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36 lines
789 B
36 lines
789 B
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#define PI 3.141592654
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#define DEG(rad) (rad*180.0/PI)
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#define FULL_SPEED_ZONE 5
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#define MAGIC_45_2_100 2.22222
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#define MAG_SCALER_H 200
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#define MAG_SCALER_L 290
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void uart_init() {
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// Upper and lower bytes of the calculated prescaler value for baud.
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UBRR0H = UBRRH_VALUE;
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UBRR0L = UBRRL_VALUE;
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// Configure data frame size to 8-bits.
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UCSR0C = _BV(UCSZ01) | _BV(UCSZ00);
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// Configure to enable transmitter.
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UCSR0B = _BV(TXEN0);
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}
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void uart_putchar(char c) {
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// Wait until the register to write to is free.
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loop_until_bit_is_set(UCSR0A, UDRE0);
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// Write the byte to the register.
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UDR0 = c;
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}
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void uart_putstr(char *data) {
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// Loop until end of string writing char by char.
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while(*data){
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uart_putchar(*data++);
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}
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}
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