| 101,7 → 101,6 |
|---|
| 38400, |
| 57600, |
| 115200, |
| 230400, |
| -1}; |
| |
| /* 20MHz: SPBRG, BAUD BRGH=0, BAUD BRGH=1 */ |
| 160,9 → 159,15 |
|---|
| while ((com_read(port,LSR) & 32) == 0 && !timer_expired) |
| barrier(); |
| if (!timer_expired) { |
| #ifdef SERVO_DEBUG |
| kern_printf("(SERVO WRITE p = %d b = %02X)",port,b); |
| #endif |
| com_write(port,THR,b); |
| return 0; |
| } else { |
| #ifdef SERVO_DEBUG |
| kern_printf("(SERVO TIMEOUT)"); |
| #endif |
| return -1; |
| } |
| } |
| 169,11 → 174,20 |
|---|
| |
| int com_receive(unsigned port) |
| { |
| int b; |
| |
| while ((com_read(port,LSR) & 1) == 0 && !timer_expired) |
| barrier(); |
| if (!timer_expired) { |
| return((int)(com_read(port,RBR))); |
| b = (int)(com_read(port,RBR)); |
| #ifdef SERVO_DEBUG |
| kern_printf("(SERVO READ p = %d b = %02X)",port,b); |
| #endif |
| return b; |
| } else { |
| #ifdef SERVO_DEBUG |
| kern_printf("(SERVO TIMEOUT)"); |
| #endif |
| return -1; |
| } |
| } |