Revision 1533
Copied trunk code into branch to develop function to return net BOM IR vector.
branches/bom_refactor/code/behaviors/formation_control/push_pull/push_pull.c | ||
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#include <stdint.h> |
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#include <dragonfly_lib.h> |
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#include <wl_basic.h> |
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#include <stdlib.h> |
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|
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/* Struct for storing vector components */ |
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typedef struct { |
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int x; |
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int y; |
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} Vector; |
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|
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|
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/* Function Prototypes */ |
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static int get_bom_vector(Vector*); |
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/******************************* |
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* BOM Vector Component Tables * |
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*******************************/ |
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|
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/* |
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* The x component of each BOM detector (indexed from 0 to 15) |
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* was calculated using the following formula: |
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* |
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* x_comp[i] = round(25 * cos ( 2 * pi / 16 * i) ) |
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* |
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* If the BOM detectors were superimposed onto a 2 dimensional Cartesian space, |
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* this effectively calculates the x component of the emitter vector where |
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* emitter 0 corresponds to an angle of 0 radians, 4 -> pi/2, 8 -> pi, ect. |
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*/ |
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static const signed int x_comp[16] = { |
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25, |
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23, |
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17, |
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9, |
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0, |
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-9, |
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-17, |
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-23, |
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-25, |
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-23, |
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-17, |
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-9, |
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0, |
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9, |
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17, |
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23 |
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}; |
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|
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/* |
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* The y component of each BOM detector (indexed from 0 to 15) |
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* was calculated using the following formula: |
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* |
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* y_comp[i] = round(25 * sin ( 2 * pi / 16 * i) ) |
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* |
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* If the BOM detectors were superimposed onto a 2 dimensional Cartesian space, |
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* this effectively calculates the y component of the emitter vector where |
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* emitter 0 corresponds to an angle of 0 radians, 4 -> pi/2, 8 -> pi, ect. |
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*/ |
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static signed int y_comp[16] = { |
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0, |
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9, |
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17, |
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23, |
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25, |
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23, |
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17, |
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9, |
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0, |
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-9, |
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-17, |
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-23, |
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-25, |
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-23, |
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-17, |
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-9 |
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}; |
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int main (void) { |
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|
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/* Store current BOM readings and use them as a weighting factor */ |
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uint8_t intensity[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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|
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/* Arrays for storing the weighted x ("Rightness") and y ("Forwardness") |
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* components. Calculated by multiplying the intensity by the x and y |
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* component respectively (x and y components are stored in the tables |
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* above). */ |
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int weighted_x_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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int weighted_y_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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|
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/* Accumulators to sum up the net x ("Rightness") and y ("Forwardness") |
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* components for the entire robot. */ |
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long net_x_comp = 0; |
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long net_y_comp = 0; |
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/* Variables used to normalize the net component values */ |
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int total_intensity = 0; |
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int normalized_net_x_comp = 0; |
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int normalized_net_y_comp = 0; |
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int i = 0; |
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dragonfly_init(ALL_ON); |
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xbee_init(); |
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encoders_init(); |
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orbs_set_color(BLUE, GREEN); |
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delay_ms(1000); |
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orbs_set_color(GREEN, BLUE); |
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delay_ms(1000); |
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orbs_set_color(RED, RED); |
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while (1) { |
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/* Make sure to clear our accumulators */ |
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net_x_comp = 0; |
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net_y_comp = 0; |
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total_intensity = 0; |
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bom_print_usb(NULL); |
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bom_refresh(BOM_ALL); |
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for (i = 0; i < 16; i++) { |
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/* BOM intensity is actually measured as more intense = closer to 0 */ |
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intensity[i] = 255 - bom_get(i); |
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weighted_x_comp[i] = intensity[i] * x_comp[i]; |
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weighted_y_comp[i] = intensity[i] * y_comp[i]; |
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net_x_comp += weighted_x_comp[i]; |
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net_y_comp += weighted_y_comp[i]; |
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total_intensity += intensity[i]; |
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} |
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if (total_intensity > 0) { |
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normalized_net_x_comp = net_x_comp / total_intensity; |
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normalized_net_y_comp = net_y_comp / total_intensity; |
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} |
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usb_puts("x: "); |
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usb_puti(normalized_net_x_comp); |
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usb_puts("\ty: "); |
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usb_puti(normalized_net_y_comp); |
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usb_puts("\n"); |
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delay_ms(50); |
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} |
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while(1); |
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} |
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static int get_bom_vector(Vector* bom_vector) { |
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return 0; |
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} |
branches/bom_refactor/code/behaviors/formation_control/push_pull/vectorSizeSpecs.m | ||
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% vectorSizeSpecs - Script used to help calculate the max scalar value by |
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% which to multiply the BOM unit vectors (thus increasing the |
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% precision of the scaled vectors) such that in the worst case, the |
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% total net sum will not overflow the data type used to represent |
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% the net vector components. |
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% |
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% Author: John Sexton, Colony Project, CMU Robotics Club |
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% Parameters |
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maxIntensity = 255; |
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dataBits = 16; |
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scalar = 25; |
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n = 0:8; |
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angle = n * 2 * pi / 16; |
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vector_components = sin(angle); |
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max_net_component = sum(vector_components); |
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% Formula for max_net_component (mnc), obtained by summing |
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% values from the unit circle at angles of 0 : pi/8 : pi |
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% in quadrants I and II |
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mnc = 1; %sin(pi/2) |
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mnc = mnc + (2* (1/2)*sqrt(2+sqrt(2))); %sin(3pi/8) and sin(5pi/8) |
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mnc = mnc + (2* sqrt(2)/2); %sin(pi/4) and sin(3pi/4) |
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mnc = mnc + (2* (1/2)*sqrt(2-sqrt(2))); %sin(pi/8) and sin(7pi/8) |
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calc_scalar = (2^(dataBits-1)-1) / (max_net_component * maxIntensity); |
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% calc_scalar = 25.560 for 16 bits => use 25 as scalar for int data type |
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fprintf('With %d data bits, calculated scalar value: %.3f\n\n', dataBits, calc_scalar); |
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% Check worst case |
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scaled_vector_components = scalar * vector_components; |
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worst_case = fix(scaled_vector_components) * maxIntensity; |
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worst_sum = sum(worst_case); |
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fprintf('With scalar %d, max worst case sum: %d\n', scalar, round(worst_sum)); |
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fprintf('Max number: 2^(%d-1) - 1 = %d\n', dataBits, (2^(dataBits-1)-1)); |
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% Calculate the x and y component arrays which should be used in the |
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% BOM Vector Component Tables in push_pull.c |
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N = 0:15; |
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x_comp = fix(scalar * cos(2 * pi / 16 * N)) |
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y_comp = fix(scalar * sin(2 * pi / 16 * N)) |
branches/bom_refactor/code/behaviors/formation_control/push_pull/Makefile | ||
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1 |
########Update This Section######## |
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# |
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# |
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|
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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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# Target file name (without extension). |
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TARGET = push_pull |
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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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|
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# com1 = serial port. Use lpt1 to connect to parallel port. |
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#AVRDUDE_PORT = com4 |
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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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# |
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# |
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################################### |
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|
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# Hey Emacs, this is a -*- makefile -*- |
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#---------------------------------------------------------------------------- |
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# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al. |
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# |
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# Released to the Public Domain |
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# |
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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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# Sander Pool |
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# Frederik Rouleau |
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# |
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#---------------------------------------------------------------------------- |
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# On command line: |
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# |
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# make all = Make software. |
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# |
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# make clean = Clean out built project files. |
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# |
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# make coff = Convert ELF to AVR COFF. |
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# |
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# make extcoff = Convert ELF to AVR Extended COFF. |
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# |
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# make program = Download the hex file to the device, using avrdude. |
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# Please customize the avrdude settings below first! |
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# |
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# make debug = Start either simulavr or avarice as specified for debugging, |
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# with avr-gdb or avr-insight as the front end for debugging. |
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# |
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# make filename.s = Just compile filename.c into the assembler code only. |
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# |
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# make filename.i = Create a preprocessed source file for use in submitting |
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# bug reports to the GCC project. |
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# |
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# To rebuild project do "make clean" then "make all". |
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#---------------------------------------------------------------------------- |
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62 |
|
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#if you want your code to work on the Firefly++ and not Firefly+ |
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#then add the -DFFPP line to CDEFS |
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CDEFS = |
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#-DFFPP |
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67 |
|
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# MCU name |
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MCU = atmega128 |
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70 |
|
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# Processor frequency. |
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# This will define a symbol, F_CPU, in all source code files equal to the |
|
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# processor frequency. You can then use this symbol in your source code to |
|
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# calculate timings. Do NOT tack on a 'UL' at the end, this will be done |
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# automatically to create a 32-bit value in your source code. |
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F_CPU = 8000000 |
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77 |
|
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# Output format. (can be srec, ihex, binary) |
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FORMAT = ihex |
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80 |
|
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# List C source files here. (C dependencies are automatically generated.) |
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SRC = $(wildcard *.c) |
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83 |
|
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# List Assembler source files here. |
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# Make them always end in a capital .S. Files ending in a lowercase .s |
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# will not be considered source files but generated files (assembler |
|
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# output from the compiler), and will be deleted upon "make clean"! |
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# Even though the DOS/Win* filesystem matches both .s and .S the same, |
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# it will preserve the spelling of the filenames, and gcc itself does |
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# care about how the name is spelled on its command-line. |
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ASRC = |
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|
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# Optimization level, can be [0, 1, 2, 3, s]. |
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# 0 = turn off optimization. s = optimize for size. |
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
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OPT = s |
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97 |
|
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# Debugging format. |
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# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. |
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# AVR Studio 4.10 requires dwarf-2. |
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# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. |
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DEBUG = |
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103 |
|
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# Compiler flag to set the C Standard level. |
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# c89 = "ANSI" C |
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# gnu89 = c89 plus GCC extensions |
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# c99 = ISO C99 standard (not yet fully implemented) |
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# gnu99 = c99 plus GCC extensions |
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CSTANDARD = -std=gnu99 |
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110 |
|
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# Place -D or -U options here |
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CDEFS += -DF_CPU=$(F_CPU)UL |
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CDEFS += -DFFP |
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# for wireless library |
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ifdef USE_WIRELESS |
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CDEFS += -DROBOT |
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endif |
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118 |
|
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# Place -I, -L options here |
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120 |
CINCS = -I$(COLONYROOT)/lib/include/libdragonfly |
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CINCS += -L$(COLONYROOT)/lib/bin |
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ifdef USE_WIRELESS |
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CINCS += -I$(COLONYROOT)/lib/include/libwireless |
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endif |
|
125 |
|
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#---------------- Compiler Options ---------------- |
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# -g*: generate debugging information |
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# -O*: optimization level |
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# -f...: tuning, see GCC manual and avr-libc documentation |
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# -Wall...: warning level |
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# -Wa,...: tell GCC to pass this to the assembler. |
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# -adhlns...: create assembler listing |
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CFLAGS = |
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# CFLAGS = -g$(DEBUG) |
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CFLAGS += $(CDEFS) $(CINCS) |
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CFLAGS += -O$(OPT) |
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CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
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CFLAGS += -Wall -Wstrict-prototypes |
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CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
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CFLAGS += $(CSTANDARD) |
|
141 |
|
|
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#---------------- Assembler Options ---------------- |
|
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# -Wa,...: tell GCC to pass this to the assembler. |
|
144 |
# -ahlms: create listing |
|
145 |
# -gstabs: have the assembler create line number information; note that |
|
146 |
# for use in COFF files, additional information about filenames |
|
147 |
# and function names needs to be present in the assembler source |
|
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# files -- see avr-libc docs [FIXME: not yet described there] |
|
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ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
|
150 |
|
|
151 |
|
|
152 |
#---------------- Library Options ---------------- |
|
153 |
# Minimalistic printf version |
|
154 |
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
|
155 |
|
|
156 |
# Floating point printf version (requires MATH_LIB = -lm below) |
|
157 |
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
|
158 |
|
|
159 |
# If this is left blank, then it will use the Standard printf version. |
|
160 |
PRINTF_LIB = |
|
161 |
#PRINTF_LIB = $(PRINTF_LIB_MIN) |
|
162 |
#PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
|
163 |
|
|
164 |
|
|
165 |
# Minimalistic scanf version |
|
166 |
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
|
167 |
|
|
168 |
# Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
|
169 |
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
|
170 |
|
|
171 |
# If this is left blank, then it will use the Standard scanf version. |
|
172 |
SCANF_LIB = |
|
173 |
#SCANF_LIB = $(SCANF_LIB_MIN) |
|
174 |
#SCANF_LIB = $(SCANF_LIB_FLOAT) |
|
175 |
|
|
176 |
MATH_LIB = -lm |
|
177 |
|
|
178 |
#---------------- External Memory Options ---------------- |
|
179 |
|
|
180 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
|
181 |
# used for variables (.data/.bss) and heap (malloc()). |
|
182 |
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
|
183 |
|
|
184 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
|
185 |
# only used for heap (malloc()). |
|
186 |
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
|
187 |
|
|
188 |
EXTMEMOPTS = |
|
189 |
|
|
190 |
#---------------- Linker Options ---------------- |
|
191 |
# -Wl,...: tell GCC to pass this to linker. |
|
192 |
# -Map: create map file |
|
193 |
# --cref: add cross reference to map file |
|
194 |
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
|
195 |
LDFLAGS += $(EXTMEMOPTS) |
|
196 |
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
|
197 |
ifdef USE_WIRELESS |
|
198 |
LDFLAGS += -lwireless |
|
199 |
endif |
|
200 |
LDFLAGS += -ldragonfly |
|
201 |
|
|
202 |
|
|
203 |
|
|
204 |
#---------------- Programming Options (avrdude) ---------------- |
|
205 |
|
|
206 |
# Programming hardware: alf avr910 avrisp bascom bsd |
|
207 |
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
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208 |
# |
|
209 |
# Type: avrdude -c ? |
|
210 |
# to get a full listing. |
|
211 |
# |
|
212 |
AVRDUDE_PROGRAMMER = avrisp |
|
213 |
|
|
214 |
# programmer connected to serial device |
|
215 |
|
|
216 |
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
|
217 |
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
|
218 |
|
|
219 |
|
|
220 |
# Uncomment the following if you want avrdude's erase cycle counter. |
|
221 |
# Note that this counter needs to be initialized first using -Yn, |
|
222 |
# see avrdude manual. |
|
223 |
#AVRDUDE_ERASE_COUNTER = -y |
|
224 |
|
|
225 |
# Uncomment the following if you do /not/ wish a verification to be |
|
226 |
# performed after programming the device. |
|
227 |
#AVRDUDE_NO_VERIFY = -V |
|
228 |
|
|
229 |
# Increase verbosity level. Please use this when submitting bug |
|
230 |
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
|
231 |
# to submit bug reports. |
|
232 |
#AVRDUDE_VERBOSE = -v -v |
|
233 |
|
|
234 |
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
|
235 |
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) |
|
236 |
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) |
|
237 |
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) |
|
238 |
|
|
239 |
#don't check for device signature |
|
240 |
AVRDUDE_FLAGS += -F |
|
241 |
|
|
242 |
|
|
243 |
|
|
244 |
#---------------- Debugging Options ---------------- |
|
245 |
|
|
246 |
# For simulavr only - target MCU frequency. |
|
247 |
DEBUG_MFREQ = $(F_CPU) |
|
248 |
|
|
249 |
# Set the DEBUG_UI to either gdb or insight. |
|
250 |
# DEBUG_UI = gdb |
|
251 |
DEBUG_UI = insight |
|
252 |
|
|
253 |
# Set the debugging back-end to either avarice, simulavr. |
|
254 |
DEBUG_BACKEND = avarice |
|
255 |
#DEBUG_BACKEND = simulavr |
|
256 |
|
|
257 |
# GDB Init Filename. |
|
258 |
GDBINIT_FILE = __avr_gdbinit |
|
259 |
|
|
260 |
# When using avarice settings for the JTAG |
|
261 |
JTAG_DEV = /dev/com1 |
|
262 |
|
|
263 |
# Debugging port used to communicate between GDB / avarice / simulavr. |
|
264 |
DEBUG_PORT = 4242 |
|
265 |
|
|
266 |
# Debugging host used to communicate between GDB / avarice / simulavr, normally |
|
267 |
# just set to localhost unless doing some sort of crazy debugging when |
|
268 |
# avarice is running on a different computer. |
|
269 |
DEBUG_HOST = localhost |
|
270 |
|
|
271 |
|
|
272 |
|
|
273 |
#============================================================================ |
|
274 |
|
|
275 |
|
|
276 |
# Define programs and commands. |
|
277 |
SHELL = sh |
|
278 |
CC = avr-gcc |
|
279 |
OBJCOPY = avr-objcopy |
|
280 |
OBJDUMP = avr-objdump |
|
281 |
SIZE = avr-size |
|
282 |
NM = avr-nm |
|
283 |
AVRDUDE = avrdude |
|
284 |
REMOVE = rm -f |
|
285 |
REMOVEDIR = rm -rf |
|
286 |
COPY = cp |
|
287 |
WINSHELL = cmd |
|
288 |
|
|
289 |
|
|
290 |
# Define Messages |
|
291 |
# English |
|
292 |
MSG_ERRORS_NONE = Errors: none |
|
293 |
MSG_BEGIN = -------- begin -------- |
|
294 |
MSG_END = -------- end -------- |
|
295 |
MSG_SIZE_BEFORE = Size before: |
|
296 |
MSG_SIZE_AFTER = Size after: |
|
297 |
MSG_COFF = Converting to AVR COFF: |
|
298 |
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
|
299 |
MSG_FLASH = Creating load file for Flash: |
|
300 |
MSG_EEPROM = Creating load file for EEPROM: |
|
301 |
MSG_EXTENDED_LISTING = Creating Extended Listing: |
|
302 |
MSG_SYMBOL_TABLE = Creating Symbol Table: |
|
303 |
MSG_LINKING = Linking: |
|
304 |
MSG_COMPILING = Compiling: |
|
305 |
MSG_ASSEMBLING = Assembling: |
|
306 |
MSG_CLEANING = Cleaning project: |
|
307 |
|
|
308 |
|
|
309 |
|
|
310 |
|
|
311 |
# Define all object files. |
|
312 |
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
|
313 |
|
|
314 |
# Define all listing files. |
|
315 |
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
|
316 |
|
|
317 |
|
|
318 |
# Compiler flags to generate dependency files. |
|
319 |
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
|
320 |
|
|
321 |
|
|
322 |
# Combine all necessary flags and optional flags. |
|
323 |
# Add target processor to flags. |
|
324 |
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) |
|
325 |
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
|
326 |
|
|
327 |
|
|
328 |
|
|
329 |
|
|
330 |
|
|
331 |
# Default target. |
|
332 |
all: begin gccversion sizebefore build sizeafter end |
|
333 |
|
|
334 |
build: elf hex eep lss sym |
|
335 |
|
|
336 |
elf: $(TARGET).elf |
|
337 |
hex: $(TARGET).hex |
|
338 |
eep: $(TARGET).eep |
|
339 |
lss: $(TARGET).lss |
|
340 |
sym: $(TARGET).sym |
|
341 |
|
|
342 |
|
|
343 |
|
|
344 |
# Eye candy. |
|
345 |
# AVR Studio 3.x does not check make's exit code but relies on |
|
346 |
# the following magic strings to be generated by the compile job. |
|
347 |
begin: |
|
348 |
@echo |
|
349 |
@echo $(MSG_BEGIN) |
|
350 |
|
|
351 |
end: |
|
352 |
@echo $(MSG_END) |
|
353 |
@echo |
|
354 |
|
|
355 |
|
|
356 |
# Display size of file. |
|
357 |
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
|
358 |
ELFSIZE = $(SIZE) -A $(TARGET).elf |
|
359 |
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU) |
|
360 |
|
|
361 |
sizebefore: |
|
362 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ |
|
363 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
364 |
|
|
365 |
sizeafter: |
|
366 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ |
|
367 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
368 |
|
|
369 |
|
|
370 |
|
|
371 |
# Display compiler version information. |
|
372 |
gccversion : |
|
373 |
@$(CC) --version |
|
374 |
|
|
375 |
|
|
376 |
|
|
377 |
# Program the device. |
|
378 |
program: $(TARGET).hex $(TARGET).eep |
|
379 |
#-taskkill /IM ttermpro.exe |
|
380 |
#sleep 1 |
|
381 |
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
|
382 |
|
|
383 |
|
|
384 |
# Generate avr-gdb config/init file which does the following: |
|
385 |
# define the reset signal, load the target file, connect to target, and set |
|
386 |
# a breakpoint at main(). |
|
387 |
gdb-config: |
|
388 |
@$(REMOVE) $(GDBINIT_FILE) |
|
389 |
@echo define reset >> $(GDBINIT_FILE) |
|
390 |
@echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
|
391 |
@echo end >> $(GDBINIT_FILE) |
|
392 |
@echo file $(TARGET).elf >> $(GDBINIT_FILE) |
|
393 |
@echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
|
394 |
ifeq ($(DEBUG_BACKEND),simulavr) |
|
395 |
@echo load >> $(GDBINIT_FILE) |
|
396 |
endif |
|
397 |
@echo break main >> $(GDBINIT_FILE) |
|
398 |
|
|
399 |
debug: gdb-config $(TARGET).elf |
|
400 |
ifeq ($(DEBUG_BACKEND), avarice) |
|
401 |
@echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
|
402 |
@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
|
403 |
$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
|
404 |
@$(WINSHELL) /c pause |
|
405 |
|
|
406 |
else |
|
407 |
@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ |
|
408 |
$(DEBUG_MFREQ) --port $(DEBUG_PORT) |
|
409 |
endif |
|
410 |
@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) |
|
411 |
|
|
412 |
|
|
413 |
|
|
414 |
|
|
415 |
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. |
|
416 |
COFFCONVERT=$(OBJCOPY) --debugging \ |
|
417 |
--change-section-address .data-0x800000 \ |
|
418 |
--change-section-address .bss-0x800000 \ |
|
419 |
--change-section-address .noinit-0x800000 \ |
|
420 |
--change-section-address .eeprom-0x810000 |
|
421 |
|
|
422 |
|
|
423 |
coff: $(TARGET).elf |
|
424 |
@echo |
|
425 |
@echo $(MSG_COFF) $(TARGET).cof |
|
426 |
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
|
427 |
|
|
428 |
|
|
429 |
extcoff: $(TARGET).elf |
|
430 |
@echo |
|
431 |
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
|
432 |
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
|
433 |
|
|
434 |
|
|
435 |
|
|
436 |
# Create final output files (.hex, .eep) from ELF output file. |
|
437 |
%.hex: %.elf |
|
438 |
@echo |
|
439 |
@echo $(MSG_FLASH) $@ |
|
440 |
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
|
441 |
|
|
442 |
%.eep: %.elf |
|
443 |
@echo |
|
444 |
@echo $(MSG_EEPROM) $@ |
|
445 |
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
|
446 |
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
|
447 |
|
|
448 |
# Create extended listing file from ELF output file. |
|
449 |
%.lss: %.elf |
|
450 |
@echo |
|
451 |
@echo $(MSG_EXTENDED_LISTING) $@ |
|
452 |
$(OBJDUMP) -h -S $< > $@ |
|
453 |
|
|
454 |
# Create a symbol table from ELF output file. |
|
455 |
%.sym: %.elf |
|
456 |
@echo |
|
457 |
@echo $(MSG_SYMBOL_TABLE) $@ |
|
458 |
$(NM) -n $< > $@ |
|
459 |
|
|
460 |
|
|
461 |
|
|
462 |
# Link: create ELF output file from object files. |
|
463 |
.SECONDARY : $(TARGET).elf |
|
464 |
.PRECIOUS : $(OBJ) |
|
465 |
%.elf: $(OBJ) |
|
466 |
@echo |
|
467 |
@echo $(MSG_LINKING) $@ |
|
468 |
$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
|
469 |
|
|
470 |
|
|
471 |
# Compile: create object files from C source files. |
|
472 |
%.o : %.c |
|
473 |
@echo |
|
474 |
@echo $(MSG_COMPILING) $< |
|
475 |
$(CC) -c $(ALL_CFLAGS) $< -o $@ |
|
476 |
|
|
477 |
|
|
478 |
# Compile: create assembler files from C source files. |
|
479 |
%.s : %.c |
|
480 |
$(CC) -S $(ALL_CFLAGS) $< -o $@ |
|
481 |
|
|
482 |
|
|
483 |
# Assemble: create object files from assembler source files. |
|
484 |
%.o : %.S |
|
485 |
@echo |
|
486 |
@echo $(MSG_ASSEMBLING) $< |
|
487 |
$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
|
488 |
|
|
489 |
# Create preprocessed source for use in sending a bug report. |
|
490 |
%.i : %.c |
|
491 |
$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
|
492 |
|
|
493 |
|
|
494 |
# Target: clean project. |
|
495 |
clean: begin clean_list end |
|
496 |
|
|
497 |
clean_list : |
|
498 |
@echo |
|
499 |
@echo $(MSG_CLEANING) |
|
500 |
$(REMOVE) $(TARGET).hex |
|
501 |
$(REMOVE) $(TARGET).eep |
|
502 |
$(REMOVE) $(TARGET).cof |
|
503 |
$(REMOVE) $(TARGET).elf |
|
504 |
$(REMOVE) $(TARGET).map |
|
505 |
$(REMOVE) $(TARGET).sym |
|
506 |
$(REMOVE) $(TARGET).lss |
|
507 |
$(REMOVE) $(OBJ) |
|
508 |
$(REMOVE) $(LST) |
|
509 |
$(REMOVE) $(SRC:.c=.s) |
|
510 |
$(REMOVE) $(SRC:.c=.d) |
|
511 |
$(REMOVEDIR) .dep |
|
512 |
|
|
513 |
|
|
514 |
|
|
515 |
# Include the dependency files. |
|
516 |
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
|
517 |
|
|
518 |
|
|
519 |
# Listing of phony targets. |
|
520 |
.PHONY : all begin finish end sizebefore sizeafter gccversion \ |
|
521 |
build elf hex eep lss sym coff extcoff \ |
|
522 |
clean clean_list program debug gdb-config |
|
523 |
|
branches/bom_refactor/code/behaviors/formation_control/circle/circle.c | ||
---|---|---|
1 |
#include <dragonfly_lib.h> |
|
2 |
#include <encoders.h> |
|
3 |
|
|
4 |
#define RADIUS 300 |
|
5 |
|
|
6 |
/* |
|
7 |
This is a PREVIOUS VERSION of circle2. Circle2 uses Echo's more exact code, while this uses a different method which is more buggy. |
|
8 |
This code has been kept for the time being, in case some of the code is useful for recylcling (the control loop, for instance) - without |
|
9 |
reverting the entire repositiory. |
|
10 |
|
|
11 |
This program is used to make robots target a center (leader) robot using the BOM, |
|
12 |
then drive toward it and stop at a certain distance away. |
|
13 |
|
|
14 |
The distance will eventually be adjustable. |
|
15 |
|
|
16 |
With adjustment, the leader robot will be able to turn and use its standardized |
|
17 |
rangefinder to reposition or space the robots evenly. |
|
18 |
|
|
19 |
AuTHORS: Niko, Alex |
|
20 |
*/ |
|
21 |
|
|
22 |
extern void blink(int); |
|
23 |
extern void search(void); |
|
24 |
extern void approach(void); |
|
25 |
extern void lastDrive(void); |
|
26 |
|
|
27 |
int main(void) |
|
28 |
{ |
|
29 |
|
|
30 |
/* Initialize dragonfly board */ |
|
31 |
dragonfly_init(ALL_ON); |
|
32 |
encoders_init(); |
|
33 |
|
|
34 |
orb_set_color(GREEN); |
|
35 |
delay_ms(300); |
|
36 |
|
|
37 |
search(); |
|
38 |
|
|
39 |
approach(); |
|
40 |
|
|
41 |
while(1); /* END HERE */ |
|
42 |
|
|
43 |
return 0; |
|
44 |
} |
|
45 |
|
|
46 |
|
|
47 |
|
|
48 |
void blink(int num) // blinks the number of times specifed, with the orbs. |
|
49 |
{ // useful for error checking. |
|
50 |
for(int i = 0; i<num; i++) |
|
51 |
{ |
|
52 |
orb_set_color(ORB_OFF); |
|
53 |
delay_ms(200); |
|
54 |
orb_set_color(RED); |
|
55 |
delay_ms(200); |
|
56 |
} |
|
57 |
orb_set_color(ORB_OFF); |
|
58 |
} |
|
59 |
void search() //makes the robot face the beacon |
|
60 |
{ |
|
61 |
orb_set_color(YELLOW); //show that the robot is searching |
|
62 |
bom_refresh(BOM_ALL); |
|
63 |
int top=bom_get_max(); |
|
64 |
|
|
65 |
if ((top<4) || (top>11)) //determine which way to turn |
|
66 |
{ |
|
67 |
motor_r_set(BACKWARD,200); |
|
68 |
motor_l_set(FORWARD,200); |
|
69 |
} |
|
70 |
else if((top>4) && (top<12)) |
|
71 |
{ |
|
72 |
motor_r_set(FORWARD,200); |
|
73 |
motor_l_set(BACKWARD,200); |
|
74 |
} |
|
75 |
while (top != 4) |
|
76 |
{ |
|
77 |
bom_refresh(BOM_ALL); |
|
78 |
top=bom_get_max(); |
|
79 |
} |
|
80 |
motors_off(); |
|
81 |
} |
|
82 |
void approach() // drives to the right distance. |
|
83 |
{ |
|
84 |
int dist = 0; |
|
85 |
int temp = 0; |
|
86 |
int counter = 0; |
|
87 |
// int correct = 0; |
|
88 |
|
|
89 |
while(dist != RADIUS) //puts the robots in the given distance RADIUS |
|
90 |
{ |
|
91 |
temp=0; |
|
92 |
counter = 0; |
|
93 |
|
|
94 |
while(counter<8) // averages the first 8 legitimate (non -1) readings |
|
95 |
{ |
|
96 |
if(range_read_distance(IR2) == -1){} |
|
97 |
|
|
98 |
else |
|
99 |
{ |
|
100 |
temp += range_read_distance(IR2); |
|
101 |
counter++; |
|
102 |
} |
|
103 |
delay_ms(20); |
|
104 |
} |
|
105 |
dist = temp/8; |
|
106 |
|
|
107 |
/*if (correct >2){ |
|
108 |
orb_set_color(RED); |
|
109 |
break; |
|
110 |
|
|
111 |
} // stop within the dead zone: it knows it is in the dead zone if it hits +- 15 from RADIUS 3 times*/ |
|
112 |
bom_refresh(BOM_ALL); |
|
113 |
int top = bom_get_max(); |
|
114 |
while(top!=4) |
|
115 |
{ |
|
116 |
search(); |
|
117 |
bom_refresh(BOM_ALL); |
|
118 |
top = bom_get_max(); |
|
119 |
} |
|
120 |
|
|
121 |
if ( dist<(RADIUS+30) && dist>(RADIUS-30)) { // defines the dead zone +- 30 from the given radius |
|
122 |
orb_set_color(RED); |
|
123 |
break; |
|
124 |
} |
|
125 |
|
|
126 |
else if ((dist>RADIUS) || (dist==-1)) |
|
127 |
{ |
|
128 |
///delay_ms(200); |
|
129 |
search(); |
|
130 |
|
|
131 |
motor_r_set(FORWARD,200); |
|
132 |
motor_l_set(FORWARD,200); |
|
133 |
} |
|
134 |
else if ((dist<RADIUS)) |
|
135 |
{ |
|
136 |
//delay_ms(200); |
|
137 |
search(); |
|
138 |
|
|
139 |
motor_r_set(BACKWARD,200); |
|
140 |
motor_l_set(BACKWARD,200); |
|
141 |
} |
|
142 |
|
|
143 |
} |
|
144 |
|
|
145 |
orb_set_color(BLUE); |
|
146 |
|
|
147 |
motors_off(); |
|
148 |
|
|
149 |
/*usb_puti(range_read_distance(IR2)); |
|
150 |
usb_puts("\n\r"); |
|
151 |
motor_r_set(FORWARD,200); |
|
152 |
motor_l_set(FORWARD,200); |
|
153 |
delay_ms(300); |
|
154 |
usb_puti(range_read_distance(IR2)); |
|
155 |
usb_puts("\n\r"); |
|
156 |
delay_ms(300); |
|
157 |
usb_puti(range_read_distance(IR2)); |
|
158 |
usb_puts("\n\r"); |
|
159 |
delay_ms(300); |
|
160 |
usb_puti(range_read_distance(IR2)); |
|
161 |
usb_puts("\n\r");*/ |
|
162 |
} |
|
163 |
void lastDrive() // used for the final drive in lab1 and not useful here; control loop code may be recycled. |
|
164 |
{ |
|
165 |
int lspeed = 190; |
|
166 |
int rspeed = 190; |
|
167 |
int firstldist = encoder_get_x(LEFT); |
|
168 |
int firstrdist = encoder_get_x(RIGHT); |
|
169 |
int ldist = firstldist; |
|
170 |
int rdist = firstrdist; |
|
171 |
while ( (ldist-firstldist<800) && (rdist-firstrdist<800) ) |
|
172 |
{ |
|
173 |
motor_l_set(FORWARD,lspeed); |
|
174 |
motor_r_set(FORWARD,rspeed); |
|
175 |
|
|
176 |
int lvel = encoder_get_v(LEFT); |
|
177 |
int rvel = encoder_get_v(RIGHT); |
|
178 |
|
|
179 |
usb_puts("\n\rLeft distance: "); |
|
180 |
usb_puti(ldist-firstldist); |
|
181 |
usb_puts("\n\rRight distance: "); |
|
182 |
usb_puti(rdist-firstrdist); |
|
183 |
usb_puts("\n\rLeft velocity: "); |
|
184 |
usb_puti(lvel); |
|
185 |
usb_puts("\n\rRight velocity: "); |
|
186 |
usb_puti(rvel); |
|
187 |
usb_puts("\n\r\n\r"); |
|
188 |
|
|
189 |
if (rvel<lvel) // adjust the speeds if the encoders have a mismatch. |
|
190 |
{ |
|
191 |
rspeed += 1; |
|
192 |
lspeed -= 1; |
|
193 |
} |
|
194 |
else if (rvel>lvel) |
|
195 |
{ |
|
196 |
rspeed -= 1; |
|
197 |
lspeed += 1; |
|
198 |
} |
|
199 |
ldist = encoder_get_x(LEFT); |
|
200 |
rdist = encoder_get_x(RIGHT); |
|
201 |
|
|
202 |
delay_ms(25); |
|
203 |
} |
|
204 |
motors_off(); |
|
205 |
orb_set_color(GREEN); |
|
206 |
} |
branches/bom_refactor/code/behaviors/formation_control/circle/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 = circle |
|
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 = com4 |
|
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$(COLONYROOT)/lib/include/libdragonfly |
|
121 |
CINCS += -L$(COLONYROOT)/lib/bin |
|
122 |
ifdef USE_WIRELESS |
|
123 |
CINCS += -I$(COLONYROOT)/lib/include/libwireless |
|
124 |
endif |
|
125 |
|
|
126 |
#---------------- Compiler Options ---------------- |
|
127 |
# -g*: generate debugging information |
|
128 |
# -O*: optimization level |
|
129 |
# -f...: tuning, see GCC manual and avr-libc documentation |
|
130 |
# -Wall...: warning level |
|
131 |
# -Wa,...: tell GCC to pass this to the assembler. |
|
132 |
# -adhlns...: create assembler listing |
|
133 |
CFLAGS = |
|
134 |
# CFLAGS = -g$(DEBUG) |
|
135 |
CFLAGS += $(CDEFS) $(CINCS) |
|
136 |
CFLAGS += -O$(OPT) |
|
137 |
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
|
138 |
CFLAGS += -Wall -Wstrict-prototypes |
|
139 |
CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
|
140 |
CFLAGS += $(CSTANDARD) |
|
141 |
|
|
142 |
#---------------- Assembler Options ---------------- |
|
143 |
# -Wa,...: tell GCC to pass this to the assembler. |
|
144 |
# -ahlms: create listing |
|
145 |
# -gstabs: have the assembler create line number information; note that |
|
146 |
# for use in COFF files, additional information about filenames |
|
147 |
# and function names needs to be present in the assembler source |
|
148 |
# files -- see avr-libc docs [FIXME: not yet described there] |
|
149 |
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
|
150 |
|
|
151 |
|
|
152 |
#---------------- Library Options ---------------- |
|
153 |
# Minimalistic printf version |
|
154 |
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
|
155 |
|
|
156 |
# Floating point printf version (requires MATH_LIB = -lm below) |
|
157 |
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
|
158 |
|
|
159 |
# If this is left blank, then it will use the Standard printf version. |
|
160 |
PRINTF_LIB = |
|
161 |
#PRINTF_LIB = $(PRINTF_LIB_MIN) |
|
162 |
#PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
|
163 |
|
|
164 |
|
|
165 |
# Minimalistic scanf version |
|
166 |
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
|
167 |
|
|
168 |
# Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
|
169 |
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
|
170 |
|
|
171 |
# If this is left blank, then it will use the Standard scanf version. |
|
172 |
SCANF_LIB = |
|
173 |
#SCANF_LIB = $(SCANF_LIB_MIN) |
|
174 |
#SCANF_LIB = $(SCANF_LIB_FLOAT) |
|
175 |
|
|
176 |
MATH_LIB = -lm |
|
177 |
|
|
178 |
#---------------- External Memory Options ---------------- |
|
179 |
|
|
180 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
|
181 |
# used for variables (.data/.bss) and heap (malloc()). |
|
182 |
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
|
183 |
|
|
184 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
|
185 |
# only used for heap (malloc()). |
|
186 |
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
|
187 |
|
|
188 |
EXTMEMOPTS = |
|
189 |
|
|
190 |
#---------------- Linker Options ---------------- |
|
191 |
# -Wl,...: tell GCC to pass this to linker. |
|
192 |
# -Map: create map file |
|
193 |
# --cref: add cross reference to map file |
|
194 |
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
|
195 |
LDFLAGS += $(EXTMEMOPTS) |
|
196 |
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
|
197 |
ifdef USE_WIRELESS |
|
198 |
LDFLAGS += -lwireless |
|
199 |
endif |
|
200 |
LDFLAGS += -ldragonfly |
|
201 |
|
|
202 |
|
|
203 |
|
|
204 |
#---------------- Programming Options (avrdude) ---------------- |
|
205 |
|
|
206 |
# Programming hardware: alf avr910 avrisp bascom bsd |
|
207 |
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
|
208 |
# |
|
209 |
# Type: avrdude -c ? |
|
210 |
# to get a full listing. |
|
211 |
# |
|
212 |
AVRDUDE_PROGRAMMER = avrisp |
|
213 |
|
|
214 |
# programmer connected to serial device |
|
215 |
|
|
216 |
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
|
217 |
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
|
218 |
|
|
219 |
|
|
220 |
# Uncomment the following if you want avrdude's erase cycle counter. |
|
221 |
# Note that this counter needs to be initialized first using -Yn, |
|
222 |
# see avrdude manual. |
|
223 |
#AVRDUDE_ERASE_COUNTER = -y |
|
224 |
|
|
225 |
# Uncomment the following if you do /not/ wish a verification to be |
|
226 |
# performed after programming the device. |
|
227 |
#AVRDUDE_NO_VERIFY = -V |
|
228 |
|
|
229 |
# Increase verbosity level. Please use this when submitting bug |
|
230 |
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
|
231 |
# to submit bug reports. |
|
232 |
#AVRDUDE_VERBOSE = -v -v |
|
233 |
|
|
234 |
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
|
235 |
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) |
|
236 |
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) |
|
237 |
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) |
|
238 |
|
|
239 |
#don't check for device signature |
|
240 |
AVRDUDE_FLAGS += -F |
|
241 |
|
|
242 |
|
|
243 |
|
|
244 |
#---------------- Debugging Options ---------------- |
|
245 |
|
|
246 |
# For simulavr only - target MCU frequency. |
|
247 |
DEBUG_MFREQ = $(F_CPU) |
|
248 |
|
|
249 |
# Set the DEBUG_UI to either gdb or insight. |
|
250 |
# DEBUG_UI = gdb |
|
251 |
DEBUG_UI = insight |
|
252 |
|
|
253 |
# Set the debugging back-end to either avarice, simulavr. |
|
254 |
DEBUG_BACKEND = avarice |
|
255 |
#DEBUG_BACKEND = simulavr |
|
256 |
|
|
257 |
# GDB Init Filename. |
|
258 |
GDBINIT_FILE = __avr_gdbinit |
|
259 |
|
|
260 |
# When using avarice settings for the JTAG |
|
261 |
JTAG_DEV = /dev/com1 |
|
262 |
|
|
263 |
# Debugging port used to communicate between GDB / avarice / simulavr. |
|
264 |
DEBUG_PORT = 4242 |
|
265 |
|
|
266 |
# Debugging host used to communicate between GDB / avarice / simulavr, normally |
|
267 |
# just set to localhost unless doing some sort of crazy debugging when |
|
268 |
# avarice is running on a different computer. |
|
269 |
DEBUG_HOST = localhost |
|
270 |
|
|
271 |
|
|
272 |
|
|
273 |
#============================================================================ |
|
274 |
|
|
275 |
|
|
276 |
# Define programs and commands. |
|
277 |
SHELL = sh |
|
278 |
CC = avr-gcc |
|
279 |
OBJCOPY = avr-objcopy |
|
280 |
OBJDUMP = avr-objdump |
|
281 |
SIZE = avr-size |
|
282 |
NM = avr-nm |
|
283 |
AVRDUDE = avrdude |
|
284 |
REMOVE = rm -f |
|
285 |
REMOVEDIR = rm -rf |
|
286 |
COPY = cp |
|
287 |
WINSHELL = cmd |
|
288 |
|
|
289 |
|
|
290 |
# Define Messages |
|
291 |
# English |
|
292 |
MSG_ERRORS_NONE = Errors: none |
|
293 |
MSG_BEGIN = -------- begin -------- |
|
294 |
MSG_END = -------- end -------- |
|
295 |
MSG_SIZE_BEFORE = Size before: |
|
296 |
MSG_SIZE_AFTER = Size after: |
|
297 |
MSG_COFF = Converting to AVR COFF: |
|
298 |
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
|
299 |
MSG_FLASH = Creating load file for Flash: |
|
300 |
MSG_EEPROM = Creating load file for EEPROM: |
|
301 |
MSG_EXTENDED_LISTING = Creating Extended Listing: |
|
302 |
MSG_SYMBOL_TABLE = Creating Symbol Table: |
|
303 |
MSG_LINKING = Linking: |
|
304 |
MSG_COMPILING = Compiling: |
|
305 |
MSG_ASSEMBLING = Assembling: |
|
306 |
MSG_CLEANING = Cleaning project: |
|
307 |
|
|
308 |
|
|
309 |
|
|
310 |
|
|
311 |
# Define all object files. |
|
312 |
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
|
313 |
|
|
314 |
# Define all listing files. |
|
315 |
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
|
316 |
|
|
317 |
|
|
318 |
# Compiler flags to generate dependency files. |
|
319 |
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
|
320 |
|
|
321 |
|
|
322 |
# Combine all necessary flags and optional flags. |
|
323 |
# Add target processor to flags. |
|
324 |
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) |
|
325 |
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
|
326 |
|
|
327 |
|
|
328 |
|
|
329 |
|
|
330 |
|
|
331 |
# Default target. |
|
332 |
all: begin gccversion sizebefore build sizeafter end |
|
333 |
|
|
334 |
build: elf hex eep lss sym |
|
335 |
|
|
336 |
elf: $(TARGET).elf |
|
337 |
hex: $(TARGET).hex |
|
338 |
eep: $(TARGET).eep |
|
339 |
lss: $(TARGET).lss |
|
340 |
sym: $(TARGET).sym |
|
341 |
|
|
342 |
|
|
343 |
|
|
344 |
# Eye candy. |
|
345 |
# AVR Studio 3.x does not check make's exit code but relies on |
|
346 |
# the following magic strings to be generated by the compile job. |
|
347 |
begin: |
|
348 |
@echo |
|
349 |
@echo $(MSG_BEGIN) |
|
350 |
|
|
351 |
end: |
|
352 |
@echo $(MSG_END) |
|
353 |
@echo |
|
354 |
|
|
355 |
|
|
356 |
# Display size of file. |
|
357 |
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
|
358 |
ELFSIZE = $(SIZE) -A $(TARGET).elf |
|
359 |
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU) |
|
360 |
|
|
361 |
sizebefore: |
|
362 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ |
|
363 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
364 |
|
|
365 |
sizeafter: |
|
366 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ |
|
367 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
368 |
|
|
369 |
|
|
370 |
|
|
371 |
# Display compiler version information. |
|
372 |
gccversion : |
|
373 |
@$(CC) --version |
|
374 |
|
|
375 |
|
|
376 |
|
|
377 |
# Program the device. |
|
378 |
program: $(TARGET).hex $(TARGET).eep |
|
379 |
#-taskkill /IM ttermpro.exe |
|
380 |
#sleep 1 |
|
381 |
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
|
382 |
|
|
383 |
|
|
384 |
# Generate avr-gdb config/init file which does the following: |
|
385 |
# define the reset signal, load the target file, connect to target, and set |
|
386 |
# a breakpoint at main(). |
|
387 |
gdb-config: |
|
388 |
@$(REMOVE) $(GDBINIT_FILE) |
|
389 |
@echo define reset >> $(GDBINIT_FILE) |
|
390 |
@echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
|
391 |
@echo end >> $(GDBINIT_FILE) |
|
392 |
@echo file $(TARGET).elf >> $(GDBINIT_FILE) |
|
393 |
@echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
|
394 |
ifeq ($(DEBUG_BACKEND),simulavr) |
|
395 |
@echo load >> $(GDBINIT_FILE) |
|
396 |
endif |
|
397 |
@echo break main >> $(GDBINIT_FILE) |
|
398 |
|
|
399 |
debug: gdb-config $(TARGET).elf |
|
400 |
ifeq ($(DEBUG_BACKEND), avarice) |
|
401 |
@echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
|
402 |
@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
|
403 |
$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
|
404 |
@$(WINSHELL) /c pause |
|
405 |
|
|
406 |
else |
|
407 |
@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ |
|
408 |
$(DEBUG_MFREQ) --port $(DEBUG_PORT) |
|
409 |
endif |
|
410 |
@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) |
|
411 |
|
|
412 |
|
|
413 |
|
|
414 |
|
|
415 |
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. |
|
416 |
COFFCONVERT=$(OBJCOPY) --debugging \ |
|
417 |
--change-section-address .data-0x800000 \ |
|
418 |
--change-section-address .bss-0x800000 \ |
|
419 |
--change-section-address .noinit-0x800000 \ |
|
420 |
--change-section-address .eeprom-0x810000 |
|
421 |
|
|
422 |
|
|
423 |
coff: $(TARGET).elf |
|
424 |
@echo |
|
425 |
@echo $(MSG_COFF) $(TARGET).cof |
|
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$(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
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extcoff: $(TARGET).elf |
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@echo |
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@echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
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$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
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# Create final output files (.hex, .eep) from ELF output file. |
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%.hex: %.elf |
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@echo |
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@echo $(MSG_FLASH) $@ |
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$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
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%.eep: %.elf |
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@echo |
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@echo $(MSG_EEPROM) $@ |
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-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
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--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
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# Create extended listing file from ELF output file. |
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%.lss: %.elf |
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@echo |
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@echo $(MSG_EXTENDED_LISTING) $@ |
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$(OBJDUMP) -h -S $< > $@ |
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# Create a symbol table from ELF output file. |
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%.sym: %.elf |
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@echo |
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@echo $(MSG_SYMBOL_TABLE) $@ |
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$(NM) -n $< > $@ |
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# Link: create ELF output file from object files. |
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.SECONDARY : $(TARGET).elf |
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.PRECIOUS : $(OBJ) |
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%.elf: $(OBJ) |
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@echo |
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@echo $(MSG_LINKING) $@ |
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$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
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# Compile: create object files from C source files. |
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%.o : %.c |
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@echo |
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@echo $(MSG_COMPILING) $< |
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$(CC) -c $(ALL_CFLAGS) $< -o $@ |
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# Compile: create assembler files from C source files. |
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%.s : %.c |
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$(CC) -S $(ALL_CFLAGS) $< -o $@ |
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# Assemble: create object files from assembler source files. |
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%.o : %.S |
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@echo |
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@echo $(MSG_ASSEMBLING) $< |
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$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
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# Create preprocessed source for use in sending a bug report. |
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%.i : %.c |
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$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
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# Target: clean project. |
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clean: begin clean_list end |
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clean_list : |
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@echo |
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@echo $(MSG_CLEANING) |
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$(REMOVE) $(TARGET).hex |
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$(REMOVE) $(TARGET).eep |
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$(REMOVE) $(TARGET).cof |
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$(REMOVE) $(TARGET).elf |
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$(REMOVE) $(TARGET).map |
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$(REMOVE) $(TARGET).sym |
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$(REMOVE) $(TARGET).lss |
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$(REMOVE) $(OBJ) |
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$(REMOVE) $(LST) |
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$(REMOVE) $(SRC:.c=.s) |
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$(REMOVE) $(SRC:.c=.d) |
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$(REMOVEDIR) .dep |
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# Include the dependency files. |
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-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
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# Listing of phony targets. |
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.PHONY : all begin finish end sizebefore sizeafter gccversion \ |
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521 |
build elf hex eep lss sym coff extcoff \ |
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clean clean_list program debug gdb-config |
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branches/bom_refactor/code/behaviors/formation_control/circle2/circle.c | ||
---|---|---|
1 |
#include <dragonfly_lib.h> |
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2 |
#include <encoders.h> |
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3 |
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4 |
/* |
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5 |
This program is used to make robots target a center (leader) robot using the BOM, |
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6 |
then drive toward it and stop at a certain distance away. |
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7 |
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8 |
The distance will eventually be adjustable. |
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9 |
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