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UART support for Borg16; using Peter Fleury's UART library

This commit is contained in:
Christian Kroll 2014-08-16 07:01:07 +02:00
parent c6fde40211
commit fca9b8f07a
11 changed files with 1203 additions and 182 deletions
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5
config.in
View File

@ -62,6 +62,11 @@ source src/can/config.in
###############################################################################
### UART Menu #################################################################
source src/uart/config.in
###############################################################################
### Borg Menu #################################################################
dep_bool "Menu Support" MENU_SUPPORT $JOYSTICK_SUPPORT
depends on JOYSTICK_SUPPORT

162
profiles/CTDO-Borg Normal file
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@ -0,0 +1,162 @@
#
# Automatically generated by make menuconfig: don't edit
#
#
# General Setup
#
MCU=atmega644
FREQ=16000000
#
# Borg Hardware
#
NUM_ROWS=16
NUM_COLS=16
NUMPLANE=3
BORG_HW=HW_BORG_16
#
# Borg16 port setup
#
UART_SUPPORT=y
UART_BAUDRATE_SETTING=19200
COLPORT1=PORTC
COLPORT2=PORTA
ROWPORT=PORTD
PIN_MCLR=4
PIN_CLK=6
PIN_DATA=7
# REVERSE_COLS is not set
# INVERT_ROWS is not set
# INTERLACED_ROWS is not set
# INTERLACED_COLS is not set
#
# Features
#
RANDOM_SUPPORT=y
# LAP_TIME_EXTENSION is not set
SCROLLTEXT_SUPPORT=y
SCROLLTEXT_FONT=FONT_ARIAL8
SCROLLTEXT_BUFFER_SIZE=128
SCROLL_X_SPEED=20
SCROLL_Y_SPEED=20
SCROLLTEXT_TEXT="</#www.das-labor.org"
# RFM12_SUPPORT is not set
#
# Joystick Support
#
JOYSTICK_SUPPORT=y
JOYSTICK_CHOICE=JOY_PARALLEL
#
# Joystick Settings
#
PARALLEL_JOYSTICK_SUPPORT=y
JOYSTICK_PIN_UP=PINB
JOYSTICK_BIT_UP=0
JOYSTICK_PIN_DOWN=PINB
JOYSTICK_BIT_DOWN=1
JOYSTICK_PIN_LEFT=PINB
JOYSTICK_BIT_LEFT=2
JOYSTICK_PIN_RIGHT=PINB
JOYSTICK_BIT_RIGHT=3
JOYSTICK_PIN_FIRE=PIND
JOYSTICK_BIT_FIRE=3
CAN_SUPPORT=y
# SPI_HARDWARE is not set
SPI_PORTIDX=1
SPI_PIN_MOSI=5
SPI_PIN_MISO=6
SPI_PIN_SCK=7
SPI_PIN_SS=4
# CAN_INTERRUPT is not set
SPI_REG_PIN_MCP_INT=PIND
SPI_PIN_MCP_INT=2
MENU_SUPPORT=y
#
# Games
#
GAME_TETRIS_CORE=y
GAME_TETRIS=y
GAME_BASTET=y
GAME_TETRIS_FP=y
GAME_SPACE_INVADERS=y
GAME_SNAKE=y
GAME_BREAKOUT=y
GAME_KART=y
#
# Animations
#
ANIMATION_SCROLLTEXT=y
ANIMATION_SPIRAL=y
SPIRAL_DELAY=5
ANIMATION_JOERN1=y
ANIMATION_SNAKE=y
SNAKE_GAME_DELAY=200
SNAKE_ANIM_DELAY=100
SNAKE_TERMINATION_DELAY=60
SNAKE_MAX_LENGTH=64
SNAKE_MAX_APPLES=10
ANIMATION_CHECKERBOARD=y
ANIMATION_FIRE=y
FIRE_S=30
FIRE_N=5
FIRE_DIV=44
FIRE_DELAY=50
FIRE_CYCLES=800
ANIMATION_MATRIX=y
MATRIX_STREAMER_NUM=30
MATRIX_CYCLES=500
MATRIX_DELAY=60
ANIMATION_RANDOM_BRIGHT=y
ANIMATION_STONEFLY=y
ANIMATION_FLYINGDOTS=y
ANIMATION_GAMEOFLIFE=y
GOL_DELAY=100
GOL_CYCLES=360
ANIMATION_BREAKOUT=y
# ANIMATION_MHERWEG is not set
ANIMATION_MOIRE=y
ANIMATION_LTN_ANT=y
# ANIMATION_TIME is not set
TIME_MASTER_ADDR=0x00
TIME_UPDATE_TIMEOUT=23
ANIMATION_BMSCROLLER=y
ANIMATION_LABORLOGO=y
# ANIMATION_AMPHIBIAN is not set
# ANIMATION_LOGO_OOS is not set
ANIMATION_FAIRYDUST=y
#
# Fixed-point math patterns
#
ANIMATION_PLASMA=y
FP_PLASMA_DELAY=1
ANIMATION_PSYCHEDELIC=y
FP_PSYCHO_DELAY=15
ANIMATION_BLACKHOLE=y
ANIMATION_DNA=y
ANIMATION_SQUARES=y
ANIMATION_TESTS=y
ANIMATION_OFF=y
#
# small Animations
#
# SMALLANIMATION_ROWWALK is not set
SMALLANIMATION_ROWWALK_SPEED=50
SMALLANIMATION_ROWWALK_COUNT=10
# SMALLANIMATION_COLWALK is not set
SMALLANIMATION_COLWALK_SPEED=50
SMALLANIMATION_COLWALK_COUNT=10
# SMALLANIMATION_ROWBOUNCE is not set
SMALLANIMATION_ROWBOUNCE_SPEED=50
SMALLANIMATION_ROWBOUNCE_COUNT=10
# SMALLANIMATION_COLBOUNCE is not set
SMALLANIMATION_COLBOUNCE_SPEED=50
SMALLANIMATION_COLBOUNCE_COUNT=10

13
src/borg_hw/config_borg16.in
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@ -17,6 +17,19 @@ comment "Borg16 port setup"
#//das dier sind die individuellen Dateneingänge für die Schieberegister
#define PIN_SHFT1 PD7
bool "UART Support" UART_SUPPORT n
choice 'Baud Rate' \
"2400 2400 \
4800 4800 \
9600 9600 \
14400 14400 \
19200 19200 \
28800 28800 \
38400 38400 \
57600 57600 \
76800 76800 \
115200 115200" \
'19200' UART_BAUDRATE_SETTING
choice 'Column Port 1 (right)' \
"PORTA PORTA \

13
src/main.c
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@ -1,6 +1,7 @@
#include <setjmp.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <stdio.h>
#include "config.h"
@ -19,6 +20,10 @@
#include "can/borg_can.h"
#endif
#ifdef UART_SUPPORT
# include "uart/uart.h"
#endif
#ifdef RFM12_SUPPORT
#include "rfm12/borg_rfm12.h"
#endif
@ -41,12 +46,12 @@ int main (void){
bcan_init();
#endif
#ifdef JOYSTICK_SUPPORT
joy_init();
#ifdef UART_SUPPORT
uart_init(UART_BAUD_SELECT(UART_BAUDRATE_SETTING, F_CPU));
#endif
#ifdef UART_SUPPORT
uart_init();
#ifdef JOYSTICK_SUPPORT
joy_init();
#endif
sei();

16
src/uart/Makefile Normal file
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@ -0,0 +1,16 @@
MAKETOPDIR = ../..
TARGET = libuart.a
SRC_SIM :=
include $(MAKETOPDIR)/defaults.mk
ifeq ($(UART_SUPPORT),y)
SRC = uart.c
SRC += uart_commands.c
endif
include $(MAKETOPDIR)/rules.mk
include $(MAKETOPDIR)/depend.mk

1
src/uart/config.in Normal file
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@ -0,0 +1 @@
# nothing for now

791
src/uart/uart.c
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@ -1,188 +1,689 @@
/* USART-Init beim ATmegaXX */
/*************************************************************************
Title: Interrupt UART library with receive/transmit circular buffers
Author: Peter Fleury <pfleury@gmx.ch> http://jump.to/fleury
File: $Id: uart.c,v 1.12 2014/01/08 21:58:12 peter Exp $
Software: AVR-GCC 4.1, AVR Libc 1.4.6 or higher
Hardware: any AVR with built-in UART,
License: GNU General Public License
DESCRIPTION:
An interrupt is generated when the UART has finished transmitting or
receiving a byte. The interrupt handling routines use circular buffers
for buffering received and transmitted data.
The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE variables define
the buffer size in bytes. Note that these variables must be a
power of 2.
USAGE:
Refere to the header file uart.h for a description of the routines.
See also example test_uart.c.
NOTES:
Based on Atmel Application Note AVR306
LICENSE:
Copyright (C) 2006 Peter Fleury
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
*************************************************************************/
#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdlib.h>
#include "config.h"
#include <avr/pgmspace.h>
#include "uart.h"
#ifdef ATMEGA128
#define UCSRB UCSR0B
#define UCSRC UCSR0C
#define UDR UDR0
#define UBRRH UBRR0H
#define UBRRL UBRR0L
#define URSEL UMSEL
/*
* constants and macros
*/
/* size of RX/TX buffers */
#define UART_RX_BUFFER_MASK ( UART_RX_BUFFER_SIZE - 1)
#define UART_TX_BUFFER_MASK ( UART_TX_BUFFER_SIZE - 1)
#if ( UART_RX_BUFFER_SIZE & UART_RX_BUFFER_MASK )
#error RX buffer size is not a power of 2
#endif
#if ( UART_TX_BUFFER_SIZE & UART_TX_BUFFER_MASK )
#error TX buffer size is not a power of 2
#endif
#if defined(__AVR_AT90S2313__) \
|| defined(__AVR_AT90S4414__) || defined(__AVR_AT90S4434__) \
|| defined(__AVR_AT90S8515__) || defined(__AVR_AT90S8535__) \
|| defined(__AVR_ATmega103__)
/* old AVR classic or ATmega103 with one UART */
#define AT90_UART
#define UART0_RECEIVE_INTERRUPT UART_RX_vect
#define UART0_TRANSMIT_INTERRUPT UART_UDRE_vect
#define UART0_STATUS USR
#define UART0_CONTROL UCR
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#elif defined(__AVR_AT90S2333__) || defined(__AVR_AT90S4433__)
/* old AVR classic with one UART */
#define AT90_UART
#define UART0_RECEIVE_INTERRUPT UART_RX_vect
#define UART0_TRANSMIT_INTERRUPT UART_UDRE_vect
#define UART0_STATUS UCSRA
#define UART0_CONTROL UCSRB
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#elif defined(__AVR_ATmega8__) || defined(__AVR_ATmega16__) || defined(__AVR_ATmega32__) \
|| defined(__AVR_ATmega323__)
/* ATmega with one USART */
#define ATMEGA_USART
#define UART0_RECEIVE_INTERRUPT USART_RXC_vect
#define UART0_TRANSMIT_INTERRUPT USART_UDRE_vect
#define UART0_STATUS UCSRA
#define UART0_CONTROL UCSRB
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#elif defined (__AVR_ATmega8515__) || defined(__AVR_ATmega8535__)
#define ATMEGA_USART
#define UART0_RECEIVE_INTERRUPT USART_RX_vect
#define UART0_TRANSMIT_INTERRUPT USART_UDRE_vect
#define UART0_STATUS UCSRA
#define UART0_CONTROL UCSRB
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#elif defined(__AVR_ATmega163__)
/* ATmega163 with one UART */
#define ATMEGA_UART
#define UART0_RECEIVE_INTERRUPT UART_RX_vect
#define UART0_TRANSMIT_INTERRUPT UART_UDRE_vect
#define UART0_STATUS UCSRA
#define UART0_CONTROL UCSRB
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#elif defined(__AVR_ATmega162__)
/* ATmega with two USART */
#define ATMEGA_USART0
#define ATMEGA_USART1
#define UART0_RECEIVE_INTERRUPT USART0_RXC_vect
#define UART1_RECEIVE_INTERRUPT USART1_RXC_vect
#define UART0_TRANSMIT_INTERRUPT USART0_UDRE_vect
#define UART1_TRANSMIT_INTERRUPT USART1_UDRE_vect
#define UART0_STATUS UCSR0A
#define UART0_CONTROL UCSR0B
#define UART0_DATA UDR0
#define UART0_UDRIE UDRIE0
#define UART1_STATUS UCSR1A
#define UART1_CONTROL UCSR1B
#define UART1_DATA UDR1
#define UART1_UDRIE UDRIE1
#elif defined(__AVR_ATmega64__) || defined(__AVR_ATmega128__)
/* ATmega with two USART */
#define ATMEGA_USART0
#define ATMEGA_USART1
#define UART0_RECEIVE_INTERRUPT USART0_RX_vect
#define UART1_RECEIVE_INTERRUPT USART1_RX_vect
#define UART0_TRANSMIT_INTERRUPT USART0_UDRE_vect
#define UART1_TRANSMIT_INTERRUPT USART1_UDRE_vect
#define UART0_STATUS UCSR0A
#define UART0_CONTROL UCSR0B
#define UART0_DATA UDR0
#define UART0_UDRIE UDRIE0
#define UART1_STATUS UCSR1A
#define UART1_CONTROL UCSR1B
#define UART1_DATA UDR1
#define UART1_UDRIE UDRIE1
#elif defined(__AVR_ATmega161__)
/* ATmega with UART */
#error "AVR ATmega161 currently not supported by this libaray !"
#elif defined(__AVR_ATmega169__)
/* ATmega with one USART */
#define ATMEGA_USART
#define UART0_RECEIVE_INTERRUPT USART0_RX_vect
#define UART0_TRANSMIT_INTERRUPT USART0_UDRE_vect
#define UART0_STATUS UCSRA
#define UART0_CONTROL UCSRB
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#elif defined(__AVR_ATmega48__) || defined(__AVR_ATmega88__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega48P__) || defined(__AVR_ATmega88P__) || defined(__AVR_ATmega168P__) || defined(__AVR_ATmega328P__) \
|| defined(__AVR_ATmega3250__) || defined(__AVR_ATmega3290__) ||defined(__AVR_ATmega6450__) || defined(__AVR_ATmega6490__)
/* ATmega with one USART */
#define ATMEGA_USART0
#define UART0_RECEIVE_INTERRUPT USART_RX_vect
#define UART0_TRANSMIT_INTERRUPT USART_UDRE_vect
#define UART0_STATUS UCSR0A
#define UART0_CONTROL UCSR0B
#define UART0_DATA UDR0
#define UART0_UDRIE UDRIE0
#elif defined(__AVR_ATtiny2313__)
#define ATMEGA_USART
#define UART0_RECEIVE_INTERRUPT USART_RX_vect
#define UART0_TRANSMIT_INTERRUPT USART_UDRE_vect
#define UART0_STATUS UCSRA
#define UART0_CONTROL UCSRB
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#elif defined(__AVR_ATmega329__) || \
defined(__AVR_ATmega649__) || \
defined(__AVR_ATmega325__) || \
defined(__AVR_ATmega645__)
/* ATmega with one USART */
#define ATMEGA_USART0
#define UART0_RECEIVE_INTERRUPT USART0_RX_vect
#define UART0_TRANSMIT_INTERRUPT USART0_UDRE_vect
#define UART0_STATUS UCSR0A
#define UART0_CONTROL UCSR0B
#define UART0_DATA UDR0
#define UART0_UDRIE UDRIE0
#elif defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__) || defined(__AVR_ATmega1280__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega640__)
/* ATmega with two USART */
#define ATMEGA_USART0
#define ATMEGA_USART1
#define UART0_RECEIVE_INTERRUPT USART0_RX_vect
#define UART1_RECEIVE_INTERRUPT USART1_RX_vect
#define UART0_TRANSMIT_INTERRUPT USART0_UDRE_vect
#define UART1_TRANSMIT_INTERRUPT USART1_UDRE_vect
#define UART0_STATUS UCSR0A
#define UART0_CONTROL UCSR0B
#define UART0_DATA UDR0
#define UART0_UDRIE UDRIE0
#define UART1_STATUS UCSR1A
#define UART1_CONTROL UCSR1B
#define UART1_DATA UDR1
#define UART1_UDRIE UDRIE1
#elif defined(__AVR_ATmega644__)
/* ATmega with one USART */
#define ATMEGA_USART0
#define UART0_RECEIVE_INTERRUPT USART0_RX_vect
#define UART0_TRANSMIT_INTERRUPT USART0_UDRE_vect
#define UART0_STATUS UCSR0A
#define UART0_CONTROL UCSR0B
#define UART0_DATA UDR0
#define UART0_UDRIE UDRIE0
#elif defined(__AVR_ATmega164P__) || defined(__AVR_ATmega324P__) || defined(__AVR_ATmega644P__)
/* ATmega with two USART */
#define ATMEGA_USART0
#define ATMEGA_USART1
#define UART0_RECEIVE_INTERRUPT USART0_RX_vect
#define UART1_RECEIVE_INTERRUPT USART1_RX_vect
#define UART0_TRANSMIT_INTERRUPT USART0_UDRE_vect
#define UART1_TRANSMIT_INTERRUPT USART1_UDRE_vect
#define UART0_STATUS UCSR0A
#define UART0_CONTROL UCSR0B
#define UART0_DATA UDR0
#define UART0_UDRIE UDRIE0
#define UART1_STATUS UCSR1A
#define UART1_CONTROL UCSR1B
#define UART1_DATA UDR1
#define UART1_UDRIE UDRIE1
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB647__) || defined(__AVR_AT90USB1287__)
/* AT90USBxx with one USART */
#define AT90USB_USART
#define UART0_RECEIVE_INTERRUPT USART1_RX_vect
#define UART0_TRANSMIT_INTERRUPT USART1_UDRE_vect
#define UART0_STATUS UCSR1A
#define UART0_CONTROL UCSR1B
#define UART0_DATA UDR1
#define UART0_UDRIE UDRIE1
#elif defined __AVR
#error "no UART definition for MCU available"
#endif
#define UART_BAUD_CALC(UART_BAUD_RATE,F_OSC) ((F_OSC)/((UART_BAUD_RATE)*16L))
/*
* module global variables
*/
static volatile unsigned char UART_TxBuf[UART_TX_BUFFER_SIZE];
static volatile unsigned char UART_RxBuf[UART_RX_BUFFER_SIZE];
static volatile unsigned char UART_TxHead;
static volatile unsigned char UART_TxTail;
static volatile unsigned char UART_RxHead;
static volatile unsigned char UART_RxTail;
static volatile unsigned char UART_LastRxError;
#ifdef UART_INTERRUPT
volatile static char rxbuf[UART_RXBUFSIZE];
volatile static char txbuf[UART_TXBUFSIZE];
volatile static char *volatile rxhead, *volatile rxtail;
volatile static char *volatile txhead, *volatile txtail;
ISR(USART_UDRE_vect) {
#ifdef UART_LEDS
PORTC ^= 0x01;
#if defined( ATMEGA_USART1 )
static volatile unsigned char UART1_TxBuf[UART_TX_BUFFER_SIZE];
static volatile unsigned char UART1_RxBuf[UART_RX_BUFFER_SIZE];
static volatile unsigned char UART1_TxHead;
static volatile unsigned char UART1_TxTail;
static volatile unsigned char UART1_RxHead;
static volatile unsigned char UART1_RxTail;
static volatile unsigned char UART1_LastRxError;
#endif
if ( txhead == txtail ) {
UCSRB &= ~(1 << UDRIE); /* disable data register empty IRQ */
ISR (UART0_RECEIVE_INTERRUPT)
/*************************************************************************
Function: UART Receive Complete interrupt
Purpose: called when the UART has received a character
**************************************************************************/
{
unsigned char tmphead;
unsigned char data;
unsigned char usr;
unsigned char lastRxError;
/* read UART status register and UART data register */
usr = UART0_STATUS;
data = UART0_DATA;
/* */
#if defined( AT90_UART )
lastRxError = (usr & (_BV(FE)|_BV(DOR)) );
#elif defined( ATMEGA_USART )
lastRxError = (usr & (_BV(FE)|_BV(DOR)) );
#elif defined( ATMEGA_USART0 )
lastRxError = (usr & (_BV(FE0)|_BV(DOR0)) );
#elif defined ( ATMEGA_UART )
lastRxError = (usr & (_BV(FE)|_BV(DOR)) );
#elif defined( AT90USB_USART )
lastRxError = (usr & (_BV(FE1)|_BV(DOR1)) );
#endif
/* calculate buffer index */
tmphead = ( UART_RxHead + 1) & UART_RX_BUFFER_MASK;
if ( tmphead == UART_RxTail ) {
/* error: receive buffer overflow */
lastRxError = UART_BUFFER_OVERFLOW >> 8;
}else{
UDR = *txtail; /* schreibt das Zeichen x auf die Schnittstelle */
if (++txtail == (txbuf + UART_TXBUFSIZE)) txtail = txbuf;
/* store new index */
UART_RxHead = tmphead;
/* store received data in buffer */
UART_RxBuf[tmphead] = data;
}
UART_LastRxError |= lastRxError;
}
ISR (UART0_TRANSMIT_INTERRUPT)
/*************************************************************************
Function: UART Data Register Empty interrupt
Purpose: called when the UART is ready to transmit the next byte
**************************************************************************/
{
unsigned char tmptail;
if ( UART_TxHead != UART_TxTail) {
/* calculate and store new buffer index */
tmptail = (UART_TxTail + 1) & UART_TX_BUFFER_MASK;
UART_TxTail = tmptail;
/* get one byte from buffer and write it to UART */
UART0_DATA = UART_TxBuf[tmptail]; /* start transmission */
}else{
/* tx buffer empty, disable UDRE interrupt */
UART0_CONTROL &= ~_BV(UART0_UDRIE);
}
}
ISR(USART_RXC_vect) {
int diff;
#ifdef UART_LEDS
PORTC ^= 0x02;
/*************************************************************************
Function: uart_init()
Purpose: initialize UART and set baudrate
Input: baudrate using macro UART_BAUD_SELECT()
Returns: none
**************************************************************************/
void uart_init(unsigned int baudrate)
{
UART_TxHead = 0;
UART_TxTail = 0;
UART_RxHead = 0;
UART_RxTail = 0;
#if defined( AT90_UART )
/* set baud rate */
UBRR = (unsigned char)baudrate;
/* enable UART receiver and transmmitter and receive complete interrupt */
UART0_CONTROL = _BV(RXCIE)|_BV(RXEN)|_BV(TXEN);
#elif defined (ATMEGA_USART)
/* Set baud rate */
if ( baudrate & 0x8000 )
{
UART0_STATUS = (1<<U2X); //Enable 2x speed
baudrate &= ~0x8000;
}
UBRRH = (unsigned char)(baudrate>>8);
UBRRL = (unsigned char) baudrate;
/* Enable USART receiver and transmitter and receive complete interrupt */
UART0_CONTROL = _BV(RXCIE)|(1<<RXEN)|(1<<TXEN);
/* Set frame format: asynchronous, 8data, no parity, 1stop bit */
#ifdef URSEL
UCSRC = (1<<URSEL)|(3<<UCSZ0);
#else
UCSRC = (3<<UCSZ0);
#endif
/* buffer full? */
diff = rxhead - rxtail;
if ( diff < 0 ) diff += UART_RXBUFSIZE;
if (diff < UART_RXBUFSIZE -1) {
// buffer NOT full
*rxhead = UDR;
if (++rxhead == (rxbuf + UART_RXBUFSIZE)) rxhead = rxbuf;
#elif defined (ATMEGA_USART0 )
/* Set baud rate */
if ( baudrate & 0x8000 )
{
UART0_STATUS = (1<<U2X0); //Enable 2x speed
baudrate &= ~0x8000;
}
UBRR0H = (unsigned char)(baudrate>>8);
UBRR0L = (unsigned char) baudrate;
/* Enable USART receiver and transmitter and receive complete interrupt */
UART0_CONTROL = _BV(RXCIE0)|(1<<RXEN0)|(1<<TXEN0);
/* Set frame format: asynchronous, 8data, no parity, 1stop bit */
#ifdef URSEL0
UCSR0C = (1<<URSEL0)|(3<<UCSZ00);
#else
UCSR0C = (3<<UCSZ00);
#endif
#elif defined ( ATMEGA_UART )
/* set baud rate */
if ( baudrate & 0x8000 )
{
UART0_STATUS = (1<<U2X); //Enable 2x speed
baudrate &= ~0x8000;
}
UBRRHI = (unsigned char)(baudrate>>8);
UBRR = (unsigned char) baudrate;
/* Enable UART receiver and transmitter and receive complete interrupt */
UART0_CONTROL = _BV(RXCIE)|(1<<RXEN)|(1<<TXEN);
#elif defined ( AT90USB_USART )
/* set baud rate */
if ( baudrate & 0x8000 )
{
UART0_STATUS = (1<<U2X1 ); //Enable 2x speed
baudrate &= ~0x8000;
}
UBRR1H = (unsigned char)(baudrate>>8);
UBRR1L = (unsigned char) baudrate;
/* Enable UART receiver and transmitter and receive complete interrupt */
UART0_CONTROL = _BV(RXCIE1)|(1<<RXEN1)|(1<<TXEN1);
/* Set frame format: asynchronous, 8data, no parity, 1stop bit */
UCSR1C = (1<<UCSZ11)|(1<<UCSZ10);
#endif
}/* uart_init */
/*************************************************************************
Function: uart_getc()
Purpose: return byte from ringbuffer
Returns: lower byte: received byte from ringbuffer
higher byte: last receive error
**************************************************************************/
unsigned int uart_getc(void)
{
unsigned char tmptail;
unsigned char data;
if ( UART_RxHead == UART_RxTail ) {
return UART_NO_DATA; /* no data available */
}
/* calculate /store buffer index */
tmptail = (UART_RxTail + 1) & UART_RX_BUFFER_MASK;
UART_RxTail = tmptail;
/* get data from receive buffer */
data = UART_RxBuf[tmptail];
data = (UART_LastRxError << 8) + data;
UART_LastRxError = 0;
return data;
}/* uart_getc */
/*************************************************************************
Function: uart_putc()
Purpose: write byte to ringbuffer for transmitting via UART
Input: byte to be transmitted
Returns: none
**************************************************************************/
void uart_putc(unsigned char data)
{
unsigned char tmphead;
tmphead = (UART_TxHead + 1) & UART_TX_BUFFER_MASK;
while ( tmphead == UART_TxTail ){
;/* wait for free space in buffer */
}
UART_TxBuf[tmphead] = data;
UART_TxHead = tmphead;
/* enable UDRE interrupt */
UART0_CONTROL |= _BV(UART0_UDRIE);
}/* uart_putc */
/*************************************************************************
Function: uart_puts()
Purpose: transmit string to UART
Input: string to be transmitted
Returns: none
**************************************************************************/
void uart_puts(const char *s )
{
while (*s)
uart_putc(*s++);
}/* uart_puts */
/*************************************************************************
Function: uart_puts_p()
Purpose: transmit string from program memory to UART
Input: program memory string to be transmitted
Returns: none
**************************************************************************/
void uart_puts_p(const char *progmem_s )
{
register char c;
while ( (c = pgm_read_byte(progmem_s++)) )
uart_putc(c);
}/* uart_puts_p */
/*
* these functions are only for ATmegas with two USART
*/
#if defined( ATMEGA_USART1 )
ISR(UART1_RECEIVE_INTERRUPT)
/*************************************************************************
Function: UART1 Receive Complete interrupt
Purpose: called when the UART1 has received a character
**************************************************************************/
{
unsigned char tmphead;
unsigned char data;
unsigned char usr;
unsigned char lastRxError;
/* read UART status register and UART data register */
usr = UART1_STATUS;
data = UART1_DATA;
/* */
lastRxError = (usr & (_BV(FE1)|_BV(DOR1)) );
/* calculate buffer index */
tmphead = ( UART1_RxHead + 1) & UART_RX_BUFFER_MASK;
if ( tmphead == UART1_RxTail ) {
/* error: receive buffer overflow */
lastRxError = UART_BUFFER_OVERFLOW >> 8;
}else{
UDR; //reads the buffer to clear the interrupt condition
/* store new index */
UART1_RxHead = tmphead;
/* store received data in buffer */
UART1_RxBuf[tmphead] = data;
}
UART1_LastRxError |= lastRxError;
}
#endif // UART_INTERRUPT
void uart_init() {
PORTD |= 0x01; //Pullup an RXD an
UCSRA = 0;
UCSRB |= (1<<TXEN); //UART TX einschalten
UCSRC |= (1<<URSEL)|(3<<UCSZ0); //Asynchron 8N1
UCSRB |= ( 1 << RXEN ); //Uart RX einschalten
// UBRRH=(uint8_t)(UART_BAUD_CALC(UART_BAUD_RATE,F_CPU)>>8);
// UBRRL=(uint8_t)(UART_BAUD_CALC(UART_BAUD_RATE,F_CPU));
UBRRL = 8;
#ifdef UART_INTERRUPT
// init buffers
rxhead = rxtail = rxbuf;
txhead = txtail = txbuf;
// activate rx IRQ
UCSRB |= (1 << RXCIE);
#endif // UART_INTERRUPT
}
#ifdef UART_INTERRUPT
void uart_putc(char c) {
volatile int diff;
/* buffer full? */
do {
diff = txhead - txtail;
if ( diff < 0 ) diff += UART_TXBUFSIZE;
} while ( diff >= UART_TXBUFSIZE -1 );
cli();
*txhead = c;
if (++txhead == (txbuf + UART_TXBUFSIZE)) txhead = txbuf;
UCSRB |= (1 << UDRIE); /* enable data register empty IRQ */
sei();
}
#else // WITHOUT INTERRUPT
void uart_putc(char c) {
while (!(UCSRA & (1<<UDRE))); /* warten bis Senden moeglich */
UDR = c; /* schreibt das Zeichen x auf die Schnittstelle */
}
#endif // UART_INTERRUPT
void uart_putstr(char *str) {
while(*str) {
uart_putc(*str++);
}
}
void uart_putstr_P(PGM_P str) {
char tmp;
while((tmp = pgm_read_byte(str))) {
uart_putc(tmp);
str++;
}
}
void uart_hexdump(char *buf, int len)
ISR(UART1_TRANSMIT_INTERRUPT)
/*************************************************************************
Function: UART1 Data Register Empty interrupt
Purpose: called when the UART1 is ready to transmit the next byte
**************************************************************************/
{
unsigned char x=0;
char sbuf[3];
unsigned char tmptail;
while(len--){
itoa(*buf++, sbuf, 16);
if (sbuf[1] == 0) uart_putc(' ');
uart_putstr(sbuf);
uart_putc(' ');
if(++x == 16) {
uart_putstr_P(PSTR("\r\n"));
x = 0;
}
if ( UART1_TxHead != UART1_TxTail) {
/* calculate and store new buffer index */
tmptail = (UART1_TxTail + 1) & UART_TX_BUFFER_MASK;
UART1_TxTail = tmptail;
/* get one byte from buffer and write it to UART */
UART1_DATA = UART1_TxBuf[tmptail]; /* start transmission */
}else{
/* tx buffer empty, disable UDRE interrupt */
UART1_CONTROL &= ~_BV(UART1_UDRIE);
}
}
#ifdef UART_INTERRUPT
char uart_getc()
/*************************************************************************
Function: uart1_init()
Purpose: initialize UART1 and set baudrate
Input: baudrate using macro UART_BAUD_SELECT()
Returns: none
**************************************************************************/
void uart1_init(unsigned int baudrate)
{
char val;
UART1_TxHead = 0;
UART1_TxTail = 0;
UART1_RxHead = 0;
UART1_RxTail = 0;
while(rxhead==rxtail) ;
val = *rxtail;
if (++rxtail == (rxbuf + UART_RXBUFSIZE)) rxtail = rxbuf;
return val;
}
#else // WITHOUT INTERRUPT
char uart_getc()
/* Set baud rate */
if ( baudrate & 0x8000 )
{
while (!(UCSRA & (1<<RXC))); // warten bis Zeichen verfuegbar
return UDR; // Zeichen aus UDR zurueckgeben
UART1_STATUS = (1<<U2X1); //Enable 2x speed
baudrate &= ~0x8000;
}
#endif // UART_INTERRUPT
UBRR1H = (unsigned char)(baudrate>>8);
UBRR1L = (unsigned char) baudrate;
// returns 1 on success
#ifdef UART_INTERRUPT
char uart_getc_nb(char *c)
/* Enable USART receiver and transmitter and receive complete interrupt */
UART1_CONTROL = _BV(RXCIE1)|(1<<RXEN1)|(1<<TXEN1);
/* Set frame format: asynchronous, 8data, no parity, 1stop bit */
#ifdef URSEL1
UCSR1C = (1<<URSEL1)|(3<<UCSZ10);
#else
UCSR1C = (3<<UCSZ10);
#endif
}/* uart_init */
/*************************************************************************
Function: uart1_getc()
Purpose: return byte from ringbuffer
Returns: lower byte: received byte from ringbuffer
higher byte: last receive error
**************************************************************************/
unsigned int uart1_getc(void)
{
if (rxhead==rxtail) return 0;
unsigned char tmptail;
unsigned char data;
*c = *rxtail;
if (++rxtail == (rxbuf + UART_RXBUFSIZE)) rxtail = rxbuf;
return 1;
if ( UART1_RxHead == UART1_RxTail ) {
return UART_NO_DATA; /* no data available */
}
#else // WITHOUT INTERRUPT
char uart_getc_nb(char *c)
/* calculate /store buffer index */
tmptail = (UART1_RxTail + 1) & UART_RX_BUFFER_MASK;
UART1_RxTail = tmptail;
/* get data from receive buffer */
data = UART1_RxBuf[tmptail];
data = (UART1_LastRxError << 8) + data;
UART1_LastRxError = 0;
return data;
}/* uart1_getc */
/*************************************************************************
Function: uart1_putc()
Purpose: write byte to ringbuffer for transmitting via UART
Input: byte to be transmitted
Returns: none
**************************************************************************/
void uart1_putc(unsigned char data)
{
if (UCSRA & (1<<RXC)) { // Zeichen verfuegbar
*c = UDR;
return 1;
unsigned char tmphead;
tmphead = (UART1_TxHead + 1) & UART_TX_BUFFER_MASK;
while ( tmphead == UART1_TxTail ){
;/* wait for free space in buffer */
}
return 0;
}
#endif // UART_INTERRUPT
UART1_TxBuf[tmphead] = data;
UART1_TxHead = tmphead;
/* enable UDRE interrupt */
UART1_CONTROL |= _BV(UART1_UDRIE);
}/* uart1_putc */
/*************************************************************************
Function: uart1_puts()
Purpose: transmit string to UART1
Input: string to be transmitted
Returns: none
**************************************************************************/
void uart1_puts(const char *s )
{
while (*s)
uart1_putc(*s++);
}/* uart1_puts */
/*************************************************************************
Function: uart1_puts_p()
Purpose: transmit string from program memory to UART1
Input: program memory string to be transmitted
Returns: none
**************************************************************************/
void uart1_puts_p(const char *progmem_s )
{
register char c;
while ( (c = pgm_read_byte(progmem_s++)) )
uart1_putc(c);
}/* uart1_puts_p */
#endif

232
src/uart/uart.h
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@ -1,35 +1,219 @@
#ifndef UART_H
#define UART_H
/************************************************************************
Title: Interrupt UART library with receive/transmit circular buffers
Author: Peter Fleury <pfleury@gmx.ch> http://jump.to/fleury
File: $Id: uart.h,v 1.12 2012/11/19 19:52:27 peter Exp $
Software: AVR-GCC 4.1, AVR Libc 1.4
Hardware: any AVR with built-in UART, tested on AT90S8515 & ATmega8 at 4 Mhz
License: GNU General Public License
Usage: see Doxygen manual
LICENSE:
Copyright (C) 2006 Peter Fleury
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
************************************************************************/
/**
* UART Library
* @defgroup pfleury_uart UART Library
* @code #include <uart.h> @endcode
*
* #define F_CPU 16000000 // Oszillator-Frequenz in Hz
* #define UART_INTERRUPT 1
* #define UART_BAUD_RATE 19200
* #define UART_RXBUFSIZE 16
* #define UART_TXBUFSIZE 16
* #define UART_LINE_BUFFER_SIZE 40
* #define UART_LEDS // LED1 and LED2 toggle on tx and rx interrupt
* @brief Interrupt UART library using the built-in UART with transmit and
* receive circular buffers.
*
* This library can be used to transmit and receive data through the built in
* UART.
*
* An interrupt is generated when the UART has finished transmitting or
* receiving a byte. The interrupt handling routines use circular buffers
* for buffering received and transmitted data.
*
* The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE constants define the size of
* the circular buffers in bytes. Note that these constants must be a power of
* 2. You may need to adapt this constants to your target and your application
* by adding CDEFS += -DUART_RX_BUFFER_SIZE=nn -DUART_RX_BUFFER_SIZE=nn to your
* Makefile.
*
* @note Based on Atmel Application Note AVR306
* @author Peter Fleury pfleury@gmx.ch http://jump.to/fleury
*/
#include <inttypes.h>
#include <avr/pgmspace.h>
/**@{*/
void uart_init();
void uart_putc(char c);
void uart_putstr(char * str);
void uart_putstr_P(PGM_P str);
void uart_hexdump(char *buf, int len);
char uart_getc();
char uart_getc_nb(char *c); // returns 1 on success
//get one Cariage return terminated line
//echo charakters back on Uart
//returns buffer with zero terminated line on success, 0 pointer otherwise
char * uart_getline_nb();
#if (__GNUC__ * 100 + __GNUC_MINOR__) < 304
#error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !"
#endif
/*
* constants and macros
*/
/** @brief UART Baudrate Expression
* @param xtalcpu system clock in Mhz, e.g. 4000000UL for 4Mhz
* @param baudrate baudrate in bps, e.g. 1200, 2400, 9600
*/
#define UART_BAUD_SELECT(baudRate,xtalCpu) \
(((xtalCpu) + 8UL * (baudRate)) / (16UL * (baudRate)) -1UL)
/** @brief UART Baudrate Expression for ATmega double speed mode
* @param xtalcpu system clock in Mhz, e.g. 4000000UL for 4Mhz
* @param baudrate baudrate in bps, e.g. 1200, 2400, 9600
*/
#define UART_BAUD_SELECT_DOUBLE_SPEED(baudRate,xtalCpu) \
(((((xtalCpu) + 4UL * (baudRate)) / (8UL * (baudRate)) -1UL)) | 0x8000)
/** Size of the circular receive buffer, must be power of 2 */
#ifndef UART_RX_BUFFER_SIZE
#define UART_RX_BUFFER_SIZE 32
#endif
/** Size of the circular transmit buffer, must be power of 2 */
#ifndef UART_TX_BUFFER_SIZE
#define UART_TX_BUFFER_SIZE 32
#endif
/* test if the size of the circular buffers fits into SRAM */
#if ( (UART_RX_BUFFER_SIZE+UART_TX_BUFFER_SIZE) >= (RAMEND-0x60 ) ) && defined __AVR
#error "size of UART_RX_BUFFER_SIZE + UART_TX_BUFFER_SIZE larger than size of SRAM"
#endif
/*
** high byte error return code of uart_getc()
*/
#define UART_FRAME_ERROR 0x1000 /* Framing Error by UART */
#define UART_OVERRUN_ERROR 0x0800 /* Overrun condition by UART */
#define UART_PARITY_ERROR 0x0400 /* Parity Error by UART */
#define UART_BUFFER_OVERFLOW 0x0200 /* receive ringbuffer overflow */
#define UART_NO_DATA 0x0100 /* no receive data available */
/*
** function prototypes
*/
/**
@brief Initialize UART and set baudrate
@param baudrate Specify baudrate using macro UART_BAUD_SELECT()
@return none
*/
extern void uart_init(unsigned int baudrate);
/**
* @brief Get received byte from ringbuffer
*
* Returns in the lower byte the received character and in the
* higher byte the last receive error.
* UART_NO_DATA is returned when no data is available.
*
* @param void
* @return lower byte: received byte from ringbuffer
* @return higher byte: last receive status
* - \b 0 successfully received data from UART
* - \b UART_NO_DATA
* <br>no receive data available
* - \b UART_BUFFER_OVERFLOW
* <br>Receive ringbuffer overflow.
* We are not reading the receive buffer fast enough,
* one or more received character have been dropped
* - \b UART_OVERRUN_ERROR
* <br>Overrun condition by UART.
* A character already present in the UART UDR register was not read
* by the interrupt handler before the next character arrived,
* one or more received characters have been dropped.
* - \b UART_FRAME_ERROR
* <br>Framing Error by UART
*/
extern unsigned int uart_getc(void);
/**
* @brief Put byte to ringbuffer for transmitting via UART
* @param data byte to be transmitted
* @return none
*/
extern void uart_putc(unsigned char data);
/**
* @brief Put string to ringbuffer for transmitting via UART
*
* The string is buffered by the uart library in a circular buffer
* and one character at a time is transmitted to the UART using interrupts.
* Blocks if it can not write the whole string into the circular buffer.
*
* @param s string to be transmitted
* @return none
*/
extern void uart_puts(const char *s );
/**
* @brief Put string from program memory to ringbuffer for transmitting via
* UART.
*
* The string is buffered by the uart library in a circular buffer
* and one character at a time is transmitted to the UART using interrupts.
* Blocks if it can not write the whole string into the circular buffer.
*
* @param s program memory string to be transmitted
* @return none
* @see uart_puts_P
*/
extern void uart_puts_p(const char *s );
/**
* @brief Macro to automatically put a string constant into program memory
*/
#define uart_puts_P(__s) uart_puts_p(PSTR(__s))
/** @brief Initialize USART1 (only available on selected ATmegas)
* @see uart_init
*/
extern void uart1_init(unsigned int baudrate);
/** @brief Get received byte of USART1 from ringbuffer (only available on
* selected ATmega)
* @see uart_getc
*/
extern unsigned int uart1_getc(void);
/** @brief Put byte to ringbuffer for transmitting via USART1 (only available
* on selected ATmega)
* @see uart_putc
*/
extern void uart1_putc(unsigned char data);
/** @brief Put string to ringbuffer for transmitting via USART1 (only available
* on selected ATmega)
* @see uart_puts
*/
extern void uart1_puts(const char *s );
/** @brief Put string from program memory to ringbuffer for transmitting via
* USART1 (only available on selected ATmega)
* @see uart_puts_p
*/
extern void uart1_puts_p(const char *s );
/** @brief Macro to automatically put a string constant into program memory */
#define uart1_puts_P(__s) uart1_puts_p(PSTR(__s))
/**@}*/
#endif // UART_H

114
src/uart/uart_commands.c Normal file
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@ -0,0 +1,114 @@
#include <stdint.h>
#include <string.h>
#include <ctype.h>
#include <stdbool.h>
#include <setjmp.h>
#include <avr/pgmspace.h>
#include "../config.h"
#include "../borg_hw/borg_hw.h"
#include "../scrolltext/scrolltext.h"
#include "uart.h"
#include "uart_commands.h"
#define UART_SCROLL_BUFFER_SIZE (SCROLLTEXT_BUFFER_SIZE + 8)
char g_rx_buffer[UART_SCROLL_BUFFER_SIZE];
uint8_t g_rx_index;
extern jmp_buf newmode_jmpbuf;
volatile unsigned char mode;
void uartcmd_clear_buffer(void) {
char *p = &g_rx_buffer[0];
for (uint8_t i = UART_SCROLL_BUFFER_SIZE; i--;) {
*p++ = 0;
}
g_rx_index = 0;
}
char const UART_STR_PROMPT[] PROGMEM = "\r\n> ";
char const UART_STR_ERROR[] PROGMEM = "\r\ntransmission error";
char const UART_STR_UNKNOWN[] PROGMEM = "\r\nunknown command";
char const UART_STR_TOOLONG[] PROGMEM = "\r\ncommand to long";
char const UART_STR_HELP[] PROGMEM = "\r\nhelp msg next prev reset scroll";
char const UART_CMD_HELP[] PROGMEM = "help";
char const UART_CMD_MSG[] PROGMEM = "msg ";
char const UART_CMD_NEXT[] PROGMEM = "next";
char const UART_CMD_PREV[] PROGMEM = "prev";
char const UART_CMD_RESET[] PROGMEM = "reset";
char const UART_CMD_SCROLL[] PROGMEM = "scroll ";
bool uartcmd_read_until_enter(void) {
while (g_rx_index < (UART_SCROLL_BUFFER_SIZE - 1)) {
int uart_result = uart_getc();
switch (uart_result & 0xFF00u) {
case 0:
if (!(uart_result == '\r' || uart_result == '\n')) {
g_rx_buffer[g_rx_index++] = uart_result;
uart_putc(uart_result);
} else {
g_rx_buffer[g_rx_index++] = 0;
return true;
}
break;
case UART_FRAME_ERROR:
case UART_OVERRUN_ERROR:
case UART_PARITY_ERROR:
case UART_BUFFER_OVERFLOW:
uartcmd_clear_buffer();
uart_puts_p(UART_STR_ERROR);
uart_puts_p(UART_STR_PROMPT);
break;
case UART_NO_DATA:
default:
return false;
break;
}
}
if (g_rx_index >= (UART_SCROLL_BUFFER_SIZE - 1)) {
uartcmd_clear_buffer();
uart_puts_p(UART_STR_TOOLONG);
uart_puts_p(UART_STR_PROMPT);
}
return false;
}
void uartcmd_process(void) {
if (uartcmd_read_until_enter()) {
if (!strncmp_P(g_rx_buffer, UART_CMD_HELP, 4)) {
uart_puts_p(UART_STR_HELP);
} else if (!strncmp_P(g_rx_buffer, UART_CMD_MSG, 4)) {
g_rx_buffer[1] = '<';
g_rx_buffer[2] = '/';
g_rx_buffer[3] = '#';
// text must not be longer than the scroll text buffer
g_rx_buffer[1 + SCROLLTEXT_BUFFER_SIZE - 1] = 0;
scrolltext(&g_rx_buffer[1]);
} else if (!strncmp_P(g_rx_buffer, UART_CMD_NEXT, 4)) {
uart_puts_p(UART_STR_PROMPT);
uartcmd_clear_buffer();
longjmp(newmode_jmpbuf, mode);
} else if (!strncmp_P(g_rx_buffer, UART_CMD_PREV, 4)) {
uart_puts_p(UART_STR_PROMPT);
uartcmd_clear_buffer();
if (mode > 1) {
longjmp(newmode_jmpbuf, mode - 2);
}
} else if (!strncmp_P(g_rx_buffer, UART_CMD_RESET,
UART_SCROLL_BUFFER_SIZE)) {
timer0_off();
} else if (!strncmp_P(g_rx_buffer, UART_CMD_SCROLL, 7)) {
// text must not be longer than the scroll text buffer
g_rx_buffer[7 + SCROLLTEXT_BUFFER_SIZE - 1] = 0;
scrolltext(&g_rx_buffer[7]);
} else {
uart_puts_p(UART_STR_UNKNOWN);
}
uart_puts_p(UART_STR_PROMPT);
uartcmd_clear_buffer();
}
}

13
src/uart/uart_commands.h Normal file
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@ -0,0 +1,13 @@
/*
* uart_commands.h
*
* Created on: 16.08.2014
* Author: chris
*/
#ifndef UART_COMMANDS_H_
#define UART_COMMANDS_H_
void uartcmd_process(void);
#endif /* UART_COMMANDS_H_ */

7
src/util.c
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@ -19,6 +19,9 @@ extern jmp_buf newmode_jmpbuf;
# include "can/borg_can.h"
#endif
#ifdef UART_SUPPORT
# include "uart/uart_commands.h"
#endif
void wait(int ms){
/* Always use Timer1 except for the Arduino/LoL Shield platform. */
@ -41,6 +44,10 @@ void wait(int ms){
bcan_process_messages();
#endif
#ifdef UART_SUPPORT
uartcmd_process();
#endif
#ifdef RFM12_SUPPORT
borg_rfm12_tick();
#endif