+++ enhanced framework hardware interface

4 files changed, 37 insertions, 47 deletions

diff --git a/source/AVR_Studio/Soccer/hal/board.c b/source/AVR_Studio/Soccer/hal/board.c
index 458ed03..9d895e8 100755
--- a/source/AVR_Studio/Soccer/hal/board.c
+++ b/source/AVR_Studio/Soccer/hal/board.c
@@ -16,7 +16,7 @@ Board::Board() {
 	PORTC = 0; // Alle Low, kein Pollup

 

 	// Alle Ausgänge bis auf PD0+1(I2C) + 2+3(RS232)

-	DDRD = (1 << PD2) | (1 << PD3) | (1 << PD4) | (1 << PD5) | (1 << PD6)  | (1 << PD7);

+	DDRD = (1 << PD3) | (1 << PD4) | (1 << PD5) | (1 << PD6)  | (1 << PD7);

 	PORTD = (1 << PD0) | (1 << PD1); // Pollup-Widerstand an PD0+1 aktivieren

 

 	// PE5 ist eingang

@@ -33,11 +33,11 @@ Board::Board() {
 

 	// aktiviere Kanal A+B auf PWM1 mit 8Bit

 	TCCR1A = (1<< COM1A1) | (1<< COM1B1) | (1<< WGM10);

-	TCCR1B = (1<<ICNC1) | (1<<CS12) | (1<<CS10); // set clock/prescaler 1/1024 -> enable counter

+	TCCR1B = (1<<ICNC1) | (1<<CS11); // | (1<<CS12) | (1<<CS10); // set clock/prescaler 1/1024 -> enable counter

 

 	// aktiviere Kanal A+B auf PWM3 mit 8Bit

 	TCCR3A = (1<< COM3A1) | (1<< COM3B1) | (1<< WGM10);

-	TCCR3B =  (1<<ICNC3) | (1<<CS32) | (1<<CS30); // set clock/prescaler 1/1024 -> enable counter

+	TCCR3B =  (1<<ICNC3) | (1<<CS31); // | (1<<CS32) | (1<<CS30); // set clock/prescaler 1/1024 -> enable counter

 

 	// Schalte Motoren auf 0

 	motor(0,0);

@@ -49,8 +49,11 @@ Board::Board() {
 	PORTE &= ~(1 << PE6); // Pin2 low

 	PORTA |= (1 << PA2); // Pin1 high

 

-	// Uart-Interface einschalten

-	uart1_init( 10); // 9600 BAUD bei 16MHz Atmel

+	// Dribbler-richtung einstellen

+	DRIBBLER_PORT |= DRIBBLER_A; // Pin1 high

+	DRIBBLER_PORT &= ~DRIBBLER_B; // Pin2 low

+

+	

 

 	// aktiviere interrupt

 	sei();

@@ -202,27 +205,6 @@ void Board::motor(int i, int speed)
 			MOTOR2_PORT |= MOTOR2_A;//In 1 ein

 		}

 	}

-	else if(i == 3) // Dribbler... hier haben wir kein PWM

-	{

-		if(speed > 0)

-		{

-			DRIBBLER_PORT |= DRIBBLER_A;//In 1 ein

-			DRIBBLER_PORT &= ~DRIBBLER_B;//In 2 aus

-			DRIBBLER_PWMPORT |= DRIBBLER_PWM;

-		}

-		else if(speed < 0)

-		{

-			DRIBBLER_PORT |= DRIBBLER_B;//In 2 ein

-			DRIBBLER_PORT &= ~DRIBBLER_A;//In 1 aus

-			DRIBBLER_PWMPORT |= DRIBBLER_PWM;

-		}

-		else

-		{

-			DRIBBLER_PORT |= DRIBBLER_B;//In 2 ein

-			DRIBBLER_PORT |= DRIBBLER_A;//In 1 ein

-			DRIBBLER_PWMPORT &= ~DRIBBLER_PWM;

-		}

-	}

 }

 

 void Board::kicker() {

@@ -231,6 +213,19 @@ void Board::kicker() {
 	KICKER_AUS

 }

 

+void Board::dribblerOn() {

+	DRIBBLER_AN

+}

+

+void Board::dribblerOff() {

+	DRIBBLER_AUS

+}

+

+void Board::dribbler(bool status) {

+	if(status) dribblerOn();

+	else dribblerOff();

+}

+

 //PWM routine für den Beeper

 ISR (TIMER0_OVF_vect)

 {

diff --git a/source/AVR_Studio/Soccer/hal/board.h b/source/AVR_Studio/Soccer/hal/board.h
index a76aeb7..e608836 100755
--- a/source/AVR_Studio/Soccer/hal/board.h
+++ b/source/AVR_Studio/Soccer/hal/board.h
@@ -4,7 +4,7 @@
 #include <avr/io.h>

 #include <avr/interrupt.h>

 #include <stdlib.h>

-#include "uart.h"

+//#include "uart.h"

 #include "../global.h"

 

 //#define abs(a) ((a < 0)? -a : a)

@@ -26,10 +26,12 @@
 #define MOTOR2_PWM OCR3A 
 #define MOTOR2_A (1 << 5)
 #define MOTOR2_B (1 << 4)
-
+

+

+// Dribbler
 #define DRIBBLER_PORT PORTD

-#define DRIBBLER_PWMPORT PORTA

-#define DRIBBLER_PWM (1 << 5)
+#define DRIBBLER_AN PORTA |= (1 << 5);

+#define DRIBBLER_AUS PORTA &= ~(1 << 5);

 #define DRIBBLER_A (1 << 6)
 #define DRIBBLER_B (1 << 7)
 
@@ -62,6 +64,10 @@ public:
 	void led(bool status);

 	void motor(int i, int speed);

 	void kicker();

+

+	void dribbler(bool status);

+	void dribblerOn();

+	void dribblerOff();

 };

 

 #endif

diff --git a/source/AVR_Studio/Soccer/hal/keylcd.c b/source/AVR_Studio/Soccer/hal/keylcd.c
index fb2efa6..4b98f75 100755
--- a/source/AVR_Studio/Soccer/hal/keylcd.c
+++ b/source/AVR_Studio/Soccer/hal/keylcd.c
@@ -1,7 +1,8 @@
 #include "keylcd.h"

 

-KeyLCD::KeyLCD() : i2c() {

-

+KeyLCD::KeyLCD() {

+	// Uart-Interface einschalten

+	uart1_init( 103); // 9600 BAUD bei 16MHz Atmel

 }

 

 KeyLCD::~KeyLCD() {

@@ -10,12 +11,7 @@ KeyLCD::~KeyLCD() {
 

 // Gibt Daten auf dem keyLCD aus

 void KeyLCD::print(char *data) {

-	int len=strlen(data);

-  uint8_t buf[len+1];

-

-  for (int i=0; i<len; i++) buf[i] = uint8_t(data[i]);

-

-  i2c.send(I2C_KEYLCD, buf, len);

+	uart1_puts(data);

 }

 

 // Löscht das keyLCD

@@ -23,6 +19,3 @@ void KeyLCD::clear() {
 	

 }

 

-uint8_t KeyLCD::error() {

-	return i2c.error();

-}

diff --git a/source/AVR_Studio/Soccer/hal/keylcd.h b/source/AVR_Studio/Soccer/hal/keylcd.h
index 590c0cb..9403aa6 100755
--- a/source/AVR_Studio/Soccer/hal/keylcd.h
+++ b/source/AVR_Studio/Soccer/hal/keylcd.h
@@ -1,22 +1,18 @@
 #ifndef _KEYLCD_H_

 #define _KEYLCD_H_

 

-#include "i2c.h"

+//#include "i2c.h"

 #include "string.h"

-

-#define I2C_KEYLCD 2

-#define LCD_CMD_PRINTSTR 0

+#include "uart.h"

 

 class KeyLCD 

 {

 private:

-	I2C i2c;

 public:

 	KeyLCD();

 	~KeyLCD();

 	

 	void print(char* data);

-	uint8_t error();

 	void clear();	

 };