Revision 552
Creation of branch for work with new charge stations.
branches/charge_station_isp/code/projects/template/main.c | ||
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#include <dragonfly_lib.h> |
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#include <battery.h> |
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|
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int main(void) { |
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dragonfly_init(ALL_ON); |
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usb_init(); |
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analog_init(); |
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|
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while(1) { |
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|
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|
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//Prints out the results of three functions |
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usb_puts("battery8_avg(50): "); |
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usb_puti(battery8_avg(50)); |
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|
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usb_puts("\t\t"); |
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|
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usb_puts("battery8(): "); |
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usb_puti(battery8()); |
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|
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usb_puts("\t\t"); |
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|
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usb_puts("battery(): "); |
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usb_puti(battery()); |
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|
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usb_puts("\r\n"); |
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|
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delay_ms(100); |
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|
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} |
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return 0; |
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} |
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branches/charge_station_isp/code/projects/template/Makefile | ||
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########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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|
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# Target file name (without extension). |
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TARGET = template |
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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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# |
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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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41 |
# |
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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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45 |
# |
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# make extcoff = Convert ELF to AVR Extended COFF. |
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47 |
# |
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48 |
# make program = Download the hex file to the device, using avrdude. |
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49 |
# Please customize the avrdude settings below first! |
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# |
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# make debug = Start either simulavr or avarice as specified for debugging, |
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52 |
# with avr-gdb or avr-insight as the front end for debugging. |
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53 |
# |
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54 |
# make filename.s = Just compile filename.c into the assembler code only. |
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55 |
# |
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56 |
# 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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58 |
# |
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# To rebuild project do "make clean" then "make all". |
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#---------------------------------------------------------------------------- |
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61 |
|
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#if you want your code to work on the Firefly++ and not Firefly+ |
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63 |
#then add the -DFFPP line to CDEFS |
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CDEFS = |
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#-DFFPP |
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66 |
|
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# MCU name |
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MCU = atmega128 |
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69 |
|
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# Processor frequency. |
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71 |
# 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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73 |
# 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. |
|
75 |
F_CPU = 8000000 |
|
76 |
|
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# Output format. (can be srec, ihex, binary) |
|
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FORMAT = ihex |
|
79 |
|
|
80 |
# List C source files here. (C dependencies are automatically generated.) |
|
81 |
SRC = $(wildcard *.c) |
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82 |
|
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# List Assembler source files here. |
|
84 |
# Make them always end in a capital .S. Files ending in a lowercase .s |
|
85 |
# will not be considered source files but generated files (assembler |
|
86 |
# output from the compiler), and will be deleted upon "make clean"! |
|
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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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91 |
|
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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. |
|
94 |
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
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95 |
OPT = s |
|
96 |
|
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97 |
# Debugging format. |
|
98 |
# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. |
|
99 |
# AVR Studio 4.10 requires dwarf-2. |
|
100 |
# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. |
|
101 |
DEBUG = |
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102 |
|
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# Compiler flag to set the C Standard level. |
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104 |
# c89 = "ANSI" C |
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105 |
# gnu89 = c89 plus GCC extensions |
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106 |
# c99 = ISO C99 standard (not yet fully implemented) |
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107 |
# gnu99 = c99 plus GCC extensions |
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CSTANDARD = -std=gnu99 |
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109 |
|
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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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117 |
|
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# Place -I, -L options here |
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CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly |
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CINCS += -L$(COLONYROOT)/code/lib/bin |
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ifdef USE_WIRELESS |
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CINCS += -I$(COLONYROOT)/code/lib/include/libwireless |
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endif |
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124 |
|
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#---------------- Compiler Options ---------------- |
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126 |
# -g*: generate debugging information |
|
127 |
# -O*: optimization level |
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# -f...: tuning, see GCC manual and avr-libc documentation |
|
129 |
# -Wall...: warning level |
|
130 |
# -Wa,...: tell GCC to pass this to the assembler. |
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131 |
# -adhlns...: create assembler listing |
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CFLAGS = |
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# CFLAGS = -g$(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 += $(CSTANDARD) |
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|
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#---------------- Assembler Options ---------------- |
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# -Wa,...: tell GCC to pass this to the assembler. |
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# -ahlms: create listing |
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# -gstabs: have the assembler create line number information; note that |
|
145 |
# for use in COFF files, additional information about filenames |
|
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# and function names needs to be present in the assembler source |
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147 |
# files -- see avr-libc docs [FIXME: not yet described there] |
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ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
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149 |
|
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150 |
|
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#---------------- Library Options ---------------- |
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# Minimalistic printf version |
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PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
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154 |
|
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# Floating point printf version (requires MATH_LIB = -lm below) |
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156 |
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
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157 |
|
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# If this is left blank, then it will use the Standard printf version. |
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PRINTF_LIB = |
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#PRINTF_LIB = $(PRINTF_LIB_MIN) |
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#PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
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162 |
|
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163 |
|
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# Minimalistic scanf version |
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SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
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166 |
|
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# Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
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SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
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|
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# If this is left blank, then it will use the Standard scanf version. |
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SCANF_LIB = |
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#SCANF_LIB = $(SCANF_LIB_MIN) |
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#SCANF_LIB = $(SCANF_LIB_FLOAT) |
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174 |
|
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MATH_LIB = -lm |
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176 |
|
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#---------------- External Memory Options ---------------- |
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178 |
|
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# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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# used for variables (.data/.bss) and heap (malloc()). |
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#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
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182 |
|
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# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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# only used for heap (malloc()). |
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185 |
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
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186 |
|
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EXTMEMOPTS = |
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188 |
|
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#---------------- Linker Options ---------------- |
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190 |
# -Wl,...: tell GCC to pass this to linker. |
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191 |
# -Map: create map file |
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192 |
# --cref: add cross reference to map file |
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193 |
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
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194 |
LDFLAGS += $(EXTMEMOPTS) |
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195 |
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
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ifdef USE_WIRELESS |
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197 |
LDFLAGS += -lwireless |
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endif |
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199 |
LDFLAGS += -ldragonfly |
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200 |
|
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201 |
|
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202 |
|
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203 |
#---------------- Programming Options (avrdude) ---------------- |
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204 |
|
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# Programming hardware: alf avr910 avrisp bascom bsd |
|
206 |
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
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207 |
# |
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208 |
# Type: avrdude -c ? |
|
209 |
# to get a full listing. |
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210 |
# |
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211 |
AVRDUDE_PROGRAMMER = avrisp |
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212 |
|
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# programmer connected to serial device |
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214 |
|
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215 |
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
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216 |
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
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217 |
|
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218 |
|
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219 |
# Uncomment the following if you want avrdude's erase cycle counter. |
|
220 |
# Note that this counter needs to be initialized first using -Yn, |
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221 |
# see avrdude manual. |
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222 |
#AVRDUDE_ERASE_COUNTER = -y |
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223 |
|
|
224 |
# Uncomment the following if you do /not/ wish a verification to be |
|
225 |
# performed after programming the device. |
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226 |
#AVRDUDE_NO_VERIFY = -V |
|
227 |
|
|
228 |
# Increase verbosity level. Please use this when submitting bug |
|
229 |
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
|
230 |
# to submit bug reports. |
|
231 |
#AVRDUDE_VERBOSE = -v -v |
|
232 |
|
|
233 |
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
|
234 |
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) |
|
235 |
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) |
|
236 |
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) |
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237 |
|
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238 |
#don't check for device signature |
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239 |
AVRDUDE_FLAGS += -F |
|
240 |
|
|
241 |
|
|
242 |
|
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243 |
#---------------- Debugging Options ---------------- |
|
244 |
|
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245 |
# For simulavr only - target MCU frequency. |
|
246 |
DEBUG_MFREQ = $(F_CPU) |
|
247 |
|
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248 |
# Set the DEBUG_UI to either gdb or insight. |
|
249 |
# DEBUG_UI = gdb |
|
250 |
DEBUG_UI = insight |
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251 |
|
|
252 |
# Set the debugging back-end to either avarice, simulavr. |
|
253 |
DEBUG_BACKEND = avarice |
|
254 |
#DEBUG_BACKEND = simulavr |
|
255 |
|
|
256 |
# GDB Init Filename. |
|
257 |
GDBINIT_FILE = __avr_gdbinit |
|
258 |
|
|
259 |
# When using avarice settings for the JTAG |
|
260 |
JTAG_DEV = /dev/com1 |
|
261 |
|
|
262 |
# Debugging port used to communicate between GDB / avarice / simulavr. |
|
263 |
DEBUG_PORT = 4242 |
|
264 |
|
|
265 |
# Debugging host used to communicate between GDB / avarice / simulavr, normally |
|
266 |
# just set to localhost unless doing some sort of crazy debugging when |
|
267 |
# avarice is running on a different computer. |
|
268 |
DEBUG_HOST = localhost |
|
269 |
|
|
270 |
|
|
271 |
|
|
272 |
#============================================================================ |
|
273 |
|
|
274 |
|
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275 |
# Define programs and commands. |
|
276 |
SHELL = sh |
|
277 |
CC = avr-gcc |
|
278 |
OBJCOPY = avr-objcopy |
|
279 |
OBJDUMP = avr-objdump |
|
280 |
SIZE = avr-size |
|
281 |
NM = avr-nm |
|
282 |
AVRDUDE = avrdude |
|
283 |
REMOVE = rm -f |
|
284 |
REMOVEDIR = rm -rf |
|
285 |
COPY = cp |
|
286 |
WINSHELL = cmd |
|
287 |
|
|
288 |
|
|
289 |
# Define Messages |
|
290 |
# English |
|
291 |
MSG_ERRORS_NONE = Errors: none |
|
292 |
MSG_BEGIN = -------- begin -------- |
|
293 |
MSG_END = -------- end -------- |
|
294 |
MSG_SIZE_BEFORE = Size before: |
|
295 |
MSG_SIZE_AFTER = Size after: |
|
296 |
MSG_COFF = Converting to AVR COFF: |
|
297 |
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
|
298 |
MSG_FLASH = Creating load file for Flash: |
|
299 |
MSG_EEPROM = Creating load file for EEPROM: |
|
300 |
MSG_EXTENDED_LISTING = Creating Extended Listing: |
|
301 |
MSG_SYMBOL_TABLE = Creating Symbol Table: |
|
302 |
MSG_LINKING = Linking: |
|
303 |
MSG_COMPILING = Compiling: |
|
304 |
MSG_ASSEMBLING = Assembling: |
|
305 |
MSG_CLEANING = Cleaning project: |
|
306 |
|
|
307 |
|
|
308 |
|
|
309 |
|
|
310 |
# Define all object files. |
|
311 |
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
|
312 |
|
|
313 |
# Define all listing files. |
|
314 |
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
|
315 |
|
|
316 |
|
|
317 |
# Compiler flags to generate dependency files. |
|
318 |
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
|
319 |
|
|
320 |
|
|
321 |
# Combine all necessary flags and optional flags. |
|
322 |
# Add target processor to flags. |
|
323 |
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) |
|
324 |
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
|
325 |
|
|
326 |
|
|
327 |
|
|
328 |
|
|
329 |
|
|
330 |
# Default target. |
|
331 |
all: begin gccversion sizebefore build sizeafter end |
|
332 |
|
|
333 |
build: elf hex eep lss sym |
|
334 |
|
|
335 |
elf: $(TARGET).elf |
|
336 |
hex: $(TARGET).hex |
|
337 |
eep: $(TARGET).eep |
|
338 |
lss: $(TARGET).lss |
|
339 |
sym: $(TARGET).sym |
|
340 |
|
|
341 |
|
|
342 |
|
|
343 |
# Eye candy. |
|
344 |
# AVR Studio 3.x does not check make's exit code but relies on |
|
345 |
# the following magic strings to be generated by the compile job. |
|
346 |
begin: |
|
347 |
@echo |
|
348 |
@echo $(MSG_BEGIN) |
|
349 |
|
|
350 |
end: |
|
351 |
@echo $(MSG_END) |
|
352 |
@echo |
|
353 |
|
|
354 |
|
|
355 |
# Display size of file. |
|
356 |
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
|
357 |
ELFSIZE = $(SIZE) -A $(TARGET).elf |
|
358 |
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU) |
|
359 |
|
|
360 |
sizebefore: |
|
361 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ |
|
362 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
363 |
|
|
364 |
sizeafter: |
|
365 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ |
|
366 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
367 |
|
|
368 |
|
|
369 |
|
|
370 |
# Display compiler version information. |
|
371 |
gccversion : |
|
372 |
@$(CC) --version |
|
373 |
|
|
374 |
|
|
375 |
|
|
376 |
# Program the device. |
|
377 |
program: $(TARGET).hex $(TARGET).eep |
|
378 |
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
|
379 |
|
|
380 |
|
|
381 |
# Generate avr-gdb config/init file which does the following: |
|
382 |
# define the reset signal, load the target file, connect to target, and set |
|
383 |
# a breakpoint at main(). |
|
384 |
gdb-config: |
|
385 |
@$(REMOVE) $(GDBINIT_FILE) |
|
386 |
@echo define reset >> $(GDBINIT_FILE) |
|
387 |
@echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
|
388 |
@echo end >> $(GDBINIT_FILE) |
|
389 |
@echo file $(TARGET).elf >> $(GDBINIT_FILE) |
|
390 |
@echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
|
391 |
ifeq ($(DEBUG_BACKEND),simulavr) |
|
392 |
@echo load >> $(GDBINIT_FILE) |
|
393 |
endif |
|
394 |
@echo break main >> $(GDBINIT_FILE) |
|
395 |
|
|
396 |
debug: gdb-config $(TARGET).elf |
|
397 |
ifeq ($(DEBUG_BACKEND), avarice) |
|
398 |
@echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
|
399 |
@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
|
400 |
$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
|
401 |
@$(WINSHELL) /c pause |
|
402 |
|
|
403 |
else |
|
404 |
@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ |
|
405 |
$(DEBUG_MFREQ) --port $(DEBUG_PORT) |
|
406 |
endif |
|
407 |
@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) |
|
408 |
|
|
409 |
|
|
410 |
|
|
411 |
|
|
412 |
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. |
|
413 |
COFFCONVERT=$(OBJCOPY) --debugging \ |
|
414 |
--change-section-address .data-0x800000 \ |
|
415 |
--change-section-address .bss-0x800000 \ |
|
416 |
--change-section-address .noinit-0x800000 \ |
|
417 |
--change-section-address .eeprom-0x810000 |
|
418 |
|
|
419 |
|
|
420 |
coff: $(TARGET).elf |
|
421 |
@echo |
|
422 |
@echo $(MSG_COFF) $(TARGET).cof |
|
423 |
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
|
424 |
|
|
425 |
|
|
426 |
extcoff: $(TARGET).elf |
|
427 |
@echo |
|
428 |
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
|
429 |
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
|
430 |
|
|
431 |
|
|
432 |
|
|
433 |
# Create final output files (.hex, .eep) from ELF output file. |
|
434 |
%.hex: %.elf |
|
435 |
@echo |
|
436 |
@echo $(MSG_FLASH) $@ |
|
437 |
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
|
438 |
|
|
439 |
%.eep: %.elf |
|
440 |
@echo |
|
441 |
@echo $(MSG_EEPROM) $@ |
|
442 |
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
|
443 |
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
|
444 |
|
|
445 |
# Create extended listing file from ELF output file. |
|
446 |
%.lss: %.elf |
|
447 |
@echo |
|
448 |
@echo $(MSG_EXTENDED_LISTING) $@ |
|
449 |
$(OBJDUMP) -h -S $< > $@ |
|
450 |
|
|
451 |
# Create a symbol table from ELF output file. |
|
452 |
%.sym: %.elf |
|
453 |
@echo |
|
454 |
@echo $(MSG_SYMBOL_TABLE) $@ |
|
455 |
$(NM) -n $< > $@ |
|
456 |
|
|
457 |
|
|
458 |
|
|
459 |
# Link: create ELF output file from object files. |
|
460 |
.SECONDARY : $(TARGET).elf |
|
461 |
.PRECIOUS : $(OBJ) |
|
462 |
%.elf: $(OBJ) |
|
463 |
@echo |
|
464 |
@echo $(MSG_LINKING) $@ |
|
465 |
$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
|
466 |
|
|
467 |
|
|
468 |
# Compile: create object files from C source files. |
|
469 |
%.o : %.c |
|
470 |
@echo |
|
471 |
@echo $(MSG_COMPILING) $< |
|
472 |
$(CC) -c $(ALL_CFLAGS) $< -o $@ |
|
473 |
|
|
474 |
|
|
475 |
# Compile: create assembler files from C source files. |
|
476 |
%.s : %.c |
|
477 |
$(CC) -S $(ALL_CFLAGS) $< -o $@ |
|
478 |
|
|
479 |
|
|
480 |
# Assemble: create object files from assembler source files. |
|
481 |
%.o : %.S |
|
482 |
@echo |
|
483 |
@echo $(MSG_ASSEMBLING) $< |
|
484 |
$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
|
485 |
|
|
486 |
# Create preprocessed source for use in sending a bug report. |
|
487 |
%.i : %.c |
|
488 |
$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
|
489 |
|
|
490 |
|
|
491 |
# Target: clean project. |
|
492 |
clean: begin clean_list end |
|
493 |
|
|
494 |
clean_list : |
|
495 |
@echo |
|
496 |
@echo $(MSG_CLEANING) |
|
497 |
$(REMOVE) $(TARGET).hex |
|
498 |
$(REMOVE) $(TARGET).eep |
|
499 |
$(REMOVE) $(TARGET).cof |
|
500 |
$(REMOVE) $(TARGET).elf |
|
501 |
$(REMOVE) $(TARGET).map |
|
502 |
$(REMOVE) $(TARGET).sym |
|
503 |
$(REMOVE) $(TARGET).lss |
|
504 |
$(REMOVE) $(OBJ) |
|
505 |
$(REMOVE) $(LST) |
|
506 |
$(REMOVE) $(SRC:.c=.s) |
|
507 |
$(REMOVE) $(SRC:.c=.d) |
|
508 |
$(REMOVEDIR) .dep |
|
509 |
|
|
510 |
|
|
511 |
|
|
512 |
# Include the dependency files. |
|
513 |
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
|
514 |
|
|
515 |
|
|
516 |
# Listing of phony targets. |
|
517 |
.PHONY : all begin finish end sizebefore sizeafter gccversion \ |
|
518 |
build elf hex eep lss sym coff extcoff \ |
|
519 |
clean clean_list program debug gdb-config |
|
520 |
|
branches/charge_station_isp/code/projects/colonet/vision/vision.sh | ||
---|---|---|
1 |
#!/bin/sh |
|
2 |
while [ 1 ] |
|
3 |
do |
|
4 |
wget -q http://roboclub9.frc.ri.cmu.edu/colonet.jpg -O colonet.jpg |
|
5 |
./vision colonet.jpg > colonet.txt |
|
6 |
sleep 5s |
|
7 |
done |
|
0 | 8 |
branches/charge_station_isp/code/projects/colonet/vision/vision.c | ||
---|---|---|
1 |
/** |
|
2 |
* find the locations of each robot |
|
3 |
* based on opencv's sample program fitellipse.c by Denis Burenkov |
|
4 |
* |
|
5 |
* @author Rich Hong |
|
6 |
* @date 11/10/2007 |
|
7 |
*/ |
|
8 |
#ifdef _CH_ |
|
9 |
#pragma package <opencv> |
|
10 |
#endif |
|
11 |
|
|
12 |
#ifndef _EiC |
|
13 |
#include "cv.h" |
|
14 |
#include "highgui.h" |
|
15 |
#endif |
|
16 |
#include <stdio.h> |
|
17 |
#include <stdlib.h> |
|
18 |
|
|
19 |
int slider_pos = 200; |
|
20 |
|
|
21 |
#define MINH 100 //min threshold level |
|
22 |
#define MAXH 150 //max threshold level |
|
23 |
#define DEBUG 0 //Debug to find threshold level |
|
24 |
|
|
25 |
// Load the source image. HighGUI use. |
|
26 |
IplImage *image02 = 0, *image03 = 0, *image04 = 0; |
|
27 |
|
|
28 |
void process_image(int h); |
|
29 |
void loop_image(); |
|
30 |
|
|
31 |
struct CenterP { |
|
32 |
CvPoint center; |
|
33 |
int count; |
|
34 |
}; |
|
35 |
|
|
36 |
int main( int argc, char** argv ) { |
|
37 |
const char* filename = argc == 2 ? argv[1] : (char*)"colonet.jpg"; |
|
38 |
|
|
39 |
// load image and force it to be grayscale |
|
40 |
if( (image03 = cvLoadImage(filename, 0)) == 0 ) return -1; |
|
41 |
|
|
42 |
// Create the destination images |
|
43 |
image02 = cvCloneImage( image03 ); |
|
44 |
image04 = cvCloneImage( image03 ); |
|
45 |
|
|
46 |
if (DEBUG){ |
|
47 |
// Create windows. |
|
48 |
cvNamedWindow("Source", 1); |
|
49 |
// Show the image. |
|
50 |
cvShowImage("Source", image03); |
|
51 |
|
|
52 |
cvNamedWindow("Result", 1); |
|
53 |
// Create toolbars. HighGUI use. |
|
54 |
cvCreateTrackbar( "Threshold", "Result", &slider_pos, 255, process_image ); |
|
55 |
} |
|
56 |
|
|
57 |
if (!DEBUG) loop_image(); |
|
58 |
if (DEBUG) process_image(0); |
|
59 |
|
|
60 |
// Wait for a key stroke; the same function arranges events processing |
|
61 |
if (DEBUG) cvWaitKey(0); |
|
62 |
cvReleaseImage(&image02); |
|
63 |
cvReleaseImage(&image03); |
|
64 |
|
|
65 |
if (DEBUG){ |
|
66 |
cvDestroyWindow("Source"); |
|
67 |
cvDestroyWindow("Result"); |
|
68 |
} |
|
69 |
|
|
70 |
return 0; |
|
71 |
} |
|
72 |
|
|
73 |
void loop_image(){ |
|
74 |
CvMemStorage* stor; |
|
75 |
CvSeq* cont; |
|
76 |
CvBox2D32f* box; |
|
77 |
CvPoint* PointArray; |
|
78 |
CvPoint2D32f* PointArray2D32f; |
|
79 |
|
|
80 |
// Create dynamic structure and sequence. |
|
81 |
stor = cvCreateMemStorage(0); |
|
82 |
cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor); |
|
83 |
|
|
84 |
struct CenterP bestc[100]; |
|
85 |
int index=0; |
|
86 |
|
|
87 |
int h; |
|
88 |
for (h=MINH;h<MAXH;h++){ |
|
89 |
// Threshold the source image. This needful for cvFindContours(). |
|
90 |
cvThreshold( image03, image02, h, 255, CV_THRESH_BINARY ); |
|
91 |
|
|
92 |
// Find all contours. |
|
93 |
cvFindContours( image02, stor, &cont, sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0)); |
|
94 |
|
|
95 |
// Clear images. IPL use. |
|
96 |
cvZero(image02); |
|
97 |
cvZero(image04); |
|
98 |
|
|
99 |
// This cycle draw all contours and approximate it by ellipses. |
|
100 |
for(;cont;cont = cont->h_next) { |
|
101 |
int i; // Indicator of cycle. |
|
102 |
int count = cont->total; // This is number point in contour |
|
103 |
CvPoint center; |
|
104 |
CvSize size; |
|
105 |
|
|
106 |
// Number point must be more than or equal to 6 (for cvFitEllipse_32f). |
|
107 |
if( count < 6 ) continue; |
|
108 |
|
|
109 |
// Alloc memory for contour point set. |
|
110 |
PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) ); |
|
111 |
PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) ); |
|
112 |
|
|
113 |
// Alloc memory for ellipse data. |
|
114 |
box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f)); |
|
115 |
|
|
116 |
// Get contour point set. |
|
117 |
cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ); |
|
118 |
|
|
119 |
// Convert CvPoint set to CvBox2D32f set. |
|
120 |
for(i=0; i<count; i++) { |
|
121 |
PointArray2D32f[i].x = (float)PointArray[i].x; |
|
122 |
PointArray2D32f[i].y = (float)PointArray[i].y; |
|
123 |
} |
|
124 |
|
|
125 |
// Fits ellipse to current contour. |
|
126 |
cvFitEllipse(PointArray2D32f, count, box); |
|
127 |
|
|
128 |
// Convert ellipse data from float to integer representation. |
|
129 |
center.x = cvRound(box->center.x); |
|
130 |
center.y = cvRound(box->center.y); |
|
131 |
size.width = cvRound(box->size.width*0.5); |
|
132 |
size.height = cvRound(box->size.height*0.5); |
|
133 |
box->angle = -box->angle; |
|
134 |
|
|
135 |
if (size.width>10&&size.height>10&&size.width<20&&size.height<20){ |
|
136 |
//printf("%d %d %d %d\n",center.x,center.y,size.width,size.height); |
|
137 |
|
|
138 |
int found=0; |
|
139 |
int j; |
|
140 |
for (j=0;j<index;j++) |
|
141 |
if (abs(bestc[j].center.x-center.x)<9&&abs(bestc[j].center.y-center.y)<9){ |
|
142 |
bestc[j].count++; |
|
143 |
found=1; |
|
144 |
break; |
|
145 |
} |
|
146 |
if (!found){ |
|
147 |
struct CenterP c; |
|
148 |
c.center=center; |
|
149 |
c.count=1; |
|
150 |
bestc[index]=c; |
|
151 |
index++; |
|
152 |
} |
|
153 |
} |
|
154 |
// Free memory. |
|
155 |
free(PointArray); |
|
156 |
free(PointArray2D32f); |
|
157 |
free(box); |
|
158 |
} |
|
159 |
} |
|
160 |
image04 = cvCloneImage( image03 ); |
|
161 |
int i; |
|
162 |
for (i=0;i<index;i++){ |
|
163 |
if (bestc[i].count>7){ |
|
164 |
printf("%d,%d\n",bestc[i].center.x,bestc[i].center.y); |
|
165 |
//cvCircle(image04,bestc[i].center, 20, CV_RGB(0,0,0),5,8,0); |
|
166 |
} |
|
167 |
} |
|
168 |
// Show image. HighGUI use. |
|
169 |
//cvShowImage( "Result", image04 ); |
|
170 |
} |
|
171 |
|
|
172 |
// Define trackbar callback functon. This function find contours, |
|
173 |
// draw it and approximate it by ellipses. |
|
174 |
void process_image(int h) |
|
175 |
{ |
|
176 |
CvMemStorage* stor; |
|
177 |
CvSeq* cont; |
|
178 |
CvBox2D32f* box; |
|
179 |
CvPoint* PointArray; |
|
180 |
CvPoint2D32f* PointArray2D32f; |
|
181 |
|
|
182 |
// Create dynamic structure and sequence. |
|
183 |
stor = cvCreateMemStorage(0); |
|
184 |
cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor); |
|
185 |
|
|
186 |
// Threshold the source image. This needful for cvFindContours(). |
|
187 |
cvThreshold( image03, image02, slider_pos, 255, CV_THRESH_BINARY ); |
|
188 |
|
|
189 |
// Find all contours. |
|
190 |
cvFindContours( image02, stor, &cont, sizeof(CvContour), |
|
191 |
CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0)); |
|
192 |
|
|
193 |
// Clear images. IPL use. |
|
194 |
cvZero(image02); |
|
195 |
cvZero(image04); |
|
196 |
|
|
197 |
// This cycle draw all contours and approximate it by ellipses. |
|
198 |
for(;cont;cont = cont->h_next) |
|
199 |
{ |
|
200 |
int i; // Indicator of cycle. |
|
201 |
int count = cont->total; // This is number point in contour |
|
202 |
CvPoint center; |
|
203 |
CvSize size; |
|
204 |
|
|
205 |
// Number point must be more than or equal to 6 (for cvFitEllipse_32f). |
|
206 |
if( count < 6 ) |
|
207 |
continue; |
|
208 |
|
|
209 |
// Alloc memory for contour point set. |
|
210 |
PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) ); |
|
211 |
PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) ); |
|
212 |
|
|
213 |
// Alloc memory for ellipse data. |
|
214 |
box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f)); |
|
215 |
|
|
216 |
// Get contour point set. |
|
217 |
cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ); |
|
218 |
|
|
219 |
// Convert CvPoint set to CvBox2D32f set. |
|
220 |
for(i=0; i<count; i++) |
|
221 |
{ |
|
222 |
PointArray2D32f[i].x = (float)PointArray[i].x; |
|
223 |
PointArray2D32f[i].y = (float)PointArray[i].y; |
|
224 |
} |
|
225 |
|
|
226 |
// Fits ellipse to current contour. |
|
227 |
cvFitEllipse(PointArray2D32f, count, box); |
|
228 |
|
|
229 |
// Draw current contour. |
|
230 |
cvDrawContours(image04,cont,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0)); |
|
231 |
|
|
232 |
// Convert ellipse data from float to integer representation. |
|
233 |
center.x = cvRound(box->center.x); |
|
234 |
center.y = cvRound(box->center.y); |
|
235 |
size.width = cvRound(box->size.width*0.5); |
|
236 |
size.height = cvRound(box->size.height*0.5); |
|
237 |
box->angle = -box->angle; |
|
238 |
|
|
239 |
if (size.width>10&&size.height>10&&size.width<20&&size.height<20){ |
|
240 |
printf("%d %d %d %d\n",center.x,center.y,size.width,size.height); |
|
241 |
|
|
242 |
// Draw ellipse. |
|
243 |
cvEllipse(image04, center, size, |
|
244 |
box->angle, 0, 360, |
|
245 |
CV_RGB(0,0,255), 1, CV_AA, 0); |
|
246 |
} |
|
247 |
// Free memory. |
|
248 |
free(PointArray); |
|
249 |
free(PointArray2D32f); |
|
250 |
free(box); |
|
251 |
} |
|
252 |
|
|
253 |
// Show image. HighGUI use. |
|
254 |
cvShowImage( "Result", image04 ); |
|
255 |
} |
|
256 |
|
|
257 |
#ifdef _EiC |
|
258 |
main(1,"vision.c"); |
|
259 |
#endif |
|
260 |
|
branches/charge_station_isp/code/projects/colonet/vision/README | ||
---|---|---|
1 |
You need to have OpenCV installed and correct path configuration. |
|
2 |
|
|
3 |
build_vision.sh to compile |
|
4 |
vision.sh to run |
|
5 |
colonet.txt contains the locations of each robot |
branches/charge_station_isp/code/projects/colonet/vision/build_vision.sh | ||
---|---|---|
1 |
#!/bin/sh |
|
2 |
gcc -ggdb `pkg-config opencv --cflags --libs` vision.c -o vision |
|
0 | 3 |
branches/charge_station_isp/code/projects/colonet/ColonetGUI/Colonet.xcodeproj/gmtress.pbxuser | ||
---|---|---|
1 |
// !$*UTF8*$! |
|
2 |
{ |
|
3 |
00E6828EFEC88D1A11DB9C8B /* Project object */ = { |
|
4 |
activeBuildConfigurationName = Default; |
|
5 |
activeExecutable = 130F8B8C001BDBAD11CA292A; |
|
6 |
activeTarget = 130F8B84001BDB6411CA292A /* Colonet */; |
|
7 |
addToTargets = ( |
|
8 |
130F8B84001BDB6411CA292A /* Colonet */, |
|
9 |
); |
|
10 |
breakpoints = ( |
|
11 |
); |
|
12 |
breakpointsGroup = A3D78BA80CB6E4FF00A79632 /* XCBreakpointsBucket */; |
|
13 |
codeSenseManager = A341617F0C989B510007BEF2 /* Code sense */; |
|
14 |
executables = ( |
|
15 |
130F8B8C001BDBAD11CA292A, |
|
16 |
); |
|
17 |
perUserDictionary = { |
|
18 |
"PBXConfiguration.PBXBreakpointsDataSource.v1:1CA1AED706398EBD00589147" = { |
|
19 |
PBXFileTableDataSourceColumnSortingDirectionKey = "-1"; |
|
20 |
PBXFileTableDataSourceColumnSortingKey = PBXBreakpointsDataSource_BreakpointID; |
|
21 |
PBXFileTableDataSourceColumnWidthsKey = ( |
|
22 |
20, |
|
23 |
20, |
|
24 |
210, |
|
25 |
20, |
|
26 |
110, |
|
27 |
109, |
|
28 |
20, |
|
29 |
); |
|
30 |
PBXFileTableDataSourceColumnsKey = ( |
|
31 |
PBXBreakpointsDataSource_ActionID, |
|
32 |
PBXBreakpointsDataSource_TypeID, |
|
33 |
PBXBreakpointsDataSource_BreakpointID, |
|
34 |
PBXBreakpointsDataSource_UseID, |
|
35 |
PBXBreakpointsDataSource_LocationID, |
|
36 |
PBXBreakpointsDataSource_ConditionID, |
|
37 |
PBXBreakpointsDataSource_ContinueID, |
|
38 |
); |
|
39 |
}; |
|
40 |
PBXConfiguration.PBXFileTableDataSource3.PBXBookmarksDataSource = { |
|
41 |
PBXFileTableDataSourceColumnSortingDirectionKey = "-1"; |
|
42 |
PBXFileTableDataSourceColumnSortingKey = PBXBookmarksDataSource_NameID; |
|
43 |
PBXFileTableDataSourceColumnWidthsKey = ( |
|
44 |
200, |
|
45 |
200, |
|
46 |
300, |
|
47 |
); |
|
48 |
PBXFileTableDataSourceColumnsKey = ( |
|
49 |
PBXBookmarksDataSource_LocationID, |
|
50 |
PBXBookmarksDataSource_NameID, |
|
51 |
PBXBookmarksDataSource_CommentsID, |
|
52 |
); |
|
53 |
}; |
|
54 |
PBXConfiguration.PBXFileTableDataSource3.PBXErrorsWarningsDataSource = { |
|
55 |
PBXFileTableDataSourceColumnSortingDirectionKey = "-1"; |
|
56 |
PBXFileTableDataSourceColumnSortingKey = PBXErrorsWarningsDataSource_LocationID; |
|
57 |
PBXFileTableDataSourceColumnWidthsKey = ( |
|
58 |
20, |
|
59 |
300, |
|
60 |
200, |
|
61 |
); |
|
62 |
PBXFileTableDataSourceColumnsKey = ( |
|
63 |
PBXErrorsWarningsDataSource_TypeID, |
|
64 |
PBXErrorsWarningsDataSource_MessageID, |
|
65 |
PBXErrorsWarningsDataSource_LocationID, |
|
66 |
); |
|
67 |
}; |
|
68 |
PBXConfiguration.PBXFileTableDataSource3.PBXExecutablesDataSource = { |
|
69 |
PBXFileTableDataSourceColumnSortingDirectionKey = "-1"; |
|
70 |
PBXFileTableDataSourceColumnSortingKey = PBXExecutablesDataSource_NameID; |
|
71 |
PBXFileTableDataSourceColumnWidthsKey = ( |
|
72 |
22, |
|
73 |
300, |
|
74 |
131, |
|
75 |
); |
|
76 |
PBXFileTableDataSourceColumnsKey = ( |
|
77 |
PBXExecutablesDataSource_ActiveFlagID, |
|
78 |
PBXExecutablesDataSource_NameID, |
|
79 |
PBXExecutablesDataSource_CommentsID, |
|
80 |
); |
|
81 |
}; |
|
82 |
PBXConfiguration.PBXFileTableDataSource3.PBXFileTableDataSource = { |
|
83 |
PBXFileTableDataSourceColumnSortingDirectionKey = "-1"; |
|
84 |
PBXFileTableDataSourceColumnSortingKey = PBXFileDataSource_Filename_ColumnID; |
|
85 |
PBXFileTableDataSourceColumnWidthsKey = ( |
|
86 |
20, |
|
87 |
819, |
|
88 |
20, |
|
89 |
48, |
|
90 |
43, |
|
91 |
43, |
|
92 |
20, |
|
93 |
); |
|
94 |
PBXFileTableDataSourceColumnsKey = ( |
|
95 |
PBXFileDataSource_FiletypeID, |
|
96 |
PBXFileDataSource_Filename_ColumnID, |
|
97 |
PBXFileDataSource_Built_ColumnID, |
|
98 |
PBXFileDataSource_ObjectSize_ColumnID, |
|
99 |
PBXFileDataSource_Errors_ColumnID, |
|
100 |
PBXFileDataSource_Warnings_ColumnID, |
|
101 |
PBXFileDataSource_Target_ColumnID, |
|
102 |
); |
|
103 |
}; |
|
104 |
PBXConfiguration.PBXFileTableDataSource3.PBXSymbolsDataSource = { |
|
105 |
PBXFileTableDataSourceColumnSortingDirectionKey = "-1"; |
|
106 |
PBXFileTableDataSourceColumnSortingKey = PBXSymbolsDataSource_SymbolNameID; |
|
107 |
PBXFileTableDataSourceColumnWidthsKey = ( |
|
108 |
16, |
|
109 |
200, |
|
110 |
50, |
|
111 |
183, |
|
112 |
); |
|
113 |
PBXFileTableDataSourceColumnsKey = ( |
|
114 |
PBXSymbolsDataSource_SymbolTypeIconID, |
|
115 |
PBXSymbolsDataSource_SymbolNameID, |
|
116 |
PBXSymbolsDataSource_SymbolTypeID, |
|
117 |
PBXSymbolsDataSource_ReferenceNameID, |
|
118 |
); |
|
119 |
}; |
|
120 |
PBXConfiguration.PBXFileTableDataSource3.XCSCMDataSource = { |
|
121 |
PBXFileTableDataSourceColumnSortingDirectionKey = "-1"; |
|
122 |
PBXFileTableDataSourceColumnSortingKey = PBXFileDataSource_Filename_ColumnID; |
|
123 |
PBXFileTableDataSourceColumnWidthsKey = ( |
|
124 |
20, |
|
125 |
20, |
|
126 |
795, |
|
127 |
20, |
|
128 |
48, |
|
129 |
43, |
|
130 |
43, |
|
131 |
20, |
|
132 |
); |
|
133 |
PBXFileTableDataSourceColumnsKey = ( |
|
134 |
PBXFileDataSource_SCM_ColumnID, |
|
135 |
PBXFileDataSource_FiletypeID, |
|
136 |
PBXFileDataSource_Filename_ColumnID, |
|
137 |
PBXFileDataSource_Built_ColumnID, |
|
138 |
PBXFileDataSource_ObjectSize_ColumnID, |
|
139 |
PBXFileDataSource_Errors_ColumnID, |
|
140 |
PBXFileDataSource_Warnings_ColumnID, |
|
141 |
PBXFileDataSource_Target_ColumnID, |
|
142 |
); |
|
143 |
}; |
|
144 |
PBXConfiguration.PBXTargetDataSource.PBXTargetDataSource = { |
|
145 |
PBXFileTableDataSourceColumnSortingDirectionKey = "-1"; |
|
146 |
PBXFileTableDataSourceColumnSortingKey = PBXFileDataSource_Filename_ColumnID; |
|
147 |
PBXFileTableDataSourceColumnWidthsKey = ( |
|
148 |
20, |
|
149 |
200, |
|
150 |
63, |
|
151 |
20, |
|
152 |
48, |
|
153 |
43, |
|
154 |
43, |
|
155 |
); |
|
156 |
PBXFileTableDataSourceColumnsKey = ( |
|
157 |
PBXFileDataSource_FiletypeID, |
|
158 |
PBXFileDataSource_Filename_ColumnID, |
|
159 |
PBXTargetDataSource_PrimaryAttribute, |
|
160 |
PBXFileDataSource_Built_ColumnID, |
|
161 |
PBXFileDataSource_ObjectSize_ColumnID, |
|
162 |
PBXFileDataSource_Errors_ColumnID, |
|
163 |
PBXFileDataSource_Warnings_ColumnID, |
|
164 |
); |
|
165 |
}; |
|
166 |
PBXPerProjectTemplateStateSaveDate = 214950164; |
|
167 |
PBXWorkspaceStateSaveDate = 214950164; |
|
168 |
}; |
|
169 |
perUserProjectItems = { |
|
170 |
A30FC0970CBD7DFA000A16EC = A30FC0970CBD7DFA000A16EC /* PBXTextBookmark */; |
|
171 |
A30FC0A60CBD7E05000A16EC = A30FC0A60CBD7E05000A16EC /* PBXTextBookmark */; |
|
172 |
A30FC0E20CBD7F47000A16EC = A30FC0E20CBD7F47000A16EC /* PBXTextBookmark */; |
|
173 |
A30FC13A0CBD8587000A16EC = A30FC13A0CBD8587000A16EC /* PBXTextBookmark */; |
|
174 |
A31266650C9B131A00D15EBF = A31266650C9B131A00D15EBF /* PBXTextBookmark */; |
|
175 |
A312666C0C9B131A00D15EBF = A312666C0C9B131A00D15EBF /* PBXTextBookmark */; |
|
176 |
A3B0CF2B0CCFE11A001E32E1 /* PBXTextBookmark */ = A3B0CF2B0CCFE11A001E32E1 /* PBXTextBookmark */; |
|
177 |
A3B0CF320CCFE191001E32E1 /* PBXTextBookmark */ = A3B0CF320CCFE191001E32E1 /* PBXTextBookmark */; |
|
178 |
A3B0CF330CCFE191001E32E1 /* PBXTextBookmark */ = A3B0CF330CCFE191001E32E1 /* PBXTextBookmark */; |
|
179 |
A3B0CF340CCFE191001E32E1 /* PBXTextBookmark */ = A3B0CF340CCFE191001E32E1 /* PBXTextBookmark */; |
|
180 |
A3B0CF350CCFE191001E32E1 /* PBXTextBookmark */ = A3B0CF350CCFE191001E32E1 /* PBXTextBookmark */; |
|
181 |
A3B0CF360CCFE191001E32E1 /* PBXTextBookmark */ = A3B0CF360CCFE191001E32E1 /* PBXTextBookmark */; |
|
182 |
A3B0CF370CCFE198001E32E1 /* PBXTextBookmark */ = A3B0CF370CCFE198001E32E1 /* PBXTextBookmark */; |
|
183 |
A3B0CF380CCFE198001E32E1 /* PBXTextBookmark */ = A3B0CF380CCFE198001E32E1 /* PBXTextBookmark */; |
|
184 |
A3B0CF410CCFE1F7001E32E1 /* PBXTextBookmark */ = A3B0CF410CCFE1F7001E32E1 /* PBXTextBookmark */; |
|
185 |
A3B0CF420CCFE1F7001E32E1 /* PBXTextBookmark */ = A3B0CF420CCFE1F7001E32E1 /* PBXTextBookmark */; |
|
186 |
A3B0CF430CCFE260001E32E1 /* PBXTextBookmark */ = A3B0CF430CCFE260001E32E1 /* PBXTextBookmark */; |
|
187 |
A3B0CF470CCFE362001E32E1 /* PBXTextBookmark */ = A3B0CF470CCFE362001E32E1 /* PBXTextBookmark */; |
|
188 |
A3B0CF480CCFE365001E32E1 /* PBXTextBookmark */ = A3B0CF480CCFE365001E32E1 /* PBXTextBookmark */; |
|
189 |
A3B0CF490CCFE365001E32E1 /* PBXTextBookmark */ = A3B0CF490CCFE365001E32E1 /* PBXTextBookmark */; |
|
190 |
A3B0CF4C0CCFE487001E32E1 /* PBXTextBookmark */ = A3B0CF4C0CCFE487001E32E1 /* PBXTextBookmark */; |
|
191 |
A3B0CF500CCFE4BB001E32E1 /* PBXTextBookmark */ = A3B0CF500CCFE4BB001E32E1 /* PBXTextBookmark */; |
|
192 |
A3B0CF510CCFE4BD001E32E1 /* PBXTextBookmark */ = A3B0CF510CCFE4BD001E32E1 /* PBXTextBookmark */; |
|
193 |
A3B0CF520CCFE4BD001E32E1 /* PBXTextBookmark */ = A3B0CF520CCFE4BD001E32E1 /* PBXTextBookmark */; |
|
194 |
A3B0CF530CCFE50B001E32E1 /* PBXTextBookmark */ = A3B0CF530CCFE50B001E32E1 /* PBXTextBookmark */; |
|
195 |
A3B0CF570CCFE51B001E32E1 /* PBXTextBookmark */ = A3B0CF570CCFE51B001E32E1 /* PBXTextBookmark */; |
|
196 |
A3B0CF580CCFE51E001E32E1 /* PBXTextBookmark */ = A3B0CF580CCFE51E001E32E1 /* PBXTextBookmark */; |
|
197 |
A3B0CF590CCFE51E001E32E1 /* PBXTextBookmark */ = A3B0CF590CCFE51E001E32E1 /* PBXTextBookmark */; |
|
198 |
A3B0CF5A0CCFE559001E32E1 /* PBXTextBookmark */ = A3B0CF5A0CCFE559001E32E1 /* PBXTextBookmark */; |
|
199 |
A3B0CF5C0CCFE565001E32E1 /* PBXTextBookmark */ = A3B0CF5C0CCFE565001E32E1 /* PBXTextBookmark */; |
|
200 |
A3B0CF5D0CCFE565001E32E1 /* PBXTextBookmark */ = A3B0CF5D0CCFE565001E32E1 /* PBXTextBookmark */; |
|
201 |
A3B0CF610CCFF662001E32E1 /* PBXTextBookmark */ = A3B0CF610CCFF662001E32E1 /* PBXTextBookmark */; |
|
202 |
A3B0CF620CCFF662001E32E1 /* PBXTextBookmark */ = A3B0CF620CCFF662001E32E1 /* PBXTextBookmark */; |
|
203 |
A3B0CF650CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF650CCFFA8F001E32E1 /* PBXTextBookmark */; |
|
204 |
A3B0CF660CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF660CCFFA8F001E32E1 /* PBXTextBookmark */; |
|
205 |
A3B0CF670CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF670CCFFA8F001E32E1 /* PBXTextBookmark */; |
|
206 |
A3B0CF680CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF680CCFFA8F001E32E1 /* PBXTextBookmark */; |
|
207 |
A3B0CF690CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF690CCFFA8F001E32E1 /* PBXTextBookmark */; |
|
208 |
A3B0CF6A0CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF6A0CCFFA8F001E32E1 /* PBXTextBookmark */; |
|
209 |
A3B0CF6B0CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF6B0CCFFA8F001E32E1 /* PBXTextBookmark */; |
|
210 |
A3B0CF6C0CCFFA91001E32E1 /* PBXTextBookmark */ = A3B0CF6C0CCFFA91001E32E1 /* PBXTextBookmark */; |
|
211 |
A3B0CF6D0CCFFA91001E32E1 /* PBXTextBookmark */ = A3B0CF6D0CCFFA91001E32E1 /* PBXTextBookmark */; |
|
212 |
A3B0CF740CCFFFF2001E32E1 /* PBXTextBookmark */ = A3B0CF740CCFFFF2001E32E1 /* PBXTextBookmark */; |
|
213 |
A3B0CF750CCFFFF2001E32E1 /* PBXTextBookmark */ = A3B0CF750CCFFFF2001E32E1 /* PBXTextBookmark */; |
|
214 |
A3B0CF760CD00046001E32E1 /* PBXTextBookmark */ = A3B0CF760CD00046001E32E1 /* PBXTextBookmark */; |
|
215 |
A3B0CF770CD00046001E32E1 /* PBXTextBookmark */ = A3B0CF770CD00046001E32E1 /* PBXTextBookmark */; |
|
216 |
A3B0CF780CD00046001E32E1 /* PBXTextBookmark */ = A3B0CF780CD00046001E32E1 /* PBXTextBookmark */; |
|
217 |
A3B0CF800CD00163001E32E1 /* PBXTextBookmark */ = A3B0CF800CD00163001E32E1 /* PBXTextBookmark */; |
|
218 |
A3B0CF810CD00163001E32E1 /* PBXTextBookmark */ = A3B0CF810CD00163001E32E1 /* PBXTextBookmark */; |
|
219 |
A3B0CF820CD00163001E32E1 /* PBXTextBookmark */ = A3B0CF820CD00163001E32E1 /* PBXTextBookmark */; |
|
220 |
A3B0CF830CD00163001E32E1 /* PBXTextBookmark */ = A3B0CF830CD00163001E32E1 /* PBXTextBookmark */; |
|
221 |
A3B0CF840CD00163001E32E1 /* PBXTextBookmark */ = A3B0CF840CD00163001E32E1 /* PBXTextBookmark */; |
|
222 |
A3B0CF930CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF930CD0097E001E32E1 /* PBXTextBookmark */; |
|
223 |
A3B0CF940CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF940CD0097E001E32E1 /* PBXTextBookmark */; |
|
224 |
A3B0CF950CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF950CD0097E001E32E1 /* PBXTextBookmark */; |
|
225 |
A3B0CF960CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF960CD0097E001E32E1 /* PBXTextBookmark */; |
|
226 |
A3B0CF970CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF970CD0097E001E32E1 /* PBXTextBookmark */; |
|
227 |
A3B0CF980CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF980CD0097E001E32E1 /* PBXTextBookmark */; |
|
228 |
A3B0CF990CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF990CD0097E001E32E1 /* PBXTextBookmark */; |
|
229 |
A3B0CF9A0CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF9A0CD0097E001E32E1 /* PBXTextBookmark */; |
|
230 |
A3B0CF9B0CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF9B0CD0097E001E32E1 /* PBXTextBookmark */; |
|
231 |
A3B0CF9C0CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF9C0CD0097E001E32E1 /* PBXTextBookmark */; |
|
232 |
A3B0CF9D0CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF9D0CD0097E001E32E1 /* PBXTextBookmark */; |
|
233 |
A3B0CFA20CD009A1001E32E1 /* PBXTextBookmark */ = A3B0CFA20CD009A1001E32E1 /* PBXTextBookmark */; |
|
234 |
A3B0CFA30CD009A1001E32E1 /* PBXTextBookmark */ = A3B0CFA30CD009A1001E32E1 /* PBXTextBookmark */; |
|
235 |
A3B0CFA40CD009A1001E32E1 /* PBXTextBookmark */ = A3B0CFA40CD009A1001E32E1 /* PBXTextBookmark */; |
|
236 |
A3B0CFA80CD00B25001E32E1 /* PBXTextBookmark */ = A3B0CFA80CD00B25001E32E1 /* PBXTextBookmark */; |
|
237 |
A3B0CFA90CD00B25001E32E1 /* PBXTextBookmark */ = A3B0CFA90CD00B25001E32E1 /* PBXTextBookmark */; |
|
238 |
A3B0CFAD0CD00BCD001E32E1 /* PBXTextBookmark */ = A3B0CFAD0CD00BCD001E32E1 /* PBXTextBookmark */; |
|
239 |
A3B0CFAE0CD00BCD001E32E1 /* PBXTextBookmark */ = A3B0CFAE0CD00BCD001E32E1 /* PBXTextBookmark */; |
|
240 |
A3B0CFB20CD00C0B001E32E1 /* PBXTextBookmark */ = A3B0CFB20CD00C0B001E32E1 /* PBXTextBookmark */; |
|
241 |
A3B0CFB30CD00C0B001E32E1 /* PBXTextBookmark */ = A3B0CFB30CD00C0B001E32E1 /* PBXTextBookmark */; |
|
242 |
A3B0CFB80CD00E1D001E32E1 /* PBXTextBookmark */ = A3B0CFB80CD00E1D001E32E1 /* PBXTextBookmark */; |
|
243 |
A3B0CFB90CD00E1D001E32E1 /* PBXTextBookmark */ = A3B0CFB90CD00E1D001E32E1 /* PBXTextBookmark */; |
|
244 |
A3B0CFBD0CD00E62001E32E1 /* PBXTextBookmark */ = A3B0CFBD0CD00E62001E32E1 /* PBXTextBookmark */; |
|
245 |
A3B0CFBE0CD00E62001E32E1 /* PBXTextBookmark */ = A3B0CFBE0CD00E62001E32E1 /* PBXTextBookmark */; |
|
246 |
A3B0CFC20CD00F34001E32E1 /* PBXTextBookmark */ = A3B0CFC20CD00F34001E32E1 /* PBXTextBookmark */; |
|
247 |
A3B0CFC30CD00F34001E32E1 /* PBXTextBookmark */ = A3B0CFC30CD00F34001E32E1 /* PBXTextBookmark */; |
|
248 |
A3B0CFC40CD01004001E32E1 /* PBXTextBookmark */ = A3B0CFC40CD01004001E32E1 /* PBXTextBookmark */; |
|
249 |
A3B0CFC70CD01044001E32E1 /* PBXTextBookmark */ = A3B0CFC70CD01044001E32E1 /* PBXTextBookmark */; |
|
250 |
A3B0CFC80CD01044001E32E1 /* PBXTextBookmark */ = A3B0CFC80CD01044001E32E1 /* PBXTextBookmark */; |
|
251 |
A3B0CFC90CD01044001E32E1 /* PBXTextBookmark */ = A3B0CFC90CD01044001E32E1 /* PBXTextBookmark */; |
|
252 |
A3B0CFCC0CD01072001E32E1 /* PBXTextBookmark */ = A3B0CFCC0CD01072001E32E1 /* PBXTextBookmark */; |
|
253 |
A3B0CFCD0CD01072001E32E1 /* PBXTextBookmark */ = A3B0CFCD0CD01072001E32E1 /* PBXTextBookmark */; |
|
254 |
A3B0CFD00CD010D0001E32E1 /* PBXTextBookmark */ = A3B0CFD00CD010D0001E32E1 /* PBXTextBookmark */; |
|
255 |
A3B0CFD10CD010D0001E32E1 /* PBXTextBookmark */ = A3B0CFD10CD010D0001E32E1 /* PBXTextBookmark */; |
|
256 |
A3B0CFD70CD011D6001E32E1 /* PBXTextBookmark */ = A3B0CFD70CD011D6001E32E1 /* PBXTextBookmark */; |
|
257 |
A3B0CFD80CD011D6001E32E1 /* PBXTextBookmark */ = A3B0CFD80CD011D6001E32E1 /* PBXTextBookmark */; |
|
258 |
A3B0CFDB0CD01243001E32E1 /* PBXTextBookmark */ = A3B0CFDB0CD01243001E32E1 /* PBXTextBookmark */; |
|
259 |
A3B0CFDC0CD01243001E32E1 /* PBXTextBookmark */ = A3B0CFDC0CD01243001E32E1 /* PBXTextBookmark */; |
|
260 |
A3B0CFDF0CD012E6001E32E1 /* PBXTextBookmark */ = A3B0CFDF0CD012E6001E32E1 /* PBXTextBookmark */; |
|
261 |
A3B0CFE00CD012E6001E32E1 /* PBXTextBookmark */ = A3B0CFE00CD012E6001E32E1 /* PBXTextBookmark */; |
|
262 |
A3B0CFE40CD01324001E32E1 /* PBXTextBookmark */ = A3B0CFE40CD01324001E32E1 /* PBXTextBookmark */; |
|
263 |
A3B0CFE50CD01324001E32E1 /* PBXTextBookmark */ = A3B0CFE50CD01324001E32E1 /* PBXTextBookmark */; |
|
264 |
A3B0CFE90CD01397001E32E1 /* PBXTextBookmark */ = A3B0CFE90CD01397001E32E1 /* PBXTextBookmark */; |
|
265 |
A3B0CFEA0CD01397001E32E1 /* PBXTextBookmark */ = A3B0CFEA0CD01397001E32E1 /* PBXTextBookmark */; |
|
266 |
A3B0CFEB0CD01397001E32E1 /* PBXTextBookmark */ = A3B0CFEB0CD01397001E32E1 /* PBXTextBookmark */; |
|
267 |
A3B0CFEC0CD01397001E32E1 /* PBXTextBookmark */ = A3B0CFEC0CD01397001E32E1 /* PBXTextBookmark */; |
|
268 |
A3B0CFED0CD01397001E32E1 /* PBXTextBookmark */ = A3B0CFED0CD01397001E32E1 /* PBXTextBookmark */; |
|
269 |
A3B0CFF10CD0141F001E32E1 /* PBXTextBookmark */ = A3B0CFF10CD0141F001E32E1 /* PBXTextBookmark */; |
|
270 |
A3B0CFF20CD0141F001E32E1 /* PBXTextBookmark */ = A3B0CFF20CD0141F001E32E1 /* PBXTextBookmark */; |
|
271 |
A3B0CFF30CD0141F001E32E1 /* PBXTextBookmark */ = A3B0CFF30CD0141F001E32E1 /* PBXTextBookmark */; |
|
272 |
A3B0CFF40CD0141F001E32E1 /* PBXTextBookmark */ = A3B0CFF40CD0141F001E32E1 /* PBXTextBookmark */; |
|
273 |
A3B0CFF50CD0141F001E32E1 /* PBXTextBookmark */ = A3B0CFF50CD0141F001E32E1 /* PBXTextBookmark */; |
|
274 |
A3B0CFF90CD0147E001E32E1 /* PBXTextBookmark */ = A3B0CFF90CD0147E001E32E1 /* PBXTextBookmark */; |
|
275 |
A3B0CFFA0CD0147E001E32E1 /* PBXTextBookmark */ = A3B0CFFA0CD0147E001E32E1 /* PBXTextBookmark */; |
|
276 |
A3D287EC0CC5047400CBC5D0 = A3D287EC0CC5047400CBC5D0 /* PBXTextBookmark */; |
|
277 |
A3D288110CC5826A00CBC5D0 = A3D288110CC5826A00CBC5D0 /* PBXTextBookmark */; |
|
278 |
A3D288260CC6CA3100CBC5D0 = A3D288260CC6CA3100CBC5D0 /* PBXTextBookmark */; |
|
279 |
A3D288270CC6CA3100CBC5D0 = A3D288270CC6CA3100CBC5D0 /* PBXTextBookmark */; |
|
280 |
A3D288280CC6CA3100CBC5D0 = A3D288280CC6CA3100CBC5D0 /* PBXTextBookmark */; |
|
281 |
A3D288380CC6CB0A00CBC5D0 = A3D288380CC6CB0A00CBC5D0 /* PBXTextBookmark */; |
|
282 |
A3D2883A0CC6CB0A00CBC5D0 = A3D2883A0CC6CB0A00CBC5D0 /* PBXTextBookmark */; |
|
283 |
A3D2883B0CC6CB0A00CBC5D0 = A3D2883B0CC6CB0A00CBC5D0 /* PBXTextBookmark */; |
|
284 |
A3D288410CC6CB8E00CBC5D0 = A3D288410CC6CB8E00CBC5D0 /* PBXTextBookmark */; |
|
285 |
A3D288420CC6CB8E00CBC5D0 = A3D288420CC6CB8E00CBC5D0 /* PBXTextBookmark */; |
|
286 |
A3D288430CC6CB8E00CBC5D0 = A3D288430CC6CB8E00CBC5D0 /* PBXTextBookmark */; |
|
287 |
A3D288490CC6DC8E00CBC5D0 = A3D288490CC6DC8E00CBC5D0 /* PBXTextBookmark */; |
|
288 |
A3D2884A0CC6DC8E00CBC5D0 = A3D2884A0CC6DC8E00CBC5D0 /* PBXTextBookmark */; |
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Also available in: Unified diff