diff --git a/Makefile b/Makefile
new file mode 100755
index 0000000000000000000000000000000000000000..34698503b85923ad81773d2e3197cd805da9a544
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,43 @@
+PROJECT=tibi_dabo_battery
+########################################################
+# afegir tots els fitxers que s'han de compilar aquÃ
+########################################################
+SOURCES=src/main.c src/dyn_slave.c src/mem.c src/comm.c src/gpio.c src/i2c.c src/smbus.c src/time_base.c
+OBJS=$(SOURCES:.c=.o)
+SRC_DIR=./src/
+INCLUDE_DIR=./include/
+BUILD_DIR=./build/
+BIN_DIR=./bin/
+CC=avr-gcc
+OBJCOPY=avr-objcopy
+MMCU=atmega8
+
+CFLAGS=-mmcu=$(MMCU) -Wall -Os -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: $(MAIN_OUT_HEX)
+ avrdude -c avrisp2 -P usb -p m8 -U flash:w:$(PROJECT).hex
+ avrdude -c avrisp2 -P usb -p m8 -U eeprom:w:$(PROJECT)_eeprom.hex
+
+clean:
+ rm $(PROJECT).*
+ rm $(PROJECT)_eeprom.*
+ rm $(OBJS)
diff --git a/a2d.c b/a2d.c
deleted file mode 100755
index df980bc77f35257dc6f6de822a17f8bb425a7834..0000000000000000000000000000000000000000
--- a/a2d.c
+++ /dev/null
@@ -1,186 +0,0 @@
-/*! \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)
-{
- 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=6;
- 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++;
- if(current_ch==NUM_CH)
- current_ch=6;
- 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
deleted file mode 100755
index 076a6545b542e6b52c2de1f2055f2d1817572c64..0000000000000000000000000000000000000000
--- a/a2d.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/*! \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
deleted file mode 100755
index a8dea50342b2dd159ebb5035ae658f9b79816c97..0000000000000000000000000000000000000000
--- a/avrlibdefs.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/*! \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
deleted file mode 100755
index 4d44ac56223bd8fb421a64ef3cab79779c376b7d..0000000000000000000000000000000000000000
--- a/avrlibtypes.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/*! \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
deleted file mode 100755
index 304221f39baa32bd9dd2fb4e00167a3e8a27ca6d..0000000000000000000000000000000000000000
--- a/buffer.c
+++ /dev/null
@@ -1,163 +0,0 @@
-/*! \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
deleted file mode 100755
index 40b35d1fa9ea256d1cd7c8eef855d39264948908..0000000000000000000000000000000000000000
--- a/buffer.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/*! \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/fuel_gauge.c b/fuel_gauge.c
deleted file mode 100755
index 5a4dd64bdb165809f20321fdebf7c2b1f9bfdf72..0000000000000000000000000000000000000000
--- a/fuel_gauge.c
+++ /dev/null
@@ -1,141 +0,0 @@
-#include "fuel_gauge.h"
-
-#include <avr/eeprom.h>
-#include "timer.h"
-#include "i2c.h"
-#include "a2d.h"
-
-short int battery_voltage;
-float input_current;
-float output_current;
-
-// battery I2C slave address
-unsigned char battery_id;
-unsigned char EEMEM ee_battery_id=0x60;
-
-// remaining_capacity
-volatile unsigned short int remaining_capacity;
-unsigned short int EEMEM ee_remaining_capacity=30000;//mAh
-// maximum capacity
-volatile unsigned short int maximum_capacity;
-unsigned short int EEMEM ee_maximum_capacity=30000;//mAh
-// charge cycles
-volatile unsigned short int charge_cycles;
-unsigned short int EEMEM ee_charge_cycles=0;
-// accumutaed_capacity
-float accumulated_capacity;
-
-const double current_gain=48.828125;//mA
-const double period=0.00000222222;//h (8 ms)
-
-void update_fuel_gauge(void)
-{
- short int increment=0;
-
- outb(TCNT0,131);// reload the timer value
- // read the voltage and temperature from the battery
- // read the current from the A2D module
- input_current=adc_get_averaged_channel(6)*current_gain;
- output_current=adc_get_averaged_channel(7)*current_gain;
- // update the internal variables
- accumulated_capacity+=(input_current-output_current)*period;
- increment=(short int)accumulated_capacity;
- accumulated_capacity-=increment;
- remaining_capacity-=increment;
- if(remaining_capacity>maximum_capacity)
- remaining_capacity=maximum_capacity;
- if(remaining_capacity<0)
- remaining_capacity=0;
-}
-
-void fuel_gauge_init(void)
-{
- // read the data from the EEPROM
- battery_id=eeprom_read_byte(&ee_battery_id);
- remaining_capacity=eeprom_read_word(&ee_remaining_capacity);
- maximum_capacity=eeprom_read_word(&ee_maximum_capacity);
- charge_cycles=eeprom_read_word(&ee_charge_cycles);
- accumulated_capacity=0.0;
-
- // initialize the timer
- timerInit();
- timer0SetPrescaler(TIMER_CLK_DIV1024);
- outb(TCNT0,131);
- timerAttach(TIMER0OVERFLOW_INT,update_fuel_gauge);
- // attach timer functions
- // initialize the i2c peripheral
- i2cInit();
- // initialize the a2d converter
- a2dInit();
- a2dSetPrescaler(ADC_PRESCALE_DIV128);
- a2dSetReference(ADC_REFERENCE_AREF);
-
- // call the update function to initialize all the variables
- update_fuel_gauge();
-}
-
-short int get_time_to_charged(void)
-{
- return ((maximum_capacity-remaining_capacity)*60.0)/output_current;
-}
-
-short int get_time_to_discharged(void)
-{
- return (remaining_capacity*60.0)/input_current;
-}
-
-short int get_input_current(void)
-{
- return (short int)input_current;
-}
-
-short int get_output_current(void)
-{
- return (short int)output_current;
-}
-
-void get_voltage(unsigned char *voltage)
-{
- unsigned char read_cmd,i;
- unsigned char voltage_data[18];
-
- // read the voltage registers of the battery
- // send the read request
- read_cmd=0x30;
- if(i2cMasterSendNI(battery_id,1,&read_cmd)==I2C_OK)
- {
- if(i2cMasterReceiveNI(battery_id,18,voltage_data)==I2C_OK)
- {
- for(i=0;i<16;i++)
- voltage[i]=voltage_data[i+2];
- }
- }
-}
-
-void get_temperature(unsigned char *temp1, unsigned char *temp2)
-{
- unsigned char temp_data[6];
- unsigned char read_cmd;
-
- read_cmd=0x4A;// device start read address
- if(i2cMasterSendNI(battery_id,1,&read_cmd)==I2C_OK)
- {
- if(i2cMasterReceiveNI(battery_id,6,temp_data)==I2C_OK)
- {
- temp1[0]=temp_data[2];
- temp1[1]=temp_data[3];
- temp2[0]=temp_data[4];
- temp2[1]=temp_data[5];
- }
- }
-}
-
-short int get_remaining_capacity(void)
-{
- return (short int)(remaining_capacity);
-}
-
-short int get_max_capacity(void)
-{
- return (short int)(maximum_capacity);
-}
diff --git a/fuel_gauge.h b/fuel_gauge.h
deleted file mode 100755
index c3f4d5acb63501752cc265ed9e7801cfbcc5c101..0000000000000000000000000000000000000000
--- a/fuel_gauge.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef _FUEL_GAUGE_H
-#define _FUEL_GAUGE_H
-
-void fuel_gauge_init(void);
-short int get_time_to_charged(void);
-short int get_time_to_discharged(void);
-short int get_input_current(void);
-short int get_output_current(void);
-void get_voltage(unsigned char *voltage);
-void get_temperature(unsigned char *temp1, unsigned char *temp2);
-short int get_remaining_capacity(void);
-short int get_max_capacity(void);
-
-#endif
diff --git a/global.h b/global.h
deleted file mode 100755
index 075dfe6423d6854ca7ff608197ec53ef7a8ac667..0000000000000000000000000000000000000000
--- a/global.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*! \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/gpio.c b/gpio.c
deleted file mode 100755
index 72e5ba7675b16d11b4d1c09b894301a67108f10c..0000000000000000000000000000000000000000
--- a/gpio.c
+++ /dev/null
@@ -1,120 +0,0 @@
-#include "gpio.h"
-
-void InitGPIO(void)
-{
- DDRD=0x02;// PD1 as an output (TXD)
- // PD0 as an input (RXD)
- // PD5 as an input (battery_present)
- // PD6 as an input (on_off)
- // PD7 as an input (chg_present)
-
- DDRC=DDRC|0x03;// PC0 as an output (battery_control)
- // PC1 as an output (load_control)
- DDRC=DDRC&0xF3;// PC2 as an input (UVP)
- // Pc3 as an input (OVP)
-
-
- PORTC=PORTC&0xF0;
-}
-
-void enable_battery(void)
-{
- PORTC=PORTC|0x01;
-}
-
-void disable_battery(void)
-{
- PORTC=PORTC&0xFE;
-}
-
-void enable_load(void)
-{
- PORTC=PORTC|0x02;
-}
-
-void disable_load(void)
-{
- PORTC=PORTC&0xFD;
-}
-
-void handle_battery(void)
-{
- if(is_battery_present())
- {
-// if(under_voltage_protection())
-// disable_battery();
-// else
- enable_battery();
- }
- else
- disable_battery();
-}
-
-void handle_load(void)
-{
- if(is_battery_present())
- {
-// if(under_voltage_protection())
-// disable_load();
-// else
-// {
- if(is_load_on())
- enable_load();
- else
- disable_load();
-// }
- }
- else
- {
- if(is_charger_present())
- {
- if(is_load_on())
- enable_load();
- else
- disable_load();
- }
- else
- disable_load();
- }
-}
-
-unsigned char is_battery_present(void)
-{
- if(PIND&0x20)
- return 0x01;
- else
- return 0x00;
-}
-
-unsigned char is_load_on(void)
-{
- if(PIND&0x40)
- return 0x01;
- else
- return 0x00;
-}
-
-unsigned char is_charger_present(void)
-{
- if(PIND&0x80)
- return 0x01;
- else
- return 0x00;
-}
-
-unsigned char under_voltage_protection(void)
-{
- if(PINC&0x04)
- return 0x01;
- else
- return 0x00;
-}
-
-unsigned char over_voltage_protection(void)
-{
- if(PINC&0x08)
- return 0x01;
- else
- return 0x00;
-}
-
diff --git a/i2c.c b/i2c.c
deleted file mode 100755
index 33e42b12226b50a8222b8bbbc4582d611285d286..0000000000000000000000000000000000000000
--- a/i2c.c
+++ /dev/null
@@ -1,606 +0,0 @@
-/*! \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(TWEA)) );
-
- // 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
deleted file mode 100755
index 21b68e3140e6bd8baec6378242161e66f26be2d1..0000000000000000000000000000000000000000
--- a/i2c.h
+++ /dev/null
@@ -1,178 +0,0 @@
-/*! \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
deleted file mode 100755
index 81521675be5df58f2cd4db2520c3ae661bee5040..0000000000000000000000000000000000000000
--- a/i2cconf.h
+++ /dev/null
@@ -1,28 +0,0 @@
-/*! \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/comm.h b/include/comm.h
new file mode 100644
index 0000000000000000000000000000000000000000..6f5080049c66948d5c98b4269d3bef081c684b76
--- /dev/null
+++ b/include/comm.h
@@ -0,0 +1,12 @@
+#ifndef _COMM_H
+#define _COMM_H
+
+#include <avr/interrupt.h>
+#include <avr/io.h>
+
+void comm_init(void);
+void comm_loop(void);
+void comm_set_error(uint8_t error);
+void comm_clear_error(void);
+
+#endif
diff --git a/include/dyn_slave.h b/include/dyn_slave.h
new file mode 100644
index 0000000000000000000000000000000000000000..99170561f52b897cf6ac4cd3fb19cc956cfe1d79
--- /dev/null
+++ b/include/dyn_slave.h
@@ -0,0 +1,54 @@
+#ifndef DYN_SLAVE_H
+#define DYN_SLAVE_H
+
+#include <avr/interrupt.h>
+#include <avr/io.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
+
+void dyn_slave_init(uint8_t baudrate,uint8_t id);
+void dyn_slave_set_baudrate(uint8_t baudrate);
+void dyn_slave_set_id(uint8_t id);
+uint8_t dyn_slave_is_packet_ready(void);
+uint8_t dyn_slave_check_id(void);
+uint8_t dyn_slave_check_checksum(void);
+uint8_t dyn_slave_get_instruction(void);
+uint8_t dyn_slave_get_received_id(void);
+// read operation
+uint8_t dyn_slave_get_address(void);
+uint8_t dyn_slave_get_read_length(void);
+// write operation
+uint8_t dyn_slave_get_write_length(void);
+uint8_t *dyn_slave_get_write_data(void);
+// sync read operation
+uint8_t dyn_slave_sync_read_id_present(void);
+// sync write operation
+uint8_t dyn_slave_sync_write_id_present(uint8_t **data);
+// bulk read operation
+uint8_t dyn_slave_bulk_read_id_present(uint8_t *address,uint8_t *length);
+// bulk write operation
+uint8_t dyn_slave_bulk_write_id_present(uint8_t *address,uint8_t *length,uint8_t **data);
+void dyn_slave_send_status(uint8_t error,uint8_t length, uint8_t *data);
+uint8_t dyn_slave_is_send_done(void);
+
+#endif
diff --git a/gpio.h b/include/gpio.h
similarity index 56%
rename from gpio.h
rename to include/gpio.h
index d7b19d4147bdd6fe32619a784592dd872c18f39f..bfdead3c1472b568403c2df683fefe1270c96ecd 100755
--- a/gpio.h
+++ b/include/gpio.h
@@ -4,18 +4,13 @@
#include <avr/io.h>
#include <avr/interrupt.h>
-void InitGPIO(void);
-void handle_battery(void);
+void gpio_init(void);
void handle_load(void);
unsigned char is_battery_present(void);
unsigned char is_load_on(void);
unsigned char is_charger_present(void);
-unsigned char under_voltage_protection(void);
-unsigned char over_voltage_protection(void);
-void enable_battery(void);
-void disable_battery(void);
void enable_load(void);
void disable_load(void);
diff --git a/include/i2c.h b/include/i2c.h
new file mode 100755
index 0000000000000000000000000000000000000000..6bc1665a4fdd1fd283d36e3da3773b6da422351b
--- /dev/null
+++ b/include/i2c.h
@@ -0,0 +1,92 @@
+#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
+// 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(unsigned short int bitrateKHz);
+
+// 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(unsigned char 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(unsigned char ackFlag);
+//! Pick up the data that was received with i2cReceiveByte()
+unsigned char i2cGetReceivedByte(void);
+//! Get current I2c bus status from TWSR
+unsigned char i2cGetStatus(void);
+
+// high-level I2C transaction commands
+//! send I2C data to a device on the bus (non-interrupt based)
+unsigned char i2cMasterSendNI(unsigned char deviceAddr, unsigned char length, unsigned char* data);
+//! receive I2C data from a device on the bus (non-interrupt based)
+unsigned char i2cMasterReceiveNI(unsigned char deviceAddr, unsigned char length, unsigned char *data);
+
+//! Get the current high-level state of the I2C interface
+eI2cStateType i2cGetState(void);
+
+#endif
diff --git a/include/mem.h b/include/mem.h
new file mode 100644
index 0000000000000000000000000000000000000000..75a5ff188805f44013a3cac09ca9d1cf1143e6fb
--- /dev/null
+++ b/include/mem.h
@@ -0,0 +1,62 @@
+#ifndef _MEM_H
+#define _MEM_H
+
+#include <avr/io.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
+#define Status_Return_Level 0X10
+// Register Id RAM - declared in dynamixel
+#define Bat_temperature_L 0x20
+#define Bat_temperature_H 0x21
+#define Bat_voltage_L 0x22
+#define Bat_voltage_H 0x23
+#define Bat_current_L 0x24
+#define Bat_current_H 0x25
+#define Bat_avg_current_L 0x26
+#define Bat_avg_current_H 0x27
+#define Bat_rel_state_charge_L 0x28
+#define Bat_rel_state_charge_H 0x29
+#define Bat_abs_state_charge_L 0x2A
+#define Bat_abs_state_charge_H 0x2B
+#define Bat_rem_capacity_L 0x2C
+#define Bat_rem_capacity_H 0x2D
+#define Bat_full_capacity_L 0x2E
+#define Bat_full_capacity_H 0x2F
+#define Bat_run_time_empty_L 0x30
+#define Bat_run_time_empty_H 0x31
+#define Bat_avg_time_empty_L 0x32
+#define Bat_avg_time_empty_H 0x33
+#define Bat_avg_time_full_L 0x34
+#define Bat_avg_time_full_H 0x35
+#define Bat_charge_current_L 0x36
+#define Bat_charge_current_H 0x37
+#define Bat_charge_voltage_L 0x38
+#define Bat_charge_voltage_H 0x39
+#define Bat_design_capacity_L 0x3A
+#define Bat_design_capacity_H 0x3B
+#define Bat_design_voltage_L 0x3C
+#define Bat_design_voltage_H 0x3D
+#define Bat_cell4_voltage_L 0x3E
+#define Bat_cell4_voltage_H 0x3F
+#define Bat_cell3_voltage_L 0x40
+#define Bat_cell3_voltage_H 0x41
+#define Bat_cell2_voltage_L 0x42
+#define Bat_cell2_voltage_H 0x43
+#define Bat_cell1_voltage_L 0x44
+#define Bat_cell1_voltage_H 0x45
+
+#define RAM_SIZE 70
+
+extern unsigned char 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/smbus.h b/include/smbus.h
new file mode 100644
index 0000000000000000000000000000000000000000..a360ffac19aae0250a54c09883df2b23f3623974
--- /dev/null
+++ b/include/smbus.h
@@ -0,0 +1,31 @@
+#ifndef _SMBUS_H
+#define _SMBUS_H
+
+#include "i2c.h"
+#include "mem.h"
+
+// SMBUS commands
+#define Temperature 0x08
+#define Voltage 0x09
+#define Current 0x0a
+#define AverageCurrent 0x0b
+#define RelativeStateOfCharge 0x0d
+#define AbsoluteStateOfCharge 0x0e
+#define RemainingCapacity 0x0f
+#define FullChargeCapacity 0x10
+#define RunTimeToEmpty 0x11
+#define AverageTimeToEmpty 0x12
+#define AverageTimeToFull 0x13
+#define ChargingCurrent 0x14
+#define ChargingVoltage 0x15
+#define DesignCapacity 0x18
+#define DesignVoltage 0x19
+#define VCELL4 0x3c
+#define VCELL3 0x3d
+#define VCELL2 0x3e
+#define VCELL1 0x3f
+
+void smbus_init(void);
+void smbus_loop(void);
+
+#endif
diff --git a/include/time_base.h b/include/time_base.h
new file mode 100644
index 0000000000000000000000000000000000000000..d44eea59e88597e2af87d816ddd6858c233233ab
--- /dev/null
+++ b/include/time_base.h
@@ -0,0 +1,9 @@
+#ifndef _TIME_BASE_H
+#define _TIME_BASE_H
+
+#include <avr/io.h>
+
+void time_base_init(void);
+uint8_t time_base_period(void);
+
+#endif
diff --git a/src/comm.c b/src/comm.c
new file mode 100644
index 0000000000000000000000000000000000000000..bbb7137fe293d5f8df69cf9c880386712631a16e
--- /dev/null
+++ b/src/comm.c
@@ -0,0 +1,174 @@
+#include "comm.h"
+#include "dyn_slave.h"
+#include "mem.h"
+
+uint8_t dyn_error;
+uint8_t tmp_data[RAM_SIZE];
+uint8_t tmp_address;
+uint8_t tmp_length;
+uint8_t reg_pending;
+uint8_t sync_read_pending;
+uint8_t sync_read_previous;
+uint8_t bulk_read_pending;
+uint8_t bulk_read_previous;
+
+void do_write(uint8_t address,uint8_t length,uint8_t *data)
+{
+ uint8_t i,num=0;
+
+ for(i=address;i<address+length;i++)
+ {
+ if(i==ID)
+ dyn_slave_set_id(data[num]);
+ else if(i==Baud_Rate)
+ dyn_slave_set_baudrate(data[num]);
+ num++;
+ }
+}
+
+void comm_init(void)
+{
+ dyn_error=NO_ERROR;
+ tmp_address=0x00;
+ tmp_length=0x00;
+ reg_pending=0x00;
+ sync_read_pending=0x00;
+ bulk_read_pending=0x00;
+}
+
+void comm_loop(void)
+{
+ static uint8_t *data,i;
+
+ if(dyn_slave_is_packet_ready())
+ {
+ if(dyn_slave_check_id())
+ {
+ if(dyn_slave_check_checksum())
+ {
+ switch(dyn_slave_get_instruction())
+ {
+ case INST_PING: dyn_slave_send_status(dyn_error|NO_ERROR,0x00,0x00000000);
+ break;
+ case INST_READ: if(ram_read(dyn_slave_get_address(),dyn_slave_get_read_length(),&data))
+ dyn_slave_send_status(dyn_error|NO_ERROR,dyn_slave_get_read_length(),data);
+ else
+ dyn_slave_send_status(dyn_error|INSTRUCTION_ERROR,0x00,0x00000000);
+ break;
+ case INST_WRITE: if(ram_write(dyn_slave_get_address(),dyn_slave_get_write_length(),dyn_slave_get_write_data()))
+ {
+ do_write(dyn_slave_get_address(),dyn_slave_get_write_length(),dyn_slave_get_write_data());
+ dyn_slave_send_status(dyn_error|NO_ERROR,0x00,0x00000000);
+ }
+ else
+ dyn_slave_send_status(dyn_error|INSTRUCTION_ERROR,0x00,0x00000000);
+ break;
+ case INST_REG_WRITE: tmp_address=dyn_slave_get_address();
+ tmp_length=dyn_slave_get_write_length();
+ data=dyn_slave_get_write_data();
+ for(i=0;i<tmp_length;i++)
+ tmp_data[i]=data[i];
+ reg_pending=0x01;
+ dyn_slave_send_status(dyn_error|NO_ERROR,0x00,0x00000000);
+ break;
+ case INST_ACTION: if(reg_pending)
+ {
+ if(ram_write(tmp_address,tmp_length,tmp_data))
+ {
+ do_write(tmp_address,tmp_length,tmp_data);
+ dyn_slave_send_status(dyn_error|NO_ERROR,0x00,0x00000000);
+ }
+ }
+ else
+ dyn_slave_send_status(dyn_error|INSTRUCTION_ERROR,0x00,0x00000000);
+ break;
+ case INST_RESET:
+ break;
+ case INST_SYNC_READ: sync_read_previous=dyn_slave_sync_read_id_present();
+ if(sync_read_previous!=0xFF)
+ {
+ if(sync_read_previous==0x00)// first device on the list
+ {
+ if(ram_read(dyn_slave_get_address(),dyn_slave_get_read_length(),&data))
+ dyn_slave_send_status(dyn_error|NO_ERROR,dyn_slave_get_read_length(),data);
+ else
+ dyn_slave_send_status(dyn_error|INSTRUCTION_ERROR,0x00,0x00000000);
+ }
+ else// sync read pending
+ {
+ tmp_address=dyn_slave_get_address();
+ tmp_length=dyn_slave_get_read_length();
+ sync_read_pending=0x01;
+ }
+ }
+ break;
+ case INST_SYNC_WRITE: if(dyn_slave_sync_write_id_present(&data))
+ {
+ if(ram_write(dyn_slave_get_address(),dyn_slave_get_read_length(),data))
+ do_write(dyn_slave_get_address(),dyn_slave_get_read_length(),data);
+ }
+ break;
+ case INST_BULK_READ: bulk_read_previous=dyn_slave_bulk_read_id_present(&tmp_address,&tmp_length);
+ if(bulk_read_previous!=0xFF)
+ {
+ if(bulk_read_previous==0x00)// first device on the list
+ {
+ if(ram_read(tmp_address,tmp_length,&data))
+ dyn_slave_send_status(dyn_error|NO_ERROR,tmp_length,data);
+ else
+ dyn_slave_send_status(dyn_error|INSTRUCTION_ERROR,0x00,0x00000000);
+ }
+ else// sync read pending
+ bulk_read_pending=0x01;
+ }
+ break;
+ case INST_BULK_WRITE: if(dyn_slave_bulk_write_id_present(&tmp_address,&tmp_length,&data))
+ {
+ if(ram_write(tmp_address,tmp_length,data))
+ do_write(tmp_address,tmp_length,data);
+ }
+ break;
+ default: dyn_slave_send_status(dyn_error|INSTRUCTION_ERROR,0x00,0x00000000);
+ break;
+ }
+ }
+ else
+ dyn_slave_send_status(dyn_error|CHECKSUM_ERROR,0x00,0x00000000);
+ }
+ else
+ {
+ if(sync_read_pending)
+ {
+ if(dyn_slave_get_received_id()==sync_read_previous)
+ {
+ sync_read_pending=0x00;
+ if(ram_read(tmp_address,tmp_length,&data))
+ dyn_slave_send_status(dyn_error|NO_ERROR,tmp_length,data);
+ else
+ dyn_slave_send_status(dyn_error|INSTRUCTION_ERROR,0x00,0x00000000);
+ }
+ }
+ if(bulk_read_pending)
+ {
+ if(dyn_slave_get_received_id()==bulk_read_previous)
+ {
+ bulk_read_pending=0x00;
+ if(ram_read(tmp_address,tmp_length,&data))
+ dyn_slave_send_status(dyn_error|NO_ERROR,tmp_length,data);
+ else
+ dyn_slave_send_status(dyn_error|INSTRUCTION_ERROR,0x00,0x00000000);
+ }
+ }
+ }
+ }
+}
+
+void comm_set_error(uint8_t error)
+{
+ dyn_error|=error;
+}
+
+void comm_clear_error(void)
+{
+ dyn_error=NO_ERROR;
+}
diff --git a/src/dyn_slave.c b/src/dyn_slave.c
new file mode 100644
index 0000000000000000000000000000000000000000..b2ebc45623a45b585854003be0171f96dca4f402
--- /dev/null
+++ b/src/dyn_slave.c
@@ -0,0 +1,267 @@
+#include <avr/interrupt.h>
+#include <avr/io.h>
+#include "dyn_slave.h"
+#include "mem.h"
+
+uint8_t dyn_slave_id;
+uint8_t dyn_slave_data[128];
+uint8_t dyn_slave_num_rx_bytes;
+uint8_t dyn_slave_num_tx_bytes;
+uint8_t dyn_slave_packet_ready;
+uint8_t dyn_slave_send_done;
+
+ISR(USART_TXC_vect)
+{
+ if(dyn_slave_num_tx_bytes==dyn_slave_data[3]+4)
+ {
+ dyn_slave_send_done=1;
+ }
+ else
+ {
+ UDR=dyn_slave_data[dyn_slave_num_tx_bytes];
+ dyn_slave_num_tx_bytes++;
+ }
+}
+
+ISR(USART_RXC_vect)
+{
+ static uint8_t length;
+
+ cli();// disable any other interrupt
+ dyn_slave_data[dyn_slave_num_rx_bytes]=UDR;
+ switch(dyn_slave_num_rx_bytes)
+ {
+ case 0: if(dyn_slave_data[dyn_slave_num_rx_bytes]==0xFF)
+ dyn_slave_num_rx_bytes++;
+ break;
+ case 1: if(dyn_slave_data[dyn_slave_num_rx_bytes]==0xFF)
+ dyn_slave_num_rx_bytes++;
+ else
+ dyn_slave_num_rx_bytes--;
+ break;
+ case 2: dyn_slave_num_rx_bytes++;
+ break;
+ case 3: length=dyn_slave_data[dyn_slave_num_rx_bytes]+3;
+ dyn_slave_num_rx_bytes++;
+ break;
+ default: if(dyn_slave_num_rx_bytes==length)
+ {
+ dyn_slave_num_rx_bytes=0;
+ dyn_slave_packet_ready=1;
+ }
+ else
+ dyn_slave_num_rx_bytes++;
+ break;
+ }
+ sei();// enable all interrutps
+}
+
+void dyn_slave_init(uint8_t baudrate,uint8_t id)
+{
+ // DDRD - Port D Data Direction Register
+ DDRD=DDRD|0x02;// TX are outputs 0xC2=00000010
+ DDRD=DDRD&0xFE;// RX is an input 0xFE=11111110
+
+ // initialize the rs485 ports
+ UCSRA = (1<<U2X);// double USART transmission speed
+ dyn_slave_set_baudrate(baudrate);
+ UCSRA|=0x40;// clear any pending interrupt
+ UCSRB = (1<<RXEN)|(1<<TXEN)|(1<<RXCIE)|(1<<TXCIE);
+ UCSRC = (1<<URSEL)|(1<<UCSZ1)|(1<< UCSZ0); // 8 bit data, no parity, 1 stop bit
+
+ dyn_slave_set_id(id);
+ // initialize private variables
+ dyn_slave_num_tx_bytes=0;
+ dyn_slave_num_rx_bytes=0;
+ dyn_slave_packet_ready=0;
+ dyn_slave_send_done=0;
+}
+
+void dyn_slave_set_baudrate(uint8_t baudrate)
+{
+ UBRRH = 0;
+ UBRRL = baudrate;
+}
+
+void dyn_slave_set_id(uint8_t id)
+{
+ dyn_slave_id=id;
+}
+
+uint8_t dyn_slave_is_packet_ready(void)
+{
+ if(dyn_slave_packet_ready==0x01)
+ {
+ dyn_slave_packet_ready=0x00;
+ return 0x01;
+ }
+ else
+ return 0x00;
+}
+
+uint8_t dyn_slave_check_id(void)
+{
+ if(dyn_slave_id==dyn_slave_data[2] || dyn_slave_data[2]==0xFE)
+ return 0x01;
+ else
+ {
+ dyn_slave_num_rx_bytes=0;
+ return 0x00;
+ }
+}
+
+uint8_t dyn_slave_check_checksum(void)
+{
+ uint8_t i,cs=0x00;
+
+ for(i=2;i<dyn_slave_data[3]+4;i++)
+ cs+=dyn_slave_data[i];
+ if(cs==0xFF)
+ return 0x01;
+ else
+ return 0x00;
+}
+
+uint8_t dyn_slave_get_instruction(void)
+{
+ return dyn_slave_data[4];
+}
+
+uint8_t dyn_slave_get_received_id(void)
+{
+ return dyn_slave_data[2];
+}
+
+// read operation
+uint8_t dyn_slave_get_address(void)
+{
+ return dyn_slave_data[5];
+}
+
+uint8_t dyn_slave_get_read_length(void)
+{
+ return dyn_slave_data[6];
+}
+
+// write operation
+uint8_t dyn_slave_get_write_length(void)
+{
+ return dyn_slave_data[3]-3;
+}
+
+uint8_t *dyn_slave_get_write_data(void)
+{
+ return &dyn_slave_data[6];
+}
+
+// sync read operation
+uint8_t dyn_slave_sync_read_id_present(void)
+{
+ uint8_t i,num;
+
+ num=dyn_slave_data[3]-4;
+ for(i=0;i<num;i++)
+ {
+ if(dyn_slave_data[7+i]==dyn_slave_id)
+ {
+ if(i==0)
+ return 0x00;
+ else
+ return dyn_slave_data[6+i];
+ }
+ }
+ return 0xFF;
+}
+
+// sync write operation
+uint8_t dyn_slave_sync_write_id_present(uint8_t **data)
+{
+ uint8_t i,num;
+
+ num=(dyn_slave_data[3]-4)/(dyn_slave_data[6]+1);
+ for(i=0;i<num;i++)
+ {
+ if(dyn_slave_data[7+i*(dyn_slave_data[6]+1)]==dyn_slave_id)
+ {
+ (*data)=&dyn_slave_data[7+i*(dyn_slave_data[6]+1)+1];
+ return 0x01;
+ }
+ }
+ return 0x00;
+}
+
+// bulk read operation
+uint8_t dyn_slave_bulk_read_id_present(uint8_t *address,uint8_t *length)
+{
+ uint8_t i,num;
+
+ num=(dyn_slave_data[3]-2)/3;
+ for(i=0;i<num;i++)
+ {
+ if(dyn_slave_data[5+i*3]==dyn_slave_id)
+ {
+ (*address)=dyn_slave_data[6+i*3];
+ (*length)=dyn_slave_data[7+i*3];
+ if(i==0)
+ return 0x00;
+ else
+ return dyn_slave_data[5+(i-1)*3];
+ }
+ }
+ return 0xFF;
+}
+
+// bulk write operation
+uint8_t dyn_slave_bulk_write_id_present(uint8_t *address,uint8_t *length,uint8_t **data)
+{
+ uint8_t i,num;
+
+ num=dyn_slave_data[3]+4;
+ for(i=5;i<num;)
+ {
+ if(dyn_slave_data[i]==dyn_slave_id)
+ {
+ (*address)=dyn_slave_data[i+1];
+ (*length)=dyn_slave_data[i+2];
+ (*data)=&dyn_slave_data[i+3];
+ return 0x01;
+ }
+ else
+ i+=dyn_slave_data[i+2]+3;
+ }
+ return 0x00;
+}
+
+void dyn_slave_send_status(uint8_t error,uint8_t length, uint8_t *data)
+{
+ uint8_t i,cs=0;
+
+ if(dyn_slave_data[2]!=0xFE)
+ {
+ if(dyn_slave_data[4]==INST_PING || ((dyn_slave_data[4]==INST_READ ||
+ dyn_slave_data[4]==INST_SYNC_READ || dyn_slave_data[4]==INST_BULK_READ) &&
+ ram_data[Status_Return_Level]!=0x00) || ram_data[Status_Return_Level]==0x02)
+ dyn_slave_data[0]=0xFF;
+ dyn_slave_data[1]=0xFF;
+ dyn_slave_data[2]=dyn_slave_id;
+ cs+=dyn_slave_id;
+ dyn_slave_data[3]=length+2;
+ cs+=length+2;
+ dyn_slave_data[4]=error;
+ cs+=error;
+ for(i=0;i<length;i++)
+ {
+ dyn_slave_data[5+i]=data[i];
+ cs+=data[i];
+ }
+ dyn_slave_data[5+i]=~cs;
+ // start transmission
+ dyn_slave_num_tx_bytes=1;
+ UDR=dyn_slave_data[0];
+ }
+}
+
+uint8_t dyn_slave_is_send_done(void)
+{
+ return dyn_slave_send_done;
+}
diff --git a/src/gpio.c b/src/gpio.c
new file mode 100755
index 0000000000000000000000000000000000000000..abaf5689820fe6752241e00b68d739a4c567ce21
--- /dev/null
+++ b/src/gpio.c
@@ -0,0 +1,73 @@
+#include "gpio.h"
+
+void gpio_init(void)
+{
+ DDRD=0x02;// PD1 as an output (TXD)
+ // PD0 as an input (RXD)
+ // PD5 as an input (battery_present)
+ // PD6 as an input (on_off)
+ // PD7 as an input (chg_present)
+
+ DDRC=DDRC|0x02;
+ // PC1 as an output (load_control)
+
+ PORTC=PORTC&0xF0;
+}
+
+void enable_load(void)
+{
+ PORTC=PORTC|0x02;
+}
+
+void disable_load(void)
+{
+ PORTC=PORTC&0xFD;
+}
+
+void handle_load(void)
+{
+ if(is_battery_present())
+ {
+ if(is_load_on())
+ enable_load();
+ else
+ disable_load();
+ }
+ else
+ {
+ if(is_charger_present())
+ {
+ if(is_load_on())
+ enable_load();
+ else
+ disable_load();
+ }
+ else
+ disable_load();
+ }
+}
+
+unsigned char is_battery_present(void)
+{
+ if(PIND&0x20)
+ return 0x01;
+ else
+ return 0x00;
+}
+
+unsigned char is_load_on(void)
+{
+ if(PIND&0x40)
+ return 0x01;
+ else
+ return 0x00;
+}
+
+unsigned char is_charger_present(void)
+{
+ if(PIND&0x80)
+ return 0x01;
+ else
+ return 0x00;
+}
+
diff --git a/src/i2c.c b/src/i2c.c
new file mode 100755
index 0000000000000000000000000000000000000000..4abf6b69c7cea170e28c1376262d5678660cd73e
--- /dev/null
+++ b/src/i2c.c
@@ -0,0 +1,201 @@
+/*! \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;
+
+// functions
+void i2cInit(void)
+{
+ // set pull-up resistors on I2C bus pins
+ // TODO: should #ifdef these
+ PORTC |= (1<<5);
+ PORTC |= (1<<4);
+ // set i2c bit rate to 100KHz
+ i2cSetBitrate(100);
+ // enable TWI (two-wire interface)
+ TWCR |= (1<<TWEN);
+ // set state
+ I2cState = I2C_IDLE;
+}
+
+void i2cSetBitrate(unsigned short int bitrateKHz)
+{
+ unsigned char bitrate_div;
+ // set i2c bitrate
+ // SCL freq = F_CPU/(16+2*TWBR))
+ // calculate bitrate division
+ bitrate_div = ((F_CPU/1000l)/bitrateKHz);
+ if(bitrate_div >= 16)
+ bitrate_div = (bitrate_div-16)/2;
+ TWBR=bitrate_div;
+}
+
+inline void i2cSendStart(void)
+{
+ // send start condition
+ TWCR=(TWCR&TWCR_CMD_MASK)|(1<<TWINT)|(1<<TWSTA);
+}
+
+inline void i2cSendStop(void)
+{
+ // transmit stop condition
+ // leave with TWEA on for slave receiving
+ TWCR=(TWCR&TWCR_CMD_MASK)|(1<<TWINT)|(1<<TWEA)|(1<<TWSTO);
+}
+
+inline void i2cWaitForComplete(void)
+{
+ // wait for i2c interface to complete operation
+ while( !(TWCR&(1<<TWINT)));
+}
+
+inline void i2cSendByte(unsigned char data)
+{
+ // save data to the TWDR
+ TWDR=data;
+ // begin send
+ TWCR=(TWCR&TWCR_CMD_MASK)|(1<<TWINT);
+}
+
+inline void i2cReceiveByte(unsigned char 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 unsigned char i2cGetReceivedByte(void)
+{
+ // retieve received data byte from i2c TWDR
+ return( TWDR );
+}
+
+inline unsigned char i2cGetStatus(void)
+{
+ // retieve current i2c status from i2c TWSR
+ return( TWSR );
+}
+
+unsigned char i2cMasterSendNI(unsigned char deviceAddr, unsigned char length, unsigned char* data)
+{
+ unsigned char retval = I2C_OK;
+
+ // send start condition
+ i2cSendStart();
+ i2cWaitForComplete();
+
+ // send device address with write
+ i2cSendByte( deviceAddr & 0xFE );
+ i2cWaitForComplete();
+
+ // check if device is present and live
+ if( 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( !(TWCR&(1<<TWEA)) );
+
+ return retval;
+}
+
+unsigned char i2cMasterReceiveNI(unsigned char deviceAddr, unsigned char length, unsigned char *data)
+{
+ unsigned char retval = I2C_OK;
+
+ // send start condition
+ i2cSendStart();
+ i2cWaitForComplete();
+
+ // send device address with read
+ i2cSendByte( deviceAddr | 0x01 );
+ i2cWaitForComplete();
+
+ // check if device is present and live
+ if( TWSR == TW_MR_SLA_ACK)
+ {
+ // accept receive data and ack it
+ while(length > 1)
+ {
+ i2cReceiveByte(0x01);
+ i2cWaitForComplete();
+ *data++ = i2cGetReceivedByte();
+ // decrement length
+ length--;
+ }
+
+ // accept receive data and nack it (last-byte signal)
+ i2cReceiveByte(0x00);
+ 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();
+
+ return retval;
+}
+
+eI2cStateType i2cGetState(void)
+{
+ return I2cState;
+}
+
diff --git a/src/main.c b/src/main.c
new file mode 100755
index 0000000000000000000000000000000000000000..3f5e7695c31cdc3fa33bcb90dc5bd7f1f86915eb
--- /dev/null
+++ b/src/main.c
@@ -0,0 +1,27 @@
+#include <avr/io.h>
+#include <util/delay.h>
+#include <avr/interrupt.h>
+#include "dyn_slave.h"
+#include "mem.h"
+#include "comm.h"
+#include "gpio.h"
+#include "smbus.h"
+#include "time_base.h"
+
+int16_t main(void)
+{
+ gpio_init();
+ ram_init();
+ dyn_slave_init(ram_data[Baud_Rate],ram_data[ID]);
+ comm_init();
+ smbus_init();
+ time_base_init();
+ sei();
+
+ while (1)
+ {
+ comm_loop();
+ handle_load();
+ smbus_loop();
+ }
+}
diff --git a/src/mem.c b/src/mem.c
new file mode 100644
index 0000000000000000000000000000000000000000..0951c6b713585a9e48f033f486699a2649240d0f
--- /dev/null
+++ b/src/mem.c
@@ -0,0 +1,48 @@
+#include "mem.h"
+#include <avr/eeprom.h>
+
+// dynamixel RAM variables
+unsigned char ram_data[RAM_SIZE];
+
+// Dynamixel EEPROM variables
+unsigned char EEMEM eeprom_data[17]={0x1C,0x00,0x00,0x01,0xCF,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/smbus.c b/src/smbus.c
new file mode 100644
index 0000000000000000000000000000000000000000..62db76230b7588b997cbb5b91ecc9e570b064ed8
--- /dev/null
+++ b/src/smbus.c
@@ -0,0 +1,56 @@
+#include "smbus.h"
+#include "time_base.h"
+#include "mem.h"
+
+#define FUEL_GAUGE_ADDRESS 0x16
+
+typedef struct
+{
+ unsigned char smbus_cmd;
+ unsigned char mem_address;
+}TSMBusCmd;
+
+/* private variables */
+TSMBusCmd commands[]={{Temperature,Bat_temperature_L},
+ {Voltage,Bat_voltage_L},
+ {Current,Bat_current_L},
+ {AverageCurrent,Bat_avg_current_L},
+ {RelativeStateOfCharge,Bat_rel_state_charge_L},
+ {AbsoluteStateOfCharge,Bat_abs_state_charge_L},
+ {RemainingCapacity,Bat_rem_capacity_L},
+ {FullChargeCapacity,Bat_full_capacity_L},
+ {RunTimeToEmpty,Bat_run_time_empty_L},
+ {AverageTimeToEmpty,Bat_avg_time_empty_L},
+ {AverageTimeToFull,Bat_avg_time_full_L},
+ {ChargingCurrent,Bat_charge_current_L},
+ {ChargingVoltage,Bat_charge_voltage_L},
+ {DesignCapacity,Bat_design_capacity_L},
+ {DesignVoltage,Bat_design_voltage_L},
+ {VCELL4,Bat_cell4_voltage_L},
+ {VCELL3,Bat_cell3_voltage_L},
+ {VCELL2,Bat_cell2_voltage_L},
+ {VCELL1,Bat_cell1_voltage_L}};
+unsigned char current_cmd;
+
+#define NUM_COMMANDS 19
+
+/* private functions */
+
+/* public functions */
+void smbus_init(void)
+{
+ /* initialize I2C bus */
+ i2cInit();
+ /* initialize internal variables */
+ current_cmd=0;
+}
+
+void smbus_loop(void)
+{
+ if(time_base_period())
+ {
+ if(i2cMasterSendNI(FUEL_GAUGE_ADDRESS,1,&commands[current_cmd].smbus_cmd)==I2C_OK)
+ i2cMasterReceiveNI(FUEL_GAUGE_ADDRESS,2,&ram_data[commands[current_cmd].mem_address]);
+ current_cmd=(current_cmd+1)%NUM_COMMANDS;
+ }
+}
diff --git a/src/time_base.c b/src/time_base.c
new file mode 100644
index 0000000000000000000000000000000000000000..f8974c5d8e1f3acdd337fd64a0f140dae45229f6
--- /dev/null
+++ b/src/time_base.c
@@ -0,0 +1,24 @@
+#include "time_base.h"
+
+void time_base_init(void)
+{
+ TCCR0|=(1<<CS01)|(1<<CS00); // clk src with prescaler 64
+ TIMSK=0x00; // disable all interrupts
+ TCNT0 = 0x00;
+}
+
+uint8_t time_base_period(void)
+{
+ if(TIFR & (1<<TOV0))
+ {
+ TIFR|=(1<<TOV0);
+ return 0x01;
+ }
+ else
+ return 0x00;
+}
+
+uint8_t time_base_get_counter(void)
+{
+ return TCNT0;
+}
diff --git a/tibi_dabo_battery.c b/tibi_dabo_battery.c
deleted file mode 100755
index e35378be421a4b0963c87cf0102f65edff0932fe..0000000000000000000000000000000000000000
--- a/tibi_dabo_battery.c
+++ /dev/null
@@ -1,83 +0,0 @@
-#include <inttypes.h>
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include <avr/sleep.h>
-
-#include "uart.h"
-
-#include "gpio.h"
-
-#include "timer.h"
-
-#include "fuel_gauge.h"
-
-#include "i2c.h"
-
-#include <util/delay.h>
-
-typedef struct
-{
- unsigned char header[2];
- unsigned char battery_voltage[16];
- unsigned char temperature1[2];
- unsigned char temperature2[2];
- unsigned char status;
- // bit 0: battery_present
- // bit 1: charger_present;
- // bit 2: load_on;
- // bit 3: UVP;
- // bit 4: OVP;
- short int current_in;
- short int current_out;
- short int rem_capacity;
- short int time_to_charged;
- short int time_to_discharged;
-}TBatteryInfo;
-
-int main (void)
-{
- unsigned char i;
- TBatteryInfo info;
-
- // initialize the GPIO
- InitGPIO();
-
- // initialize uart
- uartInit();
- // set desired baud rate in bps
- uartSetBaudRate(9600);
- // initialize the fuel gauge module
- fuel_gauge_init();
-
- // initialize the header
- info.header[0]=0x55;
- info.header[1]=0xAA;
- while(1)
- {
- _delay_ms(1000);
- handle_battery();
- handle_load();
- get_voltage(info.battery_voltage);
- get_temperature(info.temperature1,info.temperature2);
- info.status=0x00;
- if(is_battery_present())
- info.status|=0x01;
- if(is_charger_present())
- info.status|=0x02;
- if(is_load_on())
- info.status|=0x04;
- if(under_voltage_protection())
- info.status|=0x08;
- if(over_voltage_protection())
- info.status|=0x10;
- info.current_in=get_input_current();
- info.current_out=get_output_current();
- info.rem_capacity=get_remaining_capacity();
- info.time_to_charged=get_time_to_charged();
- info.time_to_discharged=get_time_to_discharged();
- // send the information packet
- for(i=0;i<sizeof(TBatteryInfo);i++)
- uartSendByte(((unsigned char *)&info)[i]);
- }
-}
-
diff --git a/timer.c b/timer.c
deleted file mode 100755
index 33933d134c0ec3e64a8745c69120e7677f100fe3..0000000000000000000000000000000000000000
--- a/timer.c
+++ /dev/null
@@ -1,468 +0,0 @@
-/*! \file timer.c \brief System Timer function library. */
-//*****************************************************************************
-//
-// File Name : 'timer.c'
-// Title : System Timer function library
-// Author : Pascal Stang - Copyright (C) 2000-2002
-// Created : 11/22/2000
-// Revised : 07/09/2003
-// 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
-//
-//*****************************************************************************
-
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include <avr/pgmspace.h>
-#include <avr/sleep.h>
-
-#include "global.h"
-#include "timer.h"
-
-//#include "rprintf.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 Timer2Reg0;
-
-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();
- #ifdef TCNT2 // support timer2 only if it exists
- timer2Init();
- #endif
- // enable interrupts
- sei();
-}
-
-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
-}
-
-#ifdef TCNT2 // support timer2 only if it exists
-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
-}
-#endif
-
-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);
-}
-
-#ifdef TCNT2 // support timer2 only if it exists
-void timer2SetPrescaler(u08 prescale)
-{
- // set prescaler on timer 2
- outb(TCCR2, (inb(TCCR2) & ~TIMER_PRESCALE_MASK) | prescale);
-}
-#endif
-
-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)));
-}
-
-#ifdef TCNT2 // support timer2 only if it exists
-u16 timer2GetPrescaler(void)
-{
- //TODO: can we assume for all 3-timer AVR processors,
- // that timer2 is the RTC timer?
-
- // get the current prescaler setting
- return (pgm_read_word(TimerRTCPrescaleFactor+(inb(TCCR2) & TIMER_PRESCALE_MASK)));
-}
-#endif
-
-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;
- }
-}
-/*
-u32 timerMsToTics(u16 ms)
-{
- // calculate the prescaler division rate
- u16 prescaleDiv = 1<<(pgm_read_byte(TimerPrescaleFactor+inb(TCCR0)));
- // calculate the number of timer tics in x milliseconds
- return (ms*(F_CPU/(prescaleDiv*256)))/1000;
-}
-
-u16 timerTicsToMs(u32 tics)
-{
- // calculate the prescaler division rate
- u16 prescaleDiv = 1<<(pgm_read_byte(TimerPrescaleFactor+inb(TCCR0)));
- // calculate the number of milliseconds in x timer tics
- return (tics*1000*(prescaleDiv*256))/F_CPU;
-}
-
-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(TCNT0);
- // reset pause timer overflow count
- TimerPauseReg = 0;
- // calculate delay for [pause_ms] milliseconds
- // prescaler division = 1<<(pgm_read_byte(TimerPrescaleFactor+inb(TCCR0)))
- ticRateHz = F_CPU/timer0GetPrescaler();
- // 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(TCNT0)) < (pause+timerThres) )
- {
- if( TimerPauseReg < (pause>>8));
- {
- // save power by idling the processor
- set_sleep_mode(SLEEP_MODE_IDLE);
- sleep_mode();
- }
- }
-
- //old inaccurate code, for reference
-
- // calculate delay for [pause_ms] milliseconds
- u16 prescaleDiv = 1<<(pgm_read_byte(TimerPrescaleFactor+inb(TCCR0)));
- u32 pause = (pause_ms*(F_CPU/(prescaleDiv*256)))/1000;
-
- TimerPauseReg = 0;
- while(TimerPauseReg < pause);
-}*/
-
-void timer0ClearOverflowCount(void)
-{
- // clear the timer overflow counter registers
- Timer0Reg0 = 0; // initialize time registers
-}
-
-long timer0GetOverflowCount(void)
-{
- // return the current timer overflow count
- // (this is since the last timer0ClearOverflowCount() command was called)
- return Timer0Reg0;
-}
-
-#ifdef TCNT2 // support timer2 only if it exists
-void timer2ClearOverflowCount(void)
-{
- // clear the timer overflow counter registers
- Timer2Reg0 = 0; // initialize time registers
-}
-
-long timer2GetOverflowCount(void)
-{
- // return the current timer overflow count
- // (this is since the last timer2ClearOverflowCount() command was called)
- return Timer2Reg0;
-}
-#endif
-
-void timer1PWMInit(u08 bitRes)
-{
- // configures timer1 for use with PWM output
- // on OC1A and OC1B pins
-
- // enable timer1 as 8,9,10bit PWM
- if(bitRes == 9)
- { // 9bit mode
- sbi(TCCR1A,PWM11);
- cbi(TCCR1A,PWM10);
- }
- else if( bitRes == 10 )
- { // 10bit mode
- sbi(TCCR1A,PWM11);
- sbi(TCCR1A,PWM10);
- }
- else
- { // default 8bit mode
- cbi(TCCR1A,PWM11);
- sbi(TCCR1A,PWM10);
- }
-
- // clear output compare value A
- outb(OCR1AH, 0);
- outb(OCR1AL, 0);
- // clear output compare value B
- outb(OCR1BH, 0);
- outb(OCR1BL, 0);
-}
-
-#ifdef WGM10
-// include support for arbitrary top-count PWM
-// on new AVR processors that support it
-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
- ICR1 = topcount;
-
- // clear output compare value A
- OCR1A = 0;
- // clear output compare value B
- OCR1B = 0;
-
-}
-#endif
-
-void timer1PWMOff(void)
-{
- // turn off timer1 PWM mode
- cbi(TCCR1A,PWM11);
- cbi(TCCR1A,PWM10);
- // set PWM1A/B (OutputCompare action) to none
- timer1PWMAOff();
- timer1PWMBOff();
-}
-
-void timer1PWMAOn(void)
-{
- // turn on channel A (OC1A) PWM output
- // set OC1A as non-inverted PWM
- sbi(TCCR1A,COM1A1);
- cbi(TCCR1A,COM1A0);
-}
-
-void timer1PWMBOn(void)
-{
- // turn on channel B (OC1B) PWM output
- // set OC1B as non-inverted PWM
- sbi(TCCR1A,COM1B1);
- cbi(TCCR1A,COM1B0);
-}
-
-void timer1PWMAOff(void)
-{
- // turn off channel A (OC1A) PWM output
- // set OC1A (OutputCompare action) to none
- cbi(TCCR1A,COM1A1);
- cbi(TCCR1A,COM1A0);
-}
-
-void timer1PWMBOff(void)
-{
- // turn off channel B (OC1B) PWM output
- // set OC1B (OutputCompare action) to none
- cbi(TCCR1A,COM1B1);
- cbi(TCCR1A,COM1B0);
-}
-
-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
- //outp( (pwmDuty>>8), OCR1AH); // set the high 8bits of OCR1A
- //outp( (pwmDuty&0x00FF), OCR1AL); // set the low 8bits of OCR1A
- OCR1A = pwmDuty;
-}
-
-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
- //outp( (pwmDuty>>8), OCR1BH); // set the high 8bits of OCR1B
- //outp( (pwmDuty&0x00FF), OCR1BL); // set the low 8bits of OCR1B
- OCR1B = pwmDuty;
-}
-
-//! Interrupt handler for tcnt0 overflow interrupt
-TIMER_INTERRUPT_HANDLER(TIMER0_OVF_vect)
-{
- Timer0Reg0++; // increment low-order counter
-
- // increment pause counter
- TimerPauseReg++;
-
- // if a user function is defined, execute it too
- if(TimerIntFunc[TIMER0OVERFLOW_INT])
- TimerIntFunc[TIMER0OVERFLOW_INT]();
-}
-
-//! Interrupt handler for tcnt1 overflow interrupt
-TIMER_INTERRUPT_HANDLER(TIMER1_OVF_vect)
-{
- // if a user function is defined, execute it
- if(TimerIntFunc[TIMER1OVERFLOW_INT])
- TimerIntFunc[TIMER1OVERFLOW_INT]();
-}
-
-#ifdef TCNT2 // support timer2 only if it exists
-//! Interrupt handler for tcnt2 overflow interrupt
-TIMER_INTERRUPT_HANDLER(TIMER2_OVF_vect)
-{
- Timer2Reg0++; // increment low-order counter
-
- // if a user function is defined, execute it
- if(TimerIntFunc[TIMER2OVERFLOW_INT])
- TimerIntFunc[TIMER2OVERFLOW_INT]();
-}
-#endif
-
-#ifdef OCR0
-// include support for Output Compare 0 for new AVR processors that support it
-//! Interrupt handler for OutputCompare0 match (OC0) interrupt
-TIMER_INTERRUPT_HANDLER(TIMER0_OVF_vect)
-{
- // if a user function is defined, execute it
- if(TimerIntFunc[TIMER0OUTCOMPARE_INT])
- TimerIntFunc[TIMER0OUTCOMPARE_INT]();
-}
-#endif
-
-//! Interrupt handler for CutputCompare1A 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 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]();
-}
diff --git a/timer.h b/timer.h
deleted file mode 100755
index 5e3bb60364afede25fda5e013e8c2687df90a342..0000000000000000000000000000000000000000
--- a/timer.h
+++ /dev/null
@@ -1,314 +0,0 @@
-/*! \file timer.h \brief System Timer function library. */
-//*****************************************************************************
-//
-// File Name : 'timer.h'
-// Title : System Timer function library
-// Author : Pascal Stang - Copyright (C) 2000-2002
-// 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 timer Timer Function Library (timer.c)
-/// \code #include "timer.h" \endcode
-/// \par Overview
-/// This library provides functions for use with the timers internal
-/// to the AVR processors. Functions include initialization, set prescaler,
-/// calibrated pause function (in milliseconds), attaching and detaching of
-/// user functions to interrupts, overflow counters, PWM. Arbitrary
-/// frequency generation has been moved to the Pulse Library.
-///
-/// \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 TIMER_H
-#define TIMER_H
-
-#include "global.h"
-
-// constants/macros/typdefs
-
-// processor compatibility fixes
-#ifdef __AVR_ATmega323__
- // redefinition for the Mega323
- #define CTC1 CTC10
-#endif
-#ifndef PWM10
- // mega128 PWM bits
- #define PWM10 WGM10
- #define PWM11 WGM11
-#endif
-
-
-// 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/32 tics= 1024kHz 8bitoverflow= 4Hz
-// 4 = CLOCK/64 tics= 512Hz 8bitoverflow= 2Hz
-// 5 = CLOCK/128 tics= 256Hz 8bitoverflow= 1Hz
-// 6 = CLOCK/256 tics= 128Hz 8bitoverflow= 0.5Hz
-// 7 = 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_DIV8 ///< timer 0 prescaler default
-#define TIMER1PRESCALE TIMER_CLK_DIV64 ///< timer 1 prescaler default
-#define TIMER2PRESCALE TIMERRTC_CLK_DIV64 ///< timer 2 prescaler default
-
-// interrupt macros for attaching user functions to timer interrupts
-// use these with timerAttach( intNum, function )
-#define TIMER0OVERFLOW_INT 0
-#define TIMER1OVERFLOW_INT 1
-#define TIMER1OUTCOMPAREA_INT 2
-#define TIMER1OUTCOMPAREB_INT 3
-#define TIMER1INPUTCAPTURE_INT 4
-#define TIMER2OVERFLOW_INT 5
-#define TIMER2OUTCOMPARE_INT 6
-#ifdef OCR0 // for processors that support output compare on Timer0
-#define TIMER0OUTCOMPARE_INT 7
-#define TIMER_NUM_INTERRUPTS 8
-#else
-#define TIMER_NUM_INTERRUPTS 7
-#endif
-
-// default 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 (all timers)
-// 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); ///< initialize timer0
-void timer1Init(void); ///< initialize timer1
-#ifdef TCNT2 // support timer2 only if it exists
-void timer2Init(void); ///< initialize timer2
-#endif
-
-// 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
-u16 timer0GetPrescaler(void); ///< get timer0 prescaler
-void timer1SetPrescaler(u08 prescale); ///< set timer1 prescaler
-u16 timer1GetPrescaler(void); ///< get timer0 prescaler
-#ifdef TCNT2 // support timer2 only if it exists
-void timer2SetPrescaler(u08 prescale); ///< set timer2 prescaler
-u16 timer2GetPrescaler(void); ///< get timer2 prescaler
-#endif
-
-
-// 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) { ... }
-
-//! Attach a user function to a timer interrupt
-void timerAttach(u08 interruptNum, void (*userFunc)(void) );
-//! Detach a user function from a timer interrupt
-void timerDetach(u08 interruptNum);
-
-
-// timing commands
-/// A timer-based delay/pause function
-/// @param pause_ms Number of integer milliseconds to wait.
-void timerPause(unsigned short pause_ms);
-
-// overflow counters
-void timer0ClearOverflowCount(void); ///< Clear timer0's overflow counter.
-long timer0GetOverflowCount(void); ///< read timer0's overflow counter
-#ifdef TCNT2 // support timer2 only if it exists
-void timer2ClearOverflowCount(void); ///< clear timer2's overflow counter
-long timer2GetOverflowCount(void); ///< read timer0's overflow counter
-#endif
-
-/// @defgroup timerpwm Timer PWM Commands
-/// @ingroup timer
-/// These commands control PWM functionality on timer1
-// PWM initialization and set commands for timer1
-// timer1PWMInit()
-// configures the timer1 hardware for PWM mode on pins OC1A and OC1B.
-// bitRes should be 8,9,or 10 for 8,9,or 10bit PWM resolution
-//
-// timer1PWMOff()
-// turns off all timer1 PWM output and set timer mode to normal state
-//
-// timer1PWMAOn() and timer1PWMBOn()
-// turn on output of PWM signals to OC1A or OC1B pins
-// NOTE: Until you define the OC1A and OC1B pins as outputs, and run
-// this "on" command, no PWM output will be output
-//
-// timer1PWMAOff() and timer1PWMBOff()
-// turn off output of PWM signals to OC1A or OC1B pins
-//
-// timer1PWMASet() and timer1PWMBSet()
-// 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
-//@{
-
-
-/// Enter standard PWM Mode on timer1.
-/// \param bitRes indicates the period/resolution to use for PWM output in timer bits.
-/// Must be either 8, 9, or 10 bits corresponding to PWM periods of 256, 512, or 1024 timer tics.
-void timer1PWMInit(u08 bitRes);
-
-/// Enter PWM Mode on timer1 with a specific top-count value.
-/// \param topcount indicates the desired PWM period in timer tics.
-/// Can be a number between 1 and 65535 (16-bit).
-void timer1PWMInitICR(u16 topcount);
-
-/// Turn off all timer1 PWM output and set timer mode to normal.
-void timer1PWMOff(void);
-
-/// Turn on/off Timer1 PWM outputs.
-void timer1PWMAOn(void); ///< Turn on timer1 Channel A (OC1A) PWM output.
-void timer1PWMBOn(void); ///< Turn on timer1 Channel B (OC1B) 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 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
-
-//@}
-//@}
-
-// Pulse generation commands have been moved to the pulse.c library
-
-#endif
diff --git a/uart.c b/uart.c
deleted file mode 100755
index 3795f273128da497b2ac24ebd4c56365a413b9e1..0000000000000000000000000000000000000000
--- a/uart.c
+++ /dev/null
@@ -1,289 +0,0 @@
-/*! \file uart.c \brief UART driver with buffer support. */
-// *****************************************************************************
-//
-// File Name : 'uart.c'
-// Title : UART driver with buffer support
-// Author : Pascal Stang - Copyright (C) 2000-2002
-// Created : 11/22/2000
-// Revised : 06/09/2003
-// Version : 1.3
-// 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 "buffer.h"
-#include "uart.h"
-
-// UART global variables
-// flag variables
-volatile u08 uartReadyTx; ///< uartReadyTx flag
-volatile u08 uartBufferedTx; ///< uartBufferedTx flag
-// receive and transmit buffers
-//cBuffer uartRxBuffer; ///< uart receive buffer
-//cBuffer uartTxBuffer; ///< uart transmit buffer
-unsigned short uartRxOverflow; ///< receive overflow counter
-
-//#ifndef UART_BUFFERS_EXTERNAL_RAM
- // using internal ram,
- // automatically allocate space in ram for each buffer
-//static char uartRxData[UART_RX_BUFFER_SIZE];
-//static char uartTxData[UART_TX_BUFFER_SIZE];
-//#endif
-
-typedef void (*voidFuncPtru08)(unsigned char);
-volatile static voidFuncPtru08 UartRxFunc;
-
-// enable and initialize the uart
-void uartInit(void)
-{
- // initialize the buffers
-// uartInitBuffers();
- // initialize user receive handler
- UartRxFunc = 0;
-
- // enable RxD/TxD and interrupts
- outb(UCR, BV(TXCIE)|BV(TXEN));
-
- // set default baud rate
- uartSetBaudRate(UART_DEFAULT_BAUD_RATE);
- // initialize states
- uartReadyTx = TRUE;
- uartBufferedTx = FALSE;
- // clear overflow count
- uartRxOverflow = 0;
- // enable interrupts
- sei();
-}
-
-// create and initialize the uart transmit and receive buffers
-/*
-void uartInitBuffers(void)
-{
- #ifndef UART_BUFFERS_EXTERNAL_RAM
- // initialize the UART receive buffer
- bufferInit(&uartRxBuffer, uartRxData, UART_RX_BUFFER_SIZE);
- // initialize the UART transmit buffer
- bufferInit(&uartTxBuffer, uartTxData, UART_TX_BUFFER_SIZE);
- #else
- // initialize the UART receive buffer
- bufferInit(&uartRxBuffer, (u08*) UART_RX_BUFFER_ADDR, UART_RX_BUFFER_SIZE);
- // initialize the UART transmit buffer
- bufferInit(&uartTxBuffer, (u08*) UART_TX_BUFFER_ADDR, UART_TX_BUFFER_SIZE);
- #endif
-}
-*/
-// redirects received data to a user function
-void uartSetRxHandler(void (*rx_func)(unsigned char c))
-{
- // set the receive interrupt to run the supplied user function
- UartRxFunc = rx_func;
-}
-
-// set the uart baud rate
-void uartSetBaudRate(u32 baudrate)
-{
- // calculate division factor for requested baud rate, and set it
- u16 bauddiv = ((F_CPU+(baudrate*8L))/(baudrate*16L)-1);
- outb(UBRRL, bauddiv);
- #ifdef UBRRH
- outb(UBRRH, bauddiv>>8);
- #endif
-}
-
-// returns the receive buffer structure
-/*
-cBuffer* uartGetRxBuffer(void)
-{
- // return rx buffer pointer
- return &uartRxBuffer;
-}
-
-// returns the transmit buffer structure
-cBuffer* uartGetTxBuffer(void)
-{
- // return tx buffer pointer
- return &uartTxBuffer;
-}
-*/
-// transmits a byte over the uart
-void uartSendByte(u08 txData)
-{
- // wait for the transmitter to be ready
- while(!uartReadyTx);
- // send byte
- outb(UDR, txData);
- // set ready state to FALSE
- uartReadyTx = FALSE;
-}
-
-// gets a single byte from the uart receive buffer (getchar-style)
-/*
-int uartGetByte(void)
-{
- u08 c;
- if(uartReceiveByte(&c))
- return c;
- else
- return -1;
-}
-
-// gets a byte (if available) from the uart receive buffer
-
-u08 uartReceiveByte(u08* rxData)
-{
- // make sure we have a receive buffer
- if(uartRxBuffer.size)
- {
- // make sure we have data
- if(uartRxBuffer.datalength)
- {
- // get byte from beginning of buffer
- *rxData = bufferGetFromFront(&uartRxBuffer);
- return TRUE;
- }
- else
- {
- // no data
- return FALSE;
- }
- }
- else
- {
- // no buffer
- return FALSE;
- }
-}
-
-// flush all data out of the receive buffer
-void uartFlushReceiveBuffer(void)
-{
- // flush all data from receive buffer
- //bufferFlush(&uartRxBuffer);
- // same effect as above
- uartRxBuffer.datalength = 0;
-}
-
-// return true if uart receive buffer is empty
-u08 uartReceiveBufferIsEmpty(void)
-{
- if(uartRxBuffer.datalength == 0)
- {
- return TRUE;
- }
- else
- {
- return FALSE;
- }
-}
-
-// add byte to end of uart Tx buffer
-u08 uartAddToTxBuffer(u08 data)
-{
- // add data byte to the end of the tx buffer
- return bufferAddToEnd(&uartTxBuffer, data);
-}
-
-// start transmission of the current uart Tx buffer contents
-void uartSendTxBuffer(void)
-{
- // turn on buffered transmit
- uartBufferedTx = TRUE;
- // send the first byte to get things going by interrupts
- uartSendByte(bufferGetFromFront(&uartTxBuffer));
-}
-
-// transmit nBytes from buffer out the uart
-u08 uartSendBuffer(char *buffer, u16 nBytes)
-{
- register u08 first;
- register u16 i;
-
- // check if there's space (and that we have any bytes to send at all)
- if((uartTxBuffer.datalength + nBytes < uartTxBuffer.size) && nBytes)
- {
- // grab first character
- first = *buffer++;
- // copy user buffer to uart transmit buffer
- for(i = 0; i < nBytes-1; i++)
- {
- // put data bytes at end of buffer
- bufferAddToEnd(&uartTxBuffer, *buffer++);
- }
-
- // send the first byte to get things going by interrupts
- uartBufferedTx = TRUE;
- uartSendByte(first);
- // return success
- return TRUE;
- }
- else
- {
- // return failure
- return FALSE;
- }
-}*/
-
-// UART Transmit Complete Interrupt Handler
-
-UART_INTERRUPT_HANDLER(USART_TXC_vect)
-{
- // check if buffered tx is enabled
-/* if(uartBufferedTx)
- {
- // check if there's data left in the buffer
- if(uartTxBuffer.datalength)
- {
- // send byte from top of buffer
- outb(UDR, bufferGetFromFront(&uartTxBuffer));
- }
- else
- {
- // no data left
- uartBufferedTx = FALSE;
- // return to ready state
- uartReadyTx = TRUE;
- }
- }
- else
- {*/
- // we're using single-byte tx mode
- // indicate transmit complete, back to ready
- uartReadyTx = TRUE;
- //}
-}
-/*
-// UART Receive Complete Interrupt Handler
-UART_INTERRUPT_HANDLER(SIG_UART_RECV)
-{
- u08 c;
-
- // get received char
- c = inb(UDR);
-
- // if there's a user function to handle this receive event
- if(UartRxFunc)
- {
- // call it and pass the received data
- UartRxFunc(c);
- }
- else
- {
- // otherwise do default processing
- // put received char in buffer
- // check if there's space
- if( !bufferAddToEnd(&uartRxBuffer, c) )
- {
- // no space in buffer
- // count overflow
- uartRxOverflow++;
- }
- }
-}
-*/
diff --git a/uart.h b/uart.h
deleted file mode 100755
index 6be57f5a728b8e036099055cbd737d6b37d97c7e..0000000000000000000000000000000000000000
--- a/uart.h
+++ /dev/null
@@ -1,232 +0,0 @@
-/*! \file uart.h \brief UART driver with buffer support. */
-//*****************************************************************************
-//
-// File Name : 'uart.h'
-// Title : UART driver with buffer support
-// Author : Pascal Stang - Copyright (C) 2000-2002
-// Created : 11/22/2000
-// Revised : 02/01/2004
-// Version : 1.3
-// 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 uart UART Driver/Function Library (uart.c)
-/// \code #include "uart.h" \endcode
-/// \par Overview
-/// This library provides both buffered and unbuffered transmit and receive
-/// functions for the AVR processor UART. Buffered access means that the
-/// UART can transmit and receive data in the "background", while your code
-/// continues executing. Also included are functions to initialize the
-/// UART, set the baud rate, flush the buffers, and check buffer status.
-///
-/// \note For full text output functionality, you may wish to use the rprintf
-/// functions along with this driver.
-///
-/// \par About UART operations
-/// Most Atmel AVR-series processors contain one or more hardware UARTs
-/// (aka, serial ports). UART serial ports can communicate with other
-/// serial ports of the same type, like those used on PCs. In general,
-/// UARTs are used to communicate with devices that are RS-232 compatible
-/// (RS-232 is a certain kind of serial port).
-/// \par
-/// By far, the most common use for serial communications on AVR processors
-/// is for sending information and data to a PC running a terminal program.
-/// Here is an exmaple:
-/// \code
-/// uartInit(); // initialize UART (serial port)
-/// uartSetBaudRate(9600); // set UART speed to 9600 baud
-/// rprintfInit(uartSendByte); // configure rprintf to use UART for output
-/// rprintf("Hello World\r\n"); // send "hello world" message via serial port
-/// \endcode
-///
-/// \warning The CPU frequency (F_CPU) must be set correctly in \c global.h
-/// for the UART library to calculate correct baud rates. Furthermore,
-/// certain CPU frequencies will not produce exact baud rates due to
-/// integer frequency division round-off. See your AVR processor's
-/// datasheet for full details.
-//
-//*****************************************************************************
-//@{
-
-#ifndef UART_H
-#define UART_H
-
-#include "global.h"
-#include "buffer.h"
-
-//! Default uart baud rate.
-/// This is the default speed after a uartInit() command,
-/// and can be changed by using uartSetBaudRate().
-#define UART_DEFAULT_BAUD_RATE 9600
-
-// buffer memory allocation defines
-// buffer sizes
-#ifndef UART_TX_BUFFER_SIZE
-//! Number of bytes for uart transmit buffer.
-/// Do not change this value in uart.h, but rather override
-/// it with the desired value defined in your project's global.h
-#define UART_TX_BUFFER_SIZE 0x0040
-#endif
-#ifndef UART_RX_BUFFER_SIZE
-//! Number of bytes for uart receive buffer.
-/// Do not change this value in uart.h, but rather override
-/// it with the desired value defined in your project's global.h
-#define UART_RX_BUFFER_SIZE 0x0040
-#endif
-
-// define this key if you wish to use
-// external RAM for the UART buffers
-//#define UART_BUFFER_EXTERNAL_RAM
-#ifdef UART_BUFFER_EXTERNAL_RAM
- // absolute address of uart buffers
- #define UART_TX_BUFFER_ADDR 0x1000
- #define UART_RX_BUFFER_ADDR 0x1100
-#endif
-
-//! 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
-
-// compatibility with most newer processors
-#ifdef UCSRB
- #define UCR UCSRB
-#endif
-// compatibility with old Mega processors
-#if defined(UBRR) && !defined(UBRRL)
- #define UBRRL UBRR
-#endif
-// compatibility with megaXX8 processors
-#if defined(__AVR_ATmega88__) || \
- defined(__AVR_ATmega168__) || \
- defined(__AVR_ATmega644__)
- #define UDR UDR0
- #define UCR UCSR0B
- #define RXCIE RXCIE0
- #define TXCIE TXCIE0
- #define RXC RXC0
- #define TXC TXC0
- #define RXEN RXEN0
- #define TXEN TXEN0
- #define UBRRL UBRR0L
- #define UBRRH UBRR0H
- #define SIG_UART_TRANS SIG_USART_TRANS
- #define SIG_UART_RECV SIG_USART_RECV
- #define SIG_UART_DATA SIG_USART_DATA
-#endif
-// compatibility with mega169 processors
-#if defined(__AVR_ATmega169__)
- #define SIG_UART_TRANS SIG_USART_TRANS
- #define SIG_UART_RECV SIG_USART_RECV
- #define SIG_UART_DATA SIG_USART_DATA
-#endif
-// compatibility with dual-uart processors
-// (if you need to use both uarts, please use the uart2 library)
-#if defined(__AVR_ATmega161__)
- #define UDR UDR0
- #define UCR UCSR0B
- #define UBRRL UBRR0
- #define SIG_UART_TRANS SIG_UART0_TRANS
- #define SIG_UART_RECV SIG_UART0_RECV
- #define SIG_UART_DATA SIG_UART0_DATA
-#endif
-#if defined(__AVR_ATmega128__)
-#ifdef UART_USE_UART1
- #define UDR UDR1
- #define UCR UCSR1B
- #define UBRRL UBRR1L
- #define UBRRH UBRR1H
- #define SIG_UART_TRANS SIG_UART1_TRANS
- #define SIG_UART_RECV SIG_UART1_RECV
- #define SIG_UART_DATA SIG_UART1_DATA
-#else
- #define UDR UDR0
- #define UCR UCSR0B
- #define UBRRL UBRR0L
- #define UBRRH UBRR0H
- #define SIG_UART_TRANS SIG_UART0_TRANS
- #define SIG_UART_RECV SIG_UART0_RECV
- #define SIG_UART_DATA SIG_UART0_DATA
-#endif
-#endif
-
-// functions
-
-//! Initializes uart.
-/// \note After running this init function, the processor
-/// I/O pins that used for uart communications (RXD, TXD)
-/// are no long available for general purpose I/O.
-void uartInit(void);
-
-//! Initializes transmit and receive buffers.
-/// Automatically called from uartInit()
-void uartInitBuffers(void);
-
-//! Redirects received data to a user function.
-///
-void uartSetRxHandler(void (*rx_func)(unsigned char c));
-
-//! Sets the uart baud rate.
-/// Argument should be in bits-per-second, like \c uartSetBaudRate(9600);
-void uartSetBaudRate(u32 baudrate);
-
-//! Returns pointer to the receive buffer structure.
-///
-cBuffer* uartGetRxBuffer(void);
-
-//! Returns pointer to the transmit buffer structure.
-///
-cBuffer* uartGetTxBuffer(void);
-
-//! Sends a single byte over the uart.
-/// \note This function waits for the uart to be ready,
-/// therefore, consecutive calls to uartSendByte() will
-/// go only as fast as the data can be sent over the
-/// serial port.
-void uartSendByte(u08 data);
-
-//! Gets a single byte from the uart receive buffer.
-/// Returns the byte, or -1 if no byte is available (getchar-style).
-int uartGetByte(void);
-
-//! 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:
-/// \code
-/// char myReceivedByte;
-/// uartReceiveByte( &myReceivedByte );
-/// \endcode
-u08 uartReceiveByte(u08* data);
-
-//! Returns TRUE/FALSE if receive buffer is empty/not-empty.
-///
-u08 uartReceiveBufferIsEmpty(void);
-
-//! Flushes (deletes) all data from receive buffer.
-///
-void uartFlushReceiveBuffer(void);
-
-//! Add byte to end of uart Tx buffer.
-/// Returns TRUE if successful, FALSE if failed (no room left in buffer).
-u08 uartAddToTxBuffer(u08 data);
-
-//! Begins transmission of the transmit buffer under interrupt control.
-///
-void uartSendTxBuffer(void);
-
-//! Sends a block of data via the uart using interrupt control.
-/// \param buffer pointer to data to be sent
-/// \param nBytes length of data (number of bytes to sent)
-u08 uartSendBuffer(char *buffer, u16 nBytes);
-
-#endif
-//@}
-
-