for OutputCompare3A match (OC3A) interrupt
+TIMER_INTERRUPT_HANDLER(TIMER3_COMPA_vect)
+{
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER3OUTCOMPAREA_INT])
+ TimerIntFunc[TIMER3OUTCOMPAREA_INT]();
+}
+
+//! Interrupt handler for OutputCompare3B match (OC3B) interrupt
+TIMER_INTERRUPT_HANDLER(TIMER3_COMPB_vect)
+{
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER3OUTCOMPAREB_INT])
+ TimerIntFunc[TIMER3OUTCOMPAREB_INT]();
+}
+
+//! Interrupt handler for OutputCompare3C match (OC3C) interrupt
+TIMER_INTERRUPT_HANDLER(TIMER3_COMPC_vect)
+{
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER3OUTCOMPAREC_INT])
+ TimerIntFunc[TIMER3OUTCOMPAREC_INT]();
+}
+
+//! Interrupt handler for InputCapture3 (IC3) interrupt
+TIMER_INTERRUPT_HANDLER(TIMER3_CAPT_vect)
+{
+ // if a user function is defined, execute it
+ if(TimerIntFunc[TIMER3INPUTCAPTURE_INT])
+ TimerIntFunc[TIMER3INPUTCAPTURE_INT]();
+}
diff --git a/timer128.h b/timer128.h
new file mode 100755
index 0000000000000000000000000000000000000000..99ff89345c65c3d4636de2aca2070874b2003605
--- /dev/null
+++ b/timer128.h
@@ -0,0 +1,300 @@
+/*! \file timer128.h \brief System Timer function library for Mega128. */
+//*****************************************************************************
+//
+// File Name : 'timer128.h'
+// Title : System Timer function library for Mega128
+// Author : Pascal Stang - Copyright (C) 2000-2003
+// Created : 11/22/2000
+// Revised : 02/10/2003
+// Version : 1.1
+// Target MCU : Atmel AVR Series
+// Editor Tabs : 4
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+/// \ingroup driver_avr
+/// \defgroup timer128 Timer Function Library for ATmega128 (timer128.c)
+/// \code #include "timer128.h" \endcode
+/// \par Overview
+/// This library provides functions for use with the timers internal to the
+/// AVR ATmega128. Functions include initialization, set prescaler,
+/// calibrated pause function (in milliseconds), attaching and detaching
+/// of user functions to interrupts, overflow counters, and PWM.
+///
+/// \par About Timers
+/// The Atmel AVR-series processors each contain at least one
+/// hardware timer/counter. Many of the processors contain 2 or 3
+/// timers. Generally speaking, a timer is a hardware counter inside
+/// the processor which counts at a rate related to the main CPU clock
+/// frequency. Because the counter value increasing (counting up) at
+/// a precise rate, we can use it as a timer to create or measure
+/// precise delays, schedule events, or generate signals of a certain
+/// frequency or pulse-width.
+/// \par
+/// As an example, the ATmega163 processor has 3 timer/counters.
+/// Timer0, Timer1, and Timer2 are 8, 16, and 8 bits wide respectively.
+/// This means that they overflow, or roll over back to zero, at a
+/// count value of 256 for 8bits or 65536 for 16bits. A prescaler is
+/// avaiable for each timer, and the prescaler allows you to pre-divide
+/// the main CPU clock rate down to a slower speed before feeding it to
+/// the counting input of a timer. For example, if the CPU clock
+/// frequency is 3.69MHz, and Timer0's prescaler is set to divide-by-8,
+/// then Timer0 will "tic" at 3690000/8 = 461250Hz. Because Timer0 is
+/// an 8bit timer, it will count to 256 in just 256/461250Hz = 0.555ms.
+/// In fact, when it hits 255, it will overflow and start again at
+/// zero. In this case, Timer0 will overflow 461250/256 = 1801.76
+/// times per second.
+/// \par
+/// Timer0 can be used a number of ways simultaneously. First, the
+/// value of the timer can be read by accessing the CPU register \c TCNT0.
+/// We could, for example, figure out how long it takes to execute a
+/// C command by recording the value of \c TCNT0 before and after
+/// execution, then subtract (after-before) = time elapsed. Or we can
+/// enable the overflow interrupt which goes off every time T0
+/// overflows and count out longer delays (multiple overflows), or
+/// execute a special periodic function at every overflow.
+/// \par
+/// The other timers (Timer1 and Timer2) offer all the abilities of
+/// Timer0 and many more features. Both T1 and T2 can operate as
+/// general-purpose timers, but T1 has special hardware allowing it to
+/// generate PWM signals, while T2 is specially designed to help count
+/// out real time (like hours, minutes, seconds). See the
+/// Timer/Counter section of the processor datasheet for more info.
+///
+//*****************************************************************************
+//@{
+
+#ifndef TIMER128_H
+#define TIMER128_H
+
+#include "global.h"
+
+// constants/macros/typdefs
+
+// Timer/clock prescaler values and timer overflow rates
+// tics = rate at which the timer counts up
+// 8bitoverflow = rate at which the timer overflows 8bits (or reaches 256)
+// 16bit [overflow] = rate at which the timer overflows 16bits (65536)
+//
+// overflows can be used to generate periodic interrupts
+//
+// for 8MHz crystal
+// 0 = STOP (Timer not counting)
+// 1 = CLOCK tics= 8MHz 8bitoverflow= 31250Hz 16bit= 122.070Hz
+// 2 = CLOCK/8 tics= 1MHz 8bitoverflow= 3906.25Hz 16bit= 15.259Hz
+// 3 = CLOCK/64 tics= 125kHz 8bitoverflow= 488.28Hz 16bit= 1.907Hz
+// 4 = CLOCK/256 tics= 31250Hz 8bitoverflow= 122.07Hz 16bit= 0.477Hz
+// 5 = CLOCK/1024 tics= 7812.5Hz 8bitoverflow= 30.52Hz 16bit= 0.119Hz
+// 6 = External Clock on T(x) pin (falling edge)
+// 7 = External Clock on T(x) pin (rising edge)
+
+// for 4MHz crystal
+// 0 = STOP (Timer not counting)
+// 1 = CLOCK tics= 4MHz 8bitoverflow= 15625Hz 16bit= 61.035Hz
+// 2 = CLOCK/8 tics= 500kHz 8bitoverflow= 1953.125Hz 16bit= 7.629Hz
+// 3 = CLOCK/64 tics= 62500Hz 8bitoverflow= 244.141Hz 16bit= 0.954Hz
+// 4 = CLOCK/256 tics= 15625Hz 8bitoverflow= 61.035Hz 16bit= 0.238Hz
+// 5 = CLOCK/1024 tics= 3906.25Hz 8bitoverflow= 15.259Hz 16bit= 0.060Hz
+// 6 = External Clock on T(x) pin (falling edge)
+// 7 = External Clock on T(x) pin (rising edge)
+
+// for 3.69MHz crystal
+// 0 = STOP (Timer not counting)
+// 1 = CLOCK tics= 3.69MHz 8bitoverflow= 14414Hz 16bit= 56.304Hz
+// 2 = CLOCK/8 tics= 461250Hz 8bitoverflow= 1801.758Hz 16bit= 7.038Hz
+// 3 = CLOCK/64 tics= 57625.25Hz 8bitoverflow= 225.220Hz 16bit= 0.880Hz
+// 4 = CLOCK/256 tics= 14414.063Hz 8bitoverflow= 56.305Hz 16bit= 0.220Hz
+// 5 = CLOCK/1024 tics= 3603.516Hz 8bitoverflow= 14.076Hz 16bit= 0.055Hz
+// 6 = External Clock on T(x) pin (falling edge)
+// 7 = External Clock on T(x) pin (rising edge)
+
+// for 32.768KHz crystal on timer 2 (use for real-time clock)
+// 0 = STOP
+// 1 = CLOCK tics= 32.768kHz 8bitoverflow= 128Hz
+// 2 = CLOCK/8 tics= 4096kHz 8bitoverflow= 16Hz
+// 3 = CLOCK/64 tics= 512Hz 8bitoverflow= 2Hz
+// 4 = CLOCK/256 tics= 128Hz 8bitoverflow= 0.5Hz
+// 5 = CLOCK/1024 tics= 32Hz 8bitoverflow= 0.125Hz
+
+#define TIMER_CLK_STOP 0x00 ///< Timer Stopped
+#define TIMER_CLK_DIV1 0x01 ///< Timer clocked at F_CPU
+#define TIMER_CLK_DIV8 0x02 ///< Timer clocked at F_CPU/8
+#define TIMER_CLK_DIV64 0x03 ///< Timer clocked at F_CPU/64
+#define TIMER_CLK_DIV256 0x04 ///< Timer clocked at F_CPU/256
+#define TIMER_CLK_DIV1024 0x05 ///< Timer clocked at F_CPU/1024
+#define TIMER_CLK_T_FALL 0x06 ///< Timer clocked at T falling edge
+#define TIMER_CLK_T_RISE 0x07 ///< Timer clocked at T rising edge
+#define TIMER_PRESCALE_MASK 0x07 ///< Timer Prescaler Bit-Mask
+
+#define TIMERRTC_CLK_STOP 0x00 ///< RTC Timer Stopped
+#define TIMERRTC_CLK_DIV1 0x01 ///< RTC Timer clocked at F_CPU
+#define TIMERRTC_CLK_DIV8 0x02 ///< RTC Timer clocked at F_CPU/8
+#define TIMERRTC_CLK_DIV32 0x03 ///< RTC Timer clocked at F_CPU/32
+#define TIMERRTC_CLK_DIV64 0x04 ///< RTC Timer clocked at F_CPU/64
+#define TIMERRTC_CLK_DIV128 0x05 ///< RTC Timer clocked at F_CPU/128
+#define TIMERRTC_CLK_DIV256 0x06 ///< RTC Timer clocked at F_CPU/256
+#define TIMERRTC_CLK_DIV1024 0x07 ///< RTC Timer clocked at F_CPU/1024
+#define TIMERRTC_PRESCALE_MASK 0x07 ///< RTC Timer Prescaler Bit-Mask
+
+// default prescale settings for the timers
+// these settings are applied when you call
+// timerInit or any of the timer<x>Init
+#define TIMER0PRESCALE TIMER_CLK_DIV64 ///< timer 0 prescaler default
+#define TIMER1PRESCALE TIMER_CLK_DIV64 ///< timer 1 prescaler default
+#define TIMER2PRESCALE TIMER_CLK_DIV8 ///< timer 2 prescaler default
+#define TIMER3PRESCALE TIMER_CLK_DIV64 ///< timer 3 prescaler default
+
+// interrupt macros for attaching user functions to timer interrupts
+// use these with timerAttach( intNum, function )
+// timer 0
+#define TIMER0OVERFLOW_INT 0
+#define TIMER0OUTCOMPARE_INT 1
+// timer 1
+#define TIMER1OVERFLOW_INT 2
+#define TIMER1OUTCOMPAREA_INT 3
+#define TIMER1OUTCOMPAREB_INT 4
+#define TIMER1OUTCOMPAREC_INT 5
+#define TIMER1INPUTCAPTURE_INT 6
+// timer 2
+#define TIMER2OVERFLOW_INT 7
+#define TIMER2OUTCOMPARE_INT 8
+// timer 3
+#define TIMER3OVERFLOW_INT 9
+#define TIMER3OUTCOMPAREA_INT 10
+#define TIMER3OUTCOMPAREB_INT 11
+#define TIMER3OUTCOMPAREC_INT 12
+#define TIMER3INPUTCAPTURE_INT 13
+
+#define TIMER_NUM_INTERRUPTS 14
+
+// type of interrupt handler to use for timers
+// *do not change unless you know what you're doing
+// Value may be SIGNAL or INTERRUPT
+#ifndef TIMER_INTERRUPT_HANDLER
+#define TIMER_INTERRUPT_HANDLER SIGNAL
+#endif
+
+// functions
+#define delay delay_us
+#define delay_ms timerPause
+void delay_us(unsigned short time_us);
+
+// initializes timing system
+// runs all timer init functions
+// sets all timers to default prescale values #defined in systimer.c
+void timerInit(void);
+
+// default initialization routines for each timer
+void timer0Init(void);
+void timer1Init(void);
+void timer2Init(void);
+void timer3Init(void);
+
+// Clock prescaler set/get commands for each timer/counter
+// For setting the prescaler, you should use one of the #defines
+// above like TIMER_CLK_DIVx, where [x] is the division rate
+// you want.
+// When getting the current prescaler setting, the return value
+// will be the [x] division value currently set.
+void timer0SetPrescaler(u08 prescale); ///< set timer0 prescaler division index
+void timer1SetPrescaler(u08 prescale); ///< set timer1 prescaler division index
+void timer2SetPrescaler(u08 prescale); ///< set timer2 prescaler division index
+void timer3SetPrescaler(u08 prescale); ///< set timer3 prescaler division index
+u16 timer0GetPrescaler(void); ///< get timer0 prescaler division rate
+u16 timer1GetPrescaler(void); ///< get timer1 prescaler division rate
+u16 timer2GetPrescaler(void); ///< get timer2 prescaler division rate
+u16 timer3GetPrescaler(void); ///< get timer3 prescaler division rate
+
+
+// TimerAttach and Detach commands
+// These functions allow the attachment (or detachment) of any user function
+// to a timer interrupt. "Attaching" one of your own functions to a timer
+// interrupt means that it will be called whenever that interrupt happens.
+// Using attach is better than rewriting the actual INTERRUPT() function
+// because your code will still work and be compatible if the timer library
+// is updated. Also, using Attach allows your code and any predefined timer
+// code to work together and at the same time. (ie. "attaching" your own
+// function to the timer0 overflow doesn't prevent timerPause from working,
+// but rather allows you to share the interrupt.)
+//
+// timerAttach(TIMER1OVERFLOW_INT, myOverflowFunction);
+// timerDetach(TIMER1OVERFLOW_INT)
+//
+// timerAttach causes the myOverflowFunction() to be attached, and therefore
+// execute, whenever an overflow on timer1 occurs. timerDetach removes the
+// association and executes no user function when the interrupt occurs.
+// myOverflowFunction must be defined with no return value and no arguments:
+//
+// void myOverflowFunction(void) { ... }
+
+void timerAttach(u08 interruptNum, void (*userFunc)(void) );
+void timerDetach(u08 interruptNum);
+
+
+// timing commands
+// timerPause pauses for the number of milliseconds specified in <pause_ms>
+void timerPause(unsigned short pause_ms);
+
+// overflow counters
+// to be documented
+void timer0ClearOverflowCount(void);
+long timer0GetOverflowCount(void);
+void timer2ClearOverflowCount(void);
+long timer2GetOverflowCount(void);
+
+// PWM initialization and set commands for timerX (where X is either 1 or 3)
+// timerXPWMInit()
+// configures the timerX hardware for PWM mode on pins OCXA, OCXB, and OCXC.
+// bitRes should be 8,9,or 10 for 8,9,or 10bit PWM resolution
+//
+// timerXPWMOff()
+// turns off all timerX PWM output and set timer mode to normal state
+//
+// timerXPWMAOn(), timerXPWMBOn(), timerXPWMCOn()
+// turn on output of PWM signals to OCXA,B,C pins
+// NOTE: Until you define the OCXA,B,C pins as outputs, and run
+// this "on" command, no PWM output will be output
+//
+// timerXPWMAOff(), timerXPWMBOff(), timerXPWMCOff()
+// turn off output of PWM signals to OCXA,B,C pins
+//
+// timerXPWMASet(), timer1PWMBSet(), timerXPWMCSet()
+// sets the PWM duty cycle for each channel
+// NOTE: <pwmDuty> should be in the range 0-255 for 8bit PWM
+// <pwmDuty> should be in the range 0-511 for 9bit PWM
+// <pwmDuty> should be in the range 0-1023 for 10bit PWM
+// NOTE: the PWM frequency can be controlled in increments by setting the
+// prescaler for timer1
+
+void timer1PWMInit(u08 bitRes); ///< initialize and set timer1 mode to PWM
+void timer1PWMInitICR(u16 topcount);///< initialize and set timer1 mode to PWM with specific top count
+void timer1PWMOff(void); ///< turn off all timer1 PWM output and set timer mode to normal
+void timer1PWMAOn(void); ///< turn on timer1 Channel A (OC1A) PWM output
+void timer1PWMBOn(void); ///< turn on timer1 Channel B (OC1B) PWM output
+void timer1PWMCOn(void); ///< turn on timer1 Channel C (OC1C) PWM output
+void timer1PWMAOff(void); ///< turn off timer1 Channel A (OC1A) PWM output
+void timer1PWMBOff(void); ///< turn off timer1 Channel B (OC1B) PWM output
+void timer1PWMCOff(void); ///< turn off timer1 Channel C (OC1C) PWM output
+void timer1PWMASet(u16 pwmDuty); ///< set duty of timer1 Channel A (OC1A) PWM output
+void timer1PWMBSet(u16 pwmDuty); ///< set duty of timer1 Channel B (OC1B) PWM output
+void timer1PWMCSet(u16 pwmDuty); ///< set duty of timer1 Channel C (OC1C) PWM output
+
+void timer3PWMInit(u08 bitRes); ///< initialize and set timer3 mode to PWM
+void timer3PWMInitICR(u16 topcount);///< initialize and set timer3 mode to PWM with specific top count
+void timer3PWMOff(void); ///< turn off all timer3 PWM output and set timer mode to normal
+void timer3PWMAOn(void); ///< turn on timer3 Channel A (OC3A) PWM output
+void timer3PWMBOn(void); ///< turn on timer3 Channel B (OC3B) PWM output
+void timer3PWMCOn(void); ///< turn on timer3 Channel C (OC3C) PWM output
+void timer3PWMAOff(void); ///< turn off timer3 Channel A (OC3A) PWM output
+void timer3PWMBOff(void); ///< turn off timer3 Channel B (OC3B) PWM output
+void timer3PWMCOff(void); ///< turn off timer3 Channel C (OC3C) PWM output
+void timer3PWMASet(u16 pwmDuty); ///< set duty of timer3 Channel A (OC3A) PWM output
+void timer3PWMBSet(u16 pwmDuty); ///< set duty of timer3 Channel B (OC3B) PWM output
+void timer3PWMCSet(u16 pwmDuty); ///< set duty of timer3 Channel C (OC3C) PWM output
+
+//@}
+
+// Pulse generation commands have been moved to the pulse.c library
+
+#endif
diff --git a/uartsw.c b/uartsw.c
new file mode 100755
index 0000000000000000000000000000000000000000..d7281d98dc112a83a9b2d6a775598cda19d4767d
--- /dev/null
+++ b/uartsw.c
@@ -0,0 +1,375 @@
+/*! \file uartsw.c \brief Software Interrupt-driven UART Driver. */
+//*****************************************************************************
+//
+// File Name : 'uartsw.c'
+// Title : Software Interrupt-driven UART Driver
+// Author : Pascal Stang - Copyright (C) 2002-2004
+// Created : 7/20/2002
+// Revised : 4/27/2004
+// Version : 0.1
+// Target MCU : Atmel AVR Series (intended for the ATmega16 and ATmega32)
+// Editor Tabs : 4
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#include "global.h"
+#include "timer128.h"
+#include "uartsw.h"
+
+// Program ROM constants
+
+// Global variables
+
+// uartsw transmit status and data variables
+static volatile u08 UartswTxBusy;
+static volatile u08 UartswTxData;
+static volatile u08 UartswTxBitNum;
+
+// baud rate common to transmit and receive
+static volatile u16 UartswBaudRateDiv;
+
+// uartsw receive status and data variables
+static volatile u08 UartswRxBusy;
+static volatile u08 UartswRxData;
+static volatile u08 UartswRxBitNum;
+// receive buffer
+static cBuffer uartswRxBuffer; ///< uartsw receive buffer
+// automatically allocate space in ram for each buffer
+static unsigned char uartswRxData[UARTSW_RX_BUFFER_SIZE];
+
+// functions
+
+//! enable and initialize the software uart
+void uartswInit(void)
+{
+ // initialize the buffers
+ uartswInitBuffers();
+ // initialize the ports
+ sbi(UARTSW_TX_DDR, UARTSW_TX_PIN);
+ cbi(UARTSW_RX_DDR, UARTSW_RX_PIN);
+ cbi(UARTSW_RX_PORT, UARTSW_RX_PIN);
+ // initialize baud rate
+ uartswSetBaudRate(9600);
+
+ // setup the transmitter
+ UartswTxBusy = FALSE;
+ // disable OC1A interrupt
+ cbi(TIMSK, OCIE1A);
+ // attach TxBit service routine to OC1A
+ timerAttach(TIMER1OUTCOMPAREA_INT, uartswTxBitService);
+
+ // setup the receiver
+ UartswRxBusy = FALSE;
+ // disable OC1B interrupt
+ cbi(TIMSK, OCIE1B);
+ // attach RxBit service routine to OC1B
+ timerAttach(TIMER1OUTCOMPAREB_INT, uartswRxBitService);
+ // attach RxBit service routine to ICP
+ timerAttach(TIMER1INPUTCAPTURE_INT, uartswRxBitService);
+ #ifdef UARTSW_INVERT
+ // trigger on rising edge
+ sbi(TCCR1B, ICES1);
+ #else
+ // trigger on falling edge
+ cbi(TCCR1B, ICES1);
+ #endif
+ // enable ICP interrupt
+ sbi(TIMSK, TICIE1);
+
+ // flush queue
+ bufferFlush(&uartswRxBuffer);
+}
+
+//! create and initialize the uart buffers
+void uartswInitBuffers(void)
+{
+ // initialize the UART receive buffer
+ bufferInit(&uartswRxBuffer, uartswRxData, UARTSW_RX_BUFFER_SIZE);
+}
+
+//! turns off software UART
+void uartswOff(void)
+{
+ // disable interrupts
+ cbi(TIMSK, OCIE1A);
+ cbi(TIMSK, OCIE1B);
+ cbi(TIMSK, TICIE1);
+ // detach the service routines
+ timerDetach(TIMER1OUTCOMPAREA_INT);
+ timerDetach(TIMER1OUTCOMPAREB_INT);
+ timerDetach(TIMER1INPUTCAPTURE_INT);
+}
+
+void uartswSetBaudRate(u32 baudrate)
+{
+ // set timer prescaler
+ timer1SetPrescaler(TIMER_CLK_DIV1);
+ // calculate division factor for requested baud rate, and set it
+ UartswBaudRateDiv = (u16)((F_CPU+(baudrate/2L))/(baudrate*1L));
+}
+
+//! returns the receive buffer structure
+cBuffer* uartswGetRxBuffer(void)
+{
+ // return rx buffer pointer
+ return &uartswRxBuffer;
+}
+
+void uartswSendByte(u08 data)
+{
+ // wait until uart is ready
+ while(UartswTxBusy);
+ // set busy flag
+ UartswTxBusy = TRUE;
+ // save data
+ UartswTxData = data;
+ // set number of bits (+1 for stop bit)
+ UartswTxBitNum = 9;
+
+ // set the start bit
+ #ifdef UARTSW_INVERT
+ sbi(UARTSW_TX_PORT, UARTSW_TX_PIN);
+ #else
+ cbi(UARTSW_TX_PORT, UARTSW_TX_PIN);
+ #endif
+
+ // schedule the next bit
+ outw(OCR1A, inw(TCNT1) + UartswBaudRateDiv);
+ // enable OC1A interrupt
+ sbi(TIMSK, OCIE1A);
+}
+
+//! gets a byte (if available) from the uart receive buffer
+u08 uartswReceiveByte(u08* rxData)
+{
+ // make sure we have a receive buffer
+ if(uartswRxBuffer.size)
+ {
+ // make sure we have data
+ if(uartswRxBuffer.datalength)
+ {
+ // get byte from beginning of buffer
+ *rxData = bufferGetFromFront(&uartswRxBuffer);
+ return TRUE;
+ }
+ else
+ {
+ // no data
+ return FALSE;
+ }
+ }
+ else
+ {
+ // no buffer
+ return FALSE;
+ }
+}
+
+void uartswTxBitService(void)
+{
+ if(UartswTxBitNum)
+ {
+ // there are bits still waiting to be transmitted
+ if(UartswTxBitNum > 1)
+ {
+ // transmit data bits (inverted, LSB first)
+ #ifdef UARTSW_INVERT
+ if( !(UartswTxData & 0x01) )
+ #else
+ if( (UartswTxData & 0x01) )
+ #endif
+ sbi(UARTSW_TX_PORT, UARTSW_TX_PIN);
+ else
+ cbi(UARTSW_TX_PORT, UARTSW_TX_PIN);
+ // shift bits down
+ UartswTxData = UartswTxData>>1;
+ }
+ else
+ {
+ // transmit stop bit
+ #ifdef UARTSW_INVERT
+ cbi(UARTSW_TX_PORT, UARTSW_TX_PIN);
+ #else
+ sbi(UARTSW_TX_PORT, UARTSW_TX_PIN);
+ #endif
+ }
+ // schedule the next bit
+ outw(OCR1A, inw(OCR1A) + UartswBaudRateDiv);
+ // count down
+ UartswTxBitNum--;
+ }
+ else
+ {
+ // transmission is done
+ // clear busy flag
+ UartswTxBusy = FALSE;
+ }
+}
+
+void uartswRxBitService(void)
+{
+ // this function runs on either:
+ // - a rising edge interrupt
+ // - OC1B
+ if(!UartswRxBusy)
+ {
+ // this is a start bit
+ // disable ICP interrupt
+ cbi(TIMSK, TICIE1);
+ // schedule data bit sampling 1.5 bit periods from now
+ outw(OCR1B, inw(TCNT1) + UartswBaudRateDiv + UartswBaudRateDiv/2);
+ // clear OC1B interrupt flag
+ sbi(TIFR, OCF1B);
+ // enable OC1B interrupt
+ sbi(TIMSK, OCIE1B);
+ // set start bit flag
+ UartswRxBusy = TRUE;
+ // reset bit counter
+ UartswRxBitNum = 0;
+ // reset data
+ UartswRxData = 0;
+ }
+ else
+ {
+ // start bit has already been received
+ // we're in the data bits
+
+ // shift data byte to make room for new bit
+ UartswRxData = UartswRxData>>1;
+
+ // sample the data line
+ #ifdef UARTSW_INVERT
+ if( !(inb(UARTSW_RX_PORTIN) & (1<<UARTSW_RX_PIN)) )
+ #else
+ if( (inb(UARTSW_RX_PORTIN) & (1<<UARTSW_RX_PIN)) )
+ #endif
+ {
+ // serial line is marking
+ // record '1' bit
+ UartswRxData |= 0x80;
+ }
+
+ // increment bit counter
+ UartswRxBitNum++;
+ // schedule next bit sample
+ outw(OCR1B, inw(OCR1B) + UartswBaudRateDiv);
+
+ // check if we have a full byte
+ if(UartswRxBitNum >= 8)
+ {
+ // save data in receive buffer
+ bufferAddToEnd(&uartswRxBuffer, UartswRxData);
+ // disable OC1B interrupt
+ cbi(TIMSK, OCIE1B);
+ // clear ICP interrupt flag
+ sbi(TIFR, ICF1);
+ // enable ICP interrupt
+ sbi(TIMSK, TICIE1);
+ // clear start bit flag
+ UartswRxBusy = FALSE;
+ }
+ }
+}
+
+/*
+void uartswRxBitService(void)
+{
+ u16 thisBitTime;
+ u08 bitperiods;
+ u08 i;
+
+ // bit transition was detected
+ // record bit's edge time
+ thisBitTime = inw(ICR1);
+
+ cbi(PORTB, 0);
+
+ if(!UartswRxStartBit)
+ {
+ // this is a start bit
+ // switch to falling-edge trigger
+ cbi(TCCR1B, ICES1);
+ // record bit time
+ UartswRxBitTime = thisBitTime;
+ // set start bit flag
+ UartswRxStartBit = TRUE;
+ // reset bit counter
+ UartswRxBitNum = 0;
+ // reset data
+ UartswRxData = 0;
+ }
+ else
+ {
+ // start bit has already been received
+ // we're in the data bits
+
+ // how many bit periods since last edge?
+ bitperiods = (thisBitTime - UartswRxBitTime + UartswBaudRateDiv/2)/UartswBaudRateDiv;
+ // set last edge time
+ UartswRxBitTime = thisBitTime;
+
+ if(bitperiods > 10)
+ {
+ // switch to trigger on rising edge
+ sbi(TCCR1B, ICES1);
+ // clear start bit flag
+ UartswRxStartBit = FALSE;
+ }
+ else
+ {
+
+
+ if( inb(TCCR1B) & (1<<ICES1) )
+ {
+ // just triggered on a rising edge
+ // previous bits were zero
+ // shift in the data (data bits are inverted)
+ for(i=0; i<bitperiods; i++)
+ {
+ UartswRxData = UartswRxData<<1;
+ UartswRxData |= 0x01;
+ }
+ // switch to trigger on falling edge
+ cbi(TCCR1B, ICES1);
+ }
+ else
+ {
+ // just triggered on a falling edge
+ // previous bits were one
+ // shift in the data (data bits are inverted)
+ for(i=0; i<bitperiods; i++)
+ {
+ UartswRxData = UartswRxData<<1;
+ }
+ // switch to trigger on rising edge
+ sbi(TCCR1B, ICES1);
+ }
+
+ // increment bit counter
+ UartswRxBitNum += bitperiods;
+
+ // check if we have a full byte + start bit
+ if(bitperiods > 8)
+ {
+ // save data in receive buffer
+ bufferAddToEnd(&uartswRxBuffer, UartswRxData);
+ // switch to trigger on rising edge
+ sbi(TCCR1B, ICES1);
+ // clear start bit flag
+ UartswRxStartBit = FALSE;
+ }
+ }
+ }
+
+ // turn off debug LEDs
+ delay(10);
+ sbi(PORTB, 0);
+ sbi(PORTB, 1);
+}
+*/
diff --git a/uartsw.h b/uartsw.h
new file mode 100755
index 0000000000000000000000000000000000000000..da02bb3deb7ca0fd3730393d4c52753a909eee14
--- /dev/null
+++ b/uartsw.h
@@ -0,0 +1,78 @@
+/*! \file uartsw.h \brief Software Interrupt-driven UART Driver. */
+//*****************************************************************************
+//
+// File Name : 'uartsw.h'
+// Title : Software Interrupt-driven UART Driver
+// Author : Pascal Stang - Copyright (C) 2002-2004
+// Created : 7/20/2002
+// Revised : 4/27/2004
+// Version : 0.1
+// Target MCU : Atmel AVR Series (intended for the ATmega16 and ATmega32)
+// Editor Tabs : 4
+//
+/// \ingroup driver_sw
+/// \defgroup uartsw Software Interrupt-driven UART Driver (uartsw.c)
+/// \code #include "uartsw.h" \endcode
+/// \par Overview
+/// This uart library emulates the operation of a UART (serial port) using
+/// the AVR's hardware timers, I/O pins, and some software.
+///
+/// Specifically, this code uses:
+/// -Timer 1 Output Compare A for transmit timing
+/// -Timer 1 Output Compare B for receive timing
+/// -Timer 1 Input Capture for receive triggering
+///
+/// The above resources cannot be used for other purposes while this software
+/// UART is enabled. The overflow interrupt from Timer1 can still be used for
+/// other timing, but the prescaler for Timer1 must not be changed.
+///
+/// Serial output from this UART can be routed to any I/O pin. Serial input
+/// for this UART must come from the Timer1 Input Capture (IC1) I/O pin.
+/// These options should be configured by editing your local copy of
+/// "uartswconf.h".
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#ifndef UARTSW_H
+#define UARTSW_H
+
+#include "global.h"
+#include "buffer.h"
+
+// include configuration
+#include "uartswconf.h"
+
+// constants/macros/typdefs
+
+// functions
+
+//! enable and initialize the software uart
+void uartswInit(void);
+//! create and initialize the uart buffers
+void uartswInitBuffers(void);
+//! turns off software UART
+void uartswOff(void);
+//! returns the receive buffer structure
+cBuffer* uartswGetRxBuffer(void);
+//! sets the uart baud rate
+void uartswSetBaudRate(u32 baudrate);
+//! sends a single byte over the uart
+void uartswSendByte(u08 data);
+
+//! gets a single byte from the uart receive buffer
+// Function returns TRUE if data was available, FALSE if not.
+// Actual data is returned in variable pointed to by "data".
+// example usage:
+// char myReceivedByte;
+// uartswReceiveByte( &myReceivedByte );
+u08 uartswReceiveByte(u08* rxData);
+
+//! internal transmit bit handler
+void uartswTxBitService(void);
+//! internal receive bit handler
+void uartswRxBitService(void);
+
+#endif
diff --git a/uartswconf.h b/uartswconf.h
new file mode 100755
index 0000000000000000000000000000000000000000..2a465b19a33155967bce11c507459defdcca0941
--- /dev/null
+++ b/uartswconf.h
@@ -0,0 +1,69 @@
+/*! \file uartswconf.h \brief Interrupt-driven Software UART Driver Configuration. */
+//*****************************************************************************
+//
+// File Name : 'uartswconf.h'
+// Title : Interrupt-driven Software UART Driver Configuration
+// Author : Pascal Stang - Copyright (C) 2002-2004
+// Created : 7/20/2002
+// Revised : 4/27/2004
+// Version : 0.1
+// Target MCU : Atmel AVR Series (intended for the ATmega16 and ATmega32)
+// Editor Tabs : 4
+//
+// Description :
+// This uart library emulates the operation of a UART (serial port) using
+// the AVR's hardware timers, I/O pins, and some software.
+//
+// Specifically, this code uses:
+// -Timer 1 Output Compare A for transmit timing
+// -Timer 1 Output Compare B for receive timing
+// -Timer 1 Input Capture for receive triggering
+//
+// The above resources cannot be used for other purposes while this software
+// UART is enabled. The overflow interrupt from Timer1 can still be used for
+// other timing, but the prescaler for Timer1 must not be changed.
+//
+// Serial output from this UART can be routed to any I/O pin. Serial input
+// for this UART must come from the Timer1 Input Capture (IC1) I/O pin.
+// These options should be configured by editing your local copy of
+// "uartswconf.h".
+//
+// This code is distributed under the GNU Public License
+// which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#ifndef UARTSWCONF_H
+#define UARTSWCONF_H
+
+// constants/macros/typdefs
+
+#define UARTSW_RX_BUFFER_SIZE 0x20 ///< UART receive buffer size in bytes
+
+//#define UARTSW_INVERT ///< define to invert polarity of RX/TX signals
+// when non-inverted, the serial line is appropriate for passing though
+// an RS232 driver like the MAX232. When inverted, the serial line can
+// directly drive/receive RS232 signals to/from a DB9 connector. Be sure
+// to use a current-limiting resistor and perhaps a diode-clamp circuit when
+// connecting incoming RS232 signals to a microprocessor I/O pin.
+
+// if non-inverted, the serial line idles high (logic 1) between bytes
+// if inverted, the serial line idles low (logic 0) between bytes
+
+
+// UART transmit pin defines
+#define UARTSW_TX_PORT PORTD ///< UART Transmit Port
+#define UARTSW_TX_DDR DDRD ///< UART Transmit DDR
+#define UARTSW_TX_PIN PD5 ///< UART Transmit Pin
+
+// UART receive pin defines
+// This pin must correspond to the
+// Timer1 Input Capture (ICP or IC1) pin for your processor
+
+// Current config is for a atmega8
+#define UARTSW_RX_PORT PORTD ///< UART Receive Port
+#define UARTSW_RX_DDR DDRD ///< UART Receive DDR
+#define UARTSW_RX_PORTIN PIND ///< UART Receive Port Input
+#define UARTSW_RX_PIN PD4 ///< UART Receive Pin
+
+#endif
diff --git a/utils.h b/utils.h
new file mode 100755
index 0000000000000000000000000000000000000000..4ea22284c9b785e2c39bb44b9ab539d16ab01822
--- /dev/null
+++ b/utils.h
@@ -0,0 +1,6 @@
+#ifndef _UTILS_H
+#define _UTILS_H
+
+#define NULL 0x00
+
+#endif