Colony

/**

 * 

 * @file math.h

 * @brief Contains math function(s)

 * 

 * @author Colony Project, CMU Robotics Club, James Kong

*/

#ifndef _MATH_H_

#define _MATH_H_

/**

 * @addtogroup math

 * @{

 **/

/** @brief absolute value **/

int abs_int(int x);

/**@}**/ //end group

#endif

/**

 * 

 * @file reset.h

 * @brief Contains function(s) for resetting the robots

 * 

 * @author Colony Project, CMU Robotics Club, James Kong

*/

#ifndef _RESET_H_

#define _RESET_H_

/**

 * @addtogroup reset

 * @{

 **/

/** @brief Reset the robot **/

void reset(void);

/**@}**/ //end group

#endif

/** @file Include macros to create a ring buffer. Originally written for 15-410.

 *  Modified for use in ATMega128 serial driver

 *

 *	@author Cornell Wright (cgwright)

 *	@author Jason P. Winters (jpwinter)

 *

 *	@bugs Could not create buffer of non byte-sized elements due to modding with sizeof(queue).  

 * 		  Fixed 3/2/07, Felix Duvallet and Brad Neuman

 */

#ifndef _RING_BUFFER_H

#define _RING_BUFFER_H

/** @brief Creates the struct for a new ring buffer. This just expands to a

 *	structure definition and thus should be invoked in the global context.

 *

 *	@param struct_name Name of the ring buffer struct.

 *

 *	@param size The size of the buffer to create.

 *

 *	@param type The type of object that the queue is to hold.

 *

 *	@param ... Name or names of the instance or instances of the ring buffer(s)

 *	to be created.

 */

#define RING_BUFFER_NEW(struct_name, size, type, ...)	\

	struct struct_name {	\

		type queue[size];	\

		uint8_t start;			\

		uint8_t end;			\

		uint8_t buffer_size;			\

	} __VA_ARGS__

/** @brief Initializes the ring buffer, setting its size to the correct value

 *

 *	@param buf The ring buffer to initialize.

 *

 *  @param size The size of the ring buffer (in array elements)

 */

#define RING_BUFFER_INIT(buf, size) 			\

	do {										\

		(buf).buffer_size = size;				\

	} while(0)

/** @brief Sets the specified ring buffer to be empty.

 *

 *	@param buf The ring buffer to make empty.

 */

#define RING_BUFFER_CLEAR(buf)	\

	do {						\

		(buf).start = 0;		\

		(buf).end = 0;			\

	} while (0)

/** @brief Returns true if the ring buffer specified is empty.

 *

 *	@param buf The buffer to check emptiness of.

 */

#define RING_BUFFER_EMPTY(buf) ((buf).start == (buf).end)

/** @brief Returns true if the ring buffer specified is full.

 *

 *	@param buf The buffer to check fullness of.

 */

#define RING_BUFFER_FULL(buf)	\

		(((buf).end + 1) % (buf).buffer_size == (buf).start)

/** @brief Adds val to ring buffer buf. Note that val must be of the type

 *	used in creating the ring buffer to prevent the compiler from spewing

 *	confusing errors. Also, this assumes that the ring buffer is not full.

 *

 *	@param buf The ring buffer to add to.

 *	@param val The value to add.

 */

#define RING_BUFFER_ADD(buf, val)		\

	do {								\

		(buf).queue[(buf).end] = val;	\

		(buf).end = ((buf).end + 1) % (buf).buffer_size;	\

	} while (0)

/** @brief Removes the value at the head of the ring buffer and puts it in

 *	val_ret. Note that val_ret must be the same type used in creating the ring

 *	buffer to prevent the compiler from spewing confusing errors. Also, this

 *	assumes that the ring buffer is not empty.

 *

 *	@param buf The ring buffer to remove from.

 *	@param val_ret Where to put the value removed from the head of the ring

 *	buffer.

 */

#define RING_BUFFER_REMOVE(buf, val_ret)	\

	do {	\

		(val_ret) = (buf).queue[(buf).start];	\

		(buf).start = ((buf).start + 1) % (buf).buffer_size;	\

	} while (0)

/** @brief Checks the value at the head of the ring buffer without removing it

 *  and puts it into val_ret. Note that val_ret must be the same type used in

 *  creating the ring buffer to prevent the compiler from spewing confusing

 *  errors. Also, this assumes that the ring buffer is not empty.

 *

 *  @param buf The ring buffer to check from

 *  @param val_ret where to put the value checked from the head of the ring

 */

 #define RING_BUFFER_PEEK(buf, val_ret)  \

  do { \

    (val_ret) = (buf).queue[(buf).start]; \

  } while(0)

#endif /* _RING_BUFFER_H */

/*

reset.h - contains reset() function that resets the AVR

author: James Kong

Last Modified:

3.7.2007 - James

    created reset.c

*/

#include <avr/interrupt.h>

#include <util/delay.h>

#include <reset.h>

/**

 * @defgroup reset Reset

 * Functions for manipulation the ADC on the dragonfly board.

 * All definitions may be found in analog.h.

 *

 * @{

 **/

/**

 * Resets the AVR when called.  Sets the watchdog timer and lets it overflow

 * to reset the AVR.  The reset clears all memory and resets all registers

 * with the exception of the Watchdog Reset Flag (WDRF) in the MCU Control

 * and Status Register (MCUCSR).

 **/

void reset(void) {

    WDTCR &= 0xF8;

    WDTCR |= 0x08;

    _delay_ms(15);

}

/**@}**/ //end defgroup

#include "math.h"

/**

 * @defgroup math Math

 * Function(s) for performing math operations

 *

 * @{

 **/

/**

 * finds the absolute value of x

 * 

 * @param x the int of which we want to take its absolute value

 * 

 * @return the absolute value of x

 **/

int abs_int (int x) {

  if(x < 0)

    return -x;

  return x;

}

/**@}**/ //end defgroup