Added lot's of code-files used during work
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sicarius
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155 changed files with 23423 additions and 0 deletions
120
source/ct-Bot/include/TWI_driver.h
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120
source/ct-Bot/include/TWI_driver.h
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/*
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* c't-Sim - Robotersimulator fuer den c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file TWI_driver.h
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* @brief TWI Treiber
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* @author Chris efstathiou hendrix@otenet.gr & Carsten Giesen (info@cnau.de)
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* @date 11.04.2006
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*/
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#include <avr/io.h>
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#include "global.h"
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#ifndef TWI_driver_H
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#define TWI_driver_H 1
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/*!
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Struktur Definition
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tx_type ist eine Datenstruktur um den TWI Treiber anzusprechen
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und behinhaltet folgende Informationen:
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Slave Adresse + Datenrichtung
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Anzahl der zu uebertragendenden Bytes (Senden oder Empfangen)
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Pointer auf den Sende- oder Empfangspuffer
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*/
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typedef struct
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{
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uint8 slave_adr; /*!< Slave Adresse and W/R byte */
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uint8 size; /*!< Anzahl der Bytes, die gesendet oder empfagen werden sollen */
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uint8 *data_ptr; /*!< Pointer zum Sende und Empfangs Puffer */
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}tx_type;
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/*!
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* Hier wird der eigentliche TWI-Treiber angesprochen
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* @param *data_pack Container mit den Daten fuer den Treiber
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* @return Resultat der Aktion
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*/
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extern uint8 Send_to_TWI(tx_type *data_pack);
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/*!
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* Sende ein Byte
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* @param data das zu uebertragende Byte
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*/
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extern uint8 Send_byte(uint8 data);
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/*!
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* Empfange ein Byte
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* @param *rx_ptr Container f<EFBFBD>r die Daten
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* @param last_byte Flag ob noch Daten erwartet werden
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* @return Resultat der Aktion
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*/
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extern uint8 Get_byte(uint8 *rx_ptr, uint8 last_byte);
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/*!
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* Sende Start Sequence
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* @return Resultat der Aktion
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*/
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extern uint8 Send_start(void);
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/*!
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* Sende Slave Adresse
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* @param adr die gewuenschte Adresse
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* @return Resultat der Aktion
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*/
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extern uint8 Send_adr(uint8 adr);
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/*!
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* Sende Stop Sequence
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*/
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extern void Send_stop(void);
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/*!
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* Warte auf TWI interrupt
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*/
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extern void Wait_TWI_int(void);
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/*!
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* TWI Bus initialsieren
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* @return Resultat der Aktion
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*/
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extern int8 Init_TWI(void);
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/*!
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* TWI Bus schliesen
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* @return Resultat der Aktion
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*/
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extern int8 Close_TWI(void);
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#define W 0 /*!< Daten Transfer Richtung Schreiben */
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#define R 1 /*!< Daten Transfer Richtung Lesen */
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#define OWN_ADR 60 /*!< Die eigene Slave Adresse */
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#define SUCCESS 0xFF /*!< Status Code alles OK */
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/*!
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TWI Stautus Register Definitionen
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*/
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/*!< Genereller Master Statuscode */
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#define START 0x08 /*!< START wurde uebertragen */
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#define REP_START 0x10 /*!< Wiederholter START wurde uebertragen */
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/*!< Master Sender Statuscode */
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#define MTX_ADR_ACK 0x18 /*!< SLA+W wurde uebertragen und ACK empfangen */
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#define MTX_ADR_NACK 0x20 /*!< SLA+W wurde uebertragen und NACK empfangen */
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#define MTX_DATA_ACK 0x28 /*!< Datenbyte wurde uebertragen und ACK empfangen */
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#define MTX_DATA_NACK 0x30 /*!< Datenbyte wurde uebertragen und NACK empfangen */
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#define MTX_ARB_LOST 0x38 /*!< Schlichtung verloren in SLA+W oder Datenbytes */
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/*!< Master Empfaenger Statuscode */
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#define MRX_ARB_LOST 0x38 /*!< Schlichtung verloren in SLA+R oder NACK bit */
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#define MRX_ADR_ACK 0x40 /*!< SLA+R wurde uebertragen und ACK empfangen */
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#define MRX_ADR_NACK 0x48 /*!< SLA+R wurde uebertragen und NACK empfangen */
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#define MRX_DATA_ACK 0x50 /*!< Datenbyte wurde empfangen und ACK gesendet */
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#define MRX_DATA_NACK 0x58 /*!< Datenbyte wurde empfangen und NACK gesendet */
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#endif
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55
source/ct-Bot/include/adc.h
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55
source/ct-Bot/include/adc.h
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/*
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* c't-Sim - Robotersimulator fuer den c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file adc.h
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* @brief Routinen zum Einlesen der Analogeingaenge
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* @author Benjamin Benz (bbe@heise.de)
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* @date 26.12.05
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*/
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#ifndef ADC_H_
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#define ADC_H_
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#include "global.h"
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/*!
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* Liest einen analogen Kanal aus
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* @param channel Kanal - hex-Wertigkeit des Pins (0x01 fuer PA0; 0x02 fuer PA1, ..)
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*/
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uint16 adc_read(uint8 channel);
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/*!
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* Wechselt einen ADU-kanal. Dafuer muessen auch die Puffer zurueckgesetzt werden
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* @param channel Kanal - hex-Wertigkeit des Pins (0x01 fuer PA0; 0x02 fuer PA1, ..)
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*/
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void adc_select_channel(uint8 channel);
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/*!
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* Diese Routine wird vom Timer-Interrupt aufgerufen und speichert einen
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* Messwert (vorher wendet sie evtl. noch eine Filterfunktion an).
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*/
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void adc_isr(void);
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/*!
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* Initialisert den AD-Umsetzer.
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* @param channel fuer jeden Kanal, den man nutzen moechte,
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* muss das entsprechende Bit in channel gesetzt sein.
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* Bit0 = Kanal 0 usw.
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*/
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void adc_init(uint8 channel);
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#endif
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47
source/ct-Bot/include/bot-2-pc.h
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47
source/ct-Bot/include/bot-2-pc.h
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/*
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* c't-Sim - Robotersimulator fuer den c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file bot-2-pc.h
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* @brief Verbindung c't-Bot zum PC
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* @author Benjamin Benz (bbe@heise.de)
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* @date 01.03.06
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*/
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#ifndef __bot_2_pc
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#define __bot_2_pc
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#include "global.h"
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/*!
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* Diese Funktion nimmt die Daten vom PC entgegen
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* und wertet sie aus. dazu nutzt er die Funktion command_evaluate()
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*/
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void bot_2_pc_listen(void);
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/*!
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* Diese Funktion informiert den PC ueber alle Sensor und Aktuator-Werte
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*/
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void bot_2_pc_inform(void);
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/*!
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* Meldet den Bot am c't-Sim an
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*/
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void bot_2_pc_init(void);
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#endif
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71
source/ct-Bot/include/bot-2-sim.h
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71
source/ct-Bot/include/bot-2-sim.h
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/*
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* c't-Sim - Robotersimulator fuer den c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file bot-2-sim.h
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* @brief Verbindung c't-Bot zu c't-Sim
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* @author Benjamin Benz (bbe@heise.de)
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* @date 26.12.05
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*/
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#ifndef __bot_2_sim
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#define __bot_2_sim
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#include "ct-Bot.h"
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#include "global.h"
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/*!
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* Ein wenig Initilisierung kann nicht schaden
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*/
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void bot_2_sim_init(void);
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/*!
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* Frage Simulator nach Daten
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*/
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int bot_2_sim_ask(uint8 command, uint8 subcommand,int16* data_l,int16* data_r);
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/*!
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* Schickt einen Thread in die Warteposition
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* @param timeout_us Wartezeit in Mikrosekunden
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*/
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void wait_for_time(long timeout_us);
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/*!
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* Wartet auf die Antwort des PC
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* Achtung blockierend ohne Timeout
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* @param command Das kommando auf das gewartet wird.
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* @return 0, wenn Ok
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*/
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int wait_for_special_command(uint8 command);
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/*!
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* Schleife, die Kommandis empfaengt und bearbeitet, bis ein Kommando vom Typ Frame kommt
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* @param frame Kommando zum abbruch
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*/
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int8 receive_until_Frame(int8 frame);
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#ifdef WIN32
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#include <sys/time.h>
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/*!
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* Hilfsfunktion, die es nur auf dem PC gibt
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*/
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void gettimeofday_win(struct timeval* p, void* tz /* IGNORED */);
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#define GETTIMEOFDAY gettimeofday_win
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#else
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#define GETTIMEOFDAY gettimeofday
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#endif // WIN32
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#endif
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111
source/ct-Bot/include/bot-local.h
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111
source/ct-Bot/include/bot-local.h
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/*
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* c't-Sim - Robotersimulator fuer den c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file bot-local.h
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* @brief Konstanten, die den Bot an reale Umgebungen anpassen
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* @author Benjamin Benz (bbe@heise.de)
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* @author Christoph Grimmer (c.grimmer@futurio.de)
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* @date 28.02.06
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*/
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#ifndef BOTLOCAL_H_
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#define BOTLOCAL_H_
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#include "ct-Bot.h"
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#define ENCODER_MARKS 60 /*!< Anzahl der Flanken, die ein Encoder bei einer Radumdrehung liefert, also Anzahl der weissen + Anzahl der schwarzen Felder */
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#define WHEEL_DIAMETER 57 /*!< Durchmesser eines Rades in mm */
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#define WHEEL_PERIMETER 179 /*!< Umfang eines Rades in mm */
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#define WHEEL_TO_WHEEL_DIAMETER 97 /*!< Abstand der beiden Raeder in mm */
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#define DISTSENSOR_POS_FW 35 /*!< Abstand der Distanzsensoren von der Radachse (in fahrtrichtung)*/
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#define DISTSENSOR_POS_SW 32 /*!< Abstand der Distanzsensoren von der Mittelachse (in querrichtung)*/
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#define SPEED_CONTROL_INTERVAL 333 /*!> Intervall fuer die Motorregelung [ms]*/
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//#define SPEED_TO_ENCODER_RATE (WHEEL_PERIMETER /ENCODER_MARKS*(1000/SPEED_CONTROL_INTERVAL)) /*!< Faktor durch den man eine Speed [mm/s] teilt um Ticks/intervall zu erhalten */
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#define SPEED_TO_ENCODER_RATE 9 /*!< Faktor durch den man eine Speed [mm/s] teilt um Ticks/intervall zu erhalten */
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/* Odometrie-Konstanten */
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//#define MOUSE_CPI 401 /*!< CPI-Wert aus Kalibrierung */
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//#define MOUSE_FULL_TURN 1430 /*!< Mausaenderung in X-Richtung fuer einen vollen Kreis */
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#define MOUSE_CPI 400 /*!< CPI-Wert aus Kalibrierung (Wert fuer den Sim) */
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#define MOUSE_FULL_TURN 1484 /*!< Mausaenderung in X-Richtung fuer einen vollen Kreis (Wert fuer den Sim) */
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#define WHEEL_DISTANCE 49 /*!< Abstand eines Rades zur Mitte des Bots */
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#define STUCK_DIFF 100 /*!< ab welcher Differenz haben wir durchdrehende Raeder? */
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#define G_SPEED 0.5 /*!< Kopplung Encoder- und Maussensor fuer Geschwindigkeiten (0.0=nur Radencoder, 1.0=nur Maussensor) */
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#define G_POS 0.5 /*!< Kopplung Encoder- und Maussensor fuer Positionen und Winkel (0.0=nur Radencoder, 1.0=nur Maussensor) */
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/*! Hilfskonstante */
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#define ANGLE_CONSTANT (WHEEL_TO_WHEEL_DIAMETER * ENCODER_MARKS / WHEEL_DIAMETER)
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/* Motorregelung */
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#define PID_LOW_RATE (BOT_SPEED_MEDIUM / SPEED_TO_ENCODER_RATE) /*!< Encoder-rate/aufruf, fuer den dieser PID-Satz gilt */
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#define PID_LOW_Kp 8 /*!< Regelung PID-Parameter [Zehntel Schritte] */
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#define PID_LOW_Ki 6 /*!< Regelung PID-Parameter [Zehntel Schritte] */
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#define PID_LOW_Kd 0 /*!< Regelung PID-Parameter */
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#define PID_HIGH_RATE (BOT_SPEED_NORMAL / SPEED_TO_ENCODER_RATE) /*!< Encoder-rate/aufruf, fuer den dieser PID-Satz gilt */
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#define PID_HIGH_Kp 70 /*!< Regelung PID-Parameter [Zehntel Schritte] */
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#define PID_HIGH_Ki 40 /*!< Regelung PID-Parameter [Zehntel Schritte] */
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#define PID_HIGH_Kd 0 /*!< Regelung PID-Parameter */
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/* Einstellunge fuer die Verhaltensregeln */
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#define BORDER_DANGEROUS 0x3A0 /*!< Wert, ab dem wir sicher sind, dass es eine Kante ist */
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#define GLANCE_FACTOR 0.9 /*!< Schlangenlinienfaktor zur Erweiterung des Sensorfeldes */
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#define GLANCE_STRAIGHT 20 /*!< Anzahl der Zyklen, die nicht geschielt wird Gesamtzahl der Zyklen ist GLANCE_STRAIGHT + GLANCE_SIDE*4 */
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#define GLANCE_SIDE 5 /*!< Anzahl der Zyklen, die geschielt wird (jeweils pro Seite) Gesamtzahl der Zyklen ist GLANCE_STRAIGHT + GLANCE_SIDE*4 */
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#define COL_CLOSEST 200 /*!< Abstand in mm, den wir als zu nah betrachten -- je nach echtem Sensor ist das schon zu nah! */
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#define COL_NEAR 300 /*!< Nahbereich */
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#define COL_FAR 400 /*!< Fernbereich */
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#define SWEEP_STATE_TURN 0 /*!< Zustand: Drehung im Sweep. */
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#define SWEEP_STATE_CHECK 1 /*!< Zustamd: Ueberpruefe Objekt vor dem Bot. */
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/* Zustaende und Konstanten fuer das bot_solve_maze_behaviour-Verhalten */
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#define BOT_DIAMETER 12
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#define OPTIMAL_DISTANCE BOT_DIAMETER*12 /* etwas mehr als Bot-Durchmesser ist ideal (vergroessert aufgrund der kennlinien der sharps) */
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#define ADJUST_DISTANCE 10
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#define IGNORE_DISTANCE 240
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#define GROUND_GOAL 0x221
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#define STARTPAD1 0x2B2
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#define STARTPAD2 0x332
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/* Konstanten fuer das bot_follow_line_behaviour-Verhalten */
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#define LINE_SENSE 0x350 // Ab wann ist es Linie? (Fuer den Sim auf 350 setzen, helle Tischflaeche 50)
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/* Konstanten fuer Verhaltensanzeige, Verhalten mit prio von bis sichtbar */
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#define PRIO_VISIBLE_MIN 3
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#define PRIO_VISIBLE_MAX 200
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#endif /*BOTLOCAL_H_*/
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||||
98
source/ct-Bot/include/bot-logic/available_behaviours.h
Normal file
98
source/ct-Bot/include/bot-logic/available_behaviours.h
Normal file
|
|
@ -0,0 +1,98 @@
|
|||
#ifndef AVAILABLE_BEHAVIOURS_H_
|
||||
#define AVAILABLE_BEHAVIOURS_H_
|
||||
|
||||
#ifdef BEHAVIOUR_AVAILABLE
|
||||
|
||||
//#define BEHAVIOUR_SIMPLE_AVAILABLE /*!< sind die Beispielverhalten vorhanden ?*/
|
||||
//#define BEHAVIOUR_DRIVE_SQUARE_AVAILABLE /*!< Demoverhalten im quadrat fahren vorhanden ?*/
|
||||
|
||||
#define BEHAVIOUR_AVOID_BORDER_AVAILABLE /*!< Abgruenden ausweichen vorhanden ?*/
|
||||
#define BEHAVIOUR_AVOID_COL_AVAILABLE /*!< Hindernis ausweichen vorhanden ?*/
|
||||
//#define BEHAVIOUR_GOTO_AVAILABLE /*!< goto vorhanden ?*/
|
||||
#define BEHAVIOUR_GOTOXY_AVAILABLE /*!< gotoxy vorhanden ?*/
|
||||
#define BEHAVIOUR_TURN_AVAILABLE /*!< turn vorhanden ?*/
|
||||
|
||||
#define BEHAVIOUR_DRIVE_DISTANCE_AVAILABLE /*!< strecke fahren vorhanden ?*/
|
||||
|
||||
#define BEHAVIOUR_SCAN_AVAILABLE /*!< gegend scannen vorhanden ?*/
|
||||
#define BEHAVIOUR_SOLVE_MAZE_AVAILABLE /*!< Wandfolger vorhanden ?*/
|
||||
#define BEHAVIOUR_FOLLOW_LINE_AVAILABLE /*!< Linienfolger vorhanden ?*/
|
||||
|
||||
#define BEHAVIOUR_SERVO_AVAILABLE /*!< Kontrollverhalten fuer die Servos */
|
||||
|
||||
//#define BEHAVIOUR_OLYMPIC_AVAILABLE /*!< Olympiadenverhalten vorhanden ?*/
|
||||
|
||||
#define BEHAVIOUR_CATCH_PILLAR_AVAILABLE /*!< Suche eine Dose und fange sie ein */
|
||||
|
||||
#define BEHAVIOUR_REMOTECALL_AVAILABLE /*!< Nehmen wir Remote-kommandos entgegen?*/
|
||||
|
||||
/* Aufgrund einer ganzen reihe von Abhaengigkeiten sollte man beim Versuch Speicher
|
||||
* zu sparen, zuerst mal bei den Hauptverhalten ausmisten, sonst kommen die
|
||||
* Unterverhalten durch die Hintertuer wieder rein
|
||||
*/
|
||||
#ifndef MAP_AVAILABLE
|
||||
#undef BEHAVIOUR_SCAN_AVAILABLE
|
||||
#endif
|
||||
|
||||
#ifdef BEHAVIOUR_GOTOXY_AVAILABLE
|
||||
#define BEHAVIOUR_TURN_AVAILABLE
|
||||
#endif
|
||||
|
||||
#ifdef BEHAVIOUR_AVOID_COL_AVAILABLE
|
||||
#define BEHAVIOUR_TURN_AVAILABLE
|
||||
#endif
|
||||
|
||||
#ifdef BEHAVIOUR_FOLLOW_LINE_AVAILABLE
|
||||
#define BEHAVIOUR_DRIVE_DISTANCE_AVAILABLE
|
||||
#define BEHAVIOUR_TURN_AVAILABLE
|
||||
#endif
|
||||
|
||||
#ifdef BEHAVIOUR_OLYMPIC_AVAILABLE
|
||||
#define BEHAVIOUR_DRIVE_DISTANCE_AVAILABLE
|
||||
#define BEHAVIOUR_TURN_AVAILABLE
|
||||
#endif
|
||||
|
||||
#ifdef BEHAVIOUR_SIMPLE_AVAILABLE
|
||||
#define BEHAVIOUR_DRIVE_DISTANCE_AVAILABLE
|
||||
#endif
|
||||
|
||||
#ifdef BEHAVIOUR_SOLVE_MAZE_AVAILABLE
|
||||
#define BEHAVIOUR_DRIVE_DISTANCE_AVAILABLE
|
||||
#endif
|
||||
|
||||
#ifdef BEHAVIOUR_DRIVE_SQUARE_AVAILABLE
|
||||
#define BEHAVIOUR_GOTO_AVAILABLE
|
||||
#endif
|
||||
|
||||
#ifdef BEHAVIOUR_CATCH_PILLAR_AVAILABLE
|
||||
#define BEHAVIOUR_SERVO_AVAILABLE
|
||||
#endif
|
||||
|
||||
|
||||
#include "bot-logic/behaviour_simple.h"
|
||||
#include "bot-logic/behaviour_drive_square.h"
|
||||
|
||||
#include "bot-logic/behaviour_avoid_border.h"
|
||||
#include "bot-logic/behaviour_avoid_col.h"
|
||||
|
||||
#include "bot-logic/behaviour_goto.h"
|
||||
#include "bot-logic/behaviour_gotoxy.h"
|
||||
|
||||
#include "bot-logic/behaviour_turn.h"
|
||||
#include "bot-logic/behaviour_drive_distance.h"
|
||||
|
||||
#include "bot-logic/behaviour_scan.h"
|
||||
|
||||
|
||||
#include "bot-logic/behaviour_solve_maze.h"
|
||||
#include "bot-logic/behaviour_follow_line.h"
|
||||
|
||||
#include "bot-logic/behaviour_olympic.h"
|
||||
|
||||
#include "bot-logic/behaviour_servo.h"
|
||||
#include "bot-logic/behaviour_catch_pillar.h"
|
||||
|
||||
#include "bot-logic/remote_calls.h"
|
||||
|
||||
#endif
|
||||
#endif /*AVAILABLE_BEHAVIOURS_H_*/
|
||||
39
source/ct-Bot/include/bot-logic/behaviour_avoid_border.h
Normal file
39
source/ct-Bot/include/bot-logic/behaviour_avoid_border.h
Normal file
|
|
@ -0,0 +1,39 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file behaviour_avoid_border.c
|
||||
* @brief Vermeide Abgruende
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 03.11.06
|
||||
*/
|
||||
|
||||
#ifndef BEHAVIOUR_AVOID_BORDER_H_
|
||||
#define BEHAVIOUR_AVOID_BORDER_H_
|
||||
|
||||
#include "bot-logic/bot-logik.h"
|
||||
#ifdef BEHAVIOUR_AVOID_BORDER_AVAILABLE
|
||||
/*!
|
||||
* Verhindert, dass der Bot in Graeben faellt
|
||||
* @param *data der Verhaltensdatensatz
|
||||
*/
|
||||
void bot_avoid_border_behaviour(Behaviour_t *data);
|
||||
#endif
|
||||
|
||||
#endif /*BEHAVIOUR_AVOID_BORDER_H_*/
|
||||
42
source/ct-Bot/include/bot-logic/behaviour_avoid_col.h
Normal file
42
source/ct-Bot/include/bot-logic/behaviour_avoid_col.h
Normal file
|
|
@ -0,0 +1,42 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file behaviour_avoid_col.h
|
||||
* @brief Vermeide Kollisionen
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 03.11.06
|
||||
*/
|
||||
|
||||
#ifndef BEHAVIOUR_AVOID_COL_H_
|
||||
#define BEHAVIOUR_AVOID_COL_H_
|
||||
|
||||
#include "bot-logic/bot-logik.h"
|
||||
|
||||
#ifdef BEHAVIOUR_AVOID_COL_AVAILABLE
|
||||
/*!
|
||||
* Passt auf, dass keine Kollision mit Hindernissen an der Front des Roboters
|
||||
* geschieht.
|
||||
* TODO: Diese Funktion ist nur ein Dummy-Beispiel, wie eine Kollisionsvermeidung aussehen
|
||||
* koennte. Hier ist ein guter Einstiegspunkt fuer eigene Experimente und Algorithmen!
|
||||
* @param *data der Verhaltensdatensatz
|
||||
*/
|
||||
void bot_avoid_col_behaviour(Behaviour_t *data);
|
||||
#endif
|
||||
#endif /*BEHAVIOUR_AVOID_COL_H_*/
|
||||
51
source/ct-Bot/include/bot-logic/behaviour_catch_pillar.h
Normal file
51
source/ct-Bot/include/bot-logic/behaviour_catch_pillar.h
Normal file
|
|
@ -0,0 +1,51 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*! @file behaviour_catch_pillar.c
|
||||
* @brief sucht nach einer Dose und fängt sie ein
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 08.12.06
|
||||
*/
|
||||
|
||||
#ifndef BEHAVIOUR_CATCH_PILLAR_H_
|
||||
#define BEHAVIOUR_CATCH_PILLAR_H_
|
||||
|
||||
#include "ct-Bot.h"
|
||||
#include "bot-logic/bot-logik.h"
|
||||
|
||||
#ifdef BEHAVIOUR_CATCH_PILLAR_AVAILABLE
|
||||
/*!
|
||||
* Fange eine Dose ein
|
||||
* @param *data der Verhaltensdatensatz
|
||||
*/
|
||||
void bot_catch_pillar_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Botenfkt
|
||||
* Fange eine Dose ein
|
||||
* @param caller Der obligatorische Verhaltensdatensatz des Aufrufers
|
||||
*/
|
||||
void bot_catch_pillar(Behaviour_t * caller);
|
||||
|
||||
#endif
|
||||
|
||||
#endif /*BEHAVIOUR_CATCH_PILLAR_H_*/
|
||||
57
source/ct-Bot/include/bot-logic/behaviour_drive_distance.h
Normal file
57
source/ct-Bot/include/bot-logic/behaviour_drive_distance.h
Normal file
|
|
@ -0,0 +1,57 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file behaviour_drive_distance.c
|
||||
* @brief Bot faehrt ein Stueck
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 03.11.06
|
||||
*/
|
||||
|
||||
#ifndef BEHAVIOUR_DRIVE_DISTANCE_H_
|
||||
#define BEHAVIOUR_DRIVE_DISTANCE_H_
|
||||
|
||||
#include "bot-logic/bot-logik.h"
|
||||
|
||||
#ifdef BEHAVIOUR_DRIVE_DISTANCE_AVAILABLE
|
||||
/*!
|
||||
* Das Verhalten laesst den Bot eine vorher festgelegte Strecke fahren.
|
||||
* @param *data der Verhaltensdatensatz
|
||||
* @see bot_drive_distance()
|
||||
*/
|
||||
void bot_drive_distance_behaviour(Behaviour_t* data);
|
||||
|
||||
/*!
|
||||
* Das Verhalten laesst den Bot eine vorher festgelegte Strecke fahren. Dabei legt die Geschwindigkeit fest, ob der Bot vorwaerts oder rueckwaerts fahren soll.
|
||||
* @param curve Gibt an, ob der Bot eine Kurve fahren soll. Werte von -127 (So scharf wie moeglich links) ueber 0 (gerade aus) bis 127 (so scharf wie moeglich rechts)
|
||||
* @param speed Gibt an, wie schnell der Bot fahren soll. Negative Werte lassen den Bot rueckwaerts fahren.
|
||||
* @param cm Gibt an, wie weit der Bot fahren soll. In cm :-) Die Strecke muss positiv sein, die Fahrtrichtung wird ueber speed geregelt.
|
||||
*/
|
||||
void bot_drive_distance(Behaviour_t* caller,int8 curve, int16 speed, int16 cm);
|
||||
|
||||
/*!
|
||||
* laesst den Bot in eine Richtung fahren.
|
||||
* Es handelt sich hierbei nicht im eigentlichen Sinn um ein Verhalten, sondern ist nur eine Abstraktion der Motorkontrollen.
|
||||
* @param curve Gibt an, ob der Bot eine Kurve fahren soll. Werte von -127 (So scharf wie moeglich links) ueber 0 (gerade aus) bis 127 (so scharf wie moeglich rechts)
|
||||
* @param speed Gibt an, wie schnell der Bot fahren soll. */
|
||||
void bot_drive(int8 curve, int16 speed);
|
||||
|
||||
#endif
|
||||
#endif /*BEHAVIOUR_DRIVE_DISTANCE_H_*/
|
||||
|
||||
50
source/ct-Bot/include/bot-logic/behaviour_drive_square.h
Normal file
50
source/ct-Bot/include/bot-logic/behaviour_drive_square.h
Normal file
|
|
@ -0,0 +1,50 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file behaviour_drive_square.h
|
||||
* @brief Bot faehrt im Quadrat
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 03.11.06
|
||||
*/
|
||||
|
||||
|
||||
#ifndef BEHAVIOUR_DRIVE_SQUARE_H_
|
||||
#define BEHAVIOUR_DRIVE_SQUARE_H_
|
||||
|
||||
#include "bot-logic/bot-logik.h"
|
||||
#ifdef BEHAVIOUR_DRIVE_SQUARE_AVAILABLE
|
||||
/*!
|
||||
* Laesst den Roboter ein Quadrat abfahren.
|
||||
* Einfaches Beispiel fuer ein Verhalten, das einen Zustand besitzt.
|
||||
* Es greift auf andere Behaviours zurueck und setzt daher
|
||||
* selbst keine speedWishes.
|
||||
* @param *data der Verhaltensdatensatz
|
||||
*/
|
||||
void bot_drive_square_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Laesst den Roboter ein Quadrat abfahren.
|
||||
* @param caller Der obligatorische Verhaltensdatensatz des aufrufers
|
||||
*/
|
||||
void bot_drive_square(Behaviour_t* caller);
|
||||
|
||||
#endif
|
||||
|
||||
#endif /*BEHAVIOUR_DRIVE_SQUARE_H_*/
|
||||
44
source/ct-Bot/include/bot-logic/behaviour_follow_line.h
Normal file
44
source/ct-Bot/include/bot-logic/behaviour_follow_line.h
Normal file
|
|
@ -0,0 +1,44 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file behaviour_follow_line.h
|
||||
* @brief Linienverfolger
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 03.11.06
|
||||
*/
|
||||
|
||||
#include "bot-logic/bot-logik.h"
|
||||
|
||||
#ifndef BEHAVIOUR_FOLLOW_LINE_H_
|
||||
#define BEHAVIOUR_FOLLOW_LINE_H_
|
||||
|
||||
#ifdef BEHAVIOUR_FOLLOW_LINE_AVAILABLE
|
||||
|
||||
/*! Folgt einer Linie, sobald beide Liniensensoren ausloesen
|
||||
* Die Linie sollte in etwa die Breite beider CNY70 haben
|
||||
*/
|
||||
void bot_follow_line_behaviour(Behaviour_t *data);
|
||||
|
||||
/*! Folgt einer Linie, sobald beide Liniensensoren ausloesen
|
||||
* Die Linie sollte in etwa die Breite beider CNY70 haben
|
||||
*/
|
||||
void bot_follow_line(Behaviour_t *caller);
|
||||
#endif
|
||||
#endif /*BEHAVIOUR_FOLLOW_LINE_H_*/
|
||||
46
source/ct-Bot/include/bot-logic/behaviour_goto.h
Normal file
46
source/ct-Bot/include/bot-logic/behaviour_goto.h
Normal file
|
|
@ -0,0 +1,46 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file behaviour_goto.h
|
||||
* @brief Fahre ein stueck
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 03.11.06
|
||||
*/
|
||||
|
||||
#ifndef BEHAVIOUR_GOTO_H_
|
||||
#define BEHAVIOUR_GOTO_H_
|
||||
|
||||
#include "bot-logic/bot-logik.h"
|
||||
#ifdef BEHAVIOUR_GOTO_AVAILABLE
|
||||
/*!
|
||||
* Kuemmert sich intern um die Ausfuehrung der goto-Kommandos,
|
||||
* @param *data der Verhaltensdatensatz
|
||||
* @see bot_goto()
|
||||
*/
|
||||
void bot_goto_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Drehe die Raeder um die gegebene Zahl an Encoder-Schritten weiter
|
||||
* @param left Schritte links
|
||||
* @param right Schritte rechts
|
||||
*/
|
||||
void bot_goto(Behaviour_t * caller, int16 left, int16 right);
|
||||
#endif
|
||||
#endif /*BEHAVIOUR_GOTO_H_*/
|
||||
50
source/ct-Bot/include/bot-logic/behaviour_gotoxy.h
Normal file
50
source/ct-Bot/include/bot-logic/behaviour_gotoxy.h
Normal file
|
|
@ -0,0 +1,50 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file behaviour_gotoxy.c
|
||||
* @brief Bot faehrt eine Position an
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 03.11.06
|
||||
*/
|
||||
|
||||
|
||||
#ifndef BEHAVIOUR_GOTOXY_H_
|
||||
#define BEHAVIOUR_GOTOXY_H_
|
||||
|
||||
#include "bot-logic/bot-logik.h"
|
||||
|
||||
#ifdef BEHAVIOUR_GOTOXY_AVAILABLE
|
||||
/*!
|
||||
* Das Verhalten faehrt von der aktuellen Position zur angegebenen Position (x/y)
|
||||
* @param *data der Verhaltensdatensatz
|
||||
* Verbessert von Thomas Noll, Jens Schoemann, Ben Horst (Philipps-Universitaet Marburg)
|
||||
*/
|
||||
void bot_gotoxy_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Botenfunktion: Das Verhalten faehrt von der aktuellen Position zur angegebenen Position (x/y)
|
||||
* @param caller Aufrufendes Verhalten
|
||||
* @param x X-Ordinate an die der Bot fahren soll
|
||||
* @param y Y-Ordinate an die der Bot fahren soll
|
||||
*/
|
||||
void bot_gotoxy(Behaviour_t *caller, float x, float y);
|
||||
#endif
|
||||
|
||||
#endif /*BEHAVIOUR_GOTOXY_H_*/
|
||||
93
source/ct-Bot/include/bot-logic/behaviour_olympic.h
Normal file
93
source/ct-Bot/include/bot-logic/behaviour_olympic.h
Normal file
|
|
@ -0,0 +1,93 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file behaviour_olympic.h
|
||||
* @brief Bot sucht saeulen und faehrt dann slalom
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 03.11.06
|
||||
*/
|
||||
|
||||
#ifndef BEHAVIOUR_OLYMPIC_H_
|
||||
#define BEHAVIOUR_OLYMPIC_H_
|
||||
|
||||
#include "bot-logic/bot-logik.h"
|
||||
#ifdef BEHAVIOUR_OLYMPIC_AVAILABLE
|
||||
|
||||
/*!
|
||||
* Das Verhalten setzt sich aus 3 Teilverhalten zusammen:
|
||||
* Nach Licht suchen, auf das Licht zufahren, im Licht Slalom fahren. */
|
||||
void bot_olympic_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Das Verhalten laesst den Roboter den Raum durchsuchen.
|
||||
* Das Verhalten hat mehrere unterschiedlich Zustaende:
|
||||
* 1. Zu einer Wand oder einem anderen Hindernis fahren.
|
||||
* 2. Zu einer Seite drehen, bis der Bot parallel zur Wand ist.
|
||||
* Es macht vielleicht Sinn, den Maussensor auszulesen, um eine Drehung um
|
||||
* einen bestimmten Winkel zu realisieren. Allerdings muesste dafuer auch der
|
||||
* Winkel des Bots zur Wand bekannt sein.
|
||||
* 3. Eine feste Strecke parallel zur Wand vorwaerts fahren.
|
||||
* Da bot_glance_behaviour abwechselnd zu beiden Seiten schaut, ist es fuer die Aufgabe,
|
||||
* einer Wand auf einer Seite des Bots zu folgen, nur bedingt gewachsen und muss
|
||||
* evtl. erweitert werden.
|
||||
* 4. Senkrecht zur Wand drehen.
|
||||
* Siehe 2.
|
||||
* 5. Einen Bogen fahren, bis der Bot wieder auf ein Hindernis stoesst.
|
||||
* Dann das Ganze von vorne beginnen, nur in die andere Richtung und mit einem
|
||||
* weiteren Bogen. So erforscht der Bot einigermassen systematisch den Raum.
|
||||
*
|
||||
* Da das Verhalten jeweils nach 10ms neu aufgerufen wird, muss der Bot sich
|
||||
* 'merken', in welchem Zustand er sich gerade befindet.
|
||||
* */
|
||||
void bot_explore_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Das Verhalten laesst den Bot einen Slalom fahren.
|
||||
* @see bot_do_slalom()
|
||||
* */
|
||||
void bot_do_slalom_behaviour(Behaviour_t *data);
|
||||
|
||||
|
||||
/*!
|
||||
* Das Verhalten laesst den Bot zwischen einer Reihe beleuchteter Saeulen Slalom fahren.
|
||||
* Das Verhalten ist wie bot_explore() in eine Anzahl von Teilschritten unterteilt.
|
||||
* 1. Vor die aktuelle Saeule stellen, so dass sie zentral vor dem Bot und ungefaehr
|
||||
* COL_CLOSEST (100 mm) entfernt ist.
|
||||
* 2. 90 Grad nach rechts drehen.
|
||||
* 3. In einem relativ engen Bogen 20 cm weit fahren.
|
||||
* 4. Auf der rechten Seite des Bot nach einem Objekt suchen, dass
|
||||
* a) im rechten Sektor des Bot liegt, also zwischen -45 Grad und -135 Grad zur Fahrtrichtung liegt,
|
||||
* b) beleuchtet und
|
||||
* c) nicht zu weit entfernt ist.
|
||||
* Wenn es dieses Objekt gibt, wird es zur aktuellen Saeule und der Bot faehrt jetzt Slalom links.
|
||||
* 5. Sonst zurueck drehen, 90 Grad drehen und Slalom rechts fahren.
|
||||
* In diesem Schritt kann der Bot das Verhalten auch abbrechen, falls er gar kein Objekt mehr findet.
|
||||
*/
|
||||
void bot_do_slalom(Behaviour_t *caller);
|
||||
|
||||
/*!
|
||||
* Initialisiert das Olympische Verhalten
|
||||
* @param prio_main Prioritaet des Olympischen Verhalten (typ. 100)
|
||||
* @param prio_helper Prioritaet der Hilfsfunktionen (typ. 52)
|
||||
* @param active ACTIVE wenn es sofort starten soll, sonst INACTIVE
|
||||
*/
|
||||
void bot_olympic_init(int8 prio_main,int8 prio_helper, int8 active);
|
||||
#endif
|
||||
#endif /*BEHAVIOUR_OLYMPIC_H_*/
|
||||
51
source/ct-Bot/include/bot-logic/behaviour_scan.h
Normal file
51
source/ct-Bot/include/bot-logic/behaviour_scan.h
Normal file
|
|
@ -0,0 +1,51 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file behaviour_scan.h
|
||||
* @brief Scannt die Umgebung und traegt sie in die Karte ein
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 03.11.06
|
||||
*/
|
||||
|
||||
#ifndef BEHAVIOUR_SCAN_H_
|
||||
#define BEHAVIOUR_SCAN_H_
|
||||
|
||||
#include "bot-logic/bot-logik.h"
|
||||
|
||||
#ifdef BEHAVIOUR_SCAN_AVAILABLE
|
||||
/*!
|
||||
* Der Roboter faehrt einen Vollkreis und scannt dabei die Umgebung
|
||||
* @param *data der Verhaltensdatensatz
|
||||
*/
|
||||
void bot_scan_onthefly_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Der Roboter faehrt einen Vollkreis und scannt dabei die Umgebung
|
||||
* @param *data der Verhaltensdatensatz
|
||||
*/
|
||||
void bot_scan_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Der Roboter faehrt einen Vollkreis und scannt dabei die Umgebung
|
||||
* @param Der aufrufer
|
||||
*/
|
||||
void bot_scan(Behaviour_t* caller);
|
||||
#endif
|
||||
#endif /*BEHAVIOUR_SCAN_H_*/
|
||||
55
source/ct-Bot/include/bot-logic/behaviour_servo.h
Normal file
55
source/ct-Bot/include/bot-logic/behaviour_servo.h
Normal file
|
|
@ -0,0 +1,55 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*! @file behaviour_servo.h
|
||||
* @brief kontrolliert die Servos
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 07.12.06
|
||||
*/
|
||||
|
||||
#ifndef BEHAVIOUR_SERVO_H_
|
||||
#define BEHAVIOUR_SERVO_H_
|
||||
|
||||
#include "ct-Bot.h"
|
||||
#include "bot-logic/bot-logik.h"
|
||||
|
||||
#ifdef BEHAVIOUR_SERVO_AVAILABLE
|
||||
|
||||
uint8 servo_active; /*!< 0, wenn kein Servo aktiv, sonst Bit der gerade aktiven Servos gesetzt */
|
||||
|
||||
/*!
|
||||
* Dieses Verhalten fuehrt ein Servo-Kommando aus und schaltet danach den Servo wieder ab
|
||||
*
|
||||
* @param *data der Verhaltensdatensatz
|
||||
*/
|
||||
void bot_servo_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Fahre den Servo an eine Position
|
||||
* @param servo Nummer des Servos
|
||||
* @param pos Zielposition des Servos
|
||||
*/
|
||||
void bot_servo(Behaviour_t * caller, uint8 servo, uint8 pos);
|
||||
|
||||
#endif
|
||||
|
||||
#endif /*BEHAVIOUR_SIMPLE_H_*/
|
||||
90
source/ct-Bot/include/bot-logic/behaviour_simple.h
Normal file
90
source/ct-Bot/include/bot-logic/behaviour_simple.h
Normal file
|
|
@ -0,0 +1,90 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/*! @file behaviour_simple.h
|
||||
* @brief ganz einfache Beispielverhalten
|
||||
* Diese Datei sollte der Einstiegspunkt fuer eigene Experimente sein,
|
||||
* den Roboter zu steuern.
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 03.11.06
|
||||
*/
|
||||
|
||||
#ifndef BEHAVIOUR_SIMPLE_H_
|
||||
#define BEHAVIOUR_SIMPLE_H_
|
||||
|
||||
#include "ct-Bot.h"
|
||||
#include "bot-logic/bot-logik.h"
|
||||
|
||||
#ifdef BEHAVIOUR_SIMPLE_AVAILABLE
|
||||
/*!
|
||||
* Ein ganz einfaches Beispiel fuer ein Hilfsverhalten,
|
||||
* das selbst SpeedWishes aussert und
|
||||
* nach getaner Arbeit die aufrufende Funktion wieder aktiviert
|
||||
* Zudem prueft es, ob eine Uebergabebedingung erfuellt ist.
|
||||
*
|
||||
* Zu diesem Verhalten gehoert die Botenfunktion bot_simple2()
|
||||
*
|
||||
* Hier kann man auf ganz einfache Weise die ersten Schritte wagen.
|
||||
* Wer die Moeglichkeiten des ganzen Verhaltensframeworks ausschoepfen will, kann diese Funktion getrost auskommentieren
|
||||
* und findet dann in bot_behave_init() und bot_behave() weitere Hinweise fuer elegante Bot-Programmierung....
|
||||
*
|
||||
* Das Verhalten ist per default abgeschaltet. Daher muss man es erst in bot_behave_init() aktivieren.
|
||||
* Dort steht aber bereits eine auskommentierte Zeile dazu, von der man nur die zwei Kommentarzeichen wegnehmen muss.
|
||||
* Achtung, da bot_simple2_behaviour() maximale Prioritaet hat, kommt es vor den anderen Regeln, wie dem Schutz vor Abgruenden, etc. zum Zuge
|
||||
* Das sollte am Anfang nicht stoeren, spaeter sollte man jedoch die Prioritaet herabsetzen.
|
||||
*
|
||||
* bot_simple2_behaviour faehrt den Bot solange geradeaus, bis es dunkler als im Uebergabeparameter spezifiziert ist wird
|
||||
*
|
||||
* @param *data der Verhaltensdatensatz
|
||||
*/
|
||||
void bot_simple2_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Rufe das Simple2-Verhalten auf und uebergebe light
|
||||
* @param caller Der obligatorische Verhaltensdatensatz des Aufrufers
|
||||
* @param light Uebergabeparameter
|
||||
*/
|
||||
void bot_simple2(Behaviour_t * caller, int16 light);
|
||||
|
||||
/*!
|
||||
* Ein ganz einfaches Verhalten, es hat maximale Prioritaet
|
||||
* Hier kann man auf ganz einfache Weise die ersten Schritte wagen.
|
||||
* Wer die Moeglichkeiten des ganzen Verhaltensframeworks ausschoepfen will, kann diese Funktion getrost auskommentieren
|
||||
* und findet dann in bot_behave_init() und bot_behave() weitere Hinweise fuer elegante Bot-Programmierung....
|
||||
*
|
||||
* Das Verhalten ist per default abgeschaltet. Daher muss man es erst in bot_behave_init() aktivieren.
|
||||
* Dort steht aber bereits eine auskommentierte Zeile dazu, von der man nur die zwei Kommentarzeichen wegnehmen muss.
|
||||
* Achtung, da bot_simple_behaviour() maximale Prioritaet hat, kommt es vor den anderen Regeln, wie dem Schutz vor Abgruenden, etc. zum Zuge
|
||||
* Das sollte am Anfang nicht stoeren, spaeter sollte man jedoch die Prioritaet herabsetzen.
|
||||
*
|
||||
* @param *data der Verhaltensdatensatz
|
||||
*/
|
||||
void bot_simple_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Rufe das Simple-Verhalten auf
|
||||
* @param caller Der obligatorische Verhaltensdatensatz des Aufrufers
|
||||
*/
|
||||
void bot_simple(Behaviour_t * caller, int16 light);
|
||||
|
||||
#endif
|
||||
|
||||
#endif /*BEHAVIOUR_SIMPLE_H_*/
|
||||
61
source/ct-Bot/include/bot-logic/behaviour_solve_maze.h
Normal file
61
source/ct-Bot/include/bot-logic/behaviour_solve_maze.h
Normal file
|
|
@ -0,0 +1,61 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file behaviour_solve_maze.h
|
||||
* @brief Wandfolger durchs Labyrinth
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 03.11.06
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#ifndef BEHAVIOUR_SOLVE_MAZE_H_
|
||||
#define BEHAVIOUR_SOLVE_MAZE_H_
|
||||
|
||||
#include "bot-logic/bot-logik.h"
|
||||
|
||||
#ifdef BEHAVIOUR_SOLVE_MAZE_AVAILABLE
|
||||
|
||||
/*!
|
||||
* Das Verhalten findet seinen Weg durch ein Labyrinth, das nach gewissen Grundregeln gebaut ist
|
||||
* in nicht immer optimaler Weise aber in jedem Fall. Es arbeitet nach dem Hoehlenforscher-Algorithmus.
|
||||
* Einschraenkung: Objekte im Labyrinth, die Endlossschleifen verursachen koennen, z.b. ein einzeln
|
||||
* stehender Pfeiler im Labyrinth um den der Bot dann immer wieder herum fahren wuerde.
|
||||
*/
|
||||
|
||||
void bot_solve_maze(Behaviour_t *caller);
|
||||
|
||||
/*!
|
||||
* Das Verhalten findet seinen Weg durch ein Labyrinth, das nach gewissen Grundregeln gebaut ist
|
||||
* in nicht immer optimaler Weise aber in jedem Fall. Es arbeitet nach dem Hoehlenforscher-Algorithmus.
|
||||
* Einschraenkung: Objekte im Labyrinth, die Endlossschleifen verursachen koennen, z.b. ein einzeln
|
||||
* stehender Pfeiler im Labyrinth um den der Bot dann immer wieder herum fahren wuerde.
|
||||
*/
|
||||
void bot_solve_maze_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Initialisiert den Hoelenforscher
|
||||
* @param prio_main Prioritaet des Hoehlenforschers (typ. 100)
|
||||
* @param prio_helper Prioritaet der Hilfsfunktionen (typ. 42)
|
||||
* @param active ACTIVE wenn der hoehlenforcher sofort starten soll, sonst INACTIVE
|
||||
*/
|
||||
void bot_solve_maze_init(int8 prio_main,int8 prio_helper, int8 active);
|
||||
#endif
|
||||
#endif /*BEHAVIOUR_SOLVE_MAZE_H_*/
|
||||
51
source/ct-Bot/include/bot-logic/behaviour_turn.h
Normal file
51
source/ct-Bot/include/bot-logic/behaviour_turn.h
Normal file
|
|
@ -0,0 +1,51 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file behaviour_turn.h
|
||||
* @brief Drehe den Bot
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 03.11.06
|
||||
*/
|
||||
|
||||
#ifndef BEHAVIOUR_TURN_H_
|
||||
#define BEHAVIOUR_TURN_H_
|
||||
|
||||
#ifdef BEHAVIOUR_TURN_AVAILABLE
|
||||
#include "bot-logic/bot-logik.h"
|
||||
|
||||
/*!
|
||||
* Das Verhalten laesst den Bot eine Punktdrehung durchfuehren.
|
||||
+ * Drehen findet in drei Schritten statt. Die Drehung wird dabei
|
||||
+ * bei Winkeln > 15 Grad zunaechst mit hoeherer Geschwindigkeit ausgefuehrt. Bei kleineren
|
||||
+ * Winkeln oder wenn nur noch 15 Grad zu drehen sind, nur noch mit geringer Geschwindigkeit
|
||||
* @param *data der Verhaltensdatensatz
|
||||
* @see bot_turn()
|
||||
*/
|
||||
void bot_turn_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Dreht den Bot im mathematisch positiven Sinn.
|
||||
* @param degrees Grad, um die der Bot gedreht wird. Negative Zahlen drehen im (mathematisch negativen) Uhrzeigersinn.
|
||||
* Die Aufloesung betraegt rund 3 Grad
|
||||
*/
|
||||
void bot_turn(Behaviour_t* caller,int16 degrees);
|
||||
|
||||
#endif
|
||||
#endif
|
||||
196
source/ct-Bot/include/bot-logic/bot-logik.h
Normal file
196
source/ct-Bot/include/bot-logic/bot-logik.h
Normal file
|
|
@ -0,0 +1,196 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file bot-logik.h
|
||||
* @brief High-Level-Routinen fuer die Steuerung des c't-Bots
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 01.12.05
|
||||
*/
|
||||
|
||||
#ifndef bot_logik_H_
|
||||
#define bot_logik_H_
|
||||
|
||||
#include "global.h"
|
||||
#include "ct-Bot.h"
|
||||
#include "motor.h"
|
||||
#include "sensor.h"
|
||||
#include "bot-local.h"
|
||||
|
||||
|
||||
#define BEHAVIOUR_DRIVE_AVAILABLE
|
||||
|
||||
|
||||
|
||||
// Includes aller verfuegbaren Verhalten
|
||||
|
||||
|
||||
#define INACTIVE 0 /*!< Verhalten ist aus */
|
||||
#define ACTIVE 1 /*!< Verhalten ist an */
|
||||
|
||||
#define OVERRIDE 1 /*!< Konstante, wenn Verhalten beim Aufruf alte Wuensche ueberschreiben sollen */
|
||||
#define NOOVERRIDE 0 /*!< Konstanten, wenn Verhalten beim Aufruf alte Wuensche nicht ueberschreiben sollen */
|
||||
|
||||
#define SUBSUCCESS 1 /*!< Konstante fuer Behaviour_t->subResult: Aufgabe erfolgreich abgeschlossen */
|
||||
#define SUBFAIL 0 /*!< Konstante fuer Behaviour_t->subResult: Aufgabe nicht abgeschlossen */
|
||||
#define SUBRUNNING 2 /*!< Konstante fuer Behaviour_t->subResult: Aufgabe wird noch beabeitet */
|
||||
|
||||
#define BOT_BEHAVIOUR_RUNNING 1 /*!< Rueckgabewert eines Verhaltens, das noch weiter laufen moechte. */
|
||||
#define BOT_BEHAVIOUR_DONE 0 /*!< Rueckgabewert eines Verhaltens, das fertig ist. */
|
||||
|
||||
|
||||
/*! Verwaltungsstruktur fuer die Verhaltensroutinen */
|
||||
typedef struct _Behaviour_t {
|
||||
void (*work) (struct _Behaviour_t *data); /*!< Zeiger auf die Funktion, die das Verhalten bearbeitet */
|
||||
|
||||
uint8 priority; /*!< Prioritaet */
|
||||
struct _Behaviour_t *caller ; /* aufrufendes verhalten */
|
||||
|
||||
uint8 active:1; /*!< Ist das Verhalten aktiv */
|
||||
#ifdef DISPLAY_BEHAVIOUR_AVAILABLE
|
||||
#ifndef DISPLAY_DYNAMIC_BEHAVIOUR_AVAILABLE /*!< bei dynamischer Anzeige und Wahl keine Puffervar notwendig */
|
||||
uint8 active_new:1; /*!< Ist das via Display gewaehlte neue Sollverhalten */
|
||||
#endif
|
||||
#endif
|
||||
uint8 subResult:2; /*!< War das aufgerufene unterverhalten erfolgreich (==1)?*/
|
||||
struct _Behaviour_t *next; /*!< Naechster Eintrag in der Liste */
|
||||
#ifndef DOXYGEN
|
||||
}__attribute__ ((packed)) Behaviour_t;
|
||||
#else
|
||||
} Behaviour_t;
|
||||
#endif
|
||||
|
||||
/*! Dieser Typ definiert eine Funktion die das eigentliche Verhalten ausfuehrt. */
|
||||
typedef void (*BehaviourFunc)(Behaviour_t *data);
|
||||
|
||||
/*! Liste mit allen Verhalten */
|
||||
extern Behaviour_t *behaviour;
|
||||
|
||||
extern int16 speedWishLeft; /*!< Puffervariablen fuer die Verhaltensfunktionen absolut Geschwindigkeit links*/
|
||||
extern int16 speedWishRight; /*!< Puffervariablen fuer die Verhaltensfunktionen absolut Geschwindigkeit rechts*/
|
||||
|
||||
extern float faktorWishLeft; /*!< Puffervariablen fuer die Verhaltensfunktionen Modifikationsfaktor links*/
|
||||
extern float faktorWishRight; /*!< Puffervariablen fuer die Verhaltensfunktionen Modifikationsfaktor rechts */
|
||||
|
||||
|
||||
|
||||
extern int16 target_speed_l; /*!< Sollgeschwindigkeit linker Motor */
|
||||
extern int16 target_speed_r; /*!< Sollgeschwindigkeit rechter Motor */
|
||||
|
||||
/*!
|
||||
* Kuemmert sich intern um die Ausfuehrung der goto-Kommandos
|
||||
* @see bot_goto()
|
||||
*/
|
||||
extern void bot_behave(void);
|
||||
|
||||
/*!
|
||||
* Initilaisert das ganze Verhalten
|
||||
*/
|
||||
extern void bot_behave_init(void);
|
||||
|
||||
/*!
|
||||
* Aktiviert eine Regel mit gegebener Funktion
|
||||
* @param function Die Funktion, die das Verhalten realisiert.
|
||||
*/
|
||||
void activateBehaviour(BehaviourFunc function);
|
||||
|
||||
/*!
|
||||
* Aktiviert eine Regel mit gegebener Funktion
|
||||
* @param function Die Funktion, die das Verhalten realisiert.
|
||||
*/
|
||||
void deactivateBehaviour(BehaviourFunc function);
|
||||
|
||||
/*!
|
||||
* Deaktiviert alle Verhalten bis auf Grundverhalten. Bei Verhaltensauswahl werden die Aktivitaeten vorher
|
||||
* in die Verhaltens-Auswahlvariable gesichert.
|
||||
*/
|
||||
void deactivateAllBehaviours(void);
|
||||
|
||||
/*!
|
||||
* Ruft ein anderes Verhalten auf und merkt sich den Ruecksprung
|
||||
* return_from_behaviour() kehrt dann spaeter wieder zum aufrufenden Verhalten zurueck
|
||||
* @param from aufrufendes Verhalten
|
||||
* @param to aufgerufenes Verhalten
|
||||
* @param override Hier sind zwei Werte Moeglich:
|
||||
* 1. OVERRIDE : Das Zielverhalten to wird aktiviert, auch wenn es noch aktiv ist.
|
||||
* Das Verhalten, das es zuletzt aufgerufen hat wird dadurch automatisch
|
||||
* wieder aktiv und muss selbst sein eigenes Feld subResult auswerten, um zu pruefen, ob das
|
||||
* gewuenschte Ziel erreicht wurde, oder vorher ein Abbruch stattgefunden hat.
|
||||
* 2. NOOVERRIDE : Das Zielverhalten wird nur aktiviert, wenn es gerade nichts zu tun hat.
|
||||
* In diesem Fall kann der Aufrufer aus seinem eigenen subResult auslesen,
|
||||
* ob seibem Wunsch Folge geleistet wurde.
|
||||
*/
|
||||
void switch_to_behaviour(Behaviour_t * from, void *to, uint8 override );
|
||||
|
||||
/*!
|
||||
* Kehrt zum aufrufenden Verhalten zurueck
|
||||
* @param running laufendes Verhalten
|
||||
*/
|
||||
void return_from_behaviour(Behaviour_t * data);
|
||||
|
||||
|
||||
/*!
|
||||
* Fuegt ein Verhalten der Verhaltenliste anhand der Prioritaet ein.
|
||||
* @param list Die Speicherstelle an der die globale Verhaltensliste anfaengt
|
||||
* @param behave Einzufuegendes Verhalten
|
||||
*/
|
||||
void insert_behaviour_to_list(Behaviour_t **list, Behaviour_t *behave);
|
||||
|
||||
/*!
|
||||
* Erzeugt ein neues Verhalten
|
||||
* @param priority Die Prioritaet
|
||||
* @param *work Den Namen der Funktion, die sich drum kuemmert
|
||||
*/
|
||||
Behaviour_t *new_behaviour(uint8 priority, void (*work) (struct _Behaviour_t *data), int8 active);
|
||||
|
||||
|
||||
#include "bot-logic/available_behaviours.h"
|
||||
|
||||
|
||||
|
||||
|
||||
#ifdef DISPLAY_BEHAVIOUR_AVAILABLE
|
||||
|
||||
/*!
|
||||
* ermittelt ob noch eine weitere Verhaltensseite existiert
|
||||
*/
|
||||
extern int8 another_behaviour_page(void) ;
|
||||
|
||||
/*!
|
||||
* toggled ein Verhalten der Verhaltensliste an Position pos
|
||||
* @param pos Listenposition, entspricht der Taste 1-6 der gewaehlten Verhaltensseite
|
||||
*/
|
||||
void toggleNewBehaviourPos(int8 pos);
|
||||
|
||||
/*!
|
||||
* Startschuss, die gewaehlten neuen Verhaltensaktivitaeten werden in die
|
||||
* Verhaltensliste geschrieben und die Verhalten damit scharf geschaltet
|
||||
*/
|
||||
void set_behaviours_active_to_new(void);
|
||||
|
||||
/*!
|
||||
* Die Aktivitaeten der Verhalten werden in die Puffervariable geschrieben,
|
||||
* welche zur Anzeige und Auswahl verwendet wird
|
||||
*/
|
||||
void set_behaviours_equal(void);
|
||||
|
||||
int8 behaviour_page ; /*!< angezeigte Verhaltensseite */
|
||||
|
||||
#endif
|
||||
|
||||
#endif
|
||||
89
source/ct-Bot/include/bot-logic/remote_calls.h
Normal file
89
source/ct-Bot/include/bot-logic/remote_calls.h
Normal file
|
|
@ -0,0 +1,89 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file remote_calls.h
|
||||
* @brief Liste mit Botenfkts, die man aus der Ferne aufrufen kann
|
||||
*
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 19.12.06
|
||||
*/
|
||||
|
||||
#ifndef REMOTE_CALLS_H_
|
||||
#define REMOTE_CALLS_H_
|
||||
|
||||
#include "bot-logik.h"
|
||||
|
||||
|
||||
|
||||
|
||||
#define REMOTE_CALL_FUNCTION_NAME_LEN 20
|
||||
#define PARAM_TEXT_LEN 40
|
||||
#define REMOTE_CALL_MAX_PARAM 3
|
||||
|
||||
#define REMOTE_CALL_BUFFER_SIZE (REMOTE_CALL_FUNCTION_NAME_LEN+1+REMOTE_CALL_MAX_PARAM*4)
|
||||
|
||||
// Die Kommandostruktur
|
||||
typedef struct {
|
||||
void* (*func)(void *); /*!< Zeiger auf die auszufuehrende Funktion*/
|
||||
uint8 param_count; /*!< Anzahl der Parameter kommen Und zwar ohne den obligatorischen caller-parameter*/
|
||||
uint8 param_len[REMOTE_CALL_MAX_PARAM]; /*!< Angaben ueber die Anzahl an Bytes, die jeder einzelne Parameter belegt */
|
||||
char name[REMOTE_CALL_FUNCTION_NAME_LEN+1]; /*!< Text, maximal TEXT_LEN Zeichen lang + 1 Zeichen terminierung*/
|
||||
char param_info[PARAM_TEXT_LEN+1]; /*!< String, der Angibt, welche und was fuer Parameter die Fkt erwartet */
|
||||
|
||||
} call_t;
|
||||
|
||||
typedef union{
|
||||
uint32 u32;
|
||||
float fl32;
|
||||
} remote_call_data_t; /*!< uint32 und float werden beide gleich ausgelesen, daher stecken wir sie in einen Speicherbereich */
|
||||
|
||||
/*! Dieses Makro bereitet eine Botenfunktion als Remote-Call-Funktion vor.
|
||||
* Der erste parameter ist der Funktionsname selbst
|
||||
* Der zweite Parameter ist die Anzahl an Bytes, die die Fkt erwartet.
|
||||
* Und zwar unabhaengig vom Datentyp. will man also einen uin16 uebergeben steht da 2
|
||||
* Will man einen Float uebergeben eine 4. Fuer zwei Floats eine 8, usw.
|
||||
*/
|
||||
#define PREPARE_REMOTE_CALL(func,count,param,param_len...) {(void*)func, count, {param_len}, #func,param }
|
||||
|
||||
|
||||
/*!
|
||||
* Dieses Verhalten kuemmert sich darum die Verhalten, die von außen angefragt wurden zu starten und liefert ein feedback zurueck, wenn sie beendet sind.
|
||||
* @param *data der Verhaltensdatensatz
|
||||
*/
|
||||
void bot_remotecall_behaviour(Behaviour_t *data);
|
||||
|
||||
/*!
|
||||
* Fuehre einen remote_call aus. Es gibt KEIN aufrufendes Verhalten!!
|
||||
* @param func Zeiger auf den Namen der Fkt
|
||||
* @param data Zeiger auf die Daten
|
||||
*/
|
||||
void bot_remotecall(char* func, remote_call_data_t* data);
|
||||
|
||||
/*!
|
||||
* Fuehre einen remote_call aus. Es gibt KEIN aufrufendes Verhalten!!
|
||||
* @param data Zeiger die Payload eines Kommandos. Dort muss zuerst ein String mit dem Fkt-Namen stehen. ihm folgen die Nutzdaten
|
||||
*/
|
||||
void bot_remotecall_from_command(uint8 * data);
|
||||
|
||||
/*! Listet alle verfuegbaren Remote-Calls auf und verschickt sie als einzelne Kommanods
|
||||
*/
|
||||
void remote_call_list(void);
|
||||
|
||||
|
||||
#endif /*REMOTE_CALLS_H_*/
|
||||
195
source/ct-Bot/include/command.h
Normal file
195
source/ct-Bot/include/command.h
Normal file
|
|
@ -0,0 +1,195 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file command.h
|
||||
* @brief Kommando-Management
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 20.12.05
|
||||
*/
|
||||
|
||||
#ifndef __command_h_
|
||||
#define __command_h_
|
||||
|
||||
#include "global.h"
|
||||
#include "ct-Bot.h"
|
||||
|
||||
#define MAX_PAYLOAD 255 /*!< Max. Anzahl Bytes, die an ein Command angehaengt werden */
|
||||
|
||||
#ifdef PC
|
||||
#define low_read tcp_read /*!< Which function to use to read data */
|
||||
#define low_write tcp_send_cmd /*!< Which function to use to write data */
|
||||
#define low_write_data tcp_write /*!< Which function to use to write data */
|
||||
#endif
|
||||
|
||||
#ifdef MCU
|
||||
#define low_read uart_read /*!< Which function to use to read data */
|
||||
#define low_write uart_send_cmd /*!< Which function to use to write data */
|
||||
// #define low_write uart_send_cmd /*!< Which function to use to write data */
|
||||
#define low_write_data uart_write /*!< Which function to use to write data */
|
||||
#endif
|
||||
|
||||
|
||||
/*!
|
||||
* Request Teil eines Kommandos
|
||||
*/
|
||||
typedef struct {
|
||||
uint8 command:8; /*!< command */
|
||||
uint8 subcommand:7; /*!< subcommand */
|
||||
uint8 direction:1; /*!< 0 ist Anfrage, 1 ist Antwort */
|
||||
#ifndef DOXYGEN
|
||||
} __attribute__ ((packed)) request_t; // Keine Luecken in der Struktur lassen
|
||||
#else
|
||||
} request_t; // Keine Luecken in der Struktur lassen
|
||||
#endif
|
||||
|
||||
/*!
|
||||
* Kommando
|
||||
*/
|
||||
typedef struct {
|
||||
uint8 startCode; /*!< Markiert den Beginn eines Commands */
|
||||
request_t request; /*!< Command-ID */
|
||||
uint8 payload; /*!< Bytes, die dem Kommando noch folgen*/
|
||||
int16 data_l; /*!< Daten zum Kommando links*/
|
||||
int16 data_r; /*!< Daten zum Kommando rechts*/
|
||||
int16 seq; /*!< Paket-Sequenznummer*/
|
||||
uint8 CRC; /*!< Markiert das Ende des Commands*/
|
||||
#ifndef DOXYGEN
|
||||
} __attribute__ ((packed)) command_t;// Keine Luecken in der Struktur lassen
|
||||
#else
|
||||
} command_t;
|
||||
#endif
|
||||
|
||||
#define CMD_STARTCODE '>' /*!< Anfang eines Kommandos*/
|
||||
#define CMD_STOPCODE '<' /*!< Ende eines Kommandos*/
|
||||
|
||||
//Sensoren
|
||||
#define CMD_SENS_IR 'I' /*!< Abstandssensoren*/
|
||||
#define CMD_SENS_ENC 'E' /*!< Radencoder*/
|
||||
#define CMD_SENS_BORDER 'B' /*!< Abgrundsensoren*/
|
||||
#define CMD_SENS_LINE 'L' /*!< Liniensensoren*/
|
||||
#define CMD_SENS_LDR 'H' /*!< Helligkeitssensoren */
|
||||
#define CMD_SENS_TRANS 'T' /*!< Ueberwachung Transportfach */
|
||||
#define CMD_SENS_DOOR 'D' /*!< Ueberwachung Klappe */
|
||||
#define CMD_SENS_MOUSE 'm' /*!< Maussensor */
|
||||
#define CMD_SENS_ERROR 'e' /*!< Motor- oder Batteriefehler */
|
||||
#define CMD_SENS_RC5 'R' /*!< IR-Fernbedienung */
|
||||
|
||||
#define CMD_SENS_MOUSE_PICTURE 'P' /*!< Bild vom Maussensor in data_l steht, welche Nummer da 1. Pixel hat*/
|
||||
|
||||
|
||||
// Aktuatoren
|
||||
#define CMD_AKT_MOT 'M' /*!< Motorgeschwindigkeit */
|
||||
#define CMD_AKT_DOOR 'd' /*!< Steuerung Klappe */
|
||||
#define CMD_AKT_SERVO 'S' /*!< Steuerung Servo */
|
||||
#define CMD_AKT_LED 'l' /*!< LEDs steuern */
|
||||
#define CMD_AKT_LCD 'c' /*!< LCD Anzeige */
|
||||
|
||||
#define CMD_DONE 'X' /*!< Markiert das Ende einer Uebertragung */
|
||||
|
||||
|
||||
#define SUB_CMD_NORM 'N' /*!< Standard-Kommando */
|
||||
#define SUB_CMD_LEFT 'L' /*!< Kommmando fuer links */
|
||||
#define SUB_CMD_RIGHT 'R' /*!< Kommando fuer rechts */
|
||||
|
||||
|
||||
// Subcommandos fuer LCD
|
||||
#define SUB_LCD_CLEAR 'c' /*!< Subkommando Clear Screen */
|
||||
#define SUB_LCD_DATA 'D' /*!< Subkommando Text ohne Cursor */
|
||||
#define SUB_LCD_CURSOR 'C' /*!< Subkommando Cursorkoordinaten */
|
||||
|
||||
// Log-Ausgaben
|
||||
#define CMD_LOG 'O' /*!< Logausgaben */
|
||||
|
||||
//Kommandos fuer die Verbindung zum c't-Sim
|
||||
#define CMD_WELCOME 'W' /*!< Kommado zum anmelden an c't-Sim */
|
||||
#define SUB_WELCOME_REAL 'R' /*!< Subkommado zum anmelden eine realen Bots an c't-Sim */
|
||||
#define SUB_WELCOME_SIM 'S' /*!< Subkommado zum anmelden eines simulierten Bots an c't-Sim */
|
||||
|
||||
//Kommandos fuer die Remote-Calls
|
||||
#define CMD_REMOTE_CALL 'r' /*!< Kommado fuer Remote-Calls */
|
||||
#define SUB_REMOTE_CALL_LIST 'L' /*!< Anforderung an den Bot alle verfuegbaren Kommandos zu listen */
|
||||
#define SUB_REMOTE_CALL_ENTRY 'E' /*!< Hiermit leifert der Bot ein erfuegbares Kommandos an den PC */
|
||||
#define SUB_REMOTE_CALL_ORDER 'O' /*!< Hiermit gibt der PC einen Remote-call in Auftrag */
|
||||
#define SUB_REMOTE_CALL_DONE 'D' /*!< Hiermit signalisiert der MCU dem PC die beendigung des Auftrags. Ergebins steht in DataL 0=FAIL 1=SUCCESS */
|
||||
|
||||
|
||||
|
||||
#define DIR_REQUEST 0 /*!< Richtung fuer Anfragen */
|
||||
#define DIR_ANSWER 1 /*!< Richtung fuer Antworten */
|
||||
|
||||
#ifdef PC // Auf dem PC muss der Zugriff auf received_command Thread-sicher sein
|
||||
#include <pthread.h>
|
||||
extern pthread_mutex_t command_mutex; /*!< Zugriff auf das Kommando */
|
||||
#define command_lock() pthread_mutex_lock(&command_mutex) /*!< Zugriff auf das Kommando */
|
||||
#define command_unlock() pthread_mutex_unlock(&command_mutex) /*!< Zugriff auf das Kommando */
|
||||
#endif
|
||||
|
||||
|
||||
extern command_t received_command; /*!< Puffer fuer Kommandos */
|
||||
|
||||
/*!
|
||||
* Liest ein Kommando ein, ist blockierend!
|
||||
* greift auf low_read() zurueck
|
||||
* @see low_read()
|
||||
*/
|
||||
int8 command_read(void);
|
||||
|
||||
/*!
|
||||
* Uebertraegt ein Kommando und wartet nicht auf eine Antwort
|
||||
* @param command Kennung zum Command
|
||||
* @param subcommand Kennung des Subcommand
|
||||
* @param data_l Daten fuer den linken Kanal
|
||||
* @param data_r Daten fuer den rechten Kanal
|
||||
* @param payload Anzahl der Bytes, die diesem Kommando als Payload folgen
|
||||
*/
|
||||
void command_write(uint8 command, uint8 subcommand, int16* data_l,int16* data_r,uint8 payload);
|
||||
|
||||
/*!
|
||||
* Gibt dem Simulator Daten mit Anhang und wartet nicht auf Antwort
|
||||
* @param command Kennung zum Command
|
||||
* @param subcommand Kennung des Subcommand
|
||||
* @param data_l Daten fuer den linken Kanal
|
||||
* @param data_r Daten fuer den rechten Kanal
|
||||
* @param data Datenanhang an das eigentliche Command
|
||||
*/
|
||||
void command_write_data(uint8 command, uint8 subcommand, int16* data_l, int16* data_r, const char* data);
|
||||
|
||||
/*!
|
||||
* Gibt dem Simulator Daten mit Anhang und wartet nicht auf Antwort
|
||||
* @param command Kennung zum Command
|
||||
* @param subcommand Kennung des Subcommand
|
||||
* @param data_l Daten fuer den linken Kanal
|
||||
* @param data_r Daten fuer den rechten Kanal
|
||||
* @param payload Anzahl der Bytes im Anhang
|
||||
* @param data Datenanhang an das eigentliche Command
|
||||
*/
|
||||
void command_write_rawdata(uint8 command, uint8 subcommand, int16* data_l, int16* data_r, uint8 payload, uint8* data);
|
||||
|
||||
/*!
|
||||
* Wertet das Kommando im Puffer aus
|
||||
* return 1, wenn Kommando schon bearbeitet wurde, 0 sonst
|
||||
*/
|
||||
int command_evaluate(void);
|
||||
|
||||
/*!
|
||||
* Gibt ein Kommando auf dem Bildschirm aus
|
||||
*/
|
||||
void command_display(command_t * command);
|
||||
|
||||
#endif
|
||||
41
source/ct-Bot/include/delay.h
Normal file
41
source/ct-Bot/include/delay.h
Normal file
|
|
@ -0,0 +1,41 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file delay.h
|
||||
* @brief Hilfsroutinen
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 20.12.05
|
||||
*/
|
||||
#ifndef delay_H_
|
||||
#define delay_H_
|
||||
|
||||
|
||||
/*!
|
||||
* Warte 100 ms
|
||||
*/
|
||||
void delay_100ms(void);
|
||||
|
||||
/*!
|
||||
* Verzoegert um ms Millisekunden
|
||||
* Wenn RTC_AVAILABLE, dann ueber rtc, sonst ueber delay_100ms
|
||||
* ==> Aufloesung ohne rtc: 100-ms-schritte; mit rtc: 5-ms-Schritte
|
||||
* @param ms Anzahl der Millisekunden
|
||||
*/
|
||||
void delay(int ms);
|
||||
#endif
|
||||
69
source/ct-Bot/include/display.h
Normal file
69
source/ct-Bot/include/display.h
Normal file
|
|
@ -0,0 +1,69 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file display.h
|
||||
* @brief Routinen zur Displaysteuerung
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 20.12.05
|
||||
*/
|
||||
|
||||
#ifndef display_H_
|
||||
#define display_H_
|
||||
|
||||
#define DISPLAY_LENGTH 20 /*!< Wieviele Zeichen passen in eine Zeile */
|
||||
|
||||
extern uint8 display_update; /*!< Muss das Display aktualisiert werden? */
|
||||
#ifdef DISPLAY_SCREENS_AVAILABLE
|
||||
#define DISPLAY_SCREENS 5 /*!< Anzahl der Screens */
|
||||
#define DISPLAY_SCREEN_TOGGLE 42 /*!< Screen-Nummer, die zum wechseln verwendet wird */
|
||||
extern uint8 display_screen; /*!< Welcher Screen soll gezeigt werden? */
|
||||
#endif
|
||||
|
||||
/*!
|
||||
* Init Display
|
||||
*/
|
||||
void display_init(void);
|
||||
|
||||
/*!
|
||||
* Zeigt einen String an
|
||||
* @return -1 falls String zu Ende, 0 falls Zeile (20 zeichen) zu Ende
|
||||
*/
|
||||
//int display_string(char data[20]);
|
||||
|
||||
/*!
|
||||
* Loescht das ganze Display
|
||||
*/
|
||||
void display_clear(void);
|
||||
|
||||
/*!
|
||||
* Positioniert den Cursor
|
||||
* @param row Zeile
|
||||
* @param column Spalte
|
||||
*/
|
||||
void display_cursor (uint8 row, uint8 column) ;
|
||||
|
||||
/*!
|
||||
* Schreibt einen String auf das Display.
|
||||
* @param format Format, wie beim printf
|
||||
* @param ... Variable Argumentenliste, wie beim printf
|
||||
*/
|
||||
void display_printf(char *format, ...);
|
||||
|
||||
//void display_test();
|
||||
#endif
|
||||
68
source/ct-Bot/include/ena.h
Normal file
68
source/ct-Bot/include/ena.h
Normal file
|
|
@ -0,0 +1,68 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file ena.h
|
||||
* @brief Routinen zur Steuerung der Enable-Leitungen
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 26.12.05
|
||||
*/
|
||||
|
||||
#ifndef ENA_H_
|
||||
#define ENA_H_
|
||||
|
||||
#ifndef MMC_LOW_H_
|
||||
#include "global.h"
|
||||
#endif
|
||||
|
||||
#define ENA_ABSTAND (1<<0) /*!< Enable-Leitung Abstandssensoren */
|
||||
#define ENA_RADLED (1<<1) /*!< Enable-Leitung Radencoder */
|
||||
#define ENA_SCHRANKE (1<<2) /*!< Enable-Leitung Fachueberwachung */
|
||||
#define ENA_KANTLED (1<<3) /*!< Enable-Leitung Angrundsensor */
|
||||
#define ENA_KLAPPLED (1<<4) /*!< Enable-Leitung Schieberueberwachung */
|
||||
#define ENA_MAUS (1<<5) /*!< Enable-Leitung Liniensensor auf Mausplatine */
|
||||
#define ENA_MMC (1<<6) /*!< Enable-Leitung Reserve 1 */
|
||||
#define ENA_MOUSE_SENSOR (1<<7) /*!< Enable-Leitung Reserve 2 */
|
||||
|
||||
#ifndef MMC_LOW_H_
|
||||
/*!
|
||||
* Initialisiert die Enable-Leitungen
|
||||
*/
|
||||
void ENA_init(void);
|
||||
|
||||
/*!
|
||||
* Schaltet einzelne Enable-Leitungen an,
|
||||
* andere werden nicht beeinflusst
|
||||
* @param enable Bitmaske der anzuschaltenden LEDs
|
||||
*/
|
||||
void ENA_on(uint8 enable);
|
||||
|
||||
/*!
|
||||
* Schaltet einzelne Enable-Leitungen aus,
|
||||
* andere werden nicht beeinflusst
|
||||
* @param enable Bitmaske der anzuschaltenden LEDs
|
||||
*/
|
||||
void ENA_off(uint8 enable);
|
||||
|
||||
/*!
|
||||
* Schaltet die Enable-Leitungen
|
||||
* @param enable Wert der eingestellt werden soll
|
||||
*/
|
||||
void ENA_set(uint8 enable);
|
||||
#endif
|
||||
#endif
|
||||
67
source/ct-Bot/include/global.h
Normal file
67
source/ct-Bot/include/global.h
Normal file
|
|
@ -0,0 +1,67 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file global.h
|
||||
* @brief Allgemeine Definitionen
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 20.12.05
|
||||
*/
|
||||
|
||||
#ifndef global_H
|
||||
#define global_H /*!< Bereits definiert */
|
||||
|
||||
#ifndef MCU
|
||||
#ifndef PC
|
||||
#define PC /*!< Zielplattform PC */
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifndef WIN32
|
||||
typedef unsigned char byte; /*!< vorzeichenlose 8-Bit-Zahl */
|
||||
typedef byte bool; /*!< True/False-Aussage */
|
||||
#endif
|
||||
|
||||
//#define DOXYGEN /*!< Nur zum Generieren von Doku!!!! */
|
||||
#ifdef DOXYGEN /*!< Nur zum Generieren von Doku!!!! */
|
||||
#define PC /*!< Zielplattform PC */
|
||||
#define MCU /*!< Zielplattform MCU */
|
||||
#define WIN32 /*!< System Windows */
|
||||
#define __linux__ /*!< System Linux */
|
||||
#endif
|
||||
|
||||
typedef unsigned char uint8; /*!< vorzeichenlose 8-Bit-Zahl */
|
||||
typedef unsigned int word; /*!< vorzeichenlose 16-Bit-Zahl */
|
||||
typedef signed char int8; /*!< vorzeichenbehaftete 8-Bit-Zahl */
|
||||
typedef short int int16; /*!< vorzeichenbehaftete 16-Bit-Zahl */
|
||||
|
||||
typedef unsigned long uint32; /*!< vorzeichenlose 32-Bit-Zahl */
|
||||
typedef signed long int32; /*!< vorzeichenbehaftete 32-Bit-Zahl */
|
||||
|
||||
#define uint16 word /*!< Int mit 16 Bit */
|
||||
|
||||
#define True 1 /*!< Wahr */
|
||||
#define False 0 /*!< Falsch */
|
||||
|
||||
#define On 1 /*!< An */
|
||||
#define Off 0 /*!< Aus */
|
||||
|
||||
// #define PI 3.14159 /*!< Kreiszahl Pi fuer trigonometrische Berechnungen */
|
||||
#define binary(var,bit) ((var >> bit)&1)
|
||||
//#define NULL 0
|
||||
#endif
|
||||
51
source/ct-Bot/include/ir-rc5.h
Normal file
51
source/ct-Bot/include/ir-rc5.h
Normal file
|
|
@ -0,0 +1,51 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file ir-rc5.h
|
||||
* @brief Routinen fuer die Dekodierung von RC5-Fernbedienungs-Codes
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 20.12.05
|
||||
*/
|
||||
#ifndef ir_rc5_H_
|
||||
#define ir_rc5_H_
|
||||
|
||||
|
||||
#include "ct-Bot.h"
|
||||
#include "global.h"
|
||||
|
||||
|
||||
extern volatile uint16 ir_data; /*!< letztes komplett gelesenes RC5-Paket */
|
||||
|
||||
/*!
|
||||
* Init IR-System
|
||||
*/
|
||||
void ir_init (void);
|
||||
|
||||
/*!
|
||||
* IR-Daten lesen
|
||||
* @return Wert von ir_data, loescht anschliessend ir_data
|
||||
*/
|
||||
uint16 ir_read (void);
|
||||
|
||||
/*!
|
||||
* Interrupt Serviceroutine,
|
||||
* wird ca. alle 177.8 <EFBFBD>s aufgerufen
|
||||
*/
|
||||
void ir_isr (void);
|
||||
#endif
|
||||
86
source/ct-Bot/include/led.h
Normal file
86
source/ct-Bot/include/led.h
Normal file
|
|
@ -0,0 +1,86 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file led.h
|
||||
* @brief Routinen zur LED-Steuerung
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 26.12.05
|
||||
*/
|
||||
|
||||
#ifndef led_H_
|
||||
#define led_H_
|
||||
|
||||
#include "ct-Bot.h"
|
||||
|
||||
#define LED_RECHTS (1<<0) /*!< LED in Fahrichtung rechts*/
|
||||
#define LED_LINKS (1<<1) /*!< LED in Fahrichtung links*/
|
||||
#define LED_ROT (1<<2) /*!< LED Rot */
|
||||
#define LED_ORANGE (1<<3) /*!< LED Orange */
|
||||
#define LED_GELB (1<<4) /*!< LED Gelb */
|
||||
#define LED_GRUEN (1<<5) /*!< LED Gruen */
|
||||
#define LED_TUERKIS (1<<6) /*!< LED Tuerkis */
|
||||
#define LED_WEISS (1<<7) /*!< LED Weiss */
|
||||
|
||||
#define LED_ALL 0xFF /*!< LED Alle */
|
||||
|
||||
/*! Datenfeld fuer den Zugriff auf die LEDs */
|
||||
typedef struct {
|
||||
uint8 rechts:1; /*!< LED in Fahrichtung rechts*/
|
||||
uint8 links:1; /*!< LED in Fahrichtung links*/
|
||||
|
||||
uint8 rot:1; /*!< LED Rot */
|
||||
uint8 orange:1; /*!< LED Orange */
|
||||
|
||||
uint8 gelb:1; /*!< LED Gelb */
|
||||
uint8 gruen:1; /*!< LED Gruen */
|
||||
|
||||
uint8 tuerkis:1; /*!< LED Tuerkis */
|
||||
uint8 weiss:1; /*!< LED Weiss */
|
||||
#ifndef DOXYGEN
|
||||
} __attribute__ ((packed)) led_t;
|
||||
#else
|
||||
} led_t;
|
||||
#endif
|
||||
|
||||
extern uint8 led;
|
||||
|
||||
/*!
|
||||
* Initialisiert die LEDs
|
||||
*/
|
||||
void LED_init(void);
|
||||
|
||||
/*!
|
||||
* Zeigt eine 8-Bit Variable mit den LEDs an
|
||||
* @param LED Wert der gezeigt werden soll
|
||||
*/
|
||||
void LED_set(uint8 LED);
|
||||
|
||||
/*! Schaltet eine LED aus
|
||||
*
|
||||
* @param LED HEX-Code der LED
|
||||
*/
|
||||
void LED_off(uint8 LED);
|
||||
|
||||
/*! Schaltet eine LED an
|
||||
*
|
||||
* @param LED HEX-Code der LED
|
||||
*/
|
||||
void LED_on(uint8 LED);
|
||||
|
||||
#endif
|
||||
172
source/ct-Bot/include/log.h
Normal file
172
source/ct-Bot/include/log.h
Normal file
|
|
@ -0,0 +1,172 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file log.c
|
||||
* @brief Routinen zum Loggen von Informationen. Es sollten ausschliesslich nur
|
||||
* die Log-Makros: LOG_DEBUG(), LOG_INFO(), LOG_WARN(), LOG_ERROR() und LOG_FATAL()
|
||||
* verwendet werden.
|
||||
* Eine Ausgabe kann wie folgt erzeugt werden:
|
||||
* LOG_DEBUG(("Hallo Welt!"));
|
||||
* LOG_INFO(("Wert x=%d", x));
|
||||
* Wichtig ist die doppelte Klammerung. Bei den Ausgaben kann auf ein Line Feed
|
||||
* '\n' am Ende des Strings verzichtet werden, da dies automatisch angeh<EFBFBD>ngt
|
||||
* hinzugefuegt wird.
|
||||
*
|
||||
* <pre>
|
||||
* Die Logausgaben werden generell mit der Definition von LOG_AVAILABLE eingeschaltet
|
||||
* und sind ansonsten nicht aktiv.
|
||||
*
|
||||
* Loggings auf dem PC:
|
||||
* --------------------
|
||||
* Hier stehen drei Arten der Ausgabeschnittstellen zur Verfuegung.
|
||||
* 1. Logging ueber ct-Sim: LOG_CTSIM_AVAILABLE muss definiert sein.
|
||||
* 2. Logging ueber Display: LOG_DISPLAY_AVAILABLE muss definiert sein, sowie
|
||||
* DISPLAY_AVAILABLE und DISPLAY_SCREENS_AVAILABLE.
|
||||
* Logging erfolgt auf Screen 5.
|
||||
* 3. Logging ueber Konsole: Es muss LOG_STDOUT_AVAILABLE definiert sein.
|
||||
*
|
||||
* LOG_UART_AVAILABLE steht auf dem PC nicht zur Verfuegung.
|
||||
*
|
||||
* Loggings auf dem MCU:
|
||||
* ---------------------
|
||||
* Hier stehen drei Arten der Ausgabeschnittstellen zur Verfuegung.
|
||||
* 1. Logging ueber UART: LOG_UART_AVAILABLE muss definiert sein.
|
||||
* Es darf BOT_2_PC_AVAILABLE nicht definiert sein, da ansonsten
|
||||
* diese Kommunikation ueber den UART laeuft.
|
||||
* 2. Logging ueber ct-Sim: LOG_CTSIM_AVAILABLE muss definiert sein.
|
||||
* BOT_2_PC_AVAILABLE muss zusaetzlich definiert sein.
|
||||
* 3. Logging ueber Display: LOG_DISPLAY_AVAILABLE muss definiert sein, sowie
|
||||
* DISPLAY_AVAILABLE und DISPLAY_SCREENS_AVAILABLE.
|
||||
* Logging erfolgt auf Screen 5.
|
||||
* </pre>
|
||||
*
|
||||
* @author Andreas Merkle (mail@blue-andi.de)
|
||||
* @date 27.02.06
|
||||
*/
|
||||
|
||||
#ifndef LOG_H_
|
||||
#define LOG_H_
|
||||
|
||||
#include "ct-Bot.h"
|
||||
|
||||
#ifdef LOG_AVAILABLE
|
||||
|
||||
/*!
|
||||
* Allgemeines Debugging (Methode DiesUndDas wurde mit Parameter SoUndSo
|
||||
* aufgerufen ...)
|
||||
*/
|
||||
#define LOG_DEBUG(__dbg) log_begin(__FILE__, __LINE__, LOG_TYPE_DEBUG), \
|
||||
log_printf __dbg, \
|
||||
log_end()
|
||||
|
||||
/*!
|
||||
* Allgemeine Informationen (Programm gestartet, Programm beendet, Verbindung
|
||||
* zu Host Foo aufgebaut, Verarbeitung dauerte SoUndSoviel Sekunden ...)
|
||||
*/
|
||||
#define LOG_INFO(__dbg) log_begin(__FILE__, __LINE__, LOG_TYPE_INFO), \
|
||||
log_printf __dbg, \
|
||||
log_end()
|
||||
|
||||
/*!
|
||||
* Auftreten einer unerwarteten Situation.
|
||||
*/
|
||||
#define LOG_WARN(__dbg) log_begin(__FILE__, __LINE__, LOG_TYPE_WARN), \
|
||||
log_printf __dbg, \
|
||||
log_end()
|
||||
|
||||
/*!
|
||||
* Fehler aufgetreten, Bearbeitung wurde alternativ fortgesetzt.
|
||||
*/
|
||||
#define LOG_ERROR(__dbg) log_begin(__FILE__, __LINE__, LOG_TYPE_ERROR), \
|
||||
log_printf __dbg, \
|
||||
log_end()
|
||||
|
||||
/*!
|
||||
* Kritischer Fehler, Programmabbruch.
|
||||
*/
|
||||
#define LOG_FATAL(__dbg) log_begin(__FILE__, __LINE__, LOG_TYPE_FATAL), \
|
||||
log_printf __dbg, \
|
||||
log_end()
|
||||
|
||||
#else
|
||||
|
||||
/*!
|
||||
* Allgemeines Debugging (Methode DiesUndDas wurde mit Parameter SoUndSo
|
||||
* aufgerufen ...)
|
||||
*/
|
||||
#define LOG_DEBUG(__dbg)
|
||||
|
||||
/*!
|
||||
* Allgemeine Informationen (Programm gestartet, Programm beendet, Verbindung
|
||||
* zu Host Foo aufgebaut, Verarbeitung dauerte SoUndSoviel Sekunden ...)
|
||||
*/
|
||||
#define LOG_INFO(__dbg)
|
||||
|
||||
/*!
|
||||
* Auftreten einer unerwarteten Situation.
|
||||
*/
|
||||
#define LOG_WARN(__dbg)
|
||||
|
||||
/*!
|
||||
* Fehler aufgetreten, Bearbeitung wurde alternativ fortgesetzt.
|
||||
*/
|
||||
#define LOG_ERROR(__dbg)
|
||||
|
||||
/*!
|
||||
* Kritischer Fehler, Programmabbruch.
|
||||
*/
|
||||
#define LOG_FATAL(__dbg)
|
||||
|
||||
#endif /* LOG_AVAILABLE */
|
||||
|
||||
/*! Dieser Typ definiert die Typen der Log-Ausgaben. */
|
||||
typedef enum {
|
||||
LOG_TYPE_DEBUG = 0, /*!< Allgemeines Debugging */
|
||||
LOG_TYPE_INFO, /*!< Allgemeine Informationen */
|
||||
LOG_TYPE_WARN, /*!< Auftreten einer unerwarteten Situation */
|
||||
LOG_TYPE_ERROR, /*!< Fehler aufgetreten */
|
||||
LOG_TYPE_FATAL /*!< Kritischer Fehler */
|
||||
} LOG_TYPE;
|
||||
|
||||
#ifdef LOG_AVAILABLE
|
||||
|
||||
/*!
|
||||
* Schreibt Angaben ueber Datei, Zeilennummer und den Log-Typ in den Puffer.
|
||||
* Achtung, Mutex wird gelockt und muss explizit durch log_end() wieder
|
||||
* freigegeben werden!
|
||||
* @param filename Dateiname
|
||||
* @param line Zeilennummer
|
||||
* @param log_type Log-Typ
|
||||
*/
|
||||
extern void log_begin(char *filename, unsigned int line, LOG_TYPE log_type);
|
||||
|
||||
/*!
|
||||
* Schreibt die eigentliche Ausgabeinformation in den Puffer.
|
||||
* @param format Format
|
||||
*/
|
||||
extern void log_printf(char *format, ...);
|
||||
|
||||
/*!
|
||||
* Gibt den Puffer entsprechend aus.
|
||||
*/
|
||||
extern void log_end(void);
|
||||
|
||||
#endif /* LOG_AVAILABLE */
|
||||
|
||||
#endif /*LOG_H_*/
|
||||
149
source/ct-Bot/include/map.h
Normal file
149
source/ct-Bot/include/map.h
Normal file
|
|
@ -0,0 +1,149 @@
|
|||
#ifndef MAP_H_
|
||||
#define MAP_H_
|
||||
|
||||
|
||||
/*
|
||||
* c't-Bot - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file map.h
|
||||
* @brief Karte
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 19.09.06
|
||||
*/
|
||||
#include <stdio.h>
|
||||
#include "ct-Bot.h"
|
||||
|
||||
#ifdef MAP_AVAILABLE
|
||||
|
||||
/* Es lohnt nicht gigantische Karten auszugeben, wenn sie nichts enthalten, daher hier zwei Varianten, um die Karte auf die realen groesse zu reduzieren */
|
||||
#define SHRINK_MAP_ONLINE /*!< Wenn gesetzt, wird bei jedem update der belegte Bereich der Karte protokolliert. Pro: schnelle ausgabe Contra permanenter aufwand */
|
||||
//#define SHRINK_MAP_OFFLINE /*!< Wenn gesetzt, wird erst beid er Ausgabe der belegte Bereich der Karte berechnet. Pro: kein permanenter aufwand Contra: ausgabe dauert lange */
|
||||
|
||||
#ifdef MCU
|
||||
#ifdef MMC_AVAILABLE
|
||||
#define MAP_SIZE 4 /*! Kantenlaenge der Karte in Metern. Ursprung ist der Startplatz des Bots */
|
||||
#define MAP_RESOLUTION 128 /*!< Aufloesung der Karte in Punkte pro Meter */
|
||||
#define MAP_SECTION_POINTS 16 /*!< Kantenlaenge einer Section in Punkten ==> eine Section braucht MAP_SECTION_POINTS*MAP_SECTION_POINTS Bytes */
|
||||
#else
|
||||
#define MAP_SIZE 4 /*! Kantenlaenge der Karte in Metern. Ursprung ist der Startplatz des Bots */
|
||||
#define MAP_SECTION_POINTS 32 /*!< Kantenlaenge einer Section in Punkten ==> eine Section braucht MAP_SECTION_POINTS*MAP_SECTION_POINTS Bytes */
|
||||
#define MAP_RESOLUTION (MAP_SECTION_POINTS/MAP_SIZE) /*!< Aufloesung der Karte in Punkte pro Meter */
|
||||
#endif
|
||||
#else
|
||||
#define MAP_SIZE 4 /*! Kantenlaenge der Karte in Metern. Ursprung ist der Startplatz des Bots */
|
||||
#define MAP_RESOLUTION 128 /*!< Aufloesung der Karte in Punkte pro Meter */
|
||||
#define MAP_SECTION_POINTS 16 /*!< Kantenlaenge einer Section in Punkten ==> eine Section braucht MAP_SECTION_POINTS*MAP_SECTION_POINTS Bytes */
|
||||
#endif
|
||||
|
||||
// Die folgenden Variablen/konstanten NICHT direkt benutzen, sondern die zugehoerigen Makros: get_map_min_x() und Co!
|
||||
// Denn sonst erhaelt man Karten und nicht Weltkoordinaten!
|
||||
#ifdef SHRINK_MAP_ONLINE
|
||||
extern uint16 map_min_x; /*!< belegter Bereich der Karte [Kartenindex]: kleinste X-Koordinate */
|
||||
extern uint16 map_max_x; /*!< belegter Bereich der Karte [Kartenindex]: groesste X-Koordinate */
|
||||
extern uint16 map_min_y; /*!< belegter Bereich der Karte [Kartenindex]: kleinste Y-Koordinate */
|
||||
extern uint16 map_max_y; /*!< belegter Bereich der Karte [Kartenindex]: groesste Y-Koordinate */
|
||||
#else
|
||||
#define map_min_x 0
|
||||
#define map_min_y 0
|
||||
#define map_max_x (MAP_SIZE*MAP_RESOLUTION)
|
||||
#define map_max_y (MAP_SIZE*MAP_RESOLUTION)
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* Aktualisiert die interne Karte
|
||||
* @param x X-Achse der Position
|
||||
* @param y Y-Achse der Position
|
||||
* @param head Blickrichtung in Grad
|
||||
* @param distL Sensorwert links
|
||||
* @param distR Sensorwert rechts
|
||||
*/
|
||||
void update_map(float x, float y, float head, int16 distL, int16 distR);
|
||||
|
||||
/*!
|
||||
* Aktualisiert den Standkreis der internen Karte
|
||||
* @param x X-Achse der Position
|
||||
* @param y Y-Achse der Position
|
||||
*/
|
||||
void update_map_location(float x, float y);
|
||||
|
||||
/*!
|
||||
* liefert den Wert eines Feldes
|
||||
* @param x x-Ordinate der Karte (nicht der Welt!!!)
|
||||
* @param y y-Ordinate der Karte (nicht der Welt!!!)
|
||||
* @return Wert des Feldes (>0 heisst frei, <0 heisst belegt
|
||||
*/
|
||||
int8 map_get_field (uint16 x, uint16 y);
|
||||
|
||||
/*!
|
||||
* liefert den Wert eines Feldes
|
||||
* @param x x-Ordinate der Welt
|
||||
* @param y y-Ordinate der Welt
|
||||
* @return Wert des Feldes (>0 heisst frei, <0 heisst belegt
|
||||
*/
|
||||
int8 map_get_point (float x, float y);
|
||||
|
||||
/*!
|
||||
* Konvertiert eine Weltkoordinate in eine Kartenkoordinate
|
||||
* @param koord Weltkordiante
|
||||
* @return kartenkoordinate
|
||||
*/
|
||||
uint16 world_to_map(float koord);
|
||||
|
||||
/*!
|
||||
* Konvertiert eine Kartenkoordinate in eine Weltkoordinate
|
||||
* @param map_koord kartenkoordinate
|
||||
* @return Weltkordiante
|
||||
*/
|
||||
float map_to_world(uint16 map_koord);
|
||||
|
||||
/*!
|
||||
* Zeigt die Karte an
|
||||
*/
|
||||
void print_map(void);
|
||||
|
||||
/*!
|
||||
* initialisiere die Karte
|
||||
* @return 0 wenn alles ok ist
|
||||
*/
|
||||
int8 map_init(void);
|
||||
|
||||
/*! Liest eine Map wieder ein
|
||||
* @param filename Quelldatei
|
||||
*/
|
||||
void read_map(char * filename);
|
||||
|
||||
/*!
|
||||
* Schreibt einbe Karte in eine PGM-Datei
|
||||
* @param filename Zieldatei
|
||||
*/
|
||||
void map_to_pgm(char * filename);
|
||||
|
||||
// Makros, um die belegte kartenbereiche (in weltkoordinaten) zu ermitteln
|
||||
#define map_get_min_x() map_to_world(map_min_x)
|
||||
#define map_get_min_y() map_to_world(map_min_y)
|
||||
#define map_get_max_x() map_to_world(map_max_x)
|
||||
#define map_get_max_y() map_to_world(map_max_y)
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
#endif /*MAP_H_*/
|
||||
63
source/ct-Bot/include/mini-fat.h
Normal file
63
source/ct-Bot/include/mini-fat.h
Normal file
|
|
@ -0,0 +1,63 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file mini-fat.h
|
||||
* @brief Routinen zum Auffinden von markierten Files auf einer MMC-Karte.
|
||||
* Dies ist keine vollstaendige FAT-Unterstuetzung, sondern sucht nur eien Datei, die mit einer 3-Zeichen Sequenz beginnt.
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @author Ulrich Radig (mail@ulrichradig.de) www.ulrichradig.de
|
||||
* @date 07.11.06
|
||||
*/
|
||||
|
||||
#ifndef MINIFAT_H_
|
||||
#define MINIFAT_H_
|
||||
|
||||
#include "ct-Bot.h"
|
||||
|
||||
#define MMC_FILENAME_MAX 255 /*!< Maximale Dateienamenlaenge in Zeichen [1;255] */
|
||||
|
||||
typedef union{
|
||||
uint32 u32; // Laenge in 32 Bit
|
||||
uint8 u8[4]; // laenge in 4 "einzelnen" Bytes
|
||||
} file_len_t;
|
||||
|
||||
#ifdef MINI_FAT_AVAILABLE
|
||||
|
||||
/*!
|
||||
* Sucht einen Block auf der MMC-Karte, dessen erste drei Bytes dem key entsprechen
|
||||
* liefert dann den folgenden Block zurueck.
|
||||
* Achtung das prinzip geht nur, wenn die Dateien nicht fragmentiert sind
|
||||
* @param key 3 Byte zur Identifikation
|
||||
* @param buffer Zeiger auf 512 Byte Puffer im SRAM
|
||||
*/
|
||||
uint32 mini_fat_find_block(const char key[3], uint8* buffer);
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef PC
|
||||
/*! Erzeugt eine Datei, die an den ersten 3 Byte die ID- enthaelt. dann folgen 512 - sizeof(id) nullen
|
||||
* Danach kommen so viele size kByte Nullen
|
||||
* @param filename Der Dateiname der zu erzeugenden Datei
|
||||
* @param id_string Die ID des Files, wie sie zu beginn steht
|
||||
* @param size kByte Nutzdaten, die der MCU spaeter beschreiben darf
|
||||
*/
|
||||
void create_mini_fat_file(const char* filename, const char* id_string, uint32 size);
|
||||
#endif
|
||||
|
||||
#endif /*MINIFAT_H_*/
|
||||
85
source/ct-Bot/include/mmc-emu.h
Normal file
85
source/ct-Bot/include/mmc-emu.h
Normal file
|
|
@ -0,0 +1,85 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*!
|
||||
* @file mmc-emu.h
|
||||
* @brief MMC / SD-Card Emulation fuer PC
|
||||
* @author Timo Sandmann (mail@timosandmann.de)
|
||||
* @date 10.12.2006
|
||||
*/
|
||||
|
||||
#ifndef MMC_EMU_H_
|
||||
#define MMC_EMU_H_
|
||||
|
||||
#include "ct-Bot.h"
|
||||
|
||||
#ifdef PC
|
||||
|
||||
/*!
|
||||
* Checkt Initialisierung der emulierten Karte
|
||||
* @return 0, wenn initialisiert
|
||||
* @see mcu/mmc.c
|
||||
* @date 29.12.2006
|
||||
*/
|
||||
inline uint8 mmc_emu_get_init_state(void);
|
||||
|
||||
/*!
|
||||
* Initialisiere die emulierte SD/MMC-Karte
|
||||
* @return 0 wenn allles ok, sonst 1
|
||||
* @see mcu/mmc.c
|
||||
* @date 29.12.2006
|
||||
*/
|
||||
uint8 mmc_emu_init (void);
|
||||
|
||||
/*!
|
||||
* Liest einen Block von der emulierten Karte
|
||||
* @param addr Nummer des 512-Byte Blocks
|
||||
* @param buffer Puffer von mindestens 512 Byte
|
||||
* @return 0 wenn alles ok ist
|
||||
* @see mcu/mmc.c
|
||||
* @date 10.12.2006
|
||||
*/
|
||||
uint8 mmc_emu_read_sector(uint32 addr, uint8* buffer);
|
||||
|
||||
/*!
|
||||
* Schreibt einen 512-Byte Sektor auf die emulierte Karte
|
||||
* @param addr Nummer des 512-Byte Blocks
|
||||
* @param buffer Zeiger auf den Puffer
|
||||
* @param async Wird bei der PC-Version nicht ausgewertet
|
||||
* @return 0 wenn alles ok ist
|
||||
* @date 10.12.2006
|
||||
* @see mcu/mmc.c
|
||||
*/
|
||||
uint8 mmc_emu_write_sector(uint32 addr, uint8* buffer, uint8 async);
|
||||
|
||||
/*!
|
||||
* Liefert die Groesse der emulierten Karte zurueck
|
||||
* @return Groesse der emulierten Karte in Byte.
|
||||
* @date 29.12.2006
|
||||
*/
|
||||
uint32 mmc_emu_get_size(void);
|
||||
|
||||
/*!
|
||||
* Testet VM und MMC / SD-Card Emulation am PC
|
||||
* @date 30.12.2006
|
||||
*/
|
||||
uint8 mmc_emu_test(void);
|
||||
|
||||
#endif // PC
|
||||
#endif /*MMC_H_*/
|
||||
45
source/ct-Bot/include/mmc-low.h
Normal file
45
source/ct-Bot/include/mmc-low.h
Normal file
|
|
@ -0,0 +1,45 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*!
|
||||
* @file mmc-low.h
|
||||
* @brief Low-Level-Routinen zum Lesen/Schreiben einer MMC / SD-Card
|
||||
* @author Timo Sandmann (mail@timosandmann.de)
|
||||
* @date 14.11.06
|
||||
*/
|
||||
|
||||
#ifndef MMC_LOW_H_
|
||||
#define MMC_LOW_H_
|
||||
|
||||
/* Portkonfiguration */
|
||||
#define MMC_PORT_OUT PORTB // Port an der die MMC/SD-Karte angeschlossen ist also des SPI
|
||||
#define MMC_PORT_IN PINB
|
||||
#define MMC_DDR DDRB
|
||||
#define SPI_DI 6 // Port Pin an dem Data Output der MMC/SD-Karte angeschlossen ist
|
||||
#define SPI_DO 5 // Port Pin an dem Data Input der MMC/SD-Karte angeschlossen ist
|
||||
|
||||
#define MMC_CLK_DDR DDRB
|
||||
#define MMC_CLK_PORT PORTB
|
||||
#define SPI_CLK 7 // Port Pin an dem die Clock der MMC/SD-Karte angeschlossen ist (clk)
|
||||
|
||||
#define MMC_TIMEOUT 500 // Wartezyklen auf Cardresponse
|
||||
#define MMC_ASYNC_WRITE 0 // 1 Aktiviert asynchrones Schreiben auf die Karte, wo es sinnvoll ist, 0 schaltet es aus. Funktioniert allerdings nicht mit allen Karten */
|
||||
|
||||
|
||||
#endif // MMC_LOW_H
|
||||
150
source/ct-Bot/include/mmc-vm.h
Normal file
150
source/ct-Bot/include/mmc-vm.h
Normal file
|
|
@ -0,0 +1,150 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*!
|
||||
* @file mmc_vm.h
|
||||
* @brief Virtual Memory Management mit MMC / SD-Card
|
||||
* @author Timo Sandmann (mail@timosandmann.de)
|
||||
* @date 30.11.2006
|
||||
* @see Documentation/mmc-vm.html
|
||||
*/
|
||||
|
||||
#ifndef MMC_VM_H_
|
||||
#define MMC_VM_H_
|
||||
|
||||
#include "ct-Bot.h"
|
||||
|
||||
#ifdef MMC_VM_AVAILABLE
|
||||
|
||||
//#define VM_STATS_AVAILABLE /*!< Schaltet die Leistungsdatensammlung ein und ermoeglicht die Ausgabe einer Statistik */
|
||||
|
||||
#ifdef VM_STATS_AVAILABLE
|
||||
typedef struct{
|
||||
uint32 page_access; /*!< Anzahl der Seitenzugriffe seit Systemstart */
|
||||
uint32 swap_ins; /*!< Anzahl der Seiteneinlagerungen seit Systemstart */
|
||||
uint32 swap_outs; /*!< Anzahl der Seitenauslagerungen seit Systemstart */
|
||||
uint32 vm_used_bytes; /*!< Anzahl der vom VM belegten Bytes auf der MMC / SD-Card */
|
||||
uint32 device_size; /*!< Groesse des Speichervolumes */
|
||||
uint32 vm_size; /*!< Groesse des Virtuellen Speichers */
|
||||
uint8 cache_size; /*!< Groesse des Caches */
|
||||
int8 cache_load; /*!< Belegter Speicher des Caches */
|
||||
uint16 page_access_s; /*!< Seitenzugriffe pro Sekunde */
|
||||
uint16 swap_ins_s; /*!< Pagefaults pro Sekunde */
|
||||
uint16 swap_outs_s; /*!< Seitenauslagerungen pro Sekunde */
|
||||
uint16 delta_t; /*!< Sekunden seit Beginn der Messung */
|
||||
} vm_extern_stats_t;
|
||||
|
||||
/*!
|
||||
* Gibt die Anzahl der Pagefaults seit Systemstart bzw. Ueberlauf zurueck
|
||||
* @return #Pagefaults
|
||||
* @author Timo Sandmann (mail@timosandmann.de)
|
||||
* @date 30.11.2006
|
||||
*/
|
||||
uint32 mmc_get_pagefaults(void);
|
||||
|
||||
/*!
|
||||
* Erstellt eine kleine Statistik ueber den VM
|
||||
* @return Zeiger auf Statistikdaten
|
||||
* @date 01.01.2007
|
||||
*/
|
||||
vm_extern_stats_t* mmc_get_vm_stats(void);
|
||||
|
||||
/*!
|
||||
* Gibt eine kleine Statistik ueber den VM aus (derzeit nur am PC)
|
||||
* @date 01.01.2007
|
||||
*/
|
||||
void mmc_print_statistic(void);
|
||||
#endif
|
||||
|
||||
/*!
|
||||
* Fordert virtuellen Speicher an
|
||||
* @param size Groesse des gewuenschten Speicherblocks
|
||||
* @param aligned 0: egal, 1: 512 Byte ausgerichtet
|
||||
* @return Virtuelle Anfangsadresse des angeforderten Speicherblocks, 0 falls Fehler
|
||||
* @author Timo Sandmann (mail@timosandmann.de)
|
||||
* @date 30.11.2006
|
||||
*/
|
||||
uint32 mmcalloc(uint32 size, uint8 aligned);
|
||||
|
||||
/*!
|
||||
* Gibt einen Zeiger auf einen Speicherblock im RAM zurueck
|
||||
* @param addr Eine virtuelle Adresse
|
||||
* @return Zeiger auf uint8, NULL falls Fehler
|
||||
* @author Timo Sandmann (mail@timosandmann.de)
|
||||
* @date 30.11.2006
|
||||
*/
|
||||
uint8* mmc_get_data(uint32 addr);
|
||||
|
||||
/*!
|
||||
* Gibt die letzte Adresse einer Seite zurueck
|
||||
* @param addr Eine virtuelle Adresse
|
||||
* @return Adresse
|
||||
* @author Timo Sandmann (mail@timosandmann.de)
|
||||
* @date 30.11.2006
|
||||
*/
|
||||
inline uint32 mmc_get_end_of_page(uint32 addr);
|
||||
|
||||
/*!
|
||||
* Erzwingt das Zurueckschreiben einer eingelagerten Seite auf die MMC / SD-Card
|
||||
* @param addr Eine virtuelle Adresse
|
||||
* @return 0: ok, 1: Seite zurzeit nicht eingelagert, 2: Fehler beim Zurueckschreiben
|
||||
* @author Timo Sandmann (mail@timosandmann.de)
|
||||
* @date 15.12.2006
|
||||
*/
|
||||
uint8 mmc_page_write_back(uint32 addr);
|
||||
|
||||
/*!
|
||||
* Schreibt alle eingelagerten Seiten auf die MMC / SD-Card zurueck
|
||||
* @return 0: alles ok, sonst: Fehler beim Zurueckschreiben
|
||||
* @author Timo Sandmann (mail@timosandmann.de)
|
||||
* @date 21.12.2006
|
||||
*/
|
||||
uint8 mmc_flush_cache(void);
|
||||
|
||||
/*!
|
||||
* Oeffnet eine Datei im FAT16-Dateisystem auf der MMC / SD-Card und gibt eine virtuelle Adresse zurueck,
|
||||
* mit der man per mmc_get_data() einen Pointer auf die gewuenschten Daten bekommt. Das Ein- / Auslagern
|
||||
* macht das VM-System automatisch. Der Dateiname muss derzeit am Amfang in der Datei stehen.
|
||||
* Achtung: Irgendwann muss man die Daten per mmc_flush_cache() oder mmc_page_write_back() zurueckschreiben!
|
||||
* @param filename Dateiname als 0-terminierter String
|
||||
* @return Virtuelle Anfangsadresse der angeforderten Datei, 0 falls Fehler
|
||||
* @author Timo Sandmann (mail@timosandmann.de)
|
||||
* @date 21.12.2006
|
||||
*/
|
||||
uint32 mmc_fopen(const char *filename);
|
||||
|
||||
/*!
|
||||
* Leert eine Datei im FAT16-Dateisystem auf der MMC / SD-Card, die zuvor mit mmc_fopen() geoeffnet wurde.
|
||||
* @param file_start (virtuelle) Anfangsadresse der Datei
|
||||
* @return 0: ok, 1: ungueltige Datei oder Laenge, 2: Fehler beim Schreiben
|
||||
* @date 02.01.2007
|
||||
*/
|
||||
uint8 mmc_clear_file(uint32 file_start);
|
||||
|
||||
/*!
|
||||
* Liest die Groesse einer Datei im FAT16-Dateisystem auf der MMC / SD-Card aus, die zu zuvor mit
|
||||
* mmc_fopen() geoeffnet wurde.
|
||||
* @param file_start (virtuelle Anfangsadresse der Datei)
|
||||
* @return Groesse der Datei in Byte
|
||||
* @date 12.01.2007
|
||||
*/
|
||||
uint32 mmc_get_filesize(uint32 file_start);
|
||||
|
||||
#endif // MMC_VM_AVAILABLE
|
||||
#endif // MMC_VM_H_
|
||||
104
source/ct-Bot/include/mmc.h
Normal file
104
source/ct-Bot/include/mmc.h
Normal file
|
|
@ -0,0 +1,104 @@
|
|||
/*
|
||||
* c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file mmc.h
|
||||
* @brief Routinen zum Auslesen/Schreiben einer MMC-Karte
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @author Ulrich Radig (mail@ulrichradig.de) www.ulrichradig.de
|
||||
* @date 07.11.06
|
||||
*/
|
||||
|
||||
#ifndef MMC_H_
|
||||
#define MMC_H_
|
||||
|
||||
#include "ct-Bot.h"
|
||||
|
||||
#ifdef MMC_AVAILABLE
|
||||
|
||||
#define MMC_INFO_AVAILABLE /*!< Die Karte kann uns einiges ueber sich verrraten, wenn wir sie danach fragen. Aber es kostet halt Platz im Flash */
|
||||
//#define MMC_WRITE_TEST_AVAILABLE /*!< Achtung dieser Test zerstoert die Daten auf der Karte!!! */
|
||||
|
||||
/*!
|
||||
* Checkt Initialisierung der Karte
|
||||
* @return 0, wenn initialisiert
|
||||
*/
|
||||
inline uint8 mmc_get_init_state(void);
|
||||
|
||||
uint8 mmc_enable(void);
|
||||
|
||||
/*!
|
||||
* Liest einen Block von der Karte
|
||||
* @param addr Nummer des 512-Byte Blocks
|
||||
* @param Buffer Puffer von mindestens 512 Byte
|
||||
* @return 0 wenn alles ok ist, 1 wenn Init nicht moeglich oder Timeout vor / nach Kommando 17
|
||||
* @author Timo Sandmann (mail@timosandmann.de)
|
||||
* @date 17.11.2006
|
||||
* @see mmc-low.s
|
||||
*/
|
||||
uint8 mmc_read_sector(uint32 addr, uint8 *buffer);
|
||||
|
||||
/*!
|
||||
* Schreibt einen 512-Byte Sektor auf die Karte
|
||||
* @param addr Nummer des 512-Byte Blocks
|
||||
* @param Buffer Zeiger auf den Puffer
|
||||
* @param async 0: synchroner, 1: asynchroner Aufruf, siehe MMC_ASYNC_WRITE in mmc-low.h
|
||||
* @return 0 wenn alles ok ist, 1 wenn Init nicht moeglich oder Timeout vor / nach Kommando 24, 2 wenn Timeout bei busy
|
||||
* @author Timo Sandmann (mail@timosandmann.de)
|
||||
* @date 16.11.2006
|
||||
* @see mmc-low.s
|
||||
*/
|
||||
uint8 mmc_write_sector(uint32 addr, uint8 *buffer, uint8 async);
|
||||
|
||||
/*!
|
||||
* Initialisiere die SD/MMC-Karte
|
||||
* @return 0 wenn allles ok, sonst Nummer des Kommandos bei dem abgebrochen wurde
|
||||
*/
|
||||
uint8 mmc_init (void);
|
||||
|
||||
#ifdef MMC_INFO_AVAILABLE
|
||||
/*!
|
||||
* Liest das CSD-Register (16 Byte) von der Karte
|
||||
* @param Buffer Puffer von mindestens 16 Byte
|
||||
*/
|
||||
void mmc_read_csd (uint8 *buffer);
|
||||
|
||||
/*!
|
||||
* Liest das CID-Register (16 Byte) von der Karte
|
||||
* @param Buffer Puffer von mindestens 16 Byte
|
||||
*/
|
||||
void mmc_read_cid (uint8 *buffer);
|
||||
|
||||
/*!
|
||||
* Liefert die Groesse der Karte zurueck
|
||||
* @return Groesse der Karte in Byte. Bei einer 4 GByte-Karte kommt 0xFFFFFFFF zurueck
|
||||
*/
|
||||
uint32 mmc_get_size(void);
|
||||
#endif
|
||||
|
||||
#ifdef MMC_WRITE_TEST_AVAILABLE
|
||||
/*! Testet die MMC-Karte. Schreibt nacheinander 2 Sektoren a 512 Byte mit testdaten voll und liest sie wieder aus
|
||||
* !!! Achtung loescht die Karte
|
||||
* @return 0, wenn alles ok
|
||||
*/
|
||||
uint8 mmc_test(void);
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
#endif /*MMC_H_*/
|
||||
53
source/ct-Bot/include/motor-low.h
Normal file
53
source/ct-Bot/include/motor-low.h
Normal file
|
|
@ -0,0 +1,53 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file motor-low.h
|
||||
* @brief Low-Level Routinen fuer die Motorsteuerung des c't-Bots
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 01.12.05
|
||||
*/
|
||||
|
||||
#ifndef motor_low_H_
|
||||
#define motor_low_H_
|
||||
|
||||
#include "global.h"
|
||||
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* Initialisiert alles fuer die Motosteuerung
|
||||
*/
|
||||
void motor_low_init(void);
|
||||
|
||||
/*!
|
||||
* Unmittelbarer Zugriff auf die beiden Motoren
|
||||
* normalerweise NICHT verwenden!!!!!
|
||||
* @param left speed links
|
||||
* @param right speed rechts
|
||||
*/
|
||||
void bot_motor(int16 left, int16 right);
|
||||
|
||||
/*!
|
||||
* Stellt die Servos
|
||||
* Sinnvolle Werte liegen zwischen 8 und 16
|
||||
*/
|
||||
void servo_low(uint8 servo, uint8 pos);
|
||||
|
||||
#endif
|
||||
98
source/ct-Bot/include/motor.h
Normal file
98
source/ct-Bot/include/motor.h
Normal file
|
|
@ -0,0 +1,98 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file motor.h
|
||||
* @brief High-Level Routinen fuer die Motorsteuerung des c't-Bots
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 15.01.05
|
||||
*/
|
||||
#ifndef motor_H_
|
||||
#define motor_H_
|
||||
|
||||
|
||||
#include "global.h"
|
||||
#include "ct-Bot.h"
|
||||
|
||||
#define BOT_SPEED_IGNORE 1000 /*!< Wert ausserhalb von -BOT_SPEED_MAX und BOT_SPEED_MAX wird verwendet um einen Eintrag zu ignorieren */
|
||||
#define BOT_SPEED_STOP 0 /*!< Motor aus */
|
||||
|
||||
#define BOT_SPEED_SLOW 49 /*!< langsame Fahrt in mm/s */
|
||||
#define BOT_SPEED_FOLLOW 72 /*!< vorsichtige Fahrt, fuer Folgeverhalten in mm/s */
|
||||
#define BOT_SPEED_MEDIUM 99 /*!< mittlere Fahrt in mm/s */
|
||||
#define BOT_SPEED_NORMAL 144 /*!< normale Fahrt in mm/s */
|
||||
#define BOT_SPEED_FAST 297 /*!< schnelle Fahrt in mm/s */
|
||||
#define BOT_SPEED_MAX 450 /*!< maximale Fahrt in mm/s */
|
||||
|
||||
|
||||
#define DIRECTION_FORWARD 0 /*!< Drehrichtung vorwaerts */
|
||||
#define DIRECTION_BACKWARD 1 /*!< Drehrichtung rueckwaerts */
|
||||
|
||||
|
||||
#define DOOR_CLOSE 7 /*!< Rechter Anschlag des Servos */
|
||||
#define DOOR_OPEN 14 /*!< Linker Anschlag des Servos */
|
||||
#define SERVO_OFF 0 /*!< Servo wird zum stromsparen deaktiviert */
|
||||
|
||||
#define SERVO1 1 /*!< Servo1 */
|
||||
#define SERVO2 2 /*!< Servo1 */
|
||||
|
||||
extern int16 speed_l; /*!< Geschwindigkeit des linken Motors */
|
||||
extern int16 speed_r; /*!< Geschwindigkeit des rechten Motors */
|
||||
|
||||
extern int16 motor_left; /*!< zuletzt gestellter Wert linker Motor */
|
||||
extern int16 motor_right; /*!< zuletzt gestellter Wert rechter Motor */
|
||||
|
||||
|
||||
/*! In diesem Typ steht die Drehrichtung, auch wenn die Speed-Variablen bereits wieder auf Null sind */
|
||||
typedef struct {
|
||||
uint8 left:1;
|
||||
uint8 right:1;
|
||||
#ifndef DOXYGEN
|
||||
} __attribute__ ((packed)) direction_t;
|
||||
#else
|
||||
} direction_t;
|
||||
#endif
|
||||
|
||||
extern direction_t direction; /*!< Drehrichtung der Motoren, auch wenn die Speed-Variablen bereits wieder auf Null sind */
|
||||
|
||||
/*!
|
||||
* Initialisiere den Motorkrams
|
||||
*/
|
||||
void motor_init(void);
|
||||
|
||||
/*!
|
||||
* Direkter Zugriff auf den Motor
|
||||
* @param left Geschwindigkeit fuer den linken Motor
|
||||
* @param right Geschwindigkeit fuer den linken Motor
|
||||
* zwischen -255 und +255;
|
||||
* 0 bedeutet Stillstand, 255 volle Kraft voraus, -255 volle Kraft zurueck
|
||||
* Sinnvoll ist die Verwendung der Konstanten: BOT_SPEED_XXX,
|
||||
* also z.B. motor_set(BOT_SPEED_LOW,-BOT_SPEED_LOW);
|
||||
* fuer eine langsame Drehung
|
||||
*/
|
||||
void motor_set(int16 left, int16 right);
|
||||
|
||||
/*!
|
||||
* Stellt die Servos
|
||||
* Sinnvolle Werte liegen zwischen 8 und 16
|
||||
* @param servo Nummer des Servos
|
||||
* @param servo Zielwert
|
||||
*/
|
||||
void servo_set(uint8 servo, uint8 pos);
|
||||
|
||||
#endif
|
||||
113
source/ct-Bot/include/mouse.h
Normal file
113
source/ct-Bot/include/mouse.h
Normal file
|
|
@ -0,0 +1,113 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file mouse.h
|
||||
* @brief Routinen fuer die Ansteuerung eines optischen Maussensors
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 26.12.05
|
||||
*/
|
||||
|
||||
#ifndef mouse_H_
|
||||
#define mouse_H_
|
||||
|
||||
#define ADNS2610 /*!< Welcher Sensortyp? ADNS2610 oder 2620 */
|
||||
#ifdef ADNS2610
|
||||
/* ADNS2610 */
|
||||
#define MOUSE_CONFIG_REG 0x00 /*!< Reset, Power Down, Forced Awake, etc */
|
||||
#define MOUSE_STATUS_REG 0x01 /*!< Product ID, Mouse state of Asleep or Awake */
|
||||
#define MOUSE_DELTA_Y_REG 0x02 /*!< Y Movement */
|
||||
#define MOUSE_DELTA_X_REG 0x03 /*!< X Movement */
|
||||
#define MOUSE_SQUAL_REG 0x04 /*!< Measure of the number of features visible by the sensor */
|
||||
#define MOUSE_MAX_PIXEL_REG 0x05 /*!< Maximum Pixel value in current frame.*/
|
||||
#define MOUSE_MIN_PIXEL_REG 0x06 /*!< Minimum Pixel value in current frame.*/
|
||||
#define MOUSE_PIXEL_SUM_REG 0x07 /*!< This register is used to find the average pixel value.*/
|
||||
#define MOUSE_PIXEL_DATA_REG 0x08 /*!< Actual picture of surface */
|
||||
#define MOUSE_SHUTTER_UPPER_REG 0x09 /*!< The sensor adjusts the shutter to keep the average and maximum pixel values within normal operating ranges.*/
|
||||
#define MOUSE_SHUTTER_LOWER_REG 0x0A /*!< The sensor adjusts the shutter to keep the average and maximum pixel values within normal operating ranges.*/
|
||||
#define MOUSE_INVERSE_PRODUCT_ID_REG 0x11 /*!< Inverse Product ID */
|
||||
|
||||
#define MOUSE_CFG_RESET 0x80 /*!< Reset Circuit */
|
||||
#define MOUSE_CFG_POWERDOWN 0x40 /*!< Power Down analog Circuit */
|
||||
#define MOUSE_CFG_FORCEAWAKE 0x01 /*!< Keep Sensor awake */
|
||||
|
||||
#else
|
||||
/* ADNS2620 */
|
||||
#define MOUSE_CONFIG_REG 0x40 /*!< Reset, Power Down, Forced Awake, etc */
|
||||
#define MOUSE_STATUS_REG 0x41 /*!< Product ID, Mouse state of Asleep or Awake */
|
||||
#define MOUSE_DELTA_Y_REG 0x42 /*!< Y Movement */
|
||||
#define MOUSE_DELTA_X_REG 0x43 /*!< X Movement */
|
||||
#define MOUSE_SQUAL_REG 0x44 /*!< Measure of the number of features visible by the sensor */
|
||||
#define MOUSE_MAX_PIXEL_REG 0x45 /*!< Maximum Pixel value in current frame.*/
|
||||
#define MOUSE_MIN_PIXEL_REG 0x46 /*!< Minimum Pixel value in current frame.*/
|
||||
#define MOUSE_PIXEL_SUM_REG 0x47 /*!< This register is used to find the average pixel value.*/
|
||||
#define MOUSE_PIXEL_DATA_REG 0x48 /*!< Actual picture of surface */
|
||||
#define MOUSE_SHUTTER_UPPER_REG 0x49 /*!< The sensor adjusts the shutter to keep the average and maximum pixel values within normal operating ranges.*/
|
||||
#define MOUSE_SHUTTER_LOWER_REG 0x4A /*!< The sensor adjusts the shutter to keep the average and maximum pixel values within normal operating ranges.*/
|
||||
#define MOUSE_FRAME_PERIOD_REG 0x4B /*!< The frame period counter counts up until it overflows. */
|
||||
#endif
|
||||
|
||||
/*!
|
||||
* Initialisiere Maussensor
|
||||
*/
|
||||
void maus_sens_init(void);
|
||||
|
||||
/*!
|
||||
* Schickt ein Lesekommando an den Sensor
|
||||
* und liest ein Byte zurueck
|
||||
* @param adr die Adresse
|
||||
* @return das Datum
|
||||
*/
|
||||
uint8 maus_sens_read(uint8 adr);
|
||||
|
||||
/*! Stellt sicher, dass der Maussensor nicht mehr die serielle Datenleitung treibt */
|
||||
#define maus_sens_highZ() maus_sens_write(0x77,0x00)
|
||||
|
||||
/*!
|
||||
* Uebertraegt ein write-Kommando an den Sensor
|
||||
* @param adr Adresse
|
||||
* @param data Datum
|
||||
*/
|
||||
void maus_sens_write(int8 adr, uint8 data);
|
||||
|
||||
/*!
|
||||
* Liefert bei jedem Aufruf das naechste Pixel des Bildes
|
||||
* Insgesamt gibt es 324 Pixel
|
||||
* <pre>
|
||||
* 18 36 ... 324
|
||||
* .. .. ... ..
|
||||
* 2 20 ... ..
|
||||
* 1 19 ... 307
|
||||
* </pre>
|
||||
* Bevor diese Funktion aufgerufen wird, muss maus_image_prepare() aufgerufen werden!
|
||||
* @return Die Pixeldaten (Bit 0 bis Bit5), Pruefbit, ob Daten gueltig (Bit6), Markierung fuer den Anfang eines Frames (Bit7)
|
||||
*/
|
||||
int8 maus_image_read(void);
|
||||
|
||||
/*!
|
||||
* Bereitet das auslesen eines ganzen Bildes vor
|
||||
*/
|
||||
void maus_image_prepare(void);
|
||||
|
||||
/*!
|
||||
* Gibt den SQUAL-Wert zurueck. Dieser gibt an, wieviele Merkmale der Sensor
|
||||
* im aktuell aufgenommenen Bild des Untergrunds wahrnimmt
|
||||
*/
|
||||
uint8 maus_get_squal(void);
|
||||
|
||||
#endif
|
||||
591
source/ct-Bot/include/rc5-codes.h
Normal file
591
source/ct-Bot/include/rc5-codes.h
Normal file
|
|
@ -0,0 +1,591 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file rc5-codes.h
|
||||
* @brief RC5-Fernbedienungscodes
|
||||
* @author Andreas Merkle (mail@blue-andi.de)
|
||||
* @date 15.02.06
|
||||
* Wer diese Datei angepasst hat, kann Sie durch einen .cvsignore Eintrag schützen.
|
||||
* Dann Ueberschreibt Eclipse Sie nicht mehr automatisch
|
||||
*/
|
||||
|
||||
#ifndef RC5CODE_H_
|
||||
#define RC5CODE_H_
|
||||
|
||||
#define RC5_TOGGLE 0x0800 /*!< Das RC5-Toggle-Bit */
|
||||
#define RC5_ADDRESS 0x07C0 /*!< Der Adressbereich */
|
||||
#define RC5_COMMAND 0x103F /*!< Der Kommandobereich */
|
||||
|
||||
/* Im Normalbetrieb hilft die Beschränkung der RC5_MASK auf RC5_COMMAND dem Bot,
|
||||
* moeglichst viele FBs zu erkennen.
|
||||
* Zum erfassen neuer Codes sollte man unbedingt RC5_MASK auf (RC5_COMMAND|RC5_ADDRESS) setzen */
|
||||
|
||||
// Normalbetrieb
|
||||
#define RC5_MASK (RC5_COMMAND) /*!< Welcher Teil des Kommandos wird ausgewertet? */
|
||||
// Erfassen neuer FB-Codes
|
||||
//#define RC5_MASK (RC5_COMMAND|RC5_ADDRESS) /*!< Welcher Teil des Kommandos wird ausgewertet? */
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* Definition RC5-Codes verschiedener Fernbedienungen. Wer eine neue FB
|
||||
* einfuegen will, sollte
|
||||
*
|
||||
* - eine Definition per cut&paste duplizieren,
|
||||
* - eine geeignete Konstante RC_HAVE_{Herstellername}_{Fernbedienungsname}
|
||||
* waehlen,
|
||||
* - diese Konstante in die obere Liste der FB-Selektion eintragen,
|
||||
* - die alte FB-Konstante im kopierten Bereich ersetzen,
|
||||
* - festlegen, ob die FB ein Jog-Dial hat, ob der RC5_NOT_AVAIL-Code
|
||||
* wirklich nie von der FB generiert werden kann (0xFFFF ist meisst ok)
|
||||
* - die eigentlichen, herausgefunden Codes eintragen.
|
||||
*
|
||||
* Ist das erledigt, und funktioniert die neue FB-Definition, kann diese
|
||||
* in der c't-bot-Entwicklerliste vorgestellt werden. (mb/18.03.2006)
|
||||
*/
|
||||
|
||||
/* Nur auf dem realen Bot gibt es verschiedene FBs */
|
||||
#ifdef MCU
|
||||
|
||||
// Dies ist die Standard-Fernbedienung unter anderem fuer den Sim
|
||||
#define RC_HAVE_HQ_RC_UNIVERS29_334
|
||||
|
||||
//#define RC_HAVE_HAUPPAUGE_WINTV
|
||||
//#define RC_HAVE_HAUPPAUGE_MediaMPV
|
||||
//#define RC_HAVE_CONRAD_PROMO8
|
||||
//#define RC_HAVE_VIVANCO_UR89
|
||||
//#define RC_HAVE_VIVANCO_UR89_TV_CODE_089
|
||||
//#define RC_HAVE_Technisat_TTS35AI
|
||||
//#define RC_HAVE_LIFETEC_LT3607
|
||||
#else
|
||||
// Dies ist die Standard-Fernbedienung unter anderem fuer den Sim
|
||||
#define RC_HAVE_HQ_RC_UNIVERS29_334
|
||||
//#define RC_HAVE_DEFAULT
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
// Code um zu kennzeichnen, dass eine Taste nicht vorhanden ist
|
||||
#define RC5_NOT_AVAIL (0xFFFF) /*!< Code fuer Taste nicht vorhanden */
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* Default-Fernbedienung
|
||||
* HQ RC Univers 29, Geraetecode 334
|
||||
*/
|
||||
|
||||
#ifdef RC_HAVE_HQ_RC_UNIVERS29_334
|
||||
#define RC5_CODE_PWR (0x118C & RC5_MASK) /*!< Taste An/Aus */
|
||||
|
||||
#define RC5_CODE_0 (0x1180 & RC5_MASK) /*!< Taste 0 /10*/
|
||||
#define RC5_CODE_1 (0x1181 & RC5_MASK) /*!< Taste 1 */
|
||||
#define RC5_CODE_2 (0x1182 & RC5_MASK) /*!< Taste 2 */
|
||||
#define RC5_CODE_3 (0x1183 & RC5_MASK) /*!< Taste 3 */
|
||||
#define RC5_CODE_4 (0x1184 & RC5_MASK) /*!< Taste 4 */
|
||||
#define RC5_CODE_5 (0x1185 & RC5_MASK) /*!< Taste 5 */
|
||||
#define RC5_CODE_6 (0x1186 & RC5_MASK) /*!< Taste 6 */
|
||||
#define RC5_CODE_7 (0x1187 & RC5_MASK) /*!< Taste 7 */
|
||||
#define RC5_CODE_8 (0x1188 & RC5_MASK) /*!< Taste 8 */
|
||||
#define RC5_CODE_9 (0x1189 & RC5_MASK) /*!< Taste 9 */
|
||||
#define RC5_CODE_11 (0x118A & RC5_MASK) /*!< Taste 11 /1-*/
|
||||
#define RC5_CODE_12 (0x11A3 & RC5_MASK) /*!< Taste 12 /2-*/
|
||||
|
||||
#define RC5_CODE_GREEN (0x01BA & RC5_MASK) /*!< Gruene Taste */
|
||||
#define RC5_CODE_RED (0x01BD & RC5_MASK) /*!< Rote Taste */
|
||||
#define RC5_CODE_YELLOW (0x01B1 & RC5_MASK) /*!< Gelbe Taste */
|
||||
#define RC5_CODE_BLUE (0x01B0 & RC5_MASK) /*!< Blaue Taste */
|
||||
|
||||
#define RC5_CODE_I_II (0x11AB & RC5_MASK) /*!< I/II-Taste */
|
||||
#define RC5_CODE_TV_VCR (0x11B8 & RC5_MASK) /*!< TV/VCR-Taste */
|
||||
|
||||
#define RC5_CODE_DOT (0x11AB & RC5_MASK) /*!< Taste mit rundem Punkt */
|
||||
|
||||
#define RC5_CODE_PLAY (0x11B5 & RC5_MASK) /*!< PLAY-Taste */
|
||||
#define RC5_CODE_STILL (0x11A9 & RC5_MASK) /*!< Pause Taste */
|
||||
#define RC5_CODE_STOP (0x11B6 & RC5_MASK) /*!< Pause Taste */
|
||||
#define RC5_CODE_BWD (0x11B2 & RC5_MASK) /*!< Backward Taste */
|
||||
#define RC5_CODE_FWD (0x11B4 & RC5_MASK) /*!< Forward Taste */
|
||||
|
||||
#define RC5_CODE_CH_PC (0x11BF & RC5_MASK) /*!< CH*P/C Taste */
|
||||
#define RC5_CODE_MUTE (0x01BF & RC5_MASK) /*!< Mute-Taste */
|
||||
|
||||
#define RC5_VOL_PLUS (0x1190 & RC5_MASK) /*!< Vol + Taste */
|
||||
#define RC5_VOL_MINUS (0x1191 & RC5_MASK) /*!< Vol - Taste */
|
||||
|
||||
#define RC5_CH_PLUS (0x11A0 & RC5_MASK) /*!< Ch + Taste */
|
||||
#define RC5_CH_MINUS (0x11A1 & RC5_MASK) /*!< Ch - Taste */
|
||||
|
||||
|
||||
#define RC5_CODE_UP RC5_CODE_STILL /*!< Taste Hoch */
|
||||
#define RC5_CODE_DOWN RC5_CODE_STOP /*!< Taste Runter */
|
||||
#define RC5_CODE_LEFT RC5_CODE_BWD /*!< Taste Links */
|
||||
#define RC5_CODE_RIGHT RC5_CODE_FWD /*!< Taste Rechts */
|
||||
#endif
|
||||
|
||||
/*!
|
||||
* Default-Fernbedienung
|
||||
* HQ RC Univers 29, Geraetecode 335
|
||||
*/
|
||||
|
||||
#ifdef RC_HAVE_HQ_RC_UNIVERS29_335
|
||||
#define RC5_CODE_PWR (0x100C & RC5_MASK) /*!< Taste An/Aus */
|
||||
|
||||
#define RC5_CODE_0 (0x1000 & RC5_MASK) /*!< Taste 0 /10*/
|
||||
#define RC5_CODE_1 (0x1001 & RC5_MASK) /*!< Taste 1 */
|
||||
#define RC5_CODE_2 (0x1002 & RC5_MASK) /*!< Taste 2 */
|
||||
#define RC5_CODE_3 (0x1003 & RC5_MASK) /*!< Taste 3 */
|
||||
#define RC5_CODE_4 (0x1004 & RC5_MASK) /*!< Taste 4 */
|
||||
#define RC5_CODE_5 (0x1005 & RC5_MASK) /*!< Taste 5 */
|
||||
#define RC5_CODE_6 (0x1006 & RC5_MASK) /*!< Taste 6 */
|
||||
#define RC5_CODE_7 (0x1007 & RC5_MASK) /*!< Taste 7 */
|
||||
#define RC5_CODE_8 (0x1008 & RC5_MASK) /*!< Taste 8 */
|
||||
#define RC5_CODE_9 (0x1009 & RC5_MASK) /*!< Taste 9 */
|
||||
#define RC5_CODE_11 (0x100A & RC5_MASK) /*!< Taste 11 /1-*/
|
||||
#define RC5_CODE_12 (0x1003 & RC5_MASK) /*!< Taste 12 /2-*/
|
||||
|
||||
#define RC5_CODE_GREEN (0x101E & RC5_MASK) /*!< Gruene Taste */
|
||||
#define RC5_CODE_RED (0x101D & RC5_MASK) /*!< Rote Taste */
|
||||
#define RC5_CODE_YELLOW (0x1027 & RC5_MASK) /*!< Gelbe Taste */
|
||||
#define RC5_CODE_BLUE (0x101C & RC5_MASK) /*!< Blaue Taste */
|
||||
|
||||
#define RC5_CODE_I_II (0x1023 & RC5_MASK) /*!< I/II-Taste */
|
||||
#define RC5_CODE_TV_VCR (0x1038 & RC5_MASK) /*!< TV/VCR-Taste */
|
||||
|
||||
#define RC5_CODE_DOT (0x1037 & RC5_MASK) /*!< Taste mit rundem Punkt */
|
||||
|
||||
#define RC5_CODE_PLAY (0x11B5 & RC5_MASK) /*!< PLAY-Taste */
|
||||
#define RC5_CODE_STILL (0x1029 & RC5_MASK) /*!< Pause Taste */
|
||||
#define RC5_CODE_STOP (0x1036 & RC5_MASK) /*!< Pause Taste */
|
||||
#define RC5_CODE_BWD (0x1032 & RC5_MASK) /*!< Backward Taste */
|
||||
#define RC5_CODE_FWD (0x1034 & RC5_MASK) /*!< Forward Taste */
|
||||
|
||||
#define RC5_CODE_CH_PC (0x100B & RC5_MASK) /*!< CH*P/C Taste */
|
||||
#define RC5_CODE_MUTE (0x003F & RC5_MASK) /*!< Mute-Taste */
|
||||
|
||||
#define RC5_VOL_PLUS (0x1010 & RC5_MASK) /*!< Vol + Taste */
|
||||
#define RC5_VOL_MINUS (0x1011 & RC5_MASK) /*!< Vol - Taste */
|
||||
|
||||
#define RC5_CH_PLUS (0x1020 & RC5_MASK) /*!< Ch + Taste */
|
||||
#define RC5_CH_MINUS (0x1021 & RC5_MASK) /*!< Ch - Taste */
|
||||
|
||||
|
||||
#define RC5_CODE_UP RC5_CODE_STILL /*!< Taste Hoch */
|
||||
#define RC5_CODE_DOWN RC5_CODE_STOP /*!< Taste Runter */
|
||||
#define RC5_CODE_LEFT RC5_CODE_BWD /*!< Taste Links */
|
||||
#define RC5_CODE_RIGHT RC5_CODE_FWD /*!< Taste Rechts */
|
||||
#endif
|
||||
|
||||
/*!
|
||||
* Fernbedienung Hauppauge (simple WinTV-Karten Fernbedienung)
|
||||
*/
|
||||
|
||||
#ifdef RC_HAVE_HAUPPAUGE_WINTV
|
||||
#define RC_HAVE_CODES /*!< Definiert Codes */
|
||||
#undef JOG_DIAL /*!< Hat keinen Jog Dial */
|
||||
|
||||
#define RC5_CODE_0 (0x1000 & RC5_MASK) /*!< Taste 0 */
|
||||
#define RC5_CODE_1 (0x1001 & RC5_MASK) /*!< Taste 1 */
|
||||
#define RC5_CODE_2 (0x1002 & RC5_MASK) /*!< Taste 2 */
|
||||
#define RC5_CODE_3 (0x1003 & RC5_MASK) /*!< Taste 3 */
|
||||
#define RC5_CODE_4 (0x1004 & RC5_MASK) /*!< Taste 4 */
|
||||
#define RC5_CODE_5 (0x1005 & RC5_MASK) /*!< Taste 5 */
|
||||
#define RC5_CODE_6 (0x1006 & RC5_MASK) /*!< Taste 6 */
|
||||
#define RC5_CODE_7 (0x1007 & RC5_MASK) /*!< Taste 7 */
|
||||
#define RC5_CODE_8 (0x1008 & RC5_MASK) /*!< Taste 8 */
|
||||
#define RC5_CODE_9 (0x1009 & RC5_MASK) /*!< Taste 9 */
|
||||
|
||||
#define RC5_CODE_PWR (0x1026 & RC5_MASK) /*!< Taste Minimize */
|
||||
#define RC5_CODE_FULL (0x102E & RC5_MASK) /*!< Taste Full Screen */
|
||||
#define RC5_CODE_SOURCE (0x1022 & RC5_MASK) /*!< Taste Source */
|
||||
|
||||
#define RC5_CODE_UP (0x1020 & RC5_MASK) /*!< Taste CH + */
|
||||
#define RC5_CODE_DOWN (0x1021 & RC5_MASK) /*!< Taste CH - */
|
||||
#define RC5_CODE_LEFT (0x1011 & RC5_MASK) /*!< Taste VOL- */
|
||||
#define RC5_CODE_RIGHT (0x1010 & RC5_MASK) /*!< Taste VOL+ */
|
||||
|
||||
#define RC5_CODE_FWD RC5_NOT_AVAIL /*!< Taste nicht vorhanden */
|
||||
#define RC5_CODE_BWD RC5_NOT_AVAIL /*!< Taste nicht vorhanden */
|
||||
#define RC5_CODE_RED RC5_NOT_AVAIL /*!< Taste nicht vorhanden */
|
||||
#define RC5_CODE_GREEN RC5_NOT_AVAIL /*!< Taste nicht vorhanden */
|
||||
#define RC5_CODE_YELLOW RC5_NOT_AVAIL /*!< Taste nicht vorhanden */
|
||||
#define RC5_CODE_BLUE RC5_NOT_AVAIL /*!< Taste nicht vorhanden */
|
||||
|
||||
#define RC5_CODE_I_II RC5_CODE_SOURCE
|
||||
#define RC5_CODE_TV_VCR RC5_CODE_FULL
|
||||
#endif /* RC_HAVE_HAUPPAUGE_WINTV */
|
||||
|
||||
#ifdef RC_HAVE_HAUPPAUGE_MediaMPV
|
||||
#define RC_HAVE_CODES /*!< Definiert Codes */
|
||||
#undef JOG_DIAL /*!< Hat keinen Jog Dial */
|
||||
|
||||
#define RC5_CODE_0 (0x17C0 & RC5_MASK) /*!< Taste 0 */
|
||||
#define RC5_CODE_1 (0x17C1 & RC5_MASK) /*!< Taste 1 */
|
||||
#define RC5_CODE_2 (0x17C2 & RC5_MASK) /*!< Taste 2 */
|
||||
#define RC5_CODE_3 (0x17C3 & RC5_MASK) /*!< Taste 3 */
|
||||
#define RC5_CODE_4 (0x17C4 & RC5_MASK) /*!< Taste 4 */
|
||||
#define RC5_CODE_5 (0x17C5 & RC5_MASK) /*!< Taste 5 */
|
||||
#define RC5_CODE_6 (0x17C6 & RC5_MASK) /*!< Taste 6 */
|
||||
#define RC5_CODE_7 (0x17C7 & RC5_MASK) /*!< Taste 7 */
|
||||
#define RC5_CODE_8 (0x17C8 & RC5_MASK) /*!< Taste 8 */
|
||||
#define RC5_CODE_9 (0x17C9 & RC5_MASK) /*!< Taste 9 */
|
||||
|
||||
#define RC5_CODE_SELECT RC5_NOT_AVAIL /*!< Taste Source */
|
||||
|
||||
#define RC5_CODE_UP (0x17E0 & RC5_MASK) /*!< Taste CH + */
|
||||
#define RC5_CODE_DOWN (0x17E1 & RC5_MASK) /*!< Taste CH - */
|
||||
#define RC5_CODE_LEFT (0x17D1 & RC5_MASK) /*!< Taste VOL- */
|
||||
#define RC5_CODE_RIGHT (0x17D0 & RC5_MASK) /*!< Taste VOL+ */
|
||||
|
||||
#define RC5_CODE_OK (0x17E5 & RC5_MASK) /*!< Taste OK */
|
||||
|
||||
#define RC5_CODE_PWR (0x17FD & RC5_MASK) /*!< Taste An/Aus */
|
||||
|
||||
#define RC5_CODE_RED (0x17CB & RC5_MASK) /*!< Taste Rot */
|
||||
#define RC5_CODE_GREEN (0x17EE & RC5_MASK) /*!< Taste Gruen */
|
||||
#define RC5_CODE_YELLOW (0x17F8 & RC5_MASK) /*!< Taste Gelb */
|
||||
#define RC5_CODE_BLUE (0x17E9 & RC5_MASK) /*!< Taste Blau */
|
||||
|
||||
#define RC5_CODE_FWD (0x17F4 & RC5_MASK) /*!< Taste >> */
|
||||
#define RC5_CODE_BWD (0x17F2 & RC5_MASK) /*!< Taste << */
|
||||
#define RC5_CODE_PLAY (0x17F5 & RC5_MASK) /*!< Taste > */
|
||||
#define RC5_CODE_RECORD (0x17F7 & RC5_MASK) /*!< Taste Aufnahme */
|
||||
#define RC5_CODE_STOP (0x17F6 & RC5_MASK) /*!< Taste Stop */
|
||||
#define RC5_CODE_WAIT (0x17F0 & RC5_MASK) /*!< Taste Pause */
|
||||
#define RC5_CODE_REPLAY (0x17E4 & RC5_MASK) /*!< Taste Anfang |< */
|
||||
#define RC5_CODE_SKIP (0x17DE & RC5_MASK) /*!< Taste Ende >| */
|
||||
|
||||
#define RC5_CODE_MUTE (0x17CF & RC5_MASK) /*!< Taste Mute */
|
||||
#define RC5_CODE_VIEW (0x17CC & RC5_MASK) /*!< Taste View zwischen Mute und Full */
|
||||
#define RC5_CODE_FULL (0x17FC & RC5_MASK) /*!< Taste Full */
|
||||
|
||||
#define RC5_CODE_BACK (0x17DF & RC5_MASK) /*!< Taste Back/Exit */
|
||||
#define RC5_CODE_MENU (0x17CD & RC5_MASK) /*!< Taste Menue */
|
||||
#define RC5_CODE_GO (0x17FB & RC5_MASK) /*!< Taste GO */
|
||||
|
||||
#define RC5_CODE_I_II RC5_CODE_SELECT
|
||||
#define RC5_CODE_TV_VCR RC5_CODE_VIEW
|
||||
#define RC5_CH_PLUS RC5_CODE_BWD /*!< Taste fuer Transprtfach schliessen */
|
||||
#define RC5_CH_MINUS RC5_CODE_FWD /*!< Taste fuer Transportfach oeffnen */
|
||||
|
||||
#endif /* RC_HAVE_HAUPPAUGE_MediaMPV */
|
||||
|
||||
/*!
|
||||
* Fernbedienung Conrad Promo 8
|
||||
*/
|
||||
|
||||
#ifdef RC_HAVE_CONRAD_PROMO8
|
||||
#define RC_HAVE_CODES /*!< Definiert Codes */
|
||||
#undef JOG_DIAL /*!< Hat keinen Jog Dial */
|
||||
|
||||
#define RC5_CODE_0 (0x3000 & RC5_MASK) /*!< Taste 0 */
|
||||
#define RC5_CODE_1 (0x3001 & RC5_MASK) /*!< Taste 1 */
|
||||
#define RC5_CODE_2 (0x3002 & RC5_MASK) /*!< Taste 2 */
|
||||
#define RC5_CODE_3 (0x3003 & RC5_MASK) /*!< Taste 3 */
|
||||
#define RC5_CODE_4 (0x3004 & RC5_MASK) /*!< Taste 4 */
|
||||
#define RC5_CODE_5 (0x3005 & RC5_MASK) /*!< Taste 5 */
|
||||
#define RC5_CODE_6 (0x3006 & RC5_MASK) /*!< Taste 6 */
|
||||
#define RC5_CODE_7 (0x3007 & RC5_MASK) /*!< Taste 7 */
|
||||
#define RC5_CODE_8 (0x3008 & RC5_MASK) /*!< Taste 8 */
|
||||
#define RC5_CODE_9 (0x3009 & RC5_MASK) /*!< Taste 9 */
|
||||
|
||||
#define RC5_CODE_UP (0x2010 & RC5_MASK) /*!< Taste Hoch */
|
||||
#define RC5_CODE_DOWN (0x2011 & RC5_MASK) /*!< Taste Runter */
|
||||
#define RC5_CODE_LEFT (0x2015 & RC5_MASK) /*!< Taste Links */
|
||||
#define RC5_CODE_RIGHT (0x2016 & RC5_MASK) /*!< Taste Rechts */
|
||||
|
||||
#define RC5_CODE_ENTER (0x2017 & RC5_MASK) /*!< Enter-Taste*/
|
||||
#define RC5_CODE_PWR (0x100C & RC5_MASK) /*!< Enter Taste als Ersatz fuer Taste An/Aus */
|
||||
|
||||
#define RC5_CODE_RED (0x202B & RC5_MASK) /*!< Rote Taste */
|
||||
#define RC5_CODE_GREEN (0x202C & RC5_MASK) /*!< Gruene Taste */
|
||||
#define RC5_CODE_YELLOW (0x202D & RC5_MASK) /*!< Gelbe Taste */
|
||||
#define RC5_CODE_BLUE (0x202E & RC5_MASK) /*!< Blaue Taste */
|
||||
#define RC5_CODE_VIEW (0x2012 & RC5_MASK) /*!< Instant View Taste */
|
||||
|
||||
|
||||
#define RC5_CODE_SELECT (0x300D & RC5_MASK) /*!< Select Taste */
|
||||
#define RC5_CODE_BWD (0x3011 & RC5_MASK) /*!< Backward Taste */
|
||||
#define RC5_CODE_FWD (0x3010 & RC5_MASK) /*!< Forward Taste */
|
||||
|
||||
#define RC5_CH_PLUS (0x1020 & RC5_MASK) /*!< Ch + Taste */
|
||||
#define RC5_CH_MINUS (0x1021 & RC5_MASK) /*!< Ch - Taste */
|
||||
|
||||
#define RC5_CODE_I_II RC5_CODE_SELECT
|
||||
#define RC5_CODE_TV_VCR RC5_CODE_VIEW
|
||||
#endif
|
||||
|
||||
/*!
|
||||
* Fernbedienung VIVANCO UR89, vor Verwendung auf VCR druecken
|
||||
* @author Andreas Staudenmayer
|
||||
*/
|
||||
#ifdef RC_HAVE_VIVANCO_UR89
|
||||
#define RC_HAVE_CODES /*!< Definiert Codes */
|
||||
#undef JOG_DIAL /*!< Hat keinen Jog Dial */
|
||||
|
||||
#define RC5_CODE_0 (0x1140 & RC5_MASK) /*!< Taste 0 */
|
||||
#define RC5_CODE_1 (0x1141 & RC5_MASK) /*!< Taste 1 */
|
||||
#define RC5_CODE_2 (0x1142 & RC5_MASK) /*!< Taste 2 */
|
||||
#define RC5_CODE_3 (0x1143 & RC5_MASK) /*!< Taste 3 */
|
||||
#define RC5_CODE_4 (0x1144 & RC5_MASK) /*!< Taste 4 */
|
||||
#define RC5_CODE_5 (0x1145 & RC5_MASK) /*!< Taste 5 */
|
||||
#define RC5_CODE_6 (0x1146 & RC5_MASK) /*!< Taste 6 */
|
||||
#define RC5_CODE_7 (0x1147 & RC5_MASK) /*!< Taste 7 */
|
||||
#define RC5_CODE_8 (0x1148 & RC5_MASK) /*!< Taste 8 */
|
||||
#define RC5_CODE_9 (0x1149 & RC5_MASK) /*!< Taste 9 */
|
||||
|
||||
#define RC5_CODE_PWR (0x114C & RC5_MASK) /*!< Taste An, Aus */
|
||||
#define RC5_CODE_VIEW RC5_NOT_AVAIL /*!< Taste nicht vorhanden */
|
||||
#define RC5_CODE_SELECT RC5_NOT_AVAIL /*!< Taste nicht vorhanden */
|
||||
|
||||
#define RC5_CODE_UP (0x1160 & RC5_MASK) /*!< Taste Hoch */
|
||||
#define RC5_CODE_DOWN (0x1161 & RC5_MASK) /*!< Taste Runter */
|
||||
#define RC5_CODE_LEFT (0x0171 & RC5_MASK) /*!< Taste Links */
|
||||
#define RC5_CODE_RIGHT (0x0170 & RC5_MASK) /*!< Taste Rechts */
|
||||
|
||||
#define RC5_CODE_FWD RC5_NOT_AVAIL /*!< Taste nicht vorhanden */
|
||||
#define RC5_CODE_BWD RC5_NOT_AVAIL /*!< Taste nicht vorhanden */
|
||||
#define RC5_CODE_RED (0x1172 & RC5_MASK) /*!< rote Taste */
|
||||
#define RC5_CODE_GREEN (0x1176 & RC5_MASK) /*!< gruene Taste */
|
||||
#define RC5_CODE_YELLOW (0x1175 & RC5_MASK) /*!< gelbe Taste */
|
||||
#define RC5_CODE_BLUE (0x1174 & RC5_MASK) /*!< blaue Taste */
|
||||
|
||||
#define RC5_CODE_I_II RC5_CODE_SELECT
|
||||
#define RC5_CODE_TV_VCR RC5_CODE_VIEW
|
||||
#endif /* RC_HAVE_VIVANCO_UR89 */
|
||||
|
||||
|
||||
/*!
|
||||
* Fernbedienung VIVANCO UR89, TV Modus (Alle Tasten funktionieren)
|
||||
* vor Verwendung fuer TV den Code 089 auf der Fernbedienung programmieren
|
||||
* @author Ulrich Scheffler
|
||||
*/
|
||||
#ifdef RC_HAVE_VIVANCO_UR89_TV_CODE_089
|
||||
#define RC_HAVE_CODES /*!< Definiert Codes */
|
||||
#undef JOG_DIAL /*!< Hat keinen Jog Dial */
|
||||
|
||||
#define RC5_NOT_AVAIL (0xFFFF) /*!< Code fuer Taste nicht vorhanden */
|
||||
/* Jede Taste bekommt erstmal die Bezeichnung, die aufgedruckt ist */
|
||||
#define RC5_CODE_PWR (0x100C & RC5_MASK) /*!< Taste An/Aus-Symbol (rot)*/
|
||||
#define RC5_CODE_MUTE (0x100D & RC5_MASK) /*!< Taste Mute-Symbol (gruen) */
|
||||
#define RC5_CODE_CH_PLUS (0x1020 & RC5_MASK) /*!< Taste CH + (blau) */
|
||||
#define RC5_CODE_CH_MINUS (0x1021 & RC5_MASK) /*!< Taste CH - (blau) */
|
||||
#define RC5_CODE_VOL_MINUS (0x1011 & RC5_MASK) /*!< Taste VOL - (blau) */
|
||||
#define RC5_CODE_VOL_PLUS (0x1010 & RC5_MASK) /*!< Taste VOL + (blau) */
|
||||
#define RC5_CODE_BOX_WITH_DOT (0x0017 & RC5_MASK) /*!< Taste Quadrat mit Punkt */
|
||||
#define RC5_CODE_TV_VCR (0x1038 & RC5_MASK) /*!< Taste TV/VCR (gleicher Code wie Taste A.B) */
|
||||
#define RC5_CODE_0 (0x1000 & RC5_MASK) /*!< Taste 0 */
|
||||
#define RC5_CODE_1 (0x1001 & RC5_MASK) /*!< Taste 1 */
|
||||
#define RC5_CODE_2 (0x1002 & RC5_MASK) /*!< Taste 2 */
|
||||
#define RC5_CODE_3 (0x1003 & RC5_MASK) /*!< Taste 3 */
|
||||
#define RC5_CODE_4 (0x1004 & RC5_MASK) /*!< Taste 4 */
|
||||
#define RC5_CODE_5 (0x1005 & RC5_MASK) /*!< Taste 5 */
|
||||
#define RC5_CODE_6 (0x1006 & RC5_MASK) /*!< Taste 6 */
|
||||
#define RC5_CODE_7 (0x1007 & RC5_MASK) /*!< Taste 7 */
|
||||
#define RC5_CODE_8 (0x1008 & RC5_MASK) /*!< Taste 8 */
|
||||
#define RC5_CODE_9 (0x1009 & RC5_MASK) /*!< Taste 9 */
|
||||
#define RC5_CODE_RETURN (0x1022 & RC5_MASK) /*!< Taste Return-Symbol (gleicher Code wie Taste EXIT) */
|
||||
#define RC5_CODE_A_DOT_B (0x1038 & RC5_MASK) /*!< Taste A.B (gleicher Code wie Taste TV/VCR) */
|
||||
#define RC5_CODE_WAIT (0x002F & RC5_MASK) /*!< Taste Pause-Symbol */
|
||||
#define RC5_CODE_GREEN (0x002C & RC5_MASK) /*!< Taste Gruen & Stop-Symbol */
|
||||
#define RC5_CODE_RECORD (0x102E & RC5_MASK) /*!< Taste Aufnahme-Symbol */
|
||||
#define RC5_CODE_BOX (0x103F & RC5_MASK) /*!< Taste Quadrat */
|
||||
#define RC5_CODE_RED (0x002B & RC5_MASK) /*!< Taste Rot & << */
|
||||
#define RC5_CODE_YELLOW (0x002D & RC5_MASK) /*!< Taste Gelb & > */
|
||||
#define RC5_CODE_BLUE (0x002E & RC5_MASK) /*!< Taste Blau & >> */
|
||||
#define RC5_CODE_BOX_WITH_3_EQUAL_LINES (0x103C & RC5_MASK) /*!< Taste Quadrat mit 3 gleichlangen Linien */
|
||||
#define RC5_CODE_GREEN_UP (0x0010 & RC5_MASK) /*!< Taste hoch (gruen) */
|
||||
#define RC5_CODE_GREEN_LEFT (0x0015 & RC5_MASK) /*!< Taste links (gruen) */
|
||||
#define RC5_CODE_GREEN_RIGHT (0x0016 & RC5_MASK) /*!< Taste rechts (gruen) */
|
||||
#define RC5_CODE_GREEN_DOWN (0x0011 & RC5_MASK) /*!< Taste runter (gruen) */
|
||||
#define RC5_CODE_BOX_WITH_BOX (0x1029 & RC5_MASK) /*!< Taste Quadrat mit innerem Rechteck und Pfeilen */
|
||||
#define RC5_CODE_BOX_WITH_3_UNEQUAL_LINES (0x102E & RC5_MASK) /*!< Taste Quadrat mit 3 ungleichlangen Linien */
|
||||
#define RC5_CODE_OK (0x1023 & RC5_MASK) /*!< Taste OK (gruen) */
|
||||
#define RC5_CODE_MENU (0x0012 & RC5_MASK) /*!< Taste MENU */
|
||||
#define RC5_CODE_EXIT (0x1022 & RC5_MASK) /*!< Taste EXIT (gleicher Code wie Taste Return) */
|
||||
|
||||
/* Vorhandene Tasten werden hier mit der Wunsch-Funktion belegt (Umwidmung)*/
|
||||
#define RC5_CODE_UP RC5_CODE_CH_PLUS /*!< Taste CH + wird genutzt fuer UP-Funktion */
|
||||
#define RC5_CODE_DOWN RC5_CODE_CH_MINUS /*!< Taste CH - wird genutzt fuer DOWN-Funktion */
|
||||
#define RC5_CODE_LEFT RC5_CODE_VOL_MINUS /*!< Taste VOL - wird genutzt fuer LEFT-Funktion */
|
||||
#define RC5_CODE_RIGHT RC5_CODE_VOL_PLUS /*!< Taste VOL + wird genutzt fuer RIGHT-Funktion */
|
||||
#define RC5_CODE_VIEW RC5_CODE_TV_VCR /*!< Taste TV/VCR & A.B werden genutzt fuer VIEW-Funktion*/
|
||||
#define RC5_CODE_SELECT RC5_CODE_RETURN /*!< Taste Return & Exit werden genutzt fuer SELECT-Funktion */
|
||||
#define RC5_CODE_BWD RC5_CODE_GREEN_LEFT /*!< Taste links (gruen) wird genutzt fuer BWD-Funktion (backward)*/
|
||||
#define RC5_CODE_FWD RC5_CODE_GREEN_RIGHT /*!< Taste rechts (gruen) wird genutzt fuer FWD-Funktion (forward)*/
|
||||
|
||||
#define RC5_CODE_I_II RC5_CODE_SELECT
|
||||
#define RC5_CODE_TV_VCR RC5_CODE_VIEW
|
||||
#endif /* RC_HAVE_VIVANCO_UR89_TV_CODE_089 */
|
||||
|
||||
/*!
|
||||
* Fernbedienung Technisat_TTS35AI (Receiver Digit CIP)
|
||||
* @author Joerg Bullmann
|
||||
*/
|
||||
#ifdef RC_HAVE_Technisat_TTS35AI
|
||||
#define RC_HAVE_CODES /*!< Definiert Codes */
|
||||
#undef JOG_DIAL /*!< Hat keinen Jog Dial */
|
||||
|
||||
#define RC5_NOT_AVAIL (0xFFFF) /*!< Code fuer Taste nicht vorhanden */
|
||||
|
||||
#define RC5_CODE_0 (0x1289 & RC5_MASK) /*!< Taste 0 */
|
||||
#define RC5_CODE_1 (0x1281 & RC5_MASK) /*!< Taste 1 */
|
||||
#define RC5_CODE_2 (0x1282 & RC5_MASK) /*!< Taste 2 */
|
||||
#define RC5_CODE_3 (0x1283 & RC5_MASK) /*!< Taste 3 */
|
||||
#define RC5_CODE_4 (0x1284 & RC5_MASK) /*!< Taste 4 */
|
||||
#define RC5_CODE_5 (0x1285 & RC5_MASK) /*!< Taste 5 */
|
||||
#define RC5_CODE_6 (0x1286 & RC5_MASK) /*!< Taste 6 */
|
||||
#define RC5_CODE_7 (0x1287 & RC5_MASK) /*!< Taste 7 */
|
||||
#define RC5_CODE_8 (0x1288 & RC5_MASK) /*!< Taste 8 */
|
||||
#define RC5_CODE_9 (0x1289 & RC5_MASK) /*!< Taste 9 */
|
||||
|
||||
#define RC5_CODE_PWR (0x128C & RC5_MASK) /*!< Taste An, Aus */
|
||||
#define RC5_CODE_INFO (0x028F & RC5_MASK) /*!< Taste i */
|
||||
#define RC5_CODE_OK (0x0297 & RC5_MASK) /*!< Taste ok */
|
||||
|
||||
#define RC5_CODE_UP (0x12A0 & RC5_MASK) /*!< Taste Hoch */
|
||||
#define RC5_CODE_DOWN (0x12A1 & RC5_MASK) /*!< Taste Runter */
|
||||
#define RC5_CODE_LEFT (0x1291 & RC5_MASK) /*!< Taste Links */
|
||||
#define RC5_CODE_RIGHT (0x1290 & RC5_MASK) /*!< Taste Rechts */
|
||||
|
||||
#define RC5_CODE_TV (0x0293 & RC5_MASK) /*!< Taste TV */
|
||||
#define RC5_CODE_MENU (0x0292 & RC5_MASK) /*!< Taste Menu */
|
||||
#define RC5_CODE_RED (0x02AB & RC5_MASK) /*!< rote Taste */
|
||||
#define RC5_CODE_GREEN (0x02AC & RC5_MASK) /*!< gruene Taste */
|
||||
#define RC5_CODE_YELLOW (0x02AD & RC5_MASK) /*!< gelbe Taste */
|
||||
#define RC5_CODE_BLUE (0x02AE & RC5_MASK) /*!< blaue Taste */
|
||||
|
||||
#define RC5_CODE_FWD RC5_CODE_TV /*!< Taste TV - umgewidmet als FWD-Taste */
|
||||
#define RC5_CODE_BWD RC5_CODE_MENU /*!< Taste Menu - umgewidmet als BWD-Taste */
|
||||
#define RC5_CODE_TV_VCR RC5_CODE_INFO /*!< Taste INFO - umgewidmet als View-Taste */
|
||||
#define RC5_CODE_I_II RC5_CODE_OK /*!< Taste OK - umgewidmet als Select-Taste */
|
||||
|
||||
#endif /* RC_HAVE_Technisat_TTS35AI */
|
||||
|
||||
/*!
|
||||
* Fernbedienung Lifetec LT3607 (aeltere, lernfaehige Medion-Fernbedienung)
|
||||
*/
|
||||
#ifdef RC_HAVE_LIFETEC_LT3607
|
||||
#define RC_HAVE_CODES /*!< Definiert Codes */
|
||||
#undef JOG_DIAL /*!< Hat keinen Jog Dial */
|
||||
|
||||
#define RC5_MASK (RC5_COMMAND)
|
||||
#define RC5_NOT_AVAIL (0xFFFF) /*!< Code fuer Taste nicht vorhanden */
|
||||
|
||||
#define RC5_CODE_0 (0x3000 & RC5_MASK) /*!< Taste 0 */
|
||||
#define RC5_CODE_1 (0x3001 & RC5_MASK) /*!< Taste 1 */
|
||||
#define RC5_CODE_2 (0x3002 & RC5_MASK) /*!< Taste 2 */
|
||||
#define RC5_CODE_3 (0x3003 & RC5_MASK) /*!< Taste 3 */
|
||||
#define RC5_CODE_4 (0x3004 & RC5_MASK) /*!< Taste 4 */
|
||||
#define RC5_CODE_5 (0x3005 & RC5_MASK) /*!< Taste 5 */
|
||||
#define RC5_CODE_6 (0x3006 & RC5_MASK) /*!< Taste 6 */
|
||||
#define RC5_CODE_7 (0x3007 & RC5_MASK) /*!< Taste 7 */
|
||||
#define RC5_CODE_8 (0x3008 & RC5_MASK) /*!< Taste 8 */
|
||||
#define RC5_CODE_9 (0x3009 & RC5_MASK) /*!< Taste 9 */
|
||||
|
||||
#define RC5_CODE_PWR (0x300C & RC5_MASK) /*!< Taste Power */
|
||||
#define RC5_CODE_VIEW (0x303F & RC5_MASK) /*!< Taste OSD */
|
||||
#define RC5_CODE_SELECT (0x303C & RC5_MASK) /*!< Taste Videotext */
|
||||
#define RC5_CH_PLUS (0x3020 & RC5_MASK) /*!< Ch + Taste */
|
||||
#define RC5_CH_MINUS (0x3021 & RC5_MASK) /*!< Ch - Taste */
|
||||
|
||||
#define RC5_CODE_UP (0x3020 & RC5_MASK) /*!< Taste CH + */
|
||||
#define RC5_CODE_DOWN (0x3021 & RC5_MASK) /*!< Taste CH - */
|
||||
#define RC5_CODE_LEFT (0x3011 & RC5_MASK) /*!< Taste VOL- */
|
||||
#define RC5_CODE_RIGHT (0x3010 & RC5_MASK) /*!< Taste VOL+ */
|
||||
#define RC5_CODE_I_II (0x3038 & RC5_MASK) /*!< A/B-Taste */
|
||||
#define RC5_CODE_FWD (0x302B & RC5_MASK) /*!< Taste Mischbild */
|
||||
#define RC5_CODE_BWD (0x302E & RC5_MASK) /*!< Taste Ueberblenden */
|
||||
#define RC5_CODE_RED (0x3037 & RC5_MASK) /*!< Taste FRWD / Rot */
|
||||
#define RC5_CODE_GREEN (0x3036 & RC5_MASK) /*!< Taste STOP / Gruen */
|
||||
#define RC5_CODE_YELLOW (0x3032 & RC5_MASK) /*!< Taste PLAY / Gelb */
|
||||
#define RC5_CODE_BLUE (0x3034 & RC5_MASK) /*!< Taste FFWD / Blau */
|
||||
#define RC5_CODE_TV_VCR RC5_NOT_AVAIL
|
||||
#endif /* RC_HAVE_LIFETEC_LT3607 */
|
||||
|
||||
/*!
|
||||
* Default-Philips-Fernbedienung mit Jog-Dial-Rad
|
||||
*/
|
||||
|
||||
#ifdef RC_HAVE_DEFAULT /*!< Default RC5-Codes falls keine FB definiert wurde */
|
||||
|
||||
#undef JOG_DIAL
|
||||
|
||||
#define RC5_CODE_0 (0x3940 & RC5_MASK) /*!< Taste 0 */
|
||||
#define RC5_CODE_1 (0x3941 & RC5_MASK) /*!< Taste 1 */
|
||||
#define RC5_CODE_2 (0x3942 & RC5_MASK) /*!< Taste 2 */
|
||||
#define RC5_CODE_3 (0x3943 & RC5_MASK) /*!< Taste 3 */
|
||||
#define RC5_CODE_4 (0x3944 & RC5_MASK) /*!< Taste 4 */
|
||||
#define RC5_CODE_5 (0x3945 & RC5_MASK) /*!< Taste 5 */
|
||||
#define RC5_CODE_6 (0x3946 & RC5_MASK) /*!< Taste 6 */
|
||||
#define RC5_CODE_7 (0x3947 & RC5_MASK) /*!< Taste 7 */
|
||||
#define RC5_CODE_8 (0x3948 & RC5_MASK) /*!< Taste 8 */
|
||||
#define RC5_CODE_9 (0x3949 & RC5_MASK) /*!< Taste 9 */
|
||||
|
||||
#define RC5_CODE_UP (0x2950 & RC5_MASK) /*!< Taste Hoch */
|
||||
#define RC5_CODE_DOWN (0x2951 & RC5_MASK) /*!< Taste Runter */
|
||||
#define RC5_CODE_LEFT (0x2955 & RC5_MASK) /*!< Taste Links */
|
||||
#define RC5_CODE_RIGHT (0x2956 & RC5_MASK) /*!< Taste Rechts */
|
||||
|
||||
#define RC5_CODE_PWR (0x394C & RC5_MASK) /*!< Taste An/Aus */
|
||||
|
||||
#define RC5_CODE_RED (0x100B & RC5_MASK) /*!< Rote Taste */
|
||||
#define RC5_CODE_GREEN (0x102E & RC5_MASK) /*!< Gruene Taste */
|
||||
#define RC5_CODE_YELLOW (0x1038 & RC5_MASK) /*!< Gelbe Taste */
|
||||
#define RC5_CODE_BLUE (0x1029 & RC5_MASK) /*!< Blaue Taste */
|
||||
#define RC5_CODE_VIEW (0x000F & RC5_MASK) /*!< Instant View Taste */
|
||||
|
||||
#define RC5_CODE_SELECT (0x100B & RC5_MASK) /*!< Select Taste */
|
||||
|
||||
#define RC5_CODE_BWD (0x1025 & RC5_MASK) /*!< Backward Taste */
|
||||
#define RC5_CODE_FWD (0x1026 & RC5_MASK) /*!< Forward Taste */
|
||||
|
||||
#define RC5_CODE_I_II RC5_CODE_SELECT
|
||||
#define RC5_CODE_TV_VCR RC5_CODE_VIEW
|
||||
|
||||
#define RC5_CH_PLUS RC5_NOT_AVAIL /*!< Ch + Taste */
|
||||
#define RC5_CH_MINUS RC5_NOT_AVAIL /*!< Ch - Taste */
|
||||
|
||||
#ifdef JOG_DIAL
|
||||
/* Jogdial geht nur inkl. Adresscode */
|
||||
#undef RC5_MASK
|
||||
#define RC5_MASK (RC5_COMMAND | RC5_ADDRESS)
|
||||
|
||||
#define RC5_CODE_JOG_MID (0x3969 & RC5_MASK) /*!< Taste Jog-Dial Mitte */
|
||||
#define RC5_CODE_JOG_L1 (0x3962 & RC5_MASK) /*!< Taste Jog-Dial Links 1 */
|
||||
#define RC5_CODE_JOG_L2 (0x396F & RC5_MASK) /*!< Taste Jog-Dial Links 2 */
|
||||
#define RC5_CODE_JOG_L3 (0x395F & RC5_MASK) /*!< Taste Jog-Dial Links 3 */
|
||||
#define RC5_CODE_JOG_L4 (0x3A6C & RC5_MASK) /*!< Taste Jog-Dial Links 4 */
|
||||
#define RC5_CODE_JOG_L5 (0x3A6B & RC5_MASK) /*!< Taste Jog-Dial Links 5 */
|
||||
#define RC5_CODE_JOG_L6 (0x396C & RC5_MASK) /*!< Taste Jog-Dial Links 6 */
|
||||
#define RC5_CODE_JOG_L7 (0x3A6A & RC5_MASK) /*!< Taste Jog-Dial Links 7 */
|
||||
|
||||
#define RC5_CODE_JOG_R1 (0x3968 & RC5_MASK) /*!< Taste Jog-Dial Rechts 1 */
|
||||
#define RC5_CODE_JOG_R2 (0x3975 & RC5_MASK) /*!< Taste Jog-Dial Rechts 2 */
|
||||
#define RC5_CODE_JOG_R3 (0x396A & RC5_MASK) /*!< Taste Jog-Dial Rechts 3 */
|
||||
#define RC5_CODE_JOG_R4 (0x3A6D & RC5_MASK) /*!< Taste Jog-Dial Rechts 4 */
|
||||
#define RC5_CODE_JOG_R5 (0x3A6E & RC5_MASK) /*!< Taste Jog-Dial Rechts 5 */
|
||||
#define RC5_CODE_JOG_R6 (0x396E & RC5_MASK) /*!< Taste Jog-Dial Rechts 6 */
|
||||
#define RC5_CODE_JOG_R7 (0x3A6F & RC5_MASK) /*!< Taste Jog-Dial Rechts 7 */
|
||||
#endif /* JOG_DIAL */
|
||||
|
||||
#endif /* !RC_HAVE_CODES */
|
||||
|
||||
#endif /* RC5CODE_H_ */
|
||||
33
source/ct-Bot/include/rc5.h
Normal file
33
source/ct-Bot/include/rc5.h
Normal file
|
|
@ -0,0 +1,33 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file rc5.h
|
||||
* @brief RC5-Fernbedienung
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 26.12.05
|
||||
*/
|
||||
|
||||
#ifndef rc5_H_
|
||||
#define rc5_H_
|
||||
|
||||
/*!
|
||||
* Liest ein RC5-Codeword und wertet es aus
|
||||
*/
|
||||
void rc5_control(void);
|
||||
#endif
|
||||
44
source/ct-Bot/include/sensor-low.h
Normal file
44
source/ct-Bot/include/sensor-low.h
Normal file
|
|
@ -0,0 +1,44 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file sensor-low.h
|
||||
* @brief Low-Level Routinen fuer die Sensor-Steuerung des c't-Bots
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 01.12.05
|
||||
*/
|
||||
#ifndef sens_low_H_
|
||||
#define sens_low_H_
|
||||
|
||||
/*!
|
||||
* Initialisiere alle Sensoren
|
||||
*/
|
||||
extern void bot_sens_init(void);
|
||||
|
||||
/*!
|
||||
* Alle Sensoren aktualisieren
|
||||
*/
|
||||
extern void bot_sens_isr(void);
|
||||
|
||||
/*!
|
||||
* Kuemmert sich um die Radencoder
|
||||
* Das muss schneller gehen als die anderen Sensoren,
|
||||
* daher Update per ISR
|
||||
*/
|
||||
extern void bot_encoder_isr(void);
|
||||
#endif
|
||||
111
source/ct-Bot/include/sensor.h
Normal file
111
source/ct-Bot/include/sensor.h
Normal file
|
|
@ -0,0 +1,111 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file sensor.h
|
||||
* @brief Architekturunabhaengiger Teil der Sensorsteuerung
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 15.01.05
|
||||
*/
|
||||
|
||||
#ifndef SENSOR_H_
|
||||
#define SENSOR_H_
|
||||
|
||||
#include "global.h"
|
||||
#include "ct-Bot.h"
|
||||
|
||||
/* Analoge Sensoren: Der Wertebereich aller analogen Sensoren umfasst 10 Bit. Also 0 bis 1023 */
|
||||
|
||||
extern int16 sensDistL; /*!< Distanz linker IR-Sensor [mm] ca. 100 bis 800 */
|
||||
extern int16 sensDistR; /*!< Distanz rechter IR-Sensor [mm] ca. 100 bis 800 */
|
||||
|
||||
extern int16 sensLDRL; /*!< Lichtsensor links [0-1023]; 1023 = dunkel*/
|
||||
extern int16 sensLDRR; /*!< Lichtsensor rechts [0-1023]; 1023 = dunkel*/
|
||||
|
||||
extern int16 sensBorderL; /*!< Abgrundsensor links [0-1023]; 1023 = dunkel*/
|
||||
extern int16 sensBorderR; /*!< Abgrundsensor rechts [0-1023]; 1023 = dunkel*/
|
||||
|
||||
extern int16 sensLineL; /*!< Lininensensor links [0-1023]; 1023 = dunkel*/
|
||||
extern int16 sensLineR; /*!< Lininensensor rechts [0-1023]; 1023 = dunkel*/
|
||||
|
||||
/* digitale Sensoren */
|
||||
extern volatile int16 sensEncL; /*!< Encoder linker Motor [-32768 bis 32767] */
|
||||
extern volatile int16 sensEncR; /*!< Encoder rechter Motor [-32768 bis 32767] */
|
||||
|
||||
extern uint8 sensTrans; /*!< Sensor Ueberwachung Transportfach [0/1]*/
|
||||
|
||||
extern uint8 sensDoor; /*!< Sensor Ueberwachung Klappe [0/1] */
|
||||
|
||||
extern uint8 sensError; /*!< Ueberwachung Motor oder Batteriefehler [0/1] 1= alles ok */
|
||||
|
||||
extern uint16 RC5_Code; /*!< Letzter empfangener RC5-Code */
|
||||
|
||||
#ifdef MAUS_AVAILABLE
|
||||
extern int8 sensMouseDX; /*!< Maussensor Delta X, positive Werte zeigen querab der Fahrtrichtung nach rechts */
|
||||
extern int8 sensMouseDY; /*!< Maussensor Delta Y, positive Werte zeigen in Fahrtrichtung */
|
||||
|
||||
extern int16 sensMouseX; /*!< Mausposition X, positive Werte zeigen querab der Fahrtrichtung nach rechts */
|
||||
extern int16 sensMouseY; /*!< Mausposition Y, positive Werte zeigen in Fahrtrichtung */
|
||||
#endif
|
||||
|
||||
extern float heading_enc; /*!< Blickrichtung aus Encodern */
|
||||
extern float x_enc; /*!< X-Koordinate aus Encodern [mm] */
|
||||
extern float y_enc; /*!< Y-Koordinate aus Encodern [mm] */
|
||||
extern float v_enc_left; /*!< Abrollgeschwindigkeit des linken Rades in [mm/s] [-128 bis 127] relaisitisch [-50 bis 50] */
|
||||
extern float v_enc_right; /*!< Abrollgeschwindigkeit des linken Rades in [mm/s] [-128 bis 127] relaisitisch [-50 bis 50] */
|
||||
extern float v_enc_center; /*!< Schnittgeschwindigkeit ueber beide Raeder */
|
||||
|
||||
#ifdef PC
|
||||
extern uint16 simultime; /*! Simulierte Zeit */
|
||||
#endif
|
||||
|
||||
#ifdef MEASURE_MOUSE_AVAILABLE
|
||||
extern float heading_mou; /*!< Aktuelle Blickrichtung relativ zur Startposition aus Mausmessungen */
|
||||
extern float x_mou; /*!< Aktuelle X-Koordinate in mm relativ zur Startposition aus Mausmessungen */
|
||||
extern float y_mou; /*!< Aktuelle Y-Koordinate in mm relativ zur Startposition aus Mausmessungen */
|
||||
extern float v_mou_center; /*!< Geschwindigkeit in mm/s ausschliesslich aus den Maussensorwerten berechnet */
|
||||
extern float v_mou_left; /*!< ...aufgeteilt auf linkes Rad */
|
||||
extern float v_mou_right; /*!< ...aufgeteilt auf rechtes Rad */
|
||||
#endif
|
||||
|
||||
extern float heading; /*!< Aktuelle Blickrichtung aus Encoder-, Maus- oder gekoppelten Werten */
|
||||
extern float x_pos; /*!< Aktuelle X-Position aus Encoder-, Maus- oder gekoppelten Werten */
|
||||
extern float y_pos; /*!< Aktuelle Y-Position aus Encoder-, Maus- oder gekoppelten Werten */
|
||||
extern float v_left; /*!< Geschwindigkeit linkes Rad aus Encoder-, Maus- oder gekoppelten Werten */
|
||||
extern float v_right; /*!< Geschwindigkeit rechtes Rad aus Encoder-, Maus- oder gekoppelten Werten */
|
||||
extern float v_center; /*!< Geschwindigkeit im Zentrum des Bots aus Encoder-, Maus- oder gekoppelten Werten */
|
||||
|
||||
|
||||
extern int8 sensors_initialized; /*!< Wird 1 sobald die Sensorwerte zur Verfügung stehen */
|
||||
|
||||
#ifdef SRF10_AVAILABLE
|
||||
extern uint16 sensSRF10; /*!< Messergebniss Ultraschallsensor */
|
||||
#endif
|
||||
|
||||
/*! Sensor_update
|
||||
* Kümmert sich um die Weiterverarbeitung der rohen Sensordaten
|
||||
*/
|
||||
void sensor_update(void);
|
||||
|
||||
/*! Linearisiert die Sensorwerte
|
||||
* @param left Linker Rohwert [0-1023]
|
||||
* @param right Rechter Rohwert [0-1023]
|
||||
*/
|
||||
void sensor_abstand(uint16 left, uint16 right);
|
||||
|
||||
#endif /*SENSOR_H_*/
|
||||
39
source/ct-Bot/include/sensor_correction.h
Normal file
39
source/ct-Bot/include/sensor_correction.h
Normal file
|
|
@ -0,0 +1,39 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file sensor_correction.h
|
||||
* @brief Konstanten, um die Sensoren zu linearisieren
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 17.02.06
|
||||
*/
|
||||
#ifndef SENSOR_CORRECTION_H_
|
||||
#define SENSOR_CORRECTION_H_
|
||||
|
||||
#define SENSDISTSLOPELEFT 47478 /*!< Stuetzwert a fuer Linearisierung des linken Distanzsensors */
|
||||
#define SENSDISTOFFSETLEFT 50 /*!< Stuetzwert b fuer Linearisierung des linken Distanzsensors */
|
||||
#define SENSDISTSLOPERIGHT 54333 /*!< Stuetzwert a fuer Linearisierung des rechten Distanzsensors */
|
||||
#define SENSDISTOFFSETRIGHT 9 /*!< Stuetzwert b fuer Linearisierung des rechten Distanzsensors */
|
||||
|
||||
|
||||
/* Parameter fuer die IR-Sensoren*/
|
||||
#define SENS_IR_MAX_DIST 750 /*!< Obergrenze des Erfassungsbereichs */
|
||||
#define SENS_IR_INFINITE 999 /*!< Kennzeichnung fuer "kein Objekt im Erfassungsbereich" */
|
||||
|
||||
|
||||
#endif /*SENSOR_CORRECTION_H_*/
|
||||
63
source/ct-Bot/include/shift.h
Normal file
63
source/ct-Bot/include/shift.h
Normal file
|
|
@ -0,0 +1,63 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file shift.h
|
||||
* @brief Routinen zur Ansteuerung der Shift-Register
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 20.12.05
|
||||
*/
|
||||
|
||||
#ifndef SHIFT_H_
|
||||
#define SHIFT_H_
|
||||
|
||||
|
||||
#define SHIFT_LATCH (1<<1) /*!< Clock to store Data into shiftregister */
|
||||
|
||||
#define SHIFT_REGISTER_DISPLAY 0x04 /*!< Port-Pin for shiftregister latch (display) */
|
||||
#define SHIFT_REGISTER_LED 0x10 /*!< Port-Pin for shiftregister latch (leds) */
|
||||
#define SHIFT_REGISTER_ENA 0x08 /*!< Port-Pin for shiftregister latch (enable) */
|
||||
|
||||
/*!
|
||||
* Initialisert die Shift-Register
|
||||
*/
|
||||
void shift_init(void);
|
||||
|
||||
/*!
|
||||
* Schiebt Daten durch eines der drei 74HC595-Schieberegister
|
||||
* Achtung: den Port sollte man danach noch per shift_clear() zuruecksetzen!
|
||||
* @param data Das Datenbyte
|
||||
* @param latch_data der Pin, an dem der Daten-latch-Pin des Registers (PIN 11) haengt
|
||||
* @param latch_store der Pin, an dem der latch-Pin zum Transfer des Registers (PIN 12) haengt
|
||||
*/
|
||||
void shift_data_out(uint8 data, uint8 latch_data, uint8 latch_store);
|
||||
|
||||
/*!
|
||||
* Schiebt Daten durch eines der drei 74HC595-Schieberegister,
|
||||
* vereinfachte Version, braucht kein shift_clear().
|
||||
* Funktioniert NICHT fuer das Shift-Register, an dem das Display haengt!!!
|
||||
* @param data Das Datenbyte
|
||||
* @param latch_data der Pin, an dem der Daten-latch-Pin des Registers (PIN 11) haengt
|
||||
*/
|
||||
void shift_data(uint8 data, uint8 latch_data);
|
||||
|
||||
/*!
|
||||
* Setzt die Shift-Register wieder zurueck
|
||||
*/
|
||||
void shift_clear(void);
|
||||
#endif
|
||||
105
source/ct-Bot/include/srf10.h
Normal file
105
source/ct-Bot/include/srf10.h
Normal file
|
|
@ -0,0 +1,105 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file srf10.h
|
||||
* @brief Ansteuerung des Ultraschall Entfernungssensors SRF10
|
||||
* @author Chris efstathiou (hendrix@otenet.gr) & Carsten Giesen (info@cnau.de)
|
||||
* @date 08.04.06
|
||||
*/
|
||||
|
||||
|
||||
#include "global.h"
|
||||
|
||||
#ifndef srf10_H
|
||||
#define srf10_H 1
|
||||
|
||||
/*!
|
||||
* Es sind alle moeglichen Adressen eingetragen. In de Regel reicht aber die erste
|
||||
* Der Code geht nur von SRF10_UNIT_0 aus, daher sind die anderen auskommentiert
|
||||
*/
|
||||
|
||||
#define SRF10_UNIT_0 0xE0 /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_1 0xE2 /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_2 0xE4 /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_3 0xE6 /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_4 0xE8 /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_5 0xEA /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_6 0xEC /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_7 0xEE /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_8 0xF0 /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_9 0xF2 /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_10 0xF4 /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_11 0xF6 /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_12 0xF8 /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_13 0xFA /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_14 0xFC /* the SRF10 MODULE I2C address */
|
||||
//#define SRF10_UNIT_15 0xFE /* the SRF10 MODULE I2C address */
|
||||
|
||||
#define SRF10_MIN_GAIN 0 /*!< setze Verstaerung auf 40 */
|
||||
#define SRF10_MAX_GAIN 16 /*!< setze Verstaerung auf 700 */
|
||||
#define SRF10_MIN_RANGE 0 /*!< Minimale Reichweite 43mm */
|
||||
#define SRF10_MAX_RANGE 5977 /*!< Maximale Reichweite 5977mm */
|
||||
|
||||
#define SRF10_INCHES 0X50 /*!< Messung in INCHES */
|
||||
#define SRF10_CENTIMETERS 0X51 /*!< Messung in CM */
|
||||
#define SRF10_MICROSECONDS 0X52 /*!< Messung in Millisekunden */
|
||||
|
||||
#define SRF10_COMMAND 0 /*!< W=Befehls-Register R=Firmware*/
|
||||
#define SRF10_LIGHT 1 /*!< W=Verstaerkungsfaktor R=Nicht benutzt */
|
||||
#define SRF10_HIB 2 /*!< W=Reichweite R=Messung High-Byte */
|
||||
#define SRF10_LOB 3 /*!< W=Nicht benutzt R=Messung Low-Byte */
|
||||
|
||||
/*!
|
||||
* SRF10 initialsieren
|
||||
*/
|
||||
extern void srf10_init(void);
|
||||
|
||||
/*!
|
||||
* Verstaerkungsfaktor setzen
|
||||
* @param gain Verstaerkungsfaktor
|
||||
*/
|
||||
extern void srf10_set_gain(uint8 gain);
|
||||
|
||||
/*!
|
||||
* Reichweite setzen, hat auch Einfluss auf die Messdauer
|
||||
* @param millimeters Reichweite in mm
|
||||
*/
|
||||
extern void srf10_set_range(uint16 millimeters);
|
||||
|
||||
/*!
|
||||
* Messung ausloesen
|
||||
* @param metric_unit 0x50 in Zoll, 0x51 in cm, 0x52 ms
|
||||
* @return Resultat der Aktion
|
||||
*/
|
||||
extern uint8 srf10_ping(uint8 metric_unit);
|
||||
|
||||
/*!
|
||||
* Register auslesen
|
||||
* @param srf10_register welches Register soll ausgelsen werden
|
||||
* @return Inhalt des Registers
|
||||
*/
|
||||
extern uint8 srf10_read_register(uint8 SRF10_register);
|
||||
|
||||
/*!
|
||||
* Messung starten Ergebniss aufbereiten und zurueckgeben
|
||||
* @return Messergebniss
|
||||
*/
|
||||
extern uint16 srf10_get_measure(void);
|
||||
|
||||
#endif /* #ifndef SRF10_H */
|
||||
49
source/ct-Bot/include/tcp-server.h
Normal file
49
source/ct-Bot/include/tcp-server.h
Normal file
|
|
@ -0,0 +1,49 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file tcp-server.h
|
||||
* @brief Demo-TCP-Server
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 26.12.05
|
||||
*/
|
||||
|
||||
#ifndef TCP_SERVER_H_
|
||||
#define TCP_SERVER_H_
|
||||
|
||||
|
||||
/*!
|
||||
* Init TCP-Server
|
||||
*/
|
||||
void tcp_server_init(void);
|
||||
|
||||
/*!
|
||||
* Hauptschleife des TCP-Servers
|
||||
*/
|
||||
int tcp_server_run (int runs);
|
||||
|
||||
/*!
|
||||
* Init TCP-test-Client
|
||||
*/
|
||||
void tcp_test_client_init(void);
|
||||
|
||||
/*!
|
||||
* Hauptschleife des TCP-Test-Clienzs
|
||||
*/
|
||||
int tcp_test_client_run (int runs);
|
||||
#endif
|
||||
92
source/ct-Bot/include/tcp.h
Normal file
92
source/ct-Bot/include/tcp.h
Normal file
|
|
@ -0,0 +1,92 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file tcp.h
|
||||
* @brief TCP/IP-Kommunikation
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 26.12.05
|
||||
*/
|
||||
|
||||
#ifndef TCP_H_
|
||||
#define TCP_H_
|
||||
|
||||
#if defined WIN32
|
||||
#define LITTLE_ENDIAN 1234
|
||||
#define BIG_ENDIAN 4321
|
||||
#define BYTE_ORDER LITTLE_ENDIAN
|
||||
#elif defined __linux__
|
||||
#include <endian.h>
|
||||
#else
|
||||
#include <machine/endian.h>
|
||||
#endif
|
||||
|
||||
#include "bot-2-sim.h"
|
||||
#include "command.h"
|
||||
|
||||
|
||||
#define IP "localhost" /*!< IP, mit der verbunden werden soll (normalerweise localhost) */
|
||||
//#define IP "10.10.22.242"
|
||||
#define PORT 10001 /*!< Port, mit dem verbunden werden soll */
|
||||
|
||||
extern int tcp_sock; /*!< Unser TCP-Socket */
|
||||
extern char *tcp_hostname; /*!< Hostname, auf dem ct-Sim laeuft */
|
||||
|
||||
/*!
|
||||
* Sende Kommando per TCP/IP im Little Endian
|
||||
* @param cmd Zeiger auf das Kommando
|
||||
* @return Anzahl der gesendete Bytes
|
||||
*/
|
||||
int tcp_send_cmd(command_t *cmd);
|
||||
|
||||
|
||||
/*!
|
||||
* Uebertrage Daten per TCP/IP
|
||||
* @param data Zeiger auf die Daten
|
||||
* @param length Anzahl der Bytes
|
||||
* @return Anzahl der uebertragenen Bytes
|
||||
*/
|
||||
int tcp_write(void* data, int length);
|
||||
|
||||
/*!
|
||||
* Lese Daten von TCP/IP-Verbindung.
|
||||
* Achtung: blockierend!
|
||||
* @param data Zeiger auf die Daten
|
||||
* @param length Anzahl der gewuenschten Bytes
|
||||
* @return Anzahl der uebertragenen Bytes
|
||||
*/
|
||||
int tcp_read(void* data, int length);
|
||||
|
||||
/*!
|
||||
* Oeffnet eine TCP-Verbindung zum Server
|
||||
* @param hostname Symbolischer Name des Host, auf dem ct-Sim laeuft
|
||||
* @return Der Socket
|
||||
*/
|
||||
int tcp_openConnection(const char *hostname);
|
||||
|
||||
/*!
|
||||
* Initialisiere TCP/IP Verbindung
|
||||
*/
|
||||
void tcp_init(void);
|
||||
|
||||
/*!
|
||||
* Schreibt den Sendepuffer auf einen Schlag raus
|
||||
* @return -1 bei Fehlern, sonst zahl der uebertragenen Bytes
|
||||
*/
|
||||
int flushSendBuffer(void);
|
||||
#endif
|
||||
102
source/ct-Bot/include/timer.h
Normal file
102
source/ct-Bot/include/timer.h
Normal file
|
|
@ -0,0 +1,102 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file timer.h
|
||||
* @brief Timer und Zaehler
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 26.12.05
|
||||
*/
|
||||
|
||||
#ifndef TIMER_H_
|
||||
#define TIMER_H_
|
||||
|
||||
#include "ct-Bot.h"
|
||||
|
||||
/*!
|
||||
* Makros zur Umrechnung von Ticks in ms und zurueck
|
||||
* (ms / ticks evtl. nach uint32 casten, fuer grosse Werte)
|
||||
*/
|
||||
#define TICKS_TO_MS(ticks) ((ticks)*(TIMER_STEPS/8)/(1000/8))
|
||||
#define MS_TO_TICKS(ms) ((ms)*(1000/8)/(TIMER_STEPS/8))
|
||||
|
||||
#ifdef TIME_AVAILABLE
|
||||
/*!
|
||||
* Diese Funktion liefert den Millisekundenanteil der Systemzeit zurueck.
|
||||
* @return uint16
|
||||
*/
|
||||
uint16 timer_get_ms(void);
|
||||
|
||||
/*!
|
||||
* Diese Funktion liefert den Sekundenanteil der Systemzeit zurueck.
|
||||
* @return uint16
|
||||
*/
|
||||
uint16 timer_get_s(void);
|
||||
|
||||
/*!
|
||||
* Liefert die Millisekunden zurueck, die seit old_s, old_ms verstrichen sind
|
||||
* @param old_s alter Sekundenstand
|
||||
* @param old_ms alter Millisekundenstand
|
||||
*/
|
||||
uint16 timer_get_ms_since(uint16 old_s, uint16 old_ms);
|
||||
#endif // TIME_AVAILABLE
|
||||
|
||||
#ifdef PC
|
||||
/*!
|
||||
* Funktion, die die TickCounts um die vergangene Simulzeit erhoeht
|
||||
*/
|
||||
void system_time_isr(void);
|
||||
|
||||
/*!< liefert Ticks seit Systemstart [176 us] */
|
||||
inline uint16 timer_get_tickCount16(void);
|
||||
inline uint32 timer_get_tickCount32(void);
|
||||
|
||||
#define TIMER_GET_TICKCOUNT_8 (uint8)timer_get_tickCount16()
|
||||
#define TIMER_GET_TICKCOUNT_16 timer_get_tickCount16()
|
||||
#define TIMER_GET_TICKCOUNT_32 timer_get_tickCount32()
|
||||
#else
|
||||
typedef union{
|
||||
uint32 u32;
|
||||
uint16 u16;
|
||||
uint8 u8;
|
||||
} tickCount_t;
|
||||
extern volatile tickCount_t tickCount;
|
||||
|
||||
#define TIMER_GET_TICKCOUNT_8 tickCount.u8
|
||||
#define TIMER_GET_TICKCOUNT_16 tickCount.u16
|
||||
#define TIMER_GET_TICKCOUNT_32 tickCount.u32
|
||||
#endif
|
||||
|
||||
// Die Werte fuer TIMER_X_CLOCK sind Angaben in Hz
|
||||
|
||||
/*!
|
||||
* Frequenz von Timer 2 in Hz
|
||||
*/
|
||||
#define TIMER_2_CLOCK 5619 // Derzeit genutzt fuer RC5-Dekodierung
|
||||
|
||||
/*!
|
||||
* Mikrosekunden, die zwischen zwei Timer-Aufrufen liegen
|
||||
*/
|
||||
// #define TIMER_STEPS (1 000 000/TIMER_2_CLOCK)
|
||||
#define TIMER_STEPS 176
|
||||
|
||||
/*!
|
||||
* Initialisiert Timer 2 und startet ihn
|
||||
*/
|
||||
void timer_2_init(void);
|
||||
#endif
|
||||
75
source/ct-Bot/include/uart.h
Normal file
75
source/ct-Bot/include/uart.h
Normal file
|
|
@ -0,0 +1,75 @@
|
|||
/*
|
||||
* c't-Sim - Robotersimulator fuer den c't-Bot
|
||||
*
|
||||
* This program is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General
|
||||
* Public License as published by the Free Software
|
||||
* Foundation; either version 2 of the License, or (at your
|
||||
* option) any later version.
|
||||
* This program is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied
|
||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
||||
* PURPOSE. See the GNU General Public License for more details.
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this program; if not, write to the Free
|
||||
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/*! @file uart.h
|
||||
* @brief Routinen zur seriellen Kommunikation
|
||||
* @author Benjamin Benz (bbe@heise.de)
|
||||
* @date 26.12.05
|
||||
*/
|
||||
|
||||
#ifndef UART_H_
|
||||
#define UART_H_
|
||||
|
||||
#include "command.h"
|
||||
|
||||
//extern char uart_timeout; /*!< 0, wenn uart_read/uart_send erfolgreich; 1, wenn timeout erreicht */
|
||||
|
||||
/*!
|
||||
* Initialisiere UART
|
||||
*/
|
||||
void uart_init(void);
|
||||
|
||||
/*!
|
||||
* Prüft, ob daten verfügbar
|
||||
* @return Anzahl der verfuegbaren Bytes
|
||||
*/
|
||||
uint8 uart_data_available(void);
|
||||
|
||||
|
||||
/*!
|
||||
* Überträgt ein Zeichen per UART
|
||||
* Achtung ist noch blockierend!!!!
|
||||
* TODO: umstellen auf nicht blockierend und mehr als ein Zeichen
|
||||
* @param data Das Zeichen
|
||||
*/
|
||||
void uart_send_byte(uint8 data);
|
||||
|
||||
/*!
|
||||
* Sende Kommando per UART im Little Endian
|
||||
* @param cmd Zeiger auf das Kommando
|
||||
* @return Anzahl der gesendete Bytes
|
||||
*/
|
||||
//int uart_send_cmd(command_t *cmd);
|
||||
#define uart_send_cmd(cmd) uart_write((uint8*)cmd,sizeof(command_t));
|
||||
|
||||
/*!
|
||||
* Sende Daten per UART im Little Endian
|
||||
* @param data Datenpuffer
|
||||
* @param length Groesse des Datenpuffers in bytes
|
||||
* @return Anzahl der gesendete Bytes
|
||||
*/
|
||||
int uart_write(uint8 * data, int length);
|
||||
|
||||
/* Liest Zeichen von der UART
|
||||
* @param data Der Zeiger an die die gelesenen Zeichen kommen
|
||||
* @param length Anzahl der zu lesenden Bytes
|
||||
* @return Anzahl der tatsaechlich gelesenen Zeichen
|
||||
*/
|
||||
int uart_read(void* data, int length);
|
||||
#endif
|
||||
Reference in a new issue