+++ enhanced framework hardware interface

21 files changed, 1106 insertions, 52 deletions

diff --git a/source/Concept/Framework/RoboCode.aps b/source/Concept/Framework/RoboCode.aps
index 3864c4f..b759997 100644
--- a/source/Concept/Framework/RoboCode.aps
+++ b/source/Concept/Framework/RoboCode.aps
@@ -1 +1 @@
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diff --git a/source/Concept/Framework/atmega128io.cpp b/source/Concept/Framework/atmega128io.cpp
index cf8fb98..b1d6f4d 100644
--- a/source/Concept/Framework/atmega128io.cpp
+++ b/source/Concept/Framework/atmega128io.cpp
@@ -1 +1,585 @@
-#include "atmega128io.h"
\ No newline at end of file
+#include "atmega128io.h"

+

+/*************************************************************************

+Title:    Interrupt UART library with receive/transmit circular buffers

+Author:   Peter Fleury <pfleury@gmx.ch>   http://jump.to/fleury

+File:     $Id: uart.c,v 1.5.2.10 2005/11/15 19:49:12 peter Exp $

+Software: AVR-GCC 3.3 

+Hardware: any AVR with built-in UART, 

+          tested on AT90S8515 at 4 Mhz and ATmega at 1Mhz

+

+DESCRIPTION:

+    An interrupt is generated when the UART has finished transmitting or

+    receiving a byte. The interrupt handling routines use circular buffers

+    for buffering received and transmitted data.

+    

+    The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE variables define

+    the buffer size in bytes. Note that these variables must be a 

+    power of 2.

+    

+USAGE:

+    Refere to the header file uart.h for a description of the routines. 

+    See also example test_uart.c.

+

+NOTES:

+    Based on Atmel Application Note AVR306

+                    

+*************************************************************************/

+#include <avr/io.h>

+#include <avr/interrupt.h>

+//#include <avr/signal.h>

+#include <avr/pgmspace.h>

+

+/*

+ *  constants and macros

+ */

+

+/* size of RX/TX buffers */

+#define UART_RX_BUFFER_MASK ( UART_RX_BUFFER_SIZE - 1)

+#define UART_TX_BUFFER_MASK ( UART_TX_BUFFER_SIZE - 1)

+

+#if ( UART_RX_BUFFER_SIZE & UART_RX_BUFFER_MASK )

+#error RX buffer size is not a power of 2

+#endif

+#if ( UART_TX_BUFFER_SIZE & UART_TX_BUFFER_MASK )

+#error TX buffer size is not a power of 2

+#endif

+

+#if defined(__AVR_AT90S2313__) \

+ || defined(__AVR_AT90S4414__) || defined(__AVR_AT90S4434__) \

+ || defined(__AVR_AT90S8515__) || defined(__AVR_AT90S8535__) \

+ || defined(__AVR_ATmega103__)

+ /* old AVR classic or ATmega103 with one UART */

+ #define AT90_UART

+ #define UART0_RECEIVE_INTERRUPT   SIG_UART_RECV

+ #define UART0_TRANSMIT_INTERRUPT  SIG_UART_DATA

+ #define UART0_STATUS   USR

+ #define UART0_CONTROL  UCR

+ #define UART0_DATA     UDR  

+ #define UART0_UDRIE    UDRIE

+#elif defined(__AVR_AT90S2333__) || defined(__AVR_AT90S4433__)

+ /* old AVR classic with one UART */

+ #define AT90_UART

+ #define UART0_RECEIVE_INTERRUPT   SIG_UART_RECV

+ #define UART0_TRANSMIT_INTERRUPT  SIG_UART_DATA

+ #define UART0_STATUS   UCSRA

+ #define UART0_CONTROL  UCSRB

+ #define UART0_DATA     UDR 

+ #define UART0_UDRIE    UDRIE

+#elif  defined(__AVR_ATmega8__)  || defined(__AVR_ATmega16__) || defined(__AVR_ATmega32__) \

+  || defined(__AVR_ATmega8515__) || defined(__AVR_ATmega8535__) \

+  || defined(__AVR_ATmega323__)

+  /* ATmega with one USART */

+ #define ATMEGA_USART

+ #define UART0_RECEIVE_INTERRUPT   SIG_UART_RECV

+ #define UART0_TRANSMIT_INTERRUPT  SIG_UART_DATA

+ #define UART0_STATUS   UCSRA

+ #define UART0_CONTROL  UCSRB

+ #define UART0_DATA     UDR

+ #define UART0_UDRIE    UDRIE

+#elif defined(__AVR_ATmega163__) 

+  /* ATmega163 with one UART */

+ #define ATMEGA_UART

+ #define UART0_RECEIVE_INTERRUPT   SIG_UART_RECV

+ #define UART0_TRANSMIT_INTERRUPT  SIG_UART_DATA

+ #define UART0_STATUS   UCSRA

+ #define UART0_CONTROL  UCSRB

+ #define UART0_DATA     UDR

+ #define UART0_UDRIE    UDRIE

+#elif defined(__AVR_ATmega162__)

+ /* ATmega with two USART */

+ #define ATMEGA_USART0

+ #define ATMEGA_USART1

+ #define UART0_RECEIVE_INTERRUPT   SIG_USART0_RECV

+ #define UART1_RECEIVE_INTERRUPT   SIG_USART1_RECV

+ #define UART0_TRANSMIT_INTERRUPT  SIG_USART0_DATA

+ #define UART1_TRANSMIT_INTERRUPT  SIG_USART1_DATA

+ #define UART0_STATUS   UCSR0A

+ #define UART0_CONTROL  UCSR0B

+ #define UART0_DATA     UDR0

+ #define UART0_UDRIE    UDRIE0

+ #define UART1_STATUS   UCSR1A

+ #define UART1_CONTROL  UCSR1B

+ #define UART1_DATA     UDR1

+ #define UART1_UDRIE    UDRIE1

+#elif defined(__AVR_ATmega64__) || defined(__AVR_ATmega128__) 

+ /* ATmega with two USART */

+ #define ATMEGA_USART0

+ #define ATMEGA_USART1

+ #define UART0_RECEIVE_INTERRUPT   SIG_UART0_RECV

+ #define UART1_RECEIVE_INTERRUPT   SIG_UART1_RECV

+ #define UART0_TRANSMIT_INTERRUPT  SIG_UART0_DATA

+ #define UART1_TRANSMIT_INTERRUPT  SIG_UART1_DATA

+ #define UART0_STATUS   UCSR0A

+ #define UART0_CONTROL  UCSR0B

+ #define UART0_DATA     UDR0

+ #define UART0_UDRIE    UDRIE0

+ #define UART1_STATUS   UCSR1A

+ #define UART1_CONTROL  UCSR1B

+ #define UART1_DATA     UDR1

+ #define UART1_UDRIE    UDRIE1

+#elif defined(__AVR_ATmega161__)

+ /* ATmega with UART */

+ #error "AVR ATmega161 currently not supported by this libaray !"

+#elif defined(__AVR_ATmega169__) 

+ /* ATmega with one USART */

+ #define ATMEGA_USART

+ #define UART0_RECEIVE_INTERRUPT   SIG_USART_RECV

+ #define UART0_TRANSMIT_INTERRUPT  SIG_USART_DATA

+ #define UART0_STATUS   UCSRA

+ #define UART0_CONTROL  UCSRB

+ #define UART0_DATA     UDR

+ #define UART0_UDRIE    UDRIE

+#elif defined(__AVR_ATmega48__) ||defined(__AVR_ATmega88__) || defined(__AVR_ATmega168__)

+ #define ATMEGA_USART0

+ #define UART0_RECEIVE_INTERRUPT   SIG_USART_RECV

+ #define UART0_TRANSMIT_INTERRUPT  SIG_USART_DATA

+ #define UART0_STATUS   UCSR0A

+ #define UART0_CONTROL  UCSR0B

+ #define UART0_DATA     UDR0

+ #define UART0_UDRIE    UDRIE0

+#elif defined(__AVR_ATtiny2313__)

+ #define ATMEGA_USART

+ #define UART0_RECEIVE_INTERRUPT   SIG_USART0_RX 

+ #define UART0_TRANSMIT_INTERRUPT  SIG_USART0_UDRE

+ #define UART0_STATUS   UCSRA

+ #define UART0_CONTROL  UCSRB

+ #define UART0_DATA     UDR

+ #define UART0_UDRIE    UDRIE

+#else

+ #error "no UART definition for MCU available"

+#endif

+

+

+/*

+ *  module global variables

+ */

+static volatile unsigned char UART_TxBuf[UART_TX_BUFFER_SIZE];

+static volatile unsigned char UART_RxBuf[UART_RX_BUFFER_SIZE];

+static volatile unsigned char UART_TxHead;

+static volatile unsigned char UART_TxTail;

+static volatile unsigned char UART_RxHead;

+static volatile unsigned char UART_RxTail;

+static volatile unsigned char UART_LastRxError;

+

+#if defined( ATMEGA_USART1 )

+static volatile unsigned char UART1_TxBuf[UART_TX_BUFFER_SIZE];

+static volatile unsigned char UART1_RxBuf[UART_RX_BUFFER_SIZE];

+static volatile unsigned char UART1_TxHead;

+static volatile unsigned char UART1_TxTail;

+static volatile unsigned char UART1_RxHead;

+static volatile unsigned char UART1_RxTail;

+static volatile unsigned char UART1_LastRxError;

+#endif

+

+

+

+SIGNAL(UART0_RECEIVE_INTERRUPT)

+/*************************************************************************

+Function: UART Receive Complete interrupt

+Purpose:  called when the UART has received a character

+**************************************************************************/

+{

+    unsigned char tmphead;

+    unsigned char data;

+    unsigned char usr;

+    unsigned char lastRxError;

+ 

+ 

+    /* read UART status register and UART data register */ 

+    usr  = UART0_STATUS;

+    data = UART0_DATA;

+    

+    /* */

+#if defined( AT90_UART )

+    lastRxError = (usr & (_BV(FE)|_BV(DOR)) );

+#elif defined( ATMEGA_USART )

+    lastRxError = (usr & (_BV(FE)|_BV(DOR)) );

+#elif defined( ATMEGA_USART0 )

+    lastRxError = (usr & (_BV(FE0)|_BV(DOR0)) );

+#elif defined ( ATMEGA_UART )

+    lastRxError = (usr & (_BV(FE)|_BV(DOR)) );

+#endif

+        

+    /* calculate buffer index */ 

+    tmphead = ( UART_RxHead + 1) & UART_RX_BUFFER_MASK;

+    

+    if ( tmphead == UART_RxTail ) {

+        /* error: receive buffer overflow */

+        lastRxError = UART_BUFFER_OVERFLOW >> 8;

+    }else{

+        /* store new index */

+        UART_RxHead = tmphead;

+        /* store received data in buffer */

+        UART_RxBuf[tmphead] = data;

+    }

+    UART_LastRxError = lastRxError;   

+}

+

+

+SIGNAL(UART0_TRANSMIT_INTERRUPT)

+/*************************************************************************

+Function: UART Data Register Empty interrupt

+Purpose:  called when the UART is ready to transmit the next byte

+**************************************************************************/

+{

+    unsigned char tmptail;

+

+    

+    if ( UART_TxHead != UART_TxTail) {

+        /* calculate and store new buffer index */

+        tmptail = (UART_TxTail + 1) & UART_TX_BUFFER_MASK;

+        UART_TxTail = tmptail;

+        /* get one byte from buffer and write it to UART */

+        UART0_DATA = UART_TxBuf[tmptail];  /* start transmission */

+    }else{

+        /* tx buffer empty, disable UDRE interrupt */

+        UART0_CONTROL &= ~_BV(UART0_UDRIE);

+    }

+}

+

+

+/*************************************************************************

+Function: uart_init()

+Purpose:  initialize UART and set baudrate

+Input:    baudrate using macro UART_BAUD_SELECT()

+Returns:  none

+**************************************************************************/

+void uart_init(unsigned int baudrate)

+{

+    UART_TxHead = 0;

+    UART_TxTail = 0;

+    UART_RxHead = 0;

+    UART_RxTail = 0;

+    

+#if defined( AT90_UART )

+    /* set baud rate */

+    UBRR = (unsigned char)baudrate; 

+

+    /* enable UART receiver and transmmitter and receive complete interrupt */

+    UART0_CONTROL = _BV(RXCIE)|_BV(RXEN)|_BV(TXEN);

+

+#elif defined (ATMEGA_USART)

+    /* Set baud rate */

+    if ( baudrate & 0x8000 )

+    {

+    	 UART0_STATUS = (1<<U2X);  //Enable 2x speed 

+    	 baudrate &= ~0x8000;

+    }

+    UBRRH = (unsigned char)(baudrate>>8);

+    UBRRL = (unsigned char) baudrate;

+   

+    /* Enable USART receiver and transmitter and receive complete interrupt */

+    UART0_CONTROL = _BV(RXCIE)|(1<<RXEN)|(1<<TXEN);

+    

+    /* Set frame format: asynchronous, 8data, no parity, 1stop bit */

+    #ifdef URSEL

+    UCSRC = (1<<URSEL)|(3<<UCSZ0);

+    #else

+    UCSRC = (3<<UCSZ0);

+    #endif 

+    

+#elif defined (ATMEGA_USART0 )

+    /* Set baud rate */

+    if ( baudrate & 0x8000 ) 

+    {

+   		UART0_STATUS = (1<<U2X0);  //Enable 2x speed 

+   		baudrate &= ~0x8000;

+   	}

+    UBRR0H = (unsigned char)(baudrate>>8);

+    UBRR0L = (unsigned char) baudrate;

+

+    /* Enable USART receiver and transmitter and receive complete interrupt */

+    UART0_CONTROL = _BV(RXCIE0)|(1<<RXEN0)|(1<<TXEN0);

+    

+    /* Set frame format: asynchronous, 8data, no parity, 1stop bit */

+    #ifdef URSEL0

+    UCSR0C = (1<<URSEL0)|(3<<UCSZ00);

+    #else

+    UCSR0C = (3<<UCSZ00);

+    #endif 

+

+#elif defined ( ATMEGA_UART )

+    /* set baud rate */

+    if ( baudrate & 0x8000 ) 

+    {

+    	UART0_STATUS = (1<<U2X);  //Enable 2x speed 

+    	baudrate &= ~0x8000;

+    }

+    UBRRHI = (unsigned char)(baudrate>>8);

+    UBRR   = (unsigned char) baudrate;

+

+    /* Enable UART receiver and transmitter and receive complete interrupt */

+    UART0_CONTROL = _BV(RXCIE)|(1<<RXEN)|(1<<TXEN);

+

+#endif

+

+}/* uart_init */

+

+

+/*************************************************************************

+Function: uart_getc()

+Purpose:  return byte from ringbuffer  

+Returns:  lower byte:  received byte from ringbuffer

+          higher byte: last receive error

+**************************************************************************/

+unsigned int uart_getc(void)

+{    

+    unsigned char tmptail;

+    unsigned char data;

+

+

+    if ( UART_RxHead == UART_RxTail ) {

+        return UART_NO_DATA;   /* no data available */

+    }

+    

+    /* calculate /store buffer index */

+    tmptail = (UART_RxTail + 1) & UART_RX_BUFFER_MASK;

+    UART_RxTail = tmptail; 

+    

+    /* get data from receive buffer */

+    data = UART_RxBuf[tmptail];

+    

+    return (UART_LastRxError << 8) + data;

+

+}/* uart_getc */

+

+

+/*************************************************************************

+Function: uart_putc()

+Purpose:  write byte to ringbuffer for transmitting via UART

+Input:    byte to be transmitted

+Returns:  none          

+**************************************************************************/

+void uart_putc(unsigned char data)

+{

+    unsigned char tmphead;

+

+    

+    tmphead  = (UART_TxHead + 1) & UART_TX_BUFFER_MASK;

+    

+    while ( tmphead == UART_TxTail ){

+        ;/* wait for free space in buffer */

+    }

+    

+    UART_TxBuf[tmphead] = data;

+    UART_TxHead = tmphead;

+

+    /* enable UDRE interrupt */

+    UART0_CONTROL    |= _BV(UART0_UDRIE);

+

+}/* uart_putc */

+

+

+/*************************************************************************

+Function: uart_puts()

+Purpose:  transmit string to UART

+Input:    string to be transmitted

+Returns:  none          

+**************************************************************************/

+void uart_puts(const char *s )

+{

+    while (*s) 

+      uart_putc(*s++);

+

+}/* uart_puts */

+

+

+/*************************************************************************

+Function: uart_puts_p()

+Purpose:  transmit string from program memory to UART

+Input:    program memory string to be transmitted

+Returns:  none

+**************************************************************************/

+void uart_puts_p(const char *progmem_s )

+{

+    register char c;

+    

+    while ( (c = pgm_read_byte(progmem_s++)) ) 

+      uart_putc(c);

+

+}/* uart_puts_p */

+

+

+/*

+ * these functions are only for ATmegas with two USART

+ */

+#if defined( ATMEGA_USART1 )

+

+SIGNAL(UART1_RECEIVE_INTERRUPT)

+/*************************************************************************

+Function: UART1 Receive Complete interrupt

+Purpose:  called when the UART1 has received a character

+**************************************************************************/

+{

+    unsigned char tmphead;

+    unsigned char data;

+    unsigned char usr;

+    unsigned char lastRxError;

+ 

+ 

+    /* read UART status register and UART data register */ 

+    usr  = UART1_STATUS;

+    data = UART1_DATA;

+    

+    /* */

+    lastRxError = (usr & (_BV(FE1)|_BV(DOR1)) );

+        

+    /* calculate buffer index */ 

+    tmphead = ( UART1_RxHead + 1) & UART_RX_BUFFER_MASK;

+    

+    if ( tmphead == UART1_RxTail ) {

+        /* error: receive buffer overflow */

+        lastRxError = UART_BUFFER_OVERFLOW >> 8;

+    }else{

+        /* store new index */

+        UART1_RxHead = tmphead;

+        /* store received data in buffer */

+        UART1_RxBuf[tmphead] = data;

+    }

+    UART1_LastRxError = lastRxError;   

+}

+

+

+SIGNAL(UART1_TRANSMIT_INTERRUPT)

+/*************************************************************************

+Function: UART1 Data Register Empty interrupt

+Purpose:  called when the UART1 is ready to transmit the next byte

+**************************************************************************/

+{

+    unsigned char tmptail;

+

+    

+    if ( UART1_TxHead != UART1_TxTail) {

+        /* calculate and store new buffer index */

+        tmptail = (UART1_TxTail + 1) & UART_TX_BUFFER_MASK;

+        UART1_TxTail = tmptail;

+        /* get one byte from buffer and write it to UART */

+        UART1_DATA = UART1_TxBuf[tmptail];  /* start transmission */

+    }else{

+        /* tx buffer empty, disable UDRE interrupt */

+        UART1_CONTROL &= ~_BV(UART1_UDRIE);

+    }

+}

+

+

+/*************************************************************************

+Function: uart1_init()

+Purpose:  initialize UART1 and set baudrate

+Input:    baudrate using macro UART_BAUD_SELECT()

+Returns:  none

+**************************************************************************/

+void uart1_init(unsigned int baudrate)

+{

+    UART1_TxHead = 0;

+    UART1_TxTail = 0;

+    UART1_RxHead = 0;

+    UART1_RxTail = 0;

+    

+

+    /* Set baud rate */

+    if ( baudrate & 0x8000 ) 

+    {

+    	UART1_STATUS = (1<<U2X1);  //Enable 2x speed 

+      baudrate &= ~0x8000;

+    }

+    UBRR1H = (unsigned char)(baudrate>>8);

+    UBRR1L = (unsigned char) baudrate;

+

+    /* Enable USART receiver and transmitter and receive complete interrupt */

+    UART1_CONTROL = _BV(RXCIE1)|(1<<RXEN1)|(1<<TXEN1);

+    

+    /* Set frame format: asynchronous, 8data, no parity, 1stop bit */   

+    #ifdef URSEL1

+    UCSR1C = (1<<URSEL1)|(3<<UCSZ10);

+    #else

+    UCSR1C = (3<<UCSZ10);

+    #endif 

+}/* uart_init */

+

+

+/*************************************************************************

+Function: uart1_getc()

+Purpose:  return byte from ringbuffer  

+Returns:  lower byte:  received byte from ringbuffer

+          higher byte: last receive error

+**************************************************************************/

+unsigned int uart1_getc(void)

+{    

+    unsigned char tmptail;

+    unsigned char data;

+

+

+    if ( UART1_RxHead == UART1_RxTail ) {

+        return UART_NO_DATA;   /* no data available */

+    }

+    

+    /* calculate /store buffer index */

+    tmptail = (UART1_RxTail + 1) & UART_RX_BUFFER_MASK;

+    UART1_RxTail = tmptail; 

+    

+    /* get data from receive buffer */

+    data = UART1_RxBuf[tmptail];

+    

+    return (UART1_LastRxError << 8) + data;

+

+}/* uart1_getc */

+

+

+/*************************************************************************

+Function: uart1_putc()

+Purpose:  write byte to ringbuffer for transmitting via UART

+Input:    byte to be transmitted

+Returns:  none          

+**************************************************************************/

+void uart1_putc(unsigned char data)

+{

+    unsigned char tmphead;

+

+    

+    tmphead  = (UART1_TxHead + 1) & UART_TX_BUFFER_MASK;

+    

+    while ( tmphead == UART1_TxTail ){

+        ;/* wait for free space in buffer */

+    }

+    

+    UART1_TxBuf[tmphead] = data;

+    UART1_TxHead = tmphead;

+

+    /* enable UDRE interrupt */

+    UART1_CONTROL    |= _BV(UART1_UDRIE);

+

+}/* uart1_putc */

+

+

+/*************************************************************************

+Function: uart1_puts()

+Purpose:  transmit string to UART1

+Input:    string to be transmitted

+Returns:  none          

+**************************************************************************/

+void uart1_puts(const char *s )

+{

+    while (*s) 

+      uart1_putc(*s++);

+

+}/* uart1_puts */

+

+

+/*************************************************************************

+Function: uart1_puts_p()

+Purpose:  transmit string from program memory to UART1

+Input:    program memory string to be transmitted

+Returns:  none

+**************************************************************************/

+void uart1_puts_p(const char *progmem_s )

+{

+    register char c;

+    

+    while ( (c = pgm_read_byte(progmem_s++)) ) 

+      uart1_putc(c);

+

+}/* uart1_puts_p */

+

+

+#endif

diff --git a/source/Concept/Framework/atmega128io.h b/source/Concept/Framework/atmega128io.h
index a6044c4..ed526ae 100644
--- a/source/Concept/Framework/atmega128io.h
+++ b/source/Concept/Framework/atmega128io.h
@@ -1,12 +1,183 @@
 #ifndef _ATMEGA128IO_H

 #define _ATMEGA128IO_H

 

+#define UART_BAUD_RATE 9600

+

 #include <avr/io.h>

 #include <avr/interrupt.h>

 

-namespace hardware

-{

+/************************************************************************

+Title:    Interrupt UART library with receive/transmit circular buffers

+Author:   Peter Fleury <pfleury@gmx.ch>   http://jump.to/fleury

+File:     $Id: uart.h,v 1.7.2.5 2005/08/14 11:25:41 Peter Exp $

+Software: AVR-GCC 3.3

+Hardware: any AVR with built-in UART, tested on AT90S8515 at 4 Mhz

+Usage:    see Doxygen manual

+************************************************************************/

+

+/** 

+ *  @defgroup pfleury_uart UART Library

+ *  @code #include <uart.h> @endcode

+ * 

+ *  @brief Interrupt UART library using the built-in UART with transmit and receive circular buffers. 

+ *

+ *  This library can be used to transmit and receive data through the built in UART. 

+ *

+ *  An interrupt is generated when the UART has finished transmitting or

+ *  receiving a byte. The interrupt handling routines use circular buffers

+ *  for buffering received and transmitted data.

+ *

+ *  The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE constants define

+ *  the size of the circular buffers in bytes. Note that these constants must be a power of 2.

+ *  You may need to adapt this constants to your target and your application by adding 

+ *  CDEFS += -DUART_RX_BUFFER_SIZE=nn -DUART_RX_BUFFER_SIZE=nn to your Makefile.

+ *

+ *  @note Based on Atmel Application Note AVR306

+ *  @author Peter Fleury pfleury@gmx.ch  http://jump.to/fleury

+ */

+ 

+/**@{*/

+

+

+#if (__GNUC__ * 100 + __GNUC_MINOR__) < 304

+#error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !"

+#endif

+

+

+/*

+** constants and macros

+*/

+

+/** @brief  UART Baudrate Expression

+ *  @param  xtalcpu  system clock in Mhz, e.g. 4000000L for 4Mhz          

+ *  @param  baudrate baudrate in bps, e.g. 1200, 2400, 9600     

+ */

+#define UART_BAUD_SELECT(baudRate,xtalCpu) ((xtalCpu)/((baudRate)*16l)-1)

+

+/** @brief  UART Baudrate Expression for ATmega double speed mode

+ *  @param  xtalcpu  system clock in Mhz, e.g. 4000000L for 4Mhz           

+ *  @param  baudrate baudrate in bps, e.g. 1200, 2400, 9600     

+ */

+#define UART_BAUD_SELECT_DOUBLE_SPEED(baudRate,xtalCpu) (((xtalCpu)/((baudRate)*8l)-1)|0x8000)

+

+

+/** Size of the circular receive buffer, must be power of 2 */

+#ifndef UART_RX_BUFFER_SIZE

+#define UART_RX_BUFFER_SIZE 32

+#endif

+/** Size of the circular transmit buffer, must be power of 2 */

+#ifndef UART_TX_BUFFER_SIZE

+#define UART_TX_BUFFER_SIZE 32

+#endif

+

+/* test if the size of the circular buffers fits into SRAM */

+#if ( (UART_RX_BUFFER_SIZE+UART_TX_BUFFER_SIZE) >= (RAMEND-0x60 ) )

+#error "size of UART_RX_BUFFER_SIZE + UART_TX_BUFFER_SIZE larger than size of SRAM"

+#endif

+

+/* 

+** high byte error return code of uart_getc()

+*/

+#define UART_FRAME_ERROR      0x0800              /* Framing Error by UART       */

+#define UART_OVERRUN_ERROR    0x0400              /* Overrun condition by UART   */

+#define UART_BUFFER_OVERFLOW  0x0200              /* receive ringbuffer overflow */

+#define UART_NO_DATA          0x0100              /* no receive data available   */

+

+

+/*

+** function prototypes

+*/

+

+/**

+   @brief   Initialize UART and set baudrate 

+   @param   baudrate Specify baudrate using macro UART_BAUD_SELECT()

+   @return  none

+*/

+extern void uart_init(unsigned int baudrate);

+

+

+/**

+ *  @brief   Get received byte from ringbuffer

+ *

+ * Returns in the lower byte the received character and in the 

+ * higher byte the last receive error.

+ * UART_NO_DATA is returned when no data is available.

+ *

+ *  @param   void

+ *  @return  lower byte:  received byte from ringbuffer

+ *  @return  higher byte: last receive status

+ *           - \b 0 successfully received data from UART

+ *           - \b UART_NO_DATA           

+ *             <br>no receive data available

+ *           - \b UART_BUFFER_OVERFLOW   

+ *             <br>Receive ringbuffer overflow.

+ *             We are not reading the receive buffer fast enough, 

+ *             one or more received character have been dropped 

+ *           - \b UART_OVERRUN_ERROR     

+ *             <br>Overrun condition by UART.

+ *             A character already present in the UART UDR register was 

+ *             not read by the interrupt handler before the next character arrived,

+ *             one or more received characters have been dropped.

+ *           - \b UART_FRAME_ERROR       

+ *             <br>Framing Error by UART

+ */

+extern unsigned int uart_getc(void);

+

+

+/**

+ *  @brief   Put byte to ringbuffer for transmitting via UART

+ *  @param   data byte to be transmitted

+ *  @return  none

+ */

+extern void uart_putc(unsigned char data);

+

+

+/**

+ *  @brief   Put string to ringbuffer for transmitting via UART

+ *

+ *  The string is buffered by the uart library in a circular buffer

+ *  and one character at a time is transmitted to the UART using interrupts.

+ *  Blocks if it can not write the whole string into the circular buffer.

+ * 

+ *  @param   s string to be transmitted

+ *  @return  none

+ */

+extern void uart_puts(const char *s );

+

+

+/**

+ * @brief    Put string from program memory to ringbuffer for transmitting via UART.

+ *

+ * The string is buffered by the uart library in a circular buffer

+ * and one character at a time is transmitted to the UART using interrupts.

+ * Blocks if it can not write the whole string into the circular buffer.

+ *

+ * @param    s program memory string to be transmitted

+ * @return   none

+ * @see      uart_puts_P

+ */

+extern void uart_puts_p(const char *s );

+

+/**

+ * @brief    Macro to automatically put a string constant into program memory

+ */

+#define uart_puts_P(__s)       uart_puts_p(PSTR(__s))

+

+

+

+/** @brief  Initialize USART1 (only available on selected ATmegas) @see uart_init */

+extern void uart1_init(unsigned int baudrate);

+/** @brief  Get received byte of USART1 from ringbuffer. (only available on selected ATmega) @see uart_getc */

+extern unsigned int uart1_getc(void);

+/** @brief  Put byte to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_putc */

+extern void uart1_putc(unsigned char data);

+/** @brief  Put string to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts */

+extern void uart1_puts(const char *s );

+/** @brief  Put string from program memory to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts_p */

+extern void uart1_puts_p(const char *s );

+/** @brief  Macro to automatically put a string constant into program memory */

+#define uart1_puts_P(__s)       uart1_puts_p(PSTR(__s))

 

-};

+/**@}*/

 

 #endif
diff --git a/source/Concept/Framework/default/Makefile b/source/Concept/Framework/default/Makefile
index ca32983..20eef5c 100644
--- a/source/Concept/Framework/default/Makefile
+++ b/source/Concept/Framework/default/Makefile
@@ -6,14 +6,14 @@
 PROJECT = RoboCode

 MCU = atmega128

 TARGET = RoboCode.elf

-CC = avr-gcc.exe

+CC = avr-g++.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 += -Wall -gdwarf-2     -DF_CPU=16000000ULUL  -O3 -fsigned-char

 CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d 

 

 ## Assembly specific flags

diff --git a/source/Concept/Framework/defines.h b/source/Concept/Framework/defines.h
index 1b14aa7..1e25ba5 100644
--- a/source/Concept/Framework/defines.h
+++ b/source/Concept/Framework/defines.h
@@ -57,6 +57,7 @@
 

 //Constants

 #define SPEED_PER_PWM 1

+#define DISTANCE_PER_VALUE 1

 

 //IO Module Names

 enum IOModuleNames

@@ -70,13 +71,20 @@ enum IOModuleNames
 	IO_ENGINE_DRIVE_LEFT = IO_ENGINE_START,

 	IO_ENGINE_DRIVE_RIGHT,

 	IO_ENGINE_DRIVE_BACK,

-	IO_ENGINE_DRIBBLER,

 

 	IO_ENGINE_END,

 

+	//Dribbler

+

+	IO_DRIBBLER_START = IO_ENGINE_END,

+

+	IO_DRIBBLER_MAIN = IO_DRIBBLER_START,

+

+	IO_DRIBBLER_END,

+

 	//Kicker

 

-	IO_KICKER_START = IO_ENGINE_END,

+	IO_KICKER_START = IO_DRIBBLER_END,

 

 	IO_KICKER_MAIN = IO_KICKER_START,

 

@@ -93,6 +101,10 @@ enum IOModuleNames
 	IO_SENSOR_IR_260_DEG,

 	IO_SENSOR_IR_300_DEG,

 	IO_SENSOR_IR_330_DEG,

+	IO_SENSOR_DISTANCE_0_DEG,

+	IO_SENSOR_DISTANCE_90_DEG,

+	IO_SENSOR_DISTANCE_180_DEG,

+	IO_SENSOR_DISTANCE_270_DEG,

 

 	IO_SENSOR_END,

 

@@ -104,8 +116,16 @@ enum IOModuleNames
 

 	IO_LED_END,

 

+	//Displays

+

+	IO_DISPLAY_START = IO_LED_END,

+

+	IO_DISPLAY_MAIN = IO_DISPLAY_START,

+

+	IO_DISPLAY_END,

+

 	//General

-	IO_END = IO_LED_END,

+	IO_END = IO_DISPLAY_END,

 };

 

 #endif
diff --git a/source/Concept/Framework/display.cpp b/source/Concept/Framework/display.cpp
new file mode 100644
index 0000000..82fbb41
--- /dev/null
+++ b/source/Concept/Framework/display.cpp
@@ -0,0 +1 @@
+#include "display.h"

diff --git a/source/Concept/Framework/display.h b/source/Concept/Framework/display.h
new file mode 100644
index 0000000..8e6e0a4
--- /dev/null
+++ b/source/Concept/Framework/display.h
@@ -0,0 +1,60 @@
+#ifndef _DISPLAY_H

+#define _DISPLAY_H

+

+#include "stdafx.h"

+

+class Display : public IO_Module

+{

+public:

+	Display()

+	{

+		this->parent = NULL;

+		this->moduleId = 0;

+	}

+

+	Display(uint32 displayId)

+	{

+		this->parent = NULL;

+		this->moduleId = displayId;

+		

+		switch(displayId)

+		{

+			case IO_DISPLAY_MAIN:

+				msleep(500);

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

+				sleep(2);

+				break;

+			default:

+				break;

+		}

+	}

+

+protected:

+	//Hardware

+	volatile uint8* hardwarePort;

+	volatile uint16* pwmSpeed;

+	uint8 pinForward;

+	uint8 pinReverse;

+

+public:

+	void Print(char* newString)

+	{

+		switch(moduleId)

+		{

+			case IO_DISPLAY_MAIN:

+				uart1_puts(newString);

+				break;

+			default:

+				break;

+		}

+	}

+

+	void Print(int32 newInteger)

+	{

+		char buffer[12];

+		ltoa(newInteger, buffer, 10);

+		Print(buffer);

+	}

+};

+

+#endif
diff --git a/source/Concept/Framework/distance_sensor.cpp b/source/Concept/Framework/distance_sensor.cpp
index a11460c..c6c0582 100644
--- a/source/Concept/Framework/distance_sensor.cpp
+++ b/source/Concept/Framework/distance_sensor.cpp
@@ -1 +1,26 @@
-#include "distance_sensor.h"
\ No newline at end of file
+#include "distance_sensor.h"

+

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

+float Distance_Sensor::GetDistance()

+{

+	uint32 result = 0;

+

+	//Generate pulse

+	*hardwareDDR |= pin;//Set pin output

+	*hardwarePort |= pin;//Activate port

+	usleep(10);//Wait for 10µs

+	*hardwarePort &= ~pin;//Deactivate port

+	*hardwareDDR &= ~pin;//Set pin input

+

+	//Wait for response

+	while(!(*hardwarePin & pin));

+	

+	//Calculate duration of response

+	while(*hardwarePin & pin) 

+	{

+		result++;

+		asm volatile("nop");

+	}

+

+	return (float(result) * DISTANCE_PER_VALUE);

+}

diff --git a/source/Concept/Framework/distance_sensor.h b/source/Concept/Framework/distance_sensor.h
index 7690ab4..832e556 100644
--- a/source/Concept/Framework/distance_sensor.h
+++ b/source/Concept/Framework/distance_sensor.h
@@ -1,7 +1,7 @@
 #ifndef _DISTANCE_SENSOR_H

 #define _DISTANCE_SENSOR_H

 

-//#include "stdafx.h"

+#include "stdafx.h"

 #include "sensor.h"

 

 class Distance_Sensor : public Sensor

@@ -11,17 +11,61 @@ public:
 	{

 		this->parent = NULL;

 		this->moduleId = 0;

+		this->hardwarePort = NULL;

+		this->hardwareDDR = NULL;

+		this->hardwarePin = NULL;

+		this->pin = 0;

 	}

 

 	Distance_Sensor(uint32 sensorId)

 	{

 		this->parent = NULL;

 		this->moduleId = sensorId;

+

+		switch(sensorId)

+		{

+			case IO_SENSOR_DISTANCE_0_DEG:

+				this->hardwarePort = &PORTC;

+				this->hardwareDDR = &DDRC;

+				this->hardwarePin = &PINC;

+				this->pin = (1 << 0);

+				break;

+			case IO_SENSOR_DISTANCE_90_DEG:

+				this->hardwarePort = &PORTC;

+				this->hardwareDDR = &DDRC;

+				this->hardwarePin = &PINC;

+				this->pin = (1 << 1);

+				break;

+			case IO_SENSOR_DISTANCE_180_DEG:

+				this->hardwarePort = &PORTC;

+				this->hardwareDDR = &DDRC;

+				this->hardwarePin = &PINC;

+				this->pin = (1 << 2);

+				break;

+			case IO_SENSOR_DISTANCE_270_DEG:

+				this->hardwarePort = &PORTC;

+				this->hardwareDDR = &DDRC;

+				this->hardwarePin = &PINC;

+				this->pin = (1 << 3);

+				break;

+			default:

+				this->hardwarePort = NULL;

+				this->hardwareDDR = NULL;

+				this->hardwarePin = NULL;

+				this->pin = 0;

+				break;

+		}

 	}

 

 protected:

+	//Hardware

+	volatile uint8* hardwarePort;

+	volatile uint8* hardwareDDR;

+	volatile uint8* hardwarePin;

+	uint8 pin;

 

 public:

+	float GetDistance();

 };

 

 #endif
diff --git a/source/Concept/Framework/dribbler.cpp b/source/Concept/Framework/dribbler.cpp
new file mode 100644
index 0000000..20557e4
--- /dev/null
+++ b/source/Concept/Framework/dribbler.cpp
@@ -0,0 +1 @@
+#include "dribbler.h"

diff --git a/source/Concept/Framework/dribbler.h b/source/Concept/Framework/dribbler.h
new file mode 100644
index 0000000..64c045a
--- /dev/null
+++ b/source/Concept/Framework/dribbler.h
@@ -0,0 +1,118 @@
+#ifndef _DRIBBLER_H

+#define _DRIBBLER_H

+

+#include "stdafx.h"

+

+class Dribbler : public IO_Module

+{

+public:

+	Dribbler()

+	{

+		this->enabled = false;

+		this->curSpeed = 0;

+		this->parent = NULL;

+		this->moduleId = 0;

+		this->hardwarePort = NULL;

+		this->portPower = NULL;

+		this->pinForward = 0;

+		this->pinReverse = 0;

+		this->pinPower = 0;

+	}

+

+	Dribbler(uint32 dribblerId)

+	{

+		this->enabled = false;

+		this->curSpeed = 1.0f;

+		this->parent = NULL;

+		this->moduleId = dribblerId;

+		

+		switch(dribblerId)

+		{

+			case IO_DRIBBLER_MAIN:

+				this->hardwarePort = &PORTD;

+				this->portPower = &PORTA;

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

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

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

+				break;

+			default:

+				this->hardwarePort = NULL;

+				this->portPower = NULL;

+				this->pinForward = 0;

+				this->pinReverse = 0;

+				this->pinPower = 0;

+				break;

+		}

+

+		UpdateDirection();

+	}

+

+protected:

+	bool enabled;

+	float curSpeed;

+

+	//Hardware

+	volatile uint8* hardwarePort;

+	volatile uint8* portPower;

+	uint8 pinForward;

+	uint8 pinReverse;

+	uint8 pinPower;

+

+	void UpdateDirection()

+	{

+		if(enabled)

+		{

+			if(curSpeed > 0)

+			{

+				*hardwarePort |= pinForward;

+				*hardwarePort &= ~pinReverse;

+			}

+			else if(curSpeed < 0)

+			{

+				*hardwarePort |= pinReverse;

+				*hardwarePort &= ~pinForward;

+			}

+			else

+			{

+				*hardwarePort |= pinForward;

+				*hardwarePort |= pinReverse;

+			}

+

+			*portPower |= pinPower;

+		}

+		else

+		{

+			*hardwarePort &= ~pinForward;

+			*hardwarePort &= ~pinReverse;

+

+			*portPower &= ~pinPower;

+		}

+	}

+

+public:

+	float GetSpeed()

+	{

+		return curSpeed;

+	}

+

+	void SetSpeed(float newSpeed)

+	{

+		curSpeed = newSpeed;

+

+		UpdateDirection();

+	}

+

+	bool GetEnabled()

+	{

+		return enabled;

+	}

+

+	void SetEnabled(bool newStatus)

+	{

+		enabled = newStatus;

+

+		UpdateDirection();

+	}

+};

+

+#endif
diff --git a/source/Concept/Framework/engine.cpp b/source/Concept/Framework/engine.cpp
index 11856cc..5c14c17 100644
--- a/source/Concept/Framework/engine.cpp
+++ b/source/Concept/Framework/engine.cpp
@@ -1 +1 @@
-#include "engine.h"
\ No newline at end of file
+#include "engine.h"

diff --git a/source/Concept/Framework/engine.h b/source/Concept/Framework/engine.h
index 2d8c409..0e7cf8c 100644
--- a/source/Concept/Framework/engine.h
+++ b/source/Concept/Framework/engine.h
@@ -14,10 +14,8 @@ public:
 		this->moduleId = 0;

 		this->hardwarePort = NULL;

 		this->pwmSpeed = NULL;

-		this->pwmPort = NULL;

 		this->pinForward = 0;

 		this->pinReverse = 0;

-		this->pinPwm = 0;

 	}

 

 	Engine(uint32 engineId)

@@ -26,9 +24,6 @@ public:
 		this->curSpeed = 0;

 		this->parent = NULL;

 		this->moduleId = engineId;

-		this->pwmSpeed = NULL;

-		this->pwmPort = NULL;

-		this->pinPwm = 0;

 		

 		switch(engineId)

 		{

@@ -38,25 +33,18 @@ public:
 				this->pinForward = (1 << 0);

 				this->pinReverse = (1 << 1);

 				break;

-			case IO_ENGINE_DRIVE_RIGHT:

+			case IO_ENGINE_DRIVE_BACK:

 				this->hardwarePort = &PORTB;

 				this->pwmSpeed = &OCR1B;

 				this->pinForward = (1 << 2);

 				this->pinReverse = (1 << 3);

 				break;

-			case IO_ENGINE_DRIVE_BACK:

+			case IO_ENGINE_DRIVE_RIGHT:

 				this->hardwarePort = &PORTD;

 				this->pwmSpeed = &OCR3A;

 				this->pinForward = (1 << 5);

 				this->pinReverse = (1 << 4);

 				break;

-			case IO_ENGINE_DRIBBLER:

-				this->hardwarePort = &PORTD;

-				this->pwmPort = &PORTA;

-				this->pinForward = (1 << 6);

-				this->pinReverse = (1 << 7);

-				this->pinPwm = (1 << 5);

-				break;

 			default:

 				this->hardwarePort = NULL;

 				this->pwmSpeed = NULL;

@@ -77,9 +65,6 @@ protected:
 	volatile uint16* pwmSpeed;

 	uint8 pinForward;

 	uint8 pinReverse;

-	//Dribbler only

-	volatile uint8* pwmPort;

-	uint8 pinPwm;

 

 	void UpdateDirection()

 	{

@@ -118,18 +103,7 @@ public:
 	{

 		curSpeed = newSpeed;

 

-		if(pwmSpeed)

-		{

-			*pwmSpeed = abs(newSpeed / SPEED_PER_PWM);

-		}

-		else if(pwmPort && (uint16)(abs(newSpeed / SPEED_PER_PWM)))

-		{

-			*pwmPort |= pinPwm;

-		}

-		else if(pwmPort)

-		{

-			*pwmPort &= ~pinPwm;

-		}

+		*pwmSpeed = abs(newSpeed / SPEED_PER_PWM);

 

 		UpdateDirection();

 	}

diff --git a/source/Concept/Framework/io_module.cpp b/source/Concept/Framework/io_module.cpp
index 93f78ae..3549af5 100644
--- a/source/Concept/Framework/io_module.cpp
+++ b/source/Concept/Framework/io_module.cpp
@@ -1 +1 @@
-#include "io_module.h"
\ No newline at end of file
+#include "io_module.h"

diff --git a/source/Concept/Framework/ir_sensor.cpp b/source/Concept/Framework/ir_sensor.cpp
index 065143e..c34feed 100644
--- a/source/Concept/Framework/ir_sensor.cpp
+++ b/source/Concept/Framework/ir_sensor.cpp
@@ -6,4 +6,4 @@ uint16 IR_Sensor::GetIRIntensity()
 	if(!parent) return 0;

 

 	return parent->GetADCValue(channel);

-}
\ No newline at end of file
+}

diff --git a/source/Concept/Framework/kicker.cpp b/source/Concept/Framework/kicker.cpp
index 94bd711..6670efb 100644
--- a/source/Concept/Framework/kicker.cpp
+++ b/source/Concept/Framework/kicker.cpp
@@ -1 +1 @@
-#include "kicker.h"
\ No newline at end of file
+#include "kicker.h"

diff --git a/source/Concept/Framework/led.cpp b/source/Concept/Framework/led.cpp
index a81aaf4..687b2db 100644
--- a/source/Concept/Framework/led.cpp
+++ b/source/Concept/Framework/led.cpp
@@ -1 +1 @@
-#include "led.h"
\ No newline at end of file
+#include "led.h"

diff --git a/source/Concept/Framework/main.cpp b/source/Concept/Framework/main.cpp
index d6e1d92..a3cd05c 100644
--- a/source/Concept/Framework/main.cpp
+++ b/source/Concept/Framework/main.cpp
@@ -13,6 +13,14 @@ int main()
 		newEngine = NULL;

 	}

 

+	//Init Dribbler

+	for(uint8 i = IO_DRIBBLER_START; i < IO_DRIBBLER_END; i++)

+	{

+		Dribbler* newDribbler = new Dribbler(i);

+		localRobot->AddModule(newDribbler);

+		newDribbler = NULL;

+	}

+

 	//Init Kicker

 	for(uint8 i = IO_KICKER_START; i < IO_KICKER_END; i++)

 	{

@@ -41,6 +49,16 @@ int main()
 				newSensor = NULL;

 				break;

 			}

+			case IO_SENSOR_DISTANCE_0_DEG:

+			case IO_SENSOR_DISTANCE_90_DEG:

+			case IO_SENSOR_DISTANCE_180_DEG:

+			case IO_SENSOR_DISTANCE_270_DEG:

+			{

+				Distance_Sensor* newSensor = new Distance_Sensor(i);

+				localRobot->AddModule(newSensor);

+				newSensor = NULL;

+				break;

+			}

 			//Other cases

 			default:

 			{

@@ -60,6 +78,14 @@ int main()
 		newLed = NULL;

 	}

 

+	//Init Displays

+	for(uint8 i = IO_DISPLAY_START; i < IO_DISPLAY_END; i++)

+	{

+		Display* newDisplay = new Display(i);

+		localRobot->AddModule(newDisplay);

+		newDisplay = NULL;

+	}

+

 	//Run

 	while(true)

 	{

diff --git a/source/Concept/Framework/robot.cpp b/source/Concept/Framework/robot.cpp
index f14f2f7..a051dd4 100644
--- a/source/Concept/Framework/robot.cpp
+++ b/source/Concept/Framework/robot.cpp
@@ -18,7 +18,7 @@ Robot::Robot()
 	PORTC = 0;

 

 	//All output except PD0+1(I2C) + 2+3(RS232)

-	DDRD = (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6)  | (1 << 7);

+	DDRD = (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6)  | (1 << 7);

 	PORTD = (1 << 0) | (1 << 1);//Activate pullup at PD0+1

 

 	//PE5 for input

@@ -34,12 +34,12 @@ Robot::Robot()
 	PORTG = (1 << 0) | (1 << 1);

 

 	// activate channel A+B on PWM1 at 8Bit

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

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

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

+	TCCR1B = (1<<ICNC1) | (1<<CS11); // set clock/prescaler 1/8 -> enable counter

 

 	// activate Kanal A+B on PWM3 at 8Bit

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

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

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

+	TCCR3B =  (1<<ICNC3) | (1<<CS31); // set clock/prescaler 1/8 -> enable counter

 

 	//Activate interrupt

 	sei();

diff --git a/source/Concept/Framework/stdafx.h b/source/Concept/Framework/stdafx.h
index 218b774..f48adfe 100644
--- a/source/Concept/Framework/stdafx.h
+++ b/source/Concept/Framework/stdafx.h
@@ -8,8 +8,10 @@
 #include "atmega128io.h"
 #include "tools.h"

 #include "io_module.h"

+#include "display.h"

 #include "sensor.h"

 #include "engine.h"

+#include "dribbler.h"

 #include "kicker.h"

 #include "led.h"

 #include "distance_sensor.h"

diff --git a/source/Concept/Framework/tools.h b/source/Concept/Framework/tools.h
index 2af60df..6519a1b 100644
--- a/source/Concept/Framework/tools.h
+++ b/source/Concept/Framework/tools.h
@@ -6,6 +6,34 @@
 #ifndef new
 	void* operator new(size_t sz);
 	void operator delete(void* p);
-#endif
+#endif

+

+inline void sleep(int sec)

+{

+  for (int s=0; s<sec; s++) {

+    for (long int i=0; i<1405678; i++) {

+      asm volatile("nop"); 

+    }

+  }

+};

+

+inline void msleep(int msec)

+{

+  for (int s=0; s<msec; s++) {

+    for (long int i=0; i<1405; i++) {

+      asm volatile("nop"); 

+    }

+  }

+};

+

+inline void usleep(int usec)

+{

+	usec *= 100;

+  for (int s=0; s<usec; s++) {

+    for (long int i=0; i<1405; i++) {

+      asm volatile("nop"); 

+    }

+  }

+};
 
 #endif