From 4a2ba4b7105d168932163cbd07a062fdf2ba00e9 Mon Sep 17 00:00:00 2001 From: sicarius Date: Sat, 17 Feb 2007 00:35:01 +0000 Subject: +++ enhanced framework hardware interface --- source/AVR_Studio/Soccer/Soccer.aps | 2 +- source/AVR_Studio/Soccer/Soccer.c | 37 +- source/AVR_Studio/Soccer/default/Soccer.elf | Bin 87393 -> 87759 bytes source/AVR_Studio/Soccer/default/Soccer.hex | 2301 +++++++++++------------ source/AVR_Studio/Soccer/default/dep/Soccer.o.d | 19 +- source/AVR_Studio/Soccer/default/dep/board.o.d | 6 +- source/AVR_Studio/Soccer/default/dep/keylcd.o.d | 52 - 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 +- source/AVR_Studio/Soccer/navigation.c | 10 +- 12 files changed, 1222 insertions(+), 1289 deletions(-) (limited to 'source/AVR_Studio/Soccer') 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 @@ -Soccer07-Feb-2007 15:43:1214-Feb-2007 18:24:30241007-Feb-2007 15:43:1244, 12, 0, 462AVR GCCdefault\Soccer.elfY:\AVR_Studio\Soccer\AVR SimulatorATmega128falseR00R01R02R03R04R05R06R07R08R09R10R11R12R13R14R15R16R17R18R19R20R21R22R23R24R25R26R27R28R29R30R31Auto000Soccer.chal\board.chal\keylcd.chal\i2c.cglobal.chal\uart.cnavigation.csensor\sensor.csensor\ballsensor.chal\maussensor.csensor\position.csensor\abstand.chal\board.hhal\keylcd.hhal\i2c.hglobal.hhal\uart.hnavigation.hsensor\sensor.hsensor\ballsensor.hhal\maussensor.hsensor\position.hsensor\abstand.hdefaultNOatmega128100Soccer.elfdefault\1-Wall -gdwarf-2 -DF_CPU=16000000ULUL -O3 -fsigned-chardefault0C:\WinAVR\bin\avr-g++.exeC:\WinAVR\utils\bin\make.exeY:\AVR_Studio\Soccer\hal\board.hY:\AVR_Studio\Soccer\hal\keylcd.hY:\AVR_Studio\Soccer\hal\i2c.hY:\AVR_Studio\Soccer\global.hY:\AVR_Studio\Soccer\hal\uart.hY:\AVR_Studio\Soccer\navigation.hY:\AVR_Studio\Soccer\sensor\sensor.hY:\AVR_Studio\Soccer\sensor\ballsensor.hY:\AVR_Studio\Soccer\hal\maussensor.hY:\AVR_Studio\Soccer\sensor\position.hY:\AVR_Studio\Soccer\sensor\abstand.hY:\AVR_Studio\Soccer\Soccer.cY:\AVR_Studio\Soccer\hal\board.cY:\AVR_Studio\Soccer\hal\keylcd.cY:\AVR_Studio\Soccer\hal\i2c.cY:\AVR_Studio\Soccer\global.cY:\AVR_Studio\Soccer\hal\uart.cY:\AVR_Studio\Soccer\navigation.cY:\AVR_Studio\Soccer\sensor\sensor.cY:\AVR_Studio\Soccer\sensor\ballsensor.cY:\AVR_Studio\Soccer\hal\maussensor.cY:\AVR_Studio\Soccer\sensor\position.cY:\AVR_Studio\Soccer\sensor\abstand.c00000Soccer.c100001hal\board.c100002hal\keylcd.h100003hal\keylcd.c100004hal\i2c.h100005hal\i2c.c100006global.h100007global.c100008c:\WinAVR\avr\include\avr\iom128.h100009hal\board.h100010hal\uart.c100011navigation.h100012hal\uart.h100013navigation.c100014sensor\sensor.h100015sensor\sensor.c100016sensor\ballsensor.h100017sensor\ballsensor.c100018c:\WinAVR\avr\include\stdlib.h100019c:\WinAVR\avr\include\avr\signal.h100020hal\maussensor.h100021hal\maussensor.c100022sensor\position.h100023sensor\position.c100024sensor\abstand.h100025sensor\abstand.c1299 72 1025 52727 13Maximized293 68 1019 523108 6248 200 994 4426 0160 84 906 32626 0275 56 777 34354 0281 60 1007 51513 0156 54 968 44626 13287 64 1013 5198 0373 206 1003 511769 0310 121 940 42636 24291 94 921 399277 0313 123 943 4283 0335 152 965 4570 0357 181 987 48642 41379 210 1009 5156 20290 66 1016 52112 58313 123 943 42814 16335 152 965 45740 29357 181 987 486115 0382 212 1012 51735 0300 100 930 405116 22296 70 1022 52527 5347 160 977 46518 11369 189 999 49427 0391 218 1021 5237 3303 102 933 40720 23 +Soccer07-Feb-2007 15:43:1217-Feb-2007 01:32:56241007-Feb-2007 15:43:1244, 12, 0, 462AVR GCCdefault\Soccer.elfY:\AVR_Studio\Soccer\AVR SimulatorATmega12851402falseR00R01R02R03R04R05R06R07R08R09R10R11R12R13R14R15R16R17R18R19R20R21R22R23R24R25R26R27R28R29R30R31Auto000Soccer.chal\board.chal\keylcd.chal\i2c.cglobal.chal\uart.cnavigation.csensor\sensor.csensor\ballsensor.chal\maussensor.csensor\position.csensor\abstand.chal\board.hhal\keylcd.hhal\i2c.hglobal.hhal\uart.hnavigation.hsensor\sensor.hsensor\ballsensor.hhal\maussensor.hsensor\position.hsensor\abstand.hdefaultNOatmega128100Soccer.elfdefault\1-Wall -gdwarf-2 -DF_CPU=16000000ULUL -O3 -fsigned-chardefault0C:\WinAVR\bin\avr-g++.exeC:\WinAVR\utils\bin\make.exeY:\AVR_Studio\Soccer\hal\board.hY:\AVR_Studio\Soccer\hal\keylcd.hY:\AVR_Studio\Soccer\hal\i2c.hY:\AVR_Studio\Soccer\global.hY:\AVR_Studio\Soccer\hal\uart.hY:\AVR_Studio\Soccer\navigation.hY:\AVR_Studio\Soccer\sensor\sensor.hY:\AVR_Studio\Soccer\sensor\ballsensor.hY:\AVR_Studio\Soccer\hal\maussensor.hY:\AVR_Studio\Soccer\sensor\position.hY:\AVR_Studio\Soccer\sensor\abstand.hY:\AVR_Studio\Soccer\Soccer.cY:\AVR_Studio\Soccer\hal\board.cY:\AVR_Studio\Soccer\hal\keylcd.cY:\AVR_Studio\Soccer\hal\i2c.cY:\AVR_Studio\Soccer\global.cY:\AVR_Studio\Soccer\hal\uart.cY:\AVR_Studio\Soccer\navigation.cY:\AVR_Studio\Soccer\sensor\sensor.cY:\AVR_Studio\Soccer\sensor\ballsensor.cY:\AVR_Studio\Soccer\hal\maussensor.cY:\AVR_Studio\Soccer\sensor\position.cY:\AVR_Studio\Soccer\sensor\abstand.c00000Soccer.c100001hal\board.c100002hal\keylcd.h100003hal\keylcd.c100004hal\i2c.h100005hal\i2c.c100006global.h100007global.c100008c:\WinAVR\avr\include\avr\iom128.h100009hal\board.h100010hal\uart.c100011navigation.h100012hal\uart.h100013navigation.c100014sensor\sensor.h100015sensor\sensor.c100016sensor\ballsensor.h100017sensor\ballsensor.c100018c:\WinAVR\avr\include\stdlib.h100019c:\WinAVR\avr\include\avr\signal.h100020hal\maussensor.h100021hal\maussensor.c100022sensor\position.h100023sensor\position.c100024sensor\abstand.h100025sensor\abstand.c100026c:\WinAVR\avr\include\avr\io.h100027c:\WinAVR\avr\include\math.h100028c:\WinAVR\avr\include\inttypes.h100029c:\WinAVR\avr\include\avr\sfr_defs.h100030c:\WinAVR\avr\include\avr\version.h100031c:\WinAVR\avr\include\stdint.h100032c:\WinAVR\lib\gcc\avr\4.1.1\include\stddef.h1299 73 1025 52817 0287 64 1013 51912 0242 196 988 43816 2154 80 900 3224 12269 52 771 33954 0275 56 1001 51113 0150 50 962 44232 2281 60 1007 5158 0367 202 997 507114 24304 117 934 42248 27285 90 915 395576 20307 119 937 42413 0329 148 959 45315 34351 177 981 48231 0373 206 1003 5116 0284 62 1010 51712 0307 119 937 42414 0329 148 959 45340 0351 177 981 482115 0376 208 1006 51335 0299 72 1025 527116 0Maximized290 66 1016 52127 0347 160 977 46518 0363 185 993 49027 0385 214 1015 5197 0297 98 927 40320 0325 131 955 4360 0347 160 977 4650 0369 189 999 4940 0391 218 1021 52323 17303 102 933 4070 0325 131 955 4360 0347 160 977 4650 0 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 index 5c63ac2..d0dc77f 100755 Binary files a/source/AVR_Studio/Soccer/default/Soccer.elf and b/source/AVR_Studio/Soccer/default/Soccer.elf differ 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 :100020000C9483000C9483000C9483000C94830044 :100030000C9483000C9483000C9483000C94830034 -:100040000C94D4010C9483000C94CD040C94FE0405 +:100040000C9487010C9483000C9484040C94B504E4 :100050000C9483000C9483000C9483000C94830014 :100060000C9483000C9483000C9483000C94830004 -:100070000C9483000C9483000C946B050C949E05E7 +:100070000C9483000C9483000C9422050C94550579 :100080000C9483000C9483000C9483000829573F40 :100090009F2D49CBA5310F76C73493F27E37D00D13 :1000A000013AB60B613D2AAAAB3F0000003F800039 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+:1047B000881F9795879597F9089529C0052E092692 +:1047C00007FA440F551F5F3F79F0AA27A51708F095 +:1047D00051E04795880F991F9F3F31F0BB27B917CC +:1047E00008F091E0879508959F919F91112401CF42 +:1047F00097FB880F991F9F3F31F0BB27B91708F02F +:1048000091E0879508959F919F911124F2CE66279C +:10481000772788279927089510E0C4EBD0E004C0DB +:0E482000FE010E94BE222296C63BD107C9F7B8 +:10482E00330048616C6C6F2068696572206973741F +:10483E002064617320524E4D656761313238467582 +:10484E006E6B2D426F61726400FF0000000000006D +:0A485E00000000200000020000002E :00000001FF 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< enable counter + TCCR1B = (1< enable counter // aktiviere Kanal A+B auf PWM3 mit 8Bit TCCR3A = (1<< COM3A1) | (1<< COM3B1) | (1<< WGM10); - TCCR3B = (1< enable counter + TCCR3B = (1< 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 #include #include -#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