void LcdLogic::wireHook(avr_t *avr) { this->avr = avr; hd44780_init(avr, &hd44780, WIDTH, HEIGHT, this, LcdLogic::displayChanged); /* Connect data lines to Port C, 4-7 (bidirectional). */ for (int i = 0; i < 4; i++) { avr_irq_t * iavr = avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 4 + i); avr_irq_t * ilcd = hd44780.irq + IRQ_HD44780_D4 + i; // AVR -> LCD avr_connect_irq(iavr, ilcd); // LCD -> AVR avr_connect_irq(ilcd, iavr); } avr_connect_irq(avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 2), hd44780.irq + IRQ_HD44780_RS); avr_connect_irq(avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 3), hd44780.irq + IRQ_HD44780_E); /* RW is set to GND. */ avr_vcd_init(avr, "lcd.vcd", &vcdFile, 100000); avr_vcd_add_signal(&vcdFile, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), IOPORT_IRQ_PIN_ALL), 4 /* bits */, "D4-D7"); avr_vcd_add_signal(&vcdFile, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 2), 1 /* bits */, "RS"); avr_vcd_add_signal(&vcdFile, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 3), 1 /* bits */, "E"); }
void LedButtonsLogic::wireHook(avr_t *avr) { this->avr = avr; /* Every port has 8 pins. */ const int count = strlen(ports) * 8; /* Construct the port names. */ int nameLength = sizeof("PORTA0"); const char *names[count]; char _names[count * nameLength]; char *s = _names; for (int i = 0; i < count; i++) { int port = i / 8; int pin = i % 8; snprintf(s, nameLength, "PORT%c%d", ports[port], pin); names[i] = s; s += nameLength; } irq = avr_alloc_irq(&avr->irq_pool, 0, count, names); for (int i = 0; i < count; i++) { int port = i / 8; int pin = i % 8; avr_connect_irq(irq + i, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ(ports[port]), pin)); /* We need this helper struct to keep track of 1) which port the IRQ came from, * and 2) which class instance to notify. */ CallbackData *d = new CallbackData; d->instance = this; d->port = 'A' + port; callbackData.append(d); avr_irq_register_notify(avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ(ports[port]), pin), LedButtonsLogic::pinChanged, d); } avr_vcd_init(avr, "ledbuttons.vcd", &vcdFile, 100000); for (int i = 0; i < 8; i++) { char name[6]; snprintf(name, 6, "PORT%c", ports[i]); avr_vcd_add_signal(&vcdFile, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ(ports[i]), IOPORT_IRQ_PIN_ALL), 8 /* bits */, name); } }
int main(int argc, char *argv[]) { elf_firmware_t f; const char *fname="../src/binw2.elf"; const char *mmcu="attiny13"; elf_read_firmware(fname, &f); snprintf(f.mmcu, sizeof(f.mmcu) - 1, "%s", mmcu); f.frequency = 4800000; printf("firmware %s f=%d mmcu=%s\n", fname, (int)f.frequency, f.mmcu); avr = avr_make_mcu_by_name(f.mmcu); if (!avr) { fprintf(stderr, "%s: AVR '%s' not known\n", argv[0], f.mmcu); exit(1); } avr_init(avr); avr_load_firmware(avr, &f); // initialize our 'peripheral' button_init(avr, &button, "button"); // "connect" the output irq of the button to the port pin of the AVR avr_connect_irq( button.irq + IRQ_BUTTON_OUT, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), IOPORT_IRQ_PIN4)); avr_irq_register_notify( avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), IOPORT_IRQ_DIRECTION_ALL), ddr_hook, NULL); avr_irq_register_notify( avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), IOPORT_IRQ_PIN_ALL), pin_changed_hook, "portb"); // even if not setup at startup, activate gdb if crashing avr->gdb_port = 1234; //if (0) { // //avr->state = cpu_Stopped; // avr_gdb_init(avr); //} /* * VCD file initialization * * This will allow you to create a "wave" file and display it in gtkwave * Pressing "r" and "s" during the demo will start and stop recording * the pin changes */ avr_vcd_init(avr, "gtkwave_output.vcd", &vcd_file, 100000 /* usec */); avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), IOPORT_IRQ_PIN_ALL), 8 /* bits */ , "portb" ); avr_vcd_add_signal(&vcd_file, button.irq + IRQ_BUTTON_OUT, 1 /* bits */ , "button" ); // 'raise' it, it's a "pullup" avr_raise_irq(button.irq + IRQ_BUTTON_OUT, 0); printf( "Launching binw2 simulation\n" " Press 'space' to press virtual button attached to pin %d\n" " Press 'q' to quit\n" " Press 'r' to start recording a 'wave' file\n" " Press 's' to stop recording\n", IOPORT_IRQ_PIN4); /* * OpenGL init, can be ignored */ glutInit(&argc, argv); /* initialize GLUT system */ glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE); glutInitWindowSize(5 * SZ_PIXSIZE, 7 * SZ_PIXSIZE); window = glutCreateWindow("Glut"); /* create window */ // Set up projection matrix glMatrixMode(GL_PROJECTION); // Select projection matrix glLoadIdentity(); // Start with an identity matrix glOrtho(0, 5 * SZ_PIXSIZE, 0, 7 * SZ_PIXSIZE, 0, 10); //glScalef(1, -1, 1); //glTranslatef(0, -7 * SZ_PIXSIZE, 0); glutDisplayFunc(displayCB); /* set window's display callback */ glutKeyboardFunc(keyCB); /* set window's key callback */ glutTimerFunc(1000 / 24, timerCB, 0); // the AVR run on it's own thread. it even allows for debugging! pthread_t run; pthread_create(&run, NULL, avr_run_thread, NULL); glutMainLoop(); }
int main(int argc, char *argv[]) { elf_firmware_t f; //const char * fname = "atmega48_ledramp.axf"; const char * fname = argv[1]; char path[256]; // sprintf(path, "%s/%s", dirname(argv[0]), fname); // printf("Firmware pathname is %s\n", path); elf_read_firmware(fname, &f); printf("firmware %s f=%d mmcu=%s\n", fname, (int)f.frequency, f.mmcu); avr = avr_make_mcu_by_name(f.mmcu); if (!avr) { fprintf(stderr, "%s: AVR '%s' now known\n", argv[0], f.mmcu); exit(1); } avr_init(avr); avr_load_firmware(avr, &f); // initialize our 'peripheral' button_init(avr, &button, "button"); // "connect" the output irw of the button to the port pin of the AVR avr_connect_irq( button.irq + IRQ_BUTTON_OUT, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 0)); // connect all the pins on port B to our callback for (int i = 0; i < 8; i++) avr_irq_register_notify( avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), i), pin_changed_hook, NULL); // even if not setup at startup, activate gdb if crashing avr->gdb_port = 1234; if (0) { //avr->state = cpu_Stopped; avr_gdb_init(avr); } /* * VCD file initialization * * This will allow you to create a "wave" file and display it in gtkwave * Pressing "r" and "s" during the demo will start and stop recording * the pin changes */ avr_vcd_init(avr, "gtkwave_output.vcd", &vcd_file, 100000 /* usec */); avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), IOPORT_IRQ_PIN_ALL), 8 /* bits */ , "portb" ); avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), IOPORT_IRQ_PIN0), 1, "portc"); avr_vcd_add_signal(&vcd_file, button.irq + IRQ_BUTTON_OUT, 1 /* bits */ , "button" ); // 'raise' it, it's a "pullup" avr_raise_irq(button.irq + IRQ_BUTTON_OUT, 1); printf( "Demo launching: 'LED' bar is PORTB, updated every 1/64s by the AVR\n" " firmware using a timer. If you press 'space' this presses a virtual\n" " 'button' that is hooked to the virtual PORTC pin 0 and will\n" " trigger a 'pin change interrupt' in the AVR core, and will 'invert'\n" " the display.\n" " Press 'q' to quit\n\n" " Press 'r' to start recording a 'wave' file\n" " Press 's' to stop recording\n" ); /* * OpenGL init, can be ignored */ glutInit(&argc, argv); /* initialize GLUT system */ glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE); glutInitWindowSize(8 * pixsize, 1 * pixsize); /* width=400pixels height=500pixels */ window = glutCreateWindow("Glut"); /* create window */ // Set up projection matrix glMatrixMode(GL_PROJECTION); // Select projection matrix glLoadIdentity(); // Start with an identity matrix glOrtho(0, 8 * pixsize, 0, 1 * pixsize, 0, 10); glScalef(1,-1,1); glTranslatef(0, -1 * pixsize, 0); glutDisplayFunc(displayCB); /* set window's display callback */ glutKeyboardFunc(keyCB); /* set window's key callback */ glutTimerFunc(1000 / 24, timerCB, 0); // the AVR run on it's own thread. it even allows for debugging! pthread_t run; pthread_create(&run, NULL, avr_run_thread, NULL); glutMainLoop(); }
int main(int argc, char *argv[]) { elf_firmware_t f; const char * fname = "wordClock-erl"; char path[256]; // sprintf(path, "%s/%s", dirname(argv[0]), fname); // printf("Firmware pathname is %s\n", path); elf_read_firmware(fname, &f); strcpy( f.mmcu, "atmega168" ); // hack f.frequency = 16000000; printf("firmware %s f=%d mmcu=%s\n", fname, (int)f.frequency, f.mmcu); avr = avr_make_mcu_by_name(f.mmcu); if (!avr) { fprintf(stderr, "%s: AVR '%s' now known\n", argv[0], f.mmcu); exit(1); } avr_init(avr); avr_load_firmware(avr, &f); // initialize our 'peripheral' // button_init(avr, &button, "button"); // "connect" the output irw of the button to the port pin of the AVR /* avr_connect_irq( button.irq + IRQ_BUTTON_OUT, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 0)); */ // connect all the pins on port B to our callback #if 0 for (int i = 0; i < 8; i++) avr_irq_register_notify( avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), i), pin_changed_hook, NULL); #endif // even if not setup at startup, activate gdb if crashing avr->gdb_port = 1234; if (0) { //avr->state = cpu_Stopped; avr_gdb_init(avr); } /* * VCD file initialization * * This will allow you to create a "wave" file and display it in gtkwave * Pressing "r" and "s" during the demo will start and stop recording * the pin changes * * Initially set to 100 000 usec = 100 ms. I think it is how often * to flush its' log. */ avr_vcd_init(avr, "gtkwave_output.vcd", &vcd_file, 100 /* usec */); /* want MOSI, SCLK, XLAT, BLANK */ avr_vcd_add_signal( &vcd_file, avr_io_getirq(avr, AVR_IOCTL_SPI_GETIRQ(0), SPI_IRQ_OUTPUT), 8, "MOSI" ); avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 1 ), 1, "XLAT" ); avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 2 ), 1, "BLANK" ); avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 5 ), 1, "SCLK" ); #if 0 avr_vcd_add_signal(&vcd_file, button.irq + IRQ_BUTTON_OUT, 1 /* bits */ , "button" ); // 'raise' it, it's a "pullup" avr_raise_irq(button.irq + IRQ_BUTTON_OUT, 1); #endif avr_vcd_start( &vcd_file ); printf( "Demo launching. " ); #if 0 /* * OpenGL init, can be ignored */ glutInit(&argc, argv); /* initialize GLUT system */ glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE); glutInitWindowSize(8 * pixsize, 1 * pixsize); /* width=400pixels height=500pixels */ window = glutCreateWindow("Glut"); /* create window */ // Set up projection matrix glMatrixMode(GL_PROJECTION); // Select projection matrix glLoadIdentity(); // Start with an identity matrix glOrtho(0, 8 * pixsize, 0, 1 * pixsize, 0, 10); glScalef(1,-1,1); glTranslatef(0, -1 * pixsize, 0); glutDisplayFunc(displayCB); /* set window's display callback */ glutKeyboardFunc(keyCB); /* set window's key callback */ glutTimerFunc(1000 / 24, timerCB, 0); #endif // the AVR run on it's own thread. it even allows for debugging! pthread_t run; pthread_create(&run, NULL, avr_run_thread, NULL); sleep( 60 ); // wait 5 seconds, then exit. avr_vcd_stop(&vcd_file); /* glutMainLoop(); */ }
int main(int argc, char *argv[]) { int state; elf_firmware_t f; const char *fname = "../BasicMotorControl.elf"; const char *mmcu = "atmega328p"; if (elf_read_firmware(fname, &f) != 0) { exit(1); } f.frequency = 16000000; printf("firmware %s f=%d mmcu=%s\n", fname, (int)f.frequency, mmcu); avr = avr_make_mcu_by_name(mmcu); if (!avr) { fprintf(stderr, "%s: AVR '%s' not known\n", argv[0], mmcu); exit(1); } avr_init(avr); avr_load_firmware(avr, &f); #if 0 /* even if not setup at startup, activate gdb if crashing */ avr->gdb_port = 1234; avr->state = cpu_Stopped; avr_gdb_init(avr); #endif /* VCD file initialization */ avr_vcd_init(avr, "wave.vcd", &vcd_file, 10000 /* usec */); avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 0), 1, "B0" ); avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 1), 1, "B1" ); avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 2), 1, "B2" ); avr_vcd_add_signal(&vcd_file, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 3), 1, "B3" ); avr_vcd_start(&vcd_file); /* IRQ callback hooks */ avr_irq_register_notify( avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 0), pin_changed_hook, NULL); avr_irq_register_notify( avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 1), pin_changed_hook, NULL); avr_irq_register_notify( avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 2), pin_changed_hook, NULL); avr_irq_register_notify( avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 3), pin_changed_hook, NULL); /* show some info */ show_ports(avr); /* install signal handlers */ signal(SIGINT, sig_int); signal(SIGTERM, sig_int); /* main loop */ printf("*** Entering main loop ***\n"); while (1) { state = avr_run(avr); if (state == cpu_Done || state == cpu_Crashed) { printf("CPU State %d\n", state); break; } } avr_vcd_stop(&vcd_file); avr_terminate(avr); return 0; }
int main (int argc, char *argv[]) { elf_firmware_t firmware; const char *firmware_path = "../../../firmwares/blink-led.elf"; int rc = elf_read_firmware (firmware_path, &firmware); if (rc == -1) exit (1); printf ("firmware %s f=%d mmcu=%s\n", firmware_path, (int) firmware.frequency, firmware.mmcu); firmware.frequency = 16e6; avr = avr_make_mcu_by_name ("atmega2560"); // firmware.mmcu if (!avr) { fprintf (stderr, "%s: AVR '%s' not known\n", argv[0], firmware.mmcu); exit (1); } avr_init (avr); avr_load_firmware (avr, &firmware); avr->log = LOG_TRACE; avr->trace = 1; // connect all the pins on port B to our callback for (int i = 0; i < 8; i++) avr_irq_register_notify (avr_io_getirq (avr, AVR_IOCTL_IOPORT_GETIRQ ('B'), i), pin_changed_hook, NULL); /* * VCD file initialization * * This will allow you to create a "wave" file and display it in gtkwave Pressing "r" and "s" * during the demo will start and stop recording the pin changes */ avr_vcd_init (avr, "gtkwave_output.vcd", &vcd_file, 100000); // us avr_vcd_add_signal (&vcd_file, avr_io_getirq (avr, AVR_IOCTL_IOPORT_GETIRQ ('B'), IOPORT_IRQ_PIN_ALL), 8, // bits "porth"); printf (" Press 'q' to quit\n\n" " Press 'r' to start recording a 'wave' file\n" " Press 's' to stop recording\n"); // the AVR run on it's own thread. it even allows for debugging! pthread_t run; pthread_create (&run, NULL, avr_run_thread, NULL); while (1) { switch (getchar()) { case 'q': exit(0); break; case 'r': printf ("Starting VCD trace\n"); avr_vcd_start (&vcd_file); break; case 's': printf ("Stopping VCD trace\n"); avr_vcd_stop (&vcd_file); break; } fflush(stdin); fflush(stdout); // sleep (10); // s } }
int main(int argc, char *argv[]) { elf_firmware_t f; const char * fname = "atmega168_timer_64led.axf"; //char path[256]; // sprintf(path, "%s/%s", dirname(argv[0]), fname); //printf("Firmware pathname is %s\n", path); elf_read_firmware(fname, &f); printf("firmware %s f=%d mmcu=%s\n", fname, (int)f.frequency, f.mmcu); avr = avr_make_mcu_by_name(f.mmcu); if (!avr) { fprintf(stderr, "%s: AVR '%s' now known\n", argv[0], f.mmcu); exit(1); } avr_init(avr); avr_load_firmware(avr, &f); // // initialize our 'peripherals' // hc595_init(avr, &shifter); button_init(avr, &button[B_START], "button.start"); avr_connect_irq( button[B_START].irq + IRQ_BUTTON_OUT, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('C'), 0)); button_init(avr, &button[B_STOP], "button.stop"); avr_connect_irq( button[B_STOP].irq + IRQ_BUTTON_OUT, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 1)); button_init(avr, &button[B_RESET], "button.reset"); avr_connect_irq( button[B_RESET].irq + IRQ_BUTTON_OUT, avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('B'), 0)); // connects the fake 74HC595 array to the pins avr_irq_t * i_mosi = avr_io_getirq(avr, AVR_IOCTL_SPI_GETIRQ(0), SPI_IRQ_OUTPUT), * i_reset = avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('D'), 4), * i_latch = avr_io_getirq(avr, AVR_IOCTL_IOPORT_GETIRQ('D'), 7); avr_connect_irq(i_mosi, shifter.irq + IRQ_HC595_SPI_BYTE_IN); avr_connect_irq(i_reset, shifter.irq + IRQ_HC595_IN_RESET); avr_connect_irq(i_latch, shifter.irq + IRQ_HC595_IN_LATCH); avr_irq_t * i_pwm = avr_io_getirq(avr, AVR_IOCTL_TIMER_GETIRQ('0'), TIMER_IRQ_OUT_PWM0); avr_irq_register_notify( i_pwm, pwm_changed_hook, NULL); avr_irq_register_notify( shifter.irq + IRQ_HC595_OUT, hc595_changed_hook, NULL); // even if not setup at startup, activate gdb if crashing avr->gdb_port = 1234; if (0) { //avr->state = cpu_Stopped; avr_gdb_init(avr); } /* * VCD file initialization * * This will allow you to create a "wave" file and display it in gtkwave * Pressing "r" and "s" during the demo will start and stop recording * the pin changes */ avr_vcd_init(avr, "gtkwave_output.vcd", &vcd_file, 10000 /* usec */); avr_vcd_add_signal(&vcd_file, avr_get_interrupt_irq(avr, 7), 1 /* bit */ , "TIMER2_COMPA" ); avr_vcd_add_signal(&vcd_file, avr_get_interrupt_irq(avr, 17), 1 /* bit */ , "SPI_INT" ); avr_vcd_add_signal(&vcd_file, i_mosi, 8 /* bits */ , "MOSI" ); avr_vcd_add_signal(&vcd_file, i_reset, 1 /* bit */ , "595_RESET" ); avr_vcd_add_signal(&vcd_file, i_latch, 1 /* bit */ , "595_LATCH" ); avr_vcd_add_signal(&vcd_file, button[B_START].irq + IRQ_BUTTON_OUT, 1 /* bits */ , "start" ); avr_vcd_add_signal(&vcd_file, button[B_STOP].irq + IRQ_BUTTON_OUT, 1 /* bits */ , "stop" ); avr_vcd_add_signal(&vcd_file, button[B_RESET].irq + IRQ_BUTTON_OUT, 1 /* bits */ , "reset" ); avr_vcd_add_signal(&vcd_file, shifter.irq + IRQ_HC595_OUT, 32 /* bits */ , "HC595" ); avr_vcd_add_signal(&vcd_file, i_pwm, 8 /* bits */ , "PWM" ); // 'raise' it, it's a "pullup" avr_raise_irq(button[B_START].irq + IRQ_BUTTON_OUT, 1); avr_raise_irq(button[B_STOP].irq + IRQ_BUTTON_OUT, 1); avr_raise_irq(button[B_RESET].irq + IRQ_BUTTON_OUT, 1); printf( "Demo : This is a real world firmware, a 'stopwatch'\n" " timer that can count up to 99 days. It features a PWM control of the\n" " brightness, blinks the dots, displays the number of days spent and so on.\n\n" " Press '0' to press the 'start' button\n" " Press '1' to press the 'stop' button\n" " Press '2' to press the 'reset' button\n" " Press 'q' to quit\n\n" " Press 'r' to start recording a 'wave' file - with a LOT of data\n" " Press 's' to stop recording\n" " + Make sure to watch the brightness dim once you stop the timer\n\n" ); /* * OpenGL init, can be ignored */ glutInit(&argc, argv); /* initialize GLUT system */ int w = 22, h = 8; glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE); glutInitWindowSize(w * pixsize, h * pixsize); /* width=400pixels height=500pixels */ window = glutCreateWindow("Press 0, 1, 2 or q"); /* create window */ // Set up projection matrix glMatrixMode(GL_PROJECTION); // Select projection matrix glLoadIdentity(); // Start with an identity matrix glOrtho(0, w * pixsize, 0, h * pixsize, 0, 10); glScalef(1,-1,1); glTranslatef(0, -1 * h * pixsize, 0); glutDisplayFunc(displayCB); /* set window's display callback */ glutKeyboardFunc(keyCB); /* set window's key callback */ glutTimerFunc(1000 / 24, timerCB, 0); // the AVR run on it's own thread. it even allows for debugging! pthread_t run; pthread_create(&run, NULL, avr_run_thread, NULL); glutMainLoop(); }