Another work progress

25 files changed, 311 insertions, 341 deletions

diff --git a/Kconfig b/Kconfig
index b748514..ebafb5b 100644
--- a/Kconfig
+++ b/Kconfig
@@ -23,6 +23,59 @@ config CONFCFLAGS
 
 endmenu
 
+# Tracing and error handling ####################################################
+
+menu "Tracing and error handling"
+
+config CONFIG_ERRORS
+    bool "Errors support"
+
+if CONFIG_ERRORS
+
+menu "Errors handling"
+
+config CONFIG_EH_RESTART
+    bool "Restart MCU on error detection"
+
+config CONFIG_EH_MEMORY
+    bool "TODO: Write error code and possible stack trase to EEPROM"
+
+config CONFIG_EH_LED
+    bool "Signal error detection by LED"
+    depends on CONFIG_IOPORTS
+
+config CONFIG_EH_LED_IOPIN
+    string "Error detection led output pin"
+    depends on CONFIG_EH_LED
+    default "IO_B0"
+    ---help---
+    Specifies IO pin which will be pulled up on error detection.
+    This string should be valid IO port (for example "IO_B0") or pair of group
+    mask divided by comma (for example "IO_B, _BV(0)").
+
+config CONFIG_EH_USART
+    bool "Send error informations by UART"
+    depends on CONFIG_USART && CONFIG_USART_OUTPUT_BUFFER
+
+endmenu
+
+config CONFIG_CHECK_ARGUMENTS
+    bool "Check arguments for all functions in library"
+
+endif
+
+config CONFIG_TRACING
+    bool "TODO: Tracing support"
+
+if CONFIG_TRACING
+
+config CONFIG_TRACE_FUNCTIONCALL
+    bool "TODO: Trace all function calls in library"
+
+endif
+
+endmenu
+
 # IO Ports ######################################################################
 
 config MCUSUPPORT_IOPORTS
@@ -92,6 +145,7 @@ config CONFIG_USART_PARITY
 config CONFIG_USART_DATABITS
 	int "Data bits"
 	default 8
+    range 5 8
 
 choice USART_STOPBIT_C
 	prompt "Stop bit"
@@ -111,7 +165,8 @@ config CONFIG_USART_OUTPUT_BUFFER
 
 config CONFIG_USART_OUTBUFFER_SIZE
 	int "Output buffer size in bytes." if CONFIG_USART_OUTPUT_BUFFER
-	default 0 if CONFIG_USART_OUTPUT_BUFFER
+	default 0 if ! CONFIG_USART_OUTPUT_BUFFER
+    range 1 512000 if CONFIG_USART_OUTPUT_BUFFER
 	default 32
 
 choice USART_OUTBUFFER_MODE_C
@@ -134,7 +189,8 @@ config CONFIG_USART_INPUT_BUFFER
 
 config CONFIG_USART_INBUFFER_SIZE
 	int "Input buffer size in bytes." if CONFIG_USART_INPUT_BUFFER
-	default 0 if CONFIG_USART_INPUT_BUFFER
+	default 0 if ! CONFIG_USART_INPUT_BUFFER
+    range 1 512000 if CONFIG_USART_INPUT_BUFFER
 	default 32
 
 choice USART_INBUFFER_MODE_C
@@ -152,4 +208,71 @@ config CONFIG_USART_INBUFFER_MODE
 	default 2 if USART_INBUFFER_MODE_C_DROP
 	default 0
 
+config CONFIG_USART_OUTFILE
+    bool "STD FILE support for output"
+    depends on CONFIG_USART_OUTPUT_BUFFER
+
+config CONFIG_USART_INFILE
+    bool "STD FILE support for input"
+    depends on CONFIG_USART_INPUT_BUFFER
+
 endif
+
+# Timers ########################################################################
+
+config CONFIG_TIMERS
+    bool "Timers"
+
+# Tasks #########################################################################
+
+menuconfig CONFIG_TASKS
+    bool "Taks support"
+    depends on CONFIG_TIMERS
+
+if CONFIG_TASKS
+
+config CONFIG_TASKS_TIME
+    bool "Measure approximate real time"
+
+choice TASKS_TIMER
+    prompt "Timer used for tasks planning and interrupts"
+    default TASKS_TIMER_2
+
+config TASKS_TIMER_0
+    bool "Timer0 (8-bit)"
+
+config TASKS_TIMER_1
+    bool "Timer1 (16-bit)"
+
+config TASKS_TIMER_2
+    bool "Timer2 (8-bit asynchronous)"
+
+endchoice
+
+endif
+
+# Jobs ##########################################################################
+
+menuconfig CONFIG_JOBS
+    bool "Jobs support"
+    ---help---
+    Job support allows you to plan and execute functions periodically. This is
+    designed for realtime control.
+
+if CONFIG_JOBS
+
+choice JOBS_DURATION
+    prompt "Jobs duration source"
+
+config JOBS_DURATION_CONSTANT
+    bool "Predefined constants"
+
+config JOBS_DURATION_PREV
+    bool "Previous execution time"
+
+config JOBS_DURATION_MAX
+    bool "Maximum previous time"
+
+endchoice
+
+endif 
diff --git a/Makefile b/Makefile
index 0ddb6d8..67aaf49 100644
--- a/Makefile
+++ b/Makefile
@@ -22,7 +22,7 @@ ifeq (,$(filter clean help docs serve-docs clean-docs config oldconfig \
 	allyesconfig menuconfig, \
 	$(MAKECMDGOALS))) # Ignore build targets if goal is not building
 
--include $(O)/build/config.mk # include configuration
+include $(CONFIG) # include configuration
 
 ### Source files list ###########################
 SRC = base.c
@@ -56,20 +56,15 @@ $(OBJ): $(O)/build/%.o: src/%.c
 	@echo " CC   $@"
 	$(Q)$(GCC) $(CFLAGS) -c -o $@ $<
 
-$(DEP): $(O)/build/%.d: src/%.c $(O)/build/config.mk
+$(DEP): $(O)/build/%.d: src/%.c
 	$(Q)mkdir -p "$(@D)"
 	@echo " DEP  $@"
 	$(Q)$(GCC) -MM -MG -MT '$*.o $@' $(CFLAGS) -c -o $@ $<
 
-$(O)/build/config.mk: $(CONFIG)
-	$(Q)mkdir -p "$(@D)"
-	@echo " GEN  $(CONFIG).mk"
-	$(Q)sed 's/="\(.*\)"/=\1/' $(CONFIG) > "$@"
-
 $(O)/build/config.h: $(CONFIG)
 	$(Q)mkdir -p "$(@D)"
-	@echo " GEN  $(CONFIG).h"
-	$(Q)grep -v "^#" $(CONFIG) | grep "CONFIG_" | sed 's/=/ /;s/^/#define /' > $@
+	@echo " GEN  $@"
+	$(Q)grep -v "^#" $(CONFIG) | grep "CONFIG_" | sed 's/="\(.*\)"/=\1/;s/=/ /;s/^/#define /' > $@
 # This is not optimal because configuration change results to complete project
 # rebuild instead of only rebuilding required files.
 
diff --git a/conffile b/conffile
deleted file mode 100644
index 6342804..0000000
--- a/conffile
+++ /dev/null
@@ -1,65 +0,0 @@
-MCU::
-    type string
-    default "atmega328p"
-    menu "MCU name"
-
-F_CPU::
-    type float
-    default 16
-    menu "CPU frequency"
-#################################################################################
-
-if MCU == "atmega328p"
-MCUSUPPORT_SPI:
-MCUSUPPORT_USART:
-endif
-
-#################################################################################
-
-IOE_SPI: MCUSUPPORT_USART
-    menu "SPI interface"
-
-group IOE_USART: MCUSUPPORT_SPI
-    type bool
-    menu "USART interface"
-
-IOE_USART_BAUD:
-    type int<0,>
-    menu "Baud"
-
-IOE_USART_PARITY:
-    type {!None("USART_PARITY_NONE"), Odd("USART_PARITY_ODD"), Even("USART_PARITY_EVEN")}
-    menu "Parity"
-
-IOE_USART_STOPBIT:
-    type {!Single("USART_STOPBIT_SINGLE"), Double("USART_STOPBIT_DOUBLE")}
-    menu "Number of stop bits"
-
-IOE_USART_DATABITS:
-    type int<5,8>
-    default 8
-    menu "Number of data bits"
-
-IOE_USART_INBUFFER_SIZE:
-    type int<0,>
-    menu "USART input buffer size"
-    help "Defines size of input buffer for USART interface."
-         " If size is set to 0, no buffer is used."
-
-IOE_USART_OUTBUFFER_SIZE:
-    type int<0,>
-    menu "USART output buffer size"
-    help "Defines size of output buffer for USART interface."
-         " If size is set to 0, no buffer is used."
-endgroup # IOE_USART
-
-IOE_CAN_MCP2515: IOE_SPI
-    menu "MCP2515 CAN controller"
-
-group SENSORS:
-    menu "Sensors"
-
-IOE_SENSOR_DHT22:
-    menu "DHT22 temperature and humidity sensor"
-
-endgroup # SENSORS
diff --git a/docs/index.md b/docs/index.md
index 4c261ff..c39df46 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -1,10 +1,13 @@
 AVR Input/Output expansion
 ==========================
 
-Modules
--------
-| Module                        | Header   | Enable Config                             | Description                                            |
-|-------------------------------|----------|-------------------------------------------|--------------------------------------------------------|
-| [IO Ports](modules/ioport.md) | ioport.h | CONFIG_IOPORTS and CONFIG_IOE_PCINTERRUPT | Simple input/output port access                        |
-| [SPI](modules/spi.md)         | spi.h    | CONFIG_SPI                                | Serial peripheral interface                            |
-| [USART](modules/usart.md)     | usart.h  | CONFIG_USART                              | Universal synchronous/asynchronous receive/transmitter |
+Parts
+-----
+Whole library consists from set of parts. You can use any part directly or
+only trough other part. Every part can be enabled or disabled.
+
+| Parts                         | Header   | Description                                            |
+|-------------------------------|----------|--------------------------------------------------------|
+| [IO Ports](parts/ioport.md) | ioport.h | Simple input/output port access                        |
+| [SPI](parts/spi.md)         | spi.h    | Serial peripheral interface                            |
+| [USART](parts/usart.md)     | usart.h  | Universal synchronous/asynchronous receive/transmitter |
diff --git a/docs/miscellanoues/jobs_vs_tasks.md b/docs/miscellanoues/jobs_vs_tasks.md
new file mode 100644
index 0000000..17d7fdd
--- /dev/null
+++ b/docs/miscellanoues/jobs_vs_tasks.md
@@ -0,0 +1,17 @@
+Jobs vs. Tasks
+==============
+This document refers to [Jobs](/parts/jobs.md) and [Tasks](/parts/tasks.md).
+
+You should be familiar with threads from other platforms. Tasks are from usability
+point of view almost same. They are switched according their priority and
+availability. Jobs are different. They are designed to execute single function at
+the time and when this function exits it executes another. It cant interrupt
+execution when more important task come. So why use jobs instead of tasks? Task
+requires for their run stack memory and during whole live of task is this memory
+taken. This limits number of tasks running. Jobs are sharing same stack and only
+one function has data on it at the time. This results in less memory consumption.
+Another huge difference is how planing works. Tasks are planned based on priority.
+Task with higher priority will run unless it isn't suspended. Jobs don't have
+priority, but they have to specify time until they should be finished (deadline)
+and duration of execution. With these two parameters jobs planner can plan their
+execution.
diff --git a/docs/modules/ioport.md b/docs/parts/ioport.md
index e777e0c..96a4b82 100644
--- a/docs/modules/ioport.md
+++ b/docs/parts/ioport.md
@@ -1,6 +1,5 @@
 IO port
 =======
-To use include: `ioport.md`  
 And define: `CONFIG_IOE_IOPORT`
 
 Defines simple access to io ports. This allows runtime access to any pin with just
@@ -16,36 +15,45 @@ command.
 WARNING: No check is implemented for right group number. Usage of unsupported
 value is undefined (write to other parts of memory can happen).
 
-## References
+Configuration
+-------------
+To use this part, you must enable `CONFIG_IOPORTS` option.  
+This part also handles pin change interrupts. Enable it using
+`CONFIG_IOPORTS_PCINT` option.
+
+References
+----------
 ### For output
 #### Function io_setout
 ```C
 static inline void io_setout(uint8_t group, uint8_t mask)
 ```
 Configures port of `group` with `mask` as output.  
-Parameters:
-    group - Character specifying exact port group
-    mask  - Binary shifted 1. Shift is equal to port index in specified group.
+Parameters:  
+__group__ - Character specifying exact port group  
+__mask__  - Binary shifted 1. Shift is equal to port index in specified group.  
 
 #### Function io_hight
 ```C
 static inline void io_hight(uint8_t group, uint8_t mask)
 ```
 Sets output port to hight (also can be called as 1).  
-WARNING: Invoke this only if io_setout is called before.  
-Parameters:
-    group - Character specifying exact port group
-    mask  - Binary shifted 1. Shift is equal to port index in specified group.
+WARNING: Invoke this only if io_setout is called before.
+
+Parameters:  
+__group__ - Character specifying exact port group  
+__mask__  - Binary shifted 1. Shift is equal to port index in specified group.  
 
 #### Function io_low
 ```C
 static inline void io_low(uint8_t group, uint8_t mask)
 ```
 Sets output port to low (also called as 0).  
-WARNING: Invoke this only if io_setout is called before.  
-Parameters:
-    group - Number specifying exact port group
-    mask  - Binary shifted 1. Shift is equal to port index in specified group.
+WARNING: Invoke this only if io_setout is called before.
+
+Parameters:  
+__group__ - Number specifying exact port group  
+__mask__  - Binary shifted 1. Shift is equal to port index in specified group.  
 
 #### Function io_set
 ```C
@@ -53,9 +61,9 @@ static inline void io_set(uint8_t group, uint8_t mask, int8_t val)
 ```
 Sets output port to value passed as argument.  
 WARNING: Invoke this only if io_setout is called before.  
-Parameters:
-    group - Number specifying exact port group
-    mask  - Binary shifted 1. Shift is equal to port index in specified group.
+Parameters:  
+__group__ - Number specifying exact port group  
+__mask__  - Binary shifted 1. Shift is equal to port index in specified group.  
 
 ### For input
 #### Function io_setin
@@ -64,20 +72,22 @@ static inline void io_setin(uint8_t group, uint8_t mask,
                                 enum ioeIOInResistor resistor)
 ```
 Configures port of `group` with `mask` as input with specified pull-up/down
-resistor.  
-Parameters:
-    group - Number specifying exact port group
-    mask  - Binary shifted 1. Shift is equal to port index in specified group.
+resistor.
+
+Parameters:  
+__group__ - Number specifying exact port group  
+__mask__  - Binary shifted 1. Shift is equal to port index in specified group.  
 
 #### Function io_get
 ```C
 static inline int8_t io_get(uint8_t group, uint8_t mask)
 ```
 Returns current value of port. Note that you can use this also if port is
-configured as output.  
-Parameters:
-    group - Number specifying exact port group
-    mask  - Binary shifted 1. Shift is equal to port index in specified group.
+configured as output.
+
+Parameters:  
+__group__ - Number specifying exact port group  
+__mask__  - Binary shifted 1. Shift is equal to port index in specified group.  
 
 #### Enum ioeIOInResistor
 ```C
@@ -100,20 +110,22 @@ specifies port and edge specifies on what edge should hook be called. `edge` can
 be IO_RISING or IO_FALLING or their binary combination with operator
 `|`.  
 WARNING: `change` call is call during interrupt handling. You shouldn't be
-blocking execution for long time.  
+blocking execution for long time.
+
 Parameters:  
-    group  - Number specifying exact port group
-    mask   - Binary shifted 1. Shift is equal to port index in specified group.
-    edge   - Signals on what edge should be hook called.
-    change - Pointer to function used as interupt hook
+__group__  - Number specifying exact port group.  
+__mask__   - Binary shifted 1. Shift is equal to port index in specified group.  
+__edge__   - Signals on what edge should be hook called.  
+__change__ - Pointer to function used as interupt hook.  
 
 #### Function io_change_remhook
 ```C
 int8_t io_change_remhook(void (*change) (uint8_t group, uint8_t mask))
 ```
-Removes `change` hook.  
+Removes `change` hook.
+
 Parameters:  
-    change - Pointer to function used as hook
+__change__ - Pointer to function used as hook
 
 ### Others
 #### Definitions IO_{GROUP}
@@ -126,12 +138,14 @@ mcu support file should define all ports in form of single line definition in
 format `IOE_IO_{GROUP}{INDEX}`. Disadvantage is that with these definitions you
 can't use binary conjunction and so only one pin can be controlled with it.
 
-## Relevant examples
+Relevant examples
+-----------------
 * blink
 * pcinterrupt
 
-## Adding support
-For more information on how add support, see `doc/add_support.md`.
+Adding support
+--------------
+For more information on how add support, see [Adding MCU support](/add_support.md).
 Main definition is `MCUSUPPORT_IOPORT`. Define it to enable support.
 
 ### IO_{GROUP}
diff --git a/docs/parts/jobs.md b/docs/parts/jobs.md
new file mode 100644
index 0000000..878a557
--- /dev/null
+++ b/docs/parts/jobs.md
@@ -0,0 +1,15 @@
+Jobs
+====
+Jobs allows periodic execution of different short functions. It is designed to host
+control loops. So called functions should be short.
+
+Every job must specify deadline and if not set otherwise also its duration.
+
+If tasks support is enabled jobs can be also executed on multiple tasks, which is
+handy if you divide sensor reading and control algorithm, because control
+algorithm can than run when for example mcu waiting for response from sensor.
+Always be sure that jobs are running on tasks with highest priority, otherwise
+deadlines might not be fulfilled every time.
+
+Be aware of taking mutexes and semaphores. It can sometime result in long task
+suspension and that would result to deadline misses.
diff --git a/docs/modules/spi.md b/docs/parts/spi.md
index 3ae730c..f63d304 100644
--- a/docs/modules/spi.md
+++ b/docs/parts/spi.md
@@ -1,9 +1,16 @@
 Serial peripheral interface
 ===========================
-This interface is link to MOSI and MISO pins. Also SS pin is used when slave mode initialized.
+To use include: `spi.h`  
+This interface is link to MOSI and MISO pins. Also SS pin is used when slave mode
+initialized.
 
-## References
-### spi\_init
+Configuration
+-------------
+To use SPI you must enable `CONFIG_SPI` configuration symbol.
+
+References
+----------
+### Function spi\_init
 ```C
 static inline void spi_init(enum spiMode mode)
 ```
@@ -13,20 +20,20 @@ Parameters:
   
 NOTE: Global interrupts must be enabled for right function of SPI.
 
-### spi\_busy
+### Function spi\_busy
 ```C
 static inline int8_t spi_busy(void)
 ```
 Returns NULL when device is not busy.  
 When device is busy return values in non-zero.
 
-### spi\_join    
+### Function spi\_join    
 ```C
 static inline void spi_join(void)
 ```
 Blocks processor until device is not busy.
 
-### spi\_send
+### Function spi\_send
 ```C
 static inline uint8_t spi_send(uint8_t data)
 ```
@@ -34,7 +41,7 @@ Swap bytes with slave over SPI.
 This function blocks execution until device isn't busy (transfer completed).  
 WARNING: Invoke this only when interface is initialized in MASTER mode.
 
-### spi\_transfer
+### Function spi\_transfer
 ```C
 static inline void spi_transfer(uint8_t data)
 ```
@@ -43,7 +50,7 @@ This function isn't blocking execution until transfer is complete.
 Always call spi\_join before this function when called outside of spi\_receive().  
 WARNING: Invoke this only when interface is initialized in MASTER mode.
 
-### spi\_expose
+### Function spi\_expose
 ```C
 static inline void spi_expose(uint8_t data)
 ```
@@ -52,14 +59,14 @@ Please don't use this when device is busy.
 Best place to call this is spi\_receive().  
 WARNING: Invoke this only when interface is initialized in SLAVE mode.
 
-## Function pointer spi\_receive
+### Function pointer spi\_receive
 ```C
 extern void (*spi_receive)(uint8_t data)
 ```
 This function is called every time transfer is finished.
 And until return from this function interrupts are disabled.
 
-## Enum spiMode
+### Enum spiMode
 ```C
 enum spiMode {
     SPI_MODE_MASTER,
@@ -67,3 +74,7 @@ enum spiMode {
 };
 ```
 This is used as parameter for spi\_init function.
+
+Relevant examples
+-----------------
+* spiblink
diff --git a/docs/modules/tasks.md b/docs/parts/tasks.md
index 0078f00..e4f71df 100644
--- a/docs/modules/tasks.md
+++ b/docs/parts/tasks.md
@@ -1,6 +1,7 @@
 Tasks
 =====
-Tasks allows separate jobs.
+Tasks can be used for sharing processor for example during period of waiting for
+interrupt. Planing is based on priority.
 
 ## Functions
 ### tasks_run
diff --git a/docs/modules/timer.md b/docs/parts/timer.md
index e69de29..e69de29 100644
--- a/docs/modules/timer.md
+++ b/docs/parts/timer.md
diff --git a/docs/parts/usart.md b/docs/parts/usart.md
new file mode 100644
index 0000000..22e54ab
--- /dev/null
+++ b/docs/parts/usart.md
@@ -0,0 +1,23 @@
+Universal synchronous/asynchronous receive/transmitter
+======================================================
+This part acts as UART intended as text base interface with computer. It is
+using hardware termed as USART by Atmel. This hardware also supports synchronous
+communication and can behave as SPI master, but this is not supported by this
+library (I don't require this feature, but implementation is welcomed).
+
+This part implements, if enabled, whole stack for binding input and output to
+stdin and stdout. This is handy during development. You can use `printf` and
+`scanf` directly.
+
+This part can be enabled by `CONFIG_USART` configuration option. This enables
+more detailed configuration in sub-menu.
+
+## Usage
+
+
+## References
+### usart_init_async
+```C
+void usart_init_async(void)
+```
+
diff --git a/docs/modules/utils/buffer.md b/docs/parts/utils/buffer.md
index 4365c25..4365c25 100644
--- a/docs/modules/utils/buffer.md
+++ b/docs/parts/utils/buffer.md
diff --git a/docs/modules/utils/narray.md b/docs/parts/utils/narray.md
index 3e64f67..3e64f67 100644
--- a/docs/modules/utils/narray.md
+++ b/docs/parts/utils/narray.md
diff --git a/docs/usage.md b/docs/usage.md
index e69de29..b96c601 100644
--- a/docs/usage.md
+++ b/docs/usage.md
@@ -0,0 +1 @@
+Sorry this documentation is not finished  yet. To start you can look to examples.
diff --git a/examples/blink/Makefile b/examples/blink/Makefile
index ef7e205..f2cc133 100644
--- a/examples/blink/Makefile
+++ b/examples/blink/Makefile
@@ -30,7 +30,7 @@ clean:
 	$(Q)$(RM) $(OBJ)
 	@echo " CLEAN $(PROJNAME).elf $(PROJNAME).hex"
 	$(Q)$(RM) $(PROJNAME).elf $(PROJNAME).hex
-	$(Q)$(MAKE) -C ../.. clean O=examples/blink
+	$(Q)$(MAKE) -C ../.. clean O=examples/$(PROJNAME)
 
 # Building targets are available only if configuration is generated
 ifneq ("$(wildcard .config)","")
@@ -54,7 +54,7 @@ $(OBJ): %.o: %.c libioe.a
 	$(Q)avr-gcc $(CFLAGS) -c -o $@ $<
 
 libioe.a: .config
-	$(Q)$(MAKE) -C ../.. examples/blink/libioe.a O=examples/blink
+	$(Q)$(MAKE) -C ../.. examples/$(PROJNAME)/libioe.a O=examples/$(PROJNAME)
 endif
 
 .config:
@@ -62,8 +62,8 @@ endif
 	@exit 1
 
 config:
-	$(Q)$(MAKE) -C ../.. config O=examples/blink
+	$(Q)$(MAKE) -C ../.. config O=examples/$(PROJNAME)
 
 .PHONY: menuconfig
 menuconfig:
-	$(Q)$(MAKE) -C ../.. menuconfig O=examples/blink
+	$(Q)$(MAKE) -C ../.. menuconfig O=examples/$(PROJNAME)
diff --git a/include/can/global.h b/include/can/global.h
deleted file mode 100644
index 5d88fe6..0000000
--- a/include/can/global.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#include <stdint.h>
-
-#ifndef _IOE_CAN_GLOBAL_
-#define _IOE_CAN_GLOBAL_
-
-typedef struct {
-    uint16_t id;
-    uint8_t length;
-    uint8_t data[8];
-} CanFrame;
-
-typedef struct {
-    CanFrame **buffer;
-    void *udata;
-} Can;
-
-
-void can_send(Can *can, CanFrame *frame);
-
-#endif /* _IOE_CAN_GLOBAL_ */
diff --git a/include/can/mcp2515.h b/include/can/mcp2515.h
deleted file mode 100644
index 59376f7..0000000
--- a/include/can/mcp2515.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include <stdint.h>
-
-#include "spi.h"
-#include "global.h"
-
-#ifndef _IOE_CAN_MCP2515_H_
-#define _IOE_CAN_MCP2515_H_
-#ifdef CONFIG_IOE_CAN_MCP2515
-#ifndef CONFIG_IOE_SPI
-#error "Please define CONFIG_IOE_SPI. MCP2515 requires SPI."
-#endif
-
-// TODO registers
-#define CAN_MCP2515_CANCTL
-// TODO buffers
-
-typedef struct {
-    uint8_t group, mask;
-} CanMcp2515;
-
-int8_t can_mcp2515_init(CanMcp2515 * can, uint8_t group, uint8_t mask);
-
-void can_mcp2515_reset(CanMcp2515 * can);
-uint8_t can_mcp2515_read(CanMcp2515 * can, uint8_t address);
-uint8_t can_mcp2515_readrx(CanMcp2515 * can, uint8_t buffer);
-void can_mcp2515_write(CanMcp2515 * can, uint8_t address, uint8_t data);
-void can_mcp2515_loadrx(CanMcp2515 * can, uint8_t buffer, uint8_t data);
-uint8_t can_mcp2515_rdstat(CanMcp2515 * can);
-uint8_t can_mcp2515_rxstat(CanMcp2515 * can);
-void can_mcp2515_bitmod(CanMcp2515 * can, uint8_t address, uint8_t mask,
-                        uint8_t data);
-
-#endif /* CONFIG_IOE_CAN_MCP2515 */
-#endif /* _IOE_CAN_MCP2515_H_ */
diff --git a/include/can/software.h b/include/can/software.h
deleted file mode 100644
index b443e42..0000000
--- a/include/can/software.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#include <avr/io.h>
-#include <util/delay.h>
-#include <stdint.h>
-
-#ifndef _IOE_CAN_SOFTWARE_H_
-#define _IOE_CAN_SOFTWARE_H_
-
-
-#endif /* _IOE_CAN_SOFTWARE_H_ */
diff --git a/include/spi.h b/include/spi.h
index 8d51eb9..bdfce25 100644
--- a/include/spi.h
+++ b/include/spi.h
@@ -9,6 +9,11 @@
 #define _IOE_SPI_H_
 #ifdef CONFIG_SPI
 
+/*! \brief Modes definition for spi_init
+ *
+ * This enum is used by spi_init to define if SPI should be initialized as master
+ * or slave.
+ */
 enum spiMode {
     SPI_MODE_MASTER,
     SPI_MODE_SLAVE
@@ -17,6 +22,10 @@ enum spiMode {
 volatile extern int8_t _spi_busy;
 volatile extern Mutex spi_mutex;
 
+/*! \brief Initializes SPI interface.  
+ *
+ * \param mode Specify mode of SPI interface
+ */
 static inline void spi_init(enum spiMode mode) {
     _spi_busy = 0;
     if (mode == SPI_MODE_MASTER) {
@@ -59,7 +68,6 @@ static inline void spi_expose(uint8_t data) {
     SPDR = data;
 }
 
-// Null terminated array
 extern void (*spi_receive)(uint8_t data);
 
 #endif /* CONFIG_SPI */
diff --git a/include/usart.h b/include/usart.h
index 3ba5382..a3f585a 100644
--- a/include/usart.h
+++ b/include/usart.h
@@ -17,12 +17,10 @@
 #define USART_DATAOVERRUN _BV(DOR0)
 #define USART_PARITYERROR _BV(UPE0)
 
-#if CONFIG_USART_INBUFFER_SIZE > 0
-#define _USART_INBUFFER
+#ifdef CONFIG_USART_INPUT_BUFFER
 volatile IOEBUFFER(uint8_t, _ioe_usart_inbuffer, CONFIG_USART_INBUFFER_SIZE);
 #endif
-#if CONFIG_USART_OUTBUFFER_SIZE > 0
-#define _USART_OUTBUFFER
+#ifdef CONFIG_USART_OUTPUT_BUFFER
 volatile IOEBUFFER(uint8_t, _ioe_usart_outbuffer, CONFIG_USART_OUTBUFFER_SIZE);
 #endif
 
@@ -46,10 +44,10 @@ static inline uint8_t usart_queryerror(void) {
 static inline int8_t usart_busy(void) {
     return _usart_busy;
 }
-#ifdef _USART_INBUFFER
+#ifdef CONFIG_USART_INPUT_BUFFER
 uint8_t usart_inbuffered(void);
 #endif
-#ifdef _USART_OUTBUFFER
+#ifdef CONFIG_USART_OUTPUT_BUFFER
 uint8_t usart_outbuffered(void);
 #endif
 #if (defined CONFIG_USART_INFILE) || (defined CONFIG_USART_OUTFILE)
diff --git a/include/usi_spi.h b/include/usi_spi.h
deleted file mode 100644
index 18534ab..0000000
--- a/include/usi_spi.h
+++ /dev/null
@@ -1,66 +0,0 @@
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include <stdint.h>
-
-#include "mcu/mcu_def.h"
-
-#ifndef _IOE_USI_SPI_H_
-#define _IOE_USI_SPI_H_
-
-#ifndef MCUSUPPORT_USI
-#error "No USI interface is known on your mcu."
-#endif
-
-enum usiSpiMode {
-    // Device is initialized as master
-    USI_SPI_MODE_MASTER,
-    // Device is initialized as slave
-    USI_SPI_MODE_SLAVE,
-};
-
-/*
- * Initialize SPI on USI device
- *
- *  Parameters:
- *    mode - Specify mode of SPI interface
- */
-void usi_spi_init(enum usiSpiMode mode);
-/*
- * Returns NULL when device is not busy.
- * When device is busy return values in non-zero.
- */
-int8_t usi_spi_busy(void);
-/*
- * Blocks processor until device is not busy.
- */
-void usi_spi_join(void);
-/*
- * Swap bytes with slave over SPI.
- * This function blocks execution until device isn't busy.
- * WARNING: Invoke this only when interface is initialized in MASTER mode.
- */
-uint8_t usi_spi_send(uint8_t data);
-/*
- * Swaps byte with slave over SPI.
- * This function isn't checking if device is busy, but it's not blocking execution.
- * WARNING: Invoke this only when interface is initialized in MASTER mode.
- */
-uint8_t usi_spi_transfer(uint8_t data);
-/*
- * Expose data for next master request.
- * Please don't use this when device is busy.
- * Best place to call this is usi_spi_retrieve().
- * WARNING: Invoke this only when interface is initialized in SLAVE mode.
- */
-void usi_spi_expose(uint8_t data);
-
-/*
- * This function must be defined by user.
- * This function is called every time transfer is finished.
- * And until return from this function interrupts are disabled.
- * WARNING: Please define this function in your code.
- */
-void usi_spi_receive(uint8_t data);
-
-
-#endif /* _IOE_USI_SPI_H_ */
diff --git a/mkdocs.yml b/mkdocs.yml
index a0724b4..83ec683 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -5,16 +5,19 @@ copyright: GNU General Public License, version 2.0
 pages:
 - Home: index.md
 - Usage: usage.md
-- Modules:
-    - IO Ports: modules/ioport.md
-    - SPI: modules/spi.md
-    - Tasks: modules/tasks.md
-    - Timer: modules/timer.md
-    - USART: modules/usart.md
+- Parts:
+    - IO Ports: parts/ioport.md
+    - SPI: parts/spi.md
+    - Tasks: parts/tasks.md
+    - Jobs: parts/jobs.md
+    - Timer: parts/timer.md
+    - USART: parts/usart.md
     - Utils:
-        - Buffer: modules/utils/buffer.md
-        - NArray: modules/utils/narray.md
+        - Buffer: parts/utils/buffer.md
+        - NArray: parts/utils/narray.md
 - Adding MCU support: add_support.md
+- Miscellanoues:
+    - Jobs vs. Tasks: miscellanoues/jobs_vs_tasks.md
 theme: readthedocs
 
 site_dir: html
diff --git a/docs/modules/usart.md b/src/base.c
index e69de29..e69de29 100644
--- a/docs/modules/usart.md
+++ b/src/base.c
diff --git a/src/spi.c b/src/spi.c
index 69012fa..adf858d 100644
--- a/src/spi.c
+++ b/src/spi.c
@@ -8,11 +8,9 @@ volatile Mutex spi_mutex;
 void (*spi_receive) (uint8_t data) = 0;
 
 ISR(SPI_STC_vect, ISR_BLOCK) {
-    void (*spir_w) (uint8_t data) = spi_receive;
     _spi_busy = 0;
-    while (spir_w != NULL) {
+    if (spi_receive != NULL) {
         spir_w(SPDR);
-        spir_w++;
     }
 }
 
diff --git a/src/usart.c b/src/usart.c
index 6cfbc20..12528f9 100644
--- a/src/usart.c
+++ b/src/usart.c
@@ -8,50 +8,6 @@
 #define USART_STOPBIT_SINGLE 1
 #define USART_STOPBIT_DOUBLE 2
 
-#ifndef CONFIG_USART_BAUD
-#warning "CONFIG_USART_BAUD not defined. Setting default 9600."
-#define CONFIG_USART_BAUD 9600
-#endif
-#ifndef CONFIG_USART_PARITY
-#warning "CONFIG_USART_PARITY not defined. Using default USART_PARITY_NONE."
-#define CONFIG_USART_PARITY USART_PARITY_NONE
-#endif
-#ifndef CONFIG_USART_STOPBIT
-#warning "CONFIG_USART_STOPBIT not defined. Using default USART_STOPBIT_SINGLE."
-#define CONFIG_USART_STOPBIT USART_STOPBIT_SINGLE
-#endif
-#ifndef CONFIG_USART_DATABITS
-#warning "CONFIG_USART_DATABITS not defined. Using default 8."
-#define CONFIG_USART_DATABITS 8
-#endif
-
-#if !((CONFIG_USART_PARITY == USART_PARITY_NONE) || \
-      (CONFIG_USART_PARITY == USART_PARITY_ODD) || \
-      (CONFIG_USART_PARITY == USART_PARITY_EVEN))
-#error "CONFIG_USART_PARITY has value, that is not allowed."
-#endif
-
-#if !((CONFIG_USART_STOPBIT == USART_STOPBIT_SINGLE) || \
-      (CONFIG_USART_STOPBIT == USART_STOPBIT_DOUBLE))
-#error "CONFIG_USART_STOPBIT has value, that is not allowed."
-#endif
-
-#if !((CONFIG_USART_DATABITS == 5) || \
-      (CONFIG_USART_DATABITS == 6) || \
-      (CONFIG_USART_DATABITS == 7) || \
-      (CONFIG_USART_DATABITS == 8))
-// TODO DATABITS 9 is not supported
-#error "CONFIG_USART_DATABITS has value, that is not allowed."
-#endif
-
-#if (defined CONFIG_USART_INFILE) && (CONFIG_USART_INBUFFER_SIZE <= 0)
-#error "USART Input file can't be enabled without input buffer"
-#endif
-#if (defined CONFIG_USART_OUTFILE) && (CONFIG_USART_OUTBUFFER_SIZE <= 0)
-#error "USART Input file can't be enabled without output buffer"
-#endif
-
-
 volatile int8_t _usart_busy;
 
 void usart_init_async(void) {
@@ -89,40 +45,40 @@ void usart_init_async(void) {
     // Enable receiver, transmitter and RX complete,
     // Data register empty interrupts
     UCSR0B = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0) | _BV(UDRIE0);
-#ifdef _USART_INBUFFER
+#ifdef CONFIG_USART_INPUT_BUFFER
     IOEBUFFER_INIT(_ioe_usart_inbuffer, CONFIG_USART_INBUFFER_SIZE);
 #endif
-#ifdef _USART_OUTBUFFER
+#ifdef CONFIG_USART_OUTPUT_BUFFER
     IOEBUFFER_INIT(_ioe_usart_outbuffer, CONFIG_USART_OUTBUFFER_SIZE);
 #endif
 }
 
 inline void usart_send(uint8_t data) {
-#ifdef _USART_OUTBUFFER
+#ifdef CONFIG_USART_OUTPUT_BUFFER
     if (!_usart_busy) {
         _usart_busy = 1;
         UDR0 = data;
     } else {
         IOEBUFFER_PUT(_ioe_usart_outbuffer,
                       CONFIG_USART_OUTBUFFER_SIZE, data,
-                      CONFIG_USART_OUTBUFFER_MODE);
+                      CONFIGCONFIG_USART_OUTPUT_BUFFER_MODE);
     }
 #else
     _usart_busy = 1;
     UDR0 = data;
-#endif /* _USART_OUTBUFFER */
+#endif /* CONFIG_USART_OUTPUT_BUFFER */
 }
 
-#ifdef _USART_OUTBUFFER
+#ifdef CONFIG_USART_OUTPUT_BUFFER
 inline void usart_send_str(char *str) {
     while (*str != '\0') {
         usart_send((uint8_t) * str);
         str++;
     }
 }
-#endif /* _USART_OUTBUFFER */
+#endif /* CONFIG_USART_OUTPUT_BUFFER */
 
-#ifdef _USART_INBUFFER
+#ifdef CONFIG_USART_INPUT_BUFFER
 uint8_t usart_get(void) {
     uint8_t rtn;
     IOEBUFFER_GET(_ioe_usart_inbuffer, CONFIG_USART_INBUFFER_SIZE,
@@ -131,7 +87,7 @@ uint8_t usart_get(void) {
 }
 #endif
 
-#ifdef _USART_INBUFFER
+#ifdef CONFIG_USART_INPUT_BUFFER
 uint8_t usart_inbuffered(void) {
     uint8_t rtn;
     IOEBUFFER_CNT(_ioe_usart_inbuffer, CONFIG_USART_INBUFFER_SIZE,
@@ -140,7 +96,7 @@ uint8_t usart_inbuffered(void) {
 }
 #endif
 
-#ifdef _USART_OUTBUFFER
+#ifdef CONFIG_USART_OUTPUT_BUFFER
 uint8_t usart_outbuffered(void) {
     uint8_t rtn;
     IOEBUFFER_CNT(_ioe_usart_outbuffer, CONFIG_USART_OUTBUFFER_SIZE,
@@ -156,7 +112,7 @@ static int usartput(char c, FILE * f) {
 }
 #endif
 
-#ifdef CONFIG_USART_INBUFFER
+#ifdef CONFIGCONFIG_USART_INPUT_BUFFER
 static int usartget(FILE * f) {
     uint8_t v;
     while (!(v = usart_get()));
@@ -184,17 +140,17 @@ void (*usart_receive) (uint8_t data) = 0;
 void (*usart_sent) (void) = 0;
 
 SIGNAL(USART_RX_vect) {
-#ifdef _USART_INBUFFER
+#ifdef CONFIG_USART_INPUT_BUFFER
     uint8_t val = UDR0;
     IOEBUFFER_PUT(_ioe_usart_inbuffer, CONFIG_USART_INBUFFER_SIZE,
-                  val, CONFIG_USART_INBUFFER_MODE);
-#endif /* _USART_INBUFFER */
+                  val, CONFIGCONFIG_USART_INPUT_BUFFER_MODE);
+#endif /* CONFIG_USART_INPUT_BUFFER */
     if (usart_receive)
         usart_receive(UDR0);
 }
 
 SIGNAL(USART_UDRE_vect) {
-#ifdef _USART_OUTBUFFER
+#ifdef CONFIG_USART_OUTPUT_BUFFER
     uint8_t val;
     IOEBUFFER_GET(_ioe_usart_outbuffer, CONFIG_USART_OUTBUFFER_SIZE,
                   val);
@@ -204,7 +160,7 @@ SIGNAL(USART_UDRE_vect) {
         _usart_busy = 0;
 #else
     _usart_busy = 0;
-#endif /* _USART_OUTBUFFER */
+#endif /* CONFIG_USART_OUTPUT_BUFFER */
     if (usart_sent)
         usart_sent();
 }