}
void uart_putchar(char c, FILE *stream) {
if (c == '\n') {
uart_putchar('\r', stream);
}
loop_until_bit_is_set(UCSR0A, UDRE0);
UDR0 = c;
}
char uart_getchar(FILE *stream) {
loop_until_bit_is_set(UCSR0A, RXC0);
return UDR0;
}
FILE uart_output = FDEV_SETUP_STREAM(uart_putchar, NULL, _FDEV_SETUP_WRITE);
int main(void) {
uart_init();
stdout = &uart_output;
while(1) {
int i = 0;
for (i = 0; i < 100; i++) {
printf("%d\n", i);
}
}
return 0;
}
#ifdef AVR_DEFAULT_TIMER_SOURCE
/* Hint: 1,000,000 µs/s * 256 T/C0 clock cycles per tick * 64 CPU clocks per
* T/C0 clock cycle / x,000,000 CPU clock cycles per second -> µs per tick
*/
#define PLAT_TIME_PER_TICK_USEC (1000000ULL*256ULL*64ULL/F_CPU)
#endif /* AVR_DEFAULT_TIMER_SOURCE */
/* Configure stdin, stdout, stderr */
static int uart_putc(char c, FILE *stream);
static int uart_getc(FILE *stream);
FILE avr_uart = FDEV_SETUP_STREAM(uart_putc, uart_getc, _FDEV_SETUP_RW);
/*
* AVR target shall use stdio for I/O routines.
* The UART or USART must be configured for the interactive interface to work.
*/
PmReturn_t
plat_init(void)
{
CPU_PRESCALE(0);
usb_init();
while(!usb_configured()) _delay_ms(1);
stdin = stdout = stderr = &avr_uart;
*/ /* Local data */ /* Application threads' TCBs */ static ATOM_TCB main_tcb; /* Main thread's stack area */ static uint8_t main_thread_stack[MAIN_STACK_SIZE_BYTES]; /* Idle thread's stack area */ static uint8_t idle_thread_stack[IDLE_STACK_SIZE_BYTES]; /* STDIO stream */ static FILE uart_stdout = FDEV_SETUP_STREAM(uart_putchar, NULL, _FDEV_SETUP_WRITE); /* Forward declarations */ static void main_thread_func (uint32_t data); /** * \b main * * Program entry point. * * Sets up the AVR hardware resources (system tick timer interrupt) necessary * for the OS to be started. Creates an application thread and starts the OS. */
void CDC_Device_CreateBlockingStream(USB_ClassInfo_CDC_Device_t* const CDCInterfaceInfo,
FILE* const Stream)
{
*Stream = (FILE)FDEV_SETUP_STREAM(CDC_Device_putchar, CDC_Device_getchar_Blocking, _FDEV_SETUP_RW);
fdev_set_udata(Stream, CDCInterfaceInfo);
}
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <avr/io.h>
#include <avr/power.h>
#include <avr/pgmspace.h>
#include "avrdbg.h"
#include "hw_setup.h"
#define BAUD 115200
#include <util/setbaud.h>
static int serial_putchar(char c, FILE *stream);
static FILE mystdout = FDEV_SETUP_STREAM(serial_putchar, NULL, _FDEV_SETUP_WRITE);
static int serial_putchar(char c, FILE *stream)
{
if (c == '\n')
serial_putchar('\r', stream);
loop_until_bit_is_set(UCSR0A, UDRE0);
UDR0 = c;
return 0;
}
/*
uint8_t serial_getchar(void)
{
loop_until_bit_is_set(UCSR0A, RXC0);
#define LED_B_PWM OCR1C
#define BTN (1<<PD7)
#define BTN_PORT PORTD
#define BTN_PIN PIND
#define BTN_DDR DDRD
char hexchar2hex(char);
int uart_tx (unsigned char);
unsigned char uart_rx (void);
int i;
unsigned char hexcolors[8] = "NULL", charcount = 0;
unsigned int val_r, val_g, val_b;
FILE uart_str = FDEV_SETUP_STREAM(uart_tx, uart_rx, _FDEV_SETUP_RW);
void init_hw( void )
{
//Set full speed (disables CKDIV8 by registers)
CLKPR = (1<<CLKPCE);
CLKPR = 0;
//setup LEDs
LED_R_DDR |= LED_R;
LED_G_DDR |= LED_G;
LED_B_DDR |= LED_B;
TCCR1A = (1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<COM1C1)|(1<<COM1C0)|(1<<WGM11);
TCCR1B = (1<<WGM12)|(1<<WGM13)|(1<<CS10);
* \author Pat Satyshur
* \version 1.0
* \date 1/21/2013
* \copyright Copyright 2013, Pat Satyshur
* \ingroup common
*
* @{
*/
#include <avr/interrupt.h>
#include <stdio.h>
#include <string.h>
#include <avr/io.h>
#include "UART.h"
FILE UART_stdout = FDEV_SETUP_STREAM(UARTPutChar, NULL, _FDEV_SETUP_WRITE);
void UARTinit (void)
{
#if defined (__AVR_ATmega328P__) || defined (__AVR_ATmega328__)
PRR &= ~(1<<PRUSART0); //Turn on UART power
DDRD |= (1<<1); //PD1 as output (TxD)
DDRB &= ~(1<<0); //PD0 as input (RxD)
//Set USART Baud Rate
UBRR0H = MYUBRR >> 8;
UBRR0L = MYUBRR;
UCSR0B = (1<<RXEN0)|(1<<TXEN0); //Activate RX, TX
// at start of device turn on, point the front sensor vertically to the ground for calibration // in the code, sonar0 refers to left sonar, 1 = right, 2 = front #include "trtSettings.h" #include "trtkernel_1284.c" #include <util/delay.h> #include <stdio.h> // serial communication library #define SEM_RX_ISR_SIGNAL 1 #define SEM_STRING_DONE 2 #include "trtUart.h" #include "trtUart.c" // UART file descriptor FILE uart_str = FDEV_SETUP_STREAM(uart_putchar, uart_getchar, _FDEV_SETUP_RW); // semaphore to protect reading (only one active transceiver/ at a time) #define SEM_RANGE 3 // ----- Sonar and navigation definitions ------ #define sonarFreq 0.25 // Freq at which sonar ranges (in seconds) #define navFreq 0.3 // Freq at which navigation logic refreshes (in seconds) #define sonar3FeedbackFreq 0.25 // Freq at which sensor 3's motor refreshes (in seconds) #define windowSize 3 // Window size of median filter (odd numbers only) #define nCalibCycles 3 // Number of front sonar calibration cycles float F_calibrated = 0; // calibrated vertical distance from front sensor to ground int firstRun = 1; // flag for first cycle through tasks (for inits) // Sonar ranges in meters
//Copyright 2011 Charles Lohr under the MIT/X11 License.
#include "SPIPrinting.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdio.h>
volatile char SPIBuffer[PRINTF_BUFFER_SIZE];
volatile unsigned char SPIHead = 0;
volatile unsigned char SPITail = 0;
static int SPIPutCharInternal(char c, FILE *stream);
static FILE mystdout = FDEV_SETUP_STREAM( SPIPutCharInternal, NULL, _FDEV_SETUP_WRITE );
void SetupPrintf()
{
SPCR = (1<<SPIE)|(1<<SPE);
DDRB |= _BV(3);
DDRB &= ~(_BV(0)|_BV(1)|_BV(2));
stdout = &mystdout;
}
static int SPIPutCharInternal(char c, FILE *stream)
{
if( ( SPIHead + 1 ) == SPITail ) return -1;//Overflow.
SPIBuffer[SPIHead] = c;
SPIHead++;
if( SPIHead == PRINTF_BUFFER_SIZE ) SPIHead = 0;
return 0;
}
