added controller firmware

2012-11-15 22:04:14 +01:00 · 2012-11-15 22:04:14 +01:00 · 99eda35745
commit 99eda35745
parent 6a2edcde49
13 changed files with 2280 additions and 0 deletions
--- a/controller/Makefile
+++ b/controller/Makefile
@ -0,0 +1,80 @@
+###############################################################################
+# Makefile für das Viertsemester-Projekt am ACS
+###############################################################################
+
+## General Flags
+TARGET = auto
+MCU = atmega32
+CC = avr-gcc
+
+## Options common to compile, link and assembly rules
+COMMON = -mmcu=$(MCU)
+
+## Compile options common for all C compilation units.
+CFLAGS = $(COMMON)
+CFLAGS += -Wall -g -std=gnu99 -DF_CPU=16000000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d 
+
+## Assembly specific flags
+ASMFLAGS = $(COMMON)
+ASMFLAGS += $(CFLAGS)
+
+## Linker flags
+LDFLAGS = $(COMMON)
+LDFLAGS +=  -Wl,-Map=$(TARGET).map
+
+## Intel Hex file production flags
+HEX_FLASH_FLAGS = -R .eeprom -R .fuse -R .lock -R .signature
+HEX_EEPROM_FLAGS = -j .eeprom
+HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
+HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0 --no-change-warnings
+
+## Include Directories
+INCLUDES = 
+
+## Objects that must be built in order to link
+OBJECTS = rotary.o lcd.o main.o pid.o adc.o uart.o
+
+## Objects explicitly added by the user
+LINKONLYOBJECTS = 
+
+## Build
+all: $(TARGET).elf $(TARGET).hex $(TARGET).eep $(TARGET).lss size
+
+## Link
+$(TARGET).elf: $(OBJECTS)
+	 $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET).elf
+
+%.hex: $(TARGET).elf
+	avr-objcopy -O ihex $(HEX_FLASH_FLAGS)  $< $@
+
+%.eep: $(TARGET).elf
+	avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@ || exit 0
+
+%.lss: $(TARGET).elf
+	avr-objdump -h -S $< > $@
+
+size: $(TARGET).elf
+	@echo
+	@avr-size -C --mcu=${MCU} ${TARGET}.elf
+
+flash: $(TARGET).hex
+	avrdude -p m32 -c avrisp2 -P usb \
+	-U flash:w:$(TARGET).hex
+
+eeprom: $(TARGET).hex
+	avrdude -p m32 -c avrisp2 -P usb \
+	-U eeprom:w:$(TARGET).eep
+
+## Clean target
+.PHONY: clean
+clean:
+	rm -rf $(OBJECTS) dep/*
+	for suf in elf hex eep lss map ; do \
+		rm -f $(TARGET).$$suf ; \
+	done
+
+
+## Other dependencies
+-include $(shell mkdir dep 2>/dev/null) $(wildcard dep/*)
+
--- a/controller/adc.c
+++ b/controller/adc.c
@ -0,0 +1,57 @@
+/**
+ * Analog to Digital converter routines
+ *
+ * @copyright	2012 Institute Automation of Complex Power Systems (ACS), RWTH Aachen University
+ * @license	http://www.gnu.org/licenses/gpl.txt GNU Public License
+ * @author	Steffen Vogel <info@steffenvogel.de>
+ */
+
+#include <avr/io.h>
+
+#include "adc.h"
+
+/**
+ * Initialisierung Analog to digital Converter (ADC)
+ */
+void adc_init() {
+	uint16_t result;
+
+	ADC_DDR = 0x00;					// Pins als Eingänge
+	ADC_PORT = 0x00;				// Pullups deaktivieren
+
+	ADMUX = (1<<REFS1) | (1<<REFS0);		// interne 2.56V als Referenz benutzen
+	ADCSRA = (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0);	// Frequenzvorteiler
+	ADCSRA |= (1<<ADEN);				// ADC aktivieren
+	ADCSRA |= (1<<ADIE);				// ADC Interrupts erlauben
+
+  	ADCSRA |= (1<<ADSC);				// starte eine ADC-Wandlung 
+
+  	while (ADCSRA & (1<<ADSC) ) { }			// auf Abschluss der Konvertierung warten
+  	result = ADC;
+}
+
+/**
+ * Auslesen des Kanals
+ */
+uint16_t adc_read(uint8_t channel) {
+	// Kanal waehlen, ohne andere Bits zu beeinflußen
+	ADMUX = (ADMUX & ~(0x1F)) | (channel & 0x1F);
+	ADCSRA |= (1<<ADSC);				// eine Wandlung "single conversion"
+
+	while (ADCSRA & (1<<ADSC) ) { }			// auf Abschluss der Konvertierung warten
+	return ADC;					// ADC auslesen und zurückgeben
+}
+
+/**
+ * Auslesen des Kanals mit Mittelwertrückgabe
+ */
+uint16_t adc_read_avg( uint8_t channel, uint8_t average) {
+	uint32_t result = 0;
+
+	for (uint8_t i = 0; i < average; ++i ) {
+		result += adc_read(channel);
+	}
+
+	return (uint16_t) (result / average);
+}
+
--- a/controller/adc.h
+++ b/controller/adc.h
@ -0,0 +1,25 @@
+/**
+ * Analog to Digital converter headers
+ *
+ * @copyright	2012 Institute Automation of Complex Power Systems (ACS), RWTH Aachen University
+ * @license	http://www.gnu.org/licenses/gpl.txt GNU Public License
+ * @author	Steffen Vogel <info@steffenvogel.de>
+ */
+
+#ifndef _ADC_H_
+#define _ADC_H_
+
+// Konfiguration
+#define ADC_PORT		PORTA
+#define ADC_DDR			DDRA
+#define ADC_PIN_STERING_LEFT	0
+#define ADC_PIN_STERING_RIGHT	1
+#define ADC_PIN_BATT_LOGIC	2
+#define ADC_PIN_BATT_DRIVE	3
+#define ADMUX_MASK 0x1F
+
+void adc_init();
+uint16_t adc_read(uint8_t channel);
+uint16_t adc_read_avg(uint8_t channel, uint8_t average);
+
+#endif /* _ADC_H_ */
--- a/controller/init.o
+++ b/controller/init.o
--- a/controller/lcd.c
+++ b/controller/lcd.c
@ -0,0 +1,236 @@
+/**
+ * Ansteuerung eines HD44780 kompatiblen LCD im 4-Bit-Interfacemodus
+ *
+ * Die Pinbelegung ist Ã¼ber defines in lcd.h einstellbar
+ *
+ * @copyright	2012 Institute Automation of Complex Power Systems (ACS), RWTH Aachen University
+ * @license	http://www.gnu.org/licenses/gpl.txt GNU Public License
+ * @link http://www.mikrocontroller.net/articles/HD44780
+ * @link http://www.mikrocontroller.net/articles/AVR-GCC-Tutorial/LCD-Ansteuerung
+ */
+
+#include <stdlib.h>
+#include <string.h>
+
+#include <avr/eeprom.h>
+
+#include "lcd.h"
+
+/**
+ * Erzeugt einen Enable-Puls
+ */
+static void lcd_enable() {
+	LCD_PORT |= (1<<LCD_EN);	// Enable auf 1 setzen
+	_delay_us( LCD_ENABLE_US );	// kurze Pause
+	LCD_PORT &= ~(1<<LCD_EN);	// Enable auf 0 setzen
+}
+
+/**
+ * Sendet eine 4-bit Ausgabeoperation an das LCD
+ */
+static void lcd_out(uint8_t data) {
+	data &= 0xF0;				// obere 4 Bit maskieren
+
+	LCD_PORT &= ~(0xF0>>(4-LCD_DB));	// Maske löschen
+	LCD_PORT |= (data>>(4-LCD_DB));		// Bits setzen
+	lcd_enable();
+}
+
+/**
+ * Initialisierung: muss ganz am Anfang des Programms aufgerufen werden
+ */
+void lcd_init() {
+	// verwendete Pins auf Ausgang schalten
+	uint8_t pins = (0x0F << LCD_DB) |	// 4 Datenleitungen
+			(1<<LCD_RS) |		// R/S Leitung
+			(1<<LCD_EN);		// Enable Leitung
+	LCD_DDR |= pins;
+
+	// initial alle AusgÃ¤nge auf Null
+	LCD_PORT &= ~pins;
+
+	// warten auf die Bereitschaft des LCD
+	_delay_ms( LCD_BOOTUP_MS );
+
+	// Soft-Reset muss 3mal hintereinander gesendet werden zur Initialisierung
+	lcd_out( LCD_SOFT_RESET );
+	_delay_ms( LCD_SOFT_RESET_MS1 );
+
+	lcd_enable();
+	_delay_ms( LCD_SOFT_RESET_MS2 );
+
+	lcd_enable();
+	_delay_ms( LCD_SOFT_RESET_MS3 );
+
+	// 4-bit Modus aktivieren
+	lcd_out( LCD_SET_FUNCTION |
+			 LCD_FUNCTION_4BIT );
+	_delay_ms( LCD_SET_4BITMODE_MS );
+
+	// 4-bit Modus / 2 Zeilen / 5x7
+	lcd_command( LCD_SET_FUNCTION |
+		LCD_FUNCTION_4BIT |
+		LCD_FUNCTION_2LINE |
+		LCD_FUNCTION_5X7 );
+
+	// Display ein / Cursor aus / Blinken aus
+	lcd_command( LCD_SET_DISPLAY |
+		LCD_DISPLAY_ON |
+		LCD_CURSOR_OFF |
+		LCD_BLINKING_OFF);
+
+	// Cursor inkrement / kein Scrollen
+	lcd_command( LCD_SET_ENTRY |
+		LCD_ENTRY_INCREASE |
+		LCD_ENTRY_NOSHIFT );
+
+	lcd_clear();
+}
+
+/**
+ * Sendet ein Datenbyte an das LCD
+ */
+void lcd_data(uint8_t data) {
+	LCD_PORT |= (1<<LCD_RS);	// RS auf 1 setzen
+
+	lcd_out(data);			// zuerst die oberen,
+	lcd_out(data<<4);		// dann die unteren 4 Bit senden
+
+	_delay_us( LCD_WRITEDATA_US );
+}
+
+/**
+ * Sendet einen Befehl an das LCD
+ */
+void lcd_command(uint8_t data) {
+	LCD_PORT &= ~(1<<LCD_RS);	// RS auf 0 setzen
+
+	lcd_out(data);			// zuerst die oberen,
+	lcd_out(data<<4);		// dann die unteren 4 Bit senden
+
+	_delay_us(LCD_COMMAND_US);
+}
+
+/**
+ * Sendet den Befehl zur Löschung des Displays
+ */
+void lcd_clear() {
+	lcd_command(LCD_CLEAR_DISPLAY);
+	_delay_ms(LCD_CLEAR_DISPLAY_MS);
+}
+
+/**
+ * Sendet den Befehl: Cursor Home
+ */
+void lcd_home() {
+	lcd_command(LCD_CURSOR_HOME);
+	_delay_ms(LCD_CURSOR_HOME_MS);
+}
+
+/**
+ * Setzt den Cursor in Spalte x (0..15) Zeile y (1..4)
+ */
+void lcd_setcursor(uint8_t x, uint8_t y) {
+	uint8_t data;
+
+	switch (y) {
+		case 0:	// 1. Zeile
+			data = LCD_SET_DDADR + LCD_DDADR_LINE1 + x;
+			break;
+
+		case 1:	// 2. Zeile
+			data = LCD_SET_DDADR + LCD_DDADR_LINE2 + x;
+			break;
+
+		case 2:	// 3. Zeile
+			data = LCD_SET_DDADR + LCD_DDADR_LINE3 + x;
+			break;
+
+		case 3:	// 4. Zeile
+			data = LCD_SET_DDADR + LCD_DDADR_LINE4 + x;
+			break;
+
+		default:
+			return;								   // für den Fall einer falschen Zeile
+	}
+
+	lcd_command(data);
+}
+
+/**
+ * Schreibt einen String auf das LCD
+ */
+void lcd_string(const char *data) {
+	while (*data != '\0') {
+		lcd_data(*data++);
+	}
+}
+
+/**
+ * Schreibt ein Zeichen in den Character Generator RAM
+ */
+void lcd_generatechar(uint8_t code, const uint8_t *data) {
+	// Startposition des Zeichens einstellen
+	lcd_command(LCD_SET_CGADR | (code<<3));
+
+	// Bitmuster übertragen
+	for (uint8_t i=0; i<8; i++) {
+		lcd_data(data[i]);
+	}
+}
+
+/**
+ * Ausgabe Balkenanzeige
+ */
+void lcd_bar(uint8_t startx, uint8_t starty, uint8_t length, uint8_t percent) {
+
+	uint8_t i;
+	if (percent > 100) return;
+
+	lcd_setcursor(startx, starty);
+	lcd_data(0b00111100); // <
+
+	for (i=0; i < length-2; i++) {
+		lcd_setcursor( startx+1+i , starty );
+
+		if (percent*(length-2)/100 <= i ) {
+			lcd_data('-');
+		}
+		else {
+			lcd_data(0b11111111);
+		}
+	}
+
+	lcd_setcursor(startx+length-1, starty );
+	lcd_data(0b00111110); // >
+}
+
+/**
+ * Ausgabe einer Ganzzahl mit führenden Leerzeichen
+ */
+void lcd_int(int16_t number, uint8_t length) {
+	char buffer[length+1];
+	bool vz = true;
+	bool zf = true;
+	bool neg = (number < 0);
+
+	buffer[length] = '\0';
+
+	for (int8_t counter = length-1; counter >= 0; counter--) {
+		if (zf) {
+			buffer[counter] = '0' + (abs(number) % 10);
+			number /= 10;
+			zf = (bool) number;
+		}
+		else if (vz && neg) {
+			buffer[counter] = '-';
+			vz = false;
+		}
+		else {
+			buffer[counter] = ' ';
+		}
+	}
+
+	lcd_string(buffer);
+}
+
--- a/controller/lcd.h
+++ b/controller/lcd.h
@ -0,0 +1,154 @@
+/**
+ * Ansteuerung eines HD44780 kompatiblen LCD im 4-Bit-Interfacemodus
+ *
+ * Die Pinbelegung ist über #defines in lcd.h konfigurierbar
+ *
+ * @copyright	2012 Institute Automation of Complex Power Systems (ACS), RWTH Aachen University
+ * @license	http://www.gnu.org/licenses/gpl.txt GNU Public License
+ * @link http://www.mikrocontroller.net/articles/HD44780
+ * @link http://www.mikrocontroller.net/articles/AVR-GCC-Tutorial/LCD-Ansteuerung
+ */
+
+#ifndef _LCD_H_
+#define _LCD_H_
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <avr/io.h>
+#include <util/delay.h>
+
+#include "rotary.h"
+
+// Pinbelegung für das LCD, an verwendete Pins anpassen
+// Alle LCD Pins mÃ¼ssen an einem Port angeschlossen sein und die 4
+// Datenleitungen mÃ¼ssen auf aufeinanderfolgenden Pins liegen
+
+// LCD DB4-DB7 <-->  PORTD Bit PD0-PD3
+#define LCD_PORT      PORTC
+#define LCD_DDR       DDRC
+#define LCD_DB        PC4
+
+// LCD RS      <-->  PORTD Bit PD4     (RS: 0=Data, 1=Command)
+#define LCD_RS        PC3
+
+// LCD EN      <-->  PORTD Bit PD5     (EN: 1-Impuls fÃ¼r Daten)
+#define LCD_EN        PC2
+
+// LCD Ausführungszeiten (MS=Millisekunden, US=Mikrosekunden)
+#define LCD_BOOTUP_MS           15
+#define LCD_ENABLE_US           1
+#define LCD_WRITEDATA_US        46
+#define LCD_COMMAND_US          42
+
+#define LCD_SOFT_RESET_MS1      5
+#define LCD_SOFT_RESET_MS2      1
+#define LCD_SOFT_RESET_MS3      1
+#define LCD_SET_4BITMODE_MS     5
+
+#define LCD_CLEAR_DISPLAY_MS    2
+#define LCD_CURSOR_HOME_MS      2
+
+// Zeilendefinitionen des verwendeten LCD
+// Die EintrÃ¤ge hier sollten für ein LCD mit einer Zeilenlänge von 16 Zeichen passen
+// Bei anderen ZeilenlÃ¤ngen mÃ¼ssen diese EintrÃ¤ge angepasst werden
+#define LCD_DDADR_LINE1         0x00
+#define LCD_DDADR_LINE2         0x40
+#define LCD_DDADR_LINE3         0x10
+#define LCD_DDADR_LINE4         0x50
+
+// Initialisierung: muss ganz am Anfang des Programms aufgerufen werden.
+void lcd_init( void );
+
+// LCD löschen
+void lcd_clear( void );
+
+// Cursor in die 1. Zeile, 0-te Spalte
+void lcd_home( void );
+
+// Cursor an eine beliebige Position
+void lcd_setcursor( uint8_t spalte, uint8_t zeile );
+
+// Ausgabe eines einzelnen Zeichens an der aktuellen Cursorposition
+void lcd_data( uint8_t data );
+
+// Ausgabe eines Strings an der aktuellen Cursorposition
+void lcd_string( const char *data );
+
+// Definition eines benutzerdefinierten Sonderzeichens.
+// data muss auf ein Array[5] mit den Spaltencodes des zu definierenden Zeichens
+// zeigen
+void lcd_generatechar( uint8_t code, const uint8_t *data );
+
+// Ausgabe eines Kommandos an das LCD.
+void lcd_command( uint8_t data );
+
+// Ausgabe Balkenanzeige
+void lcd_bar(uint8_t startx, uint8_t starty, uint8_t length, uint8_t percent);
+
+// Ausgabe einer ganzen Zahl
+void lcd_int(int16_t number, uint8_t length);
+
+// LCD Befehle und Argumente.
+// Zur Verwendung in lcd_command
+
+// Clear Display -------------- 0b00000001
+#define LCD_CLEAR_DISPLAY       0x01
+
+// Cursor Home ---------------- 0b0000001x
+#define LCD_CURSOR_HOME         0x02
+
+// Set Entry Mode ------------- 0b000001xx
+#define LCD_SET_ENTRY           0x04
+
+#define LCD_ENTRY_DECREASE      0x00
+#define LCD_ENTRY_INCREASE      0x02
+#define LCD_ENTRY_NOSHIFT       0x00
+#define LCD_ENTRY_SHIFT         0x01
+
+// Set Display ---------------- 0b00001xxx
+#define LCD_SET_DISPLAY         0x08
+
+#define LCD_DISPLAY_OFF         0x00
+#define LCD_DISPLAY_ON          0x04
+#define LCD_CURSOR_OFF          0x00
+#define LCD_CURSOR_ON           0x02
+#define LCD_BLINKING_OFF        0x00
+#define LCD_BLINKING_ON         0x01
+
+// Set Shift ------------------ 0b0001xxxx
+#define LCD_SET_SHIFT           0x10
+
+#define LCD_CURSOR_MOVE         0x00
+#define LCD_DISPLAY_SHIFT       0x08
+#define LCD_SHIFT_LEFT          0x00
+#define LCD_SHIFT_RIGHT         0x04
+
+// Set Function --------------- 0b001xxxxx
+#define LCD_SET_FUNCTION        0x20
+
+#define LCD_FUNCTION_4BIT       0x00
+#define LCD_FUNCTION_8BIT       0x10
+#define LCD_FUNCTION_1LINE      0x00
+#define LCD_FUNCTION_2LINE      0x08
+#define LCD_FUNCTION_5X7        0x00
+#define LCD_FUNCTION_5X10       0x04
+
+#define LCD_SOFT_RESET          0x30
+
+// Set CG RAM Address --------- 0b01xxxxxx  (Character Generator RAM)
+#define LCD_SET_CGADR           0x40
+
+#define LCD_GC_CHAR0            0
+#define LCD_GC_CHAR1            1
+#define LCD_GC_CHAR2            2
+#define LCD_GC_CHAR3            3
+#define LCD_GC_CHAR4            4
+#define LCD_GC_CHAR5            5
+#define LCD_GC_CHAR6            6
+#define LCD_GC_CHAR7            7
+
+// Set DD RAM Address --------- 0b1xxxxxxx  (Display Data RAM)
+#define LCD_SET_DDADR           0x80
+
+#endif /* _LCD_H_ */
--- a/controller/main.c
+++ b/controller/main.c
@ -0,0 +1,548 @@
+/**
+ * Main loop
+ *
+ * @copyright	2012 Institute Automation of Complex Power Systems (ACS), RWTH Aachen University
+ * @license	http://www.gnu.org/licenses/gpl.txt GNU Public License
+ * @author	Steffen Vogel <info@steffenvogel.de>
+ */
+
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/eeprom.h>
+#include <avr/pgmspace.h>
+#include <avr/wdt.h>
+
+#include "lcd.h"
+#include "rotary.h"
+#include "adc.h"
+#include "pid.h"
+#include "uart.h"
+
+#define DISPLAY_MODI 11
+#define BAUDRATE 57600
+
+#define MAGIC_BYTE 0xca
+#define MAGIC_LEN 16
+
+const char *mode_str[] = {
+	"Stop  ",
+	"Auto  ",
+	"Manual",
+	"UART  "
+};
+
+const char *display_str[] = {
+	NULL,
+	"PWM Motor",
+	"PWM Servo",
+	"PID Drive: P",
+	"PID Drive: I",
+	"PID Stering: P",
+	"PID Stering: I",
+	"ADC Inductor: L",
+	"ADC Inductor: R",
+	"ADC Batt: Logic",
+	"ADC Batt: Drive"
+};
+
+enum channel {
+	STERING_LEFT,
+	STERING_RIGHT,
+	BATT_LOGIC,
+	BATT_DRIVE
+};
+
+enum state {
+	HALT,
+	AUTO,
+	MANUAL
+};
+
+enum menu {
+	OVERVIEW,
+	PWM_DRIVE,
+	PWM_STERING,
+	PID_DRIVE_P,
+	PID_DRIVE_I,
+	PID_STERING_P,
+	PID_STERING_I,
+	ADC_STERING_LEFT,
+	ADC_STERING_RIGHT,
+	ADC_BATT_LOGIC,
+	ADC_BATT_DRIVE,
+};
+
+enum cmd {
+	SET_STATUS,	/* Mode, Display */
+	SET_PWM,	/* Drive & Stering */
+	SET_PID,	/* Controller state */
+	GET_PID		/* Controller state */
+};
+
+// EEPROM
+int16_t pid_drive_p_ee EEMEM = 0;
+int16_t pid_drive_i_ee EEMEM = 0;
+int16_t pid_stering_p_ee EEMEM = 39;
+int16_t pid_stering_i_ee EEMEM = 0;
+
+int16_t pwm_drive_ee EEMEM = 0;
+int16_t pwm_stering_ee EEMEM = 0;
+
+// Globale Daten
+int16_t pwm_stering;
+int16_t pwm_drive;
+
+int8_t out_stering;
+uint8_t out_drive;
+
+int16_t adc_stering_left;
+int16_t adc_stering_right;
+int16_t adc_batt_logic;
+int16_t adc_batt_drive;
+
+uint8_t speed;
+uint16_t speed_cnt;
+bool speed_ovf = true;
+
+struct pid pid_drive;
+struct pid pid_stering;
+
+enum state mode;
+enum menu display;
+
+bool edit = false;
+bool redraw = true;
+
+/**
+ * Parameter editieren
+ */
+void parameter_edit(int16_t *parameter, int16_t *parameter_ee, enum taster input) {
+	switch (input) {
+		case DGB_SW: // Editier-Modus togglen
+			edit = !edit;
+			break;
+
+		case DGB_CW: // Wert ändern
+			if (edit) *parameter = *parameter + 1;
+			break;
+
+		case DGB_CCW: // Wert ändern
+			if (edit) *parameter = *parameter - 1;
+			break;
+
+		case SW_GRUEN: // Laden aus EEPROM
+			*parameter = eeprom_read_word((uint16_t *) parameter_ee);
+			break;
+
+		case SW_BLAU: // Speichern im EEPROM
+			eeprom_write_word((uint16_t *) parameter_ee, *parameter);
+			break;
+	}
+}
+
+/**
+ * Startsequenz
+ */
+void greeter() {
+	// UART
+	uart_puts("Donaudampfschiff\r\n");
+
+	// LCD
+	lcd_clear();
+	lcd_string("Donaudampfschiff");
+	lcd_setcursor(0, 1);
+	lcd_string("   4.Sem.Proj.  ");
+	_delay_ms(1500);
+	lcd_clear();
+}
+
+/**
+ * Initialize Timers and IO Ports
+ */
+void init() {
+	DDRB = 0xff;
+	DDRC = 0xff;
+	DDRD = 0b11111011;
+
+	// Geschwindigkeitssensor
+	// Falling Edge on INT0 triggers Interrupt
+	MCUCR = (1<<ISC01) | (0<<ISC00);
+	GICR = (1<<INT0);
+
+	// Timer Counter 0 init - 8 bit
+	// f = 7.812 kHz
+	// Verwendung fuer Auswertung der Taster und analog Signal Erzeugung
+	TCCR0 = (0<<FOC0) | (1<<WGM00) | (0<<COM01) | (0<<COM00) | (1<<WGM01) | (0<<CS02) | (1<<CS01) | (0<<CS00);
+	TIMSK |= (1<<TOIE0); // Timer 0 OVF Interrupt einschalten
+
+	// Timer Counter 1 - Servo - 16 bit Counter - UINT16_MAX = 65535
+	// Frequenz 50 Hz
+	// Timer 1: f_PWM=f_Clk/(Prescaler1*(1+ICR1))
+	TCCR1A = (1<<COM1A1) | (0<<COM1A0) | (1<<COM1B1) | (0<<COM1B0) | (1<<WGM11) | (0<<WGM10);
+	TCCR1B = (1<<WGM13) | (1<<WGM12) | (0<<CS12) | (1<<CS11) | (0<<CS10); // Prescaler1 = 8
+	TIMSK |= (1<<TOIE1);
+
+	ICR1 = 40000;	// Für welchen Wert im Register ICR1 ergibt sich eine Grundfrequenz von 50 Hz
+	OCR1A = 0;	// Register zum Einstellen des Servo Tastgrades
+
+	// Timer Counter 2 init - 8 bit
+	// Verwendung fuer Motor-PWM
+	// Timer 2: f = f_Clk / (256 * Prescaler2)
+	// f2 = 976 Hz
+	TCCR2 = (0<<FOC2) | (1<<WGM20) | (1<<COM21) | (0<<COM20) | (1<<WGM21) | (1<<CS22) | (0<<CS21) | (0<<CS20); // Prescaler2 = 64
+	OCR2 = 0;		// Register zum Einstellen des Motor Tastgrades
+	TIMSK |= (1<<TOIE2);	// Timer 2 OVF Interrupt für Eingabe Polling einschalten
+}
+
+
+/**
+ * Interupt Subroutine für Eingabe Polling
+ */
+ISR(TIMER0_OVF_vect) {
+	enum taster input = dgb_read(); /* Drehgeber wird periodisch ausgelesen */
+
+	if (edit == false && input) { /* Menu wechseln */
+		if (input == DGB_CW && display < DISPLAY_MODI-1) {
+			display++;
+		}
+		else if (input == DGB_CCW && display != OVERVIEW) {
+			display--;
+		}
+
+		redraw = true;
+	}
+
+	switch (display) {
+		case OVERVIEW:
+			switch (input) {
+				case SW_BLAU:
+					mode = HALT;
+					break;
+
+				case SW_GRUEN:
+					switch (mode) {
+						case HALT:
+							mode = MANUAL;
+							break;
+
+						case MANUAL:
+							mode = AUTO;
+							break;
+
+						case AUTO:
+							mode = MANUAL;
+							break;
+
+						default:
+							mode = HALT;
+					}
+					break;
+
+				case DGB_CW:
+				case DGB_CCW:
+				case DGB_SW:
+					;
+			}
+			break;
+
+		case PWM_DRIVE:
+			parameter_edit(&pwm_drive, &pwm_drive_ee, input);
+			break;
+
+		case PWM_STERING:
+			parameter_edit(&pwm_stering, &pwm_stering_ee, input);
+			break;
+
+		case PID_STERING_P:
+			parameter_edit(&pid_stering.pFactor, &pid_stering_p_ee, input);
+			break;
+
+		case PID_STERING_I:
+			parameter_edit(&pid_stering.iFactor, &pid_stering_i_ee, input);
+			break;
+
+		case PID_DRIVE_P:
+			parameter_edit(&pid_drive.pFactor, &pid_drive_p_ee, input);
+			break;
+
+		case PID_DRIVE_I:
+			parameter_edit(&pid_drive.iFactor, &pid_drive_i_ee, input);
+			break;
+
+		case ADC_STERING_LEFT:
+		case ADC_STERING_RIGHT:
+		case ADC_BATT_LOGIC:
+		case ADC_BATT_DRIVE:
+			/* ADC Werte können nicht geändert werden */;
+	}
+}
+
+/**
+ * Interupt Subroutine für UART Kommunikation
+ */
+ISR(TIMER1_OVF_vect) {
+	static uint8_t cnt, cnt2, magic, dat = 1;
+	char buffer[32];
+
+	/* Send Data */
+	/*if (cnt++ == 25) {
+
+		switch (cnt2++ & 0x01) {
+			case 0:
+				sprintf(buffer,
+					"spd=%i, adc_r=%i, adc_l=%i, ",
+					speed,
+					adc_stering_right,
+					adc_stering_left
+				);
+				break;
+
+			case 1:
+				sprintf(buffer,
+					"stering=%i, drive=%i\r\n",
+					out_stering,
+					out_drive
+				);
+				break;
+		}
+
+		uart_puts(buffer);
+
+		cnt = 0;
+	}*/
+
+	/*uint16_t byte = uart_getc();
+	if (byte != UART_NO_DATA) {
+		if (byte & 0x01) {
+			pwm_stering = *((int8_t *) &byte);
+		}
+		else {
+			pwm_drive = (uint8_t) byte;
+		}
+	}*/
+}
+
+/**
+ * Interupt Subroutine für Regelung
+ */
+ISR(TIMER2_OVF_vect) {
+	speed_cnt++;
+	speed_ovf |= (speed_cnt == INT16_MAX);
+
+	/**
+	 * Berechnung der neuen Sollwerte
+	 */
+	int16_t diff = adc_stering_right - adc_stering_left;
+	uint16_t sum = adc_stering_right + adc_stering_left;
+
+	/**
+
+	 * Schreiben der Compare-Register
+	 * Motor Tastgrad
+	 */
+	switch (mode) {
+		case MANUAL:
+			out_drive = pwm_drive;
+			out_stering = pwm_stering;
+			break;
+
+		case AUTO:
+			if (sum < 30) { /* Von Strecke abgekommen */
+				mode = HALT;
+				display = OVERVIEW;
+				edit = false;
+			}
+			else {
+				out_stering = pid_controller(0 , diff , &pid_stering);
+
+				// output_drive = pid_controller(pwm_drive, set_drive, &pid_drive); // funktioniert noch nicht
+				// output_drive = pid_controller(pwm_drive, speed, &pid_drive); // funktioniert noch nicht
+				out_drive = (pwm_drive>>1) + (( pwm_drive * (128 - abs(out_stering))) >> 8);
+			}
+			break;
+
+		case HALT:
+		default:
+			out_drive = 0;
+			out_stering = 0;
+	}
+
+	/**
+	 * Servo Tastgrad
+	 * Links 2.1ms	=> 4200
+	 * Mitte 1.5ms	=> 3000
+	 * Rechts 0.9ms	=> 1800
+	 */
+	OCR1A = 3000 + (out_stering * 9);
+	OCR2 = out_drive;
+}
+
+
+/**
+ * Interupt Subroutine für ADC
+ */
+ISR(ADC_vect) {
+	enum channel ch = ADMUX & ADMUX_MASK;
+
+	switch (ch) {
+		case STERING_LEFT:
+			adc_stering_left = ADC;
+			break;
+
+		case STERING_RIGHT:
+			adc_stering_right = ADC;
+			break;
+
+		case BATT_LOGIC:
+
+			adc_batt_logic = ADC;
+			break;
+
+		case BATT_DRIVE:
+			adc_batt_drive = ADC;
+			break;
+	}
+
+	ADMUX = (ADMUX & ~ADMUX_MASK);
+	ADMUX |= (ch >= 1) ? 0 : ++ch;
+
+ 	ADCSRA |= (1<<ADSC); // starte nächste Messung
+}
+
+/**
+ * Interrupt Subroutine für Geschwindigkeitssensor
+ */
+ISR(INT0_vect) {
+	if (speed_ovf) {
+		speed = 0;
+		speed_ovf = false;
+	}
+	else {
+		speed = 2e4 / speed_cnt;
+	}
+	speed_cnt = 0;
+}
+
+int main() {
+
+	// Gespeicherte Werte einlesen
+	pwm_drive = eeprom_read_word((uint16_t *) &pwm_drive_ee);
+	pwm_stering = eeprom_read_word((uint16_t *) &pwm_stering_ee);
+
+	// Initialisierung
+	init();
+	adc_init();
+	dgb_init();
+	lcd_init();
+	uart_init(UART_BAUD_SELECT(BAUDRATE, F_CPU));
+
+	// PID mit EEPROM-Werten initialisieren
+	pid_init(
+		eeprom_read_word((uint16_t *) &pid_drive_p_ee),
+		eeprom_read_word((uint16_t *) &pid_drive_i_ee),
+		0, &pid_drive);
+	pid_init(
+		eeprom_read_word((uint16_t *) &pid_stering_p_ee),
+		eeprom_read_word((uint16_t *) &pid_stering_i_ee),
+		0, &pid_stering);
+
+	// Interrupts aktivieren
+	sei();
+
+	// Startsqeuenz
+	greeter();
+
+	// Watchdog Timer aktivieren
+	wdt_enable(WDTO_1S);
+
+	// Menü
+	while (1) {
+		wdt_reset();
+
+		lcd_home(); /* set cursor to top-leftmost postion */
+
+		if (redraw) {
+			lcd_clear();
+
+			if (display_str[display]) {
+				lcd_string(display_str[display]);
+			}
+
+			redraw = false;
+		}
+
+		switch (display) {
+			case OVERVIEW:
+				lcd_string(mode_str[mode]);
+				lcd_string("  S:");
+				lcd_int(out_stering, 6);
+
+				lcd_setcursor(0, 1);
+				lcd_string("V:");
+				lcd_int(speed, 5);
+
+				lcd_string(" D:");
+				lcd_int(out_drive, 6);
+				break;
+
+			case PWM_DRIVE:
+				lcd_setcursor(0, 1);
+				lcd_int(pwm_drive, 16);
+				break;
+
+			case PWM_STERING:
+				lcd_setcursor(0, 1);
+				lcd_int(pwm_stering, 16);
+				break;
+
+			case PID_STERING_P:
+				lcd_setcursor(0, 1);
+				lcd_int(pid_stering.pFactor, 16);
+				break;
+
+			case PID_STERING_I:
+				lcd_setcursor(0, 1);
+				lcd_int(pid_stering.iFactor, 16);
+				break;
+
+			case PID_DRIVE_P:
+				lcd_setcursor(0, 1);
+				lcd_int(pid_drive.pFactor, 16);
+				break;
+
+			case PID_DRIVE_I:
+				lcd_setcursor(0, 1);
+				lcd_int(pid_drive.iFactor, 16);
+				break;
+
+			case ADC_STERING_LEFT:
+				lcd_setcursor(0, 1);
+				lcd_int(adc_stering_left, 5);
+				lcd_bar(6, 1, 10, adc_stering_left / 10);
+				break;
+
+			case ADC_STERING_RIGHT:
+				lcd_setcursor(0, 1);
+				lcd_int(adc_stering_right, 5);
+				lcd_bar(6, 1, 10, adc_stering_right / 10);
+				break;
+
+			case ADC_BATT_LOGIC:
+				lcd_setcursor(10, 1);
+				lcd_int(adc_batt_logic, 6);
+				break;
+		
+			case ADC_BATT_DRIVE:
+				lcd_setcursor(10, 1);
+				lcd_int(adc_batt_drive, 6);
+				break;
+		}
+	}
+
+	return 0;
+}
+ 
--- a/controller/pid.c
+++ b/controller/pid.c
@ -0,0 +1,112 @@
+/**
+ * General PID implementation for AVR
+ *
+ * Discrete PID controller implementation. Set up by giving P/I/D terms
+ * to pid_init(), and uses a struct pid to store internal values.
+ * 
+ * Based on ATMEL AppNote: AVR221 - Discrete PID controller
+ *
+ * @copyright	2012 Institute Automation of Complex Power Systems (ACS), RWTH Aachen University
+ * @license	http://www.gnu.org/licenses/gpl.txt GNU Public License
+ * @author	Atmel Corporation <avr@atmel.com>
+ * @link	http://www.atmel.com
+ * @revision	456
+ * @date 	2006-02-16 12:46:13
+ */
+
+#include <stdlib.h>
+#include <stdint.h>
+
+#include "pid.h"
+
+/**
+ * Initialisation of PID controller parameters
+ *
+ * Initialise the variables used by the PID algorithm
+ *
+ * @param p_factor	Proportional term
+ * @param i_factor	Integral term
+ * @param d_factor	Derivate term
+ * @param pid		Struct with PID status
+ */
+void pid_init(int16_t pFactor, int16_t iFactor, int16_t dFactor, struct pid *pid) {
+	// Start values for PID controller
+	pid->sumError = 0;
+	pid->lastProcessValue = 0;
+
+	// Tuning constants for PID loop
+	pid->pFactor = pFactor;
+	pid->iFactor = iFactor;
+	pid->dFactor = dFactor;
+
+	// Limits to avoid overflow
+	pid->maxError = MAX_INT / (pid->pFactor + 1);
+	pid->maxSumError = MAX_I_TERM / (pid->iFactor + 1);
+}
+
+/**
+ * PID control algorithm
+ *
+ * Calculates output from setpoint, process value and PID status
+ *
+ * @param setPoint	Desired value
+ * @param processValue	Measured value
+ * @param pid		PID status struct
+ */
+int16_t pid_controller(int16_t setPoint, int16_t processValue, struct pid *pid) {
+	int16_t error, pTerm, dTerm;
+	int32_t iTerm, ret, temp;
+
+	error = setPoint - processValue;
+
+	// Calculate pTerm and limit error overflow
+	if (error > pid->maxError){
+		pTerm = MAX_INT;
+	}
+	else if (error < -pid->maxError){
+		pTerm = -MAX_INT;
+	}
+	else {
+		pTerm = pid->pFactor * error;
+	}
+
+	// Calculate iTerm and limit integral runaway
+	temp = pid->sumError + error;
+	if (temp > pid->maxSumError){
+		iTerm = MAX_I_TERM;
+		pid->sumError = pid->maxSumError;
+	}
+	else if (temp < -pid->maxSumError){
+		iTerm = -MAX_I_TERM;
+		pid->sumError = -pid->maxSumError;
+	}
+	else {
+		pid->sumError = temp;
+		iTerm = pid->iFactor * pid->sumError;
+	}
+
+	// Calculate Dterm
+	dTerm = pid->dFactor * (pid->lastProcessValue - processValue);
+
+	pid->lastProcessValue = processValue;
+
+	ret = (pTerm + iTerm + dTerm) >> SCALING_SHIFT;
+
+	if (ret > MAX_INT){
+		ret = MAX_INT;
+	}
+	else if (ret < -MAX_INT){
+		ret = -MAX_INT;
+	}
+
+	return (int16_t) ret;
+}
+
+/**
+ * Resets the integrator
+ *
+ * Calling this function will reset the integrator in the PID regulator
+ */
+void pid_reset_integrator(struct pid *pid) {
+	pid->sumError = 0;
+}
--- a/controller/pid.h
+++ b/controller/pid.h
@ -0,0 +1,54 @@
+/**
+ * General PID implementation for AVR
+ *
+ * Discrete PID controller implementation. Set up by giving P/I/D terms
+ * to pid_init(), and uses a struct pid to store internal values.
+ * 
+ * Based on ATMEL AppNote: AVR221 - Discrete PID controller
+ *
+ * @copyright	2012 Institute Automation of Complex Power Systems (ACS), RWTH Aachen University
+ * @license	http://www.gnu.org/licenses/gpl.txt GNU Public License
+ * @author	Atmel Corporation <avr@atmel.com>
+ * @link	http://www.atmel.com
+ * @revision	456
+ * @date 	2006-02-16 12:46:13
+ */
+
+#ifndef _PID_H_
+#define _PID_H_
+
+#include <stdlib.h>
+#include <stdint.h>
+
+#define SCALING_FACTOR	128
+#define SCALING_SHIFT 7
+
+/**
+ * PID Status
+ *
+ * Setpoints and data used by the PID control algorithm
+ */
+struct pid {
+	int16_t lastProcessValue;	// Last process value, used to find derivative of process value.
+	int32_t sumError;		// Summation of errors, used for integrate calculations
+	int16_t pFactor;		// The Proportional tuning constant, multiplied with SCALING_FACTOR
+	int16_t iFactor;		// The Integral tuning constant, multiplied with SCALING_FACTOR
+	int16_t dFactor;		// The Derivative tuning constant, multiplied with SCALING_FACTOR
+	int16_t maxError;		// Maximum allowed error, avoid overflow
+	int32_t maxSumError;		// Maximum allowed sumerror, avoid overflow
+};
+
+/**
+ * Maximum values
+ *
+ * Needed to avoid sign/overflow problems
+ */
+#define MAX_INT		INT16_MAX
+#define MAX_LONG	INT32_MAX
+#define MAX_I_TERM	(MAX_LONG / 2)
+
+void pid_init(int16_t pFactor, int16_t iFactor, int16_t dFactor, struct pid *pid);
+int16_t pid_controller(int16_t setPoint, int16_t processValue, struct pid *pid);
+void pid_reset_integrator(struct pid *pid);
+
+#endif /* _PID_H_ */
--- a/controller/rotary.c
+++ b/controller/rotary.c
@ -0,0 +1,125 @@
+/**
+ * Rotary encoder routines
+ *
+ * @copyright	2012 Institute Automation of Complex Power Systems (ACS), RWTH Aachen University
+ * @license	http://www.gnu.org/licenses/gpl.txt GNU Public License
+ * @author	Steffen Vogel <info@steffenvogel.de>
+ */
+
+#include "rotary.h"
+
+/**
+ * Drehgeber initialisieren
+ */
+void dgb_init() {
+	// DDR auf input setzen
+	SW_DDR &= ~(1<<SW_PIN_GRUEN);
+	SW_DDR &= ~(1<<SW_PIN_BLAU);
+	DGB_DDR &= ~(1<<DGB_PIN_A);
+	DGB_DDR &= ~(1<<DGB_PIN_B);
+	DGB_DDR &= ~(1<<DGB_PIN_SW);
+
+	// PullUps einschalten
+	SW_PORT |= (1<<SW_PIN_GRUEN);
+	SW_PORT |= (1<<SW_PIN_BLAU);
+	DGB_PORT |= (1<<DGB_PIN_A);
+	DGB_PORT |= (1<<DGB_PIN_B);
+	DGB_PORT |= (1<<DGB_PIN_SW);
+}
+
+/**
+ * Drehgeber auslesen
+ * 
+ * Diese Funktion sollte periodisch aufgerufen werden (Polling)
+ */
+uint8_t dgb_read() {
+	// Debouncing
+	volatile static uint8_t lastA;
+	volatile static uint8_t lastSW;
+	volatile static uint8_t lastSW_Gruen;
+	volatile static uint8_t lastSW_Blau;
+
+	volatile static bool trigger;
+	volatile static bool ready;
+	volatile static bool ignore;
+
+	enum taster eingabe = 0;
+
+	// Drehgeber Trigger finden
+	if ((!(DGB_PIN & (1<<DGB_PIN_A))) && !trigger) {
+		if(lastA < 3) {
+			lastA++;
+		}
+		else {
+			trigger = true;
+			lastA = 0;
+		}
+	}
+
+	// Richtung auswerten
+	if (trigger && !ready) {
+		if (!(DGB_PIN & (1<<DGB_PIN_B))) {
+			eingabe = DGB_CCW;
+			ready = true;
+		}
+		else {
+			eingabe = DGB_CW;
+			ready = true;
+		}
+	}
+
+	if(ready && (DGB_PIN & (1<<DGB_PIN_A))) {
+		ready = false;
+		trigger = false;
+	}
+
+	// Schalter des Drehgebers auswerten
+	if (!(DGB_PIN & (1<<DGB_PIN_SW))) {
+		if (lastSW < 255) lastSW++;
+	}
+	else if (lastSW == 255) {
+		lastSW = 0;
+		if (ignore) {
+			ignore = false;
+		}
+		else {
+			eingabe = DGB_SW;
+		}
+	}
+
+	// zusätzliche Schalter auswerten
+	if (!(SW_PIN & (1<<SW_PIN_GRUEN))) {
+		if(lastSW_Gruen < 255) {
+			lastSW_Gruen++;
+		}
+	}
+	else if (lastSW_Gruen == 255) {
+		lastSW_Gruen = 0;
+
+		if (ignore) {
+			ignore = false;
+		}
+		else {
+			eingabe = SW_GRUEN;
+		}
+	}
+
+
+	if (!(SW_PIN & (1<<SW_PIN_BLAU))) {
+		if (lastSW_Blau < 255) {
+			lastSW_Blau++;
+		}
+	}
+	else if (lastSW_Blau == 255) {
+		lastSW_Blau = 0;
+
+		if (ignore) {
+			ignore = false;
+		}
+		else {
+			eingabe = SW_BLAU;
+		}
+	}
+
+	return eingabe;
+}
--- a/controller/rotary.h
+++ b/controller/rotary.h
@ -0,0 +1,44 @@
+/**
+ * Rotary encoder headers
+ *
+ * @copyright	2012 Institute Automation of Complex Power Systems (ACS), RWTH Aachen University
+ * @license	http://www.gnu.org/licenses/gpl.txt GNU Public License
+ * @author	Steffen Vogel <info@steffenvogel.de>
+ */
+
+#ifndef _ROTARY_H_
+#define _ROTARY_H_
+
+#include <stdlib.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#define DGB_PORT	PORTB
+#define DGB_DDR		DDRB
+#define DGB_PIN_A	PB0
+#define DGB_PIN_B	PB1
+#define DGB_PIN_SW	PB2
+#define DGB_PIN		PINB
+
+// Definitionen für zusätzliche Schalter
+#define SW_PORT		PORTB
+#define SW_DDR		DDRB
+#define SW_PIN		PINB
+#define SW_PIN_BLAU	PB3
+#define SW_PIN_GRUEN	PB4
+
+enum taster {
+	DGB_CCW = 1,
+	DGB_CW,
+	DGB_SW,
+	SW_GRUEN,
+	SW_BLAU
+};
+
+void dgb_init();
+enum taster dgb_read();
+
+#endif /* _ROTARY_H_ */
--- a/controller/uart.c
+++ b/controller/uart.c
@ -0,0 +1,651 @@
+/*************************************************************************
+Title:    Interrupt UART library with receive/transmit circular buffers
+Author:   Peter Fleury <pfleury@gmx.ch>   http://jump.to/fleury
+File:     $Id: uart.c,v 1.6.2.2 2009/11/29 08:56:12 Peter Exp $
+Software: AVR-GCC 4.1, AVR Libc 1.4.6 or higher
+Hardware: any AVR with built-in UART, 
+License:  GNU General Public License 
+          
+DESCRIPTION:
+    An interrupt is generated when the UART has finished transmitting or
+    receiving a byte. The interrupt handling routines use circular buffers
+    for buffering received and transmitted data.
+    
+    The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE variables define
+    the buffer size in bytes. Note that these variables must be a 
+    power of 2.
+    
+USAGE:
+    Refere to the header file uart.h for a description of the routines. 
+    See also example test_uart.c.
+
+NOTES:
+    Based on Atmel Application Note AVR306
+                    
+LICENSE:
+    Copyright (C) 2006 Peter Fleury
+
+    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
+    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.
+                        
+*************************************************************************/
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include "uart.h"
+
+
+/*
+ *  constants and macros
+ */
+
+/* size of RX/TX buffers */
+#define UART_RX_BUFFER_MASK ( UART_RX_BUFFER_SIZE - 1)
+#define UART_TX_BUFFER_MASK ( UART_TX_BUFFER_SIZE - 1)
+
+#if ( UART_RX_BUFFER_SIZE & UART_RX_BUFFER_MASK )
+#error RX buffer size is not a power of 2
+#endif
+#if ( UART_TX_BUFFER_SIZE & UART_TX_BUFFER_MASK )
+#error TX buffer size is not a power of 2
+#endif
+
+#if defined(__AVR_AT90S2313__) \
+ || defined(__AVR_AT90S4414__) || defined(__AVR_AT90S4434__) \
+ || defined(__AVR_AT90S8515__) || defined(__AVR_AT90S8535__) \
+ || defined(__AVR_ATmega103__)
+ /* old AVR classic or ATmega103 with one UART */
+ #define AT90_UART
+ #define UART0_RECEIVE_INTERRUPT   SIG_UART_RECV
+ #define UART0_TRANSMIT_INTERRUPT  SIG_UART_DATA
+ #define UART0_STATUS   USR
+ #define UART0_CONTROL  UCR
+ #define UART0_DATA     UDR  
+ #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_AT90S2333__) || defined(__AVR_AT90S4433__)
+ /* old AVR classic with one UART */
+ #define AT90_UART
+ #define UART0_RECEIVE_INTERRUPT   SIG_UART_RECV
+ #define UART0_TRANSMIT_INTERRUPT  SIG_UART_DATA
+ #define UART0_STATUS   UCSRA
+ #define UART0_CONTROL  UCSRB
+ #define UART0_DATA     UDR 
+ #define UART0_UDRIE    UDRIE
+#elif  defined(__AVR_ATmega8__)  || defined(__AVR_ATmega16__) || defined(__AVR_ATmega32__) \
+  || defined(__AVR_ATmega8515__) || defined(__AVR_ATmega8535__) \
+  || defined(__AVR_ATmega323__)
+  /* ATmega with one USART */
+ #define ATMEGA_USART
+ #define UART0_RECEIVE_INTERRUPT   SIG_UART_RECV
+ #define UART0_TRANSMIT_INTERRUPT  SIG_UART_DATA
+ #define UART0_STATUS   UCSRA
+ #define UART0_CONTROL  UCSRB
+ #define UART0_DATA     UDR
+ #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega163__) 
+  /* ATmega163 with one UART */
+ #define ATMEGA_UART
+ #define UART0_RECEIVE_INTERRUPT   SIG_UART_RECV
+ #define UART0_TRANSMIT_INTERRUPT  SIG_UART_DATA
+ #define UART0_STATUS   UCSRA
+ #define UART0_CONTROL  UCSRB
+ #define UART0_DATA     UDR
+ #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega162__) 
+ /* ATmega with two USART */
+ #define ATMEGA_USART0
+ #define ATMEGA_USART1
+ #define UART0_RECEIVE_INTERRUPT   SIG_USART0_RECV
+ #define UART1_RECEIVE_INTERRUPT   SIG_USART1_RECV
+ #define UART0_TRANSMIT_INTERRUPT  SIG_USART0_DATA
+ #define UART1_TRANSMIT_INTERRUPT  SIG_USART1_DATA
+ #define UART0_STATUS   UCSR0A
+ #define UART0_CONTROL  UCSR0B
+ #define UART0_DATA     UDR0
+ #define UART0_UDRIE    UDRIE0
+ #define UART1_STATUS   UCSR1A
+ #define UART1_CONTROL  UCSR1B
+ #define UART1_DATA     UDR1
+ #define UART1_UDRIE    UDRIE1
+#elif defined(__AVR_ATmega64__) || defined(__AVR_ATmega128__) 
+ /* ATmega with two USART */
+ #define ATMEGA_USART0
+ #define ATMEGA_USART1
+ #define UART0_RECEIVE_INTERRUPT   SIG_UART0_RECV
+ #define UART1_RECEIVE_INTERRUPT   SIG_UART1_RECV
+ #define UART0_TRANSMIT_INTERRUPT  SIG_UART0_DATA
+ #define UART1_TRANSMIT_INTERRUPT  SIG_UART1_DATA
+ #define UART0_STATUS   UCSR0A
+ #define UART0_CONTROL  UCSR0B
+ #define UART0_DATA     UDR0
+ #define UART0_UDRIE    UDRIE0
+ #define UART1_STATUS   UCSR1A
+ #define UART1_CONTROL  UCSR1B
+ #define UART1_DATA     UDR1
+ #define UART1_UDRIE    UDRIE1
+#elif defined(__AVR_ATmega161__)
+ /* ATmega with UART */
+ #error "AVR ATmega161 currently not supported by this libaray !"
+#elif defined(__AVR_ATmega169__) 
+ /* ATmega with one USART */
+ #define ATMEGA_USART
+ #define UART0_RECEIVE_INTERRUPT   SIG_USART_RECV
+ #define UART0_TRANSMIT_INTERRUPT  SIG_USART_DATA
+ #define UART0_STATUS   UCSRA
+ #define UART0_CONTROL  UCSRB
+ #define UART0_DATA     UDR
+ #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega48__) ||defined(__AVR_ATmega88__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega48P__) || defined(__AVR_ATmega88P__) || defined(__AVR_ATmega168P__) || defined(__AVR_ATmega328P__)
+ /* ATmega with one USART */
+ #define ATMEGA_USART0
+ #define UART0_RECEIVE_INTERRUPT   SIG_USART_RECV
+ #define UART0_TRANSMIT_INTERRUPT  SIG_USART_DATA
+ #define UART0_STATUS   UCSR0A
+ #define UART0_CONTROL  UCSR0B
+ #define UART0_DATA     UDR0
+ #define UART0_UDRIE    UDRIE0
+#elif defined(__AVR_ATtiny2313__)
+ #define ATMEGA_USART
+ #define UART0_RECEIVE_INTERRUPT   SIG_USART0_RX 
+ #define UART0_TRANSMIT_INTERRUPT  SIG_USART0_UDRE
+ #define UART0_STATUS   UCSRA
+ #define UART0_CONTROL  UCSRB
+ #define UART0_DATA     UDR
+ #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega329__) ||defined(__AVR_ATmega3290__) ||\
+      defined(__AVR_ATmega649__) ||defined(__AVR_ATmega6490__) ||\
+      defined(__AVR_ATmega325__) ||defined(__AVR_ATmega3250__) ||\
+      defined(__AVR_ATmega645__) ||defined(__AVR_ATmega6450__)
+  /* ATmega with one USART */
+  #define ATMEGA_USART0
+  #define UART0_RECEIVE_INTERRUPT   SIG_UART_RECV
+  #define UART0_TRANSMIT_INTERRUPT  SIG_UART_DATA
+  #define UART0_STATUS   UCSR0A
+  #define UART0_CONTROL  UCSR0B
+  #define UART0_DATA     UDR0
+  #define UART0_UDRIE    UDRIE0
+#elif defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__) || defined(__AVR_ATmega1280__)  || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega640__)
+/* ATmega with two USART */
+  #define ATMEGA_USART0
+  #define ATMEGA_USART1
+  #define UART0_RECEIVE_INTERRUPT   SIG_USART0_RECV
+  #define UART1_RECEIVE_INTERRUPT   SIG_USART1_RECV
+  #define UART0_TRANSMIT_INTERRUPT  SIG_USART0_DATA
+  #define UART1_TRANSMIT_INTERRUPT  SIG_USART1_DATA
+  #define UART0_STATUS   UCSR0A
+  #define UART0_CONTROL  UCSR0B
+  #define UART0_DATA     UDR0
+  #define UART0_UDRIE    UDRIE0
+  #define UART1_STATUS   UCSR1A
+  #define UART1_CONTROL  UCSR1B
+  #define UART1_DATA     UDR1
+  #define UART1_UDRIE    UDRIE1  
+#elif defined(__AVR_ATmega644__)
+ /* ATmega with one USART */
+ #define ATMEGA_USART0
+ #define UART0_RECEIVE_INTERRUPT   SIG_USART_RECV
+ #define UART0_TRANSMIT_INTERRUPT  SIG_USART_DATA
+ #define UART0_STATUS   UCSR0A
+ #define UART0_CONTROL  UCSR0B
+ #define UART0_DATA     UDR0
+ #define UART0_UDRIE    UDRIE0
+#elif defined(__AVR_ATmega164P__) || defined(__AVR_ATmega324P__) || defined(__AVR_ATmega644P__)
+ /* ATmega with two USART */
+ #define ATMEGA_USART0
+ #define ATMEGA_USART1
+ #define UART0_RECEIVE_INTERRUPT   SIG_USART_RECV
+ #define UART1_RECEIVE_INTERRUPT   SIG_USART1_RECV
+ #define UART0_TRANSMIT_INTERRUPT  SIG_USART_DATA
+ #define UART1_TRANSMIT_INTERRUPT  SIG_USART1_DATA
+ #define UART0_STATUS   UCSR0A
+ #define UART0_CONTROL  UCSR0B
+ #define UART0_DATA     UDR0
+ #define UART0_UDRIE    UDRIE0
+ #define UART1_STATUS   UCSR1A
+ #define UART1_CONTROL  UCSR1B
+ #define UART1_DATA     UDR1
+ #define UART1_UDRIE    UDRIE1
+#else
+ #error "no UART definition for MCU available"
+#endif
+
+
+/*
+ *  module global variables
+ */
+static volatile unsigned char UART_TxBuf[UART_TX_BUFFER_SIZE];
+static volatile unsigned char UART_RxBuf[UART_RX_BUFFER_SIZE];
+static volatile unsigned char UART_TxHead;
+static volatile unsigned char UART_TxTail;
+static volatile unsigned char UART_RxHead;
+static volatile unsigned char UART_RxTail;
+static volatile unsigned char UART_LastRxError;
+
+#if defined( ATMEGA_USART1 )
+static volatile unsigned char UART1_TxBuf[UART_TX_BUFFER_SIZE];
+static volatile unsigned char UART1_RxBuf[UART_RX_BUFFER_SIZE];
+static volatile unsigned char UART1_TxHead;
+static volatile unsigned char UART1_TxTail;
+static volatile unsigned char UART1_RxHead;
+static volatile unsigned char UART1_RxTail;
+static volatile unsigned char UART1_LastRxError;
+#endif
+
+
+
+SIGNAL(UART0_RECEIVE_INTERRUPT)
+/*************************************************************************
+Function: UART Receive Complete interrupt
+Purpose:  called when the UART has received a character
+**************************************************************************/
+{
+    unsigned char tmphead;
+    unsigned char data;
+    unsigned char usr;
+    unsigned char lastRxError;
+ 
+ 
+    /* read UART status register and UART data register */ 
+    usr  = UART0_STATUS;
+    data = UART0_DATA;
+    
+    /* */
+#if defined( AT90_UART )
+    lastRxError = (usr & (_BV(FE)|_BV(DOR)) );
+#elif defined( ATMEGA_USART )
+    lastRxError = (usr & (_BV(FE)|_BV(DOR)) );
+#elif defined( ATMEGA_USART0 )
+    lastRxError = (usr & (_BV(FE0)|_BV(DOR0)) );
+#elif defined ( ATMEGA_UART )
+    lastRxError = (usr & (_BV(FE)|_BV(DOR)) );
+#endif
+        
+    /* calculate buffer index */ 
+    tmphead = ( UART_RxHead + 1) & UART_RX_BUFFER_MASK;
+    
+    if ( tmphead == UART_RxTail ) {
+        /* error: receive buffer overflow */
+        lastRxError = UART_BUFFER_OVERFLOW >> 8;
+    }else{
+        /* store new index */
+        UART_RxHead = tmphead;
+        /* store received data in buffer */
+        UART_RxBuf[tmphead] = data;
+    }
+    UART_LastRxError = lastRxError;   
+}
+
+
+SIGNAL(UART0_TRANSMIT_INTERRUPT)
+/*************************************************************************
+Function: UART Data Register Empty interrupt
+Purpose:  called when the UART is ready to transmit the next byte
+**************************************************************************/
+{
+    unsigned char tmptail;
+
+    
+    if ( UART_TxHead != UART_TxTail) {
+        /* calculate and store new buffer index */
+        tmptail = (UART_TxTail + 1) & UART_TX_BUFFER_MASK;
+        UART_TxTail = tmptail;
+        /* get one byte from buffer and write it to UART */
+        UART0_DATA = UART_TxBuf[tmptail];  /* start transmission */
+    }else{
+        /* tx buffer empty, disable UDRE interrupt */
+        UART0_CONTROL &= ~_BV(UART0_UDRIE);
+    }
+}
+
+
+/*************************************************************************
+Function: uart_init()
+Purpose:  initialize UART and set baudrate
+Input:    baudrate using macro UART_BAUD_SELECT()
+Returns:  none
+**************************************************************************/
+void uart_init(unsigned int baudrate)
+{
+    UART_TxHead = 0;
+    UART_TxTail = 0;
+    UART_RxHead = 0;
+    UART_RxTail = 0;
+    
+#if defined( AT90_UART )
+    /* set baud rate */
+    UBRR = (unsigned char)baudrate; 
+
+    /* enable UART receiver and transmmitter and receive complete interrupt */
+    UART0_CONTROL = _BV(RXCIE)|_BV(RXEN)|_BV(TXEN);
+
+#elif defined (ATMEGA_USART)
+    /* Set baud rate */
+    if ( baudrate & 0x8000 )
+    {
+    	 UART0_STATUS = (1<<U2X);  //Enable 2x speed 
+    	 baudrate &= ~0x8000;
+    }
+    UBRRH = (unsigned char)(baudrate>>8);
+    UBRRL = (unsigned char) baudrate;
+   
+    /* Enable USART receiver and transmitter and receive complete interrupt */
+    UART0_CONTROL = _BV(RXCIE)|(1<<RXEN)|(1<<TXEN);
+    
+    /* Set frame format: asynchronous, 8data, no parity, 1stop bit */
+    #ifdef URSEL
+    UCSRC = (1<<URSEL)|(3<<UCSZ0);
+    #else
+    UCSRC = (3<<UCSZ0);
+    #endif 
+    
+#elif defined (ATMEGA_USART0 )
+    /* Set baud rate */
+    if ( baudrate & 0x8000 ) 
+    {
+   		UART0_STATUS = (1<<U2X0);  //Enable 2x speed 
+   		baudrate &= ~0x8000;
+   	}
+    UBRR0H = (unsigned char)(baudrate>>8);
+    UBRR0L = (unsigned char) baudrate;
+
+    /* Enable USART receiver and transmitter and receive complete interrupt */
+    UART0_CONTROL = _BV(RXCIE0)|(1<<RXEN0)|(1<<TXEN0);
+    
+    /* Set frame format: asynchronous, 8data, no parity, 1stop bit */
+    #ifdef URSEL0
+    UCSR0C = (1<<URSEL0)|(3<<UCSZ00);
+    #else
+    UCSR0C = (3<<UCSZ00);
+    #endif 
+
+#elif defined ( ATMEGA_UART )
+    /* set baud rate */
+    if ( baudrate & 0x8000 ) 
+    {
+    	UART0_STATUS = (1<<U2X);  //Enable 2x speed 
+    	baudrate &= ~0x8000;
+    }
+    UBRRHI = (unsigned char)(baudrate>>8);
+    UBRR   = (unsigned char) baudrate;
+
+    /* Enable UART receiver and transmitter and receive complete interrupt */
+    UART0_CONTROL = _BV(RXCIE)|(1<<RXEN)|(1<<TXEN);
+
+#endif
+
+}/* uart_init */
+
+
+/*************************************************************************
+Function: uart_getc()
+Purpose:  return byte from ringbuffer  
+Returns:  lower byte:  received byte from ringbuffer
+          higher byte: last receive error
+**************************************************************************/
+unsigned int uart_getc(void)
+{    
+    unsigned char tmptail;
+    unsigned char data;
+
+
+    if ( UART_RxHead == UART_RxTail ) {
+        return UART_NO_DATA;   /* no data available */
+    }
+    
+    /* calculate /store buffer index */
+    tmptail = (UART_RxTail + 1) & UART_RX_BUFFER_MASK;
+    UART_RxTail = tmptail; 
+    
+    /* get data from receive buffer */
+    data = UART_RxBuf[tmptail];
+    
+    return (UART_LastRxError << 8) + data;
+
+}/* uart_getc */
+
+
+/*************************************************************************
+Function: uart_putc()
+Purpose:  write byte to ringbuffer for transmitting via UART
+Input:    byte to be transmitted
+Returns:  none          
+**************************************************************************/
+void uart_putc(unsigned char data)
+{
+    unsigned char tmphead;
+
+    
+    tmphead  = (UART_TxHead + 1) & UART_TX_BUFFER_MASK;
+    
+    while ( tmphead == UART_TxTail ){
+        ;/* wait for free space in buffer */
+    }
+    
+    UART_TxBuf[tmphead] = data;
+    UART_TxHead = tmphead;
+
+    /* enable UDRE interrupt */
+    UART0_CONTROL    |= _BV(UART0_UDRIE);
+
+}/* uart_putc */
+
+
+/*************************************************************************
+Function: uart_puts()
+Purpose:  transmit string to UART
+Input:    string to be transmitted
+Returns:  none          
+**************************************************************************/
+void uart_puts(const char *s )
+{
+    while (*s) 
+      uart_putc(*s++);
+
+}/* uart_puts */
+
+
+/*************************************************************************
+Function: uart_puts_p()
+Purpose:  transmit string from program memory to UART
+Input:    program memory string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart_puts_p(const char *progmem_s )
+{
+    register char c;
+    
+    while ( (c = pgm_read_byte(progmem_s++)) ) 
+      uart_putc(c);
+
+}/* uart_puts_p */
+
+
+/*
+ * these functions are only for ATmegas with two USART
+ */
+#if defined( ATMEGA_USART1 )
+
+SIGNAL(UART1_RECEIVE_INTERRUPT)
+/*************************************************************************
+Function: UART1 Receive Complete interrupt
+Purpose:  called when the UART1 has received a character
+**************************************************************************/
+{
+    unsigned char tmphead;
+    unsigned char data;
+    unsigned char usr;
+    unsigned char lastRxError;
+ 
+ 
+    /* read UART status register and UART data register */ 
+    usr  = UART1_STATUS;
+    data = UART1_DATA;
+    
+    /* */
+    lastRxError = (usr & (_BV(FE1)|_BV(DOR1)) );
+        
+    /* calculate buffer index */ 
+    tmphead = ( UART1_RxHead + 1) & UART_RX_BUFFER_MASK;
+    
+    if ( tmphead == UART1_RxTail ) {
+        /* error: receive buffer overflow */
+        lastRxError = UART_BUFFER_OVERFLOW >> 8;
+    }else{
+        /* store new index */
+        UART1_RxHead = tmphead;
+        /* store received data in buffer */
+        UART1_RxBuf[tmphead] = data;
+    }
+    UART1_LastRxError = lastRxError;   
+}
+
+
+SIGNAL(UART1_TRANSMIT_INTERRUPT)
+/*************************************************************************
+Function: UART1 Data Register Empty interrupt
+Purpose:  called when the UART1 is ready to transmit the next byte
+**************************************************************************/
+{
+    unsigned char tmptail;
+
+    
+    if ( UART1_TxHead != UART1_TxTail) {
+        /* calculate and store new buffer index */
+        tmptail = (UART1_TxTail + 1) & UART_TX_BUFFER_MASK;
+        UART1_TxTail = tmptail;
+        /* get one byte from buffer and write it to UART */
+        UART1_DATA = UART1_TxBuf[tmptail];  /* start transmission */
+    }else{
+        /* tx buffer empty, disable UDRE interrupt */
+        UART1_CONTROL &= ~_BV(UART1_UDRIE);
+    }
+}
+
+
+/*************************************************************************
+Function: uart1_init()
+Purpose:  initialize UART1 and set baudrate
+Input:    baudrate using macro UART_BAUD_SELECT()
+Returns:  none
+**************************************************************************/
+void uart1_init(unsigned int baudrate)
+{
+    UART1_TxHead = 0;
+    UART1_TxTail = 0;
+    UART1_RxHead = 0;
+    UART1_RxTail = 0;
+    
+
+    /* Set baud rate */
+    if ( baudrate & 0x8000 ) 
+    {
+    	UART1_STATUS = (1<<U2X1);  //Enable 2x speed 
+      baudrate &= ~0x8000;
+    }
+    UBRR1H = (unsigned char)(baudrate>>8);
+    UBRR1L = (unsigned char) baudrate;
+
+    /* Enable USART receiver and transmitter and receive complete interrupt */
+    UART1_CONTROL = _BV(RXCIE1)|(1<<RXEN1)|(1<<TXEN1);
+    
+    /* Set frame format: asynchronous, 8data, no parity, 1stop bit */   
+    #ifdef URSEL1
+    UCSR1C = (1<<URSEL1)|(3<<UCSZ10);
+    #else
+    UCSR1C = (3<<UCSZ10);
+    #endif 
+}/* uart_init */
+
+
+/*************************************************************************
+Function: uart1_getc()
+Purpose:  return byte from ringbuffer  
+Returns:  lower byte:  received byte from ringbuffer
+          higher byte: last receive error
+**************************************************************************/
+unsigned int uart1_getc(void)
+{    
+    unsigned char tmptail;
+    unsigned char data;
+
+
+    if ( UART1_RxHead == UART1_RxTail ) {
+        return UART_NO_DATA;   /* no data available */
+    }
+    
+    /* calculate /store buffer index */
+    tmptail = (UART1_RxTail + 1) & UART_RX_BUFFER_MASK;
+    UART1_RxTail = tmptail; 
+    
+    /* get data from receive buffer */
+    data = UART1_RxBuf[tmptail];
+    
+    return (UART1_LastRxError << 8) + data;
+
+}/* uart1_getc */
+
+
+/*************************************************************************
+Function: uart1_putc()
+Purpose:  write byte to ringbuffer for transmitting via UART
+Input:    byte to be transmitted
+Returns:  none          
+**************************************************************************/
+void uart1_putc(unsigned char data)
+{
+    unsigned char tmphead;
+
+    
+    tmphead  = (UART1_TxHead + 1) & UART_TX_BUFFER_MASK;
+    
+    while ( tmphead == UART1_TxTail ){
+        ;/* wait for free space in buffer */
+    }
+    
+    UART1_TxBuf[tmphead] = data;
+    UART1_TxHead = tmphead;
+
+    /* enable UDRE interrupt */
+    UART1_CONTROL    |= _BV(UART1_UDRIE);
+
+}/* uart1_putc */
+
+
+/*************************************************************************
+Function: uart1_puts()
+Purpose:  transmit string to UART1
+Input:    string to be transmitted
+Returns:  none          
+**************************************************************************/
+void uart1_puts(const char *s )
+{
+    while (*s) 
+      uart1_putc(*s++);
+
+}/* uart1_puts */
+
+
+/*************************************************************************
+Function: uart1_puts_p()
+Purpose:  transmit string from program memory to UART1
+Input:    program memory string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart1_puts_p(const char *progmem_s )
+{
+    register char c;
+    
+    while ( (c = pgm_read_byte(progmem_s++)) ) 
+      uart1_putc(c);
+
+}/* uart1_puts_p */
+
+
+#endif
--- a/controller/uart.h
+++ b/controller/uart.h
@ -0,0 +1,194 @@
+#ifndef UART_H
+#define UART_H
+/************************************************************************
+Title:    Interrupt UART library with receive/transmit circular buffers
+Author:   Peter Fleury <pfleury@gmx.ch>   http://jump.to/fleury
+File:     $Id: uart.h,v 1.8.2.1 2007/07/01 11:14:38 peter Exp $
+Software: AVR-GCC 4.1, AVR Libc 1.4
+Hardware: any AVR with built-in UART, tested on AT90S8515 & ATmega8 at 4 Mhz
+License:  GNU General Public License 
+Usage:    see Doxygen manual
+
+LICENSE:
+    Copyright (C) 2006 Peter Fleury
+
+    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
+    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.
+    
+************************************************************************/
+
+/** 
+ *  @defgroup pfleury_uart UART Library
+ *  @code #include <uart.h> @endcode
+ * 
+ *  @brief Interrupt UART library using the built-in UART with transmit and receive circular buffers. 
+ *
+ *  This library can be used to transmit and receive data through the built in UART. 
+ *
+ *  An interrupt is generated when the UART has finished transmitting or
+ *  receiving a byte. The interrupt handling routines use circular buffers
+ *  for buffering received and transmitted data.
+ *
+ *  The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE constants define
+ *  the size of the circular buffers in bytes. Note that these constants must be a power of 2.
+ *  You may need to adapt this constants to your target and your application by adding 
+ *  CDEFS += -DUART_RX_BUFFER_SIZE=nn -DUART_RX_BUFFER_SIZE=nn to your Makefile.
+ *
+ *  @note Based on Atmel Application Note AVR306
+ *  @author Peter Fleury pfleury@gmx.ch  http://jump.to/fleury
+ */
+ 
+/**@{*/
+
+
+#if (__GNUC__ * 100 + __GNUC_MINOR__) < 304
+#error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !"
+#endif
+
+
+/*
+** constants and macros
+*/
+
+/** @brief  UART Baudrate Expression
+ *  @param  xtalcpu  system clock in Mhz, e.g. 4000000L for 4Mhz          
+ *  @param  baudrate baudrate in bps, e.g. 1200, 2400, 9600     
+ */
+#define UART_BAUD_SELECT(baudRate,xtalCpu) ((xtalCpu)/((baudRate)*16l)-1)
+
+/** @brief  UART Baudrate Expression for ATmega double speed mode
+ *  @param  xtalcpu  system clock in Mhz, e.g. 4000000L for 4Mhz           
+ *  @param  baudrate baudrate in bps, e.g. 1200, 2400, 9600     
+ */
+#define UART_BAUD_SELECT_DOUBLE_SPEED(baudRate,xtalCpu) (((xtalCpu)/((baudRate)*8l)-1)|0x8000)
+
+
+/** Size of the circular receive buffer, must be power of 2 */
+#ifndef UART_RX_BUFFER_SIZE
+#define UART_RX_BUFFER_SIZE 64
+#endif
+/** Size of the circular transmit buffer, must be power of 2 */
+#ifndef UART_TX_BUFFER_SIZE
+#define UART_TX_BUFFER_SIZE 32
+#endif
+
+/* test if the size of the circular buffers fits into SRAM */
+#if ( (UART_RX_BUFFER_SIZE+UART_TX_BUFFER_SIZE) >= (RAMEND-0x60 ) )
+#error "size of UART_RX_BUFFER_SIZE + UART_TX_BUFFER_SIZE larger than size of SRAM"
+#endif
+
+/* 
+** high byte error return code of uart_getc()
+*/
+#define UART_FRAME_ERROR      0x0800              /* Framing Error by UART       */
+#define UART_OVERRUN_ERROR    0x0400              /* Overrun condition by UART   */
+#define UART_BUFFER_OVERFLOW  0x0200              /* receive ringbuffer overflow */
+#define UART_NO_DATA          0x0100              /* no receive data available   */
+
+
+/*
+** function prototypes
+*/
+
+/**
+   @brief   Initialize UART and set baudrate 
+   @param   baudrate Specify baudrate using macro UART_BAUD_SELECT()
+   @return  none
+*/
+extern void uart_init(unsigned int baudrate);
+
+
+/**
+ *  @brief   Get received byte from ringbuffer
+ *
+ * Returns in the lower byte the received character and in the 
+ * higher byte the last receive error.
+ * UART_NO_DATA is returned when no data is available.
+ *
+ *  @param   void
+ *  @return  lower byte:  received byte from ringbuffer
+ *  @return  higher byte: last receive status
+ *           - \b 0 successfully received data from UART
+ *           - \b UART_NO_DATA           
+ *             <br>no receive data available
+ *           - \b UART_BUFFER_OVERFLOW   
+ *             <br>Receive ringbuffer overflow.
+ *             We are not reading the receive buffer fast enough, 
+ *             one or more received character have been dropped 
+ *           - \b UART_OVERRUN_ERROR     
+ *             <br>Overrun condition by UART.
+ *             A character already present in the UART UDR register was 
+ *             not read by the interrupt handler before the next character arrived,
+ *             one or more received characters have been dropped.
+ *           - \b UART_FRAME_ERROR       
+ *             <br>Framing Error by UART
+ */
+extern unsigned int uart_getc(void);
+
+
+/**
+ *  @brief   Put byte to ringbuffer for transmitting via UART
+ *  @param   data byte to be transmitted
+ *  @return  none
+ */
+extern void uart_putc(unsigned char data);
+
+
+/**
+ *  @brief   Put string to ringbuffer for transmitting via UART
+ *
+ *  The string is buffered by the uart library in a circular buffer
+ *  and one character at a time is transmitted to the UART using interrupts.
+ *  Blocks if it can not write the whole string into the circular buffer.
+ * 
+ *  @param   s string to be transmitted
+ *  @return  none
+ */
+extern void uart_puts(const char *s );
+
+
+/**
+ * @brief    Put string from program memory to ringbuffer for transmitting via UART.
+ *
+ * The string is buffered by the uart library in a circular buffer
+ * and one character at a time is transmitted to the UART using interrupts.
+ * Blocks if it can not write the whole string into the circular buffer.
+ *
+ * @param    s program memory string to be transmitted
+ * @return   none
+ * @see      uart_puts_P
+ */
+extern void uart_puts_p(const char *s );
+
+/**
+ * @brief    Macro to automatically put a string constant into program memory
+ */
+#define uart_puts_P(__s)       uart_puts_p(PSTR(__s))
+
+
+
+/** @brief  Initialize USART1 (only available on selected ATmegas) @see uart_init */
+extern void uart1_init(unsigned int baudrate);
+/** @brief  Get received byte of USART1 from ringbuffer. (only available on selected ATmega) @see uart_getc */
+extern unsigned int uart1_getc(void);
+/** @brief  Put byte to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_putc */
+extern void uart1_putc(unsigned char data);
+/** @brief  Put string to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts */
+extern void uart1_puts(const char *s );
+/** @brief  Put string from program memory to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts_p */
+extern void uart1_puts_p(const char *s );
+/** @brief  Macro to automatically put a string constant into program memory */
+#define uart1_puts_P(__s)       uart1_puts_p(PSTR(__s))
+
+/**@}*/
+
+
+#endif // UART_H 
+