diff options
| author | sicarius <devnull@localhost> | 2007-02-17 01:35:01 +0100 |
|---|---|---|
| committer | sicarius <devnull@localhost> | 2007-02-17 01:35:01 +0100 |
| commit | 4a2ba4b7105d168932163cbd07a062fdf2ba00e9 (patch) | |
| tree | 1891a3eab64be1ae1a31e1b882ad9e6ce356620e /source | |
| parent | 37d4d23f1dca88b6d074fb09739c9ae071551694 (diff) | |
| download | rc2007-soccer-4a2ba4b7105d168932163cbd07a062fdf2ba00e9.tar rc2007-soccer-4a2ba4b7105d168932163cbd07a062fdf2ba00e9.zip | |
+++ enhanced framework hardware interface
Diffstat (limited to 'source')
33 files changed, 2328 insertions, 1341 deletions
diff --git a/source/AVR_Studio/Soccer/Soccer.aps b/source/AVR_Studio/Soccer/Soccer.aps index 04830f4..459bdc6 100755 --- a/source/AVR_Studio/Soccer/Soccer.aps +++ b/source/AVR_Studio/Soccer/Soccer.aps @@ -1 +1 @@ -<AVRStudio><MANAGEMENT><ProjectName>Soccer</ProjectName><Created>07-Feb-2007 15:43:12</Created><LastEdit>14-Feb-2007 18:24:30</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>07-Feb-2007 15:43:12</Created><Version>4</Version><Build>4, 12, 0, 462</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Soccer.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>Y:\AVR_Studio\Soccer\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega128</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>Soccer.c</SOURCEFILE><SOURCEFILE>hal\board.c</SOURCEFILE><SOURCEFILE>hal\keylcd.c</SOURCEFILE><SOURCEFILE>hal\i2c.c</SOURCEFILE><SOURCEFILE>global.c</SOURCEFILE><SOURCEFILE>hal\uart.c</SOURCEFILE><SOURCEFILE>navigation.c</SOURCEFILE><SOURCEFILE>sensor\sensor.c</SOURCEFILE><SOURCEFILE>sensor\ballsensor.c</SOURCEFILE><SOURCEFILE>hal\maussensor.c</SOURCEFILE><SOURCEFILE>sensor\position.c</SOURCEFILE><SOURCEFILE>sensor\abstand.c</SOURCEFILE><HEADERFILE>hal\board.h</HEADERFILE><HEADERFILE>hal\keylcd.h</HEADERFILE><HEADERFILE>hal\i2c.h</HEADERFILE><HEADERFILE>global.h</HEADERFILE><HEADERFILE>hal\uart.h</HEADERFILE><HEADERFILE>navigation.h</HEADERFILE><HEADERFILE>sensor\sensor.h</HEADERFILE><HEADERFILE>sensor\ballsensor.h</HEADERFILE><HEADERFILE>hal\maussensor.h</HEADERFILE><HEADERFILE>sensor\position.h</HEADERFILE><HEADERFILE>sensor\abstand.h</HEADERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega128</PART><HEX>1</HEX><LIST>0</LIST><MAP>0</MAP><OUTPUTFILENAME>Soccer.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>Soccer.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>global.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\board.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\i2c.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\keylcd.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -DF_CPU=16000000ULUL -O3 -fsigned-char</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>0</USES_WINAVR><GCC_LOC>C:\WinAVR\bin\avr-g++.exe</GCC_LOC><MAKE_LOC>C:\WinAVR\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><ProjectFiles><Files><Name>Y:\AVR_Studio\Soccer\hal\board.h</Name><Name>Y:\AVR_Studio\Soccer\hal\keylcd.h</Name><Name>Y:\AVR_Studio\Soccer\hal\i2c.h</Name><Name>Y:\AVR_Studio\Soccer\global.h</Name><Name>Y:\AVR_Studio\Soccer\hal\uart.h</Name><Name>Y:\AVR_Studio\Soccer\navigation.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\sensor.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\ballsensor.h</Name><Name>Y:\AVR_Studio\Soccer\hal\maussensor.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\position.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\abstand.h</Name><Name>Y:\AVR_Studio\Soccer\Soccer.c</Name><Name>Y:\AVR_Studio\Soccer\hal\board.c</Name><Name>Y:\AVR_Studio\Soccer\hal\keylcd.c</Name><Name>Y:\AVR_Studio\Soccer\hal\i2c.c</Name><Name>Y:\AVR_Studio\Soccer\global.c</Name><Name>Y:\AVR_Studio\Soccer\hal\uart.c</Name><Name>Y:\AVR_Studio\Soccer\navigation.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\sensor.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\ballsensor.c</Name><Name>Y:\AVR_Studio\Soccer\hal\maussensor.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\position.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\abstand.c</Name></Files></ProjectFiles><Files><File00000><FileId>00000</FileId><FileName>Soccer.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>hal\board.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>hal\keylcd.h</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>hal\keylcd.c</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>hal\i2c.h</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>hal\i2c.c</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>global.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>global.c</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>c:\WinAVR\avr\include\avr\iom128.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>hal\board.h</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>hal\uart.c</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>navigation.h</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>hal\uart.h</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>navigation.c</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>sensor\sensor.h</FileName><Status>1</Status></File00014><File00015><FileId>00015</FileId><FileName>sensor\sensor.c</FileName><Status>1</Status></File00015><File00016><FileId>00016</FileId><FileName>sensor\ballsensor.h</FileName><Status>1</Status></File00016><File00017><FileId>00017</FileId><FileName>sensor\ballsensor.c</FileName><Status>1</Status></File00017><File00018><FileId>00018</FileId><FileName>c:\WinAVR\avr\include\stdlib.h</FileName><Status>1</Status></File00018><File00019><FileId>00019</FileId><FileName>c:\WinAVR\avr\include\avr\signal.h</FileName><Status>1</Status></File00019><File00020><FileId>00020</FileId><FileName>hal\maussensor.h</FileName><Status>1</Status></File00020><File00021><FileId>00021</FileId><FileName>hal\maussensor.c</FileName><Status>1</Status></File00021><File00022><FileId>00022</FileId><FileName>sensor\position.h</FileName><Status>1</Status></File00022><File00023><FileId>00023</FileId><FileName>sensor\position.c</FileName><Status>1</Status></File00023><File00024><FileId>00024</FileId><FileName>sensor\abstand.h</FileName><Status>1</Status></File00024><File00025><FileId>00025</FileId><FileName>sensor\abstand.c</FileName><Status>1</Status></File00025></Files><Workspace><File00000><Position>299 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+<AVRStudio><MANAGEMENT><ProjectName>Soccer</ProjectName><Created>07-Feb-2007 15:43:12</Created><LastEdit>17-Feb-2007 01:32:56</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>07-Feb-2007 15:43:12</Created><Version>4</Version><Build>4, 12, 0, 462</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Soccer.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>Y:\AVR_Studio\Soccer\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega128</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><Item>51</Item><Item>402</Item><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>Soccer.c</SOURCEFILE><SOURCEFILE>hal\board.c</SOURCEFILE><SOURCEFILE>hal\keylcd.c</SOURCEFILE><SOURCEFILE>hal\i2c.c</SOURCEFILE><SOURCEFILE>global.c</SOURCEFILE><SOURCEFILE>hal\uart.c</SOURCEFILE><SOURCEFILE>navigation.c</SOURCEFILE><SOURCEFILE>sensor\sensor.c</SOURCEFILE><SOURCEFILE>sensor\ballsensor.c</SOURCEFILE><SOURCEFILE>hal\maussensor.c</SOURCEFILE><SOURCEFILE>sensor\position.c</SOURCEFILE><SOURCEFILE>sensor\abstand.c</SOURCEFILE><HEADERFILE>hal\board.h</HEADERFILE><HEADERFILE>hal\keylcd.h</HEADERFILE><HEADERFILE>hal\i2c.h</HEADERFILE><HEADERFILE>global.h</HEADERFILE><HEADERFILE>hal\uart.h</HEADERFILE><HEADERFILE>navigation.h</HEADERFILE><HEADERFILE>sensor\sensor.h</HEADERFILE><HEADERFILE>sensor\ballsensor.h</HEADERFILE><HEADERFILE>hal\maussensor.h</HEADERFILE><HEADERFILE>sensor\position.h</HEADERFILE><HEADERFILE>sensor\abstand.h</HEADERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega128</PART><HEX>1</HEX><LIST>0</LIST><MAP>0</MAP><OUTPUTFILENAME>Soccer.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>Soccer.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>global.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\board.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\i2c.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\keylcd.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -DF_CPU=16000000ULUL -O3 -fsigned-char</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>0</USES_WINAVR><GCC_LOC>C:\WinAVR\bin\avr-g++.exe</GCC_LOC><MAKE_LOC>C:\WinAVR\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><ProjectFiles><Files><Name>Y:\AVR_Studio\Soccer\hal\board.h</Name><Name>Y:\AVR_Studio\Soccer\hal\keylcd.h</Name><Name>Y:\AVR_Studio\Soccer\hal\i2c.h</Name><Name>Y:\AVR_Studio\Soccer\global.h</Name><Name>Y:\AVR_Studio\Soccer\hal\uart.h</Name><Name>Y:\AVR_Studio\Soccer\navigation.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\sensor.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\ballsensor.h</Name><Name>Y:\AVR_Studio\Soccer\hal\maussensor.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\position.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\abstand.h</Name><Name>Y:\AVR_Studio\Soccer\Soccer.c</Name><Name>Y:\AVR_Studio\Soccer\hal\board.c</Name><Name>Y:\AVR_Studio\Soccer\hal\keylcd.c</Name><Name>Y:\AVR_Studio\Soccer\hal\i2c.c</Name><Name>Y:\AVR_Studio\Soccer\global.c</Name><Name>Y:\AVR_Studio\Soccer\hal\uart.c</Name><Name>Y:\AVR_Studio\Soccer\navigation.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\sensor.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\ballsensor.c</Name><Name>Y:\AVR_Studio\Soccer\hal\maussensor.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\position.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\abstand.c</Name></Files></ProjectFiles><Files><File00000><FileId>00000</FileId><FileName>Soccer.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>hal\board.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>hal\keylcd.h</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>hal\keylcd.c</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>hal\i2c.h</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>hal\i2c.c</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>global.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>global.c</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>c:\WinAVR\avr\include\avr\iom128.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>hal\board.h</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>hal\uart.c</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>navigation.h</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>hal\uart.h</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>navigation.c</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>sensor\sensor.h</FileName><Status>1</Status></File00014><File00015><FileId>00015</FileId><FileName>sensor\sensor.c</FileName><Status>1</Status></File00015><File00016><FileId>00016</FileId><FileName>sensor\ballsensor.h</FileName><Status>1</Status></File00016><File00017><FileId>00017</FileId><FileName>sensor\ballsensor.c</FileName><Status>1</Status></File00017><File00018><FileId>00018</FileId><FileName>c:\WinAVR\avr\include\stdlib.h</FileName><Status>1</Status></File00018><File00019><FileId>00019</FileId><FileName>c:\WinAVR\avr\include\avr\signal.h</FileName><Status>1</Status></File00019><File00020><FileId>00020</FileId><FileName>hal\maussensor.h</FileName><Status>1</Status></File00020><File00021><FileId>00021</FileId><FileName>hal\maussensor.c</FileName><Status>1</Status></File00021><File00022><FileId>00022</FileId><FileName>sensor\position.h</FileName><Status>1</Status></File00022><File00023><FileId>00023</FileId><FileName>sensor\position.c</FileName><Status>1</Status></File00023><File00024><FileId>00024</FileId><FileName>sensor\abstand.h</FileName><Status>1</Status></File00024><File00025><FileId>00025</FileId><FileName>sensor\abstand.c</FileName><Status>1</Status></File00025><File00026><FileId>00026</FileId><FileName>c:\WinAVR\avr\include\avr\io.h</FileName><Status>1</Status></File00026><File00027><FileId>00027</FileId><FileName>c:\WinAVR\avr\include\math.h</FileName><Status>1</Status></File00027><File00028><FileId>00028</FileId><FileName>c:\WinAVR\avr\include\inttypes.h</FileName><Status>1</Status></File00028><File00029><FileId>00029</FileId><FileName>c:\WinAVR\avr\include\avr\sfr_defs.h</FileName><Status>1</Status></File00029><File00030><FileId>00030</FileId><FileName>c:\WinAVR\avr\include\avr\version.h</FileName><Status>1</Status></File00030><File00031><FileId>00031</FileId><FileName>c:\WinAVR\avr\include\stdint.h</FileName><Status>1</Status></File00031><File00032><FileId>00032</FileId><FileName>c:\WinAVR\lib\gcc\avr\4.1.1\include\stddef.h</FileName><Status>1</Status></File00032></Files><Workspace><File00000><Position>299 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diff --git a/source/AVR_Studio/Soccer/Soccer.c b/source/AVR_Studio/Soccer/Soccer.c index 117b6bc..00f1dcf 100755 --- a/source/AVR_Studio/Soccer/Soccer.c +++ b/source/AVR_Studio/Soccer/Soccer.c @@ -10,19 +10,29 @@ Sensor sensor; int main() {
//board.ledOn();
- sleep(2);
+ sleep(1);
uart1_puts("Hallo hier ist das RNMega128Funk-Board");
+ while(true)
+ {
+ uart1_puts("3");
+ sleep(1);
+ }
+
+ int speed = 100;
- int speed = 255;
- board.motor(0, speed);
- board.motor(1, speed);
- board.motor(2, speed);
-
- sleep(2);
- navigation.Aktualisieren(180,0,speed);
- while(true) { sleep(1); }
+ /*for(int i=0;i<360;i+=5) {
+ navigation.Aktualisieren(0,i,0);
+ msleep(1000);
+ }*/
+
+ /*sleep(2);
+ board.motor(0,0);
+ board.motor(1,0);
+ board.motor(2,0);
+ board.motor(3,0);
+ while(true) { sleep(1); }*/
/*board.motor(0,speed);
board.motor(2,speed);
sleep(2);
@@ -83,11 +93,16 @@ int main() { while(true) {
navigation.Aktualisieren(0,0,speed);
sleep(2);
- navigation.Aktualisieren(90,0,speed);
+ navigation.Aktualisieren(135,0,speed);
sleep(2);
navigation.Aktualisieren(180,0,speed);
sleep(2);
- navigation.Aktualisieren(270,0,speed);
+ navigation.Aktualisieren(225,0,speed);
+ sleep(2);
+ board.motor(0,0);
+ board.motor(1,0);
+ board.motor(2,0);
+ board.motor(3,0);
sleep(2);
}
diff --git a/source/AVR_Studio/Soccer/default/Soccer.elf b/source/AVR_Studio/Soccer/default/Soccer.elf Binary files differindex 5c63ac2..d0dc77f 100755 --- a/source/AVR_Studio/Soccer/default/Soccer.elf +++ b/source/AVR_Studio/Soccer/default/Soccer.elf diff --git a/source/AVR_Studio/Soccer/default/Soccer.hex b/source/AVR_Studio/Soccer/default/Soccer.hex index 1bf5d66..1944751 100755 --- a/source/AVR_Studio/Soccer/default/Soccer.hex +++ b/source/AVR_Studio/Soccer/default/Soccer.hex @@ -2,1168 +2,1159 @@ :100010000C9483000C9483000C9483000C94830054
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diff --git a/source/AVR_Studio/Soccer/default/dep/Soccer.o.d b/source/AVR_Studio/Soccer/default/dep/Soccer.o.d index 4c16d08..51a77bf 100755 --- a/source/AVR_Studio/Soccer/default/dep/Soccer.o.d +++ b/source/AVR_Studio/Soccer/default/dep/Soccer.o.d @@ -7,12 +7,9 @@ Soccer.o: ../Soccer.c ../global.h c:/winavr/bin/../avr/include/stdlib.h \ c:/winavr/bin/../avr/include/avr/iom128.h \
c:/winavr/bin/../avr/include/avr/portpins.h \
c:/winavr/bin/../avr/include/avr/version.h \
- c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/uart.h \
- ../hal/../global.h ../hal/keylcd.h ../hal/i2c.h \
- c:/winavr/bin/../avr/include/compat/twi.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 \
+ c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/../global.h \
+ ../hal/keylcd.h c:/winavr/bin/../avr/include/string.h ../hal/uart.h \
+ ../navigation.h c:/winavr/bin/../avr/include/math.h ../sensor/sensor.h \
../sensor/../hal/board.h ../sensor/ballsensor.h ../sensor/position.h \
../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
../sensor/abstand.h ../sensor/../global.h
@@ -41,20 +38,14 @@ c:/winavr/bin/../avr/include/avr/version.h: c:/winavr/bin/../avr/include/avr/interrupt.h:
-../hal/uart.h:
-
../hal/../global.h:
../hal/keylcd.h:
-../hal/i2c.h:
-
-c:/winavr/bin/../avr/include/compat/twi.h:
-
-c:/winavr/bin/../avr/include/util/twi.h:
-
c:/winavr/bin/../avr/include/string.h:
+../hal/uart.h:
+
../navigation.h:
c:/winavr/bin/../avr/include/math.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/board.o.d b/source/AVR_Studio/Soccer/default/dep/board.o.d index 255bb8a..1553156 100755 --- a/source/AVR_Studio/Soccer/default/dep/board.o.d +++ b/source/AVR_Studio/Soccer/default/dep/board.o.d @@ -8,8 +8,8 @@ board.o: ../hal/board.c ../hal/board.h \ c:/winavr/bin/../avr/include/avr/version.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 ../hal/uart.h \
- ../hal/../global.h ../hal/../hal/board.h
+ c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h ../hal/../global.h \
+ ../hal/../hal/board.h
../hal/board.h:
@@ -33,8 +33,6 @@ c:/winavr/bin/../avr/include/stdlib.h: c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
-../hal/uart.h:
-
../hal/../global.h:
../hal/../hal/board.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/keylcd.o.d b/source/AVR_Studio/Soccer/default/dep/keylcd.o.d index 5a3eaeb..e69de29 100755 --- a/source/AVR_Studio/Soccer/default/dep/keylcd.o.d +++ b/source/AVR_Studio/Soccer/default/dep/keylcd.o.d @@ -1,52 +0,0 @@ -keylcd.o: ../hal/keylcd.c ../hal/keylcd.h ../hal/i2c.h ../hal/../global.h \
- c:/winavr/bin/../avr/include/stdlib.h \
- c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h \
- ../hal/../hal/board.h c:/winavr/bin/../avr/include/avr/io.h \
- c:/winavr/bin/../avr/include/avr/sfr_defs.h \
- c:/winavr/bin/../avr/include/inttypes.h \
- c:/winavr/bin/../avr/include/stdint.h \
- c:/winavr/bin/../avr/include/avr/iom128.h \
- c:/winavr/bin/../avr/include/avr/portpins.h \
- c:/winavr/bin/../avr/include/avr/version.h \
- c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/../hal/uart.h \
- ../hal/../hal/../global.h c:/winavr/bin/../avr/include/compat/twi.h \
- c:/winavr/bin/../avr/include/util/twi.h \
- c:/winavr/bin/../avr/include/string.h
-
-../hal/keylcd.h:
-
-../hal/i2c.h:
-
-../hal/../global.h:
-
-c:/winavr/bin/../avr/include/stdlib.h:
-
-c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
-
-../hal/../hal/board.h:
-
-c:/winavr/bin/../avr/include/avr/io.h:
-
-c:/winavr/bin/../avr/include/avr/sfr_defs.h:
-
-c:/winavr/bin/../avr/include/inttypes.h:
-
-c:/winavr/bin/../avr/include/stdint.h:
-
-c:/winavr/bin/../avr/include/avr/iom128.h:
-
-c:/winavr/bin/../avr/include/avr/portpins.h:
-
-c:/winavr/bin/../avr/include/avr/version.h:
-
-c:/winavr/bin/../avr/include/avr/interrupt.h:
-
-../hal/../hal/uart.h:
-
-../hal/../hal/../global.h:
-
-c:/winavr/bin/../avr/include/compat/twi.h:
-
-c:/winavr/bin/../avr/include/util/twi.h:
-
-c:/winavr/bin/../avr/include/string.h:
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();
};
diff --git a/source/AVR_Studio/Soccer/navigation.c b/source/AVR_Studio/Soccer/navigation.c index cbdbdc9..2698390 100755 --- a/source/AVR_Studio/Soccer/navigation.c +++ b/source/AVR_Studio/Soccer/navigation.c @@ -26,18 +26,18 @@ void Navigation::SetzeGeschwindigkeit(int nGeschwindigkeit) { // Aktualieren ohne Parameter
-void Navigation::Aktualisieren() {
+void Navigation::Aktualisieren() {
// Richtung in x und y-Kompontente zerlegen
- double y = cos(richtung); // richtung ist winkel
- double x = sin(richtung);
+ double y = cos((double)richtung*0.01745); // richtung ist winkel
+ double x = sin((double)richtung*0.01745);
// Abweichung der Ausrichtung ermitteln(als winkel)
int w = sensor.GetAusrichtung() - ausrichtung;
// Stärke der einzelnen Motoren berechnen
- double v0 = (-x-sqrt(3)*y)/2;
+ double v0 = (-x+sqrt(3)*y)/2;
double v1 = x;
- double v2 = (-x+sqrt(3)*y)/2;
+ double v2 = (-x-sqrt(3)*y)/2;
// Ausgerechnete Stärke an die Motoren übergeben
board.motor(0,(int)((double)v0*geschwindigkeit +w));
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 @@ -<AVRStudio><MANAGEMENT><ProjectName>RoboCode</ProjectName><Created>16-Feb-2007 15:16:46</Created><LastEdit>16-Feb-2007 16:19:25</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 GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\RoboCode.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>I:\Projects\RoboCup WM 2006 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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 |