From: Erik Andresen <erik@vontaene.de>
Date: Wed, 6 May 2015 10:10:35 +0000 (+0200)
Subject: added initial avr/nano program
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=4053424236542640b1cb23624877725d5ae8e50f;p=ros_wild_thumper.git
added initial avr/nano program
---
diff --git a/avr/.gitignore b/avr/.gitignore
new file mode 100644
index 0000000..9cb13a5
--- /dev/null
+++ b/avr/.gitignore
@@ -0,0 +1,8 @@
+.dep
+*.eep
+*.elf
+*.lss
+*.lst
+*.map
+*.o
+*.sym
diff --git a/avr/nano/Makefile b/avr/nano/Makefile
new file mode 100644
index 0000000..f8864cc
--- /dev/null
+++ b/avr/nano/Makefile
@@ -0,0 +1,438 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# WinAVR makefile written by Eric B. Weddington, Jörg Wunsch, et al.
+# Released to the Public Domain
+# Please read the make user manual!
+#
+# Additional material for this makefile was submitted by:
+# Tim Henigan
+# Peter Fleury
+# Reiner Patommel
+# Sander Pool
+# Frederik Rouleau
+# Markus Pfaff
+#
+# On command line:
+#
+# make all = Make software.
+#
+# make clean = Clean out built project files.
+#
+# make coff = Convert ELF to AVR COFF (for use with AVR Studio 3.x or VMLAB).
+#
+# make extcoff = Convert ELF to AVR Extended COFF (for use with AVR Studio
+# 4.07 or greater).
+#
+# make program = Download the hex file to the device, using avrdude. Please
+# customize the avrdude settings below first!
+#
+# make filename.s = Just compile filename.c into the assembler code only
+#
+# To rebuild project do "make clean" then "make all".
+#
+
+# mth 2004/09
+# Differences from WinAVR 20040720 sample:
+# - DEPFLAGS according to Eric Weddingtion's fix (avrfreaks/gcc-forum)
+# - F_OSC Define in CFLAGS and AFLAGS
+
+
+# MCU name
+MCU = atmega328p
+
+# Main Oscillator Frequency
+# This is only used to define F_OSC in all assembler and c-sources.
+#F_OSC = 3686400
+
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+
+# Target file name (without extension).
+TARGET = main
+
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c uart.c
+
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+
+
+
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+
+# Debugging format.
+# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
+# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
+DEBUG = stabs
+#DEBUG = dwarf-2
+
+# List any extra directories to look for include files here.
+# Each directory must be seperated by a space.
+EXTRAINCDIRS =
+
+
+# Compiler flag to set the C Standard level.
+# c89 - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99 - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+# Place -D or -U options here
+CDEFS = -DF_CPU=16000000
+
+# Place -I options here
+CINCS = -Ii2c/
+
+
+# Compiler flags.
+# -g*: generate debugging information
+# -O*: optimization level
+# -f...: tuning, see GCC manual and avr-libc documentation
+# -Wall...: warning level
+# -Wa,...: tell GCC to pass this to the assembler.
+# -adhlns...: create assembler listing
+CFLAGS = -g$(DEBUG)
+CFLAGS += $(CDEFS) $(CINCS)
+CFLAGS += -O$(OPT)
+CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CFLAGS += -Wall -Wstrict-prototypes
+CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+CFLAGS += $(CSTANDARD)
+CFLAGS += -DF_OSC=$(F_OSC)
+
+
+
+# Assembler flags.
+# -Wa,...: tell GCC to pass this to the assembler.
+# -ahlms: create listing
+# -gstabs: have the assembler create line number information; note that
+# for use in COFF files, additional information about filenames
+# and function names needs to be present in the assembler source
+# files -- see avr-libc docs [FIXME: not yet described there]
+ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
+ASFLAGS += -DF_OSC=$(F_OSC)
+
+
+#Additional libraries.
+
+# Minimalistic printf version
+PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
+
+# Floating point printf version (requires MATH_LIB = -lm below)
+PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt -lm
+
+PRINTF_LIB =
+
+# Minimalistic scanf version
+SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
+
+# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
+SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
+
+SCANF_LIB =
+
+MATH_LIB = -lm
+
+# External memory options
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# used for variables (.data/.bss) and heap (malloc()).
+#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# only used for heap (malloc()).
+#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
+
+EXTMEMOPTS =
+
+# Linker flags.
+# -Wl,...: tell GCC to pass this to linker.
+# -Map: create map file
+# --cref: add cross reference to map file
+LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
+LDFLAGS += $(EXTMEMOPTS)
+LDFLAGS += $(PRINTF_LIB_MIN) $(SCANF_LIB) $(MATH_LIB)
+
+
+
+
+# Programming support using avrdude. Settings and variables.
+
+# Programming hardware: alf avr910 avrisp bascom bsd
+# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
+#
+# Type: avrdude -c ?
+# to get a full listing.
+#
+#AVRDUDE_PROGRAMMER = avr911
+AVRDUDE_PROGRAMMER = avrisp2
+
+# com1 = serial port. Use lpt1 to connect to parallel port.
+#AVRDUDE_PORT = /dev/ttyUSB0 # programmer connected to serial device
+AVRDUDE_PORT = usb # programmer connected to serial device
+
+AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
+#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
+
+
+# Uncomment the following if you want avrdude's erase cycle counter.
+# Note that this counter needs to be initialized first using -Yn,
+# see avrdude manual.
+#AVRDUDE_ERASE_COUNTER = -y
+
+# Uncomment the following if you do /not/ wish a verification to be
+# performed after programming the device.
+#AVRDUDE_NO_VERIFY = -V
+
+# Increase verbosity level. Please use this when submitting bug
+# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
+# to submit bug reports.
+#AVRDUDE_VERBOSE = -v -v
+
+AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
+AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
+AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
+AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
+
+
+
+# ---------------------------------------------------------------------------
+
+# Define directories, if needed.
+DIRAVR = c:/winavr
+DIRAVRBIN = $(DIRAVR)/bin
+DIRAVRUTILS = $(DIRAVR)/utils/bin
+DIRINC = .
+DIRLIB = $(DIRAVR)/avr/lib
+
+
+# Define programs and commands.
+SHELL = sh
+CC = avr-gcc
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+SIZE = avr-size
+NM = avr-nm
+AVRDUDE = avrdude
+REMOVE = rm -f
+COPY = cp
+
+
+
+
+# Define Messages
+# English
+MSG_ERRORS_NONE = Errors: none
+MSG_BEGIN = -------- begin --------
+MSG_END = -------- end --------
+MSG_SIZE_BEFORE = Size before:
+MSG_SIZE_AFTER = Size after:
+MSG_COFF = Converting to AVR COFF:
+MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
+MSG_FLASH = Creating load file for Flash:
+MSG_EEPROM = Creating load file for EEPROM:
+MSG_EXTENDED_LISTING = Creating Extended Listing:
+MSG_SYMBOL_TABLE = Creating Symbol Table:
+MSG_LINKING = Linking:
+MSG_COMPILING = Compiling:
+MSG_ASSEMBLING = Assembling:
+MSG_CLEANING = Cleaning project:
+
+
+
+
+# Define all object files.
+OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
+
+# Define all listing files.
+LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
+
+
+# Compiler flags to generate dependency files.
+### GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d
+GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
+
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+
+
+
+
+
+# Default target.
+all: begin gccversion sizebefore build sizeafter finished end
+
+build: elf hex eep lss sym
+
+elf: $(TARGET).elf
+hex: $(TARGET).hex
+eep: $(TARGET).eep
+lss: $(TARGET).lss
+sym: $(TARGET).sym
+
+
+
+# Eye candy.
+# AVR Studio 3.x does not check make's exit code but relies on
+# the following magic strings to be generated by the compile job.
+begin:
+ @echo
+ @echo $(MSG_BEGIN)
+
+finished:
+ @echo $(MSG_ERRORS_NONE)
+
+end:
+ @echo $(MSG_END)
+ @echo
+
+
+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
+ELFSIZE = $(SIZE) -A $(TARGET).elf
+sizebefore:
+ @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
+
+sizeafter:
+ @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
+
+
+
+# Display compiler version information.
+gccversion :
+ @$(CC) --version
+
+
+
+# Program the device.
+program: $(TARGET).hex $(TARGET).eep
+ $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+
+
+
+
+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
+COFFCONVERT=$(OBJCOPY) --debugging \
+--change-section-address .data-0x800000 \
+--change-section-address .bss-0x800000 \
+--change-section-address .noinit-0x800000 \
+--change-section-address .eeprom-0x810000
+
+
+coff: $(TARGET).elf
+ @echo
+ @echo $(MSG_COFF) $(TARGET).cof
+ $(COFFCONVERT) -O coff-avr $< $(TARGET).cof
+
+
+extcoff: $(TARGET).elf
+ @echo
+ @echo $(MSG_EXTENDED_COFF) $(TARGET).cof
+ $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
+
+
+
+# Create final output files (.hex, .eep) from ELF output file.
+%.hex: %.elf
+ @echo
+ @echo $(MSG_FLASH) $@
+ $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
+
+%.eep: %.elf
+ @echo
+ @echo $(MSG_EEPROM) $@
+ -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+ --change-section-lma .eeprom=0 -O $(FORMAT) $< $@
+
+# Create extended listing file from ELF output file.
+%.lss: %.elf
+ @echo
+ @echo $(MSG_EXTENDED_LISTING) $@
+ $(OBJDUMP) -h -S $< > $@
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+ @echo
+ @echo $(MSG_SYMBOL_TABLE) $@
+ $(NM) -n $< > $@
+
+
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(OBJ)
+%.elf: $(OBJ)
+ @echo
+ @echo $(MSG_LINKING) $@
+ $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
+
+
+# Compile: create object files from C source files.
+%.o : %.c
+ @echo
+ @echo $(MSG_COMPILING) $<
+ $(CC) -c $(ALL_CFLAGS) $< -o $@
+
+
+# Compile: create assembler files from C source files.
+%.s : %.c
+ $(CC) -S $(ALL_CFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files.
+%.o : %.S
+ @echo
+ @echo $(MSG_ASSEMBLING) $<
+ $(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+
+
+# Target: clean project.
+clean: begin clean_list finished end
+
+clean_list :
+ @echo
+ @echo $(MSG_CLEANING)
+ $(REMOVE) $(TARGET).hex
+ $(REMOVE) $(TARGET).eep
+ $(REMOVE) $(TARGET).obj
+ $(REMOVE) $(TARGET).cof
+ $(REMOVE) $(TARGET).elf
+ $(REMOVE) $(TARGET).map
+ $(REMOVE) $(TARGET).obj
+ $(REMOVE) $(TARGET).a90
+ $(REMOVE) $(TARGET).sym
+ $(REMOVE) $(TARGET).lnk
+ $(REMOVE) $(TARGET).lss
+ $(REMOVE) $(OBJ)
+ $(REMOVE) $(LST)
+ $(REMOVE) $(SRC:.c=.s)
+ $(REMOVE) $(SRC:.c=.d)
+ $(REMOVE) .dep/*
+
+
+
+# Include the dependency files.
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+
+
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex eep lss sym coff extcoff \
+clean clean_list program
+
diff --git a/avr/nano/main.c b/avr/nano/main.c
new file mode 100644
index 0000000..0cb0acf
--- /dev/null
+++ b/avr/nano/main.c
@@ -0,0 +1,167 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <limits.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/sleep.h>
+#include "uart.h"
+
+/*
+ * I2C Register Map (8 Bit)
+ * 0x00 Register select
+ * 0x01 Distance left MSB
+ * 0x02 Distance left LSB
+ * 0x03 Distance right MSB
+ * 0x04 Distance right LSB
+ *
+ * 0xff Bootloader
+ */
+
+
+#define TWI_ACK TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
+#define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
+#define TWI_NAK TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
+
+static volatile uint8_t ireg=0;
+static volatile uint8_t bootloader=0;
+static volatile uint16_t dist_left=0;
+static volatile uint16_t dist_right=0;
+
+ISR(TWI_vect)
+{
+ static int16_t tmp16=0;
+
+ switch (TWSR & 0xF8)
+ {
+ case 0x60: // start write
+ TWI_ACK;
+ ireg = 0;
+ break;
+ case 0x80: // write
+ switch(ireg) {
+ case 0x00: // register select
+ ireg = TWDR;
+ ireg--; // because we do ireg++ below
+ TWI_ACK;
+ break;
+ case 0xff: // bootloader
+ bootloader = TWDR;
+ default:
+ TWI_NAK;
+ }
+ ireg++;
+ break;
+ case 0xA8: // start read
+ case 0xB8: // read
+ switch(ireg) {
+ case 0x01: // Distance left MSB
+ tmp16 = dist_left;
+ TWDR = tmp16>>8;
+ TWI_ACK;
+ break;
+ case 0x02: // Distance right LSB
+ TWDR = tmp16;
+ TWI_ACK;
+ break;
+ case 0x03: // Distance right MSB
+ tmp16 = dist_right;
+ TWDR = tmp16>>8;
+ TWI_ACK;
+ break;
+ case 0x04: // Distance right LSB
+ TWDR = tmp16;
+ TWI_ACK;
+ break;
+ default:
+ TWDR = 0;
+ TWI_NAK;
+ }
+ ireg++;
+ break;
+ default:
+ TWI_RESET;
+ }
+}
+
+
+uint16_t ReadChannel(uint8_t mux) {
+ uint8_t i;
+ uint16_t result;
+
+ ADCSRA = (1<<ADEN) | (1<<ADPS1) | (1<<ADPS0); // Frequenzvorteiler
+ // setzen auf 8 (1) und ADC aktivieren (1)
+
+ ADMUX = mux; // Kanal waehlen
+ ADMUX |= (1<<REFS1) | (1<<REFS0); // interne Referenzspannung nutzen
+
+ /* nach Aktivieren des ADC wird ein "Dummy-Readout" empfohlen, man liest
+ also einen Wert und verwirft diesen, um den ADC "warmlaufen zu lassen" */
+ ADCSRA |= (1<<ADSC); // eine ADC-Wandlung
+ while ( ADCSRA & (1<<ADSC) ) {
+ // auf Abschluss der Konvertierung warten
+ }
+ result = ADCW; // ADCW muss einmal gelesen werden,
+ // sonst wird Ergebnis der nächsten Wandlung
+ // nicht übernommen.
+
+ /* Eigentliche Messung - Mittelwert aus 5 aufeinanderfolgenden Wandlungen */
+ result = 0;
+ for( i=0; i<5; i++ )
+ {
+ ADCSRA |= (1<<ADSC); // eine Wandlung "single conversion"
+ while ( ADCSRA & (1<<ADSC) ) {
+ // auf Abschluss der Konvertierung warten
+ }
+ result += ADCW; // Wandlungsergebnisse aufaddieren
+ }
+
+ ADCSRA &= ~(1<<ADEN); // ADC deaktivieren (2)
+
+ result /= 5; // Summe durch 5 teilen = arithm. Mittelwert
+
+ return result;
+}
+
+
+static unsigned short get_distance(uint8_t i) {
+ return ReadChannel(i);
+}
+
+
+int main(void) {
+ bootloader = 0x00;
+ setup_uart(9600);
+ uart_setup_stdout();
+
+ // I2C
+ TWAR = 0x52;
+ TWI_RESET;
+
+ printf("\r\nStart\r\n");
+
+ set_sleep_mode(SLEEP_MODE_IDLE);
+ sei();
+ while(1) {
+ switch(ireg) {
+ case 1: // ir left
+ dist_left = get_distance(0);
+ break;
+ case 3: // ir right
+ dist_right = get_distance(1);
+ break;
+ case 0xff: // Magic reg that starts the bootloader
+ if (bootloader == 0xa5) {
+ cli();
+ {
+ void (*start)(void) = (void*)0x1800;
+ start();
+ }
+ }
+ break;
+ }
+
+ sleep_mode();
+ }
+
+ return 0;
+}
diff --git a/avr/nano/main.hex b/avr/nano/main.hex
new file mode 100644
index 0000000..c6b1c2d
--- /dev/null
+++ b/avr/nano/main.hex
@@ -0,0 +1,204 @@
+:100000000C9440000C945D000C945D000C945D0019
+:100010000C945D000C945D000C945D000C945D00EC
+:100020000C945D000C945D000C945D000C945D00DC
+:100030000C945D000C945D000C945D000C945D00CC
+:100040000C945D000C945D000C9401010C945D0017
+:100050000C945D000C945D000C945D000C945D00AC
+:100060000C945F000C945D00454647656667002070
+:100070002B2D2E3031323334353637383968000085
+:1000800011241FBECFEFD8E0DEBFCDBF11E0A0E04E
+:10009000B1E0EEE9FCE002C005900D92A031B1079D
+:1000A000D9F721E0A0E1B1E001C01D92AD38B2075F
+:1000B000E1F70E940A020C944D060C9400001F9276
+:1000C0000F920FB60F9211248F939F938091B900D6
+:1000D000887F803879F048F4803609F04DC085EC8F
+:1000E0008093BC00109217014FC0883AC1F0883B42
+:1000F000B1F042C080911701882339F08F3F99F504
+:100100008091BB00809316012EC08091BB0080932C
+:1001100017018091170181508093170120C08091B1
+:1001200017018230C1F038F48130D9F48091140184
+:100130009091150109C0833019F0843061F011C02D
+:1001400080911201909113018093100190931101FD
+:100150009093BB0004C0809110018093BB0085EC9C
+:1001600003C01092BB0085E88093BC00809117010A
+:100170008F5F8093170108C08091BC008B7E8093B5
+:10018000BC0085EC8093BC009F918F910F900FBEB7
+:100190000F901F90189593E890937A0080937C00BD
+:1001A00080917C00806C80937C0080917A008064D8
+:1001B00080937A0080917A0086FDFCCF8091780050
+:1001C0009091790045E080E090E020917A002064F1
+:1001D00020937A0020917A0026FDFCCF20917800B0
+:1001E00030917900820F931F415079F720917A0066
+:1001F0002F7720937A0065E070E00E949B03CB018B
+:1002000008951F920F920FB60F9211248F939F9310
+:10021000EF93FF938091C00087FF17C0E0911A0110
+:10022000F0911B018091C600808381E0EF37F807D1
+:1002300030F43196F0931B01E0931A0106C08CE173
+:1002400091E090931B0180931A01FF91EF919F9190
+:100250008F910F900FBE0F901F9018959C01E1ECAD
+:10026000F0E0808188618083808180688083E2EC17
+:10027000F0E080818660808340E050E084E0220FDF
+:10028000331F441F551F8A95D1F760E074E284EF55
+:1002900090E00E94AF03DA01C9010197A109B109F9
+:1002A000892F9A2FAB2FBB27A7FDBA958093C50046
+:1002B00021502093C4008CE191E090931901809328
+:1002C000180190931B0180931A0108952091C0009A
+:1002D00025FFFCCFFC0180818093C6000895CF9359
+:1002E000DF931F92CDB7DEB78983CE0101960E94BE
+:1002F000660180E090E00F90DF91CF910895CF9359
+:10030000DF93EC01CE012196FC012081222319F01C
+:100310000E946601F7CFDF91CF9108958091C000D0
+:1003200087FFFCCF8091C60090E008950C948E0169
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diff --git a/avr/nano/ringbuffer.h b/avr/nano/ringbuffer.h
new file mode 100644
index 0000000..ed8b022
--- /dev/null
+++ b/avr/nano/ringbuffer.h
@@ -0,0 +1,34 @@
+#ifndef RINGBUFFER_H
+#define RINGBUFFER_H
+
+#define RINGBUFFER_LEN 100
+#define RINGBUFFER_MAX_NUM 1
+
+typedef struct ringbuffer {
+ char read[RINGBUFFER_LEN];
+ char *in_read_ptr;
+ char *out_read_ptr;
+ char write[RINGBUFFER_LEN];
+ char *in_write_ptr;
+ char *out_write_ptr;
+ FILE *dev;
+ FILE *dev_in_as_out;
+ uint8_t newlines;
+ char block_read;
+} ringbuffer_t;
+
+ringbuffer_t *ringbuffers[RINGBUFFER_MAX_NUM];
+uint8_t num_ringbuffers;
+
+void ringbuffer_setup(FILE *stream, ringbuffer_t *buffer);
+void ringbuffer_setup_in_as_out(FILE *stream, ringbuffer_t *buffer);
+void init_ringbuffers(void);
+void stream_setup(FILE *uart_stream);
+void stream_setup_out_only(FILE *stream);
+void stream_setup_in_as_out(FILE *stream, int ringbuffer_putchar_sound(char, FILE*));
+uint8_t ringbuffer_busy(void);
+void ringbuffer_set_read_noblock(FILE *stream);
+void ringbuffer_set_read_block(FILE *stream, char c);
+
+#endif
+
diff --git a/avr/nano/uart.c b/avr/nano/uart.c
new file mode 100644
index 0000000..1a3707a
--- /dev/null
+++ b/avr/nano/uart.c
@@ -0,0 +1,97 @@
+#include <stdlib.h>
+#include "uart.h"
+#include <avr/interrupt.h>
+
+#define UART_UBRR_CALC(BAUD_,FREQ_) ((FREQ_)/((BAUD_)*16L)-1)
+
+static volatile char read[RINGBUFFER_LEN];
+static volatile char *in_read_ptr;
+static volatile char *out_read_ptr;
+
+ISR(USART_RX_vect) {
+ // update read from uart
+ if (UCSR0A & (1<<RXC0)) {
+ *in_read_ptr = UDR0;
+
+ if (in_read_ptr < read + RINGBUFFER_LEN - 1) in_read_ptr++;
+ else in_read_ptr = (char *)read;
+ }
+}
+
+
+void setup_uart(unsigned int rate) {
+ UCSR0B |= (1<<TXEN0) | (1<<RXEN0); // UART TX & RX
+ UCSR0B |= (1<<RXCIE0); // RX Interrupt
+ UCSR0C |= (3<<UCSZ00); // Asynchron 8N1
+
+ UBRR0H = (uint8_t)(UART_UBRR_CALC(rate, F_CPU) >> 8);
+ UBRR0L = (uint8_t)UART_UBRR_CALC(rate, F_CPU);
+
+ in_read_ptr = out_read_ptr = read;
+}
+
+
+void uart_putc(char *c) {
+ while (!(UCSR0A & (1<<UDRE0)));
+ UDR0 = *c;
+}
+
+
+int uart_putchar(char c, FILE *stream)
+{
+ uart_putc(&c);
+ return 0;
+}
+
+
+void uart_puts(char *s) {
+ char *c;
+
+ for (c = s; *c != '\0'; c++)
+ uart_putc(c);
+}
+
+
+int uart_getchar(FILE *stream)
+{
+ return uart_getc();
+}
+
+
+int uart_getc() {
+ while (!(UCSR0A & (1<<RXC0)));
+ return UDR0;
+}
+
+
+void uart_setup_stdout() {
+ fdevopen(uart_putchar, uart_getchar);
+}
+
+
+void uart_stream_update(ringbuffer_t *buffer) {
+ // update write to uart
+ if (buffer->out_write_ptr != buffer->in_write_ptr) {
+ if (UCSR0A & (1<<UDRE0)) {
+ UDR0 = *buffer->out_write_ptr;
+ if (buffer->out_write_ptr < buffer->write + RINGBUFFER_LEN - 1) buffer->out_write_ptr++;
+ else buffer->out_write_ptr = buffer->write;
+ }
+ }
+
+ // update read from uart
+ if (in_read_ptr != out_read_ptr) {
+ *buffer->in_read_ptr = *out_read_ptr;
+
+ // update newline chars
+ if (buffer->block_read == *buffer->in_read_ptr) buffer->newlines++;
+
+ if (buffer->in_read_ptr < buffer->read + RINGBUFFER_LEN - 1) buffer->in_read_ptr++;
+ else buffer->in_read_ptr = buffer->read;
+
+ // move pointer
+ if (out_read_ptr < read + RINGBUFFER_LEN - 1) out_read_ptr++;
+ else out_read_ptr = read;
+ }
+}
+
diff --git a/avr/nano/uart.h b/avr/nano/uart.h
new file mode 100644
index 0000000..1225590
--- /dev/null
+++ b/avr/nano/uart.h
@@ -0,0 +1,18 @@
+#ifndef UART_H
+#define UART_H
+
+#include <stdio.h>
+#include "ringbuffer.h"
+
+void setup_uart(unsigned int rate);
+void uart_putc(char *c);
+void uart_puts(char *s);
+int uart_getc(void);
+void uart_puti(int i);
+int uart_putchar(char c, FILE *stream);
+int uart_getchar(FILE *stream);
+void uart_setup_stdout(void);
+void uart_stream_update(ringbuffer_t *buffer);
+
+#endif
+