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Revision 1281

Added by Kevin Woo almost 15 years ago

Finished wall init. Calibrates it to the 0 point correctly.

View differences:

trunk/code/projects/diagnostic_station/station/hardware_wall.c
1 1
#include "hardware_wall.h"
2
#include <avr/io.h>
3
#include <avr/interrupt.h>
2 4

  
3
uint16_t simulated_wall_position; // TODO remove and replace with real wall
5
uint16_t wall_position; // Wall position in encoder ticks
4 6

  
5 7
void wall_init ()
6 8
{
7
	// FIXME implement
8
	
9
	simulated_wall_position=0;
9
    // Start the motors
10
    motors_init();
11
    motor2_set(FORWARD, 0);
12

  
13
    // Enable 5V switching regulator to power dynamos
14
    DDRB |= _BV(PB4);
15
    PORTB &= ~_BV(PB4);
16

  
17
    // Turn on the interrupts for the A quadrature
18
    cli();
19
    EICRB |= _BV(ISC60);
20
    EIMSK |= _BV(INT6);
21
	sei();
22

  
23
    // Enable limit switch as input
24
    DDRF &= ~_BV(DDF0);
25
    
26
    usb_puts("Moving back...\r\n");
27
    delay_ms(1000);
28
    // Move wall back until the switch is triggered
29
    motor2_set(FORWARD, 255);  
30
    while (!(PINF & _BV(PINF0)));
31
    motor2_set(FORWARD, 0);
32

  
33
    delay_ms(1000);
34
    usb_puts("Moving forward...\r\n");
35
   
36
    // Move wall forward slowly until the switch is untriggered
37
    motor2_set(BACKWARD, 255);
38
    while (PINF & _BV(PINF0));
39
    motor2_set(FORWARD, 0);
40
  
41
    usb_puts("Done with wall init\r\n");
42

  
43
	wall_position=0;
44
    
10 45
}
11 46

  
12 47

  
......
18 53
	
19 54
	// FIXME implement
20 55
	
21
	simulated_wall_position=position+1;
56
	//wall_position=position+1;
22 57
	
23 58
	usb_puts ("# Wall position reached" NL);
24 59
}
25 60

  
61

  
26 62
// We might also need this because the wall_set_position might not reach the exact position
27 63
uint16_t wall_get_position ()
28 64
{
29
	// FIXME implement
30
	//return 0;
31
	
32
	return simulated_wall_position;
65
	return wall_position;
33 66
}
67

  
68
// Read encoder when it changes and determine our position
69
ISR(INT6_vect) {
70
    uint8_t tmp = PINE;
71

  
72
    if (((tmp & _BV(PE6)) << 1) ^ (tmp & _BV(PE7))) {
73
        wall_position--;
74
    } else {
75
        wall_position++;
76
    }
77
}
trunk/code/projects/diagnostic_station/station/main.c
126 126
	while (1);
127 127
	return 0;
128 128
}
129

  
130
int main_kwoo (void)
131
{
132
    dragonfly_init(0);
133
    orb_init_pwm();
134
    
135
    usb_init ();
136

  
137
	usb_puts(NL NL NL);
138
	usb_puts("# Diagnostic station version " version_string " starting" NL);
139

  
140
    wall_init();
141
	while (1) {
142
        if (PINF & _BV(PINF0)) {
143
            orbs_set(0,0,255,0,0,0);
144
        }
145

  
146
    }
147
        
148
	return 0;
149
}
trunk/code/projects/diagnostic_station/station/Makefile_kwoo
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 = target
12
MAIN_FUNCTION = main_kwoo
13

  
14
# Uncomment this to use the wireless library
15
USE_WIRELESS = 1
16

  
17
# com1 = serial port. Use lpt1 to connect to parallel port.
18
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
19
#
20
#
21
###################################
22

  
23
# Hey Emacs, this is a -*- makefile -*-
24
#----------------------------------------------------------------------------
25
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.
26
#
27
# Released to the Public Domain
28
#
29
# Additional material for this makefile was written by:
30
# Peter Fleury
31
# Tim Henigan
32
# Colin O'Flynn
33
# Reiner Patommel
34
# Markus Pfaff
35
# Sander Pool
36
# Frederik Rouleau
37
#
38
#----------------------------------------------------------------------------
39
# On command line:
40
#
41
# make all = Make software.
42
#
43
# make clean = Clean out built project files.
44
#
45
# make coff = Convert ELF to AVR COFF.
46
#
47
# make extcoff = Convert ELF to AVR Extended COFF.
48
#
49
# make program = Download the hex file to the device, using avrdude.
50
#                Please customize the avrdude settings below first!
51
#
52
# make debug = Start either simulavr or avarice as specified for debugging,
53
#              with avr-gdb or avr-insight as the front end for debugging.
54
#
55
# make filename.s = Just compile filename.c into the assembler code only.
56
#
57
# make filename.i = Create a preprocessed source file for use in submitting
58
#                   bug reports to the GCC project.
59
#
60
# To rebuild project do "make clean" then "make all".
61
#----------------------------------------------------------------------------
62

  
63
#if you want your code to work on the Firefly++ and not Firefly+
64
#then add the -DFFPP line to CDEFS
65
CDEFS =
66
#-DFFPP
67

  
68
# MCU name
69
MCU = atmega128
70

  
71
# Processor frequency.
72
#     This will define a symbol, F_CPU, in all source code files equal to the
73
#     processor frequency. You can then use this symbol in your source code to
74
#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
75
#     automatically to create a 32-bit value in your source code.
76
F_CPU = 8000000
77

  
78
# Output format. (can be srec, ihex, binary)
79
FORMAT = ihex
80

  
81
# List C source files here. (C dependencies are automatically generated.)
82
SRC = $(wildcard *.c)
83

  
84
# List Assembler source files here.
85
#     Make them always end in a capital .S.  Files ending in a lowercase .s
86
#     will not be considered source files but generated files (assembler
87
#     output from the compiler), and will be deleted upon "make clean"!
88
#     Even though the DOS/Win* filesystem matches both .s and .S the same,
89
#     it will preserve the spelling of the filenames, and gcc itself does
90
#     care about how the name is spelled on its command-line.
91
ASRC =
92

  
93
# Optimization level, can be [0, 1, 2, 3, s].
94
#     0 = turn off optimization. s = optimize for size.
95
#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
96
OPT = s
97

  
98
# Debugging format.
99
#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
100
#     AVR Studio 4.10 requires dwarf-2.
101
#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
102
DEBUG =
103

  
104
# Compiler flag to set the C Standard level.
105
#     c89   = "ANSI" C
106
#     gnu89 = c89 plus GCC extensions
107
#     c99   = ISO C99 standard (not yet fully implemented)
108
#     gnu99 = c99 plus GCC extensions
109
CSTANDARD = -std=gnu99
110

  
111
# Place -D or -U options here
112
CDEFS += -DF_CPU=$(F_CPU)UL
113
CDEFS += -DFFP
114
# for wireless library
115
ifdef USE_WIRELESS
116
	CDEFS += -DROBOT
117
endif
118

  
119
# Place -I, -L options here
120
CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly
121
CINCS += -L$(COLONYROOT)/code/lib/bin
122
ifdef USE_WIRELESS
123
	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless
124
endif
125

  
126
#---------------- Compiler Options ----------------
127
#  -g*:          generate debugging information
128
#  -O*:          optimization level
129
#  -f...:        tuning, see GCC manual and avr-libc documentation
130
#  -Wall...:     warning level
131
#  -Wa,...:      tell GCC to pass this to the assembler.
132
#    -adhlns...: create assembler listing
133
CFLAGS =
134
CFLAGS += -D$(MAIN_FUNCTION)=main
135
# CFLAGS = -g$(DEBUG)
136
CFLAGS += $(CDEFS) $(CINCS)
137
CFLAGS += -O$(OPT)
138
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
139
CFLAGS += -Wall -Wstrict-prototypes
140
CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
141
CFLAGS += $(CSTANDARD)
142

  
143
#---------------- Assembler Options ----------------
144
#  -Wa,...:   tell GCC to pass this to the assembler.
145
#  -ahlms:    create listing
146
#  -gstabs:   have the assembler create line number information; note that
147
#             for use in COFF files, additional information about filenames
148
#             and function names needs to be present in the assembler source
149
#             files -- see avr-libc docs [FIXME: not yet described there]
150
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
151

  
152

  
153
#---------------- Library Options ----------------
154
# Minimalistic printf version
155
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
156

  
157
# Floating point printf version (requires MATH_LIB = -lm below)
158
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
159

  
160
# If this is left blank, then it will use the Standard printf version.
161
#PRINTF_LIB =
162
#PRINTF_LIB = $(PRINTF_LIB_MIN)
163
PRINTF_LIB = $(PRINTF_LIB_FLOAT)
164

  
165

  
166
# Minimalistic scanf version
167
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
168

  
169
# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
170
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
171

  
172
# If this is left blank, then it will use the Standard scanf version.
173
SCANF_LIB =
174
#SCANF_LIB = $(SCANF_LIB_MIN)
175
#SCANF_LIB = $(SCANF_LIB_FLOAT)
176

  
177
MATH_LIB = -lm
178

  
179
#---------------- External Memory Options ----------------
180

  
181
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
182
# used for variables (.data/.bss) and heap (malloc()).
183
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
184

  
185
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
186
# only used for heap (malloc()).
187
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
188

  
189
EXTMEMOPTS =
190

  
191
#---------------- Linker Options ----------------
192
#  -Wl,...:     tell GCC to pass this to linker.
193
#    -Map:      create map file
194
#    --cref:    add cross reference to  map file
195
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
196
LDFLAGS += $(EXTMEMOPTS)
197
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
198
ifdef USE_WIRELESS
199
	LDFLAGS += -lwireless
200
endif
201
LDFLAGS += -ldragonfly
202

  
203

  
204

  
205
#---------------- Programming Options (avrdude) ----------------
206

  
207
# Programming hardware: alf avr910 avrisp bascom bsd
208
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
209
#
210
# Type: avrdude -c ?
211
# to get a full listing.
212
#
213
AVRDUDE_PROGRAMMER = avrisp
214

  
215
# programmer connected to serial device
216

  
217
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
218
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
219

  
220

  
221
# Uncomment the following if you want avrdude's erase cycle counter.
222
# Note that this counter needs to be initialized first using -Yn,
223
# see avrdude manual.
224
#AVRDUDE_ERASE_COUNTER = -y
225

  
226
# Uncomment the following if you do /not/ wish a verification to be
227
# performed after programming the device.
228
#AVRDUDE_NO_VERIFY = -V
229

  
230
# Increase verbosity level.  Please use this when submitting bug
231
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
232
# to submit bug reports.
233
#AVRDUDE_VERBOSE = -v -v
234

  
235
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
236
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
237
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
238
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
239

  
240
#don't check for device signature
241
AVRDUDE_FLAGS += -F
242

  
243

  
244

  
245
#---------------- Debugging Options ----------------
246

  
247
# For simulavr only - target MCU frequency.
248
DEBUG_MFREQ = $(F_CPU)
249

  
250
# Set the DEBUG_UI to either gdb or insight.
251
# DEBUG_UI = gdb
252
DEBUG_UI = insight
253

  
254
# Set the debugging back-end to either avarice, simulavr.
255
DEBUG_BACKEND = avarice
256
#DEBUG_BACKEND = simulavr
257

  
258
# GDB Init Filename.
259
GDBINIT_FILE = __avr_gdbinit
260

  
261
# When using avarice settings for the JTAG
262
JTAG_DEV = /dev/com1
263

  
264
# Debugging port used to communicate between GDB / avarice / simulavr.
265
DEBUG_PORT = 4242
266

  
267
# Debugging host used to communicate between GDB / avarice / simulavr, normally
268
#     just set to localhost unless doing some sort of crazy debugging when
269
#     avarice is running on a different computer.
270
DEBUG_HOST = localhost
271

  
272

  
273

  
274
#============================================================================
275

  
276

  
277
# Define programs and commands.
278
SHELL = sh
279
CC = avr-gcc
280
OBJCOPY = avr-objcopy
281
OBJDUMP = avr-objdump
282
SIZE = avr-size
283
NM = avr-nm
284
AVRDUDE = avrdude
285
REMOVE = rm -f
286
REMOVEDIR = rm -rf
287
COPY = cp
288
WINSHELL = cmd
289

  
290

  
291
# Define Messages
292
# English
293
MSG_ERRORS_NONE = Errors: none
294
MSG_BEGIN = -------- begin --------
295
MSG_END = --------  end  --------
296
MSG_SIZE_BEFORE = Size before:
297
MSG_SIZE_AFTER = Size after:
298
MSG_COFF = Converting to AVR COFF:
299
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
300
MSG_FLASH = Creating load file for Flash:
301
MSG_EEPROM = Creating load file for EEPROM:
302
MSG_EXTENDED_LISTING = Creating Extended Listing:
303
MSG_SYMBOL_TABLE = Creating Symbol Table:
304
MSG_LINKING = Linking:
305
MSG_COMPILING = Compiling:
306
MSG_ASSEMBLING = Assembling:
307
MSG_CLEANING = Cleaning project:
308

  
309

  
310

  
311

  
312
# Define all object files.
313
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
314

  
315
# Define all listing files.
316
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
317

  
318

  
319
# Compiler flags to generate dependency files.
320
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
321

  
322

  
323
# Combine all necessary flags and optional flags.
324
# Add target processor to flags.
325
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
326
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
327

  
328

  
329

  
330

  
331

  
332
# Default target.
333
all: begin gccversion sizebefore build sizeafter end
334

  
335
build: elf hex eep lss sym
336

  
337
elf: $(TARGET).elf
338
hex: $(TARGET).hex
339
eep: $(TARGET).eep
340
lss: $(TARGET).lss
341
sym: $(TARGET).sym
342

  
343

  
344

  
345
# Eye candy.
346
# AVR Studio 3.x does not check make's exit code but relies on
347
# the following magic strings to be generated by the compile job.
348
begin:
349
	@echo
350
	@echo $(MSG_BEGIN)
351

  
352
end:
353
	@echo $(MSG_END)
354
	@echo
355

  
356

  
357
# Display size of file.
358
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
359
ELFSIZE = $(SIZE) -A $(TARGET).elf
360
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
361

  
362
sizebefore:
363
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
364
	$(AVRMEM) 2>/dev/null; echo; fi
365

  
366
sizeafter:
367
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
368
	$(AVRMEM) 2>/dev/null; echo; fi
369

  
370

  
371

  
372
# Display compiler version information.
373
gccversion :
374
	@$(CC) --version
375

  
376

  
377

  
378
# Program the device.
379
program: $(TARGET).hex $(TARGET).eep
380
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
381

  
382

  
383
# Generate avr-gdb config/init file which does the following:
384
#     define the reset signal, load the target file, connect to target, and set
385
#     a breakpoint at main().
386
gdb-config:
387
	@$(REMOVE) $(GDBINIT_FILE)
388
	@echo define reset >> $(GDBINIT_FILE)
389
	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
390
	@echo end >> $(GDBINIT_FILE)
391
	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
392
	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
393
ifeq ($(DEBUG_BACKEND),simulavr)
394
	@echo load  >> $(GDBINIT_FILE)
395
endif
396
	@echo break main >> $(GDBINIT_FILE)
397

  
398
debug: gdb-config $(TARGET).elf
399
ifeq ($(DEBUG_BACKEND), avarice)
400
	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
401
	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
402
	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
403
	@$(WINSHELL) /c pause
404

  
405
else
406
	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
407
	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
408
endif
409
	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
410

  
411

  
412

  
413

  
414
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
415
COFFCONVERT=$(OBJCOPY) --debugging \
416
--change-section-address .data-0x800000 \
417
--change-section-address .bss-0x800000 \
418
--change-section-address .noinit-0x800000 \
419
--change-section-address .eeprom-0x810000
420

  
421

  
422
coff: $(TARGET).elf
423
	@echo
424
	@echo $(MSG_COFF) $(TARGET).cof
425
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
426

  
427

  
428
extcoff: $(TARGET).elf
429
	@echo
430
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
431
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
432

  
433

  
434

  
435
# Create final output files (.hex, .eep) from ELF output file.
436
%.hex: %.elf
437
	@echo
438
	@echo $(MSG_FLASH) $@
439
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
440

  
441
%.eep: %.elf
442
	@echo
443
	@echo $(MSG_EEPROM) $@
444
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
445
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
446

  
447
# Create extended listing file from ELF output file.
448
%.lss: %.elf
449
	@echo
450
	@echo $(MSG_EXTENDED_LISTING) $@
451
	$(OBJDUMP) -h -S $< > $@
452

  
453
# Create a symbol table from ELF output file.
454
%.sym: %.elf
455
	@echo
456
	@echo $(MSG_SYMBOL_TABLE) $@
457
	$(NM) -n $< > $@
458

  
459

  
460

  
461
# Link: create ELF output file from object files.
462
.SECONDARY : $(TARGET).elf
463
.PRECIOUS : $(OBJ)
464
%.elf: $(OBJ)
465
	@echo
466
	@echo $(MSG_LINKING) $@
467
	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
468

  
469

  
470
# Compile: create object files from C source files.
471
%.o : %.c
472
	@echo
473
	@echo $(MSG_COMPILING) $<
474
	$(CC) -c $(ALL_CFLAGS) $< -o $@
475

  
476

  
477
# Compile: create assembler files from C source files.
478
%.s : %.c
479
	$(CC) -S $(ALL_CFLAGS) $< -o $@
480

  
481

  
482
# Assemble: create object files from assembler source files.
483
%.o : %.S
484
	@echo
485
	@echo $(MSG_ASSEMBLING) $<
486
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
487

  
488
# Create preprocessed source for use in sending a bug report.
489
%.i : %.c
490
	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
491

  
492

  
493
# Target: clean project.
494
clean: begin clean_list end
495

  
496
clean_list :
497
	@echo
498
	@echo $(MSG_CLEANING)
499
	$(REMOVE) $(TARGET).hex
500
	$(REMOVE) $(TARGET).eep
501
	$(REMOVE) $(TARGET).cof
502
	$(REMOVE) $(TARGET).elf
503
	$(REMOVE) $(TARGET).map
504
	$(REMOVE) $(TARGET).sym
505
	$(REMOVE) $(TARGET).lss
506
	$(REMOVE) $(OBJ)
507
	$(REMOVE) $(LST)
508
	$(REMOVE) $(SRC:.c=.s)
509
	$(REMOVE) $(SRC:.c=.d)
510
	$(REMOVEDIR) .dep
511

  
512

  
513

  
514
# Include the dependency files.
515
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
516

  
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# Listing of phony targets.
519
.PHONY : all begin finish end sizebefore sizeafter gccversion \
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build elf hex eep lss sym coff extcoff \
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clean clean_list program debug gdb-config
522

  

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