diff options
Diffstat (limited to 'source')
| -rw-r--r-- | source/Concept/Framework/RoboCode.aps | 1 | ||||
| -rw-r--r-- | source/Concept/Framework/atmega128io.h | 3 | ||||
| -rw-r--r-- | source/Concept/Framework/default/Makefile | 103 | ||||
| -rw-r--r-- | source/Concept/Framework/defines.h | 2 | ||||
| -rw-r--r-- | source/Concept/Framework/engine.h | 6 | ||||
| -rw-r--r-- | source/Concept/Framework/robot.cpp | 7 | ||||
| -rw-r--r-- | source/Concept/Framework/stdafx.h | 3 | ||||
| -rw-r--r-- | source/Concept/Framework/tools.cpp | 4 | ||||
| -rw-r--r-- | source/Concept/Framework/tools.h | 6 |
9 files changed, 124 insertions, 11 deletions
diff --git a/source/Concept/Framework/RoboCode.aps b/source/Concept/Framework/RoboCode.aps new file mode 100644 index 0000000..3864c4f --- /dev/null +++ b/source/Concept/Framework/RoboCode.aps @@ -0,0 +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 07\trunk\rc2007-soccer\source\Concept\Framework\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET></CURRENT_TARGET><CURRENT_PART></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></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>main.cpp</SOURCEFILE><SOURCEFILE>sensor.cpp</SOURCEFILE><SOURCEFILE>tools.cpp</SOURCEFILE><SOURCEFILE>atmega128io.cpp</SOURCEFILE><SOURCEFILE>distance_sensor.cpp</SOURCEFILE><SOURCEFILE>engine.cpp</SOURCEFILE><SOURCEFILE>io_module.cpp</SOURCEFILE><SOURCEFILE>ir_sensor.cpp</SOURCEFILE><SOURCEFILE>kicker.cpp</SOURCEFILE><SOURCEFILE>led.cpp</SOURCEFILE><SOURCEFILE>robot.cpp</SOURCEFILE><HEADERFILE>sensor.h</HEADERFILE><HEADERFILE>stdafx.h</HEADERFILE><HEADERFILE>tools.h</HEADERFILE><HEADERFILE>atmega128io.h</HEADERFILE><HEADERFILE>defines.h</HEADERFILE><HEADERFILE>distance_sensor.h</HEADERFILE><HEADERFILE>engine.h</HEADERFILE><HEADERFILE>io_module.h</HEADERFILE><HEADERFILE>ir_sensor.h</HEADERFILE><HEADERFILE>kicker.h</HEADERFILE><HEADERFILE>led.h</HEADERFILE><HEADERFILE>robot.h</HEADERFILE><OTHERFILE>default\Makefile</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>YES</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE>default\Makefile</EXTERNALMAKEFILE><PART>atmega128</PART><HEX>1</HEX><LIST>0</LIST><MAP>0</MAP><OUTPUTFILENAME>RoboCode.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS/><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall 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diff --git a/source/Concept/Framework/atmega128io.h b/source/Concept/Framework/atmega128io.h index 94912b6..a6044c4 100644 --- a/source/Concept/Framework/atmega128io.h +++ b/source/Concept/Framework/atmega128io.h @@ -1,6 +1,9 @@ #ifndef _ATMEGA128IO_H
#define _ATMEGA128IO_H
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
namespace hardware
{
diff --git a/source/Concept/Framework/default/Makefile b/source/Concept/Framework/default/Makefile new file mode 100644 index 0000000..ca32983 --- /dev/null +++ b/source/Concept/Framework/default/Makefile @@ -0,0 +1,103 @@ +###############################################################################
+# Makefile for the project RoboCode
+###############################################################################
+
+## General Flags
+PROJECT = RoboCode
+MCU = atmega128
+TARGET = RoboCode.elf
+CC = avr-gcc.exe
+
+## Options common to compile, link and assembly rules
+COMMON = -mmcu=$(MCU)
+
+## Compile options common for all C compilation units.
+CFLAGS = $(COMMON)
+CFLAGS += -Wall -gdwarf-2 -O0
+CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d
+
+## Assembly specific flags
+ASMFLAGS = $(COMMON)
+ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
+
+## Linker flags
+LDFLAGS = $(COMMON)
+LDFLAGS +=
+
+
+## Intel Hex file production flags
+HEX_FLASH_FLAGS = -R .eeprom
+
+HEX_EEPROM_FLAGS = -j .eeprom
+HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
+HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0
+
+
+## Objects that must be built in order to link
+OBJECTS = main.o sensor.o tools.o atmega128io.o distance_sensor.o engine.o io_module.o ir_sensor.o kicker.o led.o robot.o
+
+## Objects explicitly added by the user
+LINKONLYOBJECTS =
+
+## Build
+all: $(TARGET) RoboCode.hex RoboCode.eep size
+
+## Compile
+main.o: ../main.cpp
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+tools.o: ../tools.cpp
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+io_module.o: ../io_module.cpp
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+robot.o: ../robot.cpp
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+sensor.o: ../sensor.cpp
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+engine.o: ../engine.cpp
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+led.o: ../led.cpp
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+ir_sensor.o: ../ir_sensor.cpp
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+distance_sensor.o: ../distance_sensor.cpp
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+kicker.o: ../kicker.cpp
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+atmega128io.o: ../atmega128io.cpp
+ $(CC) $(INCLUDES) $(CFLAGS) -c $<
+
+##Link
+$(TARGET): $(OBJECTS)
+ $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
+
+%.hex: $(TARGET)
+ avr-objcopy -O ihex $(HEX_FLASH_FLAGS) $< $@
+
+%.eep: $(TARGET)
+ avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@
+
+%.lss: $(TARGET)
+ avr-objdump -h -S $< > $@
+
+size: ${TARGET}
+ @echo
+ @avr-size -C --mcu=${MCU} ${TARGET}
+
+## Clean target
+.PHONY: clean
+clean:
+ -rm -rf $(OBJECTS) RoboCode.elf dep/* RoboCode.hex RoboCode.eep
+
+## Other dependencies
+-include $(shell mkdir dep 2>/dev/null) $(wildcard dep/*)
+
diff --git a/source/Concept/Framework/defines.h b/source/Concept/Framework/defines.h index 15e6c35..1b14aa7 100644 --- a/source/Concept/Framework/defines.h +++ b/source/Concept/Framework/defines.h @@ -18,7 +18,7 @@ #ifdef __int16
#define int16 __int16
#else
- #define int16 short
+ #define int16 int
#endif
#endif
diff --git a/source/Concept/Framework/engine.h b/source/Concept/Framework/engine.h index 6454a32..2d8c409 100644 --- a/source/Concept/Framework/engine.h +++ b/source/Concept/Framework/engine.h @@ -120,15 +120,15 @@ public: if(pwmSpeed)
{
- *pwmSpeed = uint16(abs(newSpeed / SPEED_PER_PWM));
+ *pwmSpeed = abs(newSpeed / SPEED_PER_PWM);
}
- else if(pwmPort && uint16(abs(newSpeed / SPEED_PER_PWM)))
+ else if(pwmPort && (uint16)(abs(newSpeed / SPEED_PER_PWM)))
{
*pwmPort |= pinPwm;
}
else if(pwmPort)
{
- *pwmPort &= ~pinPwn;
+ *pwmPort &= ~pinPwm;
}
UpdateDirection();
diff --git a/source/Concept/Framework/robot.cpp b/source/Concept/Framework/robot.cpp index 3d3ae48..f14f2f7 100644 --- a/source/Concept/Framework/robot.cpp +++ b/source/Concept/Framework/robot.cpp @@ -45,7 +45,10 @@ Robot::Robot() sei();
//Interface
- memset(modules, NULL, sizeof(modules));
+ for(uint8 i = 0; i < IO_END; i++)
+ {
+ modules[i] = NULL;
+ }
}
//-----------------------------------------------------------------------------
@@ -120,7 +123,7 @@ uint16 Robot::GetADCValue(uint8 channel) result /= 3;
- return uint16(result);
+ return (uint16)(result);
}
//--- EOF --- diff --git a/source/Concept/Framework/stdafx.h b/source/Concept/Framework/stdafx.h index 436f117..218b774 100644 --- a/source/Concept/Framework/stdafx.h +++ b/source/Concept/Framework/stdafx.h @@ -4,7 +4,8 @@ #include <memory.h>
#endif
-#include "defines.h" +#include "defines.h"
+#include "atmega128io.h" #include "tools.h"
#include "io_module.h"
#include "sensor.h"
diff --git a/source/Concept/Framework/tools.cpp b/source/Concept/Framework/tools.cpp index 625ef20..6fd107c 100644 --- a/source/Concept/Framework/tools.cpp +++ b/source/Concept/Framework/tools.cpp @@ -1,6 +1,6 @@ #include "tools.h" -#ifndef __cplusplus +#ifndef new //----------------------------------------------------------------------------- void* operator new(size_t sz) @@ -14,4 +14,4 @@ void operator delete(void* p) free(p); } -#endif
\ No newline at end of file +#endif
diff --git a/source/Concept/Framework/tools.h b/source/Concept/Framework/tools.h index 9cd38f2..2af60df 100644 --- a/source/Concept/Framework/tools.h +++ b/source/Concept/Framework/tools.h @@ -1,7 +1,9 @@ #ifndef _TOOLS_H
-#define _TOOLS_H +#define _TOOLS_H
+
+#include <stdlib.h> -#ifndef __cplusplus +#ifndef new void* operator new(size_t sz); void operator delete(void* p); #endif |