+++ /dev/null
-/*
- * Copyright Droids Corporation, Microb Technology, Eirbot (2007)
- *
- * 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
- * (at your option) 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.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- * Revision : $Id: aversive.h,v 1.1.2.6 2009-05-18 12:19:51 zer0 Exp $
- *
- */
-
-/**
- * here are some cute little macros, and other stuff, microcontroller
- * related !
- */
-
-
-#ifndef _AVERSIVE_H_
-#define _AVERSIVE_H_
-
-#include <autoconf.h>
-
-#ifndef HOST_VERSION
-#include <avr/interrupt.h>
-#include <avr/io.h>
-#endif
-
-#include <aversive/types.h>
-#include <aversive/errno.h>
-#include <aversive/irq_lock.h>
-
-
-#ifndef __AVR_LIBC_VERSION__ /* version.h should be included by avr/io.h */
-#define __AVR_LIBC_VERSION__ 0UL
-#endif
-
-#ifndef HOST_VERSION
-#if __AVR_LIBC_VERSION__ < 10403UL
-#include <avr/signal.h>
-#endif
-#endif
-
-//#define F_CPU ((unsigned long)CONFIG_QUARTZ)
-
-#define Hz 1l
-#define KHz 1000l
-#define MHz 1000000l
-
-
-
-/*
- * a few "mathematical" macros : maximums and minimums
- */
-
-/**
- * signed maxmimum : both signs are tested
- */
-#define S_MAX(to_saturate, value_max) \
-do { \
- if (to_saturate > value_max) \
- to_saturate = value_max; \
- else if (to_saturate < -value_max) \
- to_saturate = -value_max; \
- } while(0)
-
-/**
- * unsigned maximum : result >0 is forced
- */
-#define U_MAX(to_saturate, value_max) \
-do { \
- if (to_saturate > value_max) \
- to_saturate = value_max; \
- else if (to_saturate < 0) \
- to_saturate = 0; \
- } while(0)
-
-/**
- * simple maximum
- */
-
-
-
-/** absolute
- * while the abs() function in the libc works only with int type
- * this macro works with every numerical type including floats
- */
-#define ABS(val) ({ \
- __typeof(val) __val = (val); \
- if (__val < 0) \
- __val = - __val; \
- __val; \
- })
-
-/*
- * Extract bytes and u16 from larger integer
- */
-
-#if __BYTE_ORDER != __LITTLE_ENDIAN && __BYTE_ORDER != __BIG_ENDIAN
-# error "Endianness not defined"
-#endif
-
-struct extract32 {
- union {
- struct {
-#if __BYTE_ORDER == __LITTLE_ENDIAN
- uint8_t u8_0;
- uint8_t u8_1;
- uint8_t u8_2;
- uint8_t u8_3;
-#elif __BYTE_ORDER == __BIG_ENDIAN
- uint8_t u8_3;
- uint8_t u8_2;
- uint8_t u8_1;
- uint8_t u8_0;
-#endif
- } __attribute__ ((packed)) u8;
- struct {
-#if __BYTE_ORDER == __LITTLE_ENDIAN
- uint16_t u16_0;
- uint16_t u16_1;
-#elif __BYTE_ORDER == __BIG_ENDIAN
- uint16_t u16_1;
- uint16_t u16_0;
-#endif
- } __attribute__ ((packed)) u16;
- struct {
-#if __BYTE_ORDER == __LITTLE_ENDIAN
- uint8_t u8_0;
- uint16_t u16_mid;
- uint8_t u8_3;
-#elif __BYTE_ORDER == __BIG_ENDIAN
- uint8_t u8_3;
- uint16_t u16_mid;
- uint8_t u8_0;
-#endif
- } __attribute__ ((packed)) u16_b;
- uint32_t u32;
- } __attribute__ ((packed)) u;
-} __attribute__ ((packed));
-
-#define extr32_08_0(i) ({ struct extract32 __x; __x.u.u32 = i; __x.u.u8.u8_0; })
-#define extr32_08_1(i) ({ struct extract32 __x; __x.u.u32 = i; __x.u.u8.u8_1; })
-#define extr32_08_2(i) ({ struct extract32 __x; __x.u.u32 = i; __x.u.u8.u8_2; })
-#define extr32_08_3(i) ({ struct extract32 __x; __x.u.u32 = i; __x.u.u8.u8_3; })
-
-#define extr32_16_0(i) ({ struct extract32 __x; __x.u.u32 = i; __x.u.u16.u16_0; })
-#define extr32_16_1(i) ({ struct extract32 __x; __x.u.u32 = i; __x.u.u16.u16_1; })
-#define extr32_16_mid(i) ({ struct extract32 __x; __x.u.u32 = i; __x.u.u16_b.u16_mid; })
-
-
-struct extract16 {
- union {
- struct {
-#if __BYTE_ORDER == __LITTLE_ENDIAN
- uint8_t u8_0;
- uint8_t u8_1;
-#elif __BYTE_ORDER == __BIG_ENDIAN
- uint8_t u8_1;
- uint8_t u8_0;
-#endif
- } __attribute__ ((packed)) u8;
- uint16_t u16;
- } __attribute__ ((packed)) u;
-} __attribute__ ((packed));
-
-#define extr16_08_0(i) ({ struct extract16 __x; __x.u.u16 = i; __x.u.u8.u8_0; })
-#define extr16_08_1(i) ({ struct extract16 __x; __x.u.u16 = i; __x.u.u8.u8_1; })
-
-
-
-/* a few asm utilities */
-
-#ifndef HOST_VERSION
-#ifndef nop
-#define nop() __asm__ __volatile__ ("NOP\n") /** nop instruction, 1 CPU cycle consumed */
-#endif
-#ifndef nothing
-#define nothing() __asm__ __volatile__ (" \n") /** nothing */
-#endif
-#ifndef cli
-#define cli() __asm__ __volatile__ ("CLI\n") /** disable interrupts */
-#endif
-#ifndef sei
-#define sei() __asm__ __volatile__ ("SEI\n") /** enable interrupts */
-#endif
-/** simple software reset, but doesn't initialize the registers */
-#ifndef reset
-#define reset() \
-do { \
- __asm__ __volatile__ ("ldi r30,0\n"); \
- __asm__ __volatile__ ("ldi r31,0\n"); \
- __asm__ __volatile__ ("ijmp\n"); \
-} while(0)
-#endif
-
-#else /* HOST_VERSION */
-#define nop() do {} while(0)
-#define nothing() do {} while(0)
-#define cli() do {} while(0)
-#define sei() do {} while(0)
-#define reset() exit(1)
-#endif /* HOST_VERSION */
-
-/**
- * little bit toggeling macro
- *
- * change pin state
- * usage :
- * BIT_TOGGLE(PORTB,2) to make the pin 2 of PORTB toggle
- */
-#define BIT_TOGGLE(port,bit) do {\
- if(bit_is_set(PIN(port),bit)) \
- cbi(port,bit); \
- else \
- sbi(port,bit); \
- } while(0)
-
-
-/** booleans */
-
-
-/** DDR and PINS from port adress */
-#define DDR(port) (*(&(port) -1))
-#define PIN(port) (*(&(port) -2))
-
-/** open collector simulation macros */
-#define OPEN_CO_INIT(port, bit) sbi(port,bit)
-#define OPEN_CO_HIGH(port, bit) cbi(DDR(port),bit)
-#define OPEN_CO_LOW(port, bit) cbi(DDR(port),bit)
-
-/** deprecated macros in libc, but they're almost used, so we implement them again ;) */
-#ifndef cbi
-#define cbi(sfr, bit) ( sfr &= ~ _BV(bit))
-#endif
-#ifndef sbi
-#define sbi(sfr, bit) ( sfr |= _BV(bit))
-#endif
-
-
-#endif /* ifndef _AVERSIVE_H_ */
-
git.droids-corp.org / protos / xbee-avr.git / blobdiff