From 4a2ba4b7105d168932163cbd07a062fdf2ba00e9 Mon Sep 17 00:00:00 2001
From: sicarius <devnull@localhost>
Date: Sat, 17 Feb 2007 00:35:01 +0000
Subject: +++ enhanced framework hardware interface

---
 source/AVR_Studio/Soccer/hal/board.c  | 47 ++++++++++++++++-------------------
 source/AVR_Studio/Soccer/hal/board.h  | 14 ++++++++---
 source/AVR_Studio/Soccer/hal/keylcd.c | 15 +++--------
 source/AVR_Studio/Soccer/hal/keylcd.h |  8 ++----
 4 files changed, 37 insertions(+), 47 deletions(-)

(limited to 'source/AVR_Studio/Soccer/hal')

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();	
 };
 
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