Project

General

Profile

Revision 1785

Rearranged hunter_prey joystickPlayer file structure.

View differences:

trunk/code/behaviors/hunter_prey/joystickPlayer/joystickControl/Makefile
1
########Update This Section########
2
#
3
#
4

  
5
# Relative path to the root directory (containing lib directory)
6
ifndef COLONYROOT
7
COLONYROOT = ../../../../..
8
endif
9

  
10
# Target file name (without extension).
11
TARGET = joystick
12

  
13
# Uncomment this to use the wireless library
14
 USE_WIRELESS = 1
15

  
16
# com1 = serial port. Use lpt1 to connect to parallel port.
17
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
18
#
19
#
20
###################################
21

  
22
# Hey Emacs, this is a -*- makefile -*-
23
#----------------------------------------------------------------------------
24
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.
25
#
26
# Released to the Public Domain
27
#
28
# Additional material for this makefile was written by:
29
# Peter Fleury
30
# Tim Henigan
31
# Colin O'Flynn
32
# Reiner Patommel
33
# Markus Pfaff
34
# Sander Pool
35
# Frederik Rouleau
36
#
37
#----------------------------------------------------------------------------
38
# On command line:
39
#
40
# make all = Make software.
41
#
42
# make clean = Clean out built project files.
43
#
44
# make coff = Convert ELF to AVR COFF.
45
#
46
# make extcoff = Convert ELF to AVR Extended COFF.
47
#
48
# make program = Download the hex file to the device, using avrdude.
49
#                Please customize the avrdude settings below first!
50
#
51
# make debug = Start either simulavr or avarice as specified for debugging,
52
#              with avr-gdb or avr-insight as the front end for debugging.
53
#
54
# make filename.s = Just compile filename.c into the assembler code only.
55
#
56
# make filename.i = Create a preprocessed source file for use in submitting
57
#                   bug reports to the GCC project.
58
#
59
# To rebuild project do "make clean" then "make all".
60
#----------------------------------------------------------------------------
61

  
62
#if you want your code to work on the Firefly++ and not Firefly+
63
#then add the -DFFPP line to CDEFS
64
CDEFS =
65
#-DFFPP
66

  
67
# MCU name
68
MCU = atmega128
69

  
70
# Processor frequency.
71
#     This will define a symbol, F_CPU, in all source code files equal to the
72
#     processor frequency. You can then use this symbol in your source code to
73
#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
74
#     automatically to create a 32-bit value in your source code.
75
F_CPU = 8000000
76

  
77
# Output format. (can be srec, ihex, binary)
78
FORMAT = ihex
79

  
80
# List C source files here. (C dependencies are automatically generated.)
81
SRC = $(wildcard *.c)
82

  
83
# List Assembler source files here.
84
#     Make them always end in a capital .S.  Files ending in a lowercase .s
85
#     will not be considered source files but generated files (assembler
86
#     output from the compiler), and will be deleted upon "make clean"!
87
#     Even though the DOS/Win* filesystem matches both .s and .S the same,
88
#     it will preserve the spelling of the filenames, and gcc itself does
89
#     care about how the name is spelled on its command-line.
90
ASRC =
91

  
92
# Optimization level, can be [0, 1, 2, 3, s].
93
#     0 = turn off optimization. s = optimize for size.
94
#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
95
OPT = s
96

  
97
# Debugging format.
98
#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
99
#     AVR Studio 4.10 requires dwarf-2.
100
#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
101
DEBUG =
102

  
103
# Compiler flag to set the C Standard level.
104
#     c89   = "ANSI" C
105
#     gnu89 = c89 plus GCC extensions
106
#     c99   = ISO C99 standard (not yet fully implemented)
107
#     gnu99 = c99 plus GCC extensions
108
CSTANDARD = -std=gnu99
109

  
110
# Place -D or -U options here
111
CDEFS += -DF_CPU=$(F_CPU)UL
112
CDEFS += -DFFP
113
# for wireless library
114
ifdef USE_WIRELESS
115
	CDEFS += -DROBOT
116
endif
117

  
118
# Place -I, -L options here
119
CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly
120
CINCS += -L$(COLONYROOT)/code/lib/bin
121
ifdef USE_WIRELESS
122
	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless
123
endif
124

  
125
#---------------- Compiler Options ----------------
126
#  -g*:          generate debugging information
127
#  -O*:          optimization level
128
#  -f...:        tuning, see GCC manual and avr-libc documentation
129
#  -Wall...:     warning level
130
#  -Wa,...:      tell GCC to pass this to the assembler.
131
#    -adhlns...: create assembler listing
132
CFLAGS =
133
# CFLAGS = -g$(DEBUG)
134
CFLAGS += $(CDEFS) $(CINCS)
135
CFLAGS += -O$(OPT)
136
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
137
CFLAGS += -Wall -Wstrict-prototypes
138
CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
139
CFLAGS += $(CSTANDARD)
140

  
141
#---------------- Assembler Options ----------------
142
#  -Wa,...:   tell GCC to pass this to the assembler.
143
#  -ahlms:    create listing
144
#  -gstabs:   have the assembler create line number information; note that
145
#             for use in COFF files, additional information about filenames
146
#             and function names needs to be present in the assembler source
147
#             files -- see avr-libc docs [FIXME: not yet described there]
148
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
149

  
150

  
151
#---------------- Library Options ----------------
152
# Minimalistic printf version
153
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
154

  
155
# Floating point printf version (requires MATH_LIB = -lm below)
156
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
157

  
158
# If this is left blank, then it will use the Standard printf version.
159
PRINTF_LIB =
160
#PRINTF_LIB = $(PRINTF_LIB_MIN)
161
#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
162

  
163

  
164
# Minimalistic scanf version
165
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
166

  
167
# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
168
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
169

  
170
# If this is left blank, then it will use the Standard scanf version.
171
SCANF_LIB =
172
#SCANF_LIB = $(SCANF_LIB_MIN)
173
#SCANF_LIB = $(SCANF_LIB_FLOAT)
174

  
175
MATH_LIB = -lm
176

  
177
#---------------- External Memory Options ----------------
178

  
179
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
180
# used for variables (.data/.bss) and heap (malloc()).
181
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
182

  
183
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
184
# only used for heap (malloc()).
185
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
186

  
187
EXTMEMOPTS =
188

  
189
#---------------- Linker Options ----------------
190
#  -Wl,...:     tell GCC to pass this to linker.
191
#    -Map:      create map file
192
#    --cref:    add cross reference to  map file
193
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
194
LDFLAGS += $(EXTMEMOPTS)
195
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
196
ifdef USE_WIRELESS
197
	LDFLAGS += -lwireless
198
endif
199
LDFLAGS += -ldragonfly
200

  
201

  
202

  
203
#---------------- Programming Options (avrdude) ----------------
204

  
205
# Programming hardware: alf avr910 avrisp bascom bsd
206
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
207
#
208
# Type: avrdude -c ?
209
# to get a full listing.
210
#
211
AVRDUDE_PROGRAMMER = avrisp
212

  
213
# programmer connected to serial device
214

  
215
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
216
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
217

  
218

  
219
# Uncomment the following if you want avrdude's erase cycle counter.
220
# Note that this counter needs to be initialized first using -Yn,
221
# see avrdude manual.
222
#AVRDUDE_ERASE_COUNTER = -y
223

  
224
# Uncomment the following if you do /not/ wish a verification to be
225
# performed after programming the device.
226
#AVRDUDE_NO_VERIFY = -V
227

  
228
# Increase verbosity level.  Please use this when submitting bug
229
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
230
# to submit bug reports.
231
#AVRDUDE_VERBOSE = -v -v
232

  
233
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
234
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
235
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
236
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
237

  
238
#don't check for device signature
239
AVRDUDE_FLAGS += -F
240

  
241

  
242

  
243
#---------------- Debugging Options ----------------
244

  
245
# For simulavr only - target MCU frequency.
246
DEBUG_MFREQ = $(F_CPU)
247

  
248
# Set the DEBUG_UI to either gdb or insight.
249
# DEBUG_UI = gdb
250
DEBUG_UI = insight
251

  
252
# Set the debugging back-end to either avarice, simulavr.
253
DEBUG_BACKEND = avarice
254
#DEBUG_BACKEND = simulavr
255

  
256
# GDB Init Filename.
257
GDBINIT_FILE = __avr_gdbinit
258

  
259
# When using avarice settings for the JTAG
260
JTAG_DEV = /dev/com1
261

  
262
# Debugging port used to communicate between GDB / avarice / simulavr.
263
DEBUG_PORT = 4242
264

  
265
# Debugging host used to communicate between GDB / avarice / simulavr, normally
266
#     just set to localhost unless doing some sort of crazy debugging when
267
#     avarice is running on a different computer.
268
DEBUG_HOST = localhost
269

  
270

  
271

  
272
#============================================================================
273

  
274

  
275
# Define programs and commands.
276
SHELL = sh
277
CC = avr-gcc
278
OBJCOPY = avr-objcopy
279
OBJDUMP = avr-objdump
280
SIZE = avr-size
281
NM = avr-nm
282
AVRDUDE = avrdude
283
REMOVE = rm -f
284
REMOVEDIR = rm -rf
285
COPY = cp
286
WINSHELL = cmd
287

  
288

  
289
# Define Messages
290
# English
291
MSG_ERRORS_NONE = Errors: none
292
MSG_BEGIN = -------- begin --------
293
MSG_END = --------  end  --------
294
MSG_SIZE_BEFORE = Size before:
295
MSG_SIZE_AFTER = Size after:
296
MSG_COFF = Converting to AVR COFF:
297
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
298
MSG_FLASH = Creating load file for Flash:
299
MSG_EEPROM = Creating load file for EEPROM:
300
MSG_EXTENDED_LISTING = Creating Extended Listing:
301
MSG_SYMBOL_TABLE = Creating Symbol Table:
302
MSG_LINKING = Linking:
303
MSG_COMPILING = Compiling:
304
MSG_ASSEMBLING = Assembling:
305
MSG_CLEANING = Cleaning project:
306

  
307

  
308

  
309

  
310
# Define all object files.
311
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
312

  
313
# Define all listing files.
314
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
315

  
316

  
317
# Compiler flags to generate dependency files.
318
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
319

  
320

  
321
# Combine all necessary flags and optional flags.
322
# Add target processor to flags.
323
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
324
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
325

  
326

  
327

  
328

  
329

  
330
# Default target.
331
all: begin gccversion sizebefore build sizeafter end
332

  
333
build: elf hex eep lss sym
334

  
335
elf: $(TARGET).elf
336
hex: $(TARGET).hex
337
eep: $(TARGET).eep
338
lss: $(TARGET).lss
339
sym: $(TARGET).sym
340

  
341

  
342

  
343
# Eye candy.
344
# AVR Studio 3.x does not check make's exit code but relies on
345
# the following magic strings to be generated by the compile job.
346
begin:
347
	@echo
348
	@echo $(MSG_BEGIN)
349

  
350
end:
351
	@echo $(MSG_END)
352
	@echo
353

  
354

  
355
# Display size of file.
356
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
357
ELFSIZE = $(SIZE) -A $(TARGET).elf
358
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
359

  
360
sizebefore:
361
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
362
	$(AVRMEM) 2>/dev/null; echo; fi
363

  
364
sizeafter:
365
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
366
	$(AVRMEM) 2>/dev/null; echo; fi
367

  
368

  
369

  
370
# Display compiler version information.
371
gccversion :
372
	@$(CC) --version
373

  
374

  
375

  
376
# Program the device.
377
program: $(TARGET).hex $(TARGET).eep
378
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
379

  
380

  
381
# Generate avr-gdb config/init file which does the following:
382
#     define the reset signal, load the target file, connect to target, and set
383
#     a breakpoint at main().
384
gdb-config:
385
	@$(REMOVE) $(GDBINIT_FILE)
386
	@echo define reset >> $(GDBINIT_FILE)
387
	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
388
	@echo end >> $(GDBINIT_FILE)
389
	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
390
	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
391
ifeq ($(DEBUG_BACKEND),simulavr)
392
	@echo load  >> $(GDBINIT_FILE)
393
endif
394
	@echo break main >> $(GDBINIT_FILE)
395

  
396
debug: gdb-config $(TARGET).elf
397
ifeq ($(DEBUG_BACKEND), avarice)
398
	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
399
	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
400
	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
401
	@$(WINSHELL) /c pause
402

  
403
else
404
	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
405
	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
406
endif
407
	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
408

  
409

  
410

  
411

  
412
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
413
COFFCONVERT=$(OBJCOPY) --debugging \
414
--change-section-address .data-0x800000 \
415
--change-section-address .bss-0x800000 \
416
--change-section-address .noinit-0x800000 \
417
--change-section-address .eeprom-0x810000
418

  
419

  
420
coff: $(TARGET).elf
421
	@echo
422
	@echo $(MSG_COFF) $(TARGET).cof
423
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
424

  
425

  
426
extcoff: $(TARGET).elf
427
	@echo
428
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
429
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
430

  
431

  
432

  
433
# Create final output files (.hex, .eep) from ELF output file.
434
%.hex: %.elf
435
	@echo
436
	@echo $(MSG_FLASH) $@
437
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
438

  
439
%.eep: %.elf
440
	@echo
441
	@echo $(MSG_EEPROM) $@
442
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
443
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
444

  
445
# Create extended listing file from ELF output file.
446
%.lss: %.elf
447
	@echo
448
	@echo $(MSG_EXTENDED_LISTING) $@
449
	$(OBJDUMP) -h -S $< > $@
450

  
451
# Create a symbol table from ELF output file.
452
%.sym: %.elf
453
	@echo
454
	@echo $(MSG_SYMBOL_TABLE) $@
455
	$(NM) -n $< > $@
456

  
457

  
458

  
459
# Link: create ELF output file from object files.
460
.SECONDARY : $(TARGET).elf
461
.PRECIOUS : $(OBJ)
462
%.elf: $(OBJ)
463
	@echo
464
	@echo $(MSG_LINKING) $@
465
	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
466

  
467

  
468
# Compile: create object files from C source files.
469
%.o : %.c
470
	@echo
471
	@echo $(MSG_COMPILING) $<
472
	$(CC) -c $(ALL_CFLAGS) $< -o $@
473

  
474

  
475
# Compile: create assembler files from C source files.
476
%.s : %.c
477
	$(CC) -S $(ALL_CFLAGS) $< -o $@
478

  
479

  
480
# Assemble: create object files from assembler source files.
481
%.o : %.S
482
	@echo
483
	@echo $(MSG_ASSEMBLING) $<
484
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
485

  
486
# Create preprocessed source for use in sending a bug report.
487
%.i : %.c
488
	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
489

  
490

  
491
# Target: clean project.
492
clean: begin clean_list end
493

  
494
clean_list :
495
	@echo
496
	@echo $(MSG_CLEANING)
497
	$(REMOVE) $(TARGET).hex
498
	$(REMOVE) $(TARGET).eep
499
	$(REMOVE) $(TARGET).cof
500
	$(REMOVE) $(TARGET).elf
501
	$(REMOVE) $(TARGET).map
502
	$(REMOVE) $(TARGET).sym
503
	$(REMOVE) $(TARGET).lss
504
	$(REMOVE) $(OBJ)
505
	$(REMOVE) $(LST)
506
	$(REMOVE) $(SRC:.c=.s)
507
	$(REMOVE) $(SRC:.c=.d)
508
	$(REMOVEDIR) .dep
509

  
510

  
511

  
512
# Include the dependency files.
513
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
514

  
515

  
516
# Listing of phony targets.
517
.PHONY : all begin finish end sizebefore sizeafter gccversion \
518
build elf hex eep lss sym coff extcoff \
519
clean clean_list program debug gdb-config
520

  
trunk/code/behaviors/hunter_prey/joystickPlayer/joystickControl/joystick.c
1
#include <dragonfly_lib.h>
2
#include <wireless.h>
3
#include <wl_defs.h>
4
//#include "../../../common/colonet_defs.h"
5
#include <serial.h>
6
#include <stdio.h>
7

  
8
/* Current state codes */
9
#define TRIGGER_DOWN              1
10
#define TRIGGER_UP               (1<<1)
11
#define BUTTON_DOWN              (1<<2)
12
#define BUTTON_UP                (1<<3)
13
#define X_LEFT                   (1<<4)
14
#define X_CENTER                 (1<<5)
15
#define X_RIGHT                  (1<<6)
16
#define Y_UP                     (1<<7)
17
#define Y_CENTER                 (1<<8)
18
#define Y_DOWN                   (1<<9)
19

  
20
/* State change codes */
21
#define TRIGGER_PRESSED           1
22
#define TRIGGER_RELEASED          (1<<1)
23
#define BUTTON_PRESSED            (1<<2)
24
#define BUTTON_RELEASED           (1<<3)
25
#define MOVED_LEFT                (1<<4)
26
#define MOVED_X_CENTER            (1<<5)
27
#define MOVED_RIGHT               (1<<6)
28
#define MOVED_UP                  (1<<7)
29
#define MOVED_Y_CENTER            (1<<8)
30
#define MOVED_DOWN                (1<<9)
31

  
32
/* Command Types */
33
#define CNTL_FORWARD 'f'
34
#define CNTL_STOP    's'
35
#define CNTL_BACK    'b'
36
#define CNTL_LEFT    'l'
37
#define CNTL_RIGHT   'r'
38
#define CNTL_BUZZ0   't'
39
#define CNTL_BUZZ1   'u'
40

  
41
#define WL_CNTL_GROUP 4
42

  
43
#define WL_CHANNEL 24
44

  
45
int joystick_status (void);
46
int joystick_change (int old, int new);
47

  
48
PacketGroupHandler cntlHandler = {WL_CNTL_GROUP, NULL, NULL, NULL, NULL};
49

  
50
int main (void) {
51
  	dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG);
52
	ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);
53
	xbee_init();
54
  	wl_init();
55
	wl_set_channel(WL_CHANNEL);
56
  	wl_register_packet_group(&cntlHandler);
57

  
58
  	orb_set_color(BLUE);
59
  
60
  	int change;
61
  	int last_status = 0; 
62
  	int cur_status = 0;
63
  
64
	while (1) {
65
		last_status = cur_status;
66
		cur_status = joystick_status();
67
		change = joystick_change(last_status, cur_status);
68

  
69
		if (change & MOVED_UP) {
70
			orb_set_color(GREEN);
71
			wl_send_global_packet(4, CNTL_FORWARD, NULL, 0, 0);
72
		}
73
		if (change & MOVED_Y_CENTER) {
74
			orb_set_color(RED);
75
			wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0);
76
		}
77
		if (change & MOVED_DOWN) {
78
			orb_set_color(BLUE);
79
			wl_send_global_packet(4, CNTL_BACK, NULL, 0, 0);
80
		}
81
		if (change & MOVED_LEFT) {
82
			orb_set_color(ORANGE);
83
			wl_send_global_packet(4, CNTL_LEFT, NULL, 0, 0);
84
		}
85
		if (change & MOVED_X_CENTER) {
86
			orb_set_color(RED);
87
			wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0);
88
		}
89
		if (change & MOVED_RIGHT) {
90
			orb_set_color(YELLOW);
91
			wl_send_global_packet(4, CNTL_RIGHT, NULL, 0, 0);
92
		}
93
		if (change & TRIGGER_PRESSED) {
94
			orb_set_color(PURPLE);
95
			wl_send_global_packet(4, CNTL_BUZZ0, NULL, 0, 0);
96
		}
97
		if (change & BUTTON_PRESSED) {
98
			orb_set_color(YELLOW);
99
			wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0);
100
		}
101
		delay_ms(100);
102
	}
103
  
104
}
105

  
106
int joystick_change (int old, int new) {
107
	int trigger_change = 0;
108
	int button_change = 0;
109
	int x_change = 0;
110
	int y_change = 0;
111
	/* Check for trigger change */
112
	if ((old & TRIGGER_DOWN) && (new & TRIGGER_UP))
113
		trigger_change = TRIGGER_RELEASED;
114
	if ((old & TRIGGER_UP) && (new & TRIGGER_DOWN)) 
115
		trigger_change = TRIGGER_PRESSED;
116
	/* Check for button change */
117
	if ((old & BUTTON_DOWN) && (new & BUTTON_UP))
118
		button_change = BUTTON_RELEASED;
119
	if ((old & BUTTON_UP) && (new & BUTTON_DOWN))
120
		button_change = BUTTON_PRESSED;
121
	/* Check for X change */
122
	if ((old & X_CENTER) && (new & X_RIGHT))
123
		x_change = MOVED_RIGHT;
124
	if ((old & X_CENTER) && (new & X_LEFT))
125
		x_change = MOVED_LEFT;
126
	if (!(old & X_CENTER) && (new & X_CENTER))
127
		x_change = MOVED_X_CENTER;
128
	/* Check for Y change */
129
	if ((old & Y_CENTER) && (new & Y_UP))
130
		y_change = MOVED_UP;
131
	if ((old & Y_CENTER) && (new & Y_DOWN))
132
		y_change = MOVED_DOWN;
133
	if (!(old & Y_CENTER) && (new & Y_CENTER))
134
		y_change = MOVED_Y_CENTER;
135
	return trigger_change | button_change | x_change | y_change;
136
}
137

  
138
/**
139
 * Get the current status of the joystick.
140
 * This includes the X and Y axes and the buttons.
141
 */
142
int joystick_status (void) {
143
	int trigger_status = 0;
144
	int button_status = 0;
145
	int x_status = 0; 
146
	int y_status = 0;
147
	int xval, yval;
148
    
149
	if (analog_get8(AN0) > 200)
150
		trigger_status = TRIGGER_DOWN;
151
	else
152
		trigger_status = TRIGGER_UP;
153

  
154
	if (analog_get8(AN1) > 200)
155
		button_status = BUTTON_DOWN;
156
	else
157
		button_status = BUTTON_UP;
158

  
159
	xval = analog_get8(AN4); // actually AN6, AN7 for connection
160
	yval = analog_get8(AN5);
161

  
162
	if (xval > 150)
163
		x_status = X_LEFT;
164
	else if (xval < 75)
165
		x_status = X_RIGHT;
166
	else
167
		x_status = X_CENTER;
168

  
169
	if (yval > 150)
170
		y_status = Y_UP;
171
	else if (yval < 75)
172
		y_status = Y_DOWN;
173
	else
174
		y_status = Y_CENTER;
175

  
176

  
177
	return trigger_status | button_status | x_status | y_status;
178
}
179

  
trunk/code/behaviors/hunter_prey/joystickPlayer/joystick/joystick.c
1
#include <dragonfly_lib.h>
2
#include <wireless.h>
3
#include <wl_defs.h>
4
//#include "../../../common/colonet_defs.h"
5
#include <serial.h>
6
#include <stdio.h>
7

  
8
/* Current state codes */
9
#define TRIGGER_DOWN              1
10
#define TRIGGER_UP               (1<<1)
11
#define BUTTON_DOWN              (1<<2)
12
#define BUTTON_UP                (1<<3)
13
#define X_LEFT                   (1<<4)
14
#define X_CENTER                 (1<<5)
15
#define X_RIGHT                  (1<<6)
16
#define Y_UP                     (1<<7)
17
#define Y_CENTER                 (1<<8)
18
#define Y_DOWN                   (1<<9)
19

  
20
/* State change codes */
21
#define TRIGGER_PRESSED           1
22
#define TRIGGER_RELEASED          (1<<1)
23
#define BUTTON_PRESSED            (1<<2)
24
#define BUTTON_RELEASED           (1<<3)
25
#define MOVED_LEFT                (1<<4)
26
#define MOVED_X_CENTER            (1<<5)
27
#define MOVED_RIGHT               (1<<6)
28
#define MOVED_UP                  (1<<7)
29
#define MOVED_Y_CENTER            (1<<8)
30
#define MOVED_DOWN                (1<<9)
31

  
32
/* Command Types */
33
#define CNTL_FORWARD 'f'
34
#define CNTL_STOP    's'
35
#define CNTL_BACK    'b'
36
#define CNTL_LEFT    'l'
37
#define CNTL_RIGHT   'r'
38
#define CNTL_BUZZ0   't'
39
#define CNTL_BUZZ1   'u'
40

  
41
#define WL_CNTL_GROUP 4
42

  
43
#define WL_CHANNEL 24
44

  
45
int joystick_status (void);
46
int joystick_change (int old, int new);
47

  
48
PacketGroupHandler cntlHandler = {WL_CNTL_GROUP, NULL, NULL, NULL, NULL};
49

  
50
int main (void) {
51
  	dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG);
52
	ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);
53
	xbee_init();
54
  	wl_init();
55
	wl_set_channel(WL_CHANNEL);
56
  	wl_register_packet_group(&cntlHandler);
57

  
58
  	orb_set_color(BLUE);
59
  
60
  	int change;
61
  	int last_status = 0; 
62
  	int cur_status = 0;
63
  
64
	while (1) {
65
		last_status = cur_status;
66
		cur_status = joystick_status();
67
		change = joystick_change(last_status, cur_status);
68

  
69
		if (change & MOVED_UP) {
70
			orb_set_color(GREEN);
71
			wl_send_global_packet(4, CNTL_FORWARD, NULL, 0, 0);
72
		}
73
		if (change & MOVED_Y_CENTER) {
74
			orb_set_color(RED);
75
			wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0);
76
		}
77
		if (change & MOVED_DOWN) {
78
			orb_set_color(BLUE);
79
			wl_send_global_packet(4, CNTL_BACK, NULL, 0, 0);
80
		}
81
		if (change & MOVED_LEFT) {
82
			orb_set_color(ORANGE);
83
			wl_send_global_packet(4, CNTL_LEFT, NULL, 0, 0);
84
		}
85
		if (change & MOVED_X_CENTER) {
86
			orb_set_color(RED);
87
			wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0);
88
		}
89
		if (change & MOVED_RIGHT) {
90
			orb_set_color(YELLOW);
91
			wl_send_global_packet(4, CNTL_RIGHT, NULL, 0, 0);
92
		}
93
		if (change & TRIGGER_PRESSED) {
94
			orb_set_color(PURPLE);
95
			wl_send_global_packet(4, CNTL_BUZZ0, NULL, 0, 0);
96
		}
97
		if (change & BUTTON_PRESSED) {
98
			orb_set_color(YELLOW);
99
			wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0);
100
		}
101
		delay_ms(100);
102
	}
103
  
104
}
105

  
106
int joystick_change (int old, int new) {
107
	int trigger_change = 0;
108
	int button_change = 0;
109
	int x_change = 0;
110
	int y_change = 0;
111
	/* Check for trigger change */
112
	if ((old & TRIGGER_DOWN) && (new & TRIGGER_UP))
113
		trigger_change = TRIGGER_RELEASED;
114
	if ((old & TRIGGER_UP) && (new & TRIGGER_DOWN)) 
115
		trigger_change = TRIGGER_PRESSED;
116
	/* Check for button change */
117
	if ((old & BUTTON_DOWN) && (new & BUTTON_UP))
118
		button_change = BUTTON_RELEASED;
119
	if ((old & BUTTON_UP) && (new & BUTTON_DOWN))
120
		button_change = BUTTON_PRESSED;
121
	/* Check for X change */
122
	if ((old & X_CENTER) && (new & X_RIGHT))
123
		x_change = MOVED_RIGHT;
124
	if ((old & X_CENTER) && (new & X_LEFT))
125
		x_change = MOVED_LEFT;
126
	if (!(old & X_CENTER) && (new & X_CENTER))
127
		x_change = MOVED_X_CENTER;
128
	/* Check for Y change */
129
	if ((old & Y_CENTER) && (new & Y_UP))
130
		y_change = MOVED_UP;
131
	if ((old & Y_CENTER) && (new & Y_DOWN))
132
		y_change = MOVED_DOWN;
133
	if (!(old & Y_CENTER) && (new & Y_CENTER))
134
		y_change = MOVED_Y_CENTER;
135
	return trigger_change | button_change | x_change | y_change;
136
}
137

  
138
/**
139
 * Get the current status of the joystick.
140
 * This includes the X and Y axes and the buttons.
141
 */
142
int joystick_status (void) {
143
	int trigger_status = 0;
144
	int button_status = 0;
145
	int x_status = 0; 
146
	int y_status = 0;
147
	int xval, yval;
148
    
149
	if (analog_get8(AN0) > 200)
150
		trigger_status = TRIGGER_DOWN;
151
	else
152
		trigger_status = TRIGGER_UP;
153

  
154
	if (analog_get8(AN1) > 200)
155
		button_status = BUTTON_DOWN;
156
	else
157
		button_status = BUTTON_UP;
158

  
159
	xval = analog_get8(AN4); // actually AN6, AN7 for connection
160
	yval = analog_get8(AN5);
161

  
162
	if (xval > 150)
163
		x_status = X_LEFT;
164
	else if (xval < 75)
165
		x_status = X_RIGHT;
166
	else
167
		x_status = X_CENTER;
168

  
169
	if (yval > 150)
170
		y_status = Y_UP;
171
	else if (yval < 75)
172
		y_status = Y_DOWN;
173
	else
174
		y_status = Y_CENTER;
175

  
176

  
177
	return trigger_status | button_status | x_status | y_status;
178
}
179

  
trunk/code/behaviors/hunter_prey/joystickPlayer/joystick/Makefile
1
########Update This Section########
2
#
3
#
4

  
5
# Relative path to the root directory (containing lib directory)
6
ifndef COLONYROOT
7
COLONYROOT = ../../../../..
8
endif
9

  
10
# Target file name (without extension).
11
TARGET = joystick
12

  
13
# Uncomment this to use the wireless library
14
 USE_WIRELESS = 1
15

  
16
# com1 = serial port. Use lpt1 to connect to parallel port.
17
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
18
#
19
#
20
###################################
21

  
22
# Hey Emacs, this is a -*- makefile -*-
23
#----------------------------------------------------------------------------
24
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.
25
#
26
# Released to the Public Domain
27
#
28
# Additional material for this makefile was written by:
29
# Peter Fleury
30
# Tim Henigan
31
# Colin O'Flynn
32
# Reiner Patommel
33
# Markus Pfaff
34
# Sander Pool
35
# Frederik Rouleau
36
#
37
#----------------------------------------------------------------------------
38
# On command line:
39
#
40
# make all = Make software.
41
#
42
# make clean = Clean out built project files.
43
#
44
# make coff = Convert ELF to AVR COFF.
45
#
46
# make extcoff = Convert ELF to AVR Extended COFF.
47
#
48
# make program = Download the hex file to the device, using avrdude.
49
#                Please customize the avrdude settings below first!
50
#
51
# make debug = Start either simulavr or avarice as specified for debugging,
52
#              with avr-gdb or avr-insight as the front end for debugging.
53
#
54
# make filename.s = Just compile filename.c into the assembler code only.
55
#
56
# make filename.i = Create a preprocessed source file for use in submitting
57
#                   bug reports to the GCC project.
58
#
59
# To rebuild project do "make clean" then "make all".
60
#----------------------------------------------------------------------------
61

  
62
#if you want your code to work on the Firefly++ and not Firefly+
63
#then add the -DFFPP line to CDEFS
64
CDEFS =
65
#-DFFPP
66

  
67
# MCU name
68
MCU = atmega128
69

  
70
# Processor frequency.
71
#     This will define a symbol, F_CPU, in all source code files equal to the
72
#     processor frequency. You can then use this symbol in your source code to
73
#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
74
#     automatically to create a 32-bit value in your source code.
75
F_CPU = 8000000
76

  
77
# Output format. (can be srec, ihex, binary)
78
FORMAT = ihex
79

  
80
# List C source files here. (C dependencies are automatically generated.)
81
SRC = $(wildcard *.c)
82

  
83
# List Assembler source files here.
84
#     Make them always end in a capital .S.  Files ending in a lowercase .s
85
#     will not be considered source files but generated files (assembler
86
#     output from the compiler), and will be deleted upon "make clean"!
87
#     Even though the DOS/Win* filesystem matches both .s and .S the same,
88
#     it will preserve the spelling of the filenames, and gcc itself does
89
#     care about how the name is spelled on its command-line.
90
ASRC =
91

  
92
# Optimization level, can be [0, 1, 2, 3, s].
93
#     0 = turn off optimization. s = optimize for size.
94
#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
95
OPT = s
96

  
97
# Debugging format.
98
#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
99
#     AVR Studio 4.10 requires dwarf-2.
100
#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
101
DEBUG =
102

  
103
# Compiler flag to set the C Standard level.
104
#     c89   = "ANSI" C
105
#     gnu89 = c89 plus GCC extensions
106
#     c99   = ISO C99 standard (not yet fully implemented)
107
#     gnu99 = c99 plus GCC extensions
108
CSTANDARD = -std=gnu99
109

  
110
# Place -D or -U options here
111
CDEFS += -DF_CPU=$(F_CPU)UL
112
CDEFS += -DFFP
113
# for wireless library
114
ifdef USE_WIRELESS
115
	CDEFS += -DROBOT
116
endif
117

  
118
# Place -I, -L options here
119
CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly
120
CINCS += -L$(COLONYROOT)/code/lib/bin
121
ifdef USE_WIRELESS
122
	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless
123
endif
124

  
125
#---------------- Compiler Options ----------------
126
#  -g*:          generate debugging information
127
#  -O*:          optimization level
128
#  -f...:        tuning, see GCC manual and avr-libc documentation
129
#  -Wall...:     warning level
130
#  -Wa,...:      tell GCC to pass this to the assembler.
131
#    -adhlns...: create assembler listing
132
CFLAGS =
133
# CFLAGS = -g$(DEBUG)
134
CFLAGS += $(CDEFS) $(CINCS)
135
CFLAGS += -O$(OPT)
136
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
137
CFLAGS += -Wall -Wstrict-prototypes
138
CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
139
CFLAGS += $(CSTANDARD)
140

  
141
#---------------- Assembler Options ----------------
142
#  -Wa,...:   tell GCC to pass this to the assembler.
143
#  -ahlms:    create listing
144
#  -gstabs:   have the assembler create line number information; note that
145
#             for use in COFF files, additional information about filenames
146
#             and function names needs to be present in the assembler source
147
#             files -- see avr-libc docs [FIXME: not yet described there]
148
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
149

  
150

  
151
#---------------- Library Options ----------------
152
# Minimalistic printf version
153
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
154

  
155
# Floating point printf version (requires MATH_LIB = -lm below)
156
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
157

  
158
# If this is left blank, then it will use the Standard printf version.
159
PRINTF_LIB =
160
#PRINTF_LIB = $(PRINTF_LIB_MIN)
161
#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
162

  
163

  
164
# Minimalistic scanf version
165
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
166

  
167
# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
168
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
169

  
170
# If this is left blank, then it will use the Standard scanf version.
171
SCANF_LIB =
172
#SCANF_LIB = $(SCANF_LIB_MIN)
173
#SCANF_LIB = $(SCANF_LIB_FLOAT)
174

  
175
MATH_LIB = -lm
176

  
177
#---------------- External Memory Options ----------------
178

  
179
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
180
# used for variables (.data/.bss) and heap (malloc()).
181
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
182

  
183
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
184
# only used for heap (malloc()).
185
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
186

  
187
EXTMEMOPTS =
188

  
189
#---------------- Linker Options ----------------
190
#  -Wl,...:     tell GCC to pass this to linker.
191
#    -Map:      create map file
192
#    --cref:    add cross reference to  map file
193
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
194
LDFLAGS += $(EXTMEMOPTS)
195
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
196
ifdef USE_WIRELESS
197
	LDFLAGS += -lwireless
198
endif
199
LDFLAGS += -ldragonfly
200

  
201

  
202

  
203
#---------------- Programming Options (avrdude) ----------------
204

  
205
# Programming hardware: alf avr910 avrisp bascom bsd
206
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
207
#
208
# Type: avrdude -c ?
209
# to get a full listing.
210
#
211
AVRDUDE_PROGRAMMER = avrisp
212

  
213
# programmer connected to serial device
214

  
215
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
216
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
217

  
218

  
219
# Uncomment the following if you want avrdude's erase cycle counter.
220
# Note that this counter needs to be initialized first using -Yn,
221
# see avrdude manual.
222
#AVRDUDE_ERASE_COUNTER = -y
223

  
224
# Uncomment the following if you do /not/ wish a verification to be
225
# performed after programming the device.
226
#AVRDUDE_NO_VERIFY = -V
227

  
228
# Increase verbosity level.  Please use this when submitting bug
229
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
230
# to submit bug reports.
231
#AVRDUDE_VERBOSE = -v -v
232

  
233
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
234
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
235
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
236
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
237

  
238
#don't check for device signature
239
AVRDUDE_FLAGS += -F
240

  
241

  
242

  
243
#---------------- Debugging Options ----------------
244

  
245
# For simulavr only - target MCU frequency.
246
DEBUG_MFREQ = $(F_CPU)
247

  
248
# Set the DEBUG_UI to either gdb or insight.
249
# DEBUG_UI = gdb
250
DEBUG_UI = insight
251

  
252
# Set the debugging back-end to either avarice, simulavr.
253
DEBUG_BACKEND = avarice
254
#DEBUG_BACKEND = simulavr
255

  
256
# GDB Init Filename.
257
GDBINIT_FILE = __avr_gdbinit
258

  
259
# When using avarice settings for the JTAG
260
JTAG_DEV = /dev/com1
261

  
262
# Debugging port used to communicate between GDB / avarice / simulavr.
263
DEBUG_PORT = 4242
264

  
265
# Debugging host used to communicate between GDB / avarice / simulavr, normally
266
#     just set to localhost unless doing some sort of crazy debugging when
267
#     avarice is running on a different computer.
268
DEBUG_HOST = localhost
269

  
270

  
271

  
272
#============================================================================
273

  
274

  
275
# Define programs and commands.
276
SHELL = sh
277
CC = avr-gcc
278
OBJCOPY = avr-objcopy
279
OBJDUMP = avr-objdump
280
SIZE = avr-size
281
NM = avr-nm
282
AVRDUDE = avrdude
283
REMOVE = rm -f
284
REMOVEDIR = rm -rf
285
COPY = cp
286
WINSHELL = cmd
287

  
288

  
289
# Define Messages
290
# English
291
MSG_ERRORS_NONE = Errors: none
292
MSG_BEGIN = -------- begin --------
293
MSG_END = --------  end  --------
294
MSG_SIZE_BEFORE = Size before:
295
MSG_SIZE_AFTER = Size after:
296
MSG_COFF = Converting to AVR COFF:
297
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
298
MSG_FLASH = Creating load file for Flash:
299
MSG_EEPROM = Creating load file for EEPROM:
300
MSG_EXTENDED_LISTING = Creating Extended Listing:
301
MSG_SYMBOL_TABLE = Creating Symbol Table:
302
MSG_LINKING = Linking:
303
MSG_COMPILING = Compiling:
304
MSG_ASSEMBLING = Assembling:
305
MSG_CLEANING = Cleaning project:
306

  
307

  
308

  
309

  
310
# Define all object files.
311
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
312

  
313
# Define all listing files.
314
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
315

  
316

  
317
# Compiler flags to generate dependency files.
318
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
319

  
320

  
321
# Combine all necessary flags and optional flags.
322
# Add target processor to flags.
323
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
324
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
325

  
326

  
327

  
328

  
329

  
330
# Default target.
331
all: begin gccversion sizebefore build sizeafter end
332

  
333
build: elf hex eep lss sym
334

  
335
elf: $(TARGET).elf
336
hex: $(TARGET).hex
337
eep: $(TARGET).eep
338
lss: $(TARGET).lss
339
sym: $(TARGET).sym
340

  
341

  
342

  
343
# Eye candy.
344
# AVR Studio 3.x does not check make's exit code but relies on
345
# the following magic strings to be generated by the compile job.
346
begin:
347
	@echo
348
	@echo $(MSG_BEGIN)
349

  
350
end:
351
	@echo $(MSG_END)
352
	@echo
353

  
354

  
355
# Display size of file.
356
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
357
ELFSIZE = $(SIZE) -A $(TARGET).elf
358
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
359

  
360
sizebefore:
361
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
362
	$(AVRMEM) 2>/dev/null; echo; fi
363

  
364
sizeafter:
365
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
366
	$(AVRMEM) 2>/dev/null; echo; fi
367

  
368

  
369

  
370
# Display compiler version information.
371
gccversion :
372
	@$(CC) --version
373

  
374

  
375

  
376
# Program the device.
377
program: $(TARGET).hex $(TARGET).eep
378
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
379

  
380

  
381
# Generate avr-gdb config/init file which does the following:
382
#     define the reset signal, load the target file, connect to target, and set
383
#     a breakpoint at main().
384
gdb-config:
385
	@$(REMOVE) $(GDBINIT_FILE)
386
	@echo define reset >> $(GDBINIT_FILE)
387
	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
388
	@echo end >> $(GDBINIT_FILE)
389
	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
390
	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
391
ifeq ($(DEBUG_BACKEND),simulavr)
392
	@echo load  >> $(GDBINIT_FILE)
393
endif
394
	@echo break main >> $(GDBINIT_FILE)
395

  
396
debug: gdb-config $(TARGET).elf
397
ifeq ($(DEBUG_BACKEND), avarice)
398
	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
399
	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
400
	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
401
	@$(WINSHELL) /c pause
402

  
403
else
404
	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
405
	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
406
endif
407
	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
408

  
409

  
410

  
411

  
412
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
413
COFFCONVERT=$(OBJCOPY) --debugging \
414
--change-section-address .data-0x800000 \
415
--change-section-address .bss-0x800000 \
416
--change-section-address .noinit-0x800000 \
417
--change-section-address .eeprom-0x810000
418

  
419

  
420
coff: $(TARGET).elf
421
	@echo
422
	@echo $(MSG_COFF) $(TARGET).cof
423
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
424

  
425

  
426
extcoff: $(TARGET).elf
427
	@echo
428
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
429
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
430

  
431

  
432

  
433
# Create final output files (.hex, .eep) from ELF output file.
434
%.hex: %.elf
435
	@echo
436
	@echo $(MSG_FLASH) $@
437
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
438

  
439
%.eep: %.elf
440
	@echo
441
	@echo $(MSG_EEPROM) $@
442
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
443
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
444

  
445
# Create extended listing file from ELF output file.
446
%.lss: %.elf
447
	@echo
448
	@echo $(MSG_EXTENDED_LISTING) $@
449
	$(OBJDUMP) -h -S $< > $@
450

  
451
# Create a symbol table from ELF output file.
452
%.sym: %.elf
453
	@echo
454
	@echo $(MSG_SYMBOL_TABLE) $@
455
	$(NM) -n $< > $@
456

  
457

  
458

  
459
# Link: create ELF output file from object files.
460
.SECONDARY : $(TARGET).elf
461
.PRECIOUS : $(OBJ)
462
%.elf: $(OBJ)
463
	@echo
464
	@echo $(MSG_LINKING) $@
465
	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
466

  
467

  
468
# Compile: create object files from C source files.
469
%.o : %.c
470
	@echo
471
	@echo $(MSG_COMPILING) $<
472
	$(CC) -c $(ALL_CFLAGS) $< -o $@
473

  
474

  
475
# Compile: create assembler files from C source files.
476
%.s : %.c
477
	$(CC) -S $(ALL_CFLAGS) $< -o $@
478

  
479

  
480
# Assemble: create object files from assembler source files.
481
%.o : %.S
482
	@echo
483
	@echo $(MSG_ASSEMBLING) $<
484
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
485

  
486
# Create preprocessed source for use in sending a bug report.
487
%.i : %.c
488
	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
489

  
490

  
491
# Target: clean project.
492
clean: begin clean_list end
493

  
494
clean_list :
495
	@echo
496
	@echo $(MSG_CLEANING)
497
	$(REMOVE) $(TARGET).hex
498
	$(REMOVE) $(TARGET).eep
499
	$(REMOVE) $(TARGET).cof
500
	$(REMOVE) $(TARGET).elf
501
	$(REMOVE) $(TARGET).map
502
	$(REMOVE) $(TARGET).sym
503
	$(REMOVE) $(TARGET).lss
504
	$(REMOVE) $(OBJ)
505
	$(REMOVE) $(LST)
506
	$(REMOVE) $(SRC:.c=.s)
507
	$(REMOVE) $(SRC:.c=.d)
508
	$(REMOVEDIR) .dep
509

  
510

  
511

  
512
# Include the dependency files.
513
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
514

  
515

  
516
# Listing of phony targets.
517
.PHONY : all begin finish end sizebefore sizeafter gccversion \
518
build elf hex eep lss sym coff extcoff \
519
clean clean_list program debug gdb-config
520

  
trunk/code/behaviors/hunter_prey/joystickPlayer/robot/hunter_prey.c
1
#include "hunter_prey.h"
2
#include <dragonfly_lib.h>
3

  
4
#define TAG_TIME 3
5
#define TAG_RANGE 250
6

  
7
/**** This file should not be edited! ****/
8

  
9

  
10
/*
11
 * The criteria for tagging are the following:
12
 *   * The max bom is betweed 1 and 7
13
 *   * The front rangefinder reads less than TAG_RANGE
14
 *   * -1 values from the rangefinder are ignored
15
 *   * These conditions are met across TAG_TIME calls to this function
16
 */
17

  
18
unsigned char hunter_prey_tagged(int max_bom, int frontRange) {
19

  
20
  static int onTarget = 0;
21

  
22
  /* if either value is -1, just return */
23
  if(max_bom == -1 || frontRange == -1) {
24
    return 0;
25
  }
26

  
27
  if(max_bom <= 7 && max_bom >= 1 && frontRange > 0 && frontRange < TAG_RANGE) {
28
    if(onTarget == 0) {
29
      onTarget = TAG_TIME;
30
      usb_puts("On target!\n");
31
    }
32
    else {
33
      if(--onTarget <= 0) {
34
	onTarget = 0;
35
	usb_puts("TAG!\n");
36
	return 1;
37
      }
38
    }
39
  }
40
  else{
41
    //don't reset onTarget because the robot got too close
42
    if(frontRange > 0)
43
      onTarget = 0;
44
  }
45

  
46
  return 0;
47

  
48
}
trunk/code/behaviors/hunter_prey/joystickPlayer/robot/main.c
1
#include <dragonfly_lib.h>
2
#include <wireless.h>
3
#include <wl_basic.h>
4
#include "hunter_prey.h"
5

  
6
/* Command Types */
7
#define CNTL_FORWARD 'f'
8
#define CNTL_STOP    's'
9
#define CNTL_BACK    'b'
10
#define CNTL_LEFT    'l'
11
#define CNTL_RIGHT   'r'
12
#define CNTL_BUZZ0   't'
13
#define CNTL_BUZZ1   'u'
14

  
15
#define WL_CNTL_GROUP 4
16

  
17
#define HUNTER 1
18
#define HUNTER_TAGGING 5
19
#define WAIT 2
20
#define PREY 3
21
#define DO_TAG 4
22

  
23
#define WL_CHANNEL 24
24
#define WAIT_DELAY_MS 2000
25

  
... This diff was truncated because it exceeds the maximum size that can be displayed.

Also available in: Unified diff