Revision 1551
Copied over trunk code into rangefinder branch.
branches/rangefinders/code/lib/include/libdragonfly/rangefinder.h | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file rangefinder.h |
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* @brief Contains rangefinder declarations and functions |
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* |
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* Contains functions and definitions for the use of |
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* IR rangefinders. |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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#ifndef _RANGEFINDER_H_ |
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#define _RANGEFINDER_H_ |
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/** |
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* @addtogroup rangefinder |
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* @{ |
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**/ |
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/** @brief IR Rangefinder 1 **/ |
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#define IR1 6 |
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/** @brief IR Rangefinder 2 **/ |
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#define IR2 5 |
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/** @brief IR Rangefinder 3 **/ |
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#define IR3 4 |
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/** @brief IR Rangefinder 4 **/ |
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#define IR4 3 |
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/** @brief IR Rangefinder 5 **/ |
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#define IR5 2 |
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/** @brief smallest meaningful rangefinder reading (logarithmic scale) **/ |
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#define MIN_IR_ADC8 27 |
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/** @brief largest meaningful rangefinder reading (logarithmic scale) **/ |
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#define MAX_IR_ADC8 98 |
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/** @brief Initialize the rangefinders **/ |
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void range_init(void); |
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/** @brief Read the distance from a rangefinder **/ |
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int range_read_distance(int range_id); |
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/** @brief Convert logarithmic-scale distance readings to a linear scale **/ |
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int linearize_distance(int value); |
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/** @} **/ //end addtogroup |
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#endif |
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branches/rangefinders/code/lib/include/libdragonfly/bom.h | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file bom.h |
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* @brief Definitions for using the BOM |
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* |
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* This file contains definitions for using the Bearing and |
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* Orientation Module (BOM). |
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* |
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* @author Colony Project, CMU Robotics Club |
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* |
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**/ |
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#ifndef _BOM_H |
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#define _BOM_H |
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/** |
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* @addtogroup bom |
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* @{ |
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**/ |
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/** @brief Include all elements in the 16-bit bitfield **/ |
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#define BOM_ALL 0xFFFF |
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/** @brief Original BOM - No Range, No Individual LED control **/ |
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#define BOM10 0 |
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/** @brief BOM 1.5 - No Range, Individual LED control **/ |
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#define BOM15 1 |
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/** @brief RBOM - Range, Individual LED control **/ |
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#define RBOM 2 |
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/** @brief Struct for storing vector data. Used by bom_get_vector() functions **/ |
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typedef struct vector { |
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int x; |
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int y; |
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} Vector; |
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/** @brief Initialize the bom according to bom type **/ |
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void bom_init(char type); |
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/** @brief Refresh bom_val[] with new values from analog8. analog_init and bom_init must be called for this to work. **/ |
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void bom_refresh(int bit_field); |
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/** @brief Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values. **/ |
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int bom_get(int which); |
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/** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/ |
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int bom_get_max(void); |
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/** @brief Computes the net resultant BOM IR vector. **/ |
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int bom_get_vector(Vector*, int*); |
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/** @brief Computes the normalized net resultant BOM IR vector. **/ |
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int bom_get_norm_vector(Vector*, int*); |
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/** @brief Print snapshot of BOM intensity histogram over USB connection **/ |
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int bom_print_usb(int*); |
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/** @brief Computes the weighted average of all the bom readings to estimate the position and distance of another robot. **/ |
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int bom_get_max10(int *dist); |
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/** @brief Enables the selected bom leds on a BOM1.5 **/ |
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void bom_set_leds(int bit_field); |
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/** @brief (DEPRECATED) Gets and compares all bom values. Returns the index to the highest value element since last refresh. **/ |
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int get_max_bom(void); |
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/** @brief Turns on all BOM leds, or turns on enabled leds on a BOM1.5. **/ |
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void bom_on(void); |
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/** @brief Turns off all bom leds. **/ |
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void bom_off(void); |
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/** @} **/ |
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#endif |
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branches/rangefinders/code/lib/include/libdragonfly/spi.h | ||
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/** |
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* @file spi.h |
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* @brief Definitions for SPI |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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/** |
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* @addtogroup spi |
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* @{ |
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**/ |
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#ifndef __SPI_H__ |
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#define __SPI_H__ |
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#define DOUBLE_SCK 1 |
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#define SPR0_BIT 1 |
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#define MASTER 1 |
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#define SLAVE 0 |
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#define MOSI _BV(PB2) |
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#define MISO _BV(PB3) |
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#define SS _BV(PB0) |
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#define SCLK _BV(PB1) |
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typedef void (*spi_fun_recv_t)(char); |
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typedef void (*spi_fun_recv_complete_t)(void); |
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/** |
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* @brief Initialize SPI |
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* |
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* @param spi_fun_recv_t The function that handles SPI data, byte for byte. |
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* @param spi_fun_recv_complete_t Called on a completed transmission - typically for cleaning up. |
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*/ |
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void spi_init (spi_fun_recv_t, spi_fun_recv_complete_t); |
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/** |
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* @brief Initialize SPI transfer. |
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* |
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* @param char The number of bytes to transfer. |
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*/ |
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void spi_transfer (char); |
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/**@}**/ //end group |
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#endif |
branches/rangefinders/code/lib/include/libdragonfly/time.h | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
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15 |
* |
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16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file time.h |
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* @brief Contains time-related functions and definitions |
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* |
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* Contains functions and definitions for dealing with time, |
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* namely delay_ms and the realtime clock. |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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#ifndef _TIME_H_ |
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#define _TIME_H_ |
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/* Predefined times for prescale_opt in time.c. |
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To make you own, know that a pulse is 1/16th of a second. You cannot get less than this. To get more, you need |
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to know how many 16ths of a second are in the time you want. (Time_desired * 16 = prescaler_opt) |
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*/ |
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/** |
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* @addtogroup time |
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* @{ |
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**/ |
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/** @brief A sixteenth of a second **/ |
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#define SIXTEENTH_SECOND 1 |
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/** @brief An eighth of a second **/ |
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#define EIGTH_SECOND 2 |
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/** @brief A quarter of a second **/ |
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#define QUARTER_SECOND 4 |
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/** @brief Half of a second **/ |
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#define HALF_SECOND 8 |
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/** @brief One second **/ |
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#define SECOND 16 |
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/** @brief Two seconds **/ |
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#define TWO_SECOND 32 |
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/** @brief Four seconds **/ |
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#define FOUR_SECOND 64 |
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/** @brief Delay execution for the specified time **/ |
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void delay_ms(int ms) ; |
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/** @brief Enable the realtime clock **/ |
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void rtc_init(int prescale_opt, void (*rtc_func)(void)); |
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/** @brief Reset the counter of the realtime clock **/ |
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void rtc_reset(void); |
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/** @brief Get the value of the realtime clock. **/ |
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int rtc_get(void); |
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/** @} **/ |
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#endif |
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branches/rangefinders/code/lib/include/libdragonfly/motor.h | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
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12 |
* |
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13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
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16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file motor.h |
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* @brief Contains definitions for controlling the motors |
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* |
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* Contains definitions and functions for controlling |
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* the motors. |
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* |
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* @author Colony Project, CMU Robotics Club |
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* Based on Tom Lauwer's Firefly Library |
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**/ |
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#ifndef _MOTOR_H |
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#define _MOTOR_H |
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#include <avr/io.h> |
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/** |
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* @addtogroup motors |
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* @{ |
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**/ |
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/** @brief make the motors go forwards **/ |
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#define FORWARD 1 |
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/** @brief make the motors go backwards **/ |
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#define BACKWARD 0 |
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/** @brief Initialize the motors **/ |
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void motors_init(void); |
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/** @brief Set speed and direction of motor1 |
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* @deprecated use the left motor function instead. it's more intuitive and easier to read.**/ |
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void motor1_set(int direction, int speed); |
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/** @brief Set speed and direction of motor2 |
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* @deprecated use the right motor function instead. it's more intuitive and easier to read.**/ |
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void motor2_set(int direction, int speed); |
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/** @brief Set speed and direction of left motor **/ |
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void motor_l_set(int direction, int speed); |
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/** @brief Set speed and direction of right motor **/ |
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void motor_r_set(int direction, int speed); |
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/** @brief Turn the motors off **/ |
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void motors_off(void); |
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/**@}**/ // end addtogroup |
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#endif |
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branches/rangefinders/code/lib/include/libdragonfly/analog.h | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
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/** |
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* |
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* @file analog.h |
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* @brief Contains functions and definitions for using the ADC |
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* |
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* Contains definitions and function prototypes for using the |
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* ADC to detect analog signals on pins AN0 - AN7. |
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* AN6 and AN7 are used for the wheel and battery. |
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* The pins labeled E6 and E7 are external interrupt pins and are not related |
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* to analog. |
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* @author Colony Project, CMU Robotics Club, based on firefly |
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* originally taken from fwr analog file (author: Tom Lauwers) |
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* loop code written by Kevin Woo and James Kong |
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*/ |
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#ifndef _ANALOG_H |
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#define _ANALOG_H |
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#include <inttypes.h> |
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/** |
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* @addtogroup analog |
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* @{ |
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**/ |
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/** @brief Analog port 0 **/ |
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#define AN0 0x00 |
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/** @brief Analog port 1 **/ |
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#define AN1 0x01 |
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/** @brief Analog port 2 **/ |
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#define AN2 0x02 |
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/** @brief Analog port 3 **/ |
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#define AN3 0x03 |
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/** @brief Analog port 4 **/ |
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#define AN4 0x04 |
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/** @brief Analog port 5 **/ |
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#define AN5 0x05 |
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/** @brief Analog port 6 **/ |
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#define AN6 0x06 |
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/** @brief Analog port 7 **/ |
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#define AN7 0x07 |
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/** @brief Analog port 8 **/ |
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#define AN8 0x08 |
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/** @brief Analog port 9 **/ |
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#define AN9 0x09 |
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/** @brief Analog port 10 **/ |
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#define AN10 0x0A |
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/** @brief Analog port 11 **/ |
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#define AN11 0x0B |
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/** @brief Analog port 12 **/ |
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#define AN12 0x0C |
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/** @brief Analog port 13 **/ |
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#define AN13 0x0D |
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/** @brief Analog port 14 **/ |
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#define AN14 0x0E |
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/** @brief Analog port 15 **/ |
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#define AN15 0x0F |
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/** @brief BOM_PORT analog port for BOM **/ |
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#define BOM_PORT AN0 |
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/** @brief EXT_MUX analog port **/ |
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#define EXT_MUX AN7 |
|
90 |
/** @brief Analog port for the wheel **/ |
|
91 |
#define WHEEL_PORT AN10 |
|
92 |
/** @brief Analog port for the battery voltage detector **/ |
|
93 |
#define BATT_PORT AN11 |
|
94 |
|
|
95 |
/** @brief Analog loop status. ADC conversion running. **/ |
|
96 |
#define ADC_LOOP_RUNNING 1 |
|
97 |
/** @brief Analog loop status. No ADC conversion running.**/ |
|
98 |
#define ADC_LOOP_STOPPED 0 |
|
99 |
|
|
100 |
/** @brief Analog init parameter. Start the analog loop. **/ |
|
101 |
#define ADC_START 1 |
|
102 |
/** @brief Analog init parameter. Don't start the analog loop. **/ |
|
103 |
#define ADC_STOP 0 |
|
104 |
|
|
105 |
#define ADMUX_OPT 0x60 |
|
106 |
|
|
107 |
/** @brief Struct to hold the value of a particular analog port **/ |
|
108 |
typedef struct { |
|
109 |
uint8_t adc8; |
|
110 |
uint16_t adc10; |
|
111 |
} adc_t; |
|
112 |
|
|
113 |
|
|
114 |
/** @brief Initialize analog ports. Will start running a loop |
|
115 |
if start_conversion is ADC_START.**/ |
|
116 |
void analog_init(int start_conversion); |
|
117 |
/** @brief starts the analog loop. Doesn't do anything if the loop is already running. **/ |
|
118 |
void analog_start_loop(void); |
|
119 |
/** @brief Stops the analog loop. Doesn't do anything if the loop is already stopped. **/ |
|
120 |
void analog_stop_loop(void); |
|
121 |
/** @brief Returns the status of the analog loop. **/ |
|
122 |
int analog_loop_status(void); |
|
123 |
/** @brief Returns an 8-bit analog value from the look up table. Use this instead of analog_get8. **/ |
|
124 |
unsigned int analog8(int which); |
|
125 |
/** @brief Returns an 10-bit analog value from the look up table. Use this instead of analog_get10. **/ |
|
126 |
unsigned int analog10(int which); |
|
127 |
/** @brief Read the position of the wheel. **/ |
|
128 |
int wheel(void); |
|
129 |
/** @brief Read an 8-bit number from an analog port. Loop must be stopped for this to work. **/ |
|
130 |
unsigned int analog_get8(int which); |
|
131 |
/** @brief Read a 10-bit number from an analog port. Loop must be stopped for this to work. **/ |
|
132 |
unsigned int analog_get10(int which); |
|
133 |
|
|
134 |
|
|
135 |
/**@}**/ //end group |
|
136 |
|
|
137 |
#endif |
|
138 |
|
branches/rangefinders/code/lib/include/libdragonfly/encoders.h | ||
---|---|---|
1 |
/** |
|
2 |
* |
|
3 |
* @file encoders.h |
|
4 |
* @brief Contains functions for reading encoder values. |
|
5 |
* |
|
6 |
* Contains high and low level functions for reading encoders |
|
7 |
* including reading out total distance covered, and |
|
8 |
* eventually velocity. |
|
9 |
* |
|
10 |
* @author Colony Project, CMU Robotics Club |
|
11 |
*/ |
|
12 |
|
|
13 |
/** |
|
14 |
* @addtogroup encoders |
|
15 |
* @{ |
|
16 |
**/ |
|
17 |
|
|
18 |
#ifndef __ENCODERS_H__ |
|
19 |
#define __ENCODERS_H__ |
|
20 |
|
|
21 |
|
|
22 |
#ifndef LEFT |
|
23 |
/** @brief Left wheel **/ |
|
24 |
#define LEFT 0 |
|
25 |
#endif |
|
26 |
#ifndef RIGHT |
|
27 |
/** @brief Right wheel **/ |
|
28 |
#define RIGHT 1 |
|
29 |
#endif |
|
30 |
|
|
31 |
/** @brief Max value of valid encoder reading. **/ |
|
32 |
#define ENCODER_MAX 1024 |
|
33 |
|
|
34 |
/** @brief Magnet misaligned - likely distance from encoder problem. **/ |
|
35 |
#define ENCODER_MAGNET_FAILURE 1025 |
|
36 |
/** @brief Encoder misaligned - likely on XY plane. **/ |
|
37 |
#define ENCODER_MISALIGNED 1027 |
|
38 |
/** @brief Not enough time has passed - encoders not initialized in hardware. **/ |
|
39 |
#define ENCODER_DATA_NOT_READY 1026 |
|
40 |
|
|
41 |
/** @brief delay_ms argument after a full read is complete **/ |
|
42 |
#define ENCODER_DELAY 20 |
|
43 |
|
|
44 |
//Data invalid flags (hardware failure): |
|
45 |
#define OCF _BV(4) |
|
46 |
#define COF _BV(3) |
|
47 |
|
|
48 |
//Data invalid alarm (May be invalid): |
|
49 |
#define LIN _BV(2) |
|
50 |
|
|
51 |
#define MagINCn _BV(1) |
|
52 |
#define MagDECn _BV(0) |
|
53 |
|
|
54 |
/** @brief Buffer size **/ |
|
55 |
#define BUFFER_SIZE 46 |
|
56 |
|
|
57 |
#define ERR_VEL 1024 |
|
58 |
|
|
59 |
/** @brief Initialize encoders. **/ |
|
60 |
void encoders_init(void); |
|
61 |
/** @brief Read instantaneous encoder value. **/ |
|
62 |
int encoder_read(char encoder); |
|
63 |
|
|
64 |
/** @brief Get total distance traveled. |
|
65 |
* @note Simply calls encoder_get_dx. |
|
66 |
**/ |
|
67 |
int encoder_get_x(char encoder); |
|
68 |
|
|
69 |
/** @brief Get instantaneous velocity. **/ |
|
70 |
int encoder_get_v(char encoder); |
|
71 |
|
|
72 |
/** @brief Get total distance traveled. **/ |
|
73 |
int encoder_get_dx(char encoder); |
|
74 |
/** @brief Reset distance counter. **/ |
|
75 |
void encoder_rst_dx(char encoder); |
|
76 |
/** @brief Get time count: The number of encoder reads that have occurred. **/ |
|
77 |
int encoder_get_tc(void); |
|
78 |
/** @brief Reset the time count. **/ |
|
79 |
void encoder_rst_tc(void); |
|
80 |
|
|
81 |
/** @brief Waits for the next n encoder reading, then returns. **/ |
|
82 |
void encoder_wait( int nReadings ); |
|
83 |
|
|
84 |
/**@}**/ //end group |
|
85 |
|
|
86 |
#endif |
branches/rangefinders/code/lib/include/libdragonfly/dragonfly_lib.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file dragonfly_lib.h |
|
29 |
* @brief Contains other include files |
|
30 |
* |
|
31 |
* Include this file for all the functionality of libdragonfly. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
**/ |
|
35 |
|
|
36 |
#ifndef _DRAGONFLY_LIB_H_ |
|
37 |
#define _DRAGONFLY_LIB_H_ |
|
38 |
|
|
39 |
/** |
|
40 |
* @addtogroup dragonfly |
|
41 |
* @{ |
|
42 |
**/ |
|
43 |
|
|
44 |
// Configuration definitions |
|
45 |
/** @brief Initialize analog **/ |
|
46 |
#define ANALOG 0x01 |
|
47 |
/** @brief Initialize serial communications **/ |
|
48 |
#define SERIAL 0x02 |
|
49 |
/** @brief Initialize USB communications **/ |
|
50 |
#define USB 0x02 |
|
51 |
/** @brief Initialize communications **/ |
|
52 |
#define COMM 0x02 |
|
53 |
/** @brief Initialize the orb **/ |
|
54 |
#define ORB 0x04 |
|
55 |
/** @brief Initialize the motors **/ |
|
56 |
#define MOTORS 0x08 |
|
57 |
/** @brief Initialize I2C **/ |
|
58 |
#define I2C 0x20 |
|
59 |
/** @brief Initialize the buzzer **/ |
|
60 |
#define BUZZER 0x40 |
|
61 |
/** @brief Initialize the LCD screen **/ |
|
62 |
#define LCD 0x80 |
|
63 |
/** @brief Initialize the rangefinders **/ |
|
64 |
#define RANGE 0x0100 |
|
65 |
/** @brief Initialize the BOM **/ |
|
66 |
#define BOM 0x0200 |
|
67 |
/** @brief Initilize encoders **/ |
|
68 |
#define ENCODERS 0x400 |
|
69 |
/** @brief Initialize everything **/ |
|
70 |
#define ALL_ON 0x07FF |
|
71 |
|
|
72 |
/** @brief Initialize the board **/ |
|
73 |
void dragonfly_init(int config); |
|
74 |
|
|
75 |
/** @} **/ //end addtogroup |
|
76 |
|
|
77 |
#include <inttypes.h> |
|
78 |
#include <avr/io.h> |
|
79 |
#include <avr/interrupt.h> |
|
80 |
#include <util/delay.h> |
|
81 |
#include <util/twi.h> |
|
82 |
|
|
83 |
// This file is included from the libdragonfly directory because it seems to be |
|
84 |
// missing from the AVR libc distribution. |
|
85 |
#include "atomic.h" |
|
86 |
|
|
87 |
#include "analog.h" |
|
88 |
#include "dio.h" |
|
89 |
#include "time.h" |
|
90 |
#include "lcd.h" |
|
91 |
#include "lights.h" |
|
92 |
#include "motor.h" |
|
93 |
#include "serial.h" |
|
94 |
#include "buzzer.h" |
|
95 |
#include "rangefinder.h" |
|
96 |
#include "bom.h" |
|
97 |
#include "encoders.h" |
|
98 |
#include "move.h" |
|
99 |
#include "reset.h" |
|
100 |
#include "math.h" |
|
101 |
#include "eeprom.h" |
|
102 |
|
|
103 |
#include <stddef.h> |
|
104 |
#include <stdbool.h> |
|
105 |
|
|
106 |
/** @brief shortcut for ATOMIC_BLOCK(ATOMIC_RESTORESTATE) **/ |
|
107 |
#define SYNC ATOMIC_BLOCK(ATOMIC_RESTORESTATE) |
|
108 |
|
|
109 |
/** @brief atomically grab a lock if it is free, return otherwise **/ |
|
110 |
#define REQUIRE_LOCK_OR_RETURN(LOCK) do { SYNC { if (LOCK) return; LOCK=1; } } while (0) |
|
111 |
|
|
112 |
/** @brief atomically release a lock **/ |
|
113 |
#define RELEASE_LOCK(LOCK) do { LOCK=0; } while (0) |
|
114 |
|
|
115 |
|
|
116 |
|
|
117 |
#endif |
|
118 |
|
branches/rangefinders/code/lib/include/libdragonfly/serial.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file serial.h |
|
29 |
* @brief Contains declarations for serial input and output |
|
30 |
* |
|
31 |
* Contains definitions for serial input and output. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
* Based on Tom Lauwer's Firefly Library |
|
35 |
* |
|
36 |
**/ |
|
37 |
|
|
38 |
/* |
|
39 |
serial.h - Contains definitions and function prototypes for the RS232 serial port |
|
40 |
author(s): pkv |
|
41 |
|
|
42 |
Directions: |
|
43 |
Call the initialization function for the serial port you wish to use. Then, use |
|
44 |
either the provided functions or the stdio functions (fprintf, etc) to read and |
|
45 |
write characters to the serial ports. |
|
46 |
|
|
47 |
UART Mapping: |
|
48 |
usb_*() -> UART0 |
|
49 |
xbee_*() -> UART1 |
|
50 |
|
|
51 |
Options: (Add the following defines to your code to configure this library) |
|
52 |
#define USB_BAUD { 115200 | 9600 } <= pick ONE value from in here |
|
53 |
#define XBEE_BAUD { 115200 | 9600 } <= pick ONE value from in here |
|
54 |
#define USE_STDIO |
|
55 |
|
|
56 |
Note: If you enable USE_STDIO, the first init function that is called will |
|
57 |
automatically be linked to stdin, stdout, and stderr. To use the baud rate |
|
58 |
commands, add something like the following to your code: |
|
59 |
|
|
60 |
#define FOO_BAUD 9600 |
|
61 |
|
|
62 |
**UNLESS YOU KNOW WHAT YOU ARE DOING, PLEASE DO NOT CHANGE THIS FILE** |
|
63 |
Many, many other people use this file in their code. If you change it, you will |
|
64 |
probably break all of their nice code. You should not need to change anything in |
|
65 |
here, except to accomodate new hardware. |
|
66 |
*/ |
|
67 |
|
|
68 |
#ifndef _SERIAL_H |
|
69 |
#define _SERIAL_H |
|
70 |
|
|
71 |
#include <inttypes.h> |
|
72 |
#include <avr/pgmspace.h> |
|
73 |
|
|
74 |
/** |
|
75 |
* @defgroup usb USB Input / Output |
|
76 |
* @brief Functions for USB input / output |
|
77 |
* |
|
78 |
* Low level functions for USB input and output. |
|
79 |
* |
|
80 |
* @{ |
|
81 |
**/ |
|
82 |
|
|
83 |
// if no baud rate is defined for usb, default is set here |
|
84 |
#ifndef USB_BAUD |
|
85 |
/** @brief the USB baud rate **/ |
|
86 |
#define USB_BAUD 115200 |
|
87 |
#endif |
|
88 |
|
|
89 |
/** @brief Initialize the USB **/ |
|
90 |
void usb_init(void); |
|
91 |
/** @brief Print a character to USB **/ |
|
92 |
int usb_putc(char c); |
|
93 |
/** @brief Read a character from USB **/ |
|
94 |
int usb_getc(void); |
|
95 |
/** @brief Read a character from USB without blocking **/ |
|
96 |
int usb_getc_nb(char *c); |
|
97 |
/** @brief Print a string to USB **/ |
|
98 |
int usb_puts(char *s); |
|
99 |
/** @brief Print a string from program space to USB **/ |
|
100 |
void usb_puts_P (PGM_P s); |
|
101 |
/** @brief Print an integer to USB **/ |
|
102 |
int usb_puti(int value); |
|
103 |
/** @brief Determine a hexadecimal digit **/ |
|
104 |
uint8_t hex_digit (uint8_t value); |
|
105 |
/** @brief Print a fixed width hexadecimal representation to USB **/ |
|
106 |
void usb_puth16 (uint16_t value); |
|
107 |
/** @brief Print a fixed width hexadecimal representation to USB **/ |
|
108 |
void usb_puth8(uint8_t value); |
|
109 |
/** @brief Alias for usb_puth16 **/ |
|
110 |
static inline void usb_puth (uint16_t value) { usb_puth16 (value); }; |
|
111 |
|
|
112 |
|
|
113 |
/** @} **/ //end addtogroup |
|
114 |
|
|
115 |
/** |
|
116 |
* @defgroup xbee XBee Input / Output |
|
117 |
* @brief Functions for XBee input / output |
|
118 |
* |
|
119 |
* Low level functions for XBee input and output. |
|
120 |
* |
|
121 |
* @{ |
|
122 |
**/ |
|
123 |
|
|
124 |
// if no baud rate is defined for usb, default is set here |
|
125 |
|
|
126 |
// if no baud rate is defined for xbee, default is set here |
|
127 |
#ifndef XBEE_BAUD |
|
128 |
/** @brief the XBee baud rate **/ |
|
129 |
#define XBEE_BAUD 9600 |
|
130 |
#endif |
|
131 |
|
|
132 |
/** @brief Initialize the XBee **/ |
|
133 |
void xbee_init(void); |
|
134 |
/** @brief Print a character to the XBee **/ |
|
135 |
int xbee_putc(char c); |
|
136 |
/** @brief Read a character from the XBee **/ |
|
137 |
int xbee_getc(void); |
|
138 |
/** @brief Read a character from the XBee without blocking **/ |
|
139 |
int xbee_getc_nb(char *c); |
|
140 |
|
|
141 |
|
|
142 |
|
|
143 |
/** @} **/ //end addtogroup |
|
144 |
|
|
145 |
#endif |
|
146 |
|
branches/rangefinders/code/lib/include/libdragonfly/eeprom.h | ||
---|---|---|
1 |
/** |
|
2 |
* @file eeprom.h |
|
3 |
* @brief handles eeprom storage for persistent data |
|
4 |
* |
|
5 |
* Contains functions and definitions for reading and writing to eeprom |
|
6 |
* |
|
7 |
* @author Colony Project, Brad Neuman |
|
8 |
*/ |
|
9 |
|
|
10 |
#ifndef _EEPROM_H_ |
|
11 |
#define _EEPROM_H_ |
|
12 |
|
|
13 |
#define EEPROM_ROBOT_ID_ADDR 0x10 |
|
14 |
#define EEPROM_BOM_TYPE_ADDR 0x14 |
|
15 |
|
|
16 |
/** @brief store a byte to eeproem |
|
17 |
* @return 0 if success, nonzero on failure |
|
18 |
*/ |
|
19 |
int eeprom_put_byte(unsigned int addr, unsigned char byte); |
|
20 |
|
|
21 |
/** @brief reads a byte from eeprom |
|
22 |
* |
|
23 |
* Pass it thge address and a pointer to a byte where the byte at the |
|
24 |
* address will be stored |
|
25 |
* |
|
26 |
* @return 0 if successful (byte is set to the eeprom value at addr), |
|
27 |
* nonzero if there was a problem |
|
28 |
*/ |
|
29 |
int eeprom_get_byte(unsigned int addr, unsigned char *byte); |
|
30 |
|
|
31 |
/** @brief get stored robot ID |
|
32 |
* |
|
33 |
* checks that EEPROM has been programed with an ID and returns it |
|
34 |
* |
|
35 |
* @return the robot id, if it is stored. If it returns 0xFF it is probably invalid |
|
36 |
*/ |
|
37 |
unsigned char get_robotid(void); |
|
38 |
|
|
39 |
/** @brief get stored robot ID |
|
40 |
* |
|
41 |
* checks that EEPROM has been programed with an BOM type and returns it |
|
42 |
* |
|
43 |
* @return the robot bom type as defined in bom.h, if it is stored. If it returns 0xFF it is probably invalid |
|
44 |
*/ |
|
45 |
unsigned char get_bom_type(void); |
|
46 |
|
|
47 |
#endif |
branches/rangefinders/code/lib/include/libdragonfly/dragonfly_defs.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file dragonfly_def.h |
|
29 |
* @brief Contains definitions for dragonfly library |
|
30 |
* |
|
31 |
* Should be included in all dragonfly library source files. |
|
32 |
* Does not need to be included by user programs. |
|
33 |
* |
|
34 |
* @author Colony Project, CMU Robotics Club |
|
35 |
**/ |
|
36 |
|
|
37 |
#ifndef _DRAGONFLY_DEFS_H_ |
|
38 |
#define _DRAGONFLY_DEFS_H_ |
|
39 |
|
|
40 |
/** |
|
41 |
* @addtogroup dragonfly |
|
42 |
* @{ |
|
43 |
**/ |
|
44 |
|
|
45 |
//return value definitions |
|
46 |
/** @brief Error code for init failure **/ |
|
47 |
#define ERROR_INIT_FAILED 1 |
|
48 |
/** @brief Error code for duplicate init calls **/ |
|
49 |
#define ERROR_INIT_ALREADY_INITD 2 |
|
50 |
/** @brief Error code for not calling init **/ |
|
51 |
#define ERROR_LIBRARY_NOT_INITD 3 |
|
52 |
|
|
53 |
// Configuration definitions |
|
54 |
/** @brief Initialize analog **/ |
|
55 |
#define ANALOG 0x01 |
|
56 |
/** @brief Initialize serial communications **/ |
|
57 |
#define SERIAL 0x02 |
|
58 |
/** @brief Initialize USB communications **/ |
|
59 |
#define USB 0x02 |
|
60 |
/** @brief Initialize communications **/ |
|
61 |
#define COMM 0x02 |
|
62 |
/** @brief Initialize the orb **/ |
|
63 |
#define ORB 0x04 |
|
64 |
/** @brief Initialize the motors **/ |
|
65 |
#define MOTORS 0x08 |
|
66 |
/** @brief Initialize I2C **/ |
|
67 |
#define I2C 0x20 |
|
68 |
/** @brief Initialize the buzzer **/ |
|
69 |
#define BUZZER 0x40 |
|
70 |
/** @brief Initialize the LCD screen **/ |
|
71 |
#define LCD 0x80 |
|
72 |
/** @brief Initialize the rangefinders **/ |
|
73 |
#define RANGE 0x0100 |
|
74 |
/** @brief Initialize the BOM **/ |
|
75 |
#define BOM 0x0200 |
|
76 |
/** @brief Initilize encoders **/ |
|
77 |
#define ENCODERS 0x400 |
|
78 |
/** @brief Initialize everything **/ |
|
79 |
#define ALL_ON 0x07FF |
|
80 |
|
|
81 |
/** @} **/ //end addtogroup |
|
82 |
|
|
83 |
/** @brief shortcut for ATOMIC_BLOCK(ATOMIC_RESTORESTATE) **/ |
|
84 |
#define SYNC ATOMIC_BLOCK(ATOMIC_RESTORESTATE) |
|
85 |
|
|
86 |
/** @brief atomically grab a lock if it is free, return otherwise **/ |
|
87 |
#define REQUIRE_LOCK_OR_RETURN(LOCK) do { SYNC { if (LOCK) return; LOCK=1; } } while (0) |
|
88 |
|
|
89 |
/** @brief atomically release a lock **/ |
|
90 |
#define RELEASE_LOCK(LOCK) do { LOCK=0; } while (0) |
|
91 |
|
|
92 |
|
|
93 |
#endif |
branches/rangefinders/code/lib/include/libdragonfly/i2c.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** @file i2c.h |
|
28 |
* @brief Header file for I2C |
|
29 |
* |
|
30 |
* Contains functions for I2C. |
|
31 |
* |
|
32 |
* @author Kevin Woo and Suresh Nidhiry, Colony Project, CMU Robotics Club |
|
33 |
**/ |
|
34 |
|
|
35 |
|
|
36 |
#ifndef _I2C_H_ |
|
37 |
#define _I2C_H_ |
|
38 |
|
|
39 |
/** @brief Address of slave receive handler function **/ |
|
40 |
typedef void (*fun_srecv_t)(char); |
|
41 |
|
|
42 |
/** @brief Address of master receive handler function**/ |
|
43 |
typedef int (*fun_mrecv_t)(char); |
|
44 |
|
|
45 |
/** @brief Address of slave send handler function**/ |
|
46 |
typedef char (*fun_send_t)(void); |
|
47 |
|
|
48 |
int i2c_init(char addr, fun_mrecv_t master_recv, fun_srecv_t slave_recv, fun_send_t slave_send); |
|
49 |
int i2c_send(char dest, char* data, unsigned int bytes); |
|
50 |
int i2c_request(char dest); |
|
51 |
|
|
52 |
void i2c_packet_rec (char i2c_byte); |
|
53 |
void i2c_packet_sniff(char data); |
|
54 |
#endif |
|
55 |
|
branches/rangefinders/code/lib/include/libdragonfly/lights.h | ||
---|---|---|
1 |
// FIXME remove |
|
2 |
typedef unsigned char uint8_t; |
|
3 |
|
|
4 |
|
|
5 |
/** |
|
6 |
* Copyright (c) 2007 Colony Project |
|
7 |
* |
|
8 |
* Permission is hereby granted, free of charge, to any person |
|
9 |
* obtaining a copy of this software and associated documentation |
|
10 |
* files (the "Software"), to deal in the Software without |
|
11 |
* restriction, including without limitation the rights to use, |
|
12 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
13 |
* copies of the Software, and to permit persons to whom the |
|
14 |
* Software is furnished to do so, subject to the following |
|
15 |
* conditions: |
|
16 |
* |
|
17 |
* The above copyright notice and this permission notice shall be |
|
18 |
* included in all copies or substantial portions of the Software. |
|
19 |
* |
|
20 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
21 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
22 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
23 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
24 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
25 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
26 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
27 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
28 |
**/ |
|
29 |
|
|
30 |
|
|
31 |
/** |
|
32 |
* @file lights.h |
|
33 |
* @brief Contains declarations for managing the orbs. |
|
34 |
* |
|
35 |
* Contains declarations for using the orbs and PWM. |
|
36 |
* |
|
37 |
* @author Colony Project, CMU Robotics Club |
|
38 |
* Based on Firefly Library, by Tom Lauwers and Steven Shamlian |
|
39 |
**/ |
|
40 |
|
|
41 |
#ifndef _LIGHTS_H_ |
|
42 |
#define _LIGHTS_H_ |
|
43 |
|
|
44 |
/** |
|
45 |
* @addtogroup orbs |
|
46 |
* @{ |
|
47 |
**/ |
|
48 |
|
|
49 |
/** |
|
50 |
* Quick start: call orb_init_pwm or orb_init_binary, depending on which mode you want to use. Call orb*set or |
|
51 |
* orb*set_color to set the orbs. |
|
52 |
* |
|
53 |
* The orbs have two modes of operation: PWM mode and binary mode. In PWM mode, a pwm signal is generated by a hardware |
|
54 |
* timer and the orbs can be set to a value of 0 through 255. In binary mode, the orbs can only be turned on or off and |
|
55 |
* a value of 0 means "off" and any other value means "on". The mode can be chosen on initialization and can be changed |
|
56 |
* at runtime using the orb_set_mode function. |
|
57 |
* |
|
58 |
* Operation (PWM mode): On timer overflow, all LEDs with a value>0 are turned on and the output compare value for the |
|
59 |
* first LED is loaded. On compare match, the corresponding LED is turned off and the next output compare value is |
|
60 |
* loaded. All masks are precomputed and sorted by time when setting the values. |
|
61 |
* |
|
62 |
* The data structure (pwm_t) containing the PWM times and masks is triple buffered. This is because the buffer the ISR |
|
63 |
* is reading from may only be modified on timer overflow before the next PWM sequence is started, because otherwise the |
|
64 |
* next OCR value might be sed to a value smaller than the current timer value, resulting in the remaining channels not |
|
65 |
* being turned off in that PWM period (flash to on). When using two buffers, the page flip can only occur on a timer |
|
66 |
* overflow for the same reason. So after writing a buffer and marking it for page flip, neither of the buffers could be |
|
67 |
* modified because the front buffer is read by the ISR and the back buffer could be switched at any time. So the |
|
68 |
* calling thread would have to be delayed by up to one full PWM period (8ms in the current implementation, but |
|
69 |
* 20ms-50ms would be a reasonable value to expect here). To avoid this, triple buffering is used. |
|
70 |
* |
|
71 |
* The code for applying the orbs is fairly optimized. See the apply_orbs function for some time measurements and |
|
72 |
* further nodes. |
|
73 |
* |
|
74 |
* The PWM frequency is 120Hz (8ms period time). The next lower frequency (determined by the prescaler) is 30 Hz which |
|
75 |
* is too slow (orbs flicker). |
|
76 |
* |
|
77 |
* The orbs code is thread safe, which means that the functions may be called from another interrupt handler. If there |
|
78 |
* are multiple concurrent calls to the orb*set* functions, one of them is ignored and the orbs are never left in an |
|
79 |
* inconsistent state. For example, if the orbs are set to green by the main thread and to red by an interrupt handler, |
|
80 |
* the resulting color will be either red or green, but never yellow. |
|
81 |
* Thread safety is achieved by grabbing a lock at the beginning of all functions that modify the orb code and releasing |
|
82 |
* the lock at the end. If the lock is already taken, the function just returns doing nothing. |
|
83 |
* |
|
84 |
* Some performance measurements: |
|
85 |
* - Time for setting new orb values (PWM mode): 35us-72us (depending on the degree to which the array is |
|
86 |
* already in the correct order) |
|
87 |
* - Time for setting new orb values (binary mode): 5.5us |
|
88 |
* |
|
89 |
* - Interrupt time (PWM mode only): 8us (overflow) |
|
90 |
* 10us (output compare) |
|
91 |
* 6us (last output compare) |
|
92 |
* 30us (output compare, all value equal) |
|
93 |
* |
|
94 |
* - Maximum total interrupt time per period: 64us |
|
95 |
* - Maximum CPU usage for interrupts (PWM mode only): <0.8% |
|
96 |
* |
|
97 |
* - Maximum contiguous synchronized block: 30us (output compare interrupt, all values equal) |
|
98 |
* |
|
99 |
* There are some potential optimizations left. See the source code for more information. |
|
100 |
* |
|
101 |
* A note on robustness: if the output compare interrupt is disabled for too long, either due to a long ISR or a long |
|
102 |
* synchronized code block, the orbs will flicker to brighter values for being turned off too late. With software PWM, |
|
103 |
* there's nothing at all to be done about that. The problem can be alleviated by using a lower PWM frequency, but then |
|
104 |
* the orbs will start flickering all the time due to the low update frequency. |
|
105 |
* Some measurements: with 100us synchronized blocks, the flickering is accepptably low. Longer synchronized blocks |
|
106 |
* mean more flickering. At 1ms synchronized blocks, the flickering is quite bad, especially for low orb values. Note |
|
107 |
* that orb value 0 never flickers at all because the corresponding channels are not turned on at all. |
|
108 |
* Test code (note the _delay_us restrictions!) |
|
109 |
* orb_set (1,1,1); while (1) { SYNC { for (uint8_t m=0; m<10; ++m) { _delay_us(10); } } } |
|
110 |
**/ |
|
111 |
|
|
112 |
/** @} **/ //end addtogroup |
|
113 |
|
|
114 |
/** |
|
115 |
* @addtogroup orbs |
|
116 |
* @{ |
|
117 |
**/ |
|
118 |
|
|
119 |
// ***** Predefined colors ***** |
|
120 |
/** @brief Red **/ |
|
121 |
#define RED 0xE0 |
|
122 |
/** @brief Orange **/ |
|
123 |
#define ORANGE 0xE4 |
|
124 |
/** @brief Yellow **/ |
|
125 |
#define YELLOW 0xE8 |
|
126 |
/** @brief Lime **/ |
|
127 |
#define LIME 0x68 |
|
128 |
/** @brief Green **/ |
|
129 |
#define GREEN 0x1C |
|
130 |
/** @brief Cyan **/ |
|
131 |
#define CYAN 0x1F |
|
132 |
/** @brief Blue **/ |
|
133 |
#define BLUE 0x03 |
|
134 |
/** @brief Pink **/ |
|
135 |
#define PINK 0xA6 |
|
136 |
/** @brief Purple **/ |
|
137 |
#define PURPLE 0x41 |
|
138 |
/** @brief Magenta **/ |
|
139 |
#define MAGENTA 0xE3 |
|
140 |
/** @brief White **/ |
|
141 |
#define WHITE 0xFE |
|
142 |
/** @brief Turn the orb off **/ |
|
143 |
#define ORB_OFF 0x00 |
|
144 |
|
|
145 |
|
|
146 |
|
|
147 |
// ***** Initialization ***** |
|
148 |
|
|
149 |
/** @brief Enables the orbs in default mode **/ |
|
150 |
void orb_init(void); |
|
151 |
|
|
152 |
/** @brief Enables the orbs in binary mode **/ |
|
153 |
void orb_init_binary (void); |
|
154 |
|
|
155 |
/** @brief Enables the orbs in PWM mode **/ |
|
156 |
void orb_init_pwm (void); |
|
157 |
|
|
158 |
|
|
159 |
|
|
160 |
// ***** Mode setting ***** |
|
161 |
|
|
162 |
/** Specification of the orb mode **/ |
|
163 |
typedef uint8_t orb_mode_t; |
|
164 |
|
|
165 |
/** @brief PWM mode **/ |
|
166 |
#define orb_mode_pwm 0 |
|
167 |
|
|
168 |
/** @brief Binary mode **/ |
|
169 |
#define orb_mode_binary 1 |
|
170 |
|
|
171 |
|
|
172 |
/** @brief Switches the orbs to the specified mode **/ |
|
173 |
void orb_set_mode (orb_mode_t mode); |
|
174 |
|
|
175 |
/** @brief Disables the orb timer, but does not change the mode **/ |
|
176 |
void orb_disable_timer (void); |
|
177 |
|
|
178 |
/** @brief Enables the orb timer, but does not change the mode **/ |
|
179 |
void orb_enable_timer (void); |
|
180 |
|
|
181 |
|
|
182 |
|
|
183 |
// ***** Setting RGB colors ***** |
|
184 |
|
|
185 |
/** @brief set the specified orb to a specified color |
|
186 |
* @deprecated This function indexes from 0 instead of 1 **/ |
|
187 |
void orb_n_set (uint8_t num, uint8_t red, uint8_t green, uint8_t blue); |
|
188 |
|
|
189 |
/** @brief Set both orbs to a specified color **/ |
|
190 |
void orb_set(uint8_t red, uint8_t green, uint8_t blue); |
|
191 |
|
|
192 |
/** @brief Set orb1 to a specified color **/ |
|
193 |
void orb1_set(uint8_t red_led, uint8_t green_led, uint8_t blue_led); |
|
194 |
|
|
195 |
/** @brief Set orb2 to a specified color **/ |
|
196 |
void orb2_set(uint8_t red_led, uint8_t green_led, uint8_t blue_led); |
|
197 |
|
|
198 |
void orbs_set (uint8_t red1, uint8_t green1, uint8_t blue1, uint8_t red2, uint8_t green2, uint8_t blue2); |
|
199 |
|
|
200 |
|
|
201 |
|
|
202 |
// ***** Settings predefined colors ***** |
|
203 |
|
|
204 |
/** @brief set the specified orb to the specified color |
|
205 |
* @deprecated This function indexes from 0 instead of 1 **/ |
|
206 |
void orb_n_set_color(uint8_t num, uint8_t col); |
|
207 |
|
|
208 |
/** @brief Set orb1 to a specified color **/ |
|
209 |
void orb1_set_color(uint8_t col); |
|
210 |
|
|
211 |
/** @brief Set orb2 to a specified color **/ |
|
212 |
void orb2_set_color(uint8_t col); |
|
213 |
|
|
214 |
/** @brief set the orbs to specified colors **/ |
|
215 |
void orbs_set_color(uint8_t col1, uint8_t col2); |
|
216 |
|
|
217 |
/** @brief Set both orbs to a specified color **/ |
|
218 |
void orb_set_color(uint8_t col); |
|
219 |
|
|
220 |
|
|
221 |
|
|
222 |
/** @} **/ //end addtogroup |
|
223 |
|
|
224 |
#endif |
branches/rangefinders/code/lib/include/libdragonfly/atomic.h | ||
---|---|---|
1 |
/* This file is in the dragonfly library directory because it seems to be |
|
2 |
missing from the AVR libc distribution */ |
|
3 |
|
|
4 |
/* Copyright (c) 2007 Dean Camera |
|
5 |
All rights reserved. |
|
6 |
|
|
7 |
Redistribution and use in source and binary forms, with or without |
|
8 |
modification, are permitted provided that the following conditions are met: |
|
9 |
|
|
10 |
* Redistributions of source code must retain the above copyright |
|
11 |
notice, this list of conditions and the following disclaimer. |
|
12 |
|
|
13 |
* Redistributions in binary form must reproduce the above copyright |
|
14 |
notice, this list of conditions and the following disclaimer in |
|
15 |
the documentation and/or other materials provided with the |
|
16 |
distribution. |
|
17 |
|
|
18 |
* Neither the name of the copyright holders nor the names of |
|
19 |
contributors may be used to endorse or promote products derived |
|
20 |
from this software without specific prior written permission. |
|
21 |
|
|
22 |
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
|
23 |
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
|
24 |
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
|
25 |
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
|
26 |
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
|
27 |
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
|
28 |
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
|
29 |
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
|
30 |
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
|
31 |
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
32 |
POSSIBILITY OF SUCH DAMAGE. |
|
33 |
*/ |
|
34 |
|
|
35 |
/* $Id: atomic.h,v 1.3 2007/12/20 14:17:56 joerg_wunsch Exp $ */ |
|
36 |
|
|
37 |
#ifndef _UTIL_ATOMIC_H_ |
|
38 |
#define _UTIL_ATOMIC_H_ 1 |
|
39 |
|
|
40 |
#include <avr/io.h> |
|
41 |
#include <avr/interrupt.h> |
|
42 |
|
|
43 |
#if !defined(__DOXYGEN__) |
|
44 |
/* Internal helper functions. */ |
|
45 |
static __inline__ uint8_t __iSeiRetVal(void) |
|
46 |
{ |
|
47 |
sei(); |
|
48 |
return 1; |
|
49 |
} |
|
50 |
|
|
51 |
static __inline__ uint8_t __iCliRetVal(void) |
|
52 |
{ |
|
53 |
cli(); |
|
54 |
return 1; |
|
55 |
} |
|
56 |
|
|
57 |
static __inline__ void __iSeiParam(const uint8_t *__s) |
|
58 |
{ |
|
59 |
sei(); |
|
60 |
__asm__ volatile ("" ::: "memory"); |
|
61 |
(void)__s; |
|
62 |
} |
|
63 |
|
|
64 |
static __inline__ void __iCliParam(const uint8_t *__s) |
|
65 |
{ |
|
66 |
cli(); |
|
67 |
__asm__ volatile ("" ::: "memory"); |
|
68 |
(void)__s; |
|
69 |
} |
|
70 |
|
|
71 |
static __inline__ void __iRestore(const uint8_t *__s) |
|
72 |
{ |
|
73 |
SREG = *__s; |
|
74 |
__asm__ volatile ("" ::: "memory"); |
|
75 |
} |
|
76 |
#endif /* !__DOXYGEN__ */ |
|
77 |
|
|
78 |
/** \file */ |
|
79 |
/** \defgroup util_atomic <util/atomic.h> Atomically and Non-Atomically Executed Code Blocks |
|
80 |
|
|
81 |
\code |
|
82 |
#include <util/atomic.h> |
|
83 |
\endcode |
|
84 |
|
|
85 |
\note The macros in this header file require the ISO/IEC 9899:1999 |
|
86 |
("ISO C99") feature of for loop variables that are declared inside |
|
87 |
the for loop itself. For that reason, this header file can only |
|
88 |
be used if the standard level of the compiler (option --std=) is |
|
89 |
set to either \c c99 or \c gnu99. |
|
90 |
|
|
91 |
The macros in this header file deal with code blocks that are |
|
92 |
guaranteed to be excuted Atomically or Non-Atmomically. The term |
|
93 |
"Atomic" in this context refers to the unability of the respective |
|
94 |
code to be interrupted. |
|
95 |
|
|
96 |
These macros operate via automatic manipulation of the Global |
|
97 |
Interrupt Status (I) bit of the SREG register. Exit paths from |
|
98 |
both block types are all managed automatically without the need |
|
99 |
for special considerations, i. e. the interrupt status will be |
|
100 |
restored to the same value it has been when entering the |
|
101 |
respective block. |
|
102 |
|
|
103 |
A typical example that requires atomic access is a 16 (or more) |
|
104 |
bit variable that is shared between the main execution path and an |
|
105 |
ISR. While declaring such a variable as volatile ensures that the |
|
106 |
compiler will not optimize accesses to it away, it does not |
|
107 |
guarantee atomic access to it. Assuming the following example: |
|
108 |
|
|
109 |
\code |
|
110 |
#include <inttypes.h> |
|
111 |
#include <avr/interrupt.h> |
|
112 |
#include <avr/io.h> |
|
113 |
|
|
114 |
volatile uint16_t ctr; |
|
115 |
|
|
116 |
ISR(TIMER1_OVF_vect) |
|
117 |
{ |
|
118 |
ctr--; |
|
119 |
} |
|
120 |
|
|
121 |
... |
|
122 |
int |
|
123 |
main(void) |
|
124 |
{ |
|
125 |
... |
|
126 |
ctr = 0x200; |
|
127 |
start_timer(); |
|
128 |
while (ctr != 0) |
|
129 |
// wait |
|
130 |
; |
|
131 |
... |
|
132 |
} |
|
133 |
\endcode |
|
134 |
|
|
135 |
There is a chance where the main context will exit its wait loop |
|
136 |
when the variable \c ctr just reached the value 0xFF. This happens |
|
137 |
because the compiler cannot natively access a 16-bit variable |
|
138 |
atomically in an 8-bit CPU. So the variable is for example at |
|
139 |
0x100, the compiler then tests the low byte for 0, which succeeds. |
|
140 |
It then proceeds to test the high byte, but that moment the ISR |
|
141 |
triggers, and the main context is interrupted. The ISR will |
|
142 |
decrement the variable from 0x100 to 0xFF, and the main context |
|
143 |
proceeds. It now tests the high byte of the variable which is |
|
144 |
(now) also 0, so it concludes the variable has reached 0, and |
|
145 |
terminates the loop. |
|
146 |
|
|
147 |
Using the macros from this header file, the above code can be |
|
148 |
rewritten like: |
|
149 |
|
|
150 |
\code |
|
151 |
#include <inttypes.h> |
|
152 |
#include <avr/interrupt.h> |
|
153 |
#include <avr/io.h> |
|
154 |
#include <util/atomic.h> |
|
155 |
|
|
156 |
volatile uint16_t ctr; |
|
157 |
|
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