Commit c27b5a21 authored by Xoaquin Castrelo's avatar Xoaquin Castrelo
Browse files

Added support for UART.

parent 3ed5a13e
#include "uart.hpp"
#include "servos.hpp"
#include "command.h"
#include <avr/io.h>
#include <avr/interrupt.h>
void initUart()
{
cli();
UCSR0A = (1 << U2X0); // double transmission speed
UCSR0B = (1 << RXCIE0) // enable RX complete interrupt
| (1 << UDRIE0) // enable data register empty interrupt
| (1 << RXEN0) // enable receiver
| (1 << TXEN0); // enable transmitter
UCSR0C = (0 << UMSEL01) | (0 << UMSEL00) // asynchronous USART
| (0 << UPM01) | (0 << UPM00) // no parity bit
| (0 << USBS0) // 1 stop bit
| (1 << UCSZ01) | (1 << UCSZ00); // 8 data bits
UBRR0 = 16; // 115.2k baud rate
sei();
}
ISR(USART_RX_vect)
{
uart_add_ch(UDR0);
}
ISR(USART_UDRE_vect)
{
// nothing to do right now
}
#ifndef UART_H
#define UART_H
/**
* Initialises the UART logic.
*/
void initUart();
#endif /* UART_H */
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