+++ enhanced framework hardware interface

14 files changed, 555 insertions, 11 deletions

diff --git a/source/Concept/Framework/RoboCode.aps b/source/Concept/Framework/RoboCode.aps
index b759997..dc61dc5 100644
--- a/source/Concept/Framework/RoboCode.aps
+++ b/source/Concept/Framework/RoboCode.aps
@@ -1 +1 @@
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+<AVRStudio><MANAGEMENT><ProjectName>RoboCode</ProjectName><Created>16-Feb-2007 15:16:46</Created><LastEdit>17-Feb-2007 14:21:10</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>16-Feb-2007 15:16:46</Created><Version>4</Version><Build>4, 12, 0, 462</Build><ProjectTypeName>AVR 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diff --git a/source/Concept/Framework/default/Makefile b/source/Concept/Framework/default/Makefile
index 20eef5c..e8aa72d 100644
--- a/source/Concept/Framework/default/Makefile
+++ b/source/Concept/Framework/default/Makefile
@@ -34,7 +34,7 @@ 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 = main.o sensor.o tools.o atmega128io.o display.o keyboard.o distance_sensor.o mouse_sensor.o engine.o dribbler.o io_module.o ir_sensor.o kicker.o led.o robot.o position_tracker.o 

 

 ## Objects explicitly added by the user

 LINKONLYOBJECTS = 

@@ -64,15 +64,27 @@ engine.o: ../engine.cpp
 led.o: ../led.cpp

 	$(CC) $(INCLUDES) $(CFLAGS) -c  $<

 

+display.o: ../display.cpp

+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<

+

+keyboard.o: ../keyboard.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  $<

 

+mouse_sensor.o: ../mouse_sensor.cpp

+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<

+

 kicker.o: ../kicker.cpp

 	$(CC) $(INCLUDES) $(CFLAGS) -c  $<

 

+dribbler.o: ../dribbler.cpp

+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<

+

 atmega128io.o: ../atmega128io.cpp

 	$(CC) $(INCLUDES) $(CFLAGS) -c  $<

 

diff --git a/source/Concept/Framework/defines.h b/source/Concept/Framework/defines.h
index 1e25ba5..2bc59d9 100644
--- a/source/Concept/Framework/defines.h
+++ b/source/Concept/Framework/defines.h
@@ -105,6 +105,8 @@ enum IOModuleNames
 	IO_SENSOR_DISTANCE_90_DEG,

 	IO_SENSOR_DISTANCE_180_DEG,

 	IO_SENSOR_DISTANCE_270_DEG,

+	IO_SENSOR_MOUSE_LEFT,

+	IO_SENSOR_MOUSE_RIGHT,

 

 	IO_SENSOR_END,

 

@@ -124,8 +126,24 @@ enum IOModuleNames
 

 	IO_DISPLAY_END,

 

+	//Keyboards

+

+	IO_KEYBOARD_START = IO_DISPLAY_END,

+

+	IO_KEYBOARD_MAIN = IO_KEYBOARD_START,

+

+	IO_KEYBOARD_END,

+

+	//Position Tracker

+

+	IO_POSITION_TRACKER_START = IO_KEYBOARD_END,

+

+	IO_POSITION_TRACKER_MAIN,

+

+	IO_POSITION_TRACKER_END,

+

 	//General

-	IO_END = IO_DISPLAY_END,

+	IO_END = IO_POSITION_TRACKER_END,

 };

 

 #endif
diff --git a/source/Concept/Framework/display.h b/source/Concept/Framework/display.h
index 8e6e0a4..df18e62 100644
--- a/source/Concept/Framework/display.h
+++ b/source/Concept/Framework/display.h
@@ -10,31 +10,74 @@ public:
 	{

 		this->parent = NULL;

 		this->moduleId = 0;

+		this->cursorVisible = false;

+		this->illuminationEnabled = true;

+		this->commandClear = 0;

+		this->commandReturnCursor = 0;

+		this->commandNewLine = 0;

+		this->commandSetting = 0;

+		this->settingCursorVisible = 0;

+		this->settingIllumination = 0;

+		this->settingCursorPosition = 0;

 	}

 

 	Display(uint32 displayId)

 	{

 		this->parent = NULL;

 		this->moduleId = displayId;

+		this->cursorVisible = false;

+		this->illuminationEnabled = true;

 		

 		switch(displayId)

 		{

 			case IO_DISPLAY_MAIN:

+				this->commandClear = 12;

+				this->commandReturnCursor = 13;

+				this->commandNewLine = 10;

+				this->commandSetting = 27;

+				this->settingCursorVisible = 67;

+				this->settingIllumination = 76;

+				this->settingCursorPosition = 79;

 				msleep(500);

 				uart1_init(103);//9600 BAUD at 16MHz Atmel

 				sleep(2);

 				break;

 			default:

+				this->commandClear = 0;

+				this->commandReturnCursor = 0;

+				this->commandNewLine = 0;

+				this->commandSetting = 0;

+				this->settingCursorVisible = 0;

+				this->settingIllumination = 0;

+				this->settingCursorPosition = 0;

 				break;

 		}

 	}

 

 protected:

-	//Hardware

-	volatile uint8* hardwarePort;

-	volatile uint16* pwmSpeed;

-	uint8 pinForward;

-	uint8 pinReverse;

+	bool cursorVisible;

+	bool illuminationEnabled;

+	//Commands

+	uint8 commandClear;

+	uint8 commandReturnCursor;

+	uint8 commandNewLine;

+	uint8 commandSetting;

+	//Settings

+	uint8 settingCursorVisible;

+	uint8 settingIllumination;

+	uint8 settingCursorPosition;

+

+	void SendCommand(uint8 newCommand)

+	{

+		switch(moduleId)

+		{

+			case IO_DISPLAY_MAIN:

+				uart1_putc(newCommand);

+				break;

+			default:

+				break;

+		}

+	}

 

 public:

 	void Print(char* newString)

@@ -55,6 +98,88 @@ public:
 		ltoa(newInteger, buffer, 10);

 		Print(buffer);

 	}

+

+	void Print(char* newString, uint8 xPos, uint8 yPos)

+	{

+		SetCursorPosition(xPos, yPos);

+		Print(newString);

+	}

+

+	void Print(int32 newInteger, uint8 xPos, uint8 yPos)

+	{

+		SetCursorPosition(xPos, yPos);

+		Print(newInteger);

+	}

+

+	void Clear()

+	{

+		SendCommand(commandClear);

+	}

+

+	void ReturnCursor()

+	{

+		SendCommand(commandReturnCursor);

+	}

+

+	void NewLine()

+	{

+		SendCommand(commandNewLine);

+	}

+

+	bool GetCursorVisible()

+	{

+		return cursorVisible;

+	}

+

+	void SetCursorVisible(bool newStatus)

+	{

+		cursorVisible = newStatus;

+

+		SendCommand(commandSetting);

+		SendCommand(settingCursorVisible);

+

+		if(cursorVisible)

+		{

+			SendCommand(1);

+		}

+		else

+		{

+			SendCommand(0);

+		}

+	}

+

+	bool GetLightingEnabled()

+	{

+		return illuminationEnabled;

+	}

+

+	void SetLightingEnabled(bool newStatus)

+	{

+		illuminationEnabled = newStatus;

+

+		SendCommand(commandSetting);

+		SendCommand(settingIllumination);

+

+		if(illuminationEnabled)

+		{

+			SendCommand(1);

+		}

+		else

+		{

+			SendCommand(0);

+		}

+	}

+

+	void SetCursorPosition(uint8 newX, uint8 newY)

+	{

+		if(!newX || newX > 20) return;

+		if(!newY || newY > 4) return;

+

+		SendCommand(commandSetting);

+		SendCommand(settingCursorPosition);

+		SendCommand(newX);

+		SendCommand(newY);

+	}

 };

 

 #endif
diff --git a/source/Concept/Framework/engine.h b/source/Concept/Framework/engine.h
index 0e7cf8c..8dd284e 100644
--- a/source/Concept/Framework/engine.h
+++ b/source/Concept/Framework/engine.h
@@ -103,7 +103,7 @@ public:
 	{

 		curSpeed = newSpeed;

 

-		*pwmSpeed = abs(newSpeed / SPEED_PER_PWM);

+		*pwmSpeed = (abs((int16)(newSpeed / SPEED_PER_PWM)));

 

 		UpdateDirection();

 	}

diff --git a/source/Concept/Framework/keyboard.cpp b/source/Concept/Framework/keyboard.cpp
new file mode 100644
index 0000000..65fc7cf
--- /dev/null
+++ b/source/Concept/Framework/keyboard.cpp
@@ -0,0 +1 @@
+#include "keyboard.h"

diff --git a/source/Concept/Framework/keyboard.h b/source/Concept/Framework/keyboard.h
new file mode 100644
index 0000000..d984586
--- /dev/null
+++ b/source/Concept/Framework/keyboard.h
@@ -0,0 +1,87 @@
+#ifndef _KEYBOARD_H

+#define _KEYBOARD_H

+

+#include "stdafx.h"

+

+class Keyboard : public IO_Module

+{

+public:

+	Keyboard()

+	{

+		this->parent = NULL;

+		this->moduleId = 0;

+		this->commandSetting = 0;

+		this->settingClearBuffer = 0;

+	}

+

+	Keyboard(uint32 keyboardId)

+	{

+		this->parent = NULL;

+		this->moduleId = keyboardId;

+		

+		switch(keyboardId)

+		{

+			case IO_KEYBOARD_MAIN:

+				this->commandSetting = 27;

+				this->settingClearBuffer = 123;

+				break;

+			default:

+				this->commandSetting = 0;

+				this->settingClearBuffer = 0;

+				break;

+		}

+	}

+

+protected:

+	//Commands

+	uint8 commandSetting;

+	//Settings

+	uint8 settingClearBuffer;

+

+	void SendCommand(uint8 newCommand)

+	{

+		switch(moduleId)

+		{

+			case IO_KEYBOARD_MAIN:

+				uart1_putc(newCommand);

+				break;

+			default:

+				break;

+		}

+	}

+

+public:

+	uint8 GetInput()

+	{

+		uint16 input = uart1_getc();

+

+		if(input == 0x100)//no data

+		{

+			return 0xEE;//empty

+		}

+		else if(input >= '0' && input <= '9')

+		{

+			return (uint8)(input - '0');

+		}

+		else if(input == '*')

+		{

+			return 10;

+		}

+		else if(input == '#')

+		{

+			return 11;

+		}

+		else

+		{

+			return 0xFF;//unknown

+		}

+	}

+

+	void ClearKeyBuffer()

+	{

+		SendCommand(commandSetting);

+		SendCommand(settingClearBuffer);

+	}

+};

+

+#endif
diff --git a/source/Concept/Framework/main.cpp b/source/Concept/Framework/main.cpp
index a3cd05c..f689d88 100644
--- a/source/Concept/Framework/main.cpp
+++ b/source/Concept/Framework/main.cpp
@@ -59,6 +59,14 @@ int main()
 				newSensor = NULL;

 				break;

 			}

+			case IO_SENSOR_MOUSE_LEFT:

+			case IO_SENSOR_MOUSE_RIGHT:

+			{

+				Mouse_Sensor* newSensor = new Mouse_Sensor(i);

+				localRobot->AddModule(newSensor);

+				newSensor = NULL;

+				break;

+			}

 			//Other cases

 			default:

 			{

@@ -86,9 +94,61 @@ int main()
 		newDisplay = NULL;

 	}

 

+	//Init Keyboards

+	for(uint8 i = IO_KEYBOARD_START; i < IO_KEYBOARD_END; i++)

+	{

+		Keyboard* newKeyboard = new Keyboard(i);

+		localRobot->AddModule(newKeyboard);

+		newKeyboard = NULL;

+	}

+

+	Keyboard* ourKeyboard = localRobot->GetModule<Keyboard>(IO_KEYBOARD_MAIN);

+	IR_Sensor* ourSensor = NULL;

+	uint16 value = 0;

+	Display* ourDisplay = localRobot->GetModule<Display>(IO_DISPLAY_MAIN);

+	uint32 i = 1;

+

 	//Run

 	while(true)

 	{

+		msleep(500);

+		ourDisplay->Clear();

+		ourDisplay->Print(i++);

+		ourDisplay->NewLine();

+		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_0_DEG);

+		value = ourSensor->GetIRIntensity();

+		ourDisplay->Print(value, 1, 2);

+		ourDisplay->Print(";");

+		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_30_DEG);

+		value = ourSensor->GetIRIntensity();

+		ourDisplay->Print(value);

+		ourDisplay->Print(";");

+		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_60_DEG);

+		value = ourSensor->GetIRIntensity();

+		ourDisplay->Print(value);

+		ourDisplay->Print(";");

+		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_100_DEG);

+		value = ourSensor->GetIRIntensity();

+		ourDisplay->Print(value);

+		ourDisplay->Print(";");

+		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_180_DEG);

+		value = ourSensor->GetIRIntensity();

+		ourDisplay->Print(value, 1, 3);

+		ourDisplay->Print(";");

+		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_260_DEG);

+		value = ourSensor->GetIRIntensity();

+		ourDisplay->Print(value);

+		ourDisplay->Print(";");

+		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_300_DEG);

+		value = ourSensor->GetIRIntensity();

+		ourDisplay->Print(value);

+		ourDisplay->Print(";");

+		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_330_DEG);

+		value = ourSensor->GetIRIntensity();

+		ourDisplay->Print(value);

+		ourDisplay->Print(";");

+		ourDisplay->Print(ourKeyboard->GetInput(), 1, 4);

+

 		localRobot->Update();

 	}

 

diff --git a/source/Concept/Framework/mouse_sensor.cpp b/source/Concept/Framework/mouse_sensor.cpp
new file mode 100644
index 0000000..214a13e
--- /dev/null
+++ b/source/Concept/Framework/mouse_sensor.cpp
@@ -0,0 +1 @@
+#include "mouse_sensor.h"

diff --git a/source/Concept/Framework/mouse_sensor.h b/source/Concept/Framework/mouse_sensor.h
new file mode 100644
index 0000000..8247693
--- /dev/null
+++ b/source/Concept/Framework/mouse_sensor.h
@@ -0,0 +1,203 @@
+#ifndef _MOUSE_SENSOR_H

+#define _MOUSE_SENSOR_H

+

+#include "stdafx.h"

+#include "sensor.h"

+

+class Mouse_Sensor : public Sensor

+{

+public:

+	Mouse_Sensor()

+	{

+		this->parent = NULL;

+		this->moduleId = 0;

+		this->hardwarePort = NULL;

+		this->hardwareDDR = NULL;

+		this->hardwarePin = NULL;

+		this->pinSDA = 0;

+		this->pinSCK = 0;

+		this->registerConfig = 0;

+		this->registerPixelData = 0;

+		this->registerSqual = 0;

+		this->registerDeltaX = 0;

+		this->registerDeltaY = 0;

+		this->configReset = 0;

+		this->configAwake = 0;

+		this->newImage = false;

+	}

+

+	Mouse_Sensor(uint32 sensorId)

+	{

+		this->parent = NULL;

+		this->moduleId = sensorId;

+		this->newImage = false;

+

+		switch(sensorId)

+		{

+			case IO_SENSOR_MOUSE_LEFT:

+				this->hardwarePort = &PORTC;

+				this->hardwareDDR = &DDRC;

+				this->hardwarePin = &PINC;

+				this->pinSDA = (1 << 4);

+				this->pinSCK = (1 << 6);

+				this->registerConfig = 0x00;

+				this->registerPixelData = 0x08;

+				this->registerSqual = 0x4;

+				this->registerDeltaX = 0x3;

+				this->registerDeltaY = 0x2;

+				this->configReset = 0x80;

+				this->configAwake = 0x01;

+				break;

+			case IO_SENSOR_MOUSE_RIGHT:

+				this->hardwarePort = &PORTC;

+				this->hardwareDDR = &DDRC;

+				this->hardwarePin = &PINC;

+				this->pinSDA = (1 << 5);

+				this->pinSCK = (1 << 7);

+				this->registerConfig = 0x00;

+				this->registerPixelData = 0x08;

+				this->registerSqual = 0x4;

+				this->registerDeltaX = 0x3;

+				this->registerDeltaY = 0x2;

+				this->configReset = 0x80;

+				this->configAwake = 0x01;

+				break;

+			default:

+				this->hardwarePort = NULL;

+				this->hardwareDDR = NULL;

+				this->hardwarePin = NULL;

+				this->pinSDA = 0;

+				this->pinSCK = 0;

+				this->registerConfig = 0;

+				this->registerPixelData = 0;

+				this->registerSqual = 0;

+				this->registerDeltaX = 0;

+				this->registerDeltaY = 0;

+				this->configReset = 0;

+				this->configAwake = 0;

+				break;

+		}

+

+		msleep(100);

+

+		*hardwareDDR  |= pinSCK;

+		*hardwarePort &= ~pinSCK;

+	

+		msleep(10);

+	

+		Write(registerConfig, configReset);

+		Write(registerConfig, configAwake);

+	}

+

+protected:

+	//Hardware

+	volatile uint8* hardwarePort;

+	volatile uint8* hardwareDDR;

+	volatile uint8* hardwarePin;

+	uint8 pinSDA;

+	uint8 pinSCK;

+	bool newImage;

+	//Registers and Settings

+	uint8 registerConfig;

+	uint8 registerPixelData;

+	uint8 registerSqual;

+	uint8 registerDeltaX;

+	uint8 registerDeltaY;

+	uint8 configReset;

+	uint8 configAwake;

+

+public:

+	void WriteByte(uint8 newByte)

+	{

+		*hardwareDDR |= pinSDA;//Set SDA output

+	

+		for(uint8 i = 0; i < 8; i++)

+		{

+			*hardwarePort &= ~pinSCK;//prepare SCK

+		

+			//write data

+			*hardwarePort = (*hardwarePort & (~(*hardwarePin))) | 

+				((newByte >> 7) * pinSDA);

+

+			newByte = newByte << 1;//prepare next byte

+			asm volatile("nop");

+		

+			*hardwarePort |= pinSCK;

+		}

+	}

+

+	void Write(int8 adr, uint8 data)

+	{	

+		WriteByte(adr | 0x80);

+		WriteByte(data);

+		usleep(100);

+	}

+

+	uint8 ReadByte()

+	{

+		uint8 data=0;

+

+		*hardwareDDR  &= ~pinSDA;//Set SDA input

+

+		for(uint8 i = 0; i < 8; i++)

+		{

+			*hardwarePort &= ~pinSCK;//Prepare data

+			data = data << 1;

+

+			asm volatile("nop");

+			*hardwarePort |= pinSCK;//Prepare for reading

+

+			data |= (*hardwarePin & pinSDA) / pinSDA;

+		}

+

+		return data;

+	}

+

+	uint8 Read(uint8 adr)

+	{

+		WriteByte(adr);

+		usleep(100);

+	

+		return ReadByte();

+	}

+

+	void ImagePrepare()

+	{

+		Write(registerConfig, configAwake);

+		Write(registerPixelData, 0x00);

+

+		newImage = true;

+	}

+

+	uint8 ImageRead()

+	{

+		uint8 pixel = Read(registerPixelData);

+		if(newImage)

+		{

+			while (!(pixel & 0x80))//0x80 indicates first pixel

+			{

+				pixel=Read(registerPixelData);

+			}

+			newImage = false;

+		}

+	

+		return pixel;

+	}

+

+	uint8 GetSqual()

+	{

+		return Read(registerSqual);

+	}

+

+	int8 GetXMovement()

+	{

+		return (int8)(Read(registerDeltaX));

+	}

+

+	int8 GetYMovement()

+	{

+		return (int8)(Read(registerDeltaY));

+	}

+};

+

+#endif
diff --git a/source/Concept/Framework/position_tracker.cpp b/source/Concept/Framework/position_tracker.cpp
new file mode 100644
index 0000000..262069a
--- /dev/null
+++ b/source/Concept/Framework/position_tracker.cpp
@@ -0,0 +1,7 @@
+#include "position_tracker.h"

+

+//-----------------------------------------------------------------------------

+void Position_Tracker::Update()

+{

+	//insert code here

+}

diff --git a/source/Concept/Framework/position_tracker.h b/source/Concept/Framework/position_tracker.h
new file mode 100644
index 0000000..49c5d40
--- /dev/null
+++ b/source/Concept/Framework/position_tracker.h
@@ -0,0 +1,27 @@
+#ifndef _POSITION_TRACKER_H

+#define _POSITION_TRACKER_H

+

+#include "stdafx.h"

+

+class Position_Tracker : public IO_Module

+{

+public:

+	Position_Tracker()

+	{

+		this->parent = NULL;

+		this->moduleId = 0;

+	}

+

+	Position_Tracker(uint32 trackerId)

+	{

+		this->parent = NULL;

+		this->moduleId = trackerId;

+	}

+

+protected:

+

+public:

+	void Update();

+};

+

+#endif
diff --git a/source/Concept/Framework/robot.cpp b/source/Concept/Framework/robot.cpp
index a051dd4..5c673cb 100644
--- a/source/Concept/Framework/robot.cpp
+++ b/source/Concept/Framework/robot.cpp
@@ -95,8 +95,8 @@ uint16 Robot::GetADCValue(uint8 channel)
 

 	uint32 result = 0;

 	

-	//Activate ADC and set division factor to 64

-	ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1);

+	//Activate ADC and set division factor to 8

+	ADCSRA = (1 << ADEN) | (1 << ADPS1) | (1 << ADPS0);

 

 	//Set multiplexer channel

 	ADMUX = channel;

diff --git a/source/Concept/Framework/stdafx.h b/source/Concept/Framework/stdafx.h
index f48adfe..151d749 100644
--- a/source/Concept/Framework/stdafx.h
+++ b/source/Concept/Framework/stdafx.h
@@ -9,6 +9,7 @@
 #include "tools.h"

 #include "io_module.h"

 #include "display.h"

+#include "keyboard.h"

 #include "sensor.h"

 #include "engine.h"

 #include "dribbler.h"

@@ -16,4 +17,6 @@
 #include "led.h"

 #include "distance_sensor.h"

 #include "ir_sensor.h"

+#include "mouse_sensor.h"

+#include "position_tracker.h"

 #include "robot.h"