+++ added AVR_Studio compatibility for framework

source/Concept/Framework/atmega128io.h

@@ -1,6 +1,9 @@
 #ifndef _ATMEGA128IO_H
 #define _ATMEGA128IO_H
 
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
 namespace hardware
 {
 

source/Concept/Framework/default/Makefile

@@ -0,0 +1,103 @@
+###############################################################################
+# Makefile for the project RoboCode
+###############################################################################
+
+## General Flags
+PROJECT = RoboCode
+MCU = atmega128
+TARGET = RoboCode.elf
+CC = avr-gcc.exe
+
+## Options common to compile, link and assembly rules
+COMMON = -mmcu=$(MCU)
+
+## Compile options common for all C compilation units.
+CFLAGS = $(COMMON)
+CFLAGS += -Wall -gdwarf-2 -O0
+CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d 
+
+## Assembly specific flags
+ASMFLAGS = $(COMMON)
+ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
+
+## Linker flags
+LDFLAGS = $(COMMON)
+LDFLAGS += 
+
+
+## Intel Hex file production flags
+HEX_FLASH_FLAGS = -R .eeprom
+
+HEX_EEPROM_FLAGS = -j .eeprom
+HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
+HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0
+
+
+## Objects that must be built in order to link
+OBJECTS = main.o sensor.o tools.o atmega128io.o distance_sensor.o engine.o io_module.o ir_sensor.o kicker.o led.o robot.o 
+
+## Objects explicitly added by the user
+LINKONLYOBJECTS = 
+
+## Build
+all: $(TARGET) RoboCode.hex RoboCode.eep size
+
+## Compile
+main.o: ../main.cpp
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+tools.o: ../tools.cpp
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+io_module.o: ../io_module.cpp
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+robot.o: ../robot.cpp
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+sensor.o: ../sensor.cpp
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+engine.o: ../engine.cpp
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+led.o: ../led.cpp
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+ir_sensor.o: ../ir_sensor.cpp
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+distance_sensor.o: ../distance_sensor.cpp
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+kicker.o: ../kicker.cpp
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+atmega128io.o: ../atmega128io.cpp
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+##Link
+$(TARGET): $(OBJECTS)
+	 $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
+
+%.hex: $(TARGET)
+	avr-objcopy -O ihex $(HEX_FLASH_FLAGS)  $< $@
+
+%.eep: $(TARGET)
+	avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@
+
+%.lss: $(TARGET)
+	avr-objdump -h -S $< > $@
+
+size: ${TARGET}
+	@echo
+	@avr-size -C --mcu=${MCU} ${TARGET}
+
+## Clean target
+.PHONY: clean
+clean:
+	-rm -rf $(OBJECTS) RoboCode.elf dep/* RoboCode.hex RoboCode.eep
+
+## Other dependencies
+-include $(shell mkdir dep 2>/dev/null) $(wildcard dep/*)
+

source/Concept/Framework/defines.h

@@ -18,7 +18,7 @@
 	#ifdef __int16
 		#define int16 __int16
 	#else
-		#define int16 short
+		#define int16 int
 	#endif
 #endif
 

source/Concept/Framework/engine.h

@@ -120,15 +120,15 @@ public:
 
 		if(pwmSpeed)
 		{
-			*pwmSpeed = uint16(abs(newSpeed / SPEED_PER_PWM));
+			*pwmSpeed = abs(newSpeed / SPEED_PER_PWM);
 		}
-		else if(pwmPort && uint16(abs(newSpeed / SPEED_PER_PWM)))
+		else if(pwmPort && (uint16)(abs(newSpeed / SPEED_PER_PWM)))
 		{
 			*pwmPort |= pinPwm;
 		}
 		else if(pwmPort)
 		{
-			*pwmPort &= ~pinPwn;
+			*pwmPort &= ~pinPwm;
 		}
 
 		UpdateDirection();

source/Concept/Framework/robot.cpp

@@ -45,7 +45,10 @@ Robot::Robot()
 	sei();
 
 	//Interface
-	memset(modules, NULL, sizeof(modules));
+	for(uint8 i = 0; i < IO_END; i++)
+	{
+		modules[i] = NULL;
+	}
 }
 
 //-----------------------------------------------------------------------------
@@ -120,7 +123,7 @@ uint16 Robot::GetADCValue(uint8 channel)
 	
 	result /= 3;
 	
-	return uint16(result);
+	return (uint16)(result);
 }
 
 //--- EOF ---

source/Concept/Framework/stdafx.h

@@ -4,7 +4,8 @@
 	#include <memory.h>
 #endif
 
-#include "defines.h"
+#include "defines.h"
+#include "atmega128io.h"
 #include "tools.h"
 #include "io_module.h"
 #include "sensor.h"

source/Concept/Framework/tools.cpp

@@ -1,6 +1,6 @@
 #include "tools.h"
 
-#ifndef __cplusplus
+#ifndef new
 
 //-----------------------------------------------------------------------------
 void* operator new(size_t sz)
@@ -14,4 +14,4 @@ void operator delete(void* p)
 	free(p);
 }
 
-#endif
+#endif

source/Concept/Framework/tools.h

@@ -1,7 +1,9 @@
 #ifndef _TOOLS_H
-#define _TOOLS_H
+#define _TOOLS_H
+
+#include <stdlib.h>
 
-#ifndef __cplusplus
+#ifndef new
 	void* operator new(size_t sz);
 	void operator delete(void* p);
 #endif