A C library for Freescale's CodeWarrior containing interrupt-driven drivers for different peripherals of the MC9S12XDP512 microcontroller and some devices that use them. It offers support for:
- RTI (Real Time Interrupt)
- I2C
- SPI
- Input Capture / Output Compare
- PWM
- Analog to Digital Conversion
- A Hitachi HD44780 based LCD
- An MPU-6050 motion sensor (gyroscope + accelerometer)
- An HC-SR04 ultrasonic distance sensor
- A DS1307 RTC (Real Time Clock)
- Generic RF transmitters and receivers (315 / 433 MHz)
- Nordic Semiconductor's nRF24L01+ 2.4 GHz transceivers
- An infrared remote control using the RC-5 protocol
There's also specialized modules that use some of the above peripherals, such as a Battery module that samples a number of batteries voltages and informs of low battery conditions, an analog 4-axis joystick, and an interface for remotely controlling a quadrotor using said joystick, printing information on an LCD screen and using the nRF to transmit the sampled data.