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Code-Work @ lowlevel

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This commit is contained in:
sicarius 2007-02-13 19:10:02 +00:00
parent 54a7ea32d4
commit 5c33efe58d
13 changed files with 1079 additions and 480 deletions
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Information/Hardware/Portbelegung.ods
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source/AVR_Studio/Soccer/Soccer.aps
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15
source/AVR_Studio/Soccer/Soccer.c
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@ -10,7 +10,7 @@ Sensor sensor;
int main() {
//board.ledOn();
sleep(1);
sleep(2);
int speed = 255;
/*for(int i=-255;i<=255;i+=30) {
board.motor(0,i);
@ -25,6 +25,8 @@ int main() {
board.motor(3, speed);
PORTB |= (1 << PB5) | (1 << PB7); // Setze PWM-Ports auf high
PORTE |= (1 << PE3) | (1 << PE4);
//sleep(10);
while(true) { sleep(1); }
/*sleep(10);
board.motor(0, 0);
board.motor(1, 0);
@ -33,23 +35,24 @@ int main() {
//while(true) { sleep(1); }
//board.beep(450);
//board.ledOn();
//keylcd.print("test");
//sleep(1);
/*keylcd.print("test");
sleep(1);
//board.ledOff();
//sleep(1);
/*for(int i=0;i<keylcd.error();i++) {
for(int i=0;i<keylcd.error();i++) {
board.ledOn();
sleep(1);
board.ledOff();
sleep(1);
}
board.ledOn();
uart1_puts("18");
uart1_puts("Hallo Du! Hier ist dein AtMega128\n");
sleep(1);
board.ledOff();
sleep(10);
//board.ledOff();
//board.ledOff();*/
while(true) {
navigation.Aktualisieren(0,0,speed);
@ -61,7 +64,7 @@ int main() {
navigation.Aktualisieren(270,0,speed);
sleep(2);
}*/
}

5
source/AVR_Studio/Soccer/default/Makefile
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@ -34,7 +34,7 @@ HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0
## Objects that must be built in order to link
OBJECTS = Soccer.o board.o keylcd.o i2c.o global.o uart.o navigation.o sensor.o ballsensor.o
OBJECTS = Soccer.o board.o keylcd.o i2c.o global.o uart.o navigation.o sensor.o ballsensor.o maussensor.o
## Objects explicitly added by the user
LINKONLYOBJECTS =
@ -70,6 +70,9 @@ sensor.o: ../sensor/sensor.c
ballsensor.o: ../sensor/ballsensor.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
maussensor.o: ../hal/maussensor.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
##Link
$(TARGET): $(OBJECTS)
$(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)

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source/AVR_Studio/Soccer/default/Soccer.elf
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source/AVR_Studio/Soccer/default/Soccer.hex
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source/AVR_Studio/Soccer/default/dep/Soccer.o.d
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@ -13,7 +13,9 @@ Soccer.o: ../Soccer.c ../global.h c:/winavr/bin/../avr/include/stdlib.h \
c:/winavr/bin/../avr/include/util/twi.h \
c:/winavr/bin/../avr/include/string.h ../navigation.h \
c:/winavr/bin/../avr/include/math.h ../sensor/sensor.h \
../sensor/../hal/board.h ../sensor/ballsensor.h ../sensor/../global.h
../sensor/../hal/board.h ../sensor/ballsensor.h \
../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
../sensor/../global.h
../global.h:
@ -63,4 +65,8 @@ c:/winavr/bin/../avr/include/math.h:
../sensor/ballsensor.h:
../sensor/../hal/maussensor.h:
../sensor/../hal/../global.h:
../sensor/../global.h:

11
source/AVR_Studio/Soccer/default/dep/navigation.o.d
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@ -11,7 +11,8 @@ navigation.o: ../navigation.c ../navigation.h \
c:/winavr/bin/../avr/include/stdlib.h \
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h ../hal/uart.h \
../sensor/sensor.h ../sensor/../hal/board.h ../sensor/ballsensor.h \
../sensor/../global.h ../sensor/../hal/board.h
../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
../sensor/../hal/../hal/board.h ../sensor/../global.h
../navigation.h:
@ -47,6 +48,10 @@ c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
../sensor/ballsensor.h:
../sensor/../global.h:
../sensor/../hal/maussensor.h:
../sensor/../hal/board.h:
../sensor/../hal/../global.h:
../sensor/../hal/../hal/board.h:
../sensor/../global.h:

13
source/AVR_Studio/Soccer/default/dep/sensor.o.d
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@ -9,8 +9,9 @@ sensor.o: ../sensor/sensor.c ../sensor/sensor.h ../sensor/../hal/board.h \
c:/winavr/bin/../avr/include/avr/interrupt.h \
c:/winavr/bin/../avr/include/stdlib.h \
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h \
../sensor/../hal/uart.h ../sensor/ballsensor.h ../sensor/../global.h \
../sensor/../hal/board.h
../sensor/../hal/uart.h ../sensor/ballsensor.h \
../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
../sensor/../hal/../hal/board.h ../sensor/../global.h
../sensor/sensor.h:
@ -40,6 +41,10 @@ c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
../sensor/ballsensor.h:
../sensor/../global.h:
../sensor/../hal/maussensor.h:
../sensor/../hal/board.h:
../sensor/../hal/../global.h:
../sensor/../hal/../hal/board.h:
../sensor/../global.h:

17
source/AVR_Studio/Soccer/global.h
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@ -13,11 +13,28 @@ inline void sleep(int sec)
}
};
inline void msleep(int msec)
{
for (int s=0; s<msec; s++) {
for (long int i=0; i<1405; i++) {
asm volatile("nop");
}
}
};
void *operator new(size_t sz);
void operator delete(void *p);
// Typendefinitionen für den CT-Bot-Code
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 */
/* defines for compatibility */

26
source/AVR_Studio/Soccer/sensor/ballsensor.c
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@ -1,11 +1,35 @@
#include "ballsensor.h"
Ballsensor::Ballsensor() {
// Umrechnungstabelle position i in Winkel
winkel[0] = 0;
winkel[1] = 30;
winkel[2] = 60;
winkel[3] = 100;
winkel[4] = 180;
winkel[5] = 260;
winkel[6] = 300;
winkel[7] = 330;
}
Ballsensor::~Ballsensor() {
}
int Ballsensor::getBallwinkel() {
return 0;
// Erstelle ein Array für die Sensorwerte
int sensor[NUM_BALLSENSOR];
int result = 0; // und einer Variable fürs Ergebnis
int current = 1024; // Setze aktuellen Wert auf Maximum
// Analoge Sensoren abfragen und eintragen
for(int i=0;i<NUM_BALLSENSOR;i++) sensor[i] = board.GetADC(i);
// Suche den kleinsten Wert
for(int i=0;i<NUM_BALLSENSOR;i++) {
// Wenn der Sensorwert kleiner ist ist der Ball näher dran
if(sensor[i] < current) result = i; // Ergebnis ist erstmal index
}
// Gebe den Winkel zum index result zurück
return winkel[result];
}

4
source/AVR_Studio/Soccer/sensor/ballsensor.h
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@ -3,11 +3,15 @@
#include "../hal/board.h"
// Anzahl der Ballsensoren
#define NUM_BALLSENSOR 8
extern Board board;
class Ballsensor
{
private:
int winkel[NUM_BALLSENSOR];
public:
Ballsensor();
~Ballsensor();

1
source/AVR_Studio/Soccer/sensor/sensor.h
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@ -3,6 +3,7 @@
#include "../hal/board.h"
#include "ballsensor.h"
#include "../hal/maussensor.h"
#include "../global.h"
extern Board board;