From ba182f0ee0d0dbc798e4c782655f440339dcffdd Mon Sep 17 00:00:00 2001
From: masterm <devnull@localhost>
Date: Fri, 16 Feb 2007 15:22:03 +0000
Subject: +++ added AVR_Studio compatibility for framework

---
 source/Concept/Framework/RoboCode.aps     |   1 +
 source/Concept/Framework/atmega128io.h    |   3 +
 source/Concept/Framework/default/Makefile | 103 ++++++++++++++++++++++++++++++
 source/Concept/Framework/defines.h        |   2 +-
 source/Concept/Framework/engine.h         |   6 +-
 source/Concept/Framework/robot.cpp        |   7 +-
 source/Concept/Framework/stdafx.h         |   3 +-
 source/Concept/Framework/tools.cpp        |   4 +-
 source/Concept/Framework/tools.h          |   6 +-
 9 files changed, 124 insertions(+), 11 deletions(-)
 create mode 100644 source/Concept/Framework/RoboCode.aps
 create mode 100644 source/Concept/Framework/default/Makefile

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 -gdwarf-2  -O0 -fsigned-char</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>G:\_Tools\Winavr\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>G:\_Tools\Winavr\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><ProjectFiles><Files><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\sensor.h</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\stdafx.h</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\tools.h</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\atmega128io.h</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\defines.h</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\distance_sensor.h</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\engine.h</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\io_module.h</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\ir_sensor.h</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\kicker.h</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\led.h</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\robot.h</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\main.cpp</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\sensor.cpp</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\tools.cpp</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\atmega128io.cpp</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\distance_sensor.cpp</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\engine.cpp</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\io_module.cpp</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\ir_sensor.cpp</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\kicker.cpp</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\led.cpp</Name><Name>I:\Projects\RoboCup WM 2006 07\trunk\rc2007-soccer\source\Concept\Framework\robot.cpp</Name></Files></ProjectFiles><Files><File00000><FileId>00000</FileId><FileName>stdafx.h</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>engine.h</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>defines.h</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>io_module.h</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>robot.h</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>robot.cpp</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>atmega128io.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>main.cpp</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>tools.cpp</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>tools.h</FileName><Status>1</Status></File00009></Files><Workspace><File00000><Position>331 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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
-- 
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