Revision 1376
Branched changes to analog: loop_running, stop_loop
branches/analog/code/projects/hunter_prey/main.c | ||
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#include <dragonfly_lib.h> |
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#include <wireless.h> |
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|
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#define CHAN 0xF |
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#define TAG_TIME 3000 |
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#define TAG_RANGE 150 |
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|
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int main(void) { |
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|
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int frontRange; |
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uint8_t angle; |
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uint8_t i; |
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uint8_t isPrey = 0; |
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int onTarget = 0; |
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uint8_t color; |
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|
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//intialize the robot and wireless |
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dragonfly_init(ALL_ON); |
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wl_init(); |
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|
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analog_init(1); |
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|
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bom_init(BOM15); |
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|
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//use a specific channel to avoid interfering with other tasks |
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wl_set_channel(CHAN); |
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|
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orb_set_color(BLUE); |
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color = BLUE; |
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|
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while(1) { |
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bom_refresh(BOM_ALL); |
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frontRange = range_read_distance (IR2); |
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|
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usb_puti(frontRange); |
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usb_putc('\n'); |
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|
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//BUG: when get_max_bom is called, the rangefinder seems to stop |
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//working |
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angle = get_max_bom(); |
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angle = 4; |
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|
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if(angle == 4 && frontRange > 0 && frontRange < TAG_RANGE) { |
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if(onTarget == 0) { |
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onTarget = TAG_TIME; |
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if(color != GREEN) { |
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color = GREEN; |
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orb_set_color(GREEN); |
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} |
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usb_puts("On target!\n"); |
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} |
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else { |
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if(--onTarget <= 0) { |
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orb_set_color(RED); |
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color = RED; |
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usb_puts("TAG!\n"); |
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while(1); |
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} |
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} |
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} |
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else{ |
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if(color != BLUE) { |
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color = BLUE; |
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orb_set_color(BLUE); |
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} |
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|
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//don't reset onTarget because the robot got too close |
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if(frontRange > 0) |
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onTarget = 0; |
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} |
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wl_do(); |
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} |
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return 0; |
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} |
branches/analog/code/projects/hunter_prey/Makefile | ||
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########Update This Section######## |
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# |
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# |
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4 |
|
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# Relative path to the root directory (containing lib directory) |
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ifndef COLONYROOT |
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COLONYROOT = ../../.. |
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endif |
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|
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# Target file name (without extension). |
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TARGET = main |
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|
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# Uncomment this to use the wireless library |
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USE_WIRELESS = 1 |
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15 |
|
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# com1 = serial port. Use lpt1 to connect to parallel port. |
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AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi) |
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18 |
|
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# |
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################################### |
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21 |
|
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# Hey Emacs, this is a -*- makefile -*- |
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#---------------------------------------------------------------------------- |
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24 |
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al. |
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25 |
# |
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# Released to the Public Domain |
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27 |
# |
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# Additional material for this makefile was written by: |
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# Peter Fleury |
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# Tim Henigan |
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# Colin O'Flynn |
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# Reiner Patommel |
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# Markus Pfaff |
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34 |
# Sander Pool |
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35 |
# Frederik Rouleau |
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36 |
# |
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37 |
#---------------------------------------------------------------------------- |
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38 |
# On command line: |
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39 |
# |
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40 |
# make all = Make software. |
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41 |
# |
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42 |
# make clean = Clean out built project files. |
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43 |
# |
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44 |
# make coff = Convert ELF to AVR COFF. |
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45 |
# |
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46 |
# make extcoff = Convert ELF to AVR Extended COFF. |
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47 |
# |
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48 |
# make program = Download the hex file to the device, using avrdude. |
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49 |
# Please customize the avrdude settings below first! |
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50 |
# |
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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. |
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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 |
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57 |
# bug reports to the GCC project. |
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58 |
# |
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59 |
# To rebuild project do "make clean" then "make all". |
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60 |
#---------------------------------------------------------------------------- |
|
61 |
|
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62 |
#if you want your code to work on the Firefly++ and not Firefly+ |
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63 |
#then add the -DFFPP line to CDEFS |
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64 |
CDEFS = |
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65 |
#-DFFPP |
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66 |
|
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67 |
# MCU name |
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68 |
MCU = atmega128 |
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69 |
|
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70 |
# Processor frequency. |
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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 |
|
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77 |
# Output format. (can be srec, ihex, binary) |
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78 |
FORMAT = ihex |
|
79 |
|
|
80 |
# List C source files here. (C dependencies are automatically generated.) |
|
81 |
SRC = $(wildcard *.c) |
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82 |
|
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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. |
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90 |
ASRC = |
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91 |
|
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92 |
# Optimization level, can be [0, 1, 2, 3, s]. |
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93 |
# 0 = turn off optimization. s = optimize for size. |
|
94 |
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
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95 |
OPT = s |
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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 = |
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102 |
|
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103 |
# Compiler flag to set the C Standard level. |
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104 |
# c89 = "ANSI" C |
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105 |
# gnu89 = c89 plus GCC extensions |
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106 |
# c99 = ISO C99 standard (not yet fully implemented) |
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107 |
# gnu99 = c99 plus GCC extensions |
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108 |
CSTANDARD = -std=gnu99 |
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109 |
|
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110 |
# Place -D or -U options here |
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111 |
CDEFS += -DF_CPU=$(F_CPU)UL |
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112 |
CDEFS += -DFFP |
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113 |
# for wireless library |
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114 |
ifdef USE_WIRELESS |
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115 |
CDEFS += -DROBOT |
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116 |
endif |
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117 |
|
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118 |
# Place -I, -L options here |
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119 |
CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly |
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120 |
CINCS += -L$(COLONYROOT)/code/lib/bin |
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121 |
ifdef USE_WIRELESS |
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122 |
CINCS += -I$(COLONYROOT)/code/lib/include/libwireless |
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123 |
endif |
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124 |
|
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125 |
#---------------- Compiler Options ---------------- |
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126 |
# -g*: generate debugging information |
|
127 |
# -O*: optimization level |
|
128 |
# -f...: tuning, see GCC manual and avr-libc documentation |
|
129 |
# -Wall...: warning level |
|
130 |
# -Wa,...: tell GCC to pass this to the assembler. |
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131 |
# -adhlns...: create assembler listing |
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132 |
CFLAGS = |
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133 |
# CFLAGS = -g$(DEBUG) |
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134 |
CFLAGS += $(CDEFS) $(CINCS) |
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135 |
CFLAGS += -O$(OPT) |
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136 |
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
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137 |
CFLAGS += -Wall -Wstrict-prototypes |
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138 |
CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
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139 |
CFLAGS += $(CSTANDARD) |
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140 |
|
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141 |
#---------------- Assembler Options ---------------- |
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142 |
# -Wa,...: tell GCC to pass this to the assembler. |
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143 |
# -ahlms: create listing |
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144 |
# -gstabs: have the assembler create line number information; note that |
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145 |
# for use in COFF files, additional information about filenames |
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146 |
# and function names needs to be present in the assembler source |
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147 |
# files -- see avr-libc docs [FIXME: not yet described there] |
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148 |
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
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149 |
|
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150 |
|
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151 |
#---------------- Library Options ---------------- |
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152 |
# Minimalistic printf version |
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153 |
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
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154 |
|
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155 |
# Floating point printf version (requires MATH_LIB = -lm below) |
|
156 |
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
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157 |
|
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158 |
# If this is left blank, then it will use the Standard printf version. |
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159 |
#PRINTF_LIB = |
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#PRINTF_LIB = $(PRINTF_LIB_MIN) |
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161 |
PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
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162 |
|
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163 |
|
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164 |
# Minimalistic scanf version |
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165 |
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
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166 |
|
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167 |
# Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
|
168 |
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
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169 |
|
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170 |
# If this is left blank, then it will use the Standard scanf version. |
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171 |
SCANF_LIB = |
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172 |
#SCANF_LIB = $(SCANF_LIB_MIN) |
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173 |
#SCANF_LIB = $(SCANF_LIB_FLOAT) |
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174 |
|
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175 |
MATH_LIB = -lm |
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176 |
|
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177 |
#---------------- External Memory Options ---------------- |
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178 |
|
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179 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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180 |
# used for variables (.data/.bss) and heap (malloc()). |
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181 |
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
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182 |
|
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183 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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184 |
# only used for heap (malloc()). |
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185 |
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
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186 |
|
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187 |
EXTMEMOPTS = |
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188 |
|
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189 |
#---------------- Linker Options ---------------- |
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190 |
# -Wl,...: tell GCC to pass this to linker. |
|
191 |
# -Map: create map file |
|
192 |
# --cref: add cross reference to map file |
|
193 |
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
|
194 |
LDFLAGS += $(EXTMEMOPTS) |
|
195 |
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
|
196 |
ifdef USE_WIRELESS |
|
197 |
LDFLAGS += -lwireless |
|
198 |
endif |
|
199 |
LDFLAGS += -ldragonfly |
|
200 |
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201 |
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202 |
|
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203 |
#---------------- Programming Options (avrdude) ---------------- |
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204 |
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205 |
# Programming hardware: alf avr910 avrisp bascom bsd |
|
206 |
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
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207 |
# |
|
208 |
# Type: avrdude -c ? |
|
209 |
# to get a full listing. |
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210 |
# |
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211 |
AVRDUDE_PROGRAMMER = avrisp |
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212 |
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213 |
# programmer connected to serial device |
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214 |
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215 |
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
|
216 |
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
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217 |
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|
218 |
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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 |
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|
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 |
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|
333 |
build: elf hex eep lss sym |
|
334 |
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|
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/analog/code/projects/libdragonfly/rangefinder.c | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file rangefinder.c |
|
29 |
* @brief Rangefinders |
|
30 |
* |
|
31 |
* Implementation of functions for rangefinder use. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
**/ |
|
35 |
|
|
36 |
/* |
|
37 |
Authors: James Kong and Greg Tress |
|
38 |
|
|
39 |
Last Modified: 4/30/06 by James |
|
40 |
-Started log_distance conversion function !!!NOT COMPLETE!!! |
|
41 |
-Cleaning up comments |
|
42 |
|
|
43 |
----------------- |
|
44 |
rangefinder.c |
|
45 |
Using Sharp GP2D02 IR Rangefinder |
|
46 |
|
|
47 |
Vin is the input to the rangefinder, designated RANGE_CTRL. |
|
48 |
Vout is the output from the rangefinder, designated RANGE_IN# where # is the rangefinder you are reading from |
|
49 |
|
|
50 |
Expected Initial Conditions: |
|
51 |
Vin is high and Vout should read high. |
|
52 |
|
|
53 |
Usage: |
|
54 |
1.) Set Vin low. Vout should read low. |
|
55 |
2.) Wait for high on Vout. |
|
56 |
3.) Begin clocking Vin and reading 8 bits from Vout (MSB first). |
|
57 |
4.) Set Vin high for 2ms or more to turn off rangefinder |
|
58 |
|
|
59 |
*/ |
|
60 |
|
|
61 |
#include "dragonfly_lib.h" |
|
62 |
#include "rangefinder.h" |
|
63 |
|
|
64 |
/* |
|
65 |
read_distance returns the 8-bit reading from the rangefinder |
|
66 |
parameters: |
|
67 |
range_id - dio pin set as the rangefinder Vout [i.e. RANGE_IN0] |
|
68 |
|
|
69 |
NOTE: |
|
70 |
The Sharp GD2D02 returns values on a decreasing logrithmic scale. |
|
71 |
So higher values correspond to closer distances. Use linearize_distance to convert to normal centimeter scale. |
|
72 |
Also, when reading distances closer than 8cm, the Sharp GD2D02 will return lower values than the values at 8cm. |
|
73 |
At this point, we are only reading from one rangefinder [RANGE_IN0]. |
|
74 |
*/ |
|
75 |
|
|
76 |
// constants |
|
77 |
/* Nasty IR approximation table |
|
78 |
I'm using this for the heck of it. We can do whatever. |
|
79 |
|
|
80 |
Note the minimum value is .4V (20), and the maximum is 2.6V (133). |
|
81 |
Gives distance in mm. |
|
82 |
|
|
83 |
excel formula(valid for inputs 20-133): ROUND(2353.6*(E2^(-1.1146))*10,0) |
|
84 |
|
|
85 |
This is only valid for the GP2D12, with objects directly ahead and more than |
|
86 |
10cm from the detector. See the datasheet for more information. |
|
87 |
*/ |
|
88 |
|
|
89 |
static int IR_dist_conversion[114] = { |
|
90 |
800,791,751,714,681,651,623,597,574,552,531,512,494,478,462,447 |
|
91 |
,434,421,408,397,386,375,365,356,347,338,330,322,315,307,301,294 |
|
92 |
,288,282,276,270,265,260,255,250,245,241,237,232,228,224,221,217 |
|
93 |
,213,210,207,203,200,197,194,191,189,186,183,181,178,176,173,171 |
|
94 |
,169,166,164,162,160,158,156,154,152,151,149,147,145,144,142,140 |
|
95 |
,139,137,136,134,133,131,130,129,127,126,125,124,122,121,120,119 |
|
96 |
,118,117,115,114,113,112,111,110,109,108,107,106,105,105,104,103 |
|
97 |
,102,101 |
|
98 |
}; |
|
99 |
|
|
100 |
/** |
|
101 |
* @defgroup rangefinder Rangefinder |
|
102 |
* @brief Functions for using the IR rangefinders |
|
103 |
* |
|
104 |
* Functions for using the IR rangefinders. |
|
105 |
* |
|
106 |
* @{ |
|
107 |
**/ |
|
108 |
|
|
109 |
/** |
|
110 |
* Initializes the rangefinders. This must be called before |
|
111 |
* range_read_distance. |
|
112 |
* |
|
113 |
* @see range_read_distance |
|
114 |
**/ |
|
115 |
void range_init(void) |
|
116 |
{ |
|
117 |
digital_output(_PIN_B4,0); |
|
118 |
} |
|
119 |
|
|
120 |
/** |
|
121 |
* Reads the distance measured by one of the rangefinders. |
|
122 |
* This distance is in arbitrary units. |
|
123 |
* |
|
124 |
* @param range_id the rangefinder to use. This should be one |
|
125 |
* of the constants IR1 - IR5. |
|
126 |
* |
|
127 |
* @return the distance measured by the rangefinder |
|
128 |
* |
|
129 |
* @see range_init |
|
130 |
**/ |
|
131 |
int range_read_distance(int range_id) { |
|
132 |
return linearize_distance(analog8(range_id)); |
|
133 |
} |
|
134 |
|
|
135 |
/** |
|
136 |
* Transforms distance readings from logarithmic to linear scale. |
|
137 |
* This probably isn't the function you are looking for. |
|
138 |
* |
|
139 |
* @param value the 8-bit analog value from rangefinder |
|
140 |
* |
|
141 |
* @return linearized distance reading from rangefinder (integer in [101,800]) |
|
142 |
**/ |
|
143 |
int linearize_distance(int value) { |
|
144 |
if(value < MIN_IR_ADC8) { |
|
145 |
return -1; |
|
146 |
} else if(value > MAX_IR_ADC8) { |
|
147 |
return -1; |
|
148 |
} else { |
|
149 |
return IR_dist_conversion[value - MIN_IR_ADC8]; |
|
150 |
} |
|
151 |
} |
|
152 |
|
|
153 |
/** @} **/ //end defgroup |
branches/analog/code/projects/libdragonfly/rangefinder.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file rangefinder.h |
|
29 |
* @brief Contains rangefinder declarations and functions |
|
30 |
* |
|
31 |
* Contains functions and definitions for the use of |
|
32 |
* IR rangefinders. |
|
33 |
* |
|
34 |
* @author Colony Project, CMU Robotics Club |
|
35 |
**/ |
|
36 |
|
|
37 |
#ifndef _RANGEFINDER_H_ |
|
38 |
#define _RANGEFINDER_H_ |
|
39 |
|
|
40 |
/** |
|
41 |
* @addtogroup rangefinder |
|
42 |
* @{ |
|
43 |
**/ |
|
44 |
|
|
45 |
/** @brief IR Rangefinder 1 **/ |
|
46 |
#define IR1 6 |
|
47 |
/** @brief IR Rangefinder 2 **/ |
|
48 |
#define IR2 5 |
|
49 |
/** @brief IR Rangefinder 3 **/ |
|
50 |
#define IR3 4 |
|
51 |
/** @brief IR Rangefinder 4 **/ |
|
52 |
#define IR4 3 |
|
53 |
/** @brief IR Rangefinder 5 **/ |
|
54 |
#define IR5 2 |
|
55 |
/** @brief smallest meaningful rangefinder reading (logarithmic scale) **/ |
|
56 |
#define MIN_IR_ADC8 20 |
|
57 |
/** @brief largest meaningful rangefinder reading (logarithmic scale) **/ |
|
58 |
#define MAX_IR_ADC8 133 |
|
59 |
|
|
60 |
/** @brief Initialize the rangefinders **/ |
|
61 |
void range_init(void); |
|
62 |
/** @brief Read the distance from a rangefinder **/ |
|
63 |
int range_read_distance(int range_id); |
|
64 |
/** @brief Convert logarithmic-scale distance readings to a linear scale **/ |
|
65 |
int linearize_distance(int value); |
|
66 |
|
|
67 |
/** @} **/ //end addtogroup |
|
68 |
|
|
69 |
#endif |
|
70 |
|
branches/analog/code/projects/libdragonfly/encoders.c | ||
---|---|---|
1 |
#include "encoders.h" |
|
2 |
#include "spi.h" |
|
3 |
#include "dragonfly_lib.h" |
|
4 |
#include "ring_buffer.h" |
|
5 |
|
|
6 |
unsigned int left_data_buf; |
|
7 |
unsigned int right_data_buf; |
|
8 |
char encoder_buf_index; |
|
9 |
|
|
10 |
unsigned int left_data; |
|
11 |
unsigned int right_data; |
|
12 |
|
|
13 |
unsigned int left_data_array[BUFFER_SIZE]; |
|
14 |
unsigned int right_data_array[BUFFER_SIZE]; |
|
15 |
int left_data_idx; |
|
16 |
int right_data_idx; |
|
17 |
|
|
18 |
int left_dx; |
|
19 |
int right_dx; |
|
20 |
long int timecount; |
|
21 |
|
|
22 |
volatile short int data_ready; |
|
23 |
|
|
24 |
void encoder_recv(char data); |
|
25 |
|
|
26 |
//Helper Function Prototypes |
|
27 |
inline void left_data_array_put(unsigned short int value); |
|
28 |
inline unsigned int left_data_array_top(void); |
|
29 |
inline unsigned int left_data_array_prev(void); |
|
30 |
inline unsigned int left_data_array_bottom(void); |
|
31 |
|
|
32 |
inline void right_data_array_put(unsigned short int value); |
|
33 |
inline unsigned int right_data_array_top(void); |
|
34 |
inline unsigned int right_data_array_prev(void); |
|
35 |
inline unsigned int right_data_array_bottom(void); |
|
36 |
|
|
37 |
|
|
38 |
void encoder_recv_complete(void){ |
|
39 |
encoder_buf_index = 0; |
|
40 |
data_ready++; |
|
41 |
|
|
42 |
spi_transfer(5); |
|
43 |
} |
|
44 |
|
|
45 |
/** |
|
46 |
* @brief Initializes encoder variables and the hardware interface. |
|
47 |
*/ |
|
48 |
void encoders_init(void){ |
|
49 |
int i; |
|
50 |
|
|
51 |
data_ready=0; |
|
52 |
|
|
53 |
spi_init(encoder_recv, encoder_recv_complete); |
|
54 |
encoder_buf_index = 0; |
|
55 |
left_data_buf = 0; |
|
56 |
right_data_buf= 0; |
|
57 |
left_data = -1; |
|
58 |
right_data = -1; |
|
59 |
|
|
60 |
//RING_BUFFER_INIT(enc_buffer,BUFFER_SIZE); |
|
61 |
left_data_idx = 0; |
|
62 |
right_data_idx = 0; |
|
63 |
for(i = 0; i < BUFFER_SIZE; i++) { |
|
64 |
left_data_array[i] = 0; |
|
65 |
} |
|
66 |
for(i = 0; i < BUFFER_SIZE; i++) { |
|
67 |
right_data_array[i] = 0; |
|
68 |
} |
|
69 |
spi_transfer(5); |
|
70 |
} |
|
71 |
|
|
72 |
/** |
|
73 |
* @brief Returns the specified encoders value |
|
74 |
* |
|
75 |
* @param encoder this is the encoder that you want to read. Valid arguments |
|
76 |
* are LEFT and RIGHT |
|
77 |
* |
|
78 |
* @return the value of the specified encoder |
|
79 |
**/ |
|
80 |
int encoder_read(char encoder){ |
|
81 |
|
|
82 |
if(encoder==LEFT) return left_data; |
|
83 |
else if(encoder==RIGHT) return right_data; |
|
84 |
else return -1; |
|
85 |
} |
|
86 |
|
|
87 |
/** |
|
88 |
* Gets the total distance covered by the specified encoder (in encoder clicks) |
|
89 |
* |
|
90 |
* @param encoder the encoder that you want to read, use LEFT or RIGHT |
|
91 |
* |
|
92 |
* @return The distance covered by the specified encoder. |
|
93 |
**/ |
|
94 |
int encoder_get_dx(char encoder) { |
|
95 |
|
|
96 |
if(encoder==LEFT) return left_dx; |
|
97 |
else if(encoder==RIGHT) return right_dx; |
|
98 |
else return -1; |
|
99 |
} |
|
100 |
|
|
101 |
/** |
|
102 |
* Resets the distance accumulator for the specified |
|
103 |
* encoder. |
|
104 |
* |
|
105 |
* @param encoder the encoder that you want to reset distance for |
|
106 |
**/ |
|
107 |
void encoder_rst_dx(char encoder) { |
|
108 |
|
|
109 |
if(encoder==LEFT) left_dx = 0; |
|
110 |
else if(encoder==RIGHT) right_dx = 0; |
|
111 |
} |
|
112 |
|
|
113 |
/** |
|
114 |
* @brief Returns the number of encoder reads that have occurred. |
|
115 |
* |
|
116 |
* @return The time count. |
|
117 |
*/ |
|
118 |
int encoder_get_tc(void) { |
|
119 |
return timecount; |
|
120 |
} |
|
121 |
|
|
122 |
/** |
|
123 |
* @brief Resets the encoder read counter. |
|
124 |
*/ |
|
125 |
void encoder_rst_tc(void) { |
|
126 |
timecount = 0; |
|
127 |
} |
|
128 |
|
|
129 |
/** |
|
130 |
* @brief Waits until n encoder reads have occurred. |
|
131 |
* Counter is reset on functions exit. |
|
132 |
* |
|
133 |
* @param n |
|
134 |
*/ |
|
135 |
void encoder_wait(int n){ |
|
136 |
while(data_ready<n); |
|
137 |
data_ready=0; |
|
138 |
} |
|
139 |
|
|
140 |
|
|
141 |
//Full reads occur every 40 microseconds. This function should be called |
|
142 |
//every 8 microseconds. |
|
143 |
void encoder_recv(char data){ |
|
144 |
short int dx; |
|
145 |
|
|
146 |
//Parse the encoder data, comes in over 5 bytes 16 bits per encoder, |
|
147 |
// second is offset by 1 bit. |
|
148 |
switch(encoder_buf_index){ |
|
149 |
case 0: |
|
150 |
right_data_buf |= ((short)data)<<8 & 0xff00; |
|
151 |
break; |
|
152 |
case 1: |
|
153 |
right_data_buf |= ((short)data) & 0xff; |
|
154 |
break; |
|
155 |
case 2: |
|
156 |
left_data_buf |= (((short)data) << 9) & (0x7F << 9); |
|
157 |
break; |
|
158 |
case 3: |
|
159 |
left_data_buf |= (((short)data) << 1) & (0xFF<<1); |
|
160 |
break; |
|
161 |
case 4: left_data_buf |= (((short)data)>>7) & 0x1; |
|
162 |
} |
|
163 |
|
|
164 |
encoder_buf_index = (encoder_buf_index + 1) % 5; |
|
165 |
|
|
166 |
if(encoder_buf_index==0) { |
|
167 |
|
|
168 |
/*Error handling for the left encoder*/ |
|
169 |
if(!(left_data_buf & OCF)) |
|
170 |
left_data = ENCODER_DATA_NOT_READY; |
|
171 |
if(left_data_buf & (COF | LIN)) |
|
172 |
left_data = ENCODER_MISALIGNED; |
|
173 |
else if((left_data_buf & MagINCn) && (left_data_buf & MagDECn)) |
|
174 |
left_data = ENCODER_MAGNET_FAILURE; |
|
175 |
else left_data = (left_data_buf>>5) & 1023; |
|
176 |
|
|
177 |
/*Error handling for the right encoder*/ |
|
178 |
if(!(right_data_buf & OCF)) |
|
179 |
right_data = ENCODER_DATA_NOT_READY; |
|
180 |
if(right_data_buf & (COF | LIN)) |
|
181 |
right_data = ENCODER_MISALIGNED; |
|
182 |
else if ((right_data_buf & MagINCn) && (right_data_buf & MagDECn)) |
|
183 |
right_data = ENCODER_MAGNET_FAILURE; |
|
184 |
else right_data = (right_data_buf>>5) & 1023; |
|
185 |
|
|
186 |
left_data_buf = 0; |
|
187 |
right_data_buf = 0; |
|
188 |
|
|
189 |
/*Note: Above 1023 is invalid data*/ |
|
190 |
if(!(left_data > 1023)) { |
|
191 |
//Reverse the left wheel since encoders are necessarily mounted backwards. |
|
192 |
left_data = 1023 - left_data; |
|
193 |
left_data_array_put(left_data); |
|
194 |
|
|
195 |
//Adjust left accumulator |
|
196 |
dx = left_data - left_data_array_prev(); |
|
197 |
|
|
198 |
if(left_data_array_prev()==0) dx=0; |
|
199 |
|
|
200 |
if(dx > 512) left_dx += dx - 1023; //Underflow |
|
201 |
else if(dx < -512) left_dx += dx + 1023; //Overflow |
|
202 |
else left_dx += dx; |
|
203 |
} |
|
204 |
|
|
205 |
/*Above 1023 is invalid data*/ |
|
206 |
if(!(right_data > 1023)) { |
|
207 |
right_data_array_put(right_data); |
|
208 |
|
|
209 |
//Adjust right accumulator |
|
210 |
dx = right_data - right_data_array_prev(); |
|
211 |
|
|
212 |
if(right_data_array_prev()==0) dx=0; |
|
213 |
|
|
214 |
if(dx > 512) right_dx += dx - 1023; //underflow |
|
215 |
else if(dx < -512) right_dx += dx + 1023; //overflow |
|
216 |
else right_dx += dx; |
|
217 |
} |
|
218 |
} |
|
219 |
|
|
220 |
//Increment timecount accumulator |
|
221 |
timecount++; |
|
222 |
} |
|
223 |
|
|
224 |
|
|
225 |
//Helper Functions |
|
226 |
inline void left_data_array_put(unsigned short int value) { |
|
227 |
if(left_data_idx == BUFFER_SIZE-1) |
|
228 |
left_data_idx = 0; |
|
229 |
else |
|
230 |
left_data_idx++; |
|
231 |
left_data_array[left_data_idx] = value; |
|
232 |
} |
|
233 |
|
|
234 |
inline unsigned int left_data_array_top(void) { |
|
235 |
return left_data_array[left_data_idx]; |
|
236 |
} |
|
237 |
|
|
238 |
inline unsigned int left_data_array_prev(void) { |
|
239 |
if(left_data_idx == 0) |
|
240 |
return left_data_array[BUFFER_SIZE-1]; |
|
241 |
else |
|
242 |
return left_data_array[left_data_idx - 1]; |
|
243 |
} |
|
244 |
|
|
245 |
inline unsigned int left_data_array_bottom(void) { |
|
246 |
if(left_data_idx == BUFFER_SIZE-1) |
|
247 |
return left_data_array[0]; |
|
248 |
else |
|
249 |
return left_data_array[left_data_idx + 1]; |
|
250 |
} |
|
251 |
|
|
252 |
inline void right_data_array_put(unsigned short int value) { |
|
253 |
if(right_data_idx == BUFFER_SIZE-1) |
|
254 |
right_data_idx = 0; |
|
255 |
else |
|
256 |
right_data_idx++; |
|
257 |
right_data_array[right_data_idx] = value; |
|
258 |
} |
|
259 |
|
|
260 |
inline unsigned int right_data_array_top(void) { |
|
261 |
return right_data_array[right_data_idx]; |
|
262 |
} |
|
263 |
|
|
264 |
inline unsigned int right_data_array_prev(void) { |
|
265 |
if(right_data_idx == 0) |
|
266 |
return right_data_array[BUFFER_SIZE-1]; |
|
267 |
else |
|
268 |
return right_data_array[right_data_idx - 1]; |
|
269 |
} |
|
270 |
|
|
271 |
inline unsigned int right_data_array_bottom(void) { |
|
272 |
if(right_data_idx == BUFFER_SIZE-1) |
|
273 |
return right_data_array[0]; |
|
274 |
else |
|
275 |
return right_data_array[right_data_idx + 1]; |
|
276 |
} |
|
277 |
|
branches/analog/code/projects/libdragonfly/encoders.h | ||
---|---|---|
1 |
/** |
|
2 |
* |
|
3 |
* @file encoders.h |
|
4 |
* @brief Contains functions for reading encoder values. |
|
5 |
* |
|
6 |
* Contains high and low level functions for reading encoders |
|
7 |
* including reading out total distance covered, and |
|
8 |
* eventually velocity. |
|
9 |
* |
|
10 |
* @author Colony Project, CMU Robotics Club |
|
11 |
*/ |
|
12 |
|
|
13 |
/** |
|
14 |
* @addtogroup encoders |
|
15 |
* @{ |
|
16 |
**/ |
|
17 |
|
|
18 |
#ifndef __ENCODERS_H__ |
|
19 |
#define __ENCODERS_H__ |
|
20 |
|
|
21 |
|
|
22 |
#ifndef LEFT |
|
23 |
/** @brief Left wheel **/ |
|
24 |
#define LEFT 0 |
|
25 |
#endif |
|
26 |
#ifndef RIGHT |
|
27 |
/** @brief Right wheel **/ |
|
28 |
#define RIGHT 1 |
|
29 |
#endif |
|
30 |
|
|
31 |
/** @brief Magnet misaligned - likely distance from encoder problem. **/ |
|
32 |
#define ENCODER_MAGNET_FAILURE 1025 |
|
33 |
/** @brief Encoder misaligned - likely on XY plane. **/ |
|
34 |
#define ENCODER_MISALIGNED 1027 |
|
35 |
/** @brief Not enough time has passed - encoders not initialized in hardware. **/ |
|
36 |
#define ENCODER_DATA_NOT_READY 1026 |
|
37 |
|
|
38 |
/** @brief delay_ms argument after a full read is complete **/ |
|
39 |
#define ENCODER_DELAY 20 |
|
40 |
|
|
41 |
//Data invalid flags (hardware failure): |
|
42 |
#define OCF _BV(4) |
|
43 |
#define COF _BV(3) |
|
44 |
|
|
45 |
//Data invalid alarm (May be invalid): |
|
46 |
#define LIN _BV(2) |
|
47 |
|
|
48 |
#define MagINCn _BV(1) |
|
49 |
#define MagDECn _BV(0) |
|
50 |
|
|
51 |
/** @brief Buffer size **/ |
|
52 |
#define BUFFER_SIZE 23 |
|
53 |
|
|
54 |
/** @brief Initialize encoders. **/ |
|
55 |
void encoders_init(void); |
|
56 |
/** @brief Read instantaneous encoder value. **/ |
|
57 |
int encoder_read(char encoder); |
|
58 |
|
|
59 |
/** @brief Get total distance traveled. **/ |
|
60 |
int encoder_get_dx(char encoder); |
|
61 |
/** @brief Reset distance counter. **/ |
|
62 |
void encoder_rst_dx(char encoder); |
|
63 |
/** @brief Get time count: The number of encoder reads that have occurred. **/ |
|
64 |
int encoder_get_tc(void); |
|
65 |
/** @brief Reset the time count. **/ |
|
66 |
void encoder_rst_tc(void); |
|
67 |
|
|
68 |
/** @brief Waits for the next n encoder reading, then returns. **/ |
|
69 |
void encoder_wait( int nReadings ); |
|
70 |
|
|
71 |
/**@}**/ //end group |
|
72 |
|
|
73 |
#endif |
branches/analog/code/projects/libdragonfly/serial.c | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file serial.c |
|
29 |
* @brief Serial Input and Output |
|
30 |
* |
|
31 |
* Implementation of functions for serial input and output. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
**/ |
|
35 |
|
|
36 |
#include <avr/io.h> |
|
37 |
#include <stdio.h> |
|
38 |
#include "serial.h" |
|
39 |
|
|
40 |
/** |
|
41 |
* For use with fprintf() and related stdio functions |
|
42 |
**/ |
|
43 |
FILE *usb_fd; |
|
44 |
|
|
45 |
/** |
|
46 |
* For use with fprintf() and related stdio functions |
|
47 |
**/ |
|
48 |
FILE *xbee_fd; |
|
49 |
|
|
50 |
/** |
|
51 |
* Initializes communication over the USB serial port. |
|
52 |
* This must be called before any other usb function |
|
53 |
* may be used. |
|
54 |
**/ |
|
55 |
void usb_init() { |
|
56 |
//Set baud rate |
|
57 |
// - 115200 (both wired and wireless) is UBRR=8, U2X=1 |
|
58 |
// - 9600 is U2X =1, UBRR = 107. |
|
59 |
#if (USB_BAUD == 115200) |
|
60 |
UBRR0H = 0x00; |
|
61 |
UBRR0L = 8; |
|
62 |
UCSR0A |= _BV(U2X0); |
|
63 |
#elif (USB_BAUD == 9600) |
|
64 |
UBRR0H = 0x00; |
|
65 |
UBRR0L = 103; |
|
66 |
UCSR0A |= _BV(U2X0); |
|
67 |
#else //Baud rate is defined in the header file, we should not get here |
|
68 |
return; |
|
69 |
#endif |
|
70 |
|
|
71 |
/*Enable receiver and transmitter */ |
|
72 |
UCSR0B |= (1<<RXEN0)|(1<<TXEN0); |
|
73 |
|
|
74 |
/* Set frame format: 8data, 1stop bit, asynchronous normal mode */ |
|
75 |
UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01); |
|
76 |
|
|
77 |
// if we have enabled the stdio stuff, then we init it here |
|
78 |
#ifdef USE_STDIO |
|
79 |
/* Open the stdio stream corresponding to this port */ |
|
80 |
usb_fd = fdevopen(usb_putc, usb_getc); |
|
81 |
#endif |
|
82 |
} |
|
83 |
|
|
84 |
/** |
|
85 |
* Initializes communication over the XBee. |
|
86 |
* This must be called before any other xbee function |
|
87 |
* may be used. |
|
88 |
**/ |
|
89 |
void xbee_init() { |
|
90 |
//Set baud rate |
|
91 |
// - 115200 (both wired and wireless) is UBRR=8, U2X=1 |
|
92 |
// - 9600 is U2X =1, UBRR = 107. |
|
93 |
#if (XBEE_BAUD == 115200) |
|
94 |
UBRR1H = 0x00; |
|
95 |
UBRR1L = 8; |
|
96 |
UCSR1A |= _BV(U2X1); |
|
97 |
#elif (XBEE_BAUD == 9600) |
|
98 |
UBRR1H = 0x00; |
|
99 |
UBRR1L = 103; |
|
100 |
UCSR1A |= _BV(U2X1); |
|
101 |
#else //Baud rate is defined in the header file, we should not get here |
|
102 |
return; |
|
103 |
#endif |
|
104 |
|
|
105 |
//Enable receiver and transmitter |
|
106 |
UCSR1B |= (1<<RXEN1)|(1<<TXEN1); |
|
107 |
|
|
108 |
// Set frame format: 8data, 1stop bit, asynchronous normal mode |
|
109 |
UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11); |
|
110 |
|
|
111 |
// if we have enabled the stdio stuff, then we init it here |
|
112 |
#ifdef USE_STDIO |
|
113 |
/* Open the stdio stream corresponding to this port */ |
|
114 |
xbee_fd = fdevopen(xbee_putc, xbee_getc); |
|
115 |
#endif |
|
116 |
} |
|
117 |
|
|
118 |
/** |
|
119 |
* Sends a character over USB. |
|
120 |
* |
|
121 |
* @param c the character to send |
|
122 |
* @return 0 for success, nonzero for failure |
|
123 |
**/ |
|
124 |
int usb_putc(char c) { |
|
125 |
// Wait until buffer is clear for sending |
|
126 |
loop_until_bit_is_set(UCSR0A, UDRE0); |
|
127 |
|
|
128 |
// Load buffer with your character |
|
129 |
UDR0 = c; |
|
130 |
return 0; |
|
131 |
} |
|
132 |
|
|
133 |
/** |
|
134 |
* Sends a character to the XBee. |
|
135 |
* |
|
136 |
* @param c the character to send |
|
137 |
* @return 0 for success, nonzero for failure |
|
138 |
**/ |
|
139 |
int xbee_putc(char c) { |
|
140 |
// Wait until buffer is clear for sending |
|
141 |
loop_until_bit_is_set(UCSR1A, UDRE1); |
|
142 |
|
|
143 |
// Load buffer with your character |
|
144 |
UDR1 = c; |
|
145 |
return 0; |
|
146 |
} |
|
147 |
|
|
148 |
/** |
|
149 |
* Sends a sequence of characters over USB. |
|
150 |
* |
|
151 |
* @param s the string to send |
|
152 |
* @return 0 for success, nonzero for failure |
|
153 |
**/ |
|
154 |
int usb_puts(char *s) { |
|
155 |
char *t = s; |
|
156 |
while (*t != 0) { |
|
157 |
usb_putc(*t); |
|
158 |
t++; |
|
159 |
} |
|
160 |
return 0; |
|
161 |
} |
|
162 |
|
|
163 |
/** |
|
164 |
* Sends a sequence of characters from program space over USB. |
|
165 |
* |
|
166 |
* @param s the string to send |
|
167 |
**/ |
|
168 |
void usb_puts_P (PGM_P s) { |
|
169 |
char buf; |
|
170 |
|
|
171 |
while (memcpy_P (&buf, s, sizeof (char)), buf!=0) { |
|
172 |
usb_putc (buf); |
|
173 |
s++; |
|
174 |
} |
|
175 |
} |
|
176 |
|
|
177 |
|
|
178 |
|
|
179 |
/** |
|
180 |
* Returns the first character in the buffer received from USB. |
|
181 |
* This function blocks execution until a character has been received. |
|
182 |
* xbee_init must be called before this function may be used. |
|
183 |
* |
|
184 |
* @return the first character in the usb buffer |
|
185 |
* |
|
186 |
* @see usb_init, usb_getc_nb |
|
187 |
**/ |
|
188 |
int usb_getc(void) { |
|
189 |
// Wait for the receive buffer to be filled |
|
190 |
loop_until_bit_is_set(UCSR0A, RXC0); |
|
191 |
|
|
192 |
// Read the receive buffer |
|
193 |
return UDR0; |
|
194 |
} |
|
195 |
|
|
196 |
/** |
|
197 |
* Returns the first character in the buffer received from USB. |
|
198 |
* This function blocks execution until a character has been |
|
199 |
* received. xbee_init must be called before this function |
|
200 |
* may be used. |
|
201 |
* |
|
202 |
* @return the first character in the xbee buffer |
|
203 |
* |
|
204 |
* @see xbee_init, xbee_getc_nb |
|
205 |
**/ |
|
206 |
int xbee_getc(void) { |
|
207 |
// Wait for the receive buffer to be filled |
|
208 |
loop_until_bit_is_set(UCSR1A, RXC1); |
|
209 |
|
|
210 |
// Read the receive buffer |
|
211 |
return UDR1; |
|
212 |
} |
|
213 |
|
|
214 |
/** |
|
215 |
* Non blocking version of usb_getc. If a character is present in the buffer, |
|
216 |
* it is returned, otherwise -1 is returned immediately. usb_init must be |
|
217 |
* called before this function can be used. |
|
218 |
* |
|
219 |
* @param c the received character. This will be set if a character has |
|
220 |
* been received. |
|
221 |
* |
|
222 |
* @return -1 if no character is available, 0 otherwise |
|
223 |
* |
|
224 |
* @see usb_init, usb_getc |
|
225 |
**/ |
|
226 |
int usb_getc_nb(char *c) { |
|
227 |
// check if the receive buffer is filled |
|
228 |
if (UCSR0A & _BV(RXC0)) { |
|
229 |
// Read the receive buffer |
|
230 |
(*c) = UDR0; |
|
231 |
return 0; |
|
232 |
} else { |
|
233 |
// Return empty |
|
234 |
return -1; |
|
235 |
} |
|
236 |
} |
|
237 |
|
|
238 |
/** |
|
239 |
* Non blocking version of xbee_getc. If a character is present in the buffer, |
|
240 |
* it is returned, otherwise -1 is returned immediately. xbee_init |
|
241 |
* must be called before this function can be used. |
|
242 |
* |
|
243 |
* @param c the received character. This will be set if a character has |
|
244 |
* been received. |
|
245 |
* |
|
246 |
* @return -1 if no character is available, 0 otherwise |
|
247 |
* |
|
248 |
* @see xbee_init, xbee_getc |
|
249 |
**/ |
|
250 |
int xbee_getc_nb(char *c) { |
|
251 |
// check if the receive buffer is filled |
|
252 |
if (UCSR1A & _BV(RXC1)) { |
|
253 |
// Read the receive buffer |
|
254 |
(*c) = UDR1; |
|
255 |
return 0; |
|
256 |
} else { |
|
257 |
// Return empty |
|
258 |
return -1; |
|
259 |
} |
|
260 |
} |
|
261 |
|
|
262 |
|
|
263 |
/* |
|
264 |
prints an int to serial |
|
265 |
|
|
266 |
code adapted from Chris Efstathiou's code (hendrix@otenet.gr) |
|
267 |
uses usb_putc |
|
268 |
*/ |
|
269 |
/** |
|
270 |
* Prints an integer, converted to ASCII, to usb. usb_init must be called |
|
271 |
* before this function can be used. |
|
272 |
* |
|
273 |
* @param value the integer to print |
|
274 |
* |
|
275 |
* @return 0 if successful, nonzero otherwise |
|
276 |
* |
|
277 |
* @see usb_init, usb_putc |
|
278 |
**/ |
|
279 |
int usb_puti(int value ) { |
|
280 |
unsigned char usb_data[6]={'0','0','0','0','0','0' }, position=sizeof(usb_data), radix=10; |
|
281 |
|
|
282 |
/* convert int to ascii */ |
|
283 |
if(value<0) { |
|
284 |
usb_putc('-'); |
|
285 |
value=-value; |
|
286 |
} |
|
287 |
do { |
|
288 |
position--; |
|
289 |
*(usb_data+position)=(value%radix)+'0'; |
|
290 |
value/=radix; |
|
291 |
} while(value); |
|
292 |
|
|
293 |
|
|
294 |
/* start displaying the number */ |
Also available in: Unified diff