neocturne/rc2007-soccer
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Added lot's of code-files used during work

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sicarius 2007-02-11 19:03:00 +00:00
parent 1a6b28b1c2
commit 05c8b0af60
30 changed files with 2599 additions and 0 deletions
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1
source/AVR_Studio/Soccer/Soccer.aps Executable file
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78
source/AVR_Studio/Soccer/Soccer.c Executable file
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#include "global.h"
#include "hal/keylcd.h"
#include "navigation.h"
#include "sensor/sensor.h"
Board board;
KeyLCD keylcd;
Navigation navigation;
Sensor sensor;
int main() {
//board.ledOn();
sleep(1);
int speed = 255;
/*for(int i=-255;i<=255;i+=30) {
board.motor(0,i);
board.motor(1,i);
board.motor(2,i);
board.motor(3,i);
sleep(1);
}*/
board.motor(0, speed);
board.motor(1, speed);
board.motor(2, speed);
board.motor(3, speed);
PORTB |= (1 << PB5) | (1 << PB7); // Setze PWM-Ports auf high
PORTE |= (1 << PE3) | (1 << PE4);
/*sleep(10);
board.motor(0, 0);
board.motor(1, 0);
board.motor(2, 0);
board.motor(3, 0);*/
//while(true) { sleep(1); }
//board.beep(450);
//board.ledOn();
//keylcd.print("test");
//sleep(1);
//board.ledOff();
//sleep(1);
/*for(int i=0;i<keylcd.error();i++) {
board.ledOn();
sleep(1);
board.ledOff();
sleep(1);
}
board.ledOn();
uart1_puts("18");
uart1_puts("Hallo Du! Hier ist dein AtMega128\n");
sleep(1);
board.ledOff();
sleep(10);
//board.ledOff();
while(true) {
navigation.Aktualisieren(0,0,speed);
sleep(2);
navigation.Aktualisieren(90,0,speed);
sleep(2);
navigation.Aktualisieren(180,0,speed);
sleep(2);
navigation.Aktualisieren(270,0,speed);
sleep(2);
}*/
while(true)
{
//board.ledOn();
//sleep(1);
//board.ledOff();
sleep(1);
}
//for(int i=0;i<=7;i++) board.GetADC(i);
return 0;
}

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source/AVR_Studio/Soccer/default/Makefile Executable file
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###############################################################################
# Makefile for the project Soccer
###############################################################################
## General Flags
PROJECT = Soccer
MCU = atmega128
TARGET = Soccer.elf
CC = avr-g++.exe
## Options common to compile, link and assembly rules
COMMON = -mmcu=$(MCU)
## Compile options common for all C compilation units.
CFLAGS = $(COMMON)
CFLAGS += -Wall -gdwarf-2 -DF_CPU=16000000ULUL -O3 -fsigned-char
CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d
## Assembly specific flags
ASMFLAGS = $(COMMON)
ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
## Linker flags
LDFLAGS = $(COMMON)
LDFLAGS +=
## Intel Hex file production flags
HEX_FLASH_FLAGS = -R .eeprom
HEX_EEPROM_FLAGS = -j .eeprom
HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0
## Objects that must be built in order to link
OBJECTS = Soccer.o board.o keylcd.o i2c.o global.o uart.o navigation.o sensor.o ballsensor.o
## Objects explicitly added by the user
LINKONLYOBJECTS =
## Build
all: $(TARGET) Soccer.hex Soccer.eep size
## Compile
Soccer.o: ../Soccer.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
board.o: ../hal/board.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
keylcd.o: ../hal/keylcd.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
i2c.o: ../hal/i2c.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
global.o: ../global.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
uart.o: ../hal/uart.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
navigation.o: ../navigation.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
sensor.o: ../sensor/sensor.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
ballsensor.o: ../sensor/ballsensor.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
##Link
$(TARGET): $(OBJECTS)
$(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
%.hex: $(TARGET)
avr-objcopy -O ihex $(HEX_FLASH_FLAGS) $< $@
%.eep: $(TARGET)
avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@
%.lss: $(TARGET)
avr-objdump -h -S $< > $@
size: ${TARGET}
@echo
@avr-size -C --mcu=${MCU} ${TARGET}
## Clean target
.PHONY: clean
clean:
-rm -rf $(OBJECTS) Soccer.elf dep/* Soccer.hex Soccer.eep
## Other dependencies
-include $(shell mkdir dep 2>/dev/null) $(wildcard dep/*)

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source/AVR_Studio/Soccer/default/Soccer.elf Executable file
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source/AVR_Studio/Soccer/default/Soccer.hex Executable file
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66
source/AVR_Studio/Soccer/default/dep/Soccer.o.d Executable file
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Soccer.o: ../Soccer.c ../global.h c:/winavr/bin/../avr/include/stdlib.h \
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h ../hal/board.h \
c:/winavr/bin/../avr/include/avr/io.h \
c:/winavr/bin/../avr/include/avr/sfr_defs.h \
c:/winavr/bin/../avr/include/inttypes.h \
c:/winavr/bin/../avr/include/stdint.h \
c:/winavr/bin/../avr/include/avr/iom128.h \
c:/winavr/bin/../avr/include/avr/portpins.h \
c:/winavr/bin/../avr/include/avr/version.h \
c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/uart.h \
../hal/keylcd.h ../hal/i2c.h ../hal/../global.h \
c:/winavr/bin/../avr/include/compat/twi.h \
c:/winavr/bin/../avr/include/util/twi.h \
c:/winavr/bin/../avr/include/string.h ../navigation.h \
c:/winavr/bin/../avr/include/math.h ../sensor/sensor.h \
../sensor/../hal/board.h ../sensor/ballsensor.h ../sensor/../global.h
../global.h:
c:/winavr/bin/../avr/include/stdlib.h:
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
../hal/board.h:
c:/winavr/bin/../avr/include/avr/io.h:
c:/winavr/bin/../avr/include/avr/sfr_defs.h:
c:/winavr/bin/../avr/include/inttypes.h:
c:/winavr/bin/../avr/include/stdint.h:
c:/winavr/bin/../avr/include/avr/iom128.h:
c:/winavr/bin/../avr/include/avr/portpins.h:
c:/winavr/bin/../avr/include/avr/version.h:
c:/winavr/bin/../avr/include/avr/interrupt.h:
../hal/uart.h:
../hal/keylcd.h:
../hal/i2c.h:
../hal/../global.h:
c:/winavr/bin/../avr/include/compat/twi.h:
c:/winavr/bin/../avr/include/util/twi.h:
c:/winavr/bin/../avr/include/string.h:
../navigation.h:
c:/winavr/bin/../avr/include/math.h:
../sensor/sensor.h:
../sensor/../hal/board.h:
../sensor/ballsensor.h:
../sensor/../global.h:

38
source/AVR_Studio/Soccer/default/dep/ballsensor.o.d Executable file
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ballsensor.o: ../sensor/ballsensor.c ../sensor/ballsensor.h \
../sensor/../hal/board.h c:/winavr/bin/../avr/include/avr/io.h \
c:/winavr/bin/../avr/include/avr/sfr_defs.h \
c:/winavr/bin/../avr/include/inttypes.h \
c:/winavr/bin/../avr/include/stdint.h \
c:/winavr/bin/../avr/include/avr/iom128.h \
c:/winavr/bin/../avr/include/avr/portpins.h \
c:/winavr/bin/../avr/include/avr/version.h \
c:/winavr/bin/../avr/include/avr/interrupt.h \
c:/winavr/bin/../avr/include/stdlib.h \
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h \
../sensor/../hal/uart.h
../sensor/ballsensor.h:
../sensor/../hal/board.h:
c:/winavr/bin/../avr/include/avr/io.h:
c:/winavr/bin/../avr/include/avr/sfr_defs.h:
c:/winavr/bin/../avr/include/inttypes.h:
c:/winavr/bin/../avr/include/stdint.h:
c:/winavr/bin/../avr/include/avr/iom128.h:
c:/winavr/bin/../avr/include/avr/portpins.h:
c:/winavr/bin/../avr/include/avr/version.h:
c:/winavr/bin/../avr/include/avr/interrupt.h:
c:/winavr/bin/../avr/include/stdlib.h:
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
../sensor/../hal/uart.h:

35
source/AVR_Studio/Soccer/default/dep/board.o.d Executable file
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@ -0,0 +1,35 @@
board.o: ../hal/board.c ../hal/board.h \
c:/winavr/bin/../avr/include/avr/io.h \
c:/winavr/bin/../avr/include/avr/sfr_defs.h \
c:/winavr/bin/../avr/include/inttypes.h \
c:/winavr/bin/../avr/include/stdint.h \
c:/winavr/bin/../avr/include/avr/iom128.h \
c:/winavr/bin/../avr/include/avr/portpins.h \
c:/winavr/bin/../avr/include/avr/version.h \
c:/winavr/bin/../avr/include/avr/interrupt.h \
c:/winavr/bin/../avr/include/stdlib.h \
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h ../hal/uart.h
../hal/board.h:
c:/winavr/bin/../avr/include/avr/io.h:
c:/winavr/bin/../avr/include/avr/sfr_defs.h:
c:/winavr/bin/../avr/include/inttypes.h:
c:/winavr/bin/../avr/include/stdint.h:
c:/winavr/bin/../avr/include/avr/iom128.h:
c:/winavr/bin/../avr/include/avr/portpins.h:
c:/winavr/bin/../avr/include/avr/version.h:
c:/winavr/bin/../avr/include/avr/interrupt.h:
c:/winavr/bin/../avr/include/stdlib.h:
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
../hal/uart.h:

36
source/AVR_Studio/Soccer/default/dep/global.o.d Executable file
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global.o: ../global.c ../global.h c:/winavr/bin/../avr/include/stdlib.h \
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h ../hal/board.h \
c:/winavr/bin/../avr/include/avr/io.h \
c:/winavr/bin/../avr/include/avr/sfr_defs.h \
c:/winavr/bin/../avr/include/inttypes.h \
c:/winavr/bin/../avr/include/stdint.h \
c:/winavr/bin/../avr/include/avr/iom128.h \
c:/winavr/bin/../avr/include/avr/portpins.h \
c:/winavr/bin/../avr/include/avr/version.h \
c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/uart.h
../global.h:
c:/winavr/bin/../avr/include/stdlib.h:
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
../hal/board.h:
c:/winavr/bin/../avr/include/avr/io.h:
c:/winavr/bin/../avr/include/avr/sfr_defs.h:
c:/winavr/bin/../avr/include/inttypes.h:
c:/winavr/bin/../avr/include/stdint.h:
c:/winavr/bin/../avr/include/avr/iom128.h:
c:/winavr/bin/../avr/include/avr/portpins.h:
c:/winavr/bin/../avr/include/avr/version.h:
c:/winavr/bin/../avr/include/avr/interrupt.h:
../hal/uart.h:

45
source/AVR_Studio/Soccer/default/dep/i2c.o.d Executable file
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i2c.o: ../hal/i2c.c ../hal/i2c.h ../hal/../global.h \
c:/winavr/bin/../avr/include/stdlib.h \
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h \
../hal/../hal/board.h c:/winavr/bin/../avr/include/avr/io.h \
c:/winavr/bin/../avr/include/avr/sfr_defs.h \
c:/winavr/bin/../avr/include/inttypes.h \
c:/winavr/bin/../avr/include/stdint.h \
c:/winavr/bin/../avr/include/avr/iom128.h \
c:/winavr/bin/../avr/include/avr/portpins.h \
c:/winavr/bin/../avr/include/avr/version.h \
c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/../hal/uart.h \
c:/winavr/bin/../avr/include/compat/twi.h \
c:/winavr/bin/../avr/include/util/twi.h
../hal/i2c.h:
../hal/../global.h:
c:/winavr/bin/../avr/include/stdlib.h:
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
../hal/../hal/board.h:
c:/winavr/bin/../avr/include/avr/io.h:
c:/winavr/bin/../avr/include/avr/sfr_defs.h:
c:/winavr/bin/../avr/include/inttypes.h:
c:/winavr/bin/../avr/include/stdint.h:
c:/winavr/bin/../avr/include/avr/iom128.h:
c:/winavr/bin/../avr/include/avr/portpins.h:
c:/winavr/bin/../avr/include/avr/version.h:
c:/winavr/bin/../avr/include/avr/interrupt.h:
../hal/../hal/uart.h:
c:/winavr/bin/../avr/include/compat/twi.h:
c:/winavr/bin/../avr/include/util/twi.h:

50
source/AVR_Studio/Soccer/default/dep/keylcd.o.d Executable file
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keylcd.o: ../hal/keylcd.c ../hal/keylcd.h ../hal/i2c.h ../hal/../global.h \
c:/winavr/bin/../avr/include/stdlib.h \
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h \
../hal/../hal/board.h c:/winavr/bin/../avr/include/avr/io.h \
c:/winavr/bin/../avr/include/avr/sfr_defs.h \
c:/winavr/bin/../avr/include/inttypes.h \
c:/winavr/bin/../avr/include/stdint.h \
c:/winavr/bin/../avr/include/avr/iom128.h \
c:/winavr/bin/../avr/include/avr/portpins.h \
c:/winavr/bin/../avr/include/avr/version.h \
c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/../hal/uart.h \
c:/winavr/bin/../avr/include/compat/twi.h \
c:/winavr/bin/../avr/include/util/twi.h \
c:/winavr/bin/../avr/include/string.h
../hal/keylcd.h:
../hal/i2c.h:
../hal/../global.h:
c:/winavr/bin/../avr/include/stdlib.h:
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
../hal/../hal/board.h:
c:/winavr/bin/../avr/include/avr/io.h:
c:/winavr/bin/../avr/include/avr/sfr_defs.h:
c:/winavr/bin/../avr/include/inttypes.h:
c:/winavr/bin/../avr/include/stdint.h:
c:/winavr/bin/../avr/include/avr/iom128.h:
c:/winavr/bin/../avr/include/avr/portpins.h:
c:/winavr/bin/../avr/include/avr/version.h:
c:/winavr/bin/../avr/include/avr/interrupt.h:
../hal/../hal/uart.h:
c:/winavr/bin/../avr/include/compat/twi.h:
c:/winavr/bin/../avr/include/util/twi.h:
c:/winavr/bin/../avr/include/string.h:

52
source/AVR_Studio/Soccer/default/dep/navigation.o.d Executable file
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navigation.o: ../navigation.c ../navigation.h \
c:/winavr/bin/../avr/include/math.h ../hal/board.h \
c:/winavr/bin/../avr/include/avr/io.h \
c:/winavr/bin/../avr/include/avr/sfr_defs.h \
c:/winavr/bin/../avr/include/inttypes.h \
c:/winavr/bin/../avr/include/stdint.h \
c:/winavr/bin/../avr/include/avr/iom128.h \
c:/winavr/bin/../avr/include/avr/portpins.h \
c:/winavr/bin/../avr/include/avr/version.h \
c:/winavr/bin/../avr/include/avr/interrupt.h \
c:/winavr/bin/../avr/include/stdlib.h \
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h ../hal/uart.h \
../sensor/sensor.h ../sensor/../hal/board.h ../sensor/ballsensor.h \
../sensor/../global.h ../sensor/../hal/board.h
../navigation.h:
c:/winavr/bin/../avr/include/math.h:
../hal/board.h:
c:/winavr/bin/../avr/include/avr/io.h:
c:/winavr/bin/../avr/include/avr/sfr_defs.h:
c:/winavr/bin/../avr/include/inttypes.h:
c:/winavr/bin/../avr/include/stdint.h:
c:/winavr/bin/../avr/include/avr/iom128.h:
c:/winavr/bin/../avr/include/avr/portpins.h:
c:/winavr/bin/../avr/include/avr/version.h:
c:/winavr/bin/../avr/include/avr/interrupt.h:
c:/winavr/bin/../avr/include/stdlib.h:
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
../hal/uart.h:
../sensor/sensor.h:
../sensor/../hal/board.h:
../sensor/ballsensor.h:
../sensor/../global.h:
../sensor/../hal/board.h:

45
source/AVR_Studio/Soccer/default/dep/sensor.o.d Executable file
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sensor.o: ../sensor/sensor.c ../sensor/sensor.h ../sensor/../hal/board.h \
c:/winavr/bin/../avr/include/avr/io.h \
c:/winavr/bin/../avr/include/avr/sfr_defs.h \
c:/winavr/bin/../avr/include/inttypes.h \
c:/winavr/bin/../avr/include/stdint.h \
c:/winavr/bin/../avr/include/avr/iom128.h \
c:/winavr/bin/../avr/include/avr/portpins.h \
c:/winavr/bin/../avr/include/avr/version.h \
c:/winavr/bin/../avr/include/avr/interrupt.h \
c:/winavr/bin/../avr/include/stdlib.h \
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h \
../sensor/../hal/uart.h ../sensor/ballsensor.h ../sensor/../global.h \
../sensor/../hal/board.h
../sensor/sensor.h:
../sensor/../hal/board.h:
c:/winavr/bin/../avr/include/avr/io.h:
c:/winavr/bin/../avr/include/avr/sfr_defs.h:
c:/winavr/bin/../avr/include/inttypes.h:
c:/winavr/bin/../avr/include/stdint.h:
c:/winavr/bin/../avr/include/avr/iom128.h:
c:/winavr/bin/../avr/include/avr/portpins.h:
c:/winavr/bin/../avr/include/avr/version.h:
c:/winavr/bin/../avr/include/avr/interrupt.h:
c:/winavr/bin/../avr/include/stdlib.h:
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
../sensor/../hal/uart.h:
../sensor/ballsensor.h:
../sensor/../global.h:
../sensor/../hal/board.h:

32
source/AVR_Studio/Soccer/default/dep/uart.o.d Executable file
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uart.o: ../hal/uart.c c:/winavr/bin/../avr/include/avr/io.h \
c:/winavr/bin/../avr/include/avr/sfr_defs.h \
c:/winavr/bin/../avr/include/inttypes.h \
c:/winavr/bin/../avr/include/stdint.h \
c:/winavr/bin/../avr/include/avr/iom128.h \
c:/winavr/bin/../avr/include/avr/portpins.h \
c:/winavr/bin/../avr/include/avr/version.h \
c:/winavr/bin/../avr/include/avr/interrupt.h \
c:/winavr/bin/../avr/include/avr/pgmspace.h \
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h ../hal/uart.h
c:/winavr/bin/../avr/include/avr/io.h:
c:/winavr/bin/../avr/include/avr/sfr_defs.h:
c:/winavr/bin/../avr/include/inttypes.h:
c:/winavr/bin/../avr/include/stdint.h:
c:/winavr/bin/../avr/include/avr/iom128.h:
c:/winavr/bin/../avr/include/avr/portpins.h:
c:/winavr/bin/../avr/include/avr/version.h:
c:/winavr/bin/../avr/include/avr/interrupt.h:
c:/winavr/bin/../avr/include/avr/pgmspace.h:
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
../hal/uart.h:

10
source/AVR_Studio/Soccer/global.c Executable file
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#include "global.h"
void *operator new(size_t sz) {
return malloc(sz);
};
void operator delete(void *p) {
free(p);
};

35
source/AVR_Studio/Soccer/global.h Executable file
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#ifndef _GLOBAL_H_
#define _GLOBAL_H_
#include <stdlib.h>
#include "hal/board.h"
inline void sleep(int sec)
{
for (int s=0; s<sec; s++) {
for (long int i=0; i<1405678; i++) {
asm volatile("nop");
}
}
};
void *operator new(size_t sz);
void operator delete(void *p);
/* defines for compatibility */
#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif
#ifndef sbi
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#endif
#ifndef BV
#define BV _BV
#endif
#endif

210
source/AVR_Studio/Soccer/hal/board.c Executable file
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#include "board.h"
static int beepFreq = 0;
Board::Board() {
// Pin 1-6 sind ausgänge, 0 und 7 eingänge
DDRA = (1 << PA1) | (1 << PA2) | (1 << PA3) | (1 << PA4) | (1 << PA5) | (1 << PA6);
PORTA = 0; // Alle Low, kein Pollup
// Alle Ausgänge
DDRB = (1 << PB0) | (1 << PB1) | (1 << PB2) | (1 << PB3) | (1 << PB4) | (1 << PB5) | (1 << PB6) | (1 << PB7);
PORTB = (1 << PB1); // Alle Low bis PB1 , kein Pollup
// Alle Ausgänge
DDRC = (1 << PC0) | (1 << PC1) | (1 << PC2) | (1 << PC3) | (1 << PC4) | (1 << PC5) | (1 << PC6) | (1 << PC7);
PORTC = 0; // Alle Low, kein Pollup
// Alle Ausgänge bis auf PD0+1(I2C) + 2+3(RS232)
DDRD = (1 << PD2) | (1 << PD3) | (1 << PD4) | (1 << PD5) | (1 << PD6) | (1 << PD7);
PORTD = (1 << PD0) | (1 << PD1); // Pollup-Widerstand an PD0+1 aktivieren
// PE5 ist eingang
DDRE = (1 << PE0) | (1 << PE1) | (1 << PE2) | (1 << PE3) | (1 << PE4) | (1 << PE6) | (1 << PE7);
PORTE = 0; // Alle Low, kein Pollup
// Alle Eingänge mit Pollup
DDRF = 0;
PORTF = (1 << PF0) | (1 << PF1) | (1 << PF2) | (1 << PF3) | (1 << PF4) | (1 << PF5) | (1 << PF6) | (1 << PF7);
// Alle Ausgänge, PG0 und PG1 high
DDRG = (1 << PG0) | (1 << PG1) | (1 << PG2) | (1 << PG3) | (1 << PG4);
PORTG = (1 << PG0) | (1 << PG1);
// aktiviere Kanal A+C auf PWM1 mit 8Bit
//TCCR1A = (1<< COM1A1) | (1<< COM1C1) | (1<< WGM10);
//TCCR1B = (1<<ICNC1) | (1<<CS12) | (1<<CS10); // set clock/prescaler 1/1024 -> enable counter
// aktiviere Kanal A+B auf PWM3 mit 8Bit
//TCCR3A = (1<< COM3A1) | (1<< COM3B1) | (1<< WGM10);
//TCCR3B = (1<<ICNC3) | (1<<CS32) | (1<<CS30); // set clock/prescaler 1/1024 -> enable counter
// Schalte Motoren auf 0
motor(0,0);
motor(1,0);
motor(2,0);
motor(3,0);
// Uart-Interface einschalten
uart1_init( 10); // 9600 BAUD bei 16MHz Atmel
// aktiviere interrupt
sei();
}
Board::~Board() {
}
// Gibt einen Analogen Wert zurück
int Board::GetADC(uint8_t channel) {
uint8_t i;
uint16_t result = 0;
// Den ADC aktivieren und Teilungsfaktor auf 64 stellen
ADCSRA = (1<<ADEN) | (1<<ADPS2) | (1<<ADPS1);
// Kanal des Multiplexers waehlen
ADMUX = channel;
// Interne Referenzspannung verwenden (also 2,56 V)
ADMUX |= (1<<REFS1) | (1<<REFS0);
// Den ADC initialisieren und einen sog. Dummyreadout machen
ADCSRA |= (1<<ADSC);
while(ADCSRA & (1<<ADSC));
// Jetzt 3x die analoge Spannung and Kanal channel auslesen
// und dann Durchschnittswert ausrechnen.
for(i=0; i<3; i++) {
// Eine Wandlung
ADCSRA |= (1<<ADSC);
// Auf Ergebnis warten...
while(ADCSRA & (1<<ADSC));
result += ADCW;
}
// ADC wieder deaktivieren
ADCSRA &= ~(1<<ADEN);
result /= 3;
return result;
}
void Board::beep(int freq) {
beepFreq = freq;
}
void Board::ledOff() {
PORTB |= (1 << PB1); // set bit
}
void Board::ledOn() {
PORTB &= ~(1 << PB1); // clear bit
}
void Board::led(bool status) {
if(status) ledOn();
else ledOff();
}
void Board::motor(int i, int speed)
{
if((i < 0) || (i > 3)) return;
const int OFFSET = 40; // Motor does not work with very low ratio
const int PWM_MAX = 255;
int pwm = abs(speed)+OFFSET;
if(pwm > PWM_MAX) pwm = PWM_MAX;
if(i == 0)
{
MOTOR0_PWM = pwm;
if(speed > 0)
{
PORTD |= (1 << 5);//In 1 ein
PORTD &= ~(1 << 4);//In 2 aus
}
else if(speed < 0)
{
PORTD |= (1 << 4);//In 2 ein
PORTD &= ~(1 << 5);//In 1 aus
}
else
{
PORTD |= (1 << 4);//In 2 ein
PORTD |= (1 << 5);//In 1 ein
}
}
else if(i == 1)
{
MOTOR1_PWM = pwm;
if(speed > 0)
{
PORTD |= (1 << 6);//In 1 ein
PORTD &= ~(1 << 7);//In 2 aus
}
else if(speed < 0)
{
PORTD |= (1 << 7);//In 2 ein
PORTD &= ~(1 << 6);//In 1 aus
}
else
{
PORTD |= (1 << 6);//In 2 ein
PORTD |= (1 << 7);//In 1 ein
}
}
else if(i == 2)
{
MOTOR2_PWM = pwm;
if(speed > 0)
{
PORTB |= (1 << 0);//In 1 ein
PORTB &= ~(1 << 1);//In 2 aus
}
else if(speed < 0)
{
PORTB |= (1 << 1);//In 2 ein
PORTB &= ~(1 << 0);//In 1 aus
}
else
{
PORTB |= (1 << 1);//In 2 ein
PORTB |= (1 << 0);//In 1 ein
}
}
else if(i == 3)
{
DRIBBLER_PWM = pwm;
if(speed > 0)
{
PORTB |= (1 << 2);//In 1 ein
PORTB &= ~(1 << 3);//In 2 aus
}
else if(speed < 0)
{
PORTB |= (1 << 3);//In 2 ein
PORTB &= ~(1 << 2);//In 1 aus
}
else
{
PORTB |= (1 << 2);//In 2 ein
PORTB |= (1 << 3);//In 1 ein
}
}
}
//PWM routine für den Beeper
ISR (TIMER0_OVF_vect)
{
static int counter = 255;
if(counter > beepFreq/2) PORTG |= (1<<BEEPER_PIN);
else PORTG &= ~(1<<BEEPER_PIN);
if (counter==0) counter = 255;
else counter--;
}

38
source/AVR_Studio/Soccer/hal/board.h Executable file
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#ifndef _BOARD_H_
#define _BOARD_H_
#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdlib.h>
#include "uart.h"
//#define abs(a) ((a < 0)? -a : a)
#define BEEPER_PIN PG2
// Definiere PWM-Ports für die Motoren/Dribbler
#define MOTOR0_PWM OCR3A
#define MOTOR1_PWM OCR3B
#define MOTOR2_PWM OCR1A
#define DRIBBLER_PWM OCR1C
#define UART_BAUD_RATE 9600
class Board
{
private:
public:
Board();
~Board();
int GetADC(uint8_t channel);
void beep(int freq);
void ledOn();
void ledOff();
void led(bool status);
void motor(int i, int speed);
};
#endif

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source/AVR_Studio/Soccer/hal/i2c.c Executable file
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#include "i2c.h"
I2C::I2C()
{
TWBR = 64; // I2C bitrate (must be 10 or higher)
TWCR = 4+64; // TWI enable bit + ackn
TWSR = 0; // prescaler
// I2C pull-ups are set in the board file //
err=0;
}
uint8_t I2C::error()
{
return err;
}
void I2C::setSlaveAdress(uint8_t address)
{
TWAR = address<<1; // slave address (shift by one since bit 0 has different meaning)
}
bool I2C::isAction()
{
if (TWCR&(1<<TWINT)) return true;
else return false;
}
inline
bool I2C::isActionGet()
{
return ((TWSR&248)==TW_ST_SLA_ACK); // own I2C address received, read mode, ACK sent
}
inline
bool I2C::isActionSend()
{
return ((TWSR&248)==TW_SR_SLA_ACK); // own I2C address received, write mode, ACK sent
}
void I2C::sendStartSLA_W(uint8_t address)
{
bool OK = false;
int counter = 0;
do {
TWCR |= BV(TWINT)|BV(TWSTA); // send start condition
while(!(TWCR&BV(TWINT))); // wait for OK
if ((TWSR&248)!=TW_START) { // start condition was sent -> OK
err=ERROR_NO_START;
return;
}
TWDR=(address<<1); // slave address + write mode
TWCR = BV(TWINT) | BV(TWEN) | BV(TWEA); // generate command
while(!(TWCR&128)) {}; // wait for OK
if ((TWSR&248)==TW_MT_SLA_ACK) OK=true; // SLA+W was sent, ACK received -> OK
if ((TWSR&248)==TW_MT_SLA_NACK) { // SLA+W was sent, ACK not received -> ERROR
counter++;
if (counter == 10) { // After 10 tries...
err=ERROR_NO_ACK; // ... return with ERROR_NO_ACK
return;
}
}
} while(!OK);
err=0; // OK
}
void I2C::sendStartSLA_R(uint8_t address)
{
bool OK=false;
while (!OK) {
TWCR |= BV(TWINT)|BV(TWSTA); // send start condition
// sbi(TWCR, TWSTA); // generate start condition
while(!(TWCR&128)); // wait for OK
if ((TWSR&248)==8); // start condition was sent -> OK
TWDR=(address<<1) | 1; // slave address + read mode
TWCR = BV(TWINT) | BV(TWEN) | BV(TWEA); // generate command
while(!(TWCR&128)); // wait for send OK + ACK/NACK from slave
if ((TWSR&248)==0x38); // Arbitration lost or NOT ACK -> ERROR
if ((TWSR&248)==0x40) OK=true; // SLA+R was sent, ACK received -> OK
if ((TWSR&248)==0x48); // SLA+W was sent, ACK not received -> ERROR
sbi(TWCR, TWINT); // OK
}
}
// This is used by send() called by the master //
void I2C::sendByte(uint8_t data)
{
TWDR = data; // send one data byte
TWCR = (1<<TWINT)|(1<<TWEA)|(1<<TWEN); // start transmission
while(!(TWCR&(1<<TWINT))); // wait for TWCR to become 0
if ((TWSR&248)==TW_MT_DATA_ACK); // data sent, ACK received -> OK
if ((TWSR&248)==TW_MT_DATA_NACK); // data sent, ACK not received -> ERROR
}
void I2C::sendStop()
{
TWCR = BV(TWINT) | BV(TWEN) | BV(TWEA) | BV(TWSTO); // generate stop command
}
// Note: in qfix, the I2C address is the board identifier
// and the first data byte ist the logical ID
inline
void I2C::send(uint8_t address, uint8_t data)
{
send(address, &data, 1);
}
// Note: in qfix, the I2C address is the board identifier
// and the first data byte ist the logical ID
void I2C::send(uint8_t address, uint8_t* data, int length)
{
sendStartSLA_W(address);
if (err!=0)
{
sendStop();
//err = ERROR_NOT_SENT;
return;
}
for (int i=0; i<length; i++) {
sendByte(data[i]);
}
sendStop();
err = 0; // OK
}
int I2C::receive(uint8_t* data)
{
TWCR = (1<<TWINT)|(1<<TWEA)|(1<<TWEN);
while(!(TWCR&(1<<TWINT))); // wait for something
int len = 0;
while ((TWSR&248)==TW_SR_DATA_ACK) { // data received (in TWDR), ACK sent
data[len] = TWDR; // read received byte
len++;
TWCR = (1<<TWINT)|(1<<TWEA)|(1<<TWEN);
while(!(TWCR&(1<<TWINT))) { } // wait for OK
}
if ((TWSR&248)==TW_SR_STOP) { } // STOP (or new START) received -> OK
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA); // generate command
return len;
}
void I2C::readByte(uint8_t& data)
{
while(!isAction());
if ((TWSR&248)==0x50); // data received: NACK
if ((TWSR&248)==0x58); // data received: ACK
data = TWDR;
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA); // generate command
}
void I2C::get(uint8_t address, uint8_t* data, int length)
{
sendStartSLA_R(address);
if (err!=0)
{
sendStop();
err = ERROR_NOT_SENT;
return;
}
for (int i=0; i<length; i++) {
readByte(data[i]);
}
sendStop();
}
void I2C::returnBytes(uint8_t* data, int len, bool lastOne)
{
for (int i=0; i<len; i++) {
TWDR=data[i]; // byte to send
if (i==len-1) TWCR = (1<<TWINT) | (1<<TWEN); // command for last byte (no TWEA is correct!)
else TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA); // command for all others
while(!(TWCR&(1<<TWINT))); // wait for OK
if ((TWSR&248)==0xB8); // data sent, ACK ACK received -> OK
if ((TWSR&248)==0xC0); // data sent, ACK not received -> ERROR
}
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA); // generate command
}

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source/AVR_Studio/Soccer/hal/i2c.h Executable file
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#ifndef _IC2_H_
#define _I2C_H_
//------------------------------------------------------------------
// qfixI2C.h
//
// This class is used for low-level I2C communication.
//
// For TW_ constants see compat/twi.h
//
// Copyright 2005-2006 by KTB mechatronics GmbH
// Author: Stefan Enderle, Florian Schrapp
//------------------------------------------------------------------
#include "../global.h"
#include <compat/twi.h>
const int ACTION_SEND = 1;
const int ACTION_GET = 2;
const int ACTION_UNKNOWN = 3;
const uint8_t ERROR_NO_ACK = 1;
const uint8_t ERROR_NO_START = 2;
const uint8_t ERROR_NOT_SENT = 3; // send() could not send byte(s)
class I2C
{
private:
uint8_t err;
uint8_t adr;
void sendStartSLA_W(uint8_t address);
void sendStartSLA_R(uint8_t address);
void sendByte(uint8_t data);
void sendStop();
void readByte(uint8_t& data);
public:
I2C();
uint8_t error();
// master side //
void send(uint8_t address, uint8_t data);
void send(uint8_t address, uint8_t* data, int length);
void get(uint8_t address, uint8_t* data, int length);
// slave side //
void setSlaveAdress(uint8_t address);
bool isAction();
bool isActionSend(); // true if master sent something
bool isActionGet(); // true if master wants to get something
int receive(uint8_t* data); // if action is send, receive the bytes
void returnBytes(uint8_t* data, int len, bool lastOne);
};
#endif

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source/AVR_Studio/Soccer/hal/keylcd.c Executable file
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#include "keylcd.h"
KeyLCD::KeyLCD() : i2c() {
}
KeyLCD::~KeyLCD() {
}
// Gibt Daten auf dem keyLCD aus
void KeyLCD::print(char *data) {
int len=strlen(data);
uint8_t buf[len+1];
for (int i=0; i<len; i++) buf[i] = uint8_t(data[i]);
i2c.send(I2C_KEYLCD, buf, len);
}
// Löscht das keyLCD
void KeyLCD::clear() {
}
uint8_t KeyLCD::error() {
return i2c.error();
}

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source/AVR_Studio/Soccer/hal/keylcd.h Executable file
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#ifndef _KEYLCD_H_
#define _KEYLCD_H_
#include "i2c.h"
#include "string.h"
#define I2C_KEYLCD 2
#define LCD_CMD_PRINTSTR 0
class KeyLCD
{
private:
I2C i2c;
public:
KeyLCD();
~KeyLCD();
void print(char* data);
uint8_t error();
void clear();
};
#endif

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source/AVR_Studio/Soccer/hal/uart.c Executable file
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/*************************************************************************
Title: Interrupt UART library with receive/transmit circular buffers
Author: Peter Fleury <pfleury@gmx.ch> http://jump.to/fleury
File: $Id: uart.c,v 1.5.2.10 2005/11/15 19:49:12 peter Exp $
Software: AVR-GCC 3.3
Hardware: any AVR with built-in UART,
tested on AT90S8515 at 4 Mhz and ATmega at 1Mhz
DESCRIPTION:
An interrupt is generated when the UART has finished transmitting or
receiving a byte. The interrupt handling routines use circular buffers
for buffering received and transmitted data.
The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE variables define
the buffer size in bytes. Note that these variables must be a
power of 2.
USAGE:
Refere to the header file uart.h for a description of the routines.
See also example test_uart.c.
NOTES:
Based on Atmel Application Note AVR306
*************************************************************************/
#include <avr/io.h>
#include <avr/interrupt.h>
//#include <avr/signal.h>
#include <avr/pgmspace.h>
#include "uart.h"
/*
* constants and macros
*/
/* size of RX/TX buffers */
#define UART_RX_BUFFER_MASK ( UART_RX_BUFFER_SIZE - 1)
#define UART_TX_BUFFER_MASK ( UART_TX_BUFFER_SIZE - 1)
#if ( UART_RX_BUFFER_SIZE & UART_RX_BUFFER_MASK )
#error RX buffer size is not a power of 2
#endif
#if ( UART_TX_BUFFER_SIZE & UART_TX_BUFFER_MASK )
#error TX buffer size is not a power of 2
#endif
#if defined(__AVR_AT90S2313__) \
|| defined(__AVR_AT90S4414__) || defined(__AVR_AT90S4434__) \
|| defined(__AVR_AT90S8515__) || defined(__AVR_AT90S8535__) \
|| defined(__AVR_ATmega103__)
/* old AVR classic or ATmega103 with one UART */
#define AT90_UART
#define UART0_RECEIVE_INTERRUPT SIG_UART_RECV
#define UART0_TRANSMIT_INTERRUPT SIG_UART_DATA
#define UART0_STATUS USR
#define UART0_CONTROL UCR
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#elif defined(__AVR_AT90S2333__) || defined(__AVR_AT90S4433__)
/* old AVR classic with one UART */
#define AT90_UART
#define UART0_RECEIVE_INTERRUPT SIG_UART_RECV
#define UART0_TRANSMIT_INTERRUPT SIG_UART_DATA
#define UART0_STATUS UCSRA
#define UART0_CONTROL UCSRB
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#elif defined(__AVR_ATmega8__) || defined(__AVR_ATmega16__) || defined(__AVR_ATmega32__) \
|| defined(__AVR_ATmega8515__) || defined(__AVR_ATmega8535__) \
|| defined(__AVR_ATmega323__)
/* ATmega with one USART */
#define ATMEGA_USART
#define UART0_RECEIVE_INTERRUPT SIG_UART_RECV
#define UART0_TRANSMIT_INTERRUPT SIG_UART_DATA
#define UART0_STATUS UCSRA
#define UART0_CONTROL UCSRB
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#elif defined(__AVR_ATmega163__)
/* ATmega163 with one UART */
#define ATMEGA_UART
#define UART0_RECEIVE_INTERRUPT SIG_UART_RECV
#define UART0_TRANSMIT_INTERRUPT SIG_UART_DATA
#define UART0_STATUS UCSRA
#define UART0_CONTROL UCSRB
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#elif defined(__AVR_ATmega162__)
/* ATmega with two USART */
#define ATMEGA_USART0
#define ATMEGA_USART1
#define UART0_RECEIVE_INTERRUPT SIG_USART0_RECV
#define UART1_RECEIVE_INTERRUPT SIG_USART1_RECV
#define UART0_TRANSMIT_INTERRUPT SIG_USART0_DATA
#define UART1_TRANSMIT_INTERRUPT SIG_USART1_DATA
#define UART0_STATUS UCSR0A
#define UART0_CONTROL UCSR0B
#define UART0_DATA UDR0
#define UART0_UDRIE UDRIE0
#define UART1_STATUS UCSR1A
#define UART1_CONTROL UCSR1B
#define UART1_DATA UDR1
#define UART1_UDRIE UDRIE1
#elif defined(__AVR_ATmega64__) || defined(__AVR_ATmega128__)
/* ATmega with two USART */
#define ATMEGA_USART0
#define ATMEGA_USART1
#define UART0_RECEIVE_INTERRUPT SIG_UART0_RECV
#define UART1_RECEIVE_INTERRUPT SIG_UART1_RECV
#define UART0_TRANSMIT_INTERRUPT SIG_UART0_DATA
#define UART1_TRANSMIT_INTERRUPT SIG_UART1_DATA
#define UART0_STATUS UCSR0A
#define UART0_CONTROL UCSR0B
#define UART0_DATA UDR0
#define UART0_UDRIE UDRIE0
#define UART1_STATUS UCSR1A
#define UART1_CONTROL UCSR1B
#define UART1_DATA UDR1
#define UART1_UDRIE UDRIE1
#elif defined(__AVR_ATmega161__)
/* ATmega with UART */
#error "AVR ATmega161 currently not supported by this libaray !"
#elif defined(__AVR_ATmega169__)
/* ATmega with one USART */
#define ATMEGA_USART
#define UART0_RECEIVE_INTERRUPT SIG_USART_RECV
#define UART0_TRANSMIT_INTERRUPT SIG_USART_DATA
#define UART0_STATUS UCSRA
#define UART0_CONTROL UCSRB
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#elif defined(__AVR_ATmega48__) ||defined(__AVR_ATmega88__) || defined(__AVR_ATmega168__)
#define ATMEGA_USART0
#define UART0_RECEIVE_INTERRUPT SIG_USART_RECV
#define UART0_TRANSMIT_INTERRUPT SIG_USART_DATA
#define UART0_STATUS UCSR0A
#define UART0_CONTROL UCSR0B
#define UART0_DATA UDR0
#define UART0_UDRIE UDRIE0
#elif defined(__AVR_ATtiny2313__)
#define ATMEGA_USART
#define UART0_RECEIVE_INTERRUPT SIG_USART0_RX
#define UART0_TRANSMIT_INTERRUPT SIG_USART0_UDRE
#define UART0_STATUS UCSRA
#define UART0_CONTROL UCSRB
#define UART0_DATA UDR
#define UART0_UDRIE UDRIE
#else
#error "no UART definition for MCU available"
#endif
/*
* module global variables
*/
static volatile unsigned char UART_TxBuf[UART_TX_BUFFER_SIZE];
static volatile unsigned char UART_RxBuf[UART_RX_BUFFER_SIZE];
static volatile unsigned char UART_TxHead;
static volatile unsigned char UART_TxTail;
static volatile unsigned char UART_RxHead;
static volatile unsigned char UART_RxTail;
static volatile unsigned char UART_LastRxError;
#if defined( ATMEGA_USART1 )
static volatile unsigned char UART1_TxBuf[UART_TX_BUFFER_SIZE];
static volatile unsigned char UART1_RxBuf[UART_RX_BUFFER_SIZE];
static volatile unsigned char UART1_TxHead;
static volatile unsigned char UART1_TxTail;
static volatile unsigned char UART1_RxHead;
static volatile unsigned char UART1_RxTail;
static volatile unsigned char UART1_LastRxError;
#endif
SIGNAL(UART0_RECEIVE_INTERRUPT)
/*************************************************************************
Function: UART Receive Complete interrupt
Purpose: called when the UART has received a character
**************************************************************************/
{
unsigned char tmphead;
unsigned char data;
unsigned char usr;
unsigned char lastRxError;
/* read UART status register and UART data register */
usr = UART0_STATUS;
data = UART0_DATA;
/* */
#if defined( AT90_UART )
lastRxError = (usr & (_BV(FE)|_BV(DOR)) );
#elif defined( ATMEGA_USART )
lastRxError = (usr & (_BV(FE)|_BV(DOR)) );
#elif defined( ATMEGA_USART0 )
lastRxError = (usr & (_BV(FE0)|_BV(DOR0)) );
#elif defined ( ATMEGA_UART )
lastRxError = (usr & (_BV(FE)|_BV(DOR)) );
#endif
/* calculate buffer index */
tmphead = ( UART_RxHead + 1) & UART_RX_BUFFER_MASK;
if ( tmphead == UART_RxTail ) {
/* error: receive buffer overflow */
lastRxError = UART_BUFFER_OVERFLOW >> 8;
}else{
/* store new index */
UART_RxHead = tmphead;
/* store received data in buffer */
UART_RxBuf[tmphead] = data;
}
UART_LastRxError = lastRxError;
}
SIGNAL(UART0_TRANSMIT_INTERRUPT)
/*************************************************************************
Function: UART Data Register Empty interrupt
Purpose: called when the UART is ready to transmit the next byte
**************************************************************************/
{
unsigned char tmptail;
if ( UART_TxHead != UART_TxTail) {
/* calculate and store new buffer index */
tmptail = (UART_TxTail + 1) & UART_TX_BUFFER_MASK;
UART_TxTail = tmptail;
/* get one byte from buffer and write it to UART */
UART0_DATA = UART_TxBuf[tmptail]; /* start transmission */
}else{
/* tx buffer empty, disable UDRE interrupt */
UART0_CONTROL &= ~_BV(UART0_UDRIE);
}
}
/*************************************************************************
Function: uart_init()
Purpose: initialize UART and set baudrate
Input: baudrate using macro UART_BAUD_SELECT()
Returns: none
**************************************************************************/
void uart_init(unsigned int baudrate)
{
UART_TxHead = 0;
UART_TxTail = 0;
UART_RxHead = 0;
UART_RxTail = 0;
#if defined( AT90_UART )
/* set baud rate */
UBRR = (unsigned char)baudrate;
/* enable UART receiver and transmmitter and receive complete interrupt */
UART0_CONTROL = _BV(RXCIE)|_BV(RXEN)|_BV(TXEN);
#elif defined (ATMEGA_USART)
/* Set baud rate */
if ( baudrate & 0x8000 )
{
UART0_STATUS = (1<<U2X); //Enable 2x speed
baudrate &= ~0x8000;
}
UBRRH = (unsigned char)(baudrate>>8);
UBRRL = (unsigned char) baudrate;
/* Enable USART receiver and transmitter and receive complete interrupt */
UART0_CONTROL = _BV(RXCIE)|(1<<RXEN)|(1<<TXEN);
/* Set frame format: asynchronous, 8data, no parity, 1stop bit */
#ifdef URSEL
UCSRC = (1<<URSEL)|(3<<UCSZ0);
#else
UCSRC = (3<<UCSZ0);
#endif
#elif defined (ATMEGA_USART0 )
/* Set baud rate */
if ( baudrate & 0x8000 )
{
UART0_STATUS = (1<<U2X0); //Enable 2x speed
baudrate &= ~0x8000;
}
UBRR0H = (unsigned char)(baudrate>>8);
UBRR0L = (unsigned char) baudrate;
/* Enable USART receiver and transmitter and receive complete interrupt */
UART0_CONTROL = _BV(RXCIE0)|(1<<RXEN0)|(1<<TXEN0);
/* Set frame format: asynchronous, 8data, no parity, 1stop bit */
#ifdef URSEL0
UCSR0C = (1<<URSEL0)|(3<<UCSZ00);
#else
UCSR0C = (3<<UCSZ00);
#endif
#elif defined ( ATMEGA_UART )
/* set baud rate */
if ( baudrate & 0x8000 )
{
UART0_STATUS = (1<<U2X); //Enable 2x speed
baudrate &= ~0x8000;
}
UBRRHI = (unsigned char)(baudrate>>8);
UBRR = (unsigned char) baudrate;
/* Enable UART receiver and transmitter and receive complete interrupt */
UART0_CONTROL = _BV(RXCIE)|(1<<RXEN)|(1<<TXEN);
#endif
}/* uart_init */
/*************************************************************************
Function: uart_getc()
Purpose: return byte from ringbuffer
Returns: lower byte: received byte from ringbuffer
higher byte: last receive error
**************************************************************************/
unsigned int uart_getc(void)
{
unsigned char tmptail;
unsigned char data;
if ( UART_RxHead == UART_RxTail ) {
return UART_NO_DATA; /* no data available */
}
/* calculate /store buffer index */
tmptail = (UART_RxTail + 1) & UART_RX_BUFFER_MASK;
UART_RxTail = tmptail;
/* get data from receive buffer */
data = UART_RxBuf[tmptail];
return (UART_LastRxError << 8) + data;
}/* uart_getc */
/*************************************************************************
Function: uart_putc()
Purpose: write byte to ringbuffer for transmitting via UART
Input: byte to be transmitted
Returns: none
**************************************************************************/
void uart_putc(unsigned char data)
{
unsigned char tmphead;
tmphead = (UART_TxHead + 1) & UART_TX_BUFFER_MASK;
while ( tmphead == UART_TxTail ){
;/* wait for free space in buffer */
}
UART_TxBuf[tmphead] = data;
UART_TxHead = tmphead;
/* enable UDRE interrupt */
UART0_CONTROL |= _BV(UART0_UDRIE);
}/* uart_putc */
/*************************************************************************
Function: uart_puts()
Purpose: transmit string to UART
Input: string to be transmitted
Returns: none
**************************************************************************/
void uart_puts(const char *s )
{
while (*s)
uart_putc(*s++);
}/* uart_puts */
/*************************************************************************
Function: uart_puts_p()
Purpose: transmit string from program memory to UART
Input: program memory string to be transmitted
Returns: none
**************************************************************************/
void uart_puts_p(const char *progmem_s )
{
register char c;
while ( (c = pgm_read_byte(progmem_s++)) )
uart_putc(c);
}/* uart_puts_p */
/*
* these functions are only for ATmegas with two USART
*/
#if defined( ATMEGA_USART1 )
SIGNAL(UART1_RECEIVE_INTERRUPT)
/*************************************************************************
Function: UART1 Receive Complete interrupt
Purpose: called when the UART1 has received a character
**************************************************************************/
{
unsigned char tmphead;
unsigned char data;
unsigned char usr;
unsigned char lastRxError;
/* read UART status register and UART data register */
usr = UART1_STATUS;
data = UART1_DATA;
/* */
lastRxError = (usr & (_BV(FE1)|_BV(DOR1)) );
/* calculate buffer index */
tmphead = ( UART1_RxHead + 1) & UART_RX_BUFFER_MASK;
if ( tmphead == UART1_RxTail ) {
/* error: receive buffer overflow */
lastRxError = UART_BUFFER_OVERFLOW >> 8;
}else{
/* store new index */
UART1_RxHead = tmphead;
/* store received data in buffer */
UART1_RxBuf[tmphead] = data;
}
UART1_LastRxError = lastRxError;
}
SIGNAL(UART1_TRANSMIT_INTERRUPT)
/*************************************************************************
Function: UART1 Data Register Empty interrupt
Purpose: called when the UART1 is ready to transmit the next byte
**************************************************************************/
{
unsigned char tmptail;
if ( UART1_TxHead != UART1_TxTail) {
/* calculate and store new buffer index */
tmptail = (UART1_TxTail + 1) & UART_TX_BUFFER_MASK;
UART1_TxTail = tmptail;
/* get one byte from buffer and write it to UART */
UART1_DATA = UART1_TxBuf[tmptail]; /* start transmission */
}else{
/* tx buffer empty, disable UDRE interrupt */
UART1_CONTROL &= ~_BV(UART1_UDRIE);
}
}
/*************************************************************************
Function: uart1_init()
Purpose: initialize UART1 and set baudrate
Input: baudrate using macro UART_BAUD_SELECT()
Returns: none
**************************************************************************/
void uart1_init(unsigned int baudrate)
{
UART1_TxHead = 0;
UART1_TxTail = 0;
UART1_RxHead = 0;
UART1_RxTail = 0;
/* Set baud rate */
if ( baudrate & 0x8000 )
{
UART1_STATUS = (1<<U2X1); //Enable 2x speed
baudrate &= ~0x8000;
}
UBRR1H = (unsigned char)(baudrate>>8);
UBRR1L = (unsigned char) baudrate;
/* Enable USART receiver and transmitter and receive complete interrupt */
UART1_CONTROL = _BV(RXCIE1)|(1<<RXEN1)|(1<<TXEN1);
/* Set frame format: asynchronous, 8data, no parity, 1stop bit */
#ifdef URSEL1
UCSR1C = (1<<URSEL1)|(3<<UCSZ10);
#else
UCSR1C = (3<<UCSZ10);
#endif
}/* uart_init */
/*************************************************************************
Function: uart1_getc()
Purpose: return byte from ringbuffer
Returns: lower byte: received byte from ringbuffer
higher byte: last receive error
**************************************************************************/
unsigned int uart1_getc(void)
{
unsigned char tmptail;
unsigned char data;
if ( UART1_RxHead == UART1_RxTail ) {
return UART_NO_DATA; /* no data available */
}
/* calculate /store buffer index */
tmptail = (UART1_RxTail + 1) & UART_RX_BUFFER_MASK;
UART1_RxTail = tmptail;
/* get data from receive buffer */
data = UART1_RxBuf[tmptail];
return (UART1_LastRxError << 8) + data;
}/* uart1_getc */
/*************************************************************************
Function: uart1_putc()
Purpose: write byte to ringbuffer for transmitting via UART
Input: byte to be transmitted
Returns: none
**************************************************************************/
void uart1_putc(unsigned char data)
{
unsigned char tmphead;
tmphead = (UART1_TxHead + 1) & UART_TX_BUFFER_MASK;
while ( tmphead == UART1_TxTail ){
;/* wait for free space in buffer */
}
UART1_TxBuf[tmphead] = data;
UART1_TxHead = tmphead;
/* enable UDRE interrupt */
UART1_CONTROL |= _BV(UART1_UDRIE);
}/* uart1_putc */
/*************************************************************************
Function: uart1_puts()
Purpose: transmit string to UART1
Input: string to be transmitted
Returns: none
**************************************************************************/
void uart1_puts(const char *s )
{
while (*s)
uart1_putc(*s++);
}/* uart1_puts */
/*************************************************************************
Function: uart1_puts_p()
Purpose: transmit string from program memory to UART1
Input: program memory string to be transmitted
Returns: none
**************************************************************************/
void uart1_puts_p(const char *progmem_s )
{
register char c;
while ( (c = pgm_read_byte(progmem_s++)) )
uart1_putc(c);
}/* uart1_puts_p */
#endif

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#ifndef UART_H
#define UART_H
/************************************************************************
Title: Interrupt UART library with receive/transmit circular buffers
Author: Peter Fleury <pfleury@gmx.ch> http://jump.to/fleury
File: $Id: uart.h,v 1.7.2.5 2005/08/14 11:25:41 Peter Exp $
Software: AVR-GCC 3.3
Hardware: any AVR with built-in UART, tested on AT90S8515 at 4 Mhz
Usage: see Doxygen manual
************************************************************************/
/**
* @defgroup pfleury_uart UART Library
* @code #include <uart.h> @endcode
*
* @brief Interrupt UART library using the built-in UART with transmit and receive circular buffers.
*
* This library can be used to transmit and receive data through the built in UART.
*
* An interrupt is generated when the UART has finished transmitting or
* receiving a byte. The interrupt handling routines use circular buffers
* for buffering received and transmitted data.
*
* The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE constants define
* the size of the circular buffers in bytes. Note that these constants must be a power of 2.
* You may need to adapt this constants to your target and your application by adding
* CDEFS += -DUART_RX_BUFFER_SIZE=nn -DUART_RX_BUFFER_SIZE=nn to your Makefile.
*
* @note Based on Atmel Application Note AVR306
* @author Peter Fleury pfleury@gmx.ch http://jump.to/fleury
*/
/**@{*/
#if (__GNUC__ * 100 + __GNUC_MINOR__) < 304
#error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !"
#endif
/*
** constants and macros
*/
/** @brief UART Baudrate Expression
* @param xtalcpu system clock in Mhz, e.g. 4000000L for 4Mhz
* @param baudrate baudrate in bps, e.g. 1200, 2400, 9600
*/
#define UART_BAUD_SELECT(baudRate,xtalCpu) ((xtalCpu)/((baudRate)*16l)-1)
/** @brief UART Baudrate Expression for ATmega double speed mode
* @param xtalcpu system clock in Mhz, e.g. 4000000L for 4Mhz
* @param baudrate baudrate in bps, e.g. 1200, 2400, 9600
*/
#define UART_BAUD_SELECT_DOUBLE_SPEED(baudRate,xtalCpu) (((xtalCpu)/((baudRate)*8l)-1)|0x8000)
/** Size of the circular receive buffer, must be power of 2 */
#ifndef UART_RX_BUFFER_SIZE
#define UART_RX_BUFFER_SIZE 32
#endif
/** Size of the circular transmit buffer, must be power of 2 */
#ifndef UART_TX_BUFFER_SIZE
#define UART_TX_BUFFER_SIZE 32
#endif
/* test if the size of the circular buffers fits into SRAM */
#if ( (UART_RX_BUFFER_SIZE+UART_TX_BUFFER_SIZE) >= (RAMEND-0x60 ) )
#error "size of UART_RX_BUFFER_SIZE + UART_TX_BUFFER_SIZE larger than size of SRAM"
#endif
/*
** high byte error return code of uart_getc()
*/
#define UART_FRAME_ERROR 0x0800 /* Framing Error by UART */
#define UART_OVERRUN_ERROR 0x0400 /* Overrun condition by UART */
#define UART_BUFFER_OVERFLOW 0x0200 /* receive ringbuffer overflow */
#define UART_NO_DATA 0x0100 /* no receive data available */
/*
** function prototypes
*/
/**
@brief Initialize UART and set baudrate
@param baudrate Specify baudrate using macro UART_BAUD_SELECT()
@return none
*/
extern void uart_init(unsigned int baudrate);
/**
* @brief Get received byte from ringbuffer
*
* Returns in the lower byte the received character and in the
* higher byte the last receive error.
* UART_NO_DATA is returned when no data is available.
*
* @param void
* @return lower byte: received byte from ringbuffer
* @return higher byte: last receive status
* - \b 0 successfully received data from UART
* - \b UART_NO_DATA
* <br>no receive data available
* - \b UART_BUFFER_OVERFLOW
* <br>Receive ringbuffer overflow.
* We are not reading the receive buffer fast enough,
* one or more received character have been dropped
* - \b UART_OVERRUN_ERROR
* <br>Overrun condition by UART.
* A character already present in the UART UDR register was
* not read by the interrupt handler before the next character arrived,
* one or more received characters have been dropped.
* - \b UART_FRAME_ERROR
* <br>Framing Error by UART
*/
extern unsigned int uart_getc(void);
/**
* @brief Put byte to ringbuffer for transmitting via UART
* @param data byte to be transmitted
* @return none
*/
extern void uart_putc(unsigned char data);
/**
* @brief Put string to ringbuffer for transmitting via UART
*
* The string is buffered by the uart library in a circular buffer
* and one character at a time is transmitted to the UART using interrupts.
* Blocks if it can not write the whole string into the circular buffer.
*
* @param s string to be transmitted
* @return none
*/
extern void uart_puts(const char *s );
/**
* @brief Put string from program memory to ringbuffer for transmitting via UART.
*
* The string is buffered by the uart library in a circular buffer
* and one character at a time is transmitted to the UART using interrupts.
* Blocks if it can not write the whole string into the circular buffer.
*
* @param s program memory string to be transmitted
* @return none
* @see uart_puts_P
*/
extern void uart_puts_p(const char *s );
/**
* @brief Macro to automatically put a string constant into program memory
*/
#define uart_puts_P(__s) uart_puts_p(PSTR(__s))
/** @brief Initialize USART1 (only available on selected ATmegas) @see uart_init */
extern void uart1_init(unsigned int baudrate);
/** @brief Get received byte of USART1 from ringbuffer. (only available on selected ATmega) @see uart_getc */
extern unsigned int uart1_getc(void);
/** @brief Put byte to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_putc */
extern void uart1_putc(unsigned char data);
/** @brief Put string to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts */
extern void uart1_puts(const char *s );
/** @brief Put string from program memory to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts_p */
extern void uart1_puts_p(const char *s );
/** @brief Macro to automatically put a string constant into program memory */
#define uart1_puts_P(__s) uart1_puts_p(PSTR(__s))
/**@}*/
#endif // UART_H

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source/AVR_Studio/Soccer/navigation.c Executable file
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#include "navigation.h"
// Initialisiert die Klasse
Navigation::Navigation() {
richtung = 0;
ausrichtung = 0;
geschwindigkeit = 0;
Aktualisieren();
}
Navigation::~Navigation() {
}
// Setze eine neue Richtung
void Navigation::SetzeRichtung(int nRichtung) {
richtung = nRichtung;
}
// Setze eine neue Ausrichtung
void Navigation::SetzeAusrichtung(int nAusrichtung) {
ausrichtung = nAusrichtung;
}
// Setze eine neue Geschwindigkeit
void Navigation::SetzeGeschwindigkeit(int nGeschwindigkeit) {
geschwindigkeit = nGeschwindigkeit;
}
// Aktualieren ohne Parameter
void Navigation::Aktualisieren() {
// Richtung in x und y-Kompontente zerlegen
int y = (int)cos(richtung); // richtung ist winkel
int x = (int)sin(richtung);
// Abweichung der Ausrichtung ermitteln(als winkel)
int w = sensor.getAusrichtung() - ausrichtung;
// Stärke der einzelnen Motoren berechnen
float v0 = x;
float v1 = (-x+sqrt(3)*y)/2;
float v2 = (-x-sqrt(3)*y)/2;
// Ausgerechnete Stärke an die Motoren übergeben
board.motor(0,(int)v0*geschwindigkeit +w);
board.motor(1,(int)v1*geschwindigkeit +w);
board.motor(2,(int)v2*geschwindigkeit +w);
}
// Aktualieren mit allen Parametern
void Navigation::Aktualisieren(int nRichtung,int nAusrichtung,int nGeschwindigkeit) {
SetzeRichtung(nRichtung); // Übergebene Werte schreiben
SetzeAusrichtung(nAusrichtung);
SetzeGeschwindigkeit(nGeschwindigkeit);
Aktualisieren(); // Und anwenden
}

31
source/AVR_Studio/Soccer/navigation.h Executable file
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#ifndef _NAVIGATION_H_
#define _NAVIGATION_H_
#include <math.h>
#include "hal/board.h"
#include "sensor/sensor.h"
extern Board board;
extern Sensor sensor;
class Navigation
{
private:
int richtung;
int ausrichtung;
int geschwindigkeit;
public:
Navigation();
~Navigation();
void SetzeRichtung(int nRichtung);
void SetzeAusrichtung(int nAusrichtung);
void SetzeGeschwindigkeit(int nGeschwindigkeit);
void Aktualisieren(int nRichtung,int nAusrichtung,int nGeschwindigkeit);
void Aktualisieren();
};
#endif

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source/AVR_Studio/Soccer/sensor/ballsensor.c Executable file
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#include "ballsensor.h"
Ballsensor::Ballsensor() {
}
Ballsensor::~Ballsensor() {
}
int Ballsensor::getBallwinkel() {
return 0;
}

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source/AVR_Studio/Soccer/sensor/ballsensor.h Executable file
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#ifndef _BALLSENSOR_H_
#define _BALLSENSOR_H_
#include "../hal/board.h"
extern Board board;
class Ballsensor
{
private:
public:
Ballsensor();
~Ballsensor();
int getBallwinkel(); // Gibt den aktuellen Winkel vom Ball zurück
};
#endif

15
source/AVR_Studio/Soccer/sensor/sensor.c Executable file
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#include "sensor.h"
Sensor::Sensor() :ballsensor() {
//ballsensor = new Ballsensor;
}
Sensor::~Sensor() {
}
void Sensor::Aktualisieren() {
}
int Sensor::getAusrichtung() {
return 0;
}

23
source/AVR_Studio/Soccer/sensor/sensor.h Executable file
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#ifndef _SENSOR_H_
#define _SENSOR_H_
#include "../hal/board.h"
#include "ballsensor.h"
#include "../global.h"
extern Board board;
class Sensor
{
private:
Ballsensor ballsensor;
public:
Sensor();
~Sensor();
void Aktualisieren();
int getAusrichtung(); // Gibt die aktuelle Ausrichtung des Roboters zurück
};
#endif