From 1441293cf53c04133a1c32dfc7e19ab3a03400fd Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Fri, 18 May 2018 17:05:06 -0400
Subject: [PATCH] add uartport and rb
---
.../mkrouter-v06/mkrouter-v06/Debug/Makefile | 24 +++-
.../mkrouter-v06/Debug/makedep.mk | 4 +
embedded/mkrouter-v06/mkrouter-v06/hardware.h | 41 +++++++
embedded/mkrouter-v06/mkrouter-v06/main.c | 79 ++++++++++++-
.../mkrouter-v06/mkrouter-v06.cproj | 12 ++
.../mkrouter-v06/mkrouter-v06/ringbuffer.c | 71 ++++++++++++
.../mkrouter-v06/mkrouter-v06/ringbuffer.h | 44 ++++++++
.../mkrouter-v06/sam_ba_monitor.c | 26 ++++-
.../mkrouter-v06/sam_ba_monitor.h | 2 +
embedded/mkrouter-v06/mkrouter-v06/uartport.c | 104 ++++++++++++++++++
embedded/mkrouter-v06/mkrouter-v06/uartport.h | 44 ++++++++
11 files changed, 436 insertions(+), 15 deletions(-)
create mode 100644 embedded/mkrouter-v06/mkrouter-v06/ringbuffer.c
create mode 100644 embedded/mkrouter-v06/mkrouter-v06/ringbuffer.h
create mode 100644 embedded/mkrouter-v06/mkrouter-v06/uartport.c
create mode 100644 embedded/mkrouter-v06/mkrouter-v06/uartport.h
diff --git a/embedded/mkrouter-v06/mkrouter-v06/Debug/Makefile b/embedded/mkrouter-v06/mkrouter-v06/Debug/Makefile
index c430e47..fdc3c74 100644
--- a/embedded/mkrouter-v06/mkrouter-v06/Debug/Makefile
+++ b/embedded/mkrouter-v06/mkrouter-v06/Debug/Makefile
@@ -45,10 +45,12 @@ C_SRCS += \
../Device_Startup/system_samd51.c \
../main.c \
../pin.c \
+../ringbuffer.c \
../sam_ba_cdc.c \
../sam_ba_monitor.c \
../sam_ba_serial.c \
-../sam_ba_usb.c
+../sam_ba_usb.c \
+../uartport.c
PREPROCESSING_SRCS +=
@@ -65,10 +67,12 @@ Device_Startup/startup_samd51.o \
Device_Startup/system_samd51.o \
main.o \
pin.o \
+ringbuffer.o \
sam_ba_cdc.o \
sam_ba_monitor.o \
sam_ba_serial.o \
-sam_ba_usb.o
+sam_ba_usb.o \
+uartport.o
OBJS_AS_ARGS += \
board_driver_serial.o \
@@ -78,10 +82,12 @@ Device_Startup/startup_samd51.o \
Device_Startup/system_samd51.o \
main.o \
pin.o \
+ringbuffer.o \
sam_ba_cdc.o \
sam_ba_monitor.o \
sam_ba_serial.o \
-sam_ba_usb.o
+sam_ba_usb.o \
+uartport.o
C_DEPS += \
board_driver_serial.d \
@@ -91,10 +97,12 @@ Device_Startup/startup_samd51.d \
Device_Startup/system_samd51.d \
main.d \
pin.d \
+ringbuffer.d \
sam_ba_cdc.d \
sam_ba_monitor.d \
sam_ba_serial.d \
-sam_ba_usb.d
+sam_ba_usb.d \
+uartport.d
C_DEPS_AS_ARGS += \
board_driver_serial.d \
@@ -104,10 +112,12 @@ Device_Startup/startup_samd51.d \
Device_Startup/system_samd51.d \
main.d \
pin.d \
+ringbuffer.d \
sam_ba_cdc.d \
sam_ba_monitor.d \
sam_ba_serial.d \
-sam_ba_usb.d
+sam_ba_usb.d \
+uartport.d
OUTPUT_FILE_PATH +=mkrouter-v06.elf
@@ -143,6 +153,10 @@ LINKER_SCRIPT_DEP+= \
+
+
+
+
diff --git a/embedded/mkrouter-v06/mkrouter-v06/Debug/makedep.mk b/embedded/mkrouter-v06/mkrouter-v06/Debug/makedep.mk
index 076dc79..d406fca 100644
--- a/embedded/mkrouter-v06/mkrouter-v06/Debug/makedep.mk
+++ b/embedded/mkrouter-v06/mkrouter-v06/Debug/makedep.mk
@@ -16,6 +16,8 @@ main.c
pin.c
+ringbuffer.c
+
sam_ba_cdc.c
sam_ba_monitor.c
@@ -24,3 +26,5 @@ sam_ba_serial.c
sam_ba_usb.c
+uartport.c
+
diff --git a/embedded/mkrouter-v06/mkrouter-v06/hardware.h b/embedded/mkrouter-v06/mkrouter-v06/hardware.h
index fdf9962..4195160 100644
--- a/embedded/mkrouter-v06/mkrouter-v06/hardware.h
+++ b/embedded/mkrouter-v06/mkrouter-v06/hardware.h
@@ -12,6 +12,20 @@
#define HARDWARE_H_
#include "pin.h"
+#include "ringbuffer.h"
+#include "uartport.h"
+
+// For if-case init
+
+#define HARDWARE_IS_APBA 0
+#define HARDWARE_IS_APBB 1
+#define HARDWARE_IS_APBC 2
+#define HARDWARE_IS_APBD 3
+
+#define HARDWARE_ON_PERIPHERAL_A 0x0
+#define HARDWARE_ON_PERIPHERAL_B 0x1
+#define HARDWARE_ON_PERIPHERAL_C 0x2
+#define HARDWARE_ON_PERIPHERAL_D 0x3
/* USB PINS
@@ -39,6 +53,10 @@ UP0STLB PB22 (on receive)
UP0STLR PB31 (on transmit)
*/
+ringbuffer_t up0rbrx;
+ringbuffer_t up0rbtx;
+
+uartport_t up0;
pin_t up0stlb;
pin_t up0stlr;
@@ -51,6 +69,10 @@ UP1STLB PA20
UP1STLR PA21
*/
+ringbuffer_t up1rbrx;
+ringbuffer_t up1rbtx;
+
+uartport_t up1;
pin_t up1stlb;
pin_t up1stlr;
@@ -62,6 +84,10 @@ UP2STLB PB16
UP2STLR PB17
*/
+ringbuffer_t up2rbrx;
+ringbuffer_t up2rbtx;
+
+uartport_t up2;
pin_t up2stlb;
pin_t up2stlr;
@@ -73,6 +99,10 @@ UP3STLB PA18
UP3STLR PA19
*/
+ringbuffer_t up3rbrx;
+ringbuffer_t up3rbtx;
+
+uartport_t up3;
pin_t up3stlb;
pin_t up3stlr;
@@ -84,6 +114,10 @@ UP4STLB PA14
UP4STLR PA15
*/
+ringbuffer_t up4rbrx;
+ringbuffer_t up4rbtx;
+
+uartport_t up4;
pin_t up4stlb;
pin_t up4stlr;
@@ -95,9 +129,16 @@ UP5STLB PB13
UP5STLR PB14
*/
+ringbuffer_t up5rbrx;
+ringbuffer_t up5rbtx;
+
+uartport_t up5;
pin_t up5stlb;
pin_t up5stlr;
+// pointers to uarports
+#define NUM_UPS 6
+uartport_t *ups[NUM_UPS];
#endif /* HARDWARE_H_ */
\ No newline at end of file
diff --git a/embedded/mkrouter-v06/mkrouter-v06/main.c b/embedded/mkrouter-v06/mkrouter-v06/main.c
index eee87c2..5df55ee 100644
--- a/embedded/mkrouter-v06/mkrouter-v06/main.c
+++ b/embedded/mkrouter-v06/mkrouter-v06/main.c
@@ -69,6 +69,60 @@ void lights_init(void){
pin_set(&up5stlr);
}
+void uarts_init(void){
+ // don't forget to also add the handler
+ NVIC_EnableIRQ(SERCOM0_0_IRQn);
+ NVIC_EnableIRQ(SERCOM0_2_IRQn);
+
+ // init rbs
+ rb_init(&up0rbrx);
+ rb_init(&up0rbtx);
+
+ // init uart
+ up0 = uart_new(SERCOM0, &PORT->Group[0], &up0rbrx, &up0rbtx, 5, 4);
+ MCLK->APBAMASK.reg |= MCLK_APBAMASK_SERCOM0;
+ uart_init(&up0, 7, SERCOM0_GCLK_ID_CORE, 63018, HARDWARE_ON_PERIPHERAL_D);
+
+
+
+ // init rbs
+ rb_init(&up1rbrx);
+ rb_init(&up1rbtx);
+
+
+
+ // init rbs
+ rb_init(&up2rbrx);
+ rb_init(&up2rbtx);
+
+
+
+
+ // init rbs
+ rb_init(&up3rbrx);
+ rb_init(&up3rbtx);
+
+
+
+
+ // init rbs
+ rb_init(&up4rbrx);
+ rb_init(&up4rbtx);
+
+
+ // init rbs
+ rb_init(&up5rbrx);
+ rb_init(&up5rbtx);
+
+ // now pack all into ups
+ ups[0] = &up0;
+ ups[1] = &up1;
+ ups[2] = &up2;
+ ups[3] = &up3;
+ ups[4] = &up4;
+ ups[5] = &up5;
+}
+
static volatile bool main_b_cdc_enable = false;
int main(void)
@@ -81,6 +135,9 @@ int main(void)
__enable_irq();
lights_init();
+
+ // init uartports
+ uarts_init();
// pointer to the USB struct in sam_ba_usb.h
P_USB_CDC pCdc;
@@ -94,22 +151,26 @@ int main(void)
/* Replace with your application code */
while (1)
{
-
// waits for config to config
if(pCdc->IsConfigured(pCdc) != 0){
main_b_cdc_enable = true;
- pin_clear(&stlUsb);
}
+ uint8_t testUart[3] = {12,24,48};
+
// if config is config, and port is opened
if(main_b_cdc_enable){
sam_ba_monitor_init(SAM_BA_INTERFACE_USBCDC);
// loops on this
while(1){
sam_ba_monitor_run();
- // @ HERE: understand how this /\ runs, looks through buffer etc...
- // do the same for (1) bytes -> uart
- // (2) for packet searching
+ for(int i = 0; i < NUM_UPS; i ++){
+ while(!rb_empty(up0.rbrx)){
+ uart_sendchar_buffered(&up0, rb_get(up0.rbrx));
+ }
+ }
+ //uart_sendchars_buffered(&up0, &testUart, 3);
+ // apaport loops
}
}
@@ -138,3 +199,11 @@ void SysTick_Handler(void){
*/
// monitor_sys_tick
}
+
+void SERCOM0_0_Handler(void){
+ uart_txhandler(&up0);
+}
+
+void SERCOM0_2_Handler(void){
+ uart_rxhandler(&up0);
+}
\ No newline at end of file
diff --git a/embedded/mkrouter-v06/mkrouter-v06/mkrouter-v06.cproj b/embedded/mkrouter-v06/mkrouter-v06/mkrouter-v06.cproj
index 26fc1eb..88e975f 100644
--- a/embedded/mkrouter-v06/mkrouter-v06/mkrouter-v06.cproj
+++ b/embedded/mkrouter-v06/mkrouter-v06/mkrouter-v06.cproj
@@ -195,6 +195,12 @@
<Compile Include="pin.h">
<SubType>compile</SubType>
</Compile>
+ <Compile Include="ringbuffer.c">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="ringbuffer.h">
+ <SubType>compile</SubType>
+ </Compile>
<Compile Include="sam_ba_cdc.c">
<SubType>compile</SubType>
</Compile>
@@ -219,6 +225,12 @@
<Compile Include="sam_ba_usb.h">
<SubType>compile</SubType>
</Compile>
+ <Compile Include="uartport.c">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="uartport.h">
+ <SubType>compile</SubType>
+ </Compile>
</ItemGroup>
<ItemGroup>
<Folder Include="Device_Startup\" />
diff --git a/embedded/mkrouter-v06/mkrouter-v06/ringbuffer.c b/embedded/mkrouter-v06/mkrouter-v06/ringbuffer.c
new file mode 100644
index 0000000..eeb5367
--- /dev/null
+++ b/embedded/mkrouter-v06/mkrouter-v06/ringbuffer.c
@@ -0,0 +1,71 @@
+/*
+ * ringbuffer.c
+ *
+ * Created: 2/7/2018 11:39:44 AM
+ * Author: Jake
+ */
+
+#include "ringbuffer.h"
+
+uint8_t rb_init(ringbuffer_t *rb){
+ rb->size = RINGBUFFER_SIZE; // stuck with this, due to not having malloc, wall of skill
+ //rb->buffer = malloc(size);
+ rb_reset(rb);
+ return 1;
+}
+
+uint8_t rb_reset(ringbuffer_t *rb){
+ if(rb){
+ rb->head = 0;
+ rb->tail = 0;
+ return 1;
+ } else {
+ return 0;
+ }
+}
+
+uint8_t rb_empty(ringbuffer_t *rb){
+ return (rb->head == rb->tail);
+}
+
+uint8_t rb_full(ringbuffer_t *rb){
+ // read from tail, update at head
+ // if head is 'just behind' tail (in ring) we have no extra space: the
+ return ((rb->head + 1) % rb->size) == rb->tail;
+}
+
+uint8_t rb_freespace(ringbuffer_t *rb){
+ if(rb->head >= rb->tail){
+ return rb->size - (rb->head - rb->tail);
+ } else {
+ return rb->tail - rb->head - 1;
+ }
+}
+
+uint8_t rb_putchar(ringbuffer_t *rb, uint8_t data){
+ rb->buffer[rb->head] = data;
+ rb->head = (rb->head + 1) % rb->size; // increment and loop about
+ return 1;
+}
+
+uint8_t rb_putdata(ringbuffer_t *rb, uint8_t *data, uint8_t size){
+ /*
+ if(rb_freespace(rb) >= size){
+ // rb_freespace, not working?
+ return 0;
+ } else {
+ */
+ for(int i = 0; i < size; i ++){
+ rb_putchar(rb, data[i]);
+ }
+
+ return 1;
+ //}
+}
+
+uint8_t rb_get(ringbuffer_t *rb){
+ uint8_t data = rb->buffer[rb->tail];
+ rb->tail = (rb->tail + 1) % rb->size;
+ return data;
+}
+
diff --git a/embedded/mkrouter-v06/mkrouter-v06/ringbuffer.h b/embedded/mkrouter-v06/mkrouter-v06/ringbuffer.h
new file mode 100644
index 0000000..889caf9
--- /dev/null
+++ b/embedded/mkrouter-v06/mkrouter-v06/ringbuffer.h
@@ -0,0 +1,44 @@
+/*
+ * ringbuffer.h
+ *
+ * Created: 2/7/2018 11:39:54 AM
+ * Author: Jake
+ */
+
+#ifndef RINGBUFFER_H_
+#define RINGBUFFER_H_
+
+/*
+a ringbuffer,
+s/o https://github.com/dhess/c-ringbuf
+s/o https://embeddedartistry.com/blog/2017/4/6/circular-buffers-in-cc
+s/o https://www.downtowndougbrown.com/2013/01/microcontrollers-interrupt-safe-ring-buffers/
+*/
+
+#include "sam.h"
+
+#include <stdlib.h> // for size_t
+
+#define RINGBUFFER_SIZE 256
+
+typedef struct{
+ uint8_t buffer[256]; // static! big enough
+ size_t head;
+ size_t tail;
+ size_t size;
+} ringbuffer_t;
+
+uint8_t rb_init(ringbuffer_t *rb);
+
+uint8_t rb_reset(ringbuffer_t *rb);
+
+uint8_t rb_empty(ringbuffer_t *rb);
+uint8_t rb_full(ringbuffer_t *rb);
+uint8_t rb_freespace(ringbuffer_t *rb);
+
+uint8_t rb_putchar(ringbuffer_t *rb, uint8_t data);
+uint8_t rb_putdata(ringbuffer_t *rb, uint8_t *data, uint8_t size);
+
+uint8_t rb_get(ringbuffer_t *rb);
+
+#endif /* RINGBUFFER_H_ */
\ No newline at end of file
diff --git a/embedded/mkrouter-v06/mkrouter-v06/sam_ba_monitor.c b/embedded/mkrouter-v06/mkrouter-v06/sam_ba_monitor.c
index 79c5ede..c5c4869 100644
--- a/embedded/mkrouter-v06/mkrouter-v06/sam_ba_monitor.c
+++ b/embedded/mkrouter-v06/mkrouter-v06/sam_ba_monitor.c
@@ -27,6 +27,8 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#include "sam_ba_cdc.h"
//#include "board_driver_led.h"
+#include "hardware.h"
+
const char RomBOOT_Version[] = SAM_BA_VERSION;
const char RomBOOT_ExtendedCapabilities[] = "[Arduino:XYZ]";
@@ -277,19 +279,33 @@ static void sam_ba_monitor_loop(void)
{
// get bytes, handle..
length = sam_ba_getdata(ptr_monitor_if, data, SIZEBUFMAX);
+ pin_clear(&stlPacket);
+
if(length > 0 && !usbComOpen){
usbComOpen = 1;
+ pin_clear(&stlUsb);
}
// reply
sam_ba_putdata(ptr_monitor_if, data, length);
+ // have to implement APA code here? and watch for multipackets?
+ for(int i = 0; i < length; i ++, ptr++){
+ // apa
+ }
+ pin_set(&stlPacket);
+
// dirt nasty heartbeat
+ /*
if(!(tick % 100000)){
sam_ba_putdata(ptr_monitor_if, &data_out, 3);
}
tick ++;
-
+ */
+}
+
+void sam_ba_port_put_data(uint8_t *data, uint32_t length){
+ sam_ba_putdata(ptr_monitor_if, data, length);
}
void sam_ba_monitor_sys_tick(void)
@@ -308,6 +324,7 @@ void sam_ba_monitor_sys_tick(void)
*/
void sam_ba_monitor_run(void)
{
+ /*
uint32_t pageSizes[] = { 8, 16, 32, 64, 128, 256, 512, 1024 };
PAGE_SIZE = pageSizes[NVMCTRL->PARAM.bit.PSZ];
PAGES = NVMCTRL->PARAM.bit.NVMP;
@@ -315,8 +332,7 @@ void sam_ba_monitor_run(void)
ptr_data = NULL;
command = 'z';
- while (1)
- {
- sam_ba_monitor_loop();
- }
+ */
+
+ sam_ba_monitor_loop();
}
diff --git a/embedded/mkrouter-v06/mkrouter-v06/sam_ba_monitor.h b/embedded/mkrouter-v06/mkrouter-v06/sam_ba_monitor.h
index 6cfa4db..d42375b 100644
--- a/embedded/mkrouter-v06/mkrouter-v06/sam_ba_monitor.h
+++ b/embedded/mkrouter-v06/mkrouter-v06/sam_ba_monitor.h
@@ -57,6 +57,8 @@ void sam_ba_monitor_sys_tick(void);
*/
void sam_ba_monitor_run(void);
+void sam_ba_port_put_data(uint8_t *data, uint32_t length);
+
/**
* \brief
*
diff --git a/embedded/mkrouter-v06/mkrouter-v06/uartport.c b/embedded/mkrouter-v06/mkrouter-v06/uartport.c
new file mode 100644
index 0000000..aef6907
--- /dev/null
+++ b/embedded/mkrouter-v06/mkrouter-v06/uartport.c
@@ -0,0 +1,104 @@
+/*
+ * uartport.c
+ *
+ * Created: 2/6/2018 10:48:26 AM
+ * Author: Jake
+ */
+
+#include "uartport.h"
+#include "hardware.h"
+
+uartport_t uart_new(Sercom *com, PortGroup *port, ringbuffer_t *rbrx, ringbuffer_t *rbtx, uint32_t rx_pin, uint32_t tx_pin){
+ uartport_t uart;
+
+ // pointers to com and port
+ uart.com = com;
+ uart.port = port;
+
+ // add ringbuffers
+ uart.rbrx = rbrx;
+ uart.rbtx = rbtx;
+
+ // pins
+ uart.pinrx = rx_pin;
+ uart.pinrx_bm = (uint32_t)(1 << rx_pin);
+ uart.pintx = tx_pin;
+ uart.pintx_bm = (uint32_t)(1 << tx_pin);
+
+ return uart;
+}
+
+void uart_init(uartport_t *uart, uint32_t gclknum, uint32_t gclkidcore, uint16_t baud, uint32_t peripheral){
+ // rx pin setups
+ uart->port->DIRCLR.reg = uart->pinrx_bm;
+ uart->port->PINCFG[uart->pinrx].bit.PMUXEN = 1;
+ if(uart->pinrx % 2){ // yes if odd
+ uart->port->PMUX[uart->pinrx >> 1].reg |= PORT_PMUX_PMUXO(peripheral);
+ } else {
+ uart->port->PMUX[uart->pinrx >> 1].reg |= PORT_PMUX_PMUXE(peripheral);
+ }
+ // tx pin setups
+ uart->port->DIRSET.reg = uart->pintx_bm;
+ uart->port->PINCFG[uart->pintx].bit.PMUXEN = 1;
+ if(uart->pintx % 2){ // yes if odd
+ uart->port->PMUX[uart->pintx >> 1].reg |= PORT_PMUX_PMUXO(peripheral);
+ } else {
+ uart->port->PMUX[uart->pintx >> 1].reg |= PORT_PMUX_PMUXE(peripheral);
+ }
+
+ // unmask the clock
+ // -> have to do this manually b/c unfavourable api
+ GCLK->GENCTRL[gclknum].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL) | GCLK_GENCTRL_GENEN;
+ while(GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL(gclknum));
+ GCLK->PCHCTRL[gclkidcore].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(gclknum);
+ // now the sercom
+ while(uart->com->USART.SYNCBUSY.bit.ENABLE);
+ uart->com->USART.CTRLA.bit.ENABLE = 0;
+ while(uart->com->USART.SYNCBUSY.bit.SWRST);
+ uart->com->USART.CTRLA.bit.SWRST = 1;
+ while(uart->com->USART.SYNCBUSY.bit.SWRST);
+ while(uart->com->USART.SYNCBUSY.bit.SWRST || SERCOM5->USART.SYNCBUSY.bit.ENABLE);
+
+ uart->com->USART.CTRLA.reg = SERCOM_USART_CTRLA_MODE(1) | SERCOM_USART_CTRLA_DORD | SERCOM_USART_CTRLA_RXPO(1) | SERCOM_USART_CTRLA_TXPO(0);
+ while(uart->com->USART.SYNCBUSY.bit.CTRLB);
+ uart->com->USART.CTRLB.reg = SERCOM_USART_CTRLB_RXEN | SERCOM_USART_CTRLB_TXEN | SERCOM_USART_CTRLB_CHSIZE(0);
+ /*
+ BAUD = 65536*(1-S*(fBAUD/fref))
+ where S is samples per bit, 16 for async uart
+ where fBAUD is the rate that you want
+ where fref is the peripheral clock from GCLK, in this case (and most) 48MHz
+ */
+ uart->com->USART.BAUD.reg = baud;
+ while(uart->com->USART.SYNCBUSY.bit.ENABLE);
+ uart->com->USART.CTRLA.bit.ENABLE = 1;
+
+ uart->com->USART.INTENSET.bit.RXC = 1; // set receive interrupt on, see 34.6.4.2
+}
+
+void uart_sendchar_polled(uartport_t *uart, uint8_t data){
+ while(!uart->com->USART.INTFLAG.bit.DRE);
+ uart->com->USART.DATA.reg = data;
+}
+
+void uart_sendchar_buffered(uartport_t *uart, uint8_t data){
+ rb_putchar(uart->rbtx, data); // dump it in there
+ uart->com->USART.INTENSET.bit.DRE = 1; // set up the volley
+}
+
+void uart_sendchars_buffered(uartport_t *uart, uint8_t *data, uint8_t length){
+ rb_putdata(uart->rbtx, data, length);
+ uart->com->USART.INTENSET.bit.DRE = 1;
+}
+
+void uart_rxhandler(uartport_t *uart){
+ uint8_t data = uart->com->USART.DATA.reg;
+ rb_putchar(uart->rbrx, data);
+}
+
+void uart_txhandler(uartport_t *uart){
+ if(!rb_empty(uart->rbtx)){
+ uart->com->USART.DATA.reg = rb_get(uart->rbtx);
+ } else {
+ uart->com->USART.INTENCLR.reg = SERCOM_USART_INTENCLR_DRE;
+ }
+}
\ No newline at end of file
diff --git a/embedded/mkrouter-v06/mkrouter-v06/uartport.h b/embedded/mkrouter-v06/mkrouter-v06/uartport.h
new file mode 100644
index 0000000..be3da15
--- /dev/null
+++ b/embedded/mkrouter-v06/mkrouter-v06/uartport.h
@@ -0,0 +1,44 @@
+/*
+ * uartport.h
+ *
+ * Created: 2/6/2018 10:47:56 AM
+ * Author: Jake
+ */
+
+#ifndef UARTPORT_H_
+#define UARTPORT_H_
+
+#include "sam.h"
+#include "ringbuffer.h"
+#include "pin.h"
+
+typedef struct{
+ Sercom *com;
+ PortGroup *port;
+
+ uint32_t pinrx;
+ uint32_t pinrx_bm;
+ uint32_t pintx;
+ uint32_t pintx_bm;
+
+ ringbuffer_t *rbrx;
+ ringbuffer_t *rbtx;
+
+ pin_t *stlr;
+ pin_t *stlb;
+
+ uint16_t baud;
+}uartport_t;
+
+uartport_t uart_new(Sercom *com, PortGroup *port, ringbuffer_t *rbrx, ringbuffer_t *rbtx, uint32_t rx_pin, uint32_t tx_pin);
+
+void uart_init(uartport_t *uart, uint32_t gclknum, uint32_t gclkidcore, uint16_t baud, uint32_t peripheral);
+
+void uart_sendchar_polled(uartport_t *uart, uint8_t data);
+void uart_sendchar_buffered(uartport_t *uart, uint8_t data);
+void uart_sendchars_buffered(uartport_t *uart, uint8_t *data, uint8_t length);
+
+void uart_rxhandler(uartport_t *uart);
+void uart_txhandler(uartport_t *uart);
+
+#endif /* UARTPORT_H_ */
\ No newline at end of file
--
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