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Corwin Perren
2017-11-29 12:51:53 -08:00
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20
OSU Robotics Club/Mars Rover 2013-2014/Control Board Firmware/FinalBoardFirmware/DistanceRadioRover/DistanceRadioRover/DistanceRadioRover.atsln Normal file
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Microsoft Visual Studio Solution File, Format Version 11.00
# Atmel Studio Solution File, Format Version 11.00
Project("{E66E83B9-2572-4076-B26E-6BE79FF3018A}") = "DistanceRadioRover", "DistanceRadioRover.cppproj", "{0646594B-D684-48EF-AAB5-9601FAFC53D7}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|AVR = Debug|AVR
Release|AVR = Release|AVR
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{0646594B-D684-48EF-AAB5-9601FAFC53D7}.Debug|AVR.ActiveCfg = Debug|AVR
{0646594B-D684-48EF-AAB5-9601FAFC53D7}.Debug|AVR.Build.0 = Debug|AVR
{0646594B-D684-48EF-AAB5-9601FAFC53D7}.Release|AVR.ActiveCfg = Release|AVR
{0646594B-D684-48EF-AAB5-9601FAFC53D7}.Release|AVR.Build.0 = Release|AVR
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
EndGlobal

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OSU Robotics Club/Mars Rover 2013-2014/Control Board Firmware/FinalBoardFirmware/DistanceRadioRover/DistanceRadioRover/DistanceRadioRover.atsuo Normal file
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OSU Robotics Club/Mars Rover 2013-2014/Control Board Firmware/FinalBoardFirmware/DistanceRadioRover/DistanceRadioRover/DistanceRadioRover.cpp Normal file
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/*
* DistanceRadioRover.cpp
*
* Created: 4/23/2014 2:39:40 AM
* Author: corwin
*/
#include <avr/io.h>
int main(void)
{
while(1)
{
//TODO:: Please write your application code
}
}

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OSU Robotics Club/Mars Rover 2013-2014/Control Board Firmware/FinalBoardFirmware/DistanceRadioRover/DistanceRadioRover/DistanceRadioRover.cppproj Normal file
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<?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<PropertyGroup>
<SchemaVersion>2.0</SchemaVersion>
<ProjectVersion>6.2</ProjectVersion>
<ToolchainName>com.Atmel.AVRGCC8.CPP</ToolchainName>
<ProjectGuid>{0646594b-d684-48ef-aab5-9601fafc53d7}</ProjectGuid>
<avrdevice>ATxmega32D4</avrdevice>
<avrdeviceseries>none</avrdeviceseries>
<OutputType>Executable</OutputType>
<Language>CPP</Language>
<OutputFileName>$(MSBuildProjectName)</OutputFileName>
<OutputFileExtension>.elf</OutputFileExtension>
<OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
<AssemblyName>DistanceRadioRover</AssemblyName>
<Name>DistanceRadioRover</Name>
<RootNamespace>DistanceRadioRover</RootNamespace>
<ToolchainFlavour>Native</ToolchainFlavour>
<KeepTimersRunning>true</KeepTimersRunning>
<OverrideVtor>false</OverrideVtor>
<CacheFlash>true</CacheFlash>
<ProgFlashFromRam>true</ProgFlashFromRam>
<RamSnippetAddress />
<UncachedRange />
<OverrideVtorValue />
<BootSegment>2</BootSegment>
<eraseonlaunchrule>1</eraseonlaunchrule>
<AsfFrameworkConfig>
<framework-data xmlns="">
<options />
<configurations />
<files />
<documentation help="" />
<offline-documentation help="" />
<dependencies>
<content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.15.0" />
</dependencies>
</framework-data>
</AsfFrameworkConfig>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
<ToolchainSettings>
<AvrGccCpp>
<avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
<avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
<avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
<avrgcc.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
<avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
<avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
<avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
<avrgcc.compiler.symbols.DefSymbols>
<ListValues>
<Value>NDEBUG</Value>
</ListValues>
</avrgcc.compiler.symbols.DefSymbols>
<avrgcc.compiler.optimization.level>Optimize for size (-Os)</avrgcc.compiler.optimization.level>
<avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
<avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
<avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
<avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
<avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
<avrgcccpp.compiler.symbols.DefSymbols>
<ListValues>
<Value>NDEBUG</Value>
</ListValues>
</avrgcccpp.compiler.symbols.DefSymbols>
<avrgcccpp.compiler.optimization.level>Optimize for size (-Os)</avrgcccpp.compiler.optimization.level>
<avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
<avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
<avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
<avrgcccpp.linker.libraries.Libraries>
<ListValues>
<Value>libm</Value>
</ListValues>
</avrgcccpp.linker.libraries.Libraries>
</AvrGccCpp>
</ToolchainSettings>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
<ToolchainSettings>
<AvrGccCpp>
<avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
<avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
<avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
<avrgcc.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
<avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
<avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
<avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
<avrgcc.compiler.symbols.DefSymbols>
<ListValues>
<Value>DEBUG</Value>
</ListValues>
</avrgcc.compiler.symbols.DefSymbols>
<avrgcc.compiler.optimization.level>Optimize (-O1)</avrgcc.compiler.optimization.level>
<avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
<avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
<avrgcc.compiler.optimization.DebugLevel>Default (-g2)</avrgcc.compiler.optimization.DebugLevel>
<avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
<avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
<avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
<avrgcccpp.compiler.symbols.DefSymbols>
<ListValues>
<Value>DEBUG</Value>
</ListValues>
</avrgcccpp.compiler.symbols.DefSymbols>
<avrgcccpp.compiler.optimization.level>Optimize (-O1)</avrgcccpp.compiler.optimization.level>
<avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
<avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
<avrgcccpp.compiler.optimization.DebugLevel>Default (-g2)</avrgcccpp.compiler.optimization.DebugLevel>
<avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
<avrgcccpp.linker.libraries.Libraries>
<ListValues>
<Value>libm</Value>
</ListValues>
</avrgcccpp.linker.libraries.Libraries>
<avrgcccpp.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcccpp.assembler.debugging.DebugLevel>
</AvrGccCpp>
</ToolchainSettings>
</PropertyGroup>
<ItemGroup>
<Compile Include="DistanceRadioRover.cpp">
<SubType>compile</SubType>
</Compile>
</ItemGroup>
<Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
</Project>

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/* This file has been prepared for Doxygen automatic documentation generation.*/
/*! \file *********************************************************************
*
* \brief This file implements some macros that makes the IAR C-compiler and
* avr-gcc work with the same code base for the AVR architecture.
*
* \par Documentation
* For comprehensive code documentation, supported compilers, compiler
* settings and supported devices see readme.html
*
* \author
* Atmel Corporation: http://www.atmel.com \n
* Support email: avr@atmel.com
*
* $Revision: 1694 $
* $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $ \n
*
* Copyright (c) 2008, Atmel Corporation All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. The name of ATMEL may not be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
* SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
******************************************************************************/
#ifndef COMPILER_AVR_H
#define COMPILER_AVR_H
#ifndef F_CPU
/*! \brief Define default CPU frequency, if this is not already defined. */
#define F_CPU 2000000UL
#endif
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
/*! \brief This macro will protect the following code from interrupts. */
#define AVR_ENTER_CRITICAL_REGION( ) uint8_t volatile saved_sreg = SREG; \
cli();
/*! \brief This macro must always be used in conjunction with AVR_ENTER_CRITICAL_REGION
* so the interrupts are enabled again.
*/
#define AVR_LEAVE_CRITICAL_REGION( ) SREG = saved_sreg;
#if defined( __ICCAVR__ )
#include <inavr.h>
#include <ioavr.h>
#include <intrinsics.h>
#include <pgmspace.h>
#ifndef __HAS_ELPM__
#define _MEMATTR __flash
#else /* __HAS_ELPM__ */
#define _MEMATTR __farflash
#endif /* __HAS_ELPM__ */
/*! \brief Perform a delay of \c us microseconds.
*
* The macro F_CPU is supposed to be defined to a constant defining the CPU
* clock frequency (in Hertz).
*
* The maximal possible delay is 262.14 ms / F_CPU in MHz.
*
* \note For the IAR compiler, currently F_CPU must be a
* multiple of 1000000UL (1 MHz).
*/
#define delay_us( us ) ( __delay_cycles( ( F_CPU / 1000000UL ) * ( us ) ) )
/*! \brief Preprocessor magic.
*
* Some preprocessor magic to allow for a header file abstraction of
* interrupt service routine declarations for the IAR compiler. This
* requires the use of the C99 _Pragma() directive (rather than the
* old #pragma one that could not be used as a macro replacement), as
* well as two different levels of preprocessor concetanations in
* order to do both, assign the correct interrupt vector name, as well
* as construct a unique function name for the ISR.
*
* \note Do *NOT* try to reorder the macros below, as this will only
* work in the given order.
*/
#define PRAGMA(x) _Pragma( #x )
#define ISR(vec) PRAGMA( vector=vec ) __interrupt void handler_##vec(void)
#define sei( ) (__enable_interrupt( ))
#define cli( ) (__disable_interrupt( ))
/*! \brief Define the no operation macro. */
#define nop( ) (__no_operation())
/*! \brief Define the watchdog reset macro. */
#define watchdog_reset( ) (__watchdog_reset( ))
#define INLINE PRAGMA( inline=forced ) static
#define FLASH_DECLARE(x) _MEMATTR x
#define FLASH_STRING(x) ((_MEMATTR const char *)(x))
#define FLASH_STRING_T char const _MEMATTR *
#define FLASH_BYTE_ARRAY_T uint8_t const _MEMATTR *
#define PGM_READ_BYTE(x) *(x)
#define PGM_READ_WORD(x) *(x)
#define SHORTENUM /**/
#elif defined( __GNUC__ )
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
/*! \brief Define the delay_us macro for GCC. */
#define delay_us( us ) (_delay_us( us ))
#define INLINE static inline
/*! \brief Define the no operation macro. */
#define nop() do { __asm__ __volatile__ ("nop"); } while (0)
#define MAIN_TASK_PROLOGUE int
#define MAIN_TASK_EPILOGUE() return -1;
#define SHORTENUM __attribute__ ((packed))
#else
#error Compiler not supported.
#endif
#endif

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/* This file has been prepared for Doxygen automatic documentation generation.*/
/*! \file *********************************************************************
*
* \brief
* XMEGA USART driver source file.
*
* This file contains the function implementations the XMEGA interrupt
* and polled USART driver.
*
* The driver is not intended for size and/or speed critical code, since
* most functions are just a few lines of code, and the function call
* overhead would decrease code performance. The driver is intended for
* rapid prototyping and documentation purposes for getting started with
* the XMEGA ADC module.
*
* For size and/or speed critical code, it is recommended to copy the
* function contents directly into your application instead of making
* a function call.
*
* Some functions use the following construct:
* "some_register = ... | (some_parameter ? SOME_BIT_bm : 0) | ..."
* Although the use of the ternary operator ( if ? then : else ) is discouraged,
* in some occasions the operator makes it possible to write pretty clean and
* neat code. In this driver, the construct is used to set or not set a
* configuration bit based on a boolean input parameter, such as
* the "some_parameter" in the example above.
*
* \par Application note:
* AVR1307: Using the XMEGA USART
*
* \par Documentation
* For comprehensive code documentation, supported compilers, compiler
* settings and supported devices see readme.html
*
* \author
* Atmel Corporation: http://www.atmel.com \n
* Support email: avr@atmel.com
*
* $Revision: 1694 $
* $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $ \n
*
* Copyright (c) 2008, Atmel Corporation All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. The name of ATMEL may not be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
* SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*****************************************************************************/
#include "usart_driver.h"
/*! \brief Initializes buffer and selects what USART module to use.
*
* Initializes receive and transmit buffer and selects what USART module to use,
* and stores the data register empty interrupt level.
*
* \param usart_data The USART_data_t struct instance.
* \param usart The USART module.
* \param dreIntLevel Data register empty interrupt level.
*/
void USART_InterruptDriver_Initialize(USART_data_t * usart_data,
USART_t * usart,
USART_DREINTLVL_t dreIntLevel)
{
usart_data->usart = usart;
usart_data->dreIntLevel = dreIntLevel;
usart_data->buffer.RX_Tail = 0;
usart_data->buffer.RX_Head = 0;
usart_data->buffer.TX_Tail = 0;
usart_data->buffer.TX_Head = 0;
}
/*! \brief Set USART DRE interrupt level.
*
* Set the interrupt level on Data Register interrupt.
*
* \note Changing the DRE interrupt level in the interrupt driver while it is
* running will not change the DRE interrupt level in the USART before the
* DRE interrupt have been disabled and enabled again.
*
* \param usart_data The USART_data_t struct instance
* \param dreIntLevel Interrupt level of the DRE interrupt.
*/
void USART_InterruptDriver_DreInterruptLevel_Set(USART_data_t * usart_data,
USART_DREINTLVL_t dreIntLevel)
{
usart_data->dreIntLevel = dreIntLevel;
}
/*! \brief Test if there is data in the transmitter software buffer.
*
* This function can be used to test if there is free space in the transmitter
* software buffer.
*
* \param usart_data The USART_data_t struct instance.
*
* \retval true There is data in the receive buffer.
* \retval false The receive buffer is empty.
*/
bool USART_TXBuffer_FreeSpace(USART_data_t * usart_data)
{
/* Make copies to make sure that volatile access is specified. */
uint8_t tempHead = (usart_data->buffer.TX_Head + 1) & USART_TX_BUFFER_MASK;
uint8_t tempTail = usart_data->buffer.TX_Tail;
/* There are data left in the buffer unless Head and Tail are equal. */
return (tempHead != tempTail);
}
/*! \brief Put data (5-8 bit character).
*
* Stores data byte in TX software buffer and enables DRE interrupt if there
* is free space in the TX software buffer.
*
* \param usart_data The USART_data_t struct instance.
* \param data The data to send.
*/
bool USART_TXBuffer_PutByte(USART_data_t * usart_data, uint8_t data)
{
uint8_t tempCTRLA;
uint8_t tempTX_Head;
bool TXBuffer_FreeSpace;
USART_Buffer_t * TXbufPtr;
TXbufPtr = &usart_data->buffer;
TXBuffer_FreeSpace = USART_TXBuffer_FreeSpace(usart_data);
if(TXBuffer_FreeSpace)
{
tempTX_Head = TXbufPtr->TX_Head;
TXbufPtr->TX[tempTX_Head]= data;
/* Advance buffer head. */
TXbufPtr->TX_Head = (tempTX_Head + 1) & USART_TX_BUFFER_MASK;
/* Enable DRE interrupt. */
tempCTRLA = usart_data->usart->CTRLA;
tempCTRLA = (tempCTRLA & ~USART_DREINTLVL_gm) | usart_data->dreIntLevel;
usart_data->usart->CTRLA = tempCTRLA;
}
return TXBuffer_FreeSpace;
}
/*! \brief Test if there is data in the receive software buffer.
*
* This function can be used to test if there is data in the receive software
* buffer.
*
* \param usart_data The USART_data_t struct instance
*
* \retval true There is data in the receive buffer.
* \retval false The receive buffer is empty.
*/
bool USART_RXBufferData_Available(USART_data_t * usart_data)
{
/* Make copies to make sure that volatile access is specified. */
uint8_t tempHead = usart_data->buffer.RX_Head;
uint8_t tempTail = usart_data->buffer.RX_Tail;
/* There are data left in the buffer unless Head and Tail are equal. */
return (tempHead != tempTail);
}
/*! \brief Get received data (5-8 bit character).
*
* The function USART_RXBufferData_Available should be used before this
* function is used to ensure that data is available.
*
* Returns data from RX software buffer.
*
* \param usart_data The USART_data_t struct instance.
*
* \return Received data.
*/
uint8_t USART_RXBuffer_GetByte(USART_data_t * usart_data)
{
USART_Buffer_t * bufPtr;
uint8_t ans;
bufPtr = &usart_data->buffer;
ans = (bufPtr->RX[bufPtr->RX_Tail]);
/* Advance buffer tail. */
bufPtr->RX_Tail = (bufPtr->RX_Tail + 1) & USART_RX_BUFFER_MASK;
return ans;
}
/*! \brief RX Complete Interrupt Service Routine.
*
* RX Complete Interrupt Service Routine.
* Stores received data in RX software buffer.
*
* \param usart_data The USART_data_t struct instance.
*/
bool USART_RXComplete(USART_data_t * usart_data)
{
USART_Buffer_t * bufPtr;
bool ans;
bufPtr = &usart_data->buffer;
/* Advance buffer head. */
uint8_t tempRX_Head = (bufPtr->RX_Head + 1) & USART_RX_BUFFER_MASK;
/* Check for overflow. */
uint8_t tempRX_Tail = bufPtr->RX_Tail;
uint8_t data = usart_data->usart->DATA;
if (tempRX_Head == tempRX_Tail) {
ans = false;
}else{
ans = true;
usart_data->buffer.RX[usart_data->buffer.RX_Head] = data;
usart_data->buffer.RX_Head = tempRX_Head;
}
return ans;
}
/*! \brief Data Register Empty Interrupt Service Routine.
*
* Data Register Empty Interrupt Service Routine.
* Transmits one byte from TX software buffer. Disables DRE interrupt if buffer
* is empty. Argument is pointer to USART (USART_data_t).
*
* \param usart_data The USART_data_t struct instance.
*/
void USART_DataRegEmpty(USART_data_t * usart_data)
{
USART_Buffer_t * bufPtr;
bufPtr = &usart_data->buffer;
/* Check if all data is transmitted. */
uint8_t tempTX_Tail = usart_data->buffer.TX_Tail;
if (bufPtr->TX_Head == tempTX_Tail){
/* Disable DRE interrupts. */
uint8_t tempCTRLA = usart_data->usart->CTRLA;
tempCTRLA = (tempCTRLA & ~USART_DREINTLVL_gm) | USART_DREINTLVL_OFF_gc;
usart_data->usart->CTRLA = tempCTRLA;
}else{
/* Start transmitting. */
uint8_t data = bufPtr->TX[usart_data->buffer.TX_Tail];
usart_data->usart->DATA = data;
/* Advance buffer tail. */
bufPtr->TX_Tail = (bufPtr->TX_Tail + 1) & USART_TX_BUFFER_MASK;
}
}
/*! \brief Put data (9 bit character).
*
* Use the function USART_IsTXDataRegisterEmpty before using this function to
* put 9 bit character to the TX register.
*
* \param usart The USART module.
* \param data The data to send.
*/
void USART_NineBits_PutChar(USART_t * usart, uint16_t data)
{
if(data & 0x0100) {
usart->CTRLB |= USART_TXB8_bm;
}else {
usart->CTRLB &= ~USART_TXB8_bm;
}
usart->DATA = (data & 0x00FF);
}
/*! \brief Get received data (9 bit character).
*
* This function reads out the received 9 bit character (uint16_t).
* Use the function USART_IsRXComplete to check if anything is received.
*
* \param usart The USART module.
*
* \retval Received data.
*/
uint16_t USART_NineBits_GetChar(USART_t * usart)
{
if(usart->CTRLB & USART_RXB8_bm) {
return(0x0100 | usart->DATA);
}else {
return(usart->DATA);
}
}

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/* This file has been prepared for Doxygen automatic documentation generation.*/
/*! \file *********************************************************************
*
* \brief XMEGA USART driver header file.
*
* This file contains the function prototypes and enumerator definitions
* for various configuration parameters for the XMEGA USART driver.
*
* The driver is not intended for size and/or speed critical code, since
* most functions are just a few lines of code, and the function call
* overhead would decrease code performance. The driver is intended for
* rapid prototyping and documentation purposes for getting started with
* the XMEGA ADC module.
*
* For size and/or speed critical code, it is recommended to copy the
* function contents directly into your application instead of making
* a function call.
*
* \par Application note:
* AVR1307: Using the XMEGA USART
*
* \par Documentation
* For comprehensive code documentation, supported compilers, compiler
* settings and supported devices see readme.html
*
* \author
* Atmel Corporation: http://www.atmel.com \n
* Support email: avr@atmel.com
*
* $Revision: 1694 $
* $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $ \n
*
* Copyright (c) 2008, Atmel Corporation All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. The name of ATMEL may not be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
* SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*****************************************************************************/
#ifndef USART_DRIVER_H
#define USART_DRIVER_H
#include "avr_compiler.h"
/* USART buffer defines. */
/* \brief Receive buffer size: 2,4,8,16,32,64,128 or 256 bytes. */
#define USART_RX_BUFFER_SIZE 4
/* \brief Transmit buffer size: 2,4,8,16,32,64,128 or 256 bytes */
#define USART_TX_BUFFER_SIZE 4
/* \brief Receive buffer mask. */
#define USART_RX_BUFFER_MASK ( USART_RX_BUFFER_SIZE - 1 )
/* \brief Transmit buffer mask. */
#define USART_TX_BUFFER_MASK ( USART_TX_BUFFER_SIZE - 1 )
#if ( USART_RX_BUFFER_SIZE & USART_RX_BUFFER_MASK )
#error RX buffer size is not a power of 2
#endif
#if ( USART_TX_BUFFER_SIZE & USART_TX_BUFFER_MASK )
#error TX buffer size is not a power of 2
#endif
/* \brief USART transmit and receive ring buffer. */
typedef struct USART_Buffer
{
/* \brief Receive buffer. */
volatile uint8_t RX[USART_RX_BUFFER_SIZE];
/* \brief Transmit buffer. */
volatile uint8_t TX[USART_TX_BUFFER_SIZE];
/* \brief Receive buffer head. */
volatile uint8_t RX_Head;
/* \brief Receive buffer tail. */
volatile uint8_t RX_Tail;
/* \brief Transmit buffer head. */
volatile uint8_t TX_Head;
/* \brief Transmit buffer tail. */
volatile uint8_t TX_Tail;
} USART_Buffer_t;
/*! \brief Struct used when interrupt driven driver is used.
*
* Struct containing pointer to a usart, a buffer and a location to store Data
* register interrupt level temporary.
*/
typedef struct Usart_and_buffer
{
/* \brief Pointer to USART module to use. */
USART_t * usart;
/* \brief Data register empty interrupt level. */
USART_DREINTLVL_t dreIntLevel;
/* \brief Data buffer. */
USART_Buffer_t buffer;
} USART_data_t;
/* Macros. */
/*! \brief Macro that sets the USART frame format.
*
* Sets the frame format, Frame Size, parity mode and number of stop bits.
*
* \param _usart Pointer to the USART module
* \param _charSize The character size. Use USART_CHSIZE_t type.
* \param _parityMode The parity Mode. Use USART_PMODE_t type.
* \param _twoStopBits Enable two stop bit mode. Use bool type.
*/
#define USART_Format_Set(_usart, _charSize, _parityMode, _twoStopBits) \
(_usart)->CTRLC = (uint8_t) _charSize | _parityMode | \
(_twoStopBits ? USART_SBMODE_bm : 0)
/*! \brief Set USART baud rate.
*
* Sets the USART's baud rate register.
*
* UBRR_Value : Value written to UBRR
* ScaleFactor : Time Base Generator Scale Factor
*
* Equation for calculation of BSEL value in asynchronous normal speed mode:
* If ScaleFactor >= 0
* BSEL = ((I/O clock frequency)/(2^(ScaleFactor)*16*Baudrate))-1
* If ScaleFactor < 0
* BSEL = (1/(2^(ScaleFactor)*16))*(((I/O clock frequency)/Baudrate)-1)
*
* \note See XMEGA manual for equations for calculation of BSEL value in other
* modes.
*
* \param _usart Pointer to the USART module.
* \param _bselValue Value to write to BSEL part of Baud control register.
* Use uint16_t type.
* \param _bScaleFactor USART baud rate scale factor.
* Use uint8_t type
*/
#define USART_Baudrate_Set(_usart, _bselValue, _bScaleFactor) \
(_usart)->BAUDCTRLA =(uint8_t)_bselValue; \
(_usart)->BAUDCTRLB =(_bScaleFactor << USART_BSCALE0_bp)|(_bselValue >> 8)
/*! \brief Enable USART receiver.
*
* \param _usart Pointer to the USART module
*/
#define USART_Rx_Enable(_usart) ((_usart)->CTRLB |= USART_RXEN_bm)
/*! \brief Disable USART receiver.
*
* \param _usart Pointer to the USART module.
*/
#define USART_Rx_Disable(_usart) ((_usart)->CTRLB &= ~USART_RXEN_bm)
/*! \brief Enable USART transmitter.
*
* \param _usart Pointer to the USART module.
*/
#define USART_Tx_Enable(_usart) ((_usart)->CTRLB |= USART_TXEN_bm)
/*! \brief Disable USART transmitter.
*
* \param _usart Pointer to the USART module.
*/
#define USART_Tx_Disable(_usart) ((_usart)->CTRLB &= ~USART_TXEN_bm)
/*! \brief Set USART RXD interrupt level.
*
* Sets the interrupt level on RX Complete interrupt.
*
* \param _usart Pointer to the USART module.
* \param _rxdIntLevel Interrupt level of the RXD interrupt.
* Use USART_RXCINTLVL_t type.
*/
#define USART_RxdInterruptLevel_Set(_usart, _rxdIntLevel) \
((_usart)->CTRLA = ((_usart)->CTRLA & ~USART_RXCINTLVL_gm) | _rxdIntLevel)
/*! \brief Set USART TXD interrupt level.
*
* Sets the interrupt level on TX Complete interrupt.
*
* \param _usart Pointer to the USART module.
* \param _txdIntLevel Interrupt level of the TXD interrupt.
* Use USART_TXCINTLVL_t type.
*/
#define USART_TxdInterruptLevel_Set(_usart, _txdIntLevel) \
(_usart)->CTRLA = ((_usart)->CTRLA & ~USART_TXCINTLVL_gm) | _txdIntLevel
/*! \brief Set USART DRE interrupt level.
*
* Sets the interrupt level on Data Register interrupt.
*
* \param _usart Pointer to the USART module.
* \param _dreIntLevel Interrupt level of the DRE interrupt.
* Use USART_DREINTLVL_t type.
*/
#define USART_DreInterruptLevel_Set(_usart, _dreIntLevel) \
(_usart)->CTRLA = ((_usart)->CTRLA & ~USART_DREINTLVL_gm) | _dreIntLevel
/*! \brief Set the mode the USART run in.
*
* Set the mode the USART run in. The default mode is asynchronous mode.
*
* \param _usart Pointer to the USART module register section.
* \param _usartMode Selects the USART mode. Use USART_CMODE_t type.
*
* USART modes:
* - 0x0 : Asynchronous mode.
* - 0x1 : Synchronous mode.
* - 0x2 : IrDA mode.
* - 0x3 : Master SPI mode.
*/
#define USART_SetMode(_usart, _usartMode) \
((_usart)->CTRLC = ((_usart)->CTRLC & (~USART_CMODE_gm)) | _usartMode)
/*! \brief Check if data register empty flag is set.
*
* \param _usart The USART module.
*/
#define USART_IsTXDataRegisterEmpty(_usart) (((_usart)->STATUS & USART_DREIF_bm) != 0)
/*! \brief Put data (5-8 bit character).
*
* Use the macro USART_IsTXDataRegisterEmpty before using this function to
* put data to the TX register.
*
* \param _usart The USART module.
* \param _data The data to send.
*/
#define USART_PutChar(_usart, _data) ((_usart)->DATA = _data)
/*! \brief Checks if the RX complete interrupt flag is set.
*
* Checks if the RX complete interrupt flag is set.
*
* \param _usart The USART module.
*/
#define USART_IsRXComplete(_usart) (((_usart)->STATUS & USART_RXCIF_bm) != 0)
/*! \brief Get received data (5-8 bit character).
*
* This macro reads out the RX register.
* Use the macro USART_RX_Complete to check if anything is received.
*
* \param _usart The USART module.
*
* \retval Received data.
*/
#define USART_GetChar(_usart) ((_usart)->DATA)
/* Functions for interrupt driven driver. */
void USART_InterruptDriver_Initialize(USART_data_t * usart_data,
USART_t * usart,
USART_DREINTLVL_t dreIntLevel );
void USART_InterruptDriver_DreInterruptLevel_Set(USART_data_t * usart_data,
USART_DREINTLVL_t dreIntLevel);
bool USART_TXBuffer_FreeSpace(USART_data_t * usart_data);
bool USART_TXBuffer_PutByte(USART_data_t * usart_data, uint8_t data);
bool USART_RXBufferData_Available(USART_data_t * usart_data);
uint8_t USART_RXBuffer_GetByte(USART_data_t * usart_data);
bool USART_RXComplete(USART_data_t * usart_data);
void USART_DataRegEmpty(USART_data_t * usart_data);
/* Functions for polled driver. */
void USART_NineBits_PutChar(USART_t * usart, uint16_t data);
uint16_t USART_NineBits_GetChar(USART_t * usart);
#endif

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Firmware for all final boards should go here.
All firmware developed using Atmel Studio 6.2.