Revision 484
moved another test
trunk/code/projects/colonet/testing/robot_routine_reg_test/Makefile | ||
---|---|---|
1 |
# Hey Emacs, this is a -*- makefile -*- |
|
2 |
#---------------------------------------------------------------------------- |
|
3 |
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al. |
|
4 |
# |
|
5 |
# Released to the Public Domain |
|
6 |
# |
|
7 |
# Additional material for this makefile was written by: |
|
8 |
# Peter Fleury |
|
9 |
# Tim Henigan |
|
10 |
# Colin O'Flynn |
|
11 |
# Reiner Patommel |
|
12 |
# Markus Pfaff |
|
13 |
# Sander Pool |
|
14 |
# Frederik Rouleau |
|
15 |
# |
|
16 |
#---------------------------------------------------------------------------- |
|
17 |
# On command line: |
|
18 |
# |
|
19 |
# make all = Make software. |
|
20 |
# |
|
21 |
# make clean = Clean out built project files. |
|
22 |
# |
|
23 |
# make coff = Convert ELF to AVR COFF. |
|
24 |
# |
|
25 |
# make extcoff = Convert ELF to AVR Extended COFF. |
|
26 |
# |
|
27 |
# make program = Download the hex file to the device, using avrdude. |
|
28 |
# Please customize the avrdude settings below first! |
|
29 |
# |
|
30 |
# make debug = Start either simulavr or avarice as specified for debugging, |
|
31 |
# with avr-gdb or avr-insight as the front end for debugging. |
|
32 |
# |
|
33 |
# make filename.s = Just compile filename.c into the assembler code only. |
|
34 |
# |
|
35 |
# make filename.i = Create a preprocessed source file for use in submitting |
|
36 |
# bug reports to the GCC project. |
|
37 |
# |
|
38 |
# To rebuild project do "make clean" then "make all". |
|
39 |
#---------------------------------------------------------------------------- |
|
40 |
|
|
41 |
|
|
42 |
# MCU name |
|
43 |
MCU = atmega128 |
|
44 |
|
|
45 |
|
|
46 |
# Processor frequency. |
|
47 |
# This will define a symbol, F_CPU, in all source code files equal to the |
|
48 |
# processor frequency. You can then use this symbol in your source code to |
|
49 |
# calculate timings. Do NOT tack on a 'UL' at the end, this will be done |
|
50 |
# automatically to create a 32-bit value in your source code. |
|
51 |
F_CPU = 16000000 |
|
52 |
|
|
53 |
|
|
54 |
# Output format. (can be srec, ihex, binary) |
|
55 |
FORMAT = ihex |
|
56 |
|
|
57 |
|
|
58 |
# Target file name (without extension). |
|
59 |
TARGET = robot_routine_reg_test |
|
60 |
|
|
61 |
|
|
62 |
# List C source files here. (C dependencies are automatically generated.) |
|
63 |
SRC = $(wildcard *.c) |
|
64 |
#$(TARGET).c |
|
65 |
|
|
66 |
|
|
67 |
# List Assembler source files here. |
|
68 |
# Make them always end in a capital .S. Files ending in a lowercase .s |
|
69 |
# will not be considered source files but generated files (assembler |
|
70 |
# output from the compiler), and will be deleted upon "make clean"! |
|
71 |
# Even though the DOS/Win* filesystem matches both .s and .S the same, |
|
72 |
# it will preserve the spelling of the filenames, and gcc itself does |
|
73 |
# care about how the name is spelled on its command-line. |
|
74 |
ASRC = |
|
75 |
|
|
76 |
|
|
77 |
# Optimization level, can be [0, 1, 2, 3, s]. |
|
78 |
# 0 = turn off optimization. s = optimize for size. |
|
79 |
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
|
80 |
OPT = s |
|
81 |
|
|
82 |
|
|
83 |
# Debugging format. |
|
84 |
# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. |
|
85 |
# AVR Studio 4.10 requires dwarf-2. |
|
86 |
# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. |
|
87 |
DEBUG = dwarf-2 |
|
88 |
|
|
89 |
|
|
90 |
# List any extra directories to look for include files here. |
|
91 |
# Each directory must be seperated by a space. |
|
92 |
# Use forward slashes for directory separators. |
|
93 |
# For a directory that has spaces, enclose it in quotes. |
|
94 |
EXTRAINCDIRS = c:/roboclub_repository/emarinel/code/colonet/lib c:/roboclub_repository/emarinel/code/firefly_plus_lib |
|
95 |
|
|
96 |
# Compiler flag to set the C Standard level. |
|
97 |
# c89 = "ANSI" C |
|
98 |
# gnu89 = c89 plus GCC extensions |
|
99 |
# c99 = ISO C99 standard (not yet fully implemented) |
|
100 |
# gnu99 = c99 plus GCC extensions |
|
101 |
CSTANDARD = -std=gnu99 |
|
102 |
|
|
103 |
|
|
104 |
# Place -D or -U options here |
|
105 |
CDEFS = -DF_CPU=$(F_CPU)UL |
|
106 |
|
|
107 |
|
|
108 |
# Place -I options here |
|
109 |
CINCS = |
|
110 |
|
|
111 |
|
|
112 |
|
|
113 |
#---------------- Compiler Options ---------------- |
|
114 |
# -g*: generate debugging information |
|
115 |
# -O*: optimization level |
|
116 |
# -f...: tuning, see GCC manual and avr-libc documentation |
|
117 |
# -Wall...: warning level |
|
118 |
# -Wa,...: tell GCC to pass this to the assembler. |
|
119 |
# -adhlns...: create assembler listing |
|
120 |
CFLAGS = -g$(DEBUG) |
|
121 |
CFLAGS += $(CDEFS) $(CINCS) |
|
122 |
CFLAGS += -O$(OPT) |
|
123 |
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
|
124 |
CFLAGS += -Wall -Wstrict-prototypes |
|
125 |
CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
|
126 |
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) |
|
127 |
CFLAGS += $(CSTANDARD) |
|
128 |
|
|
129 |
|
|
130 |
#---------------- Assembler Options ---------------- |
|
131 |
# -Wa,...: tell GCC to pass this to the assembler. |
|
132 |
# -ahlms: create listing |
|
133 |
# -gstabs: have the assembler create line number information; note that |
|
134 |
# for use in COFF files, additional information about filenames |
|
135 |
# and function names needs to be present in the assembler source |
|
136 |
# files -- see avr-libc docs [FIXME: not yet described there] |
|
137 |
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
|
138 |
|
|
139 |
|
|
140 |
#---------------- Library Options ---------------- |
|
141 |
# Minimalistic printf version |
|
142 |
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
|
143 |
|
|
144 |
# Floating point printf version (requires MATH_LIB = -lm below) |
|
145 |
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
|
146 |
|
|
147 |
# If this is left blank, then it will use the Standard printf version. |
|
148 |
PRINTF_LIB = |
|
149 |
#PRINTF_LIB = $(PRINTF_LIB_MIN) |
|
150 |
#PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
|
151 |
|
|
152 |
|
|
153 |
# Minimalistic scanf version |
|
154 |
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
|
155 |
|
|
156 |
# Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
|
157 |
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
|
158 |
|
|
159 |
# If this is left blank, then it will use the Standard scanf version. |
|
160 |
SCANF_LIB = |
|
161 |
#SCANF_LIB = $(SCANF_LIB_MIN) |
|
162 |
#SCANF_LIB = $(SCANF_LIB_FLOAT) |
|
163 |
|
|
164 |
|
|
165 |
MATH_LIB = -lm |
|
166 |
|
|
167 |
|
|
168 |
|
|
169 |
#---------------- External Memory Options ---------------- |
|
170 |
|
|
171 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
|
172 |
# used for variables (.data/.bss) and heap (malloc()). |
|
173 |
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
|
174 |
|
|
175 |
# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
|
176 |
# only used for heap (malloc()). |
|
177 |
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
|
178 |
|
|
179 |
EXTMEMOPTS = |
|
180 |
|
|
181 |
|
|
182 |
|
|
183 |
#---------------- Linker Options ---------------- |
|
184 |
# -Wl,...: tell GCC to pass this to linker. |
|
185 |
# -Map: create map file |
|
186 |
# --cref: add cross reference to map file |
|
187 |
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
|
188 |
LDFLAGS += $(EXTMEMOPTS) |
|
189 |
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
|
190 |
|
|
191 |
|
|
192 |
|
|
193 |
#---------------- Programming Options (avrdude) ---------------- |
|
194 |
|
|
195 |
# Programming hardware: alf avr910 avrisp bascom bsd |
|
196 |
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
|
197 |
# |
|
198 |
# Type: avrdude -c ? |
|
199 |
# to get a full listing. |
|
200 |
# |
|
201 |
AVRDUDE_PROGRAMMER = avrisp |
|
202 |
|
|
203 |
# com1 = serial port. Use lpt1 to connect to parallel port. |
|
204 |
AVRDUDE_PORT = com1 |
|
205 |
# programmer connected to serial device |
|
206 |
|
|
207 |
AVRDUDE_WRITE_FLASH = -b 9600 -U flash:w:$(TARGET).hex |
|
208 |
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
|
209 |
|
|
210 |
|
|
211 |
# Uncomment the following if you want avrdude's erase cycle counter. |
|
212 |
# Note that this counter needs to be initialized first using -Yn, |
|
213 |
# see avrdude manual. |
|
214 |
#AVRDUDE_ERASE_COUNTER = -y |
|
215 |
|
|
216 |
# Uncomment the following if you do /not/ wish a verification to be |
|
217 |
# performed after programming the device. |
|
218 |
AVRDUDE_NO_VERIFY = -V |
|
219 |
|
|
220 |
# Increase verbosity level. Please use this when submitting bug |
|
221 |
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
|
222 |
# to submit bug reports. |
|
223 |
#AVRDUDE_VERBOSE = -v -v |
|
224 |
|
|
225 |
AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
|
226 |
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) |
|
227 |
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) |
|
228 |
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) |
|
229 |
|
|
230 |
|
|
231 |
|
|
232 |
#---------------- Debugging Options ---------------- |
|
233 |
|
|
234 |
# For simulavr only - target MCU frequency. |
|
235 |
DEBUG_MFREQ = $(F_CPU) |
|
236 |
|
|
237 |
# Set the DEBUG_UI to either gdb or insight. |
|
238 |
# DEBUG_UI = gdb |
|
239 |
DEBUG_UI = insight |
|
240 |
|
|
241 |
# Set the debugging back-end to either avarice, simulavr. |
|
242 |
DEBUG_BACKEND = avarice |
|
243 |
#DEBUG_BACKEND = simulavr |
|
244 |
|
|
245 |
# GDB Init Filename. |
|
246 |
GDBINIT_FILE = __avr_gdbinit |
|
247 |
|
|
248 |
# When using avarice settings for the JTAG |
|
249 |
JTAG_DEV = /dev/com1 |
|
250 |
|
|
251 |
# Debugging port used to communicate between GDB / avarice / simulavr. |
|
252 |
DEBUG_PORT = 4242 |
|
253 |
|
|
254 |
# Debugging host used to communicate between GDB / avarice / simulavr, normally |
|
255 |
# just set to localhost unless doing some sort of crazy debugging when |
|
256 |
# avarice is running on a different computer. |
|
257 |
DEBUG_HOST = localhost |
|
258 |
|
|
259 |
|
|
260 |
|
|
261 |
#============================================================================ |
|
262 |
|
|
263 |
|
|
264 |
# Define programs and commands. |
|
265 |
SHELL = sh |
|
266 |
CC = avr-gcc |
|
267 |
OBJCOPY = avr-objcopy |
|
268 |
OBJDUMP = avr-objdump |
|
269 |
SIZE = avr-size |
|
270 |
NM = avr-nm |
|
271 |
AVRDUDE = avrdude |
|
272 |
REMOVE = rm -f |
|
273 |
COPY = cp |
|
274 |
WINSHELL = cmd |
|
275 |
|
|
276 |
|
|
277 |
# Define Messages |
|
278 |
# English |
|
279 |
MSG_ERRORS_NONE = Errors: none |
|
280 |
MSG_BEGIN = -------- begin -------- |
|
281 |
MSG_END = -------- end -------- |
|
282 |
MSG_SIZE_BEFORE = Size before: |
|
283 |
MSG_SIZE_AFTER = Size after: |
|
284 |
MSG_COFF = Converting to AVR COFF: |
|
285 |
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
|
286 |
MSG_FLASH = Creating load file for Flash: |
|
287 |
MSG_EEPROM = Creating load file for EEPROM: |
|
288 |
MSG_EXTENDED_LISTING = Creating Extended Listing: |
|
289 |
MSG_SYMBOL_TABLE = Creating Symbol Table: |
|
290 |
MSG_LINKING = Linking: |
|
291 |
MSG_COMPILING = Compiling: |
|
292 |
MSG_ASSEMBLING = Assembling: |
|
293 |
MSG_CLEANING = Cleaning project: |
|
294 |
|
|
295 |
|
|
296 |
|
|
297 |
|
|
298 |
# Define all object files. |
|
299 |
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
|
300 |
|
|
301 |
# Define all listing files. |
|
302 |
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
|
303 |
|
|
304 |
|
|
305 |
# Compiler flags to generate dependency files. |
|
306 |
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
|
307 |
|
|
308 |
|
|
309 |
# Combine all necessary flags and optional flags. |
|
310 |
# Add target processor to flags. |
|
311 |
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) |
|
312 |
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
|
313 |
|
|
314 |
|
|
315 |
|
|
316 |
|
|
317 |
|
|
318 |
# Default target. |
|
319 |
all: begin gccversion sizebefore build sizeafter end |
|
320 |
|
|
321 |
build: elf hex eep lss sym |
|
322 |
|
|
323 |
elf: $(TARGET).elf |
|
324 |
hex: $(TARGET).hex |
|
325 |
eep: $(TARGET).eep |
|
326 |
lss: $(TARGET).lss |
|
327 |
sym: $(TARGET).sym |
|
328 |
|
|
329 |
|
|
330 |
|
|
331 |
# Eye candy. |
|
332 |
# AVR Studio 3.x does not check make's exit code but relies on |
|
333 |
# the following magic strings to be generated by the compile job. |
|
334 |
begin: |
|
335 |
@echo |
|
336 |
@echo $(MSG_BEGIN) |
|
337 |
|
|
338 |
end: |
|
339 |
@echo $(MSG_END) |
|
340 |
@echo |
|
341 |
|
|
342 |
|
|
343 |
# Display size of file. |
|
344 |
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
|
345 |
ELFSIZE = $(SIZE) -A $(TARGET).elf |
|
346 |
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU) |
|
347 |
|
|
348 |
sizebefore: |
|
349 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ |
|
350 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
351 |
|
|
352 |
sizeafter: |
|
353 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ |
|
354 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
355 |
|
|
356 |
|
|
357 |
|
|
358 |
# Display compiler version information. |
|
359 |
gccversion : |
|
360 |
@$(CC) --version |
|
361 |
|
|
362 |
|
|
363 |
|
|
364 |
# Program the device. |
|
365 |
program: $(TARGET).hex $(TARGET).eep |
|
366 |
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
|
367 |
|
|
368 |
|
|
369 |
# Generate avr-gdb config/init file which does the following: |
|
370 |
# define the reset signal, load the target file, connect to target, and set |
|
371 |
# a breakpoint at main(). |
|
372 |
gdb-config: |
|
373 |
@$(REMOVE) $(GDBINIT_FILE) |
|
374 |
@echo define reset >> $(GDBINIT_FILE) |
|
375 |
@echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
|
376 |
@echo end >> $(GDBINIT_FILE) |
|
377 |
@echo file $(TARGET).elf >> $(GDBINIT_FILE) |
|
378 |
@echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
|
379 |
ifeq ($(DEBUG_BACKEND),simulavr) |
|
380 |
@echo load >> $(GDBINIT_FILE) |
|
381 |
endif |
|
382 |
@echo break main >> $(GDBINIT_FILE) |
|
383 |
|
|
384 |
debug: gdb-config $(TARGET).elf |
|
385 |
ifeq ($(DEBUG_BACKEND), avarice) |
|
386 |
@echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
|
387 |
@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
|
388 |
$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
|
389 |
@$(WINSHELL) /c pause |
|
390 |
|
|
391 |
else |
|
392 |
@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ |
|
393 |
$(DEBUG_MFREQ) --port $(DEBUG_PORT) |
|
394 |
endif |
|
395 |
@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) |
|
396 |
|
|
397 |
|
|
398 |
|
|
399 |
|
|
400 |
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. |
|
401 |
COFFCONVERT=$(OBJCOPY) --debugging \ |
|
402 |
--change-section-address .data-0x800000 \ |
|
403 |
--change-section-address .bss-0x800000 \ |
|
404 |
--change-section-address .noinit-0x800000 \ |
|
405 |
--change-section-address .eeprom-0x810000 |
|
406 |
|
|
407 |
|
|
408 |
coff: $(TARGET).elf |
|
409 |
@echo |
|
410 |
@echo $(MSG_COFF) $(TARGET).cof |
|
411 |
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
|
412 |
|
|
413 |
|
|
414 |
extcoff: $(TARGET).elf |
|
415 |
@echo |
|
416 |
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
|
417 |
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
|
418 |
|
|
419 |
|
|
420 |
|
|
421 |
# Create final output files (.hex, .eep) from ELF output file. |
|
422 |
%.hex: %.elf |
|
423 |
@echo |
|
424 |
@echo $(MSG_FLASH) $@ |
|
425 |
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
|
426 |
|
|
427 |
%.eep: %.elf |
|
428 |
@echo |
|
429 |
@echo $(MSG_EEPROM) $@ |
|
430 |
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
|
431 |
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
|
432 |
|
|
433 |
# Create extended listing file from ELF output file. |
|
434 |
%.lss: %.elf |
|
435 |
@echo |
|
436 |
@echo $(MSG_EXTENDED_LISTING) $@ |
|
437 |
$(OBJDUMP) -h -S $< > $@ |
|
438 |
|
|
439 |
# Create a symbol table from ELF output file. |
|
440 |
%.sym: %.elf |
|
441 |
@echo |
|
442 |
@echo $(MSG_SYMBOL_TABLE) $@ |
|
443 |
$(NM) -n $< > $@ |
|
444 |
|
|
445 |
|
|
446 |
|
|
447 |
# Link: create ELF output file from object files. |
|
448 |
.SECONDARY : $(TARGET).elf |
|
449 |
.PRECIOUS : $(OBJ) |
|
450 |
%.elf: $(OBJ) |
|
451 |
@echo |
|
452 |
@echo $(MSG_LINKING) $@ |
|
453 |
$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
|
454 |
|
|
455 |
|
|
456 |
# Compile: create object files from C source files. |
|
457 |
%.o : %.c |
|
458 |
@echo |
|
459 |
@echo $(MSG_COMPILING) $< |
|
460 |
$(CC) -c $(ALL_CFLAGS) $< -o $@ |
|
461 |
|
|
462 |
|
|
463 |
# Compile: create assembler files from C source files. |
|
464 |
%.s : %.c |
|
465 |
$(CC) -S $(ALL_CFLAGS) $< -o $@ |
|
466 |
|
|
467 |
|
|
468 |
# Assemble: create object files from assembler source files. |
|
469 |
%.o : %.S |
|
470 |
@echo |
|
471 |
@echo $(MSG_ASSEMBLING) $< |
|
472 |
$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
|
473 |
|
|
474 |
# Create preprocessed source for use in sending a bug report. |
|
475 |
%.i : %.c |
|
476 |
$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
|
477 |
|
|
478 |
|
|
479 |
# Target: clean project. |
|
480 |
clean: begin clean_list end |
|
481 |
|
|
482 |
clean_list : |
|
483 |
@echo |
|
484 |
@echo $(MSG_CLEANING) |
|
485 |
$(REMOVE) $(TARGET).hex |
|
486 |
$(REMOVE) $(TARGET).eep |
|
487 |
$(REMOVE) $(TARGET).cof |
|
488 |
$(REMOVE) $(TARGET).elf |
|
489 |
$(REMOVE) $(TARGET).map |
|
490 |
$(REMOVE) $(TARGET).sym |
|
491 |
$(REMOVE) $(TARGET).lss |
|
492 |
$(REMOVE) $(OBJ) |
|
493 |
$(REMOVE) $(LST) |
|
494 |
$(REMOVE) $(SRC:.c=.s) |
|
495 |
$(REMOVE) $(SRC:.c=.d) |
|
496 |
$(REMOVE) .dep/* |
|
497 |
|
|
498 |
|
|
499 |
|
|
500 |
# Include the dependency files. |
|
501 |
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
|
502 |
|
|
503 |
|
|
504 |
# Listing of phony targets. |
|
505 |
.PHONY : all begin finish end sizebefore sizeafter gccversion \ |
|
506 |
build elf hex eep lss sym coff extcoff \ |
|
507 |
clean clean_list program debug gdb-config |
|
508 |
|
trunk/code/projects/colonet/testing/robot_routine_reg_test/localization.h | ||
---|---|---|
1 |
#ifndef _LOCALIZATION_H_ |
|
2 |
#define _LOCALIZATION_H_ |
|
3 |
|
|
4 |
// Max number of robots possible |
|
5 |
#define MAX_ROBOTS 4 |
|
6 |
|
|
7 |
unsigned char sensors[MAX_ROBOTS][MAX_ROBOTS]; |
|
8 |
|
|
9 |
typedef struct{ |
|
10 |
//actual row of sensor values -- need to be able to have up to |
|
11 |
//max_robots |
|
12 |
unsigned char row[MAX_ROBOTS]; |
|
13 |
//actual length of the row |
|
14 |
unsigned char len; |
|
15 |
//'index' value of the row -- which robot it's for |
|
16 |
unsigned char row_num; |
|
17 |
|
|
18 |
} SensorRow; |
|
19 |
|
|
20 |
void addSensor (int maxBom, int self, int other, int NUM_BOTS); |
|
21 |
unsigned char getSelfSensor (unsigned char self, unsigned char other, |
|
22 |
int NUM_BOTS); |
|
23 |
|
|
24 |
#endif |
trunk/code/projects/colonet/testing/robot_routine_reg_test/time.c | ||
---|---|---|
1 |
/* |
|
2 |
time.c |
|
3 |
anything that requires a delay |
|
4 |
mostly delay_ms |
|
5 |
|
|
6 |
author: Robotics Club, Colony Project |
|
7 |
|
|
8 |
*/ |
|
9 |
#include <avr/interrupt.h> |
|
10 |
#include <avr/signal.h> |
|
11 |
#include <avr/delay.h> |
|
12 |
#include "time.h" |
|
13 |
//#include "help.h" |
|
14 |
#include "serial.h" |
|
15 |
|
|
16 |
|
|
17 |
static volatile int _rtc_val = 0; |
|
18 |
static void (*_rtc_f)(void) = 0; |
|
19 |
|
|
20 |
/* |
|
21 |
delay_ms |
|
22 |
|
|
23 |
delays for ms milliseconds |
|
24 |
|
|
25 |
accuracy is unknown (off by tens of nanoseconds every 15 ms) |
|
26 |
*/ |
|
27 |
void delay_ms(int ms) |
|
28 |
{ |
|
29 |
for(; ms > 15; ms-=15) |
|
30 |
_delay_ms(15); |
|
31 |
_delay_ms(ms); |
|
32 |
} |
|
33 |
|
|
34 |
void pause_ms(int ms) |
|
35 |
{ |
|
36 |
delay_ms(ms); |
|
37 |
} |
|
38 |
|
|
39 |
void pause(int ms) |
|
40 |
{ |
|
41 |
delay_ms(ms); |
|
42 |
} |
|
43 |
|
|
44 |
void sleep_ms(int ms) |
|
45 |
{ |
|
46 |
delay_ms(ms); |
|
47 |
} |
|
48 |
|
|
49 |
void sleep(int ms) |
|
50 |
{ |
|
51 |
delay_ms(ms); |
|
52 |
} |
|
53 |
|
|
54 |
/* |
|
55 |
void rtc_init(void) |
|
56 |
call this function to start the real time timer |
|
57 |
use rtc() to get the time value and rtc_resest() to reset |
|
58 |
|
|
59 |
requires global interrupts to be enabled for proper use |
|
60 |
(I bit of SREG register should be set) |
|
61 |
|
|
62 |
uses TIMER0 on asynchronous mode |
|
63 |
*/ |
|
64 |
|
|
65 |
void rtc_init(int prescale_opt, unsigned char ocr_val, void (*rtc_func)(void)){ |
|
66 |
int mask = _BV(TCN0UB) + _BV(OCR0UB) + _BV(TCR0UB); |
|
67 |
char tmp; |
|
68 |
|
|
69 |
TIMSK &= ~(_BV(OCIE0) + _BV(TOIE0)); //1. disable interrupts |
|
70 |
ASSR |= _BV(AS0); //2. selecting clock source (external) |
|
71 |
|
|
72 |
//3. writing new values to TCCR, TCNT, OCR |
|
73 |
TCNT0 = 0; |
|
74 |
OCR0 = ocr_val; |
|
75 |
TCCR0 = (0x01 << 3) + (prescale_opt & 0x07); //setting CTC mode, prescaler is lowest 3 bits |
|
76 |
|
|
77 |
//4. waiting for busy bits to clear |
|
78 |
tmp = ASSR; |
|
79 |
while( tmp & mask ){ |
|
80 |
tmp = ASSR; |
|
81 |
} |
|
82 |
|
|
83 |
TIFR &= ~(_BV(OCF0) + _BV(TOV0)); //5. clearing the interrupt flags |
|
84 |
TIMSK |= _BV(OCIE0); // + _BV(TOIE0); //6. enabling interrupts |
|
85 |
|
|
86 |
_rtc_f = rtc_func; |
|
87 |
} |
|
88 |
|
|
89 |
int rtc(void){ |
|
90 |
return _rtc_val; |
|
91 |
} |
|
92 |
|
|
93 |
void rtc_reset(void){ |
|
94 |
_rtc_val = 0; |
|
95 |
} |
|
96 |
|
|
97 |
SIGNAL (SIG_OUTPUT_COMPARE0){ |
|
98 |
_rtc_val++; |
|
99 |
|
|
100 |
if(_rtc_f != 0) |
|
101 |
_rtc_f(); |
|
102 |
} |
trunk/code/projects/colonet/testing/robot_routine_reg_test/servo.c | ||
---|---|---|
1 |
/* |
|
2 |
servo.c - Contains functions and interrupts necessary to activate servos |
|
3 |
author: Tom Lauwers |
|
4 |
|
|
5 |
3/1/06 Iain |
|
6 |
Man, I don't know what a servo is. |
|
7 |
*/ |
|
8 |
#include <avr/io.h> |
|
9 |
#include <avr/signal.h> |
|
10 |
#include "servo.h" |
|
11 |
#include "dio.h" |
|
12 |
#include "lights.h" |
|
13 |
#include "lcd.h" |
|
14 |
//16000 c/ms |
|
15 |
//i dunno must be 2^k |
|
16 |
//9C40 ~ 20ms |
|
17 |
//#A000 ~ 20.48 but prolly wont work |
|
18 |
#define SERVO_PERIOD 0xA000 |
|
19 |
//needs be 1ms |
|
20 |
//is 1.024ms |
|
21 |
#define SERVO_CONSTANT 0x800 |
|
22 |
|
|
23 |
/* dirty dirty |
|
24 |
unsigned int servo_vals[4] = {0,0,0,0}; // Stores the set servo values |
|
25 |
int current_servo = 0; // Stores which servo is current in the interrupt routine |
|
26 |
*/ |
|
27 |
unsigned int servo_vals[8] = {0,0,0,0,0,0,0,0}; // Stores the set servo values |
|
28 |
int phase_time=0; |
|
29 |
int phase_base=0; |
|
30 |
int servos_on = 0; // Stores which servos are enabled |
|
31 |
int servos_enabled=0; //which are high |
|
32 |
int servo_flag = 0; // Stores whether or not servos are enabled |
|
33 |
|
|
34 |
/* Timer 1 output compare B interrupt. Does the following: |
|
35 |
Checks to see if the current servo is 4, in which case just need |
|
36 |
to set low servo 3's signal and return. |
|
37 |
Else, check to see if the current servo is enabled, and set it's signal high |
|
38 |
Then, set the previous servo's signal low |
|
39 |
Now, set the next output compare to occur for some time from now |
|
40 |
specified by the current servo's value |
|
41 |
*/ |
|
42 |
SIGNAL (SIG_OUTPUT_COMPARE3B) |
|
43 |
{ |
|
44 |
lcd_putchar('i'); |
|
45 |
if(servo_flag == 0) |
|
46 |
return; |
|
47 |
|
|
48 |
int i; |
|
49 |
if(phase_time == 0){ |
|
50 |
lcd_putchar('p'); |
|
51 |
for(i=0;i<8;i++){ |
|
52 |
if(servos_on & _BV(i)) |
|
53 |
digital_output((_PORT_E << 3) +i,1); |
|
54 |
} |
|
55 |
servos_enabled = servos_on; |
|
56 |
phase_base = OCR3B; |
|
57 |
} |
|
58 |
|
|
59 |
unsigned int min=~0; |
|
60 |
for(i=0;i<8;i++){ |
|
61 |
if(_BV(i) & servos_enabled){ |
|
62 |
if(SERVO_CONSTANT*servo_vals[i] <= phase_time){ |
|
63 |
digital_output((_PORT_E << 3) + i,0); |
|
64 |
servos_enabled &= ~_BV(i); |
|
65 |
} |
|
66 |
else if(SERVO_CONSTANT*servo_vals[i] < min) { |
|
67 |
min = servo_vals[i]; |
|
68 |
} |
|
69 |
} |
|
70 |
} |
|
71 |
if(!servos_enabled){ |
|
72 |
OCR3B = phase_base + SERVO_PERIOD; |
|
73 |
phase_time = 0; |
|
74 |
} |
|
75 |
else { |
|
76 |
OCR3B = phase_base + min; |
|
77 |
phase_time = min; |
|
78 |
} |
|
79 |
|
|
80 |
} |
|
81 |
|
|
82 |
//currently the light must be initted b4 |
|
83 |
void init_servo() |
|
84 |
{ |
|
85 |
//1010 1001 |
|
86 |
TCCR3A = 0; // COM## set to noninvert, WGM 1:0 set to 1 |
|
87 |
//0000 1100 |
|
88 |
TCCR3B = 0x02; // High bits to 0, WGM 3:2 set to 1, prescaler to 8 |
|
89 |
|
|
90 |
lcd_init(); |
|
91 |
ETIMSK |= 0x08; |
|
92 |
servo_flag = 1; |
|
93 |
OCR3B = 0x80; |
|
94 |
lcd_putchar('i'); |
|
95 |
} |
|
96 |
|
|
97 |
// Enable a servo specified by config |
|
98 |
void enable_servo(int config) |
|
99 |
{ |
|
100 |
servos_on |= _BV(config); |
|
101 |
} |
|
102 |
|
|
103 |
// Disable a servo specified by config |
|
104 |
void disable_servo(int config) |
|
105 |
{ |
|
106 |
servos_on &= (0xFF-_BV(config)); |
|
107 |
} |
|
108 |
|
|
109 |
// Disables the timer1 interrupt, disabling the servos |
|
110 |
void disable_servos() |
|
111 |
{ |
|
112 |
// Disables interrupts |
|
113 |
ETIMSK &= ~0x08; |
|
114 |
servo_flag=0; |
|
115 |
|
|
116 |
} |
|
117 |
|
|
118 |
// Enables the timer1 interrupt, enabling the servos |
|
119 |
void enable_servos() |
|
120 |
{ |
|
121 |
// Enable interrupts on output compare B |
|
122 |
ETIMSK |= 0x08; |
|
123 |
servo_flag=1; |
|
124 |
} |
|
125 |
// Set a servo to a value. Automatically enables the servo. |
|
126 |
void set_servo(int servo, int value) |
|
127 |
{ |
|
128 |
enable_servo(servo); |
|
129 |
servo_vals[servo] = value; |
|
130 |
} |
|
131 |
|
trunk/code/projects/colonet/testing/robot_routine_reg_test/firefly+_lib.c | ||
---|---|---|
1 |
#include "firefly+_lib.h" |
|
2 |
|
|
3 |
|
|
4 |
void serial_test( void ); |
|
5 |
void lcd_test(void); |
|
6 |
void orb_test( void ); |
|
7 |
|
|
8 |
|
|
9 |
|
|
10 |
void motor_test (void) { |
|
11 |
|
|
12 |
|
|
13 |
|
|
14 |
|
|
15 |
|
|
16 |
} |
|
17 |
void orb_test( void ) { |
|
18 |
int orbs[13] = { ORB_OFF, RED, ORANGE, YELLOW, LIME, GREEN, CYAN, BLUE, PURPLE, PINK, PURPLE, MAGENTA, WHITE }; |
|
19 |
int orb_select = 0; |
|
20 |
|
|
21 |
orb_init(); |
|
22 |
|
|
23 |
|
|
24 |
while(1) { |
|
25 |
orb_set_color(orbs[orb_select]); |
|
26 |
delay_ms(1000); |
|
27 |
orb_select++; |
|
28 |
if(orb_select == 14) |
|
29 |
orb_select = 0; |
|
30 |
} |
|
31 |
|
|
32 |
return; |
|
33 |
|
|
34 |
} |
|
35 |
|
|
36 |
|
|
37 |
void lcd_test(void) { |
|
38 |
int i; |
|
39 |
lcd_init(); |
|
40 |
|
|
41 |
for(i = 32; i <= 126; i++) { |
|
42 |
lcd_putchar(i); |
|
43 |
delay_ms(250); |
|
44 |
} |
|
45 |
|
|
46 |
|
|
47 |
return; |
|
48 |
|
|
49 |
} |
|
50 |
|
|
51 |
/* |
|
52 |
prints all printable characters to the serial |
|
53 |
|
|
54 |
baud rate is 115200 |
|
55 |
*/ |
|
56 |
void serial_test( void ) { |
|
57 |
int i; |
|
58 |
|
|
59 |
serial_init(BAUD115200); |
|
60 |
|
|
61 |
for(i = 32; i <= 126; i++) { |
|
62 |
serial_putchar(i); |
|
63 |
delay_ms(250); |
|
64 |
} |
|
65 |
|
|
66 |
return; |
|
67 |
} |
|
68 |
|
|
69 |
|
|
70 |
|
|
71 |
|
trunk/code/projects/colonet/testing/robot_routine_reg_test/analog.c | ||
---|---|---|
1 |
/* |
|
2 |
analog.c - Contains the function implementations for manipulating the ADC |
|
3 |
on the firefly+ board |
|
4 |
|
|
5 |
author: CMU Robotics Club, Colony Project |
|
6 |
code mostly taken from fwr analog file (author: Tom Lauwers) |
|
7 |
*/ |
|
8 |
|
|
9 |
#include <avr/delay.h> |
|
10 |
#include <avr/interrupt.h> |
|
11 |
#include <avr/signal.h> |
|
12 |
#include "analog.h" |
|
13 |
|
|
14 |
void analog_init(void){ |
|
15 |
|
|
16 |
/* |
|
17 |
ADC Status Register A |
|
18 |
Bit 7 - ADEN is set (enables analog) |
|
19 |
Bit 6 - Start conversion bit is set (must be done once for free-running mode) |
|
20 |
Bit 5 - Enable Auto Trigger (for free running mode) |
|
21 |
Bit 3 - Enable ADC Interrupt (required to run free-running mode) |
|
22 |
Bits 2-0 - Set to create a clock divisor of 128, to make ADC clock = 16,000,000/128 |
|
23 |
*/ |
|
24 |
ADCSRA |= 0xEF; |
|
25 |
|
|
26 |
/* |
|
27 |
ADMUX register |
|
28 |
Bit 7,6 - Set voltage reference to AVcc (0b01) |
|
29 |
Bit 5 - Set ADLAR bit for left adjust to do simple 8-bit reads |
|
30 |
Bit 4 - X |
|
31 |
Bit 3:0 - Sets the current channel |
|
32 |
*/ |
|
33 |
ADMUX = 0x67; |
|
34 |
} |
|
35 |
|
|
36 |
unsigned int analog8(int which){ |
|
37 |
ADMUX = 0x60 + which; |
|
38 |
_delay_ms(1); // need at least 130 us between conversions (for fwr robot, how much for new avr?) |
|
39 |
return ADCH; |
|
40 |
} |
|
41 |
|
|
42 |
unsigned int analog10(int which){ |
|
43 |
unsigned int adc_h = 0; |
|
44 |
unsigned int adc_l = 0; |
|
45 |
|
|
46 |
ADMUX = 0x60 + which; |
|
47 |
_delay_ms(1); |
|
48 |
adc_l = ADCL; /* highest 2 bits of ADCL -> least 2 bits of analog val */ |
|
49 |
adc_h = ADCH; /* ADCH -> 8 highest bits of analog val */ |
|
50 |
|
|
51 |
return (adc_h << 2) | (adc_l >> 6); |
|
52 |
} |
|
53 |
|
|
54 |
int wheel(void){ |
|
55 |
return analog8(WHEEL_PORT); |
|
56 |
} |
|
57 |
|
|
58 |
int battery(void){ |
|
59 |
return analog8(BATT_PORT) * 500 / 255; /* 5 volts is the max, 255 is the max 8bit number */ |
|
60 |
} |
|
61 |
|
|
62 |
SIGNAL (SIG_ADC) |
|
63 |
{ |
|
64 |
// This is just here to catch ADC interrupts because ADC is free running. |
|
65 |
// No code needs to be in here. |
|
66 |
} |
trunk/code/projects/colonet/testing/robot_routine_reg_test/lcd.c | ||
---|---|---|
1 |
/* |
|
2 |
|
|
3 |
lcd-ar2.c - implementation for lcd functions |
|
4 |
|
|
5 |
Author: CMU Robotics Club, Colony Project |
|
6 |
|
|
7 |
This uses SPI. |
|
8 |
|
|
9 |
lcd_init MUST be called before anything can be used. |
|
10 |
|
|
11 |
*/ |
|
12 |
|
|
13 |
#include <avr/io.h> |
|
14 |
#include "lcd.h" |
|
15 |
#include "time.h" |
|
16 |
|
|
17 |
/* |
|
18 |
FontLookup - a lookup table for all characters |
|
19 |
*/ |
|
20 |
static const unsigned char FontLookup [][5] = |
|
21 |
{ |
|
22 |
{ 0x00, 0x00, 0x00, 0x00, 0x00 }, // sp |
|
23 |
{ 0x00, 0x00, 0x5f, 0x00, 0x00 }, // ! |
|
24 |
{ 0x00, 0x07, 0x00, 0x07, 0x00 }, // " |
|
25 |
{ 0x14, 0x7f, 0x14, 0x7f, 0x14 }, // # |
|
26 |
{ 0x24, 0x2a, 0x7f, 0x2a, 0x12 }, // $ |
|
27 |
{ 0x23, 0x13, 0x08, 0x64, 0x62 }, // % |
|
28 |
{ 0x36, 0x49, 0x55, 0x22, 0x50 }, // & |
|
29 |
{ 0x00, 0x05, 0x03, 0x00, 0x00 }, // ' |
|
30 |
{ 0x00, 0x1c, 0x22, 0x41, 0x00 }, // ( |
|
31 |
{ 0x00, 0x41, 0x22, 0x1c, 0x00 }, // ) |
|
32 |
{ 0x14, 0x08, 0x3E, 0x08, 0x14 }, // * |
|
33 |
{ 0x08, 0x08, 0x3E, 0x08, 0x08 }, // + |
|
34 |
{ 0x00, 0x00, 0x50, 0x30, 0x00 }, // , |
|
35 |
{ 0x10, 0x10, 0x10, 0x10, 0x10 }, // - |
|
36 |
{ 0x00, 0x60, 0x60, 0x00, 0x00 }, // . |
|
37 |
{ 0x20, 0x10, 0x08, 0x04, 0x02 }, // / |
|
38 |
{ 0x3E, 0x51, 0x49, 0x45, 0x3E }, // 0 |
|
39 |
{ 0x00, 0x42, 0x7F, 0x40, 0x00 }, // 1 |
|
40 |
{ 0x42, 0x61, 0x51, 0x49, 0x46 }, // 2 |
|
41 |
{ 0x21, 0x41, 0x45, 0x4B, 0x31 }, // 3 |
|
42 |
{ 0x18, 0x14, 0x12, 0x7F, 0x10 }, // 4 |
|
43 |
{ 0x27, 0x45, 0x45, 0x45, 0x39 }, // 5 |
|
44 |
{ 0x3C, 0x4A, 0x49, 0x49, 0x30 }, // 6 |
|
45 |
{ 0x01, 0x71, 0x09, 0x05, 0x03 }, // 7 |
|
46 |
{ 0x36, 0x49, 0x49, 0x49, 0x36 }, // 8 |
|
47 |
{ 0x06, 0x49, 0x49, 0x29, 0x1E }, // 9 |
|
48 |
{ 0x00, 0x36, 0x36, 0x00, 0x00 }, // : |
|
49 |
{ 0x00, 0x56, 0x36, 0x00, 0x00 }, // ; |
|
50 |
{ 0x08, 0x14, 0x22, 0x41, 0x00 }, // < |
|
51 |
{ 0x14, 0x14, 0x14, 0x14, 0x14 }, // = |
|
52 |
{ 0x00, 0x41, 0x22, 0x14, 0x08 }, // > |
|
53 |
{ 0x02, 0x01, 0x51, 0x09, 0x06 }, // ? |
|
54 |
{ 0x32, 0x49, 0x59, 0x51, 0x3E }, // @ |
|
55 |
{ 0x7E, 0x11, 0x11, 0x11, 0x7E }, // A |
|
56 |
{ 0x7F, 0x49, 0x49, 0x49, 0x36 }, // B |
|
57 |
{ 0x3E, 0x41, 0x41, 0x41, 0x22 }, // C |
|
58 |
{ 0x7F, 0x41, 0x41, 0x22, 0x1C }, // D |
|
59 |
{ 0x7F, 0x49, 0x49, 0x49, 0x41 }, // E |
|
60 |
{ 0x7F, 0x09, 0x09, 0x09, 0x01 }, // F |
|
61 |
{ 0x3E, 0x41, 0x49, 0x49, 0x7A }, // G |
|
62 |
{ 0x7F, 0x08, 0x08, 0x08, 0x7F }, // H |
|
63 |
{ 0x00, 0x41, 0x7F, 0x41, 0x00 }, // I |
|
64 |
{ 0x20, 0x40, 0x41, 0x3F, 0x01 }, // J |
|
65 |
{ 0x7F, 0x08, 0x14, 0x22, 0x41 }, // K |
|
66 |
{ 0x7F, 0x40, 0x40, 0x40, 0x40 }, // L |
|
67 |
{ 0x7F, 0x02, 0x0C, 0x02, 0x7F }, // M |
|
68 |
{ 0x7F, 0x04, 0x08, 0x10, 0x7F }, // N |
|
69 |
{ 0x3E, 0x41, 0x41, 0x41, 0x3E }, // O |
|
70 |
{ 0x7F, 0x09, 0x09, 0x09, 0x06 }, // P |
|
71 |
{ 0x3E, 0x41, 0x51, 0x21, 0x5E }, // Q |
|
72 |
{ 0x7F, 0x09, 0x19, 0x29, 0x46 }, // R |
|
73 |
{ 0x46, 0x49, 0x49, 0x49, 0x31 }, // S |
|
74 |
{ 0x01, 0x01, 0x7F, 0x01, 0x01 }, // T |
|
75 |
{ 0x3F, 0x40, 0x40, 0x40, 0x3F }, // U |
|
76 |
{ 0x1F, 0x20, 0x40, 0x20, 0x1F }, // V |
|
77 |
{ 0x3F, 0x40, 0x38, 0x40, 0x3F }, // W |
|
78 |
{ 0x63, 0x14, 0x08, 0x14, 0x63 }, // X |
|
79 |
{ 0x07, 0x08, 0x70, 0x08, 0x07 }, // Y |
|
80 |
{ 0x61, 0x51, 0x49, 0x45, 0x43 }, // Z |
|
81 |
{ 0x00, 0x7F, 0x41, 0x41, 0x00 }, // [ |
|
82 |
{ 0x02, 0x04, 0x08, 0x10, 0x20 }, // backslash |
|
83 |
{ 0x00, 0x41, 0x41, 0x7F, 0x00 }, // ] |
|
84 |
{ 0x04, 0x02, 0x01, 0x02, 0x04 }, // ^ |
|
85 |
{ 0x40, 0x40, 0x40, 0x40, 0x40 }, // _ |
|
86 |
{ 0x00, 0x01, 0x02, 0x04, 0x00 }, // ' |
|
87 |
{ 0x20, 0x54, 0x54, 0x54, 0x78 }, // a |
|
88 |
{ 0x7F, 0x48, 0x44, 0x44, 0x38 }, // b |
|
89 |
{ 0x38, 0x44, 0x44, 0x44, 0x20 }, // c |
|
90 |
{ 0x38, 0x44, 0x44, 0x48, 0x7F }, // d |
|
91 |
{ 0x38, 0x54, 0x54, 0x54, 0x18 }, // e |
|
92 |
{ 0x08, 0x7E, 0x09, 0x01, 0x02 }, // f |
|
93 |
{ 0x0C, 0x52, 0x52, 0x52, 0x3E }, // g |
|
94 |
{ 0x7F, 0x08, 0x04, 0x04, 0x78 }, // h |
|
95 |
{ 0x00, 0x44, 0x7D, 0x40, 0x00 }, // i |
|
96 |
{ 0x20, 0x40, 0x44, 0x3D, 0x00 }, // j |
|
97 |
{ 0x7F, 0x10, 0x28, 0x44, 0x00 }, // k |
|
98 |
{ 0x00, 0x41, 0x7F, 0x40, 0x00 }, // l |
|
99 |
{ 0x7C, 0x04, 0x18, 0x04, 0x78 }, // m |
|
100 |
{ 0x7C, 0x08, 0x04, 0x04, 0x78 }, // n |
|
101 |
{ 0x38, 0x44, 0x44, 0x44, 0x38 }, // o |
|
102 |
{ 0x7C, 0x14, 0x14, 0x14, 0x08 }, // p |
|
103 |
{ 0x08, 0x14, 0x14, 0x18, 0x7C }, // q |
|
104 |
{ 0x7C, 0x08, 0x04, 0x04, 0x08 }, // r |
|
105 |
{ 0x48, 0x54, 0x54, 0x54, 0x20 }, // s |
|
106 |
{ 0x04, 0x3F, 0x44, 0x40, 0x20 }, // t |
|
107 |
{ 0x3C, 0x40, 0x40, 0x20, 0x7C }, // u |
|
108 |
{ 0x1C, 0x20, 0x40, 0x20, 0x1C }, // v |
|
109 |
{ 0x3C, 0x40, 0x30, 0x40, 0x3C }, // w |
|
110 |
{ 0x44, 0x28, 0x10, 0x28, 0x44 }, // x |
|
111 |
{ 0x0C, 0x50, 0x50, 0x50, 0x3C }, // y |
|
112 |
{ 0x44, 0x64, 0x54, 0x4C, 0x44 }, // z |
|
113 |
{ 0x00, 0x08, 0x36, 0x41, 0x41 }, // { |
|
114 |
{ 0x00, 0x00, 0x7F, 0x00, 0x00 }, // | |
|
115 |
{ 0x41, 0x41, 0x36, 0x08, 0x00 }, // } |
|
116 |
{ 0x02, 0x01, 0x01, 0x02, 0x01 }, // ~ |
|
117 |
{ 0x55, 0x2A, 0x55, 0x2A, 0x55 }, // del |
|
118 |
}; |
|
119 |
|
|
120 |
|
|
121 |
/* |
|
122 |
initializes the LCD |
|
123 |
*/ |
|
124 |
void lcd_init(void) |
|
125 |
{ |
|
126 |
LCDDDR |= (D_C | SCE | SDI | SCK); |
|
127 |
LCDRESETDDR |= RST; |
|
128 |
|
|
129 |
LCDPORT &= ~(D_C | SCE | SDI | SCK); |
|
130 |
|
|
131 |
SPCR |= 0b01010000; // no SPI int, SPI en, Master, sample on rising edge, fosc/2 |
|
132 |
SPSR |= 0x01; // a continuation of the above |
|
133 |
|
|
134 |
LCDRESETPORT |= RST; |
|
135 |
delay_ms(10); |
|
136 |
LCDRESETPORT &= (~RST); |
|
137 |
delay_ms(100); |
|
138 |
LCDRESETPORT |= RST; |
|
139 |
|
|
140 |
lcd_putbyte( 0x21 ); // LCD Extended Commands. |
|
141 |
lcd_putbyte( 0xC8 ); // Set LCD Vop (Contrast). |
|
142 |
lcd_putbyte( 0x06 ); // Set Temp coefficent. |
|
143 |
lcd_putbyte( 0x13 ); // LCD bias mode 1:48. |
|
144 |
lcd_putbyte( 0x20 ); // LCD Standard Commands, Horizontal addressing mode. |
|
145 |
lcd_putbyte( 0x0C ); // LCD in normal mode. |
|
146 |
|
|
147 |
LCDPORT |= D_C; //put it in init instead of main |
|
148 |
|
|
149 |
lcd_clear_screen(); |
|
150 |
|
|
151 |
} |
|
152 |
|
|
153 |
/* |
|
154 |
clear the lcd screen |
|
155 |
*/ |
|
156 |
void lcd_clear_screen( void ) { |
|
157 |
int i; |
|
158 |
for (i = 0; i < 504; i++) |
|
159 |
lcd_putbyte(0x0); |
|
160 |
|
|
161 |
lcd_gotoxy(0,0); |
|
162 |
|
|
163 |
} |
|
164 |
|
|
165 |
|
|
166 |
/* |
|
167 |
print a byte on the lcd screen |
|
168 |
*/ |
|
169 |
void lcd_putbyte(unsigned char b) |
|
170 |
{ |
|
171 |
SPDR = b; |
|
172 |
while (!(SPSR & 0x80)); /* Wait until SPI transaction is complete */ |
|
173 |
} |
|
174 |
|
|
175 |
/* |
|
176 |
print a character on the lcd |
|
177 |
*/ |
|
178 |
void lcd_putchar(char c) |
|
179 |
{ |
|
180 |
int i; |
|
181 |
|
|
182 |
for (i = 0; i < 5; i++) |
|
183 |
lcd_putbyte(FontLookup[c-32][i]); |
|
184 |
lcd_putbyte(0); |
|
185 |
|
|
186 |
} |
|
187 |
|
|
188 |
/* |
|
189 |
print an entire string to the lcd |
|
190 |
*/ |
|
191 |
void lcd_putstr(char *s) |
|
192 |
{ |
|
193 |
char *t = s; |
|
194 |
while (*t != 0) |
|
195 |
{ |
|
196 |
lcd_putchar(*t); |
|
197 |
t++; |
|
198 |
} |
|
199 |
} |
|
200 |
|
|
201 |
/* |
|
202 |
go to coordinate x, y |
|
203 |
y: vertically - 1 char |
|
204 |
x: horizontally - 1 pixel |
|
205 |
|
|
206 |
multiply x by 6 if want to move 1 entire character |
|
207 |
|
|
208 |
origin (0,0) is at top left corner of lcd screen |
|
209 |
*/ |
|
210 |
void lcd_gotoxy(int x, int y) |
|
211 |
{ |
|
212 |
LCDPORT &= ~(D_C); |
|
213 |
lcd_putbyte(0x40 | (y & 0x07)); |
|
214 |
lcd_putbyte(0x80 | (x & 0x7f)); |
|
215 |
LCDPORT |= D_C; |
|
216 |
} |
|
217 |
|
|
218 |
/* |
|
219 |
prints an int to the lcd |
|
220 |
|
|
221 |
code adapted from Chris Efstathiou's code (hendrix@otenet.gr) |
|
222 |
*/ |
|
223 |
void lcd_putint(int value ) { |
|
224 |
unsigned char lcd_data[6]={'0','0','0','0','0','0' }, position=sizeof(lcd_data), radix=10; |
|
225 |
|
|
226 |
/* convert int to ascii */ |
|
227 |
if(value<0) { lcd_putchar('-'); value=-value; } |
|
228 |
do { position--; *(lcd_data+position)=(value%radix)+'0'; value/=radix; } while(value); |
|
229 |
|
|
230 |
|
|
231 |
/* start displaying the number */ |
|
232 |
for(;position<=(sizeof(lcd_data)-1);position++) |
|
233 |
{ |
|
234 |
|
|
235 |
lcd_putchar(lcd_data[position]); |
|
236 |
} |
|
237 |
|
|
238 |
return; |
|
239 |
} |
trunk/code/projects/colonet/testing/robot_routine_reg_test/servo.h | ||
---|---|---|
1 |
/* |
|
2 |
servo.h - Contains function prototypes for servo activation |
|
3 |
author: Tom Lauwers |
|
4 |
*/ |
|
5 |
#ifndef _SERVO_H_ |
|
6 |
#define _SERVO_H_ |
|
7 |
|
|
8 |
// Information on functions available in servo.c |
|
9 |
void init_servo(void); |
|
10 |
void enable_servos(void); |
|
11 |
void enable_servo(int config); |
|
12 |
void set_servo(int servo, int value); |
|
13 |
void disable_servos(void); |
|
14 |
void disable_servo(int ); |
|
15 |
|
|
16 |
#endif |
trunk/code/projects/colonet/testing/robot_routine_reg_test/time.h | ||
---|---|---|
1 |
/* |
|
2 |
time.h |
|
3 |
|
|
4 |
provisional (Suresh) |
|
5 |
|
|
6 |
*/ |
|
7 |
|
|
8 |
#ifndef _TIME_H_ |
|
9 |
#define _TIME_H_ |
|
10 |
|
|
11 |
#define TIMER_OFF 0x00 |
|
12 |
#define PRESCALE_NONE 0x01 |
|
13 |
#define PRESCALE_DIV_8 0x02 |
|
14 |
#define PRESCALE_DIV_32 0x03 |
|
15 |
#define PRESCALE_DIV_64 0x04 |
|
16 |
#define PRESCALE_DIV_128 0x05 |
|
17 |
#define PRESCALE_DIV_256 0x06 |
|
18 |
#define PRESCALE_DIV_1024 0x07 |
|
19 |
|
|
20 |
/* |
|
21 |
delay_ms(int ms) |
|
22 |
pause_ms(int ms) |
|
23 |
sleep_ms(int ms) |
|
24 |
pause(int ms) |
|
25 |
sleep(int ms) |
|
26 |
|
|
27 |
all have the same behavior |
|
28 |
pauses the calling process for the specified |
|
29 |
amount of time in milliseconds |
|
30 |
*/ |
|
31 |
void delay_ms(int ms) ; |
|
32 |
void pause_ms(int ms); |
|
33 |
void pause(int ms); |
|
34 |
void sleep_ms(int ms); |
|
35 |
void sleep(int ms); |
|
36 |
|
|
37 |
/* |
|
38 |
void rtc_init(void) |
|
39 |
call this function to initialize the real time clock |
|
40 |
real time clock requires global interrupts to be enabled |
|
41 |
*/ |
|
42 |
void rtc_init(int prescale_opt, unsigned char ocr_val, void (*rtc_func)(void)); |
|
43 |
|
|
44 |
/* |
|
45 |
void rtc_reset(void) |
|
46 |
use this to reset the real time value |
|
47 |
rtc_init() should be called beforehand |
|
48 |
*/ |
|
49 |
void rtc_reset(void); |
|
50 |
|
|
51 |
/* |
|
52 |
int rtc(void) |
|
53 |
returns the current value of the real time clock (in seconds) |
|
54 |
rtc_init() should be called beforehand |
|
55 |
|
|
56 |
the returned amount is the number of seconds that have past since the |
|
57 |
last call to rtc_init() or rtc_reset() |
|
58 |
*/ |
|
59 |
int rtc(void); |
|
60 |
|
|
61 |
#endif |
trunk/code/projects/colonet/testing/robot_routine_reg_test/colonet.c | ||
---|---|---|
1 |
/** @file colonet.c |
|
2 |
* @brief Colonet library for colony robots |
|
3 |
|
|
4 |
* @author Eugene Marinelli |
|
5 |
* @date 10/26/06 |
|
6 |
* |
|
7 |
* @bug Handler registration not tested |
|
8 |
* @bug Request reponding not implemented - only accepts commands. |
|
9 |
*/ |
|
10 |
|
|
11 |
#include <firefly+_lib.h> |
|
12 |
|
|
13 |
#include "colonet.h" |
|
14 |
|
|
15 |
typedef struct { |
|
16 |
unsigned char msgId; //is this necessary? |
|
17 |
void (*handler)(void); |
|
18 |
} UserHandler; |
|
19 |
|
|
20 |
/* Globals (internal) */ |
|
21 |
static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL]; |
|
22 |
|
|
23 |
/* Internal function prototypes */ |
|
24 |
void packet_string_to_struct(ColonetPacket* dest_pkt, char* pkt_buf); |
|
25 |
unsigned int two_bytes_to_int(char high, char low); |
|
26 |
|
|
27 |
/* Public functions */ |
|
28 |
int colonet_handle_message(unsigned char robot_id, char* pkt_buf) |
|
29 |
{ |
|
30 |
ColonetPacket pkt; |
|
31 |
unsigned char* args; //up to 7 char args |
|
32 |
unsigned int int_args[3]; //up to 3 int (2-byte) args |
|
33 |
|
|
34 |
packet_string_to_struct(&pkt, pkt_buf); |
|
35 |
|
|
36 |
if(pkt.msg_dest != GLOBAL_DEST && pkt.msg_dest != robot_id){ |
|
37 |
//message not intended for us |
|
38 |
return 1; |
|
39 |
} |
|
40 |
|
|
41 |
args = pkt.data; |
|
42 |
|
|
43 |
/* Hack - could be done more 1337ly with casting, but this way we don't have |
|
44 |
* to worry about little/big endian stuff */ |
|
45 |
int_args[0] = two_bytes_to_int(args[0], args[1]); |
|
46 |
int_args[1] = two_bytes_to_int(args[2], args[3]); |
|
47 |
int_args[2] = two_bytes_to_int(args[4], args[5]); |
|
48 |
|
|
49 |
if(pkt.msg_type == COLONET_REQUEST){ |
|
50 |
switch(pkt.msg_code){ |
|
51 |
//Sharp |
|
52 |
case READ_DISTANCE: |
|
53 |
break; |
|
54 |
case LINEARIZE_DISTANCE: |
|
55 |
break; |
|
56 |
case LOG_DISTANCE: |
|
57 |
break; |
|
58 |
|
|
59 |
//Serial |
|
60 |
case SERIAL_GETCHAR: |
|
61 |
break; |
|
62 |
case SERIAL_GETCHAR_NB: |
|
63 |
break; |
|
64 |
case SERIAL1_GETCHAR: |
|
65 |
break; |
|
66 |
case SERIAL1_GETCHAR_NB: |
|
67 |
break; |
|
68 |
|
|
69 |
//Analog |
|
70 |
case ANALOG8: |
|
71 |
break; |
|
72 |
case ANALOG10: |
|
73 |
break; |
|
74 |
case WHEEL: |
|
75 |
break; |
|
76 |
case BATTERY: |
|
77 |
break; |
|
78 |
|
|
79 |
//BOM |
|
80 |
case GETMAXBOM: |
|
81 |
break; |
|
82 |
|
|
83 |
//Dio |
|
84 |
case DIGITAL_INPUT: |
|
85 |
break; |
|
86 |
case BUTTON1_READ: |
|
87 |
break; |
|
88 |
case BUTTON2_READ: |
|
89 |
break; |
|
90 |
|
|
91 |
//Bumper |
|
92 |
case DETECT_BUMP: |
|
93 |
break; |
|
94 |
} |
|
95 |
|
|
96 |
/* TODO - send back data! */ |
|
97 |
|
|
98 |
}else if(pkt.msg_type == COLONET_COMMAND){ |
|
99 |
if(pkt.msg_code >= USER_DEFINED_MSG_ID_START && |
|
100 |
pkt.msg_code <= USER_DEFINED_MSG_ID_END){ |
|
101 |
if (user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler) { |
|
102 |
/* Call the user's handler function if it the function's address |
|
103 |
* is non-zero (has been set) */ |
|
104 |
user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler(); |
|
105 |
} |
|
106 |
|
|
107 |
return 0; |
|
108 |
} |
|
109 |
|
|
110 |
switch(pkt.msg_code){ |
|
111 |
default: |
|
112 |
printf("%s: Error - message code %d not implemented\n", __FUNCTION__, |
|
113 |
pkt.msg_code); |
|
114 |
return -1; |
|
115 |
break; |
|
116 |
|
|
117 |
//Buzzer |
|
118 |
case BUZZER_INIT: |
|
119 |
buzzer_init(); |
|
120 |
break; |
|
121 |
case BUZZER_SET_VAL: |
|
122 |
buzzer_set_val(args[0]); |
|
123 |
break; |
|
124 |
case BUZZER_SET_FREQ: |
|
125 |
buzzer_set_freq(args[0]); |
|
126 |
break; |
|
127 |
case BUZZER_CHIRP: |
|
128 |
buzzer_chirp(int_args[0], int_args[1]); |
|
129 |
break; |
|
130 |
case BUZZER_OFF: |
|
131 |
buzzer_off(); |
|
132 |
break; |
|
133 |
|
|
134 |
//LCD |
|
135 |
case LCD_INIT: |
|
136 |
lcd_init(); |
|
137 |
break; |
|
138 |
case LCD_CLEAR_SCREEN: |
|
139 |
lcd_clear_screen(); |
|
140 |
break; |
|
141 |
case LCD_PUTBYTE: |
|
142 |
lcd_putbyte(args[0]); |
|
143 |
break; |
|
144 |
case LCD_PUTCHAR: |
|
145 |
lcd_putchar((char)args[0]); |
|
146 |
break; |
|
147 |
case LCD_PUTSTR: |
|
148 |
lcd_putstr((char*)args); |
|
149 |
break; |
|
150 |
case LCD_GOTOXY: |
|
151 |
lcd_gotoxy(int_args[0], int_args[1]); |
|
152 |
break; |
|
153 |
case LCD_PUTINT: |
|
154 |
lcd_putint(int_args[0]); |
|
155 |
break; |
|
156 |
case ORB_INIT: |
|
157 |
orb_init(); |
|
158 |
break; |
|
159 |
//Orb |
|
160 |
case ORB_SET: |
|
161 |
orb_set(args[0], args[1], args[2]); |
|
162 |
break; |
|
163 |
case ORB_SET_COLOR: |
|
164 |
orb_set_color(int_args[0]); |
|
165 |
break; |
|
166 |
case ORB_DISABLE: |
|
167 |
orb_disable(); |
|
168 |
break; |
|
169 |
case ORB_ENABLE: |
|
170 |
orb_enable(); |
|
171 |
break; |
|
172 |
case ORB_SET_DIO: |
|
173 |
orb_set_dio(int_args[0], int_args[1], int_args[2]); |
|
174 |
break; |
|
175 |
case LED_INIT: |
|
176 |
led_init(); |
|
177 |
break; |
|
178 |
case LED_USER: |
|
179 |
led_user(int_args[0]); |
|
180 |
break; |
|
181 |
case ORB_SEND: |
|
182 |
//orb_send(); |
|
183 |
break; |
|
184 |
//Motors |
|
185 |
case MOTORS_INIT: |
|
186 |
motors_init(); |
|
187 |
break; |
|
188 |
case MOTOR1_SET: |
|
189 |
motor1_set(int_args[0], int_args[1]); |
|
190 |
break; |
|
191 |
case MOTOR2_SET: |
|
192 |
motor2_set(int_args[0], int_args[1]); |
|
193 |
break; |
|
194 |
case MOTORS_OFF: |
|
195 |
motors_off(); |
|
196 |
break; |
|
197 |
|
|
198 |
/* |
|
199 |
case MOVE: |
|
200 |
|
|
201 |
break; |
|
202 |
*/ |
|
203 |
|
|
204 |
//SERIAL |
|
205 |
case SERIAL_INIT: |
|
206 |
serial_init(int_args[0]); |
|
207 |
break; |
|
208 |
case SERIAL_PUTCHAR: |
|
209 |
serial_putchar((char)args[0]); |
|
210 |
break; |
|
211 |
case SERIAL1_INIT: |
|
212 |
serial1_init(int_args[0]); |
|
213 |
break; |
|
214 |
case SERIAL1_PUTCHAR: |
|
215 |
serial1_putchar((char)args[0]); |
|
216 |
break; |
|
217 |
case PRINTF: |
|
218 |
printf("%s", pkt.data); |
|
219 |
break; |
|
220 |
case KILL_ROBOT: |
|
221 |
motors_off(); |
|
222 |
buzzer_off(); |
|
223 |
exit(0); //kill the robot |
|
224 |
break; |
|
225 |
//Time |
|
226 |
case DELAY_MS: |
|
227 |
delay_ms(int_args[0]); |
|
228 |
break; |
|
229 |
|
|
230 |
//Analog |
|
231 |
case ANALOG_INIT: |
|
232 |
analog_init(); |
|
233 |
break; |
Also available in: Unified diff