serial.h

东芝机器人处理器代码,sh2有时间学习很好！

/*****************************************************
 *  PHR-001 (PINO-class Humanoid Robot 001) Behavior Command Program
*
* serial.h
* 
 *  Copyright (C) 2001 Kitano Symbiotic Systems Project, 
 *  Japan Science and Technology Corp.
 *  
 *  This file is part of PHR-001.
 *  
 *  PHR-001 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
 *  (at your option) any later version.
 *  
 *  PHR-001 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.
 *  
 *  You should have received a copy of the GNU General Public License
 *  along with PHR-001; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *********************************************************************/

#ifndef		__SIO_H__
#define		__SIO_H__
#define TxREADY      (SCI2.SC1SSR.WORD & 0x0080)
#define RxREADY      (SCI2.SC1SSR.WORD & 0x0040)
#define ClearTxREADY (SCI2.SC1SSR.WORD &= ~0x0080)
#define ClearRxREADY (SCI2.SC1SSR.WORD &= ~0x0040)

#define ACK  0x06
#define NAK  0x15
#define CAN  0x18
#define SOH  0x01
#define STX  0x02
#define EOT  0x04
#define EOF  0x1A
#define SYN  0x16
#define DLE  0x10
#define XOFF 0x11
#define XON  0x13

/************************/
/*	僾儘僩僞僀僾愰尵	*/
/************************/
void wait(ulong n);
void waits(ulong n);
void iniSCI2(ulong bps);
void BufFlush(void);
void s_putc(schar c);
void s_puts(schar* c);
uchar s_getc(void);
void get_cmd(char *cmd);
void s_putByte(uchar n);
void s_putWord(uint n);
void s_putLong(ulong n);
void s_putDec(uint n);
void mdump(ulong addr,ulong len,uchar typ);
void Xmodem(void);
#endif