Initial Commit

7 files changed, 1139 insertions, 0 deletions

diff --git a/AVR/Examples/Makefile b/AVR/Examples/Makefile
new file mode 100644
index 0000000..ee86945
--- /dev/null
+++ b/AVR/Examples/Makefile
@@ -0,0 +1,509 @@
+# Hey Emacs, this is a -*- makefile -*-
+#----------------------------------------------------------------------------
+# WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al.
+#
+# Released to the Public Domain
+#
+# Additional material for this makefile was written by:
+# Peter Fleury
+# Tim Henigan
+# Colin O'Flynn
+# Reiner Patommel
+# Markus Pfaff
+# Sander Pool
+# Frederik Rouleau
+#
+#----------------------------------------------------------------------------
+# On command line:
+#
+# make all = Make software.
+#
+# make clean = Clean out built project files.
+#
+# make coff = Convert ELF to AVR COFF.
+#
+# make extcoff = Convert ELF to AVR Extended COFF.
+#
+# make program = Download the hex file to the device, using avrdude.
+#                Please customize the avrdude settings below first!
+#
+# make debug = Start either simulavr or avarice as specified for debugging, 
+#              with avr-gdb or avr-insight as the front end for debugging.
+#
+# make filename.s = Just compile filename.c into the assembler code only.
+#
+# make filename.i = Create a preprocessed source file for use in submitting
+#                   bug reports to the GCC project.
+#
+# To rebuild project do "make clean" then "make all".
+#----------------------------------------------------------------------------
+
+
+# MCU name
+MCU = atmega168
+AVRDUDEMCU = m168
+
+
+# Processor frequency.
+#     This will define a symbol, F_CPU, in all source code files equal to the 
+#     processor frequency. You can then use this symbol in your source code to 
+#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
+#     automatically to create a 32-bit value in your source code.
+F_CPU = 16000000
+
+
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+
+
+# Target file name (without extension).
+TARGET = basicAvr
+
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c ../queue.c
+
+
+# List Assembler source files here.
+#     Make them always end in a capital .S.  Files ending in a lowercase .s
+#     will not be considered source files but generated files (assembler
+#     output from the compiler), and will be deleted upon "make clean"!
+#     Even though the DOS/Win* filesystem matches both .s and .S the same,
+#     it will preserve the spelling of the filenames, and gcc itself does
+#     care about how the name is spelled on its command-line.
+ASRC = 
+
+
+# Optimization level, can be [0, 1, 2, 3, s]. 
+#     0 = turn off optimization. s = optimize for size.
+#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+
+
+# Debugging format.
+#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
+#     AVR Studio 4.10 requires dwarf-2.
+#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
+DEBUG = dwarf-2
+
+
+# List any extra directories to look for include files here.
+#     Each directory must be seperated by a space.
+#     Use forward slashes for directory separators.
+#     For a directory that has spaces, enclose it in quotes.
+EXTRAINCDIRS = 
+
+
+# Compiler flag to set the C Standard level.
+#     c89   = "ANSI" C
+#     gnu89 = c89 plus GCC extensions
+#     c99   = ISO C99 standard (not yet fully implemented)
+#     gnu99 = c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+
+# Place -D or -U options here
+CDEFS = -DF_CPU=$(F_CPU)UL
+
+
+# Place -I options here
+CINCS =
+
+
+
+#---------------- Compiler Options ----------------
+#  -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 += $(CSTANDARD)
+
+
+#---------------- Assembler Options ----------------
+#  -Wa,...:   tell GCC to pass this to the assembler.
+#  -ahlms:    create listing
+#  -gstabs:   have the assembler create line number information; note that
+#             for use in COFF files, additional information about filenames
+#             and function names needs to be present in the assembler source
+#             files -- see avr-libc docs [FIXME: not yet described there]
+ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
+
+
+#---------------- Library Options ----------------
+# 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
+
+# If this is left blank, then it will use the Standard printf version.
+PRINTF_LIB = 
+#PRINTF_LIB = $(PRINTF_LIB_MIN)
+#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
+
+
+# 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
+
+# If this is left blank, then it will use the Standard scanf version.
+SCANF_LIB = 
+#SCANF_LIB = $(SCANF_LIB_MIN)
+#SCANF_LIB = $(SCANF_LIB_FLOAT)
+
+
+MATH_LIB = -lm
+
+
+
+#---------------- External Memory Options ----------------
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# used for variables (.data/.bss) and heap (malloc()).
+#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# only used for heap (malloc()).
+#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
+
+EXTMEMOPTS =
+
+
+
+#---------------- Linker Options ----------------
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
+LDFLAGS += $(EXTMEMOPTS)
+LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
+
+
+
+#---------------- Programming Options (avrdude) ----------------
+
+# Programming hardware: alf avr910 avrisp bascom bsd 
+# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
+#
+# Type: avrdude -c ?
+# to get a full listing.
+#
+AVRDUDE_PROGRAMMER = arduino
+
+# com1 = serial port. Use lpt1 to connect to parallel port.
+AVRDUDE_PORT = /dev/ttyUSB0
+
+AVRDUDE_WRITE_FLASH = -U flash:w:$(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 $(AVRDUDEMCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -b 19200
+AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
+AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
+AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
+
+
+
+#---------------- Debugging Options ----------------
+
+# For simulavr only - target MCU frequency.
+DEBUG_MFREQ = $(F_CPU)
+
+# Set the DEBUG_UI to either gdb or insight.
+# DEBUG_UI = gdb
+DEBUG_UI = insight
+
+# Set the debugging back-end to either avarice, simulavr.
+DEBUG_BACKEND = avarice
+#DEBUG_BACKEND = simulavr
+
+# GDB Init Filename.
+GDBINIT_FILE = __avr_gdbinit
+
+# When using avarice settings for the JTAG
+JTAG_DEV = /dev/com1
+
+# Debugging port used to communicate between GDB / avarice / simulavr.
+DEBUG_PORT = 4242
+
+# Debugging host used to communicate between GDB / avarice / simulavr, normally
+#     just set to localhost unless doing some sort of crazy debugging when 
+#     avarice is running on a different computer.
+DEBUG_HOST = localhost
+
+
+
+#============================================================================
+
+
+# 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
+WINSHELL = cmd
+
+
+# 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 = $(SRC:.c=.lst) $(ASRC:.S=.lst) 
+
+
+# Compiler flags to generate dependency files.
+GENDEPFLAGS = -MD -MP -MF .dep/$(@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 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)
+
+end:
+	@echo $(MSG_END)
+	@echo
+
+
+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
+ELFSIZE = $(SIZE) -A $(TARGET).elf
+AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
+
+sizebefore:
+	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
+	$(AVRMEM) 2>/dev/null; echo; fi
+
+sizeafter:
+	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
+	$(AVRMEM) 2>/dev/null; echo; fi
+
+
+
+# Display compiler version information.
+gccversion : 
+	@$(CC) --version
+
+
+
+# Program the device.  
+program: $(TARGET).hex $(TARGET).eep
+	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+
+
+# Generate avr-gdb config/init file which does the following:
+#     define the reset signal, load the target file, connect to target, and set 
+#     a breakpoint at main().
+gdb-config: 
+	@$(REMOVE) $(GDBINIT_FILE)
+	@echo define reset >> $(GDBINIT_FILE)
+	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
+	@echo end >> $(GDBINIT_FILE)
+	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
+	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
+ifeq ($(DEBUG_BACKEND),simulavr)
+	@echo load  >> $(GDBINIT_FILE)
+endif	
+	@echo break main >> $(GDBINIT_FILE)
+	
+debug: gdb-config $(TARGET).elf
+ifeq ($(DEBUG_BACKEND), avarice)
+	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
+	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
+	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
+	@$(WINSHELL) /c pause
+	
+else
+	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
+	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
+endif
+	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
+	
+
+
+
+# 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) $^ --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 $@
+
+# Create preprocessed source for use in sending a bug report.
+%.i : %.c
+	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ 
+
+
+# Target: clean project.
+clean: begin clean_list end
+
+clean_list :
+	@echo
+	@echo $(MSG_CLEANING)
+	$(REMOVE) $(TARGET).hex
+	$(REMOVE) $(TARGET).eep
+	$(REMOVE) $(TARGET).cof
+	$(REMOVE) $(TARGET).elf
+	$(REMOVE) $(TARGET).map
+	$(REMOVE) $(TARGET).sym
+	$(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 debug gdb-config
+
+
diff --git a/AVR/Examples/basicAvr.c b/AVR/Examples/basicAvr.c
new file mode 100644
index 0000000..55a3597
--- /dev/null
+++ b/AVR/Examples/basicAvr.c
@@ -0,0 +1,95 @@
+#include <stdio.h>
+#include <avr/io.h>
+#include <util/delay.h>
+#include <stdint.h>
+
+#include "../queue.h"
+
+#define FOSC 16000000
+#define BAUD 9600
+#define MYUBRR FOSC/16/BAUD-1
+
+#define sbi(var, mask)   ((var) |= (uint8_t)(1 << mask))
+#define cbi(var, mask)   ((var) &= (uint8_t)~(1 << mask))
+
+#define STATUS_LED 5
+
+void ioinit(void);      // initializes IO
+static int uart_putchar(char c, FILE *stream);
+uint8_t uart_getchar(void);
+
+static FILE mystdout = FDEV_SETUP_STREAM(uart_putchar, NULL, _FDEV_SETUP_WRITE);
+
+int testFunction(queue_time_t now)
+{
+    printf("Hello World! Time: %d\r\n", now);
+    return 0;
+}
+
+int testFunction2(queue_time_t now)
+{
+    printf("Stupid World! Time: %d\r\n", now);
+    return 0;
+}
+
+int main (void)
+{	
+    uint32_t x = 0;
+
+    ioinit(); //Setup IO pins and defaults
+
+    scheduleFunction(testFunction, "Test", 3, 3);
+    scheduleFunction(testFunction2, "Test2", 4, 3);
+
+    while(1)
+    {
+
+        scheduleRun(x);
+        x++;
+
+        if(x == 15)
+        {
+            scheduleRemoveFunction("Test2");
+            scheduleChangeFunction("Test", 15, 4);
+        }
+		
+		sbi(PORTB, STATUS_LED);
+		_delay_ms(500);
+
+		cbi(PORTB, STATUS_LED);
+		_delay_ms(500);
+    }
+   
+    return(0);
+}
+
+void ioinit (void)
+{
+    //1 = output, 0 = input
+    DDRB = 0b11101111; //PB4 = MISO 
+    DDRC = 0b11111111; //
+    DDRD = 0b11111110; //PORTD (RX on PD0)
+
+    //USART Baud rate: 9600
+    UBRR0H = MYUBRR >> 8;
+    UBRR0L = MYUBRR;
+    UCSR0B = (1<<RXEN0)|(1<<TXEN0);
+    
+    stdout = &mystdout; //Required for printf init
+}
+
+static int uart_putchar(char c, FILE *stream)
+{
+    //if (c == '\n') uart_putchar('\r', stream);
+  
+    loop_until_bit_is_set(UCSR0A, UDRE0);
+    UDR0 = c;
+    
+    return 0;
+}
+
+uint8_t uart_getchar(void)
+{
+    while( !(UCSR0A & (1<<RXC0)) );
+    return(UDR0);
+}
\ No newline at end of file
diff --git a/AVR/queue.c b/AVR/queue.c
new file mode 100644
index 0000000..f758ec9
--- /dev/null
+++ b/AVR/queue.c
@@ -0,0 +1,138 @@
+#include <stdint.h>
+#include <string.h>
+#include <stdio.h>
+
+#include "queue.h"
+
+static uint8_t queueStart = 0;
+static uint8_t queueEnd = 0;
+static uint8_t itemsInQueue = 0;
+
+static queueItem scheduleQueue[QUEUE_DEPTH];
+
+static int scheduleQueueGetTop(queueItem *returnItem);
+static int internalScheduleFunction(queueItem pItem);
+
+int scheduleFunction(queuedFunction pFunction, const char *pId, queue_time_t pInitialRun, queue_time_t pRecur)
+{
+    int rv = 0;
+
+    queueItem newItem;
+    newItem.fPtr = pFunction;
+    memset(newItem.itemName, 0, NAME_LIMIT);
+    memcpy(newItem.itemName, pId, strlen(pId));
+    newItem.recur = pRecur;
+    newItem.next = pInitialRun;
+
+    rv = internalScheduleFunction(newItem);
+
+    return rv;
+}
+
+int scheduleRemoveFunction(const char *pId)
+{
+    queueItem target;
+    int rv = 0;
+    for (int i = 0; i < itemsInQueue; ++i)
+    {
+        if(scheduleQueueGetTop(&target) == 0)
+        {
+            if(strcmp(target.itemName, pId) != 0)
+            {
+                internalScheduleFunction(target);
+            }
+        } else {
+            rv = -1;
+            break;
+        }
+    }
+
+    return rv;
+}
+
+int scheduleChangeFunction(const char *pId, queue_time_t pNewNext, queue_time_t pNewRecur)
+{
+    queueItem target;
+    int rv = 0;
+    for (int i = 0; i < itemsInQueue; ++i)
+    {
+        if(scheduleQueueGetTop(&target) == 0)
+        {
+            if(strcmp(target.itemName, pId) == 0)
+            {
+                target.next = pNewNext;
+                target.recur = pNewRecur;
+            }
+            internalScheduleFunction(target);
+        } else {
+            rv = -1;
+            break;
+        }
+    }
+
+    return rv;
+}
+
+int scheduleRun(queue_time_t pNow)
+{
+    queueItem target;
+    int rv = 0;
+    for (int i = 0; i < itemsInQueue; ++i)
+    {
+        if(scheduleQueueGetTop(&target)==0)
+        {
+            if(target.next <= pNow)
+            {
+                int tRv;
+                tRv = (target.fPtr)(pNow);
+                if(tRv == 0)
+                {
+                    rv++;
+                }
+                if(target.recur != 0)
+                {
+                    target.next = pNow + target.recur;
+                    internalScheduleFunction(target);
+                }
+            } else {
+                internalScheduleFunction(target);
+            }
+        } else {
+            rv = -1;
+            break;
+        }
+    }
+
+    return rv;
+}
+
+static int scheduleQueueGetTop(queueItem *returnItem)
+{
+    int rv = 0;
+    //Remove the top item, stuff it into returnItem
+    if (queueEnd != queueStart) {
+            queueItem tempQueueItem = scheduleQueue[queueStart];
+            //This Algorithm also from Wikipedia.
+            queueStart = (queueStart + 1) % QUEUE_DEPTH;
+            *returnItem = tempQueueItem;
+            itemsInQueue--;
+    } else {
+    //if the buffer is empty, return an error code
+        rv = -1;
+    }
+
+    return rv;   
+}
+
+static int internalScheduleFunction(queueItem pItem)
+{
+    int rv = 0;
+    if ((queueEnd + 1) % QUEUE_DEPTH != queueStart) {
+        scheduleQueue[queueEnd] = pItem;
+        queueEnd = (queueEnd + 1) % QUEUE_DEPTH;
+        itemsInQueue++;
+    } else {
+        rv = -1;
+    }
+    return rv;
+}
\ No newline at end of file
diff --git a/AVR/queue.h b/AVR/queue.h
new file mode 100644
index 0000000..a587d0e
--- /dev/null
+++ b/AVR/queue.h
@@ -0,0 +1,26 @@
+#ifndef QUEUE_H
+#define QUEUE_H
+
+// Settings
+#define QUEUE_DEPTH 10
+#define NAME_LIMIT 8
+typedef uint32_t queue_time_t;
+
+typedef int (*queuedFunction)(queue_time_t);
+
+typedef struct _queue_item
+{
+    queuedFunction fPtr;
+    queue_time_t recur;
+    queue_time_t next;
+    char itemName[NAME_LIMIT];
+} queueItem;
+
+//Functions
+int scheduleFunction(queuedFunction, const char *, queue_time_t, queue_time_t);
+int scheduleRemoveFunction(const char *);
+int scheduleChangeFunction(const char *, queue_time_t, queue_time_t);
+
+int scheduleRun(queue_time_t);
+
+#endif
\ No newline at end of file
diff --git a/Arduino/Queue.cpp b/Arduino/Queue.cpp
new file mode 100644
index 0000000..f428228
--- /dev/null
+++ b/Arduino/Queue.cpp
@@ -0,0 +1,147 @@
+#include "Queue.h"
+
+Queue::Queue()
+{
+    _itemsInQueue = 0;
+    _queueStart = 0;
+    _queueEnd = 0;
+}
+
+int Queue::scheduleFunction(queuedFunction func, const char * id, unsigned long initialRun, unsigned long recur)
+{
+	int rv = 0;
+
+    if(strlen(id) > 7)
+    {
+        rv = -1;
+    } else {
+
+    	queueItem newItem;
+    	newItem.fPtr = func;
+    	memset(newItem.itemName, 0, 8);
+    	memcpy(newItem.itemName, id, strlen(id));
+    	newItem.recur = recur;
+    	newItem.next = initialRun;
+
+    	rv = _addToQueue(newItem);
+    }
+
+	return rv;
+}
+
+int Queue::scheduleRemoveFunction(const char * id)
+{
+	queueItem target;
+    int rv = -1;
+    for (int i = 0; i < _itemsInQueue; ++i)
+    {
+        if(_queueGetTop(target) == 0)
+        {
+            if(strcmp(target.itemName, id) == 0)
+            {
+                rv = 0;
+            } else {
+                _addToQueue(target);
+            }
+        } else {
+            rv = -1;
+            break;
+        }
+    }
+
+    return rv;
+}
+
+int Queue::scheduleChangeFunction(const char * id, unsigned long nextRunTime, unsigned long newRecur)
+{
+	queueItem target;
+    int rv = -1;
+    for (int i = 0; i < _itemsInQueue; ++i)
+    {
+        if(_queueGetTop(target) == 0)
+        {
+            if(strcmp(target.itemName, id) == 0)
+            {
+                target.next = nextRunTime;
+                target.recur = newRecur;
+                rv = 0;
+            }
+            _addToQueue(target);
+        } else {
+            rv = -1;
+            break;
+        }
+    }
+
+    return rv;
+}
+
+int Queue::Run(unsigned long now)
+{
+	queueItem target;
+    int rv = 0;
+    if(_itemsInQueue == 0)
+    {
+        rv = -1;
+    }
+    for (int i = 0; i < _itemsInQueue; ++i)
+    {
+        if(_queueGetTop(target)==0)
+        {
+            if(target.next <= now)
+            {
+                int tRv;
+                tRv = (target.fPtr)(now);
+                if(tRv == 0)
+                {
+                    rv++;
+                }
+                if(target.recur != 0)
+                {
+                    target.next = now + target.recur;
+                    _addToQueue(target);
+                }
+            } else {
+                _addToQueue(target);
+            }
+        } else {
+            rv = -1;
+            break;
+        }
+    }
+
+    return rv;
+}
+
+int Queue::_queueGetTop(queueItem &item)
+{
+	int rv = 0;
+    //Remove the top item, stuff it into item
+    if (_queueEnd != _queueStart) {
+            queueItem tempQueueItem = _schedule[_queueStart];
+            //This Algorithm also from Wikipedia.
+            _queueStart = (_queueStart + 1) % QueueScheduleSize;
+            item = tempQueueItem;
+            _itemsInQueue--;
+    } else {
+    //if the buffer is empty, return an error code
+        rv = -1;
+    }
+
+    return rv;  
+}
+
+int Queue::_addToQueue(queueItem item)
+{
+	//This is just a circular buffer, and this algorithm is stolen from wikipedia
+	int rv = 0;
+    if ((_queueEnd + 1) % QueueScheduleSize != _queueStart) {
+        _schedule[_queueEnd] = item;
+        _queueEnd = (_queueEnd + 1) % QueueScheduleSize;
+        _itemsInQueue++;
+    } else {
+        //if buffer is full, error
+        rv = -1;
+    }
+    return rv;
+}
\ No newline at end of file
diff --git a/Arduino/Queue.h b/Arduino/Queue.h
new file mode 100644
index 0000000..d23afb3
--- /dev/null
+++ b/Arduino/Queue.h
@@ -0,0 +1,39 @@
+#ifndef QUEUE_H
+#define QUEUE_H
+
+#include "Arduino.h"
+
+typedef int (*queuedFunction)(unsigned long);
+
+#define QueueScheduleSize 11
+
+struct queueItem {
+	queuedFunction fPtr;
+	unsigned long next;
+	unsigned long recur;
+	char itemName[8];
+};
+
+class Queue
+{
+private:
+	unsigned int _queueStart;
+	unsigned int _queueEnd;
+	unsigned int _itemsInQueue;
+	queueItem _schedule[QueueScheduleSize];
+
+	int _queueGetTop(queueItem &item);
+	int _addToQueue(queueItem item);
+
+public:
+	Queue();
+
+	int scheduleFunction(queuedFunction func, const char * id, unsigned long initialRun, unsigned long recur);
+	int scheduleRemoveFunction(const char * id);
+	int scheduleChangeFunction(const char * id, unsigned long nextRunTime, unsigned long newRecur);
+
+	int Run(unsigned long now);
+	/* data */
+};
+
+#endif
\ No newline at end of file
diff --git a/Arduino/Tests/arduinoTests.ino b/Arduino/Tests/arduinoTests.ino
new file mode 100644
index 0000000..653ae5f
--- /dev/null
+++ b/Arduino/Tests/arduinoTests.ino
@@ -0,0 +1,185 @@
+#include <Queue.h>
+
+/*
+  Blink
+  Turns on an LED on for one second, then off for one second, repeatedly.
+ 
+  This example code is in the public domain.
+ */
+
+void setup() {                
+  // initialize the digital pin as an output.
+  // Pin 13 has an LED connected on most Arduino boards:
+  pinMode(13, OUTPUT);     
+  Serial.begin(9600);
+  Serial.println("Alive");
+
+  int testStatus = 0;
+  testStatus |= test_addTooMany();
+  testStatus |= test_removeNonExistent();
+  testStatus |= test_tooManyCharacters();
+  testStatus |= test_changeNonExistent();
+  testStatus |= test_runEmpty();
+
+  if(testStatus == 0)
+  {
+    Serial.println("All tests passed.");
+  } else {
+    Serial.println("Something Failed.");
+  }
+  
+}
+
+void loop() {
+  delay(1000);
+}
+
+int testFunction(unsigned long now)
+{
+  Serial.print("Hello: ");
+  Serial.print(now);
+  Serial.println();
+}
+
+int test_addTooMany(void)
+{
+   Queue testQueue;
+   int rv;
+   int testStatus = 0;
+   rv = testQueue.scheduleFunction(testFunction, "Test1", 5000, 1000);
+   if(rv != 0)
+   {
+     Serial.println("test_addTooMany failed.");
+     testStatus = -1;
+   }
+   rv = testQueue.scheduleFunction(testFunction, "Test2", 5000, 1000);
+   if(rv != 0)
+   {
+     Serial.println("test_addTooMany failed.");
+     testStatus = -1;
+   }
+   rv = testQueue.scheduleFunction(testFunction, "Test3", 5000, 1000);
+   if(rv != 0)
+   {
+     Serial.println("test_addTooMany failed.");
+     testStatus = -1;
+   }
+   rv = testQueue.scheduleFunction(testFunction, "Test4", 5000, 1000);
+   if(rv != 0)
+   {
+     Serial.println("test_addTooMany failed.");
+     testStatus = -1;
+   }
+   rv = testQueue.scheduleFunction(testFunction, "Test5", 5000, 1000);
+   if(rv != 0)
+   {
+     Serial.println("test_addTooMany failed.");
+     testStatus = -1;
+   }
+   rv = testQueue.scheduleFunction(testFunction, "Test6", 5000, 1000);
+   if(rv != 0)
+   {
+     Serial.println("test_addTooMany failed.");
+     testStatus = -1;
+   }
+   rv = testQueue.scheduleFunction(testFunction, "Test7", 5000, 1000);
+   if(rv != 0)
+   {
+     Serial.println("test_addTooMany failed.");
+     testStatus = -1;
+   }
+   rv = testQueue.scheduleFunction(testFunction, "Test8", 5000, 1000);
+   if(rv != 0)
+   {
+     Serial.println("test_addTooMany failed.");
+     testStatus = -1;
+   }
+   rv = testQueue.scheduleFunction(testFunction, "Test9", 5000, 1000);
+   if(rv != 0)
+   {
+     Serial.println("test_addTooMany failed.");
+     testStatus = -1;
+   }
+   rv = testQueue.scheduleFunction(testFunction, "Test10", 5000, 1000);
+   if(rv != 0)
+   {
+     Serial.println("test_addTooMany failed.");
+     testStatus = -1;
+   }
+   rv = testQueue.scheduleFunction(testFunction, "Test11", 5000, 1000);
+   if(rv != -1)
+   {
+     Serial.println("test_addTooMany failed.");
+     testStatus = -1;
+   }
+
+   return testStatus;
+}
+
+int test_removeNonExistent(void)
+{
+  Queue testQueue;
+  int rv;
+  int testStatus = 0;
+  rv = testQueue.scheduleFunction(testFunction, "Test", 5000, 1000);
+  if(rv != 0)
+  {
+    Serial.println("test_removeNonExistent failed.");
+    testStatus = -1;
+  }
+  rv = testQueue.scheduleRemoveFunction("Fail");
+  if(rv != -1)
+  {
+    Serial.println("test_removeNonExistent failed.");
+    testStatus = -1;
+  }
+  return testStatus;
+}
+
+int test_tooManyCharacters(void)
+{
+  Queue testQueue;
+  int rv;
+  int testStatus = 0;
+  rv = testQueue.scheduleFunction(testFunction, "ReallyLongName", 5000, 1000);
+  if(rv != -1)
+  {
+    Serial.println("test_tooManyCharacters failed.");
+    testStatus = -1;
+  }
+  return testStatus;
+}
+
+int test_changeNonExistent(void)
+{
+  Queue testQueue;
+  int rv;
+  int testStatus = 0;
+  rv = testQueue.scheduleFunction(testFunction, "Test", 5000, 1000);
+  if(rv != 0)
+  {
+    Serial.println("test_changeNonExistent failed.");
+    testStatus = -1;
+  }
+  rv = testQueue.scheduleChangeFunction("Fail", 1000, 1000);
+  if(rv != -1)
+  {
+    Serial.println("test_changeNonExistent failed.");
+    testStatus = -1;
+  }
+  return testStatus;
+}
+
+int test_runEmpty(void)
+{
+  Queue myQueue;
+  int rv = 0;
+  int testStatus = 0;
+  rv = myQueue.Run(10);
+  if (rv != -1)
+  {
+    Serial.println("test_runEmpty failed.");
+    testStatus = -1;
+  }
+  return testStatus;
+}
\ No newline at end of file