From 05c8b0af602b222d00c227560682158333b726a2 Mon Sep 17 00:00:00 2001
From: sicarius <devnull@localhost>
Date: Sun, 11 Feb 2007 19:03:00 +0000
Subject: Added lot's of code-files used during work

---
 source/AVR_Studio/Soccer/hal/board.c | 210 +++++++++++++++++++++++++++++++++++
 1 file changed, 210 insertions(+)
 create mode 100755 source/AVR_Studio/Soccer/hal/board.c

(limited to 'source/AVR_Studio/Soccer/hal/board.c')

diff --git a/source/AVR_Studio/Soccer/hal/board.c b/source/AVR_Studio/Soccer/hal/board.c
new file mode 100755
index 0000000..d60834b
--- /dev/null
+++ b/source/AVR_Studio/Soccer/hal/board.c
@@ -0,0 +1,210 @@
+#include "board.h"
+
+static int beepFreq = 0;
+
+Board::Board() {
+	// Pin 1-6 sind ausgänge, 0 und 7 eingänge
+	DDRA = (1 << PA1) | (1 << PA2) | (1 << PA3) | (1 << PA4) | (1 << PA5) | (1 << PA6);
+	PORTA = 0; // Alle Low, kein Pollup
+
+	// Alle Ausgänge
+	DDRB = (1 << PB0) | (1 << PB1) | (1 << PB2) | (1 << PB3) | (1 << PB4) | (1 << PB5) | (1 << PB6)  | (1 << PB7);
+	PORTB = (1 << PB1); // Alle Low bis PB1 , kein Pollup
+
+	// Alle Ausgänge
+	DDRC = (1 << PC0) | (1 << PC1) | (1 << PC2) | (1 << PC3) | (1 << PC4) | (1 << PC5) | (1 << PC6)  | (1 << PC7);
+	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);
+	PORTD = (1 << PD0) | (1 << PD1); // Pollup-Widerstand an PD0+1 aktivieren
+
+	// PE5 ist eingang
+	DDRE = (1 << PE0) | (1 << PE1) | (1 << PE2) | (1 << PE3) | (1 << PE4) | (1 << PE6)  | (1 << PE7);
+	PORTE = 0; // Alle Low, kein Pollup
+
+	// Alle Eingänge mit Pollup
+	DDRF = 0;
+	PORTF = (1 << PF0) | (1 << PF1) | (1 << PF2) | (1 << PF3) | (1 << PF4) | (1 << PF5) | (1 << PF6)  | (1 << PF7);
+
+	// Alle Ausgänge, PG0 und PG1 high
+	DDRG = (1 << PG0) | (1 << PG1) | (1 << PG2) | (1 << PG3) | (1 << PG4); 
+	PORTG = (1 << PG0) | (1 << PG1);	
+
+	// aktiviere Kanal A+C auf PWM1 mit 8Bit
+	//TCCR1A = (1<< COM1A1) | (1<< COM1C1) | (1<< WGM10);
+	//TCCR1B = (1<<ICNC1) | (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
+
+	// Schalte Motoren auf 0
+	motor(0,0);
+	motor(1,0);
+	motor(2,0);
+	motor(3,0);
+
+	// Uart-Interface einschalten
+	uart1_init( 10); // 9600 BAUD bei 16MHz Atmel
+
+	// aktiviere interrupt
+	sei();
+}
+
+Board::~Board() {
+
+}
+
+// Gibt einen Analogen Wert zurück
+int Board::GetADC(uint8_t channel) {
+	uint8_t i;
+	uint16_t result = 0;
+	
+	// Den ADC aktivieren und Teilungsfaktor auf 64 stellen
+	ADCSRA = (1<<ADEN) | (1<<ADPS2) | (1<<ADPS1);
+
+	// Kanal des Multiplexers waehlen
+	ADMUX = channel;
+	// Interne Referenzspannung verwenden (also 2,56 V)
+	ADMUX |= (1<<REFS1) | (1<<REFS0);
+	
+	// Den ADC initialisieren und einen sog. Dummyreadout machen
+	ADCSRA |= (1<<ADSC);
+	while(ADCSRA & (1<<ADSC));
+	
+	// Jetzt 3x die analoge Spannung and Kanal channel auslesen
+	// und dann Durchschnittswert ausrechnen.
+	for(i=0; i<3; i++) {
+		// Eine Wandlung
+		ADCSRA |= (1<<ADSC);
+		// Auf Ergebnis warten...
+		while(ADCSRA & (1<<ADSC));
+		
+		result += ADCW;
+	}
+	
+	// ADC wieder deaktivieren
+	ADCSRA &= ~(1<<ADEN);
+	
+	result /= 3;
+	
+	return result;
+}
+
+void Board::beep(int freq) {
+	beepFreq = freq;
+}
+
+void Board::ledOff() {
+	PORTB |= (1 << PB1); // set bit
+}
+
+void Board::ledOn() {
+	PORTB &= ~(1 << PB1); // clear bit
+}
+
+void Board::led(bool status) {
+	if(status) ledOn();
+	else ledOff();
+}
+
+
+void Board::motor(int i, int speed)
+{
+	if((i < 0) || (i > 3)) return;
+	const int OFFSET = 40; // Motor does not work with very low ratio
+	const int PWM_MAX = 255;
+
+	int pwm = abs(speed)+OFFSET;
+	if(pwm > PWM_MAX) pwm = PWM_MAX;
+
+	if(i == 0)
+	{
+		MOTOR0_PWM = pwm;
+		if(speed > 0)
+		{
+			PORTD |= (1 << 5);//In 1 ein
+			PORTD &= ~(1 << 4);//In 2 aus
+		}
+		else if(speed < 0)
+		{
+			PORTD |= (1 << 4);//In 2 ein
+			PORTD &= ~(1 << 5);//In 1 aus
+		}
+		else
+		{
+			PORTD |= (1 << 4);//In 2 ein
+			PORTD |= (1 << 5);//In 1 ein
+		}
+	}
+	else if(i == 1)
+	{
+		MOTOR1_PWM = pwm;
+		if(speed > 0)
+		{
+			PORTD |= (1 << 6);//In 1 ein
+			PORTD &= ~(1 << 7);//In 2 aus
+		}
+		else if(speed < 0)
+		{
+			PORTD |= (1 << 7);//In 2 ein
+			PORTD &= ~(1 << 6);//In 1 aus
+		}
+		else
+		{
+			PORTD |= (1 << 6);//In 2 ein
+			PORTD |= (1 << 7);//In 1 ein
+		}
+	}
+	else if(i == 2)
+	{
+		MOTOR2_PWM = pwm;
+		if(speed > 0)
+		{
+			PORTB |= (1 << 0);//In 1 ein
+			PORTB &= ~(1 << 1);//In 2 aus
+		}
+		else if(speed < 0)
+		{
+			PORTB |= (1 << 1);//In 2 ein
+			PORTB &= ~(1 << 0);//In 1 aus
+		}
+		else
+		{
+			PORTB |= (1 << 1);//In 2 ein
+			PORTB |= (1 << 0);//In 1 ein
+		}
+	}
+	else if(i == 3)
+	{
+		DRIBBLER_PWM = pwm;
+		if(speed > 0)
+		{
+			PORTB |= (1 << 2);//In 1 ein
+			PORTB &= ~(1 << 3);//In 2 aus
+		}
+		else if(speed < 0)
+		{
+			PORTB |= (1 << 3);//In 2 ein
+			PORTB &= ~(1 << 2);//In 1 aus
+		}
+		else
+		{
+			PORTB |= (1 << 2);//In 2 ein
+			PORTB |= (1 << 3);//In 1 ein
+		}
+	}
+}
+
+//PWM routine für den Beeper
+ISR (TIMER0_OVF_vect)
+{
+	static int counter = 255;
+
+	if(counter > beepFreq/2) PORTG |= (1<<BEEPER_PIN);
+	else PORTG &= ~(1<<BEEPER_PIN);
+
+	if (counter==0) counter = 255;
+	else counter--;
+}
-- 
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