Revision 121
A little bit of cleanup..
branches/slam/code/projects/slam/smart_run_around_fsm.h | ||
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//Obstacle Avoid Numbers |
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#ifndef _RUN_AROUND_FSM_H_ |
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#define _RUN_AROUND_FSM_H_ |
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//The States: |
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#define MOVING 12 //Move strait. |
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#define BACKWARDS 15 //Move backwards. (Front close to wall.) |
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#define STOP 16 //Stop. The default state, (Something broke). |
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#define CRAZY 40 //Erratic behavior that occurs more often when the robot is frequently trying to turn. (i.e. may be stuck.) |
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|
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#define LEFT 37 //Left |
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#define RIGHT 39 //Right |
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|
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#define BACKUP_MAX 15 |
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#define CRAZY_MAX 200 //The number of counts between "crazy moments" |
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#define STRAIT_SPEED 200 //The speed when going strait or backing up. |
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#define TURN_CONSTANT 2 |
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#define PCONTROL_CRAZY_LIMIT 80 |
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int avoid_state; /*State machine variable.*/ |
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int crazy_count; /*Counter for a 'get unstuck' behavior.*/ |
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int backup_count; /*Counter for backup duration.*/ |
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int pControl; /*Proportional control variable, determines turn direction.*/ |
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int d1,d2,d3,d4,d5; /*The five distances taken in by IR.*/ |
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void run_around_init(void); |
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void run_around_FSM(void); |
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void evaluate_state(void); |
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#endif |
branches/slam/code/projects/slam/slam_analyzer.c | ||
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#include "slam_analyzer.h" |
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#include "slam_defs.h" |
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#include <stdio.h> |
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#include <stdlib.h> |
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void slam_analyze(RobotData* head){ |
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//The good stuff. |
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} |
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void slam_print_data(RobotData* head){ |
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if(head==NULL) printf("No data to display.\n"); |
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RobotData* iter = head; |
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BomNode* bomIter; |
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char i; |
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while(iter!= NULL){ |
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bomIter = iter->bom_head; |
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printf("Robot %x:\n",iter->id); |
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for(i=0;i<5;i++) |
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printf("\tSharp IR %i : %i\n\n",i,iter->IR[i]); |
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if(BomIter == NULL){ |
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printf("No Bom Data to Display\n\n\n"); |
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} |
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else{ |
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while(bomIter!=NULL){ |
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printf("\tBom reading for robot %x : %i",BomIter->id, BomIter->value); |
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bomIter = bomIter->next; |
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} |
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} |
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} |
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} |
branches/slam/code/projects/slam/slam_analyzer.h | ||
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <slam_defs.h> |
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void slam_analyze(RobotData* head); |
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void slam_print_data(RobotData* head); |
branches/slam/code/projects/slam/robot_main.c | ||
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#include "dragonfly_lib.h" |
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#include "wireless.h" |
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#include "wl_token_ring.h" |
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#include "smart_run_around_fsm.h" |
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#include "slam_defs.h" |
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#define BOM_POST_DELAY 50 |
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#define PACKET_BUFFER_SIZE 101 |
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void bom_pre(void); |
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void bom_post(void); |
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//Packet Handler Functions |
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void timeout_handle(void); |
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void response_handle(int frame, int received); |
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void receive_handle(char type, int source, unsigned char* packet, int length); |
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void unregister(void); |
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int make_request_packet(char** packet); |
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int IR[5]; |
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int main(void) |
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{ |
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dragonfly_init(ALL_ON); |
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wl_init(); |
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wl_token_ring_register(); |
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wl_token_ring_join(); |
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wl_token_ring_set_bom_functions(bom_pre, bom_post, get_max_bom); |
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PacketGroupHandler packet_group_handler; |
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packet_group_handler.groupCode=SLAM_PACKET_GROUP; |
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packet_group_handler.timeout_handler=timeout_handle; |
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packet_group_handler.handle_response=response_handle; |
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packet_group_handler.handle_receive=receive_handle; |
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packet_group_handler.unregister=unregister; |
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wl_register_packet_group(&packet_group_handler); |
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int i; |
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while(1){ |
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wl_do(); |
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run_around_FSM(); |
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for(i=0;i<5;i++){ |
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IR[i]=range_read_distance(i); |
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} |
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} |
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wl_unregister_packet_group(&packet_group_handler); |
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} |
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void bom_pre(void){ |
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bom_on(); |
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} |
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void bom_post(void){ |
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delay_ms(BOM_POST_DELAY); |
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bom_off(); |
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} |
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//These can probably be NULL.. |
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void timeout_handle(void){ |
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} |
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void response_handle(int frame, int received){ |
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} |
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void receive_handle(char type, int source, unsigned char* packet, int length){ |
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int i; |
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if(type==REQUEST_PACKET_TYPE){ |
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/*Send a message back to our computer overlord.*/ |
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char buf[PACKET_BUFFER_SIZE]; |
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int len = make_request_packet((char**)&buf); |
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char packet[len]; |
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for(i=0; i< len ; i++){ |
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packet[i]=buf[i]; |
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} |
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wl_send_robot_to_robot_packet(SLAM_PACKET_GROUP, ROBOT_RESPONSE, packet, len, source , 0); |
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} |
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else if(type == CONTROL_PACKET_TYPE){ |
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for(i=0;i<length;i++){ |
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} |
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} |
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} |
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/** |
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Packets are structured {IR1, IR2, IR3, IR4, IR5, |
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BomID1, ... , BomValue1, BomID2, ... , BomValue2, etc.} |
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Total size is 5 + 3*numRobots. So Xbee should support |
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up to 31 robots before we need to restructure the |
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communication between the computer and the robot. |
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*/ |
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int make_request_packet(char** packet){ |
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int i; |
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for(i=0;i<5;i++){ |
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(*packet)[i] = IR[i]; |
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} |
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i=5; |
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wl_token_iterator_begin(); |
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int id = wl_get_xbee_id(); |
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while(wl_token_iterator_has_next()){ |
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int robot_in_view = wl_token_iterator_next(); |
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//Robot int's are two bytes. |
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(*packet)[i] = robot_in_view; |
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i+=2; |
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int bom_number = wl_token_get_sensor_reading(id,robot_in_view); |
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//Bom reading of 255 denotes an unseen node. |
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if(bom_number<0) bom_number = 255; |
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bom_number %= 256; |
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char bom_value = (char) bom_number; |
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(*packet)[i] = bom_value; |
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i++; |
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} |
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//Size is one bom byte towards every robot, and 5 IR bytes. |
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return wl_token_get_num_robots()+5; |
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} |
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branches/slam/code/projects/slam/smart_run_around_fsm.c | ||
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1 |
#include "dragonfly_lib.h" |
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#include "smart_run_around_fsm.h" |
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/*A simple behavior for navigating in an environment, i.e. avoiding walls and getting stuck. |
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Could be better at not getting stuck. |
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Latest revision only has two accessible states: move and reverse. |
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*/ |
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void run_around_init(void) |
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{ |
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range_init(); |
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analog_init(); |
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motors_init(); |
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orb_init(); |
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orb_enable(); |
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usb_init(); |
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/*Start in the default state, MOVING*/ |
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avoid_state=MOVING; |
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/*Set timers to their maximum values.*/ |
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crazy_count=CRAZY_MAX; |
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backup_count=0; |
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pControl=0; |
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/*Initialize distances to zero.*/ |
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d1=0; d2=0; d3=0; d4=0; d5=0; |
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orb_set_color(GREEN); |
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} |
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/*The main function, call this to update states as frequently as possible.*/ |
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void run_around_FSM(void) { |
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/*Default to moving.*/ |
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avoid_state=MOVING; |
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/*The following lines ensure that undefined (-1) values |
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will not update the distances.*/ |
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int temp; |
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temp=range_read_distance(IR1); |
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d1=(temp == -1) ? d1 : temp; |
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temp=range_read_distance(IR2); |
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d2=(temp == -1) ? d2 : temp; |
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temp=range_read_distance(IR3); |
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d3=(temp == -1) ? d3 : temp; |
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temp=range_read_distance(IR4); |
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d4=(temp == -1) ? d4 : temp; |
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temp=range_read_distance(IR5); |
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d5=(temp == -1) ? d5 : temp; |
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/*If the crazy count is in it's >>3 range, it acts crazy.*/ |
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if(crazy_count<=(CRAZY_MAX>>3)) |
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{ |
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avoid_state=CRAZY; |
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crazy_count--; |
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if(crazy_count<0) crazy_count=CRAZY_MAX; |
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evaluate_state(); |
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return; |
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} |
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//Checks the forward distance to see if it should back up, if so...state backwards. |
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if((d2!=-1)&&(d2 >150)){ |
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backup_count=BACKUP_MAX; |
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avoid_state=BACKWARDS; |
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evaluate_state(); |
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return; |
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} |
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if(backup_count<BACKUP_MAX){ |
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avoid_state=BACKWARDS; |
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if(backup_count<0) |
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backup_count=BACKUP_MAX; |
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evaluate_state(); |
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return; |
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} |
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/*Should evaluate an expression from -255 to 255 to pass to move.*/ |
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pControl= ((d3-d1) + (d4-d5)) >> TURN_CONSTANT; |
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if(pControl>PCONTROL_CRAZY_LIMIT || pControl<-PCONTROL_CRAZY_LIMIT) crazy_count--; |
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/*i.e. if you really want to turn for an extended period of time...you're probably stuck.*/ |
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/*Debug stuff:*/ |
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/*usb_puts("pControl evaluating: "); |
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usb_puti(pControl); |
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usb_puts("\n\r"); |
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usb_puts("IR1: "); |
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usb_puti(d1); |
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usb_puts(" IR2: "); |
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usb_puti(d2); |
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usb_puts(" IR3: "); |
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usb_puti(d3); |
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usb_puts(" IR4: "); |
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usb_puti(d4); |
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usb_puts(" IR5: "); |
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usb_puti(d5); |
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usb_puts("\n\r");*/ |
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evaluate_state(); |
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} |
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//Acts on state change. |
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void evaluate_state(){ |
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switch(avoid_state){ |
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case(MOVING): orb_set_color(GREEN); |
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move(STRAIT_SPEED,pControl); |
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break; |
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case(BACKWARDS): orb_set_color(ORANGE); |
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move(-STRAIT_SPEED,0); |
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break; |
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case(CRAZY): orb_set_color(RED); |
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/*TODO: Implement a crazy state.*/ |
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move(STRAIT_SPEED,pControl); |
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break; |
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default: |
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/*Should never get here, go strait.*/ |
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move(100,0); orb_set_color(BLUE); |
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break; |
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} |
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} |
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branches/slam/code/projects/slam/computer_main.c | ||
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1 |
#include <stdio.h> |
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#include <stdlib.h> |
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#include <unistd.h> |
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#include "wireless.h" |
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#include "wl_token_ring.h" |
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#include "slam_analyzer.h" |
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void handle_timeout(void); |
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void handle_response(int frame, int received); |
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void handle_receive(char type, int source, unsigned char* packet, int length); |
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void unregister(void); |
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RobotData* getRobot(int id); |
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13 |
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14 |
RobotData* head_bot; |
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15 |
RobotData* current_bot; |
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16 |
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int main(void) |
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{ |
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PacketGroupHandler* pgh = malloc(sizeof(PacketGroupHandler)); |
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pgh->groupCode = SLAM_PACKET_GROUP; |
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pgh->timeout_handler = handle_timeout; |
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pgh->handle_response = handle_response; |
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pgh->handle_receive = handle_receive; |
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pgh->unregister = unregister; |
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25 |
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26 |
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27 |
wl_init(); |
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28 |
wl_register_packet_group(pgh); |
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29 |
wl_token_ring_register(); |
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30 |
//wl_token_ring_join(); |
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31 |
//wl_token_ring_set_bom_functions(NULL,NULL,NULL); |
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32 |
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33 |
while(1){ |
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34 |
wl_do(); |
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35 |
wl_token_iterator_begin(); |
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36 |
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37 |
//Iterate through the robots in the token ring. |
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38 |
while(wl_token_iterator_has_next()){ |
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39 |
wl_send_robot_to_robot_packet(SLAM_PACKET_GROUP,REQUEST_PACKET_TYPE, |
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NULL,0,wl_token_iterator_next(),0); |
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41 |
//head_bot will not be modified by the analyzer. |
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42 |
usleep(50000); |
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43 |
} |
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44 |
slam_analyze(head_bot); |
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45 |
} |
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46 |
return 0; |
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47 |
} |
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48 |
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49 |
void handle_timeout(void){} |
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50 |
void handle_response(int frame, int received){} |
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51 |
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52 |
void handle_receive(char type, int source, unsigned char* packet, int length){ |
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53 |
if(type == ROBOT_RESPONSE){ |
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54 |
int i; |
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55 |
current_bot = getRobot(source); |
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56 |
if(current_bot == NULL){ |
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57 |
//Add the new robot to the front of the list. |
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58 |
current_bot = malloc(sizeof(RobotData)); |
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59 |
current_bot->next = head_bot; //Works even if head_bot is null. |
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60 |
head_bot = current_bot; |
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61 |
} |
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62 |
for(i=0;i<5;i++) |
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63 |
current_bot->IR[i] = packet[i]; |
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64 |
i++; //i=5 |
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65 |
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66 |
//Bom Handling. |
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67 |
//Clear the current information. |
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68 |
BomNode* head = current_bot->bom_head; |
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69 |
if(head!=NULL){ |
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70 |
BomNode* next = head->next; |
|
71 |
while(next!=NULL){ |
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72 |
free(head); |
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73 |
head = next; |
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74 |
next = head->next; |
|
75 |
} |
|
76 |
free(head); |
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77 |
} |
|
78 |
//All of the memory allocated for the BomList is free. |
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79 |
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80 |
//The remainder of the packet is bom data. |
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81 |
BomNode* bom_node; |
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82 |
current_bot->bom_head = bom_node; |
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83 |
//i still points to the first bom information spot at 5. |
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84 |
while(i<length){ |
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85 |
bom_node = malloc(sizeof BomNode); |
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86 |
bom_node->id = ((short int)((short)packet[i++]<<8) + packet[i++]); |
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87 |
if(i>=length){ |
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88 |
printf("Packet not constructed correctly. Terminate. \n"); |
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89 |
exit(EXIT_FAILURE); |
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90 |
} |
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91 |
bom_node->value = packet[i++]; |
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92 |
if(i>=length){ |
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93 |
printf("Packet not constructed correctly. Terminate. \n"); |
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94 |
exit(EXIT_FAILURE); |
|
95 |
} |
|
96 |
bom_node = bom_node->next; |
|
97 |
} |
|
98 |
} |
|
99 |
} |
|
100 |
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|
101 |
RobotData* getRobot(int id){ |
|
102 |
RobotData* next = head_bot; |
|
103 |
while(next->id != id && next->next!=NULL); |
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104 |
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105 |
if(next->id != id) return NULL; |
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106 |
else return next; |
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107 |
} |
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108 |
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branches/slam/code/projects/slam/test/monitor_test.c | ||
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1 |
#include <dragonfly_lib.h> |
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2 |
void main(void){ |
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3 |
usb_init(); |
|
4 |
while(1){ |
|
5 |
usb_puts("hey bro\n"); |
|
6 |
} |
|
7 |
} |
branches/slam/code/projects/slam/test/Makefile | ||
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1 |
########Update This Section######## |
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2 |
# |
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3 |
# |
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4 |
|
|
5 |
# Relative path to the root directory (containing lib directory) |
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6 |
ifndef COLONYROOT |
|
7 |
COLONYROOT = ../../.. |
|
8 |
endif |
|
9 |
|
|
10 |
# Target file name (without extension). |
|
11 |
TARGET = template |
|
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 = /dev/cu.usbserial-A4001hAA |
|
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 |
|
branches/slam/code/projects/slam/robot/monitor_test.lst | ||
---|---|---|
1 |
1 .file "monitor_test.c" |
|
2 |
2 .arch atmega128 |
|
3 |
3 __SREG__ = 0x3f |
|
4 |
4 __SP_H__ = 0x3e |
|
5 |
5 __SP_L__ = 0x3d |
|
6 |
6 __tmp_reg__ = 0 |
|
7 |
7 __zero_reg__ = 1 |
|
8 |
8 .global __do_copy_data |
|
9 |
9 .global __do_clear_bss |
|
10 |
10 .text |
|
11 |
11 .global main |
|
12 |
13 main: |
|
13 |
14 /* prologue: frame size=0 */ |
|
14 |
15 0000 C0E0 ldi r28,lo8(__stack - 0) |
|
15 |
16 0002 D0E0 ldi r29,hi8(__stack - 0) |
|
16 |
17 0004 DEBF out __SP_H__,r29 |
|
17 |
18 0006 CDBF out __SP_L__,r28 |
|
18 |
19 /* prologue end (size=4) */ |
|
19 |
20 /* epilogue: frame size=0 */ |
|
20 |
21 0008 0C94 0000 jmp exit |
|
21 |
22 /* epilogue end (size=2) */ |
|
22 |
23 /* function main size 6 (0) */ |
|
23 |
25 /* File "monitor_test.c": code 6 = 0x0006 ( 0), prologues 4, epilogues 2 */ |
|
24 |
DEFINED SYMBOLS |
|
25 |
*ABS*:00000000 monitor_test.c |
|
26 |
/var/tmp//cc3WAcUk.s:3 *ABS*:0000003f __SREG__ |
|
27 |
/var/tmp//cc3WAcUk.s:4 *ABS*:0000003e __SP_H__ |
|
28 |
/var/tmp//cc3WAcUk.s:5 *ABS*:0000003d __SP_L__ |
|
29 |
/var/tmp//cc3WAcUk.s:6 *ABS*:00000000 __tmp_reg__ |
|
30 |
/var/tmp//cc3WAcUk.s:7 *ABS*:00000001 __zero_reg__ |
|
31 |
/var/tmp//cc3WAcUk.s:13 .text:00000000 main |
|
32 |
|
|
33 |
UNDEFINED SYMBOLS |
|
34 |
__do_copy_data |
|
35 |
__do_clear_bss |
|
36 |
__stack |
|
37 |
exit |
branches/slam/code/projects/slam/robot/smart_run_around_fsm.c | ||
---|---|---|
1 |
#include "dragonfly_lib.h" |
|
2 |
#include "smart_run_around_fsm.h" |
|
3 |
|
|
4 |
/*A simple behavior for navigating in an environment, i.e. avoiding walls and getting stuck. |
|
5 |
Could be better at not getting stuck. |
|
6 |
|
|
7 |
Latest revision only has two accessible states: move and reverse. |
|
8 |
*/ |
|
9 |
|
|
10 |
|
|
11 |
void run_around_init(void) |
|
12 |
{ |
|
13 |
range_init(); |
|
14 |
analog_init(); |
|
15 |
motors_init(); |
|
16 |
orb_init(); |
|
17 |
orb_enable(); |
|
18 |
usb_init(); |
|
19 |
|
|
20 |
/*Start in the default state, MOVING*/ |
|
21 |
avoid_state=MOVING; |
|
22 |
/*Set timers to their maximum values.*/ |
|
23 |
crazy_count=CRAZY_MAX; |
|
24 |
backup_count=0; |
|
25 |
pControl=0; |
|
26 |
|
|
27 |
/*Initialize distances to zero.*/ |
|
28 |
d1=0; d2=0; d3=0; d4=0; d5=0; |
|
29 |
|
|
30 |
orb_set_color(GREEN); |
|
31 |
|
|
32 |
} |
|
33 |
|
|
34 |
/*The main function, call this to update states as frequently as possible.*/ |
|
35 |
void run_around_FSM(void) { |
|
36 |
/*Default to moving.*/ |
|
37 |
avoid_state=MOVING; |
|
38 |
|
|
39 |
/*The following lines ensure that undefined (-1) values |
|
40 |
will not update the distances.*/ |
|
41 |
int temp; |
|
42 |
|
|
43 |
temp=range_read_distance(IR1); |
|
44 |
d1=(temp == -1) ? d1 : temp; |
|
45 |
|
|
46 |
temp=range_read_distance(IR2); |
|
47 |
d2=(temp == -1) ? d2 : temp; |
|
48 |
|
|
49 |
temp=range_read_distance(IR3); |
|
50 |
d3=(temp == -1) ? d3 : temp; |
|
51 |
|
|
52 |
temp=range_read_distance(IR4); |
|
53 |
d4=(temp == -1) ? d4 : temp; |
|
54 |
|
|
55 |
temp=range_read_distance(IR5); |
|
56 |
d5=(temp == -1) ? d5 : temp; |
|
57 |
|
|
58 |
/*If the crazy count is in it's >>3 range, it acts crazy.*/ |
|
59 |
if(crazy_count<=(CRAZY_MAX>>3)) |
|
60 |
{ |
|
61 |
avoid_state=CRAZY; |
|
62 |
crazy_count--; |
|
63 |
|
|
64 |
if(crazy_count<0) crazy_count=CRAZY_MAX; |
|
65 |
|
|
66 |
evaluate_state(); |
|
67 |
return; |
|
68 |
} |
|
69 |
|
|
70 |
//Checks the forward distance to see if it should back up, if so...state backwards. |
|
71 |
if((d2!=-1)&&(d2 >150)){ |
|
72 |
backup_count=BACKUP_MAX; |
|
73 |
avoid_state=BACKWARDS; |
|
74 |
evaluate_state(); |
|
75 |
return; |
|
76 |
} |
|
77 |
|
|
78 |
if(backup_count<BACKUP_MAX){ |
|
79 |
avoid_state=BACKWARDS; |
|
80 |
if(backup_count<0) |
|
81 |
backup_count=BACKUP_MAX; |
|
82 |
evaluate_state(); |
|
83 |
return; |
|
84 |
} |
|
85 |
|
|
86 |
/*Should evaluate an expression from -255 to 255 to pass to move.*/ |
|
87 |
pControl= ((d3-d1) + (d4-d5)) >> TURN_CONSTANT; |
|
88 |
|
|
89 |
if(pControl>PCONTROL_CRAZY_LIMIT || pControl<-PCONTROL_CRAZY_LIMIT) crazy_count--; |
|
90 |
/*i.e. if you really want to turn for an extended period of time...you're probably stuck.*/ |
|
91 |
|
|
92 |
/*Debug stuff:*/ |
|
93 |
/*usb_puts("pControl evaluating: "); |
|
94 |
usb_puti(pControl); |
|
95 |
usb_puts("\n\r"); |
|
96 |
usb_puts("IR1: "); |
|
97 |
usb_puti(d1); |
|
98 |
usb_puts(" IR2: "); |
|
99 |
usb_puti(d2); |
|
100 |
usb_puts(" IR3: "); |
|
101 |
usb_puti(d3); |
|
102 |
usb_puts(" IR4: "); |
|
103 |
usb_puti(d4); |
|
104 |
usb_puts(" IR5: "); |
|
105 |
usb_puti(d5); |
|
106 |
usb_puts("\n\r");*/ |
|
107 |
|
|
108 |
evaluate_state(); |
|
109 |
} |
|
110 |
|
|
111 |
|
|
112 |
//Acts on state change. |
|
113 |
void evaluate_state(){ |
|
114 |
switch(avoid_state){ |
|
115 |
case(MOVING): orb_set_color(GREEN); |
|
116 |
move(STRAIT_SPEED,pControl); |
|
117 |
break; |
|
118 |
|
|
119 |
case(BACKWARDS): orb_set_color(ORANGE); |
|
120 |
move(-STRAIT_SPEED,0); |
|
121 |
break; |
|
122 |
|
|
123 |
case(CRAZY): orb_set_color(RED); |
|
124 |
/*TODO: Implement a crazy state.*/ |
|
125 |
move(STRAIT_SPEED,pControl); |
|
126 |
break; |
|
127 |
|
|
128 |
default: |
|
129 |
/*Should never get here, go strait.*/ |
|
130 |
move(100,0); orb_set_color(BLUE); |
|
131 |
break; |
|
132 |
} |
|
133 |
} |
|
134 |
|
|
135 |
|
branches/slam/code/projects/slam/robot/robot_main.c | ||
---|---|---|
1 |
#include "dragonfly_lib.h" |
|
2 |
#include "../../libwireless/lib/wireless.h" |
|
3 |
#include "../../libwireless/lib/wl_token_ring.h" |
|
4 |
#include "smart_run_around_fsm.h" |
|
5 |
#include "../slam_defs.h" |
|
6 |
|
|
7 |
#define BOM_POST_DELAY 0 |
|
8 |
#define PACKET_BUFFER_SIZE 101 |
|
9 |
|
|
10 |
//Packet Handler Functions |
|
11 |
void receive_handle(char type, int source, unsigned char* packet, int length); |
|
12 |
void unregister(void); |
|
13 |
|
|
14 |
int make_request_packet(char** packet); |
|
15 |
void send_response_packet(int dest); |
|
16 |
|
|
17 |
unsigned int response_flag = 0; //Will represent the robot to respond to or 0 for no robot. |
|
18 |
char control_flag=0; //Non zero when the robot is to be controlled. |
|
19 |
int IR[5]; |
|
20 |
|
|
21 |
int main(void) |
|
22 |
{ |
|
23 |
|
|
24 |
dragonfly_init(ALL_ON); |
|
25 |
|
|
26 |
usb_init(); |
|
27 |
usb_puts("USB initialized\n\n\r"); |
|
28 |
|
|
29 |
wl_init(); |
|
30 |
|
|
31 |
wl_token_ring_register(); |
|
32 |
wl_token_ring_join(); |
|
33 |
|
|
34 |
PacketGroupHandler packet_group_handler; |
|
35 |
packet_group_handler.groupCode=SLAM_PACKET_GROUP; |
|
36 |
packet_group_handler.timeout_handler=NULL; |
|
37 |
packet_group_handler.handle_response=NULL; |
|
38 |
packet_group_handler.handle_receive=receive_handle; |
|
39 |
packet_group_handler.unregister=unregister; |
|
40 |
|
|
41 |
wl_register_packet_group(&packet_group_handler); |
|
42 |
|
|
43 |
int i; |
|
44 |
while(1){ |
|
45 |
wl_do(); |
|
46 |
//Uncomment this if you want the robot to do something. |
|
47 |
//run_around_FSM(); |
|
48 |
|
|
49 |
for(i=0;i<5;i++){ |
|
50 |
IR[i]=range_read_distance(i); |
|
51 |
} |
|
52 |
if(response_flag){ |
|
53 |
send_response_packet(response_flag); |
|
54 |
response_flag=0; |
|
55 |
} |
|
56 |
if(control_flag){ |
|
57 |
//FILL IN HERE |
|
58 |
} |
|
59 |
|
|
60 |
} |
|
61 |
|
|
62 |
wl_unregister_packet_group(&packet_group_handler); |
|
63 |
} |
|
64 |
|
|
65 |
void send_response_packet(int dest){ |
|
66 |
|
|
67 |
usb_puts("Sending a response packet to "); |
|
68 |
usb_puti(dest); |
|
69 |
usb_puts(".\n\r"); |
|
70 |
|
|
71 |
char buf[PACKET_BUFFER_SIZE]; |
|
72 |
int len = make_request_packet((char**)&buf), i; |
|
73 |
char packet[len]; |
|
74 |
for(i=0; i< len ; i++){ |
|
75 |
packet[i]=buf[i]; |
|
76 |
} |
|
77 |
|
|
78 |
wl_send_robot_to_robot_packet(SLAM_PACKET_GROUP, ROBOT_RESPONSE, packet, len, dest, 0); |
|
79 |
} |
|
80 |
|
|
81 |
void receive_handle(char type, int source, unsigned char* packet, int length){ |
|
82 |
if(type==REQUEST_PACKET_TYPE){ |
|
83 |
usb_puts("Received a request packet\n\r"); |
|
84 |
response_flag = source; |
|
85 |
} |
|
86 |
//Not yet implemented: |
|
87 |
else if(type == CONTROL_PACKET_TYPE){ |
|
88 |
control_flag = 1; |
|
89 |
//Put packet data into some global. |
|
90 |
} |
|
91 |
} |
|
92 |
|
|
93 |
|
|
94 |
/** |
|
95 |
|
|
96 |
Packets are structured {IR1, IR2, IR3, IR4, IR5, |
|
97 |
BomID1, ... , BomValue1, BomID2, ... , BomValue2, etc.} |
|
98 |
Total size is 5 + 3*numRobots. So Xbee should support |
|
99 |
up to 31 robots before we need to restructure the |
|
100 |
communication between the computer and the robot. |
|
101 |
|
|
102 |
*/ |
|
103 |
int make_request_packet(char** packet){ |
|
104 |
int i; |
|
105 |
for(i=0;i<5;i++){ |
|
106 |
(*packet)[i] = IR[i]; |
|
107 |
} |
|
108 |
i=5; |
|
109 |
wl_token_iterator_begin(); |
|
110 |
int id = wl_get_xbee_id(); |
|
111 |
|
|
112 |
while(wl_token_iterator_has_next()){ |
|
113 |
int robot_in_view = wl_token_iterator_next(); |
|
114 |
|
|
115 |
//Robot int's are two bytes. |
|
116 |
(*packet)[i] = robot_in_view; |
|
117 |
i+=2; |
|
118 |
|
|
119 |
int bom_number = wl_token_get_sensor_reading(id,robot_in_view); |
|
120 |
//Bom reading of 255 denotes an unseen node. |
|
121 |
if(bom_number<0) bom_number = 255; |
|
122 |
bom_number %= 256; |
|
123 |
char bom_value = (char) bom_number; |
|
124 |
(*packet)[i] = bom_value; |
|
125 |
i++; |
|
126 |
} |
|
127 |
//Size is one bom byte towards every robot, and 5 IR bytes. |
|
128 |
return wl_token_get_num_robots()+5; |
|
129 |
} |
|
130 |
|
|
131 |
void unregister(void){ |
|
132 |
return; |
|
133 |
} |
branches/slam/code/projects/slam/robot/robotize_lib.sh | ||
---|---|---|
1 |
cd ../../libwireless/lib; |
|
2 |
make clean; |
|
3 |
make all; |
|
4 |
make publish; |
|
5 |
cd ../../slam/computer; |
|
0 | 6 |
branches/slam/code/projects/slam/robot/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 = robot_main |
|
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 = /dev/cu.usbserial-A4001hAK |
|
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 |
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