hardware.c File Reference

#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_ints.h"
#include "inc/hw_memmap.h"
#include "inc/hw_nvic.h"
#include "inc/hw_types.h"
#include "driverlib/debug.h"
#include "driverlib/fpu.h"
#include "driverlib/gpio.h"
#include "driverlib/interrupt.h"
#include "driverlib/pin_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/rom.h"
#include "libut/utlist.h"
#include "libhw/hardware.h"
#include "libbuffer/buffer.h"
#include "driverlib/uart.h"
#include "driverlib/timer.h"
#include "libuart/uart.h"
#include "libtimer/timer.h"
#include "libbutton/button.h"

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Functions
void	hw_init_daemon ()
void	hw_driver_init (HW_TYPE type, hw_metadata metadata)
void	hw_channel_init (HW_TYPE type, hw_metadata metadata)
void	_hw_subscribe (HW_TYPE type, hw_metadata metadata, void(*isr)(notification note), bool single_shot)
void	hw_unsubscribe (HW_TYPE type, hw_metadata metadata, void(*isr)(notification note))
void	hw_notify (HW_TYPE type, hw_metadata metadata, notification note)
void	hw_daemon (void)
void	hw_notify_uart (hw_metadata uart_metadata)
hw_channel *	_hw_get_channel (HW_TYPE type, hw_metadata metadata)
hw_driver *	hw_driver_singleton (HW_TYPE type)
void	GPIOPortF_Handler (void)
void	UART0_Handler (void)
void	TIMER0A_Handler (void)
void	TIMER1A_Handler (void)
void	TIMER2A_Handler (void)
void	ADC0Seq0_Handler (void)
void	ADC0Seq1_Handler (void)
void	ADC0Seq2_Handler (void)
void	ADC0Seq3_Handler (void)

Variables
static hw_driver	HW_UART_DRIVER
static hw_driver	HW_TIMER_DRIVER
static hw_driver	HW_BUTTON_DRIVER
static uint8_t	UART0_RX_BUFFER [BUFFER_MAX_LENGTH]
static uint8_t	UART0_RX_BUFFER_SIZE = 0
static uint8_t	UART0_TX_BUFFER [BUFFER_MAX_LENGTH]
static uint8_t	UART0_TX_BUFFER_SIZE = 0
uint32_t	ADC0_SEQ0_SAMPLES [4]
uint32_t	ADC0_SEQ1_SAMPLES [4]
uint32_t	ADC0_SEQ2_SAMPLES [4]
uint32_t	ADC0_SEQ3_SAMPLES [4]
semaphore_t	HW_ADC_SEQ2_SEM
uint32_t	jitter_begin
uint32_t	jitter_end

Function Documentation

hw_channel* _hw_get_channel ( HW_TYPE  , hw_metadata    )

inline

For internal use only. Take care of the conversion between a memory-mapped (raw) hw address and the index of said peripheral channel in the memory banks of libhw's device-specific data structures.

Parameters

hw_group	The hardware group in question
raw_hw_channel	The specific channel of

Returns

Index of 'channel in 's data structures

Definition at line 203 of file hardware.c.

References hw_timer_metadata::base, hw_button_metadata::base, hw_metadata::button, hw_uart_metadata::channel, hw_driver::channels, GPIO_PORTE_BASE, HW_BUTTON, hw_driver_singleton(), HW_TIMER, HW_UART, postpone_death, hw_metadata::timer, TIMER0_BASE, hw_metadata::uart, and UART0_BASE.

Referenced by _hw_subscribe(), hw_channel_init(), hw_notify(), and hw_unsubscribe().

                                                                {

    memory_address_t idx;
    switch(type){
        /* optimize: divide should be a shift */
    case HW_UART:   idx = (metadata.uart.channel - UART0_BASE)     / 0x1000; break;
    case HW_TIMER:  idx = (metadata.timer.base   - TIMER0_BASE)    / 0x1000; break;
    case HW_BUTTON: idx = (metadata.button.base  - GPIO_PORTE_BASE)/ 0x1000; break;
        /* Note: libhw won't allow for the use of ports higher than
         * GPIO_PORTE without modification of the above indexing
         * algorithm */
    default: postpone_death();
    }
    return &(hw_driver_singleton(type)->channels[idx]);
}

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void _hw_subscribe	(	HW_TYPE	,
		hw_metadata	,
		void(*)(notification note)	isr,
		bool
	)

Subscribe to a hardware interrupt. This is also called connecting a signal (the isr to be notified) to a slot (the hw-triggered driver isr).

Parameters

The	hardware type in question
Metadata	about the device
The	pseudo-isr to be notified by the hardware driver

Definition at line 121 of file hardware.c.

References _hw_get_channel(), CDL_DELETE, CDL_PREPEND, hw_channel::free_slots, hw_channel::full_slots, _isr_subscription::single_shot_subscription, and _isr_subscription::slot.

Referenced by schedule_aperiodic().

                                            {

    hw_iterator i;
    hw_channel* channel = _hw_get_channel(type, metadata);
    _isr_subscription* new_subscrip = channel->free_slots;

    CDL_DELETE(channel->free_slots, new_subscrip);
    CDL_PREPEND(channel->full_slots, new_subscrip);

    new_subscrip->single_shot_subscription = single_shot;
    new_subscrip->slot = isr;
}

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void ADC0Seq0_Handler

(

void

)

Definition at line 378 of file hardware.c.

References ADC0_BASE, ADC0_SEQ3_SAMPLES, ADCIntClear(), and ADCSequenceDataGet().

Referenced by __attribute__().

                            {

    ADCIntClear(ADC0_BASE, 0);
    ADCSequenceDataGet(ADC0_BASE, 3, ADC0_SEQ3_SAMPLES);
    /* TODO: Conform to Notify */
}

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void ADC0Seq1_Handler

(

void

)

Definition at line 385 of file hardware.c.

References ADC0_BASE, ADC0_SEQ3_SAMPLES, ADCIntClear(), and ADCSequenceDataGet().

Referenced by __attribute__().

                            {

    ADCIntClear(ADC0_BASE, 1);
    ADCSequenceDataGet(ADC0_BASE, 3, ADC0_SEQ3_SAMPLES);
    /* TODO: Conform to Notify */
}

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void ADC0Seq2_Handler

(

void

)

Definition at line 392 of file hardware.c.

References ADC0_BASE, ADC0_SEQ2_SAMPLES, ADCIntClear(), ADCSequenceDataGet(), HW_ADC_SEQ2_SEM, HWREG, jitter_end, NVIC_ST_CURRENT, and sem_post.

Referenced by __attribute__().

                            {

    ADCIntClear(ADC0_BASE, 2);
    jitter_end = HWREG(NVIC_ST_CURRENT);
    ADCSequenceDataGet(ADC0_BASE, 2, ADC0_SEQ2_SAMPLES);
    /* GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1, GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_1) ^ GPIO_PIN_1); */
    sem_post(HW_ADC_SEQ2_SEM);
    /* TODO: Conform to Notify */
}

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void ADC0Seq3_Handler

(

void

)

Definition at line 402 of file hardware.c.

References ADC0_BASE, ADC0_SEQ3_SAMPLES, ADCIntClear(), and ADCSequenceDataGet().

Referenced by __attribute__().

                            {

    ADCIntClear(ADC0_BASE, 3);
    ADCSequenceDataGet(ADC0_BASE, 3, ADC0_SEQ3_SAMPLES);
    /* GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1, GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_1) ^ GPIO_PIN_1); */
    /* TODO: Conform to Notify */
}

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void GPIOPortF_Handler

(

void

)

GPIO PortF (includes on-board buttons) isr responsible for notifying all subscriptions with information describing the interrupt.

Definition at line 238 of file hardware.c.

References button_metadata_init, BUTTONS_BOTH, GPIO_PORTF_BASE, GPIOIntClear(), GPIOPinRead(), HW_BUTTON, hw_notify(), notification_init, and NULL.

Referenced by __attribute__().

                             {

    GPIOIntClear(GPIO_PORTF_BASE, BUTTONS_BOTH);

    notification_init(int, GPIOPinRead(GPIO_PORTF_BASE, BUTTONS_BOTH));
    button_metadata_init(GPIO_PORTF_BASE, BUTTONS_BOTH, NULL);
    hw_notify(HW_BUTTON, button_metadata, note);
}

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void hw_channel_init	(	HW_TYPE	,
		hw_metadata
	)

This function is responsible for enabling a specific channel on the specified hardware device. Internal libhw datastructures will also be reset.

Parameters

hw_group	The hardware group in question
raw_channel	The memory-mapped address of the device channel to initialize
metadata	Information about how to initialize the device

Definition at line 94 of file hardware.c.

References _hw_get_channel(), button_set_interrupt(), CDL_PREPEND, hw_channel::free_slots, hw_channel::full_slots, HW_BUTTON, HW_DRIVER_MAX_SUBSCRIPTIONS, HW_TIMER, HW_UART, hw_channel::isr_subscriptions, NULL, postpone_death, timer_add_interrupt(), and uart_init().

Referenced by adc_interrupt_init(), button_debounce_start(), and main().

                                                         {

    hw_iterator i;
    hw_channel* channel = _hw_get_channel(type, metadata);
    channel->full_slots = NULL;
    for(i=0; i<HW_DRIVER_MAX_SUBSCRIPTIONS; ++i) {
        CDL_PREPEND(channel->free_slots, &channel->isr_subscriptions[i]);
    }

    switch(type) {
    case HW_UART:
        uart_init(metadata);
        break;

    case HW_TIMER:
        timer_add_interrupt(metadata);
        break;

    case HW_BUTTON:
        /* TODO: parametrize */
        button_set_interrupt(metadata);
        break;

    default: postpone_death();
    }
}

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void hw_daemon

(

void

)

Definition at line 172 of file hardware.c.

References hw_notify_uart(), HW_SEM_UART0, INT_UART0, os_surrender_context, sem_guard, sem_take, UART0_BASE, UART_DEFAULT_BAUD_RATE, and uart_metadata_init.

Referenced by hw_init_daemon(), and main().

                     {
    while (1) {
        /* mind ordering of sem_checks */
        /* fixme: one thread for each hardware device, so individual
         * priorities can be assigned to the threads (which will
         * handle simultaneous interrupts according to priority
         * scheduler's interpretation of priority) */
        sem_guard(HW_SEM_UART0) {
            sem_take(HW_SEM_UART0);
            /* todo: schedule */
            uart_metadata_init(UART_DEFAULT_BAUD_RATE, UART0_BASE, INT_UART0);
            hw_notify_uart(uart_metadata);
        }
        os_surrender_context();
    }
}

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void hw_driver_init	(	HW_TYPE	,
		hw_metadata
	)

This function is responsible for enabling the peripherals and internal data strutures used by the specified .

Parameters

hw_group

The hardware group driver to initialize

Definition at line 62 of file hardware.c.

References hw_timer_metadata::base, button_init(), hw_uart_metadata::channel, HW_BUTTON, HW_TIMER, HW_UART, postpone_death, SYSCTL_PERIPH_GPIOA, SYSCTL_PERIPH_GPIOF, SYSCTL_PERIPH_TIMER0, SYSCTL_PERIPH_UART0, SysCtlPeripheralEnable(), hw_metadata::timer, TIMER0_BASE, hw_metadata::uart, and UART0_BASE.

Referenced by main().

                                                        {

    switch(type) {
    case HW_UART:
        SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0 +
                               (metadata.uart.channel - UART0_BASE) / 0x1000);
        /* todo: parametrize - are they all on A? */
        SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
        break;

    case HW_TIMER:
        SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0 +
                               (metadata.timer.base - TIMER0_BASE) / 0x1000);
        break;

    case HW_BUTTON:
        /* TODO: parametrize to allow other buttons to be driven */
        SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
        /* #need4speed: Buttons on the board are only used for input,
         * we know how they're going to be used. Break the libhw
         * convention and initialize these buttons so this code never
         * has to be run again */
        button_init(metadata);
        break;

    default: postpone_death();
    }
}

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hw_driver* hw_driver_singleton ( HW_TYPE  )

inline

Return the one hw_driver per hardware device group in use by the TM4C.

Parameters

The	hardware type to grab a pointer of

Returns

Pointer to the hw_driver data structure managing

Definition at line 220 of file hardware.c.

References HW_BUTTON, HW_BUTTON_DRIVER, HW_TIMER, HW_TIMER_DRIVER, HW_UART, HW_UART_DRIVER, NULL, and postpone_death.

Referenced by _hw_get_channel().

                                             {

    switch(type) {
    case HW_UART:   return &HW_UART_DRIVER;
    case HW_TIMER:  return &HW_TIMER_DRIVER;
    case HW_BUTTON: return &HW_BUTTON_DRIVER;
    default:        postpone_death();
    }
    return NULL;
}

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void hw_init_daemon

(

)

Initialize libhw's internal data structures

Definition at line 54 of file hardware.c.

References hw_daemon(), and os_add_thread().

                      {

    os_add_thread(hw_daemon);
}

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void hw_notify	(	HW_TYPE	,
		hw_metadata	,
		notification
	)

Notify threads subscribed to about an incoming hardware event.

Parameters

hw_group	The hardwawre group that received the incoming hardware event
channel	The channel of that received the incoming hardware event
notifications	The notification (prepared by NVIC-invoked ISR) containing information regarding the recently-occurring hardware interrupt event

Definition at line 149 of file hardware.c.

References _hw_get_channel(), CDL_DELETE, CDL_PREPEND, hw_channel::free_slots, hw_channel::full_slots, _isr_subscription::next, NULL, _isr_subscription::single_shot_subscription, and _isr_subscription::slot.

Referenced by GPIOPortF_Handler(), hw_notify_uart(), s_Handler(), sA_Handler(), TIMER0A_Handler(), TIMER1A_Handler(), and TIMER2A_Handler().

                                                                      {

    hw_iterator i=0;
    hw_channel* channel = _hw_get_channel(type, metadata);
    _isr_subscription* subscrip = channel->full_slots;
    _isr_subscription* new_subscrip = NULL;

    /* TODO: make this a doubly linked list, not circular */
    /* consider similar changes to os lib also */
    while(subscrip && subscrip != new_subscrip) {
        subscrip->slot(note);
        new_subscrip = subscrip->next;
        if (subscrip->single_shot_subscription) {
            /* Cease fire! cease fire! */
            subscrip->single_shot_subscription = false;
            CDL_DELETE(channel->full_slots, subscrip);
            CDL_PREPEND(channel->free_slots, subscrip);
        }
        subscrip = new_subscrip;
    }
}

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void hw_notify_uart

(

hw_metadata

uart_metadata

)

Iterate over all chars in the respective uart's RX_FIFO and notify all subscribed tasks.

Parameters

UART

metadata

Definition at line 189 of file hardware.c.

References notification::_char, buffer_dec, buffer_empty, buffer_last, hw_notify(), HW_UART, and UART0_RX_BUFFER.

Referenced by hw_daemon().

                                               {

    notification note;
    /* get-it-working: assume the dev knows which buffer to use */
    uint8_t* buffer = UART0_RX_BUFFER;
    while(!buffer_empty(UART0_RX_BUFFER)) {
        note._char = buffer_last(UART0_RX_BUFFER);
        buffer_dec(UART0_RX_BUFFER);
        hw_notify(HW_UART, uart_metadata, note);
    }
}

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void hw_unsubscribe	(	HW_TYPE	,
		hw_metadata	,
		void(*)(notification note)	isr
	)

Unsubscribe from a hardware interrupt. This is also called disconnecting a signal (the isr in question) from a slot (the hw-triggered driver isr).

Parameters

The	hardware type in question
Metadata	about the device
The	pseudo-isr to be notified by the hardware driver

Definition at line 137 of file hardware.c.

References _hw_get_channel(), CDL_DELETE, CDL_PREPEND, hw_channel::free_slots, and hw_channel::full_slots.

Referenced by shell_kill().

                                                    {

    hw_channel* channel = _hw_get_channel(type, metadata);
    _isr_subscription* remove = channel->full_slots;

    while(remove->slot != isr) {++remove;}
    CDL_DELETE(channel->full_slots, remove);
    CDL_PREPEND(channel->free_slots, remove);
}

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void TIMER0A_Handler

(

void

)

TIMER0A isr responsible for notifying all subscriptions with information describing the interrupt.

This isr was generated automatically by bin/lisp/rtos-interrupt-generator.el

Definition at line 341 of file hardware.c.

References hw_notify(), HW_TIMER, notification_init, NULL, TIMER0_BASE, timer_metadata_init, TIMER_TIMA_TIMEOUT, and TimerIntClear().

                           {

  TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
  notification_init(int, 1);
  timer_metadata_init(TIMER0_BASE, NULL, NULL, NULL);
  hw_notify(HW_TIMER, timer_metadata, note);
}

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void TIMER1A_Handler

(

void

)

TIMER1A isr responsible for notifying all subscriptions with information describing the interrupt.

This isr was generated automatically by bin/lisp/rtos-interrupt-generator.el

Definition at line 355 of file hardware.c.

References hw_notify(), HW_TIMER, HWREG, jitter_begin, notification_init, NULL, NVIC_ST_CURRENT, TIMER1_BASE, timer_metadata_init, TIMER_TIMA_TIMEOUT, and TimerIntClear().

Referenced by __attribute__().

                           {

  TimerIntClear(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
  jitter_begin = HWREG(NVIC_ST_CURRENT);
  notification_init(int, 1);
  timer_metadata_init(TIMER1_BASE, NULL, NULL, NULL);
  hw_notify(HW_TIMER, timer_metadata, note);
}

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void TIMER2A_Handler

(

void

)

TIMER2A isr responsible for notifying all subscriptions with information describing the interrupt.

This isr was generated automatically by bin/lisp/rtos-interrupt-generator.el

Definition at line 370 of file hardware.c.

References hw_notify(), HW_TIMER, notification_init, NULL, TIMER2_BASE, timer_metadata_init, TIMER_TIMA_TIMEOUT, and TimerIntClear().

Referenced by __attribute__().

                           {

  TimerIntClear(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
  notification_init(int, 1);
  timer_metadata_init(TIMER2_BASE, NULL, NULL, NULL);
  hw_notify(HW_TIMER, timer_metadata, note);
}

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void UART0_Handler

(

void

)

UART0 isr responsible for notifying all subscriptions with information describing the interrupt.

Definition at line 254 of file hardware.c.

References buffer_add, buffer_dec, buffer_empty, buffer_full, HW_SEM_UART0, sem_post, UART0_BASE, UART0_RX_BUFFER, UART_INT_RT, UART_INT_RX, UART_INT_TX, UART_LAST_WAS_CR, UARTCharGetNonBlocking(), UARTCharPut(), UARTCharsAvail(), UARTIntClear(), and UARTIntStatus().

Referenced by __attribute__().

                         {

    bool post;
    uint8_t recv;
    /* Get and clear the current interrupt sources */
    uint32_t interrupts = UARTIntStatus(UART0_BASE, true);
    UARTIntClear(UART0_BASE, interrupts);

    /* Are we being interrupted because the TX FIFO has space available? */
    if(interrupts & UART_INT_TX) {
        /* Move as many bytes as we can into the transmit FIFO */
        /* TODO:  */
        /* uart_prime_transmit(UART0_BASE); */
    }

    /* Are we being interrupted due to a received character? */
    if(interrupts & (UART_INT_RX | UART_INT_RT)) {
        /* Get all available chars from the UART */
        while(UARTCharsAvail(UART0_BASE)) {
            recv = (unsigned char) (UARTCharGetNonBlocking(UART0_BASE) & 0xFF);

            /* optional: check for '@echo_off */

            /* Handle backspace by erasing the last character in the
             * buffer */
            switch(recv) {
            case 127:
            case '\b':
                /* If there are any chars to delete, delete the last text */
                if(!buffer_empty(UART0_RX_BUFFER)) {
                    /* Erase previous characters on the user's terminal */
                    /* UARTCharPut(UART0_BASE, '\b'); */
                    /* UARTCharPut(UART0_BASE, ' '); */
                    /* UARTCharPut(UART0_BASE, '\b'); */

                    /* Decrement the number of chars in the buffer */
                    buffer_dec(UART0_RX_BUFFER);
                    /* Skip ahead to next buffered char */
                    continue;
                }
                /* if it is empty, somebody is watching so pass along
                 * the backspace */
                break;

            case '\r':
            case '\n':
                if(recv == '\r') {
                    UART_LAST_WAS_CR = true;
                }
                else if (UART_LAST_WAS_CR) {
                    UART_LAST_WAS_CR = false;
                    /* Don't react twice to a single newline */
                    continue;
                }
            case 0x1b:
                /* Regardless of the newline received, our convention
                 * is to mark end-of-lines in a buffer with the CR
                 * character. */
                recv = '\r';

                /* Echo the received character to the newline */
                UARTCharPut(UART0_BASE, '\n');
                break;

            default: break;
            }

            post = !buffer_full(UART0_RX_BUFFER);
            /* If there is room in the RX FIFO, store the char there,
             * else dump it. optional: a circular buffer might keep
             * more up-to-date data, considering this is a RTOS */
            /* this could be cleaned up with error-catching in the buffer library */
            if(post) {
                buffer_add(UART0_RX_BUFFER, recv);
                sem_post(HW_SEM_UART0);
            }
        }
    }
}

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Variable Documentation

uint32_t ADC0_SEQ0_SAMPLES[4]

Definition at line 44 of file hardware.c.

uint32_t ADC0_SEQ1_SAMPLES[4]

Definition at line 45 of file hardware.c.

uint32_t ADC0_SEQ2_SAMPLES[4]

Definition at line 46 of file hardware.c.

Referenced by ADC0Seq2_Handler(), display_adc_data_for_checkout(), and main().

uint32_t ADC0_SEQ3_SAMPLES[4]

Definition at line 47 of file hardware.c.

Referenced by ADC0Seq0_Handler(), ADC0Seq1_Handler(), and ADC0Seq3_Handler().

semaphore_t HW_ADC_SEQ2_SEM

Definition at line 49 of file hardware.c.

Referenced by ADC0Seq2_Handler(), display_adc_data_for_checkout(), and led_blink_green().

hw_driver HW_BUTTON_DRIVER

static

Definition at line 36 of file hardware.c.

Referenced by hw_driver_singleton().

hw_driver HW_TIMER_DRIVER

static

Definition at line 35 of file hardware.c.

Referenced by hw_driver_singleton().

hw_driver HW_UART_DRIVER

static

Definition at line 34 of file hardware.c.

Referenced by hw_driver_singleton().

uint32_t jitter_begin

Definition at line 51 of file hardware.c.

Referenced by TIMER1A_Handler().

uint32_t jitter_end

Definition at line 52 of file hardware.c.

Referenced by ADC0Seq2_Handler().

uint8_t UART0_RX_BUFFER[BUFFER_MAX_LENGTH]

static

Definition at line 38 of file hardware.c.

Referenced by hw_notify_uart(), and UART0_Handler().

uint8_t UART0_RX_BUFFER_SIZE = 0

static

Definition at line 39 of file hardware.c.

uint8_t UART0_TX_BUFFER[BUFFER_MAX_LENGTH]

static

Definition at line 41 of file hardware.c.

uint8_t UART0_TX_BUFFER_SIZE = 0

static

Definition at line 42 of file hardware.c.